+ python -m lidar_slam --no-model /working/dd21d219-3608-42a3-beee-c46ef2a66c24 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/dd21d219-3608-42a3-beee-c46ef2a66c24 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 0.010385723 Adjusted end_distance from 9.223372036854776e+18 to 867.350385723 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.010385723 meters Centerline goodness [0,1] 0.5643825514776788 Centerline is valid? [0, False] SLAMing on 0.040385723 meters Centerline goodness [0,1] 0.5610871293877087 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999952e-01 1.29574545e-04 2.81619536e-04 2.15187872e-04] [-1.29803361e-04 9.99999661e-01 8.12632590e-04 -2.49536789e-03] [-2.81514144e-04 -8.12669106e-04 9.99999630e-01 -6.87362298e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.070385723 meters Centerline goodness [0,1] 0.5525630870204821 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999866e-01 4.87823552e-04 1.75213814e-04 1.59637995e-03] [-4.88014348e-04 9.99999286e-01 1.09054439e-03 -3.47251776e-03] [-1.74681696e-04 -1.09062975e-03 9.99999390e-01 -1.70497599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.100385723 meters Centerline goodness [0,1] 0.5543213374893737 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999744e-01 6.37052124e-04 3.25875662e-04 3.63708220e-03] [-6.37297549e-04 9.99999513e-01 7.53574520e-04 -3.54112171e-03] [-3.25395437e-04 -7.53782007e-04 9.99999663e-01 -3.53818211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.130385723 meters Centerline goodness [0,1] 0.536385474070934 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99999516e-01 9.59859798e-04 2.17442048e-04 5.01839895e-03] [-9.60186550e-04 9.99998403e-01 1.50762008e-03 -5.64557254e-03] [-2.15994597e-04 -1.50782813e-03 9.99998840e-01 -4.91264596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.16038572299999998 meters Centerline goodness [0,1] 0.5471441907833319 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99999321e-01 1.00963412e-03 5.82310640e-04 6.17389344e-03] [-1.01126249e-03 9.99995561e-01 2.80290256e-03 -9.48317151e-03] [-5.79478149e-04 -2.80348953e-03 9.99995902e-01 -7.33595625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.190385723 meters Centerline goodness [0,1] 0.5301021700582622 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998257e-01 -1.81133820e-03 4.53679486e-04 7.91338817e-03] [ 1.81127715e-03 9.99998351e-01 1.34935592e-04 -1.05725239e-02] [-4.53923152e-04 -1.34113618e-04 9.99999888e-01 -8.22560493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.22038572299999998 meters Centerline goodness [0,1] 0.5307425085435084 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998738e-01 -1.48618280e-03 5.61709817e-04 8.78809000e-03] [ 1.48579564e-03 9.99998659e-01 6.89051809e-04 -1.25071275e-02] [-5.62733120e-04 -6.88216354e-04 9.99999605e-01 -9.27187838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.250385723 meters Centerline goodness [0,1] 0.5079333876267236 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 9.99999781e-01 -5.41519696e-04 3.79175402e-04 1.18437539e-02] [ 5.40939153e-04 9.99998684e-01 1.52949966e-03 -1.52825619e-02] [-3.80003157e-04 -1.52929421e-03 9.99998758e-01 -1.12292208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.28038572300000003 meters Centerline goodness [0,1] 0.49425708011936265 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 9.99999881e-01 -1.51532543e-04 4.63016336e-04 1.34181796e-02] [ 1.50734639e-04 9.99998505e-01 1.72282394e-03 -1.63184245e-02] [-4.63276708e-04 -1.72275395e-03 9.99998409e-01 -1.27806637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.310385723 meters Centerline goodness [0,1] 0.48729539264957744 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.02 [[ 9.99999724e-01 -7.02244807e-04 2.42866586e-04 1.86751512e-02] [ 7.02294816e-04 9.99999732e-01 -2.05884428e-04 -1.67651299e-02] [-2.42721939e-04 2.06054936e-04 9.99999949e-01 -1.61275576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.340385723 meters Centerline goodness [0,1] 0.47330281156082354 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.02 [[ 9.99999976e-01 -2.13466309e-04 -4.86078452e-05 2.07561429e-02] [ 2.13502269e-04 9.99999703e-01 7.41001081e-04 -1.81608501e-02] [ 4.84496520e-05 -7.41011441e-04 9.99999724e-01 -1.80387519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.370385723 meters Centerline goodness [0,1] 0.46315464669415696 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 9.99999251e-01 5.56660000e-04 -1.08994765e-03 2.60845434e-02] [-5.53948784e-04 9.99996756e-01 2.48619808e-03 -1.98582344e-02] [ 1.09132808e-03 -2.48559244e-03 9.99996315e-01 -2.19822480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.400385723 meters Centerline goodness [0,1] 0.45126505854932464 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.03 [[ 9.99998175e-01 6.02482370e-04 -1.81303115e-03 3.16245241e-02] [-5.96558173e-04 9.99994488e-01 3.26633346e-03 -2.08792201e-02] [ 1.81498907e-03 -3.26524592e-03 9.99993022e-01 -2.67389386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.430385723 meters Centerline goodness [0,1] 0.44659868696745353 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.03 [[ 9.99997922e-01 -6.88668963e-04 -1.91889616e-03 3.48061098e-02] [ 6.92211585e-04 9.99998056e-01 1.84612491e-03 -2.00284489e-02] [ 1.91762106e-03 -1.84744936e-03 9.99996455e-01 -2.98937101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.46038572299999997 meters Centerline goodness [0,1] 0.4392043720697978 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.03 [[ 0.99996857 -0.00730736 -0.003077 0.04113775] [ 0.00729598 0.99996657 -0.00369221 -0.02309246] [ 0.00310387 0.00366964 0.99998845 -0.03438053] [ 0. 0. 0. 1. ]] SLAMing on 0.490385723 meters Centerline goodness [0,1] 0.43926163369072624 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.04 [[ 0.99993628 -0.01068842 -0.00363305 0.0444494 ] [ 0.01066429 0.99992138 -0.00659528 -0.02394787] [ 0.00370326 0.00655612 0.99997165 -0.03699297] [ 0. 0. 0. 1. ]] SLAMing on 0.520385723 meters Centerline goodness [0,1] 0.440600882028666 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.04 [[ 0.99989254 -0.01400843 -0.00432183 0.0502714 ] [ 0.01397562 0.99987399 -0.00752944 -0.02799791] [ 0.00442676 0.00746823 0.99996231 -0.04317003] [ 0. 0. 0. 1. ]] SLAMing on 0.550385723 meters Centerline goodness [0,1] 0.43472287103954277 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.05 [[ 0.99989238 -0.01389566 -0.00470528 0.05332507] [ 0.01386732 0.99988582 -0.00600383 -0.03166518] [ 0.00478817 0.00593793 0.99997091 -0.04628263] [ 0. 0. 0. 1. ]] SLAMing on 0.5803857229999999 meters Centerline goodness [0,1] 0.4479422185881712 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.04, Z:-0.05 [[ 0.99982978 -0.01785716 -0.00463972 0.05715588] [ 0.01782217 0.99981322 -0.00747607 -0.03603419] [ 0.00477235 0.0073921 0.99996129 -0.05088212] [ 0. 0. 0. 1. ]] SLAMing on 0.6103857229999999 meters Centerline goodness [0,1] 0.4531322823851953 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.04, Z:-0.05 [[ 0.99975858 -0.02144509 -0.00478374 0.06082852] [ 0.0214006 0.99972897 -0.00916498 -0.03737589] [ 0.00497899 0.00906039 0.99994656 -0.05476121] [ 0. 0. 0. 1. ]] SLAMing on 0.640385723 meters Centerline goodness [0,1] 0.4532136621562637 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.04, Z:-0.06 [[ 0.99976095 -0.02125286 -0.00513333 0.06421234] [ 0.02120906 0.99973943 -0.00844131 -0.04006002] [ 0.0053114 0.00833042 0.9999512 -0.05774833] [ 0. 0. 0. 1. ]] SLAMing on 0.6703857229999999 meters Centerline goodness [0,1] 0.443002028397566 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.04, Z:-0.06 [[ 0.99975301 -0.02127173 -0.00643698 0.07728095] [ 0.02120053 0.99971545 -0.0109343 -0.04334318] [ 0.00666774 0.01079514 0.9999195 -0.06269225] [ 0. 0. 0. 1. ]] SLAMing on 0.7003857229999999 meters Centerline goodness [0,1] 0.44329952524816574 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.05, Z:-0.07 [[ 0.9997568 -0.02110324 -0.00640201 0.07934462] [ 0.02103961 0.99973014 -0.0098476 -0.04646226] [ 0.0066081 0.00971051 0.99993102 -0.06534266] [ 0. 0. 0. 1. ]] SLAMing on 0.7303857229999999 meters Centerline goodness [0,1] 0.44638040781098287 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.05, Z:-0.07 [[ 0.99967742 -0.02436635 -0.0071648 0.08464245] [ 0.02429022 0.99964951 -0.01052839 -0.05109064] [ 0.00741883 0.01035096 0.99991891 -0.07066955] [ 0. 0. 0. 1. ]] SLAMing on 0.760385723 meters Centerline goodness [0,1] 0.4498558844920939 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:-0.07 [[ 0.99968615 -0.02373353 -0.00801995 0.08863138] [ 0.02366352 0.999682 -0.00871426 -0.05343564] [ 0.00822422 0.00852175 0.99992987 -0.07455471] [ 0. 0. 0. 1. ]] SLAMing on 0.790385723 meters Centerline goodness [0,1] 0.4498558844920939 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:-0.07 [[ 0.99968615 -0.02373353 -0.00801995 0.08863138] [ 0.02366352 0.999682 -0.00871426 -0.05343564] [ 0.00822422 0.00852175 0.99992987 -0.07455471] [ 0. 0. 0. 1. ]] SLAMing on 0.8203857229999999 meters Centerline goodness [0,1] 0.4353266561048307 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.06, Z:-0.08 [[ 0.99966563 -0.02352876 -0.01072502 0.09892074] [ 0.02346073 0.99970411 -0.00642537 -0.05637252] [ 0.01087303 0.0061716 0.99992184 -0.0824199 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8503857229999999 meters Centerline goodness [0,1] 0.44780116771117895 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.06, Z:-0.09 [[ 0.99968348 -0.0222275 -0.01178447 0.10423588] [ 0.02217153 0.99974237 -0.00485922 -0.0583295 ] [ 0.01188944 0.0045964 0.99991875 -0.08660673] [ 0. 0. 0. 1. ]] SLAMing on 0.880385723 meters Centerline goodness [0,1] 0.44545044207843243 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.06, Z:-0.09 [[ 0.99964191 -0.02304952 -0.01359285 0.11502436] [ 0.02294788 0.99970787 -0.00758688 -0.06336972] [ 0.01376376 0.00727223 0.99987883 -0.09120486] [ 0. 0. 0. 1. ]] SLAMing on 0.9103857229999999 meters Centerline goodness [0,1] 0.4465442051010968 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:-0.09 [[ 0.99966195 -0.02188428 -0.01403772 0.11925683] [ 0.02179543 0.99974164 -0.00645111 -0.06705966] [ 0.01417527 0.00614297 0.99988066 -0.09486331] [ 0. 0. 0. 1. ]] SLAMing on 0.9403857229999999 meters Centerline goodness [0,1] 0.4567741935483871 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:-0.10 [[ 0.99968865 -0.02037498 -0.01440381 0.12437293] [ 0.02032154 0.99978609 -0.00384711 -0.07400339] [ 0.01447912 0.00355321 0.99988886 -0.09943078] [ 0. 0. 0. 1. ]] SLAMing on 0.9703857229999999 meters Centerline goodness [0,1] 0.4598945830289114 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.08, Z:-0.10 [[ 0.99971079 -0.01941503 -0.01419098 0.1267197 ] [ 0.01943131 0.99981068 0.00101068 -0.07974079] [ 0.01416867 -0.00128614 0.99989879 -0.10320169] [ 0. 0. 0. 1. ]] SLAMing on 1.000385723 meters Centerline goodness [0,1] 0.4719689470119315 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.08, Z:-0.11 [[ 0.99972112 -0.01905438 -0.01395028 0.12788197] [ 0.01910034 0.99981255 0.00316854 -0.08477989] [ 0.01388729 -0.00343411 0.99989767 -0.10509832] [ 0. 0. 0. 1. ]] SLAMing on 1.030385723 meters Centerline goodness [0,1] 0.4718717683557394 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.09, Z:-0.11 [[ 0.99968937 -0.01969717 -0.01527028 0.13506346] [ 0.01981167 0.99977646 0.00738392 -0.0934827 ] [ 0.01512142 -0.00768415 0.99985614 -0.11205237] [ 0. 0. 0. 1. ]] SLAMing on 1.060385723 meters Centerline goodness [0,1] 0.48996168582375477 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.10, Z:-0.12 [[ 0.99957434 -0.02318637 -0.01770676 0.14507488] [ 0.02334211 0.9996902 0.00863996 -0.10068899] [ 0.01750094 -0.0090496 0.99980589 -0.11956469] [ 0. 0. 0. 1. ]] SLAMing on 1.090385723 meters Centerline goodness [0,1] 0.5016284158566995 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.10, Z:-0.12 [[ 0.99947649 -0.02640234 -0.01869903 0.15019773] [ 0.02653301 0.99962498 0.00677513 -0.10435736] [ 0.01851314 -0.00726772 0.9998022 -0.12367151] [ 0. 0. 0. 1. ]] SLAMing on 1.1203857229999998 meters Centerline goodness [0,1] 0.5019506179054138 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.11, Z:-0.13 [[ 0.9993054 -0.03067577 -0.02115913 0.16899479] [ 0.03071471 0.99952704 0.00151749 -0.10926568] [ 0.02110258 -0.00216633 0.99977497 -0.13173677] [ 0. 0. 0. 1. ]] SLAMing on 1.1503857229999999 meters Centerline goodness [0,1] 0.50702775965062 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.11, Z:-0.14 [[ 9.99177516e-01 -3.38881968e-02 -2.22684140e-02 1.74139243e-01] [ 3.38698806e-02 9.99425531e-01 -1.19927671e-03 -1.10171063e-01] [ 2.22962628e-02 4.44061806e-04 9.99751309e-01 -1.35126540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1803857229999999 meters Centerline goodness [0,1] 0.5138927028983697 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:-0.14 [[ 0.99902345 -0.03796191 -0.02260637 0.17904556] [ 0.03790893 0.99927736 -0.00276785 -0.11194378] [ 0.02269511 0.00190816 0.99974061 -0.13890716] [ 0. 0. 0. 1. ]] SLAMing on 1.210385723 meters Centerline goodness [0,1] 0.5159815081771636 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.11, Z:-0.14 [[ 0.99898431 -0.04161832 -0.01727041 0.19540109] [ 0.04167414 0.99912709 0.00288458 -0.1133676 ] [ 0.01713528 -0.00360138 0.99984669 -0.14217033] [ 0. 0. 0. 1. ]] SLAMing on 1.240385723 meters Centerline goodness [0,1] 0.5218537118989608 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.11, Z:-0.14 [[ 0.99896741 -0.04198053 -0.01737075 0.19672094] [ 0.04205322 0.99910799 0.00384088 -0.11489923] [ 0.01719401 -0.00456741 0.99984174 -0.14316922] [ 0. 0. 0. 1. ]] SLAMing on 1.270385723 meters Centerline goodness [0,1] 0.5221164544443071 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.12, Z:-0.15 [[ 0.9987812 -0.04609139 -0.01765522 0.20059531] [ 0.04612429 0.99893464 0.00146044 -0.11604958] [ 0.01756909 -0.00227299 0.99984307 -0.14559648] [ 0. 0. 0. 1. ]] SLAMing on 1.300385723 meters Centerline goodness [0,1] 0.525546363748611 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.12, Z:-0.15 [[ 0.99876878 -0.04606866 -0.01840107 0.20391944] [ 0.0461118 0.99893443 0.00192666 -0.11768089] [ 0.01829271 -0.0027728 0.99982883 -0.14790855] [ 0. 0. 0. 1. ]] SLAMing on 1.3303857229999998 meters Centerline goodness [0,1] 0.5256040789181999 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.12, Z:-0.15 [[ 9.98737785e-01 -4.58635987e-02 -2.04784795e-02 2.18324280e-01] [ 4.58598356e-02 9.98947670e-01 -6.53584614e-04 -1.18088355e-01] [ 2.04869051e-02 -2.86380053e-04 9.99790080e-01 -1.53871843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3603857229999998 meters Centerline goodness [0,1] 0.5037160998178865 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.12, Z:-0.16 [[ 9.98745568e-01 -4.52344001e-02 -2.14741756e-02 2.22603369e-01] [ 4.52502090e-02 9.98975653e-01 2.50590936e-04 -1.18781080e-01] [ 2.14408433e-02 -1.22198752e-03 9.99769372e-01 -1.57056588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3903857229999999 meters Centerline goodness [0,1] 0.5296878087334519 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.12, Z:-0.16 [[ 0.99879708 -0.04325717 -0.02309121 0.23011411] [ 0.04337698 0.99904766 0.00471292 -0.11693854] [ 0.02286535 -0.00570888 0.99972225 -0.16266177] [ 0. 0. 0. 1. ]] SLAMing on 1.4203857229999999 meters Centerline goodness [0,1] 0.5332806636381592 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.12, Z:-0.17 [[ 0.99862339 -0.04640073 -0.02446021 0.23676553] [ 0.04652454 0.99890693 0.004517 -0.11812482] [ 0.02422388 -0.00564878 0.9996906 -0.16725591] [ 0. 0. 0. 1. ]] SLAMing on 1.450385723 meters Centerline goodness [0,1] 0.5375789292646372 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.12, Z:-0.17 [[ 0.99843629 -0.04966015 -0.02566798 0.24133192] [ 0.04972438 0.99876123 0.00187007 -0.11925631] [ 0.02554331 -0.00314347 0.99966877 -0.16991739] [ 0. 0. 0. 1. ]] SLAMing on 1.480385723 meters Centerline goodness [0,1] 0.5327375879617229 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.12, Z:-0.18 [[ 9.98151161e-01 -5.30842822e-02 -2.96026761e-02 2.54483427e-01] [ 5.30946134e-02 9.98589390e-01 -4.37495966e-04 -1.22686219e-01] [ 2.95841425e-02 -1.13505554e-03 9.99561649e-01 -1.75375623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.510385723 meters Centerline goodness [0,1] 0.5417618191535882 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.12, Z:-0.18 [[ 0.99797536 -0.05566459 -0.03076741 0.2594797 ] [ 0.05559869 0.99844871 -0.00299395 -0.12380845] [ 0.03088634 0.00127726 0.99952209 -0.17820467] [ 0. 0. 0. 1. ]] SLAMing on 1.540385723 meters Centerline goodness [0,1] 0.5411461096908012 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.13, Z:-0.18 [[ 0.99799945 -0.05341229 -0.03382632 0.27440442] [ 0.05333252 0.9985715 -0.0032567 -0.12806575] [ 0.03395195 0.00144615 0.99942242 -0.18230782] [ 0. 0. 0. 1. ]] SLAMing on 1.570385723 meters Centerline goodness [0,1] 0.5356027482823236 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.13, Z:-0.18 [[ 9.98008443e-01 -5.26251703e-02 -3.47812980e-02 2.79322341e-01] [ 5.25992504e-02 9.98614321e-01 -1.66045084e-03 -1.30140100e-01] [ 3.48204838e-02 -1.72326242e-04 9.99393568e-01 -1.84066482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6003857229999998 meters Centerline goodness [0,1] 0.5303927606955039 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.13, Z:-0.18 [[ 9.97999628e-01 -5.25103376e-02 -3.52052089e-02 2.81123838e-01] [ 5.25014113e-02 9.98620154e-01 -1.17858848e-03 -1.30266061e-01] [ 3.52185193e-02 -6.72092290e-04 9.99379410e-01 -1.84754567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6303857229999998 meters Centerline goodness [0,1] 0.5060221578632833 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.13, Z:-0.18 [[ 9.98222433e-01 -5.23101285e-02 -2.85591574e-02 3.08478723e-01] [ 5.22888549e-02 9.98630888e-01 -1.49171424e-03 -1.27855825e-01] [ 2.85980885e-02 -4.26301777e-06 9.99590991e-01 -1.83851917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6603857229999999 meters Centerline goodness [0,1] 0.5037712484520995 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.13, Z:-0.18 [[ 9.98122894e-01 -5.69893578e-02 -2.24254683e-02 3.22766739e-01] [ 5.69908575e-02 9.98374536e-01 -5.72744978e-04 -1.26737687e-01] [ 2.24216569e-02 -7.06376792e-04 9.99748354e-01 -1.82782862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.690385723 meters Centerline goodness [0,1] 0.5150138109239953 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.13, Z:-0.18 [[ 0.99762137 -0.06738111 -0.01453939 0.33308085] [ 0.06733036 0.99772291 -0.00395317 -0.12535339] [ 0.01477266 0.00296482 0.99988648 -0.17888259] [ 0. 0. 0. 1. ]] SLAMing on 1.720385723 meters Centerline goodness [0,1] 0.5484590014784487 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.13, Z:-0.18 [[ 0.99685308 -0.07830513 -0.01233909 0.33018625] [ 0.07815356 0.99686518 -0.01232217 -0.12513259] [ 0.0132653 0.01131904 0.99984794 -0.17627295] [ 0. 0. 0. 1. ]] SLAMing on 1.750385723 meters Centerline goodness [0,1] 0.5730531295487628 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.13, Z:-0.18 [[ 0.99646194 -0.08310446 -0.0125398 0.33128588] [ 0.08289522 0.99642375 -0.01637369 -0.12507794] [ 0.01385568 0.01527627 0.99978731 -0.17616135] [ 0. 0. 0. 1. ]] SLAMing on 1.780385723 meters Centerline goodness [0,1] 0.580441212997042 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.12, Z:-0.18 [[ 0.99573419 -0.09181063 -0.00917819 0.34847943] [ 0.09166418 0.99567281 -0.01527527 -0.12407714] [ 0.0105409 0.0143688 0.9998412 -0.1786682 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8103857229999998 meters Centerline goodness [0,1] 0.5880066880563966 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.12, Z:-0.18 [[ 0.99562059 -0.09290581 -0.01039962 0.35124726] [ 0.09274052 0.99557143 -0.01538589 -0.12372392] [ 0.011783 0.01435405 0.99982755 -0.17955795] [ 0. 0. 0. 1. ]] SLAMing on 1.8403857229999998 meters Centerline goodness [0,1] 0.5967745573474681 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.12, Z:-0.18 [[ 0.99526654 -0.09695396 -0.0066667 0.36779109] [ 0.09687229 0.99522872 -0.01164285 -0.12284091] [ 0.00776371 0.01094192 0.99991 -0.17986874] [ 0. 0. 0. 1. ]] SLAMing on 1.8703857229999998 meters Centerline goodness [0,1] 0.5997966331487967 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.12, Z:-0.18 [[ 0.99523803 -0.09722457 -0.00697458 0.36834392] [ 0.09713791 0.99520046 -0.01184327 -0.12205323] [ 0.00809256 0.01110938 0.99990554 -0.17944826] [ 0. 0. 0. 1. ]] SLAMing on 1.9003857229999999 meters Centerline goodness [0,1] 0.597384939608874 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.18 [[ 9.95681576e-01 -9.28318176e-02 6.72644912e-04 3.77195963e-01] [ 9.28322907e-02 9.95587249e-01 -1.37184587e-02 -1.19517679e-01] [ 6.03832756e-04 1.37216597e-02 9.99905671e-01 -1.80347359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9303857229999999 meters Centerline goodness [0,1] 0.5964588880544366 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.18 [[ 9.96021365e-01 -8.91147280e-02 -7.64383368e-05 3.78946866e-01] [ 8.91094628e-02 9.95971136e-01 -1.00498586e-02 -1.21362322e-01] [ 9.71720797e-04 1.00030625e-02 9.99949496e-01 -1.81043557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.960385723 meters Centerline goodness [0,1] 0.5972429716148309 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.12, Z:-0.18 [[ 9.97049180e-01 -7.67645170e-02 3.74999715e-04 4.00135148e-01] [ 7.67638629e-02 9.96985650e-01 -1.12660457e-02 -1.20400463e-01] [ 4.90963218e-04 1.12615880e-02 9.99936466e-01 -1.80153769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.990385723 meters Centerline goodness [0,1] 0.5715615281592628 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.12, Z:-0.18 [[ 0.99752725 -0.07021461 -0.00304806 0.41048506] [ 0.07018315 0.99748957 -0.00942807 -0.11859027] [ 0.00370239 0.00919084 0.99995091 -0.18016365] [ 0. 0. 0. 1. ]] SLAMing on 2.020385723 meters Centerline goodness [0,1] 0.6014987927657054 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.12, Z:-0.18 [[ 0.99783598 -0.06562216 -0.00413494 0.41330247] [ 0.06560224 0.99783439 -0.00478349 -0.11994383] [ 0.00443989 0.00450187 0.99998001 -0.18175688] [ 0. 0. 0. 1. ]] SLAMing on 2.050385723 meters Centerline goodness [0,1] 0.5898632194633469 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:-0.18 [[ 9.98147513e-01 -6.05259430e-02 -6.17675251e-03 4.17999193e-01] [ 6.05255517e-02 9.98166617e-01 -2.50417886e-04 -1.19988631e-01] [ 6.18058493e-03 -1.23897364e-04 9.99980892e-01 -1.82781211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.080385723 meters Centerline goodness [0,1] 0.5859000684462696 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:-0.18 [[ 9.98179877e-01 -5.99140696e-02 -6.87294038e-03 4.19859466e-01] [ 5.99167461e-02 9.98203361e-01 1.84006492e-04 -1.20350802e-01] [ 6.84956761e-03 -5.95475802e-04 9.99976364e-01 -1.83257776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1103857230000003 meters Centerline goodness [0,1] 0.6020748759585024 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.12, Z:-0.18 [[ 0.99840088 -0.05651064 -0.00149064 0.43202395] [ 0.05650427 0.99839426 -0.00402118 -0.12169827] [ 0.00171549 0.00393052 0.9999908 -0.1830431 ] [ 0. 0. 0. 1. ]] SLAMing on 2.140385723 meters Centerline goodness [0,1] 0.5949960554491153 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.12, Z:-0.18 [[ 0.99840004 -0.05650125 -0.00223079 0.43378244] [ 0.05649317 0.99839674 -0.0035318 -0.12426685] [ 0.00242677 0.00340012 0.99999127 -0.18324197] [ 0. 0. 0. 1. ]] SLAMing on 2.1703857230000003 meters Centerline goodness [0,1] 0.6055505617977528 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.18 [[ 0.99818006 -0.06023144 -0.00295529 0.43657278] [ 0.06021047 0.99816298 -0.00673461 -0.12667836] [ 0.00335549 0.00654442 0.99997296 -0.18306706] [ 0. 0. 0. 1. ]] SLAMing on 2.200385723 meters Centerline goodness [0,1] 0.6083980430001347 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.18 [[ 0.99795754 -0.06369416 -0.0048788 0.44204028] [ 0.06364476 0.99792559 -0.00968811 -0.12825815] [ 0.00548576 0.00935781 0.99994117 -0.18410934] [ 0. 0. 0. 1. ]] SLAMing on 2.230385723 meters Centerline goodness [0,1] 0.6278819654500235 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.13, Z:-0.19 [[ 0.99794533 -0.06377133 -0.0061922 0.44596511] [ 0.06371447 0.99792774 -0.00898245 -0.13100018] [ 0.00675219 0.00856946 0.99994048 -0.18602798] [ 0. 0. 0. 1. ]] SLAMing on 2.260385723 meters Centerline goodness [0,1] 0.6386758264968095 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.19 [[ 0.99759019 -0.0687653 -0.00922695 0.45526854] [ 0.06861981 0.99752627 -0.01525325 -0.13347778] [ 0.01025301 0.01458334 0.99984109 -0.18677163] [ 0. 0. 0. 1. ]] SLAMing on 2.290385723 meters Centerline goodness [0,1] 0.646402949603536 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.14, Z:-0.19 [[ 0.99757893 -0.06880358 -0.01011614 0.4576773 ] [ 0.0686552 0.99753726 -0.01434883 -0.13624365] [ 0.01107848 0.01361956 0.99984588 -0.18759138] [ 0. 0. 0. 1. ]] SLAMing on 2.3203857230000002 meters Centerline goodness [0,1] 0.6537122714254241 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.14, Z:-0.19 [[ 0.99742047 -0.07146593 -0.00671018 0.47588395] [ 0.07140684 0.99740961 -0.00866738 -0.13904727] [ 0.00731222 0.00816587 0.99993992 -0.18991037] [ 0. 0. 0. 1. ]] SLAMing on 2.350385723 meters Centerline goodness [0,1] 0.6619220984296867 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.14, Z:-0.19 [[ 0.99710435 -0.07600768 -0.00239573 0.49343582] [ 0.0759915 0.9970889 -0.00624584 -0.14118266] [ 0.00286349 0.0060457 0.99997762 -0.19173118] [ 0. 0. 0. 1. ]] SLAMing on 2.3803857230000003 meters Centerline goodness [0,1] 0.6694043818121767 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:-0.19 [[ 0.99711406 -0.07585183 -0.00316943 0.49593811] [ 0.0758328 0.99710398 -0.00574822 -0.14345536] [ 0.00359626 0.00549128 0.99997846 -0.19262472] [ 0. 0. 0. 1. ]] SLAMing on 2.410385723 meters Centerline goodness [0,1] 0.6717523880303395 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.19 [[ 0.99743707 -0.07141003 -0.0044617 0.51647954] [ 0.07135396 0.99738283 -0.01166615 -0.14226896] [ 0.00528311 0.01131789 0.99992199 -0.19313757] [ 0. 0. 0. 1. ]] SLAMing on 2.440385723 meters Centerline goodness [0,1] 0.6793973370707779 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.14, Z:-0.19 [[ 0.99786636 -0.06494165 -0.00673192 0.53067435] [ 0.06486411 0.99783171 -0.01115953 -0.14237952] [ 0.00744205 0.01069906 0.99991507 -0.19487726] [ 0. 0. 0. 1. ]] SLAMing on 2.470385723 meters Centerline goodness [0,1] 0.6788262068361854 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.14, Z:-0.20 [[ 0.99789748 -0.0643683 -0.00757299 0.53321027] [ 0.06428273 0.99787058 -0.01104686 -0.1413147 ] [ 0.00826793 0.01053683 0.9999103 -0.19565334] [ 0. 0. 0. 1. ]] SLAMing on 2.500385723 meters Centerline goodness [0,1] 0.6955386909984207 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.20 [[ 0.99814747 -0.06018474 -0.00891243 0.53624848] [ 0.06012143 0.99816504 -0.00720895 -0.13926232] [ 0.00932995 0.00665976 0.9999343 -0.19580721] [ 0. 0. 0. 1. ]] SLAMing on 2.530385723 meters Centerline goodness [0,1] 0.6872692104800422 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.20 [[ 0.99837258 -0.05618002 -0.00979772 0.53788928] [ 0.05615029 0.99841693 -0.00328454 -0.13869848] [ 0.00996674 0.00272905 0.99994661 -0.19609422] [ 0. 0. 0. 1. ]] SLAMing on 2.560385723 meters Centerline goodness [0,1] 0.7027473981301817 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.20 [[ 0.99848058 -0.05395795 -0.01118388 0.54246508] [ 0.05393821 0.99854215 -0.00205933 -0.13451861] [ 0.01127869 0.00145296 0.99993534 -0.198024 ] [ 0. 0. 0. 1. ]] SLAMing on 2.5903857230000003 meters Centerline goodness [0,1] 0.7057254348640842 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.20 [[ 0.99850216 -0.05332709 -0.01223371 0.54700154] [ 0.05330508 0.99857603 -0.00211792 -0.13075842] [ 0.01232923 0.00146263 0.99992292 -0.20090076] [ 0. 0. 0. 1. ]] SLAMing on 2.620385723 meters Centerline goodness [0,1] 0.7188011864181681 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.20 [[ 0.99850935 -0.05302361 -0.01294531 0.54955606] [ 0.05299683 0.99859179 -0.0024038 -0.12750712] [ 0.01305454 0.00171416 0.99991332 -0.20234794] [ 0. 0. 0. 1. ]] SLAMing on 2.650385723 meters Centerline goodness [0,1] 0.725181517419011 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.21 [[ 0.99845199 -0.05371473 -0.01443425 0.55577193] [ 0.05366421 0.99855156 -0.00386521 -0.12067643] [ 0.01462096 0.00308462 0.99988835 -0.20623421] [ 0. 0. 0. 1. ]] SLAMing on 2.680385723 meters Centerline goodness [0,1] 0.7184429411112343 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.21 [[ 0.99843849 -0.05376284 -0.01517064 0.55912542] [ 0.0537064 0.99854834 -0.00410356 -0.11925685] [ 0.01536924 0.00328239 0.9998765 -0.20865458] [ 0. 0. 0. 1. ]] SLAMing on 2.710385723 meters Centerline goodness [0,1] 0.7184429411112343 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.21 [[ 0.99843849 -0.05376284 -0.01517064 0.55912542] [ 0.0537064 0.99854834 -0.00410356 -0.11925685] [ 0.01536924 0.00328239 0.9998765 -0.20865458] [ 0. 0. 0. 1. ]] SLAMing on 2.740385723 meters Centerline goodness [0,1] 0.7302257049092492 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.11, Z:-0.21 [[ 0.99833647 -0.05525101 -0.01648105 0.5647344 ] [ 0.05515173 0.99845735 -0.00641912 -0.11303594] [ 0.01681029 0.00549948 0.99984357 -0.21205316] [ 0. 0. 0. 1. ]] SLAMing on 2.770385723 meters Centerline goodness [0,1] 0.7429477662302605 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.10, Z:-0.21 [[ 0.99840265 -0.05362859 -0.01777968 0.56835512] [ 0.05353812 0.99855051 -0.00552632 -0.10409064] [ 0.01805028 0.0045656 0.99982666 -0.21309211] [ 0. 0. 0. 1. ]] SLAMing on 2.800385723 meters Centerline goodness [0,1] 0.7482441679275535 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.10, Z:-0.21 [[ 0.99854686 -0.05059815 -0.01854715 0.56988263] [ 0.05055828 0.9987177 -0.00261251 -0.10110015] [ 0.01865555 0.001671 0.99982457 -0.21355893] [ 0. 0. 0. 1. ]] SLAMing on 2.830385723 meters Centerline goodness [0,1] 0.7531859794189137 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.09, Z:-0.21 [[ 0.99852847 -0.05032391 -0.02020872 0.57470721] [ 0.0502589 0.99872932 -0.0037123 -0.09124248] [ 0.02036986 0.00269117 0.99978889 -0.21496169] [ 0. 0. 0. 1. ]] SLAMing on 2.8603857230000003 meters Centerline goodness [0,1] 0.7650157821831641 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.09, Z:-0.22 [[ 0.9979838 -0.06179205 -0.01449425 0.58983933] [ 0.06166814 0.99805751 -0.00884607 -0.08668711] [ 0.01501271 0.0079344 0.99985582 -0.21536615] [ 0. 0. 0. 1. ]] SLAMing on 2.890385723 meters Centerline goodness [0,1] 0.773370463447214 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.09, Z:-0.22 [[ 0.99788221 -0.0634226 -0.0144453 0.58972559] [ 0.06329521 0.99795325 -0.00911175 -0.08894602] [ 0.01499363 0.00817814 0.99985414 -0.21504592] [ 0. 0. 0. 1. ]] SLAMing on 2.920385723 meters Centerline goodness [0,1] 0.7777250327772504 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.09, Z:-0.21 [[ 0.99781917 -0.06431525 -0.01484751 0.59047108] [ 0.06418322 0.99789568 -0.0092043 -0.08953035] [ 0.01540824 0.00823127 0.9998474 -0.21472749] [ 0. 0. 0. 1. ]] SLAMing on 2.950385723 meters Centerline goodness [0,1] 0.7884932372931108 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.09, Z:-0.21 [[ 0.99742456 -0.07112691 -0.00923137 0.60415902] [ 0.07105255 0.9974393 -0.00814762 -0.08813814] [ 0.00978725 0.00747073 0.9999242 -0.21499392] [ 0. 0. 0. 1. ]] SLAMing on 2.980385723 meters Centerline goodness [0,1] 0.7976467399896113 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.21 [[ 0.99740425 -0.07138335 -0.0094437 0.6051694 ] [ 0.07130456 0.99741895 -0.00843165 -0.08714552] [ 0.0100212 0.00773638 0.99991986 -0.21471868] [ 0. 0. 0. 1. ]] SLAMing on 3.010385723 meters Centerline goodness [0,1] 0.8038941091434767 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.22 [[ 0.9975896 -0.06866943 -0.00997449 0.6078902 ] [ 0.06860468 0.99762145 -0.00669592 -0.08514607] [ 0.01041057 0.00599548 0.99992783 -0.21567448] [ 0. 0. 0. 1. ]] SLAMing on 3.040385723 meters Centerline goodness [0,1] 0.8084697910784867 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.22 [[ 0.99784213 -0.06484653 -0.01029621 0.60914435] [ 0.06482294 0.99789337 -0.00260969 -0.08674466] [ 0.01044375 0.00193663 0.99994359 -0.21686996] [ 0. 0. 0. 1. ]] SLAMing on 3.0703857230000002 meters Centerline goodness [0,1] 0.816386098289438 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.22 [[ 0.99814174 -0.05987972 -0.01129088 0.61245566] [ 0.0599042 0.99820243 0.00184203 -0.08628299] [ 0.01116028 -0.00251498 0.99993456 -0.21857197] [ 0. 0. 0. 1. ]] SLAMing on 3.100385723 meters Centerline goodness [0,1] 0.8182229870482747 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.09, Z:-0.22 [[ 0.99819256 -0.05887272 -0.01206697 0.61544907] [ 0.05890641 0.99826049 0.00245559 -0.08565554] [ 0.01190141 -0.00316198 0.99992418 -0.22016059] [ 0. 0. 0. 1. ]] SLAMing on 3.1303857230000003 meters Centerline goodness [0,1] 0.8245729154881773 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.09, Z:-0.22 [[ 0.99821027 -0.05832801 -0.01319474 0.62171121] [ 0.05836466 0.99829242 0.00240936 -0.08676042] [ 0.01303167 -0.00317516 0.99991004 -0.22393886] [ 0. 0. 0. 1. ]] SLAMing on 3.160385723 meters Centerline goodness [0,1] 0.8262050237610319 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.09, Z:-0.23 [[ 0.99824806 -0.05749308 -0.01397668 0.62496046] [ 0.05754258 0.99833803 0.00316537 -0.08762474] [ 0.01377147 -0.00396408 0.99989731 -0.22607068] [ 0. 0. 0. 1. ]] SLAMing on 3.190385723 meters Centerline goodness [0,1] 0.8314591518764395 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.09, Z:-0.23 [[ 0.99871528 -0.04877349 -0.01374533 0.63099007] [ 0.04873092 0.9988061 -0.00341526 -0.08899492] [ 0.01389549 0.00274105 0.9998997 -0.23070538] [ 0. 0. 0. 1. ]] SLAMing on 3.220385723 meters Centerline goodness [0,1] 0.8401581920903954 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.09, Z:-0.23 [[ 0.99892879 -0.04394468 -0.01449582 0.63410659] [ 0.04397358 0.99903128 0.00168068 -0.09146284] [ 0.01440792 -0.00231631 0.99989352 -0.23273226] [ 0. 0. 0. 1. ]] SLAMing on 3.250385723 meters Centerline goodness [0,1] 0.83989997972562 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.23 [[ 0.99897683 -0.04255956 -0.01529645 0.63704027] [ 0.04260201 0.99908909 0.00245995 -0.09089519] [ 0.01517783 -0.00310909 0.99987998 -0.23399057] [ 0. 0. 0. 1. ]] SLAMing on 3.280385723 meters Centerline goodness [0,1] 0.8476803189561435 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.24 [[ 9.99415110e-01 -3.06603526e-02 -1.51453517e-02 6.38109296e-01] [ 3.06570481e-02 9.99529861e-01 -4.50360723e-04 -9.07705883e-02] [ 1.51520394e-02 -1.42144618e-05 9.99885201e-01 -2.37223672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.310385723 meters Centerline goodness [0,1] 0.8479721323712366 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.24 [[ 9.99442484e-01 -2.93067539e-02 -1.59948355e-02 6.41512672e-01] [ 2.93184399e-02 9.99569999e-01 4.96566882e-04 -9.07247005e-02] [ 1.59734050e-02 -9.65233663e-04 9.99871951e-01 -2.39089102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3403857230000003 meters Centerline goodness [0,1] 0.8517691631148095 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.24 [[ 0.99951249 -0.02625947 -0.01688845 0.64574043] [ 0.02630743 0.99965046 0.00262379 -0.09056625] [ 0.01681364 -0.00306681 0.99985394 -0.24097679] [ 0. 0. 0. 1. ]] SLAMing on 3.370385723 meters Centerline goodness [0,1] 0.8549233343887105 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.24 [[ 0.99960583 -0.02272451 -0.016486 0.64458036] [ 0.02282923 0.9997202 0.00619195 -0.09150944] [ 0.01634067 -0.00656587 0.99984492 -0.23988336] [ 0. 0. 0. 1. ]] SLAMing on 3.400385723 meters Centerline goodness [0,1] 0.8576278808319281 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.24 [[ 0.99960339 -0.02260748 -0.0167917 0.64516023] [ 0.02270978 0.99972453 0.00592667 -0.09079301] [ 0.01665309 -0.00630566 0.99984144 -0.23925427] [ 0. 0. 0. 1. ]] SLAMing on 3.430385723 meters Centerline goodness [0,1] 0.8662906958455974 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.24 [[ 0.99959547 -0.02287612 -0.01689906 0.64564458] [ 0.02297898 0.99971843 0.00591787 -0.09131315] [ 0.01675892 -0.0063038 0.99983969 -0.23906468] [ 0. 0. 0. 1. ]] SLAMing on 3.460385723 meters Centerline goodness [0,1] 0.8744098845745522 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.24 [[ 0.9995835 -0.02323663 -0.01711374 0.64630043] [ 0.02334238 0.99970949 0.00600564 -0.09236311] [ 0.01696922 -0.00640261 0.99983551 -0.23948067] [ 0. 0. 0. 1. ]] SLAMing on 3.490385723 meters Centerline goodness [0,1] 0.8861162549117023 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.24 [[ 0.99947256 -0.02723144 -0.01769338 0.64849307] [ 0.0272737 0.99962569 0.00215136 -0.09173821] [ 0.01762817 -0.00263279 0.99984115 -0.24020028] [ 0. 0. 0. 1. ]] SLAMing on 3.520385723 meters Centerline goodness [0,1] 0.8949841843651152 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.24 [[ 0.99944013 -0.02818824 -0.01802339 0.64954831] [ 0.02823712 0.99959822 0.00246344 -0.09337936] [ 0.01794671 -0.00297099 0.99983453 -0.24112897] [ 0. 0. 0. 1. ]] SLAMing on 3.550385723 meters Centerline goodness [0,1] 0.8990765765765766 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.24 [[ 0.99942746 -0.02835338 -0.01846162 0.65075107] [ 0.02841128 0.99959217 0.00288134 -0.09454159] [ 0.0183724 -0.00340421 0.99982542 -0.24169841] [ 0. 0. 0. 1. ]] SLAMing on 3.580385723 meters Centerline goodness [0,1] 0.9028725920919229 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.10, Z:-0.24 [[ 0.99942293 -0.0283024 -0.01878273 0.65197055] [ 0.02837262 0.99959135 0.00348261 -0.09575427] [ 0.01867649 -0.00401351 0.99981752 -0.24257834] [ 0. 0. 0. 1. ]] SLAMing on 3.610385723 meters Centerline goodness [0,1] 0.9131700710980701 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.10, Z:-0.24 [[ 0.99941268 -0.02822686 -0.01943052 0.65404253] [ 0.02830795 0.9995916 0.00391065 -0.09547526] [ 0.0193122 -0.0044584 0.99980356 -0.24352827] [ 0. 0. 0. 1. ]] SLAMing on 3.640385723 meters Centerline goodness [0,1] 0.9178165721899771 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.24 [[ 0.99940227 -0.02790937 -0.0204001 0.6565651 ] [ 0.02799181 0.99960106 0.00376678 -0.09256015] [ 0.02028683 -0.00433557 0.9997848 -0.24387575] [ 0. 0. 0. 1. ]] SLAMing on 3.670385723 meters Centerline goodness [0,1] 0.9239797883669816 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.24 [[ 0.99939613 -0.02816535 -0.02034915 0.65651472] [ 0.02825253 0.99959278 0.00400932 -0.09375231] [ 0.02022794 -0.00458181 0.9997849 -0.24397767] [ 0. 0. 0. 1. ]] SLAMing on 3.700385723 meters Centerline goodness [0,1] 0.9270684695703382 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:-0.24 [[ 0.99938133 -0.02855194 -0.02053655 0.65739955] [ 0.02865326 0.99957857 0.00465615 -0.09615686] [ 0.02039495 -0.00524171 0.99977826 -0.24483035] [ 0. 0. 0. 1. ]] SLAMing on 3.730385723 meters Centerline goodness [0,1] 0.9329949468627495 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:-0.25 [[ 0.99937636 -0.02827276 -0.02115509 0.65962024] [ 0.02839339 0.99958211 0.00542349 -0.09754224] [ 0.02099291 -0.00602077 0.9997615 -0.24617686] [ 0. 0. 0. 1. ]] SLAMing on 3.760385723 meters Centerline goodness [0,1] 0.9359999999999999 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:-0.25 [[ 0.99937787 -0.02792713 -0.02153937 0.66102455] [ 0.02806181 0.99958833 0.005976 -0.09843529] [ 0.02136361 -0.00657672 0.99975014 -0.24703913] [ 0. 0. 0. 1. ]] SLAMing on 3.790385723 meters Centerline goodness [0,1] 0.9406946933774984 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:-0.25 [[ 0.99937652 -0.02750585 -0.02213593 0.66262693] [ 0.02765251 0.99959745 0.006347 -0.09865936] [ 0.02195244 -0.00695516 0.99973482 -0.247342 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8203857230000002 meters Centerline goodness [0,1] 0.9420831916581661 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:-0.25 [[ 0.99937049 -0.02692859 -0.02309709 0.66496008] [ 0.02708311 0.99961268 0.00640309 -0.09747398] [ 0.02291572 -0.0070246 0.99971272 -0.24761644] [ 0. 0. 0. 1. ]] SLAMing on 3.850385723 meters Centerline goodness [0,1] 0.9444557477110885 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.25 [[ 0.9993686 -0.02596255 -0.02425591 0.66801718] [ 0.02614075 0.99963335 0.00705831 -0.0973912 ] [ 0.02406377 -0.00768792 0.99968086 -0.24827222] [ 0. 0. 0. 1. ]] SLAMing on 3.880385723 meters Centerline goodness [0,1] 0.947750198345234 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.25 [[ 0.99936419 -0.02558995 -0.02482697 0.66947864] [ 0.02577205 0.99964304 0.00704251 -0.09661735] [ 0.02463789 -0.00767787 0.99966696 -0.24846626] [ 0. 0. 0. 1. ]] SLAMing on 3.910385723 meters Centerline goodness [0,1] 0.9499059319536687 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.25 [[ 0.99939763 -0.02357937 -0.02546351 0.67209847] [ 0.02378931 0.9996852 0.00797358 -0.09586162] [ 0.02526748 -0.00857454 0.99964395 -0.24905818] [ 0. 0. 0. 1. ]] SLAMing on 3.940385723 meters Centerline goodness [0,1] 0.9532720905907499 Centerline is valid? [False, True] Translation: X:0.67, Y:-0.09, Z:-0.25 [[ 0.99970326 -0.01201377 -0.02119101 0.6717905 ] [ 0.01205229 0.99992594 0.00169115 -0.09440924] [ 0.02116912 -0.00194605 0.99977402 -0.24952007] [ 0. 0. 0. 1. ]] SLAMing on 3.970385723 meters Centerline goodness [0,1] 0.9543169150267319 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.09, Z:-0.25 [[ 9.99773458e-01 -7.31516159e-03 -1.99880455e-02 7.01605334e-01] [ 7.29490502e-03 9.99972802e-01 -1.08616026e-03 -8.88561233e-02] [ 1.99954473e-02 9.40103308e-04 9.99799629e-01 -2.47693520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.000385723 meters Centerline goodness [0,1] 0.9563388288800455 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.08, Z:-0.24 [[ 9.99876807e-01 1.95720034e-03 -1.55737306e-02 7.32101582e-01] [-1.97062074e-03 9.99997700e-01 -8.46433928e-04 -8.37549898e-02] [ 1.55720382e-02 8.77019570e-04 9.99878364e-01 -2.44173352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.030385722999999 meters Centerline goodness [0,1] 0.9561715932034209 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.08, Z:-0.24 [[ 9.99895988e-01 6.23761701e-03 -1.30040833e-02 7.62643913e-01] [-6.24733520e-03 9.99980235e-01 -7.06829666e-04 -7.85088344e-02] [ 1.29994174e-02 7.87997015e-04 9.99915194e-01 -2.41053615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.060385723 meters Centerline goodness [0,1] 0.9557395319216685 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.07, Z:-0.24 [[ 9.99860422e-01 1.39166195e-02 -9.24470769e-03 7.91642522e-01] [-1.39218577e-02 9.99902960e-01 -5.02503789e-04 -7.15045051e-02] [ 9.23681743e-03 6.31137155e-04 9.99957141e-01 -2.36966006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.090385723 meters Centerline goodness [0,1] 0.9518198362147406 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.07, Z:-0.24 [[ 9.99769213e-01 1.93514292e-02 -9.32962959e-03 8.20661821e-01] [-1.93570010e-02 9.99812507e-01 -5.07275984e-04 -6.65290801e-02] [ 9.31806383e-03 6.87752560e-04 9.99956349e-01 -2.35962929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.120385722999999 meters Centerline goodness [0,1] 0.9493627751652696 Centerline is valid? [True, False] Translation: X:0.82, Y:-0.07, Z:-0.24 [[ 9.99745232e-01 2.01813986e-02 -1.01085579e-02 8.22957442e-01] [-2.01787437e-02 9.99796322e-01 3.64571819e-04 -6.72931100e-02] [ 1.01138566e-02 -1.60500938e-04 9.99948841e-01 -2.36999960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.150385722999999 meters Centerline goodness [0,1] 0.9496819627442071 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.07, Z:-0.24 [[ 9.99758822e-01 1.91386746e-02 -1.07707570e-02 8.25634755e-01] [-1.91493650e-02 9.99816238e-01 -8.90278560e-04 -6.89341739e-02] [ 1.07517389e-02 1.09631700e-03 9.99941597e-01 -2.38332753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.180385723 meters Centerline goodness [0,1] 0.9479494910566525 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.07, Z:-0.24 [[ 9.99740890e-01 1.96813430e-02 -1.14366881e-02 8.27588079e-01] [-1.96791509e-02 9.99806300e-01 3.04190456e-04 -7.18836606e-02] [ 1.14404597e-02 -7.90473253e-05 9.99934553e-01 -2.39528077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.210385723 meters Centerline goodness [0,1] 0.9541108122160182 Centerline is valid? [False, True] Translation: X:0.83, Y:-0.07, Z:-0.24 [[ 0.99979067 0.01634958 -0.01230059 0.82920355] [-0.01638478 0.99986194 -0.00276573 -0.07370248] [ 0.01225367 0.00296669 0.99992052 -0.23939136] [ 0. 0. 0. 1. ]] SLAMing on 4.240385722999999 meters Centerline goodness [0,1] 0.9566139954853273 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.08, Z:-0.24 [[ 9.99861080e-01 1.25819589e-02 -1.09323328e-02 8.59320632e-01] [-1.25897689e-02 9.99920537e-01 -6.45866986e-04 -7.60066610e-02] [ 1.09233378e-02 7.83412804e-04 9.99940032e-01 -2.38463695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2703857229999995 meters Centerline goodness [0,1] 0.9609406676577916 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.08, Z:-0.24 [[ 9.99881181e-01 1.01305245e-02 -1.16187575e-02 8.89409583e-01] [-1.01391810e-02 9.99948362e-01 -6.86374797e-04 -7.69304342e-02] [ 1.16112042e-02 8.04097929e-04 9.99932264e-01 -2.38146042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.300385723 meters Centerline goodness [0,1] 0.9703776845223402 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.08, Z:-0.23 [[ 9.99941654e-01 4.22630873e-03 -9.94118698e-03 9.19124602e-01] [-4.23235853e-03 9.99990871e-01 -5.87599705e-04 -8.16511752e-02] [ 9.93861285e-03 6.29640089e-04 9.99950413e-01 -2.34658271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.330385723 meters Centerline goodness [0,1] 0.9764030326140595 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.08, Z:-0.23 [[ 9.99963872e-01 -1.54340147e-04 -8.49883241e-03 9.49284814e-01] [ 1.50075496e-04 9.99999863e-01 -5.02427931e-04 -8.30245437e-02] [ 8.49890879e-03 5.01134313e-04 9.99963758e-01 -2.31944653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.360385722999999 meters Centerline goodness [0,1] 0.9844723966129717 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.09, Z:-0.23 [[ 9.99942362e-01 -8.89393902e-03 -6.01416116e-03 9.78814646e-01] [ 8.89196187e-03 9.99960403e-01 -3.55409301e-04 -8.81284123e-02] [ 6.01708400e-03 3.01911124e-04 9.99981852e-01 -2.28049970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.390385723 meters Centerline goodness [0,1] 0.9904045701024257 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.09, Z:-0.22 [[ 9.99828460e-01 -1.80958337e-02 -3.94863928e-03 1.00975031e+00] [ 1.80950521e-02 9.99836244e-01 -2.33594369e-04 -9.19794573e-02] [ 3.95221975e-03 1.62103465e-04 9.99992177e-01 -2.23817883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.420385723 meters Centerline goodness [0,1] 0.9932439990156819 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.09, Z:-0.22 [[ 9.99760014e-01 -2.17406139e-02 -2.69434853e-03 1.03930154e+00] [ 2.17402638e-02 9.99763640e-01 -1.59150544e-04 -9.20472665e-02] [ 2.69717172e-03 1.00536502e-04 9.99996358e-01 -2.21541550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.450385722999999 meters Centerline goodness [0,1] 0.9952676458770481 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.09, Z:-0.22 [[ 9.99629366e-01 -2.70397828e-02 -3.15931478e-03 1.06988524e+00] [ 2.70393268e-02 9.99634353e-01 -1.86976123e-04 -9.23092858e-02] [ 3.16321538e-03 1.01481078e-04 9.99994992e-01 -2.22397490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4803857229999995 meters Centerline goodness [0,1] 0.9963112005365526 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.09, Z:-0.22 [[ 9.99552353e-01 -2.94639628e-02 -5.19308238e-03 1.10115398e+00] [ 2.94627632e-02 9.99565831e-01 -3.07375907e-04 -9.04025102e-02] [ 5.19988422e-03 1.54235755e-04 9.99986469e-01 -2.24290632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.510385723 meters Centerline goodness [0,1] 0.9970713822628602 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.09, Z:-0.23 [[ 9.99461376e-01 -3.20814272e-02 -6.90945715e-03 1.13236296e+00] [ 3.20793683e-02 9.99485241e-01 -4.08638143e-04 -8.67723978e-02] [ 6.91901014e-03 1.86767020e-04 9.99976046e-01 -2.26797502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.540385723 meters Centerline goodness [0,1] 0.9967781631054928 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.08, Z:-0.23 [[ 9.99471350e-01 -3.19586379e-02 -5.97207503e-03 1.16366856e+00] [ 3.19570974e-02 9.99489179e-01 -3.53215237e-04 -8.16998358e-02] [ 5.98031265e-03 1.62178326e-04 9.99982105e-01 -2.25374454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.570385722999999 meters Centerline goodness [0,1] 0.9971280486436761 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.07, Z:-0.22 [[ 9.99419325e-01 -3.36223702e-02 -5.52716653e-03 1.19532285e+00] [ 3.36210765e-02 9.99434598e-01 -3.26848660e-04 -7.43575349e-02] [ 5.53503089e-03 1.40829579e-04 9.99984672e-01 -2.23729665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.600385723 meters Centerline goodness [0,1] 0.9971280486436761 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.07, Z:-0.22 [[ 9.99422043e-01 -3.35414865e-02 -5.52716873e-03 1.22782468e+00] [ 3.35401917e-02 9.99437316e-01 -3.26811965e-04 -7.25566102e-02] [ 5.53502044e-03 1.41240783e-04 9.99984672e-01 -2.23235785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.630385723 meters Centerline goodness [0,1] 0.9979737487898778 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.07, Z:-0.22 [[ 9.99343512e-01 -3.56069766e-02 -6.68487731e-03 1.25846354e+00] [ 3.56051364e-02 9.99365858e-01 -3.94113913e-04 -6.72027171e-02] [ 6.69467135e-03 1.55839213e-04 9.99977578e-01 -2.24163798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.660385722999999 meters Centerline goodness [0,1] 0.9977533643369055 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.06, Z:-0.23 [[ 9.99299295e-01 -3.66856988e-02 -7.42153790e-03 1.29050132e+00] [ 3.66834624e-02 9.99326840e-01 -4.37288803e-04 -6.47576773e-02] [ 7.43258426e-03 1.64734686e-04 9.99972364e-01 -2.25736744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6903857229999995 meters Centerline goodness [0,1] 0.9989639639639639 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.07, Z:-0.22 [[ 9.99029900e-01 -4.35291587e-02 -6.66867233e-03 1.32246045e+00] [ 4.35275080e-02 9.99052152e-01 -3.92536201e-04 -7.02909890e-02] [ 6.67943821e-03 1.01884714e-04 9.99977687e-01 -2.24839726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.720385723 meters Centerline goodness [0,1] 0.9989639872975834 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.07, Z:-0.22 [[ 9.98902259e-01 -4.62502264e-02 -7.42927777e-03 1.35477573e+00] [ 4.62482549e-02 9.98929881e-01 -4.37051770e-04 -7.01854709e-02] [ 7.44154131e-03 9.29808687e-05 9.99972307e-01 -2.24687574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.750385723 meters Centerline goodness [0,1] 0.9996170394899867 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.08, Z:-0.23 [[ 9.98650477e-01 -5.13280293e-02 -7.91572776e-03 1.38787046e+00] [ 5.13259440e-02 9.98681846e-01 -4.66497335e-04 -7.82306148e-02] [ 7.92923800e-03 5.95855867e-05 9.99968561e-01 -2.28314071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.780385722999999 meters Centerline goodness [0,1] 0.9995944118972511 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.08, Z:-0.23 [[ 9.98575039e-01 -5.26060572e-02 -8.97190443e-03 1.42030863e+00] [ 5.26034622e-02 9.98615341e-01 -5.25133230e-04 -7.66495207e-02] [ 8.98710660e-03 5.24317000e-05 9.99959614e-01 -2.27994599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.810385723 meters Centerline goodness [0,1] 0.9996167286664412 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.07, Z:-0.23 [[ 9.98598619e-01 -5.19993204e-02 -9.84220205e-03 1.45245338e+00] [ 5.19961703e-02 9.98647118e-01 -5.75844202e-04 -7.41194371e-02] [ 9.85883022e-03 6.32804107e-05 9.99951399e-01 -2.27574145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.840385723 meters Centerline goodness [0,1] 0.9997521629416006 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.07, Z:-0.23 [[ 9.98660428e-01 -5.02163846e-02 -1.24765186e-02 1.48471617e+00] [ 5.02112150e-02 9.98738356e-01 -7.27441795e-04 -7.11689667e-02] [ 1.24973071e-02 1.00006178e-04 9.99921901e-01 -2.28305365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.870385722999999 meters Centerline goodness [0,1] 0.9998201034405217 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.07, Z:-0.23 [[ 9.98693229e-01 -4.92829699e-02 -1.35285742e-02 1.51680741e+00] [ 4.92768596e-02 9.98784849e-01 -7.84832507e-04 -7.07608309e-02] [ 1.35508138e-02 1.17161259e-04 9.99908177e-01 -2.29285048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.900385722999999 meters Centerline goodness [0,1] 0.9992815930673731 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.07, Z:-0.23 [[ 9.98879122e-01 -4.52386355e-02 -1.39271180e-02 1.54867200e+00] [ 4.52317799e-02 9.98976193e-01 -8.07003637e-04 -6.74890893e-02] [ 1.39493671e-02 1.76150747e-04 9.99902687e-01 -2.28680706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.930385723 meters Centerline goodness [0,1] 0.9994372917979653 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.06, Z:-0.23 [[ 9.99183560e-01 -3.79329065e-02 -1.39034931e-02 1.57977046e+00] [ 3.79253801e-02 9.99280250e-01 -8.04687091e-04 -6.05442649e-02] [ 1.39240102e-02 2.76734853e-04 9.99903018e-01 -2.25535453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.960385723 meters Centerline goodness [0,1] 0.9994141373171995 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.06, Z:-0.22 [[ 9.99307265e-01 -3.46948443e-02 -1.34631696e-02 1.61055505e+00] [ 3.46874988e-02 9.99397904e-01 -7.78795023e-04 -5.66311528e-02] [ 1.34820837e-02 3.11251845e-04 9.99909064e-01 -2.24565643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.990385722999999 meters Centerline goodness [0,1] 0.9996847769797131 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.06, Z:-0.23 [[ 9.99470846e-01 -2.95865176e-02 -1.35153753e-02 1.64140477e+00] [ 2.95786581e-02 9.99562151e-01 -7.81083899e-04 -5.89005967e-02] [ 1.35325671e-02 3.80903921e-04 9.99908358e-01 -2.25675246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0203857229999995 meters Centerline goodness [0,1] 0.999549995499955 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.06, Z:-0.23 [[ 9.99546422e-01 -2.68603761e-02 -1.36187742e-02 1.67229412e+00] [ 2.68521457e-02 9.99639106e-01 -7.86877419e-04 -5.53519307e-02] [ 1.36349951e-02 4.20827201e-04 9.99906951e-01 -2.25829712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.050385723 meters Centerline goodness [0,1] 0.9997072467684547 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.05, Z:-0.22 [[ 9.99687315e-01 -2.06981663e-02 -1.40306375e-02 1.70327483e+00] [ 2.06888351e-02 9.99785635e-01 -8.09894780e-04 -5.06762496e-02] [ 1.40443931e-02 5.19363993e-04 9.99901238e-01 -2.24193572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.080385722999999 meters Centerline goodness [0,1] 0.9996162701458173 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.04, Z:-0.22 [[ 9.99845777e-01 -1.30781709e-02 -1.17210980e-02 1.73212123e+00] [ 1.30711393e-02 9.99914340e-01 -6.76320600e-04 -4.34308520e-02] [ 1.17289390e-02 5.23008191e-04 9.99931077e-01 -2.21969363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.110385722999999 meters Centerline goodness [0,1] 0.9994118977606876 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.04, Z:-0.22 [[ 9.99903626e-01 -9.22616747e-03 -1.03738755e-02 1.76236220e+00] [ 9.22045149e-03 9.99957312e-01 -5.98690481e-04 -4.32335156e-02] [ 1.03789562e-02 5.02980967e-04 9.99946011e-01 -2.21903593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.140385723 meters Centerline goodness [0,1] 0.9990272153473746 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.04, Z:-0.22 [[ 9.99938957e-01 -5.91694688e-04 -1.10332021e-02 1.79165559e+00] [ 5.84702961e-04 9.99999626e-01 -6.36913694e-04 -3.55123819e-02] [ 1.10335748e-02 6.30423669e-04 9.99938930e-01 -2.22223052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.170385723 meters Centerline goodness [0,1] 0.9993232268543584 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.03, Z:-0.22 [[ 9.99921474e-01 2.52378283e-03 -1.22749891e-02 1.82192145e+00] [-2.53267522e-03 9.99996541e-01 -7.08940285e-04 -3.31674938e-02] [ 1.22731575e-02 7.39973176e-04 9.99924408e-01 -2.22395275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.200385722999999 meters Centerline goodness [0,1] 0.9991812413291182 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.03, Z:-0.22 [[ 9.99911823e-01 2.22573566e-03 -1.30916747e-02 1.85087979e+00] [-2.23582797e-03 9.99997215e-01 -7.56309294e-04 -2.92769851e-02] [ 1.30899549e-02 7.85513337e-04 9.99914014e-01 -2.18922953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2303857229999995 meters Centerline goodness [0,1] 0.9991350859223853 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.03, Z:-0.22 [[ 9.99916555e-01 -2.87993674e-04 -1.29151031e-02 1.87930120e+00] [ 2.78369350e-04 9.99999682e-01 -7.46990594e-04 -2.75817919e-02] [ 1.29153142e-02 7.43333093e-04 9.99916318e-01 -2.19374023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.260385723 meters Centerline goodness [0,1] 0.9991343371984418 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.03, Z:-0.22 [[ 9.99925502e-01 -1.45470155e-03 -1.21192050e-02 1.90851368e+00] [ 1.44630626e-03 9.99998708e-01 -7.01461865e-04 -2.98249757e-02] [ 1.21202097e-02 6.83881525e-04 9.99926314e-01 -2.20277264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.290385722999999 meters Centerline goodness [0,1] 0.999432282677809 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.03, Z:-0.22 [[ 9.99937521e-01 -1.69675778e-03 -1.10487918e-02 1.93716927e+00] [ 1.68978787e-03 9.99998367e-01 -6.40135248e-04 -3.35327345e-02] [ 1.10498599e-02 6.21425138e-04 9.99938755e-01 -2.19443554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.320385722999999 meters Centerline goodness [0,1] 0.999499294460376 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.03, Z:-0.22 [[ 9.99925193e-01 -5.73778623e-04 -1.22180096e-02 1.96456391e+00] [ 5.65161331e-04 9.99999589e-01 -7.08735289e-04 -2.88517374e-02] [ 1.22184113e-02 7.01777124e-04 9.99925106e-01 -2.19324085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.350385723 meters Centerline goodness [0,1] 0.9994763205828779 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.03, Z:-0.22 [[ 9.99914189e-01 9.73110133e-05 -1.30998097e-02 1.99326740e+00] [-1.07285711e-04 9.99999705e-01 -7.60737798e-04 -2.67046159e-02] [ 1.30997318e-02 7.62077941e-04 9.99913904e-01 -2.20326511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.380385723 meters Centerline goodness [0,1] 0.9992939461577005 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.02, Z:-0.22 [[ 9.99913738e-01 5.56154719e-04 -1.31227661e-02 2.02131918e+00] [-5.66246946e-04 9.99999547e-01 -7.65359461e-04 -2.34093561e-02] [ 1.31223345e-02 7.72724166e-04 9.99913600e-01 -2.20187963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.410385722999999 meters Centerline goodness [0,1] 0.9993153029784321 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.02, Z:-0.22 [[ 9.99924917e-01 -5.14871268e-05 -1.22538913e-02 2.05030191e+00] [ 4.27209564e-05 9.99999743e-01 -7.15639187e-04 -2.10937014e-02] [ 1.22539250e-02 7.15061957e-04 9.99924662e-01 -2.18056471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4403857229999995 meters Centerline goodness [0,1] 0.9994071777098819 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.02, Z:-0.22 [[ 9.99923612e-01 -1.91755736e-03 -1.22103939e-02 2.07796855e+00] [ 1.90898304e-03 9.99997923e-01 -7.13831214e-04 -1.77354486e-02] [ 1.22117374e-02 6.90467251e-04 9.99925196e-01 -2.15173824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.470385723 meters Centerline goodness [0,1] 0.9993839976272502 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.02, Z:-0.21 [[ 9.99934502e-01 -2.69415495e-03 -1.11235359e-02 2.10552166e+00] [ 2.68707959e-03 9.99996178e-01 -6.50968127e-04 -1.56269533e-02] [ 1.11252472e-02 6.21035663e-04 9.99937920e-01 -2.14371186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.500385723 meters Centerline goodness [0,1] 0.9992933989788475 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.02, Z:-0.22 [[ 9.99924498e-01 -4.04474098e-03 -1.16034078e-02 2.13446853e+00] [ 4.03711640e-03 9.99991619e-01 -6.80445827e-04 -1.55879320e-02] [ 1.16060628e-02 6.33550144e-04 9.99932447e-01 -2.16690601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.530385722999999 meters Centerline goodness [0,1] 0.9995210618742445 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.02, Z:-0.22 [[ 9.99912454e-01 -4.94514613e-03 -1.22731183e-02 2.16366542e+00] [ 4.93667920e-03 9.99987555e-01 -7.20075064e-04 -1.83518496e-02] [ 1.22765264e-02 6.59423577e-04 9.99924423e-01 -2.18842850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.560385723 meters Centerline goodness [0,1] 0.9995893692255048 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.02, Z:-0.22 [[ 9.99888859e-01 -7.12638789e-03 -1.30951828e-02 2.19286380e+00] [ 7.11688854e-03 9.99974377e-01 -7.71865243e-04 -1.61706867e-02] [ 1.31003479e-02 6.78582500e-04 9.99913957e-01 -2.20873695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.590385723 meters Centerline goodness [0,1] 0.9996573934493628 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.01, Z:-0.22 [[ 9.99888068e-01 -8.25049208e-03 -1.24811849e-02 2.22112734e+00] [ 8.24195171e-03 9.99965764e-01 -7.35542879e-04 -1.30203775e-02] [ 1.24868262e-02 6.32591225e-04 9.99921836e-01 -2.19153766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.620385722999999 meters Centerline goodness [0,1] 0.9995670403791814 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.01, Z:-0.21 [[ 9.99907684e-01 -9.60718970e-03 -9.60860451e-03 2.24851317e+00] [ 9.60217018e-03 9.99953737e-01 -5.68395640e-04 -7.02855201e-03] [ 9.61362066e-03 4.76079713e-04 9.99953675e-01 -2.14656749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.650385722999999 meters Centerline goodness [0,1] 0.9996571193453265 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.01, Z:-0.21 [[ 9.99894966e-01 -1.18205066e-02 -8.38647087e-03 2.27873420e+00] [ 1.18167518e-02 9.99930056e-01 -4.97134709e-04 -5.83778103e-03] [ 8.39176067e-03 3.97981648e-04 9.99964709e-01 -2.13445241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.680385723 meters Centerline goodness [0,1] 0.9997486920563844 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.00, Z:-0.21 [[ 9.99875048e-01 -1.31724116e-02 -8.73929971e-03 2.30927458e+00] [ 1.31683849e-02 9.99913159e-01 -5.18149362e-04 -4.58538784e-03] [ 8.74536605e-03 4.03002157e-04 9.99961677e-01 -2.13179638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.710385723 meters Centerline goodness [0,1] 0.9997717416115042 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.00, Z:-0.21 [[ 9.99801911e-01 -1.70594714e-02 -1.02525066e-02 2.33917769e+00] [ 1.70541362e-02 9.99854383e-01 -6.07590737e-04 -4.86154797e-03] [ 1.02613789e-02 4.32622736e-04 9.99947257e-01 -2.14220715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.740385722999999 meters Centerline goodness [0,1] 0.9998631854976627 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.01, Z:-0.22 [[ 9.99674451e-01 -2.12619052e-02 -1.41040369e-02 2.36956083e+00] [ 2.12522255e-02 9.99773797e-01 -8.35842635e-04 -6.35702100e-03] [ 1.41186181e-02 5.35828355e-04 9.99900184e-01 -2.19214800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7703857229999995 meters Centerline goodness [0,1] 0.9999772582552533 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.02, Z:-0.22 [[ 9.99621413e-01 -2.30945167e-02 -1.49557670e-02 2.40187815e+00] [ 2.30838372e-02 9.99733140e-01 -8.86327751e-04 -1.54229913e-02] [ 1.49722452e-02 5.40755708e-04 9.99887763e-01 -2.20395405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.800385723 meters Centerline goodness [0,1] 0.9999773139745917 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.01, Z:-0.22 [[ 9.99566164e-01 -2.49912355e-02 -1.55859651e-02 2.43273416e+00] [ 2.49798791e-02 9.99687528e-01 -9.22914559e-04 -1.35140364e-02] [ 1.56041597e-02 5.33178643e-04 9.99878106e-01 -2.20128091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.830385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.01, Z:-0.22 [[ 9.99553810e-01 -2.54279244e-02 -1.56716912e-02 2.46479780e+00] [ 2.54165091e-02 9.99676518e-01 -9.27174065e-04 -1.39257676e-02] [ 1.56901978e-02 5.28440686e-04 9.99876762e-01 -2.20067142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.860385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.01, Z:-0.22 [[ 9.99593655e-01 -2.44752145e-02 -1.46112320e-02 2.49530927e+00] [ 2.44652042e-02 9.99700309e-01 -8.63487363e-04 -1.10114873e-02] [ 1.46279872e-02 5.05669715e-04 9.99892877e-01 -2.18454423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.01, Z:-0.22 [[ 9.99663263e-01 -2.24504010e-02 -1.30130738e-02 2.52750265e+00] [ 2.24422937e-02 9.99747844e-01 -7.68724309e-04 -8.23863395e-03] [ 1.30270506e-02 4.76422227e-04 9.99915031e-01 -2.15382903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.920385723 meters Centerline goodness [0,1] 0.9999772510123299 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.00, Z:-0.21 [[ 9.99777107e-01 -1.81951513e-02 -1.07084975e-02 2.55726674e+00] [ 1.81894267e-02 9.99834359e-01 -6.31744541e-04 -1.83888376e-03] [ 1.07182184e-02 4.36822299e-04 9.99942463e-01 -2.11330410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.950385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.59, Y:0.00, Z:-0.21 [[ 9.99864534e-01 -1.41518235e-02 -8.40467509e-03 2.58854772e+00] [ 1.41481527e-02 9.99899787e-01 -4.96055330e-04 1.28014653e-03] [ 8.41085292e-03 3.77077505e-04 9.99964557e-01 -2.09949845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9803857229999995 meters Centerline goodness [0,1] 0.9999772328848212 Centerline is valid? [True, True] Translation: X:2.62, Y:0.00, Z:-0.21 [[ 9.99892194e-01 -1.24605103e-02 -7.76757527e-03 2.61918927e+00] [ 1.24573257e-02 9.99922300e-01 -4.58232623e-04 4.80051657e-03] [ 7.77268154e-03 3.61420008e-04 9.99969727e-01 -2.09464821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.010385723 meters Centerline goodness [0,1] 0.9999546001407396 Centerline is valid? [True, True] Translation: X:2.65, Y:0.01, Z:-0.21 [[ 9.99917491e-01 -8.68741792e-03 -9.46258449e-03 2.65045511e+00] [ 8.68252726e-03 9.99962151e-01 -5.57800076e-04 9.69161074e-03] [ 9.46707218e-03 4.75594904e-04 9.99955073e-01 -2.09675743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.040385722999999 meters Centerline goodness [0,1] 0.9999546752481531 Centerline is valid? [True, True] Translation: X:2.68, Y:0.01, Z:-0.21 [[ 9.99925051e-01 -6.55919696e-03 -1.03377938e-02 2.68005845e+00] [ 6.55325349e-03 9.99978342e-01 -6.08696007e-04 1.24700045e-02] [ 1.03415624e-02 5.40904203e-04 9.99946378e-01 -2.09818402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.070385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.71, Y:0.01, Z:-0.21 [[ 9.99933297e-01 -1.21437077e-03 -1.14859649e-02 2.71077334e+00] [ 1.20667590e-03 9.99999043e-01 -6.76843212e-04 6.68722086e-03] [ 1.14867758e-02 6.62938227e-04 9.99933805e-01 -2.11781222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.100385723 meters Centerline goodness [0,1] 0.9999316768771778 Centerline is valid? [True, True] Translation: X:2.74, Y:0.02, Z:-0.21 [[ 9.99931970e-01 1.89342230e-03 -1.15095378e-02 2.73949299e+00] [-1.90135345e-03 9.99997962e-01 -6.78190735e-04 2.05899185e-02] [ 1.15082302e-02 7.00028298e-04 9.99933533e-01 -2.11366291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.130385723 meters Centerline goodness [0,1] 0.999908908726544 Centerline is valid? [True, True] Translation: X:2.77, Y:0.03, Z:-0.21 [[ 9.99890407e-01 6.60790368e-03 -1.32479733e-02 2.76898323e+00] [-6.61882798e-03 9.99977790e-01 -7.80926306e-04 2.58176479e-02] [ 1.32425188e-02 8.68526779e-04 9.99911937e-01 -2.11797022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.160385722999999 meters Centerline goodness [0,1] 0.9998410174880763 Centerline is valid? [True, True] Translation: X:2.80, Y:0.03, Z:-0.21 [[ 9.99859088e-01 7.14320289e-03 -1.51914100e-02 2.79657809e+00] [-7.15762997e-03 9.99973983e-01 -8.95528007e-04 2.84393097e-02] [ 1.51846179e-02 1.00413631e-03 9.99884203e-01 -2.11518767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1903857229999995 meters Centerline goodness [0,1] 0.9998867856172449 Centerline is valid? [True, True] Translation: X:2.82, Y:0.03, Z:-0.21 [[ 9.99889381e-01 4.77848236e-03 -1.40851346e-02 2.82498117e+00] [-4.79066573e-03 9.99988179e-01 -8.31367459e-04 2.95603824e-02] [ 1.40809954e-02 8.98752666e-04 9.99900454e-01 -2.08101457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.220385723 meters Centerline goodness [0,1] 0.999752006492921 Centerline is valid? [True, True] Translation: X:2.85, Y:0.03, Z:-0.21 [[ 9.99911084e-01 3.65081992e-03 -1.28255611e-02 2.85298343e+00] [-3.66083416e-03 9.99993012e-01 -7.57412759e-04 3.11447926e-02] [ 1.28227063e-02 8.04297666e-04 9.99917462e-01 -2.06156049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.250385723 meters Centerline goodness [0,1] 0.999819294797949 Centerline is valid? [True, True] Translation: X:2.88, Y:0.03, Z:-0.21 [[ 9.99935905e-01 2.32412896e-03 -1.10808122e-02 2.88201940e+00] [-2.33153557e-03 9.99997067e-01 -6.55546534e-04 3.03623709e-02] [ 1.10792561e-02 6.81339825e-04 9.99938391e-01 -2.05529609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.280385722999999 meters Centerline goodness [0,1] 0.9997747544823858 Centerline is valid? [True, True] Translation: X:2.91, Y:0.03, Z:-0.21 [[ 9.99932023e-01 1.54243154e-03 -1.15572422e-02 2.91113865e+00] [-1.55044544e-03 9.99998564e-01 -6.84481751e-04 3.12652385e-02] [ 1.15561698e-02 7.02354096e-04 9.99932979e-01 -2.06019611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.310385723 meters Centerline goodness [0,1] 0.999954864480603 Centerline is valid? [True, True] Translation: X:2.94, Y:0.03, Z:-0.21 [[ 9.99915376e-01 -6.82967161e-04 -1.29912967e-02 2.93954777e+00] [ 6.73015849e-04 9.99999477e-01 -7.70354783e-04 3.24964095e-02] [ 1.29918160e-02 7.61546244e-04 9.99915313e-01 -2.05883419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.97, Y:0.02, Z:-0.20 [[ 9.99899161e-01 -2.29462180e-03 -1.40143847e-02 2.96962548e+00] [ 2.28318943e-03 9.99997048e-01 -8.31704304e-04 1.97145419e-02] [ 1.40162518e-02 7.99622941e-04 9.99901448e-01 -2.04774954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.370385722999999 meters Centerline goodness [0,1] 0.9999775960569061 Centerline is valid? [True, True] Translation: X:3.00, Y:0.04, Z:-0.20 [[ 9.99859770e-01 -6.29030196e-03 -1.55200708e-02 2.99796739e+00] [ 6.27674704e-03 9.99979876e-01 -9.21936536e-04 3.65300392e-02] [ 1.55255578e-02 8.24391694e-04 9.99879131e-01 -2.03088044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.400385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.03, Y:0.04, Z:-0.20 [[ 9.99842420e-01 -8.24480422e-03 -1.57212759e-02 3.02700003e+00] [ 8.23112668e-03 9.99965687e-01 -9.34510328e-04 3.67797888e-02] [ 1.57284413e-02 8.04959254e-04 9.99875976e-01 -2.02412920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.06, Y:0.02, Z:-0.20 [[ 9.99841676e-01 -1.03585458e-02 -1.44680450e-02 3.05723356e+00] [ 1.03471461e-02 9.99946095e-01 -8.62556931e-04 2.25248909e-02] [ 1.44761999e-02 7.12717392e-04 9.99894960e-01 -2.00986325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.09, Y:0.03, Z:-0.20 [[ 9.99843373e-01 -1.14760196e-02 -1.34733183e-02 3.08520313e+00] [ 1.14661985e-02 9.99933936e-01 -8.05957502e-04 2.60310026e-02] [ 1.34816774e-02 6.51343525e-04 9.99908906e-01 -1.98047667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.490385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.11, Y:0.03, Z:-0.20 [[ 9.99834635e-01 -1.22706648e-02 -1.34213975e-02 3.11485522e+00] [ 1.22609438e-02 9.99924507e-01 -8.06337320e-04 2.98302137e-02] [ 1.34302786e-02 6.41644980e-04 9.99909604e-01 -1.95852994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5203857229999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.14, Y:0.03, Z:-0.20 [[ 9.99834230e-01 -1.23036324e-02 -1.34213710e-02 3.14398084e+00] [ 1.22939084e-02 9.99924102e-01 -8.06779196e-04 3.16110727e-02] [ 1.34302786e-02 6.41644351e-04 9.99909604e-01 -1.95409716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.17, Y:0.04, Z:-0.19 [[ 9.99824146e-01 -1.38813138e-02 -1.26089983e-02 3.17308794e+00] [ 1.38728517e-02 9.99903480e-01 -7.58333321e-04 3.54891089e-02] [ 1.26183079e-02 5.83277201e-04 9.99920216e-01 -1.92186140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.580385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.20, Y:0.04, Z:-0.19 [[ 9.99773272e-01 -1.67274544e-02 -1.31756520e-02 3.20305994e+00] [ 1.67184544e-02 9.99859922e-01 -7.92935759e-04 3.83200114e-02] [ 1.31870701e-02 5.72479442e-04 9.99912883e-01 -1.91515517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.610385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.23, Y:0.04, Z:-0.19 [[ 9.99743435e-01 -1.81449345e-02 -1.35581919e-02 3.23488467e+00] [ 1.81355333e-02 9.99835205e-01 -8.16035462e-04 3.97841491e-02] [ 1.35707645e-02 5.69941054e-04 9.99907751e-01 -1.91490720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.26, Y:0.04, Z:-0.19 [[ 9.99650619e-01 -2.17054179e-02 -1.50836108e-02 3.26458021e+00] [ 2.16941990e-02 9.99764242e-01 -9.07025918e-04 4.09122005e-02] [ 1.50997420e-02 5.79482168e-04 9.99885824e-01 -1.93179815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.30, Y:0.04, Z:-0.19 [[ 9.99610441e-01 -2.33463327e-02 -1.52943078e-02 3.29576765e+00] [ 2.33349900e-02 9.99727279e-01 -9.19691361e-04 4.23785565e-02] [ 1.53116082e-02 5.62440565e-04 9.99882612e-01 -1.93807534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.700385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.33, Y:0.05, Z:-0.20 [[ 9.99512265e-01 -2.60400921e-02 -1.72379168e-02 3.32663975e+00] [ 2.60260935e-02 9.99660727e-01 -1.03595644e-03 4.54093549e-02] [ 1.72590448e-02 5.86815529e-04 9.99850879e-01 -1.95385563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7303857229999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.36, Y:0.05, Z:-0.19 [[ 9.99486020e-01 -2.75239184e-02 -1.64356352e-02 3.35801840e+00] [ 2.75114015e-02 9.99621002e-01 -9.87228545e-04 5.17919725e-02] [ 1.64565785e-02 5.34553770e-04 9.99864438e-01 -1.91600965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.39, Y:0.06, Z:-0.19 [[ 9.99501135e-01 -2.75113002e-02 -1.55116198e-02 3.38971610e+00] [ 2.75001593e-02 9.99621365e-01 -9.31111959e-04 5.69247085e-02] [ 1.55313627e-02 5.04075444e-04 9.99879254e-01 -1.88244605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.790385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.42, Y:0.06, Z:-0.19 [[ 9.99516210e-01 -2.74952107e-02 -1.45381801e-02 3.42140840e+00] [ 2.74854350e-02 9.99621824e-01 -8.71831755e-04 6.04515358e-02] [ 1.45566533e-02 4.71821768e-04 9.99893935e-01 -1.85816465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.820385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.45, Y:0.06, Z:-0.19 [[ 9.99558990e-01 -2.63418701e-02 -1.37088345e-02 3.45334812e+00] [ 2.63330807e-02 9.99652887e-01 -8.21293937e-04 6.10646086e-02] [ 1.37257104e-02 4.59935894e-04 9.99905692e-01 -1.87553045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.48, Y:0.07, Z:-0.19 [[ 9.99603920e-01 -2.37725545e-02 -1.50621918e-02 3.48400603e+00] [ 2.37616688e-02 9.99717245e-01 -9.01294775e-04 6.81705367e-02] [ 1.50793590e-02 5.43034978e-04 9.99886153e-01 -1.90893097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.52, Y:0.07, Z:-0.19 [[ 9.99646437e-01 -2.17058286e-02 -1.53576522e-02 3.51601444e+00] [ 2.16942797e-02 9.99764230e-01 -9.18211517e-04 7.31346006e-02] [ 1.53739619e-02 5.84713668e-04 9.99881643e-01 -1.91238995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.910385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.55, Y:0.08, Z:-0.19 [[ 9.99743433e-01 -1.66073451e-02 -1.54033774e-02 3.54694370e+00] [ 1.65951375e-02 9.99861868e-01 -9.20016124e-04 7.64088004e-02] [ 1.54165287e-02 6.64158913e-04 9.99880938e-01 -1.90245632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9403857229999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.58, Y:0.07, Z:-0.19 [[ 9.99772145e-01 -1.57525010e-02 -1.44054303e-02 3.57733046e+00] [ 1.57417375e-02 9.99875721e-01 -8.60268068e-04 7.26459514e-02] [ 1.44171914e-02 6.33305548e-04 9.99895866e-01 -1.88515332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.61, Y:0.07, Z:-0.18 [[ 9.99828026e-01 -1.32416705e-02 -1.29837068e-02 3.60818779e+00] [ 1.32327152e-02 9.99912143e-01 -7.75403645e-04 7.38333864e-02] [ 1.29928337e-02 6.03460601e-04 9.99915407e-01 -1.83735162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.000385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.64, Y:0.08, Z:-0.18 [[ 9.99836048e-01 -1.24595184e-02 -1.31391851e-02 3.63832312e+00] [ 1.24502835e-02 9.99922185e-01 -7.84416941e-04 7.55001896e-02] [ 1.31479361e-02 6.20701755e-04 9.99913369e-01 -1.83945853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.030385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.67, Y:0.08, Z:-0.19 [[ 9.99822930e-01 -1.29575026e-02 -1.36459158e-02 3.66794962e+00] [ 1.29475877e-02 9.99915845e-01 -8.14678455e-04 7.69616236e-02] [ 1.36553236e-02 6.37852509e-04 9.99906558e-01 -1.85367247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.70, Y:0.07, Z:-0.19 [[ 9.99810212e-01 -1.44000529e-02 -1.31216741e-02 3.69809228e+00] [ 1.43910114e-02 9.99896137e-01 -7.83218850e-04 7.33266548e-02] [ 1.31315896e-02 5.94236044e-04 9.99913600e-01 -1.86997728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.73, Y:0.07, Z:-0.19 [[ 9.99801313e-01 -1.51515416e-02 -1.29524343e-02 3.72836930e+00] [ 1.51427879e-02 9.99885042e-01 -7.73638813e-04 7.36091523e-02] [ 1.29626671e-02 5.77349135e-04 9.99915814e-01 -1.86504381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.120385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.76, Y:0.08, Z:-0.18 [[ 9.99797510e-01 -1.61537256e-02 -1.19998482e-02 3.75897892e+00] [ 1.61462830e-02 9.99869383e-01 -7.16851226e-04 7.65970708e-02] [ 1.20098606e-02 5.22953126e-04 9.99927742e-01 -1.83669697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.150385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.79, Y:0.08, Z:-0.18 [[ 9.99786475e-01 -1.75835404e-02 -1.08546356e-02 3.78941533e+00] [ 1.75775392e-02 9.99845293e-01 -6.48034198e-04 7.86286753e-02] [ 1.08643511e-02 4.57098044e-04 9.99940877e-01 -1.78998073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.82, Y:0.08, Z:-0.18 [[ 9.99772042e-01 -1.87445890e-02 -1.02227553e-02 3.82196052e+00] [ 1.87393258e-02 9.99824217e-01 -6.10400467e-04 7.86934248e-02] [ 1.02324000e-02 4.18693779e-04 9.99947560e-01 -1.77774826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.210385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.85, Y:0.08, Z:-0.18 [[ 9.99694422e-01 -2.22621426e-02 -1.07452548e-02 3.85231402e+00] [ 2.22565412e-02 9.99752087e-01 -6.40604446e-04 7.59605507e-02] [ 1.07568521e-02 4.01256484e-04 9.99942063e-01 -1.78667706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.240385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.88, Y:0.07, Z:-0.18 [[ 9.99648322e-01 -2.42584476e-02 -1.07126327e-02 3.88460674e+00] [ 2.42529942e-02 9.99705649e-01 -6.38702234e-04 7.44082548e-02] [ 1.07249734e-02 3.78664197e-04 9.99942414e-01 -1.79068092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2703857229999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.92, Y:0.07, Z:-0.18 [[ 9.99564799e-01 -2.75362528e-02 -1.05814989e-02 3.91501349e+00] [ 2.75311253e-02 9.99620748e-01 -6.29960030e-04 7.42015198e-02] [ 1.05948325e-02 3.38365299e-04 9.99943816e-01 -1.78966308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.95, Y:0.07, Z:-0.18 [[ 9.99557930e-01 -2.79105058e-02 -1.02444397e-02 3.94714888e+00] [ 2.79057186e-02 9.99610373e-01 -6.09971929e-04 7.38278465e-02] [ 1.02574728e-02 3.23823827e-04 9.99947338e-01 -1.78324869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.330385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.98, Y:0.08, Z:-0.18 [[ 9.99584865e-01 -2.71986287e-02 -9.50434340e-03 3.97867718e+00] [ 2.71944823e-02 9.99630002e-01 -5.65254611e-04 7.50544941e-02] [ 9.51620096e-03 3.06554256e-04 9.99954673e-01 -1.78427465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.360385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.01, Y:0.08, Z:-0.18 [[ 9.99609600e-01 -2.58543485e-02 -1.05924935e-02 4.00916888e+00] [ 2.58491262e-02 9.99665657e-01 -6.29656949e-04 7.96494733e-02] [ 1.06052314e-02 3.55604429e-04 9.99943700e-01 -1.77018415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.04, Y:0.08, Z:-0.18 [[ 9.99610149e-01 -2.56286515e-02 -1.10780001e-02 4.04160162e+00] [ 2.56229427e-02 9.99671463e-01 -6.56978623e-04 8.33817341e-02] [ 1.10911981e-02 3.72871537e-04 9.99938421e-01 -1.76270207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.07, Y:0.09, Z:-0.18 [[ 9.99581359e-01 -2.65712933e-02 -1.14487033e-02 4.07342422e+00] [ 2.65652665e-02 9.99646851e-01 -6.78189464e-04 8.64336048e-02] [ 1.14626805e-02 3.73767692e-04 9.99934231e-01 -1.76274971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.450385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.11, Y:0.09, Z:-0.18 [[ 9.99566335e-01 -2.72620402e-02 -1.11320725e-02 4.10607726e+00] [ 2.72563914e-02 9.99628258e-01 -6.58864934e-04 8.81326925e-02] [ 1.11458962e-02 3.55159083e-04 9.99937819e-01 -1.76209402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4803857229999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.14, Y:0.09, Z:-0.18 [[ 9.99521404e-01 -2.88279863e-02 -1.12210039e-02 4.13778578e+00] [ 2.88223587e-02 9.99584330e-01 -6.62950108e-04 8.85168997e-02] [ 1.12354512e-02 3.39217022e-04 9.99936823e-01 -1.77347802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.17, Y:0.09, Z:-0.18 [[ 9.99473120e-01 -2.94759311e-02 -1.35886672e-02 4.17005897e+00] [ 2.94677522e-02 9.99565410e-01 -8.01766445e-04 9.02078051e-02] [ 1.36063946e-02 4.00916530e-04 9.99907348e-01 -1.79187822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.540385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.20, Y:0.09, Z:-0.18 [[ 9.99465504e-01 -2.95326194e-02 -1.40189665e-02 4.20105295e+00] [ 2.95239329e-02 9.99563732e-01 -8.26219542e-04 9.34762859e-02] [ 1.40372509e-02 4.11882905e-04 9.99901388e-01 -1.79353056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.570385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.23, Y:0.09, Z:-0.18 [[ 9.99472514e-01 -2.89863672e-02 -1.46452755e-02 4.23337077e+00] [ 2.89768391e-02 9.99579711e-01 -8.62420083e-04 9.41476818e-02] [ 1.46641187e-02 4.37591378e-04 9.99892380e-01 -1.80551687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.26, Y:0.10, Z:-0.18 [[ 9.99548268e-01 -2.68901699e-02 -1.34230356e-02 4.26453339e+00] [ 2.68819881e-02 9.99638302e-01 -7.89626160e-04 9.97497397e-02] [ 1.34394137e-02 4.28431577e-04 9.99909595e-01 -1.77588688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.30, Y:0.10, Z:-0.18 [[ 9.99606659e-01 -2.51311070e-02 -1.24481063e-02 4.29685162e+00] [ 2.51239405e-02 9.99684076e-01 -7.31780915e-04 9.96521838e-02] [ 1.24625641e-02 4.18747594e-04 9.99922252e-01 -1.75403758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.660385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.33, Y:0.11, Z:-0.17 [[ 9.99691907e-01 -2.13328093e-02 -1.26886912e-02 4.32618956e+00] [ 2.13250710e-02 9.99772317e-01 -7.44860609e-04 1.07991827e-01] [ 1.27016922e-02 4.74043882e-04 9.99919218e-01 -1.74024073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6903857229999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.36, Y:0.11, Z:-0.17 [[ 9.99717816e-01 -1.96106954e-02 -1.34055551e-02 4.35816103e+00] [ 1.96019017e-02 9.99807554e-01 -7.87060924e-04 1.09862307e-01] [ 1.34184100e-02 5.24064455e-04 9.99909832e-01 -1.74578965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.39, Y:0.11, Z:-0.17 [[ 9.99775974e-01 -1.70695092e-02 -1.25153192e-02 4.38874906e+00] [ 1.70616570e-02 9.99854170e-01 -7.33921045e-04 1.11762780e-01] [ 1.25260217e-02 5.20224545e-04 9.99921411e-01 -1.74604627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.750385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.42, Y:0.12, Z:-0.17 [[ 9.99812154e-01 -1.57507781e-02 -1.12947076e-02 4.41959793e+00] [ 1.57443025e-02 9.99875832e-01 -6.62030190e-04 1.15181773e-01] [ 1.13037326e-02 4.84078537e-04 9.99935994e-01 -1.72648861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.780385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.45, Y:0.12, Z:-0.17 [[ 9.99867782e-01 -1.30146170e-02 -9.74876040e-03 4.44913832e+00] [ 1.30096672e-02 9.99915208e-01 -5.70981849e-04 1.20774185e-01] [ 9.75536489e-03 4.44078227e-04 9.99952317e-01 -1.70370930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.48, Y:0.12, Z:-0.17 [[ 9.99884935e-01 -1.15330392e-02 -9.85419519e-03 4.47931307e+00] [ 1.15279091e-02 9.99933385e-01 -5.77243613e-04 1.24007255e-01] [ 9.86019612e-03 4.63578926e-04 9.99951280e-01 -1.70209689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.51, Y:0.13, Z:-0.17 [[ 9.99912731e-01 -8.64456301e-03 -9.99013651e-03 4.51029724e+00] [ 8.63914823e-03 9.99962511e-01 -5.85039887e-04 1.26295219e-01] [ 9.99481940e-03 4.98682560e-04 9.99949926e-01 -1.70563605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.870385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.54, Y:0.13, Z:-0.17 [[ 9.99903935e-01 -7.38820064e-03 -1.17275178e-02 4.53988452e+00] [ 7.38065708e-03 9.99972527e-01 -6.86385714e-04 1.29112996e-01] [ 1.17322668e-02 5.99762989e-04 9.99930995e-01 -1.70136569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.900385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.57, Y:0.13, Z:-0.17 [[ 9.99895788e-01 -7.36228311e-03 -1.24181619e-02 4.56854956e+00] [ 7.35382408e-03 9.99972696e-01 -7.26707813e-04 1.30873144e-01] [ 1.24231731e-02 6.35311103e-04 9.99922628e-01 -1.70216381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.60, Y:0.13, Z:-0.17 [[ 9.99852926e-01 -8.66471115e-03 -1.48003060e-02 4.59734605e+00] [ 8.65277856e-03 9.99962185e-01 -8.70085298e-04 1.27972707e-01] [ 1.48072854e-02 7.41893561e-04 9.99890091e-01 -1.70502812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.960385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.62, Y:0.13, Z:-0.17 [[ 9.99830911e-01 -9.77249946e-03 -1.55771453e-02 4.62478174e+00] [ 9.75935693e-03 9.99951954e-01 -9.19500681e-04 1.28800850e-01] [ 1.55853827e-02 7.67322283e-04 9.99878246e-01 -1.71334257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.990385722999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.65, Y:0.13, Z:-0.17 [[ 9.99814875e-01 -1.17134589e-02 -1.52647167e-02 4.65388852e+00] [ 1.17010376e-02 9.99931133e-01 -9.02785024e-04 1.26216808e-01] [ 1.52742402e-02 7.24004871e-04 9.99883080e-01 -1.71411499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.68, Y:0.13, Z:-0.17 [[ 9.99823874e-01 -1.28370524e-02 -1.36905390e-02 4.68276864e+00] [ 1.28271550e-02 9.99917400e-01 -8.10501046e-04 1.26350844e-01] [ 1.36998126e-02 6.34747629e-04 9.99905952e-01 -1.70048814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.71, Y:0.12, Z:-0.17 [[ 9.99790950e-01 -1.66551964e-02 -1.18600209e-02 4.71271144e+00] [ 1.66480301e-02 9.99861165e-01 -7.02716144e-04 1.24401495e-01] [ 1.18700782e-02 5.05123256e-04 9.99929421e-01 -1.67542401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.080385723000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.74, Y:0.12, Z:-0.17 [[ 9.99707559e-01 -2.18302560e-02 -1.04036258e-02 4.74229084e+00] [ 2.18250201e-02 9.99761616e-01 -6.16561597e-04 1.22802477e-01] [ 1.04146054e-02 3.89321948e-04 9.99945691e-01 -1.65175362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.77, Y:0.12, Z:-0.16 [[ 9.99565244e-01 -2.78262558e-02 -9.74790204e-03 4.77190642e+00] [ 2.78219425e-02 9.99612728e-01 -5.77841964e-04 1.21233347e-01] [ 9.76020613e-03 3.06385174e-04 9.99952321e-01 -1.64111681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.80, Y:0.12, Z:-0.16 [[ 9.99461705e-01 -3.11363539e-02 -1.03357584e-02 4.80390061e+00] [ 3.11316753e-02 9.99515104e-01 -6.13278751e-04 1.18332656e-01] [ 1.03498419e-02 2.91179152e-04 9.99946397e-01 -1.64417947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.84, Y:0.12, Z:-0.17 [[ 9.99341871e-01 -3.45742089e-02 -1.09749436e-02 4.83535118e+00] [ 3.45691516e-02 9.99402097e-01 -6.50227799e-04 1.17419262e-01] [ 1.09908628e-02 2.70405376e-04 9.99939562e-01 -1.65086831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.87, Y:0.11, Z:-0.17 [[ 9.99095176e-01 -4.08167760e-02 -1.19506994e-02 4.86769002e+00] [ 4.08112303e-02 9.99166624e-01 -7.07656571e-04 1.13209168e-01] [ 1.19696242e-02 2.19293523e-04 9.99928337e-01 -1.66246225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.90, Y:0.11, Z:-0.17 [[ 9.98921781e-01 -4.47334294e-02 -1.24175318e-02 4.90019266e+00] [ 4.47277520e-02 9.98998943e-01 -7.34686592e-04 1.13311935e-01] [ 1.24379662e-02 1.78486156e-04 9.99922630e-01 -1.66334309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.93, Y:0.12, Z:-0.17 [[ 9.98868361e-01 -4.57243333e-02 -1.30875116e-02 4.93196715e+00] [ 4.57181244e-02 9.98954081e-01 -7.73358869e-04 1.15666070e-01] [ 1.31091845e-02 1.74147220e-04 9.99914056e-01 -1.66263893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.96, Y:0.12, Z:-0.17 [[ 9.98773320e-01 -4.67354837e-02 -1.63600204e-02 4.96299755e+00] [ 4.67259395e-02 9.98907280e-01 -9.65354172e-04 1.20689316e-01] [ 1.63872598e-02 1.99732668e-04 9.99865700e-01 -1.67571344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.320385723000001 meters Centerline goodness [0,1] 0.9999329339175534 Centerline is valid? [True, True] Translation: X:5.00, Y:0.12, Z:-0.17 [[ 9.98758352e-01 -4.66923883e-02 -1.73659225e-02 4.99638394e+00] [ 4.66816462e-02 9.98909293e-01 -1.02364681e-03 1.23975840e-01] [ 1.73947779e-02 2.11705955e-04 9.99848677e-01 -1.68484582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.03, Y:0.13, Z:-0.17 [[ 9.98729688e-01 -4.78714535e-02 -1.57268720e-02 5.02859376e+00] [ 4.78628127e-02 9.98853490e-01 -9.25575973e-04 1.27917940e-01] [ 1.57531496e-02 1.71667876e-04 9.99875897e-01 -1.66643256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.06, Y:0.13, Z:-0.17 [[ 9.98653655e-01 -5.01627896e-02 -1.32125683e-02 5.05991284e+00] [ 5.01569016e-02 9.98741048e-01 -7.76830237e-04 1.30183082e-01] [ 1.32349022e-02 1.13082870e-04 9.99912408e-01 -1.65246317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.410385723000001 meters Centerline goodness [0,1] 0.9999106105300796 Centerline is valid? [True, True] Translation: X:5.09, Y:0.13, Z:-0.16 [[ 9.98567326e-01 -5.17471034e-02 -1.36210749e-02 5.09241496e+00] [ 5.17410026e-02 9.98660217e-01 -8.00151996e-04 1.33257537e-01] [ 1.36442311e-02 9.42375688e-05 9.99906909e-01 -1.64292997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.440385723 meters Centerline goodness [0,1] 0.9999106105300796 Centerline is valid? [True, True] Translation: X:5.12, Y:0.14, Z:-0.16 [[ 9.98572545e-01 -5.16462698e-02 -1.36211253e-02 5.12491158e+00] [ 5.16401713e-02 9.98665436e-01 -7.99292392e-04 1.35073783e-01] [ 1.36442275e-02 9.47541931e-05 9.99906909e-01 -1.63799251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.470385723 meters Centerline goodness [0,1] 0.9999775321290555 Centerline is valid? [True, True] Translation: X:5.16, Y:0.14, Z:-0.16 [[ 9.98414187e-01 -5.42940903e-02 -1.48749152e-02 5.15657541e+00] [ 5.42871358e-02 9.98524986e-01 -8.71207417e-04 1.40194800e-01] [ 1.49002759e-02 6.23093041e-05 9.99888983e-01 -1.63125137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.19, Y:0.14, Z:-0.16 [[ 9.98360656e-01 -5.51037295e-02 -1.54783801e-02 5.18908185e+00] [ 5.50963138e-02 9.98480634e-01 -9.05441454e-04 1.43544594e-01] [ 1.55047560e-02 5.11554368e-05 9.99879793e-01 -1.63324393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.530385723 meters Centerline goodness [0,1] 0.9999549742227425 Centerline is valid? [True, True] Translation: X:5.22, Y:0.15, Z:-0.17 [[ 9.98230946e-01 -5.68071225e-02 -1.75479337e-02 5.22120615e+00] [ 5.67978964e-02 9.98385171e-01 -1.02410375e-03 1.46697516e-01] [ 1.75777732e-02 2.56063345e-05 9.99845499e-01 -1.65945524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.25, Y:0.15, Z:-0.17 [[ 9.98194447e-01 -5.71161415e-02 -1.85901220e-02 5.25297312e+00] [ 5.71059335e-02 9.98367541e-01 -1.07993317e-03 1.48494376e-01] [ 1.86214560e-02 1.63770257e-05 9.99826606e-01 -1.67178536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.590385723 meters Centerline goodness [0,1] 0.9999549184023082 Centerline is valid? [True, True] Translation: X:5.28, Y:0.15, Z:-0.17 [[ 9.98223987e-01 -5.59377142e-02 -2.04901027e-02 5.28466554e+00] [ 5.59251781e-02 9.98434260e-01 -1.18477039e-03 1.54369282e-01] [ 2.05242938e-02 3.67535803e-05 9.99789354e-01 -1.67634852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.32, Y:0.16, Z:-0.17 [[ 9.98303026e-01 -5.43912402e-02 -2.08005289e-02 5.31646604e+00] [ 5.43780722e-02 9.98519699e-01 -1.19856257e-03 1.59692781e-01] [ 2.08349292e-02 6.54359763e-05 9.99782927e-01 -1.65708264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.650385723000001 meters Centerline goodness [0,1] 0.999954968139959 Centerline is valid? [True, True] Translation: X:5.35, Y:0.16, Z:-0.16 [[ 9.98392772e-01 -5.35690675e-02 -1.84994248e-02 5.34705177e+00] [ 5.35585313e-02 9.98564144e-01 -1.06486938e-03 1.63075858e-01] [ 1.85299063e-02 7.23558727e-05 9.99828304e-01 -1.61748503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.680385723 meters Centerline goodness [0,1] 0.9999548716097297 Centerline is valid? [True, True] Translation: X:5.38, Y:0.17, Z:-0.16 [[ 9.98697788e-01 -4.82811691e-02 -1.64820466e-02 5.37884028e+00] [ 4.82720984e-02 9.98833773e-01 -9.47961265e-04 1.70610276e-01] [ 1.65085935e-02 1.51103843e-04 9.99863712e-01 -1.57588443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.710385723 meters Centerline goodness [0,1] 0.9999547797775165 Centerline is valid? [True, True] Translation: X:5.41, Y:0.18, Z:-0.16 [[ 9.98871828e-01 -4.48706058e-02 -1.55467245e-02 5.41100170e+00] [ 4.48621379e-02 9.98992788e-01 -8.93172448e-04 1.75158446e-01] [ 1.55711428e-02 1.94705497e-04 9.99878743e-01 -1.55739474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.740385723000001 meters Centerline goodness [0,1] 0.9999547347456093 Centerline is valid? [True, True] Translation: X:5.44, Y:0.18, Z:-0.15 [[ 9.99123072e-01 -3.96650333e-02 -1.34079002e-02 5.44148208e+00] [ 3.96582756e-02 9.99213005e-01 -7.69614099e-04 1.78940049e-01] [ 1.34278750e-02 2.37205000e-04 9.99909814e-01 -1.53365280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.770385723 meters Centerline goodness [0,1] 0.9999094899760148 Centerline is valid? [True, True] Translation: X:5.47, Y:0.18, Z:-0.15 [[ 9.99228290e-01 -3.69235247e-02 -1.33969366e-02 5.47378131e+00] [ 3.69165540e-02 9.99318057e-01 -7.67326102e-04 1.81294567e-01] [ 1.34161331e-02 2.72165213e-04 9.99909963e-01 -1.52980446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.50, Y:0.18, Z:-0.15 [[ 9.99396555e-01 -3.18350979e-02 -1.38942948e-02 5.50362782e+00] [ 3.18271216e-02 9.99493073e-01 -7.94867827e-04 1.83985212e-01] [ 1.39125561e-02 3.52172758e-04 9.99903154e-01 -1.54160898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.830385723000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.54, Y:0.19, Z:-0.15 [[ 9.99488933e-01 -2.84647840e-02 -1.45474506e-02 5.53513770e+00] [ 2.84557020e-02 9.99594709e-01 -8.30951792e-04 1.86583056e-01] [ 1.45652076e-02 4.16569200e-04 9.99893835e-01 -1.54516551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.56, Y:0.19, Z:-0.15 [[ 9.99643750e-01 -2.13044415e-02 -1.60777330e-02 5.56480000e+00] [ 2.12924359e-02 9.99772869e-01 -9.17549523e-04 1.92045831e-01] [ 1.60936291e-02 5.74888548e-04 9.99870324e-01 -1.54842752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.60, Y:0.20, Z:-0.15 [[ 9.99753962e-01 -1.53537542e-02 -1.60086931e-02 5.59557505e+00] [ 1.53410867e-02 9.99881901e-01 -9.13799093e-04 1.96275231e-01] [ 1.60208328e-02 6.67983515e-04 9.99871435e-01 -1.53692030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.62, Y:0.20, Z:-0.15 [[ 9.99771173e-01 -1.33818475e-02 -1.66891730e-02 5.62483662e+00] [ 1.33678078e-02 9.99910193e-01 -9.52528094e-04 2.00095798e-01] [ 1.67004207e-02 7.29212473e-04 9.99860272e-01 -1.52858578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.950385723 meters Centerline goodness [0,1] 0.9999773299177076 Centerline is valid? [True, True] Translation: X:5.65, Y:0.20, Z:-0.15 [[ 9.99787544e-01 -1.07521868e-02 -1.75857313e-02 5.65393229e+00] [ 1.07361855e-02 9.99941861e-01 -1.00406211e-03 2.00592301e-01] [ 1.75955048e-02 8.15045116e-04 9.99844855e-01 -1.53992760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.68, Y:0.20, Z:-0.16 [[ 9.99776137e-01 -1.10647745e-02 -1.80345741e-02 5.68227684e+00] [ 1.10479632e-02 9.99938437e-01 -1.03153614e-03 2.00884634e-01] [ 1.80448776e-02 8.32059903e-04 9.99836832e-01 -1.55435431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.71, Y:0.20, Z:-0.16 [[ 9.99736359e-01 -1.25108568e-02 -1.92533619e-02 5.71061167e+00] [ 1.24918773e-02 9.99921362e-01 -1.10573390e-03 1.98545793e-01] [ 1.92656815e-02 8.64931746e-04 9.99814025e-01 -1.57479327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.74, Y:0.20, Z:-0.16 [[ 9.99727757e-01 -1.39009857e-02 -1.87396580e-02 5.73968916e+00] [ 1.38832134e-02 9.99903042e-01 -1.07814714e-03 1.99779683e-01] [ 1.87528283e-02 8.17686948e-04 9.99823816e-01 -1.56441464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.070385723000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.77, Y:0.20, Z:-0.15 [[ 9.99698252e-01 -1.74881673e-02 -1.72501752e-02 5.76833501e+00] [ 1.74735905e-02 9.99846830e-01 -9.95400043e-04 2.02505371e-01] [ 1.72649407e-02 6.93677186e-04 9.99850709e-01 -1.52804435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.80, Y:0.20, Z:-0.15 [[ 9.99686665e-01 -1.94595122e-02 -1.57448169e-02 5.79897427e+00] [ 1.94476060e-02 9.99810464e-01 -9.08971044e-04 2.03253012e-01] [ 1.57595209e-02 6.02487236e-04 9.99875630e-01 -1.50757523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.83, Y:0.20, Z:-0.15 [[ 9.99603174e-01 -2.51249057e-02 -1.27370774e-02 5.82898219e+00] [ 2.51175734e-02 9.99684234e-01 -7.35329891e-04 1.98854912e-01] [ 1.27515305e-02 4.15113617e-04 9.99918610e-01 -1.49356580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.160385723000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.86, Y:0.19, Z:-0.15 [[ 9.99344438e-01 -3.39998561e-02 -1.24380356e-02 5.85996180e+00] [ 3.39935507e-02 9.99421794e-01 -7.18069425e-04 1.92338686e-01] [ 1.24552581e-02 2.94785692e-04 9.99922387e-01 -1.49478080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.89, Y:0.19, Z:-0.15 [[ 9.99154158e-01 -3.89184267e-02 -1.32787037e-02 5.89110085e+00] [ 3.89116737e-02 9.99242360e-01 -7.66639205e-04 1.91085021e-01] [ 1.32984796e-02 2.49294166e-04 9.99911540e-01 -1.49915109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.92, Y:0.19, Z:-0.15 [[ 9.98715947e-01 -4.83756872e-02 -1.50416003e-02 5.92330160e+00] [ 4.83681017e-02 9.98829201e-01 -8.67891709e-04 1.86441919e-01] [ 1.50659745e-02 1.39243634e-04 9.99886492e-01 -1.51621248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.96, Y:0.18, Z:-0.15 [[ 9.98552706e-01 -5.15367923e-02 -1.53769994e-02 5.95529049e+00] [ 5.15292507e-02 9.98671092e-01 -8.86516901e-04 1.84627636e-01] [ 1.54022530e-02 9.28685945e-05 9.99881374e-01 -1.51729817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.99, Y:0.18, Z:-0.15 [[ 9.98338201e-01 -5.55169222e-02 -1.54501887e-02 5.98681464e+00] [ 5.55098008e-02 9.98457746e-01 -8.89724717e-04 1.83053966e-01] [ 1.54757554e-02 3.06092767e-05 9.99880243e-01 -1.52781740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.02, Y:0.18, Z:-0.15 [[ 9.98276772e-01 -5.63175412e-02 -1.64869946e-02 6.01936817e+00] [ 5.63095561e-02 9.98412908e-01 -9.48509519e-04 1.84667486e-01] [ 1.65142460e-02 1.84996720e-05 9.99863630e-01 -1.52193408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.05, Y:0.19, Z:-0.15 [[ 9.98237147e-01 -5.66142379e-02 -1.78164809e-02 6.05085241e+00] [ 5.66049964e-02 9.98396128e-01 -1.02297129e-03 1.90443875e-01] [ 1.78458203e-02 1.26661027e-05 9.99840751e-01 -1.50798352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.370385723 meters Centerline goodness [0,1] 0.9998868214948617 Centerline is valid? [True, True] Translation: X:6.08, Y:0.19, Z:-0.15 [[ 9.98245991e-01 -5.64193070e-02 -1.79388817e-02 6.08400691e+00] [ 5.64099556e-02 9.98407162e-01 -1.02727187e-03 1.94303106e-01] [ 1.79682659e-02 1.35385011e-05 9.99838558e-01 -1.49736689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.400385723 meters Centerline goodness [0,1] 0.9999773965326281 Centerline is valid? [True, True] Translation: X:6.12, Y:0.20, Z:-0.15 [[ 9.98313070e-01 -5.50431948e-02 -1.84732298e-02 6.11591026e+00] [ 5.50330852e-02 9.98483973e-01 -1.05555924e-03 1.97898548e-01] [ 1.85033253e-02 3.71397503e-05 9.99828798e-01 -1.51337156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.15, Y:0.20, Z:-0.15 [[ 9.98442470e-01 -5.25160299e-02 -1.88335181e-02 6.14800254e+00] [ 5.25051469e-02 9.98620078e-01 -1.07220243e-03 2.01970950e-01] [ 1.88638372e-02 8.16758021e-05 9.99822059e-01 -1.52267434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.18, Y:0.21, Z:-0.15 [[ 9.98549178e-01 -5.04241734e-02 -1.88929107e-02 6.18001172e+00] [ 5.04128698e-02 9.98727885e-01 -1.07438551e-03 2.06058375e-01] [ 1.89230517e-02 1.20380925e-04 9.99820936e-01 -1.51762623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.490385723000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.21, Y:0.21, Z:-0.15 [[ 9.98783338e-01 -4.53763549e-02 -1.93088090e-02 6.21056974e+00] [ 4.53636275e-02 9.98969939e-01 -1.09686570e-03 2.14889322e-01] [ 1.93386915e-02 2.19613563e-04 9.99812966e-01 -1.50643583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.24, Y:0.22, Z:-0.15 [[ 9.98915281e-01 -4.22379484e-02 -1.96014694e-02 6.24285132e+00] [ 4.22242476e-02 9.99107539e-01 -1.11249378e-03 2.21218279e-01] [ 1.96309653e-02 2.83629736e-04 9.99807254e-01 -1.49402266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.27, Y:0.23, Z:-0.15 [[ 9.99091713e-01 -3.90986675e-02 -1.69423338e-02 6.27460815e+00] [ 3.90879966e-02 9.99235310e-01 -9.60653793e-04 2.25449656e-01] [ 1.69669384e-02 2.97539360e-04 9.99856007e-01 -1.46552958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.580385723000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.31, Y:0.23, Z:-0.15 [[ 9.99172536e-01 -3.68839725e-02 -1.71410808e-02 6.30552335e+00] [ 3.68727416e-02 9.99319498e-01 -9.70890066e-04 2.28879779e-01] [ 1.71652266e-02 3.38048044e-04 9.99852609e-01 -1.45811031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.34, Y:0.23, Z:-0.15 [[ 9.99301576e-01 -3.23213586e-02 -1.87533863e-02 6.33772144e+00] [ 3.23071309e-02 9.99477425e-01 -1.06121549e-03 2.30174929e-01] [ 1.87778861e-02 4.54606208e-04 9.99823577e-01 -1.46301444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.37, Y:0.23, Z:-0.15 [[ 9.99406730e-01 -2.95959428e-02 -1.76144533e-02 6.36984016e+00] [ 2.95829877e-02 9.99561832e-01 -9.95649879e-04 2.30158077e-01] [ 1.76362024e-02 4.73971036e-04 9.99844358e-01 -1.45261269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.40, Y:0.23, Z:-0.14 [[ 9.99476116e-01 -2.76416444e-02 -1.68354842e-02 6.40238056e+00] [ 2.76295518e-02 9.99617779e-01 -9.50497096e-04 2.32260714e-01] [ 1.68553226e-02 4.84842262e-04 9.99857821e-01 -1.44247730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.43, Y:0.24, Z:-0.14 [[ 9.99600980e-01 -2.31946221e-02 -1.61211141e-02 6.43300705e+00] [ 2.31829728e-02 9.99730825e-01 -9.09141433e-04 2.35173099e-01] [ 1.61378619e-02 5.35043318e-04 9.99869633e-01 -1.44258787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.46, Y:0.24, Z:-0.14 [[ 9.99659613e-01 -2.09717699e-02 -1.55191301e-02 6.46411491e+00] [ 2.09607110e-02 9.99779917e-01 -8.74929493e-04 2.38003081e-01] [ 1.55340635e-02 5.49339676e-04 9.99879188e-01 -1.43412242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.49, Y:0.24, Z:-0.14 [[ 9.99732250e-01 -1.75216945e-02 -1.51134916e-02 6.49461529e+00] [ 1.75108202e-02 9.99846311e-01 -8.51554145e-04 2.43296913e-01] [ 1.51260895e-02 5.86676508e-04 9.99885422e-01 -1.39257280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.52, Y:0.25, Z:-0.14 [[ 9.99747182e-01 -1.58512859e-02 -1.59470735e-02 6.52457537e+00] [ 1.58389712e-02 9.99874152e-01 -8.98232570e-04 2.46936911e-01] [ 1.59593047e-02 6.45420243e-04 9.99872434e-01 -1.38951272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.820385723000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.55, Y:0.25, Z:-0.14 [[ 9.99752824e-01 -1.53912932e-02 -1.60436518e-02 6.55467723e+00] [ 1.53787737e-02 9.99881332e-01 -9.03427621e-04 2.46596996e-01] [ 1.60556529e-02 6.56472625e-04 9.99870884e-01 -1.39810628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.58, Y:0.24, Z:-0.14 [[ 9.99772169e-01 -1.60042842e-02 -1.41234857e-02 6.58459691e+00] [ 1.59946408e-02 9.99871761e-01 -7.95492836e-04 2.43409672e-01] [ 1.41344059e-02 5.69411518e-04 9.99899942e-01 -1.40492858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.61, Y:0.24, Z:-0.14 [[ 9.99760158e-01 -1.67814755e-02 -1.40715188e-02 6.61458445e+00] [ 1.67719717e-02 9.99859026e-01 -7.93141412e-04 2.44620732e-01] [ 1.40828452e-02 5.56944069e-04 9.99900677e-01 -1.38972097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.910385723000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.65, Y:0.24, Z:-0.14 [[ 9.99710999e-01 -1.91469131e-02 -1.45366734e-02 6.64612057e+00] [ 1.91370340e-02 9.99816535e-01 -8.18403698e-04 2.43765836e-01] [ 1.45496763e-02 5.39978365e-04 9.99894002e-01 -1.37926647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.68, Y:0.24, Z:-0.14 [[ 9.99641263e-01 -2.20781744e-02 -1.51624138e-02 6.67704374e+00] [ 2.20677711e-02 9.99756113e-01 -8.53107884e-04 2.42465182e-01] [ 1.51775510e-02 5.18201165e-04 9.99884680e-01 -1.37056548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.71, Y:0.24, Z:-0.14 [[ 9.99598176e-01 -2.38496896e-02 -1.53192149e-02 6.70873824e+00] [ 2.38392857e-02 9.99715433e-01 -8.61419425e-04 2.42776230e-01] [ 1.53354002e-02 4.95874144e-04 9.99882283e-01 -1.37036449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.74, Y:0.24, Z:-0.14 [[ 9.99490403e-01 -2.81345925e-02 -1.50790758e-02 6.74112632e+00] [ 2.81250066e-02 9.99604055e-01 -8.47435426e-04 2.38346040e-01] [ 1.50969476e-02 4.22904469e-04 9.99885945e-01 -1.38622021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.77, Y:0.24, Z:-0.14 [[ 9.99422468e-01 -3.05224243e-02 -1.49369068e-02 6.77374873e+00] [ 3.05132968e-02 9.99534009e-01 -8.38641864e-04 2.36404864e-01] [ 1.49555437e-02 3.82383252e-04 9.99888086e-01 -1.38073727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.80, Y:0.23, Z:-0.14 [[ 9.99196469e-01 -3.71120515e-02 -1.51364291e-02 6.80450035e+00] [ 3.71034490e-02 9.99311069e-01 -8.48856570e-04 2.31223598e-01] [ 1.51575040e-02 2.86560761e-04 9.99885077e-01 -1.37608849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.84, Y:0.23, Z:-0.14 [[ 9.99061606e-01 -4.01817975e-02 -1.61657341e-02 6.83706771e+00] [ 4.01723878e-02 9.99192353e-01 -9.06516071e-04 2.29679174e-01] [ 1.61891033e-02 2.56249264e-04 9.99868915e-01 -1.38371895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.87, Y:0.23, Z:-0.14 [[ 9.98807534e-01 -4.49030921e-02 -1.91630258e-02 6.86911747e+00] [ 4.48907648e-02 9.98991325e-01 -1.07317816e-03 2.27662808e-01] [ 1.91918856e-02 2.11655550e-04 9.99815796e-01 -1.37498075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.90, Y:0.23, Z:-0.14 [[ 9.98722178e-01 -4.67951787e-02 -1.90846083e-02 6.90146603e+00] [ 4.67833219e-02 9.98904491e-01 -1.06751108e-03 2.29678343e-01] [ 1.91136553e-02 1.73305619e-04 9.99817302e-01 -1.36060875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.93, Y:0.23, Z:-0.14 [[ 9.98742372e-01 -4.65917470e-02 -1.85171017e-02 6.93479286e+00] [ 4.65805744e-02 9.98914000e-01 -1.03444659e-03 2.30011688e-01] [ 1.85451888e-02 1.70608402e-04 9.99828009e-01 -1.36418778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.97, Y:0.23, Z:-0.14 [[ 9.98866399e-01 -4.45953161e-02 -1.66485578e-02 6.96583122e+00] [ 4.45860315e-02 9.99005117e-01 -9.28622889e-04 2.30166848e-01] [ 1.66734067e-02 1.85277078e-04 9.99860972e-01 -1.37140253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.240385723000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.00, Y:0.24, Z:-0.14 [[ 9.98919757e-01 -4.35810734e-02 -1.61247792e-02 6.99696936e+00] [ 4.35722442e-02 9.99049875e-01 -8.98632893e-04 2.35068281e-01] [ 1.61486221e-02 1.95069333e-04 9.99869583e-01 -1.35591145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.03, Y:0.24, Z:-0.13 [[ 9.98946329e-01 -4.26274474e-02 -1.70039150e-02 7.02863599e+00] [ 4.26175064e-02 9.99091013e-01 -9.46724163e-04 2.40973019e-01] [ 1.70288151e-02 2.21062169e-04 9.99854975e-01 -1.33354319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.06, Y:0.24, Z:-0.13 [[ 9.98956111e-01 -4.23365281e-02 -1.71553854e-02 7.06129617e+00] [ 4.23263866e-02 9.99103382e-01 -9.53977362e-04 2.44026627e-01] [ 1.71803917e-02 2.26856040e-04 9.99852380e-01 -1.32609023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.330385723000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.09, Y:0.24, Z:-0.13 [[ 9.98992952e-01 -4.15495411e-02 -1.69327292e-02 7.09306579e+00] [ 4.15395744e-02 9.99136417e-01 -9.40047631e-04 2.43750516e-01] [ 1.69571649e-02 2.35722595e-04 9.99856189e-01 -1.33268868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.13, Y:0.25, Z:-0.13 [[ 9.98997192e-01 -4.14474420e-02 -1.69327821e-02 7.12557059e+00] [ 4.14374768e-02 9.99140658e-01 -9.39093409e-04 2.45466289e-01] [ 1.69571541e-02 2.36499914e-04 9.99856189e-01 -1.32774976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.16, Y:0.25, Z:-0.14 [[ 9.99003211e-01 -4.08026259e-02 -1.81033063e-02 7.15709774e+00] [ 4.07911664e-02 9.99167192e-01 -1.00196473e-03 2.45686063e-01] [ 1.81291125e-02 2.62511006e-04 9.99835620e-01 -1.35045063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.19, Y:0.25, Z:-0.13 [[ 9.99008936e-01 -4.05426700e-02 -1.83694986e-02 7.19054859e+00] [ 4.05308700e-02 9.99177772e-01 -1.01436473e-03 2.47478858e-01] [ 1.83955198e-02 2.68827664e-04 9.99830752e-01 -1.34721121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.22, Y:0.25, Z:-0.13 [[ 9.98998408e-01 -3.95525378e-02 -2.09231325e-02 7.22187413e+00] [ 3.95370538e-02 9.99217439e-01 -1.15334759e-03 2.54256674e-01] [ 2.09523767e-02 3.24953388e-04 9.99780422e-01 -1.33270238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.25, Y:0.26, Z:-0.13 [[ 9.99003031e-01 -3.89189372e-02 -2.18691772e-02 7.25378197e+00] [ 3.89018965e-02 9.99242309e-01 -1.20425957e-03 2.57435733e-01] [ 2.18994756e-02 3.52306488e-04 9.99760116e-01 -1.32898719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.29, Y:0.26, Z:-0.13 [[ 9.99089271e-01 -3.76407818e-02 -2.00947810e-02 7.28512643e+00] [ 3.76261654e-02 9.99291274e-01 -1.10509254e-03 2.58455804e-01] [ 2.01221359e-02 3.47996544e-04 9.99797469e-01 -1.31726981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.32, Y:0.26, Z:-0.13 [[ 9.99131214e-01 -3.71425329e-02 -1.89010562e-02 7.31714781e+00] [ 3.71295466e-02 9.99309922e-01 -1.03765369e-03 2.58413859e-01] [ 1.89265541e-02 3.34964545e-04 9.99820821e-01 -1.30821927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.35, Y:0.26, Z:-0.13 [[ 9.99120946e-01 -3.71007480e-02 -1.95158809e-02 7.35004081e+00] [ 3.70869233e-02 9.99311471e-01 -1.06995869e-03 2.60934339e-01] [ 1.95421399e-02 3.45234163e-04 9.99808975e-01 -1.30030244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.38, Y:0.27, Z:-0.13 [[ 9.99102352e-01 -3.72543669e-02 -2.01643989e-02 7.38241063e+00] [ 3.72396801e-02 9.99305753e-01 -1.10348938e-03 2.65732167e-01] [ 2.01915096e-02 3.51583075e-04 9.99796069e-01 -1.27948712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.41, Y:0.27, Z:-0.13 [[ 9.99113102e-01 -3.69282231e-02 -2.02315326e-02 7.41430580e+00] [ 3.69134089e-02 9.99317857e-01 -1.10531853e-03 2.68722713e-01] [ 2.02585493e-02 3.57523391e-04 9.99794711e-01 -1.26636745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.660385723000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.45, Y:0.27, Z:-0.13 [[ 9.99053915e-01 -3.80272305e-02 -2.10998537e-02 7.44564803e+00] [ 3.80113905e-02 9.99276643e-01 -1.15141437e-03 2.69428058e-01] [ 2.11283761e-02 3.48290259e-04 9.99776710e-01 -1.28870317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.48, Y:0.26, Z:-0.13 [[ 9.98929389e-01 -4.08228129e-02 -2.17617380e-02 7.47786149e+00] [ 4.08066537e-02 9.99166357e-01 -1.18628799e-03 2.64395387e-01] [ 2.17920241e-02 2.96994232e-04 9.99762482e-01 -1.30638813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.51, Y:0.27, Z:-0.13 [[ 9.98832369e-01 -4.29593717e-02 -2.20995930e-02 7.50894340e+00] [ 4.29432618e-02 9.99076788e-01 -1.20324196e-03 2.67454494e-01] [ 2.21308809e-02 2.52808412e-04 9.99755050e-01 -1.30941742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.54, Y:0.27, Z:-0.13 [[ 9.98759985e-01 -4.48056282e-02 -2.17013249e-02 7.54096780e+00] [ 4.47905564e-02 9.98995702e-01 -1.18032491e-03 2.68032635e-01] [ 2.17324155e-02 2.06846876e-04 9.99763802e-01 -1.29006914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.57, Y:0.27, Z:-0.13 [[ 9.98584528e-01 -4.89142206e-02 -2.08887344e-02 7.57171679e+00] [ 4.89011819e-02 9.98802977e-01 -1.13484868e-03 2.70439704e-01] [ 2.09192404e-02 1.11758530e-04 9.99781163e-01 -1.26604594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.60, Y:0.27, Z:-0.13 [[ 9.98375173e-01 -5.28197196e-02 -2.13796704e-02 7.60360246e+00] [ 5.28069816e-02 9.98604064e-01 -1.16031907e-03 2.69848165e-01] [ 2.14111135e-02 2.94378884e-05 9.99770755e-01 -1.25362322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.64, Y:0.27, Z:-0.12 [[ 9.98289500e-01 -5.43666910e-02 -2.15020109e-02 7.63631835e+00] [ 5.43542021e-02 9.98521038e-01 -1.16526264e-03 2.70174112e-01] [ 2.15335617e-02 -5.45519026e-06 9.99768126e-01 -1.24962891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.870385723 meters Centerline goodness [0,1] 0.999977626132677 Centerline is valid? [True, True] Translation: X:7.67, Y:0.27, Z:-0.12 [[ 9.98126793e-01 -5.75460385e-02 -2.07691878e-02 7.66822413e+00] [ 5.75351274e-02 9.98342851e-01 -1.12300601e-03 2.70417991e-01] [ 2.07993947e-02 -7.40554843e-05 9.99783666e-01 -1.24031417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.70, Y:0.27, Z:-0.12 [[ 9.98073916e-01 -5.85994685e-02 -2.03607646e-02 7.70043351e+00] [ 5.85892637e-02 9.98281570e-01 -1.09787333e-03 2.72778857e-01] [ 2.03901109e-02 -9.71634767e-05 9.99792095e-01 -1.22167645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.73, Y:0.28, Z:-0.12 [[ 9.97993362e-01 -6.00536382e-02 -2.00701053e-02 7.73238582e+00] [ 6.00440489e-02 9.98195143e-01 -1.08059926e-03 2.78385210e-01] [ 2.00987756e-02 -1.26659497e-04 9.99797991e-01 -1.19161577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.76, Y:0.28, Z:-0.12 [[ 9.97983961e-01 -6.01592443e-02 -2.02207466e-02 7.76431616e+00] [ 6.01495711e-02 9.98188784e-01 -1.08678822e-03 2.79139451e-01] [ 2.02495028e-02 -1.31672019e-04 9.99794949e-01 -1.20442925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.990385723000001 meters Centerline goodness [0,1] 0.9999774647887324 Centerline is valid? [True, True] Translation: X:7.80, Y:0.28, Z:-0.12 [[ 9.97991742e-01 -5.97256265e-02 -2.11028906e-02 7.79767929e+00] [ 5.97150640e-02 9.98214823e-01 -1.13087942e-03 2.80475570e-01] [ 2.11327606e-02 -1.31552139e-04 9.99776670e-01 -1.21487468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.020385723 meters Centerline goodness [0,1] 0.9999547460119923 Centerline is valid? [True, True] Translation: X:7.83, Y:0.29, Z:-0.12 [[ 9.98038001e-01 -5.85913680e-02 -2.20725907e-02 7.82982226e+00] [ 5.85796096e-02 9.98282043e-01 -1.17947542e-03 2.85138460e-01] [ 2.21037781e-02 -1.15842459e-04 9.99755675e-01 -1.21820154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.050385723 meters Centerline goodness [0,1] 0.9999546145641863 Centerline is valid? [True, True] Translation: X:7.86, Y:0.29, Z:-0.12 [[ 9.98075489e-01 -5.79841974e-02 -2.19807079e-02 7.86158407e+00] [ 5.79724836e-02 9.98317495e-01 -1.17029331e-03 2.90546998e-01] [ 2.20115838e-02 -1.06235160e-04 9.99757710e-01 -1.19688447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.080385723000001 meters Centerline goodness [0,1] 0.9999545712663259 Centerline is valid? [True, True] Translation: X:7.89, Y:0.30, Z:-0.11 [[ 9.98232617e-01 -5.57869581e-02 -2.04806497e-02 7.89243057e+00] [ 5.57763693e-02 9.98442693e-01 -1.08832820e-03 2.99158187e-01] [ 2.05094696e-02 -5.59315709e-05 9.99789657e-01 -1.14745134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.110385723 meters Centerline goodness [0,1] 0.9999319372915579 Centerline is valid? [True, True] Translation: X:7.93, Y:0.30, Z:-0.11 [[ 9.98265941e-01 -5.52300646e-02 -2.03654493e-02 7.92512078e+00] [ 5.52195558e-02 9.98473654e-01 -1.07842564e-03 3.02217297e-01] [ 2.03939261e-02 -4.80154779e-05 9.99792021e-01 -1.14458301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.140385723 meters Centerline goodness [0,1] 0.999931628606591 Centerline is valid? [True, True] Translation: X:7.96, Y:0.30, Z:-0.12 [[ 9.98265465e-01 -5.47173562e-02 -2.17272175e-02 7.95764608e+00] [ 5.47053179e-02 9.98501882e-01 -1.14849004e-03 3.02811972e-01] [ 2.17575099e-02 -4.20963984e-05 9.99763276e-01 -1.18186391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.170385723 meters Centerline goodness [0,1] 0.9999317499317499 Centerline is valid? [True, True] Translation: X:7.99, Y:0.30, Z:-0.12 [[ 9.98221072e-01 -5.50105341e-02 -2.29898236e-02 7.98936589e+00] [ 5.49971669e-02 9.98485773e-01 -1.21378334e-03 3.03810292e-01] [ 2.30217826e-02 -5.27510576e-05 9.99734962e-01 -1.21371820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.200385723 meters Centerline goodness [0,1] 0.9999319017569347 Centerline is valid? [True, True] Translation: X:8.02, Y:0.30, Z:-0.12 [[ 9.97887902e-01 -6.02732987e-02 -2.42252949e-02 8.02207455e+00] [ 6.02600394e-02 9.98181895e-01 -1.27764056e-03 3.00878207e-01] [ 2.42582584e-02 -1.84875172e-04 9.99705708e-01 -1.22367936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.230385723 meters Centerline goodness [0,1] 0.9999544678429141 Centerline is valid? [True, True] Translation: X:8.05, Y:0.30, Z:-0.12 [[ 9.97586023e-01 -6.49501979e-02 -2.45682375e-02 8.05422111e+00] [ 6.49380178e-02 9.97888460e-01 -1.29411219e-03 2.99891175e-01] [ 2.46004135e-02 -3.04424406e-04 9.99697318e-01 -1.20824678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.260385723 meters Centerline goodness [0,1] 0.9999545030596693 Centerline is valid? [True, True] Translation: X:8.09, Y:0.30, Z:-0.12 [[ 9.97484574e-01 -6.63265275e-02 -2.50063244e-02 8.08682152e+00] [ 6.63143829e-02 9.97797911e-01 -1.31553069e-03 3.00905514e-01] [ 2.50385129e-02 -3.46057405e-04 9.99686427e-01 -1.20571706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.290385723 meters Centerline goodness [0,1] 0.9999319928365787 Centerline is valid? [True, True] Translation: X:8.12, Y:0.30, Z:-0.12 [[ 9.97457201e-01 -6.66795840e-02 -2.51588159e-02 8.11884894e+00] [ 6.66674449e-02 9.97774375e-01 -1.32189189e-03 3.02746822e-01] [ 2.51909650e-02 -3.58743388e-04 9.99682593e-01 -1.18516272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.320385723 meters Centerline goodness [0,1] 0.9998405067328944 Centerline is valid? [True, True] Translation: X:8.15, Y:0.31, Z:-0.12 [[ 9.97463994e-01 -6.65306221e-02 -2.52835180e-02 8.15153788e+00] [ 6.65183668e-02 9.97784319e-01 -1.32638571e-03 3.06524286e-01] [ 2.53157430e-02 -3.58796332e-04 9.99679441e-01 -1.15678314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.350385723 meters Centerline goodness [0,1] 0.9999544719888912 Centerline is valid? [True, True] Translation: X:8.18, Y:0.31, Z:-0.12 [[ 9.97475709e-01 -6.57661004e-02 -2.67773986e-02 8.18360045e+00] [ 6.57522031e-02 9.97835000e-01 -1.40011152e-03 3.08239323e-01] [ 2.68115054e-02 -3.64095720e-04 9.99640441e-01 -1.16748655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.22, Y:0.31, Z:-0.12 [[ 9.97502877e-01 -6.55750854e-02 -2.62281879e-02 8.21641783e+00] [ 6.55618061e-02 9.97847574e-01 -1.36683925e-03 3.06802294e-01] [ 2.62613643e-02 -3.56141282e-04 9.99655047e-01 -1.18703592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.410385723000001 meters Centerline goodness [0,1] 0.9999773160330279 Centerline is valid? [True, True] Translation: X:8.25, Y:0.31, Z:-0.12 [[ 9.97539045e-01 -6.51080185e-02 -2.60153707e-02 8.24864233e+00] [ 6.50948405e-02 9.97878163e-01 -1.35400546e-03 3.06589761e-01] [ 2.60483269e-02 -3.42793096e-04 9.99660626e-01 -1.19512163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.440385723 meters Centerline goodness [0,1] 0.9999772949163318 Centerline is valid? [True, True] Translation: X:8.28, Y:0.31, Z:-0.12 [[ 9.97639129e-01 -6.34464103e-02 -2.62815804e-02 8.27985490e+00] [ 6.34324266e-02 9.97985201e-01 -1.36627006e-03 3.08833455e-01] [ 2.63153132e-02 -3.04059942e-04 9.99653646e-01 -1.18940532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.470385723 meters Centerline goodness [0,1] 0.9999773144892358 Centerline is valid? [True, True] Translation: X:8.31, Y:0.31, Z:-0.12 [[ 9.97753108e-01 -6.18336246e-02 -2.57941421e-02 8.31185911e+00] [ 6.18196544e-02 9.98086437e-01 -1.33943961e-03 3.14223430e-01] [ 2.58276058e-02 -2.58154922e-04 9.99666378e-01 -1.15224720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.34, Y:0.32, Z:-0.11 [[ 9.98131446e-01 -5.63753595e-02 -2.35676916e-02 8.34245287e+00] [ 5.63622086e-02 9.98409639e-01 -1.22242219e-03 3.22001367e-01] [ 2.35991250e-02 -1.08189126e-04 9.99721496e-01 -1.09855838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.37, Y:0.33, Z:-0.10 [[ 9.98492164e-01 -5.10119722e-02 -2.02775158e-02 8.37397745e+00] [ 5.10011518e-02 9.98698042e-01 -1.05073917e-03 3.28298521e-01] [ 2.03047156e-02 1.49781632e-05 9.99793838e-01 -1.04892637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.41, Y:0.33, Z:-0.10 [[ 9.98596073e-01 -4.93027972e-02 -1.93679270e-02 8.40712956e+00] [ 4.92926319e-02 9.98783877e-01 -1.00218489e-03 3.29886917e-01] [ 1.93937837e-02 4.60818058e-05 9.99811922e-01 -1.04087807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.44, Y:0.33, Z:-0.11 [[ 9.98666061e-01 -4.75672190e-02 -2.00862719e-02 8.43849700e+00] [ 4.75559722e-02 9.98868036e-01 -1.03748297e-03 3.29498649e-01] [ 2.01128851e-02 8.08768401e-05 9.99797712e-01 -1.06189367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.47, Y:0.33, Z:-0.11 [[ 9.98648564e-01 -4.75138391e-02 -2.10589788e-02 8.46974885e+00] [ 4.75014880e-02 9.98870576e-01 -1.08661556e-03 3.31133450e-01] [ 2.10868236e-02 8.48142425e-05 9.99777645e-01 -1.07247048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.50, Y:0.33, Z:-0.11 [[ 9.98566996e-01 -4.82663330e-02 -2.31152689e-02 8.50244736e+00] [ 4.82516853e-02 9.98834499e-01 -1.19133927e-03 3.30790606e-01] [ 2.31458296e-02 7.42813961e-05 9.99732097e-01 -1.09605660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.53, Y:0.33, Z:-0.11 [[ 9.98554173e-01 -4.74437442e-02 -2.52716246e-02 8.53434087e+00] [ 4.74260177e-02 9.98873906e-01 -1.30068013e-03 3.33061969e-01] [ 2.53048756e-02 1.00267051e-04 9.99679775e-01 -1.11108280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.57, Y:0.34, Z:-0.11 [[ 9.98670505e-01 -4.38180685e-02 -2.71514255e-02 8.56578619e+00] [ 4.37963122e-02 9.99039506e-01 -1.39574014e-03 3.35806717e-01] [ 2.71865054e-02 2.04752207e-04 9.99630358e-01 -1.14181797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.740385723000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.60, Y:0.34, Z:-0.11 [[ 9.98783863e-01 -4.19008628e-02 -2.59829294e-02 8.59835827e+00] [ 4.18803279e-02 9.99121743e-01 -1.33423463e-03 3.37606839e-01] [ 2.60160153e-02 2.44438414e-04 9.99661496e-01 -1.12628432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.63, Y:0.34, Z:-0.11 [[ 9.99003142e-01 -3.86943938e-02 -2.22590882e-02 8.62878452e+00] [ 3.86785642e-02 9.99251052e-01 -1.14140230e-03 3.43194301e-01] [ 2.22865832e-02 2.79314910e-04 9.99751584e-01 -1.05389796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.66, Y:0.35, Z:-0.10 [[ 9.99103321e-01 -3.70836479e-02 -2.04293374e-02 8.65963734e+00] [ 3.70700193e-02 9.99312124e-01 -1.04553258e-03 3.48399852e-01] [ 2.04540567e-02 2.87279143e-04 9.99790753e-01 -1.01495687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.830385723000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.69, Y:0.35, Z:-0.10 [[ 9.99113587e-01 -3.68107013e-02 -2.04208647e-02 8.69246515e+00] [ 3.67970711e-02 9.99322214e-01 -1.04294502e-03 3.48529814e-01] [ 2.04454153e-02 2.90592528e-04 9.99790928e-01 -1.00721202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.73, Y:0.35, Z:-0.10 [[ 9.99133992e-01 -3.61573968e-02 -2.05890634e-02 8.72505241e+00] [ 3.61434418e-02 9.99346061e-01 -1.04962213e-03 3.48672257e-01] [ 2.06135510e-02 3.04553531e-04 9.99787472e-01 -1.03252253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.890385723 meters Centerline goodness [0,1] 0.9999772095355304 Centerline is valid? [True, True] Translation: X:8.76, Y:0.35, Z:-0.10 [[ 9.99127089e-01 -3.62830212e-02 -2.07027124e-02 8.75701879e+00] [ 3.62689675e-02 9.99341509e-01 -1.05402487e-03 3.49171724e-01] [ 2.07273231e-02 3.02238796e-04 9.99785120e-01 -1.04363279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.920385723 meters Centerline goodness [0,1] 0.9999772287373335 Centerline is valid? [True, True] Translation: X:8.79, Y:0.35, Z:-0.11 [[ 9.99134207e-01 -3.67159451e-02 -1.95646317e-02 8.78967860e+00] [ 3.67035017e-02 9.99325704e-01 -9.94835366e-04 3.49695086e-01] [ 1.95879657e-02 2.75883553e-04 9.99808099e-01 -1.05659400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.82, Y:0.35, Z:-0.10 [[ 9.99125156e-01 -3.70978581e-02 -1.93047164e-02 8.82095255e+00] [ 3.70858376e-02 9.99311603e-01 -9.80424644e-04 3.53161984e-01] [ 1.93277987e-02 2.63635349e-04 9.99813166e-01 -1.03101596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.85, Y:0.36, Z:-0.10 [[ 9.99079008e-01 -3.80841030e-02 -1.97670747e-02 8.85147148e+00] [ 3.80717123e-02 9.99274506e-01 -1.00291376e-03 3.60053772e-01] [ 1.97909289e-02 2.49423708e-04 9.99804109e-01 -9.85269796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.88, Y:0.36, Z:-0.10 [[ 9.99020019e-01 -3.93066338e-02 -2.03467296e-02 8.88246444e+00] [ 3.92937798e-02 9.99227169e-01 -1.03130736e-03 3.61740664e-01] [ 2.03715422e-02 2.30796790e-04 9.99792452e-01 -9.86859299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.91, Y:0.36, Z:-0.10 [[ 9.99005376e-01 -4.00243835e-02 -1.96547295e-02 8.91452156e+00] [ 4.00125477e-02 9.99198682e-01 -9.95232087e-04 3.62037694e-01] [ 1.96788134e-02 2.07806402e-04 9.99806332e-01 -9.90534122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.95, Y:0.36, Z:-0.10 [[ 9.98996486e-01 -4.06734372e-02 -1.87534455e-02 8.94706668e+00] [ 4.06627983e-02 9.99172476e-01 -9.48425812e-04 3.62237522e-01] [ 1.87765023e-02 1.84906482e-04 9.99823689e-01 -9.90065988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.98, Y:0.36, Z:-0.10 [[ 9.98999847e-01 -4.05631674e-02 -1.88131468e-02 8.97988286e+00] [ 4.05524674e-02 9.99176959e-01 -9.50054109e-04 3.64357986e-01] [ 1.88362000e-02 1.86184387e-04 9.99822566e-01 -9.92130195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.01, Y:0.36, Z:-0.10 [[ 9.98875149e-01 -4.29578838e-02 -2.00762678e-02 9.01217507e+00] [ 4.29462215e-02 9.99076873e-01 -1.01187802e-03 3.64745208e-01] [ 2.01012030e-02 1.48539965e-04 9.99797939e-01 -9.89989600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.160385723000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.05, Y:0.37, Z:-0.10 [[ 9.98813674e-01 -4.38346495e-02 -2.12077334e-02 9.04537923e+00] [ 4.38218688e-02 9.99038790e-01 -1.06722854e-03 3.66129477e-01] [ 2.12341299e-02 1.36599947e-04 9.99774521e-01 -9.88692227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.190385723 meters Centerline goodness [0,1] 0.9999771140862799 Centerline is valid? [True, True] Translation: X:9.08, Y:0.37, Z:-0.10 [[ 9.98771351e-01 -4.49118127e-02 -2.09455751e-02 9.07695855e+00] [ 4.48996205e-02 9.98990949e-01 -1.05223959e-03 3.68030601e-01] [ 2.09716979e-02 1.10498387e-04 9.99780064e-01 -9.83859270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.220385723 meters Centerline goodness [0,1] 0.9999771140862799 Centerline is valid? [True, True] Translation: X:9.11, Y:0.37, Z:-0.10 [[ 9.98775793e-01 -4.48128958e-02 -2.09456416e-02 9.10947126e+00] [ 4.48007096e-02 9.98995391e-01 -1.05091300e-03 3.69568918e-01] [ 2.09716939e-02 1.11246855e-04 9.99780064e-01 -9.78920600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.250385723 meters Centerline goodness [0,1] 0.9998629354654484 Centerline is valid? [True, True] Translation: X:9.14, Y:0.37, Z:-0.09 [[ 9.98836309e-01 -4.47523839e-02 -1.79791998e-02 9.14047936e+00] [ 4.47434213e-02 9.98998106e-01 -9.00646011e-04 3.72080485e-01] [ 1.80014926e-02 9.51470258e-05 9.99837955e-01 -9.32904818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.17, Y:0.37, Z:-0.09 [[ 9.98875487e-01 -4.43670177e-02 -1.67131489e-02 9.17322579e+00] [ 4.43592334e-02 9.99015295e-01 -8.36372011e-04 3.73887107e-01] [ 1.67337987e-02 9.40490258e-05 9.99859976e-01 -9.11273789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.20, Y:0.37, Z:-0.09 [[ 9.98954271e-01 -4.28113529e-02 -1.60484342e-02 9.20441041e+00] [ 4.28039996e-02 9.99083167e-01 -8.01567015e-04 3.74673428e-01] [ 1.60680366e-02 1.13791624e-04 9.99870894e-01 -9.29454202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.24, Y:0.37, Z:-0.09 [[ 9.98959250e-01 -4.23266346e-02 -1.69962715e-02 9.23764921e+00] [ 4.23183339e-02 9.99103818e-01 -8.47902993e-04 3.74153224e-01] [ 1.70169286e-02 1.27766648e-04 9.99855193e-01 -9.33148283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.370385723 meters Centerline goodness [0,1] 0.9999083325694381 Centerline is valid? [True, True] Translation: X:9.27, Y:0.38, Z:-0.09 [[ 9.98926316e-01 -4.17936581e-02 -1.99876278e-02 9.26989697e+00] [ 4.17821145e-02 9.99126251e-01 -9.94977123e-04 3.77641904e-01] [ 2.00117473e-02 1.58783479e-04 9.99799732e-01 -9.24773387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.30, Y:0.38, Z:-0.09 [[ 9.98943599e-01 -4.10647148e-02 -2.06246302e-02 9.30103465e+00] [ 4.10522959e-02 9.99156473e-01 -1.02534557e-03 3.81492527e-01] [ 2.06493383e-02 1.77573973e-04 9.99786764e-01 -9.16469501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.430385723 meters Centerline goodness [0,1] 0.9999542009205615 Centerline is valid? [True, True] Translation: X:9.33, Y:0.38, Z:-0.09 [[ 9.99009554e-01 -3.95567357e-02 -2.03758806e-02 9.33356144e+00] [ 3.95443238e-02 9.99217305e-01 -1.01186487e-03 3.84133991e-01] [ 2.03999585e-02 2.05112256e-04 9.99791878e-01 -9.11822254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.460385723 meters Centerline goodness [0,1] 0.9999312273623401 Centerline is valid? [True, True] Translation: X:9.37, Y:0.39, Z:-0.09 [[ 9.99074550e-01 -3.85982609e-02 -1.89793989e-02 9.36549465e+00] [ 3.85873435e-02 9.99254788e-01 -9.41243048e-04 3.85052463e-01] [ 1.90015855e-02 2.08007391e-04 9.99819432e-01 -9.02748695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.490385723000001 meters Centerline goodness [0,1] 0.999863207332087 Centerline is valid? [True, True] Translation: X:9.40, Y:0.39, Z:-0.09 [[ 9.99205805e-01 -3.63845367e-02 -1.62457674e-02 9.39642123e+00] [ 3.63762639e-02 9.99337841e-01 -8.04538037e-04 3.86008687e-01] [ 1.62642829e-02 2.12938754e-04 9.99867705e-01 -8.78965392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.520385723 meters Centerline goodness [0,1] 0.9998630699712447 Centerline is valid? [True, True] Translation: X:9.43, Y:0.39, Z:-0.09 [[ 9.99250331e-01 -3.49583393e-02 -1.66340123e-02 9.42878913e+00] [ 3.49494830e-02 9.99388741e-01 -8.22904673e-04 3.89267900e-01] [ 1.66526120e-02 2.40937637e-04 9.99861307e-01 -8.67737923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.550385723 meters Centerline goodness [0,1] 0.9999315474832291 Centerline is valid? [True, True] Translation: X:9.46, Y:0.39, Z:-0.09 [[ 9.99239395e-01 -3.47218429e-02 -1.77489556e-02 9.46180296e+00] [ 3.47117454e-02 9.99396981e-01 -8.76755807e-04 3.91759964e-01] [ 1.77686952e-02 2.59991714e-04 9.99842090e-01 -8.70627272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.580385723000001 meters Centerline goodness [0,1] 0.9998858708057521 Centerline is valid? [True, True] Translation: X:9.49, Y:0.39, Z:-0.09 [[ 9.99193251e-01 -3.54520824e-02 -1.88678815e-02 9.49410390e+00] [ 3.54408362e-02 9.99371343e-01 -9.30198328e-04 3.92279465e-01] [ 1.88889975e-02 2.60754395e-04 9.99821553e-01 -8.95901208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.53, Y:0.39, Z:-0.09 [[ 9.99216381e-01 -3.55865514e-02 -1.73268761e-02 9.52594467e+00] [ 3.55771060e-02 9.99366570e-01 -8.53168457e-04 3.92407305e-01] [ 1.73462620e-02 2.36059792e-04 9.99849514e-01 -8.91927329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.56, Y:0.39, Z:-0.09 [[ 9.99228470e-01 -3.58547457e-02 -1.60281639e-02 9.55798252e+00] [ 3.58467134e-02 9.99356989e-01 -7.88244821e-04 3.94119258e-01] [ 1.60461199e-02 2.13079670e-04 9.99871230e-01 -8.69874641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.670385723 meters Centerline goodness [0,1] 0.9997728408523011 Centerline is valid? [True, True] Translation: X:9.59, Y:0.40, Z:-0.08 [[ 9.99217141e-01 -3.69751919e-02 -1.40691539e-02 9.58930004e+00] [ 3.69691258e-02 9.99316169e-01 -6.91084706e-04 3.95803476e-01] [ 1.40850859e-02 1.70419364e-04 9.99900786e-01 -8.36538988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.700385723 meters Centerline goodness [0,1] 0.9998636580544005 Centerline is valid? [True, True] Translation: X:9.62, Y:0.39, Z:-0.08 [[ 9.99167104e-01 -3.80865551e-02 -1.46462729e-02 9.62141889e+00] [ 3.80801111e-02 9.99274431e-01 -7.18702675e-04 3.94268789e-01] [ 1.46630189e-02 1.60372372e-04 9.99892479e-01 -8.45598739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.730385723 meters Centerline goodness [0,1] 0.9999546649741591 Centerline is valid? [True, True] Translation: X:9.65, Y:0.39, Z:-0.09 [[ 9.99075597e-01 -3.93860215e-02 -1.72247617e-02 9.65375233e+00] [ 3.93773251e-02 9.99224056e-01 -8.43873171e-04 3.94277408e-01] [ 1.72446330e-02 1.64828051e-04 9.99851287e-01 -8.66966027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.760385723 meters Centerline goodness [0,1] 0.999886557005105 Centerline is valid? [True, True] Translation: X:9.68, Y:0.40, Z:-0.09 [[ 9.98997632e-01 -4.08478479e-02 -1.83080690e-02 9.68459840e+00] [ 4.08382917e-02 9.99165368e-01 -8.95685447e-04 3.97886170e-01] [ 1.83293753e-02 1.47117380e-04 9.99831992e-01 -8.59421234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.790385723 meters Centerline goodness [0,1] 0.9999092250085102 Centerline is valid? [True, True] Translation: X:9.72, Y:0.40, Z:-0.09 [[ 9.98978924e-01 -4.11821018e-02 -1.85780735e-02 9.71770006e+00] [ 4.11723404e-02 9.99151647e-01 -9.07768323e-04 3.98710722e-01] [ 1.85996966e-02 1.41938655e-04 9.99827001e-01 -8.65687703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.75, Y:0.39, Z:-0.09 [[ 9.99020458e-01 -4.05140195e-02 -1.77971628e-02 9.75113184e+00] [ 4.05049865e-02 9.99178959e-01 -8.67877007e-04 3.94850654e-01] [ 1.78177118e-02 1.46153046e-04 9.99841241e-01 -8.99105135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.850385723 meters Centerline goodness [0,1] 0.9999322187076367 Centerline is valid? [True, True] Translation: X:9.78, Y:0.40, Z:-0.09 [[ 9.99063121e-01 -3.99134205e-02 -1.67272081e-02 9.78310413e+00] [ 3.99053833e-02 9.99203131e-01 -8.14125148e-04 3.96337509e-01] [ 1.67463732e-02 1.45856763e-04 9.99859759e-01 -8.85916918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.81, Y:0.40, Z:-0.08 [[ 9.99112277e-01 -3.88453787e-02 -1.63001454e-02 9.81439019e+00] [ 3.88376271e-02 9.99245221e-01 -7.91955770e-04 4.04528227e-01] [ 1.63186063e-02 1.58193763e-04 9.99866830e-01 -8.29009383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.910385723000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.85, Y:0.41, Z:-0.08 [[ 9.99134502e-01 -3.82197205e-02 -1.64164530e-02 9.84645999e+00] [ 3.82118068e-02 9.99269346e-01 -7.95572479e-04 4.08493390e-01] [ 1.64348648e-02 1.67581581e-04 9.99864924e-01 -8.11886032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.88, Y:0.41, Z:-0.08 [[ 9.99161873e-01 -3.85129015e-02 -1.38675108e-02 9.87800160e+00] [ 3.85072938e-02 9.99258094e-01 -6.71264974e-04 4.08945296e-01] [ 1.38830747e-02 1.36702057e-04 9.99903616e-01 -8.04877842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.91, Y:0.41, Z:-0.08 [[ 9.99166496e-01 -3.87926385e-02 -1.27061120e-02 9.91097142e+00] [ 3.87879588e-02 9.99247275e-01 -6.14616960e-04 4.07191515e-01] [ 1.27203904e-02 1.21260525e-04 9.99919085e-01 -7.99482871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.94, Y:0.40, Z:-0.08 [[ 9.99077947e-01 -4.10219038e-02 -1.26672445e-02 9.94279782e+00] [ 4.10174447e-02 9.99158243e-01 -6.11726565e-04 4.04703326e-01] [ 1.26816760e-02 9.15845194e-05 9.99919580e-01 -8.14300912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.97, Y:0.41, Z:-0.08 [[ 9.98951801e-01 -4.35575401e-02 -1.40726796e-02 9.97498372e+00] [ 4.35523395e-02 9.99050918e-01 -6.75952176e-04 4.05108518e-01] [ 1.40887663e-02 6.23455233e-05 9.99900746e-01 -8.13749426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.01, Y:0.41, Z:-0.08 [[ 9.98915386e-01 -4.41373123e-02 -1.48307167e-02 1.00078850e+01] [ 4.41316158e-02 9.99025472e-01 -7.11314834e-04 4.07989721e-01] [ 1.48476593e-02 5.60398401e-05 9.99889766e-01 -8.04895839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.04, Y:0.41, Z:-0.08 [[ 9.98878298e-01 -4.45955824e-02 -1.59178978e-02 1.00404639e+01] [ 4.45891057e-02 9.99005121e-01 -7.61729108e-04 4.11660048e-01] [ 1.59360311e-02 5.11098488e-05 9.99873012e-01 -8.00828272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.07, Y:0.41, Z:-0.08 [[ 9.98872641e-01 -4.48117798e-02 -1.56636919e-02 1.00723287e+01] [ 4.48055595e-02 9.98995447e-01 -7.47995985e-04 4.12705680e-01] [ 1.56814759e-02 4.53322459e-05 9.99877037e-01 -8.00869636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.150385723 meters Centerline goodness [0,1] 0.9999772608408941 Centerline is valid? [True, True] Translation: X:10.10, Y:0.41, Z:-0.08 [[ 9.98963373e-01 -4.35463096e-02 -1.32626662e-02 1.01047221e+01] [ 4.35417514e-02 9.99051408e-01 -6.32378395e-04 4.14000824e-01] [ 1.32776231e-02 5.42431386e-05 9.99911847e-01 -7.88816895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.14, Y:0.42, Z:-0.08 [[ 9.98989838e-01 -4.32382926e-02 -1.22373620e-02 1.01371487e+01] [ 4.32343974e-02 9.99064786e-01 -5.82792004e-04 4.16821443e-01] [ 1.22511164e-02 5.31283163e-05 9.99924951e-01 -7.71423046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.210385723 meters Centerline goodness [0,1] 0.9999543691535479 Centerline is valid? [True, True] Translation: X:10.17, Y:0.42, Z:-0.08 [[ 9.99026392e-01 -4.28858788e-02 -1.03474364e-02 1.01682016e+01] [ 4.28830799e-02 9.99079976e-01 -4.92314414e-04 4.19893448e-01] [ 1.03590299e-02 4.81051483e-05 9.99946343e-01 -7.58331269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.20, Y:0.42, Z:-0.08 [[ 9.99009236e-01 -4.31204793e-02 -1.10077363e-02 1.02004649e+01] [ 4.31173462e-02 9.99069878e-01 -5.21899293e-04 4.21188501e-01] [ 1.10200023e-02 4.67578383e-05 9.99939277e-01 -7.63082142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.23, Y:0.42, Z:-0.08 [[ 9.98869750e-01 -4.53848763e-02 -1.41221627e-02 1.02320116e+01] [ 4.53799619e-02 9.98969575e-01 -6.68410748e-04 4.23650412e-01] [ 1.41379466e-02 2.67920703e-05 9.99900054e-01 -7.76009608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.26, Y:0.42, Z:-0.08 [[ 9.98669332e-01 -4.98203166e-02 -1.33229534e-02 1.02648753e+01] [ 4.98163596e-02 9.98758196e-01 -6.28910583e-04 4.21951394e-01] [ 1.33377415e-02 -3.56273270e-05 9.99911048e-01 -7.61854108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.330385723000001 meters Centerline goodness [0,1] 0.9999771465137006 Centerline is valid? [True, True] Translation: X:10.30, Y:0.42, Z:-0.08 [[ 9.98589001e-01 -5.16874999e-02 -1.21823062e-02 1.02969214e+01] [ 5.16843446e-02 9.98663306e-01 -5.73902751e-04 4.21994571e-01] [ 1.21956858e-02 -5.65415345e-05 9.99925628e-01 -7.54752405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.33, Y:0.42, Z:-0.07 [[ 9.98471206e-01 -5.39211289e-02 -1.21557957e-02 1.03288072e+01] [ 5.39181625e-02 9.98545194e-01 -5.71863574e-04 4.23551187e-01] [ 1.21689469e-02 -8.44288555e-05 9.99925952e-01 -7.46173736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.390385723 meters Centerline goodness [0,1] 0.9998853158401761 Centerline is valid? [True, True] Translation: X:10.36, Y:0.42, Z:-0.07 [[ 9.98164936e-01 -5.94914956e-02 -1.12925548e-02 1.03610723e+01] [ 5.94892993e-02 9.98228802e-01 -5.30591475e-04 4.21722725e-01] [ 1.13041192e-02 -1.42168368e-04 9.99936096e-01 -7.33631694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.420385723 meters Centerline goodness [0,1] 0.9999541904303809 Centerline is valid? [True, True] Translation: X:10.39, Y:0.42, Z:-0.07 [[ 9.98093509e-01 -6.08123806e-02 -1.05452240e-02 1.03930948e+01] [ 6.08105371e-02 9.98149204e-01 -4.95662145e-04 4.23266464e-01] [ 1.05558493e-02 -1.46543564e-04 9.99944275e-01 -7.30558769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.42, Y:0.42, Z:-0.07 [[ 9.97896353e-01 -6.42327908e-02 -8.77593865e-03 1.04245054e+01] [ 6.42316607e-02 9.97934930e-01 -4.10863110e-04 4.17676522e-01] [ 8.78420661e-03 -1.53694314e-04 9.99961406e-01 -7.08812784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.480385723 meters Centerline goodness [0,1] 0.9999771621714207 Centerline is valid? [True, True] Translation: X:10.46, Y:0.42, Z:-0.07 [[ 9.97744697e-01 -6.64718449e-02 -9.32810621e-03 1.04556093e+01] [ 6.64706885e-02 9.97788284e-01 -4.34293989e-04 4.17077573e-01] [ 9.33634341e-03 -1.86731118e-04 9.99956398e-01 -7.08075208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.510385723 meters Centerline goodness [0,1] 0.9997714546908925 Centerline is valid? [True, True] Translation: X:10.49, Y:0.42, Z:-0.07 [[ 9.97486576e-01 -6.99067099e-02 -1.15578033e-02 1.04877181e+01] [ 6.99051987e-02 9.97553496e-01 -5.35182226e-04 4.21983278e-01] [ 1.15669399e-02 -2.74113447e-04 9.99933063e-01 -7.34615548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.540385723 meters Centerline goodness [0,1] 0.9999771214166419 Centerline is valid? [True, True] Translation: X:10.52, Y:0.42, Z:-0.08 [[ 9.97529661e-01 -6.88018529e-02 -1.41732311e-02 1.05195210e+01] [ 6.87995302e-02 9.97630292e-01 -6.51974090e-04 4.18985515e-01] [ 1.41845018e-02 -3.24748151e-04 9.99899342e-01 -7.55236506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.55, Y:0.43, Z:-0.08 [[ 9.97665770e-01 -6.66538603e-02 -1.48416534e-02 1.05518825e+01] [ 6.66511071e-02 9.97776111e-01 -6.80608255e-04 4.26595777e-01] [ 1.48540124e-02 -3.10193075e-04 9.99889625e-01 -7.70490872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.600385723 meters Centerline goodness [0,1] 0.9999542627149652 Centerline is valid? [True, True] Translation: X:10.58, Y:0.43, Z:-0.08 [[ 9.97944044e-01 -6.26459673e-02 -1.35339203e-02 1.05837554e+01] [ 6.26433488e-02 9.98035786e-01 -6.17734868e-04 4.26198630e-01] [ 1.35460354e-02 -2.31345259e-04 9.99908221e-01 -7.70959269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.630385723 meters Centerline goodness [0,1] 0.9999312257857454 Centerline is valid? [True, True] Translation: X:10.62, Y:0.43, Z:-0.07 [[ 9.98090764e-01 -6.04622878e-02 -1.26149779e-02 1.06158096e+01] [ 6.04598727e-02 9.98170464e-01 -5.73069567e-04 4.31103352e-01] [ 1.26265475e-02 -1.90724517e-04 9.99920264e-01 -7.43974749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.660385723000001 meters Centerline goodness [0,1] 0.9999083409715857 Centerline is valid? [True, True] Translation: X:10.65, Y:0.44, Z:-0.07 [[ 9.98253399e-01 -5.79906087e-02 -1.12801120e-02 1.06464844e+01] [ 5.79885499e-02 9.98317118e-01 -5.09774427e-04 4.37079427e-01] [ 1.12906910e-02 -1.45233283e-04 9.99936248e-01 -6.95464534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.690385723 meters Centerline goodness [0,1] 0.9998398938725098 Centerline is valid? [True, True] Translation: X:10.68, Y:0.44, Z:-0.07 [[ 9.98402244e-01 -5.55448142e-02 -1.03794362e-02 1.06790682e+01] [ 5.55429468e-02 9.98456189e-01 -4.68307395e-04 4.40318336e-01] [ 1.03894244e-02 -1.08945319e-04 9.99946023e-01 -6.78912312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.720385723 meters Centerline goodness [0,1] 0.9999543107780875 Centerline is valid? [True, True] Translation: X:10.71, Y:0.44, Z:-0.07 [[ 9.98670110e-01 -5.07406579e-02 -9.13216391e-03 1.07100045e+01] [ 5.07390279e-02 9.98711862e-01 -4.10228562e-04 4.41481515e-01] [ 9.14121569e-03 -5.36741165e-05 9.99958217e-01 -6.91718663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.750385723 meters Centerline goodness [0,1] 0.9998173599379023 Centerline is valid? [True, True] Translation: X:10.74, Y:0.44, Z:-0.07 [[ 9.98750591e-01 -4.90542092e-02 -9.53628283e-03 1.07424112e+01] [ 4.90523839e-02 9.98796117e-01 -4.25346111e-04 4.41526199e-01] [ 9.54566727e-03 -4.29627260e-05 9.99954438e-01 -7.11710485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.77, Y:0.44, Z:-0.07 [[ 9.98915807e-01 -4.48785934e-02 -1.23742597e-02 1.07736650e+01] [ 4.48752082e-02 9.98992448e-01 -5.51228597e-04 4.43396706e-01] [ 1.23865303e-02 -4.66652075e-06 9.99923284e-01 -7.48038458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.81, Y:0.45, Z:-0.07 [[ 9.99117160e-01 -4.00741346e-02 -1.26081413e-02 1.08053571e+01] [ 4.00702763e-02 9.99196708e-01 -5.58580578e-04 4.50265191e-01] [ 1.26203980e-02 5.28757329e-05 9.99920358e-01 -7.17330738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.84, Y:0.46, Z:-0.07 [[ 9.99238747e-01 -3.70605220e-02 -1.21837773e-02 1.08370054e+01] [ 3.70567042e-02 9.99313019e-01 -5.39032150e-04 4.55709710e-01] [ 1.21953841e-02 8.71311771e-05 9.99925630e-01 -6.84017810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.87, Y:0.46, Z:-0.07 [[ 9.99468693e-01 -3.04239969e-02 -1.16924164e-02 1.08691935e+01] [ 3.04200350e-02 9.99537070e-01 -5.16585213e-04 4.62500532e-01] [ 1.17027202e-02 1.60627031e-04 9.99931508e-01 -6.60106821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.90, Y:0.46, Z:-0.07 [[ 9.99591000e-01 -2.58642130e-02 -1.22014742e-02 1.09002252e+01] [ 2.58595695e-02 9.99665441e-01 -5.38216498e-04 4.63690738e-01] [ 1.22113126e-02 2.22471497e-04 9.99925414e-01 -6.84146585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.93, Y:0.46, Z:-0.07 [[ 9.99596653e-01 -2.50276899e-02 -1.34218633e-02 1.09330661e+01] [ 2.50220045e-02 9.99686726e-01 -5.91382151e-04 4.61521639e-01] [ 1.34324595e-02 2.55301694e-04 9.99909748e-01 -7.02395804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.96, Y:0.46, Z:-0.07 [[ 9.99606602e-01 -2.39921217e-02 -1.45265050e-02 1.09647411e+01] [ 2.39853683e-02 9.99712105e-01 -6.38975332e-04 4.62258938e-01] [ 1.45376533e-02 2.90300389e-04 9.99894281e-01 -7.21257114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.00, Y:0.46, Z:-0.07 [[ 9.99616535e-01 -2.31394758e-02 -1.52100931e-02 1.09968605e+01] [ 2.31319853e-02 9.99732196e-01 -6.68238064e-04 4.62711404e-01] [ 1.52214824e-02 3.16142169e-04 9.99884097e-01 -7.18490321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.03, Y:0.47, Z:-0.07 [[ 9.99667934e-01 -2.07306246e-02 -1.53056823e-02 1.10280177e+01] [ 2.07227733e-02 9.99785035e-01 -6.71401351e-04 4.67702628e-01] [ 1.53163107e-02 3.54002215e-04 9.99882636e-01 -6.91705614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.06, Y:0.48, Z:-0.06 [[ 9.99746447e-01 -1.82997994e-02 -1.31209697e-02 1.10579006e+01] [ 1.82938286e-02 9.99832489e-01 -5.74944789e-04 4.75327358e-01] [ 1.31292931e-02 3.34766240e-04 9.99913751e-01 -6.44564900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.080385723000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.09, Y:0.47, Z:-0.06 [[ 9.99784349e-01 -1.75426805e-02 -1.11134982e-02 1.10893686e+01] [ 1.75383511e-02 9.99846073e-01 -4.86905319e-04 4.70538162e-01] [ 1.11203292e-02 2.91887883e-04 9.99938125e-01 -6.32908804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.12, Y:0.47, Z:-0.06 [[ 9.99798850e-01 -1.85054363e-02 -7.73362856e-03 1.11203484e+01] [ 1.85033685e-02 9.99828741e-01 -3.38842929e-04 4.71967915e-01] [ 7.73857454e-03 1.95676591e-04 9.99970038e-01 -6.08292471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.15, Y:0.47, Z:-0.06 [[ 9.99799932e-01 -1.84468706e-02 -7.73364176e-03 1.11520268e+01] [ 1.84448034e-02 9.99829823e-01 -3.38541391e-04 4.73281831e-01] [ 7.73857070e-03 1.95828158e-04 9.99970038e-01 -6.03481867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.18, Y:0.47, Z:-0.06 [[ 9.99782777e-01 -1.94925547e-02 -7.37832149e-03 1.11846310e+01] [ 1.94907045e-02 9.99809986e-01 -3.22592315e-04 4.70977912e-01] [ 7.38320765e-03 1.78713556e-04 9.99972728e-01 -6.05402732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.22, Y:0.47, Z:-0.06 [[ 9.99730231e-01 -2.11722264e-02 -9.55000285e-03 1.12166362e+01] [ 2.11692112e-02 9.99775820e-01 -4.16721821e-04 4.67697028e-01] [ 9.55668486e-03 2.14443376e-04 9.99954311e-01 -6.31396602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.25, Y:0.47, Z:-0.07 [[ 9.99661746e-01 -2.25343092e-02 -1.29845477e-02 1.12482468e+01] [ 2.25288640e-02 9.99746033e-01 -5.65491012e-04 4.66444191e-01] [ 1.29939930e-02 2.72772623e-04 9.99915537e-01 -6.52545223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.28, Y:0.47, Z:-0.06 [[ 9.99631465e-01 -2.34917619e-02 -1.36041102e-02 1.12806721e+01] [ 2.34858814e-02 9.99723993e-01 -5.91876966e-04 4.65832411e-01] [ 1.36142596e-02 2.72154319e-04 9.99907285e-01 -6.49682314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.31, Y:0.46, Z:-0.06 [[ 9.99595441e-01 -2.59109958e-02 -1.17292519e-02 1.13135330e+01] [ 2.59067973e-02 9.99664233e-01 -5.09771434e-04 4.56410759e-01] [ 1.17385223e-02 2.05697849e-04 9.99931080e-01 -6.43029213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.35, Y:0.45, Z:-0.06 [[ 9.99561170e-01 -2.73999296e-02 -1.12566042e-02 1.13456313e+01] [ 2.73961644e-02 9.99624535e-01 -4.88579130e-04 4.51218613e-01] [ 1.12657648e-02 1.79976948e-04 9.99936523e-01 -6.49817864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.38, Y:0.45, Z:-0.07 [[ 9.99458394e-01 -3.07266289e-02 -1.17810818e-02 1.13768906e+01] [ 3.07227463e-02 9.99527815e-01 -5.10449497e-04 4.47355907e-01] [ 1.17912034e-02 1.48225847e-04 9.99930470e-01 -6.54055645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.380385723 meters Centerline goodness [0,1] 0.9999776890296959 Centerline is valid? [True, True] Translation: X:11.41, Y:0.45, Z:-0.06 [[ 9.99417489e-01 -3.18970467e-02 -1.21351038e-02 1.14078410e+01] [ 3.18930185e-02 9.99491150e-01 -5.25377079e-04 4.49741508e-01] [ 1.21456868e-02 1.38045952e-04 9.99926229e-01 -6.38412836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.44, Y:0.45, Z:-0.06 [[ 9.99341105e-01 -3.33360462e-02 -1.43549285e-02 1.14398854e+01] [ 3.33305887e-02 9.99444190e-01 -6.19324477e-04 4.47731441e-01] [ 1.43675957e-02 1.40458188e-04 9.99896771e-01 -6.49105261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.47, Y:0.45, Z:-0.06 [[ 9.99292383e-01 -3.47780213e-02 -1.43255908e-02 1.14717471e+01] [ 3.47727477e-02 9.99395055e-01 -6.17119738e-04 4.45177795e-01] [ 1.43383868e-02 1.18542900e-04 9.99897193e-01 -6.46889421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.50, Y:0.45, Z:-0.06 [[ 9.99277254e-01 -3.54832658e-02 -1.36347538e-02 1.15042188e+01] [ 3.54785658e-02 9.99370265e-01 -5.86510908e-04 4.45209923e-01] [ 1.36469789e-02 1.02345498e-04 9.99906870e-01 -6.30325278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.54, Y:0.45, Z:-0.06 [[ 9.99232869e-01 -3.69570738e-02 -1.29556501e-02 1.15357201e+01] [ 3.69529650e-02 9.99316851e-01 -5.56467342e-04 4.45326742e-01] [ 1.29673649e-02 7.72907729e-05 9.99915917e-01 -6.11720277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.57, Y:0.45, Z:-0.06 [[ 9.99208542e-01 -3.78215670e-02 -1.23214557e-02 1.15682289e+01] [ 3.78179228e-02 9.99284507e-01 -5.28711729e-04 4.45075528e-01] [ 1.23326365e-02 6.23214149e-05 9.99923948e-01 -6.05943230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.60, Y:0.44, Z:-0.06 [[ 9.99121482e-01 -4.04965045e-02 -1.07841548e-02 1.16003327e+01] [ 4.04938747e-02 9.99179680e-01 -4.62186931e-04 4.41470784e-01] [ 1.07940253e-02 2.50886787e-05 9.99941742e-01 -6.08133291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.63, Y:0.44, Z:-0.06 [[ 9.99064883e-01 -4.17305202e-02 -1.13102995e-02 1.16320964e+01] [ 4.17277114e-02 9.99128902e-01 -4.84312348e-04 4.40668683e-01] [ 1.13206577e-02 1.19065471e-05 9.99935919e-01 -6.03114948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.67, Y:0.44, Z:-0.06 [[ 9.98843862e-01 -4.64259142e-02 -1.24729446e-02 1.16654385e+01] [ 4.64228958e-02 9.98921735e-01 -5.31569989e-04 4.37436690e-01] [ 1.24841741e-02 -4.80747878e-05 9.99922069e-01 -6.07530406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.70, Y:0.44, Z:-0.06 [[ 9.98769178e-01 -4.80618756e-02 -1.22550215e-02 1.16966685e+01] [ 4.80591016e-02 9.98844358e-01 -5.20926000e-04 4.36462000e-01] [ 1.22658958e-02 -6.86804926e-05 9.99924769e-01 -5.98579833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.73, Y:0.43, Z:-0.06 [[ 9.98586596e-01 -5.16883991e-02 -1.23741823e-02 1.17281759e+01] [ 5.16858570e-02 9.98663255e-01 -5.25361578e-04 4.34001729e-01] [ 1.23847963e-02 -1.14951188e-04 9.99923299e-01 -5.82742518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.76, Y:0.43, Z:-0.06 [[ 9.98445294e-01 -5.42524479e-02 -1.27932196e-02 1.17599923e+01] [ 5.42499495e-02 9.98527240e-01 -5.42499965e-04 4.33006888e-01] [ 1.28038102e-02 -1.52374982e-04 9.99918016e-01 -5.92893587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.79, Y:0.43, Z:-0.06 [[ 9.98426534e-01 -5.45675707e-02 -1.29165422e-02 1.17925654e+01] [ 5.45650530e-02 9.98510068e-01 -5.47516688e-04 4.33141773e-01] [ 1.29271740e-02 -1.58136618e-04 9.99916428e-01 -5.92396845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.82, Y:0.43, Z:-0.06 [[ 9.98421077e-01 -5.46813279e-02 -1.28570894e-02 1.18245198e+01] [ 5.46788842e-02 9.98503844e-01 -5.41771604e-04 4.32508649e-01] [ 1.28674780e-02 -1.62095115e-04 9.99917197e-01 -5.87192456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.86, Y:0.43, Z:-0.06 [[ 9.98436591e-01 -5.44279317e-02 -1.27268881e-02 1.18577468e+01] [ 5.44255610e-02 9.98517689e-01 -5.32805321e-04 4.34586691e-01] [ 1.27370224e-02 -1.60695698e-04 9.99918868e-01 -5.92481814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.830385723000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.89, Y:0.44, Z:-0.06 [[ 9.98508829e-01 -5.31118198e-02 -1.26195639e-02 1.18901809e+01] [ 5.31094006e-02 9.98588561e-01 -5.26983625e-04 4.37495222e-01] [ 1.26297412e-02 -1.44019674e-04 9.99920231e-01 -5.88652981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.92, Y:0.44, Z:-0.06 [[ 9.98562874e-01 -5.21812815e-02 -1.22188832e-02 1.19224029e+01] [ 5.21789533e-02 9.98637621e-01 -5.09476055e-04 4.40744145e-01] [ 1.22288216e-02 -1.28824664e-04 9.99925217e-01 -5.71684641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.95, Y:0.45, Z:-0.05 [[ 9.98665031e-01 -5.01021148e-02 -1.25671413e-02 1.19547233e+01] [ 5.00994981e-02 9.98744095e-01 -5.23145281e-04 4.48080879e-01] [ 1.25775689e-02 -1.07160575e-04 9.99920894e-01 -5.45421814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.920385723 meters Centerline goodness [0,1] 0.9999777486037249 Centerline is valid? [True, True] Translation: X:11.99, Y:0.45, Z:-0.06 [[ 9.98824043e-01 -4.68376130e-02 -1.25207470e-02 1.19860389e+01] [ 4.68347647e-02 9.98902515e-01 -5.20764817e-04 4.51129042e-01] [ 1.25313971e-02 -6.62538225e-05 9.99921477e-01 -5.51422992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.950385723 meters Centerline goodness [0,1] 0.9999110399430655 Centerline is valid? [True, True] Translation: X:12.02, Y:0.45, Z:-0.06 [[ 9.98909449e-01 -4.48629574e-02 -1.29316890e-02 1.20179362e+01] [ 4.48597962e-02 9.98993150e-01 -5.34570020e-04 4.53809735e-01] [ 1.29426511e-02 -4.61258863e-05 9.99916239e-01 -5.66468108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.05, Y:0.46, Z:-0.06 [[ 9.99095302e-01 -4.00763957e-02 -1.42288429e-02 1.20485228e+01] [ 4.00720985e-02 9.99196618e-01 -5.87097645e-04 4.59923524e-01] [ 1.42409404e-02 1.63869060e-05 9.99898593e-01 -5.84136338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.08, Y:0.46, Z:-0.06 [[ 9.99185861e-01 -3.78335871e-02 -1.40083796e-02 1.20809343e+01] [ 3.78292111e-02 9.99284052e-01 -5.77318776e-04 4.63882062e-01] [ 1.40201923e-02 4.69228093e-05 9.99901711e-01 -5.83709851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.040385723 meters Centerline goodness [0,1] 0.9999105265512459 Centerline is valid? [True, True] Translation: X:12.11, Y:0.47, Z:-0.06 [[ 9.99317819e-01 -3.44822165e-02 -1.32239891e-02 1.21123235e+01] [ 3.44780350e-02 9.99405308e-01 -5.44122276e-04 4.70088737e-01] [ 1.32348874e-02 8.78139275e-05 9.99912411e-01 -5.64754804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.14, Y:0.47, Z:-0.05 [[ 9.99397795e-01 -3.21661829e-02 -1.30147504e-02 1.21439902e+01] [ 3.21619442e-02 9.99482528e-01 -5.34899391e-04 4.74490243e-01] [ 1.30252213e-02 1.15997596e-04 9.99915161e-01 -5.44539137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.18, Y:0.48, Z:-0.05 [[ 9.99535204e-01 -2.80163113e-02 -1.20192561e-02 1.21755957e+01] [ 2.80124047e-02 9.99607454e-01 -4.93283264e-04 4.81573265e-01] [ 1.20283580e-02 1.56365721e-04 9.99927644e-01 -5.17692079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.21, Y:0.49, Z:-0.05 [[ 9.99622691e-01 -2.46977246e-02 -1.20207292e-02 1.22071797e+01] [ 2.46935869e-02 9.99694946e-01 -4.92537785e-04 4.85084949e-01] [ 1.20292268e-02 1.95517025e-04 9.99927627e-01 -5.12532734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.24, Y:0.49, Z:-0.05 [[ 9.99663755e-01 -2.31270416e-02 -1.17267556e-02 1.22379504e+01] [ 2.31230028e-02 9.99732512e-01 -4.79888059e-04 4.92429169e-01] [ 1.17347172e-02 2.08568896e-04 9.99931124e-01 -5.05760582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.27, Y:0.49, Z:-0.05 [[ 9.99710863e-01 -2.05539588e-02 -1.24789741e-02 1.22704815e+01] [ 2.05491931e-02 9.99788713e-01 -5.10014926e-04 4.91094265e-01] [ 1.24868203e-02 2.53434614e-04 9.99922005e-01 -5.41756589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.30, Y:0.49, Z:-0.06 [[ 9.99730224e-01 -1.91859335e-02 -1.30912129e-02 1.23013377e+01] [ 1.91805845e-02 9.99815893e-01 -5.34034956e-04 4.93778055e-01] [ 1.30990487e-02 2.82793771e-04 9.99914164e-01 -5.54971737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.33, Y:0.50, Z:-0.05 [[ 9.99739271e-01 -1.75524803e-02 -1.46048242e-02 1.23329612e+01] [ 1.75456612e-02 9.99845886e-01 -5.94924226e-04 4.96950610e-01] [ 1.46130157e-02 3.38517816e-04 9.99893167e-01 -5.47304990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.36, Y:0.50, Z:-0.05 [[ 9.99752220e-01 -1.66832918e-02 -1.47365761e-02 1.23638882e+01] [ 1.66762621e-02 9.99860762e-01 -5.99783873e-04 5.01309284e-01] [ 1.47445306e-02 3.53884253e-04 9.99891231e-01 -5.23131164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.39, Y:0.51, Z:-0.05 [[ 9.99799220e-01 -1.45661678e-02 -1.37603264e-02 1.23937096e+01] [ 1.45598447e-02 9.99893843e-01 -5.59592505e-04 5.06890761e-01] [ 1.37670167e-02 3.59131935e-04 9.99905166e-01 -4.96547775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.42, Y:0.51, Z:-0.05 [[ 9.99849202e-01 -1.23858123e-02 -1.21723369e-02 1.24239074e+01] [ 1.23807057e-02 9.99923234e-01 -4.94787763e-04 5.08144757e-01] [ 1.21775308e-02 3.44011029e-04 9.99925792e-01 -5.02727664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.45, Y:0.51, Z:-0.05 [[ 9.99858111e-01 -1.18311162e-02 -1.19909615e-02 1.24542991e+01] [ 1.18261208e-02 9.99929950e-01 -4.87415121e-04 5.09101889e-01] [ 1.19958882e-02 3.45539402e-04 9.99927987e-01 -5.01822965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.48, Y:0.51, Z:-0.05 [[ 9.99842801e-01 -1.17175426e-02 -1.33068466e-02 1.24837675e+01] [ 1.17113810e-02 9.99931273e-01 -5.40873203e-04 5.09574087e-01] [ 1.33122698e-02 3.84946629e-04 9.99911314e-01 -5.24550298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.51, Y:0.51, Z:-0.05 [[ 9.99811062e-01 -1.25916530e-02 -1.48084874e-02 1.25127172e+01] [ 1.25841141e-02 9.99920636e-01 -6.02170129e-04 5.11183205e-01] [ 1.48148944e-02 4.15704662e-04 9.99890167e-01 -5.25155260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.54, Y:0.51, Z:-0.05 [[ 9.99811317e-01 -1.34382505e-02 -1.40265182e-02 1.25419565e+01] [ 1.34315636e-02 9.99909630e-01 -5.70830721e-04 5.11472220e-01] [ 1.40329216e-02 3.82324943e-04 9.99901461e-01 -5.12398277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.57, Y:0.51, Z:-0.05 [[ 9.99791062e-01 -1.50493368e-02 -1.38329194e-02 1.25716835e+01] [ 1.50429434e-02 9.99886688e-01 -5.66126552e-04 5.12495102e-01] [ 1.38398718e-02 3.57920443e-04 9.99904160e-01 -5.00581800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.60, Y:0.51, Z:-0.05 [[ 9.99776199e-01 -1.60519328e-02 -1.37799456e-02 1.26026664e+01] [ 1.60456803e-02 9.99871101e-01 -5.64189705e-04 5.12637517e-01] [ 1.37872257e-02 3.42954838e-04 9.99904893e-01 -5.04561217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.63, Y:0.51, Z:-0.05 [[ 9.99753866e-01 -1.79290531e-02 -1.30673821e-02 1.26336914e+01] [ 1.79235889e-02 9.99839216e-01 -5.35156655e-04 5.12059293e-01] [ 1.30748760e-02 3.00810550e-04 9.99914475e-01 -5.06628846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.580385723000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.66, Y:0.51, Z:-0.05 [[ 9.99736403e-01 -1.91732924e-02 -1.26297086e-02 1.26646396e+01] [ 1.91682846e-02 9.99816138e-01 -5.17449770e-04 5.13458026e-01] [ 1.26373077e-02 2.75223522e-04 9.99920108e-01 -4.90957542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.70, Y:0.51, Z:-0.05 [[ 9.99669523e-01 -2.27677433e-02 -1.19362341e-02 1.26954144e+01] [ 2.27635313e-02 9.99740758e-01 -4.88635512e-04 5.12349440e-01] [ 1.19442648e-02 2.16763191e-04 9.99928641e-01 -4.91727560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.73, Y:0.51, Z:-0.05 [[ 9.99612932e-01 -2.50572768e-02 -1.20879872e-02 1.27277730e+01] [ 2.50531381e-02 9.99685999e-01 -4.93709437e-04 5.08737374e-01] [ 1.20965626e-02 1.90676325e-04 9.99926816e-01 -4.94883591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.76, Y:0.51, Z:-0.05 [[ 9.99449916e-01 -3.07309589e-02 -1.24689179e-02 1.27598736e+01] [ 3.07270078e-02 9.99527685e-01 -5.08372483e-04 5.07689481e-01] [ 1.24786514e-02 1.24960297e-04 9.99922131e-01 -4.84599436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.79, Y:0.51, Z:-0.05 [[ 9.99230519e-01 -3.69262889e-02 -1.32219170e-02 1.27912791e+01] [ 3.69223995e-02 9.99317991e-01 -5.38225418e-04 5.05189249e-01] [ 1.32327742e-02 4.96263609e-05 9.99912442e-01 -4.92455662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.82, Y:0.50, Z:-0.05 [[ 9.99109034e-01 -4.01013970e-02 -1.31535566e-02 1.28240810e+01] [ 4.00978485e-02 9.99195615e-01 -5.33496794e-04 5.02822712e-01] [ 1.31643700e-02 5.59214747e-06 9.99913346e-01 -5.06952082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.86, Y:0.50, Z:-0.05 [[ 9.98837967e-01 -4.64309733e-02 -1.29182472e-02 1.28553983e+01] [ 4.64280914e-02 9.98921498e-01 -5.23051438e-04 4.99235702e-01] [ 1.29286007e-02 -7.73259287e-05 9.99916419e-01 -5.06360947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.89, Y:0.50, Z:-0.05 [[ 9.98694940e-01 -4.95647341e-02 -1.23188292e-02 1.28880418e+01] [ 4.95623585e-02 9.98770907e-01 -4.98237357e-04 4.99016472e-01] [ 1.23283832e-02 -1.12963103e-04 9.99923996e-01 -4.97593930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.92, Y:0.50, Z:-0.05 [[ 9.98444177e-01 -5.45633718e-02 -1.14918727e-02 1.29204063e+01] [ 5.45616436e-02 9.98510296e-01 -4.64080013e-04 4.97196924e-01] [ 1.15000750e-02 -1.63657477e-04 9.99933859e-01 -4.81025394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.850385723 meters Centerline goodness [0,1] 0.9999327339178008 Centerline is valid? [True, True] Translation: X:12.95, Y:0.49, Z:-0.05 [[ 9.98170328e-01 -5.92271308e-02 -1.21714066e-02 1.29528192e+01] [ 5.92255494e-02 9.98244506e-01 -4.90643181e-04 4.94792377e-01] [ 1.21790992e-02 -2.31112778e-04 9.99925805e-01 -4.83512682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.98, Y:0.49, Z:-0.05 [[ 9.98060910e-01 -6.09671940e-02 -1.25467328e-02 1.29843254e+01] [ 6.09656571e-02 9.98139736e-01 -5.05283167e-04 4.93277827e-01] [ 1.25541983e-02 -2.60616435e-04 9.99921159e-01 -4.83305174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.910385723 meters Centerline goodness [0,1] 0.9998655763414361 Centerline is valid? [True, True] Translation: X:13.02, Y:0.49, Z:-0.05 [[ 9.97948024e-01 -6.27258237e-02 -1.28534712e-02 1.30164919e+01] [ 6.27243982e-02 9.98030754e-01 -5.14399753e-04 4.93369643e-01] [ 1.28604257e-02 -2.92882028e-04 9.99917258e-01 -4.76393854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.940385723 meters Centerline goodness [0,1] 0.9998879099692873 Centerline is valid? [True, True] Translation: X:13.05, Y:0.50, Z:-0.05 [[ 9.97789371e-01 -6.50302306e-02 -1.36908462e-02 1.30487852e+01] [ 6.50288434e-02 9.97883235e-01 -5.46940596e-04 4.95861657e-01] [ 1.36974336e-02 -3.44568382e-04 9.99906126e-01 -4.98086468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.08, Y:0.50, Z:-0.05 [[ 9.97811695e-01 -6.47408374e-02 -1.34330079e-02 1.30809375e+01] [ 6.47394834e-02 9.97902055e-01 -5.36070858e-04 4.96329483e-01] [ 1.34395319e-02 -3.34748220e-04 9.99909629e-01 -4.91623729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.000385723 meters Centerline goodness [0,1] 0.9999327112865602 Centerline is valid? [True, True] Translation: X:13.11, Y:0.50, Z:-0.05 [[ 9.97797646e-01 -6.47907011e-02 -1.42134502e-02 1.31135617e+01] [ 6.47892461e-02 9.97898811e-01 -5.63290508e-04 4.97134874e-01] [ 1.42200810e-02 -3.58828777e-04 9.99898825e-01 -4.95866251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.030385723 meters Centerline goodness [0,1] 0.9999327112865602 Centerline is valid? [True, True] Translation: X:13.15, Y:0.50, Z:-0.05 [[ 9.97804152e-01 -6.46904129e-02 -1.42135064e-02 1.31460945e+01] [ 6.46889680e-02 9.97905317e-01 -5.61866547e-04 4.98327301e-01] [ 1.42200810e-02 -3.58824290e-04 9.99898825e-01 -4.90929555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.060385723 meters Centerline goodness [0,1] 0.9998653742595585 Centerline is valid? [True, True] Translation: X:13.18, Y:0.50, Z:-0.05 [[ 9.97739951e-01 -6.52673272e-02 -1.59739068e-02 1.31779662e+01] [ 6.52656044e-02 9.97867729e-01 -6.29686152e-04 5.00666375e-01] [ 1.59809440e-02 -4.14283650e-04 9.99872211e-01 -5.05195007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.090385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.21, Y:0.51, Z:-0.05 [[ 9.97855903e-01 -6.33216315e-02 -1.65519782e-02 1.32099018e+01] [ 6.33195333e-02 9.97993092e-01 -6.51326915e-04 5.09121664e-01] [ 1.65600030e-02 -3.98133131e-04 9.99862794e-01 -4.59111131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.24, Y:0.51, Z:-0.04 [[ 9.97977615e-01 -6.14786616e-02 -1.61571633e-02 1.32408721e+01] [ 6.14764409e-02 9.98108333e-01 -6.34554983e-04 5.13068983e-01] [ 1.61656110e-02 -3.60013228e-04 9.99869263e-01 -4.34683256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.150385723 meters Centerline goodness [0,1] 0.9999773694215625 Centerline is valid? [True, True] Translation: X:13.27, Y:0.52, Z:-0.04 [[ 9.98248802e-01 -5.73747937e-02 -1.44035760e-02 1.32733535e+01] [ 5.73726433e-02 9.98352675e-01 -5.62802023e-04 5.18933810e-01] [ 1.44121393e-02 -2.64554784e-04 9.99896105e-01 -4.30456904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.180385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.31, Y:0.52, Z:-0.05 [[ 9.98344260e-01 -5.56387259e-02 -1.45969287e-02 1.33052146e+01] [ 5.56363611e-02 9.98450936e-01 -5.68351441e-04 5.19535978e-01] [ 1.46059394e-02 -2.44709595e-04 9.99893298e-01 -4.50446017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.210385722999998 meters Centerline goodness [0,1] 0.9999773478910886 Centerline is valid? [True, True] Translation: X:13.34, Y:0.52, Z:-0.05 [[ 9.98540966e-01 -5.16402366e-02 -1.57868984e-02 1.33377769e+01] [ 5.16369900e-02 9.98665732e-01 -6.13475472e-04 5.23069862e-01] [ 1.57975145e-02 -2.02607526e-04 9.99875191e-01 -4.68268341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.37, Y:0.53, Z:-0.04 [[ 9.98742052e-01 -4.79547028e-02 -1.46512878e-02 1.33683975e+01] [ 4.79515270e-02 9.98849502e-01 -5.68174767e-04 5.29091271e-01] [ 1.46616782e-02 -1.35091590e-04 9.99892503e-01 -4.30629982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.270385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.40, Y:0.53, Z:-0.04 [[ 9.98857925e-01 -4.58834540e-02 -1.33249601e-02 1.34000413e+01] [ 4.58806670e-02 9.98946795e-01 -5.14936025e-04 5.31547325e-01] [ 1.33345532e-02 -9.70101264e-05 9.99911086e-01 -4.09996522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.300385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.43, Y:0.53, Z:-0.04 [[ 9.99056371e-01 -4.11865324e-02 -1.37853798e-02 1.34326432e+01] [ 4.11831149e-02 9.99151474e-01 -5.31813555e-04 5.34546473e-01] [ 1.37955861e-02 -3.64131605e-05 9.99904836e-01 -4.15632886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.47, Y:0.53, Z:-0.04 [[ 9.99216358e-01 -3.65152162e-02 -1.52744720e-02 1.34661775e+01] [ 3.65105077e-02 9.99333097e-01 -5.87094176e-04 5.34782873e-01] [ 1.52857233e-02 2.89553744e-05 9.99883166e-01 -4.41926729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.360385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.50, Y:0.54, Z:-0.04 [[ 9.99305280e-01 -3.36758125e-02 -1.59655200e-02 1.34976452e+01] [ 3.36703340e-02 9.99432806e-01 -6.11902301e-04 5.37011818e-01] [ 1.59770707e-02 7.39128117e-05 9.99872356e-01 -4.32386382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.390385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.53, Y:0.54, Z:-0.04 [[ 9.99469628e-01 -2.83855640e-02 -1.59600353e-02 1.35298575e+01] [ 2.83794464e-02 9.99597036e-01 -6.09701973e-04 5.43196462e-01] [ 1.59709107e-02 1.56441639e-04 9.99872445e-01 -4.09676394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.420385723 meters Centerline goodness [0,1] 0.9999774510688193 Centerline is valid? [True, True] Translation: X:13.56, Y:0.54, Z:-0.04 [[ 9.99544347e-01 -2.58501708e-02 -1.55841705e-02 1.35616273e+01] [ 2.58440462e-02 9.99665810e-01 -5.94299804e-04 5.43644930e-01] [ 1.55943251e-02 1.91270989e-04 9.99878383e-01 -4.04179579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.450385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.59, Y:0.54, Z:-0.04 [[ 9.99694274e-01 -1.94566717e-02 -1.52576644e-02 1.35924238e+01] [ 1.94500721e-02 9.99810661e-01 -5.80830251e-04 5.41662091e-01] [ 1.52660765e-02 2.83890005e-04 9.99883426e-01 -4.20485639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.480385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.62, Y:0.54, Z:-0.04 [[ 9.99792340e-01 -1.35337168e-02 -1.52353231e-02 1.36227352e+01] [ 1.35264530e-02 9.99908345e-01 -5.79722420e-04 5.43250060e-01] [ 1.52417725e-02 3.73522153e-04 9.99883768e-01 -4.06829962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.65, Y:0.55, Z:-0.04 [[ 9.99813979e-01 -1.14520780e-02 -1.55196057e-02 1.36523195e+01] [ 1.14442977e-02 9.99934338e-01 -5.90039927e-04 5.46291222e-01] [ 1.55253438e-02 4.12319179e-04 9.99879390e-01 -3.83106663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.68, Y:0.55, Z:-0.03 [[ 9.99825480e-01 -9.00107381e-03 -1.63703916e-02 1.36798709e+01] [ 8.99207855e-03 9.99959376e-01 -6.23008891e-04 5.51452943e-01] [ 1.63753343e-02 4.75696316e-04 9.99865802e-01 -3.48160157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.570385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.71, Y:0.55, Z:-0.04 [[ 9.99826253e-01 -8.50469434e-03 -1.65871631e-02 1.37089737e+01] [ 8.49536489e-03 9.99963713e-01 -6.32832231e-04 5.50556249e-01] [ 1.65919433e-02 4.91808275e-04 9.99862223e-01 -3.58434657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.74, Y:0.54, Z:-0.04 [[ 9.99813355e-01 -8.23531271e-03 -1.74766988e-02 1.37370103e+01] [ 8.22484772e-03 9.99965951e-01 -6.70590591e-04 5.41006139e-01] [ 1.74816263e-02 5.26722242e-04 9.99847046e-01 -4.24253252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.77, Y:0.54, Z:-0.04 [[ 9.99775555e-01 -9.44668409e-03 -1.89631042e-02 1.37655034e+01] [ 9.43453934e-03 9.99955227e-01 -7.29803008e-04 5.36628734e-01] [ 1.89691494e-02 5.50731055e-04 9.99819918e-01 -4.46124432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.660385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.79, Y:0.53, Z:-0.04 [[ 9.99703787e-01 -1.19193070e-02 -2.12195426e-02 1.37941144e+01] [ 1.19045663e-02 9.99928801e-01 -8.20867600e-04 5.34963109e-01] [ 2.12278160e-02 5.68014998e-04 9.99774503e-01 -4.11709224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.82, Y:0.54, Z:-0.04 [[ 9.99704613e-01 -1.26868971e-02 -2.07299158e-02 1.38224434e+01] [ 1.26729457e-02 9.99919372e-01 -8.04245874e-04 5.39364332e-01] [ 2.07384478e-02 5.41299214e-04 9.99784789e-01 -3.62265841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.85, Y:0.54, Z:-0.03 [[ 9.99766638e-01 -1.26799169e-02 -1.74896961e-02 1.38496973e+01] [ 1.26699289e-02 9.99919501e-01 -6.81769715e-04 5.42658786e-01] [ 1.74969329e-02 4.60017410e-04 9.99846811e-01 -3.19358703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.750385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.88, Y:0.53, Z:-0.04 [[ 9.99768429e-01 -1.31248859e-02 -1.70535848e-02 1.38778347e+01] [ 1.31154250e-02 9.99913767e-01 -6.66506454e-04 5.32433013e-01] [ 1.70608621e-02 4.42687099e-04 9.99854355e-01 -3.58583416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.91, Y:0.53, Z:-0.04 [[ 9.99733443e-01 -1.41777245e-02 -1.82218233e-02 1.39071942e+01] [ 1.41670072e-02 9.99899386e-01 -7.17110399e-04 5.28799948e-01] [ 1.82301570e-02 4.58770545e-04 9.99833712e-01 -3.75137262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.94, Y:0.53, Z:-0.04 [[ 9.99635583e-01 -1.73253544e-02 -2.07010483e-02 1.39353275e+01] [ 1.73120876e-02 9.99849798e-01 -8.19926172e-04 5.32992834e-01] [ 2.07121445e-02 4.61249014e-04 9.99785374e-01 -3.58015140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.840385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.96, Y:0.53, Z:-0.03 [[ 9.99595799e-01 -2.06534149e-02 -1.95364995e-02 1.39640547e+01] [ 2.06421500e-02 9.99786625e-01 -7.78108268e-04 5.34714167e-01] [ 1.95484015e-02 3.74518403e-04 9.99808842e-01 -3.08130146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.99, Y:0.53, Z:-0.03 [[ 9.99572744e-01 -2.18749989e-02 -1.93859369e-02 1.39936722e+01] [ 2.18640654e-02 9.99760652e-01 -7.75786990e-04 5.32673159e-01] [ 1.93982672e-02 3.51600139e-04 9.99811774e-01 -3.15318633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.02, Y:0.53, Z:-0.04 [[ 9.99495564e-01 -2.33710406e-02 -2.15037608e-02 1.40232548e+01] [ 2.33579188e-02 9.99726796e-01 -8.61212846e-04 5.25278586e-01] [ 2.15180133e-02 3.58495321e-04 9.99768396e-01 -3.69416422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.930385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.05, Y:0.53, Z:-0.04 [[ 9.99478390e-01 -2.33310851e-02 -2.23295597e-02 1.40516991e+01] [ 2.33169122e-02 9.99727723e-01 -8.94904183e-04 5.26228044e-01] [ 2.23443589e-02 3.73781011e-04 9.99750264e-01 -3.77316015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.960385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.08, Y:0.53, Z:-0.03 [[ 9.99485977e-01 -2.32721586e-02 -2.20496644e-02 1.40806342e+01] [ 2.32583031e-02 9.99729098e-01 -8.84654909e-04 5.32763694e-01] [ 2.20642789e-02 3.71362400e-04 9.99756485e-01 -3.13778637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.11, Y:0.54, Z:-0.03 [[ 9.99497401e-01 -2.29711690e-02 -2.18465275e-02 1.41096955e+01] [ 2.29574803e-02 9.99736057e-01 -8.77214329e-04 5.38650511e-01] [ 2.18609119e-02 3.75232216e-04 9.99760951e-01 -2.84673478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.020385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.14, Y:0.54, Z:-0.03 [[ 9.99544456e-01 -2.06571076e-02 -2.20037217e-02 1.41396114e+01] [ 2.06426446e-02 9.99786527e-01 -8.84258555e-04 5.39490802e-01] [ 2.20172908e-02 4.29640730e-04 9.99757498e-01 -2.86133127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.050385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.17, Y:0.54, Z:-0.03 [[ 9.99553295e-01 -1.97457708e-02 -2.24346645e-02 1.41670877e+01] [ 1.97304803e-02 9.99804928e-01 -9.02723855e-04 5.39071278e-01] [ 2.24481131e-02 4.59673898e-04 9.99747904e-01 -3.23655256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.20, Y:0.53, Z:-0.03 [[ 9.99553159e-01 -1.91336965e-02 -2.29648565e-02 1.41966182e+01] [ 1.91174404e-02 9.99816815e-01 -9.27222730e-04 5.30747868e-01] [ 2.29783909e-02 4.87779132e-04 9.99735843e-01 -3.49625822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.110385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.22, Y:0.54, Z:-0.03 [[ 9.99581822e-01 -1.90642200e-02 -2.17425242e-02 1.42231809e+01] [ 1.90495415e-02 9.99818152e-01 -8.82043230e-04 5.36035887e-01] [ 2.17553859e-02 4.67489261e-04 9.99763214e-01 -3.00955855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.140385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.25, Y:0.54, Z:-0.03 [[ 9.99622398e-01 -1.81248357e-02 -2.06531253e-02 1.42507830e+01] [ 1.81113420e-02 9.99835623e-01 -8.40227832e-04 5.41365818e-01] [ 2.06649594e-02 4.65854745e-04 9.99786348e-01 -2.60369574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.28, Y:0.54, Z:-0.03 [[ 9.99630507e-01 -1.79447978e-02 -2.04165085e-02 1.42791718e+01] [ 1.79315108e-02 9.99838870e-01 -8.33692767e-04 5.41144478e-01] [ 2.04281792e-02 4.67285882e-04 9.99791214e-01 -2.60373711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.200385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.31, Y:0.54, Z:-0.03 [[ 9.99611306e-01 -1.78810397e-02 -2.13893726e-02 1.43070792e+01] [ 1.78663520e-02 9.99839999e-01 -8.77593248e-04 5.36401484e-01] [ 2.14016425e-02 4.95102072e-04 9.99770836e-01 -2.76332267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.230385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.34, Y:0.54, Z:-0.03 [[ 9.99601551e-01 -1.81428706e-02 -2.16235002e-02 1.43350559e+01] [ 1.81278574e-02 9.99835281e-01 -8.90129257e-04 5.35301854e-01] [ 2.16360879e-02 4.97786857e-04 9.99765789e-01 -2.74002208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.36, Y:0.54, Z:-0.02 [[ 9.99616377e-01 -1.84542118e-02 -2.06528588e-02 1.43629367e+01] [ 1.84404755e-02 9.99829594e-01 -8.55368062e-04 5.35218511e-01] [ 2.06651246e-02 4.74191387e-04 9.99786341e-01 -2.48113984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.39, Y:0.53, Z:-0.02 [[ 9.99645844e-01 -1.72467115e-02 -2.02666812e-02 1.43916914e+01] [ 1.72331321e-02 9.99851142e-01 -8.44501406e-04 5.34387734e-01] [ 2.02782293e-02 4.94943925e-04 9.99794253e-01 -2.26298038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.320385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.42, Y:0.54, Z:-0.02 [[ 9.99640179e-01 -1.67847434e-02 -2.09233162e-02 1.44206559e+01] [ 1.67700599e-02 9.99858988e-01 -8.77052810e-04 5.35104595e-01] [ 2.09350869e-02 5.25851961e-04 9.99780699e-01 -2.29866939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.45, Y:0.53, Z:-0.03 [[ 9.99587001e-01 -1.65610462e-02 -2.34852847e-02 1.44482876e+01] [ 1.65423617e-02 9.99862676e-01 -9.89651401e-04 5.32903527e-01] [ 2.34984493e-02 6.00740601e-04 9.99723693e-01 -2.57113569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.48, Y:0.53, Z:-0.03 [[ 9.99582048e-01 -1.69452673e-02 -2.34219320e-02 1.44764880e+01] [ 1.69267263e-02 9.99856243e-01 -9.89653403e-04 5.31356234e-01] [ 2.34353348e-02 5.92783145e-04 9.99725179e-01 -2.62372791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.410385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.51, Y:0.53, Z:-0.02 [[ 9.99597709e-01 -1.75254486e-02 -2.22997410e-02 1.45052498e+01] [ 1.75087214e-02 9.99846264e-01 -9.45146997e-04 5.32970149e-01] [ 2.23128768e-02 5.54326821e-04 9.99750883e-01 -2.43620853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.53, Y:0.54, Z:-0.02 [[ 9.99590594e-01 -1.91969071e-02 -2.12161023e-02 1.45328772e+01] [ 1.91820595e-02 9.99815599e-01 -9.03131743e-04 5.35240909e-01] [ 2.12295274e-02 4.95793459e-04 9.99774505e-01 -2.12286144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.56, Y:0.53, Z:-0.02 [[ 9.99563337e-01 -2.04708687e-02 -2.13091430e-02 1.45617033e+01] [ 2.04561222e-02 9.99790338e-01 -9.09796026e-04 5.34973029e-01] [ 2.13232996e-02 4.73496316e-04 9.99772520e-01 -2.13301043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.500385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.59, Y:0.53, Z:-0.02 [[ 9.99509586e-01 -2.27884299e-02 -2.14773147e-02 1.45907733e+01] [ 2.27738762e-02 9.99740216e-01 -9.22007850e-04 5.30238839e-01] [ 2.14927464e-02 4.32433977e-04 9.99768911e-01 -2.31676885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.62, Y:0.53, Z:-0.02 [[ 9.99497201e-01 -2.33027280e-02 -2.15018259e-02 1.46199026e+01] [ 2.32881755e-02 9.99728364e-01 -9.26987824e-04 5.30185659e-01] [ 2.15175866e-02 4.25783440e-04 9.99768379e-01 -2.32723714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.65, Y:0.53, Z:-0.02 [[ 9.99482751e-01 -2.36005163e-02 -2.18459632e-02 1.46489535e+01] [ 2.35855373e-02 9.99721378e-01 -9.43103556e-04 5.30801027e-01] [ 2.18621342e-02 4.27366957e-04 9.99760904e-01 -2.33101175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.590385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.68, Y:0.53, Z:-0.02 [[ 9.99496648e-01 -2.28780137e-02 -2.19783248e-02 1.46787360e+01] [ 2.28626568e-02 9.99738164e-01 -9.49781193e-04 5.33107512e-01] [ 2.19942992e-02 4.46820222e-04 9.99757996e-01 -2.20095946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.71, Y:0.53, Z:-0.02 [[ 9.99563228e-01 -2.08626262e-02 -2.09309172e-02 1.47079024e+01] [ 2.08482408e-02 9.99782242e-01 -9.05280391e-04 5.32278635e-01] [ 2.09452459e-02 4.68512187e-04 9.99780514e-01 -1.87765189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.74, Y:0.53, Z:-0.02 [[ 9.99569684e-01 -2.04121566e-02 -2.10663239e-02 1.47364010e+01] [ 2.03974382e-02 9.99791533e-01 -9.13328867e-04 5.30107670e-01] [ 2.10805753e-02 4.83236806e-04 9.99777663e-01 -1.96238151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.680385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.77, Y:0.53, Z:-0.02 [[ 9.99510690e-01 -2.25224173e-02 -2.17053163e-02 1.47652550e+01] [ 2.25071746e-02 9.99746234e-01 -9.46320395e-04 5.27701895e-01] [ 2.17211217e-02 4.57332006e-04 9.99763964e-01 -2.09759239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.710385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.79, Y:0.53, Z:-0.02 [[ 9.99457696e-01 -2.46049638e-02 -2.18839846e-02 1.47938877e+01] [ 2.45898806e-02 9.99697164e-01 -9.58103641e-04 5.28473727e-01] [ 2.19009314e-02 4.19459490e-04 9.99760058e-01 -2.07025367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.82, Y:0.53, Z:-0.02 [[ 9.99342367e-01 -2.87867325e-02 -2.20489601e-02 1.48223907e+01] [ 2.87724135e-02 9.99585521e-01 -9.66448579e-04 5.29101747e-01] [ 2.20676421e-02 3.31411215e-04 9.99756425e-01 -1.91465107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.770385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.85, Y:0.53, Z:-0.02 [[ 9.99276502e-01 -3.07994495e-02 -2.23129396e-02 1.48525981e+01] [ 3.07852672e-02 9.99525542e-01 -9.78911408e-04 5.29144531e-01] [ 2.23325030e-02 2.91293359e-04 9.99750556e-01 -1.89361010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.800385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.88, Y:0.53, Z:-0.02 [[ 9.99169877e-01 -3.37222945e-02 -2.28552772e-02 1.48836097e+01] [ 3.37081727e-02 9.99431215e-01 -1.00296318e-03 5.25636117e-01] [ 2.28760996e-02 2.31720967e-04 9.99738281e-01 -2.06341286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.91, Y:0.52, Z:-0.02 [[ 9.99109280e-01 -3.57003493e-02 -2.24973635e-02 1.49146890e+01] [ 3.56871735e-02 9.99362523e-01 -9.87004102e-04 5.24116383e-01] [ 2.25182583e-02 1.83257646e-04 9.99746415e-01 -1.99172285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.860385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.94, Y:0.53, Z:-0.02 [[ 9.98955681e-01 -3.99516593e-02 -2.21678386e-02 1.49448509e+01] [ 3.99399272e-02 9.99201610e-01 -9.71912288e-04 5.25104496e-01] [ 2.21889695e-02 8.55154434e-05 9.99753791e-01 -1.77203183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.890385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.98, Y:0.53, Z:-0.02 [[ 9.98845322e-01 -4.26416909e-02 -2.21293513e-02 1.49763610e+01] [ 4.26306730e-02 9.99090429e-01 -9.69611796e-04 5.26910191e-01] [ 2.21505689e-02 2.51030683e-05 9.99754646e-01 -1.79249484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.01, Y:0.52, Z:-0.02 [[ 9.98622426e-01 -4.75541029e-02 -2.21778530e-02 1.50085056e+01] [ 4.75442755e-02 9.98868660e-01 -9.70484439e-04 5.24143064e-01] [ 2.21989128e-02 -8.52824279e-05 9.99753570e-01 -1.78349084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.950385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.04, Y:0.53, Z:-0.02 [[ 9.98625676e-01 -4.74857849e-02 -2.21779192e-02 1.50401709e+01] [ 4.74759743e-02 9.98871910e-01 -9.68969343e-04 5.25468475e-01] [ 2.21989128e-02 -8.52806582e-05 9.99753570e-01 -1.73540698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.980385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.07, Y:0.52, Z:-0.02 [[ 9.98477301e-01 -5.14223607e-02 -1.99705000e-02 1.50716195e+01] [ 5.14152168e-02 9.98676983e-01 -8.71344346e-04 5.20149894e-01] [ 1.99888853e-02 -1.56770037e-04 9.99800190e-01 -1.77874162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.10, Y:0.52, Z:-0.02 [[ 9.98425043e-01 -5.25574137e-02 -1.96252946e-02 1.51040263e+01] [ 5.25507549e-02 9.98617888e-01 -8.55212206e-04 5.21632770e-01] [ 1.96431180e-02 -1.77458764e-04 9.99807040e-01 -1.56300575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.040385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.13, Y:0.52, Z:-0.01 [[ 9.98301708e-01 -5.45063334e-02 -2.05611086e-02 1.51349541e+01] [ 5.44994660e-02 9.98513399e-01 -8.94612709e-04 5.23961042e-01] [ 2.05793045e-02 -2.27476045e-04 9.99788198e-01 -1.38046281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.070385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.17, Y:0.53, Z:-0.01 [[ 9.98259537e-01 -5.54169699e-02 -2.01706578e-02 1.51664275e+01] [ 5.54105694e-02 9.98463270e-01 -8.76501230e-04 5.31888594e-01] [ 2.01882340e-02 -2.42691922e-04 9.99796167e-01 -1.01892024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.20, Y:0.53, Z:-0.01 [[ 9.98189018e-01 -5.69024438e-02 -1.95140041e-02 1.51976186e+01] [ 5.68967688e-02 9.98379708e-01 -8.46341056e-04 5.29956600e-01] [ 1.95305446e-02 -2.65475430e-04 9.99809225e-01 -1.24172375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.23, Y:0.53, Z:-0.02 [[ 9.98166226e-01 -5.72989514e-02 -1.95196214e-02 1.52295040e+01] [ 5.72933943e-02 9.98357027e-01 -8.44255429e-04 5.28011322e-01] [ 1.95359261e-02 -2.75638110e-04 9.99809118e-01 -1.50196076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.160385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.26, Y:0.53, Z:-0.02 [[ 9.98102623e-01 -5.82561542e-02 -1.99342775e-02 1.52616484e+01] [ 5.82505763e-02 9.98301622e-01 -8.60845899e-04 5.28948634e-01] [ 1.99505711e-02 -3.01970602e-04 9.99800922e-01 -1.70312741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.29, Y:0.53, Z:-0.02 [[ 9.98126941e-01 -5.78405084e-02 -1.99270027e-02 1.52935190e+01] [ 5.78348793e-02 9.98325793e-01 -8.59149358e-04 5.33467954e-01] [ 1.99433344e-02 -2.94935674e-04 9.99801068e-01 -1.50935689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.33, Y:0.55, Z:-0.01 [[ 9.98333797e-01 -5.42311874e-02 -1.97131269e-02 1.53252635e+01] [ 5.42250015e-02 9.98528382e-01 -8.48577258e-04 5.46736987e-01] [ 1.97301360e-02 -2.21780980e-04 9.99805317e-01 -9.70389284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.250385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.36, Y:0.55, Z:-0.01 [[ 9.98486711e-01 -5.16261024e-02 -1.89482018e-02 1.53567771e+01] [ 5.16199423e-02 9.98666470e-01 -8.14377687e-04 5.52322369e-01] [ 1.89649770e-02 -1.64959788e-04 9.99820135e-01 -7.83845427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.39, Y:0.56, Z:-0.01 [[ 9.98755585e-01 -4.60754930e-02 -1.90874493e-02 1.53891835e+01] [ 4.60682539e-02 9.98937959e-01 -8.19020439e-04 5.55912655e-01] [ 1.91049144e-02 -6.13242220e-05 9.99817483e-01 -9.47788122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.42, Y:0.56, Z:-0.01 [[ 9.98845042e-01 -4.36070922e-02 -2.01743183e-02 1.54209241e+01] [ 4.35985312e-02 9.99048758e-01 -8.64198710e-04 5.59138379e-01] [ 2.01928128e-02 -1.63700469e-05 9.99796104e-01 -1.05226397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.340385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.45, Y:0.57, Z:-0.01 [[ 9.98976362e-01 -3.99349426e-02 -2.12468658e-02 1.54521407e+01] [ 3.99246464e-02 9.99202280e-01 -9.08731236e-04 5.68728300e-01] [ 2.12662069e-02 5.95274210e-05 9.99773847e-01 -1.05810431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.48, Y:0.57, Z:-0.01 [[ 9.99044823e-01 -3.83430742e-02 -2.09582926e-02 1.54837175e+01] [ 3.83327301e-02 9.99264630e-01 -8.95220445e-04 5.74165147e-01] [ 2.09772060e-02 9.09767790e-05 9.99779950e-01 -9.07111927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.52, Y:0.58, Z:-0.01 [[ 9.99201096e-01 -3.51751110e-02 -1.89705616e-02 1.55154785e+01] [ 3.51660882e-02 9.99381154e-01 -8.09106642e-04 5.80450371e-01] [ 1.89872821e-02 1.41339802e-04 9.99819715e-01 -8.29844956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.430385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.55, Y:0.59, Z:-0.01 [[ 9.99354741e-01 -3.01286244e-02 -1.95542200e-02 1.55465922e+01] [ 3.01181015e-02 9.99546000e-01 -8.32479388e-04 5.86122306e-01] [ 1.95704238e-02 2.43006240e-04 9.99808451e-01 -1.01756595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.460385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.58, Y:0.59, Z:-0.01 [[ 9.99411996e-01 -2.76520080e-02 -2.02738566e-02 1.55789934e+01] [ 2.76402262e-02 9.99617565e-01 -8.61171962e-04 5.90085047e-01] [ 2.02899163e-02 3.00291607e-04 9.99794093e-01 -1.04743003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.61, Y:0.60, Z:-0.01 [[ 9.99453192e-01 -2.44743454e-02 -2.22333933e-02 1.56089352e+01] [ 2.44594178e-02 9.99700379e-01 -9.43140322e-04 6.00755047e-01] [ 2.22498145e-02 3.98808749e-04 9.99752363e-01 -1.04553060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.520385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.64, Y:0.61, Z:-0.01 [[ 9.99463365e-01 -2.36813755e-02 -2.26312583e-02 1.56380985e+01] [ 2.36657058e-02 9.99719467e-01 -9.60006837e-04 6.07005272e-01] [ 2.26476437e-02 4.23906965e-04 9.99743419e-01 -8.89972044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.550385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.67, Y:0.61, Z:-0.01 [[ 9.99455791e-01 -2.49080239e-02 -2.16266713e-02 1.56673347e+01] [ 2.48939864e-02 9.99689675e-01 -9.18100970e-04 6.14780856e-01] [ 2.16428281e-02 3.79227269e-04 9.99765695e-01 -6.73609680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.70, Y:0.62, Z:-0.01 [[ 9.99444398e-01 -2.60329028e-02 -2.08130452e-02 1.56982445e+01] [ 2.60201374e-02 9.99661028e-01 -8.83958568e-04 6.17362548e-01] [ 2.08290022e-02 3.41909144e-04 9.99782994e-01 -5.94635106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.610385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.73, Y:0.62, Z:-0.01 [[ 9.99387134e-01 -2.88459763e-02 -1.98309203e-02 1.57293703e+01] [ 2.88349489e-02 9.99583832e-01 -8.41841889e-04 6.16663952e-01] [ 1.98469511e-02 2.69502378e-04 9.99802994e-01 -7.93362049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.640385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.76, Y:0.62, Z:-0.01 [[ 9.99332507e-01 -3.07606543e-02 -1.97059023e-02 1.57608495e+01] [ 3.07501527e-02 9.99526753e-01 -8.35775928e-04 6.18887083e-01] [ 1.97222856e-02 2.29258547e-04 9.99805471e-01 -8.87985990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.79, Y:0.62, Z:-0.01 [[ 9.99183943e-01 -3.51275782e-02 -1.99374435e-02 1.57923642e+01] [ 3.51177197e-02 9.99382826e-01 -8.44482697e-04 6.24602598e-01] [ 1.99548032e-02 1.43635999e-04 9.99800873e-01 -8.49498258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.700385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.82, Y:0.63, Z:-0.01 [[ 9.99079622e-01 -3.75287069e-02 -2.07726802e-02 1.58242873e+01] [ 3.75185537e-02 9.99295545e-01 -8.78421989e-04 6.28149735e-01] [ 2.07910129e-02 9.82525899e-05 9.99783839e-01 -6.41699395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.730385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.85, Y:0.63, Z:-0.00 [[ 9.98853672e-01 -4.26599917e-02 -2.17132835e-02 1.58548934e+01] [ 4.26501503e-02 9.99089648e-01 -9.16343254e-04 6.33778700e-01] [ 2.17326080e-02 -1.07819812e-05 9.99763819e-01 -4.39494077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.89, Y:0.63, Z:-0.00 [[ 9.98715618e-01 -4.58942586e-02 -2.14669738e-02 1.58867788e+01] [ 4.58854325e-02 9.98946300e-01 -9.03796173e-04 6.34913063e-01] [ 2.14858331e-02 -8.23860205e-05 9.99769149e-01 -4.04974305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.790385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.92, Y:0.63, Z:-0.00 [[ 9.98432692e-01 -5.25049773e-02 -1.93748908e-02 1.59181385e+01] [ 5.24990603e-02 9.98620642e-01 -8.14251729e-04 6.33309001e-01] [ 1.93909181e-02 -2.04188014e-04 9.99811958e-01 -2.41346293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.820385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.95, Y:0.63, Z:-0.00 [[ 9.98259749e-01 -5.61488388e-02 -1.80216970e-02 1.59501133e+01] [ 5.61443485e-02 9.98422376e-01 -7.55413143e-04 6.33704384e-01] [ 1.80356811e-02 -2.57717901e-04 9.99837311e-01 -1.52192312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.98, Y:0.63, Z:-0.00 [[ 9.97879440e-01 -6.30229710e-02 -1.62704781e-02 1.59804721e+01] [ 6.30202412e-02 9.98012017e-01 -6.80951497e-04 6.28926160e-01] [ 1.62810483e-02 -3.45861958e-04 9.99867395e-01 -1.92255280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.01, Y:0.63, Z:-0.00 [[ 9.97700728e-01 -6.57875208e-02 -1.62868064e-02 1.60126007e+01] [ 6.57851763e-02 9.97833577e-01 -6.80240691e-04 6.29190758e-01] [ 1.62962736e-02 -3.92753798e-04 9.99867130e-01 -1.80116923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.910385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.04, Y:0.63, Z:-0.00 [[ 9.97301915e-01 -7.11655989e-02 -1.80096415e-02 1.60442309e+01] [ 7.11636305e-02 9.97464372e-01 -7.50957986e-04 6.29079534e-01] [ 1.80174181e-02 -5.32699634e-04 9.99837531e-01 -1.42240645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.08, Y:0.63, Z:-0.00 [[ 9.97181576e-01 -7.25694099e-02 -1.90416500e-02 1.60756583e+01] [ 7.25674848e-02 9.97363189e-01 -7.92959217e-04 6.29505134e-01] [ 1.90489853e-02 -5.91080321e-04 9.99818377e-01 -7.85462319e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.11, Y:0.63, Z:-0.00 [[ 9.97214782e-01 -7.19198554e-02 -1.97538196e-02 1.61087513e+01] [ 7.19177206e-02 9.97410232e-01 -8.19362893e-04 6.33036223e-01] [ 1.97615902e-02 -6.03568890e-04 9.99804539e-01 -2.30271839e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.000385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.14, Y:0.63, Z:-0.00 [[ 9.97320581e-01 -7.04068748e-02 -1.98628012e-02 1.61401711e+01] [ 7.04045231e-02 9.97518187e-01 -8.18524785e-04 6.31964138e-01] [ 1.98711352e-02 -5.82099432e-04 9.99802380e-01 -1.00669876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.17, Y:0.64, Z:-0.00 [[ 9.97543616e-01 -6.67817213e-02 -2.11408767e-02 1.61718501e+01] [ 6.67783280e-02 9.97767459e-01 -8.67215971e-04 6.35483710e-01] [ 2.11515930e-02 -5.46666642e-04 9.99776131e-01 -3.28226126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.20, Y:0.64, Z:-0.00 [[ 9.97639508e-01 -6.51115187e-02 -2.18151764e-02 1.62037906e+01] [ 6.51075347e-02 9.97877853e-01 -8.93580979e-04 6.37479089e-01] [ 2.18270638e-02 -5.28860664e-04 9.99761621e-01 -4.18372586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.090385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.23, Y:0.64, Z:-0.00 [[ 9.97814808e-01 -6.20144268e-02 -2.27995626e-02 1.62347323e+01] [ 6.20093323e-02 9.98075135e-01 -9.31042853e-04 6.39859292e-01] [ 2.28134147e-02 -4.84777312e-04 9.99739623e-01 -4.76193073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.120385723 meters Centerline goodness [0,1] 0.9999545009896035 Centerline is valid? [True, True] Translation: X:16.27, Y:0.64, Z:-0.00 [[ 9.98038670e-01 -5.84318739e-02 -2.24617235e-02 1.62664384e+01] [ 5.84261102e-02 9.98291318e-01 -9.13337925e-04 6.44637255e-01] [ 2.24767116e-02 -4.00804565e-04 9.99747286e-01 -1.77526572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.30, Y:0.65, Z:-0.00 [[ 9.98189139e-01 -5.61236592e-02 -2.16466761e-02 1.62988722e+01] [ 5.61177950e-02 9.98423768e-01 -8.78744993e-04 6.46863211e-01] [ 2.16618743e-02 -3.37610025e-04 9.99765297e-01 -2.76053352e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.180385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.33, Y:0.65, Z:0.00 [[ 9.98383880e-01 -5.31341891e-02 -2.01590184e-02 1.63306992e+01] [ 5.31285203e-02 9.98587349e-01 -8.17040424e-04 6.48390450e-01] [ 2.01739535e-02 -2.55298831e-04 9.99796452e-01 5.36099651e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.210385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.36, Y:0.65, Z:-0.00 [[ 9.98742928e-01 -4.64565793e-02 -1.88242056e-02 1.63619141e+01] [ 4.64504719e-02 9.98920304e-01 -7.61782612e-04 6.48758806e-01] [ 1.88392710e-02 -1.13568239e-04 9.99822519e-01 -1.19836415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.39, Y:0.65, Z:-0.00 [[ 9.98886651e-01 -4.31140759e-02 -1.91477011e-02 1.63940011e+01] [ 4.31071631e-02 9.99070155e-01 -7.73809242e-04 6.50595507e-01] [ 1.91632588e-02 -5.24553518e-05 9.99816367e-01 -1.06159525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.270385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.43, Y:0.66, Z:0.00 [[ 9.99131828e-01 -3.61294541e-02 -2.07425232e-02 1.64250408e+01] [ 3.61198662e-02 9.99347114e-01 -8.36818051e-04 6.58318794e-01] [ 2.07592145e-02 8.68743851e-05 9.99784501e-01 9.12091668e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.300385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.46, Y:0.66, Z:0.00 [[ 9.99234916e-01 -3.27962646e-02 -2.13069670e-02 1.64558309e+01] [ 3.27854215e-02 9.99462045e-01 -8.58111631e-04 6.64306064e-01] [ 2.13236477e-02 1.58897208e-04 9.99772613e-01 2.52802610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.49, Y:0.67, Z:0.00 [[ 9.99420827e-01 -2.71137039e-02 -2.05635115e-02 1.64882372e+01] [ 2.71024417e-02 9.99632320e-01 -8.26222526e-04 6.68427508e-01] [ 2.05783526e-02 2.68422631e-04 9.99788207e-01 4.48897947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.360385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.52, Y:0.67, Z:0.00 [[ 9.99503994e-01 -2.42698913e-02 -2.00683358e-02 1.65198529e+01] [ 2.42586163e-02 9.99705392e-01 -8.05112782e-04 6.68337294e-01] [ 2.00819635e-02 3.17883383e-04 9.99798287e-01 3.13497588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.390385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.55, Y:0.66, Z:-0.00 [[ 9.99576662e-01 -2.09820304e-02 -2.01556727e-02 1.65511222e+01] [ 2.09700056e-02 9.99779779e-01 -8.07784184e-04 6.62269568e-01] [ 2.01681830e-02 3.84777648e-04 9.99796527e-01 -1.36731169e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.58, Y:0.66, Z:0.00 [[ 9.99574833e-01 -2.02425677e-02 -2.09854926e-02 1.65810526e+01] [ 2.02293710e-02 9.99795012e-01 -8.40968042e-04 6.63462978e-01] [ 2.09982141e-02 4.16087177e-04 9.99779427e-01 1.81122688e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.450385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.61, Y:0.67, Z:0.01 [[ 9.99590534e-01 -2.00048947e-02 -2.04589667e-02 1.66095357e+01] [ 1.99922865e-02 9.99799797e-01 -8.20637306e-04 6.70252156e-01] [ 2.04712876e-02 4.11279758e-04 9.99790357e-01 5.01321672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.480385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.64, Y:0.67, Z:0.01 [[ 9.99612316e-01 -1.98903994e-02 -1.94830753e-02 1.66391294e+01] [ 1.98789296e-02 9.99802089e-01 -7.82218483e-04 6.74041842e-01] [ 1.94947780e-02 3.94612548e-04 9.99809881e-01 8.25497131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.67, Y:0.67, Z:0.01 [[ 9.99630480e-01 -2.06421496e-02 -1.76863106e-02 1.66693039e+01] [ 2.06328143e-02 9.99786869e-01 -7.10154368e-04 6.70947831e-01] [ 1.76972002e-02 3.44973589e-04 9.99843333e-01 9.97858225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.540385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.70, Y:0.66, Z:0.01 [[ 9.99564976e-01 -2.48292788e-02 -1.59174452e-02 1.67002868e+01] [ 2.48222411e-02 9.99691676e-01 -6.39581539e-04 6.61807921e-01] [ 1.59284178e-02 2.44196645e-04 9.99873105e-01 7.12471765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.570385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.73, Y:0.66, Z:0.01 [[ 9.99479572e-01 -2.80742784e-02 -1.58877577e-02 1.67323654e+01] [ 2.80676815e-02 9.99605821e-01 -6.38085321e-04 6.59375078e-01] [ 1.58994088e-02 1.91820721e-04 9.99873578e-01 7.19275367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.76, Y:0.66, Z:0.01 [[ 9.99187631e-01 -3.56847395e-02 -1.87263656e-02 1.67638916e+01] [ 3.56769369e-02 9.99363093e-01 -7.50680783e-04 6.60658454e-01] [ 1.87412265e-02 8.19715892e-05 9.99824364e-01 9.92176144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.80, Y:0.66, Z:0.01 [[ 9.99011878e-01 -3.97634164e-02 -1.98529296e-02 1.67960464e+01] [ 3.97554792e-02 9.99209123e-01 -7.94469346e-04 6.62033450e-01] [ 1.98688192e-02 4.42158317e-06 9.99802596e-01 1.18552260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.660385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.83, Y:0.66, Z:0.01 [[ 9.98752482e-01 -4.57592179e-02 -1.99893291e-02 1.68274759e+01] [ 4.57524044e-02 9.98952491e-01 -7.98290464e-04 6.57183024e-01] [ 2.00049192e-02 -1.17265284e-04 9.99799875e-01 1.11580588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.86, Y:0.65, Z:0.01 [[ 9.98659294e-01 -4.80506435e-02 -1.92548492e-02 1.68589157e+01] [ 4.80447859e-02 9.98844888e-01 -7.66956294e-04 6.52630192e-01] [ 1.92694605e-02 -1.59167077e-04 9.99814314e-01 9.78999582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.89, Y:0.65, Z:0.01 [[ 9.98571633e-01 -5.02873348e-02 -1.80520878e-02 1.68911285e+01] [ 5.02825677e-02 9.98734773e-01 -7.18154161e-04 6.48828918e-01] [ 1.80653619e-02 -1.90576953e-04 9.99836790e-01 9.72559875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.750385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.92, Y:0.65, Z:0.01 [[ 9.98342330e-01 -5.53154929e-02 -1.58993466e-02 1.69236233e+01] [ 5.53124471e-02 9.98468895e-01 -6.31585370e-04 6.47821601e-01] [ 1.59099395e-02 -2.48893356e-04 9.99873398e-01 1.36744891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.96, Y:0.65, Z:0.02 [[ 9.97993307e-01 -6.07790440e-02 -1.77557837e-02 1.69554708e+01] [ 6.07761324e-02 9.98151174e-01 -7.04040310e-04 6.54231585e-01] [ 1.77657473e-02 -3.76500345e-04 9.99842106e-01 1.69466872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.99, Y:0.65, Z:0.02 [[ 9.97783449e-01 -6.37981779e-02 -1.89203756e-02 1.69878593e+01] [ 6.37954406e-02 9.97962715e-01 -7.48822101e-04 6.53839258e-01] [ 1.89296028e-02 -4.59871396e-04 9.99820713e-01 1.62653411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.840385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.02, Y:0.66, Z:0.02 [[ 9.97790154e-01 -6.36932206e-02 -1.89204330e-02 1.70203936e+01] [ 6.36904921e-02 9.97969420e-01 -7.47367926e-04 6.55039470e-01] [ 1.89296158e-02 -4.59335330e-04 9.99820713e-01 1.67592260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.05, Y:0.65, Z:0.01 [[ 9.97392169e-01 -6.94049802e-02 -1.97941928e-02 1.70520431e+01] [ 6.94031537e-02 9.97588389e-01 -7.80047630e-04 6.48116389e-01] [ 1.98005961e-02 -5.95766008e-04 9.99803771e-01 1.34753220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.08, Y:0.65, Z:0.01 [[ 9.97309688e-01 -7.06044760e-02 -1.97077308e-02 1.70847398e+01] [ 7.06029162e-02 9.97504199e-01 -7.75787322e-04 6.46456905e-01] [ 1.97133182e-02 -6.17723051e-04 9.99805483e-01 1.36252078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.930385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.12, Y:0.65, Z:0.02 [[ 9.97237229e-01 -7.16896804e-02 -1.94550666e-02 1.71160353e+01] [ 7.16884063e-02 9.97426784e-01 -7.63800613e-04 6.49727375e-01] [ 1.94597611e-02 -6.33012310e-04 9.99810441e-01 1.72620294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.960385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.15, Y:0.65, Z:0.02 [[ 9.97245269e-01 -7.17133902e-02 -1.89489761e-02 1.71476755e+01] [ 7.17122620e-02 9.97425087e-01 -7.39908030e-04 6.53971164e-01] [ 1.89532454e-02 -6.21004154e-04 9.99820178e-01 1.99192190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.18, Y:0.66, Z:0.02 [[ 9.97328920e-01 -7.04680167e-02 -1.92167497e-02 1.71793732e+01] [ 7.04666821e-02 9.97513854e-01 -7.47419026e-04 6.58902811e-01] [ 1.92216432e-02 -6.08717981e-04 9.99815062e-01 2.00698631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.020385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.21, Y:0.66, Z:0.02 [[ 9.97392946e-01 -6.95065914e-02 -1.93944777e-02 1.72117045e+01] [ 6.95050776e-02 9.97581314e-01 -7.52926823e-04 6.59764930e-01] [ 1.93999019e-02 -5.97050775e-04 9.99811626e-01 1.82686137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.050385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.24, Y:0.66, Z:0.02 [[ 9.97556953e-01 -6.72307130e-02 -1.89778043e-02 1.72443278e+01] [ 6.72288823e-02 9.97737309e-01 -7.35155346e-04 6.61562253e-01] [ 1.89842884e-02 -5.42497244e-04 9.99819635e-01 1.71024552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.28, Y:0.67, Z:0.02 [[ 9.97648888e-01 -6.58991541e-02 -1.88148350e-02 1.72759970e+01] [ 6.58971471e-02 9.97826156e-01 -7.27299141e-04 6.65576608e-01] [ 1.88218629e-02 -5.14254772e-04 9.99822721e-01 1.83572718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.110385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.31, Y:0.67, Z:0.02 [[ 9.97757629e-01 -6.41478202e-02 -1.90989539e-02 1.73072561e+01] [ 6.41454687e-02 9.97940287e-01 -7.36338572e-04 6.68665712e-01] [ 1.91068500e-02 -4.90423920e-04 9.99817327e-01 1.89846149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.140385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.34, Y:0.68, Z:0.02 [[ 9.98028761e-01 -5.85898970e-02 -2.24903593e-02 1.73383638e+01] [ 5.85853212e-02 9.98282032e-01 -8.62854636e-04 6.80206169e-01] [ 2.25022762e-02 -4.56451182e-04 9.99746688e-01 2.02569241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.37, Y:0.69, Z:0.02 [[ 9.98347261e-01 -5.22129445e-02 -2.40115658e-02 1.73681698e+01] [ 5.22059018e-02 9.98635918e-01 -9.20502462e-04 6.88814073e-01] [ 2.40268742e-02 -3.34564332e-04 9.99711257e-01 2.00766367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.200385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.40, Y:0.69, Z:0.02 [[ 9.98509302e-01 -4.89520226e-02 -2.41427491e-02 1.74006502e+01] [ 4.89439746e-02 9.98801098e-01 -9.24501955e-04 6.94635790e-01] [ 2.41590605e-02 -2.58518294e-04 9.99708094e-01 2.12934468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.230385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.43, Y:0.70, Z:0.02 [[ 9.98800680e-01 -4.31065341e-02 -2.32169774e-02 1.74319056e+01] [ 4.30975507e-02 9.99070475e-01 -8.87390141e-04 7.01264962e-01] [ 2.32336489e-02 -1.14268983e-04 9.99730056e-01 2.18505927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.46, Y:0.71, Z:0.02 [[ 9.98975851e-01 -3.99217641e-02 -2.12955969e-02 1.74642317e+01] [ 3.99135065e-02 9.99202808e-01 -8.12826207e-04 7.05566061e-01] [ 2.13110697e-02 -3.79881946e-05 9.99772893e-01 2.39623364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.290385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.50, Y:0.71, Z:0.03 [[ 9.99179511e-01 -3.60294897e-02 -1.84981400e-02 1.74953245e+01] [ 3.60226155e-02 9.99350726e-01 -7.04795798e-04 7.09158076e-01] [ 1.85115231e-02 3.78661345e-05 9.99828646e-01 2.55961757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.320385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.53, Y:0.71, Z:0.03 [[ 9.99221202e-01 -3.50901469e-02 -1.80463697e-02 1.75278341e+01] [ 3.50834858e-02 9.99384150e-01 -6.85664494e-04 7.10827731e-01] [ 1.80593159e-02 5.20009423e-05 9.99836916e-01 2.71038012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.56, Y:0.72, Z:0.03 [[ 9.99285759e-01 -3.31561371e-02 -1.81285162e-02 1.75585646e+01] [ 3.31491283e-02 9.99450180e-01 -6.87057343e-04 7.15705670e-01] [ 1.81413289e-02 8.56221094e-05 9.99835429e-01 3.06976816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.59, Y:0.72, Z:0.03 [[ 9.99266865e-01 -3.35385412e-02 -1.84634702e-02 1.75904512e+01] [ 3.35313549e-02 9.99437422e-01 -6.98744214e-04 7.16461508e-01] [ 1.84765179e-02 7.91267666e-05 9.99829291e-01 3.13165997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.410385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.62, Y:0.72, Z:0.03 [[ 9.99239046e-01 -3.28806697e-02 -2.09807176e-02 1.76222390e+01] [ 3.28712756e-02 9.99459279e-01 -7.92556802e-04 7.15814337e-01] [ 2.09954327e-02 1.02290753e-04 9.99779566e-01 2.88086695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.65, Y:0.72, Z:0.03 [[ 9.99231642e-01 -3.22262416e-02 -2.23068264e-02 1.76548612e+01] [ 3.22154882e-02 9.99480592e-01 -8.41348568e-04 7.16005875e-01] [ 2.23223535e-02 1.22076810e-04 9.99750818e-01 2.82931902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.69, Y:0.72, Z:0.03 [[ 9.99272024e-01 -3.09150922e-02 -2.23534868e-02 1.76875078e+01] [ 3.09040001e-02 9.99522003e-01 -8.41574502e-04 7.17136439e-01] [ 2.23688192e-02 1.50149700e-04 9.99749775e-01 2.89944060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.500385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.72, Y:0.72, Z:0.03 [[ 9.99313585e-01 -2.94921036e-02 -2.24181860e-02 1.77197490e+01] [ 2.94806237e-02 9.99564997e-01 -8.42473200e-04 7.19020137e-01] [ 2.24332803e-02 1.80992808e-04 9.99748326e-01 3.08402309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.75, Y:0.72, Z:0.03 [[ 9.99383880e-01 -2.75151745e-02 -2.17893616e-02 1.77510485e+01] [ 2.75038893e-02 9.99621362e-01 -8.17492284e-04 7.21482611e-01] [ 2.18036048e-02 2.17696422e-04 9.99762249e-01 3.19940786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.78, Y:0.72, Z:0.03 [[ 9.99508355e-01 -2.27715938e-02 -2.15523311e-02 1.77816112e+01] [ 2.27594690e-02 9.99740643e-01 -8.07725737e-04 7.23697254e-01] [ 2.15651346e-02 3.16809011e-04 9.99767395e-01 3.29176482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.590385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.81, Y:0.72, Z:0.03 [[ 9.99599165e-01 -1.75767782e-02 -2.21938208e-02 1.78116662e+01] [ 1.75626439e-02 9.99845419e-01 -8.31625001e-04 7.24473746e-01] [ 2.22050073e-02 4.41509485e-04 9.99753341e-01 3.17621856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.84, Y:0.73, Z:0.03 [[ 9.99622009e-01 -1.53473130e-02 -2.28100514e-02 1.78389535e+01] [ 1.53317818e-02 9.99882095e-01 -8.55630289e-04 7.28619226e-01] [ 2.28204936e-02 5.05588138e-04 9.99739451e-01 3.21393463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.87, Y:0.73, Z:0.03 [[ 9.99674397e-01 -1.28749300e-02 -2.20303676e-02 1.78663208e+01] [ 1.28598029e-02 9.99916966e-01 -8.28185555e-04 7.32664958e-01] [ 2.20392011e-02 5.44609709e-04 9.99756959e-01 3.47957734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.680385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.89, Y:0.73, Z:0.04 [[ 9.99697458e-01 -1.24707312e-02 -2.12007760e-02 1.78943023e+01] [ 1.24565957e-02 9.99922095e-01 -7.98675234e-04 7.33618457e-01] [ 2.12090845e-02 5.34344105e-04 9.99774919e-01 3.64454208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.710385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.92, Y:0.73, Z:0.04 [[ 9.99735457e-01 -1.31940284e-02 -1.88396764e-02 1.79225015e+01] [ 1.31829662e-02 9.99912848e-01 -7.11252636e-04 7.30396756e-01] [ 1.88474188e-02 4.62701661e-04 9.99822265e-01 3.82357006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.95, Y:0.72, Z:0.04 [[ 9.99717747e-01 -1.60538364e-02 -1.75128541e-02 1.79511508e+01] [ 1.60446773e-02 9.99871056e-01 -6.63380050e-04 7.23621333e-01] [ 1.75212457e-02 3.82204716e-04 9.99846418e-01 3.89307216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.770385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.98, Y:0.72, Z:0.04 [[ 9.99670752e-01 -1.81709948e-02 -1.81163413e-02 1.79805879e+01] [ 1.81614684e-02 9.99834829e-01 -6.90239700e-04 7.20532362e-01] [ 1.81258914e-02 3.60993079e-04 9.99835647e-01 3.88825761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.800385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.01, Y:0.72, Z:0.04 [[ 9.99522922e-01 -2.36408645e-02 -1.98755490e-02 1.80097621e+01] [ 2.36304308e-02 9.99720474e-01 -7.59675664e-04 7.16860298e-01] [ 1.98879526e-02 2.89645455e-04 9.99802173e-01 3.84967771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.04, Y:0.71, Z:0.04 [[ 9.99452735e-01 -2.61358400e-02 -2.02767956e-02 1.80412627e+01] [ 2.61254869e-02 9.99658371e-01 -7.75362830e-04 7.14502794e-01] [ 2.02901333e-02 2.45197342e-04 9.99794104e-01 3.88540548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.860385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.07, Y:0.71, Z:0.04 [[ 9.99333092e-01 -3.03983046e-02 -2.02315391e-02 1.80724171e+01] [ 3.03888868e-02 9.99537852e-01 -7.72851508e-04 7.08737813e-01] [ 2.02456825e-02 1.57522137e-04 9.99795023e-01 3.91025929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.890385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.10, Y:0.71, Z:0.04 [[ 9.99265860e-01 -3.24597412e-02 -2.03496133e-02 1.81049474e+01] [ 3.24506636e-02 9.99473037e-01 -7.76224209e-04 7.06268361e-01] [ 2.03640858e-02 1.15295896e-04 9.99792624e-01 3.93209877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.14, Y:0.70, Z:0.04 [[ 9.99043155e-01 -3.76941154e-02 -2.21794301e-02 1.81358738e+01] [ 3.76846541e-02 9.99289324e-01 -8.44537165e-04 7.02136718e-01] [ 2.21955018e-02 7.90492312e-06 9.99753649e-01 3.92138228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.950385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.17, Y:0.70, Z:0.04 [[ 9.98883497e-01 -4.08140521e-02 -2.37901841e-02 1.81668560e+01] [ 4.08040812e-02 9.99166757e-01 -9.04607860e-04 7.01282188e-01] [ 2.38072819e-02 -6.71387419e-05 9.99716564e-01 3.94648225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.980385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.20, Y:0.70, Z:0.04 [[ 9.98653314e-01 -4.62137666e-02 -2.35763900e-02 1.81992866e+01] [ 4.62055095e-02 9.98931554e-01 -8.95154629e-04 6.98261849e-01] [ 2.35925684e-02 -1.95409975e-04 9.99721638e-01 4.06943788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.23, Y:0.70, Z:0.04 [[ 9.98635177e-01 -4.76383511e-02 -2.14096023e-02 1.82316480e+01] [ 4.76319005e-02 9.98864627e-01 -8.11435465e-04 6.96426471e-01] [ 2.14239499e-02 -2.09452049e-04 9.99770459e-01 4.20353325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.040385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.26, Y:0.69, Z:0.04 [[ 9.98714892e-01 -4.76662593e-02 -1.72189222e-02 1.82643474e+01] [ 4.76621110e-02 9.98863303e-01 -6.51442003e-04 6.94283686e-01] [ 1.72304013e-02 -1.70085353e-04 9.99851531e-01 4.46368964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.070385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.30, Y:0.69, Z:0.05 [[ 9.98739290e-01 -4.72364236e-02 -1.69867891e-02 1.82963770e+01] [ 4.72323440e-02 9.98883724e-01 -6.41499362e-04 6.94782861e-01] [ 1.69981293e-02 -1.61635250e-04 9.99855508e-01 4.52573171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.33, Y:0.70, Z:0.05 [[ 9.98753557e-01 -4.58725511e-02 -1.96733596e-02 1.83280925e+01] [ 4.58668459e-02 9.98947287e-01 -7.41356463e-04 6.99879903e-01] [ 1.96866571e-02 -1.61922551e-04 9.99806186e-01 4.62300136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.130385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.36, Y:0.70, Z:0.05 [[ 9.98779404e-01 -4.50543526e-02 -2.02437200e-02 1.83610696e+01] [ 4.50481815e-02 9.98984526e-01 -7.60987198e-04 7.03935968e-01] [ 2.02574488e-02 -1.51884435e-04 9.99794785e-01 4.78583034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.160385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.39, Y:0.71, Z:0.05 [[ 9.98889200e-01 -4.32379984e-02 -1.87307601e-02 1.83926867e+01] [ 4.32324273e-02 9.99064795e-01 -7.02441376e-04 7.05935229e-01] [ 1.87436151e-02 -1.08115120e-04 9.99824317e-01 4.90959294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.43, Y:0.71, Z:0.05 [[ 9.98943736e-01 -4.23626893e-02 -1.77992666e-02 1.84253846e+01] [ 4.23575401e-02 9.99102294e-01 -6.66362176e-04 7.05273790e-01] [ 1.78115170e-02 -8.82748269e-05 9.99841358e-01 4.87558847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.46, Y:0.70, Z:0.05 [[ 9.99007124e-01 -4.09386618e-02 -1.75724913e-02 1.84579011e+01] [ 4.09334432e-02 9.99161660e-01 -6.56700200e-04 7.03588570e-01] [ 1.75846440e-02 -6.32543957e-05 9.99845376e-01 4.69978745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.250385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.49, Y:0.71, Z:0.05 [[ 9.99017221e-01 -4.02611187e-02 -1.85373962e-02 1.84905600e+01] [ 4.02552218e-02 9.99189191e-01 -6.91295206e-04 7.05916539e-01] [ 1.85501983e-02 -5.56111819e-05 9.99827929e-01 4.79081535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.52, Y:0.71, Z:0.05 [[ 9.99044847e-01 -3.88342187e-02 -2.00324121e-02 1.85222595e+01] [ 3.88270894e-02 9.99245667e-01 -7.44851158e-04 7.12931952e-01] [ 2.00462267e-02 -3.36605436e-05 9.99799054e-01 5.00706340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.56, Y:0.72, Z:0.05 [[ 9.99061421e-01 -3.82602689e-02 -2.03083463e-02 1.85553728e+01] [ 3.82528621e-02 9.99267808e-01 -7.53200391e-04 7.16367247e-01] [ 2.03222943e-02 -2.43589164e-05 9.99793481e-01 5.11343131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.340385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.59, Y:0.72, Z:0.05 [[ 9.99111531e-01 -3.68856186e-02 -2.03862521e-02 1.85879188e+01] [ 3.68779087e-02 9.99319494e-01 -7.54127664e-04 7.15938010e-01] [ 2.04001956e-02 1.65530241e-06 9.99791894e-01 4.97262021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.62, Y:0.72, Z:0.05 [[ 9.99235165e-01 -3.42012906e-02 -1.89567049e-02 1.86187238e+01] [ 3.41941681e-02 9.99414963e-01 -6.99825230e-04 7.15320969e-01] [ 1.89695494e-02 5.10812258e-05 9.99820061e-01 4.91470612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.65, Y:0.72, Z:0.05 [[ 9.99296414e-01 -3.31315905e-02 -1.75776761e-02 1.86504586e+01] [ 3.31253329e-02 9.99450996e-01 -6.47115241e-04 7.17364037e-01] [ 1.75894659e-02 6.43935671e-05 9.99845291e-01 5.10908704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.430385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.68, Y:0.72, Z:0.05 [[ 9.99333361e-01 -3.29963894e-02 -1.56227862e-02 1.86818932e+01] [ 3.29914447e-02 9.99455469e-01 -5.74195578e-04 7.21483977e-01] [ 1.56332255e-02 5.83945098e-05 9.99877792e-01 5.49698283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.460385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.71, Y:0.72, Z:0.06 [[ 9.99318482e-01 -3.35673175e-02 -1.53559690e-02 1.87142035e+01] [ 3.35626196e-02 9.99436458e-01 -5.63610551e-04 7.23327559e-01] [ 1.53662342e-02 4.78398942e-05 9.99881931e-01 5.62612146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.75, Y:0.72, Z:0.06 [[ 9.99246469e-01 -3.55661456e-02 -1.55416698e-02 1.87469319e+01] [ 3.55615917e-02 9.99367324e-01 -5.69363258e-04 7.21207300e-01] [ 1.55520871e-02 1.62477083e-05 9.99879059e-01 5.54634843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.520385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.78, Y:0.72, Z:0.05 [[ 9.99199428e-01 -3.67985583e-02 -1.56961224e-02 1.87798694e+01] [ 3.67940828e-02 9.99322704e-01 -5.73913703e-04 7.19131786e-01] [ 1.57066107e-02 -4.07018285e-06 9.99876644e-01 5.47423728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.550385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.81, Y:0.72, Z:0.05 [[ 9.99100243e-01 -3.90540994e-02 -1.65373138e-02 1.88122481e+01] [ 3.90494702e-02 9.99237097e-01 -6.02866166e-04 7.17720959e-01] [ 1.65482419e-02 -4.34496110e-05 9.99863068e-01 5.40750261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.84, Y:0.72, Z:0.06 [[ 9.99068901e-01 -3.99615301e-02 -1.62606172e-02 1.88447571e+01] [ 3.99571977e-02 9.99201217e-01 -5.91365047e-04 7.20404572e-01] [ 1.62712603e-02 -5.89142685e-05 9.99867613e-01 5.54201784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.610385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.88, Y:0.72, Z:0.06 [[ 9.99018259e-01 -4.16887308e-02 -1.49855574e-02 1.88761383e+01] [ 4.16852670e-02 9.99130644e-01 -5.43555528e-04 7.22535068e-01] [ 1.49951898e-02 -8.16550649e-05 9.99887562e-01 5.65976896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.640385722999998 meters Centerline goodness [0,1] 0.9999778956675508 Centerline is valid? [True, True] Translation: X:18.91, Y:0.72, Z:0.06 [[ 9.99019477e-01 -4.22107924e-02 -1.33541397e-02 1.89088215e+01] [ 4.22080960e-02 9.99108724e-01 -4.83814956e-04 7.21634549e-01] [ 1.33626597e-02 -8.03122481e-05 9.99910712e-01 5.57523072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.94, Y:0.72, Z:0.06 [[ 9.98916518e-01 -4.43753316e-02 -1.40221483e-02 1.89412892e+01] [ 4.43725865e-02 9.99014923e-01 -5.06973104e-04 7.18677631e-01] [ 1.40308325e-02 -1.15775180e-04 9.99901556e-01 5.51347436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.700385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.97, Y:0.72, Z:0.06 [[ 9.98851368e-01 -4.58673417e-02 -1.38611298e-02 1.89735665e+01] [ 4.58648163e-02 9.98947530e-01 -5.00188632e-04 7.19680508e-01] [ 1.38694837e-02 -1.36124071e-04 9.99903805e-01 5.65239342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.730385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.01, Y:0.72, Z:0.06 [[ 9.98720126e-01 -4.89545860e-02 -1.27105512e-02 1.90060253e+01] [ 4.89527226e-02 9.98800992e-01 -4.57870441e-04 7.22791045e-01] [ 1.27177260e-02 -1.64931661e-04 9.99919113e-01 6.07455969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.04, Y:0.72, Z:0.06 [[ 9.98725253e-01 -4.88498757e-02 -1.27105798e-02 1.90385559e+01] [ 4.88480139e-02 9.98806119e-01 -4.57073427e-04 7.23874138e-01] [ 1.27177329e-02 -1.64395806e-04 9.99919113e-01 6.12393699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.790385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.07, Y:0.72, Z:0.06 [[ 9.98547934e-01 -5.25138655e-02 -1.20132200e-02 1.90705444e+01] [ 5.25124828e-02 9.98620175e-01 -4.30714982e-04 7.23977314e-01] [ 1.20192624e-02 -2.00754453e-04 9.99927746e-01 6.10000007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.820385722999998 meters Centerline goodness [0,1] 0.9998456756101325 Centerline is valid? [True, True] Translation: X:19.10, Y:0.72, Z:0.06 [[ 9.98472132e-01 -5.38540502e-02 -1.23750605e-02 1.91021837e+01] [ 5.38526950e-02 9.98548793e-01 -4.42955331e-04 7.22260197e-01] [ 1.23809566e-02 -2.24151802e-04 9.99923328e-01 5.88224428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.13, Y:0.72, Z:0.06 [[ 9.98442510e-01 -5.42493045e-02 -1.30217863e-02 1.91341813e+01] [ 5.42478582e-02 9.98527393e-01 -4.64519072e-04 7.20357431e-01] [ 1.30278102e-02 -2.42608430e-04 9.99915105e-01 5.76811239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.880385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.17, Y:0.72, Z:0.06 [[ 9.98356005e-01 -5.59167648e-02 -1.25937190e-02 1.91665217e+01] [ 5.59155904e-02 9.98435400e-01 -4.45618197e-04 7.21795238e-01] [ 1.25989324e-02 -2.59299632e-04 9.99920597e-01 5.79481439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.910385722999997 meters Centerline goodness [0,1] 0.9999335533455891 Centerline is valid? [True, True] Translation: X:19.20, Y:0.73, Z:0.06 [[ 9.98270812e-01 -5.71233624e-02 -1.38674600e-02 1.91981365e+01] [ 5.71220696e-02 9.98367082e-01 -4.89622488e-04 7.26889833e-01] [ 1.38727845e-02 -3.03362177e-04 9.99903722e-01 6.00572815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.23, Y:0.73, Z:0.06 [[ 9.98254815e-01 -5.71331893e-02 -1.49373102e-02 1.92300169e+01] [ 5.71317066e-02 9.98366511e-01 -5.26314395e-04 7.29533594e-01] [ 1.49429803e-02 -3.27998147e-04 9.99888294e-01 6.11792688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.26, Y:0.73, Z:0.06 [[ 9.98294294e-01 -5.64219680e-02 -1.50021066e-02 1.92622171e+01] [ 5.64204517e-02 9.98406960e-01 -5.24626373e-04 7.33389199e-01] [ 1.50078080e-02 -3.22694114e-04 9.99887324e-01 6.06482411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.000385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.29, Y:0.73, Z:0.06 [[ 9.98349609e-01 -5.55220624e-02 -1.46750876e-02 1.92934412e+01] [ 5.55205279e-02 9.98457414e-01 -5.12266412e-04 7.34713450e-01] [ 1.46808921e-02 -3.03347637e-04 9.99892184e-01 5.98356272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.030385723 meters Centerline goodness [0,1] 0.9999331550802139 Centerline is valid? [True, True] Translation: X:19.32, Y:0.74, Z:0.06 [[ 9.98520377e-01 -5.27419711e-02 -1.32416197e-02 1.93242450e+01] [ 5.27405124e-02 9.98608145e-01 -4.59579833e-04 7.38813250e-01] [ 1.32474284e-02 -2.39469979e-04 9.99912220e-01 5.96511130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.36, Y:0.75, Z:0.06 [[ 9.98699977e-01 -4.94776111e-02 -1.22606009e-02 1.93566911e+01] [ 4.94761497e-02 9.98775216e-01 -4.22667049e-04 7.45525848e-01] [ 1.22664969e-02 -1.84489754e-04 9.99924747e-01 6.11020303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.090385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.39, Y:0.75, Z:0.06 [[ 9.98793394e-01 -4.74213564e-02 -1.27659814e-02 1.93884318e+01] [ 4.74196190e-02 9.98874961e-01 -4.38919710e-04 7.50497646e-01] [ 1.27724333e-02 -1.66967867e-04 9.99918415e-01 6.18957920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.120385723 meters Centerline goodness [0,1] 0.9999549691538704 Centerline is valid? [True, True] Translation: X:19.42, Y:0.76, Z:0.06 [[ 9.98945386e-01 -4.32977167e-02 -1.52782348e-02 1.94196462e+01] [ 4.32947651e-02 9.99062205e-01 -5.24044504e-04 7.57183199e-01] [ 1.52865968e-02 -1.37975746e-04 9.99883144e-01 6.02156512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.45, Y:0.76, Z:0.06 [[ 9.99009668e-01 -4.13837130e-02 -1.63423038e-02 1.94512934e+01] [ 4.13800948e-02 9.99143320e-01 -5.59630748e-04 7.61405636e-01] [ 1.63514633e-02 -1.17169554e-04 9.99866299e-01 5.98174939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.180385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.48, Y:0.77, Z:0.06 [[ 9.99191363e-01 -3.72175519e-02 -1.52142666e-02 1.94835785e+01] [ 3.72139479e-02 9.99307186e-01 -5.20019478e-04 7.69195670e-01] [ 1.52230798e-02 -4.65839527e-05 9.99884121e-01 6.25112073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.210385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.52, Y:0.77, Z:0.06 [[ 9.99292070e-01 -3.48493172e-02 -1.41733801e-02 1.95159996e+01] [ 3.48459642e-02 9.99392578e-01 -4.83530481e-04 7.73173966e-01] [ 1.41816216e-02 -1.06969209e-05 9.99899436e-01 6.44319595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.55, Y:0.78, Z:0.06 [[ 9.99465940e-01 -2.99494951e-02 -1.30714644e-02 1.95474640e+01] [ 2.99462334e-02 9.99551412e-01 -4.45231340e-04 7.78669303e-01] [ 1.30789351e-02 5.35524360e-05 9.99914466e-01 6.40959660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.270385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.58, Y:0.78, Z:0.06 [[ 9.99536454e-01 -2.74109533e-02 -1.32482890e-02 1.95789164e+01] [ 2.74074031e-02 9.99624246e-01 -4.49493271e-04 7.82268215e-01] [ 1.32556320e-02 8.61837122e-05 9.99912137e-01 6.37902642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.300385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.61, Y:0.79, Z:0.06 [[ 9.99634062e-01 -2.38862551e-02 -1.26959890e-02 1.96104105e+01] [ 2.38827298e-02 9.99714675e-01 -4.29230646e-04 7.87805462e-01] [ 1.27026192e-02 1.25858700e-04 9.99919311e-01 6.34840229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.64, Y:0.79, Z:0.06 [[ 9.99672836e-01 -2.23264010e-02 -1.24800843e-02 1.96426256e+01] [ 2.23228803e-02 9.99750725e-01 -4.21354581e-04 7.90907655e-01] [ 1.24863806e-02 1.42625302e-04 9.99922032e-01 6.40136795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.360385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.68, Y:0.79, Z:0.07 [[ 9.99687143e-01 -2.16375453e-02 -1.25471828e-02 1.96751091e+01] [ 2.16339431e-02 9.99765869e-01 -4.22769576e-04 7.93998205e-01] [ 1.25533928e-02 1.51192272e-04 9.99921192e-01 6.59933706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.390385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.71, Y:0.80, Z:0.07 [[ 9.99661186e-01 -2.23292923e-02 -1.33759191e-02 1.97061876e+01] [ 2.23252740e-02 9.99750659e-01 -4.49670590e-04 7.95721698e-01] [ 1.33826248e-02 1.50897175e-04 9.99910437e-01 6.60204700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.74, Y:0.79, Z:0.06 [[ 9.99605163e-01 -2.38250729e-02 -1.48958035e-02 1.97383079e+01] [ 2.38202683e-02 9.99716132e-01 -4.99914060e-04 7.92398859e-01] [ 1.49034855e-02 1.44894640e-04 9.99888926e-01 6.27983095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.450385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.77, Y:0.79, Z:0.06 [[ 9.99589618e-01 -2.42610425e-02 -1.52314729e-02 1.97706305e+01] [ 2.42560860e-02 9.99705648e-01 -5.10093654e-04 7.92265824e-01] [ 1.52393649e-02 1.40428403e-04 9.99883864e-01 6.27674216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.480385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.80, Y:0.80, Z:0.07 [[ 9.99564571e-01 -2.52851763e-02 -1.52094936e-02 1.98018538e+01] [ 2.52803685e-02 9.99680271e-01 -5.08310500e-04 7.95641130e-01] [ 1.52174834e-02 1.23587564e-04 9.99884200e-01 6.52527901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.83, Y:0.80, Z:0.07 [[ 9.99546509e-01 -2.57654263e-02 -1.55858717e-02 1.98341922e+01] [ 2.57604490e-02 9.99668009e-01 -5.20060683e-04 7.97435399e-01] [ 1.55940970e-02 1.18325787e-04 9.99878398e-01 6.58670502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.540385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.87, Y:0.79, Z:0.06 [[ 9.99564955e-01 -2.60131845e-02 -1.39002089e-02 1.98661968e+01] [ 2.60092612e-02 9.99661595e-01 -4.62983027e-04 7.94915264e-01] [ 1.39075487e-02 1.01247443e-04 9.99903280e-01 6.47683494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.570385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.90, Y:0.79, Z:0.06 [[ 9.99563282e-01 -2.66504110e-02 -1.27672069e-02 1.98985511e+01] [ 2.66471631e-02 9.99644811e-01 -4.24467723e-04 7.92994794e-01] [ 1.27739844e-02 8.40725040e-05 9.99918406e-01 6.49848551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.93, Y:0.79, Z:0.07 [[ 9.99488362e-01 -2.95198021e-02 -1.23124400e-02 1.99294660e+01] [ 2.95170074e-02 9.99564195e-01 -4.08681452e-04 7.91253289e-01] [ 1.23191384e-02 4.50459721e-05 9.99924116e-01 6.63107650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.630385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.96, Y:0.79, Z:0.07 [[ 9.99412566e-01 -3.15997513e-02 -1.32656955e-02 1.99618479e+01] [ 3.15967137e-02 9.99500603e-01 -4.38553170e-04 7.92234722e-01] [ 1.32729288e-02 1.91431656e-05 9.99911911e-01 6.71177181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.660385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.99, Y:0.79, Z:0.07 [[ 9.99266961e-01 -3.53275774e-02 -1.47479986e-02 1.99936273e+01] [ 3.53242447e-02 9.99375786e-01 -4.86490071e-04 7.92536090e-01] [ 1.47559792e-02 -3.48284568e-05 9.99891124e-01 6.78281032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.03, Y:0.79, Z:0.07 [[ 9.99229418e-01 -3.69096295e-02 -1.33510216e-02 2.00260592e+01] [ 3.69070687e-02 9.99318606e-01 -4.38230323e-04 7.92825515e-01] [ 1.33580992e-02 -5.48544391e-05 9.99910775e-01 6.96979762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.06, Y:0.79, Z:0.07 [[ 9.99251804e-01 -3.67564724e-02 -1.20330011e-02 2.00589216e+01] [ 3.67543883e-02 9.99324251e-01 -3.94369205e-04 7.92008809e-01] [ 1.20393655e-02 -4.81914558e-05 9.99927523e-01 6.91516789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.750385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.09, Y:0.79, Z:0.07 [[ 9.99267994e-01 -3.64447984e-02 -1.16297828e-02 2.00913495e+01] [ 3.64428408e-02 9.99335667e-01 -3.80268679e-04 7.89022705e-01] [ 1.16359156e-02 -4.38320045e-05 9.99932299e-01 6.72091430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.12, Y:0.79, Z:0.07 [[ 9.99285690e-01 -3.59825587e-02 -1.15483745e-02 2.01236570e+01] [ 3.59806233e-02 9.99352417e-01 -3.75381470e-04 7.91218506e-01] [ 1.15544032e-02 -4.04043821e-05 9.99933245e-01 6.91967851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.16, Y:0.80, Z:0.07 [[ 9.99348749e-01 -3.40990054e-02 -1.18040921e-02 2.01558819e+01] [ 3.40968640e-02 9.99418460e-01 -3.82666419e-04 7.99377528e-01] [ 1.18102761e-02 -2.00653174e-05 9.99930256e-01 7.28645109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.840385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.19, Y:0.80, Z:0.07 [[ 9.99390604e-01 -3.28633122e-02 -1.17653682e-02 2.01887863e+01] [ 3.28611073e-02 9.99459855e-01 -3.80732295e-04 8.01917981e-01] [ 1.17715254e-02 -6.12274959e-06 9.99930713e-01 7.31014649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.22, Y:0.80, Z:0.07 [[ 9.99469746e-01 -3.04799822e-02 -1.14541849e-02 2.02213997e+01] [ 3.04777462e-02 9.99535377e-01 -3.69756081e-04 8.01792840e-01] [ 1.14601332e-02 2.04622753e-05 9.99934330e-01 7.17033367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.25, Y:0.80, Z:0.07 [[ 9.99529610e-01 -2.86226052e-02 -1.10138529e-02 2.02539695e+01] [ 2.86204499e-02 9.99590289e-01 -3.53289149e-04 8.02539623e-01] [ 1.10194524e-02 3.79015415e-05 9.99939283e-01 7.06491344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.930385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.28, Y:0.81, Z:0.07 [[ 9.99634858e-01 -2.44553912e-02 -1.14927677e-02 2.02845167e+01] [ 2.44527793e-02 9.99700918e-01 -3.67745866e-04 8.08855394e-01] [ 1.14983238e-02 8.65814727e-05 9.99933888e-01 7.24290393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.960385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.32, Y:0.82, Z:0.07 [[ 9.99720855e-01 -2.03771256e-02 -1.19576228e-02 2.03165841e+01] [ 2.03740136e-02 9.99792355e-01 -3.82024039e-04 8.17256485e-01] [ 1.19629244e-02 1.38292631e-04 9.99928432e-01 7.46430560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.35, Y:0.82, Z:0.07 [[ 9.99741009e-01 -1.90448114e-02 -1.24583269e-02 2.03484188e+01] [ 1.90413409e-02 9.99818618e-01 -3.97137773e-04 8.18913471e-01] [ 1.24636306e-02 1.59811668e-04 9.99922313e-01 7.30370159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.020385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.38, Y:0.82, Z:0.07 [[ 9.99751460e-01 -1.80291825e-02 -1.31136496e-02 2.03807030e+01] [ 1.80252622e-02 9.99837445e-01 -4.17088882e-04 8.18040892e-01] [ 1.31190376e-02 1.80608247e-04 9.99913925e-01 7.00038591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.050385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.41, Y:0.82, Z:0.07 [[ 9.99746334e-01 -1.76518335e-02 -1.39885516e-02 2.04125774e+01] [ 1.76473502e-02 9.99844175e-01 -4.43878431e-04 8.15029634e-01] [ 1.39942071e-02 1.96904966e-04 9.99902057e-01 6.59090951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.44, Y:0.82, Z:0.07 [[ 9.99733274e-01 -1.82830695e-02 -1.41106508e-02 2.04441532e+01] [ 1.82785807e-02 9.99832833e-01 -4.47033713e-04 8.16682098e-01] [ 1.41164651e-02 1.88991809e-04 9.99900340e-01 6.74590269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.110385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.48, Y:0.82, Z:0.07 [[ 9.99703316e-01 -1.99179218e-02 -1.40198655e-02 2.04759388e+01] [ 1.99136607e-02 9.99801605e-01 -4.43476288e-04 8.20101870e-01] [ 1.40259171e-02 1.64157872e-04 9.99901619e-01 7.10925835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.140385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.51, Y:0.82, Z:0.07 [[ 9.99682738e-01 -2.07438661e-02 -1.42869183e-02 2.05080814e+01] [ 2.07395394e-02 9.99784811e-01 -4.50954139e-04 8.21689195e-01] [ 1.42931985e-02 1.54506963e-04 9.99897835e-01 7.23496487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.54, Y:0.82, Z:0.07 [[ 9.99659271e-01 -2.26288486e-02 -1.30106384e-02 2.05391080e+01] [ 2.26254306e-02 9.99743928e-01 -4.09861024e-04 8.19462333e-01] [ 1.30165814e-02 1.15350077e-04 9.99915274e-01 7.25691937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.200385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.57, Y:0.81, Z:0.07 [[ 9.99556849e-01 -2.67847257e-02 -1.29878533e-02 2.05714501e+01] [ 2.67816783e-02 9.99641223e-01 -4.08541026e-04 8.14405419e-01] [ 1.29941362e-02 6.05234729e-05 9.99915571e-01 7.10171623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.230385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.60, Y:0.81, Z:0.07 [[ 9.99453827e-01 -2.97611767e-02 -1.43638763e-02 2.06037531e+01] [ 2.97577713e-02 9.99557038e-01 -4.50796628e-04 8.12492333e-01] [ 1.43709298e-02 2.31134696e-05 9.99896733e-01 7.05443748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.64, Y:0.81, Z:0.07 [[ 9.99245113e-01 -3.62141495e-02 -1.40620085e-02 2.06363351e+01] [ 3.62115379e-02 9.99344050e-01 -4.40370402e-04 8.10247459e-01] [ 1.40687322e-02 -6.91689831e-05 9.99901028e-01 6.91887537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.290385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.67, Y:0.81, Z:0.07 [[ 9.99137778e-01 -3.92876265e-02 -1.34232355e-02 2.06677676e+01] [ 3.92855364e-02 9.99227937e-01 -4.19452245e-04 8.08153648e-01] [ 1.34293512e-02 -1.08248423e-04 9.99909816e-01 7.05141256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.320385722999998 meters Centerline goodness [0,1] 0.9999547255234862 Centerline is valid? [True, True] Translation: X:20.70, Y:0.81, Z:0.07 [[ 9.98913328e-01 -4.53612389e-02 -1.07014936e-02 2.06997841e+01] [ 4.53602624e-02 9.98970638e-01 -3.34080232e-04 8.07217386e-01] [ 1.07056322e-02 -1.51705361e-04 9.99942682e-01 7.36541179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.350385723 meters Centerline goodness [0,1] 0.9998868880644286 Centerline is valid? [True, True] Translation: X:20.73, Y:0.80, Z:0.08 [[ 9.98680906e-01 -5.06188297e-02 -8.61290826e-03 2.07303682e+01] [ 5.06183978e-02 9.98718031e-01 -2.68271571e-04 8.03152782e-01] [ 8.61544638e-03 -1.68053921e-04 9.99962872e-01 7.90935011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.380385722999996 meters Centerline goodness [0,1] 0.9998869110894986 Centerline is valid? [True, True] Translation: X:20.76, Y:0.80, Z:0.08 [[ 9.98550150e-01 -5.31333355e-02 -8.62827063e-03 2.07625692e+01] [ 5.31329967e-02 9.98587409e-01 -2.68640445e-04 8.02381716e-01] [ 8.63035617e-03 -1.90194919e-04 9.99962740e-01 8.00724756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.410385722999997 meters Centerline goodness [0,1] 0.9999095779551055 Centerline is valid? [True, True] Translation: X:20.80, Y:0.80, Z:0.08 [[ 9.98395017e-01 -5.58352646e-02 -9.47700055e-03 2.07951992e+01] [ 5.58349833e-02 9.98439967e-01 -2.94470203e-04 8.01138543e-01] [ 9.47865794e-03 -2.35150583e-04 9.99955049e-01 8.01820816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.440385723 meters Centerline goodness [0,1] 0.9999321435841759 Centerline is valid? [True, True] Translation: X:20.83, Y:0.80, Z:0.07 [[ 9.98042771e-01 -6.11784273e-02 -1.29548546e-02 2.08267839e+01] [ 6.11783711e-02 9.98126769e-01 -4.01005500e-04 8.03136897e-01] [ 1.29551201e-02 -3.92336265e-04 9.99916002e-01 7.46384319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.470385723 meters Centerline goodness [0,1] 0.9998870745533799 Centerline is valid? [True, True] Translation: X:20.86, Y:0.80, Z:0.07 [[ 9.97930239e-01 -6.26531758e-02 -1.44850583e-02 2.08585724e+01] [ 6.26532669e-02 9.98035254e-01 -4.47948040e-04 7.96193401e-01] [ 1.44846642e-02 -4.60515329e-04 9.99894986e-01 7.26739955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.500385722999997 meters Centerline goodness [0,1] 0.9999773678850289 Centerline is valid? [True, True] Translation: X:20.89, Y:0.80, Z:0.07 [[ 9.97935370e-01 -6.23649809e-02 -1.53494811e-02 2.08911487e+01] [ 6.23651033e-02 9.98053291e-01 -4.71156998e-04 7.95917488e-01] [ 1.53489839e-02 -4.87087742e-04 9.99882079e-01 7.11654445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.92, Y:0.80, Z:0.07 [[ 9.98014852e-01 -6.12431323e-02 -1.46844987e-02 2.09229894e+01] [ 6.12431551e-02 9.98122775e-01 -4.48554912e-04 8.03720978e-01] [ 1.46844035e-02 -4.51660565e-04 9.99892076e-01 7.29258166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.95, Y:0.80, Z:0.08 [[ 9.98177764e-01 -5.85752373e-02 -1.44945832e-02 2.09540265e+01] [ 5.85749916e-02 9.98282913e-01 -4.41845423e-04 8.02530603e-01] [ 1.44955759e-02 -4.07979813e-04 9.99894850e-01 7.56530915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.590385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.99, Y:0.81, Z:0.08 [[ 9.98244786e-01 -5.75025987e-02 -1.41703548e-02 2.09855753e+01] [ 5.75022829e-02 9.98345282e-01 -4.30055821e-04 8.14144082e-01] [ 1.41716362e-02 -3.85526772e-04 9.99899503e-01 7.71271021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.620385723 meters Centerline goodness [0,1] 0.9999771119910279 Centerline is valid? [True, True] Translation: X:21.02, Y:0.82, Z:0.08 [[ 9.98371633e-01 -5.53333089e-02 -1.38675235e-02 2.10165247e+01] [ 5.53328092e-02 9.98467878e-01 -4.20005922e-04 8.17993565e-01] [ 1.38695171e-02 -3.48007035e-04 9.99903753e-01 7.98406654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.650385723 meters Centerline goodness [0,1] 0.9999771119910279 Centerline is valid? [True, True] Translation: X:21.05, Y:0.82, Z:0.08 [[ 9.98377232e-01 -5.52321786e-02 -1.38675829e-02 2.10490704e+01] [ 5.52316966e-02 9.98473477e-01 -4.18035738e-04 8.18881020e-01] [ 1.38695027e-02 -3.48572768e-04 9.99903753e-01 8.03340828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.680385722999997 meters Centerline goodness [0,1] 0.9998854944350295 Centerline is valid? [True, True] Translation: X:21.08, Y:0.82, Z:0.08 [[ 9.98432578e-01 -5.42912605e-02 -1.35958330e-02 2.10810895e+01] [ 5.42907290e-02 9.98525087e-01 -4.08445167e-04 8.22322091e-01] [ 1.35979554e-02 -3.30322727e-04 9.99907489e-01 8.03373226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.710385722999998 meters Centerline goodness [0,1] 0.9999543222564805 Centerline is valid? [True, True] Translation: X:21.11, Y:0.82, Z:0.08 [[ 9.98510101e-01 -5.29062024e-02 -1.33608486e-02 2.11120107e+01] [ 5.29055736e-02 9.98599439e-01 -4.00754972e-04 8.21613850e-01] [ 1.33633383e-02 -3.06705470e-04 9.99910660e-01 7.73138663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.740385723 meters Centerline goodness [0,1] 0.9999314786898725 Centerline is valid? [True, True] Translation: X:21.14, Y:0.82, Z:0.08 [[ 9.98558009e-01 -5.20935075e-02 -1.29680337e-02 2.11438034e+01] [ 5.20928870e-02 9.98642169e-01 -3.85857583e-04 8.21669207e-01] [ 1.29705260e-02 -2.90241134e-04 9.99915837e-01 7.71580524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.770385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.18, Y:0.82, Z:0.08 [[ 9.98654991e-01 -4.99332403e-02 -1.39599770e-02 2.11750752e+01] [ 4.99323222e-02 9.98752518e-01 -4.14525282e-04 8.22578770e-01] [ 1.39632608e-02 -2.83086329e-04 9.99902469e-01 7.64151988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.800385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.21, Y:0.82, Z:0.08 [[ 9.98645198e-01 -4.99364942e-02 -1.46326407e-02 2.12080723e+01] [ 4.99355362e-02 9.98752350e-01 -4.31055767e-04 8.24413083e-01] [ 1.46359097e-02 -3.00216987e-04 9.99892844e-01 7.82341187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.24, Y:0.83, Z:0.08 [[ 9.98748019e-01 -4.80216019e-02 -1.40114045e-02 2.12393799e+01] [ 4.80205523e-02 9.98846263e-01 -4.11533295e-04 8.30287598e-01] [ 1.40150015e-02 -2.61817317e-04 9.99901751e-01 8.39510959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.860385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.27, Y:0.83, Z:0.08 [[ 9.98815587e-01 -4.65998362e-02 -1.39956852e-02 2.12720192e+01] [ 4.65986942e-02 9.98913608e-01 -4.07872808e-04 8.32222681e-01] [ 1.39994872e-02 -2.44790938e-04 9.99901972e-01 8.49025718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.890385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.30, Y:0.83, Z:0.08 [[ 9.98921822e-01 -4.43332126e-02 -1.37753062e-02 2.13037494e+01] [ 4.43319067e-02 9.99016778e-01 -4.00292677e-04 8.27535577e-01] [ 1.37795083e-02 -2.10824499e-04 9.99905036e-01 7.94364847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.34, Y:0.83, Z:0.08 [[ 9.98957145e-01 -4.36188663e-02 -1.34913895e-02 2.13356319e+01] [ 4.36175569e-02 9.99048225e-01 -3.91423604e-04 8.26643492e-01] [ 1.34956222e-02 -1.97446043e-04 9.99908910e-01 7.83613756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.950385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.37, Y:0.83, Z:0.08 [[ 9.98989583e-01 -4.19329946e-02 -1.61690024e-02 2.13673528e+01] [ 4.19309132e-02 9.99120403e-01 -4.67862958e-04 8.30625688e-01] [ 1.61743991e-02 -2.10590817e-04 9.99869164e-01 7.90651542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.980385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.40, Y:0.84, Z:0.08 [[ 9.98987862e-01 -4.12806939e-02 -1.78649484e-02 2.13994239e+01] [ 4.12780716e-02 9.99147564e-01 -5.15662058e-04 8.35015519e-01] [ 1.78710065e-02 -2.22290481e-04 9.99840276e-01 7.94778386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.43, Y:0.84, Z:0.08 [[ 9.99050417e-01 -3.97964582e-02 -1.77343251e-02 2.14308292e+01] [ 3.97936610e-02 9.99207788e-01 -5.10726896e-04 8.37711905e-01] [ 1.77406009e-02 -1.95471803e-04 9.99842604e-01 8.15340503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.040385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.46, Y:0.84, Z:0.08 [[ 9.99128991e-01 -3.85280111e-02 -1.60265949e-02 2.14616059e+01] [ 3.85255754e-02 9.99257508e-01 -4.60800720e-04 8.38783906e-01] [ 1.60324490e-02 -1.57034432e-04 9.99871460e-01 8.37989288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.070385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.49, Y:0.84, Z:0.08 [[ 9.99255118e-01 -3.67331810e-02 -1.18272029e-02 2.14934520e+01] [ 3.67317327e-02 9.99325104e-01 -3.39723528e-04 8.36698255e-01] [ 1.18316999e-02 -9.49631823e-05 9.99929998e-01 8.42322676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.53, Y:0.83, Z:0.08 [[ 9.99208627e-01 -3.82335145e-02 -1.09689238e-02 2.15259341e+01] [ 3.82323662e-02 9.99268826e-01 -3.14435111e-04 8.31164711e-01] [ 1.09729256e-02 -1.05181635e-04 9.99939790e-01 8.21239326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.130385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.56, Y:0.83, Z:0.08 [[ 9.99164473e-01 -3.91734260e-02 -1.16532324e-02 2.15582571e+01] [ 3.91722032e-02 9.99232419e-01 -3.33248981e-04 8.33554553e-01] [ 1.16573421e-02 -1.23512247e-04 9.99932043e-01 8.32887453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.160385722999997 meters Centerline goodness [0,1] 0.9999770484278173 Centerline is valid? [True, True] Translation: X:21.59, Y:0.83, Z:0.09 [[ 9.99104553e-01 -4.03929613e-02 -1.25897329e-02 2.15892745e+01] [ 4.03916433e-02 9.99183860e-01 -3.59049986e-04 8.34157534e-01] [ 1.25939610e-02 -1.49791526e-04 9.99920682e-01 8.55928560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.62, Y:0.84, Z:0.09 [[ 9.98982204e-01 -4.29280330e-02 -1.38470188e-02 2.16215282e+01] [ 4.29266924e-02 9.99078147e-01 -3.94157441e-04 8.37935234e-01] [ 1.38511743e-02 -2.00650448e-04 9.99904048e-01 8.68300777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.65, Y:0.84, Z:0.08 [[ 9.98945395e-01 -4.36785615e-02 -1.41520761e-02 2.16532818e+01] [ 4.36772505e-02 9.99045613e-01 -4.01848349e-04 8.36931412e-01] [ 1.41561217e-02 -2.16699215e-04 9.99899774e-01 8.49431741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.250385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.69, Y:0.83, Z:0.08 [[ 9.98828573e-01 -4.60469536e-02 -1.48714566e-02 2.16852940e+01] [ 4.60457806e-02 9.98939242e-01 -4.21449235e-04 8.30631239e-01] [ 1.48750881e-02 -2.63812292e-04 9.99889325e-01 8.17417792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.72, Y:0.83, Z:0.08 [[ 9.98797770e-01 -4.65917192e-02 -1.52389551e-02 2.17163706e+01] [ 4.65905633e-02 9.98913977e-01 -4.31047727e-04 8.29736818e-01] [ 1.52424885e-02 -2.79461994e-04 9.99883787e-01 8.20357318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.75, Y:0.83, Z:0.08 [[ 9.98802891e-01 -4.62823233e-02 -1.58345330e-02 2.17483367e+01] [ 4.62810502e-02 9.98928358e-01 -4.47029232e-04 8.31731732e-01] [ 1.58382536e-02 -2.86344728e-04 9.99874526e-01 8.28330980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.340385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.78, Y:0.83, Z:0.08 [[ 9.98830018e-01 -4.57392425e-02 -1.57008525e-02 2.17806036e+01] [ 4.57379405e-02 9.98953375e-01 -4.42189613e-04 8.33590176e-01] [ 1.57046450e-02 -2.76452397e-04 9.99876636e-01 8.28765026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.81, Y:0.84, Z:0.09 [[ 9.98966002e-01 -4.34390704e-02 -1.34154599e-02 2.18116833e+01] [ 4.34379231e-02 9.99056057e-01 -3.77025258e-04 8.36317301e-01] [ 1.34191741e-02 -2.06104301e-04 9.99909938e-01 8.53336842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.84, Y:0.84, Z:0.09 [[ 9.99062921e-01 -4.16639846e-02 -1.17214580e-02 2.18434308e+01] [ 4.16629918e-02 9.99131666e-01 -3.28972654e-04 8.38417166e-01] [ 1.17249862e-02 -1.59686631e-04 9.99931247e-01 8.70965082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.430385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.88, Y:0.84, Z:0.09 [[ 9.99210565e-01 -3.85049541e-02 -9.77829920e-03 2.18755899e+01] [ 3.85041168e-02 9.99258404e-01 -2.73945080e-04 8.40674180e-01] [ 9.78159590e-03 -1.02775956e-04 9.99952154e-01 8.91844854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.460385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.91, Y:0.84, Z:0.09 [[ 9.99227861e-01 -3.77855766e-02 -1.07671665e-02 2.19072093e+01] [ 3.77845296e-02 9.99285864e-01 -3.00714370e-04 8.41384918e-01] [ 1.07708399e-02 -1.06350144e-04 9.99941987e-01 8.95470006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.94, Y:0.84, Z:0.09 [[ 9.99187078e-01 -3.81487965e-02 -1.30327673e-02 2.19398870e+01] [ 3.81473030e-02 9.99272061e-01 -3.63256024e-04 8.41817044e-01] [ 1.30371380e-02 -1.34204198e-04 9.99915004e-01 8.69214853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.520385722999997 meters Centerline goodness [0,1] 0.9997504707029921 Centerline is valid? [True, True] Translation: X:21.97, Y:0.84, Z:0.08 [[ 9.99101442e-01 -3.96508876e-02 -1.49704849e-02 2.19714452e+01] [ 3.96491124e-02 9.99213578e-01 -4.15480070e-04 8.40140838e-01] [ 1.49751860e-02 -1.78459702e-04 9.99887850e-01 8.31679693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.550385722999998 meters Centerline goodness [0,1] 0.9996810280011847 Centerline is valid? [True, True] Translation: X:22.00, Y:0.84, Z:0.08 [[ 9.99067845e-01 -4.02152152e-02 -1.56900275e-02 2.20038002e+01] [ 4.02133481e-02 9.99191022e-01 -4.34601454e-04 8.41020169e-01] [ 1.56948122e-02 -1.96752198e-04 9.99876809e-01 8.29307600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.580385723 meters Centerline goodness [0,1] 0.9999772432469335 Centerline is valid? [True, True] Translation: X:22.04, Y:0.84, Z:0.08 [[ 9.99058892e-01 -4.03177457e-02 -1.59940457e-02 2.20371761e+01] [ 4.03158370e-02 9.99186888e-01 -4.41876143e-04 8.42282979e-01] [ 1.59988562e-02 -2.03353048e-04 9.99871989e-01 8.41743398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.610385722999997 meters Centerline goodness [0,1] 0.9999772245883344 Centerline is valid? [True, True] Translation: X:22.07, Y:0.84, Z:0.09 [[ 9.99034431e-01 -4.10434958e-02 -1.56727837e-02 2.20690743e+01] [ 4.10417768e-02 9.99157338e-01 -4.31442330e-04 8.43740375e-01] [ 1.56772848e-02 -2.12213149e-04 9.99877081e-01 8.61821078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.640385722999998 meters Centerline goodness [0,1] 0.9998861696072852 Centerline is valid? [True, True] Translation: X:22.10, Y:0.85, Z:0.09 [[ 9.99034265e-01 -4.11550870e-02 -1.53881850e-02 2.21022991e+01] [ 4.11534590e-02 9.99152748e-01 -4.22576770e-04 8.45216949e-01] [ 1.53925385e-02 -2.11108368e-04 9.99881506e-01 8.74635055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.13, Y:0.85, Z:0.09 [[ 9.98983096e-01 -4.25365865e-02 -1.49469690e-02 2.21332854e+01] [ 4.25352279e-02 9.99094884e-01 -4.08933257e-04 8.45001407e-01] [ 1.49508349e-02 -2.27255320e-04 9.99888204e-01 8.88454141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.700385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.17, Y:0.85, Z:0.09 [[ 9.98857737e-01 -4.49241281e-02 -1.62801554e-02 2.21657094e+01] [ 4.49228485e-02 9.98990360e-01 -4.44475974e-04 8.46144499e-01] [ 1.62836861e-02 -2.87382691e-04 9.99867371e-01 8.88708939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.730385722999998 meters Centerline goodness [0,1] 0.9999772949163318 Centerline is valid? [True, True] Translation: X:22.20, Y:0.85, Z:0.09 [[ 9.98798242e-01 -4.59361766e-02 -1.70862137e-02 2.21981264e+01] [ 4.59349366e-02 9.98944325e-01 -4.65225578e-04 8.47635900e-01] [ 1.70895469e-02 -3.20187656e-04 9.99853912e-01 8.88176045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.23, Y:0.85, Z:0.09 [[ 9.98752838e-01 -4.68014821e-02 -1.73893583e-02 2.22297629e+01] [ 4.68003501e-02 9.98904152e-01 -4.72256645e-04 8.48070570e-01] [ 1.73924045e-02 -3.42160394e-04 9.99848682e-01 8.89614489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.790385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.26, Y:0.85, Z:0.09 [[ 9.98725940e-01 -4.78486778e-02 -1.60312470e-02 2.22616139e+01] [ 4.78478634e-02 9.98854541e-01 -4.34569020e-04 8.47955590e-01] [ 1.60336774e-02 -3.33045566e-04 9.99871397e-01 8.97784092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.820385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.29, Y:0.85, Z:0.09 [[ 9.98753610e-01 -4.76914153e-02 -1.47226107e-02 2.22935490e+01] [ 4.76907254e-02 9.98862071e-01 -3.98144208e-04 8.46794341e-01] [ 1.47248455e-02 -3.04484020e-04 9.99891537e-01 9.05952443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.33, Y:0.85, Z:0.09 [[ 9.98866363e-01 -4.57382641e-02 -1.31909101e-02 2.23258418e+01] [ 4.57375541e-02 9.98953427e-01 -3.55653376e-04 8.50438352e-01] [ 1.31933718e-02 -2.48069771e-04 9.99912933e-01 9.42425207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.880385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.36, Y:0.85, Z:0.10 [[ 9.98946820e-01 -4.39759416e-02 -1.30907101e-02 2.23580843e+01] [ 4.39751030e-02 9.99032565e-01 -3.52041046e-04 8.54872414e-01] [ 1.30935270e-02 -2.23995040e-04 9.99914251e-01 9.73857251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.910385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.39, Y:0.86, Z:0.10 [[ 9.99072107e-01 -4.11820924e-02 -1.26079317e-02 2.23894229e+01] [ 4.11811032e-02 9.99151641e-01 -3.38178416e-04 8.60428455e-01] [ 1.26111626e-02 -1.81343914e-04 9.99920460e-01 9.92041036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.42, Y:0.86, Z:0.10 [[ 9.99119814e-01 -4.00420974e-02 -1.24991186e-02 2.24210449e+01] [ 4.00410439e-02 9.99197980e-01 -3.34621350e-04 8.60863768e-01] [ 1.25024930e-02 -1.66150935e-04 9.99921827e-01 9.80299674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.45, Y:0.86, Z:0.09 [[ 9.99152375e-01 -3.94433418e-02 -1.17794397e-02 2.24534970e+01] [ 3.94423705e-02 9.99221797e-01 -3.14856153e-04 8.57534227e-01] [ 1.17826919e-02 -1.50019751e-04 9.99930570e-01 9.41982921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.000385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.49, Y:0.86, Z:0.09 [[ 9.99134567e-01 -3.98440328e-02 -1.19402719e-02 2.24854685e+01] [ 3.98430733e-02 9.99205899e-01 -3.18319771e-04 8.56429659e-01] [ 1.19434733e-02 -1.57692841e-04 9.99928662e-01 9.40115435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.52, Y:0.86, Z:0.09 [[ 9.99031880e-01 -4.13893860e-02 -1.49071264e-02 2.25168004e+01] [ 4.13880817e-02 9.99143068e-01 -3.96121605e-04 8.55749910e-01] [ 1.49107473e-02 -2.21239255e-04 9.99888804e-01 9.46815417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.55, Y:0.86, Z:0.09 [[ 9.98965686e-01 -4.22345060e-02 -1.68465027e-02 2.25489036e+01] [ 4.22329772e-02 9.99107690e-01 -4.46660661e-04 8.56480319e-01] [ 1.68503349e-02 -2.65279291e-04 9.99857988e-01 9.48049119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.090385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.58, Y:0.86, Z:0.09 [[ 9.98878748e-01 -4.28278840e-02 -2.01747282e-02 2.25799127e+01] [ 4.28258426e-02 9.99082410e-01 -5.33418052e-04 8.56107706e-01] [ 2.01790613e-02 -3.31179780e-04 9.99796327e-01 9.39220061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.61, Y:0.86, Z:0.09 [[ 9.98889047e-01 -4.24409736e-02 -2.04801411e-02 2.26127552e+01] [ 4.24388155e-02 9.99098922e-01 -5.40180686e-04 8.56351723e-01] [ 2.04846126e-02 -3.29572358e-04 9.99790114e-01 9.39706819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.64, Y:0.86, Z:0.09 [[ 9.98965122e-01 -4.11067113e-02 -1.94659762e-02 2.26435313e+01] [ 4.11045475e-02 9.99154720e-01 -5.11420519e-04 8.57052506e-01] [ 1.94705448e-02 -2.89248884e-04 9.99810389e-01 9.44386681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.180385722999997 meters Centerline goodness [0,1] 0.999977427146114 Centerline is valid? [True, True] Translation: X:22.68, Y:0.86, Z:0.09 [[ 9.99032582e-01 -3.96083628e-02 -1.91069827e-02 2.26762091e+01] [ 3.96060473e-02 9.99215248e-01 -4.99727120e-04 8.58190503e-01] [ 1.91117818e-02 -2.57508387e-04 9.99817320e-01 9.49993869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.210385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.71, Y:0.86, Z:0.10 [[ 9.99213596e-01 -3.57867376e-02 -1.70733387e-02 2.27069232e+01] [ 3.57843516e-02 9.99359436e-01 -4.45330343e-04 8.60634554e-01] [ 1.70783391e-02 -1.65978223e-04 9.99854141e-01 9.75532208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.74, Y:0.86, Z:0.10 [[ 9.99306793e-01 -3.36537960e-02 -1.59171625e-02 2.27386138e+01] [ 3.36514635e-02 9.99433543e-01 -4.14431148e-04 8.63128194e-01] [ 1.59220933e-02 -1.21491952e-04 9.99873228e-01 9.95799663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.270385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.77, Y:0.87, Z:0.10 [[ 9.99337539e-01 -3.22551396e-02 -1.68549316e-02 2.27707175e+01] [ 3.22523446e-02 9.99479662e-01 -4.37696313e-04 8.65850133e-01] [ 1.68602792e-02 -1.06204705e-04 9.99857850e-01 1.00227351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.300385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.80, Y:0.87, Z:0.10 [[ 9.99314637e-01 -3.23849875e-02 -1.79295551e-02 2.28018469e+01] [ 3.23818673e-02 9.99475462e-01 -4.64391639e-04 8.65473759e-01] [ 1.79351897e-02 -1.16519114e-04 9.99839145e-01 9.96727619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.83, Y:0.87, Z:0.10 [[ 9.99287966e-01 -3.30221559e-02 -1.82509981e-02 2.28344309e+01] [ 3.30190467e-02 9.99454611e-01 -4.71753913e-04 8.66549187e-01] [ 1.82566226e-02 -1.31212552e-04 9.99833325e-01 1.00724121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.360385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.87, Y:0.87, Z:0.10 [[ 9.99299438e-01 -3.29821937e-02 -1.76863559e-02 2.28664933e+01] [ 3.29792872e-02 9.99455931e-01 -4.56051363e-04 8.69088924e-01] [ 1.76917749e-02 -1.27551540e-04 9.99843480e-01 1.02575870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.390385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.90, Y:0.87, Z:0.10 [[ 9.99293376e-01 -3.39095237e-02 -1.62139503e-02 2.28985091e+01] [ 3.39072200e-02 9.99424898e-01 -4.17047151e-04 8.66818427e-01] [ 1.62187675e-02 -1.33017524e-04 9.99868458e-01 1.02197053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.93, Y:0.87, Z:0.10 [[ 9.99287839e-01 -3.42994710e-02 -1.57277337e-02 2.29315073e+01] [ 3.42973685e-02 9.99411591e-01 -4.03464720e-04 8.65449234e-01] [ 1.57323180e-02 -1.36242493e-04 9.99876230e-01 1.02478910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.450385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.96, Y:0.86, Z:0.10 [[ 9.99184516e-01 -3.69296992e-02 -1.63248652e-02 2.29629366e+01] [ 3.69278127e-02 9.99317849e-01 -4.17088685e-04 8.63538023e-01] [ 1.63291321e-02 -1.86093008e-04 9.99866654e-01 1.03680957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.480385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.00, Y:0.86, Z:0.10 [[ 9.99126412e-01 -3.83154292e-02 -1.66835180e-02 2.29955534e+01] [ 3.83136671e-02 9.99265671e-01 -4.25348167e-04 8.64361549e-01] [ 1.66875643e-02 -2.14230168e-04 9.99860730e-01 1.04458808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.03, Y:0.86, Z:0.10 [[ 9.99011944e-01 -4.10275630e-02 -1.70843474e-02 2.30271296e+01] [ 4.10261321e-02 9.99157979e-01 -4.34375432e-04 8.62082033e-01] [ 1.70877834e-02 -2.66958450e-04 9.99853958e-01 1.04227554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.540385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.06, Y:0.86, Z:0.11 [[ 9.98965722e-01 -4.20180063e-02 -1.73773948e-02 2.30586163e+01] [ 4.20166917e-02 9.99116812e-01 -4.40905162e-04 8.62012369e-01] [ 1.73805732e-02 -2.89691494e-04 9.99848904e-01 1.05195778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.570385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.09, Y:0.86, Z:0.11 [[ 9.98970039e-01 -4.19152406e-02 -1.73774204e-02 2.30911599e+01] [ 4.19139280e-02 9.99121128e-01 -4.39893756e-04 8.62748551e-01] [ 1.73805861e-02 -2.88915263e-04 9.99848904e-01 1.05689691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.600385723 meters Centerline goodness [0,1] 0.9998195597257308 Centerline is valid? [True, True] Translation: X:23.12, Y:0.86, Z:0.11 [[ 9.98914422e-01 -4.34272677e-02 -1.68537862e-02 2.31229378e+01] [ 4.34262756e-02 9.99056544e-01 -4.25006329e-04 8.64492391e-01] [ 1.68563423e-02 -3.07352215e-04 9.99857875e-01 1.08318092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.630385722999996 meters Centerline goodness [0,1] 0.9999097024696375 Centerline is valid? [True, True] Translation: X:23.16, Y:0.87, Z:0.11 [[ 9.98905993e-01 -4.35200036e-02 -1.71121786e-02 2.31559695e+01] [ 4.35190164e-02 9.99052506e-01 -4.30243436e-04 8.65119994e-01] [ 1.71146891e-02 -3.14932434e-04 9.99853483e-01 1.09116915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.660385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.19, Y:0.86, Z:0.11 [[ 9.98887545e-01 -4.41129990e-02 -1.66648346e-02 2.31879664e+01] [ 4.41121729e-02 9.99026497e-01 -4.17332541e-04 8.63669565e-01] [ 1.66670212e-02 -3.18253789e-04 9.99861045e-01 1.07853212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.22, Y:0.86, Z:0.11 [[ 9.98853939e-01 -4.48554962e-02 -1.66970883e-02 2.32206264e+01] [ 4.48547903e-02 9.98993430e-01 -4.16958282e-04 8.62392235e-01] [ 1.66989844e-02 -3.32463972e-04 9.99860507e-01 1.07178275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.720385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.25, Y:0.86, Z:0.11 [[ 9.98808105e-01 -4.59276102e-02 -1.65234575e-02 2.32532777e+01] [ 4.59270844e-02 9.98944710e-01 -4.11478753e-04 8.62670015e-01] [ 1.65249187e-02 -3.47885913e-04 9.99863394e-01 1.08271460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.750385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.28, Y:0.86, Z:0.11 [[ 9.98757697e-01 -4.68388652e-02 -1.70053905e-02 2.32847575e+01] [ 4.68384607e-02 9.98902388e-01 -4.22284923e-04 8.63476208e-01] [ 1.70065045e-02 -3.74745998e-04 9.99855309e-01 1.09357065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.32, Y:0.86, Z:0.11 [[ 9.98662163e-01 -4.83060940e-02 -1.84500904e-02 2.33165925e+01] [ 4.83058882e-02 9.98832485e-01 -4.57074343e-04 8.63922541e-01] [ 1.84506291e-02 -4.34785153e-04 9.99829678e-01 1.08737462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.35, Y:0.86, Z:0.11 [[ 9.98644708e-01 -4.86377739e-02 -1.85233623e-02 2.33493006e+01] [ 4.86376472e-02 9.98816384e-01 -4.57614975e-04 8.63668371e-01] [ 1.85236951e-02 -4.43937985e-04 9.99828323e-01 1.08065192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.840385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.38, Y:0.86, Z:0.11 [[ 9.98653975e-01 -4.86199906e-02 -1.80647427e-02 2.33817293e+01] [ 4.86198901e-02 9.98817255e-01 -4.45015110e-04 8.62023046e-01] [ 1.80650133e-02 -4.33889695e-04 9.99836720e-01 1.07772515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.41, Y:0.86, Z:0.11 [[ 9.98682961e-01 -4.83237903e-02 -1.72381966e-02 2.34143405e+01] [ 4.83236784e-02 9.98831639e-01 -4.23268340e-04 8.62192949e-01] [ 1.72385101e-02 -4.10302190e-04 9.99851322e-01 1.09105596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.45, Y:0.86, Z:0.11 [[ 9.98765703e-01 -4.68018618e-02 -1.66329802e-02 2.34466557e+01] [ 4.68015649e-02 9.98904123e-01 -4.07315492e-04 8.64598384e-01] [ 1.66338156e-02 -3.71636756e-04 9.99861579e-01 1.10697790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.930385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.48, Y:0.87, Z:0.11 [[ 9.98788657e-01 -4.63203599e-02 -1.66024861e-02 2.34786524e+01] [ 4.63200162e-02 9.98926570e-01 -4.05445528e-04 8.68056782e-01] [ 1.66034449e-02 -3.64073031e-04 9.99862087e-01 1.11848842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.960385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.51, Y:0.87, Z:0.11 [[ 9.98808755e-01 -4.58148871e-02 -1.67948549e-02 2.35112430e+01] [ 4.58144839e-02 9.98949882e-01 -4.08961040e-04 8.71477072e-01] [ 1.67959548e-02 -3.60973741e-04 9.99858873e-01 1.12662792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.54, Y:0.87, Z:0.11 [[ 9.98804994e-01 -4.58067382e-02 -1.70390020e-02 2.35433873e+01] [ 4.58063436e-02 9.98950253e-01 -4.13641454e-04 8.71674475e-01] [ 1.70400629e-02 -3.67347229e-04 9.99854740e-01 1.13190420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.020385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.58, Y:0.87, Z:0.11 [[ 9.98785459e-01 -4.61801975e-02 -1.71754655e-02 2.35754550e+01] [ 4.61798814e-02 9.98933054e-01 -4.15226811e-04 8.73162530e-01] [ 1.71763154e-02 -3.78438457e-04 9.99852405e-01 1.13772837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.050385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.61, Y:0.87, Z:0.11 [[ 9.98765205e-01 -4.66382220e-02 -1.71155158e-02 2.36073463e+01] [ 4.66379956e-02 9.98911771e-01 -4.12588557e-04 8.73727144e-01] [ 1.71161326e-02 -3.86154255e-04 9.99853434e-01 1.14656491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.64, Y:0.87, Z:0.11 [[ 9.98734128e-01 -4.71061161e-02 -1.76395844e-02 2.36397950e+01] [ 4.71059706e-02 9.98889808e-01 -4.23978289e-04 8.73798804e-01] [ 1.76399730e-02 -4.07488156e-04 9.99844321e-01 1.14713062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.110385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.67, Y:0.87, Z:0.11 [[ 9.98712212e-01 -4.71867279e-02 -1.86367737e-02 2.36712062e+01] [ 4.71866032e-02 9.98885992e-01 -4.46673198e-04 8.72766134e-01] [ 1.86370893e-02 -4.33308069e-04 9.99826220e-01 1.13518729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.140385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.70, Y:0.87, Z:0.11 [[ 9.98697399e-01 -4.69766923e-02 -1.99172440e-02 2.37044512e+01] [ 4.69765345e-02 9.98895880e-01 -4.76048633e-04 8.72783175e-01] [ 1.99176161e-02 -4.60214569e-04 9.99801519e-01 1.12958216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.74, Y:0.88, Z:0.12 [[ 9.98721829e-01 -4.64279396e-02 -1.99788689e-02 2.37368721e+01] [ 4.64277090e-02 9.98921539e-01 -4.75623949e-04 8.75776445e-01] [ 1.99794047e-02 -4.52557091e-04 9.99800289e-01 1.15167230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.200385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.77, Y:0.88, Z:0.12 [[ 9.98772314e-01 -4.56303083e-02 -1.92805677e-02 2.37679180e+01] [ 4.56299686e-02 9.98958306e-01 -4.57773447e-04 8.77334210e-01] [ 1.92813716e-02 -4.22560255e-04 9.99814008e-01 1.16583737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.230385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.80, Y:0.88, Z:0.12 [[ 9.98792882e-01 -4.53056608e-02 -1.89782968e-02 2.37987519e+01] [ 4.53052926e-02 9.98973087e-01 -4.49568309e-04 8.75761109e-01] [ 1.89791757e-02 -4.10791664e-04 9.99819795e-01 1.16159950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.83, Y:0.88, Z:0.12 [[ 9.98873840e-01 -4.39782288e-02 -1.78035799e-02 2.38306719e+01] [ 4.39777144e-02 9.99032424e-01 -4.20597806e-04 8.75101312e-01] [ 1.78048507e-02 -3.62836605e-04 9.99841415e-01 1.16770750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.290385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.86, Y:0.88, Z:0.12 [[ 9.98926692e-01 -4.31750960e-02 -1.67742230e-02 2.38626625e+01] [ 4.31745441e-02 9.99067466e-01 -3.95201292e-04 8.75833539e-01] [ 1.67756433e-02 -3.29442310e-04 9.99859225e-01 1.18123932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.320385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.90, Y:0.88, Z:0.12 [[ 9.99021448e-01 -4.14357030e-02 -1.54670229e-02 2.38952299e+01] [ 4.14350402e-02 9.99141134e-01 -3.63444933e-04 8.77186169e-01] [ 1.54687984e-02 -2.77787434e-04 9.99880312e-01 1.20185126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.93, Y:0.88, Z:0.12 [[ 9.99038072e-01 -4.08568175e-02 -1.59264576e-02 2.39269423e+01] [ 4.08560587e-02 9.99164973e-01 -3.73144628e-04 8.77968353e-01] [ 1.59284041e-02 -2.77906596e-04 9.99873096e-01 1.20301103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.380385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.96, Y:0.88, Z:0.12 [[ 9.99034809e-01 -4.01320998e-02 -1.78567974e-02 2.39583677e+01] [ 4.01310529e-02 9.99194338e-01 -4.17105835e-04 8.78578748e-01] [ 1.78591502e-02 -2.99908831e-04 9.99840468e-01 1.19617997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.410385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.99, Y:0.88, Z:0.12 [[ 9.99037586e-01 -3.97375412e-02 -1.85695710e-02 2.39904587e+01] [ 3.97363594e-02 9.99210105e-01 -4.32755131e-04 8.79194213e-01] [ 1.85720996e-02 -3.05548505e-04 9.99827477e-01 1.19120864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.02, Y:0.88, Z:0.12 [[ 9.99058352e-01 -3.90812498e-02 -1.88431574e-02 2.40216541e+01] [ 3.90799387e-02 9.99235991e-01 -4.37946806e-04 8.80722625e-01] [ 1.88458766e-02 -2.98855023e-04 9.99822356e-01 1.19830467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.470385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.05, Y:0.88, Z:0.12 [[ 9.99077126e-01 -3.88122147e-02 -1.83986041e-02 2.40533440e+01] [ 3.88109365e-02 9.99246481e-01 -4.26668324e-04 8.84576076e-01] [ 1.84013003e-02 -2.87792491e-04 9.99830640e-01 1.21449632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.500385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.09, Y:0.89, Z:0.12 [[ 9.99118838e-01 -3.78472180e-02 -1.81420726e-02 2.40855634e+01] [ 3.78458385e-02 9.99283502e-01 -4.19484310e-04 8.85777551e-01] [ 1.81449502e-02 -2.67487275e-04 9.99835331e-01 1.21220598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.12, Y:0.88, Z:0.12 [[ 9.99126726e-01 -3.77848364e-02 -1.78351442e-02 2.41176445e+01] [ 3.77835156e-02 9.99285863e-01 -4.11135392e-04 8.82476190e-01] [ 1.78379421e-02 -2.63098090e-04 9.99840857e-01 1.19351598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.15, Y:0.88, Z:0.12 [[ 9.99073499e-01 -3.92077330e-02 -1.77453474e-02 2.41501464e+01] [ 3.92066758e-02 9.99231040e-01 -4.07600272e-04 8.83671150e-01] [ 1.77476830e-02 -2.88513452e-04 9.99842456e-01 1.19613783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.590385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.18, Y:0.89, Z:0.12 [[ 9.99007582e-01 -4.08983200e-02 -1.76402607e-02 2.41820407e+01] [ 4.08975596e-02 9.99163263e-01 -4.04005625e-04 8.87304908e-01] [ 1.76420236e-02 -3.17838932e-04 9.99844317e-01 1.23535711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.21, Y:0.88, Z:0.12 [[ 9.98948696e-01 -4.23363732e-02 -1.75821913e-02 2.42129850e+01] [ 4.23358603e-02 9.99103355e-01 -4.01542937e-04 8.84026960e-01] [ 1.75834262e-02 -3.43236400e-04 9.99845341e-01 1.23572344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.24, Y:0.88, Z:0.12 [[ 9.98789098e-01 -4.61480316e-02 -1.70498087e-02 2.42449427e+01] [ 4.61481191e-02 9.98934532e-01 -3.88512983e-04 8.83377537e-01] [ 1.70495718e-02 -3.98774070e-04 9.99854566e-01 1.21524514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.680385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.28, Y:0.88, Z:0.12 [[ 9.98691740e-01 -4.78836006e-02 -1.79435008e-02 2.42771504e+01] [ 4.78840011e-02 9.98852820e-01 -4.07560270e-04 8.81721325e-01] [ 1.79424319e-02 -4.52179539e-04 9.99838919e-01 1.21830019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.710385722999998 meters Centerline goodness [0,1] 0.9999552902778709 Centerline is valid? [True, True] Translation: X:24.31, Y:0.88, Z:0.12 [[ 9.98603155e-01 -4.94732001e-02 -1.85510629e-02 2.43092821e+01] [ 4.94739271e-02 9.98775327e-01 -4.20030149e-04 8.82671815e-01] [ 1.85491242e-02 -4.98350502e-04 9.99827826e-01 1.23270182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.740385723 meters Centerline goodness [0,1] 0.9998429965234944 Centerline is valid? [True, True] Translation: X:24.34, Y:0.88, Z:0.12 [[ 9.98587810e-01 -4.98849958e-02 -1.82721712e-02 2.43399648e+01] [ 4.98857919e-02 9.98754844e-01 -4.12510254e-04 8.84781046e-01] [ 1.82699976e-02 -4.99594021e-04 9.99832965e-01 1.24709312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.770385722999997 meters Centerline goodness [0,1] 0.9999552051603655 Centerline is valid? [True, True] Translation: X:24.37, Y:0.88, Z:0.12 [[ 9.98686544e-01 -4.85232524e-02 -1.64523822e-02 2.43726002e+01] [ 4.85237262e-02 9.98821961e-01 -3.70631314e-04 8.83292278e-01] [ 1.64509849e-02 -4.28186382e-04 9.99864582e-01 1.23952817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.800385722999998 meters Centerline goodness [0,1] 0.9999776070940726 Centerline is valid? [True, True] Translation: X:24.40, Y:0.88, Z:0.12 [[ 9.98722514e-01 -4.81327823e-02 -1.53810341e-02 2.44044118e+01] [ 4.81331651e-02 9.98840868e-01 -3.45513143e-04 8.84215994e-01] [ 1.53798359e-02 -3.95266099e-04 9.99881645e-01 1.24424587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.830385723 meters Centerline goodness [0,1] 0.9997982017534025 Centerline is valid? [True, True] Translation: X:24.44, Y:0.89, Z:0.13 [[ 9.98763975e-01 -4.77048530e-02 -1.39559576e-02 2.44356861e+01] [ 4.77051374e-02 9.98861413e-01 -3.12708931e-04 8.85273691e-01] [ 1.39549853e-02 -3.53448462e-04 9.99902562e-01 1.27237585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.860385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.47, Y:0.89, Z:0.13 [[ 9.98764698e-01 -4.78698966e-02 -1.33248301e-02 2.44677125e+01] [ 4.78701951e-02 9.98853521e-01 -2.96726886e-04 8.86810872e-01] [ 1.33237577e-02 -3.41501878e-04 9.99911176e-01 1.29155060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.890385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.50, Y:0.89, Z:0.13 [[ 9.98769052e-01 -4.72756200e-02 -1.50132389e-02 2.45002774e+01] [ 4.72759493e-02 9.98881812e-01 -3.33165770e-04 8.87588764e-01] [ 1.50122018e-02 -3.77009459e-04 9.99887239e-01 1.28629071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.920385723 meters Centerline goodness [0,1] 0.9999325766940106 Centerline is valid? [True, True] Translation: X:24.53, Y:0.89, Z:0.13 [[ 9.98713683e-01 -4.78487624e-02 -1.67772037e-02 2.45315563e+01] [ 4.78492776e-02 9.98854498e-01 -3.70934185e-04 8.85454899e-01] [ 1.67757341e-02 -4.32320029e-04 9.99859184e-01 1.26290358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.950385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.56, Y:0.88, Z:0.12 [[ 9.98630608e-01 -4.88066925e-02 -1.88365648e-02 2.45635780e+01] [ 4.88075590e-02 9.98808115e-01 -4.13991198e-04 8.84284675e-01] [ 1.88343193e-02 -5.05942468e-04 9.99822490e-01 1.23169474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.980385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.60, Y:0.88, Z:0.12 [[ 9.98644492e-01 -4.83861192e-02 -1.91823265e-02 2.45962306e+01] [ 4.83869658e-02 9.98828576e-01 -4.20267953e-04 8.84984231e-01] [ 1.91801910e-02 -5.08476298e-04 9.99815914e-01 1.23339818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.63, Y:0.89, Z:0.12 [[ 9.98752109e-01 -4.67720197e-02 -1.75100550e-02 2.46284474e+01] [ 4.67724965e-02 9.98905495e-01 -3.82521820e-04 8.87012007e-01] [ 1.75087814e-02 -4.36944509e-04 9.99846614e-01 1.23711140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.040385722999996 meters Centerline goodness [0,1] 0.9999102374220188 Centerline is valid? [True, True] Translation: X:24.66, Y:0.88, Z:0.12 [[ 9.98784929e-01 -4.61919259e-02 -1.71747342e-02 2.46594074e+01] [ 4.61923193e-02 9.98932495e-01 -3.73999964e-04 8.83653106e-01] [ 1.71736759e-02 -4.19795280e-04 9.99852433e-01 1.23687377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.070385722999998 meters Centerline goodness [0,1] 0.9999102233194928 Centerline is valid? [True, True] Translation: X:24.69, Y:0.89, Z:0.12 [[ 9.98822786e-01 -4.49040788e-02 -1.83484809e-02 2.46907036e+01] [ 4.49043356e-02 9.98991212e-01 -3.98208090e-04 8.85282401e-01] [ 1.83478523e-02 -4.26187029e-04 9.99831573e-01 1.24692192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.72, Y:0.89, Z:0.13 [[ 9.98817342e-01 -4.44485057e-02 -1.97039943e-02 2.47238089e+01] [ 4.44487446e-02 9.99011575e-01 -4.26044030e-04 8.90530190e-01] [ 1.97034554e-02 -4.50277644e-04 9.99805767e-01 1.26532303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.130385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.76, Y:0.89, Z:0.13 [[ 9.98838663e-01 -4.38528756e-02 -1.99562075e-02 2.47556490e+01] [ 4.38530413e-02 9.99037900e-01 -4.29519439e-04 8.93698373e-01] [ 1.99558434e-02 -4.46119772e-04 9.99800763e-01 1.26672018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.160385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.79, Y:0.89, Z:0.13 [[ 9.98881550e-01 -4.36860483e-02 -1.80880689e-02 2.47873625e+01] [ 4.36861772e-02 9.99045228e-01 -3.88191499e-04 8.91722526e-01] [ 1.80877575e-02 -4.02441258e-04 9.99836322e-01 1.26157070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.190385723 meters Centerline goodness [0,1] 0.9998651442956037 Centerline is valid? [True, True] Translation: X:24.82, Y:0.89, Z:0.13 [[ 9.99010710e-01 -4.22977139e-02 -1.37297115e-02 2.48190937e+01] [ 4.22976638e-02 9.99105010e-01 -2.94163119e-04 8.88410184e-01] [ 1.37298660e-02 -2.86862615e-04 9.99905700e-01 1.28730019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.220385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.85, Y:0.89, Z:0.13 [[ 9.99067262e-01 -4.14683639e-02 -1.20407745e-02 2.48513690e+01] [ 4.14682734e-02 9.99139788e-01 -2.57294122e-04 8.90191332e-01] [ 1.20410864e-02 -2.42255992e-04 9.99927474e-01 1.31188395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.250385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.88, Y:0.89, Z:0.13 [[ 9.99133338e-01 -3.95961701e-02 -1.28341673e-02 2.48826429e+01] [ 3.95959257e-02 9.99215736e-01 -2.73237476e-04 8.90096468e-01] [ 1.28349211e-02 -2.35180063e-04 9.99917601e-01 1.32441021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.91, Y:0.89, Z:0.13 [[ 9.99162414e-01 -3.85086849e-02 -1.38401917e-02 2.49147409e+01] [ 3.85083069e-02 9.99258237e-01 -2.93898729e-04 8.92297208e-01] [ 1.38412432e-02 -2.39309785e-04 9.99904177e-01 1.31974229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.95, Y:0.89, Z:0.13 [[ 9.99183916e-01 -3.76641310e-02 -1.45915877e-02 2.49458754e+01] [ 3.76636368e-02 9.99290426e-01 -3.08761399e-04 8.93806563e-01] [ 1.45928631e-02 -2.41062834e-04 9.99893489e-01 1.31915263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.340385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.98, Y:0.89, Z:0.13 [[ 9.99199882e-01 -3.75515731e-02 -1.37649789e-02 2.49790523e+01] [ 3.75511309e-02 9.99294665e-01 -2.90669399e-04 8.94658158e-01] [ 1.37661851e-02 -2.26453697e-04 9.99905216e-01 1.32760552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.370385723 meters Centerline goodness [0,1] 0.9998651988317232 Centerline is valid? [True, True] Translation: X:25.01, Y:0.89, Z:0.13 [[ 9.99236903e-01 -3.72970017e-02 -1.15993396e-02 2.50118579e+01] [ 3.72966815e-02 9.99304207e-01 -2.43999108e-04 8.92429967e-01] [ 1.16003693e-02 -1.88803961e-04 9.99932696e-01 1.32046028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.04, Y:0.89, Z:0.13 [[ 9.99260353e-01 -3.67618020e-02 -1.12835103e-02 2.50441197e+01] [ 3.67614790e-02 9.99324040e-01 -2.36101091e-04 8.91532475e-01] [ 1.12845626e-02 -1.78872067e-04 9.99936311e-01 1.33273000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.430385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.08, Y:0.89, Z:0.13 [[ 9.99265327e-01 -3.65428168e-02 -1.15511133e-02 2.50750530e+01] [ 3.65424738e-02 9.99332072e-01 -2.40826624e-04 8.92446193e-01] [ 1.15521985e-02 -1.81456561e-04 9.99933255e-01 1.34609301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.460385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.11, Y:0.89, Z:0.14 [[ 9.99268998e-01 -3.64423068e-02 -1.15511218e-02 2.51075972e+01] [ 3.64419618e-02 9.99335742e-01 -2.40419277e-04 8.93030921e-01] [ 1.15522103e-02 -1.80702010e-04 9.99933255e-01 1.35103191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.490385723 meters Centerline goodness [0,1] 0.9999775477671254 Centerline is valid? [True, True] Translation: X:25.14, Y:0.89, Z:0.14 [[ 9.99263517e-01 -3.62539831e-02 -1.25726952e-02 2.51393288e+01] [ 3.62535781e-02 9.99342589e-01 -2.60194535e-04 8.94476429e-01] [ 1.25738629e-02 -1.95802283e-04 9.99920927e-01 1.35751991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.520385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.17, Y:0.89, Z:0.13 [[ 9.99214073e-01 -3.69298920e-02 -1.44020649e-02 2.51704352e+01] [ 3.69294463e-02 9.99317831e-01 -2.96983451e-04 8.94745452e-01] [ 1.44032079e-02 -2.35110240e-04 9.99896241e-01 1.33896637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.550385722999998 meters Centerline goodness [0,1] 0.9999100132730422 Centerline is valid? [True, True] Translation: X:25.20, Y:0.90, Z:0.13 [[ 9.99198620e-01 -3.70405210e-02 -1.51696269e-02 2.52036223e+01] [ 3.70400702e-02 9.99313733e-01 -3.10771750e-04 8.95721698e-01] [ 1.51707277e-02 -2.51361342e-04 9.99884886e-01 1.32865935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.580385723 meters Centerline goodness [0,1] 0.999864706412916 Centerline is valid? [True, True] Translation: X:25.23, Y:0.90, Z:0.13 [[ 9.99165884e-01 -3.73824024e-02 -1.64344833e-02 2.52349910e+01] [ 3.73819486e-02 9.99300995e-01 -3.34914227e-04 8.95242652e-01] [ 1.64355154e-02 -2.79718142e-04 9.99864889e-01 1.30758760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.610385722999997 meters Centerline goodness [0,1] 0.9998423742934991 Centerline is valid? [True, True] Translation: X:25.27, Y:0.90, Z:0.13 [[ 9.99184361e-01 -3.66202045e-02 -1.70168259e-02 2.52669696e+01] [ 3.66196236e-02 9.99329217e-01 -3.45842426e-04 8.96554381e-01] [ 1.70180761e-02 -2.77589414e-04 9.99855144e-01 1.30613437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.640385722999998 meters Centerline goodness [0,1] 0.9999549954995499 Centerline is valid? [True, True] Translation: X:25.30, Y:0.90, Z:0.13 [[ 9.99233920e-01 -3.55247021e-02 -1.64185615e-02 2.52985929e+01] [ 3.55240310e-02 9.99368767e-01 -3.32610715e-04 8.97408362e-01] [ 1.64200135e-02 -2.50897578e-04 9.99865151e-01 1.32055776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.33, Y:0.90, Z:0.13 [[ 9.99257769e-01 -3.52075560e-02 -1.56313216e-02 2.53300655e+01] [ 3.52069214e-02 9.99379994e-01 -3.15868060e-04 8.97747791e-01] [ 1.56327510e-02 -2.34697097e-04 9.99877774e-01 1.34067013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.700385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.36, Y:0.90, Z:0.14 [[ 9.99287923e-01 -3.54966007e-02 -1.27921517e-02 2.53626184e+01] [ 3.54962156e-02 9.99369778e-01 -2.57223241e-04 8.98469435e-01] [ 1.27932204e-02 -1.97032898e-04 9.99918144e-01 1.37384845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.730385722999998 meters Centerline goodness [0,1] 0.9999325433409034 Centerline is valid? [True, True] Translation: X:25.40, Y:0.90, Z:0.14 [[ 9.99304503e-01 -3.54244243e-02 -1.16455856e-02 2.53960209e+01] [ 3.54241070e-02 9.99372342e-01 -2.33590632e-04 8.98670414e-01] [ 1.16465510e-02 -1.79106299e-04 9.99932161e-01 1.38774319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.43, Y:0.90, Z:0.14 [[ 9.99334381e-01 -3.47764071e-02 -1.10180515e-02 2.54278755e+01] [ 3.47760965e-02 9.99395104e-01 -2.19827923e-04 8.99220346e-01] [ 1.10190315e-02 -1.63483221e-04 9.99939275e-01 1.40250290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.790385722999996 meters Centerline goodness [0,1] 0.9999103038457227 Centerline is valid? [True, True] Translation: X:25.46, Y:0.90, Z:0.14 [[ 9.99333657e-01 -3.45367210e-02 -1.18091497e-02 2.54600798e+01] [ 3.45363582e-02 9.99403414e-01 -2.34715150e-04 9.00055116e-01] [ 1.18102109e-02 -1.73286275e-04 9.99930242e-01 1.40433810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.820385722999998 meters Centerline goodness [0,1] 0.9999774678353349 Centerline is valid? [True, True] Translation: X:25.49, Y:0.90, Z:0.14 [[ 9.99306799e-01 -3.42774169e-02 -1.45251590e-02 2.54914619e+01] [ 3.42768588e-02 9.99412334e-01 -2.87446624e-04 9.01888773e-01] [ 1.45264759e-02 -2.10629457e-04 9.99894463e-01 1.39467467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.52, Y:0.90, Z:0.14 [[ 9.99307209e-01 -3.39205526e-02 -1.53133335e-02 2.55240490e+01] [ 3.39199032e-02 9.99424509e-01 -3.02214243e-04 9.01623851e-01] [ 1.53147721e-02 -2.17421917e-04 9.99882698e-01 1.38517898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.880385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.56, Y:0.90, Z:0.14 [[ 9.99315568e-01 -3.37592022e-02 -1.51232169e-02 2.55562580e+01] [ 3.37585657e-02 9.99429973e-01 -2.97443550e-04 8.97402807e-01] [ 1.51246377e-02 -2.13298142e-04 9.99885593e-01 1.35541647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.910385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.59, Y:0.90, Z:0.14 [[ 9.99310615e-01 -3.40671305e-02 -1.47554919e-02 2.55883080e+01] [ 3.40665763e-02 9.99419524e-01 -2.88979713e-04 8.95961013e-01] [ 1.47567714e-02 -2.13888594e-04 9.99891090e-01 1.35394444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.62, Y:0.90, Z:0.14 [[ 9.99300671e-01 -3.48307758e-02 -1.36009312e-02 2.56196646e+01] [ 3.48303874e-02 9.99393203e-01 -2.65503198e-04 8.96312917e-01] [ 1.36019258e-02 -2.08408177e-04 9.99907468e-01 1.39584172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.970385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.65, Y:0.90, Z:0.15 [[ 9.99329075e-01 -3.43202528e-02 -1.27874856e-02 2.56503827e+01] [ 3.43198753e-02 9.99410869e-01 -2.49026368e-04 9.00693869e-01] [ 1.27884987e-02 -1.90005622e-04 9.99918206e-01 1.45125848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.000385722999997 meters Centerline goodness [0,1] 0.9999552272218492 Centerline is valid? [True, True] Translation: X:25.68, Y:0.90, Z:0.14 [[ 9.99334052e-01 -3.38895695e-02 -1.35258585e-02 2.56813224e+01] [ 3.38891174e-02 9.99425564e-01 -2.62692753e-04 9.01708891e-01] [ 1.35269913e-02 -1.95861592e-04 9.99908487e-01 1.44731411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.71, Y:0.90, Z:0.14 [[ 9.99339696e-01 -3.32086726e-02 -1.47430019e-02 2.57135797e+01] [ 3.32080729e-02 9.99448419e-01 -2.85550871e-04 9.02681082e-01] [ 1.47443527e-02 -2.04224361e-04 9.99891275e-01 1.42069101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.060385723 meters Centerline goodness [0,1] 0.9999550975505714 Centerline is valid? [True, True] Translation: X:25.75, Y:0.90, Z:0.14 [[ 9.99316699e-01 -3.26365041e-02 -1.73491722e-02 2.57454859e+01] [ 3.26356136e-02 9.99467261e-01 -3.34522128e-04 8.96029743e-01] [ 1.73508473e-02 -2.31907333e-04 9.99849436e-01 1.35316117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.090385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.78, Y:0.90, Z:0.13 [[ 9.99295088e-01 -3.25819410e-02 -1.86478912e-02 2.57779401e+01] [ 3.25809442e-02 9.99469036e-01 -3.57341195e-04 8.95859797e-01] [ 1.86496328e-02 -2.50476604e-04 9.99826049e-01 1.34559467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.81, Y:0.90, Z:0.14 [[ 9.99311609e-01 -3.17762757e-02 -1.91461646e-02 2.58095034e+01] [ 3.17751016e-02 9.99494977e-01 -3.65611580e-04 9.02744598e-01] [ 1.91481132e-02 -2.43011430e-04 9.99816629e-01 1.37604295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.150385723 meters Centerline goodness [0,1] 0.999887458359593 Centerline is valid? [True, True] Translation: X:25.84, Y:0.90, Z:0.14 [[ 9.99343288e-01 -3.09658404e-02 -1.88178031e-02 2.58408881e+01] [ 3.09645859e-02 9.99520418e-01 -3.58100469e-04 9.04148328e-01] [ 1.88198673e-02 -2.24820182e-04 9.99822865e-01 1.38931546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.180385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.87, Y:0.90, Z:0.14 [[ 9.99394253e-01 -2.97351910e-02 -1.80816481e-02 2.58730650e+01] [ 2.97338488e-02 9.99557792e-01 -3.43126818e-04 9.03418974e-01] [ 1.80838552e-02 -1.94718023e-04 9.99836455e-01 1.39944252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.210385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.90, Y:0.90, Z:0.14 [[ 9.99395374e-01 -2.95733568e-02 -1.82839583e-02 2.59045148e+01] [ 2.95719797e-02 9.99562594e-01 -3.45739097e-04 9.03085204e-01] [ 1.82861855e-02 -1.95162791e-04 9.99832775e-01 1.40785680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.94, Y:0.90, Z:0.14 [[ 9.99384628e-01 -2.99678970e-02 -1.82288610e-02 2.59370010e+01] [ 2.99666121e-02 9.99550841e-01 -3.43698761e-04 9.04828545e-01] [ 1.82309733e-02 -2.02769948e-04 9.99833781e-01 1.42298100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.270385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.97, Y:0.91, Z:0.14 [[ 9.99347700e-01 -3.16670328e-02 -1.73601069e-02 2.59696048e+01] [ 3.16661440e-02 9.99498449e-01 -3.26151469e-04 9.05439647e-01] [ 1.73617282e-02 -2.23788925e-04 9.99849249e-01 1.43939250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.300385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.00, Y:0.91, Z:0.14 [[ 9.99338706e-01 -3.21995572e-02 -1.68919883e-02 2.60018837e+01] [ 3.21988112e-02 9.99481434e-01 -3.16200462e-04 9.05070136e-01] [ 1.68934102e-02 -2.27910583e-04 9.99857270e-01 1.43852722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.03, Y:0.90, Z:0.14 [[ 9.99322112e-01 -3.27678275e-02 -1.67805167e-02 2.60327648e+01] [ 3.27671906e-02 9.99462962e-01 -3.12973633e-04 9.04061337e-01] [ 1.67817604e-02 -2.37088918e-04 9.99859148e-01 1.43194962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.360385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.06, Y:0.90, Z:0.14 [[ 9.99308414e-01 -3.25699928e-02 -1.79412515e-02 2.60643472e+01] [ 3.25692535e-02 9.99469426e-01 -3.33472213e-04 9.02698979e-01] [ 1.79425935e-02 -2.51091579e-04 9.99838987e-01 1.41935459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.390385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.10, Y:0.91, Z:0.14 [[ 9.99300041e-01 -3.17828106e-02 -1.97302128e-02 2.60952738e+01] [ 3.17818039e-02 9.99494764e-01 -3.64662909e-04 9.06846719e-01] [ 1.97318344e-02 -2.62654093e-04 9.99805274e-01 1.43662651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.13, Y:0.91, Z:0.15 [[ 9.99309497e-01 -3.12664958e-02 -2.00732557e-02 2.61271032e+01] [ 3.12653724e-02 9.99511050e-01 -3.69873067e-04 9.10888334e-01] [ 2.00750056e-02 -2.57980147e-04 9.99798443e-01 1.45819927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.450385722999997 meters Centerline goodness [0,1] 0.9999549001037298 Centerline is valid? [True, True] Translation: X:26.16, Y:0.91, Z:0.15 [[ 9.99347043e-01 -3.04386682e-02 -1.94672606e-02 2.61579240e+01] [ 3.04374787e-02 9.99536609e-01 -3.57465652e-04 9.14720121e-01] [ 1.94691204e-02 -2.35302086e-04 9.99810431e-01 1.47859898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.480385722999998 meters Centerline goodness [0,1] 0.9999549721953306 Centerline is valid? [True, True] Translation: X:26.19, Y:0.92, Z:0.15 [[ 9.99365999e-01 -3.01057190e-02 -1.90064562e-02 2.61899155e+01] [ 3.01045444e-02 9.99546695e-01 -3.47977993e-04 9.15406787e-01] [ 1.90083166e-02 -2.24423331e-04 9.99819300e-01 1.47871820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.22, Y:0.91, Z:0.14 [[ 9.99392228e-01 -2.98598626e-02 -1.79878561e-02 2.62214988e+01] [ 2.98587908e-02 9.99554073e-01 -3.28211088e-04 9.10598876e-01] [ 1.79896352e-02 -2.09084022e-04 9.99838152e-01 1.43972111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.540385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.25, Y:0.91, Z:0.14 [[ 9.99379969e-01 -3.01335413e-02 -1.82112107e-02 2.62533472e+01] [ 3.01325060e-02 9.99545858e-01 -3.31304864e-04 9.09740336e-01] [ 1.82129236e-02 -2.17649971e-04 9.99834107e-01 1.44070407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.570385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.29, Y:0.91, Z:0.15 [[ 9.99362274e-01 -3.04043166e-02 -1.87249019e-02 2.62852935e+01] [ 3.04032940e-02 9.99537655e-01 -3.39347870e-04 9.11837826e-01] [ 1.87265622e-02 -2.30167239e-04 9.99824616e-01 1.45946315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.32, Y:0.92, Z:0.15 [[ 9.99334490e-01 -3.02661138e-02 -2.03602459e-02 2.63160556e+01] [ 3.02649048e-02 9.99541845e-01 -3.67579708e-04 9.20008243e-01] [ 2.03620429e-02 -2.48865823e-04 9.99792641e-01 1.50638930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.630385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.35, Y:0.92, Z:0.15 [[ 9.99356839e-01 -2.93845054e-02 -2.05537910e-02 2.63477841e+01] [ 2.93831107e-02 9.99568155e-01 -3.69917453e-04 9.23822748e-01] [ 2.05557847e-02 -2.34254778e-04 9.99788680e-01 1.52601048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.660385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.38, Y:0.92, Z:0.15 [[ 9.99467169e-01 -2.68768703e-02 -1.85205778e-02 2.63778133e+01] [ 2.68753258e-02 9.99638738e-01 -3.32330595e-04 9.24236415e-01] [ 1.85228190e-02 -1.65593042e-04 9.99828424e-01 1.51781357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.41, Y:0.92, Z:0.15 [[ 9.99513058e-01 -2.58317774e-02 -1.75033447e-02 2.64092769e+01] [ 2.58302433e-02 9.99666294e-01 -3.13754476e-04 9.23672037e-01] [ 1.75056086e-02 -1.38513957e-04 9.99846755e-01 1.50508027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.720385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.44, Y:0.92, Z:0.15 [[ 9.99546812e-01 -2.47312241e-02 -1.71620832e-02 2.64407311e+01] [ 2.47295970e-02 9.99694130e-01 -3.07055644e-04 9.22813789e-01] [ 1.71644277e-02 -1.17494911e-04 9.99852673e-01 1.50254236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.750385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.47, Y:0.92, Z:0.15 [[ 9.99569250e-01 -2.43437065e-02 -1.63920468e-02 2.64722816e+01] [ 2.43421792e-02 9.99703642e-01 -2.92718873e-04 9.23496928e-01] [ 1.63943148e-02 -1.06425358e-04 9.99865599e-01 1.51952094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.50, Y:0.93, Z:0.15 [[ 9.99568419e-01 -2.44050098e-02 -1.63514729e-02 2.65046646e+01] [ 2.44035122e-02 9.99702148e-01 -2.91139151e-04 9.25611309e-01] [ 1.63537078e-02 -1.08019867e-04 9.99866263e-01 1.53245359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.810385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.54, Y:0.93, Z:0.15 [[ 9.99490521e-01 -2.58034334e-02 -1.87851311e-02 2.65361460e+01] [ 2.58017299e-02 9.99667024e-01 -3.33086431e-04 9.25711276e-01] [ 1.87874709e-02 -1.51772147e-04 9.99823488e-01 1.51525488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.840385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.57, Y:0.92, Z:0.15 [[ 9.99434825e-01 -2.67361339e-02 -2.03766843e-02 2.65664175e+01] [ 2.67343424e-02 9.99642509e-01 -3.60373028e-04 9.23895059e-01] [ 2.03790348e-02 -1.84587899e-04 9.99792309e-01 1.49768698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.60, Y:0.92, Z:0.15 [[ 9.99409708e-01 -2.80427509e-02 -1.98453998e-02 2.65977202e+01] [ 2.80413171e-02 9.99606703e-01 -3.50571207e-04 9.21410398e-01] [ 1.98474256e-02 -2.06126881e-04 9.99802999e-01 1.50296044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.63, Y:0.92, Z:0.15 [[ 9.99416955e-01 -2.82559168e-02 -1.91664612e-02 2.66287066e+01] [ 2.82546307e-02 9.99600701e-01 -3.37946621e-04 9.21955942e-01] [ 1.91683571e-02 -2.03791701e-04 9.99816249e-01 1.52758244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.930385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.66, Y:0.92, Z:0.15 [[ 9.99414438e-01 -2.84627143e-02 -1.89909207e-02 2.66612074e+01] [ 2.84615037e-02 9.99594834e-01 -3.34076929e-04 9.22563803e-01] [ 1.89927350e-02 -2.06628853e-04 9.99819600e-01 1.53221832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.960385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.69, Y:0.92, Z:0.15 [[ 9.99394010e-01 -2.87401243e-02 -1.96371398e-02 2.66938759e+01] [ 2.87389111e-02 9.99586893e-01 -3.44035774e-04 9.21231110e-01] [ 1.96389151e-02 -2.20522722e-04 9.99807114e-01 1.52041556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.73, Y:0.92, Z:0.15 [[ 9.99366058e-01 -2.98627669e-02 -1.93829187e-02 2.67252667e+01] [ 2.98618208e-02 9.99553979e-01 -3.38305014e-04 9.16402238e-01] [ 1.93843762e-02 -2.40718696e-04 9.99812076e-01 1.50363651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.020385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.76, Y:0.92, Z:0.15 [[ 9.99357561e-01 -3.05190706e-02 -1.87896742e-02 2.67571962e+01] [ 3.05183166e-02 9.99534154e-01 -3.26930233e-04 9.17736008e-01] [ 1.87908987e-02 -2.46709027e-04 9.99823405e-01 1.52581015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.050385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.79, Y:0.92, Z:0.16 [[ 9.99321751e-01 -3.23104796e-02 -1.76655133e-02 2.67896100e+01] [ 3.23101133e-02 9.99477845e-01 -3.06218207e-04 9.18011221e-01] [ 1.76661832e-02 -2.64764223e-04 9.99843906e-01 1.56898168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.82, Y:0.92, Z:0.16 [[ 9.99329342e-01 -3.24758168e-02 -1.69170927e-02 2.68220191e+01] [ 3.24755234e-02 9.99472488e-01 -2.92133394e-04 9.18162172e-01] [ 1.69176560e-02 -2.57453968e-04 9.99856853e-01 1.59207721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.110385722999997 meters Centerline goodness [0,1] 0.9999775759614307 Centerline is valid? [True, True] Translation: X:26.85, Y:0.92, Z:0.16 [[ 9.99346939e-01 -3.27627948e-02 -1.52412015e-02 2.68538600e+01] [ 3.27626041e-02 9.99463127e-01 -2.62261150e-04 9.15701436e-01] [ 1.52416114e-02 -2.37251575e-04 9.99883812e-01 1.60392066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.140385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.89, Y:0.91, Z:0.16 [[ 9.99336508e-01 -3.32289955e-02 -1.49123467e-02 2.68860970e+01] [ 3.32288795e-02 9.99447736e-01 -2.55617091e-04 9.12601150e-01] [ 1.49126050e-02 -2.40073079e-04 9.99888772e-01 1.59394249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.92, Y:0.91, Z:0.16 [[ 9.99249607e-01 -3.48988164e-02 -1.68016734e-02 2.69177016e+01] [ 3.48989260e-02 9.99390806e-01 -2.86763963e-04 9.07311239e-01] [ 1.68014457e-02 -2.99811581e-04 9.99858801e-01 1.56746538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.200385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.95, Y:0.91, Z:0.16 [[ 9.99211954e-01 -3.56835588e-02 -1.73825783e-02 2.69493688e+01] [ 3.56838106e-02 9.99363086e-01 -2.95772660e-04 9.09658183e-01] [ 1.73820613e-02 -3.24737054e-04 9.99848868e-01 1.57935672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.230385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.98, Y:0.91, Z:0.16 [[ 9.99184222e-01 -3.66867296e-02 -1.68811570e-02 2.69816800e+01] [ 3.66871252e-02 9.99326760e-01 -2.86353651e-04 9.11242290e-01] [ 1.68802973e-02 -3.33201072e-04 9.99857462e-01 1.60995839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.01, Y:0.91, Z:0.16 [[ 9.99200212e-01 -3.66545768e-02 -1.59805363e-02 2.70135474e+01] [ 3.66549441e-02 9.99327945e-01 -2.70010985e-04 9.07925697e-01] [ 1.59796936e-02 -3.15970631e-04 9.99872267e-01 1.60592236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.290385722999996 meters Centerline goodness [0,1] 0.9999777960343718 Centerline is valid? [True, True] Translation: X:27.05, Y:0.90, Z:0.16 [[ 9.99222991e-01 -3.64901384e-02 -1.48957438e-02 2.70467299e+01] [ 3.64904571e-02 9.99333970e-01 -2.50485235e-04 9.03618709e-01] [ 1.48949630e-02 -2.93261894e-04 9.99889021e-01 1.59478045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.320385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.08, Y:0.90, Z:0.16 [[ 9.99274218e-01 -3.52617643e-02 -1.44099281e-02 2.70780309e+01] [ 3.52619560e-02 9.99378075e-01 -2.40848164e-04 9.01479411e-01] [ 1.44094589e-02 -2.67448889e-04 9.99896143e-01 1.62476232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.11, Y:0.91, Z:0.17 [[ 9.99305030e-01 -3.41219263e-02 -1.50050591e-02 2.71104804e+01] [ 3.41220176e-02 9.99417643e-01 -2.50006655e-04 9.05089049e-01] [ 1.50048515e-02 -2.62169981e-04 9.99887387e-01 1.65636628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.380385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.14, Y:0.91, Z:0.17 [[ 9.99307311e-01 -3.40550294e-02 -1.50050757e-02 2.71421758e+01] [ 3.40551282e-02 9.99419925e-01 -2.49002278e-04 9.05553814e-01] [ 1.50048514e-02 -2.62169981e-04 9.99887387e-01 1.66117523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.410385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.17, Y:0.91, Z:0.17 [[ 9.99337745e-01 -3.19920412e-02 -1.73372816e-02 2.71732082e+01] [ 3.19918851e-02 9.99488088e-01 -2.86422135e-04 9.08380424e-01] [ 1.73375697e-02 -2.68419870e-04 9.99849657e-01 1.65140378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.21, Y:0.91, Z:0.16 [[ 9.99395579e-01 -2.94586929e-02 -1.84570247e-02 2.72054154e+01] [ 2.94581030e-02 9.99565970e-01 -3.03900000e-04 9.05771872e-01] [ 1.84579663e-02 -2.39992618e-04 9.99829608e-01 1.60073991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.470385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.24, Y:0.91, Z:0.16 [[ 9.99411045e-01 -2.84239706e-02 -1.92260427e-02 2.72372887e+01] [ 2.84231630e-02 9.99595931e-01 -3.15316737e-04 9.06552108e-01] [ 1.92272366e-02 -2.31333915e-04 9.99815113e-01 1.59187403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.500385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.27, Y:0.90, Z:0.16 [[ 9.99420221e-01 -2.73883065e-02 -2.02262722e-02 2.72674064e+01] [ 2.73872193e-02 9.99624845e-01 -3.30798228e-04 9.04456702e-01] [ 2.02277442e-02 -2.23334915e-04 9.99795373e-01 1.57531949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.30, Y:0.91, Z:0.16 [[ 9.99468617e-01 -2.52559640e-02 -2.06062993e-02 2.72985687e+01] [ 2.52543918e-02 9.99681000e-01 -3.36560298e-04 9.09166607e-01] [ 2.06082261e-02 -1.84018101e-04 9.99787611e-01 1.60756262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.560385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.33, Y:0.91, Z:0.16 [[ 9.99529136e-01 -2.37047493e-02 -1.94831068e-02 2.73291901e+01] [ 2.37030587e-02 9.99718993e-01 -3.17724922e-04 9.13002476e-01] [ 1.94851635e-02 -1.44233907e-04 9.99810136e-01 1.64099274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.590385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.36, Y:0.92, Z:0.17 [[ 9.99588045e-01 -2.23627083e-02 -1.79902872e-02 2.73596528e+01] [ 2.23610504e-02 9.99749917e-01 -2.93332729e-04 9.16040530e-01] [ 1.79923478e-02 -1.09069829e-04 9.99838119e-01 1.67663633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.39, Y:0.92, Z:0.17 [[ 9.99588549e-01 -2.21979201e-02 -1.81655000e-02 2.73898102e+01] [ 2.21962073e-02 9.99753590e-01 -2.95929350e-04 9.15580806e-01] [ 1.81675928e-02 -1.07397613e-04 9.99834950e-01 1.67300871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.42, Y:0.91, Z:0.17 [[ 9.99560859e-01 -2.36423640e-02 -1.78641563e-02 2.74199765e+01] [ 2.36409381e-02 9.99720472e-01 -2.91020240e-04 9.11127462e-01] [ 1.78660431e-02 -1.31432972e-04 9.99840381e-01 1.65097782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.680385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.45, Y:0.91, Z:0.16 [[ 9.99517940e-01 -2.50969013e-02 -1.82765480e-02 2.74511603e+01] [ 2.50956539e-02 9.99685010e-01 -2.97632492e-04 9.09814523e-01] [ 1.82782607e-02 -1.61172908e-04 9.99832926e-01 1.64698216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.710385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.48, Y:0.91, Z:0.17 [[ 9.99475536e-01 -2.67673561e-02 -1.82253129e-02 2.74828507e+01] [ 2.67664047e-02 9.99641672e-01 -2.96176134e-04 9.09990146e-01] [ 1.82267101e-02 -1.91805301e-04 9.99833861e-01 1.66006628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.51, Y:0.91, Z:0.17 [[ 9.99487955e-01 -2.63939509e-02 -1.80883170e-02 2.75132408e+01] [ 2.63929629e-02 9.99651602e-01 -2.93384359e-04 9.10965094e-01] [ 1.80897586e-02 -1.84170145e-04 9.99836350e-01 1.67108632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.770385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.54, Y:0.91, Z:0.17 [[ 9.99551273e-01 -2.42231079e-02 -1.76208462e-02 2.75447130e+01] [ 2.42218389e-02 9.99706567e-01 -2.85467311e-04 9.11308603e-01] [ 1.76225906e-02 -1.41470084e-04 9.99844700e-01 1.67294376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.800385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.58, Y:0.91, Z:0.17 [[ 9.99567766e-01 -2.31917346e-02 -1.80672519e-02 2.75761725e+01] [ 2.31902435e-02 9.99731027e-01 -2.92067777e-04 9.11009311e-01] [ 1.80691658e-02 -1.27042434e-04 9.99836731e-01 1.67170323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.61, Y:0.91, Z:0.17 [[ 9.99601631e-01 -2.22974952e-02 -1.73032353e-02 2.76064940e+01] [ 2.22960023e-02 9.99751374e-01 -2.79207105e-04 9.10708121e-01] [ 1.73051589e-02 -1.06697097e-04 9.99850249e-01 1.67771648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.860385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.64, Y:0.91, Z:0.17 [[ 9.99629585e-01 -2.18260946e-02 -1.62577307e-02 2.76370891e+01] [ 2.18247147e-02 9.99761778e-01 -2.62317925e-04 9.13671960e-01] [ 1.62595831e-02 -9.25995747e-05 9.99867800e-01 1.71703876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.890385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.67, Y:0.92, Z:0.17 [[ 9.99623683e-01 -2.17087211e-02 -1.67697387e-02 2.76679261e+01] [ 2.17072418e-02 9.99764334e-01 -2.70250874e-04 9.17036555e-01] [ 1.67716534e-02 -9.38755994e-05 9.99859342e-01 1.73388849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.70, Y:0.92, Z:0.17 [[ 9.99604662e-01 -2.15862354e-02 -1.80153931e-02 2.76993581e+01] [ 2.15845204e-02 9.99766985e-01 -2.89659023e-04 9.17915579e-01] [ 1.80174479e-02 -9.93091086e-05 9.99837668e-01 1.72016739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.950385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.73, Y:0.92, Z:0.17 [[ 9.99602120e-01 -2.16601141e-02 -1.80676650e-02 2.77298436e+01] [ 2.16584107e-02 9.99765387e-01 -2.89970749e-04 9.15361088e-01] [ 1.80697069e-02 -1.01461535e-04 9.99836724e-01 1.70278830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.980385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.76, Y:0.91, Z:0.17 [[ 9.99532800e-01 -2.34592887e-02 -1.95919136e-02 2.77600722e+01] [ 2.34576313e-02 9.99724782e-01 -3.14433651e-04 9.09825405e-01] [ 1.95938980e-02 -1.45293140e-04 9.99808011e-01 1.67088309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.79, Y:0.91, Z:0.17 [[ 9.99488517e-01 -2.49035386e-02 -2.00628599e-02 2.77903432e+01] [ 2.49020915e-02 9.99689843e-01 -3.21991940e-04 9.09865139e-01] [ 2.00646560e-02 -1.77779926e-04 9.99798669e-01 1.67886901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.040385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.82, Y:0.91, Z:0.17 [[ 9.99471208e-01 -2.59469795e-02 -1.95974259e-02 2.78207260e+01] [ 2.59457994e-02 9.99663302e-01 -3.14522119e-04 9.14417148e-01] [ 1.95989884e-02 -1.94115080e-04 9.99807903e-01 1.72490561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.070385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.85, Y:0.92, Z:0.17 [[ 9.99494120e-01 -2.54774261e-02 -1.90369193e-02 2.78509657e+01] [ 2.54762285e-02 9.99675382e-01 -3.05459497e-04 9.16003369e-01] [ 1.90385219e-02 -1.79683935e-04 9.99818735e-01 1.74339960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.88, Y:0.92, Z:0.17 [[ 9.99512614e-01 -2.49831805e-02 -1.87182853e-02 2.78823180e+01] [ 2.49819432e-02 9.99687858e-01 -2.99965989e-04 9.15720837e-01] [ 1.87199367e-02 -1.67799351e-04 9.99824753e-01 1.74168822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.130385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.91, Y:0.91, Z:0.17 [[ 9.99560921e-01 -2.38399348e-02 -1.75960861e-02 2.79139129e+01] [ 2.38386744e-02 9.99715779e-01 -2.81406433e-04 9.11880295e-01] [ 1.75977936e-02 -1.38184494e-04 9.99845137e-01 1.73115067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.160385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.94, Y:0.91, Z:0.18 [[ 9.99586375e-01 -2.33526385e-02 -1.67849142e-02 2.79443746e+01] [ 2.33514320e-02 9.99727282e-01 -2.67894918e-04 9.12298488e-01] [ 1.67865927e-02 -1.24167671e-04 9.99859088e-01 1.75244481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.98, Y:0.91, Z:0.18 [[ 9.99569038e-01 -2.39901347e-02 -1.69178128e-02 2.79758498e+01] [ 2.39890059e-02 9.99712186e-01 -2.69687282e-04 9.13938750e-01] [ 1.69194135e-02 -1.36270454e-04 9.99856847e-01 1.76366161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.220385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.01, Y:0.91, Z:0.18 [[ 9.99542204e-01 -2.45967302e-02 -1.76177221e-02 2.80067809e+01] [ 2.45956113e-02 9.99697443e-01 -2.80215618e-04 9.14489392e-01] [ 1.76192841e-02 -1.53231309e-04 9.99844757e-01 1.77077768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.250385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.04, Y:0.91, Z:0.18 [[ 9.99458586e-01 -2.67989163e-02 -1.90880466e-02 2.80374270e+01] [ 2.67980191e-02 9.99640823e-01 -3.02833179e-04 9.12036840e-01] [ 1.90893062e-02 -2.08852617e-04 9.99817761e-01 1.75877835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.07, Y:0.91, Z:0.17 [[ 9.99349379e-01 -2.95667463e-02 -2.06549470e-02 2.80690998e+01] [ 2.95663082e-02 9.99562768e-01 -3.26653086e-04 9.09354438e-01] [ 2.06555741e-02 -2.84249971e-04 9.99786610e-01 1.73880054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.310385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.10, Y:0.91, Z:0.17 [[ 9.99302549e-01 -3.09246079e-02 -2.09304538e-02 2.81002297e+01] [ 3.09244709e-02 9.99521670e-01 -3.30293489e-04 9.09148135e-01] [ 2.09306564e-02 -3.17200084e-04 9.99780879e-01 1.74425452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.340385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.13, Y:0.91, Z:0.18 [[ 9.99291796e-01 -3.20354970e-02 -1.97391234e-02 2.81316079e+01] [ 3.20356043e-02 9.99486680e-01 -3.10854257e-04 9.09990970e-01] [ 1.97389493e-02 -3.21720638e-04 9.99805116e-01 1.75317626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.16, Y:0.91, Z:0.18 [[ 9.99246475e-01 -3.45227185e-02 -1.77387492e-02 2.81641156e+01] [ 3.45232083e-02 9.99403858e-01 -2.78706157e-04 9.09973073e-01] [ 1.77377960e-02 -3.33902386e-04 9.99842617e-01 1.77312143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.20, Y:0.91, Z:0.18 [[ 9.99216071e-01 -3.55521090e-02 -1.74152240e-02 2.81963211e+01] [ 3.55527578e-02 9.99367764e-01 -2.72442280e-04 9.10067400e-01] [ 1.74138994e-02 -3.46930536e-04 9.99848306e-01 1.77884779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.430385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.23, Y:0.91, Z:0.18 [[ 9.99115403e-01 -3.80119142e-02 -1.79862960e-02 2.82283606e+01] [ 3.80130276e-02 9.99277204e-01 -2.80103653e-04 9.11702321e-01] [ 1.79839429e-02 -4.03857693e-04 9.99838194e-01 1.78289929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.460385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.26, Y:0.91, Z:0.18 [[ 9.99076347e-01 -3.92461111e-02 -1.74984398e-02 2.82595020e+01] [ 3.92473740e-02 9.99229488e-01 -2.71361806e-04 9.13852884e-01] [ 1.74956070e-02 -4.15656651e-04 9.99846854e-01 1.79909265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.29, Y:0.92, Z:0.18 [[ 9.99061759e-01 -3.98927110e-02 -1.68574370e-02 2.82912677e+01] [ 3.98939897e-02 9.99203884e-01 -2.60549149e-04 9.17332878e-01] [ 1.68544105e-02 -4.12205726e-04 9.99857869e-01 1.81821390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.520385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.32, Y:0.92, Z:0.18 [[ 9.99066369e-01 -4.02200215e-02 -1.57715048e-02 2.83235679e+01] [ 4.02211977e-02 9.99190771e-01 -2.42740650e-04 9.19556125e-01] [ 1.57685051e-02 -3.91834793e-04 9.99875593e-01 1.83398842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.550385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.36, Y:0.92, Z:0.18 [[ 9.99033693e-01 -4.12347271e-02 -1.52111150e-02 2.83556970e+01] [ 4.12359542e-02 9.99149409e-01 -2.33095009e-04 9.21670488e-01] [ 1.52077882e-02 -3.94375073e-04 9.99884277e-01 1.82895001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.580385723 meters Centerline goodness [0,1] 0.9998893340120847 Centerline is valid? [True, True] Translation: X:28.39, Y:0.92, Z:0.18 [[ 9.99009279e-01 -4.15744133e-02 -1.58753883e-02 2.83876359e+01] [ 4.15758110e-02 9.99135323e-01 -2.42126021e-04 9.22996883e-01] [ 1.58717274e-02 -4.18146000e-04 9.99873949e-01 1.81643204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.610385722999997 meters Centerline goodness [0,1] 0.999822518025513 Centerline is valid? [True, True] Translation: X:28.42, Y:0.92, Z:0.18 [[ 9.98915934e-01 -4.30587728e-02 -1.76889204e-02 2.84192198e+01] [ 4.30607638e-02 9.99072419e-01 -2.68482615e-04 9.24239201e-01] [ 1.76840730e-02 -4.93506863e-04 9.99843503e-01 1.79536733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.640385722999998 meters Centerline goodness [0,1] 0.9997117324877486 Centerline is valid? [True, True] Translation: X:28.45, Y:0.93, Z:0.18 [[ 9.98844777e-01 -4.43190303e-02 -1.85724499e-02 2.84517731e+01] [ 4.43214625e-02 9.99017282e-01 -2.80835865e-04 9.26235525e-01] [ 1.85666448e-02 -5.42646705e-04 9.99827478e-01 1.78904966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.670385723 meters Centerline goodness [0,1] 0.9998003903477644 Centerline is valid? [True, True] Translation: X:28.48, Y:0.93, Z:0.18 [[ 9.98761711e-01 -4.57184470e-02 -1.96180710e-02 2.84832680e+01] [ 4.57214567e-02 9.98954184e-01 -2.95319948e-04 9.28319320e-01] [ 1.96110557e-02 -6.02012527e-04 9.99807504e-01 1.78872434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.700385722999997 meters Centerline goodness [0,1] 0.9998885793871867 Centerline is valid? [True, True] Translation: X:28.51, Y:0.93, Z:0.18 [[ 9.98771700e-01 -4.58705133e-02 -1.87346673e-02 2.85149852e+01] [ 4.58733030e-02 9.98947226e-01 -2.81041063e-04 9.30675746e-01] [ 1.87278354e-02 -5.78725209e-04 9.99824451e-01 1.80270093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.730385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.55, Y:0.94, Z:0.18 [[ 9.98907049e-01 -4.36128844e-02 -1.68114401e-02 2.85474447e+01] [ 4.36148298e-02 9.99048389e-01 -2.51077489e-04 9.40093724e-01] [ 1.68063924e-02 -4.82425026e-04 9.99858646e-01 1.84783464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.760385723 meters Centerline goodness [0,1] 0.9999552141881451 Centerline is valid? [True, True] Translation: X:28.58, Y:0.94, Z:0.19 [[ 9.98986382e-01 -4.19953837e-02 -1.62048251e-02 2.85784906e+01] [ 4.19970081e-02 9.99117708e-01 -2.40195550e-04 9.42868093e-01] [ 1.62006149e-02 -4.40602089e-04 9.99868664e-01 1.86934789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.790385722999996 meters Centerline goodness [0,1] 0.9999549255144126 Centerline is valid? [True, True] Translation: X:28.61, Y:0.95, Z:0.19 [[ 9.99160122e-01 -3.77706940e-02 -1.58879140e-02 2.86100637e+01] [ 3.77717346e-02 9.99286366e-01 -2.34678859e-04 9.49338720e-01] [ 1.58854399e-02 -3.65632315e-04 9.99873752e-01 1.86463751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.820385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.64, Y:0.95, Z:0.19 [[ 9.99213708e-01 -3.56471108e-02 -1.73565518e-02 2.86426705e+01] [ 3.56480502e-02 9.99364374e-01 -2.55357323e-04 9.49957201e-01] [ 1.73546223e-02 -3.63570693e-04 9.99849331e-01 1.85166905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.67, Y:0.95, Z:0.18 [[ 9.99267174e-01 -3.27909567e-02 -1.97450653e-02 2.86741412e+01] [ 3.27916503e-02 9.99462168e-01 -2.88724562e-04 9.51022895e-01] [ 1.97439133e-02 -3.58960299e-04 9.99805006e-01 1.82158550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.880385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.71, Y:0.95, Z:0.18 [[ 9.99252403e-01 -3.28443178e-02 -2.03933027e-02 2.87066910e+01] [ 3.28451170e-02 9.99460410e-01 -2.95846357e-04 9.51269679e-01] [ 2.03920155e-02 -3.74195230e-04 9.99791991e-01 1.82636429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.910385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.74, Y:0.95, Z:0.19 [[ 9.99302864e-01 -3.14944239e-02 -2.00471226e-02 2.87385876e+01] [ 3.14949518e-02 9.99503869e-01 -2.89470851e-04 9.54831294e-01] [ 2.00462933e-02 -3.42114110e-04 9.99798994e-01 1.86655291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.77, Y:0.96, Z:0.19 [[ 9.99349660e-01 -3.04751386e-02 -1.92749316e-02 2.87703762e+01] [ 3.04754616e-02 9.99535477e-01 -2.77044260e-04 9.55972023e-01] [ 1.92744209e-02 -3.10548349e-04 9.99814183e-01 1.88223553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.970385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.80, Y:0.96, Z:0.19 [[ 9.99451823e-01 -2.70892475e-02 -1.90322312e-02 2.88026244e+01] [ 2.70889732e-02 9.99632989e-01 -2.72264916e-04 9.55440822e-01] [ 1.90326216e-02 -2.43447933e-04 9.99818834e-01 1.87099031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.000385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.83, Y:0.96, Z:0.19 [[ 9.99517902e-01 -2.50156155e-02 -1.83897240e-02 2.88342235e+01] [ 2.50150291e-02 9.99687041e-01 -2.61954564e-04 9.55630010e-01] [ 1.83905218e-02 -1.98191205e-04 9.99830860e-01 1.87242038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.87, Y:0.96, Z:0.19 [[ 9.99615670e-01 -2.10860695e-02 -1.79969459e-02 2.88650434e+01] [ 2.10848818e-02 9.99777656e-01 -2.55756371e-04 9.58688460e-01] [ 1.79983373e-02 -1.23805403e-04 9.99838009e-01 1.89085185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.060385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.90, Y:0.96, Z:0.19 [[ 9.99620150e-01 -2.01394688e-02 -1.88137567e-02 2.88951478e+01] [ 2.01380133e-02 9.99797174e-01 -2.66829092e-04 9.61290674e-01] [ 1.88153146e-02 -1.12143946e-04 9.99822970e-01 1.89954749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.090385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.92, Y:0.96, Z:0.19 [[ 9.99616829e-01 -1.97246774e-02 -1.94198856e-02 2.89247421e+01] [ 1.97230471e-02 9.99805444e-01 -2.75496263e-04 9.60909571e-01] [ 1.94215414e-02 -1.07628617e-04 9.99811378e-01 1.89658213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.95, Y:0.96, Z:0.19 [[ 9.99624366e-01 -1.92034130e-02 -1.95539114e-02 2.89541705e+01] [ 1.92016524e-02 9.99815593e-01 -2.77805138e-04 9.61047137e-01] [ 1.95556404e-02 -9.77666252e-05 9.99808765e-01 1.89620827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.98, Y:0.96, Z:0.19 [[ 9.99627175e-01 -1.89906124e-02 -1.96180448e-02 2.89829290e+01] [ 1.89887842e-02 9.99819658e-01 -2.79479144e-04 9.59073957e-01] [ 1.96198143e-02 -9.31478719e-05 9.99807509e-01 1.87956764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.180385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.01, Y:0.96, Z:0.19 [[ 9.99595775e-01 -2.02543218e-02 -1.99511708e-02 2.90112491e+01] [ 2.02526435e-02 9.99794853e-01 -2.86189182e-04 9.56010202e-01] [ 1.99528744e-02 -1.17990452e-04 9.99800915e-01 1.86823387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.210385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.04, Y:0.95, Z:0.19 [[ 9.99515533e-01 -2.44818810e-02 -1.92181280e-02 2.90407728e+01] [ 2.44810339e-02 9.99700256e-01 -2.79375242e-04 9.54269563e-01] [ 1.92192071e-02 -1.91239748e-04 9.99815276e-01 1.89464284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.07, Y:0.95, Z:0.19 [[ 9.99470517e-01 -2.68608484e-02 -1.83624508e-02 2.90711970e+01] [ 2.68604682e-02 9.99639157e-01 -2.67385045e-04 9.54089093e-01] [ 1.83630070e-02 -2.25980556e-04 9.99831360e-01 1.91620440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.270385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.10, Y:0.95, Z:0.19 [[ 9.99471435e-01 -2.68266703e-02 -1.83624562e-02 2.91020429e+01] [ 2.68262911e-02 9.99640075e-01 -2.67014942e-04 9.54508539e-01] [ 1.83630102e-02 -2.25722788e-04 9.99831360e-01 1.92088723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.300385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.13, Y:0.95, Z:0.19 [[ 9.99403297e-01 -2.91531437e-02 -1.85241699e-02 2.91344322e+01] [ 2.91531712e-02 9.99574920e-01 -2.68613541e-04 9.54540337e-01] [ 1.85241266e-02 -2.71585038e-04 9.99828377e-01 1.93643915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.330385723 meters Centerline goodness [0,1] 0.9998655552567894 Centerline is valid? [True, True] Translation: X:29.17, Y:0.95, Z:0.19 [[ 9.99246066e-01 -3.37176410e-02 -1.92462926e-02 2.91664482e+01] [ 3.37185431e-02 9.99431330e-01 -2.77726844e-04 9.51122971e-01] [ 1.92447121e-02 -3.71439490e-04 9.99814734e-01 1.93426969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.360385722999997 meters Centerline goodness [0,1] 0.9999776201239845 Centerline is valid? [True, True] Translation: X:29.20, Y:0.95, Z:0.19 [[ 9.99183555e-01 -3.56076844e-02 -1.90870761e-02 2.91979144e+01] [ 3.56089397e-02 9.99365763e-01 -2.74204486e-04 9.48318087e-01] [ 1.90847341e-02 -4.05689927e-04 9.99817788e-01 1.92848017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.390385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.23, Y:0.94, Z:0.19 [[ 9.99050864e-01 -3.90893645e-02 -1.92195750e-02 2.92304997e+01] [ 3.90913013e-02 9.99235605e-01 -2.75058178e-04 9.44946438e-01] [ 1.92156355e-02 -4.76521087e-04 9.99815249e-01 1.92006769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.26, Y:0.94, Z:0.19 [[ 9.99013731e-01 -4.01048223e-02 -1.90569691e-02 2.92614176e+01] [ 4.01069339e-02 9.99195356e-01 -2.71525605e-04 9.44900232e-01] [ 1.90525245e-02 -4.93058792e-04 9.99818363e-01 1.93406120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.450385722999997 meters Centerline goodness [0,1] 0.9999775402030365 Centerline is valid? [True, True] Translation: X:29.29, Y:0.95, Z:0.20 [[ 9.99037562e-01 -4.05654696e-02 -1.66851095e-02 2.92935395e+01] [ 4.05671652e-02 9.99176786e-01 -2.36959177e-04 9.52400904e-01] [ 1.66809865e-02 -4.40136477e-04 9.99860766e-01 1.98429199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.480385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.33, Y:0.95, Z:0.20 [[ 9.99069779e-01 -4.00870510e-02 -1.58935619e-02 2.93256340e+01] [ 4.00885458e-02 9.99196106e-01 -2.24663025e-04 9.54819666e-01] [ 1.58897913e-02 -4.12695747e-04 9.99873664e-01 2.00225873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.36, Y:0.96, Z:0.20 [[ 9.99120724e-01 -3.85558384e-02 -1.64689622e-02 2.93570248e+01] [ 3.85572549e-02 9.99256366e-01 -2.31619879e-04 9.55654130e-01] [ 1.64656456e-02 -4.03581753e-04 9.99864351e-01 1.98869614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.540385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.39, Y:0.96, Z:0.20 [[ 9.99108042e-01 -3.80467169e-02 -1.83185238e-02 2.93889584e+01] [ 3.80484043e-02 9.99275864e-01 -2.56525101e-04 9.56992284e-01] [ 1.83150187e-02 -4.40694309e-04 9.99832169e-01 1.97659153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.570385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.42, Y:0.96, Z:0.20 [[ 9.99095110e-01 -3.67624385e-02 -2.13888795e-02 2.94199052e+01] [ 3.67644787e-02 9.99323914e-01 -2.97960239e-04 9.57419608e-01] [ 2.13853725e-02 -4.88660386e-04 9.99771187e-01 1.95773588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.45, Y:0.96, Z:0.20 [[ 9.99080053e-01 -3.65991986e-02 -2.23505534e-02 2.94513009e+01] [ 3.66014211e-02 9.99329895e-01 -3.09774257e-04 9.60080002e-01] [ 2.23469137e-02 -5.08572738e-04 9.99750147e-01 1.96154338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.630385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.48, Y:0.96, Z:0.20 [[ 9.99031094e-01 -3.81725765e-02 -2.19026975e-02 2.94837087e+01] [ 3.81751331e-02 9.99271018e-01 -3.01536679e-04 9.63242593e-01] [ 2.18982412e-02 -5.34893872e-04 9.99760062e-01 1.98521575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.660385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.52, Y:0.96, Z:0.20 [[ 9.99007951e-01 -3.89503428e-02 -2.15866904e-02 2.95163026e+01] [ 3.89530392e-02 9.99240999e-01 -2.95719873e-04 9.61014018e-01] [ 2.15818245e-02 -5.45440694e-04 9.99766937e-01 1.97716661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.55, Y:0.96, Z:0.20 [[ 9.99016693e-01 -3.83898002e-02 -2.21781359e-02 2.95485154e+01] [ 3.83925429e-02 9.99262689e-01 -3.02268265e-04 9.60080948e-01] [ 2.21733877e-02 -5.49503991e-04 9.99753989e-01 1.97130133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.720385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.58, Y:0.96, Z:0.20 [[ 9.99051598e-01 -3.74830008e-02 -2.21569375e-02 2.95794349e+01] [ 3.74855466e-02 9.99297125e-01 -3.00568842e-04 9.61192891e-01] [ 2.21526301e-02 -5.30281131e-04 9.99754460e-01 1.98644621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.750385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.61, Y:0.96, Z:0.20 [[ 9.99095376e-01 -3.63717947e-02 -2.20345716e-02 2.96113908e+01] [ 3.63740699e-02 9.99338200e-01 -2.97660871e-04 9.63331618e-01] [ 2.20308155e-02 -5.04095447e-04 9.99757165e-01 2.00418066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.64, Y:0.96, Z:0.20 [[ 9.99158088e-01 -3.51972598e-02 -2.10776505e-02 2.96429425e+01] [ 3.51991077e-02 9.99380279e-01 -2.83439875e-04 9.64800768e-01] [ 2.10745645e-02 -4.58713244e-04 9.99777801e-01 2.01649318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.810385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.67, Y:0.97, Z:0.20 [[ 9.99182925e-01 -3.43210064e-02 -2.13436616e-02 2.96748302e+01] [ 3.43227272e-02 9.99410761e-01 -2.85807313e-04 9.68034104e-01] [ 2.13408943e-02 -4.46998888e-04 9.99772157e-01 2.02313329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.840385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.71, Y:0.97, Z:0.20 [[ 9.99178182e-01 -3.38900051e-02 -2.22357614e-02 2.97073708e+01] [ 3.38918011e-02 9.99425464e-01 -2.96183455e-04 9.68173690e-01] [ 2.22330238e-02 -4.57669956e-04 9.99752711e-01 2.01758773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.74, Y:0.97, Z:0.20 [[ 9.99085107e-01 -3.54978262e-02 -2.38506475e-02 2.97383228e+01] [ 3.55003877e-02 9.99369613e-01 -3.16141491e-04 9.66816806e-01] [ 2.38468346e-02 -5.30854977e-04 9.99715483e-01 2.00006425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.77, Y:0.97, Z:0.20 [[ 9.99043743e-01 -3.62216574e-02 -2.44865543e-02 2.97700292e+01] [ 3.62246096e-02 9.99343621e-01 -3.23146333e-04 9.65920021e-01] [ 2.44821868e-02 -5.64178549e-04 9.99700107e-01 2.00087710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.930385722999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.80, Y:0.97, Z:0.20 [[ 9.99031381e-01 -3.64608374e-02 -2.46354747e-02 2.98025643e+01] [ 3.64639396e-02 9.99334917e-01 -3.23438543e-04 9.66307407e-01] [ 2.46308829e-02 -5.75181205e-04 9.99696448e-01 2.00592020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.960385722999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.83, Y:0.97, Z:0.20 [[ 9.99008275e-01 -3.66709539e-02 -2.52528751e-02 2.98344472e+01] [ 3.66743245e-02 9.99327216e-01 -3.29807542e-04 9.66176362e-01] [ 2.52479798e-02 -5.96651674e-04 9.99681041e-01 2.00940588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.87, Y:0.97, Z:0.20 [[ 9.98998707e-01 -3.67588515e-02 -2.55023413e-02 2.98669835e+01] [ 3.67623618e-02 9.99323981e-01 -3.31340133e-04 9.65900825e-01] [ 2.54972809e-02 -6.06517932e-04 9.99674707e-01 2.01356069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.90, Y:0.97, Z:0.20 [[ 9.99013169e-01 -3.66587488e-02 -2.50763512e-02 2.98995698e+01] [ 3.66621538e-02 9.99327665e-01 -3.24102970e-04 9.68427275e-01] [ 2.50713727e-02 -5.95569912e-04 9.99685486e-01 2.03211494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.93, Y:0.97, Z:0.21 [[ 9.99005440e-01 -3.77478293e-02 -2.37325290e-02 2.99318301e+01] [ 3.77512246e-02 9.99287122e-01 -3.05107506e-04 9.67919973e-01] [ 2.37271277e-02 -5.91127975e-04 9.99718297e-01 2.05128226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.96, Y:0.97, Z:0.21 [[ 9.99012954e-01 -3.79134094e-02 -2.31450131e-02 2.99637010e+01] [ 3.79167203e-02 9.99280859e-01 -2.95941268e-04 9.67810863e-01] [ 2.31395887e-02 -5.81933829e-04 9.99732075e-01 2.06607006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.00, Y:0.97, Z:0.21 [[ 9.99040402e-01 -3.78443145e-02 -2.20473114e-02 2.99953941e+01] [ 3.78473349e-02 9.99283494e-01 -2.80402188e-04 9.69565389e-01] [ 2.20421260e-02 -5.54298864e-04 9.99756889e-01 2.10288607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.140385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.03, Y:0.97, Z:0.21 [[ 9.99068048e-01 -3.70461741e-02 -2.21498729e-02 3.00267158e+01] [ 3.70490694e-02 9.99313408e-01 -2.79779182e-04 9.70387834e-01] [ 2.21450298e-02 -5.41113738e-04 9.99754622e-01 2.11367728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.170385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.06, Y:0.97, Z:0.21 [[ 9.99101718e-01 -3.61175463e-02 -2.21648403e-02 3.00593554e+01] [ 3.61202691e-02 9.99347412e-01 -2.77626562e-04 9.71677272e-01] [ 2.21604030e-02 -5.23222819e-04 9.99754291e-01 2.11501554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.200385723 meters Centerline goodness [0,1] 0.9999773437854004 Centerline is valid? [True, True] Translation: X:30.09, Y:0.97, Z:0.21 [[ 9.99126031e-01 -3.57116397e-02 -2.17221552e-02 3.00911411e+01] [ 3.57141911e-02 9.99362008e-01 -2.70598478e-04 9.71803782e-01] [ 2.17179602e-02 -5.05427220e-04 9.99764010e-01 2.11550266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.12, Y:0.97, Z:0.21 [[ 9.99158065e-01 -3.56436618e-02 -2.03148071e-02 3.01234255e+01] [ 3.56459061e-02 9.99364451e-01 -2.51732126e-04 9.71685315e-01] [ 2.03108687e-02 -4.72619524e-04 9.99793601e-01 2.12122254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.16, Y:0.97, Z:0.21 [[ 9.99184453e-01 -3.54196915e-02 -1.93874759e-02 3.01555561e+01] [ 3.54217184e-02 9.99372425e-01 -2.38953261e-04 9.72649233e-01] [ 1.93837725e-02 -4.47979329e-04 9.99812017e-01 2.13714561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.19, Y:0.97, Z:0.22 [[ 9.99203514e-01 -3.53795704e-02 -1.84559854e-02 3.01867279e+01] [ 3.53814220e-02 9.99373856e-01 -2.26295166e-04 9.72247700e-01] [ 1.84524355e-02 -4.26884083e-04 9.99829648e-01 2.15123524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.22, Y:0.98, Z:0.22 [[ 9.99178682e-01 -3.57918919e-02 -1.89974071e-02 3.02192399e+01] [ 3.57939487e-02 9.99359164e-01 -2.31858827e-04 9.76065569e-01] [ 1.89935316e-02 -4.48323820e-04 9.99819506e-01 2.16281949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.350385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.25, Y:0.98, Z:0.22 [[ 9.99127096e-01 -3.66338793e-02 -2.00749670e-02 3.02502823e+01] [ 3.66363733e-02 9.99328633e-01 -2.43649137e-04 9.75348768e-01] [ 2.00704151e-02 -4.92037529e-04 9.99798448e-01 2.16055934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.380385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.28, Y:0.98, Z:0.22 [[ 9.99041566e-01 -3.84338482e-02 -2.09472888e-02 3.02819715e+01] [ 3.84369826e-02 9.99260994e-01 -2.53114583e-04 9.78013554e-01] [ 2.09415368e-02 -5.52278585e-04 9.99780549e-01 2.15887325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.410385723 meters Centerline goodness [0,1] 0.9998865003518489 Centerline is valid? [True, True] Translation: X:30.31, Y:0.98, Z:0.22 [[ 9.98996317e-01 -3.92806268e-02 -2.15264992e-02 3.03137932e+01] [ 3.92841610e-02 9.99228046e-01 -2.58834149e-04 9.78931754e-01] [ 2.15200489e-02 -5.87076100e-04 9.99768245e-01 2.16940567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.35, Y:0.98, Z:0.22 [[ 9.98945414e-01 -4.06086682e-02 -2.14241791e-02 3.03464403e+01] [ 4.06125063e-02 9.99174939e-01 -2.56097886e-04 9.78162402e-01] [ 2.14169026e-02 -6.14261798e-04 9.99770443e-01 2.17545857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.470385723 meters Centerline goodness [0,1] 0.999977353021107 Centerline is valid? [True, True] Translation: X:30.38, Y:0.98, Z:0.22 [[ 9.98981276e-01 -3.90989979e-02 -2.25317448e-02 3.03780086e+01] [ 3.91028937e-02 9.99235153e-01 -2.67825404e-04 9.77486172e-01] [ 2.25249832e-02 -6.13503858e-04 9.99746092e-01 2.17331812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.41, Y:0.98, Z:0.22 [[ 9.99036073e-01 -3.79264363e-02 -2.21022525e-02 3.04099480e+01] [ 3.79299262e-02 9.99280367e-01 -2.61451217e-04 9.78011848e-01] [ 2.20962629e-02 -5.77137611e-04 9.99755681e-01 2.17673840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.530385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.44, Y:0.98, Z:0.22 [[ 9.99107889e-01 -3.66136295e-02 -2.10444565e-02 3.04415976e+01] [ 3.66165321e-02 9.99329359e-01 -2.47518342e-04 9.77652596e-01] [ 2.10394058e-02 -5.23277488e-04 9.99778510e-01 2.18449664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.560385722999996 meters Centerline goodness [0,1] 0.9999773842639709 Centerline is valid? [True, True] Translation: X:30.47, Y:0.98, Z:0.22 [[ 9.99238526e-01 -3.42156308e-02 -1.87525447e-02 3.04727955e+01] [ 3.42175343e-02 9.99414385e-01 -2.19438341e-04 9.80122606e-01] [ 1.87490711e-02 -4.22394597e-04 9.99824131e-01 2.22061794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.50, Y:0.98, Z:0.22 [[ 9.99296008e-01 -3.30369009e-02 -1.77778411e-02 3.05048154e+01] [ 3.30384415e-02 9.99454060e-01 -2.07114845e-04 9.82706236e-01] [ 1.77749779e-02 -3.80383125e-04 9.99841940e-01 2.23886428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.620385723 meters Centerline goodness [0,1] 0.999908896278413 Centerline is valid? [True, True] Translation: X:30.54, Y:0.99, Z:0.22 [[ 9.99343175e-01 -3.14081233e-02 -1.80761624e-02 3.05369363e+01] [ 3.14094727e-02 9.99506579e-01 -2.09321390e-04 9.85180791e-01] [ 1.80738176e-02 -3.58578826e-04 9.99836591e-01 2.24548977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.650385723 meters Centerline goodness [0,1] 0.9999545423551606 Centerline is valid? [True, True] Translation: X:30.57, Y:0.99, Z:0.22 [[ 9.99336691e-01 -3.09602475e-02 -1.91739474e-02 3.05691739e+01] [ 3.09617102e-02 9.99520547e-01 -2.20637349e-04 9.86320687e-01] [ 1.91715854e-02 -3.73167204e-04 9.99816139e-01 2.24751937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.680385723 meters Centerline goodness [0,1] 0.9998863610536604 Centerline is valid? [True, True] Translation: X:30.60, Y:0.99, Z:0.23 [[ 9.99317534e-01 -3.08869577e-02 -2.02598666e-02 3.06006618e+01] [ 3.08886093e-02 9.99522806e-01 -2.31482581e-04 9.87287967e-01] [ 2.02573485e-02 -3.94474502e-04 9.99794721e-01 2.25212476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.710385722999995 meters Centerline goodness [0,1] 0.9998633693127477 Centerline is valid? [True, True] Translation: X:30.63, Y:0.99, Z:0.22 [[ 9.99294807e-01 -3.11829677e-02 -2.09167842e-02 3.06333162e+01] [ 3.11848361e-02 9.99513607e-01 -2.36926621e-04 9.86909333e-01] [ 2.09139985e-02 -4.15526947e-04 9.99781192e-01 2.24969974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.740385722999996 meters Centerline goodness [0,1] 0.9998639023726353 Centerline is valid? [True, True] Translation: X:30.67, Y:0.99, Z:0.22 [[ 9.99293046e-01 -3.11637783e-02 -2.10291876e-02 3.06655048e+01] [ 3.11656932e-02 9.99514204e-01 -2.36746210e-04 9.86531881e-01] [ 2.10263496e-02 -4.18810367e-04 9.99778834e-01 2.24671920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.770385723 meters Centerline goodness [0,1] 0.9999546464692276 Centerline is valid? [True, True] Translation: X:30.70, Y:0.98, Z:0.22 [[ 9.99278414e-01 -3.10284748e-02 -2.19062839e-02 3.06968675e+01] [ 3.10305522e-02 9.99518406e-01 -2.45167214e-04 9.84925341e-01] [ 2.19033411e-02 -4.34773781e-04 9.99759999e-01 2.24842357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.73, Y:0.99, Z:0.23 [[ 9.99334177e-01 -2.96248138e-02 -2.12972672e-02 3.07288432e+01] [ 2.96264841e-02 9.99561011e-01 -2.37154975e-04 9.86772137e-01] [ 2.12949436e-02 -3.93966078e-04 9.99773159e-01 2.27653513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.830385723 meters Centerline goodness [0,1] 0.9999545506192478 Centerline is valid? [True, True] Translation: X:30.76, Y:0.99, Z:0.23 [[ 9.99354612e-01 -2.91026038e-02 -2.10570389e-02 3.07604498e+01] [ 2.91041492e-02 9.99576357e-01 -2.33127126e-04 9.88009503e-01] [ 2.10549028e-02 -3.79870533e-04 9.99778249e-01 2.28753386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.79, Y:0.99, Z:0.23 [[ 9.99360540e-01 -2.83060404e-02 -2.18467083e-02 3.07924521e+01] [ 2.83075417e-02 9.99599232e-01 -2.40590525e-04 9.87813294e-01] [ 2.18447630e-02 -3.77989929e-04 9.99761303e-01 2.28834408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.890385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.82, Y:0.99, Z:0.23 [[ 9.99374320e-01 -2.79350247e-02 -2.16934055e-02 3.08241665e+01] [ 2.79364449e-02 9.99609673e-01 -2.37643009e-04 9.87594228e-01] [ 2.16915766e-02 -3.68542308e-04 9.99764642e-01 2.29043454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.920385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.85, Y:0.99, Z:0.23 [[ 9.99397310e-01 -2.77219707e-02 -2.08928219e-02 3.08544991e+01] [ 2.77232540e-02 9.99615611e-01 -2.28271369e-04 9.87305391e-01] [ 2.08911191e-02 -3.51083218e-04 9.99781695e-01 2.29741564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.89, Y:0.99, Z:0.23 [[ 9.99435049e-01 -2.69828727e-02 -2.00376678e-02 3.08853545e+01] [ 2.69839128e-02 9.99635844e-01 -2.18512942e-04 9.89664549e-01] [ 2.00362670e-02 -3.22305188e-04 9.99799202e-01 2.32371151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.92, Y:0.99, Z:0.23 [[ 9.99451872e-01 -2.69837973e-02 -1.91789002e-02 3.09170578e+01] [ 2.69847626e-02 9.99635823e-01 -2.08510575e-04 9.91802375e-01] [ 1.91775421e-02 -3.09141785e-04 9.99816046e-01 2.34744796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.95, Y:0.99, Z:0.24 [[ 9.99485942e-01 -2.67252507e-02 -1.77091036e-02 3.09492947e+01] [ 2.67260448e-02 9.99642777e-01 -1.91864839e-04 9.92895723e-01] [ 1.77079051e-02 -2.81528086e-04 9.99843163e-01 2.36982319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.98, Y:0.99, Z:0.24 [[ 9.99509839e-01 -2.76061236e-02 -1.47642604e-02 3.09819088e+01] [ 2.76067841e-02 9.99618847e-01 -1.59105108e-04 9.91991768e-01] [ 1.47630252e-02 -2.48566628e-04 9.99890990e-01 2.38667770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.01, Y:0.99, Z:0.24 [[ 9.99485458e-01 -2.91723733e-02 -1.33338515e-02 3.10130563e+01] [ 2.91730627e-02 9.99574365e-01 -1.42833908e-04 9.88861409e-01] [ 1.33323430e-02 -2.46228873e-04 9.99911090e-01 2.38325229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.100385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.04, Y:0.98, Z:0.24 [[ 9.99338707e-01 -3.39031327e-02 -1.31425607e-02 3.10440858e+01] [ 3.39042201e-02 9.99425077e-01 -1.40116477e-04 9.82600045e-01] [ 1.31397551e-02 -3.05564452e-04 9.99913623e-01 2.36870328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.130385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.08, Y:0.98, Z:0.24 [[ 9.99229145e-01 -3.67019247e-02 -1.39314423e-02 3.10757674e+01] [ 3.67034290e-02 9.99326191e-01 -1.47767605e-04 9.81797254e-01] [ 1.39274785e-02 -3.63678006e-04 9.99902942e-01 2.36970012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.11, Y:0.98, Z:0.24 [[ 9.99125158e-01 -3.89229324e-02 -1.52945804e-02 3.11071229e+01] [ 3.89250190e-02 9.99242121e-01 -1.61350702e-04 9.80244600e-01] [ 1.52892692e-02 -4.34132286e-04 9.99883018e-01 2.37442336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.14, Y:0.98, Z:0.24 [[ 9.99129192e-01 -3.88192333e-02 -1.52945888e-02 3.11396823e+01] [ 3.88213200e-02 9.99246156e-01 -1.60550860e-04 9.80497815e-01] [ 1.52892915e-02 -4.33345073e-04 9.99883018e-01 2.37936383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.17, Y:0.98, Z:0.24 [[ 9.99051920e-01 -3.99489355e-02 -1.73015471e-02 3.11720942e+01] [ 3.99518092e-02 9.99201592e-01 -1.79651274e-04 9.81683988e-01] [ 1.72949102e-02 -5.11747156e-04 9.99850301e-01 2.39704568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.20, Y:0.98, Z:0.24 [[ 9.99069861e-01 -3.94926105e-02 -1.73131721e-02 3.12040191e+01] [ 3.94954451e-02 9.99219735e-01 -1.78299859e-04 9.82411245e-01] [ 1.73067048e-02 -5.05657424e-04 9.99850100e-01 2.39952868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.280385722999995 meters Centerline goodness [0,1] 0.9999323364233034 Centerline is valid? [True, True] Translation: X:31.23, Y:0.98, Z:0.24 [[ 9.99113635e-01 -3.87197776e-02 -1.65143299e-02 3.12348540e+01] [ 3.87222691e-02 9.99249997e-01 -1.68982708e-04 9.80665128e-01] [ 1.65084871e-02 -4.70639399e-04 9.99863615e-01 2.38925098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.310385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.27, Y:0.98, Z:0.24 [[ 9.99178505e-01 -3.79143326e-02 -1.43114537e-02 3.12674697e+01] [ 3.79161300e-02 9.99280914e-01 -1.45814632e-04 9.78125077e-01] [ 1.43066910e-02 -3.96940093e-04 9.99897575e-01 2.38635971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.340385723 meters Centerline goodness [0,1] 0.9999550349603183 Centerline is valid? [True, True] Translation: X:31.30, Y:0.98, Z:0.24 [[ 9.99188185e-01 -3.78156966e-02 -1.38904630e-02 3.13003234e+01] [ 3.78173925e-02 9.99284657e-01 -1.40645267e-04 9.78400920e-01] [ 1.38858451e-02 -3.84770001e-04 9.99903513e-01 2.39664176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.33, Y:0.98, Z:0.24 [[ 9.99218446e-01 -3.70339345e-02 -1.38196916e-02 3.13313704e+01] [ 3.70355589e-02 9.99313939e-01 -1.38449348e-04 9.80660030e-01] [ 1.38153378e-02 -3.73478862e-04 9.99904494e-01 2.42035127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.36, Y:0.98, Z:0.24 [[ 9.99263162e-01 -3.59370679e-02 -1.34781490e-02 3.13631127e+01] [ 3.59385219e-02 9.99353994e-01 -1.34389632e-04 9.83599021e-01] [ 1.34742716e-02 -3.50094142e-04 9.99909157e-01 2.43084017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.430385723 meters Centerline goodness [0,1] 0.9999774031725945 Centerline is valid? [True, True] Translation: X:31.39, Y:0.99, Z:0.24 [[ 9.99316907e-01 -3.46197600e-02 -1.29302547e-02 3.13949891e+01] [ 3.46209986e-02 9.99400505e-01 -1.28096730e-04 9.85461988e-01] [ 1.29269377e-02 -3.19649101e-04 9.99916393e-01 2.44072154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.460385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.43, Y:0.99, Z:0.24 [[ 9.99351540e-01 -3.37883886e-02 -1.24436096e-02 3.14259866e+01] [ 3.37894819e-02 9.99428965e-01 -1.22432788e-04 9.86498834e-01] [ 1.24406407e-02 -2.98109727e-04 9.99922568e-01 2.44809449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.490385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.46, Y:0.99, Z:0.25 [[ 9.99422285e-01 -3.20679722e-02 -1.12579050e-02 3.14585150e+01] [ 3.20687627e-02 9.99485659e-01 -1.10342206e-04 9.88572463e-01] [ 1.12556531e-02 -2.50748626e-04 9.99936622e-01 2.45904983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.49, Y:0.99, Z:0.25 [[ 9.99470737e-01 -3.06450951e-02 -1.09143894e-02 3.14893850e+01] [ 3.06457579e-02 9.99530303e-01 -1.06559968e-04 9.89550828e-01] [ 1.09125285e-02 -2.27976167e-04 9.99940431e-01 2.46150099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.52, Y:0.99, Z:0.25 [[ 9.99534141e-01 -2.88521772e-02 -9.95256132e-03 3.15218458e+01] [ 2.88526543e-02 9.99583671e-01 -9.56685285e-05 9.88395574e-01] [ 9.95117802e-03 -1.91533851e-04 9.99950467e-01 2.45762608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.55, Y:0.99, Z:0.25 [[ 9.99561776e-01 -2.79750565e-02 -9.67740857e-03 3.15536391e+01] [ 2.79754724e-02 9.99608606e-01 -9.24165619e-05 9.88669524e-01] [ 9.67620625e-03 -1.78354014e-04 9.99953169e-01 2.45350347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.58, Y:0.99, Z:0.25 [[ 9.99611863e-01 -2.62919073e-02 -9.21193743e-03 3.15845742e+01] [ 2.62922188e-02 9.99654296e-01 -8.73084517e-05 9.89017826e-01] [ 9.21104833e-03 -1.54927711e-04 9.99957565e-01 2.45829942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.640385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.62, Y:0.99, Z:0.25 [[ 9.99712877e-01 -2.26855854e-02 -7.71542257e-03 3.16158321e+01] [ 2.26856985e-02 9.99742644e-01 -7.28618352e-05 9.93581686e-01] [ 7.71508988e-03 -1.02188836e-04 9.99970233e-01 2.49896936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.670385722999995 meters Centerline goodness [0,1] 0.9999544471016969 Centerline is valid? [True, True] Translation: X:31.65, Y:1.00, Z:0.25 [[ 9.99761001e-01 -2.06809890e-02 -7.08782379e-03 3.16482109e+01] [ 2.06810351e-02 9.99786122e-01 -6.68079686e-05 9.97965548e-01] [ 7.08768952e-03 -7.97915307e-05 9.99974879e-01 2.51608555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.68, Y:1.00, Z:0.25 [[ 9.99808249e-01 -1.86293814e-02 -6.03419587e-03 3.16796239e+01] [ 1.86293764e-02 9.99826456e-01 -5.70537813e-05 1.00033216e+00] [ 6.03421155e-03 -5.53704646e-05 9.99981792e-01 2.52834531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.730385723 meters Centerline goodness [0,1] 0.9999317670070735 Centerline is valid? [True, True] Translation: X:31.71, Y:1.00, Z:0.25 [[ 9.99851235e-01 -1.64548438e-02 -5.17173527e-03 3.17107295e+01] [ 1.64548162e-02 9.99864609e-01 -4.78942563e-05 1.00167939e+00] [ 5.17182316e-03 -3.72128219e-05 9.99986625e-01 2.53194509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.74, Y:1.00, Z:0.25 [[ 9.99912207e-01 -1.27053007e-02 -3.76220701e-03 3.17424705e+01] [ 1.27052587e-02 9.99919284e-01 -3.50491840e-05 1.00227991e+00] [ 3.76234865e-03 -1.27537066e-05 9.99992922e-01 2.53523561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.790385723 meters Centerline goodness [0,1] 0.9998409416255766 Centerline is valid? [True, True] Translation: X:31.78, Y:1.00, Z:0.25 [[ 9.99928044e-01 -1.16534587e-02 -2.84675973e-03 3.17751047e+01] [ 1.16534302e-02 9.99932096e-01 -2.65668303e-05 1.00254957e+00] [ 2.84687602e-03 -6.60959736e-06 9.99995948e-01 2.54385907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.81, Y:1.00, Z:0.26 [[ 9.99960581e-01 -8.87319831e-03 -3.19096135e-04 3.18064728e+01] [ 8.87319762e-03 9.99960632e-01 -3.59516466e-06 1.00327171e+00] [ 3.19115474e-04 7.63619878e-07 9.99999949e-01 2.56378044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.850385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.84, Y:1.01, Z:0.26 [[ 9.99974216e-01 -7.10267411e-03 1.05830825e-03 3.18374187e+01] [ 7.10266892e-03 9.99974776e-01 8.66041011e-06 1.00513450e+00] [-1.05834307e-03 -1.14337366e-06 9.99999440e-01 2.58986853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.880385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.87, Y:1.01, Z:0.26 [[ 9.99983142e-01 -5.41130366e-03 2.10555304e-03 3.18696486e+01] [ 5.41127863e-03 9.99985359e-01 1.75854383e-05 1.00707359e+00] [-2.10561737e-03 -6.19140768e-06 9.99997783e-01 2.60885021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.90, Y:1.01, Z:0.26 [[ 9.99984651e-01 -2.83467904e-03 4.76041024e-03 3.19013940e+01] [ 2.83451636e-03 9.99995982e-01 4.09210142e-05 1.00689992e+00] [-4.76050711e-03 -2.74269254e-05 9.99988668e-01 2.59286500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.93, Y:1.01, Z:0.26 [[ 9.99975774e-01 -2.17443845e-03 6.61236138e-03 3.19325536e+01] [ 2.17411032e-03 9.99997635e-01 5.68118952e-05 1.00691240e+00] [-6.61246928e-03 -4.24345158e-05 9.99978136e-01 2.60664263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.96, Y:1.01, Z:0.26 [[ 9.99962889e-01 -2.46173147e-03 8.25587938e-03 3.19647037e+01] [ 2.46123494e-03 9.99996969e-01 7.03025725e-05 1.00708848e+00] [-8.25602742e-03 -4.99803047e-05 9.99965917e-01 2.62645363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.00, Y:1.01, Z:0.26 [[ 9.99959671e-01 -3.20720538e-03 8.38871019e-03 3.19980210e+01] [ 3.20673075e-03 9.99994856e-01 7.00300864e-05 1.00668955e+00] [-8.38889163e-03 -4.31269273e-05 9.99964812e-01 2.62863582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.030385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.03, Y:1.01, Z:0.26 [[ 9.99958253e-01 -3.62401712e-03 8.38803264e-03 3.20297605e+01] [ 3.62357810e-03 9.99993433e-01 6.75360919e-05 1.00612899e+00] [-8.38822230e-03 -3.71385811e-05 9.99964818e-01 2.63373374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.060385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.06, Y:1.00, Z:0.26 [[ 9.99949802e-01 -4.11574556e-03 9.13534474e-03 3.20618653e+01] [ 4.11523450e-03 9.99991530e-01 7.47397513e-05 1.00465859e+00] [-9.13557497e-03 -3.71419136e-05 9.99958269e-01 2.63021835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.09, Y:1.00, Z:0.26 [[ 9.99921470e-01 -4.93637962e-03 1.15189155e-02 3.20939682e+01] [ 4.93562740e-03 9.99987815e-01 9.37297725e-05 9.99463537e-01] [-1.15192378e-02 -3.68693370e-05 9.99933651e-01 2.62271152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.12, Y:1.00, Z:0.26 [[ 9.99906204e-01 -5.39405496e-03 1.25892081e-02 3.21248533e+01] [ 5.39319626e-03 9.99985451e-01 1.02158077e-04 9.98963326e-01] [-1.25895760e-02 -3.42524253e-05 9.99920748e-01 2.63627442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.16, Y:1.00, Z:0.27 [[ 9.99903128e-01 -5.63830754e-03 1.27257291e-02 3.21578508e+01] [ 5.63747597e-03 9.99984104e-01 1.01217336e-04 9.99220793e-01] [-1.27260975e-02 -2.94665385e-05 9.99919020e-01 2.65598982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.19, Y:1.00, Z:0.27 [[ 9.99898561e-01 -6.64793208e-03 1.25965583e-02 3.21910104e+01] [ 6.64724577e-03 9.99977902e-01 9.63514978e-05 9.98810767e-01] [-1.25969205e-02 -1.26093048e-05 9.99920656e-01 2.65374106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.210385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.22, Y:1.00, Z:0.26 [[ 9.99869844e-01 -1.02887577e-02 1.24272484e-02 3.22241221e+01] [ 1.02884351e-02 9.99947069e-01 8.98889503e-05 9.95033589e-01] [-1.24275154e-02 3.79796882e-05 9.99922775e-01 2.61631811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.240385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.26, Y:0.99, Z:0.26 [[ 9.99861702e-01 -1.15464973e-02 1.19689422e-02 3.22562135e+01] [ 1.15463233e-02 9.99933335e-01 8.36410440e-05 9.92713757e-01] [-1.19691101e-02 5.45678002e-05 9.99928366e-01 2.62587335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.29, Y:0.99, Z:0.26 [[ 9.99861281e-01 -1.29598940e-02 1.04623148e-02 3.22883938e+01] [ 1.29598203e-02 9.99916015e-01 7.48432928e-05 9.88100597e-01] [-1.04624061e-02 6.07568088e-05 9.99945266e-01 2.61161267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.32, Y:0.99, Z:0.26 [[ 9.99851712e-01 -1.42573845e-02 9.65822700e-03 3.23203070e+01] [ 1.42573898e-02 9.99898356e-01 6.83049161e-05 9.86860874e-01] [-9.65821915e-03 6.94063197e-05 9.99953356e-01 2.60568941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.35, Y:0.98, Z:0.26 [[ 9.99842836e-01 -1.55997863e-02 8.42316685e-03 3.23517480e+01] [ 1.55998756e-02 9.99878313e-01 5.51071839e-05 9.84781376e-01] [-8.42300152e-03 7.63018318e-05 9.99964523e-01 2.61073936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.38, Y:0.98, Z:0.26 [[ 9.99828484e-01 -1.76573206e-02 5.58754781e-03 3.23839040e+01] [ 1.76573872e-02 9.99844095e-01 3.74085978e-05 9.80528351e-01] [-5.58733723e-03 6.12593138e-05 9.99984389e-01 2.56439076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.390385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.42, Y:0.98, Z:0.25 [[ 9.99813918e-01 -1.88442888e-02 4.12587148e-03 3.24162251e+01] [ 1.88443376e-02 9.99822429e-01 2.70475168e-05 9.79241531e-01] [-4.12564854e-03 5.07068315e-05 9.99991488e-01 2.54206738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.420385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.45, Y:0.98, Z:0.25 [[ 9.99802844e-01 -1.96054754e-02 3.14615949e-03 3.24472531e+01] [ 1.96055080e-02 9.99807793e-01 2.04777323e-05 9.77275174e-01] [-3.14595625e-03 4.12083599e-05 9.99995051e-01 2.53731304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.48, Y:0.97, Z:0.25 [[ 9.99772114e-01 -2.13153204e-02 1.17357137e-03 3.24795336e+01] [ 2.13153272e-02 9.99772803e-01 6.78662162e-06 9.74391051e-01] [-1.17344939e-03 1.82299826e-05 9.99999311e-01 2.50036812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.51, Y:0.97, Z:0.25 [[ 9.99751706e-01 -2.22821949e-02 -1.74902615e-04 3.25120537e+01] [ 2.22821948e-02 9.99751721e-01 -2.23611607e-06 9.73772995e-01] [ 1.74909016e-04 -1.66165330e-06 9.99999985e-01 2.48635777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.54, Y:0.97, Z:0.25 [[ 9.99728804e-01 -2.32203402e-02 -1.77049568e-03 3.25430247e+01] [ 2.32203545e-02 9.99730371e-01 -1.24319158e-05 9.72214138e-01] [ 1.77030697e-03 -2.86829930e-05 9.99998433e-01 2.48402346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.58, Y:0.97, Z:0.25 [[ 9.99660583e-01 -2.55310029e-02 -5.18530091e-03 3.25762515e+01] [ 2.55311640e-02 9.99674026e-01 -3.51231174e-05 9.69292555e-01] [ 5.18450736e-03 -9.72755720e-05 9.99986556e-01 2.45418328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.61, Y:0.97, Z:0.24 [[ 9.99617060e-01 -2.66933406e-02 -7.29381031e-03 3.26079343e+01] [ 2.66937040e-02 9.99643658e-01 -4.75420953e-05 9.66210186e-01] [ 7.29248028e-03 -1.47174924e-04 9.99973399e-01 2.44005036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.600385722999995 meters Centerline goodness [0,1] 0.9999778093378306 Centerline is valid? [True, True] Translation: X:32.64, Y:0.96, Z:0.24 [[ 9.99552310e-01 -2.83214559e-02 -9.64749238e-03 3.26390922e+01] [ 2.83221750e-02 9.99598845e-01 -6.21091933e-05 9.63445032e-01] [ 9.64538127e-03 -2.11156580e-04 9.99953460e-01 2.41774020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.630385722999996 meters Centerline goodness [0,1] 0.9999778083529359 Centerline is valid? [True, True] Translation: X:32.67, Y:0.96, Z:0.24 [[ 9.99383447e-01 -3.18554846e-02 -1.47632899e-02 3.26715905e+01] [ 3.18575712e-02 9.99492414e-01 -9.38733785e-05 9.58744659e-01] [ 1.47587866e-02 -3.76507057e-04 9.99891012e-01 2.36149557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.660385723 meters Centerline goodness [0,1] 0.9999557032115172 Centerline is valid? [True, True] Translation: X:32.70, Y:0.96, Z:0.23 [[ 9.99274798e-01 -3.39563152e-02 -1.72292464e-02 3.27039668e+01] [ 3.39594926e-02 9.99423204e-01 -1.08199852e-04 9.57166194e-01] [ 1.72229827e-02 -4.76975081e-04 9.99851560e-01 2.33721375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.74, Y:0.95, Z:0.23 [[ 9.99119868e-01 -3.64509543e-02 -2.07561265e-02 3.27353079e+01] [ 3.64561365e-02 9.99335246e-01 -1.28784279e-04 9.54229476e-01] [ 2.07470231e-02 -6.28017248e-04 9.99784560e-01 2.31856958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.77, Y:0.95, Z:0.23 [[ 9.99090365e-01 -3.68448567e-02 -2.14685745e-02 3.27671081e+01] [ 3.68505187e-02 9.99320780e-01 -1.31948889e-04 9.54547733e-01] [ 2.14588542e-02 -6.59299241e-04 9.99769515e-01 2.31896403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.80, Y:0.95, Z:0.23 [[ 9.99108105e-01 -3.64721702e-02 -2.12785055e-02 3.27988048e+01] [ 3.64776794e-02 9.99334460e-01 -1.29302724e-04 9.52719422e-01] [ 2.12690598e-02 -6.47003102e-04 9.99773579e-01 2.32819537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.780385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.83, Y:0.95, Z:0.23 [[ 9.99151085e-01 -3.53670259e-02 -2.11253893e-02 3.28302362e+01] [ 3.53722357e-02 9.99374199e-01 -1.27121127e-04 9.52984008e-01] [ 2.11166649e-02 -6.20239036e-04 9.99776826e-01 2.34030056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.810385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.86, Y:0.95, Z:0.23 [[ 9.99194345e-01 -3.34720345e-02 -2.21423646e-02 3.28613656e+01] [ 3.34773106e-02 9.99439469e-01 -1.32460515e-04 9.52170455e-01] [ 2.21343868e-02 -6.08913018e-04 9.99754819e-01 2.32505673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.89, Y:0.95, Z:0.23 [[ 9.99172689e-01 -3.29723171e-02 -2.38068074e-02 3.28930516e+01] [ 3.29782951e-02 9.99456058e-01 -1.41568161e-04 9.51342872e-01] [ 2.37985257e-02 -6.43656879e-04 9.99716568e-01 2.30762931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.92, Y:0.95, Z:0.23 [[ 9.99149797e-01 -3.25949340e-02 -2.52438810e-02 3.29236312e+01] [ 3.26015635e-02 9.99468417e-01 -1.49007291e-04 9.49032714e-01] [ 2.52353187e-02 -6.74109385e-04 9.99681311e-01 2.28492523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.95, Y:0.95, Z:0.23 [[ 9.99109812e-01 -3.25880478e-02 -2.67880953e-02 3.29532949e+01] [ 3.25955248e-02 9.99468612e-01 -1.57617751e-04 9.47950787e-01] [ 2.67789969e-02 -7.15694582e-04 9.99641122e-01 2.26739101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.98, Y:0.95, Z:0.23 [[ 9.98988266e-01 -3.29249703e-02 -3.06331766e-02 3.29826946e+01] [ 3.29348739e-02 9.99457483e-01 -1.81352489e-04 9.51020400e-01] [ 3.06225287e-02 -8.27730801e-04 9.99530678e-01 2.25701936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.960385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.01, Y:0.95, Z:0.23 [[ 9.98921802e-01 -3.32286935e-02 -3.24204899e-02 3.30103198e+01] [ 3.32398818e-02 9.99447384e-01 -1.93954579e-04 9.51773700e-01] [ 3.24090186e-02 -8.83907794e-04 9.99474299e-01 2.25241076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.990385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.04, Y:0.95, Z:0.23 [[ 9.98875970e-01 -3.33151382e-02 -3.37179124e-02 3.30386292e+01] [ 3.33271910e-02 9.99444474e-01 -2.04653401e-04 9.54083000e-01] [ 3.37059993e-02 -9.19299943e-04 9.99431369e-01 2.25543960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.07, Y:0.95, Z:0.22 [[ 9.98818912e-01 -3.36216694e-02 -3.50765529e-02 3.30668958e+01] [ 3.36347961e-02 9.99434167e-01 -2.15947637e-04 9.50179242e-01] [ 3.50639659e-02 -9.64100122e-04 9.99384605e-01 2.20762601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.10, Y:0.95, Z:0.22 [[ 9.98797880e-01 -3.40179638e-02 -3.52926830e-02 3.30952681e+01] [ 3.40312862e-02 9.99420743e-01 -2.23337534e-04 9.49228783e-01] [ 3.52798370e-02 -9.77986342e-04 9.99376994e-01 2.19845585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.12, Y:0.95, Z:0.22 [[ 9.98788631e-01 -3.42884889e-02 -3.52926242e-02 3.31226612e+01] [ 3.43016609e-02 9.99411498e-01 -2.32374487e-04 9.49482996e-01] [ 3.52798222e-02 -9.78502631e-04 9.99376994e-01 2.20262885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.15, Y:0.95, Z:0.22 [[ 9.98672505e-01 -3.62822661e-02 -3.65626237e-02 3.31513050e+01] [ 3.62973989e-02 9.99341001e-01 -2.50031633e-04 9.45235903e-01] [ 3.65476007e-02 -1.07742842e-03 9.99331332e-01 2.18808037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.140385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.18, Y:0.94, Z:0.22 [[ 9.98604915e-01 -3.78716137e-02 -3.67962696e-02 3.31802045e+01] [ 3.78876970e-02 9.99281970e-01 -2.60361570e-04 9.44953331e-01] [ 3.67797090e-02 -1.13412757e-03 9.99322754e-01 2.19654246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.170385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.21, Y:0.94, Z:0.22 [[ 9.98449716e-01 -4.11164837e-02 -3.75179966e-02 3.32088812e+01] [ 4.11353120e-02 9.99153548e-01 -2.70271099e-04 9.42132919e-01] [ 3.74973521e-02 -1.27346240e-03 9.99295916e-01 2.20668704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.24, Y:0.95, Z:0.22 [[ 9.98401283e-01 -4.22699004e-02 -3.75251105e-02 3.32372794e+01] [ 4.22893219e-02 9.99105368e-01 -2.76380429e-04 9.45267571e-01] [ 3.75032219e-02 -1.31097290e-03 9.99295647e-01 2.24718328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.27, Y:0.94, Z:0.23 [[ 9.98380181e-01 -4.29981261e-02 -3.72582371e-02 3.32650248e+01] [ 4.30175762e-02 9.99074276e-01 -2.79835864e-04 9.43936340e-01] [ 3.72357787e-02 -1.32337647e-03 9.99305632e-01 2.25085280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.29, Y:0.94, Z:0.23 [[ 9.98362342e-01 -4.37555778e-02 -3.68521721e-02 3.32933245e+01] [ 4.37750075e-02 9.99041376e-01 -2.79864429e-04 9.42159909e-01] [ 3.68290904e-02 -1.33379800e-03 9.99320689e-01 2.25706616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.32, Y:0.94, Z:0.23 [[ 9.98399665e-01 -4.40269497e-02 -3.54927654e-02 3.33223600e+01] [ 4.40449233e-02 9.99029513e-01 -2.75701802e-04 9.39861700e-01] [ 3.54704585e-02 -1.28801554e-03 9.99369895e-01 2.27452897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.320385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.35, Y:0.94, Z:0.23 [[ 9.98402361e-01 -4.42400931e-02 -3.51502398e-02 3.33498541e+01] [ 4.42576643e-02 9.99020111e-01 -2.78408668e-04 9.35061034e-01] [ 3.51281133e-02 -1.27770364e-03 9.99382001e-01 2.26332172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.350385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.38, Y:0.94, Z:0.23 [[ 9.98284451e-01 -4.55305794e-02 -3.68119723e-02 3.33782317e+01] [ 4.55504907e-02 9.98961993e-01 -2.98049229e-04 9.38122751e-01] [ 3.67873316e-02 -1.37926549e-03 9.99322165e-01 2.29309314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.380385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.41, Y:0.94, Z:0.23 [[ 9.98217593e-01 -4.65220324e-02 -3.73809749e-02 3.34068815e+01] [ 4.65429260e-02 9.98916242e-01 -3.11553669e-04 9.39115999e-01] [ 3.73549571e-02 -1.42882160e-03 9.99301039e-01 2.30480275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.44, Y:0.94, Z:0.23 [[ 9.98141089e-01 -4.72037674e-02 -3.85508873e-02 3.34357701e+01] [ 4.72261368e-02 9.98884169e-01 -3.30690436e-04 9.41187971e-01] [ 3.85234808e-02 -1.49053376e-03 9.99256584e-01 2.32121981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.47, Y:0.94, Z:0.23 [[ 9.98008723e-01 -4.83056057e-02 -4.05605326e-02 3.34657252e+01] [ 4.83310865e-02 9.98831308e-01 -3.52692680e-04 9.39194634e-01] [ 4.05301669e-02 -1.60834424e-03 9.99177021e-01 2.30677405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.49, Y:0.93, Z:0.23 [[ 9.97941860e-01 -4.91661683e-02 -4.11671254e-02 3.34937451e+01] [ 4.91930346e-02 9.98789225e-01 -3.60740911e-04 9.34071792e-01] [ 4.11350175e-02 -1.66513737e-03 9.99152209e-01 2.28218310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.52, Y:0.94, Z:0.23 [[ 9.97928318e-01 -4.99816892e-02 -4.05080482e-02 3.35219231e+01] [ 5.00080330e-02 9.98748750e-01 -3.63319274e-04 9.36628018e-01] [ 4.04755218e-02 -1.66316122e-03 9.99179146e-01 2.31787452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.530385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.55, Y:0.94, Z:0.23 [[ 9.97916898e-01 -5.09085764e-02 -3.96255052e-02 3.35494478e+01] [ 5.09340777e-02 9.98701950e-01 -3.66371234e-04 9.36747288e-01] [ 3.95927208e-02 -1.65268052e-03 9.99214534e-01 2.34455981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.560385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.58, Y:0.94, Z:0.24 [[ 9.97998480e-01 -5.12660116e-02 -3.70247253e-02 3.35785212e+01] [ 5.12881879e-02 9.98683833e-01 -3.51208807e-04 9.38274599e-01] [ 3.69939996e-02 -1.54842521e-03 9.99314288e-01 2.39079372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.61, Y:0.94, Z:0.24 [[ 9.97998864e-01 -5.14949167e-02 -3.66952366e-02 3.36084320e+01] [ 5.15167021e-02 9.98672071e-01 -3.52224255e-04 9.38655338e-01] [ 3.66646457e-02 -1.53889817e-03 9.99326441e-01 2.40440020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.64, Y:0.94, Z:0.24 [[ 9.97925199e-01 -5.31534563e-02 -3.63319087e-02 3.36377983e+01] [ 5.31758627e-02 9.98585102e-01 -3.50003156e-04 9.35414005e-01] [ 3.62991066e-02 -1.58270362e-03 9.99339717e-01 2.40694591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.67, Y:0.93, Z:0.24 [[ 9.97869571e-01 -5.42459445e-02 -3.62449470e-02 3.36680182e+01] [ 5.42689433e-02 9.98526294e-01 -3.49697009e-04 9.33604603e-01] [ 3.62105023e-02 -1.61802297e-03 9.99342875e-01 2.41446659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.70, Y:0.93, Z:0.24 [[ 9.97765248e-01 -5.58653774e-02 -3.66547286e-02 3.36985170e+01] [ 5.58899898e-02 9.98436870e-01 -3.53650646e-04 9.34795545e-01] [ 3.66171893e-02 -1.69577208e-03 9.99327927e-01 2.43553743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.710385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.73, Y:0.93, Z:0.24 [[ 9.97589005e-01 -5.92266089e-02 -3.61716240e-02 3.37286393e+01] [ 5.92528259e-02 9.98242947e-01 -3.47704570e-04 9.32652164e-01] [ 3.61286619e-02 -1.79640468e-03 9.99345532e-01 2.44757611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.740385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.76, Y:0.93, Z:0.24 [[ 9.97489580e-01 -6.06387883e-02 -3.65714953e-02 3.37584351e+01] [ 6.06666368e-02 9.98158022e-01 -3.48765121e-04 9.29477557e-01] [ 3.65252801e-02 -1.87078005e-03 9.99330978e-01 2.44342717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.770385723 meters Centerline goodness [0,1] 0.9999345977763244 Centerline is valid? [True, True] Translation: X:33.79, Y:0.93, Z:0.25 [[ 9.97390289e-01 -6.18731321e-02 -3.72065567e-02 3.37896094e+01] [ 6.19028915e-02 9.98082115e-01 -3.52725935e-04 9.30617313e-01] [ 3.71570231e-02 -1.95138802e-03 9.99307534e-01 2.45962881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.82, Y:0.93, Z:0.25 [[ 9.97278918e-01 -6.31384166e-02 -3.80565428e-02 3.38194716e+01] [ 6.31704917e-02 9.98002685e-01 -3.60245190e-04 9.27509833e-01] [ 3.80032772e-02 -2.04478559e-03 9.99275522e-01 2.45569071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.85, Y:0.93, Z:0.25 [[ 9.97223736e-01 -6.37831871e-02 -3.84255847e-02 3.38502493e+01] [ 6.38164103e-02 9.97961590e-01 -3.62563058e-04 9.32303651e-01] [ 3.83703830e-02 -2.09062639e-03 9.99261399e-01 2.48618667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.88, Y:0.93, Z:0.25 [[ 9.97264346e-01 -6.39243172e-02 -3.71147662e-02 3.38811679e+01] [ 6.39554630e-02 9.97952693e-01 -3.48689194e-04 9.32096966e-01] [ 3.70610706e-02 -2.02595676e-03 9.99310949e-01 2.49993214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.890385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.91, Y:0.93, Z:0.25 [[ 9.97421307e-01 -6.31043932e-02 -3.41843835e-02 3.39128451e+01] [ 6.31303812e-02 9.98005237e-01 -3.19664585e-04 9.31954426e-01] [ 3.41363660e-02 -1.83923289e-03 9.99415492e-01 2.53274160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.920385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.95, Y:0.93, Z:0.26 [[ 9.97481300e-01 -6.24483439e-02 -3.36342277e-02 3.39453242e+01] [ 6.24732001e-02 9.98046593e-01 -3.12421402e-04 9.33949320e-01] [ 3.35880366e-02 -1.78960333e-03 9.99434160e-01 2.55916988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.950385723 meters Centerline goodness [0,1] 0.999978200209278 Centerline is valid? [True, True] Translation: X:33.98, Y:0.94, Z:0.26 [[ 9.97645410e-01 -5.91709876e-02 -3.46760806e-02 3.39761136e+01] [ 5.91954972e-02 9.98246358e-01 -3.20303429e-04 9.39668600e-01] [ 3.46342238e-02 -1.73311859e-03 9.99398553e-01 2.58797345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.01, Y:0.95, Z:0.26 [[ 9.97778435e-01 -5.66439140e-02 -3.50665336e-02 3.40074846e+01] [ 5.66674659e-02 9.98393056e-01 -3.22669818e-04 9.45143552e-01] [ 3.50284609e-02 -1.66517861e-03 9.99384928e-01 2.59964176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.04, Y:0.95, Z:0.26 [[ 9.97901544e-01 -5.39516564e-02 -3.58012138e-02 3.40385799e+01] [ 5.39745234e-02 9.98542259e-01 -3.28161812e-04 9.48676410e-01] [ 3.57667298e-02 -1.60488028e-03 9.99358877e-01 2.61046124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.040385723 meters Centerline goodness [0,1] 0.9999780922753363 Centerline is valid? [True, True] Translation: X:34.07, Y:0.95, Z:0.26 [[ 9.98267384e-01 -4.77021174e-02 -3.44490789e-02 3.40678291e+01] [ 4.77195800e-02 9.98860722e-01 -3.15571184e-04 9.53309635e-01] [ 3.44248853e-02 -1.32887116e-03 9.99406405e-01 2.62285118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.070385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.10, Y:0.96, Z:0.26 [[ 9.98473724e-01 -4.40768233e-02 -3.32784543e-02 3.40981210e+01] [ 4.40910893e-02 9.99027468e-01 -3.05396979e-04 9.56854733e-01] [ 3.32595509e-02 -1.16235244e-03 9.99446072e-01 2.63574837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.100385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.13, Y:0.96, Z:0.26 [[ 9.98649847e-01 -3.99629383e-02 -3.31880487e-02 3.41279750e+01] [ 3.99748388e-02 9.99200640e-01 -3.05135490e-04 9.61414007e-01] [ 3.31737136e-02 -1.02196338e-03 9.99449078e-01 2.64612991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.130385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.16, Y:0.97, Z:0.27 [[ 9.98817597e-01 -3.59114075e-02 -3.27685514e-02 3.41576110e+01] [ 3.59208019e-02 9.99354594e-01 -3.02148235e-04 9.66373303e-01] [ 3.27582529e-02 -8.75281668e-04 9.99462921e-01 2.65740474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.19, Y:0.97, Z:0.27 [[ 9.99109570e-01 -2.77158226e-02 -3.18103855e-02 3.41865191e+01] [ 2.77204887e-02 9.99615670e-01 -2.94399691e-04 9.74806211e-01] [ 3.18063193e-02 -5.87661883e-04 9.99493878e-01 2.66697321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.22, Y:0.98, Z:0.27 [[ 9.99237178e-01 -2.36974079e-02 -3.10402209e-02 3.42155280e+01] [ 2.36998626e-02 9.99719077e-01 -2.88879426e-04 9.81449452e-01] [ 3.10383467e-02 -4.46989910e-04 9.99518094e-01 2.69387312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.24, Y:0.99, Z:0.27 [[ 9.99326837e-01 -1.83982086e-02 -3.17392163e-02 3.42428772e+01] [ 1.83980241e-02 9.99830698e-01 -2.97880224e-04 9.89872973e-01] [ 3.17393233e-02 -2.86259164e-04 9.99496140e-01 2.69090195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.27, Y:0.99, Z:0.27 [[ 9.99356602e-01 -1.68911342e-02 -3.16397117e-02 3.42711989e+01] [ 1.68900283e-02 9.99857308e-01 -3.02234821e-04 9.92106983e-01] [ 3.16403020e-02 -2.32355263e-04 9.99499293e-01 2.68671303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.280385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.30, Y:0.99, Z:0.27 [[ 9.99348269e-01 -1.60833676e-02 -3.23166086e-02 3.42989672e+01] [ 1.60815174e-02 9.99870634e-01 -3.17187742e-04 9.93007855e-01] [ 3.23175293e-02 -2.02719081e-04 9.99477632e-01 2.68625342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.310385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.33, Y:1.00, Z:0.27 [[ 9.99414468e-01 -1.60581290e-02 -3.02135350e-02 3.43272198e+01] [ 1.60562730e-02 9.99871044e-01 -3.04058412e-04 9.97213252e-01] [ 3.02145214e-02 -1.81236390e-04 9.99543421e-01 2.71508791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.36, Y:1.00, Z:0.27 [[ 9.99461350e-01 -1.58344072e-02 -2.87451130e-02 3.43553857e+01] [ 1.58325022e-02 9.99874615e-01 -2.93883347e-04 1.00066039e+00] [ 2.87461622e-02 -1.61382018e-04 9.99586731e-01 2.74137935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.38, Y:1.00, Z:0.28 [[ 9.99471312e-01 -1.62086221e-02 -2.81847120e-02 3.43834742e+01] [ 1.62068054e-02 9.99868618e-01 -2.92907958e-04 1.00407333e+00] [ 2.81857566e-02 -1.64031041e-04 9.99602689e-01 2.75916871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.41, Y:1.01, Z:0.28 [[ 9.99462946e-01 -1.68963859e-02 -2.80772308e-02 3.44114829e+01] [ 1.68946396e-02 9.99857231e-01 -2.99435799e-04 1.00650641e+00] [ 2.80782816e-02 -1.75079710e-04 9.99605712e-01 2.76645015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.44, Y:1.00, Z:0.27 [[ 9.99426028e-01 -1.85755720e-02 -2.83295378e-02 3.44393900e+01] [ 1.85743160e-02 9.99827435e-01 -3.07511965e-04 1.00495948e+00] [ 2.83303613e-02 -2.18866326e-04 9.99598591e-01 2.72480379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.460385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.47, Y:1.01, Z:0.27 [[ 9.99411910e-01 -2.04265397e-02 -2.75425412e-02 3.44669346e+01] [ 2.04259276e-02 9.99791323e-01 -3.03600503e-04 1.00525088e+00] [ 2.75429952e-02 -2.59159993e-04 9.99620586e-01 2.73358677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.490385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.50, Y:1.01, Z:0.28 [[ 9.99375677e-01 -2.29112159e-02 -2.68948500e-02 3.44959715e+01] [ 2.29113455e-02 9.99737455e-01 -3.03375892e-04 1.00735562e+00] [ 2.68947396e-02 -3.13010714e-04 9.99638222e-01 2.76393758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.52, Y:1.01, Z:0.28 [[ 9.99282323e-01 -2.80687749e-02 -2.54358763e-02 3.45231224e+01] [ 2.80704318e-02 9.99605905e-01 -2.91985447e-04 1.01118088e+00] [ 2.54340478e-02 -4.22220135e-04 9.99676413e-01 2.81220385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.55, Y:1.01, Z:0.28 [[ 9.99192517e-01 -3.07968103e-02 -2.58044520e-02 3.45535653e+01] [ 3.07993654e-02 9.99525542e-01 -2.98517792e-04 1.01135470e+00] [ 2.58014023e-02 -4.96484003e-04 9.99666965e-01 2.81751125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.58, Y:1.01, Z:0.28 [[ 9.99013792e-01 -3.64852799e-02 -2.53035197e-02 3.45840341e+01] [ 3.64895598e-02 9.99333991e-01 -2.92722776e-04 1.00589716e+00] [ 2.52973474e-02 -6.30880205e-04 9.99679772e-01 2.79417795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.62, Y:1.00, Z:0.28 [[ 9.98946991e-01 -3.88284814e-02 -2.44388503e-02 3.46162221e+01] [ 3.88331897e-02 9.99245667e-01 -2.82081540e-04 1.00288119e+00] [ 2.44313681e-02 -6.67254003e-04 9.99701287e-01 2.79007119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.640385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.65, Y:1.00, Z:0.28 [[ 9.98793413e-01 -4.30033671e-02 -2.37155596e-02 3.46462496e+01] [ 4.30090175e-02 9.99074647e-01 -2.71987511e-04 9.99600757e-01] [ 2.37053107e-02 -7.48323582e-04 9.99718710e-01 2.80330064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.670385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.68, Y:1.00, Z:0.28 [[ 9.98733306e-01 -4.43304191e-02 -2.38033103e-02 3.46781119e+01] [ 4.43365330e-02 9.99016616e-01 -2.71100488e-04 1.00003002e+00] [ 2.37919205e-02 -7.84599167e-04 9.99716624e-01 2.81758135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.71, Y:1.00, Z:0.28 [[ 9.98697364e-01 -4.52272783e-02 -2.36234695e-02 3.47106528e+01] [ 4.52335888e-02 9.98976402e-01 -2.67439126e-04 1.00098380e+00] [ 2.36113841e-02 -8.01483556e-04 9.99720891e-01 2.82900149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.74, Y:1.00, Z:0.28 [[ 9.98659220e-01 -4.56434296e-02 -2.44220958e-02 3.47419559e+01] [ 4.56503488e-02 9.98957442e-01 -2.74421192e-04 1.00064052e+00] [ 2.44091598e-02 -8.40823935e-04 9.99701698e-01 2.83635198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.77, Y:1.00, Z:0.28 [[ 9.98672472e-01 -4.48044775e-02 -2.54136133e-02 3.47735062e+01] [ 4.48117545e-02 9.98995409e-01 -2.83376546e-04 1.00250143e+00] [ 2.54007795e-02 -8.55828243e-04 9.99676982e-01 2.83884561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.80, Y:1.00, Z:0.28 [[ 9.98709051e-01 -4.41649792e-02 -2.50935406e-02 3.48046180e+01] [ 4.41719037e-02 9.99023906e-01 -2.78560674e-04 1.00269315e+00] [ 2.50813496e-02 -8.30228392e-04 9.99685069e-01 2.83722958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.820385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.84, Y:1.01, Z:0.29 [[ 9.98752849e-01 -4.31017879e-02 -2.51988725e-02 3.48367787e+01] [ 4.31084695e-02 9.99070359e-01 -2.78266670e-04 1.00675438e+00] [ 2.51874404e-02 -8.08365198e-04 9.99682419e-01 2.85142339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.850385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.87, Y:1.00, Z:0.28 [[ 9.98864596e-01 -4.06532448e-02 -2.48361174e-02 3.48679859e+01] [ 4.06590178e-02 9.99173043e-01 -2.72703841e-04 1.00291252e+00] [ 2.48266653e-02 -7.37417927e-04 9.99691499e-01 2.83382323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.880385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.90, Y:1.01, Z:0.28 [[ 9.98922276e-01 -3.92417613e-02 -2.47864874e-02 3.49002209e+01] [ 3.92471135e-02 9.99229499e-01 -2.70692082e-04 1.00741331e+00] [ 2.47780118e-02 -7.02397734e-04 9.99692731e-01 2.84560791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.93, Y:1.01, Z:0.28 [[ 9.99022706e-01 -3.60234039e-02 -2.56114742e-02 3.49303852e+01] [ 3.60280946e-02 9.99350739e-01 -2.78420273e-04 1.00873620e+00] [ 2.56048753e-02 -6.44584440e-04 9.99671934e-01 2.84975428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.96, Y:1.01, Z:0.29 [[ 9.99055955e-01 -3.42870232e-02 -2.66758078e-02 3.49610016e+01] [ 3.42915062e-02 9.99411831e-01 -2.89519287e-04 1.01169668e+00] [ 2.66700447e-02 -6.25507662e-04 9.99644095e-01 2.86521059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.99, Y:1.02, Z:0.29 [[ 9.99107135e-01 -3.20838870e-02 -2.74873961e-02 3.49924263e+01] [ 3.20878328e-02 9.99485009e-01 -2.97638521e-04 1.01520022e+00] [ 2.74827897e-02 -5.84638202e-04 9.99622106e-01 2.87877294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.02, Y:1.02, Z:0.29 [[ 9.99183132e-01 -2.96910420e-02 -2.74137038e-02 3.50230173e+01] [ 2.96940808e-02 9.99558990e-01 -2.96323097e-04 1.01838139e+00] [ 2.74104122e-02 -5.17943697e-04 9.99624130e-01 2.89106467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.030385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.05, Y:1.02, Z:0.29 [[ 9.99183132e-01 -2.96910420e-02 -2.74137038e-02 3.50530197e+01] [ 2.96940808e-02 9.99558990e-01 -2.96323097e-04 1.01870569e+00] [ 2.74104122e-02 -5.17943697e-04 9.99624130e-01 2.89562036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.060385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.08, Y:1.02, Z:0.29 [[ 9.99315792e-01 -2.50802965e-02 -2.71831883e-02 3.50825035e+01] [ 2.50815735e-02 9.99685365e-01 -2.94037052e-04 1.01936166e+00] [ 2.71820101e-02 -3.87961267e-04 9.99630426e-01 2.87772311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.11, Y:1.02, Z:0.29 [[ 9.99377252e-01 -2.32758975e-02 -2.65205657e-02 3.51110624e+01] [ 2.32763996e-02 9.99729026e-01 -2.89816853e-04 1.01885131e+00] [ 2.65201251e-02 -3.27666913e-04 9.99648226e-01 2.87320792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.14, Y:1.02, Z:0.29 [[ 9.99440656e-01 -2.09101615e-02 -2.60986649e-02 3.51396162e+01] [ 2.09096786e-02 9.99781326e-01 -2.91437559e-04 1.02048959e+00] [ 2.60990518e-02 -2.54440149e-04 9.99659329e-01 2.90152065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.17, Y:1.02, Z:0.29 [[ 9.99460053e-01 -2.00105572e-02 -2.60610744e-02 3.51675050e+01] [ 2.00096481e-02 9.99799743e-01 -2.95690340e-04 1.02200681e+00] [ 2.60617724e-02 -2.25942246e-04 9.99660309e-01 2.90532153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.19, Y:1.02, Z:0.29 [[ 9.99455276e-01 -1.92497431e-02 -2.68066927e-02 3.51948880e+01] [ 1.92483838e-02 9.99814685e-01 -3.08768270e-04 1.02449998e+00] [ 2.68076687e-02 -2.07385434e-04 9.99640588e-01 2.92405197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.210385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.22, Y:1.03, Z:0.29 [[ 9.99497886e-01 -1.75795249e-02 -2.63616373e-02 3.52230805e+01] [ 1.75774937e-02 9.99845456e-01 -3.08792188e-04 1.02603090e+00] [ 2.63629917e-02 -1.54734375e-04 9.99652424e-01 2.93925651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.240385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.25, Y:1.03, Z:0.30 [[ 9.99549152e-01 -1.69731130e-02 -2.47670333e-02 3.52518438e+01] [ 1.69710449e-02 9.99855938e-01 -2.93706807e-04 1.02600606e+00] [ 2.47684505e-02 -1.26748045e-04 9.99693207e-01 2.95564972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.28, Y:1.02, Z:0.30 [[ 9.99617188e-01 -1.58830567e-02 -2.26540617e-02 3.52797214e+01] [ 1.58809543e-02 9.99873853e-01 -2.72718932e-04 1.02466138e+00] [ 2.26555356e-02 -8.71535868e-05 9.99743327e-01 2.97044573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.31, Y:1.02, Z:0.30 [[ 9.99620224e-01 -1.61163330e-02 -2.23533249e-02 3.53077553e+01] [ 1.61142718e-02 9.99870120e-01 -2.72348010e-04 1.02499951e+00] [ 2.23548109e-02 -8.79629736e-05 9.99750096e-01 2.99250139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.34, Y:1.03, Z:0.30 [[ 9.99613093e-01 -1.67024990e-02 -2.22416376e-02 3.53354976e+01] [ 1.67004689e-02 9.99860499e-01 -2.77030851e-04 1.02539287e+00] [ 2.22431620e-02 -9.45221110e-05 9.99752586e-01 3.00709849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.36, Y:1.02, Z:0.30 [[ 9.99568083e-01 -1.85310601e-02 -2.28089376e-02 3.53637442e+01] [ 1.85292809e-02 9.99828276e-01 -2.89361528e-04 1.02411529e+00] [ 2.28103829e-02 -1.33396664e-04 9.99739800e-01 3.00490053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.390385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.39, Y:1.02, Z:0.30 [[ 9.99545953e-01 -1.95563717e-02 -2.29223890e-02 3.53912488e+01] [ 1.95547506e-02 9.99808744e-01 -2.94889647e-04 1.02368558e+00] [ 2.29237720e-02 -1.53485848e-04 9.99737204e-01 3.01269701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.420385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.42, Y:1.02, Z:0.30 [[ 9.99538895e-01 -2.04676134e-02 -2.24293061e-02 3.54196233e+01] [ 2.04661574e-02 9.99790503e-01 -2.94488083e-04 1.02292938e+00] [ 2.24306347e-02 -1.64689415e-04 9.99748388e-01 3.01767537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.45, Y:1.02, Z:0.30 [[ 9.99511865e-01 -2.15532276e-02 -2.26161455e-02 3.54479562e+01] [ 2.15519297e-02 9.99767685e-01 -3.01156900e-04 1.01976722e+00] [ 2.26173823e-02 -1.86411682e-04 9.99744177e-01 3.00812309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.48, Y:1.02, Z:0.30 [[ 9.99477328e-01 -2.28161364e-02 -2.29018370e-02 3.54767910e+01] [ 2.28150746e-02 9.99739655e-01 -3.07680225e-04 1.01883394e+00] [ 2.29028947e-02 -2.14987711e-04 9.99737671e-01 3.00832697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.51, Y:1.02, Z:0.30 [[ 9.99433380e-01 -2.46248868e-02 -2.29463195e-02 3.55057779e+01] [ 2.46241989e-02 9.99696730e-01 -3.12576150e-04 1.01736118e+00] [ 2.29470577e-02 -2.52635698e-04 9.99736650e-01 3.02709055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.54, Y:1.02, Z:0.31 [[ 9.99427038e-01 -2.56550095e-02 -2.20775011e-02 3.55357195e+01] [ 2.56546014e-02 9.99670821e-01 -3.01758963e-04 1.01749171e+00] [ 2.20779753e-02 -2.64803424e-04 9.99756217e-01 3.05036571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.570385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.57, Y:1.02, Z:0.31 [[ 9.99416589e-01 -2.63735675e-02 -2.17006261e-02 3.55659963e+01] [ 2.63733453e-02 9.99652119e-01 -2.96482725e-04 1.01719999e+00] [ 2.17008962e-02 -2.76008353e-04 9.99764470e-01 3.06422982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.600385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.60, Y:1.01, Z:0.31 [[ 9.99356461e-01 -2.78710209e-02 -2.25803002e-02 3.55967987e+01] [ 2.78711766e-02 9.99611476e-01 -3.07879160e-04 1.01446660e+00] [ 2.25801081e-02 -3.21658506e-04 9.99744985e-01 3.06521240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.630385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.63, Y:1.01, Z:0.31 [[ 9.99333471e-01 -2.85531581e-02 -2.27449265e-02 3.56283850e+01] [ 2.85535151e-02 9.99592217e-01 -3.09133041e-04 1.01361484e+00] [ 2.27444783e-02 -3.40520609e-04 9.99741253e-01 3.06357029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.66, Y:1.01, Z:0.31 [[ 9.99329407e-01 -2.88334979e-02 -2.25691297e-02 3.56585535e+01] [ 2.88339357e-02 9.99584169e-01 -3.06089972e-04 1.01032457e+00] [ 2.25685704e-02 -3.44872126e-04 9.99745238e-01 3.05015244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.69, Y:1.01, Z:0.30 [[ 9.99350660e-01 -2.81314306e-02 -2.25140219e-02 3.56901323e+01] [ 2.81316996e-02 9.99604179e-01 -3.04834893e-04 1.00798225e+00] [ 2.25136858e-02 -3.28720750e-04 9.99746481e-01 3.04205645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.72, Y:1.01, Z:0.31 [[ 9.99367070e-01 -2.76664719e-02 -2.23612686e-02 3.57211667e+01] [ 2.76666376e-02 9.99617160e-01 -3.02018883e-04 1.00906359e+00] [ 2.23610636e-02 -3.16833389e-04 9.99749910e-01 3.05697108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.75, Y:1.01, Z:0.31 [[ 9.99421349e-01 -2.62435324e-02 -2.16389448e-02 3.57528451e+01] [ 2.62433697e-02 9.99655541e-01 -2.91544477e-04 1.01072921e+00] [ 2.16391422e-02 -2.76503053e-04 9.99765808e-01 3.08305926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.780385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.78, Y:1.01, Z:0.31 [[ 9.99444125e-01 -2.57618186e-02 -2.11605548e-02 3.57845006e+01] [ 2.57615701e-02 9.99668075e-01 -2.84382618e-04 1.01129862e+00] [ 2.11608573e-02 -2.60904579e-04 9.99776050e-01 3.09480532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.810385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.81, Y:1.01, Z:0.31 [[ 9.99463206e-01 -2.57021934e-02 -2.03149295e-02 3.58147787e+01] [ 2.57019689e-02 9.99669613e-01 -2.72188638e-04 1.00937072e+00] [ 2.03152135e-02 -2.50091157e-04 9.99793593e-01 3.09754070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.85, Y:1.01, Z:0.31 [[ 9.99484277e-01 -2.61030962e-02 -1.87031788e-02 3.58459887e+01] [ 2.61029943e-02 9.99659228e-01 -2.49616798e-04 1.00735918e+00] [ 1.87033210e-02 -2.38720904e-04 9.99825049e-01 3.11513608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.88, Y:1.01, Z:0.31 [[ 9.99465704e-01 -2.66334790e-02 -1.89463359e-02 3.58778640e+01] [ 2.66334847e-02 9.99645234e-01 -2.52071957e-04 1.00638881e+00] [ 1.89463279e-02 -2.52669670e-04 9.99820470e-01 3.11961829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.91, Y:1.01, Z:0.31 [[ 9.99441662e-01 -2.73119686e-02 -1.92463062e-02 3.59098348e+01] [ 2.73121265e-02 9.99626922e-01 -2.54697115e-04 1.00510105e+00] [ 1.92460821e-02 -2.71102642e-04 9.99814740e-01 3.11247174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.94, Y:1.00, Z:0.31 [[ 9.99369705e-01 -2.88740951e-02 -2.06513696e-02 3.59422865e+01] [ 2.88746419e-02 9.99583004e-01 -2.71764621e-04 1.00366414e+00] [ 2.06506050e-02 -3.24707573e-04 9.99786701e-01 3.10715924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.960385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.97, Y:1.00, Z:0.31 [[ 9.99315002e-01 -2.99459222e-02 -2.17432405e-02 3.59724592e+01] [ 2.99468090e-02 9.99551453e-01 -2.84895632e-04 1.00229168e+00] [ 2.17420191e-02 -3.66440193e-04 9.99763547e-01 3.10197906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.990385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.00, Y:1.00, Z:0.31 [[ 9.99208820e-01 -3.25489406e-02 -2.28538913e-02 3.60041339e+01] [ 3.25506133e-02 9.99470044e-01 -2.98907394e-04 1.00114997e+00] [ 2.28515089e-02 -4.45237276e-04 9.99738771e-01 3.10623103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.04, Y:1.00, Z:0.31 [[ 9.99160681e-01 -3.39979349e-02 -2.28489223e-02 3.60351226e+01] [ 3.40000036e-02 9.99421788e-01 -2.98054405e-04 1.00130390e+00] [ 2.28458440e-02 -4.79059196e-04 9.99738885e-01 3.11171376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.07, Y:1.00, Z:0.31 [[ 9.99136632e-01 -3.47534213e-02 -2.27637965e-02 3.60669432e+01] [ 3.47556947e-02 9.99395795e-01 -2.95880616e-04 1.00026234e+00] [ 2.27603253e-02 -4.95546397e-04 9.99740827e-01 3.12152670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.10, Y:1.00, Z:0.31 [[ 9.99144383e-01 -3.56488841e-02 -2.09680472e-02 3.60983680e+01] [ 3.56510368e-02 9.99364263e-01 -2.71254311e-04 9.98209343e-01] [ 2.09643870e-02 -4.76510402e-04 9.99780110e-01 3.13577440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.13, Y:1.00, Z:0.31 [[ 9.99150239e-01 -3.56451914e-02 -2.06935065e-02 3.61303975e+01] [ 3.56473113e-02 9.99364397e-01 -2.66540132e-04 9.98219426e-01] [ 2.06898546e-02 -4.71354233e-04 9.99785831e-01 3.13840514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.140385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.16, Y:1.00, Z:0.31 [[ 9.99144597e-01 -3.55822294e-02 -2.10708224e-02 3.61625415e+01] [ 3.55844442e-02 9.99366637e-01 -2.69933877e-04 9.98636534e-01] [ 2.10670818e-02 -4.80090531e-04 9.99777949e-01 3.14320962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.170385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.19, Y:1.00, Z:0.32 [[ 9.99161931e-01 -3.53242195e-02 -2.06793396e-02 3.61943536e+01] [ 3.53263265e-02 9.99375796e-01 -2.63517638e-04 9.99322187e-01] [ 2.06757400e-02 -4.67228309e-04 9.99786125e-01 3.15537060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.23, Y:1.00, Z:0.32 [[ 9.99185491e-01 -3.49193900e-02 -2.02235235e-02 3.62261277e+01] [ 3.49213500e-02 9.99390031e-01 -2.56334517e-04 1.00010256e+00] [ 2.02201388e-02 -4.50107014e-04 9.99795451e-01 3.16433739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.26, Y:1.00, Z:0.32 [[ 9.99280186e-01 -3.25183605e-02 -1.95362684e-02 3.62587538e+01] [ 3.25197589e-02 9.99471062e-01 -2.46187379e-04 1.00128042e+00] [ 1.95339405e-02 -3.89304569e-04 9.99809119e-01 3.18712314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.29, Y:1.00, Z:0.32 [[ 9.99345728e-01 -3.06342361e-02 -1.92265196e-02 3.62906101e+01] [ 3.06352750e-02 9.99530601e-01 -2.40568217e-04 1.00168316e+00] [ 1.92248644e-02 -3.48598896e-04 9.99815124e-01 3.19078238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.32, Y:1.00, Z:0.32 [[ 9.99412449e-01 -2.81354844e-02 -1.95742512e-02 3.63217234e+01] [ 2.81361058e-02 9.99604072e-01 -2.43707188e-04 1.00199312e+00] [ 1.95733580e-02 -3.07179204e-04 9.99808376e-01 3.19054921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.320385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.35, Y:1.00, Z:0.32 [[ 9.99454063e-01 -2.58895563e-02 -2.05257625e-02 3.63533852e+01] [ 2.58897810e-02 9.99664771e-01 -2.54829906e-04 1.00306420e+00] [ 2.05254791e-02 -2.76716712e-04 9.99789292e-01 3.19341363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.350385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.38, Y:1.01, Z:0.32 [[ 9.99551235e-01 -2.13521396e-02 -2.10098844e-02 3.63831758e+01] [ 2.13513819e-02 9.99771999e-01 -2.60410945e-04 1.00629385e+00] [ 2.10106544e-02 -1.88295982e-04 9.99779234e-01 3.19291022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.380385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.41, Y:1.01, Z:0.32 [[ 9.99604453e-01 -1.90337385e-02 -2.07039590e-02 3.64130213e+01] [ 1.90324963e-02 9.99818833e-01 -2.57057408e-04 1.00801022e+00] [ 2.07051009e-02 -1.37092294e-04 9.99785617e-01 3.20122964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.44, Y:1.01, Z:0.32 [[ 9.99676481e-01 -1.45154204e-02 -2.08862623e-02 3.64413978e+01] [ 1.45131313e-02 9.99894645e-01 -2.61178062e-04 1.00898403e+00] [ 2.08878530e-02 -4.20315029e-05 9.99781824e-01 3.19402473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.47, Y:1.01, Z:0.32 [[ 9.99681378e-01 -1.30535431e-02 -2.16043289e-02 3.64696133e+01] [ 1.30506344e-02 9.99914799e-01 -2.75627610e-04 1.00871026e+00] [ 2.16060861e-02 -6.41040995e-06 9.99766561e-01 3.19133562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.50, Y:1.01, Z:0.32 [[ 9.99676830e-01 -1.20792998e-02 -2.23679505e-02 3.64973329e+01] [ 1.20758268e-02 9.99927042e-01 -2.90338235e-04 1.00815257e+00] [ 2.23698257e-02 2.01329102e-05 9.99749764e-01 3.17807839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.52, Y:1.01, Z:0.32 [[ 9.99693240e-01 -1.03973254e-02 -2.24793407e-02 3.65249950e+01] [ 1.03933185e-02 9.99945944e-01 -2.95075227e-04 1.00857903e+00] [ 2.24811936e-02 6.13497608e-05 9.99747264e-01 3.21179294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.530385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.55, Y:1.01, Z:0.32 [[ 9.99721490e-01 -9.90274158e-03 -2.14214537e-02 3.65529774e+01] [ 9.89886868e-03 9.99950964e-01 -2.86826606e-04 1.01046879e+00] [ 2.14232436e-02 7.46985646e-05 9.99770493e-01 3.24921706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.560385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.58, Y:1.01, Z:0.33 [[ 9.99741327e-01 -9.51220324e-03 -2.06590813e-02 3.65808014e+01] [ 9.50840354e-03 9.99954754e-01 -2.82146374e-04 1.01166957e+00] [ 2.06608304e-02 8.56385085e-05 9.99786539e-01 3.27403732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.61, Y:1.01, Z:0.32 [[ 9.99729310e-01 -9.60846623e-03 -2.11892613e-02 3.66083068e+01] [ 9.60438786e-03 9.99953834e-01 -2.94233672e-04 1.00677372e+00] [ 2.11911102e-02 9.06441416e-05 9.99775439e-01 3.24306995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.64, Y:1.00, Z:0.32 [[ 9.99714195e-01 -1.03808147e-02 -2.15352337e-02 3.66352123e+01] [ 1.03767365e-02 9.99946115e-01 -3.01112110e-04 1.00325219e+00] [ 2.15371991e-02 7.75606041e-05 9.99768045e-01 3.22343838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.66, Y:1.00, Z:0.32 [[ 9.99677016e-01 -1.30357021e-02 -2.18159117e-02 3.66628833e+01] [ 1.30320695e-02 9.99915031e-01 -3.08680110e-04 9.99944919e-01] [ 2.18180819e-02 2.42739332e-05 9.99761957e-01 3.23556183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.69, Y:1.00, Z:0.33 [[ 9.99642927e-01 -1.48941878e-02 -2.21851872e-02 3.66907500e+01] [ 1.48907501e-02 9.99889075e-01 -3.20157344e-04 9.99747641e-01] [ 2.21874948e-02 -1.03110536e-05 9.99753827e-01 3.25125705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.710385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.72, Y:1.00, Z:0.33 [[ 9.99592876e-01 -1.69869479e-02 -2.29243448e-02 3.67185910e+01] [ 1.69836754e-02 9.99855710e-01 -3.37455951e-04 9.98815362e-01] [ 2.29267694e-02 -5.20210644e-05 9.99737146e-01 3.25800605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.740385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.75, Y:0.99, Z:0.33 [[ 9.99501347e-01 -2.17547747e-02 -2.28864125e-02 3.67474218e+01] [ 2.17526524e-02 9.99763325e-01 -3.41713518e-04 9.92355951e-01] [ 2.28884297e-02 -1.56297053e-04 9.99738013e-01 3.25586496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.78, Y:0.99, Z:0.32 [[ 9.99407548e-01 -2.54477085e-02 -2.31725596e-02 3.67760127e+01] [ 2.54464549e-02 9.99676126e-01 -3.49016226e-04 9.87634882e-01] [ 2.31739363e-02 -2.40850042e-04 9.99731419e-01 3.24865207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.81, Y:0.98, Z:0.32 [[ 9.99298231e-01 -2.91947420e-02 -2.34672616e-02 3.68061576e+01] [ 2.91943940e-02 9.99573689e-01 -3.57504325e-04 9.82905890e-01] [ 2.34676945e-02 -3.27859043e-04 9.99724542e-01 3.24316799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.84, Y:0.98, Z:0.32 [[ 9.99046132e-01 -3.72039881e-02 -2.28624068e-02 3.68353449e+01] [ 3.72057357e-02 9.99307566e-01 -3.49067217e-04 9.75120904e-01] [ 2.28595628e-02 -5.01878413e-04 9.99738560e-01 3.24867202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.87, Y:0.97, Z:0.33 [[ 9.98896823e-01 -4.11265083e-02 -2.26659930e-02 3.68670031e+01] [ 4.11292320e-02 9.99153775e-01 -3.46195674e-04 9.72891956e-01] [ 2.26610503e-02 -5.86421125e-04 9.99743033e-01 3.26008705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.890385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.90, Y:0.97, Z:0.33 [[ 9.98899680e-01 -4.10570510e-02 -2.26660130e-02 3.68987042e+01] [ 4.10597866e-02 9.99156632e-01 -3.44882322e-04 9.73317361e-01] [ 2.26610571e-02 -5.86158816e-04 9.99743033e-01 3.26489797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.920385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.93, Y:0.97, Z:0.33 [[ 9.98664128e-01 -4.64486539e-02 -2.26380636e-02 3.69292959e+01] [ 4.64527931e-02 9.98920427e-01 -3.43274520e-04 9.67297278e-01] [ 2.26295688e-02 -7.08785338e-04 9.99743667e-01 3.25851849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.96, Y:0.97, Z:0.33 [[ 9.98582517e-01 -4.80577195e-02 -2.28782230e-02 3.69615221e+01] [ 4.80623870e-02 9.98844276e-01 -3.46122386e-04 9.65732472e-01] [ 2.28684160e-02 -7.53950247e-04 9.99738199e-01 3.25031047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.99, Y:0.96, Z:0.33 [[ 9.98511427e-01 -4.92330688e-02 -2.34741526e-02 3.69939910e+01] [ 4.92383457e-02 9.98786994e-01 -3.53493630e-04 9.64370643e-01] [ 2.34630819e-02 -8.02861013e-04 9.99724382e-01 3.25179606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.03, Y:0.96, Z:0.33 [[ 9.98466114e-01 -5.00300675e-02 -2.37152325e-02 3.70261984e+01] [ 5.00357170e-02 9.98747366e-01 -3.55477107e-04 9.64201836e-01] [ 2.37033105e-02 -8.31676815e-04 9.99718691e-01 3.25780701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.06, Y:0.97, Z:0.33 [[ 9.98419702e-01 -5.13833904e-02 -2.27562176e-02 3.70585787e+01] [ 5.13889778e-02 9.98678656e-01 -3.39570947e-04 9.65660698e-01] [ 2.27435971e-02 -8.30384438e-04 9.99740986e-01 3.28924834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.070385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.09, Y:0.97, Z:0.33 [[ 9.98399361e-01 -5.23145937e-02 -2.14918442e-02 3.70910727e+01] [ 5.23198237e-02 9.98630329e-01 -3.19256024e-04 9.67385139e-01] [ 2.14791092e-02 -8.05704490e-04 9.99768973e-01 3.30215244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.100385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.12, Y:0.96, Z:0.33 [[ 9.98330659e-01 -5.36053110e-02 -2.15026735e-02 3.71223823e+01] [ 5.36108757e-02 9.98561852e-01 -3.17995073e-04 9.63201443e-01] [ 2.14887957e-02 -8.35312928e-04 9.99768740e-01 3.29210433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.130385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.15, Y:0.96, Z:0.33 [[ 9.98283830e-01 -5.41137378e-02 -2.23852136e-02 3.71549155e+01] [ 5.41199266e-02 9.98534388e-01 -3.29704149e-04 9.63171925e-01] [ 2.23702471e-02 -8.82347798e-04 9.99749365e-01 3.27958240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.19, Y:0.97, Z:0.33 [[ 9.98215126e-01 -5.44577235e-02 -2.45136509e-02 3.71869775e+01] [ 5.44652940e-02 9.98515600e-01 -3.59235320e-04 9.68350553e-01] [ 2.44968259e-02 -9.76549071e-04 9.99699431e-01 3.28714557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.22, Y:0.96, Z:0.33 [[ 9.98235711e-01 -5.43937321e-02 -2.38073133e-02 3.72182826e+01] [ 5.44008899e-02 9.98519115e-01 -3.47383186e-04 9.64133954e-01] [ 2.37909529e-02 -9.48368730e-04 9.99716505e-01 3.28778137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.25, Y:0.97, Z:0.33 [[ 9.98285186e-01 -5.38704803e-02 -2.29054409e-02 3.72505813e+01] [ 5.38769984e-02 9.98547524e-01 -3.32908967e-04 9.72010512e-01] [ 2.28901052e-02 -9.01738310e-04 9.99737581e-01 3.32052953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.28, Y:0.97, Z:0.33 [[ 9.98415874e-01 -5.18926065e-02 -2.17462428e-02 3.72824775e+01] [ 5.18980447e-02 9.98652339e-01 -3.14590530e-04 9.72531937e-01] [ 2.17332612e-02 -8.14495304e-04 9.99763473e-01 3.32062993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.280385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.31, Y:0.97, Z:0.33 [[ 9.98488726e-01 -5.03393481e-02 -2.20502513e-02 3.73133004e+01] [ 5.03446036e-02 9.98731856e-01 -3.17068239e-04 9.72806547e-01] [ 2.20382494e-02 -7.93522097e-04 9.99756813e-01 3.32340659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.310385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.35, Y:0.98, Z:0.33 [[ 9.98544592e-01 -4.89422529e-02 -2.26572990e-02 3.73457538e+01] [ 4.89474982e-02 9.98801300e-01 -3.23352333e-04 9.77884787e-01] [ 2.26459653e-02 -7.86136380e-04 9.99743238e-01 3.34428249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.38, Y:0.99, Z:0.34 [[ 9.98661373e-01 -4.62161130e-02 -2.32278391e-02 3.73767855e+01] [ 4.62209214e-02 9.98931188e-01 -3.30112494e-04 9.87192170e-01] [ 2.32182694e-02 -7.43941529e-04 9.99730143e-01 3.38047396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.41, Y:0.99, Z:0.34 [[ 9.98745032e-01 -4.43793494e-02 -2.32128256e-02 3.74086139e+01] [ 4.43836816e-02 9.99014505e-01 -3.28795264e-04 9.89976953e-01] [ 2.32045412e-02 -7.01888024e-04 9.99730492e-01 3.38188274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.44, Y:0.99, Z:0.34 [[ 9.98944795e-01 -3.97145157e-02 -2.30663017e-02 3.74401666e+01] [ 3.97175816e-02 9.99210893e-01 -3.25381255e-04 9.91804523e-01] [ 2.30610222e-02 -5.91099807e-04 9.99733885e-01 3.35381003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.47, Y:0.99, Z:0.33 [[ 9.99042367e-01 -3.70367106e-02 -2.32944462e-02 3.74720033e+01] [ 3.70391323e-02 9.99313762e-01 -3.27638598e-04 9.92472101e-01] [ 2.32905953e-02 -5.35481235e-04 9.99728594e-01 3.34401170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.460385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.50, Y:1.00, Z:0.33 [[ 9.99131684e-01 -3.47283573e-02 -2.30178024e-02 3.75037764e+01] [ 3.47301371e-02 9.99396675e-01 -3.22553460e-04 9.95419671e-01] [ 2.30151170e-02 -4.77138053e-04 9.99735003e-01 3.34824323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.490385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.54, Y:1.01, Z:0.34 [[ 9.99249112e-01 -3.14826875e-02 -2.25843231e-02 3.75354869e+01] [ 3.14835986e-02 9.99504219e-01 -3.15305275e-04 1.00512111e+00] [ 2.25830529e-02 -3.95967249e-04 9.99744892e-01 3.39425659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.57, Y:1.01, Z:0.34 [[ 9.99310495e-01 -2.99572359e-02 -2.19339619e-02 3.75665688e+01] [ 2.99577502e-02 9.99551119e-01 -3.05213257e-04 1.01066116e+00] [ 2.19332595e-02 -3.52089339e-04 9.99759375e-01 3.43409052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.60, Y:1.02, Z:0.34 [[ 9.99415277e-01 -2.76208920e-02 -2.01541724e-02 3.75974410e+01] [ 2.76208643e-02 9.99618432e-01 -2.79790807e-04 1.01513237e+00] [ 2.01542103e-02 -2.77048454e-04 9.99796845e-01 3.44867553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.63, Y:1.01, Z:0.34 [[ 9.99439620e-01 -2.71489003e-02 -1.95801625e-02 3.76279582e+01] [ 2.71487951e-02 9.99631367e-01 -2.71236905e-04 1.01341788e+00] [ 1.95803084e-02 -2.60492909e-04 9.99808253e-01 3.43055761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.66, Y:1.01, Z:0.34 [[ 9.99456060e-01 -2.65689168e-02 -1.95365492e-02 3.76592316e+01] [ 2.65687093e-02 9.99646953e-01 -2.70223544e-04 1.01225136e+00] [ 1.95368314e-02 -2.48984337e-04 9.99809107e-01 3.40736029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.640385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.69, Y:1.01, Z:0.34 [[ 9.99450262e-01 -2.68392617e-02 -1.94634834e-02 3.76892845e+01] [ 2.68391185e-02 9.99639730e-01 -2.68621564e-04 1.01240416e+00] [ 1.94636809e-02 -2.53908844e-04 9.99810532e-01 3.40604486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.670385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.72, Y:1.02, Z:0.34 [[ 9.99434718e-01 -2.70639719e-02 -1.99445825e-02 3.77209294e+01] [ 2.70638748e-02 9.99633668e-01 -2.74836969e-04 1.02012196e+00] [ 1.99447144e-02 -2.65096076e-04 9.99801049e-01 3.44259776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.75, Y:1.03, Z:0.35 [[ 9.99428099e-01 -2.72385594e-02 -2.00383577e-02 3.77521008e+01] [ 2.72385100e-02 9.99628925e-01 -2.75450471e-04 1.02525942e+00] [ 2.00384248e-02 -2.70522064e-04 9.99799174e-01 3.47050821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.78, Y:1.03, Z:0.35 [[ 9.99349433e-01 -2.95798671e-02 -2.06335324e-02 3.77829711e+01] [ 2.95803305e-02 9.99562366e-01 -2.82815120e-04 1.02697304e+00] [ 2.06328681e-02 -3.27715578e-04 9.99787066e-01 3.47010590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.81, Y:1.03, Z:0.35 [[ 9.99261965e-01 -3.17661942e-02 -2.15970698e-02 3.78144050e+01] [ 3.17672346e-02 9.99495251e-01 -2.94988372e-04 1.02580505e+00] [ 2.15955394e-02 -3.91308524e-04 9.99766713e-01 3.45294893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.85, Y:1.02, Z:0.34 [[ 9.99141390e-01 -3.46511384e-02 -2.27108096e-02 3.78459422e+01] [ 3.46530520e-02 9.99399355e-01 -3.09403318e-04 1.02463820e+00] [ 2.27078896e-02 -4.77861204e-04 9.99742028e-01 3.44100141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.820385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.88, Y:1.03, Z:0.34 [[ 9.98856750e-01 -4.17579193e-02 -2.32694983e-02 3.78774881e+01] [ 4.17618737e-02 9.99127542e-01 -3.16199766e-04 1.02504533e+00] [ 2.32624005e-02 -6.55939579e-04 9.99729179e-01 3.44020568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.850385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.91, Y:1.02, Z:0.34 [[ 9.98704829e-01 -4.52830113e-02 -2.31972910e-02 3.79082653e+01] [ 4.52879098e-02 9.98973927e-01 -3.14409848e-04 1.02436441e+00] [ 2.31877263e-02 -7.36554189e-04 9.99730857e-01 3.44935176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.880385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.94, Y:1.03, Z:0.35 [[ 9.98576094e-01 -4.83070353e-02 -2.26321789e-02 3.79402291e+01] [ 4.83124969e-02 9.98832223e-01 -3.05717268e-04 1.02507704e+00] [ 2.26205179e-02 -7.88135117e-04 9.99743813e-01 3.46021868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.97, Y:1.02, Z:0.35 [[ 9.98462639e-01 -5.11255380e-02 -2.14135088e-02 3.79707753e+01] [ 5.11311000e-02 9.98691908e-01 -2.88046419e-04 1.02359186e+00] [ 2.14002245e-02 -8.07292673e-04 9.99770663e-01 3.47685901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.00, Y:1.03, Z:0.35 [[ 9.98550200e-01 -4.92320057e-02 -2.17648072e-02 3.80031310e+01] [ 4.92373241e-02 9.98787065e-01 -2.91782363e-04 1.02911296e+00] [ 2.17527729e-02 -7.80281526e-04 9.99763076e-01 3.48066835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.03, Y:1.03, Z:0.35 [[ 9.98746843e-01 -4.56770927e-02 -2.04535200e-02 3.80347994e+01] [ 4.56810729e-02 9.98956038e-01 -2.72823171e-04 1.03324576e+00] [ 2.04446291e-02 -6.61857458e-04 9.99790768e-01 3.48949723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.07, Y:1.04, Z:0.35 [[ 9.98857865e-01 -4.38450826e-02 -1.89887785e-02 3.80665900e+01] [ 4.38482070e-02 9.99038173e-01 -2.51980110e-04 1.03546308e+00] [ 1.89815627e-02 -5.80931576e-04 9.99819665e-01 3.50701097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.030385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.10, Y:1.04, Z:0.35 [[ 9.98976174e-01 -4.13706624e-02 -1.83049788e-02 3.80973968e+01] [ 4.13731771e-02 9.99143734e-01 -2.41463565e-04 1.03849357e+00] [ 1.82992944e-02 -5.16118783e-04 9.99832421e-01 3.52218186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.060385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.13, Y:1.04, Z:0.35 [[ 9.99114614e-01 -3.76065808e-02 -1.88609090e-02 3.81290960e+01] [ 3.76086245e-02 9.99292515e-01 -2.46454609e-04 1.04480981e+00] [ 1.88568335e-02 -4.63096445e-04 9.99822087e-01 3.52599473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.16, Y:1.05, Z:0.35 [[ 9.99151994e-01 -3.64648740e-02 -1.91208101e-02 3.81614734e+01] [ 3.64667862e-02 9.99334835e-01 -2.48771793e-04 1.04650445e+00] [ 1.91171630e-02 -4.48713659e-04 9.99817150e-01 3.51659742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.19, Y:1.04, Z:0.35 [[ 9.99146970e-01 -3.67544628e-02 -1.88266479e-02 3.81926271e+01] [ 3.67563913e-02 9.99324226e-01 -2.43703108e-04 1.04378451e+00] [ 1.88228826e-02 -4.48504417e-04 9.99822733e-01 3.50172784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.22, Y:1.04, Z:0.35 [[ 9.99132340e-01 -3.69325547e-02 -1.92497852e-02 3.82246237e+01] [ 3.69346250e-02 9.99317653e-01 -2.48084123e-04 1.04482487e+00] [ 1.92458126e-02 -4.63114730e-04 9.99814675e-01 3.51061154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.26, Y:1.05, Z:0.35 [[ 9.99114390e-01 -3.70342623e-02 -1.99724686e-02 3.82565307e+01] [ 3.70365400e-02 9.99313879e-01 -2.55962255e-04 1.04650963e+00] [ 1.99682445e-02 -4.83975562e-04 9.99800498e-01 3.51845280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.210385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.29, Y:1.05, Z:0.35 [[ 9.99077779e-01 -3.62295134e-02 -2.30437460e-02 3.82874628e+01] [ 3.62323698e-02 9.99343349e-01 -2.93692768e-04 1.04817145e+00] [ 2.30392546e-02 -5.41507607e-04 9.99734414e-01 3.50045709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.240385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.32, Y:1.05, Z:0.35 [[ 9.99057904e-01 -3.61311066e-02 -2.40384482e-02 3.83200875e+01] [ 3.61342209e-02 9.99346899e-01 -3.04943286e-04 1.04794121e+00] [ 2.40337666e-02 -5.63954597e-04 9.99710988e-01 3.49028909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.35, Y:1.05, Z:0.35 [[ 9.99042618e-01 -3.57468950e-02 -2.52191637e-02 3.83513088e+01] [ 3.57502411e-02 9.99360705e-01 -3.18318049e-04 1.04634414e+00] [ 2.52144201e-02 -5.83577884e-04 9.99681896e-01 3.47155199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.38, Y:1.05, Z:0.35 [[ 9.99050251e-01 -3.53142785e-02 -2.55244353e-02 3.83824396e+01] [ 3.53175983e-02 9.99376088e-01 -3.20866250e-04 1.04734504e+00] [ 2.55198414e-02 -5.80900245e-04 9.99674147e-01 3.47550115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.41, Y:1.05, Z:0.35 [[ 9.99067158e-01 -3.47136436e-02 -2.56861123e-02 3.84141540e+01] [ 3.47168452e-02 9.99397137e-01 -3.21426943e-04 1.04937579e+00] [ 2.56817850e-02 -5.70613682e-04 9.99670006e-01 3.48704403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.44, Y:1.05, Z:0.35 [[ 9.99141119e-01 -3.34397231e-02 -2.44705985e-02 3.84440218e+01] [ 3.34422741e-02 9.99440604e-01 -3.05098476e-04 1.05167491e+00] [ 2.44671122e-02 -5.13516029e-04 9.99700504e-01 3.51349828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.390385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.48, Y:1.05, Z:0.35 [[ 9.99159137e-01 -3.32224885e-02 -2.40267810e-02 3.84757202e+01] [ 3.32248978e-02 9.99447856e-01 -2.99029434e-04 1.05198899e+00] [ 2.40234493e-02 -4.99509352e-04 9.99711271e-01 3.52014724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.420385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.51, Y:1.05, Z:0.35 [[ 9.99169850e-01 -3.32923213e-02 -2.34783459e-02 3.85079417e+01] [ 3.32946656e-02 9.99445537e-01 -2.91155064e-04 1.05224622e+00] [ 2.34750213e-02 -4.90790315e-04 9.99724303e-01 3.52968104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.54, Y:1.05, Z:0.35 [[ 9.99182823e-01 -3.33153707e-02 -2.28860870e-02 3.85399344e+01] [ 3.33176395e-02 9.99444773e-01 -2.82271181e-04 1.05278105e+00] [ 2.28827840e-02 -4.80469882e-04 9.99738039e-01 3.53866468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.57, Y:1.05, Z:0.36 [[ 9.99205116e-01 -3.35481442e-02 -2.15327410e-02 3.85719986e+01] [ 3.35502373e-02 9.99436997e-01 -2.64148727e-04 1.05219467e+00] [ 2.15294797e-02 -4.58489810e-04 9.99768109e-01 3.55566894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.60, Y:1.05, Z:0.36 [[ 9.99209747e-01 -3.39445407e-02 -2.06797005e-02 3.86040753e+01] [ 3.39465848e-02 9.99423617e-01 -2.52286512e-04 1.05404322e+00] [ 2.06763448e-02 -4.49918065e-04 9.99786120e-01 3.58340544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.64, Y:1.05, Z:0.36 [[ 9.99202729e-01 -3.45192469e-02 -2.00581360e-02 3.86361099e+01] [ 3.45213134e-02 9.99403932e-01 -2.43317540e-04 1.05481002e+00] [ 2.00545791e-02 -4.49309650e-04 9.99798786e-01 3.60532354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.570385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.67, Y:1.05, Z:0.36 [[ 9.99157557e-01 -3.62003791e-02 -1.93315317e-02 3.86682624e+01] [ 3.62026388e-02 9.99344442e-01 -2.33166712e-04 1.05192206e+00] [ 1.93272995e-02 -4.66882178e-04 9.99813101e-01 3.60677703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.600385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.70, Y:1.05, Z:0.36 [[ 9.99122028e-01 -3.73101710e-02 -1.90558115e-02 3.87009510e+01] [ 3.73125940e-02 9.99303617e-01 -2.28498000e-04 1.04960447e+00] [ 1.90510666e-02 -4.82724372e-04 9.99818395e-01 3.60316736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.630385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.73, Y:1.05, Z:0.36 [[ 9.99040082e-01 -3.93160684e-02 -1.93173959e-02 3.87318357e+01] [ 3.93189584e-02 9.99226684e-01 -2.30325757e-04 1.04627001e+00] [ 1.93115130e-02 -5.29435223e-04 9.99813375e-01 3.60479251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.76, Y:1.05, Z:0.36 [[ 9.99001606e-01 -3.99301107e-02 -2.00344060e-02 3.87636168e+01] [ 3.99333661e-02 9.99202317e-01 -2.37704001e-04 1.04594258e+00] [ 2.00279165e-02 -5.62574592e-04 9.99799263e-01 3.60490480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.80, Y:1.05, Z:0.36 [[ 9.98949272e-01 -4.08236834e-02 -2.08273417e-02 3.87954304e+01] [ 4.08274267e-02 9.99166183e-01 -2.45626578e-04 1.04553734e+00] [ 2.08200029e-02 -6.04958274e-04 9.99783057e-01 3.60436500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.83, Y:1.04, Z:0.36 [[ 9.98892963e-01 -4.22893346e-02 -2.06024424e-02 3.88275585e+01] [ 4.22933380e-02 9.99105207e-01 -2.41559470e-04 1.04401690e+00] [ 2.05942229e-02 -6.30054005e-04 9.99787718e-01 3.60420827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.86, Y:1.04, Z:0.36 [[ 9.98888371e-01 -4.26065772e-02 -2.01668722e-02 3.88596970e+01] [ 4.26105052e-02 9.99091732e-01 -2.35081758e-04 1.04354428e+00] [ 2.01585713e-02 -6.24500177e-04 9.99796600e-01 3.61713803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.780385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.89, Y:1.04, Z:0.36 [[ 9.98913454e-01 -4.22003766e-02 -1.97747436e-02 3.88923104e+01] [ 4.22041004e-02 9.99108984e-01 -2.29163479e-04 1.04370591e+00] [ 1.97667948e-02 -6.05660784e-04 9.99804434e-01 3.63189202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.810385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.92, Y:1.04, Z:0.36 [[ 9.98917859e-01 -4.20959553e-02 -1.97747613e-02 3.89248704e+01] [ 4.20996890e-02 9.99113389e-01 -2.27628472e-04 1.04399473e+00] [ 1.97668110e-02 -6.05129156e-04 9.99804434e-01 3.63683167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.96, Y:1.04, Z:0.36 [[ 9.98903009e-01 -4.20896738e-02 -2.05240719e-02 3.89563172e+01] [ 4.20937342e-02 9.99113638e-01 -2.34330092e-04 1.04292628e+00] [ 2.05157430e-02 -6.29861793e-04 9.99789332e-01 3.63624223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.99, Y:1.04, Z:0.36 [[ 9.98885455e-01 -4.19006203e-02 -2.17298529e-02 3.89891435e+01] [ 4.19051603e-02 9.99121563e-01 -2.46579101e-04 1.04365345e+00] [ 2.17210964e-02 -6.64288691e-04 9.99763848e-01 3.63522414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.02, Y:1.04, Z:0.36 [[ 9.98852794e-01 -4.23602645e-02 -2.23316581e-02 3.90212593e+01] [ 4.23652219e-02 9.99102159e-01 -2.51279152e-04 1.04279916e+00] [ 2.23222521e-02 -6.95094767e-04 9.99750586e-01 3.63459885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.05, Y:1.04, Z:0.36 [[ 9.98871916e-01 -4.23089306e-02 -2.15603553e-02 3.90534101e+01] [ 4.23135707e-02 9.99104351e-01 -2.41145140e-04 1.04318756e+00] [ 2.15512474e-02 -6.71422509e-04 9.99767519e-01 3.64286044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.960385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.09, Y:1.04, Z:0.37 [[ 9.98896789e-01 -4.17809197e-02 -2.14373609e-02 3.90857075e+01] [ 4.17854170e-02 9.99126580e-01 -2.38301321e-04 1.04430459e+00] [ 2.14285935e-02 -6.57730640e-04 9.99770165e-01 3.65058582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.990385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.12, Y:1.04, Z:0.37 [[ 9.98904205e-01 -4.16754544e-02 -2.12966358e-02 3.91189906e+01] [ 4.16799047e-02 9.99130988e-01 -2.35055651e-04 1.04497748e+00] [ 2.12879248e-02 -6.52843674e-04 9.99773173e-01 3.65156697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.15, Y:1.04, Z:0.37 [[ 9.98910670e-01 -4.17564384e-02 -2.08296450e-02 3.91509605e+01] [ 4.17607561e-02 9.99127613e-01 -2.27841096e-04 1.04292788e+00] [ 2.08209873e-02 -6.42268820e-04 9.99783013e-01 3.65008697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.18, Y:1.04, Z:0.37 [[ 9.98908005e-01 -4.19219770e-02 -2.06239239e-02 3.91827133e+01] [ 4.19262797e-02 9.99120682e-01 -2.23903287e-04 1.04265895e+00] [ 2.06151754e-02 -6.41025617e-04 9.99787279e-01 3.66220845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.22, Y:1.04, Z:0.37 [[ 9.98883650e-01 -4.21387789e-02 -2.13489472e-02 3.92153211e+01] [ 4.21434713e-02 9.99111543e-01 -2.30271200e-04 1.04408717e+00] [ 2.13396830e-02 -6.69704608e-04 9.99772059e-01 3.67005858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.25, Y:1.05, Z:0.37 [[ 9.98869442e-01 -4.06635947e-02 -2.46233749e-02 3.92475026e+01] [ 4.06694361e-02 9.99172621e-01 -2.63714349e-04 1.04940038e+00] [ 2.46137257e-02 -7.38002570e-04 9.99696764e-01 3.66906051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.140385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.28, Y:1.05, Z:0.37 [[ 9.98874002e-01 -4.06547600e-02 -2.44523842e-02 3.92786751e+01] [ 4.06605708e-02 9.99172983e-01 -2.59718820e-04 1.04809030e+00] [ 2.44427205e-02 -7.34821524e-04 9.99700962e-01 3.66003501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.170385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.31, Y:1.04, Z:0.36 [[ 9.98883295e-01 -4.03950665e-02 -2.45030982e-02 3.93100703e+01] [ 4.04008792e-02 9.99183518e-01 -2.57982602e-04 1.04407775e+00] [ 2.44935131e-02 -7.32252200e-04 9.99699721e-01 3.64426180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.34, Y:1.05, Z:0.37 [[ 9.98926934e-01 -3.98389863e-02 -2.36185607e-02 3.93418664e+01] [ 3.98442632e-02 9.99205871e-01 -2.47320437e-04 1.04642293e+00] [ 2.36096575e-02 -6.94009101e-04 9.99721012e-01 3.66113274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.37, Y:1.05, Z:0.37 [[ 9.98978099e-01 -3.93707566e-02 -2.21968575e-02 3.93743520e+01] [ 3.93753349e-02 9.99224464e-01 -2.30929028e-04 1.04756773e+00] [ 2.21887349e-02 -6.43315657e-04 9.99753593e-01 3.67735920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.41, Y:1.05, Z:0.37 [[ 9.99077352e-01 -3.81064576e-02 -1.98076526e-02 3.94054981e+01] [ 3.81098788e-02 9.99273534e-01 -2.04857540e-04 1.04634126e+00] [ 1.98010694e-02 -5.50198711e-04 9.99803788e-01 3.70501467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.44, Y:1.05, Z:0.37 [[ 9.99123629e-01 -3.71664710e-02 -1.92516921e-02 3.94376285e+01] [ 3.71695490e-02 9.99308954e-01 -1.98036963e-04 1.04805296e+00] [ 1.92457486e-02 -5.17713304e-04 9.99814649e-01 3.72139771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.320385722999994 meters Centerline goodness [0,1] 0.9999554912651608 Centerline is valid? [True, True] Translation: X:39.47, Y:1.05, Z:0.37 [[ 9.99148991e-01 -3.64901275e-02 -1.92292552e-02 3.94699038e+01] [ 3.64930990e-02 9.99333886e-01 -1.96464800e-04 1.04948977e+00] [ 1.92236153e-02 -5.05437506e-04 9.99815081e-01 3.73257453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.350385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.50, Y:1.05, Z:0.37 [[ 9.99150323e-01 -3.61937108e-02 -1.97141531e-02 3.95021097e+01] [ 3.61968042e-02 9.99344661e-01 -2.00010112e-04 1.05110499e+00] [ 1.97084728e-02 -5.13749174e-04 9.99805637e-01 3.73748800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.380385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.53, Y:1.05, Z:0.37 [[ 9.99128670e-01 -3.66886501e-02 -1.98958098e-02 3.95336833e+01] [ 3.66919255e-02 9.99326604e-01 -2.00512121e-04 1.04986520e+00] [ 1.98897686e-02 -5.29678163e-04 9.99802039e-01 3.73511271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.56, Y:1.05, Z:0.37 [[ 9.99053563e-01 -3.79820192e-02 -2.11977407e-02 3.95647941e+01] [ 3.79860533e-02 9.99278247e-01 -2.12460927e-04 1.04718799e+00] [ 2.11905108e-02 -5.92958661e-04 9.99775280e-01 3.72622992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.60, Y:1.05, Z:0.37 [[ 9.99039530e-01 -3.83345893e-02 -2.12244371e-02 3.95966710e+01] [ 3.83387386e-02 9.99264778e-01 -2.11525035e-04 1.04742509e+00] [ 2.12169411e-02 -6.02396272e-04 9.99774714e-01 3.72613191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.63, Y:1.05, Z:0.37 [[ 9.99041874e-01 -3.81987380e-02 -2.13585957e-02 3.96290286e+01] [ 3.82029404e-02 9.99269979e-01 -2.11387287e-04 1.04647744e+00] [ 2.13510782e-02 -6.04776408e-04 9.99771857e-01 3.72713519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.66, Y:1.05, Z:0.37 [[ 9.99148386e-01 -3.63252629e-02 -1.95698247e-02 3.96615086e+01] [ 3.63284561e-02 9.99339885e-01 -1.92427085e-04 1.04629819e+00] [ 1.95638963e-02 -5.18678305e-04 9.99808474e-01 3.73734228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.530385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.69, Y:1.05, Z:0.38 [[ 9.99305555e-01 -3.29696700e-02 -1.73611198e-02 3.96934146e+01] [ 3.29716950e-02 9.99456271e-01 -1.69660898e-04 1.04926872e+00] [ 1.73572737e-02 -4.02882467e-04 9.99849270e-01 3.76561639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.560385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.73, Y:1.05, Z:0.38 [[ 9.99378138e-01 -3.09001804e-02 -1.69857724e-02 3.97250750e+01] [ 3.09018354e-02 9.99522411e-01 -1.65087802e-04 1.05114424e+00] [ 1.69827615e-02 -3.59906403e-04 9.99855718e-01 3.78627866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.76, Y:1.05, Z:0.38 [[ 9.99444933e-01 -2.86922279e-02 -1.69287066e-02 3.97571959e+01] [ 2.86935749e-02 9.99588241e-01 -1.63361716e-04 1.05442238e+00] [ 1.69264233e-02 -3.22474072e-04 9.99856686e-01 3.79551846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.79, Y:1.06, Z:0.38 [[ 9.99542263e-01 -2.48917608e-02 -1.71948890e-02 3.97887857e+01] [ 2.48926080e-02 9.99690117e-01 -1.64787104e-04 1.05923412e+00] [ 1.71936625e-02 -2.63313957e-04 9.99852143e-01 3.80822849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.82, Y:1.06, Z:0.38 [[ 9.99567730e-01 -2.37190486e-02 -1.73712290e-02 3.98203937e+01] [ 2.37197478e-02 9.99718633e-01 -1.65814886e-04 1.05920159e+00] [ 1.73702742e-02 -2.46297961e-04 9.99849095e-01 3.80249685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.85, Y:1.06, Z:0.38 [[ 9.99607786e-01 -2.22666402e-02 -1.69844183e-02 3.98520353e+01] [ 2.22671133e-02 9.99752044e-01 -1.61274962e-04 1.05618685e+00] [ 1.69837980e-02 -2.16982261e-04 9.99855741e-01 3.79120883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.710385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.88, Y:1.05, Z:0.38 [[ 9.99633662e-01 -2.15913911e-02 -1.63203436e-02 3.98821427e+01] [ 2.15917465e-02 9.99766859e-01 -1.54443467e-04 1.05471871e+00] [ 1.63198733e-02 -1.97997834e-04 9.99866802e-01 3.79697724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.740385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.91, Y:1.06, Z:0.38 [[ 9.99657166e-01 -2.11450803e-02 -1.54413836e-02 3.99135527e+01] [ 2.11453492e-02 9.99776401e-01 -1.45868638e-04 1.05556813e+00] [ 1.54410153e-02 -1.80694819e-04 9.99880764e-01 3.81632074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.95, Y:1.06, Z:0.38 [[ 9.99671625e-01 -2.10304829e-02 -1.46410438e-02 3.99451959e+01] [ 2.10307191e-02 9.99778820e-01 -1.37848303e-04 1.05757305e+00] [ 1.46407046e-02 -1.70108643e-04 9.99892805e-01 3.84889480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.98, Y:1.06, Z:0.39 [[ 9.99649413e-01 -2.15850402e-02 -1.53341744e-02 3.99764557e+01] [ 2.15853819e-02 9.99766998e-01 -1.43239799e-04 1.05741076e+00] [ 1.53336933e-02 -1.87804430e-04 9.99882414e-01 3.85114022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.01, Y:1.06, Z:0.38 [[ 9.99622080e-01 -2.27408682e-02 -1.54450624e-02 4.00074972e+01] [ 2.27413658e-02 9.99741371e-01 -1.43439049e-04 1.05512246e+00] [ 1.54443298e-02 -2.07856973e-04 9.99880708e-01 3.84250486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.04, Y:1.05, Z:0.38 [[ 9.99604505e-01 -2.38291090e-02 -1.49334392e-02 4.00397491e+01] [ 2.38297199e-02 9.99716023e-01 -1.37057028e-04 1.05401590e+00] [ 1.49324644e-02 -2.18856850e-04 9.99888481e-01 3.84636672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.890385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.07, Y:1.05, Z:0.39 [[ 9.99579364e-01 -2.51580470e-02 -1.44280497e-02 4.00712459e+01] [ 2.51587690e-02 9.99683459e-01 -1.31490127e-04 1.05271654e+00] [ 1.44267907e-02 -2.31557152e-04 9.99895902e-01 3.85089119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.920385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.10, Y:1.05, Z:0.38 [[ 9.99462160e-01 -2.89442300e-02 -1.54149890e-02 4.01033404e+01] [ 2.89455320e-02 9.99580981e-01 -1.38687913e-04 1.05049810e+00] [ 1.54125440e-02 -3.07581735e-04 9.99881172e-01 3.84514060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.14, Y:1.05, Z:0.38 [[ 9.99384008e-01 -3.12673043e-02 -1.59361192e-02 4.01353351e+01] [ 3.12690089e-02 9.99510995e-01 -1.42253807e-04 1.04923065e+00] [ 1.59327743e-02 -3.56140475e-04 9.99873002e-01 3.84049613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.17, Y:1.05, Z:0.38 [[ 9.99216609e-01 -3.60473332e-02 -1.63327514e-02 4.01666917e+01] [ 3.60497799e-02 9.99349985e-01 -1.44682935e-04 1.04608058e+00] [ 1.63273503e-02 -4.44222501e-04 9.99866601e-01 3.82732057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.20, Y:1.04, Z:0.38 [[ 9.99129267e-01 -3.81960936e-02 -1.67859007e-02 4.01973859e+01] [ 3.81989911e-02 9.99270141e-01 -1.48096796e-04 1.04298890e+00] [ 1.67793061e-02 -4.93236628e-04 9.99859096e-01 3.82593254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.23, Y:1.04, Z:0.38 [[ 9.99051799e-01 -3.99465939e-02 -1.73139250e-02 4.02293059e+01] [ 3.99499512e-02 9.99201670e-01 -1.52058990e-04 1.04423462e+00] [ 1.73061770e-02 -5.39775652e-04 9.99850091e-01 3.83170353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.070385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.26, Y:1.05, Z:0.38 [[ 9.98971943e-01 -4.22052789e-02 -1.65460307e-02 4.02600263e+01] [ 4.22086739e-02 9.99108806e-01 -1.44137748e-04 1.04544609e+00] [ 1.65373684e-02 -5.54396448e-04 9.99863095e-01 3.84897250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.100385722999995 meters Centerline goodness [0,1] 0.9999778014562245 Centerline is valid? [True, True] Translation: X:40.29, Y:1.04, Z:0.39 [[ 9.98880991e-01 -4.50796106e-02 -1.43036499e-02 4.02922681e+01] [ 4.50824637e-02 9.98983261e-01 -1.23073020e-04 1.04469275e+00] [ 1.42946549e-02 -5.21908475e-04 9.99897690e-01 3.86511252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.130385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.32, Y:1.04, Z:0.39 [[ 9.98839645e-01 -4.64796556e-02 -1.26097342e-02 4.03245530e+01] [ 4.64819937e-02 9.98919122e-01 -1.07755887e-04 1.04404168e+00] [ 1.26011131e-02 -4.78494734e-04 9.99920488e-01 3.86820352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.36, Y:1.04, Z:0.39 [[ 9.98805461e-01 -4.73904653e-02 -1.19077389e-02 4.03559558e+01] [ 4.73926247e-02 9.98876333e-01 -1.00925005e-04 1.04239825e+00] [ 1.18991415e-02 -4.63534556e-04 9.99929095e-01 3.87287485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.190385723 meters Centerline goodness [0,1] 0.9999557090973514 Centerline is valid? [True, True] Translation: X:40.39, Y:1.04, Z:0.39 [[ 9.98852358e-01 -4.65270008e-02 -1.13668605e-02 4.03882598e+01] [ 4.65289182e-02 9.98916939e-01 -9.58474937e-05 1.04271157e+00] [ 1.13590090e-02 -4.33150228e-04 9.99935391e-01 3.87428058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.42, Y:1.04, Z:0.39 [[ 9.98883178e-01 -4.59602644e-02 -1.09568092e-02 4.04204637e+01] [ 4.59620199e-02 9.98943184e-01 -9.16619742e-05 1.04409894e+00] [ 1.09494427e-02 -4.12037480e-04 9.99939968e-01 3.88139384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.250385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.45, Y:1.05, Z:0.39 [[ 9.98891724e-01 -4.57292583e-02 -1.11426217e-02 4.04526881e+01] [ 4.57310683e-02 9.98953783e-01 -9.24242738e-05 1.04706346e+00] [ 1.11351906e-02 -4.17242153e-04 9.99937915e-01 3.89507454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.280385722999995 meters Centerline goodness [0,1] 0.9999556157209116 Centerline is valid? [True, True] Translation: X:40.48, Y:1.05, Z:0.39 [[ 9.98833358e-01 -4.65413022e-02 -1.28775362e-02 4.04841377e+01] [ 4.65438018e-02 9.98916244e-01 -1.05688784e-04 1.04681304e+00] [ 1.28684990e-02 -4.93804009e-04 9.99917076e-01 3.89239821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.310385722999996 meters Centerline goodness [0,1] 0.9999777649308489 Centerline is valid? [True, True] Translation: X:40.52, Y:1.05, Z:0.39 [[ 9.98784165e-01 -4.72310707e-02 -1.41215026e-02 4.05164490e+01] [ 4.72341568e-02 9.98883838e-01 -1.15090763e-04 1.04508471e+00] [ 1.41111766e-02 -5.52066438e-04 9.99900280e-01 3.87796940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.55, Y:1.04, Z:0.39 [[ 9.98735007e-01 -4.78271323e-02 -1.55225746e-02 4.05489496e+01] [ 4.78309516e-02 9.98855437e-01 -1.25324594e-04 1.04356790e+00] [ 1.55108020e-02 -6.17293456e-04 9.99879510e-01 3.86132232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.370385723 meters Centerline goodness [0,1] 0.9999555999555999 Centerline is valid? [True, True] Translation: X:40.58, Y:1.04, Z:0.38 [[ 9.98649764e-01 -4.85113058e-02 -1.85822918e-02 4.05805139e+01] [ 4.85169248e-02 9.98822350e-01 -1.48582523e-04 1.04238114e+00] [ 1.85676162e-02 -7.53173749e-04 9.99827323e-01 3.84440784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.61, Y:1.05, Z:0.39 [[ 9.98650703e-01 -4.79878304e-02 -1.98479367e-02 4.06124122e+01] [ 4.79941610e-02 9.98847604e-01 -1.57536990e-04 1.04524685e+00] [ 1.98326239e-02 -7.95260645e-04 9.99802998e-01 3.85331619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.64, Y:1.05, Z:0.39 [[ 9.98790086e-01 -4.48988931e-02 -2.00612655e-02 4.06430952e+01] [ 4.49047630e-02 9.98991260e-01 -1.58002923e-04 1.05120940e+00] [ 2.00481231e-02 -7.43034622e-04 9.99798740e-01 3.87270180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.460385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.68, Y:1.05, Z:0.39 [[ 9.98887556e-01 -4.26659173e-02 -2.00815816e-02 4.06755571e+01] [ 4.26713656e-02 9.99089150e-01 -1.57307313e-04 1.05320876e+00] [ 2.00700019e-02 -6.99776192e-04 9.99798332e-01 3.86925412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.490385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.71, Y:1.06, Z:0.39 [[ 9.98989743e-01 -4.03208074e-02 -1.98425059e-02 4.07075147e+01] [ 4.03256914e-02 9.99186577e-01 -1.54087346e-04 1.05594978e+00] [ 1.98325785e-02 -6.46231092e-04 9.99803106e-01 3.86427614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.74, Y:1.06, Z:0.39 [[ 9.99204207e-01 -3.51497149e-02 -1.88533659e-02 4.07386412e+01] [ 3.51532256e-02 9.99381924e-01 -1.45267622e-04 1.06060971e+00] [ 1.88468192e-02 -5.17604605e-04 9.99822249e-01 3.85975249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.77, Y:1.06, Z:0.39 [[ 9.99315604e-01 -3.22902481e-02 -1.80461329e-02 4.07695710e+01] [ 3.22930106e-02 9.99478435e-01 -1.38383885e-04 1.06021258e+00] [ 1.80411891e-02 -4.44474785e-04 9.99837146e-01 3.86907342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.80, Y:1.07, Z:0.39 [[ 9.99500325e-01 -2.80737538e-02 -1.45245931e-02 4.08012449e+01] [ 2.80751070e-02 9.99605810e-01 -1.10768463e-04 1.06724865e+00] [ 1.45219774e-02 -2.97066391e-04 9.99894506e-01 3.92332584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.83, Y:1.07, Z:0.40 [[ 9.99580261e-01 -2.59402016e-02 -1.28999243e-02 4.08324892e+01] [ 2.59410989e-02 9.99663468e-01 -9.77869812e-05 1.06864918e+00] [ 1.28981197e-02 -2.36892277e-04 9.99916788e-01 3.95017054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.640385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.86, Y:1.07, Z:0.40 [[ 9.99686794e-01 -2.17207169e-02 -1.24307797e-02 4.08649496e+01] [ 2.17212312e-02 9.99764062e-01 -9.36560172e-05 1.07022201e+00] [ 1.24298811e-02 -1.76385156e-04 9.99922730e-01 3.96008997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.670385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.90, Y:1.07, Z:0.40 [[ 9.99715630e-01 -1.98538626e-02 -1.32092240e-02 4.08969229e+01] [ 1.98542934e-02 9.99802879e-01 -9.85385855e-05 1.07090803e+00] [ 1.32085766e-02 -1.63749245e-04 9.99912750e-01 3.95923966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.93, Y:1.07, Z:0.40 [[ 9.99717008e-01 -1.97843636e-02 -1.32092308e-02 4.09286213e+01] [ 1.97848004e-02 9.99804257e-01 -9.76202655e-05 1.07108490e+00] [ 1.32085766e-02 -1.63749355e-04 9.99912750e-01 3.96404824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.96, Y:1.07, Z:0.40 [[ 9.99747832e-01 -1.69282098e-02 -1.47549325e-02 4.09598287e+01] [ 1.69284609e-02 9.99856698e-01 -1.07886726e-04 1.07295253e+00] [ 1.47546444e-02 -1.41918777e-04 9.99891134e-01 3.95527466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.99, Y:1.07, Z:0.40 [[ 9.99749157e-01 -1.59175396e-02 -1.57561297e-02 4.09907093e+01] [ 1.59177137e-02 9.99873299e-01 -1.14367342e-04 1.07396055e+00] [ 1.57559538e-02 -1.36462907e-04 9.99875858e-01 3.95586089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.02, Y:1.07, Z:0.40 [[ 9.99749926e-01 -1.52538608e-02 -1.63525484e-02 4.10197495e+01] [ 1.52539593e-02 9.99883645e-01 -1.18716465e-04 1.07375494e+00] [ 1.63524566e-02 -1.30754330e-04 9.99866281e-01 3.95237576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.820385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.05, Y:1.07, Z:0.39 [[ 9.99727560e-01 -1.45466500e-02 -1.82538128e-02 4.10499469e+01] [ 1.45466476e-02 9.99894183e-01 -1.32912577e-04 1.07112448e+00] [ 1.82538147e-02 -1.32655417e-04 9.99833376e-01 3.93265238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.850385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.08, Y:1.07, Z:0.39 [[ 9.99718497e-01 -1.44643859e-02 -1.88071436e-02 4.10777594e+01] [ 1.44643530e-02 9.99895376e-01 -1.37780609e-04 1.07015342e+00] [ 1.88071688e-02 -1.34291342e-04 9.99823121e-01 3.92985450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.880385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.11, Y:1.07, Z:0.39 [[ 9.99713235e-01 -1.44406830e-02 -1.91027272e-02 4.11055679e+01] [ 1.44405995e-02 9.99895719e-01 -1.42319657e-04 1.06957464e+00] [ 1.91027904e-02 -1.33575988e-04 9.99817516e-01 3.93368122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.13, Y:1.07, Z:0.40 [[ 9.99727047e-01 -1.56199697e-02 -1.73737734e-02 4.11338107e+01] [ 1.56200085e-02 9.99877991e-01 -1.33474812e-04 1.06626376e+00] [ 1.73737385e-02 -1.37940107e-04 9.99849056e-01 3.95135197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.16, Y:1.07, Z:0.40 [[ 9.99712267e-01 -1.70594156e-02 -1.68629613e-02 4.11620515e+01] [ 1.70596183e-02 9.99854465e-01 -1.31839772e-04 1.06530601e+00] [ 1.68627563e-02 -1.55873845e-04 9.99857801e-01 3.96291562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.19, Y:1.06, Z:0.40 [[ 9.99672723e-01 -1.97395020e-02 -1.62726238e-02 4.11913586e+01] [ 1.97399873e-02 9.99805139e-01 -1.30810816e-04 1.06177528e+00] [ 1.62720350e-02 -1.90453382e-04 9.99867584e-01 3.97035279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.000385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.22, Y:1.06, Z:0.40 [[ 9.99635388e-01 -2.14272952e-02 -1.64304985e-02 4.12214389e+01] [ 2.14280095e-02 9.99770385e-01 -1.32594675e-04 1.05950542e+00] [ 1.64295669e-02 -2.19526547e-04 9.99865001e-01 3.97624092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.030385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.25, Y:1.06, Z:0.40 [[ 9.99589078e-01 -2.37266971e-02 -1.60847560e-02 4.12531938e+01] [ 2.37276839e-02 9.99718450e-01 -1.29514926e-04 1.05775740e+00] [ 1.60833003e-02 -2.52192300e-04 9.99870624e-01 3.99074749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.060385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.29, Y:1.05, Z:0.40 [[ 9.99471313e-01 -2.83602773e-02 -1.58993646e-02 4.12855031e+01] [ 2.83618364e-02 9.99597714e-01 -1.27458698e-04 1.05418218e+00] [ 1.58965833e-02 -3.23543866e-04 9.99873589e-01 4.00776683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.32, Y:1.05, Z:0.40 [[ 9.99394879e-01 -3.06446647e-02 -1.64554255e-02 4.13166330e+01] [ 3.06466633e-02 9.99530272e-01 -1.30759087e-04 1.05013677e+00] [ 1.64517030e-02 -3.73623921e-04 9.99864592e-01 3.99707975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.35, Y:1.04, Z:0.40 [[ 9.99222965e-01 -3.54090054e-02 -1.73109537e-02 4.13475508e+01] [ 3.54119466e-02 9.99372791e-01 -1.36692669e-04 1.04348186e+00] [ 1.73049362e-02 -4.76428112e-04 9.99850145e-01 3.96518297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.38, Y:1.04, Z:0.40 [[ 9.99154055e-01 -3.72514180e-02 -1.74214288e-02 4.13801061e+01] [ 3.72546840e-02 9.99305794e-01 -1.37144077e-04 1.04332736e+00] [ 1.74144435e-02 -5.12001763e-04 9.99848226e-01 3.96837261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.41, Y:1.04, Z:0.40 [[ 9.98999053e-01 -4.08387413e-02 -1.82507241e-02 4.14108881e+01] [ 4.08429509e-02 9.99165568e-01 -1.42179251e-04 1.04163673e+00] [ 1.82413015e-02 -6.03376491e-04 9.99833432e-01 3.99857362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.210385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.44, Y:1.04, Z:0.40 [[ 9.98934001e-01 -4.23355210e-02 -1.84001224e-02 4.14432336e+01] [ 4.23400916e-02 9.99103246e-01 -1.41268750e-04 1.04140258e+00] [ 1.83896027e-02 -6.37944708e-04 9.99830693e-01 4.00493038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.240385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.48, Y:1.04, Z:0.40 [[ 9.98871621e-01 -4.38943859e-02 -1.81319423e-02 4.14754701e+01] [ 4.38991025e-02 9.99035960e-01 -1.38005359e-04 1.03923647e+00] [ 1.81205200e-02 -6.58126357e-04 9.99835593e-01 4.00534105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.51, Y:1.03, Z:0.40 [[ 9.98735448e-01 -4.73046137e-02 -1.70228874e-02 4.15052375e+01] [ 4.73092841e-02 9.98880281e-01 -1.28459248e-04 1.03155920e+00] [ 1.70099033e-02 -6.77043812e-04 9.99855092e-01 3.99435493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.54, Y:1.03, Z:0.40 [[ 9.98686385e-01 -4.85869871e-02 -1.62729592e-02 4.15370401e+01] [ 4.85914449e-02 9.98818731e-01 -1.21569885e-04 1.02990015e+00] [ 1.62596432e-02 -6.69316412e-04 9.99867579e-01 4.00921133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.57, Y:1.03, Z:0.40 [[ 9.98588617e-01 -5.05306703e-02 -1.63531544e-02 4.15691977e+01] [ 5.05354459e-02 9.98722261e-01 -1.21333138e-04 1.03323265e+00] [ 1.63383903e-02 -7.05252058e-04 9.99866271e-01 4.04308216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.60, Y:1.03, Z:0.40 [[ 9.98544207e-01 -5.10444502e-02 -1.74336136e-02 4.16002199e+01] [ 5.10499770e-02 9.98696092e-01 -1.28146912e-04 1.03174174e+00] [ 1.74174230e-02 -7.62025219e-04 9.99848015e-01 4.04291669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.390385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.63, Y:1.03, Z:0.40 [[ 9.98464664e-01 -5.16047813e-02 -2.01311007e-02 4.16326316e+01] [ 5.16122896e-02 9.98667187e-01 -1.46757530e-04 1.03482006e+00] [ 2.01118431e-02 -8.92479993e-04 9.99797338e-01 4.01315645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.420385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.66, Y:1.04, Z:0.40 [[ 9.98446791e-01 -5.15262239e-02 -2.11909075e-02 4.16648172e+01] [ 5.15345578e-02 9.98671200e-01 -1.52987696e-04 1.03529655e+00] [ 2.11706319e-02 -9.39313972e-04 9.99775436e-01 4.00149476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.70, Y:1.04, Z:0.40 [[ 9.98448328e-01 -5.11305141e-02 -2.20591789e-02 4.16971293e+01] [ 5.11394833e-02 9.98691508e-01 -1.57696864e-04 1.03599746e+00] [ 2.20383778e-02 -9.70642842e-04 9.99756654e-01 3.99143055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.73, Y:1.04, Z:0.40 [[ 9.98470533e-01 -5.02815398e-02 -2.29861033e-02 4.17292896e+01] [ 5.02910921e-02 9.98734589e-01 -1.62680572e-04 1.03792343e+00] [ 2.29651963e-02 -9.93564483e-04 9.99735771e-01 3.99048253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.76, Y:1.04, Z:0.40 [[ 9.98565678e-01 -4.78834033e-02 -2.39534271e-02 4.17600651e+01] [ 4.78931221e-02 9.98852452e-01 -1.68112363e-04 1.04183231e+00] [ 2.39339892e-02 -9.79333171e-04 9.99713061e-01 4.00461551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.79, Y:1.05, Z:0.40 [[ 9.98825071e-01 -4.31698662e-02 -2.20190655e-02 4.17910487e+01] [ 4.31769484e-02 9.99067429e-01 -1.53896460e-04 1.04799200e+00] [ 2.20051749e-02 -7.97000412e-04 9.99757539e-01 4.03271745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.570385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.82, Y:1.05, Z:0.40 [[ 9.98992021e-01 -3.98689241e-02 -2.06254813e-02 4.18213691e+01] [ 3.98744438e-02 9.99204688e-01 -1.43740904e-04 1.04796345e+00] [ 2.06148084e-02 -6.78833579e-04 9.99787262e-01 4.03737090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.600385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.85, Y:1.05, Z:0.40 [[ 9.99157900e-01 -3.61936622e-02 -1.93263809e-02 4.18530414e+01] [ 3.61978303e-02 9.99344635e-01 -1.34217915e-04 1.05148409e+00] [ 1.93185729e-02 -5.65468168e-04 9.99813219e-01 4.04551272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.630385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.88, Y:1.05, Z:0.41 [[ 9.99282339e-01 -3.28554472e-02 -1.88501224e-02 4.18842061e+01] [ 3.28588360e-02 9.99459994e-01 -1.29999497e-04 1.05467177e+00] [ 1.88442144e-02 -4.89486879e-04 9.99822312e-01 4.06068259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.92, Y:1.06, Z:0.41 [[ 9.99474382e-01 -2.63102638e-02 -1.89401561e-02 4.19151646e+01] [ 2.63125231e-02 9.99653757e-01 -1.29946743e-04 1.06403306e+00] [ 1.89370171e-02 -3.68484854e-04 9.99820611e-01 4.10271793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.95, Y:1.07, Z:0.41 [[ 9.99535325e-01 -2.35080150e-02 -1.94038163e-02 4.19460618e+01] [ 2.35098723e-02 9.99723596e-01 -1.32422246e-04 1.06765775e+00] [ 1.94015660e-02 -3.23820532e-04 9.99811719e-01 4.11351815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.98, Y:1.07, Z:0.41 [[ 9.99632164e-01 -1.89196540e-02 -1.94315284e-02 4.19759438e+01] [ 1.89206590e-02 9.99820980e-01 -1.32144112e-04 1.06907786e+00] [ 1.94305499e-02 -2.35561819e-04 9.99811181e-01 4.08727522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.750385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.01, Y:1.07, Z:0.41 [[ 9.99662908e-01 -1.70171376e-02 -1.96083376e-02 4.20059824e+01] [ 1.70177866e-02 9.99855178e-01 -1.33774227e-04 1.06942124e+00] [ 1.96077744e-02 -1.99961372e-04 9.99807729e-01 4.07894099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.780385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.04, Y:1.07, Z:0.41 [[ 9.99689750e-01 -1.55972581e-02 -1.94197977e-02 4.20352193e+01] [ 1.55975978e-02 9.99878341e-01 -1.33980888e-04 1.07079328e+00] [ 1.94195248e-02 -1.68962873e-04 9.99811409e-01 4.07983897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.810385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.06, Y:1.08, Z:0.41 [[ 9.99725754e-01 -1.38364835e-02 -1.88936306e-02 4.20630790e+01] [ 1.38364210e-02 9.99904263e-01 -1.34034821e-04 1.07539990e+00] [ 1.88936764e-02 -1.27422165e-04 9.99821490e-01 4.10619266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.09, Y:1.08, Z:0.41 [[ 9.99731693e-01 -1.40920314e-02 -1.83836221e-02 4.20907851e+01] [ 1.40919756e-02 9.99900694e-01 -1.32584786e-04 1.07790317e+00] [ 1.83836649e-02 -1.26512341e-04 9.99830998e-01 4.12456130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.12, Y:1.08, Z:0.41 [[ 9.99703944e-01 -1.62251262e-02 -1.81319932e-02 4.21196216e+01] [ 1.62253346e-02 9.99868351e-01 -1.35629424e-04 1.07982597e+00] [ 1.81318067e-02 -1.58608386e-04 9.99835593e-01 4.14078498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.15, Y:1.08, Z:0.41 [[ 9.99661581e-01 -1.80017403e-02 -1.87792749e-02 4.21480565e+01] [ 1.80021896e-02 9.99837937e-01 -1.45135757e-04 1.07907565e+00] [ 1.87788442e-02 -1.92981427e-04 9.99823643e-01 4.13461165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.18, Y:1.08, Z:0.41 [[ 9.99616995e-01 -2.01460830e-02 -1.89736284e-02 4.21770052e+01] [ 2.01468539e-02 9.99797020e-01 -1.50532964e-04 1.07755968e+00] [ 1.89728098e-02 -2.31783610e-04 9.99819973e-01 4.12457366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.960385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.21, Y:1.08, Z:0.41 [[ 9.99496901e-01 -2.52847467e-02 -1.91475134e-02 4.22072464e+01] [ 2.52864593e-02 9.99680235e-01 -1.52699351e-04 1.07599168e+00] [ 1.91452516e-02 -3.31550289e-04 9.99816658e-01 4.12259758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.990385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.24, Y:1.08, Z:0.41 [[ 9.99422518e-01 -2.82447566e-02 -1.88908292e-02 4.22388593e+01] [ 2.82469557e-02 9.99600964e-01 -1.50461255e-04 1.07640037e+00] [ 1.88875408e-02 -3.83234048e-04 9.99821541e-01 4.13766078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.27, Y:1.08, Z:0.41 [[ 9.99346318e-01 -3.11014864e-02 -1.84291506e-02 4.22695137e+01] [ 3.11040859e-02 9.99516140e-01 -1.45635180e-04 1.07600596e+00] [ 1.84247630e-02 -4.27681903e-04 9.99830158e-01 4.14604045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.30, Y:1.07, Z:0.41 [[ 9.99198197e-01 -3.61204219e-02 -1.72707357e-02 4.23009105e+01] [ 3.61234843e-02 9.99347325e-01 -1.34719029e-04 1.07409523e+00] [ 1.72643296e-02 -4.89268136e-04 9.99850841e-01 4.14714057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.33, Y:1.07, Z:0.42 [[ 9.99116791e-01 -3.81994548e-02 -1.75054158e-02 4.23333669e+01] [ 3.82029316e-02 9.99269992e-01 -1.35872149e-04 1.07343598e+00] [ 1.74978270e-02 -5.33006058e-04 9.99846759e-01 4.15208968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.37, Y:1.08, Z:0.42 [[ 9.99012145e-01 -4.10357630e-02 -1.70528537e-02 4.23655689e+01] [ 4.10394943e-02 9.99157516e-01 -1.31226086e-04 1.07602999e+00] [ 1.70438719e-02 -5.68744036e-04 9.99854581e-01 4.17108993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.140385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.40, Y:1.08, Z:0.42 [[ 9.98961654e-01 -4.20469989e-02 -1.75403479e-02 4.23967424e+01] [ 4.20511236e-02 9.99115451e-01 -1.33768440e-04 1.07563315e+00] [ 1.75304572e-02 -6.03961796e-04 9.99846147e-01 4.18155504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.170385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.43, Y:1.08, Z:0.42 [[ 9.98952228e-01 -4.20011403e-02 -1.81755628e-02 4.24294884e+01] [ 4.20055821e-02 9.99117367e-01 -1.37485304e-04 1.07532975e+00] [ 1.81652950e-02 -6.26133847e-04 9.99834801e-01 4.16950104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.46, Y:1.07, Z:0.42 [[ 9.98906037e-01 -4.30211293e-02 -1.83279023e-02 4.24602266e+01] [ 4.30258484e-02 9.99073950e-01 -1.36941934e-04 1.07229614e+00] [ 1.83168212e-02 -6.51781422e-04 9.99832021e-01 4.16759615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.49, Y:1.07, Z:0.42 [[ 9.98861349e-01 -4.38747005e-02 -1.87354430e-02 4.24928297e+01] [ 4.38797964e-02 9.99036808e-01 -1.39211339e-04 1.07177639e+00] [ 1.87235050e-02 -6.83054599e-04 9.99824466e-01 4.16632289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.52, Y:1.07, Z:0.42 [[ 9.98808741e-01 -4.48329645e-02 -1.92640492e-02 4.25245441e+01] [ 4.48385546e-02 9.98994236e-01 -1.41862705e-04 1.07303029e+00] [ 1.92510342e-02 -7.22078410e-04 9.99814421e-01 4.16699792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.56, Y:1.07, Z:0.42 [[ 9.98830094e-01 -4.46645735e-02 -1.85342561e-02 4.25565718e+01] [ 4.46697375e-02 9.99001800e-01 -1.35489686e-04 1.07354233e+00] [ 1.85218068e-02 -6.92589179e-04 9.99828217e-01 4.17574966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.320385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.59, Y:1.07, Z:0.42 [[ 9.98888802e-01 -4.35434418e-02 -1.80313627e-02 4.25879221e+01] [ 4.35481725e-02 9.99051320e-01 -1.30388113e-04 1.07455003e+00] [ 1.80199343e-02 -6.54989669e-04 9.99837413e-01 4.18973007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.350385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.62, Y:1.07, Z:0.42 [[ 9.98901734e-01 -4.32755280e-02 -1.79598135e-02 4.26205206e+01] [ 4.32802191e-02 9.99062964e-01 -1.27582023e-04 1.07491074e+00] [ 1.79485057e-02 -6.49862759e-04 9.99838701e-01 4.18689857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.380385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.65, Y:1.07, Z:0.42 [[ 9.98880450e-01 -4.34410172e-02 -1.87276488e-02 4.26527403e+01] [ 4.34461721e-02 9.99055761e-01 -1.31707358e-04 1.07438247e+00] [ 1.87156869e-02 -6.82084746e-04 9.99824614e-01 4.18328228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.69, Y:1.07, Z:0.42 [[ 9.98818044e-01 -4.42808976e-02 -2.00428708e-02 4.26850142e+01] [ 4.42870000e-02 9.99018840e-01 -1.39512022e-04 1.07415174e+00] [ 2.00293832e-02 -7.48291493e-04 9.99799112e-01 4.17623308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.72, Y:1.07, Z:0.42 [[ 9.98769383e-01 -4.49124416e-02 -2.10378580e-02 4.27161451e+01] [ 4.49193343e-02 9.98990607e-01 -1.45045992e-04 1.07400288e+00] [ 2.10231369e-02 -8.00139079e-04 9.99778669e-01 4.18086449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.75, Y:1.07, Z:0.42 [[ 9.98726707e-01 -4.54338125e-02 -2.19256143e-02 4.27480381e+01] [ 4.54414527e-02 9.98966992e-01 -1.49898921e-04 1.07449645e+00] [ 2.19097755e-02 -8.46623710e-04 9.99759594e-01 4.18396489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.500385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.78, Y:1.07, Z:0.42 [[ 9.98688652e-01 -4.59310457e-02 -2.26122826e-02 4.27790221e+01] [ 4.59393319e-02 9.98944220e-01 -1.53156569e-04 1.07228218e+00] [ 2.25954437e-02 -8.85837428e-04 9.99744298e-01 4.16685380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.530385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.81, Y:1.07, Z:0.42 [[ 9.98698605e-01 -4.56846530e-02 -2.26717547e-02 4.28108644e+01] [ 4.56929483e-02 9.98955520e-01 -1.52285150e-04 1.07195871e+00] [ 2.26550317e-02 -8.83852350e-04 9.99742951e-01 4.16327811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.560385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.84, Y:1.07, Z:0.42 [[ 9.98728547e-01 -4.53032380e-02 -2.21112248e-02 4.28425264e+01] [ 4.53110671e-02 9.98972915e-01 -1.47054459e-04 1.07125518e+00] [ 2.20951768e-02 -8.55015704e-04 9.99755506e-01 4.17419002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.87, Y:1.07, Z:0.42 [[ 9.98814837e-01 -4.41063840e-02 -2.05802734e-02 4.28748118e+01] [ 4.41129392e-02 9.99026541e-01 -1.35566115e-04 1.07476389e+00] [ 2.05662186e-02 -7.72450901e-04 9.99788195e-01 4.22157162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.91, Y:1.07, Z:0.42 [[ 9.98819238e-01 -4.40066178e-02 -2.05802835e-02 4.29073791e+01] [ 4.40131838e-02 9.99030941e-01 -1.34017586e-04 1.07488313e+00] [ 2.05662376e-02 -7.71944455e-04 9.99788195e-01 4.22651237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.94, Y:1.08, Z:0.43 [[ 9.98876055e-01 -4.28104299e-02 -2.03444053e-02 4.29392873e+01] [ 4.28166359e-02 9.99082939e-01 -1.30637406e-04 1.07782275e+00] [ 2.03313409e-02 -7.40588418e-04 9.99793023e-01 4.25682786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.97, Y:1.08, Z:0.43 [[ 9.98981776e-01 -4.07255141e-02 -1.94124649e-02 4.29703161e+01] [ 4.07307941e-02 9.99170149e-01 -1.23476496e-04 1.07918700e+00] [ 1.94013841e-02 -6.67334341e-04 9.99811553e-01 4.26161561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.710385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.00, Y:1.08, Z:0.43 [[ 9.99017479e-01 -4.01608650e-02 -1.87398428e-02 4.30020806e+01] [ 4.01657040e-02 9.99193026e-01 -1.18241567e-04 1.07864670e+00] [ 1.87294689e-02 -6.34573588e-04 9.99824387e-01 4.26020227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.740385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.03, Y:1.08, Z:0.43 [[ 9.99041315e-01 -3.97388981e-02 -1.83649293e-02 4.30347149e+01] [ 3.97434964e-02 9.99209909e-01 -1.14662965e-04 1.08059096e+00] [ 1.83549759e-02 -6.15333462e-04 9.99831344e-01 4.26074056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.07, Y:1.07, Z:0.42 [[ 9.99054013e-01 -3.90381950e-02 -1.91598301e-02 4.30660455e+01] [ 3.90430967e-02 9.99237521e-01 -1.18306201e-04 1.07453322e+00] [ 1.91498396e-02 -6.29864817e-04 9.99816427e-01 4.24165755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.10, Y:1.08, Z:0.43 [[ 9.99071775e-01 -3.83086980e-02 -1.96985546e-02 4.30979726e+01] [ 3.83137600e-02 9.99265751e-01 -1.20501958e-04 1.08026431e+00] [ 1.96887073e-02 -6.34335589e-04 9.99805957e-01 4.25685396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.13, Y:1.08, Z:0.43 [[ 9.99084744e-01 -3.77312672e-02 -2.01501032e-02 4.31289860e+01] [ 3.77364737e-02 9.99287718e-01 -1.21924317e-04 1.08177128e+00] [ 2.01403510e-02 -6.38581115e-04 9.99796959e-01 4.27763118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.16, Y:1.08, Z:0.43 [[ 9.99122583e-01 -3.74579184e-02 -1.87341423e-02 4.31615660e+01] [ 3.74623890e-02 9.99298032e-01 -1.12377685e-04 1.08473809e+00] [ 1.87252009e-02 -5.89546642e-04 9.99824494e-01 4.32361322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.890385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.19, Y:1.09, Z:0.43 [[ 9.99125922e-01 -3.74733670e-02 -1.85240116e-02 4.31949017e+01] [ 3.74777663e-02 9.99297456e-01 -1.09723783e-04 1.08536770e+00] [ 1.85151094e-02 -5.84610704e-04 9.99828410e-01 4.33413041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.920385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.23, Y:1.08, Z:0.43 [[ 9.99115839e-01 -3.77508698e-02 -1.85043974e-02 4.32275396e+01] [ 3.77553412e-02 9.99287007e-01 -1.07773421e-04 1.08453745e+00] [ 1.84952725e-02 -5.90961707e-04 9.99828773e-01 4.33078875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.26, Y:1.08, Z:0.43 [[ 9.99072131e-01 -3.83329110e-02 -1.96332478e-02 4.32599116e+01] [ 3.83380852e-02 9.99264819e-01 -1.12914567e-04 1.08236417e+00] [ 1.96231421e-02 -6.39891328e-04 9.99807243e-01 4.31324058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.29, Y:1.08, Z:0.43 [[ 9.99054274e-01 -3.86442307e-02 -1.99293956e-02 4.32919665e+01] [ 3.86496520e-02 9.99252817e-01 -1.13218699e-04 1.08340647e+00] [ 1.99188799e-02 -6.57152578e-04 9.99801383e-01 4.31642431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.32, Y:1.09, Z:0.43 [[ 9.99075687e-01 -3.85578202e-02 -1.90017322e-02 4.33237932e+01] [ 3.85627570e-02 9.99256175e-01 -1.06670491e-04 1.08595902e+00] [ 1.89917112e-02 -6.26187287e-04 9.99819445e-01 4.33054922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.36, Y:1.09, Z:0.43 [[ 9.99078841e-01 -3.84656664e-02 -1.90226527e-02 4.33570116e+01] [ 3.84706252e-02 9.99259726e-01 -1.05327060e-04 1.08685328e+00] [ 1.90126222e-02 -6.26583305e-04 9.99819047e-01 4.33845975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.070385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.39, Y:1.09, Z:0.43 [[ 9.99054688e-01 -3.87826953e-02 -1.96375354e-02 4.33895036e+01] [ 3.87880796e-02 9.99247454e-01 -1.06776997e-04 1.08796052e+00] [ 1.96268984e-02 -6.55026226e-04 9.99807159e-01 4.34259894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.100385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.42, Y:1.09, Z:0.43 [[ 9.99004306e-01 -3.96523698e-02 -2.04471490e-02 4.34210939e+01] [ 3.96584177e-02 9.99213289e-01 -1.09786354e-04 1.08678108e+00] [ 2.04354163e-02 -7.01224534e-04 9.99790929e-01 4.33910537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.130385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.45, Y:1.09, Z:0.43 [[ 9.98883742e-01 -4.17683729e-02 -2.20606448e-02 4.34529702e+01] [ 4.17759556e-02 9.99126997e-01 -1.17227486e-04 1.08559836e+00] [ 2.20462822e-02 -8.04507889e-04 9.99756627e-01 4.34396656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.48, Y:1.09, Z:0.44 [[ 9.98882790e-01 -4.18702137e-02 -2.19102128e-02 4.34847371e+01] [ 4.18777454e-02 9.99122736e-01 -1.15163374e-04 1.08702178e+00] [ 2.18958137e-02 -8.02515601e-04 9.99759936e-01 4.36097164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.52, Y:1.08, Z:0.44 [[ 9.98952988e-01 -4.07989661e-02 -2.06971356e-02 4.35159939e+01] [ 4.08054921e-02 9.99167103e-01 -1.07089196e-04 1.08468173e+00] [ 2.06842662e-02 -7.37579732e-04 9.99785786e-01 4.36865395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.55, Y:1.08, Z:0.44 [[ 9.99016898e-01 -4.00569323e-02 -1.89915535e-02 4.35478535e+01] [ 4.00623306e-02 9.99197178e-01 -9.62736787e-05 1.08464416e+00] [ 1.89801630e-02 -6.64666862e-04 9.99819640e-01 4.37154070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.250385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.58, Y:1.08, Z:0.44 [[ 9.99076754e-01 -3.91158855e-02 -1.77647752e-02 4.35802031e+01] [ 3.91204809e-02 9.99234497e-01 -8.88877813e-05 1.08351732e+00] [ 1.77546532e-02 -6.06160834e-04 9.99842190e-01 4.38222916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.280385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.61, Y:1.08, Z:0.44 [[ 9.99126460e-01 -3.81408956e-02 -1.70759912e-02 4.36113420e+01] [ 3.81450182e-02 9.99272210e-01 -8.43328827e-05 1.08462685e+00] [ 1.70667800e-02 -5.67104780e-04 9.99854191e-01 4.40165231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.310385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.64, Y:1.09, Z:0.44 [[ 9.99118070e-01 -3.79037998e-02 -1.80660940e-02 4.36433266e+01] [ 3.79083951e-02 9.99281215e-01 -8.81478569e-05 1.08572667e+00] [ 1.80564495e-02 -5.96786515e-04 9.99836791e-01 4.40975391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.68, Y:1.09, Z:0.44 [[ 9.99098691e-01 -3.73575742e-02 -2.01548427e-02 4.36759489e+01] [ 3.73632189e-02 9.99301746e-01 -9.65537842e-05 1.08731049e+00] [ 2.01443766e-02 -6.56583043e-04 9.99796866e-01 4.40751408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.71, Y:1.09, Z:0.44 [[ 9.99102332e-01 -3.70444898e-02 -2.05483952e-02 4.37083578e+01] [ 3.70503205e-02 9.99313396e-01 -9.70062457e-05 1.08974654e+00] [ 2.05378802e-02 -6.64405461e-04 9.99788855e-01 4.40965220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.74, Y:1.09, Z:0.44 [[ 9.99111766e-01 -3.66100224e-02 -2.08658951e-02 4.37395359e+01] [ 3.66159691e-02 9.99329406e-01 -9.71106987e-05 1.08762419e+00] [ 2.08554578e-02 -6.67000529e-04 9.99782279e-01 4.40539753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.77, Y:1.09, Z:0.44 [[ 9.99149053e-01 -3.51373799e-02 -2.15993890e-02 4.37715843e+01] [ 3.51434362e-02 9.99382274e-01 -9.92436059e-05 1.08832220e+00] [ 2.15895336e-02 -6.59917594e-04 9.99766701e-01 4.39334276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.460385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.80, Y:1.09, Z:0.44 [[ 9.99170699e-01 -3.39754160e-02 -2.24407133e-02 4.38037472e+01] [ 3.39816969e-02 9.99422450e-01 -1.01497498e-04 1.08910499e+00] [ 2.24312011e-02 -6.61160192e-04 9.99748170e-01 4.39320703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.490385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.84, Y:1.09, Z:0.44 [[ 9.99206897e-01 -3.26319251e-02 -2.28196267e-02 4.38355147e+01] [ 3.26381068e-02 9.99467230e-01 -1.01594750e-04 1.09065610e+00] [ 2.28107843e-02 -6.43275239e-04 9.99739593e-01 4.39155497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.87, Y:1.09, Z:0.44 [[ 9.99315855e-01 -2.93142627e-02 -2.25498727e-02 4.38672529e+01] [ 2.93194874e-02 9.99570087e-01 -9.89586730e-05 1.09418276e+00] [ 2.25430791e-02 -5.62259738e-04 9.99745714e-01 4.41065576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.90, Y:1.10, Z:0.44 [[ 9.99368250e-01 -2.78923024e-02 -2.20254507e-02 4.38990953e+01] [ 2.78969665e-02 9.99610799e-01 -9.55327057e-05 1.09506225e+00] [ 2.20195430e-02 -5.18970906e-04 9.99757406e-01 4.41820716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.93, Y:1.10, Z:0.44 [[ 9.99458662e-01 -2.49243949e-02 -2.14745602e-02 4.39304071e+01] [ 2.49281647e-02 9.99689241e-01 -9.21675541e-05 1.09600288e+00] [ 2.14701840e-02 -4.43203713e-04 9.99769391e-01 4.42073651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.96, Y:1.10, Z:0.44 [[ 9.99509714e-01 -2.33188908e-02 -2.08940449e-02 4.39613816e+01] [ 2.33221214e-02 9.99727998e-01 -8.90750006e-05 1.09750253e+00] [ 2.08904388e-02 -3.98262124e-04 9.99781692e-01 4.42657897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.640385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.99, Y:1.10, Z:0.44 [[ 9.99535342e-01 -2.20298222e-02 -2.10662641e-02 4.39917685e+01] [ 2.20328256e-02 9.99757244e-01 -8.95473105e-05 1.09897181e+00] [ 2.10631228e-02 -3.74643621e-04 9.99778078e-01 4.44161341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.670385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.02, Y:1.10, Z:0.44 [[ 9.99563671e-01 -2.07898849e-02 -2.09821129e-02 4.40209042e+01] [ 2.07925893e-02 9.99783807e-01 -8.92880447e-05 1.09986324e+00] [ 2.09794330e-02 -3.47023370e-04 9.99779847e-01 4.44594670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.05, Y:1.10, Z:0.45 [[ 9.99578402e-01 -2.02887545e-02 -2.07698059e-02 4.40500909e+01] [ 2.02912889e-02 9.99794107e-01 -8.87339926e-05 1.09987716e+00] [ 2.07673299e-02 -3.32749551e-04 9.99784280e-01 4.46044792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.08, Y:1.10, Z:0.45 [[ 9.99594140e-01 -2.00291606e-02 -2.02580209e-02 4.40795142e+01] [ 2.00315116e-02 9.99799345e-01 -8.68820396e-05 1.09893835e+00] [ 2.02556962e-02 -3.18952003e-04 9.99794781e-01 4.45922846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.11, Y:1.10, Z:0.45 [[ 9.99622646e-01 -1.92511569e-02 -1.95948566e-02 4.41096326e+01] [ 1.92531958e-02 9.99814636e-01 -8.46061983e-05 1.09720781e+00] [ 1.95928532e-02 -2.92689340e-04 9.99807999e-01 4.45069715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.14, Y:1.10, Z:0.45 [[ 9.99630474e-01 -1.94520472e-02 -1.89877053e-02 4.41393197e+01] [ 1.94539775e-02 9.99810750e-01 -8.30625091e-05 1.09605771e+00] [ 1.89857276e-02 -2.86354575e-04 9.99819714e-01 4.45256164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.820385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.17, Y:1.09, Z:0.45 [[ 9.99623434e-01 -2.08550725e-02 -1.78341148e-02 4.41696343e+01] [ 2.08569986e-02 9.99782466e-01 -7.80072729e-05 1.09467534e+00] [ 1.78318621e-02 -2.93988209e-04 9.99840956e-01 4.47261082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.850385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.20, Y:1.09, Z:0.45 [[ 9.99592594e-01 -2.22998998e-02 -1.78146165e-02 4.42013559e+01] [ 2.23020527e-02 9.99751275e-01 -7.78362064e-05 1.09375750e+00] [ 1.78119213e-02 -3.19498021e-04 9.99841304e-01 4.48253596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.880385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.23, Y:1.09, Z:0.45 [[ 9.99545502e-01 -2.39887568e-02 -1.82572873e-02 4.42319690e+01] [ 2.39913098e-02 9.99712164e-01 -7.92137247e-05 1.09226999e+00] [ 1.82539324e-02 -3.58838512e-04 9.99833319e-01 4.49404398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.26, Y:1.09, Z:0.45 [[ 9.99435303e-01 -2.84844682e-02 -1.78244127e-02 4.42633898e+01] [ 2.84876219e-02 9.99594142e-01 -7.70034617e-05 1.09296436e+00] [ 1.78193719e-02 -4.30815150e-04 9.99841130e-01 4.51109223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.30, Y:1.09, Z:0.45 [[ 9.99380600e-01 -3.07852465e-02 -1.70494853e-02 4.42952965e+01] [ 3.07884773e-02 9.99525920e-01 -7.30164513e-05 1.09139107e+00] [ 1.70436503e-02 -4.51956465e-04 9.99854644e-01 4.51305063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.33, Y:1.09, Z:0.45 [[ 9.99320689e-01 -3.29080079e-02 -1.65898717e-02 4.43277436e+01] [ 3.29113779e-02 9.99458271e-01 -6.99118594e-05 1.08899494e+00] [ 1.65831852e-02 -4.76131169e-04 9.99862376e-01 4.51388089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.000385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.36, Y:1.08, Z:0.45 [[ 9.99174730e-01 -3.70529862e-02 -1.66413681e-02 4.43575957e+01] [ 3.70569691e-02 9.99313152e-01 -6.90654841e-05 1.08404123e+00] [ 1.66324971e-02 -5.47670178e-04 9.99861520e-01 4.49715458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.030385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.39, Y:1.08, Z:0.45 [[ 9.99095119e-01 -3.89335985e-02 -1.71206997e-02 4.43900392e+01] [ 3.89380922e-02 9.99241622e-01 -7.09216692e-05 1.08242804e+00] [ 1.71104769e-02 -5.95789889e-04 9.99853428e-01 4.49230094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.060385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.42, Y:1.08, Z:0.45 [[ 9.98931235e-01 -4.24230099e-02 -1.83487530e-02 4.44212800e+01] [ 4.24287818e-02 9.99099491e-01 -7.47815234e-05 1.08182788e+00] [ 1.83354022e-02 -7.03813638e-04 9.99831645e-01 4.49157752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.45, Y:1.08, Z:0.45 [[ 9.98876418e-01 -4.35348822e-02 -1.87247134e-02 4.44530679e+01] [ 4.35411063e-02 9.99051633e-01 -7.53481013e-05 1.08203764e+00] [ 1.87102357e-02 -7.40031293e-04 9.99824674e-01 4.50748086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.49, Y:1.08, Z:0.45 [[ 9.98874632e-01 -4.37003763e-02 -1.84322336e-02 4.44851690e+01] [ 4.37064729e-02 9.99044413e-01 -7.21408242e-05 1.08449338e+00] [ 1.84177726e-02 -7.33548280e-04 9.99830109e-01 4.53110916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.52, Y:1.09, Z:0.46 [[ 9.98911952e-01 -4.33059355e-02 -1.73062758e-02 4.45168822e+01] [ 4.33112706e-02 9.99061624e-01 -6.65839024e-05 1.08575371e+00] [ 1.72929195e-02 -6.83045340e-04 9.99850233e-01 4.55032014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.55, Y:1.08, Z:0.45 [[ 9.99019099e-01 -4.13488779e-02 -1.58464465e-02 4.45491880e+01] [ 4.13531212e-02 9.99144592e-01 -5.99459635e-05 1.08498801e+00] [ 1.58353700e-02 -5.95412858e-04 9.99874435e-01 4.54303766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.210385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.58, Y:1.08, Z:0.45 [[ 9.99046906e-01 -4.06834544e-02 -1.58156902e-02 4.45807949e+01] [ 4.06876160e-02 9.99171914e-01 -5.86834721e-05 1.08275989e+00] [ 1.58049809e-02 -5.84875189e-04 9.99874922e-01 4.52427167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.240385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.61, Y:1.08, Z:0.45 [[ 9.99082999e-01 -3.96889965e-02 -1.60606837e-02 4.46133278e+01] [ 3.96931949e-02 9.99211913e-01 -5.73998870e-05 1.08122608e+00] [ 1.60503047e-02 -5.80152599e-04 9.99871017e-01 4.50775696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.65, Y:1.08, Z:0.45 [[ 9.99148969e-01 -3.78121187e-02 -1.64797496e-02 4.46459884e+01] [ 3.78163038e-02 9.99284706e-01 -5.77049601e-05 1.08222446e+00] [ 1.64701437e-02 -5.65547367e-04 9.99864198e-01 4.50653807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.68, Y:1.08, Z:0.45 [[ 9.99163074e-01 -3.71621625e-02 -1.70916911e-02 4.46769775e+01] [ 3.71665965e-02 9.99309082e-01 -5.82550394e-05 1.08282847e+00] [ 1.70820471e-02 -5.77033704e-04 9.99853925e-01 4.52140712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.71, Y:1.09, Z:0.45 [[ 9.99174328e-01 -3.65011139e-02 -1.78418552e-02 4.47090026e+01] [ 3.65058773e-02 9.99333437e-01 -5.87534164e-05 1.08589496e+00] [ 1.78321070e-02 -5.92627669e-04 9.99840820e-01 4.53073582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.74, Y:1.09, Z:0.45 [[ 9.99165134e-01 -3.60506059e-02 -1.92194974e-02 4.47410182e+01] [ 3.60560769e-02 9.99349766e-01 -6.19032029e-05 1.09104608e+00] [ 1.92092318e-02 -6.31128152e-04 9.99815286e-01 4.53304339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.390385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.77, Y:1.09, Z:0.45 [[ 9.99171132e-01 -3.58580571e-02 -1.92678037e-02 4.47736735e+01] [ 3.58635456e-02 9.99356694e-01 -6.07187197e-05 1.09225607e+00] [ 1.92575859e-02 -6.30343365e-04 9.99814357e-01 4.52928757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.420385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.81, Y:1.09, Z:0.45 [[ 9.99151556e-01 -3.67097182e-02 -1.86698849e-02 4.48054156e+01] [ 3.67150426e-02 9.99325774e-01 -5.76097021e-05 1.08880062e+00] [ 1.86594121e-02 -6.27904798e-04 9.99825701e-01 4.50990803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.84, Y:1.09, Z:0.45 [[ 9.99145003e-01 -3.69221671e-02 -1.86015187e-02 4.48380899e+01] [ 3.69275089e-02 9.99317945e-01 -5.63493318e-05 1.08705106e+00] [ 1.85909120e-02 -6.30606593e-04 9.99826975e-01 4.50136252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.87, Y:1.08, Z:0.45 [[ 9.99125471e-01 -3.71855542e-02 -1.91187885e-02 4.48696650e+01] [ 3.71912708e-02 9.99308164e-01 -5.65917474e-05 1.08494141e+00] [ 1.91076658e-02 -6.54509784e-04 9.99817218e-01 4.49954880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.90, Y:1.08, Z:0.45 [[ 9.99128096e-01 -3.71149398e-02 -1.91187917e-02 4.49013802e+01] [ 3.71206642e-02 9.99310789e-01 -5.55044610e-05 1.08497634e+00] [ 1.91076748e-02 -6.54246179e-04 9.99817218e-01 4.50436093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.93, Y:1.09, Z:0.45 [[ 9.99153101e-01 -3.60243728e-02 -1.98827682e-02 4.49325526e+01] [ 3.60303821e-02 9.99350693e-01 -5.60254290e-05 1.08737463e+00] [ 1.98718764e-02 -6.60405754e-04 9.99802317e-01 4.52837220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.570385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.97, Y:1.09, Z:0.46 [[ 9.99196569e-01 -3.47883531e-02 -1.98993976e-02 4.49651233e+01] [ 3.47941715e-02 9.99394498e-01 -5.38635624e-05 1.09073630e+00] [ 1.98892223e-02 -6.38562768e-04 9.99801986e-01 4.55025644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.600385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.00, Y:1.10, Z:0.46 [[ 9.99262234e-01 -3.28657578e-02 -1.98703360e-02 4.49968923e+01] [ 3.28712071e-02 9.99459594e-01 -5.23961273e-05 1.09510197e+00] [ 1.98613200e-02 -6.00804459e-04 9.99802564e-01 4.56060995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.630385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.03, Y:1.09, Z:0.46 [[ 9.99277897e-01 -3.25040610e-02 -1.96766328e-02 4.50287657e+01] [ 3.25093614e-02 9.99471430e-01 -5.05200661e-05 1.09430113e+00] [ 1.96678744e-02 -5.89191182e-04 9.99806395e-01 4.55149007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.06, Y:1.09, Z:0.45 [[ 9.99281585e-01 -3.25687490e-02 -1.93801758e-02 4.50606562e+01] [ 3.25739290e-02 9.99469328e-01 -4.84172044e-05 1.09271066e+00] [ 1.93714682e-02 -5.82906050e-04 9.99812186e-01 4.53445921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.09, Y:1.09, Z:0.45 [[ 9.99312449e-01 -3.30011370e-02 -1.68983487e-02 4.50914797e+01] [ 3.30051540e-02 9.99455181e-01 -4.11908332e-05 1.08792533e+00] [ 1.68905015e-02 -5.16570089e-04 9.99857212e-01 4.53439264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.12, Y:1.09, Z:0.46 [[ 9.99346134e-01 -3.28357925e-02 -1.51365252e-02 4.51226424e+01] [ 3.28390073e-02 9.99460654e-01 -3.61817052e-05 1.08688563e+00] [ 1.51295494e-02 -4.60910412e-04 9.99885436e-01 4.56478519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.750385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.16, Y:1.09, Z:0.46 [[ 9.99430004e-01 -3.14583513e-02 -1.22490792e-02 4.51552664e+01] [ 3.14603578e-02 9.99505000e-01 -2.88963705e-05 1.09247174e+00] [ 1.22439249e-02 -3.56480514e-04 9.99924977e-01 4.63528668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.780385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.19, Y:1.09, Z:0.47 [[ 9.99459715e-01 -3.06730412e-02 -1.18086207e-02 4.51867340e+01] [ 3.06748643e-02 9.99529415e-01 -2.67431073e-05 1.09298705e+00] [ 1.18038840e-02 -3.35499179e-04 9.99930275e-01 4.65965204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.810385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.22, Y:1.09, Z:0.47 [[ 9.99471127e-01 -3.04208884e-02 -1.14906421e-02 4.52185304e+01] [ 3.04226039e-02 9.99537125e-01 -2.55115551e-05 1.09483026e+00] [ 1.14860995e-02 -3.24077191e-04 9.99933980e-01 4.65799756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.25, Y:1.09, Z:0.46 [[ 9.99449696e-01 -3.08250555e-02 -1.22524044e-02 4.52496481e+01] [ 3.08270485e-02 9.99524733e-01 -2.62045520e-05 1.09265739e+00] [ 1.22473890e-02 -3.51515335e-04 9.99924936e-01 4.64387914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.28, Y:1.09, Z:0.46 [[ 9.99334710e-01 -3.36120327e-02 -1.41551454e-02 4.52806220e+01] [ 3.36149848e-02 9.99434856e-01 -2.93926033e-05 1.08695006e+00] [ 1.41481336e-02 -4.46451947e-04 9.99899810e-01 4.61058198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.31, Y:1.09, Z:0.46 [[ 9.99269532e-01 -3.52290901e-02 -1.48092144e-02 4.53126442e+01] [ 3.52325107e-02 9.99379142e-01 -2.99384284e-05 1.08591387e+00] [ 1.48010747e-02 -4.91849246e-04 9.99890337e-01 4.60421043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.34, Y:1.08, Z:0.46 [[ 9.99220777e-01 -3.63597725e-02 -1.53559414e-02 4.53433531e+01] [ 3.63636010e-02 9.99338625e-01 -2.99170252e-05 1.08397224e+00] [ 1.53468732e-02 -5.28503614e-04 9.99882090e-01 4.60193196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.960385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.38, Y:1.08, Z:0.46 [[ 9.99255831e-01 -3.55017884e-02 -1.50800114e-02 4.53757180e+01] [ 3.55054100e-02 9.99369484e-01 -2.75814523e-05 1.08344224e+00] [ 1.50714824e-02 -5.07861059e-04 9.99886290e-01 4.60468857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.990385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.41, Y:1.08, Z:0.46 [[ 9.99316536e-01 -3.40487169e-02 -1.43925296e-02 4.54084067e+01] [ 3.40518786e-02 9.99420066e-01 -2.53930617e-05 1.08486104e+00] [ 1.43850474e-02 -4.64716963e-04 9.99896422e-01 4.61136349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.44, Y:1.09, Z:0.46 [[ 9.99416647e-01 -3.12031381e-02 -1.38827481e-02 4.54398503e+01] [ 3.12058226e-02 9.99512979e-01 -2.32630306e-05 1.09078708e+00] [ 1.38767128e-02 -4.09973116e-04 9.99903630e-01 4.64834854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.47, Y:1.09, Z:0.47 [[ 9.99456141e-01 -3.01335396e-02 -1.33937124e-02 4.54717291e+01] [ 3.01359475e-02 9.99545809e-01 -2.20542973e-05 1.09484876e+00] [ 1.33882937e-02 -3.81589912e-04 9.99910300e-01 4.67184621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.50, Y:1.09, Z:0.47 [[ 9.99473748e-01 -2.98513915e-02 -1.26933731e-02 4.55027733e+01] [ 2.98535426e-02 9.99554283e-01 -2.00178143e-05 1.09434874e+00] [ 1.26883130e-02 -3.58934876e-04 9.99919436e-01 4.67149218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.54, Y:1.09, Z:0.47 [[ 9.99465571e-01 -3.04855260e-02 -1.17985548e-02 4.55350394e+01] [ 3.04874346e-02 9.99535150e-01 -1.81057269e-05 1.09423438e+00] [ 1.17936222e-02 -3.41611617e-04 9.99930394e-01 4.65545810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.140385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.57, Y:1.09, Z:0.46 [[ 9.99446978e-01 -3.11871745e-02 -1.15367915e-02 4.55675697e+01] [ 3.11890552e-02 9.99513503e-01 -1.69049622e-05 1.09188813e+00] [ 1.15317061e-02 -3.42926014e-04 9.99933449e-01 4.64061102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.170385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.60, Y:1.09, Z:0.46 [[ 9.99408142e-01 -3.19647033e-02 -1.27130986e-02 4.55984903e+01] [ 3.19670634e-02 9.99488923e-01 -1.75723806e-05 1.09145642e+00] [ 1.27071629e-02 -3.88838448e-04 9.99919185e-01 4.64453062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.63, Y:1.09, Z:0.47 [[ 9.99418139e-01 -3.12900587e-02 -1.35762986e-02 4.56302200e+01] [ 3.12926982e-02 9.99510263e-01 -1.80195243e-05 1.09387239e+00] [ 1.35702136e-02 -4.06829975e-04 9.99907838e-01 4.65659831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.66, Y:1.10, Z:0.47 [[ 9.99451135e-01 -3.01754206e-02 -1.36701124e-02 4.56629368e+01] [ 3.01780051e-02 9.99544540e-01 -1.72215898e-05 1.09723602e+00] [ 1.36644059e-02 -3.95324584e-04 9.99906559e-01 4.67145899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.70, Y:1.10, Z:0.47 [[ 9.99524258e-01 -2.83249957e-02 -1.22045929e-02 4.56952715e+01] [ 2.83269297e-02 9.99598712e-01 -1.44035603e-05 1.10023992e+00] [ 1.22001033e-02 -3.31321938e-04 9.99925521e-01 4.69857615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.73, Y:1.10, Z:0.47 [[ 9.99565088e-01 -2.74528384e-02 -1.07692487e-02 4.57273136e+01] [ 2.74543004e-02 9.99623060e-01 -1.20872602e-05 1.10013864e+00] [ 1.07655212e-02 -2.83580186e-04 9.99942010e-01 4.71019066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.320385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.76, Y:1.10, Z:0.47 [[ 9.99587471e-01 -2.68955972e-02 -1.00754078e-02 4.57592439e+01] [ 2.68968548e-02 9.99638214e-01 -1.06811956e-05 1.09918378e+00] [ 1.00720499e-02 -2.60319991e-04 9.99949242e-01 4.71105339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.350385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.79, Y:1.10, Z:0.47 [[ 9.99543362e-01 -2.78852580e-02 -1.16395794e-02 4.57917085e+01] [ 2.78870148e-02 9.99611082e-01 -1.13749803e-05 1.09735319e+00] [ 1.16353697e-02 -3.13223336e-04 9.99932258e-01 4.68996236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.380385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.82, Y:1.10, Z:0.47 [[ 9.99517117e-01 -2.82040838e-02 -1.30408268e-02 4.58235365e+01] [ 2.82063297e-02 9.99602122e-01 -1.17137521e-05 1.09723207e+00] [ 1.30359685e-02 -3.56125764e-04 9.99914965e-01 4.67966292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.86, Y:1.10, Z:0.47 [[ 9.99493976e-01 -2.85716233e-02 -1.39805114e-02 4.58561406e+01] [ 2.85742552e-02 9.99591673e-01 -1.15073454e-05 1.09764725e+00] [ 1.39751315e-02 -3.87981176e-04 9.99902268e-01 4.67619035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.89, Y:1.10, Z:0.47 [[ 9.99490001e-01 -2.82308793e-02 -1.49249985e-02 4.58883048e+01] [ 2.82338574e-02 9.99601345e-01 -1.11706473e-05 1.09994024e+00] [ 1.49193639e-02 -4.10225328e-04 9.99888616e-01 4.68370298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.92, Y:1.10, Z:0.47 [[ 9.99501059e-01 -2.80284032e-02 -1.45616641e-02 4.59195243e+01] [ 2.80312313e-02 9.99607048e-01 -9.88901648e-06 1.09941135e+00] [ 1.45562192e-02 -3.98297292e-04 9.99893973e-01 4.68286008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.500385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.95, Y:1.10, Z:0.47 [[ 9.99515128e-01 -2.72170672e-02 -1.51241448e-02 4.59513207e+01] [ 2.72200377e-02 9.99629466e-01 -9.44857149e-06 1.09975187e+00] [ 1.51187980e-02 -4.02235802e-04 9.99885624e-01 4.67488380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.530385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.98, Y:1.10, Z:0.47 [[ 9.99544486e-01 -2.60797885e-02 -1.51876904e-02 4.59830561e+01] [ 2.60826692e-02 9.99659789e-01 -8.40791006e-06 1.09722942e+00] [ 1.51827426e-02 -3.87731424e-04 9.99884660e-01 4.67001012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.560385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.01, Y:1.10, Z:0.47 [[ 9.99549435e-01 -2.58856259e-02 -1.51941441e-02 4.60148141e+01] [ 2.58885029e-02 9.99664837e-01 -7.34350833e-06 1.09797057e+00] [ 1.51892417e-02 -3.86013445e-04 9.99884562e-01 4.68382863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.05, Y:1.10, Z:0.47 [[ 9.99553331e-01 -2.60428960e-02 -1.46596944e-02 4.60461671e+01] [ 2.60456056e-02 9.99660756e-01 -6.08611580e-06 1.09979607e+00] [ 1.46548797e-02 -3.75737221e-04 9.99892541e-01 4.72612921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.08, Y:1.10, Z:0.47 [[ 9.99540718e-01 -2.62499654e-02 -1.51424325e-02 4.60781365e+01] [ 2.62528926e-02 9.99655333e-01 -5.46615731e-06 1.09994785e+00] [ 1.51373569e-02 -3.92069007e-04 9.99885347e-01 4.73708975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.11, Y:1.10, Z:0.47 [[ 9.99547436e-01 -2.60160540e-02 -1.51025955e-02 4.61103420e+01] [ 2.60189549e-02 9.99661450e-01 -4.41521259e-06 1.09957277e+00] [ 1.50975974e-02 -3.88540536e-04 9.99885949e-01 4.73342932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.14, Y:1.10, Z:0.47 [[ 9.99586366e-01 -2.49851642e-02 -1.42421165e-02 4.61413067e+01] [ 2.49876518e-02 9.99687760e-01 -3.28526560e-06 1.09717707e+00] [ 1.42377516e-02 -3.52593141e-04 9.99898576e-01 4.72632190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.710385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.17, Y:1.10, Z:0.47 [[ 9.99623093e-01 -2.40810077e-02 -1.31824214e-02 4.61731622e+01] [ 2.40830796e-02 9.99709961e-01 -1.57219094e-06 1.09793140e+00] [ 1.31786359e-02 -3.15901706e-04 9.99913108e-01 4.72801449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.740385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.20, Y:1.10, Z:0.47 [[ 9.99659724e-01 -2.29884856e-02 -1.23274210e-02 4.62039734e+01] [ 2.29902249e-02 9.99735690e-01 -6.17458389e-07 1.09723821e+00] [ 1.23241769e-02 -2.82792932e-04 9.99924014e-01 4.73740189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.24, Y:1.10, Z:0.48 [[ 9.99716512e-01 -2.13949653e-02 -1.04475871e-02 4.62358776e+01] [ 2.13961312e-02 9.99771077e-01 -1.76705899e-07 1.10064935e+00] [ 1.04451992e-02 -2.23361288e-04 9.99945422e-01 4.78378713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.27, Y:1.10, Z:0.48 [[ 9.99745201e-01 -2.07093940e-02 -8.98071238e-03 4.62675946e+01] [ 2.07102320e-02 9.99785520e-01 3.17190348e-07 1.10374042e+00] [ 8.97877963e-03 -1.86309746e-04 9.99959673e-01 4.80992556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.30, Y:1.10, Z:0.48 [[ 9.99762508e-01 -2.02428879e-02 -8.07173856e-03 4.62986307e+01] [ 2.02435507e-02 9.99795078e-01 4.10698377e-07 1.10437538e+00] [ 8.07007617e-03 -1.63811250e-04 9.99967423e-01 4.82996838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.33, Y:1.10, Z:0.48 [[ 9.99740519e-01 -2.05461564e-02 -9.83618423e-03 4.63313151e+01] [ 2.05471732e-02 9.99788885e-01 2.31922523e-06 1.10167159e+00] [ 9.83406001e-03 -2.04424405e-04 9.99951624e-01 4.79516686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.890385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.36, Y:1.10, Z:0.48 [[ 9.99650678e-01 -2.25915731e-02 -1.37165346e-02 4.63626062e+01] [ 2.25937624e-02 9.99744728e-01 4.65085843e-06 1.09890137e+00] [ 1.37129281e-02 -3.14557357e-04 9.99905924e-01 4.76002811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.920385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.39, Y:1.10, Z:0.48 [[ 9.99612445e-01 -2.36953791e-02 -1.46112321e-02 4.63948756e+01] [ 2.36979930e-02 9.99719163e-01 5.76166659e-06 1.09921863e+00] [ 1.46069922e-02 -3.52016310e-04 9.99893250e-01 4.76612339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.43, Y:1.10, Z:0.48 [[ 9.99581663e-01 -2.45601154e-02 -1.52741301e-02 4.64272630e+01] [ 2.45630896e-02 9.99698282e-01 7.12692394e-06 1.10008949e+00] [ 1.52693466e-02 -3.82303770e-04 9.99883344e-01 4.78015230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.46, Y:1.10, Z:0.48 [[ 9.99572193e-01 -2.55231244e-02 -1.42828773e-02 4.64594806e+01] [ 2.55258364e-02 9.99674163e-01 7.58118320e-06 1.10002007e+00] [ 1.42780299e-02 -3.72160330e-04 9.99897994e-01 4.78898154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.49, Y:1.10, Z:0.48 [[ 9.99533335e-01 -2.67937607e-02 -1.46699459e-02 4.64920934e+01] [ 2.67967736e-02 9.99640902e-01 8.81558304e-06 1.09804643e+00] [ 1.46644418e-02 -4.01918688e-04 9.99892391e-01 4.77067081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.52, Y:1.10, Z:0.48 [[ 9.99506882e-01 -2.77356023e-02 -1.47217454e-02 4.65244992e+01] [ 2.77387537e-02 9.99615207e-01 9.87531719e-06 1.09576256e+00] [ 1.47158066e-02 -4.18233317e-04 9.99891629e-01 4.76372464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.070385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.56, Y:1.09, Z:0.48 [[ 9.99477411e-01 -2.86709960e-02 -1.49291104e-02 4.65565880e+01] [ 2.86743567e-02 9.99588806e-01 1.10630114e-05 1.09486056e+00] [ 1.49226544e-02 -4.39139866e-04 9.99888555e-01 4.76780394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.100385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.59, Y:1.10, Z:0.48 [[ 9.99418646e-01 -3.02150910e-02 -1.57929699e-02 4.65876855e+01] [ 3.02190626e-02 9.99543300e-01 1.28446979e-05 1.09573285e+00] [ 1.57853691e-02 -4.90085976e-04 9.99875283e-01 4.80412317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.130385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.62, Y:1.10, Z:0.48 [[ 9.99390470e-01 -3.09128905e-02 -1.62197917e-02 4.66202529e+01] [ 3.09171857e-02 9.99521949e-01 1.40679573e-05 1.09846219e+00] [ 1.62116030e-02 -5.15529696e-04 9.99868450e-01 4.81607888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.65, Y:1.10, Z:0.48 [[ 9.99385597e-01 -3.14364057e-02 -1.54977889e-02 4.66521128e+01] [ 3.14404059e-02 9.99505628e-01 1.44811375e-05 1.09978296e+00] [ 1.54896720e-02 -5.01729015e-04 9.99879902e-01 4.82509585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.68, Y:1.10, Z:0.48 [[ 9.99380920e-01 -3.20577495e-02 -1.44940616e-02 4.66841012e+01] [ 3.20613274e-02 9.99485903e-01 1.45022792e-05 1.09704793e+00] [ 1.44861453e-02 -4.79192156e-04 9.99894955e-01 4.81973693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.72, Y:1.10, Z:0.48 [[ 9.99360358e-01 -3.26921770e-02 -1.44947315e-02 4.67161749e+01] [ 3.26958367e-02 9.99465348e-01 1.55264147e-05 1.09501468e+00] [ 1.44864743e-02 -4.89433858e-04 9.99894946e-01 4.82175084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.250385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.75, Y:1.09, Z:0.48 [[ 9.99328645e-01 -3.33754970e-02 -1.51107852e-02 4.67481675e+01] [ 3.33795691e-02 9.99442747e-01 1.72869701e-05 1.09398002e+00] [ 1.51017877e-02 -5.21666864e-04 9.99885825e-01 4.82048185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.280385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.78, Y:1.09, Z:0.48 [[ 9.99288039e-01 -3.37246862e-02 -1.69133074e-02 4.67806292e+01] [ 3.37298600e-02 9.99430986e-01 2.06534399e-05 1.09336848e+00] [ 1.69029870e-02 -5.91122228e-04 9.99856960e-01 4.80980953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.310385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.81, Y:1.09, Z:0.48 [[ 9.99301472e-01 -3.31361865e-02 -1.72789400e-02 4.68123448e+01] [ 3.31415197e-02 9.99450669e-01 2.23188512e-05 1.09247368e+00] [ 1.72687085e-02 -5.94953590e-04 9.99850708e-01 4.81794132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.84, Y:1.09, Z:0.48 [[ 9.99371260e-01 -3.18799499e-02 -1.55162034e-02 4.68445527e+01] [ 3.18841140e-02 9.99491572e-01 2.10018436e-05 1.09364324e+00] [ 1.55076450e-02 -5.15709037e-04 9.99879616e-01 4.83867734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.88, Y:1.09, Z:0.49 [[ 9.99413954e-01 -3.11295199e-02 -1.42373452e-02 4.68768141e+01] [ 3.11329625e-02 9.99515252e-01 2.01753295e-05 1.09446871e+00] [ 1.42298157e-02 -4.63414241e-04 9.99898644e-01 4.85410062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.91, Y:1.09, Z:0.49 [[ 9.99406003e-01 -3.14638879e-02 -1.40593427e-02 4.69076149e+01] [ 3.14672920e-02 9.99504782e-01 2.09192329e-05 1.09244138e+00] [ 1.40517221e-02 -4.63316250e-04 9.99901162e-01 4.86215905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.94, Y:1.09, Z:0.48 [[ 9.99336393e-01 -3.29513994e-02 -1.55234674e-02 4.69384476e+01] [ 3.29557427e-02 9.99456812e-01 2.39919186e-05 1.08708919e+00] [ 1.55142447e-02 -5.35563395e-04 9.99879503e-01 4.84807953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.460385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.97, Y:1.09, Z:0.49 [[ 9.99338603e-01 -3.28843321e-02 -1.55234661e-02 4.69701616e+01] [ 3.28886797e-02 9.99459021e-01 2.47929700e-05 1.08697658e+00] [ 1.55142530e-02 -5.35322877e-04 9.99879503e-01 4.85289160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.490385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.00, Y:1.09, Z:0.49 [[ 9.99281007e-01 -3.43711532e-02 -1.60028898e-02 4.70027008e+01] [ 3.43759816e-02 9.99408971e-01 2.66665381e-05 1.08789273e+00] [ 1.59925151e-02 -5.76762411e-04 9.99871945e-01 4.85043975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.03, Y:1.08, Z:0.48 [[ 9.99213713e-01 -3.58739725e-02 -1.68823661e-02 4.70345281e+01] [ 3.58795811e-02 9.99356120e-01 2.93449858e-05 1.08423405e+00] [ 1.68704432e-02 -6.35054135e-04 9.99857482e-01 4.84069214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.07, Y:1.08, Z:0.48 [[ 9.99188820e-01 -3.61980138e-02 -1.76466983e-02 4.70657971e+01] [ 3.62042093e-02 9.99344412e-01 3.16390925e-05 1.08333836e+00] [ 1.76339841e-02 -6.70498186e-04 9.99844284e-01 4.84062500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.10, Y:1.08, Z:0.49 [[ 9.99187632e-01 -3.57879721e-02 -1.85283052e-02 4.70985044e+01] [ 3.57947528e-02 9.99359162e-01 3.43480446e-05 1.08459578e+00] [ 1.85152023e-02 -6.97536246e-04 9.99828336e-01 4.85162034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.13, Y:1.08, Z:0.49 [[ 9.99216749e-01 -3.50329802e-02 -1.84005255e-02 4.71299451e+01] [ 3.50395671e-02 9.99385925e-01 3.55959388e-05 1.08334738e+00] [ 1.83879792e-02 -6.80314506e-04 9.99830695e-01 4.85819305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.640385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.16, Y:1.09, Z:0.49 [[ 9.99344114e-01 -3.21157998e-02 -1.67307536e-02 4.71616576e+01] [ 3.21208503e-02 9.99483992e-01 3.31663879e-05 1.08822835e+00] [ 1.67210552e-02 -5.70550665e-04 9.99860031e-01 4.89769377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.670385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.19, Y:1.08, Z:0.49 [[ 9.99443090e-01 -2.96548753e-02 -1.53002868e-02 4.71924532e+01] [ 2.96588221e-02 9.99560080e-01 3.10626592e-05 1.08427722e+00] [ 1.52926348e-02 -4.84833845e-04 9.99882943e-01 4.91241166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.22, Y:1.09, Z:0.49 [[ 9.99587619e-01 -2.47257655e-02 -1.46023714e-02 4.72239286e+01] [ 2.47288419e-02 9.99694195e-01 3.01279029e-05 1.09093297e+00] [ 1.45971609e-02 -3.91215211e-04 9.99893379e-01 4.90351911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.26, Y:1.09, Z:0.49 [[ 9.99654616e-01 -2.21429968e-02 -1.41539940e-02 4.72557381e+01] [ 2.21456346e-02 9.99754755e-01 2.96433187e-05 1.09065877e+00] [ 1.41498664e-02 -3.43082259e-04 9.99899827e-01 4.89678645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.29, Y:1.09, Z:0.49 [[ 9.99770048e-01 -1.67136483e-02 -1.34351994e-02 4.72859186e+01] [ 1.67155478e-02 9.99860285e-01 2.90941294e-05 1.09362962e+00] [ 1.34328360e-02 -2.53664157e-04 9.99909743e-01 4.90900743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.32, Y:1.10, Z:0.49 [[ 9.99814836e-01 -1.38018611e-02 -1.34090731e-02 4.73169206e+01] [ 1.38034945e-02 9.99904727e-01 2.92670983e-05 1.09694385e+00] [ 1.34073916e-02 -2.14353746e-04 9.99910094e-01 4.92762601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.820385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.35, Y:1.10, Z:0.49 [[ 9.99854278e-01 -1.05794041e-02 -1.33977439e-02 4.73470385e+01] [ 1.05807490e-02 9.99944022e-01 2.94988861e-05 1.09932044e+00] [ 1.33966818e-02 -1.71252753e-04 9.99910246e-01 4.93344753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.850385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.38, Y:1.10, Z:0.49 [[ 9.99871896e-01 -7.56369872e-03 -1.41060654e-02 4.73762606e+01] [ 7.56488999e-03 9.99971385e-01 3.10942021e-05 1.10107484e+00] [ 1.41054266e-02 -1.37801052e-04 9.99900504e-01 4.93196817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.880385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.41, Y:1.10, Z:0.49 [[ 9.99898540e-01 -3.03382256e-03 -1.39178174e-02 4.74051182e+01] [ 3.03454060e-03 9.99995395e-01 3.04737472e-05 1.10324130e+00] [ 1.39176609e-02 -7.27048373e-05 9.99903142e-01 4.93080790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.43, Y:1.11, Z:0.49 [[ 9.99899112e-01 -1.32852721e-03 -1.41421468e-02 4.74334146e+01] [ 1.32905165e-03 9.99999116e-01 2.76852204e-05 1.10508330e+00] [ 1.41420976e-02 -4.64780708e-05 9.99899994e-01 4.94130821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.46, Y:1.11, Z:0.49 [[ 9.99886083e-01 9.40835223e-04 -1.50643873e-02 4.74602232e+01] [-9.40564918e-04 9.99999557e-01 2.50281885e-05 1.10673567e+00] [ 1.50644041e-02 -1.08563032e-05 9.99886525e-01 4.93453869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.49, Y:1.11, Z:0.49 [[ 9.99875571e-01 1.07684320e-03 -1.57379319e-02 4.74880642e+01] [-1.07661283e-03 9.99999420e-01 2.31104015e-05 1.10568220e+00] [ 1.57379477e-02 -6.16386654e-06 9.99876151e-01 4.91939814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.000385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.52, Y:1.10, Z:0.49 [[ 9.99867051e-01 2.10266307e-04 -1.63045047e-02 4.75151374e+01] [-2.09932454e-04 9.99999978e-01 2.21876422e-05 1.10321168e+00] [ 1.63045090e-02 -1.87618476e-05 9.99867072e-01 4.90321711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.030385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.54, Y:1.10, Z:0.49 [[ 9.99845208e-01 -2.50810102e-03 -1.74146510e-02 4.75441906e+01] [ 2.50885779e-03 9.99996853e-01 2.16088557e-05 1.09922716e+00] [ 1.74145420e-02 -6.52963934e-05 9.99848353e-01 4.89614681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.060385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.57, Y:1.10, Z:0.49 [[ 9.99841900e-01 -4.54780795e-03 -1.71898698e-02 4.75729197e+01] [ 4.54882698e-03 9.99989654e-01 2.01813564e-05 1.09913377e+00] [ 1.71896002e-02 -9.83719094e-05 9.99852243e-01 4.91816093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.60, Y:1.10, Z:0.49 [[ 9.99833971e-01 -6.46140682e-03 -1.70376011e-02 4.76010480e+01] [ 6.46266536e-03 9.99979117e-01 1.88111634e-05 1.09775175e+00] [ 1.70371238e-02 -1.28916355e-04 9.99854849e-01 4.93563375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.63, Y:1.10, Z:0.50 [[ 9.99824434e-01 -1.05509684e-02 -1.54847925e-02 4.76296804e+01] [ 1.05524797e-02 9.99944321e-01 1.58979233e-05 1.09612766e+00] [ 1.54837626e-02 -1.79298092e-04 9.99880103e-01 4.96304023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.66, Y:1.09, Z:0.50 [[ 9.99796998e-01 -1.32060824e-02 -1.52171825e-02 4.76586389e+01] [ 1.32078337e-02 9.99912773e-01 1.45884882e-05 1.09318994e+00] [ 1.52156625e-02 -2.15571542e-04 9.99884212e-01 4.96264427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.69, Y:1.08, Z:0.49 [[ 9.99681149e-01 -1.93895281e-02 -1.61754996e-02 4.76873740e+01] [ 1.93922510e-02 9.99811953e-01 1.14875864e-05 1.08331226e+00] [ 1.61722351e-02 -3.25163272e-04 9.99869168e-01 4.93929209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.210385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.72, Y:1.08, Z:0.49 [[ 9.99584910e-01 -2.30469867e-02 -1.72871131e-02 4.77182926e+01] [ 2.30506294e-02 9.99734299e-01 1.14677768e-05 1.08014019e+00] [ 1.72822556e-02 -4.09941854e-04 9.99850567e-01 4.93230040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.240385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.75, Y:1.08, Z:0.49 [[ 9.99500139e-01 -2.60578759e-02 -1.79013682e-02 4.77494729e+01] [ 2.60622711e-02 9.99660321e-01 1.22375355e-05 1.07930997e+00] [ 1.78949686e-02 -4.78781731e-04 9.99839758e-01 4.93912451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.78, Y:1.08, Z:0.50 [[ 9.99364389e-01 -3.07403656e-02 -1.80512409e-02 4.77799428e+01] [ 3.07456098e-02 9.99527242e-01 1.30022151e-05 1.07650615e+00] [ 1.80423074e-02 -5.67990361e-04 9.99837063e-01 4.96025267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.300385723 meters Centerline goodness [0,1] 0.9999553830366306 Centerline is valid? [True, True] Translation: X:47.81, Y:1.08, Z:0.50 [[ 9.99328822e-01 -3.24948036e-02 -1.69113619e-02 4.78116642e+01] [ 3.24996693e-02 9.99471746e-01 1.29008300e-05 1.07516132e+00] [ 1.69020092e-02 -5.62505840e-04 9.99856993e-01 4.97576951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.84, Y:1.07, Z:0.50 [[ 9.99308215e-01 -3.41500708e-02 -1.47263163e-02 4.78435070e+01] [ 3.41539494e-02 9.99416584e-01 1.18864438e-05 1.07156737e+00] [ 1.47173188e-02 -5.14840081e-04 9.99891562e-01 4.99870559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.360385723 meters Centerline goodness [0,1] 0.9999114515307816 Centerline is valid? [True, True] Translation: X:47.88, Y:1.07, Z:0.50 [[ 9.99316760e-01 -3.42317580e-02 -1.39355957e-02 4.78753888e+01] [ 3.42352518e-02 9.99413802e-01 1.21596625e-05 1.06980818e+00] [ 1.39270104e-02 -4.89239982e-04 9.99902895e-01 5.00119747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.390385722999994 meters Centerline goodness [0,1] 0.9999778643527537 Centerline is valid? [True, True] Translation: X:47.91, Y:1.07, Z:0.50 [[ 9.99305265e-01 -3.45679997e-02 -1.39298658e-02 4.79064879e+01] [ 3.45715370e-02 9.99402226e-01 1.31408350e-05 1.06853233e+00] [ 1.39210846e-02 -4.94708575e-04 9.99902975e-01 5.01022929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.420385722999995 meters Centerline goodness [0,1] 0.9999558089177604 Centerline is valid? [True, True] Translation: X:47.94, Y:1.07, Z:0.50 [[ 9.99243595e-01 -3.56233540e-02 -1.55953374e-02 4.79387648e+01] [ 3.56279303e-02 9.99365124e-01 1.56182790e-05 1.06879912e+00] [ 1.55848799e-02 -5.71236060e-04 9.99878385e-01 5.01533431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.450385723 meters Centerline goodness [0,1] 0.9999557590638618 Centerline is valid? [True, True] Translation: X:47.97, Y:1.07, Z:0.50 [[ 9.99206526e-01 -3.61754018e-02 -1.66631069e-02 4.79708581e+01] [ 3.61807234e-02 9.99345263e-01 1.79126194e-05 1.06710867e+00] [ 1.66515489e-02 -6.20781668e-04 9.99861161e-01 5.01240311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.480385723 meters Centerline goodness [0,1] 0.9999337499723958 Centerline is valid? [True, True] Translation: X:48.00, Y:1.06, Z:0.50 [[ 9.99132609e-01 -3.73125542e-02 -1.84879044e-02 4.80032051e+01] [ 3.73193256e-02 9.99303391e-01 2.12657853e-05 1.06391978e+00] [ 1.84742321e-02 -7.11203463e-04 9.99829084e-01 4.97249963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.510385723 meters Centerline goodness [0,1] 0.9999560014079549 Centerline is valid? [True, True] Translation: X:48.04, Y:1.06, Z:0.50 [[ 9.99115465e-01 -3.72872580e-02 -1.94409062e-02 4.80357927e+01] [ 3.72947685e-02 9.99304308e-01 2.37853549e-05 1.06105521e+00] [ 1.94264944e-02 -7.48808412e-04 9.99811007e-01 4.95975627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.07, Y:1.06, Z:0.50 [[ 9.99098157e-01 -3.71786272e-02 -2.05090609e-02 4.80683669e+01] [ 3.71869937e-02 9.99308324e-01 2.65868401e-05 1.05943316e+00] [ 2.04938869e-02 -7.89233183e-04 9.99789667e-01 4.95868549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.570385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.10, Y:1.06, Z:0.50 [[ 9.99115191e-01 -3.58128297e-02 -2.20516871e-02 4.80996972e+01] [ 3.58222034e-02 9.99358178e-01 3.00826267e-05 1.06191966e+00] [ 2.20364565e-02 -8.19996030e-04 9.99756832e-01 4.99257680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.600385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.13, Y:1.07, Z:0.50 [[ 9.99176312e-01 -3.39962857e-02 -2.21573886e-02 4.81314236e+01] [ 3.40053292e-02 9.99421651e-01 3.13896637e-05 1.06668765e+00] [ 2.21435067e-02 -7.84833102e-04 9.99754494e-01 5.02006782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.630385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.16, Y:1.07, Z:0.50 [[ 9.99267930e-01 -3.17695482e-02 -2.13143134e-02 4.81618503e+01] [ 3.17774382e-02 9.99494969e-01 3.14925502e-05 1.06636661e+00] [ 2.13025485e-02 -7.08783772e-04 9.99772824e-01 5.03060776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.19, Y:1.07, Z:0.50 [[ 9.99414116e-01 -2.80930436e-02 -1.95500645e-02 4.81931091e+01] [ 2.80990046e-02 9.99605145e-01 3.02233449e-05 1.06737319e+00] [ 1.95414960e-02 -5.79542989e-04 9.99808879e-01 5.03526527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.22, Y:1.07, Z:0.50 [[ 9.99474401e-01 -2.65934015e-02 -1.85395151e-02 4.82249947e+01] [ 2.65985162e-02 9.99646196e-01 2.93114054e-05 1.06672612e+00] [ 1.85321763e-02 -5.22419593e-04 9.99828128e-01 5.04388482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.25, Y:1.07, Z:0.50 [[ 9.99514863e-01 -2.41178183e-02 -1.97070958e-02 4.82549991e+01] [ 2.41231320e-02 9.99708994e-01 3.19225012e-05 1.06751685e+00] [ 1.97005910e-02 -5.07303888e-04 9.99805796e-01 5.04713158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.750385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.29, Y:1.06, Z:0.50 [[ 9.99493392e-01 -2.30396812e-02 -2.19575034e-02 4.82852611e+01] [ 2.30460272e-02 9.99734404e-01 3.59759942e-05 1.06467105e+00] [ 2.19508427e-02 -5.41990989e-04 9.99758904e-01 5.02932413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.780385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.32, Y:1.07, Z:0.50 [[ 9.99457477e-01 -2.26413761e-02 -2.39190205e-02 4.83153979e+01] [ 2.26487926e-02 9.99743482e-01 3.91744985e-05 1.06790305e+00] [ 2.39119979e-02 -5.80890181e-04 9.99713899e-01 5.02466265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.810385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.34, Y:1.07, Z:0.50 [[ 9.99480516e-01 -2.12526573e-02 -2.42285643e-02 4.83432458e+01] [ 2.12598281e-02 9.99773984e-01 3.83911249e-05 1.06715018e+00] [ 2.42222723e-02 -5.53466293e-04 9.99706445e-01 5.02017285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.37, Y:1.07, Z:0.50 [[ 9.99501574e-01 -2.07042436e-02 -2.38314403e-02 4.83718676e+01] [ 2.07109460e-02 9.99785505e-01 3.44295136e-05 1.06836807e+00] [ 2.38256157e-02 -5.27984027e-04 9.99715990e-01 5.04607665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.40, Y:1.07, Z:0.51 [[ 9.99533998e-01 -2.03885245e-02 -2.27177250e-02 4.84001885e+01] [ 2.03944139e-02 9.99792012e-01 2.75638062e-05 1.06923459e+00] [ 2.27124380e-02 -4.90865649e-04 9.99741919e-01 5.06469382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.43, Y:1.07, Z:0.51 [[ 9.99550395e-01 -2.04810351e-02 -2.18983093e-02 4.84290761e+01] [ 2.04864170e-02 9.99790131e-01 2.14384491e-05 1.06982657e+00] [ 2.18932744e-02 -4.70046706e-04 9.99760203e-01 5.07730286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.46, Y:1.07, Z:0.51 [[ 9.99541294e-01 -2.10470287e-02 -2.17766751e-02 4.84575877e+01] [ 2.10523973e-02 9.99778374e-01 1.72809468e-05 1.06631081e+00] [ 2.17714851e-02 -4.75724236e-04 9.99762860e-01 5.07386563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.960385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.49, Y:1.07, Z:0.51 [[ 9.99515583e-01 -2.28897221e-02 -2.10869518e-02 4.84859864e+01] [ 2.28951187e-02 9.99737872e-01 1.45042084e-05 1.06678101e+00] [ 2.10810923e-02 -4.97285446e-04 9.99777645e-01 5.08963112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.990385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.52, Y:1.07, Z:0.51 [[ 9.99494880e-01 -2.37784305e-02 -2.10848767e-02 4.85151581e+01] [ 2.37839422e-02 9.99717122e-01 1.06383709e-05 1.06557108e+00] [ 2.10786593e-02 -5.12114486e-04 9.99777689e-01 5.09153967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.55, Y:1.07, Z:0.51 [[ 9.99460380e-01 -2.48666665e-02 -2.14615446e-02 4.85455999e+01] [ 2.48726218e-02 9.99690628e-01 1.05576309e-05 1.06583215e+00] [ 2.14546425e-02 -5.44356817e-04 9.99769674e-01 5.10565682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.58, Y:1.06, Z:0.51 [[ 9.99382588e-01 -2.75832025e-02 -2.17625646e-02 4.85750143e+01] [ 2.75899680e-02 9.99619324e-01 1.06346361e-05 1.06019116e+00] [ 2.17539868e-02 -6.11056533e-04 9.99763167e-01 5.09584022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.61, Y:1.06, Z:0.51 [[ 9.99333025e-01 -2.88806849e-02 -2.23475086e-02 4.86067024e+01] [ 2.88881450e-02 9.99582650e-01 1.10006012e-05 1.05811568e+00] [ 2.23378642e-02 -6.56571335e-04 9.99750263e-01 5.09950398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.64, Y:1.06, Z:0.51 [[ 9.99290853e-01 -3.00821564e-02 -2.26463115e-02 4.86378911e+01] [ 3.00901438e-02 9.99547189e-01 1.19489968e-05 1.05879180e+00] [ 2.26356975e-02 -6.93371292e-04 9.99743539e-01 5.11346513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.140385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.67, Y:1.06, Z:0.51 [[ 9.99236178e-01 -3.13018127e-02 -2.33935223e-02 4.86684842e+01] [ 3.13106866e-02 9.99509700e-01 1.30523696e-05 1.05706161e+00] [ 2.33816439e-02 -7.45509645e-04 9.99726334e-01 5.13311483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.170385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.70, Y:1.06, Z:0.51 [[ 9.99260824e-01 -3.08008607e-02 -2.30024677e-02 4.86998736e+01] [ 3.08093201e-02 9.99525280e-01 1.33731087e-05 1.05682577e+00] [ 2.29911361e-02 -7.22053613e-04 9.99735408e-01 5.14356129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.73, Y:1.06, Z:0.52 [[ 9.99339679e-01 -2.94903161e-02 -2.12256433e-02 4.87308095e+01] [ 2.94972382e-02 9.99564862e-01 1.30414814e-05 1.05693132e+00] [ 2.12160226e-02 -6.39130724e-04 9.99774711e-01 5.16731155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.76, Y:1.06, Z:0.52 [[ 9.99400877e-01 -2.86158248e-02 -1.94684578e-02 4.87618485e+01] [ 2.86214946e-02 9.99590321e-01 1.26031860e-05 1.05664769e+00] [ 1.94601213e-02 -5.69811995e-04 9.99810472e-01 5.18212569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.79, Y:1.06, Z:0.52 [[ 9.99443008e-01 -2.78030129e-02 -1.84571224e-02 4.87926856e+01] [ 2.78079818e-02 9.99613283e-01 1.25705235e-05 1.05523565e+00] [ 1.84496353e-02 -5.25818847e-04 9.99829653e-01 5.19571146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.83, Y:1.06, Z:0.52 [[ 9.99432930e-01 -2.77418210e-02 -1.90842620e-02 4.88252522e+01] [ 2.77471381e-02 9.99614974e-01 1.38263820e-05 1.05533654e+00] [ 1.90765305e-02 -5.43352194e-04 9.99817879e-01 5.19980759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.320385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.86, Y:1.06, Z:0.52 [[ 9.99434910e-01 -2.76704022e-02 -1.90842609e-02 4.88569604e+01] [ 2.76757323e-02 9.99616953e-01 1.51918185e-05 1.05525659e+00] [ 1.90765304e-02 -5.43354130e-04 9.99817879e-01 5.20461779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.350385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.89, Y:1.05, Z:0.52 [[ 9.99385887e-01 -2.83417118e-02 -2.06057396e-02 4.88887561e+01] [ 2.83480966e-02 9.99598112e-01 1.77667995e-05 1.05356253e+00] [ 2.05969548e-02 -6.01889385e-04 9.99787679e-01 5.19590843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.380385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.92, Y:1.05, Z:0.52 [[ 9.99320196e-01 -2.90285225e-02 -2.27264268e-02 4.89192057e+01] [ 2.90364887e-02 9.99578352e-01 2.05440615e-05 1.04963793e+00] [ 2.27162479e-02 -6.80425729e-04 9.99741721e-01 5.18150774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.95, Y:1.05, Z:0.52 [[ 9.99310166e-01 -2.89506158e-02 -2.32605818e-02 4.89500906e+01] [ 2.89589634e-02 9.99580601e-01 2.20377817e-05 1.04952681e+00] [ 2.32501884e-02 -6.95624918e-04 9.99729436e-01 5.19127387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.98, Y:1.05, Z:0.52 [[ 9.99342641e-01 -2.80423535e-02 -2.29763205e-02 4.89802442e+01] [ 2.80502736e-02 9.99606513e-01 2.24275277e-05 1.04947477e+00] [ 2.29666507e-02 -6.66904861e-04 9.99736009e-01 5.20640887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.01, Y:1.05, Z:0.52 [[ 9.99429773e-01 -2.57795740e-02 -2.18069546e-02 4.90108361e+01] [ 2.57861755e-02 9.99667481e-01 2.15371713e-05 1.05003709e+00] [ 2.17991482e-02 -5.83842849e-04 9.99762200e-01 5.21651327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.500385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.04, Y:1.05, Z:0.52 [[ 9.99466470e-01 -2.44706939e-02 -2.16323794e-02 4.90409820e+01] [ 2.44768813e-02 9.99700396e-01 2.12515991e-05 1.05075503e+00] [ 2.16253782e-02 -5.50733442e-04 9.99765992e-01 5.22303702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.530385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.07, Y:1.05, Z:0.52 [[ 9.99502587e-01 -2.26986592e-02 -2.18940363e-02 4.90708704e+01] [ 2.27045639e-02 9.99742218e-01 2.11220796e-05 1.04927392e+00] [ 2.18879129e-02 -5.18206119e-04 9.99760297e-01 5.21217695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.560385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.10, Y:1.05, Z:0.52 [[ 9.99498747e-01 -2.23818519e-02 -2.23898867e-02 4.91009057e+01] [ 2.23879361e-02 9.99749359e-01 2.10811247e-05 1.05040554e+00] [ 2.23838031e-02 -5.22333912e-04 9.99749315e-01 5.21508733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.13, Y:1.05, Z:0.52 [[ 9.99469478e-01 -2.24617974e-02 -2.35845457e-02 4.91300681e+01] [ 2.24685100e-02 9.99747551e-01 1.96303756e-05 1.05125648e+00] [ 2.35781509e-02 -5.49529563e-04 9.99721846e-01 5.21228555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.16, Y:1.05, Z:0.52 [[ 9.99441798e-01 -2.34089051e-02 -2.38351653e-02 4.91591531e+01] [ 2.34158927e-02 9.99725810e-01 1.40676667e-05 1.05143318e+00] [ 2.38283006e-02 -5.72181486e-04 9.99715902e-01 5.21026849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.19, Y:1.05, Z:0.52 [[ 9.99401649e-01 -2.55964970e-02 -2.32629160e-02 4.91878391e+01] [ 2.56036162e-02 9.99672174e-01 8.18790030e-06 1.05196962e+00] [ 2.32550803e-02 -6.03797774e-04 9.99729382e-01 5.22439395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.68038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.22, Y:1.05, Z:0.52 [[ 9.99340959e-01 -2.87141938e-02 -2.22068257e-02 4.92172110e+01] [ 2.87213654e-02 9.99587456e-01 4.00090302e-06 1.05365850e+00] [ 2.21975495e-02 -6.41808620e-04 9.99753398e-01 5.24818484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.710385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.25, Y:1.05, Z:0.53 [[ 9.99326297e-01 -3.01514559e-02 -2.09246805e-02 4.92472421e+01] [ 3.01581292e-02 9.99545140e-01 3.36173704e-06 1.05196008e+00] [ 2.09150613e-02 -6.34408689e-04 9.99781055e-01 5.25560966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.740385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.28, Y:1.05, Z:0.53 [[ 9.99290611e-01 -3.16898370e-02 -2.03476984e-02 4.92786808e+01] [ 3.16964747e-02 9.99497541e-01 3.70773974e-06 1.05094309e+00] [ 2.03373570e-02 -6.48655417e-04 9.99792964e-01 5.25964173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.31, Y:1.05, Z:0.53 [[ 9.99256083e-01 -3.32022396e-02 -1.96186499e-02 4.93108010e+01] [ 3.32087170e-02 9.99448438e-01 4.38178949e-06 1.04946639e+00] [ 1.96076836e-02 -6.55888724e-04 9.99807536e-01 5.25423126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.34, Y:1.05, Z:0.52 [[ 9.99089612e-01 -3.69850588e-02 -2.12615118e-02 4.93420395e+01] [ 3.69935507e-02 9.99315504e-01 6.09092071e-06 1.04863732e+00] [ 2.12467332e-02 -7.92624192e-04 9.99773948e-01 5.23587884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.37, Y:1.05, Z:0.52 [[ 9.99010604e-01 -3.87931742e-02 -2.17463093e-02 4.93733980e+01] [ 3.88025047e-02 9.99246899e-01 7.10678811e-06 1.04797145e+00] [ 2.17296565e-02 -8.50911026e-04 9.99763521e-01 5.24304310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.40, Y:1.06, Z:0.53 [[ 9.98919297e-01 -4.16170210e-02 -2.06944658e-02 4.94048769e+01] [ 4.16260967e-02 9.99133258e-01 7.80653512e-06 1.05654660e+00] [ 2.06762042e-02 -8.69227935e-04 9.99785847e-01 5.28395838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.890385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.44, Y:1.06, Z:0.53 [[ 9.98902068e-01 -4.26034519e-02 -1.94834218e-02 4.94355899e+01] [ 4.26117014e-02 9.99091709e-01 8.26458829e-06 1.05643204e+00] [ 1.94653730e-02 -8.38477264e-04 9.99810180e-01 5.29079135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.920385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.47, Y:1.05, Z:0.53 [[ 9.98821967e-01 -4.50299818e-02 -1.80825759e-02 4.94673138e+01] [ 4.50374988e-02 9.98985297e-01 8.48380827e-06 1.05437812e+00] [ 1.80638454e-02 -8.22867805e-04 9.99836497e-01 5.27094940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.50, Y:1.05, Z:0.53 [[ 9.98747668e-01 -4.65932674e-02 -1.82253442e-02 4.94998834e+01] [ 4.66011975e-02 9.98913574e-01 1.04305781e-05 1.05419540e+00] [ 1.82050577e-02 -8.59740381e-04 9.99833905e-01 5.26392041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.980385723 meters Centerline goodness [0,1] 0.999978083632857 Centerline is valid? [True, True] Translation: X:49.53, Y:1.05, Z:0.53 [[ 9.98650423e-01 -4.81768209e-02 -1.93991269e-02 4.95311462e+01] [ 4.81861303e-02 9.98838374e-01 1.24749382e-05 1.05357848e+00] [ 1.93759914e-02 -9.47226960e-04 9.99811819e-01 5.26400944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.56, Y:1.06, Z:0.53 [[ 9.98477402e-01 -5.10747955e-02 -2.08385076e-02 4.95620211e+01] [ 5.10861877e-02 9.98694248e-01 1.43667142e-05 1.05905454e+00] [ 2.08105639e-02 -1.07890475e-03 9.99782855e-01 5.27636987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.040385723 meters Centerline goodness [0,1] 0.9999781219917738 Centerline is valid? [True, True] Translation: X:49.59, Y:1.06, Z:0.53 [[ 9.98470352e-01 -5.14074234e-02 -2.03527081e-02 4.95932416e+01] [ 5.14183703e-02 9.98677201e-01 1.45717908e-05 1.05838096e+00] [ 2.03250365e-02 -1.06105258e-03 9.99792862e-01 5.28236014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.070385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.62, Y:1.06, Z:0.53 [[ 9.98668558e-01 -4.80968062e-02 -1.86496145e-02 4.96239713e+01] [ 4.81054364e-02 9.98842263e-01 1.41563288e-05 1.06281642e+00] [ 1.86273423e-02 -9.11285324e-04 9.99826081e-01 5.28191178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.100385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.65, Y:1.06, Z:0.53 [[ 9.98769193e-01 -4.63330045e-02 -1.77017349e-02 4.96549531e+01] [ 4.63405091e-02 9.98925701e-01 1.37773554e-05 1.06494059e+00] [ 1.76820796e-02 -8.34067807e-04 9.99843312e-01 5.29146494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.130385722999996 meters Centerline goodness [0,1] 0.9999779536585903 Centerline is valid? [True, True] Translation: X:49.69, Y:1.07, Z:0.53 [[ 9.98861858e-01 -4.46533930e-02 -1.67649442e-02 4.96871362e+01] [ 4.46598985e-02 9.99002249e-01 1.36691032e-05 1.06804575e+00] [ 1.67476066e-02 -7.62374253e-04 9.99859458e-01 5.29843339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.72, Y:1.07, Z:0.53 [[ 9.98898537e-01 -4.35938318e-02 -1.73577049e-02 4.97185104e+01] [ 4.36006673e-02 9.99049039e-01 1.53875576e-05 1.06853525e+00] [ 1.73405276e-02 -7.72178124e-04 9.99849344e-01 5.30502780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.75, Y:1.07, Z:0.53 [[ 9.98931948e-01 -4.16625460e-02 -1.99798807e-02 4.97504017e+01] [ 4.16712447e-02 9.99131376e-01 1.90552548e-05 1.07199182e+00] [ 1.99617318e-02 -8.51621401e-04 9.99800382e-01 5.28802770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.78, Y:1.08, Z:0.53 [[ 9.98973064e-01 -3.91741088e-02 -2.27641631e-02 4.97816116e+01] [ 3.91847970e-02 9.99231981e-01 2.34778513e-05 1.07947019e+00] [ 2.27457601e-02 -9.15462852e-04 9.99740863e-01 5.27729259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.250385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.81, Y:1.08, Z:0.53 [[ 9.99017787e-01 -3.77257918e-02 -2.32427793e-02 4.98135646e+01] [ 3.77365694e-02 9.99287722e-01 2.51065183e-05 1.08235900e+00] [ 2.32252768e-02 -9.02184614e-04 9.99729850e-01 5.27455526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.280385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.85, Y:1.08, Z:0.53 [[ 9.99057541e-01 -3.63547155e-02 -2.37142137e-02 4.98452820e+01] [ 3.63655898e-02 9.99338553e-01 2.73266841e-05 1.08164359e+00] [ 2.36975346e-02 -8.89682300e-04 9.99718778e-01 5.27408217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.310385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.88, Y:1.08, Z:0.53 [[ 9.99121242e-01 -3.43434082e-02 -2.40265283e-02 4.98754132e+01] [ 3.43540201e-02 9.99409726e-01 2.89245571e-05 1.08234349e+00] [ 2.40113527e-02 -8.54306973e-04 9.99711321e-01 5.27275891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.91, Y:1.09, Z:0.53 [[ 9.99291541e-01 -3.00556681e-02 -2.26511141e-02 4.99061293e+01] [ 3.00640074e-02 9.99547975e-01 2.76407238e-05 1.08711568e+00] [ 2.26400445e-02 -7.08604403e-04 9.99743430e-01 5.27733400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.94, Y:1.09, Z:0.53 [[ 9.99363034e-01 -2.87023894e-02 -2.12061141e-02 4.99373545e+01] [ 2.87094038e-02 9.99587800e-01 2.63414623e-05 1.08934521e+00] [ 2.11966169e-02 -6.35139576e-04 9.99775125e-01 5.29527423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.97, Y:1.09, Z:0.53 [[ 9.99440331e-01 -2.66901214e-02 -2.01658555e-02 4.99673226e+01] [ 2.66960673e-02 9.99643596e-01 2.56577969e-05 1.08854295e+00] [ 2.01579835e-02 -5.63992472e-04 9.99796648e-01 5.31758566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.00, Y:1.09, Z:0.53 [[ 9.99470951e-01 -2.57724439e-02 -1.98393341e-02 4.99986766e+01] [ 2.57780266e-02 9.99667691e-01 2.56719254e-05 1.09041824e+00] [ 1.98320797e-02 -5.37077227e-04 9.99803181e-01 5.33592406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.460385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.03, Y:1.09, Z:0.54 [[ 9.99491033e-01 -2.48302288e-02 -2.00283292e-02 5.00298533e+01] [ 2.48357435e-02 9.99691545e-01 2.66200932e-05 1.09143848e+00] [ 2.00214903e-02 -5.24024991e-04 9.99799413e-01 5.35135580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.490385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.06, Y:1.09, Z:0.54 [[ 9.99550763e-01 -2.27264586e-02 -1.95392114e-02 5.00608240e+01] [ 2.27313185e-02 9.99741610e-01 2.66370342e-05 1.09331396e+00] [ 1.95335573e-02 -4.70777105e-04 9.99809091e-01 5.35735653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.09, Y:1.09, Z:0.54 [[ 9.99584755e-01 -2.13834207e-02 -1.93149514e-02 5.00917463e+01] [ 2.13879320e-02 9.99771252e-01 2.70017131e-05 1.09382625e+00] [ 1.93099558e-02 -4.40097369e-04 9.99813449e-01 5.35535658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.12, Y:1.10, Z:0.54 [[ 9.99638828e-01 -1.87177275e-02 -1.92836798e-02 5.01226220e+01] [ 1.87217388e-02 9.99824733e-01 2.74894697e-05 1.09515330e+00] [ 1.92797855e-02 -3.88503558e-04 9.99814052e-01 5.35347005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.15, Y:1.10, Z:0.54 [[ 9.99669366e-01 -1.75924247e-02 -1.87527494e-02 5.01520016e+01] [ 1.75960190e-02 9.99845178e-01 2.66706960e-05 1.09545402e+00] [ 1.87493768e-02 -3.56635611e-04 9.99824151e-01 5.36421807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.18, Y:1.10, Z:0.54 [[ 9.99692283e-01 -1.70635650e-02 -1.80048607e-02 5.01812984e+01] [ 1.70667862e-02 9.99854351e-01 2.52574426e-05 1.09559784e+00] [ 1.80018073e-02 -3.32534778e-04 9.99837899e-01 5.37490302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.640385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.21, Y:1.09, Z:0.54 [[ 9.99718839e-01 -1.70191475e-02 -1.65103614e-02 5.02105686e+01] [ 1.70218417e-02 9.99855118e-01 2.26607033e-05 1.09452353e+00] [ 1.65075837e-02 -3.03691091e-04 9.99863694e-01 5.39975466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.670385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.24, Y:1.09, Z:0.54 [[ 9.99724315e-01 -1.72982250e-02 -1.58765785e-02 5.02408406e+01] [ 1.73007476e-02 9.99850331e-01 2.15425418e-05 1.09348231e+00] [ 1.58738296e-02 -2.96213280e-04 9.99873959e-01 5.40818046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.27, Y:1.09, Z:0.54 [[ 9.99722563e-01 -1.77724175e-02 -1.54576092e-02 5.02717149e+01] [ 1.77748654e-02 9.99842014e-01 2.09740526e-05 1.09217276e+00] [ 1.54547943e-02 -2.95725155e-04 9.99880524e-01 5.40806877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.30, Y:1.09, Z:0.54 [[ 9.99687088e-01 -1.88453868e-02 -1.64492522e-02 5.03022885e+01] [ 1.88483043e-02 9.99822355e-01 2.23417173e-05 1.08862063e+00] [ 1.64459090e-02 -3.32375238e-04 9.99864702e-01 5.40784855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.33, Y:1.09, Z:0.54 [[ 9.99667878e-01 -1.89561433e-02 -1.74584688e-02 5.03324104e+01] [ 1.89594524e-02 9.99820253e-01 2.40331359e-05 1.08787610e+00] [ 1.74548751e-02 -3.55028161e-04 9.99847589e-01 5.40470679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.36, Y:1.09, Z:0.54 [[ 9.99677070e-01 -1.81666928e-02 -1.77686897e-02 5.03632274e+01] [ 1.81700007e-02 9.99834912e-01 2.47274353e-05 1.08855240e+00] [ 1.77653071e-02 -3.47576554e-04 9.99842124e-01 5.40989621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.820385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.39, Y:1.09, Z:0.54 [[ 9.99683656e-01 -1.72472217e-02 -1.83063377e-02 5.03932003e+01] [ 1.72505787e-02 9.99851197e-01 2.54756422e-05 1.08803091e+00] [ 1.83031743e-02 -3.41262503e-04 9.99832425e-01 5.41002957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.850385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.42, Y:1.09, Z:0.54 [[ 9.99695416e-01 -1.64623386e-02 -1.83865688e-02 5.04225768e+01] [ 1.64655905e-02 9.99864433e-01 2.54777651e-05 1.08839498e+00] [ 1.83836568e-02 -3.28215717e-04 9.99830952e-01 5.40620974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.880385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.45, Y:1.09, Z:0.54 [[ 9.99733011e-01 -1.52227475e-02 -1.73831582e-02 5.04520394e+01] [ 1.52254569e-02 9.99884086e-01 2.35198309e-05 1.08771567e+00] [ 1.73807852e-02 -2.88180077e-04 9.99848901e-01 5.40822409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.48, Y:1.09, Z:0.54 [[ 9.99749311e-01 -1.48549148e-02 -1.67525108e-02 5.04810815e+01] [ 1.48573691e-02 9.99889623e-01 2.20485764e-05 1.08699224e+00] [ 1.67503342e-02 -2.70941285e-04 9.99859667e-01 5.41996840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.51, Y:1.09, Z:0.54 [[ 9.99770323e-01 -1.36257156e-02 -1.65421058e-02 5.05102956e+01] [ 1.36279205e-02 9.99907135e-01 2.05677039e-05 1.09032243e+00] [ 1.65402894e-02 -2.45997484e-04 9.99863170e-01 5.44926940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.54, Y:1.09, Z:0.55 [[ 9.99761447e-01 -1.37107096e-02 -1.70019521e-02 5.05387653e+01] [ 1.37130123e-02 9.99905972e-01 1.88534577e-05 1.08929648e+00] [ 1.70000950e-02 -2.51996938e-04 9.99855456e-01 5.45548755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.000385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.57, Y:1.09, Z:0.55 [[ 9.99757987e-01 -1.38899110e-02 -1.70598500e-02 5.05674501e+01] [ 1.38922345e-02 9.99903498e-01 1.76887386e-05 1.09010706e+00] [ 1.70579580e-02 -2.54683894e-04 9.99854470e-01 5.45359985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.030385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.60, Y:1.09, Z:0.54 [[ 9.99712575e-01 -1.57179631e-02 -1.81028709e-02 5.05963113e+01] [ 1.57207992e-02 9.99876420e-01 1.43591824e-05 1.08867450e+00] [ 1.81004081e-02 -2.98946654e-04 9.99836130e-01 5.43170105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.060385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.63, Y:1.09, Z:0.54 [[ 9.99667427e-01 -1.79825542e-02 -1.84841298e-02 5.06250919e+01] [ 1.79858147e-02 9.99838242e-01 1.01564095e-05 1.08707268e+00] [ 1.84809572e-02 -3.42605167e-04 9.99829154e-01 5.42784500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.65, Y:1.08, Z:0.54 [[ 9.99546474e-01 -2.28415738e-02 -1.96242070e-02 5.06541271e+01] [ 2.28461094e-02 9.99738994e-01 6.93122973e-06 1.08343356e+00] [ 1.96189267e-02 -4.55264866e-04 9.99807427e-01 5.42329397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.68, Y:1.08, Z:0.54 [[ 9.99463050e-01 -2.55915560e-02 -2.04617452e-02 5.06844165e+01] [ 2.55970653e-02 9.99672341e-01 7.34235785e-06 1.08163661e+00] [ 2.04548529e-02 -5.31099044e-04 9.99790637e-01 5.42465466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.72, Y:1.08, Z:0.54 [[ 9.99388397e-01 -2.83006534e-02 -2.05403298e-02 5.07152049e+01] [ 2.83067786e-02 9.99599283e-01 7.46074177e-06 1.07932057e+00] [ 2.05318878e-02 -5.88886747e-04 9.99789025e-01 5.42353972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.18038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.75, Y:1.08, Z:0.55 [[ 9.99249021e-01 -3.36388381e-02 -1.92307809e-02 5.07462663e+01] [ 3.36452002e-02 9.99433840e-01 7.29337514e-06 1.07694142e+00] [ 1.92196479e-02 -6.54311373e-04 9.99815071e-01 5.45061394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.210385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.78, Y:1.07, Z:0.55 [[ 9.99192674e-01 -3.56507185e-02 -1.85209531e-02 5.07773012e+01] [ 3.56569752e-02 9.99364088e-01 7.59208696e-06 1.07319719e+00] [ 1.85089047e-02 -6.67987122e-04 9.99828472e-01 5.46382270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.240385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.81, Y:1.07, Z:0.55 [[ 9.99195047e-01 -3.55841588e-02 -1.85209523e-02 5.08090166e+01] [ 3.55904350e-02 9.99366460e-01 9.26224077e-06 1.07311858e+00] [ 1.85088889e-02 -6.68423533e-04 9.99828472e-01 5.46863228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.84, Y:1.07, Z:0.55 [[ 9.99029778e-01 -3.95924124e-02 -1.92858406e-02 5.08395257e+01] [ 3.95999850e-02 9.99215613e-01 1.07651849e-05 1.06945539e+00] [ 1.92702868e-02 -7.74473737e-04 9.99814011e-01 5.46917974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.87, Y:1.07, Z:0.55 [[ 9.98958434e-01 -4.12086536e-02 -1.95931959e-02 5.08711141e+01] [ 4.12167891e-02 9.99150227e-01 1.14091854e-05 1.06788600e+00] [ 1.95760759e-02 -8.18965924e-04 9.99808035e-01 5.46656749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.90, Y:1.07, Z:0.55 [[ 9.98889364e-01 -4.27833183e-02 -1.97389663e-02 5.09030022e+01] [ 4.27919030e-02 9.99084007e-01 1.25481022e-05 1.06585608e+00] [ 1.97203487e-02 -8.57202098e-04 9.99805168e-01 5.46868170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.93, Y:1.07, Z:0.55 [[ 9.98806598e-01 -4.43135221e-02 -2.05351309e-02 5.09346009e+01] [ 4.43231630e-02 9.99017246e-01 1.43575201e-05 1.06776052e+00] [ 2.05143137e-02 -9.24522341e-04 9.99789132e-01 5.46493516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.390385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.97, Y:1.06, Z:0.55 [[ 9.98782618e-01 -4.42473917e-02 -2.18048326e-02 5.09661493e+01] [ 4.42582716e-02 9.99020122e-01 1.64000510e-05 1.06390687e+00] [ 2.17827409e-02 -9.81424290e-04 9.99762246e-01 5.45254756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.420385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.00, Y:1.06, Z:0.54 [[ 9.98753878e-01 -4.38780152e-02 -2.37783675e-02 5.09976988e+01] [ 4.38908797e-02 9.99036331e-01 1.91347234e-05 1.06473305e+00] [ 2.37546134e-02 -1.06276434e-03 9.99717254e-01 5.43932542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.03, Y:1.07, Z:0.55 [[ 9.98763374e-01 -4.33772113e-02 -2.42927875e-02 5.10298264e+01] [ 4.33905242e-02 9.99058187e-01 2.09219154e-05 1.07172871e+00] [ 2.42690007e-02 -1.07497283e-03 9.99704886e-01 5.45604916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.06, Y:1.07, Z:0.55 [[ 9.98831864e-01 -4.22724111e-02 -2.34083578e-02 5.10622624e+01] [ 4.22845060e-02 9.99105610e-01 2.17385086e-05 1.07288257e+00] [ 2.33865026e-02 -1.01152396e-03 9.99725987e-01 5.46957005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.09, Y:1.08, Z:0.55 [[ 9.99001801e-01 -3.92566842e-02 -2.13146723e-02 5.10942927e+01] [ 3.92660560e-02 9.99228791e-01 2.11860833e-05 1.07583555e+00] [ 2.12974026e-02 -8.58108054e-04 9.99772816e-01 5.50547608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.13, Y:1.08, Z:0.55 [[ 9.99088858e-01 -3.74190201e-02 -2.05248639e-02 5.11259683e+01] [ 3.74273516e-02 9.99299351e-01 2.17995064e-05 1.07631884e+00] [ 2.05096675e-02 -7.89970943e-04 9.99789343e-01 5.52638731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.570385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.16, Y:1.08, Z:0.55 [[ 9.99213211e-01 -3.35988732e-02 -2.10730727e-02 5.11571225e+01] [ 3.36068367e-02 9.99435130e-01 2.37723435e-05 1.08102286e+00] [ 2.10603704e-02 -7.31952952e-04 9.99777938e-01 5.54978569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.600385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.19, Y:1.08, Z:0.55 [[ 9.99264605e-01 -3.16311116e-02 -2.16730503e-02 5.11898552e+01] [ 3.16391026e-02 9.99499358e-01 2.58231043e-05 1.08358495e+00] [ 2.16613831e-02 -7.11519978e-04 9.99765112e-01 5.54214481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.630385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.22, Y:1.09, Z:0.55 [[ 9.99287089e-01 -3.01814610e-02 -2.26802392e-02 5.12225731e+01] [ 3.01898856e-02 9.99544181e-01 2.90620234e-05 1.08567284e+00] [ 2.26690240e-02 -7.13755132e-04 9.99742770e-01 5.53881242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.25, Y:1.09, Z:0.55 [[ 9.99302883e-01 -2.76685433e-02 -2.50639163e-02 5.12530226e+01] [ 2.76780841e-02 9.99616888e-01 3.37549780e-05 1.08502463e+00] [ 2.50533800e-02 -7.27452629e-04 9.99685850e-01 5.49632751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.28, Y:1.08, Z:0.55 [[ 9.99330585e-01 -2.62306197e-02 -2.55016779e-02 5.12833993e+01] [ 2.62400359e-02 9.99655670e-01 3.46119409e-05 1.08472990e+00] [ 2.54919890e-02 -7.03753713e-04 9.99674779e-01 5.48396568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.31, Y:1.09, Z:0.55 [[ 9.99468553e-01 -2.16826166e-02 -2.43408291e-02 5.13136727e+01] [ 2.16898354e-02 9.99764747e-01 3.25679349e-05 1.08707542e+00] [ 2.43343966e-02 -5.60499203e-04 9.99703718e-01 5.51384874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.750385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.34, Y:1.09, Z:0.56 [[ 9.99565281e-01 -1.87960657e-02 -2.27146879e-02 5.13427320e+01] [ 1.88015786e-02 9.99823234e-01 2.91466308e-05 1.09005878e+00] [ 2.27101249e-02 -4.56205951e-04 9.99741988e-01 5.55344750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.780385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.37, Y:1.09, Z:0.56 [[ 9.99646083e-01 -1.56601387e-02 -2.15050718e-02 5.13711884e+01] [ 1.56643004e-02 9.99877307e-01 2.50716351e-05 1.09347017e+00] [ 2.15020407e-02 -3.61924667e-04 9.99768739e-01 5.59269127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.810385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.40, Y:1.10, Z:0.56 [[ 9.99690946e-01 -1.30801801e-02 -2.11405273e-02 5.13995181e+01] [ 1.30835186e-02 9.99914407e-01 1.96087854e-05 1.09625282e+00] [ 2.11384613e-02 -2.96195206e-04 9.99776514e-01 5.61531762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.43, Y:1.10, Z:0.56 [[ 9.99741946e-01 -8.59815377e-03 -2.10264665e-02 5.14286644e+01] [ 8.60036187e-03 9.99963016e-01 1.45881610e-05 1.09722754e+00] [ 2.10255634e-02 -1.95419617e-04 9.99778919e-01 5.60854116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.46, Y:1.09, Z:0.56 [[ 9.99728646e-01 -7.14713341e-03 -2.21709847e-02 5.14568616e+01] [ 7.14911011e-03 9.99974445e-01 9.89600872e-06 1.09455915e+00] [ 2.21703474e-02 -1.68396134e-04 9.99754193e-01 5.57939245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.48, Y:1.09, Z:0.56 [[ 9.99726254e-01 -6.82992294e-03 -2.23778957e-02 5.14836408e+01] [ 6.83173086e-03 9.99976663e-01 4.34121366e-06 1.09299880e+00] [ 2.23773438e-02 -1.57219786e-04 9.99749584e-01 5.56988029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.51, Y:1.09, Z:0.56 [[ 9.99725807e-01 -6.15240734e-03 -2.25933550e-02 5.15102960e+01] [ 6.15399142e-03 9.99981064e-01 5.84119158e-07 1.09235942e+00] [ 2.25929235e-02 -1.39623272e-04 9.99744738e-01 5.56908576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.960385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.54, Y:1.09, Z:0.56 [[ 9.99749603e-01 -4.31374761e-03 -2.19573002e-02 5.15387087e+01] [ 4.31472802e-03 9.99990692e-01 -2.72477393e-06 1.09382919e+00] [ 2.19571075e-02 -9.20156866e-05 9.99758909e-01 5.58983480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.990385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.57, Y:1.09, Z:0.56 [[ 9.99770298e-01 -3.78223648e-03 -2.10961238e-02 5.15669451e+01] [ 3.78291862e-03 9.99992845e-01 -7.57239256e-06 1.09482508e+00] [ 2.10960015e-02 -7.22342662e-05 9.99777452e-01 5.60480250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.59, Y:1.10, Z:0.56 [[ 9.99785186e-01 -3.36829370e-03 -2.04508418e-02 5.15940674e+01] [ 3.36874869e-03 9.99994326e-01 -1.22029403e-05 1.09513175e+00] [ 2.04507669e-02 -5.66934275e-05 9.99790860e-01 5.62632045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.62, Y:1.09, Z:0.57 [[ 9.99831113e-01 -3.69335973e-03 -1.80029145e-02 5.16217654e+01] [ 3.69370699e-03 9.99993178e-01 -1.39621591e-05 1.09424471e+00] [ 1.80028432e-02 -5.25376900e-05 9.99837934e-01 5.66311095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.65, Y:1.09, Z:0.57 [[ 9.99842194e-01 -4.82266242e-03 -1.70976378e-02 5.16500604e+01] [ 4.82306800e-03 9.99988369e-01 -1.75129682e-05 1.09302444e+00] [ 1.70975234e-02 -6.49528654e-05 9.99853825e-01 5.67775972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.68, Y:1.09, Z:0.57 [[ 9.99848289e-01 -7.48868870e-03 -1.57263602e-02 5.16780261e+01] [ 7.48933789e-03 9.99971954e-01 -1.76132575e-05 1.08822203e+00] [ 1.57260511e-02 -1.00169440e-04 9.99876333e-01 5.67170138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.140385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.71, Y:1.08, Z:0.57 [[ 9.99826735e-01 -9.07528686e-03 -1.62523502e-02 5.17053410e+01] [ 9.07616599e-03 9.99958811e-01 -1.96675894e-05 1.08488448e+00] [ 1.62518592e-02 -1.27844846e-04 9.99867922e-01 5.65544678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.170385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.73, Y:1.08, Z:0.56 [[ 9.99749102e-01 -1.23309799e-02 -1.86997580e-02 5.17337016e+01] [ 1.23326738e-02 9.99923949e-01 -2.47324806e-05 1.07975812e+00] [ 1.86986409e-02 -2.05891742e-04 9.99825144e-01 5.61665502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.76, Y:1.08, Z:0.56 [[ 9.99706354e-01 -1.40224992e-02 -1.97630015e-02 5.17617934e+01] [ 1.40246869e-02 9.99901649e-01 -2.79021816e-05 1.07823674e+00] [ 1.97614491e-02 -2.49275921e-04 9.99804692e-01 5.61751272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.79, Y:1.08, Z:0.56 [[ 9.99682085e-01 -1.53449686e-02 -2.00065257e-02 5.17894094e+01] [ 1.53474410e-02 9.99882221e-01 -2.99633303e-05 1.07740021e+00] [ 2.00046291e-02 -2.77095168e-04 9.99799849e-01 5.62296666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.82, Y:1.07, Z:0.56 [[ 9.99660916e-01 -1.77317786e-02 -1.90692530e-02 5.18174368e+01] [ 1.77344292e-02 9.99842732e-01 -3.01109984e-05 1.07401596e+00] [ 1.90667880e-02 -3.08081529e-04 9.99818165e-01 5.64031747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.85, Y:1.07, Z:0.56 [[ 9.99653156e-01 -1.96217051e-02 -1.75657905e-02 5.18466252e+01] [ 1.96242231e-02 9.99807426e-01 -2.90275768e-05 1.07159154e+00] [ 1.75629774e-02 -3.15697484e-04 9.99845709e-01 5.64309340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.320385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.88, Y:1.07, Z:0.57 [[ 9.99628957e-01 -2.16279484e-02 -1.65583952e-02 5.18770525e+01] [ 2.16304491e-02 9.99766034e-01 -2.80781454e-05 1.07115748e+00] [ 1.65551284e-02 -3.30097798e-04 9.99862900e-01 5.66320174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.350385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.91, Y:1.07, Z:0.57 [[ 9.99545739e-01 -2.62777550e-02 -1.47578612e-02 5.19075095e+01] [ 2.62802477e-02 9.99654614e-01 -2.50323779e-05 1.06647801e+00] [ 1.47534219e-02 -3.62819242e-04 9.99891097e-01 5.67943811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.380385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.94, Y:1.07, Z:0.57 [[ 9.99483176e-01 -2.83437139e-02 -1.51662555e-02 5.19394193e+01] [ 2.83465883e-02 9.99598154e-01 -2.54535762e-05 1.06593524e+00] [ 1.51608824e-02 -4.04471179e-04 9.99884985e-01 5.68751924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.97, Y:1.06, Z:0.57 [[ 9.99340126e-01 -3.23846308e-02 -1.64483214e-02 5.19707549e+01] [ 3.23885786e-02 9.99475352e-01 -2.63862443e-05 1.06211077e+00] [ 1.64405463e-02 -5.06368919e-04 9.99864717e-01 5.66805353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.00, Y:1.06, Z:0.57 [[ 9.99279472e-01 -3.41727608e-02 -1.65154460e-02 5.20016409e+01] [ 3.41769960e-02 9.99415795e-01 -2.58196217e-05 1.05858914e+00] [ 1.65066800e-02 -5.38647316e-04 9.99863610e-01 5.66234037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.03, Y:1.06, Z:0.57 [[ 9.99217457e-01 -3.58913640e-02 -1.66217739e-02 5.20337499e+01] [ 3.58959189e-02 9.99355534e-01 -2.43281135e-05 1.05716880e+00] [ 1.66119349e-02 -5.72344774e-04 9.99861848e-01 5.65969442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.500385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.06, Y:1.05, Z:0.57 [[ 9.99078407e-01 -3.93812289e-02 -1.70720839e-02 5.20643909e+01] [ 3.93865623e-02 9.99224048e-01 -2.38416898e-05 1.05218503e+00] [ 1.70597757e-02 -6.48590980e-04 9.99854261e-01 5.65860176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.530385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.10, Y:1.05, Z:0.57 [[ 9.99020143e-01 -4.04576896e-02 -1.79423610e-02 5.20959140e+01] [ 4.04637618e-02 9.99181006e-01 -2.46294069e-05 1.05059082e+00] [ 1.79286627e-02 -7.01410146e-04 9.99839023e-01 5.66957657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.560385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.13, Y:1.05, Z:0.57 [[ 9.98972593e-01 -4.12686163e-02 -1.87259234e-02 5.21283086e+01] [ 4.12753931e-02 9.99147808e-01 -2.46237448e-05 1.05242053e+00] [ 1.87109815e-02 -7.48321402e-04 9.99824654e-01 5.69930710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.16, Y:1.05, Z:0.57 [[ 9.98974423e-01 -4.11341251e-02 -1.89231544e-02 5.21615091e+01] [ 4.11410489e-02 9.99153348e-01 -2.34235629e-05 1.05313251e+00] [ 1.89080966e-02 -7.55118882e-04 9.99820941e-01 5.70063091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.19, Y:1.05, Z:0.57 [[ 9.98981060e-01 -4.06897871e-02 -1.95238936e-02 5.21941107e+01] [ 4.06971110e-02 9.99171529e-01 -2.22108708e-05 1.05334722e+00] [ 1.95086224e-02 -7.72377825e-04 9.99809390e-01 5.69134608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.23, Y:1.05, Z:0.57 [[ 9.98982292e-01 -4.04744358e-02 -1.99047683e-02 5.22262307e+01] [ 4.04820343e-02 9.99180266e-01 -2.12073766e-05 1.04927256e+00] [ 1.98893100e-02 -7.84599717e-04 9.99801880e-01 5.66231686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.68038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.26, Y:1.05, Z:0.57 [[ 9.99005926e-01 -3.99144855e-02 -1.98492778e-02 5.22574437e+01] [ 3.99219576e-02 9.99202801e-01 -1.98226963e-05 1.04789141e+00] [ 1.98342452e-02 -7.72619036e-04 9.99802983e-01 5.66176777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.710385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.29, Y:1.05, Z:0.57 [[ 9.99109493e-01 -3.75634582e-02 -1.92147732e-02 5.22889285e+01] [ 3.75700437e-02 9.99293997e-01 -1.82651834e-05 1.05086216e+00] [ 1.92018936e-02 -7.03650949e-04 9.99815379e-01 5.69074825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.740385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.32, Y:1.05, Z:0.57 [[ 9.99184769e-01 -3.57597256e-02 -1.87360544e-02 5.23200979e+01] [ 3.57656835e-02 9.99360203e-01 -1.71049936e-05 1.05213766e+00] [ 1.87246788e-02 -6.53016743e-04 9.99824465e-01 5.71032890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.35, Y:1.05, Z:0.57 [[ 9.99276909e-01 -3.32971676e-02 -1.83564363e-02 5.23514809e+01] [ 3.33024876e-02 9.99445318e-01 -1.58729208e-05 1.05423820e+00] [ 1.83467828e-02 -5.95453550e-04 9.99831506e-01 5.72593208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.38, Y:1.06, Z:0.57 [[ 9.99461639e-01 -2.79169541e-02 -1.72358959e-02 5.23821172e+01] [ 2.79208542e-02 9.99610137e-01 -1.43685510e-05 1.05889002e+00] [ 1.72295773e-02 -4.66880119e-04 9.99851451e-01 5.74873811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.41, Y:1.06, Z:0.58 [[ 9.99635754e-01 -2.21058075e-02 -1.54820127e-02 5.24123153e+01] [ 2.21082617e-02 9.99755582e-01 -1.26347990e-05 1.06046130e+00] [ 1.54785079e-02 -3.29650192e-04 9.99880146e-01 5.75309291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.44, Y:1.06, Z:0.58 [[ 9.99698356e-01 -1.93425869e-02 -1.51347673e-02 5.24441083e+01] [ 1.93446196e-02 9.99812875e-01 -1.20933301e-05 1.06212099e+00] [ 1.51321691e-02 -2.80686633e-04 9.99885463e-01 5.75032892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.890385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.47, Y:1.06, Z:0.58 [[ 9.99737074e-01 -1.67126547e-02 -1.56993910e-02 5.24745448e+01] [ 1.67145309e-02 9.99860302e-01 -1.17020775e-05 1.06325611e+00] [ 1.56973934e-02 -2.50708955e-04 9.99876757e-01 5.75495082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.920385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.50, Y:1.07, Z:0.58 [[ 9.99763287e-01 -1.44158996e-02 -1.62957373e-02 5.25047315e+01] [ 1.44176206e-02 9.99896061e-01 -1.18719849e-05 1.06682545e+00] [ 1.62942146e-02 -2.23076582e-04 9.99867216e-01 5.76065475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.53, Y:1.07, Z:0.58 [[ 9.99807622e-01 -1.07849535e-02 -1.63830626e-02 5.25344453e+01] [ 1.07862049e-02 9.99941827e-01 -1.19771109e-05 1.07121722e+00] [ 1.63822387e-02 -1.64736264e-04 9.99865789e-01 5.77191134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.56, Y:1.07, Z:0.58 [[ 9.99823871e-01 -1.00614620e-02 -1.58428169e-02 5.25627230e+01] [ 1.00625304e-02 9.99949371e-01 -1.22797673e-05 1.07202111e+00] [ 1.58421384e-02 -1.47141222e-04 9.99874495e-01 5.76704497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.59, Y:1.07, Z:0.58 [[ 9.99806674e-01 -1.00373599e-02 -1.69075642e-02 5.25910679e+01] [ 1.00384860e-02 9.99949613e-01 -1.82659958e-05 1.06996302e+00] [ 1.69068956e-02 -1.51463882e-04 9.99857057e-01 5.75523541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.62, Y:1.07, Z:0.58 [[ 9.99780642e-01 -1.15104382e-02 -1.74979590e-02 5.26190004e+01] [ 1.15117854e-02 9.99933737e-01 -2.37345729e-05 1.06867564e+00] [ 1.74970728e-02 -1.77703383e-04 9.99846899e-01 5.75592356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.070385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.65, Y:1.07, Z:0.57 [[ 9.99739691e-01 -1.31949558e-02 -1.86129949e-02 5.26471285e+01] [ 1.31967245e-02 9.99912919e-01 -2.78048853e-05 1.06701556e+00] [ 1.86117410e-02 -2.17832918e-04 9.99826763e-01 5.74957954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.100385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.68, Y:1.07, Z:0.57 [[ 9.99642536e-01 -1.71208109e-02 -2.05347832e-02 5.26758565e+01] [ 1.71237538e-02 9.99853377e-01 -3.25267530e-05 1.06671949e+00] [ 2.05323292e-02 -3.19117447e-04 9.99789139e-01 5.74663304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.130385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.70, Y:1.07, Z:0.58 [[ 9.99638297e-01 -1.73665530e-02 -2.05347791e-02 5.27040768e+01] [ 1.73694988e-02 9.99849138e-01 -3.49081086e-05 1.06679449e+00] [ 2.05322875e-02 -3.21783340e-04 9.99789139e-01 5.75092216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.73, Y:1.07, Z:0.58 [[ 9.99577194e-01 -1.97385074e-02 -2.13500619e-02 5.27329950e+01] [ 1.97421177e-02 9.99805105e-01 -4.16814134e-05 1.06684207e+00] [ 2.13467236e-02 -3.79831644e-04 9.99772061e-01 5.75376985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.76, Y:1.06, Z:0.58 [[ 9.99512379e-01 -2.33688079e-02 -2.07099704e-02 5.27619538e+01] [ 2.33729032e-02 9.99726815e-01 -4.43171129e-05 1.06421977e+00] [ 2.07053484e-02 -4.39756631e-04 9.99785525e-01 5.76243523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.79, Y:1.06, Z:0.58 [[ 9.99493534e-01 -2.52653321e-02 -1.93478089e-02 5.27920939e+01] [ 2.52692471e-02 9.99680681e-01 -4.21385968e-05 1.06296269e+00] [ 1.93426955e-02 -4.46787309e-04 9.99812813e-01 5.77789526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.250385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.82, Y:1.06, Z:0.58 [[ 9.99447743e-01 -2.92192866e-02 -1.58253527e-02 5.28221407e+01] [ 2.92224012e-02 9.99572934e-01 -3.44436886e-05 1.05868435e+00] [ 1.58196006e-02 -4.28030139e-04 9.99874771e-01 5.79517425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.280385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.85, Y:1.06, Z:0.58 [[ 9.99403081e-01 -3.11312046e-02 -1.49776334e-02 5.28540097e+01] [ 3.11342165e-02 9.99515212e-01 -3.20957524e-05 1.05847062e+00] [ 1.49713716e-02 -4.34240286e-04 9.99887828e-01 5.80643902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.310385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.88, Y:1.06, Z:0.58 [[ 9.99278479e-01 -3.49893050e-02 -1.47739870e-02 5.28848476e+01] [ 3.49926721e-02 9.99387568e-01 -3.06180230e-05 1.05783465e+00] [ 1.47660102e-02 -4.86385350e-04 9.99890858e-01 5.80299409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.92, Y:1.06, Z:0.58 [[ 9.99200970e-01 -3.66263354e-02 -1.59979159e-02 5.29167124e+01] [ 3.66304986e-02 9.99328878e-01 -3.28092979e-05 1.05805898e+00] [ 1.59883810e-02 -5.53228555e-04 9.99872025e-01 5.80276257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.370385723 meters Centerline goodness [0,1] 0.9999779982838661 Centerline is valid? [True, True] Translation: X:52.95, Y:1.06, Z:0.58 [[ 9.99124130e-01 -3.83090331e-02 -1.68342069e-02 5.29492391e+01] [ 3.83139024e-02 9.99265752e-01 -3.32852476e-05 1.05847243e+00] [ 1.68231215e-02 -6.11728066e-04 9.99858294e-01 5.80108763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.98, Y:1.06, Z:0.58 [[ 9.99033676e-01 -4.05754275e-02 -1.68922856e-02 5.29813260e+01] [ 4.05806743e-02 9.99176265e-01 -3.22005836e-05 1.05973643e+00] [ 1.68796774e-02 -6.53330871e-04 9.99857315e-01 5.81425676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43038572299999 meters Centerline goodness [0,1] 0.9999779852060585 Centerline is valid? [True, True] Translation: X:53.01, Y:1.06, Z:0.58 [[ 9.98981438e-01 -4.20836792e-02 -1.62803863e-02 5.30123265e+01] [ 4.20887707e-02 9.99113875e-01 -2.99206383e-05 1.05791379e+00] [ 1.62672190e-02 -6.55331282e-04 9.99867465e-01 5.83249219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.460385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.04, Y:1.06, Z:0.58 [[ 9.98958262e-01 -4.26936164e-02 -1.61135423e-02 5.30443488e+01] [ 4.26986973e-02 9.99087994e-01 -2.87408512e-05 1.05800537e+00] [ 1.61000737e-02 -6.59316354e-04 9.99870168e-01 5.83218288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.490385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.08, Y:1.06, Z:0.58 [[ 9.98932125e-01 -4.30274329e-02 -1.68300239e-02 5.30768797e+01] [ 4.30330438e-02 9.99073649e-01 -2.87888273e-05 1.05877278e+00] [ 1.68156721e-02 -6.95489070e-04 9.99858365e-01 5.83260272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.11, Y:1.06, Z:0.58 [[ 9.98898265e-01 -4.33294224e-02 -1.80227155e-02 5.31078408e+01] [ 4.33359296e-02 9.99060557e-01 -2.95199462e-05 1.05722428e+00] [ 1.80070632e-02 -7.51543706e-04 9.99837577e-01 5.81571509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.14, Y:1.06, Z:0.58 [[ 9.98904583e-01 -4.29498943e-02 -1.85725601e-02 5.31398028e+01] [ 4.29567591e-02 9.99076932e-01 -2.93485921e-05 1.05849835e+00] [ 1.85566769e-02 -7.68500545e-04 9.99827515e-01 5.81332727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.17, Y:1.06, Z:0.58 [[ 9.98954024e-01 -4.16027386e-02 -1.89755331e-02 5.31723684e+01] [ 4.16096878e-02 9.99133942e-01 -2.86230582e-05 1.06328700e+00] [ 1.89602900e-02 -7.60972889e-04 9.99819948e-01 5.82353694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.610385723 meters Centerline goodness [0,1] 0.9999778829566064 Centerline is valid? [True, True] Translation: X:53.21, Y:1.06, Z:0.58 [[ 9.98995845e-01 -4.08289671e-02 -1.84471550e-02 5.32051009e+01] [ 4.08354286e-02 9.99165886e-01 -2.64353805e-05 1.06406090e+00] [ 1.84328473e-02 -7.26888644e-04 9.99829836e-01 5.83948190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.640385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.24, Y:1.07, Z:0.59 [[ 9.99020438e-01 -4.04564456e-02 -1.79287437e-02 5.32371478e+01] [ 4.04625202e-02 9.99181057e-01 -2.39530109e-05 1.06518714e+00] [ 1.79150302e-02 -7.01512608e-04 9.99839267e-01 5.85569729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.670385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.27, Y:1.07, Z:0.59 [[ 9.99024915e-01 -4.01176056e-02 -1.84335678e-02 5.32680378e+01] [ 4.01239928e-02 9.99194708e-01 -2.33636469e-05 1.06641502e+00] [ 1.84196607e-02 -7.16287476e-04 9.99830087e-01 5.87091013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.30, Y:1.07, Z:0.59 [[ 9.99015603e-01 -4.00721023e-02 -1.90276600e-02 5.33008432e+01] [ 4.00789229e-02 9.99196517e-01 -2.28968717e-05 1.06728787e+00] [ 1.90132891e-02 -7.39733786e-04 9.99818957e-01 5.86971762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.33, Y:1.07, Z:0.59 [[ 9.98994620e-01 -4.02267387e-02 -1.97878268e-02 5.33325164e+01] [ 4.02341831e-02 9.99190277e-01 -2.19211760e-05 1.06711957e+00] [ 1.97726859e-02 -7.74247908e-04 9.99804202e-01 5.85518657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.37, Y:1.07, Z:0.59 [[ 9.99014572e-01 -3.90786576e-02 -2.10414695e-02 5.33650153e+01] [ 3.90868471e-02 9.99235817e-01 -2.20769567e-05 1.06821727e+00] [ 2.10262527e-02 -8.00389499e-04 9.99778604e-01 5.85478472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.40, Y:1.07, Z:0.59 [[ 9.99048703e-01 -3.80490222e-02 -2.13063530e-02 5.33977339e+01] [ 3.80572190e-02 9.99275561e-01 -2.07757308e-05 1.07337377e+00] [ 2.12917083e-02 -7.90104575e-04 9.99772994e-01 5.85756021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.820385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.43, Y:1.08, Z:0.59 [[ 9.99152557e-01 -3.49083629e-02 -2.18076610e-02 5.34277975e+01] [ 3.49162354e-02 9.99390242e-01 -1.97799659e-05 1.07828393e+00] [ 2.17950541e-02 -7.41678224e-04 9.99762184e-01 5.87445238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.850385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.46, Y:1.08, Z:0.59 [[ 9.99234704e-01 -3.27685204e-02 -2.13595278e-02 5.34596370e+01] [ 3.27755967e-02 9.99462736e-01 -1.87885457e-05 1.08055762e+00] [ 2.13486677e-02 -6.81297101e-04 9.99771859e-01 5.88529563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.880385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.49, Y:1.08, Z:0.59 [[ 9.99326311e-01 -2.97580702e-02 -2.14798080e-02 5.34897446e+01] [ 2.97645512e-02 9.99556937e-01 -1.79882419e-05 1.08352283e+00] [ 2.14708263e-02 -6.21360721e-04 9.99769282e-01 5.90063853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.52, Y:1.09, Z:0.59 [[ 9.99359371e-01 -2.85014478e-02 -2.16452043e-02 5.35221613e+01] [ 2.85077498e-02 9.99593571e-01 -1.74204851e-05 1.08528760e+00] [ 2.16369036e-02 -5.99646743e-04 9.99765715e-01 5.90752762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.55, Y:1.09, Z:0.59 [[ 9.99446656e-01 -2.62731489e-02 -2.03986101e-02 5.35537973e+01] [ 2.62783056e-02 9.99654666e-01 -1.52560604e-05 1.09027275e+00] [ 2.03919666e-02 -5.20793291e-04 9.99791927e-01 5.93400999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.59, Y:1.09, Z:0.60 [[ 9.99511834e-01 -2.47844824e-02 -1.90216351e-02 5.35856532e+01] [ 2.47887101e-02 9.99692713e-01 -1.35282114e-05 1.09234168e+00] [ 1.90161253e-02 -4.58000190e-04 9.99819072e-01 5.95101175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.000385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.62, Y:1.09, Z:0.60 [[ 9.99561575e-01 -2.35143379e-02 -1.79925868e-02 5.36167043e+01] [ 2.35179312e-02 9.99723415e-01 -1.18804205e-05 1.09146458e+00] [ 1.79878897e-02 -4.11273207e-04 9.99838120e-01 5.95917370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.030385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.65, Y:1.09, Z:0.60 [[ 9.99631747e-01 -2.15376205e-02 -1.65075849e-02 5.36482525e+01] [ 2.15403887e-02 9.99767979e-01 -1.01120970e-05 1.09038004e+00] [ 1.65039726e-02 -3.45471423e-04 9.99863740e-01 5.95881805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.060385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.68, Y:1.09, Z:0.60 [[ 9.99626543e-01 -2.16883068e-02 -1.66250605e-02 5.36797755e+01] [ 2.16911455e-02 9.99764719e-01 -9.57311663e-06 1.08849216e+00] [ 1.66213566e-02 -3.51047064e-04 9.99861794e-01 5.95723858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.71, Y:1.09, Z:0.60 [[ 9.99612661e-01 -2.20262902e-02 -1.70108848e-02 5.37120054e+01] [ 2.20293272e-02 9.99757325e-01 -8.85211536e-06 1.08802851e+00] [ 1.70069517e-02 -3.65889660e-04 9.99855304e-01 5.96148826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.120385723 meters Centerline goodness [0,1] 0.9998874836851344 Centerline is valid? [True, True] Translation: X:53.74, Y:1.09, Z:0.60 [[ 9.99610743e-01 -2.22518413e-02 -1.68290921e-02 5.37429172e+01] [ 2.22548650e-02 9.99752330e-01 -7.60550093e-06 1.08635880e+00] [ 1.68250933e-02 -3.66926632e-04 9.99858381e-01 5.97270236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.78, Y:1.09, Z:0.60 [[ 9.99606700e-01 -2.24330401e-02 -1.68286627e-02 5.37753723e+01] [ 2.24361049e-02 9.99748279e-01 -6.68395108e-06 1.08770472e+00] [ 1.68245765e-02 -3.70888319e-04 9.99858388e-01 5.98801277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.18038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.81, Y:1.08, Z:0.60 [[ 9.99597802e-01 -2.33772863e-02 -1.60541982e-02 5.38060257e+01] [ 2.33802142e-02 9.99726645e-01 -5.30967433e-06 1.08454374e+00] [ 1.60499339e-02 -3.70043055e-04 9.99871123e-01 5.99480156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.210385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.84, Y:1.08, Z:0.60 [[ 9.99530997e-01 -2.46554457e-02 -1.81630383e-02 5.38382608e+01] [ 2.46594194e-02 9.99695910e-01 -5.18674150e-06 1.08122654e+00] [ 1.81576430e-02 -4.42705670e-04 9.99835038e-01 5.97177197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.240385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.87, Y:1.08, Z:0.60 [[ 9.99479001e-01 -2.55372748e-02 -1.97376138e-02 5.38709222e+01] [ 2.55421684e-02 9.99673746e-01 -4.16146114e-06 1.07916833e+00] [ 1.97312806e-02 -4.99982162e-04 9.99805194e-01 5.96224590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.90, Y:1.08, Z:0.60 [[ 9.99448514e-01 -2.57352537e-02 -2.09848768e-02 5.39016491e+01] [ 2.57408549e-02 9.99668649e-01 -3.19825480e-06 1.07768698e+00] [ 2.09780058e-02 -5.36972178e-04 9.99779793e-01 5.95324970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.93, Y:1.08, Z:0.60 [[ 9.99439336e-01 -2.48572174e-02 -2.24306173e-02 5.39332128e+01] [ 2.48634083e-02 9.99690858e-01 -2.88391048e-06 1.07954652e+00] [ 2.24237547e-02 -5.54819302e-04 9.99748402e-01 5.95691156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.96, Y:1.08, Z:0.60 [[ 9.99470989e-01 -2.40423963e-02 -2.19021615e-02 5.39633552e+01] [ 2.40481148e-02 9.99710802e-01 -2.29527046e-06 1.08030868e+00] [ 2.18958826e-02 -5.24411636e-04 9.99760119e-01 5.96899789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.99, Y:1.08, Z:0.60 [[ 9.99541759e-01 -2.20802046e-02 -2.07059695e-02 5.39930228e+01] [ 2.20848925e-02 9.99756099e-01 -2.26599089e-06 1.08037127e+00] [ 2.07009693e-02 -4.55024157e-04 9.99785608e-01 5.98259915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.390385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.02, Y:1.08, Z:0.60 [[ 9.99568915e-01 -2.13351278e-02 -2.01691972e-02 5.40231845e+01] [ 2.13394190e-02 9.99772289e-01 -2.46442793e-06 1.08101206e+00] [ 2.01646570e-02 -4.27935584e-04 9.99796581e-01 5.99544204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.420385722999995 meters Centerline goodness [0,1] 0.9999776820586069 Centerline is valid? [True, True] Translation: X:54.05, Y:1.08, Z:0.60 [[ 9.99604336e-01 -2.05897690e-02 -1.91633339e-02 5.40536752e+01] [ 2.05935058e-02 9.99787931e-01 -2.34152381e-06 1.08130238e+00] [ 1.91593182e-02 -3.92299631e-04 9.99816366e-01 6.00983384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.08, Y:1.08, Z:0.60 [[ 9.99660705e-01 -1.96062584e-02 -1.71484805e-02 5.40838875e+01] [ 1.96091059e-02 9.99807723e-01 -2.09533349e-06 1.08252569e+00] [ 1.71452243e-02 -3.34171747e-04 9.99852954e-01 6.02107591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.11, Y:1.08, Z:0.60 [[ 9.99676322e-01 -1.89883248e-02 -1.69320424e-02 5.41145589e+01] [ 1.89910140e-02 9.99819654e-01 -1.96661794e-06 1.08121705e+00] [ 1.69290261e-02 -3.19590674e-04 9.99856643e-01 6.03259490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.15, Y:1.08, Z:0.60 [[ 9.99680978e-01 -1.95164741e-02 -1.60327919e-02 5.41454940e+01] [ 1.95189666e-02 9.99809487e-01 -1.02224216e-06 1.08325992e+00] [ 1.60297573e-02 -3.11921612e-04 9.99871467e-01 6.03997050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.18, Y:1.08, Z:0.60 [[ 9.99663591e-01 -2.01032862e-02 -1.63878595e-02 5.41756522e+01] [ 2.01059694e-02 9.99797855e-01 -1.02364582e-06 1.08090339e+00] [ 1.63845673e-02 -3.28470500e-04 9.99865710e-01 6.03594165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.570385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.21, Y:1.08, Z:0.60 [[ 9.99605784e-01 -2.22258850e-02 -1.71548105e-02 5.42065409e+01] [ 2.22291431e-02 9.99752902e-01 -7.57278533e-07 1.07961332e+00] [ 1.71505884e-02 -3.80579757e-04 9.99852845e-01 6.02831513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.600385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.24, Y:1.08, Z:0.60 [[ 9.99572496e-01 -2.33996303e-02 -1.75294964e-02 5.42375072e+01] [ 2.34032189e-02 9.99726107e-01 -4.21256506e-07 1.07828568e+00] [ 1.75247051e-02 -4.09825567e-04 9.99846347e-01 6.03554868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.630385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.27, Y:1.08, Z:0.60 [[ 9.99536451e-01 -2.43619934e-02 -1.82585809e-02 5.42695697e+01] [ 2.43660611e-02 9.99703103e-01 3.24043028e-07 1.07763193e+00] [ 1.82531521e-02 -4.45213591e-04 9.99833298e-01 6.03049363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.30, Y:1.08, Z:0.60 [[ 9.99442053e-01 -2.57274585e-02 -2.12997693e-02 5.43003884e+01] [ 2.57333465e-02 9.99668843e-01 2.34642657e-06 1.07526054e+00] [ 2.12926554e-02 -5.50459462e-04 9.99773134e-01 6.00150498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.33, Y:1.07, Z:0.60 [[ 9.99363998e-01 -2.65279993e-02 -2.38299210e-02 5.43312199e+01] [ 2.65356495e-02 9.99647868e-01 4.81761976e-06 1.07471028e+00] [ 2.38214019e-02 -6.37156987e-04 9.99716027e-01 5.97940248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.36, Y:1.08, Z:0.60 [[ 9.99339863e-01 -2.66637699e-02 -2.46755147e-02 5.43610195e+01] [ 2.66720203e-02 9.99644238e-01 5.23394291e-06 1.07536467e+00] [ 2.46665965e-02 -6.63376315e-04 9.99695513e-01 5.98542848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.750385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.39, Y:1.08, Z:0.60 [[ 9.99348474e-01 -2.66377648e-02 -2.43527465e-02 5.43911372e+01] [ 2.66457921e-02 9.99644938e-01 5.12994385e-06 1.07689345e+00] [ 2.43439631e-02 -6.54024821e-04 9.99703428e-01 5.99452643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.780385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.42, Y:1.08, Z:0.60 [[ 9.99370622e-01 -2.62728405e-02 -2.38348084e-02 5.44213066e+01] [ 2.62804261e-02 9.99654610e-01 5.02083938e-06 1.07779657e+00] [ 2.38264441e-02 -6.31406600e-04 9.99715911e-01 6.00782811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.810385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.45, Y:1.08, Z:0.60 [[ 9.99414698e-01 -2.59379563e-02 -2.23043363e-02 5.44520065e+01] [ 2.59445153e-02 9.99663384e-01 4.69844306e-06 1.08143377e+00] [ 2.22967064e-02 -5.83370886e-04 9.99751227e-01 6.03479156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.48, Y:1.08, Z:0.60 [[ 9.99456049e-01 -2.52312702e-02 -2.12365224e-02 5.44818966e+01] [ 2.52370589e-02 9.99681495e-01 4.57778077e-06 1.08088761e+00] [ 2.12296429e-02 -5.40522656e-04 9.99774480e-01 6.03956084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.51, Y:1.08, Z:0.60 [[ 9.99472604e-01 -2.48638857e-02 -2.08878055e-02 5.45128920e+01] [ 2.48694150e-02 9.99690708e-01 4.95772537e-06 1.08189696e+00] [ 2.08812218e-02 -5.24422616e-04 9.99781826e-01 6.04158509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.54, Y:1.08, Z:0.60 [[ 9.99493864e-01 -2.41115919e-02 -2.07520180e-02 5.45433092e+01] [ 2.41169004e-02 9.99709145e-01 5.54430301e-06 1.07940968e+00] [ 2.07458485e-02 -5.06015849e-04 9.99784654e-01 6.03745956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.57, Y:1.09, Z:0.61 [[ 9.99505271e-01 -2.37653497e-02 -2.06014951e-02 5.45748606e+01] [ 2.37705172e-02 9.99717441e-01 5.95364008e-06 1.08502120e+00] [ 2.05955325e-02 -4.95658888e-04 9.99787767e-01 6.05011413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.960385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.61, Y:1.09, Z:0.60 [[ 9.99477509e-01 -2.41282949e-02 -2.15066047e-02 5.46054149e+01] [ 2.41340250e-02 9.99708732e-01 6.88448098e-06 1.08607384e+00] [ 2.15001744e-02 -5.25921819e-04 9.99768706e-01 6.04844831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.990385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.64, Y:1.09, Z:0.60 [[ 9.99383527e-01 -2.61677182e-02 -2.34054766e-02 5.46359621e+01] [ 2.61750709e-02 9.99657374e-01 7.78126676e-06 1.08752803e+00] [ 2.33972536e-02 -6.20416478e-04 9.99726054e-01 6.04891855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.67, Y:1.08, Z:0.60 [[ 9.99335581e-01 -2.70306045e-02 -2.44487903e-02 5.46659110e+01] [ 2.70388962e-02 9.99634382e-01 8.56253864e-06 1.08488645e+00] [ 2.44396199e-02 -6.69625152e-04 9.99701084e-01 6.04416008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.70, Y:1.08, Z:0.60 [[ 9.99335581e-01 -2.70305937e-02 -2.44487900e-02 5.46959201e+01] [ 2.70389028e-02 9.99634382e-01 9.27413914e-06 1.08487475e+00] [ 2.44396004e-02 -6.70336433e-04 9.99701084e-01 6.04871351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.73, Y:1.09, Z:0.61 [[ 9.99293576e-01 -2.83199805e-02 -2.47047925e-02 5.47264148e+01] [ 2.83288581e-02 9.99598657e-01 9.37124836e-06 1.08684589e+00] [ 2.46946121e-02 -7.09223191e-04 9.99694790e-01 6.06407261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.76, Y:1.08, Z:0.61 [[ 9.99230507e-01 -3.08708757e-02 -2.41946786e-02 5.47566466e+01] [ 3.08801373e-02 9.99523095e-01 9.17774725e-06 1.08358836e+00] [ 2.41828567e-02 -7.56305680e-04 9.99707266e-01 6.06168365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.140385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.79, Y:1.08, Z:0.60 [[ 9.99158283e-01 -3.32376788e-02 -2.40412692e-02 5.47875716e+01] [ 3.32475112e-02 9.99447149e-01 9.27450300e-06 1.07763709e+00] [ 2.40276697e-02 -8.08579063e-04 9.99710967e-01 6.04842657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.170385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.82, Y:1.07, Z:0.60 [[ 9.99128536e-01 -3.41498244e-02 -2.39991293e-02 5.48189858e+01] [ 3.41598989e-02 9.99416380e-01 9.83066664e-06 1.07478644e+00] [ 2.39847873e-02 -8.29629932e-04 9.99711979e-01 6.04316038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.85, Y:1.07, Z:0.60 [[ 9.99101603e-01 -3.47899582e-02 -2.42001075e-02 5.48506928e+01] [ 3.48004142e-02 9.99394282e-01 1.09217233e-05 1.07345262e+00] [ 2.41850691e-02 -8.53085674e-04 9.99707134e-01 6.04604776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.88, Y:1.08, Z:0.61 [[ 9.99103569e-01 -3.43636996e-02 -2.47223400e-02 5.48830324e+01] [ 3.43745186e-02 9.99409022e-01 1.26517051e-05 1.07700518e+00] [ 2.47072949e-02 -8.62458899e-04 9.99694356e-01 6.07779906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.91, Y:1.08, Z:0.61 [[ 9.99106513e-01 -3.38167063e-02 -2.53496673e-02 5.49145776e+01] [ 3.38279646e-02 9.99427671e-01 1.52961314e-05 1.07696578e+00] [ 2.53346417e-02 -8.72810113e-04 9.99678645e-01 6.09352869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.95, Y:1.08, Z:0.61 [[ 9.99167157e-01 -3.23134275e-02 -2.49165735e-02 5.49462637e+01] [ 3.23238903e-02 9.99477446e-01 1.71636116e-05 1.08153742e+00] [ 2.49029986e-02 -8.22549906e-04 9.99689534e-01 6.11002607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.320385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.98, Y:1.08, Z:0.61 [[ 9.99199021e-01 -3.13949967e-02 -2.48127215e-02 5.49772926e+01] [ 3.14051112e-02 9.99506738e-01 1.79609128e-05 1.08100456e+00] [ 2.47999184e-02 -7.97192803e-04 9.99692117e-01 6.10724404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.350385722999995 meters Centerline goodness [0,1] 0.9999776361399978 Centerline is valid? [True, True] Translation: X:55.01, Y:1.08, Z:0.61 [[ 9.99223151e-01 -3.07817259e-02 -2.46085169e-02 5.50078787e+01] [ 3.07915059e-02 9.99525829e-01 1.85080989e-05 1.07741600e+00] [ 2.45962785e-02 -7.76227014e-04 9.99697164e-01 6.08198936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.380385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.04, Y:1.08, Z:0.61 [[ 9.99226689e-01 -3.03981001e-02 -2.49395004e-02 5.50389209e+01] [ 3.04080408e-02 9.99537568e-01 1.93643941e-05 1.07738630e+00] [ 2.49273789e-02 -7.77710764e-04 9.99688962e-01 6.08747979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.07, Y:1.08, Z:0.61 [[ 9.99245431e-01 -2.99756334e-02 -2.46987805e-02 5.50704090e+01] [ 2.99852752e-02 9.99550340e-01 2.00274974e-05 1.07823108e+00] [ 2.46870741e-02 -7.60612115e-04 9.99694938e-01 6.09864721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.10, Y:1.08, Z:0.61 [[ 9.99302545e-01 -2.91771131e-02 -2.33049142e-02 5.51014010e+01] [ 2.91854982e-02 9.99574012e-01 1.96771528e-05 1.08105354e+00] [ 2.32944125e-02 -6.99828960e-04 9.99728403e-01 6.11747641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.13, Y:1.08, Z:0.61 [[ 9.99317355e-01 -2.89734265e-02 -2.29208309e-02 5.51317865e+01] [ 2.89814989e-02 9.99579948e-01 2.00125131e-05 1.07945941e+00] [ 2.29106231e-02 -6.84278888e-04 9.99737283e-01 6.11494565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.500385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.16, Y:1.08, Z:0.61 [[ 9.99302235e-01 -2.93313864e-02 -2.31238711e-02 5.51633654e+01] [ 2.93397108e-02 9.99569498e-01 2.07322657e-05 1.07970592e+00] [ 2.31133082e-02 -6.99165491e-04 9.99732607e-01 6.11756511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.530385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.20, Y:1.08, Z:0.61 [[ 9.99286579e-01 -2.97526808e-02 -2.32618071e-02 5.51951175e+01] [ 2.97612378e-02 9.99557036e-01 2.16724541e-05 1.08033740e+00] [ 2.32508581e-02 -7.13957166e-04 9.99729407e-01 6.12746585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.560385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.23, Y:1.08, Z:0.61 [[ 9.99264770e-01 -3.07863219e-02 -2.28499699e-02 5.52255539e+01] [ 3.07948701e-02 9.99525725e-01 2.22363125e-05 1.07912992e+00] [ 2.28384482e-02 -7.25881819e-04 9.99738905e-01 6.13496802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.26, Y:1.08, Z:0.61 [[ 9.99265280e-01 -3.10295810e-02 -2.24959082e-02 5.52568548e+01] [ 3.10379549e-02 9.99518206e-01 2.30914309e-05 1.07742142e+00] [ 2.24843533e-02 -7.21301449e-04 9.99746935e-01 6.13936095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.29, Y:1.08, Z:0.62 [[ 9.99243491e-01 -3.24126736e-02 -2.14910434e-02 5.52890455e+01] [ 3.24206612e-02 9.99474312e-01 2.32624560e-05 1.07875828e+00] [ 2.14789918e-02 -7.19998693e-04 9.99769041e-01 6.15606466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.32, Y:1.08, Z:0.62 [[ 9.99219933e-01 -3.29131136e-02 -2.18232107e-02 5.53204981e+01] [ 3.29215006e-02 9.99457940e-01 2.50615411e-05 1.07709484e+00] [ 2.18105564e-02 -7.43494837e-04 9.99761845e-01 6.16208994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.68038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.35, Y:1.08, Z:0.62 [[ 9.99152819e-01 -3.42899052e-02 -2.27562432e-02 5.53529003e+01] [ 3.42994126e-02 9.99411602e-01 2.74968983e-05 1.07586890e+00] [ 2.27419106e-02 -8.07999378e-04 9.99741043e-01 6.15559181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.710385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.39, Y:1.07, Z:0.61 [[ 9.99114511e-01 -3.49972898e-02 -2.33534357e-02 5.53853191e+01] [ 3.50075346e-02 9.99387048e-01 2.98753825e-05 1.07464415e+00] [ 2.33380756e-02 -8.47395137e-04 9.99727271e-01 6.14971310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.740385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.42, Y:1.07, Z:0.61 [[ 9.99085562e-01 -3.54046329e-02 -2.39698091e-02 5.54178594e+01] [ 3.54155834e-02 9.99372671e-01 3.23523804e-05 1.07354251e+00] [ 2.39536267e-02 -8.81227570e-04 9.99712682e-01 6.14736253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.45, Y:1.08, Z:0.62 [[ 9.99117181e-01 -3.48970111e-02 -2.33892684e-02 5.54505836e+01] [ 3.49073393e-02 9.99390553e-01 3.33123340e-05 1.07521565e+00] [ 2.33738513e-02 -8.49740051e-04 9.99726433e-01 6.15041481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.48, Y:1.08, Z:0.62 [[ 9.99139605e-01 -3.44181487e-02 -2.31395954e-02 5.54824924e+01] [ 3.44281727e-02 9.99407174e-01 3.48364053e-05 1.07566896e+00] [ 2.31246786e-02 -8.31460418e-04 9.99732243e-01 6.16269050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.51, Y:1.08, Z:0.62 [[ 9.99194693e-01 -3.33794110e-02 -2.22661059e-02 5.55134187e+01] [ 3.33884658e-02 9.99442449e-01 3.49201199e-05 1.07762288e+00] [ 2.22525258e-02 -7.78323112e-04 9.99752079e-01 6.18947581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.55, Y:1.08, Z:0.62 [[ 9.99230603e-01 -3.26390977e-02 -2.17460436e-02 5.55452894e+01] [ 3.26475860e-02 9.99466925e-01 3.53410980e-05 1.07927092e+00] [ 2.17332978e-02 -7.45269737e-04 9.99763526e-01 6.20476739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.890385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.58, Y:1.08, Z:0.62 [[ 9.99261254e-01 -3.18071752e-02 -2.15696650e-02 5.55775840e+01] [ 3.18153651e-02 9.99493762e-01 3.65521757e-05 1.08018511e+00] [ 2.15575830e-02 -7.22771941e-04 9.99767347e-01 6.21614522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.920385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.61, Y:1.08, Z:0.62 [[ 9.99336575e-01 -3.03390628e-02 -2.01482183e-02 5.56083263e+01] [ 3.03459339e-02 9.99539455e-01 3.53054625e-05 1.07890447e+00] [ 2.01378680e-02 -6.46698542e-04 9.99797003e-01 6.21351621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.64, Y:1.08, Z:0.62 [[ 9.99374763e-01 -2.95166950e-02 -1.94639957e-02 5.56404551e+01] [ 2.95229670e-02 9.99564102e-01 3.49045916e-05 1.07832548e+00] [ 1.94544811e-02 -6.09517671e-04 9.99810558e-01 6.21603401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.67, Y:1.08, Z:0.62 [[ 9.99455844e-01 -2.74024251e-02 -1.83609211e-02 5.56718207e+01] [ 2.74076696e-02 9.99624339e-01 3.40121923e-05 1.08024629e+00] [ 1.83530916e-02 -5.37223743e-04 9.99831424e-01 6.22108945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.70, Y:1.08, Z:0.62 [[ 9.99493956e-01 -2.64277264e-02 -1.77032928e-02 5.57030096e+01] [ 2.64324604e-02 9.99650601e-01 3.34315135e-05 1.07911642e+00] [ 1.76962238e-02 -5.01356182e-04 9.99843284e-01 6.22725937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.74, Y:1.08, Z:0.62 [[ 9.99509647e-01 -2.57892099e-02 -1.77590063e-02 5.57352133e+01] [ 2.57938903e-02 9.99667282e-01 3.45045598e-05 1.08020280e+00] [ 1.77522077e-02 -4.92561500e-04 9.99842296e-01 6.23683480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.070385722999994 meters Centerline goodness [0,1] 0.9999774810277658 Centerline is valid? [True, True] Translation: X:55.77, Y:1.08, Z:0.62 [[ 9.99514814e-01 -2.53080678e-02 -1.81559658e-02 5.57671141e+01] [ 2.53129036e-02 9.99679576e-01 3.65509821e-05 1.08149392e+00] [ 1.81492232e-02 -4.96113461e-04 9.99835166e-01 6.24987218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.100385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.80, Y:1.08, Z:0.63 [[ 9.99517235e-01 -2.53193881e-02 -1.80062455e-02 5.57983581e+01] [ 2.53241675e-02 9.99679291e-01 3.74332407e-05 1.07883780e+00] [ 1.79995229e-02 -4.93408346e-04 9.99837874e-01 6.25248032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.130385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.83, Y:1.08, Z:0.62 [[ 9.99503798e-01 -2.62028168e-02 -1.74805447e-02 5.58300344e+01] [ 2.62074708e-02 9.99656525e-01 3.71740701e-05 1.07721866e+00] [ 1.74735665e-02 -4.95276488e-04 9.99847203e-01 6.24490490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.86, Y:1.07, Z:0.62 [[ 9.99484378e-01 -2.71990598e-02 -1.70642720e-02 5.58612055e+01] [ 2.72036500e-02 9.99629912e-01 3.68844685e-05 1.07465827e+00] [ 1.70569535e-02 -5.01075932e-04 9.99854394e-01 6.24253570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.89, Y:1.08, Z:0.62 [[ 9.99449546e-01 -2.81064942e-02 -1.76247160e-02 5.58932081e+01] [ 2.81115488e-02 9.99604792e-01 3.90590163e-05 1.07509575e+00] [ 1.76166528e-02 -5.34495580e-04 9.99844672e-01 6.24345823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.92, Y:1.07, Z:0.62 [[ 9.99342264e-01 -3.06085584e-02 -1.94462007e-02 5.59240343e+01] [ 3.06152108e-02 9.99531244e-01 4.44102537e-05 1.07273769e+00] [ 1.94357259e-02 -6.39730578e-04 9.99810904e-01 6.24413807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.250385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.96, Y:1.07, Z:0.62 [[ 9.99263626e-01 -3.28232188e-02 -1.98706447e-02 5.59556060e+01] [ 3.28306216e-02 9.99460929e-01 4.63630891e-05 1.06844059e+00] [ 1.98584113e-02 -6.98694567e-04 9.99802558e-01 6.24263025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.280385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.99, Y:1.07, Z:0.63 [[ 9.99218286e-01 -3.40417224e-02 -2.00992196e-02 5.59875895e+01] [ 3.40495789e-02 9.99420144e-01 4.86982931e-05 1.07197678e+00] [ 2.00859072e-02 -7.33030189e-04 9.99797989e-01 6.25265229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.310385722999996 meters Centerline goodness [0,1] 0.9999775407074677 Centerline is valid? [True, True] Translation: X:56.02, Y:1.06, Z:0.63 [[ 9.99192517e-01 -3.50868292e-02 -1.95762224e-02 5.60191164e+01] [ 3.50945115e-02 9.99383997e-01 4.89209833e-05 1.06483673e+00] [ 1.95624469e-02 -7.35899440e-04 9.99808366e-01 6.25017766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.05, Y:1.07, Z:0.63 [[ 9.99128372e-01 -3.69555533e-02 -1.94109296e-02 5.60510376e+01] [ 3.69634943e-02 9.99316615e-01 5.03571772e-05 1.06799545e+00] [ 1.93958035e-02 -7.67809071e-04 9.99811589e-01 6.26724227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.08, Y:1.06, Z:0.63 [[ 9.99123187e-01 -3.72123266e-02 -1.91859264e-02 5.60826773e+01] [ 3.72201557e-02 9.99307089e-01 5.10158193e-05 1.06186755e+00] [ 1.91707338e-02 -7.65074254e-04 9.99815932e-01 6.27066585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.11, Y:1.07, Z:0.63 [[ 9.99145956e-01 -3.72837393e-02 -1.78124049e-02 5.61144110e+01] [ 3.72905148e-02 9.99304466e-01 4.82719608e-05 1.06743908e+00] [ 1.77982160e-02 -7.12464484e-04 9.99841345e-01 6.28766045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.15, Y:1.07, Z:0.63 [[ 9.99175895e-01 -3.66637067e-02 -1.74155877e-02 5.61467441e+01] [ 3.66701103e-02 9.99327424e-01 4.83862997e-05 1.06720929e+00] [ 1.74021004e-02 -6.86977947e-04 9.99848336e-01 6.29152659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.460385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.18, Y:1.07, Z:0.63 [[ 9.99189505e-01 -3.62279653e-02 -1.75461551e-02 5.61783324e+01] [ 3.62344191e-02 9.99343317e-01 4.99442798e-05 1.06556564e+00] [ 1.75328235e-02 -6.85678540e-04 9.99846053e-01 6.29147968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.490385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.21, Y:1.07, Z:0.63 [[ 9.99191532e-01 -3.60251168e-02 -1.78458245e-02 5.62106552e+01] [ 3.60317783e-02 9.99350643e-01 5.17867570e-05 1.06570852e+00] [ 1.78323706e-02 -6.94761683e-04 9.99840749e-01 6.29996174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.24, Y:1.07, Z:0.63 [[ 9.99205703e-01 -3.57998918e-02 -1.75023167e-02 5.62424663e+01] [ 3.58062857e-02 9.99358748e-01 5.19786701e-05 1.06836361e+00] [ 1.74892325e-02 -6.78630336e-04 9.99846821e-01 6.31458896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.28, Y:1.07, Z:0.63 [[ 9.99239879e-01 -3.58259341e-02 -1.53677262e-02 5.62751919e+01] [ 3.58308810e-02 9.99357867e-01 4.66019913e-05 1.06906404e+00] [ 1.53561885e-02 -5.97205738e-04 9.99881908e-01 6.32893650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.31, Y:1.07, Z:0.63 [[ 9.99245320e-01 -3.59665428e-02 -1.46696466e-02 5.63059315e+01] [ 3.59710882e-02 9.99352830e-01 4.60280869e-05 1.06657749e+00] [ 1.46584974e-02 -5.73676502e-04 9.99892394e-01 6.33213561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.34, Y:1.06, Z:0.63 [[ 9.99230895e-01 -3.61356711e-02 -1.52260311e-02 5.63374104e+01] [ 3.61406004e-02 9.99346714e-01 4.86240672e-05 1.06214098e+00] [ 1.52143271e-02 -5.98864575e-04 9.99884076e-01 6.32611131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.640385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.37, Y:1.06, Z:0.63 [[ 9.99145318e-01 -3.71024211e-02 -1.82220545e-02 5.63694466e+01] [ 3.71096636e-02 9.99311197e-01 5.93680387e-05 1.06285728e+00] [ 1.82073004e-02 -7.35531610e-04 9.99833963e-01 6.29910560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.670385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.40, Y:1.06, Z:0.63 [[ 9.99110635e-01 -3.75358476e-02 -1.92093678e-02 5.64001247e+01] [ 3.75440009e-02 9.99294973e-01 6.38622178e-05 1.05945919e+00] [ 1.91934276e-02 -7.85001942e-04 9.99815481e-01 6.29209989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.43, Y:1.06, Z:0.63 [[ 9.99110442e-01 -3.75897649e-02 -1.91137251e-02 5.64323591e+01] [ 3.75978625e-02 9.99292948e-01 6.43540551e-05 1.06268303e+00] [ 1.90977916e-02 -7.82932016e-04 9.99817314e-01 6.30660734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.46, Y:1.06, Z:0.63 [[ 9.99142388e-01 -3.71340020e-02 -1.83181700e-02 5.64642354e+01] [ 3.71413857e-02 9.99310019e-01 6.29200488e-05 1.06387651e+00] [ 1.83031943e-02 -7.43228304e-04 9.99832206e-01 6.32565827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.50, Y:1.06, Z:0.63 [[ 9.99172090e-01 -3.65081610e-02 -1.79524032e-02 5.64960481e+01] [ 3.65151744e-02 9.99333097e-01 6.29136611e-05 1.06409882e+00] [ 1.79381338e-02 -7.18396708e-04 9.99838841e-01 6.33281399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.53, Y:1.06, Z:0.63 [[ 9.99212836e-01 -3.55440085e-02 -1.76162557e-02 5.65271503e+01] [ 3.55506328e-02 9.99367874e-01 6.29177559e-05 1.06307142e+00] [ 1.76028837e-02 -6.89137267e-04 9.99844820e-01 6.33867608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.820385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.56, Y:1.06, Z:0.63 [[ 9.99219478e-01 -3.49124628e-02 -1.84811899e-02 5.65598747e+01] [ 3.49196674e-02 9.99390120e-01 6.71687734e-05 1.06380471e+00] [ 1.84675736e-02 -7.12473352e-04 9.99829206e-01 6.34353882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.850385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.59, Y:1.06, Z:0.63 [[ 9.99241706e-01 -3.38927283e-02 -1.91649729e-02 5.65924733e+01] [ 3.39003235e-02 9.99425216e-01 7.14720270e-05 1.06477050e+00] [ 1.91515348e-02 -7.21116610e-04 9.99816332e-01 6.34538549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.880385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.63, Y:1.07, Z:0.63 [[ 9.99296564e-01 -3.17730315e-02 -1.99211140e-02 5.66251600e+01] [ 3.17808476e-02 9.99494858e-01 7.58102258e-05 1.06845917e+00] [ 1.99086423e-02 -7.08866785e-04 9.99801552e-01 6.34729911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.66, Y:1.07, Z:0.63 [[ 9.99340516e-01 -3.05682259e-02 -1.95988937e-02 5.66567546e+01] [ 3.05755902e-02 9.99532454e-01 7.61353573e-05 1.06634314e+00] [ 1.95874030e-02 -6.75332890e-04 9.99807920e-01 6.34634602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.69, Y:1.07, Z:0.64 [[ 9.99342606e-01 -3.04998113e-02 -1.95988894e-02 5.66884684e+01] [ 3.05071840e-02 9.99534545e-01 7.72388365e-05 1.06615735e+00] [ 1.95874112e-02 -6.75094985e-04 9.99807920e-01 6.35115808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.72, Y:1.07, Z:0.64 [[ 9.99417413e-01 -2.91331976e-02 -1.77789840e-02 5.67204729e+01] [ 2.91390684e-02 9.99575365e-01 7.11921348e-05 1.06895201e+00] [ 1.77693604e-02 -5.89213690e-04 9.99841939e-01 6.36952695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.000385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.75, Y:1.07, Z:0.64 [[ 9.99441148e-01 -2.85168929e-02 -1.74407205e-02 5.67524740e+01] [ 2.85224697e-02 9.99593149e-01 7.10467353e-05 1.07047123e+00] [ 1.74315987e-02 -5.68459453e-04 9.99847897e-01 6.38950795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.030385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.78, Y:1.07, Z:0.64 [[ 9.99502919e-01 -2.71026459e-02 -1.61047170e-02 5.67842071e+01] [ 2.71072346e-02 9.99632529e-01 6.66681305e-05 1.07228255e+00] [ 1.60969921e-02 -5.03189334e-04 9.99870308e-01 6.42259126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.060385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.82, Y:1.07, Z:0.64 [[ 9.99515752e-01 -2.65702931e-02 -1.61951095e-02 5.68157969e+01] [ 2.65748820e-02 9.99646823e-01 6.81756995e-05 1.07229241e+00] [ 1.61875783e-02 -4.98525811e-04 9.99868848e-01 6.42881118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.85, Y:1.08, Z:0.64 [[ 9.99540144e-01 -2.54854364e-02 -1.64314660e-02 5.68485548e+01] [ 2.54900290e-02 9.99675074e-01 7.00931510e-05 1.07546404e+00] [ 1.64243406e-02 -4.88899462e-04 9.99864992e-01 6.42888856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.88, Y:1.08, Z:0.64 [[ 9.99582237e-01 -2.46918027e-02 -1.50222167e-02 5.68802616e+01] [ 2.46955700e-02 9.99695016e-01 6.53074966e-05 1.07548728e+00] [ 1.50160226e-02 -4.36262417e-04 9.99887158e-01 6.42684578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.91, Y:1.08, Z:0.64 [[ 9.99591039e-01 -2.46192284e-02 -1.45481214e-02 5.69128014e+01] [ 2.46227685e-02 9.99696812e-01 6.42442651e-05 1.07546194e+00] [ 1.45421290e-02 -4.22433018e-04 9.99894168e-01 6.43583585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.18038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.95, Y:1.08, Z:0.64 [[ 9.99596759e-01 -2.46638829e-02 -1.40716753e-02 5.69453058e+01] [ 2.46672127e-02 9.99695716e-01 6.30941439e-05 1.07524682e+00] [ 1.40658374e-02 -4.10177711e-04 9.99900987e-01 6.43677143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.210385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.98, Y:1.07, Z:0.64 [[ 9.99580505e-01 -2.49428589e-02 -1.47196423e-02 5.69774152e+01] [ 2.49465486e-02 9.99688784e-01 6.70829618e-05 1.07436442e+00] [ 1.47133881e-02 -4.34259094e-04 9.99891658e-01 6.42981871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.240385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.01, Y:1.07, Z:0.64 [[ 9.99558097e-01 -2.49458679e-02 -1.61652412e-02 5.70097848e+01] [ 2.49503385e-02 9.99688689e-01 7.49050390e-05 1.07301630e+00] [ 1.61583402e-02 -4.78200177e-04 9.99869331e-01 6.41888188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.04, Y:1.07, Z:0.64 [[ 9.99492341e-01 -2.53124706e-02 -1.93478313e-02 5.70415825e+01] [ 2.53189769e-02 9.99679419e-01 9.13583661e-05 1.07213648e+00] [ 1.93393163e-02 -5.81179281e-04 9.99812809e-01 6.39557313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.07, Y:1.07, Z:0.64 [[ 9.99483097e-01 -2.50063984e-02 -2.02044439e-02 5.70733884e+01] [ 2.50134689e-02 9.99687110e-01 9.72674705e-05 1.07233372e+00] [ 2.01956898e-02 -6.02600421e-04 9.99795865e-01 6.39800649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.11, Y:1.08, Z:0.64 [[ 9.99522667e-01 -2.36451864e-02 -1.98832424e-02 5.71050237e+01] [ 2.36517783e-02 9.99720253e-01 9.64021910e-05 1.07636616e+00] [ 1.98754007e-02 -5.66630215e-04 9.99802304e-01 6.41897508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.36038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.14, Y:1.08, Z:0.64 [[ 9.99543951e-01 -2.32561826e-02 -1.92623746e-02 5.71366641e+01] [ 2.32623099e-02 9.99729391e-01 9.40594978e-05 1.07631672e+00] [ 1.92549746e-02 -5.42103929e-04 9.99814459e-01 6.42236539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.390385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.17, Y:1.07, Z:0.64 [[ 9.99553689e-01 -2.31492278e-02 -1.88821845e-02 5.71667026e+01] [ 2.31551075e-02 9.99731880e-01 9.27915584e-05 1.07461551e+00] [ 1.88749738e-02 -5.29969158e-04 9.99821711e-01 6.42619868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.420385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.20, Y:1.07, Z:0.64 [[ 9.99604899e-01 -2.22347692e-02 -1.71948179e-02 5.71985453e+01] [ 2.22395156e-02 9.99752668e-01 8.48466866e-05 1.07253493e+00] [ 1.71886785e-02 -4.67217584e-04 9.99852155e-01 6.43091620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.23, Y:1.07, Z:0.64 [[ 9.99620658e-01 -2.16266641e-02 -1.70536691e-02 5.72300738e+01] [ 2.16312590e-02 9.99766013e-01 8.50059611e-05 1.07189969e+00] [ 1.70478404e-02 -4.53866048e-04 9.99854572e-01 6.43578540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.26, Y:1.07, Z:0.64 [[ 9.99655870e-01 -1.97513553e-02 -1.72634006e-02 5.72600830e+01] [ 1.97557945e-02 9.99804831e-01 8.66250301e-05 1.07171121e+00] [ 1.72583203e-02 -4.27647414e-04 9.99850973e-01 6.44375964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.29, Y:1.07, Z:0.65 [[ 9.99670703e-01 -1.86789367e-02 -1.75949793e-02 5.72903780e+01] [ 1.86833868e-02 9.99825446e-01 8.85577853e-05 1.07389095e+00] [ 1.75902539e-02 -4.17262427e-04 9.99845192e-01 6.45504649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.32, Y:1.07, Z:0.65 [[ 9.99684971e-01 -1.79099591e-02 -1.75838504e-02 5.73209088e+01] [ 1.79142846e-02 9.99839522e-01 8.85017718e-05 1.07445754e+00] [ 1.75794435e-02 -4.03475992e-04 9.99845388e-01 6.46331574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.570385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.35, Y:1.07, Z:0.65 [[ 9.99697916e-01 -1.71720010e-02 -1.75840624e-02 5.73504438e+01] [ 1.71762119e-02 9.99852474e-01 8.84613510e-05 1.07401803e+00] [ 1.75799492e-02 -3.90462210e-04 9.99845385e-01 6.47692588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.600385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.38, Y:1.07, Z:0.65 [[ 9.99705824e-01 -1.66650570e-02 -1.76221853e-02 5.73801602e+01] [ 1.66692013e-02 9.99861055e-01 8.83056816e-05 1.07358591e+00] [ 1.76182651e-02 -3.82027457e-04 9.99844713e-01 6.48048472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.630385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.41, Y:1.07, Z:0.65 [[ 9.99727794e-01 -1.62428002e-02 -1.67484228e-02 5.74092720e+01] [ 1.62464752e-02 9.99868014e-01 8.33723739e-05 1.07079012e+00] [ 1.67448580e-02 -3.55452514e-04 9.99859732e-01 6.48403257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.44, Y:1.07, Z:0.65 [[ 9.99734487e-01 -1.62246028e-02 -1.63620631e-02 5.74384696e+01] [ 1.62280987e-02 9.99868312e-01 8.08978717e-05 1.07065329e+00] [ 1.63585959e-02 -3.46401566e-04 9.99866129e-01 6.49428140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.47, Y:1.07, Z:0.65 [[ 9.99730199e-01 -1.64288669e-02 -1.64201706e-02 5.74680406e+01] [ 1.64324058e-02 9.99864976e-01 8.06158119e-05 1.06976551e+00] [ 1.64166290e-02 -3.50416968e-04 9.99865177e-01 6.49914307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.50, Y:1.07, Z:0.65 [[ 9.99717340e-01 -1.69392944e-02 -1.66823641e-02 5.74977217e+01] [ 1.69430093e-02 9.99856454e-01 8.13696413e-05 1.06684034e+00] [ 1.66785910e-02 -3.63996092e-04 9.99860836e-01 6.49440979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.750385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.53, Y:1.07, Z:0.65 [[ 9.99668477e-01 -1.80399268e-02 -1.83710912e-02 5.75277411e+01] [ 1.80446168e-02 9.99837179e-01 8.95491267e-05 1.06523702e+00] [ 1.83664845e-02 -4.21018739e-04 9.99831233e-01 6.48128357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.780385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.56, Y:1.06, Z:0.65 [[ 9.99640497e-01 -1.88745310e-02 -1.90427970e-02 5.75561559e+01] [ 1.88797152e-02 9.99821758e-01 9.24824851e-05 1.06358980e+00] [ 1.90376572e-02 -4.51971822e-04 9.99818665e-01 6.48107137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.810385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.59, Y:1.06, Z:0.65 [[ 9.99562658e-01 -2.13008345e-02 -2.05125989e-02 5.75857978e+01] [ 2.13073338e-02 9.99772968e-01 9.83138213e-05 1.06272255e+00] [ 2.05058477e-02 -5.35339617e-04 9.99789590e-01 6.49101480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.840385723 meters Centerline goodness [0,1] 0.9999551941214687 Centerline is valid? [True, True] Translation: X:57.61, Y:1.06, Z:0.65 [[ 9.99539259e-01 -2.23629863e-02 -2.05223567e-02 5.76148783e+01] [ 2.23697098e-02 9.99749762e-01 9.80854796e-05 1.06011476e+00] [ 2.05150277e-02 -5.57119451e-04 9.99789389e-01 6.47594444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.65, Y:1.06, Z:0.65 [[ 9.99491603e-01 -2.39714834e-02 -2.10214993e-02 5.76451768e+01] [ 2.39789080e-02 9.99712460e-01 1.01159457e-04 1.05823051e+00] [ 2.10130299e-02 -6.05180626e-04 9.99779019e-01 6.49951214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.68, Y:1.06, Z:0.65 [[ 9.99475773e-01 -2.44764839e-02 -2.11915330e-02 5.76755789e+01] [ 2.44841424e-02 9.99700213e-01 1.01977691e-04 1.05695993e+00] [ 2.11826840e-02 -6.20780744e-04 9.99775429e-01 6.50414425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.71, Y:1.06, Z:0.65 [[ 9.99497527e-01 -2.42365940e-02 -2.04274694e-02 5.77065427e+01] [ 2.42436587e-02 9.99706074e-01 9.82333538e-05 1.05734723e+00] [ 2.04190844e-02 -5.93420592e-04 9.99791333e-01 6.51300089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.960385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.74, Y:1.06, Z:0.65 [[ 9.99540322e-01 -2.33283610e-02 -1.93631550e-02 5.77371724e+01] [ 2.33345347e-02 9.99727708e-01 9.29299838e-05 1.05718481e+00] [ 1.93557147e-02 -5.44717478e-04 9.99812512e-01 6.53861788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.990385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.77, Y:1.06, Z:0.65 [[ 9.99556024e-01 -2.28305203e-02 -1.91447623e-02 5.77681340e+01] [ 2.28364668e-02 9.99739210e-01 9.20175381e-05 1.05674647e+00] [ 1.91376687e-02 -5.29175414e-04 9.99816718e-01 6.54521443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.80, Y:1.06, Z:0.65 [[ 9.99575477e-01 -2.21924838e-02 -1.88775044e-02 5.77989085e+01] [ 2.21981614e-02 9.99753586e-01 9.12454914e-05 1.05569085e+00] [ 1.88708278e-02 -5.10252646e-04 9.99821800e-01 6.54025444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.83, Y:1.05, Z:0.65 [[ 9.99594817e-01 -2.18114061e-02 -1.82883407e-02 5.78289298e+01] [ 2.18166720e-02 9.99761984e-01 8.84507248e-05 1.05294553e+00] [ 1.82820585e-02 -4.87405615e-04 9.99832750e-01 6.53729272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.86, Y:1.05, Z:0.65 [[ 9.99612245e-01 -2.18834013e-02 -1.72184846e-02 5.78593404e+01] [ 2.18880838e-02 9.99760424e-01 8.35201985e-05 1.05357841e+00] [ 1.72125317e-02 -4.60367447e-04 9.99851747e-01 6.54736589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.89, Y:1.05, Z:0.66 [[ 9.99620911e-01 -2.17776524e-02 -1.68454350e-02 5.78902137e+01] [ 2.17821202e-02 9.99762738e-01 8.17685012e-05 1.05243204e+00] [ 1.68396575e-02 -4.48666794e-04 9.99858102e-01 6.55931899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.140385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.92, Y:1.05, Z:0.66 [[ 9.99615653e-01 -2.21747372e-02 -1.66381348e-02 5.79211135e+01] [ 2.21791601e-02 9.99754009e-01 8.13344478e-05 1.05268905e+00] [ 1.66322384e-02 -4.50323044e-04 9.99861573e-01 6.58523228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.170385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.95, Y:1.05, Z:0.66 [[ 9.99614515e-01 -2.25566118e-02 -1.61870432e-02 5.79523807e+01] [ 2.25608574e-02 9.99745468e-01 7.97004331e-05 1.05046566e+00] [ 1.61811253e-02 -4.44863282e-04 9.99868978e-01 6.59029100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.98, Y:1.05, Z:0.66 [[ 9.99545482e-01 -2.43690884e-02 -1.77476168e-02 5.79838754e+01] [ 2.43744948e-02 9.99702894e-01 8.83469824e-05 1.04598096e+00] [ 1.77401910e-02 -5.20896021e-04 9.99842495e-01 6.56460034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.01, Y:1.04, Z:0.65 [[ 9.99506830e-01 -2.52605354e-02 -1.86548202e-02 5.80148349e+01] [ 2.52666765e-02 9.99680742e-01 9.35377768e-05 1.04286691e+00] [ 1.86465017e-02 -5.64836954e-04 9.99825979e-01 6.54530812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.05, Y:1.04, Z:0.65 [[ 9.99452352e-01 -2.61346955e-02 -2.02971201e-02 5.80453295e+01] [ 2.61421593e-02 9.99658230e-01 1.02436346e-04 1.04055103e+00] [ 2.02875060e-02 -6.32990796e-04 9.99793987e-01 6.54295271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.290385723 meters Centerline goodness [0,1] 0.9999341281865489 Centerline is valid? [True, True] Translation: X:58.08, Y:1.04, Z:0.65 [[ 9.99432530e-01 -2.57839489e-02 -2.16750268e-02 5.80769874e+01] [ 2.57923895e-02 9.99667315e-01 1.09897955e-04 1.04342200e+00] [ 2.16649823e-02 -6.68886325e-04 9.99765063e-01 6.53005244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.320385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.11, Y:1.04, Z:0.66 [[ 9.99412917e-01 -2.54929422e-02 -2.28895368e-02 5.81069604e+01] [ 2.55022920e-02 9.99674757e-01 1.16615976e-04 1.04448928e+00] [ 2.28791192e-02 -7.00283164e-04 9.99737993e-01 6.56608442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.350385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.14, Y:1.04, Z:0.65 [[ 9.99418812e-01 -2.31265581e-02 -2.50439665e-02 5.81371008e+01] [ 2.31370051e-02 9.99732296e-01 1.27421414e-04 1.04410928e+00] [ 2.50343153e-02 -7.06789739e-04 9.99686343e-01 6.54466522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.380385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.17, Y:1.04, Z:0.65 [[ 9.99443152e-01 -2.21987738e-02 -2.49118585e-02 5.81662933e+01] [ 2.22087620e-02 9.99753347e-01 1.24307733e-04 1.04298682e+00] [ 2.49029544e-02 -6.77500049e-04 9.99689644e-01 6.54832543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.19, Y:1.04, Z:0.66 [[ 9.99464231e-01 -2.10101535e-02 -2.50962847e-02 5.81943874e+01] [ 2.10198086e-02 9.99779052e-01 1.20953929e-04 1.04269257e+00] [ 2.50881985e-02 -6.48408227e-04 9.99685031e-01 6.56060885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.22, Y:1.05, Z:0.66 [[ 9.99527645e-01 -1.92701265e-02 -2.39405151e-02 5.82233274e+01] [ 1.92783343e-02 9.99814149e-01 1.12067084e-04 1.04535433e+00] [ 2.39339062e-02 -5.73547401e-04 9.99713379e-01 6.60619628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.25, Y:1.05, Z:0.66 [[ 9.99566524e-01 -1.81804592e-02 -2.31567482e-02 5.82518913e+01] [ 1.81877211e-02 9.99834584e-01 1.03007802e-04 1.04731012e+00] [ 2.31510450e-02 -5.24131630e-04 9.99731841e-01 6.62718946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.500385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.28, Y:1.05, Z:0.66 [[ 9.99617024e-01 -1.68311376e-02 -2.19663082e-02 5.82805911e+01] [ 1.68372345e-02 9.99858239e-01 9.26256643e-05 1.04915749e+00] [ 2.19616353e-02 -4.62442073e-04 9.99758707e-01 6.64064639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.530385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.31, Y:1.05, Z:0.66 [[ 9.99680056e-01 -1.46972598e-02 -2.05858301e-02 5.83086539e+01] [ 1.47020766e-02 9.99891915e-01 8.26550447e-05 1.04866160e+00] [ 2.05823903e-02 -3.85283050e-04 9.99788086e-01 6.64315010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.560385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.34, Y:1.05, Z:0.66 [[ 9.99694695e-01 -1.42704845e-02 -2.01710240e-02 5.83365401e+01] [ 1.42749747e-02 9.99898104e-01 7.86329446e-05 1.04707375e+00] [ 2.01678465e-02 -3.66549795e-04 9.99796541e-01 6.64129935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.36, Y:1.05, Z:0.66 [[ 9.99687062e-01 -1.42850443e-02 -2.05356966e-02 5.83648242e+01] [ 1.42896443e-02 9.99897895e-01 7.72694113e-05 1.04691690e+00] [ 2.05324960e-02 -3.70693030e-04 9.99789117e-01 6.64124172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.39, Y:1.05, Z:0.67 [[ 9.99670696e-01 -1.47327119e-02 -2.10106247e-02 5.83929943e+01] [ 1.47375016e-02 9.99891394e-01 7.31370951e-05 1.04803129e+00] [ 2.10072653e-02 -3.82757126e-04 9.99779250e-01 6.65002719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.42, Y:1.05, Z:0.67 [[ 9.99647063e-01 -1.50584937e-02 -2.18858480e-02 5.84211239e+01] [ 1.50636596e-02 9.99886534e-01 7.11874239e-05 1.04875960e+00] [ 2.18822928e-02 -4.00843264e-04 9.99760474e-01 6.65336994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.68038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.45, Y:1.05, Z:0.67 [[ 9.99628390e-01 -1.57953401e-02 -2.22168642e-02 5.84491103e+01] [ 1.58008024e-02 9.99875157e-01 7.03324286e-05 1.04898658e+00] [ 2.22129797e-02 -4.21350575e-04 9.99753173e-01 6.65708963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.710385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.48, Y:1.05, Z:0.67 [[ 9.99608018e-01 -1.74569359e-02 -2.18875886e-02 5.84778643e+01] [ 1.74625729e-02 9.99847515e-01 6.64260976e-05 1.04613696e+00] [ 2.18830915e-02 -4.48613671e-04 9.99760436e-01 6.65829789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.740385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.51, Y:1.04, Z:0.67 [[ 9.99581839e-01 -1.87499088e-02 -2.20133576e-02 5.85065783e+01] [ 1.87558090e-02 9.99824092e-01 6.15752038e-05 1.04415873e+00] [ 2.20083308e-02 -4.74427786e-04 9.99757675e-01 6.65648941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.53, Y:1.04, Z:0.66 [[ 9.99494112e-01 -2.09574183e-02 -2.39229235e-02 5.85339156e+01] [ 2.09648950e-02 9.99780211e-01 6.17424413e-05 1.04137316e+00] [ 2.39163716e-02 -5.63252787e-04 9.99713804e-01 6.63939551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.56, Y:1.04, Z:0.66 [[ 9.99458380e-01 -2.19101931e-02 -2.45538105e-02 5.85620643e+01] [ 2.19182819e-02 9.99759764e-01 6.03172606e-05 1.04060507e+00] [ 2.45465903e-02 -5.98461933e-04 9.99698508e-01 6.63899838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.59, Y:1.04, Z:0.66 [[ 9.99397788e-01 -2.34142024e-02 -2.56092994e-02 5.85911464e+01] [ 2.34233970e-02 9.99725633e-01 5.90713602e-05 1.04185347e+00] [ 2.56008899e-02 -6.58892571e-04 9.99672026e-01 6.64557038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.86038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.62, Y:1.04, Z:0.66 [[ 9.99391221e-01 -2.36928283e-02 -2.56093132e-02 5.86185275e+01] [ 2.37019454e-02 9.99719068e-01 5.24767871e-05 1.04186053e+00] [ 2.56008754e-02 -6.59435383e-04 9.99672026e-01 6.64974228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.890385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.65, Y:1.04, Z:0.66 [[ 9.99374733e-01 -2.36698976e-02 -2.62655492e-02 5.86466903e+01] [ 2.36793412e-02 9.99719604e-01 4.85260739e-05 1.03819145e+00] [ 2.62570358e-02 -6.70446633e-04 9.99655000e-01 6.63768176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.920385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.67, Y:1.04, Z:0.66 [[ 9.99377187e-01 -2.35549763e-02 -2.62754981e-02 5.86745077e+01] [ 2.35642726e-02 9.99722323e-01 4.41777120e-05 1.04072118e+00] [ 2.62671614e-02 -6.63313196e-04 9.99654739e-01 6.64911141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.70, Y:1.04, Z:0.67 [[ 9.99443488e-01 -2.26246380e-02 -2.45120474e-02 5.87034771e+01] [ 2.26322966e-02 9.99743856e-01 3.50290002e-05 1.04207542e+00] [ 2.45049762e-02 -5.89773432e-04 9.99699534e-01 6.67914497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.73, Y:1.04, Z:0.67 [[ 9.99486738e-01 -2.22830808e-02 -2.30157394e-02 5.87322800e+01] [ 2.22896169e-02 9.99751555e-01 2.74515715e-05 1.04308136e+00] [ 2.30094095e-02 -5.40449496e-04 9.99735102e-01 6.70183908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.76, Y:1.04, Z:0.67 [[ 9.99530842e-01 -2.22100390e-02 -2.10905071e-02 5.87604526e+01] [ 2.22154310e-02 9.99753207e-01 2.13728025e-05 1.04197292e+00] [ 2.10848274e-02 -4.89897480e-04 9.99777570e-01 6.72021338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.79, Y:1.04, Z:0.67 [[ 9.99551739e-01 -2.33965777e-02 -1.86794413e-02 5.87905097e+01] [ 2.34009984e-02 9.99726159e-01 1.80925194e-05 1.03905987e+00] [ 1.86739028e-02 -4.55201986e-04 9.99825524e-01 6.74646936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.070385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.82, Y:1.04, Z:0.68 [[ 9.99523346e-01 -2.44606554e-02 -1.88350090e-02 5.88212638e+01] [ 2.44653372e-02 9.99700679e-01 1.81520399e-05 1.03545413e+00] [ 1.88289273e-02 -4.78948235e-04 9.99822605e-01 6.75630824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.100385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.85, Y:1.03, Z:0.67 [[ 9.99409265e-01 -2.63764636e-02 -2.20318852e-02 5.88511526e+01] [ 2.63833838e-02 9.99651898e-01 2.34353633e-05 1.03278003e+00] [ 2.20235977e-02 -6.04697202e-04 9.99757268e-01 6.74072222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.130385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.88, Y:1.03, Z:0.67 [[ 9.99344053e-01 -2.69446688e-02 -2.41960240e-02 5.88806400e+01] [ 2.69531787e-02 9.99636697e-01 2.55868570e-05 1.03109622e+00] [ 2.41865441e-02 -6.77729832e-04 9.99707233e-01 6.72624088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.91, Y:1.03, Z:0.67 [[ 9.99316061e-01 -2.71840251e-02 -2.50686746e-02 5.89098828e+01] [ 2.71932202e-02 9.99630196e-01 2.59035051e-05 1.03215132e+00] [ 2.50587000e-02 -7.07583778e-04 9.99685731e-01 6.72269501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.94, Y:1.03, Z:0.67 [[ 9.99387980e-01 -2.57200216e-02 -2.37096340e-02 5.89393820e+01] [ 2.57278156e-02 9.99668985e-01 2.36971197e-05 1.03065639e+00] [ 2.37011762e-02 -6.33679709e-04 9.99718887e-01 6.72753642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.97, Y:1.03, Z:0.67 [[ 9.99438208e-01 -2.46101938e-02 -2.27509542e-02 5.89683502e+01] [ 2.46170619e-02 9.99696954e-01 2.18210370e-05 1.02893016e+00] [ 2.27435226e-02 -5.81870427e-04 9.99741163e-01 6.73524409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.250385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.00, Y:1.03, Z:0.68 [[ 9.99489092e-01 -2.29374776e-02 -2.22581740e-02 5.89983839e+01] [ 2.29436165e-02 9.99736760e-01 2.04345611e-05 1.03124867e+00] [ 2.22518461e-02 -5.31107129e-04 9.99752256e-01 6.76046374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.280385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.03, Y:1.03, Z:0.68 [[ 9.99480882e-01 -2.27229261e-02 -2.28393288e-02 5.90274318e+01] [ 2.27293179e-02 9.99741655e-01 2.02689715e-05 1.03046880e+00] [ 2.28329678e-02 -5.39380813e-04 9.99739148e-01 6.76506970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.310385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.06, Y:1.03, Z:0.68 [[ 9.99456903e-01 -2.28033795e-02 -2.37887388e-02 5.90557851e+01] [ 2.28102655e-02 9.99739812e-01 1.81174122e-05 1.03052139e+00] [ 2.37821361e-02 -5.60735021e-04 9.99717008e-01 6.77345154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.08, Y:1.03, Z:0.68 [[ 9.99397672e-01 -2.35456324e-02 -2.54930563e-02 5.90848202e+01] [ 2.35536133e-02 9.99722575e-01 1.27904501e-05 1.02925243e+00] [ 2.54856827e-02 -6.13236336e-04 9.99674999e-01 6.77438463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.11, Y:1.03, Z:0.68 [[ 9.99369131e-01 -2.43993560e-02 -2.58071908e-02 5.91131248e+01] [ 2.44076509e-02 9.99702089e-01 6.41964099e-06 1.02859553e+00] [ 2.57993459e-02 -6.36308495e-04 9.99666939e-01 6.77918964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.14, Y:1.03, Z:0.68 [[ 9.99301570e-01 -2.60799449e-02 -2.67620928e-02 5.91422105e+01] [ 2.60892832e-02 9.99659617e-01 -2.27685702e-07 1.02794832e+00] [ 2.67529894e-02 -6.97976291e-04 9.99641831e-01 6.79099801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.17, Y:1.03, Z:0.68 [[ 9.99279088e-01 -2.71636379e-02 -2.65224566e-02 5.91702212e+01] [ 2.71730494e-02 9.99630745e-01 -5.56431260e-06 1.02666512e+00] [ 2.65128142e-02 -7.15135721e-04 9.99648218e-01 6.78846816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.460385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.20, Y:1.03, Z:0.68 [[ 9.99261673e-01 -2.81263402e-02 -2.61728627e-02 5.91993726e+01] [ 2.81357620e-02 9.99604111e-01 -8.28152077e-06 1.02556009e+00] [ 2.61627341e-02 -7.28118028e-04 9.99657432e-01 6.78526705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.490385722999996 meters Centerline goodness [0,1] 0.9998912239481356 Centerline is valid? [True, True] Translation: X:59.23, Y:1.02, Z:0.67 [[ 9.99178733e-01 -3.05232036e-02 -2.66494530e-02 5.92283922e+01] [ 3.05337190e-02 9.99533737e-01 -1.23491239e-05 1.02268942e+00] [ 2.66374043e-02 -8.01367928e-04 9.99644840e-01 6.73307214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.520385723 meters Centerline goodness [0,1] 0.9999347811908954 Centerline is valid? [True, True] Translation: X:59.26, Y:1.02, Z:0.67 [[ 9.99132823e-01 -3.20086687e-02 -2.66279472e-02 5.92578824e+01] [ 3.20195882e-02 9.99487241e-01 -1.63131799e-05 1.02084138e+00] [ 2.66148157e-02 -8.36316871e-04 9.99645413e-01 6.74313669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.29, Y:1.02, Z:0.68 [[ 9.99041629e-01 -3.52722347e-02 -2.59170379e-02 5.92884459e+01] [ 3.52836686e-02 9.99377337e-01 -1.61387778e-05 1.01981082e+00] [ 2.59014696e-02 -8.98324865e-04 9.99664097e-01 6.79016832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.32, Y:1.02, Z:0.68 [[ 9.99008821e-01 -3.68528482e-02 -2.49648383e-02 5.93184048e+01] [ 3.68639539e-02 9.99320293e-01 -1.53761618e-05 1.01766388e+00] [ 2.49484362e-02 -9.04941727e-04 9.99688330e-01 6.80861075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61038572299999 meters Centerline goodness [0,1] 0.9999348901814393 Centerline is valid? [True, True] Translation: X:59.35, Y:1.02, Z:0.68 [[ 9.98971286e-01 -3.83696079e-02 -2.41690625e-02 5.93500114e+01] [ 3.83804736e-02 9.99263198e-01 -1.43185093e-05 1.01820408e+00] [ 2.41518041e-02 -9.13316286e-04 9.99707885e-01 6.81115395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.640385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.38, Y:1.02, Z:0.68 [[ 9.98857887e-01 -4.16067432e-02 -2.34904281e-02 5.93811049e+01] [ 4.16179193e-02 9.99133599e-01 -1.31160898e-05 1.01638843e+00] [ 2.34706217e-02 -9.64521631e-04 9.99724062e-01 6.84783947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.670385722999995 meters Centerline goodness [0,1] 0.9999133674088192 Centerline is valid? [True, True] Translation: X:59.41, Y:1.02, Z:0.68 [[ 9.98774210e-01 -4.31466229e-02 -2.42579117e-02 5.94136516e+01] [ 4.31590238e-02 9.99068215e-01 -1.23508255e-05 1.01795885e+00] [ 2.42358414e-02 -1.03461210e-03 9.99705733e-01 6.82760756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.700385723 meters Centerline goodness [0,1] 0.9999134723544172 Centerline is valid? [True, True] Translation: X:59.44, Y:1.02, Z:0.68 [[ 9.98702111e-01 -4.45349059e-02 -2.47130483e-02 5.94448500e+01] [ 4.45482409e-02 9.99007234e-01 -1.09607593e-05 1.01519514e+00] [ 2.46890022e-02 -1.08997630e-03 9.99694586e-01 6.81658387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.48, Y:1.01, Z:0.68 [[ 9.98588508e-01 -4.72129396e-02 -2.43295954e-02 5.94756702e+01] [ 4.72266803e-02 9.98884198e-01 -9.82742589e-06 1.01366786e+00] [ 2.43029124e-02 -1.13919247e-03 9.99703992e-01 6.83258332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.51, Y:1.01, Z:0.68 [[ 9.98570504e-01 -4.78416921e-02 -2.38353021e-02 5.95077058e+01] [ 4.78550795e-02 9.98854289e-01 -8.74647358e-06 1.01336727e+00] [ 2.38084122e-02 -1.13190631e-03 9.99715899e-01 6.83827414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.54, Y:1.01, Z:0.68 [[ 9.98574630e-01 -4.79289548e-02 -2.34845334e-02 5.95400774e+01] [ 4.79420138e-02 9.98850121e-01 -6.96256034e-06 1.01300885e+00] [ 2.34578628e-02 -1.11894319e-03 9.99724200e-01 6.84963008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.820385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.57, Y:1.01, Z:0.69 [[ 9.98613934e-01 -4.73671092e-02 -2.29470441e-02 5.95720326e+01] [ 4.73794658e-02 9.98876962e-01 -5.20440529e-06 1.01308861e+00] [ 2.29215203e-02 -1.08202150e-03 9.99736682e-01 6.85557474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.850385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.60, Y:1.01, Z:0.69 [[ 9.98620861e-01 -4.69447741e-02 -2.35066787e-02 5.96040038e+01] [ 4.69576640e-02 9.98896880e-01 -3.63853544e-06 1.01426564e+00] [ 2.34809188e-02 -1.10018520e-03 9.99723680e-01 6.86026845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.880385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.63, Y:1.01, Z:0.69 [[ 9.98612088e-01 -4.68298945e-02 -2.41010045e-02 5.96348273e+01] [ 4.68434497e-02 9.98902243e-01 -2.13918910e-06 1.01163721e+00] [ 2.40746476e-02 -1.12683797e-03 9.99709529e-01 6.85658273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.67, Y:1.01, Z:0.69 [[ 9.98557020e-01 -4.67598536e-02 -2.64082235e-02 5.96664951e+01] [ 4.67761441e-02 9.98905397e-01 -8.72935648e-07 1.01312018e+00] [ 2.63793578e-02 -1.23440319e-03 9.99651242e-01 6.86215787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.70, Y:1.02, Z:0.69 [[ 9.98578089e-01 -4.60485927e-02 -2.68575441e-02 5.96984010e+01] [ 4.60652298e-02 9.98938434e-01 7.44160541e-07 1.01688226e+00] [ 2.68289988e-02 -1.23794204e-03 9.99639271e-01 6.87411830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.970385723 meters Centerline goodness [0,1] 0.9999349283126912 Centerline is valid? [True, True] Translation: X:59.73, Y:1.02, Z:0.69 [[ 9.98621061e-01 -4.51784028e-02 -2.67373828e-02 5.97293559e+01] [ 4.51946251e-02 9.98978201e-01 2.43103244e-06 1.01652251e+00] [ 2.67099527e-02 -1.21081367e-03 9.99642492e-01 6.85958994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.000385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.76, Y:1.02, Z:0.69 [[ 9.98753644e-01 -4.25527506e-02 -2.60848978e-02 5.97609702e+01] [ 4.25673342e-02 9.99093600e-01 3.80887013e-06 1.01888294e+00] [ 2.60610924e-02 -1.11416869e-03 9.99659731e-01 6.88921161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.030385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.79, Y:1.02, Z:0.69 [[ 9.98823958e-01 -4.10672477e-02 -2.57717409e-02 5.97916627e+01] [ 4.10810344e-02 9.99155818e-01 5.50464929e-06 1.01710888e+00] [ 2.57497588e-02 -1.06422795e-03 9.99667854e-01 6.88233632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.060385722999996 meters Centerline goodness [0,1] 0.9998264152580988 Centerline is valid? [True, True] Translation: X:59.82, Y:1.02, Z:0.68 [[ 9.98933956e-01 -3.78933146e-02 -2.63637723e-02 5.98231972e+01] [ 3.79066817e-02 9.99281283e-01 7.26362118e-06 1.01825981e+00] [ 2.63445490e-02 -1.00661900e-03 9.99652415e-01 6.84257042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.090385723 meters Centerline goodness [0,1] 0.9998480309148539 Centerline is valid? [True, True] Translation: X:59.86, Y:1.02, Z:0.69 [[ 9.99014740e-01 -3.59959940e-02 -2.59583669e-02 5.98551134e+01] [ 3.60083416e-02 9.99351489e-01 8.23931231e-06 1.02041109e+00] [ 2.59412360e-02 -9.42948936e-04 9.99663025e-01 6.86083494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.120385723 meters Centerline goodness [0,1] 0.9998477102142935 Centerline is valid? [True, True] Translation: X:59.89, Y:1.02, Z:0.69 [[ 9.99113817e-01 -3.37734494e-02 -2.51183984e-02 5.98864926e+01] [ 3.37843373e-02 9.99429146e-01 9.09590858e-06 1.02392113e+00] [ 2.51037523e-02 -8.57696292e-04 9.99684483e-01 6.88372803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.92, Y:1.03, Z:0.69 [[ 9.99298614e-01 -2.97976101e-02 -2.26800050e-02 5.99161257e+01] [ 2.98054740e-02 9.99555718e-01 8.69952403e-06 1.02706706e+00] [ 2.26696695e-02 -6.84681721e-04 9.99742776e-01 6.94744004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.18038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.95, Y:1.03, Z:0.70 [[ 9.99339091e-01 -2.88394428e-02 -2.21284377e-02 5.99474388e+01] [ 2.88466994e-02 9.99583847e-01 8.73097723e-06 1.02759861e+00] [ 2.21189771e-02 -6.47057597e-04 9.99755136e-01 6.96258604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.210385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.98, Y:1.03, Z:0.70 [[ 9.99383025e-01 -2.91614203e-02 -1.95750196e-02 5.99783851e+01] [ 2.91671723e-02 9.99574547e-01 8.34610347e-06 1.02619121e+00] [ 1.95664480e-02 -5.79288923e-04 9.99808391e-01 6.98796504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.240385722999996 meters Centerline goodness [0,1] 0.9999565793187295 Centerline is valid? [True, True] Translation: X:60.01, Y:1.02, Z:0.70 [[ 9.99366938e-01 -3.00336959e-02 -1.90709543e-02 6.00091412e+01] [ 3.00393278e-02 9.99548718e-01 8.84795763e-06 1.02477122e+00] [ 1.90620822e-02 -5.81721004e-04 9.99818133e-01 6.98528860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.04, Y:1.02, Z:0.70 [[ 9.99338911e-01 -3.06188663e-02 -1.96016850e-02 6.00416586e+01] [ 3.06249504e-02 9.99530946e-01 1.02144168e-05 1.02468739e+00] [ 1.95921780e-02 -6.10508297e-04 9.99807868e-01 7.00010410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.07, Y:1.02, Z:0.70 [[ 9.99225026e-01 -3.22812937e-02 -2.25225592e-02 6.00741319e+01] [ 3.22897877e-02 9.99478549e-01 1.34680918e-05 1.02418297e+00] [ 2.25103800e-02 -7.40706310e-04 9.99746335e-01 6.97397396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.11, Y:1.03, Z:0.70 [[ 9.99191973e-01 -3.27578806e-02 -2.32878356e-02 6.01056268e+01] [ 3.27671235e-02 9.99463014e-01 1.53152262e-05 1.02580738e+00] [ 2.32748286e-02 -7.78378235e-04 9.99728801e-01 6.96499416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.36038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.14, Y:1.02, Z:0.70 [[ 9.99159358e-01 -3.43174115e-02 -2.24252620e-02 6.01356773e+01] [ 3.43263890e-02 9.99410676e-01 1.53995894e-05 1.02436948e+00] [ 2.24115177e-02 -7.85164910e-04 9.99748522e-01 6.96903416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.390385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.17, Y:1.02, Z:0.70 [[ 9.99152509e-01 -3.52619170e-02 -2.12334881e-02 6.01680354e+01] [ 3.52701928e-02 9.99377813e-01 1.52645846e-05 1.02344526e+00] [ 2.12197387e-02 -7.64160867e-04 9.99774544e-01 6.98789135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.420385722999995 meters Centerline goodness [0,1] 0.9998913232481308 Centerline is valid? [True, True] Translation: X:60.20, Y:1.02, Z:0.70 [[ 9.99124059e-01 -3.68057689e-02 -1.99110748e-02 6.02005913e+01] [ 3.68133785e-02 9.99322158e-01 1.56534419e-05 1.02293441e+00] [ 1.98970021e-02 -7.48633663e-04 9.99801755e-01 6.98083911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.450385723 meters Centerline goodness [0,1] 0.9998478095445157 Centerline is valid? [True, True] Translation: X:60.23, Y:1.02, Z:0.70 [[ 9.99040790e-01 -3.94505226e-02 -1.90041309e-02 6.02330437e+01] [ 3.94579567e-02 9.99221231e-01 1.62304288e-05 1.02466077e+00] [ 1.89886908e-02 -7.66079036e-04 9.99819405e-01 7.00248088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.26, Y:1.02, Z:0.70 [[ 9.98990117e-01 -4.05764653e-02 -1.92949637e-02 6.02644138e+01] [ 4.05843638e-02 9.99176115e-01 1.77954301e-05 1.02309370e+00] [ 1.92783448e-02 -8.00851283e-04 9.99813835e-01 7.03810501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.30, Y:1.02, Z:0.70 [[ 9.98900709e-01 -4.21259004e-02 -2.05616460e-02 6.02965507e+01] [ 4.21352234e-02 9.99111917e-01 2.02040252e-05 1.02279068e+00] [ 2.05425344e-02 -8.86551362e-04 9.99788587e-01 7.02569242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.33, Y:1.02, Z:0.70 [[ 9.98675995e-01 -4.65821969e-02 -2.18255910e-02 6.03278345e+01] [ 4.65937909e-02 9.98913919e-01 2.27068033e-05 1.02143919e+00] [ 2.18008289e-02 -1.03961376e-03 9.99761793e-01 6.99731763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.570385722999994 meters Centerline goodness [0,1] 0.9998693265963934 Centerline is valid? [True, True] Translation: X:60.36, Y:1.02, Z:0.70 [[ 9.98468853e-01 -5.10330435e-02 -2.13442564e-02 6.03587565e+01] [ 5.10451536e-02 9.98696346e-01 2.25781659e-05 1.02039333e+00] [ 2.13152786e-02 -1.11206444e-03 9.99772185e-01 6.96079630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.600385722999995 meters Centerline goodness [0,1] 0.9999564677970528 Centerline is valid? [True, True] Translation: X:60.39, Y:1.02, Z:0.70 [[ 9.98401322e-01 -5.28481824e-02 -2.00466699e-02 6.03897385e+01] [ 5.28592454e-02 9.98601973e-01 2.20110305e-05 1.01723930e+00] [ 2.00174808e-02 -1.08162768e-03 9.99799045e-01 6.98860569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.630385722999996 meters Centerline goodness [0,1] 0.9997827267789245 Centerline is valid? [True, True] Translation: X:60.42, Y:1.02, Z:0.70 [[ 9.98293803e-01 -5.45574087e-02 -2.08080022e-02 6.04213941e+01] [ 5.45697418e-02 9.98509961e-01 2.49417240e-05 1.01829193e+00] [ 2.07756367e-02 -1.16038647e-03 9.99783490e-01 6.95969912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.45, Y:1.02, Z:0.70 [[ 9.98279381e-01 -5.52611020e-02 -1.96083453e-02 6.04528530e+01] [ 5.52722152e-02 9.98471322e-01 2.48458781e-05 1.01599530e+00] [ 1.95769975e-02 -1.10859981e-03 9.99807738e-01 7.02104296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.690385723 meters Centerline goodness [0,1] 0.999956377595533 Centerline is valid? [True, True] Translation: X:60.49, Y:1.02, Z:0.70 [[ 9.98201495e-01 -5.59295311e-02 -2.15792234e-02 6.04852518e+01] [ 5.59432038e-02 9.98433952e-01 2.99745003e-05 1.01876871e+00] [ 2.15437529e-02 -1.23713149e-03 9.99767141e-01 7.01476992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.720385723 meters Centerline goodness [0,1] 0.9998908963952169 Centerline is valid? [True, True] Translation: X:60.52, Y:1.02, Z:0.70 [[ 9.98177749e-01 -5.55996042e-02 -2.34492273e-02 6.05183886e+01] [ 5.56157075e-02 9.98452248e-01 3.46267649e-05 1.02233145e+00] [ 2.34110085e-02 -1.33870904e-03 9.99725028e-01 6.99245413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.750385722999994 meters Centerline goodness [0,1] 0.9998908963952169 Centerline is valid? [True, True] Translation: X:60.55, Y:1.02, Z:0.70 [[ 9.98183704e-01 -5.54925931e-02 -2.34492234e-02 6.05509860e+01] [ 5.55087261e-02 9.98458201e-01 3.71497744e-05 1.02219513e+00] [ 2.34110079e-02 -1.33871882e-03 9.99725028e-01 6.99739742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.780385722999995 meters Centerline goodness [0,1] 0.999781735638205 Centerline is valid? [True, True] Translation: X:60.58, Y:1.02, Z:0.70 [[ 9.98284614e-01 -5.26229113e-02 -2.56643343e-02 6.05825412e+01] [ 5.26413477e-02 9.98613482e-01 4.28120311e-05 1.02480305e+00] [ 2.56264974e-02 -1.39374374e-03 9.99670616e-01 6.96577396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.810385722999996 meters Centerline goodness [0,1] 0.9998685738067596 Centerline is valid? [True, True] Translation: X:60.61, Y:1.03, Z:0.70 [[ 9.98420399e-01 -5.02553200e-02 -2.51218817e-02 6.06133048e+01] [ 5.02722595e-02 9.98735550e-01 4.27856731e-05 1.02519712e+00] [ 2.50879661e-02 -1.30565185e-03 9.99684395e-01 6.97724299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.64, Y:1.03, Z:0.70 [[ 9.98597543e-01 -4.73469250e-02 -2.36899988e-02 6.06448390e+01] [ 4.73611940e-02 9.98877828e-01 4.12963966e-05 1.02878703e+00] [ 2.36614593e-02 -1.16322511e-03 9.99719352e-01 7.02092907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.67, Y:1.03, Z:0.70 [[ 9.98904861e-01 -4.13962683e-02 -2.18043049e-02 6.06749164e+01] [ 4.14069565e-02 9.99142363e-01 3.87460330e-05 1.03354405e+00] [ 2.17840008e-02 -9.41553507e-04 9.99762257e-01 7.03403689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.900385723 meters Centerline goodness [0,1] 0.9999779997359969 Centerline is valid? [True, True] Translation: X:60.71, Y:1.04, Z:0.70 [[ 9.99023662e-01 -3.83949134e-02 -2.18530173e-02 6.07062805e+01] [ 3.84049382e-02 9.99262257e-01 3.90829117e-05 1.03637088e+00] [ 2.18353948e-02 -8.78308532e-04 9.99761194e-01 7.03615820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.74, Y:1.04, Z:0.71 [[ 9.99210822e-01 -3.26489070e-02 -2.26225995e-02 6.07366149e+01] [ 3.26581922e-02 9.99466578e-01 4.10067950e-05 1.04426268e+00] [ 2.26091933e-02 -7.79787634e-04 9.99744075e-01 7.06076384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.960385722999995 meters Centerline goodness [0,1] 0.9999337089824328 Centerline is valid? [True, True] Translation: X:60.77, Y:1.05, Z:0.70 [[ 9.99262431e-01 -2.98478574e-02 -2.41598863e-02 6.07674500e+01] [ 2.98576376e-02 9.99554160e-01 4.41016539e-05 1.04815492e+00] [ 2.41477985e-02 -7.65426255e-04 9.99708106e-01 7.04810325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.990385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.80, Y:1.05, Z:0.71 [[ 9.99321782e-01 -2.73669914e-02 -2.46378502e-02 6.07982352e+01] [ 2.73764224e-02 9.99625194e-01 4.55057084e-05 1.05186662e+00] [ 2.46273704e-02 -7.19971040e-04 9.99696441e-01 7.06635012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.83, Y:1.06, Z:0.71 [[ 9.99424275e-01 -2.29859047e-02 -2.49552998e-02 6.08282493e+01] [ 2.29942027e-02 9.99735597e-01 4.55695426e-05 1.05650781e+00] [ 2.49476541e-02 -6.19370529e-04 9.99688567e-01 7.05878854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.86, Y:1.06, Z:0.70 [[ 9.99461010e-01 -2.13800652e-02 -2.49114997e-02 6.08569353e+01] [ 2.13877566e-02 9.99771255e-01 4.23176123e-05 1.05744953e+00] [ 2.49048966e-02 -5.75095895e-04 9.99689660e-01 7.04750348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.88, Y:1.06, Z:0.70 [[ 9.99485482e-01 -1.99540506e-02 -2.51118904e-02 6.08845307e+01] [ 1.99613017e-02 9.99800753e-01 3.80894652e-05 1.05873361e+00] [ 2.51061268e-02 -5.39335888e-04 9.99684646e-01 7.04256665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.91, Y:1.07, Z:0.71 [[ 9.99492884e-01 -1.79383140e-02 -2.63095356e-02 6.09130298e+01] [ 1.79454684e-02 9.99838966e-01 3.58285724e-05 1.06508567e+00] [ 2.63046561e-02 -5.07947343e-04 9.99653844e-01 7.05208905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.140385722999994 meters Centerline goodness [0,1] 0.9998655492313898 Centerline is valid? [True, True] Translation: X:60.94, Y:1.07, Z:0.70 [[ 9.99488180e-01 -1.71756637e-02 -2.69884015e-02 6.09421202e+01] [ 1.71827334e-02 9.99852365e-01 3.00491301e-05 1.06932754e+00] [ 2.69839010e-02 -4.93768258e-04 9.99635746e-01 7.04060340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.170385722999995 meters Centerline goodness [0,1] 0.9999774871113712 Centerline is valid? [True, True] Translation: X:60.97, Y:1.07, Z:0.71 [[ 9.99522294e-01 -1.68817507e-02 -2.58880178e-02 6.09705849e+01] [ 1.68879946e-02 9.99857387e-01 2.25590702e-05 1.07236055e+00] [ 2.58839450e-02 -4.59744999e-04 9.99664849e-01 7.07994686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.200385723 meters Centerline goodness [0,1] 0.9999549427773272 Centerline is valid? [True, True] Translation: X:61.00, Y:1.07, Z:0.71 [[ 9.99552383e-01 -1.68655618e-02 -2.47100547e-02 6.09984075e+01] [ 1.68711350e-02 9.99857672e-01 1.70712785e-05 1.07347695e+00] [ 2.47062499e-02 -4.33950305e-04 9.99694660e-01 7.08004292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.03, Y:1.07, Z:0.71 [[ 9.99542587e-01 -1.83074414e-02 -2.40718465e-02 6.10266817e+01] [ 1.83130979e-02 9.99832301e-01 1.45383867e-05 1.07249845e+00] [ 2.40675435e-02 -4.55361818e-04 9.99710231e-01 7.08827250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.06, Y:1.07, Z:0.71 [[ 9.99454973e-01 -2.29538615e-02 -2.37250420e-02 6.10559355e+01] [ 2.29606224e-02 9.99736370e-01 1.25611664e-05 1.07139836e+00] [ 2.37184990e-02 -5.57296049e-04 9.99718521e-01 7.09653963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.09, Y:1.07, Z:0.71 [[ 9.99388086e-01 -2.55855734e-02 -2.38502146e-02 6.10854766e+01] [ 2.55931281e-02 9.99672442e-01 1.15148063e-05 1.07177093e+00] [ 2.38421077e-02 -6.21909358e-04 9.99715543e-01 7.10678730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.320385722999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.12, Y:1.07, Z:0.71 [[ 9.99322345e-01 -2.77007613e-02 -2.42387974e-02 6.11153646e+01] [ 2.77091765e-02 9.99616027e-01 1.13150736e-05 1.07092875e+00] [ 2.42291769e-02 -6.82944520e-04 9.99706197e-01 7.10537233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.350385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.15, Y:1.07, Z:0.71 [[ 9.99231558e-01 -3.08905455e-02 -2.41260842e-02 6.11460455e+01] [ 3.08998216e-02 9.99522486e-01 1.16899035e-05 1.06975748e+00] [ 2.41142025e-02 -7.57172618e-04 9.99708924e-01 7.09958952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.380385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.18, Y:1.07, Z:0.71 [[ 9.99226520e-01 -3.23546679e-02 -2.23503075e-02 6.11778313e+01] [ 3.23630082e-02 9.99476181e-01 1.14607730e-05 1.06890480e+00] [ 2.23382291e-02 -7.34775092e-04 9.99750201e-01 7.11511117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.410385723 meters Centerline goodness [0,1] 0.9997748761819001 Centerline is valid? [True, True] Translation: X:61.21, Y:1.07, Z:0.71 [[ 9.99223062e-01 -3.31405994e-02 -2.13300958e-02 6.12099739e+01] [ 3.31484001e-02 9.99450441e-01 1.21516769e-05 1.06827185e+00] [ 2.13179709e-02 -7.19200786e-04 9.99772488e-01 7.11597506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.24, Y:1.07, Z:0.72 [[ 9.99239843e-01 -3.34308973e-02 -2.00526977e-02 6.12421017e+01] [ 3.34378774e-02 9.99440798e-01 1.27990042e-05 1.06810352e+00] [ 2.00410563e-02 -6.83308923e-04 9.99798924e-01 7.17141977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.470385723 meters Centerline goodness [0,1] 0.9999549265302443 Centerline is valid? [True, True] Translation: X:61.27, Y:1.07, Z:0.72 [[ 9.99217618e-01 -3.38882514e-02 -2.03896595e-02 6.12735167e+01] [ 3.38955932e-02 9.99425379e-01 1.44859039e-05 1.06696693e+00] [ 2.03774522e-02 -7.05594173e-04 9.99792109e-01 7.17679369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.500385722999994 meters Centerline goodness [0,1] 0.999887072002891 Centerline is valid? [True, True] Translation: X:61.31, Y:1.07, Z:0.72 [[ 9.99123825e-01 -3.54691020e-02 -2.22154225e-02 6.13058958e+01] [ 3.54782453e-02 9.99370449e-01 1.74556116e-05 1.06806820e+00] [ 2.22008176e-02 -8.05604527e-04 9.99753207e-01 7.15491923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.530385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.34, Y:1.06, Z:0.72 [[ 9.99090636e-01 -3.63578723e-02 -2.22711818e-02 6.13380174e+01] [ 3.63673205e-02 9.99338490e-01 1.92266738e-05 1.06397467e+00] [ 2.22557501e-02 -8.29152395e-04 9.99751966e-01 7.15503358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.560385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.37, Y:1.06, Z:0.71 [[ 9.99038985e-01 -3.76204583e-02 -2.24901642e-02 6.13702378e+01] [ 3.76304554e-02 9.99291723e-01 2.13122563e-05 1.06242837e+00] [ 2.24734331e-02 -8.67606894e-04 9.99747064e-01 7.14811943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.590385723 meters Centerline goodness [0,1] 0.9999775432292837 Centerline is valid? [True, True] Translation: X:61.40, Y:1.06, Z:0.71 [[ 9.98949514e-01 -3.92393453e-02 -2.36673049e-02 6.14017422e+01] [ 3.92509079e-02 9.99229386e-01 2.40221111e-05 1.05838713e+00] [ 2.36481239e-02 -9.52960082e-04 9.99719890e-01 7.13607535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.43, Y:1.06, Z:0.71 [[ 9.98918596e-01 -3.95813169e-02 -2.43917596e-02 6.14336075e+01] [ 3.95937361e-02 9.99215860e-01 2.62204024e-05 1.05708645e+00] [ 2.43715952e-02 -9.91952938e-04 9.99702476e-01 7.14316817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.650385723 meters Centerline goodness [0,1] 0.9998196695444402 Centerline is valid? [True, True] Translation: X:61.47, Y:1.06, Z:0.71 [[ 9.98872737e-01 -3.95850544e-02 -2.61969156e-02 6.14658708e+01] [ 3.95994320e-02 9.99215634e-01 3.00696180e-05 1.05972863e+00] [ 2.61751773e-02 -1.06741870e-03 9.99656801e-01 7.14079112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.68038572299999 meters Centerline goodness [0,1] 0.9999550127089097 Centerline is valid? [True, True] Translation: X:61.50, Y:1.06, Z:0.72 [[ 9.98923918e-01 -3.91714007e-02 -2.48315652e-02 6.14968696e+01] [ 3.91842448e-02 9.99232002e-01 3.06946508e-05 1.06054363e+00] [ 2.48112922e-02 -1.00366775e-03 9.99691649e-01 7.18954484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.710385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.53, Y:1.06, Z:0.72 [[ 9.98966749e-01 -3.88607772e-02 -2.35642433e-02 6.15286303e+01] [ 3.88723123e-02 9.99244186e-01 3.14789571e-05 1.06195288e+00] [ 2.35452098e-02 -9.47443056e-04 9.99722324e-01 7.22304063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.740385722999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.56, Y:1.06, Z:0.72 [[ 9.99001418e-01 -3.82762607e-02 -2.30455135e-02 6.15602602e+01] [ 3.82871714e-02 9.99266777e-01 3.22337498e-05 1.05919423e+00] [ 2.30273822e-02 -9.14549086e-04 9.99734416e-01 7.20885459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.59, Y:1.06, Z:0.72 [[ 9.99020351e-01 -3.80668602e-02 -2.25666112e-02 6.15912184e+01] [ 3.80772947e-02 9.99274796e-01 3.27189357e-05 1.05585250e+00] [ 2.25490003e-02 -8.91962389e-04 9.99745341e-01 7.19839134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.800385723 meters Centerline goodness [0,1] 0.9998205956225332 Centerline is valid? [True, True] Translation: X:61.62, Y:1.05, Z:0.72 [[ 9.99024813e-01 -3.74986036e-02 -2.33082991e-02 6.16232505e+01] [ 3.75096129e-02 9.99296266e-01 3.51549791e-05 1.05452432e+00] [ 2.32905780e-02 -9.09405972e-04 9.99728324e-01 7.17724506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.830385723 meters Centerline goodness [0,1] 0.9997533023839961 Centerline is valid? [True, True] Translation: X:61.66, Y:1.06, Z:0.72 [[ 9.99036803e-01 -3.67754819e-02 -2.39380599e-02 6.16553899e+01] [ 3.67869275e-02 9.99323131e-01 3.77937899e-05 1.05990132e+00] [ 2.39204671e-02 -9.18365060e-04 9.99713443e-01 7.19795694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.86038572299999 meters Centerline goodness [0,1] 0.9998430070871086 Centerline is valid? [True, True] Translation: X:61.69, Y:1.06, Z:0.72 [[ 9.99063924e-01 -3.59742789e-02 -2.40234828e-02 6.16863586e+01] [ 3.59856127e-02 9.99352307e-01 3.94950573e-05 1.05679288e+00] [ 2.40065021e-02 -9.03957833e-04 9.99711394e-01 7.21321719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.890385722999994 meters Centerline goodness [0,1] 0.9998650502687749 Centerline is valid? [True, True] Translation: X:61.72, Y:1.06, Z:0.72 [[ 9.99129213e-01 -3.36211625e-02 -2.47069647e-02 6.17179302e+01] [ 3.36324613e-02 9.99434268e-01 4.17969937e-05 1.06344597e+00] [ 2.46915819e-02 -8.72716633e-04 9.99694735e-01 7.24169226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.920385722999995 meters Centerline goodness [0,1] 0.9999551086370982 Centerline is valid? [True, True] Translation: X:61.75, Y:1.06, Z:0.72 [[ 9.99175840e-01 -3.25848101e-02 -2.42047589e-02 6.17492247e+01] [ 3.25953915e-02 9.99468628e-01 4.26470652e-05 1.06125049e+00] [ 2.41905075e-02 -8.31575511e-04 9.99707021e-01 7.24982052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.78, Y:1.06, Z:0.73 [[ 9.99205093e-01 -3.18488168e-02 -2.39757213e-02 6.17815565e+01] [ 3.18590484e-02 9.99492371e-01 4.47950913e-05 1.05962676e+00] [ 2.39621238e-02 -8.08603147e-04 9.99712540e-01 7.25736446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.980385723 meters Centerline goodness [0,1] 0.9999326674896196 Centerline is valid? [True, True] Translation: X:61.81, Y:1.06, Z:0.73 [[ 9.99255113e-01 -3.06964067e-02 -2.33869755e-02 6.18130012e+01] [ 3.07058577e-02 9.99528463e-01 4.50274307e-05 1.05994244e+00] [ 2.33745655e-02 -7.63111032e-04 9.99726486e-01 7.26434612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.010385723 meters Centerline goodness [0,1] 0.9998432285951042 Centerline is valid? [True, True] Translation: X:61.84, Y:1.06, Z:0.73 [[ 9.99266146e-01 -3.01553244e-02 -2.36183577e-02 6.18440284e+01] [ 3.01648325e-02 9.99544937e-01 4.63252428e-05 1.06035978e+00] [ 2.36062129e-02 -7.58735049e-04 9.99721047e-01 7.26379083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.040385723 meters Centerline goodness [0,1] 0.9998880830871161 Centerline is valid? [True, True] Translation: X:61.87, Y:1.06, Z:0.73 [[ 9.99219629e-01 -3.03566986e-02 -2.52706165e-02 6.18742434e+01] [ 3.03676678e-02 9.99538795e-01 5.03297715e-05 1.05775929e+00] [ 2.52574337e-02 -8.17700183e-04 9.99680646e-01 7.25556976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.070385722999994 meters Centerline goodness [0,1] 0.9997984277363435 Centerline is valid? [True, True] Translation: X:61.91, Y:1.06, Z:0.72 [[ 9.99146052e-01 -3.07380588e-02 -2.76104752e-02 6.19059140e+01] [ 3.07513203e-02 9.99527065e-01 5.57233936e-05 1.05742600e+00] [ 2.75957044e-02 -9.04734374e-04 9.99618757e-01 7.23835773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.100385722999995 meters Centerline goodness [0,1] 0.9998655251243893 Centerline is valid? [True, True] Translation: X:61.94, Y:1.06, Z:0.72 [[ 9.99091726e-01 -3.15136412e-02 -2.86812419e-02 6.19362050e+01] [ 3.15282937e-02 9.99502858e-01 5.86770243e-05 1.05535043e+00] [ 2.86651341e-02 -9.62894346e-04 9.99588607e-01 7.23471241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.130385722999996 meters Centerline goodness [0,1] 0.9998881531853973 Centerline is valid? [True, True] Translation: X:61.97, Y:1.05, Z:0.73 [[ 9.99085994e-01 -3.29386724e-02 -2.72437276e-02 6.19669480e+01] [ 3.29524281e-02 9.99456920e-01 5.59884114e-05 1.05423295e+00] [ 2.72270879e-02 -9.53684212e-04 9.99628819e-01 7.26571291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.160385723 meters Centerline goodness [0,1] 0.9999109746055063 Centerline is valid? [True, True] Translation: X:62.00, Y:1.05, Z:0.73 [[ 9.99107547e-01 -3.38396204e-02 -2.52782258e-02 6.19983403e+01] [ 3.38517589e-02 9.99426864e-01 5.23029988e-05 1.05103975e+00] [ 2.52619681e-02 -9.07968728e-04 9.99680453e-01 7.28749443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.190385723 meters Centerline goodness [0,1] 0.9997560921528194 Centerline is valid? [True, True] Translation: X:62.03, Y:1.04, Z:0.73 [[ 9.99075201e-01 -3.41319691e-02 -2.61486481e-02 6.20287491e+01] [ 3.41450778e-02 9.99416885e-01 5.48449772e-05 1.04026736e+00] [ 2.61315284e-02 -9.47641878e-04 9.99658064e-01 7.25413300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.220385723 meters Centerline goodness [0,1] 0.9998221510826553 Centerline is valid? [True, True] Translation: X:62.06, Y:1.05, Z:0.73 [[ 9.99054044e-01 -3.48814864e-02 -2.59672671e-02 6.20602256e+01] [ 3.48946829e-02 9.99390994e-01 5.50964891e-05 1.04658965e+00] [ 2.59495310e-02 -9.61163923e-04 9.99662792e-01 7.28366541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.250385722999994 meters Centerline goodness [0,1] 0.9998219967514407 Centerline is valid? [True, True] Translation: X:62.09, Y:1.05, Z:0.73 [[ 9.99035993e-01 -3.54705845e-02 -2.58635230e-02 6.20917038e+01] [ 3.54838958e-02 9.99370247e-01 5.57665065e-05 1.04660727e+00] [ 2.58452573e-02 -9.73451304e-04 9.99665482e-01 7.29309824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.280385722999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.12, Y:1.04, Z:0.73 [[ 9.99036210e-01 -3.62719267e-02 -2.47183917e-02 6.21232099e+01] [ 3.62843684e-02 9.99341504e-01 5.48638753e-05 1.04353002e+00] [ 2.47001247e-02 -9.51702228e-04 9.99694452e-01 7.32086502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.310385722999996 meters Centerline goodness [0,1] 0.9998002441460437 Centerline is valid? [True, True] Translation: X:62.16, Y:1.04, Z:0.73 [[ 9.98995591e-01 -3.60288974e-02 -2.66407005e-02 6.21554080e+01] [ 3.60433340e-02 9.99350226e-01 6.17448144e-05 1.04277986e+00] [ 2.66211654e-02 -1.02190246e-03 9.99645072e-01 7.29405662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.340385723 meters Centerline goodness [0,1] 0.9999116275987009 Centerline is valid? [True, True] Translation: X:62.19, Y:1.04, Z:0.73 [[ 9.99043987e-01 -3.64040378e-02 -2.42044992e-02 6.21863055e+01] [ 3.64160978e-02 9.99336712e-01 5.75168445e-05 1.03864170e+00] [ 2.41863508e-02 -9.38895268e-04 9.99707027e-01 7.31643921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.370385723 meters Centerline goodness [0,1] 0.9999116217410517 Centerline is valid? [True, True] Translation: X:62.22, Y:1.04, Z:0.73 [[ 9.99102213e-01 -3.59185544e-02 -2.24638781e-02 6.22179917e+01] [ 3.59288410e-02 9.99354349e-01 5.43530853e-05 1.03806066e+00] [ 2.24474220e-02 -8.61405390e-04 9.99747654e-01 7.33613238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.400385723 meters Centerline goodness [0,1] 0.9998015304209761 Centerline is valid? [True, True] Translation: X:62.25, Y:1.04, Z:0.73 [[ 9.99122756e-01 -3.51410895e-02 -2.27776602e-02 6.22493844e+01] [ 3.51514846e-02 9.99381994e-01 5.60195965e-05 1.03665005e+00] [ 2.27616149e-02 -8.56639025e-04 9.99740554e-01 7.33584101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43038572299999 meters Centerline goodness [0,1] 0.9997577839432774 Centerline is valid? [True, True] Translation: X:62.28, Y:1.04, Z:0.74 [[ 9.99147397e-01 -3.43588455e-02 -2.28899219e-02 6.22813108e+01] [ 3.43691684e-02 9.99409204e-01 5.76122891e-05 1.04016797e+00] [ 2.28744191e-02 -8.44270750e-04 9.99737990e-01 7.35175942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.460385722999995 meters Centerline goodness [0,1] 0.9998680564718301 Centerline is valid? [True, True] Translation: X:62.31, Y:1.04, Z:0.74 [[ 9.99156436e-01 -3.35828187e-02 -2.36349254e-02 6.23139403e+01] [ 3.35936483e-02 9.99435572e-01 6.11928895e-05 1.03854720e+00] [ 2.36195302e-02 -8.55124641e-04 9.99720654e-01 7.35221501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.490385722999996 meters Centerline goodness [0,1] 0.9998025406437175 Centerline is valid? [True, True] Translation: X:62.34, Y:1.04, Z:0.73 [[ 9.99160071e-01 -3.26166790e-02 -2.48053487e-02 6.23447569e+01] [ 3.26283514e-02 9.99467551e-01 6.58554650e-05 1.03542248e+00] [ 2.47899931e-02 -8.75157784e-04 9.99692298e-01 7.33914438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.520385723 meters Centerline goodness [0,1] 0.9998243186859038 Centerline is valid? [True, True] Translation: X:62.38, Y:1.03, Z:0.73 [[ 9.99190934e-01 -3.17970464e-02 -2.46256849e-02 6.23764442e+01] [ 3.18083293e-02 9.99493985e-01 6.65005758e-05 1.03432488e+00] [ 2.46111094e-02 -8.49748668e-04 9.99696740e-01 7.34001431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.550385723 meters Centerline goodness [0,1] 0.9997803452971928 Centerline is valid? [True, True] Translation: X:62.41, Y:1.03, Z:0.73 [[ 9.99228962e-01 -3.01377917e-02 -2.51633823e-02 6.24068387e+01] [ 3.01490610e-02 9.99545411e-01 6.84922073e-05 1.03359118e+00] [ 2.51498791e-02 -8.27091746e-04 9.99683350e-01 7.33231231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.580385723 meters Centerline goodness [0,1] 0.9998240752957734 Centerline is valid? [True, True] Translation: X:62.44, Y:1.03, Z:0.73 [[ 9.99267389e-01 -2.81427003e-02 -2.59359622e-02 6.24361683e+01] [ 2.81539965e-02 9.99603595e-01 7.04104980e-05 1.03317053e+00] [ 2.59236995e-02 -8.00559903e-04 9.99663604e-01 7.32415043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61038572299999 meters Centerline goodness [0,1] 0.999845937142354 Centerline is valid? [True, True] Translation: X:62.47, Y:1.03, Z:0.73 [[ 9.99413656e-01 -2.24278326e-02 -2.58715506e-02 6.24651181e+01] [ 2.24371434e-02 9.99748253e-01 6.96124469e-05 1.03458415e+00] [ 2.58634763e-02 -6.50055321e-04 9.99665273e-01 7.33058974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.640385722999994 meters Centerline goodness [0,1] 0.9998026056060008 Centerline is valid? [True, True] Translation: X:62.49, Y:1.04, Z:0.74 [[ 9.99492774e-01 -1.93717190e-02 -2.52770805e-02 6.24944854e+01] [ 1.93795850e-02 9.99812196e-01 6.62393491e-05 1.03811606e+00] [ 2.52710502e-02 -5.56065082e-04 9.99680481e-01 7.35421521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.670385722999995 meters Centerline goodness [0,1] 0.9998026056060008 Centerline is valid? [True, True] Translation: X:62.52, Y:1.04, Z:0.74 [[ 9.99487293e-01 -1.96524839e-02 -2.52770922e-02 6.25218626e+01] [ 1.96603197e-02 9.99806715e-01 6.14948680e-05 1.03810585e+00] [ 2.52709980e-02 -5.58419054e-04 9.99680481e-01 7.35837959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.700385723 meters Centerline goodness [0,1] 0.9998681984930694 Centerline is valid? [True, True] Translation: X:62.55, Y:1.04, Z:0.74 [[ 9.99610908e-01 -1.36031146e-02 -2.43513318e-02 6.25510444e+01] [ 1.36084848e-02 9.99907399e-01 5.48163885e-05 1.04146777e+00] [ 2.43483311e-02 -3.86179787e-04 9.99703461e-01 7.38335461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.730385723 meters Centerline goodness [0,1] 0.9997806488407291 Centerline is valid? [True, True] Translation: X:62.58, Y:1.04, Z:0.74 [[ 9.99634591e-01 -1.07748478e-02 -2.47908691e-02 6.25797197e+01] [ 1.07794729e-02 9.99941898e-01 5.29308265e-05 1.04221307e+00] [ 2.47888584e-02 -3.20143987e-04 9.99692658e-01 7.37213719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.760385723 meters Centerline goodness [0,1] 0.9998022977396042 Centerline is valid? [True, True] Translation: X:62.61, Y:1.04, Z:0.74 [[ 9.99679103e-01 -6.36347381e-03 -2.45193159e-02 6.26075852e+01] [ 6.36656218e-03 9.99979732e-01 4.78943458e-05 1.04120080e+00] [ 2.45185141e-02 -2.03982726e-04 9.99699355e-01 7.35709667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.790385723 meters Centerline goodness [0,1] 0.9998244343494196 Centerline is valid? [True, True] Translation: X:62.64, Y:1.04, Z:0.74 [[ 9.99705164e-01 -4.51400259e-03 -2.38581052e-02 6.26362121e+01] [ 4.51632049e-03 9.99989800e-01 4.32709631e-05 1.04223444e+00] [ 2.38576665e-02 -1.51009055e-04 9.99715354e-01 7.37457274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.820385722999994 meters Centerline goodness [0,1] 0.9998239591585247 Centerline is valid? [True, True] Translation: X:62.66, Y:1.04, Z:0.74 [[ 9.99704819e-01 -2.71640955e-03 -2.41432364e-02 6.26645096e+01] [ 2.71811214e-03 9.99996305e-01 3.77038653e-05 1.04333970e+00] [ 2.41430448e-02 -1.03316760e-04 9.99708509e-01 7.38148647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.850385722999995 meters Centerline goodness [0,1] 0.9998023541813071 Centerline is valid? [True, True] Translation: X:62.69, Y:1.04, Z:0.74 [[ 9.99655688e-01 -5.78631632e-04 -2.62330126e-02 6.26930170e+01] [ 5.79718424e-04 9.99999831e-01 3.38232192e-05 1.04442546e+00] [ 2.62329886e-02 -4.90193342e-05 9.99655855e-01 7.37864955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.880385722999996 meters Centerline goodness [0,1] 0.9998022151898734 Centerline is valid? [True, True] Translation: X:62.72, Y:1.04, Z:0.74 [[ 9.99637345e-01 -3.27199298e-04 -2.69271688e-02 6.27210031e+01] [ 3.28063535e-04 9.99999946e-01 2.76776433e-05 1.04376997e+00] [ 2.69271583e-02 -3.65014280e-05 9.99637398e-01 7.38080112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.910385723 meters Centerline goodness [0,1] 0.9997364548788791 Centerline is valid? [True, True] Translation: X:62.75, Y:1.04, Z:0.74 [[ 9.99607277e-01 -7.49987196e-04 -2.80130061e-02 6.27497389e+01] [ 7.50876959e-04 9.99999718e-01 2.12432919e-05 1.04034996e+00] [ 2.80129823e-02 -4.22692701e-05 9.99607559e-01 7.36860271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.940385723 meters Centerline goodness [0,1] 0.9999120995033622 Centerline is valid? [True, True] Translation: X:62.78, Y:1.04, Z:0.74 [[ 9.99629921e-01 -1.77617196e-03 -2.71452908e-02 6.27775254e+01] [ 1.77719836e-03 9.99998421e-01 1.36857604e-05 1.03898112e+00] [ 2.71452236e-02 -6.19232619e-05 9.99631499e-01 7.38625791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.970385723 meters Centerline goodness [0,1] 0.9998463497080644 Centerline is valid? [True, True] Translation: X:62.81, Y:1.04, Z:0.74 [[ 9.99618841e-01 -2.23178028e-03 -2.75171281e-02 6.28057592e+01] [ 2.23279618e-03 9.99997507e-01 6.19274694e-06 1.03831598e+00] [ 2.75170457e-02 -6.76305249e-05 9.99621332e-01 7.38943350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.000385723 meters Centerline goodness [0,1] 0.9998240404706917 Centerline is valid? [True, True] Translation: X:62.83, Y:1.04, Z:0.74 [[ 9.99632270e-01 -2.60615911e-03 -2.69913606e-02 6.28340461e+01] [ 2.60707345e-03 9.99996602e-01 -1.31526144e-06 1.03778508e+00] [ 2.69912723e-02 -6.90536818e-05 9.99635667e-01 7.40055976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.030385723 meters Centerline goodness [0,1] 0.9997588565415644 Centerline is valid? [True, True] Translation: X:62.86, Y:1.04, Z:0.74 [[ 9.99647610e-01 -4.17132060e-03 -2.62155851e-02 6.28625712e+01] [ 4.17259337e-03 9.99991295e-01 -6.15305482e-06 1.03513064e+00] [ 2.62153825e-02 -1.03236090e-04 9.99656312e-01 7.41489609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.060385723 meters Centerline goodness [0,1] 0.9998477002741395 Centerline is valid? [True, True] Translation: X:62.89, Y:1.03, Z:0.74 [[ 9.99643547e-01 -8.04834884e-03 -2.54558960e-02 6.28905248e+01] [ 8.05075550e-03 9.99967592e-01 -7.94423967e-06 1.02956834e+00] [ 2.54551349e-02 -1.96997787e-04 9.99675946e-01 7.40626033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.090385723 meters Centerline goodness [0,1] 0.999847218281424 Centerline is valid? [True, True] Translation: X:62.92, Y:1.03, Z:0.74 [[ 9.99619115e-01 -1.02039209e-02 -2.56418586e-02 6.29196115e+01] [ 1.02070181e-02 9.99947907e-01 -1.01001394e-05 1.02808975e+00] [ 2.56406259e-02 -2.51630622e-04 9.99671193e-01 7.41307881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.120385723 meters Centerline goodness [0,1] 0.9997163491959591 Centerline is valid? [True, True] Translation: X:62.95, Y:1.03, Z:0.74 [[ 9.99552429e-01 -1.23127073e-02 -2.72642253e-02 6.29475012e+01] [ 1.23169333e-02 9.99924144e-01 -1.29354247e-05 1.02604211e+00] [ 2.72623164e-02 -3.22882009e-04 9.99628262e-01 7.40022051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.150385723 meters Centerline goodness [0,1] 0.9998036435038726 Centerline is valid? [True, True] Translation: X:62.98, Y:1.02, Z:0.74 [[ 9.99481185e-01 -1.67617034e-02 -2.75028261e-02 6.29764874e+01] [ 1.67676266e-02 9.99859413e-01 -1.52569503e-05 1.02382237e+00] [ 2.74992153e-02 -4.45908083e-04 9.99621726e-01 7.41435238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.180385723 meters Centerline goodness [0,1] 0.9998254532760238 Centerline is valid? [True, True] Translation: X:63.01, Y:1.02, Z:0.74 [[ 9.99430907e-01 -1.94166763e-02 -2.75835808e-02 6.30051711e+01] [ 1.94235310e-02 9.99811345e-01 -1.94324356e-05 1.02170337e+00] [ 2.75787543e-02 -5.16349159e-04 9.99619500e-01 7.41610668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.210385723 meters Centerline goodness [0,1] 0.999825251201398 Centerline is valid? [True, True] Translation: X:63.03, Y:1.02, Z:0.74 [[ 9.99377667e-01 -2.17706000e-02 -2.77546343e-02 6.30333737e+01] [ 2.17783121e-02 9.99762824e-01 -2.44189740e-05 1.01880226e+00] [ 2.77485832e-02 -5.80045313e-04 9.99614766e-01 7.40711015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.240385723 meters Centerline goodness [0,1] 0.9998042542085345 Centerline is valid? [True, True] Translation: X:63.06, Y:1.01, Z:0.74 [[ 9.99271586e-01 -2.66694146e-02 -2.72954289e-02 6.30618374e+01] [ 2.66786466e-02 9.99644061e-01 -2.59531464e-05 1.01415582e+00] [ 2.72864056e-02 -7.02270860e-04 9.99627410e-01 7.40829778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27038572299999 meters Centerline goodness [0,1] 0.9997179309147718 Centerline is valid? [True, True] Translation: X:63.09, Y:1.01, Z:0.74 [[ 9.99225784e-01 -2.89073918e-02 -2.66869715e-02 6.30902045e+01] [ 2.89169670e-02 9.99581817e-01 -2.71361112e-05 1.01289947e+00] [ 2.66765959e-02 -7.44591172e-04 9.99643839e-01 7.41451503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30038572299999 meters Centerline goodness [0,1] 0.9996963123644251 Centerline is valid? [True, True] Translation: X:63.12, Y:1.01, Z:0.74 [[ 9.99111357e-01 -3.32284607e-02 -2.59300249e-02 6.31198578e+01] [ 3.32389112e-02 9.99447434e-01 -2.80049266e-05 1.01107790e+00] [ 2.59166274e-02 -8.33905754e-04 9.99663760e-01 7.42796464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33038572299999 meters Centerline goodness [0,1] 0.9997182854418585 Centerline is valid? [True, True] Translation: X:63.15, Y:1.01, Z:0.74 [[ 9.99047557e-01 -3.48315151e-02 -2.62820106e-02 6.31502532e+01] [ 3.48427913e-02 9.99392805e-01 -2.89185357e-05 1.00958701e+00] [ 2.62670596e-02 -8.86847617e-04 9.99654568e-01 7.42536566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.360385723 meters Centerline goodness [0,1] 0.9997184745652598 Centerline is valid? [True, True] Translation: X:63.18, Y:1.01, Z:0.74 [[ 9.98974749e-01 -3.63184737e-02 -2.70262755e-02 6.31812849e+01] [ 3.63309526e-02 9.99339813e-01 -2.93236336e-05 1.00917493e+00] [ 2.70094980e-02 -9.52596762e-04 9.99634723e-01 7.42332008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.390385723 meters Centerline goodness [0,1] 0.9996741255702802 Centerline is valid? [True, True] Translation: X:63.21, Y:1.01, Z:0.74 [[ 9.98911426e-01 -3.75712514e-02 -2.76471208e-02 6.32116484e+01] [ 3.75848106e-02 9.99293441e-01 -2.92386249e-05 1.00778230e+00] [ 2.76286850e-02 -1.00990500e-03 9.99617745e-01 7.41552193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.420385723 meters Centerline goodness [0,1] 0.9998261889760358 Centerline is valid? [True, True] Translation: X:63.24, Y:1.01, Z:0.74 [[ 9.98856098e-01 -3.98132118e-02 -2.64840116e-02 6.32427315e+01] [ 3.98264575e-02 9.99206612e-01 -2.73555059e-05 1.01044135e+00] [ 2.64640886e-02 -1.02744015e-03 9.99649237e-01 7.43557077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.450385723 meters Centerline goodness [0,1] 0.9997835263556663 Centerline is valid? [True, True] Translation: X:63.27, Y:1.01, Z:0.74 [[ 9.98876434e-01 -4.06607892e-02 -2.43427659e-02 6.32746006e+01] [ 4.06722580e-02 9.99172541e-01 -2.39915584e-05 1.01098748e+00] [ 2.43235987e-02 -9.66110652e-04 9.99703671e-01 7.44813396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.480385723 meters Centerline goodness [0,1] 0.9999131925606024 Centerline is valid? [True, True] Translation: X:63.31, Y:1.01, Z:0.75 [[ 9.98933093e-01 -4.19945527e-02 -1.92128232e-02 6.33069510e+01] [ 4.20019641e-02 9.99117528e-01 -1.77846087e-05 1.01043903e+00] [ 1.91966153e-02 -7.89210678e-04 9.99815417e-01 7.48835024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.510385723 meters Centerline goodness [0,1] 0.9998267310649542 Centerline is valid? [True, True] Translation: X:63.34, Y:1.01, Z:0.75 [[ 9.98925529e-01 -4.21978164e-02 -1.91606895e-02 6.33377904e+01] [ 4.22052500e-02 9.99108961e-01 -1.64277635e-05 1.00901066e+00] [ 1.91443098e-02 -7.92271578e-04 9.99816417e-01 7.48708157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.540385723 meters Centerline goodness [0,1] 0.9996960552311066 Centerline is valid? [True, True] Translation: X:63.37, Y:1.01, Z:0.75 [[ 9.98874273e-01 -4.26100414e-02 -2.08463918e-02 6.33698148e+01] [ 4.26189575e-02 9.99091399e-01 -1.65840289e-05 1.01009869e+00] [ 2.08281574e-02 -8.71886128e-04 9.99782690e-01 7.48082038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.570385723 meters Centerline goodness [0,1] 0.999761315800894 Centerline is valid? [True, True] Translation: X:63.40, Y:1.01, Z:0.75 [[ 9.98737557e-01 -4.42456654e-02 -2.37826324e-02 6.34017598e+01] [ 4.42577778e-02 9.99020144e-01 -1.70808584e-05 1.01346309e+00] [ 2.37600846e-02 -1.03550717e-03 9.99717153e-01 7.47360186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.600385723 meters Centerline goodness [0,1] 0.9997173544375353 Centerline is valid? [True, True] Translation: X:63.43, Y:1.01, Z:0.75 [[ 9.98681463e-01 -4.54164794e-02 -2.39306990e-02 6.34324061e+01] [ 4.54291120e-02 9.98967565e-01 -1.57854435e-05 1.01143544e+00] [ 2.39067090e-02 -1.07138578e-03 9.99713620e-01 7.46166733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.630385723 meters Centerline goodness [0,1] 0.9996745497938815 Centerline is valid? [True, True] Translation: X:63.46, Y:1.01, Z:0.75 [[ 9.98581396e-01 -4.78123379e-02 -2.34345199e-02 6.34642102e+01] [ 4.78251327e-02 9.98855724e-01 -1.44939381e-05 1.01009856e+00] [ 2.34083973e-02 -1.10628564e-03 9.99725374e-01 7.46182806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66038572299999 meters Centerline goodness [0,1] 0.999760989070682 Centerline is valid? [True, True] Translation: X:63.50, Y:1.00, Z:0.75 [[ 9.98525318e-01 -4.89026286e-02 -2.35737704e-02 6.34951759e+01] [ 4.89159083e-02 9.98802900e-01 -1.33359956e-05 1.00434649e+00] [ 2.35462024e-02 -1.13981606e-03 9.99722100e-01 7.46255699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69038572299999 meters Centerline goodness [0,1] 0.9997828588799861 Centerline is valid? [True, True] Translation: X:63.53, Y:1.01, Z:0.75 [[ 9.98488978e-01 -4.92981905e-02 -2.42785638e-02 6.35276966e+01] [ 4.93124287e-02 9.98783402e-01 -1.22704787e-05 1.01118444e+00] [ 2.42496315e-02 -1.18498301e-03 9.99705232e-01 7.47526230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72038572299999 meters Centerline goodness [0,1] 0.9997611084567606 Centerline is valid? [True, True] Translation: X:63.56, Y:1.01, Z:0.75 [[ 9.98406254e-01 -5.05538869e-02 -2.50849917e-02 6.35587514e+01] [ 5.05695234e-02 9.98720543e-01 -1.10385212e-05 1.00782825e+00] [ 2.50534546e-02 -1.25751515e-03 9.99685322e-01 7.46147124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.750385723 meters Centerline goodness [0,1] 0.9998692212123194 Centerline is valid? [True, True] Translation: X:63.59, Y:1.01, Z:0.75 [[ 9.98393507e-01 -5.09855555e-02 -2.47159572e-02 6.35908408e+01] [ 5.10009033e-02 9.98698607e-01 -9.41124718e-06 1.01058835e+00] [ 2.46842719e-02 -1.25114002e-03 9.99694514e-01 7.47840317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.780385723 meters Centerline goodness [0,1] 0.9997389545128239 Centerline is valid? [True, True] Translation: X:63.62, Y:1.01, Z:0.75 [[ 9.98470202e-01 -4.99751584e-02 -2.36588008e-02 6.36234320e+01] [ 4.99889798e-02 9.98749769e-01 -7.23490030e-06 1.01205792e+00] [ 2.36295834e-02 -1.17545548e-03 9.99720091e-01 7.47872611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.810385723 meters Centerline goodness [0,1] 0.9998910200523103 Centerline is valid? [True, True] Translation: X:63.66, Y:1.01, Z:0.75 [[ 9.98569866e-01 -4.85184122e-02 -2.24540782e-02 6.36553647e+01] [ 4.85305340e-02 9.98821699e-01 -5.07935111e-06 1.01362197e+00] [ 2.24278670e-02 -1.08463632e-03 9.99747875e-01 7.51322207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.840385723 meters Centerline goodness [0,1] 0.999759956355701 Centerline is valid? [True, True] Translation: X:63.69, Y:1.02, Z:0.75 [[ 9.98692233e-01 -4.61173547e-02 -2.20683937e-02 6.36854724e+01] [ 4.61285046e-02 9.98935514e-01 -3.81756474e-06 1.01508826e+00] [ 2.20450782e-02 -1.01416942e-03 9.99756463e-01 7.51217654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.870385723 meters Centerline goodness [0,1] 0.9998035920825786 Centerline is valid? [True, True] Translation: X:63.72, Y:1.02, Z:0.75 [[ 9.98844930e-01 -4.33944579e-02 -2.06331559e-02 6.37167847e+01] [ 4.34036335e-02 9.99057618e-01 -3.12849750e-06 1.01782367e+00] [ 2.06138473e-02 -8.92429051e-04 9.99787114e-01 7.53926820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.900385723 meters Centerline goodness [0,1] 0.9998472816127062 Centerline is valid? [True, True] Translation: X:63.75, Y:1.02, Z:0.76 [[ 9.99000686e-01 -4.06442899e-02 -1.85922452e-02 6.37480501e+01] [ 4.06512752e-02 9.99173395e-01 -2.22401472e-06 1.02051518e+00] [ 1.85769672e-02 -7.53576685e-04 9.99827149e-01 7.57567661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.930385723 meters Centerline goodness [0,1] 0.9999127475787453 Centerline is valid? [True, True] Translation: X:63.78, Y:1.03, Z:0.76 [[ 9.99252175e-01 -3.52842770e-02 -1.58149020e-02 6.37785423e+01] [ 3.52886676e-02 9.99377161e-01 -1.43549445e-06 1.02580372e+00] [ 1.58051025e-02 -5.56652400e-04 9.99874937e-01 7.62202229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.960385723 meters Centerline goodness [0,1] 0.9998468807419721 Centerline is valid? [True, True] Translation: X:63.81, Y:1.03, Z:0.76 [[ 9.99404423e-01 -3.09761735e-02 -1.52077823e-02 6.38099914e+01] [ 3.09797390e-02 9.99520013e-01 -1.13109277e-06 1.02852537e+00] [ 1.52005178e-02 -4.70002706e-04 9.99884355e-01 7.60850465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.990385723 meters Centerline goodness [0,1] 0.9998249606161387 Centerline is valid? [True, True] Translation: X:63.84, Y:1.03, Z:0.76 [[ 9.99470719e-01 -2.88798972e-02 -1.49744172e-02 6.38425121e+01] [ 2.88831266e-02 9.99582795e-01 -6.04651713e-07 1.02873415e+00] [ 1.49681873e-02 -4.31903658e-04 9.99887877e-01 7.59978822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02038572299999 meters Centerline goodness [0,1] 0.9997815449143657 Centerline is valid? [True, True] Translation: X:63.87, Y:1.03, Z:0.76 [[ 9.99519699e-01 -2.68871202e-02 -1.54095608e-02 6.38736166e+01] [ 2.68903204e-02 9.99638390e-01 4.82381501e-07 1.02692609e+00] [ 1.54039756e-02 -4.14850177e-04 9.99881266e-01 7.59080030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05038572299999 meters Centerline goodness [0,1] 0.9998249835922117 Centerline is valid? [True, True] Translation: X:63.91, Y:1.03, Z:0.76 [[ 9.99593482e-01 -2.40063736e-02 -1.53806525e-02 6.39055184e+01] [ 2.40092333e-02 9.99711737e-01 1.27725298e-06 1.03219589e+00] [ 1.53761882e-02 -3.70554408e-04 9.99881711e-01 7.59578497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.94, Y:1.03, Z:0.76 [[ 9.99604154e-01 -2.39683772e-02 -1.47327068e-02 6.39363868e+01] [ 2.39710078e-02 9.99712654e-01 1.96909128e-06 1.03154070e+00] [ 1.47284262e-02 -3.55126142e-04 9.99891468e-01 7.62652891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.97, Y:1.03, Z:0.76 [[ 9.99646162e-01 -2.23061267e-02 -1.44909179e-02 6.39681467e+01] [ 2.23085078e-02 9.99751134e-01 2.67407131e-06 1.03286749e+00] [ 1.44872520e-02 -3.25943881e-04 9.99895001e-01 7.63018198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.140385723 meters Centerline goodness [0,1] 0.9998687692745128 Centerline is valid? [True, True] Translation: X:64.00, Y:1.03, Z:0.76 [[ 9.99687041e-01 -1.97775646e-02 -1.53188717e-02 6.39995120e+01] [ 1.97799460e-02 9.99804358e-01 3.94296245e-06 1.03456205e+00] [ 1.53157967e-02 -3.06948184e-04 9.99882659e-01 7.62025313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.170385723 meters Centerline goodness [0,1] 0.9998247151621384 Centerline is valid? [True, True] Translation: X:64.03, Y:1.03, Z:0.76 [[ 9.99687261e-01 -1.92502374e-02 -1.59627356e-02 6.40296288e+01] [ 1.92527651e-02 9.99814648e-01 4.67549430e-06 1.03341448e+00] [ 1.59596869e-02 -3.12000830e-04 9.99872587e-01 7.62110797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.200385723 meters Centerline goodness [0,1] 0.9998027829516818 Centerline is valid? [True, True] Translation: X:64.06, Y:1.04, Z:0.76 [[ 9.99674348e-01 -1.85052678e-02 -1.75713941e-02 6.40608178e+01] [ 1.85082222e-02 9.99828708e-01 5.51924033e-06 1.03532551e+00] [ 1.75682821e-02 -3.30732708e-04 9.99845611e-01 7.62372300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.230385723 meters Centerline goodness [0,1] 0.999934296977661 Centerline is valid? [True, True] Translation: X:64.09, Y:1.04, Z:0.76 [[ 9.99671574e-01 -1.86445109e-02 -1.75819662e-02 6.40916257e+01] [ 1.86474996e-02 9.99826120e-01 6.04446574e-06 1.03640804e+00] [ 1.75787964e-02 -3.33902188e-04 9.99845425e-01 7.63860869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.260385723 meters Centerline goodness [0,1] 0.9998246075594142 Centerline is valid? [True, True] Translation: X:64.12, Y:1.04, Z:0.76 [[ 9.99685962e-01 -1.77827078e-02 -1.76565373e-02 6.41220360e+01] [ 1.77855875e-02 9.99841824e-01 6.07010239e-06 1.03642280e+00] [ 1.76536366e-02 -3.20100086e-04 9.99844111e-01 7.62261520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.290385723 meters Centerline goodness [0,1] 0.9998906697570682 Centerline is valid? [True, True] Translation: X:64.15, Y:1.04, Z:0.76 [[ 9.99687080e-01 -1.76897578e-02 -1.76865368e-02 6.41512473e+01] [ 1.76926330e-02 9.99843473e-01 6.09118916e-06 1.03526315e+00] [ 1.76836607e-02 -3.19010689e-04 9.99843581e-01 7.62610547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.320385723 meters Centerline goodness [0,1] 0.9998905788379473 Centerline is valid? [True, True] Translation: X:64.18, Y:1.04, Z:0.76 [[ 9.99672355e-01 -1.78440404e-02 -1.83513680e-02 6.41809639e+01] [ 1.78471610e-02 9.99840727e-01 6.27583018e-06 1.03598845e+00] [ 1.83483331e-02 -3.33793592e-04 9.99831599e-01 7.62543643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.350385723 meters Centerline goodness [0,1] 0.9999562200380886 Centerline is valid? [True, True] Translation: X:64.21, Y:1.04, Z:0.76 [[ 9.99652606e-01 -1.86833255e-02 -1.85903649e-02 6.42104313e+01] [ 1.86866607e-02 9.99825389e-01 5.69320090e-06 1.03676068e+00] [ 1.85870124e-02 -3.53083064e-04 9.99827184e-01 7.64639075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.24, Y:1.04, Z:0.77 [[ 9.99619644e-01 -2.01265717e-02 -1.88544011e-02 6.42394743e+01] [ 2.01302474e-02 9.99797366e-01 5.16475130e-06 1.03851785e+00] [ 1.88504766e-02 -3.84706546e-04 9.99822240e-01 7.67197383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41038572299999 meters Centerline goodness [0,1] 0.9999560033437459 Centerline is valid? [True, True] Translation: X:64.27, Y:1.04, Z:0.77 [[ 9.99610494e-01 -2.02946977e-02 -1.91568704e-02 6.42704686e+01] [ 2.02985179e-02 9.99793964e-01 4.97621098e-06 1.03929819e+00] [ 1.91528224e-02 -3.93830350e-04 9.99816490e-01 7.66742944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44038572299999 meters Centerline goodness [0,1] 0.9999561711079944 Centerline is valid? [True, True] Translation: X:64.30, Y:1.04, Z:0.77 [[ 9.99590172e-01 -2.12591775e-02 -1.91711949e-02 6.42996404e+01] [ 2.12631805e-02 9.99773913e-01 4.96432626e-06 1.03780987e+00] [ 1.91667550e-02 -4.12602869e-04 9.99816216e-01 7.66834947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.33, Y:1.04, Z:0.77 [[ 9.99542383e-01 -2.40148817e-02 -1.83932276e-02 6.43304418e+01] [ 2.40190315e-02 9.99711501e-01 4.70589984e-06 1.03796660e+00] [ 1.83878082e-02 -4.46491260e-04 9.99830830e-01 7.70442674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.36, Y:1.04, Z:0.77 [[ 9.99493524e-01 -2.58106684e-02 -1.86146684e-02 6.43620491e+01] [ 2.58152370e-02 9.99666731e-01 5.13686518e-06 1.03896459e+00] [ 1.86083321e-02 -4.85676339e-04 9.99826732e-01 7.73327144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.39, Y:1.04, Z:0.78 [[ 9.99414587e-01 -2.84125568e-02 -1.90580433e-02 6.43935757e+01] [ 2.84178531e-02 9.99596131e-01 7.09173847e-06 1.03936390e+00] [ 1.90501449e-02 -5.48676262e-04 9.99818379e-01 7.75272608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.43, Y:1.04, Z:0.78 [[ 9.99416613e-01 -2.83412150e-02 -1.90580430e-02 6.44252848e+01] [ 2.83465140e-02 9.99598157e-01 7.90822200e-06 1.03929616e+00] [ 1.90501605e-02 -5.48132690e-04 9.99818379e-01 7.75753848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.46, Y:1.04, Z:0.78 [[ 9.99231833e-01 -3.32193618e-02 -2.07898707e-02 6.44552904e+01] [ 3.32267470e-02 9.99447839e-01 9.80896638e-06 1.03685607e+00] [ 2.07780655e-02 -7.00581206e-04 9.99783867e-01 7.75394778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.620385723 meters Centerline goodness [0,1] 0.999890022875242 Centerline is valid? [True, True] Translation: X:64.49, Y:1.03, Z:0.77 [[ 9.99142475e-01 -3.50561458e-02 -2.20313530e-02 6.44867111e+01] [ 3.50648936e-02 9.99385037e-01 1.07550653e-05 1.03473781e+00] [ 2.20174275e-02 -7.83272890e-04 9.99757280e-01 7.71706126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.52, Y:1.03, Z:0.77 [[ 9.98982130e-01 -3.84013095e-02 -2.36652316e-02 6.45178300e+01] [ 3.84123697e-02 9.99261973e-01 1.27911149e-05 1.03323672e+00] [ 2.36472748e-02 -9.21815720e-04 9.99719939e-01 7.71773007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.680385723 meters Centerline goodness [0,1] 0.9998462281973551 Centerline is valid? [True, True] Translation: X:64.55, Y:1.03, Z:0.77 [[ 9.98750741e-01 -4.30844515e-02 -2.53118098e-02 6.45492995e+01] [ 4.30986334e-02 9.99070822e-01 1.47623232e-05 1.02967441e+00] [ 2.52876546e-02 -1.10564829e-03 9.99679605e-01 7.66877010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.58, Y:1.03, Z:0.77 [[ 9.98606485e-01 -4.65542148e-02 -2.48554466e-02 6.45806498e+01] [ 4.65689832e-02 9.98915076e-01 1.53510872e-05 1.02869731e+00] [ 2.48277657e-02 -1.17282257e-03 9.99691056e-01 7.71278029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.740385723 meters Centerline goodness [0,1] 0.9998678559629997 Centerline is valid? [True, True] Translation: X:64.61, Y:1.03, Z:0.77 [[ 9.98536006e-01 -4.84017092e-02 -2.41478498e-02 6.46114394e+01] [ 4.84162071e-02 9.98827248e-01 1.57374089e-05 1.02865585e+00] [ 2.41187686e-02 -1.18486166e-03 9.99708398e-01 7.72684356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77038572299999 meters Centerline goodness [0,1] 0.9999558664518834 Centerline is valid? [True, True] Translation: X:64.64, Y:1.03, Z:0.78 [[ 9.98516182e-01 -4.85278675e-02 -2.47078950e-02 6.46432675e+01] [ 4.85431140e-02 9.98821088e-01 1.72981657e-05 1.03001812e+00] [ 2.46779271e-02 -1.21667066e-03 9.99694713e-01 7.75704261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80038572299999 meters Centerline goodness [0,1] 0.9999779609467977 Centerline is valid? [True, True] Translation: X:64.67, Y:1.03, Z:0.78 [[ 9.98514254e-01 -4.82421323e-02 -2.53373321e-02 6.46745674e+01] [ 4.82581145e-02 9.98834898e-01 1.93350045e-05 1.02923510e+00] [ 2.53068788e-02 -1.24203815e-03 9.99678958e-01 7.77459476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83038572299999 meters Centerline goodness [0,1] 0.9998671272920542 Centerline is valid? [True, True] Translation: X:64.71, Y:1.03, Z:0.77 [[ 9.98535877e-01 -4.71790724e-02 -2.64619842e-02 6.47073523e+01] [ 4.71961805e-02 9.98885639e-01 2.19772893e-05 1.03210466e+00] [ 2.64314591e-02 -1.27084969e-03 9.99649820e-01 7.74883214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.860385723 meters Centerline goodness [0,1] 0.9998452970297029 Centerline is valid? [True, True] Translation: X:64.74, Y:1.03, Z:0.77 [[ 9.98510197e-01 -4.71823577e-02 -2.74082231e-02 6.47397950e+01] [ 4.72007726e-02 9.98885422e-01 2.49359733e-05 1.03149610e+00] [ 2.73764980e-02 -1.31858813e-03 9.99624324e-01 7.73410596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.890385723 meters Centerline goodness [0,1] 0.9998450881890809 Centerline is valid? [True, True] Translation: X:64.77, Y:1.03, Z:0.77 [[ 9.98452356e-01 -4.77519015e-02 -2.85069835e-02 6.47712145e+01] [ 4.77721044e-02 9.98858261e-01 2.76753983e-05 1.02975946e+00] [ 2.84731145e-02 -1.38947116e-03 9.99593593e-01 7.72362227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.920385723 meters Centerline goodness [0,1] 0.9997785405824383 Centerline is valid? [True, True] Translation: X:64.80, Y:1.03, Z:0.77 [[ 9.98419581e-01 -4.78659757e-02 -2.94480710e-02 6.48035652e+01] [ 4.78876360e-02 9.98852729e-01 3.03277962e-05 1.02860670e+00] [ 2.94128344e-02 -1.44047837e-03 9.99566311e-01 7.71247608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.950385723 meters Centerline goodness [0,1] 0.9998451258905261 Centerline is valid? [True, True] Translation: X:64.84, Y:1.03, Z:0.77 [[ 9.98427168e-01 -4.79118044e-02 -2.91144261e-02 6.48355241e+01] [ 4.79330516e-02 9.98850550e-01 3.19020785e-05 1.02815399e+00] [ 2.90794321e-02 -1.42739519e-03 9.99576085e-01 7.72662484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.980385723 meters Centerline goodness [0,1] 0.999889439235804 Centerline is valid? [True, True] Translation: X:64.87, Y:1.03, Z:0.78 [[ 9.98467163e-01 -4.73363292e-02 -2.86809420e-02 6.48672594e+01] [ 4.73567651e-02 9.98878038e-01 3.33041698e-05 1.02835664e+00] [ 2.86471866e-02 -1.39148975e-03 9.99588617e-01 7.75160513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.010385723 meters Centerline goodness [0,1] 0.9998451361695537 Centerline is valid? [True, True] Translation: X:64.90, Y:1.03, Z:0.78 [[ 9.98504744e-01 -4.64328684e-02 -2.88490176e-02 6.48981631e+01] [ 4.64532168e-02 9.98920466e-01 3.51729217e-05 1.02884714e+00] [ 2.88162409e-02 -1.37525000e-03 9.99583780e-01 7.75897567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.040385723 meters Centerline goodness [0,1] 0.9998669328010645 Centerline is valid? [True, True] Translation: X:64.93, Y:1.03, Z:0.78 [[ 9.98551123e-01 -4.53774255e-02 -2.89230657e-02 6.49301839e+01] [ 4.53974841e-02 9.98969002e-01 3.69014579e-05 1.03112894e+00] [ 2.88915716e-02 -1.34988241e-03 9.99581640e-01 7.78297667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.96, Y:1.04, Z:0.79 [[ 9.98600498e-01 -4.41685587e-02 -2.90892454e-02 6.49628567e+01] [ 4.41884006e-02 9.99023215e-01 3.93039819e-05 1.04093699e+00] [ 2.90590955e-02 -1.32465621e-03 9.99576818e-01 7.85036334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.100385723 meters Centerline goodness [0,1] 0.9997771637400837 Centerline is valid? [True, True] Translation: X:64.99, Y:1.04, Z:0.78 [[ 9.98670516e-01 -4.23464965e-02 -2.93934628e-02 6.49947560e+01] [ 4.23660287e-02 9.99102156e-01 4.17730424e-05 1.04197501e+00] [ 2.93653031e-02 -1.28700180e-03 9.99567918e-01 7.80734782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.130385723 meters Centerline goodness [0,1] 0.9997547708221866 Centerline is valid? [True, True] Translation: X:65.02, Y:1.04, Z:0.78 [[ 9.98753209e-01 -4.07871873e-02 -2.87825020e-02 6.50249133e+01] [ 4.08052982e-02 9.99167116e-01 4.19070941e-05 1.04052689e+00] [ 2.87568202e-02 -1.21633342e-03 9.99585697e-01 7.78271530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16038572299999 meters Centerline goodness [0,1] 0.9998662088034608 Centerline is valid? [True, True] Translation: X:65.06, Y:1.04, Z:0.78 [[ 9.98794726e-01 -4.01932694e-02 -2.81708274e-02 6.50568029e+01] [ 4.02104088e-02 9.99191234e-01 4.19541584e-05 1.04261249e+00] [ 2.81463576e-02 -1.17466408e-03 9.99603123e-01 7.79831015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19038572299999 meters Centerline goodness [0,1] 0.9998440563179469 Centerline is valid? [True, True] Translation: X:65.09, Y:1.04, Z:0.78 [[ 9.98830731e-01 -3.93861923e-02 -2.80338836e-02 6.50881701e+01] [ 3.94028893e-02 9.99223404e-01 4.32201838e-05 1.03962843e+00] [ 2.80104103e-02 -1.14778566e-03 9.99606973e-01 7.79290035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22038572299999 meters Centerline goodness [0,1] 0.9998664113639399 Centerline is valid? [True, True] Translation: X:65.12, Y:1.04, Z:0.78 [[ 9.98862311e-01 -3.87269123e-02 -2.78264121e-02 6.51190248e+01] [ 3.87431414e-02 9.99249202e-01 4.41126089e-05 1.04057767e+00] [ 2.78038117e-02 -1.12214504e-03 9.99612769e-01 7.81034107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.250385723 meters Centerline goodness [0,1] 0.9998434494789105 Centerline is valid? [True, True] Translation: X:65.15, Y:1.05, Z:0.78 [[ 9.98868737e-01 -3.79970012e-02 -2.85915098e-02 6.51512179e+01] [ 3.80138791e-02 9.99277210e-01 4.67981624e-05 1.04909844e+00] [ 2.85690659e-02 -1.13361942e-03 9.99591178e-01 7.84991544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.280385723 meters Centerline goodness [0,1] 0.9997760107514839 Centerline is valid? [True, True] Translation: X:65.18, Y:1.05, Z:0.78 [[ 9.98858194e-01 -3.79571393e-02 -2.90097268e-02 6.51826763e+01] [ 3.79745511e-02 9.99278705e-01 4.93090814e-05 1.04709916e+00] [ 2.89869306e-02 -1.15088413e-03 9.99579128e-01 7.83817101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.310385723 meters Centerline goodness [0,1] 0.9998432987844463 Centerline is valid? [True, True] Translation: X:65.21, Y:1.05, Z:0.78 [[ 9.98853766e-01 -3.77047438e-02 -2.94873858e-02 6.52142763e+01] [ 3.77226625e-02 9.99288246e-01 5.14196127e-05 1.04746692e+00] [ 2.94644592e-02 -1.16370337e-03 9.99565151e-01 7.84510782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.340385723 meters Centerline goodness [0,1] 0.999910466469693 Centerline is valid? [True, True] Translation: X:65.25, Y:1.05, Z:0.78 [[ 9.98852959e-01 -3.73374623e-02 -2.99779887e-02 6.52460463e+01] [ 3.73558484e-02 9.99302025e-01 5.33062443e-05 1.04932680e+00] [ 2.99550745e-02 -1.17309830e-03 9.99550558e-01 7.84163777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.370385723 meters Centerline goodness [0,1] 0.999888140674288 Centerline is valid? [True, True] Translation: X:65.28, Y:1.05, Z:0.78 [[ 9.98864127e-01 -3.70449054e-02 -2.99688386e-02 6.52770096e+01] [ 3.70631798e-02 9.99312923e-01 5.43267040e-05 1.04836016e+00] [ 2.99462351e-02 -1.16500545e-03 9.99550832e-01 7.82894479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.400385723 meters Centerline goodness [0,1] 0.9999106145251396 Centerline is valid? [True, True] Translation: X:65.31, Y:1.05, Z:0.78 [[ 9.98892203e-01 -3.69823625e-02 -2.90976238e-02 6.53085330e+01] [ 3.69995916e-02 9.99315279e-01 5.37401402e-05 1.04665740e+00] [ 2.90757126e-02 -1.13028081e-03 9.99576573e-01 7.82756081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.430385723 meters Centerline goodness [0,1] 0.9997543601080816 Centerline is valid? [True, True] Translation: X:65.34, Y:1.05, Z:0.78 [[ 9.98906268e-01 -3.66190755e-02 -2.90742357e-02 6.53401345e+01] [ 3.66361526e-02 9.99328669e-01 5.47044423e-05 1.04675026e+00] [ 2.90527140e-02 -1.11981274e-03 9.99577254e-01 7.81566529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.460385723 meters Centerline goodness [0,1] 0.9998659517426274 Centerline is valid? [True, True] Translation: X:65.37, Y:1.05, Z:0.78 [[ 9.98905687e-01 -3.67775626e-02 -2.88935994e-02 6.53710628e+01] [ 3.67945231e-02 9.99322851e-01 5.53636959e-05 1.04680921e+00] [ 2.88719979e-02 -1.11842932e-03 9.99582491e-01 7.84431202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.490385723 meters Centerline goodness [0,1] 0.999910654456109 Centerline is valid? [True, True] Translation: X:65.40, Y:1.05, Z:0.79 [[ 9.98908027e-01 -3.72281488e-02 -2.82279585e-02 6.54027664e+01] [ 3.72445435e-02 9.99306180e-01 5.50639281e-05 1.04725106e+00] [ 2.82063235e-02 -1.10634123e-03 9.99601510e-01 7.86412515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52038572299999 meters Centerline goodness [0,1] 0.9999331833671129 Centerline is valid? [True, True] Translation: X:65.43, Y:1.04, Z:0.79 [[ 9.98889839e-01 -3.82233911e-02 -2.75329282e-02 6.54334772e+01] [ 3.82393918e-02 9.99268605e-01 5.46667380e-05 1.04183163e+00] [ 2.75107012e-02 -1.10744848e-03 9.99620896e-01 7.86436538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55038572299999 meters Centerline goodness [0,1] 0.9999110023361887 Centerline is valid? [True, True] Translation: X:65.47, Y:1.04, Z:0.79 [[ 9.98880233e-01 -3.88103522e-02 -2.70561633e-02 6.54653931e+01] [ 3.88260550e-02 9.99245983e-01 5.50824657e-05 1.04252828e+00] [ 2.70336247e-02 -1.10550487e-03 9.99633913e-01 7.87464168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58038572299999 meters Centerline goodness [0,1] 0.9998000666444519 Centerline is valid? [True, True] Translation: X:65.50, Y:1.04, Z:0.79 [[ 9.98907327e-01 -3.95116519e-02 -2.49595865e-02 6.54976052e+01] [ 3.95252745e-02 9.99218570e-01 5.24879282e-05 1.03984667e+00] [ 2.49380084e-02 -1.03896509e-03 9.99688460e-01 7.86954991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.610385723 meters Centerline goodness [0,1] 0.9998448065624653 Centerline is valid? [True, True] Translation: X:65.53, Y:1.04, Z:0.79 [[ 9.98911139e-01 -4.00158865e-02 -2.39846967e-02 6.55300189e+01] [ 4.00286497e-02 9.99198531e-01 5.20780984e-05 1.03812005e+00] [ 2.39633897e-02 -1.01209641e-03 9.99712324e-01 7.88134755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.640385723 meters Centerline goodness [0,1] 0.9998669917978276 Centerline is valid? [True, True] Translation: X:65.56, Y:1.04, Z:0.79 [[ 9.98899109e-01 -3.99822741e-02 -2.45354493e-02 6.55618140e+01] [ 3.99956629e-02 9.99199852e-01 5.50104174e-05 1.03726823e+00] [ 2.45136178e-02 -1.03626142e-03 9.99698959e-01 7.87317618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.670385723 meters Centerline goodness [0,1] 0.9997338124708858 Centerline is valid? [True, True] Translation: X:65.59, Y:1.04, Z:0.78 [[ 9.98859295e-01 -4.00185488e-02 -2.60504249e-02 6.55941706e+01] [ 4.00337042e-02 9.99198328e-01 6.02867519e-05 1.03771625e+00] [ 2.60271284e-02 -1.10311299e-03 9.99660628e-01 7.84461417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.700385723 meters Centerline goodness [0,1] 0.9998001554346619 Centerline is valid? [True, True] Translation: X:65.63, Y:1.04, Z:0.79 [[ 9.98829000e-01 -4.03960041e-02 -2.66231438e-02 6.56260543e+01] [ 4.04120175e-02 9.99183099e-01 6.34978463e-05 1.03842475e+00] [ 2.65988303e-02 -1.13931844e-03 9.99645539e-01 7.85256118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.730385723 meters Centerline goodness [0,1] 0.9998220046723774 Centerline is valid? [True, True] Translation: X:65.66, Y:1.04, Z:0.78 [[ 9.98839945e-01 -4.02603644e-02 -2.64171897e-02 6.56586737e+01] [ 4.02761327e-02 9.99188585e-01 6.48657175e-05 1.03766388e+00] [ 2.63931428e-02 -1.12877271e-03 9.99651003e-01 7.84271919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.760385723 meters Centerline goodness [0,1] 0.9998450504692757 Centerline is valid? [True, True] Translation: X:65.69, Y:1.03, Z:0.78 [[ 9.98841249e-01 -4.01338197e-02 -2.65600306e-02 6.56898704e+01] [ 4.01497791e-02 9.99193670e-01 6.76530947e-05 1.03499447e+00] [ 2.65358993e-02 -1.13395406e-03 9.99647218e-01 7.83636688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.790385723 meters Centerline goodness [0,1] 0.9998005672753058 Centerline is valid? [True, True] Translation: X:65.72, Y:1.03, Z:0.78 [[ 9.98856884e-01 -3.96453430e-02 -2.67052812e-02 6.57225050e+01] [ 3.96613731e-02 9.99213176e-01 7.06410438e-05 1.03432671e+00] [ 2.66814683e-02 -1.12972841e-03 9.99643348e-01 7.82812629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.820385723 meters Centerline goodness [0,1] 0.9998002042356702 Centerline is valid? [True, True] Translation: X:65.75, Y:1.04, Z:0.78 [[ 9.98877348e-01 -3.88853949e-02 -2.70549409e-02 6.57549920e+01] [ 3.89016212e-02 9.99243043e-01 7.34753328e-05 1.03531851e+00] [ 2.70316043e-02 -1.12587391e-03 9.99633945e-01 7.83598213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.850385723 meters Centerline goodness [0,1] 0.9997332088307878 Centerline is valid? [True, True] Translation: X:65.79, Y:1.04, Z:0.79 [[ 9.98969378e-01 -3.69845026e-02 -2.63121498e-02 6.57868762e+01] [ 3.69992341e-02 9.99315291e-01 7.30803342e-05 1.03871997e+00] [ 2.62914308e-02 -1.04653441e-03 9.99653773e-01 7.85161812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.880385723 meters Centerline goodness [0,1] 0.9998666577771852 Centerline is valid? [True, True] Translation: X:65.82, Y:1.03, Z:0.79 [[ 9.99032222e-01 -3.59491393e-02 -2.53432098e-02 6.58170051e+01] [ 3.59624967e-02 9.99353138e-01 7.13372172e-05 1.03248305e+00] [ 2.53242517e-02 -9.82673278e-04 9.99678807e-01 7.85565347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91038572299999 meters Centerline goodness [0,1] 0.999888678615162 Centerline is valid? [True, True] Translation: X:65.85, Y:1.04, Z:0.79 [[ 9.99156777e-01 -3.34672206e-02 -2.37840282e-02 6.58486479e+01] [ 3.34782987e-02 9.99439442e-01 6.76411991e-05 1.03808184e+00] [ 2.37684321e-02 -8.63832964e-04 9.99717118e-01 7.87205862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94038572299999 meters Centerline goodness [0,1] 0.9997994786444756 Centerline is valid? [True, True] Translation: X:65.88, Y:1.04, Z:0.79 [[ 9.99226941e-01 -3.20404559e-02 -2.27800152e-02 6.58798186e+01] [ 3.20502710e-02 9.99486256e-01 6.58011920e-05 1.03787253e+00] [ 2.27662038e-02 -7.95855985e-04 9.99740500e-01 7.86237793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97038572299999 meters Centerline goodness [0,1] 0.9998662565199946 Centerline is valid? [True, True] Translation: X:65.91, Y:1.04, Z:0.79 [[ 9.99262641e-01 -3.16553989e-02 -2.17281050e-02 6.59121488e+01] [ 3.16642578e-02 9.99498560e-01 6.37082044e-05 1.03833808e+00] [ 2.17151929e-02 -7.51665547e-04 9.99763915e-01 7.88581470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.94, Y:1.04, Z:0.79 [[ 9.99236639e-01 -3.15209484e-02 -2.30774555e-02 6.59447287e+01] [ 3.15309445e-02 9.99502774e-01 6.93154374e-05 1.04006284e+00] [ 2.30637959e-02 -7.96916493e-04 9.99733678e-01 7.92176155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.030385723 meters Centerline goodness [0,1] 0.9997768803409268 Centerline is valid? [True, True] Translation: X:65.98, Y:1.04, Z:0.79 [[ 9.99225111e-01 -3.11606152e-02 -2.40456575e-02 6.59763052e+01] [ 3.11713973e-02 9.99514051e-01 7.36178343e-05 1.04094752e+00] [ 2.40316786e-02 -8.23097531e-04 9.99710859e-01 7.87676012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.060385723 meters Centerline goodness [0,1] 0.999866375662554 Centerline is valid? [True, True] Translation: X:66.01, Y:1.04, Z:0.79 [[ 9.99206759e-01 -3.14873759e-02 -2.43802937e-02 6.60068836e+01] [ 3.14985825e-02 9.99503794e-01 7.56704375e-05 1.03655564e+00] [ 2.43658134e-02 -8.43555104e-04 9.99702754e-01 7.87552829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.090385723 meters Centerline goodness [0,1] 0.999821312903442 Centerline is valid? [True, True] Translation: X:66.04, Y:1.04, Z:0.79 [[ 9.99201934e-01 -3.15682061e-02 -2.44733105e-02 6.60384135e+01] [ 3.15795506e-02 9.99501239e-01 7.71042562e-05 1.03953310e+00] [ 2.44586701e-02 -8.49898870e-04 9.99700481e-01 7.87502688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.120385723 meters Centerline goodness [0,1] 0.9997775157407613 Centerline is valid? [True, True] Translation: X:66.07, Y:1.04, Z:0.79 [[ 9.99207394e-01 -3.17166114e-02 -2.40549475e-02 6.60683054e+01] [ 3.17276303e-02 9.99496549e-01 7.64581754e-05 1.03723501e+00] [ 2.40404120e-02 -8.39604055e-04 9.99710635e-01 7.86205857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.150385723 meters Centerline goodness [0,1] 0.9997997240642663 Centerline is valid? [True, True] Translation: X:66.10, Y:1.04, Z:0.79 [[ 9.99222204e-01 -3.13159355e-02 -2.39645570e-02 6.60993151e+01] [ 3.13267703e-02 9.99509193e-01 7.67367127e-05 1.03714932e+00] [ 2.39503920e-02 -8.27409200e-04 9.99712806e-01 7.86387500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.180385723 meters Centerline goodness [0,1] 0.9998215162197135 Centerline is valid? [True, True] Translation: X:66.13, Y:1.03, Z:0.79 [[ 9.99232414e-01 -3.04756563e-02 -2.46133728e-02 6.61301584e+01] [ 3.04868527e-02 9.99535165e-01 7.96804037e-05 1.03282171e+00] [ 2.45995033e-02 -8.30003512e-04 9.99697042e-01 7.85810815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.210385723 meters Centerline goodness [0,1] 0.9998436522826767 Centerline is valid? [True, True] Translation: X:66.16, Y:1.04, Z:0.79 [[ 9.99237400e-01 -2.99710069e-02 -2.50271116e-02 6.61618126e+01] [ 2.99824466e-02 9.99550422e-01 8.18865656e-05 1.03786438e+00] [ 2.50134057e-02 -8.32198155e-04 9.99686769e-01 7.87601114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.240385723 meters Centerline goodness [0,1] 0.9999551418638556 Centerline is valid? [True, True] Translation: X:66.19, Y:1.04, Z:0.79 [[ 9.99263621e-01 -2.93113313e-02 -2.47600971e-02 6.61929878e+01] [ 2.93223466e-02 9.99570004e-01 8.18547286e-05 1.04168004e+00] [ 2.47470511e-02 -8.07818602e-04 9.99693418e-01 7.90971963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27038572299999 meters Centerline goodness [0,1] 0.9999105965445565 Centerline is valid? [True, True] Translation: X:66.22, Y:1.04, Z:0.79 [[ 9.99300056e-01 -2.88238851e-02 -2.38449577e-02 6.62229091e+01] [ 2.88339780e-02 9.99584211e-01 7.94838510e-05 1.04078453e+00] [ 2.38327522e-02 -7.66973200e-04 9.99715665e-01 7.90030210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30038572299999 meters Centerline goodness [0,1] 0.9998880931065354 Centerline is valid? [True, True] Translation: X:66.25, Y:1.04, Z:0.79 [[ 9.99316943e-01 -2.86146850e-02 -2.33847796e-02 6.62546223e+01] [ 2.86243472e-02 9.99590236e-01 7.84866538e-05 1.03945607e+00] [ 2.33729515e-02 -7.47807093e-04 9.99726536e-01 7.89486917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33038572299999 meters Centerline goodness [0,1] 0.9998207965592939 Centerline is valid? [True, True] Translation: X:66.29, Y:1.04, Z:0.79 [[ 9.99355861e-01 -2.82751577e-02 -2.20992838e-02 6.62852115e+01] [ 2.82837236e-02 9.99599933e-01 7.50813648e-05 1.03778096e+00] [ 2.20883197e-02 -7.00083039e-04 9.99755778e-01 7.88191991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.360385723 meters Centerline goodness [0,1] 0.9998659397622666 Centerline is valid? [True, True] Translation: X:66.32, Y:1.04, Z:0.79 [[ 9.99410623e-01 -2.65321150e-02 -2.17819724e-02 6.63164330e+01] [ 2.65400475e-02 9.99647748e-01 7.51291359e-05 1.03819719e+00] [ 2.17723063e-02 -6.53179440e-04 9.99762742e-01 7.89777566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.390385723 meters Centerline goodness [0,1] 0.9997082192395744 Centerline is valid? [True, True] Translation: X:66.35, Y:1.04, Z:0.79 [[ 9.99431063e-01 -2.53717309e-02 -2.22222069e-02 6.63474080e+01] [ 2.53797151e-02 9.99677880e-01 7.72890242e-05 1.03949052e+00] [ 2.22130878e-02 -6.41238333e-04 9.99753053e-01 7.88572825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.420385723 meters Centerline goodness [0,1] 0.9998427178357974 Centerline is valid? [True, True] Translation: X:66.38, Y:1.04, Z:0.79 [[ 9.99480103e-01 -2.35371460e-02 -2.20346774e-02 6.63778182e+01] [ 2.35445586e-02 9.99722785e-01 7.70034286e-05 1.04211362e+00] [ 2.20267566e-02 -5.95760148e-04 9.99757204e-01 7.91215660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.450385723 meters Centerline goodness [0,1] 0.9998427814212559 Centerline is valid? [True, True] Translation: X:66.41, Y:1.04, Z:0.79 [[ 9.99495127e-01 -2.30009000e-02 -2.19191854e-02 6.64083125e+01] [ 2.30081118e-02 9.99735275e-01 7.68515889e-05 1.04300314e+00] [ 2.19116152e-02 -5.81131857e-04 9.99759743e-01 7.92224190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.480385723 meters Centerline goodness [0,1] 0.9998427814212559 Centerline is valid? [True, True] Translation: X:66.44, Y:1.04, Z:0.79 [[ 9.99494369e-01 -2.30338093e-02 -2.19191861e-02 6.64374712e+01] [ 2.30410241e-02 9.99734517e-01 7.66297389e-05 1.04293199e+00] [ 2.19116019e-02 -5.81631489e-04 9.99759743e-01 7.92666921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.510385723 meters Centerline goodness [0,1] 0.9998650836481382 Centerline is valid? [True, True] Translation: X:66.47, Y:1.04, Z:0.79 [[ 9.99518676e-01 -2.29950075e-02 -2.08241789e-02 6.64669670e+01] [ 2.30015016e-02 9.99735428e-01 7.23551691e-05 1.04213057e+00] [ 2.08170056e-02 -5.51307727e-04 9.99783151e-01 7.93888094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.540385723 meters Centerline goodness [0,1] 0.9998656455730216 Centerline is valid? [True, True] Translation: X:66.50, Y:1.04, Z:0.79 [[ 9.99515277e-01 -2.39353337e-02 -1.99075449e-02 6.64974354e+01] [ 2.39414563e-02 9.99713360e-01 6.92434929e-05 1.03851315e+00] [ 1.99001812e-02 -5.45825546e-04 9.99801823e-01 7.93083778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.570385723 meters Centerline goodness [0,1] 0.9997537772803582 Centerline is valid? [True, True] Translation: X:66.53, Y:1.04, Z:0.79 [[ 9.99485773e-01 -2.51701326e-02 -1.98658908e-02 6.65276788e+01] [ 2.51764733e-02 9.99683020e-01 6.90986095e-05 1.03580740e+00] [ 1.98578545e-02 -5.69216148e-04 9.99802651e-01 7.91186894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.600385723 meters Centerline goodness [0,1] 0.9998436348202917 Centerline is valid? [True, True] Translation: X:66.56, Y:1.03, Z:0.79 [[ 9.99471661e-01 -2.63044898e-02 -1.90911503e-02 6.65594243e+01] [ 2.63105546e-02 9.99653815e-01 6.65289360e-05 1.03340548e+00] [ 1.90827913e-02 -5.68792540e-04 9.99817745e-01 7.92329521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.630385723 meters Centerline goodness [0,1] 0.9997767308937462 Centerline is valid? [True, True] Translation: X:66.59, Y:1.03, Z:0.79 [[ 9.99438825e-01 -2.75508054e-02 -1.90522658e-02 6.65904493e+01] [ 2.75570833e-02 9.99620229e-01 6.70011282e-05 1.03176886e+00] [ 1.90431843e-02 -5.91988404e-04 9.99818487e-01 7.91847155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66038572299999 meters Centerline goodness [0,1] 0.9997986937460858 Centerline is valid? [True, True] Translation: X:66.62, Y:1.04, Z:0.79 [[ 9.99410990e-01 -2.81450086e-02 -1.96349409e-02 6.66216039e+01] [ 2.81518037e-02 9.99603657e-01 6.96995804e-05 1.03714622e+00] [ 1.96251970e-02 -6.22417527e-04 9.99807214e-01 7.93205543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69038572299999 meters Centerline goodness [0,1] 0.9997539425120232 Centerline is valid? [True, True] Translation: X:66.65, Y:1.03, Z:0.79 [[ 9.99344823e-01 -2.95143712e-02 -2.09481773e-02 6.66524979e+01] [ 2.95224242e-02 9.99564115e-01 7.52085297e-05 1.03222688e+00] [ 2.09368265e-02 -6.93600230e-04 9.99780560e-01 7.92587709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72038572299999 meters Centerline goodness [0,1] 0.9997984503068035 Centerline is valid? [True, True] Translation: X:66.68, Y:1.04, Z:0.79 [[ 9.99313038e-01 -3.04892591e-02 -2.10679079e-02 6.66836417e+01] [ 3.04976415e-02 9.99534836e-01 7.66178574e-05 1.03672441e+00] [ 2.10557718e-02 -7.19086725e-04 9.99778044e-01 7.94323844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.750385723 meters Centerline goodness [0,1] 0.9999776641129302 Centerline is valid? [True, True] Translation: X:66.71, Y:1.03, Z:0.80 [[ 9.99244034e-01 -3.26002844e-02 -2.11797649e-02 6.67141653e+01] [ 3.26092427e-02 9.99468174e-01 7.76468321e-05 1.02706283e+00] [ 2.11659696e-02 -7.68244228e-04 9.99775681e-01 7.95034139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.780385723 meters Centerline goodness [0,1] 0.9997763613999776 Centerline is valid? [True, True] Translation: X:66.75, Y:1.02, Z:0.79 [[ 9.99199457e-01 -3.32885869e-02 -2.21881842e-02 6.67454461e+01] [ 3.32986016e-02 9.99445444e-01 8.19381153e-05 1.02483981e+00] [ 2.21731520e-02 -8.20708027e-04 9.99753809e-01 7.90843696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.78, Y:1.03, Z:0.80 [[ 9.99174718e-01 -3.40947553e-02 -2.20778161e-02 6.67778584e+01] [ 3.41048930e-02 9.99418256e-01 8.27062177e-05 1.03236162e+00] [ 2.20621526e-02 -8.35599517e-04 9.99756252e-01 7.96470533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.840385723 meters Centerline goodness [0,1] 0.9999107939339875 Centerline is valid? [True, True] Translation: X:66.81, Y:1.03, Z:0.80 [[ 9.99156637e-01 -3.47036961e-02 -2.19469212e-02 6.68105291e+01] [ 3.47138941e-02 9.99397288e-01 8.37434140e-05 1.03361680e+00] [ 2.19307873e-02 -8.45535886e-04 9.99759134e-01 7.95009610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.870385723 meters Centerline goodness [0,1] 0.9997334162704936 Centerline is valid? [True, True] Translation: X:66.84, Y:1.02, Z:0.79 [[ 9.99146898e-01 -3.48572763e-02 -2.21460111e-02 6.68419733e+01] [ 3.48677301e-02 9.99391932e-01 8.59622183e-05 1.02242320e+00] [ 2.21295484e-02 -8.58070022e-04 9.99754743e-01 7.93036434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.900385723 meters Centerline goodness [0,1] 0.9998440945232633 Centerline is valid? [True, True] Translation: X:66.87, Y:1.04, Z:0.80 [[ 9.99149518e-01 -3.49130112e-02 -2.19390632e-02 6.68739609e+01] [ 3.49233121e-02 9.99389991e-01 8.64404500e-05 1.03585721e+00] [ 2.19226623e-02 -8.52551685e-04 9.99759306e-01 7.97460107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.930385723 meters Centerline goodness [0,1] 0.9999111288853341 Centerline is valid? [True, True] Translation: X:66.91, Y:1.03, Z:0.80 [[ 9.99197019e-01 -3.43242457e-02 -2.06679419e-02 6.69054064e+01] [ 3.43332970e-02 9.99410435e-01 8.31530995e-05 1.03418038e+00] [ 2.06529026e-02 -7.92684916e-04 9.99786392e-01 7.98746547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.960385723 meters Centerline goodness [0,1] 0.9997557509547917 Centerline is valid? [True, True] Translation: X:66.94, Y:1.03, Z:0.80 [[ 9.99203375e-01 -3.38451712e-02 -2.11452246e-02 6.69376014e+01] [ 3.38545890e-02 9.99426765e-01 8.74697880e-05 1.03470945e+00] [ 2.11301430e-02 -8.03262995e-04 9.99776411e-01 7.97784107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.990385723 meters Centerline goodness [0,1] 0.9997774612782624 Centerline is valid? [True, True] Translation: X:66.97, Y:1.03, Z:0.80 [[ 9.99224046e-01 -3.37202798e-02 -2.03531159e-02 6.69694635e+01] [ 3.37290075e-02 9.99431011e-01 8.55869640e-05 1.03449337e+00] [ 2.03386492e-02 -7.72010952e-04 9.99792850e-01 7.98760688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02038572299999 meters Centerline goodness [0,1] 0.9997775553331109 Centerline is valid? [True, True] Translation: X:67.00, Y:1.03, Z:0.80 [[ 9.99210164e-01 -3.40537258e-02 -2.04790706e-02 6.70009626e+01] [ 3.40626595e-02 9.99419695e-01 8.74710422e-05 1.03210624e+00] [ 2.04642078e-02 -7.84973566e-04 9.99790278e-01 7.98782589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05038572299999 meters Centerline goodness [0,1] 0.9998666814798356 Centerline is valid? [True, True] Translation: X:67.03, Y:1.03, Z:0.80 [[ 9.99194300e-01 -3.47267866e-02 -2.01196547e-02 6.70328086e+01] [ 3.47355683e-02 9.99396534e-01 8.70648096e-05 1.03149168e+00] [ 2.01044897e-02 -7.85862302e-04 9.99797575e-01 8.00119836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08038572299999 meters Centerline goodness [0,1] 0.9998444444444444 Centerline is valid? [True, True] Translation: X:67.06, Y:1.03, Z:0.80 [[ 9.99180134e-01 -3.50110841e-02 -2.03294073e-02 6.70649342e+01] [ 3.50201379e-02 9.99386603e-01 8.94096477e-05 1.03146098e+00] [ 2.03138070e-02 -8.01274993e-04 9.99793332e-01 8.00686687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.110385723 meters Centerline goodness [0,1] 0.9998225731331367 Centerline is valid? [True, True] Translation: X:67.10, Y:1.03, Z:0.80 [[ 9.99192339e-01 -3.47902769e-02 -2.01073659e-02 6.70968266e+01] [ 3.47991175e-02 9.99394323e-01 8.98389255e-05 1.03063172e+00] [ 2.00920618e-02 -7.89484954e-04 9.99797822e-01 8.00751629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.140385723 meters Centerline goodness [0,1] 0.9997781081500876 Centerline is valid? [True, True] Translation: X:67.13, Y:1.03, Z:0.80 [[ 9.99204904e-01 -3.41896661e-02 -2.05091893e-02 6.71293428e+01] [ 3.41987674e-02 9.99415047e-01 9.30971702e-05 1.02988749e+00] [ 2.04940095e-02 -7.94412146e-04 9.99789660e-01 8.00003519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.170385723 meters Centerline goodness [0,1] 0.9998445377218114 Centerline is valid? [True, True] Translation: X:67.16, Y:1.03, Z:0.80 [[ 9.99181093e-01 -3.41703719e-02 -2.16686131e-02 6.71619766e+01] [ 3.41805612e-02 9.99415669e-01 9.99371057e-05 1.02866629e+00] [ 2.16525366e-02 -8.40500624e-04 9.99765203e-01 8.00125064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.200385723 meters Centerline goodness [0,1] 0.9997556967085683 Centerline is valid? [True, True] Translation: X:67.19, Y:1.03, Z:0.80 [[ 9.99140512e-01 -3.44965440e-02 -2.29831568e-02 6.71943203e+01] [ 3.45081322e-02 9.99404411e-01 1.07672643e-04 1.02835492e+00] [ 2.29657540e-02 -9.00685913e-04 9.99735847e-01 7.98828458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.230385723 meters Centerline goodness [0,1] 0.9998447996807308 Centerline is valid? [True, True] Translation: X:67.23, Y:1.03, Z:0.80 [[ 9.99114254e-01 -3.53307402e-02 -2.28570698e-02 6.72252394e+01] [ 3.53424530e-02 9.99375254e-01 1.08547702e-04 1.02596784e+00] [ 2.28389549e-02 -9.16276471e-04 9.99738737e-01 7.99155633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.260385723 meters Centerline goodness [0,1] 0.999822048224931 Centerline is valid? [True, True] Translation: X:67.26, Y:1.03, Z:0.80 [[ 9.99056719e-01 -3.61824201e-02 -2.40105150e-02 6.72570298e+01] [ 3.61956221e-02 9.99344717e-01 1.15328539e-04 1.02543237e+00] [ 2.39906085e-02 -9.84295279e-04 9.99711699e-01 7.98692460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.290385723 meters Centerline goodness [0,1] 0.9998446205411644 Centerline is valid? [True, True] Translation: X:67.29, Y:1.02, Z:0.80 [[ 9.99004618e-01 -3.74496305e-02 -2.42342228e-02 6.72893458e+01] [ 3.74634872e-02 9.99297990e-01 1.17859635e-04 1.02445064e+00] [ 2.42127964e-02 -1.02564082e-03 9.99706301e-01 7.99460864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.320385723 meters Centerline goodness [0,1] 0.9998448753462604 Centerline is valid? [True, True] Translation: X:67.32, Y:1.02, Z:0.80 [[ 9.98997526e-01 -3.75932175e-02 -2.43041705e-02 6.73204122e+01] [ 3.76072349e-02 9.99292591e-01 1.19772567e-04 1.02198070e+00] [ 2.42824749e-02 -1.03366515e-03 9.99704603e-01 8.00158102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.350385723 meters Centerline goodness [0,1] 0.9998222656683922 Centerline is valid? [True, True] Translation: X:67.35, Y:1.03, Z:0.80 [[ 9.99002527e-01 -3.71168056e-02 -2.48252460e-02 6.73524400e+01] [ 3.71313212e-02 9.99310387e-01 1.23839802e-04 1.02501087e+00] [ 2.48035297e-02 -1.04551046e-03 9.99691798e-01 8.01794056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.380385723 meters Centerline goodness [0,1] 0.9999555930547538 Centerline is valid? [True, True] Translation: X:67.38, Y:1.03, Z:0.81 [[ 9.99040589e-01 -3.69228920e-02 -2.35499717e-02 6.73842785e+01] [ 3.69359378e-02 9.99317628e-01 1.19074326e-04 1.02548690e+00] [ 2.35295053e-02 -9.88800376e-04 9.99722654e-01 8.05132274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41038572299999 meters Centerline goodness [0,1] 0.9998003327787022 Centerline is valid? [True, True] Translation: X:67.42, Y:1.02, Z:0.80 [[ 9.99071200e-01 -3.63718580e-02 -2.31046557e-02 6.74155011e+01] [ 3.63843017e-02 9.99337865e-01 1.18289482e-04 1.02384769e+00] [ 2.30850549e-02 -9.58826378e-04 9.99733045e-01 8.02899988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44038572299999 meters Centerline goodness [0,1] 0.9998228716926824 Centerline is valid? [True, True] Translation: X:67.45, Y:1.02, Z:0.81 [[ 9.99129654e-01 -3.63852068e-02 -2.03973350e-02 6.74473943e+01] [ 3.63949290e-02 9.99337480e-01 1.05504389e-04 1.02388813e+00] [ 2.03799826e-02 -8.47772124e-04 9.99791947e-01 8.05479509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47038572299999 meters Centerline goodness [0,1] 0.9998671743557956 Centerline is valid? [True, True] Translation: X:67.48, Y:1.02, Z:0.81 [[ 9.99143429e-01 -3.65677618e-02 -1.93702885e-02 6.74786431e+01] [ 3.65765877e-02 9.99330848e-01 1.01434687e-04 1.02090497e+00] [ 1.93536176e-02 -8.09846857e-04 9.99812373e-01 8.07075865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.500385723 meters Centerline goodness [0,1] 0.9996897300651567 Centerline is valid? [True, True] Translation: X:67.51, Y:1.02, Z:0.81 [[ 9.99112977e-01 -3.71051799e-02 -1.99114364e-02 6.75104021e+01] [ 3.71146390e-02 9.99311009e-01 1.05602054e-04 1.02320103e+00] [ 1.98937992e-02 -8.44514157e-04 9.99801742e-01 8.06526141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.530385723 meters Centerline goodness [0,1] 0.9998225613272412 Centerline is valid? [True, True] Translation: X:67.54, Y:1.02, Z:0.81 [[ 9.99085940e-01 -3.77866329e-02 -1.99863446e-02 6.75425804e+01] [ 3.77963390e-02 9.99285457e-01 1.07980121e-04 1.02237288e+00] [ 1.99679833e-02 -8.63292078e-04 9.99800247e-01 8.08171723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.560385723 meters Centerline goodness [0,1] 0.9997785994199305 Centerline is valid? [True, True] Translation: X:67.57, Y:1.02, Z:0.81 [[ 9.99075081e-01 -3.78466667e-02 -2.04110989e-02 6.75745541e+01] [ 3.78568319e-02 9.99283167e-01 1.11725982e-04 1.02144787e+00] [ 2.03922391e-02 -8.84322183e-04 9.99791666e-01 8.07486039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.590385723 meters Centerline goodness [0,1] 0.9998004876967413 Centerline is valid? [True, True] Translation: X:67.61, Y:1.02, Z:0.81 [[ 9.99054069e-01 -3.84019967e-02 -2.04022909e-02 6.76053395e+01] [ 3.84122959e-02 9.99261969e-01 1.13010743e-04 1.01966704e+00] [ 2.03828936e-02 -8.96602680e-04 9.99791845e-01 8.08542055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.620385723 meters Centerline goodness [0,1] 0.9998227343230667 Centerline is valid? [True, True] Translation: X:67.64, Y:1.02, Z:0.81 [[ 9.99054791e-01 -3.86804664e-02 -1.98329475e-02 6.76379589e+01] [ 3.86902751e-02 9.99251245e-01 1.10951323e-04 1.02041414e+00] [ 1.98138059e-02 -8.78188647e-04 9.99803302e-01 8.09822150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.650385723 meters Centerline goodness [0,1] 0.9997785209629908 Centerline is valid? [True, True] Translation: X:67.67, Y:1.02, Z:0.81 [[ 9.99013388e-01 -3.97355423e-02 -1.98327273e-02 6.76699686e+01] [ 3.97455858e-02 9.99209826e-01 1.12340505e-04 1.02074081e+00] [ 1.98125921e-02 -9.00493034e-04 9.99803306e-01 8.09272112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.680385723 meters Centerline goodness [0,1] 0.9999116041634439 Centerline is valid? [True, True] Translation: X:67.70, Y:1.02, Z:0.81 [[ 9.98988771e-01 -4.05791630e-02 -1.93588835e-02 6.77006349e+01] [ 4.05889135e-02 9.99175924e-01 1.10861628e-04 1.01769655e+00] [ 1.93384317e-02 -8.96505570e-04 9.99812593e-01 8.10837910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.710385723 meters Centerline goodness [0,1] 0.9998456892180853 Centerline is valid? [True, True] Translation: X:67.73, Y:1.01, Z:0.81 [[ 9.98964177e-01 -4.08014751e-02 -2.01448011e-02 6.77317545e+01] [ 4.08120952e-02 9.99166833e-01 1.16183222e-04 1.01308471e+00] [ 2.01232767e-02 -9.38214417e-04 9.99797066e-01 8.08843118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.740385723 meters Centerline goodness [0,1] 0.9998897172349905 Centerline is valid? [True, True] Translation: X:67.76, Y:1.02, Z:0.81 [[ 9.98950871e-01 -4.10815675e-02 -2.02351840e-02 6.77638061e+01] [ 4.10923639e-02 9.99155345e-01 1.17859123e-04 1.01580252e+00] [ 2.02132504e-02 -9.49247016e-04 9.99795241e-01 8.09909828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77038572299999 meters Centerline goodness [0,1] 0.9998898460047146 Centerline is valid? [True, True] Translation: X:67.80, Y:1.01, Z:0.81 [[ 9.98981602e-01 -3.96993969e-02 -2.14409836e-02 6.77952796e+01] [ 3.97112323e-02 9.99211190e-01 1.26340923e-04 1.01099225e+00] [ 2.14190550e-02 -9.77660137e-04 9.99770108e-01 8.08424956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80038572299999 meters Centerline goodness [0,1] 0.9998236914600551 Centerline is valid? [True, True] Translation: X:67.83, Y:1.01, Z:0.81 [[ 9.99024077e-01 -3.82354984e-02 -2.21119948e-02 6.78275770e+01] [ 3.82477569e-02 9.99268278e-01 1.31577801e-04 1.01293291e+00] [ 2.20907841e-02 -9.77183594e-04 9.99755491e-01 8.07573153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83038572299999 meters Centerline goodness [0,1] 0.9998012762480956 Centerline is valid? [True, True] Translation: X:67.86, Y:1.02, Z:0.81 [[ 9.99146136e-01 -3.48944581e-02 -2.21218371e-02 6.78579311e+01] [ 3.49059352e-02 9.99390593e-01 1.32766966e-04 1.01556142e+00] [ 2.21037231e-02 -9.04837013e-04 9.99755273e-01 8.08801656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.860385723 meters Centerline goodness [0,1] 0.9997345191478064 Centerline is valid? [True, True] Translation: X:67.89, Y:1.02, Z:0.81 [[ 9.99243015e-01 -3.25911158e-02 -2.12418460e-02 6.78896371e+01] [ 3.26011901e-02 9.99468432e-01 1.28054037e-04 1.02363910e+00] [ 2.12263811e-02 -8.20466562e-04 9.99774358e-01 8.10713744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.890385723 meters Centerline goodness [0,1] 0.9998454063604241 Centerline is valid? [True, True] Translation: X:67.92, Y:1.02, Z:0.81 [[ 9.99335166e-01 -3.04509139e-02 -2.00491233e-02 6.79215177e+01] [ 3.04594788e-02 9.99535995e-01 1.21890880e-04 1.02379510e+00] [ 2.00361087e-02 -7.32495687e-04 9.99798989e-01 8.12361485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.95, Y:1.02, Z:0.82 [[ 9.99453724e-01 -2.71311047e-02 -1.88721211e-02 6.79530771e+01] [ 2.71381202e-02 9.99631687e-01 1.15693125e-04 1.02204799e+00] [ 1.88620314e-02 -6.27783817e-04 9.99821899e-01 8.15085753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.950385723 meters Centerline goodness [0,1] 0.9998237147704987 Centerline is valid? [True, True] Translation: X:67.98, Y:1.02, Z:0.81 [[ 9.99480078e-01 -2.52803723e-02 -2.00119303e-02 6.79837832e+01] [ 2.52879092e-02 9.99680202e-01 1.23616831e-04 1.02263621e+00] [ 2.00024055e-02 -6.29612437e-04 9.99799734e-01 8.11564048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.980385723 meters Centerline goodness [0,1] 0.9998676110412391 Centerline is valid? [True, True] Translation: X:68.02, Y:1.02, Z:0.81 [[ 9.99511480e-01 -2.38115218e-02 -2.02438202e-02 6.80153175e+01] [ 2.38189425e-02 9.99716281e-01 1.25494520e-04 1.02371226e+00] [ 2.02350885e-02 -6.07619604e-04 9.99795065e-01 8.12959664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.010385723 meters Centerline goodness [0,1] 0.9998456551937027 Centerline is valid? [True, True] Translation: X:68.05, Y:1.03, Z:0.81 [[ 9.99589308e-01 -1.98298666e-02 -2.06879732e-02 6.80462688e+01] [ 1.98367777e-02 9.99803223e-01 1.28882113e-04 1.02672163e+00] [ 2.06813466e-02 -5.39211907e-04 9.99785973e-01 8.13718840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.040385723 meters Centerline goodness [0,1] 0.9998676694382568 Centerline is valid? [True, True] Translation: X:68.07, Y:1.03, Z:0.81 [[ 9.99637692e-01 -1.76605714e-02 -2.03122628e-02 6.80749260e+01] [ 1.76667861e-02 9.99843922e-01 1.26535721e-04 1.02630343e+00] [ 2.03068578e-02 -4.85342277e-04 9.99793677e-01 8.14471158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.070385723 meters Centerline goodness [0,1] 0.9998674618952949 Centerline is valid? [True, True] Translation: X:68.10, Y:1.03, Z:0.82 [[ 9.99702329e-01 -1.36163528e-02 -2.02447080e-02 6.81040737e+01] [ 1.36216589e-02 9.99907213e-01 1.24217928e-04 1.02705297e+00] [ 2.02411382e-02 -3.99947459e-04 9.99795047e-01 8.15164023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.100385723 meters Centerline goodness [0,1] 0.9998236059356602 Centerline is valid? [True, True] Translation: X:68.13, Y:1.03, Z:0.82 [[ 9.99705497e-01 -1.21317547e-02 -2.10175964e-02 6.81332551e+01] [ 1.21370453e-02 9.99926336e-01 1.24174993e-04 1.02785272e+00] [ 2.10145417e-02 -3.79229942e-04 9.99779098e-01 8.15348085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.130385723 meters Centerline goodness [0,1] 0.9998235514678312 Centerline is valid? [True, True] Translation: X:68.16, Y:1.03, Z:0.82 [[ 9.99704870e-01 -1.09622570e-02 -2.16795334e-02 6.81608724e+01] [ 1.09675235e-02 9.99939847e-01 1.24040723e-04 1.02811333e+00] [ 2.16768695e-02 -3.61774907e-04 9.99764964e-01 8.15685006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16038572299999 meters Centerline goodness [0,1] 0.9998235320068822 Centerline is valid? [True, True] Translation: X:68.19, Y:1.03, Z:0.82 [[ 9.99710194e-01 -8.95963392e-03 -2.23439761e-02 6.81891376e+01] [ 8.96465912e-03 9.99959809e-01 1.24744491e-04 1.02958761e+00] [ 2.23419604e-02 -3.25014469e-04 9.99750334e-01 8.16652896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19038572299999 meters Centerline goodness [0,1] 0.9997574581615328 Centerline is valid? [True, True] Translation: X:68.22, Y:1.03, Z:0.82 [[ 9.99722572e-01 -8.07357765e-03 -2.21268332e-02 6.82179798e+01] [ 8.07816870e-03 9.99967364e-01 1.18110918e-04 1.02894061e+00] [ 2.21251575e-02 -2.96822442e-04 9.99755165e-01 8.16487035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22038572299999 meters Centerline goodness [0,1] 0.999780263244633 Centerline is valid? [True, True] Translation: X:68.25, Y:1.03, Z:0.82 [[ 9.99753914e-01 -6.69280633e-03 -2.11498929e-02 6.82461354e+01] [ 6.69660519e-03 9.99977572e-01 1.08795831e-04 1.02616344e+00] [ 2.11486903e-02 -2.50401540e-04 9.99776310e-01 8.16779130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.250385723 meters Centerline goodness [0,1] 0.9998243456876866 Centerline is valid? [True, True] Translation: X:68.28, Y:1.03, Z:0.82 [[ 9.99769558e-01 -6.31399763e-03 -2.05174320e-02 6.82752825e+01] [ 6.31743967e-03 9.99980039e-01 1.02949820e-04 1.02511032e+00] [ 2.05163725e-02 -2.32543735e-04 9.99789490e-01 8.17994507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.280385723 meters Centerline goodness [0,1] 0.9998461098775474 Centerline is valid? [True, True] Translation: X:68.30, Y:1.02, Z:0.82 [[ 9.99785212e-01 -6.01795688e-03 -1.98321315e-02 6.83033668e+01] [ 6.02101758e-03 9.99981869e-01 9.46227281e-05 1.02460242e+00] [ 1.98312025e-02 -2.14012017e-04 9.99803319e-01 8.19072479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.310385723 meters Centerline goodness [0,1] 0.9998683719807823 Centerline is valid? [True, True] Translation: X:68.33, Y:1.02, Z:0.82 [[ 9.99797110e-01 -6.64309540e-03 -1.90160182e-02 6.83311520e+01] [ 6.64592506e-03 9.99977912e-01 8.56116019e-05 1.02464045e+00] [ 1.90150295e-02 -2.11973264e-04 9.99819176e-01 8.22488896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.340385723 meters Centerline goodness [0,1] 0.9999122345093909 Centerline is valid? [True, True] Translation: X:68.36, Y:1.02, Z:0.82 [[ 9.99777061e-01 -8.41550136e-03 -1.93651102e-02 6.83595767e+01] [ 8.41866546e-03 9.99964559e-01 8.18742938e-05 1.02408806e+00] [ 1.93637349e-02 -2.44884425e-04 9.99812475e-01 8.24195325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.370385723 meters Centerline goodness [0,1] 0.9999122345093909 Centerline is valid? [True, True] Translation: X:68.39, Y:1.02, Z:0.82 [[ 9.99774682e-01 -8.69345487e-03 -1.93651296e-02 6.83869477e+01] [ 8.69657710e-03 9.99962181e-01 7.70207013e-05 1.02404123e+00] [ 1.93637277e-02 -2.45413690e-04 9.99812475e-01 8.24612392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.400385723 meters Centerline goodness [0,1] 0.9998253732646468 Centerline is valid? [True, True] Translation: X:68.42, Y:1.02, Z:0.82 [[ 9.99703545e-01 -1.22044617e-02 -2.10683171e-02 6.84161250e+01] [ 1.22088314e-02 9.99925466e-01 7.87922116e-05 1.01980352e+00] [ 2.10657852e-02 -3.35988385e-04 9.99778035e-01 8.22545357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.430385723 meters Centerline goodness [0,1] 0.9998030936180454 Centerline is valid? [True, True] Translation: X:68.45, Y:1.02, Z:0.82 [[ 9.99657168e-01 -1.49082367e-02 -2.15241771e-02 6.84450800e+01] [ 1.49133667e-02 9.99888787e-01 7.78304613e-05 1.01724457e+00] [ 2.15206230e-02 -3.98801725e-04 9.99768325e-01 8.22245888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.460385723 meters Centerline goodness [0,1] 0.9998037462657275 Centerline is valid? [True, True] Translation: X:68.47, Y:1.01, Z:0.82 [[ 9.99619332e-01 -1.76159659e-02 -2.12336600e-02 6.84727903e+01] [ 1.76214782e-02 9.99844727e-01 7.25074053e-05 1.01375001e+00] [ 2.12290857e-02 -4.46648281e-04 9.99774538e-01 8.22022675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.490385723 meters Centerline goodness [0,1] 0.9997602232103933 Centerline is valid? [True, True] Translation: X:68.50, Y:1.01, Z:0.82 [[ 9.99526819e-01 -2.26303061e-02 -2.08328568e-02 6.85023846e+01] [ 2.26366688e-02 9.99743755e-01 6.96184906e-05 1.00930333e+00] [ 2.08259430e-02 -5.41172027e-04 9.99782970e-01 8.21928473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52038572299999 meters Centerline goodness [0,1] 0.9997825992434454 Centerline is valid? [True, True] Translation: X:68.53, Y:1.01, Z:0.82 [[ 9.99464111e-01 -2.52967759e-02 -2.07741271e-02 6.85324199e+01] [ 2.53036657e-02 9.99679809e-01 6.88186791e-05 1.00679740e+00] [ 2.07657345e-02 -5.94443368e-04 9.99784192e-01 8.22161627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55038572299999 meters Centerline goodness [0,1] 0.9998699243393241 Centerline is valid? [True, True] Translation: X:68.56, Y:1.00, Z:0.82 [[ 9.99402249e-01 -2.80201173e-02 -2.02489103e-02 6.85621490e+01] [ 2.80272182e-02 9.99607158e-01 6.69241876e-05 1.00371115e+00] [ 2.02390805e-02 -6.34404813e-04 9.99794968e-01 8.23666375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58038572299999 meters Centerline goodness [0,1] 0.9998262720145932 Centerline is valid? [True, True] Translation: X:68.59, Y:1.00, Z:0.82 [[ 9.99292023e-01 -3.21068754e-02 -1.96112726e-02 6.85930986e+01] [ 3.21143235e-02 9.99484200e-01 6.48952003e-05 1.00085144e+00] [ 1.95990735e-02 -6.94652009e-04 9.99807678e-01 8.24710447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.610385723 meters Centerline goodness [0,1] 0.9998262757871879 Centerline is valid? [True, True] Translation: X:68.63, Y:1.00, Z:0.83 [[ 9.99267350e-01 -3.32818004e-02 -1.88966796e-02 6.86254057e+01] [ 3.32889352e-02 9.99445768e-01 6.30533803e-05 9.99094786e-01] [ 1.88841079e-02 -6.92057527e-04 9.99821440e-01 8.26216531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.640385723 meters Centerline goodness [0,1] 0.9998485405803059 Centerline is valid? [True, True] Translation: X:68.66, Y:1.00, Z:0.83 [[ 9.99250697e-01 -3.50488738e-02 -1.64201325e-02 6.86570671e+01] [ 3.50545153e-02 9.99385400e-01 5.57924562e-05 9.97114751e-01] [ 1.64080853e-02 -6.31350438e-04 9.99865179e-01 8.29051216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.670385723 meters Centerline goodness [0,1] 0.999913511643495 Centerline is valid? [True, True] Translation: X:68.69, Y:0.99, Z:0.83 [[ 9.99238736e-01 -3.59174255e-02 -1.52278303e-02 6.86885447e+01] [ 3.59223896e-02 9.99354581e-01 5.24983449e-05 9.94022906e-01] [ 1.52161163e-02 -5.99478432e-04 9.99884048e-01 8.30734974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.700385723 meters Centerline goodness [0,1] 0.9998702955100629 Centerline is valid? [True, True] Translation: X:68.72, Y:0.99, Z:0.83 [[ 9.99226660e-01 -3.63966248e-02 -1.48784311e-02 6.87209471e+01] [ 3.64014404e-02 9.99337247e-01 5.28951300e-05 9.93889259e-01] [ 1.48666452e-02 -5.94450549e-04 9.99889309e-01 8.29934397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.730385723 meters Centerline goodness [0,1] 0.9999353434341257 Centerline is valid? [True, True] Translation: X:68.75, Y:0.99, Z:0.83 [[ 9.99065336e-01 -4.06318722e-02 -1.47480738e-02 6.87509927e+01] [ 4.06370802e-02 9.99173971e-01 5.35038264e-05 9.87243850e-01] [ 1.47337176e-02 -6.52772477e-04 9.99891240e-01 8.29594819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.760385723 meters Centerline goodness [0,1] 0.9998708844415752 Centerline is valid? [True, True] Translation: X:68.78, Y:0.99, Z:0.83 [[ 9.98968016e-01 -4.22028921e-02 -1.67874860e-02 6.87827047e+01] [ 4.22098631e-02 9.99108765e-01 6.09891528e-05 9.88065082e-01] [ 1.67699504e-02 -7.69523698e-04 9.99859078e-01 8.27684668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.790385723 meters Centerline goodness [0,1] 0.9998490631131811 Centerline is valid? [True, True] Translation: X:68.81, Y:0.98, Z:0.83 [[ 9.98865453e-01 -4.39065690e-02 -1.84396377e-02 6.88137840e+01] [ 4.39152894e-02 9.99035256e-01 6.80654619e-05 9.83524523e-01] [ 1.84188597e-02 -8.77770267e-04 9.99829973e-01 8.26817282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.820385723 meters Centerline goodness [0,1] 0.9999350550949277 Centerline is valid? [True, True] Translation: X:68.85, Y:0.99, Z:0.83 [[ 9.98732531e-01 -4.60016887e-02 -2.04248685e-02 6.88458487e+01] [ 4.60128514e-02 9.98940845e-01 7.66594694e-05 9.87831570e-01] [ 2.03997089e-02 -1.01636875e-03 9.99791388e-01 8.28234858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.850385723 meters Centerline goodness [0,1] 0.999740680713128 Centerline is valid? [True, True] Translation: X:68.88, Y:0.99, Z:0.83 [[ 9.98743358e-01 -4.52682667e-02 -2.15055737e-02 6.88785336e+01] [ 4.52805063e-02 9.98974308e-01 8.22824811e-05 9.88192586e-01] [ 2.14797909e-02 -1.05596235e-03 9.99768725e-01 8.25584349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88038572299999 meters Centerline goodness [0,1] 0.9997192345902984 Centerline is valid? [True, True] Translation: X:68.91, Y:0.99, Z:0.83 [[ 9.98773003e-01 -4.50169942e-02 -2.06387844e-02 6.89112419e+01] [ 4.50282447e-02 9.98985711e-01 8.04883431e-05 9.86477114e-01] [ 2.06142274e-02 -1.00971782e-03 9.99786994e-01 8.25124519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91038572299999 meters Centerline goodness [0,1] 0.9998918895543687 Centerline is valid? [True, True] Translation: X:68.94, Y:0.99, Z:0.83 [[ 9.98808327e-01 -4.48189366e-02 -1.93181202e-02 6.89431771e+01] [ 4.48287860e-02 9.98994682e-01 7.68958026e-05 9.88096953e-01] [ 1.92952529e-02 -9.42812043e-04 9.99813385e-01 8.28234638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94038572299999 meters Centerline goodness [0,1] 0.9998058001035732 Centerline is valid? [True, True] Translation: X:68.97, Y:0.99, Z:0.83 [[ 9.98850884e-01 -4.32717964e-02 -2.06025079e-02 6.89739802e+01] [ 4.32827011e-02 9.99062861e-01 8.34608284e-05 9.86665638e-01] [ 2.05795890e-02 -9.75097114e-04 9.99787742e-01 8.28316626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97038572299999 meters Centerline goodness [0,1] 0.9998049203424731 Centerline is valid? [True, True] Translation: X:69.00, Y:1.00, Z:0.83 [[ 9.99042795e-01 -3.87020096e-02 -2.03874711e-02 6.90045058e+01] [ 3.87117545e-02 9.99250416e-01 8.33946934e-05 9.95204997e-01] [ 2.03689615e-02 -8.72549644e-04 9.99792150e-01 8.30357743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.000385723 meters Centerline goodness [0,1] 0.9998262531491616 Centerline is valid? [True, True] Translation: X:69.04, Y:1.00, Z:0.83 [[ 9.99173270e-01 -3.53280257e-02 -2.01173192e-02 6.90359095e+01] [ 3.53368348e-02 9.99375456e-01 8.24643042e-05 9.98820459e-01] [ 2.01018417e-02 -7.93278514e-04 9.99797623e-01 8.31128350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.030385723 meters Centerline goodness [0,1] 0.999913071824405 Centerline is valid? [True, True] Translation: X:69.07, Y:1.00, Z:0.83 [[ 9.99414810e-01 -2.83717612e-02 -1.91070904e-02 6.90653519e+01] [ 2.83784465e-02 9.99597248e-01 7.87842771e-05 1.00264008e+00] [ 1.90971597e-02 -6.20967717e-04 9.99817440e-01 8.30814099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.10, Y:1.01, Z:0.83 [[ 9.99501997e-01 -2.55207806e-02 -1.85592786e-02 6.90969054e+01] [ 2.55265957e-02 9.99674140e-01 7.64586549e-05 1.00509266e+00] [ 1.85512796e-02 -5.50175781e-04 9.99827759e-01 8.33235342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.090385723 meters Centerline goodness [0,1] 0.9999129336990118 Centerline is valid? [True, True] Translation: X:69.13, Y:1.01, Z:0.83 [[ 9.99604693e-01 -2.23121698e-02 -1.71062771e-02 6.91285333e+01] [ 2.23166499e-02 9.99750950e-01 7.10281432e-05 1.00766232e+00] [ 1.71004320e-02 -4.52754861e-04 9.99853674e-01 8.33548759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.120385723 meters Centerline goodness [0,1] 0.9999344634743097 Centerline is valid? [True, True] Translation: X:69.16, Y:1.01, Z:0.84 [[ 9.99751935e-01 -1.73577450e-02 -1.39562678e-02 6.91589048e+01] [ 1.73602488e-02 9.99849298e-01 5.82646396e-05 1.01271516e+00] [ 1.39531532e-02 -3.00534468e-04 9.99902605e-01 8.39237129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.150385723 meters Centerline goodness [0,1] 0.9998690042136978 Centerline is valid? [True, True] Translation: X:69.19, Y:1.02, Z:0.84 [[ 9.99799285e-01 -1.49844367e-02 -1.32987379e-02 6.91906683e+01] [ 1.49865177e-02 9.99887694e-01 5.68330935e-05 1.01762448e+00] [ 1.32963928e-02 -2.56123457e-04 9.99911566e-01 8.39733939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.180385723 meters Centerline goodness [0,1] 0.9999126637554585 Centerline is valid? [True, True] Translation: X:69.22, Y:1.02, Z:0.84 [[ 9.99797431e-01 -1.32152361e-02 -1.51806953e-02 6.92207816e+01] [ 1.32177534e-02 9.99912640e-01 6.54983798e-05 1.01788615e+00] [ 1.51785035e-02 -2.66139799e-04 9.99884764e-01 8.39147407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.210385723 meters Centerline goodness [0,1] 0.999847291607583 Centerline is valid? [True, True] Translation: X:69.25, Y:1.02, Z:0.84 [[ 9.99774611e-01 -1.31848950e-02 -1.66398879e-02 6.92505893e+01] [ 1.31879195e-02 9.99913033e-01 7.20385779e-05 1.01804044e+00] [ 1.66374909e-02 -2.91467843e-04 9.99861545e-01 8.36481004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.240385723 meters Centerline goodness [0,1] 0.9998905141455724 Centerline is valid? [True, True] Translation: X:69.28, Y:1.02, Z:0.84 [[ 9.99752555e-01 -1.41859114e-02 -1.71344417e-02 6.92787237e+01] [ 1.41892541e-02 9.99899325e-01 7.35272267e-05 1.01624145e+00] [ 1.71316737e-02 -3.16633980e-04 9.99853192e-01 8.35823652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27038572299999 meters Centerline goodness [0,1] 0.9998470246290347 Centerline is valid? [True, True] Translation: X:69.31, Y:1.01, Z:0.83 [[ 9.99692616e-01 -1.72644309e-02 -1.77936136e-02 6.93073347e+01] [ 1.72684983e-02 9.99850886e-01 7.49592783e-05 1.01480275e+00] [ 1.77896662e-02 -3.82205224e-04 9.99841678e-01 8.34996520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30038572299999 meters Centerline goodness [0,1] 0.9998034677031925 Centerline is valid? [True, True] Translation: X:69.34, Y:1.02, Z:0.84 [[ 9.99650982e-01 -1.87336319e-02 -1.86269772e-02 6.93366848e+01] [ 1.87382701e-02 9.99824420e-01 7.44885800e-05 1.01516663e+00] [ 1.86223112e-02 -4.23499911e-04 9.99826500e-01 8.35251802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.37, Y:1.01, Z:0.84 [[ 9.99613825e-01 -2.04336586e-02 -1.88325816e-02 6.93664587e+01] [ 2.04386900e-02 9.99791105e-01 7.47110644e-05 1.01497656e+00] [ 1.88271209e-02 -4.59595510e-04 9.99822648e-01 8.38890173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.360385723 meters Centerline goodness [0,1] 0.9998244035207094 Centerline is valid? [True, True] Translation: X:69.40, Y:1.02, Z:0.84 [[ 9.99601669e-01 -2.01757179e-02 -1.97343272e-02 6.93967287e+01] [ 2.01811872e-02 9.99796336e-01 7.80125714e-05 1.01576390e+00] [ 1.97287341e-02 -4.76243649e-04 9.99805256e-01 8.35805411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.390385723 meters Centerline goodness [0,1] 0.9998027915945396 Centerline is valid? [True, True] Translation: X:69.43, Y:1.02, Z:0.84 [[ 9.99618414e-01 -1.95673605e-02 -1.94972931e-02 6.94266295e+01] [ 1.95725820e-02 9.99808436e-01 7.70016607e-05 1.01548425e+00] [ 1.94920514e-02 -4.58584646e-04 9.99809907e-01 8.35745060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.420385723 meters Centerline goodness [0,1] 0.9998468639933495 Centerline is valid? [True, True] Translation: X:69.46, Y:1.02, Z:0.84 [[ 9.99637712e-01 -1.91551187e-02 -1.89083493e-02 6.94561416e+01] [ 1.91599486e-02 9.99816429e-01 7.42950857e-05 1.01686831e+00] [ 1.89034552e-02 -4.36551170e-04 9.99821218e-01 8.37144504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.49, Y:1.02, Z:0.84 [[ 9.99652164e-01 -1.91061592e-02 -1.81797989e-02 6.94861437e+01] [ 1.91106048e-02 9.99817373e-01 7.08228298e-05 1.01937450e+00] [ 1.81751256e-02 -4.18225147e-04 9.99834731e-01 8.41562891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.480385723 meters Centerline goodness [0,1] 0.9998462856013527 Centerline is valid? [True, True] Translation: X:69.52, Y:1.02, Z:0.84 [[ 9.99664151e-01 -1.86995781e-02 -1.79418724e-02 6.95169235e+01] [ 1.87038331e-02 9.99825066e-01 6.93664007e-05 1.02007802e+00] [ 1.79374367e-02 -4.04924892e-04 9.99839029e-01 8.39260779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.55, Y:1.02, Z:0.84 [[ 9.99664287e-01 -1.90431544e-02 -1.75690781e-02 6.95465020e+01] [ 1.90472867e-02 9.99818582e-01 6.78830529e-05 1.02019775e+00] [ 1.75645981e-02 -4.02503531e-04 9.99845650e-01 8.42456381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.540385723 meters Centerline goodness [0,1] 0.9998029297773107 Centerline is valid? [True, True] Translation: X:69.58, Y:1.02, Z:0.84 [[ 9.99664778e-01 -1.84543195e-02 -1.81595441e-02 6.95763002e+01] [ 1.84586313e-02 9.99829623e-01 6.98360713e-05 1.02050130e+00] [ 1.81551614e-02 -4.05012990e-04 9.99835099e-01 8.38757881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.570385723 meters Centerline goodness [0,1] 0.9998679112363509 Centerline is valid? [True, True] Translation: X:69.61, Y:1.02, Z:0.84 [[ 9.99679844e-01 -1.85737899e-02 -1.71820769e-02 6.96060851e+01] [ 1.85776620e-02 9.99827418e-01 6.57572265e-05 1.02037954e+00] [ 1.71778902e-02 -3.84938991e-04 9.99852375e-01 8.39860779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.600385723 meters Centerline goodness [0,1] 0.999802145620823 Centerline is valid? [True, True] Translation: X:69.64, Y:1.02, Z:0.84 [[ 9.99690572e-01 -1.83715669e-02 -1.67703763e-02 6.96363984e+01] [ 1.83752186e-02 9.99831159e-01 6.36698630e-05 1.02063483e+00] [ 1.67663751e-02 -3.71809492e-04 9.99859365e-01 8.39902628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63038572299999 meters Centerline goodness [0,1] 0.9998242839571253 Centerline is valid? [True, True] Translation: X:69.67, Y:1.02, Z:0.84 [[ 9.99686106e-01 -1.96772069e-02 -1.55079872e-02 6.96659273e+01] [ 1.96804863e-02 9.99806319e-01 5.88715402e-05 1.02039381e+00] [ 1.55038251e-02 -3.64057790e-04 9.99879742e-01 8.41164061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66038572299999 meters Centerline goodness [0,1] 0.9998898411509397 Centerline is valid? [True, True] Translation: X:69.70, Y:1.02, Z:0.84 [[ 9.99672931e-01 -2.08736272e-02 -1.47757139e-02 6.96968998e+01] [ 2.08767310e-02 9.99782056e-01 5.58302544e-05 1.02155023e+00] [ 1.47713282e-02 -3.64280598e-04 9.99890832e-01 8.42716542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.73, Y:1.02, Z:0.85 [[ 9.99663599e-01 -2.18828460e-02 -1.39223106e-02 6.97288586e+01] [ 2.18857051e-02 9.99760478e-01 5.30191438e-05 1.02124751e+00] [ 1.39178157e-02 -3.57700893e-04 9.99903079e-01 8.45217427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72038572299999 meters Centerline goodness [0,1] 0.999846417131072 Centerline is valid? [True, True] Translation: X:69.76, Y:1.02, Z:0.84 [[ 9.99624241e-01 -2.33193048e-02 -1.44078817e-02 6.97610088e+01] [ 2.33225311e-02 9.99727991e-01 5.59237014e-05 1.02055299e+00] [ 1.44026585e-02 -3.91930958e-04 9.99896200e-01 8.42447784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.79, Y:1.02, Z:0.84 [[ 9.99601685e-01 -2.40302083e-02 -1.47993340e-02 6.97936344e+01] [ 2.40337062e-02 9.99711147e-01 5.85220468e-05 1.02031846e+00] [ 1.47936529e-02 -4.14181581e-04 9.99890482e-01 8.44675965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.83, Y:1.02, Z:0.84 [[ 9.99578835e-01 -2.34805945e-02 -1.70532614e-02 6.98260017e+01] [ 2.34851826e-02 9.99724183e-01 6.88074648e-05 1.02173079e+00] [ 1.70469422e-02 -4.69277445e-04 9.99854580e-01 8.42806375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.810385723 meters Centerline goodness [0,1] 0.9998678850600022 Centerline is valid? [True, True] Translation: X:69.86, Y:1.02, Z:0.84 [[ 9.99581659e-01 -2.21992319e-02 -1.85391689e-02 6.98560732e+01] [ 2.22044572e-02 9.99753448e-01 7.60329947e-05 1.02293070e+00] [ 1.85329102e-02 -4.87653370e-04 9.99828132e-01 8.40024015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.89, Y:1.03, Z:0.84 [[ 9.99589993e-01 -2.12824832e-02 -1.91546942e-02 6.98872451e+01] [ 2.12879011e-02 9.99773384e-01 7.89706428e-05 1.02546283e+00] [ 1.91486728e-02 -4.86701500e-04 9.99816529e-01 8.42787071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.870385723 meters Centerline goodness [0,1] 0.9999114848417792 Centerline is valid? [True, True] Translation: X:69.92, Y:1.03, Z:0.84 [[ 9.99616358e-01 -1.94054733e-02 -1.97627209e-02 6.99176597e+01] [ 1.94108849e-02 9.99811588e-01 8.20217625e-05 1.02847211e+00] [ 1.97574057e-02 -4.65602196e-04 9.99804695e-01 8.41498737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.95, Y:1.03, Z:0.84 [[ 9.99677529e-01 -1.64202354e-02 -1.93704384e-02 6.99471273e+01] [ 1.64248713e-02 9.99865099e-01 8.02474453e-05 1.03273336e+00] [ 1.93665076e-02 -3.98378526e-04 9.99812372e-01 8.43943390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.930385723 meters Centerline goodness [0,1] 0.9998217429087101 Centerline is valid? [True, True] Translation: X:69.98, Y:1.03, Z:0.84 [[ 9.99720774e-01 -1.47753868e-02 -1.84407675e-02 6.99754885e+01] [ 1.47792844e-02 9.99890778e-01 7.50847551e-05 1.03367873e+00] [ 1.84376439e-02 -3.47605136e-04 9.99829952e-01 8.41772832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.960385723 meters Centerline goodness [0,1] 0.999865891819401 Centerline is valid? [True, True] Translation: X:70.00, Y:1.04, Z:0.84 [[ 9.99777137e-01 -1.23961767e-02 -1.70883272e-02 7.00038147e+01] [ 1.23991083e-02 9.99923126e-01 6.56178689e-05 1.03655589e+00] [ 1.70862002e-02 -2.77483266e-04 9.99853982e-01 8.42643793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.990385723 meters Centerline goodness [0,1] 0.9997987927565393 Centerline is valid? [True, True] Translation: X:70.03, Y:1.04, Z:0.84 [[ 9.99786171e-01 -1.15182922e-02 -1.71738800e-02 7.00312070e+01] [ 1.15210551e-02 9.99933629e-01 6.19464808e-05 1.03775944e+00] [ 1.71720266e-02 -2.59794452e-04 9.99852516e-01 8.42766245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02038572299999 meters Centerline goodness [0,1] 0.9997993981945837 Centerline is valid? [True, True] Translation: X:70.06, Y:1.04, Z:0.84 [[ 9.99790369e-01 -1.12974300e-02 -1.70759059e-02 7.00585128e+01] [ 1.13001036e-02 9.99936150e-01 6.00902685e-05 1.03937279e+00] [ 1.70741368e-02 -2.53037177e-04 9.99854194e-01 8.43911681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.09, Y:1.04, Z:0.85 [[ 9.99782665e-01 -1.23792353e-02 -1.67743117e-02 7.00875239e+01] [ 1.23819391e-02 9.99923339e-01 5.73360457e-05 1.04230581e+00] [ 1.67723160e-02 -2.65022089e-04 9.99859300e-01 8.48513409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08038572299999 meters Centerline goodness [0,1] 0.9998207323085196 Centerline is valid? [True, True] Translation: X:70.11, Y:1.04, Z:0.85 [[ 9.99781090e-01 -1.22843863e-02 -1.69371243e-02 7.01149279e+01] [ 1.22870621e-02 9.99924510e-01 5.39264662e-05 1.04056958e+00] [ 1.69351832e-02 -2.62022158e-04 9.99856555e-01 8.45106472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.110385723 meters Centerline goodness [0,1] 0.9998655130676469 Centerline is valid? [True, True] Translation: X:70.14, Y:1.04, Z:0.85 [[ 9.99778507e-01 -1.31277399e-02 -1.64499289e-02 7.01432020e+01] [ 1.31303549e-02 9.99913792e-01 5.09678255e-05 1.03984257e+00] [ 1.64478417e-02 -2.66949941e-04 9.99864689e-01 8.45447261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.140385723 meters Centerline goodness [0,1] 0.9998882481784453 Centerline is valid? [True, True] Translation: X:70.17, Y:1.04, Z:0.85 [[ 9.99774522e-01 -1.50156789e-02 -1.50144638e-02 7.01716501e+01] [ 1.50180527e-02 9.99887222e-01 4.53556291e-05 1.03872838e+00] [ 1.50120894e-02 -2.70833411e-04 9.99887276e-01 8.46427992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.170385723 meters Centerline goodness [0,1] 0.9999776910206358 Centerline is valid? [True, True] Translation: X:70.20, Y:1.04, Z:0.85 [[ 9.99748335e-01 -1.67090328e-02 -1.49691536e-02 7.02012829e+01] [ 1.67115258e-02 9.99860352e-01 4.14665266e-05 1.03806526e+00] [ 1.49663704e-02 -2.91613489e-04 9.99887955e-01 8.49669104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.200385723 meters Centerline goodness [0,1] 0.9998880755713742 Centerline is valid? [True, True] Translation: X:70.23, Y:1.04, Z:0.85 [[ 9.99688796e-01 -1.93966862e-02 -1.56869259e-02 7.02319172e+01] [ 1.93997504e-02 9.99811806e-01 4.31750735e-05 1.03841469e+00] [ 1.56831363e-02 -3.47484085e-04 9.99876952e-01 8.48740289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.26, Y:1.04, Z:0.85 [[ 9.99650997e-01 -2.07257338e-02 -1.63807151e-02 7.02628175e+01] [ 2.07292541e-02 9.99785125e-01 4.51267028e-05 1.03833907e+00] [ 1.63762600e-02 -3.84670960e-04 9.99865826e-01 8.51223051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.260385723 meters Centerline goodness [0,1] 0.9999776206248322 Centerline is valid? [True, True] Translation: X:70.29, Y:1.04, Z:0.85 [[ 9.99630729e-01 -2.15547037e-02 -1.65469321e-02 7.02943788e+01] [ 2.15584190e-02 9.99767589e-01 4.61709382e-05 1.03679813e+00] [ 1.65420912e-02 -4.02879584e-04 9.99863089e-01 8.50045352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.290385723 meters Centerline goodness [0,1] 0.9999776206248322 Centerline is valid? [True, True] Translation: X:70.33, Y:1.04, Z:0.85 [[ 9.99632236e-01 -2.14846859e-02 -1.65469303e-02 7.03260848e+01] [ 2.14884021e-02 9.99769097e-01 4.67969386e-05 1.03665202e+00] [ 1.65421041e-02 -4.02346819e-04 9.99863089e-01 8.50526539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.320385723 meters Centerline goodness [0,1] 0.9999777019644569 Centerline is valid? [True, True] Translation: X:70.36, Y:1.03, Z:0.85 [[ 9.99608479e-01 -2.20005851e-02 -1.72876778e-02 7.03572576e+01] [ 2.20047396e-02 9.99757865e-01 5.01127893e-05 1.03431081e+00] [ 1.72823893e-02 -4.30504017e-04 9.99850556e-01 8.48807074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.350385723 meters Centerline goodness [0,1] 0.9997770743234206 Centerline is valid? [True, True] Translation: X:70.39, Y:1.03, Z:0.85 [[ 9.99604390e-01 -2.12517442e-02 -1.84235270e-02 7.03891479e+01] [ 2.12563535e-02 9.99774057e-01 5.43777668e-05 1.03422300e+00] [ 1.84182087e-02 -4.45973257e-04 9.99830271e-01 8.45022398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38038572299999 meters Centerline goodness [0,1] 0.9998211531152892 Centerline is valid? [True, True] Translation: X:70.42, Y:1.04, Z:0.85 [[ 9.99578871e-01 -2.04882493e-02 -2.05502294e-02 7.04191379e+01] [ 2.04938371e-02 9.99789977e-01 6.13220987e-05 1.03557627e+00] [ 2.05446570e-02 -4.82449326e-04 9.99788820e-01 8.45005622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41038572299999 meters Centerline goodness [0,1] 0.9997539810341742 Centerline is valid? [True, True] Translation: X:70.45, Y:1.04, Z:0.85 [[ 9.99586795e-01 -1.97507439e-02 -2.08841631e-02 7.04491945e+01] [ 1.97563497e-02 9.99804822e-01 6.21175490e-05 1.03818044e+00] [ 2.08788601e-02 -4.74686710e-04 9.99781900e-01 8.45530407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44038572299999 meters Centerline goodness [0,1] 0.999843246148334 Centerline is valid? [True, True] Translation: X:70.48, Y:1.04, Z:0.85 [[ 9.99611721e-01 -1.88890637e-02 -2.04843913e-02 7.04781898e+01] [ 1.88942596e-02 9.99821486e-01 6.01254507e-05 1.03855542e+00] [ 2.04795988e-02 -4.47139513e-04 9.99790171e-01 8.47599005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47038572299999 meters Centerline goodness [0,1] 0.9997981610226508 Centerline is valid? [True, True] Translation: X:70.51, Y:1.04, Z:0.85 [[ 9.99706273e-01 -1.51334044e-02 -1.89300874e-02 7.05080552e+01] [ 1.51371521e-02 9.99885425e-01 5.46974788e-05 1.04249431e+00] [ 1.89270907e-02 -3.41229025e-04 9.99820808e-01 8.49477273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:1.04, Z:0.85 [[ 9.99747047e-01 -1.35788020e-02 -1.79292766e-02 7.05366391e+01] [ 1.35819025e-02 9.99907760e-01 5.11656653e-05 1.04354365e+00] [ 1.79269280e-02 -2.94666409e-04 9.99839256e-01 8.54543872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.530385723 meters Centerline goodness [0,1] 0.9998653500897666 Centerline is valid? [True, True] Translation: X:70.57, Y:1.04, Z:0.85 [[ 9.99840952e-01 -8.24503052e-03 -1.58142436e-02 7.05657679e+01] [ 8.24676386e-03 9.99965994e-01 4.43961094e-05 1.04421254e+00] [ 1.58133398e-02 -1.74805381e-04 9.99874946e-01 8.52686961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.560385723 meters Centerline goodness [0,1] 0.9998880830871161 Centerline is valid? [True, True] Translation: X:70.59, Y:1.04, Z:0.85 [[ 9.99855295e-01 -6.60636839e-03 -1.56762283e-02 7.05934176e+01] [ 6.60785339e-03 9.99978167e-01 4.29343790e-05 1.04469544e+00] [ 1.56756024e-02 -1.46514384e-04 9.99877119e-01 8.53574484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.590385723 meters Centerline goodness [0,1] 0.9999099281677137 Centerline is valid? [True, True] Translation: X:70.62, Y:1.05, Z:0.86 [[ 9.99868746e-01 -4.16657202e-03 -1.56566250e-02 7.06221910e+01] [ 4.16773233e-03 9.99991314e-01 4.14822092e-05 1.04832350e+00] [ 1.56563161e-02 -1.06729387e-04 9.99877427e-01 8.55955960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.620385723 meters Centerline goodness [0,1] 0.9998650411624455 Centerline is valid? [True, True] Translation: X:70.65, Y:1.05, Z:0.86 [[ 9.99872372e-01 -3.05574678e-03 -1.56812517e-02 7.06498806e+01] [ 3.05671609e-03 9.99995328e-01 3.78456033e-05 1.04885330e+00] [ 1.56810628e-02 -8.57739076e-05 9.99877041e-01 8.55330356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.650385723 meters Centerline goodness [0,1] 0.9999549772635181 Centerline is valid? [True, True] Translation: X:70.68, Y:1.05, Z:0.86 [[ 9.99868626e-01 -2.97895070e-03 -1.59328986e-02 7.06773015e+01] [ 2.97987128e-03 9.99995560e-01 3.40386066e-05 1.04815248e+00] [ 1.59327264e-02 -8.15121218e-05 9.99873063e-01 8.56525062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.680385723 meters Centerline goodness [0,1] 0.9998203014443271 Centerline is valid? [True, True] Translation: X:70.70, Y:1.05, Z:0.85 [[ 9.99865794e-01 -2.00063751e-03 -1.62601269e-02 7.07047662e+01] [ 2.00139467e-03 9.99997997e-01 3.02929614e-05 1.04593928e+00] [ 1.62600337e-02 -6.28318272e-05 9.99867795e-01 8.53822208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.710385723 meters Centerline goodness [0,1] 0.9998434809829394 Centerline is valid? [True, True] Translation: X:70.73, Y:1.04, Z:0.85 [[ 9.99843259e-01 -2.20492185e-03 -1.75668654e-02 7.07325699e+01] [ 2.20579083e-03 9.99997567e-01 3.00912520e-05 1.04333198e+00] [ 1.75667563e-02 -6.88353661e-05 9.99845690e-01 8.53973246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.740385723 meters Centerline goodness [0,1] 0.9998880028671266 Centerline is valid? [True, True] Translation: X:70.76, Y:1.04, Z:0.86 [[ 9.99838122e-01 -2.55849995e-03 -1.78096728e-02 7.07596502e+01] [ 2.55936812e-03 9.99996724e-01 2.59545706e-05 1.04293150e+00] [ 1.78095481e-02 -7.15318779e-05 9.99841395e-01 8.55373198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77038572299999 meters Centerline goodness [0,1] 0.9998211890925346 Centerline is valid? [True, True] Translation: X:70.79, Y:1.04, Z:0.86 [[ 9.99841196e-01 -2.51765394e-03 -1.76421310e-02 7.07865654e+01] [ 2.51846269e-03 9.99996828e-01 2.36248138e-05 1.04208401e+00] [ 1.76420156e-02 -6.80521108e-05 9.99844365e-01 8.55459706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80038572299999 meters Centerline goodness [0,1] 0.9998658618376928 Centerline is valid? [True, True] Translation: X:70.81, Y:1.04, Z:0.86 [[ 9.99845274e-01 -2.55402558e-03 -1.74041923e-02 7.08131653e+01] [ 2.55478279e-03 9.99996736e-01 2.12736634e-05 1.04103002e+00] [ 1.74040812e-02 -6.57343028e-05 9.99848535e-01 8.56646698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83038572299999 meters Centerline goodness [0,1] 0.9997990443442147 Centerline is valid? [True, True] Translation: X:70.84, Y:1.04, Z:0.86 [[ 9.99841579e-01 -2.49075801e-03 -1.76242341e-02 7.08406226e+01] [ 2.49148146e-03 9.99996896e-01 1.90917472e-05 1.03936358e+00] [ 1.76241318e-02 -6.29991750e-05 9.99844681e-01 8.55657125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.860385723 meters Centerline goodness [0,1] 0.9997547598876354 Centerline is valid? [True, True] Translation: X:70.87, Y:1.04, Z:0.85 [[ 9.99814213e-01 -2.54533462e-03 -1.91065427e-02 7.08683219e+01] [ 2.54610486e-03 9.99996759e-01 1.59870334e-05 1.03599510e+00] [ 1.91064400e-02 -6.46313243e-05 9.99817453e-01 8.54164078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.890385723 meters Centerline goodness [0,1] 0.9997991654207484 Centerline is valid? [True, True] Translation: X:70.90, Y:1.03, Z:0.86 [[ 9.99802598e-01 -3.38588916e-03 -1.95780810e-02 7.08968326e+01] [ 3.38682796e-03 9.99994265e-01 1.47947931e-05 1.03492439e+00] [ 1.95779186e-02 -8.10994647e-05 9.99808331e-01 8.55496433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.920385723 meters Centerline goodness [0,1] 0.9999111723035242 Centerline is valid? [True, True] Translation: X:70.93, Y:1.03, Z:0.86 [[ 9.99801811e-01 -4.26357637e-03 -1.94463534e-02 7.09259072e+01] [ 4.26464279e-03 9.99990906e-01 1.33695521e-05 1.03369186e+00] [ 1.94461196e-02 -9.62986532e-05 9.99810902e-01 8.58415366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.950385723 meters Centerline goodness [0,1] 0.9999114593709189 Centerline is valid? [True, True] Translation: X:70.95, Y:1.03, Z:0.86 [[ 9.99821564e-01 -6.20315901e-03 -1.78426585e-02 7.09543924e+01] [ 6.20434525e-03 9.99980753e-01 1.11281559e-05 1.03116768e+00] [ 1.78422460e-02 -1.21828184e-04 9.99840807e-01 8.60803834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.980385723 meters Centerline goodness [0,1] 0.9999778726793973 Centerline is valid? [True, True] Translation: X:70.98, Y:1.03, Z:0.86 [[ 9.99819956e-01 -7.13806290e-03 -1.75813323e-02 7.09820393e+01] [ 7.13933733e-03 9.99974515e-01 9.72361953e-06 1.02965748e+00] [ 1.75808148e-02 -1.35240931e-04 9.99845436e-01 8.63507674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.010385723 meters Centerline goodness [0,1] 0.9998237730196493 Centerline is valid? [True, True] Translation: X:71.01, Y:1.03, Z:0.86 [[ 9.99822819e-01 -8.12981520e-03 -1.69775070e-02 7.10103798e+01] [ 8.13111664e-03 9.99966942e-01 7.62901860e-06 1.02613362e+00] [ 1.69768838e-02 -1.45673757e-04 9.99855872e-01 8.61082568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.040385723 meters Centerline goodness [0,1] 0.9998238195912614 Centerline is valid? [True, True] Translation: X:71.04, Y:1.02, Z:0.86 [[ 9.99816022e-01 -8.86577757e-03 -1.70094217e-02 7.10385821e+01] [ 8.86710924e-03 9.99960686e-01 2.87277595e-06 1.02454003e+00] [ 1.70087276e-02 -1.53696648e-04 9.99855329e-01 8.61051310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.070385723 meters Centerline goodness [0,1] 0.9997582683221624 Centerline is valid? [True, True] Translation: X:71.07, Y:1.02, Z:0.86 [[ 9.99814696e-01 -8.92936471e-03 -1.70540490e-02 7.10658809e+01] [ 8.93063568e-03 9.99960121e-01 -1.63108509e-06 1.02229102e+00] [ 1.70533835e-02 -1.50672716e-04 9.99854569e-01 8.60193127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.100385723 meters Centerline goodness [0,1] 0.9998458862640629 Centerline is valid? [True, True] Translation: X:71.09, Y:1.02, Z:0.86 [[ 9.99825664e-01 -8.80403374e-03 -1.64660160e-02 7.10933910e+01] [ 8.80516622e-03 9.99961234e-01 -3.72100150e-06 1.02226058e+00] [ 1.64654104e-02 -1.41265655e-04 9.99864426e-01 8.62238458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13038572299999 meters Centerline goodness [0,1] 0.9998020063357973 Centerline is valid? [True, True] Translation: X:71.12, Y:1.02, Z:0.86 [[ 9.99830952e-01 -8.38347616e-03 -1.63641195e-02 7.11207487e+01] [ 8.38446662e-03 9.99964850e-01 -8.08065058e-06 1.02151492e+00] [ 1.63636120e-02 -1.29125129e-04 9.99866099e-01 8.62523292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16038572299999 meters Centerline goodness [0,1] 0.9997807450283935 Centerline is valid? [True, True] Translation: X:71.15, Y:1.02, Z:0.86 [[ 9.99832367e-01 -8.05660973e-03 -1.64417125e-02 7.11483684e+01] [ 8.05752917e-03 9.99967538e-01 -1.03235443e-05 1.02075237e+00] [ 1.64412619e-02 -1.22157764e-04 9.99864826e-01 8.62921813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19038572299999 meters Centerline goodness [0,1] 0.9998468204297781 Centerline is valid? [True, True] Translation: X:71.18, Y:1.02, Z:0.86 [[ 9.99824745e-01 -7.29088194e-03 -1.72430180e-02 7.11752492e+01] [ 7.29169863e-03 9.99973415e-01 -1.55067289e-05 1.01789881e+00] [ 1.72426727e-02 -1.10226880e-04 9.99851328e-01 8.63999090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22038572299999 meters Centerline goodness [0,1] 0.9997371648852287 Centerline is valid? [True, True] Translation: X:71.20, Y:1.01, Z:0.86 [[ 9.99808223e-01 -6.68353923e-03 -1.84078297e-02 7.12017547e+01] [ 6.68432404e-03 9.99977659e-01 -1.88930716e-05 1.01446598e+00] [ 1.84075447e-02 -1.04154450e-04 9.99830561e-01 8.61790182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.250385723 meters Centerline goodness [0,1] 0.9998243032525861 Centerline is valid? [True, True] Translation: X:71.23, Y:1.01, Z:0.86 [[ 9.99800235e-01 -6.08439494e-03 -1.90386427e-02 7.12294943e+01] [ 6.08507031e-03 9.99981486e-01 -2.24576552e-05 1.01392204e+00] [ 1.90384269e-02 -9.33983106e-05 9.99818748e-01 8.63205272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.280385723 meters Centerline goodness [0,1] 0.9998463159743567 Centerline is valid? [True, True] Translation: X:71.26, Y:1.01, Z:0.86 [[ 9.99784401e-01 -5.45193761e-03 -2.00356580e-02 7.12576557e+01] [ 5.45244483e-03 9.99985135e-01 -2.93117042e-05 1.01394898e+00] [ 2.00355199e-02 -7.99379351e-05 9.99799266e-01 8.64374995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.310385723 meters Centerline goodness [0,1] 0.9998689212216542 Centerline is valid? [True, True] Translation: X:71.29, Y:1.01, Z:0.86 [[ 9.99788408e-01 -4.39245411e-03 -2.00959004e-02 7.12853248e+01] [ 4.39263640e-03 9.99990352e-01 -3.50707201e-05 1.01358323e+00] [ 2.00958606e-02 -5.32106844e-05 9.99798056e-01 8.64988956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.340385723 meters Centerline goodness [0,1] 0.9998251442559888 Centerline is valid? [True, True] Translation: X:71.31, Y:1.01, Z:0.86 [[ 9.99815936e-01 -1.47835619e-03 -1.91287350e-02 7.13134285e+01] [ 1.47788940e-03 9.99998907e-01 -3.85388946e-05 1.01124309e+00] [ 1.91287711e-02 1.02616464e-05 9.99817028e-01 8.64615965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.370385723 meters Centerline goodness [0,1] 0.9998692753496884 Centerline is valid? [True, True] Translation: X:71.34, Y:1.01, Z:0.87 [[ 9.99816994e-01 -1.34900280e-04 -1.91300801e-02 7.13412495e+01] [ 1.34085303e-04 9.99999990e-01 -4.38845338e-05 1.00999448e+00] [ 1.91300858e-02 4.13114401e-05 9.99817002e-01 8.65634104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.400385723 meters Centerline goodness [0,1] 0.9998691156581301 Centerline is valid? [True, True] Translation: X:71.37, Y:1.01, Z:0.87 [[ 9.99827608e-01 2.57669713e-03 -1.83878745e-02 7.13685179e+01] [-2.57799085e-03 9.99996676e-01 -4.66540165e-05 1.00879179e+00] [ 1.83876931e-02 9.40497459e-05 9.99830928e-01 8.67616733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.430385723 meters Centerline goodness [0,1] 0.9998472682841683 Centerline is valid? [True, True] Translation: X:71.40, Y:1.01, Z:0.87 [[ 9.99824437e-01 3.40252891e-03 -1.84260098e-02 7.13968606e+01] [-3.40400900e-03 9.99994205e-01 -4.89627253e-05 1.00860227e+00] [ 1.84257364e-02 1.11676432e-04 9.99830225e-01 8.68838678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.460385723 meters Centerline goodness [0,1] 0.9998693635829214 Centerline is valid? [True, True] Translation: X:71.42, Y:1.01, Z:0.87 [[ 9.99810329e-01 3.84446010e-03 -1.90925881e-02 7.14244489e+01] [-3.84616076e-03 9.99992602e-01 -5.23550485e-05 1.00904300e+00] [ 1.90922455e-02 1.25778281e-04 9.99817719e-01 8.69804942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.490385723 meters Centerline goodness [0,1] 0.9999132339862475 Centerline is valid? [True, True] Translation: X:71.45, Y:1.00, Z:0.87 [[ 9.99819866e-01 3.37881918e-03 -1.86766939e-02 7.14532096e+01] [-3.38040648e-03 9.99994285e-01 -5.34186868e-05 1.00372952e+00] [ 1.86764066e-02 1.16543881e-04 9.99825574e-01 8.69731889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52038572299999 meters Centerline goodness [0,1] 0.999739921976593 Centerline is valid? [True, True] Translation: X:71.48, Y:1.00, Z:0.87 [[ 9.99830054e-01 2.94680212e-03 -1.81983524e-02 7.14818536e+01] [-2.94825994e-03 9.99995652e-01 -5.32788267e-05 9.99404692e-01] [ 1.81981163e-02 1.06923246e-04 9.99834395e-01 8.66804551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55038572299999 meters Centerline goodness [0,1] 0.9998487304159913 Centerline is valid? [True, True] Translation: X:71.51, Y:0.99, Z:0.87 [[ 9.99863925e-01 2.23237647e-03 -1.63446377e-02 7.15108072e+01] [-2.23347365e-03 9.99997505e-01 -4.88740544e-05 9.91780314e-01] [ 1.63444878e-02 8.53727216e-05 9.99866416e-01 8.68842652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58038572299999 meters Centerline goodness [0,1] 0.999784445594068 Centerline is valid? [True, True] Translation: X:71.54, Y:0.99, Z:0.87 [[ 9.99879334e-01 2.60993053e-03 -1.53136084e-02 7.15384674e+01] [-2.61095359e-03 9.99996590e-01 -4.68146209e-05 9.89725999e-01] [ 1.53134341e-02 8.67920928e-05 9.99882739e-01 8.69254052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.610385723 meters Centerline goodness [0,1] 0.9999143707319161 Centerline is valid? [True, True] Translation: X:71.57, Y:0.99, Z:0.87 [[ 9.99872131e-01 3.70684535e-03 -1.55557128e-02 7.15663802e+01] [-3.70805971e-03 9.99993124e-01 -4.92236956e-05 9.88990543e-01] [ 1.55554234e-02 1.06898913e-04 9.99879001e-01 8.73189947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.59, Y:0.99, Z:0.88 [[ 9.99857497e-01 5.70394037e-03 -1.58886939e-02 7.15947025e+01] [-5.70548385e-03 9.99983722e-01 -5.18154383e-05 9.85407142e-01] [ 1.58881397e-02 1.42460741e-04 9.99873765e-01 8.77416348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.670385723 meters Centerline goodness [0,1] 0.9999141538791716 Centerline is valid? [True, True] Translation: X:71.62, Y:0.98, Z:0.87 [[ 9.99854201e-01 6.78123139e-03 -1.56713835e-02 7.16220277e+01] [-6.78292503e-03 9.99976994e-01 -5.49214894e-05 9.82894225e-01] [ 1.56706506e-02 1.61211301e-04 9.99877195e-01 8.74901788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.700385723 meters Centerline goodness [0,1] 0.9998290379108433 Centerline is valid? [True, True] Translation: X:71.65, Y:0.97, Z:0.87 [[ 9.99845334e-01 7.84535854e-03 -1.57403338e-02 7.16501244e+01] [-7.84722569e-03 9.99969208e-01 -5.68620438e-05 9.74210284e-01] [ 1.57394031e-02 1.80371201e-04 9.99876112e-01 8.71331064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.730385723 meters Centerline goodness [0,1] 0.9997881355932203 Centerline is valid? [True, True] Translation: X:71.68, Y:0.97, Z:0.87 [[ 9.99846613e-01 7.91359086e-03 -1.56245282e-02 7.16777562e+01] [-7.91547048e-03 9.99968670e-01 -5.84607250e-05 9.69770837e-01] [ 1.56235760e-02 1.82127250e-04 9.99877928e-01 8.70290947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.760385723 meters Centerline goodness [0,1] 0.9998297799906379 Centerline is valid? [True, True] Translation: X:71.71, Y:0.97, Z:0.87 [[ 9.99851413e-01 7.79292159e-03 -1.53760370e-02 7.17052655e+01] [-7.79475177e-03 9.99969619e-01 -5.91010788e-05 9.65141614e-01] [ 1.53751093e-02 1.78944689e-04 9.99881780e-01 8.71342472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.73, Y:0.96, Z:0.88 [[ 9.99854084e-01 7.16477943e-03 -1.55073339e-02 7.17325865e+01] [-7.16659111e-03 9.99974318e-01 -6.12592387e-05 9.59392338e-01] [ 1.55064967e-02 1.72385021e-04 9.99879752e-01 8.77129556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.820385723 meters Centerline goodness [0,1] 0.9998727681411426 Centerline is valid? [True, True] Translation: X:71.76, Y:0.96, Z:0.87 [[ 9.99867300e-01 6.34668553e-03 -1.50033690e-02 7.17614483e+01] [-6.34830841e-03 9.99979847e-01 -6.05436171e-05 9.55382667e-01] [ 1.50026824e-02 1.55781597e-04 9.99887441e-01 8.73356705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.850385723 meters Centerline goodness [0,1] 0.9999578148070027 Centerline is valid? [True, True] Translation: X:71.79, Y:0.94, Z:0.87 [[ 9.99858776e-01 3.62437322e-03 -1.64101299e-02 7.17896764e+01] [-3.62596874e-03 9.99993424e-01 -6.74753549e-05 9.44034526e-01] [ 1.64097774e-02 1.26968444e-04 9.99865342e-01 8.73788576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88038572299999 meters Centerline goodness [0,1] 0.999873795801607 Centerline is valid? [True, True] Translation: X:71.82, Y:0.94, Z:0.87 [[ 9.99877098e-01 2.19709020e-03 -1.55229241e-02 7.18177890e+01] [-2.19836545e-03 9.99997581e-01 -6.50899556e-05 9.37802391e-01] [ 1.55227436e-02 9.92070160e-05 9.99879510e-01 8.71761196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91038572299999 meters Centerline goodness [0,1] 0.9998543790305804 Centerline is valid? [True, True] Translation: X:71.85, Y:0.93, Z:0.87 [[ 9.99900604e-01 2.80018099e-05 -1.40989995e-02 7.18451438e+01] [-2.88534665e-05 9.99999998e-01 -6.02020524e-05 9.27068340e-01] [ 1.40989978e-02 6.06028735e-05 9.99900602e-01 8.72935552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.87, Y:0.92, Z:0.88 [[ 9.99886657e-01 -1.07147864e-03 -1.50174607e-02 7.18735738e+01] [ 1.07061608e-03 9.99999425e-01 -6.54763447e-05 9.22672229e-01] [ 1.50175222e-02 4.93909885e-05 9.99887229e-01 8.79026570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97038572299999 meters Centerline goodness [0,1] 0.9998957399336906 Centerline is valid? [True, True] Translation: X:71.90, Y:0.92, Z:0.88 [[ 9.99906317e-01 -1.34379250e-03 -1.36216999e-02 7.19017570e+01] [ 1.34310122e-03 9.99999096e-01 -5.98967769e-05 9.19165023e-01] [ 1.36217681e-02 4.15958438e-05 9.99907219e-01 8.76318166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.000385723 meters Centerline goodness [0,1] 0.999937462216756 Centerline is valid? [True, True] Translation: X:71.93, Y:0.91, Z:0.88 [[ 9.99929028e-01 1.09243280e-03 -1.18636031e-02 7.19298860e+01] [-1.09316976e-03 9.99999401e-01 -5.56345687e-05 9.13547131e-01] [ 1.18635352e-02 6.85995523e-05 9.99929623e-01 8.80161096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.030385723 meters Centerline goodness [0,1] 0.9999168969314192 Centerline is valid? [True, True] Translation: X:71.96, Y:0.91, Z:0.88 [[ 9.99935511e-01 3.60431272e-03 -1.07695672e-02 7.19572724e+01] [-3.60507274e-03 9.99993500e-01 -5.11588686e-05 9.10719510e-01] [ 1.07693128e-02 8.99806425e-05 9.99942005e-01 8.80497571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.98, Y:0.91, Z:0.88 [[ 9.99880566e-01 1.00471828e-02 -1.17434191e-02 7.19844911e+01] [-1.00485492e-02 9.99949510e-01 -5.73613304e-05 9.05414937e-01] [ 1.17422498e-02 1.75358804e-04 9.99931042e-01 8.82909480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.01, Y:0.90, Z:0.88 [[ 9.99841464e-01 1.33789861e-02 -1.17494106e-02 7.20133609e+01] [-1.33806010e-02 9.99910474e-01 -5.88488489e-05 9.00130316e-01] [ 1.17475714e-02 2.16053695e-04 9.99930972e-01 8.81948771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.04, Y:0.90, Z:0.88 [[ 9.99795093e-01 1.66030442e-02 -1.15806677e-02 7.20412003e+01] [-1.66048671e-02 9.99862128e-01 -6.12732826e-05 8.99261308e-01] [ 1.15780537e-02 2.53556176e-04 9.99932940e-01 8.82902531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.07, Y:0.89, Z:0.88 [[ 9.99753378e-01 1.94676941e-02 -1.06860711e-02 7.20701098e+01] [-1.94694192e-02 9.99810451e-01 -5.74226562e-05 8.94822272e-01] [ 1.06829277e-02 2.65460093e-04 9.99942901e-01 8.84685465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.10, Y:0.90, Z:0.89 [[ 9.99755322e-01 1.93675897e-02 -1.06860681e-02 7.20975816e+01] [-1.93693152e-02 9.99812396e-01 -5.79872091e-05 8.95060513e-01] [ 1.06829402e-02 2.64954841e-04 9.99942901e-01 8.85102874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.13, Y:0.88, Z:0.89 [[ 9.99707579e-01 2.33869344e-02 -6.14886250e-03 7.21269095e+01] [-2.33875828e-02 9.99726473e-01 -3.35596002e-05 8.83287056e-01] [ 6.14639576e-03 1.77356817e-04 9.99981095e-01 8.87641674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.15, Y:0.88, Z:0.89 [[ 9.99681993e-01 2.45509492e-02 -5.75879318e-03 7.21542509e+01] [-2.45515364e-02 9.99698565e-01 -3.12785719e-05 8.77309073e-01] [ 5.75628936e-03 1.72655845e-04 9.99983418e-01 8.88367932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.18, Y:0.87, Z:0.89 [[ 9.99672612e-01 2.49310575e-02 -5.75421782e-03 7.21828761e+01] [-2.49316576e-02 9.99689157e-01 -3.25695919e-05 8.69376280e-01] [ 5.75161717e-03 1.76021117e-04 9.99983444e-01 8.88370393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.21, Y:0.85, Z:0.89 [[ 9.99677120e-01 2.43005001e-02 -7.42578645e-03 7.22107882e+01] [-2.43014873e-02 9.99704674e-01 -4.27238786e-05 8.54346265e-01] [ 7.42255522e-03 2.23167739e-04 9.99972428e-01 8.88073579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.24, Y:0.85, Z:0.89 [[ 9.99686763e-01 2.35535916e-02 -8.46189051e-03 7.22397574e+01] [-2.35548555e-02 9.99722545e-01 -4.97212206e-05 8.46309008e-01] [ 8.45837160e-03 2.49024254e-04 9.99964196e-01 8.87725614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.27, Y:0.83, Z:0.89 [[ 9.99718426e-01 2.18615204e-02 -9.22726290e-03 7.22677528e+01] [-2.18629571e-02 9.99760975e-01 -5.48450344e-05 8.31319920e-01] [ 9.22385836e-03 2.56564844e-04 9.99957426e-01 8.87446189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.30, Y:0.82, Z:0.89 [[ 9.99743266e-01 2.09621861e-02 -8.60165898e-03 7.22969839e+01] [-2.09634077e-02 9.99780242e-01 -5.18814107e-05 8.23842768e-01] [ 8.59868115e-03 2.32188175e-04 9.99963004e-01 8.87967155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.32, Y:0.82, Z:0.89 [[ 9.99754763e-01 2.05389182e-02 -8.28046618e-03 7.23244620e+01] [-2.05400377e-02 9.99789030e-01 -5.01717640e-05 8.17286267e-01] [ 8.27768877e-03 2.20240548e-04 9.99965715e-01 8.89136276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.35, Y:0.81, Z:0.89 [[ 9.99771736e-01 2.02610245e-02 -6.77983972e-03 7.23529052e+01] [-2.02617741e-02 9.99794708e-01 -4.18930182e-05 8.09700854e-01] [ 6.77759908e-03 1.79255037e-04 9.99977016e-01 8.90075883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.38, Y:0.79, Z:0.89 [[ 9.99788987e-01 1.95113887e-02 -6.42556771e-03 7.23808524e+01] [-1.95120481e-02 9.99809621e-01 -3.99402670e-05 7.93939907e-01] [ 6.42356513e-03 1.65307825e-04 9.99979355e-01 8.91380865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.41, Y:0.79, Z:0.89 [[ 9.99787069e-01 1.95558621e-02 -6.58677363e-03 7.24083965e+01] [-1.95565589e-02 9.99808751e-01 -4.13832084e-05 7.86527798e-01] [ 6.58470463e-03 1.70189023e-04 9.99978306e-01 8.92230917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.44, Y:0.77, Z:0.89 [[ 9.99772031e-01 2.07518295e-02 -5.02463560e-03 7.24373684e+01] [-2.07522524e-02 9.99784648e-01 -3.20306271e-05 7.71475756e-01] [ 5.02288884e-03 1.36295831e-04 9.99987376e-01 8.94461881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.47, Y:0.77, Z:0.90 [[ 9.99752625e-01 2.18858598e-02 -3.96212383e-03 7.24654419e+01] [-2.18861311e-02 9.99760470e-01 -2.51244304e-05 7.66982925e-01] [ 3.96062491e-03 1.11833777e-04 9.99992150e-01 8.96843322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.49, Y:0.76, Z:0.90 [[ 9.99715119e-01 2.35709145e-02 -3.75400134e-03 7.24940327e+01] [-2.35711717e-02 9.99722161e-01 -2.42767776e-05 7.60169855e-01] [ 3.75238611e-03 1.12756072e-04 9.99992953e-01 8.98081260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.52, Y:0.75, Z:0.90 [[ 9.99630276e-01 2.67816939e-02 -4.69592688e-03 7.25224127e+01] [-2.67821343e-02 9.99641294e-01 -3.09220950e-05 7.46513675e-01] [ 4.69341428e-03 1.56677607e-04 9.99988974e-01 8.99312194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66038572299999 meters Centerline goodness [0,1] 0.9999792069531949 Centerline is valid? [True, True] Translation: X:72.55, Y:0.74, Z:0.90 [[ 9.99576400e-01 2.86937965e-02 -4.86697334e-03 7.25496994e+01] [-2.86942924e-02 9.99588234e-01 -3.20780815e-05 7.39658196e-01] [ 4.86404884e-03 1.71718849e-04 9.99988156e-01 8.99870516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.58, Y:0.71, Z:0.90 [[ 9.99490566e-01 3.17458515e-02 -3.28780111e-03 7.25793098e+01] [-3.17460954e-02 9.99495965e-01 -2.20129418e-05 7.14928791e-01] [ 3.28544512e-03 1.26376575e-04 9.99994595e-01 8.99109980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72038572299999 meters Centerline goodness [0,1] 0.9999791288376849 Centerline is valid? [True, True] Translation: X:72.61, Y:0.71, Z:0.90 [[ 9.99450673e-01 3.30588282e-02 -2.33794101e-03 7.26083183e+01] [-3.30589544e-02 9.99453403e-01 -1.53213407e-05 7.06789129e-01] [ 2.33615659e-03 9.26028094e-05 9.99997267e-01 9.00772490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.750385723 meters Centerline goodness [0,1] 0.9999584777960014 Centerline is valid? [True, True] Translation: X:72.64, Y:0.70, Z:0.90 [[ 9.99414131e-01 3.41499482e-02 -2.27481997e-03 7.26358200e+01] [-3.41500698e-02 9.99416716e-01 -1.46323235e-05 6.98768099e-01] [ 2.27299341e-03 9.23090118e-05 9.99997412e-01 9.01961868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.66, Y:0.68, Z:0.90 [[ 9.99380303e-01 3.49876689e-02 -3.85647653e-03 7.26635600e+01] [-3.49880310e-02 9.99387731e-01 -2.64549175e-05 6.81116670e-01] [ 3.85318973e-03 1.61369044e-04 9.99992563e-01 9.02437623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.69, Y:0.67, Z:0.90 [[ 9.99398518e-01 3.43824453e-02 -4.52214866e-03 7.26927904e+01] [-3.43829407e-02 9.99408731e-01 -3.18261315e-05 6.71768317e-01] [ 4.51838060e-03 1.87291758e-04 9.99989775e-01 9.02306215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.72, Y:0.65, Z:0.90 [[ 9.99514570e-01 3.05545359e-02 -6.08646412e-03 7.27218287e+01] [-3.05553690e-02 9.99533075e-01 -4.39222121e-05 6.51669679e-01] [ 6.08228017e-03 2.29875048e-04 9.99981476e-01 9.03179983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.75, Y:0.64, Z:0.90 [[ 9.99615730e-01 2.71561382e-02 -5.56201893e-03 7.27515378e+01] [-2.71567822e-02 9.99631186e-01 -4.02829824e-05 6.40791538e-01] [ 5.55887365e-03 1.91314040e-04 9.99984531e-01 9.04444189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.78, Y:0.63, Z:0.91 [[ 9.99712759e-01 2.33613588e-02 -5.35219382e-03 7.27816401e+01] [-2.33619026e-02 9.99727073e-01 -3.90906442e-05 6.29735181e-01] [ 5.34981985e-03 1.64116846e-04 9.99985676e-01 9.05602587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.81, Y:0.62, Z:0.91 [[ 9.99801533e-01 1.92813314e-02 -5.01250731e-03 7.28113606e+01] [-1.92817565e-02 9.99814089e-01 -3.64908998e-05 6.16928970e-01] [ 5.01087183e-03 1.33133603e-04 9.99987437e-01 9.05515300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.84, Y:0.60, Z:0.91 [[ 9.99924279e-01 1.12349907e-02 -5.02098508e-03 7.28406821e+01] [-1.12353167e-02 9.99936881e-01 -3.67332269e-05 6.00475779e-01] [ 5.02025546e-03 9.31428030e-05 9.99987394e-01 9.06360168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.87, Y:0.59, Z:0.91 [[ 9.99957039e-01 7.97603130e-03 -4.72258763e-03 7.28694200e+01] [-7.97628441e-03 9.99968188e-01 -3.47644804e-05 5.92978910e-01] [ 4.72216012e-03 7.24316890e-05 9.99988848e-01 9.06861490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.90, Y:0.58, Z:0.91 [[ 9.99989718e-01 2.16497815e-03 -3.98456591e-03 7.28984558e+01] [-2.16511133e-03 9.99997656e-01 -2.91113567e-05 5.77433945e-01] [ 3.98449355e-03 3.77380861e-05 9.99992061e-01 9.07389003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.93, Y:0.57, Z:0.91 [[ 9.99992468e-01 1.40795306e-04 -3.87880038e-03 7.29277949e+01] [-1.40906139e-04 9.99999990e-01 -2.83007903e-05 5.69320057e-01] [ 3.87879636e-03 2.88471239e-05 9.99992477e-01 9.07152310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.96, Y:0.56, Z:0.91 [[ 9.99992240e-01 -1.61559395e-03 -3.59315120e-03 7.29563209e+01] [ 1.61550804e-03 9.99998695e-01 -2.68121068e-05 5.63701730e-01] [ 3.59318982e-03 2.10071341e-05 9.99993544e-01 9.07903353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.98, Y:0.56, Z:0.91 [[ 9.99988301e-01 -2.38012146e-03 -4.21103109e-03 7.29846141e+01] [ 2.38001013e-03 9.99997167e-01 -3.14487190e-05 5.55132821e-01] [ 4.21109401e-03 2.14260545e-05 9.99991133e-01 9.08674434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.01, Y:0.55, Z:0.91 [[ 9.99986748e-01 -1.69447277e-03 -4.86136510e-03 7.30135235e+01] [ 1.69431509e-03 9.99998564e-01 -3.65527800e-05 5.51399652e-01] [ 4.86142006e-03 2.83156114e-05 9.99988183e-01 9.08584365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.04, Y:0.55, Z:0.91 [[ 9.99983480e-01 -8.96010479e-04 -5.67783093e-03 7.30426697e+01] [ 8.95789002e-04 9.99999598e-01 -4.15504222e-05 5.47277670e-01] [ 5.67786588e-03 3.64635973e-05 9.99983880e-01 9.07644360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.07, Y:0.54, Z:0.91 [[ 9.99986653e-01 1.28603441e-03 -5.00400628e-03 7.30714387e+01] [-1.28623713e-03 9.99999172e-01 -3.72954378e-05 5.38575572e-01] [ 5.00395417e-03 4.37312787e-05 9.99987479e-01 9.07496685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.230385723 meters Centerline goodness [0,1] 0.9999586853684233 Centerline is valid? [True, True] Translation: X:73.10, Y:0.54, Z:0.91 [[ 9.99991963e-01 2.22467036e-03 -3.33538375e-03 7.30999057e+01] [-2.22476429e-03 9.99997525e-01 -2.44509553e-05 5.35052897e-01] [ 3.33532110e-03 3.18712014e-05 9.99994437e-01 9.09655513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.13, Y:0.53, Z:0.91 [[ 9.99992211e-01 3.84613461e-03 -8.85609793e-04 7.31297705e+01] [-3.84614230e-03 9.99992604e-01 -6.98594785e-06 5.27851432e-01] [ 8.85576374e-04 1.03920747e-05 9.99999608e-01 9.13502893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.16, Y:0.52, Z:0.92 [[ 9.99988565e-01 4.65531613e-03 1.09431021e-03 7.31603294e+01] [-4.65532908e-03 9.99989164e-01 9.28603651e-06 5.24351760e-01] [-1.09425512e-03 -1.43803045e-05 9.99999401e-01 9.15091781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.320385723 meters Centerline goodness [0,1] 0.9999793469505772 Centerline is valid? [True, True] Translation: X:73.19, Y:0.52, Z:0.92 [[ 9.99983914e-01 4.84209464e-03 2.95385697e-03 7.31919731e+01] [-4.84218791e-03 9.99988276e-01 2.44258664e-05 5.21657957e-01] [-2.95370407e-03 -3.87286040e-05 9.99995637e-01 9.16964756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.350385723 meters Centerline goodness [0,1] 0.9999794170920467 Centerline is valid? [True, True] Translation: X:73.22, Y:0.52, Z:0.92 [[ 9.99978886e-01 5.18953637e-03 3.91104273e-03 7.32233043e+01] [-5.18968833e-03 9.99986533e-01 2.87050653e-05 5.19116308e-01] [-3.91084110e-03 -4.90015521e-05 9.99992351e-01 9.18651219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38038572299999 meters Centerline goodness [0,1] 0.9998969624531179 Centerline is valid? [True, True] Translation: X:73.26, Y:0.51, Z:0.92 [[ 9.99972835e-01 5.17511390e-03 5.24859689e-03 7.32557341e+01] [-5.17538593e-03 9.99986607e-01 3.82492114e-05 5.11557234e-01] [-5.24832865e-03 -6.54116869e-05 9.99986225e-01 9.19650307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41038572299999 meters Centerline goodness [0,1] 0.999958940669267 Centerline is valid? [True, True] Translation: X:73.29, Y:0.50, Z:0.92 [[ 9.99969913e-01 4.99120559e-03 5.93817658e-03 7.32892125e+01] [-4.99154021e-03 9.99987541e-01 4.15312391e-05 5.04279149e-01] [-5.93789531e-03 -7.11706367e-05 9.99982368e-01 9.20234688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44038572299999 meters Centerline goodness [0,1] 0.9999793784669953 Centerline is valid? [True, True] Translation: X:73.32, Y:0.50, Z:0.92 [[ 9.99964788e-01 4.79719042e-03 6.88546340e-03 7.33209085e+01] [-4.79763459e-03 9.99988490e-01 4.79924264e-05 5.01672595e-01] [-6.88515392e-03 -8.10246739e-05 9.99976294e-01 9.20050577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47038572299999 meters Centerline goodness [0,1] 0.9999382156685065 Centerline is valid? [True, True] Translation: X:73.35, Y:0.50, Z:0.92 [[ 9.99954192e-01 5.07743368e-03 8.11374441e-03 7.33517539e+01] [-5.07805001e-03 9.99987105e-01 5.53623778e-05 5.00128538e-01] [-8.11335869e-03 -9.65618416e-05 9.99967082e-01 9.23250287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.38, Y:0.49, Z:0.93 [[ 9.99892826e-01 5.63607681e-03 1.35118540e-02 7.33828692e+01] [-5.63790801e-03 9.99984102e-01 9.74380259e-05 4.93537928e-01] [-1.35110900e-02 -1.73606173e-04 9.99908706e-01 9.26607921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.530385723 meters Centerline goodness [0,1] 0.9999794437478159 Centerline is valid? [True, True] Translation: X:73.41, Y:0.49, Z:0.93 [[ 9.99840197e-01 6.48103611e-03 1.66606143e-02 7.34146395e+01] [-6.48382331e-03 9.99978973e-01 1.13281490e-04 4.90594481e-01] [-1.66595298e-02 -2.21287867e-04 9.99861196e-01 9.29602868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.560385723 meters Centerline goodness [0,1] 0.9999794526177365 Centerline is valid? [True, True] Translation: X:73.45, Y:0.49, Z:0.93 [[ 9.99791332e-01 7.00772661e-03 1.91881471e-02 7.34466872e+01] [-7.01155042e-03 9.99975410e-01 1.32010707e-04 4.87821151e-01] [-1.91867502e-02 -2.66521822e-04 9.99815882e-01 9.31856921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.590385723 meters Centerline goodness [0,1] 0.9999793848437372 Centerline is valid? [True, True] Translation: X:73.48, Y:0.48, Z:0.93 [[ 9.99683388e-01 9.09656455e-03 2.34600784e-02 7.34775337e+01] [-9.10287067e-03 9.99958555e-01 1.62022387e-04 4.81571568e-01] [-2.34576323e-02 -3.75525148e-04 9.99724761e-01 9.34645794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.620385723 meters Centerline goodness [0,1] 0.999774289524982 Centerline is valid? [True, True] Translation: X:73.51, Y:0.48, Z:0.94 [[ 9.99594535e-01 1.06342341e-02 2.64136191e-02 7.35085874e+01] [-1.06427224e-02 9.99943348e-01 1.80799783e-04 4.77563267e-01] [-2.64102001e-02 -4.61839292e-04 9.99651083e-01 9.37106153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.650385723 meters Centerline goodness [0,1] 0.9997335519573683 Centerline is valid? [True, True] Translation: X:73.54, Y:0.47, Z:0.94 [[ 9.99380748e-01 1.36550997e-02 3.24292938e-02 7.35383294e+01] [-1.36695363e-02 9.99906543e-01 2.23498314e-04 4.70283419e-01] [-3.24232112e-02 -6.66653322e-04 9.99474007e-01 9.44593789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.680385723 meters Centerline goodness [0,1] 0.9998973516731677 Centerline is valid? [True, True] Translation: X:73.57, Y:0.47, Z:0.94 [[ 9.99274890e-01 1.44683626e-02 3.52187624e-02 7.35698171e+01] [-1.44858280e-02 9.99895046e-01 2.40785303e-04 4.65597332e-01] [-3.52115823e-02 -7.50783643e-04 9.99379598e-01 9.43941077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.710385723 meters Centerline goodness [0,1] 0.9999176819229503 Centerline is valid? [True, True] Translation: X:73.60, Y:0.46, Z:0.94 [[ 9.99156710e-01 1.48627238e-02 3.82748952e-02 7.36010751e+01] [-1.48835952e-02 9.99889199e-01 2.60404919e-04 4.60826518e-01] [-3.82667840e-02 -8.29853368e-04 9.99267214e-01 9.43933446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.740385723 meters Centerline goodness [0,1] 0.9998772880662644 Centerline is valid? [True, True] Translation: X:73.63, Y:0.45, Z:0.95 [[ 9.98899589e-01 1.44355677e-02 4.46231536e-02 7.36316941e+01] [-1.44634463e-02 9.99895353e-01 3.01938989e-04 4.49465677e-01] [-4.46141253e-02 -9.47011318e-04 9.99003845e-01 9.47835850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77038572299999 meters Centerline goodness [0,1] 0.999692490620964 Centerline is valid? [True, True] Translation: X:73.66, Y:0.44, Z:0.95 [[ 9.98786656e-01 1.44506693e-02 4.70785974e-02 7.36614544e+01] [-1.44815176e-02 9.99895088e-01 3.14224908e-04 4.43811642e-01] [-4.70691175e-02 -9.95613183e-04 9.98891139e-01 9.51341723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80038572299999 meters Centerline goodness [0,1] 0.9997748300990748 Centerline is valid? [True, True] Translation: X:73.69, Y:0.43, Z:0.95 [[ 9.98613682e-01 1.39845272e-02 5.07459143e-02 7.36922260e+01] [-1.40198131e-02 9.99901660e-01 3.39439373e-04 4.30953252e-01] [-5.07361770e-02 -1.05041703e-03 9.98711538e-01 9.53728032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83038572299999 meters Centerline goodness [0,1] 0.9998158304002619 Centerline is valid? [True, True] Translation: X:73.72, Y:0.42, Z:0.95 [[ 9.98523608e-01 1.38639567e-02 5.25204325e-02 7.37237178e+01] [-1.39014762e-02 9.99903309e-01 3.49120921e-04 4.24416651e-01] [-5.25105140e-02 -1.07871702e-03 9.98619789e-01 9.52996148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.75, Y:0.42, Z:0.95 [[ 9.98392581e-01 1.40159405e-02 5.49163765e-02 7.37545322e+01] [-1.40571585e-02 9.99901127e-01 3.64336360e-04 4.17438947e-01] [-5.49058402e-02 -1.13571893e-03 9.98490891e-01 9.49357724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.890385723 meters Centerline goodness [0,1] 0.9997743219400107 Centerline is valid? [True, True] Translation: X:73.78, Y:0.41, Z:0.95 [[ 9.98224190e-01 1.49216584e-02 5.76698400e-02 7.37849153e+01] [-1.49684978e-02 9.99887893e-01 3.80286413e-04 4.08794870e-01] [-5.76577003e-02 -1.24284197e-03 9.98335637e-01 9.51310717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.920385723 meters Centerline goodness [0,1] 0.9996514893704258 Centerline is valid? [True, True] Translation: X:73.82, Y:0.41, Z:0.95 [[ 9.98132578e-01 1.55433184e-02 5.90742056e-02 7.38160726e+01] [-1.55925859e-02 9.99878359e-01 3.73095969e-04 4.05108555e-01] [-5.90612206e-02 -1.29351887e-03 9.98253524e-01 9.52589986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.950385723 meters Centerline goodness [0,1] 0.9998159772629684 Centerline is valid? [True, True] Translation: X:73.85, Y:0.40, Z:0.95 [[ 9.98070148e-01 1.61080894e-02 5.99708973e-02 7.38482275e+01] [-1.61590090e-02 9.99869368e-01 3.64165587e-04 3.95028556e-01] [-5.99571972e-02 -1.33253307e-03 9.98200060e-01 9.49740470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.980385723 meters Centerline goodness [0,1] 0.9997345150815855 Centerline is valid? [True, True] Translation: X:73.88, Y:0.39, Z:0.95 [[ 9.98041860e-01 1.65390050e-02 6.03233559e-02 7.38790715e+01] [-1.65904946e-02 9.99862306e-01 3.52772756e-04 3.91513816e-01] [-6.03092153e-02 -1.35287629e-03 9.98178826e-01 9.53152263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.010385723 meters Centerline goodness [0,1] 0.9997746409620782 Centerline is valid? [True, True] Translation: X:73.91, Y:0.39, Z:0.95 [[ 9.97997081e-01 1.66989173e-02 6.10161608e-02 7.39115114e+01] [-1.67509616e-02 9.99859634e-01 3.41508308e-04 3.86029524e-01] [-6.10018934e-02 -1.36290366e-03 9.98136720e-01 9.48870320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.040385723 meters Centerline goodness [0,1] 0.9998571661769508 Centerline is valid? [True, True] Translation: X:73.94, Y:0.38, Z:0.95 [[ 9.97981550e-01 1.60248297e-02 6.14494095e-02 7.39427651e+01] [-1.60755001e-02 9.99870726e-01 3.30263000e-04 3.76826556e-01] [-6.14361733e-02 -1.31742637e-03 9.98110145e-01 9.49709383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.070385723 meters Centerline goodness [0,1] 0.9999794711775333 Centerline is valid? [True, True] Translation: X:73.97, Y:0.37, Z:0.94 [[ 9.98045895e-01 1.52469517e-02 6.05963851e-02 7.39747406e+01] [-1.52947514e-02 9.99882976e-01 3.25043008e-04 3.70145188e-01] [-6.05843379e-02 -1.25121449e-03 9.98162298e-01 9.44256186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.100385723 meters Centerline goodness [0,1] 0.9999794711775333 Centerline is valid? [True, True] Translation: X:74.01, Y:0.37, Z:0.94 [[ 9.98041519e-01 1.55303574e-02 6.05964932e-02 7.40072810e+01] [-1.55774247e-02 9.99878618e-01 3.04379098e-04 3.70265322e-01] [-6.05844107e-02 -1.24772029e-03 9.98162298e-01 9.44750475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13038572299999 meters Centerline goodness [0,1] 0.9998972694212159 Centerline is valid? [True, True] Translation: X:74.04, Y:0.36, Z:0.95 [[ 9.98213584e-01 1.31903750e-02 5.82722434e-02 7.40366550e+01] [-1.32302267e-02 9.99912432e-01 2.98120005e-04 3.62953354e-01] [-5.82632083e-02 -1.06854243e-03 9.98300685e-01 9.45689433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16038572299999 meters Centerline goodness [0,1] 0.9999384034165572 Centerline is valid? [True, True] Translation: X:74.07, Y:0.36, Z:0.94 [[ 9.98304240e-01 1.20867020e-02 5.69434505e-02 7.40686529e+01] [-1.21226353e-02 9.99926477e-01 2.85631610e-04 3.58906538e-01] [-5.69358115e-02 -9.75451931e-04 9.98377364e-01 9.39184360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19038572299999 meters Centerline goodness [0,1] 0.9998975682707475 Centerline is valid? [True, True] Translation: X:74.10, Y:0.35, Z:0.93 [[ 9.98604110e-01 9.55920583e-03 5.19466438e-02 7.40984949e+01] [-9.58574088e-03 9.99954021e-01 2.61690083e-04 3.51214035e-01] [-5.19417538e-02 -7.59271859e-04 9.98649827e-01 9.32655214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22038572299999 meters Centerline goodness [0,1] 0.9999793559042114 Centerline is valid? [True, True] Translation: X:74.13, Y:0.35, Z:0.93 [[ 9.98749124e-01 7.63328880e-03 4.94157961e-02 7.41289460e+01] [-7.65494102e-03 9.99970670e-01 2.48922870e-04 3.45375571e-01] [-4.94124467e-02 -6.26886503e-04 9.98778262e-01 9.25561568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.250385723 meters Centerline goodness [0,1] 0.999979314909813 Centerline is valid? [True, True] Translation: X:74.16, Y:0.34, Z:0.93 [[ 9.98899634e-01 5.07576902e-03 4.66235845e-02 7.41591756e+01] [-5.09225632e-03 9.99987007e-01 2.34857624e-04 3.41075052e-01] [-4.66217866e-02 -4.72018438e-04 9.98912502e-01 9.26725880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.19, Y:0.33, Z:0.92 [[ 9.99156986e-01 -4.88787374e-04 4.10497177e-02 7.41886529e+01] [ 4.80661601e-04 9.99999863e-01 2.07818981e-04 3.33059367e-01] [-4.10498137e-02 -1.87912764e-04 9.99157083e-01 9.20518661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.22, Y:0.33, Z:0.91 [[ 9.99226772e-01 -2.61635252e-03 3.92302648e-02 7.42205662e+01] [ 2.61069308e-03 9.99996573e-01 1.95490117e-04 3.30733118e-01] [-3.92306418e-02 -9.29207779e-05 9.99230178e-01 9.14399469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.25, Y:0.33, Z:0.91 [[ 9.99290653e-01 -3.96683042e-03 3.74493757e-02 7.42524621e+01] [ 3.96269737e-03 9.99992131e-01 1.84589773e-04 3.30633128e-01] [-3.74498132e-02 -3.60582929e-05 9.99298509e-01 9.10393318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.28, Y:0.33, Z:0.91 [[ 9.99457622e-01 -4.24032502e-03 3.26570231e-02 7.42826807e+01] [ 4.23729578e-03 9.99991010e-01 1.61966088e-04 3.32689896e-01] [-3.26574163e-02 -2.35007746e-05 9.99466604e-01 9.05932423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.31, Y:0.33, Z:0.90 [[ 9.99541028e-01 -3.50990801e-03 3.00900916e-02 7.43143317e+01] [ 3.50705664e-03 9.99993839e-01 1.47536433e-04 3.32360177e-01] [-3.00904241e-02 -4.19410626e-05 9.99547180e-01 8.99886881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.35, Y:0.33, Z:0.89 [[ 9.99665577e-01 -1.26563470e-03 2.58288991e-02 7.43450990e+01] [ 1.26279162e-03 9.99999195e-01 1.26384162e-04 3.33165823e-01] [-2.58290383e-02 -9.37253786e-05 9.99666370e-01 8.94902678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.38, Y:0.34, Z:0.89 [[ 9.99732346e-01 8.57868840e-04 2.31192833e-02 7.43766868e+01] [-8.60688391e-04 9.99999623e-01 1.12006341e-04 3.35138036e-01] [-2.31191785e-02 -1.31874861e-04 9.99732707e-01 8.92077146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.41, Y:0.34, Z:0.89 [[ 9.99781579e-01 3.46901291e-03 2.06097232e-02 7.44088130e+01] [-3.47176581e-03 9.99993969e-01 9.77947096e-05 3.37902825e-01] [-2.06092596e-02 -1.69325481e-04 9.99787592e-01 8.88305871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.44, Y:0.34, Z:0.88 [[ 9.99878671e-01 1.10987332e-02 1.09298136e-02 7.44402356e+01] [-1.10999627e-02 9.99938392e-01 5.18275586e-05 3.43237988e-01] [-1.09285650e-02 -1.73141794e-04 9.99940266e-01 8.79104357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.47, Y:0.35, Z:0.88 [[ 9.99860956e-01 1.56595213e-02 5.73137333e-03 7.44711246e+01] [-1.56599082e-02 9.99877376e-01 2.26269659e-05 3.46678636e-01] [-5.73031619e-03 -1.12376600e-04 9.99983575e-01 8.75194875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.50, Y:0.35, Z:0.87 [[ 9.99739630e-01 2.27782478e-02 -1.35024745e-03 7.45031099e+01] [-2.27782781e-02 9.99740541e-01 -7.09124684e-06 3.51791072e-01] [ 1.34973559e-03 3.78457124e-05 9.99999088e-01 8.66866027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.54, Y:0.35, Z:0.86 [[ 9.99667726e-01 2.55190773e-02 -3.63503983e-03 7.45354553e+01] [-2.55193151e-02 9.99674329e-01 -1.90426822e-05 3.53658787e-01] [ 3.63337005e-03 1.11800082e-04 9.99993393e-01 8.63766650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.640385723 meters Centerline goodness [0,1] 0.9999577649195421 Centerline is valid? [True, True] Translation: X:74.57, Y:0.35, Z:0.86 [[ 9.99613713e-01 2.71777235e-02 -5.81340058e-03 7.45679643e+01] [-2.71783392e-02 9.99630600e-01 -2.69241062e-05 3.53453053e-01] [ 5.81052138e-03 1.84912279e-04 9.99983102e-01 8.60729446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:0.36, Z:0.86 [[ 9.99521315e-01 2.97718640e-02 -8.41286946e-03 7.45987630e+01] [-2.97732131e-02 9.99556679e-01 -3.51388436e-05 3.55421966e-01] [ 8.40809371e-03 2.85600179e-04 9.99964611e-01 8.57065125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.63, Y:0.35, Z:0.85 [[ 9.99417279e-01 3.24498387e-02 -1.05882485e-02 7.46310703e+01] [-3.24520920e-02 9.99473291e-01 -4.10256221e-05 3.52545148e-01] [ 1.05813403e-02 3.84612529e-04 9.99943942e-01 8.53182009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.66, Y:0.35, Z:0.85 [[ 9.99370029e-01 3.35778516e-02 -1.14923060e-02 7.46624282e+01] [-3.35805455e-02 9.99436014e-01 -4.14645272e-05 3.53627132e-01] [ 1.14844322e-02 4.27356311e-04 9.99933960e-01 8.51729404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.760385723 meters Centerline goodness [0,1] 0.9999575353518196 Centerline is valid? [True, True] Translation: X:74.70, Y:0.35, Z:0.85 [[ 9.99331782e-01 3.42522454e-02 -1.27582455e-02 7.46951781e+01] [-3.42555809e-02 9.99413104e-01 -4.29416631e-05 3.50816779e-01] [ 1.27492869e-02 4.79954079e-04 9.99918609e-01 8.50247651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.73, Y:0.35, Z:0.85 [[ 9.99294612e-01 3.47843071e-02 -1.41538051e-02 7.47267522e+01] [-3.47884020e-02 9.99394699e-01 -4.31394506e-05 3.49568220e-01] [ 1.41437372e-02 5.35497281e-04 9.99899829e-01 8.48656262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.76, Y:0.34, Z:0.85 [[ 9.99181204e-01 3.56859627e-02 -1.90639224e-02 7.47588330e+01] [-3.56934877e-02 9.99362783e-01 -5.44996131e-05 3.43780574e-01] [ 1.90498297e-02 7.34912869e-04 9.99818265e-01 8.45210968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.79, Y:0.34, Z:0.84 [[ 9.99078545e-01 3.65337665e-02 -2.25242955e-02 7.47896891e+01] [-3.65443904e-02 9.99332029e-01 -6.00833067e-05 3.36041077e-01] [ 2.25070549e-02 8.83164591e-04 9.99746294e-01 8.42218788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.82, Y:0.33, Z:0.84 [[ 9.99031942e-01 3.68909040e-02 -2.39632931e-02 7.48187134e+01] [-3.69030426e-02 9.99318849e-01 -6.43750179e-05 3.33617165e-01] [ 2.39445956e-02 9.48631124e-04 9.99712837e-01 8.41207200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91038572299999 meters Centerline goodness [0,1] 0.9999350747722207 Centerline is valid? [True, True] Translation: X:74.85, Y:0.33, Z:0.84 [[ 9.98968069e-01 3.72899772e-02 -2.59278900e-02 7.48480669e+01] [-3.73043545e-02 9.99303948e-01 -7.08711695e-05 3.30933753e-01] [ 2.59072001e-02 1.03802124e-03 9.99663813e-01 8.40203252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94038572299999 meters Centerline goodness [0,1] 0.9999785251041532 Centerline is valid? [True, True] Translation: X:74.88, Y:0.33, Z:0.84 [[ 9.98828491e-01 3.71810377e-02 -3.09712186e-02 7.48766183e+01] [-3.72015486e-02 9.99307779e-01 -8.60935725e-05 3.31330341e-01] [ 3.09465786e-02 1.23817001e-03 9.99520273e-01 8.35004792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.91, Y:0.32, Z:0.84 [[ 9.98780222e-01 3.65750466e-02 -3.31712970e-02 7.49056279e+01] [-3.65983130e-02 9.99330053e-01 -9.42968122e-05 3.24702653e-01] [ 3.31456251e-02 1.30819530e-03 9.99449677e-01 8.35551476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.000385723 meters Centerline goodness [0,1] 0.9999783933278596 Centerline is valid? [True, True] Translation: X:74.93, Y:0.32, Z:0.83 [[ 9.98737827e-01 3.58287505e-02 -3.52001878e-02 7.49330672e+01] [-3.58545903e-02 9.99357012e-01 -1.02913431e-04 3.22684799e-01] [ 3.51738672e-02 1.36487185e-03 9.99380276e-01 8.33862461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.96, Y:0.32, Z:0.83 [[ 9.98657667e-01 3.43592525e-02 -3.87595857e-02 7.49610060e+01] [-3.43896172e-02 9.99408495e-01 -1.16772196e-04 3.18151098e-01] [ 3.87326470e-02 1.44954276e-03 9.99248558e-01 8.31420308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.060385723 meters Centerline goodness [0,1] 0.9999783169626402 Centerline is valid? [True, True] Translation: X:74.99, Y:0.32, Z:0.83 [[ 9.98613959e-01 3.42380223e-02 -3.99739744e-02 7.49898810e+01] [-3.42703457e-02 9.99412592e-01 -1.23453891e-04 3.15800609e-01] [ 3.99462666e-02 1.49320470e-03 9.99200714e-01 8.30625690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.090385723 meters Centerline goodness [0,1] 0.9999782054355644 Centerline is valid? [True, True] Translation: X:75.02, Y:0.31, Z:0.83 [[ 9.98526817e-01 3.66242282e-02 -4.00357450e-02 7.50195152e+01] [-3.66586412e-02 9.99327838e-01 -1.25524417e-04 3.11589021e-01] [ 4.00042373e-02 1.59299551e-03 9.99198240e-01 8.31660195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.120385723 meters Centerline goodness [0,1] 0.9999344906649198 Centerline is valid? [True, True] Translation: X:75.05, Y:0.31, Z:0.83 [[ 9.98457346e-01 3.90069408e-02 -3.95143957e-02 7.50488393e+01] [-3.90423945e-02 9.99237547e-01 -1.25667241e-04 3.08268549e-01] [ 3.94793660e-02 1.66821000e-03 9.99218993e-01 8.34459802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.08, Y:0.31, Z:0.84 [[ 9.98345139e-01 4.18213033e-02 -3.94710377e-02 7.50777388e+01] [-4.18589542e-02 9.99123522e-01 -1.27575944e-04 3.08396557e-01] [ 3.94311068e-02 1.77958118e-03 9.99220707e-01 8.35070928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.11, Y:0.31, Z:0.83 [[ 9.98230647e-01 4.41737716e-02 -3.98026820e-02 7.51062628e+01] [-4.42140053e-02 9.99022074e-01 -1.30700061e-04 3.10552326e-01] [ 3.97579844e-02 1.89030480e-03 9.99207551e-01 8.34878319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.14, Y:0.31, Z:0.84 [[ 9.97987969e-01 4.83307477e-02 -4.10384218e-02 7.51363934e+01] [-4.83770711e-02 9.98829135e-01 -1.35873061e-04 3.07514142e-01] [ 4.09838045e-02 2.12091833e-03 9.99157560e-01 8.36618804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.17, Y:0.31, Z:0.84 [[ 9.97869430e-01 5.00537201e-02 -4.18476394e-02 7.51663064e+01] [-5.01034473e-02 9.98744024e-01 -1.39662482e-04 3.05848782e-01] [ 4.17880891e-02 2.23607591e-03 9.99123994e-01 8.38698404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27038572299999 meters Centerline goodness [0,1] 0.9999562784190277 Centerline is valid? [True, True] Translation: X:75.20, Y:0.31, Z:0.84 [[ 9.97798556e-01 5.02208372e-02 -4.33117579e-02 7.51955136e+01] [-5.02743739e-02 9.98735433e-01 -1.47030175e-04 3.06078048e-01] [ 4.32496033e-02 2.32417801e-03 9.99061595e-01 8.38345719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30038572299999 meters Centerline goodness [0,1] 0.9999341455383602 Centerline is valid? [True, True] Translation: X:75.22, Y:0.31, Z:0.84 [[ 9.97790308e-01 4.95235754e-02 -4.42935359e-02 7.52243475e+01] [-4.95790207e-02 9.98770192e-01 -1.53417276e-04 3.07282527e-01] [ 4.42314656e-02 2.34910840e-03 9.99018548e-01 8.37323169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.25, Y:0.31, Z:0.84 [[ 9.97805093e-01 4.83212971e-02 -4.52774555e-02 7.52531778e+01] [-4.83781459e-02 9.98829079e-01 -1.59983252e-04 3.05075148e-01] [ 4.52167086e-02 2.35007145e-03 9.98974437e-01 8.38444925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.360385723 meters Centerline goodness [0,1] 0.999934334369391 Centerline is valid? [True, True] Translation: X:75.28, Y:0.30, Z:0.84 [[ 9.97842148e-01 4.46420630e-02 -4.81469987e-02 7.52821032e+01] [-4.47022520e-02 9.99000340e-01 -1.73533989e-04 3.02532154e-01] [ 4.80911211e-02 2.32543880e-03 9.98840246e-01 8.37437678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.390385723 meters Centerline goodness [0,1] 0.9998686428618342 Centerline is valid? [True, True] Translation: X:75.31, Y:0.30, Z:0.84 [[ 9.97873390e-01 4.23991186e-02 -4.95076989e-02 7.53102078e+01] [-4.24602108e-02 9.99098142e-01 -1.82474119e-04 3.00911234e-01] [ 4.94553133e-02 2.28419340e-03 9.98773725e-01 8.36780107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.420385723 meters Centerline goodness [0,1] 0.9999344333952573 Centerline is valid? [True, True] Translation: X:75.34, Y:0.30, Z:0.84 [[ 9.97984323e-01 3.80821163e-02 -5.07645789e-02 7.53390104e+01] [-3.81409446e-02 9.99272351e-01 -1.90266829e-04 2.97635770e-01] [ 5.07203944e-02 2.12609230e-03 9.98710629e-01 8.36374162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.37, Y:0.30, Z:0.84 [[ 9.98106869e-01 3.59298666e-02 -4.99171655e-02 7.53685465e+01] [-3.59841550e-02 9.99352343e-01 -1.89030374e-04 2.95593583e-01] [ 4.98780444e-02 1.98489953e-03 9.98753343e-01 8.37672214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.40, Y:0.29, Z:0.84 [[ 9.98282562e-01 3.34153963e-02 -4.81179532e-02 7.53987053e+01] [-3.34629708e-02 9.99439941e-01 -1.83266926e-04 2.93912275e-01] [ 4.80848804e-02 1.79312184e-03 9.98841644e-01 8.39424004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.510385723 meters Centerline goodness [0,1] 0.9999782187275381 Centerline is valid? [True, True] Translation: X:75.43, Y:0.29, Z:0.85 [[ 9.98756135e-01 2.79280790e-02 -4.13062335e-02 7.54289195e+01] [-2.79584579e-02 9.99609073e-01 -1.57849177e-04 2.90801408e-01] [ 4.12856774e-02 1.31251142e-03 9.99146521e-01 8.45711934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.46, Y:0.29, Z:0.85 [[ 9.98943198e-01 2.51242583e-02 -3.84871356e-02 7.54587773e+01] [-2.51485713e-02 9.99683714e-01 -1.47644920e-04 2.89074433e-01] [ 3.84712532e-02 1.11538536e-03 9.99259085e-01 8.49090655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.570385723 meters Centerline goodness [0,1] 0.9999781315605318 Centerline is valid? [True, True] Translation: X:75.49, Y:0.28, Z:0.85 [[ 9.99123980e-01 1.90991929e-02 -3.72356588e-02 7.54874496e+01] [-1.91178203e-02 9.99817227e-01 -1.44233474e-04 2.84261903e-01] [ 3.72260984e-02 8.55971756e-04 9.99306502e-01 8.52019954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.52, Y:0.28, Z:0.85 [[ 9.99188800e-01 1.59003798e-02 -3.69989130e-02 7.55161544e+01] [-1.59166634e-02 9.99873311e-01 -1.45583181e-04 2.80352284e-01] [ 3.69919109e-02 7.34364328e-04 9.99315295e-01 8.53988599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.54, Y:0.28, Z:0.86 [[ 9.99221450e-01 1.31907376e-02 -3.71819694e-02 7.55447455e+01] [-1.32054032e-02 9.99912794e-01 -1.48858944e-04 2.76588934e-01] [ 3.71767634e-02 6.39745949e-04 9.99308500e-01 8.56111984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66038572299999 meters Centerline goodness [0,1] 0.9999121188153617 Centerline is valid? [True, True] Translation: X:75.57, Y:0.27, Z:0.86 [[ 9.99271405e-01 1.05778416e-02 -3.66710842e-02 7.55727335e+01] [-1.05904531e-02 9.99943908e-01 -1.49675041e-04 2.72930701e-01] [ 3.66674440e-02 5.37929387e-04 9.99327378e-01 8.56255669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.60, Y:0.27, Z:0.86 [[ 9.99276580e-01 1.05457479e-02 -3.65390621e-02 7.56010909e+01] [-1.05585037e-02 9.99944245e-01 -1.56150087e-04 2.71220354e-01] [ 3.65353782e-02 5.41834948e-04 9.99332213e-01 8.57778353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72038572299999 meters Centerline goodness [0,1] 0.9999779151943463 Centerline is valid? [True, True] Translation: X:75.63, Y:0.27, Z:0.86 [[ 9.99123773e-01 1.33878716e-02 -3.96541538e-02 7.56298911e+01] [-1.34053578e-02 9.99910129e-01 -1.75094983e-04 2.69892071e-01] [ 3.96482459e-02 7.06519678e-04 9.99213449e-01 8.55613930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.750385723 meters Centerline goodness [0,1] 0.9999341079312086 Centerline is valid? [True, True] Translation: X:75.66, Y:0.27, Z:0.85 [[ 9.98946744e-01 1.56687933e-02 -4.31264654e-02 7.56590956e+01] [-1.56916991e-02 9.99876859e-01 -1.92639398e-04 2.68724503e-01] [ 4.31181363e-02 8.69164017e-04 9.99069603e-01 8.54984986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.780385723 meters Centerline goodness [0,1] 0.9999778829566064 Centerline is valid? [True, True] Translation: X:75.69, Y:0.27, Z:0.85 [[ 9.98820025e-01 1.79881804e-02 -4.51107935e-02 7.56884675e+01] [-1.80156892e-02 9.99837684e-01 -2.03287550e-04 2.68876336e-01] [ 4.50998145e-02 1.01574971e-03 9.98981969e-01 8.54109835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.810385723 meters Centerline goodness [0,1] 0.9999779000640898 Centerline is valid? [True, True] Translation: X:75.72, Y:0.27, Z:0.86 [[ 9.98687330e-01 2.29067067e-02 -4.58137509e-02 7.57183708e+01] [-2.29403209e-02 9.99736815e-01 -2.08013062e-04 2.69893153e-01] [ 4.57969285e-02 1.25872216e-03 9.98949977e-01 8.55649280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.840385723 meters Centerline goodness [0,1] 0.9999560265599577 Centerline is valid? [True, True] Translation: X:75.75, Y:0.27, Z:0.86 [[ 9.98655513e-01 2.49762407e-02 -4.54241612e-02 7.57471682e+01] [-2.50117729e-02 9.99687134e-01 -2.13949421e-04 2.72208400e-01] [ 4.54046059e-02 1.34980057e-03 9.98967767e-01 8.56505110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.870385723 meters Centerline goodness [0,1] 0.9998897974477089 Centerline is valid? [True, True] Translation: X:75.78, Y:0.28, Z:0.86 [[ 9.98582426e-01 2.93277474e-02 -4.44187107e-02 7.57757641e+01] [-2.93662419e-02 9.99568696e-01 -2.14206982e-04 2.78310473e-01] [ 4.43932705e-02 1.51831393e-03 9.99012979e-01 8.57356913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.900385723 meters Centerline goodness [0,1] 0.9998905093505015 Centerline is valid? [True, True] Translation: X:75.80, Y:0.28, Z:0.86 [[ 9.98562156e-01 3.15386398e-02 -4.33466792e-02 7.58049338e+01] [-3.15775687e-02 9.99501281e-01 -2.13490911e-04 2.79666461e-01] [ 4.33183282e-02 1.58196668e-03 9.99060068e-01 8.60169299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.930385723 meters Centerline goodness [0,1] 0.9999780026396833 Centerline is valid? [True, True] Translation: X:75.83, Y:0.28, Z:0.86 [[ 9.98535033e-01 3.39148388e-02 -4.21612489e-02 7.58336358e+01] [-3.39539374e-02 9.99423376e-01 -2.11410255e-04 2.81266311e-01] [ 4.21297678e-02 1.64264095e-03 9.99110797e-01 8.63474049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.960385723 meters Centerline goodness [0,1] 0.9999562181213196 Centerline is valid? [True, True] Translation: X:75.86, Y:0.29, Z:0.87 [[ 9.98451286e-01 4.00773767e-02 -3.85853977e-02 7.58642857e+01] [-4.01147446e-02 9.99195061e-01 -1.94412926e-04 2.87489340e-01] [ 3.85465472e-02 1.74195521e-03 9.99255287e-01 8.66884694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.990385723 meters Centerline goodness [0,1] 0.9999562181213196 Centerline is valid? [True, True] Translation: X:75.89, Y:0.29, Z:0.87 [[ 9.98453990e-01 4.00099741e-02 -3.85853897e-02 7.58926718e+01] [-4.00473527e-02 9.99197764e-01 -1.95992323e-04 2.87694088e-01] [ 3.85465934e-02 1.74093203e-03 9.99255287e-01 8.67315702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.92, Y:0.29, Z:0.87 [[ 9.98419860e-01 4.28192141e-02 -3.63909179e-02 7.59226192e+01] [-4.28543803e-02 9.99081312e-01 -1.86525182e-04 2.92838501e-01] [ 3.63494992e-02 1.74574068e-03 9.99337614e-01 8.68066727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05038572299999 meters Centerline goodness [0,1] 0.999956173028882 Centerline is valid? [True, True] Translation: X:75.95, Y:0.30, Z:0.87 [[ 9.98307073e-01 4.77529259e-02 -3.32061053e-02 7.59531428e+01] [-4.77849381e-02 9.98857633e-01 -1.70667099e-04 2.96758782e-01] [ 3.31600218e-02 1.75712986e-03 9.99448511e-01 8.71693465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08038572299999 meters Centerline goodness [0,1] 0.9999345906464624 Centerline is valid? [True, True] Translation: X:75.98, Y:0.30, Z:0.87 [[ 9.98233254e-01 4.97640721e-02 -3.24639401e-02 7.59825343e+01] [-4.97957378e-02 9.98759409e-01 -1.67144226e-04 2.98440568e-01] [ 3.24153479e-02 1.78341477e-03 9.99472893e-01 8.73646560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.110385723 meters Centerline goodness [0,1] 0.9999125835919402 Centerline is valid? [True, True] Translation: X:76.01, Y:0.30, Z:0.88 [[ 9.98117669e-01 5.18747050e-02 -3.27128858e-02 7.60136147e+01] [-5.19079869e-02 9.98651858e-01 -1.68385701e-04 2.96583054e-01] [ 3.26600492e-02 1.86612879e-03 9.99464776e-01 8.75456893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.140385723 meters Centerline goodness [0,1] 0.9999342926604902 Centerline is valid? [True, True] Translation: X:76.04, Y:0.30, Z:0.88 [[ 9.97952953e-01 5.40872379e-02 -3.41243909e-02 7.60431186e+01] [-5.41247357e-02 9.98534167e-01 -1.75381895e-04 3.01350636e-01] [ 3.40648843e-02 2.02199652e-03 9.99417578e-01 8.75350470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.170385723 meters Centerline goodness [0,1] 0.9998905021571075 Centerline is valid? [True, True] Translation: X:76.07, Y:0.30, Z:0.88 [[ 9.97894135e-01 5.50375600e-02 -3.43243758e-02 7.60744241e+01] [-5.50760362e-02 9.98482148e-01 -1.75744327e-04 2.95017056e-01] [ 3.42626039e-02 2.06582480e-03 9.99410730e-01 8.78247287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.200385723 meters Centerline goodness [0,1] 0.9999344920953795 Centerline is valid? [True, True] Translation: X:76.10, Y:0.30, Z:0.88 [[ 9.97858247e-01 5.58946538e-02 -3.39809681e-02 7.61035900e+01] [-5.59328405e-02 9.98434518e-01 -1.73463803e-04 3.04566701e-01] [ 3.39180758e-02 2.07374435e-03 9.99422465e-01 8.75449927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.230385723 meters Centerline goodness [0,1] 0.9998252931798826 Centerline is valid? [True, True] Translation: X:76.13, Y:0.30, Z:0.88 [[ 9.97851032e-01 5.60473118e-02 -3.39413679e-02 7.61346159e+01] [-5.60854761e-02 9.98425956e-01 -1.72632203e-04 3.04521506e-01] [ 3.38782671e-02 2.07587900e-03 9.99423811e-01 8.75456683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.260385723 meters Centerline goodness [0,1] 0.9999781759455272 Centerline is valid? [True, True] Translation: X:76.17, Y:0.30, Z:0.88 [[ 9.97862295e-01 5.55951665e-02 -3.43513748e-02 7.61657211e+01] [-5.56339519e-02 9.98451217e-01 -1.73538519e-04 3.00529987e-01] [ 3.42885241e-02 2.08427028e-03 9.99409802e-01 8.76745718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.290385723 meters Centerline goodness [0,1] 0.9998908273106399 Centerline is valid? [True, True] Translation: X:76.20, Y:0.31, Z:0.88 [[ 9.97899795e-01 5.46878441e-02 -3.47165517e-02 7.61961541e+01] [-5.47268822e-02 9.98501346e-01 -1.74516744e-04 3.06611876e-01] [ 3.46549797e-02 2.07407886e-03 9.99397184e-01 8.75735110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.320385723 meters Centerline goodness [0,1] 0.9999782173041736 Centerline is valid? [True, True] Translation: X:76.23, Y:0.30, Z:0.88 [[ 9.98108816e-01 5.12563874e-02 -3.39348477e-02 7.62265348e+01] [-5.12917009e-02 9.98683700e-01 -1.70332353e-04 2.96535792e-01] [ 3.38814486e-02 1.91058628e-03 9.99424033e-01 8.82492737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.350385723 meters Centerline goodness [0,1] 0.9999781983081887 Centerline is valid? [True, True] Translation: X:76.26, Y:0.30, Z:0.88 [[ 9.98276713e-01 4.86941104e-02 -3.27488641e-02 7.62575624e+01] [-4.87256078e-02 9.98812189e-01 -1.63932953e-04 2.95537315e-01] [ 3.27019820e-02 1.75935876e-03 9.99463599e-01 8.84454918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38038572299999 meters Centerline goodness [0,1] 0.9999348307772516 Centerline is valid? [True, True] Translation: X:76.29, Y:0.30, Z:0.89 [[ 9.98539222e-01 4.50037314e-02 -2.99012606e-02 7.62882665e+01] [-4.50283207e-02 9.98985700e-01 -1.49167281e-04 2.98791828e-01] [ 2.98642187e-02 1.49535293e-03 9.99552846e-01 8.86299587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41038572299999 meters Centerline goodness [0,1] 0.9999347201671164 Centerline is valid? [True, True] Translation: X:76.32, Y:0.30, Z:0.89 [[ 9.98622866e-01 4.36317717e-02 -2.91314129e-02 7.63178400e+01] [-4.36545082e-02 9.99046677e-01 -1.44639561e-04 3.02567211e-01] [ 2.90973303e-02 1.41615787e-03 9.99575580e-01 8.87074165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.35, Y:0.30, Z:0.89 [[ 9.98671800e-01 4.29555310e-02 -2.84509628e-02 7.63481242e+01] [-4.29769274e-02 9.99076055e-01 -1.40700619e-04 2.96532815e-01] [ 2.84186318e-02 1.36324870e-03 9.99595180e-01 8.90460670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47038572299999 meters Centerline goodness [0,1] 0.9999782788131544 Centerline is valid? [True, True] Translation: X:76.38, Y:0.30, Z:0.89 [[ 9.98777550e-01 4.20296590e-02 -2.60175444e-02 7.63782908e+01] [-4.20472320e-02 9.99115616e-01 -1.28477361e-04 2.98592054e-01] [ 2.59891350e-02 1.22228603e-03 9.99661478e-01 8.94104357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.41, Y:0.30, Z:0.89 [[ 9.98798423e-01 4.23225445e-02 -2.47085540e-02 7.64095019e+01] [-4.23384233e-02 9.99103320e-01 -1.19621485e-04 3.04017318e-01] [ 2.46813357e-02 1.16559897e-03 9.99694690e-01 8.94622606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.530385723 meters Centerline goodness [0,1] 0.9999352387531302 Centerline is valid? [True, True] Translation: X:76.44, Y:0.31, Z:0.89 [[ 9.98763877e-01 4.29257439e-02 -2.50618747e-02 7.64410849e+01] [-4.29421278e-02 9.99077555e-01 -1.15664386e-04 3.07568530e-01] [ 2.50337915e-02 1.19173163e-03 9.99685895e-01 8.94519220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.47, Y:0.31, Z:0.89 [[ 9.98697414e-01 4.36929062e-02 -2.63515642e-02 7.64723753e+01] [-4.37111829e-02 9.99044203e-01 -1.17668997e-04 3.11868016e-01] [ 2.63212361e-02 1.26937377e-03 9.99652730e-01 8.92933215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.590385723 meters Centerline goodness [0,1] 0.9999784296807592 Centerline is valid? [True, True] Translation: X:76.50, Y:0.32, Z:0.89 [[ 9.98615645e-01 4.48877785e-02 -2.74204553e-02 7.65034661e+01] [-4.49079919e-02 9.98991120e-01 -1.21486171e-04 3.16232023e-01] [ 2.73873381e-02 1.35271558e-03 9.99623981e-01 8.92103033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.620385723 meters Centerline goodness [0,1] 0.999913606911447 Centerline is valid? [True, True] Translation: X:76.53, Y:0.32, Z:0.89 [[ 9.98578837e-01 4.52086395e-02 -2.82220529e-02 7.65343318e+01] [-4.52301591e-02 9.98976585e-01 -1.24279942e-04 3.17499273e-01] [ 2.81875515e-02 1.40059126e-03 9.99601671e-01 8.92798501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.650385723 meters Centerline goodness [0,1] 0.9998920902125823 Centerline is valid? [True, True] Translation: X:76.56, Y:0.32, Z:0.89 [[ 9.98552166e-01 4.55030111e-02 -2.86888142e-02 7.65648446e+01] [-4.55253625e-02 9.98963175e-01 -1.26071277e-04 3.17379828e-01] [ 2.86533323e-02 1.43195741e-03 9.99588383e-01 8.94198011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.60, Y:0.32, Z:0.90 [[ 9.98630488e-01 4.44066710e-02 -2.76621634e-02 7.65950834e+01] [-4.44270309e-02 9.99012625e-01 -1.21559721e-04 3.15728791e-01] [ 2.76294524e-02 1.35034103e-03 9.99617322e-01 8.97621145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.63, Y:0.32, Z:0.90 [[ 9.98713517e-01 4.35570152e-02 -2.59633720e-02 7.66251010e+01] [-4.35746588e-02 9.99050167e-01 -1.13908885e-04 3.19094592e-01] [ 2.59337496e-02 1.24510742e-03 9.99662888e-01 8.98876798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.740385723 meters Centerline goodness [0,1] 0.9999569753683984 Centerline is valid? [True, True] Translation: X:76.66, Y:0.32, Z:0.90 [[ 9.98827243e-01 4.08891808e-02 -2.59270820e-02 7.66560085e+01] [-4.09058669e-02 9.99162998e-01 -1.13306443e-04 3.21623562e-01] [ 2.59007480e-02 1.17374333e-03 9.99663830e-01 8.98942611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.69, Y:0.32, Z:0.90 [[ 9.98895383e-01 3.90537429e-02 -2.61307992e-02 7.66863962e+01] [-3.90700588e-02 9.99236467e-01 -1.13937193e-04 3.20438158e-01] [ 2.61063978e-02 1.13474320e-03 9.99658526e-01 8.99560926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.72, Y:0.32, Z:0.90 [[ 9.99002933e-01 3.64780541e-02 -2.57388997e-02 7.67174386e+01] [-3.64930261e-02 9.99333901e-01 -1.12048464e-04 3.18075219e-01] [ 2.57176678e-02 1.05122709e-03 9.99668693e-01 9.01283240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83038572299999 meters Centerline goodness [0,1] 0.9999355794627327 Centerline is valid? [True, True] Translation: X:76.75, Y:0.31, Z:0.90 [[ 9.99248254e-01 2.98999139e-02 -2.46763641e-02 7.67473532e+01] [-2.99116689e-02 9.99552540e-01 -1.07307134e-04 3.14707088e-01] [ 2.46621139e-02 8.45337697e-04 9.99695486e-01 9.04454450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.860385723 meters Centerline goodness [0,1] 0.9999784779614325 Centerline is valid? [True, True] Translation: X:76.78, Y:0.31, Z:0.91 [[ 9.99365711e-01 2.62610948e-02 -2.40526600e-02 7.67767500e+01] [-2.62712223e-02 9.99654846e-01 -1.05106822e-04 3.12637711e-01] [ 2.40415979e-02 7.36932932e-04 9.99710687e-01 9.05557785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.81, Y:0.31, Z:0.91 [[ 9.99487841e-01 2.26220947e-02 -2.26339862e-02 7.68066686e+01] [-2.26301442e-02 9.99743901e-01 -9.95276915e-05 3.12976329e-01] [ 2.26259381e-02 6.11687088e-04 9.99743814e-01 9.06342289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.84, Y:0.31, Z:0.91 [[ 9.99682963e-01 1.55254085e-02 -1.98225977e-02 7.68355058e+01] [-1.55301952e-02 9.99879395e-01 -8.75509069e-05 3.12990744e-01] [ 1.98188477e-02 3.95371962e-04 9.99803509e-01 9.08451883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.950385723 meters Centerline goodness [0,1] 0.999828418230563 Centerline is valid? [True, True] Translation: X:76.86, Y:0.31, Z:0.91 [[ 9.99750096e-01 1.28801414e-02 -1.82714928e-02 7.68647711e+01] [-1.28837781e-02 9.99916997e-01 -8.13360929e-05 3.11464286e-01] [ 1.82689286e-02 3.16721627e-04 9.99833059e-01 9.10341297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.980385723 meters Centerline goodness [0,1] 0.9999570326766494 Centerline is valid? [True, True] Translation: X:76.89, Y:0.31, Z:0.91 [[ 9.99842160e-01 8.17493940e-03 -1.57741799e-02 7.68922554e+01] [-8.17707588e-03 9.99966565e-01 -7.09478207e-05 3.08931772e-01] [ 1.57730725e-02 1.99923288e-04 9.99875577e-01 9.14437096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.010385723 meters Centerline goodness [0,1] 0.9999357670484958 Centerline is valid? [True, True] Translation: X:76.92, Y:0.31, Z:0.92 [[ 9.99858939e-01 6.69309074e-03 -1.54046918e-02 7.69209424e+01] [-6.69497124e-03 9.99977586e-01 -7.05058223e-05 3.08884147e-01] [ 1.54038746e-02 1.73629846e-04 9.99881338e-01 9.16139942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.95, Y:0.31, Z:0.92 [[ 9.99871641e-01 5.73430274e-03 -1.49605998e-02 7.69484165e+01] [-5.73598387e-03 9.99983547e-01 -6.94631398e-05 3.10836230e-01] [ 1.49599553e-02 1.55267983e-04 9.99888082e-01 9.16109059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.070385723 meters Centerline goodness [0,1] 0.999978605964657 Centerline is valid? [True, True] Translation: X:76.98, Y:0.31, Z:0.92 [[ 9.99863265e-01 5.44215426e-03 -1.56151632e-02 7.69763656e+01] [-5.44397180e-03 9.99985179e-01 -7.38909313e-05 3.14124971e-01] [ 1.56145296e-02 1.58889336e-04 9.99878073e-01 9.15057387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.100385723 meters Centerline goodness [0,1] 0.9999785651512229 Centerline is valid? [True, True] Translation: X:77.00, Y:0.32, Z:0.91 [[ 9.99845249e-01 5.15909340e-03 -1.68185213e-02 7.70048680e+01] [-5.16119302e-03 9.99986678e-01 -8.14367502e-05 3.19411461e-01] [ 1.68178771e-02 1.68227782e-04 9.99858555e-01 9.12894809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.03, Y:0.32, Z:0.91 [[ 9.99829770e-01 5.34884413e-03 -1.76584310e-02 7.70334655e+01] [-5.35122067e-03 9.99985678e-01 -8.73355498e-05 3.20832023e-01] [ 1.76577109e-02 1.81814844e-04 9.99844074e-01 9.13393239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.06, Y:0.32, Z:0.91 [[ 9.99764837e-01 5.54944961e-03 -2.09636237e-02 7.70622428e+01] [-5.55287809e-03 9.99984577e-01 -1.05336391e-04 3.24492990e-01] [ 2.09627158e-02 2.21720067e-04 9.99780234e-01 9.11650822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.09, Y:0.33, Z:0.91 [[ 9.99722371e-01 5.44665257e-03 -2.29241006e-02 7.70896942e+01] [-5.45077524e-03 9.99985138e-01 -1.17358091e-04 3.27962217e-01] [ 2.29231207e-02 2.42279629e-04 9.99737201e-01 9.09491545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22038572299999 meters Centerline goodness [0,1] 0.9999360054608674 Centerline is valid? [True, True] Translation: X:77.12, Y:0.33, Z:0.91 [[ 9.99696571e-01 5.18309171e-03 -2.40811433e-02 7.71189354e+01] [-5.18762916e-03 9.99986536e-01 -1.25955635e-04 3.30489910e-01] [ 2.40801662e-02 2.50841458e-04 9.99709999e-01 9.08418354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.15, Y:0.33, Z:0.91 [[ 9.99699855e-01 5.59139915e-03 -2.38523843e-02 7.71476300e+01] [-5.59600544e-03 9.99984334e-01 -1.26371529e-04 3.34155802e-01] [ 2.38513041e-02 2.59811672e-04 9.99715483e-01 9.08378949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.18, Y:0.34, Z:0.91 [[ 9.99717477e-01 6.24970188e-03 -2.29326899e-02 7.71755656e+01] [-6.25417389e-03 9.99980435e-01 -1.23288509e-04 3.36655627e-01] [ 2.29314707e-02 2.66678708e-04 9.99737004e-01 9.09286420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.310385723 meters Centerline goodness [0,1] 0.9999786666666667 Centerline is valid? [True, True] Translation: X:77.20, Y:0.34, Z:0.91 [[ 9.99731065e-01 7.35753307e-03 -2.19923786e-02 7.72045908e+01] [-7.36195693e-03 9.99972893e-01 -1.20196489e-04 3.39445453e-01] [ 2.19908981e-02 2.82071108e-04 9.99758131e-01 9.10249180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.23, Y:0.34, Z:0.91 [[ 9.99714906e-01 1.11446947e-02 -2.11164125e-02 7.72319892e+01] [-1.11496516e-02 9.99937834e-01 -1.17019610e-04 3.44972099e-01] [ 2.11137957e-02 3.52426892e-04 9.99777017e-01 9.10657869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.26, Y:0.35, Z:0.91 [[ 9.99666760e-01 1.37824458e-02 -2.18268914e-02 7.72608468e+01] [-1.37884153e-02 9.99904928e-01 -1.23010185e-04 3.47639570e-01] [ 2.18231209e-02 4.23927436e-04 9.99761757e-01 9.10374579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.29, Y:0.35, Z:0.91 [[ 9.99524323e-01 2.03440371e-02 -2.31785956e-02 7.72914385e+01] [-2.03525571e-02 9.99792857e-01 -1.31711058e-04 3.53293417e-01] [ 2.31711148e-02 6.03392095e-04 9.99731332e-01 9.09351203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.32, Y:0.36, Z:0.91 [[ 9.99471727e-01 2.29676726e-02 -2.29946498e-02 7.73196721e+01] [-2.29767665e-02 9.99735991e-01 -1.31315919e-04 3.56273876e-01] [ 2.29855630e-02 6.59589247e-04 9.99735579e-01 9.09037368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.35, Y:0.36, Z:0.91 [[ 9.99418044e-01 2.53821036e-02 -2.27886513e-02 7.73480879e+01] [-2.53916994e-02 9.99677570e-01 -1.31768535e-04 3.59037336e-01] [ 2.27779590e-02 7.10334435e-04 9.99740296e-01 9.09158220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.38, Y:0.36, Z:0.91 [[ 9.99310370e-01 2.93693182e-02 -2.27206410e-02 7.73760901e+01] [-2.93799107e-02 9.99568308e-01 -1.32468086e-04 3.61812844e-01] [ 2.27069422e-02 7.99907137e-04 9.99741844e-01 9.09450916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.41, Y:0.36, Z:0.91 [[ 9.99257779e-01 3.09183661e-02 -2.29770831e-02 7.74050713e+01] [-3.09296319e-02 9.99521555e-01 -1.35000325e-04 3.61498271e-01] [ 2.29619159e-02 8.45572848e-04 9.99735983e-01 9.10191502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55038572299999 meters Centerline goodness [0,1] 0.9999787279302276 Centerline is valid? [True, True] Translation: X:77.43, Y:0.36, Z:0.91 [[ 9.99232303e-01 3.17395682e-02 -2.29653029e-02 7.74343099e+01] [-3.17510658e-02 9.99495799e-01 -1.36095249e-04 3.60159310e-01] [ 2.29494041e-02 8.65163610e-04 9.99736253e-01 9.11229339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58038572299999 meters Centerline goodness [0,1] 0.9998079467372285 Centerline is valid? [True, True] Translation: X:77.46, Y:0.36, Z:0.91 [[ 9.99131897e-01 3.42687764e-02 -2.36876174e-02 7.74642231e+01] [-3.42817487e-02 9.99412198e-01 -1.41658323e-04 3.58483472e-01] [ 2.36688393e-02 9.53588297e-04 9.99719399e-01 9.11610452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.610385723 meters Centerline goodness [0,1] 0.9999359986346376 Centerline is valid? [True, True] Translation: X:77.49, Y:0.36, Z:0.91 [[ 9.99062943e-01 3.56470506e-02 -2.45463509e-02 7.74937368e+01] [-3.56614160e-02 9.99363919e-01 -1.47597612e-04 3.58331008e-01] [ 2.45254760e-02 1.02281693e-03 9.99698682e-01 9.10699783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.640385723 meters Centerline goodness [0,1] 0.9999573087431693 Centerline is valid? [True, True] Translation: X:77.52, Y:0.35, Z:0.91 [[ 9.98962781e-01 3.74746615e-02 -2.58652764e-02 7.75231739e+01] [-3.74912467e-02 9.99296944e-01 -1.56402899e-04 3.51424132e-01] [ 2.58412305e-02 1.12596213e-03 9.99665426e-01 9.10497850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.55, Y:0.35, Z:0.91 [[ 9.98972071e-01 3.76527585e-02 -2.52402508e-02 7.75524168e+01] [-3.76686296e-02 9.99290274e-01 -1.53467023e-04 3.49105472e-01] [ 2.52165587e-02 1.10407493e-03 9.99681402e-01 9.11967716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.700385723 meters Centerline goodness [0,1] 0.9999358796246821 Centerline is valid? [True, True] Translation: X:77.58, Y:0.34, Z:0.91 [[ 9.99002403e-01 3.73112128e-02 -2.45371723e-02 7.75823578e+01] [-3.73261289e-02 9.99303126e-01 -1.50015142e-04 3.44538183e-01] [ 2.45144757e-02 1.06574314e-03 9.99698907e-01 9.14460223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.61, Y:0.34, Z:0.92 [[ 9.99081552e-01 3.63458978e-02 -2.26942217e-02 7.76129173e+01] [-3.63584191e-02 9.99338804e-01 -1.39231173e-04 3.36833513e-01] [ 2.26741559e-02 9.64229322e-04 9.99742443e-01 9.17862669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.760385723 meters Centerline goodness [0,1] 0.9999571330589849 Centerline is valid? [True, True] Translation: X:77.64, Y:0.34, Z:0.92 [[ 9.99123103e-01 3.56933457e-02 -2.18862794e-02 7.76426326e+01] [-3.57048373e-02 9.99362370e-01 -1.34390171e-04 3.41015493e-01] [ 2.18675272e-02 9.15718368e-04 9.99760458e-01 9.17399262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.790385723 meters Centerline goodness [0,1] 0.9999359275554227 Centerline is valid? [True, True] Translation: X:77.67, Y:0.34, Z:0.92 [[ 9.99145919e-01 3.56036018e-02 -2.09717699e-02 7.76730270e+01] [-3.56141383e-02 9.99365607e-01 -1.29025953e-04 3.37747124e-01] [ 2.09538718e-02 8.75807269e-04 9.99780060e-01 9.17468904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.820385723 meters Centerline goodness [0,1] 0.9999142661179699 Centerline is valid? [True, True] Translation: X:77.70, Y:0.33, Z:0.92 [[ 9.99167562e-01 3.55655687e-02 -1.99818260e-02 7.77038875e+01] [-3.55751229e-02 9.99366997e-01 -1.22772167e-04 3.33310571e-01] [ 1.99648110e-02 8.33525884e-04 9.99800336e-01 9.18113300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.850385723 meters Centerline goodness [0,1] 0.9999359398688903 Centerline is valid? [True, True] Translation: X:77.74, Y:0.33, Z:0.92 [[ 9.99161197e-01 3.57057086e-02 -2.00500502e-02 7.77354231e+01] [-3.57153245e-02 9.99361997e-01 -1.21607126e-04 3.32430031e-01] [ 2.00329161e-02 8.37599173e-04 9.99798970e-01 9.18784614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88038572299999 meters Centerline goodness [0,1] 0.9999354852583815 Centerline is valid? [True, True] Translation: X:77.77, Y:0.33, Z:0.92 [[ 9.99139405e-01 3.63071266e-02 -2.00559587e-02 7.77668334e+01] [-3.63167993e-02 9.99340320e-01 -1.18154520e-04 3.30644300e-01] [ 2.00384383e-02 8.46421061e-04 9.99798852e-01 9.19626275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91038572299999 meters Centerline goodness [0,1] 0.9999354852583815 Centerline is valid? [True, True] Translation: X:77.80, Y:0.33, Z:0.92 [[ 9.99130857e-01 3.65416004e-02 -2.00559682e-02 7.77984647e+01] [-3.65512871e-02 9.99331772e-01 -1.16501646e-04 3.30781048e-01] [ 2.00383091e-02 8.49471842e-04 9.99798852e-01 9.20106715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94038572299999 meters Centerline goodness [0,1] 0.9999142293507162 Centerline is valid? [True, True] Translation: X:77.83, Y:0.33, Z:0.92 [[ 9.99081943e-01 3.73357590e-02 -2.10074222e-02 7.78305018e+01] [-3.73464549e-02 9.99302371e-01 -1.16924369e-04 3.27272613e-01] [ 2.09884013e-02 9.01369770e-04 9.99779313e-01 9.20746798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97038572299999 meters Centerline goodness [0,1] 0.9998494591281533 Centerline is valid? [True, True] Translation: X:77.86, Y:0.32, Z:0.92 [[ 9.99075580e-01 3.74253095e-02 -2.11502149e-02 7.78627675e+01] [-3.74360648e-02 9.99299018e-01 -1.12671614e-04 3.23874976e-01] [ 2.11311722e-02 9.04348273e-04 9.99776303e-01 9.20922396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.89, Y:0.33, Z:0.92 [[ 9.99068085e-01 3.70590944e-02 -2.21265746e-02 7.78944056e+01] [-3.70706543e-02 9.99312641e-01 -1.12356760e-04 3.25704010e-01] [ 2.21072019e-02 9.32498651e-04 9.99755171e-01 9.19967722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.030385723 meters Centerline goodness [0,1] 0.9999570741758241 Centerline is valid? [True, True] Translation: X:77.93, Y:0.32, Z:0.92 [[ 9.99090651e-01 3.61706704e-02 -2.25733054e-02 7.79262767e+01] [-3.61823831e-02 9.99345197e-01 -1.10526124e-04 3.19579810e-01] [ 2.25545266e-02 9.27181603e-04 9.99745184e-01 9.20822580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.96, Y:0.32, Z:0.92 [[ 9.99156560e-01 3.39542542e-02 -2.30927907e-02 7.79570868e+01] [-3.39658963e-02 9.99422986e-01 -1.11980959e-04 3.22443798e-01] [ 2.30756636e-02 8.96253844e-04 9.99733320e-01 9.20124211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.99, Y:0.31, Z:0.92 [[ 9.99385022e-01 2.57668285e-02 -2.37833760e-02 7.79876443e+01] [-2.57768485e-02 9.99667715e-01 -1.14770414e-04 3.07489442e-01] [ 2.37725159e-02 7.27760313e-04 9.99717129e-01 9.22447182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:0.30, Z:0.92 [[ 9.99526605e-01 1.99916146e-02 -2.33859121e-02 7.80180545e+01] [-1.99997255e-02 9.99799979e-01 -1.12970061e-04 3.02131217e-01] [ 2.33789760e-02 5.80628406e-04 9.99726506e-01 9.23538371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.150385723 meters Centerline goodness [0,1] 0.9999566546021976 Centerline is valid? [True, True] Translation: X:78.05, Y:0.29, Z:0.92 [[ 9.99710114e-01 7.41228867e-03 -2.29073351e-02 7.80484513e+01] [-7.41677636e-03 9.99972489e-01 -1.10951101e-04 2.91758382e-01] [ 2.29058825e-02 2.80817519e-04 9.99737586e-01 9.24681588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.08, Y:0.29, Z:0.93 [[ 9.99731817e-01 1.97652731e-03 -2.30735065e-02 7.80771752e+01] [-1.97964724e-03 9.99998034e-01 -1.12376291e-04 2.86760048e-01] [ 2.30732391e-02 1.58023557e-04 9.99733765e-01 9.25047862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.10, Y:0.28, Z:0.93 [[ 9.99716356e-01 -6.30555959e-03 -2.29662280e-02 7.81046971e+01] [ 6.30460749e-03 9.99980119e-01 -1.13863097e-04 2.78425891e-01] [ 2.29664894e-02 -3.09622527e-05 9.99736235e-01 9.26111178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.13, Y:0.28, Z:0.93 [[ 9.99713294e-01 -8.68728480e-03 -2.23127827e-02 7.81326639e+01] [ 8.68689464e-03 9.99962262e-01 -1.14414102e-04 2.76347791e-01] [ 2.23129346e-02 -7.94474932e-05 9.99751032e-01 9.27778073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.16, Y:0.28, Z:0.93 [[ 9.99721191e-01 -9.89312782e-03 -2.14398352e-02 7.81592969e+01] [ 9.89294224e-03 9.99951057e-01 -1.14722010e-04 2.76138598e-01] [ 2.14399208e-02 -9.74130266e-05 9.99770134e-01 9.28397332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30038572299999 meters Centerline goodness [0,1] 0.9999346647211272 Centerline is valid? [True, True] Translation: X:78.19, Y:0.28, Z:0.93 [[ 9.99770203e-01 -9.68603156e-03 -1.91238615e-02 7.81882873e+01] [ 9.68579683e-03 9.99953086e-01 -1.04899930e-04 2.78842529e-01] [ 1.91239804e-02 -8.03540125e-05 9.99817117e-01 9.28833207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33038572299999 meters Centerline goodness [0,1] 0.9999782840018241 Centerline is valid? [True, True] Translation: X:78.22, Y:0.28, Z:0.93 [[ 9.99794806e-01 -8.31568847e-03 -1.84714571e-02 7.82160927e+01] [ 8.31515387e-03 9.99965423e-01 -1.05746186e-04 2.81114584e-01] [ 1.84716978e-02 -4.78685212e-05 9.99829382e-01 9.29117347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.360385723 meters Centerline goodness [0,1] 0.9998913657497936 Centerline is valid? [True, True] Translation: X:78.24, Y:0.28, Z:0.93 [[ 9.99808347e-01 -6.50341608e-03 -1.84654803e-02 7.82437124e+01] [ 6.50247861e-03 9.99978853e-01 -1.10809366e-04 2.83134713e-01] [ 1.84658105e-02 -9.28326161e-06 9.99829492e-01 9.29368893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.27, Y:0.29, Z:0.93 [[ 9.99763852e-01 -1.59318181e-03 -2.16726182e-02 7.82715967e+01] [ 1.59061614e-03 9.99998726e-01 -1.35621055e-04 2.85664606e-01] [ 2.16728067e-02 1.01116212e-04 9.99765112e-01 9.27722268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.30, Y:0.29, Z:0.93 [[ 9.99715137e-01 8.57628503e-04 -2.38518157e-02 7.82999303e+01] [-8.61494833e-04 9.99999617e-01 -1.51822838e-04 2.85123554e-01] [ 2.38516764e-02 1.72327806e-04 9.99715493e-01 9.28593732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.450385723 meters Centerline goodness [0,1] 0.9999782953139583 Centerline is valid? [True, True] Translation: X:78.33, Y:0.29, Z:0.93 [[ 9.99645722e-01 5.22913757e-03 -2.60976342e-02 7.83278070e+01] [-5.23533591e-03 9.99986281e-01 -1.69184511e-04 2.90671952e-01] [ 2.60963915e-02 3.05754454e-04 9.99659384e-01 9.25357176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.36, Y:0.29, Z:0.93 [[ 9.99636564e-01 7.06548954e-03 -2.60157231e-02 7.83569713e+01] [-7.07237160e-03 9.99974976e-01 -1.72531026e-04 2.92641767e-01] [ 2.60138530e-02 3.56461183e-04 9.99661519e-01 9.25792014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.39, Y:0.30, Z:0.93 [[ 9.99647741e-01 8.67872729e-03 -2.50813416e-02 7.83857366e+01] [-8.68577861e-03 9.99962263e-01 -1.72207047e-04 2.95006456e-01] [ 2.50789006e-02 3.89997366e-04 9.99685399e-01 9.25754988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.540385723 meters Centerline goodness [0,1] 0.9999783188430935 Centerline is valid? [True, True] Translation: X:78.41, Y:0.29, Z:0.93 [[ 9.99678373e-01 1.06348490e-02 -2.30228477e-02 7.84142559e+01] [-1.06414307e-02 9.99943365e-01 -1.63377932e-04 2.94107367e-01] [ 2.30198063e-02 4.08321424e-04 9.99734926e-01 9.28595832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.570385723 meters Centerline goodness [0,1] 0.9999351309274115 Centerline is valid? [True, True] Translation: X:78.44, Y:0.29, Z:0.93 [[ 9.99691220e-01 1.05888238e-02 -2.24798149e-02 7.84413456e+01] [-1.05951901e-02 9.99943856e-01 -1.64109752e-04 2.93579434e-01] [ 2.24768150e-02 4.02236990e-04 9.99747284e-01 9.30128693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.47, Y:0.29, Z:0.93 [[ 9.99722459e-01 8.71220564e-03 -2.18883952e-02 7.84702323e+01] [-8.71784159e-03 9.99961986e-01 -1.62075791e-04 2.89171023e-01] [ 2.18861511e-02 3.52850371e-04 9.99760407e-01 9.33185708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.50, Y:0.29, Z:0.93 [[ 9.99726796e-01 7.68686629e-03 -2.20736187e-02 7.84993793e+01] [-7.69238199e-03 9.99970400e-01 -1.64977578e-04 2.87784687e-01] [ 2.20716971e-02 3.34731212e-04 9.99756334e-01 9.34293272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.53, Y:0.29, Z:0.93 [[ 9.99759830e-01 6.61287385e-03 -2.08938414e-02 7.85274870e+01] [-6.61761203e-03 9.99978091e-01 -1.57640086e-04 2.88418307e-01] [ 2.08923412e-02 2.95869562e-04 9.99781687e-01 9.34339414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.56, Y:0.29, Z:0.93 [[ 9.99783987e-01 6.19416163e-03 -1.98396384e-02 7.85550806e+01] [-6.19838341e-03 9.99980778e-01 -1.51308681e-04 2.90721623e-01] [ 1.98383198e-02 2.74249682e-04 9.99803164e-01 9.33941913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72038572299999 meters Centerline goodness [0,1] 0.9999783352831578 Centerline is valid? [True, True] Translation: X:78.58, Y:0.29, Z:0.94 [[ 9.99782447e-01 6.29199150e-03 -1.98864045e-02 7.85842894e+01] [-6.29628426e-03 9.99980166e-01 -1.53259570e-04 2.88652853e-01] [ 1.98850458e-02 2.78436683e-04 9.99802234e-01 9.35203956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.61, Y:0.29, Z:0.94 [[ 9.99776741e-01 6.99486764e-03 -1.99383824e-02 7.86128297e+01] [-6.99934998e-03 9.99975492e-01 -1.55032761e-04 2.88587999e-01] [ 1.99368093e-02 2.94553865e-04 9.99801199e-01 9.35841320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.64, Y:0.29, Z:0.94 [[ 9.99765450e-01 9.78051921e-03 -1.93232262e-02 7.86420279e+01] [-9.78528803e-03 9.99952111e-01 -1.52254761e-04 2.91115066e-01] [ 1.93208117e-02 3.41302384e-04 9.99813277e-01 9.36260791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.810385723 meters Centerline goodness [0,1] 0.9999348307772516 Centerline is valid? [True, True] Translation: X:78.67, Y:0.29, Z:0.94 [[ 9.99749038e-01 1.13980034e-02 -1.92859357e-02 7.86704229e+01] [-1.14031319e-02 9.99934970e-01 -1.55969025e-04 2.93458918e-01] [ 1.92829038e-02 3.75849952e-04 9.99813997e-01 9.36425501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.840385723 meters Centerline goodness [0,1] 0.9999567193248214 Centerline is valid? [True, True] Translation: X:78.70, Y:0.30, Z:0.94 [[ 9.99652292e-01 1.60067242e-02 -2.09542366e-02 7.86991327e+01] [-1.60138264e-02 9.99871756e-01 -1.71177486e-04 2.98531442e-01] [ 2.09488093e-02 5.06675473e-04 9.99780421e-01 9.35143460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.73, Y:0.30, Z:0.94 [[ 9.99595307e-01 1.75149168e-02 -2.24153819e-02 7.87277130e+01] [-1.75234532e-02 9.99846435e-01 -1.84446650e-04 2.97083556e-01] [ 2.24087091e-02 5.77166901e-04 9.99748727e-01 9.35460425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.76, Y:0.30, Z:0.93 [[ 9.99549504e-01 1.79576755e-02 -2.40481052e-02 7.87551868e+01] [-1.79676746e-02 9.99838548e-01 -1.99770204e-04 2.97825402e-01] [ 2.40406352e-02 6.31768738e-04 9.99710783e-01 9.33967765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.930385723 meters Centerline goodness [0,1] 0.9999781057056532 Centerline is valid? [True, True] Translation: X:78.78, Y:0.29, Z:0.93 [[ 9.99406822e-01 1.86551180e-02 -2.89480608e-02 7.87842633e+01] [-1.86699745e-02 9.99825671e-01 -2.42986683e-04 2.94421011e-01] [ 2.89384814e-02 7.83302104e-04 9.99580888e-01 9.30975581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.81, Y:0.29, Z:0.93 [[ 9.99374278e-01 1.87266139e-02 -3.00061062e-02 7.88128518e+01] [-1.87426716e-02 9.99824308e-01 -2.53952417e-04 2.92790404e-01] [ 2.99960787e-02 8.16188108e-04 9.99549683e-01 9.30397085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.990385723 meters Centerline goodness [0,1] 0.9999564336593548 Centerline is valid? [True, True] Translation: X:78.84, Y:0.29, Z:0.93 [[ 9.99343131e-01 1.86880190e-02 -3.10493726e-02 7.88405982e+01] [-1.87052697e-02 9.99825006e-01 -2.65195556e-04 2.90365847e-01] [ 3.10389831e-02 8.45808247e-04 9.99517817e-01 9.29590482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.87, Y:0.29, Z:0.93 [[ 9.99374414e-01 1.79903185e-02 -3.04487844e-02 7.88699708e+01] [-1.80066458e-02 9.99837833e-01 -2.62081656e-04 2.88286104e-01] [ 3.04391316e-02 8.10198176e-04 9.99536294e-01 9.30474953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05038572299999 meters Centerline goodness [0,1] 0.9999781506729593 Centerline is valid? [True, True] Translation: X:78.90, Y:0.28, Z:0.93 [[ 9.99406551e-01 1.71821053e-02 -2.98549950e-02 7.88991610e+01] [-1.71974930e-02 9.99852079e-01 -2.58702111e-04 2.84288070e-01] [ 2.98461337e-02 7.71979652e-04 9.99554207e-01 9.32199771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08038572299999 meters Centerline goodness [0,1] 0.9999779885980938 Centerline is valid? [True, True] Translation: X:78.93, Y:0.28, Z:0.93 [[ 9.99430364e-01 1.63965082e-02 -2.94974823e-02 7.89281048e+01] [-1.64112471e-02 9.99865293e-01 -2.57618291e-04 2.77016078e-01] [ 2.94892847e-02 7.41562012e-04 9.99564821e-01 9.34007816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.96, Y:0.27, Z:0.94 [[ 9.99449344e-01 1.62369807e-02 -2.89373286e-02 7.89567680e+01] [-1.62511556e-02 9.99867909e-01 -2.54718865e-04 2.74629541e-01] [ 2.89293704e-02 7.24843634e-04 9.99581195e-01 9.35115428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.98, Y:0.27, Z:0.94 [[ 9.99464780e-01 1.62307885e-02 -2.84027351e-02 7.89843192e+01] [-1.62445034e-02 9.99868018e-01 -2.52183242e-04 2.72952390e-01] [ 2.83948933e-02 7.13436595e-04 9.99596529e-01 9.35628025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.01, Y:0.27, Z:0.94 [[ 9.99487934e-01 1.65704824e-02 -2.73731576e-02 7.90119295e+01] [-1.65834167e-02 9.99862456e-01 -2.45554760e-04 2.69217170e-01] [ 2.73653236e-02 6.99369497e-04 9.99625255e-01 9.37731795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.04, Y:0.27, Z:0.94 [[ 9.99478595e-01 1.69513998e-02 -2.74806810e-02 7.90407595e+01] [-1.69646462e-02 9.99856059e-01 -2.48935178e-04 2.67562124e-01] [ 2.74725056e-02 7.15005411e-04 9.99622304e-01 9.38144337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.230385723 meters Centerline goodness [0,1] 0.999977802934452 Centerline is valid? [True, True] Translation: X:79.07, Y:0.27, Z:0.94 [[ 9.99455502e-01 1.88899792e-02 -2.70530446e-02 7.90696842e+01] [-1.89035756e-02 9.99821281e-01 -2.46905132e-04 2.65434119e-01] [ 2.70435457e-02 7.58169968e-04 9.99633969e-01 9.39691182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.10, Y:0.27, Z:0.94 [[ 9.99451866e-01 1.93459288e-02 -2.68645240e-02 7.90978336e+01] [-1.93595556e-02 9.99812556e-01 -2.47217501e-04 2.65499617e-01] [ 2.68547057e-02 7.67167237e-04 9.99639053e-01 9.40316054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.290385723 meters Centerline goodness [0,1] 0.9999778457175772 Centerline is valid? [True, True] Translation: X:79.13, Y:0.26, Z:0.94 [[ 9.99454772e-01 1.97919810e-02 -2.64279283e-02 7.91271093e+01] [-1.98053779e-02 9.99803824e-01 -2.45239960e-04 2.62007931e-01] [ 2.64178900e-02 7.68521356e-04 9.99650691e-01 9.42786227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.320385723 meters Centerline goodness [0,1] 0.9999108476162881 Centerline is valid? [True, True] Translation: X:79.16, Y:0.26, Z:0.94 [[ 9.99458244e-01 1.92714684e-02 -2.66801165e-02 7.91564805e+01] [-1.92849807e-02 9.99813996e-01 -2.49216131e-04 2.59215947e-01] [ 2.66703511e-02 7.63606649e-04 9.99643991e-01 9.43909643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.18, Y:0.26, Z:0.94 [[ 9.99460904e-01 1.84898032e-02 -2.71298338e-02 7.91847904e+01] [-1.85035367e-02 9.99828762e-01 -2.55233130e-04 2.57957267e-01] [ 2.71204689e-02 7.57093410e-04 9.99631886e-01 9.44562978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38038572299999 meters Centerline goodness [0,1] 0.9999551931176629 Centerline is valid? [True, True] Translation: X:79.21, Y:0.25, Z:0.94 [[ 9.99499213e-01 1.56508404e-02 -2.75022673e-02 7.92134049e+01] [-1.56639393e-02 9.99877279e-01 -2.60897553e-04 2.54546444e-01] [ 2.74948089e-02 6.91560743e-04 9.99621707e-01 9.43739429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41038572299999 meters Centerline goodness [0,1] 0.9999328212822178 Centerline is valid? [True, True] Translation: X:79.24, Y:0.25, Z:0.94 [[ 9.99527286e-01 1.43201583e-02 -2.72054621e-02 7.92426753e+01] [-1.43325340e-02 9.99897250e-01 -2.59946482e-04 2.53394451e-01] [ 2.71989443e-02 6.49746814e-04 9.99629829e-01 9.43470347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.27, Y:0.25, Z:0.94 [[ 9.99530614e-01 1.14526909e-02 -2.84145562e-02 7.92719665e+01] [-1.14650914e-02 9.99934236e-01 -2.73526219e-04 2.47701236e-01] [ 2.84095550e-02 5.99173313e-04 9.99596188e-01 9.43477794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47038572299999 meters Centerline goodness [0,1] 0.9999774825489754 Centerline is valid? [True, True] Translation: X:79.30, Y:0.25, Z:0.94 [[ 9.99531631e-01 9.98204349e-03 -2.89288413e-02 7.92999513e+01] [-9.99434756e-03 9.99950016e-01 -2.80756636e-04 2.46092876e-01] [ 2.89245928e-02 5.69750032e-04 9.99581434e-01 9.43304727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.33, Y:0.24, Z:0.95 [[ 9.99537213e-01 8.14804170e-03 -2.93081932e-02 7.93290262e+01] [-8.15995094e-03 9.99966666e-01 -2.86763549e-04 2.43229413e-01] [ 2.93048797e-02 5.25784258e-04 9.99570382e-01 9.45014160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.36, Y:0.24, Z:0.95 [[ 9.99579688e-01 6.23326588e-03 -2.83124407e-02 7.93565564e+01] [-6.24367298e-03 9.99980469e-01 -2.79190143e-04 2.41402289e-01] [ 2.83101475e-02 4.55846417e-04 9.99599084e-01 9.45634923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.560385723 meters Centerline goodness [0,1] 0.9999774154207507 Centerline is valid? [True, True] Translation: X:79.38, Y:0.24, Z:0.94 [[ 9.99597655e-01 5.81698261e-03 -2.77613130e-02 7.93843815e+01] [-5.82689361e-03 9.99982985e-01 -2.76123551e-04 2.43112721e-01] [ 2.77592345e-02 4.37774671e-04 9.99614542e-01 9.44881801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.41, Y:0.24, Z:0.95 [[ 9.99595698e-01 6.27571954e-03 -2.77318402e-02 7.94128099e+01] [-6.28584559e-03 9.99980205e-01 -2.77979773e-04 2.43707551e-01] [ 2.77295468e-02 4.52185451e-04 9.99615360e-01 9.46653380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.44, Y:0.25, Z:0.95 [[ 9.99591632e-01 6.39873836e-03 -2.78500376e-02 7.94419637e+01] [-6.40905178e-03 9.99979422e-01 -2.81070936e-04 2.45717197e-01] [ 2.78476660e-02 4.59448489e-04 9.99612073e-01 9.46655872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.47, Y:0.25, Z:0.95 [[ 9.99584565e-01 6.36950928e-03 -2.81091891e-02 7.94693581e+01] [-6.38006464e-03 9.99979606e-01 -2.85840714e-04 2.48080895e-01] [ 2.81067952e-02 4.65060410e-04 9.99604818e-01 9.46216499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.680385723 meters Centerline goodness [0,1] 0.9999775507913347 Centerline is valid? [True, True] Translation: X:79.50, Y:0.25, Z:0.95 [[ 9.99582896e-01 5.98795558e-03 -2.82520668e-02 7.94974195e+01] [-5.99854034e-03 9.99981967e-01 -2.89915957e-04 2.48247081e-01] [ 2.82498213e-02 4.59266194e-04 9.99600789e-01 9.47922817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.53, Y:0.25, Z:0.95 [[ 9.99606429e-01 5.90771766e-03 -2.74241730e-02 7.95250737e+01] [-5.91774351e-03 9.99982450e-01 -2.84438151e-04 2.49277952e-01] [ 2.74220113e-02 4.46615426e-04 9.99623846e-01 9.49370870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.55, Y:0.25, Z:0.95 [[ 9.99629165e-01 6.16543086e-03 -2.65239642e-02 7.95535695e+01] [-6.17496891e-03 9.99980896e-01 -2.77709043e-04 2.49635864e-01] [ 2.65217453e-02 4.41390713e-04 9.99648139e-01 9.51589198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.58, Y:0.25, Z:0.95 [[ 9.99646349e-01 7.64920688e-03 -2.54689179e-02 7.95820624e+01] [-7.65857110e-03 9.99970636e-01 -2.70147892e-04 2.53340751e-01] [ 2.54661036e-02 4.65107872e-04 9.99675578e-01 9.51532347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.61, Y:0.25, Z:0.95 [[ 9.99647140e-01 7.54534052e-03 -2.54688668e-02 7.96096007e+01] [-7.55479194e-03 9.99971424e-01 -2.74894342e-04 2.53725980e-01] [ 2.54660648e-02 4.67209332e-04 9.99675578e-01 9.51948977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.64, Y:0.26, Z:0.95 [[ 9.99656471e-01 8.41147676e-03 -2.48231257e-02 7.96376722e+01] [-8.42078043e-03 9.99964508e-01 -2.70289418e-04 2.58079945e-01] [ 2.48199711e-02 4.79226657e-04 9.99691822e-01 9.51050038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.860385723 meters Centerline goodness [0,1] 0.9999777173670841 Centerline is valid? [True, True] Translation: X:79.67, Y:0.26, Z:0.95 [[ 9.99626467e-01 1.07180702e-02 -2.51406063e-02 7.96666598e+01] [-1.07284364e-02 9.99942410e-01 -2.77482294e-04 2.58850927e-01] [ 2.51361843e-02 5.47098041e-04 9.99683886e-01 9.51712368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.70, Y:0.26, Z:0.95 [[ 9.99599421e-01 1.21681850e-02 -2.55525430e-02 7.96950508e+01] [-1.21794815e-02 9.99925786e-01 -2.86494368e-04 2.60141702e-01] [ 2.55471605e-02 5.97596329e-04 9.99673439e-01 9.51797621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.72, Y:0.26, Z:0.95 [[ 9.99567787e-01 1.32994660e-02 -2.62176268e-02 7.97232705e+01] [-1.33118116e-02 9.99911350e-01 -2.96405546e-04 2.63402552e-01] [ 2.62113606e-02 6.45281544e-04 9.99656215e-01 9.50841144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.75, Y:0.26, Z:0.95 [[ 9.99511984e-01 1.64228200e-02 -2.65722686e-02 7.97530370e+01] [-1.64366606e-02 9.99864863e-01 -3.02518210e-04 2.64116258e-01] [ 2.65637095e-02 7.39129938e-04 9.99646849e-01 9.51730008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.78, Y:0.27, Z:0.95 [[ 9.99480471e-01 1.71684005e-02 -2.72769945e-02 7.97807625e+01] [-1.71832987e-02 9.99852308e-01 -3.11863720e-04 2.65305201e-01] [ 2.72676117e-02 7.80410443e-04 9.99627865e-01 9.51410431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.010385723 meters Centerline goodness [0,1] 0.9999776236294473 Centerline is valid? [True, True] Translation: X:79.81, Y:0.27, Z:0.95 [[ 9.99453867e-01 1.75913743e-02 -2.79733948e-02 7.98091768e+01] [-1.76072710e-02 9.99844928e-01 -3.22046607e-04 2.67386298e-01] [ 2.79633917e-02 8.14405871e-04 9.99608616e-01 9.49824284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.84, Y:0.27, Z:0.95 [[ 9.99472096e-01 1.70327716e-02 -2.76661242e-02 7.98371690e+01] [-1.70481642e-02 9.99854618e-01 -3.20573130e-04 2.67710664e-01] [ 2.76566418e-02 7.92060525e-04 9.99617168e-01 9.50138210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.87, Y:0.27, Z:0.95 [[ 9.99495453e-01 1.61342389e-02 -2.73591972e-02 7.98658426e+01] [-1.61490124e-02 9.99869545e-01 -3.19100032e-04 2.65510475e-01] [ 2.73504796e-02 7.60763044e-04 9.99625616e-01 9.51569962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.100385723 meters Centerline goodness [0,1] 0.999955192113812 Centerline is valid? [True, True] Translation: X:79.89, Y:0.27, Z:0.95 [[ 9.99512087e-01 1.54582076e-02 -2.71409664e-02 7.98932561e+01] [-1.54725521e-02 9.99880242e-01 -3.18579030e-04 2.65368091e-01] [ 2.71327914e-02 7.38363609e-04 9.99631565e-01 9.52140535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13038572299999 meters Centerline goodness [0,1] 0.9999775391941063 Centerline is valid? [True, True] Translation: X:79.92, Y:0.27, Z:0.95 [[ 9.99491479e-01 1.54986519e-02 -2.78671074e-02 7.99224140e+01] [-1.55138500e-02 9.99879599e-01 -3.29244422e-04 2.65142904e-01] [ 2.78586494e-02 7.61403119e-04 9.99611583e-01 9.52328386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.95, Y:0.26, Z:0.95 [[ 9.99424279e-01 1.65626256e-02 -2.96106492e-02 7.99509326e+01] [-1.65803137e-02 9.99862475e-01 -3.51910367e-04 2.62482304e-01] [ 2.96007484e-02 8.42661617e-04 9.99561447e-01 9.52862253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.98, Y:0.27, Z:0.95 [[ 9.99397511e-01 1.76050885e-02 -2.99111190e-02 7.99792065e+01] [-1.76236742e-02 9.99844627e-01 -3.57827363e-04 2.65000925e-01] [ 2.99001721e-02 8.84755592e-04 9.99552498e-01 9.52056391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.01, Y:0.27, Z:0.95 [[ 9.99371591e-01 1.88645724e-02 -3.00091744e-02 8.00071450e+01] [-1.88839247e-02 9.99821617e-01 -3.61576642e-04 2.68714294e-01] [ 2.99970003e-02 9.28040415e-04 9.99549558e-01 9.50621269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.04, Y:0.27, Z:0.95 [[ 9.99401564e-01 1.93273469e-02 -2.86874226e-02 8.00353167e+01] [-1.93452965e-02 9.99812802e-01 -3.48261448e-04 2.69852194e-01] [ 2.86753214e-02 9.03019731e-04 9.99588371e-01 9.51066919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.06, Y:0.27, Z:0.96 [[ 9.99577254e-01 1.67498011e-02 -2.37646095e-02 8.00646934e+01] [-1.67614233e-02 9.99859475e-01 -2.89932794e-04 2.67428048e-01] [ 2.37564137e-02 6.88138905e-04 9.99717540e-01 9.56544641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.310385723 meters Centerline goodness [0,1] 0.9999776101023218 Centerline is valid? [True, True] Translation: X:80.09, Y:0.27, Z:0.96 [[ 9.99661000e-01 1.54312230e-02 -2.09704921e-02 8.00934616e+01] [-1.54399955e-02 9.99880763e-01 -2.56470251e-04 2.66988171e-01] [ 2.09640340e-02 5.80167611e-04 9.99780062e-01 9.59607507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.12, Y:0.27, Z:0.96 [[ 9.99705538e-01 1.49524516e-02 -1.91118152e-02 8.01225707e+01] [-1.49596734e-02 9.99888070e-01 -2.34953692e-04 2.67567162e-01] [ 1.91061629e-02 5.20791022e-04 9.99817325e-01 9.62011908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.370385723 meters Centerline goodness [0,1] 0.9998883729237363 Centerline is valid? [True, True] Translation: X:80.15, Y:0.27, Z:0.96 [[ 9.99709747e-01 1.53221946e-02 -1.85917474e-02 8.01506418e+01] [-1.53291155e-02 9.99882476e-01 -2.29792464e-04 2.71648233e-01] [ 1.85860415e-02 5.14720809e-04 9.99827132e-01 9.62944217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.18, Y:0.27, Z:0.96 [[ 9.99683128e-01 1.54932131e-02 -1.98394729e-02 8.01799636e+01] [-1.55011560e-02 9.99879819e-01 -2.46631482e-04 2.68218945e-01] [ 1.98332675e-02 5.54088096e-04 9.99803148e-01 9.63513051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.21, Y:0.27, Z:0.96 [[ 9.99611462e-01 1.51847609e-02 -2.33741007e-02 8.02083850e+01] [-1.51957511e-02 9.99884495e-01 -2.92633211e-04 2.66111015e-01] [ 2.33669574e-02 6.47706529e-04 9.99726746e-01 9.61058808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.24, Y:0.27, Z:0.96 [[ 9.99571759e-01 1.45232501e-02 -2.54041991e-02 8.02363592e+01] [-1.45360858e-02 9.99894294e-01 -3.20655462e-04 2.70382712e-01] [ 2.53968567e-02 6.89795762e-04 9.99677210e-01 9.58015146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.27, Y:0.27, Z:0.96 [[ 9.99538261e-01 1.39114893e-02 -2.70135994e-02 8.02652578e+01] [-1.39258443e-02 9.99902972e-01 -3.43334366e-04 2.66530303e-01] [ 2.70062020e-02 7.19363016e-04 9.99635007e-01 9.58442052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.29, Y:0.27, Z:0.96 [[ 9.99514428e-01 1.31291398e-02 -2.82583263e-02 8.02931454e+01] [-1.31446059e-02 9.99913541e-01 -3.61613303e-04 2.66474561e-01] [ 2.82511354e-02 7.32882276e-04 9.99600588e-01 9.58209439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.32, Y:0.27, Z:0.96 [[ 9.99489218e-01 1.13574572e-02 -2.98715743e-02 8.03223122e+01] [-1.13740574e-02 9.99935239e-01 -3.85854492e-04 2.67300546e-01] [ 2.98652574e-02 7.25418405e-04 9.99553670e-01 9.57413665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58038572299999 meters Centerline goodness [0,1] 0.9999552242147447 Centerline is valid? [True, True] Translation: X:80.35, Y:0.27, Z:0.96 [[ 9.99504318e-01 1.05007944e-02 -2.96791414e-02 8.03503664e+01] [-1.05169178e-02 9.99944621e-01 -3.87204283e-04 2.67620673e-01] [ 2.96734319e-02 6.99145442e-04 9.99559402e-01 9.58250357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.38, Y:0.27, Z:0.96 [[ 9.99625513e-01 7.27714008e-03 -2.63794915e-02 8.03805160e+01] [-7.28880482e-03 9.99973376e-01 -3.46061114e-04 2.66107414e-01] [ 2.63762709e-02 5.38206483e-04 9.99651941e-01 9.61978054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.41, Y:0.26, Z:0.97 [[ 9.99678828e-01 5.79637972e-03 -2.46706768e-02 8.04094836e+01] [-5.80615318e-03 9.99983091e-01 -3.24543079e-04 2.63377774e-01] [ 2.46683785e-02 4.67680573e-04 9.99695580e-01 9.65354774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.44, Y:0.26, Z:0.97 [[ 9.99713612e-01 5.02389451e-03 -2.33977452e-02 8.04387907e+01] [-5.03250707e-03 9.99987289e-01 -3.09225063e-04 2.62704823e-01] [ 2.33958943e-02 4.26885823e-04 9.99726187e-01 9.67807339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.47, Y:0.26, Z:0.97 [[ 9.99724391e-01 5.62226536e-03 -2.27932520e-02 8.04681214e+01] [-5.63062339e-03 9.99984102e-01 -3.02526514e-04 2.61909133e-01] [ 2.27911888e-02 4.30783353e-04 9.99740154e-01 9.69476071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.50, Y:0.27, Z:0.97 [[ 9.99694218e-01 9.05323500e-03 -2.30110692e-02 8.04956321e+01] [-9.06270173e-03 9.99958886e-01 -3.07145285e-04 2.67582158e-01] [ 2.30073425e-02 5.15593822e-04 9.99735163e-01 9.66717193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.760385723 meters Centerline goodness [0,1] 0.999977632638454 Centerline is valid? [True, True] Translation: X:80.52, Y:0.27, Z:0.97 [[ 9.99682420e-01 1.17863491e-02 -2.22742235e-02 8.05244090e+01] [-1.17959358e-02 9.99930381e-01 -2.99051163e-04 2.71384949e-01] [ 2.22691481e-02 5.61701501e-04 9.99751854e-01 9.66532347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.790385723 meters Centerline goodness [0,1] 0.9999776106036181 Centerline is valid? [True, True] Translation: X:80.55, Y:0.27, Z:0.97 [[ 9.99688898e-01 1.40389937e-02 -2.06158861e-02 8.05534451e+01] [-1.40477200e-02 9.99901287e-01 -2.78513093e-04 2.74157181e-01] [ 2.06099410e-02 5.68032642e-04 9.99787431e-01 9.67490594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.58, Y:0.27, Z:0.97 [[ 9.99662381e-01 1.71813846e-02 -1.94916373e-02 8.05818991e+01] [-1.71898269e-02 9.99852209e-01 -2.65648837e-04 2.73993211e-01] [ 1.94841924e-02 6.00617020e-04 9.99809985e-01 9.71401043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.61, Y:0.28, Z:0.97 [[ 9.99629352e-01 1.75998179e-02 -2.07702808e-02 8.06095135e+01] [-1.76095279e-02 9.99844900e-01 -2.84678413e-04 2.75134958e-01] [ 2.07620491e-02 6.50327738e-04 9.99784234e-01 9.71970130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88038572299999 meters Centerline goodness [0,1] 0.9999776136109245 Centerline is valid? [True, True] Translation: X:80.64, Y:0.28, Z:0.97 [[ 9.99575553e-01 1.85000496e-02 -2.25047188e-02 8.06374148e+01] [-1.85117227e-02 9.99828595e-01 -3.10462741e-04 2.79830466e-01] [ 2.24951178e-02 7.26932080e-04 9.99746689e-01 9.70149550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.67, Y:0.28, Z:0.97 [[ 9.99513310e-01 1.99480902e-02 -2.39836980e-02 8.06659904e+01] [-1.99618111e-02 9.99800688e-01 -3.32791919e-04 2.81723263e-01] [ 2.39722792e-02 8.11388002e-04 9.99712294e-01 9.68581337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94038572299999 meters Centerline goodness [0,1] 0.9999106484687381 Centerline is valid? [True, True] Translation: X:80.69, Y:0.28, Z:0.97 [[ 9.99446429e-01 2.12583391e-02 -2.55913799e-02 8.06947852e+01] [-2.12744365e-02 9.99773610e-01 -3.56884038e-04 2.80366688e-01] [ 2.55779995e-02 9.01128664e-04 9.99672423e-01 9.67377784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.72, Y:0.28, Z:0.96 [[ 9.99366936e-01 2.13497277e-02 -2.84590159e-02 8.07230092e+01] [-2.13697394e-02 9.99771561e-01 -3.99186631e-04 2.81058732e-01] [ 2.84439923e-02 1.00709568e-03 9.99594880e-01 9.64666943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.75, Y:0.28, Z:0.96 [[ 9.99367023e-01 2.05121963e-02 -2.90655038e-02 8.07505174e+01] [-2.05327900e-02 9.99789096e-01 -4.10212264e-04 2.83370399e-01] [ 2.90509594e-02 1.00674849e-03 9.99577425e-01 9.63612411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.030385723 meters Centerline goodness [0,1] 0.9999776276343461 Centerline is valid? [True, True] Translation: X:80.78, Y:0.28, Z:0.97 [[ 9.99461761e-01 1.66411808e-02 -2.82711765e-02 8.07805643e+01] [-1.66591587e-02 9.99861146e-01 -4.00477084e-04 2.77993915e-01] [ 2.82605866e-02 8.71235548e-04 9.99600210e-01 9.67030262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.81, Y:0.28, Z:0.97 [[ 9.99528187e-01 1.41252719e-02 -2.72741740e-02 8.08085106e+01] [-1.41411019e-02 9.99899934e-01 -3.87600602e-04 2.78042455e-01] [ 2.72659698e-02 7.73104601e-04 9.99627915e-01 9.68082942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.84, Y:0.27, Z:0.97 [[ 9.99569310e-01 1.20843977e-02 -2.67425244e-02 8.08379432e+01] [-1.20989355e-02 9.99926732e-01 -3.81877097e-04 2.72532944e-01] [ 2.67359503e-02 7.05268705e-04 9.99642282e-01 9.70979275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.87, Y:0.27, Z:0.97 [[ 9.99629439e-01 8.94328710e-03 -2.57099838e-02 8.08664273e+01] [-8.95572355e-03 9.99959829e-01 -3.68614021e-04 2.71335686e-01] [ 2.57056544e-02 5.98728934e-04 9.99669376e-01 9.72699512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.90, Y:0.27, Z:0.97 [[ 9.99659280e-01 8.38957957e-03 -2.47171797e-02 8.08956093e+01] [-8.40094590e-03 9.99964648e-01 -3.56049591e-04 2.70867723e-01] [ 2.47133188e-02 5.63575967e-04 9.99694420e-01 9.73716197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.92, Y:0.27, Z:0.98 [[ 9.99700926e-01 7.47240235e-03 -2.32856540e-02 8.09246345e+01] [-7.48227752e-03 9.99971951e-01 -3.36988825e-04 2.70718857e-01] [ 2.32824827e-02 5.11117765e-04 9.99728796e-01 9.75217783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.95, Y:0.27, Z:0.98 [[ 9.99708694e-01 7.35190219e-03 -2.29886391e-02 8.09534805e+01] [-7.36153167e-03 9.99972848e-01 -3.34280274e-04 2.70248534e-01] [ 2.29855573e-02 5.03414491e-04 9.99735670e-01 9.75768733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.98, Y:0.27, Z:0.97 [[ 9.99698912e-01 7.38105534e-03 -2.34009774e-02 8.09825840e+01] [-7.39108024e-03 9.99972627e-01 -3.41933370e-04 2.72127587e-01] [ 2.33978130e-02 5.14788920e-04 9.99726101e-01 9.74925629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.01, Y:0.28, Z:0.97 [[ 9.99697011e-01 8.76661344e-03 -2.30007017e-02 8.10115849e+01] [-8.77670095e-03 9.99961427e-01 -3.37660185e-04 2.76041123e-01] [ 2.29968544e-02 5.39428159e-04 9.99735392e-01 9.73560234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.04, Y:0.28, Z:0.97 [[ 9.99679115e-01 9.94841715e-03 -2.32958574e-02 8.10394026e+01] [-9.95912731e-03 9.99950348e-01 -3.43768911e-04 2.79261404e-01] [ 2.32912808e-02 5.75665011e-04 9.99728556e-01 9.72823340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.07, Y:0.28, Z:0.97 [[ 9.99575764e-01 1.29525049e-02 -2.60868750e-02 8.10684323e+01] [-1.29670116e-02 9.99915850e-01 -3.86997645e-04 2.80708528e-01] [ 2.60796672e-02 7.25102278e-04 9.99659605e-01 9.72104073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.10, Y:0.28, Z:0.97 [[ 9.99512252e-01 1.42755516e-02 -2.77753058e-02 8.10959326e+01] [-1.42925744e-02 9.99897770e-01 -4.14432373e-04 2.84896369e-01] [ 2.77665501e-02 8.11210858e-04 9.99614106e-01 9.70472466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.12, Y:0.29, Z:0.97 [[ 9.99464489e-01 1.58114617e-02 -2.86484330e-02 8.11242961e+01] [-1.58302894e-02 9.99874600e-01 -4.30500380e-04 2.87777415e-01] [ 2.86380337e-02 8.83782827e-04 9.99589457e-01 9.70077985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.15, Y:0.29, Z:0.97 [[ 9.99374518e-01 1.75464071e-02 -3.07033751e-02 8.11540698e+01] [-1.75689095e-02 9.99845547e-01 -4.63252007e-04 2.87965446e-01] [ 3.06905045e-02 1.00238707e-03 9.99528433e-01 9.70895810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.18, Y:0.29, Z:0.97 [[ 9.99361776e-01 1.75495229e-02 -3.11135955e-02 8.11832374e+01] [-1.75726835e-02 9.99845478e-01 -4.71080037e-04 2.86367998e-01] [ 3.11005205e-02 1.01752875e-03 9.99515744e-01 9.72023619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.21, Y:0.30, Z:0.97 [[ 9.99386189e-01 1.73685925e-02 -3.04233085e-02 8.12107220e+01] [-1.73907244e-02 9.99848663e-01 -4.62993485e-04 2.95414458e-01] [ 3.04106628e-02 9.91792667e-04 9.99536997e-01 9.68852644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.510385723 meters Centerline goodness [0,1] 0.9999556196604904 Centerline is valid? [True, True] Translation: X:81.24, Y:0.30, Z:0.97 [[ 9.99420357e-01 1.70806314e-02 -2.94482813e-02 8.12398469e+01] [-1.71013079e-02 9.99853661e-01 -4.50397765e-04 2.95542425e-01] [ 2.94362788e-02 9.53740822e-04 9.99566204e-01 9.70144428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.27, Y:0.29, Z:0.97 [[ 9.99491132e-01 1.62764720e-02 -2.74327221e-02 8.12683559e+01] [-1.62941612e-02 9.99867153e-01 -4.21388429e-04 2.93965510e-01] [ 2.74222190e-02 8.68167192e-04 9.99623563e-01 9.72997062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.30, Y:0.29, Z:0.98 [[ 9.99605821e-01 1.36975084e-02 -2.45067358e-02 8.12970322e+01] [-1.37108892e-02 9.99905930e-01 -3.78052115e-04 2.90543792e-01] [ 2.44992521e-02 7.13912235e-04 9.99699593e-01 9.78984126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.600385723 meters Centerline goodness [0,1] 0.9999553890078515 Centerline is valid? [True, True] Translation: X:81.32, Y:0.29, Z:0.98 [[ 9.99671339e-01 1.14654698e-02 -2.29293833e-02 8.13247812e+01] [-1.14766349e-02 9.99934078e-01 -3.55395161e-04 2.90868287e-01] [ 2.29237970e-02 6.18430517e-04 9.99737024e-01 9.81497446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63038572299999 meters Centerline goodness [0,1] 0.9999555278840168 Centerline is valid? [True, True] Translation: X:81.35, Y:0.29, Z:0.98 [[ 9.99773975e-01 7.15861891e-03 -2.00188197e-02 8.13540266e+01] [-7.16629245e-03 9.99974273e-01 -3.11604270e-04 2.92721675e-01] [ 2.00160740e-02 4.54994556e-04 9.99799555e-01 9.82993989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66038572299999 meters Centerline goodness [0,1] 0.9999555268951101 Centerline is valid? [True, True] Translation: X:81.38, Y:0.29, Z:0.98 [[ 9.99788785e-01 6.51275773e-03 -1.94928031e-02 8.13830990e+01] [-6.51992626e-03 9.99978699e-01 -3.04222432e-04 2.93836024e-01] [ 1.94904065e-02 4.31249814e-04 9.99809951e-01 9.83022739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.41, Y:0.30, Z:0.98 [[ 9.99786971e-01 7.31410450e-03 -1.93006760e-02 8.14114011e+01] [-7.32130874e-03 9.99973153e-01 -3.02629500e-04 2.97510089e-01] [ 1.92979443e-02 4.43871239e-04 9.99813679e-01 9.81845002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.44, Y:0.30, Z:0.98 [[ 9.99787736e-01 7.20887228e-03 -1.93006481e-02 8.14389372e+01] [-7.21609099e-03 9.99973917e-01 -3.04394897e-04 2.98030583e-01] [ 1.92979504e-02 4.43605518e-04 9.99813679e-01 9.82262633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.47, Y:0.30, Z:0.98 [[ 9.99772565e-01 8.32436586e-03 -1.96347414e-02 8.14666073e+01] [-8.33209121e-03 9.99965239e-01 -3.11677374e-04 3.01765750e-01] [ 1.96314644e-02 4.75204945e-04 9.99807171e-01 9.81344192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.780385723 meters Centerline goodness [0,1] 0.9999778570005093 Centerline is valid? [True, True] Translation: X:81.50, Y:0.31, Z:0.98 [[ 9.99717022e-01 1.05396254e-02 -2.13258413e-02 8.14953023e+01] [-1.05492824e-02 9.99944297e-01 -3.40379690e-04 3.05556101e-01] [ 2.13210659e-02 5.65255693e-04 9.99772520e-01 9.80705690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.52, Y:0.31, Z:0.98 [[ 9.99706704e-01 1.12460186e-02 -2.14483978e-02 8.15243847e+01] [-1.12559810e-02 9.99936590e-01 -3.43813351e-04 3.08292822e-01] [ 2.14431713e-02 5.85135271e-04 9.99769898e-01 9.80819580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.55, Y:0.31, Z:0.98 [[ 9.99691731e-01 1.23599556e-02 -2.15330953e-02 8.15535696e+01] [-1.23702871e-02 9.99923425e-01 -3.46654688e-04 3.09146752e-01] [ 2.15271617e-02 6.12918396e-04 9.99768076e-01 9.81768171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.58, Y:0.32, Z:0.98 [[ 9.99663787e-01 1.40029458e-02 -2.18227240e-02 8.15813070e+01] [-1.40139843e-02 9.99901737e-01 -3.52974055e-04 3.16319021e-01] [ 2.18156369e-02 6.58678692e-04 9.99761794e-01 9.82743480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.900385723 meters Centerline goodness [0,1] 0.9999779293297137 Centerline is valid? [True, True] Translation: X:81.61, Y:0.32, Z:0.98 [[ 9.99661634e-01 1.45444547e-02 -2.15656465e-02 8.16096840e+01] [-1.45553979e-02 9.99894003e-01 -3.50547544e-04 3.17766147e-01] [ 2.15582621e-02 6.64325496e-04 9.99767373e-01 9.83905312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.930385723 meters Centerline goodness [0,1] 0.9999779915047208 Centerline is valid? [True, True] Translation: X:81.64, Y:0.32, Z:0.98 [[ 9.99670266e-01 1.49635062e-02 -2.08675282e-02 8.16374861e+01] [-1.49738734e-02 9.99887827e-01 -3.40640038e-04 3.22254662e-01] [ 2.08600903e-02 6.52995443e-04 9.99782191e-01 9.84335733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.960385723 meters Centerline goodness [0,1] 0.9999339221603049 Centerline is valid? [True, True] Translation: X:81.67, Y:0.32, Z:0.98 [[ 9.99684338e-01 1.39820815e-02 -2.08740677e-02 8.16660176e+01] [-1.39922752e-02 9.99902045e-01 -3.42363843e-04 3.24240263e-01] [ 2.08672360e-02 6.34331472e-04 9.99782054e-01 9.84658108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.70, Y:0.32, Z:0.99 [[ 9.99693629e-01 1.30489864e-02 -2.10326542e-02 8.16952084e+01] [-1.30591587e-02 9.99914666e-01 -3.46358467e-04 3.21405114e-01] [ 2.10263398e-02 6.20921122e-04 9.99778729e-01 9.85900813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.72, Y:0.32, Z:0.99 [[ 9.99702529e-01 1.08988422e-02 -2.18189917e-02 8.17238851e+01] [-1.09093115e-02 9.99940427e-01 -3.60851052e-04 3.22756557e-01] [ 2.18137590e-02 5.98773886e-04 9.99761872e-01 9.85841643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.75, Y:0.32, Z:0.99 [[ 9.99705097e-01 1.01117972e-02 -2.20787356e-02 8.17529093e+01] [-1.01223592e-02 9.99948700e-01 -3.66672522e-04 3.23261293e-01] [ 2.20738952e-02 5.90053281e-04 9.99756168e-01 9.85524189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.78, Y:0.32, Z:0.99 [[ 9.99709795e-01 9.13130407e-03 -2.22922809e-02 8.17820307e+01] [-9.14186244e-03 9.99958143e-01 -3.71768245e-04 3.23352015e-01] [ 2.22879530e-02 5.75453321e-04 9.99751427e-01 9.86379735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.81, Y:0.32, Z:0.99 [[ 9.99739416e-01 8.68628218e-03 -2.11104104e-02 8.18103486e+01] [-8.69568106e-03 9.99962129e-01 -3.53468686e-04 3.24959768e-01] [ 2.11065406e-02 5.36945974e-04 9.99777088e-01 9.87839196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.84, Y:0.33, Z:0.99 [[ 9.99773608e-01 7.91279942e-03 -1.97514580e-02 8.18379048e+01] [-7.92090306e-03 9.99968574e-01 -3.32081031e-04 3.27088049e-01] [ 1.97482096e-02 4.88455235e-04 9.99804866e-01 9.88656484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.87, Y:0.33, Z:0.99 [[ 9.99790981e-01 7.44571935e-03 -1.90408973e-02 8.18669528e+01] [-7.45319439e-03 9.99972173e-01 -3.21642925e-04 3.30839697e-01] [ 1.90379726e-02 4.63491204e-04 9.99818654e-01 9.88424743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.200385723 meters Centerline goodness [0,1] 0.9999344233627699 Centerline is valid? [True, True] Translation: X:81.89, Y:0.34, Z:0.99 [[ 9.99778942e-01 7.75801336e-03 -1.95417646e-02 8.18946605e+01] [-7.76597451e-03 9.99969789e-01 -3.31535747e-04 3.35089240e-01] [ 1.95386022e-02 4.83223304e-04 9.99808987e-01 9.87669534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.92, Y:0.34, Z:0.99 [[ 9.99774278e-01 8.09598405e-03 -1.96430282e-02 8.19227999e+01] [-8.10412576e-03 9.99967105e-01 -3.34914667e-04 3.37878623e-01] [ 1.96396706e-02 4.94028640e-04 9.99807001e-01 9.88053641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.95, Y:0.34, Z:0.99 [[ 9.99764452e-01 8.18886649e-03 -2.00993111e-02 8.19507895e+01] [-8.19744586e-03 9.99966341e-01 -3.44494804e-04 3.39355612e-01] [ 2.00958135e-02 5.09176673e-04 9.99797929e-01 9.88482817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.290385723 meters Centerline goodness [0,1] 0.9999565283543809 Centerline is valid? [True, True] Translation: X:81.98, Y:0.34, Z:0.99 [[ 9.99741437e-01 8.42159398e-03 -2.11219493e-02 8.19794476e+01] [-8.43116450e-03 9.99964391e-01 -3.64096019e-04 3.40638828e-01] [ 2.11181309e-02 5.42084507e-04 9.99776840e-01 9.89107954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.01, Y:0.34, Z:0.99 [[ 9.99695960e-01 7.63749994e-03 -2.34447461e-02 8.20068925e+01] [-7.64912897e-03 9.99970662e-01 -4.06379042e-04 3.42414463e-01] [ 2.34409546e-02 5.85587373e-04 9.99725052e-01 9.88835542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.350385723 meters Centerline goodness [0,1] 0.9999128464354192 Centerline is valid? [True, True] Translation: X:82.03, Y:0.34, Z:0.99 [[ 9.99670352e-01 6.77543115e-03 -2.47644968e-02 8.20345951e+01] [-6.78822552e-03 9.99976866e-01 -4.32610986e-04 3.44919687e-01] [ 2.47609928e-02 6.00575366e-04 9.99693219e-01 9.87443175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38038572299999 meters Centerline goodness [0,1] 0.9998472349526428 Centerline is valid? [True, True] Translation: X:82.06, Y:0.35, Z:0.99 [[ 9.99668332e-01 5.70945280e-03 -2.51123240e-02 8.20630796e+01] [-5.72233366e-03 9.99983530e-01 -4.41097054e-04 3.49500186e-01] [ 2.51093920e-02 5.84651853e-04 9.99684539e-01 9.85253724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.09, Y:0.35, Z:0.99 [[ 9.99681938e-01 5.54958442e-03 -2.46013385e-02 8.20921800e+01] [-5.56193604e-03 9.99984438e-01 -4.33672928e-04 3.50456160e-01] [ 2.45985489e-02 5.70366064e-04 9.99697247e-01 9.86408277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.12, Y:0.35, Z:0.99 [[ 9.99684919e-01 5.43152071e-03 -2.45063429e-02 8.21206309e+01] [-5.44378828e-03 9.99985088e-01 -4.33901132e-04 3.50894754e-01] [ 2.45036207e-02 5.67171761e-04 9.99699580e-01 9.88573436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.15, Y:0.35, Z:0.99 [[ 9.99673996e-01 5.89802945e-03 -2.48418175e-02 8.21487342e+01] [-5.91083650e-03 9.99982433e-01 -4.42145600e-04 3.54322111e-01] [ 2.48387733e-02 5.88837381e-04 9.99691297e-01 9.88462938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.500385723 meters Centerline goodness [0,1] 0.9999349283126912 Centerline is valid? [True, True] Translation: X:82.18, Y:0.36, Z:0.99 [[ 9.99652107e-01 6.26200406e-03 -2.56213274e-02 8.21761312e+01] [-6.27580054e-03 9.99980202e-01 -4.58100822e-04 3.56910471e-01] [ 2.56179515e-02 6.18735792e-04 9.99671615e-01 9.88360303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.21, Y:0.36, Z:0.99 [[ 9.99671616e-01 6.93755924e-03 -2.46684129e-02 8.22053045e+01] [-6.95059731e-03 9.99975746e-01 -4.42828047e-04 3.59300959e-01] [ 2.46647425e-02 6.14142834e-04 9.99695590e-01 9.89597081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.23, Y:0.37, Z:0.99 [[ 9.99706395e-01 6.54281052e-03 -2.33305735e-02 8.22332243e+01] [-6.55440346e-03 9.99978431e-01 -4.20463515e-04 3.66862278e-01] [ 2.33273193e-02 5.73258056e-04 9.99727717e-01 9.88715814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.26, Y:0.36, Z:0.99 [[ 9.99747280e-01 5.30796964e-03 -2.18449658e-02 8.22619573e+01] [-5.31787409e-03 9.99985782e-01 -3.95330767e-04 3.62617042e-01] [ 2.18425568e-02 5.11399636e-04 9.99761292e-01 9.92789091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.29, Y:0.36, Z:0.99 [[ 9.99744705e-01 4.17079151e-03 -2.22064946e-02 8.22909695e+01] [-4.18078004e-03 9.99991179e-01 -4.03394684e-04 3.61072872e-01] [ 2.22046162e-02 4.96132168e-04 9.99753324e-01 9.93937790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.650385723 meters Centerline goodness [0,1] 0.9999564649542882 Centerline is valid? [True, True] Translation: X:82.32, Y:0.36, Z:0.99 [[ 9.99739225e-01 2.42441115e-03 -2.27069060e-02 8.23191464e+01] [-2.43444327e-03 9.99996951e-01 -4.14176594e-04 3.59587154e-01] [ 2.27058326e-02 4.69347261e-04 9.99742079e-01 9.94690281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.680385723 meters Centerline goodness [0,1] 0.9998702197612044 Centerline is valid? [True, True] Translation: X:82.35, Y:0.36, Z:1.00 [[ 9.99732425e-01 2.38742266e-03 -2.30082119e-02 8.23470675e+01] [-2.39775797e-03 9.99997036e-01 -4.21623376e-04 3.61105620e-01] [ 2.30071371e-02 4.76678684e-04 9.99735187e-01 9.95020610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.710385723 meters Centerline goodness [0,1] 0.9999566705663157 Centerline is valid? [True, True] Translation: X:82.38, Y:0.36, Z:0.99 [[ 9.99742508e-01 2.13026610e-03 -2.25915661e-02 8.23756102e+01] [-2.14020401e-03 9.99997623e-01 -4.15725265e-04 3.63811635e-01] [ 2.25906268e-02 4.63968779e-04 9.99744692e-01 9.94423452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.740385723 meters Centerline goodness [0,1] 0.9999784552407627 Centerline is valid? [True, True] Translation: X:82.40, Y:0.37, Z:0.99 [[ 9.99725526e-01 2.76420088e-03 -2.32643822e-02 8.24049314e+01] [-2.77498016e-03 9.99996057e-01 -4.31067580e-04 3.67263871e-01] [ 2.32630989e-02 4.95507462e-04 9.99729255e-01 9.92433354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77038572299999 meters Centerline goodness [0,1] 0.9999567941240008 Centerline is valid? [True, True] Translation: X:82.43, Y:0.37, Z:0.99 [[ 9.99694574e-01 3.69946313e-03 -2.44350689e-02 8.24332740e+01] [-3.71175592e-03 9.99993007e-01 -4.57743662e-04 3.67267232e-01] [ 2.44332046e-02 5.48300867e-04 9.99701314e-01 9.92608131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80038572299999 meters Centerline goodness [0,1] 0.9999131190269331 Centerline is valid? [True, True] Translation: X:82.46, Y:0.37, Z:0.99 [[ 9.99582787e-01 6.91995405e-03 -2.80422186e-02 8.24615271e+01] [-6.93749923e-03 9.99975796e-01 -5.28426765e-04 3.66153085e-01] [ 2.80378831e-02 7.22749168e-04 9.99606600e-01 9.92137965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83038572299999 meters Centerline goodness [0,1] 0.9999782887166461 Centerline is valid? [True, True] Translation: X:82.49, Y:0.37, Z:0.99 [[ 9.99543413e-01 8.26536620e-03 -2.90628569e-02 8.24899773e+01] [-8.28484627e-03 9.99965529e-01 -5.49919200e-04 3.66517283e-01] [ 2.90573098e-02 7.90449415e-04 9.99577435e-01 9.92358545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.860385723 meters Centerline goodness [0,1] 0.9997620541218716 Centerline is valid? [True, True] Translation: X:82.52, Y:0.37, Z:0.99 [[ 9.99576697e-01 9.48895397e-03 -2.75024695e-02 8.25177779e+01] [-9.50692299e-03 9.99954672e-01 -5.22674177e-04 3.70117693e-01] [ 2.74962632e-02 7.83916787e-04 9.99621599e-01 9.92703710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.890385723 meters Centerline goodness [0,1] 0.9997174343034756 Centerline is valid? [True, True] Translation: X:82.55, Y:0.37, Z:0.99 [[ 9.99601025e-01 9.68807914e-03 -2.65317042e-02 8.25462709e+01] [-9.70493563e-03 9.99952778e-01 -5.06637701e-04 3.70314692e-01] [ 2.65255430e-02 7.63924047e-04 9.99647844e-01 9.94143735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.920385723 meters Centerline goodness [0,1] 0.9997187547324925 Centerline is valid? [True, True] Translation: X:82.58, Y:0.37, Z:1.00 [[ 9.99620274e-01 9.26988679e-03 -2.59495207e-02 8.25754813e+01] [-9.28592937e-03 9.99956761e-01 -4.97785486e-04 3.68289194e-01] [ 2.59437842e-02 7.38561880e-04 9.99663131e-01 9.95699537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.950385723 meters Centerline goodness [0,1] 0.9998260377932894 Centerline is valid? [True, True] Translation: X:82.60, Y:0.36, Z:1.00 [[ 9.99634610e-01 8.21369052e-03 -2.57523267e-02 8.26039855e+01] [-8.22918538e-03 9.99966017e-01 -4.95765549e-04 3.61113777e-01] [ 2.57473795e-02 7.07505071e-04 9.99668231e-01 9.99243482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.63, Y:0.36, Z:1.00 [[ 9.99666362e-01 8.06865999e-03 -2.45369597e-02 8.26326503e+01] [-8.08272285e-03 9.99967222e-01 -4.74004384e-04 3.59433621e-01] [ 2.45323308e-02 6.72171683e-04 9.99698811e-01 1.00156354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.66, Y:0.36, Z:1.00 [[ 9.99722762e-01 6.94542455e-03 -2.24979989e-02 8.26610482e+01] [-6.95699524e-03 9.99975705e-01 -4.36069318e-04 3.59818596e-01] [ 2.24944236e-02 5.92466894e-04 9.99746793e-01 1.00189995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.040385723 meters Centerline goodness [0,1] 0.999912928013235 Centerline is valid? [True, True] Translation: X:82.69, Y:0.36, Z:1.00 [[ 9.99707755e-01 6.13785463e-03 -2.33823063e-02 8.26896057e+01] [-6.15017028e-03 9.99980984e-01 -4.54831275e-04 3.59029069e-01] [ 2.33790700e-02 5.98503518e-04 9.99726493e-01 1.00114813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.070385723 meters Centerline goodness [0,1] 0.9997379683815181 Centerline is valid? [True, True] Translation: X:82.72, Y:0.36, Z:1.00 [[ 9.99683991e-01 7.60879598e-03 -2.39588120e-02 8.27186654e+01] [-7.62218726e-03 9.99970841e-01 -4.67654903e-04 3.55131637e-01] [ 2.39545551e-02 6.50125671e-04 9.99712837e-01 1.00132215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.100385723 meters Centerline goodness [0,1] 0.9998032055627227 Centerline is valid? [True, True] Translation: X:82.75, Y:0.35, Z:1.00 [[ 9.99677768e-01 9.15327933e-03 -2.36765144e-02 8.27467426e+01] [-9.16682938e-03 9.99957876e-01 -4.63825864e-04 3.54388797e-01] [ 2.36712715e-02 6.80714972e-04 9.99719564e-01 1.00302762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13038572299999 meters Centerline goodness [0,1] 0.9995186100960591 Centerline is valid? [True, True] Translation: X:82.78, Y:0.35, Z:1.01 [[ 9.99653600e-01 1.32644294e-02 -2.27318082e-02 8.27756396e+01] [-1.32780165e-02 9.99911743e-01 -4.46875195e-04 3.52825207e-01] [ 2.27238744e-02 7.48553721e-04 9.99741499e-01 1.00571492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16038572299999 meters Centerline goodness [0,1] 0.9993870134419195 Centerline is valid? [True, True] Translation: X:82.80, Y:0.35, Z:1.01 [[ 9.99622312e-01 1.49200229e-02 -2.30786805e-02 8.28044756e+01] [-1.49344983e-02 9.99888371e-01 -4.54979771e-04 3.49184921e-01] [ 2.30693159e-02 7.99476445e-04 9.99733548e-01 1.00590235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19038572299999 meters Centerline goodness [0,1] 0.9997164667393675 Centerline is valid? [True, True] Translation: X:82.83, Y:0.36, Z:1.00 [[ 9.99578756e-01 1.67452398e-02 -2.37045807e-02 8.28321238e+01] [-1.67610664e-02 9.99859413e-01 -4.69118830e-04 3.57260790e-01] [ 2.36933926e-02 8.66235266e-04 9.99718897e-01 1.00291590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22038572299999 meters Centerline goodness [0,1] 0.9999780802700511 Centerline is valid? [True, True] Translation: X:82.86, Y:0.36, Z:1.00 [[ 9.99440450e-01 2.09350737e-02 -2.60865658e-02 8.28626782e+01] [-2.09557040e-02 9.99780271e-01 -5.17682936e-04 3.55131059e-01] [ 2.60699961e-02 1.06405562e-03 9.99659554e-01 1.00038598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.250385723 meters Centerline goodness [0,1] 0.9998683113120583 Centerline is valid? [True, True] Translation: X:82.89, Y:0.35, Z:1.00 [[ 9.99300863e-01 2.37882144e-02 -2.88427950e-02 8.28917489e+01] [-2.38146359e-02 9.99716227e-01 -5.72838006e-04 3.51487087e-01] [ 2.88209834e-02 1.25931817e-03 9.99583796e-01 1.00042531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.280385723 meters Centerline goodness [0,1] 0.9999341412012644 Centerline is valid? [True, True] Translation: X:82.92, Y:0.35, Z:1.00 [[ 9.99279746e-01 2.38937051e-02 -2.94801683e-02 8.29190944e+01] [-2.39214040e-02 9.99713670e-01 -5.87204319e-04 3.54977791e-01] [ 2.94576967e-02 1.29198840e-03 9.99565193e-01 9.99944529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.310385723 meters Centerline goodness [0,1] 0.999780002199978 Centerline is valid? [True, True] Translation: X:82.95, Y:0.35, Z:1.00 [[ 9.99309213e-01 2.30168342e-02 -2.91774296e-02 8.29481251e+01] [-2.30436567e-02 9.99734290e-01 -5.83327312e-04 3.49634271e-01] [ 2.91562505e-02 1.25527903e-03 9.99574078e-01 1.00272346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.340385723 meters Centerline goodness [0,1] 0.999889695338525 Centerline is valid? [True, True] Translation: X:82.98, Y:0.34, Z:1.00 [[ 9.99336182e-01 2.02335623e-02 -3.02951969e-02 8.29776829e+01] [-2.02612767e-02 9.99794534e-01 -6.08077674e-04 3.42126788e-01] [ 3.02766687e-02 1.22149339e-03 9.99540810e-01 1.00445051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.370385723 meters Centerline goodness [0,1] 0.9998012367491166 Centerline is valid? [True, True] Translation: X:83.01, Y:0.34, Z:1.01 [[ 9.99340333e-01 1.87759480e-02 -3.10863595e-02 8.30070598e+01] [-1.88044956e-02 9.99822984e-01 -6.26208532e-04 3.38606534e-01] [ 3.10690990e-02 1.21035875e-03 9.99516506e-01 1.00502849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.400385723 meters Centerline goodness [0,1] 0.9999779083638934 Centerline is valid? [True, True] Translation: X:83.04, Y:0.33, Z:1.01 [[ 9.99341572e-01 1.57222770e-02 -3.26991095e-02 8.30361436e+01] [-1.57523003e-02 9.99875707e-01 -6.60745414e-04 3.31285043e-01] [ 3.26846568e-02 1.17539655e-03 9.99465023e-01 1.00603120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.430385723 meters Centerline goodness [0,1] 0.9999555496288394 Centerline is valid? [True, True] Translation: X:83.06, Y:0.33, Z:1.01 [[ 9.99374191e-01 1.41263441e-02 -3.24295177e-02 8.30642135e+01] [-1.41551174e-02 9.99899595e-01 -6.57834928e-04 3.29732037e-01] [ 3.24169688e-02 1.11646688e-03 9.99473808e-01 1.00648109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.460385723 meters Centerline goodness [0,1] 0.9997324056729997 Centerline is valid? [True, True] Translation: X:83.09, Y:0.33, Z:1.01 [[ 9.99391932e-01 1.25671243e-02 -3.25243401e-02 8.30929075e+01] [-1.25953230e-02 9.99920456e-01 -6.62258626e-04 3.28638162e-01] [ 3.25134303e-02 1.07151050e-03 9.99470724e-01 1.00659949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49038572299999 meters Centerline goodness [0,1] 0.9997991833456055 Centerline is valid? [True, True] Translation: X:83.12, Y:0.33, Z:1.00 [[ 9.99476608e-01 1.01301360e-02 -3.07227885e-02 8.31210642e+01] [-1.01542083e-02 9.99948248e-01 -6.27611429e-04 3.29067557e-01] [ 3.07148407e-02 9.39248537e-04 9.99527747e-01 1.00486140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52038572299999 meters Centerline goodness [0,1] 0.9996446813235621 Centerline is valid? [True, True] Translation: X:83.15, Y:0.32, Z:1.01 [[ 9.99516991e-01 8.61910248e-03 -2.98579343e-02 8.31498306e+01] [-8.64122479e-03 9.99962477e-01 -6.11962374e-04 3.24598691e-01] [ 2.98515393e-02 8.69675912e-04 9.99553965e-01 1.00678702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55038572299999 meters Centerline goodness [0,1] 0.999888497390839 Centerline is valid? [True, True] Translation: X:83.18, Y:0.32, Z:1.01 [[ 9.99536948e-01 4.81520388e-03 -3.00450170e-02 8.31791431e+01] [-4.83594251e-03 9.99988116e-01 -6.17625452e-04 3.19213486e-01] [ 3.00416859e-02 7.62635434e-04 9.99548356e-01 1.00855241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58038572299999 meters Centerline goodness [0,1] 0.9997537497201702 Centerline is valid? [True, True] Translation: X:83.21, Y:0.32, Z:1.01 [[ 9.99522251e-01 2.22787712e-03 -3.08270366e-02 8.32075132e+01] [-2.24853818e-03 9.99997270e-01 -6.35575565e-04 3.18007779e-01] [ 3.08255365e-02 7.04587689e-04 9.99524532e-01 1.00775712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.610385723 meters Centerline goodness [0,1] 0.9997537497201702 Centerline is valid? [True, True] Translation: X:83.24, Y:0.32, Z:1.01 [[ 9.99522812e-01 1.96204303e-03 -3.08269288e-02 8.32351077e+01] [-1.98273794e-03 9.99997829e-01 -6.40771783e-04 3.18657410e-01] [ 3.08256046e-02 7.01587735e-04 9.99524532e-01 1.00817578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.640385723 meters Centerline goodness [0,1] 0.9999105465605153 Centerline is valid? [True, True] Translation: X:83.26, Y:0.31, Z:1.01 [[ 9.99499100e-01 -2.55619390e-03 -3.15438612e-02 8.32643464e+01] [ 2.53660799e-03 9.99996564e-01 -6.60911938e-04 3.13192153e-01] [ 3.15454423e-02 5.80566477e-04 9.99502150e-01 1.00798798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.670385723 meters Centerline goodness [0,1] 0.9999550632484777 Centerline is valid? [True, True] Translation: X:83.29, Y:0.31, Z:1.01 [[ 9.99505050e-01 -4.49945950e-03 -3.11353407e-02 8.32934390e+01] [ 4.48117094e-03 9.99989744e-01 -6.57142834e-04 3.12575832e-01] [ 3.11379781e-02 5.17294798e-04 9.99514962e-01 1.00732648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.700385723 meters Centerline goodness [0,1] 0.9998430387694239 Centerline is valid? [True, True] Translation: X:83.32, Y:0.31, Z:1.01 [[ 9.99530247e-01 -5.85220747e-03 -3.00838339e-02 8.33225937e+01] [ 5.83553490e-03 9.99982767e-01 -6.41972037e-04 3.12614744e-01] [ 3.00870724e-02 4.66115207e-04 9.99547173e-01 1.00710081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.730385723 meters Centerline goodness [0,1] 0.9999103902504592 Centerline is valid? [True, True] Translation: X:83.35, Y:0.31, Z:1.01 [[ 9.99592020e-01 -7.13886335e-03 -2.76555524e-02 8.33517203e+01] [ 7.12509279e-03 9.99974438e-01 -5.96443474e-04 3.13895905e-01] [ 2.76591034e-02 3.99151760e-04 9.99617334e-01 1.00676578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.38, Y:0.32, Z:1.01 [[ 9.99629830e-01 -7.85688785e-03 -2.60474936e-02 8.33796404e+01] [ 7.84480378e-03 9.99969069e-01 -5.66079394e-04 3.17534079e-01] [ 2.60511355e-02 3.61532372e-04 9.99660546e-01 1.00620991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.41, Y:0.32, Z:1.01 [[ 9.99627178e-01 -7.24528754e-03 -2.63251029e-02 8.34088148e+01] [ 7.23262916e-03 9.99973678e-01 -5.76034122e-04 3.17996559e-01] [ 2.63285835e-02 3.85419657e-04 9.99653268e-01 1.00784060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.44, Y:0.32, Z:1.01 [[ 9.99630918e-01 -6.52904546e-03 -2.63704195e-02 8.34374259e+01] [ 6.51592848e-03 9.99978601e-01 -5.83312093e-04 3.18798230e-01] [ 2.63736636e-02 4.11269036e-04 9.99652070e-01 1.00927183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.47, Y:0.32, Z:1.01 [[ 9.99649084e-01 -4.32111410e-03 -2.61349855e-02 8.34652505e+01] [ 4.30735648e-03 9.99990554e-01 -5.82679377e-04 3.22089503e-01] [ 2.61372565e-02 4.69902206e-04 9.99658253e-01 1.01059667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88038572299999 meters Centerline goodness [0,1] 0.9999330267446533 Centerline is valid? [True, True] Translation: X:83.49, Y:0.32, Z:1.01 [[ 9.99671251e-01 -4.34317459e-03 -2.52690727e-02 8.34933733e+01] [ 4.33026810e-03 9.99990464e-01 -5.65459884e-04 3.24118783e-01] [ 2.52712876e-02 4.55852130e-04 9.99680526e-01 1.01178603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.52, Y:0.33, Z:1.01 [[ 9.99732879e-01 -6.13791489e-03 -2.22822040e-02 8.35225223e+01] [ 6.12826523e-03 9.99981096e-01 -5.01324324e-04 3.25557553e-01] [ 2.22848599e-02 3.64639154e-04 9.99751595e-01 1.01365970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.55, Y:0.33, Z:1.01 [[ 9.99760243e-01 -7.06326079e-03 -2.07259741e-02 8.35510475e+01] [ 7.05501779e-03 9.99975002e-01 -4.70806598e-04 3.26013596e-01] [ 2.07287815e-02 3.24471603e-04 9.99785083e-01 1.01499289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.58, Y:0.33, Z:1.02 [[ 9.99793333e-01 -7.69416602e-03 -1.88173178e-02 8.35798911e+01] [ 7.68740512e-03 9.99970358e-01 -4.31600369e-04 3.27846408e-01] [ 1.88200808e-02 2.86854827e-04 9.99822845e-01 1.01507359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.61, Y:0.33, Z:1.02 [[ 9.99813917e-01 -8.68027408e-03 -1.72274014e-02 8.36083636e+01] [ 8.67468777e-03 9.99962295e-01 -3.98970449e-04 3.28995858e-01] [ 1.72302150e-02 2.49453879e-04 9.99851518e-01 1.01680512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.63, Y:0.33, Z:1.02 [[ 9.99810704e-01 -9.11719924e-03 -1.71881483e-02 8.36349523e+01] [ 9.11163633e-03 9.99958407e-01 -4.01934247e-04 3.28727706e-01] [ 1.71910979e-02 2.45246006e-04 9.99852192e-01 1.01826514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.66, Y:0.33, Z:1.02 [[ 9.99778748e-01 -9.85312549e-03 -1.85841331e-02 8.36616556e+01] [ 9.84670559e-03 9.99951425e-01 -4.36925159e-04 3.30248728e-01] [ 1.85875354e-02 2.53836002e-04 9.99827205e-01 1.01857859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.69, Y:0.33, Z:1.02 [[ 9.99756713e-01 -1.02157385e-02 -1.95487492e-02 8.36895404e+01] [ 1.02086438e-02 9.99947783e-01 -4.62685510e-04 3.29390185e-01] [ 1.95524551e-02 2.63006728e-04 9.99808798e-01 1.01798001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.72, Y:0.33, Z:1.01 [[ 9.99688551e-01 -9.30025445e-03 -2.31582668e-02 8.37188650e+01] [ 9.28989099e-03 9.99956694e-01 -5.55051258e-04 3.33988552e-01] [ 2.31624261e-02 3.39740614e-04 9.99731657e-01 1.01281100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.150385723 meters Centerline goodness [0,1] 0.9999775784753363 Centerline is valid? [True, True] Translation: X:83.75, Y:0.34, Z:1.01 [[ 9.99655798e-01 -8.19831109e-03 -2.49213605e-02 8.37475878e+01] [ 8.18580721e-03 9.99966313e-01 -6.03710283e-04 3.36500223e-01] [ 2.49254704e-02 3.99501031e-04 9.99689232e-01 1.01116144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.180385723 meters Centerline goodness [0,1] 0.999977647137716 Centerline is valid? [True, True] Translation: X:83.78, Y:0.34, Z:1.01 [[ 9.99639915e-01 -6.76605685e-03 -2.59665303e-02 8.37763115e+01] [ 6.75185888e-03 9.99977005e-01 -6.34417435e-04 3.38846977e-01] [ 2.59702257e-02 4.58866642e-04 9.99662611e-01 1.00974357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.80, Y:0.34, Z:1.01 [[ 9.99659096e-01 -5.52353246e-03 -2.55182752e-02 8.38037854e+01] [ 5.50932834e-03 9.99984627e-01 -6.26898059e-04 3.39417962e-01] [ 2.55213456e-02 4.86095790e-04 9.99674159e-01 1.01158080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.83, Y:0.34, Z:1.01 [[ 9.99699809e-01 -5.12271451e-03 -2.39593175e-02 8.38320517e+01] [ 5.11001582e-03 9.99986769e-01 -5.91205973e-04 3.40550047e-01] [ 2.39620291e-02 4.68596007e-04 9.99712760e-01 1.01419748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27038572299999 meters Centerline goodness [0,1] 0.999977613109763 Centerline is valid? [True, True] Translation: X:83.86, Y:0.34, Z:1.02 [[ 9.99709417e-01 -5.22823043e-03 -2.35318244e-02 8.38606298e+01] [ 5.21592780e-03 9.99986226e-01 -5.84156828e-04 3.39921733e-01] [ 2.35345544e-02 4.61246786e-04 9.99722918e-01 1.01605219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30038572299999 meters Centerline goodness [0,1] 0.9999775915385649 Centerline is valid? [True, True] Translation: X:83.89, Y:0.34, Z:1.02 [[ 9.99712279e-01 -4.49209191e-03 -2.35622816e-02 8.38891851e+01] [ 4.47940900e-03 9.99989793e-01 -5.91024063e-04 3.38344854e-01] [ 2.35646960e-02 4.85308916e-04 9.99722196e-01 1.01764774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.92, Y:0.34, Z:1.02 [[ 9.99737360e-01 -2.85981292e-03 -2.27383538e-02 8.39181458e+01] [ 2.84745700e-03 9.99995780e-01 -5.75754201e-04 3.39669199e-01] [ 2.27399044e-02 5.10856500e-04 9.99741284e-01 1.01895067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.95, Y:0.34, Z:1.02 [[ 9.99761133e-01 -3.29903190e-03 -2.16053936e-02 8.39469860e+01] [ 3.28787063e-03 9.99994443e-01 -5.52098422e-04 3.41193103e-01] [ 2.16070950e-02 4.80930804e-04 9.99766424e-01 1.01932096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.390385723 meters Centerline goodness [0,1] 0.9999552502629047 Centerline is valid? [True, True] Translation: X:83.97, Y:0.34, Z:1.02 [[ 9.99777831e-01 -4.75069732e-03 -2.05357983e-02 8.39744514e+01] [ 4.74083913e-03 9.99988622e-01 -5.28706069e-04 3.41801871e-01] [ 2.05380764e-02 4.31231691e-04 9.99788978e-01 1.01901577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.420385723 meters Centerline goodness [0,1] 0.9999776296362579 Centerline is valid? [True, True] Translation: X:84.00, Y:0.34, Z:1.02 [[ 9.99759495e-01 -5.22240894e-03 -2.12997532e-02 8.40010211e+01] [ 5.21186639e-03 9.99986267e-01 -5.50443664e-04 3.42142058e-01] [ 2.13023354e-02 4.39299812e-04 9.99772983e-01 1.01896049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.450385723 meters Centerline goodness [0,1] 0.9999775900320462 Centerline is valid? [True, True] Translation: X:84.03, Y:0.34, Z:1.02 [[ 9.99724801e-01 -5.04197581e-03 -2.29107259e-02 8.40297952e+01] [ 5.02964634e-03 9.99987174e-01 -5.95745194e-04 3.40508819e-01] [ 2.29134357e-02 4.80348397e-04 9.99737337e-01 1.01891881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.06, Y:0.34, Z:1.02 [[ 9.99705841e-01 -4.64107889e-03 -2.38053048e-02 8.40574841e+01] [ 4.62755149e-03 9.99989099e-01 -6.23308044e-04 3.41444068e-01] [ 2.38079381e-02 5.12964418e-04 9.99716419e-01 1.01948266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.510385723 meters Centerline goodness [0,1] 0.9999775875207315 Centerline is valid? [True, True] Translation: X:84.09, Y:0.34, Z:1.02 [[ 9.99730403e-01 -4.35556224e-03 -2.28068127e-02 8.40860068e+01] [ 4.34299477e-03 9.99990389e-01 -6.00542546e-04 3.42874425e-01] [ 2.28092092e-02 5.01330773e-04 9.99739710e-01 1.02027682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.540385723 meters Centerline goodness [0,1] 0.9999552512641517 Centerline is valid? [True, True] Translation: X:84.11, Y:0.35, Z:1.02 [[ 9.99756345e-01 -3.10732580e-03 -2.18539624e-02 8.41140222e+01] [ 3.09536497e-03 9.99995041e-01 -5.81113068e-04 3.46523463e-01] [ 2.18556597e-02 5.13325487e-04 9.99761005e-01 1.02127087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.14, Y:0.35, Z:1.02 [[ 9.99760030e-01 -2.33914509e-03 -2.17809717e-02 8.41424806e+01] [ 2.32696679e-03 9.99997122e-01 -5.84454148e-04 3.49048574e-01] [ 2.17822762e-02 5.33630299e-04 9.99762596e-01 1.02197223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.17, Y:0.35, Z:1.02 [[ 9.99783460e-01 -8.60672297e-04 -2.07916606e-02 8.41712038e+01] [ 8.49154050e-04 9.99999481e-01 -5.62806267e-04 3.50791401e-01] [ 2.07921342e-02 5.45029074e-04 9.99783672e-01 1.02305471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.20, Y:0.35, Z:1.02 [[ 9.99796323e-01 -6.48701081e-04 -2.01715691e-02 8.41985221e+01] [ 6.37735580e-04 9.99999645e-01 -5.50039656e-04 3.53913497e-01] [ 2.01719188e-02 5.37063498e-04 9.99796382e-01 1.02366644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66038572299999 meters Centerline goodness [0,1] 0.9999329189213363 Centerline is valid? [True, True] Translation: X:84.23, Y:0.35, Z:1.03 [[ 9.99832469e-01 -1.50603492e-03 -1.82418423e-02 8.42279157e+01] [ 1.49718210e-03 9.99998755e-01 -4.98949875e-04 3.53745791e-01] [ 1.82425710e-02 4.71554926e-04 9.99833479e-01 1.02572572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69038572299999 meters Centerline goodness [0,1] 0.9999551015826692 Centerline is valid? [True, True] Translation: X:84.26, Y:0.35, Z:1.03 [[ 9.99847690e-01 -1.97585528e-03 -1.73404860e-02 8.42561452e+01] [ 1.96788531e-03 9.99997950e-01 -4.76667673e-04 3.54133855e-01] [ 1.73413923e-02 4.42470984e-04 9.99849529e-01 1.02718080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72038572299999 meters Centerline goodness [0,1] 0.999887579818329 Centerline is valid? [True, True] Translation: X:84.29, Y:0.35, Z:1.03 [[ 9.99842300e-01 -1.59016383e-03 -1.76874865e-02 8.42853770e+01] [ 1.58172829e-03 9.99998629e-01 -4.90900342e-04 3.51193569e-01] [ 1.76882429e-02 4.62846129e-04 9.99843444e-01 1.02828656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.31, Y:0.36, Z:1.03 [[ 9.99836310e-01 -1.67156818e-03 -1.80155358e-02 8.43123978e+01] [ 1.66275455e-03 9.99998491e-01 -5.04192130e-04 3.57471143e-01] [ 1.80163514e-02 4.74154185e-04 9.99837580e-01 1.02758191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.780385723 meters Centerline goodness [0,1] 0.9999775784753363 Centerline is valid? [True, True] Translation: X:84.34, Y:0.36, Z:1.03 [[ 9.99798462e-01 -7.75345101e-04 -2.00607456e-02 8.43411703e+01] [ 7.64170213e-04 9.99999549e-01 -5.64712169e-04 3.55560176e-01] [ 2.00611744e-02 5.49268534e-04 9.99798604e-01 1.02589116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.810385723 meters Centerline goodness [0,1] 0.9999107720448817 Centerline is valid? [True, True] Translation: X:84.37, Y:0.36, Z:1.02 [[ 9.99772696e-01 3.86038697e-06 -2.13203069e-02 8.43687868e+01] [-1.67561478e-05 9.99999817e-01 -6.04679514e-04 3.64404844e-01] [ 2.13203007e-02 6.04899314e-04 9.99772514e-01 1.02300551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.40, Y:0.36, Z:1.02 [[ 9.99726972e-01 1.70079034e-03 -2.33042482e-02 8.43981836e+01] [-1.71673917e-03 9.99998306e-01 -6.64384721e-04 3.61944365e-01] [ 2.33030788e-02 7.04210641e-04 9.99728198e-01 1.02234783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.870385723 meters Centerline goodness [0,1] 0.9999329728763573 Centerline is valid? [True, True] Translation: X:84.43, Y:0.36, Z:1.02 [[ 9.99719359e-01 2.45148122e-03 -2.35625643e-02 8.44262093e+01] [-2.46809938e-03 9.99996726e-01 -6.76222592e-04 3.63801288e-01] [ 2.35608294e-02 7.34187567e-04 9.99722136e-01 1.02292821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.900385723 meters Centerline goodness [0,1] 0.9999776456386641 Centerline is valid? [True, True] Translation: X:84.45, Y:0.37, Z:1.02 [[ 9.99710034e-01 3.22474564e-03 -2.38631294e-02 8.44540164e+01] [-3.24205966e-03 9.99994509e-01 -6.86902730e-04 3.69997025e-01] [ 2.38607833e-02 7.64069241e-04 9.99714999e-01 1.02362789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.930385723 meters Centerline goodness [0,1] 0.9999552922767408 Centerline is valid? [True, True] Translation: X:84.48, Y:0.37, Z:1.03 [[ 9.99711977e-01 3.46049682e-03 -2.37484338e-02 8.44825949e+01] [-3.47775469e-03 9.99993718e-01 -6.85431837e-04 3.66978307e-01] [ 2.37459127e-02 7.67825644e-04 9.99717731e-01 1.02590139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.960385723 meters Centerline goodness [0,1] 0.9998883729237363 Centerline is valid? [True, True] Translation: X:84.51, Y:0.37, Z:1.03 [[ 9.99715114e-01 3.76170661e-03 -2.35698978e-02 8.45114227e+01] [-3.77882633e-03 9.99992628e-01 -6.81840713e-04 3.66164146e-01] [ 2.35671591e-02 7.70713016e-04 9.99721959e-01 1.02703567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.54, Y:0.37, Z:1.03 [[ 9.99755232e-01 3.88474797e-03 -2.17803811e-02 8.45400651e+01] [-3.89942590e-03 9.99992198e-01 -6.31475892e-04 3.67158838e-01] [ 2.17777581e-02 7.16252310e-04 9.99762580e-01 1.02859955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.57, Y:0.37, Z:1.03 [[ 9.99771188e-01 3.90857157e-03 -2.10308021e-02 8.45683930e+01] [-3.92229569e-03 9.99992121e-01 -6.11362553e-04 3.67589614e-01] [ 2.10282468e-02 6.93711690e-04 9.99778641e-01 1.02954014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05038572299999 meters Centerline goodness [0,1] 0.9999778181979504 Centerline is valid? [True, True] Translation: X:84.60, Y:0.37, Z:1.03 [[ 9.99793720e-01 4.04040164e-03 -1.99045744e-02 8.45968133e+01] [-4.05276069e-03 9.99991619e-01 -5.80616115e-04 3.69033408e-01] [ 1.99020616e-02 6.61164822e-04 9.99801716e-01 1.03051422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.63, Y:0.37, Z:1.03 [[ 9.99784091e-01 4.60050515e-03 -2.02634203e-02 8.46255971e+01] [-4.61346859e-03 9.99989182e-01 -5.93044783e-04 3.68430122e-01] [ 2.02604728e-02 6.86401393e-04 9.99794500e-01 1.03163191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.65, Y:0.37, Z:1.03 [[ 9.99771171e-01 4.71362659e-03 -2.08659269e-02 8.46545286e+01] [-4.72742842e-03 9.99988638e-01 -6.12176062e-04 3.68591934e-01] [ 2.08628043e-02 7.10678154e-04 9.99782095e-01 1.03231902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.68, Y:0.37, Z:1.03 [[ 9.99782134e-01 4.86107986e-03 -2.02991190e-02 8.46821795e+01] [-4.87420242e-03 9.99987943e-01 -5.97032803e-04 3.73971316e-01] [ 2.02959721e-02 6.95844745e-04 9.99793773e-01 1.03287443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.71, Y:0.37, Z:1.03 [[ 9.99769190e-01 5.30957849e-03 -2.08176756e-02 8.47114159e+01] [-5.32353247e-03 9.99985641e-01 -6.14933834e-04 3.73707413e-01] [ 2.08141116e-02 7.25615472e-04 9.99783100e-01 1.03184882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.74, Y:0.37, Z:1.03 [[ 9.99745337e-01 5.80245791e-03 -2.18080859e-02 8.47407123e+01] [-5.81797776e-03 9.99982865e-01 -6.48275722e-04 3.74668793e-01] [ 2.18039506e-02 7.74989589e-04 9.99761965e-01 1.03085707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.77, Y:0.38, Z:1.03 [[ 9.99708354e-01 7.17687892e-03 -2.30585877e-02 8.47695551e+01] [-7.19463350e-03 9.99973882e-01 -6.87107923e-04 3.76883686e-01] [ 2.30530541e-02 8.52805618e-04 9.99733879e-01 1.03014119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.260385723 meters Centerline goodness [0,1] 0.9999776601210821 Centerline is valid? [True, True] Translation: X:84.80, Y:0.38, Z:1.03 [[ 9.99644759e-01 8.59344064e-03 -2.52291203e-02 8.47986645e+01] [-8.61519240e-03 9.99962605e-01 -7.53599147e-04 3.75538361e-01] [ 2.52217009e-02 9.70685163e-04 9.99681411e-01 1.03121482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.83, Y:0.38, Z:1.03 [[ 9.99626034e-01 7.97405818e-03 -2.61573385e-02 8.48263200e+01] [-7.99728153e-03 9.99967714e-01 -7.83339755e-04 3.76183349e-01] [ 2.61502476e-02 9.92234412e-04 9.99657531e-01 1.03173581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.86, Y:0.38, Z:1.03 [[ 9.99684655e-01 4.62740543e-03 -2.46815260e-02 8.48550511e+01] [-4.64710472e-03 9.99988928e-01 -7.40840711e-04 3.75122042e-01] [ 2.46778246e-02 8.55304726e-04 9.99695090e-01 1.03341085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.88, Y:0.37, Z:1.04 [[ 9.99723785e-01 3.10898674e-03 -2.32956840e-02 8.48837079e+01] [-3.12615366e-03 9.99994868e-01 -7.00532498e-04 3.71252473e-01] [ 2.32933865e-02 7.73164888e-04 9.99728373e-01 1.03587526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.91, Y:0.37, Z:1.04 [[ 9.99774621e-01 2.60034851e-04 -2.12282775e-02 8.49117361e+01] [-2.73679665e-04 9.99999758e-01 -6.39863299e-04 3.72188614e-01] [ 2.12281059e-02 6.45528835e-04 9.99774450e-01 1.03679897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41038572299999 meters Centerline goodness [0,1] 0.9999331759255135 Centerline is valid? [True, True] Translation: X:84.94, Y:0.37, Z:1.04 [[ 9.99801341e-01 -7.04117461e-04 -1.99194251e-02 8.49403745e+01] [ 6.92263569e-04 9.99999579e-01 -6.01981246e-04 3.72029825e-01] [ 1.99198406e-02 5.88072165e-04 9.99801407e-01 1.03790627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44038572299999 meters Centerline goodness [0,1] 0.9999552562697152 Centerline is valid? [True, True] Translation: X:84.97, Y:0.37, Z:1.04 [[ 9.99819288e-01 -3.22255286e-03 -1.87351561e-02 8.49682693e+01] [ 3.21248418e-03 9.99994679e-01 -5.67492436e-04 3.74522993e-01] [ 1.87368852e-02 5.07203491e-04 9.99824321e-01 1.03906210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47038572299999 meters Centerline goodness [0,1] 0.9999776705966417 Centerline is valid? [True, True] Translation: X:85.00, Y:0.37, Z:1.04 [[ 9.99824826e-01 -4.41735213e-03 -1.81880036e-02 8.49970764e+01] [ 4.40802409e-03 9.99990132e-01 -5.52926046e-04 3.72859258e-01] [ 1.81902666e-02 4.72656030e-04 9.99834432e-01 1.03982070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.03, Y:0.37, Z:1.04 [[ 9.99845200e-01 -5.51030346e-03 -1.67096556e-02 8.50263440e+01] [ 5.50252530e-03 9.99984730e-01 -5.11429524e-04 3.72959642e-01] [ 1.67122186e-02 4.19405052e-04 9.99860253e-01 1.04157642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.05, Y:0.37, Z:1.04 [[ 9.99843599e-01 -5.79361645e-03 -1.67096259e-02 8.50539347e+01] [ 5.78586168e-03 9.99983130e-01 -5.12396357e-04 3.73894171e-01] [ 1.67123127e-02 4.15636634e-04 9.99860253e-01 1.04199535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.08, Y:0.37, Z:1.04 [[ 9.99847739e-01 -5.97453141e-03 -1.63952232e-02 8.50811823e+01] [ 5.96701833e-03 9.99982069e-01 -5.07128471e-04 3.74510728e-01] [ 1.63979591e-02 4.09220658e-04 9.99865461e-01 1.04396897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.11, Y:0.37, Z:1.05 [[ 9.99848457e-01 -5.67499501e-03 -1.64577402e-02 8.51096996e+01] [ 5.66734801e-03 9.99983810e-01 -5.11247085e-04 3.73377189e-01] [ 1.64603751e-02 4.17897868e-04 9.99864432e-01 1.04547791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.14, Y:0.38, Z:1.04 [[ 9.99813042e-01 -2.36999869e-03 -1.91902291e-02 8.51381105e+01] [ 2.35890603e-03 9.99997037e-01 -6.00652328e-04 3.79361131e-01] [ 1.91915958e-02 5.55272084e-04 9.99815670e-01 1.04343080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.17, Y:0.38, Z:1.04 [[ 9.99753121e-01 2.72346079e-04 -2.22176370e-02 8.51674413e+01] [-2.87895801e-04 9.99999716e-01 -6.96686319e-04 3.82925956e-01] [ 2.22174410e-02 7.02910687e-04 9.99752915e-01 1.04142864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.680385723 meters Centerline goodness [0,1] 0.9999776845487816 Centerline is valid? [True, True] Translation: X:85.20, Y:0.39, Z:1.04 [[ 9.99652378e-01 4.89565584e-03 -2.59066717e-02 8.51966557e+01] [-4.91837887e-03 9.99987574e-01 -8.13463440e-04 3.94002836e-01] [ 2.59023673e-02 9.40599489e-04 9.99664035e-01 1.03517027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.710385723 meters Centerline goodness [0,1] 0.9999776820586069 Centerline is valid? [True, True] Translation: X:85.23, Y:0.39, Z:1.04 [[ 9.99645119e-01 5.76733003e-03 -2.60072098e-02 8.52251970e+01] [-5.79059719e-03 9.99982899e-01 -8.19419627e-04 3.93950420e-01] [ 2.60020392e-02 9.69726106e-04 9.99661419e-01 1.03541056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.25, Y:0.40, Z:1.04 [[ 9.99647378e-01 5.53364788e-03 -2.59711150e-02 8.52524798e+01] [-5.55688735e-03 9.99984222e-01 -8.22732995e-04 3.97704073e-01] [ 2.59661525e-02 9.66761442e-04 9.99662355e-01 1.03522512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.28, Y:0.39, Z:1.04 [[ 9.99696356e-01 2.92074316e-03 -2.44676425e-02 8.52818983e+01] [-2.94062771e-03 9.99995375e-01 -7.76746125e-04 3.93750877e-01] [ 2.44652606e-02 8.48460498e-04 9.99700321e-01 1.03846806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.31, Y:0.39, Z:1.04 [[ 9.99734020e-01 1.26682103e-04 -2.30623577e-02 8.53113492e+01] [-1.43630359e-04 9.99999721e-01 -7.33233299e-04 3.88980301e-01] [ 2.30622584e-02 7.36350728e-04 9.99733760e-01 1.04204191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83038572299999 meters Centerline goodness [0,1] 0.9999551499114211 Centerline is valid? [True, True] Translation: X:85.34, Y:0.39, Z:1.05 [[ 9.99802660e-01 -4.94771247e-03 -1.92395832e-02 8.53418619e+01] [ 4.93683829e-03 9.99987626e-01 -6.12653181e-04 3.85595366e-01] [ 1.92423763e-02 5.17549569e-04 9.99814714e-01 1.04639496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.37, Y:0.38, Z:1.05 [[ 9.99811707e-01 -7.30427405e-03 -1.79777352e-02 8.53697318e+01] [ 7.29513648e-03 9.99973226e-01 -5.73799704e-04 3.84584712e-01] [ 1.79814451e-02 4.42541630e-04 9.99838223e-01 1.04858260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.40, Y:0.38, Z:1.05 [[ 9.99801670e-01 -1.04883611e-02 -1.69296890e-02 8.53985423e+01] [ 1.04806862e-02 9.99944929e-01 -5.42004785e-04 3.82195305e-01] [ 1.69344414e-02 3.64462533e-04 9.99856536e-01 1.05012388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.920385723 meters Centerline goodness [0,1] 0.9999775759614307 Centerline is valid? [True, True] Translation: X:85.43, Y:0.38, Z:1.05 [[ 9.99787958e-01 -1.12655895e-02 -1.72373419e-02 8.54276519e+01] [ 1.12576764e-02 9.99936476e-01 -5.56038975e-04 3.82657120e-01] [ 1.72425110e-02 3.61868655e-04 9.99851271e-01 1.04990605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.46, Y:0.38, Z:1.05 [[ 9.99766139e-01 -1.15253670e-02 -1.82984338e-02 8.54551408e+01] [ 1.15164152e-02 9.99933507e-01 -5.94512307e-04 3.84444471e-01] [ 1.83040690e-02 3.83640913e-04 9.99832393e-01 1.04837219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.48, Y:0.39, Z:1.05 [[ 9.99759580e-01 -1.16169741e-02 -1.85964334e-02 8.54827856e+01] [ 1.16076932e-02 9.99932444e-01 -6.06936804e-04 3.86119920e-01] [ 1.86022279e-02 3.90929192e-04 9.99826887e-01 1.04782422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.51, Y:0.39, Z:1.05 [[ 9.99751934e-01 -1.14374670e-02 -1.91116422e-02 8.55117897e+01] [ 1.14275349e-02 9.99934506e-01 -6.28824517e-04 3.87638164e-01] [ 1.91175827e-02 4.10269569e-04 9.99817158e-01 1.04786498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.54, Y:0.39, Z:1.05 [[ 9.99754268e-01 -1.00972237e-02 -1.97344865e-02 8.55402738e+01] [ 1.00862787e-02 9.99948918e-01 -6.54070623e-04 3.90084869e-01] [ 1.97400828e-02 4.54862365e-04 9.99805042e-01 1.04651592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.070385723 meters Centerline goodness [0,1] 0.9999775290998157 Centerline is valid? [True, True] Translation: X:85.57, Y:0.39, Z:1.05 [[ 9.99753529e-01 -9.21039621e-03 -2.02002566e-02 8.55686657e+01] [ 9.19864869e-03 9.99957464e-01 -6.74394826e-04 3.92249887e-01] [ 2.02056088e-02 4.88413543e-04 9.99795727e-01 1.04617739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.100385723 meters Centerline goodness [0,1] 0.9999100395825836 Centerline is valid? [True, True] Translation: X:85.60, Y:0.39, Z:1.05 [[ 9.99749294e-01 -7.69774143e-03 -2.10260365e-02 8.55976789e+01] [ 7.68457024e-03 9.99970223e-01 -7.07148953e-04 3.90115100e-01] [ 2.10308538e-02 5.45395612e-04 9.99778678e-01 1.04672590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13038572299999 meters Centerline goodness [0,1] 0.9999774871113712 Centerline is valid? [True, True] Translation: X:85.63, Y:0.39, Z:1.05 [[ 9.99734817e-01 -7.95227677e-03 -2.16115235e-02 8.56260764e+01] [ 7.93830077e-03 9.99968223e-01 -7.32405867e-04 3.90402543e-01] [ 2.16166611e-02 5.60652871e-04 9.99766175e-01 1.04708958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.65, Y:0.39, Z:1.04 [[ 9.99704898e-01 -8.04923567e-03 -2.29200085e-02 8.56542860e+01] [ 8.03342554e-03 9.99967426e-01 -7.81788990e-04 3.91004306e-01] [ 2.29255547e-02 5.97432101e-04 9.99736996e-01 1.04457549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.68, Y:0.39, Z:1.04 [[ 9.99684632e-01 -7.69280020e-03 -2.39051910e-02 8.56818448e+01] [ 7.67545022e-03 9.99970209e-01 -8.17454385e-04 3.92350596e-01] [ 2.39107674e-02 6.33713482e-04 9.99713896e-01 1.04387915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22038572299999 meters Centerline goodness [0,1] 0.9999774092983328 Centerline is valid? [True, True] Translation: X:85.71, Y:0.39, Z:1.05 [[ 9.99692093e-01 -7.31808532e-03 -2.37099968e-02 8.57106211e+01] [ 7.30083319e-03 9.99973017e-01 -8.14113851e-04 3.90282634e-01] [ 2.37153148e-02 6.40760448e-04 9.99718547e-01 1.04516712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.250385723 meters Centerline goodness [0,1] 0.9999095922610975 Centerline is valid? [True, True] Translation: X:85.74, Y:0.39, Z:1.05 [[ 9.99685970e-01 -7.53968370e-03 -2.38980175e-02 8.57381066e+01] [ 7.52210582e-03 9.99971368e-01 -8.25347396e-04 3.90484630e-01] [ 2.39035561e-02 6.45324796e-04 9.99714061e-01 1.04673332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.280385723 meters Centerline goodness [0,1] 0.9999774363139963 Centerline is valid? [True, True] Translation: X:85.77, Y:0.39, Z:1.05 [[ 9.99705336e-01 -7.63931784e-03 -2.30408709e-02 8.57664263e+01] [ 7.62291433e-03 9.99970625e-01 -7.99679190e-04 3.91201612e-01] [ 2.30463031e-02 6.23804968e-04 9.99734204e-01 1.04846193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.79, Y:0.39, Z:1.05 [[ 9.99728171e-01 -7.69252122e-03 -2.20092944e-02 8.57947500e+01] [ 7.67743715e-03 9.99970232e-01 -7.69766694e-04 3.92406328e-01] [ 2.20145607e-02 6.00582475e-04 9.99757470e-01 1.05005264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.82, Y:0.39, Z:1.05 [[ 9.99748633e-01 -7.87852980e-03 -2.09904601e-02 8.58226604e+01] [ 7.86473316e-03 9.99968799e-01 -7.39752732e-04 3.93010683e-01] [ 2.09956333e-02 5.74482416e-04 9.99779402e-01 1.05184431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.85, Y:0.40, Z:1.05 [[ 9.99805650e-01 -7.62115982e-03 -1.81818454e-02 8.58505990e+01] [ 7.61068435e-03 9.99970830e-01 -6.45274961e-04 3.95788181e-01] [ 1.81862327e-02 5.06773266e-04 9.99834488e-01 1.05434916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.88, Y:0.40, Z:1.06 [[ 9.99827216e-01 -7.63164140e-03 -1.69497871e-02 8.58789429e+01] [ 7.62246475e-03 9.99970765e-01 -6.05941426e-04 3.98548719e-01] [ 1.69539159e-02 4.76637575e-04 9.99856158e-01 1.05515793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.91, Y:0.40, Z:1.06 [[ 9.99844657e-01 -8.28527387e-03 -1.55568686e-02 8.59082293e+01] [ 8.27756477e-03 9.99965584e-01 -5.59869247e-04 4.01459102e-01] [ 1.55609719e-02 4.31009288e-04 9.99878828e-01 1.05545027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.460385723 meters Centerline goodness [0,1] 0.9999775417162621 Centerline is valid? [True, True] Translation: X:85.94, Y:0.40, Z:1.06 [[ 9.99845431e-01 -8.43943654e-03 -1.54236719e-02 8.59365115e+01] [ 8.43181887e-03 9.99964295e-01 -5.58857585e-04 4.02589598e-01] [ 1.54278377e-02 4.28721595e-04 9.99880892e-01 1.05525360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.96, Y:0.40, Z:1.05 [[ 9.99811571e-01 -8.66563840e-03 -1.73703715e-02 8.59636495e+01] [ 8.65591577e-03 9.99962335e-01 -6.34831832e-04 4.03561879e-01] [ 1.73752185e-02 4.84355739e-04 9.99848922e-01 1.05437300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52038572299999 meters Centerline goodness [0,1] 0.9999100051747024 Centerline is valid? [True, True] Translation: X:85.99, Y:0.40, Z:1.05 [[ 9.99787123e-01 -8.90806061e-03 -1.86106206e-02 8.59922112e+01] [ 8.89683935e-03 9.99960187e-01 -6.85659318e-04 4.02382092e-01] [ 1.86159876e-02 5.19937655e-04 9.99826572e-01 1.05398892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55038572299999 meters Centerline goodness [0,1] 0.9999551005747126 Centerline is valid? [True, True] Translation: X:86.02, Y:0.41, Z:1.05 [[ 9.99766653e-01 -9.83512529e-03 -1.92330323e-02 8.60200930e+01] [ 9.82321959e-03 9.99951497e-01 -7.13402237e-04 4.05841445e-01] [ 1.92391158e-02 5.24305467e-04 9.99814774e-01 1.05229459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.05, Y:0.41, Z:1.05 [[ 9.99754629e-01 -1.08111388e-02 -1.93339322e-02 8.60484621e+01] [ 1.07992458e-02 9.99941428e-01 -7.19436549e-04 4.07338151e-01] [ 1.93405777e-02 5.10468133e-04 9.99812823e-01 1.05243241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.08, Y:0.41, Z:1.05 [[ 9.99744768e-01 -1.11888271e-02 -1.96267338e-02 8.60766731e+01] [ 1.11765501e-02 9.99937270e-01 -7.35106157e-04 4.06886678e-01] [ 1.96337276e-02 5.15559360e-04 9.99807107e-01 1.05243086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.11, Y:0.41, Z:1.05 [[ 9.99710308e-01 -1.12668274e-02 -2.12687107e-02 8.61053057e+01] [ 1.12523032e-02 9.99936369e-01 -8.02447661e-04 4.06456949e-01] [ 2.12763984e-02 5.62893218e-04 9.99773473e-01 1.05170757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.13, Y:0.41, Z:1.05 [[ 9.99713108e-01 -1.08931083e-02 -2.13317198e-02 8.61333613e+01] [ 1.08783198e-02 9.99940502e-01 -8.09187321e-04 4.09897119e-01] [ 2.13392652e-02 5.76901903e-04 9.99772126e-01 1.05186530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.16, Y:0.41, Z:1.05 [[ 9.99711063e-01 -1.14215482e-02 -2.11503975e-02 8.61612507e+01] [ 1.14070654e-02 9.99934613e-01 -8.05277617e-04 4.08680845e-01] [ 2.11582120e-02 5.63780975e-04 9.99775981e-01 1.05260914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.19, Y:0.41, Z:1.05 [[ 9.99685536e-01 -1.22625396e-02 -2.18737238e-02 8.61900603e+01] [ 1.22471194e-02 9.99924649e-01 -8.38791972e-04 4.09189211e-01] [ 2.18823613e-02 5.70638096e-04 9.99760390e-01 1.05286219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.22, Y:0.41, Z:1.05 [[ 9.99657896e-01 -1.32159154e-02 -2.25705669e-02 8.62191188e+01] [ 1.31996144e-02 9.99912502e-01 -8.71059765e-04 4.08433593e-01] [ 2.25801039e-02 5.72838993e-04 9.99744873e-01 1.05305086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.25, Y:0.41, Z:1.05 [[ 9.99668866e-01 -1.40538244e-02 -2.15557036e-02 8.62479901e+01] [ 1.40390425e-02 9.99901098e-01 -8.36936421e-04 4.09003181e-01] [ 2.15653339e-02 5.34037844e-04 9.99767299e-01 1.05426061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.28, Y:0.41, Z:1.06 [[ 9.99712617e-01 -1.60885232e-02 -1.77719859e-02 8.62760495e+01] [ 1.60787375e-02 9.99870488e-01 -6.93389323e-04 4.10966963e-01] [ 1.77808399e-02 4.07438958e-04 9.99841825e-01 1.05717472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.850385723 meters Centerline goodness [0,1] 0.9999323715058611 Centerline is valid? [True, True] Translation: X:86.30, Y:0.41, Z:1.06 [[ 9.99730172e-01 -1.67273234e-02 -1.61176697e-02 8.63034490e+01] [ 1.67193285e-02 9.99860023e-01 -6.30660009e-04 4.14604530e-01] [ 1.61259628e-02 3.61013226e-04 9.99869903e-01 1.05863055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.33, Y:0.41, Z:1.06 [[ 9.99728565e-01 -1.80416350e-02 -1.47409671e-02 8.63328708e+01] [ 1.80350744e-02 9.99837188e-01 -5.77889331e-04 4.12331230e-01] [ 1.47489932e-02 3.11878033e-04 9.99891179e-01 1.06019455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.36, Y:0.41, Z:1.06 [[ 9.99714914e-01 -1.98126375e-02 -1.33248267e-02 8.63614206e+01] [ 1.98074161e-02 9.99803677e-01 -5.23728512e-04 4.14076720e-01] [ 1.33325872e-02 2.59648817e-04 9.99911083e-01 1.06043773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.39, Y:0.42, Z:1.06 [[ 9.99694301e-01 -2.04442428e-02 -1.39045726e-02 8.63899445e+01] [ 2.04385694e-02 9.99790959e-01 -5.50018144e-04 4.15047873e-01] [ 1.39129107e-02 2.65660433e-04 9.99903175e-01 1.06036681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.42, Y:0.42, Z:1.06 [[ 9.99650735e-01 -2.03012464e-02 -1.69194110e-02 8.64181538e+01] [ 2.02927361e-02 9.99793854e-01 -6.74539240e-04 4.16814876e-01] [ 1.69296171e-02 3.30962506e-04 9.99856629e-01 1.05909541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.45, Y:0.42, Z:1.06 [[ 9.99628961e-01 -1.95135973e-02 -1.90042046e-02 8.64474504e+01] [ 1.95026729e-02 9.99809516e-01 -7.60023220e-04 4.19623125e-01] [ 1.90154154e-02 3.89108437e-04 9.99819115e-01 1.05815283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.48, Y:0.42, Z:1.06 [[ 9.99623215e-01 -1.83293286e-02 -2.04319095e-02 8.64762734e+01] [ 1.83163482e-02 9.99831904e-01 -8.22273582e-04 4.22375905e-01] [ 2.04435467e-02 4.47725794e-04 9.99790909e-01 1.05653568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.060385723 meters Centerline goodness [0,1] 0.9999327248671316 Centerline is valid? [True, True] Translation: X:86.50, Y:0.43, Z:1.05 [[ 9.99591385e-01 -1.65889827e-02 -2.32780631e-02 8.65039645e+01] [ 1.65715471e-02 9.99862239e-01 -9.41731844e-04 4.27991298e-01] [ 2.32904786e-02 5.55593520e-04 9.99728586e-01 1.05320472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.53, Y:0.43, Z:1.05 [[ 9.99567488e-01 -1.69377561e-02 -2.40405628e-02 8.65316611e+01] [ 1.69191682e-02 9.99856384e-01 -9.76395195e-04 4.29955176e-01] [ 2.40536481e-02 5.69226567e-04 9.99710507e-01 1.05333053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.120385723 meters Centerline goodness [0,1] 0.9999551468939224 Centerline is valid? [True, True] Translation: X:86.56, Y:0.43, Z:1.05 [[ 9.99554927e-01 -1.79082457e-02 -2.38587936e-02 8.65609407e+01] [ 1.78900642e-02 9.99839484e-01 -9.75290650e-04 4.31163051e-01] [ 2.38724297e-02 5.48021225e-04 9.99714863e-01 1.05435209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.59, Y:0.43, Z:1.06 [[ 9.99548759e-01 -1.92847026e-02 -2.30299451e-02 8.65897452e+01] [ 1.92680028e-02 9.99813906e-01 -9.46835870e-04 4.31918024e-01] [ 2.30439188e-02 5.02667573e-04 9.99734327e-01 1.05584733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.180385723 meters Centerline goodness [0,1] 0.9999551981362425 Centerline is valid? [True, True] Translation: X:86.62, Y:0.43, Z:1.06 [[ 9.99530604e-01 -2.23862830e-02 -2.09147355e-02 8.66176213e+01] [ 2.23731046e-02 9.99749318e-01 -8.63907894e-04 4.29526929e-01] [ 2.09288322e-02 3.95574815e-04 9.99780890e-01 1.05972066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.210385723 meters Centerline goodness [0,1] 0.9999775043304164 Centerline is valid? [True, True] Translation: X:86.65, Y:0.43, Z:1.06 [[ 9.99505255e-01 -2.42186438e-02 -2.00674582e-02 8.66469541e+01] [ 2.42068204e-02 9.99706626e-01 -8.31915813e-04 4.28339139e-01] [ 2.00817188e-02 3.45734871e-04 9.99798282e-01 1.06174513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.67, Y:0.43, Z:1.06 [[ 9.99474259e-01 -2.63676191e-02 -1.88667417e-02 8.66748702e+01] [ 2.63574700e-02 9.99652272e-01 -7.86439518e-04 4.29770687e-01] [ 1.88809178e-02 2.88746475e-04 9.99821698e-01 1.06299167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.70, Y:0.43, Z:1.06 [[ 9.99467702e-01 -2.67689176e-02 -1.86477076e-02 8.67032927e+01] [ 2.67589881e-02 9.99641608e-01 -7.81835082e-04 4.32482111e-01] [ 1.86619533e-02 2.82425126e-04 9.99825811e-01 1.06244684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30038572299999 meters Centerline goodness [0,1] 0.9999551720273451 Centerline is valid? [True, True] Translation: X:86.73, Y:0.44, Z:1.06 [[ 9.99499566e-01 -2.51537023e-02 -1.91809289e-02 8.67321404e+01] [ 2.51427996e-02 9.99683542e-01 -8.09392599e-04 4.36825430e-01] [ 1.91952182e-02 3.26725300e-04 9.99815701e-01 1.06131506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.76, Y:0.44, Z:1.06 [[ 9.99528344e-01 -2.43484423e-02 -1.87147603e-02 8.67610828e+01] [ 2.43378395e-02 9.99703476e-01 -7.94126707e-04 4.37369014e-01] [ 1.87285466e-02 3.38275320e-04 9.99824548e-01 1.06240788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.360385723 meters Centerline goodness [0,1] 0.9999106863752065 Centerline is valid? [True, True] Translation: X:86.79, Y:0.44, Z:1.06 [[ 9.99579752e-01 -2.33356738e-02 -1.71978469e-02 8.67882890e+01] [ 2.33265075e-02 9.99727631e-01 -7.33425862e-04 4.41287683e-01] [ 1.72102777e-02 3.31951937e-04 9.99851837e-01 1.06480888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.82, Y:0.44, Z:1.07 [[ 9.99587995e-01 -2.35370990e-02 -1.64269591e-02 8.68159271e+01] [ 2.35287328e-02 9.99722914e-01 -7.02404015e-04 4.41010197e-01] [ 1.64389400e-02 3.15609089e-04 9.99864822e-01 1.06606876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.84, Y:0.44, Z:1.07 [[ 9.99581573e-01 -2.38084155e-02 -1.64267670e-02 8.68434967e+01] [ 2.38000125e-02 9.99716490e-01 -7.06870848e-04 4.42269562e-01] [ 1.64389393e-02 3.15617814e-04 9.99864822e-01 1.06648609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.87, Y:0.44, Z:1.07 [[ 9.99569722e-01 -2.37295317e-02 -1.72418144e-02 8.68720813e+01] [ 2.37201789e-02 9.99718358e-01 -7.46777248e-04 4.44401702e-01] [ 1.72546791e-02 3.37477002e-04 9.99851070e-01 1.06601578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.90, Y:0.45, Z:1.07 [[ 9.99556380e-01 -2.36018118e-02 -1.81658276e-02 8.69008310e+01] [ 2.35913246e-02 9.99721373e-01 -7.91412723e-04 4.46027564e-01] [ 1.81794449e-02 3.62505701e-04 9.99834675e-01 1.06585254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.93, Y:0.45, Z:1.07 [[ 9.99562021e-01 -2.23265246e-02 -1.94240341e-02 8.69300479e+01] [ 2.23141973e-02 9.99750645e-01 -8.51173206e-04 4.47989496e-01] [ 1.94381944e-02 4.17368680e-04 9.99810973e-01 1.06599209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.540385723 meters Centerline goodness [0,1] 0.9999776005734253 Centerline is valid? [True, True] Translation: X:86.96, Y:0.45, Z:1.07 [[ 9.99570205e-01 -2.15360795e-02 -1.98897671e-02 8.69579560e+01] [ 2.15229151e-02 9.99767972e-01 -8.75719839e-04 4.51485055e-01] [ 1.99040117e-02 4.47257689e-04 9.99801795e-01 1.06525708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.99, Y:0.46, Z:1.06 [[ 9.99569356e-01 -2.10080082e-02 -2.04881823e-02 8.69856407e+01] [ 2.09938922e-02 9.99779195e-01 -9.03847991e-04 4.57749890e-01] [ 2.05026464e-02 4.73332064e-04 9.99789687e-01 1.06296498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.01, Y:0.46, Z:1.06 [[ 9.99534560e-01 -2.16410186e-02 -2.15018505e-02 8.70141335e+01] [ 2.16255507e-02 9.99765687e-01 -9.51666189e-04 4.57285771e-01] [ 2.15174073e-02 4.86233889e-04 9.99768356e-01 1.06144379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.04, Y:0.46, Z:1.06 [[ 9.99485397e-01 -2.38265145e-02 -2.14764807e-02 8.70417361e+01] [ 2.38114856e-02 9.99716010e-01 -9.55271374e-04 4.59765222e-01] [ 2.14931424e-02 4.43392877e-04 9.99768897e-01 1.06158298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.07, Y:0.45, Z:1.06 [[ 9.99439595e-01 -2.59573329e-02 -2.11355925e-02 8.70705721e+01] [ 2.59431960e-02 9.99662974e-01 -9.42830298e-04 4.54544980e-01] [ 2.11529426e-02 3.93977111e-04 9.99776174e-01 1.06449410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.10, Y:0.46, Z:1.06 [[ 9.99390938e-01 -2.77076004e-02 -2.12142132e-02 8.70986945e+01] [ 2.76936626e-02 9.99616005e-01 -9.50557974e-04 4.58258626e-01] [ 2.12324047e-02 3.62479762e-04 9.99774501e-01 1.06440063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72038572299999 meters Centerline goodness [0,1] 0.9999554754112959 Centerline is valid? [True, True] Translation: X:87.13, Y:0.46, Z:1.06 [[ 9.99343535e-01 -2.96593404e-02 -2.08043910e-02 8.71273295e+01] [ 2.96463072e-02 9.99560015e-01 -9.34673347e-04 4.59617553e-01] [ 2.08229591e-02 3.17286401e-04 9.99783128e-01 1.06491544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.16, Y:0.46, Z:1.07 [[ 9.99335223e-01 -3.03599992e-02 -2.01837308e-02 8.71552205e+01] [ 3.03477834e-02 9.99538985e-01 -9.11324186e-04 4.58144950e-01] [ 2.02020936e-02 2.98186867e-04 9.99795872e-01 1.06711203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.18, Y:0.47, Z:1.07 [[ 9.99336999e-01 -3.11858927e-02 -1.87883493e-02 8.71833364e+01] [ 3.11753639e-02 9.99513566e-01 -8.53091700e-04 4.65943833e-01] [ 1.88058145e-02 2.66792473e-04 9.99823119e-01 1.06652590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.21, Y:0.46, Z:1.07 [[ 9.99329881e-01 -3.17962101e-02 -1.81325525e-02 8.72119604e+01] [ 3.17864256e-02 9.99494341e-01 -8.27635467e-04 4.64644280e-01] [ 1.81496993e-02 2.50711820e-04 9.99835249e-01 1.06767588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.24, Y:0.47, Z:1.07 [[ 9.99283527e-01 -3.33603993e-02 -1.78750433e-02 8.72401240e+01] [ 3.33510560e-02 9.99443362e-01 -8.20629184e-04 4.66633385e-01] [ 1.78924699e-02 2.23889655e-04 9.99839892e-01 1.06890613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.870385723 meters Centerline goodness [0,1] 0.9999336180381918 Centerline is valid? [True, True] Translation: X:87.27, Y:0.47, Z:1.07 [[ 9.99252600e-01 -3.40367246e-02 -1.83232997e-02 8.72675804e+01] [ 3.40269475e-02 9.99420558e-01 -8.45183631e-04 4.68817259e-01] [ 1.83414497e-02 2.21065985e-04 9.99831757e-01 1.06910212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.30, Y:0.47, Z:1.07 [[ 9.99213213e-01 -3.49939582e-02 -1.86648568e-02 8.72954652e+01] [ 3.49839379e-02 9.99387502e-01 -8.63194918e-04 4.70798098e-01] [ 1.86836312e-02 2.09545578e-04 9.99825424e-01 1.06938695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.32, Y:0.48, Z:1.07 [[ 9.99214525e-01 -3.50526240e-02 -1.84836872e-02 8.73236439e+01] [ 3.50427158e-02 9.99385446e-01 -8.59769632e-04 4.75387758e-01] [ 1.85024651e-02 2.11375708e-04 9.99828792e-01 1.07006967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.35, Y:0.48, Z:1.07 [[ 9.99203334e-01 -3.45361924e-02 -1.99987202e-02 8.73520864e+01] [ 3.45243791e-02 9.99403418e-01 -9.35758747e-04 4.80635873e-01] [ 2.00191068e-02 2.44569863e-04 9.99799568e-01 1.06912027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.38, Y:0.48, Z:1.07 [[ 9.99175261e-01 -3.46363107e-02 -2.11925354e-02 8.73808238e+01] [ 3.46229577e-02 9.99399949e-01 -9.96781471e-04 4.83716489e-01] [ 2.12143436e-02 2.62211129e-04 9.99774916e-01 1.06737809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.41, Y:0.49, Z:1.07 [[ 9.99134277e-01 -3.50346340e-02 -2.24336906e-02 8.74093278e+01] [ 3.50196416e-02 9.99386061e-01 -1.06093260e-03 4.85461694e-01] [ 2.24570871e-02 2.74394322e-04 9.99747770e-01 1.06636445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.44, Y:0.49, Z:1.07 [[ 9.99068373e-01 -3.65118774e-02 -2.30058256e-02 8.74373738e+01] [ 3.64963517e-02 9.99333187e-01 -1.09451012e-03 4.88173540e-01] [ 2.30304477e-02 2.53861741e-04 9.99734732e-01 1.06548508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.47, Y:0.49, Z:1.07 [[ 9.99007720e-01 -3.84532204e-02 -2.24705360e-02 8.74650419e+01] [ 3.84387925e-02 9.99260380e-01 -1.07381193e-03 4.87870870e-01] [ 2.24952079e-02 2.09006135e-04 9.99746929e-01 1.06862908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.49, Y:0.49, Z:1.07 [[ 9.98976736e-01 -3.92443032e-02 -2.24803207e-02 8.74927716e+01] [ 3.92299879e-02 9.99229627e-01 -1.07761590e-03 4.88699278e-01] [ 2.25052927e-02 1.94610505e-04 9.99746705e-01 1.07071863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.140385723 meters Centerline goodness [0,1] 0.9999780060263488 Centerline is valid? [True, True] Translation: X:87.52, Y:0.49, Z:1.07 [[ 9.98947111e-01 -4.01937322e-02 -2.21163560e-02 8.75211283e+01] [ 4.01799755e-02 9.99191890e-01 -1.06621489e-03 4.90780330e-01] [ 2.21413387e-02 1.76457640e-04 9.99754835e-01 1.07176639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.170385723 meters Centerline goodness [0,1] 0.9999779283554417 Centerline is valid? [True, True] Translation: X:87.55, Y:0.49, Z:1.07 [[ 9.98851169e-01 -4.29797684e-02 -2.11915338e-02 8.75497113e+01] [ 4.29676492e-02 9.99075936e-01 -1.02709818e-03 4.94877067e-01] [ 2.12160959e-02 1.15367828e-04 9.99774907e-01 1.07144867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.58, Y:0.50, Z:1.07 [[ 9.98776503e-01 -4.50183214e-02 -2.04657520e-02 8.75786513e+01] [ 4.50073482e-02 9.98986159e-01 -9.96694528e-04 4.95537771e-01] [ 2.04898725e-02 7.43658480e-05 9.99790058e-01 1.07227808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.61, Y:0.49, Z:1.07 [[ 9.98545477e-01 -4.96225859e-02 -2.10838578e-02 8.76065216e+01] [ 4.96118537e-02 9.98768041e-01 -1.03210875e-03 4.91273405e-01] [ 2.11090992e-02 -1.54017416e-05 9.99777178e-01 1.07341949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.63, Y:0.49, Z:1.07 [[ 9.98400603e-01 -5.23547301e-02 -2.13358222e-02 8.76344187e+01] [ 5.23442392e-02 9.98628548e-01 -1.05026078e-03 4.91302242e-01] [ 2.13615473e-02 -6.82263838e-05 9.99771814e-01 1.07327050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.66, Y:0.49, Z:1.07 [[ 9.98187312e-01 -5.62108951e-02 -2.15040873e-02 8.76626199e+01] [ 5.62010318e-02 9.98418907e-01 -1.06322203e-03 4.93037807e-01] [ 2.15298520e-02 -1.47257152e-04 9.99768195e-01 1.07130782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.69, Y:0.50, Z:1.07 [[ 9.98117531e-01 -5.74262330e-02 -2.15318909e-02 8.76906036e+01] [ 5.74165620e-02 9.98349738e-01 -1.06760261e-03 4.95736799e-01] [ 2.15576660e-02 -1.70694272e-04 9.99767592e-01 1.07216202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.72, Y:0.50, Z:1.07 [[ 9.98071124e-01 -5.82455527e-02 -2.14822514e-02 8.77191062e+01] [ 5.82359889e-02 9.98302270e-01 -1.07105284e-03 4.97851548e-01] [ 2.15081644e-02 -1.82053242e-04 9.99768656e-01 1.07315666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.75, Y:0.50, Z:1.07 [[ 9.98077481e-01 -5.81756358e-02 -2.13760933e-02 8.77461380e+01] [ 5.81660427e-02 9.98306348e-01 -1.07078456e-03 4.96123428e-01] [ 2.14021832e-02 -1.74636801e-04 9.99770932e-01 1.07436809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.77, Y:0.50, Z:1.08 [[ 9.98114069e-01 -5.74858932e-02 -2.15331845e-02 8.77738546e+01] [ 5.74759202e-02 9.98346306e-01 -1.08226361e-03 4.97558661e-01] [ 2.15597901e-02 -1.57417059e-04 9.99767548e-01 1.07647910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.80, Y:0.50, Z:1.08 [[ 9.98266858e-01 -5.45782379e-02 -2.20112950e-02 8.78012619e+01] [ 5.45670041e-02 9.98509493e-01 -1.11110755e-03 4.99913049e-01] [ 2.20391293e-02 -9.19085772e-05 9.99757105e-01 1.07760471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47038572299999 meters Centerline goodness [0,1] 0.9999341281865489 Centerline is valid? [True, True] Translation: X:87.83, Y:0.50, Z:1.08 [[ 9.98339857e-01 -5.32125020e-02 -2.20445000e-02 8.78287872e+01] [ 5.32008310e-02 9.98583209e-01 -1.11597241e-03 5.04112238e-01] [ 2.20726512e-02 -5.86659809e-05 9.99756368e-01 1.07765494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.86, Y:0.51, Z:1.07 [[ 9.98516696e-01 -4.94876108e-02 -2.27020859e-02 8.78569436e+01] [ 4.94741246e-02 9.98774737e-01 -1.15566567e-03 5.12905136e-01] [ 2.27314610e-02 3.07856384e-05 9.99741606e-01 1.07457296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.89, Y:0.52, Z:1.07 [[ 9.98627410e-01 -4.69228401e-02 -2.32710595e-02 8.78854066e+01] [ 4.69078271e-02 9.98898512e-01 -1.19088582e-03 5.17026987e-01] [ 2.33013065e-02 9.76563869e-05 9.99728483e-01 1.07373295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.91, Y:0.52, Z:1.07 [[ 9.98730917e-01 -4.45009619e-02 -2.35843102e-02 8.79140333e+01] [ 4.44847303e-02 9.99009328e-01 -1.21269490e-03 5.19212622e-01] [ 2.36149119e-02 1.62014215e-04 9.99721116e-01 1.07443753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.590385723 meters Centerline goodness [0,1] 0.9999780961142507 Centerline is valid? [True, True] Translation: X:87.94, Y:0.52, Z:1.08 [[ 9.98867300e-01 -4.06199672e-02 -2.47817395e-02 8.79413899e+01] [ 4.06007179e-02 9.99174632e-01 -1.27962283e-03 5.19014209e-01] [ 2.48132637e-02 2.72016991e-04 9.99692067e-01 1.07691035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.97, Y:0.52, Z:1.08 [[ 9.98992086e-01 -3.77810628e-02 -2.42364076e-02 8.79702949e+01] [ 3.77617085e-02 9.99285983e-01 -1.25590433e-03 5.21952984e-01] [ 2.42665518e-02 3.39430329e-04 9.99705466e-01 1.07840677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.00, Y:0.53, Z:1.08 [[ 9.99040725e-01 -3.71995491e-02 -2.31046194e-02 8.79978116e+01] [ 3.71816743e-02 9.99307798e-01 -1.20290536e-03 5.25788778e-01] [ 2.31333738e-02 3.42683010e-04 9.99732329e-01 1.07881385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.03, Y:0.53, Z:1.08 [[ 9.99071893e-01 -3.68750085e-02 -2.22617481e-02 8.80261946e+01] [ 3.68581999e-02 9.99319827e-01 -1.16503020e-03 5.28327769e-01] [ 2.22895667e-02 3.43420973e-04 9.99751498e-01 1.07976801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.05, Y:0.53, Z:1.08 [[ 9.99155080e-01 -3.48807453e-02 -2.17361261e-02 8.80534284e+01] [ 3.48641392e-02 9.99391408e-01 -1.14258307e-03 5.34079687e-01] [ 2.17627518e-02 3.83806355e-04 9.99763090e-01 1.07989217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.08, Y:0.53, Z:1.08 [[ 9.99135942e-01 -3.39840155e-02 -2.39260495e-02 8.80828299e+01] [ 3.39635336e-02 9.99422276e-01 -1.26201304e-03 5.30453885e-01] [ 2.39551151e-02 4.48309405e-04 9.99712935e-01 1.08188239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.11, Y:0.53, Z:1.08 [[ 9.99127184e-01 -3.36618554e-02 -2.47335693e-02 8.81105356e+01] [ 3.36397538e-02 9.99433166e-01 -1.30923985e-03 5.33225634e-01] [ 2.47636209e-02 4.76065940e-04 9.99693221e-01 1.08157887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.14, Y:0.53, Z:1.08 [[ 9.99124243e-01 -3.38805571e-02 -2.45530856e-02 8.81386558e+01] [ 3.38587473e-02 9.99425778e-01 -1.30358094e-03 5.31657713e-01] [ 2.45831527e-02 4.71102598e-04 9.99697678e-01 1.08376808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.17, Y:0.53, Z:1.08 [[ 9.99110198e-01 -3.51982923e-02 -2.32355699e-02 8.81667452e+01] [ 3.51790085e-02 9.99380260e-01 -1.23828805e-03 5.34317042e-01] [ 2.32647555e-02 4.19781907e-04 9.99729251e-01 1.08431859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.860385723 meters Centerline goodness [0,1] 0.9999560671294262 Centerline is valid? [True, True] Translation: X:88.20, Y:0.54, Z:1.08 [[ 9.99088312e-01 -3.61074067e-02 -2.27771865e-02 8.81951229e+01] [ 3.60890421e-02 9.99347837e-01 -1.21694626e-03 5.36297329e-01] [ 2.28062728e-02 3.93829942e-04 9.99739826e-01 1.08444209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.890385723 meters Centerline goodness [0,1] 0.9999340992465348 Centerline is valid? [True, True] Translation: X:88.22, Y:0.54, Z:1.09 [[ 9.99034765e-01 -3.82881493e-02 -2.15303633e-02 8.82231587e+01] [ 3.82721616e-02 9.99266686e-01 -1.15427944e-03 5.35450110e-01] [ 2.15587700e-02 3.29151748e-04 9.99767529e-01 1.08608204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.25, Y:0.53, Z:1.09 [[ 9.98970133e-01 -3.99944819e-02 -2.14269750e-02 8.82519624e+01] [ 3.99789804e-02 9.99199857e-01 -1.15150471e-03 5.34142481e-01] [ 2.14558842e-02 2.93690201e-04 9.99769753e-01 1.08755824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.950385723 meters Centerline goodness [0,1] 0.9999338434736587 Centerline is valid? [True, True] Translation: X:88.28, Y:0.53, Z:1.09 [[ 9.98902263e-01 -4.16615785e-02 -2.14145353e-02 8.82803982e+01] [ 4.16463687e-02 9.99131745e-01 -1.15592798e-03 5.34147929e-01] [ 2.14440998e-02 2.62821444e-04 9.99770014e-01 1.08774258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.31, Y:0.53, Z:1.09 [[ 9.98774339e-01 -4.44181451e-02 -2.18368314e-02 8.83081099e+01] [ 4.44028962e-02 9.99013005e-01 -1.18292414e-03 5.33514225e-01] [ 2.18678218e-02 2.11855718e-04 9.99760848e-01 1.08678873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.34, Y:0.53, Z:1.09 [[ 9.98713588e-01 -4.54790854e-02 -2.24237071e-02 8.83362913e+01] [ 4.54632005e-02 9.98965272e-01 -1.21794181e-03 5.34295923e-01] [ 2.24558955e-02 1.96921539e-04 9.99747815e-01 1.08632199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.36, Y:0.53, Z:1.09 [[ 9.98605864e-01 -4.68530695e-02 -2.43129052e-02 8.83646426e+01] [ 4.68346765e-02 9.98901775e-01 -1.32570428e-03 5.34246654e-01] [ 2.43483174e-02 1.85169022e-04 9.99703519e-01 1.08552452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.39, Y:0.53, Z:1.09 [[ 9.98564597e-01 -4.74435105e-02 -2.48567797e-02 8.83923981e+01] [ 4.74243718e-02 9.98873907e-01 -1.35922738e-03 5.34951910e-01] [ 2.48932752e-02 1.78459175e-04 9.99690098e-01 1.08542711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.42, Y:0.54, Z:1.09 [[ 9.98542052e-01 -4.78553683e-02 -2.49726866e-02 8.84194262e+01] [ 4.78360334e-02 9.98854260e-01 -1.37140146e-03 5.35665244e-01] [ 2.50097033e-02 1.74807764e-04 9.99687193e-01 1.08588801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.45, Y:0.54, Z:1.09 [[ 9.98558816e-01 -4.76877450e-02 -2.46205105e-02 8.84463215e+01] [ 4.76687925e-02 9.98862276e-01 -1.35645319e-03 5.37649099e-01] [ 2.46571853e-02 1.80868291e-04 9.99695949e-01 1.08628928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.47, Y:0.54, Z:1.09 [[ 9.98565422e-01 -4.76715245e-02 -2.43828620e-02 8.84742859e+01] [ 4.76528062e-02 9.98863050e-01 -1.34848373e-03 5.39653337e-01] [ 2.44194242e-02 1.84637426e-04 9.99701784e-01 1.08741822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.50, Y:0.54, Z:1.09 [[ 9.98600105e-01 -4.68337637e-02 -2.45851320e-02 8.85035446e+01] [ 4.68143249e-02 9.98902675e-01 -1.36595165e-03 5.42622804e-01] [ 2.46221267e-02 2.13103105e-04 9.99696807e-01 1.08778972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.53, Y:0.55, Z:1.09 [[ 9.98619086e-01 -4.65531161e-02 -2.43459959e-02 8.85304732e+01] [ 4.65338578e-02 9.98915791e-01 -1.35727681e-03 5.45232696e-01] [ 2.43827852e-02 2.22489417e-04 9.99702671e-01 1.08680669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.56, Y:0.55, Z:1.09 [[ 9.98584871e-01 -4.67672028e-02 -2.53196538e-02 8.85589684e+01] [ 4.67463337e-02 9.98905789e-01 -1.41582084e-03 5.45506491e-01] [ 2.53581627e-02 2.30216291e-04 9.99678404e-01 1.08779301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.59, Y:0.55, Z:1.09 [[ 9.98551296e-01 -4.71336048e-02 -2.59563565e-02 8.85863801e+01] [ 4.71116764e-02 9.98888567e-01 -1.45603853e-03 5.47362152e-01] [ 2.59961361e-02 2.31081693e-04 9.99662017e-01 1.08681914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.310385723 meters Centerline goodness [0,1] 0.9999557571065147 Centerline is valid? [True, True] Translation: X:88.61, Y:0.55, Z:1.09 [[ 9.98478311e-01 -4.80790728e-02 -2.70086040e-02 8.86143622e+01] [ 4.80555526e-02 9.98843509e-01 -1.51961633e-03 5.48912868e-01] [ 2.70504305e-02 2.19390556e-04 9.99634046e-01 1.08645533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.340385723 meters Centerline goodness [0,1] 0.9999557571065147 Centerline is valid? [True, True] Translation: X:88.64, Y:0.55, Z:1.09 [[ 9.98465188e-01 -4.83510773e-02 -2.70081901e-02 8.86419060e+01] [ 4.83274584e-02 9.98830379e-01 -1.52694461e-03 5.50547289e-01] [ 2.70504302e-02 2.19363853e-04 9.99634046e-01 1.08687263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.67, Y:0.55, Z:1.09 [[ 9.98416801e-01 -4.95540623e-02 -2.66136653e-02 8.86710015e+01] [ 4.95313716e-02 9.98771425e-01 -1.51154783e-03 5.51145088e-01] [ 2.66558717e-02 1.90943403e-04 9.99644651e-01 1.08821661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.70, Y:0.55, Z:1.09 [[ 9.98452301e-01 -4.93297808e-02 -2.56822112e-02 8.86976470e+01] [ 4.93084325e-02 9.98782526e-01 -1.46425085e-03 5.52235002e-01] [ 2.57231749e-02 1.95635051e-04 9.99669085e-01 1.08948007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.73, Y:0.55, Z:1.09 [[ 9.98482246e-01 -4.95289590e-02 -2.40849730e-02 8.87260258e+01] [ 4.95101248e-02 9.98772671e-01 -1.37804044e-03 5.53990817e-01] [ 2.41236657e-02 1.83498898e-04 9.99708965e-01 1.09111287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.75, Y:0.56, Z:1.09 [[ 9.98494393e-01 -4.97081760e-02 -2.31957870e-02 8.87537475e+01] [ 4.96906208e-02 9.98763769e-01 -1.33295338e-03 5.56858728e-01] [ 2.32333703e-02 1.78333414e-04 9.99730053e-01 1.09138598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.78, Y:0.56, Z:1.09 [[ 9.98553892e-01 -4.84218304e-02 -2.33548902e-02 8.87811640e+01] [ 4.84035649e-02 9.98826952e-01 -1.34709372e-03 5.60981816e-01] [ 2.33927225e-02 2.14685735e-04 9.99726330e-01 1.09097403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.81, Y:0.56, Z:1.09 [[ 9.98571772e-01 -4.78637364e-02 -2.37376954e-02 8.88094406e+01] [ 4.78446513e-02 9.98853847e-01 -1.37161324e-03 5.62694564e-01] [ 2.37761389e-02 2.33932504e-04 9.99717280e-01 1.09156008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55038572299999 meters Centerline goodness [0,1] 0.9999778221335107 Centerline is valid? [True, True] Translation: X:88.84, Y:0.56, Z:1.09 [[ 9.98552629e-01 -4.79852207e-02 -2.42912605e-02 8.88374594e+01] [ 4.79651621e-02 9.98848017e-01 -1.40807087e-03 5.64096796e-01] [ 2.43308439e-02 2.40898622e-04 9.99703932e-01 1.09193258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58038572299999 meters Centerline goodness [0,1] 0.999955595026643 Centerline is valid? [True, True] Translation: X:88.87, Y:0.57, Z:1.09 [[ 9.98500529e-01 -4.88028325e-02 -2.47987434e-02 8.88655188e+01] [ 4.87820091e-02 9.98808405e-01 -1.44432479e-03 5.65528556e-01] [ 2.48396805e-02 2.32426537e-04 9.99691421e-01 1.09145722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.610385723 meters Centerline goodness [0,1] 0.999977892246811 Centerline is valid? [True, True] Translation: X:88.89, Y:0.57, Z:1.09 [[ 9.98483012e-01 -4.95389536e-02 -2.40326163e-02 8.88932875e+01] [ 4.95194958e-02 9.98772170e-01 -1.40445960e-03 5.68537825e-01] [ 2.40726837e-02 2.12246013e-04 9.99710188e-01 1.09102792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.640385723 meters Centerline goodness [0,1] 0.9999555969983571 Centerline is valid? [True, True] Translation: X:88.92, Y:0.57, Z:1.09 [[ 9.98450238e-01 -5.14853389e-02 -2.11277378e-02 8.89225623e+01] [ 5.14706846e-02 9.98673740e-01 -1.23717009e-03 5.70619758e-01] [ 2.11634130e-02 1.47793639e-04 9.99776019e-01 1.09358585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.670385723 meters Centerline goodness [0,1] 0.9999115787612184 Centerline is valid? [True, True] Translation: X:88.95, Y:0.57, Z:1.09 [[ 9.98418899e-01 -5.22120847e-02 -2.08230539e-02 8.89500469e+01] [ 5.21979156e-02 9.98636010e-01 -1.22376254e-03 5.71323858e-01] [ 2.08585466e-02 1.34907637e-04 9.99782428e-01 1.09464799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.700385723 meters Centerline goodness [0,1] 0.9999556275375502 Centerline is valid? [True, True] Translation: X:88.98, Y:0.57, Z:1.10 [[ 9.98379879e-01 -5.27976885e-02 -2.12137116e-02 8.89780759e+01] [ 5.27830167e-02 9.98605221e-01 -1.25134198e-03 5.70158873e-01] [ 2.12501911e-02 1.29590962e-04 9.99774181e-01 1.09707446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.730385723 meters Centerline goodness [0,1] 0.9998675759782825 Centerline is valid? [True, True] Translation: X:89.00, Y:0.57, Z:1.10 [[ 9.98394625e-01 -5.26336764e-02 -2.09252955e-02 8.90045635e+01] [ 5.26192530e-02 9.98613878e-01 -1.23966333e-03 5.72516836e-01] [ 2.09615385e-02 1.36599791e-04 9.99780273e-01 1.09784232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.760385723 meters Centerline goodness [0,1] 0.9998896027908415 Centerline is valid? [True, True] Translation: X:89.03, Y:0.58, Z:1.10 [[ 9.98494004e-01 -5.12095088e-02 -1.96801912e-02 8.90318527e+01] [ 5.11963958e-02 9.98687919e-01 -1.16988315e-03 5.79332445e-01] [ 1.97142784e-02 1.60566452e-04 9.99805642e-01 1.09695543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.790385723 meters Centerline goodness [0,1] 0.9999779239701532 Centerline is valid? [True, True] Translation: X:89.06, Y:0.58, Z:1.10 [[ 9.98525447e-01 -5.03907728e-02 -2.01916361e-02 8.90600393e+01] [ 5.03767061e-02 9.98729561e-01 -1.20502313e-03 5.83846554e-01] [ 2.02267059e-02 1.86058140e-04 9.99795402e-01 1.09566046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.820385723 meters Centerline goodness [0,1] 0.9999559830094417 Centerline is valid? [True, True] Translation: X:89.09, Y:0.59, Z:1.09 [[ 9.98554125e-01 -4.94882530e-02 -2.09898192e-02 8.90880781e+01] [ 4.94728077e-02 9.98774683e-01 -1.25479701e-03 5.89471841e-01] [ 2.10261977e-02 2.14557444e-04 9.99778902e-01 1.09354853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.850385723 meters Centerline goodness [0,1] 0.9999780127965524 Centerline is valid? [True, True] Translation: X:89.12, Y:0.59, Z:1.09 [[ 9.98594743e-01 -4.82158411e-02 -2.19948380e-02 8.91171279e+01] [ 4.81984912e-02 9.98836907e-01 -1.31856455e-03 5.90849845e-01] [ 2.20328317e-02 2.56593620e-04 9.99757215e-01 1.09384794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88038572299999 meters Centerline goodness [0,1] 0.9999118107458607 Centerline is valid? [True, True] Translation: X:89.15, Y:0.59, Z:1.10 [[ 9.98642812e-01 -4.71066591e-02 -2.22147676e-02 8.91455299e+01] [ 4.70885701e-02 9.98889823e-01 -1.33696332e-03 5.92537381e-01] [ 2.22530851e-02 2.89087169e-04 9.99752328e-01 1.09526342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.17, Y:0.60, Z:1.09 [[ 9.98685125e-01 -4.64683263e-02 -2.16498231e-02 8.91728410e+01] [ 4.64509117e-02 9.98919719e-01 -1.30683888e-03 5.97702966e-01] [ 2.16871618e-02 2.99466530e-04 9.99764761e-01 1.09480875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.20, Y:0.60, Z:1.10 [[ 9.98695579e-01 -4.63595357e-02 -2.13994111e-02 8.92008155e+01] [ 4.63424348e-02 9.98924773e-01 -1.29461309e-03 6.00190001e-01] [ 2.14364195e-02 3.01223560e-04 9.99770168e-01 1.09587308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97038572299999 meters Centerline goodness [0,1] 0.999977969200943 Centerline is valid? [True, True] Translation: X:89.23, Y:0.60, Z:1.10 [[ 9.98715878e-01 -4.57122798e-02 -2.18399233e-02 8.92300957e+01] [ 4.56941904e-02 9.98954594e-01 -1.32685541e-03 6.01243775e-01] [ 2.18777453e-02 3.27193952e-04 9.99760600e-01 1.09670982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.000385723 meters Centerline goodness [0,1] 0.9999781042674782 Centerline is valid? [True, True] Translation: X:89.26, Y:0.60, Z:1.10 [[ 9.98690626e-01 -4.60960615e-02 -2.21852927e-02 8.92576356e+01] [ 4.60773627e-02 9.98936957e-01 -1.35356500e-03 6.03221294e-01] [ 2.22241028e-02 3.29552901e-04 9.99752960e-01 1.09717904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.030385723 meters Centerline goodness [0,1] 0.99995629752644 Centerline is valid? [True, True] Translation: X:89.29, Y:0.61, Z:1.10 [[ 9.98713308e-01 -4.57127314e-02 -2.19562033e-02 8.92854660e+01] [ 4.56942194e-02 9.98954569e-01 -1.34435312e-03 6.06235628e-01] [ 2.19947037e-02 3.39351778e-04 9.99758030e-01 1.09823731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.31, Y:0.61, Z:1.10 [[ 9.98689549e-01 -4.61107328e-02 -2.22032753e-02 8.93132167e+01] [ 4.60918277e-02 9.98936277e-01 -1.36273591e-03 6.09528692e-01] [ 2.22424940e-02 3.37560570e-04 9.99752548e-01 1.09786275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.090385723 meters Centerline goodness [0,1] 0.9998467600700526 Centerline is valid? [True, True] Translation: X:89.34, Y:0.61, Z:1.10 [[ 9.98636508e-01 -4.69379592e-02 -2.28463005e-02 8.93412968e+01] [ 4.69180467e-02 9.98897751e-01 -1.40712316e-03 6.13069493e-01] [ 2.28871657e-02 3.33300760e-04 9.99737999e-01 1.09652272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.120385723 meters Centerline goodness [0,1] 0.9999781205557379 Centerline is valid? [True, True] Translation: X:89.37, Y:0.61, Z:1.10 [[ 9.98482504e-01 -4.94142660e-02 -2.43088522e-02 8.93687531e+01] [ 4.93924036e-02 9.98778325e-01 -1.49933201e-03 6.14612810e-01] [ 2.43532430e-02 2.96384144e-04 9.99703372e-01 1.09582338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.150385723 meters Centerline goodness [0,1] 0.9999344333952573 Centerline is valid? [True, True] Translation: X:89.40, Y:0.61, Z:1.10 [[ 9.98381879e-01 -5.12294930e-02 -2.46812123e-02 8.93982373e+01] [ 5.12074268e-02 9.98686874e-01 -1.52566498e-03 6.13992793e-01] [ 2.47269618e-02 2.59334898e-04 9.99694208e-01 1.09795540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.180385723 meters Centerline goodness [0,1] 0.9999561114768488 Centerline is valid? [True, True] Translation: X:89.43, Y:0.61, Z:1.10 [[ 9.98180682e-01 -5.49924506e-02 -2.47215770e-02 8.94274996e+01] [ 5.49713262e-02 9.98486755e-01 -1.53379220e-03 6.13305281e-01] [ 2.47685142e-02 1.72023877e-04 9.99693198e-01 1.09849858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.210385723 meters Centerline goodness [0,1] 0.9999563318777293 Centerline is valid? [True, True] Translation: X:89.46, Y:0.61, Z:1.10 [[ 9.98024615e-01 -5.75058117e-02 -2.52972189e-02 8.94560192e+01] [ 5.74843336e-02 9.98345165e-01 -1.57602703e-03 6.14726830e-01] [ 2.53459869e-02 1.18720000e-04 9.99678732e-01 1.09806283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.48, Y:0.62, Z:1.10 [[ 9.97829939e-01 -6.13707854e-02 -2.38545504e-02 8.94844544e+01] [ 6.13526481e-02 9.98115036e-01 -1.49215100e-03 6.16298135e-01] [ 2.39011599e-02 2.53731045e-05 9.99714326e-01 1.09760416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27038572299999 meters Centerline goodness [0,1] 0.9999122499122499 Centerline is valid? [True, True] Translation: X:89.51, Y:0.62, Z:1.10 [[ 9.97748869e-01 -6.27268424e-02 -2.37178933e-02 8.95127379e+01] [ 6.27091540e-02 9.98030733e-01 -1.48955122e-03 6.17730016e-01] [ 2.37646213e-02 -1.13098202e-06 9.99717582e-01 1.09752444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30038572299999 meters Centerline goodness [0,1] 0.9998903268260584 Centerline is valid? [True, True] Translation: X:89.54, Y:0.62, Z:1.10 [[ 9.97692426e-01 -6.37808987e-02 -2.32770127e-02 8.95403720e+01] [ 6.37640007e-02 9.97963925e-01 -1.46820771e-03 6.18816965e-01] [ 2.33232625e-02 -1.94157400e-05 9.99727976e-01 1.09866261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33038572299999 meters Centerline goodness [0,1] 0.9998021108179419 Centerline is valid? [True, True] Translation: X:89.57, Y:0.62, Z:1.10 [[ 9.97746239e-01 -6.31471074e-02 -2.26910687e-02 8.95675388e+01] [ 6.31307704e-02 9.98004230e-01 -1.43631769e-03 6.19353506e-01] [ 2.27364818e-02 5.75923020e-07 9.99741493e-01 1.09970921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.360385723 meters Centerline goodness [0,1] 0.9998900760673614 Centerline is valid? [True, True] Translation: X:89.60, Y:0.62, Z:1.10 [[ 9.97860383e-01 -6.13558284e-02 -2.25858207e-02 8.95958699e+01] [ 6.13390956e-02 9.98115955e-01 -1.43355016e-03 6.20034396e-01] [ 2.26312247e-02 4.50890980e-05 9.99743880e-01 1.10152069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.390385723 meters Centerline goodness [0,1] 0.9997594787248 Centerline is valid? [True, True] Translation: X:89.62, Y:0.62, Z:1.10 [[ 9.97926473e-01 -6.00267663e-02 -2.32280209e-02 8.96234244e+01] [ 6.00085834e-02 9.98196764e-01 -1.47967480e-03 6.24228682e-01] [ 2.32749554e-02 8.27260264e-05 9.99729098e-01 1.10042876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.420385723 meters Centerline goodness [0,1] 0.999670908293111 Centerline is valid? [True, True] Translation: X:89.65, Y:0.63, Z:1.10 [[ 9.98196657e-01 -5.56568970e-02 -2.24887392e-02 8.96516677e+01] [ 5.56386612e-02 9.98449937e-01 -1.43626011e-03 6.31307471e-01] [ 2.25338180e-02 1.82426696e-04 9.99746065e-01 1.09833893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.450385723 meters Centerline goodness [0,1] 0.9998016703761652 Centerline is valid? [True, True] Translation: X:89.68, Y:0.63, Z:1.10 [[ 9.98306843e-01 -5.38630413e-02 -2.19595225e-02 8.96809259e+01] [ 5.38451046e-02 9.98548308e-01 -1.40769663e-03 6.33095823e-01] [ 2.20034669e-02 2.22900394e-04 9.99757870e-01 1.09977794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.480385723 meters Centerline goodness [0,1] 0.9999115259560727 Centerline is valid? [True, True] Translation: X:89.71, Y:0.63, Z:1.10 [[ 9.98408936e-01 -5.20077974e-02 -2.17895527e-02 8.97093105e+01] [ 5.19895975e-02 9.98646643e-01 -1.40128981e-03 6.33600543e-01] [ 2.18329417e-02 2.66230190e-04 9.99761597e-01 1.10139723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.510385723 meters Centerline goodness [0,1] 0.9998676227247656 Centerline is valid? [True, True] Translation: X:89.74, Y:0.63, Z:1.10 [[ 9.98421402e-01 -5.12057433e-02 -2.30797600e-02 8.97382832e+01] [ 5.11850178e-02 9.98688079e-01 -1.48824085e-03 6.32998252e-01] [ 2.31256876e-02 3.04553592e-04 9.99732519e-01 1.10193310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.77, Y:0.63, Z:1.10 [[ 9.98398808e-01 -5.16641087e-02 -2.30356343e-02 8.97663570e+01] [ 5.16434495e-02 9.98664473e-01 -1.49123302e-03 6.34613472e-01] [ 2.30819128e-02 2.99205650e-04 9.99733532e-01 1.10192265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.570385723 meters Centerline goodness [0,1] 0.9999778927355529 Centerline is valid? [True, True] Translation: X:89.79, Y:0.64, Z:1.10 [[ 9.98398045e-01 -5.19726550e-02 -2.23648718e-02 8.97936146e+01] [ 5.19531375e-02 9.98648466e-01 -1.45323328e-03 6.37116388e-01] [ 2.24101733e-02 2.88980008e-04 9.99748819e-01 1.10194524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.600385723 meters Centerline goodness [0,1] 0.9999114201563434 Centerline is valid? [True, True] Translation: X:89.82, Y:0.64, Z:1.10 [[ 9.98408667e-01 -5.20159219e-02 -2.17825174e-02 8.98213001e+01] [ 5.19973181e-02 9.98646215e-01 -1.41996838e-03 6.38384426e-01] [ 2.18268896e-02 2.85076250e-04 9.99761724e-01 1.10301164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.85, Y:0.64, Z:1.10 [[ 9.98434876e-01 -5.16169859e-02 -2.15287264e-02 8.98491413e+01] [ 5.15985942e-02 9.98666911e-01 -1.40927304e-03 6.38210848e-01] [ 2.15727691e-02 2.96215334e-04 9.99767237e-01 1.10412014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.88, Y:0.64, Z:1.11 [[ 9.98459508e-01 -5.14621291e-02 -2.07426918e-02 8.98766319e+01] [ 5.14449243e-02 9.98674904e-01 -1.36255415e-03 6.36852815e-01] [ 2.07853257e-02 2.93348936e-04 9.99783919e-01 1.10627740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.91, Y:0.64, Z:1.11 [[ 9.98471372e-01 -5.12628546e-02 -2.06649048e-02 8.99050252e+01] [ 5.12456670e-02 9.98685151e-01 -1.36076762e-03 6.38303697e-01] [ 2.07074904e-02 2.99700682e-04 9.99785532e-01 1.10598146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.93, Y:0.64, Z:1.11 [[ 9.98492199e-01 -5.05209382e-02 -2.14700537e-02 8.99332906e+01] [ 5.05021100e-02 9.98722947e-01 -1.41860083e-03 6.40599954e-01] [ 2.15143044e-02 3.32178849e-04 9.99768485e-01 1.10545268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.96, Y:0.64, Z:1.11 [[ 9.98517803e-01 -4.97794461e-02 -2.20046450e-02 8.99621992e+01] [ 4.97594240e-02 9.98760170e-01 -1.45684497e-03 6.42373703e-01] [ 2.20498839e-02 3.59747182e-04 9.99756807e-01 1.10532186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.780385723 meters Centerline goodness [0,1] 0.9999778412993862 Centerline is valid? [True, True] Translation: X:89.99, Y:0.64, Z:1.11 [[ 9.98669330e-01 -4.62638608e-02 -2.27864839e-02 8.99911281e+01] [ 4.62413496e-02 9.98929149e-01 -1.51412267e-03 6.43239024e-01] [ 2.28321322e-02 4.58430103e-04 9.99739208e-01 1.10571785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.810385723 meters Centerline goodness [0,1] 0.9999331922948447 Centerline is valid? [True, True] Translation: X:90.02, Y:0.65, Z:1.11 [[ 9.98849199e-01 -4.20822741e-02 -2.30078294e-02 9.00192557e+01] [ 4.20581178e-02 9.99113990e-01 -1.53302446e-03 6.45077648e-01] [ 2.30519574e-02 5.63594251e-04 9.99734109e-01 1.10642987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.840385723 meters Centerline goodness [0,1] 0.9999333910610804 Centerline is valid? [True, True] Translation: X:90.05, Y:0.64, Z:1.11 [[ 9.98882188e-01 -4.08691744e-02 -2.37504710e-02 9.00485866e+01] [ 4.08430141e-02 9.99164318e-01 -1.58571441e-03 6.43350260e-01] [ 2.37954299e-02 6.13901059e-04 9.99716660e-01 1.10734340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.08, Y:0.64, Z:1.11 [[ 9.98883956e-01 -3.98921219e-02 -2.52875862e-02 9.00773929e+01] [ 3.98619860e-02 9.99203758e-01 -1.69489591e-03 6.44002665e-01] [ 2.53350641e-02 6.84990922e-04 9.99678781e-01 1.10719831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.900385723 meters Centerline goodness [0,1] 0.999977734235839 Centerline is valid? [True, True] Translation: X:90.11, Y:0.65, Z:1.10 [[ 9.98891514e-01 -3.79028710e-02 -2.79126596e-02 9.01056723e+01] [ 3.78652395e-02 9.99281094e-01 -1.87570588e-03 6.46344955e-01] [ 2.79636877e-02 8.16707139e-04 9.99608606e-01 1.10478316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.930385723 meters Centerline goodness [0,1] 0.9999553451817451 Centerline is valid? [True, True] Translation: X:90.13, Y:0.65, Z:1.10 [[ 9.98909559e-01 -3.70469665e-02 -2.84115407e-02 9.01348812e+01] [ 3.70075122e-02 9.99313156e-01 -1.91342360e-03 6.48098386e-01] [ 2.84629130e-02 8.59896679e-04 9.99594479e-01 1.10392495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.960385723 meters Centerline goodness [0,1] 0.9999775855112745 Centerline is valid? [True, True] Translation: X:90.16, Y:0.65, Z:1.10 [[ 9.98914440e-01 -3.64196256e-02 -2.90439784e-02 9.01620154e+01] [ 3.63779515e-02 9.99336177e-01 -1.96214226e-03 6.52823345e-01] [ 2.90961588e-02 9.03451803e-04 9.99576209e-01 1.10089262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99038572299999 meters Centerline goodness [0,1] 0.9999551850855964 Centerline is valid? [True, True] Translation: X:90.19, Y:0.65, Z:1.10 [[ 9.98903445e-01 -3.70150765e-02 -2.86669105e-02 9.01916475e+01] [ 3.69745586e-02 9.99314320e-01 -1.94237997e-03 6.46060765e-01] [ 2.87191515e-02 8.80303677e-04 9.99587132e-01 1.10480032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02038572299999 meters Centerline goodness [0,1] 0.9999550480985345 Centerline is valid? [True, True] Translation: X:90.22, Y:0.64, Z:1.11 [[ 9.98802997e-01 -3.92990811e-02 -2.91231091e-02 9.02213059e+01] [ 3.92580200e-02 9.99227144e-01 -1.98057806e-03 6.39898506e-01] [ 2.91784360e-02 8.34891699e-04 9.99573870e-01 1.10721833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05038572299999 meters Centerline goodness [0,1] 0.9998422570758969 Centerline is valid? [True, True] Translation: X:90.25, Y:0.64, Z:1.11 [[ 9.98769771e-01 -4.05063078e-02 -2.86039171e-02 9.02506118e+01] [ 4.04669911e-02 9.99178969e-01 -1.95230147e-03 6.39837146e-01] [ 2.86595129e-02 7.92385235e-04 9.99588918e-01 1.10842151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08038572299999 meters Centerline goodness [0,1] 0.9998650563389785 Centerline is valid? [True, True] Translation: X:90.28, Y:0.64, Z:1.11 [[ 9.98752871e-01 -4.16642530e-02 -2.75098810e-02 9.02781825e+01] [ 4.16281824e-02 9.99131397e-01 -1.88284011e-03 6.40227429e-01] [ 2.75644330e-02 7.35305623e-04 9.99619758e-01 1.11012305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.110385723 meters Centerline goodness [0,1] 0.9999774607253139 Centerline is valid? [True, True] Translation: X:90.31, Y:0.64, Z:1.11 [[ 9.98741266e-01 -4.29827430e-02 -2.58527904e-02 9.03072394e+01] [ 4.29512133e-02 9.99075596e-01 -1.77390407e-03 6.39371223e-01] [ 2.59051393e-02 6.61262484e-04 9.99664187e-01 1.11213340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.33, Y:0.64, Z:1.11 [[ 9.98726359e-01 -4.30762876e-02 -2.62696331e-02 9.03345019e+01] [ 4.30436400e-02 9.99071558e-01 -1.80725549e-03 6.42317135e-01] [ 2.63230931e-02 6.74213068e-04 9.99653260e-01 1.11159241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.36, Y:0.64, Z:1.11 [[ 9.98714043e-01 -4.31916146e-02 -2.65470205e-02 9.03624642e+01] [ 4.31581936e-02 9.99066573e-01 -1.83087576e-03 6.42662816e-01] [ 2.66013193e-02 6.82799879e-04 9.99645889e-01 1.11243687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.39, Y:0.64, Z:1.11 [[ 9.98706651e-01 -4.28906976e-02 -2.73022477e-02 9.03905705e+01] [ 4.28550863e-02 9.99079514e-01 -1.88840161e-03 6.44100009e-01] [ 2.73581113e-02 7.15919068e-04 9.99625440e-01 1.11291563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.42, Y:0.65, Z:1.11 [[ 9.98694653e-01 -4.31693787e-02 -2.73019217e-02 9.04181091e+01] [ 4.31337429e-02 9.99067513e-01 -1.89310568e-03 6.46072807e-01] [ 2.73581872e-02 7.13000446e-04 9.99625440e-01 1.11333428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.45, Y:0.65, Z:1.11 [[ 9.98610899e-01 -4.35084547e-02 -2.97201452e-02 9.04472233e+01] [ 4.34661301e-02 9.99052759e-01 -2.06898161e-03 6.45861034e-01] [ 2.97820113e-02 7.74287884e-04 9.99556118e-01 1.11282621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.47, Y:0.65, Z:1.11 [[ 9.98581660e-01 -4.45312947e-02 -2.91827432e-02 9.04747010e+01] [ 4.44907163e-02 9.99007718e-01 -2.03866194e-03 6.47757058e-01] [ 2.92445700e-02 7.37409276e-04 9.99572014e-01 1.11232221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.50, Y:0.65, Z:1.11 [[ 9.98468538e-01 -4.73893846e-02 -2.85451252e-02 9.05027355e+01] [ 4.73515744e-02 9.98876284e-01 -1.99946935e-03 6.49786229e-01] [ 2.86078022e-02 6.44750617e-04 9.99590505e-01 1.11200453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.53, Y:0.65, Z:1.11 [[ 9.98402040e-01 -4.87551380e-02 -2.85710220e-02 9.05316376e+01] [ 4.87176692e-02 9.98810574e-01 -2.00647436e-03 6.49493854e-01] [ 2.86348649e-02 6.11354498e-04 9.99589751e-01 1.11304915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.56, Y:0.65, Z:1.11 [[ 9.98277228e-01 -5.08017369e-02 -2.93557406e-02 9.05599670e+01] [ 5.07629188e-02 9.98708594e-01 -2.06655944e-03 6.48959115e-01] [ 2.94228152e-02 5.72816159e-04 9.99566891e-01 1.11274728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.59, Y:0.65, Z:1.11 [[ 9.98223207e-01 -5.16664192e-02 -2.96818054e-02 9.05878664e+01] [ 5.16269570e-02 9.98664242e-01 -2.09484410e-03 6.48039668e-01] [ 2.97503908e-02 5.58740705e-04 9.99557203e-01 1.11451118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.62, Y:0.65, Z:1.12 [[ 9.98175963e-01 -5.26276400e-02 -2.95817292e-02 9.06168151e+01] [ 5.25886384e-02 9.98614062e-01 -2.09543202e-03 6.49311428e-01] [ 2.96510084e-02 5.35947010e-04 9.99560169e-01 1.11588864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.65, Y:0.65, Z:1.12 [[ 9.98151961e-01 -5.33738279e-02 -2.90499139e-02 9.06460374e+01] [ 5.33363294e-02 9.98574470e-01 -2.06472742e-03 6.51098517e-01] [ 2.91187048e-02 5.11495947e-04 9.99575830e-01 1.11666160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.67, Y:0.65, Z:1.12 [[ 9.98167703e-01 -5.32289063e-02 -2.87736077e-02 9.06726699e+01] [ 5.31919047e-02 9.98582204e-01 -2.05039294e-03 6.53841821e-01] [ 2.88419528e-02 5.16113010e-04 9.99583851e-01 1.11724477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.70, Y:0.66, Z:1.12 [[ 9.98211239e-01 -5.26951877e-02 -2.82407387e-02 9.07000780e+01] [ 5.26592482e-02 9.98610506e-01 -2.01533739e-03 6.57501648e-01] [ 2.83076969e-02 5.24596359e-04 9.99599119e-01 1.11739067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.73, Y:0.66, Z:1.12 [[ 9.98278965e-01 -5.20618007e-02 -2.69940146e-02 9.07275387e+01] [ 5.20286111e-02 9.98643728e-01 -1.93090028e-03 6.60247334e-01] [ 2.70579296e-02 5.23116047e-04 9.99633730e-01 1.11914024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.76, Y:0.66, Z:1.12 [[ 9.98422071e-01 -5.00213431e-02 -2.55192718e-02 9.07559785e+01] [ 4.99908489e-02 9.98747996e-01 -1.83192167e-03 6.64759475e-01] [ 2.55789568e-02 5.53300969e-04 9.99672652e-01 1.12115354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.78, Y:0.67, Z:1.12 [[ 9.98455357e-01 -4.97864666e-02 -2.46618608e-02 9.07842330e+01] [ 4.97577625e-02 9.98759735e-01 -1.77657734e-03 6.67000656e-01] [ 2.47197231e-02 5.46714153e-04 9.99694271e-01 1.12274915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.650385723 meters Centerline goodness [0,1] 0.9999773509693786 Centerline is valid? [True, True] Translation: X:90.81, Y:0.67, Z:1.12 [[ 9.98512762e-01 -4.87802647e-02 -2.43464463e-02 9.08114395e+01] [ 4.87518673e-02 9.98809372e-01 -1.75893679e-03 6.70397891e-01] [ 2.44032602e-02 5.69386115e-04 9.99702034e-01 1.12380944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.84, Y:0.67, Z:1.12 [[ 9.98517097e-01 -4.84443836e-02 -2.48344431e-02 9.08399705e+01] [ 4.84146349e-02 9.98825705e-01 -1.79810418e-03 6.72545456e-01] [ 2.48923882e-02 5.93087265e-04 9.99689961e-01 1.12390278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.710385723 meters Centerline goodness [0,1] 0.9999549051881581 Centerline is valid? [True, True] Translation: X:90.87, Y:0.68, Z:1.12 [[ 9.98509817e-01 -4.87064722e-02 -2.46135294e-02 9.08674325e+01] [ 4.86772215e-02 9.98812964e-01 -1.78651269e-03 6.76416986e-01] [ 2.46713270e-02 5.85732238e-04 9.99695445e-01 1.12297378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74038572299999 meters Centerline goodness [0,1] 0.999932264619553 Centerline is valid? [True, True] Translation: X:90.89, Y:0.68, Z:1.12 [[ 9.98497077e-01 -4.89318950e-02 -2.46831352e-02 9.08940628e+01] [ 4.89024526e-02 9.98801946e-01 -1.79539506e-03 6.82404024e-01] [ 2.47414156e-02 5.85630865e-04 9.99693713e-01 1.12146919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77038572299999 meters Centerline goodness [0,1] 0.9999774378412527 Centerline is valid? [True, True] Translation: X:90.92, Y:0.68, Z:1.12 [[ 9.98421495e-01 -4.99846514e-02 -2.56135195e-02 9.09227135e+01] [ 4.99531184e-02 9.98749813e-01 -1.86987630e-03 6.82475514e-01] [ 2.56749629e-02 5.87449515e-04 9.99670171e-01 1.12140376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.95, Y:0.68, Z:1.12 [[ 9.98369278e-01 -5.07068685e-02 -2.62220816e-02 9.09503836e+01] [ 5.06738876e-02 9.98713405e-01 -1.92115822e-03 6.83420861e-01] [ 2.62857604e-02 5.89250526e-04 9.99654296e-01 1.12180866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83038572299999 meters Centerline goodness [0,1] 0.9999775215231416 Centerline is valid? [True, True] Translation: X:90.98, Y:0.69, Z:1.12 [[ 9.98337235e-01 -5.09629853e-02 -2.69358543e-02 9.09781576e+01] [ 5.09281374e-02 9.98700360e-01 -1.97862504e-03 6.86259891e-01] [ 2.70016841e-02 6.03542158e-04 9.99635206e-01 1.12173284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.860385723 meters Centerline goodness [0,1] 0.9999096126903783 Centerline is valid? [True, True] Translation: X:91.01, Y:0.69, Z:1.12 [[ 9.98256568e-01 -5.22237260e-02 -2.75046844e-02 9.10068353e+01] [ 5.21877513e-02 9.98635238e-01 -2.02465950e-03 6.86156094e-01] [ 2.75728823e-02 5.85722016e-04 9.99619624e-01 1.12368708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.03, Y:0.69, Z:1.12 [[ 9.98191748e-01 -5.32360411e-02 -2.79134165e-02 9.10346336e+01] [ 5.31992509e-02 9.98581793e-01 -2.05951643e-03 6.91192227e-01] [ 2.79834700e-02 5.70819450e-04 9.99608223e-01 1.12214132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.06, Y:0.69, Z:1.12 [[ 9.98067919e-01 -5.55251997e-02 -2.78815742e-02 9.10632113e+01] [ 5.54892651e-02 9.98457156e-01 -2.06149042e-03 6.91360683e-01] [ 2.79530220e-02 5.10379392e-04 9.99609108e-01 1.12343913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.09, Y:0.69, Z:1.12 [[ 9.98003183e-01 -5.68353775e-02 -2.75569624e-02 9.10920285e+01] [ 5.68005919e-02 9.98383451e-01 -2.04408809e-03 6.91910079e-01] [ 2.76285917e-02 4.74754649e-04 9.99618145e-01 1.12478047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.12, Y:0.69, Z:1.13 [[ 9.97918524e-01 -5.82006610e-02 -2.77723334e-02 9.11194993e+01] [ 5.81657235e-02 9.98304806e-01 -2.06488414e-03 6.92210924e-01] [ 2.78454315e-02 4.45188266e-04 9.99612142e-01 1.12592813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.15, Y:0.69, Z:1.13 [[ 9.97844105e-01 -5.97072370e-02 -2.72431350e-02 9.11490878e+01] [ 5.96740694e-02 9.98215852e-01 -2.02957801e-03 6.89669559e-01] [ 2.73157097e-02 3.99493730e-04 9.99626777e-01 1.12961147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.18, Y:0.69, Z:1.13 [[ 9.97838873e-01 -6.03537741e-02 -2.59808488e-02 9.11763189e+01] [ 6.03237185e-02 9.98176981e-01 -1.93976417e-03 6.93470858e-01] [ 2.60505574e-02 3.68310682e-04 9.99660559e-01 1.12945656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.21, Y:0.70, Z:1.13 [[ 9.97887503e-01 -6.03122299e-02 -2.41446985e-02 9.12053494e+01] [ 6.02861825e-02 9.98179500e-01 -1.80591676e-03 7.00283950e-01] [ 2.42096619e-02 3.46510063e-04 9.99706843e-01 1.12824236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.23, Y:0.71, Z:1.13 [[ 9.97927084e-01 -5.94880417e-02 -2.45501040e-02 9.12329916e+01] [ 5.94607216e-02 9.98228947e-01 -1.84197639e-03 7.05363382e-01] [ 2.46162000e-02 3.78391235e-04 9.99696904e-01 1.12682410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.26, Y:0.71, Z:1.13 [[ 9.98028993e-01 -5.65035541e-02 -2.73034261e-02 9.12620764e+01] [ 5.64684519e-02 9.98402268e-01 -2.05557992e-03 7.06549316e-01] [ 2.73759501e-02 5.09746156e-04 9.99625078e-01 1.12712340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.29, Y:0.71, Z:1.13 [[ 9.98057864e-01 -5.53060113e-02 -2.86661050e-02 9.12901522e+01] [ 5.52666794e-02 9.98469286e-01 -2.16316721e-03 7.08051088e-01] [ 2.87418615e-02 5.74685614e-04 9.99586702e-01 1.12827178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.32, Y:0.71, Z:1.13 [[ 9.98085064e-01 -5.45716654e-02 -2.91228299e-02 9.13187614e+01] [ 5.45306226e-02 9.98509670e-01 -2.20224861e-03 7.10118697e-01] [ 2.91996076e-02 6.09945397e-04 9.99573414e-01 1.12928399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.35, Y:0.71, Z:1.13 [[ 9.98174392e-01 -5.32296201e-02 -2.85392805e-02 9.13478015e+01] [ 5.31894645e-02 9.98582092e-01 -2.16487475e-03 7.12368951e-01] [ 2.86140499e-02 6.42933489e-04 9.99590327e-01 1.13114463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.38, Y:0.72, Z:1.13 [[ 9.98176516e-01 -5.32506108e-02 -2.84256140e-02 9.13750889e+01] [ 5.32106080e-02 9.98580971e-01 -2.16239292e-03 7.17187496e-01] [ 2.85004260e-02 6.45905621e-04 9.99593572e-01 1.13040524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:0.72, Z:1.13 [[ 9.98200973e-01 -5.34530592e-02 -2.71585871e-02 9.14037152e+01] [ 5.34164651e-02 9.98570173e-01 -2.07165007e-03 7.20227159e-01] [ 2.72304911e-02 6.17207389e-04 9.99628991e-01 1.13141396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.43, Y:0.72, Z:1.13 [[ 9.98229663e-01 -5.29627212e-02 -2.70645656e-02 9.14315024e+01] [ 5.29260723e-02 9.98596289e-01 -2.06918407e-03 7.24817933e-01] [ 2.71361644e-02 6.33099762e-04 9.99631546e-01 1.13097074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.46, Y:0.72, Z:1.13 [[ 9.98302651e-01 -5.09465822e-02 -2.82181383e-02 9.14603674e+01] [ 5.09058070e-02 9.98701119e-01 -2.16196093e-03 7.22889495e-01] [ 2.82916308e-02 7.21824227e-04 9.99599451e-01 1.13424447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.49, Y:0.72, Z:1.14 [[ 9.98346091e-01 -4.97539966e-02 -2.88031839e-02 9.14888365e+01] [ 4.97108095e-02 9.98761200e-01 -2.21395383e-03 7.24619237e-01] [ 2.88776555e-02 7.78462559e-04 9.99582650e-01 1.13543366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.52, Y:0.73, Z:1.14 [[ 9.98437501e-01 -4.83248696e-02 -2.80582022e-02 9.15170953e+01] [ 4.82831901e-02 9.98831348e-01 -2.16147249e-03 7.27888713e-01] [ 2.81298648e-02 8.03355686e-04 9.99603954e-01 1.13591792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.54, Y:0.73, Z:1.14 [[ 9.98467268e-01 -4.77609497e-02 -2.79643667e-02 9.15445400e+01] [ 4.77192431e-02 9.98858458e-01 -2.15725384e-03 7.32084551e-01] [ 2.80354767e-02 8.19508936e-04 9.99606593e-01 1.13581704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.57, Y:0.74, Z:1.14 [[ 9.98558366e-01 -4.64879027e-02 -2.68340257e-02 9.15721771e+01] [ 4.64489633e-02 9.98918514e-01 -2.07295927e-03 7.40495576e-01] [ 2.69013726e-02 8.23558150e-04 9.99637753e-01 1.13505713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.60, Y:0.74, Z:1.14 [[ 9.98576891e-01 -4.62075844e-02 -2.66280174e-02 9.16013258e+01] [ 4.61690320e-02 9.98931515e-01 -2.06112991e-03 7.38344821e-01] [ 2.66948056e-02 8.28806908e-04 9.99643287e-01 1.13769007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.63, Y:0.74, Z:1.14 [[ 9.98569603e-01 -4.59575085e-02 -2.73249916e-02 9.16294744e+01] [ 4.59166852e-02 9.98943023e-01 -2.11990511e-03 7.41190481e-01] [ 2.73935353e-02 8.62199764e-04 9.99624355e-01 1.13851204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.66, Y:0.75, Z:1.14 [[ 9.98572368e-01 -4.59911531e-02 -2.71668707e-02 9.16561915e+01] [ 4.59507390e-02 9.98941478e-01 -2.11037009e-03 7.49153670e-01] [ 2.72351723e-02 8.59019479e-04 9.99628685e-01 1.13695120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.68, Y:0.75, Z:1.14 [[ 9.98577969e-01 -4.61059756e-02 -2.67633810e-02 9.16838937e+01] [ 4.60667224e-02 9.98936196e-01 -2.08171526e-03 7.52344943e-01] [ 2.68308896e-02 8.45853753e-04 9.99639629e-01 1.13738625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.71, Y:0.75, Z:1.14 [[ 9.98576180e-01 -4.65093403e-02 -2.61245782e-02 9.17125944e+01] [ 4.64719784e-02 9.98917520e-01 -2.03579057e-03 7.50636113e-01] [ 2.61909821e-02 8.18831139e-04 9.99656622e-01 1.13892115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.74, Y:0.76, Z:1.14 [[ 9.98583456e-01 -4.65399865e-02 -2.57897291e-02 9.17393126e+01] [ 4.65034443e-02 9.98916097e-01 -2.01520129e-03 7.59906966e-01] [ 2.58555630e-02 8.13035436e-04 9.99665358e-01 1.13645484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.77, Y:0.76, Z:1.14 [[ 9.98550202e-01 -4.69545041e-02 -2.63204897e-02 9.17682250e+01] [ 4.69164323e-02 9.98896689e-01 -2.06249032e-03 7.56022117e-01] [ 2.63882932e-02 8.24636660e-04 9.99651428e-01 1.13907274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.80, Y:0.76, Z:1.14 [[ 9.98492155e-01 -4.75495131e-02 -2.74309946e-02 9.17952041e+01] [ 4.75082069e-02 9.98868521e-01 -2.15595134e-03 7.55488944e-01] [ 2.75024715e-02 8.49503133e-04 9.99621375e-01 1.14063857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.82, Y:0.75, Z:1.14 [[ 9.98412581e-01 -4.92728629e-02 -2.72855753e-02 9.18240125e+01] [ 4.92324818e-02 9.98785032e-01 -2.15017234e-03 7.53128371e-01] [ 2.73583693e-02 8.03422527e-04 9.99625367e-01 1.14365835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.85, Y:0.76, Z:1.14 [[ 9.98397347e-01 -5.00419622e-02 -2.64299117e-02 9.18519271e+01] [ 5.00042254e-02 9.98746825e-01 -2.08721677e-03 7.58345370e-01] [ 2.65012389e-02 7.62264421e-04 9.99648490e-01 1.14300895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.88, Y:0.76, Z:1.14 [[ 9.98357861e-01 -5.10716098e-02 -2.59474771e-02 9.18809559e+01] [ 5.10354835e-02 9.98694730e-01 -2.05304894e-03 7.57622138e-01] [ 2.60184612e-02 7.25435513e-04 9.99661199e-01 1.14471581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.91, Y:0.76, Z:1.14 [[ 9.98310017e-01 -5.17513407e-02 -2.64368894e-02 9.19087996e+01] [ 5.17138954e-02 9.98659736e-01 -2.09860125e-03 7.62973076e-01] [ 2.65100624e-02 7.27900118e-04 9.99648282e-01 1.14272801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.94, Y:0.77, Z:1.14 [[ 9.98286142e-01 -5.19796665e-02 -2.68866776e-02 9.19361616e+01] [ 5.19408684e-02 9.98647869e-01 -2.13987526e-03 7.66353943e-01] [ 2.69615533e-02 7.39690436e-04 9.99636198e-01 1.14232644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.97, Y:0.76, Z:1.15 [[ 9.98209553e-01 -5.35744682e-02 -2.65982205e-02 9.19652382e+01] [ 5.35369386e-02 9.98563616e-01 -2.12161572e-03 7.63864856e-01] [ 2.66736797e-02 6.93829778e-04 9.99643953e-01 1.14636605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.99, Y:0.76, Z:1.15 [[ 9.98154943e-01 -5.48998958e-02 -2.59366794e-02 9.19939684e+01] [ 5.48644931e-02 9.98491653e-01 -2.07515817e-03 7.63704446e-01] [ 2.60114839e-02 6.48326614e-04 9.99661434e-01 1.14895736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.02, Y:0.77, Z:1.15 [[ 9.98092732e-01 -5.62629899e-02 -2.54042264e-02 9.20230189e+01] [ 5.62293108e-02 9.98415799e-01 -2.03869877e-03 7.66074970e-01] [ 2.54786843e-02 6.06348288e-04 9.99675182e-01 1.14999490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.05, Y:0.77, Z:1.15 [[ 9.97985461e-01 -5.82803030e-02 -2.50684337e-02 9.20512192e+01] [ 5.82479931e-02 9.98300105e-01 -2.01777268e-03 7.72066658e-01] [ 2.51434164e-02 5.53521840e-04 9.99683701e-01 1.14871981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.08, Y:0.78, Z:1.15 [[ 9.97929772e-01 -5.91319484e-02 -2.52899775e-02 9.20789787e+01] [ 5.90992225e-02 9.98250029e-01 -2.04015616e-03 7.79199962e-01] [ 2.53663591e-02 5.41314566e-04 9.99678076e-01 1.14783288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.11, Y:0.78, Z:1.15 [[ 9.97875557e-01 -6.03178264e-02 -2.46197675e-02 9.21080568e+01] [ 6.02870868e-02 9.98179097e-01 -1.98958296e-03 7.76771438e-01] [ 2.46949446e-02 5.01102139e-04 9.99694908e-01 1.15154901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.14, Y:0.78, Z:1.15 [[ 9.97814659e-01 -6.14981922e-02 -2.41635708e-02 9.21374702e+01] [ 6.14687899e-02 9.98107085e-01 -1.95838845e-03 7.76200595e-01] [ 2.42382686e-02 4.68803245e-04 9.99706100e-01 1.15409544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.17, Y:0.78, Z:1.16 [[ 9.97640194e-01 -6.42190238e-02 -2.42891127e-02 9.21663601e+01] [ 6.41899777e-02 9.97935744e-01 -1.97444481e-03 7.76235270e-01] [ 2.43657707e-02 4.10667896e-04 9.99703026e-01 1.15620465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.19, Y:0.78, Z:1.16 [[ 9.97582326e-01 -6.51093510e-02 -2.42955838e-02 9.21947427e+01] [ 6.50804020e-02 9.97878057e-01 -1.98117854e-03 7.79808950e-01] [ 2.43730232e-02 3.95222334e-04 9.99702856e-01 1.15503217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.22, Y:0.78, Z:1.16 [[ 9.97564227e-01 -6.53862645e-02 -2.42950344e-02 9.22222481e+01] [ 6.53572340e-02 9.97859950e-01 -1.98789742e-03 7.82129173e-01] [ 2.43730230e-02 3.95199108e-04 9.99702856e-01 1.15544950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.25, Y:0.79, Z:1.15 [[ 9.97521073e-01 -6.59951981e-02 -2.44201151e-02 9.22500503e+01] [ 6.59658830e-02 9.97819865e-01 -2.00495645e-03 7.88311378e-01] [ 2.44991934e-02 3.89091859e-04 9.99699774e-01 1.15237790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.28, Y:0.79, Z:1.15 [[ 9.97514963e-01 -6.61599290e-02 -2.42231651e-02 9.22777649e+01] [ 6.61309714e-02 9.97808956e-01 -1.99545322e-03 7.91220124e-01] [ 2.43021101e-02 3.88593005e-04 9.99704585e-01 1.15325569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.31, Y:0.79, Z:1.16 [[ 9.97518919e-01 -6.64209126e-02 -2.33295686e-02 9.23056292e+01] [ 6.63939765e-02 9.97791623e-01 -1.92813170e-03 7.91712257e-01] [ 2.34061164e-02 3.74405019e-04 9.99725969e-01 1.15600620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.33, Y:0.79, Z:1.16 [[ 9.97507900e-01 -6.67693020e-02 -2.28002188e-02 9.23340364e+01] [ 6.67435480e-02 9.97768374e-01 -1.88952018e-03 7.93617830e-01] [ 2.28754992e-02 3.63043808e-04 9.99738256e-01 1.15749901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.36, Y:0.80, Z:1.16 [[ 9.97512480e-01 -6.69985053e-02 -2.19100929e-02 9.23606954e+01] [ 6.69747070e-02 9.97753015e-01 -1.81900872e-03 7.96514593e-01] [ 2.19827321e-02 3.47061846e-04 9.99758290e-01 1.15878716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.39, Y:0.80, Z:1.16 [[ 9.97513914e-01 -6.74056160e-02 -2.05541861e-02 9.23887623e+01] [ 6.73846718e-02 9.97725603e-01 -1.71065743e-03 7.99913445e-01] [ 2.06227457e-02 3.21367498e-04 9.99787277e-01 1.15990472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.42, Y:0.80, Z:1.16 [[ 9.97501630e-01 -6.76208203e-02 -2.04431787e-02 9.24157325e+01] [ 6.76000484e-02 9.97711041e-01 -1.70621946e-03 8.03758456e-01] [ 2.05117610e-02 3.19996829e-04 9.99789560e-01 1.15956992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.44, Y:0.81, Z:1.16 [[ 9.97557605e-01 -6.72788493e-02 -1.87717918e-02 9.24420760e+01] [ 6.72612360e-02 9.97734166e-01 -1.56879030e-03 8.09229434e-01] [ 1.88348044e-02 3.02344773e-04 9.99822564e-01 1.15838511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.47, Y:0.81, Z:1.16 [[ 9.97560783e-01 -6.74589108e-02 -1.79382270e-02 9.24704870e+01] [ 6.74428117e-02 9.97722012e-01 -1.50160455e-03 8.10879523e-01] [ 1.79986606e-02 2.88137342e-04 9.99837969e-01 1.15989469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.50, Y:0.81, Z:1.16 [[ 9.97600411e-01 -6.70214324e-02 -1.73651515e-02 9.24980042e+01] [ 6.70062046e-02 9.97751494e-01 -1.45792392e-03 8.14259963e-01] [ 1.74238180e-02 2.90852609e-04 9.99848151e-01 1.16066854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:0.82, Z:1.16 [[ 9.97699027e-01 -6.53980496e-02 -1.78814541e-02 9.25266156e+01] [ 6.53816057e-02 9.97859201e-01 -1.50329816e-03 8.18012838e-01] [ 1.79414863e-02 3.30720932e-04 9.99838984e-01 1.16162673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.55, Y:0.82, Z:1.16 [[ 9.97756132e-01 -6.42696965e-02 -1.87645394e-02 9.25541034e+01] [ 6.42513095e-02 9.97932496e-01 -1.58174130e-03 8.22885382e-01] [ 1.88274017e-02 3.72545855e-04 9.99822679e-01 1.16153254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.540385723 meters Centerline goodness [0,1] 0.9999115631218218 Centerline is valid? [True, True] Translation: X:92.58, Y:0.83, Z:1.16 [[ 9.97885101e-01 -6.18358534e-02 -2.00412500e-02 9.25826177e+01] [ 6.18143378e-02 9.98086231e-01 -1.69186428e-03 8.30417583e-01] [ 2.01075136e-02 4.49449559e-04 9.99797722e-01 1.16130809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.570385723 meters Centerline goodness [0,1] 0.9999780557384244 Centerline is valid? [True, True] Translation: X:92.61, Y:0.84, Z:1.16 [[ 9.97929554e-01 -6.08883229e-02 -2.07175522e-02 9.26099450e+01] [ 6.08650432e-02 9.98144465e-01 -1.75296314e-03 8.35319230e-01] [ 2.07858450e-02 4.88359021e-04 9.99783832e-01 1.16198457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.600385723 meters Centerline goodness [0,1] 0.9999779327389884 Centerline is valid? [True, True] Translation: X:92.64, Y:0.84, Z:1.16 [[ 9.97936474e-01 -6.08074614e-02 -2.06215022e-02 9.26374481e+01] [ 6.07843435e-02 9.98149394e-01 -1.74659276e-03 8.38305189e-01] [ 2.06895458e-02 4.89524143e-04 9.99785829e-01 1.16337145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63038572299999 meters Centerline goodness [0,1] 0.9999779161697805 Centerline is valid? [True, True] Translation: X:92.67, Y:0.84, Z:1.16 [[ 9.97890645e-01 -6.13310119e-02 -2.12783189e-02 9.26656407e+01] [ 6.13064548e-02 9.98117358e-01 -1.80511536e-03 8.41451080e-01] [ 2.13489690e-02 4.96809434e-04 9.99771961e-01 1.16286586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.69, Y:0.84, Z:1.16 [[ 9.97842713e-01 -6.19817436e-02 -2.16375302e-02 9.26941154e+01] [ 6.19563778e-02 9.98077160e-01 -1.84135749e-03 8.43404456e-01] [ 2.17100552e-02 4.96802154e-04 9.99764186e-01 1.16254597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.72, Y:0.85, Z:1.16 [[ 9.97802945e-01 -6.28185275e-02 -2.10502916e-02 9.27213626e+01] [ 6.27946118e-02 9.98024855e-01 -1.79585482e-03 8.48311503e-01] [ 2.11215272e-02 4.70064338e-04 9.99776805e-01 1.16164350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.75, Y:0.85, Z:1.16 [[ 9.97779676e-01 -6.32936703e-02 -2.07274957e-02 9.27492777e+01] [ 6.32705267e-02 9.97994841e-01 -1.77111833e-03 8.49159055e-01] [ 2.07980343e-02 4.55746306e-04 9.99783594e-01 1.16294036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.78, Y:0.85, Z:1.16 [[ 9.97775790e-01 -6.32949696e-02 -2.09097912e-02 9.27772041e+01] [ 6.32713178e-02 9.97994755e-01 -1.79143459e-03 8.52367374e-01] [ 2.09812507e-02 4.64460024e-04 9.99779761e-01 1.16477075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.80, Y:0.86, Z:1.16 [[ 9.97794704e-01 -6.28660945e-02 -2.12974858e-02 9.28049922e+01] [ 6.28414204e-02 9.98021853e-01 -1.82648904e-03 8.57088288e-01] [ 2.13701805e-02 4.84096834e-04 9.99771514e-01 1.16486835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.83, Y:0.86, Z:1.17 [[ 9.97808863e-01 -6.29627960e-02 -2.03263163e-02 9.28323840e+01] [ 6.29402894e-02 9.98015768e-01 -1.74574830e-03 8.61678639e-01] [ 2.03959013e-02 4.62578897e-04 9.99791875e-01 1.16530732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.840385723 meters Centerline goodness [0,1] 0.9999337909116991 Centerline is valid? [True, True] Translation: X:92.86, Y:0.86, Z:1.17 [[ 9.97802140e-01 -6.33347331e-02 -1.94833622e-02 9.28604291e+01] [ 6.33140306e-02 9.97992243e-01 -1.67820772e-03 8.64732514e-01] [ 1.95505332e-02 4.40949064e-04 9.99808773e-01 1.16542912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.870385723 meters Centerline goodness [0,1] 0.9999779575462341 Centerline is valid? [True, True] Translation: X:92.89, Y:0.87, Z:1.17 [[ 9.97768819e-01 -6.41987949e-02 -1.83275486e-02 9.28896808e+01] [ 6.41805419e-02 9.97937048e-01 -1.58299079e-03 8.67190074e-01] [ 1.83913658e-02 4.03186848e-04 9.99830783e-01 1.16632805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.900385723 meters Centerline goodness [0,1] 0.9999557923122832 Centerline is valid? [True, True] Translation: X:92.92, Y:0.87, Z:1.17 [[ 9.97716844e-01 -6.54145527e-02 -1.67939191e-02 9.29190466e+01] [ 6.53993431e-02 9.97858112e-01 -1.45385189e-03 8.65822386e-01] [ 1.68530515e-02 3.52221247e-04 9.99857915e-01 1.16790930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.95, Y:0.87, Z:1.17 [[ 9.97635517e-01 -6.67273856e-02 -1.64569591e-02 9.29468858e+01] [ 6.67128969e-02 9.97771191e-01 -1.42842793e-03 8.69457833e-01] [ 1.65155949e-02 3.27159017e-04 9.99863555e-01 1.16960333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.960385723 meters Centerline goodness [0,1] 0.9999555525923951 Centerline is valid? [True, True] Translation: X:92.98, Y:0.87, Z:1.17 [[ 9.97426230e-01 -6.98216784e-02 -1.63048611e-02 9.29759860e+01] [ 6.98078436e-02 9.97559451e-01 -1.41680522e-03 8.65688882e-01] [ 1.63639920e-02 2.74951495e-04 9.99866063e-01 1.17280310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.00, Y:0.87, Z:1.17 [[ 9.97350290e-01 -7.08003334e-02 -1.67245731e-02 9.30044799e+01] [ 7.07858469e-02 9.97490471e-01 -1.45731191e-03 8.66498129e-01] [ 1.67857804e-02 2.69587388e-04 9.99859073e-01 1.17342071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02038572299999 meters Centerline goodness [0,1] 0.9999556186756613 Centerline is valid? [True, True] Translation: X:93.03, Y:0.87, Z:1.17 [[ 9.97260717e-01 -7.17363698e-02 -1.80265000e-02 9.30321981e+01] [ 7.17196173e-02 9.97423589e-01 -1.57492836e-03 8.71778426e-01] [ 1.80930360e-02 2.77760508e-04 9.99836269e-01 1.17100905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.06, Y:0.87, Z:1.17 [[ 9.97205856e-01 -7.22582907e-02 -1.89530854e-02 9.30601561e+01] [ 7.22398199e-02 9.97385913e-01 -1.65829281e-03 8.74913147e-01] [ 1.90233657e-02 2.84491832e-04 9.99818999e-01 1.16981722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08038572299999 meters Centerline goodness [0,1] 0.9999777925827227 Centerline is valid? [True, True] Translation: X:93.09, Y:0.88, Z:1.17 [[ 9.97146122e-01 -7.28337550e-02 -1.98709643e-02 9.30877046e+01] [ 7.28134523e-02 9.97344052e-01 -1.74429132e-03 8.77217464e-01] [ 1.99452313e-02 2.92439816e-04 9.99801031e-01 1.16877474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.110385723 meters Centerline goodness [0,1] 0.999977693508811 Centerline is valid? [True, True] Translation: X:93.12, Y:0.88, Z:1.17 [[ 9.96986628e-01 -7.46989109e-02 -2.09221285e-02 9.31157114e+01] [ 7.46767107e-02 9.97206096e-01 -1.84146260e-03 8.76992999e-01] [ 2.10012293e-02 2.73517859e-04 9.99779412e-01 1.16879565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.140385723 meters Centerline goodness [0,1] 0.9998884849566206 Centerline is valid? [True, True] Translation: X:93.15, Y:0.88, Z:1.17 [[ 9.96875972e-01 -7.62742221e-02 -2.05070819e-02 9.31451387e+01] [ 7.62531741e-02 9.97086850e-01 -1.80750947e-03 8.77104366e-01] [ 2.05852081e-02 2.38132667e-04 9.99788074e-01 1.17037060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.17, Y:0.88, Z:1.17 [[ 9.96778157e-01 -7.80762267e-02 -1.83686868e-02 9.31724229e+01] [ 7.80595798e-02 9.96947375e-01 -1.62260989e-03 8.79722417e-01] [ 1.84393013e-02 1.83530127e-04 9.99829965e-01 1.17146434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.20, Y:0.88, Z:1.17 [[ 9.96742946e-01 -7.89263211e-02 -1.65570151e-02 9.32001989e+01] [ 7.89128874e-02 9.96880440e-01 -1.46414439e-03 8.82884112e-01] [ 1.66209240e-02 1.52813732e-04 9.99861851e-01 1.17212671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.23, Y:0.89, Z:1.17 [[ 9.96735703e-01 -7.91958676e-02 -1.56828866e-02 9.32276422e+01] [ 7.91837838e-02 9.96859064e-01 -1.39094168e-03 8.86281491e-01] [ 1.57437845e-02 1.44570929e-04 9.99876048e-01 1.17303396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.26, Y:0.89, Z:1.17 [[ 9.96810573e-01 -7.83916301e-02 -1.49477150e-02 9.32562470e+01] [ 7.83805038e-02 9.96922629e-01 -1.32963846e-03 8.89688838e-01] [ 1.50059478e-02 1.53788246e-04 9.99887393e-01 1.17388802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.29, Y:0.89, Z:1.17 [[ 9.96859531e-01 -7.78079023e-02 -1.47311015e-02 9.32851201e+01] [ 7.77969806e-02 9.96968356e-01 -1.31387996e-03 8.92445198e-01] [ 1.47886723e-02 1.63718537e-04 9.99890628e-01 1.17440269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.320385723 meters Centerline goodness [0,1] 0.9999778697412973 Centerline is valid? [True, True] Translation: X:93.31, Y:0.90, Z:1.18 [[ 9.97037028e-01 -7.55851211e-02 -1.42847849e-02 9.33136816e+01] [ 7.55745745e-02 9.97139334e-01 -1.27745764e-03 8.96428099e-01] [ 1.43404777e-02 1.94106033e-04 9.99897151e-01 1.17509072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.34, Y:0.90, Z:1.18 [[ 9.97143293e-01 -7.42304656e-02 -1.39674853e-02 9.33409306e+01] [ 7.42202003e-02 9.97241091e-01 -1.25259065e-03 9.00430072e-01] [ 1.40219307e-02 2.12342809e-04 9.99901665e-01 1.17558980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.37, Y:0.90, Z:1.18 [[ 9.97226549e-01 -7.32124257e-02 -1.33847525e-02 9.33696037e+01] [ 7.32028963e-02 9.97316346e-01 -1.20116101e-03 9.04133774e-01] [ 1.34367724e-02 2.18026999e-04 9.99909699e-01 1.17627618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.40, Y:0.91, Z:1.18 [[ 9.97346836e-01 -7.16846479e-02 -1.26728306e-02 9.33976162e+01] [ 7.16759404e-02 9.97427320e-01 -1.14054034e-03 9.09848600e-01] [ 1.27219867e-02 2.29177253e-04 9.99919046e-01 1.17591538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44038572299999 meters Centerline goodness [0,1] 0.9999336224444642 Centerline is valid? [True, True] Translation: X:93.42, Y:0.91, Z:1.18 [[ 9.97464296e-01 -7.00103590e-02 -1.27878124e-02 9.34248973e+01] [ 7.00013421e-02 9.97546232e-01 -1.15191050e-03 9.14558976e-01] [ 1.28370798e-02 2.53825560e-04 9.99917569e-01 1.17594570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47038572299999 meters Centerline goodness [0,1] 0.9999778417903833 Centerline is valid? [True, True] Translation: X:93.45, Y:0.92, Z:1.18 [[ 9.97510803e-01 -6.93030723e-02 -1.30108201e-02 9.34537354e+01] [ 6.92936583e-02 9.97595615e-01 -1.17350462e-03 9.18262521e-01] [ 1.30608645e-02 2.69016212e-04 9.99914667e-01 1.17685439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.500385723 meters Centerline goodness [0,1] 0.9999556541019956 Centerline is valid? [True, True] Translation: X:93.48, Y:0.92, Z:1.18 [[ 9.97532293e-01 -6.87632516e-02 -1.41753479e-02 9.34827713e+01] [ 6.87519729e-02 9.97632960e-01 -1.28201768e-03 9.20096884e-01] [ 1.42299500e-02 3.04270896e-04 9.99898703e-01 1.17694383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.51, Y:0.92, Z:1.18 [[ 9.97560060e-01 -6.82403729e-02 -1.47369882e-02 9.35104065e+01] [ 6.82280691e-02 9.97668855e-01 -1.33663670e-03 9.22625444e-01] [ 1.47938468e-02 3.27899134e-04 9.99890511e-01 1.17644792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.560385723 meters Centerline goodness [0,1] 0.9999779434469981 Centerline is valid? [True, True] Translation: X:93.54, Y:0.93, Z:1.18 [[ 9.97511996e-01 -6.89155181e-02 -1.48482117e-02 9.35387415e+01] [ 6.89030842e-02 9.97622448e-01 -1.34796257e-03 9.26078882e-01] [ 1.49058048e-02 3.21521254e-04 9.99888851e-01 1.17634011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.57, Y:0.93, Z:1.18 [[ 9.97401620e-01 -7.07044451e-02 -1.38162865e-02 9.35668487e+01] [ 7.06938088e-02 9.97497270e-01 -1.25732091e-03 9.26945266e-01] [ 1.38706063e-02 2.77327990e-04 9.99903760e-01 1.17720912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.620385723 meters Centerline goodness [0,1] 0.9999555278840168 Centerline is valid? [True, True] Translation: X:93.60, Y:0.93, Z:1.18 [[ 9.97361953e-01 -7.13638472e-02 -1.32791294e-02 9.35954690e+01] [ 7.13540706e-02 9.97450317e-01 -1.20917518e-03 9.26805564e-01] [ 1.33315632e-02 2.58465384e-04 9.99911097e-01 1.17814132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.650385723 meters Centerline goodness [0,1] 0.9998001154888286 Centerline is valid? [True, True] Translation: X:93.62, Y:0.93, Z:1.18 [[ 9.97312483e-01 -7.21042087e-02 -1.29921143e-02 9.36235130e+01] [ 7.20948614e-02 9.97397073e-01 -1.18698719e-03 9.29113508e-01] [ 1.30438836e-02 2.47132464e-04 9.99914894e-01 1.17854483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.680385723 meters Centerline goodness [0,1] 0.9999778995756718 Centerline is valid? [True, True] Translation: X:93.65, Y:0.93, Z:1.18 [[ 9.97196018e-01 -7.39979119e-02 -1.11539769e-02 9.36524157e+01] [ 7.39911390e-02 9.97258378e-01 -1.01922374e-03 9.29758798e-01] [ 1.11988173e-02 1.91070400e-04 9.99937273e-01 1.17911622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.710385723 meters Centerline goodness [0,1] 0.9999778344231408 Centerline is valid? [True, True] Translation: X:93.68, Y:0.93, Z:1.18 [[ 9.97071683e-01 -7.60074683e-02 -8.42156325e-03 9.36808811e+01] [ 7.60036697e-02 9.97107240e-01 -7.70647524e-04 9.31511587e-01] [ 8.45577666e-03 1.28321112e-04 9.99964241e-01 1.17967028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74038572299999 meters Centerline goodness [0,1] 0.9999334604977155 Centerline is valid? [True, True] Translation: X:93.71, Y:0.93, Z:1.18 [[ 9.96965886e-01 -7.73659642e-02 -8.57491462e-03 9.37095686e+01] [ 7.73620568e-02 9.97002755e-01 -7.86934623e-04 9.33894696e-01] [ 8.61009546e-03 1.21173941e-04 9.99962925e-01 1.17985037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.74, Y:0.94, Z:1.18 [[ 9.96896753e-01 -7.82284298e-02 -8.78497167e-03 9.37376640e+01] [ 7.82243362e-02 9.96935454e-01 -8.09153269e-04 9.35120167e-01] [ 8.82134851e-03 1.19443690e-04 9.99961084e-01 1.17981027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80038572299999 meters Centerline goodness [0,1] 0.999977802934452 Centerline is valid? [True, True] Translation: X:93.77, Y:0.93, Z:1.18 [[ 9.96643997e-01 -8.12846591e-02 -9.67202240e-03 9.37668361e+01] [ 8.12798397e-02 9.96690922e-01 -8.90972737e-04 9.33222553e-01] [ 9.71243934e-03 1.01842199e-04 9.99952828e-01 1.17994640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.79, Y:0.93, Z:1.18 [[ 9.96549679e-01 -8.24002662e-02 -9.94650044e-03 9.37948084e+01] [ 8.23952015e-02 9.96599311e-01 -9.18602760e-04 9.34008463e-01] [ 9.98836859e-03 9.58893774e-05 9.99950110e-01 1.18039713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.860385723 meters Centerline goodness [0,1] 0.9999777550384837 Centerline is valid? [True, True] Translation: X:93.82, Y:0.94, Z:1.18 [[ 9.96388471e-01 -8.43524610e-02 -9.73023060e-03 9.38228301e+01] [ 8.43476715e-02 9.96435977e-01 -9.02279937e-04 9.36038792e-01] [ 9.77166137e-03 7.82990317e-05 9.99952253e-01 1.17974453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.85, Y:0.94, Z:1.18 [[ 9.96319379e-01 -8.51388119e-02 -9.95373687e-03 9.38508380e+01] [ 8.51338400e-02 9.96369097e-01 -9.22916202e-04 9.39696451e-01] [ 9.99617180e-03 7.21194564e-05 9.99950034e-01 1.17989459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.88, Y:0.94, Z:1.18 [[ 9.96306572e-01 -8.53159432e-02 -9.71617846e-03 9.38789118e+01] [ 8.53111891e-02 9.96353946e-01 -9.03468790e-04 9.44032014e-01] [ 9.75783304e-03 7.12331552e-05 9.99952389e-01 1.17895434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.91, Y:0.95, Z:1.18 [[ 9.96350139e-01 -8.45157071e-02 -1.19790118e-02 9.39068253e+01] [ 8.45083719e-02 9.96422142e-01 -1.11810886e-03 9.48052201e-01] [ 1.20306504e-02 1.01701132e-04 9.99927624e-01 1.17601529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.93, Y:0.95, Z:1.18 [[ 9.96364514e-01 -8.39274819e-02 -1.46264363e-02 9.39337111e+01] [ 8.39164074e-02 9.96471855e-01 -1.37033614e-03 9.49917836e-01] [ 1.46898410e-02 1.37956319e-04 9.99892089e-01 1.17566512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.96, Y:0.95, Z:1.18 [[ 9.96314277e-01 -8.45048016e-02 -1.47241219e-02 9.39613459e+01] [ 8.44936158e-02 9.96423063e-01 -1.38123681e-03 9.52667866e-01] [ 1.47881758e-02 1.32051660e-04 9.99890640e-01 1.17531398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.99, Y:0.96, Z:1.18 [[ 9.96291091e-01 -8.47777904e-02 -1.47237431e-02 9.39888116e+01] [ 8.47665749e-02 9.96399874e-01 -1.38526287e-03 9.55321342e-01] [ 1.47881753e-02 1.32043782e-04 9.99890640e-01 1.17573124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.070385723 meters Centerline goodness [0,1] 0.9999113946482368 Centerline is valid? [True, True] Translation: X:94.02, Y:0.96, Z:1.17 [[ 9.96194423e-01 -8.59040016e-02 -1.47368381e-02 9.40169246e+01] [ 8.58928279e-02 9.96303412e-01 -1.39064411e-03 9.58912428e-01] [ 1.48018240e-02 1.19563204e-04 9.99890440e-01 1.17472360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.05, Y:0.96, Z:1.17 [[ 9.95982439e-01 -8.83876410e-02 -1.43737845e-02 9.40458069e+01] [ 8.83772541e-02 9.96086150e-01 -1.35747033e-03 9.61647350e-01] [ 1.44375113e-02 8.17010036e-05 9.99895770e-01 1.17393193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.07, Y:0.96, Z:1.17 [[ 9.95863082e-01 -8.97918027e-02 -1.39339296e-02 9.40736396e+01] [ 8.97821351e-02 9.95960556e-01 -1.31907704e-03 9.63440829e-01] [ 1.39960865e-02 6.26021827e-05 9.99902048e-01 1.17472735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.10, Y:0.97, Z:1.18 [[ 9.95674730e-01 -9.18744915e-02 -1.38170380e-02 9.41010889e+01] [ 9.18651330e-02 9.95770594e-01 -1.31183108e-03 9.65538286e-01] [ 1.38791239e-02 3.68530286e-05 9.99903680e-01 1.17600868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.13, Y:0.97, Z:1.18 [[ 9.95685595e-01 -9.17486747e-02 -1.38700044e-02 9.41287627e+01] [ 9.17391977e-02 9.95782195e-01 -1.31932160e-03 9.69301623e-01] [ 1.39325494e-02 4.12064350e-05 9.99902936e-01 1.17629625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.16, Y:0.97, Z:1.18 [[ 9.95709926e-01 -9.14121324e-02 -1.43375269e-02 9.41569100e+01] [ 9.14019129e-02 9.95813145e-01 -1.36782087e-03 9.73401683e-01] [ 1.44025332e-02 5.14754358e-05 9.99896277e-01 1.17600093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.18, Y:0.98, Z:1.17 [[ 9.95896496e-01 -8.90120170e-02 -1.63410460e-02 9.41849213e+01] [ 8.89983347e-02 9.96030547e-01 -1.56405579e-03 9.79750442e-01] [ 1.64154007e-02 1.03311802e-04 9.99865253e-01 1.17371566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.21, Y:0.98, Z:1.17 [[ 9.95993430e-01 -8.76095056e-02 -1.79349528e-02 9.42127373e+01] [ 8.75927199e-02 9.96154885e-01 -1.72085732e-03 9.84847428e-01] [ 1.80167543e-02 1.42991287e-04 9.99837675e-01 1.17181362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.310385723 meters Centerline goodness [0,1] 0.9999557375235144 Centerline is valid? [True, True] Translation: X:94.24, Y:0.99, Z:1.17 [[ 9.96089621e-01 -8.61617098e-02 -1.95352654e-02 9.42412546e+01] [ 8.61414675e-02 9.96281148e-01 -1.87687972e-03 9.89451374e-01] [ 1.96243318e-02 1.86743980e-04 9.99807407e-01 1.16987275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.27, Y:0.99, Z:1.17 [[ 9.96147204e-01 -8.54032633e-02 -1.99256130e-02 9.42698093e+01] [ 8.53819545e-02 9.96346445e-01 -1.91926392e-03 9.92817092e-01] [ 2.00167250e-02 2.10581612e-04 9.99799623e-01 1.17032585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.30, Y:1.00, Z:1.17 [[ 9.96186761e-01 -8.46365086e-02 -2.11801259e-02 9.42988107e+01] [ 8.46121441e-02 9.96411863e-01 -2.04547368e-03 9.96887678e-01] [ 2.12772505e-02 2.45577936e-04 9.99773584e-01 1.17068274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.33, Y:1.00, Z:1.17 [[ 9.96225180e-01 -8.38969583e-02 -2.22865498e-02 9.43273632e+01] [ 8.38696710e-02 9.96474396e-01 -2.15792172e-03 1.00087670e+00] [ 2.23890193e-02 2.80610352e-04 9.99749295e-01 1.17015941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.36, Y:1.01, Z:1.17 [[ 9.96290390e-01 -8.29318502e-02 -2.29731992e-02 9.43556432e+01] [ 8.29024672e-02 9.96555170e-01 -2.23010984e-03 1.00629822e+00] [ 2.30790076e-02 3.17302107e-04 9.99733594e-01 1.16938518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.38, Y:1.01, Z:1.17 [[ 9.96539046e-01 -8.00806640e-02 -2.22938785e-02 9.43837467e+01] [ 8.00521613e-02 9.96788315e-01 -2.16945968e-03 1.01444166e+00] [ 2.23960094e-02 3.77278121e-04 9.99749107e-01 1.16878935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.41, Y:1.02, Z:1.17 [[ 9.96594004e-01 -7.93813259e-02 -2.23382137e-02 9.44113283e+01] [ 7.93524375e-02 9.96844244e-01 -2.17807633e-03 1.02010716e+00] [ 2.24406183e-02 3.98066103e-04 9.99748098e-01 1.16874072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.44, Y:1.02, Z:1.17 [[ 9.96622238e-01 -7.85172110e-02 -2.40657775e-02 9.44399799e+01] [ 7.84833424e-02 9.96912655e-01 -2.35009922e-03 1.02490165e+00] [ 2.41760014e-02 4.53398489e-04 9.99707615e-01 1.16856921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.47, Y:1.03, Z:1.17 [[ 9.96604877e-01 -7.84715148e-02 -2.49186637e-02 9.44678379e+01] [ 7.84350616e-02 9.96916243e-01 -2.43844255e-03 1.02868895e+00] [ 2.50331688e-02 4.75666817e-04 9.99686508e-01 1.16781296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.50, Y:1.03, Z:1.17 [[ 9.96564825e-01 -7.89107911e-02 -2.51323624e-02 9.44959073e+01] [ 7.88737311e-02 9.96881569e-01 -2.46404260e-03 1.03140749e+00] [ 2.52484284e-02 4.73294991e-04 9.99681096e-01 1.16848637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.610385723 meters Centerline goodness [0,1] 0.9999558040350915 Centerline is valid? [True, True] Translation: X:94.52, Y:1.04, Z:1.17 [[ 9.96581614e-01 -7.90061690e-02 -2.41476928e-02 9.45233830e+01] [ 7.89718289e-02 9.96874022e-01 -2.37391643e-03 1.03617121e+00] [ 2.42597617e-02 4.58813998e-04 9.99705583e-01 1.16948999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.640385723 meters Centerline goodness [0,1] 0.999955853787745 Centerline is valid? [True, True] Translation: X:94.55, Y:1.04, Z:1.17 [[ 9.96633144e-01 -7.86249588e-02 -2.32485048e-02 9.45508038e+01] [ 7.85928810e-02 9.96904161e-01 -2.29169976e-03 1.04061231e+00] [ 2.33567160e-02 4.56816971e-04 9.99727090e-01 1.17002395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.670385723 meters Centerline goodness [0,1] 0.9999559907580592 Centerline is valid? [True, True] Translation: X:94.58, Y:1.05, Z:1.17 [[ 9.96786952e-01 -7.69049142e-02 -2.23921187e-02 9.45787648e+01] [ 7.68745937e-02 9.97038314e-01 -2.21301156e-03 1.04780897e+00] [ 2.24959917e-02 4.84516016e-04 9.99746816e-01 1.16998072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.700385723 meters Centerline goodness [0,1] 0.9999121091604227 Centerline is valid? [True, True] Translation: X:94.61, Y:1.05, Z:1.17 [[ 9.96849148e-01 -7.60153213e-02 -2.26593563e-02 9.46073929e+01] [ 7.59839182e-02 9.97106516e-01 -2.24490152e-03 1.05205664e+00] [ 2.27644387e-02 5.16081488e-04 9.99740723e-01 1.17036070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.730385723 meters Centerline goodness [0,1] 0.9999341238471673 Centerline is valid? [True, True] Translation: X:94.63, Y:1.06, Z:1.17 [[ 9.96972864e-01 -7.39223026e-02 -2.40956876e-02 9.46348943e+01] [ 7.38860595e-02 9.97263820e-01 -2.39219553e-03 1.05666911e+00] [ 2.42065941e-02 6.04618619e-04 9.99706795e-01 1.17049544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.66, Y:1.06, Z:1.17 [[ 9.96977633e-01 -7.36237420e-02 -2.48020965e-02 9.46622867e+01] [ 7.35851438e-02 9.97285888e-01 -2.46658186e-03 1.06139835e+00] [ 2.49163799e-02 6.34061100e-04 9.99689338e-01 1.17016506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.69, Y:1.07, Z:1.17 [[ 9.96905087e-01 -7.42197945e-02 -2.59165788e-02 9.46887456e+01] [ 7.41777210e-02 9.97241694e-01 -2.58237153e-03 1.06568912e+00] [ 2.60367561e-02 6.51946563e-04 9.99660774e-01 1.16955832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.72, Y:1.07, Z:1.17 [[ 9.96873914e-01 -7.43019841e-02 -2.68628803e-02 9.47177371e+01] [ 7.42566889e-02 9.97235557e-01 -2.68118525e-03 1.06957140e+00] [ 2.69878368e-02 6.78055086e-04 9.99635532e-01 1.16881511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.850385723 meters Centerline goodness [0,1] 0.9999559994719937 Centerline is valid? [True, True] Translation: X:94.75, Y:1.07, Z:1.17 [[ 9.96911432e-01 -7.32836416e-02 -2.82330396e-02 9.47464811e+01] [ 7.32330001e-02 9.97310858e-01 -2.82493580e-03 1.06859360e+00] [ 2.83641385e-02 7.48620606e-04 9.99597377e-01 1.17032090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.77, Y:1.07, Z:1.17 [[ 9.96878983e-01 -7.33368377e-02 -2.92232940e-02 9.47743592e+01] [ 7.32824305e-02 9.97306924e-01 -2.92989815e-03 1.07329004e+00] [ 2.93594629e-02 7.79199876e-04 9.99568614e-01 1.16966089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.80, Y:1.08, Z:1.17 [[ 9.96835511e-01 -7.38546314e-02 -2.94016527e-02 9.48023091e+01] [ 7.37996022e-02 9.97268717e-01 -2.95389171e-03 1.07605045e+00] [ 2.95395071e-02 7.74713880e-04 9.99563313e-01 1.17002418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.83, Y:1.08, Z:1.17 [[ 9.96704396e-01 -7.55811497e-02 -2.94590617e-02 9.48315748e+01] [ 7.55264242e-02 9.97139385e-01 -2.96757582e-03 1.07754437e+00] [ 2.95990835e-02 7.32858268e-04 9.99561582e-01 1.17089508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.86, Y:1.08, Z:1.17 [[ 9.96584916e-01 -7.72064638e-02 -2.92859458e-02 9.48607016e+01] [ 7.71528656e-02 9.97014889e-01 -2.95745660e-03 1.07902262e+00] [ 2.94268588e-02 6.87861999e-04 9.99566700e-01 1.17162952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.89, Y:1.08, Z:1.17 [[ 9.96418315e-01 -7.98006650e-02 -2.79713397e-02 9.48890293e+01] [ 7.97526596e-02 9.96810668e-01 -2.82945166e-03 1.07644492e+00] [ 2.81079220e-02 5.88528714e-04 9.99604721e-01 1.17480527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.92, Y:1.08, Z:1.18 [[ 9.96342833e-01 -8.11683721e-02 -2.66955711e-02 9.49173875e+01] [ 8.11250270e-02 9.96700264e-01 -2.70451551e-03 1.07754433e+00] [ 2.68270039e-02 5.28945716e-04 9.99639951e-01 1.17648499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.95, Y:1.08, Z:1.18 [[ 9.96275979e-01 -8.23525796e-02 -2.55387216e-02 9.49458691e+01] [ 8.23131426e-02 9.96603141e-01 -2.59342321e-03 1.07907139e+00] [ 2.56655452e-02 4.81592814e-04 9.99670470e-01 1.17837170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.97, Y:1.08, Z:1.18 [[ 9.96387109e-01 -8.16610822e-02 -2.33280180e-02 9.49742059e+01] [ 8.16278541e-02 9.96660050e-01 -2.37468074e-03 1.08222979e+00] [ 2.34440226e-02 4.61885221e-04 9.99725044e-01 1.18024323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.120385723 meters Centerline goodness [0,1] 0.999933817203115 Centerline is valid? [True, True] Translation: X:95.00, Y:1.09, Z:1.18 [[ 9.96664183e-01 -7.83506994e-02 -2.28401755e-02 9.50013702e+01] [ 7.83178624e-02 9.96925716e-01 -2.33005329e-03 1.08627706e+00] [ 2.29525196e-02 5.33486934e-04 9.99736414e-01 1.18008120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.150385723 meters Centerline goodness [0,1] 0.9999559742889848 Centerline is valid? [True, True] Translation: X:95.03, Y:1.09, Z:1.18 [[ 9.96825554e-01 -7.61812609e-02 -2.31350633e-02 9.50295862e+01] [ 7.61469327e-02 9.97093809e-01 -2.36244237e-03 1.08884397e+00] [ 2.32478022e-02 5.93278814e-04 9.99729557e-01 1.18045396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.180385723 meters Centerline goodness [0,1] 0.9999779769639042 Centerline is valid? [True, True] Translation: X:95.06, Y:1.09, Z:1.18 [[ 9.96978800e-01 -7.39660149e-02 -2.37128683e-02 9.50578140e+01] [ 7.39292748e-02 9.97260542e-01 -2.42351243e-03 1.09123975e+00] [ 2.38271655e-02 6.63115358e-04 9.99715873e-01 1.18072745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.210385723 meters Centerline goodness [0,1] 0.9999779234827914 Centerline is valid? [True, True] Translation: X:95.09, Y:1.10, Z:1.18 [[ 9.97099233e-01 -7.22369829e-02 -2.39778624e-02 9.50862371e+01] [ 7.21988332e-02 9.97387240e-01 -2.45408858e-03 1.09550958e+00] [ 2.40924900e-02 7.15796151e-04 9.99709478e-01 1.18054632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.11, Y:1.10, Z:1.18 [[ 9.97332965e-01 -6.87768551e-02 -2.44274636e-02 9.51142792e+01] [ 6.87361201e-02 9.97631733e-01 -2.50433749e-03 1.10295382e+00] [ 2.45418533e-02 8.18609264e-04 9.99698468e-01 1.17954018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27038572299999 meters Centerline goodness [0,1] 0.9999115024668688 Centerline is valid? [True, True] Translation: X:95.14, Y:1.10, Z:1.18 [[ 9.97439560e-01 -6.67104447e-02 -2.57689982e-02 9.51440190e+01] [ 6.66643918e-02 9.97771954e-01 -2.64306739e-03 1.10150769e+00] [ 2.58879039e-02 9.18425382e-04 9.99664430e-01 1.18075721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30038572299999 meters Centerline goodness [0,1] 0.9999777891300002 Centerline is valid? [True, True] Translation: X:95.17, Y:1.10, Z:1.18 [[ 9.97445471e-01 -6.66136768e-02 -2.57905117e-02 9.51732789e+01] [ 6.65674340e-02 9.97778414e-01 -2.64838515e-03 1.10268410e+00] [ 2.59096345e-02 9.24811587e-04 9.99663861e-01 1.18167742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.20, Y:1.10, Z:1.18 [[ 9.97441754e-01 -6.67385009e-02 -2.56109217e-02 9.52009534e+01] [ 6.66927724e-02 9.97770075e-01 -2.63649822e-03 1.10456656e+00] [ 2.57297673e-02 9.21690030e-04 9.99668510e-01 1.18260954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.23, Y:1.10, Z:1.18 [[ 9.97417196e-01 -6.72108584e-02 -2.53305727e-02 9.52287969e+01] [ 6.71660984e-02 9.97738382e-01 -2.61468655e-03 1.10410735e+00] [ 2.54490200e-02 9.06577584e-04 9.99675710e-01 1.18334595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.390385723 meters Centerline goodness [0,1] 0.9999333718296095 Centerline is valid? [True, True] Translation: X:95.26, Y:1.11, Z:1.18 [[ 9.97381778e-01 -6.81428229e-02 -2.42104233e-02 9.52573311e+01] [ 6.81020558e-02 9.97675214e-01 -2.50536159e-03 1.10585977e+00] [ 2.43248617e-02 8.50022393e-04 9.99703745e-01 1.18428767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.420385723 meters Centerline goodness [0,1] 0.9999778201659052 Centerline is valid? [True, True] Translation: X:95.29, Y:1.11, Z:1.19 [[ 9.97271698e-01 -7.06245441e-02 -2.14786714e-02 9.52863617e+01] [ 7.05929544e-02 9.97502721e-01 -2.22636646e-03 1.10506273e+00] [ 2.15822693e-02 7.04049392e-04 9.99766828e-01 1.18798679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.31, Y:1.11, Z:1.19 [[ 9.97195290e-01 -7.21127250e-02 -2.00326851e-02 9.53143678e+01] [ 7.20855179e-02 9.97396291e-01 -2.07787997e-03 1.10821364e+00] [ 2.01303674e-02 6.27985641e-04 9.99797166e-01 1.18981833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.480385723 meters Centerline goodness [0,1] 0.9999556776881482 Centerline is valid? [True, True] Translation: X:95.34, Y:1.11, Z:1.19 [[ 9.97110923e-01 -7.35205554e-02 -1.90927934e-02 9.53434655e+01] [ 7.34960571e-02 9.97293537e-01 -1.98259798e-03 1.10594542e+00] [ 1.91868812e-02 5.73625073e-04 9.99815750e-01 1.19187010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.37, Y:1.11, Z:1.19 [[ 9.96956412e-01 -7.59187699e-02 -1.77271822e-02 9.53711634e+01] [ 7.58979651e-02 9.97113884e-01 -1.84442824e-03 1.10730527e+00] [ 1.78160462e-02 4.93357507e-04 9.99841160e-01 1.19269986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.40, Y:1.11, Z:1.19 [[ 9.96782557e-01 -7.82079479e-02 -1.75513958e-02 9.53994009e+01] [ 7.81878751e-02 9.96936966e-01 -1.82801691e-03 1.11036448e+00] [ 1.76406008e-02 4.49829024e-04 9.99844291e-01 1.19328198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.570385723 meters Centerline goodness [0,1] 0.9999555239281267 Centerline is valid? [True, True] Translation: X:95.43, Y:1.11, Z:1.19 [[ 9.96676438e-01 -7.94137025e-02 -1.81533042e-02 9.54274660e+01] [ 7.93923560e-02 9.96841644e-01 -1.89470874e-03 1.11060902e+00] [ 1.82464355e-02 4.47177969e-04 9.99833420e-01 1.19384578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.46, Y:1.11, Z:1.19 [[ 9.96555487e-01 -8.07965838e-02 -1.86834906e-02 9.54561198e+01] [ 8.07741761e-02 9.96730516e-01 -1.95211163e-03 1.11014068e+00] [ 1.87801292e-02 4.36243992e-04 9.99823543e-01 1.19447945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.49, Y:1.11, Z:1.19 [[ 9.96334177e-01 -8.31798164e-02 -1.99831487e-02 9.54854994e+01] [ 8.31545652e-02 9.96534465e-01 -2.09268919e-03 1.10909489e+00] [ 2.00879659e-02 4.23327717e-04 9.99798127e-01 1.19372994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.51, Y:1.11, Z:1.19 [[ 9.96261099e-01 -8.38142479e-02 -2.09522102e-02 9.55139476e+01] [ 8.37865159e-02 9.96481300e-01 -2.19949833e-03 1.11010551e+00] [ 2.10628349e-02 4.35761934e-04 9.99778059e-01 1.19283452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69038572299999 meters Centerline goodness [0,1] 0.9999554029344869 Centerline is valid? [True, True] Translation: X:95.54, Y:1.12, Z:1.19 [[ 9.96167000e-01 -8.42199899e-02 -2.36284133e-02 9.55416583e+01] [ 8.41847024e-02 9.96447066e-01 -2.48596610e-03 1.11618369e+00] [ 2.37538312e-02 4.87286449e-04 9.99717719e-01 1.18948681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.57, Y:1.12, Z:1.19 [[ 9.96152384e-01 -8.40894698e-02 -2.46858064e-02 9.55695140e+01] [ 8.40508591e-02 9.96458076e-01 -2.59937431e-03 1.12001814e+00] [ 2.48169512e-02 5.14509674e-04 9.99691880e-01 1.18872898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.60, Y:1.13, Z:1.19 [[ 9.96141215e-01 -8.38151581e-02 -2.60326636e-02 9.55966561e+01] [ 8.37720256e-02 9.96481165e-01 -2.74497602e-03 1.12539386e+00] [ 2.61711296e-02 5.53574786e-04 9.99657324e-01 1.18682069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.63, Y:1.12, Z:1.19 [[ 9.96148922e-01 -8.35662417e-02 -2.65331703e-02 9.56257743e+01] [ 8.35211786e-02 9.96502057e-01 -2.80403184e-03 1.12177871e+00] [ 2.66746812e-02 5.77151642e-04 9.99644001e-01 1.19086246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.810385723 meters Centerline goodness [0,1] 0.9999775417162621 Centerline is valid? [True, True] Translation: X:95.66, Y:1.12, Z:1.19 [[ 9.96149875e-01 -8.39703279e-02 -2.51874966e-02 9.56550670e+01] [ 8.39297031e-02 9.96468107e-01 -2.66761317e-03 1.12396950e+00] [ 2.53225374e-02 5.43363418e-04 9.99679185e-01 1.19283551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.840385723 meters Centerline goodness [0,1] 0.999955240247969 Centerline is valid? [True, True] Translation: X:95.68, Y:1.13, Z:1.20 [[ 9.96218598e-01 -8.41978853e-02 -2.14294659e-02 9.56824229e+01] [ 8.41684587e-02 9.96448947e-01 -2.27305021e-03 1.12745154e+00] [ 2.15447547e-02 4.60769777e-04 9.99767779e-01 1.19677670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.71, Y:1.13, Z:1.20 [[ 9.96215562e-01 -8.44784083e-02 -2.04438873e-02 9.57104088e+01] [ 8.44516304e-02 9.96425214e-01 -2.17119205e-03 1.13192225e+00] [ 2.05542237e-02 4.36455691e-04 9.99788644e-01 1.19736380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.900385723 meters Centerline goodness [0,1] 0.9999775980644727 Centerline is valid? [True, True] Translation: X:95.74, Y:1.14, Z:1.20 [[ 9.96336080e-01 -8.33082635e-02 -1.93429338e-02 9.57387158e+01] [ 8.32839770e-02 9.96523727e-01 -2.05915246e-03 1.13667556e+00] [ 1.94472369e-02 4.40651434e-04 9.99810788e-01 1.19779429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.77, Y:1.14, Z:1.20 [[ 9.96426028e-01 -8.24140533e-02 -1.85228075e-02 9.57673926e+01] [ 8.23915470e-02 9.96598077e-01 -1.97621980e-03 1.13949252e+00] [ 1.86226626e-02 4.43034081e-04 9.99826485e-01 1.19893181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.79, Y:1.14, Z:1.20 [[ 9.96402834e-01 -8.26941097e-02 -1.85223083e-02 9.57948326e+01] [ 8.26715650e-02 9.96574878e-01 -1.98088862e-03 1.14248821e+00] [ 1.86226750e-02 4.42494826e-04 9.99826485e-01 1.19934939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99038572299999 meters Centerline goodness [0,1] 0.9999776251314524 Centerline is valid? [True, True] Translation: X:95.82, Y:1.15, Z:1.20 [[ 9.96469892e-01 -8.18422689e-02 -1.86975272e-02 9.58236545e+01] [ 8.18190474e-02 9.96645185e-01 -2.00485575e-03 1.14581134e+00] [ 1.87988824e-02 4.67964525e-04 9.99823176e-01 1.20001979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02038572299999 meters Centerline goodness [0,1] 0.9999326825984517 Centerline is valid? [True, True] Translation: X:95.85, Y:1.15, Z:1.20 [[ 9.96568504e-01 -8.04293951e-02 -1.95532502e-02 9.58509014e+01] [ 8.04036424e-02 9.96760172e-01 -2.10093283e-03 1.15243400e+00] [ 1.96588778e-02 5.21570948e-04 9.99806610e-01 1.19871544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.88, Y:1.15, Z:1.20 [[ 9.96593997e-01 -7.99170381e-02 -2.03389416e-02 9.58796407e+01] [ 7.98890128e-02 9.96801363e-01 -2.18801827e-03 1.15338206e+00] [ 2.04487447e-02 5.55707905e-04 9.99790748e-01 1.19898195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.91, Y:1.16, Z:1.20 [[ 9.96672488e-01 -7.84677880e-02 -2.20625895e-02 9.59080374e+01] [ 7.84343285e-02 9.96916444e-01 -2.37917666e-03 1.15839054e+00] [ 2.21812470e-02 6.40795533e-04 9.99753761e-01 1.19738669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.110385723 meters Centerline goodness [0,1] 0.9999775880230395 Centerline is valid? [True, True] Translation: X:95.94, Y:1.16, Z:1.20 [[ 9.96684471e-01 -7.81907390e-02 -2.25005364e-02 9.59353361e+01] [ 7.81557665e-02 9.96938196e-01 -2.43085397e-03 1.16428886e+00] [ 2.26217144e-02 6.64247733e-04 9.99743876e-01 1.19640002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.140385723 meters Centerline goodness [0,1] 0.9999775669067008 Centerline is valid? [True, True] Translation: X:95.96, Y:1.17, Z:1.20 [[ 9.96661553e-01 -7.84425831e-02 -2.26386810e-02 9.59631291e+01] [ 7.84071656e-02 9.96918411e-01 -2.44925212e-03 1.16525412e+00] [ 2.27610435e-02 6.66040614e-04 9.99740712e-01 1.19723036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.170385723 meters Centerline goodness [0,1] 0.9999553282258605 Centerline is valid? [True, True] Translation: X:95.99, Y:1.17, Z:1.20 [[ 9.96532795e-01 -8.00141464e-02 -2.28062567e-02 9.59903570e+01] [ 7.99784916e-02 9.96793523e-01 -2.47270013e-03 1.16963170e+00] [ 2.29309799e-02 6.40116764e-04 9.99736846e-01 1.19677346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.02, Y:1.17, Z:1.20 [[ 9.96263983e-01 -8.31460253e-02 -2.33412705e-02 9.60192932e+01] [ 8.31094444e-02 9.96537202e-01 -2.53462247e-03 1.16932952e+00] [ 2.34711882e-02 5.85273055e-04 9.99724342e-01 1.19751810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.05, Y:1.17, Z:1.20 [[ 9.96141626e-01 -8.44389609e-02 -2.39149180e-02 9.60479188e+01] [ 8.44007952e-02 9.96428488e-01 -2.60259457e-03 1.17158157e+00] [ 2.40492659e-02 5.74114690e-04 9.99710610e-01 1.19780694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.08, Y:1.17, Z:1.20 [[ 9.96036899e-01 -8.54277438e-02 -2.47506762e-02 9.60759608e+01] [ 8.53870106e-02 9.96344202e-01 -2.69988348e-03 1.17425060e+00] [ 2.48908377e-02 5.75797316e-04 9.99690009e-01 1.19794545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.10, Y:1.18, Z:1.20 [[ 9.95857255e-01 -8.72464601e-02 -2.56199826e-02 9.61034125e+01] [ 8.72032841e-02 9.96186603e-01 -2.79983158e-03 1.17645240e+00] [ 2.57665588e-02 5.54085967e-04 9.99667834e-01 1.19836463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.320385723 meters Centerline goodness [0,1] 0.9999776146131805 Centerline is valid? [True, True] Translation: X:96.13, Y:1.18, Z:1.20 [[ 9.95715124e-01 -8.89830564e-02 -2.51675724e-02 9.61324987e+01] [ 8.89418552e-02 9.96033012e-01 -2.75399028e-03 1.17960392e+00] [ 2.53127914e-02 5.03739193e-04 9.99679453e-01 1.19882922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.350385723 meters Centerline goodness [0,1] 0.99993310141825 Centerline is valid? [True, True] Translation: X:96.16, Y:1.18, Z:1.20 [[ 9.95455987e-01 -9.23236521e-02 -2.33178127e-02 9.61600312e+01] [ 9.22891089e-02 9.95728974e-01 -2.55552976e-03 1.18166747e+00] [ 2.34541576e-02 3.91937243e-04 9.99724837e-01 1.20059563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.19, Y:1.18, Z:1.20 [[ 9.95279637e-01 -9.44055915e-02 -2.24950741e-02 9.61885360e+01] [ 9.43739093e-02 9.95533763e-01 -2.46825395e-03 1.18352345e+00] [ 2.26276228e-02 3.33654808e-04 9.99743907e-01 1.20246569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.22, Y:1.18, Z:1.20 [[ 9.95120224e-01 -9.62798629e-02 -2.15853555e-02 9.62174550e+01] [ 9.62510266e-02 9.95354262e-01 -2.37331088e-03 1.18329088e+00] [ 2.17135777e-02 2.84117025e-04 9.99764192e-01 1.20467112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44038572299999 meters Centerline goodness [0,1] 0.9999776945039258 Centerline is valid? [True, True] Translation: X:96.25, Y:1.18, Z:1.21 [[ 9.94900558e-01 -9.86995408e-02 -2.07673067e-02 9.62458380e+01] [ 9.86732738e-02 9.95117254e-01 -2.28825290e-03 1.18481459e+00] [ 2.08917547e-02 2.27405952e-04 9.99781718e-01 1.20675395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47038572299999 meters Centerline goodness [0,1] 0.9999776885319054 Centerline is valid? [True, True] Translation: X:96.27, Y:1.19, Z:1.21 [[ 9.94888937e-01 -9.88836766e-02 -2.04455869e-02 9.62732715e+01] [ 9.88581529e-02 9.95098974e-01 -2.25782174e-03 1.18818004e+00] [ 2.05686442e-02 2.25068915e-04 9.99788418e-01 1.20760620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.500385723 meters Centerline goodness [0,1] 0.9999553102585301 Centerline is valid? [True, True] Translation: X:96.30, Y:1.19, Z:1.21 [[ 9.95079994e-01 -9.67847970e-02 -2.11780318e-02 9.63004997e+01] [ 9.67568348e-02 9.95305291e-01 -2.34346851e-03 1.19296187e+00] [ 2.13054192e-02 2.82819307e-04 9.99772974e-01 1.20783565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.530385723 meters Centerline goodness [0,1] 0.999977656127807 Centerline is valid? [True, True] Translation: X:96.33, Y:1.20, Z:1.21 [[ 9.95196210e-01 -9.52313337e-02 -2.27045551e-02 9.63285424e+01] [ 9.51987445e-02 9.95455110e-01 -2.51438893e-03 1.19778759e+00] [ 2.28408140e-02 3.40865194e-04 9.99739056e-01 1.20698058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.36, Y:1.20, Z:1.21 [[ 9.95491514e-01 -9.18359127e-02 -2.37236185e-02 9.63564780e+01] [ 9.17993103e-02 9.95774056e-01 -2.62965336e-03 1.20473156e+00] [ 2.38648604e-02 4.39985789e-04 9.99715097e-01 1.20546534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.39, Y:1.21, Z:1.21 [[ 9.95632633e-01 -9.03569813e-02 -2.34792638e-02 9.63852458e+01] [ 9.03206269e-02 9.95909329e-01 -2.60642744e-03 1.20931190e+00] [ 2.36187268e-02 4.74382387e-04 9.99720926e-01 1.20610524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.620385723 meters Centerline goodness [0,1] 0.9999331193151418 Centerline is valid? [True, True] Translation: X:96.41, Y:1.22, Z:1.21 [[ 9.95714543e-01 -8.94486785e-02 -2.34836780e-02 9.64126488e+01] [ 8.94119279e-02 9.95991306e-01 -2.61242161e-03 1.21702857e+00] [ 2.36232168e-02 5.01505264e-04 9.99720807e-01 1.20543035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.650385723 meters Centerline goodness [0,1] 0.9999329339175534 Centerline is valid? [True, True] Translation: X:96.44, Y:1.22, Z:1.21 [[ 9.95778436e-01 -8.86481711e-02 -2.38077528e-02 9.64421487e+01] [ 8.86100366e-02 9.96062858e-01 -2.65405359e-03 1.21635616e+00] [ 2.39492953e-02 5.33243481e-04 9.99713032e-01 1.20815545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.680385723 meters Centerline goodness [0,1] 0.9999775970607344 Centerline is valid? [True, True] Translation: X:96.47, Y:1.22, Z:1.21 [[ 9.95896400e-01 -8.72632212e-02 -2.39893988e-02 9.64692826e+01] [ 8.72239983e-02 9.96185123e-01 -2.67855420e-03 1.22231964e+00] [ 2.41316215e-02 5.75111208e-04 9.99708625e-01 1.20738932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.710385723 meters Centerline goodness [0,1] 0.999955442677004 Centerline is valid? [True, True] Translation: X:96.50, Y:1.23, Z:1.21 [[ 9.95979843e-01 -8.63887051e-02 -2.36884797e-02 9.64982567e+01] [ 8.63501373e-02 9.96261332e-01 -2.64813145e-03 1.22745667e+00] [ 2.38286850e-02 5.91982070e-04 9.99715881e-01 1.20775101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74038572299999 meters Centerline goodness [0,1] 0.9999107362031644 Centerline is valid? [True, True] Translation: X:96.53, Y:1.23, Z:1.21 [[ 9.96080186e-01 -8.51997446e-02 -2.37753389e-02 9.65255096e+01] [ 8.51604555e-02 9.96363694e-01 -2.66199798e-03 1.23219476e+00] [ 2.39156860e-02 6.26844760e-04 9.99713783e-01 1.20831996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77038572299999 meters Centerline goodness [0,1] 0.9999776146131805 Centerline is valid? [True, True] Translation: X:96.55, Y:1.23, Z:1.21 [[ 9.96148202e-01 -8.43513441e-02 -2.39501605e-02 9.65548495e+01] [ 8.43111486e-02 9.96435859e-01 -2.68494736e-03 1.22992725e+00] [ 2.40912776e-02 6.55339946e-04 9.99709548e-01 1.21206911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80038572299999 meters Centerline goodness [0,1] 0.9999107142857143 Centerline is valid? [True, True] Translation: X:96.58, Y:1.24, Z:1.21 [[ 9.96108663e-01 -8.47755494e-02 -2.40964181e-02 9.65817314e+01] [ 8.47348773e-02 9.96399859e-01 -2.70580479e-03 1.23697335e+00] [ 2.42390537e-02 6.53468557e-04 9.99705977e-01 1.21182952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83038572299999 meters Centerline goodness [0,1] 0.9999554039289139 Centerline is valid? [True, True] Translation: X:96.61, Y:1.24, Z:1.21 [[ 9.95992806e-01 -8.63544815e-02 -2.32644374e-02 9.66093558e+01] [ 8.63169560e-02 9.96264297e-01 -2.61427411e-03 1.24043709e+00] [ 2.34032826e-02 5.95682791e-04 9.99725928e-01 1.21310684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.64, Y:1.24, Z:1.22 [[ 9.95849676e-01 -8.83661781e-02 -2.17908697e-02 9.66387067e+01] [ 8.83336782e-02 9.96087924e-01 -2.45139430e-03 1.23927331e+00] [ 2.19222425e-02 5.16352546e-04 9.99759545e-01 1.21579723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.890385723 meters Centerline goodness [0,1] 0.9999555545678793 Centerline is valid? [True, True] Translation: X:96.67, Y:1.24, Z:1.22 [[ 9.95758097e-01 -8.95376286e-02 -2.11855087e-02 9.66680344e+01] [ 8.95070710e-02 9.95983324e-01 -2.38815667e-03 1.24182903e+00] [ 2.13142433e-02 4.81773507e-04 9.99772710e-01 1.21714740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.920385723 meters Centerline goodness [0,1] 0.9999555001779993 Centerline is valid? [True, True] Translation: X:96.70, Y:1.24, Z:1.22 [[ 9.95702381e-01 -9.03274664e-02 -2.04381528e-02 9.66969053e+01] [ 9.02990990e-02 9.95912016e-01 -2.30849569e-03 1.24449298e+00] [ 2.05631225e-02 4.53027879e-04 9.99788454e-01 1.21812990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.73, Y:1.25, Z:1.22 [[ 9.95552305e-01 -9.18112579e-02 -2.11258127e-02 9.67260971e+01] [ 9.17811701e-02 9.95776329e-01 -2.39147367e-03 1.24642770e+00] [ 2.12561484e-02 4.41885321e-04 9.99773965e-01 1.21962530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.75, Y:1.25, Z:1.22 [[ 9.95489222e-01 -9.23241702e-02 -2.18507864e-02 9.67531579e+01] [ 9.22920026e-02 9.95728901e-01 -2.47820492e-03 1.25084395e+00] [ 2.19862577e-02 4.50373454e-04 9.99758172e-01 1.21927898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.010385723 meters Centerline goodness [0,1] 0.999977731260856 Centerline is valid? [True, True] Translation: X:96.78, Y:1.25, Z:1.22 [[ 9.95381198e-01 -9.27355163e-02 -2.48273160e-02 9.67813194e+01] [ 9.26940304e-02 9.95690649e-01 -2.81913228e-03 1.25449548e+00] [ 2.49817601e-02 5.04767275e-04 9.99687780e-01 1.21724391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.040385723 meters Centerline goodness [0,1] 0.9998442540883302 Centerline is valid? [True, True] Translation: X:96.81, Y:1.26, Z:1.22 [[ 9.95304843e-01 -9.30915046e-02 -2.64998501e-02 9.68098397e+01] [ 9.30442367e-02 9.95657414e-01 -3.01388132e-03 1.25769883e+00] [ 2.66653390e-02 5.34072345e-04 9.99644274e-01 1.21664622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.070385723 meters Centerline goodness [0,1] 0.9999332903426653 Centerline is valid? [True, True] Translation: X:96.84, Y:1.26, Z:1.22 [[ 9.95188787e-01 -9.33613880e-02 -2.97141315e-02 9.68389675e+01] [ 9.33018477e-02 9.95632107e-01 -3.38703478e-03 1.26003344e+00] [ 2.99005616e-02 5.98355657e-04 9.99552699e-01 1.21601890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.100385723 meters Centerline goodness [0,1] 0.9998223130400018 Centerline is valid? [True, True] Translation: X:96.87, Y:1.26, Z:1.22 [[ 9.95117970e-01 -9.39023660e-02 -3.03738683e-02 9.68669362e+01] [ 9.38401624e-02 9.95581228e-01 -3.47011893e-03 1.26214596e+00] [ 3.05655055e-02 6.02888970e-04 9.99532584e-01 1.21687082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13038572299999 meters Centerline goodness [0,1] 0.9998669328010645 Centerline is valid? [True, True] Translation: X:96.90, Y:1.26, Z:1.22 [[ 9.95052566e-01 -9.45663656e-02 -3.04564101e-02 9.68953871e+01] [ 9.45038739e-02 9.95518383e-01 -3.48803994e-03 1.26428063e+00] [ 3.06497674e-02 5.92534351e-04 9.99530010e-01 1.21843823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16038572299999 meters Centerline goodness [0,1] 0.9998667347800013 Centerline is valid? [True, True] Translation: X:96.92, Y:1.27, Z:1.22 [[ 9.95060991e-01 -9.47397352e-02 -2.96311840e-02 9.69222768e+01] [ 9.46805003e-02 9.95501909e-01 -3.39894524e-03 1.27057265e+00] [ 2.98199154e-02 5.76662495e-04 9.99555121e-01 1.21808661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19038572299999 meters Centerline goodness [0,1] 0.9999555259061597 Centerline is valid? [True, True] Translation: X:96.95, Y:1.27, Z:1.22 [[ 9.95006144e-01 -9.55421113e-02 -2.88873331e-02 9.69497074e+01] [ 9.54860634e-02 9.95425242e-01 -3.31666056e-03 1.27414307e+00] [ 2.90720613e-02 5.41759911e-04 9.99577171e-01 1.21895772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22038572299999 meters Centerline goodness [0,1] 0.9999778053977273 Centerline is valid? [True, True] Translation: X:96.98, Y:1.28, Z:1.22 [[ 9.94930229e-01 -9.64819171e-02 -2.83738998e-02 9.69783168e+01] [ 9.64280801e-02 9.95334607e-01 -3.26282845e-03 1.27574041e+00] [ 2.85563284e-02 5.10245976e-04 9.99592055e-01 1.22113077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.250385723 meters Centerline goodness [0,1] 0.9998448375227202 Centerline is valid? [True, True] Translation: X:97.01, Y:1.28, Z:1.22 [[ 9.94842316e-01 -9.77993749e-02 -2.69081676e-02 9.70067640e+01] [ 9.77512667e-02 9.95206047e-01 -3.10065111e-03 1.27799516e+00] [ 2.70824128e-02 4.54351465e-04 9.99633101e-01 1.22316857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.280385723 meters Centerline goodness [0,1] 0.9999778956675508 Centerline is valid? [True, True] Translation: X:97.03, Y:1.28, Z:1.22 [[ 9.94542379e-01 -1.01246634e-01 -2.51907785e-02 9.70340901e+01] [ 1.01205467e-01 9.94861298e-01 -2.90709202e-03 1.28139914e+00] [ 2.53556639e-02 3.41781700e-04 9.99678435e-01 1.22384737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.310385723 meters Centerline goodness [0,1] 0.9999778422813587 Centerline is valid? [True, True] Translation: X:97.06, Y:1.28, Z:1.22 [[ 9.94305060e-01 -1.03653449e-01 -2.47671168e-02 9.70629545e+01] [ 1.03614315e-01 9.94613435e-01 -2.86166249e-03 1.28385456e+00] [ 2.49303283e-02 2.79137657e-04 9.99689152e-01 1.22445609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.340385723 meters Centerline goodness [0,1] 0.9999559092612597 Centerline is valid? [True, True] Translation: X:97.09, Y:1.29, Z:1.23 [[ 9.93919953e-01 -1.07701227e-01 -2.28817328e-02 9.70903205e+01] [ 1.07668810e-01 9.94183292e-01 -2.64761189e-03 1.28619879e+00] [ 2.30337875e-02 1.67865342e-04 9.99734673e-01 1.22527138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.370385723 meters Centerline goodness [0,1] 0.9998671684746513 Centerline is valid? [True, True] Translation: X:97.12, Y:1.29, Z:1.23 [[ 9.93698078e-01 -1.09948110e-01 -2.18069524e-02 9.71196225e+01] [ 1.09919147e-01 9.93937322e-01 -2.52599680e-03 1.28877401e+00] [ 2.19524724e-02 1.13076547e-04 9.99759009e-01 1.22682379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.400385723 meters Centerline goodness [0,1] 0.9998674326115775 Centerline is valid? [True, True] Translation: X:97.15, Y:1.29, Z:1.23 [[ 9.93490517e-01 -1.11929053e-01 -2.11773327e-02 9.71470751e+01] [ 1.11902108e-01 9.93716198e-01 -2.45687249e-03 1.29173283e+00] [ 2.13192540e-02 7.10913469e-05 9.99772716e-01 1.22690013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.430385723 meters Centerline goodness [0,1] 0.9999559607169596 Centerline is valid? [True, True] Translation: X:97.17, Y:1.29, Z:1.23 [[ 9.93102947e-01 -1.15349535e-01 -2.10004973e-02 9.71749019e+01] [ 1.15323741e-01 9.93324964e-01 -2.43925939e-03 1.29385294e+00] [ 2.11416856e-02 5.79773603e-07 9.99776490e-01 1.22925415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.460385723 meters Centerline goodness [0,1] 0.9999117426415427 Centerline is valid? [True, True] Translation: X:97.20, Y:1.30, Z:1.23 [[ 9.92889248e-01 -1.17062309e-01 -2.16184443e-02 9.72028356e+01] [ 1.17035249e-01 9.93124572e-01 -2.51707819e-03 1.29800689e+00] [ 2.17644632e-02 -3.09401325e-05 9.99763126e-01 1.22875463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49038572299999 meters Centerline goodness [0,1] 0.9999779405276625 Centerline is valid? [True, True] Translation: X:97.23, Y:1.30, Z:1.23 [[ 9.92612555e-01 -1.18816993e-01 -2.45527546e-02 9.72316818e+01] [ 1.18782451e-01 9.92916168e-01 -2.86569958e-03 1.30441787e+00] [ 2.47193209e-02 -7.19069854e-05 9.99694428e-01 1.22541177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.26, Y:1.31, Z:1.22 [[ 9.92562714e-01 -1.19055588e-01 -2.53973548e-02 9.72588321e+01] [ 1.19018587e-01 9.92887587e-01 -2.96894324e-03 1.30855226e+00] [ 2.55701877e-02 -7.58949386e-05 9.99673026e-01 1.22444812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.29, Y:1.31, Z:1.23 [[ 9.92397566e-01 -1.20300614e-01 -2.59775552e-02 9.72876230e+01] [ 1.20262225e-01 9.92737504e-01 -3.04076416e-03 1.31338366e+00] [ 2.61546991e-02 -1.06471638e-04 9.99657902e-01 1.22576176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.31, Y:1.32, Z:1.23 [[ 9.92309393e-01 -1.21061897e-01 -2.58086506e-02 9.73143158e+01] [ 1.21024134e-01 9.92644953e-01 -3.02596853e-03 1.31832958e+00] [ 2.59851563e-02 -1.20772601e-04 9.99662322e-01 1.22614226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.34, Y:1.32, Z:1.23 [[ 9.92234567e-01 -1.21957720e-01 -2.44311020e-02 9.73423976e+01] [ 1.21924054e-01 9.92535288e-01 -2.86845874e-03 1.32454234e+00] [ 2.45985615e-02 -1.32555086e-04 9.99697401e-01 1.22684603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.37, Y:1.33, Z:1.23 [[ 9.92123627e-01 -1.23276370e-01 -2.22181303e-02 9.73707874e+01] [ 1.23248745e-01 9.92372367e-01 -2.61371139e-03 1.33324173e+00] [ 2.23708674e-02 -1.45231851e-04 9.99749730e-01 1.22830237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.670385723 meters Centerline goodness [0,1] 0.9999781444650858 Centerline is valid? [True, True] Translation: X:97.40, Y:1.34, Z:1.23 [[ 9.92081140e-01 -1.23760850e-01 -2.14070989e-02 9.73974023e+01] [ 1.23735215e-01 9.92312063e-01 -2.52305853e-03 1.33739735e+00] [ 2.15547784e-02 -1.45733199e-04 9.99767658e-01 1.22980797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.700385723 meters Centerline goodness [0,1] 0.999934370282864 Centerline is valid? [True, True] Translation: X:97.42, Y:1.34, Z:1.23 [[ 9.92063153e-01 -1.24182357e-01 -1.97343154e-02 9.74249735e+01] [ 1.24160577e-01 9.92259403e-01 -2.32982303e-03 1.34267638e+00] [ 1.98708830e-02 -1.38892413e-04 9.99802545e-01 1.23425789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.45, Y:1.35, Z:1.23 [[ 9.92068409e-01 -1.24249439e-01 -1.90354514e-02 9.74517405e+01] [ 1.24229102e-01 9.92251006e-01 -2.25178018e-03 1.34852195e+00] [ 1.91677282e-02 -1.30837045e-04 9.99816274e-01 1.23491220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.48, Y:1.36, Z:1.23 [[ 9.92195466e-01 -1.23286933e-01 -1.86678644e-02 9.74780124e+01] [ 1.23267165e-01 9.92371060e-01 -2.21035682e-03 1.36075739e+00] [ 1.87979565e-02 -1.08028710e-04 9.99823297e-01 1.23361476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.51, Y:1.37, Z:1.23 [[ 9.92314114e-01 -1.22364396e-01 -1.84296857e-02 9.75056329e+01] [ 1.22344941e-01 9.92485238e-01 -2.18368560e-03 1.36848303e+00] [ 1.85583964e-02 -8.78767717e-05 9.99827774e-01 1.23331062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.53, Y:1.38, Z:1.23 [[ 9.92453858e-01 -1.21132691e-01 -1.90318141e-02 9.75324820e+01] [ 1.21111673e-01 9.92636322e-01 -2.25737855e-03 1.37925617e+00] [ 1.91651122e-02 -6.46307897e-05 9.99816330e-01 1.23178198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.56, Y:1.38, Z:1.23 [[ 9.92422074e-01 -1.21392915e-01 -1.90312220e-02 9.75598576e+01] [ 1.21371849e-01 9.92604532e-01 -2.26236011e-03 1.38259282e+00] [ 1.91651117e-02 -6.46384934e-05 9.99816330e-01 1.23219923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88038572299999 meters Centerline goodness [0,1] 0.999978369024443 Centerline is valid? [True, True] Translation: X:97.59, Y:1.39, Z:1.23 [[ 9.92451288e-01 -1.20979251e-01 -2.01112252e-02 9.75875453e+01] [ 1.20955527e-01 9.92655035e-01 -2.39639575e-03 1.38850885e+00] [ 2.02534231e-02 -5.42577900e-05 9.99794877e-01 1.23192955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91038572299999 meters Centerline goodness [0,1] 0.9999568640138036 Centerline is valid? [True, True] Translation: X:97.61, Y:1.40, Z:1.23 [[ 9.92552312e-01 -1.19992447e-01 -2.10171684e-02 9.76140766e+01] [ 1.19966198e-01 9.92774804e-01 -2.50989750e-03 1.39560681e+00] [ 2.11664840e-02 -3.01452200e-05 9.99775964e-01 1.23213083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.64, Y:1.40, Z:1.23 [[ 9.92561411e-01 -1.19943343e-01 -2.08671730e-02 9.76409112e+01] [ 1.19917382e-01 9.92780738e-01 -2.49552625e-03 1.40209217e+00] [ 2.10158492e-02 -2.53737017e-05 9.99779142e-01 1.23242333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.67, Y:1.41, Z:1.23 [[ 9.92590892e-01 -1.19637985e-01 -2.12149240e-02 9.76687047e+01] [ 1.19611006e-01 9.92817583e-01 -2.54066885e-03 1.40959924e+00] [ 2.13665101e-02 -1.56936412e-05 9.99771710e-01 1.23219879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.70, Y:1.42, Z:1.23 [[ 9.92724382e-01 -1.18275599e-01 -2.25651156e-02 9.76971366e+01] [ 1.18244580e-01 9.92980807e-01 -2.70869787e-03 1.41942346e+00] [ 2.27270995e-02 2.07878148e-05 9.99741706e-01 1.23101633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.030385723 meters Centerline goodness [0,1] 0.9999355766959435 Centerline is valid? [True, True] Translation: X:97.72, Y:1.43, Z:1.23 [[ 9.92882792e-01 -1.16719544e-01 -2.36708673e-02 9.77239255e+01] [ 1.16684858e-01 9.93164913e-01 -2.84605639e-03 1.42605217e+00] [ 2.38412652e-02 6.37686311e-05 9.99715755e-01 1.23109157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.060385723 meters Centerline goodness [0,1] 0.9999784296807592 Centerline is valid? [True, True] Translation: X:97.75, Y:1.43, Z:1.23 [[ 9.92877108e-01 -1.16737978e-01 -2.38179336e-02 9.77513093e+01] [ 1.16702774e-01 9.93162746e-01 -2.86747139e-03 1.43173175e+00] [ 2.39898271e-02 6.74277689e-05 9.99712200e-01 1.23208901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.78, Y:1.44, Z:1.23 [[ 9.92876228e-01 -1.16849278e-01 -2.33032820e-02 9.77789979e+01] [ 1.16815461e-01 9.93149657e-01 -2.81187857e-03 1.43809534e+00] [ 2.34722125e-02 6.96637685e-05 9.99724487e-01 1.23252449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.81, Y:1.45, Z:1.23 [[ 9.92802582e-01 -1.17333709e-01 -2.39965330e-02 9.78055598e+01] [ 1.17297846e-01 9.93092542e-01 -2.90154336e-03 1.44650394e+00] [ 2.41712268e-02 6.59181019e-05 9.99707831e-01 1.23158661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.83, Y:1.45, Z:1.23 [[ 9.92693508e-01 -1.17991373e-01 -2.52514410e-02 9.78331535e+01] [ 1.17951774e-01 9.93014619e-01 -3.05715519e-03 1.45417350e+00] [ 2.54357680e-02 5.63658399e-05 9.99676457e-01 1.23045723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.180385723 meters Centerline goodness [0,1] 0.9999358700299273 Centerline is valid? [True, True] Translation: X:97.86, Y:1.46, Z:1.23 [[ 9.92691450e-01 -1.18038712e-01 -2.51106919e-02 9.78608984e+01] [ 1.17999468e-01 9.93008992e-01 -3.04412423e-03 1.45919230e+00] [ 2.52944674e-02 5.88278197e-05 9.99680042e-01 1.23073505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.89, Y:1.46, Z:1.23 [[ 9.92749831e-01 -1.17648314e-01 -2.46302056e-02 9.78888682e+01] [ 1.17610274e-01 9.93055320e-01 -2.99247854e-03 1.46369874e+00] [ 2.48112167e-02 7.40173549e-05 9.99692152e-01 1.23156257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24038572299999 meters Centerline goodness [0,1] 0.999978605964657 Centerline is valid? [True, True] Translation: X:97.92, Y:1.47, Z:1.23 [[ 9.93095991e-01 -1.15003789e-01 -2.31188640e-02 9.79165657e+01] [ 1.14969417e-01 9.93365043e-01 -2.81490233e-03 1.47129388e+00] [ 2.32891958e-02 1.37505914e-04 9.99728760e-01 1.23386687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.94, Y:1.48, Z:1.23 [[ 9.93312836e-01 -1.13238636e-01 -2.25082579e-02 9.79431171e+01] [ 1.13205493e-01 9.93567803e-01 -2.74537077e-03 1.47964395e+00] [ 2.26743624e-02 1.78953589e-04 9.99742888e-01 1.23353268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30038572299999 meters Centerline goodness [0,1] 0.9999787897427196 Centerline is valid? [True, True] Translation: X:97.97, Y:1.49, Z:1.23 [[ 9.93813954e-01 -1.08778375e-01 -2.23850440e-02 9.79706375e+01] [ 1.08744387e-01 9.94065986e-01 -2.73367037e-03 1.48999479e+00] [ 2.25495751e-02 2.82511866e-04 9.99745686e-01 1.23349233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.00, Y:1.49, Z:1.23 [[ 9.94011072e-01 -1.06704797e-01 -2.35812467e-02 9.79987608e+01] [ 1.06666354e-01 9.94290683e-01 -2.88574575e-03 1.49494032e+00] [ 2.37545368e-02 3.53137623e-04 9.99717759e-01 1.23386725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.03, Y:1.50, Z:1.23 [[ 9.94325945e-01 -1.03247261e-01 -2.56108884e-02 9.80258166e+01] [ 1.03200633e-01 9.94655606e-01 -3.13928295e-03 1.50006149e+00] [ 2.57981361e-02 4.78410597e-04 9.99667058e-01 1.23355920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.390385723 meters Centerline goodness [0,1] 0.9999787919918561 Centerline is valid? [True, True] Translation: X:98.05, Y:1.51, Z:1.23 [[ 9.94514895e-01 -1.01228247e-01 -2.63242391e-02 9.80526704e+01] [ 1.01178209e-01 9.94863077e-01 -3.22932677e-03 1.50802729e+00] [ 2.65159126e-02 5.48174212e-04 9.99648241e-01 1.23162373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.420385723 meters Centerline goodness [0,1] 0.9999788104167991 Centerline is valid? [True, True] Translation: X:98.08, Y:1.51, Z:1.23 [[ 9.94673903e-01 -9.94459233e-02 -2.70986163e-02 9.80808998e+01] [ 9.93921238e-02 9.95042777e-01 -3.32843035e-03 1.51417990e+00] [ 2.72952812e-02 6.17313780e-04 9.99627224e-01 1.23051293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.450385723 meters Centerline goodness [0,1] 0.9998938789370915 Centerline is valid? [True, True] Translation: X:98.11, Y:1.52, Z:1.23 [[ 9.94984530e-01 -9.61187073e-02 -2.76944013e-02 9.81099822e+01] [ 9.60611165e-02 9.95369612e-01 -3.40558254e-03 1.51962176e+00] [ 2.78935057e-02 7.28146824e-04 9.99610635e-01 1.23071136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.480385723 meters Centerline goodness [0,1] 0.9999575956747588 Centerline is valid? [True, True] Translation: X:98.14, Y:1.52, Z:1.23 [[ 9.95301172e-01 -9.31189413e-02 -2.65412766e-02 9.81374351e+01] [ 9.30649414e-02 9.95654686e-01 -3.26529221e-03 1.52459656e+00] [ 2.67300070e-02 7.79886809e-04 9.99642385e-01 1.23161252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.510385723 meters Centerline goodness [0,1] 0.9999361742867476 Centerline is valid? [True, True] Translation: X:98.17, Y:1.53, Z:1.23 [[ 9.95378391e-01 -9.23426593e-02 -2.63569973e-02 9.81654046e+01] [ 9.22890615e-02 9.95726969e-01 -3.24538730e-03 1.52815880e+00] [ 2.65440607e-02 7.97925855e-04 9.99647326e-01 1.23261629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.19, Y:1.53, Z:1.23 [[ 9.95414094e-01 -9.20143958e-02 -2.61559421e-02 9.81943987e+01] [ 9.19613776e-02 9.95757351e-01 -3.22525813e-03 1.52919539e+00] [ 2.63417418e-02 8.05130929e-04 9.99652672e-01 1.23410803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.570385723 meters Centerline goodness [0,1] 0.9998083556918359 Centerline is valid? [True, True] Translation: X:98.22, Y:1.53, Z:1.23 [[ 9.95404529e-01 -9.18972385e-02 -2.69206394e-02 9.82223181e+01] [ 9.18409016e-02 9.95768144e-01 -3.32433608e-03 1.53389209e+00] [ 2.71122124e-02 8.36643400e-04 9.99632046e-01 1.23363840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60038572299999 meters Centerline goodness [0,1] 0.9999573160320984 Centerline is valid? [True, True] Translation: X:98.25, Y:1.53, Z:1.24 [[ 9.95359972e-01 -9.23791394e-02 -2.69187791e-02 9.82514247e+01] [ 9.23228587e-02 9.95723560e-01 -3.32881152e-03 1.52866556e+00] [ 2.71111754e-02 8.28147098e-04 9.99632081e-01 1.23721219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63038572299999 meters Centerline goodness [0,1] 0.999936 Centerline is valid? [True, True] Translation: X:98.28, Y:1.53, Z:1.24 [[ 9.95334557e-01 -9.26494077e-02 -2.69296782e-02 9.82775344e+01] [ 9.25930223e-02 9.95698450e-01 -3.33597819e-03 1.53482751e+00] [ 2.71229152e-02 8.26914075e-04 9.99631764e-01 1.23535343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66038572299999 meters Centerline goodness [0,1] 0.9999145335669416 Centerline is valid? [True, True] Translation: X:98.31, Y:1.54, Z:1.24 [[ 9.95319449e-01 -9.30201706e-02 -2.62000585e-02 9.83064179e+01] [ 9.29668080e-02 9.95663904e-01 -3.25015052e-03 1.53657967e+00] [ 2.63887821e-02 7.99202221e-04 9.99651436e-01 1.23600860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69038572299999 meters Centerline goodness [0,1] 0.9999786862185089 Centerline is valid? [True, True] Translation: X:98.33, Y:1.54, Z:1.24 [[ 9.95239280e-01 -9.44137903e-02 -2.41828738e-02 9.83333107e+01] [ 9.43686387e-02 9.95532790e-01 -3.00411164e-03 1.54440286e+00] [ 2.43584734e-02 7.07705029e-04 9.99703038e-01 1.23619630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72038572299999 meters Centerline goodness [0,1] 0.9999143945554937 Centerline is valid? [True, True] Translation: X:98.36, Y:1.54, Z:1.24 [[ 9.95175726e-01 -9.53439925e-02 -2.31256742e-02 9.83629553e+01] [ 9.53028797e-02 9.95444167e-01 -2.87596893e-03 1.53786327e+00] [ 2.32945239e-02 6.58151122e-04 9.99728429e-01 1.24047953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.750385723 meters Centerline goodness [0,1] 0.999957153262779 Centerline is valid? [True, True] Translation: X:98.39, Y:1.54, Z:1.24 [[ 9.95025408e-01 -9.68303611e-02 -2.34161978e-02 9.83920624e+01] [ 9.67884848e-02 9.95300696e-01 -2.91781701e-03 1.53717261e+00] [ 2.35886913e-02 6.36883753e-04 9.99721545e-01 1.24202057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.780385723 meters Centerline goodness [0,1] 0.999957141326476 Centerline is valid? [True, True] Translation: X:98.42, Y:1.54, Z:1.24 [[ 9.94805714e-01 -9.88611145e-02 -2.42501715e-02 9.84213343e+01] [ 9.88166550e-02 9.95101051e-01 -3.02784736e-03 1.53612402e+00] [ 2.44307075e-02 6.15799029e-04 9.99701336e-01 1.24239119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.810385723 meters Centerline goodness [0,1] 0.9998927613941019 Centerline is valid? [True, True] Translation: X:98.45, Y:1.54, Z:1.24 [[ 9.94739523e-01 -9.96141644e-02 -2.38809363e-02 9.84487708e+01] [ 9.95711580e-02 9.95025963e-01 -2.98621438e-03 1.53928046e+00] [ 2.40596209e-02 5.92652986e-04 9.99710350e-01 1.24197184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.840385723 meters Centerline goodness [0,1] 0.9998287817823817 Centerline is valid? [True, True] Translation: X:98.48, Y:1.54, Z:1.24 [[ 9.94661452e-01 -1.00377689e-01 -2.39356467e-02 9.84764984e+01] [ 1.00334646e-01 9.94949238e-01 -2.99554778e-03 1.54307477e+00] [ 2.41154396e-02 5.77981257e-04 9.99709013e-01 1.24068472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.870385723 meters Centerline goodness [0,1] 0.9998713798795258 Centerline is valid? [True, True] Translation: X:98.50, Y:1.54, Z:1.24 [[ 9.94630895e-01 -1.00621060e-01 -2.41823331e-02 9.85045704e+01] [ 1.00577086e-01 9.94924652e-01 -3.03097122e-03 1.54208654e+00] [ 2.43645789e-02 5.82509012e-04 9.99702970e-01 1.24214449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.900385723 meters Centerline goodness [0,1] 0.9999139136984827 Centerline is valid? [True, True] Translation: X:98.53, Y:1.54, Z:1.24 [[ 9.94630838e-01 -1.00577108e-01 -2.43668129e-02 9.85332476e+01] [ 1.00532287e-01 9.94929089e-01 -3.06062576e-03 1.54443351e+00] [ 2.45510799e-02 5.94541336e-04 9.99698400e-01 1.24226837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.930385723 meters Centerline goodness [0,1] 0.9999784747185569 Centerline is valid? [True, True] Translation: X:98.56, Y:1.55, Z:1.24 [[ 9.94590144e-01 -1.00824760e-01 -2.49962842e-02 9.85614729e+01] [ 1.00777506e-01 9.94904013e-01 -3.14622077e-03 1.54561377e+00] [ 2.51861204e-02 6.10136980e-04 9.99682593e-01 1.24206547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.960385723 meters Centerline goodness [0,1] 0.9998712805440543 Centerline is valid? [True, True] Translation: X:98.59, Y:1.55, Z:1.24 [[ 9.94614246e-01 -1.00331408e-01 -2.60021353e-02 9.85893406e+01] [ 1.00279955e-01 9.94953859e-01 -3.27857573e-03 1.54706146e+00] [ 2.61998690e-02 6.53425169e-04 9.99656511e-01 1.24113831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.62, Y:1.55, Z:1.24 [[ 9.94614980e-01 -1.00192247e-01 -2.65057669e-02 9.86180618e+01] [ 1.00138606e-01 9.94967868e-01 -3.34679197e-03 1.54888960e+00] [ 2.67077090e-02 6.74518896e-04 9.99643058e-01 1.24133945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02038572299999 meters Centerline goodness [0,1] 0.9998708232862556 Centerline is valid? [True, True] Translation: X:98.65, Y:1.55, Z:1.24 [[ 9.94565136e-01 -1.00743787e-01 -2.62845973e-02 9.86462283e+01] [ 1.00691054e-01 9.94912183e-01 -3.32549594e-03 1.55037421e+00] [ 2.64858891e-02 6.60798523e-04 9.99648969e-01 1.24182853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05038572299999 meters Centerline goodness [0,1] 0.999848802298205 Centerline is valid? [True, True] Translation: X:98.68, Y:1.55, Z:1.24 [[ 9.94362027e-01 -1.02603416e-01 -2.67712216e-02 9.86761515e+01] [ 1.02549195e-01 9.94722143e-01 -3.39410224e-03 1.54707929e+00] [ 2.69781734e-02 6.29599162e-04 9.99635825e-01 1.24323974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08038572299999 meters Centerline goodness [0,1] 0.9998918614962043 Centerline is valid? [True, True] Translation: X:98.70, Y:1.55, Z:1.24 [[ 9.94038074e-01 -1.05488354e-01 -2.75774287e-02 9.87049744e+01] [ 1.05431737e-01 9.94420372e-01 -3.50314972e-03 1.54629031e+00] [ 2.77930984e-02 5.74727992e-04 9.99613532e-01 1.24157047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.110385723 meters Centerline goodness [0,1] 0.9998918989038549 Centerline is valid? [True, True] Translation: X:98.73, Y:1.55, Z:1.24 [[ 9.93883878e-01 -1.06923175e-01 -2.76092836e-02 9.87338352e+01] [ 1.06866793e-01 9.94267138e-01 -3.51390124e-03 1.54723755e+00] [ 2.78267208e-02 5.41894202e-04 9.99612615e-01 1.24128201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.140385723 meters Centerline goodness [0,1] 0.9999565830891132 Centerline is valid? [True, True] Translation: X:98.76, Y:1.55, Z:1.24 [[ 9.93777199e-01 -1.08006938e-01 -2.72282845e-02 9.87626087e+01] [ 1.07952329e-01 9.94150009e-01 -3.47197470e-03 1.54778396e+00] [ 2.74439967e-02 5.11012574e-04 9.99623212e-01 1.24264374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.170385723 meters Centerline goodness [0,1] 0.9998913326958185 Centerline is valid? [True, True] Translation: X:98.79, Y:1.54, Z:1.25 [[ 9.93766121e-01 -1.08572014e-01 -2.53182830e-02 9.87909233e+01] [ 1.08524872e-01 9.94088478e-01 -3.23271313e-03 1.54477251e+00] [ 2.55195956e-02 4.64897357e-04 9.99674214e-01 1.24644717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.200385723 meters Centerline goodness [0,1] 0.9999130812690135 Centerline is valid? [True, True] Translation: X:98.82, Y:1.55, Z:1.25 [[ 9.93728903e-01 -1.09132057e-01 -2.43528366e-02 9.88200635e+01] [ 1.09088526e-01 9.94027164e-01 -3.11290158e-03 1.54666646e+00] [ 2.45470984e-02 4.36765230e-04 9.99698579e-01 1.24792968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.230385723 meters Centerline goodness [0,1] 0.9999565510199648 Centerline is valid? [True, True] Translation: X:98.85, Y:1.55, Z:1.25 [[ 9.93702521e-01 -1.09655304e-01 -2.30437556e-02 9.88494158e+01] [ 1.09616344e-01 9.93969592e-01 -2.95092082e-03 1.54828129e+00] [ 2.32283764e-02 4.06365214e-04 9.99730102e-01 1.24863604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.260385723 meters Centerline goodness [0,1] 0.9999564829521965 Centerline is valid? [True, True] Translation: X:98.88, Y:1.55, Z:1.25 [[ 9.93658002e-01 -1.09867871e-01 -2.39337914e-02 9.88782324e+01] [ 1.09825759e-01 9.93946111e-01 -3.07091728e-03 1.55006805e+00] [ 2.41262941e-02 4.22894721e-04 9.99708829e-01 1.24800162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.91, Y:1.55, Z:1.25 [[ 9.93610222e-01 -1.09595602e-01 -2.69727965e-02 9.89077747e+01] [ 1.09541820e-01 9.93976138e-01 -3.46797333e-03 1.54827005e+00] [ 2.71903907e-02 4.91164527e-04 9.99630152e-01 1.24632140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.320385723 meters Centerline goodness [0,1] 0.9999561874301737 Centerline is valid? [True, True] Translation: X:98.93, Y:1.55, Z:1.25 [[ 9.93540205e-01 -1.10134470e-01 -2.73543357e-02 9.89346212e+01] [ 1.10079214e-01 9.93916576e-01 -3.52230996e-03 1.55012889e+00] [ 2.75758554e-02 4.88412775e-04 9.99619594e-01 1.24567561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.96, Y:1.55, Z:1.25 [[ 9.93265020e-01 -1.12775971e-01 -2.65740484e-02 9.89643192e+01] [ 1.12724652e-01 9.93620357e-01 -3.42618179e-03 1.54965895e+00] [ 2.67909064e-02 4.07556174e-04 9.99640976e-01 1.24591352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.99, Y:1.55, Z:1.25 [[ 9.93103784e-01 -1.14400251e-01 -2.56409241e-02 9.89937747e+01] [ 1.14352869e-01 9.93434676e-01 -3.31147530e-03 1.55125489e+00] [ 2.58514167e-02 3.56525416e-04 9.99665733e-01 1.24710246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.02, Y:1.55, Z:1.25 [[ 9.92937508e-01 -1.15980317e-01 -2.49733948e-02 9.90213607e+01] [ 1.15935766e-01 9.93251463e-01 -3.22941109e-03 1.55256258e+00] [ 2.51794091e-02 3.11293748e-04 9.99682900e-01 1.24898475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44038572299999 meters Centerline goodness [0,1] 0.9999780518853431 Centerline is valid? [True, True] Translation: X:99.05, Y:1.55, Z:1.25 [[ 9.92757886e-01 -1.17650568e-01 -2.42924605e-02 9.90495590e+01] [ 1.17608853e-01 9.93055021e-01 -3.14377916e-03 1.55016886e+00] [ 2.44936172e-02 2.64003132e-04 9.99699951e-01 1.25170475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.08, Y:1.55, Z:1.25 [[ 9.92688756e-01 -1.18173101e-01 -2.45794872e-02 9.90780585e+01] [ 1.18130444e-01 9.92992976e-01 -3.18542497e-03 1.55131702e+00] [ 2.47836897e-02 2.58549812e-04 9.99692804e-01 1.25262365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.11, Y:1.55, Z:1.25 [[ 9.92639197e-01 -1.18413657e-01 -2.54092651e-02 9.91073376e+01] [ 1.18367975e-01 9.92964317e-01 -3.29973313e-03 1.55203128e+00] [ 2.56212271e-02 2.67801174e-04 9.99671687e-01 1.25188123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.14, Y:1.56, Z:1.25 [[ 9.92645199e-01 -1.18295545e-01 -2.57229946e-02 9.91350103e+01] [ 1.18248512e-01 9.92978391e-01 -3.34726731e-03 1.55674745e+00] [ 2.59383446e-02 2.80942997e-04 9.99663505e-01 1.25060477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.16, Y:1.56, Z:1.25 [[ 9.92647013e-01 -1.18335247e-01 -2.54691344e-02 9.91628520e+01] [ 1.18288968e-01 9.92973660e-01 -3.32138419e-03 1.56103246e+00] [ 2.56832164e-02 2.84244486e-04 9.99670091e-01 1.24861706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.19, Y:1.56, Z:1.25 [[ 9.92584866e-01 -1.18750624e-01 -2.59533048e-02 9.91897064e+01] [ 1.18702562e-01 9.92924070e-01 -3.39016410e-03 1.56352441e+00] [ 2.61722451e-02 2.84301798e-04 9.99657408e-01 1.24788396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.22, Y:1.56, Z:1.25 [[ 9.92374110e-01 -1.20684977e-01 -2.50751224e-02 9.92192851e+01] [ 1.20640627e-01 9.92690830e-01 -3.27952731e-03 1.56068276e+00] [ 2.52876337e-02 2.29439505e-04 9.99680190e-01 1.25132108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.25, Y:1.56, Z:1.25 [[ 9.92261648e-01 -1.21703493e-01 -2.45984209e-02 9.92480921e+01] [ 1.21660985e-01 9.92566480e-01 -3.22288134e-03 1.56156729e+00] [ 2.48078040e-02 2.05273426e-04 9.99692218e-01 1.25406009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.28, Y:1.56, Z:1.25 [[ 9.92162037e-01 -1.22625052e-01 -2.40330674e-02 9.92761432e+01] [ 1.22584633e-01 9.92453053e-01 -3.15349874e-03 1.56469453e+00] [ 2.42383891e-02 1.82696985e-04 9.99706190e-01 1.25468146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.30, Y:1.57, Z:1.25 [[ 9.92091162e-01 -1.23190642e-01 -2.40664125e-02 9.93039303e+01] [ 1.23150170e-01 9.92383008e-01 -3.16228218e-03 1.56816006e+00] [ 2.42726624e-02 1.73489407e-04 9.99705360e-01 1.25394155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.33, Y:1.57, Z:1.25 [[ 9.92107283e-01 -1.23098745e-01 -2.38713022e-02 9.93306232e+01] [ 1.23058776e-01 9.92394411e-01 -3.14179100e-03 1.56966045e+00] [ 2.40764974e-02 1.79420513e-04 9.99710103e-01 1.25428459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.36, Y:1.57, Z:1.25 [[ 9.92074639e-01 -1.23361652e-01 -2.38707627e-02 9.93579673e+01] [ 1.23321661e-01 9.92361764e-01 -3.14588476e-03 1.57334019e+00] [ 2.40765138e-02 1.77170387e-04 9.99710103e-01 1.25470277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.39, Y:1.58, Z:1.25 [[ 9.92164918e-01 -1.22643401e-01 -2.38195735e-02 9.93857464e+01] [ 1.22603259e-01 9.92450783e-01 -3.14391892e-03 1.57649083e+00] [ 2.40253353e-02 1.98928717e-04 9.99711330e-01 1.25480155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.41, Y:1.58, Z:1.26 [[ 9.92150439e-01 -1.22698691e-01 -2.41358253e-02 9.94140425e+01] [ 1.22657398e-01 9.92443948e-01 -3.18951857e-03 1.57841623e+00] [ 2.43448035e-02 2.04044714e-04 9.99703601e-01 1.25613786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.44, Y:1.58, Z:1.25 [[ 9.92236758e-01 -1.21884603e-01 -2.47054600e-02 9.94422221e+01] [ 1.21840955e-01 9.92544250e-01 -3.27003072e-03 1.58204196e+00] [ 2.49198286e-02 2.34507854e-04 9.99689425e-01 1.25475184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.47, Y:1.59, Z:1.25 [[ 9.92302797e-01 -1.21342012e-01 -2.47239899e-02 9.94710949e+01] [ 1.21298037e-01 9.92610726e-01 -3.27621951e-03 1.58615670e+00] [ 2.49388406e-02 2.52030350e-04 9.99688947e-01 1.25481999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.50, Y:1.59, Z:1.26 [[ 9.92408502e-01 -1.20115553e-01 -2.64124867e-02 9.95002652e+01] [ 1.20064749e-01 9.92759870e-01 -3.50677280e-03 1.58906960e+00] [ 2.66424748e-02 3.08942560e-04 9.99644979e-01 1.25501087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.53, Y:1.59, Z:1.26 [[ 9.92467845e-01 -1.19552510e-01 -2.67352624e-02 9.95290820e+01] [ 1.19500074e-01 9.92827823e-01 -3.55628369e-03 1.59096384e+00] [ 2.69686750e-02 3.34631379e-04 9.99636223e-01 1.25643479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.56, Y:1.59, Z:1.26 [[ 9.92634458e-01 -1.18440836e-01 -2.54676435e-02 9.95565628e+01] [ 1.18392764e-01 9.92961049e-01 -3.39249364e-03 1.59294763e+00] [ 2.56901878e-02 3.52321368e-04 9.99669891e-01 1.25880597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.010385723 meters Centerline goodness [0,1] 0.9999776451389355 Centerline is valid? [True, True] Translation: X:99.58, Y:1.60, Z:1.26 [[ 9.92736882e-01 -1.17766159e-01 -2.45889319e-02 9.95831519e+01] [ 1.17721069e-01 9.93041289e-01 -3.27838778e-03 1.59800289e+00] [ 2.48039078e-02 3.59941117e-04 9.99692271e-01 1.25870936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.61, Y:1.60, Z:1.26 [[ 9.92833413e-01 -1.17130068e-01 -2.37141618e-02 9.96105789e+01] [ 1.17087847e-01 9.93116515e-01 -3.16596912e-03 1.60241648e+00] [ 2.39217559e-02 3.66639792e-04 9.99713767e-01 1.25900795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.64, Y:1.61, Z:1.26 [[ 9.93033036e-01 -1.15484612e-01 -2.34242016e-02 9.96392447e+01] [ 1.15442812e-01 9.93309186e-01 -3.13350752e-03 1.60709776e+00] [ 2.36293465e-02 4.07520785e-04 9.99720705e-01 1.25915377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.67, Y:1.61, Z:1.26 [[ 9.93096158e-01 -1.15026093e-01 -2.30003991e-02 9.96667342e+01] [ 1.14985568e-01 9.93362384e-01 -3.08113470e-03 1.61108235e+00] [ 2.32021421e-02 4.15149075e-04 9.99730708e-01 1.25958016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.70, Y:1.61, Z:1.26 [[ 9.93068209e-01 -1.15142067e-01 -2.36185745e-02 9.96959910e+01] [ 1.15099290e-01 9.93348943e-01 -3.16721618e-03 1.61033851e+00] [ 2.38261658e-02 4.26780546e-04 9.99716026e-01 1.26167400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.72, Y:1.61, Z:1.26 [[ 9.93076179e-01 -1.14871573e-01 -2.45809602e-02 9.97235348e+01] [ 1.14825047e-01 9.93380247e-01 -3.30061951e-03 1.61253039e+00] [ 2.47973877e-02 4.55256694e-04 9.99692394e-01 1.26180825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.75, Y:1.62, Z:1.26 [[ 9.93234228e-01 -1.13439847e-01 -2.48428885e-02 9.97520531e+01] [ 1.13391785e-01 9.93544740e-01 -3.33944773e-03 1.61628112e+00] [ 2.50613476e-02 4.99874330e-04 9.99685790e-01 1.26091139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22038572299999 meters Centerline goodness [0,1] 0.9999774992687263 Centerline is valid? [True, True] Translation: X:99.78, Y:1.62, Z:1.26 [[ 9.93353988e-01 -1.12358456e-01 -2.49686040e-02 9.97793976e+01] [ 1.12309452e-01 9.93667596e-01 -3.36080207e-03 1.62147297e+00] [ 2.51881072e-02 5.34255915e-04 9.99682587e-01 1.26024568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.250385723 meters Centerline goodness [0,1] 0.9999551589614816 Centerline is valid? [True, True] Translation: X:99.81, Y:1.63, Z:1.26 [[ 9.93465299e-01 -1.11300760e-01 -2.52752767e-02 9.98083282e+01] [ 1.11250108e-01 9.93786604e-01 -3.40581157e-03 1.62548660e+00] [ 2.54973008e-02 5.71678352e-04 9.99674728e-01 1.26043141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.84, Y:1.63, Z:1.26 [[ 9.93769178e-01 -1.08314835e-01 -2.62815033e-02 9.98375786e+01] [ 1.08258910e-01 9.94116410e-01 -3.54573503e-03 1.62811563e+00] [ 2.65109295e-02 6.78435293e-04 9.99648293e-01 1.26072530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.86, Y:1.64, Z:1.26 [[ 9.93833353e-01 -1.07581253e-01 -2.68615032e-02 9.98645658e+01] [ 1.07522462e-01 9.94196037e-01 -3.62774882e-03 1.63504251e+00] [ 2.70958778e-02 7.17162810e-04 9.99632582e-01 1.26007263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.89, Y:1.64, Z:1.26 [[ 9.93822229e-01 -1.07698495e-01 -2.68031831e-02 9.98930219e+01] [ 1.07639843e-01 9.94183342e-01 -3.62571610e-03 1.63680951e+00] [ 2.70377623e-02 7.18226828e-04 9.99634155e-01 1.26172830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.370385723 meters Centerline goodness [0,1] 0.9999549498817435 Centerline is valid? [True, True] Translation: X:99.92, Y:1.64, Z:1.26 [[ 9.93772311e-01 -1.08164936e-01 -2.67757611e-02 9.99205208e+01] [ 1.08106458e-01 9.94132709e-01 -3.62628995e-03 1.64243710e+00] [ 2.70108974e-02 7.09073863e-04 9.99634888e-01 1.26118299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.95, Y:1.64, Z:1.27 [[ 9.93633850e-01 -1.09677406e-01 -2.57417667e-02 9.99502793e+01] [ 1.09623743e-01 9.93967026e-01 -3.49097194e-03 1.63919020e+00] [ 2.59693480e-02 6.46839081e-04 9.99662530e-01 1.26614602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.98, Y:1.65, Z:1.26 [[ 9.93583482e-01 -1.10153911e-01 -2.56511191e-02 9.99777333e+01] [ 1.10100646e-01 9.93914337e-01 -3.48396692e-03 1.64792285e+00] [ 2.58787876e-02 6.37407200e-04 9.99664885e-01 1.26482654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.01, Y:1.65, Z:1.27 [[ 9.93517826e-01 -1.10872131e-01 -2.50938273e-02 1.00006555e+02] [ 1.10821273e-01 9.93834493e-01 -3.41272140e-03 1.65033931e+00] [ 2.53174869e-02 6.09669658e-04 9.99679275e-01 1.26551894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.03, Y:1.66, Z:1.26 [[ 9.93500187e-01 -1.11084679e-01 -2.48509971e-02 1.00033297e+02] [ 1.11034753e-01 9.93810762e-01 -3.38421251e-03 1.65815445e+00] [ 2.50731225e-02 6.02891422e-04 9.99685438e-01 1.26455798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.06, Y:1.66, Z:1.27 [[ 9.93346851e-01 -1.12675096e-01 -2.37982344e-02 1.00061900e+02] [ 1.12629690e-01 9.93631737e-01 -3.24408035e-03 1.66115813e+00] [ 2.40122080e-02 5.42109252e-04 9.99711518e-01 1.26609012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.09, Y:1.67, Z:1.27 [[ 9.93256052e-01 -1.13425099e-01 -2.40241812e-02 1.00089661e+02] [ 1.13378945e-01 9.93546407e-01 -3.27903852e-03 1.66523015e+00] [ 2.42410642e-02 5.33088536e-04 9.99706000e-01 1.26658551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.12, Y:1.67, Z:1.27 [[ 9.93164909e-01 -1.14235442e-01 -2.39525914e-02 1.00117866e+02] [ 1.14189722e-01 9.93453571e-01 -3.27244230e-03 1.66879754e+00] [ 2.41696164e-02 5.14935110e-04 9.99707740e-01 1.26752733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.15, Y:1.67, Z:1.27 [[ 9.93056606e-01 -1.15469099e-01 -2.24825502e-02 1.00147778e+02] [ 1.15429025e-01 9.93310966e-01 -3.07642308e-03 1.66697210e+00] [ 2.26873954e-02 4.59923414e-04 9.99742502e-01 1.27191508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.18, Y:1.67, Z:1.27 [[ 9.92982624e-01 -1.16184535e-01 -2.20604312e-02 1.00175532e+02] [ 1.16146041e-01 9.93227547e-01 -3.02262895e-03 1.67090757e+00] [ 2.22622107e-02 4.39186285e-04 9.99752070e-01 1.27316648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.20, Y:1.68, Z:1.27 [[ 9.92987644e-01 -1.16160374e-01 -2.19614547e-02 1.00202126e+02] [ 1.16122171e-01 9.93230373e-01 -3.01120130e-03 1.67963186e+00] [ 2.21625661e-02 4.39873887e-04 9.99754283e-01 1.27188281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.23, Y:1.68, Z:1.27 [[ 9.93045530e-01 -1.15659061e-01 -2.19899461e-02 1.00230803e+02] [ 1.15620583e-01 9.93288868e-01 -3.01753443e-03 1.67924055e+00] [ 2.21913738e-02 4.54058703e-04 9.99753638e-01 1.27344110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.730385723 meters Centerline goodness [0,1] 0.9999551096446928 Centerline is valid? [True, True] Translation: X:100.26, Y:1.69, Z:1.27 [[ 9.93118595e-01 -1.14733873e-01 -2.34860706e-02 1.00257948e+02] [ 1.14689670e-01 9.93396134e-01 -3.22498202e-03 1.68988149e+00] [ 2.37009864e-02 5.09179929e-04 9.99718962e-01 1.26985512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.29, Y:1.69, Z:1.27 [[ 9.93068500e-01 -1.15265071e-01 -2.29982034e-02 1.00286738e+02] [ 1.15222746e-01 9.93334648e-01 -3.16150145e-03 1.68620529e+00] [ 2.32093230e-02 4.89671350e-04 9.99730507e-01 1.27390559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.32, Y:1.69, Z:1.27 [[ 9.92998704e-01 -1.15937156e-01 -2.26307141e-02 1.00315625e+02] [ 1.15896211e-01 9.93256439e-01 -3.11699530e-03 1.68885215e+00] [ 2.28394781e-02 4.72358288e-04 9.99739034e-01 1.27491389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.34, Y:1.69, Z:1.27 [[ 9.92884195e-01 -1.16861948e-01 -2.28967184e-02 1.00344454e+02] [ 1.16820148e-01 9.93148061e-01 -3.15931361e-03 1.69261092e+00] [ 2.31090350e-02 4.62034512e-04 9.99732844e-01 1.27497300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85038572299999 meters Centerline goodness [0,1] 0.9999774001084795 Centerline is valid? [True, True] Translation: X:100.37, Y:1.70, Z:1.27 [[ 9.92775193e-01 -1.17615356e-01 -2.37496354e-02 1.00371986e+02] [ 1.17570447e-01 9.93059117e-01 -3.28334690e-03 1.69764495e+00] [ 2.39709640e-02 4.67370102e-04 9.99712546e-01 1.27237473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.40, Y:1.70, Z:1.27 [[ 9.92766028e-01 -1.17694260e-01 -2.37418470e-02 1.00399018e+02] [ 1.17649260e-01 9.93049767e-01 -3.28824204e-03 1.70214247e+00] [ 2.39638428e-02 4.71244266e-04 9.99712715e-01 1.27366375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91038572299999 meters Centerline goodness [0,1] 0.9999774663121367 Centerline is valid? [True, True] Translation: X:100.43, Y:1.71, Z:1.28 [[ 9.92759287e-01 -1.18037459e-01 -2.22745571e-02 1.00427507e+02] [ 1.17997836e-01 9.93009046e-01 -3.08950816e-03 1.70511410e+00] [ 2.24835143e-02 4.38788392e-04 9.99747118e-01 1.27681036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.46, Y:1.71, Z:1.28 [[ 9.92736127e-01 -1.18422973e-01 -2.12363397e-02 1.00455072e+02] [ 1.18386960e-01 9.92963155e-01 -2.94952689e-03 1.70847655e+00] [ 2.14361947e-02 4.13996192e-04 9.99770133e-01 1.27871967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.48, Y:1.71, Z:1.28 [[ 9.92596830e-01 -1.19651676e-01 -2.08568594e-02 1.00482292e+02] [ 1.19617172e-01 9.92815859e-01 -2.89857966e-03 1.71289337e+00] [ 2.10538407e-02 3.82282439e-04 9.99778270e-01 1.27960241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.000385723 meters Centerline goodness [0,1] 0.9998873873873874 Centerline is valid? [True, True] Translation: X:100.51, Y:1.72, Z:1.28 [[ 9.92554252e-01 -1.19959269e-01 -2.11147217e-02 1.00509544e+02] [ 1.19923914e-01 9.92778740e-01 -2.93734866e-03 1.71761628e+00] [ 2.13146090e-02 3.83317841e-04 9.99772744e-01 1.27933854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.030385723 meters Centerline goodness [0,1] 0.999887478620938 Centerline is valid? [True, True] Translation: X:100.54, Y:1.72, Z:1.28 [[ 9.92547603e-01 -1.19891293e-01 -2.18021489e-02 1.00537764e+02] [ 1.19853454e-01 9.92786944e-01 -3.03876716e-03 1.72200217e+00] [ 2.20092105e-02 4.03058209e-04 9.99757687e-01 1.27892138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.57, Y:1.73, Z:1.28 [[ 9.92682686e-01 -1.18701136e-01 -2.21613322e-02 1.00565341e+02] [ 1.18661650e-01 9.92929930e-01 -3.09303693e-03 1.72682081e+00] [ 2.23717970e-02 4.40703976e-04 9.99749623e-01 1.27895770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.090385723 meters Centerline goodness [0,1] 0.9999322768522281 Centerline is valid? [True, True] Translation: X:100.59, Y:1.73, Z:1.28 [[ 9.92675024e-01 -1.18827890e-01 -2.18227008e-02 1.00593005e+02] [ 1.18789564e-01 9.92914772e-01 -3.04884445e-03 1.73107000e+00] [ 2.20303697e-02 4.34202632e-04 9.99757208e-01 1.27997157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.120385723 meters Centerline goodness [0,1] 0.9999774637730151 Centerline is valid? [True, True] Translation: X:100.62, Y:1.73, Z:1.28 [[ 9.92676804e-01 -1.19192081e-01 -1.96471768e-02 1.00621901e+02] [ 1.19160993e-01 9.92871138e-01 -2.74967282e-03 1.73433138e+00] [ 1.98348540e-02 3.88359330e-04 9.99803195e-01 1.28278257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.65, Y:1.74, Z:1.28 [[ 9.92593779e-01 -1.20042702e-01 -1.86370559e-02 1.00650129e+02] [ 1.20014797e-01 9.92768665e-01 -2.61262960e-03 1.73812860e+00] [ 1.88159123e-02 3.56557404e-04 9.99822901e-01 1.28399988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.68, Y:1.74, Z:1.29 [[ 9.92469630e-01 -1.21163166e-01 -1.79866803e-02 1.00679154e+02] [ 1.21137283e-01 9.92632550e-01 -2.52566420e-03 1.74120994e+00] [ 1.81601818e-02 3.27787440e-04 9.99835037e-01 1.28585330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.71, Y:1.75, Z:1.29 [[ 9.92473309e-01 -1.21170765e-01 -1.77306762e-02 1.00705930e+02] [ 1.21145546e-01 9.92631623e-01 -2.49352213e-03 1.74779784e+00] [ 1.79021719e-02 3.26761706e-04 9.99839690e-01 1.28587383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.73, Y:1.75, Z:1.29 [[ 9.92408361e-01 -1.21479663e-01 -1.91920974e-02 1.00733613e+02] [ 1.21450111e-01 9.92593859e-01 -2.70225417e-03 1.74979855e+00] [ 1.93782269e-02 3.50857274e-04 9.99812163e-01 1.28635714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.76, Y:1.75, Z:1.29 [[ 9.92341745e-01 -1.21940045e-01 -1.97100563e-02 1.00761149e+02] [ 1.21908855e-01 9.92537404e-01 -2.78080698e-03 1.75254502e+00] [ 1.99020598e-02 3.56680463e-04 9.99801871e-01 1.28695811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.79, Y:1.75, Z:1.29 [[ 9.92172019e-01 -1.23012350e-01 -2.15092380e-02 1.00789212e+02] [ 1.22975317e-01 9.92405070e-01 -3.04109138e-03 1.75413624e+00] [ 2.17199686e-02 3.72180418e-04 9.99764024e-01 1.28755885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.82, Y:1.76, Z:1.29 [[ 9.92139733e-01 -1.23100358e-01 -2.24733615e-02 1.00816691e+02] [ 1.23059837e-01 9.92394150e-01 -3.18248054e-03 1.75812284e+00] [ 2.26941970e-02 3.91897185e-04 9.99742377e-01 1.28748112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.84, Y:1.76, Z:1.29 [[ 9.92068987e-01 -1.23525466e-01 -2.32504825e-02 1.00844007e+02] [ 1.23482125e-01 9.92341322e-01 -3.29617200e-03 1.76312840e+00] [ 2.34795757e-02 3.99011026e-04 9.99724237e-01 1.28638500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.87, Y:1.77, Z:1.29 [[ 9.92022517e-01 -1.24131329e-01 -2.19713064e-02 1.00872084e+02] [ 1.24092650e-01 9.92265729e-01 -3.12045514e-03 1.77036845e+00] [ 2.21887206e-02 3.69084133e-04 9.99753732e-01 1.28531934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.90, Y:1.77, Z:1.29 [[ 9.91950561e-01 -1.24958348e-01 -2.04816045e-02 1.00899626e+02] [ 1.24924833e-01 9.92161933e-01 -2.91274796e-03 1.77477946e+00] [ 2.06850405e-02 3.30640963e-04 9.99785987e-01 1.28764720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.93, Y:1.78, Z:1.29 [[ 9.91820539e-01 -1.26032672e-01 -2.01936567e-02 1.00928632e+02] [ 1.26000264e-01 9.92026044e-01 -2.87429913e-03 1.77793079e+00] [ 2.03948889e-02 3.06382831e-04 9.99791956e-01 1.28895953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.96, Y:1.78, Z:1.29 [[ 9.91648425e-01 -1.27505699e-01 -1.93829441e-02 1.00958042e+02] [ 1.27476045e-01 9.91837801e-01 -2.76289616e-03 1.77920411e+00] [ 1.95770217e-02 2.68960567e-04 9.99808316e-01 1.29301277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.99, Y:1.78, Z:1.30 [[ 9.91584450e-01 -1.28101388e-01 -1.87166631e-02 1.00986607e+02] [ 1.28073789e-01 9.91761045e-01 -2.67083627e-03 1.78083005e+00] [ 1.89045952e-02 2.51245755e-04 9.99821261e-01 1.29528420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.01, Y:1.78, Z:1.30 [[ 9.91566009e-01 -1.28215060e-01 -1.89142113e-02 1.01014557e+02] [ 1.28186792e-01 9.91746355e-01 -2.70446602e-03 1.78451447e+00] [ 1.91048534e-02 2.57104517e-04 9.99817453e-01 1.29628443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.04, Y:1.79, Z:1.29 [[ 9.91680768e-01 -1.27108976e-01 -2.03116315e-02 1.01041729e+02] [ 1.27076039e-01 9.91888711e-01 -2.90935572e-03 1.79328019e+00] [ 2.05166832e-02 3.04030435e-04 9.99789464e-01 1.29353933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.07, Y:1.80, Z:1.29 [[ 9.91742373e-01 -1.26463467e-01 -2.13086142e-02 1.01070381e+02] [ 1.26427005e-01 9.91971209e-01 -3.05510137e-03 1.79945691e+00] [ 2.15238905e-02 3.35889208e-04 9.99768278e-01 1.29191631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.10, Y:1.80, Z:1.29 [[ 9.91792270e-01 -1.25948570e-01 -2.20238877e-02 1.01098947e+02] [ 1.25909368e-01 9.92036705e-01 -3.16320922e-03 1.80446535e+00] [ 2.22469067e-02 3.64232662e-04 9.99752441e-01 1.29133233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.13, Y:1.81, Z:1.29 [[ 9.91757500e-01 -1.26222203e-01 -2.20230914e-02 1.01126257e+02] [ 1.26182946e-01 9.92001927e-01 -3.16874516e-03 1.80846406e+00] [ 2.22469151e-02 3.63688227e-04 9.99752441e-01 1.29174987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.15, Y:1.81, Z:1.29 [[ 9.91685761e-01 -1.26638585e-01 -2.28477576e-02 1.01154254e+02] [ 1.26596290e-01 9.91948854e-01 -3.29398801e-03 1.81090191e+00] [ 2.30809529e-02 3.74159661e-04 9.99733529e-01 1.29260663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.18, Y:1.81, Z:1.29 [[ 9.91479636e-01 -1.28136116e-01 -2.34364284e-02 1.01183053e+02] [ 1.28091881e-01 9.91756528e-01 -3.38523274e-03 1.81308815e+00] [ 2.36770014e-02 3.54373125e-04 9.99719598e-01 1.29461936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.21, Y:1.82, Z:1.30 [[ 9.91358658e-01 -1.29092764e-01 -2.33038684e-02 1.01212064e+02] [ 1.29049160e-01 9.91632465e-01 -3.37172008e-03 1.81730387e+00] [ 2.35441371e-02 3.35239249e-04 9.99722742e-01 1.29587211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.24, Y:1.82, Z:1.30 [[ 9.91283883e-01 -1.29825394e-01 -2.23971033e-02 1.01240985e+02] [ 1.29785185e-01 9.91536823e-01 -3.24579682e-03 1.82234806e+00] [ 2.26289395e-02 3.10693880e-04 9.99743884e-01 1.29639462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.27, Y:1.83, Z:1.30 [[ 9.91292875e-01 -1.29944318e-01 -2.12816895e-02 1.01269078e+02] [ 1.29907930e-01 9.91521248e-01 -3.08933451e-03 1.82756565e+00] [ 2.15026888e-02 2.97775048e-04 9.99768746e-01 1.29754649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.840385723 meters Centerline goodness [0,1] 0.9999103440546901 Centerline is valid? [True, True] Translation: X:101.30, Y:1.83, Z:1.30 [[ 9.91533910e-01 -1.28192190e-01 -2.06704730e-02 1.01297466e+02] [ 1.28157369e-01 9.91749289e-01 -3.00605103e-03 1.83290302e+00] [ 2.08852792e-02 3.31528098e-04 9.99781824e-01 1.29879992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.32, Y:1.84, Z:1.30 [[ 9.91731935e-01 -1.26724558e-01 -2.02152317e-02 1.01324663e+02] [ 1.26690866e-01 9.91937880e-01 -2.94386473e-03 1.83854987e+00] [ 2.04253141e-02 3.58439440e-04 9.99791317e-01 1.29996910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.900385723 meters Centerline goodness [0,1] 0.9999552151910072 Centerline is valid? [True, True] Translation: X:101.35, Y:1.84, Z:1.30 [[ 9.91931803e-01 -1.25270614e-01 -1.94569203e-02 1.01353388e+02] [ 1.25239078e-01 9.92122539e-01 -2.83579032e-03 1.84281730e+00] [ 1.96588904e-02 3.76143845e-04 9.99806675e-01 1.30121566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.38, Y:1.85, Z:1.30 [[ 9.92376767e-01 -1.21827888e-01 -1.86096069e-02 1.01381228e+02] [ 1.21798356e-01 9.92551148e-01 -2.71638494e-03 1.85014121e+00] [ 1.88019181e-02 4.29057773e-04 9.99823136e-01 1.30148183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.41, Y:1.86, Z:1.30 [[ 9.92605438e-01 -1.19984534e-01 -1.83890258e-02 1.01408683e+02] [ 1.19955335e-01 9.92775654e-01 -2.68676542e-03 1.85758743e+00] [ 1.85785474e-02 4.61036229e-04 9.99827298e-01 1.30193131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.44, Y:1.86, Z:1.30 [[ 9.93086820e-01 -1.15990273e-01 -1.80228971e-02 1.01438004e+02] [ 1.15961529e-01 9.93250210e-01 -2.63535680e-03 1.86238269e+00] [ 1.82069221e-02 5.27175398e-04 9.99834101e-01 1.30225155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.47, Y:1.87, Z:1.30 [[ 9.93263709e-01 -1.14416422e-01 -1.83326677e-02 1.01465123e+02] [ 1.14386398e-01 9.93432716e-01 -2.68149007e-03 1.86874643e+00] [ 1.85190784e-02 5.66418951e-04 9.99828347e-01 1.30125924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.49, Y:1.88, Z:1.30 [[ 9.93247489e-01 -1.14379206e-01 -1.94119094e-02 1.01491998e+02] [ 1.14345487e-01 9.93436980e-01 -2.84179240e-03 1.87741691e+00] [ 1.96095506e-02 6.02938939e-04 9.99807532e-01 1.29948334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.52, Y:1.87, Z:1.30 [[ 9.93083134e-01 -1.15663932e-01 -2.01926755e-02 1.01521627e+02] [ 1.15627609e-01 9.93288220e-01 -2.96113880e-03 1.87454979e+00] [ 2.03996437e-02 6.05826215e-04 9.99791722e-01 1.30133938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.55, Y:1.88, Z:1.30 [[ 9.92944583e-01 -1.16706749e-01 -2.09902163e-02 1.01549374e+02] [ 1.16667640e-01 9.93166230e-01 -3.08245749e-03 1.87984257e+00] [ 2.12065176e-02 6.11830478e-04 9.99774929e-01 1.30046555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.58, Y:1.88, Z:1.30 [[ 9.92886812e-01 -1.16929370e-01 -2.24343799e-02 1.01578243e+02] [ 1.16884676e-01 9.93140019e-01 -3.29778596e-03 1.88238324e+00] [ 2.26660885e-02 6.52092959e-04 9.99742879e-01 1.29999155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.170385723 meters Centerline goodness [0,1] 0.9999775407074677 Centerline is valid? [True, True] Translation: X:101.61, Y:1.89, Z:1.30 [[ 9.92848230e-01 -1.17095895e-01 -2.32582029e-02 1.01606137e+02] [ 1.17047763e-01 9.93120381e-01 -3.42484208e-03 1.88803084e+00] [ 2.34992303e-02 6.78027764e-04 9.99723625e-01 1.29879832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.63, Y:1.89, Z:1.30 [[ 9.92791507e-01 -1.17461739e-01 -2.38277954e-02 1.01634395e+02] [ 1.17411172e-01 9.93077168e-01 -3.51509246e-03 1.88888808e+00] [ 2.40757285e-02 6.92104553e-04 9.99709898e-01 1.30050871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.66, Y:1.90, Z:1.30 [[ 9.92660702e-01 -1.18568914e-01 -2.37937587e-02 1.01662186e+02] [ 1.18518653e-01 9.92945599e-01 -3.51657264e-03 1.89548243e+00] [ 2.40428642e-02 6.70759237e-04 9.99710704e-01 1.30021224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.69, Y:1.90, Z:1.30 [[ 9.92403610e-01 -1.20967764e-01 -2.24025705e-02 1.01691666e+02] [ 1.20923701e-01 9.92656265e-01 -3.31618420e-03 1.89729506e+00] [ 2.26392033e-02 5.81991431e-04 9.99743531e-01 1.30132453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.72, Y:1.90, Z:1.30 [[ 9.92261069e-01 -1.22360174e-01 -2.11177562e-02 1.01719727e+02] [ 1.22321234e-01 9.92485624e-01 -3.13082735e-03 1.90209829e+00] [ 2.13421580e-02 5.23448104e-04 9.99772093e-01 1.30171712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.75, Y:1.90, Z:1.30 [[ 9.91961612e-01 -1.24986188e-01 -1.97639170e-02 1.01748527e+02] [ 1.24952508e-01 9.92158383e-01 -2.93479438e-03 1.90422922e+00] [ 1.99757447e-02 4.41652375e-04 9.99800367e-01 1.30352655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35038572299999 meters Centerline goodness [0,1] 0.9999775885253249 Centerline is valid? [True, True] Translation: X:101.78, Y:1.91, Z:1.30 [[ 9.91772381e-01 -1.26466711e-01 -1.98422497e-02 1.01776911e+02] [ 1.26432960e-01 9.91970764e-01 -2.95136122e-03 1.90636488e+00] [ 2.00561805e-02 4.18364192e-04 9.99798767e-01 1.30496376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.81, Y:1.91, Z:1.31 [[ 9.91394711e-01 -1.29422244e-01 -1.96573206e-02 1.01806532e+02] [ 1.29389606e-01 9.91589508e-01 -2.92858297e-03 1.90659546e+00] [ 1.98710167e-02 3.59928688e-04 9.99802487e-01 1.30709212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41038572299999 meters Centerline goodness [0,1] 0.9999775427249658 Centerline is valid? [True, True] Translation: X:101.83, Y:1.91, Z:1.31 [[ 9.91233345e-01 -1.30709363e-01 -1.92747918e-02 1.01834002e+02] [ 1.30678154e-01 9.91420674e-01 -2.87530991e-03 1.91062910e+00] [ 1.94852570e-02 3.31308849e-04 9.99810089e-01 1.30746454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.86, Y:1.92, Z:1.30 [[ 9.91147859e-01 -1.31282551e-01 -1.97689761e-02 1.01860796e+02] [ 1.31249800e-01 9.91344936e-01 -2.95077538e-03 1.91842832e+00] [ 1.99852597e-02 3.29980540e-04 9.99800220e-01 1.30381322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.89, Y:1.92, Z:1.30 [[ 9.91228396e-01 -1.30506440e-01 -2.08407128e-02 1.01888979e+02] [ 1.30469812e-01 9.91447394e-01 -3.11349254e-03 1.92379507e+00] [ 2.10688012e-02 3.67098325e-04 9.99777961e-01 1.30250889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.92, Y:1.93, Z:1.30 [[ 9.91345720e-01 -1.29368744e-01 -2.23022676e-02 1.01917585e+02] [ 1.29326383e-01 9.91596464e-01 -3.33746357e-03 1.92572735e+00] [ 2.25466132e-02 4.24308627e-04 9.99745703e-01 1.30341793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.95, Y:1.93, Z:1.30 [[ 9.91628268e-01 -1.26620894e-01 -2.53086525e-02 1.01946380e+02] [ 1.26565317e-01 9.91951026e-01 -3.79237011e-03 1.92858419e+00] [ 2.55851371e-02 5.57423786e-04 9.99672491e-01 1.30416347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.560385723 meters Centerline goodness [0,1] 0.9999774627572063 Centerline is valid? [True, True] Translation: X:101.97, Y:1.93, Z:1.30 [[ 9.91685907e-01 -1.25896121e-01 -2.66313662e-02 1.01974681e+02] [ 1.25834210e-01 9.92043242e-01 -3.99465379e-03 1.93187115e+00] [ 2.69223783e-02 6.10304939e-04 9.99637341e-01 1.30453901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.00, Y:1.94, Z:1.30 [[ 9.91771171e-01 -1.25253456e-01 -2.64861423e-02 1.02001538e+02] [ 1.25191861e-01 9.92124577e-01 -3.97766427e-03 1.93974189e+00] [ 2.67757689e-02 6.29083302e-04 9.99641267e-01 1.30274007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.620385723 meters Centerline goodness [0,1] 0.9999550773792143 Centerline is valid? [True, True] Translation: X:102.03, Y:1.94, Z:1.30 [[ 9.91838102e-01 -1.24925494e-01 -2.55107714e-02 1.02028743e+02] [ 1.24868164e-01 9.92165933e-01 -3.83434387e-03 1.94444248e+00] [ 2.57899256e-02 6.17565171e-04 9.99667194e-01 1.30276921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.06, Y:1.95, Z:1.30 [[ 9.91859550e-01 -1.25101768e-01 -2.37525049e-02 1.02055937e+02] [ 1.25052032e-01 9.92143749e-01 -3.57370513e-03 1.94853517e+00] [ 2.40129760e-02 5.74314556e-04 9.99711482e-01 1.30403947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.08, Y:1.95, Z:1.31 [[ 9.91788383e-01 -1.25915508e-01 -2.23850107e-02 1.02084684e+02] [ 1.25871459e-01 9.92040830e-01 -3.37164581e-03 1.94854029e+00] [ 2.26313871e-02 5.26325197e-04 9.99743739e-01 1.30784964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.710385723 meters Centerline goodness [0,1] 0.9999774495433532 Centerline is valid? [True, True] Translation: X:102.11, Y:1.95, Z:1.31 [[ 9.91777856e-01 -1.26355236e-01 -2.02740793e-02 1.02113474e+02] [ 1.26319101e-01 9.91984945e-01 -3.05833162e-03 1.95130041e+00] [ 2.04980177e-02 4.72182111e-04 9.99789782e-01 1.31047271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.14, Y:1.95, Z:1.31 [[ 9.91658014e-01 -1.27677435e-01 -1.76877459e-02 1.02141055e+02] [ 1.27650081e-01 9.91815668e-01 -2.67162980e-03 1.95414055e+00] [ 1.78840904e-02 3.91500910e-04 9.99839990e-01 1.31393201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.17, Y:1.96, Z:1.31 [[ 9.91607979e-01 -1.28137443e-01 -1.71584273e-02 1.02167737e+02] [ 1.28111737e-01 9.91756349e-01 -2.59354180e-03 1.96123403e+00] [ 1.73493090e-02 3.73580814e-04 9.99849420e-01 1.31271672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80038572299999 meters Centerline goodness [0,1] 0.999977533643369 Centerline is valid? [True, True] Translation: X:102.20, Y:1.97, Z:1.31 [[ 9.91673951e-01 -1.27579474e-01 -1.75000864e-02 1.02195913e+02] [ 1.27552563e-01 9.91828272e-01 -2.64999104e-03 1.96659549e+00] [ 1.76951649e-02 3.95746210e-04 9.99843350e-01 1.31139830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.22, Y:1.97, Z:1.31 [[ 9.91718385e-01 -1.27065768e-01 -1.86798179e-02 1.02222596e+02] [ 1.27034935e-01 9.91894198e-01 -2.83290731e-03 1.97324612e+00] [ 1.88883685e-02 4.36456822e-04 9.99821504e-01 1.30985053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.860385723 meters Centerline goodness [0,1] 0.9999550642581109 Centerline is valid? [True, True] Translation: X:102.25, Y:1.98, Z:1.31 [[ 9.91727482e-01 -1.26663578e-01 -2.08071855e-02 1.02251444e+02] [ 1.26625166e-01 9.91945608e-01 -3.15868294e-03 1.97571351e+00] [ 2.10396863e-02 4.97839371e-04 9.99778517e-01 1.30830692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.890385723 meters Centerline goodness [0,1] 0.999977534652798 Centerline is valid? [True, True] Translation: X:102.28, Y:1.98, Z:1.31 [[ 9.91706559e-01 -1.26620179e-01 -2.20324876e-02 1.02278160e+02] [ 1.26576997e-01 9.91951131e-01 -3.34923812e-03 1.98267410e+00] [ 2.22792321e-02 5.32655305e-04 9.99751645e-01 1.30719046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.920385723 meters Centerline goodness [0,1] 0.9999549650979509 Centerline is valid? [True, True] Translation: X:102.31, Y:1.99, Z:1.31 [[ 9.91706197e-01 -1.26528747e-01 -2.25675763e-02 1.02306330e+02] [ 1.26483348e-01 9.91962788e-01 -3.43359201e-03 1.98812183e+00] [ 2.28206440e-02 5.50691854e-04 9.99739424e-01 1.30750433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.33, Y:1.99, Z:1.31 [[ 9.91741866e-01 -1.26082233e-01 -2.34806538e-02 1.02334700e+02] [ 1.26032831e-01 9.92019619e-01 -3.57797736e-03 1.99381980e+00] [ 2.37443886e-02 5.89096673e-04 9.99717889e-01 1.30736685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.36, Y:2.00, Z:1.30 [[ 9.91803290e-01 -1.25030847e-01 -2.63347773e-02 1.02361815e+02] [ 1.24968188e-01 9.92152612e-01 -4.01833299e-03 2.00141758e+00] [ 2.66305336e-02 6.94386492e-04 9.99645103e-01 1.30447588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.010385723 meters Centerline goodness [0,1] 0.9999551810684834 Centerline is valid? [True, True] Translation: X:102.39, Y:2.01, Z:1.30 [[ 9.91747134e-01 -1.25266556e-01 -2.73114078e-02 1.02390888e+02] [ 1.25199115e-01 9.92122862e-01 -4.17227534e-03 2.00557969e+00] [ 2.76189187e-02 7.18478013e-04 9.99618267e-01 1.30291751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.42, Y:2.01, Z:1.30 [[ 9.91489415e-01 -1.27197673e-01 -2.77397047e-02 1.02418324e+02] [ 1.27128722e-01 9.91877155e-01 -4.24241949e-03 2.01044396e+00] [ 2.80540052e-02 6.79800803e-04 9.99606178e-01 1.30094863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.45, Y:2.01, Z:1.30 [[ 9.91260552e-01 -1.29222113e-01 -2.65360724e-02 1.02447200e+02] [ 1.29159635e-01 9.91615493e-01 -4.06232046e-03 2.01107125e+00] [ 2.68385222e-02 5.99428588e-04 9.99639602e-01 1.30346221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.48, Y:2.01, Z:1.31 [[ 9.90732887e-01 -1.33858020e-01 -2.30299344e-02 1.02477327e+02] [ 1.33812139e-01 9.91000433e-01 -3.52885021e-03 2.01126403e+00] [ 2.32950399e-02 4.14463179e-04 9.99728548e-01 1.30837577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.51, Y:2.01, Z:1.31 [[ 9.90439086e-01 -1.36329573e-01 -2.10870853e-02 1.02506364e+02] [ 1.36291631e-01 9.90663485e-01 -3.23285759e-03 2.01410067e+00] [ 2.13309395e-02 3.27955277e-04 9.99772416e-01 1.31045780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.53, Y:2.02, Z:1.31 [[ 9.90217059e-01 -1.38090440e-01 -2.00301512e-02 1.02533532e+02] [ 1.38056488e-01 9.90419584e-01 -3.07470536e-03 2.01901682e+00] [ 2.02628415e-02 2.79333373e-04 9.99794649e-01 1.31103485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.56, Y:2.02, Z:1.31 [[ 9.89972352e-01 -1.40158641e-01 -1.76152421e-02 1.02562239e+02] [ 1.40132678e-01 9.90129038e-01 -2.70578016e-03 2.02234586e+00] [ 1.78206012e-02 2.10176487e-04 9.99841178e-01 1.31262193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.59, Y:2.03, Z:1.31 [[ 9.89849591e-01 -1.41176194e-01 -1.63422644e-02 1.02589672e+02] [ 1.41153929e-01 9.89984469e-01 -2.51376536e-03 2.02688031e+00] [ 1.65334718e-02 1.81474774e-04 9.99863296e-01 1.31371799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.62, Y:2.03, Z:1.32 [[ 9.89701787e-01 -1.42281305e-01 -1.56972640e-02 1.02617939e+02] [ 1.42260879e-01 9.89826250e-01 -2.41595380e-03 2.03003539e+00] [ 1.58813091e-02 1.57967202e-04 9.99873872e-01 1.31532500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.65, Y:2.03, Z:1.32 [[ 9.89670822e-01 -1.42424188e-01 -1.63406133e-02 1.02646188e+02] [ 1.42402008e-01 9.89805700e-01 -2.51889866e-03 2.03348746e+00] [ 1.65327843e-02 1.65944359e-04 9.99863310e-01 1.31534925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.67, Y:2.04, Z:1.31 [[ 9.89696389e-01 -1.42140482e-01 -1.72377618e-02 1.02673210e+02] [ 1.42115674e-01 9.89846478e-01 -2.66199552e-03 2.03884582e+00] [ 1.74411151e-02 1.84811223e-04 9.99847875e-01 1.31487338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.340385723 meters Centerline goodness [0,1] 0.9999776116061434 Centerline is valid? [True, True] Translation: X:102.70, Y:2.05, Z:1.31 [[ 9.90055146e-01 -1.39274147e-01 -1.98373303e-02 1.02700823e+02] [ 1.39240660e-01 9.90253825e-01 -3.06618128e-03 2.04791461e+00] [ 2.00710320e-02 2.73525591e-04 9.99798519e-01 1.31033778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.73, Y:2.05, Z:1.31 [[ 9.90522327e-01 -1.35417645e-01 -2.29691523e-02 1.02728252e+02] [ 1.35371597e-01 9.90788520e-01 -3.55515043e-03 2.05471544e+00] [ 2.32390025e-02 4.12085058e-04 9.99729853e-01 1.30883680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.76, Y:2.06, Z:1.31 [[ 9.90683523e-01 -1.34143114e-01 -2.34900614e-02 1.02756769e+02] [ 1.34094519e-01 9.90961865e-01 -3.63895602e-03 2.05893757e+00] [ 2.37658960e-02 4.55165271e-04 9.99717448e-01 1.30910404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.78, Y:2.06, Z:1.31 [[ 9.90830104e-01 -1.33005707e-01 -2.37736504e-02 1.02784880e+02] [ 1.32955466e-01 9.91115149e-01 -3.68865248e-03 2.06350392e+00] [ 2.40530369e-02 4.93991159e-04 9.99710562e-01 1.31001352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.81, Y:2.07, Z:1.31 [[ 9.91170019e-01 -1.30761677e-01 -2.19858605e-02 1.02812208e+02] [ 1.30718073e-01 9.91413699e-01 -3.41507287e-03 2.07080260e+00] [ 2.22436439e-02 5.10968528e-04 9.99752449e-01 1.31053887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49038572299999 meters Centerline goodness [0,1] 0.9999775910364146 Centerline is valid? [True, True] Translation: X:102.84, Y:2.08, Z:1.31 [[ 9.91326386e-01 -1.29838257e-01 -2.03475694e-02 1.02838626e+02] [ 1.29800681e-01 9.91535064e-01 -3.16228687e-03 2.07962699e+00] [ 2.05859143e-02 4.93730060e-04 9.99787966e-01 1.31087264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52038572299999 meters Centerline goodness [0,1] 0.9999327429660352 Centerline is valid? [True, True] Translation: X:102.87, Y:2.08, Z:1.31 [[ 9.91641044e-01 -1.27751852e-01 -1.80970930e-02 1.02866836e+02] [ 1.27721746e-01 9.91806047e-01 -2.81443211e-03 2.08373699e+00] [ 1.83083552e-02 4.79514066e-04 9.99832273e-01 1.31317421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55038572299999 meters Centerline goodness [0,1] 0.9999551197181519 Centerline is valid? [True, True] Translation: X:102.90, Y:2.09, Z:1.31 [[ 9.91757345e-01 -1.26887215e-01 -1.78046047e-02 1.02895754e+02] [ 1.26857860e-01 9.91917029e-01 -2.77317239e-03 2.08766268e+00] [ 1.80125707e-02 4.91660047e-04 9.99837640e-01 1.31442871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58038572299999 meters Centerline goodness [0,1] 0.9999551197181519 Centerline is valid? [True, True] Translation: X:102.92, Y:2.09, Z:1.31 [[ 9.91723074e-01 -1.27154887e-01 -1.78039345e-02 1.02923014e+02] [ 1.27125498e-01 9.91882752e-01 -2.77746842e-03 2.09199486e+00] [ 1.80125843e-02 4.91145484e-04 9.99837640e-01 1.31484632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.610385723 meters Centerline goodness [0,1] 0.9999552232122868 Centerline is valid? [True, True] Translation: X:102.95, Y:2.10, Z:1.32 [[ 9.92009371e-01 -1.24945089e-01 -1.74966434e-02 1.02950250e+02] [ 1.24916287e-01 9.92163519e-01 -2.73381887e-03 2.09712997e+00] [ 1.77011086e-02 5.26358209e-04 9.99843185e-01 1.31759174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.98, Y:2.10, Z:1.32 [[ 9.92114484e-01 -1.24205880e-01 -1.67854298e-02 1.02977333e+02] [ 1.24179238e-01 9.92256333e-01 -2.62435296e-03 2.10375831e+00] [ 1.69814091e-02 5.19256703e-04 9.99855671e-01 1.31819360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.670385723 meters Centerline goodness [0,1] 0.9999327731092437 Centerline is valid? [True, True] Translation: X:103.00, Y:2.11, Z:1.32 [[ 9.92101145e-01 -1.24386442e-01 -1.62274757e-02 1.03004890e+02] [ 1.24361503e-01 9.92233723e-01 -2.54093301e-03 2.10879994e+00] [ 1.64175062e-02 5.02789291e-04 9.99865097e-01 1.31768576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.03, Y:2.12, Z:1.32 [[ 9.92070904e-01 -1.24708211e-01 -1.55943606e-02 1.03031827e+02] [ 1.24685155e-01 9.92193343e-01 -2.44586029e-03 2.11601624e+00] [ 1.57776396e-02 4.82081556e-04 9.99875409e-01 1.31711673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.730385723 meters Centerline goodness [0,1] 0.9998881256572618 Centerline is valid? [True, True] Translation: X:103.06, Y:2.12, Z:1.32 [[ 9.92088650e-01 -1.24574701e-01 -1.55323878e-02 1.03059215e+02] [ 1.24551772e-01 9.92210113e-01 -2.43874292e-03 2.12109741e+00] [ 1.57151980e-02 4.84862747e-04 9.99876391e-01 1.31766344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.760385723 meters Centerline goodness [0,1] 0.9998883629543628 Centerline is valid? [True, True] Translation: X:103.09, Y:2.12, Z:1.32 [[ 9.92088218e-01 -1.24371136e-01 -1.71110687e-02 1.03086379e+02] [ 1.24343237e-01 9.92235622e-01 -2.68893754e-03 2.12457514e+00] [ 1.73126381e-02 5.40017572e-04 9.99849979e-01 1.31723726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.12, Y:2.13, Z:1.32 [[ 9.92079113e-01 -1.24241431e-01 -1.85229461e-02 1.03115016e+02] [ 1.24208669e-01 9.92251843e-01 -2.91327250e-03 2.12940572e+00] [ 1.87413766e-02 5.89486301e-04 9.99824191e-01 1.31634066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.820385723 meters Centerline goodness [0,1] 0.9999330013176407 Centerline is valid? [True, True] Translation: X:103.14, Y:2.13, Z:1.31 [[ 9.92172319e-01 -1.23057808e-01 -2.12336079e-02 1.03144100e+02] [ 1.23014363e-01 9.92399252e-01 -3.34520186e-03 2.13047603e+00] [ 2.14838698e-02 7.06977942e-04 9.99768945e-01 1.31378036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85038572299999 meters Centerline goodness [0,1] 0.9999328783980311 Centerline is valid? [True, True] Translation: X:103.17, Y:2.14, Z:1.31 [[ 9.92221281e-01 -1.22551151e-01 -2.18665182e-02 1.03171671e+02] [ 1.22504856e-01 9.92461920e-01 -3.44934828e-03 2.13558697e+00] [ 2.21244083e-02 7.43762105e-04 9.99754949e-01 1.31341334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88038572299999 meters Centerline goodness [0,1] 0.9999552242147447 Centerline is valid? [True, True] Translation: X:103.20, Y:2.14, Z:1.31 [[ 9.92243598e-01 -1.22040375e-01 -2.36387325e-02 1.03201097e+02] [ 1.21986041e-01 9.92524798e-01 -3.73244189e-03 2.13675095e+00] [ 2.39175368e-02 8.19896179e-04 9.99713599e-01 1.31436997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91038572299999 meters Centerline goodness [0,1] 0.9999550965424338 Centerline is valid? [True, True] Translation: X:103.23, Y:2.14, Z:1.31 [[ 9.92234949e-01 -1.21987959e-01 -2.42640318e-02 1.03229478e+02] [ 1.21930547e-01 9.92531217e-01 -3.83726572e-03 2.14140305e+00] [ 2.45509092e-02 8.48942496e-04 9.99698221e-01 1.31449074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94038572299999 meters Centerline goodness [0,1] 0.9999326720229813 Centerline is valid? [True, True] Translation: X:103.26, Y:2.15, Z:1.31 [[ 9.92206784e-01 -1.22200935e-01 -2.43439671e-02 1.03257242e+02] [ 1.22143051e-01 9.92505015e-01 -3.85625471e-03 2.14628601e+00] [ 2.46327474e-02 8.52755665e-04 9.99696204e-01 1.31489168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97038572299999 meters Centerline goodness [0,1] 0.9999775669067008 Centerline is valid? [True, True] Translation: X:103.29, Y:2.15, Z:1.32 [[ 9.92176723e-01 -1.22494474e-01 -2.40926118e-02 1.03285786e+02] [ 1.22437701e-01 9.92468837e-01 -3.82323874e-03 2.14848274e+00] [ 2.43794921e-02 8.43484483e-04 9.99702420e-01 1.31613733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.31, Y:2.15, Z:1.32 [[ 9.92082390e-01 -1.23327806e-01 -2.37230611e-02 1.03314645e+02] [ 1.23272848e-01 9.92365651e-01 -3.77088828e-03 2.15240711e+00] [ 2.40070063e-02 8.16622562e-04 9.99711457e-01 1.31714215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.34, Y:2.15, Z:1.32 [[ 9.91790832e-01 -1.25806681e-01 -2.28828332e-02 1.03343828e+02] [ 1.25756115e-01 9.92054505e-01 -3.64128315e-03 2.15345104e+00] [ 2.31591155e-02 7.33735047e-04 9.99731522e-01 1.31916109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.37, Y:2.16, Z:1.32 [[ 9.91653211e-01 -1.27020038e-01 -2.21318395e-02 1.03371974e+02] [ 1.26972976e-01 9.91899915e-01 -3.52461189e-03 2.15737462e+00] [ 2.24002660e-02 6.85047185e-04 9.99748848e-01 1.32000753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.40, Y:2.16, Z:1.32 [[ 9.91480504e-01 -1.28630991e-01 -2.05055646e-02 1.03399387e+02] [ 1.28590853e-01 9.91692343e-01 -3.26957617e-03 2.16171560e+00] [ 2.07557802e-02 6.04892978e-04 9.99784393e-01 1.32095090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.43, Y:2.16, Z:1.32 [[ 9.91422213e-01 -1.29090715e-01 -2.04348465e-02 1.03427885e+02] [ 1.29050893e-01 9.91632609e-01 -3.26113202e-03 2.16415597e+00] [ 2.06848420e-02 5.96023527e-04 9.99785868e-01 1.32224480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.150385723 meters Centerline goodness [0,1] 0.999932383699964 Centerline is valid? [True, True] Translation: X:103.46, Y:2.17, Z:1.32 [[ 9.91271278e-01 -1.30170422e-01 -2.09024965e-02 1.03457128e+02] [ 1.30128874e-01 9.91491458e-01 -3.34152247e-03 2.16699054e+00] [ 2.11596141e-02 5.92336916e-04 9.99775935e-01 1.32277542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.180385723 meters Centerline goodness [0,1] 0.999909887584762 Centerline is valid? [True, True] Translation: X:103.48, Y:2.17, Z:1.32 [[ 9.91235298e-01 -1.30479937e-01 -2.06777661e-02 1.03483874e+02] [ 1.30439257e-01 9.91450778e-01 -3.30978435e-03 2.17328411e+00] [ 2.09328477e-02 5.83582626e-04 9.99780714e-01 1.32302336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.210385723 meters Centerline goodness [0,1] 0.999977467327625 Centerline is valid? [True, True] Translation: X:103.51, Y:2.18, Z:1.32 [[ 9.91258378e-01 -1.30342608e-01 -2.04360820e-02 1.03512518e+02] [ 1.30302790e-01 9.91468842e-01 -3.27375067e-03 2.17679133e+00] [ 2.06884477e-02 5.82254277e-04 9.99785802e-01 1.32430121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.54, Y:2.18, Z:1.32 [[ 9.91262945e-01 -1.30241964e-01 -2.08519549e-02 1.03539451e+02] [ 1.30200395e-01 9.91482057e-01 -3.34466402e-03 2.18331258e+00] [ 2.11099547e-02 6.00508747e-04 9.99776980e-01 1.32411937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27038572299999 meters Centerline goodness [0,1] 0.9999774800135119 Centerline is valid? [True, True] Translation: X:103.57, Y:2.19, Z:1.32 [[ 9.91332902e-01 -1.29567959e-01 -2.17076167e-02 1.03568231e+02] [ 1.29522682e-01 9.91570336e-01 -3.48490952e-03 2.18898811e+00] [ 2.19761614e-02 6.43076738e-04 9.99758288e-01 1.32381698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.60, Y:2.20, Z:1.32 [[ 9.91367760e-01 -1.29138569e-01 -2.26537916e-02 1.03595026e+02] [ 1.29089043e-01 9.91626321e-01 -3.64127821e-03 2.19515656e+00] [ 2.29343254e-02 6.85489557e-04 9.99736739e-01 1.32274273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.62, Y:2.20, Z:1.32 [[ 9.91353006e-01 -1.29177543e-01 -2.30733615e-02 1.03623873e+02] [ 1.29126099e-01 9.91621234e-01 -3.71199894e-03 2.19984223e+00] [ 2.33595421e-02 7.00528147e-04 9.99726883e-01 1.32266677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.65, Y:2.21, Z:1.32 [[ 9.91476133e-01 -1.28399024e-01 -2.21081274e-02 1.03650808e+02] [ 1.28351510e-01 9.91722346e-01 -3.56080205e-03 2.20809601e+00] [ 2.23823274e-02 6.92838718e-04 9.99749244e-01 1.32219396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.68, Y:2.21, Z:1.32 [[ 9.91441533e-01 -1.28645377e-01 -2.22273157e-02 1.03679188e+02] [ 1.28597336e-01 9.91690418e-01 -3.58332112e-03 2.21146360e+00] [ 2.25035937e-02 6.94279786e-04 9.99746521e-01 1.32347496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.420385723 meters Centerline goodness [0,1] 0.9999549336397846 Centerline is valid? [True, True] Translation: X:103.71, Y:2.21, Z:1.33 [[ 9.91343818e-01 -1.29331985e-01 -2.25980747e-02 1.03707203e+02] [ 1.29282358e-01 9.91601106e-01 -3.64954532e-03 2.21328655e+00] [ 2.28802788e-02 6.96421785e-04 9.99737970e-01 1.32601771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.73, Y:2.22, Z:1.33 [[ 9.91298146e-01 -1.29674935e-01 -2.26362041e-02 1.03734907e+02] [ 1.29625081e-01 9.91556315e-01 -3.66220372e-03 2.21682405e+00] [ 2.29199672e-02 6.96115960e-04 9.99737061e-01 1.32704811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.76, Y:2.22, Z:1.33 [[ 9.91267665e-01 -1.29903807e-01 -2.26587204e-02 1.03762018e+02] [ 1.29853762e-01 9.91526356e-01 -3.67241179e-03 2.22209637e+00] [ 2.29437788e-02 6.98022958e-04 9.99736513e-01 1.32738634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.510385723 meters Centerline goodness [0,1] 0.9998880931065354 Centerline is valid? [True, True] Translation: X:103.79, Y:2.23, Z:1.33 [[ 9.91368643e-01 -1.29226628e-01 -2.21063703e-02 1.03788308e+02] [ 1.29178717e-01 9.91614838e-01 -3.58775635e-03 2.23097995e+00] [ 2.23846385e-02 7.01116588e-04 9.99749187e-01 1.32606971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.540385723 meters Centerline goodness [0,1] 0.9999550420356966 Centerline is valid? [True, True] Translation: X:103.82, Y:2.24, Z:1.33 [[ 9.91456000e-01 -1.28473531e-01 -2.25732394e-02 1.03817168e+02] [ 1.28423305e-01 9.91712665e-01 -3.66681972e-03 2.23608463e+00] [ 2.28572567e-02 7.36560413e-04 9.99738467e-01 1.32602626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.84, Y:2.25, Z:1.32 [[ 9.91537758e-01 -1.27472395e-01 -2.45695386e-02 1.03844122e+02] [ 1.27412459e-01 9.91841770e-01 -3.99610586e-03 2.24539101e+00] [ 2.48784879e-02 8.31824520e-04 9.99690136e-01 1.32401956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.87, Y:2.25, Z:1.32 [[ 9.91637030e-01 -1.26720561e-01 -2.44519957e-02 1.03871090e+02] [ 1.26660915e-01 9.91938092e-01 -3.97910872e-03 2.25243942e+00] [ 2.47591009e-02 8.48719390e-04 9.99693086e-01 1.32406543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.90, Y:2.26, Z:1.33 [[ 9.91662832e-01 -1.26665461e-01 -2.36788821e-02 1.03898670e+02] [ 1.26609429e-01 9.91945148e-01 -3.85679254e-03 2.25625558e+00] [ 2.39766746e-02 8.26668067e-04 9.99712176e-01 1.32585775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.93, Y:2.26, Z:1.33 [[ 9.91657092e-01 -1.26975065e-01 -2.22158737e-02 1.03928428e+02] [ 1.26925732e-01 9.91905608e-01 -3.62247689e-03 2.25598418e+00] [ 2.24960140e-02 7.72488854e-04 9.99746634e-01 1.32928164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69038572299999 meters Centerline goodness [0,1] 0.999955222209784 Centerline is valid? [True, True] Translation: X:103.96, Y:2.26, Z:1.33 [[ 9.91553178e-01 -1.27824989e-01 -2.19788013e-02 1.03957066e+02] [ 1.27776862e-01 9.91796458e-01 -3.58610279e-03 2.25993588e+00] [ 2.22568908e-02 7.47429374e-04 9.99752005e-01 1.33043489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.98, Y:2.27, Z:1.33 [[ 9.91414771e-01 -1.28871074e-01 -2.21133102e-02 1.03983274e+02] [ 1.28822510e-01 9.91661086e-01 -3.61277860e-03 2.27029312e+00] [ 2.23944919e-02 7.33069952e-04 9.99748943e-01 1.33001193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.01, Y:2.27, Z:1.33 [[ 9.91294651e-01 -1.29828916e-01 -2.18944731e-02 1.04013250e+02] [ 1.29781459e-01 9.91536157e-01 -3.58070951e-03 2.26872384e+00] [ 2.21740413e-02 7.08041516e-04 9.99753875e-01 1.33120808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.780385723 meters Centerline goodness [0,1] 0.9999775048364602 Centerline is valid? [True, True] Translation: X:104.04, Y:2.27, Z:1.33 [[ 9.90958268e-01 -1.32305158e-01 -2.22947547e-02 1.04042352e+02] [ 1.32256451e-01 9.91208806e-01 -3.65168288e-03 2.27239039e+00] [ 2.25818936e-02 6.70040208e-04 9.99744772e-01 1.33102495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.07, Y:2.28, Z:1.33 [[ 9.90774474e-01 -1.33744341e-01 -2.18721960e-02 1.04070135e+02] [ 1.33697725e-01 9.91015669e-01 -3.58649737e-03 2.27620131e+00] [ 2.21553627e-02 6.29147195e-04 9.99754342e-01 1.33177151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.10, Y:2.28, Z:1.33 [[ 9.90347348e-01 -1.36973774e-01 -2.12206514e-02 1.04097629e+02] [ 1.36930595e-01 9.90574526e-01 -3.48149618e-03 2.27996723e+00] [ 2.14975104e-02 5.42134086e-04 9.99768755e-01 1.33301486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.13, Y:2.29, Z:1.33 [[ 9.90078413e-01 -1.38938560e-01 -2.09955344e-02 1.04125249e+02] [ 1.38896695e-01 9.90300879e-01 -3.44638472e-03 2.28611270e+00] [ 2.12707319e-02 4.95980766e-04 9.99773629e-01 1.33316301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.15, Y:2.29, Z:1.33 [[ 9.89815056e-01 -1.40813229e-01 -2.09234130e-02 1.04154725e+02] [ 1.40772010e-01 9.90036073e-01 -3.43734699e-03 2.28757642e+00] [ 2.11989576e-02 4.56906908e-04 9.99775172e-01 1.33419163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.18, Y:2.29, Z:1.33 [[ 9.89397138e-01 -1.43629841e-01 -2.15353612e-02 1.04182580e+02] [ 1.43586738e-01 9.89631395e-01 -3.54265012e-03 2.29229644e+00] [ 2.18208999e-02 4.12895610e-04 9.99761811e-01 1.33445914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.21, Y:2.30, Z:1.34 [[ 9.89179738e-01 -1.45077561e-01 -2.18162134e-02 1.04211860e+02] [ 1.45033599e-01 9.89420209e-01 -3.59242262e-03 2.29522794e+00] [ 2.21065823e-02 3.89467711e-04 9.99755544e-01 1.33535417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.24, Y:2.30, Z:1.33 [[ 9.88986171e-01 -1.46325421e-01 -2.22536464e-02 1.04238561e+02] [ 1.46279900e-01 9.89236439e-01 -3.66860657e-03 2.30234172e+00] [ 2.25509284e-02 3.72939978e-04 9.99745626e-01 1.33464546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.27, Y:2.31, Z:1.33 [[ 9.88960451e-01 -1.46508678e-01 -2.21908540e-02 1.04266269e+02] [ 1.46463385e-01 9.89209315e-01 -3.66161044e-03 2.30757310e+00] [ 2.24878572e-02 3.71040327e-04 9.99747047e-01 1.33470289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05038572299999 meters Centerline goodness [0,1] 0.9999552652769079 Centerline is valid? [True, True] Translation: X:104.29, Y:2.32, Z:1.33 [[ 9.88944307e-01 -1.46512806e-01 -2.28725878e-02 1.04292732e+02] [ 1.46464541e-01 9.89208697e-01 -3.78044043e-03 2.31620913e+00] [ 2.31796457e-02 3.88621974e-04 9.99731240e-01 1.33332311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08038572299999 meters Centerline goodness [0,1] 0.9997988826815642 Centerline is valid? [True, True] Translation: X:104.32, Y:2.32, Z:1.33 [[ 9.89009298e-01 -1.45975935e-01 -2.34869229e-02 1.04320952e+02] [ 1.45924749e-01 9.89288053e-01 -3.88792097e-03 2.32162826e+00] [ 2.38028751e-02 4.17866657e-04 9.99716584e-01 1.33389637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.110385723 meters Centerline goodness [0,1] 0.9998656124711627 Centerline is valid? [True, True] Translation: X:104.35, Y:2.33, Z:1.34 [[ 9.89108883e-01 -1.45427300e-01 -2.26829973e-02 1.04349482e+02] [ 1.45379288e-01 9.89368851e-01 -3.76032853e-03 2.32790353e+00] [ 2.29887053e-02 4.21736371e-04 9.99735636e-01 1.33572139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.140385723 meters Centerline goodness [0,1] 0.9999553541531799 Centerline is valid? [True, True] Translation: X:104.38, Y:2.33, Z:1.34 [[ 9.89165428e-01 -1.45156184e-01 -2.19416964e-02 1.04376644e+02] [ 1.45111070e-01 9.89408665e-01 -3.64296518e-03 2.33343279e+00] [ 2.22381034e-02 4.19512173e-04 9.99752615e-01 1.33766118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.170385723 meters Centerline goodness [0,1] 0.9998000399920016 Centerline is valid? [True, True] Translation: X:104.40, Y:2.34, Z:1.34 [[ 9.89343108e-01 -1.44156909e-01 -2.04694794e-02 1.04404552e+02] [ 1.44117322e-01 9.89554754e-01 -3.40385971e-03 2.34153804e+00] [ 2.07463605e-02 4.17578602e-04 9.99784684e-01 1.33942960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.200385723 meters Centerline goodness [0,1] 0.999822032390105 Centerline is valid? [True, True] Translation: X:104.43, Y:2.35, Z:1.34 [[ 9.89392326e-01 -1.43715727e-01 -2.11805208e-02 1.04433250e+02] [ 1.43673125e-01 9.89618912e-01 -3.52748693e-03 2.34677827e+00] [ 2.14675993e-02 4.46996901e-04 9.99769445e-01 1.34021207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.230385723 meters Centerline goodness [0,1] 0.9999110636784062 Centerline is valid? [True, True] Translation: X:104.46, Y:2.35, Z:1.34 [[ 9.89438418e-01 -1.43309582e-01 -2.17711102e-02 1.04461260e+02] [ 1.43264349e-01 9.89677796e-01 -3.63143461e-03 2.35184780e+00] [ 2.20668038e-02 4.74056984e-04 9.99756386e-01 1.34020412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.260385723 meters Centerline goodness [0,1] 0.9998004523081017 Centerline is valid? [True, True] Translation: X:104.49, Y:2.36, Z:1.34 [[ 9.89490656e-01 -1.42633232e-01 -2.37487626e-02 1.04487949e+02] [ 1.42579089e-01 9.89775465e-01 -3.96640649e-03 2.35854773e+00] [ 2.40716839e-02 5.38645222e-04 9.99710090e-01 1.33957623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.290385723 meters Centerline goodness [0,1] 0.9997116877356398 Centerline is valid? [True, True] Translation: X:104.52, Y:2.36, Z:1.34 [[ 9.89432382e-01 -1.43101055e-01 -2.33591532e-02 1.04515353e+02] [ 1.43048749e-01 9.89707945e-01 -3.90367848e-03 2.36447234e+00] [ 2.36773600e-02 5.20928254e-04 9.99719516e-01 1.33964361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.320385723 meters Centerline goodness [0,1] 0.9998229383382763 Centerline is valid? [True, True] Translation: X:104.54, Y:2.37, Z:1.34 [[ 9.89184298e-01 -1.44989938e-01 -2.21887989e-02 1.04543840e+02] [ 1.44943151e-01 9.89433025e-01 -3.71103694e-03 2.36981374e+00] [ 2.24923934e-02 4.54785038e-04 9.99746911e-01 1.34112352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35038572299999 meters Centerline goodness [0,1] 0.9999334973731462 Centerline is valid? [True, True] Translation: X:104.57, Y:2.38, Z:1.34 [[ 9.89029492e-01 -1.46132887e-01 -2.15833858e-02 1.04572029e+02] [ 1.46088781e-01 9.89264879e-01 -3.61481592e-03 2.37539274e+00] [ 2.18799290e-02 4.22069048e-04 9.99760517e-01 1.34204049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38038572299999 meters Centerline goodness [0,1] 0.9998454950779146 Centerline is valid? [True, True] Translation: X:104.60, Y:2.38, Z:1.34 [[ 9.88603899e-01 -1.49185093e-01 -2.01529129e-02 1.04599344e+02] [ 1.49147193e-01 9.88809231e-01 -3.37921166e-03 2.37980310e+00] [ 2.04315144e-02 3.34951434e-04 9.99791199e-01 1.34471120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41038572299999 meters Centerline goodness [0,1] 0.9999777723443508 Centerline is valid? [True, True] Translation: X:104.63, Y:2.38, Z:1.35 [[ 9.88254979e-01 -1.51574958e-01 -1.94198075e-02 1.04627640e+02] [ 1.51540180e-01 9.88445727e-01 -3.25866253e-03 2.38316893e+00] [ 1.96893574e-02 2.77508349e-04 9.99806107e-01 1.34628110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.66, Y:2.39, Z:1.35 [[ 9.87900539e-01 -1.53817559e-01 -1.98162666e-02 1.04655735e+02] [ 1.53781697e-01 9.88099236e-01 -3.33013523e-03 2.38724387e+00] [ 2.00926712e-02 2.42463275e-04 9.99798093e-01 1.34717535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.68, Y:2.39, Z:1.35 [[ 9.87858796e-01 -1.54085517e-01 -1.98154483e-02 1.04682932e+02] [ 1.54049612e-01 9.88057486e-01 -3.33499833e-03 2.39189278e+00] [ 2.00926770e-02 2.41945319e-04 9.99798093e-01 1.34759283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.500385723 meters Centerline goodness [0,1] 0.9998676927826413 Centerline is valid? [True, True] Translation: X:104.71, Y:2.40, Z:1.35 [[ 9.87201318e-01 -1.58204033e-01 -2.01256256e-02 1.04709995e+02] [ 1.58167755e-01 9.87406429e-01 -3.39188771e-03 2.39715925e+00] [ 2.04087825e-02 1.65251004e-04 9.99791705e-01 1.34720325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.74, Y:2.40, Z:1.35 [[ 9.86899114e-01 -1.60090577e-01 -2.00286147e-02 1.04737873e+02] [ 1.60054985e-01 9.87102320e-01 -3.37803608e-03 2.40339807e+00] [ 2.03110838e-02 1.28101188e-04 9.99793700e-01 1.34656223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.560385723 meters Centerline goodness [0,1] 0.9998898605634734 Centerline is valid? [True, True] Translation: X:104.76, Y:2.41, Z:1.35 [[ 9.86339525e-01 -1.63412349e-01 -2.07543908e-02 1.04764864e+02] [ 1.63374776e-01 9.86557854e-01 -3.50465352e-03 2.40896337e+00] [ 2.10481109e-02 6.60343328e-05 9.99778462e-01 1.34508005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.79, Y:2.41, Z:1.35 [[ 9.86043322e-01 -1.65119052e-01 -2.13134877e-02 1.04792285e+02] [ 1.65079761e-01 9.86273642e-01 -3.60209239e-03 2.41311133e+00] [ 2.16157053e-02 3.33936845e-05 9.99766353e-01 1.34552747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.82, Y:2.42, Z:1.35 [[ 9.85541257e-01 -1.67995596e-01 -2.20433655e-02 1.04819669e+02] [ 1.67954147e-01 9.85787746e-01 -3.73165578e-03 2.41800500e+00] [ 2.23569813e-02 -2.45739143e-05 9.99750051e-01 1.34627128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.85, Y:2.43, Z:1.35 [[ 9.85429712e-01 -1.68383121e-01 -2.39876599e-02 1.04847084e+02] [ 1.68334020e-01 9.85721626e-01 -4.06620914e-03 2.42547457e+00] [ 2.43298361e-02 -3.09759149e-05 9.99703985e-01 1.34560409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.680385723 meters Centerline goodness [0,1] 0.9999560014079549 Centerline is valid? [True, True] Translation: X:104.87, Y:2.43, Z:1.35 [[ 9.85535022e-01 -1.67643363e-01 -2.48278647e-02 1.04874768e+02] [ 1.67590424e-01 9.85847708e-01 -4.21270457e-03 2.43228769e+00] [ 2.51827254e-02 -9.14448500e-06 9.99682865e-01 1.34501805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.90, Y:2.44, Z:1.35 [[ 9.85682212e-01 -1.66687438e-01 -2.54140771e-02 1.04901914e+02] [ 1.66631466e-01 9.86009786e-01 -4.31938687e-03 2.43966511e+00] [ 2.57785163e-02 2.27578755e-05 9.99667679e-01 1.34536885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74038572299999 meters Centerline goodness [0,1] 0.9999780610342028 Centerline is valid? [True, True] Translation: X:104.93, Y:2.45, Z:1.35 [[ 9.86184146e-01 -1.63613235e-01 -2.59140805e-02 1.04929483e+02] [ 1.63553789e-01 9.86524555e-01 -4.41149920e-03 2.45064459e+00] [ 2.62866564e-02 1.12204515e-04 9.99654440e-01 1.34527699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77038572299999 meters Centerline goodness [0,1] 0.9999781788028891 Centerline is valid? [True, True] Translation: X:104.96, Y:2.46, Z:1.34 [[ 9.86422684e-01 -1.62278990e-01 -2.52154425e-02 1.04955151e+02] [ 1.62222145e-01 9.86744905e-01 -4.29748982e-03 2.45872338e+00] [ 2.55786017e-02 1.48638266e-04 9.99672803e-01 1.34418837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.98, Y:2.47, Z:1.35 [[ 9.86967402e-01 -1.58959420e-01 -2.50449559e-02 1.04983149e+02] [ 1.58902162e-01 9.87285089e-01 -4.27277779e-03 2.46779180e+00] [ 2.54057098e-02 2.37394775e-04 9.99677195e-01 1.34650580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.01, Y:2.48, Z:1.35 [[ 9.87220486e-01 -1.57256097e-01 -2.58114657e-02 1.05010998e+02] [ 1.57194527e-01 9.87557812e-01 -4.41006440e-03 2.47584974e+00] [ 2.61838241e-02 2.96284773e-04 9.99657101e-01 1.34656988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.04, Y:2.48, Z:1.35 [[ 9.87494825e-01 -1.55423282e-01 -2.64116237e-02 1.05039329e+02] [ 1.55357981e-01 9.87847900e-01 -4.51925890e-03 2.48399507e+00] [ 2.67930651e-02 3.59488246e-04 9.99640937e-01 1.34661844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.890385723 meters Centerline goodness [0,1] 0.9999783769758038 Centerline is valid? [True, True] Translation: X:105.07, Y:2.49, Z:1.35 [[ 9.88048341e-01 -1.51751382e-01 -2.70553833e-02 1.05065324e+02] [ 1.51681341e-01 9.88418581e-01 -4.63449684e-03 2.49436168e+00] [ 2.74453349e-02 4.75310077e-04 9.99623193e-01 1.34668647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.09, Y:2.50, Z:1.35 [[ 9.88222613e-01 -1.50683041e-01 -2.66587336e-02 1.05094017e+02] [ 1.50614529e-01 9.88581999e-01 -4.57106192e-03 2.49957109e+00] [ 2.70431256e-02 5.02034163e-04 9.99634142e-01 1.34950092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.12, Y:2.51, Z:1.35 [[ 9.88457827e-01 -1.49586104e-01 -2.39817064e-02 1.05121077e+02] [ 1.49530194e-01 9.88748584e-01 -4.11808029e-03 2.50949147e+00] [ 2.43278859e-02 4.84559487e-04 9.99703916e-01 1.35256677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.980385723 meters Centerline goodness [0,1] 0.9999783821176877 Centerline is valid? [True, True] Translation: X:105.15, Y:2.52, Z:1.35 [[ 9.88486179e-01 -1.49609726e-01 -2.26275035e-02 1.05147339e+02] [ 1.49559848e-01 9.88745021e-01 -3.89036086e-03 2.51873389e+00] [ 2.29548673e-02 4.61401962e-04 9.99736396e-01 1.35309333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.17, Y:2.53, Z:1.35 [[ 9.88518122e-01 -1.49290689e-01 -2.33283591e-02 1.05173896e+02] [ 1.49237533e-01 9.88793231e-01 -4.01298409e-03 2.52801556e+00] [ 2.36660247e-02 4.85440724e-04 9.99719803e-01 1.35369900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.040385723 meters Centerline goodness [0,1] 0.9999568537774518 Centerline is valid? [True, True] Translation: X:105.20, Y:2.53, Z:1.35 [[ 9.88461590e-01 -1.49426799e-01 -2.48055978e-02 1.05201246e+02] [ 1.49366674e-01 9.88772656e-01 -4.26971781e-03 2.53305242e+00] [ 2.51651071e-02 5.15322412e-04 9.99683176e-01 1.35356350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.23, Y:2.54, Z:1.35 [[ 9.88390378e-01 -1.49702600e-01 -2.59536756e-02 1.05230064e+02] [ 1.49636751e-01 9.88730926e-01 -4.47200785e-03 2.53543398e+00] [ 2.63306729e-02 5.36465837e-04 9.99653144e-01 1.35441121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10038572299999 meters Centerline goodness [0,1] 0.9999568900480676 Centerline is valid? [True, True] Translation: X:105.26, Y:2.54, Z:1.35 [[ 9.88182931e-01 -1.50982084e-01 -2.64368234e-02 1.05257570e+02] [ 1.50914040e-01 9.88536363e-01 -4.56188165e-03 2.54336002e+00] [ 2.68225236e-02 5.18285751e-04 9.99640077e-01 1.35355376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13038572299999 meters Centerline goodness [0,1] 0.9998919292785199 Centerline is valid? [True, True] Translation: X:105.28, Y:2.55, Z:1.35 [[ 9.88106173e-01 -1.51537554e-01 -2.61258787e-02 1.05284366e+02] [ 1.51471172e-01 9.88451374e-01 -4.51288494e-03 2.55077367e+00] [ 2.65080322e-02 5.01891997e-04 9.99648474e-01 1.35231855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.31, Y:2.56, Z:1.35 [[ 9.87910024e-01 -1.52735956e-01 -2.65614776e-02 1.05312719e+02] [ 1.52667662e-01 9.88266915e-01 -4.59231587e-03 2.55755525e+00] [ 2.69512413e-02 4.81716204e-04 9.99636633e-01 1.35115400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19038572299999 meters Centerline goodness [0,1] 0.9999568575003236 Centerline is valid? [True, True] Translation: X:105.34, Y:2.56, Z:1.35 [[ 9.87820301e-01 -1.53295881e-01 -2.66725787e-02 1.05340627e+02] [ 1.53227027e-01 9.88180220e-01 -4.61856402e-03 2.56115478e+00] [ 2.70653215e-02 4.75351359e-04 9.99633554e-01 1.35206787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.37, Y:2.57, Z:1.35 [[ 9.87762544e-01 -1.53662795e-01 -2.67002233e-02 1.05367248e+02] [ 1.53593777e-01 9.88123233e-01 -4.62908958e-03 2.56528030e+00] [ 2.70944298e-02 4.71453148e-04 9.99632767e-01 1.35226562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.40, Y:2.57, Z:1.35 [[ 9.87603092e-01 -1.54470700e-01 -2.79094086e-02 1.05395367e+02] [ 1.54395452e-01 9.87997256e-01 -4.84431547e-03 2.56856667e+00] [ 2.83227239e-02 4.75175197e-04 9.99598718e-01 1.35327633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.42, Y:2.57, Z:1.35 [[ 9.87603327e-01 -1.54259989e-01 -2.90434941e-02 1.05422679e+02] [ 1.54178243e-01 9.88030161e-01 -5.04677510e-03 2.57384772e+00] [ 2.94743636e-02 5.06336974e-04 9.99565408e-01 1.35296934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.310385723 meters Centerline goodness [0,1] 0.9999567642353755 Centerline is valid? [True, True] Translation: X:105.45, Y:2.58, Z:1.35 [[ 9.87657823e-01 -1.53873635e-01 -2.92391807e-02 1.05450863e+02] [ 1.53790473e-01 9.88090394e-01 -5.08555097e-03 2.57911096e+00] [ 2.96734858e-02 5.26076769e-04 9.99559507e-01 1.35284612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.48, Y:2.58, Z:1.35 [[ 9.87745041e-01 -1.53374206e-01 -2.89151782e-02 1.05479173e+02] [ 1.53292459e-01 9.88168032e-01 -5.03615399e-03 2.58431818e+00] [ 2.93454708e-02 5.41957356e-04 9.99569182e-01 1.35360792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.51, Y:2.59, Z:1.36 [[ 9.87940024e-01 -1.52463228e-01 -2.70087745e-02 1.05505781e+02] [ 1.52391412e-01 9.88308998e-01 -4.70975657e-03 2.58858471e+00] [ 2.74110795e-02 5.37051728e-04 9.99624101e-01 1.35615824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.53, Y:2.59, Z:1.36 [[ 9.87977989e-01 -1.52430322e-01 -2.57777057e-02 1.05534006e+02] [ 1.52364747e-01 9.88314083e-01 -4.50070552e-03 2.59270132e+00] [ 2.61625136e-02 5.18984380e-04 9.99657568e-01 1.35808031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.56, Y:2.60, Z:1.36 [[ 9.88151587e-01 -1.51485138e-01 -2.46717188e-02 1.05561607e+02] [ 1.51424658e-01 9.88459396e-01 -4.31230955e-03 2.59781658e+00] [ 2.50402431e-02 5.25308944e-04 9.99686306e-01 1.35874709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.460385723 meters Centerline goodness [0,1] 0.9999353113679489 Centerline is valid? [True, True] Translation: X:105.59, Y:2.60, Z:1.36 [[ 9.88163998e-01 -1.51321273e-01 -2.51750852e-02 1.05588881e+02] [ 1.51258192e-01 9.88484486e-01 -4.40242619e-03 2.60397876e+00] [ 2.55513619e-02 5.42381201e-04 9.99673364e-01 1.35758831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49038572299999 meters Centerline goodness [0,1] 0.9999352792699502 Centerline is valid? [True, True] Translation: X:105.62, Y:2.61, Z:1.36 [[ 9.88187366e-01 -1.51059868e-01 -2.58194994e-02 1.05617802e+02] [ 1.50993327e-01 9.88524453e-01 -4.51890197e-03 2.60720289e+00] [ 2.62058313e-02 5.66949713e-04 9.99656407e-01 1.35717173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52038572299999 meters Centerline goodness [0,1] 0.9999783296493737 Centerline is valid? [True, True] Translation: X:105.65, Y:2.61, Z:1.36 [[ 9.88094501e-01 -1.51572671e-01 -2.63625223e-02 1.05646863e+02] [ 1.51503301e-01 9.88445951e-01 -4.62075784e-03 2.60580231e+00] [ 2.67583090e-02 5.71736267e-04 9.99641769e-01 1.36080385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55038572299999 meters Centerline goodness [0,1] 0.999978308967073 Centerline is valid? [True, True] Translation: X:105.68, Y:2.61, Z:1.36 [[ 9.87957170e-01 -1.52370217e-01 -2.69062676e-02 1.05675434e+02] [ 1.52298034e-01 9.88323324e-01 -4.72398689e-03 2.60729089e+00] [ 2.73118867e-02 5.69325066e-04 9.99626799e-01 1.36267446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58038572299999 meters Centerline goodness [0,1] 0.999978281171948 Centerline is valid? [True, True] Translation: X:105.70, Y:2.61, Z:1.36 [[ 9.87703776e-01 -1.54205323e-01 -2.57287821e-02 1.05703872e+02] [ 1.54139761e-01 9.88038696e-01 -4.52420599e-03 2.60959800e+00] [ 2.61186890e-02 5.02747002e-04 9.99658722e-01 1.36383504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.73, Y:2.61, Z:1.36 [[ 9.87629494e-01 -1.54760793e-01 -2.52404474e-02 1.05732229e+02] [ 1.54697716e-01 9.87951852e-01 -4.44468780e-03 2.61479978e+00] [ 2.56242102e-02 4.85065200e-04 9.99671528e-01 1.36458627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.640385723 meters Centerline goodness [0,1] 0.9999783160222911 Centerline is valid? [True, True] Translation: X:105.76, Y:2.62, Z:1.36 [[ 9.87454170e-01 -1.56107078e-01 -2.37664191e-02 1.05759574e+02] [ 1.56051438e-01 9.87740045e-01 -4.18948820e-03 2.62261990e+00] [ 2.41290527e-02 4.28143720e-04 9.99708760e-01 1.36305196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.670385723 meters Centerline goodness [0,1] 0.9999566141698122 Centerline is valid? [True, True] Translation: X:105.79, Y:2.63, Z:1.36 [[ 9.87304890e-01 -1.56984173e-01 -2.41872656e-02 1.05786990e+02] [ 1.56926755e-01 9.87601031e-01 -4.26580551e-03 2.62584108e+00] [ 2.45570324e-02 4.16021546e-04 9.99698344e-01 1.36354204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.700385723 meters Centerline goodness [0,1] 0.999934776937125 Centerline is valid? [True, True] Translation: X:105.82, Y:2.62, Z:1.37 [[ 9.86841106e-01 -1.59862617e-01 -2.42605799e-02 1.05816627e+02] [ 1.59805634e-01 9.87139211e-01 -4.28223455e-03 2.62349270e+00] [ 2.46331390e-02 3.48907734e-04 9.99696497e-01 1.36614895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.85, Y:2.63, Z:1.37 [[ 9.86490233e-01 -1.61997667e-01 -2.43675242e-02 1.05845579e+02] [ 1.61940685e-01 9.86791095e-01 -4.30701794e-03 2.62668078e+00] [ 2.47433828e-02 3.02737570e-04 9.99693790e-01 1.36623747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.87, Y:2.63, Z:1.37 [[ 9.85794977e-01 -1.66207937e-01 -2.41492184e-02 1.05874423e+02] [ 1.66153090e-01 9.86090706e-01 -4.27425005e-03 2.62736426e+00] [ 2.45237341e-02 2.01066962e-04 9.99699228e-01 1.36666114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.790385723 meters Centerline goodness [0,1] 0.9999781873704875 Centerline is valid? [True, True] Translation: X:105.90, Y:2.63, Z:1.37 [[ 9.85461566e-01 -1.68269333e-01 -2.34719697e-02 1.05903823e+02] [ 1.68217972e-01 9.85741046e-01 -4.15992729e-03 2.62973239e+00] [ 2.38372721e-02 1.51041316e-04 9.99715840e-01 1.36811138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.93, Y:2.63, Z:1.37 [[ 9.85183347e-01 -1.69946281e-01 -2.30658758e-02 1.05931825e+02] [ 1.69897044e-01 9.85453322e-01 -4.09210361e-03 2.63265602e+00] [ 2.34257817e-02 1.12648211e-04 9.99725572e-01 1.36867809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85038572299999 meters Centerline goodness [0,1] 0.9998689154941885 Centerline is valid? [True, True] Translation: X:105.96, Y:2.63, Z:1.37 [[ 9.84747800e-01 -1.72676306e-01 -2.13228469e-02 1.05961277e+02] [ 1.72634810e-01 9.84978625e-01 -3.78566968e-03 2.63341879e+00] [ 2.16562439e-02 4.68642522e-05 9.99765475e-01 1.37040568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.99, Y:2.64, Z:1.37 [[ 9.84643672e-01 -1.73369573e-01 -2.04897433e-02 1.05989486e+02] [ 1.73331300e-01 9.84856837e-01 -3.64287541e-03 2.63719414e+00] [ 2.08110275e-02 3.54203865e-05 9.99783426e-01 1.37205075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.02, Y:2.64, Z:1.37 [[ 9.84691870e-01 -1.72939253e-01 -2.17700830e-02 1.06017382e+02] [ 1.72895828e-01 9.84932491e-01 -3.87565837e-03 2.64264114e+00] [ 2.21123155e-02 5.23727629e-05 9.99755491e-01 1.36968826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94038572299999 meters Centerline goodness [0,1] 0.9999782542512938 Centerline is valid? [True, True] Translation: X:106.05, Y:2.65, Z:1.37 [[ 9.84795925e-01 -1.72143617e-01 -2.33144021e-02 1.06046009e+02] [ 1.72093506e-01 9.85071860e-01 -4.15407442e-03 2.64824901e+00] [ 2.36814588e-02 7.86583797e-05 9.99719552e-01 1.36826198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.07, Y:2.65, Z:1.37 [[ 9.84925300e-01 -1.71312051e-01 -2.39652605e-02 1.06074860e+02] [ 1.71258710e-01 9.85216814e-01 -4.27607053e-03 2.65315933e+00] [ 2.43435200e-02 1.07350451e-04 9.99703647e-01 1.36809619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.000385723 meters Centerline goodness [0,1] 0.9999346077555202 Centerline is valid? [True, True] Translation: X:106.10, Y:2.66, Z:1.37 [[ 9.85280796e-01 -1.69270772e-01 -2.38570485e-02 1.06103018e+02] [ 1.69217204e-01 9.85569571e-01 -4.26122696e-03 2.65571487e+00] [ 2.42340822e-02 1.61482045e-04 9.99706298e-01 1.37010983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.13, Y:2.66, Z:1.37 [[ 9.85592241e-01 -1.67433810e-01 -2.39552645e-02 1.06131901e+02] [ 1.67379171e-01 9.85883297e-01 -4.28231600e-03 2.65991139e+00] [ 2.43340996e-02 2.11005107e-04 9.99703860e-01 1.37066658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.16, Y:2.66, Z:1.37 [[ 9.85785956e-01 -1.66331557e-01 -2.36614262e-02 1.06159803e+02] [ 1.66277827e-01 9.86069853e-01 -4.23422509e-03 2.66498377e+00] [ 2.40361043e-02 2.39669106e-04 9.99711062e-01 1.37066025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.19, Y:2.67, Z:1.37 [[ 9.85926064e-01 -1.65516568e-01 -2.35385193e-02 1.06187399e+02] [ 1.65463112e-01 9.86206975e-01 -4.21432909e-03 2.67093716e+00] [ 2.39113932e-02 2.60260231e-04 9.99714048e-01 1.37038450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.22, Y:2.68, Z:1.37 [[ 9.86325742e-01 -1.63248193e-01 -2.26176313e-02 1.06216178e+02] [ 1.63198169e-01 9.86584986e-01 -4.05261314e-03 2.67603733e+00] [ 2.29757972e-02 3.06040641e-04 9.99735975e-01 1.37168960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.24, Y:2.68, Z:1.37 [[ 9.86484569e-01 -1.62216323e-01 -2.31097368e-02 1.06244618e+02] [ 1.62163680e-01 9.86755161e-01 -4.14658539e-03 2.67936780e+00] [ 2.34762959e-02 3.42982545e-04 9.99724335e-01 1.37271107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.180385723 meters Centerline goodness [0,1] 0.9999337777581564 Centerline is valid? [True, True] Translation: X:106.27, Y:2.68, Z:1.37 [[ 9.86691664e-01 -1.60767766e-01 -2.43574716e-02 1.06274151e+02] [ 1.60708685e-01 9.86992179e-01 -4.37678079e-03 2.68052353e+00] [ 2.47442792e-02 4.04075886e-04 9.99693732e-01 1.37335997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.30, Y:2.68, Z:1.37 [[ 9.86805850e-01 -1.60101727e-01 -2.41174399e-02 1.06302966e+02] [ 1.60043460e-01 9.87100430e-01 -4.33965729e-03 2.68487826e+00] [ 2.45011219e-02 4.22560681e-04 9.99699713e-01 1.37427916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24038572299999 meters Centerline goodness [0,1] 0.9999559481068699 Centerline is valid? [True, True] Translation: X:106.33, Y:2.69, Z:1.37 [[ 9.87043196e-01 -1.58775454e-01 -2.31535076e-02 1.06331637e+02] [ 1.58721254e-01 9.87314620e-01 -4.17186107e-03 2.68982109e+00] [ 2.35221857e-02 4.42853330e-04 9.99723217e-01 1.37412069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.36, Y:2.70, Z:1.37 [[ 9.87175901e-01 -1.58029507e-01 -2.25923563e-02 1.06359036e+02] [ 1.57977600e-01 9.87434286e-01 -4.07543774e-03 2.69762507e+00] [ 2.29525066e-02 4.54087692e-04 9.99736453e-01 1.37294035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30038572299999 meters Centerline goodness [0,1] 0.9999560120526976 Centerline is valid? [True, True] Translation: X:106.39, Y:2.70, Z:1.37 [[ 9.87343507e-01 -1.57071253e-01 -2.19412800e-02 1.06387357e+02] [ 1.57021979e-01 9.87587163e-01 -3.96155518e-03 2.70218608e+00] [ 2.22911729e-02 4.66152581e-04 9.99751412e-01 1.37369763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33038572299999 meters Centerline goodness [0,1] 0.9999778765956505 Centerline is valid? [True, True] Translation: X:106.42, Y:2.70, Z:1.38 [[ 9.87637134e-01 -1.55339641e-01 -2.10353926e-02 1.06417287e+02] [ 1.55293856e-01 9.87861001e-01 -3.80284975e-03 2.70096863e+00] [ 2.13707773e-02 4.89168404e-04 9.99771499e-01 1.37724287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.360385723 meters Centerline goodness [0,1] 0.9999778942016491 Centerline is valid? [True, True] Translation: X:106.45, Y:2.70, Z:1.38 [[ 9.87801812e-01 -1.54331550e-01 -2.07208494e-02 1.06446497e+02] [ 1.54286795e-01 9.88018985e-01 -3.75111775e-03 2.70298987e+00] [ 2.10515084e-02 5.08407479e-04 9.99778263e-01 1.37886512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.390385723 meters Centerline goodness [0,1] 0.9999778942016491 Centerline is valid? [True, True] Translation: X:106.47, Y:2.71, Z:1.38 [[ 9.87758588e-01 -1.54608080e-01 -2.07198939e-02 1.06473644e+02] [ 1.54563274e-01 9.87975751e-01 -3.75638939e-03 2.70797233e+00] [ 2.10515208e-02 5.07871238e-04 9.99778263e-01 1.37928271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.420385723 meters Centerline goodness [0,1] 0.9999778976217841 Centerline is valid? [True, True] Translation: X:106.50, Y:2.71, Z:1.38 [[ 9.87791127e-01 -1.54406132e-01 -2.06745197e-02 1.06501506e+02] [ 1.54361377e-01 9.88007328e-01 -3.75298687e-03 2.71334821e+00] [ 2.10060612e-02 5.15819792e-04 9.99779215e-01 1.37921267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.53, Y:2.72, Z:1.38 [[ 9.87811179e-01 -1.54338268e-01 -2.02181692e-02 1.06529665e+02] [ 1.54295395e-01 9.88017935e-01 -3.67298359e-03 2.71825330e+00] [ 2.05427957e-02 5.08643851e-04 9.99788845e-01 1.37920450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.56, Y:2.72, Z:1.38 [[ 9.87727978e-01 -1.54619758e-01 -2.20492884e-02 1.06557425e+02] [ 1.54568716e-01 9.87973898e-01 -4.01098465e-03 2.72108669e+00] [ 2.24042989e-02 5.53631558e-04 9.99748839e-01 1.37824416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.59, Y:2.72, Z:1.38 [[ 9.87609875e-01 -1.55233695e-01 -2.30051148e-02 1.06585968e+02] [ 1.55178211e-01 9.87877613e-01 -4.18855973e-03 2.72392058e+00] [ 2.33764435e-02 5.66770384e-04 9.99726573e-01 1.37806606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.540385723 meters Centerline goodness [0,1] 0.9999777352273234 Centerline is valid? [True, True] Translation: X:106.61, Y:2.73, Z:1.38 [[ 9.87354571e-01 -1.56737719e-01 -2.37537215e-02 1.06613153e+02] [ 1.56678866e-01 9.87640107e-01 -4.33042570e-03 2.72915385e+00] [ 2.41388691e-02 5.53959463e-04 9.99708462e-01 1.37696153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.64, Y:2.73, Z:1.38 [[ 9.87136708e-01 -1.58197840e-01 -2.31206109e-02 1.06642455e+02] [ 1.58142390e-01 9.87407305e-01 -4.21892973e-03 2.72821337e+00] [ 2.34968857e-02 5.08311731e-04 9.99723781e-01 1.37938367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.67, Y:2.73, Z:1.38 [[ 9.86759818e-01 -1.60702953e-01 -2.19002607e-02 1.06671647e+02] [ 1.60653704e-01 9.87002723e-01 -4.00145901e-03 2.72885895e+00] [ 2.22586632e-02 4.30120973e-04 9.99752153e-01 1.38069177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.70, Y:2.73, Z:1.38 [[ 9.86593013e-01 -1.61762800e-01 -2.16107067e-02 1.06699851e+02] [ 1.61714981e-01 9.86829586e-01 -3.95386707e-03 2.73303970e+00] [ 2.19656734e-02 4.06082594e-04 9.99758643e-01 1.38036954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66038572299999 meters Centerline goodness [0,1] 0.9999776406403721 Centerline is valid? [True, True] Translation: X:106.73, Y:2.74, Z:1.38 [[ 9.86473737e-01 -1.62531920e-01 -2.12824279e-02 1.06728042e+02] [ 1.62485609e-01 9.86703210e-01 -3.89901545e-03 2.73761115e+00] [ 2.16331544e-02 3.88188080e-04 9.99765901e-01 1.38014645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69038572299999 meters Centerline goodness [0,1] 0.9999330102940848 Centerline is valid? [True, True] Translation: X:106.76, Y:2.74, Z:1.38 [[ 9.86389492e-01 -1.63146256e-01 -2.04711702e-02 1.06757702e+02] [ 1.63103438e-01 9.86601827e-01 -3.75533893e-03 2.73819785e+00] [ 2.08095634e-02 3.65308610e-04 9.99783391e-01 1.38158353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72038572299999 meters Centerline goodness [0,1] 0.9999552071668533 Centerline is valid? [True, True] Translation: X:106.78, Y:2.74, Z:1.38 [[ 9.86327201e-01 -1.63519519e-01 -2.04943658e-02 1.06784806e+02] [ 1.63476592e-01 9.86540032e-01 -3.76405253e-03 2.74258225e+00] [ 2.08340083e-02 3.62238326e-04 9.99782883e-01 1.38186800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.750385723 meters Centerline goodness [0,1] 0.99986554320545 Centerline is valid? [True, True] Translation: X:106.81, Y:2.74, Z:1.38 [[ 9.86171410e-01 -1.64220814e-01 -2.23041179e-02 1.06811781e+02] [ 1.64170073e-01 9.86423529e-01 -4.09981101e-03 2.74404103e+00] [ 2.26745810e-02 3.81447754e-04 9.99742826e-01 1.38098169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.780385723 meters Centerline goodness [0,1] 0.9998654678356017 Centerline is valid? [True, True] Translation: X:106.84, Y:2.75, Z:1.38 [[ 9.86078974e-01 -1.64777080e-01 -2.22883680e-02 1.06839273e+02] [ 1.64726446e-01 9.86330763e-01 -4.10161561e-03 2.74841934e+00] [ 2.26595553e-02 3.73033264e-04 9.99743170e-01 1.38062427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.810385723 meters Centerline goodness [0,1] 0.9999774982561148 Centerline is valid? [True, True] Translation: X:106.87, Y:2.75, Z:1.38 [[ 9.86038359e-01 -1.65075808e-01 -2.18707875e-02 1.06867328e+02] [ 1.65026999e-01 9.86280814e-01 -4.03055778e-03 2.75204477e+00] [ 2.22360857e-02 3.65014162e-04 9.99752681e-01 1.38119756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.840385723 meters Centerline goodness [0,1] 0.9999550632484777 Centerline is valid? [True, True] Translation: X:106.90, Y:2.75, Z:1.38 [[ 9.86128112e-01 -1.64800090e-01 -1.98060109e-02 1.06895413e+02] [ 1.64759904e-01 9.86326931e-01 -3.65513492e-03 2.75405897e+00] [ 2.01375685e-02 3.41194838e-04 9.99797160e-01 1.38358434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.870385723 meters Centerline goodness [0,1] 0.9999774154207507 Centerline is valid? [True, True] Translation: X:106.92, Y:2.76, Z:1.38 [[ 9.86198366e-01 -1.64445300e-01 -1.92490341e-02 1.06922880e+02] [ 1.64407187e-01 9.86386144e-01 -3.55686814e-03 2.75830892e+00] [ 1.95718908e-02 3.43098005e-04 9.99808393e-01 1.38444182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.900385723 meters Centerline goodness [0,1] 0.9999096983926314 Centerline is valid? [True, True] Translation: X:106.95, Y:2.76, Z:1.39 [[ 9.86171266e-01 -1.64584169e-01 -1.94495480e-02 1.06951589e+02] [ 1.64545233e-01 9.86362981e-01 -3.59652278e-03 2.75997497e+00] [ 1.97762449e-02 3.46457015e-04 9.99804371e-01 1.38529245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.98, Y:2.76, Z:1.39 [[ 9.86151019e-01 -1.64722205e-01 -1.93070699e-02 1.06978180e+02] [ 1.64683772e-01 9.86339939e-01 -3.57486197e-03 2.76416533e+00] [ 1.96321933e-02 3.45792676e-04 9.99807210e-01 1.38550050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.00, Y:2.77, Z:1.38 [[ 9.86101409e-01 -1.65064352e-01 -1.89148116e-02 1.07004380e+02] [ 1.65027480e-01 9.86282742e-01 -3.50476310e-03 2.77049183e+00] [ 1.92338637e-02 3.34588153e-04 9.99814956e-01 1.38494785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.03, Y:2.77, Z:1.38 [[ 9.85778292e-01 -1.66849176e-01 -2.00627043e-02 1.07034166e+02] [ 1.66807974e-01 9.85982377e-01 -3.72170978e-03 2.77092650e+00] [ 2.04024371e-02 3.22161644e-04 9.99791797e-01 1.38446918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.06, Y:2.78, Z:1.38 [[ 9.85555187e-01 -1.68205030e-01 -1.96987465e-02 1.07061807e+02] [ 1.68165496e-01 9.85751988e-01 -3.65841338e-03 2.77527425e+00] [ 2.00334420e-02 2.92918809e-04 9.99799268e-01 1.38394486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.09, Y:2.78, Z:1.38 [[ 9.85488984e-01 -1.68690851e-01 -1.88376974e-02 1.07089319e+02] [ 1.68654730e-01 9.85668972e-01 -3.50141434e-03 2.78069700e+00] [ 1.91583904e-02 2.73538485e-04 9.99816424e-01 1.38481002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08038572299999 meters Centerline goodness [0,1] 0.9999773340284231 Centerline is valid? [True, True] Translation: X:107.12, Y:2.79, Z:1.39 [[ 9.85537146e-01 -1.68457781e-01 -1.83986143e-02 1.07116026e+02] [ 1.68423204e-01 9.85708831e-01 -3.42410969e-03 2.78782930e+00] [ 1.87124946e-02 2.75833719e-04 9.99824868e-01 1.38568615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.110385723 meters Centerline goodness [0,1] 0.9999092826525753 Centerline is valid? [True, True] Translation: X:107.14, Y:2.80, Z:1.39 [[ 9.85855618e-01 -1.66688727e-01 -1.74232148e-02 1.07143760e+02] [ 1.66657411e-01 9.86009524e-01 -3.24438422e-03 2.79596102e+00] [ 1.77202580e-02 2.94786532e-04 9.99842940e-01 1.38605337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.17, Y:2.80, Z:1.39 [[ 9.86111177e-01 -1.65149240e-01 -1.76203048e-02 1.07171844e+02] [ 1.65116889e-01 9.86268533e-01 -3.28532642e-03 2.80451639e+00] [ 1.79209213e-02 3.30287189e-04 9.99839353e-01 1.38569090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.20, Y:2.81, Z:1.38 [[ 9.86679655e-01 -1.61557775e-01 -1.90353485e-02 1.07200029e+02] [ 1.61519272e-01 9.86863161e-01 -3.55320799e-03 2.81313841e+00] [ 1.93593326e-02 4.31302388e-04 9.99812498e-01 1.38410066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.200385723 meters Centerline goodness [0,1] 0.9999546998867497 Centerline is valid? [True, True] Translation: X:107.23, Y:2.82, Z:1.38 [[ 9.86911385e-01 -1.60042521e-01 -1.98068294e-02 1.07227949e+02] [ 1.60000500e-01 9.87110004e-01 -3.69868577e-03 2.81802047e+00] [ 2.01434664e-02 4.81172496e-04 9.99796984e-01 1.38431677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.26, Y:2.83, Z:1.38 [[ 9.87279261e-01 -1.57764363e-01 -1.97501299e-02 1.07255147e+02] [ 1.57722072e-01 9.87476646e-01 -3.69074959e-03 2.82514106e+00] [ 2.00850608e-02 5.28769105e-04 9.99798135e-01 1.38473404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.28, Y:2.83, Z:1.38 [[ 9.87331639e-01 -1.57477942e-01 -1.94147701e-02 1.07282865e+02] [ 1.57436961e-01 9.87522364e-01 -3.63107909e-03 2.83238324e+00] [ 1.97443345e-02 5.28476865e-04 9.99804922e-01 1.38440289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.290385723 meters Centerline goodness [0,1] 0.9999546773023931 Centerline is valid? [True, True] Translation: X:107.31, Y:2.84, Z:1.38 [[ 9.87269026e-01 -1.57789758e-01 -2.00564736e-02 1.07308900e+02] [ 1.57746003e-01 9.87472580e-01 -3.75525857e-03 2.84102949e+00] [ 2.03977590e-02 5.43621939e-04 9.99791796e-01 1.38320618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.320385723 meters Centerline goodness [0,1] 0.9999774352957105 Centerline is valid? [True, True] Translation: X:107.34, Y:2.84, Z:1.38 [[ 9.87209222e-01 -1.58127563e-01 -2.03378161e-02 1.07337069e+02] [ 1.58082573e-01 9.87418540e-01 -3.81132825e-03 2.84325188e+00] [ 2.06846128e-02 5.47524098e-04 9.99785901e-01 1.38342068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.36, Y:2.85, Z:1.38 [[ 9.87252714e-01 -1.57915670e-01 -1.98675453e-02 1.07364267e+02] [ 1.57872602e-01 9.87452452e-01 -3.72774333e-03 2.84864655e+00] [ 2.02069254e-02 5.43683651e-04 9.99795671e-01 1.38466209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.39, Y:2.85, Z:1.39 [[ 9.87249986e-01 -1.57964695e-01 -1.96117195e-02 1.07391568e+02] [ 1.57922687e-01 9.87444614e-01 -3.68232942e-03 2.85440301e+00] [ 1.99471649e-02 5.38244236e-04 9.99800891e-01 1.38537386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.42, Y:2.86, Z:1.39 [[ 9.87207920e-01 -1.58339954e-01 -1.86810451e-02 1.07419252e+02] [ 1.58301810e-01 9.87384524e-01 -3.51260582e-03 2.85706262e+00] [ 1.90015607e-02 5.10429031e-04 9.99819324e-01 1.38652757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44038572299999 meters Centerline goodness [0,1] 0.999954684490767 Centerline is valid? [True, True] Translation: X:107.45, Y:2.86, Z:1.39 [[ 9.86829360e-01 -1.60811574e-01 -1.75342867e-02 1.07448590e+02] [ 1.60778282e-01 9.86985028e-01 -3.30133511e-03 2.85994931e+00] [ 1.78369713e-02 4.38721912e-04 9.99840812e-01 1.38770365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47038572299999 meters Centerline goodness [0,1] 0.9999773396782234 Centerline is valid? [True, True] Translation: X:107.48, Y:2.86, Z:1.39 [[ 9.86414420e-01 -1.63401813e-01 -1.69245149e-02 1.07477336e+02] [ 1.63371138e-01 9.86559528e-01 -3.18882187e-03 2.86130534e+00] [ 1.72181007e-02 3.80522614e-04 9.99851685e-01 1.38913657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.50, Y:2.86, Z:1.39 [[ 9.86272476e-01 -1.64345976e-01 -1.60313234e-02 1.07504770e+02] [ 1.64318522e-01 9.86402696e-01 -3.02400533e-03 2.86497712e+00] [ 1.63103237e-02 3.48249856e-04 9.99866917e-01 1.39050306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.53, Y:2.87, Z:1.39 [[ 9.86207746e-01 -1.64781495e-01 -1.55351561e-02 1.07532214e+02] [ 1.64755746e-01 9.86330041e-01 -2.93179322e-03 2.87164583e+00] [ 1.58058965e-02 3.31850942e-04 9.99875024e-01 1.39075012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.56, Y:2.88, Z:1.39 [[ 9.86253797e-01 -1.64522912e-01 -1.53511718e-02 1.07560179e+02] [ 1.64497716e-01 9.86373205e-01 -2.89848105e-03 2.87754330e+00] [ 1.56188511e-02 3.33405241e-04 9.99877963e-01 1.39065105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.59, Y:2.88, Z:1.39 [[ 9.86283372e-01 -1.64285529e-01 -1.59804335e-02 1.07588946e+02] [ 1.64258128e-01 9.86412763e-01 -3.02133820e-03 2.88226586e+00] [ 1.62596657e-02 3.54979533e-04 9.99867740e-01 1.39015578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.62, Y:2.89, Z:1.39 [[ 9.86263247e-01 -1.64266578e-01 -1.73579732e-02 1.07615966e+02] [ 1.64234171e-01 9.86415906e-01 -3.28603354e-03 2.88689484e+00] [ 1.76619664e-02 3.90121775e-04 9.99843939e-01 1.38897168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.64, Y:2.89, Z:1.39 [[ 9.86193046e-01 -1.64702680e-01 -1.72134446e-02 1.07643732e+02] [ 1.64670842e-01 9.86343187e-01 -3.26063979e-03 2.89133604e+00] [ 1.75153999e-02 3.81067866e-04 9.99846521e-01 1.38913528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.680385723 meters Centerline goodness [0,1] 0.999954402444029 Centerline is valid? [True, True] Translation: X:107.67, Y:2.90, Z:1.39 [[ 9.86141639e-01 -1.64993166e-01 -1.73759411e-02 1.07670196e+02] [ 1.64960681e-01 9.86294635e-01 -3.29641338e-03 2.89669676e+00] [ 1.76816832e-02 3.84383413e-04 9.99843593e-01 1.38971814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.710385723 meters Centerline goodness [0,1] 0.9999543910059063 Centerline is valid? [True, True] Translation: X:107.70, Y:2.90, Z:1.39 [[ 9.86064926e-01 -1.65479590e-01 -1.71016796e-02 1.07697369e+02] [ 1.65448119e-01 9.86213144e-01 -3.24875472e-03 2.90241015e+00] [ 1.74035038e-02 3.74042366e-04 9.99848478e-01 1.39053613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.72, Y:2.91, Z:1.39 [[ 9.85995255e-01 -1.66053362e-01 -1.54802517e-02 1.07724456e+02] [ 1.66027626e-01 9.86116713e-01 -2.94208288e-03 2.90826570e+00] [ 1.57538776e-02 3.30730323e-04 9.99875845e-01 1.39161621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77038572299999 meters Centerline goodness [0,1] 0.9998867625410486 Centerline is valid? [True, True] Translation: X:107.75, Y:2.91, Z:1.39 [[ 9.85975452e-01 -1.66198192e-01 -1.51844973e-02 1.07750810e+02] [ 1.66173383e-01 9.86092315e-01 -2.89004316e-03 2.91461193e+00] [ 1.54536360e-02 3.26252336e-04 9.99880532e-01 1.39193067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.78, Y:2.92, Z:1.39 [[ 9.85992964e-01 -1.66044612e-01 -1.57181941e-02 1.07779814e+02] [ 1.66017975e-01 9.86118182e-01 -2.99368471e-03 2.91858043e+00] [ 1.59970822e-02 3.42249303e-04 9.99871980e-01 1.39247414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.81, Y:2.92, Z:1.39 [[ 9.86002315e-01 -1.65906239e-01 -1.65696997e-02 1.07807481e+02] [ 1.65876550e-01 9.86141463e-01 -3.15991328e-03 2.92454956e+00] [ 1.68643172e-02 3.67157195e-04 9.99857720e-01 1.39270119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.84, Y:2.93, Z:1.39 [[ 9.86004875e-01 -1.65904678e-01 -1.64323969e-02 1.07835135e+02] [ 1.65875440e-01 9.86141726e-01 -3.13606857e-03 2.93055591e+00] [ 1.67249607e-02 3.66447839e-04 9.99860061e-01 1.39238693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.86, Y:2.94, Z:1.39 [[ 9.86020021e-01 -1.65811734e-01 -1.64616850e-02 1.07862991e+02] [ 1.65782304e-01 9.86157355e-01 -3.14608977e-03 2.93660538e+00] [ 1.67554704e-02 3.73051425e-04 9.99859548e-01 1.39257052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.920385723 meters Centerline goodness [0,1] 0.9999544896008739 Centerline is valid? [True, True] Translation: X:107.89, Y:2.94, Z:1.39 [[ 9.85953163e-01 -1.66200847e-01 -1.65420574e-02 1.07890227e+02] [ 1.66171116e-01 9.86091852e-01 -3.16543198e-03 2.94266360e+00] [ 1.68380855e-02 3.72155525e-04 9.99858160e-01 1.39256450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.92, Y:2.95, Z:1.39 [[ 9.85821339e-01 -1.66984273e-01 -1.65087678e-02 1.07918009e+02] [ 1.66954701e-01 9.85959493e-01 -3.16326858e-03 2.94787196e+00] [ 1.68051924e-02 3.62201271e-04 9.99858717e-01 1.39280840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.980385723 meters Centerline goodness [0,1] 0.9999772230320699 Centerline is valid? [True, True] Translation: X:107.95, Y:2.95, Z:1.39 [[ 9.85615280e-01 -1.68208095e-01 -1.63876720e-02 1.07946991e+02] [ 1.68179088e-01 9.85751450e-01 -3.14229078e-03 2.94878526e+00] [ 1.66827302e-02 3.41026088e-04 9.99860775e-01 1.39414066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.97, Y:2.95, Z:1.40 [[ 9.85434183e-01 -1.69199977e-01 -1.70540041e-02 1.07974764e+02] [ 1.69168633e-01 9.85581681e-01 -3.27457224e-03 2.95413094e+00] [ 1.73621716e-02 3.41872860e-04 9.99849208e-01 1.39509567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.00, Y:2.96, Z:1.40 [[ 9.85263764e-01 -1.70134138e-01 -1.75980095e-02 1.08002315e+02] [ 1.70100836e-01 9.85420854e-01 -3.38319903e-03 2.95884954e+00] [ 1.79170432e-02 3.39907292e-04 9.99839419e-01 1.39526611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.03, Y:2.96, Z:1.40 [[ 9.85101202e-01 -1.71007627e-01 -1.82212315e-02 1.08031274e+02] [ 1.70972040e-01 9.85269647e-01 -3.50485288e-03 2.96251284e+00] [ 1.85521829e-02 3.37313665e-04 9.99827837e-01 1.39570853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10038572299999 meters Centerline goodness [0,1] 0.999954412837345 Centerline is valid? [True, True] Translation: X:108.06, Y:2.97, Z:1.40 [[ 9.85023953e-01 -1.71398537e-01 -1.87177109e-02 1.08058814e+02] [ 1.71360992e-01 9.85201718e-01 -3.60360819e-03 2.96798473e+00] [ 1.90583741e-02 3.42154872e-04 9.99818314e-01 1.39563181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.09, Y:2.98, Z:1.39 [[ 9.85087245e-01 -1.71022470e-01 -1.88264489e-02 1.08086238e+02] [ 1.70984327e-01 9.85267064e-01 -3.62932367e-03 2.97570356e+00] [ 1.91697759e-02 3.56172753e-04 9.99816180e-01 1.39493628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16038572299999 meters Centerline goodness [0,1] 0.9999318243796018 Centerline is valid? [True, True] Translation: X:108.11, Y:2.98, Z:1.40 [[ 9.85053594e-01 -1.71228394e-01 -1.87150753e-02 1.08113132e+02] [ 1.71190703e-01 9.85231299e-01 -3.60969355e-03 2.98107902e+00] [ 1.90567600e-02 3.51894706e-04 9.99818342e-01 1.39551618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19038572299999 meters Centerline goodness [0,1] 0.9999545464875799 Centerline is valid? [True, True] Translation: X:108.14, Y:2.99, Z:1.40 [[ 9.84961653e-01 -1.71747152e-01 -1.88004730e-02 1.08140567e+02] [ 1.71709168e-01 9.85141003e-01 -3.62841849e-03 2.98530615e+00] [ 1.91442874e-02 3.45639501e-04 9.99816672e-01 1.39678758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22038572299999 meters Centerline goodness [0,1] 0.9999316722088097 Centerline is valid? [True, True] Translation: X:108.17, Y:2.99, Z:1.40 [[ 9.84629628e-01 -1.73569232e-01 -1.94478120e-02 1.08168266e+02] [ 1.73528892e-01 9.84821617e-01 -3.75582753e-03 2.98929467e+00] [ 1.98045218e-02 3.23341794e-04 9.99803819e-01 1.39815293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.250385723 meters Centerline goodness [0,1] 0.9999772789239298 Centerline is valid? [True, True] Translation: X:108.20, Y:2.99, Z:1.40 [[ 9.84454107e-01 -1.74549217e-01 -1.95622504e-02 1.08196514e+02] [ 1.74508499e-01 9.84648402e-01 -3.78275278e-03 2.99359870e+00] [ 1.99222151e-02 3.10167561e-04 9.99801485e-01 1.39843442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.280385723 meters Centerline goodness [0,1] 0.9999772789239298 Centerline is valid? [True, True] Translation: X:108.22, Y:3.00, Z:1.40 [[ 9.84405265e-01 -1.74824569e-01 -1.95612956e-02 1.08223604e+02] [ 1.74783807e-01 9.84599550e-01 -3.78768487e-03 2.99891846e+00] [ 1.99222232e-02 3.09619213e-04 9.99801485e-01 1.39885195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.310385723 meters Centerline goodness [0,1] 0.9999546516110015 Centerline is valid? [True, True] Translation: X:108.25, Y:3.00, Z:1.40 [[ 9.84244597e-01 -1.75772163e-01 -1.91499184e-02 1.08250819e+02] [ 1.75733187e-01 9.84430832e-01 -3.71264433e-03 3.00385989e+00] [ 1.95043497e-02 2.88873921e-04 9.99809730e-01 1.39944798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.340385723 meters Centerline goodness [0,1] 0.9999772463537282 Centerline is valid? [True, True] Translation: X:108.28, Y:3.01, Z:1.40 [[ 9.84167192e-01 -1.76179933e-01 -1.93796140e-02 1.08277615e+02] [ 1.76140058e-01 9.84357938e-01 -3.75908019e-03 3.00908532e+00] [ 1.97387514e-02 2.86037062e-04 9.99805131e-01 1.39985635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.370385723 meters Centerline goodness [0,1] 0.9999771778077002 Centerline is valid? [True, True] Translation: X:108.30, Y:3.01, Z:1.40 [[ 9.84000795e-01 -1.77123049e-01 -1.92317714e-02 1.08304705e+02] [ 1.77083901e-01 9.84188678e-01 -3.73342198e-03 3.01454040e+00] [ 1.95889668e-02 2.68053085e-04 9.99808082e-01 1.40073528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.400385723 meters Centerline goodness [0,1] 0.9999773601992302 Centerline is valid? [True, True] Translation: X:108.33, Y:3.02, Z:1.40 [[ 9.83972981e-01 -1.77375609e-01 -1.83048275e-02 1.08330619e+02] [ 1.77340102e-01 9.84143195e-01 -3.55806936e-03 3.02069121e+00] [ 1.86456862e-02 2.54864130e-04 9.99826122e-01 1.40138092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.430385723 meters Centerline goodness [0,1] 0.9999319033026898 Centerline is valid? [True, True] Translation: X:108.36, Y:3.03, Z:1.40 [[ 9.84098935e-01 -1.76745676e-01 -1.76139678e-02 1.08358610e+02] [ 1.76712637e-01 9.84256521e-01 -3.42718079e-03 3.02778008e+00] [ 1.79424021e-02 2.60074269e-04 9.99838988e-01 1.40194360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.460385723 meters Centerline goodness [0,1] 0.9999545867393279 Centerline is valid? [True, True] Translation: X:108.39, Y:3.03, Z:1.40 [[ 9.84201661e-01 -1.76175132e-01 -1.75901339e-02 1.08386431e+02] [ 1.76142014e-01 9.84358800e-01 -3.42685224e-03 3.03410116e+00] [ 1.79187292e-02 2.74352067e-04 9.99839409e-01 1.40198223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49038572299999 meters Centerline goodness [0,1] 0.9999773335146652 Centerline is valid? [True, True] Translation: X:108.41, Y:3.04, Z:1.40 [[ 9.84459536e-01 -1.74731392e-01 -1.75602637e-02 1.08413746e+02] [ 1.74698086e-01 9.84616092e-01 -3.42500343e-03 3.04098586e+00] [ 1.78885739e-02 3.04032827e-04 9.99839940e-01 1.40290409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.44, Y:3.04, Z:1.40 [[ 9.84561322e-01 -1.74091048e-01 -1.82019258e-02 1.08442952e+02] [ 1.74055101e-01 9.84729505e-01 -3.55297917e-03 3.04441810e+00] [ 1.85425152e-02 3.29987848e-04 9.99828018e-01 1.40381866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.47, Y:3.06, Z:1.40 [[ 9.84835376e-01 -1.72354058e-01 -1.98333488e-02 1.08469739e+02] [ 1.72310934e-01 9.85034984e-01 -3.87597677e-03 3.05501326e+00] [ 2.02045828e-02 3.99696177e-04 9.99795787e-01 1.40149477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.50, Y:3.06, Z:1.40 [[ 9.84856790e-01 -1.72143438e-01 -2.05849357e-02 1.08498035e+02] [ 1.72096878e-01 9.85071804e-01 -4.02563108e-03 3.06024136e+00] [ 2.09706257e-02 4.22066929e-04 9.99780003e-01 1.40093712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.52, Y:3.07, Z:1.40 [[ 9.84877950e-01 -1.71925061e-01 -2.13821662e-02 1.08524608e+02] [ 1.71874656e-01 9.85109929e-01 -4.18692192e-03 3.06853764e+00] [ 2.17836211e-02 4.48554607e-04 9.99762608e-01 1.39989221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.55, Y:3.07, Z:1.40 [[ 9.84771561e-01 -1.72475420e-01 -2.18449415e-02 1.08552642e+02] [ 1.72422817e-01 9.85013718e-01 -4.28331720e-03 3.06929066e+00] [ 2.22563340e-02 4.51522620e-04 9.99752195e-01 1.40214861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.670385723 meters Centerline goodness [0,1] 0.9999773893775296 Centerline is valid? [True, True] Translation: X:108.58, Y:3.08, Z:1.40 [[ 9.84554066e-01 -1.73789184e-01 -2.12275900e-02 1.08580494e+02] [ 1.73739692e-01 9.84782792e-01 -4.16804732e-03 3.07502309e+00] [ 2.16289268e-02 4.15593007e-04 9.99765981e-01 1.40307240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.61, Y:3.08, Z:1.40 [[ 9.84429783e-01 -1.74509008e-01 -2.10857628e-02 1.08607820e+02] [ 1.74460224e-01 9.84655495e-01 -4.14560063e-03 3.07972375e+00] [ 2.14856569e-02 4.02425818e-04 9.99769076e-01 1.40427439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.64, Y:3.09, Z:1.41 [[ 9.84326912e-01 -1.75208034e-01 -2.00667431e-02 1.08636335e+02] [ 1.75163890e-01 9.84531363e-01 -3.95051161e-03 3.08590201e+00] [ 2.04484993e-02 3.73626121e-04 9.99790838e-01 1.40522733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.760385723 meters Centerline goodness [0,1] 0.9999094551463431 Centerline is valid? [True, True] Translation: X:108.66, Y:3.09, Z:1.41 [[ 9.84368185e-01 -1.75079243e-01 -1.91450931e-02 1.08663481e+02] [ 1.75038946e-01 9.84554278e-01 -3.77374640e-03 3.09182627e+00] [ 1.95100880e-02 3.63618979e-04 9.99809594e-01 1.40591067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.790385723 meters Centerline goodness [0,1] 0.9999546937296122 Centerline is valid? [True, True] Translation: X:108.69, Y:3.10, Z:1.41 [[ 9.84422667e-01 -1.74774990e-01 -1.91236984e-02 1.08691670e+02] [ 1.74734622e-01 9.84608330e-01 -3.77479720e-03 3.09843025e+00] [ 1.94890928e-02 3.74423711e-04 9.99809999e-01 1.40607993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.72, Y:3.10, Z:1.41 [[ 9.84607266e-01 -1.73819854e-01 -1.83082205e-02 1.08718427e+02] [ 1.73782619e-01 9.84777393e-01 -3.61766067e-03 3.10459629e+00] [ 1.86583429e-02 3.80324477e-04 9.99825846e-01 1.40674645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.75, Y:3.11, Z:1.41 [[ 9.84850727e-01 -1.72517768e-01 -1.75118357e-02 1.08747146e+02] [ 1.72483464e-01 9.85006329e-01 -3.46216555e-03 3.10970992e+00] [ 1.78465541e-02 3.89214179e-04 9.99840662e-01 1.40909648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.77, Y:3.12, Z:1.41 [[ 9.85009122e-01 -1.71617393e-01 -1.74499401e-02 1.08774088e+02] [ 1.71583123e-01 9.85163593e-01 -3.45364630e-03 3.11639921e+00] [ 1.77837514e-02 4.07757898e-04 9.99841773e-01 1.40980566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91038572299999 meters Centerline goodness [0,1] 0.9999543399844756 Centerline is valid? [True, True] Translation: X:108.80, Y:3.12, Z:1.41 [[ 9.85123965e-01 -1.70885262e-01 -1.81383578e-02 1.08802340e+02] [ 1.70848071e-01 9.85290837e-01 -3.59201044e-03 3.12397481e+00] [ 1.84853794e-02 4.39672125e-04 9.99829034e-01 1.40916739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94038572299999 meters Centerline goodness [0,1] 0.9999544336097694 Centerline is valid? [True, True] Translation: X:108.83, Y:3.13, Z:1.41 [[ 9.85309158e-01 -1.69626188e-01 -1.98196775e-02 1.08830385e+02] [ 1.69581431e-01 9.85508344e-01 -3.92974627e-03 3.13172484e+00] [ 2.01990454e-02 5.10965709e-04 9.99795848e-01 1.40635140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97038572299999 meters Centerline goodness [0,1] 0.9999545051295466 Centerline is valid? [True, True] Translation: X:108.86, Y:3.14, Z:1.41 [[ 9.85304935e-01 -1.69615642e-01 -2.01176534e-02 1.08857222e+02] [ 1.69569443e-01 9.85510152e-01 -3.99291389e-03 3.13819288e+00] [ 2.05034123e-02 5.22898479e-04 9.99789646e-01 1.40581487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.000385723 meters Centerline goodness [0,1] 0.999954268989802 Centerline is valid? [True, True] Translation: X:108.89, Y:3.14, Z:1.41 [[ 9.84981746e-01 -1.71500722e-01 -1.99615394e-02 1.08886109e+02] [ 1.71455574e-01 9.85183876e-01 -3.96441155e-03 3.14048155e+00] [ 2.03456862e-02 4.82355828e-04 9.99792889e-01 1.40698107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.91, Y:3.14, Z:1.41 [[ 9.84846492e-01 -1.72287593e-01 -1.98588279e-02 1.08914312e+02] [ 1.72242971e-01 9.85046581e-01 -3.94880984e-03 3.14499684e+00] [ 2.02422014e-02 4.68428014e-04 9.99794996e-01 1.40832826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.94, Y:3.15, Z:1.41 [[ 9.84775112e-01 -1.72643589e-01 -2.03019626e-02 1.08940435e+02] [ 1.72596930e-01 9.84984246e-01 -4.04167869e-03 3.15146004e+00] [ 2.06948832e-02 4.76088160e-04 9.99785725e-01 1.40765143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.090385723 meters Centerline goodness [0,1] 0.9999086257309941 Centerline is valid? [True, True] Translation: X:108.97, Y:3.16, Z:1.41 [[ 9.84782395e-01 -1.72530234e-01 -2.09034201e-02 1.08967504e+02] [ 1.72480670e-01 9.85004098e-01 -4.16485576e-03 3.15913718e+00] [ 2.13085180e-02 4.96040712e-04 9.99772825e-01 1.40657289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.00, Y:3.16, Z:1.41 [[ 9.84670001e-01 -1.73144708e-01 -2.11163094e-02 1.08995292e+02] [ 1.73094205e-01 9.84896273e-01 -4.21032313e-03 3.16095236e+00] [ 2.15263696e-02 4.90668092e-04 9.99768160e-01 1.40762150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.02, Y:3.16, Z:1.41 [[ 9.84376388e-01 -1.74830230e-01 -2.09169117e-02 1.09022894e+02] [ 1.74780950e-01 9.84598489e-01 -4.17554537e-03 3.16464757e+00] [ 2.13247712e-02 4.54430567e-04 9.99772498e-01 1.40824453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.05, Y:3.17, Z:1.41 [[ 9.84224048e-01 -1.75747178e-01 -2.03949015e-02 1.09051843e+02] [ 1.75700457e-01 9.84435243e-01 -4.07461451e-03 3.16781524e+00] [ 2.07935618e-02 4.26940079e-04 9.99783699e-01 1.40961587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.210385723 meters Centerline goodness [0,1] 0.9999772147283995 Centerline is valid? [True, True] Translation: X:109.08, Y:3.18, Z:1.41 [[ 9.83940042e-01 -1.77523164e-01 -1.86418879e-02 1.09078906e+02] [ 1.77484365e-01 9.84116556e-01 -3.72873725e-03 3.17732453e+00] [ 1.90077277e-02 3.60210253e-04 9.99819272e-01 1.41016637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.11, Y:3.18, Z:1.41 [[ 9.83780452e-01 -1.78477350e-01 -1.79403912e-02 1.09107861e+02] [ 1.78441498e-01 9.83943964e-01 -3.59267370e-03 3.18165602e+00] [ 1.82935505e-02 3.33091874e-04 9.99832604e-01 1.41158400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.14, Y:3.18, Z:1.41 [[ 9.83541715e-01 -1.79863718e-01 -1.71679355e-02 1.09137136e+02] [ 1.79831032e-01 9.83691494e-01 -3.44172597e-03 3.18149374e+00] [ 1.75069937e-02 2.97753508e-04 9.99846697e-01 1.41415515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.16, Y:3.19, Z:1.41 [[ 9.83363538e-01 -1.80902009e-01 -1.64504034e-02 1.09163489e+02] [ 1.80872083e-01 9.83501088e-01 -3.30151087e-03 3.18985956e+00] [ 1.67762396e-02 2.71166671e-04 9.99859232e-01 1.41492097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.19, Y:3.19, Z:1.42 [[ 9.83217340e-01 -1.81828233e-01 -1.49049208e-02 1.09192513e+02] [ 1.81803754e-01 9.83330280e-01 -2.99252228e-03 3.19176109e+00] [ 1.52005849e-02 2.32529245e-04 9.99884437e-01 1.41649741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.360385723 meters Centerline goodness [0,1] 0.9999088879777687 Centerline is valid? [True, True] Translation: X:109.22, Y:3.20, Z:1.42 [[ 9.83078251e-01 -1.82674793e-01 -1.36774606e-02 1.09219154e+02] [ 1.82654217e-01 9.83173371e-01 -2.74934935e-03 3.20110430e+00] [ 1.39495519e-02 2.04579701e-04 9.99902679e-01 1.41830898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.25, Y:3.21, Z:1.42 [[ 9.83069174e-01 -1.82610602e-01 -1.51118430e-02 1.09246698e+02] [ 1.82585453e-01 9.83185291e-01 -3.03917200e-03 3.20601406e+00] [ 1.54127268e-02 2.28513597e-04 9.99881191e-01 1.41678589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.28, Y:3.21, Z:1.42 [[ 9.83122056e-01 -1.82221108e-01 -1.63245520e-02 1.09275564e+02] [ 1.82191634e-01 9.83257546e-01 -3.28743850e-03 3.20861265e+00] [ 1.66502796e-02 2.57756497e-04 9.99861341e-01 1.41603015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.30, Y:3.21, Z:1.42 [[ 9.83169436e-01 -1.81874646e-01 -1.73052746e-02 1.09302876e+02] [ 1.81841396e-01 9.83321683e-01 -3.48908273e-03 3.21499868e+00] [ 1.76512274e-02 2.83544208e-04 9.99844165e-01 1.41511887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.33, Y:3.22, Z:1.41 [[ 9.83144202e-01 -1.81777855e-01 -1.96033054e-02 1.09329719e+02] [ 1.81735116e-01 9.83339568e-01 -3.95499535e-03 3.22235123e+00] [ 1.99956364e-02 3.25721767e-04 9.99800014e-01 1.41237974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.36, Y:3.23, Z:1.41 [[ 9.83179293e-01 -1.81419343e-01 -2.11068815e-02 1.09355977e+02] [ 1.81369671e-01 9.83405762e-01 -4.26034155e-03 3.23085247e+00] [ 2.15295373e-02 3.60531439e-04 9.99768148e-01 1.41010154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.38, Y:3.24, Z:1.41 [[ 9.83138279e-01 -1.81627416e-01 -2.12274701e-02 1.09383464e+02] [ 1.81577151e-01 9.83367353e-01 -4.28799202e-03 3.23531083e+00] [ 2.16532180e-02 3.61265545e-04 9.99765476e-01 1.41108913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.41, Y:3.24, Z:1.41 [[ 9.83062908e-01 -1.82079498e-01 -2.08416522e-02 1.09411344e+02] [ 1.82031022e-01 9.83283750e-01 -4.21586626e-03 3.24030510e+00] [ 2.12608807e-02 3.50634497e-04 9.99773900e-01 1.41273012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.44, Y:3.25, Z:1.42 [[ 9.82971183e-01 -1.82756460e-01 -1.91762766e-02 1.09438687e+02] [ 1.82715464e-01 9.83158165e-01 -3.88343456e-03 3.24522867e+00] [ 1.95630356e-02 3.13501992e-04 9.99808576e-01 1.41600846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63038572299999 meters Centerline goodness [0,1] 0.999954406601924 Centerline is valid? [True, True] Translation: X:109.47, Y:3.25, Z:1.42 [[ 9.82976155e-01 -1.82864560e-01 -1.78446350e-02 1.09465950e+02] [ 1.82829030e-01 9.83138071e-01 -3.61640529e-03 3.25142315e+00] [ 1.82050524e-02 2.92322855e-04 9.99834232e-01 1.41728042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66038572299999 meters Centerline goodness [0,1] 0.9999772913071123 Centerline is valid? [True, True] Translation: X:109.49, Y:3.26, Z:1.42 [[ 9.83045507e-01 -1.82650929e-01 -1.61297437e-02 1.09493576e+02] [ 1.82621804e-01 9.83177789e-01 -3.27297077e-03 3.25791951e+00] [ 1.64562169e-02 2.71836306e-04 9.99864550e-01 1.41827305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69038572299999 meters Centerline goodness [0,1] 0.9999773309455262 Centerline is valid? [True, True] Translation: X:109.52, Y:3.26, Z:1.42 [[ 9.82979483e-01 -1.83103879e-01 -1.49768685e-02 1.09520479e+02] [ 1.83078761e-01 9.83093540e-01 -3.04296255e-03 3.26424360e+00] [ 1.52808409e-02 2.49223226e-04 9.99883210e-01 1.41945141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.55, Y:3.27, Z:1.42 [[ 9.82837318e-01 -1.83968370e-01 -1.36545236e-02 1.09548063e+02] [ 1.83947564e-01 9.82932140e-01 -2.77514724e-03 3.26939706e+00] [ 1.39320095e-02 2.15801916e-04 9.99902922e-01 1.42109240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.58, Y:3.27, Z:1.42 [[ 9.82742939e-01 -1.84525252e-01 -1.29130485e-02 1.09576384e+02] [ 1.84506649e-01 9.82827753e-01 -2.62773750e-03 3.27321169e+00] [ 1.31761863e-02 1.99847165e-04 9.99913170e-01 1.42213944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.60, Y:3.28, Z:1.42 [[ 9.82779278e-01 -1.84267706e-01 -1.37950360e-02 1.09603098e+02] [ 1.84246387e-01 9.82876067e-01 -2.81163754e-03 3.27922905e+00] [ 1.40769048e-02 2.21533559e-04 9.99900891e-01 1.42197042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.63, Y:3.29, Z:1.42 [[ 9.83134280e-01 -1.82202047e-01 -1.57924401e-02 1.09630412e+02] [ 1.82173808e-01 9.83261069e-01 -3.22076980e-03 3.28838040e+00] [ 1.61149224e-02 2.89480228e-04 9.99870104e-01 1.41882228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.66, Y:3.30, Z:1.42 [[ 9.83524691e-01 -1.79878846e-01 -1.79661721e-02 1.09658506e+02] [ 1.79841820e-01 9.83688700e-01 -3.66903543e-03 3.29697384e+00] [ 1.83331023e-02 3.77517853e-04 9.99831863e-01 1.41596221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.69, Y:3.30, Z:1.42 [[ 9.83624971e-01 -1.79246767e-01 -1.87753082e-02 1.09686435e+02] [ 1.79206134e-01 9.83804060e-01 -3.83848889e-03 3.30188960e+00] [ 1.91592612e-02 4.10983127e-04 9.99816360e-01 1.41576585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.71, Y:3.31, Z:1.42 [[ 9.83715868e-01 -1.78683143e-01 -1.93758907e-02 1.09713514e+02] [ 1.78639723e-01 9.83906572e-01 -3.96306985e-03 3.30746419e+00] [ 1.97722000e-02 4.37230935e-04 9.99804415e-01 1.41589256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.74, Y:3.31, Z:1.42 [[ 9.83808381e-01 -1.78131009e-01 -1.97588659e-02 1.09741773e+02] [ 1.78085693e-01 9.84006673e-01 -4.04398984e-03 3.31331295e+00] [ 2.01632159e-02 4.59739777e-04 9.99796596e-01 1.41668591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.77, Y:3.32, Z:1.42 [[ 9.83857994e-01 -1.77784706e-01 -2.03971938e-02 1.09769492e+02] [ 1.77736231e-01 9.84069287e-01 -4.17986376e-03 3.32022122e+00] [ 2.08153678e-02 4.87072019e-04 9.99783218e-01 1.41656305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.80, Y:3.33, Z:1.41 [[ 9.84062221e-01 -1.76589247e-01 -2.09232703e-02 1.09796270e+02] [ 1.76537875e-01 9.84284490e-01 -4.29203741e-03 3.32943118e+00] [ 2.13523781e-02 5.29882175e-04 9.99771872e-01 1.41461898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.82, Y:3.33, Z:1.42 [[ 9.84111982e-01 -1.76331378e-01 -2.07569776e-02 1.09824346e+02] [ 1.76280704e-01 9.84330717e-01 -4.26071148e-03 3.33428300e+00] [ 2.11830277e-02 5.33962608e-04 9.99775472e-01 1.41506260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05038572299999 meters Centerline goodness [0,1] 0.9999772001823986 Centerline is valid? [True, True] Translation: X:109.85, Y:3.34, Z:1.42 [[ 9.84260064e-01 -1.75667258e-01 -1.93168513e-02 1.09853380e+02] [ 1.75623154e-01 9.84449465e-01 -3.96969055e-03 3.33834103e+00] [ 1.97138086e-02 5.14721535e-04 9.99805531e-01 1.41812512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.88, Y:3.34, Z:1.42 [[ 9.84198971e-01 -1.76107612e-01 -1.83982264e-02 1.09881142e+02] [ 1.76067593e-01 9.84370800e-01 -3.78550952e-03 3.34394449e+00] [ 1.87773339e-02 4.86363137e-04 9.99823572e-01 1.41994949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.91, Y:3.35, Z:1.42 [[ 9.84129898e-01 -1.76652511e-01 -1.67998151e-02 1.09908634e+02] [ 1.76619154e-01 9.84273183e-01 -3.46072853e-03 3.35025241e+00] [ 1.71469539e-02 4.38637291e-04 9.99852884e-01 1.42139397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.94, Y:3.36, Z:1.42 [[ 9.84118529e-01 -1.76681984e-01 -1.71521920e-02 1.09936103e+02] [ 1.76647182e-01 9.84267888e-01 -3.53533048e-03 3.35711638e+00] [ 1.75069810e-02 4.49297849e-04 9.99846640e-01 1.42082723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.170385723 meters Centerline goodness [0,1] 0.9999773463516299 Centerline is valid? [True, True] Translation: X:109.96, Y:3.37, Z:1.42 [[ 9.84242177e-01 -1.75872536e-01 -1.83354209e-02 1.09964272e+02] [ 1.75832524e-01 9.84412820e-01 -3.78462536e-03 3.36547744e+00] [ 1.87152350e-02 5.01024572e-04 9.99824729e-01 1.41871144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.200385723 meters Centerline goodness [0,1] 0.9999773463516299 Centerline is valid? [True, True] Translation: X:109.99, Y:3.37, Z:1.42 [[ 9.84194421e-01 -1.76139684e-01 -1.83344930e-02 1.09991293e+02] [ 1.76099635e-01 9.84365055e-01 -3.78911551e-03 3.37113580e+00] [ 1.87152478e-02 5.00528809e-04 9.99824729e-01 1.41912905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.02, Y:3.38, Z:1.42 [[ 9.84299827e-01 -1.75568318e-01 -1.81553180e-02 1.10019311e+02] [ 1.75528865e-01 9.84467117e-01 -3.75672286e-03 3.37687160e+00] [ 1.85328751e-02 5.10959307e-04 9.99828121e-01 1.41978170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.05, Y:3.38, Z:1.42 [[ 9.84586005e-01 -1.73887819e-01 -1.87996077e-02 1.10046589e+02] [ 1.73845157e-01 9.84765306e-01 -3.89277336e-03 3.38063098e+00] [ 1.91901073e-02 5.64549415e-04 9.99815694e-01 1.42276540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.07, Y:3.39, Z:1.42 [[ 9.84641524e-01 -1.73437445e-01 -2.00130286e-02 1.10073794e+02] [ 1.73388935e-01 9.84844696e-01 -4.14743405e-03 3.38858958e+00] [ 2.04290454e-02 6.13698076e-04 9.99791117e-01 1.42189453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.320385723 meters Centerline goodness [0,1] 0.9999773175766099 Centerline is valid? [True, True] Translation: X:110.10, Y:3.40, Z:1.42 [[ 9.84881012e-01 -1.71690801e-01 -2.30577961e-02 1.10100801e+02] [ 1.71625780e-01 9.85150597e-01 -4.78464889e-03 3.40023631e+00] [ 2.35368818e-02 7.54997599e-04 9.99722684e-01 1.41618728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.13, Y:3.41, Z:1.41 [[ 9.84963953e-01 -1.71079662e-01 -2.40366456e-02 1.10129003e+02] [ 1.71008668e-01 9.85256868e-01 -4.99394497e-03 3.40509716e+00] [ 2.45366326e-02 8.08381034e-04 9.99698605e-01 1.41469738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38038572299999 meters Centerline goodness [0,1] 0.9999773576361373 Centerline is valid? [True, True] Translation: X:110.16, Y:3.41, Z:1.41 [[ 9.85041622e-01 -1.70434488e-01 -2.53985900e-02 1.10155866e+02] [ 1.70354875e-01 9.85368620e-01 -5.28191837e-03 3.41270568e+00] [ 2.59271946e-02 8.76135803e-04 9.99663450e-01 1.41375639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.18, Y:3.42, Z:1.41 [[ 9.85113171e-01 -1.69807849e-01 -2.67830997e-02 1.10183060e+02] [ 1.69719019e-01 9.85476739e-01 -5.57233866e-03 3.41909827e+00] [ 2.73403486e-02 9.43782803e-04 9.99625737e-01 1.41437381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.21, Y:3.42, Z:1.42 [[ 9.85005222e-01 -1.70391779e-01 -2.70435475e-02 1.10211244e+02] [ 1.70301300e-01 9.85375946e-01 -5.63132627e-03 3.42002664e+00] [ 2.76075929e-02 9.41334492e-04 9.99618395e-01 1.41748689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.24, Y:3.43, Z:1.42 [[ 9.84762741e-01 -1.72009425e-01 -2.55949678e-02 1.10238295e+02] [ 1.71928786e-01 9.85094934e-01 -5.33505452e-03 3.42757851e+00] [ 2.61311528e-02 8.53251170e-04 9.99658159e-01 1.41914049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.500385723 meters Centerline goodness [0,1] 0.9999773273477531 Centerline is valid? [True, True] Translation: X:110.27, Y:3.43, Z:1.42 [[ 9.84689183e-01 -1.72618855e-01 -2.42887793e-02 1.10266494e+02] [ 1.72546322e-01 9.84988372e-01 -5.06684305e-03 3.43375329e+00] [ 2.47987979e-02 7.98325990e-04 9.99692144e-01 1.42034040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.29, Y:3.44, Z:1.42 [[ 9.84663496e-01 -1.73094343e-01 -2.18208192e-02 1.10293056e+02] [ 1.73035836e-01 9.84904993e-01 -4.55576615e-03 3.44170041e+00] [ 2.22800111e-02 7.10112923e-04 9.99751518e-01 1.42167087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.32, Y:3.45, Z:1.42 [[ 9.84665531e-01 -1.73183230e-01 -2.10086005e-02 1.10320045e+02] [ 1.73128971e-01 9.84889385e-01 -4.38841833e-03 3.44811392e+00] [ 2.14511481e-02 6.83926876e-04 9.99769664e-01 1.42283432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.590385723 meters Centerline goodness [0,1] 0.9999547777325555 Centerline is valid? [True, True] Translation: X:110.35, Y:3.45, Z:1.42 [[ 9.84639469e-01 -1.73390353e-01 -2.05158825e-02 1.10348554e+02] [ 1.73338571e-01 9.84852953e-01 -4.28951804e-03 3.45062364e+00] [ 2.09488886e-02 6.67435007e-04 9.99780325e-01 1.42493042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.620385723 meters Centerline goodness [0,1] 0.9999546577795915 Centerline is valid? [True, True] Translation: X:110.38, Y:3.46, Z:1.43 [[ 9.84419409e-01 -1.74657874e-01 -2.03237492e-02 1.10376760e+02] [ 1.74607212e-01 9.84628975e-01 -4.25484443e-03 3.45502898e+00] [ 2.07544944e-02 6.39878255e-04 9.99784398e-01 1.42669609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.40, Y:3.46, Z:1.43 [[ 9.84226816e-01 -1.75680896e-01 -2.08278049e-02 1.10404179e+02] [ 1.75627823e-01 9.84446959e-01 -4.36488095e-03 3.46087933e+00] [ 2.12706954e-02 6.38090839e-04 9.99773550e-01 1.42642439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.43, Y:3.47, Z:1.43 [[ 9.83858141e-01 -1.77550252e-01 -2.23397991e-02 1.10432869e+02] [ 1.77489585e-01 9.84111524e-01 -4.68562421e-03 3.46634467e+00] [ 2.28167875e-02 6.44907857e-04 9.99739455e-01 1.42579530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.46, Y:3.47, Z:1.42 [[ 9.83745012e-01 -1.77730325e-01 -2.56453466e-02 1.10459410e+02] [ 1.77650301e-01 9.84078952e-01 -5.38398420e-03 3.47415028e+00] [ 2.61939430e-02 7.40564066e-04 9.99656605e-01 1.42312347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74038572299999 meters Centerline goodness [0,1] 0.9999774210300526 Centerline is valid? [True, True] Translation: X:110.49, Y:3.48, Z:1.42 [[ 9.83623099e-01 -1.78117838e-01 -2.75614851e-02 1.10487109e+02] [ 1.78025435e-01 9.84008848e-01 -5.79061713e-03 3.48143116e+00] [ 2.81521574e-02 7.89139380e-04 9.99603338e-01 1.42152471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77038572299999 meters Centerline goodness [0,1] 0.9999774926851227 Centerline is valid? [True, True] Translation: X:110.51, Y:3.49, Z:1.42 [[ 9.83435825e-01 -1.78933565e-01 -2.89267580e-02 1.10514765e+02] [ 1.78831917e-01 9.83860824e-01 -6.08470153e-03 3.48869002e+00] [ 2.95486613e-02 8.10885881e-04 9.99563014e-01 1.41955511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80038572299999 meters Centerline goodness [0,1] 0.9999774251077951 Centerline is valid? [True, True] Translation: X:110.54, Y:3.49, Z:1.42 [[ 9.82790879e-01 -1.82089042e-01 -3.10752281e-02 1.10543380e+02] [ 1.81973053e-01 9.83281738e-01 -6.54454471e-03 3.49171477e+00] [ 3.17473942e-02 7.77064708e-04 9.99495622e-01 1.41931260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83038572299999 meters Centerline goodness [0,1] 0.9999774169508368 Centerline is valid? [True, True] Translation: X:110.57, Y:3.50, Z:1.42 [[ 9.82320693e-01 -1.84589857e-01 -3.11871745e-02 1.10571628e+02] [ 1.84474054e-01 9.82815388e-01 -6.57551283e-03 3.49566952e+00] [ 3.18650080e-02 7.06037829e-04 9.99491932e-01 1.41989578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.860385723 meters Centerline goodness [0,1] 0.9999549214506277 Centerline is valid? [True, True] Translation: X:110.60, Y:3.50, Z:1.42 [[ 9.81453135e-01 -1.89395507e-01 -2.96493884e-02 1.10600616e+02] [ 1.89292917e-01 9.81900741e-01 -6.25516573e-03 3.49752942e+00] [ 3.02974567e-02 5.26732808e-04 9.99540788e-01 1.42349908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.63, Y:3.50, Z:1.43 [[ 9.81011032e-01 -1.91763784e-01 -2.90517990e-02 1.10628002e+02] [ 1.91666275e-01 9.81441008e-01 -6.13081062e-03 3.50188062e+00] [ 2.96882943e-02 4.46142759e-04 9.99559106e-01 1.42560478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.66, Y:3.51, Z:1.43 [[ 9.80226153e-01 -1.95924563e-01 -2.77534677e-02 1.10657118e+02] [ 1.95837184e-01 9.80618922e-01 -5.85886778e-03 3.50500607e+00] [ 2.83634717e-02 3.07854458e-04 9.99597628e-01 1.42922661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.68, Y:3.51, Z:1.43 [[ 9.79784123e-01 -1.98224195e-01 -2.70229657e-02 1.10684351e+02] [ 1.98142175e-01 9.80156677e-01 -5.70668023e-03 3.51142204e+00] [ 2.76179424e-02 2.36925484e-04 9.99618524e-01 1.42826667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.71, Y:3.51, Z:1.43 [[ 9.78879943e-01 -2.02810726e-01 -2.57267773e-02 1.10712160e+02] [ 2.02737915e-01 9.79217952e-01 -5.43502394e-03 3.51457355e+00] [ 2.62944034e-02 1.04442738e-04 9.99654237e-01 1.42914913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.74, Y:3.52, Z:1.43 [[ 9.78446460e-01 -2.04915081e-01 -2.55408319e-02 1.10740204e+02] [ 2.04843934e-01 9.78779754e-01 -5.39962614e-03 3.51953286e+00] [ 2.61053140e-02 5.13606123e-05 9.99659197e-01 1.42925262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.77, Y:3.52, Z:1.43 [[ 9.77942897e-01 -2.07293202e-01 -2.56362655e-02 1.10767772e+02] [ 2.07222161e-01 9.78278860e-01 -5.42655409e-03 3.52467322e+00] [ 2.62043044e-02 -5.54229785e-06 9.99656608e-01 1.43123212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.80, Y:3.53, Z:1.43 [[ 9.77154489e-01 -2.11014188e-01 -2.53400477e-02 1.10795082e+02] [ 2.10945847e-01 9.77482994e-01 -5.37088215e-03 3.52986995e+00] [ 2.59027980e-02 -9.71962338e-05 9.99664462e-01 1.43183619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.82, Y:3.54, Z:1.43 [[ 9.76814328e-01 -2.12437926e-01 -2.65310469e-02 1.10823526e+02] [ 2.12363334e-01 9.77174554e-01 -5.63067746e-03 3.53526792e+00] [ 2.71216333e-02 -1.34095155e-04 9.99632132e-01 1.43292541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13038572299999 meters Centerline goodness [0,1] 0.999977642639957 Centerline is valid? [True, True] Translation: X:110.85, Y:3.54, Z:1.43 [[ 9.76324486e-01 -2.14336446e-01 -2.91613772e-02 1.10851166e+02] [ 2.14247013e-01 9.76759872e-01 -6.19432640e-03 3.54072030e+00] [ 2.98113329e-02 -2.00065402e-04 9.99555523e-01 1.43204912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.88, Y:3.55, Z:1.43 [[ 9.76011384e-01 -2.15645845e-01 -2.99774478e-02 1.10879233e+02] [ 2.15551796e-01 9.76471613e-01 -6.37277703e-03 3.54784254e+00] [ 3.06463897e-02 -2.41789782e-04 9.99530260e-01 1.43203068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.91, Y:3.56, Z:1.43 [[ 9.75744536e-01 -2.16642820e-01 -3.14402348e-02 1.10905533e+02] [ 2.16539704e-01 9.76250895e-01 -6.68932792e-03 3.55610507e+00] [ 3.21427522e-02 -2.80983965e-04 9.99483249e-01 1.43007906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.93, Y:3.56, Z:1.43 [[ 9.75591105e-01 -2.17263014e-01 -3.19183026e-02 1.10932815e+02] [ 2.17156945e-01 9.76113053e-01 -6.79484156e-03 3.56277147e+00] [ 3.26321395e-02 -3.02294097e-04 9.99467384e-01 1.42830436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.96, Y:3.57, Z:1.43 [[ 9.75460675e-01 -2.17891242e-01 -3.16208647e-02 1.10960425e+02] [ 2.17787262e-01 9.75973006e-01 -6.73798112e-03 3.57037133e+00] [ 3.23292575e-02 -3.13985942e-04 9.99477224e-01 1.42828185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.99, Y:3.58, Z:1.43 [[ 9.75019377e-01 -2.20166023e-01 -2.93962095e-02 1.10988527e+02] [ 2.20076974e-01 9.75462350e-01 -6.27128684e-03 3.57871658e+00] [ 3.00556199e-02 -3.54802642e-04 9.99548165e-01 1.43152222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.02, Y:3.58, Z:1.43 [[ 9.74679831e-01 -2.21805806e-01 -2.83092074e-02 1.11015675e+02] [ 2.21723699e-01 9.75090784e-01 -6.04677884e-03 3.58387644e+00] [ 2.89452579e-02 -3.83148797e-04 9.99580925e-01 1.43398453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.04, Y:3.59, Z:1.44 [[ 9.74264710e-01 -2.23942572e-01 -2.56514923e-02 1.11041985e+02] [ 2.23875764e-01 9.74602260e-01 -5.48428014e-03 3.58804834e+00] [ 2.62281662e-02 -3.99606838e-04 9.99655903e-01 1.43824941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.07, Y:3.59, Z:1.44 [[ 9.74150893e-01 -2.24565341e-01 -2.45039695e-02 1.11068728e+02] [ 2.24504463e-01 9.74458954e-01 -5.24340186e-03 3.59493753e+00] [ 2.50555988e-02 -3.93385919e-04 9.99685982e-01 1.43981705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.10, Y:3.61, Z:1.44 [[ 9.74322782e-01 -2.23955352e-01 -2.32189052e-02 1.11096511e+02] [ 2.23900378e-01 9.74599341e-01 -4.97439223e-03 3.60515903e+00] [ 2.37431715e-02 -3.52057977e-04 9.99718029e-01 1.44044024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.12, Y:3.61, Z:1.44 [[ 9.74497955e-01 -2.23237085e-01 -2.27802207e-02 1.11124738e+02] [ 2.23183848e-01 9.74764125e-01 -4.88576953e-03 3.61376763e+00] [ 2.32960268e-02 -3.23004889e-04 9.99728559e-01 1.44047453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.15, Y:3.62, Z:1.44 [[ 9.74736989e-01 -2.22148259e-01 -2.31938152e-02 1.11151281e+02] [ 2.22092662e-01 9.75012852e-01 -4.97867378e-03 3.62084818e+00] [ 2.37202716e-02 -2.98278685e-04 9.99718590e-01 1.44042621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.18, Y:3.63, Z:1.44 [[ 9.75463934e-01 -2.18850650e-01 -2.39688449e-02 1.11178765e+02] [ 2.18790192e-01 9.75758343e-01 -5.14860325e-03 3.63012828e+00] [ 2.45145755e-02 -2.21871399e-04 9.99699448e-01 1.44042356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.21, Y:3.64, Z:1.44 [[ 9.76040076e-01 -2.16248966e-01 -2.41278668e-02 1.11205800e+02] [ 2.16186762e-01 9.76338242e-01 -5.18863721e-03 3.64113599e+00] [ 2.46789965e-02 -1.51807559e-04 9.99695416e-01 1.43991721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.23, Y:3.65, Z:1.44 [[ 9.76296518e-01 -2.15051745e-01 -2.44511062e-02 1.11231883e+02] [ 2.14987369e-01 9.76602648e-01 -5.26292161e-03 3.64914663e+00] [ 2.50108156e-02 -1.18506962e-04 9.99687174e-01 1.43959235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.26, Y:3.66, Z:1.44 [[ 9.76582213e-01 -2.13742282e-01 -2.45238299e-02 1.11258498e+02] [ 2.13676997e-01 9.76890081e-01 -5.28304111e-03 3.65741566e+00] [ 2.50862955e-02 -8.08543474e-05 9.99685286e-01 1.44060416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.29, Y:3.67, Z:1.44 [[ 9.77082918e-01 -2.11360656e-01 -2.52119779e-02 1.11285240e+02] [ 2.11290679e-01 9.77408140e-01 -5.43838794e-03 3.66660345e+00] [ 2.57918537e-02 -1.32999721e-05 9.99667335e-01 1.44079326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.640385723 meters Centerline goodness [0,1] 0.9999778677821305 Centerline is valid? [True, True] Translation: X:111.31, Y:3.67, Z:1.44 [[ 9.77188233e-01 -2.10806571e-01 -2.57633056e-02 1.11312631e+02] [ 2.10733114e-01 9.77527795e-01 -5.56460989e-03 3.67401686e+00] [ 2.63574036e-02 8.48968786e-06 9.99652583e-01 1.44154231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.34, Y:3.68, Z:1.44 [[ 9.77176188e-01 -2.10697431e-01 -2.70793218e-02 1.11340354e+02] [ 2.10616026e-01 9.77551325e-01 -5.85640347e-03 3.68250352e+00] [ 2.77053561e-02 1.93988822e-05 9.99616133e-01 1.44030747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.37, Y:3.69, Z:1.44 [[ 9.77032787e-01 -2.11296492e-01 -2.75812524e-02 1.11367263e+02] [ 2.11212138e-01 9.77422014e-01 -5.96995754e-03 3.68914089e+00] [ 2.82199543e-02 7.34898038e-06 9.99601738e-01 1.43753403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.39, Y:3.70, Z:1.44 [[ 9.76643088e-01 -2.13252422e-01 -2.62998843e-02 1.11394987e+02] [ 2.13176323e-01 9.76997135e-01 -5.69672412e-03 3.69547178e+00] [ 2.69097518e-02 -4.28463917e-05 9.99637866e-01 1.44022718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.42, Y:3.70, Z:1.44 [[ 9.76370495e-01 -2.14720952e-01 -2.44042768e-02 1.11423879e+02] [ 2.14655770e-01 9.76675436e-01 -5.29083801e-03 3.70085432e+00] [ 2.49711114e-02 -7.27006931e-05 9.99688171e-01 1.44235724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.45, Y:3.71, Z:1.44 [[ 9.76126103e-01 -2.15913716e-01 -2.36452593e-02 1.11450597e+02] [ 2.15852802e-01 9.76412443e-01 -5.12932526e-03 3.70518763e+00] [ 2.41950170e-02 -9.70271906e-05 9.99707253e-01 1.44410270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.48, Y:3.71, Z:1.45 [[ 9.75763410e-01 -2.17821089e-01 -2.09700173e-02 1.11478114e+02] [ 2.17773575e-01 9.75988707e-01 -4.55113637e-03 3.70924181e+00] [ 2.14578335e-02 -1.25883291e-04 9.99769746e-01 1.44769880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85038572299999 meters Centerline goodness [0,1] 0.9999558771620191 Centerline is valid? [True, True] Translation: X:111.50, Y:3.72, Z:1.45 [[ 9.75869604e-01 -2.17452650e-01 -1.98207068e-02 1.11504378e+02] [ 2.17410088e-01 9.76070865e-01 -4.30355084e-03 3.71776791e+00] [ 2.02822329e-02 -1.09517148e-04 9.99794288e-01 1.44711978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.53, Y:3.73, Z:1.45 [[ 9.76107327e-01 -2.16345784e-01 -2.02234458e-02 1.11531255e+02] [ 2.16301167e-01 9.76316800e-01 -4.39440812e-03 3.72593364e+00] [ 2.06952015e-02 -8.49409471e-05 9.99785828e-01 1.44592562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.56, Y:3.73, Z:1.44 [[ 9.76381586e-01 -2.15047907e-01 -2.08181547e-02 1.11558592e+02] [ 2.15000209e-01 9.76603499e-01 -4.52939910e-03 3.73434654e+00] [ 2.13051205e-02 -5.34857209e-05 9.99773019e-01 1.44484387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.59, Y:3.74, Z:1.44 [[ 9.77101350e-01 -2.11602701e-01 -2.22990889e-02 1.11585320e+02] [ 2.11546964e-01 9.77355767e-01 -4.85653093e-03 3.74359490e+00] [ 2.28217982e-02 2.80183711e-05 9.99739548e-01 1.44301292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.61, Y:3.75, Z:1.44 [[ 9.77558954e-01 -2.09272831e-01 -2.41531082e-02 1.11612499e+02] [ 2.09206674e-01 9.77857287e-01 -5.26249054e-03 3.75211290e+00] [ 2.47195892e-02 9.14033040e-05 9.99694420e-01 1.44362502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.64, Y:3.76, Z:1.44 [[ 9.77609824e-01 -2.08912129e-01 -2.51943445e-02 1.11640143e+02] [ 2.08839922e-01 9.77934410e-01 -5.49330929e-03 3.75994045e+00] [ 2.57860353e-02 1.08728190e-04 9.99667479e-01 1.44369491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.67, Y:3.77, Z:1.44 [[ 9.77561400e-01 -2.09114350e-01 -2.53948231e-02 1.11667520e+02] [ 2.09040883e-01 9.77891188e-01 -5.54374353e-03 3.76703830e+00] [ 2.59926501e-02 1.10793442e-04 9.99662128e-01 1.44305637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.70, Y:3.77, Z:1.44 [[ 9.77105198e-01 -2.11157927e-01 -2.60338474e-02 1.11695457e+02] [ 2.11081238e-01 9.77451956e-01 -5.69079414e-03 3.77210604e+00] [ 2.66484913e-02 6.52477960e-05 9.99644864e-01 1.44415784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.72, Y:3.78, Z:1.44 [[ 9.77046999e-01 -2.11427252e-01 -2.60322752e-02 1.11722396e+02] [ 2.11350468e-01 9.77393735e-01 -5.69797910e-03 3.77806613e+00] [ 2.66484907e-02 6.52598430e-05 9.99644864e-01 1.44457510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.75, Y:3.78, Z:1.45 [[ 9.76727130e-01 -2.12933885e-01 -2.57541009e-02 1.11750260e+02] [ 2.12859062e-01 9.77066610e-01 -5.64447653e-03 3.78302280e+00] [ 2.63653724e-02 3.11196008e-05 9.99652373e-01 1.44549186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.78, Y:3.79, Z:1.45 [[ 9.75819732e-01 -2.17134171e-01 -2.50719268e-02 1.11777110e+02] [ 2.17064505e-01 9.76141765e-01 -5.50040401e-03 3.78798641e+00] [ 2.56680805e-02 -7.48226067e-05 9.99670518e-01 1.44540461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.81, Y:3.79, Z:1.45 [[ 9.75268978e-01 -2.19607749e-01 -2.49570884e-02 1.11805171e+02] [ 2.19539418e-01 9.75588242e-01 -5.47956066e-03 3.79301298e+00] [ 2.55511960e-02 -1.35019135e-04 9.99673506e-01 1.44602071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.83, Y:3.80, Z:1.45 [[ 9.74395371e-01 -2.23585206e-01 -2.37343136e-02 1.11834019e+02] [ 2.23524448e-01 9.74684362e-01 -5.21679071e-03 3.79550564e+00] [ 2.42998616e-02 -2.21982625e-04 9.99704690e-01 1.44848004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.86, Y:3.80, Z:1.45 [[ 9.74055284e-01 -2.25179736e-01 -2.25918369e-02 1.11860654e+02] [ 2.25125000e-01 9.74317211e-01 -4.97067143e-03 3.80024275e+00] [ 2.31309100e-02 -2.44278519e-04 9.99732415e-01 1.44909059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.89, Y:3.81, Z:1.45 [[ 9.73807044e-01 -2.26445549e-01 -2.05488423e-02 1.11887943e+02] [ 2.26400459e-01 9.74023795e-01 -4.52539774e-03 3.80714671e+00] [ 2.10398176e-02 -2.45403130e-04 9.99778608e-01 1.45064172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30038572299999 meters Centerline goodness [0,1] 0.9999780239099859 Centerline is valid? [True, True] Translation: X:111.91, Y:3.81, Z:1.45 [[ 9.73826339e-01 -2.26390867e-01 -2.02345250e-02 1.11914922e+02] [ 2.26347016e-01 9.74036509e-01 -4.46186415e-03 3.81288482e+00] [ 2.07192914e-02 -2.34943520e-04 9.99785305e-01 1.45102609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.94, Y:3.82, Z:1.45 [[ 9.74249041e-01 -2.24504554e-01 -2.08928633e-02 1.11943048e+02] [ 2.24457244e-01 9.74473020e-01 -4.61288807e-03 3.82168569e+00] [ 2.13951459e-02 -1.95452726e-04 9.99771079e-01 1.45176711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.97, Y:3.83, Z:1.45 [[ 9.74582677e-01 -2.23044753e-01 -2.09676672e-02 1.11970015e+02] [ 2.22996673e-01 9.74808193e-01 -4.63369555e-03 3.82863892e+00] [ 2.14729753e-02 -1.59800629e-04 9.99769416e-01 1.45141036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.390385723 meters Centerline goodness [0,1] 0.9999780821917809 Centerline is valid? [True, True] Translation: X:112.00, Y:3.84, Z:1.45 [[ 9.75485645e-01 -2.19013595e-01 -2.14662939e-02 1.11997005e+02] [ 2.18962158e-01 9.75721805e-01 -4.74690510e-03 3.84074985e+00] [ 2.19847678e-02 -6.97682411e-05 9.99758303e-01 1.45025446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.02, Y:3.85, Z:1.45 [[ 9.75975807e-01 -2.16705187e-01 -2.25851012e-02 1.12023449e+02] [ 2.16647523e-01 9.76237093e-01 -4.99890355e-03 3.84916708e+00] [ 2.31317019e-02 -1.41973125e-05 9.99732426e-01 1.44928351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.450385723 meters Centerline goodness [0,1] 0.999978076906213 Centerline is valid? [True, True] Translation: X:112.05, Y:3.86, Z:1.45 [[ 9.76390560e-01 -2.14726635e-01 -2.35360870e-02 1.12051780e+02] [ 2.14663352e-01 9.76674189e-01 -5.21292924e-03 3.85711329e+00] [ 2.41064434e-02 3.75195746e-05 9.99709397e-01 1.44871003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.08, Y:3.87, Z:1.45 [[ 9.77339333e-01 -2.10194838e-01 -2.50191725e-02 1.12078786e+02] [ 2.10121717e-01 9.77659503e-01 -5.54624994e-03 3.86604491e+00] [ 2.56260248e-02 1.63496737e-04 9.99671586e-01 1.44981940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.11, Y:3.87, Z:1.45 [[ 9.77740259e-01 -2.08394372e-01 -2.44084349e-02 1.12106145e+02] [ 2.08324151e-01 9.78044857e-01 -5.41346928e-03 3.87376771e+00] [ 2.50006807e-02 2.08100385e-04 9.99687412e-01 1.45069674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.540385723 meters Centerline goodness [0,1] 0.9999342436928742 Centerline is valid? [True, True] Translation: X:112.13, Y:3.88, Z:1.45 [[ 9.78204782e-01 -2.06365627e-01 -2.29919996e-02 1.12133334e+02] [ 2.06302688e-01 9.78474919e-01 -5.10236869e-03 3.88408602e+00] [ 2.35500484e-02 2.47850128e-04 9.99722628e-01 1.45043841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.16, Y:3.89, Z:1.45 [[ 9.78256342e-01 -2.06200940e-01 -2.22643518e-02 1.12160403e+02] [ 2.06141785e-01 9.78509638e-01 -4.94506800e-03 3.89156534e+00] [ 2.28055605e-02 2.47930911e-04 9.99739889e-01 1.45046017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60038572299999 meters Centerline goodness [0,1] 0.9999780422467173 Centerline is valid? [True, True] Translation: X:112.19, Y:3.90, Z:1.45 [[ 9.78475202e-01 -2.05235545e-01 -2.15557681e-02 1.12188650e+02] [ 2.05179732e-01 9.78712573e-01 -4.79354382e-03 3.89842507e+00] [ 2.20807068e-02 2.67557036e-04 9.99756156e-01 1.45066306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.22, Y:3.90, Z:1.45 [[ 9.78494223e-01 -2.05093127e-01 -2.20423372e-02 1.12217191e+02] [ 2.05034601e-01 9.78742422e-01 -4.90740902e-03 3.90474687e+00] [ 2.25802464e-02 2.82429548e-04 9.99744994e-01 1.45111055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66038572299999 meters Centerline goodness [0,1] 0.9999342090835326 Centerline is valid? [True, True] Translation: X:112.25, Y:3.91, Z:1.45 [[ 9.78758669e-01 -2.03911021e-01 -2.12547519e-02 1.12245303e+02] [ 2.03856210e-01 9.78989379e-01 -4.73733791e-03 3.91132081e+00] [ 2.17741718e-02 3.03797376e-04 9.99762868e-01 1.45252659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.27, Y:3.92, Z:1.45 [[ 9.78921533e-01 -2.03163195e-01 -2.09128899e-02 1.12272109e+02] [ 2.03109864e-01 9.79144838e-01 -4.66572275e-03 3.91860131e+00] [ 2.14246513e-02 3.19762243e-04 9.99770415e-01 1.45288262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72038572299999 meters Centerline goodness [0,1] 0.9999780701754386 Centerline is valid? [True, True] Translation: X:112.30, Y:3.93, Z:1.45 [[ 9.79348432e-01 -2.01152453e-01 -2.03553123e-02 1.12300346e+02] [ 2.01101424e-01 9.79559882e-01 -4.54471091e-03 3.92606886e+00] [ 2.08534270e-02 3.57373228e-04 9.99782480e-01 1.45242631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.33, Y:3.93, Z:1.45 [[ 9.79528737e-01 -2.00258497e-01 -2.04936125e-02 1.12328536e+02] [ 2.00206466e-01 9.79743021e-01 -4.58086006e-03 3.93071461e+00] [ 2.09958299e-02 3.84130345e-04 9.99779489e-01 1.45309778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.36, Y:3.94, Z:1.45 [[ 9.79696285e-01 -1.99439187e-01 -2.04743655e-02 1.12356751e+02] [ 1.99386964e-01 9.79910121e-01 -4.58181683e-03 3.93561083e+00] [ 2.09768318e-02 4.06467357e-04 9.99779879e-01 1.45405472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.810385723 meters Centerline goodness [0,1] 0.9999120299098306 Centerline is valid? [True, True] Translation: X:112.38, Y:3.94, Z:1.45 [[ 9.80060770e-01 -1.97566369e-01 -2.11758552e-02 1.12383856e+02] [ 1.97509971e-01 9.80289402e-01 -4.74332253e-03 3.94223175e+00] [ 2.16955875e-02 4.66301789e-04 9.99764514e-01 1.45239403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.840385723 meters Centerline goodness [0,1] 0.9998462315752477 Centerline is valid? [True, True] Translation: X:112.41, Y:3.95, Z:1.45 [[ 9.80233783e-01 -1.96650058e-01 -2.16906803e-02 1.12410412e+02] [ 1.96590614e-01 9.80473612e-01 -4.86065353e-03 3.94950097e+00] [ 2.22229874e-02 5.00392639e-04 9.99752914e-01 1.45131857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.870385723 meters Centerline goodness [0,1] 0.9997579438429716 Centerline is valid? [True, True] Translation: X:112.44, Y:3.96, Z:1.45 [[ 9.80583852e-01 -1.94713147e-01 -2.32830280e-02 1.12438215e+02] [ 1.94644055e-01 9.80860055e-01 -5.21968745e-03 3.95567037e+00] [ 2.38537339e-02 5.86438244e-04 9.99715287e-01 1.45029828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.900385723 meters Centerline goodness [0,1] 0.9999780007039775 Centerline is valid? [True, True] Translation: X:112.47, Y:3.96, Z:1.45 [[ 9.80682732e-01 -1.94072391e-01 -2.44394477e-02 1.12466896e+02] [ 1.93995969e-01 9.80987005e-01 -5.48277668e-03 3.95979006e+00] [ 2.50388362e-02 6.35710055e-04 9.99686277e-01 1.45137801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.930385723 meters Centerline goodness [0,1] 0.9999116217410517 Centerline is valid? [True, True] Translation: X:112.49, Y:3.96, Z:1.45 [[ 9.80792774e-01 -1.93368407e-01 -2.55772243e-02 1.12494627e+02] [ 1.93284289e-01 9.81125977e-01 -5.74467257e-03 3.96178455e+00] [ 2.62053173e-02 6.90657721e-04 9.99656343e-01 1.45271685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96038572299999 meters Centerline goodness [0,1] 0.9998891524597069 Centerline is valid? [True, True] Translation: X:112.52, Y:3.97, Z:1.45 [[ 9.80756821e-01 -1.93552222e-01 -2.55654999e-02 1.12522706e+02] [ 1.93468065e-01 9.81089730e-01 -5.74886654e-03 3.96576400e+00] [ 2.61947552e-02 6.92132289e-04 9.99656619e-01 1.45372841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99038572299999 meters Centerline goodness [0,1] 0.9998673710736311 Centerline is valid? [True, True] Translation: X:112.55, Y:3.97, Z:1.45 [[ 9.80704742e-01 -1.93878920e-01 -2.50833194e-02 1.12550284e+02] [ 1.93797833e-01 9.81025232e-01 -5.64754972e-03 3.97131899e+00] [ 2.57023101e-02 6.77485858e-04 9.99669411e-01 1.45417703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.58, Y:3.97, Z:1.46 [[ 9.80726860e-01 -1.93873143e-01 -2.42493457e-02 1.12577916e+02] [ 1.93797188e-01 9.81026384e-01 -5.46656370e-03 3.97448640e+00] [ 2.48490678e-02 6.61750848e-04 9.99690995e-01 1.45536389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.61, Y:3.98, Z:1.46 [[ 9.80740059e-01 -1.93796071e-01 -2.43314403e-02 1.12605026e+02] [ 1.93719450e-01 9.81041606e-01 -5.49019765e-03 3.98170343e+00] [ 2.49341340e-02 6.70983546e-04 9.99688871e-01 1.45505163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08038572299999 meters Centerline goodness [0,1] 0.9999110458780883 Centerline is valid? [True, True] Translation: X:112.63, Y:3.98, Z:1.46 [[ 9.80914310e-01 -1.92916880e-01 -2.42938983e-02 1.12633978e+02] [ 1.92840160e-01 9.81214857e-01 -5.48433805e-03 3.98214501e+00] [ 2.48955553e-02 6.94826432e-04 9.99689816e-01 1.45640811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.110385723 meters Centerline goodness [0,1] 0.999977768885332 Centerline is valid? [True, True] Translation: X:112.66, Y:3.99, Z:1.46 [[ 9.81016174e-01 -1.92392533e-01 -2.43388345e-02 1.12661306e+02] [ 1.92315296e-01 9.81317791e-01 -5.49735506e-03 3.98905798e+00] [ 2.49417814e-02 7.12264069e-04 9.99688652e-01 1.45575437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.140385723 meters Centerline goodness [0,1] 0.9999553939826482 Centerline is valid? [True, True] Translation: X:112.69, Y:3.99, Z:1.46 [[ 9.81292864e-01 -1.90940122e-01 -2.46208312e-02 1.12690443e+02] [ 1.90860532e-01 9.81601390e-01 -5.56486039e-03 3.99166402e+00] [ 2.52303972e-02 7.61612845e-04 9.99681373e-01 1.45694571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.170385723 meters Centerline goodness [0,1] 0.9999775845064108 Centerline is valid? [True, True] Translation: X:112.72, Y:4.00, Z:1.46 [[ 9.81725943e-01 -1.88578566e-01 -2.55401052e-02 1.12719802e+02] [ 1.88492010e-01 9.82057732e-01 -5.77687741e-03 3.99791601e+00] [ 2.61712530e-02 8.57204665e-04 9.99657107e-01 1.45604351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.200385723 meters Centerline goodness [0,1] 0.9999551559452006 Centerline is valid? [True, True] Translation: X:112.75, Y:4.01, Z:1.46 [[ 9.81977439e-01 -1.87207454e-01 -2.59553196e-02 1.12747515e+02] [ 1.87117493e-01 9.82319978e-01 -5.87412099e-03 4.00520379e+00] [ 2.65961082e-02 9.11559940e-04 9.99645845e-01 1.45576168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.77, Y:4.01, Z:1.46 [[ 9.82229476e-01 -1.85929337e-01 -2.56034676e-02 1.12773698e+02] [ 1.85841199e-01 9.82562669e-01 -5.80084121e-03 4.01435225e+00] [ 2.62355580e-02 9.39578107e-04 9.99655347e-01 1.45514390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.80, Y:4.02, Z:1.46 [[ 9.82775497e-01 -1.82877586e-01 -2.66103590e-02 1.12802260e+02] [ 1.82781139e-01 9.83135114e-01 -6.03343617e-03 4.01952966e+00] [ 2.72649586e-02 1.06564150e-03 9.99627674e-01 1.45560893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.290385723 meters Centerline goodness [0,1] 0.9999775512952903 Centerline is valid? [True, True] Translation: X:112.83, Y:4.02, Z:1.46 [[ 9.82862997e-01 -1.82218103e-01 -2.78727875e-02 1.12831742e+02] [ 1.82111898e-01 9.83257476e-01 -6.32397680e-03 4.02093051e+00] [ 2.85584698e-02 1.13963656e-03 9.99591474e-01 1.45647153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.86, Y:4.03, Z:1.45 [[ 9.82921254e-01 -1.81525652e-01 -3.02365170e-02 1.12858721e+02] [ 1.81400135e-01 9.83385397e-01 -6.86674465e-03 4.02925627e+00] [ 3.09806395e-02 1.26456098e-03 9.99519185e-01 1.45314296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.89, Y:4.03, Z:1.45 [[ 9.82908689e-01 -1.81480004e-01 -3.09114422e-02 1.12887400e+02] [ 1.81348593e-01 9.83393775e-01 -7.02646911e-03 4.03150546e+00] [ 3.16732835e-02 1.30063099e-03 9.99497429e-01 1.45398172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38038572299999 meters Centerline goodness [0,1] 0.9999548634619725 Centerline is valid? [True, True] Translation: X:112.91, Y:4.04, Z:1.45 [[ 9.82778959e-01 -1.82270751e-01 -3.03791347e-02 1.12914007e+02] [ 1.82144039e-01 9.83247573e-01 -6.91081667e-03 4.04141023e+00] [ 3.11298502e-02 1.25842690e-03 9.99514557e-01 1.45235836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41038572299999 meters Centerline goodness [0,1] 0.9999775088839908 Centerline is valid? [True, True] Translation: X:112.94, Y:4.04, Z:1.45 [[ 9.82601758e-01 -1.83342655e-01 -2.96522589e-02 1.12942991e+02] [ 1.83222269e-01 9.83048336e-01 -6.75055525e-03 4.04376428e+00] [ 3.03872685e-02 1.20015332e-03 9.99537480e-01 1.45456433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.97, Y:4.04, Z:1.46 [[ 9.82388322e-01 -1.84553746e-01 -2.92078590e-02 1.12972025e+02] [ 1.84437252e-01 9.82821747e-01 -6.65687379e-03 4.04476517e+00] [ 2.99346700e-02 1.15261783e-03 9.99551193e-01 1.45763770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47038572299999 meters Centerline goodness [0,1] 0.9999774317309862 Centerline is valid? [True, True] Translation: X:113.00, Y:4.05, Z:1.46 [[ 9.81922757e-01 -1.87245824e-01 -2.76893461e-02 1.13000605e+02] [ 1.87142079e-01 9.82312559e-01 -6.31499558e-03 4.04902911e+00] [ 2.83820490e-02 1.01899607e-03 9.99596629e-01 1.45883200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.500385723 meters Centerline goodness [0,1] 0.9999548114507784 Centerline is valid? [True, True] Translation: X:113.03, Y:4.05, Z:1.46 [[ 9.81627884e-01 -1.88843183e-01 -2.72937719e-02 1.13029547e+02] [ 1.88742889e-01 9.82006785e-01 -6.22869109e-03 4.05134831e+00] [ 2.79789150e-02 9.62751501e-04 9.99608050e-01 1.46052212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.530385723 meters Centerline goodness [0,1] 0.9998868727091723 Centerline is valid? [True, True] Translation: X:113.06, Y:4.05, Z:1.46 [[ 9.81077615e-01 -1.91832835e-01 -2.62083123e-02 1.13058069e+02] [ 1.91741283e-01 9.81427249e-01 -5.98632164e-03 4.05133436e+00] [ 2.68699249e-02 8.47830735e-04 9.99638579e-01 1.46230747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.09, Y:4.06, Z:1.46 [[ 9.80706654e-01 -1.93755893e-01 -2.59444241e-02 1.13086513e+02] [ 1.93666718e-01 9.81049452e-01 -5.93087591e-03 4.05528853e+00] [ 2.66019052e-02 7.91877993e-04 9.99645793e-01 1.46325294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.590385723 meters Centerline goodness [0,1] 0.9999545485535077 Centerline is valid? [True, True] Translation: X:113.11, Y:4.06, Z:1.46 [[ 9.80038658e-01 -1.97117920e-01 -2.58602841e-02 1.13114254e+02] [ 1.97030364e-01 9.80379534e-01 -5.91645596e-03 4.05934463e+00] [ 2.65191328e-02 7.03094374e-04 9.99648059e-01 1.46281824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.620385723 meters Centerline goodness [0,1] 0.9999544999544999 Centerline is valid? [True, True] Translation: X:113.14, Y:4.06, Z:1.46 [[ 9.79714103e-01 -1.98706034e-01 -2.60036320e-02 1.13143119e+02] [ 1.98617951e-01 9.80058909e-01 -5.95344891e-03 4.06366883e+00] [ 2.66680774e-02 6.67889756e-04 9.99644120e-01 1.46283991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.650385723 meters Centerline goodness [0,1] 0.9999770973135149 Centerline is valid? [True, True] Translation: X:113.17, Y:4.07, Z:1.46 [[ 9.79029912e-01 -2.01805551e-01 -2.78379444e-02 1.13171589e+02] [ 2.01705702e-01 9.79425405e-01 -6.37860587e-03 4.06541211e+00] [ 2.85524280e-02 6.29773822e-04 9.99592098e-01 1.46281533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.680385723 meters Centerline goodness [0,1] 0.999977201741787 Centerline is valid? [True, True] Translation: X:113.20, Y:4.07, Z:1.46 [[ 9.78653213e-01 -2.03654228e-01 -2.76196465e-02 1.13199373e+02] [ 2.03556605e-01 9.79042709e-01 -6.33105061e-03 4.07026456e+00] [ 2.83301588e-02 5.73741534e-04 9.99598456e-01 1.46340160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71038572299999 meters Centerline goodness [0,1] 0.9999544844222935 Centerline is valid? [True, True] Translation: X:113.23, Y:4.08, Z:1.46 [[ 9.78259981e-01 -2.05630596e-01 -2.68973420e-02 1.13227503e+02] [ 2.05538641e-01 9.78629552e-01 -6.16976770e-03 4.07539297e+00] [ 2.75912268e-02 5.07193704e-04 9.99619161e-01 1.46438593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74038572299999 meters Centerline goodness [0,1] 0.9999772354762338 Centerline is valid? [True, True] Translation: X:113.26, Y:4.08, Z:1.47 [[ 9.77566176e-01 -2.09173276e-01 -2.47166427e-02 1.13255267e+02] [ 2.09096653e-01 9.77878519e-01 -5.67380300e-03 4.07908171e+00] [ 2.53566819e-02 3.78350632e-04 9.99678396e-01 1.46654430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.28, Y:4.08, Z:1.47 [[ 9.77215676e-01 -2.10849683e-01 -2.43296749e-02 1.13282708e+02] [ 2.10775908e-01 9.77518440e-01 -5.58708546e-03 4.08406582e+00] [ 2.49607410e-02 3.31678196e-04 9.99688377e-01 1.46790287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80038572299999 meters Centerline goodness [0,1] 0.999977201741787 Centerline is valid? [True, True] Translation: X:113.31, Y:4.09, Z:1.47 [[ 9.76610628e-01 -2.13671090e-01 -2.40072091e-02 1.13311796e+02] [ 2.13600020e-01 9.76905624e-01 -5.51666051e-03 4.08735550e+00] [ 2.46315285e-02 2.59688949e-04 9.99696564e-01 1.46964202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.34, Y:4.09, Z:1.47 [[ 9.76083179e-01 -2.16118851e-01 -2.35429307e-02 1.13339398e+02] [ 2.16051107e-01 9.76367043e-01 -5.41447108e-03 4.09176751e+00] [ 2.41567109e-02 1.98497915e-04 9.99708164e-01 1.47020672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.37, Y:4.10, Z:1.47 [[ 9.75782937e-01 -2.17532442e-01 -2.29629229e-02 1.13367542e+02] [ 2.17468307e-01 9.76053078e-01 -5.28442965e-03 4.09718829e+00] [ 2.35625664e-02 1.62748321e-04 9.99722351e-01 1.47173639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.39, Y:4.10, Z:1.47 [[ 9.75366588e-01 -2.19434523e-01 -2.25501476e-02 1.13394723e+02] [ 2.19373081e-01 9.75627222e-01 -5.19376984e-03 4.10233997e+00] [ 2.31402303e-02 1.18934203e-04 9.99732222e-01 1.47263406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.42, Y:4.11, Z:1.47 [[ 9.74381188e-01 -2.23744185e-01 -2.28000224e-02 1.13423630e+02] [ 2.23682473e-01 9.74647905e-01 -5.25468733e-03 4.10516533e+00] [ 2.33976998e-02 2.01030843e-05 9.99726236e-01 1.47493588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.45, Y:4.11, Z:1.48 [[ 9.73970558e-01 -2.25530277e-01 -2.27474548e-02 1.13450431e+02] [ 2.25469226e-01 9.74236159e-01 -5.24732408e-03 4.10992498e+00] [ 2.33448234e-02 -1.81118640e-05 9.99727472e-01 1.47544886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.48, Y:4.12, Z:1.48 [[ 9.73318041e-01 -2.28325857e-01 -2.27880160e-02 1.13477900e+02] [ 2.28265255e-01 9.73584766e-01 -5.26086850e-03 4.11673350e+00] [ 2.33872575e-02 -8.12140619e-05 9.99726477e-01 1.47635070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.50, Y:4.12, Z:1.48 [[ 9.73255076e-01 -2.28594245e-01 -2.27865647e-02 1.13504783e+02] [ 2.28533570e-01 9.73521784e-01 -5.26714838e-03 4.12301261e+00] [ 2.33872569e-02 -8.12160782e-05 9.99726477e-01 1.47676795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.53, Y:4.13, Z:1.48 [[ 9.72865746e-01 -2.30267926e-01 -2.25593254e-02 1.13531951e+02] [ 2.30208754e-01 9.73127263e-01 -5.22112985e-03 4.13016907e+00] [ 2.31553533e-02 -1.13895800e-04 9.99731872e-01 1.47670652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.56, Y:4.14, Z:1.48 [[ 9.72548663e-01 -2.31600797e-01 -2.25869026e-02 1.13558961e+02] [ 2.31541688e-01 9.72810902e-01 -5.23406407e-03 4.13656307e+00] [ 2.31849985e-02 -1.39427542e-04 9.99731182e-01 1.47663258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10038572299999 meters Centerline goodness [0,1] 0.9999772308112662 Centerline is valid? [True, True] Translation: X:113.59, Y:4.14, Z:1.48 [[ 9.71978213e-01 -2.33906617e-01 -2.33676776e-02 1.13585882e+02] [ 2.33843891e-01 9.72259048e-01 -5.42018282e-03 4.14237428e+00] [ 2.39872526e-02 -1.96089058e-04 9.99712245e-01 1.47701882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.61, Y:4.15, Z:1.48 [[ 9.71660304e-01 -2.35170981e-01 -2.38927449e-02 1.13614516e+02] [ 2.35105697e-01 9.71953989e-01 -5.54560523e-03 4.14895431e+00] [ 2.45268142e-02 -2.28875999e-04 9.99699146e-01 1.47784414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.64, Y:4.16, Z:1.48 [[ 9.71048365e-01 -2.37781251e-01 -2.29161360e-02 1.13642708e+02] [ 2.37721791e-01 9.71318691e-01 -5.32449280e-03 4.15513988e+00] [ 2.35249358e-02 -2.77324865e-04 9.99723212e-01 1.47983646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.67, Y:4.16, Z:1.48 [[ 9.70749032e-01 -2.39102420e-01 -2.18254357e-02 1.13670274e+02] [ 2.39048728e-01 9.70994309e-01 -5.07518351e-03 4.16144554e+00] [ 2.24058625e-02 -2.90613159e-04 9.99748915e-01 1.48126945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.70, Y:4.17, Z:1.48 [[ 9.70392076e-01 -2.40644840e-01 -2.07190463e-02 1.13698311e+02] [ 2.40596748e-01 9.70613191e-01 -4.82060905e-03 4.16884775e+00] [ 2.12702344e-02 -3.07054330e-04 9.99773716e-01 1.48286250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.73, Y:4.18, Z:1.48 [[ 9.69894788e-01 -2.42736348e-01 -1.95746124e-02 1.13725100e+02] [ 2.42693770e-01 9.70092241e-01 -4.55822171e-03 4.17716476e+00] [ 2.00956257e-02 -3.29641001e-04 9.99798008e-01 1.48449733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.75, Y:4.18, Z:1.49 [[ 9.69776932e-01 -2.43229523e-01 -1.92899160e-02 1.13751879e+02] [ 2.43188221e-01 9.69968705e-01 -4.49448998e-03 4.18467203e+00] [ 1.98038075e-02 -3.32427646e-04 9.99803830e-01 1.48549479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.78, Y:4.19, Z:1.49 [[ 9.69875589e-01 -2.42824067e-01 -1.94374621e-02 1.13778643e+02] [ 2.42781956e-01 9.70070291e-01 -4.53353057e-03 4.19069671e+00] [ 1.99565549e-02 -3.22104453e-04 9.99800796e-01 1.48761062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.340385723 meters Centerline goodness [0,1] 0.9999774784919598 Centerline is valid? [True, True] Translation: X:113.81, Y:4.20, Z:1.49 [[ 9.70009577e-01 -2.42266061e-01 -1.97123154e-02 1.13805835e+02] [ 2.42222584e-01 9.70209801e-01 -4.60021342e-03 4.20135571e+00] [ 2.02395572e-02 -3.12516900e-04 9.99795110e-01 1.48819945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.370385723 meters Centerline goodness [0,1] 0.999865080614333 Centerline is valid? [True, True] Translation: X:113.83, Y:4.21, Z:1.49 [[ 9.70258162e-01 -2.41181950e-01 -2.07452684e-02 1.13832104e+02] [ 2.41133448e-01 9.70479869e-01 -4.84601991e-03 4.21074816e+00] [ 2.13016379e-02 -3.00487723e-04 9.99773049e-01 1.48696881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.400385723 meters Centerline goodness [0,1] 0.9999776556285471 Centerline is valid? [True, True] Translation: X:113.86, Y:4.22, Z:1.48 [[ 9.70966187e-01 -2.38139262e-01 -2.26794150e-02 1.13858448e+02] [ 2.38080364e-01 9.71230986e-01 -5.30203264e-03 4.22427922e+00] [ 2.32895728e-02 -2.51428965e-04 9.99728729e-01 1.48488556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.89, Y:4.23, Z:1.49 [[ 9.71813073e-01 -2.34503374e-01 -2.42387987e-02 1.13885412e+02] [ 2.34434805e-01 9.72115291e-01 -5.67305372e-03 4.23422865e+00] [ 2.48932571e-02 -1.69270270e-04 9.99690101e-01 1.48510437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.91, Y:4.24, Z:1.49 [[ 9.72274228e-01 -2.32559828e-01 -2.44693987e-02 1.13911645e+02] [ 2.32489214e-01 9.72582086e-01 -5.73170628e-03 4.24252279e+00] [ 2.51314635e-02 -1.16080974e-04 9.99684148e-01 1.48568984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49038572299999 meters Centerline goodness [0,1] 0.9999326100141519 Centerline is valid? [True, True] Translation: X:113.94, Y:4.25, Z:1.49 [[ 9.73401613e-01 -2.27763876e-01 -2.47571671e-02 1.13937952e+02] [ 2.27689931e-01 9.73716394e-01 -5.80334455e-03 4.25264388e+00] [ 2.54282517e-02 1.20272884e-05 9.99676650e-01 1.48695440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52038572299999 meters Centerline goodness [0,1] 0.9999551076294584 Centerline is valid? [True, True] Translation: X:113.97, Y:4.26, Z:1.49 [[ 9.73845627e-01 -2.25791491e-01 -2.53554371e-02 1.13965607e+02] [ 2.25713076e-01 9.74175650e-01 -5.95061278e-03 4.26156105e+00] [ 2.60442471e-02 7.19245341e-05 9.99660788e-01 1.48631837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55038572299999 meters Centerline goodness [0,1] 0.9999775809886784 Centerline is valid? [True, True] Translation: X:113.99, Y:4.27, Z:1.49 [[ 9.74397044e-01 -2.23339018e-01 -2.58859666e-02 1.13992932e+02] [ 2.23256246e-01 9.74740818e-01 -6.08168920e-03 4.27059579e+00] [ 2.65903868e-02 1.46776247e-04 9.99646402e-01 1.48728449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58038572299999 meters Centerline goodness [0,1] 0.9998885620041009 Centerline is valid? [True, True] Translation: X:114.02, Y:4.28, Z:1.49 [[ 9.75301442e-01 -2.19350738e-01 -2.59297437e-02 1.14018431e+02] [ 2.19266150e-01 9.75646035e-01 -6.09666759e-03 4.28275440e+00] [ 2.66355601e-02 2.60573613e-04 9.99645177e-01 1.48631678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.610385723 meters Centerline goodness [0,1] 0.9999553541531799 Centerline is valid? [True, True] Translation: X:114.04, Y:4.29, Z:1.49 [[ 9.75975602e-01 -2.16395661e-01 -2.53878241e-02 1.14044736e+02] [ 2.16313503e-01 9.76305692e-01 -5.97193576e-03 4.29135958e+00] [ 2.60785782e-02 3.36734419e-04 9.99659839e-01 1.48691126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.640385723 meters Centerline goodness [0,1] 0.9999331029100235 Centerline is valid? [True, True] Translation: X:114.07, Y:4.30, Z:1.49 [[ 9.76153998e-01 -2.15625370e-01 -2.50813088e-02 1.14072680e+02] [ 2.15544815e-01 9.76476099e-01 -5.90431929e-03 4.29773951e+00] [ 2.57644196e-02 3.57378818e-04 9.99667978e-01 1.48896220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.10, Y:4.30, Z:1.49 [[ 9.76389852e-01 -2.14610907e-01 -2.45970793e-02 1.14100516e+02] [ 2.14532958e-01 9.76699551e-01 -5.79632871e-03 4.30429683e+00] [ 2.52679116e-02 3.82592343e-04 9.99680642e-01 1.49136621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.700385723 meters Centerline goodness [0,1] 0.9999777163740083 Centerline is valid? [True, True] Translation: X:114.13, Y:4.31, Z:1.49 [[ 9.76457617e-01 -2.14396878e-01 -2.37592513e-02 1.14126599e+02] [ 2.14323975e-01 9.76746556e-01 -5.60347613e-03 4.31058255e+00] [ 2.44081347e-02 3.79379762e-04 9.99702005e-01 1.49374933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.15, Y:4.32, Z:1.50 [[ 9.76511301e-01 -2.14177706e-01 -2.35284718e-02 1.14153952e+02] [ 2.14106045e-01 9.76794636e-01 -5.55335541e-03 4.31600049e+00] [ 2.41718900e-02 3.85326266e-04 9.99707743e-01 1.49540649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.760385723 meters Centerline goodness [0,1] 0.9999777382012467 Centerline is valid? [True, True] Translation: X:114.18, Y:4.33, Z:1.49 [[ 9.76958387e-01 -2.12121406e-01 -2.35970291e-02 1.14180514e+02] [ 2.12048603e-01 9.77243221e-01 -5.57462229e-03 4.32650346e+00] [ 2.42425335e-02 4.42456928e-04 9.99706009e-01 1.49449861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.790385723 meters Centerline goodness [0,1] 0.9997102612106624 Centerline is valid? [True, True] Translation: X:114.21, Y:4.33, Z:1.49 [[ 9.77183002e-01 -2.11111940e-01 -2.33480248e-02 1.14208769e+02] [ 2.11040297e-01 9.77461780e-01 -5.51915757e-03 4.33423028e+00] [ 2.39869619e-02 4.65852865e-04 9.99712163e-01 1.49499355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.820385723 meters Centerline goodness [0,1] 0.9999109349602547 Centerline is valid? [True, True] Translation: X:114.24, Y:4.34, Z:1.50 [[ 9.77409499e-01 -2.10062494e-01 -2.33327926e-02 1.14235408e+02] [ 2.09990544e-01 9.77687835e-01 -5.51980555e-03 4.34121944e+00] [ 2.39716916e-02 4.95444569e-04 9.99712515e-01 1.49593546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85038572299999 meters Centerline goodness [0,1] 0.9997776591960157 Centerline is valid? [True, True] Translation: X:114.26, Y:4.35, Z:1.50 [[ 9.77922621e-01 -2.07592666e-01 -2.39297279e-02 1.14263472e+02] [ 2.07516163e-01 9.78215189e-01 -5.66445918e-03 4.34913981e+00] [ 2.45843235e-02 5.73597444e-04 9.99697595e-01 1.49675784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88038572299999 meters Centerline goodness [0,1] 0.9998663488739893 Centerline is valid? [True, True] Translation: X:114.29, Y:4.36, Z:1.50 [[ 9.78194732e-01 -2.06277674e-01 -2.41782548e-02 1.14291222e+02] [ 2.06199030e-01 9.78493300e-01 -5.72900268e-03 4.35732769e+00] [ 2.48400257e-02 6.18547552e-04 9.99691248e-01 1.49656142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91038572299999 meters Centerline goodness [0,1] 0.9999336239130916 Centerline is valid? [True, True] Translation: X:114.32, Y:4.37, Z:1.50 [[ 9.78734299e-01 -2.03510963e-01 -2.57382971e-02 1.14319070e+02] [ 2.03420777e-01 9.79072390e-01 -6.10269351e-03 4.36752356e+00] [ 2.64416211e-02 7.37211045e-04 9.99650087e-01 1.49568681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94038572299999 meters Centerline goodness [0,1] 0.9999332517521415 Centerline is valid? [True, True] Translation: X:114.35, Y:4.38, Z:1.50 [[ 9.78919189e-01 -2.02619432e-01 -2.57407676e-02 1.14346232e+02] [ 2.02528884e-01 9.79257261e-01 -6.10467841e-03 4.37569562e+00] [ 2.64437601e-02 7.62737890e-04 9.99650012e-01 1.49566371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97038572299999 meters Centerline goodness [0,1] 0.9996656114851309 Centerline is valid? [True, True] Translation: X:114.37, Y:4.38, Z:1.50 [[ 9.79182656e-01 -2.01424355e-01 -2.50909443e-02 1.14373297e+02] [ 2.01337877e-01 9.79503765e-01 -5.95260574e-03 4.38274536e+00] [ 2.57756742e-02 7.76930830e-04 9.99667450e-01 1.49731072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.000385723 meters Centerline goodness [0,1] 0.9997770594136662 Centerline is valid? [True, True] Translation: X:114.40, Y:4.39, Z:1.50 [[ 9.79110667e-01 -2.01740244e-01 -2.53609104e-02 1.14400805e+02] [ 2.01651897e-01 9.79438750e-01 -6.02064748e-03 4.38843252e+00] [ 2.60540653e-02 7.80804469e-04 9.99660230e-01 1.49824185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.030385723 meters Centerline goodness [0,1] 0.999687827502397 Centerline is valid? [True, True] Translation: X:114.43, Y:4.39, Z:1.50 [[ 9.78661012e-01 -2.03644581e-01 -2.74136446e-02 1.14431513e+02] [ 2.03541887e-01 9.79044560e-01 -6.51539997e-03 4.38562483e+00] [ 2.81660055e-02 7.96542987e-04 9.99602942e-01 1.50097256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.060385723 meters Centerline goodness [0,1] 0.9995771670190274 Centerline is valid? [True, True] Translation: X:114.46, Y:4.40, Z:1.50 [[ 9.78313241e-01 -2.05269450e-01 -2.77066079e-02 1.14457626e+02] [ 2.05165055e-01 9.78705201e-01 -6.59006384e-03 4.39811720e+00] [ 2.84693401e-02 7.62718972e-04 9.99594375e-01 1.49718806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.090385723 meters Centerline goodness [0,1] 0.9997099379713508 Centerline is valid? [True, True] Translation: X:114.49, Y:4.40, Z:1.50 [[ 9.77726586e-01 -2.07969847e-01 -2.82712841e-02 1.14487876e+02] [ 2.07862138e-01 9.78134985e-01 -6.72926013e-03 4.39631237e+00] [ 2.90526152e-02 7.02846983e-04 9.99577637e-01 1.49805534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.120385723 meters Centerline goodness [0,1] 0.999799384779992 Centerline is valid? [True, True] Translation: X:114.52, Y:4.40, Z:1.50 [[ 9.77092394e-01 -2.11214576e-01 -2.60548919e-02 1.14515979e+02] [ 2.11124132e-01 9.77439556e-01 -6.20606525e-03 4.39968646e+00] [ 2.67778934e-02 5.63082724e-04 9.99641249e-01 1.50184362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.150385723 meters Centerline goodness [0,1] 0.9998225691980128 Centerline is valid? [True, True] Translation: X:114.55, Y:4.40, Z:1.50 [[ 9.76137064e-01 -2.15851271e-01 -2.37625865e-02 1.14545109e+02] [ 2.15777382e-01 9.76426172e-01 -5.66144211e-03 4.40308501e+00] [ 2.44244409e-02 3.98914784e-04 9.99701599e-01 1.50330370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.180385723 meters Centerline goodness [0,1] 0.9999554327480168 Centerline is valid? [True, True] Translation: X:114.57, Y:4.41, Z:1.50 [[ 9.75687877e-01 -2.17936870e-01 -2.31665150e-02 1.14573832e+02] [ 2.17867162e-01 9.75962809e-01 -5.52224716e-03 4.40690042e+00] [ 2.38131583e-02 3.40766741e-04 9.99716368e-01 1.50497349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.60, Y:4.42, Z:1.50 [[ 9.74878216e-01 -2.21649291e-01 -2.20012823e-02 1.14600509e+02] [ 2.21587260e-01 9.75126419e-01 -5.24910248e-03 4.41602881e+00] [ 2.26174915e-02 2.42031789e-04 9.99744163e-01 1.50214377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.63, Y:4.42, Z:1.51 [[ 9.74579665e-01 -2.23005920e-01 -2.15136282e-02 1.14629160e+02] [ 2.22946858e-01 9.74817068e-01 -5.13643805e-03 4.41885755e+00] [ 2.21173080e-02 2.09472281e-04 9.99755360e-01 1.50513485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27038572299999 meters Centerline goodness [0,1] 0.9998664054150338 Centerline is valid? [True, True] Translation: X:114.66, Y:4.42, Z:1.51 [[ 9.74358903e-01 -2.24043635e-01 -2.07166236e-02 1.14657335e+02] [ 2.23988992e-01 9.74579097e-01 -4.95133817e-03 4.42488721e+00] [ 2.12993041e-02 1.84084788e-04 9.99773127e-01 1.50591011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30038572299999 meters Centerline goodness [0,1] 0.9999777812340302 Centerline is valid? [True, True] Translation: X:114.68, Y:4.43, Z:1.51 [[ 9.74415609e-01 -2.23758634e-01 -2.11256972e-02 1.14684206e+02] [ 2.23701648e-01 9.74644568e-01 -5.05357533e-03 4.43259305e+00] [ 2.17208272e-02 1.98429395e-04 9.99764055e-01 1.50614799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33038572299999 meters Centerline goodness [0,1] 0.9999333614696018 Centerline is valid? [True, True] Translation: X:114.71, Y:4.44, Z:1.50 [[ 9.74475685e-01 -2.23465007e-01 -2.14599568e-02 1.14711287e+02] [ 2.23406088e-01 9.74711930e-01 -5.13550745e-03 4.44120729e+00] [ 2.20648822e-02 2.10142137e-04 9.99756519e-01 1.50436004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.360385723 meters Centerline goodness [0,1] 0.9999778058903167 Centerline is valid? [True, True] Translation: X:114.74, Y:4.45, Z:1.51 [[ 9.74605343e-01 -2.22911600e-01 -2.13270752e-02 1.14738193e+02] [ 2.22853203e-01 9.74838637e-01 -5.10700075e-03 4.44847806e+00] [ 2.19288666e-02 2.24503190e-04 9.99759508e-01 1.50588657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.390385723 meters Centerline goodness [0,1] 0.999955564442667 Centerline is valid? [True, True] Translation: X:114.76, Y:4.46, Z:1.50 [[ 9.74810067e-01 -2.21958770e-01 -2.19006181e-02 1.14764760e+02] [ 2.21896825e-01 9.75056018e-01 -5.24986603e-03 4.45799244e+00] [ 2.25195833e-02 2.57944632e-04 9.99746369e-01 1.50462380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.79, Y:4.47, Z:1.50 [[ 9.74865576e-01 -2.21514234e-01 -2.38443406e-02 1.14792552e+02] [ 2.21440561e-01 9.75157093e-01 -5.72030656e-03 4.46635841e+00] [ 2.45191072e-02 2.96425792e-04 9.99699318e-01 1.50314775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.82, Y:4.47, Z:1.50 [[ 9.74791652e-01 -2.21783411e-01 -2.43588531e-02 1.14819664e+02] [ 2.21706443e-01 9.75095907e-01 -5.85031173e-03 4.47362859e+00] [ 2.50497201e-02 3.02320351e-04 9.99686161e-01 1.50284743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.85, Y:4.48, Z:1.50 [[ 9.74642507e-01 -2.22437445e-01 -2.43632034e-02 1.14846584e+02] [ 2.22360475e-01 9.74946920e-01 -5.85848223e-03 4.48046389e+00] [ 2.50559759e-02 2.92512335e-04 9.99686007e-01 1.50331548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.510385723 meters Centerline goodness [0,1] 0.9999334161931818 Centerline is valid? [True, True] Translation: X:114.87, Y:4.49, Z:1.50 [[ 9.74547184e-01 -2.22958123e-01 -2.33978961e-02 1.14873342e+02] [ 2.22887161e-01 9.74827985e-01 -5.63138419e-03 4.48891351e+00] [ 2.40644868e-02 2.72958959e-04 9.99710371e-01 1.50299441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.540385723 meters Centerline goodness [0,1] 0.9999116919816319 Centerline is valid? [True, True] Translation: X:114.90, Y:4.50, Z:1.50 [[ 9.74458795e-01 -2.23500228e-01 -2.18564421e-02 1.14901789e+02] [ 2.23438377e-01 9.74703846e-01 -5.26343543e-03 4.49591182e+00] [ 2.24799372e-02 2.45432993e-04 9.99747264e-01 1.50486182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.570385723 meters Centerline goodness [0,1] 0.9998890319144215 Centerline is valid? [True, True] Translation: X:114.93, Y:4.50, Z:1.51 [[ 9.74273832e-01 -2.24566073e-01 -1.89889401e-02 1.14929150e+02] [ 2.24519508e-01 9.74458845e-01 -4.57715211e-03 4.50397002e+00] [ 1.95318137e-02 1.96012045e-04 9.99809217e-01 1.50749569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.96, Y:4.51, Z:1.51 [[ 9.74152090e-01 -2.25171197e-01 -1.80454064e-02 1.14956374e+02] [ 2.25129165e-01 9.74319198e-01 -4.35419287e-03 4.51025871e+00] [ 1.85624247e-02 1.79098804e-04 9.99827687e-01 1.50897292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.98, Y:4.52, Z:1.51 [[ 9.74061746e-01 -2.25671057e-01 -1.66219402e-02 1.14983740e+02] [ 2.25635391e-01 9.74203546e-01 -4.01524443e-03 4.51667159e+00] [ 1.70992775e-02 1.60598026e-04 9.99853784e-01 1.51064264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.01, Y:4.53, Z:1.51 [[ 9.74067553e-01 -2.25650496e-01 -1.65606862e-02 1.15008416e+02] [ 2.25615009e-01 9.74208308e-01 -4.00513119e-03 4.52782263e+00] [ 1.70373179e-02 1.64928973e-04 9.99854841e-01 1.50903160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.04, Y:4.54, Z:1.51 [[ 9.74105612e-01 -2.25504453e-01 -1.63094460e-02 1.15035494e+02] [ 2.25469952e-01 9.74242123e-01 -3.94810441e-03 4.53626303e+00] [ 1.67796645e-02 1.68580655e-04 9.99859197e-01 1.50805828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.06, Y:4.55, Z:1.51 [[ 9.74219605e-01 -2.24948853e-01 -1.71515369e-02 1.15063038e+02] [ 2.24910521e-01 9.74370554e-01 -4.15704244e-03 4.54501670e+00] [ 1.76470744e-02 1.92311142e-04 9.99844260e-01 1.50735813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.09, Y:4.55, Z:1.51 [[ 9.74385971e-01 -2.24142627e-01 -1.82225614e-02 1.15090100e+02] [ 2.24099138e-01 9.74556326e-01 -4.42083019e-03 4.55345769e+00] [ 1.87498090e-02 2.23934634e-04 9.99824182e-01 1.50624461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.780385723 meters Centerline goodness [0,1] 0.9999777807403457 Centerline is valid? [True, True] Translation: X:115.12, Y:4.56, Z:1.50 [[ 9.74463169e-01 -2.23597204e-01 -2.06354840e-02 1.15117915e+02] [ 2.23541250e-01 9.74681598e-01 -5.00911413e-03 4.56157618e+00] [ 2.12330505e-02 2.68315336e-04 9.99774517e-01 1.50495794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.15, Y:4.57, Z:1.50 [[ 9.74426919e-01 -2.23668697e-01 -2.15520971e-02 1.15145910e+02] [ 2.23607559e-01 9.74665190e-01 -5.23702311e-03 4.56981176e+00] [ 2.21774370e-02 2.83884465e-04 9.99754010e-01 1.50402447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.17, Y:4.58, Z:1.50 [[ 9.74340607e-01 -2.24026339e-01 -2.17389203e-02 1.15172499e+02] [ 2.23964100e-01 9.74583049e-01 -5.28796253e-03 4.57781002e+00] [ 2.23710261e-02 2.83538895e-04 9.99749697e-01 1.50359800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.20, Y:4.59, Z:1.50 [[ 9.74286031e-01 -2.24248315e-01 -2.18957216e-02 1.15198508e+02] [ 2.24185109e-01 9.74531996e-01 -5.33155431e-03 4.58645073e+00] [ 2.25336734e-02 2.85764160e-04 9.99746044e-01 1.50347950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.23, Y:4.59, Z:1.50 [[ 9.74228049e-01 -2.24500187e-01 -2.18946349e-02 1.15225288e+02] [ 2.24436944e-01 9.74474004e-01 -5.33601405e-03 4.59306772e+00] [ 2.25336887e-02 2.84529603e-04 9.99746044e-01 1.50389727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.930385723 meters Centerline goodness [0,1] 0.9999557071355805 Centerline is valid? [True, True] Translation: X:115.25, Y:4.60, Z:1.51 [[ 9.74138128e-01 -2.24881471e-01 -2.19825194e-02 1.15252469e+02] [ 2.24817676e-01 9.74386086e-01 -5.36362057e-03 4.59834415e+00] [ 2.26256399e-02 2.82848365e-04 9.99743967e-01 1.50526387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96038572299999 meters Centerline goodness [0,1] 0.9999779609467977 Centerline is valid? [True, True] Translation: X:115.28, Y:4.61, Z:1.51 [[ 9.74016570e-01 -2.25420024e-01 -2.18525515e-02 1.15278810e+02] [ 2.25357005e-01 9.74261637e-01 -5.33688036e-03 4.60614575e+00] [ 2.24931423e-02 2.73584346e-04 9.99746960e-01 1.50545944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.31, Y:4.61, Z:1.51 [[ 9.73930959e-01 -2.25855767e-01 -2.11579745e-02 1.15305639e+02] [ 2.25796753e-01 9.74160719e-01 -5.16913372e-03 4.61284824e+00] [ 2.17787463e-02 2.56977423e-04 9.99762782e-01 1.50676123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.33, Y:4.62, Z:1.51 [[ 9.73482801e-01 -2.27812474e-01 -2.08017585e-02 1.15332811e+02] [ 2.27755831e-01 9.73705003e-01 -5.08422102e-03 4.61859782e+00] [ 2.14130253e-02 2.11679915e-04 9.99770692e-01 1.50839188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05038572299999 meters Centerline goodness [0,1] 0.9998237147704987 Centerline is valid? [True, True] Translation: X:115.36, Y:4.63, Z:1.51 [[ 9.73193752e-01 -2.29028646e-01 -2.09714282e-02 1.15360152e+02] [ 2.28971277e-01 9.73419665e-01 -5.12941941e-03 4.62556282e+00] [ 2.15887846e-02 1.90064225e-04 9.99766917e-01 1.50566729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.39, Y:4.63, Z:1.51 [[ 9.72855526e-01 -2.30652645e-01 -1.87478812e-02 1.15387658e+02] [ 2.30607008e-01 9.73036144e-01 -4.59028056e-03 4.63295748e+00] [ 1.93011264e-02 1.42287007e-04 9.99813706e-01 1.50935738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.42, Y:4.64, Z:1.51 [[ 9.72728180e-01 -2.31276946e-01 -1.76312790e-02 1.15415142e+02] [ 2.31236619e-01 9.72887948e-01 -4.32059045e-03 4.63940039e+00] [ 1.81525118e-02 1.25762748e-04 9.99835222e-01 1.51098502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.44, Y:4.64, Z:1.51 [[ 9.72429588e-01 -2.32560905e-01 -1.72082173e-02 1.15442751e+02] [ 2.32522656e-01 9.72581830e-01 -4.21890752e-03 4.64318291e+00] [ 1.77175524e-02 1.01290117e-04 9.99843027e-01 1.51381687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.47, Y:4.65, Z:1.51 [[ 9.72354290e-01 -2.32880630e-01 -1.71390226e-02 1.15469610e+02] [ 2.32842650e-01 9.72505322e-01 -4.20692920e-03 4.65020884e+00] [ 1.76475030e-02 9.99302239e-05 9.99844266e-01 1.51377382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.50, Y:4.66, Z:1.51 [[ 9.72454483e-01 -2.32432557e-01 -1.75323911e-02 1.15495800e+02] [ 2.32392646e-01 9.72612509e-01 -4.30870064e-03 4.65960225e+00] [ 1.80537052e-02 1.15616501e-04 9.99837012e-01 1.51295240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.52, Y:4.67, Z:1.51 [[ 9.72663269e-01 -2.31490827e-01 -1.83891824e-02 1.15523504e+02] [ 2.31446648e-01 9.72837076e-01 -4.52467945e-03 4.66756763e+00] [ 1.89371002e-02 1.44874871e-04 9.99820667e-01 1.51258856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.55, Y:4.67, Z:1.51 [[ 9.72921027e-01 -2.30298681e-01 -1.96772342e-02 1.15551663e+02] [ 2.30247745e-01 9.73119974e-01 -4.84688883e-03 4.67473079e+00] [ 2.02645417e-02 1.85001266e-04 9.99794636e-01 1.51227816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.58, Y:4.68, Z:1.51 [[ 9.73570770e-01 -2.27303517e-01 -2.22051050e-02 1.15578542e+02] [ 2.27237758e-01 9.73823922e-01 -5.47454716e-03 4.68231515e+00] [ 2.28682463e-02 2.84020814e-04 9.99738447e-01 1.51161427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.61, Y:4.69, Z:1.51 [[ 9.73935173e-01 -2.25667847e-01 -2.28976272e-02 1.15606070e+02] [ 2.25597420e-01 9.74204245e-01 -5.64743332e-03 4.68928083e+00] [ 2.35814097e-02 3.34588338e-04 9.99721864e-01 1.51179104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.63, Y:4.70, Z:1.51 [[ 9.74683470e-01 -2.22418351e-01 -2.28519100e-02 1.15632658e+02] [ 2.22347230e-01 9.74951232e-01 -5.63961468e-03 4.69864863e+00] [ 2.35338516e-02 4.15780338e-04 9.99722954e-01 1.51165558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.66, Y:4.71, Z:1.51 [[ 9.75017140e-01 -2.21021553e-01 -2.21596263e-02 1.15659545e+02] [ 2.20954216e-01 9.75268824e-01 -5.47312750e-03 4.70654650e+00] [ 2.28212718e-02 4.40130274e-04 9.99739464e-01 1.51227279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41038572299999 meters Centerline goodness [0,1] 0.9998895271763146 Centerline is valid? [True, True] Translation: X:115.69, Y:4.71, Z:1.51 [[ 9.75491795e-01 -2.19093397e-01 -2.03431078e-02 1.15686830e+02] [ 2.19036193e-01 9.75703789e-01 -5.02621975e-03 4.71356405e+00] [ 2.09500589e-02 4.47159251e-04 9.99780423e-01 1.51417875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44038572299999 meters Centerline goodness [0,1] 0.9999778966447107 Centerline is valid? [True, True] Translation: X:115.71, Y:4.72, Z:1.52 [[ 9.75517793e-01 -2.19058829e-01 -1.94490195e-02 1.15714202e+02] [ 2.19006482e-01 9.75711558e-01 -4.80799860e-03 4.71802690e+00] [ 2.00298677e-02 4.30826836e-04 9.99799289e-01 1.51600683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47038572299999 meters Centerline goodness [0,1] 0.9999778863802216 Centerline is valid? [True, True] Translation: X:115.74, Y:4.72, Z:1.52 [[ 9.75748613e-01 -2.18132287e-01 -1.82468861e-02 1.15741623e+02] [ 2.18085966e-01 9.75919117e-01 -4.51526930e-03 4.72445837e+00] [ 1.87924110e-02 4.26377973e-04 9.99823316e-01 1.51689336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.500385723 meters Centerline goodness [0,1] 0.9999779429604958 Centerline is valid? [True, True] Translation: X:115.77, Y:4.73, Z:1.52 [[ 9.76064691e-01 -2.16775462e-01 -1.74962103e-02 1.15768301e+02] [ 2.16732628e-01 9.76221394e-01 -4.33106892e-03 4.73195229e+00] [ 1.80190442e-02 4.35403819e-04 9.99837549e-01 1.51666098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.530385723 meters Centerline goodness [0,1] 0.9998893144134771 Centerline is valid? [True, True] Translation: X:115.80, Y:4.74, Z:1.52 [[ 9.76241195e-01 -2.15966341e-01 -1.76541221e-02 1.15796022e+02] [ 2.15922561e-01 9.76400702e-01 -4.37226316e-03 4.73906368e+00] [ 1.81817589e-02 4.56460152e-04 9.99834594e-01 1.51703593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.560385723 meters Centerline goodness [0,1] 0.9999114809241392 Centerline is valid? [True, True] Translation: X:115.82, Y:4.75, Z:1.52 [[ 9.76432270e-01 -2.15127418e-01 -1.73267638e-02 1.15824383e+02] [ 2.15085036e-01 9.76585877e-01 -4.29553827e-03 4.74662529e+00] [ 1.78451609e-02 4.67574549e-04 9.99840653e-01 1.51715998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.590385723 meters Centerline goodness [0,1] 0.9998231184222163 Centerline is valid? [True, True] Translation: X:115.85, Y:4.76, Z:1.52 [[ 9.76992507e-01 -2.12644275e-01 -1.63723392e-02 1.15851260e+02] [ 2.12606023e-01 9.77129558e-01 -4.06262799e-03 4.75601215e+00] [ 1.68617911e-02 4.88299190e-04 9.99857711e-01 1.51702405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.620385723 meters Centerline goodness [0,1] 0.999977983752009 Centerline is valid? [True, True] Translation: X:115.88, Y:4.77, Z:1.52 [[ 9.77277688e-01 -2.11328226e-01 -1.63921136e-02 1.15878647e+02] [ 2.11289668e-01 9.77415018e-01 -4.06927326e-03 4.76567911e+00] [ 1.68818503e-02 5.13325731e-04 9.99857360e-01 1.51845894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.650385723 meters Centerline goodness [0,1] 0.9998678588732767 Centerline is valid? [True, True] Translation: X:115.91, Y:4.77, Z:1.52 [[ 9.77661367e-01 -2.09420177e-01 -1.79287816e-02 1.15906698e+02] [ 2.09373642e-01 9.77825561e-01 -4.45542857e-03 4.77221069e+00] [ 1.84642776e-02 6.02086085e-04 9.99829339e-01 1.51644677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.680385723 meters Centerline goodness [0,1] 0.9998452388848357 Centerline is valid? [True, True] Translation: X:115.93, Y:4.78, Z:1.52 [[ 9.77804815e-01 -2.08579121e-01 -1.98114563e-02 1.15933898e+02] [ 2.08522030e-01 9.78005254e-01 -4.92804717e-03 4.77991037e+00] [ 2.04035961e-02 6.87543176e-04 9.99791589e-01 1.51528402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71038572299999 meters Centerline goodness [0,1] 0.9995140484184485 Centerline is valid? [True, True] Translation: X:115.96, Y:4.79, Z:1.51 [[ 9.77758829e-01 -2.08557933e-01 -2.21644173e-02 1.15962495e+02] [ 2.08486389e-01 9.78009709e-01 -5.51673045e-03 4.78601372e+00] [ 2.28275732e-02 7.73052560e-04 9.99739118e-01 1.51268869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74038572299999 meters Centerline goodness [0,1] 0.9994458360117926 Centerline is valid? [True, True] Translation: X:115.99, Y:4.79, Z:1.51 [[ 9.77583456e-01 -2.09291075e-01 -2.29745897e-02 1.15989732e+02] [ 2.09214258e-01 9.77853068e-01 -5.72467462e-03 4.79127592e+00] [ 2.36638963e-02 7.89735464e-04 9.99719659e-01 1.51314808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77038572299999 meters Centerline goodness [0,1] 0.9996677225704982 Centerline is valid? [True, True] Translation: X:116.02, Y:4.80, Z:1.51 [[ 9.77206511e-01 -2.10930321e-01 -2.39965635e-02 1.16017121e+02] [ 2.10846840e-01 9.77500780e-01 -5.98621113e-03 4.79906081e+00] [ 2.47193330e-02 7.90164906e-04 9.99694118e-01 1.50952557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80038572299999 meters Centerline goodness [0,1] 0.9998007350662003 Centerline is valid? [True, True] Translation: X:116.05, Y:4.80, Z:1.51 [[ 9.76727699e-01 -2.13127285e-01 -2.40782532e-02 1.16046332e+02] [ 2.13043747e-01 9.77024160e-01 -6.01277675e-03 4.79961111e+00] [ 2.48065219e-02 7.43124314e-04 9.99691995e-01 1.51362610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83038572299999 meters Centerline goodness [0,1] 0.9999777950482958 Centerline is valid? [True, True] Translation: X:116.08, Y:4.80, Z:1.51 [[ 9.76453776e-01 -2.14474048e-01 -2.32143569e-02 1.16075046e+02] [ 2.14396638e-01 9.76729445e-01 -5.80288298e-03 4.80384075e+00] [ 2.39187137e-02 6.89166915e-04 9.99713669e-01 1.51495219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.860385723 meters Centerline goodness [0,1] 0.9999777624585826 Centerline is valid? [True, True] Translation: X:116.10, Y:4.81, Z:1.52 [[ 9.75973391e-01 -2.16835611e-01 -2.14069649e-02 1.16103125e+02] [ 2.16770260e-01 9.76207956e-01 -5.35540200e-03 4.80701890e+00] [ 2.20588913e-02 5.86336518e-04 9.99756501e-01 1.51752921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.890385723 meters Centerline goodness [0,1] 0.9999107142857143 Centerline is valid? [True, True] Translation: X:116.13, Y:4.81, Z:1.52 [[ 9.75630178e-01 -2.18528653e-01 -1.97733200e-02 1.16130660e+02] [ 2.18473184e-01 9.75830399e-01 -4.94968235e-03 4.81392344e+00] [ 2.03770542e-02 5.09119280e-04 9.99792237e-01 1.51833460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.920385723 meters Centerline goodness [0,1] 0.9998885197654456 Centerline is valid? [True, True] Translation: X:116.16, Y:4.82, Z:1.52 [[ 9.75515461e-01 -2.19036429e-01 -1.98148548e-02 1.16159308e+02] [ 2.18980723e-01 9.75716551e-01 -4.96533313e-03 4.81709689e+00] [ 2.04212706e-02 5.04688005e-04 9.99791337e-01 1.51936941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.19, Y:4.82, Z:1.52 [[ 9.75540147e-01 -2.18906899e-01 -2.00297425e-02 1.16186570e+02] [ 2.18849849e-01 9.75745613e-01 -5.02412486e-03 4.82378632e+00] [ 2.06437490e-02 5.17729372e-04 9.99786761e-01 1.51940910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.980385723 meters Centerline goodness [0,1] 0.9998884102930345 Centerline is valid? [True, True] Translation: X:116.21, Y:4.83, Z:1.52 [[ 9.75514332e-01 -2.18928770e-01 -2.10233437e-02 1.16214370e+02] [ 2.18865881e-01 9.75740691e-01 -5.27534656e-03 4.82809897e+00] [ 2.16682570e-02 5.44883543e-04 9.99765067e-01 1.52012623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.24, Y:4.83, Z:1.52 [[ 9.75496240e-01 -2.19041644e-01 -2.06843931e-02 1.16242460e+02] [ 2.18980726e-01 9.75715363e-01 -5.19338713e-03 4.83312896e+00] [ 2.13196482e-02 5.36646184e-04 9.99772566e-01 1.52117652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.040385723 meters Centerline goodness [0,1] 0.9999101809853146 Centerline is valid? [True, True] Translation: X:116.27, Y:4.84, Z:1.52 [[ 9.75515392e-01 -2.18953647e-01 -2.07128104e-02 1.16270930e+02] [ 2.18892416e-01 9.75735109e-01 -5.20643236e-03 4.84003942e+00] [ 2.13501837e-02 5.45077788e-04 9.99771910e-01 1.52134932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.070385723 meters Centerline goodness [0,1] 0.9998653168421289 Centerline is valid? [True, True] Translation: X:116.30, Y:4.85, Z:1.52 [[ 9.75522717e-01 -2.18894374e-01 -2.09924172e-02 1.16297903e+02] [ 2.18831363e-01 9.75748401e-01 -5.28139116e-03 4.84747891e+00] [ 2.16393843e-02 5.58317768e-04 9.99765685e-01 1.52192720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10038572299999 meters Centerline goodness [0,1] 0.9997317476639692 Centerline is valid? [True, True] Translation: X:116.32, Y:4.85, Z:1.52 [[ 9.75617309e-01 -2.18394477e-01 -2.17880253e-02 1.16324972e+02] [ 2.18326406e-01 9.75860389e-01 -5.48460002e-03 4.85493014e+00] [ 2.24598772e-02 5.93969444e-04 9.99747569e-01 1.52137513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13038572299999 meters Centerline goodness [0,1] 0.9997093153257904 Centerline is valid? [True, True] Translation: X:116.35, Y:4.86, Z:1.52 [[ 9.75647187e-01 -2.18186609e-01 -2.25204289e-02 1.16353380e+02] [ 2.18113736e-01 9.75906868e-01 -5.67296918e-03 4.86197727e+00] [ 2.32156071e-02 6.22801556e-04 9.99730287e-01 1.52155485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16038572299999 meters Centerline goodness [0,1] 0.9996858450767435 Centerline is valid? [True, True] Translation: X:116.38, Y:4.87, Z:1.52 [[ 9.75596500e-01 -2.18335441e-01 -2.32616380e-02 1.16382560e+02] [ 2.18257589e-01 9.75873567e-01 -5.86571403e-03 4.86531333e+00] [ 2.39811109e-02 6.45541060e-04 9.99712203e-01 1.52220511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19038572299999 meters Centerline goodness [0,1] 0.999753479303467 Centerline is valid? [True, True] Translation: X:116.41, Y:4.87, Z:1.52 [[ 9.75590735e-01 -2.18382213e-01 -2.30635362e-02 1.16408596e+02] [ 2.18305579e-01 9.75863103e-01 -5.82058425e-03 4.87359394e+00] [ 2.37779661e-02 6.43609436e-04 9.99717057e-01 1.52206399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22038572299999 meters Centerline goodness [0,1] 0.9996635639789166 Centerline is valid? [True, True] Translation: X:116.44, Y:4.88, Z:1.52 [[ 9.75366562e-01 -2.19414969e-01 -2.27407398e-02 1.16437612e+02] [ 2.19340660e-01 9.75631434e-01 -5.74282947e-03 4.87873670e+00] [ 2.34466433e-02 6.13394968e-04 9.99724901e-01 1.52263294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.250385723 meters Centerline goodness [0,1] 0.9996405221415894 Centerline is valid? [True, True] Translation: X:116.47, Y:4.88, Z:1.52 [[ 9.75105201e-01 -2.20597417e-01 -2.25083781e-02 1.16466380e+02] [ 2.20524807e-01 9.75364772e-01 -5.68957919e-03 4.88300547e+00] [ 2.32089855e-02 5.84282530e-04 9.99730464e-01 1.52424142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.280385723 meters Centerline goodness [0,1] 0.9994400268787098 Centerline is valid? [True, True] Translation: X:116.49, Y:4.89, Z:1.52 [[ 9.74715970e-01 -2.22389472e-01 -2.17186819e-02 1.16493021e+02] [ 2.22322215e-01 9.74957766e-01 -5.49430144e-03 4.89180010e+00] [ 2.23966724e-02 5.26837877e-04 9.99749024e-01 1.52437680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.310385723 meters Centerline goodness [0,1] 0.999641544941303 Centerline is valid? [True, True] Translation: X:116.52, Y:4.89, Z:1.53 [[ 9.73947346e-01 -2.25887655e-01 -2.00333283e-02 1.16522372e+02] [ 2.25831138e-01 9.74153272e-01 -5.06957714e-03 4.89315851e+00] [ 2.06606872e-02 4.13351862e-04 9.99786460e-01 1.52684665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.340385723 meters Centerline goodness [0,1] 0.999707674664388 Centerline is valid? [True, True] Translation: X:116.55, Y:4.90, Z:1.53 [[ 9.73067218e-01 -2.29694330e-01 -1.95116483e-02 1.16549802e+02] [ 2.29641454e-01 9.73262765e-01 -4.93899574e-03 4.89745762e+00] [ 2.01244201e-02 3.25291544e-04 9.99797430e-01 1.52691048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.370385723 meters Centerline goodness [0,1] 0.9999100921555406 Centerline is valid? [True, True] Translation: X:116.58, Y:4.90, Z:1.53 [[ 9.72585714e-01 -2.31743947e-01 -1.92813966e-02 1.16579286e+02] [ 2.31692665e-01 9.72776780e-01 -4.88317768e-03 4.90009553e+00] [ 1.98881418e-02 2.81950685e-04 9.99802172e-01 1.52820857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.400385723 meters Centerline goodness [0,1] 0.9998429049125878 Centerline is valid? [True, True] Translation: X:116.61, Y:4.91, Z:1.53 [[ 9.72137642e-01 -2.33654626e-01 -1.88128050e-02 1.16608014e+02] [ 2.33606072e-01 9.72319627e-01 -4.76923208e-03 4.90631072e+00] [ 1.94064127e-02 2.41564551e-04 9.99811649e-01 1.52803210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.430385723 meters Centerline goodness [0,1] 0.999842225077197 Centerline is valid? [True, True] Translation: X:116.64, Y:4.91, Z:1.53 [[ 9.71580953e-01 -2.35971315e-01 -1.86544859e-02 1.16635443e+02] [ 2.35923927e-01 9.71760001e-01 -4.73296749e-03 4.91137597e+00] [ 1.92445278e-02 1.97421479e-04 9.99814787e-01 1.52751038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46038572299999 meters Centerline goodness [0,1] 0.9999326296878509 Centerline is valid? [True, True] Translation: X:116.66, Y:4.92, Z:1.53 [[ 9.71393187e-01 -2.36758580e-01 -1.84567488e-02 1.16661926e+02] [ 2.36712301e-01 9.71568496e-01 -4.68447182e-03 4.91960984e+00] [ 1.90410845e-02 1.81524536e-04 9.99818686e-01 1.52736568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49038572299999 meters Centerline goodness [0,1] 0.9999773740299115 Centerline is valid? [True, True] Translation: X:116.69, Y:4.92, Z:1.53 [[ 9.71214992e-01 -2.37548568e-01 -1.76668255e-02 1.16689872e+02] [ 2.37506260e-01 9.71375649e-01 -4.48606831e-03 4.92364231e+00] [ 1.82267832e-02 1.60955147e-04 9.99833865e-01 1.52856889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52038572299999 meters Centerline goodness [0,1] 0.9998869519998191 Centerline is valid? [True, True] Translation: X:116.72, Y:4.93, Z:1.53 [[ 9.71067070e-01 -2.38135363e-01 -1.78967871e-02 1.16717270e+02] [ 2.38091953e-01 9.71231962e-01 -4.54945215e-03 4.93073966e+00] [ 1.84653171e-02 1.56742169e-04 9.99829489e-01 1.52835799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55038572299999 meters Centerline goodness [0,1] 0.9997963109652597 Centerline is valid? [True, True] Translation: X:116.74, Y:4.94, Z:1.53 [[ 9.70982342e-01 -2.38366585e-01 -1.93561835e-02 1.16743875e+02] [ 2.38315751e-01 9.71175238e-01 -4.92549915e-03 4.93885802e+00] [ 1.99723205e-02 1.69689317e-04 9.99800519e-01 1.52629729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58038572299999 meters Centerline goodness [0,1] 0.9999773545596594 Centerline is valid? [True, True] Translation: X:116.77, Y:4.95, Z:1.53 [[ 9.70908254e-01 -2.38616934e-01 -1.99780154e-02 1.16770893e+02] [ 2.38562774e-01 9.71113757e-01 -5.08661376e-03 4.94617964e+00] [ 2.06146778e-02 1.72624513e-04 9.99787480e-01 1.52538389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.80, Y:4.95, Z:1.52 [[ 9.70854201e-01 -2.38766022e-01 -2.08064032e-02 1.16798168e+02] [ 2.38707205e-01 9.71077110e-01 -5.30249209e-03 4.95333525e+00] [ 2.14706769e-02 1.81308364e-04 9.99769462e-01 1.52494172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.82, Y:4.96, Z:1.53 [[ 9.70807636e-01 -2.38936568e-01 -2.10202441e-02 1.16824524e+02] [ 2.38876520e-01 9.71035161e-01 -5.35953320e-03 4.95954015e+00] [ 2.16919846e-02 1.81832993e-04 9.99764685e-01 1.52569617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.85, Y:4.97, Z:1.53 [[ 9.70556285e-01 -2.40042076e-01 -2.00074936e-02 1.16852388e+02] [ 2.39987830e-01 9.70762473e-01 -5.10520542e-03 4.96632831e+00] [ 2.06479881e-02 1.53334236e-04 9.99786796e-01 1.52714639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.88, Y:4.97, Z:1.53 [[ 9.70352693e-01 -2.40925492e-01 -1.92498943e-02 1.16880124e+02] [ 2.40875360e-01 9.70543605e-01 -4.91642378e-03 4.97302816e+00] [ 1.98673537e-02 1.33839821e-04 9.99802616e-01 1.52850886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.91, Y:4.98, Z:1.53 [[ 9.69776496e-01 -2.43347001e-01 -1.77703328e-02 1.16907180e+02] [ 2.43304607e-01 9.69939292e-01 -4.54285829e-03 4.97973396e+00] [ 1.83416350e-02 8.19533528e-05 9.99831775e-01 1.52975680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.760385723 meters Centerline goodness [0,1] 0.9999773822178997 Centerline is valid? [True, True] Translation: X:116.94, Y:4.99, Z:1.53 [[ 9.69433077e-01 -2.44758178e-01 -1.71156207e-02 1.16935066e+02] [ 2.44719035e-01 9.69584154e-01 -4.37748846e-03 4.98539168e+00] [ 1.76664607e-02 5.51639094e-05 9.99843934e-01 1.53140406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.96, Y:4.99, Z:1.53 [[ 9.68743706e-01 -2.47488563e-01 -1.68832176e-02 1.16962879e+02] [ 2.47450814e-01 9.68890815e-01 -4.32244808e-03 4.99015095e+00] [ 1.74277509e-02 9.57843469e-06 9.99848125e-01 1.53269300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.99, Y:5.00, Z:1.53 [[ 9.68677373e-01 -2.47748099e-01 -1.68827516e-02 1.16989594e+02] [ 2.47710358e-01 9.68824483e-01 -4.32426730e-03 4.99707196e+00] [ 1.74277521e-02 6.78744121e-06 9.99848125e-01 1.53311145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.02, Y:5.00, Z:1.53 [[ 9.68341241e-01 -2.49098633e-01 -1.62822736e-02 1.17016643e+02] [ 2.49063644e-01 9.68478121e-01 -4.17496797e-03 5.00407365e+00] [ 1.68090046e-02 -1.25287403e-05 9.99858719e-01 1.53342837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88038572299999 meters Centerline goodness [0,1] 0.999977348404195 Centerline is valid? [True, True] Translation: X:117.04, Y:5.01, Z:1.53 [[ 9.68124156e-01 -2.49992468e-01 -1.54720495e-02 1.17043421e+02] [ 2.49960921e-01 9.68247781e-01 -3.97147039e-03 5.01155123e+00] [ 1.59736153e-02 -2.25313272e-05 9.99872413e-01 1.53389934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.07, Y:5.02, Z:1.54 [[ 9.68303656e-01 -2.49352033e-01 -1.45462653e-02 1.17068661e+02] [ 2.49324015e-01 9.68412910e-01 -3.73784700e-03 5.02035135e+00] [ 1.50188308e-02 -7.36235162e-06 9.99887211e-01 1.53551057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94038572299999 meters Centerline goodness [0,1] 0.9999097839325184 Centerline is valid? [True, True] Translation: X:117.10, Y:5.03, Z:1.53 [[ 9.68249753e-01 -2.49523298e-01 -1.51835112e-02 1.17095663e+02] [ 2.49492761e-01 9.68368795e-01 -3.90367602e-03 5.02878878e+00] [ 1.56772966e-02 -8.44277652e-06 9.99877104e-01 1.53323386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.12, Y:5.04, Z:1.54 [[ 9.68504169e-01 -2.48451914e-01 -1.64718421e-02 1.17121325e+02] [ 2.48415738e-01 9.68644231e-01 -4.23967087e-03 5.03709799e+00] [ 1.70087092e-02 1.42740951e-05 9.99855341e-01 1.53532094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.000385723 meters Centerline goodness [0,1] 0.9999774947112572 Centerline is valid? [True, True] Translation: X:117.15, Y:5.04, Z:1.54 [[ 9.68243744e-01 -2.49448524e-01 -1.67178472e-02 1.17147398e+02] [ 2.49411372e-01 9.68388060e-01 -4.30508399e-03 5.04416510e+00] [ 1.72632605e-02 -1.25057244e-06 9.99850979e-01 1.53520880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.17, Y:5.05, Z:1.54 [[ 9.67369660e-01 -2.52780044e-01 -1.72681838e-02 1.17174449e+02] [ 2.52740889e-01 9.67523770e-01 -4.44941620e-03 5.05157635e+00] [ 1.78321019e-02 -6.01458904e-05 9.99840994e-01 1.53548542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.20, Y:5.06, Z:1.54 [[ 9.66807516e-01 -2.54869343e-01 -1.80234391e-02 1.17201287e+02] [ 2.54826960e-01 9.66975495e-01 -4.64884925e-03 5.05724431e+00] [ 1.86130731e-02 -9.83157995e-05 9.99826757e-01 1.53518918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.23, Y:5.06, Z:1.54 [[ 9.65444896e-01 -2.59965408e-01 -1.82794845e-02 1.17229695e+02] [ 2.59922682e-01 9.65617910e-01 -4.71715830e-03 5.06123687e+00] [ 1.88772956e-02 -1.97096254e-04 9.99821789e-01 1.53651460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.120385723 meters Centerline goodness [0,1] 0.9999773914223056 Centerline is valid? [True, True] Translation: X:117.26, Y:5.07, Z:1.54 [[ 9.64669152e-01 -2.62847984e-01 -1.80101358e-02 1.17258142e+02] [ 2.62806926e-01 9.64837228e-01 -4.65213846e-03 5.06752246e+00] [ 1.85996547e-02 -2.45413961e-04 9.99826981e-01 1.53745377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.29, Y:5.08, Z:1.54 [[ 9.63295892e-01 -2.67874422e-01 -1.74447274e-02 1.17285293e+02] [ 2.67836655e-01 9.63453780e-01 -4.50993280e-03 5.07502659e+00] [ 1.80152842e-02 -3.27937689e-04 9.99837658e-01 1.53764753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.31, Y:5.08, Z:1.54 [[ 9.62757750e-01 -2.69811761e-01 -1.72953250e-02 1.17312198e+02] [ 2.69774924e-01 9.62913020e-01 -4.47283209e-03 5.08180581e+00] [ 1.78607163e-02 -3.59591215e-04 9.99840420e-01 1.53738995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.34, Y:5.09, Z:1.54 [[ 9.62173663e-01 -2.71865455e-01 -1.76356595e-02 1.17340163e+02] [ 2.71827461e-01 9.62335187e-01 -4.56288520e-03 5.08867735e+00] [ 1.82119066e-02 -4.03568592e-04 9.99834068e-01 1.53876087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.37, Y:5.10, Z:1.54 [[ 9.61973511e-01 -2.72572817e-01 -1.76358458e-02 1.17367994e+02] [ 2.72534863e-01 9.62135068e-01 -4.56723085e-03 5.09699396e+00] [ 1.82129686e-02 -4.12827717e-04 9.99834045e-01 1.54084460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27038572299999 meters Centerline goodness [0,1] 0.9997979389775712 Centerline is valid? [True, True] Translation: X:117.40, Y:5.11, Z:1.54 [[ 9.61493083e-01 -2.74287979e-01 -1.72382215e-02 1.17395054e+02] [ 2.74251917e-01 9.61647502e-01 -4.46845818e-03 5.10671789e+00] [ 1.78027370e-02 -4.31223656e-04 9.99841426e-01 1.53911922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.42, Y:5.12, Z:1.54 [[ 9.61804603e-01 -2.73232113e-01 -1.66168215e-02 1.17422318e+02] [ 2.73198376e-01 9.61948054e-01 -4.31149310e-03 5.11723058e+00] [ 1.71625575e-02 -3.92874745e-04 9.99852635e-01 1.54319142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.45, Y:5.13, Z:1.54 [[ 9.61800975e-01 -2.73253708e-01 -1.64710861e-02 1.17449272e+02] [ 2.73220492e-01 9.61941923e-01 -4.27790711e-03 5.12660665e+00] [ 1.70131823e-02 -3.85743025e-04 9.99855191e-01 1.54319589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.48, Y:5.14, Z:1.54 [[ 9.62120066e-01 -2.72118752e-01 -1.66241753e-02 1.17475791e+02] [ 2.72084664e-01 9.62263608e-01 -4.32247109e-03 5.13993249e+00] [ 1.71730643e-02 -3.64446966e-04 9.99852466e-01 1.54316507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.390385723 meters Centerline goodness [0,1] 0.9999107083063598 Centerline is valid? [True, True] Translation: X:117.50, Y:5.15, Z:1.54 [[ 9.62484770e-01 -2.70796883e-01 -1.70913856e-02 1.17502843e+02] [ 2.70760564e-01 9.62636447e-01 -4.44846962e-03 5.15140948e+00] [ 1.76574224e-02 -3.46088930e-04 9.99844036e-01 1.54250784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.53, Y:5.16, Z:1.55 [[ 9.62967383e-01 -2.69047336e-01 -1.75313811e-02 1.17529766e+02] [ 2.69008757e-01 9.63126902e-01 -4.56713454e-03 5.15882548e+00] [ 1.81137202e-02 -3.18093455e-04 9.99835883e-01 1.54560218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.56, Y:5.17, Z:1.55 [[ 9.63039952e-01 -2.68772990e-01 -1.77519112e-02 1.17556196e+02] [ 2.68733346e-01 9.63203499e-01 -4.62683382e-03 5.16809156e+00] [ 1.83422710e-02 -3.14704688e-04 9.99831717e-01 1.54628560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.480385723 meters Centerline goodness [0,1] 0.9998222064183483 Centerline is valid? [True, True] Translation: X:117.58, Y:5.18, Z:1.54 [[ 9.62485509e-01 -2.70610576e-01 -1.97879042e-02 1.17583170e+02] [ 2.70561581e-01 9.62688822e-01 -5.16355715e-03 5.17969482e+00] [ 2.04469074e-02 -3.83997714e-04 9.99790866e-01 1.54292143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.510385723 meters Centerline goodness [0,1] 0.9998224983359218 Centerline is valid? [True, True] Translation: X:117.61, Y:5.19, Z:1.54 [[ 9.62218362e-01 -2.71563872e-01 -1.97202245e-02 1.17609735e+02] [ 2.71515326e-01 9.62420337e-01 -5.15010670e-03 5.18753361e+00] [ 2.03777280e-02 -3.98815949e-04 9.99792273e-01 1.54370832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.540385723 meters Centerline goodness [0,1] 0.9999337894504524 Centerline is valid? [True, True] Translation: X:117.64, Y:5.20, Z:1.55 [[ 9.61287625e-01 -2.74898641e-01 -1.88902066e-02 1.17636584e+02] [ 2.74854706e-01 9.61473108e-01 -4.93499397e-03 5.19505645e+00] [ 1.95190488e-02 -4.48113546e-04 9.99809385e-01 1.54809922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.66, Y:5.20, Z:1.55 [[ 9.60506976e-01 -2.77648679e-01 -1.83727884e-02 1.17663996e+02] [ 2.77607590e-01 9.60682555e-01 -4.80143175e-03 5.20246460e+00] [ 1.89835285e-02 -4.88616809e-04 9.99819677e-01 1.54956267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60038572299999 meters Centerline goodness [0,1] 0.9998680042238648 Centerline is valid? [True, True] Translation: X:117.69, Y:5.21, Z:1.55 [[ 9.58755092e-01 -2.83757801e-01 -1.64372784e-02 1.17692850e+02] [ 2.83725788e-01 9.58895831e-01 -4.29681534e-03 5.21109951e+00] [ 1.69808926e-02 -5.44086179e-04 9.99855666e-01 1.54922442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63038572299999 meters Centerline goodness [0,1] 0.9999560642340898 Centerline is valid? [True, True] Translation: X:117.72, Y:5.22, Z:1.55 [[ 9.58131738e-01 -2.85889331e-01 -1.58386625e-02 1.17719955e+02] [ 2.85859893e-01 9.58262478e-01 -4.14067969e-03 5.21796164e+00] [ 1.63613721e-02 -5.60321743e-04 9.99865987e-01 1.55201970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.75, Y:5.23, Z:1.55 [[ 9.57515325e-01 -2.87978539e-01 -1.52565906e-02 1.17746952e+02] [ 2.87951468e-01 9.57636692e-01 -3.98989408e-03 5.22808501e+00] [ 1.57592748e-02 -5.72772930e-04 9.99875651e-01 1.55448748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.77, Y:5.24, Z:1.56 [[ 9.56309993e-01 -2.91949551e-01 -1.53836586e-02 1.17774478e+02] [ 2.91922479e-01 9.56433505e-01 -4.02691461e-03 5.23816794e+00] [ 1.58891024e-02 -6.39857084e-04 9.99873556e-01 1.55512991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.80, Y:5.25, Z:1.55 [[ 9.55392373e-01 -2.94894304e-01 -1.62099571e-02 1.17801835e+02] [ 2.94864655e-01 9.55529604e-01 -4.24402063e-03 5.24696588e+00] [ 1.67406314e-02 -7.25038479e-04 9.99859603e-01 1.55407549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.750385723 meters Centerline goodness [0,1] 0.9999564914723286 Centerline is valid? [True, True] Translation: X:117.83, Y:5.26, Z:1.55 [[ 9.55088457e-01 -2.95889991e-01 -1.59734921e-02 1.17827720e+02] [ 2.95861321e-01 9.55221744e-01 -4.18321418e-03 5.26157823e+00] [ 1.64959981e-02 -7.30598886e-04 9.99863665e-01 1.55462995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.780385723 meters Centerline goodness [0,1] 0.9999783409140134 Centerline is valid? [True, True] Translation: X:117.85, Y:5.27, Z:1.56 [[ 9.54856292e-01 -2.96632233e-01 -1.60866285e-02 1.17854095e+02] [ 2.96603197e-01 9.54991499e-01 -4.21669112e-03 5.27283218e+00] [ 1.66134000e-02 -7.45011402e-04 9.99861710e-01 1.55557128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.810385723 meters Centerline goodness [0,1] 0.9996961673683754 Centerline is valid? [True, True] Translation: X:117.88, Y:5.29, Z:1.56 [[ 9.54232386e-01 -2.98595942e-01 -1.67635633e-02 1.17880299e+02] [ 2.98564686e-01 9.54379278e-01 -4.39567309e-03 5.28813046e+00] [ 1.73113276e-02 -8.10514403e-04 9.99849819e-01 1.55649714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.840385723 meters Centerline goodness [0,1] 0.9995445475839334 Centerline is valid? [True, True] Translation: X:117.91, Y:5.30, Z:1.56 [[ 9.53916434e-01 -2.99527284e-01 -1.80788218e-02 1.17906656e+02] [ 2.99491066e-01 9.54087319e-01 -4.74220923e-03 5.29692223e+00] [ 1.86691957e-02 -8.90774292e-04 9.99825319e-01 1.55670016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.870385723 meters Centerline goodness [0,1] 0.9997401810072316 Centerline is valid? [True, True] Translation: X:117.93, Y:5.31, Z:1.55 [[ 9.52690346e-01 -3.03328910e-01 -1.93048612e-02 1.17932779e+02] [ 3.03288345e-01 9.52885363e-01 -5.06612238e-03 5.31491251e+00] [ 1.99320210e-02 -1.02849350e-03 9.99800809e-01 1.55432930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.900385723 meters Centerline goodness [0,1] 0.9998702253752649 Centerline is valid? [True, True] Translation: X:117.96, Y:5.33, Z:1.56 [[ 9.52285296e-01 -3.04562027e-01 -1.98667552e-02 1.17959234e+02] [ 3.04519312e-01 9.52491888e-01 -5.21456241e-03 5.32588230e+00] [ 2.05110809e-02 -1.08405954e-03 9.99789038e-01 1.55611189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.930385723 meters Centerline goodness [0,1] 0.9997634408602151 Centerline is valid? [True, True] Translation: X:117.99, Y:5.34, Z:1.55 [[ 9.51160289e-01 -3.07941327e-01 -2.15926639e-02 1.17986207e+02] [ 3.07891697e-01 9.51404521e-01 -5.66928791e-03 5.33879268e+00] [ 2.22891661e-02 -1.25580040e-03 9.99750777e-01 1.55479574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96038572299999 meters Centerline goodness [0,1] 0.9997424339987122 Centerline is valid? [True, True] Translation: X:118.01, Y:5.35, Z:1.56 [[ 9.50597316e-01 -3.09664323e-01 -2.17428100e-02 1.18013223e+02] [ 3.09614430e-01 9.50845048e-01 -5.70957504e-03 5.35069323e+00] [ 2.24420950e-02 -1.30438104e-03 9.99747294e-01 1.55576644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99038572299999 meters Centerline goodness [0,1] 0.9998499045821987 Centerline is valid? [True, True] Translation: X:118.04, Y:5.37, Z:1.56 [[ 9.49378071e-01 -3.13378286e-01 -2.18020305e-02 1.18039985e+02] [ 3.13329071e-01 9.49627350e-01 -5.72616321e-03 5.36563448e+00] [ 2.24982597e-02 -1.39491617e-03 9.99745909e-01 1.55800686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02038572299999 meters Centerline goodness [0,1] 0.9997220083825165 Centerline is valid? [True, True] Translation: X:118.07, Y:5.38, Z:1.56 [[ 9.48908238e-01 -3.14704277e-01 -2.31165103e-02 1.18067354e+02] [ 3.14649322e-01 9.49188565e-01 -6.07220141e-03 5.37811584e+00] [ 2.38528750e-02 -1.51163233e-03 9.99714337e-01 1.55707893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05038572299999 meters Centerline goodness [0,1] 0.9997892962494732 Centerline is valid? [True, True] Translation: X:118.09, Y:5.39, Z:1.56 [[ 9.48799834e-01 -3.14969571e-01 -2.39383354e-02 1.18091769e+02] [ 3.14910688e-01 9.49100469e-01 -6.28948425e-03 5.39474630e+00] [ 2.47008816e-02 -1.57097607e-03 9.99693652e-01 1.55604693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08038572299999 meters Centerline goodness [0,1] 0.999978868179705 Centerline is valid? [True, True] Translation: X:118.12, Y:5.41, Z:1.56 [[ 9.49171484e-01 -3.13944434e-01 -2.26359501e-02 1.18117988e+02] [ 3.13891450e-01 9.49440238e-01 -5.94914797e-03 5.40932598e+00] [ 2.33591838e-02 -1.45846959e-03 9.99726073e-01 1.55815892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.110385723 meters Centerline goodness [0,1] 0.9999583315971499 Centerline is valid? [True, True] Translation: X:118.14, Y:5.43, Z:1.56 [[ 9.50019286e-01 -3.11420456e-01 -2.19238719e-02 1.18142873e+02] [ 3.11370054e-01 9.50271263e-01 -5.76330673e-03 5.42825987e+00] [ 2.26284371e-02 -1.35118463e-03 9.99743031e-01 1.55853873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.140385723 meters Centerline goodness [0,1] 0.99983280387895 Centerline is valid? [True, True] Translation: X:118.17, Y:5.44, Z:1.56 [[ 9.50481442e-01 -3.09938089e-01 -2.28781352e-02 1.18169299e+02] [ 3.09882748e-01 9.50755751e-01 -6.01531678e-03 5.44177860e+00] [ 2.36158944e-02 -1.37209245e-03 9.99720164e-01 1.55816408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.20, Y:5.46, Z:1.56 [[ 9.51752512e-01 -3.06049174e-01 -2.23843696e-02 1.18195218e+02] [ 3.05995091e-01 9.52014889e-01 -5.88684642e-03 5.46149074e+00] [ 2.31119176e-02 -1.24668635e-03 9.99732107e-01 1.56156076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.200385723 meters Centerline goodness [0,1] 0.999958122199422 Centerline is valid? [True, True] Translation: X:118.22, Y:5.48, Z:1.56 [[ 9.52368513e-01 -3.04006089e-01 -2.39689994e-02 1.18221635e+02] [ 3.03943389e-01 9.52669229e-01 -6.30534379e-03 5.47626339e+00] [ 2.47513910e-02 -1.28020800e-03 9.99692818e-01 1.56148486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.230385723 meters Centerline goodness [0,1] 0.9999584622733598 Centerline is valid? [True, True] Translation: X:118.25, Y:5.49, Z:1.56 [[ 9.52973563e-01 -3.01984328e-01 -2.54333222e-02 1.18247000e+02] [ 3.01912932e-01 9.53312004e-01 -6.69367858e-03 5.48848008e+00] [ 2.62672774e-02 -1.29975014e-03 9.99654111e-01 1.55967267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.260385723 meters Centerline goodness [0,1] 0.9999583610926049 Centerline is valid? [True, True] Translation: X:118.27, Y:5.51, Z:1.56 [[ 9.54582466e-01 -2.96826653e-01 -2.58118789e-02 1.18272188e+02] [ 2.96751175e-01 9.54930658e-01 -6.79544044e-03 5.51164110e+00] [ 2.66656223e-02 -1.17289710e-03 9.99643721e-01 1.55911967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.30, Y:5.53, Z:1.56 [[ 9.56541122e-01 -2.90595804e-01 -2.41487225e-02 1.18296171e+02] [ 2.90527735e-01 9.56845445e-01 -6.35834991e-03 5.53209960e+00] [ 2.49543049e-02 -9.33850491e-04 9.99688157e-01 1.56146305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.320385723 meters Centerline goodness [0,1] 0.9998754333880042 Centerline is valid? [True, True] Translation: X:118.32, Y:5.55, Z:1.56 [[ 9.57667922e-01 -2.86703302e-01 -2.59493232e-02 1.18323301e+02] [ 2.86623245e-01 9.58019007e-01 -6.83352483e-03 5.54613111e+00] [ 2.68191390e-02 -8.93431694e-04 9.99639903e-01 1.56019092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.35, Y:5.56, Z:1.56 [[ 9.58887915e-01 -2.82752383e-01 -2.41879399e-02 1.18350554e+02] [ 2.82681554e-01 9.59192660e-01 -6.37030648e-03 5.56010647e+00] [ 2.50021138e-02 -7.29074535e-04 9.99687132e-01 1.56336158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38038572299999 meters Centerline goodness [0,1] 0.9998128470128304 Centerline is valid? [True, True] Translation: X:118.38, Y:5.58, Z:1.56 [[ 9.61579374e-01 -2.73096546e-01 -2.79889955e-02 1.18375931e+02] [ 2.72997590e-01 9.61986471e-01 -7.37189251e-03 5.58216128e+00] [ 2.89382734e-02 -5.52268513e-04 9.99581048e-01 1.55968233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.40, Y:5.60, Z:1.56 [[ 9.64202957e-01 -2.63911568e-01 -2.57554410e-02 1.18401142e+02] [ 2.63824476e-01 9.64546847e-01 -6.78421145e-03 5.60299954e+00] [ 2.66327613e-02 -2.53558992e-04 9.99645253e-01 1.56236521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.43, Y:5.62, Z:1.56 [[ 9.65324735e-01 -2.59841887e-01 -2.51067553e-02 1.18427648e+02] [ 2.59757673e-01 9.65651167e-01 -6.61631774e-03 5.61576362e+00] [ 2.59635640e-02 -1.34777166e-04 9.99662881e-01 1.56303168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.45, Y:5.63, Z:1.56 [[ 9.67483820e-01 -2.51666039e-01 -2.52836330e-02 1.18451176e+02] [ 2.51577712e-01 9.67814133e-01 -6.66771780e-03 5.63136956e+00] [ 2.61478955e-02 9.01105609e-05 9.99658081e-01 1.56318720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.48, Y:5.64, Z:1.56 [[ 9.68491538e-01 -2.47699402e-01 -2.58678941e-02 1.18476848e+02] [ 2.47605455e-01 9.68836913e-01 -6.82451405e-03 5.64156765e+00] [ 2.67521987e-02 2.04452403e-04 9.99642075e-01 1.56339811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.50, Y:5.65, Z:1.56 [[ 9.69373803e-01 -2.44224260e-01 -2.58638832e-02 1.18504444e+02] [ 2.44129002e-01 9.69718732e-01 -6.82730566e-03 5.65154549e+00] [ 2.67480857e-02 3.04087265e-04 9.99642160e-01 1.56405882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:5.66, Z:1.56 [[ 9.70990277e-01 -2.37571906e-01 -2.71564160e-02 1.18531899e+02] [ 2.37464169e-01 9.71369818e-01 -7.17252280e-03 5.66351753e+00] [ 2.80829128e-02 5.15774134e-04 9.99605464e-01 1.56348411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.56, Y:5.67, Z:1.56 [[ 9.71904174e-01 -2.33786741e-01 -2.73136611e-02 1.18560043e+02] [ 2.33676231e-01 9.72287696e-01 -7.21496556e-03 5.67306512e+00] [ 2.82434999e-02 6.29701753e-04 9.99600874e-01 1.56316832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.620385723 meters Centerline goodness [0,1] 0.9999162689441514 Centerline is valid? [True, True] Translation: X:118.59, Y:5.68, Z:1.56 [[ 9.72038334e-01 -2.33215416e-01 -2.74234692e-02 1.18588126e+02] [ 2.33103689e-01 9.72424878e-01 -7.24747764e-03 5.67914091e+00] [ 2.83574872e-02 6.52314263e-04 9.99597633e-01 1.56366523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.61, Y:5.69, Z:1.56 [[ 9.72145268e-01 -2.32716166e-01 -2.78704817e-02 1.18614595e+02] [ 2.32600403e-01 9.72544456e-01 -7.37108294e-03 5.68613593e+00] [ 2.88206526e-02 6.83078120e-04 9.99584365e-01 1.56359634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.64, Y:5.69, Z:1.56 [[ 9.71841321e-01 -2.33946538e-01 -2.81684880e-02 1.18643210e+02] [ 2.33828707e-01 9.72249241e-01 -7.45317879e-03 5.68789784e+00] [ 2.91304365e-02 6.56705994e-04 9.99575403e-01 1.56285328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:5.70, Z:1.56 [[ 9.71784301e-01 -2.34183421e-01 -2.81673214e-02 1.18669801e+02] [ 2.34065562e-01 9.72192212e-01 -7.45758549e-03 5.69504894e+00] [ 2.91304934e-02 6.54164584e-04 9.99575403e-01 1.56327113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74038572299999 meters Centerline goodness [0,1] 0.9998743455497382 Centerline is valid? [True, True] Translation: X:118.70, Y:5.70, Z:1.56 [[ 9.71529932e-01 -2.35108600e-01 -2.92153780e-02 1.18696867e+02] [ 2.34982052e-01 9.71968887e-01 -7.74068318e-03 5.69863833e+00] [ 3.02163396e-02 6.55215911e-04 9.99543167e-01 1.56071886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.73, Y:5.70, Z:1.56 [[ 9.70683883e-01 -2.38879179e-01 -2.66371529e-02 1.18726611e+02] [ 2.38775345e-01 9.71049173e-01 -7.05966603e-03 5.69766038e+00] [ 2.75523925e-02 4.92408655e-04 9.99620239e-01 1.56480819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:5.69, Z:1.57 [[ 9.70062628e-01 -2.41469473e-01 -2.59035072e-02 1.18757382e+02] [ 2.41372105e-01 9.70408329e-01 -6.86891033e-03 5.69497619e+00] [ 2.67956113e-02 4.10889131e-04 9.99640849e-01 1.56988817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83038572299999 meters Centerline goodness [0,1] 0.9999372082801348 Centerline is valid? [True, True] Translation: X:118.78, Y:5.70, Z:1.57 [[ 9.69489163e-01 -2.43768181e-01 -2.58425226e-02 1.18784717e+02] [ 2.43671955e-01 9.69833465e-01 -6.85769699e-03 5.69964264e+00] [ 2.67346316e-02 3.51364928e-04 9.99642504e-01 1.56761604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.860385723 meters Centerline goodness [0,1] 0.9999791801128438 Centerline is valid? [True, True] Translation: X:118.82, Y:5.70, Z:1.57 [[ 9.68262274e-01 -2.48786912e-01 -2.39424672e-02 1.18815182e+02] [ 2.48705801e-01 9.68558224e-01 -6.35544859e-03 5.69598012e+00] [ 2.47708259e-02 1.99110631e-04 9.99693136e-01 1.57157488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.84, Y:5.70, Z:1.57 [[ 9.67499746e-01 -2.51838813e-01 -2.28353617e-02 1.18844400e+02] [ 2.51765806e-01 9.67769186e-01 -6.06472092e-03 5.69787939e+00] [ 2.36266915e-02 1.18452720e-04 9.99720844e-01 1.57281730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.87, Y:5.69, Z:1.57 [[ 9.66143480e-01 -2.57104040e-01 -2.15473493e-02 1.18874311e+02] [ 2.57040250e-01 9.66383730e-01 -5.72688574e-03 5.69469232e+00] [ 2.22954132e-02 -5.54273179e-06 9.99751426e-01 1.57380526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.90, Y:5.70, Z:1.57 [[ 9.65359368e-01 -2.60117115e-01 -2.05030884e-02 1.18902876e+02] [ 2.60059975e-01 9.65577072e-01 -5.45232293e-03 5.69709898e+00] [ 2.12155546e-02 -6.85816362e-05 9.99774922e-01 1.57460643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.93, Y:5.70, Z:1.58 [[ 9.64052020e-01 -2.65002197e-01 -1.94303645e-02 1.18932679e+02] [ 2.64951764e-01 9.64247795e-01 -5.17234767e-03 5.69628097e+00] [ 2.01063696e-02 -1.61697147e-04 9.99797833e-01 1.57542306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.96, Y:5.70, Z:1.58 [[ 9.63579471e-01 -2.66711974e-01 -1.94762682e-02 1.18960486e+02] [ 2.66661565e-01 9.63776263e-01 -5.18887190e-03 5.69883113e+00] [ 2.01546993e-02 -1.93681719e-04 9.99796855e-01 1.57560068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.040385723 meters Centerline goodness [0,1] 0.9998326534881289 Centerline is valid? [True, True] Translation: X:118.99, Y:5.70, Z:1.57 [[ 9.62520580e-01 -2.70462239e-01 -2.01074876e-02 1.18990258e+02] [ 2.70409268e-01 9.62730544e-01 -5.35983850e-03 5.69857807e+00] [ 2.08077264e-02 -2.78296151e-04 9.99783457e-01 1.57384596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.070385723 meters Centerline goodness [0,1] 0.9999791183779156 Centerline is valid? [True, True] Translation: X:119.02, Y:5.70, Z:1.58 [[ 9.62078126e-01 -2.72048728e-01 -1.98788332e-02 1.19018643e+02] [ 2.71997190e-01 9.62283429e-01 -5.30392558e-03 5.70298364e+00] [ 2.05719980e-02 -3.04196001e-04 9.99788328e-01 1.57639775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.05, Y:5.71, Z:1.58 [[ 9.61487430e-01 -2.74072604e-01 -2.06429257e-02 1.19047381e+02] [ 2.74017377e-01 9.61708938e-01 -5.51323340e-03 5.70837657e+00] [ 2.13635124e-02 -3.55615752e-04 9.99771711e-01 1.57708259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.08, Y:5.71, Z:1.58 [[ 9.61209661e-01 -2.75015464e-01 -2.10352879e-02 1.19075963e+02] [ 2.74958221e-01 9.61439729e-01 -5.62363036e-03 5.71402207e+00] [ 2.17707468e-02 -3.78337514e-04 9.99762918e-01 1.57680032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.10, Y:5.72, Z:1.58 [[ 9.61042871e-01 -2.75599685e-01 -2.10098668e-02 1.19103289e+02] [ 2.75542623e-01 9.61272419e-01 -5.62128918e-03 5.71873309e+00] [ 2.17454310e-02 -3.86813915e-04 9.99763465e-01 1.57734029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.13, Y:5.72, Z:1.58 [[ 9.60710441e-01 -2.76863646e-01 -1.95440777e-02 1.19131683e+02] [ 2.76814479e-01 9.60909139e-01 -5.23164405e-03 5.72274607e+00] [ 2.02285349e-02 -3.83988608e-04 9.99795309e-01 1.57872319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22038572299999 meters Centerline goodness [0,1] 0.9999583740920349 Centerline is valid? [True, True] Translation: X:119.16, Y:5.73, Z:1.58 [[ 9.60589065e-01 -2.77292013e-01 -1.94367621e-02 1.19158701e+02] [ 2.77243388e-01 9.60785611e-01 -5.20712678e-03 5.72891816e+00] [ 2.01184560e-02 -3.86804727e-04 9.99797529e-01 1.57866247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.19, Y:5.74, Z:1.58 [[ 9.60527223e-01 -2.77520941e-01 -1.92244747e-02 1.19185430e+02] [ 2.77473365e-01 9.60719511e-01 -5.15292153e-03 5.73686645e+00] [ 1.98993716e-02 -3.84758273e-04 9.99801914e-01 1.57939042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.280385723 meters Centerline goodness [0,1] 0.999916401939475 Centerline is valid? [True, True] Translation: X:119.21, Y:5.74, Z:1.58 [[ 9.61139843e-01 -2.75479461e-01 -1.79239650e-02 1.19212421e+02] [ 2.75437669e-01 9.61306906e-01 -4.80863987e-03 5.74440042e+00] [ 1.85551128e-02 -3.15159754e-04 9.99827789e-01 1.57975613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.310385723 meters Centerline goodness [0,1] 0.9999167724350305 Centerline is valid? [True, True] Translation: X:119.24, Y:5.75, Z:1.58 [[ 9.61623428e-01 -2.73806190e-01 -1.76225017e-02 1.19240392e+02] [ 2.73765474e-01 9.61784848e-01 -4.72981731e-03 5.75269749e+00] [ 1.82441084e-02 -2.76129407e-04 9.99833524e-01 1.57889527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.27, Y:5.76, Z:1.58 [[ 9.63478546e-01 -2.67270423e-01 -1.66015931e-02 1.19267542e+02] [ 2.67233254e-01 9.63621555e-01 -4.45942936e-03 5.76256834e+00] [ 1.71895265e-02 -1.39933227e-04 9.99852239e-01 1.58101341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.30, Y:5.77, Z:1.58 [[ 9.64513038e-01 -2.63531980e-01 -1.62940016e-02 1.19295233e+02] [ 2.63495617e-01 9.64650657e-01 -4.37824541e-03 5.77170443e+00] [ 1.68718270e-02 -7.05232136e-05 9.99857658e-01 1.58175211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.32, Y:5.78, Z:1.58 [[ 9.66656558e-01 -2.55594589e-01 -1.57004995e-02 1.19320345e+02] [ 2.55559718e-01 9.66784051e-01 -4.22244443e-03 5.78263090e+00] [ 1.62582265e-02 6.92383680e-05 9.99867824e-01 1.58261873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.35, Y:5.79, Z:1.58 [[ 9.67468473e-01 -2.52498886e-01 -1.57818565e-02 1.19347779e+02] [ 2.52463206e-01 9.67597177e-01 -4.24643388e-03 5.79169188e+00] [ 1.63426996e-02 1.23952805e-04 9.99866441e-01 1.58306485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.37, Y:5.80, Z:1.58 [[ 9.68961233e-01 -2.46696587e-01 -1.59662890e-02 1.19373999e+02] [ 2.46659216e-01 9.69092742e-01 -4.29988635e-03 5.80079079e+00] [ 1.65335821e-02 2.28190846e-04 9.99863285e-01 1.58267016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.40, Y:5.81, Z:1.58 [[ 9.69584270e-01 -2.44197378e-01 -1.65524668e-02 1.19401505e+02] [ 2.44156806e-01 9.69725508e-01 -4.46021209e-03 5.80846436e+00] [ 1.71405213e-02 2.83154060e-04 9.99853050e-01 1.58250376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.43, Y:5.82, Z:1.58 [[ 9.70683484e-01 -2.39831768e-01 -1.59466740e-02 1.19429329e+02] [ 2.39793465e-01 9.70814400e-01 -4.30048461e-03 5.81530215e+00] [ 1.65126536e-02 3.50501158e-04 9.99863595e-01 1.58308235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.46, Y:5.82, Z:1.58 [[ 9.71040976e-01 -2.38396237e-01 -1.57053215e-02 1.19457699e+02] [ 2.38358880e-01 9.71167904e-01 -4.23639641e-03 5.82253800e+00] [ 1.62624451e-02 3.70211667e-04 9.99867689e-01 1.58348936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58038572299999 meters Centerline goodness [0,1] 0.9998116760828625 Centerline is valid? [True, True] Translation: X:119.49, Y:5.83, Z:1.58 [[ 9.71303239e-01 -2.37273901e-01 -1.64655303e-02 1.19485657e+02] [ 2.37232614e-01 9.71442704e-01 -4.44530077e-03 5.82755634e+00] [ 1.70500731e-02 4.11574247e-04 9.99854552e-01 1.58030138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.51, Y:5.83, Z:1.58 [[ 9.71480553e-01 -2.36617954e-01 -1.54103400e-02 1.19514233e+02] [ 2.36581685e-01 9.71602689e-01 -4.16177032e-03 5.83358614e+00] [ 1.59574774e-02 3.97274722e-04 9.99872592e-01 1.58395445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.54, Y:5.84, Z:1.58 [[ 9.71328478e-01 -2.37198720e-01 -1.60547484e-02 1.19542072e+02] [ 2.37159366e-01 9.71461065e-01 -4.33979802e-03 5.83825191e+00] [ 1.66259576e-02 4.07835442e-04 9.99861696e-01 1.58433148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.57, Y:5.84, Z:1.59 [[ 9.71114706e-01 -2.38132542e-01 -1.51367252e-02 1.19572323e+02] [ 2.38097614e-01 9.71232595e-01 -4.09550096e-03 5.83661163e+00] [ 1.56765529e-02 3.73183058e-04 9.99877046e-01 1.58541371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.700385723 meters Centerline goodness [0,1] 0.9999364420245334 Centerline is valid? [True, True] Translation: X:119.60, Y:5.84, Z:1.59 [[ 9.70947108e-01 -2.38903704e-01 -1.36650832e-02 1.19600673e+02] [ 2.38875269e-01 9.71043208e-01 -3.70053090e-03 5.83730922e+00] [ 1.41534568e-02 3.28769340e-04 9.99899781e-01 1.58687456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.730385723 meters Centerline goodness [0,1] 0.9999576486532272 Centerline is valid? [True, True] Translation: X:119.63, Y:5.84, Z:1.59 [[ 9.70933912e-01 -2.38958193e-01 -1.36499170e-02 1.19628164e+02] [ 2.38929812e-01 9.71029801e-01 -3.69743399e-03 5.84146243e+00] [ 1.41380083e-02 3.28591948e-04 9.99899999e-01 1.58773195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.760385723 meters Centerline goodness [0,1] 0.9999787888429313 Centerline is valid? [True, True] Translation: X:119.66, Y:5.85, Z:1.59 [[ 9.70951497e-01 -2.38903081e-01 -1.33606740e-02 1.19655400e+02] [ 2.38875831e-01 9.71043362e-01 -3.62299894e-03 5.84869877e+00] [ 1.38393394e-02 3.26214144e-04 9.99904179e-01 1.58831627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.790385723 meters Centerline goodness [0,1] 0.99991508512716 Centerline is valid? [True, True] Translation: X:119.68, Y:5.85, Z:1.59 [[ 9.70959165e-01 -2.38901044e-01 -1.28293220e-02 1.19684502e+02] [ 2.38875908e-01 9.71043867e-01 -3.47963179e-03 5.84859543e+00] [ 1.32891221e-02 3.13964435e-04 9.99911646e-01 1.58725582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.71, Y:5.85, Z:1.59 [[ 9.71080322e-01 -2.38453085e-01 -1.19638543e-02 1.19713018e+02] [ 2.38431153e-01 9.71153971e-01 -3.24802789e-03 5.85383512e+00] [ 1.23932469e-02 3.01540397e-04 9.99923155e-01 1.58909397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85038572299999 meters Centerline goodness [0,1] 0.9998297147722435 Centerline is valid? [True, True] Translation: X:119.74, Y:5.85, Z:1.59 [[ 9.70889568e-01 -2.39235042e-01 -1.18339229e-02 1.19741836e+02] [ 2.39213603e-01 9.70961642e-01 -3.21599800e-03 5.85326348e+00] [ 1.22596646e-02 2.91543585e-04 9.99924805e-01 1.59003594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.77, Y:5.86, Z:1.59 [[ 9.70756543e-01 -2.39738755e-01 -1.25324719e-02 1.19769651e+02] [ 2.39714742e-01 9.70837390e-01 -3.40658385e-03 5.85660355e+00] [ 1.29836824e-02 3.02745303e-04 9.99915663e-01 1.59025747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.80, Y:5.86, Z:1.59 [[ 9.70687989e-01 -2.40050456e-01 -1.18577463e-02 1.19797712e+02] [ 2.40028940e-01 9.70760371e-01 -3.22661437e-03 5.85725921e+00] [ 1.22855805e-02 2.85833531e-04 9.99924489e-01 1.59107152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94038572299999 meters Centerline goodness [0,1] 0.999978566070089 Centerline is valid? [True, True] Translation: X:119.83, Y:5.86, Z:1.59 [[ 9.70569617e-01 -2.40555335e-01 -1.13025927e-02 1.19826213e+02] [ 2.40535814e-01 9.70635390e-01 -3.07619899e-03 5.85763899e+00] [ 1.17106926e-02 2.66986940e-04 9.99931392e-01 1.59136209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97038572299999 meters Centerline goodness [0,1] 0.9999571981937638 Centerline is valid? [True, True] Translation: X:119.85, Y:5.87, Z:1.59 [[ 9.70745824e-01 -2.39820404e-01 -1.17779408e-02 1.19852708e+02] [ 2.39799099e-01 9.70817227e-01 -3.20985480e-03 5.86634580e+00] [ 1.22040165e-02 2.91613540e-04 9.99925486e-01 1.59161769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.000385723 meters Centerline goodness [0,1] 0.999956934605198 Centerline is valid? [True, True] Translation: X:119.88, Y:5.87, Z:1.59 [[ 9.70838618e-01 -2.39430859e-01 -1.20515787e-02 1.19880923e+02] [ 2.39408513e-01 9.70913370e-01 -3.28520593e-03 5.87123378e+00] [ 1.24876185e-02 3.04154254e-04 9.99921980e-01 1.59168266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.030385723 meters Centerline goodness [0,1] 0.9999355323949716 Centerline is valid? [True, True] Translation: X:119.91, Y:5.87, Z:1.59 [[ 9.70936623e-01 -2.38972750e-01 -1.31946907e-02 1.19911466e+02] [ 2.38945876e-01 9.71026214e-01 -3.60016913e-03 5.87005449e+00] [ 1.36727329e-02 3.42719139e-04 9.99906465e-01 1.59142808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.060385723 meters Centerline goodness [0,1] 0.999892038952346 Centerline is valid? [True, True] Translation: X:119.94, Y:5.88, Z:1.59 [[ 9.71166339e-01 -2.38025060e-01 -1.34169086e-02 1.19938242e+02] [ 2.37997130e-01 9.71258944e-01 -3.66456381e-03 5.87797293e+00] [ 1.39035505e-02 3.65715265e-04 9.99903274e-01 1.59179161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.090385723 meters Centerline goodness [0,1] 0.9998920342899095 Centerline is valid? [True, True] Translation: X:119.97, Y:5.88, Z:1.59 [[ 9.71140772e-01 -2.38156319e-01 -1.29294020e-02 1.19967433e+02] [ 2.38130383e-01 9.71226773e-01 -3.53218708e-03 5.87638724e+00] [ 1.33985940e-02 3.51367443e-04 9.99910173e-01 1.59211323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.120385723 meters Centerline goodness [0,1] 0.9998487663656397 Centerline is valid? [True, True] Translation: X:119.99, Y:5.88, Z:1.59 [[ 9.71155454e-01 -2.38149199e-01 -1.19181488e-02 1.19994669e+02] [ 2.38127114e-01 9.71228527e-01 -3.25971645e-03 5.88087497e+00] [ 1.23515450e-02 3.27657023e-04 9.99923663e-01 1.59182293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.150385723 meters Centerline goodness [0,1] 0.9999567305612046 Centerline is valid? [True, True] Translation: X:120.02, Y:5.89, Z:1.59 [[ 9.71114254e-01 -2.38328277e-01 -1.16934753e-02 1.20022288e+02] [ 2.38307024e-01 9.71184602e-01 -3.19870786e-03 5.88547899e+00] [ 1.21188657e-02 3.19673495e-04 9.99926513e-01 1.59155342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.05, Y:5.89, Z:1.59 [[ 9.71164469e-01 -2.38140124e-01 -1.13515010e-02 1.20051336e+02] [ 2.38120043e-01 9.71230756e-01 -3.10858124e-03 5.88744432e+00] [ 1.17652048e-02 3.15923749e-04 9.99930738e-01 1.59191746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21038572299999 meters Centerline goodness [0,1] 0.999978304731738 Centerline is valid? [True, True] Translation: X:120.08, Y:5.89, Z:1.59 [[ 9.71111703e-01 -2.38351490e-01 -1.14292075e-02 1.20080011e+02] [ 2.38331114e-01 9.71178905e-01 -3.13278217e-03 5.89078108e+00] [ 1.18465085e-02 3.18345674e-04 9.99929777e-01 1.59288467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24038572299999 meters Centerline goodness [0,1] 0.9999564440959973 Centerline is valid? [True, True] Translation: X:120.11, Y:5.90, Z:1.59 [[ 9.71135038e-01 -2.38227134e-01 -1.20237491e-02 1.20107864e+02] [ 2.38204518e-01 9.71209409e-01 -3.30018961e-03 5.89535771e+00] [ 1.24637729e-02 3.40818412e-04 9.99922266e-01 1.59342495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27038572299999 meters Centerline goodness [0,1] 0.9999781778505182 Centerline is valid? [True, True] Translation: X:120.14, Y:5.90, Z:1.59 [[ 9.71115894e-01 -2.38273236e-01 -1.26406560e-02 1.20135372e+02] [ 2.38248232e-01 9.71198093e-01 -3.47036057e-03 5.90054623e+00] [ 1.31034750e-02 3.58508361e-04 9.99914082e-01 1.59268944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30038572299999 meters Centerline goodness [0,1] 0.9999781090606598 Centerline is valid? [True, True] Translation: X:120.16, Y:5.91, Z:1.59 [[ 9.71170893e-01 -2.38054831e-01 -1.25297480e-02 1.20163397e+02] [ 2.38030193e-01 9.71251649e-01 -3.44396679e-03 5.90799504e+00] [ 1.29893913e-02 3.62221976e-04 9.99915569e-01 1.59141115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33038572299999 meters Centerline goodness [0,1] 0.9999781157675894 Centerline is valid? [True, True] Translation: X:120.19, Y:5.91, Z:1.59 [[ 9.71235276e-01 -2.37715409e-01 -1.39076811e-02 1.20191742e+02] [ 2.37684985e-01 9.71334760e-01 -3.82503644e-03 5.91012843e+00] [ 1.44182842e-02 4.09363349e-04 9.99895967e-01 1.59061273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.360385723 meters Centerline goodness [0,1] 0.9999560458880928 Centerline is valid? [True, True] Translation: X:120.22, Y:5.92, Z:1.59 [[ 9.71297468e-01 -2.37446026e-01 -1.41637941e-02 1.20219411e+02] [ 2.37414412e-01 9.71400641e-01 -3.89755559e-03 5.91591805e+00] [ 1.46841777e-02 4.22997035e-04 9.99892092e-01 1.59146997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.390385723 meters Centerline goodness [0,1] 0.9999779239701532 Centerline is valid? [True, True] Translation: X:120.25, Y:5.92, Z:1.59 [[ 9.71194518e-01 -2.37833037e-01 -1.47191980e-02 1.20248934e+02] [ 2.37798918e-01 9.71305955e-01 -4.05181190e-03 5.91599700e+00] [ 1.52604994e-02 4.34888132e-04 9.99883457e-01 1.59222221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.420385723 meters Centerline goodness [0,1] 0.9999558810553252 Centerline is valid? [True, True] Translation: X:120.28, Y:5.92, Z:1.59 [[ 9.71051400e-01 -2.38379392e-01 -1.53115661e-02 1.20276109e+02] [ 2.38342467e-01 9.71172006e-01 -4.21940725e-03 5.92317815e+00] [ 1.58759841e-02 4.47864872e-04 9.99873868e-01 1.59187818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.31, Y:5.93, Z:1.59 [[ 9.70804373e-01 -2.39365089e-01 -1.55956112e-02 1.20305361e+02] [ 2.39326882e-01 9.70929534e-01 -4.29928673e-03 5.92605256e+00] [ 1.61713386e-02 4.41317359e-04 9.99869138e-01 1.59159814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.33, Y:5.93, Z:1.59 [[ 9.70412047e-01 -2.41046556e-01 -1.40362391e-02 1.20334412e+02] [ 2.41015737e-01 9.70513481e-01 -3.87266914e-03 5.92902618e+00] [ 1.45558528e-02 3.75130284e-04 9.99893988e-01 1.59228607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.510385723 meters Centerline goodness [0,1] 0.9999778506246124 Centerline is valid? [True, True] Translation: X:120.36, Y:5.93, Z:1.59 [[ 9.70198448e-01 -2.41959298e-01 -1.30640318e-02 1.20362048e+02] [ 2.41932638e-01 9.70286341e-01 -3.60773217e-03 5.93468705e+00] [ 1.35487760e-02 3.39600466e-04 9.99908153e-01 1.59343118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.39, Y:5.94, Z:1.60 [[ 9.69867446e-01 -2.43371876e-01 -1.12812865e-02 1.20391547e+02] [ 2.43352081e-01 9.69933015e-01 -3.11627265e-03 5.93541256e+00] [ 1.17005053e-02 2.77046852e-04 9.99931508e-01 1.59622111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.570385723 meters Centerline goodness [0,1] 0.9999776591228972 Centerline is valid? [True, True] Translation: X:120.42, Y:5.94, Z:1.60 [[ 9.69505740e-01 -2.44845503e-01 -1.04546042e-02 1.20420505e+02] [ 2.44828564e-01 9.69562077e-01 -2.89030767e-03 5.93927450e+00] [ 1.08440666e-02 2.42584145e-04 9.99941172e-01 1.59789921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.45, Y:5.94, Z:1.60 [[ 9.68436603e-01 -2.49060635e-01 -9.96727102e-03 1.20450130e+02] [ 2.49045435e-01 9.68487875e-01 -2.75804364e-03 5.94195471e+00] [ 1.03401012e-02 1.88687060e-04 9.99946522e-01 1.59880813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.48, Y:5.95, Z:1.60 [[ 9.68367472e-01 -2.49329309e-01 -9.96672079e-03 1.20476711e+02] [ 2.49314103e-01 9.68418742e-01 -2.76003026e-03 5.94939075e+00] [ 1.03401157e-02 1.87879477e-04 9.99946522e-01 1.59922578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.50, Y:5.96, Z:1.60 [[ 9.67938026e-01 -2.50981476e-01 -1.02116020e-02 1.20503411e+02] [ 2.50965562e-01 9.67991873e-01 -2.83191350e-03 5.95593213e+00] [ 1.05955055e-02 1.78356339e-04 9.99943850e-01 1.59861494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.53, Y:5.96, Z:1.60 [[ 9.67220958e-01 -2.53656951e-01 -1.19067536e-02 1.20531940e+02] [ 2.53635506e-01 9.67294227e-01 -3.30289284e-03 5.96045291e+00] [ 1.23551357e-02 1.74651704e-04 9.99923657e-01 1.59661360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72038572299999 meters Centerline goodness [0,1] 0.9999327776283947 Centerline is valid? [True, True] Translation: X:120.56, Y:5.97, Z:1.60 [[ 9.66934499e-01 -2.54679885e-01 -1.32601572e-02 1.20560342e+02] [ 2.54653331e-01 9.67025399e-01 -3.68218150e-03 5.96763757e+00] [ 1.37606863e-02 1.83685137e-04 9.99905300e-01 1.59543376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.59, Y:5.97, Z:1.59 [[ 9.66809961e-01 -2.55098827e-01 -1.42508993e-02 1.20587328e+02] [ 2.55068144e-01 9.66914966e-01 -3.96120972e-03 5.97473873e+00] [ 1.47899078e-02 1.94786572e-04 9.99890604e-01 1.59447670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.62, Y:5.98, Z:1.59 [[ 9.66373775e-01 -2.56638853e-01 -1.60694087e-02 1.20616086e+02] [ 2.56599966e-01 9.66507351e-01 -4.47185827e-03 5.97988413e+00] [ 1.66788542e-02 1.98076819e-04 9.99860879e-01 1.59225947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.810385723 meters Centerline goodness [0,1] 0.9999774439482113 Centerline is valid? [True, True] Translation: X:120.64, Y:5.98, Z:1.59 [[ 9.65159827e-01 -2.61053508e-01 -1.78205991e-02 1.20643972e+02] [ 2.61006352e-01 9.65324322e-01 -4.96366779e-03 5.98432516e+00] [ 1.84984407e-02 1.39443182e-04 9.99828879e-01 1.59045886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.67, Y:5.99, Z:1.59 [[ 9.64669943e-01 -2.62860155e-01 -1.77887639e-02 1.20671019e+02] [ 2.62813444e-01 9.64833938e-01 -4.95642554e-03 5.99114478e+00] [ 1.84660499e-02 1.06188442e-04 9.99829482e-01 1.59055056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.70, Y:6.00, Z:1.59 [[ 9.64047413e-01 -2.65225426e-01 -1.63724879e-02 1.20698878e+02] [ 2.65186170e-01 9.64186429e-01 -4.56345788e-03 5.99936341e+00] [ 1.69964757e-02 5.76324079e-05 9.99855548e-01 1.59029633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.73, Y:6.01, Z:1.59 [[ 9.63932139e-01 -2.65692692e-01 -1.55635459e-02 1.20725047e+02] [ 2.65657222e-01 9.64057774e-01 -4.34162309e-03 6.00706887e+00] [ 1.61576950e-02 5.04616545e-05 9.99869455e-01 1.59147280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.75, Y:6.01, Z:1.59 [[ 9.63861973e-01 -2.65979325e-01 -1.50031933e-02 1.20751839e+02] [ 2.65946369e-01 9.63978732e-01 -4.18718336e-03 6.01376624e+00] [ 1.55764634e-02 4.58220381e-05 9.99878678e-01 1.59308472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.78, Y:6.02, Z:1.59 [[ 9.63747305e-01 -2.66354287e-01 -1.57011468e-02 1.20777096e+02] [ 2.66318168e-01 9.63875195e-01 -4.38656151e-03 6.02210880e+00] [ 1.63023254e-02 4.60361824e-05 9.99867107e-01 1.59394649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.80, Y:6.03, Z:1.59 [[ 9.63591080e-01 -2.66937911e-01 -1.53747588e-02 1.20803084e+02] [ 2.66903319e-01 9.63713728e-01 -4.29739892e-03 6.03241897e+00] [ 1.59640048e-02 3.73611138e-05 9.99872566e-01 1.59243613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.83, Y:6.04, Z:1.59 [[ 9.63546354e-01 -2.67103096e-01 -1.53088100e-02 1.20829503e+02] [ 2.67068752e-01 9.63667959e-01 -4.28333417e-03 6.04043229e+00] [ 1.58967015e-02 3.86862373e-05 9.99873639e-01 1.59301156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05038572299999 meters Centerline goodness [0,1] 0.9998201923941382 Centerline is valid? [True, True] Translation: X:120.86, Y:6.05, Z:1.59 [[ 9.63286358e-01 -2.68039308e-01 -1.53075893e-02 1.20856820e+02] [ 2.68005018e-01 9.63407976e-01 -4.28737298e-03 6.04816455e+00] [ 1.58966381e-02 2.74571607e-05 9.99873640e-01 1.59051320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.88, Y:6.06, Z:1.60 [[ 9.63450399e-01 -2.67564245e-01 -1.31416971e-02 1.20883358e+02] [ 2.67538885e-01 9.63540022e-01 -3.68392232e-03 6.05750356e+00] [ 1.36482370e-02 3.33614258e-05 9.99906858e-01 1.59664025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.91, Y:6.07, Z:1.60 [[ 9.63558356e-01 -2.67242421e-01 -1.16954282e-02 1.20909937e+02] [ 2.67222269e-01 9.63629331e-01 -3.28206889e-03 6.06671751e+00] [ 1.21471657e-02 3.71860380e-05 9.99926220e-01 1.59796561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.94, Y:6.08, Z:1.60 [[ 9.63942031e-01 -2.65863264e-01 -1.15102544e-02 1.20935304e+02] [ 2.65843634e-01 9.64010748e-01 -3.23114411e-03 6.07827479e+00] [ 1.19550514e-02 5.47077641e-05 9.99928534e-01 1.59819188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.170385723 meters Centerline goodness [0,1] 0.9999327896764943 Centerline is valid? [True, True] Translation: X:120.96, Y:6.09, Z:1.60 [[ 9.64218384e-01 -2.64832810e-01 -1.21033645e-02 1.20961778e+02] [ 2.64811016e-01 9.64294342e-01 -3.39827460e-03 6.08743047e+00] [ 1.25711805e-02 7.15745836e-05 9.99920977e-01 1.59786004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.99, Y:6.10, Z:1.60 [[ 9.65060409e-01 -2.61691949e-01 -1.32563356e-02 1.20987286e+02] [ 2.61665446e-01 9.65151443e-01 -3.72650299e-03 6.09965766e+00] [ 1.37695672e-02 1.27575533e-04 9.99905187e-01 1.59721029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.230385723 meters Centerline goodness [0,1] 0.9998662535387085 Centerline is valid? [True, True] Translation: X:121.01, Y:6.11, Z:1.60 [[ 9.65452518e-01 -2.60218570e-01 -1.37014700e-02 1.21013972e+02] [ 2.60190093e-01 9.65549725e-01 -3.85276101e-03 6.10995716e+00] [ 1.42320106e-02 1.54671053e-04 9.99898708e-01 1.59670554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.260385723 meters Centerline goodness [0,1] 0.9999777044501917 Centerline is valid? [True, True] Translation: X:121.04, Y:6.12, Z:1.60 [[ 9.65679453e-01 -2.59354359e-01 -1.40893573e-02 1.21041011e+02] [ 2.59324102e-01 9.65782214e-01 -3.96542952e-03 6.12044458e+00] [ 1.46357022e-02 1.75623876e-04 9.99892877e-01 1.59649416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.290385723 meters Centerline goodness [0,1] 0.9999777911031159 Centerline is valid? [True, True] Translation: X:121.07, Y:6.13, Z:1.60 [[ 9.65841232e-01 -2.58798169e-01 -1.31993487e-02 1.21067311e+02] [ 2.58771517e-01 9.65931404e-01 -3.71819522e-03 6.13096458e+00] [ 1.37119275e-02 1.75570780e-04 9.99905972e-01 1.59744740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.320385723 meters Centerline goodness [0,1] 0.9999777609749588 Centerline is valid? [True, True] Translation: X:121.09, Y:6.14, Z:1.60 [[ 9.65708074e-01 -2.59326658e-01 -1.25538593e-02 1.21094106e+02] [ 2.59302586e-01 9.65789655e-01 -3.53699875e-03 6.13822918e+00] [ 1.30416255e-02 1.60460063e-04 9.99914942e-01 1.59836347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35038572299999 meters Centerline goodness [0,1] 0.9999777560281163 Centerline is valid? [True, True] Translation: X:121.12, Y:6.15, Z:1.60 [[ 9.65400540e-01 -2.60519151e-01 -1.14703487e-02 1.21121138e+02] [ 2.60499105e-01 9.65468671e-01 -3.23457441e-03 6.14530589e+00] [ 1.19169309e-02 1.34644320e-04 9.99928982e-01 1.60037856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38038572299999 meters Centerline goodness [0,1] 0.9999332962757087 Centerline is valid? [True, True] Translation: X:121.15, Y:6.15, Z:1.60 [[ 9.65234875e-01 -2.61156670e-01 -1.09009099e-02 1.21146340e+02] [ 2.61138564e-01 9.65296420e-01 -3.07764499e-03 6.15455174e+00] [ 1.13263568e-02 1.24002312e-04 9.99935847e-01 1.60079140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41038572299999 meters Centerline goodness [0,1] 0.999845685816322 Centerline is valid? [True, True] Translation: X:121.17, Y:6.16, Z:1.60 [[ 9.65214374e-01 -2.61248604e-01 -1.05061365e-02 1.21172586e+02] [ 2.61231785e-01 9.65271543e-01 -2.96678179e-03 6.16443348e+00] [ 1.09163422e-02 1.19043628e-04 9.99940408e-01 1.60125389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44038572299999 meters Centerline goodness [0,1] 0.9999336855368156 Centerline is valid? [True, True] Translation: X:121.20, Y:6.17, Z:1.60 [[ 9.65205671e-01 -2.61267963e-01 -1.08196233e-02 1.21198238e+02] [ 2.61250085e-01 9.65266303e-01 -3.05897809e-03 6.17419751e+00] [ 1.12430307e-02 1.25915506e-04 9.99936787e-01 1.60135531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47038572299999 meters Centerline goodness [0,1] 0.9998451635736247 Centerline is valid? [True, True] Translation: X:121.23, Y:6.18, Z:1.60 [[ 9.65255410e-01 -2.61006454e-01 -1.25548237e-02 1.21225959e+02] [ 2.60982323e-01 9.65337044e-01 -3.55234033e-03 6.18084181e+00] [ 1.30468202e-02 1.52328654e-04 9.99914875e-01 1.60070231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.25, Y:6.19, Z:1.60 [[ 9.65179699e-01 -2.61256627e-01 -1.31576307e-02 1.21252932e+02] [ 2.61230090e-01 9.65269366e-01 -3.72701232e-03 6.18836420e+00] [ 1.36743645e-02 1.60067585e-04 9.99906489e-01 1.60083179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.530385723 meters Centerline goodness [0,1] 0.9999780185962676 Centerline is valid? [True, True] Translation: X:121.28, Y:6.20, Z:1.60 [[ 9.65153007e-01 -2.61321808e-01 -1.38052430e-02 1.21278430e+02] [ 2.61292537e-01 9.65251720e-01 -3.91494629e-03 6.19734012e+00] [ 1.43485953e-02 1.71315232e-04 9.99897039e-01 1.60094605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.560385723 meters Centerline goodness [0,1] 0.9999778648427297 Centerline is valid? [True, True] Translation: X:121.30, Y:6.21, Z:1.60 [[ 9.65043414e-01 -2.61702470e-01 -1.42487175e-02 1.21304530e+02] [ 2.61671302e-01 9.65148583e-01 -4.04257185e-03 6.20714474e+00] [ 1.48100805e-02 1.72776883e-04 9.99890310e-01 1.59944739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.590385723 meters Centerline goodness [0,1] 0.9998899308765905 Centerline is valid? [True, True] Translation: X:121.33, Y:6.22, Z:1.60 [[ 9.65080659e-01 -2.61547540e-01 -1.45673074e-02 1.21330824e+02] [ 2.61514885e-01 9.65190577e-01 -4.13695152e-03 6.21594738e+00] [ 1.51422373e-02 1.82924182e-04 9.99885333e-01 1.59951151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.620385723 meters Centerline goodness [0,1] 0.9996696617336153 Centerline is valid? [True, True] Translation: X:121.36, Y:6.22, Z:1.60 [[ 9.65269223e-01 -2.60803829e-01 -1.53847107e-02 1.21358215e+02] [ 2.60767286e-01 9.65391796e-01 -4.37066361e-03 6.22366892e+00] [ 1.59921593e-02 2.07037807e-04 9.99872096e-01 1.59984232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.650385723 meters Centerline goodness [0,1] 0.9998673652098946 Centerline is valid? [True, True] Translation: X:121.39, Y:6.23, Z:1.60 [[ 9.65370649e-01 -2.60376413e-01 -1.62368077e-02 1.21386128e+02] [ 2.60335573e-01 9.65507157e-01 -4.61723502e-03 6.23085131e+00] [ 1.68789731e-02 2.30324539e-04 9.99857513e-01 1.60044336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.680385723 meters Centerline goodness [0,1] 0.9999335400974745 Centerline is valid? [True, True] Translation: X:121.41, Y:6.24, Z:1.60 [[ 9.65775954e-01 -2.58724142e-01 -1.84017785e-02 1.21412033e+02] [ 2.58671291e-01 9.65951204e-01 -5.23776191e-03 6.24029430e+00] [ 1.91303556e-02 2.98492696e-04 9.99816953e-01 1.59928496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71038572299999 meters Centerline goodness [0,1] 0.9999778481713666 Centerline is valid? [True, True] Translation: X:121.44, Y:6.25, Z:1.60 [[ 9.66044747e-01 -2.57630113e-01 -1.96028638e-02 1.21438048e+02] [ 2.57569871e-01 9.66243555e-01 -5.58158101e-03 6.24910726e+00] [ 2.03791241e-02 3.42949907e-04 9.99792265e-01 1.59858317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74038572299999 meters Centerline goodness [0,1] 0.9999556747412514 Centerline is valid? [True, True] Translation: X:121.47, Y:6.26, Z:1.60 [[ 9.66283627e-01 -2.56706156e-01 -1.99474651e-02 1.21465563e+02] [ 2.56643523e-01 9.66489426e-01 -5.68250800e-03 6.25755122e+00] [ 2.07377489e-02 3.71526717e-04 9.99784881e-01 1.59752181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.49, Y:6.27, Z:1.60 [[ 9.66977712e-01 -2.54104441e-01 -1.96223748e-02 1.21491239e+02] [ 2.54043207e-01 9.67176692e-01 -5.59426997e-03 6.26702704e+00] [ 2.03998324e-02 4.24603354e-04 9.99791812e-01 1.59827079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80038572299999 meters Centerline goodness [0,1] 0.9998011928429423 Centerline is valid? [True, True] Translation: X:121.52, Y:6.28, Z:1.60 [[ 9.67138180e-01 -2.53539922e-01 -1.90065382e-02 1.21518626e+02] [ 2.53482309e-01 9.67324830e-01 -5.42142879e-03 6.27543802e+00] [ 1.97600450e-02 4.25449580e-04 9.99804661e-01 1.59772752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83038572299999 meters Centerline goodness [0,1] 0.9997347069617315 Centerline is valid? [True, True] Translation: X:121.55, Y:6.29, Z:1.60 [[ 9.66879569e-01 -2.54460947e-01 -1.98374590e-02 1.21545107e+02] [ 2.54398289e-01 9.67082956e-01 -5.66286052e-03 6.28556058e+00] [ 2.06254453e-02 4.28688529e-04 9.99787181e-01 1.59868424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.860385723 meters Centerline goodness [0,1] 0.9997572654853587 Centerline is valid? [True, True] Translation: X:121.57, Y:6.29, Z:1.60 [[ 9.66681813e-01 -2.55274008e-01 -1.90119084e-02 1.21572525e+02] [ 2.55216567e-01 9.66868669e-01 -5.42960657e-03 6.29343122e+00] [ 1.97680560e-02 3.96547948e-04 9.99804514e-01 1.59971718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.890385723 meters Centerline goodness [0,1] 0.9997133090748704 Centerline is valid? [True, True] Translation: X:121.60, Y:6.30, Z:1.60 [[ 9.66306954e-01 -2.56866652e-01 -1.64436617e-02 1.21601425e+02] [ 2.56823850e-01 9.66446802e-01 -4.69984354e-03 6.29851228e+00] [ 1.70991573e-02 3.18366997e-04 9.99853748e-01 1.60430526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.63, Y:6.31, Z:1.61 [[ 9.66043262e-01 -2.57851114e-01 -1.65293236e-02 1.21627740e+02] [ 2.57807939e-01 9.66184614e-01 -4.72836891e-03 6.30617577e+00] [ 1.71895933e-02 3.06418088e-04 9.99852201e-01 1.60512844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.950385723 meters Centerline goodness [0,1] 0.9999778373706256 Centerline is valid? [True, True] Translation: X:121.66, Y:6.31, Z:1.60 [[ 9.65574007e-01 -2.59498833e-01 -1.80884891e-02 1.21655786e+02] [ 2.59447359e-01 9.65743373e-01 -5.17747392e-03 6.31218723e+00] [ 1.88123869e-02 3.06223501e-04 9.99822984e-01 1.60444176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.980385723 meters Centerline goodness [0,1] 0.9999556442670215 Centerline is valid? [True, True] Translation: X:121.68, Y:6.32, Z:1.60 [[ 9.65409058e-01 -2.60057441e-01 -1.88541296e-02 1.21681610e+02] [ 2.60001534e-01 9.65593097e-01 -5.40115453e-03 6.32070805e+00] [ 1.96100278e-02 3.12220880e-04 9.99807656e-01 1.60361998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.71, Y:6.33, Z:1.60 [[ 9.65239888e-01 -2.60585188e-01 -2.01821212e-02 1.21707866e+02] [ 2.60521165e-01 9.65450803e-01 -5.78526514e-03 6.33126121e+00] [ 2.09923995e-02 3.26298943e-04 9.99779582e-01 1.60106486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.73, Y:6.34, Z:1.60 [[ 9.65346607e-01 -2.60170210e-01 -2.04301201e-02 1.21733756e+02] [ 2.60104406e-01 9.65562708e-01 -5.86127804e-03 6.34036430e+00] [ 2.12514920e-02 3.44200616e-04 9.99774102e-01 1.60090743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.070385723 meters Centerline goodness [0,1] 0.9998896466485687 Centerline is valid? [True, True] Translation: X:121.76, Y:6.35, Z:1.60 [[ 9.65661867e-01 -2.58916344e-01 -2.14356164e-02 1.21762254e+02] [ 2.58843523e-01 9.65899670e-01 -6.15290297e-03 6.34604841e+00] [ 2.22977420e-02 3.93153275e-04 9.99751297e-01 1.60271441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10038572299999 meters Centerline goodness [0,1] 0.9999339599797478 Centerline is valid? [True, True] Translation: X:121.79, Y:6.36, Z:1.60 [[ 9.65730213e-01 -2.58628427e-01 -2.18287216e-02 1.21788495e+02] [ 2.58552735e-01 9.65976795e-01 -6.27020349e-03 6.35555337e+00] [ 2.27076914e-02 4.11449268e-04 9.99742062e-01 1.60229985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13038572299999 meters Centerline goodness [0,1] 0.9999338507673311 Centerline is valid? [True, True] Translation: X:121.82, Y:6.36, Z:1.60 [[ 9.65880444e-01 -2.58074896e-01 -2.17328365e-02 1.21815529e+02] [ 2.57999676e-01 9.66124820e-01 -6.24494136e-03 6.36417382e+00] [ 2.26082954e-02 4.24801939e-04 9.99744310e-01 1.60281523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16038572299999 meters Centerline goodness [0,1] 0.9998899841577187 Centerline is valid? [True, True] Translation: X:121.84, Y:6.38, Z:1.60 [[ 9.66008083e-01 -2.57667612e-01 -2.08754766e-02 1.21841365e+02] [ 2.57598063e-01 9.66233525e-01 -6.00102562e-03 6.37540057e+00] [ 2.17168553e-02 4.19556901e-04 9.99764073e-01 1.60194967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19038572299999 meters Centerline goodness [0,1] 0.999934028235915 Centerline is valid? [True, True] Translation: X:121.87, Y:6.38, Z:1.60 [[ 9.65945721e-01 -2.57985668e-01 -1.98055435e-02 1.21868282e+02] [ 2.57923077e-01 9.66148663e-01 -5.69617206e-03 6.38387975e+00] [ 2.06046302e-02 3.93886289e-04 9.99787624e-01 1.60267368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22038572299999 meters Centerline goodness [0,1] 0.999934378896253 Centerline is valid? [True, True] Translation: X:121.90, Y:6.39, Z:1.61 [[ 9.66017170e-01 -2.57888244e-01 -1.74493751e-02 1.21895163e+02] [ 2.57839574e-01 9.66174689e-01 -5.02242887e-03 6.39113867e+00] [ 1.81543699e-02 3.52613097e-04 9.99835134e-01 1.60651401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.250385723 meters Centerline goodness [0,1] 0.9999340760762081 Centerline is valid? [True, True] Translation: X:121.92, Y:6.40, Z:1.61 [[ 9.65971410e-01 -2.58151784e-01 -1.60278421e-02 1.21922694e+02] [ 2.58110730e-01 9.66104318e-01 -4.61489002e-03 6.39545428e+00] [ 1.66759096e-02 3.20893787e-04 9.99860896e-01 1.60886968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.280385723 meters Centerline goodness [0,1] 0.9998903917399216 Centerline is valid? [True, True] Translation: X:121.95, Y:6.41, Z:1.61 [[ 9.66082559e-01 -2.57854376e-01 -1.39860554e-02 1.21949075e+02] [ 2.57823030e-01 9.66183749e-01 -4.03080221e-03 6.40577843e+00] [ 1.45524595e-02 2.88160520e-04 9.99894066e-01 1.61146755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.310385723 meters Centerline goodness [0,1] 0.9999123825378398 Centerline is valid? [True, True] Translation: X:121.98, Y:6.42, Z:1.61 [[ 9.66123774e-01 -2.57722270e-01 -1.35677849e-02 1.21976357e+02] [ 2.57692733e-01 9.66218998e-01 -3.91201329e-03 6.41582514e+00] [ 1.41176644e-02 2.83169487e-04 9.99900301e-01 1.61163973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.340385723 meters Centerline goodness [0,1] 0.9998032442831534 Centerline is valid? [True, True] Translation: X:122.00, Y:6.43, Z:1.61 [[ 9.66359120e-01 -2.56835207e-01 -1.36282063e-02 1.22003282e+02] [ 2.56805268e-01 9.66455165e-01 -3.93302249e-03 6.42567610e+00] [ 1.41811890e-02 3.00916973e-04 9.99899397e-01 1.61144057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.370385723 meters Centerline goodness [0,1] 0.9999345920725592 Centerline is valid? [True, True] Translation: X:122.03, Y:6.44, Z:1.61 [[ 9.66898126e-01 -2.54789978e-01 -1.37870181e-02 1.22028862e+02] [ 2.54759074e-01 9.66996356e-01 -3.98266069e-03 6.43723324e+00] [ 1.43467383e-02 3.38459202e-04 9.99897023e-01 1.61105867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.400385723 meters Centerline goodness [0,1] 0.9998038018835019 Centerline is valid? [True, True] Translation: X:122.06, Y:6.45, Z:1.61 [[ 9.67393841e-01 -2.52855899e-01 -1.45962355e-02 1.22056077e+02] [ 2.52821019e-01 9.67503872e-01 -4.21785904e-03 6.44643239e+00] [ 1.51884249e-02 3.90095717e-04 9.99884573e-01 1.61081139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.430385723 meters Centerline goodness [0,1] 0.9999781983081887 Centerline is valid? [True, True] Translation: X:122.08, Y:6.46, Z:1.61 [[ 9.67516932e-01 -2.52370015e-01 -1.48446079e-02 1.22083898e+02] [ 2.52333818e-01 9.67630719e-01 -4.29362984e-03 6.45546511e+00] [ 1.54476821e-02 4.08362968e-04 9.99880594e-01 1.61100468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46038572299999 meters Centerline goodness [0,1] 0.999978224893302 Centerline is valid? [True, True] Translation: X:122.11, Y:6.46, Z:1.61 [[ 9.67476778e-01 -2.52477504e-01 -1.56138896e-02 1.22111054e+02] [ 2.52437402e-01 9.67602668e-01 -4.52050449e-03 6.46432857e+00] [ 1.62493670e-02 4.31953387e-04 9.99867877e-01 1.61056455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49038572299999 meters Centerline goodness [0,1] 0.9998696700480049 Centerline is valid? [True, True] Translation: X:122.14, Y:6.47, Z:1.61 [[ 9.67542826e-01 -2.52174251e-01 -1.64020297e-02 1.22137352e+02] [ 2.52129872e-01 9.67681731e-01 -4.75348131e-03 6.47430781e+00] [ 1.70706500e-02 4.63755096e-04 9.99854178e-01 1.60781630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52038572299999 meters Centerline goodness [0,1] 0.9998696700480049 Centerline is valid? [True, True] Translation: X:122.16, Y:6.48, Z:1.61 [[ 9.67473330e-01 -2.52440776e-01 -1.64015202e-02 1.22163834e+02] [ 2.52396406e-01 9.67612237e-01 -4.75523862e-03 6.48205650e+00] [ 1.70707277e-02 4.60881805e-04 9.99854178e-01 1.60823475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.19, Y:6.49, Z:1.61 [[ 9.67417315e-01 -2.52644527e-01 -1.65674559e-02 1.22190513e+02] [ 2.52599198e-01 9.67559055e-01 -4.80834041e-03 6.49034549e+00] [ 1.72447929e-02 4.66745692e-04 9.99851189e-01 1.60978401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58038572299999 meters Centerline goodness [0,1] 0.9999782343722793 Centerline is valid? [True, True] Translation: X:122.22, Y:6.50, Z:1.61 [[ 9.67146216e-01 -2.53722609e-01 -1.59070570e-02 1.22218916e+02] [ 2.53680892e-01 9.67276925e-01 -4.62120621e-03 6.49699730e+00] [ 1.65590336e-02 4.34065698e-04 9.99862796e-01 1.61040034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.610385723 meters Centerline goodness [0,1] 0.9999563395040167 Centerline is valid? [True, True] Translation: X:122.25, Y:6.50, Z:1.61 [[ 9.66936683e-01 -2.54535122e-01 -1.56628135e-02 1.22247187e+02] [ 2.54494717e-01 9.67063440e-01 -4.55431587e-03 6.50392772e+00] [ 1.63061677e-02 4.17631788e-04 9.99866958e-01 1.61107064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.640385723 meters Centerline goodness [0,1] 0.9999125759496438 Centerline is valid? [True, True] Translation: X:122.27, Y:6.51, Z:1.61 [[ 9.66542909e-01 -2.56077274e-01 -1.48066037e-02 1.22273564e+02] [ 2.56041290e-01 9.66656242e-01 -4.30901912e-03 6.51268460e+00] [ 1.54163378e-02 3.73749952e-04 9.99881091e-01 1.61096954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.670385723 meters Centerline goodness [0,1] 0.999891012925867 Centerline is valid? [True, True] Translation: X:122.30, Y:6.52, Z:1.61 [[ 9.66339676e-01 -2.56880669e-01 -1.41404603e-02 1.22300857e+02] [ 2.56847919e-01 9.66443067e-01 -4.11634572e-03 6.52141905e+00] [ 1.47233594e-02 3.45840397e-04 9.99891546e-01 1.61160025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.700385723 meters Centerline goodness [0,1] 0.999825476122952 Centerline is valid? [True, True] Translation: X:122.33, Y:6.53, Z:1.61 [[ 9.66252735e-01 -2.57172880e-01 -1.47567447e-02 1.22327779e+02] [ 2.57137186e-01 9.66365345e-01 -4.29970116e-03 6.52872985e+00] [ 1.53661732e-02 3.60090195e-04 9.99881869e-01 1.61179942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.730385723 meters Centerline goodness [0,1] 0.9998910770303242 Centerline is valid? [True, True] Translation: X:122.36, Y:6.54, Z:1.61 [[ 9.66163384e-01 -2.57502671e-01 -1.48556161e-02 1.22355042e+02] [ 2.57466514e-01 9.66277520e-01 -4.32993759e-03 6.53567001e+00] [ 1.54696184e-02 3.58603469e-04 9.99880274e-01 1.61207890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:6.54, Z:1.61 [[ 9.66046516e-01 -2.57876543e-01 -1.59316237e-02 1.22382233e+02] [ 2.57834925e-01 9.66177800e-01 -4.64858739e-03 6.54328003e+00] [ 1.65915428e-02 3.83022651e-04 9.99862278e-01 1.61209505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.790385723 meters Centerline goodness [0,1] 0.9999562592948998 Centerline is valid? [True, True] Translation: X:122.41, Y:6.55, Z:1.61 [[ 9.65974186e-01 -2.58102238e-01 -1.66465303e-02 1.22407717e+02] [ 2.58056752e-01 9.66117526e-01 -4.86196405e-03 6.55357357e+00] [ 1.73373884e-02 4.00782228e-04 9.99849616e-01 1.61076679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.44, Y:6.56, Z:1.61 [[ 9.65886941e-01 -2.58416354e-01 -1.68346316e-02 1.22435647e+02] [ 2.58369837e-01 9.66033553e-01 -4.91947937e-03 6.55832602e+00] [ 1.75340929e-02 4.02099871e-04 9.99846185e-01 1.61126725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.46, Y:6.57, Z:1.61 [[ 9.65853293e-01 -2.58508107e-01 -1.73486285e-02 1.22462744e+02] [ 2.58458623e-01 9.66008998e-01 -5.07503496e-03 6.56714047e+00] [ 1.80708689e-02 4.17836593e-04 9.99836621e-01 1.61090711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88038572299999 meters Centerline goodness [0,1] 0.9999342148542859 Centerline is valid? [True, True] Translation: X:122.49, Y:6.58, Z:1.61 [[ 9.65912035e-01 -2.58248608e-01 -1.79331126e-02 1.22489573e+02] [ 2.58195599e-01 9.66078393e-01 -5.25083983e-03 6.57621417e+00] [ 1.86808147e-02 4.41598626e-04 9.99825401e-01 1.60971634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91038572299999 meters Centerline goodness [0,1] 0.9999780682516011 Centerline is valid? [True, True] Translation: X:122.52, Y:6.58, Z:1.61 [[ 9.66268657e-01 -2.56882820e-01 -1.83330236e-02 1.22517749e+02] [ 2.56827129e-01 9.66442438e-01 -5.37028278e-03 6.58442827e+00] [ 1.90973454e-02 4.80718113e-04 9.99817514e-01 1.60908944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94038572299999 meters Centerline goodness [0,1] 0.9998250295262674 Centerline is valid? [True, True] Translation: X:122.55, Y:6.59, Z:1.61 [[ 9.66349280e-01 -2.56562356e-01 -1.85694870e-02 1.22545242e+02] [ 2.56505067e-01 9.66527552e-01 -5.44436585e-03 6.59361939e+00] [ 1.93447401e-02 4.97991526e-04 9.99812749e-01 1.60859756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97038572299999 meters Centerline goodness [0,1] 0.9998027526957132 Centerline is valid? [True, True] Translation: X:122.57, Y:6.60, Z:1.61 [[ 9.66703674e-01 -2.55147897e-01 -1.95846299e-02 1.22572796e+02] [ 2.55083776e-01 9.66901876e-01 -5.74718945e-03 6.60339905e+00] [ 2.04027987e-02 5.60107810e-04 9.99791684e-01 1.60673178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.000385723 meters Centerline goodness [0,1] 0.9998688897143981 Centerline is valid? [True, True] Translation: X:122.60, Y:6.61, Z:1.61 [[ 9.66747025e-01 -2.54974041e-01 -1.97085585e-02 1.22601343e+02] [ 2.54908965e-01 9.66947729e-01 -5.78863905e-03 6.60952555e+00] [ 2.05330986e-02 5.72261320e-04 9.99789010e-01 1.60704304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.030385723 meters Centerline goodness [0,1] 0.999934235043953 Centerline is valid? [True, True] Translation: X:122.63, Y:6.62, Z:1.61 [[ 9.66798682e-01 -2.54774383e-01 -1.97565859e-02 1.22627279e+02] [ 2.54708858e-01 9.67000349e-01 -5.80709447e-03 6.62012495e+00] [ 2.05841243e-02 5.82113847e-04 9.99787955e-01 1.60688093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.060385723 meters Centerline goodness [0,1] 0.999890624316402 Centerline is valid? [True, True] Translation: X:122.65, Y:6.63, Z:1.61 [[ 9.66954824e-01 -2.54155410e-01 -2.00847383e-02 1.22654185e+02] [ 2.54087518e-01 9.67163202e-01 -5.90542606e-03 6.62720488e+00] [ 2.09261158e-02 6.06998901e-04 9.99780841e-01 1.60715620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.090385723 meters Centerline goodness [0,1] 0.9999781320387501 Centerline is valid? [True, True] Translation: X:122.68, Y:6.63, Z:1.61 [[ 9.67069878e-01 -2.53729527e-01 -1.99293302e-02 1.22682584e+02] [ 2.53662536e-01 9.67275013e-01 -5.86241193e-03 6.63194048e+00] [ 2.07646101e-02 6.14037551e-04 9.99784204e-01 1.60842805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.120385723 meters Centerline goodness [0,1] 0.9998465484358902 Centerline is valid? [True, True] Translation: X:122.71, Y:6.64, Z:1.61 [[ 9.67148276e-01 -2.53386634e-01 -2.04799068e-02 1.22710995e+02] [ 2.53315696e-01 9.67364874e-01 -6.02985009e-03 6.63851053e+00] [ 2.13394258e-02 6.43877277e-04 9.99772081e-01 1.60644434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.150385723 meters Centerline goodness [0,1] 0.9998906027786895 Centerline is valid? [True, True] Translation: X:122.74, Y:6.65, Z:1.61 [[ 9.67400558e-01 -2.52449445e-01 -2.01355033e-02 1.22736091e+02] [ 2.52380578e-01 9.67609862e-01 -5.93280669e-03 6.65205642e+00] [ 2.09810453e-02 6.57590528e-04 9.99779657e-01 1.60794130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.180385723 meters Centerline goodness [0,1] 0.9999780552568632 Centerline is valid? [True, True] Translation: X:122.76, Y:6.66, Z:1.61 [[ 9.67584527e-01 -2.51697840e-01 -2.06973457e-02 1.22764320e+02] [ 2.51624840e-01 9.67805618e-01 -6.10136342e-03 6.65777967e+00] [ 2.15667075e-02 6.95618525e-04 9.99767170e-01 1.60805698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:6.67, Z:1.61 [[ 9.67636063e-01 -2.51526272e-01 -2.03711614e-02 1.22792204e+02] [ 2.51455406e-01 9.67850223e-01 -6.01043948e-03 6.66584652e+00] [ 2.12280166e-02 6.93479336e-04 9.99774420e-01 1.60867703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24038572299999 meters Centerline goodness [0,1] 0.9998903604946935 Centerline is valid? [True, True] Translation: X:122.82, Y:6.67, Z:1.61 [[ 9.67817434e-01 -2.50891407e-01 -1.95682609e-02 1.22820710e+02] [ 2.50825787e-01 9.68014996e-01 -5.77851514e-03 6.67247426e+00] [ 2.03921498e-02 6.84323271e-04 9.99791824e-01 1.61057476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27038572299999 meters Centerline goodness [0,1] 0.9999119815161184 Centerline is valid? [True, True] Translation: X:122.85, Y:6.68, Z:1.61 [[ 9.67806658e-01 -2.50969935e-01 -1.90883196e-02 1.22847745e+02] [ 2.50907407e-01 9.67994650e-01 -5.64190614e-03 6.68053404e+00] [ 1.98933401e-02 6.70873543e-04 9.99801883e-01 1.61180476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30038572299999 meters Centerline goodness [0,1] 0.9998900663998944 Centerline is valid? [True, True] Translation: X:122.88, Y:6.69, Z:1.61 [[ 9.67865525e-01 -2.50784349e-01 -1.85347054e-02 1.22875465e+02] [ 2.50725260e-01 9.68042755e-01 -5.48356648e-03 6.69001618e+00] [ 1.93175800e-02 6.60236111e-04 9.99813180e-01 1.61170251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33038572299999 meters Centerline goodness [0,1] 0.9998241758241758 Centerline is valid? [True, True] Translation: X:122.90, Y:6.70, Z:1.61 [[ 9.67957440e-01 -2.50421012e-01 -1.86470127e-02 1.22901449e+02] [ 2.50361055e-01 9.68136798e-01 -5.52101128e-03 6.69954593e+00] [ 1.94354364e-02 6.75618163e-04 9.99810886e-01 1.61144563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.360385723 meters Centerline goodness [0,1] 0.9998458964424093 Centerline is valid? [True, True] Translation: X:122.93, Y:6.71, Z:1.61 [[ 9.67972157e-01 -2.50369542e-01 -1.85740622e-02 1.22929687e+02] [ 2.50309998e-01 9.68150110e-01 -5.50181915e-03 6.70707981e+00] [ 1.93599683e-02 6.76334277e-04 9.99812349e-01 1.61167605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.390385723 meters Centerline goodness [0,1] 0.9998898654155378 Centerline is valid? [True, True] Translation: X:122.96, Y:6.71, Z:1.61 [[ 9.67830014e-01 -2.50817511e-01 -1.98907200e-02 1.22956265e+02] [ 2.50749223e-01 9.68034121e-01 -5.89643570e-03 6.71487156e+00] [ 2.07338249e-02 7.19164871e-04 9.99784772e-01 1.61186169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.420385723 meters Centerline goodness [0,1] 0.999867978084362 Centerline is valid? [True, True] Translation: X:122.99, Y:6.72, Z:1.61 [[ 9.67089681e-01 -2.53548449e-01 -2.12304674e-02 1.22985978e+02] [ 2.53471240e-01 9.67322430e-01 -6.29665069e-03 6.71849901e+00] [ 2.21332133e-02 7.08113005e-04 9.99754780e-01 1.61198173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.450385723 meters Centerline goodness [0,1] 0.9998900252941824 Centerline is valid? [True, True] Translation: X:123.01, Y:6.72, Z:1.61 [[ 9.66520003e-01 -2.55733950e-01 -2.09578343e-02 1.23014731e+02] [ 2.55659112e-01 9.66746977e-01 -6.22094970e-03 6.72410125e+00] [ 2.18518310e-02 6.54611007e-04 9.99761006e-01 1.61278821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.480385723 meters Centerline goodness [0,1] 0.999955900511554 Centerline is valid? [True, True] Translation: X:123.04, Y:6.73, Z:1.61 [[ 9.65844434e-01 -2.58282855e-01 -2.08445485e-02 1.23042101e+02] [ 2.58209321e-01 9.66069153e-01 -6.19172625e-03 6.73084826e+00] [ 2.17364920e-02 5.97987632e-04 9.99763556e-01 1.61342702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.07, Y:6.74, Z:1.61 [[ 9.65122791e-01 -2.60944083e-01 -2.11230563e-02 1.23069239e+02] [ 2.60869163e-01 9.65353762e-01 -6.27643679e-03 6.73706682e+00] [ 2.20290209e-02 5.47178169e-04 9.99757182e-01 1.61389359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.540385723 meters Centerline goodness [0,1] 0.9999557600424703 Centerline is valid? [True, True] Translation: X:123.10, Y:6.74, Z:1.61 [[ 9.63475692e-01 -2.67004020e-01 -2.05777510e-02 1.23100233e+02] [ 2.66934255e-01 9.63695332e-01 -6.11639479e-03 6.73839893e+00] [ 2.14637846e-02 4.00091076e-04 9.99769546e-01 1.61456677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.13, Y:6.74, Z:1.62 [[ 9.61725678e-01 -2.73367600e-01 -1.88115570e-02 1.23129168e+02] [ 2.73310477e-01 9.61909610e-01 -5.59325638e-03 6.74078673e+00] [ 1.96240326e-02 2.37782661e-04 9.99807402e-01 1.61733761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60038572299999 meters Centerline goodness [0,1] 0.9999337543611713 Centerline is valid? [True, True] Translation: X:123.16, Y:6.75, Z:1.62 [[ 9.60900875e-01 -2.76331356e-01 -1.76207208e-02 1.23156278e+02] [ 2.76281710e-01 9.61062409e-01 -5.24049446e-03 6.74575252e+00] [ 1.83827254e-02 1.67312824e-04 9.99831009e-01 1.61944163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63038572299999 meters Centerline goodness [0,1] 0.9999779127553837 Centerline is valid? [True, True] Translation: X:123.18, Y:6.75, Z:1.62 [[ 9.60141460e-01 -2.79005773e-01 -1.68569093e-02 1.23183797e+02] [ 2.78960723e-01 9.60289418e-01 -5.01483208e-03 6.75085438e+00] [ 1.75866787e-02 1.12532579e-04 9.99845336e-01 1.62119539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.21, Y:6.75, Z:1.62 [[ 9.58674908e-01 -2.84066845e-01 -1.57622432e-02 1.23213006e+02] [ 2.84028115e-01 9.58804478e-01 -4.69072595e-03 6.75406245e+00] [ 1.64453891e-02 1.99610584e-05 9.99864765e-01 1.62344682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69038572299999 meters Centerline goodness [0,1] 0.9999332740213523 Centerline is valid? [True, True] Translation: X:123.24, Y:6.76, Z:1.62 [[ 9.57793043e-01 -2.86985105e-01 -1.64934868e-02 1.23240613e+02] [ 2.86943051e-01 9.57935044e-01 -4.91295828e-03 6.76040812e+00] [ 1.72096349e-02 -2.70941540e-05 9.99851903e-01 1.62200141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.27, Y:6.77, Z:1.62 [[ 9.57005318e-01 -2.89576152e-01 -1.69255247e-02 1.23267275e+02] [ 2.89532186e-01 9.57154976e-01 -5.04641458e-03 6.76728659e+00] [ 1.76616715e-02 -7.10385761e-05 9.99844018e-01 1.62240108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.29, Y:6.77, Z:1.62 [[ 9.56583373e-01 -2.90944664e-01 -1.73047229e-02 1.23293906e+02] [ 2.90898890e-01 9.56739877e-01 -5.16169215e-03 6.77472868e+00] [ 1.80578853e-02 -9.63358048e-05 9.99836938e-01 1.62201335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.32, Y:6.78, Z:1.62 [[ 9.55987411e-01 -2.92928388e-01 -1.67639610e-02 1.23321379e+02] [ 2.92885658e-01 9.56134375e-01 -5.00477619e-03 6.77987296e+00] [ 1.74946404e-02 -1.25420707e-04 9.99846949e-01 1.62287210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.810385723 meters Centerline goodness [0,1] 0.9999337075175675 Centerline is valid? [True, True] Translation: X:123.35, Y:6.79, Z:1.62 [[ 9.55589317e-01 -2.94248876e-01 -1.63296032e-02 1.23348317e+02] [ 2.94208493e-01 9.55728820e-01 -4.87693685e-03 6.78736729e+00] [ 1.70417056e-02 -1.43959206e-04 9.99854769e-01 1.62419957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.38, Y:6.80, Z:1.63 [[ 9.54856995e-01 -2.96653111e-01 -1.56541344e-02 1.23375404e+02] [ 2.96616252e-01 9.54985289e-01 -4.67950818e-03 6.79513613e+00] [ 1.63376587e-02 -1.75009552e-04 9.99866516e-01 1.62518996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.40, Y:6.80, Z:1.63 [[ 9.54566058e-01 -2.97613815e-01 -1.51544693e-02 1.23402306e+02] [ 2.97579371e-01 9.54686327e-01 -4.53151074e-03 6.80341253e+00] [ 1.58164048e-02 -1.84031101e-04 9.99874896e-01 1.62581272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.43, Y:6.81, Z:1.63 [[ 9.54089525e-01 -2.99155550e-01 -1.48031963e-02 1.23429036e+02] [ 2.99122849e-01 9.54204336e-01 -4.42780700e-03 6.81296808e+00] [ 1.54498771e-02 -2.03449970e-04 9.99880623e-01 1.62630736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.46, Y:6.82, Z:1.63 [[ 9.53847263e-01 -2.99900641e-01 -1.53298438e-02 1.23455967e+02] [ 2.99865645e-01 9.53970417e-01 -4.58679785e-03 6.82049667e+00] [ 1.59998011e-02 -2.21788902e-04 9.99871970e-01 1.62642686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.48, Y:6.83, Z:1.63 [[ 9.53386294e-01 -3.01306696e-01 -1.63966140e-02 1.23483095e+02] [ 3.01266840e-01 9.53527245e-01 -4.90758397e-03 6.82872361e+00] [ 1.71133061e-02 -2.60932803e-04 9.99853523e-01 1.62700716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99038572299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.51, Y:6.84, Z:1.63 [[ 9.52379801e-01 -3.04419383e-01 -1.73653096e-02 1.23509568e+02] [ 3.04375163e-01 9.52538045e-01 -5.19927376e-03 6.83569902e+00] [ 1.81238777e-02 -3.33885615e-04 9.99835693e-01 1.62630361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.54, Y:6.85, Z:1.63 [[ 9.51857862e-01 -3.06033685e-01 -1.76066356e-02 1.23536836e+02] [ 3.05988458e-01 9.52020614e-01 -5.27397505e-03 6.84565121e+00] [ 1.83758941e-02 -3.67352671e-04 9.99831082e-01 1.62653531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.56, Y:6.86, Z:1.63 [[ 9.51057970e-01 -3.08571460e-01 -1.65043096e-02 1.23563016e+02] [ 3.08532036e-01 9.51201085e-01 -4.94753926e-03 6.85629960e+00] [ 1.72255866e-02 -3.86711610e-04 9.99851554e-01 1.62621115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.59, Y:6.87, Z:1.63 [[ 9.50652015e-01 -3.09803320e-01 -1.68121809e-02 1.23590295e+02] [ 3.09762569e-01 9.50800574e-01 -5.04178222e-03 6.86565918e+00] [ 1.75469921e-02 -4.14803923e-04 9.99845954e-01 1.62678560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.62, Y:6.88, Z:1.63 [[ 9.50007677e-01 -3.11722741e-01 -1.77297985e-02 1.23616745e+02] [ 3.11677673e-01 9.50172990e-01 -5.32135513e-03 6.87523331e+00] [ 1.85051631e-02 -4.70654125e-04 9.99828654e-01 1.62671932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.64, Y:6.88, Z:1.63 [[ 9.49728063e-01 -3.12577010e-01 -1.76697278e-02 1.23643188e+02] [ 3.12532350e-01 9.49892299e-01 -5.30573370e-03 6.88372750e+00] [ 1.84427887e-02 -4.83357362e-04 9.99829800e-01 1.62692714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.67, Y:6.89, Z:1.63 [[ 9.49371305e-01 -3.13598462e-01 -1.87117782e-02 1.23669218e+02] [ 3.13548529e-01 9.49555540e-01 -5.62107734e-03 6.89361993e+00] [ 1.95306338e-02 -5.30560998e-04 9.99809118e-01 1.62718770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.70, Y:6.90, Z:1.63 [[ 9.49214690e-01 -3.14069026e-01 -1.87648139e-02 1.23696940e+02] [ 3.14018856e-01 9.49399998e-01 -5.63936867e-03 6.90351446e+00] [ 1.95864653e-02 -5.39533790e-04 9.99808021e-01 1.62715162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.72, Y:6.92, Z:1.63 [[ 9.49053205e-01 -3.14580126e-01 -1.83673324e-02 1.23722537e+02] [ 3.14532076e-01 9.49230772e-01 -5.52398823e-03 6.91509214e+00] [ 1.91725740e-02 -5.34556466e-04 9.99816046e-01 1.62764480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.75, Y:6.93, Z:1.63 [[ 9.48873103e-01 -3.15124097e-01 -1.83476673e-02 1.23749728e+02] [ 3.15076197e-01 9.49050320e-01 -5.52094695e-03 6.92571504e+00] [ 1.91526429e-02 -5.42235175e-04 9.99816424e-01 1.62773413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.78, Y:6.94, Z:1.63 [[ 9.48641363e-01 -3.15840412e-01 -1.80110458e-02 1.23776745e+02] [ 3.15794301e-01 9.48812173e-01 -5.42400874e-03 6.93717382e+00] [ 1.88022207e-02 -5.42346561e-04 9.99823076e-01 1.62840002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.80, Y:6.95, Z:1.63 [[ 9.48490614e-01 -3.16256615e-01 -1.86362062e-02 1.23803150e+02] [ 3.16207248e-01 9.48673512e-01 -5.61630210e-03 6.94557215e+00] [ 1.94558679e-02 -5.65893660e-04 9.99810557e-01 1.62897007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.83, Y:6.96, Z:1.63 [[ 9.48105463e-01 -3.17413718e-01 -1.85624073e-02 1.23830610e+02] [ 3.17364920e-01 9.48286976e-01 -5.59628261e-03 6.95568849e+00] [ 1.93788259e-02 -5.85190788e-04 9.99812042e-01 1.62977783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.38038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.86, Y:6.97, Z:1.63 [[ 9.47933378e-01 -3.17933432e-01 -1.84565234e-02 1.23857525e+02] [ 3.17885202e-01 9.48112856e-01 -5.56878098e-03 6.96528071e+00] [ 1.92693688e-02 -5.88222315e-04 9.99814155e-01 1.63005661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.88, Y:6.98, Z:1.63 [[ 9.47760911e-01 -3.18487808e-01 -1.77418160e-02 1.23882140e+02] [ 3.18443271e-01 9.47926784e-01 -5.35678527e-03 6.98185269e+00] [ 1.85240134e-02 -5.72810253e-04 9.99828252e-01 1.63031963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.91, Y:6.99, Z:1.63 [[ 9.47848125e-01 -3.18273108e-01 -1.69163094e-02 1.23908937e+02] [ 3.18232552e-01 9.47998912e-01 -5.10943800e-03 6.99368984e+00] [ 1.76628396e-02 -5.40349081e-04 9.99843854e-01 1.63061115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.94, Y:7.00, Z:1.63 [[ 9.47760516e-01 -3.18533962e-01 -1.69150542e-02 1.23935337e+02] [ 3.18493373e-01 9.47911295e-01 -5.11359025e-03 7.00173055e+00] [ 1.76628231e-02 -5.40873754e-04 9.99843854e-01 1.63102878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.50038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.96, Y:7.01, Z:1.63 [[ 9.48038514e-01 -3.17697520e-01 -1.70663922e-02 1.23961325e+02] [ 3.17655983e-01 9.48191969e-01 -5.16398071e-03 7.01087922e+00] [ 1.78227999e-02 -5.25588994e-04 9.99841023e-01 1.63114897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.530385723 meters Centerline goodness [0,1] 0.9992870260343524 Centerline is valid? [True, True] Translation: X:123.99, Y:7.02, Z:1.63 [[ 9.49071466e-01 -3.14541031e-01 -1.80912465e-02 1.23988639e+02] [ 3.14493739e-01 9.49243750e-01 -5.47636931e-03 7.02239713e+00] [ 1.88955455e-02 -4.92117907e-04 9.99821342e-01 1.63108376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.560385723 meters Centerline goodness [0,1] 0.9987300083948598 Centerline is valid? [True, True] Translation: X:124.02, Y:7.03, Z:1.63 [[ 9.49881210e-01 -3.12056172e-01 -1.86180846e-02 1.24016330e+02] [ 3.12005528e-01 9.50063546e-01 -5.63996376e-03 7.03231445e+00] [ 1.94483490e-02 -4.51649725e-04 9.99810761e-01 1.63132086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.590385723 meters Centerline goodness [0,1] 0.9976126465211314 Centerline is valid? [True, True] Translation: X:124.04, Y:7.05, Z:1.63 [[ 9.51672592e-01 -3.06557400e-01 -1.84888419e-02 1.24043180e+02] [ 3.06506378e-01 9.51852115e-01 -5.60286310e-03 7.04564616e+00] [ 1.93162424e-02 -3.34856718e-04 9.99813368e-01 1.63100238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.620385723 meters Centerline goodness [0,1] 0.9973947680051674 Centerline is valid? [True, True] Translation: X:124.07, Y:7.06, Z:1.63 [[ 9.52666061e-01 -3.03459955e-01 -1.84237035e-02 1.24069058e+02] [ 3.03408692e-01 9.52844155e-01 -5.58413689e-03 7.05644061e+00] [ 1.92494801e-02 -2.70094080e-04 9.99814675e-01 1.63077282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.650385723 meters Centerline goodness [0,1] 0.9971192088573578 Centerline is valid? [True, True] Translation: X:124.10, Y:7.07, Z:1.63 [[ 9.53690944e-01 -3.00218702e-01 -1.85017268e-02 1.24096134e+02] [ 3.00166350e-01 9.53870374e-01 -5.61005072e-03 7.06820800e+00] [ 1.93324912e-02 -2.03341239e-04 9.99813089e-01 1.63057642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.680385723 meters Centerline goodness [0,1] 0.9972657595590768 Centerline is valid? [True, True] Translation: X:124.12, Y:7.08, Z:1.63 [[ 9.55788544e-01 -2.93448336e-01 -1.88767745e-02 1.24122061e+02] [ 2.93392425e-01 9.55974932e-01 -5.72844355e-03 7.08177119e+00] [ 1.97267254e-02 -6.31219099e-05 9.99805407e-01 1.63057973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.710385723 meters Centerline goodness [0,1] 0.9974973571228237 Centerline is valid? [True, True] Translation: X:124.15, Y:7.09, Z:1.63 [[ 9.57469322e-01 -2.87929951e-01 -1.86772879e-02 1.24146840e+02] [ 2.87874072e-01 9.57651471e-01 -5.67261780e-03 7.09172514e+00] [ 1.95196488e-02 5.46505998e-05 9.99809472e-01 1.63005146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.740385723 meters Centerline goodness [0,1] 0.9972468973824017 Centerline is valid? [True, True] Translation: X:124.17, Y:7.10, Z:1.63 [[ 9.58466976e-01 -2.84608437e-01 -1.84144735e-02 1.24173621e+02] [ 2.84553441e-01 9.58643845e-01 -5.59615051e-03 7.10008598e+00] [ 1.92456333e-02 1.23823675e-04 9.99814778e-01 1.63227200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.770385723 meters Centerline goodness [0,1] 0.9973275862068965 Centerline is valid? [True, True] Translation: X:124.20, Y:7.11, Z:1.63 [[ 9.59142829e-01 -2.82325408e-01 -1.83684032e-02 1.24201181e+02] [ 2.82270222e-01 9.59318683e-01 -5.58451989e-03 7.10833925e+00] [ 1.91978042e-02 1.71498955e-04 9.99815690e-01 1.63317617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.800385723 meters Centerline goodness [0,1] 0.9974868435184191 Centerline is valid? [True, True] Translation: X:124.23, Y:7.12, Z:1.63 [[ 9.60553822e-01 -2.77468177e-01 -1.86484728e-02 1.24228572e+02] [ 2.77410281e-01 9.60734789e-01 -5.67469308e-03 7.11708184e+00] [ 1.94907833e-02 2.77570044e-04 9.99809998e-01 1.63263783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.830385723 meters Centerline goodness [0,1] 0.9970783647499296 Centerline is valid? [True, True] Translation: X:124.26, Y:7.13, Z:1.63 [[ 9.61241514e-01 -2.75088400e-01 -1.84695517e-02 1.24256496e+02] [ 2.75031075e-01 9.61418881e-01 -5.62516204e-03 7.12593130e+00] [ 1.93043925e-02 3.27438616e-04 9.99813599e-01 1.63203823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.860385723 meters Centerline goodness [0,1] 0.9973630173997622 Centerline is valid? [True, True] Translation: X:124.28, Y:7.13, Z:1.63 [[ 9.62697877e-01 -2.69922198e-01 -1.88362654e-02 1.24284659e+02] [ 2.69861501e-01 9.62882033e-01 -5.74106593e-03 7.13412958e+00] [ 1.96867426e-02 4.43729138e-04 9.99806099e-01 1.63123239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.890385723 meters Centerline goodness [0,1] 0.9970858067997841 Centerline is valid? [True, True] Translation: X:124.31, Y:7.14, Z:1.63 [[ 9.63278479e-01 -2.67803643e-01 -1.93850360e-02 1.24310227e+02] [ 2.67738901e-01 9.63473381e-01 -5.90973303e-03 7.14388459e+00] [ 2.02596142e-02 5.02590419e-04 9.99794627e-01 1.63055352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.920385723 meters Centerline goodness [0,1] 0.9971146545178435 Centerline is valid? [True, True] Translation: X:124.34, Y:7.15, Z:1.63 [[ 9.64154819e-01 -2.64615172e-01 -1.96034654e-02 1.24340277e+02] [ 2.64548265e-01 9.64353917e-01 -5.97818364e-03 7.14688796e+00] [ 2.04865967e-02 5.77831818e-04 9.99789961e-01 1.63137894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.950385723 meters Centerline goodness [0,1] 0.9972787042278051 Centerline is valid? [True, True] Translation: X:124.37, Y:7.15, Z:1.63 [[ 9.64376272e-01 -2.63819661e-01 -1.94317202e-02 1.24368766e+02] [ 2.63753722e-01 9.64571841e-01 -5.92765304e-03 7.15313054e+00] [ 2.03071215e-02 5.91299423e-04 9.99793614e-01 1.63208137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.980385723 meters Centerline goodness [0,1] 0.9971605180962366 Centerline is valid? [True, True] Translation: X:124.40, Y:7.16, Z:1.63 [[ 9.64649870e-01 -2.62794305e-01 -1.97428858e-02 1.24396049e+02] [ 2.62725932e-01 9.64851678e-01 -6.02697173e-03 7.15962861e+00] [ 2.06328103e-02 6.26949413e-04 9.99786924e-01 1.63233014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.010385723 meters Centerline goodness [0,1] 0.9971095734431111 Centerline is valid? [True, True] Translation: X:124.42, Y:7.16, Z:1.63 [[ 9.65112429e-01 -2.60972792e-01 -2.12415169e-02 1.24424994e+02] [ 2.60893149e-01 9.65345889e-01 -6.48687766e-03 7.16217391e+00] [ 2.21983096e-02 7.18800013e-04 9.99753329e-01 1.63251266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.040385723 meters Centerline goodness [0,1] 0.9968652724801613 Centerline is valid? [True, True] Translation: X:124.45, Y:7.17, Z:1.63 [[ 9.65325044e-01 -2.60031827e-01 -2.30436348e-02 1.24453955e+02] [ 2.59937719e-01 9.65599708e-01 -7.04168595e-03 7.16552821e+00] [ 2.40819895e-02 8.07605929e-04 9.99709661e-01 1.63178997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.07038572300002 meters Centerline goodness [0,1] 0.9969514201118543 Centerline is valid? [True, True] Translation: X:124.48, Y:7.17, Z:1.63 [[ 9.65339342e-01 -2.59901049e-01 -2.39039785e-02 1.24482009e+02] [ 2.59799581e-01 9.65634883e-01 -7.31101449e-03 7.17186025e+00] [ 2.49826558e-02 8.47366322e-04 9.99687526e-01 1.63112970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.10038572300002 meters Centerline goodness [0,1] 0.9969593478021372 Centerline is valid? [True, True] Translation: X:124.51, Y:7.18, Z:1.63 [[ 9.65370724e-01 -2.59725890e-01 -2.45321829e-02 1.24510964e+02] [ 2.59618793e-01 9.65681980e-01 -7.50971222e-03 7.17690301e+00] [ 2.56407537e-02 8.80640608e-04 9.99670834e-01 1.63075107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13038572300002 meters Centerline goodness [0,1] 0.9967454835281615 Centerline is valid? [True, True] Translation: X:124.54, Y:7.18, Z:1.63 [[ 9.65251500e-01 -2.60082518e-01 -2.54288179e-02 1.24540145e+02] [ 2.59967377e-01 9.65585965e-01 -7.79148883e-03 7.17807118e+00] [ 2.65801397e-02 9.10083204e-04 9.99646271e-01 1.63074306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.16038572300002 meters Centerline goodness [0,1] 0.9964599799621507 Centerline is valid? [True, True] Translation: X:124.57, Y:7.18, Z:1.63 [[ 9.65076867e-01 -2.60710668e-01 -2.56239600e-02 1.24570093e+02] [ 2.60593776e-01 9.65416555e-01 -7.85866512e-03 7.17942651e+00] [ 2.67866330e-02 9.06771419e-04 9.99640763e-01 1.63166145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19038572300002 meters Centerline goodness [0,1] 0.9963691444100417 Centerline is valid? [True, True] Translation: X:124.60, Y:7.18, Z:1.63 [[ 9.65014408e-01 -2.60916186e-01 -2.58831246e-02 1.24598170e+02] [ 2.60796793e-01 9.65361022e-01 -7.94547372e-03 7.18459201e+00] [ 2.70596623e-02 9.17260754e-04 9.99633399e-01 1.63233336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.22038572300002 meters Centerline goodness [0,1] 0.9960395596527343 Centerline is valid? [True, True] Translation: X:124.63, Y:7.19, Z:1.63 [[ 9.65056081e-01 -2.60784469e-01 -2.56558090e-02 1.24626265e+02] [ 2.60666921e-01 9.65396610e-01 -7.88299370e-03 7.19020390e+00] [ 2.68237934e-02 9.19910252e-04 9.99639754e-01 1.63315781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25038572300002 meters Centerline goodness [0,1] 0.9957554230056073 Centerline is valid? [True, True] Translation: X:124.66, Y:7.19, Z:1.63 [[ 9.64711413e-01 -2.62111355e-01 -2.50903857e-02 1.24655668e+02] [ 2.61999209e-01 9.65037243e-01 -7.71578693e-03 7.19241784e+00] [ 2.62355520e-02 8.69846498e-04 9.99655410e-01 1.63448816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.280385723 meters Centerline goodness [0,1] 0.9955255761663856 Centerline is valid? [True, True] Translation: X:124.68, Y:7.20, Z:1.63 [[ 9.64045279e-01 -2.64466540e-01 -2.59643912e-02 1.24684105e+02] [ 2.64347107e-01 9.64394495e-01 -7.99151817e-03 7.19719628e+00] [ 2.71534051e-02 8.40573667e-04 9.99630925e-01 1.63382144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.310385723 meters Centerline goodness [0,1] 0.9957388285160301 Centerline is valid? [True, True] Translation: X:124.71, Y:7.20, Z:1.63 [[ 9.63075104e-01 -2.67966911e-01 -2.60783113e-02 1.24713551e+02] [ 2.67847564e-01 9.63427824e-01 -8.03186168e-03 7.20110370e+00] [ 2.72768438e-02 7.50273894e-04 9.99627636e-01 1.63477202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.340385723 meters Centerline goodness [0,1] 0.995471034902323 Centerline is valid? [True, True] Translation: X:124.74, Y:7.21, Z:1.63 [[ 9.62793638e-01 -2.68960279e-01 -2.62445905e-02 1.24739426e+02] [ 2.68839693e-01 9.63150993e-01 -8.08600043e-03 7.21067641e+00] [ 2.74523163e-02 7.29562102e-04 9.99622848e-01 1.63390572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.370385723 meters Centerline goodness [0,1] 0.9958103390021399 Centerline is valid? [True, True] Translation: X:124.77, Y:7.22, Z:1.63 [[ 9.62547803e-01 -2.69790710e-01 -2.67338771e-02 1.24766730e+02] [ 2.69665762e-01 9.62918713e-01 -8.24186048e-03 7.21694363e+00] [ 2.79661280e-02 7.23973353e-04 9.99608609e-01 1.63498980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.400385723 meters Centerline goodness [0,1] 0.9955065267698667 Centerline is valid? [True, True] Translation: X:124.79, Y:7.23, Z:1.63 [[ 9.62364550e-01 -2.70326756e-01 -2.78911938e-02 1.24792183e+02] [ 2.70190807e-01 9.62768347e-01 -8.60451223e-03 7.22743680e+00] [ 2.91787885e-02 7.44733371e-04 9.99573931e-01 1.63435061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.430385723 meters Centerline goodness [0,1] 0.9951230475334307 Centerline is valid? [True, True] Translation: X:124.82, Y:7.24, Z:1.64 [[ 9.62373048e-01 -2.70206923e-01 -2.87460402e-02 1.24819278e+02] [ 2.70062300e-01 9.62801961e-01 -8.87344543e-03 7.23694622e+00] [ 3.00744103e-02 7.76343003e-04 9.99547361e-01 1.63573964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.460385723 meters Centerline goodness [0,1] 0.9948842218632202 Centerline is valid? [True, True] Translation: X:124.84, Y:7.25, Z:1.63 [[ 9.62489185e-01 -2.69859672e-01 -2.81127403e-02 1.24843900e+02] [ 2.69721040e-01 9.62899349e-01 -8.68354295e-03 7.25023734e+00] [ 2.94130774e-02 7.75218626e-04 9.99567041e-01 1.63471077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.490385723 meters Centerline goodness [0,1] 0.9952357519906951 Centerline is valid? [True, True] Translation: X:124.87, Y:7.26, Z:1.64 [[ 9.62785905e-01 -2.68937405e-01 -2.67576827e-02 1.24871622e+02] [ 2.68811364e-01 9.63157351e-01 -8.26852977e-03 7.25640530e+00] [ 2.79955758e-02 7.68054732e-04 9.99607752e-01 1.63877798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.520385723 meters Centerline goodness [0,1] 0.9954964038448612 Centerline is valid? [True, True] Translation: X:124.90, Y:7.26, Z:1.64 [[ 9.62867433e-01 -2.68766396e-01 -2.55133313e-02 1.24898181e+02] [ 2.68651605e-01 9.63205105e-01 -7.88932736e-03 7.26398155e+00] [ 2.66949570e-02 7.42178997e-04 9.99643351e-01 1.64018935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.550385723 meters Centerline goodness [0,1] 0.995595501598587 Centerline is valid? [True, True] Translation: X:124.93, Y:7.27, Z:1.64 [[ 9.63009810e-01 -2.68282460e-01 -2.52314754e-02 1.24925491e+02] [ 2.68169834e-01 9.63339998e-01 -7.80945257e-03 7.27337574e+00] [ 2.64016286e-02 7.54258858e-04 9.99651132e-01 1.64082458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.580385723 meters Centerline goodness [0,1] 0.9956113970014926 Centerline is valid? [True, True] Translation: X:124.95, Y:7.28, Z:1.64 [[ 9.63643600e-01 -2.66034645e-01 -2.48310135e-02 1.24952273e+02] [ 2.65924695e-01 9.63963130e-01 -7.69032077e-03 7.28271018e+00] [ 2.59820732e-02 8.07548705e-04 9.99662083e-01 1.64155150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.610385723 meters Centerline goodness [0,1] 0.9954558681977929 Centerline is valid? [True, True] Translation: X:124.98, Y:7.29, Z:1.64 [[ 9.63777733e-01 -2.65639732e-01 -2.38330532e-02 1.24980241e+02] [ 2.65538228e-01 9.64072046e-01 -7.38507833e-03 7.29107241e+00] [ 2.49385506e-02 7.88987332e-04 9.99688675e-01 1.64320400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.640385723 meters Centerline goodness [0,1] 0.9957332737629845 Centerline is valid? [True, True] Translation: X:125.01, Y:7.30, Z:1.64 [[ 9.63653191e-01 -2.66158034e-01 -2.30744085e-02 1.25007714e+02] [ 2.66062892e-01 9.63929110e-01 -7.15605113e-03 7.29988001e+00] [ 2.41467346e-02 7.56707633e-04 9.99708139e-01 1.64414527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.670385723 meters Centerline goodness [0,1] 0.9955395167436231 Centerline is valid? [True, True] Translation: X:125.03, Y:7.31, Z:1.64 [[ 9.63487157e-01 -2.66755751e-01 -2.31055880e-02 1.25034739e+02] [ 2.66660374e-01 9.63763876e-01 -7.17187772e-03 7.30941878e+00] [ 2.41814707e-02 7.48667319e-04 9.99707305e-01 1.64429643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.700385723 meters Centerline goodness [0,1] 0.9961935469425226 Centerline is valid? [True, True] Translation: X:125.06, Y:7.32, Z:1.64 [[ 9.63174426e-01 -2.67887382e-01 -2.30515738e-02 1.25062261e+02] [ 2.67792627e-01 9.63449960e-01 -7.16122354e-03 7.31846484e+00] [ 2.41274392e-02 7.24465877e-04 9.99708628e-01 1.64404064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.730385723 meters Centerline goodness [0,1] 0.996033168982519 Centerline is valid? [True, True] Translation: X:125.09, Y:7.33, Z:1.64 [[ 9.63006245e-01 -2.68490182e-01 -2.30650154e-02 1.25089294e+02] [ 2.68395332e-01 9.63282155e-01 -7.17190617e-03 7.32596256e+00] [ 2.41437042e-02 7.16047945e-04 9.99708242e-01 1.64431407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.760385723 meters Centerline goodness [0,1] 0.9961738974783523 Centerline is valid? [True, True] Translation: X:125.12, Y:7.34, Z:1.64 [[ 9.62778665e-01 -2.69348480e-01 -2.25529947e-02 1.25115301e+02] [ 2.69257910e-01 9.63042537e-01 -7.01781693e-03 7.33615285e+00] [ 2.36097316e-02 6.84032206e-04 9.99721017e-01 1.64314108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.790385723 meters Centerline goodness [0,1] 0.9963329830288665 Centerline is valid? [True, True] Translation: X:125.14, Y:7.35, Z:1.64 [[ 9.62678997e-01 -2.69715542e-01 -2.24204356e-02 1.25141922e+02] [ 2.69626083e-01 9.62939808e-01 -6.97867534e-03 7.34589678e+00] [ 2.34717872e-02 6.73089949e-04 9.99724273e-01 1.64315352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.82038572300002 meters Centerline goodness [0,1] 0.9962538464969005 Centerline is valid? [True, True] Translation: X:125.17, Y:7.35, Z:1.64 [[ 9.62655743e-01 -2.69811293e-01 -2.22662767e-02 1.25168603e+02] [ 2.69723001e-01 9.62912986e-01 -6.93432579e-03 7.35461544e+00] [ 2.33114463e-02 6.69641577e-04 9.99728027e-01 1.64329662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.85038572300002 meters Centerline goodness [0,1] 0.996251087853971 Centerline is valid? [True, True] Translation: X:125.20, Y:7.36, Z:1.64 [[ 9.62890880e-01 -2.68926300e-01 -2.27991015e-02 1.25195586e+02] [ 2.68833329e-01 9.63160493e-01 -7.10675775e-03 7.36469115e+00] [ 2.38703879e-02 7.13873865e-04 9.99714807e-01 1.64324898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.88038572300002 meters Centerline goodness [0,1] 0.9963019893515115 Centerline is valid? [True, True] Translation: X:125.22, Y:7.37, Z:1.64 [[ 9.63346512e-01 -2.67157824e-01 -2.42939198e-02 1.25222767e+02] [ 2.67051532e-01 9.63652445e-01 -7.57920456e-03 7.37445101e+00] [ 2.54357391e-02 8.13671764e-04 9.99676128e-01 1.64139330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91038572300002 meters Centerline goodness [0,1] 0.9965918962867262 Centerline is valid? [True, True] Translation: X:125.25, Y:7.38, Z:1.64 [[ 9.63499477e-01 -2.66532709e-01 -2.50813427e-02 1.25248264e+02] [ 2.66419069e-01 9.63825488e-01 -7.82992337e-03 7.38484129e+00] [ 2.62609681e-02 8.61979095e-04 9.99654750e-01 1.64016703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.94038572300002 meters Centerline goodness [0,1] 0.9968326195574589 Centerline is valid? [True, True] Translation: X:125.27, Y:7.39, Z:1.64 [[ 9.63509164e-01 -2.66518346e-01 -2.48608727e-02 1.25274949e+02] [ 2.66406569e-01 9.63829463e-01 -7.76575011e-03 7.39449254e+00] [ 2.60313564e-02 8.59271596e-04 9.99660758e-01 1.64000889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97038572300002 meters Centerline goodness [0,1] 0.9967162192145551 Centerline is valid? [True, True] Translation: X:125.30, Y:7.40, Z:1.64 [[ 9.63370362e-01 -2.67111396e-01 -2.38547476e-02 1.25302054e+02] [ 2.67008503e-01 9.63665314e-01 -7.45800979e-03 7.40355871e+00] [ 2.49801123e-02 8.15405144e-04 9.99687616e-01 1.64038555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.00038572300002 meters Centerline goodness [0,1] 0.9970956859766315 Centerline is valid? [True, True] Translation: X:125.33, Y:7.41, Z:1.64 [[ 9.63184813e-01 -2.67875205e-01 -2.27572068e-02 1.25329918e+02] [ 2.67781640e-01 9.63453315e-01 -7.12060602e-03 7.41228955e+00] [ 2.38329401e-02 7.64497426e-04 9.99715663e-01 1.64152756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.030385723 meters Centerline goodness [0,1] 0.9971403677308371 Centerline is valid? [True, True] Translation: X:125.36, Y:7.42, Z:1.64 [[ 9.62927284e-01 -2.68970294e-01 -2.06403879e-02 1.25357276e+02] [ 2.68893472e-01 9.63148237e-01 -6.46326507e-03 7.42051681e+00] [ 2.16181795e-02 6.73588724e-04 9.99766073e-01 1.64420636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.060385723 meters Centerline goodness [0,1] 0.9971520113919544 Centerline is valid? [True, True] Translation: X:125.38, Y:7.43, Z:1.65 [[ 9.62773290e-01 -2.69599130e-01 -1.95934055e-02 1.25384432e+02] [ 2.69529936e-01 9.62972435e-01 -6.14020181e-03 7.42961289e+00] [ 2.05233025e-02 6.30612963e-04 9.99789176e-01 1.64537136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.090385723 meters Centerline goodness [0,1] 0.9970686209193871 Centerline is valid? [True, True] Translation: X:125.41, Y:7.44, Z:1.65 [[ 9.62969155e-01 -2.68972132e-01 -1.85579703e-02 1.25410541e+02] [ 2.68909871e-01 9.63147764e-01 -5.81939702e-03 7.44021721e+00] [ 1.94393232e-02 6.13478436e-04 9.99810850e-01 1.64601561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.120385723 meters Centerline goodness [0,1] 0.9973683623631214 Centerline is valid? [True, True] Translation: X:125.44, Y:7.45, Z:1.65 [[ 9.63082379e-01 -2.68547638e-01 -1.88281248e-02 1.25437690e+02] [ 2.68483421e-01 9.63266196e-01 -5.90656948e-03 7.44921096e+00] [ 1.97226914e-02 6.33473630e-04 9.99805288e-01 1.64571697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.150385723 meters Centerline goodness [0,1] 0.9970571842603946 Centerline is valid? [True, True] Translation: X:125.46, Y:7.46, Z:1.64 [[ 9.63257458e-01 -2.67904543e-01 -1.90322098e-02 1.25464809e+02] [ 2.67838705e-01 9.63445236e-01 -5.97543892e-03 7.45881153e+00] [ 1.99373391e-02 6.58323667e-04 9.99801015e-01 1.64487632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.180385723 meters Centerline goodness [0,1] 0.9975448072673705 Centerline is valid? [True, True] Translation: X:125.49, Y:7.47, Z:1.64 [[ 9.63468337e-01 -2.67133573e-01 -1.91942365e-02 1.25490793e+02] [ 2.67066358e-01 9.63659268e-01 -6.03116343e-03 7.46950223e+00] [ 2.01078302e-02 6.84700155e-04 9.99797583e-01 1.64415497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.210385723 meters Centerline goodness [0,1] 0.9971150620597115 Centerline is valid? [True, True] Translation: X:125.52, Y:7.48, Z:1.64 [[ 9.63407103e-01 -2.67325585e-01 -1.95904651e-02 1.25516824e+02] [ 2.67255517e-01 9.63606010e-01 -6.15999773e-03 7.47628411e+00] [ 2.05242149e-02 6.98925690e-04 9.99789112e-01 1.64487512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.240385723 meters Centerline goodness [0,1] 0.9974124470220834 Centerline is valid? [True, True] Translation: X:125.54, Y:7.48, Z:1.65 [[ 9.63385139e-01 -2.67414635e-01 -1.94547381e-02 1.25543654e+02] [ 2.67345488e-01 9.63581304e-01 -6.12050580e-03 7.48499505e+00] [ 2.03829347e-02 6.95267892e-04 9.99792005e-01 1.64513444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.270385723 meters Centerline goodness [0,1] 0.9974297081042421 Centerline is valid? [True, True] Translation: X:125.57, Y:7.49, Z:1.65 [[ 9.63284280e-01 -2.67774400e-01 -1.95004451e-02 1.25569713e+02] [ 2.67704889e-01 9.63481390e-01 -6.14035275e-03 7.49419219e+00] [ 2.04325452e-02 6.94540793e-04 9.99790993e-01 1.64531491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.300385723 meters Centerline goodness [0,1] 0.9979035639412998 Centerline is valid? [True, True] Translation: X:125.60, Y:7.50, Z:1.65 [[ 9.63199133e-01 -2.68096013e-01 -1.92862208e-02 1.25596721e+02] [ 2.68027977e-01 9.63391954e-01 -6.07830486e-03 7.50055832e+00] [ 2.02097592e-02 6.85371243e-04 9.99795527e-01 1.64558429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.330385723 meters Centerline goodness [0,1] 0.9978133785532598 Centerline is valid? [True, True] Translation: X:125.62, Y:7.51, Z:1.65 [[ 9.63100427e-01 -2.68414821e-01 -1.97750378e-02 1.25621233e+02] [ 2.68343254e-01 9.63303168e-01 -6.23736501e-03 7.51229076e+00] [ 2.07235577e-02 7.00710910e-04 9.99784998e-01 1.64584279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.360385723 meters Centerline goodness [0,1] 0.9978133785532598 Centerline is valid? [True, True] Translation: X:125.65, Y:7.52, Z:1.65 [[ 9.63033383e-01 -2.68655333e-01 -1.97740924e-02 1.25647515e+02] [ 2.68583756e-01 9.63236121e-01 -6.24036069e-03 7.52070172e+00] [ 2.07236262e-02 6.98675654e-04 9.99784998e-01 1.64626107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.390385723 meters Centerline goodness [0,1] 0.9977917066315719 Centerline is valid? [True, True] Translation: X:125.68, Y:7.52, Z:1.65 [[ 9.62417575e-01 -2.70723797e-01 -2.14717869e-02 1.25677349e+02] [ 2.70639777e-01 9.62656799e-01 -6.78221685e-03 7.52200795e+00] [ 2.25060691e-02 7.16205078e-04 9.99746450e-01 1.64832559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.420385723 meters Centerline goodness [0,1] 0.9975396452615805 Centerline is valid? [True, True] Translation: X:125.71, Y:7.53, Z:1.65 [[ 9.61865320e-01 -2.72597546e-01 -2.24874379e-02 1.25705641e+02] [ 2.72505761e-01 9.62127889e-01 -7.10890944e-03 7.52926676e+00] [ 2.35736625e-02 7.09857075e-04 9.99721851e-01 1.64841522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.450385723 meters Centerline goodness [0,1] 0.9976444195176668 Centerline is valid? [True, True] Translation: X:125.74, Y:7.53, Z:1.65 [[ 9.60390198e-01 -2.77716214e-01 -2.28991569e-02 1.25736802e+02] [ 2.77622377e-01 9.60662972e-01 -7.24363842e-03 7.53006659e+00] [ 2.40100480e-02 5.99400961e-04 9.99711538e-01 1.64940214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.480385723 meters Centerline goodness [0,1] 0.997775780723433 Centerline is valid? [True, True] Translation: X:125.76, Y:7.54, Z:1.65 [[ 9.59539959e-01 -2.80639803e-01 -2.28990686e-02 1.25764870e+02] [ 2.80546711e-01 9.59813013e-01 -7.24727122e-03 7.53625856e+00] [ 2.40126968e-02 5.29787963e-04 9.99711513e-01 1.65004256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.510385723 meters Centerline goodness [0,1] 0.998165260779093 Centerline is valid? [True, True] Translation: X:125.79, Y:7.54, Z:1.65 [[ 9.58625998e-01 -2.83787003e-01 -2.23860150e-02 1.25793291e+02] [ 2.83698756e-01 9.58887239e-01 -7.09072750e-03 7.54188197e+00] [ 2.34779205e-02 4.46471109e-04 9.99724256e-01 1.65143370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.540385723 meters Centerline goodness [0,1] 0.99871526134289 Centerline is valid? [True, True] Translation: X:125.82, Y:7.54, Z:1.65 [[ 9.56971441e-01 -2.89327744e-01 -2.22512539e-02 1.25822909e+02] [ 2.89241948e-01 9.57230045e-01 -7.05243130e-03 7.54345175e+00] [ 2.33400328e-02 3.12979317e-04 9.99727535e-01 1.65423579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57038572300002 meters Centerline goodness [0,1] 0.9987830985915493 Centerline is valid? [True, True] Translation: X:125.85, Y:7.55, Z:1.66 [[ 9.55576983e-01 -2.94029466e-01 -2.04769105e-02 1.25850672e+02] [ 2.93957847e-01 9.55796338e-01 -6.49189338e-03 7.54732908e+00] [ 2.14805640e-02 1.84155370e-04 9.99769249e-01 1.65670227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.60038572300002 meters Centerline goodness [0,1] 0.998319817196111 Centerline is valid? [True, True] Translation: X:125.88, Y:7.55, Z:1.66 [[ 9.54862980e-01 -2.96373794e-01 -1.99815703e-02 1.25878130e+02] [ 2.96306041e-01 9.55072017e-01 -6.33822483e-03 7.55471943e+00] [ 2.09623223e-02 1.31476263e-04 9.99780258e-01 1.65715483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63038572300002 meters Centerline goodness [0,1] 0.9987208545589192 Centerline is valid? [True, True] Translation: X:125.91, Y:7.56, Z:1.66 [[ 9.54319989e-01 -2.98079722e-01 -2.05387145e-02 1.25905394e+02] [ 2.98008409e-01 9.54540973e-01 -6.52068734e-03 7.56190591e+00] [ 2.15487292e-02 1.02112642e-04 9.99767794e-01 1.65789919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.66038572300002 meters Centerline goodness [0,1] 0.9987398172735047 Centerline is valid? [True, True] Translation: X:125.93, Y:7.57, Z:1.65 [[ 9.53530527e-01 -3.00384781e-01 -2.34204492e-02 1.25932446e+02] [ 3.00292599e-01 9.53818106e-01 -7.44147148e-03 7.56892264e+00] [ 2.45741533e-02 6.26826581e-05 9.99698008e-01 1.65487004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69038572300002 meters Centerline goodness [0,1] 0.9992112676056338 Centerline is valid? [True, True] Translation: X:125.96, Y:7.58, Z:1.65 [[ 9.53127295e-01 -3.01456649e-01 -2.59277423e-02 1.25959275e+02] [ 3.01343996e-01 9.53479883e-01 -8.24070397e-03 7.57618788e+00] [ 2.72057957e-02 4.12704086e-05 9.99629853e-01 1.65358261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.72038572300002 meters Centerline goodness [0,1] 0.9992800575953924 Centerline is valid? [True, True] Translation: X:125.99, Y:7.58, Z:1.65 [[ 9.52776328e-01 -3.02473919e-01 -2.69591603e-02 1.25987353e+02] [ 3.02352399e-01 9.53157662e-01 -8.57315398e-03 7.58491698e+00] [ 2.82894856e-02 1.71314075e-05 9.99599772e-01 1.65296004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75038572300002 meters Centerline goodness [0,1] 0.9993008097074678 Centerline is valid? [True, True] Translation: X:126.01, Y:7.59, Z:1.65 [[ 9.52306476e-01 -3.03910966e-01 -2.73952657e-02 1.26014303e+02] [ 3.03785854e-01 9.52700438e-01 -8.71953312e-03 7.59351932e+00] [ 2.87494433e-02 -1.86263305e-05 9.99586649e-01 1.65334244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.780385723 meters Centerline goodness [0,1] 0.9993696816892531 Centerline is valid? [True, True] Translation: X:126.04, Y:7.60, Z:1.65 [[ 9.51688622e-01 -3.05887487e-01 -2.68628432e-02 1.26039830e+02] [ 3.05767813e-01 9.52067666e-01 -8.55596420e-03 7.60280552e+00] [ 2.81924068e-02 -7.11790283e-05 9.99602513e-01 1.65254829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.810385723 meters Centerline goodness [0,1] 0.9994835522622656 Centerline is valid? [True, True] Translation: X:126.07, Y:7.61, Z:1.65 [[ 9.51559951e-01 -3.06346767e-01 -2.61785726e-02 1.26065998e+02] [ 3.06233142e-01 9.51919982e-01 -8.34327375e-03 7.61206283e+00] [ 2.74758413e-02 -7.76214053e-05 9.99622465e-01 1.65395512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.840385723 meters Centerline goodness [0,1] 0.9994815499402655 Centerline is valid? [True, True] Translation: X:126.09, Y:7.62, Z:1.66 [[ 9.51621719e-01 -3.06198151e-01 -2.56670201e-02 1.26093546e+02] [ 3.06088715e-01 9.51967798e-01 -8.18601117e-03 7.62145879e+00] [ 2.69407181e-02 -6.63991841e-05 9.99637031e-01 1.65737535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.870385723 meters Centerline goodness [0,1] 0.9994819353094874 Centerline is valid? [True, True] Translation: X:126.12, Y:7.63, Z:1.66 [[ 9.51625420e-01 -3.06162304e-01 -2.59557867e-02 1.26120321e+02] [ 3.06050224e-01 9.51979327e-01 -8.28376283e-03 7.63074555e+00] [ 2.72455483e-02 -6.07350610e-05 9.99628769e-01 1.65828765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.900385723 meters Centerline goodness [0,1] 0.9995506122907538 Centerline is valid? [True, True] Translation: X:126.15, Y:7.64, Z:1.66 [[ 9.51943323e-01 -3.05067179e-01 -2.71647992e-02 1.26145554e+02] [ 3.04943800e-01 9.52330833e-01 -8.67542093e-03 7.64188994e+00] [ 2.85164621e-02 -2.52280829e-05 9.99593323e-01 1.65667185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.930385723 meters Centerline goodness [0,1] 0.9995049059321272 Centerline is valid? [True, True] Translation: X:126.17, Y:7.65, Z:1.66 [[ 9.52039262e-01 -3.04785992e-01 -2.69581767e-02 1.26172193e+02] [ 3.04664228e-01 9.52420862e-01 -8.61448465e-03 7.65212508e+00] [ 2.83011042e-02 -1.18644805e-05 9.99599443e-01 1.65740386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.960385723 meters Centerline goodness [0,1] 0.999527760912096 Centerline is valid? [True, True] Translation: X:126.20, Y:7.66, Z:1.66 [[ 9.52334276e-01 -3.03948024e-01 -2.59812467e-02 1.26199063e+02] [ 3.03834420e-01 9.52688616e-01 -8.30944544e-03 7.66300277e+00] [ 2.72776775e-02 1.93726682e-05 9.99627895e-01 1.65881009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.990385723 meters Centerline goodness [0,1] 0.9995962767747 Centerline is valid? [True, True] Translation: X:126.23, Y:7.67, Z:1.66 [[ 9.52348996e-01 -3.03942746e-01 -2.54989614e-02 1.26225873e+02] [ 3.03833132e-01 9.52690299e-01 -8.16220348e-03 7.67239118e+00] [ 2.67734557e-02 2.58369751e-05 9.99641526e-01 1.66035473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.020385723 meters Centerline goodness [0,1] 0.9995965663312191 Centerline is valid? [True, True] Translation: X:126.25, Y:7.68, Z:1.66 [[ 9.52480354e-01 -3.03588461e-01 -2.48036701e-02 1.26252293e+02] [ 3.03484488e-01 9.52803256e-01 -7.94483550e-03 7.68186003e+00] [ 2.60449781e-02 3.97705810e-05 9.99660771e-01 1.66133318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.050385723 meters Centerline goodness [0,1] 0.999462642455724 Centerline is valid? [True, True] Translation: X:126.28, Y:7.69, Z:1.66 [[ 9.52342930e-01 -3.04118576e-01 -2.35549573e-02 1.26279662e+02] [ 3.04024881e-01 9.52634185e-01 -7.54853508e-03 7.69180147e+00] [ 2.47349073e-02 2.75009242e-05 9.99694045e-01 1.66475184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.080385723 meters Centerline goodness [0,1] 0.999619610212347 Centerline is valid? [True, True] Translation: X:126.31, Y:7.70, Z:1.67 [[ 9.52322617e-01 -3.04204690e-01 -2.32624096e-02 1.26305545e+02] [ 3.04113178e-01 9.52606690e-01 -7.46119622e-03 7.70170116e+00] [ 2.44296579e-02 3.10606093e-05 9.99701551e-01 1.66580105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.110385723 meters Centerline goodness [0,1] 0.9995551799297184 Centerline is valid? [True, True] Translation: X:126.33, Y:7.71, Z:1.67 [[ 9.52280895e-01 -3.04321095e-01 -2.34471393e-02 1.26330206e+02] [ 3.04228022e-01 9.52569509e-01 -7.52600096e-03 7.71300033e+00] [ 2.46253509e-02 3.35900953e-05 9.99696750e-01 1.66550196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.140385723 meters Centerline goodness [0,1] 0.9996879597022243 Centerline is valid? [True, True] Translation: X:126.36, Y:7.72, Z:1.67 [[ 9.52059488e-01 -3.04986006e-01 -2.37963777e-02 1.26356823e+02] [ 3.04890231e-01 9.52356832e-01 -7.64274594e-03 7.72229598e+00] [ 2.49935735e-02 2.10656907e-05 9.99687612e-01 1.66642230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.170385723 meters Centerline goodness [0,1] 0.9996452406820248 Centerline is valid? [True, True] Translation: X:126.38, Y:7.73, Z:1.67 [[ 9.51451071e-01 -3.06817619e-01 -2.45724937e-02 1.26384507e+02] [ 3.06715926e-01 9.51768327e-01 -7.89888560e-03 7.73213507e+00] [ 2.58108385e-02 -2.13719864e-05 9.99666845e-01 1.66715399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.200385723 meters Centerline goodness [0,1] 0.9997335346626993 Centerline is valid? [True, True] Translation: X:126.41, Y:7.74, Z:1.67 [[ 9.51082692e-01 -3.07941613e-01 -2.47724724e-02 1.26411062e+02] [ 3.07838520e-01 9.51405256e-01 -7.96771800e-03 7.74137410e+00] [ 2.60222523e-02 -4.79625542e-05 9.99661363e-01 1.66710917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.230385723 meters Centerline goodness [0,1] 0.9997116173828169 Centerline is valid? [True, True] Translation: X:126.44, Y:7.75, Z:1.67 [[ 9.50046575e-01 -3.11138523e-01 -2.45830136e-02 1.26438325e+02] [ 3.11037967e-01 9.50364563e-01 -7.91078481e-03 7.75162525e+00] [ 2.58241749e-02 -1.30636565e-04 9.99666492e-01 1.66990464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.260385723 meters Centerline goodness [0,1] 0.9997782065783929 Centerline is valid? [True, True] Translation: X:126.46, Y:7.76, Z:1.67 [[ 9.49460643e-01 -3.12887214e-01 -2.50215826e-02 1.26464415e+02] [ 3.12783517e-01 9.49790272e-01 -8.05674309e-03 7.76053527e+00] [ 2.62861076e-02 -1.76778133e-04 9.99654445e-01 1.67053362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.290385723 meters Centerline goodness [0,1] 0.999777841956768 Centerline is valid? [True, True] Translation: X:126.49, Y:7.77, Z:1.67 [[ 9.48559266e-01 -3.15635604e-01 -2.46877548e-02 1.26491984e+02] [ 3.15535484e-01 9.48880448e-01 -7.95320572e-03 7.76978835e+00] [ 2.59360427e-02 -2.45775662e-04 9.99663574e-01 1.67115428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.32038572300002 meters Centerline goodness [0,1] 0.999845286772019 Centerline is valid? [True, True] Translation: X:126.52, Y:7.78, Z:1.67 [[ 9.46831713e-01 -3.20863098e-01 -2.35919523e-02 1.26518602e+02] [ 3.20773180e-01 9.47125513e-01 -7.60457324e-03 7.77765630e+00] [ 2.47845668e-02 -3.67414447e-04 9.99692748e-01 1.67394939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35038572300002 meters Centerline goodness [0,1] 0.9999115787612184 Centerline is valid? [True, True] Translation: X:126.55, Y:7.79, Z:1.68 [[ 9.46027641e-01 -3.23280777e-01 -2.28307063e-02 1.26546183e+02] [ 3.23197191e-01 9.46303000e-01 -7.36258134e-03 7.78589144e+00] [ 2.39849468e-02 -4.13614665e-04 9.99712234e-01 1.67573985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.38038572300002 meters Centerline goodness [0,1] 0.9998455359901143 Centerline is valid? [True, True] Translation: X:126.57, Y:7.80, Z:1.68 [[ 9.44338300e-01 -3.28233005e-01 -2.20968377e-02 1.26573133e+02] [ 3.28155968e-01 9.44596647e-01 -7.12985925e-03 7.79569853e+00] [ 2.32128539e-02 -5.18209993e-04 9.99730411e-01 1.67720240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41038572300002 meters Centerline goodness [0,1] 0.9998245421647111 Centerline is valid? [True, True] Translation: X:126.60, Y:7.81, Z:1.68 [[ 9.43524799e-01 -3.30569293e-01 -2.20203523e-02 1.26599887e+02] [ 3.30493362e-01 9.43781551e-01 -7.10783678e-03 7.80581465e+00] [ 2.31320348e-02 -5.71159999e-04 9.99732256e-01 1.67762011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.44038572300002 meters Centerline goodness [0,1] 0.9998688094457199 Centerline is valid? [True, True] Translation: X:126.63, Y:7.82, Z:1.68 [[ 9.42448071e-01 -3.33515635e-01 -2.36422059e-02 1.26626111e+02] [ 3.33428923e-01 9.42744318e-01 -7.63568895e-03 7.81776094e+00] [ 2.48351769e-02 -6.86754915e-04 9.99691324e-01 1.67690341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47038572300002 meters Centerline goodness [0,1] 0.9998465282497643 Centerline is valid? [True, True] Translation: X:126.65, Y:7.83, Z:1.68 [[ 9.41932774e-01 -3.34905747e-01 -2.45110085e-02 1.26653637e+02] [ 3.34812931e-01 9.42251337e-01 -7.91953005e-03 7.82787400e+00] [ 2.57478266e-02 -7.46937667e-04 9.99668191e-01 1.67709842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50038572300002 meters Centerline goodness [0,1] 0.9998038018835019 Centerline is valid? [True, True] Translation: X:126.68, Y:7.84, Z:1.68 [[ 9.41354246e-01 -3.36482346e-01 -2.51359112e-02 1.26679827e+02] [ 3.36385132e-01 9.41689431e-01 -8.12767231e-03 7.84078292e+00] [ 2.64050402e-02 -8.04327975e-04 9.99651003e-01 1.67871950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.530385723 meters Centerline goodness [0,1] 0.9998476439220807 Centerline is valid? [True, True] Translation: X:126.71, Y:7.85, Z:1.68 [[ 9.41267452e-01 -3.36750270e-01 -2.47959371e-02 1.26705556e+02] [ 3.36655595e-01 9.41593662e-01 -8.02413078e-03 7.85267901e+00] [ 2.60498254e-02 -7.94837826e-04 9.99660330e-01 1.67977527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.560385723 meters Centerline goodness [0,1] 0.9999566254608545 Centerline is valid? [True, True] Translation: X:126.73, Y:7.87, Z:1.68 [[ 9.41401481e-01 -3.36424723e-01 -2.41175662e-02 1.26728597e+02] [ 3.36334930e-01 9.41710055e-01 -7.80936786e-03 7.87046976e+00] [ 2.53390190e-02 -7.59829473e-04 9.99678627e-01 1.67950410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.590385723 meters Centerline goodness [0,1] 0.9999568798240697 Centerline is valid? [True, True] Translation: X:126.75, Y:7.88, Z:1.68 [[ 9.41501934e-01 -3.36122553e-01 -2.44077363e-02 1.26754307e+02] [ 3.36030391e-01 9.41817953e-01 -7.90698576e-03 7.88381142e+00] [ 2.56453605e-02 -7.57298795e-04 9.99670817e-01 1.67966986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.620385723 meters Centerline goodness [0,1] 0.9998926624017861 Centerline is valid? [True, True] Translation: X:126.78, Y:7.90, Z:1.68 [[ 9.41819184e-01 -3.35237865e-01 -2.43351252e-02 1.26779481e+02] [ 3.35145846e-01 9.42133242e-01 -7.88776573e-03 7.89630742e+00] [ 2.55712081e-02 -7.26967030e-04 9.99672739e-01 1.68037333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.80, Y:7.91, Z:1.68 [[ 9.42254114e-01 -3.34020341e-01 -2.42403800e-02 1.26803805e+02] [ 3.33928582e-01 9.42565614e-01 -7.85910921e-03 7.91221395e+00] [ 2.54732510e-02 -6.89277721e-04 9.99675266e-01 1.68230403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.680385723 meters Centerline goodness [0,1] 0.9999569957210742 Centerline is valid? [True, True] Translation: X:126.83, Y:7.92, Z:1.68 [[ 9.42294325e-01 -3.33912378e-01 -2.41646106e-02 1.26829748e+02] [ 3.33821067e-01 9.42603872e-01 -7.83804896e-03 7.92489312e+00] [ 2.53948771e-02 -6.80907052e-04 9.99677266e-01 1.68328096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.85, Y:7.94, Z:1.68 [[ 9.42922803e-01 -3.32163371e-01 -2.37504325e-02 1.26853479e+02] [ 3.32074506e-01 9.43221666e-01 -7.70782187e-03 7.94300624e+00] [ 2.49621786e-02 -6.19032137e-04 9.99688205e-01 1.68324667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.740385723 meters Centerline goodness [0,1] 0.9999572622176636 Centerline is valid? [True, True] Translation: X:126.88, Y:7.96, Z:1.68 [[ 9.43781057e-01 -3.29671140e-01 -2.43773826e-02 1.26876943e+02] [ 3.29576599e-01 9.44095663e-01 -7.91482069e-03 7.96255301e+00] [ 2.56238691e-02 -5.64357005e-04 9.99671495e-01 1.68151411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.770385723 meters Centerline goodness [0,1] 0.9999787306448868 Centerline is valid? [True, True] Translation: X:126.90, Y:7.98, Z:1.68 [[ 9.43970493e-01 -3.29131636e-01 -2.43325723e-02 1.26902782e+02] [ 3.29037119e-01 9.44283893e-01 -7.90587917e-03 7.97616088e+00] [ 2.55789310e-02 -5.43402832e-04 9.99672658e-01 1.68136306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.800385723 meters Centerline goodness [0,1] 0.9999361932917881 Centerline is valid? [True, True] Translation: X:126.93, Y:7.99, Z:1.68 [[ 9.44063902e-01 -3.28872566e-01 -2.42112561e-02 1.26928431e+02] [ 3.28778764e-01 9.44374161e-01 -7.87201138e-03 7.98936993e+00] [ 2.54533732e-02 -5.28465073e-04 9.99675871e-01 1.68111475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.830385723 meters Centerline goodness [0,1] 0.9999365039050099 Centerline is valid? [True, True] Translation: X:126.95, Y:8.00, Z:1.68 [[ 9.43888463e-01 -3.29271639e-01 -2.55882083e-02 1.26952481e+02] [ 3.29166871e-01 9.44235071e-01 -8.32480600e-03 8.00386983e+00] [ 2.69024062e-02 -5.65102132e-04 9.99637905e-01 1.67965611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.860385723 meters Centerline goodness [0,1] 0.9999788940481216 Centerline is valid? [True, True] Translation: X:126.98, Y:8.01, Z:1.68 [[ 9.43488177e-01 -3.30406514e-01 -2.57214832e-02 1.26978938e+02] [ 3.30300948e-01 9.43838535e-01 -8.37278933e-03 8.01479666e+00] [ 2.70433512e-02 -5.96202565e-04 9.99634084e-01 1.68012621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.00, Y:8.03, Z:1.68 [[ 9.42680097e-01 -3.32682988e-01 -2.60050928e-02 1.27004554e+02] [ 3.32575784e-01 9.43038488e-01 -8.47101179e-03 8.02829546e+00] [ 2.73419649e-02 -6.63209912e-04 9.99625919e-01 1.68068681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.920385723 meters Centerline goodness [0,1] 0.9999578556979096 Centerline is valid? [True, True] Translation: X:127.03, Y:8.04, Z:1.68 [[ 9.42121067e-01 -3.34289192e-01 -2.56637997e-02 1.27030057e+02] [ 3.34185251e-01 9.42470292e-01 -8.36460648e-03 8.03831382e+00] [ 2.69835663e-02 -6.95991336e-04 9.99635635e-01 1.68119705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.06, Y:8.05, Z:1.68 [[ 9.41288920e-01 -3.36634411e-01 -2.55429438e-02 1.27055593e+02] [ 3.36532231e-01 9.41635121e-01 -8.32809864e-03 8.05023667e+00] [ 2.68556575e-02 -7.56876887e-04 9.99639035e-01 1.68200463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.08, Y:8.06, Z:1.68 [[ 9.41092987e-01 -3.37173000e-01 -2.56584841e-02 1.27081807e+02] [ 3.37069996e-01 9.41442389e-01 -8.36938855e-03 8.06217559e+00] [ 2.69779165e-02 -7.72332269e-04 9.99635731e-01 1.68154012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.11, Y:8.08, Z:1.68 [[ 9.41380789e-01 -3.36361500e-01 -2.57517135e-02 1.27106095e+02] [ 3.36257332e-01 9.41732649e-01 -8.40387230e-03 8.07674713e+00] [ 2.70779684e-02 -7.47958509e-04 9.99633045e-01 1.68172126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.13, Y:8.10, Z:1.69 [[ 9.41864490e-01 -3.35068993e-01 -2.49008568e-02 1.27130098e+02] [ 3.34971079e-01 9.42193346e-01 -8.12867996e-03 8.09721561e+00] [ 2.61850902e-02 -6.84951869e-04 9.99656877e-01 1.68716066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07038572300002 meters Centerline goodness [0,1] 0.9999790913082568 Centerline is valid? [True, True] Translation: X:127.16, Y:8.11, Z:1.69 [[ 9.43422752e-01 -3.30768319e-01 -2.33630087e-02 1.27156595e+02] [ 3.30680728e-01 9.43711842e-01 -7.62991418e-03 8.11353304e+00] [ 2.45716818e-02 -5.27462079e-04 9.99697931e-01 1.68914752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.10038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.18, Y:8.12, Z:1.69 [[ 9.44272572e-01 -3.28328844e-01 -2.34409783e-02 1.27183830e+02] [ 3.28239836e-01 9.44563368e-01 -7.65855720e-03 8.12045479e+00] [ 2.46560146e-02 -4.62497372e-04 9.99695887e-01 1.68620441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.21, Y:8.14, Z:1.69 [[ 9.45268834e-01 -3.25453650e-01 -2.33827616e-02 1.27207073e+02] [ 3.25364115e-01 9.45557917e-01 -7.64316670e-03 8.14168674e+00] [ 2.45972518e-02 -3.83064246e-04 9.99697368e-01 1.68976479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.16038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.23, Y:8.16, Z:1.69 [[ 9.47604930e-01 -3.18640596e-01 -2.26509867e-02 1.27232220e+02] [ 3.18554526e-01 9.47875589e-01 -7.40820289e-03 8.15591314e+00] [ 2.38308716e-02 -1.95524765e-04 9.99715985e-01 1.68624533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.26, Y:8.18, Z:1.69 [[ 9.50349172e-01 -3.10345562e-01 -2.28491657e-02 1.27256093e+02] [ 3.10255496e-01 9.50623812e-01 -7.47628594e-03 8.17615413e+00] [ 2.40411932e-02 1.60028936e-05 9.99710969e-01 1.69011536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.22038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.28, Y:8.19, Z:1.69 [[ 9.51678718e-01 -3.06162410e-01 -2.39206314e-02 1.27282561e+02] [ 3.06062214e-01 9.51979286e-01 -7.83328246e-03 8.18901865e+00] [ 2.51702022e-02 1.33566795e-04 9.99683171e-01 1.68960573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.31, Y:8.20, Z:1.69 [[ 9.52926365e-01 -3.02191573e-01 -2.47304546e-02 1.27308507e+02] [ 3.02082967e-01 9.53247182e-01 -8.10503313e-03 8.20152058e+00] [ 2.60235089e-02 2.52850658e-04 9.99661299e-01 1.68878342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.33, Y:8.21, Z:1.69 [[ 9.52845291e-01 -3.02447277e-01 -2.47284390e-02 1.27334665e+02] [ 3.02338598e-01 9.53166083e-01 -8.11117920e-03 8.21017651e+00] [ 2.60235134e-02 2.52337345e-04 9.99661299e-01 1.68920083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.36, Y:8.23, Z:1.69 [[ 9.54896187e-01 -2.95762400e-01 -2.64173029e-02 1.27361190e+02] [ 2.95635664e-01 9.55261421e-01 -8.67016702e-03 8.22500668e+00] [ 2.77997398e-02 4.69212543e-04 9.99613402e-01 1.68765427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.39, Y:8.24, Z:1.69 [[ 9.55637647e-01 -2.93360062e-01 -2.63924703e-02 1.27386797e+02] [ 2.93232587e-01 9.56001873e-01 -8.66420451e-03 8.23706640e+00] [ 2.77729826e-02 5.40707675e-04 9.99614110e-01 1.68626054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.41, Y:8.25, Z:1.69 [[ 9.56351207e-01 -2.91117319e-01 -2.53589457e-02 1.27414095e+02] [ 2.90998719e-01 9.56687181e-01 -8.32964679e-03 8.24584751e+00] [ 2.66854827e-02 5.86647065e-04 9.99643707e-01 1.68772400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.44, Y:8.25, Z:1.69 [[ 9.56617340e-01 -2.90312910e-01 -2.45291660e-02 1.27440474e+02] [ 2.90201565e-01 9.56931587e-01 -8.06160460e-03 8.25481987e+00] [ 2.58131216e-02 5.93468391e-04 9.99666610e-01 1.68837412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.47, Y:8.26, Z:1.69 [[ 9.56694639e-01 -2.90077544e-01 -2.42978618e-02 1.27469107e+02] [ 2.89968117e-01 9.57002958e-01 -7.98935028e-03 8.25975251e+00] [ 2.55706567e-02 5.97763341e-04 9.99672839e-01 1.69030626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.50, Y:8.26, Z:1.69 [[ 9.56566600e-01 -2.90496733e-01 -2.43308156e-02 1.27497732e+02] [ 2.90386974e-01 9.56875799e-01 -8.00686744e-03 8.26273411e+00] [ 2.56075374e-02 5.93750061e-04 9.99671897e-01 1.69296512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.52, Y:8.27, Z:1.69 [[ 9.56531847e-01 -2.90606247e-01 -2.43892529e-02 1.27524781e+02] [ 2.90495800e-01 9.56842542e-01 -8.03369646e-03 8.27011293e+00] [ 2.56713171e-02 5.99510994e-04 9.99670258e-01 1.69361477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.55, Y:8.28, Z:1.69 [[ 9.56476874e-01 -2.90654244e-01 -2.59248836e-02 1.27552443e+02] [ 2.90529305e-01 9.56827936e-01 -8.54539982e-03 8.27662493e+00] [ 2.72894096e-02 6.41538909e-04 9.99627369e-01 1.69211499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.58, Y:8.28, Z:1.69 [[ 9.56327794e-01 -2.91075805e-01 -2.66838025e-02 1.27579706e+02] [ 2.90943462e-01 9.56699770e-01 -8.80070058e-03 8.28293796e+00] [ 2.80900587e-02 6.52876686e-04 9.99605183e-01 1.69158163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.580385723 meters Centerline goodness [0,1] 0.9999372437452932 Centerline is valid? [True, True] Translation: X:127.61, Y:8.29, Z:1.69 [[ 9.56144631e-01 -2.91724985e-01 -2.61529728e-02 1.27609476e+02] [ 2.91597895e-01 9.56502033e-01 -8.63305895e-03 8.28520245e+00] [ 2.75338506e-02 6.28301165e-04 9.99620674e-01 1.69316851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.64, Y:8.29, Z:1.69 [[ 9.56013527e-01 -2.92175303e-01 -2.59177168e-02 1.27636858e+02] [ 2.92050454e-01 9.56364581e-01 -8.56274848e-03 8.29086924e+00] [ 2.72886100e-02 6.16822426e-04 9.99627406e-01 1.69471412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.66, Y:8.30, Z:1.69 [[ 9.56150107e-01 -2.91804002e-01 -2.50479119e-02 1.27663053e+02] [ 2.91687095e-01 9.56477940e-01 -8.28183988e-03 8.29805692e+00] [ 2.63744492e-02 6.12529425e-04 9.99651946e-01 1.69480964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.670385723 meters Centerline goodness [0,1] 0.99995807303677 Centerline is valid? [True, True] Translation: X:127.69, Y:8.30, Z:1.70 [[ 9.56307187e-01 -2.91323598e-01 -2.46399097e-02 1.27692361e+02] [ 2.91210164e-01 9.56624365e-01 -8.15258710e-03 8.30122452e+00] [ 2.59461790e-02 6.20985485e-04 9.99663148e-01 1.69759604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.700385723 meters Centerline goodness [0,1] 0.9999789743697567 Centerline is valid? [True, True] Translation: X:127.72, Y:8.31, Z:1.70 [[ 9.56605836e-01 -2.90327993e-01 -2.47978155e-02 1.27720364e+02] [ 2.90212641e-01 9.56926970e-01 -8.20964124e-03 8.30684263e+00] [ 2.61131871e-02 6.56751207e-04 9.99658777e-01 1.69704803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.75, Y:8.31, Z:1.70 [[ 9.56512514e-01 -2.90594565e-01 -2.52707157e-02 1.27748311e+02] [ 2.90474739e-01 9.56846046e-01 -8.37084395e-03 8.31274360e+00] [ 2.66127061e-02 6.66312462e-04 9.99645597e-01 1.69656911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.760385723 meters Centerline goodness [0,1] 0.999957997311828 Centerline is valid? [True, True] Translation: X:127.78, Y:8.31, Z:1.70 [[ 9.56324339e-01 -2.91138483e-01 -2.61178574e-02 1.27777811e+02] [ 2.91010469e-01 9.56680678e-01 -8.65946635e-03 8.31429580e+00] [ 2.75075534e-02 6.80688503e-04 9.99621364e-01 1.69601656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.790385723 meters Centerline goodness [0,1] 0.9999578441498219 Centerline is valid? [True, True] Translation: X:127.80, Y:8.32, Z:1.70 [[ 9.56207079e-01 -2.91489222e-01 -2.64963162e-02 1.27804336e+02] [ 2.91357438e-01 9.56573867e-01 -8.79092762e-03 8.32107806e+00] [ 2.79081443e-02 6.86048411e-04 9.99610256e-01 1.69582911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.82038572300002 meters Centerline goodness [0,1] 0.9999155458902519 Centerline is valid? [True, True] Translation: X:127.83, Y:8.33, Z:1.69 [[ 9.56259846e-01 -2.91137389e-01 -2.83923816e-02 1.27833655e+02] [ 2.90985739e-01 9.56680958e-01 -9.42569668e-03 8.32557860e+00] [ 2.99066236e-02 7.51637101e-04 9.99552414e-01 1.69481140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.86, Y:8.33, Z:1.69 [[ 9.56307811e-01 -2.90890723e-01 -2.92909221e-02 1.27860069e+02] [ 2.90729009e-01 9.56755958e-01 -9.73032924e-03 8.33288840e+00] [ 3.08547268e-02 7.89469103e-04 9.99523568e-01 1.69424242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.88038572300002 meters Centerline goodness [0,1] 0.9999787414965986 Centerline is valid? [True, True] Translation: X:127.89, Y:8.34, Z:1.70 [[ 9.56794249e-01 -2.89324984e-01 -2.89105139e-02 1.27888995e+02] [ 2.89166618e-01 9.57230568e-01 -9.60764990e-03 8.33590277e+00] [ 3.04537608e-02 8.32588644e-04 9.99535830e-01 1.69614609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91038572300002 meters Centerline goodness [0,1] 0.9999575722862174 Centerline is valid? [True, True] Translation: X:127.92, Y:8.34, Z:1.70 [[ 9.56918827e-01 -2.88948652e-01 -2.85488256e-02 1.27917318e+02] [ 2.88793903e-01 9.57344229e-01 -9.49259780e-03 8.34160164e+00] [ 3.00739268e-02 8.38918787e-04 9.99547325e-01 1.69804474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.94038572300002 meters Centerline goodness [0,1] 0.9998726844484054 Centerline is valid? [True, True] Translation: X:127.94, Y:8.35, Z:1.70 [[ 9.57160791e-01 -2.88292945e-01 -2.70258801e-02 1.27944826e+02] [ 2.88153856e-01 9.57541909e-01 -8.99155747e-03 8.34553933e+00] [ 2.84706154e-02 8.18754689e-04 9.99594295e-01 1.70052857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97038572300002 meters Centerline goodness [0,1] 0.9999786725814708 Centerline is valid? [True, True] Translation: X:127.97, Y:8.35, Z:1.70 [[ 9.57096998e-01 -2.88537798e-01 -2.66697596e-02 1.27972149e+02] [ 2.88402289e-01 9.57468166e-01 -8.87866529e-03 8.35210087e+00] [ 2.80972764e-02 8.06124186e-04 9.99604869e-01 1.70197622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.00038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.00, Y:8.36, Z:1.70 [[ 9.56826973e-01 -2.89472454e-01 -2.62267454e-02 1.28001873e+02] [ 2.89341555e-01 9.57186032e-01 -8.73865154e-03 8.35522722e+00] [ 2.76334732e-02 7.72890226e-04 9.99617824e-01 1.70253416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.030385723 meters Centerline goodness [0,1] 0.9999786109982247 Centerline is valid? [True, True] Translation: X:128.03, Y:8.36, Z:1.70 [[ 9.56549117e-01 -2.90352122e-01 -2.66351624e-02 1.28029351e+02] [ 2.90217309e-01 9.56919569e-01 -8.87986959e-03 8.36211356e+00] [ 2.80659971e-02 7.64046261e-04 9.99605780e-01 1.70214690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.060385723 meters Centerline goodness [0,1] 0.9999139747946149 Centerline is valid? [True, True] Translation: X:128.06, Y:8.37, Z:1.70 [[ 9.56182057e-01 -2.91546449e-01 -2.67682833e-02 1.28058534e+02] [ 2.91410618e-01 9.56556389e-01 -8.92902052e-03 8.36593510e+00] [ 2.82085966e-02 7.37207250e-04 9.99601787e-01 1.70383895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.090385723 meters Centerline goodness [0,1] 0.9998927981818572 Centerline is valid? [True, True] Translation: X:128.09, Y:8.37, Z:1.71 [[ 9.55187268e-01 -2.94819983e-01 -2.64284191e-02 1.28087080e+02] [ 2.94688689e-01 9.55552600e-01 -8.82070662e-03 8.36727426e+00] [ 2.78542651e-02 6.37270491e-04 9.99611792e-01 1.70522073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.12, Y:8.37, Z:1.71 [[ 9.54068750e-01 -2.98412932e-01 -2.65055007e-02 1.28117166e+02] [ 2.98282128e-01 9.54436709e-01 -8.85099451e-03 8.36773839e+00] [ 2.79390741e-02 5.38340136e-04 9.99609483e-01 1.70676797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.150385723 meters Centerline goodness [0,1] 0.9999784682298731 Centerline is valid? [True, True] Translation: X:128.15, Y:8.37, Z:1.71 [[ 9.53428971e-01 -3.00476774e-01 -2.62088912e-02 1.28145747e+02] [ 3.00349470e-01 9.53789012e-01 -8.75881978e-03 8.37310524e+00] [ 2.76295744e-02 4.79085942e-04 9.99618116e-01 1.70740563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.180385723 meters Centerline goodness [0,1] 0.9999783811829817 Centerline is valid? [True, True] Translation: X:128.17, Y:8.38, Z:1.71 [[ 9.52822782e-01 -3.02455537e-01 -2.54832374e-02 1.28174254e+02] [ 3.02335714e-01 9.53163404e-01 -8.52299049e-03 8.37855867e+00] [ 2.68675150e-02 4.16406740e-04 9.99638916e-01 1.70858111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.20, Y:8.38, Z:1.71 [[ 9.51586000e-01 -3.06428443e-01 -2.42011094e-02 1.28203124e+02] [ 3.06321543e-01 9.51893651e-01 -8.09872646e-03 8.38032208e+00] [ 2.55185625e-02 2.93313546e-04 9.99674305e-01 1.71038876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.23, Y:8.38, Z:1.71 [[ 9.50008083e-01 -3.11240918e-01 -2.47736434e-02 1.28232736e+02] [ 3.11130470e-01 9.50331028e-01 -8.29266733e-03 8.38083954e+00] [ 2.61241794e-02 1.70265658e-04 9.99658691e-01 1.71156949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.26, Y:8.39, Z:1.71 [[ 9.49179836e-01 -3.13739929e-01 -2.49979023e-02 1.28261343e+02] [ 3.13628231e-01 9.49508950e-01 -8.37179518e-03 8.38548757e+00] [ 2.63622984e-02 1.06291308e-04 9.99652449e-01 1.71247888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.29, Y:8.39, Z:1.71 [[ 9.48390074e-01 -3.16105380e-01 -2.51725187e-02 1.28289448e+02] [ 3.15992762e-01 9.48724083e-01 -8.43726638e-03 8.39018648e+00] [ 2.65488400e-02 4.74859750e-05 9.99647516e-01 1.71473599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.32, Y:8.39, Z:1.72 [[ 9.47203944e-01 -3.19680160e-01 -2.46836899e-02 1.28317845e+02] [ 3.19572893e-01 9.47525511e-01 -8.28084380e-03 8.39412475e+00] [ 2.60356473e-02 -4.45902870e-05 9.99661014e-01 1.71626725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.35, Y:8.40, Z:1.72 [[ 9.46757312e-01 -3.20995505e-01 -2.47482818e-02 1.28345594e+02] [ 3.20887929e-01 9.47080715e-01 -8.31003251e-03 8.40085157e+00] [ 2.61061035e-02 -7.38408496e-05 9.99659175e-01 1.71691020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.37, Y:8.40, Z:1.72 [[ 9.46149923e-01 -3.22798942e-01 -2.45186972e-02 1.28374069e+02] [ 3.22693767e-01 9.46467553e-01 -8.24032766e-03 8.40496642e+00] [ 2.58661204e-02 -1.15445388e-04 9.99665409e-01 1.71788750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.40, Y:8.41, Z:1.72 [[ 9.45934308e-01 -3.23462029e-01 -2.40956519e-02 1.28401140e+02] [ 3.23360483e-01 9.46241143e-01 -8.10542577e-03 8.41176294e+00] [ 2.54220947e-02 -1.24381315e-04 9.99676799e-01 1.71922131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.43, Y:8.42, Z:1.72 [[ 9.46223688e-01 -3.22587578e-01 -2.44537537e-02 1.28429205e+02] [ 3.22482502e-01 9.46539616e-01 -8.23351318e-03 8.41689532e+00] [ 2.58024757e-02 -9.51624392e-05 9.99667056e-01 1.72036988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.46, Y:8.42, Z:1.72 [[ 9.46615181e-01 -3.21415230e-01 -2.47375815e-02 1.28455300e+02] [ 3.21307126e-01 9.46938354e-01 -8.33573998e-03 8.42412570e+00] [ 2.61041985e-02 -5.76232089e-05 9.99659226e-01 1.72056441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.48, Y:8.43, Z:1.72 [[ 9.47304241e-01 -3.19336965e-01 -2.52700804e-02 1.28481877e+02] [ 3.19223244e-01 9.47641231e-01 -8.52160432e-03 8.43276202e+00] [ 2.66682334e-02 5.75486180e-06 9.99644339e-01 1.72095603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.51, Y:8.44, Z:1.72 [[ 9.49430208e-01 -3.12801022e-01 -2.71624821e-02 1.28507253e+02] [ 3.12666749e-01 9.49818655e-01 -9.16665453e-03 8.44308505e+00] [ 2.86667711e-02 2.10293765e-04 9.99589002e-01 1.71905367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.53, Y:8.45, Z:1.72 [[ 9.51755058e-01 -3.05513739e-01 -2.86995500e-02 1.28534882e+02] [ 3.05360414e-01 9.52187558e-01 -9.68873222e-03 8.45245898e+00] [ 3.02873952e-02 4.57593437e-04 9.99541127e-01 1.71844578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.56, Y:8.46, Z:1.72 [[ 9.52737884e-01 -3.02396761e-01 -2.90985088e-02 1.28561277e+02] [ 3.02237619e-01 9.53181975e-01 -9.82565358e-03 8.46255298e+00] [ 3.07074199e-02 5.66608375e-04 9.99528255e-01 1.71700952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63038572300002 meters Centerline goodness [0,1] 0.999977789623312 Centerline is valid? [True, True] Translation: X:128.59, Y:8.47, Z:1.72 [[ 9.53475379e-01 -3.00072648e-01 -2.90018632e-02 1.28588769e+02] [ 2.99913326e-01 9.53916134e-01 -9.79826984e-03 8.47040166e+00] [ 3.06055380e-02 6.44363781e-04 9.99531333e-01 1.71842437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.66038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.62, Y:8.48, Z:1.72 [[ 9.54574529e-01 -2.96648417e-01 -2.80568232e-02 1.28615014e+02] [ 2.96497684e-01 9.54986480e-01 -9.48397767e-03 8.47926744e+00] [ 2.96072938e-02 7.34380403e-04 9.99561338e-01 1.71788688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.64, Y:8.49, Z:1.72 [[ 9.54720533e-01 -2.96255204e-01 -2.72315681e-02 1.28642504e+02] [ 2.96112900e-01 9.55108539e-01 -9.21022997e-03 8.48705283e+00] [ 2.87376818e-02 7.29577062e-04 9.99586721e-01 1.71873097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.72038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.67, Y:8.49, Z:1.72 [[ 9.55127746e-01 -2.95024359e-01 -2.62986233e-02 1.28670027e+02] [ 2.94891027e-01 9.55489441e-01 -8.90001513e-03 8.49182339e+00] [ 2.77537781e-02 7.45423378e-04 9.99614512e-01 1.72027009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75038572300002 meters Centerline goodness [0,1] 0.9999776126085789 Centerline is valid? [True, True] Translation: X:128.70, Y:8.50, Z:1.72 [[ 9.55066187e-01 -2.95247448e-01 -2.60292583e-02 1.28698324e+02] [ 2.95116784e-01 9.55420537e-01 -8.81369666e-03 8.49723538e+00] [ 2.74711094e-02 7.35992665e-04 9.99622327e-01 1.72208613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.780385723 meters Centerline goodness [0,1] 0.9999550945260227 Centerline is valid? [True, True] Translation: X:128.73, Y:8.50, Z:1.72 [[ 9.54835789e-01 -2.96061583e-01 -2.52221062e-02 1.28726583e+02] [ 2.95939043e-01 9.55168601e-01 -8.54559392e-03 8.50156103e+00] [ 2.66213860e-02 6.95432930e-04 9.99645346e-01 1.72291752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.810385723 meters Centerline goodness [0,1] 0.9998878219510007 Centerline is valid? [True, True] Translation: X:128.75, Y:8.51, Z:1.72 [[ 9.54565689e-01 -2.96955154e-01 -2.49395788e-02 1.28754811e+02] [ 2.96835542e-01 9.54891194e-01 -8.45392985e-03 8.50891031e+00] [ 2.63250222e-02 6.66877991e-04 9.99653214e-01 1.72325735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.840385723 meters Centerline goodness [0,1] 0.9999547777325555 Centerline is valid? [True, True] Translation: X:128.78, Y:8.51, Z:1.72 [[ 9.54465559e-01 -2.97332878e-01 -2.42622304e-02 1.28782208e+02] [ 2.97219683e-01 9.54773662e-01 -8.22885531e-03 8.51467940e+00] [ 2.56116478e-02 6.42946573e-04 9.99671761e-01 1.72382166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.870385723 meters Centerline goodness [0,1] 0.9999545898326635 Centerline is valid? [True, True] Translation: X:128.81, Y:8.52, Z:1.73 [[ 9.54290324e-01 -2.97902968e-01 -2.41619344e-02 1.28810541e+02] [ 2.97790779e-01 9.54595949e-01 -8.19915284e-03 8.51889811e+00] [ 2.55074366e-02 6.29170950e-04 9.99674434e-01 1.72517244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.900385723 meters Centerline goodness [0,1] 0.9999319017569347 Centerline is valid? [True, True] Translation: X:128.84, Y:8.52, Z:1.72 [[ 9.53064494e-01 -3.01675696e-01 -2.56874357e-02 1.28839149e+02] [ 3.01550049e-01 9.53410431e-01 -8.72451798e-03 8.52314268e+00] [ 2.71226442e-02 5.68980820e-04 9.99631951e-01 1.72360398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.87, Y:8.53, Z:1.73 [[ 9.52168360e-01 -3.04506561e-01 -2.55180120e-02 1.28868586e+02] [ 3.04383398e-01 9.52510112e-01 -8.67377301e-03 8.52625762e+00] [ 2.69473853e-02 4.91633018e-04 9.99636732e-01 1.72544506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.90, Y:8.53, Z:1.73 [[ 9.50753047e-01 -3.08924977e-01 -2.51794018e-02 1.28897213e+02] [ 3.08806485e-01 9.51086339e-01 -8.56331582e-03 8.53100848e+00] [ 2.65932072e-02 3.66036067e-04 9.99646271e-01 1.72536618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.92, Y:8.54, Z:1.72 [[ 9.50192580e-01 -3.10650791e-01 -2.51027391e-02 1.28923479e+02] [ 3.10533565e-01 9.50524058e-01 -8.53934339e-03 8.54017373e+00] [ 2.65135112e-02 3.18777658e-04 9.99648404e-01 1.72357201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.020385723 meters Centerline goodness [0,1] 0.9999770336686418 Centerline is valid? [True, True] Translation: X:128.95, Y:8.55, Z:1.73 [[ 9.49588337e-01 -3.12395917e-01 -2.62827230e-02 1.28951491e+02] [ 3.12267934e-01 9.49951950e-01 -8.94589492e-03 8.54562931e+00] [ 2.77619851e-02 2.87665852e-04 9.99614520e-01 1.72597549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.050385723 meters Centerline goodness [0,1] 0.9999770936411948 Centerline is valid? [True, True] Translation: X:128.98, Y:8.56, Z:1.73 [[ 9.49508922e-01 -3.12613544e-01 -2.65627358e-02 1.28976974e+02] [ 3.12482729e-01 9.49880355e-01 -9.04741241e-03 8.55541812e+00] [ 2.80597646e-02 2.90202617e-04 9.99606205e-01 1.72586239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.00, Y:8.57, Z:1.73 [[ 9.49401612e-01 -3.12910269e-01 -2.69024676e-02 1.29001634e+02] [ 3.12776075e-01 9.49782649e-01 -9.16770539e-03 8.56754623e+00] [ 2.84201661e-02 2.89386055e-04 9.99596024e-01 1.72524646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.03, Y:8.58, Z:1.72 [[ 9.49460815e-01 -3.12783364e-01 -2.62817118e-02 1.29026624e+02] [ 3.12655133e-01 9.49824448e-01 -8.96019102e-03 8.57961011e+00] [ 2.77656111e-02 2.90238174e-04 9.99614419e-01 1.72341051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.05, Y:8.59, Z:1.73 [[ 9.49498416e-01 -3.12793816e-01 -2.47545261e-02 1.29053979e+02] [ 3.12679957e-01 9.49821011e-01 -8.44347564e-03 8.58826835e+00] [ 2.61534359e-02 2.76822609e-04 9.99657902e-01 1.72705347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.08, Y:8.60, Z:1.73 [[ 9.49415619e-01 -3.13045203e-01 -2.47524498e-02 1.29080075e+02] [ 3.12931271e-01 9.49738187e-01 -8.44955884e-03 8.59726098e+00] [ 2.61534407e-02 2.76327538e-04 9.99657902e-01 1.72747097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.11, Y:8.61, Z:1.73 [[ 9.49357418e-01 -3.13243975e-01 -2.44684306e-02 1.29105185e+02] [ 3.13132567e-01 9.49672648e-01 -8.35809690e-03 8.60757631e+00] [ 2.58551228e-02 2.72958811e-04 9.99665663e-01 1.72661113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.13, Y:8.61, Z:1.73 [[ 9.49244076e-01 -3.13628784e-01 -2.39305279e-02 1.29131894e+02] [ 3.13522228e-01 9.49545637e-01 -8.17895230e-03 8.61497800e+00] [ 2.52882832e-02 2.61069609e-04 9.99680166e-01 1.72821833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.16, Y:8.62, Z:1.73 [[ 9.49052293e-01 -3.14256535e-01 -2.32932594e-02 1.29159671e+02] [ 3.14155608e-01 9.49338070e-01 -7.96762413e-03 8.62320640e+00] [ 2.46170559e-02 2.43983875e-04 9.99696925e-01 1.72968135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.19, Y:8.63, Z:1.73 [[ 9.48680877e-01 -3.15523523e-01 -2.12014146e-02 1.29187174e+02] [ 3.15440128e-01 9.48917735e-01 -7.25657123e-03 8.63133807e+00] [ 2.24080172e-02 1.96393439e-04 9.99748890e-01 1.73220278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.21, Y:8.64, Z:1.73 [[ 9.48390464e-01 -3.16452791e-01 -2.03263219e-02 1.29214642e+02] [ 3.16376275e-01 9.48608245e-01 -6.96066959e-03 8.63964504e+00] [ 2.14844399e-02 1.70666652e-04 9.99769168e-01 1.73422691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.24, Y:8.65, Z:1.73 [[ 9.48239712e-01 -3.16961776e-01 -1.94082749e-02 1.29239866e+02] [ 3.16892029e-01 9.48438300e-01 -6.65080753e-03 8.65140241e+00] [ 2.05156030e-02 1.56232196e-04 9.99789521e-01 1.73347497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.38038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.27, Y:8.66, Z:1.74 [[ 9.48337667e-01 -3.16705582e-01 -1.87947685e-02 1.29266483e+02] [ 3.16640059e-01 9.48523879e-01 -6.44397340e-03 8.65953515e+00] [ 1.98681291e-02 1.59886102e-04 9.99802596e-01 1.73576531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.29, Y:8.67, Z:1.73 [[ 9.48420570e-01 -3.16407159e-01 -1.96196705e-02 1.29292071e+02] [ 3.16335586e-01 9.48623465e-01 -6.73193798e-03 8.67002337e+00] [ 2.07417132e-02 1.78308509e-04 9.99784852e-01 1.73494161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.44038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.32, Y:8.68, Z:1.73 [[ 9.48746869e-01 -3.15275478e-01 -2.19260450e-02 1.29317569e+02] [ 3.15185732e-01 9.49000169e-01 -7.52555256e-03 8.68235827e+00] [ 2.31804426e-02 2.29067900e-04 9.99731271e-01 1.73094451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.34, Y:8.69, Z:1.73 [[ 9.48841496e-01 -3.14940926e-01 -2.26280427e-02 1.29344787e+02] [ 3.14845160e-01 9.49111243e-01 -7.77005726e-03 8.69223451e+00] [ 2.39236388e-02 2.48223021e-04 9.99713758e-01 1.73022028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.50038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.37, Y:8.70, Z:1.73 [[ 9.48589937e-01 -3.15722914e-01 -2.22749477e-02 1.29371739e+02] [ 3.15630185e-01 9.48851405e-01 -7.65492795e-03 8.70070917e+00] [ 2.35524515e-02 2.30741762e-04 9.99722576e-01 1.73143177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.40, Y:8.71, Z:1.73 [[ 9.48264222e-01 -3.16762378e-01 -2.13673045e-02 1.29399089e+02] [ 3.16677180e-01 9.48504905e-01 -7.34907071e-03 8.70868439e+00] [ 2.25949022e-02 2.02323102e-04 9.99744682e-01 1.73319224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.43, Y:8.72, Z:1.74 [[ 9.47668093e-01 -3.18592888e-01 -2.05853653e-02 1.29426851e+02] [ 3.18514126e-01 9.47891632e-01 -7.08554266e-03 8.71664539e+00] [ 2.17700991e-02 1.58013054e-04 9.99762991e-01 1.73513536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.590385723 meters Centerline goodness [0,1] 0.9999543441537689 Centerline is valid? [True, True] Translation: X:129.45, Y:8.72, Z:1.74 [[ 9.46683961e-01 -3.21578532e-01 -1.94094028e-02 1.29453329e+02] [ 3.21509053e-01 9.46882907e-01 -6.68497636e-03 8.72413528e+00] [ 2.05281767e-02 8.82611781e-05 9.99789271e-01 1.73628128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.48, Y:8.73, Z:1.74 [[ 9.45896302e-01 -3.23912910e-01 -1.89897925e-02 1.29480363e+02] [ 3.23846816e-01 9.46086902e-01 -6.54326365e-03 8.73225196e+00] [ 2.00854415e-02 3.94650704e-05 9.99798266e-01 1.73681035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.650385723 meters Centerline goodness [0,1] 0.9999772494596747 Centerline is valid? [True, True] Translation: X:129.51, Y:8.74, Z:1.74 [[ 9.45531609e-01 -3.24971859e-01 -1.90595601e-02 1.29506296e+02] [ 3.24905374e-01 9.45723686e-01 -6.57323214e-03 8.74113830e+00] [ 2.01611929e-02 2.26452482e-05 9.99796742e-01 1.73599764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.53, Y:8.75, Z:1.74 [[ 9.45209685e-01 -3.25890456e-01 -1.93406951e-02 1.29532702e+02] [ 3.25822064e-01 9.45407537e-01 -6.67620914e-03 8.74998976e+00] [ 2.04605517e-02 8.79235853e-06 9.99790661e-01 1.73571977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.56, Y:8.76, Z:1.73 [[ 9.44711718e-01 -3.27302524e-01 -1.98198528e-02 1.29558065e+02] [ 3.27230901e-01 9.44919604e-01 -6.84689637e-03 8.75899202e+00] [ 2.09691739e-02 -1.73250649e-05 9.99780123e-01 1.73491040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.740385723 meters Centerline goodness [0,1] 0.9999319573599456 Centerline is valid? [True, True] Translation: X:129.58, Y:8.77, Z:1.74 [[ 9.44520325e-01 -3.27868529e-01 -1.95852691e-02 1.29584360e+02] [ 3.27798641e-01 9.44723360e-01 -6.76933569e-03 8.76831041e+00] [ 2.07221134e-02 -2.62494485e-05 9.99785274e-01 1.73516528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.61, Y:8.78, Z:1.74 [[ 9.44349621e-01 -3.28451617e-01 -1.79813293e-02 1.29611264e+02] [ 3.28392718e-01 9.44520796e-01 -6.22000404e-03 8.77750536e+00] [ 1.90267098e-02 -3.10791234e-05 9.99818975e-01 1.73733419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.64, Y:8.79, Z:1.74 [[ 9.44396789e-01 -3.28370583e-01 -1.69547869e-02 1.29637695e+02] [ 3.28318118e-01 9.44548972e-01 -5.86974028e-03 8.78704776e+00] [ 1.79420766e-02 -2.31998517e-05 9.99839028e-01 1.73869966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.66, Y:8.80, Z:1.74 [[ 9.44985507e-01 -3.26690015e-01 -1.66140263e-02 1.29663234e+02] [ 3.26639291e-01 9.45131543e-01 -5.75668555e-03 8.79828173e+00] [ 1.75830920e-02 1.31906481e-05 9.99845405e-01 1.73938680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.69, Y:8.81, Z:1.74 [[ 9.45303702e-01 -3.25740737e-01 -1.71430405e-02 1.29689167e+02] [ 3.25686479e-01 9.45459132e-01 -5.94528835e-03 8.80921488e+00] [ 1.81446668e-02 3.68465913e-05 9.99835371e-01 1.73848341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.890385723 meters Centerline goodness [0,1] 0.9999773576361373 Centerline is valid? [True, True] Translation: X:129.71, Y:8.82, Z:1.74 [[ 9.45848911e-01 -3.24079921e-01 -1.84944114e-02 1.29714695e+02] [ 3.24016352e-01 9.46029703e-01 -6.41910930e-03 8.81995538e+00] [ 1.95765670e-02 7.90158112e-05 9.99808358e-01 1.73720397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.920385723 meters Centerline goodness [0,1] 0.9999547060422139 Centerline is valid? [True, True] Translation: X:129.74, Y:8.83, Z:1.74 [[ 9.46830546e-01 -3.21072947e-01 -2.05932014e-02 1.29740106e+02] [ 3.20993372e-01 9.47054453e-01 -7.14967776e-03 8.83178872e+00] [ 2.17984512e-02 1.59252145e-04 9.99762373e-01 1.73508806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.950385723 meters Centerline goodness [0,1] 0.9999095840867993 Centerline is valid? [True, True] Translation: X:129.77, Y:8.84, Z:1.73 [[ 9.47452491e-01 -3.19225416e-01 -2.07101908e-02 1.29765367e+02] [ 3.19144447e-01 9.47678792e-01 -7.19237341e-03 8.84241089e+00] [ 2.19225970e-02 2.04889715e-04 9.99759650e-01 1.73493169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.980385723 meters Centerline goodness [0,1] 0.9999546258904669 Centerline is valid? [True, True] Translation: X:129.79, Y:8.85, Z:1.74 [[ 9.47605902e-01 -3.18796235e-01 -2.02981613e-02 1.29791663e+02] [ 3.18718284e-01 9.47823251e-01 -7.05271247e-03 8.85106985e+00] [ 2.14874474e-02 2.13796817e-04 9.99769095e-01 1.73613999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.010385723 meters Centerline goodness [0,1] 0.9999773673728046 Centerline is valid? [True, True] Translation: X:129.82, Y:8.86, Z:1.74 [[ 9.47790026e-01 -3.18273523e-01 -1.99005129e-02 1.29818003e+02] [ 3.18198378e-01 9.47998900e-01 -6.91944906e-03 8.86099628e+00] [ 2.10679418e-02 2.25873874e-04 9.99778021e-01 1.73632000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.84, Y:8.87, Z:1.74 [[ 9.48514281e-01 -3.16135036e-01 -1.94755851e-02 1.29844953e+02] [ 3.16062559e-01 9.48714165e-01 -6.77443282e-03 8.87131868e+00] [ 2.06183990e-02 2.70143019e-04 9.99787382e-01 1.73733256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07038572300002 meters Centerline goodness [0,1] 0.9999318383204963 Centerline is valid? [True, True] Translation: X:129.87, Y:8.88, Z:1.74 [[ 9.48973317e-01 -3.14777641e-01 -1.90965908e-02 1.29870822e+02] [ 3.14707596e-01 9.49165396e-01 -6.64683401e-03 8.88051082e+00] [ 2.02180979e-02 2.97825921e-04 9.99795549e-01 1.73872944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.10038572300002 meters Centerline goodness [0,1] 0.9999773139745917 Centerline is valid? [True, True] Translation: X:129.90, Y:8.89, Z:1.74 [[ 9.49913584e-01 -3.11975951e-01 -1.83081507e-02 1.29898179e+02] [ 3.11911014e-01 9.50089936e-01 -6.37432527e-03 8.89027679e+00] [ 1.93830259e-02 3.44544331e-04 9.99812072e-01 1.74024208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13038572300002 meters Centerline goodness [0,1] 0.9999318042326839 Centerline is valid? [True, True] Translation: X:129.92, Y:8.90, Z:1.74 [[ 9.50249590e-01 -3.10948642e-01 -1.83482567e-02 1.29924269e+02] [ 3.10883175e-01 9.50426644e-01 -6.39104877e-03 8.90024848e+00] [ 1.94259600e-02 3.68927176e-04 9.99811230e-01 1.74038634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.16038572300002 meters Centerline goodness [0,1] 0.9999771913418334 Centerline is valid? [True, True] Translation: X:129.95, Y:8.91, Z:1.74 [[ 9.49748955e-01 -3.12453279e-01 -1.87048338e-02 1.29951658e+02] [ 3.12385469e-01 9.49933065e-01 -6.51849700e-03 8.90825185e+00] [ 1.98050658e-02 3.47817438e-04 9.99803800e-01 1.73940106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.98, Y:8.92, Z:1.74 [[ 9.49508049e-01 -3.13149899e-01 -1.92770991e-02 1.29978100e+02] [ 3.13077930e-01 9.49703648e-01 -6.72233246e-03 8.91789298e+00] [ 2.04126291e-02 3.47674477e-04 9.99791580e-01 1.73947480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.22038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.00, Y:8.93, Z:1.74 [[ 9.49404588e-01 -3.13462102e-01 -1.92986780e-02 1.30004416e+02] [ 3.13389978e-01 9.49600649e-01 -6.73270369e-03 8.92636481e+00] [ 2.04364846e-02 3.44047502e-04 9.99791094e-01 1.74035393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25038572300002 meters Centerline goodness [0,1] 0.9999771746821574 Centerline is valid? [True, True] Translation: X:130.03, Y:8.93, Z:1.74 [[ 9.49603547e-01 -3.12851308e-01 -1.94206451e-02 1.30031826e+02] [ 3.12778038e-01 9.49802046e-01 -6.78032458e-03 8.93392466e+00] [ 2.05670018e-02 3.64269020e-04 9.99788410e-01 1.74162698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.280385723 meters Centerline goodness [0,1] 0.9999315615375841 Centerline is valid? [True, True] Translation: X:130.06, Y:8.94, Z:1.74 [[ 9.49768973e-01 -3.12352600e-01 -1.93585142e-02 1.30059555e+02] [ 3.12279624e-01 9.49966163e-01 -6.76204613e-03 8.94334282e+00] [ 2.05020762e-02 3.77112063e-04 9.99789739e-01 1.74239280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.310385723 meters Centerline goodness [0,1] 0.9999543576987152 Centerline is valid? [True, True] Translation: X:130.08, Y:8.95, Z:1.74 [[ 9.49721201e-01 -3.12499513e-01 -1.93311941e-02 1.30084645e+02] [ 3.12426681e-01 9.49917845e-01 -6.75704406e-03 8.95366109e+00] [ 2.04746192e-02 3.77727202e-04 9.99790302e-01 1.74169470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.340385723 meters Centerline goodness [0,1] 0.999931717309662 Centerline is valid? [True, True] Translation: X:130.11, Y:8.96, Z:1.74 [[ 9.49651325e-01 -3.12703111e-01 -1.94711326e-02 1.30109515e+02] [ 3.12629209e-01 9.49850842e-01 -6.80856481e-03 8.96445949e+00] [ 2.06237310e-02 3.78517824e-04 9.99787237e-01 1.74042602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.370385723 meters Centerline goodness [0,1] 0.9999543826836668 Centerline is valid? [True, True] Translation: X:130.14, Y:8.97, Z:1.74 [[ 9.49180435e-01 -3.14152856e-01 -1.90914793e-02 1.30137917e+02] [ 3.14082038e-01 9.49372353e-01 -6.67894768e-03 8.97186945e+00] [ 2.02231331e-02 3.43235742e-04 9.99795433e-01 1.74065589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.16, Y:8.98, Z:1.74 [[ 9.48944383e-01 -3.14896335e-01 -1.85702983e-02 1.30164318e+02] [ 3.14829385e-01 9.49126016e-01 -6.50109825e-03 8.98182896e+00] [ 1.96727252e-02 3.22705083e-04 9.99806421e-01 1.74181253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.19, Y:8.99, Z:1.74 [[ 9.48533818e-01 -3.16171572e-01 -1.78642994e-02 1.30192239e+02] [ 3.16109786e-01 9.48701984e-01 -6.25693135e-03 8.98890449e+00] [ 1.89261601e-02 2.87831108e-04 9.99820843e-01 1.74420419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.460385723 meters Centerline goodness [0,1] 0.9999771850973056 Centerline is valid? [True, True] Translation: X:130.22, Y:9.00, Z:1.75 [[ 9.48337649e-01 -3.16763237e-01 -1.77975896e-02 1.30218791e+02] [ 3.16701933e-01 9.48504599e-01 -6.23794017e-03 8.99794245e+00] [ 1.88570457e-02 2.79142499e-04 9.99822151e-01 1.74523727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.25, Y:9.01, Z:1.75 [[ 9.48260549e-01 -3.16976992e-01 -1.80974725e-02 1.30245208e+02] [ 3.16913582e-01 9.48433185e-01 -6.34627346e-03 9.00656171e+00] [ 1.91758661e-02 2.82585934e-04 9.99816086e-01 1.74628057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.520385723 meters Centerline goodness [0,1] 0.999908707063791 Centerline is valid? [True, True] Translation: X:130.27, Y:9.02, Z:1.75 [[ 9.48163249e-01 -3.17252936e-01 -1.83583347e-02 1.30271591e+02] [ 3.17187625e-01 9.48340916e-01 -6.44346489e-03 9.01591139e+00] [ 1.94541681e-02 2.86420029e-04 9.99810709e-01 1.74620859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.30, Y:9.03, Z:1.75 [[ 9.48295643e-01 -3.16819583e-01 -1.89927506e-02 1.30297790e+02] [ 3.16749493e-01 9.48485770e-01 -6.67108007e-03 9.02527512e+00] [ 2.01278824e-02 3.10212053e-04 9.99797366e-01 1.74608544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.580385723 meters Centerline goodness [0,1] 0.999977244282626 Centerline is valid? [True, True] Translation: X:130.32, Y:9.04, Z:1.74 [[ 9.48564916e-01 -3.15934205e-01 -2.02528642e-02 1.30323050e+02] [ 3.15854251e-01 9.48781036e-01 -7.11607925e-03 9.03645855e+00] [ 2.14637463e-02 3.53109866e-04 9.99769565e-01 1.74450413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.35, Y:9.05, Z:1.74 [[ 9.48610718e-01 -3.15799142e-01 -2.02140708e-02 1.30349854e+02] [ 3.15719380e-01 9.48825997e-01 -7.10635172e-03 9.04542053e+00] [ 2.14238157e-02 3.59187503e-04 9.99770419e-01 1.74481309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.37, Y:9.06, Z:1.75 [[ 9.48529239e-01 -3.16093720e-01 -1.94175747e-02 1.30374973e+02] [ 3.16020061e-01 9.48727907e-01 -6.83220931e-03 9.05546165e+00] [ 2.05816135e-02 3.44207141e-04 9.99788117e-01 1.74513762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.40, Y:9.07, Z:1.75 [[ 9.48434623e-01 -3.16359258e-01 -1.97125587e-02 1.30401152e+02] [ 3.16283273e-01 9.48639393e-01 -6.94217523e-03 9.06538734e+00] [ 2.08963311e-02 3.49446776e-04 9.99781587e-01 1.74560496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.43, Y:9.07, Z:1.75 [[ 9.48314573e-01 -3.16711823e-01 -1.98265334e-02 1.30427165e+02] [ 3.16634924e-01 9.48521745e-01 -6.98750175e-03 9.07426800e+00] [ 2.10189225e-02 3.48576854e-04 9.99779017e-01 1.74669213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.45, Y:9.08, Z:1.75 [[ 9.48207402e-01 -3.17067343e-01 -1.92619334e-02 1.30454179e+02] [ 3.16994768e-01 9.48402967e-01 -6.79180905e-03 9.08285546e+00] [ 2.04215357e-02 3.34111489e-04 9.99791403e-01 1.74842562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.760385723 meters Centerline goodness [0,1] 0.9999543576987152 Centerline is valid? [True, True] Translation: X:130.48, Y:9.09, Z:1.75 [[ 9.48044762e-01 -3.17583706e-01 -1.87541930e-02 1.30481673e+02] [ 3.17514899e-01 9.48230187e-01 -6.61824935e-03 9.08905076e+00] [ 1.98851401e-02 3.19660916e-04 9.99802220e-01 1.75158770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.51, Y:9.10, Z:1.75 [[ 9.47983736e-01 -3.17785666e-01 -1.84148743e-02 1.30507051e+02] [ 3.17719266e-01 9.48162524e-01 -6.50356234e-03 9.09909850e+00] [ 1.95270325e-02 3.14510983e-04 9.99809280e-01 1.75120610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.82038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.53, Y:9.11, Z:1.75 [[ 9.47874123e-01 -3.18091842e-01 -1.87676958e-02 1.30533390e+02] [ 3.18022867e-01 9.48059850e-01 -6.63152108e-03 9.10905393e+00] [ 1.99023316e-02 3.17290828e-04 9.99801879e-01 1.75059327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.85038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.56, Y:9.12, Z:1.75 [[ 9.47763093e-01 -3.18378720e-01 -1.94964405e-02 1.30560091e+02] [ 3.18304215e-01 9.47963545e-01 -6.89523013e-03 9.11891789e+00] [ 2.06772094e-02 3.29245445e-04 9.99786149e-01 1.74875388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.88038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.59, Y:9.13, Z:1.75 [[ 9.47559300e-01 -3.18936040e-01 -2.02774714e-02 1.30585756e+02] [ 3.18855447e-01 9.47776181e-01 -7.17731303e-03 9.12788545e+00] [ 2.15076082e-02 3.35347506e-04 9.99768628e-01 1.74855729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91038572300002 meters Centerline goodness [0,1] 0.9999770752619151 Centerline is valid? [True, True] Translation: X:130.61, Y:9.13, Z:1.75 [[ 9.46975350e-01 -3.20667214e-01 -2.02540067e-02 1.30614326e+02] [ 3.20587105e-01 9.47191875e-01 -7.17359327e-03 9.13496247e+00] [ 2.14847667e-02 3.00042641e-04 9.99769131e-01 1.74968395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.94038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.64, Y:9.14, Z:1.75 [[ 9.46608467e-01 -3.21762882e-01 -2.00264218e-02 1.30640753e+02] [ 3.21684717e-01 9.46820242e-01 -7.09730889e-03 9.14270634e+00] [ 2.12450721e-02 2.76178857e-04 9.99774260e-01 1.75122980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.67, Y:9.15, Z:1.75 [[ 9.45881190e-01 -3.23972789e-01 -1.87191250e-02 1.30667733e+02] [ 3.23904895e-01 9.46066375e-01 -6.63568483e-03 9.14947558e+00] [ 1.98593161e-02 2.13353233e-04 9.99802762e-01 1.75330698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.00038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.69, Y:9.16, Z:1.75 [[ 9.45664342e-01 -3.24641223e-01 -1.80839332e-02 1.30693588e+02] [ 3.24577946e-01 9.45837216e-01 -6.41235154e-03 9.15857588e+00] [ 1.91861706e-02 1.94286324e-04 9.99815910e-01 1.75387214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.72, Y:9.17, Z:1.75 [[ 9.45669988e-01 -3.24628770e-01 -1.80120912e-02 1.30720071e+02] [ 3.24565933e-01 9.45841489e-01 -6.39003657e-03 9.16754131e+00] [ 1.91109729e-02 1.96754613e-04 9.99817349e-01 1.75457962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.75, Y:9.18, Z:1.75 [[ 9.45581125e-01 -3.24887616e-01 -1.80103347e-02 1.30746063e+02] [ 3.24824731e-01 9.45752609e-01 -6.39498392e-03 9.17684141e+00] [ 1.91109721e-02 1.96773966e-04 9.99817349e-01 1.75499687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.77, Y:9.19, Z:1.75 [[ 9.45446096e-01 -3.25284029e-01 -1.79437928e-02 1.30772535e+02] [ 3.25221574e-01 9.45616340e-01 -6.37687254e-03 9.18710881e+00] [ 1.90422384e-02 1.93280724e-04 9.99818661e-01 1.75433270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.120385723 meters Centerline goodness [0,1] 0.9999770689536563 Centerline is valid? [True, True] Translation: X:130.80, Y:9.20, Z:1.75 [[ 9.45360632e-01 -3.25496225e-01 -1.85871876e-02 1.30798944e+02] [ 3.25429135e-01 9.45543318e-01 -6.61142555e-03 9.19719625e+00] [ 1.97269851e-02 2.01369030e-04 9.99805384e-01 1.75383184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.150385723 meters Centerline goodness [0,1] 0.9999080861233025 Centerline is valid? [True, True] Translation: X:130.83, Y:9.21, Z:1.75 [[ 9.45388543e-01 -3.25389095e-01 -1.90378451e-02 1.30825183e+02] [ 3.25318568e-01 9.45580188e-01 -6.77776588e-03 9.20677234e+00] [ 2.02072203e-02 2.14257688e-04 9.99795790e-01 1.75233655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.85, Y:9.22, Z:1.75 [[ 9.45429909e-01 -3.25242506e-01 -1.94833118e-02 1.30851251e+02] [ 3.25168481e-01 9.45630615e-01 -6.94252005e-03 9.21607999e+00] [ 2.06820188e-02 2.28307181e-04 9.99786078e-01 1.75419656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.210385723 meters Centerline goodness [0,1] 0.9999312683284457 Centerline is valid? [True, True] Translation: X:130.88, Y:9.23, Z:1.75 [[ 9.45859424e-01 -3.23968355e-01 -1.98609035e-02 1.30877527e+02] [ 3.23891028e-01 9.46067880e-01 -7.08298007e-03 9.22828385e+00] [ 2.10844242e-02 2.66735015e-04 9.99777663e-01 1.75361710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.90, Y:9.24, Z:1.75 [[ 9.46166293e-01 -3.23055681e-01 -2.01090109e-02 1.30902623e+02] [ 3.22976082e-01 9.46379913e-01 -7.17712163e-03 9.23989612e+00] [ 2.13493739e-02 2.96021022e-04 9.99772032e-01 1.75293695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.93, Y:9.25, Z:1.75 [[ 9.46712276e-01 -3.21458400e-01 -2.00090727e-02 1.30928641e+02] [ 3.21379116e-01 9.46923642e-01 -7.14699058e-03 9.25273198e+00] [ 2.12445241e-02 3.35645628e-04 9.99774253e-01 1.75259773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.96, Y:9.26, Z:1.75 [[ 9.46970129e-01 -3.20682774e-01 -2.02517702e-02 1.30955686e+02] [ 3.20601254e-01 9.47186585e-01 -7.23939143e-03 9.26292270e+00] [ 2.15037532e-02 3.62744499e-04 9.99768702e-01 1.75339567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.98, Y:9.27, Z:1.75 [[ 9.47218392e-01 -3.19939510e-01 -2.03967719e-02 1.30981066e+02] [ 3.19856540e-01 9.47437893e-01 -7.29613312e-03 9.27339100e+00] [ 2.16589958e-02 3.86990598e-04 9.99765342e-01 1.75376896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.01, Y:9.28, Z:1.75 [[ 9.47571924e-01 -3.18866647e-01 -2.07728372e-02 1.31008261e+02] [ 3.18780246e-01 9.47799495e-01 -7.43452043e-03 9.28352861e+00] [ 2.20591052e-02 4.22772676e-04 9.99756579e-01 1.75448898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.390385723 meters Centerline goodness [0,1] 0.9999316908784553 Centerline is valid? [True, True] Translation: X:131.03, Y:9.30, Z:1.75 [[ 9.47820428e-01 -3.18130969e-01 -2.07153028e-02 1.31032798e+02] [ 3.18044771e-01 9.48046671e-01 -7.41841879e-03 9.29759428e+00] [ 2.19991026e-02 4.42935146e-04 9.99757892e-01 1.75356427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.420385723 meters Centerline goodness [0,1] 0.9999543826836668 Centerline is valid? [True, True] Translation: X:131.06, Y:9.31, Z:1.75 [[ 9.48152540e-01 -3.17121824e-01 -2.09883229e-02 1.31058469e+02] [ 3.17033048e-01 9.48384692e-01 -7.51817622e-03 9.30937907e+00] [ 2.22891819e-02 4.74385895e-04 9.99751453e-01 1.75277961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.09, Y:9.32, Z:1.75 [[ 9.48090899e-01 -3.17277509e-01 -2.14156248e-02 1.31085570e+02] [ 3.17185041e-01 9.48332615e-01 -7.67469302e-03 9.31592675e+00] [ 2.27441429e-02 4.83590777e-04 9.99741202e-01 1.75320951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.11, Y:9.33, Z:1.75 [[ 9.48019521e-01 -3.17485653e-01 -2.14906543e-02 1.31112075e+02] [ 3.17392440e-01 9.48262950e-01 -7.70816644e-03 9.32617822e+00] [ 2.28260235e-02 4.86521043e-04 9.99739334e-01 1.75330627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.510385723 meters Centerline goodness [0,1] 0.9999542763082692 Centerline is valid? [True, True] Translation: X:131.14, Y:9.34, Z:1.75 [[ 9.47892571e-01 -3.17893450e-01 -2.10577271e-02 1.31138694e+02] [ 3.17803914e-01 9.48126326e-01 -7.55918194e-03 9.33536616e+00] [ 2.23683998e-02 4.73064325e-04 9.99749684e-01 1.75453083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.540385723 meters Centerline goodness [0,1] 0.9999315521686555 Centerline is valid? [True, True] Translation: X:131.17, Y:9.34, Z:1.76 [[ 9.47685202e-01 -3.18559990e-01 -2.03049529e-02 1.31166629e+02] [ 3.18476775e-01 9.47902597e-01 -7.29456037e-03 9.34448650e+00] [ 2.15708726e-02 4.46291015e-04 9.99767222e-01 1.75552528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.57038572300002 meters Centerline goodness [0,1] 0.9999543118218162 Centerline is valid? [True, True] Translation: X:131.19, Y:9.35, Z:1.76 [[ 9.47455474e-01 -3.19270579e-01 -1.98600762e-02 1.31192871e+02] [ 3.19191044e-01 9.47663504e-01 -7.13865645e-03 9.35425132e+00] [ 2.10998324e-02 4.24400661e-04 9.99777284e-01 1.75619598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.60038572300002 meters Centerline goodness [0,1] 0.9999772696276765 Centerline is valid? [True, True] Translation: X:131.22, Y:9.36, Z:1.76 [[ 9.47374555e-01 -3.19577861e-01 -1.87468377e-02 1.31220400e+02] [ 3.19507015e-01 9.47559937e-01 -6.74044093e-03 9.36265281e+00] [ 1.99178481e-02 3.95976072e-04 9.99801542e-01 1.75659634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63038572300002 meters Centerline goodness [0,1] 0.9997950586360014 Centerline is valid? [True, True] Translation: X:131.25, Y:9.37, Z:1.76 [[ 9.47283610e-01 -3.19871403e-01 -1.83316127e-02 1.31245082e+02] [ 3.19803657e-01 9.47460890e-01 -6.59416488e-03 9.37338194e+00] [ 1.94777708e-02 3.84027534e-04 9.99810216e-01 1.75620023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.66038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.27, Y:9.38, Z:1.76 [[ 9.47023385e-01 -3.20646527e-01 -1.82349456e-02 1.31270653e+02] [ 3.20579567e-01 9.47198853e-01 -6.56304166e-03 9.38406050e+00] [ 1.93765360e-02 3.69602976e-04 9.99812189e-01 1.75596909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69038572300002 meters Centerline goodness [0,1] 0.9999771653003905 Centerline is valid? [True, True] Translation: X:131.30, Y:9.39, Z:1.76 [[ 9.47077668e-01 -3.20522135e-01 -1.75912381e-02 1.31298212e+02] [ 3.20459748e-01 9.47240957e-01 -6.33395813e-03 9.39161246e+00] [ 1.86933150e-02 3.61466570e-04 9.99825199e-01 1.75767342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.72038572300002 meters Centerline goodness [0,1] 0.9999089709162077 Centerline is valid? [True, True] Translation: X:131.32, Y:9.40, Z:1.76 [[ 9.47166086e-01 -3.20243858e-01 -1.78963083e-02 1.31323576e+02] [ 3.20179174e-01 9.47335067e-01 -6.44720658e-03 9.40245696e+00] [ 1.90184787e-02 3.76550217e-04 9.99819061e-01 1.75639113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75038572300002 meters Centerline goodness [0,1] 0.9999319558166436 Centerline is valid? [True, True] Translation: X:131.35, Y:9.41, Z:1.76 [[ 9.47642001e-01 -3.18805522e-01 -1.83759884e-02 1.31350553e+02] [ 3.18736989e-01 9.47820058e-01 -6.62332006e-03 9.41325636e+00] [ 1.95286814e-02 4.19429054e-04 9.99809209e-01 1.75821172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.38, Y:9.42, Z:1.76 [[ 9.47734276e-01 -3.18493921e-01 -1.90095730e-02 1.31377835e+02] [ 3.18420411e-01 9.47924799e-01 -6.85698740e-03 9.42327037e+00] [ 2.02035545e-02 4.45565937e-04 9.99795788e-01 1.75814863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.40, Y:9.43, Z:1.76 [[ 9.47940478e-01 -3.17762752e-01 -2.08730196e-02 1.31403710e+02] [ 3.17673838e-01 9.48170118e-01 -7.53392200e-03 9.43410403e+00] [ 2.21851732e-02 5.10897379e-04 9.99753748e-01 1.75592097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.43, Y:9.44, Z:1.76 [[ 9.47896627e-01 -3.17880828e-01 -2.10657115e-02 1.31430721e+02] [ 3.17790213e-01 9.48130536e-01 -7.60711158e-03 9.44333294e+00] [ 2.23911993e-02 5.16278452e-04 9.99749152e-01 1.75535705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.870385723 meters Centerline goodness [0,1] 0.9999545330544694 Centerline is valid? [True, True] Translation: X:131.46, Y:9.45, Z:1.76 [[ 9.47658583e-01 -3.18590156e-01 -2.10599559e-02 1.31457406e+02] [ 3.18499621e-01 9.47892429e-01 -7.61150245e-03 9.45378555e+00] [ 2.23875225e-02 5.05517675e-04 9.99749240e-01 1.75504752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.48, Y:9.46, Z:1.76 [[ 9.46846697e-01 -3.21143582e-01 -1.86582917e-02 1.31484172e+02] [ 3.21072938e-01 9.47030433e-01 -6.74739216e-03 9.46078606e+00] [ 1.98368517e-02 3.98073458e-04 9.99803151e-01 1.75705219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.51, Y:9.47, Z:1.76 [[ 9.45835929e-01 -3.24222618e-01 -1.65556747e-02 1.31512448e+02] [ 3.24167438e-01 9.45980764e-01 -5.98887096e-03 9.46583695e+00] [ 1.76030773e-02 2.97678655e-04 9.99845010e-01 1.76132472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.960385723 meters Centerline goodness [0,1] 0.9999316877675563 Centerline is valid? [True, True] Translation: X:131.54, Y:9.47, Z:1.76 [[ 9.45232669e-01 -3.26034648e-01 -1.53821251e-02 1.31540085e+02] [ 3.25987190e-01 9.45357788e-01 -5.56822677e-03 9.47461273e+00] [ 1.63570466e-02 2.48894112e-04 9.99866184e-01 1.76281455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.57, Y:9.48, Z:1.76 [[ 9.44749846e-01 -3.27458585e-01 -1.47852750e-02 1.31567504e+02] [ 3.27414854e-01 9.44865507e-01 -5.35597919e-03 9.48409482e+00] [ 1.57239577e-02 2.19141861e-04 9.99876347e-01 1.76329311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.59, Y:9.50, Z:1.76 [[ 9.44127319e-01 -3.29284094e-01 -1.39854189e-02 1.31592929e+02] [ 3.29245113e-01 9.44230879e-01 -5.06980168e-03 9.49733354e+00] [ 1.48748694e-02 1.81907449e-04 9.99889346e-01 1.76258762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.62, Y:9.50, Z:1.76 [[ 9.43625626e-01 -3.30648837e-01 -1.55571191e-02 1.31621288e+02] [ 3.30600712e-01 9.43753841e-01 -5.64414019e-03 9.50377011e+00] [ 1.65483193e-02 1.82760691e-04 9.99863050e-01 1.76123343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.080385723 meters Centerline goodness [0,1] 0.9999544439888843 Centerline is valid? [True, True] Translation: X:131.65, Y:9.51, Z:1.76 [[ 9.43279385e-01 -3.31593802e-01 -1.64180439e-02 1.31648539e+02] [ 3.31540265e-01 9.43422237e-01 -5.96109826e-03 9.51227347e+00] [ 1.74658109e-02 1.79738490e-04 9.99847445e-01 1.76077132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.68, Y:9.52, Z:1.76 [[ 9.42929578e-01 -3.32567184e-01 -1.68189871e-02 1.31675287e+02] [ 3.32511070e-01 9.43079551e-01 -6.11139992e-03 9.52146288e+00] [ 1.78940939e-02 1.70120365e-04 9.99839873e-01 1.76058949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.140385723 meters Centerline goodness [0,1] 0.9999314191660571 Centerline is valid? [True, True] Translation: X:131.70, Y:9.53, Z:1.76 [[ 9.42031810e-01 -3.35093437e-01 -1.69840668e-02 1.31704251e+02] [ 3.35036588e-01 9.42184893e-01 -6.17344932e-03 9.52786156e+00] [ 1.80708135e-02 1.25301842e-04 9.99836702e-01 1.76167104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.170385723 meters Centerline goodness [0,1] 0.9999314771247801 Centerline is valid? [True, True] Translation: X:131.73, Y:9.54, Z:1.76 [[ 9.41466170e-01 -3.36706675e-01 -1.64336721e-02 1.31730504e+02] [ 3.36653624e-01 9.41609583e-01 -5.97759500e-03 9.53636226e+00] [ 1.74867993e-02 9.52481919e-05 9.99847090e-01 1.76297972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.200385723 meters Centerline goodness [0,1] 0.9999312179016875 Centerline is valid? [True, True] Translation: X:131.76, Y:9.54, Z:1.77 [[ 9.40169883e-01 -3.40405485e-01 -1.43072420e-02 1.31758161e+02] [ 3.40365644e-01 9.40278738e-01 -5.20799514e-03 9.54469839e+00] [ 1.52256255e-02 2.67065620e-05 9.99884083e-01 1.76527203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.230385723 meters Centerline goodness [0,1] 0.999954315996254 Centerline is valid? [True, True] Translation: X:131.79, Y:9.55, Z:1.77 [[ 9.39448228e-01 -3.42435732e-01 -1.32211026e-02 1.31785322e+02] [ 3.42401866e-01 9.39541255e-01 -4.81588002e-03 9.55351967e+00] [ 1.40709008e-02 -2.66025791e-06 9.99901000e-01 1.76643696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.260385723 meters Centerline goodness [0,1] 0.9998395157962309 Centerline is valid? [True, True] Translation: X:131.81, Y:9.56, Z:1.77 [[ 9.38290246e-01 -3.45672518e-01 -1.10419733e-02 1.31811664e+02] [ 3.45649080e-01 9.38355215e-01 -4.02549053e-03 9.56114901e+00] [ 1.17527946e-02 -3.95694082e-05 9.99930933e-01 1.76865853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.290385723 meters Centerline goodness [0,1] 0.999793956043956 Centerline is valid? [True, True] Translation: X:131.84, Y:9.57, Z:1.77 [[ 9.37517008e-01 -3.47776266e-01 -1.06549897e-02 1.31838693e+02] [ 3.47754571e-01 9.37577551e-01 -3.88501563e-03 9.57097923e+00] [ 1.13409954e-02 -6.30531491e-05 9.99935687e-01 1.76679723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.32038572300002 meters Centerline goodness [0,1] 0.9998174641202912 Centerline is valid? [True, True] Translation: X:131.87, Y:9.58, Z:1.77 [[ 9.36952374e-01 -3.49279505e-01 -1.11389704e-02 1.31865603e+02] [ 3.49255863e-01 9.37018581e-01 -4.06460660e-03 9.57991549e+00] [ 1.18571060e-02 -8.20079122e-05 9.99929699e-01 1.76836999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35038572300002 meters Centerline goodness [0,1] 0.9999086716288415 Centerline is valid? [True, True] Translation: X:131.89, Y:9.59, Z:1.77 [[ 9.35995267e-01 -3.51831336e-01 -1.12947630e-02 1.31891640e+02] [ 3.51807166e-01 9.36063405e-01 -4.12546844e-03 9.58845979e+00] [ 1.20240834e-02 -1.12159631e-04 9.99927702e-01 1.76683226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38038572300002 meters Centerline goodness [0,1] 0.9999085672487885 Centerline is valid? [True, True] Translation: X:131.92, Y:9.60, Z:1.77 [[ 9.35613575e-01 -3.52845117e-01 -1.12942761e-02 1.31918898e+02] [ 3.52821004e-01 9.35681734e-01 -4.12690996e-03 9.59826791e+00] [ 1.20240079e-02 -1.23664851e-04 9.99927701e-01 1.76786840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.94, Y:9.61, Z:1.77 [[ 9.35003182e-01 -3.54462289e-01 -1.12042155e-02 1.31944437e+02] [ 3.54438633e-01 9.35070300e-01 -4.09751729e-03 9.60930188e+00] [ 1.19291445e-02 -1.40015105e-04 9.99928835e-01 1.76702521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.97, Y:9.62, Z:1.77 [[ 9.34782483e-01 -3.55046313e-01 -1.11276759e-02 1.31970609e+02] [ 3.55023015e-01 9.34848701e-01 -4.06993708e-03 9.61994824e+00] [ 1.18477095e-02 -1.46075165e-04 9.99929803e-01 1.76680453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47038572300002 meters Centerline goodness [0,1] 0.999931780971439 Centerline is valid? [True, True] Translation: X:132.00, Y:9.63, Z:1.77 [[ 9.34419482e-01 -3.55999022e-01 -1.11771155e-02 1.31996323e+02] [ 3.55975537e-01 9.34486315e-01 -4.09203218e-03 9.63201397e+00] [ 1.19016209e-02 -1.55105088e-04 9.99929161e-01 1.76613970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50038572300002 meters Centerline goodness [0,1] 0.9999545123726347 Centerline is valid? [True, True] Translation: X:132.02, Y:9.64, Z:1.76 [[ 9.34262039e-01 -3.56396691e-01 -1.16550780e-02 1.32021632e+02] [ 3.56371178e-01 9.34334721e-01 -4.26758646e-03 9.64471307e+00] [ 1.24106978e-02 -1.66489863e-04 9.99922970e-01 1.76400892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.05, Y:9.65, Z:1.76 [[ 9.34265020e-01 -3.56316652e-01 -1.36863464e-02 1.32047833e+02] [ 3.56281387e-01 9.34365243e-01 -5.01654132e-03 9.65469831e+00] [ 1.45755236e-02 -1.89411404e-04 9.99893753e-01 1.76393659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.07, Y:9.66, Z:1.76 [[ 9.34119033e-01 -3.56660094e-01 -1.46700144e-02 1.32074402e+02] [ 3.56619595e-01 9.34234197e-01 -5.37868590e-03 9.66484008e+00] [ 1.56235918e-02 -2.07281734e-04 9.99877923e-01 1.76373705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.10, Y:9.68, Z:1.76 [[ 9.33841075e-01 -3.57331073e-01 -1.59796924e-02 1.32100919e+02] [ 3.57283032e-01 9.33977757e-01 -5.86388593e-03 9.67693354e+00] [ 1.70200260e-02 -2.33335416e-04 9.99855122e-01 1.76290201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.13, Y:9.69, Z:1.76 [[ 9.33634592e-01 -3.57862645e-01 -1.61485785e-02 1.32127044e+02] [ 3.57813586e-01 9.33774207e-01 -5.93030053e-03 9.68749134e+00] [ 1.72013591e-02 -2.41447066e-04 9.99852017e-01 1.76298658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.15, Y:9.70, Z:1.76 [[ 9.33409633e-01 -3.58495991e-01 -1.50691964e-02 1.32151861e+02] [ 3.58453286e-01 9.33531237e-01 -5.53816732e-03 9.69805544e+00] [ 1.60529764e-02 -2.32224257e-04 9.99871116e-01 1.76353094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.18, Y:9.71, Z:1.76 [[ 9.33303451e-01 -3.58810534e-01 -1.41304353e-02 1.32177901e+02] [ 3.58772979e-01 9.33410388e-01 -5.19589985e-03 9.70940934e+00] [ 1.50538387e-02 -2.20267091e-04 9.99886660e-01 1.76444099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.20, Y:9.72, Z:1.77 [[ 9.33328552e-01 -3.58757438e-01 -1.38171695e-02 1.32203152e+02] [ 3.58721460e-01 9.33430799e-01 -5.08506442e-03 9.71872196e+00] [ 1.47216763e-02 -2.10479412e-04 9.99891608e-01 1.76584264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.23, Y:9.73, Z:1.77 [[ 9.34277764e-01 -3.56314787e-01 -1.28387036e-02 1.32229327e+02] [ 3.56283470e-01 9.34365960e-01 -4.72664698e-03 9.72851839e+00] [ 1.36802218e-02 -1.58216708e-04 9.99906409e-01 1.76784654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.26, Y:9.74, Z:1.77 [[ 9.34946589e-01 -3.54557487e-01 -1.28009740e-02 1.32256154e+02] [ 3.54526175e-01 9.35034209e-01 -4.71376678e-03 9.74037319e+00] [ 1.36406499e-02 -1.31160175e-04 9.99906953e-01 1.76813731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.28, Y:9.76, Z:1.77 [[ 9.37013093e-01 -3.49041698e-01 -1.32799489e-02 1.32281986e+02] [ 3.49007394e-01 9.37107193e-01 -4.89370016e-03 9.75542134e+00] [ 1.41528411e-02 -4.93392468e-05 9.99899842e-01 1.76792546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.830385723 meters Centerline goodness [0,1] 0.9998422108513851 Centerline is valid? [True, True] Translation: X:132.31, Y:9.77, Z:1.77 [[ 9.37912412e-01 -3.46605268e-01 -1.36049867e-02 1.32306568e+02] [ 3.46568956e-01 9.38011081e-01 -5.01703497e-03 9.76676297e+00] [ 1.45005591e-02 -9.52667591e-06 9.99894861e-01 1.76560124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.860385723 meters Centerline goodness [0,1] 0.9999548073663993 Centerline is valid? [True, True] Translation: X:132.33, Y:9.78, Z:1.77 [[ 9.39609821e-01 -3.41989797e-01 -1.32801829e-02 1.32331173e+02] [ 3.41954696e-01 9.39703663e-01 -4.90011964e-03 9.77958223e+00] [ 1.41552274e-02 6.29796409e-05 9.99899808e-01 1.77010281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.36, Y:9.79, Z:1.77 [[ 9.40152310e-01 -3.40504716e-01 -1.30449839e-02 1.32357775e+02] [ 3.40470692e-01 9.40242804e-01 -4.81423392e-03 9.79015664e+00] [ 1.39047216e-02 8.46784449e-05 9.99903321e-01 1.77117081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.38, Y:9.80, Z:1.77 [[ 9.40681374e-01 -3.39044807e-01 -1.29294802e-02 1.32384938e+02] [ 3.39011202e-01 9.40770220e-01 -4.77474214e-03 9.79991377e+00] [ 1.37825215e-02 1.08272367e-04 9.99905011e-01 1.77192399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.41, Y:9.81, Z:1.77 [[ 9.41772323e-01 -3.35976128e-01 -1.35989787e-02 1.32411682e+02] [ 3.35938576e-01 9.41870487e-01 -5.02581731e-03 9.81221400e+00] [ 1.44970313e-02 1.64754115e-04 9.99894899e-01 1.77288332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.44, Y:9.82, Z:1.77 [[ 9.41682254e-01 -3.36228542e-01 -1.35977999e-02 1.32437539e+02] [ 3.36190971e-01 9.41780410e-01 -5.02900453e-03 9.82185732e+00] [ 1.44970364e-02 1.64266777e-04 9.99894899e-01 1.77330078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.46, Y:9.83, Z:1.77 [[ 9.42143489e-01 -3.34933879e-01 -1.35993682e-02 1.32463969e+02] [ 3.34896103e-01 9.42241615e-01 -5.03375423e-03 9.83353808e+00] [ 1.44998655e-02 1.88143357e-04 9.99894854e-01 1.77310479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.49, Y:9.85, Z:1.77 [[ 9.42966034e-01 -3.32567762e-01 -1.46199618e-02 1.32490161e+02] [ 3.32523753e-01 9.43079331e-01 -5.41568927e-03 9.84590683e+00] [ 1.55888675e-02 2.45326446e-04 9.99878456e-01 1.77194101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.07038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.52, Y:9.86, Z:1.77 [[ 9.43205121e-01 -3.31851978e-01 -1.54390355e-02 1.32516651e+02] [ 3.31802734e-01 9.43331431e-01 -5.72338804e-03 9.85644596e+00] [ 1.64634451e-02 2.75614730e-04 9.99864430e-01 1.77168831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.10038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.54, Y:9.87, Z:1.77 [[ 9.43097948e-01 -3.32060183e-01 -1.73866610e-02 1.32543744e+02] [ 3.31997669e-01 9.43258150e-01 -6.45055744e-03 9.86564155e+00] [ 1.85420830e-02 3.11176563e-04 9.99828032e-01 1.77022504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.57, Y:9.87, Z:1.77 [[ 9.42807800e-01 -3.32839830e-01 -1.81961517e-02 1.32570266e+02] [ 3.32771394e-01 9.42983324e-01 -6.75655701e-03 9.87375366e+00] [ 1.94075189e-02 3.14975891e-04 9.99811607e-01 1.77036395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.16038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.60, Y:9.88, Z:1.77 [[ 9.42480566e-01 -3.33737091e-01 -1.87066128e-02 1.32596415e+02] [ 3.33664841e-01 9.42666144e-01 -6.95096414e-03 9.88258644e+00] [ 1.99538851e-02 3.09409634e-04 9.99800854e-01 1.77069491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.62, Y:9.89, Z:1.77 [[ 9.41849112e-01 -3.35534003e-01 -1.83625604e-02 1.32624970e+02] [ 3.35464680e-01 9.42028057e-01 -6.82552414e-03 9.88896725e+00] [ 1.95882425e-02 2.68623398e-04 9.99808096e-01 1.77316425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.65, Y:9.90, Z:1.77 [[ 9.41553061e-01 -3.36356447e-01 -1.84979626e-02 1.32651883e+02] [ 3.36286170e-01 9.41734715e-01 -6.88022805e-03 9.89760250e+00] [ 1.97343826e-02 2.57490769e-04 9.99805225e-01 1.77425320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.68, Y:9.90, Z:1.78 [[ 9.40962730e-01 -3.38062765e-01 -1.73984957e-02 1.32680286e+02] [ 3.38000835e-01 9.41123543e-01 -6.47402673e-03 9.90443947e+00] [ 1.85627613e-02 2.11111795e-04 9.99827675e-01 1.77599590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.71, Y:9.91, Z:1.78 [[ 9.40672508e-01 -3.38883625e-01 -1.71207915e-02 1.32706279e+02] [ 3.38823718e-01 9.40828279e-01 -6.37476660e-03 9.91356527e+00] [ 1.82680288e-02 1.95637438e-04 9.99833106e-01 1.77651178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.73, Y:9.92, Z:1.78 [[ 9.40406857e-01 -3.39598118e-01 -1.75516475e-02 1.32732226e+02] [ 3.39535250e-01 9.40570615e-01 -6.53691099e-03 9.92235237e+00] [ 1.87284865e-02 1.87952897e-04 9.99824589e-01 1.77669728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.76, Y:9.93, Z:1.78 [[ 9.39880233e-01 -3.40993643e-01 -1.86677164e-02 1.32759830e+02] [ 3.40922744e-01 9.40065586e-01 -6.95538969e-03 9.93004104e+00] [ 1.99206214e-02 1.72984177e-04 9.99801550e-01 1.77673039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.79, Y:9.94, Z:1.77 [[ 9.39518683e-01 -3.41893289e-01 -2.03377238e-02 1.32785353e+02] [ 3.41809223e-01 9.39738766e-01 -7.58327257e-03 9.94034070e+00] [ 2.17048175e-02 1.73004689e-04 9.99764408e-01 1.77457397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.81, Y:9.95, Z:1.77 [[ 9.39314870e-01 -3.42371143e-01 -2.16697066e-02 1.32812364e+02] [ 3.42275743e-01 9.39564777e-01 -8.08368772e-03 9.95020904e+00] [ 2.31277144e-02 1.76113147e-04 9.99732503e-01 1.77420403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.84, Y:9.96, Z:1.78 [[ 9.39131300e-01 -3.42796910e-01 -2.28622038e-02 1.32840402e+02] [ 3.42690703e-01 9.39409520e-01 -8.53440005e-03 9.95810762e+00] [ 2.44025378e-02 1.80257525e-04 9.99702197e-01 1.77648987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.87, Y:9.97, Z:1.78 [[ 9.38972900e-01 -3.43185142e-01 -2.35340286e-02 1.32866363e+02] [ 3.43072597e-01 9.39267760e-01 -8.79017569e-03 9.96849362e+00] [ 2.51214120e-02 1.79856449e-04 9.99684391e-01 1.77735485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.490385723 meters Centerline goodness [0,1] 0.9999774886317591 Centerline is valid? [True, True] Translation: X:132.89, Y:9.98, Z:1.78 [[ 9.38996867e-01 -3.43092327e-01 -2.39277985e-02 1.32891641e+02] [ 3.42975894e-01 9.39301666e-01 -8.93958589e-03 9.97948338e+00] [ 2.55425243e-02 1.87585057e-04 9.99673719e-01 1.77738992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.92, Y:9.99, Z:1.78 [[ 9.38910840e-01 -3.43362858e-01 -2.34175685e-02 1.32917451e+02] [ 3.43251321e-01 9.39202808e-01 -8.75302086e-03 9.99113924e+00] [ 2.49993083e-02 1.80194850e-04 9.99687452e-01 1.77855028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.94, Y:10.00, Z:1.78 [[ 9.38776832e-01 -3.43748716e-01 -2.31274843e-02 1.32943473e+02] [ 3.43639870e-01 9.39061654e-01 -8.65157355e-03 1.00017796e+01] [ 2.46921009e-02 1.74371106e-04 9.99695088e-01 1.77946256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.97, Y:10.01, Z:1.78 [[ 9.38464718e-01 -3.44622722e-01 -2.27849236e-02 1.32969299e+02] [ 3.44517161e-01 9.38741261e-01 -8.53057199e-03 1.00117965e+01] [ 2.43289768e-02 1.55843644e-04 9.99703994e-01 1.78185865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.00, Y:10.02, Z:1.78 [[ 9.38205109e-01 -3.45315736e-01 -2.29829531e-02 1.32996054e+02] [ 3.45208362e-01 9.38486559e-01 -8.61198290e-03 1.00216549e+01] [ 2.45430458e-02 1.45898784e-04 9.99698763e-01 1.78302360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.02, Y:10.03, Z:1.78 [[ 9.37841308e-01 -3.46265557e-01 -2.35339241e-02 1.33021342e+02] [ 3.46153124e-01 9.38136529e-01 -8.82425464e-03 1.00312810e+01] [ 2.51335693e-02 1.29409157e-04 9.99684094e-01 1.78446890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.05, Y:10.04, Z:1.78 [[ 9.37587065e-01 -3.46948705e-01 -2.36027870e-02 1.33046911e+02] [ 3.46835707e-01 9.37884099e-01 -8.85491275e-03 1.00417238e+01] [ 2.52088791e-02 1.15962331e-04 9.99682199e-01 1.78459268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.700385723 meters Centerline goodness [0,1] 0.9999553232363848 Centerline is valid? [True, True] Translation: X:133.07, Y:10.05, Z:1.78 [[ 9.37474424e-01 -3.47251971e-01 -2.36172235e-02 1.33072653e+02] [ 3.47138747e-01 9.37771857e-01 -8.86763108e-03 1.00529209e+01] [ 2.52268699e-02 1.14723978e-04 9.99681745e-01 1.78474415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.10, Y:10.07, Z:1.78 [[ 9.37349511e-01 -3.47527679e-01 -2.45032138e-02 1.33098710e+02] [ 3.47405701e-01 9.37669717e-01 -9.20764309e-03 1.00651534e+01] [ 2.61758324e-02 1.18223591e-04 9.99657347e-01 1.78432428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.12, Y:10.08, Z:1.78 [[ 9.37298803e-01 -3.47637772e-01 -2.48783822e-02 1.33124744e+02] [ 3.47511936e-01 9.37628906e-01 -9.35355813e-03 1.00756718e+01] [ 2.65783404e-02 1.21544050e-04 9.99646726e-01 1.78426833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.15, Y:10.09, Z:1.78 [[ 9.37328845e-01 -3.47471208e-01 -2.60460290e-02 1.33151288e+02] [ 3.47333089e-01 9.37690642e-01 -9.79718193e-03 1.00870839e+01] [ 2.78273563e-02 1.36533543e-04 9.99612735e-01 1.78451843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.82038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.18, Y:10.10, Z:1.78 [[ 9.37598422e-01 -3.46723773e-01 -2.63025339e-02 1.33176909e+02] [ 3.46582484e-01 9.37967269e-01 -9.89869162e-03 1.00985851e+01] [ 2.81030276e-02 1.65000109e-04 9.99605018e-01 1.78449842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.20, Y:10.11, Z:1.79 [[ 9.38275304e-01 -3.44849842e-01 -2.67962648e-02 1.33202872e+02] [ 3.44702297e-01 9.38657836e-01 -1.00892489e-02 1.01123802e+01] [ 2.86317998e-02 2.29759053e-04 9.99590000e-01 1.78522372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.23, Y:10.12, Z:1.79 [[ 9.38855793e-01 -3.43287024e-01 -2.65295958e-02 1.33228925e+02] [ 3.43141576e-01 9.39230504e-01 -9.99596624e-03 1.01241909e+01] [ 2.83488911e-02 2.81363502e-04 9.99598050e-01 1.78668953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.25, Y:10.14, Z:1.79 [[ 9.39534463e-01 -3.41440079e-01 -2.63375252e-02 1.33253382e+02] [ 3.41295836e-01 9.39903483e-01 -9.92950847e-03 1.01368954e+01] [ 2.81450638e-02 3.40227713e-04 9.99603791e-01 1.78704540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.94038572300002 meters Centerline goodness [0,1] 0.9999778363882178 Centerline is valid? [True, True] Translation: X:133.28, Y:10.15, Z:1.79 [[ 9.40996623e-01 -3.37469835e-01 -2.52876710e-02 1.33276771e+02] [ 3.37335339e-01 9.41336238e-01 -9.53706395e-03 1.01540009e+01] [ 2.70226725e-02 4.43919892e-04 9.99634722e-01 1.78754761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.30, Y:10.17, Z:1.79 [[ 9.41755922e-01 -3.35362393e-01 -2.50568968e-02 1.33302439e+02] [ 3.35229483e-01 9.42089068e-01 -9.45419572e-03 1.01668612e+01] [ 2.67764102e-02 5.03734253e-04 9.99641321e-01 1.78835561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.33, Y:10.18, Z:1.79 [[ 9.43126043e-01 -3.31537821e-01 -2.44118989e-02 1.33327556e+02] [ 3.31410268e-01 9.43441738e-01 -9.21530260e-03 1.01833696e+01] [ 2.60864256e-02 6.00837921e-04 9.99659511e-01 1.78875414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.35, Y:10.20, Z:1.79 [[ 9.43684788e-01 -3.29941002e-01 -2.44531426e-02 1.33353891e+02] [ 3.29812380e-01 9.44001331e-01 -9.23476932e-03 1.01962961e+01] [ 2.61307282e-02 6.49762152e-04 9.99658323e-01 1.78923384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.38, Y:10.21, Z:1.79 [[ 9.44840097e-01 -3.26641696e-01 -2.41328428e-02 1.33379667e+02] [ 3.26515200e-01 9.45147957e-01 -9.11944484e-03 1.02117404e+01] [ 2.57878980e-02 7.36677149e-04 9.99667165e-01 1.78995499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.41, Y:10.22, Z:1.79 [[ 9.45308397e-01 -3.25299843e-01 -2.39174795e-02 1.33406111e+02] [ 3.25175029e-01 9.45610605e-01 -9.04344561e-03 1.02230214e+01] [ 2.55584537e-02 7.71477997e-04 9.99673032e-01 1.79089000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.43, Y:10.24, Z:1.79 [[ 9.46018667e-01 -3.23264100e-01 -2.34307995e-02 1.33429808e+02] [ 3.23143573e-01 9.46308437e-01 -8.86412958e-03 1.02391904e+01] [ 2.50382182e-02 8.14119786e-04 9.99686163e-01 1.79091987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.45, Y:10.25, Z:1.79 [[ 9.46308912e-01 -3.22412501e-01 -2.34440319e-02 1.33454367e+02] [ 3.22291516e-01 9.46598898e-01 -8.87154093e-03 1.02517772e+01] [ 2.50523904e-02 8.39405672e-04 9.99685787e-01 1.79131811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.48, Y:10.27, Z:1.79 [[ 9.46894060e-01 -3.20564771e-01 -2.50971627e-02 1.33480645e+02] [ 3.20425414e-01 9.47226118e-01 -9.49920022e-03 1.02669107e+01] [ 2.68177970e-02 9.52967514e-04 9.99639884e-01 1.79030370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.51, Y:10.28, Z:1.79 [[ 9.47017308e-01 -3.20133588e-01 -2.59365535e-02 1.33506565e+02] [ 3.19984489e-01 9.47371883e-01 -9.82049846e-03 1.02796535e+01] [ 2.77154329e-02 1.00088718e-03 9.99615353e-01 1.78941431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.240385723 meters Centerline goodness [0,1] 0.9999781854671582 Centerline is valid? [True, True] Translation: X:133.53, Y:10.29, Z:1.79 [[ 9.46927675e-01 -3.20315175e-01 -2.69474768e-02 1.33533100e+02] [ 3.20154090e-01 9.47310458e-01 -1.02104840e-02 1.02905450e+01] [ 2.87981996e-02 1.04124499e-03 9.99584704e-01 1.78850718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.270385723 meters Centerline goodness [0,1] 0.9999564715868283 Centerline is valid? [True, True] Translation: X:133.56, Y:10.31, Z:1.79 [[ 9.46537935e-01 -3.21320235e-01 -2.86224296e-02 1.33557349e+02] [ 3.21138773e-01 9.46969979e-01 -1.08511051e-02 1.03051403e+01] [ 3.05912612e-02 1.07921065e-03 9.99531395e-01 1.78614732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.58, Y:10.31, Z:1.79 [[ 9.45620369e-01 -3.24086833e-01 -2.77460326e-02 1.33584932e+02] [ 3.23917421e-01 9.46026849e-01 -1.05216587e-02 1.03136787e+01] [ 2.96584228e-02 9.62071486e-04 9.99559629e-01 1.78814588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.61, Y:10.32, Z:1.79 [[ 9.44961856e-01 -3.26072715e-01 -2.69012260e-02 1.33612929e+02] [ 3.25914138e-01 9.45344284e-01 -1.02058144e-02 1.03203090e+01] [ 2.87587579e-02 8.76615416e-04 9.99585997e-01 1.79128921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.64, Y:10.33, Z:1.79 [[ 9.44260546e-01 -3.28171202e-01 -2.59939225e-02 1.33637779e+02] [ 3.28023797e-01 9.44617932e-01 -9.86664023e-03 1.03334384e+01] [ 2.77922725e-02 7.90053908e-04 9.99613408e-01 1.79114157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.67, Y:10.34, Z:1.79 [[ 9.42736137e-01 -3.32618027e-01 -2.47754630e-02 1.33665530e+02] [ 3.32485602e-01 9.43061425e-01 -9.40601470e-03 1.03425337e+01] [ 2.64933935e-02 6.29905219e-04 9.99648790e-01 1.79430125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.420385723 meters Centerline goodness [0,1] 0.9999782792849541 Centerline is valid? [True, True] Translation: X:133.69, Y:10.35, Z:1.80 [[ 9.41826701e-01 -3.35194887e-01 -2.46343781e-02 1.33693070e+02] [ 3.35064752e-01 9.42148649e-01 -9.35601425e-03 1.03516265e+01] [ 2.63453341e-02 5.57632268e-04 9.99652746e-01 1.79599857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.72, Y:10.36, Z:1.80 [[ 9.40254693e-01 -3.39556251e-01 -2.49532505e-02 1.33719160e+02] [ 3.39424124e-01 9.40585644e-01 -9.48210687e-03 1.03615956e+01] [ 2.66903778e-02 4.45860301e-04 9.99643649e-01 1.79635369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.75, Y:10.37, Z:1.80 [[ 9.39414945e-01 -3.41914307e-01 -2.43755432e-02 1.33746328e+02] [ 3.41788975e-01 9.39731062e-01 -9.26432206e-03 1.03727848e+01] [ 2.60740594e-02 3.71750653e-04 9.99659945e-01 1.79640604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.510385723 meters Centerline goodness [0,1] 0.9999565934542929 Centerline is valid? [True, True] Translation: X:133.77, Y:10.38, Z:1.80 [[ 9.37635987e-01 -3.46800128e-01 -2.38416883e-02 1.33773549e+02] [ 3.46681722e-01 9.37939026e-01 -9.06461246e-03 1.03834698e+01] [ 2.55056587e-02 2.33829277e-04 9.99674650e-01 1.79690550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.80, Y:10.39, Z:1.80 [[ 9.36768499e-01 -3.49119268e-01 -2.40939180e-02 1.33800076e+02] [ 3.48998938e-01 9.37078281e-01 -9.16712508e-03 1.03942108e+01] [ 2.57783073e-02 1.78722207e-04 9.99667668e-01 1.79685098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.57038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.82, Y:10.40, Z:1.80 [[ 9.35981094e-01 -3.51172871e-01 -2.48396216e-02 1.33824868e+02] [ 3.51045556e-01 9.36310631e-01 -9.45622400e-03 1.04041540e+01] [ 2.65783711e-02 1.31008086e-04 9.99646724e-01 1.79696100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.85, Y:10.41, Z:1.80 [[ 9.34484170e-01 -3.55146612e-01 -2.47026210e-02 1.33850758e+02] [ 3.55021994e-01 9.34810614e-01 -9.40744368e-03 1.04134847e+01] [ 2.64332941e-02 2.11334390e-05 9.99650579e-01 1.79765982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.88, Y:10.42, Z:1.80 [[ 9.32792719e-01 -3.59543768e-01 -2.50204463e-02 1.33877666e+02] [ 3.59417370e-01 9.33128217e-01 -9.53337228e-03 1.04242741e+01] [ 2.67749491e-02 -1.00122771e-04 9.99641482e-01 1.79896308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.66038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.90, Y:10.44, Z:1.80 [[ 9.31933267e-01 -3.61757667e-01 -2.51351490e-02 1.33903667e+02] [ 3.61630783e-01 9.32272152e-01 -9.58186125e-03 1.04350261e+01] [ 2.68991112e-02 -1.59988352e-04 9.99638141e-01 1.79867861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.93, Y:10.45, Z:1.80 [[ 9.30990891e-01 -3.64140384e-01 -2.56464750e-02 1.33930226e+02] [ 3.64009067e-01 9.31344044e-01 -9.78114641e-03 1.04457656e+01] [ 2.74474021e-02 -2.29391226e-04 9.99623223e-01 1.79882685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.96, Y:10.45, Z:1.80 [[ 9.29057127e-01 -3.69071417e-01 -2.52813166e-02 1.33956592e+02] [ 3.68945507e-01 9.29400966e-01 -9.64658317e-03 1.04547441e+01] [ 2.70567582e-02 -3.65201323e-04 9.99633832e-01 1.79885185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.98, Y:10.46, Z:1.80 [[ 9.28068387e-01 -3.71575956e-01 -2.49073954e-02 1.33982772e+02] [ 3.71454584e-01 9.28402458e-01 -9.50618891e-03 1.04639789e+01] [ 2.66563584e-02 -4.29572797e-04 9.99644564e-01 1.79899066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.01, Y:10.47, Z:1.80 [[ 9.26577325e-01 -3.75377257e-01 -2.33746620e-02 1.34009964e+02] [ 3.75271483e-01 9.26871977e-01 -8.92478511e-03 1.04744419e+01] [ 2.50154806e-02 -5.02340561e-04 9.99686938e-01 1.80112255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.04, Y:10.49, Z:1.80 [[ 9.26084056e-01 -3.76634280e-01 -2.26922908e-02 1.34036550e+02] [ 3.76534830e-01 9.26361891e-01 -8.66994855e-03 1.04850179e+01] [ 2.42866732e-02 -5.15336714e-04 9.99704902e-01 1.80255292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.06, Y:10.50, Z:1.80 [[ 9.25994389e-01 -3.76928453e-01 -2.14320498e-02 1.34061601e+02] [ 3.76839729e-01 9.26242248e-01 -8.19252315e-03 1.04976265e+01] [ 2.29392650e-02 -4.90217353e-04 9.99736740e-01 1.80317795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.09, Y:10.51, Z:1.80 [[ 9.25899821e-01 -3.77160756e-01 -2.14309276e-02 1.34087330e+02] [ 3.77072027e-01 9.26147678e-01 -8.19545776e-03 1.05075623e+01] [ 2.29392088e-02 -4.92830413e-04 9.99736740e-01 1.80359625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.11, Y:10.52, Z:1.80 [[ 9.26144295e-01 -3.76563847e-01 -2.13638462e-02 1.34112555e+02] [ 3.76475406e-01 9.26390547e-01 -8.17450987e-03 1.05186069e+01] [ 2.28694901e-02 -4.72186983e-04 9.99738348e-01 1.80383601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.14, Y:10.53, Z:1.80 [[ 9.26461737e-01 -3.75786269e-01 -2.12915614e-02 1.34138704e+02] [ 3.75698151e-01 9.26706253e-01 -8.14988247e-03 1.05317774e+01] [ 2.27936370e-02 -4.48645966e-04 9.99740091e-01 1.80429281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.960385723 meters Centerline goodness [0,1] 0.9999785522788204 Centerline is valid? [True, True] Translation: X:134.16, Y:10.55, Z:1.81 [[ 9.28064901e-01 -3.71854456e-01 -2.04890941e-02 1.34163379e+02] [ 3.71771812e-01 9.28290984e-01 -7.84656219e-03 1.05468545e+01] [ 2.19376205e-02 -3.35148696e-04 9.99759285e-01 1.80519786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.990385723 meters Centerline goodness [0,1] 0.9999357023447212 Centerline is valid? [True, True] Translation: X:134.19, Y:10.56, Z:1.81 [[ 9.30146899e-01 -3.66627758e-01 -2.02690504e-02 1.34187554e+02] [ 3.66545606e-01 9.30367693e-01 -7.76370871e-03 1.05644067e+01] [ 2.17040608e-02 -2.08141775e-04 9.99764417e-01 1.80502960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.21, Y:10.58, Z:1.80 [[ 9.31188130e-01 -3.63950659e-01 -2.07022905e-02 1.34212776e+02] [ 3.63864237e-01 9.31418218e-01 -7.93225105e-03 1.05781490e+01] [ 2.21694385e-02 -1.46405109e-04 9.99754217e-01 1.80468556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.050385723 meters Centerline goodness [0,1] 0.9999572055204878 Centerline is valid? [True, True] Translation: X:134.24, Y:10.59, Z:1.80 [[ 9.32288943e-01 -3.61089164e-01 -2.12589422e-02 1.34238532e+02] [ 3.60997167e-01 9.32531292e-01 -8.15079267e-03 1.05919536e+01] [ 2.27677917e-02 -7.55240164e-05 9.99740777e-01 1.80420454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.080385723 meters Centerline goodness [0,1] 0.9999145207821348 Centerline is valid? [True, True] Translation: X:134.26, Y:10.61, Z:1.80 [[ 9.34479162e-01 -3.55293232e-01 -2.27027524e-02 1.34262044e+02] [ 3.55186492e-01 9.34754895e-01 -8.70875444e-03 1.06077278e+01] [ 2.43156705e-02 7.44385493e-05 9.99704328e-01 1.80252472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.110385723 meters Centerline goodness [0,1] 0.9999786320220517 Centerline is valid? [True, True] Translation: X:134.29, Y:10.62, Z:1.80 [[ 9.35480834e-01 -3.52633578e-01 -2.29165567e-02 1.34287605e+02] [ 3.52523937e-01 9.35761475e-01 -8.79408597e-03 1.06210924e+01] [ 2.45455209e-02 1.48064083e-04 9.99698702e-01 1.80239846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.31, Y:10.64, Z:1.80 [[ 9.37303164e-01 -3.47814451e-01 -2.20881341e-02 1.34311346e+02] [ 3.47711162e-01 9.37563350e-01 -8.48011526e-03 1.06368962e+01] [ 2.36585316e-02 2.68148111e-04 9.99720062e-01 1.80286643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.34, Y:10.65, Z:1.80 [[ 9.38095110e-01 -3.45661813e-01 -2.22592807e-02 1.34337835e+02] [ 3.45556236e-01 9.38359101e-01 -8.54893405e-03 1.06497037e+01] [ 2.38422387e-02 3.27879952e-04 9.99715680e-01 1.80313035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.200385723 meters Centerline goodness [0,1] 0.9997869983811877 Centerline is valid? [True, True] Translation: X:134.37, Y:10.66, Z:1.81 [[ 9.39519022e-01 -3.41820168e-01 -2.15169736e-02 1.34365341e+02] [ 3.41720389e-01 9.39765290e-01 -8.26899027e-03 1.06589022e+01] [ 2.30474125e-02 4.16085083e-04 9.99734287e-01 1.80583178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.230385723 meters Centerline goodness [0,1] 0.9998506985176495 Centerline is valid? [True, True] Translation: X:134.39, Y:10.67, Z:1.81 [[ 9.40068056e-01 -3.40316207e-01 -2.13759018e-02 1.34393345e+02] [ 3.40217212e-01 9.40310944e-01 -8.22050452e-03 1.06670434e+01] [ 2.28975653e-02 4.55383990e-04 9.99737713e-01 1.80774094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.260385723 meters Centerline goodness [0,1] 0.9999360668314722 Centerline is valid? [True, True] Translation: X:134.42, Y:10.69, Z:1.81 [[ 9.41224112e-01 -3.37138813e-01 -2.08468381e-02 1.34415759e+02] [ 3.37043769e-01 9.41454803e-01 -8.02196482e-03 1.06862377e+01] [ 2.23308716e-02 5.24169814e-04 9.99750498e-01 1.80616161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.290385723 meters Centerline goodness [0,1] 0.9999144348421323 Centerline is valid? [True, True] Translation: X:134.45, Y:10.69, Z:1.81 [[ 9.41863896e-01 -3.35331386e-01 -2.11012565e-02 1.34445376e+02] [ 3.35233490e-01 9.42100063e-01 -8.12271684e-03 1.06881460e+01] [ 2.26032970e-02 5.76645868e-04 9.99744347e-01 1.80954144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.32038572300002 meters Centerline goodness [0,1] 0.999957282299921 Centerline is valid? [True, True] Translation: X:134.47, Y:10.70, Z:1.81 [[ 9.43101342e-01 -3.31773781e-01 -2.20458142e-02 1.34470136e+02] [ 3.31665901e-01 9.43358721e-01 -8.48839706e-03 1.07022411e+01] [ 2.36133387e-02 6.93573813e-04 9.99720926e-01 1.80745294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35038572300002 meters Centerline goodness [0,1] 0.999957193613287 Centerline is valid? [True, True] Translation: X:134.50, Y:10.71, Z:1.81 [[ 9.43639156e-01 -3.30224781e-01 -2.22875995e-02 1.34497889e+02] [ 3.30114009e-01 9.43902029e-01 -8.58487413e-03 1.07104653e+01] [ 2.38722486e-02 7.43574545e-04 9.99714741e-01 1.80808131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.38038572300002 meters Centerline goodness [0,1] 0.9999785600960508 Centerline is valid? [True, True] Translation: X:134.53, Y:10.72, Z:1.81 [[ 9.44618565e-01 -3.27386100e-01 -2.26739346e-02 1.34526353e+02] [ 3.27270531e-01 9.44890283e-01 -8.73802866e-03 1.07197445e+01] [ 2.42850896e-02 8.33593480e-04 9.99704726e-01 1.80926138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41038572300002 meters Centerline goodness [0,1] 0.9999785702040117 Centerline is valid? [True, True] Translation: X:134.55, Y:10.73, Z:1.81 [[ 9.44990052e-01 -3.26331920e-01 -2.23892616e-02 1.34550711e+02] [ 3.26218907e-01 9.45254862e-01 -8.62969161e-03 1.07335450e+01] [ 2.39797022e-02 8.51172273e-04 9.99712083e-01 1.80868655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.44038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.58, Y:10.74, Z:1.81 [[ 9.45229045e-01 -3.25611637e-01 -2.27840654e-02 1.34576733e+02] [ 3.25494339e-01 9.45503186e-01 -8.78408405e-03 1.07431249e+01] [ 2.44026064e-02 8.86887079e-04 9.99701819e-01 1.80913645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47038572300002 meters Centerline goodness [0,1] 0.9998924893026856 Centerline is valid? [True, True] Translation: X:134.61, Y:10.75, Z:1.81 [[ 9.45210956e-01 -3.25619147e-01 -2.34183541e-02 1.34605047e+02] [ 3.25495135e-01 9.45500573e-01 -9.03233712e-03 1.07503525e+01] [ 2.50831691e-02 9.14903680e-04 9.99684949e-01 1.80896332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.500385723 meters Centerline goodness [0,1] 0.9998497660643001 Centerline is valid? [True, True] Translation: X:134.63, Y:10.75, Z:1.81 [[ 9.44942819e-01 -3.26350384e-01 -2.40519187e-02 1.34634432e+02] [ 3.26219640e-01 9.45248417e-01 -9.28317145e-03 1.07532912e+01] [ 2.57646046e-02 9.25857957e-04 9.99667609e-01 1.81073585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.530385723 meters Centerline goodness [0,1] 0.9999784960110101 Centerline is valid? [True, True] Translation: X:134.66, Y:10.76, Z:1.81 [[ 9.44623360e-01 -3.27213806e-01 -2.48562375e-02 1.34661097e+02] [ 3.27074331e-01 9.44949865e-01 -9.59873072e-03 1.07614037e+01] [ 2.66287355e-02 9.37348016e-04 9.99644953e-01 1.80983943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.560385723 meters Centerline goodness [0,1] 0.999935667874681 Centerline is valid? [True, True] Translation: X:134.69, Y:10.77, Z:1.81 [[ 9.44540747e-01 -3.27408099e-01 -2.54305949e-02 1.34687472e+02] [ 3.27262103e-01 9.44882545e-01 -9.82305528e-03 1.07709646e+01] [ 2.72450731e-02 9.55806003e-04 9.99628327e-01 1.80966693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.590385723 meters Centerline goodness [0,1] 0.9999569355324921 Centerline is valid? [True, True] Translation: X:134.72, Y:10.78, Z:1.81 [[ 9.44243191e-01 -3.28253303e-01 -2.55844836e-02 1.34716336e+02] [ 3.28105720e-01 9.44589267e-01 -9.88703545e-03 1.07776964e+01] [ 2.74122806e-02 9.41350486e-04 9.99623770e-01 1.80992607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.620385723 meters Centerline goodness [0,1] 0.9999568193104044 Centerline is valid? [True, True] Translation: X:134.74, Y:10.79, Z:1.81 [[ 9.44006268e-01 -3.28942336e-01 -2.54775480e-02 1.34741873e+02] [ 3.28796084e-01 9.44349558e-01 -9.85124364e-03 1.07889354e+01] [ 2.73002023e-02 9.22717739e-04 9.99626854e-01 1.80941312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.650385723 meters Centerline goodness [0,1] 0.9999783737024222 Centerline is valid? [True, True] Translation: X:134.77, Y:10.79, Z:1.81 [[ 9.43618203e-01 -3.30053192e-01 -2.54867926e-02 1.34770690e+02] [ 3.29907097e-01 9.43961910e-01 -9.85997618e-03 1.07936554e+01] [ 2.73128781e-02 8.95779231e-04 9.99626532e-01 1.81174264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.680385723 meters Centerline goodness [0,1] 0.9999349494774274 Centerline is valid? [True, True] Translation: X:134.80, Y:10.80, Z:1.81 [[ 9.42790425e-01 -3.32381567e-01 -2.58594046e-02 1.34799675e+02] [ 3.32231845e-01 9.43144621e-01 -1.00112398e-02 1.07991678e+01] [ 2.77167099e-02 8.47183291e-04 9.99615459e-01 1.81257992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.710385723 meters Centerline goodness [0,1] 0.9999783905264068 Centerline is valid? [True, True] Translation: X:134.83, Y:10.81, Z:1.81 [[ 9.42057259e-01 -3.34397290e-01 -2.65814573e-02 1.34826690e+02] [ 3.34239743e-01 9.42431848e-01 -1.02959273e-02 1.08062312e+01] [ 2.84941421e-02 8.14773612e-04 9.99593627e-01 1.81174825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.740385723 meters Centerline goodness [0,1] 0.9999782428963057 Centerline is valid? [True, True] Translation: X:134.86, Y:10.81, Z:1.81 [[ 9.41793938e-01 -3.35144982e-01 -2.64956724e-02 1.34855425e+02] [ 3.34988610e-01 9.42166233e-01 -1.02674365e-02 1.08132906e+01] [ 2.84044077e-02 7.94060964e-04 9.99596198e-01 1.81284913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.770385723 meters Centerline goodness [0,1] 0.999978246209402 Centerline is valid? [True, True] Translation: X:134.88, Y:10.82, Z:1.81 [[ 9.41751380e-01 -3.35322066e-01 -2.57575268e-02 1.34880913e+02] [ 3.35174203e-01 9.42103241e-01 -9.98685448e-03 1.08233663e+01] [ 2.76150621e-02 7.71875472e-04 9.99618333e-01 1.81288326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.91, Y:10.83, Z:1.82 [[ 9.41756796e-01 -3.35420656e-01 -2.42305698e-02 1.34909645e+02] [ 3.35289717e-01 9.42068179e-01 -9.39955848e-03 1.08287815e+01] [ 2.59796548e-02 7.27837196e-04 9.99662207e-01 1.81526428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.94, Y:10.83, Z:1.82 [[ 9.41449514e-01 -3.36311699e-01 -2.38170945e-02 1.34939092e+02] [ 3.36185308e-01 9.41750474e-01 -9.24574620e-03 1.08328433e+01] [ 2.55392127e-02 6.97446011e-04 9.99673578e-01 1.81791798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.860385723 meters Centerline goodness [0,1] 0.9999562803305208 Centerline is valid? [True, True] Translation: X:134.97, Y:10.84, Z:1.82 [[ 9.41234531e-01 -3.36903538e-01 -2.39491984e-02 1.34965699e+02] [ 3.36775805e-01 9.41538916e-01 -9.30199471e-03 1.08413018e+01] [ 2.56829772e-02 6.89848069e-04 9.99669900e-01 1.81846538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.890385723 meters Centerline goodness [0,1] 0.9999561461211244 Centerline is valid? [True, True] Translation: X:134.99, Y:10.85, Z:1.82 [[ 9.41179975e-01 -3.37035338e-01 -2.42370955e-02 1.34990935e+02] [ 3.36904486e-01 9.41491739e-01 -9.41659734e-03 1.08512381e+01] [ 2.59927513e-02 6.97126650e-04 9.99661888e-01 1.81818784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.02, Y:10.86, Z:1.82 [[ 9.41203450e-01 -3.36981693e-01 -2.40708071e-02 1.35018452e+02] [ 3.36852487e-01 9.41510940e-01 -9.35685563e-03 1.08593120e+01] [ 2.58160173e-02 6.98393567e-04 9.99666467e-01 1.81783162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.05, Y:10.87, Z:1.82 [[ 9.41302721e-01 -3.36727084e-01 -2.37499250e-02 1.35045414e+02] [ 3.36601049e-01 9.41602027e-01 -9.23881379e-03 1.08695464e+01] [ 2.54739364e-02 7.02270878e-04 9.99675240e-01 1.81799626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.07, Y:10.88, Z:1.82 [[ 9.41592968e-01 -3.35921699e-01 -2.36494330e-02 1.35073774e+02] [ 3.35796316e-01 9.41889635e-01 -9.20600698e-03 1.08753201e+01] [ 2.53676533e-02 7.26918967e-04 9.99677925e-01 1.81887835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.10, Y:10.89, Z:1.82 [[ 9.41616935e-01 -3.35817058e-01 -2.41754100e-02 1.35099328e+02] [ 3.35685872e-01 9.41926929e-01 -9.41568433e-03 1.08858560e+01] [ 2.59334171e-02 7.50624239e-04 9.99663391e-01 1.81782835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.13, Y:10.89, Z:1.82 [[ 9.41208372e-01 -3.36850795e-01 -2.56581812e-02 1.35129059e+02] [ 3.36703262e-01 9.41557724e-01 -9.99832099e-03 1.08870088e+01] [ 2.75266011e-02 7.71310114e-04 9.99620774e-01 1.81900943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.07038572300002 meters Centerline goodness [0,1] 0.9999556855446247 Centerline is valid? [True, True] Translation: X:135.16, Y:10.90, Z:1.82 [[ 9.40964275e-01 -3.37480857e-01 -2.63230669e-02 1.35155225e+02] [ 3.37325658e-01 9.41332070e-01 -1.02632533e-02 1.08975890e+01] [ 2.82423986e-02 7.77908868e-04 9.99600801e-01 1.81769528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.10038572300002 meters Centerline goodness [0,1] 0.9999778594518001 Centerline is valid? [True, True] Translation: X:135.18, Y:10.91, Z:1.82 [[ 9.40689972e-01 -3.38241405e-01 -2.63652796e-02 1.35182750e+02] [ 3.38085874e-01 9.41059070e-01 -1.02844072e-02 1.09068689e+01] [ 2.82898978e-02 7.60710184e-04 9.99599471e-01 1.81722330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13038572300002 meters Centerline goodness [0,1] 0.9999555604932785 Centerline is valid? [True, True] Translation: X:135.21, Y:10.91, Z:1.82 [[ 9.39995039e-01 -3.40094445e-01 -2.72964428e-02 1.35212116e+02] [ 3.39928342e-01 9.40390997e-01 -1.06533893e-02 1.09124181e+01] [ 2.92924876e-02 7.35298520e-04 9.99570613e-01 1.81709066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.16038572300002 meters Centerline goodness [0,1] 0.9999330790336612 Centerline is valid? [True, True] Translation: X:135.24, Y:10.92, Z:1.82 [[ 9.39138848e-01 -3.42495833e-01 -2.67362781e-02 1.35241621e+02] [ 3.42337295e-01 9.39519121e-01 -1.04401642e-02 1.09157148e+01] [ 2.86949572e-02 6.51938633e-04 9.99588002e-01 1.82024537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19038572300002 meters Centerline goodness [0,1] 0.9999330611152019 Centerline is valid? [True, True] Translation: X:135.27, Y:10.92, Z:1.82 [[ 9.38681423e-01 -3.43809396e-01 -2.59284494e-02 1.35269421e+02] [ 3.43660599e-01 9.39039264e-01 -1.01317928e-02 1.09231214e+01] [ 2.78312376e-02 5.99939192e-04 9.99612456e-01 1.82191204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.22038572300002 meters Centerline goodness [0,1] 0.9999105465605153 Centerline is valid? [True, True] Translation: X:135.30, Y:10.93, Z:1.82 [[ 9.38361995e-01 -3.44729223e-01 -2.52691245e-02 1.35295549e+02] [ 3.44588098e-01 9.38702001e-01 -9.87907378e-03 1.09322200e+01] [ 2.71257831e-02 5.62707830e-04 9.99631870e-01 1.82237301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.32, Y:10.94, Z:1.82 [[ 9.37823352e-01 -3.46304344e-01 -2.36783041e-02 1.35323957e+02] [ 3.46180831e-01 9.38122094e-01 -9.26116499e-03 1.09385972e+01] [ 2.54203219e-02 4.88361800e-04 9.99676732e-01 1.82379631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.35, Y:10.95, Z:1.82 [[ 9.37651577e-01 -3.46796767e-01 -2.32706411e-02 1.35349254e+02] [ 3.46677500e-01 9.37940180e-01 -9.10661902e-03 1.09502054e+01] [ 2.49846153e-02 4.71428011e-04 9.99687725e-01 1.82300761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.38, Y:10.95, Z:1.83 [[ 9.37414227e-01 -3.47447093e-01 -2.31319037e-02 1.35377170e+02] [ 3.47329334e-01 9.37699477e-01 -9.05670775e-03 1.09546510e+01] [ 2.48375008e-02 4.55498005e-04 9.99691398e-01 1.82582981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.340385723 meters Centerline goodness [0,1] 0.9999549163698661 Centerline is valid? [True, True] Translation: X:135.40, Y:10.96, Z:1.83 [[ 9.37321270e-01 -3.47693977e-01 -2.31891319e-02 1.35403629e+02] [ 3.47575520e-01 9.37607962e-01 -9.08671603e-03 1.09628873e+01] [ 2.49017112e-02 4.57197612e-04 9.99689800e-01 1.82701260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.370385723 meters Centerline goodness [0,1] 0.9999548767005844 Centerline is valid? [True, True] Translation: X:135.43, Y:10.97, Z:1.83 [[ 9.37039902e-01 -3.48434878e-01 -2.34383808e-02 1.35430444e+02] [ 3.48313951e-01 9.37332884e-01 -9.18998404e-03 1.09707517e+01] [ 2.51716760e-02 4.47466717e-04 9.99683043e-01 1.82813189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.400385723 meters Centerline goodness [0,1] 0.9999774113395076 Centerline is valid? [True, True] Translation: X:135.46, Y:10.98, Z:1.83 [[ 9.36874200e-01 -3.48858095e-01 -2.37647324e-02 1.35455268e+02] [ 3.48733822e-01 9.37175454e-01 -9.32149783e-03 1.09808975e+01] [ 2.55236038e-02 4.45504867e-04 9.99674120e-01 1.82728577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.48, Y:10.99, Z:1.83 [[ 9.36673073e-01 -3.49368184e-01 -2.41955825e-02 1.35480100e+02] [ 3.49239416e-01 9.36985419e-01 -9.49501795e-03 1.09909514e+01] [ 2.59881652e-02 4.43676531e-04 9.99662152e-01 1.82638692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.51, Y:11.00, Z:1.83 [[ 9.36189782e-01 -3.50569669e-01 -2.54872225e-02 1.35507050e+02] [ 3.50427072e-01 9.36536553e-01 -1.00075966e-02 1.09986405e+01] [ 2.73780753e-02 4.37596964e-04 9.99625054e-01 1.82610568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.490385723 meters Centerline goodness [0,1] 0.9999096555618294 Centerline is valid? [True, True] Translation: X:135.53, Y:11.01, Z:1.83 [[ 9.35297068e-01 -3.52849352e-01 -2.67718015e-02 1.35534076e+02] [ 3.52692774e-01 9.35680062e-01 -1.05180153e-02 1.10051246e+01] [ 2.87611158e-02 3.95247926e-04 9.99586235e-01 1.82611098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.520385723 meters Centerline goodness [0,1] 0.9999548114507784 Centerline is valid? [True, True] Translation: X:135.56, Y:11.01, Z:1.83 [[ 9.34618168e-01 -3.54618573e-01 -2.71025521e-02 1.35562209e+02] [ 3.54458698e-01 9.35010987e-01 -1.06530030e-02 1.10137181e+01] [ 2.91189367e-02 3.49754824e-04 9.99575893e-01 1.82668778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.550385723 meters Centerline goodness [0,1] 0.9999774845769352 Centerline is valid? [True, True] Translation: X:135.59, Y:11.02, Z:1.83 [[ 9.33456196e-01 -3.57651424e-01 -2.72945082e-02 1.35589321e+02] [ 3.57490415e-01 9.33855123e-01 -1.07337241e-02 1.10202287e+01] [ 2.93280481e-02 2.61936219e-04 9.99569806e-01 1.82795227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.62, Y:11.03, Z:1.83 [[ 9.33027697e-01 -3.58784191e-01 -2.70780408e-02 1.35616703e+02] [ 3.58626058e-01 9.33420512e-01 -1.06535753e-02 1.10291545e+01] [ 2.90975331e-02 2.29189839e-04 9.99576551e-01 1.82973413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.64, Y:11.04, Z:1.83 [[ 9.32679968e-01 -3.59801188e-01 -2.55182713e-02 1.35644111e+02] [ 3.59660944e-01 9.33028975e-01 -1.00467520e-02 1.10382068e+01] [ 2.74241198e-02 1.92478774e-04 9.99623870e-01 1.83257195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.640385723 meters Centerline goodness [0,1] 0.9999773000703698 Centerline is valid? [True, True] Translation: X:135.67, Y:11.05, Z:1.83 [[ 9.32715598e-01 -3.59761785e-01 -2.47602785e-02 1.35670517e+02] [ 3.59629546e-01 9.33044168e-01 -9.75549614e-03 1.10486195e+01] [ 2.66120882e-02 1.94575703e-04 9.99645817e-01 1.83342658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.670385723 meters Centerline goodness [0,1] 0.9999546063233392 Centerline is valid? [True, True] Translation: X:135.70, Y:11.06, Z:1.83 [[ 9.33157290e-01 -3.58615025e-01 -2.47535069e-02 1.35696208e+02] [ 3.58482307e-01 9.33485517e-01 -9.75834994e-03 1.10599914e+01] [ 2.66065311e-02 2.32381116e-04 9.99645957e-01 1.83379838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.700385723 meters Centerline goodness [0,1] 0.999932128232393 Centerline is valid? [True, True] Translation: X:135.72, Y:11.07, Z:1.83 [[ 9.33325837e-01 -3.58170229e-01 -2.48388722e-02 1.35722949e+02] [ 3.58036323e-01 9.33656267e-01 -9.79627086e-03 1.10708839e+01] [ 2.66997013e-02 2.49894231e-04 9.99643468e-01 1.83432740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.730385723 meters Centerline goodness [0,1] 0.9999773648113357 Centerline is valid? [True, True] Translation: X:135.75, Y:11.08, Z:1.83 [[ 9.33559334e-01 -3.57553849e-01 -2.49442312e-02 1.35749569e+02] [ 3.57418404e-01 9.33892483e-01 -9.84453892e-03 1.10817654e+01] [ 2.68151828e-02 2.74933887e-04 9.99640371e-01 1.83478613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.760385723 meters Centerline goodness [0,1] 0.9999773607117792 Centerline is valid? [True, True] Translation: X:135.78, Y:11.09, Z:1.83 [[ 9.34098476e-01 -3.56020179e-01 -2.66396124e-02 1.35776396e+02] [ 3.55864855e-01 9.34478203e-01 -1.05211259e-02 1.10926702e+01] [ 2.86398703e-02 3.47665860e-04 9.99589734e-01 1.83474534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.790385723 meters Centerline goodness [0,1] 0.9999773607117792 Centerline is valid? [True, True] Translation: X:135.80, Y:11.10, Z:1.84 [[ 9.34001906e-01 -3.56273649e-01 -2.66369472e-02 1.35802043e+02] [ 3.56118235e-01 9.34381596e-01 -1.05278705e-02 1.11028803e+01] [ 2.86398761e-02 3.47148481e-04 9.99589734e-01 1.83516287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.82038572300002 meters Centerline goodness [0,1] 0.9999773560980028 Centerline is valid? [True, True] Translation: X:135.83, Y:11.11, Z:1.84 [[ 9.34362809e-01 -3.55266421e-01 -2.74210089e-02 1.35828879e+02] [ 3.55101046e-01 9.34765004e-01 -1.08459452e-02 1.11141759e+01] [ 2.94853996e-02 3.96818922e-04 9.99565132e-01 1.83529016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.85038572300002 meters Centerline goodness [0,1] 0.9998184829714337 Centerline is valid? [True, True] Translation: X:135.86, Y:11.13, Z:1.84 [[ 9.35138755e-01 -3.53099507e-01 -2.89179515e-02 1.35855906e+02] [ 3.52914285e-01 9.35585640e-01 -1.14462797e-02 1.11253979e+01] [ 3.10968958e-02 4.98301526e-04 9.99516250e-01 1.83584525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.88038572300002 meters Centerline goodness [0,1] 0.9998179376891742 Centerline is valid? [True, True] Translation: X:135.88, Y:11.14, Z:1.84 [[ 9.35609507e-01 -3.51813457e-01 -2.93622419e-02 1.35882484e+02] [ 3.51621602e-01 9.36069966e-01 -1.16304946e-02 1.11373380e+01] [ 3.15768773e-02 5.57202830e-04 9.99501171e-01 1.83607586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91038572300002 meters Centerline goodness [0,1] 0.9999091198255101 Centerline is valid? [True, True] Translation: X:135.91, Y:11.15, Z:1.84 [[ 9.36607836e-01 -3.49136396e-01 -2.94879467e-02 1.35908820e+02] [ 3.48941302e-01 9.37071686e-01 -1.16886277e-02 1.11503647e+01] [ 3.17132453e-02 6.58097745e-04 9.99496792e-01 1.83587621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.94038572300002 meters Centerline goodness [0,1] 0.9997724790680743 Centerline is valid? [True, True] Translation: X:135.94, Y:11.16, Z:1.84 [[ 9.36776392e-01 -3.48570510e-01 -3.07992055e-02 1.35935412e+02] [ 3.48357074e-01 9.37282288e-01 -1.22172790e-02 1.11619742e+01] [ 3.31261329e-02 7.15737425e-04 9.99450923e-01 1.83559583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.96, Y:11.17, Z:1.84 [[ 9.37083086e-01 -3.47658639e-01 -3.17610070e-02 1.35961651e+02] [ 3.47430826e-01 9.37620852e-01 -1.26078774e-02 1.11735526e+01] [ 3.41630200e-02 7.79875705e-04 9.99415969e-01 1.83581348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.000385723 meters Centerline goodness [0,1] 0.9999318971192481 Centerline is valid? [True, True] Translation: X:135.99, Y:11.18, Z:1.84 [[ 9.37038842e-01 -3.47765375e-01 -3.18975146e-02 1.35988067e+02] [ 3.47535328e-01 9.37581262e-01 -1.26717659e-02 1.11842197e+01] [ 3.43133134e-02 7.88423618e-04 9.99410814e-01 1.83641807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.02, Y:11.19, Z:1.84 [[ 9.36743620e-01 -3.48552990e-01 -3.19719090e-02 1.36015032e+02] [ 3.48321997e-01 9.37288760e-01 -1.27108825e-02 1.11936895e+01] [ 3.43973271e-02 7.70318877e-04 9.99407940e-01 1.83812791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.060385723 meters Centerline goodness [0,1] 0.9998865132325571 Centerline is valid? [True, True] Translation: X:136.04, Y:11.20, Z:1.84 [[ 9.36485197e-01 -3.49303798e-01 -3.13421777e-02 1.36041067e+02] [ 3.49082049e-01 9.37009242e-01 -1.24661120e-02 1.12028598e+01] [ 3.37223705e-02 7.33337726e-04 9.99430970e-01 1.83953083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.090385723 meters Centerline goodness [0,1] 0.9999317048739955 Centerline is valid? [True, True] Translation: X:136.07, Y:11.21, Z:1.84 [[ 9.36137316e-01 -3.50277955e-01 -3.08590239e-02 1.36068671e+02] [ 3.50063322e-01 9.36645543e-01 -1.22799225e-02 1.12119986e+01] [ 3.32053534e-02 6.93081303e-04 9.99448310e-01 1.84194271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.120385723 meters Centerline goodness [0,1] 0.9999091755409731 Centerline is valid? [True, True] Translation: X:136.10, Y:11.22, Z:1.85 [[ 9.35564889e-01 -3.51894029e-01 -2.98149317e-02 1.36096479e+02] [ 3.51694240e-01 9.36039639e-01 -1.18724995e-02 1.12205902e+01] [ 3.20858196e-02 6.21753911e-04 9.99484924e-01 1.84574264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.150385723 meters Centerline goodness [0,1] 0.9999316986544635 Centerline is valid? [True, True] Translation: X:136.12, Y:11.23, Z:1.85 [[ 9.35273171e-01 -3.52687855e-01 -2.95866927e-02 1.36124056e+02] [ 3.52491248e-01 9.35740840e-01 -1.17898586e-02 1.12301287e+01] [ 3.18436166e-02 5.97688184e-04 9.99492685e-01 1.84798760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.180385723 meters Centerline goodness [0,1] 0.9998864436419795 Centerline is valid? [True, True] Translation: X:136.15, Y:11.24, Z:1.85 [[ 9.35000877e-01 -3.53455484e-01 -2.90272338e-02 1.36149204e+02] [ 3.53266421e-01 9.35451174e-01 -1.15730834e-02 1.12428743e+01] [ 3.12441297e-02 5.66496109e-04 9.99511622e-01 1.84693700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.18, Y:11.25, Z:1.85 [[ 9.35220899e-01 -3.52872800e-01 -2.90285545e-02 1.36176796e+02] [ 3.52683241e-01 9.35671116e-01 -1.15799261e-02 1.12525031e+01] [ 3.12474209e-02 5.91904253e-04 9.99511505e-01 1.84901490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.240385723 meters Centerline goodness [0,1] 0.9999317110923949 Centerline is valid? [True, True] Translation: X:136.20, Y:11.26, Z:1.85 [[ 9.35309082e-01 -3.52628751e-01 -2.91527917e-02 1.36203892e+02] [ 3.52437191e-01 9.35763106e-01 -1.16376590e-02 1.12632617e+01] [ 3.13838801e-02 6.10280190e-04 9.99507218e-01 1.85006087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.270385723 meters Centerline goodness [0,1] 0.9998407136030583 Centerline is valid? [True, True] Translation: X:136.23, Y:11.27, Z:1.85 [[ 9.35446068e-01 -3.52243453e-01 -2.94143420e-02 1.36231032e+02] [ 3.52047988e-01 9.35908192e-01 -1.17503129e-02 1.12734823e+01] [ 3.16680944e-02 6.36524104e-04 9.99498237e-01 1.85150621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.300385723 meters Centerline goodness [0,1] 0.9999314771247801 Centerline is valid? [True, True] Translation: X:136.26, Y:11.29, Z:1.85 [[ 9.36001340e-01 -3.50687514e-01 -3.03275213e-02 1.36256164e+02] [ 3.50478718e-01 9.36492261e-01 -1.21207965e-02 1.12858575e+01] [ 3.26521010e-02 7.15931018e-04 9.99466522e-01 1.85212685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.330385723 meters Centerline goodness [0,1] 0.999954488565252 Centerline is valid? [True, True] Translation: X:136.28, Y:11.30, Z:1.85 [[ 9.36195235e-01 -3.50147075e-01 -3.05860655e-02 1.36283312e+02] [ 3.49934211e-01 9.36694437e-01 -1.22302846e-02 1.12970902e+01] [ 3.29321958e-02 7.46823499e-04 9.99457309e-01 1.85299236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.360385723 meters Centerline goodness [0,1] 0.9998862679980893 Centerline is valid? [True, True] Translation: X:136.31, Y:11.31, Z:1.85 [[ 9.36739473e-01 -3.48520514e-01 -3.24439740e-02 1.36307514e+02] [ 3.48279805e-01 9.37300759e-01 -1.29793484e-02 1.13115974e+01] [ 3.49333306e-02 8.58687010e-04 9.99389276e-01 1.85065214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.390385723 meters Centerline goodness [0,1] 0.9999544356859708 Centerline is valid? [True, True] Translation: X:136.33, Y:11.32, Z:1.85 [[ 9.36947702e-01 -3.47920038e-01 -3.28732577e-02 1.36334214e+02] [ 3.47672306e-01 9.37523781e-01 -1.31578317e-02 1.13231677e+01] [ 3.53973341e-02 8.99078890e-04 9.99372914e-01 1.85045690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.420385723 meters Centerline goodness [0,1] 0.9998863636363636 Centerline is valid? [True, True] Translation: X:136.36, Y:11.34, Z:1.85 [[ 9.37297330e-01 -3.46830964e-01 -3.43801956e-02 1.36359192e+02] [ 3.46558892e-01 9.37927128e-01 -1.37708820e-02 1.13355240e+01] [ 3.70222864e-02 9.92648424e-04 9.99313947e-01 1.84939655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.450385723 meters Centerline goodness [0,1] 0.9999316488573967 Centerline is valid? [True, True] Translation: X:136.39, Y:11.35, Z:1.85 [[ 9.37369571e-01 -3.46603249e-01 -3.47055541e-02 1.36385975e+02] [ 3.46325477e-01 9.38011272e-01 -1.39110548e-02 1.13466639e+01] [ 3.73758178e-02 1.02038192e-03 9.99300759e-01 1.85036112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.480385723 meters Centerline goodness [0,1] 0.9998637633114598 Centerline is valid? [True, True] Translation: X:136.41, Y:11.36, Z:1.85 [[ 9.37346341e-01 -3.46707816e-01 -3.42859702e-02 1.36411322e+02] [ 3.46436407e-01 9.37972634e-01 -1.37533148e-02 1.13581297e+01] [ 3.69276835e-02 1.01371095e-03 9.99317426e-01 1.85053870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.510385723 meters Centerline goodness [0,1] 0.999886417846028 Centerline is valid? [True, True] Translation: X:136.44, Y:11.37, Z:1.85 [[ 9.36997214e-01 -3.47705047e-01 -3.37256582e-02 1.36438332e+02] [ 3.47442721e-01 9.37603468e-01 -1.35385558e-02 1.13673696e+01] [ 3.63287183e-02 9.67854598e-04 9.99339426e-01 1.85349835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.540385723 meters Centerline goodness [0,1] 0.9999773960216998 Centerline is valid? [True, True] Translation: X:136.47, Y:11.38, Z:1.86 [[ 9.36437627e-01 -3.49331593e-01 -3.24346778e-02 1.36466416e+02] [ 3.49089646e-01 9.36998755e-01 -1.30289120e-02 1.13760872e+01] [ 3.49426633e-02 8.78153223e-04 9.99388933e-01 1.85626217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57038572300002 meters Centerline goodness [0,1] 0.9999094940718617 Centerline is valid? [True, True] Translation: X:136.49, Y:11.39, Z:1.86 [[ 9.36029332e-01 -3.50469896e-01 -3.19365314e-02 1.36492364e+02] [ 3.50235692e-01 9.36573628e-01 -1.28373853e-02 1.13876223e+01] [ 3.44100302e-02 8.30856008e-04 9.99407454e-01 1.85597323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.60038572300002 meters Centerline goodness [0,1] 0.99995465058274 Centerline is valid? [True, True] Translation: X:136.52, Y:11.40, Z:1.86 [[ 9.35701095e-01 -3.51407314e-01 -3.12467831e-02 1.36519367e+02] [ 3.51183348e-01 9.36222345e-01 -1.25688649e-02 1.13968368e+01] [ 3.36707276e-02 7.87350694e-04 9.99432670e-01 1.85766912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63038572300002 meters Centerline goodness [0,1] 0.9999547787550591 Centerline is valid? [True, True] Translation: X:136.54, Y:11.41, Z:1.86 [[ 9.35388949e-01 -3.52419922e-01 -2.91154886e-02 1.36544832e+02] [ 3.52225800e-01 9.35841708e-01 -1.17168308e-02 1.14079289e+01] [ 3.13767332e-02 7.04567847e-04 9.99507381e-01 1.85808543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.66038572300002 meters Centerline goodness [0,1] 0.9999773694215625 Centerline is valid? [True, True] Translation: X:136.57, Y:11.42, Z:1.86 [[ 9.35060157e-01 -3.53352731e-01 -2.83610786e-02 1.36571743e+02] [ 3.53168802e-01 9.35489931e-01 -1.14186960e-02 1.14176194e+01] [ 3.05663308e-02 6.60919545e-04 9.99532522e-01 1.85974434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69038572300002 meters Centerline goodness [0,1] 0.9999547644357994 Centerline is valid? [True, True] Translation: X:136.60, Y:11.43, Z:1.86 [[ 9.34598009e-01 -3.54659044e-01 -2.72676455e-02 1.36597970e+02] [ 3.54489430e-01 9.34995510e-01 -1.09836499e-02 1.14279780e+01] [ 2.93905769e-02 5.99205223e-04 9.99567824e-01 1.86052149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.72038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.63, Y:11.44, Z:1.86 [[ 9.34193654e-01 -3.55733469e-01 -2.71277821e-02 1.36625211e+02] [ 3.55565894e-01 9.34587277e-01 -1.09324002e-02 1.14382462e+01] [ 2.92423006e-02 5.67264789e-04 9.99572192e-01 1.86141517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.65, Y:11.45, Z:1.86 [[ 9.33625595e-01 -3.57187960e-01 -2.75682651e-02 1.36651620e+02] [ 3.57015301e-01 9.34032372e-01 -1.11176597e-02 1.14488527e+01] [ 2.97207462e-02 5.37439249e-04 9.99558097e-01 1.86091378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.68, Y:11.46, Z:1.86 [[ 9.33315198e-01 -3.57998331e-01 -2.75669262e-02 1.36678222e+02] [ 3.57825795e-01 9.33722081e-01 -1.11254159e-02 1.14586476e+01] [ 2.97227281e-02 5.19362488e-04 9.99558047e-01 1.86162457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.810385723 meters Centerline goodness [0,1] 0.9999324019828751 Centerline is valid? [True, True] Translation: X:136.70, Y:11.47, Z:1.86 [[ 9.32638873e-01 -3.59755149e-01 -2.75855876e-02 1.36704470e+02] [ 3.59582895e-01 9.33046628e-01 -1.11414084e-02 1.14690183e+01] [ 2.97468185e-02 4.71605102e-04 9.99557354e-01 1.86095691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.73, Y:11.48, Z:1.86 [[ 9.32242338e-01 -3.60771261e-01 -2.77186072e-02 1.36731551e+02] [ 3.60597553e-01 9.32654221e-01 -1.12030593e-02 1.14784372e+01] [ 2.98936178e-02 4.48704239e-04 9.99552985e-01 1.86201117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.76, Y:11.49, Z:1.86 [[ 9.31596823e-01 -3.62385268e-01 -2.83597782e-02 1.36757242e+02] [ 3.62204007e-01 9.32028298e-01 -1.14677377e-02 1.14880724e+01] [ 3.05878550e-02 4.11282717e-04 9.99531997e-01 1.86155166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.900385723 meters Centerline goodness [0,1] 0.9998873645558785 Centerline is valid? [True, True] Translation: X:136.78, Y:11.50, Z:1.86 [[ 9.31189723e-01 -3.63434741e-01 -2.82999863e-02 1.36784335e+02] [ 3.63254624e-01 9.31619582e-01 -1.14469847e-02 1.14994147e+01] [ 3.05250534e-02 3.79213640e-04 9.99533930e-01 1.86053796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.81, Y:11.51, Z:1.86 [[ 9.30741242e-01 -3.64520166e-01 -2.90824457e-02 1.36809735e+02] [ 3.64330307e-01 9.31195426e-01 -1.17688953e-02 1.15091905e+01] [ 3.13714401e-02 3.58179855e-04 9.99507731e-01 1.86066669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.84, Y:11.52, Z:1.86 [[ 9.30624766e-01 -3.64794988e-01 -2.93625752e-02 1.36836214e+02] [ 3.64601335e-01 9.31087798e-01 -1.18902898e-02 1.15191336e+01] [ 3.16766536e-02 3.59764038e-04 9.99498104e-01 1.86152752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.990385723 meters Centerline goodness [0,1] 0.9998417542669832 Centerline is valid? [True, True] Translation: X:136.86, Y:11.53, Z:1.86 [[ 9.30375424e-01 -3.65450791e-01 -2.91082428e-02 1.36862795e+02] [ 3.65260615e-01 9.30830599e-01 -1.17932063e-02 1.15285345e+01] [ 3.14046796e-02 3.40014613e-04 9.99506694e-01 1.86203978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.020385723 meters Centerline goodness [0,1] 0.999909440796921 Centerline is valid? [True, True] Translation: X:136.89, Y:11.54, Z:1.86 [[ 9.30091655e-01 -3.66196887e-01 -2.87984890e-02 1.36890098e+02] [ 3.66010926e-01 9.30537339e-01 -1.16731246e-02 1.15387584e+01] [ 3.10727312e-02 3.16514143e-04 9.99517076e-01 1.86286021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.050385723 meters Centerline goodness [0,1] 0.9998868214948617 Centerline is valid? [True, True] Translation: X:136.92, Y:11.55, Z:1.86 [[ 9.29907062e-01 -3.66714511e-01 -2.81659917e-02 1.36915661e+02] [ 3.66536712e-01 9.30333477e-01 -1.14219034e-02 1.15487099e+01] [ 3.03923427e-02 2.97438664e-04 9.99538002e-01 1.86337069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.080385723 meters Centerline goodness [0,1] 0.9998869928805515 Centerline is valid? [True, True] Translation: X:136.94, Y:11.56, Z:1.87 [[ 9.29713466e-01 -3.67333681e-01 -2.64355666e-02 1.36942724e+02] [ 3.67177182e-01 9.30089188e-01 -1.07247134e-02 1.15602384e+01] [ 2.85269831e-02 2.64373566e-04 9.99592988e-01 1.86528298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.110385723 meters Centerline goodness [0,1] 0.9999325114730496 Centerline is valid? [True, True] Translation: X:136.97, Y:11.57, Z:1.87 [[ 9.29971432e-01 -3.66717543e-01 -2.59110014e-02 1.36968164e+02] [ 3.66566748e-01 9.30332286e-01 -1.05193459e-02 1.15721542e+01] [ 2.79634699e-02 2.84579652e-04 9.99608905e-01 1.86600850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.99, Y:11.58, Z:1.87 [[ 9.30592760e-01 -3.65206447e-01 -2.49272024e-02 1.36994874e+02] [ 3.65066145e-01 9.30926498e-01 -1.01274069e-02 1.15844699e+01] [ 2.69039876e-02 3.24413883e-04 9.99637970e-01 1.86807972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.170385723 meters Centerline goodness [0,1] 0.9997970367363507 Centerline is valid? [True, True] Translation: X:137.02, Y:11.60, Z:1.87 [[ 9.30741000e-01 -3.64814298e-01 -2.51340217e-02 1.37019860e+02] [ 3.64671359e-01 9.31080238e-01 -1.02171344e-02 1.15971460e+01] [ 2.71291476e-02 3.43848009e-04 9.99631878e-01 1.86574923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.200385723 meters Centerline goodness [0,1] 0.9999775402030365 Centerline is valid? [True, True] Translation: X:137.05, Y:11.61, Z:1.87 [[ 9.31657712e-01 -3.62391697e-01 -2.61947655e-02 1.37045912e+02] [ 3.62235321e-01 9.32025787e-01 -1.06538961e-02 1.16085805e+01] [ 2.82750804e-02 4.37115214e-04 9.99600084e-01 1.86858489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.230385723 meters Centerline goodness [0,1] 0.9998422072945313 Centerline is valid? [True, True] Translation: X:137.07, Y:11.62, Z:1.87 [[ 9.31986500e-01 -3.61539159e-01 -2.62792903e-02 1.37072912e+02] [ 3.61381223e-01 9.32356806e-01 -1.06956521e-02 1.16201583e+01] [ 2.83685722e-02 4.71361274e-04 9.99597420e-01 1.86896311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.260385723 meters Centerline goodness [0,1] 0.9999325038810268 Centerline is valid? [True, True] Translation: X:137.10, Y:11.63, Z:1.87 [[ 9.32296977e-01 -3.60730868e-01 -2.63740057e-02 1.37098616e+02] [ 3.60571256e-01 9.32669816e-01 -1.07416570e-02 1.16329960e+01] [ 2.84730863e-02 5.04705968e-04 9.99594432e-01 1.86846157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.290385723 meters Centerline goodness [0,1] 0.9999776381403878 Centerline is valid? [True, True] Translation: X:137.12, Y:11.65, Z:1.87 [[ 9.33012597e-01 -3.58938374e-01 -2.55095490e-02 1.37123084e+02] [ 3.58788249e-01 9.33361102e-01 -1.03945329e-02 1.16482223e+01] [ 2.75406175e-02 5.45703665e-04 9.99620536e-01 1.86766595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.15, Y:11.66, Z:1.87 [[ 9.33337376e-01 -3.58148618e-01 -2.47165998e-02 1.37148743e+02] [ 3.58007290e-01 9.33664425e-01 -1.00757660e-02 1.16606751e+01] [ 2.66856317e-02 5.55366094e-04 9.99643721e-01 1.86806203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.18, Y:11.67, Z:1.87 [[ 9.34028070e-01 -3.56405972e-01 -2.37980509e-02 1.37175328e+02] [ 3.56274221e-01 9.34331010e-01 -9.70785509e-03 1.16729784e+01] [ 2.56951944e-02 5.88777108e-04 9.99669651e-01 1.87005438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38038572300002 meters Centerline goodness [0,1] 0.9999101042790364 Centerline is valid? [True, True] Translation: X:137.20, Y:11.68, Z:1.87 [[ 9.34667697e-01 -3.54842600e-01 -2.19778285e-02 1.37202049e+02] [ 3.54729663e-01 9.34925870e-01 -8.97129051e-03 1.16846706e+01] [ 2.37310365e-02 5.88987759e-04 9.99718206e-01 1.87271582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.23, Y:11.70, Z:1.87 [[ 9.35051399e-01 -3.53875481e-01 -2.12373525e-02 1.37228258e+02] [ 3.53769640e-01 9.35292353e-01 -8.67501005e-03 1.16974956e+01] [ 2.29330068e-02 5.98449707e-04 9.99736825e-01 1.87306591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44038572300002 meters Centerline goodness [0,1] 0.9999327821469383 Centerline is valid? [True, True] Translation: X:137.25, Y:11.71, Z:1.87 [[ 9.35391046e-01 -3.53025236e-01 -2.04150285e-02 1.37252698e+02] [ 3.52927132e-01 9.35613608e-01 -8.34363755e-03 1.17105701e+01] [ 2.20460931e-02 5.99546404e-04 9.99756776e-01 1.87302443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47038572300002 meters Centerline goodness [0,1] 0.9999777089231181 Centerline is valid? [True, True] Translation: X:137.28, Y:11.73, Z:1.87 [[ 9.36085161e-01 -3.51235973e-01 -1.94386973e-02 1.37277803e+02] [ 3.51146583e-01 9.36286770e-01 -7.94748273e-03 1.17250271e+01] [ 2.09916370e-02 6.13688506e-04 9.99779463e-01 1.87309484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.500385723 meters Centerline goodness [0,1] 0.9999553002704333 Centerline is valid? [True, True] Translation: X:137.30, Y:11.74, Z:1.87 [[ 9.36363258e-01 -3.50517056e-01 -1.90169206e-02 1.37303851e+02] [ 3.50431247e-01 9.36556142e-01 -7.78029735e-03 1.17369452e+01] [ 2.05375408e-02 6.21061352e-04 9.99788890e-01 1.87358687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.530385723 meters Centerline goodness [0,1] 0.9999330745549458 Centerline is valid? [True, True] Translation: X:137.33, Y:11.75, Z:1.87 [[ 9.37014034e-01 -3.48796269e-01 -1.85973764e-02 1.37327599e+02] [ 3.48713780e-01 9.37198347e-01 -7.61300093e-03 1.17509423e+01] [ 2.00848168e-02 6.48327282e-04 9.99798070e-01 1.87322858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.35, Y:11.76, Z:1.87 [[ 9.37447293e-01 -3.47667572e-01 -1.78838819e-02 1.37352448e+02] [ 3.47591052e-01 9.37617640e-01 -7.32267723e-03 1.17638592e+01] [ 1.93141005e-02 6.48346641e-04 9.99813255e-01 1.87473986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.590385723 meters Centerline goodness [0,1] 0.9998886984395521 Centerline is valid? [True, True] Translation: X:137.38, Y:11.78, Z:1.87 [[ 9.37410748e-01 -3.47775115e-01 -1.77075885e-02 1.37377577e+02] [ 3.47700066e-01 9.37577760e-01 -7.25306862e-03 1.17764026e+01] [ 1.91246780e-02 6.42174773e-04 9.99816900e-01 1.87345187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.40, Y:11.79, Z:1.87 [[ 9.37410375e-01 -3.47729465e-01 -1.86012729e-02 1.37402445e+02] [ 3.47646535e-01 9.37594665e-01 -7.62430387e-03 1.17895918e+01] [ 2.00916493e-02 6.80433480e-04 9.99797911e-01 1.87368875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.43, Y:11.80, Z:1.87 [[ 9.37170597e-01 -3.48389956e-01 -1.83224116e-02 1.37429904e+02] [ 3.48309571e-01 9.37349457e-01 -7.51248625e-03 1.18002526e+01] [ 1.97917774e-02 6.58609883e-04 9.99803907e-01 1.87277300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.46, Y:11.81, Z:1.87 [[ 9.37076399e-01 -3.48643337e-01 -1.83206683e-02 1.37455413e+02] [ 3.48562918e-01 9.37255243e-01 -7.51673567e-03 1.18108056e+01] [ 1.97918022e-02 6.57849995e-04 9.99803907e-01 1.87319077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.48, Y:11.82, Z:1.87 [[ 9.36779939e-01 -3.49449175e-01 -1.81278803e-02 1.37481351e+02] [ 3.49370493e-01 9.36955103e-01 -7.44262163e-03 1.18220175e+01] [ 1.95858280e-02 6.38752133e-04 9.99807975e-01 1.87331089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.51, Y:11.83, Z:1.87 [[ 9.36066908e-01 -3.51328294e-01 -1.86325889e-02 1.37507051e+02] [ 3.51245473e-01 9.36252128e-01 -7.65319009e-03 1.18336228e+01] [ 2.01335832e-02 6.19285476e-04 9.99797107e-01 1.87349055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.53, Y:11.84, Z:1.87 [[ 9.35638753e-01 -3.52543148e-01 -1.71304387e-02 1.37534013e+02] [ 3.52473267e-01 9.35795398e-01 -7.04055505e-03 1.18437508e+01] [ 1.85126852e-02 5.49394463e-04 9.99828475e-01 1.87492780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.800385723 meters Centerline goodness [0,1] 0.9999778024417314 Centerline is valid? [True, True] Translation: X:137.56, Y:11.85, Z:1.88 [[ 9.34868137e-01 -3.54698243e-01 -1.45162872e-02 1.37560610e+02] [ 3.54648270e-01 9.34980732e-01 -5.96950201e-03 1.18542639e+01] [ 1.56898207e-02 4.32521087e-04 9.99876814e-01 1.87854649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.830385723 meters Centerline goodness [0,1] 0.9999556521353496 Centerline is valid? [True, True] Translation: X:137.59, Y:11.87, Z:1.88 [[ 9.34543354e-01 -3.55591005e-01 -1.35556916e-02 1.37587311e+02] [ 3.55547472e-01 9.34641580e-01 -5.57784285e-03 1.18656930e+01] [ 1.46531437e-02 3.93044102e-04 9.99892560e-01 1.88006363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.61, Y:11.88, Z:1.88 [[ 9.34333995e-01 -3.56163447e-01 -1.29454406e-02 1.37611727e+02] [ 3.56123753e-01 9.34423599e-01 -5.33014132e-03 1.18789614e+01] [ 1.39949267e-02 3.69953351e-04 9.99901998e-01 1.87983503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.64, Y:11.89, Z:1.88 [[ 9.34352242e-01 -3.56107509e-01 -1.31654578e-02 1.37639753e+02] [ 3.56066424e-01 9.34444915e-01 -5.42249501e-03 1.18875090e+01] [ 1.42333863e-02 3.78742880e-04 9.99898628e-01 1.87925376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.66, Y:11.90, Z:1.88 [[ 9.34396812e-01 -3.55967977e-01 -1.37622014e-02 1.37663153e+02] [ 3.55923006e-01 9.34498067e-01 -5.67240359e-03 1.19042019e+01] [ 1.48799446e-02 4.01991751e-04 9.99889207e-01 1.87811349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.69, Y:11.91, Z:1.88 [[ 9.34314070e-01 -3.56172871e-01 -1.40749563e-02 1.37690806e+02] [ 3.56125834e-01 9.34419990e-01 -5.80275796e-03 1.19107007e+01] [ 1.52187055e-02 4.09142857e-04 9.99884105e-01 1.87780244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.980385723 meters Centerline goodness [0,1] 0.9999556963427331 Centerline is valid? [True, True] Translation: X:137.71, Y:11.93, Z:1.88 [[ 9.34115073e-01 -3.56707342e-01 -1.37441464e-02 1.37713333e+02] [ 3.56662482e-01 9.34216097e-01 -5.67078417e-03 1.19283453e+01] [ 1.48628132e-02 3.95143592e-04 9.99889464e-01 1.87751133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.010385723 meters Centerline goodness [0,1] 0.9998894098911794 Centerline is valid? [True, True] Translation: X:137.74, Y:11.94, Z:1.88 [[ 9.33751528e-01 -3.57675606e-01 -1.32757412e-02 1.37739981e+02] [ 3.57633833e-01 9.33845825e-01 -5.47868968e-03 1.19403083e+01] [ 1.43570892e-02 3.67880647e-04 9.99896864e-01 1.87684399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.040385723 meters Centerline goodness [0,1] 0.999955832339561 Centerline is valid? [True, True] Translation: X:137.76, Y:11.95, Z:1.88 [[ 9.33790358e-01 -3.57594979e-01 -1.27042797e-02 1.37764609e+02] [ 3.57556672e-01 9.33876707e-01 -5.24614864e-03 1.19524819e+01] [ 1.37402273e-02 3.56303056e-04 9.99905535e-01 1.87941459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07038572300002 meters Centerline goodness [0,1] 0.999933916338084 Centerline is valid? [True, True] Translation: X:137.79, Y:11.97, Z:1.88 [[ 9.33754663e-01 -3.57722660e-01 -1.16931117e-02 1.37788618e+02] [ 3.57690207e-01 9.33827817e-01 -4.82946036e-03 1.19660766e+01] [ 1.26469604e-02 3.27019577e-04 9.99919971e-01 1.88083559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.10038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.82, Y:11.97, Z:1.88 [[ 9.33924323e-01 -3.57251478e-01 -1.25195972e-02 1.37816104e+02] [ 3.57214213e-01 9.34008166e-01 -5.17227527e-03 1.19744221e+01] [ 1.35412090e-02 3.58335626e-04 9.99908249e-01 1.88057566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13038572300002 meters Centerline goodness [0,1] 0.9998901967673929 Centerline is valid? [True, True] Translation: X:137.84, Y:11.99, Z:1.88 [[ 9.34038728e-01 -3.56935896e-01 -1.29777288e-02 1.37839336e+02] [ 3.56895769e-01 9.34128804e-01 -5.36547209e-03 1.19922252e+01] [ 1.40379999e-02 3.79862217e-04 9.99901390e-01 1.88081688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.16038572300002 meters Centerline goodness [0,1] 0.999845831956833 Centerline is valid? [True, True] Translation: X:137.87, Y:12.00, Z:1.88 [[ 9.34079859e-01 -3.56796024e-01 -1.38352607e-02 1.37865683e+02] [ 3.56750370e-01 9.34182225e-01 -5.72220270e-03 1.20043241e+01] [ 1.49663138e-02 4.09259921e-04 9.99887915e-01 1.88076162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19038572300002 meters Centerline goodness [0,1] 0.9999560052793665 Centerline is valid? [True, True] Translation: X:137.89, Y:12.01, Z:1.88 [[ 9.34065215e-01 -3.56778380e-01 -1.52105987e-02 1.37894249e+02] [ 3.56723128e-01 9.34188943e-01 -6.29516568e-03 1.20120180e+01] [ 1.64555522e-02 4.54122925e-04 9.99864495e-01 1.87822110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22038572300002 meters Centerline goodness [0,1] 0.9998242878165565 Centerline is valid? [True, True] Translation: X:137.92, Y:12.03, Z:1.88 [[ 9.34048189e-01 -3.56792821e-01 -1.59016986e-02 1.37918827e+02] [ 3.56732362e-01 9.34183415e-01 -6.58544798e-03 1.20266439e+01] [ 1.72047437e-02 4.78475238e-04 9.99851873e-01 1.87606365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.250385723 meters Centerline goodness [0,1] 0.9999123614214978 Centerline is valid? [True, True] Translation: X:137.94, Y:12.04, Z:1.88 [[ 9.34247094e-01 -3.56314503e-01 -1.49111728e-02 1.37944528e+02] [ 3.56261256e-01 9.34365969e-01 -6.17677400e-03 1.20390361e+01] [ 1.61333666e-02 4.58360001e-04 9.99869744e-01 1.87846091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.280385723 meters Centerline goodness [0,1] 0.9999563566534282 Centerline is valid? [True, True] Translation: X:137.97, Y:12.05, Z:1.88 [[ 9.34123338e-01 -3.56700718e-01 -1.33486887e-02 1.37969254e+02] [ 3.56658039e-01 9.34218621e-01 -5.53276558e-03 1.20532004e+01] [ 1.44441350e-02 4.07368333e-04 9.99895595e-01 1.88026892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.310385723 meters Centerline goodness [0,1] 0.9999344305291457 Centerline is valid? [True, True] Translation: X:137.99, Y:12.07, Z:1.88 [[ 9.33944419e-01 -3.57195752e-01 -1.26102289e-02 1.37994316e+02] [ 3.57157659e-01 9.34029469e-01 -5.23036729e-03 1.20652998e+01] [ 1.36465903e-02 3.81032519e-04 9.99906808e-01 1.88158396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.340385723 meters Centerline goodness [0,1] 0.9998912712564694 Centerline is valid? [True, True] Translation: X:138.02, Y:12.08, Z:1.88 [[ 9.33725521e-01 -3.57771921e-01 -1.24861413e-02 1.38020832e+02] [ 3.57734573e-01 9.33808928e-01 -5.18279159e-03 1.20772711e+01] [ 1.35139275e-02 3.72580366e-04 9.99908613e-01 1.88273913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.05, Y:12.09, Z:1.88 [[ 9.33281681e-01 -3.58890045e-01 -1.35365754e-02 1.38047191e+02] [ 3.58846208e-01 9.33379764e-01 -5.62278551e-03 1.20890978e+01] [ 1.46527273e-02 3.90093977e-04 9.99892567e-01 1.88378124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.400385723 meters Centerline goodness [0,1] 0.999956560456984 Centerline is valid? [True, True] Translation: X:138.07, Y:12.10, Z:1.88 [[ 9.32939024e-01 -3.59746323e-01 -1.43999979e-02 1.38073752e+02] [ 3.59696753e-01 9.33050063e-01 -5.98553238e-03 1.21015083e+01] [ 1.55891922e-02 4.04504247e-04 9.99878399e-01 1.88359122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.430385723 meters Centerline goodness [0,1] 0.9998256358841351 Centerline is valid? [True, True] Translation: X:138.10, Y:12.12, Z:1.88 [[ 9.32183189e-01 -3.61657227e-01 -1.54451377e-02 1.38099218e+02] [ 3.61600387e-01 9.32311047e-01 -6.42435805e-03 1.21164180e+01] [ 1.67230880e-02 4.03710808e-04 9.99860078e-01 1.88046261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.460385723 meters Centerline goodness [0,1] 0.9998259090810175 Centerline is valid? [True, True] Translation: X:138.13, Y:12.13, Z:1.88 [[ 9.31569766e-01 -3.63207703e-01 -1.60603895e-02 1.38125476e+02] [ 3.63146398e-01 9.31708113e-01 -6.68470558e-03 1.21287661e+01] [ 1.73915317e-02 3.94997021e-04 9.99848678e-01 1.87725507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.490385723 meters Centerline goodness [0,1] 0.999934816617417 Centerline is valid? [True, True] Translation: X:138.15, Y:12.14, Z:1.88 [[ 9.30959617e-01 -3.64747118e-01 -1.65448216e-02 1.38149711e+02] [ 3.64682228e-01 9.31106543e-01 -6.89043175e-03 1.21419078e+01] [ 1.79182568e-02 3.81111304e-04 9.99839383e-01 1.87942404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.18, Y:12.15, Z:1.88 [[ 9.30135769e-01 -3.66862538e-01 -1.61036903e-02 1.38176387e+02] [ 3.66801347e-01 9.30275103e-01 -6.70853964e-03 1.21519387e+01] [ 1.74419740e-02 3.32997402e-04 9.99847822e-01 1.88046193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.550385723 meters Centerline goodness [0,1] 0.9999783066143133 Centerline is valid? [True, True] Translation: X:138.20, Y:12.16, Z:1.88 [[ 9.28535079e-01 -3.70928780e-01 -1.53116880e-02 1.38204250e+02] [ 3.70873952e-01 9.28661283e-01 -6.38223945e-03 1.21612542e+01] [ 1.65867281e-02 2.47426978e-04 9.99862400e-01 1.88353884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.580385723 meters Centerline goodness [0,1] 0.9999565830891132 Centerline is valid? [True, True] Translation: X:138.23, Y:12.17, Z:1.88 [[ 9.27722637e-01 -3.72978874e-01 -1.47468082e-02 1.38230276e+02] [ 3.72928248e-01 9.27839812e-01 -6.14853146e-03 1.21722445e+01] [ 1.59759481e-02 2.04630469e-04 9.99872355e-01 1.88419047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.26, Y:12.18, Z:1.88 [[ 9.26548436e-01 -3.75902647e-01 -1.43246517e-02 1.38257529e+02] [ 3.75855206e-01 9.26659148e-01 -5.97386059e-03 1.21826046e+01] [ 1.55196596e-02 1.51076269e-04 9.99879551e-01 1.88442499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.28, Y:12.20, Z:1.88 [[ 9.26228660e-01 -3.76663840e-01 -1.49940096e-02 1.38282461e+02] [ 3.76611892e-01 9.26350004e-01 -6.25728123e-03 1.21964801e+01] [ 1.62465925e-02 1.48750880e-04 9.99868004e-01 1.88397696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.670385723 meters Centerline goodness [0,1] 0.9999783727669882 Centerline is valid? [True, True] Translation: X:138.30, Y:12.21, Z:1.88 [[ 9.26219343e-01 -3.76659891e-01 -1.56542561e-02 1.38304911e+02] [ 3.76603236e-01 9.26351608e-01 -6.53462385e-03 1.22119383e+01] [ 1.69626760e-02 1.57051526e-04 9.99856111e-01 1.88297679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.700385723 meters Centerline goodness [0,1] 0.9999351925860318 Centerline is valid? [True, True] Translation: X:138.33, Y:12.22, Z:1.88 [[ 9.26305438e-01 -3.76437959e-01 -1.58964784e-02 1.38330561e+02] [ 3.76379443e-01 9.26441814e-01 -6.63923377e-03 1.22225976e+01] [ 1.72264219e-02 1.66850648e-04 9.99851600e-01 1.88317632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.35, Y:12.24, Z:1.88 [[ 9.26760261e-01 -3.75275949e-01 -1.68339077e-02 1.38354360e+02] [ 3.75210043e-01 9.26913114e-01 -7.03585410e-03 1.22376268e+01] [ 1.82439566e-02 2.04298744e-04 9.99833544e-01 1.88319726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.760385723 meters Centerline goodness [0,1] 0.9998929106875134 Centerline is valid? [True, True] Translation: X:138.38, Y:12.25, Z:1.88 [[ 9.26665193e-01 -3.75488361e-01 -1.73237353e-02 1.38376870e+02] [ 3.75418564e-01 9.26827086e-01 -7.24249193e-03 1.22531918e+01] [ 1.87755785e-02 2.07713354e-04 9.99823702e-01 1.88003203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.790385723 meters Centerline goodness [0,1] 0.9999143725649698 Centerline is valid? [True, True] Translation: X:138.40, Y:12.27, Z:1.88 [[ 9.27150477e-01 -3.74249045e-01 -1.81561661e-02 1.38400228e+02] [ 3.74172094e-01 9.27328201e-01 -7.59291377e-03 1.22689062e+01] [ 1.96783656e-02 2.46242918e-04 9.99806332e-01 1.88176742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.82038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.43, Y:12.28, Z:1.88 [[ 9.27198436e-01 -3.74131161e-01 -1.81365660e-02 1.38426542e+02] [ 3.74054304e-01 9.27375766e-01 -7.58723988e-03 1.22788152e+01] [ 1.96580347e-02 2.50816376e-04 9.99806731e-01 1.88345187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85038572300002 meters Centerline goodness [0,1] 0.999935819267056 Centerline is valid? [True, True] Translation: X:138.45, Y:12.30, Z:1.88 [[ 9.27541839e-01 -3.73269633e-01 -1.83280580e-02 1.38449607e+02] [ 3.73190879e-01 9.27722860e-01 -7.67223733e-03 1.22966563e+01] [ 1.98671716e-02 2.76457060e-04 9.99802590e-01 1.88311030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.88038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.48, Y:12.30, Z:1.89 [[ 9.27571451e-01 -3.73200975e-01 -1.82273425e-02 1.38477190e+02] [ 3.73123017e-01 9.27750481e-01 -7.63279602e-03 1.23045395e+01] [ 1.97589927e-02 2.78922645e-04 9.99804733e-01 1.88544546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91038572300002 meters Centerline goodness [0,1] 0.9998711561587356 Centerline is valid? [True, True] Translation: X:138.50, Y:12.32, Z:1.88 [[ 9.27349925e-01 -3.73722626e-01 -1.88020072e-02 1.38503183e+02] [ 3.73639655e-01 9.27540468e-01 -7.87964822e-03 1.23164171e+01] [ 2.03844254e-02 2.82015693e-04 9.99792176e-01 1.88372872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.53, Y:12.33, Z:1.89 [[ 9.27975243e-01 -3.72197968e-01 -1.81829961e-02 1.38526896e+02] [ 3.72119983e-01 9.28153316e-01 -7.62503331e-03 1.23322022e+01] [ 1.97146300e-02 3.09585923e-04 9.99805600e-01 1.88585193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97038572300002 meters Centerline goodness [0,1] 0.9999572137600548 Centerline is valid? [True, True] Translation: X:138.55, Y:12.35, Z:1.89 [[ 9.28458529e-01 -3.70955034e-01 -1.88976897e-02 1.38552571e+02] [ 3.70870483e-01 9.28650763e-01 -7.92756778e-03 1.23453268e+01] [ 2.04901251e-02 3.51822629e-04 9.99789993e-01 1.88574362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.000385723 meters Centerline goodness [0,1] 0.9999785862652305 Centerline is valid? [True, True] Translation: X:138.58, Y:12.36, Z:1.89 [[ 9.28729756e-01 -3.70227245e-01 -1.98198588e-02 1.38577183e+02] [ 3.70133970e-01 9.28941136e-01 -8.31921559e-03 1.23574220e+01] [ 2.14914824e-02 3.90300054e-04 9.99768955e-01 1.88560737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.030385723 meters Centerline goodness [0,1] 0.9999785986388734 Centerline is valid? [True, True] Translation: X:138.60, Y:12.37, Z:1.89 [[ 9.29086518e-01 -3.69312927e-01 -2.01545182e-02 1.38603288e+02] [ 3.69216185e-01 9.29305001e-01 -8.46310829e-03 1.23689058e+01] [ 2.18552298e-02 4.21585498e-04 9.99761057e-01 1.88610090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.63, Y:12.38, Z:1.89 [[ 9.29143823e-01 -3.69193437e-01 -1.96967696e-02 1.38629060e+02] [ 3.69100891e-01 9.29352479e-01 -8.27663125e-03 1.23787762e+01] [ 2.13609196e-02 4.20085615e-04 9.99771741e-01 1.88712307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.65, Y:12.39, Z:1.89 [[ 9.29173542e-01 -3.69140898e-01 -1.92749989e-02 1.38653352e+02] [ 3.69052152e-01 9.29373350e-01 -8.10471573e-03 1.23899974e+01] [ 2.09054524e-02 4.17207601e-04 9.99781370e-01 1.88769150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.120385723 meters Centerline goodness [0,1] 0.999957179865973 Centerline is valid? [True, True] Translation: X:138.68, Y:12.40, Z:1.89 [[ 9.29315058e-01 -3.68838213e-01 -1.82180002e-02 1.38680179e+02] [ 3.68758810e-01 9.29493523e-01 -7.66357447e-03 1.23996774e+01] [ 1.97601323e-02 4.03827085e-04 9.99804668e-01 1.88999953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.71, Y:12.41, Z:1.89 [[ 9.29034578e-01 -3.69523219e-01 -1.86371347e-02 1.38705528e+02] [ 3.69440153e-01 9.29221409e-01 -7.84510448e-03 1.24120967e+01] [ 2.02169729e-02 4.03067423e-04 9.99795535e-01 1.88961365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.180385723 meters Centerline goodness [0,1] 0.9999785931412425 Centerline is valid? [True, True] Translation: X:138.73, Y:12.42, Z:1.89 [[ 9.28802105e-01 -3.70063873e-01 -1.94776910e-02 1.38730752e+02] [ 3.69973215e-01 9.29006222e-01 -8.20115328e-03 1.24225126e+01] [ 2.11298467e-02 4.11024440e-04 9.99776655e-01 1.88859999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.210385723 meters Centerline goodness [0,1] 0.9998286571000214 Centerline is valid? [True, True] Translation: X:138.76, Y:12.43, Z:1.89 [[ 9.28369202e-01 -3.71128874e-01 -1.98490312e-02 1.38758340e+02] [ 3.71034893e-01 9.28581284e-01 -8.36106937e-03 1.24303736e+01] [ 2.15344731e-02 3.97476150e-04 9.99768027e-01 1.88668606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.240385723 meters Centerline goodness [0,1] 0.9999786146575137 Centerline is valid? [True, True] Translation: X:138.79, Y:12.44, Z:1.89 [[ 9.28268096e-01 -3.71367596e-01 -2.01109615e-02 1.38785896e+02] [ 3.71271041e-01 9.28485835e-01 -8.47747011e-03 1.24375359e+01] [ 2.18210006e-02 4.02747428e-04 9.99761812e-01 1.88991724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.270385723 meters Centerline goodness [0,1] 0.9999573178539417 Centerline is valid? [True, True] Translation: X:138.81, Y:12.45, Z:1.89 [[ 9.28129696e-01 -3.71728383e-01 -1.98312046e-02 1.38812526e+02] [ 3.71634438e-01 9.28341453e-01 -8.36604256e-03 1.24463552e+01] [ 2.15200248e-02 3.94813943e-04 9.99768339e-01 1.89124448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.84, Y:12.46, Z:1.89 [[ 9.28069508e-01 -3.71879089e-01 -1.98225215e-02 1.38837583e+02] [ 3.71785133e-01 9.28281092e-01 -8.36829414e-03 1.24558527e+01] [ 2.15128655e-02 3.96639833e-04 9.99768493e-01 1.89220461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.86, Y:12.47, Z:1.89 [[ 9.28130184e-01 -3.71703037e-01 -2.02784080e-02 1.38863910e+02] [ 3.71604583e-01 9.28351594e-01 -8.56460460e-03 1.24663891e+01] [ 2.20089819e-02 4.13518692e-04 9.99757688e-01 1.89199376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.360385723 meters Centerline goodness [0,1] 0.999978592224696 Centerline is valid? [True, True] Translation: X:138.89, Y:12.48, Z:1.89 [[ 9.28399878e-01 -3.70965009e-01 -2.14156315e-02 1.38891105e+02] [ 3.70854919e-01 9.28646732e-01 -9.04860370e-03 1.24761430e+01] [ 2.32442715e-02 4.58630299e-04 9.99729710e-01 1.89117523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.390385723 meters Centerline goodness [0,1] 0.9998932285549552 Centerline is valid? [True, True] Translation: X:138.92, Y:12.49, Z:1.89 [[ 9.28511244e-01 -3.70637352e-01 -2.22446390e-02 1.38916610e+02] [ 3.70518339e-01 9.28777537e-01 -9.40462626e-03 1.24861321e+01] [ 2.41460268e-02 4.90254518e-04 9.99708322e-01 1.89087143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.94, Y:12.49, Z:1.89 [[ 9.28861656e-01 -3.69661503e-01 -2.37990995e-02 1.38943084e+02] [ 3.69524857e-01 9.29166328e-01 -1.00655427e-02 1.24949566e+01] [ 2.58341655e-02 5.55137813e-04 9.99666088e-01 1.89013706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.97, Y:12.50, Z:1.89 [[ 9.28996089e-01 -3.69303013e-01 -2.41153727e-02 1.38971099e+02] [ 3.69162476e-01 9.29308857e-01 -1.02036459e-02 1.25034589e+01] [ 2.61788667e-02 5.76656464e-04 9.99657108e-01 1.89095492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.00, Y:12.51, Z:1.89 [[ 9.29177939e-01 -3.68799283e-01 -2.48081860e-02 1.38998311e+02] [ 3.68650179e-01 9.29508855e-01 -1.05039968e-02 1.25141307e+01] [ 2.69332951e-02 6.14539892e-04 9.99637044e-01 1.89099513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.03, Y:12.52, Z:1.89 [[ 9.29556100e-01 -3.67858424e-01 -2.46097066e-02 1.39025654e+02] [ 3.67711181e-01 9.29881587e-01 -1.04269240e-02 1.25246946e+01] [ 2.67197449e-02 6.43146574e-04 9.99642757e-01 1.89067975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.05, Y:12.53, Z:1.89 [[ 9.29956363e-01 -3.66911050e-01 -2.36102684e-02 1.39053321e+02] [ 3.66775053e-01 9.30255804e-01 -1.00100007e-02 1.25326787e+01] [ 2.56363690e-02 6.49206410e-04 9.99671123e-01 1.89203622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.08, Y:12.54, Z:1.89 [[ 9.30090842e-01 -3.66633518e-01 -2.26028492e-02 1.39079116e+02] [ 3.66508677e-01 9.30365230e-01 -9.58790702e-03 1.25421388e+01] [ 2.45441531e-02 6.33484161e-04 9.99698546e-01 1.89346059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.10, Y:12.55, Z:1.89 [[ 9.29990884e-01 -3.66887101e-01 -2.26011398e-02 1.39104483e+02] [ 3.66762236e-01 9.30265262e-01 -9.59193503e-03 1.25529838e+01] [ 2.45442125e-02 6.31167553e-04 9.99698546e-01 1.89387880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63038572300002 meters Centerline goodness [0,1] 0.999978308967073 Centerline is valid? [True, True] Translation: X:139.13, Y:12.56, Z:1.90 [[ 9.30253380e-01 -3.66340930e-01 -2.05662594e-02 1.39131564e+02] [ 3.66237269e-01 9.30480505e-01 -8.73454403e-03 1.25610093e+01] [ 2.23363245e-02 5.93208428e-04 9.99750337e-01 1.89657891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.66038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.16, Y:12.57, Z:1.90 [[ 9.30324999e-01 -3.66177614e-01 -2.02324229e-02 1.39158229e+02] [ 3.66077117e-01 9.30544788e-01 -8.59893643e-03 1.25715815e+01] [ 2.19759137e-02 5.93178478e-04 9.99758324e-01 1.89724331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.18, Y:12.58, Z:1.90 [[ 9.30239355e-01 -3.66373962e-01 -2.06122079e-02 1.39184458e+02] [ 3.66269594e-01 9.30467493e-01 -8.76524275e-03 1.25800726e+01] [ 2.23903461e-02 6.04148735e-04 9.99749122e-01 1.89692555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.72038572300002 meters Centerline goodness [0,1] 0.9999782234707433 Centerline is valid? [True, True] Translation: X:139.21, Y:12.59, Z:1.90 [[ 9.30350751e-01 -3.66069608e-01 -2.09886235e-02 1.39210660e+02] [ 3.65961247e-01 9.30587261e-01 -8.92830864e-03 1.25898250e+01] [ 2.28001281e-02 6.25435808e-04 9.99739848e-01 1.89720383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.750385723 meters Centerline goodness [0,1] 0.9999563547486033 Centerline is valid? [True, True] Translation: X:139.24, Y:12.60, Z:1.90 [[ 9.30466405e-01 -3.65792039e-01 -2.06991097e-02 1.39238970e+02] [ 3.65686491e-01 9.30696401e-01 -8.80903678e-03 1.25976368e+01] [ 2.24868624e-02 6.27127986e-04 9.99746942e-01 1.89902059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.780385723 meters Centerline goodness [0,1] 0.9999561903092964 Centerline is valid? [True, True] Translation: X:139.26, Y:12.61, Z:1.90 [[ 9.30361674e-01 -3.66068838e-01 -2.05124807e-02 1.39264927e+02] [ 3.65965121e-01 9.30587568e-01 -8.73549975e-03 1.26075287e+01] [ 2.22864537e-02 6.20321688e-04 9.99751434e-01 1.89957069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.810385723 meters Centerline goodness [0,1] 0.9999781458979851 Centerline is valid? [True, True] Translation: X:139.29, Y:12.62, Z:1.90 [[ 9.30127646e-01 -3.66661989e-01 -2.05316178e-02 1.39291340e+02] [ 3.66558079e-01 9.30354024e-01 -8.75009533e-03 1.26176509e+01] [ 2.23100006e-02 6.12675180e-04 9.99750913e-01 1.89946670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.840385723 meters Centerline goodness [0,1] 0.9998903580904765 Centerline is valid? [True, True] Translation: X:139.32, Y:12.63, Z:1.90 [[ 9.29489264e-01 -3.68214137e-01 -2.16346304e-02 1.39317912e+02] [ 3.68099055e-01 9.29740811e-01 -9.22550674e-03 1.26259784e+01] [ 2.35115608e-02 6.11322459e-04 9.99723378e-01 1.89754070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.870385723 meters Centerline goodness [0,1] 0.9998234891776802 Centerline is valid? [True, True] Translation: X:139.35, Y:12.63, Z:1.89 [[ 9.28491595e-01 -3.70719958e-01 -2.16811085e-02 1.39347300e+02] [ 3.70604985e-01 9.28744533e-01 -9.24866383e-03 1.26323109e+01] [ 2.35648752e-02 5.52179760e-04 9.99722157e-01 1.89499681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.900385723 meters Centerline goodness [0,1] 0.9999337587493652 Centerline is valid? [True, True] Translation: X:139.37, Y:12.64, Z:1.90 [[ 9.28479539e-01 -3.70768430e-01 -2.13662535e-02 1.39374100e+02] [ 3.70656648e-01 9.28725186e-01 -9.12023483e-03 1.26414134e+01] [ 2.32248729e-02 5.48407538e-04 9.99730116e-01 1.89879048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.40, Y:12.65, Z:1.90 [[ 9.28323010e-01 -3.71166906e-01 -2.12489203e-02 1.39400119e+02] [ 3.71056335e-01 9.28566011e-01 -9.07525572e-03 1.26519333e+01] [ 2.30994597e-02 5.40222240e-04 9.99733026e-01 1.89969633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.43, Y:12.66, Z:1.90 [[ 9.27998481e-01 -3.71981771e-01 -2.11750398e-02 1.39426917e+02] [ 3.71872124e-01 9.28239889e-01 -9.04608773e-03 1.26597925e+01] [ 2.30204963e-02 5.20348629e-04 9.99734858e-01 1.90130730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.45, Y:12.67, Z:1.90 [[ 9.27800704e-01 -3.72469793e-01 -2.12627922e-02 1.39454915e+02] [ 3.72359262e-01 9.28044174e-01 -9.08798186e-03 1.26652305e+01] [ 2.31178091e-02 5.14438369e-04 9.99732615e-01 1.90348931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.020385723 meters Centerline goodness [0,1] 0.9999555535801591 Centerline is valid? [True, True] Translation: X:139.48, Y:12.67, Z:1.90 [[ 9.27464153e-01 -3.73312607e-01 -2.11646312e-02 1.39483062e+02] [ 3.73203160e-01 9.27705476e-01 -9.05269833e-03 1.26733703e+01] [ 2.30140307e-02 4.97345938e-04 9.99735018e-01 1.90433290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.51, Y:12.68, Z:1.90 [[ 9.27274042e-01 -3.73795955e-01 -2.09626958e-02 1.39509813e+02] [ 3.73688567e-01 9.27510834e-01 -8.97258678e-03 1.26831012e+01] [ 2.27970441e-02 4.86527067e-04 9.99739995e-01 1.90479839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.54, Y:12.69, Z:1.91 [[ 9.26988317e-01 -3.74563047e-01 -1.98792330e-02 1.39537841e+02] [ 3.74466521e-01 9.27201338e-01 -8.51487361e-03 1.26912260e+01] [ 2.16214084e-02 4.49081147e-04 9.99766129e-01 1.90620399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.110385723 meters Centerline goodness [0,1] 0.9998884501260513 Centerline is valid? [True, True] Translation: X:139.56, Y:12.70, Z:1.91 [[ 9.26616285e-01 -3.75534176e-01 -1.88770784e-02 1.39563613e+02] [ 3.75447250e-01 9.26808457e-01 -8.08993388e-03 1.27011019e+01] [ 2.05334825e-02 4.08917325e-04 9.99789082e-01 1.90506073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.140385723 meters Centerline goodness [0,1] 0.999977778271594 Centerline is valid? [True, True] Translation: X:139.59, Y:12.71, Z:1.91 [[ 9.26729868e-01 -3.75311863e-01 -1.76849096e-02 1.39590711e+02] [ 3.75235482e-01 9.26898513e-01 -7.58158172e-03 1.27095577e+01] [ 1.92375740e-02 3.90072671e-04 9.99814865e-01 1.90988395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.62, Y:12.72, Z:1.91 [[ 9.26672255e-01 -3.75430832e-01 -1.81720071e-02 1.39616670e+02] [ 3.75350086e-01 9.26850326e-01 -7.79651743e-03 1.27199587e+01] [ 1.97697837e-02 4.03951960e-04 9.99804477e-01 1.91023150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.200385723 meters Centerline goodness [0,1] 0.9999777649308489 Centerline is valid? [True, True] Translation: X:139.64, Y:12.73, Z:1.91 [[ 9.26679133e-01 -3.75385621e-01 -1.87462005e-02 1.39643811e+02] [ 3.75299557e-01 9.26868629e-01 -8.04899414e-03 1.27305426e+01] [ 2.03967418e-02 4.23394175e-04 9.99791875e-01 1.91052017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.230385723 meters Centerline goodness [0,1] 0.9999777456325804 Centerline is valid? [True, True] Translation: X:139.67, Y:12.74, Z:1.91 [[ 9.26824362e-01 -3.74975093e-01 -1.97555292e-02 1.39669636e+02] [ 3.74879312e-01 9.27034772e-01 -8.48723576e-03 1.27412382e+01] [ 2.14965645e-02 4.60237684e-04 9.99768816e-01 1.91003200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.260385723 meters Centerline goodness [0,1] 0.9999109428921296 Centerline is valid? [True, True] Translation: X:139.69, Y:12.75, Z:1.91 [[ 9.26955680e-01 -3.74618306e-01 -2.03541540e-02 1.39694957e+02] [ 3.74516492e-01 9.27178995e-01 -8.74686615e-03 1.27519925e+01] [ 2.21486803e-02 4.84990902e-04 9.99754570e-01 1.90970326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.72, Y:12.76, Z:1.91 [[ 9.26927409e-01 -3.74725819e-01 -1.96504320e-02 1.39721239e+02] [ 3.74630865e-01 9.27135556e-01 -8.44838064e-03 1.27621636e+01] [ 2.13844405e-02 4.69377250e-04 9.99771217e-01 1.91093956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.75, Y:12.77, Z:1.91 [[ 9.26901221e-01 -3.74801787e-01 -1.94357134e-02 1.39746218e+02] [ 3.74708800e-01 9.27104850e-01 -8.36140001e-03 1.27729834e+01] [ 2.11528119e-02 4.67459014e-04 9.99776145e-01 1.91186118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.77, Y:12.78, Z:1.91 [[ 9.26784939e-01 -3.75122665e-01 -1.87793423e-02 1.39772170e+02] [ 3.75035870e-01 9.26975073e-01 -8.08143319e-03 1.27836049e+01] [ 2.04395110e-02 4.46823575e-04 9.99790992e-01 1.91370470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.80, Y:12.79, Z:1.91 [[ 9.26699418e-01 -3.75305235e-01 -1.93434867e-02 1.39798526e+02] [ 3.75213118e-01 9.26901165e-01 -8.32741237e-03 1.27924293e+01] [ 2.10548218e-02 4.59078245e-04 9.99778217e-01 1.91442474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.82, Y:12.80, Z:1.91 [[ 9.26937225e-01 -3.74661680e-01 -2.03962592e-02 1.39824500e+02] [ 3.74558985e-01 9.27161459e-01 -8.78610872e-03 1.28037805e+01] [ 2.22024437e-02 5.04569078e-04 9.99753368e-01 1.91386213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44038572300002 meters Centerline goodness [0,1] 0.9999552722799955 Centerline is valid? [True, True] Translation: X:139.85, Y:12.82, Z:1.91 [[ 9.27364062e-01 -3.73542049e-01 -2.14996303e-02 1.39850857e+02] [ 3.73427554e-01 9.27613077e-01 -9.26507087e-03 1.28153973e+01] [ 2.34042318e-02 5.63539386e-04 9.99725925e-01 1.91288803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.88, Y:12.83, Z:1.91 [[ 9.28281132e-01 -3.71126449e-01 -2.36495129e-02 1.39877876e+02] [ 3.70986994e-01 9.28582081e-01 -1.01965510e-02 1.28265254e+01] [ 2.57447237e-02 6.91604166e-04 9.99668310e-01 1.91163812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.90, Y:12.84, Z:1.91 [[ 9.28493745e-01 -3.70556671e-01 -2.42305243e-02 1.39904676e+02] [ 3.70409981e-01 9.28809573e-01 -1.04509953e-02 1.28378296e+01] [ 2.63782289e-02 7.28455704e-04 9.99651769e-01 1.91179491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.93, Y:12.85, Z:1.91 [[ 9.28996031e-01 -3.69316981e-01 -2.39027713e-02 1.39928975e+02] [ 3.69173690e-01 9.29303176e-01 -1.03147371e-02 1.28523392e+01] [ 2.60223288e-02 7.58075578e-04 9.99661074e-01 1.91142061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.96, Y:12.86, Z:1.91 [[ 9.28992679e-01 -3.69338195e-01 -2.37044398e-02 1.39956170e+02] [ 3.69197159e-01 9.29294747e-01 -1.02338178e-02 1.28613275e+01] [ 2.58081512e-02 7.55529994e-04 9.99666629e-01 1.91288967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.98, Y:12.87, Z:1.91 [[ 9.28913049e-01 -3.69517349e-01 -2.40307412e-02 1.39982391e+02] [ 3.69372253e-01 9.29223514e-01 -1.03826881e-02 1.28725546e+01] [ 2.61665131e-02 7.68325433e-04 9.99657303e-01 1.91312358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.01, Y:12.89, Z:1.91 [[ 9.28991425e-01 -3.69291080e-01 -2.44751063e-02 1.40006522e+02] [ 3.69140282e-01 9.29313437e-01 -1.05824253e-02 1.28880527e+01] [ 2.66530404e-02 7.96234682e-04 9.99644428e-01 1.91171487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.03, Y:12.89, Z:1.91 [[ 9.28770535e-01 -3.69816632e-01 -2.49189254e-02 1.40034833e+02] [ 3.69660291e-01 9.29104415e-01 -1.07821282e-02 1.28942395e+01] [ 2.71396939e-02 8.02585807e-04 9.99631328e-01 1.91315411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.06, Y:12.90, Z:1.91 [[ 9.28132626e-01 -3.71276981e-01 -2.68929948e-02 1.40061254e+02] [ 3.71095307e-01 9.28521794e-01 -1.16426725e-02 1.29034454e+01] [ 2.92933881e-02 8.26080047e-04 9.99570515e-01 1.91146552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.09, Y:12.91, Z:1.91 [[ 9.27677669e-01 -3.72355016e-01 -2.76746126e-02 1.40089211e+02] [ 3.72162941e-01 9.28090011e-01 -1.19865016e-02 1.29123061e+01] [ 3.01477655e-02 8.20144688e-04 9.99545116e-01 1.91214665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.11, Y:12.92, Z:1.91 [[ 9.26757270e-01 -3.74611221e-01 -2.80605812e-02 1.40113989e+02] [ 3.74414612e-01 9.27181672e-01 -1.21591968e-02 1.29243878e+01] [ 3.05722282e-02 7.62332390e-04 9.99532269e-01 1.90980437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.770385723 meters Centerline goodness [0,1] 0.999977348404195 Centerline is valid? [True, True] Translation: X:140.14, Y:12.93, Z:1.91 [[ 9.26345755e-01 -3.75658794e-01 -2.76407961e-02 1.40143002e+02] [ 3.75468330e-01 9.26757762e-01 -1.19826420e-02 1.29301095e+01] [ 3.01177072e-02 7.21825981e-04 9.99546098e-01 1.91417381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.800385723 meters Centerline goodness [0,1] 0.9999093566588865 Centerline is valid? [True, True] Translation: X:140.17, Y:12.94, Z:1.92 [[ 9.25708384e-01 -3.77319624e-01 -2.63417728e-02 1.40169455e+02] [ 3.77147104e-01 9.26082873e-01 -1.14268996e-02 1.29408440e+01] [ 2.87062580e-02 6.43253423e-04 9.99587683e-01 1.91584148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.830385723 meters Centerline goodness [0,1] 0.9999319619894315 Centerline is valid? [True, True] Translation: X:140.20, Y:12.95, Z:1.92 [[ 9.25401951e-01 -3.78079370e-01 -2.62148717e-02 1.40195888e+02] [ 3.77908598e-01 9.25772975e-01 -1.13793885e-02 1.29525452e+01] [ 2.85713318e-02 6.23682863e-04 9.99591562e-01 1.91666683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.860385723 meters Centerline goodness [0,1] 0.9999773760774643 Centerline is valid? [True, True] Translation: X:140.22, Y:12.97, Z:1.92 [[ 9.25338352e-01 -3.78239834e-01 -2.61450414e-02 1.40219392e+02] [ 3.78069871e-01 9.25707427e-01 -1.13548087e-02 1.29651602e+01] [ 2.84974999e-02 6.22387511e-04 9.99593670e-01 1.91598448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.25, Y:12.97, Z:1.92 [[ 9.24967439e-01 -3.79175777e-01 -2.57092858e-02 1.40246372e+02] [ 3.79011646e-01 9.25324475e-01 -1.11708513e-02 1.29745335e+01] [ 2.80251476e-02 5.88555010e-04 9.99607045e-01 1.91844437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.27, Y:12.99, Z:1.92 [[ 9.24739748e-01 -3.79758006e-01 -2.53032747e-02 1.40271988e+02] [ 3.79599099e-01 9.25085691e-01 -1.09994744e-02 1.29851811e+01] [ 2.75848358e-02 5.66550928e-04 9.99619305e-01 1.92007330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.950385723 meters Centerline goodness [0,1] 0.9999774347865331 Centerline is valid? [True, True] Translation: X:140.30, Y:13.00, Z:1.92 [[ 9.24775559e-01 -3.79662952e-01 -2.54206390e-02 1.40297993e+02] [ 3.79502403e-01 9.25124700e-01 -1.10550995e-02 1.29968860e+01] [ 2.77144728e-02 5.76292212e-04 9.99615714e-01 1.92045427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.32, Y:13.01, Z:1.92 [[ 9.24766842e-01 -3.79643085e-01 -2.60272053e-02 1.40324263e+02] [ 3.79474566e-01 9.25132840e-01 -1.13262048e-02 1.30094775e+01] [ 2.83785377e-02 5.97436186e-04 9.99597070e-01 1.91992182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.35, Y:13.02, Z:1.92 [[ 9.24741512e-01 -3.79623767e-01 -2.71833101e-02 1.40350152e+02] [ 3.79439700e-01 9.25140744e-01 -1.18371111e-02 1.30216499e+01] [ 2.96420365e-02 6.31840923e-04 9.99560379e-01 1.91930642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.37, Y:13.03, Z:1.92 [[ 9.24928581e-01 -3.79132109e-01 -2.76760489e-02 1.40374643e+02] [ 3.78940923e-01 9.25342317e-01 -1.20571099e-02 1.30343447e+01] [ 3.01810567e-02 6.64377973e-04 9.99544227e-01 1.91961035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07038572300002 meters Centerline goodness [0,1] 0.999932408074982 Centerline is valid? [True, True] Translation: X:140.40, Y:13.05, Z:1.92 [[ 9.24922200e-01 -3.79148403e-01 -2.76660968e-02 1.40399293e+02] [ 3.78957229e-01 9.25335638e-01 -1.20571992e-02 1.30459271e+01] [ 3.01718932e-02 6.67703808e-04 9.99544502e-01 1.91983695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.10038572300002 meters Centerline goodness [0,1] 0.9999547971522206 Centerline is valid? [True, True] Translation: X:140.42, Y:13.06, Z:1.92 [[ 9.24836688e-01 -3.79370514e-01 -2.74793211e-02 1.40424632e+02] [ 3.79181789e-01 9.25244602e-01 -1.19831850e-02 1.30578638e+01] [ 2.99711606e-02 6.62831019e-04 9.99550544e-01 1.92039155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.45, Y:13.07, Z:1.92 [[ 9.24940792e-01 -3.79104374e-01 -2.76478720e-02 1.40448815e+02] [ 3.78913031e-01 9.25353668e-01 -1.20625386e-02 1.30714496e+01] [ 3.01570209e-02 6.80995044e-04 9.99544942e-01 1.92049271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.16038572300002 meters Centerline goodness [0,1] 0.9999774235788143 Centerline is valid? [True, True] Translation: X:140.47, Y:13.08, Z:1.92 [[ 9.24852194e-01 -3.79280987e-01 -2.81842568e-02 1.40474688e+02] [ 3.79082062e-01 9.25281283e-01 -1.23019356e-02 1.30835311e+01] [ 3.07442555e-02 6.93325954e-04 9.99527043e-01 1.92042634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19038572300002 meters Centerline goodness [0,1] 0.9998874684911775 Centerline is valid? [True, True] Translation: X:140.50, Y:13.10, Z:1.92 [[ 9.25013347e-01 -3.78780562e-01 -2.95904307e-02 1.40499174e+02] [ 3.78560850e-01 9.25486209e-01 -1.29213038e-02 1.30962546e+01] [ 3.22798743e-02 7.50599895e-04 9.99478587e-01 1.91923912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.52, Y:13.11, Z:1.92 [[ 9.24930221e-01 -3.78930312e-01 -3.02639255e-02 1.40524752e+02] [ 3.78700464e-01 9.25424893e-01 -1.32183819e-02 1.31084245e+01] [ 3.30158356e-02 7.65118322e-04 9.99454536e-01 1.91912652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.55, Y:13.12, Z:1.92 [[ 9.24767093e-01 -3.79335649e-01 -3.01709884e-02 1.40550608e+02] [ 3.79107217e-01 9.25258827e-01 -1.31841427e-02 1.31203498e+01] [ 3.29171886e-02 7.54221833e-04 9.99457798e-01 1.91989336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.58, Y:13.13, Z:1.92 [[ 9.24703893e-01 -3.79569327e-01 -2.91519431e-02 1.40577243e+02] [ 3.79355918e-01 9.25163010e-01 -1.27472410e-02 1.31309014e+01] [ 3.18087611e-02 7.28461296e-04 9.99493708e-01 1.92207680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.310385723 meters Centerline goodness [0,1] 0.9999775033182605 Centerline is valid? [True, True] Translation: X:140.60, Y:13.14, Z:1.92 [[ 9.24718682e-01 -3.79650961e-01 -2.75772814e-02 1.40603890e+02] [ 3.79459808e-01 9.25129541e-01 -1.20659529e-02 1.31432341e+01] [ 3.00934083e-02 6.93142160e-04 9.99546850e-01 1.92441041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.63, Y:13.15, Z:1.93 [[ 9.24555692e-01 -3.80114594e-01 -2.66396010e-02 1.40631018e+02] [ 3.79936203e-01 9.24939164e-01 -1.16629235e-02 1.31533432e+01] [ 2.90732578e-02 6.61673483e-04 9.99577064e-01 1.92690473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.66, Y:13.17, Z:1.93 [[ 9.24391069e-01 -3.80614554e-01 -2.51736599e-02 1.40655046e+02] [ 3.80455308e-01 9.24733574e-01 -1.10261242e-02 1.31668751e+01] [ 2.74756318e-02 6.14998201e-04 9.99622284e-01 1.92686607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.400385723 meters Centerline goodness [0,1] 0.9999553192440016 Centerline is valid? [True, True] Translation: X:140.68, Y:13.18, Z:1.93 [[ 9.24297113e-01 -3.80860907e-01 -2.48960971e-02 1.40681505e+02] [ 3.80705106e-01 9.24632145e-01 -1.09096250e-02 1.31760851e+01] [ 2.71747813e-02 6.05663652e-04 9.99630514e-01 1.92887737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.71, Y:13.19, Z:1.93 [[ 9.24093170e-01 -3.81404661e-01 -2.41308257e-02 1.40706346e+02] [ 3.81258332e-01 9.24408001e-01 -1.05798200e-02 1.31883246e+01] [ 2.63419210e-02 5.76661017e-04 9.99652825e-01 1.92923783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.73, Y:13.20, Z:1.93 [[ 9.24017884e-01 -3.81622928e-01 -2.35561277e-02 1.40731624e+02] [ 3.81483497e-01 9.24317926e-01 -1.03302083e-02 1.31994082e+01] [ 2.57155954e-02 5.59023299e-04 9.99669143e-01 1.93054275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.76, Y:13.21, Z:1.93 [[ 9.23916375e-01 -3.81868717e-01 -2.35544958e-02 1.40756864e+02] [ 3.81729271e-01 9.24216411e-01 -1.03339281e-02 1.32105693e+01] [ 2.57156554e-02 5.56244839e-04 9.99669143e-01 1.93096124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.78, Y:13.22, Z:1.93 [[ 9.23803178e-01 -3.82166886e-01 -2.31551402e-02 1.40782529e+02] [ 3.82032090e-01 9.24093164e-01 -1.01639643e-02 1.32218425e+01] [ 2.52818373e-02 5.43495949e-04 9.99680216e-01 1.93250043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.550385723 meters Centerline goodness [0,1] 0.9999775900320462 Centerline is valid? [True, True] Translation: X:140.81, Y:13.23, Z:1.93 [[ 9.23594720e-01 -3.82672241e-01 -2.31246237e-02 1.40808339e+02] [ 3.82537852e-01 9.23884014e-01 -1.01548171e-02 1.32340035e+01] [ 2.52504368e-02 5.32891533e-04 9.99681015e-01 1.93223909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.83, Y:13.24, Z:1.93 [[ 9.23400282e-01 -3.83141909e-01 -2.31127124e-02 1.40834717e+02] [ 3.83007620e-01 9.23689342e-01 -1.01569178e-02 1.32443066e+01] [ 2.52405070e-02 5.26555812e-04 9.99681269e-01 1.93310789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.610385723 meters Centerline goodness [0,1] 0.999910342045098 Centerline is valid? [True, True] Translation: X:140.86, Y:13.26, Z:1.93 [[ 9.23313776e-01 -3.83291162e-01 -2.40739888e-02 1.40861288e+02] [ 3.83145319e-01 9.23627404e-01 -1.05869150e-02 1.32559856e+01] [ 2.62932667e-02 5.51208347e-04 9.99654120e-01 1.93236673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.640385723 meters Centerline goodness [0,1] 0.9999776080969122 Centerline is valid? [True, True] Translation: X:140.89, Y:13.27, Z:1.93 [[ 9.23327148e-01 -3.83201677e-01 -2.49690347e-02 1.40887861e+02] [ 3.83044557e-01 9.23664515e-01 -1.09877221e-02 1.32669870e+01] [ 2.72735249e-02 5.81009216e-04 9.99627839e-01 1.93261641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.91, Y:13.28, Z:1.93 [[ 9.23375305e-01 -3.83074355e-01 -2.51412990e-02 1.40913667e+02] [ 3.82914872e-01 9.23717320e-01 -1.10686072e-02 1.32782017e+01] [ 2.74635529e-02 5.93501232e-04 9.99622629e-01 1.93225317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.94, Y:13.29, Z:1.93 [[ 9.23311082e-01 -3.83268236e-01 -2.45378360e-02 1.40939491e+02] [ 3.83116257e-01 9.23636901e-01 -1.08077896e-02 1.32882643e+01] [ 2.68063333e-02 5.78108021e-04 9.99640479e-01 1.93384478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.97, Y:13.30, Z:1.94 [[ 9.23227891e-01 -3.83594776e-01 -2.24790558e-02 1.40966287e+02] [ 3.83467167e-01 9.23501364e-01 -9.90769149e-03 1.32985223e+01] [ 2.45599774e-02 5.27077277e-04 9.99698219e-01 1.93611326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.99, Y:13.31, Z:1.94 [[ 9.23221873e-01 -3.83611122e-01 -2.24472849e-02 1.40991430e+02] [ 3.83483747e-01 9.23494573e-01 -9.89898044e-03 1.33095410e+01] [ 2.45273048e-02 5.30786310e-04 9.99699019e-01 1.93739668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.790385723 meters Centerline goodness [0,1] 0.9999327520118356 Centerline is valid? [True, True] Translation: X:141.02, Y:13.32, Z:1.94 [[ 9.23327986e-01 -3.83379356e-01 -2.20386111e-02 1.41017927e+02] [ 3.83256399e-01 9.23590811e-01 -9.72343663e-03 1.33193281e+01] [ 2.40824235e-02 5.31482433e-04 9.99709835e-01 1.93935482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.82038572300002 meters Centerline goodness [0,1] 0.9999326448136506 Centerline is valid? [True, True] Translation: X:141.04, Y:13.33, Z:1.94 [[ 9.23415296e-01 -3.83171312e-01 -2.19985898e-02 1.41044462e+02] [ 3.83048575e-01 9.23677136e-01 -9.71273145e-03 1.33309518e+01] [ 2.40412345e-02 5.42356282e-04 9.99710821e-01 1.93976866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85038572300002 meters Centerline goodness [0,1] 0.9999327007201023 Centerline is valid? [True, True] Translation: X:141.07, Y:13.34, Z:1.94 [[ 9.23586476e-01 -3.82762636e-01 -2.19268499e-02 1.41069104e+02] [ 3.82640467e-01 9.23846554e-01 -9.68592399e-03 1.33430173e+01] [ 2.39644545e-02 5.55688330e-04 9.99712657e-01 1.93933662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.10, Y:13.35, Z:1.94 [[ 9.23759708e-01 -3.82310748e-01 -2.25053945e-02 1.41095768e+02] [ 3.82181814e-01 9.24033629e-01 -9.94548607e-03 1.33549956e+01] [ 2.45980076e-02 5.86086806e-04 9.99697251e-01 1.93832989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91038572300002 meters Centerline goodness [0,1] 0.9999325281694892 Centerline is valid? [True, True] Translation: X:141.12, Y:13.36, Z:1.94 [[ 9.23382520e-01 -3.83167901e-01 -2.33897725e-02 1.41121608e+02] [ 3.83028718e-01 9.23678520e-01 -1.03437056e-02 1.33649188e+01] [ 2.55680064e-02 5.92242407e-04 9.99672910e-01 1.93842656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.15, Y:13.38, Z:1.94 [[ 9.23038811e-01 -3.83986679e-01 -2.35283669e-02 1.41148117e+02] [ 3.83845914e-01 9.23338450e-01 -1.04124970e-02 1.33755665e+01] [ 2.57229060e-02 5.79871352e-04 9.99668943e-01 1.93903359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97038572300002 meters Centerline goodness [0,1] 0.9999102998228422 Centerline is valid? [True, True] Translation: X:141.17, Y:13.39, Z:1.94 [[ 9.22782255e-01 -3.84632037e-01 -2.30457381e-02 1.41171619e+02] [ 3.84497066e-01 9.23069817e-01 -1.02038510e-02 1.33910624e+01] [ 2.51975533e-02 5.54913901e-04 9.99682337e-01 1.93745841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.000385723 meters Centerline goodness [0,1] 0.9999099950497278 Centerline is valid? [True, True] Translation: X:141.20, Y:13.40, Z:1.94 [[ 9.22514207e-01 -3.85304429e-01 -2.25396375e-02 1.41200370e+02] [ 3.85175430e-01 9.22789368e-01 -9.98353048e-03 1.33983394e+01] [ 2.46460364e-02 5.28234146e-04 9.99696101e-01 1.94038625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.030385723 meters Centerline goodness [0,1] 0.9998875697067818 Centerline is valid? [True, True] Translation: X:141.23, Y:13.41, Z:1.94 [[ 9.22401011e-01 -3.85595922e-01 -2.21846753e-02 1.41226316e+02] [ 3.85470880e-01 9.22667609e-01 -9.83283370e-03 1.34091434e+01] [ 2.42605819e-02 5.18269447e-04 9.99705534e-01 1.94123514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.060385723 meters Centerline goodness [0,1] 0.9999775235440875 Centerline is valid? [True, True] Translation: X:141.25, Y:13.42, Z:1.94 [[ 9.22109345e-01 -3.86309760e-01 -2.18889163e-02 1.41252481e+02] [ 3.86188089e-01 9.22368972e-01 -9.70766198e-03 1.34210414e+01] [ 2.39398218e-02 4.98287091e-04 9.99713277e-01 1.94107150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.28, Y:13.43, Z:1.94 [[ 9.21867033e-01 -3.86890659e-01 -2.18355474e-02 1.41278347e+02] [ 3.86769627e-01 9.22125469e-01 -9.68888547e-03 1.34320144e+01] [ 2.38836536e-02 4.86537610e-04 9.99714626e-01 1.94170451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.120385723 meters Centerline goodness [0,1] 0.9999549133208594 Centerline is valid? [True, True] Translation: X:141.31, Y:13.44, Z:1.94 [[ 9.21378896e-01 -3.88094272e-01 -2.10657771e-02 1.41305344e+02] [ 3.87981786e-01 9.21619573e-01 -9.35393115e-03 1.34414680e+01] [ 2.30448396e-02 4.45376922e-04 9.99734333e-01 1.94283773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.150385723 meters Centerline goodness [0,1] 0.9999325190633646 Centerline is valid? [True, True] Translation: X:141.33, Y:13.45, Z:1.94 [[ 9.21208848e-01 -3.88506706e-01 -2.08996952e-02 1.41331140e+02] [ 3.88395976e-01 9.21445793e-01 -9.28533260e-03 1.34533230e+01] [ 2.28653502e-02 4.36373043e-04 9.99738458e-01 1.94307922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.36, Y:13.46, Z:1.94 [[ 9.21176211e-01 -3.88608754e-01 -2.04358789e-02 1.41357388e+02] [ 3.88502811e-01 9.21402764e-01 -9.08364474e-03 1.34625911e+01] [ 2.23596592e-02 4.28241030e-04 9.99749900e-01 1.94485437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.38, Y:13.47, Z:1.95 [[ 9.21144312e-01 -3.88710583e-01 -1.99308649e-02 1.41383137e+02] [ 3.88609691e-01 9.21359813e-01 -8.86582418e-03 1.34743394e+01] [ 2.18097376e-02 4.21376265e-04 9.99762051e-01 1.94532915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.41, Y:13.49, Z:1.95 [[ 9.20677769e-01 -3.89889924e-01 -1.83927602e-02 1.41409445e+02] [ 3.89804126e-01 9.20861397e-01 -8.18726321e-03 1.34858236e+01] [ 2.01293142e-02 3.68257420e-04 9.99797317e-01 1.94564074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.44, Y:13.50, Z:1.95 [[ 9.20140003e-01 -3.91195426e-01 -1.75645430e-02 1.41436252e+02] [ 3.91117324e-01 9.20307574e-01 -7.82353869e-03 1.34968522e+01] [ 1.92253145e-02 3.28953859e-04 9.99815122e-01 1.94620381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.46, Y:13.51, Z:1.95 [[ 9.19178180e-01 -3.93527974e-01 -1.57228411e-02 1.41462857e+02] [ 3.93465669e-01 9.19312607e-01 -7.00699557e-03 1.35061085e+01] [ 1.72116548e-02 2.54279233e-04 9.99851836e-01 1.94783852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.49, Y:13.52, Z:1.95 [[ 9.18919999e-01 -3.94134929e-01 -1.56106529e-02 1.41488455e+02] [ 3.94073564e-01 9.19052555e-01 -6.95896576e-03 1.35165776e+01] [ 1.70897819e-02 2.42987166e-04 9.99853929e-01 1.94857913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.360385723 meters Centerline goodness [0,1] 0.999977458184933 Centerline is valid? [True, True] Translation: X:141.51, Y:13.53, Z:1.95 [[ 9.18841531e-01 -3.94325657e-01 -1.54115969e-02 1.41513055e+02] [ 3.94265796e-01 9.18970739e-01 -6.87487083e-03 1.35270578e+01] [ 1.68737445e-02 2.40651332e-04 9.99857599e-01 1.94911229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.390385723 meters Centerline goodness [0,1] 0.9999101204386123 Centerline is valid? [True, True] Translation: X:141.54, Y:13.54, Z:1.95 [[ 9.18862438e-01 -3.94253180e-01 -1.60077829e-02 1.41539217e+02] [ 3.94188539e-01 9.19001831e-01 -7.14356218e-03 1.35383549e+01] [ 1.75275539e-02 2.53866427e-04 9.99846348e-01 1.94819687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.420385723 meters Centerline goodness [0,1] 0.9999550288939356 Centerline is valid? [True, True] Translation: X:141.56, Y:13.55, Z:1.95 [[ 9.19369546e-01 -3.93055642e-01 -1.63370888e-02 1.41562868e+02] [ 3.92988036e-01 9.19514644e-01 -7.29548534e-03 1.35539863e+01] [ 1.78897240e-02 2.86966619e-04 9.99839925e-01 1.94579393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.59, Y:13.57, Z:1.95 [[ 9.19366693e-01 -3.93034411e-01 -1.69951563e-02 1.41589029e+02] [ 3.92961198e-01 9.19523714e-01 -7.59184857e-03 1.35652217e+01] [ 1.86113070e-02 3.01255748e-04 9.99826749e-01 1.94614777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.480385723 meters Centerline goodness [0,1] 0.9999552372426141 Centerline is valid? [True, True] Translation: X:141.61, Y:13.58, Z:1.95 [[ 9.19332173e-01 -3.93120353e-01 -1.68743755e-02 1.41613407e+02] [ 3.93048100e-01 9.19486975e-01 -7.54279599e-03 1.35779808e+01] [ 1.84809951e-02 3.01893780e-04 9.99829166e-01 1.94631676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.64, Y:13.59, Z:1.95 [[ 9.18915654e-01 -3.94121560e-01 -1.61931334e-02 1.41641010e+02] [ 3.94055134e-01 9.19058280e-01 -7.24083993e-03 1.35871333e+01] [ 1.77362045e-02 2.72733791e-04 9.99842664e-01 1.94901667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.540385723 meters Centerline goodness [0,1] 0.9999552282241275 Centerline is valid? [True, True] Translation: X:141.67, Y:13.60, Z:1.95 [[ 9.18745005e-01 -3.94558275e-01 -1.52112896e-02 1.41666621e+02] [ 3.94499655e-01 9.18870886e-01 -6.80572232e-03 1.35991820e+01] [ 1.66624652e-02 2.51874888e-04 9.99861140e-01 1.95014737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.69, Y:13.61, Z:1.95 [[ 9.18215211e-01 -3.95847041e-01 -1.36362212e-02 1.41693091e+02] [ 3.95800057e-01 9.18316436e-01 -6.10222989e-03 1.36107579e+01] [ 1.49379157e-02 2.05943153e-04 9.99888402e-01 1.95101936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.72, Y:13.62, Z:1.95 [[ 9.18012173e-01 -3.96329218e-01 -1.32966762e-02 1.41718093e+02] [ 3.96284541e-01 9.18108443e-01 -5.95403381e-03 1.36224929e+01] [ 1.45675482e-02 1.96608297e-04 9.99893868e-01 1.95132402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63038572300002 meters Centerline goodness [0,1] 0.9999775724410155 Centerline is valid? [True, True] Translation: X:141.74, Y:13.63, Z:1.95 [[ 9.17675080e-01 -3.97126880e-01 -1.27549452e-02 1.41743167e+02] [ 3.97085786e-01 9.17763700e-01 -5.71572777e-03 1.36347927e+01] [ 1.39758948e-02 1.80373514e-04 9.99902316e-01 1.95198962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.66038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.77, Y:13.65, Z:1.95 [[ 9.17423687e-01 -3.97725623e-01 -1.21699536e-02 1.41769068e+02] [ 3.97688255e-01 9.17504388e-01 -5.45437118e-03 1.36459202e+01] [ 1.33353290e-02 1.64121719e-04 9.99911067e-01 1.95245557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.80, Y:13.66, Z:1.95 [[ 9.16645557e-01 -3.99510757e-01 -1.23319897e-02 1.41795119e+02] [ 3.99472487e-01 9.16728495e-01 -5.53152254e-03 1.36567785e+01] [ 1.35149891e-02 1.44154959e-04 9.99908658e-01 1.95296295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.82, Y:13.67, Z:1.95 [[ 9.16172803e-01 -4.00582631e-01 -1.26866556e-02 1.41820912e+02] [ 4.00542212e-01 9.16260628e-01 -5.69196199e-03 1.36678657e+01] [ 1.39043842e-02 1.33279660e-04 9.99903320e-01 1.95350791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.85, Y:13.68, Z:1.95 [[ 9.15156171e-01 -4.02870654e-01 -1.35801212e-02 1.41847568e+02] [ 4.02824571e-01 9.15256917e-01 -6.09426741e-03 1.36791443e+01] [ 1.48845014e-02 1.06799921e-04 9.99889214e-01 1.95258251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.87, Y:13.69, Z:1.95 [[ 9.14832241e-01 -4.03593169e-01 -1.39472176e-02 1.41871528e+02] [ 4.03544582e-01 9.14938546e-01 -6.26314595e-03 1.36908216e+01] [ 1.52886099e-02 1.01403746e-04 9.99883117e-01 1.95209078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.90, Y:13.70, Z:1.95 [[ 9.14331913e-01 -4.04711954e-01 -1.43313158e-02 1.41898090e+02] [ 4.04660756e-01 9.14444217e-01 -6.43783022e-03 1.37007643e+01] [ 1.57106557e-02 8.69925540e-05 9.99876576e-01 1.95266282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.92, Y:13.71, Z:1.95 [[ 9.14130305e-01 -4.05176614e-01 -1.40605040e-02 1.41924327e+02] [ 4.05127318e-01 9.14238429e-01 -6.32069102e-03 1.37120408e+01] [ 1.54156492e-02 8.16409435e-05 9.99881168e-01 1.95348046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.95, Y:13.72, Z:1.95 [[ 9.13942970e-01 -4.05631224e-01 -1.30979960e-02 1.41948465e+02] [ 4.05588433e-01 9.14036818e-01 -5.89218121e-03 1.37234408e+01] [ 1.43621033e-02 7.27219133e-05 9.99896857e-01 1.95411377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.97, Y:13.74, Z:1.95 [[ 9.13720397e-01 -4.06140487e-01 -1.28429191e-02 1.41973779e+02] [ 4.06099375e-01 9.13810648e-01 -5.77905691e-03 1.37351875e+01] [ 1.40831052e-02 6.49407535e-05 9.99900826e-01 1.95447237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.00, Y:13.75, Z:1.96 [[ 9.13869860e-01 -4.05839801e-01 -1.16591120e-02 1.41998722e+02] [ 4.05805848e-01 9.13944228e-01 -5.24996250e-03 1.37467236e+01] [ 1.27864219e-02 6.64466416e-05 9.99918248e-01 1.95612230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.02, Y:13.76, Z:1.96 [[ 9.13957658e-01 -4.05659248e-01 -1.10441462e-02 1.42024769e+02] [ 4.05628746e-01 9.14024381e-01 -4.97501480e-03 1.37577808e+01] [ 1.21127797e-02 6.71296857e-05 9.99926635e-01 1.95719365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.990385723 meters Centerline goodness [0,1] 0.9999553800504205 Centerline is valid? [True, True] Translation: X:142.05, Y:13.77, Z:1.96 [[ 9.14104254e-01 -4.05339043e-01 -1.06617526e-02 1.42049635e+02] [ 4.05310546e-01 9.14166426e-01 -4.80687578e-03 1.37700351e+01] [ 1.16950307e-02 7.26648269e-05 9.99931608e-01 1.95830951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.08, Y:13.78, Z:1.96 [[ 9.14530322e-01 -4.04371368e-01 -1.08668005e-02 1.42075667e+02] [ 4.04341689e-01 9.14594877e-01 -4.89990542e-03 1.37822793e+01] [ 1.19201015e-02 8.72116007e-05 9.99928949e-01 1.95736703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.10, Y:13.79, Z:1.96 [[ 9.14710728e-01 -4.03961591e-01 -1.09231870e-02 1.42100612e+02] [ 4.03931530e-01 9.14775942e-01 -4.92909671e-03 1.37942812e+01] [ 1.19834344e-02 9.64780279e-05 9.99928191e-01 1.95749061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.13, Y:13.81, Z:1.96 [[ 9.14977778e-01 -4.03330461e-01 -1.18408645e-02 1.42126356e+02] [ 4.03295071e-01 9.15054384e-01 -5.34408251e-03 1.38050834e+01] [ 1.29904662e-02 1.14354461e-04 9.99915614e-01 1.95656909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.15, Y:13.82, Z:1.96 [[ 9.15100254e-01 -4.03042898e-01 -1.21633971e-02 1.42151479e+02] [ 4.03005472e-01 9.15181079e-01 -5.49383906e-03 1.38174963e+01] [ 1.33459637e-02 1.25497935e-04 9.99910931e-01 1.95594026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.18, Y:13.83, Z:1.95 [[ 9.15496078e-01 -4.02115704e-01 -1.30342990e-02 1.42176590e+02] [ 4.02072566e-01 9.15588847e-01 -5.89186314e-03 1.38319558e+01] [ 1.43032695e-02 1.53243562e-04 9.99897691e-01 1.95279842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.20, Y:13.84, Z:1.95 [[ 9.15810822e-01 -4.01378762e-01 -1.36245026e-02 1.42202219e+02] [ 4.01331487e-01 9.15912145e-01 -6.16274535e-03 1.38443995e+01] [ 1.49524425e-02 1.75966997e-04 9.99888190e-01 1.95175239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.23, Y:13.86, Z:1.95 [[ 9.16571200e-01 -3.99595553e-01 -1.48536143e-02 1.42227506e+02] [ 3.99539055e-01 9.16691520e-01 -6.72318906e-03 1.38564931e+01] [ 1.63027387e-02 2.27682456e-04 9.99867076e-01 1.95138143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.25, Y:13.87, Z:1.95 [[ 9.16726697e-01 -3.99233299e-01 -1.49978715e-02 1.42254409e+02] [ 3.99175621e-01 9.16849342e-01 -6.79025278e-03 1.38679054e+01] [ 1.64616836e-02 2.38021350e-04 9.99864469e-01 1.95279226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.260385723 meters Centerline goodness [0,1] 0.9999774434394244 Centerline is valid? [True, True] Translation: X:142.28, Y:13.88, Z:1.95 [[ 9.16873211e-01 -3.98918586e-01 -1.44040360e-02 1.42281563e+02] [ 3.98865284e-01 9.16986317e-01 -6.52534150e-03 1.38790384e+01] [ 1.58113839e-02 2.37640893e-04 9.99874964e-01 1.95484466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.31, Y:13.89, Z:1.95 [[ 9.17021801e-01 -3.98596434e-01 -1.38527467e-02 1.42305866e+02] [ 3.98547040e-01 9.17126396e-01 -6.27936715e-03 1.38917013e+01] [ 1.52076530e-02 2.37345393e-04 9.99884329e-01 1.95498606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.33, Y:13.90, Z:1.96 [[ 9.17072063e-01 -3.98503923e-01 -1.31702374e-02 1.42331520e+02] [ 3.98459247e-01 9.17166600e-01 -5.97135105e-03 1.39038733e+01] [ 1.44589087e-02 2.28356337e-04 9.99895438e-01 1.95504222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35038572300002 meters Centerline goodness [0,1] 0.9999548970525224 Centerline is valid? [True, True] Translation: X:142.36, Y:13.92, Z:1.95 [[ 9.17394677e-01 -3.97799928e-01 -1.19258148e-02 1.42356088e+02] [ 3.97763186e-01 9.17472163e-01 -5.41098382e-03 1.39181187e+01] [ 1.30940921e-02 2.20357650e-04 9.99914244e-01 1.95492741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38038572300002 meters Centerline goodness [0,1] 0.9999551156893108 Centerline is valid? [True, True] Translation: X:142.38, Y:13.93, Z:1.96 [[ 9.17361741e-01 -3.97878825e-01 -1.18269183e-02 1.42382151e+02] [ 3.97842678e-01 9.17437950e-01 -5.36755269e-03 1.39295308e+01] [ 1.29860993e-02 2.18734611e-04 9.99915653e-01 1.95560256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41038572300002 meters Centerline goodness [0,1] 0.9999551156893108 Centerline is valid? [True, True] Translation: X:142.41, Y:13.94, Z:1.96 [[ 9.17251701e-01 -3.98132485e-01 -1.18254374e-02 1.42407249e+02] [ 3.98096317e-01 9.17327900e-01 -5.37081329e-03 1.39410166e+01] [ 1.29860989e-02 2.18724561e-04 9.99915653e-01 1.95601985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.43, Y:13.95, Z:1.96 [[ 9.17053722e-01 -3.98596626e-01 -1.15412742e-02 1.42433614e+02] [ 3.98562159e-01 9.17126319e-01 -5.24601842e-03 1.39510845e+01] [ 1.26758515e-02 2.10965566e-04 9.99919636e-01 1.95843707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47038572300002 meters Centerline goodness [0,1] 0.9999774454744345 Centerline is valid? [True, True] Translation: X:142.46, Y:13.96, Z:1.96 [[ 9.16779397e-01 -3.99230481e-01 -1.14262988e-02 1.42459564e+02] [ 3.99196738e-01 9.16850578e-01 -5.19438204e-03 1.39608843e+01] [ 1.25499643e-02 2.00761241e-04 9.99921226e-01 1.95994409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.48, Y:13.97, Z:1.96 [[ 9.16496846e-01 -3.99885884e-01 -1.11718599e-02 1.42484929e+02] [ 3.99853627e-01 9.16564915e-01 -5.08275058e-03 1.39736106e+01] [ 1.22722550e-02 1.91216184e-04 9.99924675e-01 1.96096558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.530385723 meters Centerline goodness [0,1] 0.9999549985374525 Centerline is valid? [True, True] Translation: X:142.51, Y:13.99, Z:1.96 [[ 9.16428597e-01 -4.00035462e-01 -1.14129764e-02 1.42510104e+02] [ 4.00001791e-01 9.16499641e-01 -5.19386543e-03 1.39862770e+01] [ 1.25377192e-02 1.94595802e-04 9.99921381e-01 1.96040742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.53, Y:14.00, Z:1.96 [[ 9.16552661e-01 -3.99718094e-01 -1.25165533e-02 1.42534077e+02] [ 3.99677501e-01 9.16638094e-01 -5.70082999e-03 1.40006984e+01] [ 1.37518745e-02 2.22526153e-04 9.99905414e-01 1.95810198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.56, Y:14.01, Z:1.96 [[ 9.16527951e-01 -3.99764053e-01 -1.28537124e-02 1.42558075e+02] [ 3.99721231e-01 9.16618050e-01 -5.85558399e-03 1.40128719e+01] [ 1.41227968e-02 2.28904644e-04 9.99900242e-01 1.95798086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.58, Y:14.02, Z:1.96 [[ 9.16569297e-01 -3.99679159e-01 -1.25416781e-02 1.42583726e+02] [ 3.99638349e-01 9.16655070e-01 -5.71591343e-03 1.40237440e+01] [ 1.37809243e-02 2.26895237e-04 9.99905013e-01 1.95904911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.61, Y:14.04, Z:1.96 [[ 9.16701533e-01 -3.99371108e-01 -1.26892577e-02 1.42609864e+02] [ 3.99329244e-01 9.16789322e-01 -5.78734500e-03 1.40361643e+01] [ 1.39446744e-02 2.38076352e-04 9.99902740e-01 1.95980931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.64, Y:14.05, Z:1.96 [[ 9.16926280e-01 -3.98846922e-01 -1.29355952e-02 1.42635710e+02] [ 3.98803312e-01 9.17017485e-01 -5.90339269e-03 1.40494558e+01] [ 1.42167169e-02 2.54217700e-04 9.99898905e-01 1.95936159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.66, Y:14.06, Z:1.96 [[ 9.16851127e-01 -3.99013314e-01 -1.31295964e-02 1.42659080e+02] [ 3.98968348e-01 9.16945096e-01 -5.99571700e-03 1.40625579e+01] [ 1.44314899e-02 2.58886500e-04 9.99895827e-01 1.95969718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.68, Y:14.07, Z:1.96 [[ 9.16952512e-01 -3.98783112e-01 -1.30430090e-02 1.42684108e+02] [ 3.98738652e-01 9.17045233e-01 -5.96055437e-03 1.40749057e+01] [ 1.43379976e-02 2.64793488e-04 9.99897171e-01 1.96022793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.71, Y:14.08, Z:1.96 [[ 9.16981491e-01 -3.98692018e-01 -1.37702447e-02 1.42710685e+02] [ 3.98642430e-01 9.17084835e-01 -6.29432692e-03 1.40847404e+01] [ 1.51379805e-02 2.82377493e-04 9.99885374e-01 1.96100367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.800385723 meters Centerline goodness [0,1] 0.9999776979861281 Centerline is valid? [True, True] Translation: X:142.73, Y:14.10, Z:1.96 [[ 9.17127626e-01 -3.98368679e-01 -1.33908079e-02 1.42734524e+02] [ 3.98321687e-01 9.17225335e-01 -6.12521310e-03 1.40992800e+01] [ 1.47224813e-02 2.83752966e-04 9.99891578e-01 1.96107503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.76, Y:14.11, Z:1.96 [[ 9.17149201e-01 -3.98321585e-01 -1.33138482e-02 1.42760234e+02] [ 3.98275072e-01 9.17245786e-01 -6.09381140e-03 1.41109911e+01] [ 1.46393678e-02 2.86360413e-04 9.99892798e-01 1.96068061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.78, Y:14.12, Z:1.96 [[ 9.17259268e-01 -3.98065783e-01 -1.33816152e-02 1.42784517e+02] [ 3.98018700e-01 9.17356825e-01 -6.12941004e-03 1.41247554e+01] [ 1.47156245e-02 2.96125078e-04 9.99891675e-01 1.95976276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.890385723 meters Centerline goodness [0,1] 0.9999775809886784 Centerline is valid? [True, True] Translation: X:142.81, Y:14.14, Z:1.96 [[ 9.17362040e-01 -3.97791100e-01 -1.44612641e-02 1.42809277e+02] [ 3.97736053e-01 9.17475958e-01 -6.62553522e-03 1.41389308e+01] [ 1.59034411e-02 3.26248390e-04 9.99873479e-01 1.95776070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.920385723 meters Centerline goodness [0,1] 0.9999554754112959 Centerline is valid? [True, True] Translation: X:142.83, Y:14.15, Z:1.96 [[ 9.17406170e-01 -3.97655760e-01 -1.53562716e-02 1.42834554e+02] [ 3.97593641e-01 9.17534617e-01 -7.03723868e-03 1.41503647e+01] [ 1.68883093e-02 3.50450254e-04 9.99857321e-01 1.95743808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.950385723 meters Centerline goodness [0,1] 0.9999329309188464 Centerline is valid? [True, True] Translation: X:142.86, Y:14.16, Z:1.96 [[ 9.16905138e-01 -3.98734695e-01 -1.71933203e-02 1.42862072e+02] [ 3.98656965e-01 9.17066249e-01 -7.88162556e-03 1.41604631e+01] [ 1.89100913e-02 3.72466070e-04 9.99821119e-01 1.95655487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.89, Y:14.17, Z:1.96 [[ 9.16589657e-01 -3.99442130e-01 -1.75893611e-02 1.42887509e+02] [ 3.99360823e-01 9.16758337e-01 -8.06755488e-03 1.41721320e+01] [ 1.93477148e-02 3.70135622e-04 9.99812747e-01 1.95711580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.010385723 meters Centerline goodness [0,1] 0.9998444617264748 Centerline is valid? [True, True] Translation: X:142.91, Y:14.18, Z:1.96 [[ 9.15832351e-01 -4.01198740e-01 -1.70492067e-02 1.42914145e+02] [ 4.01122612e-01 9.15990975e-01 -7.82204823e-03 1.41836803e+01] [ 1.87551153e-02 3.24862499e-04 9.99824055e-01 1.95572171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.040385723 meters Centerline goodness [0,1] 0.9999777515740761 Centerline is valid? [True, True] Translation: X:142.94, Y:14.20, Z:1.96 [[ 9.15619277e-01 -4.01728426e-01 -1.59878177e-02 1.42938611e+02] [ 4.01661496e-01 9.15758802e-01 -7.33893293e-03 1.41970545e+01] [ 1.75892427e-02 2.97977694e-04 9.99845253e-01 1.95907259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07038572300002 meters Centerline goodness [0,1] 0.9999777347315922 Centerline is valid? [True, True] Translation: X:142.97, Y:14.21, Z:1.96 [[ 9.14828173e-01 -4.03531886e-01 -1.58565608e-02 1.42966545e+02] [ 4.03466286e-01 9.14965545e-01 -7.28064652e-03 1.42065366e+01] [ 1.74461798e-02 2.62952871e-04 9.99847769e-01 1.95963962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10038572300002 meters Centerline goodness [0,1] 0.9999777693795434 Centerline is valid? [True, True] Translation: X:142.99, Y:14.22, Z:1.96 [[ 9.14380706e-01 -4.04516521e-01 -1.65622460e-02 1.42992268e+02] [ 4.04445031e-01 9.14530654e-01 -7.60919262e-03 1.42180405e+01] [ 1.82247258e-02 2.59180822e-04 9.99833882e-01 1.95994055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.02, Y:14.23, Z:1.96 [[ 9.13871853e-01 -4.05600989e-01 -1.80575442e-02 1.43017856e+02] [ 4.05516178e-01 9.14050201e-01 -8.29817545e-03 1.42302727e+01] [ 1.98712501e-02 2.60842656e-04 9.99802513e-01 1.95906616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.16038572300002 meters Centerline goodness [0,1] 0.9999555407358008 Centerline is valid? [True, True] Translation: X:143.04, Y:14.24, Z:1.96 [[ 9.13505689e-01 -4.06412188e-01 -1.83436662e-02 1.43044735e+02] [ 4.06324773e-01 9.13689811e-01 -8.43255889e-03 1.42393188e+01] [ 2.01875156e-02 2.49704507e-04 9.99796180e-01 1.96016323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.07, Y:14.25, Z:1.96 [[ 9.12904499e-01 -4.07701045e-01 -1.96273513e-02 1.43070727e+02] [ 4.07601118e-01 9.13115436e-01 -9.02941586e-03 1.42492460e+01] [ 2.16033397e-02 2.42864044e-04 9.99766591e-01 1.96075461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.10, Y:14.26, Z:1.96 [[ 9.12677191e-01 -4.08181549e-01 -2.02031861e-02 1.43095113e+02] [ 4.08075660e-01 9.12900741e-01 -9.30008645e-03 1.42609130e+01] [ 2.22396272e-02 2.43548281e-04 9.99752639e-01 1.96060592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.250385723 meters Centerline goodness [0,1] 0.999977666607111 Centerline is valid? [True, True] Translation: X:143.12, Y:14.27, Z:1.96 [[ 9.12466460e-01 -4.08628873e-01 -2.06737410e-02 1.43121227e+02] [ 4.08518008e-01 9.12700600e-01 -9.52111980e-03 1.42723650e+01] [ 2.27595402e-02 2.42106992e-04 9.99740939e-01 1.96122437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.15, Y:14.28, Z:1.96 [[ 9.12225894e-01 -4.09215830e-01 -1.96550897e-02 1.43147907e+02] [ 4.09115623e-01 9.12437590e-01 -9.05821154e-03 1.42843968e+01] [ 2.16408063e-02 2.21930829e-04 9.99765786e-01 1.96250466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.17, Y:14.30, Z:1.96 [[ 9.12298596e-01 -4.09147716e-01 -1.75902908e-02 1.43173345e+02] [ 4.09067368e-01 9.12468139e-01 -8.11070413e-03 1.42965530e+01] [ 1.93690560e-02 2.03770040e-04 9.99812381e-01 1.96415237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.20, Y:14.31, Z:1.97 [[ 9.12336155e-01 -4.09090523e-01 -1.69612703e-02 1.43198347e+02] [ 4.09015770e-01 9.12493783e-01 -7.82278946e-03 1.43079795e+01] [ 1.86772827e-02 1.99586621e-04 9.99825544e-01 1.96526994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.22, Y:14.32, Z:1.97 [[ 9.12482471e-01 -4.08748944e-01 -1.73216815e-02 1.43223321e+02] [ 4.08670850e-01 9.12646840e-01 -7.99258777e-03 1.43194368e+01] [ 1.90755397e-02 2.14229941e-04 9.99818022e-01 1.96610038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.400385723 meters Centerline goodness [0,1] 0.9999776461383704 Centerline is valid? [True, True] Translation: X:143.25, Y:14.33, Z:1.97 [[ 9.12670980e-01 -4.08322129e-01 -1.74562919e-02 1.43249027e+02] [ 4.08242691e-01 9.12837876e-01 -8.05718322e-03 1.43320512e+01] [ 1.92246906e-02 2.27153746e-04 9.99815163e-01 1.96635211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.27, Y:14.35, Z:1.97 [[ 9.13244810e-01 -4.07029103e-01 -1.76416264e-02 1.43274315e+02] [ 4.06947628e-01 9.13415153e-01 -8.14783531e-03 1.43463619e+01] [ 1.94305350e-02 2.61750280e-04 9.99811175e-01 1.96572041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.30, Y:14.36, Z:1.97 [[ 9.13481818e-01 -4.06499491e-01 -1.75821780e-02 1.43299660e+02] [ 4.06418382e-01 9.13650966e-01 -8.12470904e-03 1.43587859e+01] [ 1.93666640e-02 2.76053654e-04 9.99812410e-01 1.96581805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.33, Y:14.37, Z:1.97 [[ 9.13714890e-01 -4.06010737e-01 -1.67446179e-02 1.43325787e+02] [ 4.05937050e-01 9.13868265e-01 -7.73986333e-03 1.43712246e+01] [ 1.84448426e-02 2.74767566e-04 9.99829842e-01 1.96755909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.520385723 meters Centerline goodness [0,1] 0.9999552822806037 Centerline is valid? [True, True] Translation: X:143.35, Y:14.38, Z:1.97 [[ 9.13631096e-01 -4.06206364e-01 -1.65713456e-02 1.43350020e+02] [ 4.06134144e-01 9.13781328e-01 -7.66428870e-03 1.43830735e+01] [ 1.82558690e-02 2.72143232e-04 9.99833311e-01 1.96854305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.550385723 meters Centerline goodness [0,1] 0.9999553431876033 Centerline is valid? [True, True] Translation: X:143.38, Y:14.40, Z:1.97 [[ 9.13545232e-01 -4.06392816e-01 -1.67328384e-02 1.43375885e+02] [ 4.06319139e-01 9.13698420e-01 -7.74302086e-03 1.43950927e+01] [ 1.84354761e-02 2.74727289e-04 9.99830014e-01 1.96921152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.580385723 meters Centerline goodness [0,1] 0.9999775819938574 Centerline is valid? [True, True] Translation: X:143.40, Y:14.40, Z:1.97 [[ 9.13242752e-01 -4.07050257e-01 -1.72558610e-02 1.43402090e+02] [ 4.06971910e-01 9.13405722e-01 -7.99077152e-03 1.44048181e+01] [ 1.90142478e-02 2.74863454e-04 9.99819175e-01 1.96984646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.610385723 meters Centerline goodness [0,1] 0.9999776296362579 Centerline is valid? [True, True] Translation: X:143.43, Y:14.42, Z:1.97 [[ 9.13007310e-01 -4.07562134e-01 -1.76283375e-02 1.43425820e+02] [ 4.07480352e-01 9.13177437e-01 -8.16891456e-03 1.44170450e+01] [ 1.94271403e-02 2.75077546e-04 9.99811237e-01 1.96971804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.45, Y:14.43, Z:1.97 [[ 9.13067092e-01 -4.07379693e-01 -1.87155437e-02 1.43450014e+02] [ 4.07287393e-01 9.13258833e-01 -8.67660383e-03 1.44318782e+01] [ 2.06268078e-02 2.99716443e-04 9.99787200e-01 1.96740239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.48, Y:14.44, Z:1.97 [[ 9.13149031e-01 -4.07163841e-01 -1.94024298e-02 1.43475198e+02] [ 4.07064548e-01 9.13355082e-01 -8.99707858e-03 1.44446261e+01] [ 2.13845930e-02 3.17632251e-04 9.99771273e-01 1.96633396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.700385723 meters Centerline goodness [0,1] 0.9999776999754699 Centerline is valid? [True, True] Translation: X:143.50, Y:14.45, Z:1.97 [[ 9.12820276e-01 -4.07904982e-01 -1.93046626e-02 1.43501182e+02] [ 4.07806786e-01 9.13024334e-01 -8.95490818e-03 1.44549643e+01] [ 2.12783784e-02 3.01649336e-04 9.99773544e-01 1.96764739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.53, Y:14.47, Z:1.97 [[ 9.12346545e-01 -4.09001617e-01 -1.84786371e-02 1.43527497e+02] [ 4.08911754e-01 9.12533618e-01 -8.57743557e-03 1.44671239e+01] [ 2.03705626e-02 2.69461803e-04 9.99792462e-01 1.96847779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.760385723 meters Centerline goodness [0,1] 0.9999776121073723 Centerline is valid? [True, True] Translation: X:143.55, Y:14.48, Z:1.97 [[ 9.11151591e-01 -4.11701822e-01 -1.74467423e-02 1.43553575e+02] [ 4.11622118e-01 9.11318588e-01 -8.10325038e-03 1.44788632e+01] [ 1.92356635e-02 2.01824450e-04 9.99814957e-01 1.96870069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.58, Y:14.49, Z:1.97 [[ 9.10530352e-01 -4.13085191e-01 -1.71785305e-02 1.43580099e+02] [ 4.13008073e-01 9.10692371e-01 -7.98357196e-03 1.44900977e+01] [ 1.89422520e-02 1.74412824e-04 9.99820564e-01 1.96937873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.82038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.61, Y:14.50, Z:1.97 [[ 9.09488022e-01 -4.15407100e-01 -1.63853125e-02 1.43606736e+02] [ 4.15337232e-01 9.09635601e-01 -7.61959205e-03 1.45007968e+01] [ 1.80698962e-02 1.24497361e-04 9.99836718e-01 1.97077893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.63, Y:14.51, Z:1.97 [[ 9.09045279e-01 -4.16391180e-01 -1.59708084e-02 1.43631773e+02] [ 4.16324880e-01 9.09185556e-01 -7.43100879e-03 1.45134429e+01] [ 1.76146348e-02 1.06078577e-04 9.99844845e-01 1.97125884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.66, Y:14.52, Z:1.97 [[ 9.08189455e-01 -4.18258789e-01 -1.58587097e-02 1.43657455e+02] [ 4.18193665e-01 9.08327903e-01 -7.38096012e-03 1.45238908e+01] [ 1.74920600e-02 7.12982063e-05 9.99847000e-01 1.97228808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.68, Y:14.54, Z:1.97 [[ 9.07813108e-01 -4.19050836e-01 -1.64850983e-02 1.43682975e+02] [ 4.18980494e-01 9.07962771e-01 -7.67808242e-03 1.45368044e+01] [ 1.81853624e-02 6.33292353e-05 9.99834631e-01 1.97152383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.71, Y:14.55, Z:1.97 [[ 9.07761317e-01 -4.19135502e-01 -1.71703874e-02 1.43707179e+02] [ 4.19059106e-01 9.07923690e-01 -8.00247461e-03 1.45495554e+01] [ 1.89435227e-02 6.89297113e-05 9.99820553e-01 1.97042104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97038572300002 meters Centerline goodness [0,1] 0.9998885744211441 Centerline is valid? [True, True] Translation: X:143.73, Y:14.56, Z:1.97 [[ 9.07326216e-01 -4.20065764e-01 -1.74325062e-02 1.43732567e+02] [ 4.19987126e-01 9.07493665e-01 -8.12786684e-03 1.45612556e+01] [ 1.92341276e-02 5.31984651e-05 9.99815006e-01 1.96757530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.000385723 meters Centerline goodness [0,1] 0.9999777510790727 Centerline is valid? [True, True] Translation: X:143.76, Y:14.57, Z:1.97 [[ 9.07186207e-01 -4.20406703e-01 -1.64739122e-02 1.43756943e+02] [ 4.20336446e-01 9.07335771e-01 -7.68569180e-03 1.45723840e+01] [ 1.81784862e-02 4.77678752e-05 9.99834757e-01 1.97185051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.78, Y:14.58, Z:1.97 [[ 9.07010256e-01 -4.20797539e-01 -1.61810603e-02 1.43782176e+02] [ 4.20729771e-01 9.07154578e-01 -7.55184559e-03 1.45847966e+01] [ 1.78565210e-02 4.17475922e-05 9.99840559e-01 1.97264251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.060385723 meters Centerline goodness [0,1] 0.9999777777777777 Centerline is valid? [True, True] Translation: X:143.81, Y:14.60, Z:1.97 [[ 9.06968023e-01 -4.20899282e-01 -1.58996823e-02 1.43807456e+02] [ 4.20833774e-01 9.07107376e-01 -7.42577751e-03 1.45974616e+01] [ 1.75482235e-02 4.38194416e-05 9.99846017e-01 1.97292269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.83, Y:14.61, Z:1.97 [[ 9.07466428e-01 -4.19822343e-01 -1.59336789e-02 1.43831947e+02] [ 4.19756301e-01 9.07606300e-01 -7.44659576e-03 1.46116122e+01] [ 1.75877546e-02 6.92735466e-05 9.99845321e-01 1.97253782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.86, Y:14.63, Z:1.97 [[ 9.08369852e-01 -4.17847896e-01 -1.63507847e-02 1.43856975e+02] [ 4.17777990e-01 9.08516991e-01 -7.64378861e-03 1.46258711e+01] [ 1.80489067e-02 1.12389163e-04 9.99837099e-01 1.97205570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.88, Y:14.64, Z:1.97 [[ 9.08901527e-01 -4.16680408e-01 -1.65967245e-02 1.43882351e+02] [ 4.16608105e-01 9.09053033e-01 -7.76334468e-03 1.46386219e+01] [ 1.83221364e-02 1.41785891e-04 9.99832126e-01 1.97212104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.91, Y:14.65, Z:1.97 [[ 9.10100743e-01 -4.14024720e-01 -1.73254177e-02 1.43906469e+02] [ 4.13945392e-01 9.10265615e-01 -8.10699858e-03 1.46515666e+01] [ 1.91272298e-02 2.06408591e-04 9.99817036e-01 1.97273514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.93, Y:14.66, Z:1.97 [[ 9.10692021e-01 -4.12697608e-01 -1.79088402e-02 1.43932574e+02] [ 4.12612530e-01 9.10868061e-01 -8.38306103e-03 1.46643899e+01] [ 1.97722598e-02 2.44974901e-04 9.99804480e-01 1.97306123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.240385723 meters Centerline goodness [0,1] 0.9999778633727365 Centerline is valid? [True, True] Translation: X:143.96, Y:14.68, Z:1.97 [[ 9.11308724e-01 -4.11296141e-01 -1.87588147e-02 1.43957815e+02] [ 4.11202379e-01 9.11501727e-01 -8.78666847e-03 1.46778328e+01] [ 2.07126148e-02 2.93698403e-04 9.99785428e-01 1.97315564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.270385723 meters Centerline goodness [0,1] 0.9999556235993698 Centerline is valid? [True, True] Translation: X:143.98, Y:14.69, Z:1.97 [[ 9.12446035e-01 -4.08759248e-01 -1.89238186e-02 1.43981995e+02] [ 4.08663180e-01 9.12642180e-01 -8.86886582e-03 1.46925309e+01] [ 2.08959059e-02 3.58893577e-04 9.99781592e-01 1.97222780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.300385723 meters Centerline goodness [0,1] 0.9999112038537528 Centerline is valid? [True, True] Translation: X:144.01, Y:14.71, Z:1.97 [[ 9.12865569e-01 -4.07824927e-01 -1.88489166e-02 1.44007757e+02] [ 4.07729344e-01 9.13060065e-01 -8.83739827e-03 1.47052882e+01] [ 2.08143043e-02 3.82100218e-04 9.99783286e-01 1.97237018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.330385723 meters Centerline goodness [0,1] 0.9999112038537528 Centerline is valid? [True, True] Translation: X:144.03, Y:14.72, Z:1.97 [[ 9.12753893e-01 -4.08074911e-01 -1.88467199e-02 1.44032712e+02] [ 4.07979284e-01 9.12948367e-01 -8.84208081e-03 1.47170706e+01] [ 2.08143135e-02 3.81572399e-04 9.99783286e-01 1.97278770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.360385723 meters Centerline goodness [0,1] 0.999845005867635 Centerline is valid? [True, True] Translation: X:144.06, Y:14.73, Z:1.97 [[ 9.13270475e-01 -4.06930605e-01 -1.85612985e-02 1.44058416e+02] [ 4.06837514e-01 9.13458985e-01 -8.71319405e-03 1.47284948e+01] [ 2.05006502e-02 4.06070346e-04 9.99789757e-01 1.97426571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.390385723 meters Centerline goodness [0,1] 0.9999110458780883 Centerline is valid? [True, True] Translation: X:144.08, Y:14.74, Z:1.98 [[ 9.13159776e-01 -4.07177357e-01 -1.85963449e-02 1.44083952e+02] [ 4.07083902e-01 9.13349022e-01 -8.73267355e-03 1.47398194e+01] [ 2.05407004e-02 4.04053547e-04 9.99788936e-01 1.97504214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.420385723 meters Centerline goodness [0,1] 0.9999777505840471 Centerline is valid? [True, True] Translation: X:144.11, Y:14.75, Z:1.98 [[ 9.12951569e-01 -4.07662389e-01 -1.81881709e-02 1.44109759e+02] [ 4.07572969e-01 9.13132643e-01 -8.54693102e-03 1.47500489e+01] [ 2.00924749e-02 3.89927272e-04 9.99798050e-01 1.97614627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.13, Y:14.76, Z:1.98 [[ 9.12834524e-01 -4.07934751e-01 -1.79547160e-02 1.44134871e+02] [ 4.07847566e-01 9.13011003e-01 -8.44221882e-03 1.47621377e+01] [ 1.98367277e-02 3.83561586e-04 9.99803159e-01 1.97650792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.480385723 meters Centerline goodness [0,1] 0.9998880154090797 Centerline is valid? [True, True] Translation: X:144.16, Y:14.77, Z:1.97 [[ 9.12188630e-01 -4.09375103e-01 -1.79980293e-02 1.44161674e+02] [ 4.09287724e-01 9.12366099e-01 -8.46521878e-03 1.47720246e+01] [ 1.98862416e-02 3.55503852e-04 9.99802186e-01 1.97484814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.19, Y:14.78, Z:1.98 [[ 9.12581431e-01 -4.08520449e-01 -1.74978251e-02 1.44187634e+02] [ 4.08437619e-01 9.12749093e-01 -8.23433658e-03 1.47845352e+01] [ 1.93350189e-02 3.67732635e-04 9.99812993e-01 1.97846705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.21, Y:14.79, Z:1.98 [[ 9.12410422e-01 -4.08870268e-01 -1.82298014e-02 1.44214651e+02] [ 4.08780354e-01 9.12592439e-01 -8.58263450e-03 1.47932998e+01] [ 2.01455630e-02 3.78900473e-04 9.99796986e-01 1.97767182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57038572300002 meters Centerline goodness [0,1] 0.9999106285050383 Centerline is valid? [True, True] Translation: X:144.24, Y:14.80, Z:1.98 [[ 9.12396683e-01 -4.08860600e-01 -1.91128884e-02 1.44240060e+02] [ 4.08761645e-01 9.12596761e-01 -9.00387090e-03 1.48046745e+01] [ 2.11236881e-02 4.02486254e-04 9.99776789e-01 1.97688029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.60038572300002 meters Centerline goodness [0,1] 0.9998878370496658 Centerline is valid? [True, True] Translation: X:144.27, Y:14.81, Z:1.98 [[ 9.12492035e-01 -4.08601378e-01 -2.00798372e-02 1.44268121e+02] [ 4.08492018e-01 9.12712839e-01 -9.46280686e-03 1.48135536e+01] [ 2.21936411e-02 4.32282692e-04 9.99753597e-01 1.97651531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.29, Y:14.83, Z:1.98 [[ 9.12520744e-01 -4.08527589e-01 -2.02756076e-02 1.44292387e+02] [ 4.08415959e-01 9.12745864e-01 -9.55989397e-03 1.48270667e+01] [ 2.24119575e-02 4.42719836e-04 9.99748723e-01 1.97571253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.32, Y:14.83, Z:1.98 [[ 9.12613120e-01 -4.08274860e-01 -2.11880167e-02 1.44321683e+02] [ 4.08152800e-01 9.12858924e-01 -9.99382422e-03 1.48333578e+01] [ 2.34218973e-02 4.72546783e-04 9.99725558e-01 1.97869566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.35, Y:14.84, Z:1.98 [[ 9.12784559e-01 -4.07878877e-01 -2.14282629e-02 1.44347685e+02] [ 4.07753797e-01 9.13035913e-01 -1.01124675e-02 1.48446987e+01] [ 2.36894355e-02 4.93048638e-04 9.99719244e-01 1.97941831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.37, Y:14.86, Z:1.98 [[ 9.13035738e-01 -4.07238713e-01 -2.28554625e-02 1.44373399e+02] [ 4.07096131e-01 9.13321593e-01 -1.07892749e-02 1.48567280e+01] [ 2.52681978e-02 5.46623194e-04 9.99680559e-01 1.97844739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.750385723 meters Centerline goodness [0,1] 0.9999774159308024 Centerline is valid? [True, True] Translation: X:144.40, Y:14.87, Z:1.98 [[ 9.13146840e-01 -4.06920866e-01 -2.40469727e-02 1.44398991e+02] [ 4.06762794e-01 9.13463224e-01 -1.13563603e-02 1.48696990e+01] [ 2.65871652e-02 5.88610663e-04 9.99646326e-01 1.97757579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.42, Y:14.88, Z:1.98 [[ 9.13298255e-01 -4.06498862e-01 -2.53963140e-02 1.44424428e+02] [ 4.06322167e-01 9.13651062e-01 -1.20013804e-02 1.48839622e+01] [ 2.80819168e-02 6.41754468e-04 9.99605419e-01 1.97565049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.810385723 meters Centerline goodness [0,1] 0.9999775321290555 Centerline is valid? [True, True] Translation: X:144.45, Y:14.90, Z:1.98 [[ 9.13297352e-01 -4.06522748e-01 -2.50439958e-02 1.44447636e+02] [ 4.06350775e-01 9.13640437e-01 -1.18405646e-02 1.48972080e+01] [ 2.76946661e-02 6.37309152e-04 9.99616226e-01 1.97567657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.840385723 meters Centerline goodness [0,1] 0.9999551529285138 Centerline is valid? [True, True] Translation: X:144.47, Y:14.91, Z:1.98 [[ 9.13174397e-01 -4.06842392e-01 -2.43267222e-02 1.44473467e+02] [ 4.06680107e-01 9.13498161e-01 -1.15065089e-02 1.49112541e+01] [ 2.69037516e-02 6.14255341e-04 9.99637840e-01 1.97615278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.870385723 meters Centerline goodness [0,1] 0.9999550096729203 Centerline is valid? [True, True] Translation: X:144.50, Y:14.92, Z:1.98 [[ 9.12964354e-01 -4.07376477e-01 -2.32485494e-02 1.44499601e+02] [ 4.07228262e-01 9.13260134e-01 -1.10032063e-02 1.49234228e+01] [ 2.57144207e-02 5.78068763e-04 9.99669162e-01 1.97874187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.53, Y:14.94, Z:1.98 [[ 9.12875517e-01 -4.07604309e-01 -2.27380074e-02 1.44525119e+02] [ 4.07462480e-01 9.13158480e-01 -1.07665046e-02 1.49355896e+01] [ 2.51518780e-02 5.63593578e-04 9.99683483e-01 1.98059395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.930385723 meters Centerline goodness [0,1] 0.9999775275848896 Centerline is valid? [True, True] Translation: X:144.55, Y:14.95, Z:1.98 [[ 9.12863792e-01 -4.07641043e-01 -2.25494272e-02 1.44550673e+02] [ 4.07501459e-01 9.13142083e-01 -1.06816099e-02 1.49479059e+01] [ 2.49450936e-02 5.61930407e-04 9.99688665e-01 1.98123149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.58, Y:14.96, Z:1.98 [[ 9.13045540e-01 -4.07235552e-01 -2.25176965e-02 1.44575279e+02] [ 4.07096099e-01 9.13322983e-01 -1.06721185e-02 1.49611011e+01] [ 2.49119958e-02 5.77263758e-04 9.99689481e-01 1.98136181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.60, Y:14.97, Z:1.98 [[ 9.13214878e-01 -4.06816612e-01 -2.32127197e-02 1.44601074e+02] [ 4.06668170e-01 9.13509645e-01 -1.10058156e-02 1.49746328e+01] [ 2.56823920e-02 6.10800306e-04 9.99669966e-01 1.98073867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.020385723 meters Centerline goodness [0,1] 0.9998877841865476 Centerline is valid? [True, True] Translation: X:144.63, Y:14.99, Z:1.98 [[ 9.13314813e-01 -4.06572819e-01 -2.35498677e-02 1.44626148e+02] [ 4.06419818e-01 9.13618161e-01 -1.11708200e-02 1.49871822e+01] [ 2.60573386e-02 6.31342489e-04 9.99660251e-01 1.98022116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.050385723 meters Centerline goodness [0,1] 0.9998199252689867 Centerline is valid? [True, True] Translation: X:144.65, Y:15.00, Z:1.98 [[ 9.12608206e-01 -4.08048320e-01 -2.53540988e-02 1.44652102e+02] [ 4.07871387e-01 9.12960108e-01 -1.20321491e-02 1.49981118e+01] [ 2.80569791e-02 6.39426577e-04 9.99606121e-01 1.97985647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.68, Y:15.01, Z:1.98 [[ 9.12477752e-01 -4.08420739e-01 -2.40177526e-02 1.44677023e+02] [ 4.08261952e-01 9.12793591e-01 -1.14034562e-02 1.50096006e+01] [ 2.65806586e-02 5.99865561e-04 9.99646492e-01 1.98334664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.110385723 meters Centerline goodness [0,1] 0.9998872629703952 Centerline is valid? [True, True] Translation: X:144.70, Y:15.02, Z:1.99 [[ 9.12001124e-01 -4.09475010e-01 -2.41695375e-02 1.44704540e+02] [ 4.09314456e-01 9.12321151e-01 -1.14800972e-02 1.50199348e+01] [ 2.67511932e-02 5.76920434e-04 9.99641956e-01 1.98522114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.140385723 meters Centerline goodness [0,1] 0.9998876505482653 Centerline is valid? [True, True] Translation: X:144.73, Y:15.03, Z:1.99 [[ 9.11609909e-01 -4.10314225e-01 -2.46902883e-02 1.44729656e+02] [ 4.10146838e-01 9.11944029e-01 -1.17327890e-02 1.50319669e+01] [ 2.73302913e-02 5.69083034e-04 9.99626296e-01 1.98571023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.170385723 meters Centerline goodness [0,1] 0.9999551166965889 Centerline is valid? [True, True] Translation: X:144.76, Y:15.04, Z:1.99 [[ 9.10695954e-01 -4.12363296e-01 -2.42774107e-02 1.44756308e+02] [ 4.12202066e-01 9.11019352e-01 -1.15411290e-02 1.50429070e+01] [ 2.68763289e-02 5.03260608e-04 9.99638640e-01 1.98686825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.200385723 meters Centerline goodness [0,1] 0.9998879451379395 Centerline is valid? [True, True] Translation: X:144.78, Y:15.05, Z:1.99 [[ 9.10402065e-01 -4.13020103e-01 -2.41345110e-02 1.44782464e+02] [ 4.12860807e-01 9.10721778e-01 -1.14802753e-02 1.50546998e+01] [ 2.67214093e-02 4.87472644e-04 9.99642801e-01 1.98749217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.230385723 meters Centerline goodness [0,1] 0.9998651564185544 Centerline is valid? [True, True] Translation: X:144.81, Y:15.07, Z:1.99 [[ 9.09879368e-01 -4.14157048e-01 -2.43613316e-02 1.44808186e+02] [ 4.13994958e-01 9.10205319e-01 -1.15953462e-02 1.50664159e+01] [ 2.69761080e-02 4.64897846e-04 9.99635970e-01 1.98809719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.260385723 meters Centerline goodness [0,1] 0.9999776221272406 Centerline is valid? [True, True] Translation: X:144.83, Y:15.08, Z:1.99 [[ 9.09644921e-01 -4.14658265e-01 -2.45894535e-02 1.44834126e+02] [ 4.14493111e-01 9.09977094e-01 -1.17111162e-02 1.50784337e+01] [ 2.72319506e-02 4.60798321e-04 9.99629035e-01 1.98813763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.86, Y:15.09, Z:1.99 [[ 9.08996850e-01 -4.16020162e-01 -2.55333232e-02 1.44859637e+02] [ 4.15842392e-01 9.09355281e-01 -1.21687071e-02 1.50892295e+01] [ 2.82812898e-02 4.43478280e-04 9.99599906e-01 1.98815629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.32038572300002 meters Centerline goodness [0,1] 0.9999549650979509 Centerline is valid? [True, True] Translation: X:144.89, Y:15.10, Z:1.99 [[ 9.08600590e-01 -4.16853411e-01 -2.60422937e-02 1.44885013e+02] [ 4.16668573e-01 9.08973622e-01 -1.24199457e-02 1.51017799e+01] [ 2.88490548e-02 4.33764651e-04 9.99583685e-01 1.98729285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.91, Y:15.11, Z:1.99 [[ 9.07796525e-01 -4.18566708e-01 -2.65966096e-02 1.44911630e+02] [ 4.18374404e-01 9.08185969e-01 -1.26926476e-02 1.51124115e+01] [ 2.94673874e-02 3.95000729e-04 9.99565664e-01 1.98766676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.94, Y:15.12, Z:1.99 [[ 9.07449854e-01 -4.19330210e-01 -2.63995666e-02 1.44936891e+02] [ 4.19140913e-01 9.07833705e-01 -1.26039177e-02 1.51232572e+01] [ 2.92516198e-02 3.72284838e-04 9.99572010e-01 1.98829053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41038572300002 meters Centerline goodness [0,1] 0.9999775255646702 Centerline is valid? [True, True] Translation: X:144.96, Y:15.13, Z:1.99 [[ 9.07020473e-01 -4.20265628e-01 -2.62804858e-02 1.44964085e+02] [ 4.20078279e-01 9.07401060e-01 -1.25521301e-02 1.51342672e+01] [ 2.91221695e-02 3.45177722e-04 9.99575800e-01 1.98977112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44038572300002 meters Centerline goodness [0,1] 0.9999774352957105 Centerline is valid? [True, True] Translation: X:144.99, Y:15.14, Z:1.99 [[ 9.06423919e-01 -4.21551306e-01 -2.62711866e-02 1.44990364e+02] [ 4.21364477e-01 9.06804500e-01 -1.25529616e-02 1.51446630e+01] [ 2.91145476e-02 3.08559831e-04 9.99576034e-01 1.99065306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47038572300002 meters Centerline goodness [0,1] 0.9999775331386206 Centerline is valid? [True, True] Translation: X:145.01, Y:15.16, Z:1.99 [[ 9.06444339e-01 -4.21440864e-01 -2.73177387e-02 1.45014275e+02] [ 4.21238714e-01 9.06855827e-01 -1.30558524e-02 1.51587903e+01] [ 3.02755202e-02 3.27114375e-04 9.99541538e-01 1.98573114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.500385723 meters Centerline goodness [0,1] 0.9998651079136691 Centerline is valid? [True, True] Translation: X:145.04, Y:15.17, Z:1.99 [[ 9.06156018e-01 -4.21965388e-01 -2.87485900e-02 1.45040836e+02] [ 4.21741584e-01 9.06611880e-01 -1.37453524e-02 1.51692966e+01] [ 3.18638762e-02 3.30957902e-04 9.99492163e-01 1.98608476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.530385723 meters Centerline goodness [0,1] 0.9999095656892225 Centerline is valid? [True, True] Translation: X:145.07, Y:15.18, Z:1.99 [[ 9.06215510e-01 -4.21782635e-01 -2.95441770e-02 1.45066867e+02] [ 4.21545989e-01 9.06696909e-01 -1.41313358e-02 1.51806056e+01] [ 3.27479660e-02 3.51806342e-04 9.99463580e-01 1.98680417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.09, Y:15.19, Z:1.99 [[ 9.06356103e-01 -4.21532217e-01 -2.87959030e-02 1.45093190e+02] [ 4.21307077e-01 9.06813356e-01 -1.37798562e-02 1.51909003e+01] [ 3.19211627e-02 3.57539030e-04 9.99490326e-01 1.98964248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.12, Y:15.20, Z:1.99 [[ 9.06045086e-01 -4.22310836e-01 -2.71267304e-02 1.45118491e+02] [ 4.22111224e-01 9.06451023e-01 -1.29867864e-02 1.52022020e+01] [ 3.00735131e-02 3.16116604e-04 9.99547640e-01 1.99092502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.15, Y:15.21, Z:1.99 [[ 9.05904932e-01 -4.22702182e-01 -2.56733155e-02 1.45145179e+02] [ 4.22523409e-01 9.06268603e-01 -1.22958818e-02 1.52142611e+01] [ 2.84644158e-02 2.91323193e-04 9.99594764e-01 1.99336120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.17, Y:15.23, Z:1.99 [[ 9.06282586e-01 -4.22037229e-01 -2.31614428e-02 1.45168736e+02] [ 4.21891395e-01 9.06578455e-01 -1.10975391e-02 1.52293078e+01] [ 2.56812397e-02 2.85893028e-04 9.99670142e-01 1.99360619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.19, Y:15.24, Z:2.00 [[ 9.06531526e-01 -4.21517986e-01 -2.28731283e-02 1.45194144e+02] [ 4.21375480e-01 9.06819991e-01 -1.09639615e-02 1.52406615e+01] [ 2.53633169e-02 3.01001317e-04 9.99678254e-01 1.99599180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.710385723 meters Centerline goodness [0,1] 0.9999320729084117 Centerline is valid? [True, True] Translation: X:145.22, Y:15.25, Z:2.00 [[ 9.07307683e-01 -4.19916683e-01 -2.15115631e-02 1.45218900e+02] [ 4.19790030e-01 9.07562598e-01 -1.03180313e-02 1.52532174e+01] [ 2.38558036e-02 3.31289352e-04 9.99715355e-01 1.99797452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.24, Y:15.27, Z:2.00 [[ 9.07387127e-01 -4.19798105e-01 -2.04488022e-02 1.45243899e+02] [ 4.19683489e-01 9.07617456e-01 -9.81440980e-03 1.52653296e+01] [ 2.26797605e-02 3.23444444e-04 9.99742729e-01 1.99931603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.770385723 meters Centerline goodness [0,1] 0.9999321036550866 Centerline is valid? [True, True] Translation: X:145.27, Y:15.28, Z:2.00 [[ 9.07686442e-01 -4.19210637e-01 -1.91771853e-02 1.45268360e+02] [ 4.19109572e-01 9.07888946e-01 -9.21025806e-03 1.52788833e+01] [ 2.12717927e-02 3.22684468e-04 9.99773678e-01 1.99933540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.800385723 meters Centerline goodness [0,1] 0.9999773299177076 Centerline is valid? [True, True] Translation: X:145.29, Y:15.29, Z:2.00 [[ 9.07864104e-01 -4.18837470e-01 -1.89193802e-02 1.45294575e+02] [ 4.18738896e-01 9.08061156e-01 -9.09253988e-03 1.52917591e+01] [ 2.09882507e-02 3.32510188e-04 9.99779667e-01 1.99922647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.830385723 meters Centerline goodness [0,1] 0.9999774825489754 Centerline is valid? [True, True] Translation: X:145.32, Y:15.31, Z:2.00 [[ 9.08629054e-01 -4.17170639e-01 -1.90236923e-02 1.45317631e+02] [ 4.17070506e-01 9.08828100e-01 -9.14753637e-03 1.53070014e+01] [ 2.11053497e-02 3.77496368e-04 9.99777186e-01 1.99700774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.860385723 meters Centerline goodness [0,1] 0.9999097961392748 Centerline is valid? [True, True] Translation: X:145.34, Y:15.32, Z:2.00 [[ 9.09287152e-01 -4.15691977e-01 -1.99262529e-02 1.45342489e+02] [ 4.15581705e-01 9.09505356e-01 -9.58404721e-03 1.53209044e+01] [ 2.21070452e-02 4.33664846e-04 9.99755515e-01 1.99612838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.890385723 meters Centerline goodness [0,1] 0.9999323776034623 Centerline is valid? [True, True] Translation: X:145.37, Y:15.33, Z:1.99 [[ 9.10243430e-01 -4.13473814e-01 -2.22778520e-02 1.45367571e+02] [ 4.13335206e-01 9.10515845e-01 -1.07193266e-02 1.53348600e+01] [ 2.47164981e-02 5.48976043e-04 9.99694350e-01 1.99415722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.39, Y:15.35, Z:1.99 [[ 9.10773040e-01 -4.12243305e-01 -2.34078260e-02 1.45392555e+02] [ 4.12089730e-01 9.11073585e-01 -1.12684073e-02 1.53480308e+01] [ 2.59715774e-02 6.16836896e-04 9.99662491e-01 1.99320267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.42, Y:15.36, Z:1.99 [[ 9.11082340e-01 -4.11499184e-01 -2.44415827e-02 1.45419030e+02] [ 4.11331345e-01 9.11409881e-01 -1.17708543e-02 1.53601116e+01] [ 2.71199969e-02 6.70628420e-04 9.99631960e-01 1.99321458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.980385723 meters Centerline goodness [0,1] 0.9999775129300652 Centerline is valid? [True, True] Translation: X:145.44, Y:15.37, Z:1.99 [[ 9.11895331e-01 -4.09663801e-01 -2.49494380e-02 1.45442820e+02] [ 4.09488069e-01 9.12236271e-01 -1.20211227e-02 1.53738359e+01] [ 2.76844011e-02 7.45508423e-04 9.99616436e-01 1.99237874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.47, Y:15.39, Z:1.99 [[ 9.12298834e-01 -4.08801722e-01 -2.43308500e-02 1.45467083e+02] [ 4.08634214e-01 9.12622913e-01 -1.17259100e-02 1.53870944e+01] [ 2.69984634e-02 7.55116266e-04 9.99635190e-01 1.99307951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.49, Y:15.40, Z:1.99 [[ 9.12828475e-01 -4.07706921e-01 -2.27868691e-02 1.45492382e+02] [ 4.07559559e-01 9.13112543e-01 -1.09858655e-02 1.54004946e+01] [ 2.52859894e-02 7.41204570e-04 9.99679983e-01 1.99419411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.52, Y:15.41, Z:1.99 [[ 9.13030222e-01 -4.07272561e-01 -2.24694028e-02 1.45516989e+02] [ 4.07128981e-01 9.13306356e-01 -1.08394148e-02 1.54147274e+01] [ 2.49360446e-02 7.48768213e-04 9.99688768e-01 1.99456671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.10038572300002 meters Centerline goodness [0,1] 0.9999775381850854 Centerline is valid? [True, True] Translation: X:145.54, Y:15.43, Z:2.00 [[ 9.12861264e-01 -4.07712954e-01 -2.13180838e-02 1.45544255e+02] [ 4.07583688e-01 9.13109879e-01 -1.02901214e-02 1.54256433e+01] [ 2.36611687e-02 7.04550026e-04 9.99719787e-01 1.99591987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.57, Y:15.44, Z:2.00 [[ 9.12540496e-01 -4.08439806e-01 -2.11368720e-02 1.45570611e+02] [ 4.08312776e-01 9.12784999e-01 -1.02089275e-02 1.54374895e+01] [ 2.34631521e-02 6.85604896e-04 9.99724467e-01 1.99616042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16038572300002 meters Centerline goodness [0,1] 0.9999324750157559 Centerline is valid? [True, True] Translation: X:145.60, Y:15.45, Z:2.00 [[ 9.11739548e-01 -4.10235211e-01 -2.09300945e-02 1.45596594e+02] [ 4.10111015e-01 9.11979531e-01 -1.01138534e-02 1.54481664e+01] [ 2.32368766e-02 6.37537766e-04 9.99729784e-01 1.99622620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.62, Y:15.46, Z:2.00 [[ 9.11234612e-01 -4.11397838e-01 -2.00823518e-02 1.45623531e+02] [ 4.11283713e-01 9.11455690e-01 -9.70733578e-03 1.54600801e+01] [ 2.22977508e-02 5.86116138e-04 9.99751202e-01 1.99726680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.65, Y:15.47, Z:2.00 [[ 9.11123442e-01 -4.11644101e-01 -2.00800566e-02 1.45648347e+02] [ 4.11529930e-01 9.11344497e-01 -9.71208171e-03 1.54721698e+01] [ 2.22977702e-02 5.85361031e-04 9.99751202e-01 1.99768449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.68, Y:15.48, Z:2.00 [[ 9.10605825e-01 -4.12872949e-01 -1.82471702e-02 1.45675112e+02] [ 4.12778807e-01 9.10788487e-01 -8.83109647e-03 1.54824690e+01] [ 2.02654334e-02 5.09602751e-04 9.99794505e-01 1.99982782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.70, Y:15.50, Z:2.00 [[ 9.10403152e-01 -4.13336797e-01 -1.78548060e-02 1.45699900e+02] [ 4.13246661e-01 9.10578085e-01 -8.64568637e-03 1.54961779e+01] [ 1.98317754e-02 4.92621159e-04 9.99803210e-01 2.00049284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.73, Y:15.51, Z:2.00 [[ 9.10095330e-01 -4.14037572e-01 -1.73025927e-02 1.45727256e+02] [ 4.13953004e-01 9.10259673e-01 -8.38080514e-03 1.55059306e+01] [ 1.92198206e-02 4.64871406e-04 9.99815174e-01 2.00190150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.75, Y:15.52, Z:2.00 [[ 9.09848028e-01 -4.14554913e-01 -1.79106308e-02 1.45750269e+02] [ 4.14464291e-01 9.10024175e-01 -8.68056031e-03 1.55197051e+01] [ 1.98976759e-02 4.74673777e-04 9.99801909e-01 2.00172091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.370385723 meters Centerline goodness [0,1] 0.9999774388593087 Centerline is valid? [True, True] Translation: X:145.78, Y:15.53, Z:2.00 [[ 9.09567344e-01 -4.15120596e-01 -1.90298823e-02 1.45775019e+02] [ 4.15018334e-01 9.09766259e-01 -9.22694155e-03 1.55318457e+01] [ 2.11430383e-02 4.94774684e-04 9.99776339e-01 2.00022051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.80, Y:15.54, Z:2.00 [[ 9.09368806e-01 -4.15535552e-01 -1.94571204e-02 1.45802155e+02] [ 4.15428668e-01 9.09576800e-01 -9.43748080e-03 1.55411187e+01] [ 2.16193542e-02 4.99105022e-04 9.99766150e-01 2.00047646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.83, Y:15.56, Z:2.00 [[ 9.09326913e-01 -4.15641316e-01 -1.91536556e-02 1.45825231e+02] [ 4.15537648e-01 9.09528478e-01 -9.29571015e-03 1.55563132e+01] [ 2.12844764e-02 4.93774399e-04 9.99773338e-01 1.99927110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.460385723 meters Centerline goodness [0,1] 0.9999774754482386 Centerline is valid? [True, True] Translation: X:145.85, Y:15.57, Z:2.00 [[ 9.09399943e-01 -4.15508974e-01 -1.85482132e-02 1.45851399e+02] [ 4.15411655e-01 9.09588950e-01 -9.00548336e-03 1.55655723e+01] [ 2.06131090e-02 4.84442100e-04 9.99787410e-01 2.00123249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.88, Y:15.58, Z:2.00 [[ 9.09429508e-01 -4.15491687e-01 -1.74536180e-02 1.45876755e+02] [ 4.15405403e-01 9.09596859e-01 -8.47971010e-03 1.55767174e+01] [ 1.93990052e-02 4.61371346e-04 9.99811715e-01 2.00257972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.90, Y:15.59, Z:2.00 [[ 9.09658461e-01 -4.15056145e-01 -1.58076068e-02 1.45899044e+02] [ 4.14985224e-01 9.09795698e-01 -7.68456450e-03 1.55940608e+01] [ 1.75712184e-02 4.30405874e-04 9.99845522e-01 2.00431483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.93, Y:15.60, Z:2.01 [[ 9.09628488e-01 -4.15131459e-01 -1.55526750e-02 1.45926425e+02] [ 4.15062782e-01 9.09761338e-01 -7.56274179e-03 1.56020136e+01] [ 1.72887545e-02 4.23948818e-04 9.99850448e-01 2.00588183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.580385723 meters Centerline goodness [0,1] 0.99995517705065 Centerline is valid? [True, True] Translation: X:145.95, Y:15.62, Z:2.01 [[ 9.09618467e-01 -4.15171435e-01 -1.50640234e-02 1.45950039e+02] [ 4.15106931e-01 9.09743100e-01 -7.32991404e-03 1.56159469e+01] [ 1.67475623e-02 4.14244657e-04 9.99859664e-01 2.00595939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.610385723 meters Centerline goodness [0,1] 0.9999326206091097 Centerline is valid? [True, True] Translation: X:145.97, Y:15.63, Z:2.01 [[ 9.09700760e-01 -4.14986444e-01 -1.51913682e-02 1.45974766e+02] [ 4.14920782e-01 9.09827496e-01 -7.39409928e-03 1.56295895e+01] [ 1.68899754e-02 4.23203372e-04 9.99857265e-01 2.00549502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.640385723 meters Centerline goodness [0,1] 0.9999325372731566 Centerline is valid? [True, True] Translation: X:146.00, Y:15.64, Z:2.00 [[ 9.09884834e-01 -4.14562857e-01 -1.57234668e-02 1.46000162e+02] [ 4.14492413e-01 9.10020570e-01 -7.65519568e-03 1.56444491e+01] [ 1.74822380e-02 4.48088751e-04 9.99847074e-01 2.00408702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.03, Y:15.66, Z:2.00 [[ 9.10277153e-01 -4.13681843e-01 -1.62122302e-02 1.46026779e+02] [ 4.13606724e-01 9.10421385e-01 -7.89810177e-03 1.56560719e+01] [ 1.80272624e-02 4.83974187e-04 9.99837379e-01 2.00447987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.05, Y:15.67, Z:2.01 [[ 9.10368096e-01 -4.13455565e-01 -1.68648967e-02 1.46051238e+02] [ 4.13374147e-01 9.10524153e-01 -8.22076354e-03 1.56692042e+01] [ 1.87548162e-02 5.12408555e-04 9.99823982e-01 2.00535550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.08, Y:15.68, Z:2.01 [[ 9.10310686e-01 -4.13571422e-01 -1.71211585e-02 1.46076225e+02] [ 4.13487480e-01 9.10471531e-01 -8.34836684e-03 1.56817900e+01] [ 1.90409734e-02 5.20222850e-04 9.99818569e-01 2.00601000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.10, Y:15.70, Z:2.01 [[ 9.09902715e-01 -4.14465097e-01 -1.71968864e-02 1.46101690e+02] [ 4.14380461e-01 9.10065066e-01 -8.39103643e-03 1.56957817e+01] [ 1.91280773e-02 5.08973104e-04 9.99816912e-01 2.00548461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.790385723 meters Centerline goodness [0,1] 0.9999550571897261 Centerline is valid? [True, True] Translation: X:146.13, Y:15.71, Z:2.01 [[ 9.09482841e-01 -4.15374677e-01 -1.74596437e-02 1.46127824e+02] [ 4.15287498e-01 9.09650277e-01 -8.52456228e-03 1.57077650e+01] [ 1.94230570e-02 5.02171374e-04 9.99811229e-01 2.00534463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.15, Y:15.72, Z:2.00 [[ 9.08579173e-01 -4.17309078e-01 -1.83581052e-02 1.46152930e+02] [ 4.17212989e-01 9.08764488e-01 -8.96812563e-03 1.57206391e+01] [ 2.04256743e-02 4.89012238e-04 9.99791255e-01 2.00475377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.18, Y:15.73, Z:2.01 [[ 9.08033891e-01 -4.18496937e-01 -1.82966065e-02 1.46179536e+02] [ 4.18401673e-01 9.08218090e-01 -8.94096460e-03 1.57311603e+01] [ 2.03590753e-02 4.63368088e-04 9.99792625e-01 2.00531851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.21, Y:15.74, Z:2.01 [[ 9.06583278e-01 -4.21693438e-01 -1.67750943e-02 1.46205330e+02] [ 4.21613831e-01 9.06738393e-01 -8.20150692e-03 1.57426111e+01] [ 1.86691437e-02 3.62737255e-04 9.99825651e-01 2.00684605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.23, Y:15.75, Z:2.01 [[ 9.05749214e-01 -4.23535110e-01 -1.53743688e-02 1.46231809e+02] [ 4.23468481e-01 9.05879639e-01 -7.51827171e-03 1.57549535e+01] [ 1.71115797e-02 2.99108080e-04 9.99853541e-01 2.00798126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.26, Y:15.77, Z:2.01 [[ 9.05093069e-01 -4.24981072e-01 -1.40579004e-02 1.46256651e+02] [ 4.24925481e-01 9.05202201e-01 -6.87828022e-03 1.57671752e+01] [ 1.56483813e-02 2.51923696e-04 9.99877525e-01 2.00913909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.28, Y:15.78, Z:2.01 [[ 9.04118259e-01 -4.27086360e-01 -1.29388969e-02 1.46282728e+02] [ 4.27039467e-01 9.04210817e-01 -6.33189699e-03 1.57805021e+01] [ 1.44037574e-02 1.99364054e-04 9.99896241e-01 2.01036253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.31, Y:15.79, Z:2.01 [[ 9.03653868e-01 -4.28067600e-01 -1.29543987e-02 1.46308003e+02] [ 4.28020640e-01 9.03746698e-01 -6.34331117e-03 1.57936222e+01] [ 1.44228610e-02 1.87407674e-04 9.99895968e-01 2.01024132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.33, Y:15.81, Z:2.01 [[ 9.03491707e-01 -4.28387599e-01 -1.36674677e-02 1.46333150e+02] [ 4.28335298e-01 9.03595057e-01 -6.69673258e-03 1.58064688e+01] [ 1.52186534e-02 1.96183498e-04 9.99884170e-01 2.01025823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.36, Y:15.82, Z:2.01 [[ 9.03314930e-01 -4.28708069e-01 -1.52161039e-02 1.46356261e+02] [ 4.28643193e-01 9.03443050e-01 -7.46117345e-03 1.58202798e+01] [ 1.69455485e-02 2.17510027e-04 9.99856390e-01 2.00920186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.38, Y:15.83, Z:2.01 [[ 9.03134922e-01 -4.29061381e-01 -1.59261919e-02 1.46380651e+02] [ 4.28990264e-01 9.03275307e-01 -7.81494305e-03 1.58339035e+01] [ 1.77388261e-02 2.25766725e-04 9.99842629e-01 2.00845133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.41, Y:15.85, Z:2.01 [[ 9.02907823e-01 -4.29510495e-01 -1.66792962e-02 1.46405007e+02] [ 4.29432461e-01 9.03061837e-01 -8.19028562e-03 1.58473995e+01] [ 1.85802494e-02 2.32441769e-04 9.99827345e-01 2.00755440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.43, Y:15.86, Z:2.01 [[ 9.02381428e-01 -4.30580609e-01 -1.75527219e-02 1.46430025e+02] [ 4.30494271e-01 9.02552097e-01 -8.62528170e-03 1.58607526e+01] [ 1.95561250e-02 2.26947798e-04 9.99808735e-01 2.00673973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.46, Y:15.87, Z:2.01 [[ 9.02140201e-01 -4.31081233e-01 -1.76643130e-02 1.46455464e+02] [ 4.30993773e-01 9.02313095e-01 -8.68600311e-03 1.58736316e+01] [ 1.96831139e-02 2.22783676e-04 9.99806244e-01 2.00697151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.48, Y:15.89, Z:2.01 [[ 9.01557590e-01 -4.32285341e-01 -1.79804449e-02 1.46480091e+02] [ 4.32194858e-01 9.01736848e-01 -8.84660088e-03 1.58861491e+01] [ 2.00378856e-02 2.04664315e-04 9.99799200e-01 2.00745703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.51, Y:15.90, Z:2.01 [[ 9.01184366e-01 -4.33071718e-01 -1.77658716e-02 1.46505066e+02] [ 4.32983469e-01 9.01359446e-01 -8.74438002e-03 1.58982106e+01] [ 1.98003799e-02 1.87969829e-04 9.99803936e-01 2.00787480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.53, Y:15.91, Z:2.01 [[ 9.00540088e-01 -4.34432858e-01 -1.71942359e-02 1.46530122e+02] [ 4.34350358e-01 9.00704206e-01 -8.46758885e-03 1.59108981e+01] [ 1.91655194e-02 1.57080711e-04 9.99816312e-01 2.00890793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.55, Y:15.92, Z:2.01 [[ 9.00328218e-01 -4.34885916e-01 -1.68327204e-02 1.46554853e+02] [ 4.34806897e-01 9.00485546e-01 -8.29118638e-03 1.59235514e+01] [ 1.87633416e-02 1.45806133e-04 9.99823942e-01 2.00963902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.58, Y:15.94, Z:2.01 [[ 8.99746816e-01 -4.36122031e-01 -1.59135349e-02 1.46579529e+02] [ 4.36051571e-01 8.99887527e-01 -7.84002315e-03 1.59363652e+01] [ 1.77395984e-02 1.14913960e-04 9.99842634e-01 2.01064449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.60, Y:15.95, Z:2.01 [[ 8.99590888e-01 -4.36452616e-01 -1.56635967e-02 1.46604587e+02] [ 4.36384357e-01 8.99727238e-01 -7.71947395e-03 1.59493831e+01] [ 1.74621492e-02 1.09019845e-04 9.99847519e-01 2.01111676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.63, Y:15.96, Z:2.01 [[ 8.99793630e-01 -4.36046227e-01 -1.53333698e-02 1.46628048e+02] [ 4.35980684e-01 8.99924260e-01 -7.56105647e-03 1.59630607e+01] [ 1.70958416e-02 1.18337390e-04 9.99853848e-01 2.01139663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.65, Y:15.98, Z:2.01 [[ 8.99926017e-01 -4.35767201e-01 -1.54954927e-02 1.46652662e+02] [ 4.35700182e-01 9.00059404e-01 -7.64337260e-03 1.59766449e+01] [ 1.72775950e-02 1.27080869e-04 9.99850723e-01 2.01189833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.450385723 meters Centerline goodness [0,1] 0.9999778516057586 Centerline is valid? [True, True] Translation: X:146.68, Y:15.99, Z:2.01 [[ 9.00669702e-01 -4.34200740e-01 -1.62421015e-02 1.46677899e+02] [ 4.34126760e-01 9.00816124e-01 -8.01670065e-03 1.59917989e+01] [ 1.81120043e-02 1.69268461e-04 9.99835950e-01 2.01175006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.480385723 meters Centerline goodness [0,1] 0.9999778019489889 Centerline is valid? [True, True] Translation: X:146.70, Y:16.01, Z:2.01 [[ 9.00885616e-01 -4.33724588e-01 -1.69731705e-02 1.46702464e+02] [ 4.33643635e-01 9.01045474e-01 -8.38167812e-03 1.60059355e+01] [ 1.89289383e-02 1.90625937e-04 9.99820813e-01 2.01135623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.510385723 meters Centerline goodness [0,1] 0.9999118768037717 Centerline is valid? [True, True] Translation: X:146.73, Y:16.02, Z:2.01 [[ 9.01373937e-01 -4.32661854e-01 -1.81313410e-02 1.46727289e+02] [ 4.32569209e-01 9.01556247e-01 -8.95616098e-03 1.60212873e+01] [ 2.02214129e-02 2.29790267e-04 9.99795500e-01 2.01048436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.540385723 meters Centerline goodness [0,1] 0.9999779341997838 Centerline is valid? [True, True] Translation: X:146.75, Y:16.04, Z:2.01 [[ 9.01462463e-01 -4.32432975e-01 -1.91611594e-02 1.46752402e+02] [ 4.32329342e-01 9.01666046e-01 -9.47004996e-03 1.60350069e+01] [ 2.13721287e-02 2.52963125e-04 9.99771558e-01 2.01012304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.78, Y:16.05, Z:2.01 [[ 9.01346751e-01 -4.32639333e-01 -1.99309615e-02 1.46778805e+02] [ 4.32527125e-01 9.01567046e-01 -9.85635811e-03 1.60459922e+01] [ 2.22333463e-02 2.63314894e-04 9.99752774e-01 2.01129918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.80, Y:16.06, Z:2.01 [[ 9.01208282e-01 -4.32917815e-01 -2.01444479e-02 1.46801077e+02] [ 4.32803119e-01 9.01433356e-01 -9.96818860e-03 1.60620399e+01] [ 2.24742837e-02 2.64834232e-04 9.99747386e-01 2.00909918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63038572300002 meters Centerline goodness [0,1] 0.9999779997359969 Centerline is valid? [True, True] Translation: X:146.83, Y:16.07, Z:2.01 [[ 9.01111403e-01 -4.33097979e-01 -2.06004706e-02 1.46825765e+02] [ 4.32977957e-01 9.01346807e-01 -1.01991239e-02 1.60744744e+01] [ 2.29853884e-02 2.70997213e-04 9.99735764e-01 2.00950593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.66038572300002 meters Centerline goodness [0,1] 0.9998897148024792 Centerline is valid? [True, True] Translation: X:146.85, Y:16.08, Z:2.01 [[ 9.00945457e-01 -4.33440566e-01 -2.06533423e-02 1.46852127e+02] [ 4.33319869e-01 9.01182115e-01 -1.02316693e-02 1.60833445e+01] [ 2.30472432e-02 2.68672357e-04 9.99734341e-01 2.01326190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69038572300002 meters Centerline goodness [0,1] 0.9999559238363893 Centerline is valid? [True, True] Translation: X:146.88, Y:16.10, Z:2.01 [[ 9.00930017e-01 -4.33485973e-01 -2.03719320e-02 1.46877494e+02] [ 4.33368397e-01 9.01160274e-01 -1.00992077e-02 1.60964874e+01] [ 2.27362407e-02 2.70127864e-04 9.99741462e-01 2.01401972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72038572300002 meters Centerline goodness [0,1] 0.9999337294837527 Centerline is valid? [True, True] Translation: X:146.90, Y:16.11, Z:2.01 [[ 9.00944785e-01 -4.33490152e-01 -1.96158730e-02 1.46902069e+02] [ 4.33380999e-01 9.01158264e-01 -9.73100754e-03 1.61096629e+01] [ 2.18953020e-02 2.65953848e-04 9.99760234e-01 2.01495275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.750385723 meters Centerline goodness [0,1] 0.9999340079190497 Centerline is valid? [True, True] Translation: X:146.93, Y:16.12, Z:2.02 [[ 9.00994562e-01 -4.33405543e-01 -1.91946207e-02 1.46927461e+02] [ 4.33300870e-01 9.01198959e-01 -9.52854934e-03 1.61225912e+01] [ 2.14278983e-02 2.68125300e-04 9.99770360e-01 2.01599017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.95, Y:16.14, Z:2.02 [[ 9.01637011e-01 -4.32074633e-01 -1.90318817e-02 1.46952177e+02] [ 4.31971320e-01 9.01837802e-01 -9.45295905e-03 1.61363746e+01] [ 2.12480542e-02 3.01910670e-04 9.99774189e-01 2.01697595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.98, Y:16.15, Z:2.02 [[ 9.02166349e-01 -4.30956456e-01 -1.92979744e-02 1.46977606e+02] [ 4.30849933e-01 9.02372662e-01 -9.58719621e-03 1.61489911e+01] [ 2.15456286e-02 3.34714844e-04 9.99767810e-01 2.01742382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.840385723 meters Centerline goodness [0,1] 0.9999559442253894 Centerline is valid? [True, True] Translation: X:147.00, Y:16.16, Z:2.02 [[ 9.03178757e-01 -4.28808417e-01 -1.97857019e-02 1.47000659e+02] [ 4.28695877e-01 9.03395364e-01 -9.83163593e-03 1.61644664e+01] [ 2.20901996e-02 3.97675870e-04 9.99755903e-01 2.01673165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.03, Y:16.18, Z:2.02 [[ 9.03559883e-01 -4.28002698e-01 -1.98299932e-02 1.47026919e+02] [ 4.27889387e-01 9.03777358e-01 -9.85694427e-03 1.61770591e+01] [ 2.21406976e-02 4.21295788e-04 9.99754776e-01 2.01742574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.05, Y:16.19, Z:2.02 [[ 9.04107101e-01 -4.26786453e-01 -2.10635780e-02 1.47051824e+02] [ 4.26658120e-01 9.04352303e-01 -1.04766591e-02 1.61917858e+01] [ 2.35201914e-02 4.85075321e-04 9.99723244e-01 2.01647487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.08, Y:16.20, Z:2.02 [[ 9.04093176e-01 -4.26796640e-01 -2.14512844e-02 1.47078150e+02] [ 4.26663387e-01 9.04347488e-01 -1.06759705e-02 1.62047072e+01] [ 2.39558835e-02 4.99594359e-04 9.99712892e-01 2.01627213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.960385723 meters Centerline goodness [0,1] 0.9999556383639429 Centerline is valid? [True, True] Translation: X:147.10, Y:16.22, Z:2.02 [[ 9.04023258e-01 -4.26859054e-01 -2.30932273e-02 1.47103655e+02] [ 4.26704499e-01 9.04318005e-01 -1.14985052e-02 1.62164391e+01] [ 2.57918623e-02 5.40932118e-04 9.99667188e-01 2.01572254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.990385723 meters Centerline goodness [0,1] 0.9999555328278898 Centerline is valid? [True, True] Translation: X:147.13, Y:16.23, Z:2.02 [[ 9.03632347e-01 -4.27645576e-01 -2.38294701e-02 1.47129340e+02] [ 4.27481147e-01 9.03946332e-01 -1.18700652e-02 1.62277686e+01] [ 2.66167430e-02 5.39525588e-04 9.99645566e-01 2.01624623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.020385723 meters Centerline goodness [0,1] 0.9999779556025836 Centerline is valid? [True, True] Translation: X:147.15, Y:16.24, Z:2.02 [[ 9.02867824e-01 -4.29313499e-01 -2.27949847e-02 1.47154679e+02] [ 4.29163433e-01 9.03155410e-01 -1.13601667e-02 1.62395900e+01] [ 2.54644867e-02 4.73955092e-04 9.99675615e-01 2.01714437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.050385723 meters Centerline goodness [0,1] 0.9999114456497675 Centerline is valid? [True, True] Translation: X:147.18, Y:16.25, Z:2.02 [[ 9.02376053e-01 -4.30382335e-01 -2.21021394e-02 1.47178798e+02] [ 4.30241518e-01 9.02646586e-01 -1.10171529e-02 1.62532006e+01] [ 2.46920087e-02 4.32356908e-04 9.99695012e-01 2.01713885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.080385723 meters Centerline goodness [0,1] 0.9999553900028997 Centerline is valid? [True, True] Translation: X:147.21, Y:16.26, Z:2.02 [[ 9.01119212e-01 -4.33039040e-01 -2.14791916e-02 1.47206346e+02] [ 4.32906714e-01 9.01375097e-01 -1.07103222e-02 1.62628777e+01] [ 2.39987960e-02 3.52790845e-04 9.99711925e-01 2.01839401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.110385723 meters Centerline goodness [0,1] 0.9999778412993862 Centerline is valid? [True, True] Translation: X:147.23, Y:16.27, Z:2.02 [[ 9.00590568e-01 -4.34106622e-01 -2.20922876e-02 1.47232428e+02] [ 4.33966787e-01 9.00861435e-01 -1.10227868e-02 1.62746244e+01] [ 2.46871547e-02 3.39698769e-04 9.99695168e-01 2.01855419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.140385723 meters Centerline goodness [0,1] 0.9999778412993862 Centerline is valid? [True, True] Translation: X:147.26, Y:16.29, Z:2.02 [[ 9.00474524e-01 -4.34347428e-01 -2.20894552e-02 1.47257081e+02] [ 4.34207527e-01 9.00745356e-01 -1.10284607e-02 1.62870170e+01] [ 2.46871577e-02 3.39440171e-04 9.99695168e-01 2.01897158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.28, Y:16.30, Z:2.02 [[ 8.99718471e-01 -4.35911723e-01 -2.20826315e-02 1.47283115e+02] [ 4.35772245e-01 8.99989377e-01 -1.10304677e-02 1.62978321e+01] [ 2.46824440e-02 3.01317600e-04 9.99695297e-01 2.01938749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.200385723 meters Centerline goodness [0,1] 0.9999554873027531 Centerline is valid? [True, True] Translation: X:147.31, Y:16.31, Z:2.02 [[ 8.99287038e-01 -4.36796902e-01 -2.21650585e-02 1.47308605e+02] [ 4.36656545e-01 8.99560107e-01 -1.10758776e-02 1.63100273e+01] [ 2.47767114e-02 2.81875304e-04 9.99692970e-01 2.01976388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.230385723 meters Centerline goodness [0,1] 0.9999554744200543 Centerline is valid? [True, True] Translation: X:147.33, Y:16.32, Z:2.02 [[ 8.98476245e-01 -4.38475318e-01 -2.19050867e-02 1.47334577e+02] [ 4.38338566e-01 8.98743199e-01 -1.09527893e-02 1.63223414e+01] [ 2.44895754e-02 2.38976721e-04 9.99700057e-01 2.01953956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.260385723 meters Centerline goodness [0,1] 0.9999776556285471 Centerline is valid? [True, True] Translation: X:147.36, Y:16.33, Z:2.02 [[ 8.98028143e-01 -4.39395446e-01 -2.18425457e-02 1.47360514e+02] [ 4.39259582e-01 8.98293712e-01 -1.09282202e-02 1.63341410e+01] [ 2.44228317e-02 2.19301794e-04 9.99701694e-01 2.02047167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.39, Y:16.35, Z:2.02 [[ 8.97732211e-01 -4.40035538e-01 -2.11093080e-02 1.47385293e+02] [ 4.39908663e-01 8.97980337e-01 -1.05680315e-02 1.63461760e+01] [ 2.36060530e-02 2.01094789e-04 9.99721318e-01 2.02069713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.41, Y:16.36, Z:2.02 [[ 8.97353953e-01 -4.40805047e-01 -2.11374915e-02 1.47412008e+02] [ 4.40677889e-01 8.97602850e-01 -1.05887901e-02 1.63556852e+01] [ 2.36406647e-02 1.87067497e-04 9.99720503e-01 2.02357255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35038572300002 meters Centerline goodness [0,1] 0.9999776969913241 Centerline is valid? [True, True] Translation: X:147.44, Y:16.37, Z:2.02 [[ 8.96895185e-01 -4.41667180e-01 -2.25638762e-02 1.47436582e+02] [ 4.41522394e-01 8.97178951e-01 -1.13095645e-02 1.63677715e+01] [ 2.52388982e-02 1.81037318e-04 9.99681432e-01 2.02223084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.46, Y:16.38, Z:2.02 [[ 8.96372694e-01 -4.42709489e-01 -2.28976285e-02 1.47461001e+02] [ 4.42560629e-01 8.96665090e-01 -1.14806732e-02 1.63792799e+01] [ 2.56141071e-02 1.57373130e-04 9.99671893e-01 2.02193124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41038572300002 meters Centerline goodness [0,1] 0.9999776000716798 Centerline is valid? [True, True] Translation: X:147.49, Y:16.39, Z:2.02 [[ 8.95747445e-01 -4.43953579e-01 -2.32751843e-02 1.47486932e+02] [ 4.43800022e-01 8.96049777e-01 -1.16763380e-02 1.63905334e+01] [ 2.60394757e-02 1.29522570e-04 9.99660907e-01 2.02313962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.51, Y:16.40, Z:2.02 [[ 8.94259889e-01 -4.46968538e-01 -2.27678738e-02 1.47513216e+02] [ 4.46822439e-01 8.94549676e-01 -1.14273670e-02 1.64007496e+01] [ 2.54746677e-02 4.58390968e-05 9.99675467e-01 2.02290548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.54, Y:16.41, Z:2.02 [[ 8.92409743e-01 -4.50707581e-01 -2.16223580e-02 1.47541243e+02] [ 4.50576819e-01 8.92671649e-01 -1.08561972e-02 1.64095214e+01] [ 2.41946363e-02 -5.43571676e-05 9.99707265e-01 2.02485637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.57, Y:16.42, Z:2.03 [[ 8.91525032e-01 -4.52478205e-01 -2.11327119e-02 1.47566482e+02] [ 4.52353676e-01 8.91775456e-01 -1.06154330e-02 1.64193170e+01] [ 2.36488858e-02 -9.55356802e-05 9.99720321e-01 2.02529241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.59, Y:16.43, Z:2.03 [[ 8.90000914e-01 -4.55504368e-01 -2.03505117e-02 1.47593045e+02] [ 4.55389617e-01 8.90233533e-01 -1.02251531e-02 1.64287747e+01] [ 2.27743098e-02 -1.67016086e-04 9.99740618e-01 2.02598352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.560385723 meters Centerline goodness [0,1] 0.999955072333543 Centerline is valid? [True, True] Translation: X:147.62, Y:16.44, Z:2.03 [[ 8.89257421e-01 -4.56960588e-01 -2.02054682e-02 1.47619474e+02] [ 4.56847768e-01 8.89486920e-01 -1.01555934e-02 1.64411260e+01] [ 2.26132057e-02 -1.99886243e-04 9.99744269e-01 2.02565940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.65, Y:16.45, Z:2.03 [[ 8.88923905e-01 -4.57637318e-01 -1.95544534e-02 1.47645162e+02] [ 4.57531687e-01 8.89138934e-01 -9.83420452e-03 1.64526810e+01] [ 2.18871248e-02 -2.04922557e-04 9.99760427e-01 2.02749770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.67, Y:16.46, Z:2.03 [[ 8.88569207e-01 -4.58344276e-01 -1.91125387e-02 1.47670472e+02] [ 4.58243419e-01 8.88774707e-01 -9.61716609e-03 1.64616584e+01] [ 2.13947140e-02 -2.12677411e-04 9.99771084e-01 2.02877220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.650385723 meters Centerline goodness [0,1] 0.9999774942047577 Centerline is valid? [True, True] Translation: X:147.69, Y:16.47, Z:2.03 [[ 8.88744260e-01 -4.57981622e-01 -1.96589654e-02 1.47694699e+02] [ 4.57874753e-01 8.88961637e-01 -9.89543700e-03 1.64729952e+01] [ 2.20079944e-02 -2.06831102e-04 9.99757773e-01 2.02782998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.72, Y:16.49, Z:2.03 [[ 8.89133563e-01 -4.57209848e-01 -2.00165544e-02 1.47718615e+02] [ 4.57098740e-01 8.89358826e-01 -1.00807197e-02 1.64871431e+01] [ 2.24109037e-02 -1.86435626e-04 9.99748827e-01 2.02890629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.74, Y:16.50, Z:2.03 [[ 8.89522337e-01 -4.56445172e-01 -2.01944618e-02 1.47742425e+02] [ 4.56331742e-01 8.89751526e-01 -1.01765931e-02 1.64997917e+01] [ 2.26131100e-02 -1.63067104e-04 9.99744278e-01 2.02821265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.77, Y:16.51, Z:2.03 [[ 8.90694173e-01 -4.54117391e-01 -2.10067932e-02 1.47766548e+02] [ 4.53993865e-01 8.90941852e-01 -1.05918081e-02 1.65143258e+01] [ 2.35257555e-02 -1.02893422e-04 9.99723226e-01 2.02701607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.79, Y:16.53, Z:2.03 [[ 8.91378484e-01 -4.52787906e-01 -2.06763240e-02 1.47791122e+02] [ 4.52667755e-01 8.91618252e-01 -1.04305203e-02 1.65274259e+01] [ 2.31582013e-02 -6.19637655e-05 9.99731811e-01 2.02737680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.82, Y:16.54, Z:2.03 [[ 8.92397623e-01 -4.50799246e-01 -2.01623912e-02 1.47816073e+02] [ 4.50684403e-01 8.92625364e-01 -1.01749145e-02 1.65412505e+01] [ 2.25843056e-02 -6.80571280e-06 9.99744942e-01 2.02870785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.84, Y:16.55, Z:2.03 [[ 8.92812650e-01 -4.49990517e-01 -1.98521078e-02 1.47839561e+02] [ 4.49878861e-01 8.93033333e-01 -1.00238054e-02 1.65538727e+01] [ 2.22392113e-02 1.83366220e-05 9.99752678e-01 2.02892841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.860385723 meters Centerline goodness [0,1] 0.9999776005734253 Centerline is valid? [True, True] Translation: X:147.86, Y:16.57, Z:2.03 [[ 8.93525538e-01 -4.48563356e-01 -2.00755695e-02 1.47863891e+02] [ 4.48448716e-01 8.93751035e-01 -1.01408354e-02 1.65679071e+01] [ 2.24913682e-02 5.82320357e-05 9.99747035e-01 2.02868532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.89, Y:16.58, Z:2.03 [[ 8.93829064e-01 -4.47916623e-01 -2.09834135e-02 1.47889915e+02] [ 4.47791036e-01 8.94075328e-01 -1.06064195e-02 1.65813799e+01] [ 2.35115439e-02 8.41415534e-05 9.99723562e-01 2.02925337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.920385723 meters Centerline goodness [0,1] 0.9999326886400861 Centerline is valid? [True, True] Translation: X:147.92, Y:16.59, Z:2.03 [[ 8.94604743e-01 -4.46306740e-01 -2.21956634e-02 1.47915409e+02] [ 4.46165551e-01 8.94880033e-01 -1.12261553e-02 1.65947796e+01] [ 2.48727648e-02 1.40031411e-04 9.99690615e-01 2.02942649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.94, Y:16.61, Z:2.03 [[ 8.94729685e-01 -4.46067206e-01 -2.19735883e-02 1.47940016e+02] [ 4.45928583e-01 8.94999455e-01 -1.11208832e-02 1.66073265e+01] [ 2.46270108e-02 1.51533253e-04 9.99696698e-01 2.03048975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.980385723 meters Centerline goodness [0,1] 0.9999103018343275 Centerline is valid? [True, True] Translation: X:147.96, Y:16.62, Z:2.03 [[ 8.94466533e-01 -4.46619969e-01 -2.14528636e-02 1.47964738e+02] [ 4.46487865e-01 8.94723747e-01 -1.08628996e-02 1.66201549e+01] [ 2.40459745e-02 1.38056907e-04 9.99710844e-01 2.03062790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.99, Y:16.63, Z:2.03 [[ 8.93959229e-01 -4.47635963e-01 -2.14229077e-02 1.47989878e+02] [ 4.47504417e-01 8.94215875e-01 -1.08519686e-02 1.66325015e+01] [ 2.40144356e-02 1.14371656e-04 9.99711605e-01 2.03105886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.02, Y:16.64, Z:2.03 [[ 8.93181934e-01 -4.49212981e-01 -2.08261692e-02 1.48015119e+02] [ 4.49088965e-01 8.93424698e-01 -1.05550690e-02 1.66439344e+01] [ 2.33480880e-02 7.47941956e-05 9.99727393e-01 2.03111080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.04, Y:16.66, Z:2.03 [[ 8.92747258e-01 -4.50095110e-01 -2.04138417e-02 1.48040524e+02] [ 4.49976099e-01 8.92980621e-01 -1.03499457e-02 1.66554816e+01] [ 2.28876250e-02 5.41447542e-05 9.99738043e-01 2.03282012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.10038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.07, Y:16.67, Z:2.03 [[ 8.92228333e-01 -4.51162225e-01 -1.95255913e-02 1.48066271e+02] [ 4.51053480e-01 8.92441957e-01 -9.90514817e-03 1.66662804e+01] [ 2.18942856e-02 3.05679408e-05 9.99760291e-01 2.03491798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.09, Y:16.68, Z:2.04 [[ 8.91930595e-01 -4.51759022e-01 -1.93287506e-02 1.48091250e+02] [ 4.51652508e-01 8.92140004e-01 -9.80949874e-03 1.66783152e+01] [ 2.16754812e-02 1.95133735e-05 9.99765059e-01 2.03534569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.16038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.12, Y:16.69, Z:2.03 [[ 8.91626622e-01 -4.52306297e-01 -2.05178034e-02 1.48116769e+02] [ 4.52186256e-01 8.91862665e-01 -1.04200180e-02 1.66916479e+01] [ 2.30121026e-02 1.28967290e-05 9.99735186e-01 2.03388898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19038572300002 meters Centerline goodness [0,1] 0.9999323089419888 Centerline is valid? [True, True] Translation: X:148.14, Y:16.70, Z:2.03 [[ 8.91618164e-01 -4.52284546e-01 -2.13480270e-02 1.48141912e+02] [ 4.52154455e-01 8.91873696e-01 -1.08471307e-02 1.67045926e+01] [ 2.39457333e-02 1.88932779e-05 9.99713260e-01 2.03314188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22038572300002 meters Centerline goodness [0,1] 0.9999548471576286 Centerline is valid? [True, True] Translation: X:148.17, Y:16.72, Z:2.03 [[ 8.92111586e-01 -4.51259721e-01 -2.23960215e-02 1.48167231e+02] [ 4.51116137e-01 8.92392661e-01 -1.13828342e-02 1.67166098e+01] [ 2.51226598e-02 5.15515435e-05 9.99684375e-01 2.03209687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.19, Y:16.73, Z:2.03 [[ 8.92377667e-01 -4.50744671e-01 -2.21662142e-02 1.48192598e+02] [ 4.50603752e-01 8.92652921e-01 -1.12704167e-02 1.67288780e+01] [ 2.48668162e-02 6.92888919e-05 9.99690771e-01 2.03356561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.280385723 meters Centerline goodness [0,1] 0.9999548053239329 Centerline is valid? [True, True] Translation: X:148.22, Y:16.74, Z:2.04 [[ 8.93119026e-01 -4.49296116e-01 -2.17118994e-02 1.48218014e+02] [ 4.49160306e-01 8.93382890e-01 -1.10468163e-02 1.67412870e+01] [ 2.43603311e-02 1.13998478e-04 9.99703237e-01 2.03506218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.310385723 meters Centerline goodness [0,1] 0.9999547644357994 Centerline is valid? [True, True] Translation: X:148.24, Y:16.75, Z:2.04 [[ 8.93663042e-01 -4.48237511e-01 -2.12014408e-02 1.48241585e+02] [ 4.48107543e-01 8.93914488e-01 -1.07943205e-02 1.67542167e+01] [ 2.37906944e-02 1.45959782e-04 9.99716951e-01 2.03538274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.27, Y:16.77, Z:2.04 [[ 8.94797813e-01 -4.45978843e-01 -2.09701206e-02 1.48266948e+02] [ 4.45850914e-01 8.95043478e-01 -1.06834065e-02 1.67683046e+01] [ 2.35337430e-02 2.09941339e-04 9.99723021e-01 2.03634831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.29, Y:16.78, Z:2.04 [[ 8.95505242e-01 -4.44563934e-01 -2.08151474e-02 1.48292606e+02] [ 4.44437361e-01 8.95747088e-01 -1.06106870e-02 1.67821237e+01] [ 2.33622364e-02 2.50896618e-04 9.99727034e-01 2.03668545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.32, Y:16.80, Z:2.04 [[ 8.97273808e-01 -4.40994872e-01 -2.05726809e-02 1.48317680e+02] [ 4.40870150e-01 8.97509556e-01 -1.04932029e-02 1.67968244e+01] [ 2.30916263e-02 3.45395230e-04 9.99733293e-01 2.03745275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.34, Y:16.81, Z:2.04 [[ 8.98014007e-01 -4.39508189e-01 -2.00846825e-02 1.48343325e+02] [ 4.39388807e-01 8.98238503e-01 -1.02502949e-02 1.68105678e+01] [ 2.25459236e-02 3.79923705e-04 9.99745736e-01 2.03828304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.460385723 meters Centerline goodness [0,1] 0.9999773098565983 Centerline is valid? [True, True] Translation: X:148.37, Y:16.83, Z:2.04 [[ 8.99193798e-01 -4.37111502e-01 -1.95971417e-02 1.48366667e+02] [ 4.36997173e-01 8.99407220e-01 -1.00062119e-02 1.68253273e+01] [ 2.19996410e-02 4.33628155e-04 9.99757885e-01 2.03833655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.490385723 meters Centerline goodness [0,1] 0.9999546998867497 Centerline is valid? [True, True] Translation: X:148.39, Y:16.84, Z:2.04 [[ 8.99583898e-01 -4.36305257e-01 -1.96604593e-02 1.48392520e+02] [ 4.36189948e-01 8.99798596e-01 -1.00406919e-02 1.68370434e+01] [ 2.20712603e-02 4.56750084e-04 9.99756296e-01 2.03918703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.520385723 meters Centerline goodness [0,1] 0.9998867420209754 Centerline is valid? [True, True] Translation: X:148.42, Y:16.85, Z:2.04 [[ 8.99717559e-01 -4.36021487e-01 -1.98387626e-02 1.48418785e+02] [ 4.35903932e-01 8.99936131e-01 -1.01351420e-02 1.68493160e+01] [ 2.22727590e-02 4.70970597e-04 9.99751820e-01 2.03951113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.550385723 meters Centerline goodness [0,1] 0.9998191763482663 Centerline is valid? [True, True] Translation: X:148.44, Y:16.86, Z:2.04 [[ 8.99541235e-01 -4.36376738e-01 -2.00227099e-02 1.48444688e+02] [ 4.36256940e-01 8.99763924e-01 -1.02353913e-02 1.68612745e+01] [ 2.24821987e-02 4.72110374e-04 9.99747132e-01 2.04012879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.580385723 meters Centerline goodness [0,1] 0.9999094346457763 Centerline is valid? [True, True] Translation: X:148.47, Y:16.87, Z:2.04 [[ 8.98819787e-01 -4.37879957e-01 -1.95993596e-02 1.48471336e+02] [ 4.37765390e-01 8.99033346e-01 -1.00252247e-02 1.68728989e+01] [ 2.20103228e-02 4.30948972e-04 9.99757651e-01 2.04170038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.610385723 meters Centerline goodness [0,1] 0.9999321619971508 Centerline is valid? [True, True] Translation: X:148.50, Y:16.89, Z:2.04 [[ 8.98470402e-01 -4.38619947e-01 -1.90650930e-02 1.48497234e+02] [ 4.38511586e-01 8.98672563e-01 -9.75768636e-03 1.68857503e+01] [ 2.14131919e-02 4.06728231e-04 9.99770629e-01 2.04223798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.640385723 meters Centerline goodness [0,1] 0.9999773540468319 Centerline is valid? [True, True] Translation: X:148.52, Y:16.90, Z:2.04 [[ 8.97841120e-01 -4.39876802e-01 -1.97413937e-02 1.48523363e+02] [ 4.39760783e-01 8.98058040e-01 -1.01099704e-02 1.68984797e+01] [ 2.21760588e-02 3.95656377e-04 9.99754003e-01 2.04183509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.670385723 meters Centerline goodness [0,1] 0.9999773545596594 Centerline is valid? [True, True] Translation: X:148.55, Y:16.91, Z:2.04 [[ 8.97506857e-01 -4.40498901e-01 -2.10275918e-02 1.48547443e+02] [ 4.40367310e-01 8.97753056e-01 -1.07741691e-02 1.69108180e+01] [ 2.36235945e-02 4.10026606e-04 9.99720840e-01 2.04095721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.700385723 meters Centerline goodness [0,1] 0.9998865981719626 Centerline is valid? [True, True] Translation: X:148.57, Y:16.92, Z:2.04 [[ 8.97184896e-01 -4.41036131e-01 -2.33750861e-02 1.48573868e+02] [ 4.40873557e-01 8.97489239e-01 -1.19821988e-02 1.69234682e+01] [ 2.62634708e-02 4.44790429e-04 9.99654957e-01 2.03913941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.730385723 meters Centerline goodness [0,1] 0.9998413022285702 Centerline is valid? [True, True] Translation: X:148.60, Y:16.94, Z:2.04 [[ 8.97073058e-01 -4.41223964e-01 -2.41110532e-02 1.48599573e+02] [ 4.41050858e-01 8.97396904e-01 -1.23668236e-02 1.69364277e+01] [ 2.70937234e-02 4.59743537e-04 9.99632792e-01 2.03886220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.760385723 meters Centerline goodness [0,1] 0.9999319063939897 Centerline is valid? [True, True] Translation: X:148.62, Y:16.95, Z:2.04 [[ 8.97005493e-01 -4.41344726e-01 -2.44126717e-02 1.48624221e+02] [ 4.41167161e-01 8.97337514e-01 -1.25268237e-02 1.69503992e+01] [ 2.74350537e-02 4.66560604e-04 9.99623479e-01 2.03828739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.790385723 meters Centerline goodness [0,1] 0.9998637168945623 Centerline is valid? [True, True] Translation: X:148.65, Y:16.96, Z:2.04 [[ 8.96816936e-01 -4.41718666e-01 -2.45764873e-02 1.48649176e+02] [ 4.41538703e-01 8.97153502e-01 -1.26161919e-02 1.69625078e+01] [ 2.76216890e-02 4.62944215e-04 9.99618341e-01 2.03936121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.82038572300002 meters Centerline goodness [0,1] 0.9997735455965941 Centerline is valid? [True, True] Translation: X:148.67, Y:16.98, Z:2.04 [[ 8.96608340e-01 -4.42137134e-01 -2.46625134e-02 1.48673654e+02] [ 4.41955902e-01 8.96947348e-01 -1.26662774e-02 1.69756006e+01] [ 2.77212076e-02 4.56946581e-04 9.99615589e-01 2.03964243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85038572300002 meters Centerline goodness [0,1] 0.9997048741174601 Centerline is valid? [True, True] Translation: X:148.70, Y:16.99, Z:2.04 [[ 8.96348057e-01 -4.42665298e-01 -2.46494157e-02 1.48698690e+02] [ 4.42484312e-01 8.96686810e-01 -1.26648479e-02 1.69884188e+01] [ 2.77090946e-02 4.45132105e-04 9.99615930e-01 2.04122732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88038572300002 meters Centerline goodness [0,1] 0.999841057196703 Centerline is valid? [True, True] Translation: X:148.72, Y:17.00, Z:2.04 [[ 8.96219809e-01 -4.42942015e-01 -2.43397980e-02 1.48723649e+02] [ 4.42765421e-01 8.96550154e-01 -1.25140998e-02 1.70022814e+01] [ 2.73648703e-02 4.38563217e-04 9.99625416e-01 2.04194717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91038572300002 meters Centerline goodness [0,1] 0.9998412374407476 Centerline is valid? [True, True] Translation: X:148.75, Y:17.02, Z:2.04 [[ 8.96365466e-01 -4.42706104e-01 -2.32434336e-02 1.48747249e+02] [ 4.42544841e-01 8.96666672e-01 -1.19559026e-02 1.70167312e+01] [ 2.61345633e-02 4.30596644e-04 9.99658341e-01 2.04257093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94038572300002 meters Centerline goodness [0,1] 0.9998864694262165 Centerline is valid? [True, True] Translation: X:148.77, Y:17.03, Z:2.04 [[ 8.96930778e-01 -4.41609137e-01 -2.22833900e-02 1.48770863e+02] [ 4.41460526e-01 8.97207430e-01 -1.14643830e-02 1.70312379e+01] [ 2.50555994e-02 4.45520940e-04 9.99685960e-01 2.04317219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97038572300002 meters Centerline goodness [0,1] 0.9999772696276765 Centerline is valid? [True, True] Translation: X:148.80, Y:17.04, Z:2.04 [[ 8.97075279e-01 -4.41318573e-01 -2.22229943e-02 1.48796192e+02] [ 4.41170578e-01 8.97350383e-01 -1.14373083e-02 1.70444739e+01] [ 2.49893090e-02 4.55995329e-04 9.99687614e-01 2.04359191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.000385723 meters Centerline goodness [0,1] 0.9999772696276765 Centerline is valid? [True, True] Translation: X:148.82, Y:17.06, Z:2.04 [[ 8.96957375e-01 -4.41558300e-01 -2.22201675e-02 1.48820696e+02] [ 4.41410242e-01 8.97232445e-01 -1.14427980e-02 1.70571767e+01] [ 2.49893177e-02 4.55492564e-04 9.99687614e-01 2.04400945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.030385723 meters Centerline goodness [0,1] 0.9999771778077002 Centerline is valid? [True, True] Translation: X:148.85, Y:17.07, Z:2.05 [[ 8.97263081e-01 -4.40950831e-01 -2.19392007e-02 1.48846284e+02] [ 4.40806140e-01 8.97531137e-01 -1.13051339e-02 1.70713746e+01] [ 2.46761239e-02 4.72744891e-04 9.99695386e-01 2.04538579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.060385723 meters Centerline goodness [0,1] 0.9999772359944455 Centerline is valid? [True, True] Translation: X:148.87, Y:17.08, Z:2.05 [[ 8.97163990e-01 -4.41148188e-01 -2.20238835e-02 1.48869727e+02] [ 4.41002306e-01 8.97434149e-01 -1.13540827e-02 1.70846655e+01] [ 2.47738182e-02 4.73890729e-04 9.99692970e-01 2.04556463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.090385723 meters Centerline goodness [0,1] 0.9998635215977072 Centerline is valid? [True, True] Translation: X:148.89, Y:17.10, Z:2.05 [[ 8.97309577e-01 -4.40878704e-01 -2.14823420e-02 1.48892734e+02] [ 4.40739756e-01 8.97566569e-01 -1.10780306e-02 1.70994669e+01] [ 2.41658998e-02 4.72300745e-04 9.99707850e-01 2.04589686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.120385723 meters Centerline goodness [0,1] 0.9999772188809914 Centerline is valid? [True, True] Translation: X:148.92, Y:17.11, Z:2.05 [[ 8.97414499e-01 -4.40657677e-01 -2.16339749e-02 1.48918389e+02] [ 4.40516585e-01 8.97675095e-01 -1.11607355e-02 1.71117918e+01] [ 2.43383442e-02 4.85681136e-04 9.99703661e-01 2.04729866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.94, Y:17.13, Z:2.05 [[ 8.97673448e-01 -4.40101883e-01 -2.21971689e-02 1.48941559e+02] [ 4.39953036e-01 8.97947695e-01 -1.14569725e-02 1.71272697e+01] [ 2.49741318e-02 5.18908120e-04 9.99687963e-01 2.04595302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.97, Y:17.14, Z:2.05 [[ 8.97582658e-01 -4.40253361e-01 -2.28549900e-02 1.48966843e+02] [ 4.40095477e-01 8.97873428e-01 -1.18016086e-02 1.71408290e+01] [ 2.57165861e-02 5.34541463e-04 9.99669131e-01 2.04546937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.210385723 meters Centerline goodness [0,1] 0.9999095983908514 Centerline is valid? [True, True] Translation: X:148.99, Y:17.15, Z:2.04 [[ 8.97404651e-01 -4.40530632e-01 -2.44469849e-02 1.48991576e+02] [ 4.40349933e-01 8.97737400e-01 -1.26292060e-02 1.71532267e+01] [ 2.75105248e-02 5.68279988e-04 9.99621352e-01 2.04435563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.240385723 meters Centerline goodness [0,1] 0.9999772551517081 Centerline is valid? [True, True] Translation: X:149.02, Y:17.16, Z:2.05 [[ 8.96899861e-01 -4.41560863e-01 -2.43853293e-02 1.49018351e+02] [ 4.41381323e-01 8.97231137e-01 -1.26021504e-02 1.71637758e+01] [ 2.74438931e-02 5.39637996e-04 9.99623200e-01 2.04594937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.04, Y:17.18, Z:2.05 [[ 8.95934969e-01 -4.43625341e-01 -2.22954772e-02 1.49044638e+02] [ 4.43475736e-01 8.96212230e-01 -1.15286365e-02 1.71760507e+01] [ 2.50958747e-02 4.41405426e-04 9.99684951e-01 2.04790691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.07, Y:17.19, Z:2.05 [[ 8.95223573e-01 -4.45196213e-01 -1.93671526e-02 1.49068816e+02] [ 4.45083599e-01 8.95432973e-01 -1.00189996e-02 1.71890909e+01] [ 2.18024077e-02 3.49242691e-04 9.99762238e-01 2.05077995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.330385723 meters Centerline goodness [0,1] 0.9998868675898271 Centerline is valid? [True, True] Translation: X:149.09, Y:17.21, Z:2.05 [[ 8.94768505e-01 -4.46136174e-01 -1.87573116e-02 1.49091700e+02] [ 4.46030691e-01 8.94965035e-01 -9.70617875e-03 1.72054454e+01] [ 2.11174155e-02 3.18446388e-04 9.99776952e-01 2.04856812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.360385723 meters Centerline goodness [0,1] 0.9999774286746118 Centerline is valid? [True, True] Translation: X:149.12, Y:17.22, Z:2.05 [[ 8.94439770e-01 -4.46837735e-01 -1.77069742e-02 1.49119121e+02] [ 4.46743822e-01 8.94614976e-01 -9.16523008e-03 1.72163032e+01] [ 1.99362949e-02 2.87264964e-04 9.99801211e-01 2.05259672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.14, Y:17.23, Z:2.05 [[ 8.94060057e-01 -4.47586799e-01 -1.79630866e-02 1.49143428e+02] [ 4.47490191e-01 8.94240448e-01 -9.30318971e-03 1.72298610e+01] [ 2.02273035e-02 2.79305265e-04 9.99795368e-01 2.05197808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.17, Y:17.24, Z:2.05 [[ 8.93976083e-01 -4.47716356e-01 -1.88899023e-02 1.49168257e+02] [ 4.47609404e-01 8.94175585e-01 -9.79000991e-03 1.72432311e+01] [ 2.12740370e-02 2.96736803e-04 9.99773638e-01 2.05132954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.19, Y:17.26, Z:2.05 [[ 8.94119254e-01 -4.47337202e-01 -2.09806458e-02 1.49192651e+02] [ 4.47205015e-01 8.94365310e-01 -1.08796289e-02 1.72568478e+01] [ 2.36312245e-02 3.45035631e-04 9.99720684e-01 2.04922635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.480385723 meters Centerline goodness [0,1] 0.9999550884757029 Centerline is valid? [True, True] Translation: X:149.22, Y:17.27, Z:2.05 [[ 8.94081534e-01 -4.47379977e-01 -2.16648952e-02 1.49218512e+02] [ 4.47238940e-01 8.94343909e-01 -1.12384605e-02 1.72698068e+01] [ 2.44037293e-02 3.58715270e-04 9.99702120e-01 2.04912254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.510385723 meters Centerline goodness [0,1] 0.9999101062993011 Centerline is valid? [True, True] Translation: X:149.24, Y:17.28, Z:2.05 [[ 8.93971878e-01 -4.47539810e-01 -2.28560716e-02 1.49243862e+02] [ 4.47382707e-01 8.94263929e-01 -1.18633832e-02 1.72833293e+01] [ 2.57486967e-02 3.80119826e-04 9.99668375e-01 2.04877466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.27, Y:17.30, Z:2.05 [[ 8.94044292e-01 -4.47367643e-01 -2.33879299e-02 1.49269617e+02] [ 4.47202900e-01 8.94350061e-01 -1.21464064e-02 1.72969990e+01] [ 2.63509058e-02 4.00275232e-04 9.99652674e-01 2.04832614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57038572300002 meters Centerline goodness [0,1] 0.9999774931916905 Centerline is valid? [True, True] Translation: X:149.29, Y:17.31, Z:2.05 [[ 8.94059986e-01 -4.47319326e-01 -2.37099446e-02 1.49294852e+02] [ 4.47149802e-01 8.94374222e-01 -1.23209304e-02 1.73109469e+01] [ 2.67169535e-02 4.13753811e-04 9.99642953e-01 2.04776488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.32, Y:17.33, Z:2.05 [[ 8.94658849e-01 -4.46073606e-01 -2.45740074e-02 1.49318365e+02] [ 4.45890879e-01 8.94996153e-01 -1.27753504e-02 1.73263067e+01] [ 2.76923887e-02 4.72254552e-04 9.99616381e-01 2.04593767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.34, Y:17.34, Z:2.05 [[ 8.94816718e-01 -4.45760670e-01 -2.45043957e-02 1.49344445e+02] [ 4.45578728e-01 8.95152048e-01 -1.27439115e-02 1.73380962e+01] [ 2.76158946e-02 4.84827603e-04 9.99618491e-01 2.04792660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.37, Y:17.35, Z:2.05 [[ 8.95547796e-01 -4.44269004e-01 -2.48836680e-02 1.49370840e+02] [ 4.44080595e-01 8.95893272e-01 -1.29487741e-02 1.73503051e+01] [ 2.80458497e-02 5.45892068e-04 9.99606489e-01 2.05026354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.40, Y:17.36, Z:2.05 [[ 8.95953538e-01 -4.43442002e-01 -2.50289655e-02 1.49396231e+02] [ 4.43250892e-01 8.96302881e-01 -1.30304516e-02 1.73630442e+01] [ 2.82117835e-02 5.80567910e-04 9.99601800e-01 2.05176874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.42, Y:17.38, Z:2.05 [[ 8.96857216e-01 -4.41653608e-01 -2.42739671e-02 1.49420126e+02] [ 4.41473110e-01 8.97185435e-01 -1.26407272e-02 1.73765604e+01] [ 2.73610725e-02 6.20623613e-04 9.99625423e-01 2.05281336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.750385723 meters Centerline goodness [0,1] 0.9999775240492673 Centerline is valid? [True, True] Translation: X:149.44, Y:17.39, Z:2.05 [[ 8.97230870e-01 -4.40922796e-01 -2.37455975e-02 1.49443933e+02] [ 4.40749748e-01 8.97544812e-01 -1.23681327e-02 1.73920040e+01] [ 2.67661295e-02 6.31204319e-04 9.99641524e-01 2.05299869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.47, Y:17.41, Z:2.05 [[ 8.97509515e-01 -4.40395637e-01 -2.29859294e-02 1.49468579e+02] [ 4.40233203e-01 8.97803590e-01 -1.19766568e-02 1.74066469e+01] [ 2.59113173e-02 6.29994125e-04 9.99664047e-01 2.05399441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.810385723 meters Centerline goodness [0,1] 0.9999775769670606 Centerline is valid? [True, True] Translation: X:149.49, Y:17.42, Z:2.06 [[ 8.97744273e-01 -4.39943774e-01 -2.24654272e-02 1.49494135e+02] [ 4.39788308e-01 8.98025096e-01 -1.17120287e-02 1.74195535e+01] [ 2.53271515e-02 6.34374509e-04 9.99679015e-01 2.05563484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.52, Y:17.43, Z:2.06 [[ 8.98599073e-01 -4.38222689e-01 -2.19221805e-02 1.49518512e+02] [ 4.38074018e-01 8.98866189e-01 -1.14336998e-02 1.74341446e+01] [ 2.47156135e-02 6.70774337e-04 9.99694298e-01 2.05682193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.54, Y:17.45, Z:2.06 [[ 8.99010370e-01 -4.37360613e-01 -2.22721655e-02 1.49543461e+02] [ 4.37206788e-01 8.99285934e-01 -1.16204184e-02 1.74491945e+01] [ 2.51113585e-02 7.09334684e-04 9.99684408e-01 2.05690557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.57, Y:17.47, Z:2.06 [[ 9.00008870e-01 -4.35285181e-01 -2.26018760e-02 1.49566776e+02] [ 4.35125980e-01 9.00292285e-01 -1.17976013e-02 1.74655334e+01] [ 2.54836156e-02 7.83282328e-04 9.99674933e-01 2.05643753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.59, Y:17.48, Z:2.06 [[ 9.00224481e-01 -4.34834184e-01 -2.26961776e-02 1.49590146e+02] [ 4.34673446e-01 9.00510183e-01 -1.18492727e-02 1.74807107e+01] [ 2.55906079e-02 8.01579607e-04 9.99672185e-01 2.05595361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.960385723 meters Centerline goodness [0,1] 0.9999556462343653 Centerline is valid? [True, True] Translation: X:149.61, Y:17.50, Z:2.06 [[ 9.00818787e-01 -4.33563639e-01 -2.34111976e-02 1.49612996e+02] [ 4.33392102e-01 9.01122533e-01 -1.22256274e-02 1.74965685e+01] [ 2.63969452e-02 8.66846720e-04 9.99651164e-01 2.05545354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.64, Y:17.51, Z:2.06 [[ 9.01224620e-01 -4.32706528e-01 -2.36483677e-02 1.49638831e+02] [ 4.32531065e-01 9.01534381e-01 -1.23546466e-02 1.75091119e+01] [ 2.66657528e-02 9.05657989e-04 9.99643995e-01 2.05691626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.66, Y:17.52, Z:2.06 [[ 9.01777009e-01 -4.31485581e-01 -2.48680347e-02 1.49664375e+02] [ 4.31290932e-01 9.02119284e-01 -1.29972632e-02 1.75215430e+01] [ 2.80420653e-02 9.95275297e-04 9.99606248e-01 2.05824546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.050385723 meters Centerline goodness [0,1] 0.9999777965273768 Centerline is valid? [True, True] Translation: X:149.69, Y:17.54, Z:2.06 [[ 9.01865596e-01 -4.31292702e-01 -2.50010272e-02 1.49687729e+02] [ 4.31095816e-01 9.02211498e-01 -1.30694725e-02 1.75367736e+01] [ 2.81929823e-02 1.00906936e-03 9.99601990e-01 2.05821914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.080385723 meters Centerline goodness [0,1] 0.999933014781405 Centerline is valid? [True, True] Translation: X:149.71, Y:17.55, Z:2.06 [[ 9.01728037e-01 -4.31590694e-01 -2.48197476e-02 1.49713764e+02] [ 4.31396613e-01 9.02068998e-01 -1.29801650e-02 1.75484886e+01] [ 2.79912432e-02 9.97423639e-04 9.99607671e-01 2.05934381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.110385723 meters Centerline goodness [0,1] 0.9999330984345034 Centerline is valid? [True, True] Translation: X:149.74, Y:17.56, Z:2.06 [[ 9.01669111e-01 -4.31722656e-01 -2.46650003e-02 1.49736249e+02] [ 4.31530830e-01 9.02005854e-01 -1.29066613e-02 1.75639302e+01] [ 2.78200727e-02 9.93829794e-04 9.99612453e-01 2.05849762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.140385723 meters Centerline goodness [0,1] 0.999977632638454 Centerline is valid? [True, True] Translation: X:149.76, Y:17.58, Z:2.06 [[ 9.01122338e-01 -4.32858245e-01 -2.47441118e-02 1.49762061e+02] [ 4.32665429e-01 9.01461482e-01 -1.29546862e-02 1.75763804e+01] [ 2.79134064e-02 9.67835380e-04 9.99609876e-01 2.05946203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.79, Y:17.59, Z:2.06 [[ 9.00699589e-01 -4.33744063e-01 -2.46239352e-02 1.49787621e+02] [ 4.33553301e-01 9.01035628e-01 -1.28969734e-02 1.75885123e+01] [ 2.77810286e-02 9.40510255e-04 9.99613590e-01 2.06059366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.200385723 meters Centerline goodness [0,1] 0.9998884501260513 Centerline is valid? [True, True] Translation: X:149.81, Y:17.60, Z:2.06 [[ 8.99589503e-01 -4.36049588e-01 -2.44843428e-02 1.49813048e+02] [ 4.35861770e-01 8.99922222e-01 -1.28262141e-02 1.76007951e+01] [ 2.76268696e-02 8.66538556e-04 9.99617930e-01 2.05926023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.84, Y:17.61, Z:2.06 [[ 8.99216511e-01 -4.36800070e-01 -2.48065506e-02 1.49840486e+02] [ 4.36607430e-01 8.99558204e-01 -1.29996141e-02 1.76111724e+01] [ 2.79931684e-02 8.58743337e-04 9.99607746e-01 2.06336636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.260385723 meters Centerline goodness [0,1] 0.999977650634722 Centerline is valid? [True, True] Translation: X:149.86, Y:17.62, Z:2.06 [[ 8.98033616e-01 -4.39229968e-01 -2.47519776e-02 1.49864974e+02] [ 4.39038948e-01 8.98374319e-01 -1.29763231e-02 1.76249610e+01] [ 2.79361310e-02 7.86092148e-04 9.99609401e-01 2.06279253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.89, Y:17.64, Z:2.06 [[ 8.97394476e-01 -4.40556855e-01 -2.43477064e-02 1.49891771e+02] [ 4.40372387e-01 8.97724409e-01 -1.27689636e-02 1.76369125e+01] [ 2.74829848e-02 7.36739850e-04 9.99622000e-01 2.06420527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.92, Y:17.65, Z:2.06 [[ 8.96761282e-01 -4.41859130e-01 -2.40772350e-02 1.49916808e+02] [ 4.41679072e-01 8.97084181e-01 -1.26320616e-02 1.76498489e+01] [ 2.71808984e-02 6.93532988e-04 9.99630291e-01 2.06451712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35038572300002 meters Centerline goodness [0,1] 0.9999552272218492 Centerline is valid? [True, True] Translation: X:149.94, Y:17.66, Z:2.06 [[ 8.95874232e-01 -4.43678086e-01 -2.36456252e-02 1.49942853e+02] [ 4.43504945e-01 8.96186006e-01 -1.24099005e-02 1.76616251e+01] [ 2.66968793e-02 6.30758332e-04 9.99643376e-01 2.06448229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.97, Y:17.67, Z:2.07 [[ 8.95680807e-01 -4.44057198e-01 -2.38557521e-02 1.49966556e+02] [ 4.43880955e-01 8.95998219e-01 -1.25255503e-02 1.76746840e+01] [ 2.69367721e-02 6.29780990e-04 9.99636941e-01 2.06513215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41038572300002 meters Centerline goodness [0,1] 0.9999327399502276 Centerline is valid? [True, True] Translation: X:149.99, Y:17.69, Z:2.06 [[ 8.95367287e-01 -4.44682180e-01 -2.39829083e-02 1.49991505e+02] [ 4.44504133e-01 8.95688214e-01 -1.25976308e-02 1.76875838e+01] [ 2.70831502e-02 6.19004645e-04 9.99632993e-01 2.06394601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.02, Y:17.70, Z:2.07 [[ 8.95541272e-01 -4.44333614e-01 -2.39472359e-02 1.50016095e+02] [ 4.44155826e-01 8.95861171e-01 -1.25842715e-02 1.77007995e+01] [ 2.70450137e-02 6.33430177e-04 9.99634016e-01 2.06640403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47038572300002 meters Centerline goodness [0,1] 0.9999108197890888 Centerline is valid? [True, True] Translation: X:150.04, Y:17.71, Z:2.07 [[ 8.95231167e-01 -4.44996313e-01 -2.32258467e-02 1.50042315e+02] [ 4.44829191e-01 8.95532201e-01 -1.22093330e-02 1.77125984e+01] [ 2.62326018e-02 5.98640854e-04 9.99655687e-01 2.06570649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.500385723 meters Centerline goodness [0,1] 0.9999776055896449 Centerline is valid? [True, True] Translation: X:150.07, Y:17.72, Z:2.07 [[ 8.95651107e-01 -4.44182267e-01 -2.26099059e-02 1.50068816e+02] [ 4.44023463e-01 8.95936236e-01 -1.18922295e-02 1.77240900e+01] [ 2.55393515e-02 6.11959845e-04 9.99673630e-01 2.07023617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.530385723 meters Centerline goodness [0,1] 0.9997766710588025 Centerline is valid? [True, True] Translation: X:150.09, Y:17.74, Z:2.07 [[ 8.95430766e-01 -4.44647875e-01 -2.21812856e-02 1.50094534e+02] [ 4.44495007e-01 8.95705261e-01 -1.16736559e-02 1.77384666e+01] [ 2.50585606e-02 5.93479980e-04 9.99685809e-01 2.06645124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.560385723 meters Centerline goodness [0,1] 0.9999553242343691 Centerline is valid? [True, True] Translation: X:150.12, Y:17.75, Z:2.07 [[ 8.95705021e-01 -4.44089133e-01 -2.23015324e-02 1.50118750e+02] [ 4.43934298e-01 8.95982400e-01 -1.17421448e-02 1.77519095e+01] [ 2.51963394e-02 6.17082972e-04 9.99682331e-01 2.06930913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.590385723 meters Centerline goodness [0,1] 0.9998431723983421 Centerline is valid? [True, True] Translation: X:150.14, Y:17.77, Z:2.07 [[ 8.95814449e-01 -4.43879224e-01 -2.20840987e-02 1.50142999e+02] [ 4.43727227e-01 8.96086407e-01 -1.16317931e-02 1.77661602e+01] [ 2.49523720e-02 6.20612473e-04 9.99688448e-01 2.06756330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.620385723 meters Centerline goodness [0,1] 0.9999108754261269 Centerline is valid? [True, True] Translation: X:150.17, Y:17.78, Z:2.07 [[ 8.95828570e-01 -4.43891121e-01 -2.12566469e-02 1.50169099e+02] [ 4.43750144e-01 8.96080526e-01 -1.12027252e-02 1.77776664e+01] [ 2.40204576e-02 6.03081115e-04 9.99711285e-01 2.07069581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.650385723 meters Centerline goodness [0,1] 0.9999104022937013 Centerline is valid? [True, True] Translation: X:150.19, Y:17.79, Z:2.07 [[ 8.96018424e-01 -4.43531939e-01 -2.07461683e-02 1.50193670e+02] [ 4.43397428e-01 8.96258364e-01 -1.09391506e-02 1.77914742e+01] [ 2.34457895e-02 6.02882802e-04 9.99724928e-01 2.07086356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.680385723 meters Centerline goodness [0,1] 0.9998882007020996 Centerline is valid? [True, True] Translation: X:150.22, Y:17.80, Z:2.07 [[ 8.96188522e-01 -4.43208482e-01 -2.03070235e-02 1.50219795e+02] [ 4.43079442e-01 8.96418362e-01 -1.07111492e-02 1.78044636e+01] [ 2.29508609e-02 6.01584344e-04 9.99736413e-01 2.07258096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.710385723 meters Centerline goodness [0,1] 0.9999776989808434 Centerline is valid? [True, True] Translation: X:150.24, Y:17.82, Z:2.07 [[ 8.96834451e-01 -4.41900160e-01 -2.03031031e-02 1.50244164e+02] [ 4.41770691e-01 8.97064010e-01 -1.07153337e-02 1.78193797e+01] [ 2.29482907e-02 6.40564499e-04 9.99736448e-01 2.07399361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.740385723 meters Centerline goodness [0,1] 0.9999554069119286 Centerline is valid? [True, True] Translation: X:150.27, Y:17.83, Z:2.07 [[ 8.97741585e-01 -4.40080312e-01 -1.97323525e-02 1.50268059e+02] [ 4.39957476e-01 8.97958166e-01 -1.04188312e-02 1.78348785e+01] [ 2.23039496e-02 6.72021988e-04 9.99751010e-01 2.07342303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.770385723 meters Centerline goodness [0,1] 0.9998222498722421 Centerline is valid? [True, True] Translation: X:150.29, Y:17.85, Z:2.07 [[ 8.97867845e-01 -4.39826966e-01 -1.96360345e-02 1.50291171e+02] [ 4.39705210e-01 8.98082280e-01 -1.03704942e-02 1.78507434e+01] [ 2.21959977e-02 6.77266622e-04 9.99753409e-01 2.06978269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.800385723 meters Centerline goodness [0,1] 0.999888765294772 Centerline is valid? [True, True] Translation: X:150.32, Y:17.87, Z:2.07 [[ 8.98342728e-01 -4.38871017e-01 -1.93021720e-02 1.50316056e+02] [ 4.38753059e-01 8.98549804e-01 -1.01981520e-02 1.78660680e+01] [ 2.18196362e-02 6.92548659e-04 9.99761684e-01 2.07157423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.830385723 meters Centerline goodness [0,1] 0.999977783208549 Centerline is valid? [True, True] Translation: X:150.34, Y:17.88, Z:2.07 [[ 8.98776358e-01 -4.38014083e-01 -1.85666730e-02 1.50341993e+02] [ 4.37904645e-01 8.98967845e-01 -9.81511645e-03 1.78785320e+01] [ 2.09900013e-02 6.91162253e-04 9.99779447e-01 2.07469695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.860385723 meters Centerline goodness [0,1] 0.9999113396577711 Centerline is valid? [True, True] Translation: X:150.37, Y:17.89, Z:2.07 [[ 8.98757959e-01 -4.38071198e-01 -1.81040204e-02 1.50365101e+02] [ 4.37967059e-01 8.98940024e-01 -9.57539555e-03 1.78923114e+01] [ 2.04691336e-02 6.76998380e-04 9.99790256e-01 2.07385140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.39, Y:17.91, Z:2.08 [[ 8.99352089e-01 -4.36877471e-01 -1.74325956e-02 1.50386802e+02] [ 4.36780635e-01 8.99520768e-01 -9.22304952e-03 1.79097860e+01] [ 1.97103243e-02 6.80548673e-04 9.99805501e-01 2.07635241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.920385723 meters Centerline goodness [0,1] 0.9999337996778251 Centerline is valid? [True, True] Translation: X:150.41, Y:17.92, Z:2.08 [[ 8.99346866e-01 -4.36900917e-01 -1.71115179e-02 1.50412198e+02] [ 4.36807546e-01 8.99509388e-01 -9.05698585e-03 1.79226443e+01] [ 1.93489764e-02 6.70931689e-04 9.99812566e-01 2.07682502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.950385723 meters Centerline goodness [0,1] 0.9999337996778251 Centerline is valid? [True, True] Translation: X:150.44, Y:17.94, Z:2.08 [[ 8.99227754e-01 -4.37146117e-01 -1.71090376e-02 1.50436560e+02] [ 4.37052701e-01 8.99390250e-01 -9.06166917e-03 1.79356296e+01] [ 1.93489751e-02 6.70953312e-04 9.99812566e-01 2.07724249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.980385723 meters Centerline goodness [0,1] 0.9999778942016491 Centerline is valid? [True, True] Translation: X:150.46, Y:17.95, Z:2.08 [[ 8.99351197e-01 -4.36857699e-01 -1.79659576e-02 1.50458033e+02] [ 4.36754505e-01 8.99530343e-01 -9.52183171e-03 1.79549104e+01] [ 2.03206094e-02 7.16757853e-04 9.99793258e-01 2.07533950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.010385723 meters Centerline goodness [0,1] 0.9999337192346781 Centerline is valid? [True, True] Translation: X:150.48, Y:17.97, Z:2.07 [[ 8.99127212e-01 -4.37289117e-01 -1.86677419e-02 1.50484631e+02] [ 4.37177666e-01 8.99320677e-01 -9.89988326e-03 1.79651836e+01] [ 2.11173975e-02 7.40134605e-04 9.99776729e-01 2.07358094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.51, Y:17.98, Z:2.07 [[ 8.99195333e-01 -4.37113324e-01 -1.94857526e-02 1.50507061e+02] [ 4.36991725e-01 8.99406099e-01 -1.03393528e-02 1.79829784e+01] [ 2.20450737e-02 7.81985150e-04 9.99756672e-01 2.07346428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07038572300002 meters Centerline goodness [0,1] 0.9999778834457591 Centerline is valid? [True, True] Translation: X:150.53, Y:18.00, Z:2.07 [[ 8.98971626e-01 -4.37540547e-01 -2.02060693e-02 1.50532655e+02] [ 4.37409837e-01 8.99198324e-01 -1.07242023e-02 1.79970723e+01] [ 2.28615370e-02 8.02420049e-04 9.99738319e-01 2.07313374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.10038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.56, Y:18.01, Z:2.07 [[ 8.98107467e-01 -4.39305494e-01 -2.03386703e-02 1.50556320e+02] [ 4.39173438e-01 8.98337407e-01 -1.07978710e-02 1.80113909e+01] [ 2.30145524e-02 7.65444838e-04 9.99734837e-01 2.07341683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13038572300002 meters Centerline goodness [0,1] 0.9999559160641862 Centerline is valid? [True, True] Translation: X:150.58, Y:18.02, Z:2.07 [[ 8.97575937e-01 -4.40382456e-01 -2.05117187e-02 1.50582859e+02] [ 4.40248325e-01 8.97809965e-01 -1.08940125e-02 1.80229203e+01] [ 2.32131574e-02 7.47953665e-04 9.99730259e-01 2.07490014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.16038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.61, Y:18.04, Z:2.08 [[ 8.96317106e-01 -4.42927523e-01 -2.07570491e-02 1.50608821e+02] [ 4.42790731e-01 8.96557152e-01 -1.10291008e-02 1.80352516e+01] [ 2.34949731e-02 6.94542734e-04 9.99723714e-01 2.07656302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19038572300002 meters Centerline goodness [0,1] 0.9999778721897681 Centerline is valid? [True, True] Translation: X:150.63, Y:18.05, Z:2.08 [[ 8.95550781e-01 -4.44479028e-01 -2.06686258e-02 1.50632992e+02] [ 4.44343766e-01 8.95789020e-01 -1.09840718e-02 1.80491896e+01] [ 2.33969176e-02 6.52819010e-04 9.99726042e-01 2.07681045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.66, Y:18.06, Z:2.08 [[ 8.94880946e-01 -4.45836850e-01 -2.04351328e-02 1.50658235e+02] [ 4.45704899e-01 8.95114030e-01 -1.08635312e-02 1.80630303e+01] [ 2.31351366e-02 6.13528313e-04 9.99732159e-01 2.07709125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.250385723 meters Centerline goodness [0,1] 0.9999115102979891 Centerline is valid? [True, True] Translation: X:150.68, Y:18.08, Z:2.08 [[ 8.93437772e-01 -4.48761737e-01 -1.95409937e-02 1.50684137e+02] [ 4.48641683e-01 8.93651294e-01 -1.03925945e-02 1.80753358e+01] [ 2.21266331e-02 5.18232138e-04 9.99755042e-01 2.07668802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.280385723 meters Centerline goodness [0,1] 0.9999778717001173 Centerline is valid? [True, True] Translation: X:150.71, Y:18.09, Z:2.08 [[ 8.93040694e-01 -4.49548505e-01 -1.96076653e-02 1.50710036e+02] [ 4.49427750e-01 8.93255780e-01 -1.04311723e-02 1.80889164e+01] [ 2.22039782e-02 5.03232424e-04 9.99753335e-01 2.07903481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.73, Y:18.10, Z:2.08 [[ 8.92215103e-01 -4.51248129e-01 -1.80924152e-02 1.50733669e+02] [ 4.51145578e-01 8.92398421e-01 -9.62944031e-03 1.81044652e+01] [ 2.04909097e-02 4.29218958e-04 9.99789947e-01 2.07963344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.76, Y:18.12, Z:2.08 [[ 8.91892405e-01 -4.51927256e-01 -1.70203684e-02 1.50759531e+02] [ 4.51836574e-01 8.92054708e-01 -9.06135937e-03 1.81179465e+01] [ 1.92781750e-02 3.91332651e-04 9.99814082e-01 2.08052745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.370385723 meters Centerline goodness [0,1] 0.9997570993242945 Centerline is valid? [True, True] Translation: X:150.78, Y:18.13, Z:2.08 [[ 8.91541986e-01 -4.52634339e-01 -1.65843916e-02 1.50783850e+02] [ 4.52548272e-01 8.91696147e-01 -8.83421847e-03 1.81329301e+01] [ 1.87869088e-02 3.70838903e-04 9.99823442e-01 2.07786103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.400385723 meters Centerline goodness [0,1] 0.9999779332259418 Centerline is valid? [True, True] Translation: X:150.81, Y:18.15, Z:2.08 [[ 8.91941258e-01 -4.51854333e-01 -1.63845945e-02 1.50807086e+02] [ 4.51770103e-01 8.92091650e-01 -8.73282226e-03 1.81478330e+01] [ 1.85625236e-02 3.87094511e-04 9.99827627e-01 2.08183431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.430385723 meters Centerline goodness [0,1] 0.9999779005524861 Centerline is valid? [True, True] Translation: X:150.83, Y:18.16, Z:2.08 [[ 8.92987042e-01 -4.49770542e-01 -1.67511858e-02 1.50831566e+02] [ 4.49682034e-01 8.93144032e-01 -8.93345960e-03 1.81630819e+01] [ 1.89792286e-02 4.44756346e-04 9.99819779e-01 2.08252702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.460385723 meters Centerline goodness [0,1] 0.999934028235915 Centerline is valid? [True, True] Translation: X:150.85, Y:18.18, Z:2.08 [[ 8.94264907e-01 -4.47190328e-01 -1.76376369e-02 1.50853172e+02] [ 4.47091590e-01 8.94438667e-01 -9.41177878e-03 1.81813497e+01] [ 1.99846409e-02 5.30984364e-04 9.99800146e-01 2.08128070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.490385723 meters Centerline goodness [0,1] 0.9999560816003865 Centerline is valid? [True, True] Translation: X:150.88, Y:18.20, Z:2.08 [[ 8.94737438e-01 -4.46215902e-01 -1.83380801e-02 1.50878520e+02] [ 4.46108842e-01 8.94925155e-01 -9.79125268e-03 1.81958189e+01] [ 2.07802218e-02 5.79820646e-04 9.99783900e-01 2.08005811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.520385723 meters Centerline goodness [0,1] 0.9998245036744543 Centerline is valid? [True, True] Translation: X:150.90, Y:18.21, Z:2.08 [[ 8.95585984e-01 -4.44525575e-01 -1.79654759e-02 1.50902617e+02] [ 4.44422389e-01 8.95765952e-01 -9.59684680e-03 1.82109043e+01] [ 2.03589054e-02 6.10541773e-04 9.99792550e-01 2.08001009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.550385723 meters Centerline goodness [0,1] 0.9999560960618168 Centerline is valid? [True, True] Translation: X:150.93, Y:18.23, Z:2.08 [[ 8.96103850e-01 -4.43492819e-01 -1.76638036e-02 1.50925935e+02] [ 4.43392831e-01 8.96277707e-01 -9.43762715e-03 1.82257361e+01] [ 2.00171933e-02 6.25090148e-04 9.99799441e-01 2.08317722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.580385723 meters Centerline goodness [0,1] 0.9999562650338946 Centerline is valid? [True, True] Translation: X:150.95, Y:18.24, Z:2.08 [[ 8.96029427e-01 -4.43642001e-01 -1.76929778e-02 1.50949350e+02] [ 4.43541669e-01 8.96203875e-01 -9.45534519e-03 1.82386146e+01] [ 2.00513035e-02 6.24694654e-04 9.99798757e-01 2.08410111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.610385723 meters Centerline goodness [0,1] 0.9999342134116924 Centerline is valid? [True, True] Translation: X:150.98, Y:18.25, Z:2.08 [[ 8.95446514e-01 -4.44811120e-01 -1.78496026e-02 1.50975054e+02] [ 4.44709166e-01 8.95624195e-01 -9.54247252e-03 1.82514313e+01] [ 2.02311339e-02 6.06891874e-04 9.99795145e-01 2.08275532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.640385723 meters Centerline goodness [0,1] 0.9999781200770174 Centerline is valid? [True, True] Translation: X:151.00, Y:18.26, Z:2.09 [[ 8.95193788e-01 -4.45331776e-01 -1.75411584e-02 1.51001352e+02] [ 4.45233310e-01 8.95365435e-01 -9.38283553e-03 1.82645147e+01] [ 1.98842217e-02 5.89548071e-04 9.99802116e-01 2.08562301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.670385723 meters Centerline goodness [0,1] 0.9999126561271727 Centerline is valid? [True, True] Translation: X:151.03, Y:18.28, Z:2.09 [[ 8.94063392e-01 -4.47683817e-01 -1.51608208e-02 1.51025388e+02] [ 4.47610539e-01 8.94191804e-01 -8.11315959e-03 1.82791096e+01] [ 1.71888120e-02 4.67535786e-04 9.99852152e-01 2.08750880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.700385723 meters Centerline goodness [0,1] 0.9999343401181878 Centerline is valid? [True, True] Translation: X:151.05, Y:18.29, Z:2.09 [[ 8.93209258e-01 -4.49425912e-01 -1.39129688e-02 1.51051271e+02] [ 4.49364388e-01 8.93317519e-01 -7.44691921e-03 1.82922095e+01] [ 1.57755372e-02 3.99664483e-04 9.99875479e-01 2.08892643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.730385723 meters Centerline goodness [0,1] 0.9998030203545634 Centerline is valid? [True, True] Translation: X:151.08, Y:18.31, Z:2.09 [[ 8.91035504e-01 -4.53731272e-01 -1.35522308e-02 1.51075618e+02] [ 4.53673332e-01 8.91138503e-01 -7.25783514e-03 1.83056434e+01] [ 1.53700214e-02 3.18703086e-04 9.99881823e-01 2.08606131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.10, Y:18.32, Z:2.09 [[ 8.90422246e-01 -4.54946776e-01 -1.31016765e-02 1.51102482e+02] [ 4.54892737e-01 8.90518583e-01 -7.01784603e-03 1.83166134e+01] [ 1.48600328e-02 2.88988725e-04 9.99889542e-01 2.09086885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.790385723 meters Centerline goodness [0,1] 0.9998251862858641 Centerline is valid? [True, True] Translation: X:151.13, Y:18.33, Z:2.09 [[ 8.88420068e-01 -4.58804596e-01 -1.44265450e-02 1.51126678e+02] [ 4.58739506e-01 8.88537157e-01 -7.73214621e-03 1.83302628e+01] [ 1.63660655e-02 2.51367736e-04 9.99866035e-01 2.08637261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.82038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.15, Y:18.34, Z:2.09 [[ 8.88041508e-01 -4.59521032e-01 -1.49231995e-02 1.51152196e+02] [ 4.59451449e-01 8.88166853e-01 -8.00039248e-03 1.83421793e+01] [ 1.69306398e-02 2.48194949e-04 9.99856636e-01 2.08928600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.18, Y:18.36, Z:2.09 [[ 8.86885748e-01 -4.61676199e-01 -1.69928385e-02 1.51175975e+02] [ 4.61586258e-01 8.87048493e-01 -9.11578359e-03 1.83562716e+01] [ 1.92820121e-02 2.40997814e-04 9.99814056e-01 2.08722336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.20, Y:18.37, Z:2.09 [[ 8.86392012e-01 -4.62584667e-01 -1.80174181e-02 1.51201538e+02] [ 4.62483673e-01 8.86575078e-01 -9.66865485e-03 1.83678485e+01] [ 2.04463653e-02 2.37456753e-04 9.99790923e-01 2.08731830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.23, Y:18.38, Z:2.09 [[ 8.85732723e-01 -4.63807837e-01 -1.89692652e-02 1.51226077e+02] [ 4.63696040e-01 8.85935799e-01 -1.01854095e-02 1.83813216e+01] [ 2.15296239e-02 2.25577379e-04 9.99768185e-01 2.08697539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.25, Y:18.39, Z:2.09 [[ 8.85395942e-01 -4.64430079e-01 -1.94609360e-02 1.51251014e+02] [ 4.64312464e-01 8.85609764e-01 -1.04538277e-02 1.83933789e+01] [ 2.20898670e-02 2.19821502e-04 9.99755965e-01 2.08775155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.27, Y:18.41, Z:2.09 [[ 8.85286073e-01 -4.64624274e-01 -1.98205176e-02 1.51274414e+02] [ 4.64502188e-01 8.85507896e-01 -1.06528778e-02 1.84073265e+01] [ 2.25008104e-02 2.24170572e-04 9.99746800e-01 2.08705701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.000385723 meters Centerline goodness [0,1] 0.999978181659503 Centerline is valid? [True, True] Translation: X:151.30, Y:18.42, Z:2.09 [[ 8.84926804e-01 -4.65307829e-01 -1.98286482e-02 1.51299505e+02] [ 4.65185716e-01 8.85148903e-01 -1.06615852e-02 1.84192129e+01] [ 2.25122253e-02 2.10718562e-04 9.99746546e-01 2.08754203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.030385723 meters Centerline goodness [0,1] 0.9999781439874109 Centerline is valid? [True, True] Translation: X:151.33, Y:18.43, Z:2.09 [[ 8.85174613e-01 -4.64835650e-01 -1.98424402e-02 1.51325150e+02] [ 4.64713099e-01 8.85396954e-01 -1.06756419e-02 1.84333068e+01] [ 2.25308551e-02 2.28765258e-04 9.99746122e-01 2.08775588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.060385723 meters Centerline goodness [0,1] 0.9999344677690645 Centerline is valid? [True, True] Translation: X:151.35, Y:18.45, Z:2.09 [[ 8.85464303e-01 -4.64295601e-01 -1.95592361e-02 1.51349941e+02] [ 4.64176255e-01 8.85680267e-01 -1.05294499e-02 1.84467716e+01] [ 2.22120067e-02 2.44519009e-04 9.99753253e-01 2.08843308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.090385723 meters Centerline goodness [0,1] 0.9999345806620437 Centerline is valid? [True, True] Translation: X:151.37, Y:18.46, Z:2.09 [[ 8.85927229e-01 -4.63420182e-01 -1.93566611e-02 1.51374747e+02] [ 4.63302944e-01 8.86138625e-01 -1.04268866e-02 1.84607317e+01] [ 2.19847147e-02 2.69464746e-04 9.99758271e-01 2.08916810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.40, Y:18.47, Z:2.09 [[ 8.87135256e-01 -4.61104210e-01 -1.93376579e-02 1.51399176e+02] [ 4.60986546e-01 8.87345929e-01 -1.04214155e-02 1.84749408e+01] [ 2.19645506e-02 3.30804973e-04 9.99758695e-01 2.09007016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.150385723 meters Centerline goodness [0,1] 0.999978083632857 Centerline is valid? [True, True] Translation: X:151.43, Y:18.49, Z:2.09 [[ 8.88264187e-01 -4.58919465e-01 -1.94848362e-02 1.51425150e+02] [ 4.58799404e-01 8.88477783e-01 -1.05040840e-02 1.84878781e+01] [ 2.21323727e-02 3.90770380e-04 9.99754973e-01 2.09134572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.45, Y:18.50, Z:2.09 [[ 8.88854450e-01 -4.57758428e-01 -1.98743320e-02 1.51449727e+02] [ 4.57633116e-01 8.89076507e-01 -1.07189573e-02 1.85019104e+01] [ 2.25764947e-02 4.32440406e-04 9.99745025e-01 2.09141034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.48, Y:18.51, Z:2.09 [[ 8.89329003e-01 -4.56824757e-01 -2.01262361e-02 1.51475893e+02] [ 4.56695927e-01 8.89556589e-01 -1.08584051e-02 1.85146139e+01] [ 2.28638142e-02 4.65124528e-04 9.99738481e-01 2.09192251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.240385723 meters Centerline goodness [0,1] 0.9999561653443212 Centerline is valid? [True, True] Translation: X:151.50, Y:18.53, Z:2.09 [[ 8.90391976e-01 -4.54714935e-01 -2.08915378e-02 1.51499855e+02] [ 4.54575416e-01 8.90636869e-01 -1.12764611e-02 1.85285684e+01] [ 2.37343491e-02 5.43691015e-04 9.99718153e-01 2.09006739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.52, Y:18.54, Z:2.09 [[ 8.91053747e-01 -4.53436317e-01 -2.04627837e-02 1.51523440e+02] [ 4.53302075e-01 8.91288496e-01 -1.10473995e-02 1.85425835e+01] [ 2.32475359e-02 5.68004364e-04 9.99729578e-01 2.09136654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.300385723 meters Centerline goodness [0,1] 0.9999117893529749 Centerline is valid? [True, True] Translation: X:151.55, Y:18.55, Z:2.09 [[ 8.91709578e-01 -4.52110367e-01 -2.12189589e-02 1.51550662e+02] [ 4.51965542e-01 8.91961782e-01 -1.14598415e-02 1.85538963e+01] [ 2.41076136e-02 6.28612138e-04 9.99709172e-01 2.09083164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.58, Y:18.57, Z:2.09 [[ 8.92071870e-01 -4.51422995e-01 -2.06169442e-02 1.51575645e+02] [ 4.51285977e-01 8.92309856e-01 -1.11394820e-02 1.85661396e+01] [ 2.34253209e-02 6.33080751e-04 9.99725389e-01 2.09319487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.60, Y:18.58, Z:2.09 [[ 8.92401026e-01 -4.50804737e-01 -1.98871180e-02 1.51600260e+02] [ 4.50677048e-01 8.92622370e-01 -1.07472557e-02 1.85796338e+01] [ 2.25966002e-02 6.28194356e-04 9.99744467e-01 2.09396478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.390385723 meters Centerline goodness [0,1] 0.9998016660055533 Centerline is valid? [True, True] Translation: X:151.63, Y:18.59, Z:2.09 [[ 8.91943004e-01 -4.51694278e-01 -2.02474172e-02 1.51626440e+02] [ 4.51562069e-01 8.92172570e-01 -1.09454317e-02 1.85917840e+01] [ 2.30081791e-02 6.19735661e-04 9.99735085e-01 2.09007583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.65, Y:18.60, Z:2.09 [[ 8.92234766e-01 -4.51152469e-01 -1.94569140e-02 1.51653942e+02] [ 4.51030132e-01 8.92446678e-01 -1.05236468e-02 1.86009161e+01] [ 2.21120275e-02 6.13909104e-04 9.99755311e-01 2.09470874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.450385723 meters Centerline goodness [0,1] 0.9999337382661513 Centerline is valid? [True, True] Translation: X:151.68, Y:18.61, Z:2.09 [[ 8.92298335e-01 -4.51014602e-01 -1.97360054e-02 1.51677801e+02] [ 4.50888590e-01 8.92516348e-01 -1.06793198e-02 1.86146607e+01] [ 2.24312367e-02 6.30399618e-04 9.99748189e-01 2.09428970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.480385723 meters Centerline goodness [0,1] 0.999933368869936 Centerline is valid? [True, True] Translation: X:151.70, Y:18.63, Z:2.10 [[ 8.92355108e-01 -4.50904875e-01 -1.96762369e-02 1.51704577e+02] [ 4.50779525e-01 8.92571785e-01 -1.06502583e-02 1.86253434e+01] [ 2.23647073e-02 6.34167629e-04 9.99749678e-01 2.09502762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.510385723 meters Centerline goodness [0,1] 0.9999556098102319 Centerline is valid? [True, True] Translation: X:151.73, Y:18.64, Z:2.10 [[ 8.92436642e-01 -4.50730771e-01 -1.99652606e-02 1.51730508e+02] [ 4.50601561e-01 8.92659704e-01 -1.08114036e-02 1.86367856e+01] [ 2.26952159e-02 6.52115182e-04 9.99742218e-01 2.09516135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.76, Y:18.65, Z:2.10 [[ 8.92246450e-01 -4.51091638e-01 -2.03127195e-02 1.51757638e+02] [ 4.50957897e-01 8.92477396e-01 -1.10033629e-02 1.86465712e+01] [ 2.30921680e-02 6.57530207e-04 9.99733124e-01 2.09588979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.78, Y:18.66, Z:2.10 [[ 8.92202410e-01 -4.51171239e-01 -2.04785932e-02 1.51782422e+02] [ 4.51035165e-01 8.92437151e-01 -1.11000968e-02 1.86589662e+01] [ 2.32839018e-02 6.66967429e-04 9.99728671e-01 2.09601237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.81, Y:18.67, Z:2.10 [[ 8.92166671e-01 -4.51264066e-01 -1.99843661e-02 1.51806701e+02] [ 4.51134387e-01 8.92390227e-01 -1.08373562e-02 1.86713014e+01] [ 2.27243625e-02 6.53093279e-04 9.99741555e-01 2.09647787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.83, Y:18.68, Z:2.10 [[ 8.92438375e-01 -4.50750826e-01 -1.94277786e-02 1.51832908e+02] [ 4.50628068e-01 8.92649578e-01 -1.05392342e-02 1.86831509e+01] [ 2.20927669e-02 6.50914738e-04 9.99755713e-01 2.09755747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.66038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.86, Y:18.70, Z:2.10 [[ 8.92564208e-01 -4.50509825e-01 -1.92362212e-02 1.51858193e+02] [ 4.50389298e-01 8.92771229e-01 -1.04409069e-02 1.86964399e+01] [ 2.18772760e-02 6.55391618e-04 9.99760449e-01 2.09797788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69038572300002 meters Centerline goodness [0,1] 0.999977483563001 Centerline is valid? [True, True] Translation: X:151.88, Y:18.71, Z:2.10 [[ 8.92670505e-01 -4.50267680e-01 -1.99596068e-02 1.51882418e+02] [ 4.50137748e-01 8.92893353e-01 -1.08382763e-02 1.87097401e+01] [ 2.27019258e-02 6.90437154e-04 9.99742040e-01 2.09696376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.91, Y:18.72, Z:2.10 [[ 8.92608553e-01 -4.50326254e-01 -2.13596694e-02 1.51910941e+02] [ 4.50177373e-01 8.92863772e-01 -1.16024710e-02 1.87186919e+01] [ 2.42961723e-02 7.40825056e-04 9.99704530e-01 2.09731810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.750385723 meters Centerline goodness [0,1] 0.9998643209262358 Centerline is valid? [True, True] Translation: X:151.94, Y:18.73, Z:2.09 [[ 8.92251155e-01 -4.50996526e-01 -2.21361626e-02 1.51935261e+02] [ 4.50836695e-01 8.92525387e-01 -1.20294594e-02 1.87319000e+01] [ 2.51823315e-02 7.53504675e-04 9.99682591e-01 2.09391726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.780385723 meters Centerline goodness [0,1] 0.9999322432017346 Centerline is valid? [True, True] Translation: X:151.96, Y:18.74, Z:2.10 [[ 8.92381376e-01 -4.50709469e-01 -2.27256149e-02 1.51961453e+02] [ 4.50540806e-01 8.92670352e-01 -1.23541577e-02 1.87439753e+01] [ 2.58546185e-02 7.85803355e-04 9.99665405e-01 2.09712713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.810385723 meters Centerline goodness [0,1] 0.9999322432017346 Centerline is valid? [True, True] Translation: X:151.99, Y:18.76, Z:2.10 [[ 8.92259941e-01 -4.50949981e-01 -2.27225237e-02 1.51985669e+02] [ 4.50781251e-01 8.92548877e-01 -1.23598413e-02 1.87572311e+01] [ 2.58546332e-02 7.85303563e-04 9.99665405e-01 2.09754477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.840385723 meters Centerline goodness [0,1] 0.9999773314594006 Centerline is valid? [True, True] Translation: X:152.01, Y:18.77, Z:2.10 [[ 8.91887453e-01 -4.51679192e-01 -2.28621782e-02 1.52012236e+02] [ 4.51508421e-01 8.92180086e-01 -1.24434403e-02 1.87691051e+01] [ 2.60176232e-02 7.75682321e-04 9.99661183e-01 2.09696669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.870385723 meters Centerline goodness [0,1] 0.9999549275460302 Centerline is valid? [True, True] Translation: X:152.04, Y:18.78, Z:2.10 [[ 8.91479852e-01 -4.52499449e-01 -2.25371410e-02 1.52035477e+02] [ 4.52333632e-01 8.91764371e-01 -1.22716090e-02 1.87844334e+01] [ 2.56507157e-02 7.45585362e-04 9.99670688e-01 2.09559418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.900385723 meters Centerline goodness [0,1] 0.9999092723643622 Centerline is valid? [True, True] Translation: X:152.06, Y:18.80, Z:2.10 [[ 8.91299846e-01 -4.52878106e-01 -2.20455447e-02 1.52061204e+02] [ 4.52719460e-01 8.91572150e-01 -1.20079844e-02 1.87985153e+01] [ 2.50933470e-02 7.22267582e-04 9.99684851e-01 2.09592256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.09, Y:18.81, Z:2.10 [[ 8.90818495e-01 -4.53853021e-01 -2.14439809e-02 1.52088387e+02] [ 4.53703042e-01 8.91076299e-01 -1.16866931e-02 1.88098069e+01] [ 2.44122641e-02 6.81522993e-04 9.99701744e-01 2.09831388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.11, Y:18.82, Z:2.10 [[ 8.90505725e-01 -4.54454902e-01 -2.16863228e-02 1.52113242e+02] [ 4.54301518e-01 8.90769489e-01 -1.18257928e-02 1.88219357e+01] [ 2.46918042e-02 6.78806816e-04 9.99694880e-01 2.09976931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.990385723 meters Centerline goodness [0,1] 0.999886425586044 Centerline is valid? [True, True] Translation: X:152.14, Y:18.84, Z:2.10 [[ 8.90150508e-01 -4.55177564e-01 -2.11058878e-02 1.52138442e+02] [ 4.55032320e-01 8.90400453e-01 -1.15161549e-02 1.88351207e+01] [ 2.40345875e-02 6.47250061e-04 9.99710918e-01 2.10044121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.16, Y:18.85, Z:2.10 [[ 8.89575976e-01 -4.56294407e-01 -2.12131188e-02 1.52164099e+02] [ 4.56147845e-01 8.89828648e-01 -1.15810952e-02 1.88491267e+01] [ 2.41604298e-02 6.25945669e-04 9.99707898e-01 2.10007681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.19, Y:18.86, Z:2.10 [[ 8.89365103e-01 -4.56719118e-01 -2.09131866e-02 1.52188802e+02] [ 4.56576631e-01 8.89610742e-01 -1.14239510e-02 1.88615523e+01] [ 2.38221323e-02 6.11591054e-04 9.99716026e-01 2.10026607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.21, Y:18.88, Z:2.10 [[ 8.88929129e-01 -4.57587128e-01 -2.04701027e-02 1.52212893e+02] [ 4.57450720e-01 8.89164599e-01 -1.11872654e-02 1.88764938e+01] [ 2.33204393e-02 5.80622922e-04 9.99727873e-01 2.09926189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.24, Y:18.89, Z:2.10 [[ 8.88268696e-01 -4.58863665e-01 -2.05635728e-02 1.52239758e+02] [ 4.58726264e-01 8.88506517e-01 -1.12420332e-02 1.88868493e+01] [ 2.34294290e-02 5.52895202e-04 9.99725340e-01 2.10033433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.140385723 meters Centerline goodness [0,1] 0.9999542344568774 Centerline is valid? [True, True] Translation: X:152.26, Y:18.90, Z:2.10 [[ 8.87387372e-01 -4.60592768e-01 -1.99487831e-02 1.52264752e+02] [ 4.60463761e-01 8.87611432e-01 -1.09119192e-02 1.89003260e+01] [ 2.27327191e-02 4.97407600e-04 9.99741455e-01 2.10088929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.29, Y:18.91, Z:2.10 [[ 8.87081804e-01 -4.61186578e-01 -1.98195274e-02 1.52289381e+02] [ 4.61059252e-01 8.87303052e-01 -1.08471164e-02 1.89138828e+01] [ 2.25884717e-02 4.84303073e-04 9.99744731e-01 2.10184069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.32, Y:18.92, Z:2.10 [[ 8.86875574e-01 -4.61602224e-01 -1.93675654e-02 1.52315621e+02] [ 4.61480610e-01 8.87086900e-01 -1.06055856e-02 1.89240374e+01] [ 2.20762754e-02 4.68078915e-04 9.99756180e-01 2.10353515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.230385723 meters Centerline goodness [0,1] 0.9999772592895803 Centerline is valid? [True, True] Translation: X:152.34, Y:18.94, Z:2.10 [[ 8.86848909e-01 -4.61660819e-01 -1.91911472e-02 1.52336791e+02] [ 4.61541306e-01 8.87056408e-01 -1.05144245e-02 1.89409073e+01] [ 2.18777279e-02 4.67198753e-04 9.99760545e-01 2.10206488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.36, Y:18.95, Z:2.10 [[ 8.86880817e-01 -4.61627407e-01 -1.85082083e-02 1.52359909e+02] [ 4.61516184e-01 8.87073802e-01 -1.01430384e-02 1.89548368e+01] [ 2.11004512e-02 4.53828511e-04 9.99777258e-01 2.10193651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.38, Y:18.97, Z:2.10 [[ 8.86937377e-01 -4.61529208e-01 -1.82449869e-02 1.52383663e+02] [ 4.61421052e-01 8.87124899e-01 -1.00013234e-02 1.89683371e+01] [ 2.08014850e-02 4.51926486e-04 9.99783524e-01 2.10236428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.41, Y:18.98, Z:2.10 [[ 8.86689925e-01 -4.62004769e-01 -1.82365093e-02 1.52408413e+02] [ 4.61896766e-01 8.86877330e-01 -9.99898756e-03 1.89819849e+01] [ 2.07931266e-02 4.42616854e-04 9.99783702e-01 2.10348998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.43, Y:19.00, Z:2.10 [[ 8.86765053e-01 -4.61862552e-01 -1.81858033e-02 1.52433798e+02] [ 4.61755065e-01 8.86951398e-01 -9.97383004e-03 1.89964179e+01] [ 2.07364623e-02 4.47057138e-04 9.99784876e-01 2.10408236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.38038572300002 meters Centerline goodness [0,1] 0.9999772489420758 Centerline is valid? [True, True] Translation: X:152.46, Y:19.01, Z:2.10 [[ 8.86615818e-01 -4.62099957e-01 -1.93912427e-02 1.52462298e+02] [ 4.61977673e-01 8.86827719e-01 -1.06407840e-02 1.90052077e+01] [ 2.21137973e-02 4.75966242e-04 9.99755347e-01 2.10498935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.48, Y:19.03, Z:2.10 [[ 8.86472905e-01 -4.62349192e-01 -1.99753270e-02 1.52482278e+02] [ 4.62219369e-01 8.86697798e-01 -1.09667379e-02 1.90250094e+01] [ 2.27825409e-02 4.88732942e-04 9.99740325e-01 2.10177759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.51, Y:19.03, Z:2.10 [[ 8.85780726e-01 -4.63635368e-01 -2.08506814e-02 1.52511408e+02] [ 4.63494163e-01 8.86025968e-01 -1.14518868e-02 1.90323553e+01] [ 2.37837449e-02 4.79691443e-04 9.99717012e-01 2.10385339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.54, Y:19.04, Z:2.10 [[ 8.85371353e-01 -4.64439344e-01 -2.03387185e-02 1.52537081e+02] [ 4.64305055e-01 8.85604816e-01 -1.11770049e-02 1.90447004e+01] [ 2.32031078e-02 4.52430132e-04 9.99730669e-01 2.10495859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.56, Y:19.06, Z:2.11 [[ 8.83866490e-01 -4.67356870e-01 -1.89098924e-02 1.52563941e+02] [ 4.67241331e-01 8.84068680e-01 -1.03975049e-02 1.90551627e+01] [ 2.15769890e-02 3.54522873e-04 9.99767127e-01 2.10805553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.59, Y:19.07, Z:2.11 [[ 8.82540352e-01 -4.69909284e-01 -1.75440154e-02 1.52589592e+02] [ 4.69810232e-01 8.82714670e-01 -9.65178127e-03 1.90673581e+01] [ 2.00218214e-02 2.75728497e-04 9.99799505e-01 2.10996047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.62, Y:19.08, Z:2.11 [[ 8.81035874e-01 -4.72757860e-01 -1.66070905e-02 1.52616614e+02] [ 4.72669515e-01 8.81192354e-01 -9.14139335e-03 1.90787684e+01] [ 1.89557067e-02 2.04230080e-04 9.99820304e-01 2.11202693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.64, Y:19.09, Z:2.11 [[ 8.77991645e-01 -4.78439204e-01 -1.50532011e-02 1.52643232e+02] [ 4.78367377e-01 8.78120676e-01 -8.29042453e-03 1.90878428e+01] [ 1.71849912e-02 7.79631460e-05 9.99852324e-01 2.11446596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.67, Y:19.10, Z:2.12 [[ 8.76492388e-01 -4.81184961e-01 -1.49039131e-02 1.52669036e+02] [ 4.81114874e-01 8.76619092e-01 -8.21253575e-03 1.90995054e+01] [ 1.70168034e-02 2.77308201e-05 9.99855203e-01 2.11561479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.650385723 meters Centerline goodness [0,1] 0.9999771480804388 Centerline is valid? [True, True] Translation: X:152.70, Y:19.11, Z:2.12 [[ 8.73521606e-01 -4.86548269e-01 -1.51916605e-02 1.52696729e+02] [ 4.86476221e-01 8.73653694e-01 -8.37318747e-03 1.91097838e+01] [ 1.73462102e-02 -7.62214172e-05 9.99849540e-01 2.11545047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.72, Y:19.12, Z:2.12 [[ 8.72005948e-01 -4.89254695e-01 -1.53450252e-02 1.52722540e+02] [ 4.89181528e-01 8.72140944e-01 -8.46204582e-03 1.91213447e+01] [ 1.75231205e-02 -1.27548598e-04 9.99846450e-01 2.11529307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.75, Y:19.13, Z:2.12 [[ 8.68780066e-01 -4.94962162e-01 -1.52857563e-02 1.52748686e+02] [ 4.94890407e-01 8.68914495e-01 -8.43116233e-03 1.91305894e+01] [ 1.74551216e-02 -2.39948391e-04 9.99847619e-01 2.11613161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.77, Y:19.14, Z:2.12 [[ 8.67085715e-01 -4.97940236e-01 -1.47609189e-02 1.52774484e+02] [ 4.97873707e-01 8.67211300e-01 -8.14451396e-03 1.91433942e+01] [ 1.68563169e-02 -2.87081699e-04 9.99857881e-01 2.11669041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.80, Y:19.16, Z:2.12 [[ 8.64142590e-01 -5.03054582e-01 -1.39165678e-02 1.52799343e+02] [ 5.02996047e-01 8.64254567e-01 -7.68243949e-03 1.91562314e+01] [ 1.58921437e-02 -3.61255433e-04 9.99873647e-01 2.11712763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.82, Y:19.17, Z:2.12 [[ 8.62881376e-01 -5.05210968e-01 -1.40573462e-02 1.52823401e+02] [ 5.05151493e-01 8.62995780e-01 -7.76228851e-03 1.91691601e+01] [ 1.60530237e-02 -4.03155212e-04 9.99871061e-01 2.11715086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.85, Y:19.19, Z:2.12 [[ 8.61175744e-01 -5.08096087e-01 -1.46528203e-02 1.52846942e+02] [ 5.08031834e-01 8.61300263e-01 -8.09401406e-03 1.91863715e+01] [ 1.67330149e-02 -4.73730607e-04 9.99859881e-01 2.11751240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.87, Y:19.20, Z:2.12 [[ 8.60878468e-01 -5.08582703e-01 -1.52281973e-02 1.52871894e+02] [ 5.08513300e-01 8.61013000e-01 -8.41652684e-03 1.92012412e+01] [ 1.73921758e-02 -4.98134156e-04 9.99848621e-01 2.11834419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.90, Y:19.22, Z:2.12 [[ 8.60660625e-01 -5.08949473e-01 -1.52879920e-02 1.52895456e+02] [ 5.08879497e-01 8.60796248e-01 -8.45439648e-03 1.92158945e+01] [ 1.74627068e-02 -5.03379513e-04 9.99847389e-01 2.11836928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.92, Y:19.23, Z:2.12 [[ 8.61182852e-01 -5.08044275e-01 -1.59721513e-02 1.52918412e+02] [ 5.07967636e-01 8.61330809e-01 -8.83846998e-03 1.92347999e+01] [ 1.82476401e-02 -5.01797151e-04 9.99833372e-01 2.11814774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.94, Y:19.25, Z:2.12 [[ 8.62986087e-01 -5.04969804e-01 -1.61403597e-02 1.52939329e+02] [ 5.04890919e-01 8.63136899e-01 -8.93612507e-03 1.92540836e+01] [ 1.84438134e-02 -4.37369439e-04 9.99829803e-01 2.11693587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.96, Y:19.27, Z:2.12 [[ 8.64249665e-01 -5.02793748e-01 -1.64609777e-02 1.52962042e+02] [ 5.02711244e-01 8.64406322e-01 -9.11672727e-03 1.92726462e+01] [ 1.88128067e-02 -3.95990093e-04 9.99822945e-01 2.11734325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.98, Y:19.29, Z:2.12 [[ 8.67593496e-01 -4.96998658e-01 -1.65487219e-02 1.52984686e+02] [ 4.96914129e-01 8.67751268e-01 -9.16983459e-03 1.92902408e+01] [ 1.89175699e-02 -2.67604864e-04 9.99821011e-01 2.11876456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.01, Y:19.31, Z:2.12 [[ 8.69183611e-01 -4.94213931e-01 -1.65058054e-02 1.53007989e+02] [ 4.94129297e-01 8.69340295e-01 -9.14817613e-03 1.93075470e+01] [ 1.88703179e-02 -2.04557268e-04 9.99821919e-01 2.11952386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.03, Y:19.33, Z:2.12 [[ 8.72620915e-01 -4.88073112e-01 -1.78150645e-02 1.53028695e+02] [ 4.87973137e-01 8.72802745e-01 -9.87857144e-03 1.93277730e+01] [ 2.03705023e-02 -7.30248641e-05 9.99792497e-01 2.11759237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.10038572300002 meters Centerline goodness [0,1] 0.9999778132765353 Centerline is valid? [True, True] Translation: X:153.05, Y:19.35, Z:2.12 [[ 8.74008037e-01 -4.85567257e-01 -1.82863319e-02 1.53051330e+02] [ 4.85461305e-01 8.74199313e-01 -1.01430906e-02 1.93454961e+01] [ 2.09110515e-02 -1.21638405e-05 9.99781340e-01 2.11860746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.07, Y:19.36, Z:2.12 [[ 8.75292992e-01 -4.83246909e-01 -1.82921686e-02 1.53074795e+02] [ 4.83140247e-01 8.75484108e-01 -1.01527703e-02 1.93616951e+01] [ 2.09207978e-02 4.89658366e-05 9.99781135e-01 2.11904623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.16038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.10, Y:19.38, Z:2.12 [[ 8.77057701e-01 -4.80039218e-01 -1.82246578e-02 1.53097778e+02] [ 4.79932539e-01 8.77247019e-01 -1.01205395e-02 1.93787051e+01] [ 2.08457826e-02 1.29690847e-04 9.99782695e-01 2.11991245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.12, Y:19.39, Z:2.12 [[ 8.78155530e-01 -4.78060656e-01 -1.73457378e-02 1.53121825e+02] [ 4.77963580e-01 8.78326807e-01 -9.63512092e-03 1.93947395e+01] [ 1.98413987e-02 1.70503769e-04 9.99803126e-01 2.12198256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.15, Y:19.41, Z:2.12 [[ 8.78461623e-01 -4.77517158e-01 -1.68089356e-02 1.53145851e+02] [ 4.77425797e-01 8.78622405e-01 -9.34222599e-03 1.94092510e+01] [ 1.92297806e-02 1.81767545e-04 9.99815074e-01 2.12307495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.250385723 meters Centerline goodness [0,1] 0.999977969200943 Centerline is valid? [True, True] Translation: X:153.17, Y:19.42, Z:2.12 [[ 8.78499427e-01 -4.77450235e-01 -1.67340813e-02 1.53170168e+02] [ 4.77359561e-01 8.78658772e-01 -9.30656608e-03 1.94236662e+01] [ 1.91469695e-02 1.87639290e-04 9.99816662e-01 2.12406517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.19, Y:19.44, Z:2.12 [[ 8.78675219e-01 -4.77086954e-01 -1.78296948e-02 1.53194971e+02] [ 4.76983810e-01 8.78856071e-01 -9.92231980e-03 1.94383465e+01] [ 2.04035448e-02 2.14020786e-04 9.99791803e-01 2.12359283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.22, Y:19.45, Z:2.12 [[ 8.78665320e-01 -4.77074838e-01 -1.86239992e-02 1.53220156e+02] [ 4.76962169e-01 8.78862644e-01 -1.03702976e-02 1.94521376e+01] [ 2.13153452e-02 2.29077786e-04 9.99772776e-01 2.12391943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.24, Y:19.47, Z:2.12 [[ 8.78548816e-01 -4.77273808e-01 -1.90181834e-02 1.53244012e+02] [ 4.77156254e-01 8.78754606e-01 -1.05948712e-02 1.94655772e+01] [ 2.17689708e-02 2.33466356e-04 9.99763001e-01 2.12403019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.27, Y:19.48, Z:2.12 [[ 8.78298287e-01 -4.77727687e-01 -1.91931591e-02 1.53268629e+02] [ 4.77607975e-01 8.78507943e-01 -1.06965638e-02 1.94781967e+01] [ 2.19713874e-02 2.27967777e-04 9.99758574e-01 2.12465467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.400385723 meters Centerline goodness [0,1] 0.9999335047433283 Centerline is valid? [True, True] Translation: X:153.30, Y:19.49, Z:2.12 [[ 8.77417936e-01 -4.79336469e-01 -1.93472100e-02 1.53295181e+02] [ 4.79215072e-01 8.77631193e-01 -1.07890468e-02 1.94909954e+01] [ 2.21512986e-02 1.95028513e-04 9.99754611e-01 2.12326170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.32, Y:19.50, Z:2.13 [[ 8.77097082e-01 -4.79929750e-01 -1.91870552e-02 1.53319376e+02] [ 4.79810380e-01 8.77306902e-01 -1.07050373e-02 1.95033920e+01] [ 2.19706018e-02 1.83208725e-04 9.99758600e-01 2.12614784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.35, Y:19.52, Z:2.13 [[ 8.76228725e-01 -4.81509936e-01 -1.92717925e-02 1.53346278e+02] [ 4.81389777e-01 8.76440619e-01 -1.07574622e-02 1.95151792e+01] [ 2.20704067e-02 1.48753498e-04 9.99756408e-01 2.12683743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:19.53, Z:2.13 [[ 8.75770100e-01 -4.82321993e-01 -1.98047257e-02 1.53371352e+02] [ 4.82195151e-01 8.75993993e-01 -1.10616383e-02 1.95272061e+01] [ 2.26840922e-02 1.37709346e-04 9.99742673e-01 2.12739886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.40, Y:19.54, Z:2.13 [[ 8.75029222e-01 -4.83601632e-01 -2.12913613e-02 1.53396873e+02] [ 4.83455258e-01 8.75288209e-01 -1.18981447e-02 1.95383968e+01] [ 2.43900397e-02 1.17803758e-04 9.99702512e-01 2.12650511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.42, Y:19.55, Z:2.13 [[ 8.74497107e-01 -4.84539990e-01 -2.18130205e-02 1.53421307e+02] [ 4.84386574e-01 8.74769106e-01 -1.21925544e-02 1.95508795e+01] [ 2.49891366e-02 9.64192650e-05 9.99687718e-01 2.12573125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.45, Y:19.56, Z:2.13 [[ 8.73487410e-01 -4.86343282e-01 -2.21349622e-02 1.53447691e+02] [ 4.86185745e-01 8.73767824e-01 -1.23778775e-02 1.95622217e+01] [ 2.53607153e-02 5.02170398e-05 9.99678364e-01 2.12643655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.47, Y:19.57, Z:2.13 [[ 8.72959208e-01 -4.87287132e-01 -2.22142472e-02 1.53473029e+02] [ 4.87128562e-01 8.73241805e-01 -1.24303668e-02 1.95749417e+01] [ 2.54555671e-02 3.00088281e-05 9.99675954e-01 2.12746807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.50, Y:19.59, Z:2.13 [[ 8.72454259e-01 -4.88214748e-01 -2.16777624e-02 1.53498579e+02] [ 4.88063838e-01 8.72723530e-01 -1.21379489e-02 1.95868968e+01] [ 2.48446190e-02 9.67331614e-06 9.99691325e-01 2.12896300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.52, Y:19.60, Z:2.13 [[ 8.72178088e-01 -4.88723630e-01 -2.13212883e-02 1.53523221e+02] [ 4.88577607e-01 8.72438659e-01 -1.19460341e-02 1.96000616e+01] [ 2.44398253e-02 1.96512309e-06 9.99701303e-01 2.12972905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.55, Y:19.61, Z:2.13 [[ 8.71977230e-01 -4.89096973e-01 -2.09729003e-02 1.53546985e+02] [ 4.88955631e-01 8.72229414e-01 -1.17575355e-02 1.96129533e+01] [ 2.40437556e-02 -2.51441640e-06 9.99710907e-01 2.12980960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.57, Y:19.63, Z:2.13 [[ 8.71835706e-01 -4.89337803e-01 -2.12371302e-02 1.53571602e+02] [ 4.89192797e-01 8.72094326e-01 -1.19118998e-02 1.96264820e+01] [ 2.43497236e-02 -3.83149986e-06 9.99703502e-01 2.13014872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.60, Y:19.64, Z:2.13 [[ 8.71701695e-01 -4.89576631e-01 -2.12338653e-02 1.53595636e+02] [ 4.89431554e-01 8.71960276e-01 -1.19177176e-02 1.96400453e+01] [ 2.43497230e-02 -3.82905149e-06 9.99703502e-01 2.13056596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.62, Y:19.65, Z:2.13 [[ 8.71671016e-01 -4.89588273e-01 -2.22027584e-02 1.53620271e+02] [ 4.89429491e-01 8.71953739e-01 -1.24680040e-02 1.96535014e+01] [ 2.54639668e-02 1.31301163e-06 9.99675741e-01 2.13023202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.82038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.64, Y:19.67, Z:2.13 [[ 8.71713139e-01 -4.89451002e-01 -2.35355096e-02 1.53644727e+02] [ 4.89272414e-01 8.72030800e-01 -1.32207434e-02 1.96658688e+01] [ 2.69945954e-02 9.42009820e-06 9.99635579e-01 2.12951358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.67, Y:19.68, Z:2.13 [[ 8.72398621e-01 -4.88162284e-01 -2.48642394e-02 1.53670671e+02] [ 4.87962256e-01 8.72752875e-01 -1.39733874e-02 1.96795474e+01] [ 2.85216171e-02 5.75535614e-05 9.99593174e-01 2.12963023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88038572300002 meters Centerline goodness [0,1] 0.999977642639957 Centerline is valid? [True, True] Translation: X:153.70, Y:19.69, Z:2.13 [[ 8.72512551e-01 -4.87955230e-01 -2.49307481e-02 1.53695375e+02] [ 4.87753812e-01 8.72868655e-01 -1.40189051e-02 1.96936073e+01] [ 2.86018666e-02 7.16032614e-05 9.99590880e-01 2.12919339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.72, Y:19.71, Z:2.13 [[ 8.72955532e-01 -4.87166244e-01 -2.48533857e-02 1.53719302e+02] [ 4.86965507e-01 8.73309246e-01 -1.39841144e-02 1.97073920e+01] [ 2.85172801e-02 1.04768434e-04 9.99593294e-01 2.13083613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.74, Y:19.72, Z:2.13 [[ 8.73968652e-01 -4.85343310e-01 -2.49131952e-02 1.53742958e+02] [ 4.85140693e-01 8.74323649e-01 -1.40237276e-02 1.97223984e+01] [ 2.85885182e-02 1.69893506e-04 9.99591250e-01 2.13103491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:19.74, Z:2.13 [[ 8.75278265e-01 -4.82955657e-01 -2.53336343e-02 1.53767860e+02] [ 4.82744992e-01 8.75644772e-01 -1.42655270e-02 1.97375852e+01] [ 2.90728813e-02 2.56620603e-04 9.99577262e-01 2.13073405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.79, Y:19.75, Z:2.13 [[ 8.75871232e-01 -4.81858173e-01 -2.57349228e-02 1.53792910e+02] [ 4.81640074e-01 8.76249170e-01 -1.44993309e-02 1.97526224e+01] [ 2.95368259e-02 3.04576720e-04 9.99563646e-01 2.13041955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.82, Y:19.77, Z:2.13 [[ 8.77233334e-01 -4.79316395e-01 -2.67856363e-02 1.53817979e+02] [ 4.79078674e-01 8.77642081e-01 -1.50997106e-02 1.97670564e+01] [ 3.07457404e-02 4.13542334e-04 9.99527152e-01 2.13071240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.84, Y:19.78, Z:2.13 [[ 8.77949524e-01 -4.77992713e-01 -2.69740634e-02 1.53842873e+02] [ 4.77750748e-01 8.78363675e-01 -1.52144056e-02 1.97815690e+01] [ 3.09654124e-02 4.70601161e-04 9.99520346e-01 2.13084402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.090385723 meters Centerline goodness [0,1] 0.9998874507597074 Centerline is valid? [True, True] Translation: X:153.87, Y:19.80, Z:2.13 [[ 8.78307420e-01 -4.77327453e-01 -2.71031012e-02 1.53868030e+02] [ 4.77082585e-01 8.78725354e-01 -1.52956939e-02 1.97957405e+01] [ 3.11172368e-02 5.03903835e-04 9.99515615e-01 2.12876817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.89, Y:19.81, Z:2.13 [[ 8.78902009e-01 -4.76249674e-01 -2.67863076e-02 1.53894315e+02] [ 4.76009739e-01 8.79309930e-01 -1.51253342e-02 1.98075426e+01] [ 3.07569017e-02 5.43143362e-04 9.99526747e-01 2.13345488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:19.82, Z:2.13 [[ 8.78735428e-01 -4.76545819e-01 -2.69838845e-02 1.53918415e+02] [ 4.76302271e-01 8.79149468e-01 -1.52433243e-02 1.98206160e+01] [ 3.09870101e-02 5.42363652e-04 9.99519640e-01 2.13377406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:19.83, Z:2.14 [[ 8.78245618e-01 -4.77491681e-01 -2.61978909e-02 1.53945301e+02] [ 4.77262354e-01 8.78636128e-01 -1.48054382e-02 1.98315633e+01] [ 3.00878870e-02 4.99544115e-04 9.99547132e-01 2.13516146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:19.84, Z:2.14 [[ 8.78043007e-01 -4.77877444e-01 -2.59543271e-02 1.53970438e+02] [ 4.77652270e-01 8.78426382e-01 -1.46765129e-02 1.98440256e+01] [ 2.98125401e-02 4.89466219e-04 9.99555388e-01 2.13628874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:19.85, Z:2.14 [[ 8.77491140e-01 -4.78896564e-01 -2.58337018e-02 1.53997389e+02] [ 4.78673658e-01 8.77871215e-01 -1.46171034e-02 1.98547192e+01] [ 2.96787437e-02 4.60466191e-04 9.99559383e-01 2.13736260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:19.87, Z:2.14 [[ 8.76686793e-01 -4.80371573e-01 -2.57569022e-02 1.54024378e+02] [ 4.80150383e-01 8.77064979e-01 -1.45819147e-02 1.98663417e+01] [ 2.95952142e-02 4.16585532e-04 9.99561879e-01 2.13837930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:19.88, Z:2.14 [[ 8.76276171e-01 -4.81130534e-01 -2.55633038e-02 1.54049451e+02] [ 4.80912814e-01 8.76648878e-01 -1.44779263e-02 1.98795449e+01] [ 2.93758140e-02 3.92941484e-04 9.99568360e-01 2.13790210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.08, Y:19.89, Z:2.14 [[ 8.75589489e-01 -4.82386558e-01 -2.54215379e-02 1.54076027e+02] [ 4.82171619e-01 8.75958380e-01 -1.44030029e-02 1.98918394e+01] [ 2.92160242e-02 3.53573865e-04 9.99573058e-01 2.13918464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.10, Y:19.90, Z:2.14 [[ 8.74565083e-01 -4.84259343e-01 -2.50759801e-02 1.54101364e+02] [ 4.84050820e-01 8.74924456e-01 -1.42126820e-02 1.99032710e+01] [ 2.88222123e-02 2.91866673e-04 9.99584511e-01 2.13882036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:19.91, Z:2.14 [[ 8.73796920e-01 -4.85610487e-01 -2.57176599e-02 1.54127212e+02] [ 4.85391562e-01 8.74175262e-01 -1.45823013e-02 1.99139488e+01] [ 2.95630605e-02 2.58834828e-04 9.99562884e-01 2.13886690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.15, Y:19.93, Z:2.14 [[ 8.73374897e-01 -4.86345108e-01 -2.61672729e-02 1.54152211e+02] [ 4.86118514e-01 8.73766774e-01 -1.48463615e-02 1.99263403e+01] [ 3.00845489e-02 2.46043646e-04 9.99547327e-01 2.13885157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.18, Y:19.94, Z:2.14 [[ 8.72980410e-01 -4.87008408e-01 -2.69817383e-02 1.54176906e+02] [ 4.86767611e-01 8.73397249e-01 -1.53146243e-02 1.99387962e+01] [ 3.10241268e-02 2.35530724e-04 9.99518608e-01 2.13903768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.20, Y:19.95, Z:2.14 [[ 8.72863060e-01 -4.87178378e-01 -2.77002918e-02 1.54202436e+02] [ 4.86924476e-01 8.73302450e-01 -1.57284681e-02 1.99522572e+01] [ 3.18533023e-02 2.40848722e-04 9.99492526e-01 2.13881893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.510385723 meters Centerline goodness [0,1] 0.9999314128943758 Centerline is valid? [True, True] Translation: X:154.23, Y:19.97, Z:2.14 [[ 8.73106779e-01 -4.86741737e-01 -2.76953776e-02 1.54226474e+02] [ 4.86487413e-01 8.73545884e-01 -1.57348520e-02 1.99669334e+01] [ 3.18519923e-02 2.64753360e-04 9.99492561e-01 2.13903999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.540385723 meters Centerline goodness [0,1] 0.9999770731595479 Centerline is valid? [True, True] Translation: X:154.25, Y:19.98, Z:2.14 [[ 8.73561718e-01 -4.85898666e-01 -2.81497769e-02 1.54249808e+02] [ 4.85635187e-01 8.74015098e-01 -1.60023244e-02 1.99832623e+01] [ 3.23788381e-02 3.08495799e-04 9.99475620e-01 2.13834346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57038572300002 meters Centerline goodness [0,1] 0.9999086799689512 Centerline is valid? [True, True] Translation: X:154.27, Y:20.00, Z:2.14 [[ 8.73728802e-01 -4.85590528e-01 -2.82810802e-02 1.54273991e+02] [ 4.85324139e-01 8.74186325e-01 -1.60856877e-02 1.99985662e+01] [ 3.25339912e-02 3.29037755e-04 9.99470575e-01 2.13870779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.30, Y:20.01, Z:2.14 [[ 8.73879867e-01 -4.85357288e-01 -2.76094447e-02 1.54297844e+02] [ 4.85102990e-01 8.74315840e-01 -1.57130541e-02 2.00130187e+01] [ 3.17658202e-02 3.37897473e-04 9.99495282e-01 2.14223079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.32, Y:20.03, Z:2.14 [[ 8.73931883e-01 -4.85296063e-01 -2.70332318e-02 1.54321988e+02] [ 4.85051932e-01 8.74349824e-01 -1.53950878e-02 2.00272653e+01] [ 3.11076770e-02 3.41736774e-04 9.99515981e-01 2.14373442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.66038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.35, Y:20.04, Z:2.14 [[ 8.73754193e-01 -4.85705710e-01 -2.53687520e-02 1.54345115e+02] [ 4.85490647e-01 8.74122340e-01 -1.44556828e-02 2.00423711e+01] [ 2.91966005e-02 3.14421571e-04 9.99573639e-01 2.14490053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.37, Y:20.06, Z:2.15 [[ 8.73320428e-01 -4.86512821e-01 -2.48335304e-02 1.54370176e+02] [ 4.86306841e-01 8.73673390e-01 -1.41585434e-02 2.00574418e+01] [ 2.85847075e-02 2.88229487e-04 9.99591332e-01 2.14599706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.39, Y:20.07, Z:2.15 [[ 8.72296892e-01 -4.88437978e-01 -2.29450211e-02 1.54394981e+02] [ 4.88262620e-01 8.72598588e-01 -1.30888525e-02 2.00722912e+01] [ 2.64148857e-02 2.14169219e-04 9.99651043e-01 2.14687095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.42, Y:20.09, Z:2.15 [[ 8.71783225e-01 -4.89381792e-01 -2.23488203e-02 1.54420366e+02] [ 4.89215592e-01 8.72069623e-01 -1.27545209e-02 2.00870722e+01] [ 2.57315576e-02 1.85786013e-04 9.99668871e-01 2.14753057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.44, Y:20.10, Z:2.15 [[ 8.71088570e-01 -4.90637463e-01 -2.18993810e-02 1.54444679e+02] [ 4.90478195e-01 8.71363792e-01 -1.25013027e-02 2.01009252e+01] [ 2.52159351e-02 1.48573072e-04 9.99682017e-01 2.14791935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.47, Y:20.11, Z:2.15 [[ 8.70745998e-01 -4.91240635e-01 -2.20010498e-02 1.54468997e+02] [ 4.91079956e-01 8.71023892e-01 -1.25641040e-02 2.01145025e+01] [ 2.53354384e-02 1.35868743e-04 9.99678997e-01 2.14873953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.49, Y:20.13, Z:2.15 [[ 8.70179969e-01 -4.92255745e-01 -2.17049295e-02 1.54492802e+02] [ 4.92099479e-01 8.70450613e-01 -1.24029604e-02 2.01292234e+01] [ 2.49984978e-02 1.11823201e-04 9.99687482e-01 2.14816317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.52, Y:20.14, Z:2.15 [[ 8.70042516e-01 -4.92488321e-01 -2.19379717e-02 1.54516119e+02] [ 4.92328573e-01 8.70319046e-01 -1.25433090e-02 2.01438974e+01] [ 2.52704678e-02 1.12521813e-04 9.99680644e-01 2.14754124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.54, Y:20.16, Z:2.15 [[ 8.69847758e-01 -4.92796701e-01 -2.27220017e-02 1.54540750e+02] [ 4.92625270e-01 8.70144470e-01 -1.29978511e-02 2.01598372e+01] [ 2.61767223e-02 1.12719420e-04 9.99657325e-01 2.14623613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.57, Y:20.17, Z:2.15 [[ 8.69572158e-01 -4.93284619e-01 -2.26836102e-02 1.54565410e+02] [ 4.93113742e-01 8.69867963e-01 -1.29832309e-02 2.01740907e+01] [ 2.61361739e-02 1.04256186e-04 9.99658386e-01 2.14658059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.59, Y:20.19, Z:2.15 [[ 8.69487486e-01 -4.93417929e-01 -2.30273591e-02 1.54589499e+02] [ 4.93241654e-01 8.69792352e-01 -1.31884526e-02 2.01879619e+01] [ 2.65364398e-02 1.09141779e-04 9.99647841e-01 2.14661413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.61, Y:20.20, Z:2.15 [[ 8.69324103e-01 -4.93672926e-01 -2.37201571e-02 1.54612918e+02] [ 4.93485810e-01 8.69647647e-01 -1.35913589e-02 2.02027374e+01] [ 2.73378647e-02 1.09734906e-04 9.99626245e-01 2.14549876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.64, Y:20.22, Z:2.15 [[ 8.69815203e-01 -4.92809659e-01 -2.36675306e-02 1.54636647e+02] [ 4.92622910e-01 8.70137127e-01 -1.35664498e-02 2.02178770e+01] [ 2.72796746e-02 1.41136453e-04 9.99627830e-01 2.14577537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.66, Y:20.23, Z:2.15 [[ 8.70047010e-01 -4.92443268e-01 -2.27558457e-02 1.54660704e+02] [ 4.92270296e-01 8.70344532e-01 -1.30518946e-02 2.02329156e+01] [ 2.62327435e-02 1.53734951e-04 9.99655851e-01 2.14636861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.68, Y:20.25, Z:2.15 [[ 8.70441136e-01 -4.91768399e-01 -2.22726351e-02 1.54684706e+02] [ 4.91602269e-01 8.70726025e-01 -1.27827481e-02 2.02480007e+01] [ 2.56795145e-02 1.77351823e-04 9.99670211e-01 2.14781382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.71, Y:20.26, Z:2.15 [[ 8.71339375e-01 -4.90269664e-01 -2.00836084e-02 1.54708678e+02] [ 4.90134030e-01 8.71570774e-01 -1.15333356e-02 2.02632481e+01] [ 2.31587307e-02 2.05789481e-04 9.99731779e-01 2.15066409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.73, Y:20.28, Z:2.15 [[ 8.71712712e-01 -4.89648277e-01 -1.90134976e-02 1.54732665e+02] [ 4.89526418e-01 8.71920018e-01 -1.09255791e-02 2.02777893e+01] [ 2.19279402e-02 2.16356821e-04 9.99759530e-01 2.15212934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.76, Y:20.29, Z:2.15 [[ 8.73171196e-01 -4.87049861e-01 -1.88280353e-02 1.54756125e+02] [ 4.86929638e-01 8.73374119e-01 -1.08247635e-02 2.02939561e+01] [ 2.17161184e-02 2.83943301e-04 9.99764137e-01 2.15327516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.78, Y:20.31, Z:2.15 [[ 8.74075186e-01 -4.85424449e-01 -1.88593088e-02 1.54778794e+02] [ 4.85303384e-01 8.74278558e-01 -1.08456869e-02 2.03105318e+01] [ 2.17530509e-02 3.27459374e-04 9.99763321e-01 2.15273734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.80, Y:20.33, Z:2.15 [[ 8.74886994e-01 -4.83941465e-01 -1.93237139e-02 1.54801049e+02] [ 4.83813948e-01 8.75100290e-01 -1.11151413e-02 2.03267194e+01] [ 2.22892654e-02 3.75410316e-04 9.99751493e-01 2.15162573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.82, Y:20.34, Z:2.15 [[ 8.76287449e-01 -4.81355302e-01 -2.04298671e-02 1.54824885e+02] [ 4.81211964e-01 8.76525443e-01 -1.17555809e-02 2.03439158e+01] [ 2.35659095e-02 4.70171554e-04 9.99722175e-01 2.14930586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.85, Y:20.36, Z:2.15 [[ 8.77347311e-01 -4.79397939e-01 -2.09597794e-02 1.54849253e+02] [ 4.79246347e-01 8.77597471e-01 -1.20672114e-02 2.03603108e+01] [ 2.41792457e-02 5.42237747e-04 9.99707492e-01 2.14931603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.87, Y:20.38, Z:2.15 [[ 8.77841493e-01 -4.78481654e-01 -2.12042279e-02 1.54873803e+02] [ 4.78326072e-01 8.78097358e-01 -1.22147167e-02 2.03752849e+01] [ 2.44638944e-02 5.80050160e-04 9.99700546e-01 2.14982039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.90, Y:20.39, Z:2.15 [[ 8.78893605e-01 -4.76557309e-01 -2.09562076e-02 1.54895571e+02] [ 4.76404676e-01 8.79143181e-01 -1.20769036e-02 2.03934376e+01] [ 2.41788437e-02 6.30678064e-04 9.99707450e-01 2.14935489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.92, Y:20.41, Z:2.15 [[ 8.79195700e-01 -4.75995961e-01 -2.10420065e-02 1.54920235e+02] [ 4.75841822e-01 8.79447224e-01 -1.21301569e-02 2.04093876e+01] [ 2.42792399e-02 6.52115036e-04 9.99705003e-01 2.14940556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.94, Y:20.42, Z:2.15 [[ 8.79324574e-01 -4.75768342e-01 -2.08033306e-02 1.54944487e+02] [ 4.75617468e-01 8.79570380e-01 -1.19987619e-02 2.04246015e+01] [ 2.40066245e-02 6.56378700e-04 9.99711584e-01 2.14951399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.97, Y:20.44, Z:2.15 [[ 8.79174730e-01 -4.76088252e-01 -1.97931957e-02 1.54970058e+02] [ 4.75951619e-01 8.79397288e-01 -1.14222067e-02 2.04387620e+01] [ 2.28440611e-02 6.21511998e-04 9.99738847e-01 2.15038248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47038572300002 meters Centerline goodness [0,1] 0.9999775195018321 Centerline is valid? [True, True] Translation: X:154.99, Y:20.45, Z:2.15 [[ 8.78551896e-01 -4.77212629e-01 -2.03635437e-02 1.54994196e+02] [ 4.77068152e-01 8.78787647e-01 -1.17579553e-02 2.04537923e+01] [ 2.35062754e-02 6.15175719e-04 9.99723500e-01 2.14988086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.500385723 meters Centerline goodness [0,1] 0.9999773883550028 Centerline is valid? [True, True] Translation: X:155.02, Y:20.47, Z:2.15 [[ 8.77895668e-01 -4.78437286e-01 -1.99238302e-02 1.55020194e+02] [ 4.78299159e-01 8.78121536e-01 -1.15100846e-02 2.04675843e+01] [ 2.30023980e-02 5.75102199e-04 9.99735244e-01 2.15051352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.530385723 meters Centerline goodness [0,1] 0.9999548318616048 Centerline is valid? [True, True] Translation: X:155.05, Y:20.48, Z:2.15 [[ 8.77213756e-01 -4.79705803e-01 -1.94516886e-02 1.55045600e+02] [ 4.79574330e-01 8.77429232e-01 -1.12429919e-02 2.04818422e+01] [ 2.24608086e-02 5.33976595e-04 9.99747582e-01 2.15129982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.560385723 meters Centerline goodness [0,1] 0.9999549944868247 Centerline is valid? [True, True] Translation: X:155.07, Y:20.50, Z:2.15 [[ 8.76065249e-01 -4.81866871e-01 -1.77200218e-02 1.55069828e+02] [ 4.81758121e-01 8.76244330e-01 -1.02463179e-02 2.04951138e+01] [ 2.04644298e-02 4.39678648e-04 9.99790485e-01 2.15269906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.10, Y:20.51, Z:2.15 [[ 8.75318460e-01 -4.83277056e-01 -1.61517940e-02 1.55095218e+02] [ 4.83186903e-01 8.75467388e-01 -9.34174849e-03 2.05093546e+01] [ 1.86550216e-02 3.72669584e-04 9.99825910e-01 2.15455703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.12, Y:20.52, Z:2.15 [[ 8.75192887e-01 -4.83504499e-01 -1.61496141e-02 1.55119057e+02] [ 4.83414316e-01 8.75341796e-01 -9.34551568e-03 2.05232504e+01] [ 1.86550311e-02 3.72174204e-04 9.99825910e-01 2.15497454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.14, Y:20.54, Z:2.16 [[ 8.74567926e-01 -4.84642047e-01 -1.59068915e-02 1.55144715e+02] [ 4.84554645e-01 8.74712505e-01 -9.21032433e-03 2.05375501e+01] [ 1.83776674e-02 3.47296069e-04 9.99831056e-01 2.15587817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.680385723 meters Centerline goodness [0,1] 0.9999323455787835 Centerline is valid? [True, True] Translation: X:155.17, Y:20.55, Z:2.16 [[ 8.74195790e-01 -4.85321517e-01 -1.56443722e-02 1.55169770e+02] [ 4.85237003e-01 8.74335699e-01 -9.06287818e-03 2.05500164e+01] [ 1.80768429e-02 3.31501682e-04 9.99836546e-01 2.15574851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.19, Y:20.57, Z:2.16 [[ 8.74066804e-01 -4.85525655e-01 -1.64942676e-02 1.55194074e+02] [ 4.85431623e-01 8.74222349e-01 -9.56155646e-03 2.05650634e+01] [ 1.90620383e-02 3.50600014e-04 9.99818241e-01 2.15515793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.740385723 meters Centerline goodness [0,1] 0.9999549691538704 Centerline is valid? [True, True] Translation: X:155.22, Y:20.58, Z:2.15 [[ 8.73956243e-01 -4.85689687e-01 -1.74932471e-02 1.55217657e+02] [ 4.85583816e-01 8.74131219e-01 -1.01474149e-02 2.05805040e+01] [ 2.02198882e-02 3.73958886e-04 9.99795487e-01 2.15353032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.24, Y:20.60, Z:2.15 [[ 8.74068391e-01 -4.85388132e-01 -2.00701064e-02 1.55241846e+02] [ 4.85248506e-01 8.74298670e-01 -1.16500305e-02 2.05968319e+01] [ 2.32020539e-02 4.43934314e-04 9.99730698e-01 2.15077636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.800385723 meters Centerline goodness [0,1] 0.99997752253366 Centerline is valid? [True, True] Translation: X:155.27, Y:20.61, Z:2.15 [[ 8.73947219e-01 -4.85575307e-01 -2.08057498e-02 1.55265742e+02] [ 4.85425182e-01 8.74194721e-01 -1.20823424e-02 2.06118998e+01] [ 2.40551638e-02 4.59694629e-04 9.99710527e-01 2.14979535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.29, Y:20.62, Z:2.15 [[ 8.73135913e-01 -4.86993653e-01 -2.16993122e-02 1.55291878e+02] [ 4.86830682e-01 8.73405396e-01 -1.26055873e-02 2.06248860e+01] [ 2.50911373e-02 4.42499986e-04 9.99685070e-01 2.15069268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.32, Y:20.64, Z:2.15 [[ 8.71342592e-01 -4.90245808e-01 -2.05215893e-02 1.55318548e+02] [ 4.90100803e-01 8.71584153e-01 -1.19276230e-02 2.06374842e+01] [ 2.37337592e-02 3.35398508e-04 9.99718258e-01 2.15238676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.34, Y:20.65, Z:2.15 [[ 8.70125787e-01 -4.92436587e-01 -1.96805349e-02 1.55343867e+02] [ 4.92303652e-01 8.70348284e-01 -1.14446062e-02 2.06510412e+01] [ 2.27646626e-02 2.69447775e-04 9.99740815e-01 2.15336101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.37, Y:20.66, Z:2.16 [[ 8.67920355e-01 -4.96408114e-01 -1.71243046e-02 1.55369268e+02] [ 4.96308163e-01 8.68089259e-01 -9.96218631e-03 2.06624700e+01] [ 1.98107350e-02 1.47452108e-04 9.99803737e-01 2.15536492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.40, Y:20.68, Z:2.16 [[ 8.66797136e-01 -4.98399088e-01 -1.61577700e-02 1.55395485e+02] [ 4.98310403e-01 8.66947714e-01 -9.40224226e-03 2.06754807e+01] [ 1.86940108e-02 9.82517629e-05 9.99825247e-01 2.15708302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.42, Y:20.69, Z:2.16 [[ 8.65099557e-01 -5.01398234e-01 -1.42326315e-02 1.55421847e+02] [ 5.01329764e-01 8.65216626e-01 -8.28597545e-03 2.06871250e+01] [ 1.64688828e-02 3.29519090e-05 9.99864378e-01 2.15979332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.45, Y:20.70, Z:2.16 [[ 8.64531807e-01 -5.02388175e-01 -1.38157661e-02 1.55446670e+02] [ 5.02323714e-01 8.64642192e-01 -8.04767414e-03 2.07008144e+01] [ 1.59887506e-02 1.74833251e-05 9.99872172e-01 2.16034710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.47, Y:20.71, Z:2.16 [[ 8.63737271e-01 -5.03766322e-01 -1.33198789e-02 1.55469731e+02] [ 5.03706496e-01 8.63839969e-01 -7.76354472e-03 2.07146347e+01] [ 1.54172562e-02 -3.64662534e-06 9.99881147e-01 2.16008685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.49, Y:20.73, Z:2.16 [[ 8.63515273e-01 -5.04143154e-01 -1.34556369e-02 1.55493151e+02] [ 5.04082094e-01 8.63620102e-01 -7.84614436e-03 2.07294100e+01] [ 1.55761385e-02 -7.48013567e-06 9.99878685e-01 2.15955796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.10038572300002 meters Centerline goodness [0,1] 0.9999775391941063 Centerline is valid? [True, True] Translation: X:155.52, Y:20.74, Z:2.16 [[ 8.63887441e-01 -5.03478467e-01 -1.44195455e-02 1.55515388e+02] [ 5.03408163e-01 8.64007774e-01 -8.41359479e-03 2.07444991e+01] [ 1.66946632e-02 9.48198675e-06 9.99860634e-01 2.15874449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.54, Y:20.76, Z:2.16 [[ 8.63971911e-01 -5.03317155e-01 -1.49792839e-02 1.55539642e+02] [ 5.03241213e-01 8.64101754e-01 -8.74304814e-03 2.07593797e+01] [ 1.73441516e-02 1.55550154e-05 9.99849579e-01 2.15902628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.16038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.56, Y:20.77, Z:2.16 [[ 8.64083252e-01 -5.03105741e-01 -1.56444185e-02 1.55563060e+02] [ 5.03022771e-01 8.64224863e-01 -9.13665861e-03 2.07739184e+01] [ 1.81170009e-02 2.53349102e-05 9.99835873e-01 2.15865088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19038572300002 meters Centerline goodness [0,1] 0.9998654014402046 Centerline is valid? [True, True] Translation: X:155.59, Y:20.79, Z:2.16 [[ 8.64001252e-01 -5.03192166e-01 -1.73055415e-02 1.55587338e+02] [ 5.03090584e-01 8.64174545e-01 -1.01104094e-02 2.07897708e+01] [ 2.00424872e-02 2.91513768e-05 9.99799129e-01 2.15662068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.61, Y:20.80, Z:2.16 [[ 8.63616617e-01 -5.03832222e-01 -1.78726064e-02 1.55610224e+02] [ 5.03723887e-01 8.63801535e-01 -1.04476867e-02 2.08035640e+01] [ 2.07022660e-02 1.99370373e-05 9.99785685e-01 2.15540571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.250385723 meters Centerline goodness [0,1] 0.9998876682168453 Centerline is valid? [True, True] Translation: X:155.63, Y:20.82, Z:2.16 [[ 8.63553508e-01 -5.03933888e-01 -1.80548139e-02 1.55634653e+02] [ 5.03823220e-01 8.63742228e-01 -1.05606425e-02 2.08181301e+01] [ 2.09165708e-02 2.32454562e-05 9.99781224e-01 2.15564889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.66, Y:20.83, Z:2.16 [[ 8.63237898e-01 -5.04479032e-01 -1.79231201e-02 1.55658410e+02] [ 5.04369981e-01 8.63423943e-01 -1.04888393e-02 2.08320001e+01] [ 2.07666506e-02 1.44798439e-05 9.99784350e-01 2.15604789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.68, Y:20.85, Z:2.16 [[ 8.62997325e-01 -5.04924559e-01 -1.69353364e-02 1.55681432e+02] [ 5.04827219e-01 8.63163478e-01 -9.91412295e-03 2.08454607e+01] [ 1.96238480e-02 6.44280405e-06 9.99807434e-01 2.15752816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.340385723 meters Centerline goodness [0,1] 0.9999328994162249 Centerline is valid? [True, True] Translation: X:155.71, Y:20.86, Z:2.16 [[ 8.62859448e-01 -5.05192089e-01 -1.59538851e-02 1.55705211e+02] [ 5.05105650e-01 8.63006925e-01 -9.34503203e-03 2.08598444e+01] [ 1.84893496e-02 5.05167351e-06 9.99829057e-01 2.15925606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.370385723 meters Centerline goodness [0,1] 0.999977624130138 Centerline is valid? [True, True] Translation: X:155.73, Y:20.88, Z:2.16 [[ 8.63153967e-01 -5.04743233e-01 -1.41243403e-02 1.55728638e+02] [ 5.04675347e-01 8.63269522e-01 -8.27803585e-03 2.08752258e+01] [ 1.63713951e-02 1.70131619e-05 9.99865980e-01 2.16206746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.75, Y:20.89, Z:2.16 [[ 8.63820946e-01 -5.03613538e-01 -1.36666929e-02 1.55751494e+02] [ 5.03549758e-01 8.63929050e-01 -8.01489117e-03 2.08905779e+01] [ 1.58434607e-02 4.15709590e-05 9.99874484e-01 2.16354682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.430385723 meters Centerline goodness [0,1] 0.9999777198493862 Centerline is valid? [True, True] Translation: X:155.78, Y:20.91, Z:2.16 [[ 8.64135303e-01 -5.03077832e-01 -1.35230868e-02 1.55775528e+02] [ 5.03015265e-01 8.64241108e-01 -7.93416092e-03 2.09055852e+01] [ 1.56787080e-02 5.38694801e-05 9.99877080e-01 2.16441485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.80, Y:20.92, Z:2.17 [[ 8.65508965e-01 -5.00711239e-01 -1.35087457e-02 1.55799109e+02] [ 5.00648437e-01 8.65614374e-01 -7.93079548e-03 2.09228585e+01] [ 1.56644028e-02 1.01042197e-04 9.99877301e-01 2.16571176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.82, Y:20.94, Z:2.17 [[ 8.65942053e-01 -4.99947259e-01 -1.40392138e-02 1.55822377e+02] [ 4.99879252e-01 8.66055843e-01 -8.24681718e-03 2.09391817e+01] [ 1.62817168e-02 1.23354101e-04 9.99867436e-01 2.16534334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.85, Y:20.96, Z:2.17 [[ 8.67197252e-01 -4.97714433e-01 -1.57882628e-02 1.55845903e+02] [ 4.97628006e-01 8.67340941e-01 -9.27682918e-03 2.09561615e+01] [ 1.83110185e-02 1.88159047e-04 9.99832322e-01 2.16511759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.550385723 meters Centerline goodness [0,1] 0.999977770862046 Centerline is valid? [True, True] Translation: X:155.87, Y:20.97, Z:2.17 [[ 8.67459980e-01 -4.97250118e-01 -1.59844504e-02 1.55870666e+02] [ 4.97161353e-01 8.67607214e-01 -9.39741554e-03 2.09717167e+01] [ 1.85410905e-02 2.05030893e-04 9.99828078e-01 2.16510899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.89, Y:20.99, Z:2.17 [[ 8.68049903e-01 -4.96207452e-01 -1.63563660e-02 1.55893658e+02] [ 4.96114230e-01 8.68203956e-01 -9.62090074e-03 2.09869121e+01] [ 1.89746243e-02 2.36796053e-04 9.99819938e-01 2.16636779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.610385723 meters Centerline goodness [0,1] 0.999977893712972 Centerline is valid? [True, True] Translation: X:155.92, Y:21.00, Z:2.17 [[ 8.68474907e-01 -4.95469514e-01 -1.61646726e-02 1.55917209e+02] [ 4.95378290e-01 8.68625292e-01 -9.51067733e-03 2.10040816e+01] [ 1.87532941e-02 2.52156750e-04 9.99824110e-01 2.16698864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.640385723 meters Centerline goodness [0,1] 0.9999778917580474 Centerline is valid? [True, True] Translation: X:155.94, Y:21.02, Z:2.17 [[ 8.68822716e-01 -4.94872616e-01 -1.57538033e-02 1.55940192e+02] [ 4.94785790e-01 8.68965492e-01 -9.27343732e-03 2.10196915e+01] [ 1.82786816e-02 2.62215007e-04 9.99832897e-01 2.16835514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.670385723 meters Centerline goodness [0,1] 0.9999779171451285 Centerline is valid? [True, True] Translation: X:155.96, Y:21.03, Z:2.17 [[ 8.68673958e-01 -4.95130987e-01 -1.58385852e-02 1.55964309e+02] [ 4.95043220e-01 8.68818300e-01 -9.32588946e-03 2.10342818e+01] [ 1.83783895e-02 2.60373107e-04 9.99831069e-01 2.16939391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.700385723 meters Centerline goodness [0,1] 0.9999558985667034 Centerline is valid? [True, True] Translation: X:155.99, Y:21.05, Z:2.17 [[ 8.68428074e-01 -4.95576837e-01 -1.53713973e-02 1.55988433e+02] [ 4.95494143e-01 8.68564066e-01 -9.05634423e-03 2.10483308e+01] [ 1.78391578e-02 2.48346234e-04 9.99840839e-01 2.16949893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.730385723 meters Centerline goodness [0,1] 0.9999559665345663 Centerline is valid? [True, True] Translation: X:156.01, Y:21.06, Z:2.17 [[ 8.68295722e-01 -4.95821845e-01 -1.49411340e-02 1.56011696e+02] [ 4.95743661e-01 8.68424228e-01 -8.80808827e-03 2.10620747e+01] [ 1.73424853e-02 2.41052899e-04 9.99849579e-01 2.17272597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.04, Y:21.08, Z:2.17 [[ 8.68256943e-01 -4.95893782e-01 -1.48066993e-02 1.56035425e+02] [ 4.95816941e-01 8.68383152e-01 -8.73278449e-03 2.10768919e+01] [ 1.71884217e-02 2.40888424e-04 9.99852239e-01 2.17328868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.790385723 meters Centerline goodness [0,1] 0.9999559490771331 Centerline is valid? [True, True] Translation: X:156.06, Y:21.09, Z:2.17 [[ 8.68631542e-01 -4.95215736e-01 -1.55118954e-02 1.56059293e+02] [ 4.95131187e-01 8.68769993e-01 -9.15456137e-03 2.10935976e+01] [ 1.80097521e-02 2.71517588e-04 9.99837774e-01 2.17257344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.82038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.08, Y:21.11, Z:2.17 [[ 8.68835415e-01 -4.94848175e-01 -1.58210278e-02 1.56083605e+02] [ 4.94760065e-01 8.68979401e-01 -9.34226816e-03 2.11097736e+01] [ 1.83711516e-02 2.89280674e-04 9.99831194e-01 2.17235180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.85038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.11, Y:21.13, Z:2.17 [[ 8.69388377e-01 -4.93851460e-01 -1.65706109e-02 1.56107159e+02] [ 4.93754523e-01 8.69546219e-01 -9.78996771e-03 2.11256563e+01] [ 1.92437019e-02 3.29470056e-04 9.99814769e-01 2.17207198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.88038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.13, Y:21.14, Z:2.17 [[ 8.69301526e-01 -4.93982419e-01 -1.72112603e-02 1.56131007e+02] [ 4.93877789e-01 8.69471824e-01 -1.01723483e-02 2.11400871e+01] [ 1.99896671e-02 3.42578722e-04 9.99800128e-01 2.17234677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91038572300002 meters Centerline goodness [0,1] 0.999933964340744 Centerline is valid? [True, True] Translation: X:156.16, Y:21.15, Z:2.17 [[ 8.68525758e-01 -4.95297637e-01 -1.85272595e-02 1.56155904e+02] [ 4.95176542e-01 8.68723278e-01 -1.09571023e-02 2.11544600e+01] [ 2.15220885e-02 3.42261251e-04 9.99768314e-01 2.17185521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.94038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.18, Y:21.17, Z:2.17 [[ 8.67536168e-01 -4.97009401e-01 -1.90434243e-02 1.56180150e+02] [ 4.96881765e-01 8.67745099e-01 -1.12673751e-02 2.11684610e+01] [ 2.21248295e-02 3.12525192e-04 9.99755167e-01 2.17193042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.20, Y:21.18, Z:2.17 [[ 8.66919004e-01 -4.98067004e-01 -1.95115537e-02 1.56204341e+02] [ 4.97933194e-01 8.67138496e-01 -1.15482637e-02 2.11820592e+01] [ 2.26710285e-02 2.95959028e-04 9.99742935e-01 2.17255960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.000385723 meters Centerline goodness [0,1] 0.9999557923122832 Centerline is valid? [True, True] Translation: X:156.23, Y:21.20, Z:2.17 [[ 8.66278137e-01 -4.99188695e-01 -1.93089500e-02 1.56229960e+02] [ 4.99057776e-01 8.66493262e-01 -1.14351658e-02 2.11963089e+01] [ 2.24393806e-02 2.69752527e-04 9.99748169e-01 2.17369139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.030385723 meters Centerline goodness [0,1] 0.9999780359770696 Centerline is valid? [True, True] Translation: X:156.25, Y:21.21, Z:2.17 [[ 8.65854157e-01 -4.99917300e-01 -1.94749365e-02 1.56253554e+02] [ 4.99784189e-01 8.66073107e-01 -1.15385054e-02 2.12107620e+01] [ 2.26350172e-02 2.57397498e-04 9.99743762e-01 2.17406623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.28, Y:21.23, Z:2.17 [[ 8.65695106e-01 -5.00187491e-01 -1.96075721e-02 1.56277330e+02] [ 5.00052541e-01 8.65917091e-01 -1.16209852e-02 2.12251301e+01] [ 2.27912033e-02 2.55413755e-04 9.99740214e-01 2.17438145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.090385723 meters Centerline goodness [0,1] 0.9999780287384101 Centerline is valid? [True, True] Translation: X:156.30, Y:21.24, Z:2.18 [[ 8.65573301e-01 -5.00382866e-01 -1.99961833e-02 1.56301262e+02] [ 5.00242392e-01 8.65804204e-01 -1.18587621e-02 2.12398039e+01] [ 2.32467010e-02 2.61689324e-04 9.99729725e-01 2.17565290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.32, Y:21.25, Z:2.18 [[ 8.65638892e-01 -5.00273136e-01 -1.99022334e-02 1.56323941e+02] [ 5.00133811e-01 8.65867610e-01 -1.18090574e-02 2.12548797e+01] [ 2.31404535e-02 2.68599531e-04 9.99732188e-01 2.17554994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.35, Y:21.27, Z:2.18 [[ 8.65884281e-01 -4.99863500e-01 -1.95164777e-02 1.56349138e+02] [ 4.99729317e-01 8.66104153e-01 -1.15846974e-02 2.12682145e+01] [ 2.26940698e-02 2.78051343e-04 9.99742418e-01 2.17793865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.37, Y:21.28, Z:2.18 [[ 8.66203587e-01 -4.99291905e-01 -1.99734550e-02 1.56372618e+02] [ 4.99151076e-01 8.66433783e-01 -1.18618052e-02 2.12828030e+01] [ 2.32281795e-02 3.04966622e-04 9.99730143e-01 2.17848236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.210385723 meters Centerline goodness [0,1] 0.9999779982838661 Centerline is valid? [True, True] Translation: X:156.40, Y:21.30, Z:2.18 [[ 8.66402370e-01 -4.98960754e-01 -1.96239605e-02 1.56396431e+02] [ 4.98824636e-01 8.66624526e-01 -1.16582287e-02 2.12982219e+01] [ 2.28236041e-02 3.11802041e-04 9.99739459e-01 2.17900650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.240385723 meters Centerline goodness [0,1] 0.9999338740962793 Centerline is valid? [True, True] Translation: X:156.42, Y:21.31, Z:2.18 [[ 8.66552718e-01 -4.98690214e-01 -1.98609751e-02 1.56421202e+02] [ 4.98550548e-01 8.66780227e-01 -1.18063011e-02 2.13133055e+01] [ 2.31027874e-02 3.29082304e-04 9.99733041e-01 2.17945992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.44, Y:21.33, Z:2.18 [[ 8.66612366e-01 -4.98563726e-01 -2.04259031e-02 1.56444790e+02] [ 4.98415839e-01 8.66852981e-01 -1.21474801e-02 2.13278005e+01] [ 2.37625480e-02 3.46562895e-04 9.99717571e-01 2.17940018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.47, Y:21.34, Z:2.18 [[ 8.66502078e-01 -4.98727728e-01 -2.10903246e-02 1.56469456e+02] [ 4.98570006e-01 8.66758632e-01 -1.25468443e-02 2.13421111e+01] [ 2.45376800e-02 3.56863441e-04 9.99698842e-01 2.17959325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.49, Y:21.36, Z:2.18 [[ 8.66357489e-01 -4.98983663e-01 -2.09763011e-02 1.56493630e+02] [ 4.98827541e-01 8.66611319e-01 -1.24862177e-02 2.13558604e+01] [ 2.44087186e-02 3.53971463e-04 9.99702000e-01 2.18028738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.360385723 meters Centerline goodness [0,1] 0.9999779789037898 Centerline is valid? [True, True] Translation: X:156.52, Y:21.37, Z:2.18 [[ 8.65597024e-01 -5.00316657e-01 -2.06163595e-02 1.56520172e+02] [ 5.00166050e-01 8.65842447e-01 -1.22792563e-02 2.13685139e+01] [ 2.39940356e-02 3.17284614e-04 9.99712051e-01 2.18314956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.54, Y:21.38, Z:2.18 [[ 8.65138137e-01 -5.01119610e-01 -2.03749761e-02 1.56544341e+02] [ 5.00972611e-01 8.65377980e-01 -1.21406283e-02 2.13825903e+01] [ 2.37159626e-02 2.96015586e-04 9.99718693e-01 2.18386474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.57, Y:21.40, Z:2.18 [[ 8.64682397e-01 -5.01919868e-01 -2.00199365e-02 1.56568395e+02] [ 5.01778098e-01 8.64914084e-01 -1.19318030e-02 2.13971780e+01] [ 2.33043340e-02 2.71654372e-04 9.99728380e-01 2.18420752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.59, Y:21.41, Z:2.19 [[ 8.64452770e-01 -5.02327909e-01 -1.96997450e-02 1.56593507e+02] [ 5.02190635e-01 8.64677168e-01 -1.17457118e-02 2.14099717e+01] [ 2.29341186e-02 2.60585584e-04 9.99736945e-01 2.18656867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.62, Y:21.42, Z:2.19 [[ 8.64205857e-01 -5.02775296e-01 -1.91111980e-02 1.56617621e+02] [ 5.02646057e-01 8.64417110e-01 -1.14017946e-02 2.14237326e+01] [ 2.22525872e-02 2.47329334e-04 9.99752350e-01 2.18762954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.64, Y:21.44, Z:2.19 [[ 8.64381962e-01 -5.02492241e-01 -1.85841792e-02 1.56640618e+02] [ 5.02369835e-01 8.64581681e-01 -1.10934898e-02 2.14376024e+01] [ 2.16419334e-02 2.52881432e-04 9.99765754e-01 2.18926697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.66, Y:21.45, Z:2.19 [[ 8.64531959e-01 -5.02240720e-01 -1.84051648e-02 1.56664148e+02] [ 5.02120492e-01 8.64727813e-01 -1.09918638e-02 2.14532068e+01] [ 2.14360196e-02 2.61207164e-04 9.99770188e-01 2.18989594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.69, Y:21.47, Z:2.19 [[ 8.64395865e-01 -5.02475023e-01 -1.84021933e-02 1.56687793e+02] [ 5.02354742e-01 8.64591686e-01 -1.09968369e-02 2.14674260e+01] [ 2.14360192e-02 2.61191255e-04 9.99770188e-01 2.19031321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.71, Y:21.48, Z:2.19 [[ 8.65137491e-01 -5.01191695e-01 -1.85474394e-02 1.56711908e+02] [ 5.01069068e-01 8.65336232e-01 -1.10902835e-02 2.14831456e+01] [ 2.16081293e-02 3.01071813e-04 9.99766472e-01 2.19005828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.74, Y:21.50, Z:2.19 [[ 8.65415350e-01 -5.00699392e-01 -1.88783134e-02 1.56736758e+02] [ 5.00572095e-01 8.65621172e-01 -1.12944421e-02 2.14976212e+01] [ 2.19965880e-02 3.24426662e-04 9.99757993e-01 2.19089420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.66038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.76, Y:21.51, Z:2.19 [[ 8.66040947e-01 -4.99583977e-01 -1.97212690e-02 1.56760522e+02] [ 4.99444645e-01 8.66265381e-01 -1.18040675e-02 2.15121394e+01] [ 2.29809756e-02 3.73123564e-04 9.99735833e-01 2.19166424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.79, Y:21.53, Z:2.19 [[ 8.66202292e-01 -4.99301362e-01 -1.97924115e-02 1.56785278e+02] [ 4.99160863e-01 8.66428302e-01 -1.18503778e-02 2.15277627e+01] [ 2.30656153e-02 3.85227164e-04 9.99733879e-01 2.19214327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.81, Y:21.54, Z:2.19 [[ 8.66758580e-01 -4.98347768e-01 -1.94696309e-02 1.56809704e+02] [ 4.98211432e-01 8.66977124e-01 -1.16633974e-02 2.15430518e+01] [ 2.26921526e-02 4.09357057e-04 9.99742416e-01 2.19362934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.83, Y:21.56, Z:2.19 [[ 8.66949254e-01 -4.98023399e-01 -1.92791416e-02 1.56834604e+02] [ 4.97889495e-01 8.67163490e-01 -1.15556229e-02 2.15583234e+01] [ 2.24731383e-02 4.19256581e-04 9.99747359e-01 2.19441920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.780385723 meters Centerline goodness [0,1] 0.9999780268072951 Centerline is valid? [True, True] Translation: X:156.86, Y:21.57, Z:2.19 [[ 8.67209343e-01 -4.97549248e-01 -1.98166819e-02 1.56858345e+02] [ 4.97407527e-01 8.67435614e-01 -1.18830556e-02 2.15720842e+01] [ 2.31021011e-02 4.48130118e-04 9.99733010e-01 2.19487635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.88, Y:21.59, Z:2.19 [[ 8.66961733e-01 -4.97959932e-01 -2.03287762e-02 1.56881492e+02] [ 4.97810822e-01 8.67199921e-01 -1.21935692e-02 2.15856206e+01] [ 2.37010221e-02 4.51473116e-04 9.99718989e-01 2.19490565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.91, Y:21.60, Z:2.20 [[ 8.66226343e-01 -4.99206920e-01 -2.10801728e-02 1.56907754e+02] [ 4.99046800e-01 8.66482694e-01 -1.26503972e-02 2.15978037e+01] [ 2.45807708e-02 4.38114495e-04 9.99697751e-01 2.19561077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.93, Y:21.61, Z:2.20 [[ 8.65586769e-01 -5.00292492e-01 -2.16094363e-02 1.56933545e+02] [ 5.00124382e-01 8.65856364e-01 -1.29753308e-02 2.16117651e+01] [ 2.52021285e-02 4.23868694e-04 9.99682286e-01 2.19640994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.96, Y:21.63, Z:2.19 [[ 8.64244047e-01 -5.02604642e-01 -2.16979561e-02 1.56957949e+02] [ 5.02435695e-01 8.64516305e-01 -1.30357685e-02 2.16264129e+01] [ 2.53100746e-02 3.64257687e-04 9.99679582e-01 2.19497376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.98, Y:21.64, Z:2.20 [[ 8.63709577e-01 -5.03530375e-01 -2.15157652e-02 1.56984687e+02] [ 5.03364361e-01 8.63977457e-01 -1.29334364e-02 2.16380071e+01] [ 2.51015141e-02 3.40463465e-04 9.99684849e-01 2.19725371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.01, Y:21.65, Z:2.20 [[ 8.62551147e-01 -5.05534042e-01 -2.09964397e-02 1.57010740e+02] [ 5.05376373e-01 8.62806614e-01 -1.26281137e-02 2.16509813e+01] [ 2.44998084e-02 2.81289473e-04 9.99699795e-01 2.19786971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.03, Y:21.67, Z:2.20 [[ 8.62214818e-01 -5.06116681e-01 -2.07728794e-02 1.57034976e+02] [ 5.05962395e-01 8.62464976e-01 -1.24988223e-02 2.16650901e+01] [ 2.42417434e-02 2.66373932e-04 9.99706090e-01 2.19791746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.06, Y:21.68, Z:2.20 [[ 8.62082252e-01 -5.06355225e-01 -2.04591560e-02 1.57059744e+02] [ 5.06205527e-01 8.62324950e-01 -1.23144327e-02 2.16778005e+01] [ 2.38779180e-02 2.59515995e-04 9.99714848e-01 2.19937389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.050385723 meters Centerline goodness [0,1] 0.9999114181947029 Centerline is valid? [True, True] Translation: X:157.08, Y:21.69, Z:2.20 [[ 8.62160025e-01 -5.06217045e-01 -2.06008654e-02 1.57083050e+02] [ 5.06065083e-01 8.62406071e-01 -1.24056818e-02 2.16926169e+01] [ 2.40462790e-02 2.70304280e-04 9.99710810e-01 2.19900114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.11, Y:21.71, Z:2.20 [[ 8.62044700e-01 -5.06393736e-01 -2.10788700e-02 1.57106830e+02] [ 5.06234578e-01 8.62302330e-01 -1.26981886e-02 2.17067403e+01] [ 2.46066419e-02 2.75553267e-04 9.99697173e-01 2.19924526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.13, Y:21.72, Z:2.20 [[ 8.61749046e-01 -5.06860580e-01 -2.19302232e-02 1.57131496e+02] [ 5.06688236e-01 8.62028001e-01 -1.32195895e-02 2.17209002e+01] [ 2.56049553e-02 2.80182557e-04 9.99672100e-01 2.19810663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.16, Y:21.73, Z:2.20 [[ 8.61232031e-01 -5.07706724e-01 -2.26554726e-02 1.57156188e+02] [ 5.07522883e-01 8.61529924e-01 -1.36643519e-02 2.17326504e+01] [ 2.64558509e-02 2.70006790e-04 9.99649946e-01 2.19828135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.18, Y:21.75, Z:2.20 [[ 8.60515500e-01 -5.08914134e-01 -2.27920626e-02 1.57181173e+02] [ 5.08728301e-01 8.60817255e-01 -1.37538879e-02 2.17452120e+01] [ 2.66193487e-02 2.40466437e-04 9.99645613e-01 2.19965132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.21, Y:21.76, Z:2.20 [[ 8.60083556e-01 -5.09651364e-01 -2.26222012e-02 1.57205757e+02] [ 5.09468383e-01 8.60380984e-01 -1.36575187e-02 2.17587709e+01] [ 2.64242847e-02 2.21310990e-04 9.99650793e-01 2.19981223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.23, Y:21.77, Z:2.20 [[ 8.58792105e-01 -5.11849776e-01 -2.20437695e-02 1.57232277e+02] [ 5.11676641e-01 8.59074958e-01 -1.33128411e-02 2.17716086e+01] [ 2.57514251e-02 1.53680841e-04 9.99668365e-01 2.20074450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.26, Y:21.78, Z:2.20 [[ 8.57633870e-01 -5.13783748e-01 -2.21451031e-02 1.57257289e+02] [ 5.13609520e-01 8.57919722e-01 -1.33794824e-02 2.17841892e+01] [ 2.58728813e-02 1.00761442e-04 9.99665236e-01 2.20108089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.28, Y:21.80, Z:2.20 [[ 8.57171611e-01 -5.14540547e-01 -2.24689665e-02 1.57282050e+02] [ 5.14361310e-01 8.57466045e-01 -1.35802900e-02 2.17975056e+01] [ 2.62539857e-02 8.34720478e-05 9.99655301e-01 2.20136885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.31, Y:21.81, Z:2.20 [[ 8.56889848e-01 -5.14997866e-01 -2.27373138e-02 1.57306036e+02] [ 5.14814308e-01 8.57191456e-01 -1.37490357e-02 2.18108960e+01] [ 2.65709552e-02 7.59146380e-05 9.99646927e-01 2.20154817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.33, Y:21.82, Z:2.20 [[ 8.56343505e-01 -5.15899898e-01 -2.28713287e-02 1.57331597e+02] [ 5.15714333e-01 8.56648874e-01 -1.38359439e-02 2.18237189e+01] [ 2.67306600e-02 5.32486084e-05 9.99642671e-01 2.20230753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.36, Y:21.84, Z:2.20 [[ 8.56298295e-01 -5.15965621e-01 -2.30804582e-02 1.57355093e+02] [ 5.15776494e-01 8.56609289e-01 -1.39690456e-02 2.18373432e+01] [ 2.69784822e-02 5.73120941e-05 9.99636013e-01 2.20242018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.38, Y:21.85, Z:2.20 [[ 8.56803576e-01 -5.15147289e-01 -2.26031659e-02 1.57379437e+02] [ 5.14965470e-01 8.57101664e-01 -1.36858309e-02 2.18514597e+01] [ 2.64234298e-02 8.62189146e-05 9.99650837e-01 2.20386634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.40, Y:21.87, Z:2.20 [[ 8.58159228e-01 -5.12915939e-01 -2.19084112e-02 1.57402236e+02] [ 5.12744250e-01 8.58438824e-01 -1.32709914e-02 2.18676936e+01] [ 2.56139338e-02 1.55211885e-04 9.99671897e-01 2.20491450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.43, Y:21.88, Z:2.21 [[ 8.58993756e-01 -5.11533661e-01 -2.15183725e-02 1.57426148e+02] [ 5.11367487e-01 8.59263216e-01 -1.30391137e-02 2.18838135e+01] [ 2.51598915e-02 1.96721174e-04 9.99683420e-01 2.20604450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.500385723 meters Centerline goodness [0,1] 0.9999777545436345 Centerline is valid? [True, True] Translation: X:157.45, Y:21.90, Z:2.21 [[ 8.60823685e-01 -5.08462392e-01 -2.11797144e-02 1.57448656e+02] [ 5.08300308e-01 8.61084150e-01 -1.28407188e-02 2.19019808e+01] [ 2.47665390e-02 2.87939553e-04 9.99693221e-01 2.20552008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.530385723 meters Centerline goodness [0,1] 0.9999777421652422 Centerline is valid? [True, True] Translation: X:157.47, Y:21.92, Z:2.21 [[ 8.61808834e-01 -5.06781163e-01 -2.14099755e-02 1.57472038e+02] [ 5.06614840e-01 8.62074668e-01 -1.29873204e-02 2.19187956e+01] [ 2.50387268e-02 3.45976169e-04 9.99686422e-01 2.20567477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.49, Y:21.94, Z:2.21 [[ 8.62977061e-01 -5.04784549e-01 -2.15209312e-02 1.57494624e+02] [ 5.04615745e-01 8.63245267e-01 -1.30598529e-02 2.19356616e+01] [ 2.51702539e-02 4.10552754e-04 9.99683095e-01 2.20502372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.52, Y:21.95, Z:2.20 [[ 8.65049017e-01 -5.01147833e-01 -2.32604316e-02 1.57518989e+02] [ 5.00949208e-01 8.65361505e-01 -1.41193693e-02 2.19530446e+01] [ 2.72045734e-02 5.61651723e-04 9.99629729e-01 2.20422120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.620385723 meters Centerline goodness [0,1] 0.9999777446420226 Centerline is valid? [True, True] Translation: X:157.54, Y:21.97, Z:2.20 [[ 8.65842764e-01 -4.99729391e-01 -2.42248682e-02 1.57541731e+02] [ 4.99513272e-01 8.66181351e-01 -1.47091284e-02 2.19691535e+01] [ 2.83337128e-02 6.35149254e-04 9.99598318e-01 2.20289755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.57, Y:21.98, Z:2.20 [[ 8.66649704e-01 -4.98238165e-01 -2.60196327e-02 1.57565951e+02] [ 4.97987977e-01 8.67039898e-01 -1.58047790e-02 2.19849873e+01] [ 3.04346037e-02 7.39742797e-04 9.99536486e-01 2.20161706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.680385723 meters Centerline goodness [0,1] 0.9999777248123315 Centerline is valid? [True, True] Translation: X:157.59, Y:22.00, Z:2.20 [[ 8.66610465e-01 -4.98324891e-01 -2.56633105e-02 1.57588974e+02] [ 4.98081379e-01 8.66990062e-01 -1.55939772e-02 2.19998488e+01] [ 3.00207022e-02 7.31486773e-04 9.99549009e-01 2.20147433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.710385723 meters Centerline goodness [0,1] 0.9999329833575338 Centerline is valid? [True, True] Translation: X:157.61, Y:22.01, Z:2.20 [[ 8.66454728e-01 -4.98651607e-01 -2.45515690e-02 1.57613909e+02] [ 4.98428724e-01 8.66802223e-01 -1.49235932e-02 2.20148831e+01] [ 2.87230283e-02 6.93410739e-04 9.99587168e-01 2.20275682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.64, Y:22.03, Z:2.20 [[ 8.66166257e-01 -4.99203125e-01 -2.35001257e-02 1.57639131e+02] [ 4.98998927e-01 8.66484745e-01 -1.42918265e-02 2.20295256e+01] [ 2.74970248e-02 6.52560328e-04 9.99621672e-01 2.20412055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.770385723 meters Centerline goodness [0,1] 0.9999777382012467 Centerline is valid? [True, True] Translation: X:157.66, Y:22.04, Z:2.21 [[ 8.65715744e-01 -5.00062545e-01 -2.17647029e-02 1.57663932e+02] [ 4.99887501e-01 8.65989093e-01 -1.32430174e-02 2.20433798e+01] [ 2.54703323e-02 5.84785741e-04 9.99675407e-01 2.20693924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.800385723 meters Centerline goodness [0,1] 0.9999776626161544 Centerline is valid? [True, True] Translation: X:157.69, Y:22.06, Z:2.21 [[ 8.65193414e-01 -5.00977378e-01 -2.14947347e-02 1.57687939e+02] [ 5.00806806e-01 8.65460201e-01 -1.30837471e-02 2.20574164e+01] [ 2.51574987e-02 5.55262335e-04 9.99683346e-01 2.20755370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.830385723 meters Centerline goodness [0,1] 0.99997770047275 Centerline is valid? [True, True] Translation: X:157.71, Y:22.07, Z:2.21 [[ 8.64847577e-01 -5.01595199e-01 -2.09982343e-02 1.57713049e+02] [ 5.01432501e-01 8.65102293e-01 -1.27855029e-02 2.20713903e+01] [ 2.45787675e-02 5.28314038e-04 9.99697757e-01 2.20828218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.860385723 meters Centerline goodness [0,1] 0.9999776984834968 Centerline is valid? [True, True] Translation: X:157.74, Y:22.09, Z:2.21 [[ 8.63997947e-01 -5.03054868e-01 -2.10558142e-02 1.57737104e+02] [ 5.02891575e-01 8.64254336e-01 -1.28260271e-02 2.20858914e+01] [ 2.46497741e-02 4.92869548e-04 9.99696027e-01 2.20841638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.76, Y:22.10, Z:2.21 [[ 8.63323555e-01 -5.04243739e-01 -2.02655220e-02 1.57761978e+02] [ 5.04092700e-01 8.63561262e-01 -1.23489550e-02 2.21007089e+01] [ 2.37274030e-02 4.45442052e-04 9.99718366e-01 2.20855181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.79, Y:22.11, Z:2.21 [[ 8.62666098e-01 -5.05400552e-01 -1.94289754e-02 1.57785975e+02] [ 5.05261908e-01 8.62884767e-01 -1.18441256e-02 2.21143277e+01] [ 2.27509945e-02 4.00804423e-04 9.99741082e-01 2.20933099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.950385723 meters Centerline goodness [0,1] 0.9999551700177078 Centerline is valid? [True, True] Translation: X:157.81, Y:22.13, Z:2.21 [[ 8.61190079e-01 -5.07953635e-01 -1.82962738e-02 1.57812488e+02] [ 5.07831184e-01 8.61384353e-01 -1.11572370e-02 2.21261576e+01] [ 2.14274831e-02 3.17083471e-04 9.99770355e-01 2.21065302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.980385723 meters Centerline goodness [0,1] 0.9999776671058802 Centerline is valid? [True, True] Translation: X:157.84, Y:22.14, Z:2.21 [[ 8.60352633e-01 -5.09364312e-01 -1.84755339e-02 1.57836188e+02] [ 5.09239675e-01 8.60550937e-01 -1.12711642e-02 2.21410543e+01] [ 2.16402668e-02 2.88700897e-04 9.99765780e-01 2.21031767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.86, Y:22.15, Z:2.21 [[ 8.58802520e-01 -5.11977953e-01 -1.83523113e-02 1.57861185e+02] [ 5.11855518e-01 8.58998560e-01 -1.11983448e-02 2.21527825e+01] [ 2.14979146e-02 2.23434876e-04 9.99768868e-01 2.21121057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.89, Y:22.17, Z:2.21 [[ 8.58141811e-01 -5.13088396e-01 -1.82463674e-02 1.57886455e+02] [ 5.12967544e-01 8.58335750e-01 -1.11373188e-02 2.21674863e+01] [ 2.13759385e-02 1.97604672e-04 9.99771489e-01 2.21147001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07038572300002 meters Centerline goodness [0,1] 0.9999552151910072 Centerline is valid? [True, True] Translation: X:157.91, Y:22.18, Z:2.21 [[ 8.57068077e-01 -5.14864672e-01 -1.86730349e-02 1.57910527e+02] [ 5.14738422e-01 8.57271453e-01 -1.14023242e-02 2.21820801e+01] [ 2.18785137e-02 1.60839613e-04 9.99760624e-01 2.21068066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.10038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.93, Y:22.20, Z:2.21 [[ 8.56657603e-01 -5.15539690e-01 -1.88832970e-02 1.57934681e+02] [ 5.15410665e-01 8.56865687e-01 -1.15343120e-02 2.21954725e+01] [ 2.21268449e-02 1.48303411e-04 9.99755160e-01 2.21174811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13038572300002 meters Centerline goodness [0,1] 0.9999775940489795 Centerline is valid? [True, True] Translation: X:157.96, Y:22.21, Z:2.21 [[ 8.55781818e-01 -5.16991135e-01 -1.89115511e-02 1.57957557e+02] [ 5.16861922e-01 8.55990743e-01 -1.15586050e-02 2.22102746e+01] [ 2.21638090e-02 1.16983396e-04 9.99754346e-01 2.20996111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.16038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.98, Y:22.22, Z:2.21 [[ 8.55113669e-01 -5.18108938e-01 -1.85402748e-02 1.57982456e+02] [ 5.17984865e-01 8.55314632e-01 -1.13384448e-02 2.22240200e+01] [ 2.17323180e-02 9.20774140e-05 9.99763821e-01 2.21169095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.01, Y:22.24, Z:2.21 [[ 8.53401006e-01 -5.20970614e-01 -1.72145937e-02 1.58008307e+02] [ 5.20864115e-01 8.53574612e-01 -1.05335185e-02 2.22373754e+01] [ 2.01815937e-02 2.28511874e-05 9.99796331e-01 2.21402277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22038572300002 meters Centerline goodness [0,1] 0.9999775980644727 Centerline is valid? [True, True] Translation: X:158.03, Y:22.25, Z:2.21 [[ 8.52508060e-01 -5.22460697e-01 -1.62734933e-02 1.58032755e+02] [ 5.22365715e-01 8.52663368e-01 -9.96195421e-03 2.22515699e+01] [ 1.90805411e-02 -8.06868434e-06 9.99817950e-01 2.21465365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.06, Y:22.27, Z:2.22 [[ 8.50758774e-01 -5.25349653e-01 -1.47393915e-02 1.58056867e+02] [ 5.25272134e-01 8.50886442e-01 -9.02482842e-03 2.22656877e+01] [ 1.72827389e-02 -6.42396585e-05 9.99850640e-01 2.21682277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.08, Y:22.28, Z:2.22 [[ 8.50063704e-01 -5.26482658e-01 -1.44121841e-02 1.58080864e+02] [ 5.26408616e-01 8.50185865e-01 -8.82972314e-03 2.22805534e+01] [ 1.69017313e-02 -8.08707282e-05 9.99857152e-01 2.21714950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.10, Y:22.30, Z:2.22 [[ 8.49190423e-01 -5.27880447e-01 -1.47600677e-02 1.58104329e+02] [ 5.27802909e-01 8.49318681e-01 -9.04805607e-03 2.22965186e+01] [ 1.73122931e-02 -1.06884131e-04 9.99850125e-01 2.21593763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.13, Y:22.31, Z:2.21 [[ 8.48792040e-01 -5.28500354e-01 -1.54741280e-02 1.58126973e+02] [ 5.28415197e-01 8.48933072e-01 -9.48780943e-03 2.23127514e+01] [ 1.81508097e-02 -1.23587281e-04 9.99835253e-01 2.21441541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.15, Y:22.33, Z:2.21 [[ 8.48546113e-01 -5.28902624e-01 -1.52153950e-02 1.58150826e+02] [ 5.28820302e-01 8.48682507e-01 -9.33224863e-03 2.23284109e+01] [ 1.78488903e-02 -1.27366452e-04 9.99840688e-01 2.21464164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.400385723 meters Centerline goodness [0,1] 0.9999551700177078 Centerline is valid? [True, True] Translation: X:158.17, Y:22.34, Z:2.21 [[ 8.48290260e-01 -5.29332676e-01 -1.45104457e-02 1.58173599e+02] [ 5.29257781e-01 8.48414346e-01 -8.90500127e-03 2.23441379e+01] [ 1.70245784e-02 -1.25740432e-04 9.99855063e-01 2.21405092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.430385723 meters Centerline goodness [0,1] 0.9999551700177078 Centerline is valid? [True, True] Translation: X:158.20, Y:22.36, Z:2.21 [[ 8.48143779e-01 -5.29567416e-01 -1.45079806e-02 1.58197085e+02] [ 5.29492486e-01 8.48267845e-01 -8.90901573e-03 2.23586311e+01] [ 1.70245778e-02 -1.25740428e-04 9.99855063e-01 2.21446815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.22, Y:22.38, Z:2.22 [[ 8.47879247e-01 -5.30023758e-01 -1.32513225e-02 1.58219602e+02] [ 5.29961232e-01 8.47982784e-01 -8.14195453e-03 2.23750757e+01] [ 1.55523227e-02 -1.19292920e-04 9.99879048e-01 2.21679339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.24, Y:22.39, Z:2.22 [[ 8.47934500e-01 -5.29938256e-01 -1.31350320e-02 1.58241392e+02] [ 5.29876736e-01 8.48036221e-01 -8.07540734e-03 2.23911412e+01] [ 1.54184502e-02 -1.12531425e-04 9.99881122e-01 2.21745505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.26, Y:22.41, Z:2.22 [[ 8.48368767e-01 -5.29253026e-01 -1.27149515e-02 1.58263733e+02] [ 5.29195271e-01 8.48464039e-01 -7.81917893e-03 2.24074395e+01] [ 1.49265032e-02 -9.51450478e-05 9.99888589e-01 2.21746690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.29, Y:22.42, Z:2.22 [[ 8.48460515e-01 -5.29131437e-01 -1.16050734e-02 1.58286182e+02] [ 5.29083302e-01 8.48539873e-01 -7.13752799e-03 2.24245588e+01] [ 1.36240579e-02 -8.41398684e-05 9.99907185e-01 2.21756028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.31, Y:22.44, Z:2.22 [[ 8.48805458e-01 -5.28606908e-01 -1.01995971e-02 1.58307272e+02] [ 5.28569643e-01 8.48866734e-01 -6.27692824e-03 2.24423443e+01] [ 1.19761263e-02 -6.33064585e-05 9.99928282e-01 2.21875619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.33, Y:22.46, Z:2.22 [[ 8.48806866e-01 -5.28621977e-01 -9.25791908e-03 1.58328743e+02] [ 5.28591266e-01 8.48857351e-01 -5.69839692e-03 2.24587746e+01] [ 1.08709505e-02 -5.68167361e-05 9.99940908e-01 2.21968900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.35, Y:22.48, Z:2.22 [[ 8.48671209e-01 -5.28839550e-01 -9.26868161e-03 1.58351784e+02] [ 5.28808760e-01 8.48721819e-01 -5.70689127e-03 2.24750942e+01] [ 1.08845621e-02 -5.80857184e-05 9.99940760e-01 2.21938417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.670385723 meters Centerline goodness [0,1] 0.9999556491850538 Centerline is valid? [True, True] Translation: X:158.37, Y:22.49, Z:2.22 [[ 8.48266697e-01 -5.29490959e-01 -9.10690976e-03 1.58374876e+02] [ 5.29461236e-01 8.48315578e-01 -5.61065985e-03 2.24910169e+01] [ 1.06963271e-02 -6.24197982e-05 9.99942791e-01 2.21795334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.700385723 meters Centerline goodness [0,1] 0.9999558030584283 Centerline is valid? [True, True] Translation: X:158.40, Y:22.51, Z:2.22 [[ 8.47755663e-01 -5.30319901e-01 -8.43436104e-03 1.58396972e+02] [ 5.30294406e-01 8.47797617e-01 -5.20034131e-03 2.25081941e+01] [ 9.90847568e-03 -6.40756860e-05 9.99950908e-01 2.21707663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.42, Y:22.52, Z:2.22 [[ 8.47606799e-01 -5.30554781e-01 -8.62203079e-03 1.58420044e+02] [ 5.30528152e-01 8.47650647e-01 -5.31598014e-03 2.25243906e+01] [ 1.01288887e-02 -6.83691560e-05 9.99948699e-01 2.21846042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.44, Y:22.54, Z:2.22 [[ 8.46974022e-01 -5.31558270e-01 -8.98957617e-03 1.58443092e+02] [ 5.31529341e-01 8.47021723e-01 -5.54620015e-03 2.25411364e+01] [ 1.05624949e-02 -8.07360573e-05 9.99944212e-01 2.21751378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.47, Y:22.56, Z:2.22 [[ 8.46810720e-01 -5.31806184e-01 -9.68433816e-03 1.58466658e+02] [ 5.31772580e-01 8.46866090e-01 -5.97896029e-03 2.25569475e+01] [ 1.13809857e-02 -8.68178240e-05 9.99935231e-01 2.21693019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.82038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.49, Y:22.57, Z:2.22 [[ 8.46624403e-01 -5.32090505e-01 -1.03351132e-02 1.58489858e+02] [ 5.32052203e-01 8.46687478e-01 -6.38501300e-03 2.25720518e+01] [ 1.21480157e-02 -9.31118959e-05 9.99926206e-01 2.21682635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.85038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.51, Y:22.59, Z:2.22 [[ 8.46439934e-01 -5.32369414e-01 -1.10564526e-02 1.58513615e+02] [ 5.32325543e-01 8.46512136e-01 -6.83520194e-03 2.25875855e+01] [ 1.29982737e-02 -1.00044227e-04 9.99915514e-01 2.21632551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88038572300002 meters Centerline goodness [0,1] 0.9999339076028287 Centerline is valid? [True, True] Translation: X:158.54, Y:22.60, Z:2.21 [[ 8.46077649e-01 -5.32926848e-01 -1.18990071e-02 1.58537229e+02] [ 5.32876021e-01 8.46161310e-01 -7.36096069e-03 2.26035626e+01] [ 1.39913330e-02 -1.12751225e-04 9.99902110e-01 2.21339754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91038572300002 meters Centerline goodness [0,1] 0.9999779619181947 Centerline is valid? [True, True] Translation: X:158.56, Y:22.62, Z:2.21 [[ 8.46116787e-01 -5.32858422e-01 -1.21772377e-02 1.58559279e+02] [ 5.32805114e-01 8.46204402e-01 -7.53793826e-03 2.26186378e+01] [ 1.43210860e-02 -1.10118420e-04 9.99897442e-01 2.21442203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94038572300002 meters Centerline goodness [0,1] 0.9999780065100731 Centerline is valid? [True, True] Translation: X:158.58, Y:22.63, Z:2.21 [[ 8.45709450e-01 -5.33512112e-01 -1.18470200e-02 1.58583120e+02] [ 5.33461697e-01 8.45792417e-01 -7.33518547e-03 2.26341229e+01] [ 1.39335300e-02 -1.16495715e-04 9.99902917e-01 2.21381771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.61, Y:22.65, Z:2.22 [[ 8.45314651e-01 -5.34148041e-01 -1.13583253e-02 1.58607169e+02] [ 5.34101703e-01 8.45390949e-01 -7.03664851e-03 2.26494889e+01] [ 1.33608374e-02 -1.18318807e-04 9.99910733e-01 2.21568653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.63, Y:22.67, Z:2.22 [[ 8.44901528e-01 -5.34838538e-01 -9.44172436e-03 1.58632064e+02] [ 5.34806530e-01 8.44954275e-01 -5.85216571e-03 2.26650446e+01] [ 1.11077891e-02 -1.04992087e-04 9.99938301e-01 2.21749356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.030385723 meters Centerline goodness [0,1] 0.9998899575236041 Centerline is valid? [True, True] Translation: X:158.66, Y:22.68, Z:2.22 [[ 8.44340778e-01 -5.35734280e-01 -8.79959702e-03 1.58656978e+02] [ 5.35706500e-01 8.44386624e-01 -5.45673976e-03 2.26796184e+01] [ 1.03536246e-02 -1.06653424e-04 9.99946394e-01 2.21536308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.060385723 meters Centerline goodness [0,1] 0.9999779614325068 Centerline is valid? [True, True] Translation: X:158.68, Y:22.70, Z:2.22 [[ 8.44623884e-01 -5.35286238e-01 -8.89597421e-03 1.58680140e+02] [ 5.35257782e-01 8.44670725e-01 -5.52025186e-03 2.26950762e+01] [ 1.04690838e-02 -9.91028660e-05 9.99945193e-01 2.21863882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.70, Y:22.71, Z:2.22 [[ 8.44927223e-01 -5.34810263e-01 -8.71610690e-03 1.58703554e+02] [ 5.34782922e-01 8.44972173e-01 -5.40851674e-03 2.27109434e+01] [ 1.02573981e-02 -9.14220909e-05 9.99947387e-01 2.21872796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.73, Y:22.73, Z:2.22 [[ 8.46119274e-01 -5.32919990e-01 -8.85763695e-03 1.58727294e+02] [ 5.32891613e-01 8.46165634e-01 -5.49991237e-03 2.27271779e+01] [ 1.04260412e-02 -6.65785848e-05 9.99945645e-01 2.21921574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.75, Y:22.74, Z:2.22 [[ 8.46723915e-01 -5.31957674e-01 -8.92435303e-03 1.58750298e+02] [ 5.31928785e-01 8.46770943e-01 -5.54411654e-03 2.27426593e+01] [ 1.05061182e-02 -5.27842029e-05 9.99944808e-01 2.21929676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.77, Y:22.76, Z:2.22 [[ 8.48583453e-01 -5.28989659e-01 -8.72140795e-03 1.58772496e+02] [ 5.28961869e-01 8.48628270e-01 -5.42228148e-03 2.27597141e+01] [ 1.02695642e-02 -1.20339075e-05 9.99947267e-01 2.21928149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.210385723 meters Centerline goodness [0,1] 0.9999559849468518 Centerline is valid? [True, True] Translation: X:158.80, Y:22.78, Z:2.22 [[ 8.49417282e-01 -5.27645362e-01 -8.98070793e-03 1.58795237e+02] [ 5.27615818e-01 8.49464756e-01 -5.58355347e-03 2.27755906e+01] [ 1.05749310e-02 4.40325199e-06 9.99944084e-01 2.21857198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.82, Y:22.79, Z:2.22 [[ 8.51683982e-01 -5.23960154e-01 -1.00075559e-02 1.58818367e+02] [ 5.23923161e-01 8.51742774e-01 -6.22645494e-03 2.27923958e+01] [ 1.17862777e-02 5.97816371e-05 9.99930538e-01 2.21771996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.270385723 meters Centerline goodness [0,1] 0.9999779953790296 Centerline is valid? [True, True] Translation: X:158.84, Y:22.81, Z:2.22 [[ 8.52623013e-01 -5.22425502e-01 -1.02758046e-02 1.58841497e+02] [ 5.22386339e-01 8.52684928e-01 -6.39729077e-03 2.28079241e+01] [ 1.21041315e-02 8.65374049e-05 9.99926739e-01 2.21805650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.87, Y:22.82, Z:2.22 [[ 8.53956678e-01 -5.20255441e-01 -9.60567561e-03 1.58865867e+02] [ 5.20221070e-01 8.54010693e-01 -5.98114583e-03 2.28237677e+01] [ 1.13150733e-02 1.10564570e-04 9.99935976e-01 2.21926630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.89, Y:22.84, Z:2.22 [[ 8.54363351e-01 -5.19602440e-01 -8.75036460e-03 1.58890019e+02] [ 5.19573858e-01 8.54408153e-01 -5.45105182e-03 2.28390574e+01] [ 1.03087627e-02 1.10718206e-04 9.99946857e-01 2.22008614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.360385723 meters Centerline goodness [0,1] 0.9999559558677795 Centerline is valid? [True, True] Translation: X:158.91, Y:22.86, Z:2.22 [[ 8.54640187e-01 -5.19162523e-01 -7.77340871e-03 1.58914423e+02] [ 5.19139929e-01 8.54675532e-01 -4.84460157e-03 2.28551286e+01] [ 9.15887780e-03 1.04904349e-04 9.99958051e-01 2.22103030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.390385723 meters Centerline goodness [0,1] 0.9998680187413387 Centerline is valid? [True, True] Translation: X:158.94, Y:22.87, Z:2.22 [[ 8.54740865e-01 -5.19008633e-01 -6.93486287e-03 1.58939780e+02] [ 5.18990631e-01 8.54768992e-01 -4.32385530e-03 2.28695473e+01] [ 8.17182397e-03 9.66469669e-05 9.99966605e-01 2.22019189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.420385723 meters Centerline goodness [0,1] 0.9998461639891876 Centerline is valid? [True, True] Translation: X:158.96, Y:22.88, Z:2.22 [[ 8.54592026e-01 -5.19252903e-01 -6.99227629e-03 1.58963086e+02] [ 5.19234581e-01 8.54620625e-01 -4.36308412e-03 2.28838795e+01] [ 8.24128763e-03 9.80252441e-05 9.99966035e-01 2.22120248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.450385723 meters Centerline goodness [0,1] 0.9999560574768204 Centerline is valid? [True, True] Translation: X:158.99, Y:22.90, Z:2.22 [[ 8.54017167e-01 -5.20187357e-01 -7.73258752e-03 1.58988677e+02] [ 5.20164983e-01 8.54052167e-01 -4.82564889e-03 2.28975483e+01] [ 9.11427467e-03 9.89657444e-05 9.99958459e-01 2.22196860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.480385723 meters Centerline goodness [0,1] 0.9999340064673662 Centerline is valid? [True, True] Translation: X:159.01, Y:22.91, Z:2.22 [[ 8.53438598e-01 -5.21122171e-01 -8.61636971e-03 1.59012625e+02] [ 5.21094393e-01 8.53482087e-01 -5.38159708e-03 2.29125975e+01] [ 1.01583868e-02 1.02920727e-04 9.99948397e-01 2.22172123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.04, Y:22.93, Z:2.22 [[ 8.51713986e-01 -5.23913958e-01 -9.87167375e-03 1.59039185e+02] [ 5.23877674e-01 8.51771189e-01 -6.16641242e-03 2.29252189e+01] [ 1.16390768e-02 8.04702205e-05 9.99932260e-01 2.21932376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.540385723 meters Centerline goodness [0,1] 0.999912087912088 Centerline is valid? [True, True] Translation: X:159.07, Y:22.94, Z:2.22 [[ 8.50583426e-01 -5.25720734e-01 -1.12047173e-02 1.59065048e+02] [ 5.25674088e-01 8.50657219e-01 -7.00347510e-03 2.29388780e+01] [ 1.32132457e-02 6.70103020e-05 9.99912699e-01 2.21672087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.57038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.09, Y:22.95, Z:2.22 [[ 8.49726949e-01 -5.27079988e-01 -1.22800108e-02 1.59090115e+02] [ 5.27024032e-01 8.49815676e-01 -7.68027248e-03 2.29519002e+01] [ 1.44838636e-02 5.42737078e-05 9.99895102e-01 2.21780928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.60038572300002 meters Centerline goodness [0,1] 0.9999779808433337 Centerline is valid? [True, True] Translation: X:159.11, Y:22.97, Z:2.22 [[ 8.49132101e-01 -5.28031134e-01 -1.25616943e-02 1.59114213e+02] [ 5.27972664e-01 8.49225011e-01 -7.85790123e-03 2.29654630e+01] [ 1.48169215e-02 4.01649709e-05 9.99890223e-01 2.21805935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.14, Y:22.98, Z:2.22 [[ 8.48847210e-01 -5.28483998e-01 -1.27702124e-02 1.59137504e+02] [ 5.28423546e-01 8.48943262e-01 -7.99330650e-03 2.29790111e+01] [ 1.50655203e-02 3.70150088e-05 9.99886508e-01 2.21848927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.66038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.16, Y:22.99, Z:2.22 [[ 8.48727442e-01 -5.28670870e-01 -1.29938462e-02 1.59161853e+02] [ 5.28608271e-01 8.48826902e-01 -8.13549207e-03 2.29927526e+01] [ 1.53305239e-02 3.61607784e-05 9.99882480e-01 2.21892351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.19, Y:23.01, Z:2.22 [[ 8.49328214e-01 -5.27686429e-01 -1.37337998e-02 1.59185463e+02] [ 5.27616282e-01 8.49439244e-01 -8.60403771e-03 2.30068805e+01] [ 1.62062625e-02 6.14755812e-05 9.99868668e-01 2.21800878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.720385723 meters Centerline goodness [0,1] 0.9999559442253894 Centerline is valid? [True, True] Translation: X:159.21, Y:23.02, Z:2.22 [[ 8.49654266e-01 -5.27161824e-01 -1.37127354e-02 1.59209730e+02] [ 5.27091795e-01 8.49764912e-01 -8.59266666e-03 2.30217757e+01] [ 1.61823272e-02 7.29255664e-05 9.99869055e-01 2.21836181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.24, Y:23.04, Z:2.22 [[ 8.50677751e-01 -5.25512516e-01 -1.35631666e-02 1.59235170e+02] [ 5.25443716e-01 8.50785863e-01 -8.50393922e-03 2.30362008e+01] [ 1.60082769e-02 1.07431209e-04 9.99871854e-01 2.21990756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.26, Y:23.05, Z:2.22 [[ 8.51123435e-01 -5.24800520e-01 -1.31648137e-02 1.59260010e+02] [ 5.24735551e-01 8.51225234e-01 -8.25846154e-03 2.30506938e+01] [ 1.55402665e-02 1.20924401e-04 9.99879235e-01 2.22080932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.810385723 meters Centerline goodness [0,1] 0.9999777461278262 Centerline is valid? [True, True] Translation: X:159.29, Y:23.07, Z:2.22 [[ 8.51889723e-01 -5.23595232e-01 -1.14862533e-02 1.59285221e+02] [ 5.23545620e-01 8.51967146e-01 -7.20881828e-03 2.30651062e+01] [ 1.35604133e-02 1.27540617e-04 9.99908045e-01 2.22252200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.840385723 meters Centerline goodness [0,1] 0.9999330013176407 Centerline is valid? [True, True] Translation: X:159.31, Y:23.08, Z:2.22 [[ 8.51917500e-01 -5.23567966e-01 -1.06375683e-02 1.59309804e+02] [ 5.23525373e-01 8.51983903e-01 -6.67935260e-03 2.30792589e+01] [ 1.25601320e-02 1.21220449e-04 9.99921111e-01 2.22351712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.33, Y:23.09, Z:2.23 [[ 8.52163013e-01 -5.23190005e-01 -9.50881883e-03 1.59334636e+02] [ 5.23155911e-01 8.52216055e-01 -5.97392966e-03 2.30918664e+01] [ 1.12290684e-02 1.16167120e-04 9.99936945e-01 2.22548007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.36, Y:23.11, Z:2.23 [[ 8.52162505e-01 -5.23193010e-01 -9.38827310e-03 1.59359385e+02] [ 5.23159742e-01 8.52214211e-01 -5.90111536e-03 2.31052278e+01] [ 1.10882421e-02 1.17142710e-04 9.99938517e-01 2.22624709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.38, Y:23.12, Z:2.23 [[ 8.51752418e-01 -5.23859700e-01 -9.42510627e-03 1.59383796e+02] [ 5.23826160e-01 8.51804556e-01 -5.92886680e-03 2.31193224e+01] [ 1.11342428e-02 1.12809407e-04 9.99938006e-01 2.22630530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.41, Y:23.13, Z:2.22 [[ 8.50486215e-01 -5.25893960e-01 -1.04279376e-02 1.59409329e+02] [ 5.25853045e-01 8.50550136e-01 -6.56059908e-03 2.31324242e+01] [ 1.23196632e-02 9.61363229e-05 9.99924105e-01 2.22481326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.43, Y:23.15, Z:2.22 [[ 8.49868340e-01 -5.26859231e-01 -1.19647143e-02 1.59433107e+02] [ 5.26805398e-01 8.49952552e-01 -7.53206671e-03 2.31467490e+01] [ 1.41377783e-02 9.81889554e-05 9.99900052e-01 2.22344980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.020385723 meters Centerline goodness [0,1] 0.9999551659978928 Centerline is valid? [True, True] Translation: X:159.46, Y:23.16, Z:2.22 [[ 8.49767570e-01 -5.27007120e-01 -1.25925318e-02 1.59456549e+02] [ 5.26947430e-01 8.49860862e-01 -7.93237586e-03 2.31621047e+01] [ 1.48823185e-02 1.05073474e-04 9.99889247e-01 2.22318348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.48, Y:23.18, Z:2.22 [[ 8.49745152e-01 -5.27030952e-01 -1.30977935e-02 1.59478686e+02] [ 5.26966296e-01 8.49846082e-01 -8.25591896e-03 2.31779829e+01] [ 1.54822333e-02 1.13331409e-04 9.99880137e-01 2.22346056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.50, Y:23.19, Z:2.22 [[ 8.49857274e-01 -5.26825291e-01 -1.40615341e-02 1.59500506e+02] [ 5.26750678e-01 8.49973585e-01 -8.86722576e-03 2.31943861e+01] [ 1.66234113e-02 1.28953717e-04 9.99861813e-01 2.22386415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.110385723 meters Centerline goodness [0,1] 0.9999554555780752 Centerline is valid? [True, True] Translation: X:159.52, Y:23.21, Z:2.22 [[ 8.49324116e-01 -5.27676119e-01 -1.43687064e-02 1.59523624e+02] [ 5.27598287e-01 8.49445643e-01 -9.06355932e-03 2.32099880e+01] [ 1.69880588e-02 1.16994633e-04 9.99855686e-01 2.22302638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.140385723 meters Centerline goodness [0,1] 0.9999777362187194 Centerline is valid? [True, True] Translation: X:159.55, Y:23.23, Z:2.22 [[ 8.49339931e-01 -5.27660888e-01 -1.39881800e-02 1.59546563e+02] [ 5.27587038e-01 8.49455104e-01 -8.82859570e-03 2.32260306e+01] [ 1.65408356e-02 1.18496386e-04 9.99863184e-01 2.22394048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.57, Y:23.24, Z:2.22 [[ 8.49189339e-01 -5.27905774e-01 -1.38910510e-02 1.59570735e+02] [ 5.27832892e-01 8.49302938e-01 -8.77252824e-03 2.32403828e+01] [ 1.64287787e-02 1.17383838e-04 9.99865032e-01 2.22461626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.60, Y:23.25, Z:2.23 [[ 8.49066127e-01 -5.28111933e-01 -1.35830363e-02 1.59595279e+02] [ 5.28042191e-01 8.49174760e-01 -8.58322100e-03 2.32548818e+01] [ 1.60672730e-02 1.15305959e-04 9.99870906e-01 2.22555651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.62, Y:23.27, Z:2.23 [[ 8.48894153e-01 -5.28384795e-01 -1.37195019e-02 1.59617805e+02] [ 5.28313594e-01 8.49005003e-01 -8.67477703e-03 2.32693464e+01] [ 1.62315460e-02 1.15768148e-04 9.99868253e-01 2.22594306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.260385723 meters Centerline goodness [0,1] 0.9999328678839957 Centerline is valid? [True, True] Translation: X:159.64, Y:23.28, Z:2.23 [[ 8.48612737e-01 -5.28805768e-01 -1.48621023e-02 1.59641354e+02] [ 5.28722199e-01 8.48742861e-01 -9.40168583e-03 2.32842725e+01] [ 1.75857690e-02 1.20466923e-04 9.99845351e-01 2.22528765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.290385723 meters Centerline goodness [0,1] 0.9999776725908726 Centerline is valid? [True, True] Translation: X:159.66, Y:23.30, Z:2.23 [[ 8.48367149e-01 -5.29190622e-01 -1.51811146e-02 1.59664850e+02] [ 5.29103385e-01 8.48502959e-01 -9.60920899e-03 2.32995657e+01] [ 1.79663239e-02 1.19758131e-04 9.99838585e-01 2.22505434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.69, Y:23.31, Z:2.22 [[ 8.47742643e-01 -5.30170156e-01 -1.58750675e-02 1.59689005e+02] [ 5.30074811e-01 8.47891263e-01 -1.00548868e-02 2.33147850e+01] [ 1.87911320e-02 1.08982893e-04 9.99823425e-01 2.22483615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.35038572300002 meters Centerline goodness [0,1] 0.9999552161938243 Centerline is valid? [True, True] Translation: X:159.71, Y:23.33, Z:2.23 [[ 8.47463356e-01 -5.30605846e-01 -1.62263998e-02 1.59713023e+02] [ 5.30506191e-01 8.47618679e-01 -1.02837866e-02 2.33290510e+01] [ 1.92104369e-02 1.06926715e-04 9.99815457e-01 2.22555585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.38038572300002 meters Centerline goodness [0,1] 0.9999552161938243 Centerline is valid? [True, True] Translation: X:159.74, Y:23.34, Z:2.23 [[ 8.47318066e-01 -5.30837913e-01 -1.62235816e-02 1.59736290e+02] [ 5.30738216e-01 8.47473362e-01 -1.02882309e-02 2.33438832e+01] [ 1.92104363e-02 1.06929158e-04 9.99815457e-01 2.22597308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.76, Y:23.36, Z:2.23 [[ 8.47087126e-01 -5.31214999e-01 -1.59381990e-02 1.59760684e+02] [ 5.31118731e-01 8.47237048e-01 -1.01132804e-02 2.33586533e+01] [ 1.88757589e-02 1.01753608e-04 9.99821832e-01 2.22658354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.44038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.78, Y:23.37, Z:2.23 [[ 8.46957374e-01 -5.31408599e-01 -1.63739954e-02 1.59784383e+02] [ 5.31306906e-01 8.47115630e-01 -1.03962199e-02 2.33731796e+01] [ 1.93953081e-02 1.05538264e-04 9.99811888e-01 2.22641285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.81, Y:23.39, Z:2.23 [[ 8.47124832e-01 -5.31119887e-01 -1.70641070e-02 1.59807789e+02] [ 5.31009266e-01 8.47296672e-01 -1.08401275e-02 2.33889797e+01] [ 2.02157684e-02 1.21742272e-04 9.99795633e-01 2.22561467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.83, Y:23.41, Z:2.22 [[ 8.47978169e-01 -5.29732988e-01 -1.77760030e-02 1.59832332e+02] [ 5.29612568e-01 8.48164450e-01 -1.12956918e-02 2.34051152e+01] [ 2.10606743e-02 1.64105425e-04 9.99778186e-01 2.22498517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.86, Y:23.42, Z:2.23 [[ 8.49065569e-01 -5.27986490e-01 -1.78304914e-02 1.59855066e+02] [ 5.27864839e-01 8.49252743e-01 -1.13353385e-02 2.34208116e+01] [ 2.11274993e-02 2.12356189e-04 9.99776767e-01 2.22598982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.560385723 meters Centerline goodness [0,1] 0.9999553651133726 Centerline is valid? [True, True] Translation: X:159.88, Y:23.44, Z:2.23 [[ 8.49426583e-01 -5.27431588e-01 -1.70411520e-02 1.59877940e+02] [ 5.27320314e-01 8.49597477e-01 -1.08357269e-02 2.34361707e+01] [ 2.01932244e-02 2.18008865e-04 9.99796072e-01 2.22672657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.90, Y:23.45, Z:2.23 [[ 8.50160372e-01 -5.26252876e-01 -1.68894041e-02 1.59902294e+02] [ 5.26143273e-01 8.50328083e-01 -1.07427477e-02 2.34522124e+01] [ 2.00149365e-02 2.46812065e-04 9.99799651e-01 2.22815013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.93, Y:23.47, Z:2.23 [[ 8.50271107e-01 -5.26079958e-01 -1.67009584e-02 1.59925084e+02] [ 5.25972656e-01 8.50435073e-01 -1.06278598e-02 2.34672796e+01] [ 1.97941848e-02 2.52314708e-04 9.99804044e-01 2.22879371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.650385723 meters Centerline goodness [0,1] 0.9999329773686915 Centerline is valid? [True, True] Translation: X:159.95, Y:23.48, Z:2.23 [[ 8.50141930e-01 -5.26295149e-01 -1.64958853e-02 1.59948684e+02] [ 5.26190437e-01 8.50301920e-01 -1.05009347e-02 2.34820094e+01] [ 1.95530739e-02 2.47307813e-04 9.99808790e-01 2.22959922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.97, Y:23.50, Z:2.23 [[ 8.49806328e-01 -5.26845404e-01 -1.62211559e-02 1.59971167e+02] [ 5.26744148e-01 8.49961096e-01 -1.03313916e-02 2.34979104e+01] [ 1.92303976e-02 2.35283032e-04 9.99815051e-01 2.23032522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.710385723 meters Centerline goodness [0,1] 0.9999777386968233 Centerline is valid? [True, True] Translation: X:159.99, Y:23.51, Z:2.23 [[ 8.49365971e-01 -5.27572434e-01 -1.56452669e-02 1.59994069e+02] [ 5.27478315e-01 8.49510025e-01 -9.96719918e-03 2.35133953e+01] [ 1.85492306e-02 2.13260758e-04 9.99827925e-01 2.23145879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.02, Y:23.53, Z:2.23 [[ 8.49172013e-01 -5.27886285e-01 -1.55872179e-02 1.60016219e+02] [ 5.27792817e-01 8.49315033e-01 -9.93561821e-03 2.35294435e+01] [ 1.84833351e-02 2.10227277e-04 9.99829146e-01 2.23191771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.04, Y:23.55, Z:2.23 [[ 8.49027553e-01 -5.28119326e-01 -1.55625293e-02 1.60039001e+02] [ 5.28026134e-01 8.49170145e-01 -9.92306848e-03 2.35454901e+01] [ 1.84557995e-02 2.07536354e-04 9.99829656e-01 2.23263339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.06, Y:23.56, Z:2.23 [[ 8.49327275e-01 -5.27651628e-01 -1.50644646e-02 1.60061732e+02] [ 5.27564144e-01 8.49460837e-01 -9.61045698e-03 2.35614726e+01] [ 1.78676460e-02 2.14951872e-04 9.99840338e-01 2.23331538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.09, Y:23.58, Z:2.23 [[ 8.49905251e-01 -5.26751009e-01 -1.39441446e-02 1.60085491e+02] [ 5.26675903e-01 8.50019604e-01 -8.89751968e-03 2.35783467e+01] [ 1.65395737e-02 2.18003756e-04 9.99863188e-01 2.23435929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.860385723 meters Centerline goodness [0,1] 0.9999333051732954 Centerline is valid? [True, True] Translation: X:160.11, Y:23.59, Z:2.23 [[ 8.50077665e-01 -5.26470765e-01 -1.40177576e-02 1.60109314e+02] [ 5.26394747e-01 8.50193202e-01 -8.94925842e-03 2.35947671e+01] [ 1.66293252e-02 2.28690709e-04 9.99861697e-01 2.23448060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.13, Y:23.61, Z:2.23 [[ 8.50576548e-01 -5.25656911e-01 -1.42950420e-02 1.60132196e+02] [ 5.25577662e-01 8.50696625e-01 -9.13090683e-03 2.36116921e+01] [ 1.69604683e-02 2.53380446e-04 9.99856129e-01 2.23383557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.16, Y:23.63, Z:2.23 [[ 8.50551019e-01 -5.25674795e-01 -1.51318764e-02 1.60155879e+02] [ 5.25585952e-01 8.50685569e-01 -9.66797407e-03 2.36274558e+01] [ 1.79546792e-02 2.70003531e-04 9.99838765e-01 2.23325139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.950385723 meters Centerline goodness [0,1] 0.9999777777777777 Centerline is valid? [True, True] Translation: X:160.18, Y:23.64, Z:2.23 [[ 8.50168775e-01 -5.26229516e-01 -1.71915813e-02 1.60179763e+02] [ 5.26114802e-01 8.50342523e-01 -1.09912736e-02 2.36416537e+01] [ 2.04026652e-02 2.99692249e-04 9.99791799e-01 2.23170475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.980385723 meters Centerline goodness [0,1] 0.999933210143153 Centerline is valid? [True, True] Translation: X:160.20, Y:23.66, Z:2.23 [[ 8.49925771e-01 -5.26593339e-01 -1.80454953e-02 1.60204121e+02] [ 5.26466871e-01 8.50117262e-01 -1.15444677e-02 2.36563468e+01] [ 2.14200268e-02 3.11585193e-04 9.99770516e-01 2.23134767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.23, Y:23.67, Z:2.23 [[ 8.49662387e-01 -5.26983689e-01 -1.90268231e-02 1.60228428e+02] [ 5.26843016e-01 8.49875335e-01 -1.21799533e-02 2.36713527e+01] [ 2.25890644e-02 3.24699357e-04 9.99744782e-01 2.23095481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.040385723 meters Centerline goodness [0,1] 0.9999778142609931 Centerline is valid? [True, True] Translation: X:160.25, Y:23.69, Z:2.23 [[ 8.49643204e-01 -5.26955247e-01 -2.06056566e-02 1.60251701e+02] [ 5.26790092e-01 8.49892958e-01 -1.31969644e-02 2.36865839e+01] [ 2.44668121e-02 3.57855385e-04 9.99700579e-01 2.22902385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07038572300002 meters Centerline goodness [0,1] 0.9999777644364396 Centerline is valid? [True, True] Translation: X:160.27, Y:23.70, Z:2.23 [[ 8.49679443e-01 -5.26860577e-01 -2.15122556e-02 1.60274715e+02] [ 5.26680455e-01 8.49951639e-01 -1.37807654e-02 2.37020143e+01] [ 2.55449189e-02 3.79148509e-04 9.99673603e-01 2.22821432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.10038572300002 meters Centerline goodness [0,1] 0.9999777128975462 Centerline is valid? [True, True] Translation: X:160.30, Y:23.72, Z:2.23 [[ 8.50044896e-01 -5.26267261e-01 -2.15973316e-02 1.60298089e+02] [ 5.26085434e-01 8.50319122e-01 -1.38386052e-02 2.37179009e+01] [ 2.56474289e-02 4.01394180e-04 9.99670970e-01 2.22729414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.32, Y:23.73, Z:2.23 [[ 8.50166264e-01 -5.26103814e-01 -2.07870341e-02 1.60323011e+02] [ 5.25935215e-01 8.50420261e-01 -1.33240082e-02 2.37310556e+01] [ 2.46875265e-02 3.94989029e-04 9.99695139e-01 2.22988512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.16038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.35, Y:23.75, Z:2.23 [[ 8.50024518e-01 -5.26363515e-01 -1.99942210e-02 1.60347128e+02] [ 5.26207423e-01 8.50259553e-01 -1.28234757e-02 2.37453389e+01] [ 2.37500871e-02 3.79161262e-04 9.99717855e-01 2.23184591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.37, Y:23.76, Z:2.23 [[ 8.49770944e-01 -5.26825099e-01 -1.85649567e-02 1.60372296e+02] [ 5.26690497e-01 8.49973644e-01 -1.19132469e-02 2.37605118e+01] [ 2.20559214e-02 3.45544822e-04 9.99756679e-01 2.23338423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.40, Y:23.78, Z:2.24 [[ 8.49264970e-01 -5.27689793e-01 -1.71024253e-02 1.60395933e+02] [ 5.27575655e-01 8.49437103e-01 -1.09789480e-02 2.37751929e+01] [ 2.03209134e-02 3.01212671e-04 9.99793464e-01 2.23577111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.42, Y:23.79, Z:2.24 [[ 8.48992288e-01 -5.28151675e-01 -1.63677249e-02 1.60419114e+02] [ 5.28047164e-01 8.49150004e-01 -1.05101492e-02 2.37902273e+01] [ 1.94496066e-02 2.80104909e-04 9.99810799e-01 2.23665929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.280385723 meters Centerline goodness [0,1] 0.9998662147698893 Centerline is valid? [True, True] Translation: X:160.44, Y:23.81, Z:2.24 [[ 8.48721872e-01 -5.28578486e-01 -1.66122884e-02 1.60441060e+02] [ 5.28470792e-01 8.48884389e-01 -1.06731619e-02 2.38061276e+01] [ 1.97435160e-02 2.79436759e-04 9.99805039e-01 2.23599380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.310385723 meters Centerline goodness [0,1] 0.9999777609749588 Centerline is valid? [True, True] Translation: X:160.46, Y:23.82, Z:2.24 [[ 8.48573956e-01 -5.28803008e-01 -1.70182398e-02 1.60464636e+02] [ 5.28689929e-01 8.48744542e-01 -1.09389982e-02 2.38223241e+01] [ 2.02287133e-02 2.85177008e-04 9.99795338e-01 2.23558704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.340385723 meters Centerline goodness [0,1] 0.9999552782808971 Centerline is valid? [True, True] Translation: X:160.49, Y:23.84, Z:2.24 [[ 8.48603004e-01 -5.28750505e-01 -1.72001474e-02 1.60488557e+02] [ 5.28634849e-01 8.48777248e-01 -1.10625686e-02 2.38379245e+01] [ 2.04484325e-02 2.95131651e-04 9.99790865e-01 2.23506379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.370385723 meters Centerline goodness [0,1] 0.9999777762961976 Centerline is valid? [True, True] Translation: X:160.51, Y:23.85, Z:2.23 [[ 8.48701480e-01 -5.28585609e-01 -1.74083971e-02 1.60511111e+02] [ 5.28466984e-01 8.48879944e-01 -1.12021053e-02 2.38547821e+01] [ 2.06989108e-02 3.07480290e-04 9.99785707e-01 2.23488046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.400385723 meters Centerline goodness [0,1] 0.9999107003326413 Centerline is valid? [True, True] Translation: X:160.54, Y:23.87, Z:2.24 [[ 8.49230835e-01 -5.27702592e-01 -1.83565849e-02 1.60535990e+02] [ 5.27570407e-01 8.49429133e-01 -1.18158337e-02 2.38694034e+01] [ 2.18278640e-02 3.49979380e-04 9.99761683e-01 2.23539930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.56, Y:23.89, Z:2.24 [[ 8.49476858e-01 -5.27303283e-01 -1.84476252e-02 1.60559630e+02] [ 5.27169547e-01 8.49677064e-01 -1.18809066e-02 2.38856392e+01] [ 2.19393651e-02 3.67528966e-04 9.99759236e-01 2.23539465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.58, Y:23.90, Z:2.23 [[ 8.50155029e-01 -5.26166822e-01 -1.96189061e-02 1.60582892e+02] [ 5.26015093e-01 8.50381263e-01 -1.26423756e-02 2.39031503e+01] [ 2.33355487e-02 4.28138527e-04 9.99727597e-01 2.23435721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.490385723 meters Centerline goodness [0,1] 0.9999777277890376 Centerline is valid? [True, True] Translation: X:160.61, Y:23.92, Z:2.23 [[ 8.50169347e-01 -5.26143581e-01 -1.96217574e-02 1.60606541e+02] [ 5.25991635e-01 8.50395639e-01 -1.26513757e-02 2.39190123e+01] [ 2.33426971e-02 4.34931586e-04 9.99727428e-01 2.23442745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.63, Y:23.93, Z:2.23 [[ 8.50610905e-01 -5.25399709e-01 -2.04018231e-02 1.60629629e+02] [ 5.25235074e-01 8.50855403e-01 -1.31605657e-02 2.39343168e+01] [ 2.42735588e-02 4.78767633e-04 9.99705239e-01 2.23415807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.550385723 meters Centerline goodness [0,1] 0.9999776691007347 Centerline is valid? [True, True] Translation: X:160.65, Y:23.95, Z:2.23 [[ 8.50662791e-01 -5.25303536e-01 -2.07125779e-02 1.60652857e+02] [ 5.25133755e-01 8.50914775e-01 -1.33635912e-02 2.39491361e+01] [ 2.46445803e-02 4.91035938e-04 9.99696156e-01 2.23477953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.580385723 meters Centerline goodness [0,1] 0.9999553700934997 Centerline is valid? [True, True] Translation: X:160.68, Y:23.96, Z:2.24 [[ 8.50447254e-01 -5.25649551e-01 -2.07850376e-02 1.60677107e+02] [ 5.25478567e-01 8.50701072e-01 -1.34150228e-02 2.39636402e+01] [ 2.47334545e-02 4.86677533e-04 9.99693963e-01 2.23558510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.70, Y:23.98, Z:2.24 [[ 8.50657134e-01 -5.25326219e-01 -2.03667218e-02 1.60701123e+02] [ 5.25161777e-01 8.50900770e-01 -1.31524798e-02 2.39793164e+01] [ 2.42394018e-02 4.92426989e-04 9.99706061e-01 2.23630120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.72, Y:24.00, Z:2.24 [[ 8.51093903e-01 -5.24663200e-01 -1.91753803e-02 1.60723709e+02] [ 5.24517156e-01 8.51309750e-01 -1.23879877e-02 2.39959126e+01] [ 2.28237095e-02 4.85524882e-04 9.99739387e-01 2.23621030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.75, Y:24.01, Z:2.24 [[ 8.51197113e-01 -5.24527112e-01 -1.82971287e-02 1.60747340e+02] [ 5.24394031e-01 8.51393615e-01 -1.18242223e-02 2.40107690e+01] [ 2.17801837e-02 4.69838788e-04 9.99762673e-01 2.23742450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.700385723 meters Centerline goodness [0,1] 0.9999554188399982 Centerline is valid? [True, True] Translation: X:160.77, Y:24.03, Z:2.24 [[ 8.50900455e-01 -5.25015622e-01 -1.80834629e-02 1.60769522e+02] [ 5.24885593e-01 8.51092467e-01 -1.16930596e-02 2.40272654e+01] [ 2.15297380e-02 4.57880605e-04 9.99768103e-01 2.23752116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.730385723 meters Centerline goodness [0,1] 0.9999107481536025 Centerline is valid? [True, True] Translation: X:160.79, Y:24.04, Z:2.24 [[ 8.50753211e-01 -5.25270391e-01 -1.76065354e-02 1.60793609e+02] [ 5.25147045e-01 8.50935261e-01 -1.13913352e-02 2.40409525e+01] [ 2.09655528e-02 4.45194936e-04 9.99780100e-01 2.23819468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.82, Y:24.06, Z:2.24 [[ 8.50701139e-01 -5.25303943e-01 -1.90614835e-02 1.60816500e+02] [ 5.25159226e-01 8.50914526e-01 -1.23392302e-02 2.40570992e+01] [ 2.27015395e-02 4.86683225e-04 9.99742168e-01 2.23615248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.84, Y:24.07, Z:2.24 [[ 8.50857020e-01 -5.25013772e-01 -2.00716395e-02 1.60840578e+02] [ 5.24853111e-01 8.51093569e-01 -1.29980013e-02 2.40726174e+01] [ 2.39069730e-02 5.24778247e-04 9.99714050e-01 2.23517219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.82038572300002 meters Centerline goodness [0,1] 0.9999554248016403 Centerline is valid? [True, True] Translation: X:160.86, Y:24.09, Z:2.23 [[ 8.51434643e-01 -5.24026883e-01 -2.13277956e-02 1.60862816e+02] [ 5.23845030e-01 8.51701518e-01 -1.38169520e-02 2.40892577e+01] [ 2.54053702e-02 5.91771887e-04 9.99677056e-01 2.23283402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85038572300002 meters Centerline goodness [0,1] 0.9999327489968391 Centerline is valid? [True, True] Translation: X:160.89, Y:24.10, Z:2.23 [[ 8.51513030e-01 -5.23879698e-01 -2.18087502e-02 1.60887043e+02] [ 5.23689387e-01 8.51792044e-01 -1.41329626e-02 2.41042576e+01] [ 2.59804921e-02 6.13390834e-04 9.99662262e-01 2.23298564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88038572300002 meters Centerline goodness [0,1] 0.999910289764062 Centerline is valid? [True, True] Translation: X:160.91, Y:24.12, Z:2.23 [[ 8.51579524e-01 -5.23764983e-01 -2.19671852e-02 1.60911320e+02] [ 5.23571672e-01 8.51862576e-01 -1.42427250e-02 2.41195896e+01] [ 2.61728636e-02 6.27417023e-04 9.99657235e-01 2.23351701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91038572300002 meters Centerline goodness [0,1] 0.9999776745847473 Centerline is valid? [True, True] Translation: X:160.94, Y:24.13, Z:2.24 [[ 8.51430123e-01 -5.24015333e-01 -2.17870766e-02 1.60936169e+02] [ 5.23825061e-01 8.51708603e-01 -1.41336400e-02 2.41319986e+01] [ 2.59624847e-02 6.21190115e-04 9.99662725e-01 2.23519922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94038572300002 meters Centerline goodness [0,1] 0.999977666607111 Centerline is valid? [True, True] Translation: X:160.96, Y:24.15, Z:2.24 [[ 8.51187141e-01 -5.24427428e-01 -2.13617571e-02 1.60959770e+02] [ 5.24244445e-01 8.51454937e-01 -1.38655166e-02 2.41483430e+01] [ 2.54600308e-02 6.03366949e-04 9.99675659e-01 2.23549232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.970385723 meters Centerline goodness [0,1] 0.999977650634722 Centerline is valid? [True, True] Translation: X:160.98, Y:24.16, Z:2.24 [[ 8.50685481e-01 -5.25282286e-01 -2.03158269e-02 1.60982610e+02] [ 5.25116911e-01 8.50927855e-01 -1.31915169e-02 2.41644148e+01] [ 2.42165732e-02 5.53647649e-04 9.99706582e-01 2.23631743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.000385723 meters Centerline goodness [0,1] 0.9999776606201412 Centerline is valid? [True, True] Translation: X:161.00, Y:24.18, Z:2.24 [[ 8.50252004e-01 -5.26001392e-01 -1.98510947e-02 1.61004929e+02] [ 5.25843635e-01 8.50483546e-01 -1.28921949e-02 2.41812702e+01] [ 2.36643419e-02 5.23042719e-04 9.99719823e-01 2.23656546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.030385723 meters Centerline goodness [0,1] 0.9998879501602312 Centerline is valid? [True, True] Translation: X:161.03, Y:24.19, Z:2.24 [[ 8.49480340e-01 -5.27297901e-01 -1.84411264e-02 1.61032698e+02] [ 5.27161991e-01 8.49680361e-01 -1.19799343e-02 2.41918462e+01] [ 2.19860571e-02 4.55257759e-04 9.99758174e-01 2.23980794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.060385723 meters Centerline goodness [0,1] 0.9999776626161544 Centerline is valid? [True, True] Translation: X:161.05, Y:24.21, Z:2.24 [[ 8.49025445e-01 -5.28053074e-01 -1.77692256e-02 1.61053133e+02] [ 5.27926951e-01 8.49211264e-01 -1.15483006e-02 2.42107339e+01] [ 2.11879422e-02 4.23947951e-04 9.99775420e-01 2.23933158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.090385723 meters Centerline goodness [0,1] 0.9999776885319054 Centerline is valid? [True, True] Translation: X:161.08, Y:24.22, Z:2.24 [[ 8.48822126e-01 -5.28429898e-01 -1.62123596e-02 1.61079472e+02] [ 5.28324929e-01 8.48976854e-01 -1.05390709e-02 2.42225809e+01] [ 1.93330782e-02 3.80402875e-04 9.99813026e-01 2.24248135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.10, Y:24.24, Z:2.24 [[ 8.49005857e-01 -5.28140270e-01 -1.60284176e-02 1.61103918e+02] [ 5.28037529e-01 8.49157056e-01 -1.04241117e-02 2.42369844e+01] [ 1.91160371e-02 3.86525877e-04 9.99817197e-01 2.24407704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.13, Y:24.25, Z:2.24 [[ 8.49526705e-01 -5.27303052e-01 -1.59958743e-02 1.61127386e+02] [ 5.27200528e-01 8.49677189e-01 -1.04056387e-02 2.42540586e+01] [ 1.90782546e-02 4.06834631e-04 9.99817911e-01 2.24442629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.180385723 meters Centerline goodness [0,1] 0.9999553710893917 Centerline is valid? [True, True] Translation: X:161.15, Y:24.27, Z:2.24 [[ 8.49944837e-01 -5.26609517e-01 -1.66189970e-02 1.61148781e+02] [ 5.26498612e-01 8.50107181e-01 -1.08162594e-02 2.42715591e+01] [ 1.98238739e-02 4.43344977e-04 9.99803389e-01 2.24311994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.210385723 meters Centerline goodness [0,1] 0.9999777436513766 Centerline is valid? [True, True] Translation: X:161.17, Y:24.29, Z:2.24 [[ 8.50065229e-01 -5.26418208e-01 -1.65220408e-02 1.61171509e+02] [ 5.26308502e-01 8.50225659e-01 -1.07559218e-02 2.42881922e+01] [ 1.97095760e-02 4.47544554e-04 9.99805647e-01 2.24287177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.240385723 meters Centerline goodness [0,1] 0.9999777436513766 Centerline is valid? [True, True] Translation: X:161.19, Y:24.30, Z:2.24 [[ 8.49923090e-01 -5.26647708e-01 -1.65206701e-02 1.61194590e+02] [ 5.26538005e-01 8.50083522e-01 -1.07580266e-02 2.43033133e+01] [ 1.97096395e-02 4.44734498e-04 9.99805647e-01 2.24329020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.270385723 meters Centerline goodness [0,1] 0.9999778457175772 Centerline is valid? [True, True] Translation: X:161.22, Y:24.32, Z:2.24 [[ 8.49893237e-01 -5.26677341e-01 -1.71015898e-02 1.61219023e+02] [ 5.26559659e-01 8.50065152e-01 -1.11428602e-02 2.43194022e+01] [ 2.04061575e-02 4.65234264e-04 9.99791664e-01 2.24351111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.300385723 meters Centerline goodness [0,1] 0.9999554456548375 Centerline is valid? [True, True] Translation: X:161.24, Y:24.33, Z:2.24 [[ 8.49973273e-01 -5.26502169e-01 -1.84635111e-02 1.61243444e+02] [ 5.26364807e-01 8.50173632e-01 -1.20368699e-02 2.43345937e+01] [ 2.20346284e-02 5.12475246e-04 9.99757077e-01 2.24295922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.27, Y:24.35, Z:2.24 [[ 8.50074158e-01 -5.26306507e-01 -1.93749097e-02 1.61267114e+02] [ 5.26155072e-01 8.50294749e-01 -1.26364441e-02 2.43502064e+01] [ 2.31250268e-02 5.47707560e-04 9.99732431e-01 2.24283628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.29, Y:24.37, Z:2.24 [[ 8.50344228e-01 -5.25829123e-01 -2.04554923e-02 1.61289744e+02] [ 5.25660121e-01 8.50590019e-01 -1.33438031e-02 2.43670947e+01] [ 2.44157979e-02 5.94189404e-04 9.99701713e-01 2.24189803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.31, Y:24.38, Z:2.24 [[ 8.50176438e-01 -5.26097248e-01 -2.05355898e-02 1.61313522e+02] [ 5.25926883e-01 8.50424208e-01 -1.34007230e-02 2.43826161e+01] [ 2.45140462e-02 5.92760194e-04 9.99699310e-01 2.24245063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.34, Y:24.40, Z:2.24 [[ 8.49911763e-01 -5.26536428e-01 -2.02332390e-02 1.61335396e+02] [ 5.26371014e-01 8.50152373e-01 -1.32097970e-02 2.44001128e+01] [ 2.41567755e-02 5.76971370e-04 9.99708016e-01 2.24230766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.450385723 meters Centerline goodness [0,1] 0.9999777367143843 Centerline is valid? [True, True] Translation: X:161.36, Y:24.42, Z:2.24 [[ 8.49647605e-01 -5.26977832e-01 -1.98321145e-02 1.61360601e+02] [ 5.26818946e-01 8.49878848e-01 -1.29515648e-02 2.44152030e+01] [ 2.36800822e-02 5.56332361e-04 9.99719433e-01 2.24329149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.38, Y:24.43, Z:2.24 [[ 8.49313929e-01 -5.27511105e-01 -1.99470097e-02 1.61383475e+02] [ 5.27350441e-01 8.49547959e-01 -1.30298859e-02 2.44315255e+01] [ 2.38193509e-02 5.47399210e-04 9.99716129e-01 2.24358737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.510385723 meters Centerline goodness [0,1] 0.9999110300496008 Centerline is valid? [True, True] Translation: X:161.41, Y:24.44, Z:2.24 [[ 8.47892637e-01 -5.29796245e-01 -1.98498265e-02 1.61409180e+02] [ 5.29637673e-01 8.48124817e-01 -1.29703867e-02 2.44447388e+01] [ 2.37067926e-02 4.84279447e-04 9.99718837e-01 2.24474567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.43, Y:24.46, Z:2.25 [[ 8.46266987e-01 -5.32409790e-01 -1.92873801e-02 1.61433512e+02] [ 5.32260631e-01 8.46486652e-01 -1.26082458e-02 2.44594303e+01] [ 2.30392633e-02 4.04029130e-04 9.99734479e-01 2.24573421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57038572300002 meters Centerline goodness [0,1] 0.9999556058689041 Centerline is valid? [True, True] Translation: X:161.46, Y:24.47, Z:2.25 [[ 8.45373144e-01 -5.33839131e-01 -1.89744562e-02 1.61458914e+02] [ 5.33695035e-01 8.45585981e-01 -1.24080232e-02 2.44735941e+01] [ 2.26684225e-02 3.62836515e-04 9.99742972e-01 2.24605078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.60038572300002 meters Centerline goodness [0,1] 0.999977804905116 Centerline is valid? [True, True] Translation: X:161.48, Y:24.49, Z:2.25 [[ 8.44527661e-01 -5.35190224e-01 -1.85594722e-02 1.61482438e+02] [ 5.35052551e-01 8.44731507e-01 -1.21428664e-02 2.44897606e+01] [ 2.21765143e-02 3.24693627e-04 9.99754018e-01 2.24815122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.51, Y:24.51, Z:2.25 [[ 8.44066808e-01 -5.35932036e-01 -1.81128760e-02 1.61506976e+02] [ 5.35800954e-01 8.44261074e-01 -1.18565211e-02 2.45059625e+01] [ 2.16462856e-02 3.02799655e-04 9.99765646e-01 2.24865558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.66038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.53, Y:24.52, Z:2.25 [[ 8.43508962e-01 -5.36818864e-01 -1.78364634e-02 1.61530889e+02] [ 5.36691829e-01 8.43697475e-01 -1.16812690e-02 2.45229838e+01] [ 2.13193047e-02 2.80570894e-04 9.99772678e-01 2.24803111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69038572300002 meters Centerline goodness [0,1] 0.9999335607033707 Centerline is valid? [True, True] Translation: X:161.55, Y:24.54, Z:2.25 [[ 8.43252913e-01 -5.37220382e-01 -1.78545924e-02 1.61553671e+02] [ 5.37093058e-01 8.43441869e-01 -1.16987917e-02 2.45382957e+01] [ 2.13441402e-02 2.75462582e-04 9.99772150e-01 2.24767267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.720385723 meters Centerline goodness [0,1] 0.9999778971332581 Centerline is valid? [True, True] Translation: X:161.58, Y:24.55, Z:2.25 [[ 8.43156724e-01 -5.37333159e-01 -1.89687866e-02 1.61576636e+02] [ 5.37189366e-01 8.43370020e-01 -1.24335897e-02 2.45532536e+01] [ 2.26786860e-02 2.93634315e-04 9.99742762e-01 2.24628009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.60, Y:24.57, Z:2.25 [[ 8.43113601e-01 -5.37400619e-01 -1.89744790e-02 1.61600729e+02] [ 5.37256647e-01 8.43327034e-01 -1.24422346e-02 2.45673139e+01] [ 2.26881557e-02 2.96052312e-04 9.99742547e-01 2.24845334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.62, Y:24.58, Z:2.25 [[ 8.43072086e-01 -5.37473100e-01 -1.87649690e-02 1.61624098e+02] [ 5.37332143e-01 8.43280842e-01 -1.23121777e-02 2.45827608e+01] [ 2.24416032e-02 2.97032324e-04 9.99748111e-01 2.24931586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.65, Y:24.60, Z:2.25 [[ 8.42872791e-01 -5.37800997e-01 -1.83179065e-02 1.61646517e+02] [ 5.37666615e-01 8.43071767e-01 -1.20252216e-02 2.45978718e+01] [ 2.19104859e-02 2.86805270e-04 9.99759895e-01 2.25020034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.67, Y:24.61, Z:2.25 [[ 8.42564374e-01 -5.38278242e-01 -1.84881154e-02 1.61669944e+02] [ 5.38141339e-01 8.42767141e-01 -1.21426687e-02 2.46128024e+01] [ 2.21173105e-02 2.81760885e-04 9.99755343e-01 2.25097982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.69, Y:24.63, Z:2.25 [[ 8.41947450e-01 -5.39237353e-01 -1.86431890e-02 1.61693857e+02] [ 5.39098214e-01 8.42153791e-01 -1.22518997e-02 2.46283208e+01] [ 2.23071142e-02 2.64945828e-04 9.99751130e-01 2.25098714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.72, Y:24.64, Z:2.25 [[ 8.41606942e-01 -5.39765010e-01 -1.87480677e-02 1.61716344e+02] [ 5.39624295e-01 8.41815697e-01 -1.23268846e-02 2.46433264e+01] [ 2.24360386e-02 2.57478859e-04 9.99748247e-01 2.25105502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.930385723 meters Centerline goodness [0,1] 0.9999113671615334 Centerline is valid? [True, True] Translation: X:161.74, Y:24.66, Z:2.25 [[ 8.41349669e-01 -5.40171201e-01 -1.85958934e-02 1.61740634e+02] [ 5.40032760e-01 8.41555115e-01 -1.22313925e-02 2.46571523e+01] [ 2.22565152e-02 2.48486377e-04 9.99752262e-01 2.25170595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.76, Y:24.67, Z:2.25 [[ 8.41051161e-01 -5.40635883e-01 -1.85953687e-02 1.61763873e+02] [ 5.40497394e-01 8.41256669e-01 -1.22386082e-02 2.46722225e+01] [ 2.22601087e-02 2.42547278e-04 9.99752184e-01 2.25223509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.79, Y:24.69, Z:2.25 [[ 8.40818395e-01 -5.41021823e-01 -1.78833300e-02 1.61787894e+02] [ 5.40893706e-01 8.41008522e-01 -1.17755590e-02 2.46871202e+01] [ 2.14108674e-02 2.28125994e-04 9.99770735e-01 2.25365369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.81, Y:24.70, Z:2.25 [[ 8.40563062e-01 -5.41428612e-01 -1.75726324e-02 1.61809549e+02] [ 5.41304952e-01 8.40746699e-01 -1.15731301e-02 2.47041439e+01] [ 2.10401565e-02 2.15792745e-04 9.99778608e-01 2.25289873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.83, Y:24.72, Z:2.26 [[ 8.40656939e-01 -5.41318453e-01 -1.64390543e-02 1.61834048e+02] [ 5.41210156e-01 8.40817631e-01 -1.08295023e-02 2.47183290e+01] [ 1.96844562e-02 2.06913123e-04 9.99806221e-01 2.25513765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.86, Y:24.73, Z:2.26 [[ 8.40757878e-01 -5.41163344e-01 -1.63836915e-02 1.61857174e+02] [ 5.41055619e-01 8.40917468e-01 -1.07994680e-02 2.47337096e+01] [ 1.96216086e-02 2.15249489e-04 9.99807455e-01 2.25569658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.88, Y:24.75, Z:2.26 [[ 8.40798874e-01 -5.41092501e-01 -1.66180360e-02 1.61880607e+02] [ 5.40981526e-01 8.40963052e-01 -1.09605520e-02 2.47491299e+01] [ 1.99058268e-02 2.25569275e-04 9.99801834e-01 2.25591890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.90, Y:24.76, Z:2.26 [[ 8.40596082e-01 -5.41397931e-01 -1.69265277e-02 1.61903570e+02] [ 5.41282723e-01 8.40766453e-01 -1.11707061e-02 2.47646801e+01] [ 2.02790539e-02 2.28014787e-04 9.99794333e-01 2.25590891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.93, Y:24.78, Z:2.26 [[ 8.40360520e-01 -5.41724430e-01 -1.81339118e-02 1.61927403e+02] [ 5.41592112e-01 8.40556116e-01 -1.19750003e-02 2.47791826e+01] [ 2.17297207e-02 2.42133844e-04 9.99763852e-01 2.25535312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.95, Y:24.80, Z:2.25 [[ 8.40337508e-01 -5.41726328e-01 -1.91169655e-02 1.61949930e+02] [ 5.41579132e-01 8.40554887e-01 -1.26303938e-02 2.47953092e+01] [ 2.29110757e-02 2.60444093e-04 9.99737473e-01 2.25457128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.97, Y:24.81, Z:2.25 [[ 8.40301978e-01 -5.41734610e-01 -2.04009541e-02 1.61974364e+02] [ 5.41566871e-01 8.40549543e-01 -1.34829906e-02 2.48111008e+01] [ 2.44522153e-02 2.81302778e-04 9.99700960e-01 2.25406522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.00, Y:24.83, Z:2.26 [[ 8.40431208e-01 -5.41512156e-01 -2.09754414e-02 1.61998858e+02] [ 5.41334584e-01 8.40692865e-01 -1.38699005e-02 2.48272452e+01] [ 2.51446237e-02 3.01965387e-04 9.99683778e-01 2.25502048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.290385723 meters Centerline goodness [0,1] 0.999933190807055 Centerline is valid? [True, True] Translation: X:162.02, Y:24.84, Z:2.25 [[ 8.40844493e-01 -5.40847040e-01 -2.15642816e-02 1.62020991e+02] [ 5.40658993e-01 8.41120899e-01 -1.42648759e-02 2.48445179e+01] [ 2.58532838e-02 3.35619582e-04 9.99665692e-01 2.25387952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.32038572300002 meters Centerline goodness [0,1] 0.9999108197890888 Centerline is valid? [True, True] Translation: X:162.05, Y:24.86, Z:2.25 [[ 8.41173353e-01 -5.40289835e-01 -2.26778392e-02 1.62045441e+02] [ 5.40081521e-01 8.41478908e-01 -1.50065657e-02 2.48600011e+01] [ 2.71908183e-02 3.75241285e-04 9.99630191e-01 2.25287564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35038572300002 meters Centerline goodness [0,1] 0.9998669446046037 Centerline is valid? [True, True] Translation: X:162.07, Y:24.88, Z:2.25 [[ 8.41518587e-01 -5.39758301e-01 -2.25265168e-02 1.62069672e+02] [ 5.39552360e-01 8.41819945e-01 -1.49141104e-02 2.48766108e+01] [ 2.70132860e-02 3.96265804e-04 9.99634996e-01 2.25340398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.09, Y:24.89, Z:2.26 [[ 8.42666276e-01 -5.38000157e-01 -2.16651537e-02 1.62092553e+02] [ 5.37808899e-01 8.42944622e-01 -1.43510432e-02 2.48934792e+01] [ 2.59833883e-02 4.41427627e-04 9.99662277e-01 2.25711103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.11, Y:24.91, Z:2.26 [[ 8.42827415e-01 -5.37773654e-01 -2.10106010e-02 1.62114757e+02] [ 5.37593523e-01 8.43089142e-01 -1.39248834e-02 2.49087144e+01] [ 2.52022450e-02 4.41110469e-04 9.99682276e-01 2.25810055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.14, Y:24.92, Z:2.26 [[ 8.43220764e-01 -5.37174678e-01 -2.05452840e-02 1.62139263e+02] [ 5.37002074e-01 8.43470900e-01 -1.36240109e-02 2.49243007e+01] [ 2.46478228e-02 4.55188753e-04 9.99696093e-01 2.25990843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.470385723 meters Centerline goodness [0,1] 0.9999331342219052 Centerline is valid? [True, True] Translation: X:162.16, Y:24.94, Z:2.26 [[ 8.43341208e-01 -5.37005113e-01 -2.00278717e-02 1.62162935e+02] [ 5.36840875e-01 8.43578865e-01 -1.32880747e-02 2.49385729e+01] [ 2.40308534e-02 4.54600819e-04 9.99711114e-01 2.26144431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.500385723 meters Centerline goodness [0,1] 0.9999777431560205 Centerline is valid? [True, True] Translation: X:162.18, Y:24.96, Z:2.26 [[ 8.43562642e-01 -5.36683364e-01 -1.93141188e-02 1.62184059e+02] [ 5.36530386e-01 8.43783599e-01 -1.28212114e-02 2.49553812e+01] [ 2.31778675e-02 4.52883408e-04 9.99731255e-01 2.26135577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.530385723 meters Centerline goodness [0,1] 0.9999777767900796 Centerline is valid? [True, True] Translation: X:162.21, Y:24.97, Z:2.26 [[ 8.44000414e-01 -5.36028965e-01 -1.83371111e-02 1.62208331e+02] [ 5.35890804e-01 8.44199470e-01 -1.21779112e-02 2.49705595e+01] [ 2.20078926e-02 4.51472917e-04 9.99757695e-01 2.26374780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.560385723 meters Centerline goodness [0,1] 0.999955579246624 Centerline is valid? [True, True] Translation: X:162.23, Y:24.99, Z:2.26 [[ 8.44175671e-01 -5.35799596e-01 -1.69183258e-02 1.62229061e+02] [ 5.35681846e-01 8.44345078e-01 -1.12405139e-02 2.49874836e+01] [ 2.03075679e-02 4.26128333e-04 9.99793689e-01 2.26427782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.590385723 meters Centerline goodness [0,1] 0.9999777272929752 Centerline is valid? [True, True] Translation: X:162.25, Y:25.00, Z:2.27 [[ 8.44138767e-01 -5.35870510e-01 -1.65087436e-02 1.62253902e+02] [ 5.35758333e-01 8.44300079e-01 -1.09720546e-02 2.50004439e+01] [ 1.98179341e-02 4.17239709e-04 9.99803518e-01 2.26568716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.28, Y:25.01, Z:2.27 [[ 8.43802121e-01 -5.36408139e-01 -1.62569744e-02 1.62278440e+02] [ 5.36299333e-01 8.43958616e-01 -1.08111021e-02 2.50149348e+01] [ 1.95193768e-02 4.03826319e-04 9.99809397e-01 2.26642192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.650385723 meters Centerline goodness [0,1] 0.9999556373799436 Centerline is valid? [True, True] Translation: X:162.30, Y:25.03, Z:2.27 [[ 8.43281302e-01 -5.37219636e-01 -1.64835613e-02 1.62302095e+02] [ 5.37107802e-01 8.43442295e-01 -1.09683069e-02 2.50312315e+01] [ 1.97953227e-02 3.95918748e-04 9.99803975e-01 2.26569782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.680385723 meters Centerline goodness [0,1] 0.9999777228274187 Centerline is valid? [True, True] Translation: X:162.33, Y:25.05, Z:2.27 [[ 8.43123254e-01 -5.37456321e-01 -1.68488114e-02 1.62325597e+02] [ 5.37339396e-01 8.43291492e-01 -1.12175727e-02 2.50471097e+01] [ 2.02374147e-02 4.04266200e-04 9.99795121e-01 2.26544642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.710385723 meters Centerline goodness [0,1] 0.999933202707517 Centerline is valid? [True, True] Translation: X:162.35, Y:25.06, Z:2.26 [[ 8.43115641e-01 -5.37451758e-01 -1.73673294e-02 1.62348533e+02] [ 5.37327395e-01 8.43294391e-01 -1.15689588e-02 2.50636459e+01] [ 2.08635287e-02 4.22028260e-04 9.99782244e-01 2.26340687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.740385723 meters Centerline goodness [0,1] 0.9999777797529108 Centerline is valid? [True, True] Translation: X:162.37, Y:25.08, Z:2.27 [[ 8.43622710e-01 -5.36650733e-01 -1.75132240e-02 1.62371619e+02] [ 5.36524013e-01 8.43804355e-01 -1.16702599e-02 2.50807823e+01] [ 2.10405882e-02 4.49031072e-04 9.99778521e-01 2.26528731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.39, Y:25.10, Z:2.27 [[ 8.44215897e-01 -5.35685545e-01 -1.84530562e-02 1.62394573e+02] [ 5.35544479e-01 8.44417398e-01 -1.23031958e-02 2.50980860e+01] [ 2.21727259e-02 5.04121098e-04 9.99754028e-01 2.26507776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.800385723 meters Centerline goodness [0,1] 0.9999556265530707 Centerline is valid? [True, True] Translation: X:162.42, Y:25.12, Z:2.26 [[ 8.44440187e-01 -5.35321472e-01 -1.87534503e-02 1.62417456e+02] [ 5.35175535e-01 8.44648236e-01 -1.25101198e-02 2.51155687e+01] [ 2.25370045e-02 5.27660125e-04 9.99745870e-01 2.26477773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.44, Y:25.14, Z:2.26 [[ 8.44690309e-01 -5.34918502e-01 -1.89862829e-02 1.62436105e+02] [ 5.34768697e-01 8.44903482e-01 -1.26706847e-02 2.51372409e+01] [ 2.28193602e-02 5.49534826e-04 9.99739453e-01 2.26275267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.860385723 meters Centerline goodness [0,1] 0.9999117114730941 Centerline is valid? [True, True] Translation: X:162.46, Y:25.16, Z:2.26 [[ 8.45282011e-01 -5.33963441e-01 -1.95285800e-02 1.62458570e+02] [ 5.33804613e-01 8.45507356e-01 -1.30363123e-02 2.51561851e+01] [ 2.34724722e-02 5.94914145e-04 9.99724307e-01 2.26235801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.49, Y:25.17, Z:2.27 [[ 8.45981515e-01 -5.32840119e-01 -1.99169273e-02 1.62485968e+02] [ 5.32674442e-01 8.46215689e-01 -1.33020947e-02 2.51673038e+01] [ 2.39419061e-02 6.44088098e-04 9.99713144e-01 2.26550210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.920385723 meters Centerline goodness [0,1] 0.9999111920250439 Centerline is valid? [True, True] Translation: X:162.51, Y:25.18, Z:2.27 [[ 8.46033869e-01 -5.32749542e-01 -2.01151110e-02 1.62508550e+02] [ 5.32580382e-01 8.46272706e-01 -1.34403918e-02 2.51842023e+01] [ 2.41832320e-02 6.58113174e-04 9.99707326e-01 2.26588013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.53, Y:25.20, Z:2.27 [[ 8.45612256e-01 -5.33465943e-01 -1.88149009e-02 1.62532972e+02] [ 5.33318024e-01 8.45821333e-01 -1.25760759e-02 2.51994524e+01] [ 2.26229527e-02 6.00158145e-04 9.99743888e-01 2.26786107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.980385723 meters Centerline goodness [0,1] 0.9999556649154309 Centerline is valid? [True, True] Translation: X:162.56, Y:25.22, Z:2.27 [[ 8.45177570e-01 -5.34161694e-01 -1.86053804e-02 1.62556485e+02] [ 5.34017072e-01 8.45382131e-01 -1.24426574e-02 2.52154781e+01] [ 2.23750471e-02 5.80664161e-04 9.99749479e-01 2.26886062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.010385723 meters Centerline goodness [0,1] 0.9999119602060131 Centerline is valid? [True, True] Translation: X:162.57, Y:25.24, Z:2.27 [[ 8.44602153e-01 -5.35111289e-01 -1.74100669e-02 1.62574636e+02] [ 5.34984755e-01 8.44781412e-01 -1.16480941e-02 2.52390995e+01] [ 2.09407276e-02 5.23884985e-04 9.99780582e-01 2.26866147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.60, Y:25.25, Z:2.27 [[ 8.44335243e-01 -5.35541294e-01 -1.71324058e-02 1.62602784e+02] [ 5.35418782e-01 8.44508890e-01 -1.14657278e-02 2.52476207e+01] [ 2.06088397e-02 5.07906218e-04 9.99787486e-01 2.27177921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07038572300002 meters Centerline goodness [0,1] 0.9999337850663252 Centerline is valid? [True, True] Translation: X:162.63, Y:25.27, Z:2.27 [[ 8.44529048e-01 -5.35231135e-01 -1.72719146e-02 1.62625270e+02] [ 5.35106415e-01 8.44705485e-01 -1.15658630e-02 2.52652178e+01] [ 2.07800910e-02 5.25395030e-04 9.99783933e-01 2.27256574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.10038572300002 meters Centerline goodness [0,1] 0.999911834071723 Centerline is valid? [True, True] Translation: X:162.65, Y:25.28, Z:2.27 [[ 8.44437093e-01 -5.35370345e-01 -1.74524714e-02 1.62647764e+02] [ 5.35242899e-01 8.44617256e-01 -1.16931718e-02 2.52817663e+01] [ 2.10008359e-02 5.32836582e-04 9.99779316e-01 2.27230552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13038572300002 meters Centerline goodness [0,1] 0.9999779628895059 Centerline is valid? [True, True] Translation: X:162.67, Y:25.30, Z:2.27 [[ 8.44396760e-01 -5.35407836e-01 -1.82362587e-02 1.62668567e+02] [ 5.35268562e-01 8.44593473e-01 -1.22242554e-02 2.53006274e+01] [ 2.19471872e-02 5.60825724e-04 9.99758974e-01 2.27102269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.16038572300002 meters Centerline goodness [0,1] 0.9999779429604958 Centerline is valid? [True, True] Translation: X:162.69, Y:25.31, Z:2.27 [[ 8.43819295e-01 -5.36257417e-01 -1.99243609e-02 1.62693072e+02] [ 5.36091285e-01 8.44054282e-01 -1.33604896e-02 2.53141761e+01] [ 2.39819037e-02 5.92562685e-04 9.99712217e-01 2.27075609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19038572300002 meters Centerline goodness [0,1] 0.9999779429604958 Centerline is valid? [True, True] Translation: X:162.72, Y:25.33, Z:2.27 [[ 8.43670208e-01 -5.36492077e-01 -1.99206386e-02 1.62715953e+02] [ 5.36325880e-01 8.43905149e-01 -1.33660378e-02 2.53296020e+01] [ 2.39819029e-02 5.92573902e-04 9.99712217e-01 2.27117345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.74, Y:25.35, Z:2.27 [[ 8.43036659e-01 -5.37467968e-01 -2.04297791e-02 1.62739749e+02] [ 5.37293255e-01 8.43283962e-01 -1.37156123e-02 2.53460569e+01] [ 2.45998073e-02 5.85981409e-04 9.99697207e-01 2.27067764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.76, Y:25.36, Z:2.27 [[ 8.41938215e-01 -5.39170431e-01 -2.08635531e-02 1.62763733e+02] [ 5.38988554e-01 8.42196497e-01 -1.40142460e-02 2.53615095e+01] [ 2.51272784e-02 5.53912958e-04 9.99684107e-01 2.27102715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.280385723 meters Centerline goodness [0,1] 0.999977939067705 Centerline is valid? [True, True] Translation: X:162.79, Y:25.38, Z:2.27 [[ 8.41226854e-01 -5.40284587e-01 -2.07351136e-02 1.62787049e+02] [ 5.40105146e-01 8.41482200e-01 -1.39333862e-02 2.53770611e+01] [ 2.49762228e-02 5.21997097e-04 9.99687909e-01 2.27143148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.81, Y:25.39, Z:2.27 [[ 8.39697178e-01 -5.42668128e-01 -2.04927526e-02 1.62812081e+02] [ 5.42493464e-01 8.39947082e-01 -1.37746518e-02 2.53923865e+01] [ 2.46878922e-02 4.49351906e-04 9.99695107e-01 2.27229713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.84, Y:25.41, Z:2.27 [[ 8.38927627e-01 -5.43859867e-01 -2.04176929e-02 1.62835898e+02] [ 5.43686665e-01 8.39175947e-01 -1.37310103e-02 2.54079840e+01] [ 2.46017822e-02 4.18496564e-04 9.99697243e-01 2.27270946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.86, Y:25.42, Z:2.27 [[ 8.37065860e-01 -5.46711163e-01 -2.06797373e-02 1.62860458e+02] [ 5.46534172e-01 8.37321196e-01 -1.39144892e-02 2.54229127e+01] [ 2.49227890e-02 3.45160773e-04 9.99689319e-01 2.27308119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.88, Y:25.44, Z:2.27 [[ 8.36040922e-01 -5.48279157e-01 -2.06286810e-02 1.62884810e+02] [ 5.48103338e-01 8.36295327e-01 -1.38872903e-02 2.54380582e+01] [ 2.48657813e-02 3.03694104e-04 9.99690753e-01 2.27360521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.430385723 meters Centerline goodness [0,1] 0.9999339919470175 Centerline is valid? [True, True] Translation: X:162.91, Y:25.45, Z:2.27 [[ 8.34423385e-01 -5.50720885e-01 -2.10741936e-02 1.62909495e+02] [ 5.50537976e-01 8.34689432e-01 -1.41946751e-02 2.54523296e+01] [ 2.54077108e-02 2.42224928e-04 9.99677143e-01 2.27429447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.93, Y:25.47, Z:2.27 [[ 8.33831778e-01 -5.51625377e-01 -2.08328852e-02 1.62932336e+02] [ 5.51446779e-01 8.34091959e-01 -1.40375598e-02 2.54678552e+01] [ 2.51200163e-02 2.16736021e-04 9.99684419e-01 2.27413478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.96, Y:25.48, Z:2.28 [[ 8.32538583e-01 -5.53593936e-01 -2.03288746e-02 1.62956898e+02] [ 5.53424357e-01 8.32786725e-01 -1.37022569e-02 2.54824442e+01] [ 2.45151032e-02 1.57163183e-04 9.99699447e-01 2.27570607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.98, Y:25.50, Z:2.28 [[ 8.31906213e-01 -5.54545796e-01 -2.02734542e-02 1.62980333e+02] [ 5.54377288e-01 8.32153197e-01 -1.36703803e-02 2.54979195e+01] [ 2.44514717e-02 1.33331725e-04 9.99701009e-01 2.27612108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.550385723 meters Centerline goodness [0,1] 0.9999120299098306 Centerline is valid? [True, True] Translation: X:163.01, Y:25.51, Z:2.28 [[ 8.30811777e-01 -5.56199342e-01 -1.98515278e-02 1.63005109e+02] [ 5.56038150e-01 8.31048906e-01 -1.33899834e-02 2.55133777e+01] [ 2.39450904e-02 8.63491501e-05 9.99713271e-01 2.27776291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.03, Y:25.53, Z:2.28 [[ 8.30297215e-01 -5.56972541e-01 -1.97008419e-02 1.63027864e+02] [ 5.56813832e-01 8.30530905e-01 -1.32955707e-02 2.55292519e+01] [ 2.37674259e-02 6.95740517e-05 9.99717512e-01 2.27824757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.05, Y:25.55, Z:2.28 [[ 8.30252472e-01 -5.57051741e-01 -1.93440113e-02 1.63048853e+02] [ 5.56898594e-01 8.30477786e-01 -1.30615508e-02 2.55468274e+01] [ 2.33407313e-02 7.17321095e-05 9.99727565e-01 2.27761359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.640385723 meters Centerline goodness [0,1] 0.9999780595901532 Centerline is valid? [True, True] Translation: X:163.07, Y:25.56, Z:2.28 [[ 8.30591596e-01 -5.56536787e-01 -1.96062462e-02 1.63070636e+02] [ 5.56379212e-01 8.30822963e-01 -1.32429616e-02 2.55638287e+01] [ 2.36595148e-02 9.09848045e-05 9.99720070e-01 2.27718438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.670385723 meters Centerline goodness [0,1] 0.9999344792189923 Centerline is valid? [True, True] Translation: X:163.09, Y:25.58, Z:2.28 [[ 8.30513343e-01 -5.56629682e-01 -2.02727404e-02 1.63093689e+02] [ 5.56461134e-01 8.30760728e-01 -1.36973925e-02 2.55812770e+01] [ 2.44661719e-02 9.48751429e-05 9.99700654e-01 2.27502837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.12, Y:25.60, Z:2.28 [[ 8.31887436e-01 -5.54505274e-01 -2.20724842e-02 1.63115829e+02] [ 5.54304503e-01 8.32180190e-01 -1.49214181e-02 2.56003799e+01] [ 2.66422892e-02 1.78062867e-04 9.99645015e-01 2.27606924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.730385723 meters Centerline goodness [0,1] 0.9999781797551769 Centerline is valid? [True, True] Translation: X:163.14, Y:25.62, Z:2.28 [[ 8.32470327e-01 -5.53601030e-01 -2.27827581e-02 1.63137413e+02] [ 5.53386630e-01 8.32781995e-01 -1.54073392e-02 2.56175140e+01] [ 2.75025896e-02 2.18478950e-04 9.99621708e-01 2.27529164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.760385723 meters Centerline goodness [0,1] 0.9999122576116521 Centerline is valid? [True, True] Translation: X:163.16, Y:25.64, Z:2.27 [[ 8.33228683e-01 -5.52447426e-01 -2.30608817e-02 1.63159436e+02] [ 5.52227170e-01 8.33547702e-01 -1.56006544e-02 2.56365492e+01] [ 2.78408863e-02 2.64067231e-04 9.99612333e-01 2.27373923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.790385723 meters Centerline goodness [0,1] 0.9998905165429504 Centerline is valid? [True, True] Translation: X:163.18, Y:25.66, Z:2.28 [[ 8.34837935e-01 -5.50017338e-01 -2.29466865e-02 1.63181101e+02] [ 5.49798182e-01 8.35153163e-01 -1.55291038e-02 2.56550700e+01] [ 2.77052742e-02 3.48238421e-04 9.99616075e-01 2.27708092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.82038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.20, Y:25.67, Z:2.28 [[ 8.35287938e-01 -5.49351851e-01 -2.25078651e-02 1.63203750e+02] [ 5.49140602e-01 8.35591054e-01 -1.52377882e-02 2.56723309e+01] [ 2.71782778e-02 3.67958099e-04 9.99630535e-01 2.27814331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.85038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.23, Y:25.69, Z:2.28 [[ 8.35981959e-01 -5.48299289e-01 -2.24065799e-02 1.63226378e+02] [ 5.48089386e-01 8.36282085e-01 -1.51756073e-02 2.56895040e+01] [ 2.70589961e-02 4.05725303e-04 9.99633756e-01 2.27900657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.25, Y:25.71, Z:2.28 [[ 8.37256479e-01 -5.46368125e-01 -2.19877252e-02 1.63247167e+02] [ 5.46165258e-01 8.37545019e-01 -1.48946863e-02 2.57078720e+01] [ 2.65536915e-02 4.61740978e-04 9.99647282e-01 2.27962740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91038572300002 meters Centerline goodness [0,1] 0.9999564583197266 Centerline is valid? [True, True] Translation: X:163.27, Y:25.72, Z:2.28 [[ 8.37741549e-01 -5.45629438e-01 -2.18543544e-02 1.63268982e+02] [ 5.45428702e-01 8.38026420e-01 -1.48070795e-02 2.57248319e+01] [ 2.63937049e-02 4.84513544e-04 9.99651508e-01 2.28007026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94038572300002 meters Centerline goodness [0,1] 0.9998691128029493 Centerline is valid? [True, True] Translation: X:163.29, Y:25.74, Z:2.28 [[ 8.38304686e-01 -5.44772037e-01 -2.16490574e-02 1.63290075e+02] [ 5.44574699e-01 8.38584026e-01 -1.46706671e-02 2.57435544e+01] [ 2.61467229e-02 5.08960008e-04 9.99657986e-01 2.28035325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.970385723 meters Centerline goodness [0,1] 0.9999564194195066 Centerline is valid? [True, True] Translation: X:163.31, Y:25.76, Z:2.28 [[ 8.38231309e-01 -5.44886882e-01 -2.15999626e-02 1.63313656e+02] [ 5.44690340e-01 8.38509408e-01 -1.46426072e-02 2.57587190e+01] [ 2.60903364e-02 5.08600793e-04 9.99659460e-01 2.28175823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.000385723 meters Centerline goodness [0,1] 0.9999782144568864 Centerline is valid? [True, True] Translation: X:163.34, Y:25.77, Z:2.28 [[ 8.38103654e-01 -5.45088841e-01 -2.14574053e-02 1.63335018e+02] [ 5.44894780e-01 8.38378137e-01 -1.45525772e-02 2.57748984e+01] [ 2.59218669e-02 5.04539982e-04 9.99663845e-01 2.28188937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.030385723 meters Centerline goodness [0,1] 0.9998694261278318 Centerline is valid? [True, True] Translation: X:163.36, Y:25.79, Z:2.28 [[ 8.37641555e-01 -5.45788730e-01 -2.17091641e-02 1.63358541e+02] [ 5.45590168e-01 8.37922680e-01 -1.47292451e-02 2.57906351e+01] [ 2.62296570e-02 4.93521307e-04 9.99655822e-01 2.28253227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.38, Y:25.81, Z:2.28 [[ 8.36663755e-01 -5.47283771e-01 -2.17769308e-02 1.63382475e+02] [ 5.47084251e-01 8.36946992e-01 -1.47836036e-02 2.58068693e+01] [ 2.63169630e-02 4.55089417e-04 9.99653545e-01 2.28276771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.090385723 meters Centerline goodness [0,1] 0.9999348576639958 Centerline is valid? [True, True] Translation: X:163.40, Y:25.82, Z:2.28 [[ 8.36120022e-01 -5.48121463e-01 -2.15909792e-02 1.63404418e+02] [ 5.47925470e-01 8.36398635e-01 -1.46629584e-02 2.58235736e+01] [ 2.60957478e-02 4.29745618e-04 9.99659356e-01 2.28197137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.120385723 meters Centerline goodness [0,1] 0.9999783329361038 Centerline is valid? [True, True] Translation: X:163.43, Y:25.84, Z:2.28 [[ 8.35040929e-01 -5.49766329e-01 -2.15320937e-02 1.63428886e+02] [ 5.49571825e-01 8.35318405e-01 -1.46277465e-02 2.58383219e+01] [ 2.60279966e-02 3.81334983e-04 9.99661142e-01 2.28307871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.150385723 meters Centerline goodness [0,1] 0.9999565481880595 Centerline is valid? [True, True] Translation: X:163.45, Y:25.85, Z:2.28 [[ 8.34618261e-01 -5.50407919e-01 -2.15285910e-02 1.63451978e+02] [ 5.50213546e-01 8.34895795e-01 -1.46309591e-02 2.58533356e+01] [ 2.60271258e-02 3.65943276e-04 9.99661170e-01 2.28414557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.48, Y:25.87, Z:2.29 [[ 8.34069419e-01 -5.51256569e-01 -2.10807869e-02 1.63477037e+02] [ 5.51070354e-01 8.34335713e-01 -1.43311907e-02 2.58686266e+01] [ 2.54886164e-02 3.36211137e-04 9.99675056e-01 2.28608864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.210385723 meters Centerline goodness [0,1] 0.9999564782173478 Centerline is valid? [True, True] Translation: X:163.50, Y:25.89, Z:2.29 [[ 8.34071059e-01 -5.51263959e-01 -2.08210318e-02 1.63498140e+02] [ 5.51082160e-01 8.34330830e-01 -1.41604477e-02 2.58854492e+01] [ 2.51777732e-02 3.36720464e-04 9.99682933e-01 2.28531651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.52, Y:25.90, Z:2.29 [[ 8.34076990e-01 -5.51265584e-01 -2.05385237e-02 1.63522395e+02] [ 5.51088553e-01 8.34329756e-01 -1.39737281e-02 2.58993595e+01] [ 2.48391369e-02 3.36619779e-04 9.99691404e-01 2.28786391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.54, Y:25.92, Z:2.29 [[ 8.33880311e-01 -5.51561871e-01 -2.05701051e-02 1.63543626e+02] [ 5.51384222e-01 8.34133917e-01 -1.40017225e-02 2.59167694e+01] [ 2.48810385e-02 3.33729331e-04 9.99690363e-01 2.28645427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.57, Y:25.93, Z:2.29 [[ 8.33784999e-01 -5.51700974e-01 -2.07029089e-02 1.63568421e+02] [ 5.51520929e-01 8.34041919e-01 -1.40976196e-02 2.59302260e+01] [ 2.50447643e-02 3.36296251e-04 9.99686274e-01 2.28810184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.59, Y:25.95, Z:2.29 [[ 8.33561964e-01 -5.52006185e-01 -2.15319391e-02 1.63593217e+02] [ 5.51811311e-01 8.33839944e-01 -1.46705469e-02 2.59456560e+01] [ 2.60524235e-02 3.47242351e-04 9.99660518e-01 2.28789928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.360385723 meters Centerline goodness [0,1] 0.9999782348460116 Centerline is valid? [True, True] Translation: X:163.62, Y:25.96, Z:2.29 [[ 8.33733290e-01 -5.51721622e-01 -2.21822709e-02 1.63617756e+02] [ 5.51514483e-01 8.34028245e-01 -1.51215956e-02 2.59602149e+01] [ 2.68435517e-02 3.73533968e-04 9.99639577e-01 2.28851848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.390385723 meters Centerline goodness [0,1] 0.9999132734920428 Centerline is valid? [True, True] Translation: X:163.64, Y:25.98, Z:2.29 [[ 8.33759332e-01 -5.51694261e-01 -2.18819273e-02 1.63641052e+02] [ 5.51492467e-01 8.34046342e-01 -1.49250636e-02 2.59753916e+01] [ 2.64846134e-02 3.76193011e-04 9.99649150e-01 2.28886383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.66, Y:25.99, Z:2.29 [[ 8.33978662e-01 -5.51363164e-01 -2.18690022e-02 1.63663588e+02] [ 5.51161328e-01 8.34265251e-01 -1.49225428e-02 2.59910264e+01] [ 2.64722890e-02 3.91734007e-04 9.99649471e-01 2.28930262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.69, Y:26.01, Z:2.29 [[ 8.34498058e-01 -5.50622704e-01 -2.06791963e-02 1.63687739e+02] [ 5.50441888e-01 8.34754144e-01 -1.41155063e-02 2.60053583e+01] [ 2.50343630e-02 3.96666703e-04 9.99686513e-01 2.29123606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.71, Y:26.02, Z:2.29 [[ 8.34782776e-01 -5.50187591e-01 -2.07685330e-02 1.63712828e+02] [ 5.50004870e-01 8.35040981e-01 -1.41846055e-02 2.60199163e+01] [ 2.51467701e-02 4.18270034e-04 9.99683682e-01 2.29187169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.74, Y:26.04, Z:2.29 [[ 8.34898214e-01 -5.50008156e-01 -2.08806111e-02 1.63737363e+02] [ 5.49823211e-01 8.35159171e-01 -1.42686614e-02 2.60356484e+01] [ 2.52865140e-02 4.32235333e-04 9.99680152e-01 2.29151548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.76, Y:26.05, Z:2.29 [[ 8.35458561e-01 -5.49120838e-01 -2.18013506e-02 1.63762173e+02] [ 5.48918707e-01 8.35742825e-01 -1.49058323e-02 2.60499371e+01] [ 2.64054255e-02 4.86036001e-04 9.99651198e-01 2.29070273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.57038572300002 meters Centerline goodness [0,1] 0.9999779813281663 Centerline is valid? [True, True] Translation: X:163.79, Y:26.06, Z:2.29 [[ 8.35661329e-01 -5.48810328e-01 -2.18487281e-02 1.63786837e+02] [ 5.48607004e-01 8.35946751e-01 -1.49460565e-02 2.60646479e+01] [ 2.64669234e-02 5.03476120e-04 9.99649563e-01 2.29119530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.81, Y:26.08, Z:2.29 [[ 8.36161236e-01 -5.48053422e-01 -2.17217199e-02 1.63809297e+02] [ 5.47852036e-01 8.36443164e-01 -1.48654134e-02 2.60818380e+01] [ 2.63160248e-02 5.29593991e-04 9.99653533e-01 2.29010949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.83, Y:26.10, Z:2.29 [[ 8.37048721e-01 -5.46708208e-01 -2.14376751e-02 1.63833681e+02] [ 5.46511525e-01 8.37323004e-01 -1.46744440e-02 2.60964338e+01] [ 2.59728976e-02 5.67288072e-04 9.99662486e-01 2.29058886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.66038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.86, Y:26.11, Z:2.29 [[ 8.37583778e-01 -5.45901057e-01 -2.11057005e-02 1.63860034e+02] [ 5.45710048e-01 8.37849444e-01 -1.44517038e-02 2.61086732e+01] [ 2.55725998e-02 5.86919787e-04 9.99672795e-01 2.29110006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.89, Y:26.12, Z:2.29 [[ 8.37660075e-01 -5.45779303e-01 -2.12261942e-02 1.63885223e+02] [ 5.45585873e-01 8.37928751e-01 -1.45417838e-02 2.61230647e+01] [ 2.57226430e-02 6.00360048e-04 9.99668938e-01 2.29152020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.720385723 meters Centerline goodness [0,1] 0.9999337206990256 Centerline is valid? [True, True] Translation: X:163.91, Y:26.14, Z:2.29 [[ 8.38357754e-01 -5.44690056e-01 -2.16568513e-02 1.63910405e+02] [ 5.44488182e-01 8.38637179e-01 -1.48425612e-02 2.61352876e+01] [ 2.62468362e-02 6.51476703e-04 9.99655280e-01 2.29175389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.94, Y:26.15, Z:2.29 [[ 8.38522106e-01 -5.44430557e-01 -2.18184765e-02 1.63935350e+02] [ 5.44225441e-01 8.38805652e-01 -1.49582317e-02 2.61493407e+01] [ 2.64451798e-02 6.68637946e-04 9.99650041e-01 2.29241465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.96, Y:26.16, Z:2.29 [[ 8.38662733e-01 -5.44212110e-01 -2.18631998e-02 1.63960877e+02] [ 5.44005870e-01 8.38947384e-01 -1.49967033e-02 2.61637149e+01] [ 2.65034618e-02 6.83467150e-04 9.99648488e-01 2.29309102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.99, Y:26.18, Z:2.29 [[ 8.39359138e-01 -5.43136436e-01 -2.18871895e-02 1.63986520e+02] [ 5.42929170e-01 8.39644143e-01 -1.50209953e-02 2.61778381e+01] [ 2.65359004e-02 7.24816034e-04 9.99647598e-01 2.29292808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.01, Y:26.19, Z:2.29 [[ 8.39893495e-01 -5.42304353e-01 -2.20205883e-02 1.64010560e+02] [ 5.42094056e-01 8.40181771e-01 -1.51203851e-02 2.61941142e+01] [ 2.67011475e-02 7.62283072e-04 9.99643170e-01 2.29294466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.04, Y:26.21, Z:2.29 [[ 8.41453496e-01 -5.39895755e-01 -2.16468946e-02 1.64035084e+02] [ 5.39691546e-01 8.41731480e-01 -1.48711737e-02 2.62102232e+01] [ 2.62497562e-02 8.30755104e-04 9.99655071e-01 2.29290807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.06, Y:26.22, Z:2.29 [[ 8.40696348e-01 -5.41060469e-01 -2.19822373e-02 1.64059796e+02] [ 5.40850136e-01 8.40983300e-01 -1.51069686e-02 2.62239876e+01] [ 2.66604779e-02 8.11277294e-04 9.99644217e-01 2.29354482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.08, Y:26.24, Z:2.29 [[ 8.40522697e-01 -5.41323227e-01 -2.21530934e-02 1.64083475e+02] [ 5.41109554e-01 8.40814190e-01 -1.52298766e-02 2.62389457e+01] [ 2.68709212e-02 8.13806471e-04 9.99638580e-01 2.29414302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.11, Y:26.25, Z:2.29 [[ 8.40632137e-01 -5.41144622e-01 -2.23631227e-02 1.64106993e+02] [ 5.40926580e-01 8.40929130e-01 -1.53828788e-02 2.62549837e+01] [ 2.71301635e-02 8.34534830e-04 9.99631561e-01 2.29437681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.13, Y:26.27, Z:2.29 [[ 8.40233901e-01 -5.41743390e-01 -2.28274399e-02 1.64130705e+02] [ 5.41516176e-01 8.40543512e-01 -1.57110370e-02 2.62695844e+01] [ 2.76988069e-02 8.39517959e-04 9.99615962e-01 2.29367087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.15, Y:26.29, Z:2.29 [[ 8.39664183e-01 -5.42634254e-01 -2.26302093e-02 1.64153067e+02] [ 5.42411098e-01 8.39968697e-01 -1.55816780e-02 2.62865438e+01] [ 2.74638197e-02 8.08500244e-04 9.99622471e-01 2.29306139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.18, Y:26.30, Z:2.30 [[ 8.39349420e-01 -5.43132072e-01 -2.23629798e-02 1.64178740e+02] [ 5.42914200e-01 8.39646910e-01 -1.54025595e-02 2.63003755e+01] [ 2.71426309e-02 7.86950082e-04 9.99631261e-01 2.29501555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.20, Y:26.32, Z:2.30 [[ 8.39196117e-01 -5.43369072e-01 -2.23591040e-02 1.64201432e+02] [ 5.43151133e-01 8.39493558e-01 -1.54081844e-02 2.63160988e+01] [ 2.71426546e-02 7.86115820e-04 9.99631261e-01 2.29543331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.23, Y:26.33, Z:2.30 [[ 8.38734764e-01 -5.44104694e-01 -2.17733370e-02 1.64226497e+02] [ 5.43898050e-01 8.39016997e-01 -1.50130155e-02 2.63305256e+01] [ 2.64368520e-02 7.49462466e-04 9.99650204e-01 2.29718313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.25, Y:26.35, Z:2.30 [[ 8.38361180e-01 -5.44681911e-01 -2.17289714e-02 1.64248948e+02] [ 5.44476091e-01 8.38642399e-01 -1.49904039e-02 2.63477166e+01] [ 2.63878386e-02 7.36467328e-04 9.99651509e-01 2.29696864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.27, Y:26.36, Z:2.30 [[ 8.38066115e-01 -5.45121953e-01 -2.20735763e-02 1.64273025e+02] [ 5.44909471e-01 8.38356432e-01 -1.52368509e-02 2.63622142e+01] [ 2.68114666e-02 7.41387683e-04 9.99640233e-01 2.29832909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.30, Y:26.38, Z:2.30 [[ 8.38317163e-01 -5.44694197e-01 -2.30773807e-02 1.64295585e+02] [ 5.44461590e-01 8.38634365e-01 -1.59366995e-02 2.63785170e+01] [ 2.80341123e-02 7.95261358e-04 9.99606651e-01 2.29755198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.32, Y:26.39, Z:2.30 [[ 8.38511249e-01 -5.44348945e-01 -2.41476944e-02 1.64318385e+02] [ 5.44094019e-01 8.38858455e-01 -1.66790396e-02 2.63947930e+01] [ 2.93357152e-02 8.46946207e-04 9.99569256e-01 2.29744064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.34, Y:26.41, Z:2.30 [[ 8.38839065e-01 -5.43816273e-01 -2.47565024e-02 1.64341724e+02] [ 5.43547913e-01 8.39203828e-01 -1.71055798e-02 2.64111493e+01] [ 3.00780442e-02 8.92483356e-04 9.99547155e-01 2.29763470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.36, Y:26.43, Z:2.30 [[ 8.38822296e-01 -5.43850756e-01 -2.45664736e-02 1.64364311e+02] [ 5.43586236e-01 8.39181482e-01 -1.69836502e-02 2.64272375e+01] [ 2.98523007e-02 8.92267504e-04 9.99553923e-01 2.29832875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.39, Y:26.44, Z:2.30 [[ 8.38952746e-01 -5.43691904e-01 -2.36093882e-02 1.64387218e+02] [ 5.43447265e-01 8.39284431e-01 -1.63314097e-02 2.64441759e+01] [ 2.86942471e-02 8.70823564e-04 9.99587856e-01 2.29990574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.35038572300002 meters Centerline goodness [0,1] 0.9999550410250646 Centerline is valid? [True, True] Translation: X:164.41, Y:26.46, Z:2.30 [[ 8.38718901e-01 -5.44074321e-01 -2.31027695e-02 1.64410660e+02] [ 5.43839970e-01 8.39036600e-01 -1.59897100e-02 2.64602575e+01] [ 2.80836598e-02 8.46662491e-04 9.99605218e-01 2.30101081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.38038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.43, Y:26.47, Z:2.30 [[ 8.38314112e-01 -5.44742632e-01 -2.20207699e-02 1.64434628e+02] [ 5.44529807e-01 8.38602910e-01 -1.52462915e-02 2.64747657e+01] [ 2.67719866e-02 7.90215721e-04 9.99641254e-01 2.30378508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.46, Y:26.49, Z:2.31 [[ 8.37904902e-01 -5.45393826e-01 -2.14697485e-02 1.64460095e+02] [ 5.45191609e-01 8.38179578e-01 -1.48695703e-02 2.64892813e+01] [ 2.61052766e-02 7.54159108e-04 9.99658915e-01 2.30562243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.44038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.48, Y:26.50, Z:2.31 [[ 8.37422526e-01 -5.46138097e-01 -2.13703454e-02 1.64484831e+02] [ 5.45937790e-01 8.37694837e-01 -1.48084154e-02 2.65046356e+01] [ 2.59892678e-02 7.34021507e-04 9.99661952e-01 2.30662998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.470385723 meters Centerline goodness [0,1] 0.9999551680078904 Centerline is valid? [True, True] Translation: X:164.51, Y:26.52, Z:2.31 [[ 8.37114365e-01 -5.46594644e-01 -2.17677403e-02 1.64507947e+02] [ 5.46386748e-01 8.37397007e-01 -1.50922015e-02 2.65203852e+01] [ 2.64775570e-02 7.40293823e-04 9.99649134e-01 2.30701661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.500385723 meters Centerline goodness [0,1] 0.9999102374220188 Centerline is valid? [True, True] Translation: X:164.53, Y:26.54, Z:2.31 [[ 8.37165302e-01 -5.46473039e-01 -2.28358058e-02 1.64529832e+02] [ 5.46243998e-01 8.37476327e-01 -1.58396995e-02 2.65369002e+01] [ 2.77804155e-02 7.86524919e-04 9.99613740e-01 2.30529371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.530385723 meters Centerline goodness [0,1] 0.9999552202046437 Centerline is valid? [True, True] Translation: X:164.55, Y:26.55, Z:2.31 [[ 8.37313645e-01 -5.46234252e-01 -2.31084906e-02 1.64552271e+02] [ 5.45999523e-01 8.37632074e-01 -1.60321241e-02 2.65530908e+01] [ 2.81137082e-02 8.06691417e-04 9.99604406e-01 2.30628287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.560385723 meters Centerline goodness [0,1] 0.999955035971223 Centerline is valid? [True, True] Translation: X:164.57, Y:26.57, Z:2.31 [[ 8.37401976e-01 -5.46099094e-01 -2.31021518e-02 1.64574970e+02] [ 5.45864362e-01 8.37720190e-01 -1.60306265e-02 2.65691136e+01] [ 2.81074497e-02 8.13436965e-04 9.99604577e-01 2.30799433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.590385723 meters Centerline goodness [0,1] 0.9997531418312388 Centerline is valid? [True, True] Translation: X:164.60, Y:26.58, Z:2.31 [[ 8.37064888e-01 -5.46627455e-01 -2.28210262e-02 1.64599934e+02] [ 5.46398452e-01 8.37375543e-01 -1.58408052e-02 2.65842598e+01] [ 2.77687882e-02 7.90408466e-04 9.99614060e-01 2.30970014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.620385723 meters Centerline goodness [0,1] 0.999775578446554 Centerline is valid? [True, True] Translation: X:164.62, Y:26.60, Z:2.31 [[ 8.35652575e-01 -5.48794532e-01 -2.25684500e-02 1.64624728e+02] [ 5.48571145e-01 8.35956965e-01 -1.56732824e-02 2.65999882e+01] [ 2.74676646e-02 7.17018378e-04 9.99622435e-01 2.31116435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.650385723 meters Centerline goodness [0,1] 0.9997538599239203 Centerline is valid? [True, True] Translation: X:164.65, Y:26.62, Z:2.31 [[ 8.34529492e-01 -5.50526528e-01 -2.19332885e-02 1.64649513e+02] [ 5.50315939e-01 8.34817418e-01 -1.52395942e-02 2.66152070e+01] [ 2.67000921e-02 6.47652538e-04 9.99643279e-01 2.31262291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.680385723 meters Centerline goodness [0,1] 0.999820490957232 Centerline is valid? [True, True] Translation: X:164.67, Y:26.63, Z:2.31 [[ 8.33380017e-01 -5.52301581e-01 -2.09931106e-02 1.64674430e+02] [ 5.52109037e-01 8.33644191e-01 -1.45936242e-02 2.66301078e+01] [ 2.55608664e-02 5.71548717e-04 9.99673104e-01 2.31412954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.710385723 meters Centerline goodness [0,1] 0.9997986802371099 Centerline is valid? [True, True] Translation: X:164.70, Y:26.64, Z:2.32 [[ 8.30530227e-01 -5.56634280e-01 -1.94375815e-02 1.64701797e+02] [ 5.56470247e-01 8.30757551e-01 -1.35186952e-02 2.66422548e+01] [ 2.36728867e-02 4.11249210e-04 9.99719673e-01 2.31749409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.740385723 meters Centerline goodness [0,1] 0.9999102877520354 Centerline is valid? [True, True] Translation: X:164.73, Y:26.65, Z:2.32 [[ 8.27280356e-01 -5.61478663e-01 -1.86795006e-02 1.64727750e+02] [ 5.61328272e-01 8.27491172e-01 -1.29973535e-02 2.66546119e+01] [ 2.27548585e-02 2.67123432e-04 9.99741039e-01 2.31948174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.770385723 meters Centerline goodness [0,1] 0.9999327610552031 Centerline is valid? [True, True] Translation: X:164.75, Y:26.67, Z:2.32 [[ 8.25670570e-01 -5.63835844e-01 -1.89010750e-02 1.64753121e+02] [ 5.63682338e-01 8.25886855e-01 -1.31577105e-02 2.66692507e+01] [ 2.30289381e-02 2.09732179e-04 9.99734777e-01 2.32012627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.800385723 meters Centerline goodness [0,1] 0.9999100537428887 Centerline is valid? [True, True] Translation: X:164.78, Y:26.68, Z:2.32 [[ 8.24384813e-01 -5.65718730e-01 -1.87616261e-02 1.64777213e+02] [ 5.65567847e-01 8.24598261e-01 -1.30659039e-02 2.66840921e+01] [ 2.28624308e-02 1.60360216e-04 9.99738608e-01 2.32044242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.80, Y:26.70, Z:2.32 [[ 8.22433908e-01 -5.68544848e-01 -1.89531532e-02 1.64802471e+02] [ 5.68391527e-01 8.22652264e-01 -1.32031868e-02 2.66982452e+01] [ 2.30984582e-02 8.59368298e-05 9.99733191e-01 2.32103271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.860385723 meters Centerline goodness [0,1] 0.9999323623573974 Centerline is valid? [True, True] Translation: X:164.83, Y:26.71, Z:2.32 [[ 8.21653270e-01 -5.69672659e-01 -1.89463553e-02 1.64826047e+02] [ 5.69519585e-01 8.21871680e-01 -1.32054830e-02 2.67139965e+01] [ 2.30942755e-02 6.00079157e-05 9.99733290e-01 2.32217277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.890385723 meters Centerline goodness [0,1] 0.9996624054735326 Centerline is valid? [True, True] Translation: X:164.85, Y:26.73, Z:2.32 [[ 8.21008547e-01 -5.70585302e-01 -1.94262301e-02 1.64848728e+02] [ 5.70424438e-01 8.21238340e-01 -1.35480337e-02 2.67310794e+01] [ 2.36838739e-02 4.18550488e-05 9.99719497e-01 2.32306872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.920385723 meters Centerline goodness [0,1] 0.9996192694452531 Centerline is valid? [True, True] Translation: X:164.87, Y:26.75, Z:2.32 [[ 8.20866790e-01 -5.70770595e-01 -1.99659784e-02 1.64870365e+02] [ 5.70600557e-01 8.21109570e-01 -1.39312267e-02 2.67480311e+01] [ 2.43457905e-02 4.30829260e-05 9.99703596e-01 2.32233304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.950385723 meters Centerline goodness [0,1] 0.9998203377650018 Centerline is valid? [True, True] Translation: X:164.89, Y:26.77, Z:2.32 [[ 8.20177267e-01 -5.71731518e-01 -2.07923593e-02 1.64892314e+02] [ 5.71547286e-01 8.20440778e-01 -1.45130858e-02 2.67669136e+01] [ 2.53564880e-02 1.94864872e-05 9.99678472e-01 2.32123927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.980385723 meters Centerline goodness [0,1] 0.9998205956225332 Centerline is valid? [True, True] Translation: X:164.91, Y:26.78, Z:2.32 [[ 8.19873503e-01 -5.72141194e-01 -2.14917062e-02 1.64914663e+02] [ 5.71944358e-01 8.20155140e-01 -1.50065695e-02 2.67834330e+01] [ 2.62124099e-02 1.14285993e-05 9.99656396e-01 2.32073966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.010385723 meters Centerline goodness [0,1] 0.9999102797030258 Centerline is valid? [True, True] Translation: X:164.94, Y:26.80, Z:2.32 [[ 8.18552271e-01 -5.73967274e-01 -2.31029874e-02 1.64938172e+02] [ 5.73740452e-01 8.18878236e-01 -1.61346698e-02 2.67993169e+01] [ 2.81793060e-02 -4.80478419e-05 9.99602883e-01 2.32079934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.040385723 meters Centerline goodness [0,1] 0.9998658708336128 Centerline is valid? [True, True] Translation: X:164.96, Y:26.81, Z:2.32 [[ 8.17592886e-01 -5.75301278e-01 -2.38812114e-02 1.64961283e+02] [ 5.75059394e-01 8.17941581e-01 -1.66811996e-02 2.68148414e+01] [ 2.91301512e-02 -9.46848649e-05 9.99575623e-01 2.32051812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.07038572300002 meters Centerline goodness [0,1] 0.9999554138707448 Centerline is valid? [True, True] Translation: X:164.98, Y:26.83, Z:2.32 [[ 8.16270493e-01 -5.77170384e-01 -2.40172632e-02 1.64984970e+02] [ 5.76926382e-01 8.16623734e-01 -1.67817490e-02 2.68308074e+01] [ 2.92989957e-02 -1.57746288e-04 9.99570680e-01 2.32062569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.10038572300002 meters Centerline goodness [0,1] 0.999731963368327 Centerline is valid? [True, True] Translation: X:165.01, Y:26.85, Z:2.32 [[ 8.13290153e-01 -5.81363662e-01 -2.39878909e-02 1.65009304e+02] [ 5.81121830e-01 8.13643780e-01 -1.67695451e-02 2.68470014e+01] [ 2.92668023e-02 -3.01381159e-04 9.99571590e-01 2.32166685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13038572300002 meters Centerline goodness [0,1] 0.9997995679575975 Centerline is valid? [True, True] Translation: X:165.03, Y:26.86, Z:2.32 [[ 8.10437021e-01 -5.85391179e-01 -2.25610857e-02 1.65033342e+02] [ 5.85178609e-01 8.10750884e-01 -1.57797417e-02 2.68636793e+01] [ 2.75287418e-02 -4.13777849e-04 9.99620927e-01 2.32336073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.16038572300002 meters Centerline goodness [0,1] 0.9999778152453633 Centerline is valid? [True, True] Translation: X:165.06, Y:26.88, Z:2.32 [[ 8.09082451e-01 -5.87299606e-01 -2.15583129e-02 1.65056930e+02] [ 5.87105997e-01 8.09369489e-01 -1.50857152e-02 2.68797409e+01] [ 2.63084753e-02 -4.51427361e-04 9.99653770e-01 2.32469658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19038572300002 meters Centerline goodness [0,1] 0.9999553451817451 Centerline is valid? [True, True] Translation: X:165.08, Y:26.90, Z:2.33 [[ 8.07885690e-01 -5.88992892e-01 -2.02011202e-02 1.65080037e+02] [ 5.88823257e-01 8.08138078e-01 -1.41428219e-02 2.68967693e+01] [ 2.46553160e-02 -4.69105908e-04 9.99695901e-01 2.32700535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.220385723 meters Centerline goodness [0,1] 0.9998663816141101 Centerline is valid? [True, True] Translation: X:165.10, Y:26.91, Z:2.33 [[ 8.06564381e-01 -5.90867666e-01 -1.81466296e-02 1.65103420e+02] [ 5.90731154e-01 8.06768356e-01 -1.27091722e-02 2.69128233e+01] [ 2.21495655e-02 -4.69013837e-04 9.99754558e-01 2.33024975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.250385723 meters Centerline goodness [0,1] 0.9998890171357543 Centerline is valid? [True, True] Translation: X:165.13, Y:26.93, Z:2.33 [[ 8.06455800e-01 -5.91039457e-01 -1.73609365e-02 1.65125977e+02] [ 5.90914477e-01 8.06642521e-01 -1.21624005e-02 2.69287555e+01] [ 2.11925282e-02 -4.50390234e-04 9.99775312e-01 2.33137674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.280385723 meters Centerline goodness [0,1] 0.999977799484948 Centerline is valid? [True, True] Translation: X:165.15, Y:26.95, Z:2.33 [[ 8.07406126e-01 -5.89745400e-01 -1.71962348e-02 1.65148426e+02] [ 5.89622370e-01 8.07589126e-01 -1.20525950e-02 2.69454553e+01] [ 2.09954547e-02 -4.07945700e-04 9.99779488e-01 2.33218011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.310385723 meters Centerline goodness [0,1] 0.9999555634553857 Centerline is valid? [True, True] Translation: X:165.17, Y:26.97, Z:2.33 [[ 8.08229773e-01 -5.88614838e-01 -1.72396719e-02 1.65169502e+02] [ 5.88490859e-01 8.08413527e-01 -1.20863362e-02 2.69656447e+01] [ 2.10509807e-02 -3.76852538e-04 9.99778333e-01 2.33247192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.340385723 meters Centerline goodness [0,1] 0.9999557404620696 Centerline is valid? [True, True] Translation: X:165.19, Y:26.99, Z:2.33 [[ 8.11648197e-01 -5.83871672e-01 -1.79185607e-02 1.65189461e+02] [ 5.83736434e-01 8.11845923e-01 -1.25687058e-02 2.69872388e+01] [ 2.18856218e-02 -2.58349322e-04 9.99760448e-01 2.33050932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.370385723 meters Centerline goodness [0,1] 0.9999779366340129 Centerline is valid? [True, True] Translation: X:165.21, Y:27.00, Z:2.33 [[ 8.13977672e-01 -5.80606829e-01 -1.83319321e-02 1.65211224e+02] [ 5.80464339e-01 8.14184058e-01 -1.28635164e-02 2.70046932e+01] [ 2.23942124e-02 -1.70417706e-04 9.99749204e-01 2.32931706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.400385723 meters Centerline goodness [0,1] 0.9999779444199383 Centerline is valid? [True, True] Translation: X:165.23, Y:27.03, Z:2.33 [[ 8.18781868e-01 -5.73810431e-01 -1.83804703e-02 1.65231035e+02] [ 5.73665379e-01 8.18988150e-01 -1.29012908e-02 2.70262089e+01] [ 2.24562826e-02 1.91035316e-05 9.99747826e-01 2.33045908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.430385723 meters Centerline goodness [0,1] 0.9999778452267541 Centerline is valid? [True, True] Translation: X:165.25, Y:27.04, Z:2.33 [[ 8.20919497e-01 -5.70752063e-01 -1.82554886e-02 1.65252940e+02] [ 5.70608075e-01 8.21122446e-01 -1.28200536e-02 2.70446276e+01] [ 2.23070635e-02 1.07502744e-04 9.99751161e-01 2.33070136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.460385723 meters Centerline goodness [0,1] 0.9998456415797482 Centerline is valid? [True, True] Translation: X:165.27, Y:27.06, Z:2.33 [[ 8.24745314e-01 -5.65187082e-01 -1.89401849e-02 1.65274215e+02] [ 5.65030455e-01 8.24962719e-01 -1.33078030e-02 2.70647114e+01] [ 2.31463447e-02 2.73766864e-04 9.99732050e-01 2.33122667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.30, Y:27.08, Z:2.33 [[ 8.26037079e-01 -5.63300172e-01 -1.88589532e-02 1.65296943e+02] [ 5.63144238e-01 8.26252266e-01 -1.32574512e-02 2.70821760e+01] [ 2.30501773e-02 3.30835501e-04 9.99734255e-01 2.33187922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.520385723 meters Centerline goodness [0,1] 0.9999338507673311 Centerline is valid? [True, True] Translation: X:165.32, Y:27.10, Z:2.33 [[ 8.28331892e-01 -5.59923142e-01 -1.87710517e-02 1.65319098e+02] [ 5.59767669e-01 8.28544442e-01 -1.32009278e-02 2.70999825e+01] [ 2.29441555e-02 4.27321697e-04 9.99736657e-01 2.33214560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.550385723 meters Centerline goodness [0,1] 0.9998671272920542 Centerline is valid? [True, True] Translation: X:165.34, Y:27.12, Z:2.33 [[ 8.29279651e-01 -5.58510639e-01 -1.90033426e-02 1.65340705e+02] [ 5.58350865e-01 8.29497222e-01 -1.33667383e-02 2.71175909e+01] [ 2.32286854e-02 4.74231274e-04 9.99730065e-01 2.33201853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.580385723 meters Centerline goodness [0,1] 0.9999557071355805 Centerline is valid? [True, True] Translation: X:165.36, Y:27.13, Z:2.33 [[ 8.30020503e-01 -5.57406239e-01 -1.90853273e-02 1.65364076e+02] [ 5.57244735e-01 8.30239740e-01 -1.34268360e-02 2.71337591e+01] [ 2.33295993e-02 5.09351055e-04 9.99727698e-01 2.33276422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.39, Y:27.15, Z:2.33 [[ 8.31104868e-01 -5.55791429e-01 -1.89891041e-02 1.65387353e+02] [ 5.55631062e-01 8.31321587e-01 -1.33619897e-02 2.71500340e+01] [ 2.32125315e-02 5.54278603e-04 9.99730399e-01 2.33329843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.640385723 meters Centerline goodness [0,1] 0.9999112550751004 Centerline is valid? [True, True] Translation: X:165.41, Y:27.17, Z:2.33 [[ 8.31044361e-01 -5.55929342e-01 -1.75452885e-02 1.65410116e+02] [ 5.55792398e-01 8.31229394e-01 -1.23492661e-02 2.71668047e+01] [ 2.14494789e-02 5.11249955e-04 9.99769803e-01 2.33483642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.43, Y:27.19, Z:2.33 [[ 8.30680376e-01 -5.56473478e-01 -1.75322759e-02 1.65430845e+02] [ 5.56336762e-01 8.30865222e-01 -1.23446186e-02 2.71850854e+01] [ 2.14364112e-02 5.00582835e-04 9.99770088e-01 2.33485668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.46, Y:27.20, Z:2.34 [[ 8.29080017e-01 -5.58852303e-01 -1.76190047e-02 1.65458395e+02] [ 5.58714617e-01 8.29267088e-01 -1.24126450e-02 2.71967212e+01] [ 2.15476960e-02 4.47080442e-04 9.99767721e-01 2.33626444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.48, Y:27.21, Z:2.34 [[ 8.28156952e-01 -5.60213144e-01 -1.78127918e-02 1.65482260e+02] [ 5.60072607e-01 8.28348391e-01 -1.25546309e-02 2.72118517e+01] [ 2.17884666e-02 4.20748109e-04 9.99762515e-01 2.33634500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.51, Y:27.23, Z:2.34 [[ 8.26057142e-01 -5.63289109e-01 -1.83023817e-02 1.65507257e+02] [ 5.63141415e-01 8.26259799e-01 -1.29031226e-02 2.72251313e+01] [ 2.23907107e-02 3.51887444e-04 9.99749235e-01 2.33593272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.53, Y:27.24, Z:2.34 [[ 8.24845417e-01 -5.65058489e-01 -1.84103903e-02 1.65532087e+02] [ 5.64909389e-01 8.25050791e-01 -1.29836113e-02 2.72396549e+01] [ 2.25260069e-02 3.09269965e-04 9.99746209e-01 2.33623126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.82038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.56, Y:27.25, Z:2.34 [[ 8.23119294e-01 -5.67555484e-01 -1.88520958e-02 1.65558601e+02] [ 5.67399641e-01 8.23335114e-01 -1.33018288e-02 2.72525601e+01] [ 2.30711183e-02 2.52319599e-04 9.99733794e-01 2.33659197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.85038572300002 meters Centerline goodness [0,1] 0.9999330327246753 Centerline is valid? [True, True] Translation: X:165.58, Y:27.27, Z:2.34 [[ 8.22222328e-01 -5.68853716e-01 -1.88651131e-02 1.65582422e+02] [ 5.68697878e-01 8.22438691e-01 -1.33162777e-02 2.72676190e+01] [ 2.30904130e-02 2.20391074e-04 9.99733357e-01 2.33667162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.88038572300002 meters Centerline goodness [0,1] 0.9999554337411146 Centerline is valid? [True, True] Translation: X:165.61, Y:27.28, Z:2.34 [[ 8.21429217e-01 -5.70005052e-01 -1.86623544e-02 1.65606666e+02] [ 5.69852755e-01 8.21641166e-01 -1.31769375e-02 2.72826783e+01] [ 2.28446796e-02 1.89127351e-04 9.99739008e-01 2.33731419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91038572300002 meters Centerline goodness [0,1] 0.9998436243409883 Centerline is valid? [True, True] Translation: X:165.63, Y:27.30, Z:2.34 [[ 8.20077252e-01 -5.71981364e-01 -1.76244342e-02 1.65632680e+02] [ 5.71845882e-01 8.20266604e-01 -1.24492764e-02 2.72967106e+01] [ 2.15774889e-02 1.30908214e-04 9.99767170e-01 2.33866448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.94038572300002 meters Centerline goodness [0,1] 0.9997989859960243 Centerline is valid? [True, True] Translation: X:165.66, Y:27.31, Z:2.34 [[ 8.19398097e-01 -5.72963235e-01 -1.73173599e-02 1.65655435e+02] [ 5.72832584e-01 8.19581064e-01 -1.22355857e-02 2.73110428e+01] [ 2.12035210e-02 1.05867601e-04 9.99775174e-01 2.33905558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.970385723 meters Centerline goodness [0,1] 0.9997989859960243 Centerline is valid? [True, True] Translation: X:165.68, Y:27.33, Z:2.34 [[ 8.19243434e-01 -5.73184413e-01 -1.73154317e-02 1.65677926e+02] [ 5.73053755e-01 8.19426396e-01 -1.22383139e-02 2.73270308e+01] [ 2.12035326e-02 1.03485106e-04 9.99775174e-01 2.33947381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.000385723 meters Centerline goodness [0,1] 0.9999105645612074 Centerline is valid? [True, True] Translation: X:165.70, Y:27.34, Z:2.34 [[ 8.18283631e-01 -5.74584891e-01 -1.62512096e-02 1.65703556e+02] [ 5.74469955e-01 8.18444988e-01 -1.14922590e-02 2.73407268e+01] [ 1.99039994e-02 6.80957512e-05 9.99801893e-01 2.34177773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.030385723 meters Centerline goodness [0,1] 0.9998882082010464 Centerline is valid? [True, True] Translation: X:165.73, Y:27.36, Z:2.34 [[ 8.17992856e-01 -5.75020777e-01 -1.54529650e-02 1.65727010e+02] [ 5.74916828e-01 8.18138804e-01 -1.09333711e-02 2.73557198e+01] [ 1.89295859e-02 5.92498575e-05 9.99820818e-01 2.34322916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.060385723 meters Centerline goodness [0,1] 0.9999551569506726 Centerline is valid? [True, True] Translation: X:165.75, Y:27.37, Z:2.34 [[ 8.17824558e-01 -5.75277231e-01 -1.48020410e-02 1.65749781e+02] [ 5.75181799e-01 8.17958498e-01 -1.04782409e-02 2.73697648e+01] [ 1.81353486e-02 5.54981629e-05 9.99835540e-01 2.34394943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.77, Y:27.39, Z:2.34 [[ 8.17397437e-01 -5.75876367e-01 -1.50943385e-02 1.65773376e+02] [ 5.75777169e-01 8.17536793e-01 -1.06884955e-02 2.73854609e+01] [ 1.84954290e-02 4.57733198e-05 9.99828944e-01 2.34388670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.120385723 meters Centerline goodness [0,1] 0.9999551539341212 Centerline is valid? [True, True] Translation: X:165.80, Y:27.40, Z:2.34 [[ 8.16102788e-01 -5.77686399e-01 -1.59581923e-02 1.65797319e+02] [ 5.77575738e-01 8.16258798e-01 -1.13067352e-02 2.73996215e+01] [ 1.95577620e-02 1.03934448e-05 9.99808729e-01 2.34323192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.82, Y:27.41, Z:2.34 [[ 8.14885723e-01 -5.79398869e-01 -1.60688633e-02 1.65820922e+02] [ 5.79286868e-01 8.15044140e-01 -1.13918734e-02 2.74143281e+01] [ 1.96972715e-02 -2.54065404e-05 9.99805990e-01 2.34302760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.85, Y:27.43, Z:2.34 [[ 8.12592872e-01 -5.82603578e-01 -1.63062821e-02 1.65845735e+02] [ 5.82488771e-01 8.12756459e-01 -1.15659362e-02 2.74271438e+01] [ 1.99913919e-02 -9.98288833e-05 9.99800147e-01 2.34328123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.87, Y:27.44, Z:2.34 [[ 8.11228454e-01 -5.84503783e-01 -1.62395816e-02 1.65869849e+02] [ 5.84390234e-01 8.11390971e-01 -1.15216162e-02 2.74428811e+01] [ 1.99110781e-02 -1.43590004e-04 9.99801745e-01 2.34378640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.89, Y:27.46, Z:2.34 [[ 8.08605479e-01 -5.88126151e-01 -1.62729703e-02 1.65894025e+02] [ 5.88012764e-01 8.08769175e-01 -1.15503567e-02 2.74563402e+01] [ 1.99541436e-02 -2.29032539e-04 9.99800870e-01 2.34472135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.92, Y:27.47, Z:2.35 [[ 8.07405752e-01 -5.89781282e-01 -1.59371240e-02 1.65918046e+02] [ 5.89672794e-01 8.07562983e-01 -1.13148228e-02 2.74719830e+01] [ 1.95435021e-02 -2.62035400e-04 9.99808973e-01 2.34531000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.94, Y:27.49, Z:2.35 [[ 8.05405876e-01 -5.92503214e-01 -1.61652754e-02 1.65941749e+02] [ 5.92392028e-01 8.05568019e-01 -1.14826729e-02 2.74887111e+01] [ 1.98257495e-02 -3.27968033e-04 9.99803397e-01 2.34620789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.97, Y:27.51, Z:2.35 [[ 8.04452405e-01 -5.93804472e-01 -1.58926801e-02 1.65965385e+02] [ 5.93697146e-01 8.04609301e-01 -1.12947564e-02 2.75059274e+01] [ 1.94942750e-02 -3.49344886e-04 9.99809908e-01 2.34664042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.99, Y:27.52, Z:2.35 [[ 8.03518956e-01 -5.95064010e-01 -1.60034877e-02 1.65988682e+02] [ 5.94955317e-01 8.03678220e-01 -1.13793812e-02 2.75229698e+01] [ 1.96331147e-02 -3.77811602e-04 9.99807180e-01 2.34658676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.01, Y:27.54, Z:2.35 [[ 8.03163090e-01 -5.95529754e-01 -1.65336614e-02 1.66010994e+02] [ 5.95413727e-01 8.03333152e-01 -1.17618079e-02 2.75390749e+01] [ 2.02865449e-02 -3.97718998e-04 9.99794128e-01 2.34697719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.03, Y:27.56, Z:2.35 [[ 8.02697854e-01 -5.96154975e-01 -1.65952341e-02 1.66033212e+02] [ 5.96038136e-01 8.02869277e-01 -1.18095143e-02 2.75572440e+01] [ 2.03641043e-02 -4.11920583e-04 9.99792545e-01 2.34683694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.06, Y:27.57, Z:2.35 [[ 8.02660250e-01 -5.96200948e-01 -1.67616229e-02 1.66055187e+02] [ 5.96081656e-01 8.02835138e-01 -1.19331695e-02 2.75737734e+01] [ 2.05713868e-02 -4.13015145e-04 9.99788301e-01 2.34733388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.08, Y:27.59, Z:2.35 [[ 8.02568712e-01 -5.96325309e-01 -1.67209081e-02 1.66077359e+02] [ 5.96206541e-01 8.02742771e-01 -1.19081416e-02 2.75912194e+01] [ 2.05237144e-02 -4.12012882e-04 9.99789281e-01 2.34810723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.10, Y:27.61, Z:2.35 [[ 8.03097544e-01 -5.95613621e-01 -1.66957902e-02 1.66098415e+02] [ 5.95494942e-01 8.03270978e-01 -1.18958109e-02 2.76092915e+01] [ 2.04965507e-02 -3.88762111e-04 9.99789848e-01 2.34816620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.12, Y:27.63, Z:2.35 [[ 8.03708062e-01 -5.94769249e-01 -1.74037428e-02 1.66119607e+02] [ 5.94640021e-01 8.03896384e-01 -1.24036402e-02 2.76286773e+01] [ 2.13681096e-02 -3.80056353e-04 9.99771604e-01 2.34877326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.57038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.14, Y:27.65, Z:2.35 [[ 8.04123796e-01 -5.94203872e-01 -1.75122771e-02 1.66141622e+02] [ 5.94072759e-01 8.04314384e-01 -1.24871882e-02 2.76467740e+01] [ 2.15053119e-02 -3.62321586e-04 9.99768668e-01 2.34897426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.16, Y:27.67, Z:2.35 [[ 8.04601956e-01 -5.93553377e-01 -1.76091309e-02 1.66162566e+02] [ 5.93420518e-01 8.04794553e-01 -1.25625229e-02 2.76670639e+01] [ 2.16282605e-02 -3.41789035e-04 9.99766023e-01 2.34978244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.18, Y:27.69, Z:2.35 [[ 8.06506559e-01 -5.90953772e-01 -1.79111743e-02 1.66182436e+02] [ 5.90815556e-01 8.06705377e-01 -1.27833389e-02 2.76877445e+01] [ 2.20034030e-02 -2.72353707e-04 9.99757859e-01 2.34901029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.66038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.20, Y:27.71, Z:2.35 [[ 8.07321093e-01 -5.89826236e-01 -1.83756449e-02 1.66204705e+02] [ 5.89680402e-01 8.07530155e-01 -1.31176491e-02 2.77052456e+01] [ 2.25760209e-02 -2.45602884e-04 9.99745099e-01 2.34827410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.22, Y:27.73, Z:2.35 [[ 8.09651919e-01 -5.86578907e-01 -1.97219593e-02 1.66224796e+02] [ 5.86409825e-01 8.09892067e-01 -1.40839505e-02 2.77265190e+01] [ 2.42340067e-02 -1.62053162e-04 9.99706300e-01 2.34822542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.25, Y:27.74, Z:2.35 [[ 8.10502555e-01 -5.85399595e-01 -1.98222797e-02 1.66246179e+02] [ 5.85228252e-01 8.10744904e-01 -1.41631217e-02 2.77448774e+01] [ 2.43618980e-02 -1.21311717e-04 9.99703198e-01 2.34851955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.27, Y:27.77, Z:2.35 [[ 8.12869120e-01 -5.82120891e-01 -1.94695185e-02 1.66266660e+02] [ 5.81954469e-01 8.13102250e-01 -1.39186160e-02 2.77665647e+01] [ 2.39330264e-02 -1.63601917e-05 9.99713564e-01 2.34961254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.29, Y:27.79, Z:2.35 [[ 8.13920372e-01 -5.80660376e-01 -1.91612928e-02 1.66287765e+02] [ 5.80498607e-01 8.14145888e-01 -1.37055040e-02 2.77852928e+01] [ 2.35583309e-02 3.20851370e-05 9.99722463e-01 2.35110159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.31, Y:27.80, Z:2.35 [[ 8.15168909e-01 -5.78929479e-01 -1.84474304e-02 1.66308543e+02] [ 5.78778926e-01 8.15377612e-01 -1.32024217e-02 2.78040464e+01] [ 2.26848929e-02 8.52197101e-05 9.99742661e-01 2.35171486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.33, Y:27.82, Z:2.35 [[ 8.17507876e-01 -5.75654510e-01 -1.73999187e-02 1.66327392e+02] [ 5.75519710e-01 8.17693008e-01 -1.24582542e-02 2.78250000e+01] [ 2.13994421e-02 1.70724795e-04 9.99770991e-01 2.35234862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.35, Y:27.85, Z:2.35 [[ 8.19054798e-01 -5.73447704e-01 -1.75204950e-02 1.66346557e+02] [ 5.73310474e-01 8.19242136e-01 -1.25468504e-02 2.78467741e+01] [ 2.15484903e-02 2.31874740e-04 9.99767777e-01 2.35122427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.900385723 meters Centerline goodness [0,1] 0.9999779434469981 Centerline is valid? [True, True] Translation: X:166.37, Y:27.86, Z:2.35 [[ 8.19273881e-01 -5.73122561e-01 -1.79119356e-02 1.66370220e+02] [ 5.72978972e-01 8.19469626e-01 -1.28307944e-02 2.78631065e+01] [ 2.20319049e-02 2.48772275e-04 9.99757237e-01 2.35303694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.39, Y:27.88, Z:2.35 [[ 8.19335165e-01 -5.73020516e-01 -1.83678125e-02 1.66392703e+02] [ 5.72869345e-01 8.19540981e-01 -1.31641305e-02 2.78807437e+01] [ 2.25964919e-02 2.63478259e-04 9.99744632e-01 2.35339924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.41, Y:27.90, Z:2.35 [[ 8.18657173e-01 -5.73953788e-01 -1.94289145e-02 1.66413137e+02] [ 5.73784764e-01 8.18887650e-01 -1.39306161e-02 2.78983830e+01] [ 2.39056280e-02 2.56383688e-04 9.99714187e-01 2.35264468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.44, Y:27.92, Z:2.35 [[ 8.16861788e-01 -5.76491165e-01 -1.98684554e-02 1.66436639e+02] [ 5.76315032e-01 8.17103360e-01 -1.42507375e-02 2.79158030e+01] [ 2.44500059e-02 1.90393376e-04 9.99701036e-01 2.35350904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.46, Y:27.93, Z:2.35 [[ 8.15563628e-01 -5.78335208e-01 -1.96049669e-02 1.66459887e+02] [ 5.78164079e-01 8.15799220e-01 -1.40687718e-02 2.79323939e+01] [ 2.41301828e-02 1.39090920e-04 9.99708815e-01 2.35449387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.48, Y:27.95, Z:2.36 [[ 8.14159145e-01 -5.80310896e-01 -1.95997728e-02 1.66482856e+02] [ 5.80140248e-01 8.14395025e-01 -1.40725329e-02 2.79489528e+01] [ 2.41284017e-02 8.66642671e-05 9.99708864e-01 2.35503010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.51, Y:27.96, Z:2.36 [[ 8.11506807e-01 -5.84024999e-01 -1.92743915e-02 1.66505842e+02] [ 5.83860875e-01 8.11735671e-01 -1.38448042e-02 2.79642356e+01] [ 2.37314229e-02 -1.84102219e-05 9.99718370e-01 2.35636893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.53, Y:27.98, Z:2.36 [[ 8.10354892e-01 -5.85627104e-01 -1.91270409e-02 1.66528919e+02] [ 5.85465822e-01 8.10580589e-01 -1.37433608e-02 2.79808557e+01] [ 2.35524927e-02 -6.12290331e-05 9.99722600e-01 2.35776316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.55, Y:28.00, Z:2.36 [[ 8.08573327e-01 -5.88105743e-01 -1.84610286e-02 1.66550785e+02] [ 5.87955991e-01 8.08784038e-01 -1.32715006e-02 2.79974631e+01] [ 2.27360310e-02 -1.23290995e-04 9.99741495e-01 2.35838311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.170385723 meters Centerline goodness [0,1] 0.9999781973575197 Centerline is valid? [True, True] Translation: X:166.57, Y:28.02, Z:2.36 [[ 8.07834740e-01 -5.89104531e-01 -1.89442385e-02 1.66573683e+02] [ 5.88946972e-01 8.08056823e-01 -1.36248232e-02 2.80151732e+01] [ 2.33344663e-02 -1.50546432e-04 9.99727703e-01 2.35864066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.60, Y:28.03, Z:2.36 [[ 8.06768654e-01 -5.90527496e-01 -2.00403605e-02 1.66595908e+02] [ 5.90351427e-01 8.07017495e-01 -1.44206345e-02 2.80335736e+01] [ 2.46887028e-02 -1.96739542e-04 9.99695168e-01 2.35770446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.62, Y:28.05, Z:2.36 [[ 8.06496607e-01 -5.90883733e-01 -2.04850247e-02 1.66617796e+02] [ 5.90699738e-01 8.06756699e-01 -1.47461643e-02 2.80505316e+01] [ 2.52396995e-02 -2.07767223e-04 9.99681406e-01 2.35719006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.64, Y:28.07, Z:2.36 [[ 8.06344271e-01 -5.91057566e-01 -2.14445857e-02 1.66640057e+02] [ 5.90855859e-01 8.06629348e-01 -1.54417763e-02 2.80690009e+01] [ 2.64248110e-02 -2.19271252e-04 9.99650780e-01 2.35777593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.66, Y:28.09, Z:2.36 [[ 8.06150297e-01 -5.91329489e-01 -2.12399182e-02 1.66661719e+02] [ 5.91131498e-01 8.06430026e-01 -1.53024209e-02 2.80866050e+01] [ 2.61772805e-02 -2.19533500e-04 9.99657292e-01 2.35899871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.68, Y:28.11, Z:2.36 [[ 8.05960826e-01 -5.91592792e-01 -2.10977835e-02 1.66682146e+02] [ 5.91397360e-01 8.06236888e-01 -1.52066760e-02 2.81051516e+01] [ 2.60059712e-02 -2.21188352e-04 9.99661763e-01 2.35903165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.35038572300002 meters Centerline goodness [0,1] 0.9999568043886741 Centerline is valid? [True, True] Translation: X:166.70, Y:28.12, Z:2.36 [[ 8.05701516e-01 -5.91945735e-01 -2.11024385e-02 1.66703644e+02] [ 5.91750186e-01 8.05977788e-01 -1.52158662e-02 2.81234093e+01] [ 2.60150638e-02 -2.27925445e-04 9.99661525e-01 2.35953185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.38038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.72, Y:28.14, Z:2.36 [[ 8.05614294e-01 -5.92060759e-01 -2.12053419e-02 1.66724775e+02] [ 5.91863108e-01 8.05893297e-01 -1.52988563e-02 2.81424238e+01] [ 2.61470954e-02 -2.25682232e-04 9.99658081e-01 2.36021934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.75, Y:28.16, Z:2.36 [[ 8.05795227e-01 -5.91824113e-01 -2.09349448e-02 1.66746524e+02] [ 5.91631168e-01 8.06067104e-01 -1.51124193e-02 2.81595175e+01] [ 2.58188645e-02 -2.08250462e-04 9.99666616e-01 2.36103743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.44038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.77, Y:28.18, Z:2.36 [[ 8.06877345e-01 -5.90353345e-01 -2.07816997e-02 1.66768290e+02] [ 5.90162522e-01 8.07144909e-01 -1.50097801e-02 2.81796062e+01] [ 2.56349170e-02 -1.53528833e-04 9.99671360e-01 2.36172953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.79, Y:28.20, Z:2.36 [[ 8.07849345e-01 -5.89001117e-01 -2.13803686e-02 1.66788844e+02] [ 5.88798508e-01 8.08132212e-01 -1.54481383e-02 2.81974644e+01] [ 2.63771352e-02 -1.08960727e-04 9.99652057e-01 2.36125444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.500385723 meters Centerline goodness [0,1] 0.9999783652806024 Centerline is valid? [True, True] Translation: X:166.81, Y:28.22, Z:2.36 [[ 8.10131731e-01 -5.85815808e-01 -2.25037085e-02 1.66809184e+02] [ 5.85589945e-01 8.10444223e-01 -1.62658378e-02 2.82192188e+01] [ 2.77667855e-02 -4.74050565e-07 9.99614428e-01 2.35977149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.530385723 meters Centerline goodness [0,1] 0.9999133336222212 Centerline is valid? [True, True] Translation: X:166.83, Y:28.24, Z:2.36 [[ 8.11545479e-01 -5.83826239e-01 -2.32563544e-02 1.66829568e+02] [ 5.83584013e-01 8.11878634e-01 -1.68161377e-02 2.82377964e+01] [ 2.86990397e-02 7.50239313e-05 9.99588095e-01 2.35863273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.560385723 meters Centerline goodness [0,1] 0.9999784301460279 Centerline is valid? [True, True] Translation: X:166.85, Y:28.26, Z:2.36 [[ 8.14765377e-01 -5.79306626e-01 -2.36899507e-02 1.66850193e+02] [ 5.79053188e-01 8.15109670e-01 -1.71356867e-02 2.82586398e+01] [ 2.92367247e-02 2.43822734e-04 9.99572486e-01 2.35875423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.590385723 meters Centerline goodness [0,1] 0.9998490468386095 Centerline is valid? [True, True] Translation: X:166.87, Y:28.28, Z:2.36 [[ 8.16178916e-01 -5.77297353e-01 -2.40778523e-02 1.66871290e+02] [ 5.77034492e-01 8.16533931e-01 -1.74222682e-02 2.82763016e+01] [ 2.97182127e-02 3.25936677e-04 9.99558263e-01 2.35880154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.620385723 meters Centerline goodness [0,1] 0.9998490989048892 Centerline is valid? [True, True] Translation: X:166.89, Y:28.30, Z:2.36 [[ 8.18447221e-01 -5.74025831e-01 -2.52683874e-02 1.66891743e+02] [ 5.73734661e-01 8.18837056e-01 -1.82869825e-02 2.82953524e+01] [ 3.11878923e-02 4.69580323e-04 9.99513429e-01 2.35852603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.650385723 meters Centerline goodness [0,1] 0.9999568863308111 Centerline is valid? [True, True] Translation: X:166.92, Y:28.31, Z:2.36 [[ 8.18877150e-01 -5.73387738e-01 -2.58208317e-02 1.66915564e+02] [ 5.73083169e-01 8.19283981e-01 -1.86932826e-02 2.83123500e+01] [ 3.18730929e-02 5.10017937e-04 9.99491794e-01 2.36014835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.680385723 meters Centerline goodness [0,1] 0.9998919946429343 Centerline is valid? [True, True] Translation: X:166.94, Y:28.33, Z:2.36 [[ 8.19349973e-01 -5.72676415e-01 -2.65959642e-02 1.66939018e+02] [ 5.72352585e-01 8.19781317e-01 -1.92642306e-02 2.83292540e+01] [ 3.28350451e-02 5.61877985e-04 9.99460627e-01 2.36051900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.710385723 meters Centerline goodness [0,1] 0.9998490012511325 Centerline is valid? [True, True] Translation: X:166.96, Y:28.34, Z:2.36 [[ 8.19047635e-01 -5.73103453e-01 -2.67096110e-02 1.66961986e+02] [ 5.72776732e-01 8.19482839e-01 -1.93569554e-02 2.83447967e+01] [ 3.29816058e-02 5.55624837e-04 9.99455804e-01 2.36136669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.740385723 meters Centerline goodness [0,1] 0.9999352191751242 Centerline is valid? [True, True] Translation: X:166.99, Y:28.36, Z:2.36 [[ 8.18404990e-01 -5.74037370e-01 -2.63509284e-02 1.66987136e+02] [ 5.73719524e-01 8.18828937e-01 -1.91070443e-02 2.83598681e+01] [ 3.25450602e-02 5.19258289e-04 9.99470134e-01 2.36294994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.770385723 meters Centerline goodness [0,1] 0.9999134985511007 Centerline is valid? [True, True] Translation: X:167.01, Y:28.38, Z:2.36 [[ 8.18030550e-01 -5.74611766e-01 -2.54428498e-02 1.67009635e+02] [ 5.74315546e-01 8.18425980e-01 -1.84545157e-02 2.83765379e+01] [ 3.14272711e-02 4.84133486e-04 9.99505924e-01 2.36267595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.800385723 meters Centerline goodness [0,1] 0.9999784073242356 Centerline is valid? [True, True] Translation: X:167.03, Y:28.39, Z:2.36 [[ 8.17234617e-01 -5.75784251e-01 -2.44964798e-02 1.67033294e+02] [ 5.75510017e-01 8.17601562e-01 -1.77737543e-02 2.83923874e+01] [ 3.02622080e-02 4.27357799e-04 9.99541903e-01 2.36357537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.830385723 meters Centerline goodness [0,1] 0.9999569744428191 Centerline is valid? [True, True] Translation: X:167.06, Y:28.41, Z:2.36 [[ 8.17005041e-01 -5.76122265e-01 -2.42053294e-02 1.67056495e+02] [ 5.75854494e-01 8.17363422e-01 -1.75680967e-02 2.84084170e+01] [ 2.99059226e-02 4.14475890e-04 9.99552632e-01 2.36405379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.860385723 meters Centerline goodness [0,1] 0.9998702899020688 Centerline is valid? [True, True] Translation: X:167.08, Y:28.42, Z:2.37 [[ 8.16842042e-01 -5.76367215e-01 -2.38728177e-02 1.67081006e+02] [ 5.76106672e-01 8.17190718e-01 -1.73330321e-02 2.84220757e+01] [ 2.94988365e-02 4.05059780e-04 9.99564733e-01 2.36680758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.890385723 meters Centerline goodness [0,1] 0.9998702899020688 Centerline is valid? [True, True] Translation: X:167.10, Y:28.44, Z:2.37 [[ 8.16685863e-01 -5.76588687e-01 -2.38681153e-02 1.67103281e+02] [ 5.76328048e-01 8.17034468e-01 -1.73395060e-02 2.84383415e+01] [ 2.94988358e-02 4.05065103e-04 9.99564733e-01 2.36722488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.920385723 meters Centerline goodness [0,1] 0.9999353197361045 Centerline is valid? [True, True] Translation: X:167.13, Y:28.45, Z:2.37 [[ 8.16520210e-01 -5.76824693e-01 -2.38331816e-02 1.67126854e+02] [ 5.76564672e-01 8.16867866e-01 -1.73224575e-02 2.84524734e+01] [ 2.94605815e-02 4.02766076e-04 9.99565862e-01 2.36816244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.950385723 meters Centerline goodness [0,1] 0.9999351995852773 Centerline is valid? [True, True] Translation: X:167.15, Y:28.47, Z:2.37 [[ 8.16527329e-01 -5.76767499e-01 -2.49474244e-02 1.67150557e+02] [ 5.76482402e-01 8.16908238e-01 -1.81375383e-02 2.84672060e+01] [ 3.08408991e-02 4.28044603e-04 9.99524215e-01 2.36822681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.980385723 meters Centerline goodness [0,1] 0.9999568155809384 Centerline is valid? [True, True] Translation: X:167.17, Y:28.48, Z:2.37 [[ 8.16465582e-01 -5.76841853e-01 -2.52473873e-02 1.67174667e+02] [ 5.76549700e-01 8.16855732e-01 -1.83617954e-02 2.84839530e+01] [ 3.12153251e-02 4.35400369e-04 9.99512588e-01 2.36857407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.010385723 meters Centerline goodness [0,1] 0.9998921600345088 Centerline is valid? [True, True] Translation: X:167.20, Y:28.50, Z:2.37 [[ 8.16600063e-01 -5.76658922e-01 -2.50763913e-02 1.67198011e+02] [ 5.76370333e-01 8.16984876e-01 -1.82469663e-02 2.85000981e+01] [ 3.10093084e-02 4.47185836e-04 9.99518996e-01 2.36907693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.040385723 meters Centerline goodness [0,1] 0.9999134929388611 Centerline is valid? [True, True] Translation: X:167.22, Y:28.52, Z:2.37 [[ 8.17054617e-01 -5.75984509e-01 -2.57604066e-02 1.67221261e+02] [ 5.75679404e-01 8.17460460e-01 -1.87515192e-02 2.85158189e+01] [ 3.18586984e-02 4.91279861e-04 9.99492262e-01 2.36776390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.07038572300002 meters Centerline goodness [0,1] 0.9999566207569678 Centerline is valid? [True, True] Translation: X:167.25, Y:28.53, Z:2.37 [[ 8.17482263e-01 -5.75354279e-01 -2.62717063e-02 1.67245090e+02] [ 5.75036506e-01 8.17904135e-01 -1.91270172e-02 2.85310178e+01] [ 3.24925484e-02 5.28807123e-04 9.99471838e-01 2.36715406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.10038572300002 meters Centerline goodness [0,1] 0.9999564914723286 Centerline is valid? [True, True] Translation: X:167.27, Y:28.55, Z:2.37 [[ 8.17599799e-01 -5.75186816e-01 -2.62810921e-02 1.67268792e+02] [ 5.74868522e-01 8.18021903e-01 -1.91402022e-02 2.85470303e+01] [ 3.25077010e-02 5.40852885e-04 9.99471339e-01 2.36702974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13038572300002 meters Centerline goodness [0,1] 0.9999565292992523 Centerline is valid? [True, True] Translation: X:167.29, Y:28.56, Z:2.37 [[ 8.17630393e-01 -5.75133729e-01 -2.64902610e-02 1.67292819e+02] [ 5.74810020e-01 8.18059219e-01 -1.93016986e-02 2.85625879e+01] [ 3.27716602e-02 5.54787987e-04 9.99462711e-01 2.36815582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.16038572300002 meters Centerline goodness [0,1] 0.9998035877962551 Centerline is valid? [True, True] Translation: X:167.32, Y:28.58, Z:2.37 [[ 8.18331843e-01 -5.74161857e-01 -2.59067070e-02 1.67316993e+02] [ 5.73851583e-01 8.18741607e-01 -1.88823016e-02 2.85768821e+01] [ 3.20523963e-02 5.85383886e-04 9.99486019e-01 2.36999130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19038572300002 meters Centerline goodness [0,1] 0.9998910865208678 Centerline is valid? [True, True] Translation: X:167.34, Y:28.59, Z:2.37 [[ 8.18537356e-01 -5.73899112e-01 -2.52270757e-02 1.67341254e+02] [ 5.73604572e-01 8.18925800e-01 -1.83937350e-02 2.85911931e+01] [ 3.12152513e-02 5.85593244e-04 9.99512514e-01 2.37327033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.37, Y:28.60, Z:2.38 [[ 8.19219405e-01 -5.72940243e-01 -2.48806012e-02 1.67366416e+02] [ 5.72653065e-01 8.19596910e-01 -1.81486412e-02 2.86047334e+01] [ 3.07901507e-02 6.19766574e-04 9.99525679e-01 2.37631516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.39, Y:28.62, Z:2.38 [[ 8.19471936e-01 -5.72573568e-01 -2.50051069e-02 1.67388246e+02] [ 5.72283207e-01 8.19853096e-01 -1.82436689e-02 2.86214522e+01] [ 3.09463569e-02 6.40171877e-04 9.99520842e-01 2.37574209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.280385723 meters Centerline goodness [0,1] 0.9999781138517432 Centerline is valid? [True, True] Translation: X:167.41, Y:28.64, Z:2.38 [[ 8.20101517e-01 -5.71678997e-01 -2.48319566e-02 1.67411952e+02] [ 5.71392040e-01 8.20477099e-01 -1.81236742e-02 2.86373282e+01] [ 3.07349756e-02 6.74470362e-04 9.99527341e-01 2.37582040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.310385723 meters Centerline goodness [0,1] 0.9999782395822 Centerline is valid? [True, True] Translation: X:167.43, Y:28.65, Z:2.37 [[ 8.20217947e-01 -5.71484245e-01 -2.54612845e-02 1.67433733e+02] [ 5.71182258e-01 8.20612735e-01 -1.85894352e-02 2.86547973e+01] [ 3.15174237e-02 7.04354342e-04 9.99502954e-01 2.37406249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.340385723 meters Centerline goodness [0,1] 0.9999340847669896 Centerline is valid? [True, True] Translation: X:167.46, Y:28.67, Z:2.38 [[ 8.20019416e-01 -5.71728447e-01 -2.63579352e-02 1.67460020e+02] [ 5.71404710e-01 8.20442598e-01 -1.92509761e-02 2.86684749e+01] [ 3.26315035e-02 7.25125893e-04 9.99467188e-01 2.37509107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.370385723 meters Centerline goodness [0,1] 0.9999562248292768 Centerline is valid? [True, True] Translation: X:167.48, Y:28.68, Z:2.38 [[ 8.19480412e-01 -5.72476305e-01 -2.68837134e-02 1.67483239e+02] [ 5.72139563e-01 8.19920950e-01 -1.96457639e-02 2.86836528e+01] [ 3.32892541e-02 7.18082663e-04 9.99445501e-01 2.37551797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.400385723 meters Centerline goodness [0,1] 0.9999780161800914 Centerline is valid? [True, True] Translation: X:167.51, Y:28.70, Z:2.38 [[ 8.18409004e-01 -5.74016023e-01 -2.66890751e-02 1.67508790e+02] [ 5.73684613e-01 8.18843801e-01 -1.95139478e-02 2.86978415e+01] [ 3.30555024e-02 6.59278826e-04 9.99453300e-01 2.37688230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.430385723 meters Centerline goodness [0,1] 0.9999779020175458 Centerline is valid? [True, True] Translation: X:167.53, Y:28.71, Z:2.38 [[ 8.17438020e-01 -5.75423117e-01 -2.61403905e-02 1.67532068e+02] [ 5.75105714e-01 8.17855661e-01 -1.91189813e-02 2.87127602e+01] [ 3.23805702e-02 5.95094311e-04 9.99475435e-01 2.37737724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.56, Y:28.73, Z:2.38 [[ 8.14911133e-01 -5.79017357e-01 -2.56660180e-02 1.67558833e+02] [ 5.78712957e-01 8.15315091e-01 -1.87780652e-02 2.87258127e+01] [ 3.17987174e-02 4.49197230e-04 9.99494192e-01 2.37862068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.490385723 meters Centerline goodness [0,1] 0.9999116451669906 Centerline is valid? [True, True] Translation: X:167.58, Y:28.74, Z:2.38 [[ 8.13505676e-01 -5.80993598e-01 -2.55920787e-02 1.67583931e+02] [ 5.80691643e-01 8.13908039e-01 -1.87328340e-02 2.87409150e+01] [ 3.17132552e-02 3.78160509e-04 9.99496937e-01 2.37899197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.520385723 meters Centerline goodness [0,1] 0.9998678064686701 Centerline is valid? [True, True] Translation: X:167.61, Y:28.75, Z:2.38 [[ 8.10699878e-01 -5.84904687e-01 -2.55384954e-02 1.67609335e+02] [ 5.84605736e-01 8.11102000e-01 -1.86996814e-02 2.87529015e+01] [ 3.16518560e-02 2.29878552e-04 9.99498928e-01 2.37580861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.550385723 meters Centerline goodness [0,1] 0.9999557159621815 Centerline is valid? [True, True] Translation: X:167.63, Y:28.77, Z:2.38 [[ 8.09735186e-01 -5.86241982e-01 -2.54807164e-02 1.67634116e+02] [ 5.85944847e-01 8.10135980e-01 -1.86636007e-02 2.87672633e+01] [ 3.15842314e-02 1.82279688e-04 9.99501077e-01 2.37933826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.580385723 meters Centerline goodness [0,1] 0.9999554962171785 Centerline is valid? [True, True] Translation: X:167.66, Y:28.78, Z:2.38 [[ 8.07950655e-01 -5.88712388e-01 -2.51687029e-02 1.67659443e+02] [ 5.88423500e-01 8.08342573e-01 -1.84409552e-02 2.87805539e+01] [ 3.12013528e-02 8.95255467e-05 9.99513115e-01 2.37903328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.610385723 meters Centerline goodness [0,1] 0.9999556344276841 Centerline is valid? [True, True] Translation: X:167.68, Y:28.80, Z:2.38 [[ 8.07089480e-01 -5.89888435e-01 -2.52627254e-02 1.67682944e+02] [ 5.89597748e-01 8.07484756e-01 -1.85165852e-02 2.87959417e+01] [ 3.13219851e-02 4.96951386e-05 9.99509345e-01 2.37910870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.71, Y:28.81, Z:2.38 [[ 8.06069616e-01 -5.91294199e-01 -2.49588560e-02 1.67707500e+02] [ 5.91010819e-01 8.06455932e-01 -1.83041252e-02 2.88094497e+01] [ 3.09513405e-02 3.44525146e-06 9.99520892e-01 2.38181065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.73, Y:28.82, Z:2.38 [[ 8.05729204e-01 -5.91771535e-01 -2.46353537e-02 1.67730026e+02] [ 5.91495411e-01 8.06105732e-01 -1.80756312e-02 2.88243595e+01] [ 3.05553438e-02 -7.63477015e-06 9.99533076e-01 2.38168117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.75, Y:28.84, Z:2.38 [[ 8.05569177e-01 -5.91988020e-01 -2.46674743e-02 1.67754021e+02] [ 5.91711006e-01 8.05946762e-01 -1.81080366e-02 2.88390331e+01] [ 3.06004118e-02 -8.73989321e-06 9.99531698e-01 2.38292534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.78, Y:28.85, Z:2.38 [[ 8.05574889e-01 -5.91971482e-01 -2.48769654e-02 1.67777298e+02] [ 5.91689406e-01 8.05958910e-01 -1.82724494e-02 2.88548738e+01] [ 3.08665809e-02 3.89533239e-07 9.99523514e-01 2.38340169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.80, Y:28.87, Z:2.38 [[ 8.06797346e-01 -5.90279758e-01 -2.54528980e-02 1.67800037e+02] [ 5.89983400e-01 8.07198738e-01 -1.87025457e-02 2.88706018e+01] [ 3.15852813e-02 7.23768842e-05 9.99501058e-01 2.38271270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.82, Y:28.89, Z:2.38 [[ 8.07633291e-01 -5.89118811e-01 -2.58359226e-02 1.67822818e+02] [ 5.88812658e-01 8.08046417e-01 -1.89905968e-02 2.88877509e+01] [ 3.20643425e-02 1.24919967e-04 9.99485799e-01 2.38293408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.82038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.85, Y:28.90, Z:2.38 [[ 8.08661743e-01 -5.87714902e-01 -2.56394053e-02 1.67845389e+02] [ 5.87412364e-01 8.09068081e-01 -1.88561747e-02 2.89047664e+01] [ 3.18260793e-02 1.87363432e-04 9.99493404e-01 2.38294692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.85038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.87, Y:28.92, Z:2.38 [[ 8.11351167e-01 -5.84000632e-01 -2.55449841e-02 1.67868698e+02] [ 5.83698156e-01 8.11753131e-01 -1.87967302e-02 2.89224099e+01] [ 3.17135232e-02 3.40188914e-04 9.99496942e-01 2.38475194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.88038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.89, Y:28.94, Z:2.39 [[ 8.13965951e-01 -5.80381656e-01 -2.48307056e-02 1.67890434e+02] [ 5.80093987e-01 8.14344467e-01 -1.82771922e-02 2.89398648e+01] [ 3.08284948e-02 4.72869096e-04 9.99524577e-01 2.38625899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.91, Y:28.96, Z:2.39 [[ 8.15230618e-01 -5.78634128e-01 -2.41160719e-02 1.67913084e+02] [ 5.78361842e-01 8.15587069e-01 -1.77570647e-02 2.89579103e+01] [ 2.99436001e-02 5.28287077e-04 9.99551450e-01 2.38680221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.94038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.94, Y:28.98, Z:2.39 [[ 8.16327946e-01 -5.77103609e-01 -2.36666427e-02 1.67935900e+02] [ 5.76840485e-01 8.16670734e-01 -1.74346687e-02 2.89760967e+01] [ 2.93894647e-02 5.80529597e-04 9.99567868e-01 2.38758688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.96, Y:28.99, Z:2.39 [[ 8.18760263e-01 -5.73712043e-01 -2.20482339e-02 1.67958558e+02] [ 5.73482239e-01 8.19056809e-01 -1.62501004e-02 2.89946241e+01] [ 2.73816344e-02 6.60665962e-04 9.99624834e-01 2.38852269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.000385723 meters Centerline goodness [0,1] 0.9999550854499315 Centerline is valid? [True, True] Translation: X:167.98, Y:29.01, Z:2.39 [[ 8.20525896e-01 -5.71212254e-01 -2.13029366e-02 1.67982693e+02] [ 5.70996681e-01 8.20802068e-01 -1.57084765e-02 2.90110307e+01] [ 2.64583687e-02 7.25305615e-04 9.99649653e-01 2.39090514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.00, Y:29.03, Z:2.39 [[ 8.21624165e-01 -5.69634237e-01 -2.12265643e-02 1.68004354e+02] [ 5.69419511e-01 8.21897943e-01 -1.56585651e-02 2.90284120e+01] [ 2.63657243e-02 7.78635631e-04 9.99652061e-01 2.39124181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.060385723 meters Centerline goodness [0,1] 0.9998652291105121 Centerline is valid? [True, True] Translation: X:168.03, Y:29.04, Z:2.39 [[ 8.22272091e-01 -5.68704426e-01 -2.10685345e-02 1.68027526e+02] [ 5.68492486e-01 8.22541565e-01 -1.55456238e-02 2.90448686e+01] [ 2.61706104e-02 8.05429031e-04 9.99657166e-01 2.39167995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.090385723 meters Centerline goodness [0,1] 0.9999550622387993 Centerline is valid? [True, True] Translation: X:168.05, Y:29.07, Z:2.39 [[ 8.23724067e-01 -5.66578451e-01 -2.16221951e-02 1.68046887e+02] [ 5.66354415e-01 8.24007313e-01 -1.59569651e-02 2.90656360e+01] [ 2.68577194e-02 8.98310559e-04 9.99638863e-01 2.38988119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.120385723 meters Centerline goodness [0,1] 0.9999100112485939 Centerline is valid? [True, True] Translation: X:168.07, Y:29.08, Z:2.39 [[ 8.24101664e-01 -5.66029211e-01 -2.16189859e-02 1.68073450e+02] [ 5.65804917e-01 8.24384671e-01 -1.59596371e-02 2.90782834e+01] [ 2.68559813e-02 9.20234960e-04 9.99638890e-01 2.39143374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.150385723 meters Centerline goodness [0,1] 0.9999099119389203 Centerline is valid? [True, True] Translation: X:168.09, Y:29.10, Z:2.39 [[ 8.24354702e-01 -5.65602490e-01 -2.30900333e-02 1.68092426e+02] [ 5.65346244e-01 8.24677401e-01 -1.70531053e-02 2.90988048e+01] [ 2.86871075e-02 1.00394394e-03 9.99587936e-01 2.38753957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.180385723 meters Centerline goodness [0,1] 0.9999099950497278 Centerline is valid? [True, True] Translation: X:168.12, Y:29.11, Z:2.39 [[ 8.24407462e-01 -5.65493882e-01 -2.38538498e-02 1.68117078e+02] [ 5.65220142e-01 8.24751826e-01 -1.76243510e-02 2.91147621e+01] [ 2.96399688e-02 1.04697012e-03 9.99560091e-01 2.38735248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.210385723 meters Centerline goodness [0,1] 0.9998418293564715 Centerline is valid? [True, True] Translation: X:168.14, Y:29.13, Z:2.39 [[ 8.23437835e-01 -5.66858441e-01 -2.49327118e-02 1.68143200e+02] [ 5.66559711e-01 8.23814544e-01 -1.84306987e-02 2.91281953e+01] [ 3.09875277e-02 1.05066466e-03 9.99519219e-01 2.38745563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.240385723 meters Centerline goodness [0,1] 0.9998651382333108 Centerline is valid? [True, True] Translation: X:168.17, Y:29.14, Z:2.39 [[ 8.22340081e-01 -5.68444530e-01 -2.50520801e-02 1.68168705e+02] [ 5.68143373e-01 8.22720979e-01 -1.85283032e-02 2.91421906e+01] [ 3.11431844e-02 1.00339308e-03 9.99514430e-01 2.38855449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.270385723 meters Centerline goodness [0,1] 0.9998409705341118 Centerline is valid? [True, True] Translation: X:168.20, Y:29.15, Z:2.39 [[ 8.19753170e-01 -5.72156981e-01 -2.53205201e-02 1.68195479e+02] [ 5.71850852e-01 8.20143657e-01 -1.87346072e-02 2.91541816e+01] [ 3.14856003e-02 8.78192631e-04 9.99503820e-01 2.38981665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.300385723 meters Centerline goodness [0,1] 0.9999319511863176 Centerline is valid? [True, True] Translation: X:168.22, Y:29.17, Z:2.39 [[ 8.18360518e-01 -5.74141918e-01 -2.54385737e-02 1.68219814e+02] [ 5.73833735e-01 8.18755399e-01 -1.88266404e-02 2.91684153e+01] [ 3.16371330e-02 8.09467464e-04 9.99499093e-01 2.39074092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.330385723 meters Centerline goodness [0,1] 0.9998636146659696 Centerline is valid? [True, True] Translation: X:168.25, Y:29.18, Z:2.39 [[ 8.16034839e-01 -5.77436541e-01 -2.55770052e-02 1.68246417e+02] [ 5.77126413e-01 8.16435279e-01 -1.89351244e-02 2.91815262e+01] [ 3.18158021e-02 6.90555947e-04 9.99493511e-01 2.39154819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.360385723 meters Centerline goodness [0,1] 0.9999089978386987 Centerline is valid? [True, True] Translation: X:168.27, Y:29.20, Z:2.39 [[ 8.15068722e-01 -5.78815911e-01 -2.52015648e-02 1.68271290e+02] [ 5.78515206e-01 8.15457993e-01 -1.86659492e-02 2.91971887e+01] [ 3.13549659e-02 6.34542872e-04 9.99508111e-01 2.39221702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.30, Y:29.21, Z:2.39 [[ 8.13664966e-01 -5.80818745e-01 -2.44726226e-02 1.68295696e+02] [ 5.80535908e-01 8.14032731e-01 -1.81320641e-02 2.92112986e+01] [ 3.04529586e-02 5.46189146e-04 9.99536052e-01 2.39348809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.420385723 meters Centerline goodness [0,1] 0.999954343111517 Centerline is valid? [True, True] Translation: X:168.32, Y:29.23, Z:2.39 [[ 8.13192260e-01 -5.81505627e-01 -2.38653280e-02 1.68319861e+02] [ 5.81236788e-01 8.13542220e-01 -1.76876270e-02 2.92281002e+01] [ 2.97009065e-02 5.12034778e-04 9.99558700e-01 2.39424168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.34, Y:29.24, Z:2.40 [[ 8.12401205e-01 -5.82643097e-01 -2.30500444e-02 1.68344313e+02] [ 5.82392545e-01 8.12728005e-01 -1.70913437e-02 2.92432505e+01] [ 2.86915700e-02 4.60854158e-04 9.99588206e-01 2.39594249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.480385723 meters Centerline goodness [0,1] 0.9999544668063018 Centerline is valid? [True, True] Translation: X:168.37, Y:29.26, Z:2.40 [[ 8.11981592e-01 -5.83244079e-01 -2.26326890e-02 1.68367634e+02] [ 5.83002592e-01 8.12296838e-01 -1.67876013e-02 2.92592848e+01] [ 2.81757308e-02 4.36306825e-04 9.99602890e-01 2.39713361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.510385723 meters Centerline goodness [0,1] 0.9999543285149917 Centerline is valid? [True, True] Translation: X:168.39, Y:29.27, Z:2.40 [[ 8.11242079e-01 -5.84288827e-01 -2.22003544e-02 1.68392462e+02] [ 5.84056726e-01 8.11545692e-01 -1.64721479e-02 2.92737325e+01] [ 2.76410939e-02 3.96633236e-04 9.99617833e-01 2.39998470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.42, Y:29.29, Z:2.40 [[ 8.10199748e-01 -5.85732423e-01 -2.22237829e-02 1.68416440e+02] [ 5.85500146e-01 8.10504412e-01 -1.64977675e-02 2.92891501e+01] [ 2.76757514e-02 3.54458921e-04 9.99616890e-01 2.40144281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.57038572300002 meters Centerline goodness [0,1] 0.9999085630686234 Centerline is valid? [True, True] Translation: X:168.44, Y:29.31, Z:2.40 [[ 8.09626947e-01 -5.86520759e-01 -2.23070876e-02 1.68439051e+02] [ 5.86286853e-01 8.09934125e-01 -1.65662073e-02 2.93058939e+01] [ 2.77836960e-02 3.34095634e-04 9.99613903e-01 2.40103983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.46, Y:29.32, Z:2.40 [[ 8.08776985e-01 -5.87683526e-01 -2.25357681e-02 1.68462617e+02] [ 5.87445059e-01 8.09090836e-01 -1.67427872e-02 2.93216554e+01] [ 2.80729436e-02 3.02655345e-04 9.99605831e-01 2.40135348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.49, Y:29.34, Z:2.40 [[ 8.06843575e-01 -5.90361166e-01 -2.18435327e-02 1.68488726e+02] [ 5.90137882e-01 8.07139176e-01 -1.62367192e-02 2.93357441e+01] [ 2.72162995e-02 2.09796462e-04 9.99629546e-01 2.40321390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.66038572300002 meters Centerline goodness [0,1] 0.9999312887932021 Centerline is valid? [True, True] Translation: X:168.51, Y:29.35, Z:2.40 [[ 8.05602122e-01 -5.92057032e-01 -2.17644394e-02 1.68512937e+02] [ 5.91835768e-01 8.05896051e-01 -1.61857275e-02 2.93514754e+01] [ 2.71227495e-02 1.58282684e-04 9.99632098e-01 2.40456548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.54, Y:29.37, Z:2.41 [[ 8.03150931e-01 -5.95386053e-01 -2.15413673e-02 1.68536923e+02] [ 5.95170341e-01 8.03439758e-01 -1.60256096e-02 2.93662737e+01] [ 2.68486154e-02 5.02003653e-05 9.99639510e-01 2.40502463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.720385723 meters Centerline goodness [0,1] 0.9998855599551395 Centerline is valid? [True, True] Translation: X:168.56, Y:29.38, Z:2.41 [[ 8.02164782e-01 -5.96708715e-01 -2.16880845e-02 1.68559060e+02] [ 5.96490445e-01 8.02457918e-01 -1.61381424e-02 2.93818731e+01] [ 2.70335453e-02 8.71434943e-06 9.99634527e-01 2.40509997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.58, Y:29.40, Z:2.41 [[ 8.00474443e-01 -5.98981371e-01 -2.14937897e-02 1.68582430e+02] [ 5.98767644e-01 8.00762957e-01 -1.59998527e-02 2.93982220e+01] [ 2.67950443e-02 -6.23126243e-05 9.99640946e-01 2.40672314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.60, Y:29.41, Z:2.41 [[ 8.00307629e-01 -5.99204396e-01 -2.14893133e-02 1.68604538e+02] [ 5.98990588e-01 8.00596083e-01 -1.60058635e-02 2.94147597e+01] [ 2.67950438e-02 -6.22817545e-05 9.99640946e-01 2.40714037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.63, Y:29.43, Z:2.41 [[ 7.99638241e-01 -6.00096590e-01 -2.15119973e-02 1.68626596e+02] [ 5.99882464e-01 7.99927544e-01 -1.60297911e-02 2.94306403e+01] [ 2.68274621e-02 -8.66359804e-05 9.99640075e-01 2.40750686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.840385723 meters Centerline goodness [0,1] 0.9999543785214079 Centerline is valid? [True, True] Translation: X:168.65, Y:29.45, Z:2.41 [[ 7.98464043e-01 -6.01641792e-01 -2.19619170e-02 1.68649086e+02] [ 6.01419098e-01 7.98766008e-01 -1.63686877e-02 2.94477542e+01] [ 2.73905194e-02 -1.38507761e-04 9.99624800e-01 2.40731296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.870385723 meters Centerline goodness [0,1] 0.9999771715557585 Centerline is valid? [True, True] Translation: X:168.67, Y:29.47, Z:2.41 [[ 7.97863024e-01 -6.02432276e-01 -2.21347677e-02 1.68671001e+02] [ 6.02206203e-01 7.98169986e-01 -1.65034003e-02 2.94653963e+01] [ 2.76094883e-02 -1.62241526e-04 9.99618772e-01 2.40798323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.69, Y:29.48, Z:2.41 [[ 7.96820280e-01 -6.03802369e-01 -2.23638334e-02 1.68692740e+02] [ 6.03571947e-01 7.97134027e-01 -1.66807750e-02 2.94835408e+01] [ 2.78988640e-02 -2.06602679e-04 9.99610730e-01 2.40782284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.71, Y:29.50, Z:2.41 [[ 7.96086579e-01 -6.04783119e-01 -2.19894739e-02 1.68714625e+02] [ 6.04560630e-01 7.96390183e-01 -1.64048914e-02 2.95000014e+01] [ 2.74336026e-02 -2.34256351e-04 9.99623600e-01 2.40862909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.74, Y:29.52, Z:2.41 [[ 7.95082683e-01 -6.06140062e-01 -2.09225122e-02 1.68735828e+02] [ 6.05938961e-01 7.95357879e-01 -1.56147135e-02 2.95184538e+01] [ 2.61055883e-02 -2.62777004e-04 9.99659157e-01 2.41106909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.990385723 meters Centerline goodness [0,1] 0.9999317623510144 Centerline is valid? [True, True] Translation: X:168.76, Y:29.54, Z:2.41 [[ 7.94769388e-01 -6.06556553e-01 -2.07549544e-02 1.68757296e+02] [ 6.06358628e-01 7.95040298e-01 -1.54963886e-02 2.95351000e+01] [ 2.59004612e-02 -2.68890399e-04 9.99664491e-01 2.41103330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.020385723 meters Centerline goodness [0,1] 0.9999773437854004 Centerline is valid? [True, True] Translation: X:168.78, Y:29.55, Z:2.41 [[ 7.94364223e-01 -6.07097055e-01 -2.04608825e-02 1.68778162e+02] [ 6.06904734e-01 7.94627642e-01 -1.52825102e-02 2.95546096e+01] [ 2.55367497e-02 -2.77927136e-04 9.99673845e-01 2.41197836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.80, Y:29.57, Z:2.41 [[ 7.94446078e-01 -6.06987909e-01 -2.05209193e-02 1.68799283e+02] [ 6.06794199e-01 7.94711021e-01 -1.53360283e-02 2.95727556e+01] [ 2.56169845e-02 -2.68327301e-04 9.99671795e-01 2.41326441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.080385723 meters Centerline goodness [0,1] 0.9999774103189663 Centerline is valid? [True, True] Translation: X:168.82, Y:29.59, Z:2.41 [[ 7.95286805e-01 -6.05858542e-01 -2.13148968e-02 1.68819857e+02] [ 6.05648900e-01 7.95572356e-01 -1.59385443e-02 2.95926703e+01] [ 2.66140458e-02 -2.33629843e-04 9.99645756e-01 2.41351290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.84, Y:29.61, Z:2.41 [[ 7.96206009e-01 -6.04636375e-01 -2.16989724e-02 1.68841034e+02] [ 6.04418470e-01 7.96501612e-01 -1.62325352e-02 2.96104636e+01] [ 2.70980478e-02 -1.90817631e-04 9.99632762e-01 2.41267147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.86, Y:29.63, Z:2.41 [[ 7.98017856e-01 -6.02223695e-01 -2.22288660e-02 1.68860484e+02] [ 6.01993895e-01 7.98327383e-01 -1.66354945e-02 2.96310762e+01] [ 2.77642014e-02 -1.06219993e-04 9.99614495e-01 2.41358170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.88, Y:29.65, Z:2.41 [[ 7.99165254e-01 -6.00690473e-01 -2.24911687e-02 1.68880462e+02] [ 6.00454378e-01 7.99481678e-01 -1.68400127e-02 2.96492107e+01] [ 2.80969125e-02 -4.69676445e-05 9.99605203e-01 2.41384377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.200385723 meters Centerline goodness [0,1] 0.9999328994162249 Centerline is valid? [True, True] Translation: X:168.90, Y:29.67, Z:2.41 [[ 8.01245757e-01 -5.97897238e-01 -2.28938748e-02 1.68900482e+02] [ 5.97651253e-01 8.01572760e-01 -1.71490726e-02 2.96701553e+01] [ 2.86044895e-02 5.80686941e-05 9.99590806e-01 2.41454670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.230385723 meters Centerline goodness [0,1] 0.9999107381951263 Centerline is valid? [True, True] Translation: X:168.92, Y:29.69, Z:2.42 [[ 8.02233847e-01 -5.96562702e-01 -2.31040498e-02 1.68922810e+02] [ 5.96311377e-01 8.02566464e-01 -1.73150753e-02 2.96891778e+01] [ 2.88720637e-02 1.13531714e-04 9.99583109e-01 2.41507425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.260385723 meters Centerline goodness [0,1] 0.9999552682784997 Centerline is valid? [True, True] Translation: X:168.94, Y:29.71, Z:2.42 [[ 8.04116138e-01 -5.94006430e-01 -2.35286563e-02 1.68944466e+02] [ 5.93744422e-01 8.04460263e-01 -1.76421999e-02 2.97084087e+01] [ 2.94074492e-02 2.16369271e-04 9.99567484e-01 2.41629724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.290385723 meters Centerline goodness [0,1] 0.9999107541276216 Centerline is valid? [True, True] Translation: X:168.97, Y:29.73, Z:2.42 [[ 8.04964105e-01 -5.92847039e-01 -2.37734665e-02 1.68965811e+02] [ 5.92578858e-01 8.05315042e-01 -1.78319972e-02 2.97268440e+01] [ 2.97167769e-02 2.66464057e-04 9.99558324e-01 2.41551666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.32038572300002 meters Centerline goodness [0,1] 0.9999110379645486 Centerline is valid? [True, True] Translation: X:168.99, Y:29.75, Z:2.42 [[ 8.06824838e-01 -5.90330063e-01 -2.33259152e-02 1.68986771e+02] [ 5.90070716e-01 8.07161874e-01 -1.75002619e-02 2.97465741e+01] [ 2.91587201e-02 3.55706493e-04 9.99574731e-01 2.41631687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.35038572300002 meters Centerline goodness [0,1] 0.9997099444432049 Centerline is valid? [True, True] Translation: X:169.01, Y:29.76, Z:2.42 [[ 8.07876142e-01 -5.88898745e-01 -2.31172591e-02 1.69009298e+02] [ 5.88643238e-01 8.08206719e-01 -1.73504416e-02 2.97640889e+01] [ 2.89011774e-02 4.09189556e-04 9.99582190e-01 2.41791749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38038572300002 meters Centerline goodness [0,1] 0.9996431757359501 Centerline is valid? [True, True] Translation: X:169.03, Y:29.78, Z:2.42 [[ 8.10287045e-01 -5.85598924e-01 -2.25567090e-02 1.69030331e+02] [ 5.85354147e-01 8.10600783e-01 -1.69379394e-02 2.97846275e+01] [ 2.82033251e-02 5.20929751e-04 9.99602071e-01 2.41879196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41038572300002 meters Centerline goodness [0,1] 0.9997549019607843 Centerline is valid? [True, True] Translation: X:169.05, Y:29.80, Z:2.42 [[ 8.11211400e-01 -5.84332100e-01 -2.21824319e-02 1.69053695e+02] [ 5.84094681e-01 8.11514436e-01 -1.66650477e-02 2.98019624e+01] [ 2.77392860e-02 5.62236200e-04 9.99615034e-01 2.42052843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44038572300002 meters Centerline goodness [0,1] 0.9998893340120847 Centerline is valid? [True, True] Translation: X:169.07, Y:29.82, Z:2.42 [[ 8.12892265e-01 -5.82023237e-01 -2.13334674e-02 1.69074012e+02] [ 5.81802696e-01 8.13171916e-01 -1.60330319e-02 2.98208738e+01] [ 2.66793737e-02 6.21258762e-04 9.99643849e-01 2.42100897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.470385723 meters Centerline goodness [0,1] 0.9998449062790801 Centerline is valid? [True, True] Translation: X:169.10, Y:29.84, Z:2.42 [[ 8.13543445e-01 -5.81121627e-01 -2.10883187e-02 1.69096619e+02] [ 5.80905694e-01 8.13816463e-01 -1.58536830e-02 2.98384826e+01] [ 2.63749390e-02 6.47335465e-04 9.99651911e-01 2.42212429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.500385723 meters Centerline goodness [0,1] 0.9999334235813675 Centerline is valid? [True, True] Translation: X:169.12, Y:29.86, Z:2.42 [[ 8.14587002e-01 -5.79683245e-01 -2.03801756e-02 1.69117569e+02] [ 5.79480986e-01 8.14841628e-01 -1.53266867e-02 2.98566851e+01] [ 2.54912390e-02 6.74995497e-04 9.99674818e-01 2.42315299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.530385723 meters Centerline goodness [0,1] 0.9998448787838496 Centerline is valid? [True, True] Translation: X:169.14, Y:29.87, Z:2.42 [[ 8.14922471e-01 -5.79224286e-01 -2.00148152e-02 1.69141936e+02] [ 5.79028963e-01 8.15167935e-01 -1.50564639e-02 2.98729924e+01] [ 2.50365051e-02 6.80693027e-04 9.99686306e-01 2.42435612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.560385723 meters Centerline goodness [0,1] 0.9997783982626424 Centerline is valid? [True, True] Translation: X:169.16, Y:29.89, Z:2.42 [[ 8.16239304e-01 -5.77353539e-01 -2.04031739e-02 1.69162822e+02] [ 5.77149828e-01 8.16493917e-01 -1.53544331e-02 2.98918673e+01] [ 2.55240037e-02 7.57203487e-04 9.99673923e-01 2.42403209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.590385723 meters Centerline goodness [0,1] 0.9998446653648145 Centerline is valid? [True, True] Translation: X:169.18, Y:29.91, Z:2.42 [[ 8.16701060e-01 -5.76682255e-01 -2.09034865e-02 1.69184056e+02] [ 5.76468135e-01 8.16968138e-01 -1.57337695e-02 2.99103555e+01] [ 2.61508681e-02 7.99592357e-04 9.99657688e-01 2.42348724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.620385723 meters Centerline goodness [0,1] 0.9996677814444863 Centerline is valid? [True, True] Translation: X:169.21, Y:29.93, Z:2.42 [[ 8.17233979e-01 -5.75876796e-01 -2.22382404e-02 1.69208308e+02] [ 5.75634005e-01 8.17536016e-01 -1.67438322e-02 2.99260094e+01] [ 2.78229469e-02 8.82541194e-04 9.99612477e-01 2.42257377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.650385723 meters Centerline goodness [0,1] 0.9998664202863059 Centerline is valid? [True, True] Translation: X:169.23, Y:29.94, Z:2.42 [[ 8.17035438e-01 -5.76141822e-01 -2.26648400e-02 1.69232367e+02] [ 5.75889465e-01 8.17349249e-01 -1.70742093e-02 2.99405515e+01] [ 2.83622560e-02 8.97791490e-04 9.99597307e-01 2.42355897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.680385723 meters Centerline goodness [0,1] 0.9998437325594375 Centerline is valid? [True, True] Translation: X:169.25, Y:29.96, Z:2.42 [[ 8.16407999e-01 -5.77037064e-01 -2.24990233e-02 1.69253065e+02] [ 5.76788538e-01 8.16717501e-01 -1.69559766e-02 2.99590603e+01] [ 2.81595731e-02 8.65816120e-04 9.99603066e-01 2.42240086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.28, Y:29.97, Z:2.43 [[ 8.15233811e-01 -5.78719166e-01 -2.18622920e-02 1.69281097e+02] [ 5.78484976e-01 8.15526520e-01 -1.64811179e-02 2.99707958e+01] [ 2.73672178e-02 7.88957082e-04 9.99625136e-01 2.42577120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.740385723 meters Centerline goodness [0,1] 0.9999107501450311 Centerline is valid? [True, True] Translation: X:169.30, Y:29.99, Z:2.43 [[ 8.14449741e-01 -5.79848646e-01 -2.11463466e-02 1.69303837e+02] [ 5.79629786e-01 8.14723888e-01 -1.59467043e-02 2.99864282e+01] [ 2.64751086e-02 7.30736832e-04 9.99649206e-01 2.42667810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.770385723 meters Centerline goodness [0,1] 0.999887920019726 Centerline is valid? [True, True] Translation: X:169.33, Y:30.00, Z:2.43 [[ 8.13599174e-01 -5.81043507e-01 -2.10909018e-02 1.69328681e+02] [ 5.80826063e-01 8.13872202e-01 -1.59098677e-02 3.00015882e+01] [ 2.64096240e-02 6.94109810e-04 9.99650964e-01 2.42847784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.800385723 meters Centerline goodness [0,1] 0.9999103922578911 Centerline is valid? [True, True] Translation: X:169.35, Y:30.02, Z:2.43 [[ 8.12343626e-01 -5.82800572e-01 -2.10077516e-02 1.69352594e+02] [ 5.82585275e-01 8.12614967e-01 -1.58528387e-02 3.00164580e+01] [ 2.63102568e-02 6.39145767e-04 9.99653621e-01 2.42827657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.830385723 meters Centerline goodness [0,1] 0.9998198806709445 Centerline is valid? [True, True] Translation: X:169.38, Y:30.03, Z:2.43 [[ 8.11553532e-01 -5.83888560e-01 -2.13310767e-02 1.69376561e+02] [ 5.83666824e-01 8.11833585e-01 -1.61018518e-02 3.00328808e+01] [ 2.67189715e-02 6.17272873e-04 9.99642794e-01 2.42812613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.860385723 meters Centerline goodness [0,1] 0.9999101789684055 Centerline is valid? [True, True] Translation: X:169.40, Y:30.05, Z:2.43 [[ 8.10041917e-01 -5.85973718e-01 -2.16077663e-02 1.69401677e+02] [ 5.85746714e-01 8.10329863e-01 -1.63187149e-02 3.00480890e+01] [ 2.70717563e-02 5.62165030e-04 9.99633335e-01 2.42807861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.890385723 meters Centerline goodness [0,1] 0.9999774805206504 Centerline is valid? [True, True] Translation: X:169.43, Y:30.06, Z:2.43 [[ 8.08698175e-01 -5.87853087e-01 -2.08808502e-02 1.69426750e+02] [ 5.87641532e-01 8.08967558e-01 -1.57772115e-02 3.00629658e+01] [ 2.61666128e-02 4.88547316e-04 9.99657476e-01 2.42984845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.920385723 meters Centerline goodness [0,1] 0.9998646545306896 Centerline is valid? [True, True] Translation: X:169.45, Y:30.08, Z:2.43 [[ 8.08237779e-01 -5.88500550e-01 -2.04644834e-02 1.69450302e+02] [ 5.88297367e-01 8.08496683e-01 -1.54699986e-02 3.00789778e+01] [ 2.56495696e-02 4.64235576e-04 9.99670888e-01 2.43083816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.950385723 meters Centerline goodness [0,1] 0.9998870082032044 Centerline is valid? [True, True] Translation: X:169.47, Y:30.09, Z:2.43 [[ 8.07920216e-01 -5.88952839e-01 -1.99869495e-02 1.69474613e+02] [ 5.88758983e-01 8.08167282e-01 -1.51163712e-02 3.00943497e+01] [ 2.50556284e-02 4.45325857e-04 9.99685959e-01 2.43338818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.980385723 meters Centerline goodness [0,1] 0.999841682686871 Centerline is valid? [True, True] Translation: X:169.50, Y:30.11, Z:2.43 [[ 8.08061266e-01 -5.88800346e-01 -1.87387819e-02 1.69496161e+02] [ 5.88629779e-01 8.08278399e-01 -1.41779111e-02 3.01113998e+01] [ 2.34941116e-02 4.26415712e-04 9.99723884e-01 2.43423131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.010385723 meters Centerline goodness [0,1] 0.9999322585015581 Centerline is valid? [True, True] Translation: X:169.52, Y:30.13, Z:2.43 [[ 8.07928420e-01 -5.88994442e-01 -1.83634157e-02 1.69518322e+02] [ 5.88830579e-01 8.08136977e-01 -1.38987310e-02 3.01283244e+01] [ 2.30264306e-02 4.16239077e-04 9.99734770e-01 2.43483805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.040385723 meters Centerline goodness [0,1] 0.9998874938121597 Centerline is valid? [True, True] Translation: X:169.54, Y:30.15, Z:2.43 [[ 8.08466256e-01 -5.88248636e-01 -1.85971863e-02 1.69541432e+02] [ 5.88080197e-01 8.08679999e-01 -1.40833759e-02 3.01460232e+01] [ 2.33236993e-02 4.49297197e-04 9.99727865e-01 2.43446547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.07038572300002 meters Centerline goodness [0,1] 0.9998193356066937 Centerline is valid? [True, True] Translation: X:169.56, Y:30.16, Z:2.43 [[ 8.08619897e-01 -5.88031616e-01 -1.87797858e-02 1.69564543e+02] [ 5.87859665e-01 8.08837810e-01 -1.42271473e-02 3.01624826e+01] [ 2.35558133e-02 4.64475816e-04 9.99722415e-01 2.43466900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.10038572300002 meters Centerline goodness [0,1] 0.9999547562492931 Centerline is valid? [True, True] Translation: X:169.59, Y:30.18, Z:2.43 [[ 8.09344681e-01 -5.87037592e-01 -1.86561608e-02 1.69586303e+02] [ 5.86867559e-01 8.09559524e-01 -1.41366730e-02 3.01791927e+01] [ 2.34020311e-02 4.92745551e-04 9.99726014e-01 2.43436728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13038572300002 meters Centerline goodness [0,1] 0.9999095063571785 Centerline is valid? [True, True] Translation: X:169.61, Y:30.20, Z:2.43 [[ 8.10053884e-01 -5.86061229e-01 -1.85725888e-02 1.69609915e+02] [ 5.85892335e-01 8.10266599e-01 -1.40786912e-02 3.01966085e+01] [ 2.32997235e-02 5.22961051e-04 9.99728388e-01 2.43467963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.16038572300002 meters Centerline goodness [0,1] 0.9998410824555031 Centerline is valid? [True, True] Translation: X:169.63, Y:30.21, Z:2.43 [[ 8.10199686e-01 -5.85858133e-01 -1.86203601e-02 1.69633295e+02] [ 5.85688146e-01 8.10413451e-01 -1.41221186e-02 3.02140907e+01] [ 2.33637483e-02 5.36011882e-04 9.99726887e-01 2.43495475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19038572300002 meters Centerline goodness [0,1] 0.9999320436732659 Centerline is valid? [True, True] Translation: X:169.66, Y:30.23, Z:2.43 [[ 8.10232750e-01 -5.85800611e-01 -1.89877782e-02 1.69655156e+02] [ 5.85623696e-01 8.10455019e-01 -1.44065204e-02 3.02310361e+01] [ 2.38280886e-02 5.52941760e-04 9.99715918e-01 2.43460952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.220385723 meters Centerline goodness [0,1] 0.9999092270684882 Centerline is valid? [True, True] Translation: X:169.68, Y:30.25, Z:2.43 [[ 8.09688233e-01 -5.86533157e-01 -1.95913624e-02 1.69677857e+02] [ 5.86344905e-01 8.09925028e-01 -1.48694927e-02 3.02469893e+01] [ 2.45889853e-02 5.52357770e-04 9.99697493e-01 2.43429348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.250385723 meters Centerline goodness [0,1] 0.9998637602179836 Centerline is valid? [True, True] Translation: X:169.70, Y:30.26, Z:2.43 [[ 8.09182394e-01 -5.87221672e-01 -1.98635783e-02 1.69700993e+02] [ 5.87028154e-01 8.09425976e-01 -1.50842960e-02 3.02645988e+01] [ 2.49359218e-02 5.45467023e-04 9.99688903e-01 2.43227947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.280385723 meters Centerline goodness [0,1] 0.9999322615606936 Centerline is valid? [True, True] Translation: X:169.72, Y:30.28, Z:2.43 [[ 8.08381306e-01 -5.88330573e-01 -1.96672592e-02 1.69724967e+02] [ 5.88141057e-01 8.08620354e-01 -1.49405791e-02 3.02796783e+01] [ 2.46933455e-02 5.10562202e-04 9.99694942e-01 2.43368823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.310385723 meters Centerline goodness [0,1] 0.9999318971192481 Centerline is valid? [True, True] Translation: X:169.75, Y:30.29, Z:2.44 [[ 8.06644176e-01 -5.90736049e-01 -1.88704206e-02 1.69750196e+02] [ 5.90562169e-01 8.06864761e-01 -1.43381528e-02 3.02948371e+01] [ 2.36959411e-02 4.21630902e-04 9.99719123e-01 2.43594733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.340385723 meters Centerline goodness [0,1] 0.9998867240598097 Centerline is valid? [True, True] Translation: X:169.77, Y:30.31, Z:2.44 [[ 8.05630520e-01 -5.92140459e-01 -1.81422809e-02 1.69774507e+02] [ 5.91979996e-01 8.05834685e-01 -1.37892623e-02 3.03114180e+01] [ 2.27848593e-02 3.69183124e-04 9.99740323e-01 2.43693997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.370385723 meters Centerline goodness [0,1] 0.9999546382399637 Centerline is valid? [True, True] Translation: X:169.80, Y:30.33, Z:2.44 [[ 8.04647177e-01 -5.93497616e-01 -1.74212382e-02 1.69797341e+02] [ 5.93349868e-01 8.04835683e-01 -1.32460450e-02 3.03274758e+01] [ 2.18827302e-02 3.21503311e-04 9.99760493e-01 2.43814534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.82, Y:30.34, Z:2.44 [[ 8.03329570e-01 -5.95319845e-01 -1.59963691e-02 1.69822165e+02] [ 5.95195582e-01 8.03488780e-01 -1.21655189e-02 3.03434585e+01] [ 2.00952779e-02 2.51952823e-04 9.99798038e-01 2.44046628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.85, Y:30.36, Z:2.44 [[ 8.03213222e-01 -5.95508395e-01 -1.47740031e-02 1.69845105e+02] [ 5.95402338e-01 8.03349051e-01 -1.12409287e-02 3.03601752e+01] [ 1.85627488e-02 2.32386601e-04 9.99827670e-01 2.44296138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.87, Y:30.38, Z:2.44 [[ 8.03221337e-01 -5.95496939e-01 -1.47945782e-02 1.69867289e+02] [ 5.95390467e-01 8.03357541e-01 -1.12629268e-02 3.03773780e+01] [ 1.85923744e-02 2.38072324e-04 9.99827119e-01 2.44371099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.490385723 meters Centerline goodness [0,1] 0.9999321696662747 Centerline is valid? [True, True] Translation: X:169.89, Y:30.40, Z:2.44 [[ 8.03482015e-01 -5.95131973e-01 -1.53162283e-02 1.69888780e+02] [ 5.95017681e-01 8.03627941e-01 -1.16658399e-02 3.03955462e+01] [ 1.92512633e-02 2.59865943e-04 9.99814643e-01 2.44371498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.91, Y:30.41, Z:2.44 [[ 8.04461855e-01 -5.93780710e-01 -1.62969993e-02 1.69910612e+02] [ 5.93650966e-01 8.04626851e-01 -1.24161368e-02 3.04145910e+01] [ 2.04854657e-02 3.13579025e-04 9.99790102e-01 2.44181139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.550385723 meters Centerline goodness [0,1] 0.9999319774165023 Centerline is valid? [True, True] Translation: X:169.93, Y:30.43, Z:2.44 [[ 8.04942185e-01 -5.93094637e-01 -1.75166026e-02 1.69932866e+02] [ 5.92944430e-01 8.05132673e-01 -1.33521841e-02 3.04330930e+01] [ 2.20222978e-02 3.61364320e-04 9.99757414e-01 2.44075216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.580385723 meters Centerline goodness [0,1] 0.9999546104441368 Centerline is valid? [True, True] Translation: X:169.95, Y:30.45, Z:2.44 [[ 8.05678105e-01 -5.92045238e-01 -1.91109248e-02 1.69954077e+02] [ 5.91866004e-01 8.05904617e-01 -1.45733364e-02 3.04512063e+01] [ 2.40296569e-02 4.30311359e-04 9.99711153e-01 2.43850699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.98, Y:30.47, Z:2.44 [[ 8.05803007e-01 -5.91867064e-01 -1.93621476e-02 1.69977879e+02] [ 5.91682929e-01 8.06035471e-01 -1.47692520e-02 3.04675831e+01] [ 2.43480115e-02 4.44855459e-04 9.99703444e-01 2.43976923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.640385723 meters Centerline goodness [0,1] 0.9999773108862368 Centerline is valid? [True, True] Translation: X:170.00, Y:30.48, Z:2.44 [[ 8.05448030e-01 -5.92386159e-01 -1.82238821e-02 1.70001534e+02] [ 5.92223023e-01 8.05654064e-01 -1.39075239e-02 3.04837355e+01] [ 2.29207693e-02 4.09185207e-04 9.99737201e-01 2.44135523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.670385723 meters Centerline goodness [0,1] 0.9999092291283727 Centerline is valid? [True, True] Translation: X:170.02, Y:30.50, Z:2.44 [[ 8.04961118e-01 -5.93067643e-01 -1.75604721e-02 1.70024876e+02] [ 5.92916191e-01 8.05152549e-01 -1.34076144e-02 3.05009359e+01] [ 2.20904812e-02 3.80720045e-04 9.99755903e-01 2.44245491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.700385723 meters Centerline goodness [0,1] 0.9999092291283727 Centerline is valid? [True, True] Translation: X:170.05, Y:30.52, Z:2.44 [[ 8.04801695e-01 -5.93284061e-01 -1.75571832e-02 1.70046766e+02] [ 5.93132567e-01 8.04993092e-01 -1.34119203e-02 3.05177555e+01] [ 2.20904897e-02 3.80199018e-04 9.99755903e-01 2.44287243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.730385723 meters Centerline goodness [0,1] 0.9999544823505314 Centerline is valid? [True, True] Translation: X:170.07, Y:30.53, Z:2.44 [[ 8.04081220e-01 -5.94307576e-01 -1.58712393e-02 1.70069310e+02] [ 5.94183879e-01 8.04237776e-01 -1.21291740e-02 3.05342859e+01] [ 1.99727101e-02 3.22406482e-04 9.99800474e-01 2.44464856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.760385723 meters Centerline goodness [0,1] 0.9999318708270881 Centerline is valid? [True, True] Translation: X:170.09, Y:30.55, Z:2.45 [[ 8.03585084e-01 -5.94982191e-01 -1.57227730e-02 1.70092811e+02] [ 5.94860864e-01 8.03738825e-01 -1.20188640e-02 3.05499117e+01] [ 1.97880131e-02 3.05317472e-04 9.99804151e-01 2.44594391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.790385723 meters Centerline goodness [0,1] 0.9999316893230412 Centerline is valid? [True, True] Translation: X:170.12, Y:30.57, Z:2.45 [[ 8.02742736e-01 -5.96128672e-01 -1.53201250e-02 1.70117107e+02] [ 5.96013568e-01 8.02888865e-01 -1.17173822e-02 3.05653757e+01] [ 1.92854253e-02 2.75041061e-04 9.99813981e-01 2.44676012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.82038572300002 meters Centerline goodness [0,1] 0.9999773108862368 Centerline is valid? [True, True] Translation: X:170.14, Y:30.58, Z:2.45 [[ 8.02397490e-01 -5.96590718e-01 -1.54202610e-02 1.70138480e+02] [ 5.96474085e-01 8.02545602e-01 -1.17992648e-02 3.05814226e+01] [ 1.94147945e-02 2.69914346e-04 9.99811479e-01 2.44694604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85038572300002 meters Centerline goodness [0,1] 0.9999772510123299 Centerline is valid? [True, True] Translation: X:170.16, Y:30.60, Z:2.45 [[ 8.01872973e-01 -5.97292015e-01 -1.55558191e-02 1.70160152e+02] [ 5.97173401e-01 8.02023804e-01 -1.19057286e-02 3.05986380e+01] [ 1.95873339e-02 2.57360575e-04 9.99808117e-01 2.44675425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.18, Y:30.62, Z:2.45 [[ 8.01594580e-01 -5.97658762e-01 -1.58156216e-02 1.70182543e+02] [ 5.97536159e-01 8.01750547e-01 -1.21078221e-02 3.06155973e+01] [ 1.99165292e-02 2.55158820e-04 9.99801614e-01 2.44710400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.20, Y:30.63, Z:2.45 [[ 8.01174304e-01 -5.98201057e-01 -1.65900614e-02 1.70204184e+02] [ 5.98066136e-01 8.01346011e-01 -1.27069986e-02 3.06313766e+01] [ 2.08957195e-02 2.58566845e-04 9.99781627e-01 2.44688922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.23, Y:30.65, Z:2.45 [[ 8.01093985e-01 -5.98307492e-01 -1.66304566e-02 1.70226501e+02] [ 5.98171849e-01 8.01266546e-01 -1.27421436e-02 3.06482116e+01] [ 2.09491486e-02 2.59783638e-04 9.99780509e-01 2.44763501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.970385723 meters Centerline goodness [0,1] 0.9999545578478597 Centerline is valid? [True, True] Translation: X:170.25, Y:30.67, Z:2.45 [[ 8.00448376e-01 -5.99171888e-01 -1.65965492e-02 1.70249256e+02] [ 5.99036841e-01 8.00620378e-01 -1.27229351e-02 3.06659255e+01] [ 2.09107605e-02 2.42108336e-04 9.99781317e-01 2.44772842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.000385723 meters Centerline goodness [0,1] 0.9999772178429853 Centerline is valid? [True, True] Translation: X:170.27, Y:30.68, Z:2.45 [[ 8.00145848e-01 -5.99581574e-01 -1.63877364e-02 1.70271822e+02] [ 5.99449861e-01 8.00313615e-01 -1.25691136e-02 3.06833062e+01] [ 2.06515374e-02 2.33497726e-04 9.99786707e-01 2.44795588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.030385723 meters Centerline goodness [0,1] 0.999794604956867 Centerline is valid? [True, True] Translation: X:170.29, Y:30.70, Z:2.45 [[ 8.00553928e-01 -5.99042176e-01 -1.61826816e-02 1.70294790e+02] [ 5.98913493e-01 8.00717434e-01 -1.24184764e-02 3.07006362e+01] [ 2.03969464e-02 2.49633697e-04 9.99791929e-01 2.44954263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.060385723 meters Centerline goodness [0,1] 0.9998403575989783 Centerline is valid? [True, True] Translation: X:170.32, Y:30.72, Z:2.45 [[ 8.01108998e-01 -5.98297702e-01 -1.62552890e-02 1.70315887e+02] [ 5.98167601e-01 8.01273852e-01 -1.24794070e-02 3.07186285e+01] [ 2.04913386e-02 2.73977982e-04 9.99789993e-01 2.45005054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.090385723 meters Centerline goodness [0,1] 0.9998176887491169 Centerline is valid? [True, True] Translation: X:170.34, Y:30.74, Z:2.45 [[ 8.02356272e-01 -5.96631404e-01 -1.59806589e-02 1.70338103e+02] [ 5.96505269e-01 8.02515339e-01 -1.22716969e-02 3.07364672e+01] [ 2.01464037e-02 3.13725769e-04 9.99796991e-01 2.45105243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.120385723 meters Centerline goodness [0,1] 0.9996586098593473 Centerline is valid? [True, True] Translation: X:170.36, Y:30.75, Z:2.45 [[ 8.03199066e-01 -5.95501627e-01 -1.57820544e-02 1.70358694e+02] [ 5.95378289e-01 8.03354029e-01 -1.21242742e-02 3.07547904e+01] [ 1.98986021e-02 3.41913182e-04 9.99801945e-01 2.45170947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.150385723 meters Centerline goodness [0,1] 0.999635759327976 Centerline is valid? [True, True] Translation: X:170.38, Y:30.78, Z:2.45 [[ 8.05063608e-01 -5.92986276e-01 -1.54875054e-02 1.70379934e+02] [ 5.92866976e-01 8.05212467e-01 -1.19009362e-02 3.07750847e+01] [ 1.95278243e-02 3.98980118e-04 9.99809234e-01 2.45178550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.180385723 meters Centerline goodness [0,1] 0.9994777712183824 Centerline is valid? [True, True] Translation: X:170.40, Y:30.79, Z:2.45 [[ 8.05754032e-01 -5.92027471e-01 -1.62454256e-02 1.70402327e+02] [ 5.91895880e-01 8.05917659e-01 -1.24898048e-02 3.07929275e+01] [ 2.04867829e-02 4.48110092e-04 9.99790023e-01 2.45167716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.210385723 meters Centerline goodness [0,1] 0.9994783042620273 Centerline is valid? [True, True] Translation: X:170.42, Y:30.81, Z:2.45 [[ 8.06933763e-01 -5.90394774e-01 -1.70854795e-02 1.70421849e+02] [ 5.90248722e-01 8.07114453e-01 -1.31417555e-02 3.08124480e+01] [ 2.15487612e-02 5.19843777e-04 9.99767663e-01 2.45073715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.240385723 meters Centerline goodness [0,1] 0.9993630863018061 Centerline is valid? [True, True] Translation: X:170.45, Y:30.83, Z:2.45 [[ 8.07203018e-01 -5.90023648e-01 -1.71866768e-02 1.70446023e+02] [ 5.89875670e-01 8.07385785e-01 -1.32244928e-02 3.08291510e+01] [ 2.16790420e-02 5.36847979e-04 9.99764838e-01 2.45128151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.270385723 meters Centerline goodness [0,1] 0.9994997157475839 Centerline is valid? [True, True] Translation: X:170.47, Y:30.85, Z:2.45 [[ 8.07749090e-01 -5.89270092e-01 -1.73829083e-02 1.70467957e+02] [ 5.89118391e-01 8.07935910e-01 -1.33823362e-02 3.08475535e+01] [ 2.19300863e-02 5.68978975e-04 9.99759345e-01 2.45138077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.300385723 meters Centerline goodness [0,1] 0.9994325146411223 Centerline is valid? [True, True] Translation: X:170.49, Y:30.87, Z:2.45 [[ 8.08181379e-01 -5.88670818e-01 -1.75934018e-02 1.70488942e+02] [ 5.88515155e-01 8.08372632e-01 -1.35499310e-02 3.08658234e+01] [ 2.21984735e-02 5.96818372e-04 9.99753405e-01 2.45139092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.330385723 meters Centerline goodness [0,1] 0.999388490023328 Centerline is valid? [True, True] Translation: X:170.51, Y:30.88, Z:2.45 [[ 8.08358525e-01 -5.88431825e-01 -1.74494200e-02 1.70510978e+02] [ 5.88278561e-01 8.08546613e-01 -1.34428086e-02 3.08839406e+01] [ 2.20188459e-02 6.01489207e-04 9.99757375e-01 2.45163735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.360385723 meters Centerline goodness [0,1] 0.999321865322453 Centerline is valid? [True, True] Translation: X:170.53, Y:30.90, Z:2.45 [[ 8.08300195e-01 -5.88521236e-01 -1.71333076e-02 1.70532222e+02] [ 5.88373347e-01 8.08481541e-01 -1.32061478e-02 3.09019725e+01] [ 2.16240613e-02 5.93750334e-04 9.99765996e-01 2.45174531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.390385723 meters Centerline goodness [0,1] 0.9990731321351871 Centerline is valid? [True, True] Translation: X:170.55, Y:30.92, Z:2.45 [[ 8.08125953e-01 -5.88792784e-01 -1.59843932e-02 1.70553705e+02] [ 5.88664007e-01 8.08283832e-01 -1.23261317e-02 3.09200285e+01] [ 2.01774640e-02 5.51629919e-04 9.99796262e-01 2.45277081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.420385723 meters Centerline goodness [0,1] 0.9988909761673042 Centerline is valid? [True, True] Translation: X:170.58, Y:30.94, Z:2.45 [[ 8.07718604e-01 -5.89368684e-01 -1.53366175e-02 1.70577130e+02] [ 5.89250194e-01 8.07864028e-01 -1.18288530e-02 3.09377377e+01] [ 1.93614571e-02 5.17279774e-04 9.99812416e-01 2.45344783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.450385723 meters Centerline goodness [0,1] 0.9992717673296618 Centerline is valid? [True, True] Translation: X:170.60, Y:30.95, Z:2.45 [[ 8.07037129e-01 -5.90308603e-01 -1.50607215e-02 1.70600458e+02] [ 5.90194435e-01 8.07177499e-01 -1.16195564e-02 3.09548888e+01] [ 1.90157996e-02 4.88659434e-04 9.99819064e-01 2.45422294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.480385723 meters Centerline goodness [0,1] 0.9987258827812159 Centerline is valid? [True, True] Translation: X:170.62, Y:30.97, Z:2.45 [[ 8.05509955e-01 -5.92398938e-01 -1.47380618e-02 1.70623452e+02] [ 5.92289862e-01 8.05644655e-01 -1.13757949e-02 3.09702121e+01] [ 1.86126495e-02 4.34111420e-04 9.99826675e-01 2.45422938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.510385723 meters Centerline goodness [0,1] 0.9988641010495707 Centerline is valid? [True, True] Translation: X:170.65, Y:30.99, Z:2.45 [[ 8.04847451e-01 -5.93299682e-01 -1.46992708e-02 1.70647409e+02] [ 5.93191265e-01 8.04981562e-01 -1.13493434e-02 3.09868462e+01] [ 1.85662038e-02 4.15011024e-04 9.99827547e-01 2.45469135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.540385723 meters Centerline goodness [0,1] 0.9987446934769708 Centerline is valid? [True, True] Translation: X:170.67, Y:31.00, Z:2.46 [[ 8.03999480e-01 -5.94465160e-01 -1.40003379e-02 1.70670098e+02] [ 5.94366902e-01 8.04121281e-01 -1.08144276e-02 3.10034199e+01] [ 1.76867701e-02 3.73456759e-04 9.99843507e-01 2.45529165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.57038572300002 meters Centerline goodness [0,1] 0.9989085451816817 Centerline is valid? [True, True] Translation: X:170.69, Y:31.02, Z:2.46 [[ 8.03757706e-01 -5.94806409e-01 -1.33748616e-02 1.70692691e+02] [ 5.94716745e-01 8.03868903e-01 -1.03334461e-02 3.10201629e+01] [ 1.68980353e-02 3.51332729e-04 9.99857156e-01 2.45578661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.60038572300002 meters Centerline goodness [0,1] 0.9987693990565393 Centerline is valid? [True, True] Translation: X:170.71, Y:31.04, Z:2.46 [[ 8.03177139e-01 -5.95612486e-01 -1.23389506e-02 1.70714406e+02] [ 5.95536193e-01 8.03271853e-01 -9.53799111e-03 3.10369560e+01] [ 1.55924783e-02 3.12404743e-04 9.99878381e-01 2.45655021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63038572300002 meters Centerline goodness [0,1] 0.9987324868155995 Centerline is valid? [True, True] Translation: X:170.74, Y:31.05, Z:2.46 [[ 8.02827947e-01 -5.96078268e-01 -1.25692692e-02 1.70736607e+02] [ 5.95999130e-01 8.02926275e-01 -9.71774619e-03 3.10538162e+01] [ 1.58847338e-02 3.10404678e-04 9.99873781e-01 2.45682822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.66038572300002 meters Centerline goodness [0,1] 0.9991124664330253 Centerline is valid? [True, True] Translation: X:170.76, Y:31.07, Z:2.46 [[ 8.02232008e-01 -5.96881654e-01 -1.24938620e-02 1.70760236e+02] [ 5.96803532e-01 8.02329237e-01 -9.66120383e-03 3.10709256e+01] [ 1.57907861e-02 2.94145986e-04 9.99875274e-01 2.45686934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69038572300002 meters Centerline goodness [0,1] 0.9993158806895923 Centerline is valid? [True, True] Translation: X:170.78, Y:31.09, Z:2.46 [[ 8.02081687e-01 -5.97083961e-01 -1.24784209e-02 1.70782732e+02] [ 5.97005984e-01 8.02178694e-01 -9.65388661e-03 3.10873892e+01] [ 1.57741043e-02 2.93513685e-04 9.99875538e-01 2.45646679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.720385723 meters Centerline goodness [0,1] 0.9995659821367384 Centerline is valid? [True, True] Translation: X:170.81, Y:31.10, Z:2.46 [[ 8.02303747e-01 -5.96769188e-01 -1.32375930e-02 1.70805640e+02] [ 5.96681291e-01 8.02412881e-01 -1.02471542e-02 3.11043684e+01] [ 1.67372010e-02 3.22706097e-04 9.99859871e-01 2.45572390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.750385723 meters Centerline goodness [0,1] 0.999748404656801 Centerline is valid? [True, True] Translation: X:170.83, Y:31.12, Z:2.46 [[ 8.02339072e-01 -5.96703019e-01 -1.40541758e-02 1.70828345e+02] [ 5.96603833e-01 8.02462077e-01 -1.08849356e-02 3.11217748e+01] [ 1.77730171e-02 3.48633973e-04 9.99841987e-01 2.45529591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.780385723 meters Centerline goodness [0,1] 0.9997260399068536 Centerline is valid? [True, True] Translation: X:170.85, Y:31.14, Z:2.45 [[ 8.02398655e-01 -5.96595680e-01 -1.51655054e-02 1.70848688e+02] [ 5.96480060e-01 8.02541866e-01 -1.17511882e-02 3.11402633e+01] [ 1.91816611e-02 3.83216071e-04 9.99815942e-01 2.45384120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.810385723 meters Centerline goodness [0,1] 0.9997938663796065 Centerline is valid? [True, True] Translation: X:170.87, Y:31.16, Z:2.45 [[ 8.01858199e-01 -5.97313736e-01 -1.54831781e-02 1.70872655e+02] [ 5.97193289e-01 8.02007580e-01 -1.20006691e-02 3.11561238e+01] [ 1.95857907e-02 3.76384824e-04 9.99808109e-01 2.45377239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.840385723 meters Centerline goodness [0,1] 0.9998852157943067 Centerline is valid? [True, True] Translation: X:170.90, Y:31.17, Z:2.45 [[ 8.00467039e-01 -5.99175370e-01 -1.55369442e-02 1.70896313e+02] [ 5.99054319e-01 8.00617738e-01 -1.20482415e-02 3.11727705e+01] [ 1.96581627e-02 3.36746683e-04 9.99806703e-01 2.45401965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.870385723 meters Centerline goodness [0,1] 0.999954149472719 Centerline is valid? [True, True] Translation: X:170.92, Y:31.19, Z:2.46 [[ 7.99800642e-01 -6.00073293e-01 -1.51978741e-02 1.70920063e+02] [ 5.99957522e-01 7.99944964e-01 -1.17909526e-02 3.11892815e+01] [ 1.92328986e-02 3.12332623e-04 9.99814982e-01 2.45513115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.900385723 meters Centerline goodness [0,1] 0.9999770421047798 Centerline is valid? [True, True] Translation: X:170.94, Y:31.21, Z:2.46 [[ 7.99009701e-01 -6.01141416e-01 -1.45772291e-02 1.70943365e+02] [ 6.01034986e-01 7.99142616e-01 -1.13148023e-02 3.12062618e+01] [ 1.84510813e-02 2.79212093e-04 9.99829725e-01 2.45671375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.97, Y:31.22, Z:2.46 [[ 7.98005422e-01 -6.02518591e-01 -1.25973545e-02 1.70967525e+02] [ 6.02439218e-01 7.98104818e-01 -9.78205875e-03 3.12229395e+01] [ 1.59478815e-02 2.16995547e-04 9.99872801e-01 2.45941814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.99, Y:31.24, Z:2.46 [[ 7.97446937e-01 -6.03259288e-01 -1.25145641e-02 1.70989739e+02] [ 6.03181006e-01 7.97545103e-01 -9.72024364e-03 3.12393697e+01] [ 1.58447565e-02 2.02831170e-04 9.99874443e-01 2.45984174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.01, Y:31.26, Z:2.46 [[ 7.97441031e-01 -6.03264940e-01 -1.26179766e-02 1.71010357e+02] [ 6.03185275e-01 7.97540826e-01 -9.80591195e-03 3.12564927e+01] [ 1.59789144e-02 2.08658829e-04 9.99872307e-01 2.45969734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.03, Y:31.27, Z:2.46 [[ 7.97322533e-01 -6.03409086e-01 -1.32005100e-02 1.71032792e+02] [ 6.03321867e-01 7.97431770e-01 -1.02614439e-02 3.12740074e+01] [ 1.67183546e-02 2.17524079e-04 9.99860215e-01 2.45912169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.05, Y:31.29, Z:2.46 [[ 7.97205731e-01 -6.03563708e-01 -1.31860924e-02 1.71054765e+02] [ 6.03476612e-01 7.97314745e-01 -1.02555430e-02 3.12911613e+01] [ 1.67033394e-02 2.18279263e-04 9.99860466e-01 2.45945954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.080385723 meters Centerline goodness [0,1] 0.9999540536194261 Centerline is valid? [True, True] Translation: X:171.08, Y:31.31, Z:2.46 [[ 7.96851078e-01 -6.04032571e-01 -1.31534600e-02 1.71076736e+02] [ 6.03945879e-01 7.96959603e-01 -1.02355450e-02 3.13085995e+01] [ 1.66653788e-02 2.12227139e-04 9.99861100e-01 2.46003872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.110385723 meters Centerline goodness [0,1] 0.9999770215308256 Centerline is valid? [True, True] Translation: X:171.10, Y:31.33, Z:2.46 [[ 7.96601831e-01 -6.04367279e-01 -1.28729952e-02 1.71098703e+02] [ 6.04284200e-01 7.96705811e-01 -1.00227889e-02 3.13256104e+01] [ 1.63134357e-02 2.05224389e-04 9.99866906e-01 2.46060081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.12, Y:31.34, Z:2.46 [[ 7.96707782e-01 -6.04207261e-01 -1.37947371e-02 1.71119184e+02] [ 6.04111730e-01 7.96827167e-01 -1.07463479e-02 3.13439680e+01] [ 1.74850427e-02 2.28136494e-04 9.99847099e-01 2.45996872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.170385723 meters Centerline goodness [0,1] 0.9999771009846576 Centerline is valid? [True, True] Translation: X:171.14, Y:31.36, Z:2.46 [[ 7.96607060e-01 -6.04335046e-01 -1.40122505e-02 1.71142331e+02] [ 6.04236445e-01 7.96730254e-01 -1.09187960e-02 3.13605900e+01] [ 1.77625950e-02 2.31277513e-04 9.99842206e-01 2.46014279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.200385723 meters Centerline goodness [0,1] 0.9998393758604864 Centerline is valid? [True, True] Translation: X:171.16, Y:31.38, Z:2.46 [[ 7.96270640e-01 -6.04746794e-01 -1.53095603e-02 1.71162688e+02] [ 6.04629025e-01 7.96417763e-01 -1.19368539e-02 3.13782542e+01] [ 1.94115799e-02 2.48361747e-04 9.99811547e-01 2.45890722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.230385723 meters Centerline goodness [0,1] 0.9999314786898725 Centerline is valid? [True, True] Translation: X:171.19, Y:31.39, Z:2.46 [[ 7.96094948e-01 -6.04960398e-01 -1.59922056e-02 1.71185725e+02] [ 6.04831788e-01 7.96255518e-01 -1.24763198e-02 3.13942798e+01] [ 2.02815613e-02 2.59740838e-04 9.99794274e-01 2.45926431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.260385723 meters Centerline goodness [0,1] 0.9999770983625329 Centerline is valid? [True, True] Translation: X:171.21, Y:31.41, Z:2.46 [[ 7.96161672e-01 -6.04850035e-01 -1.68234362e-02 1.71209193e+02] [ 6.04707522e-01 7.96339347e-01 -1.31323022e-02 3.14116373e+01] [ 2.13402376e-02 2.82177246e-04 9.99772231e-01 2.45941508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.290385723 meters Centerline goodness [0,1] 0.99993124627584 Centerline is valid? [True, True] Translation: X:171.23, Y:31.43, Z:2.46 [[ 7.96198084e-01 -6.04800741e-01 -1.68723004e-02 1.71230026e+02] [ 6.04657267e-01 7.96376783e-01 -1.31760834e-02 3.14289560e+01] [ 2.14056133e-02 2.88813339e-04 9.99770832e-01 2.45982303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.25, Y:31.45, Z:2.46 [[ 7.96331783e-01 -6.04648890e-01 -1.59815692e-02 1.71252251e+02] [ 6.04520056e-01 7.96492085e-01 -1.24844230e-02 3.14462507e+01] [ 2.02778859e-02 2.80563675e-04 9.99794343e-01 2.46147527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.27, Y:31.46, Z:2.46 [[ 7.96304449e-01 -6.04702198e-01 -1.53125901e-02 1.71274168e+02] [ 6.04583809e-01 7.96451616e-01 -1.19683391e-02 3.14630279e+01] [ 1.94330181e-02 2.72697600e-04 9.99811124e-01 2.46280085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.30, Y:31.48, Z:2.46 [[ 7.96366638e-01 -6.04633495e-01 -1.47822489e-02 1.71295766e+02] [ 6.04523032e-01 7.96503775e-01 -1.15602782e-02 3.14810440e+01] [ 1.87638485e-02 2.70009985e-04 9.99823907e-01 2.46386168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.32, Y:31.50, Z:2.46 [[ 7.97075129e-01 -6.03722391e-01 -1.38026771e-02 1.71317526e+02] [ 6.03625847e-01 7.97194580e-01 -1.07999316e-02 3.14994473e+01] [ 1.75235799e-02 2.76704239e-04 9.99846412e-01 2.46473265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.34, Y:31.52, Z:2.46 [[ 7.97274690e-01 -6.03461188e-01 -1.36990438e-02 1.71339521e+02] [ 6.03365958e-01 7.97392321e-01 -1.07241608e-02 3.15181176e+01] [ 1.73951271e-02 2.84565259e-04 9.99848653e-01 2.46491832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.470385723 meters Centerline goodness [0,1] 0.9999771391994148 Centerline is valid? [True, True] Translation: X:171.36, Y:31.54, Z:2.46 [[ 7.97881470e-01 -6.02633737e-01 -1.47560174e-02 1.71360044e+02] [ 6.02523000e-01 7.98017838e-01 -1.15569675e-02 3.15364929e+01] [ 1.87401836e-02 3.30250340e-04 9.99824333e-01 2.46489281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.38, Y:31.56, Z:2.46 [[ 7.99131844e-01 -6.00929064e-01 -1.65092752e-02 1.71380971e+02] [ 6.00790031e-01 7.99302250e-01 -1.29325864e-02 3.15559855e+01] [ 2.09674679e-02 4.16233619e-04 9.99780072e-01 2.46344812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.530385723 meters Centerline goodness [0,1] 0.9999770610634491 Centerline is valid? [True, True] Translation: X:171.40, Y:31.58, Z:2.46 [[ 7.99738859e-01 -6.00090555e-01 -1.75807689e-02 1.71402044e+02] [ 5.99932628e-01 7.99931939e-01 -1.37744447e-02 3.15751847e+01] [ 2.23293327e-02 4.68681838e-04 9.99750560e-01 2.46228087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.560385723 meters Centerline goodness [0,1] 0.9999313344014649 Centerline is valid? [True, True] Translation: X:171.42, Y:31.59, Z:2.46 [[ 8.00217418e-01 -5.99434644e-01 -1.81711895e-02 1.71423710e+02] [ 5.99265668e-01 8.00423545e-01 -1.42410560e-02 3.15945940e+01] [ 2.30812302e-02 5.06571047e-04 9.99733465e-01 2.46140593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.590385723 meters Centerline goodness [0,1] 0.9999313344014649 Centerline is valid? [True, True] Translation: X:171.45, Y:31.61, Z:2.46 [[ 8.00056831e-01 -5.99649066e-01 -1.81676959e-02 1.71445385e+02] [ 5.99480045e-01 8.00262920e-01 -1.42455119e-02 3.16116921e+01] [ 2.30812412e-02 5.06047958e-04 9.99733465e-01 2.46182349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.620385723 meters Centerline goodness [0,1] 0.9999770883929798 Centerline is valid? [True, True] Translation: X:171.47, Y:31.63, Z:2.46 [[ 8.00639452e-01 -5.98839921e-01 -1.91628903e-02 1.71468169e+02] [ 5.98651439e-01 8.00868547e-01 -1.50341284e-02 3.16300804e+01] [ 2.43499924e-02 5.65024484e-04 9.99703335e-01 2.46189980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.49, Y:31.65, Z:2.46 [[ 8.00758362e-01 -5.98665803e-01 -1.96291072e-02 1.71491216e+02] [ 5.98467794e-01 8.00998694e-01 -1.54074989e-02 3.16479686e+01] [ 2.49468319e-02 5.90295091e-04 9.99688605e-01 2.46223138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.51, Y:31.66, Z:2.46 [[ 7.99751821e-01 -5.99988619e-01 -2.02652967e-02 1.71513617e+02] [ 5.99777842e-01 8.00008331e-01 -1.59125664e-02 3.16641154e+01] [ 2.57597649e-02 5.71428043e-04 9.99667999e-01 2.46263022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.54, Y:31.68, Z:2.46 [[ 7.98991530e-01 -6.00990066e-01 -2.05785017e-02 1.71535021e+02] [ 6.00772963e-01 7.99256303e-01 -1.61619806e-02 3.16826185e+01] [ 2.61606869e-02 5.50278150e-04 9.99657599e-01 2.46231319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.56, Y:31.70, Z:2.46 [[ 7.97959899e-01 -6.02379264e-01 -1.99805438e-02 1.71559439e+02] [ 6.02174893e-01 7.98209858e-01 -1.56978014e-02 3.16980898e+01] [ 2.54046971e-02 4.94434148e-04 9.99677126e-01 2.46499811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.58, Y:31.72, Z:2.47 [[ 7.97114196e-01 -6.03517975e-01 -1.93652212e-02 1.71583034e+02] [ 6.03326156e-01 7.97349266e-01 -1.52216430e-02 3.17152721e+01] [ 2.46273801e-02 4.49843220e-04 9.99696599e-01 2.46615938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.61, Y:31.73, Z:2.47 [[ 7.96258772e-01 -6.04657784e-01 -1.89982052e-02 1.71605522e+02] [ 6.04473318e-01 7.96485275e-01 -1.49403497e-02 3.17326813e+01] [ 2.41655894e-02 4.12476356e-04 9.99707884e-01 2.46714669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.63, Y:31.75, Z:2.47 [[ 7.94481109e-01 -6.07036036e-01 -1.75219316e-02 1.71630169e+02] [ 6.06879563e-01 7.94674241e-01 -1.37857316e-02 3.17474159e+01] [ 2.22926636e-02 3.18801141e-04 9.99751437e-01 2.47031258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.65, Y:31.76, Z:2.47 [[ 7.92787139e-01 -6.09284511e-01 -1.61535383e-02 1.71653055e+02] [ 6.09151893e-01 7.92951655e-01 -1.27139062e-02 3.17627043e+01] [ 2.05553611e-02 2.39462920e-04 9.99788688e-01 2.47296013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.890385723 meters Centerline goodness [0,1] 0.9999771746821574 Centerline is valid? [True, True] Translation: X:171.68, Y:31.78, Z:2.47 [[ 7.92063442e-01 -6.10239681e-01 -1.55896245e-02 1.71676186e+02] [ 6.10116288e-01 7.92216819e-01 -1.22730079e-02 3.17796703e+01] [ 1.98398392e-02 2.09517043e-04 9.99803149e-01 2.47461926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.70, Y:31.80, Z:2.48 [[ 7.91540158e-01 -6.10919686e-01 -1.55343052e-02 1.71698587e+02] [ 6.10797179e-01 7.91692553e-01 -1.22354952e-02 3.17967391e+01] [ 1.97732986e-02 1.96576039e-04 9.99804470e-01 2.47558064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.950385723 meters Centerline goodness [0,1] 0.9999545216817882 Centerline is valid? [True, True] Translation: X:171.72, Y:31.81, Z:2.48 [[ 7.91216481e-01 -6.11328697e-01 -1.59281176e-02 1.71720679e+02] [ 6.11199840e-01 7.91376766e-01 -1.25526685e-02 3.18144057e+01] [ 2.02789486e-02 1.96615229e-04 9.99794342e-01 2.47571488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.74, Y:31.83, Z:2.48 [[ 7.91364717e-01 -6.11116530e-01 -1.66874494e-02 1.71742222e+02] [ 6.10974894e-01 7.91540612e-01 -1.31582368e-02 3.18328806e+01] [ 2.12500099e-02 2.17351737e-04 9.99774169e-01 2.47522638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.76, Y:31.85, Z:2.47 [[ 7.92046783e-01 -6.10186978e-01 -1.82687191e-02 1.71764152e+02] [ 6.10016806e-01 7.92257394e-01 -1.44124011e-02 3.18519597e+01] [ 2.32677872e-02 2.71070250e-04 9.99729232e-01 2.47419855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.79, Y:31.87, Z:2.47 [[ 7.92875191e-01 -6.09043489e-01 -2.03705711e-02 1.71785692e+02] [ 6.08831305e-01 7.93136753e-01 -1.60789893e-02 3.18717803e+01] [ 2.59494524e-02 3.46390339e-04 9.99663196e-01 2.47244165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.07038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.81, Y:31.89, Z:2.47 [[ 7.93365226e-01 -6.08376201e-01 -2.12135797e-02 1.71806773e+02] [ 6.08145686e-01 7.93648693e-01 -1.67504240e-02 3.18896181e+01] [ 2.70266891e-02 3.88256928e-04 9.99634637e-01 2.47238753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.10038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.83, Y:31.91, Z:2.47 [[ 7.93617191e-01 -6.08033949e-01 -2.15979536e-02 1.71829175e+02] [ 6.07794729e-01 7.93910919e-01 -1.70592898e-02 3.19079089e+01] [ 2.75194786e-02 4.11423250e-04 9.99621183e-01 2.47299023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.85, Y:31.93, Z:2.48 [[ 7.94144014e-01 -6.07373246e-01 -2.08092536e-02 1.71850663e+02] [ 6.07150734e-01 7.94416490e-01 -1.64446528e-02 3.19267609e+01] [ 2.65192564e-02 4.25069009e-04 9.99648212e-01 2.47538032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.16038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.87, Y:31.94, Z:2.48 [[ 7.94263720e-01 -6.07238586e-01 -2.01604130e-02 1.71870769e+02] [ 6.07029499e-01 7.94519428e-01 -1.59394738e-02 3.19444262e+01] [ 2.56969033e-02 4.22180364e-04 9.99669691e-01 2.47637363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.89, Y:31.96, Z:2.48 [[ 7.94485694e-01 -6.06962917e-01 -1.97103820e-02 1.71891856e+02] [ 6.06762800e-01 7.94730039e-01 -1.55906921e-02 3.19624544e+01] [ 2.51274046e-02 4.27055238e-04 9.99684166e-01 2.47816804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.91, Y:31.98, Z:2.48 [[ 7.94614378e-01 -6.06790638e-01 -1.98270553e-02 1.71911917e+02] [ 6.06587924e-01 7.94861578e-01 -1.56895694e-02 3.19821203e+01] [ 2.52800483e-02 4.40305120e-04 9.99680312e-01 2.47763072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.250385723 meters Centerline goodness [0,1] 0.9999773494303382 Centerline is valid? [True, True] Translation: X:171.93, Y:32.00, Z:2.48 [[ 7.95069611e-01 -6.06194604e-01 -1.98094910e-02 1.71933321e+02] [ 6.05991944e-01 7.95316219e-01 -1.56804026e-02 3.20021726e+01] [ 2.52601849e-02 4.62619676e-04 9.99680804e-01 2.47811699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.280385723 meters Centerline goodness [0,1] 0.9998870056497176 Centerline is valid? [True, True] Translation: X:171.96, Y:32.02, Z:2.48 [[ 7.95134832e-01 -6.06119913e-01 -1.94743111e-02 1.71955606e+02] [ 6.05923842e-01 7.95373143e-01 -1.54227848e-02 3.20195481e+01] [ 2.48374010e-02 4.63243969e-04 9.99691397e-01 2.47942258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.98, Y:32.04, Z:2.48 [[ 7.94966557e-01 -6.06336188e-01 -1.96112291e-02 1.71975190e+02] [ 6.06137246e-01 7.95208282e-01 -1.55379469e-02 3.20378168e+01] [ 2.50162313e-02 4.65051779e-04 9.99686937e-01 2.48028547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.340385723 meters Centerline goodness [0,1] 0.9999774952177337 Centerline is valid? [True, True] Translation: X:172.00, Y:32.05, Z:2.48 [[ 7.94479081e-01 -6.06971185e-01 -1.97223317e-02 1.71998297e+02] [ 6.06770032e-01 7.94723711e-01 -1.56317400e-02 3.20545645e+01] [ 2.51618203e-02 4.52170601e-04 9.99683289e-01 2.48150159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.370385723 meters Centerline goodness [0,1] 0.9999776096010031 Centerline is valid? [True, True] Translation: X:172.02, Y:32.07, Z:2.48 [[ 7.93575719e-01 -6.08147101e-01 -1.98666128e-02 1.72019191e+02] [ 6.07943199e-01 7.93824240e-01 -1.57525324e-02 3.20737933e+01] [ 2.53504557e-02 4.23055124e-04 9.99678536e-01 2.48132051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.400385723 meters Centerline goodness [0,1] 0.9999776521331039 Centerline is valid? [True, True] Translation: X:172.04, Y:32.09, Z:2.48 [[ 7.92899931e-01 -6.09035978e-01 -1.96183017e-02 1.72042200e+02] [ 6.08837303e-01 7.93142499e-01 -1.55600367e-02 3.20921037e+01] [ 2.50367310e-02 3.93198166e-04 9.99686455e-01 2.48207232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.07, Y:32.11, Z:2.48 [[ 7.91684372e-01 -6.10608027e-01 -1.98416578e-02 1.72065390e+02] [ 6.10405108e-01 7.91932896e-01 -1.57445860e-02 3.21097877e+01] [ 2.53270321e-02 3.53293403e-04 9.99679157e-01 2.48286230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.460385723 meters Centerline goodness [0,1] 0.999932813759742 Centerline is valid? [True, True] Translation: X:172.09, Y:32.13, Z:2.48 [[ 7.89155680e-01 -6.13856212e-01 -2.03436701e-02 1.72088460e+02] [ 6.13643815e-01 7.89417813e-01 -1.61488167e-02 3.21257493e+01] [ 2.59727070e-02 2.60163104e-04 9.99662618e-01 2.48324859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.490385723 meters Centerline goodness [0,1] 0.9999550884757029 Centerline is valid? [True, True] Translation: X:172.11, Y:32.14, Z:2.48 [[ 7.86242304e-01 -6.17562108e-01 -2.09781177e-02 1.72113159e+02] [ 6.17337440e-01 7.86522105e-01 -1.66572363e-02 3.21419283e+01] [ 2.67866312e-02 1.46046372e-04 9.99641163e-01 2.48374983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.14, Y:32.16, Z:2.48 [[ 7.84957814e-01 -6.19202057e-01 -2.07374764e-02 1.72136135e+02] [ 6.18982892e-01 7.85231688e-01 -1.64735193e-02 3.21589055e+01] [ 2.64841606e-02 9.48745691e-05 9.99649229e-01 2.48457913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.550385723 meters Centerline goodness [0,1] 0.9999775759614307 Centerline is valid? [True, True] Translation: X:172.16, Y:32.18, Z:2.48 [[ 7.83817579e-01 -6.20652970e-01 -2.04912956e-02 1.72157797e+02] [ 6.20439310e-01 7.84085383e-01 -1.62841850e-02 3.21758129e+01] [ 2.61737532e-02 5.02251705e-05 9.99657407e-01 2.48451966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.580385723 meters Centerline goodness [0,1] 0.999955210176248 Centerline is valid? [True, True] Translation: X:172.18, Y:32.19, Z:2.49 [[ 7.82210821e-01 -6.22703388e-01 -1.96652505e-02 1.72179897e+02] [ 6.22507153e-01 7.82457980e-01 -1.56318447e-02 3.21926076e+01] [ 2.51212349e-02 -1.43610135e-05 9.99684412e-01 2.48591953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.20, Y:32.21, Z:2.49 [[ 7.81310960e-01 -6.23838790e-01 -1.94511935e-02 1.72202215e+02] [ 6.23647014e-01 7.81553045e-01 -1.54673752e-02 3.22101014e+01] [ 2.48512881e-02 -4.58489698e-05 9.99691158e-01 2.48689814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.640385723 meters Centerline goodness [0,1] 0.9999776156153467 Centerline is valid? [True, True] Translation: X:172.22, Y:32.23, Z:2.49 [[ 7.80506130e-01 -6.24851075e-01 -1.92695387e-02 1.72222979e+02] [ 6.24663012e-01 7.80743959e-01 -1.53294752e-02 3.22271620e+01] [ 2.46232150e-02 -7.22187504e-05 9.99696800e-01 2.48712059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.24, Y:32.24, Z:2.49 [[ 7.80309602e-01 -6.25093615e-01 -1.93622813e-02 1.72244059e+02] [ 6.24903703e-01 7.80549785e-01 -1.54076567e-02 3.22448954e+01] [ 2.47444524e-02 -7.68188198e-05 9.99693806e-01 2.48683453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.700385723 meters Centerline goodness [0,1] 0.9999775402030365 Centerline is valid? [True, True] Translation: X:172.27, Y:32.26, Z:2.49 [[ 7.80135531e-01 -6.25302417e-01 -1.96326212e-02 1.72265186e+02] [ 6.25107080e-01 7.80382522e-01 -1.56287417e-02 3.22638938e+01] [ 2.50936444e-02 -7.99538116e-05 9.99685102e-01 2.48712487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.29, Y:32.28, Z:2.49 [[ 7.80640723e-01 -6.24653699e-01 -2.01944963e-02 1.72285949e+02] [ 6.24446575e-01 7.80901885e-01 -1.60848132e-02 3.22837045e+01] [ 2.58173583e-02 -5.39237986e-05 9.99666675e-01 2.48795862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.760385723 meters Centerline goodness [0,1] 0.9999776945039258 Centerline is valid? [True, True] Translation: X:172.31, Y:32.30, Z:2.49 [[ 7.80641926e-01 -6.24643746e-01 -2.04542151e-02 1.72307437e+02] [ 6.24431017e-01 7.80909847e-01 -1.63007961e-02 3.23020395e+01] [ 2.61550883e-02 -4.71614941e-05 9.99657896e-01 2.48896065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.33, Y:32.32, Z:2.49 [[ 7.81126553e-01 -6.24005855e-01 -2.14009321e-02 1.72328493e+02] [ 6.23772549e-01 7.81419664e-01 -1.70621074e-02 3.23211588e+01] [ 2.73699641e-02 -2.16487746e-05 9.99625372e-01 2.48924257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.82038572300002 meters Centerline goodness [0,1] 0.9999776835527784 Centerline is valid? [True, True] Translation: X:172.35, Y:32.34, Z:2.49 [[ 7.81114822e-01 -6.24003229e-01 -2.18998811e-02 1.72349988e+02] [ 6.23758828e-01 7.81421762e-01 -1.74629769e-02 3.23390476e+01] [ 2.80099977e-02 -1.96540421e-05 9.99607643e-01 2.48688313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.85038572300002 meters Centerline goodness [0,1] 0.9999552572706936 Centerline is valid? [True, True] Translation: X:172.37, Y:32.36, Z:2.49 [[ 7.80626704e-01 -6.24607099e-01 -2.20889228e-02 1.72372047e+02] [ 6.24358537e-01 7.80939159e-01 -1.76194835e-02 3.23568005e+01] [ 2.82553592e-02 -3.71682203e-05 9.99600737e-01 2.48682459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.88038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.39, Y:32.37, Z:2.49 [[ 7.79989656e-01 -6.25406290e-01 -2.19797404e-02 1.72394232e+02] [ 6.25160249e-01 7.80299282e-01 -1.75412196e-02 3.23739685e+01] [ 2.81211647e-02 -5.88901331e-05 9.99604520e-01 2.48732742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91038572300002 meters Centerline goodness [0,1] 0.9999552392462289 Centerline is valid? [True, True] Translation: X:172.42, Y:32.39, Z:2.49 [[ 7.78146459e-01 -6.27726383e-01 -2.11583424e-02 1.72416485e+02] [ 6.27499013e-01 7.78434050e-01 -1.68943234e-02 3.23905409e+01] [ 2.70753868e-02 -1.30581031e-04 9.99633386e-01 2.49006796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.94038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.44, Y:32.41, Z:2.49 [[ 7.76480072e-01 -6.29807966e-01 -2.05091388e-02 1.72439647e+02] [ 6.29594832e-01 7.76750855e-01 -1.63846534e-02 3.24069933e+01] [ 2.62496763e-02 -1.90090964e-04 9.99655400e-01 2.49152790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.46, Y:32.42, Z:2.49 [[ 7.75666085e-01 -6.30814730e-01 -2.03691166e-02 1.72461629e+02] [ 6.30604615e-01 7.75933457e-01 -1.62815650e-02 3.24241510e+01] [ 2.60757301e-02 -2.15801111e-04 9.99659947e-01 2.49193255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.48, Y:32.44, Z:2.49 [[ 7.75033517e-01 -6.31594708e-01 -2.02773588e-02 1.72483481e+02] [ 6.31386561e-01 7.75298697e-01 -1.62154869e-02 3.24406126e+01] [ 2.59626256e-02 -2.35306046e-04 9.99662887e-01 2.49189588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.51, Y:32.46, Z:2.49 [[ 7.74423580e-01 -6.32358392e-01 -1.97732716e-02 1.72505681e+02] [ 6.32160556e-01 7.74675933e-01 -1.58186626e-02 3.24576001e+01] [ 2.53209416e-02 -2.49537051e-04 9.99679342e-01 2.49237506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.53, Y:32.47, Z:2.49 [[ 7.73759397e-01 -6.33173140e-01 -1.97020397e-02 1.72528202e+02] [ 6.32976785e-01 7.74010144e-01 -1.57698217e-02 3.24744202e+01] [ 2.52346061e-02 -2.68885999e-04 9.99681520e-01 2.49375500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.090385723 meters Centerline goodness [0,1] 0.999955348172624 Centerline is valid? [True, True] Translation: X:172.55, Y:32.49, Z:2.50 [[ 7.73682380e-01 -6.33284789e-01 -1.91298347e-02 1.72550007e+02] [ 6.33099520e-01 7.73918800e-01 -1.53195539e-02 3.24921179e+01] [ 2.45065792e-02 -2.58620284e-04 9.99699635e-01 2.49530247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.57, Y:32.51, Z:2.50 [[ 7.73639490e-01 -6.33348640e-01 -1.87467103e-02 1.72571690e+02] [ 6.33170546e-01 7.73866550e-01 -1.50207143e-02 3.25106723e+01] [ 2.40208011e-02 -2.49247049e-04 9.99711428e-01 2.49648129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.59, Y:32.53, Z:2.50 [[ 7.73336465e-01 -6.33736246e-01 -1.81406370e-02 1.72592605e+02] [ 6.33569409e-01 7.73549165e-01 -1.45428177e-02 3.25287715e+01] [ 2.32489853e-02 -2.46861463e-04 9.99729675e-01 2.49696995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.61, Y:32.55, Z:2.50 [[ 7.72791638e-01 -6.34415250e-01 -1.76174434e-02 1.72612748e+02] [ 6.34257932e-01 7.72992384e-01 -1.41297386e-02 3.25461387e+01] [ 2.25822712e-02 -2.54659350e-04 9.99744956e-01 2.49681214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.63, Y:32.56, Z:2.50 [[ 7.71964098e-01 -6.35443212e-01 -1.68331927e-02 1.72634591e+02] [ 6.35299739e-01 7.72147559e-01 -1.35051661e-02 3.25634702e+01] [ 2.15794748e-02 -2.68619594e-04 9.99767100e-01 2.49707447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.66, Y:32.58, Z:2.50 [[ 7.70153279e-01 -6.37669912e-01 -1.55245332e-02 1.72657213e+02] [ 6.37548221e-01 7.70309674e-01 -1.24608548e-02 3.25798170e+01] [ 1.99046103e-02 -3.00870352e-04 9.99801838e-01 2.49857347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.68, Y:32.60, Z:2.50 [[ 7.68706681e-01 -6.39439491e-01 -1.43935841e-02 1.72680036e+02] [ 6.39335135e-01 7.68841359e-01 -1.15563700e-02 3.25980530e+01] [ 1.84559821e-02 -3.18865199e-04 9.99829623e-01 2.49986872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.70, Y:32.62, Z:2.50 [[ 7.66995240e-01 -6.41505184e-01 -1.37622765e-02 1.72702229e+02] [ 6.41410027e-01 7.67118620e-01 -1.10543823e-02 3.26158272e+01] [ 1.76487421e-02 -3.48603574e-04 9.99844188e-01 2.50085147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.330385723 meters Centerline goodness [0,1] 0.9998884451484795 Centerline is valid? [True, True] Translation: X:172.72, Y:32.63, Z:2.50 [[ 7.63215707e-01 -6.46008560e-01 -1.32183575e-02 1.72724738e+02] [ 6.45921403e-01 7.63330042e-01 -1.06201735e-02 3.26340544e+01] [ 1.69506924e-02 -4.32536825e-04 9.99856233e-01 2.49990256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.360385723 meters Centerline goodness [0,1] 0.9999111505997335 Centerline is valid? [True, True] Translation: X:172.75, Y:32.65, Z:2.50 [[ 7.61603160e-01 -6.47906894e-01 -1.33147847e-02 1.72747013e+02] [ 6.47818711e-01 7.61719390e-01 -1.06999164e-02 3.26518473e+01] [ 1.70746793e-02 -4.76476502e-04 9.99854104e-01 2.49999646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.77, Y:32.67, Z:2.50 [[ 7.58681054e-01 -6.51317731e-01 -1.37211731e-02 1.72769745e+02] [ 6.51224603e-01 7.58804909e-01 -1.10284753e-02 3.26681129e+01] [ 1.75947350e-02 -5.68470201e-04 9.99845039e-01 2.50119169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.79, Y:32.69, Z:2.50 [[ 7.57267178e-01 -6.52957513e-01 -1.38891280e-02 1.72790893e+02] [ 6.52862322e-01 7.57394291e-01 -1.11658717e-02 3.26877340e+01] [ 1.78103861e-02 -6.12140177e-04 9.99841195e-01 2.50155491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.81, Y:32.71, Z:2.50 [[ 7.55901195e-01 -6.54546698e-01 -1.34908404e-02 1.72813063e+02] [ 6.54457056e-01 7.56021313e-01 -1.08505949e-02 3.27051228e+01] [ 1.73015840e-02 -6.27198081e-04 9.99850120e-01 2.50161232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.83, Y:32.72, Z:2.50 [[ 7.54215443e-01 -6.56485607e-01 -1.36276897e-02 1.72833247e+02] [ 6.56394402e-01 7.54338247e-01 -1.09634835e-02 3.27237496e+01] [ 1.74772567e-02 -6.76310616e-04 9.99847032e-01 2.50064593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.85, Y:32.74, Z:2.50 [[ 7.54040000e-01 -6.56687140e-01 -1.36263776e-02 1.72854721e+02] [ 6.56595939e-01 7.54162807e-01 -1.09651141e-02 3.27411172e+01] [ 1.74771566e-02 -6.78889569e-04 9.99847032e-01 2.50106459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.87, Y:32.76, Z:2.50 [[ 7.53774596e-01 -6.56983507e-01 -1.40188984e-02 1.72874711e+02] [ 6.56886913e-01 7.53904623e-01 -1.12873095e-02 3.27611600e+01] [ 1.79844885e-02 -7.00743783e-04 9.99838020e-01 2.50093615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.57038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.89, Y:32.78, Z:2.50 [[ 7.54540293e-01 -6.56094664e-01 -1.44477446e-02 1.72894195e+02] [ 6.55991787e-01 7.54678281e-01 -1.16390414e-02 3.27835218e+01] [ 1.85397121e-02 -6.95476107e-04 9.99827883e-01 2.50004317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.92, Y:32.80, Z:2.50 [[ 7.55754886e-01 -6.54696369e-01 -1.43950191e-02 1.72915009e+02] [ 6.54593885e-01 7.55891683e-01 -1.16021486e-02 3.28028989e+01] [ 1.84769598e-02 -6.54510908e-04 9.99829072e-01 2.50070519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.93, Y:32.82, Z:2.50 [[ 7.57093682e-01 -6.53152878e-01 -1.41588972e-02 1.72934324e+02] [ 6.53053361e-01 7.57225828e-01 -1.14171960e-02 3.28248805e+01] [ 1.81786571e-02 -6.02628457e-04 9.99834573e-01 2.50183890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.66038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.95, Y:32.85, Z:2.50 [[ 7.61355697e-01 -6.48206305e-01 -1.28875384e-02 1.72951375e+02] [ 6.48123078e-01 7.61464638e-01 -1.03961858e-02 3.28498197e+01] [ 1.65522779e-02 -4.37515802e-04 9.99862906e-01 2.50332208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.97, Y:32.87, Z:2.50 [[ 7.63845653e-01 -6.45285997e-01 -1.20748312e-02 1.72970895e+02] [ 6.45212538e-01 7.63941006e-01 -9.74267173e-03 3.28724827e+01] [ 1.55112684e-02 -3.48935064e-04 9.99879632e-01 2.50414699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.99, Y:32.89, Z:2.50 [[ 7.66609309e-01 -6.42011173e-01 -1.14813217e-02 1.72989629e+02] [ 6.41944330e-01 7.66695235e-01 -9.26791211e-03 3.28937938e+01] [ 1.47527778e-02 -2.65501659e-04 9.99891137e-01 2.50467969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.01, Y:32.92, Z:2.51 [[ 7.72460009e-01 -6.34966044e-01 -1.11201651e-02 1.73005740e+02] [ 6.34902583e-01 7.72540036e-01 -8.97783772e-03 3.29189701e+01] [ 1.42913948e-02 -1.25200940e-04 9.99897865e-01 2.50515956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.02, Y:32.94, Z:2.50 [[ 7.77762631e-01 -6.28452674e-01 -1.15119769e-02 1.73022693e+02] [ 6.28383905e-01 7.77847823e-01 -9.29688361e-03 3.29444236e+01] [ 1.47972176e-02 -3.17234329e-06 9.99890515e-01 2.50460052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.04, Y:32.97, Z:2.50 [[ 7.80147730e-01 -6.25490319e-01 -1.14621048e-02 1.73042088e+02] [ 6.25421757e-01 7.80231926e-01 -9.26109937e-03 3.29664914e+01] [ 1.47358281e-02 5.63759385e-05 9.99891420e-01 2.50432855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.840385723 meters Centerline goodness [0,1] 0.9999564772702544 Centerline is valid? [True, True] Translation: X:173.06, Y:32.99, Z:2.50 [[ 7.82122081e-01 -6.23018469e-01 -1.15342232e-02 1.73061533e+02] [ 6.22948704e-01 7.82207119e-01 -9.32397324e-03 3.29881026e+01] [ 1.48311590e-02 1.07255976e-04 9.99890007e-01 2.50419144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.08, Y:33.01, Z:2.50 [[ 7.85425748e-01 -6.18835707e-01 -1.21968162e-02 1.73078076e+02] [ 6.18757110e-01 7.85520418e-01 -9.86465282e-03 3.30111143e+01] [ 1.56854475e-02 2.01085592e-04 9.99876956e-01 2.50344461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.10, Y:33.03, Z:2.50 [[ 7.86606087e-01 -6.17326603e-01 -1.25988023e-02 1.73098846e+02] [ 6.17242491e-01 7.86706939e-01 -1.01931053e-02 3.30318162e+01] [ 1.62040402e-02 2.41442507e-04 9.99868677e-01 2.50327137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.930385723 meters Centerline goodness [0,1] 0.9999136982459168 Centerline is valid? [True, True] Translation: X:173.12, Y:33.05, Z:2.50 [[ 7.87908404e-01 -6.15661180e-01 -1.27145137e-02 1.73117647e+02] [ 6.15575220e-01 7.88010934e-01 -1.02915448e-02 3.30531297e+01] [ 1.63552804e-02 2.82055076e-04 9.99866204e-01 2.50302178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.960385723 meters Centerline goodness [0,1] 0.9999352093816816 Centerline is valid? [True, True] Translation: X:173.14, Y:33.07, Z:2.50 [[ 7.88374500e-01 -6.15063132e-01 -1.27668124e-02 1.73139048e+02] [ 6.14976343e-01 7.88477809e-01 -1.03364641e-02 3.30717740e+01] [ 1.64239262e-02 2.97717114e-04 9.99865074e-01 2.50356620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.990385723 meters Centerline goodness [0,1] 0.9999784175767256 Centerline is valid? [True, True] Translation: X:173.16, Y:33.09, Z:2.50 [[ 7.88309388e-01 -6.15159633e-01 -1.21216674e-02 1.73157871e+02] [ 6.15081380e-01 7.88402528e-01 -9.81581788e-03 3.30914592e+01] [ 1.55950482e-02 2.82089446e-04 9.99878350e-01 2.50386089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.020385723 meters Centerline goodness [0,1] 0.9999143065255581 Centerline is valid? [True, True] Translation: X:173.18, Y:33.11, Z:2.50 [[ 7.87931696e-01 -6.15648013e-01 -1.18813351e-02 1.73177483e+02] [ 6.15572833e-01 7.88021225e-01 -9.62480811e-03 3.31113568e+01] [ 1.52882382e-02 2.69864267e-04 9.99883092e-01 2.50371791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.050385723 meters Centerline goodness [0,1] 0.9999785674482404 Centerline is valid? [True, True] Translation: X:173.20, Y:33.13, Z:2.50 [[ 7.87577285e-01 -6.16107939e-01 -1.15337361e-02 1.73197730e+02] [ 6.16037069e-01 7.87661692e-01 -9.34819573e-03 3.31300104e+01] [ 1.48441797e-02 2.57217613e-04 9.99889786e-01 2.50382587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.080385723 meters Centerline goodness [0,1] 0.9999785522788204 Centerline is valid? [True, True] Translation: X:173.22, Y:33.15, Z:2.50 [[ 7.86288308e-01 -6.17739691e-01 -1.21807863e-02 1.73219895e+02] [ 6.17660798e-01 7.86382614e-01 -9.87534453e-03 3.31483037e+01] [ 1.56791508e-02 2.41273757e-04 9.99877045e-01 2.50307099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.110385723 meters Centerline goodness [0,1] 0.9999358439725412 Centerline is valid? [True, True] Translation: X:173.24, Y:33.17, Z:2.50 [[ 7.85503155e-01 -6.18725496e-01 -1.27888080e-02 1.73240378e+02] [ 6.18638577e-01 7.85607220e-01 -1.03733565e-02 3.31670221e+01] [ 1.64652400e-02 2.36654250e-04 9.99864411e-01 2.50266126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.140385723 meters Centerline goodness [0,1] 0.9999356775300171 Centerline is valid? [True, True] Translation: X:173.26, Y:33.18, Z:2.50 [[ 7.84620094e-01 -6.19830888e-01 -1.34527930e-02 1.73263740e+02] [ 6.19734815e-01 7.84735381e-01 -1.09151635e-02 3.31845796e+01] [ 1.73224381e-02 2.27092391e-04 9.99849930e-01 2.50278260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.170385723 meters Centerline goodness [0,1] 0.999914486061228 Centerline is valid? [True, True] Translation: X:173.28, Y:33.20, Z:2.50 [[ 7.82416356e-01 -6.22583340e-01 -1.46502459e-02 1.73284922e+02] [ 6.22469766e-01 7.82553481e-01 -1.18928897e-02 3.32034878e+01] [ 1.88689159e-02 1.85856351e-04 9.99821949e-01 2.50101369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.200385723 meters Centerline goodness [0,1] 0.999656121045392 Centerline is valid? [True, True] Translation: X:173.31, Y:33.22, Z:2.50 [[ 7.81076378e-01 -6.24256192e-01 -1.49632785e-02 1.73308230e+02] [ 6.24137904e-01 7.81219677e-01 -1.21529232e-02 3.32212429e+01] [ 1.92761451e-02 1.53211962e-04 9.99814186e-01 2.50113809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.230385723 meters Centerline goodness [0,1] 0.9993765720059333 Centerline is valid? [True, True] Translation: X:173.33, Y:33.24, Z:2.50 [[ 7.78192053e-01 -6.27829360e-01 -1.57296726e-02 1.73330779e+02] [ 6.27699242e-01 7.78351007e-01 -1.27817133e-02 3.32389687e+01] [ 2.02679414e-02 7.31241390e-05 9.99794582e-01 2.50090439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.260385723 meters Centerline goodness [0,1] 0.9994206505879324 Centerline is valid? [True, True] Translation: X:173.35, Y:33.26, Z:2.50 [[ 7.76546112e-01 -6.29847126e-01 -1.63931246e-02 1.73352920e+02] [ 6.29706102e-01 7.76719124e-01 -1.33277020e-02 3.32568181e+01] [ 2.11272682e-02 2.67245402e-05 9.99776794e-01 2.50135560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.290385723 meters Centerline goodness [0,1] 0.9994655378826749 Centerline is valid? [True, True] Translation: X:173.37, Y:33.27, Z:2.50 [[ 7.75385913e-01 -6.31265013e-01 -1.67680852e-02 1.73373898e+02] [ 6.31117654e-01 7.75567201e-01 -1.36390278e-02 3.32737903e+01] [ 2.16146179e-02 -7.12454320e-06 9.99766377e-01 2.50090386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.32038572300002 meters Centerline goodness [0,1] 0.9996146270446177 Centerline is valid? [True, True] Translation: X:173.40, Y:33.29, Z:2.50 [[ 7.73758776e-01 -6.33258215e-01 -1.67746614e-02 1.73395666e+02] [ 6.33111109e-01 7.73940585e-01 -1.36489709e-02 3.32921769e+01] [ 2.16259143e-02 -5.92134547e-05 9.99766131e-01 2.50286243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35038572300002 meters Centerline goodness [0,1] 0.9997005923993242 Centerline is valid? [True, True] Translation: X:173.42, Y:33.31, Z:2.50 [[ 7.73156574e-01 -6.34003216e-01 -1.63961573e-02 1.73416703e+02] [ 6.33862687e-01 7.73330406e-01 -1.33482941e-02 3.33105616e+01] [ 2.11425083e-02 -7.25909795e-05 9.99776470e-01 2.50418791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38038572300002 meters Centerline goodness [0,1] 0.9993806991692826 Centerline is valid? [True, True] Translation: X:173.44, Y:33.33, Z:2.51 [[ 7.72702282e-01 -6.34578890e-01 -1.55182779e-02 1.73437206e+02] [ 6.34452990e-01 7.72858090e-01 -1.26403085e-02 3.33305674e+01] [ 2.00146995e-02 -7.84226182e-05 9.99799683e-01 2.50563616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41038572300002 meters Centerline goodness [0,1] 0.9993379039319963 Centerline is valid? [True, True] Translation: X:173.46, Y:33.35, Z:2.51 [[ 7.72742759e-01 -6.34544593e-01 -1.48925543e-02 1.73457543e+02] [ 6.34428526e-01 7.72886250e-01 -1.21363340e-02 3.33488107e+01] [ 1.92112956e-02 -6.99970319e-05 9.99815444e-01 2.50653841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44038572300002 meters Centerline goodness [0,1] 0.9996158852777363 Centerline is valid? [True, True] Translation: X:173.48, Y:33.37, Z:2.51 [[ 7.72944478e-01 -6.34300103e-01 -1.48395779e-02 1.73477997e+02] [ 6.34184760e-01 7.73086913e-01 -1.20960468e-02 3.33671670e+01] [ 1.91448072e-02 -6.14615523e-05 9.99816719e-01 2.50734570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.470385723 meters Centerline goodness [0,1] 0.9995961141933976 Centerline is valid? [True, True] Translation: X:173.50, Y:33.39, Z:2.51 [[ 7.73948461e-01 -6.33090120e-01 -1.41661611e-02 1.73496561e+02] [ 6.32984746e-01 7.74078096e-01 -1.15504108e-02 3.33881813e+01] [ 1.82781660e-02 -2.75412631e-05 9.99832940e-01 2.50788700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.500385723 meters Centerline goodness [0,1] 0.9994031886776367 Centerline is valid? [True, True] Translation: X:173.51, Y:33.41, Z:2.51 [[ 7.76358197e-01 -6.30137499e-01 -1.39528695e-02 1.73514329e+02] [ 6.30034691e-01 7.76483567e-01 -1.13823299e-02 3.34092058e+01] [ 1.80066068e-02 4.59732889e-05 9.99837867e-01 2.50750621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.530385723 meters Centerline goodness [0,1] 0.9998295369798215 Centerline is valid? [True, True] Translation: X:173.54, Y:33.43, Z:2.51 [[ 7.77588977e-01 -6.28610747e-01 -1.42797661e-02 1.73535470e+02] [ 6.28502745e-01 7.77720079e-01 -1.16523845e-02 3.34294755e+01] [ 1.84304749e-02 8.58935708e-05 9.99830141e-01 2.50772947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.560385723 meters Centerline goodness [0,1] 0.9995950208883962 Centerline is valid? [True, True] Translation: X:173.56, Y:33.45, Z:2.51 [[ 7.79071487e-01 -6.26762713e-01 -1.47010042e-02 1.73555653e+02] [ 6.26647820e-01 7.79210166e-01 -1.20011332e-02 3.34492250e+01] [ 1.89770347e-02 1.37388435e-04 9.99819910e-01 2.50718771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.590385723 meters Centerline goodness [0,1] 0.9994502008881371 Centerline is valid? [True, True] Translation: X:173.58, Y:33.47, Z:2.51 [[ 7.81472830e-01 -6.23712984e-01 -1.68026776e-02 1.73575565e+02] [ 6.23562100e-01 7.81653410e-01 -1.37205374e-02 3.34710535e+01] [ 2.16915476e-02 2.44714300e-04 9.99764681e-01 2.50518845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.620385723 meters Centerline goodness [0,1] 0.9993183076988624 Centerline is valid? [True, True] Translation: X:173.60, Y:33.49, Z:2.51 [[ 7.83207736e-01 -6.21517573e-01 -1.73651483e-02 1.73597266e+02] [ 6.21355724e-01 7.83400155e-01 -1.41866690e-02 3.34895382e+01] [ 2.24211240e-02 3.21174557e-04 9.99748563e-01 2.50591491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.650385723 meters Centerline goodness [0,1] 0.9995324421397148 Centerline is valid? [True, True] Translation: X:173.62, Y:33.51, Z:2.51 [[ 7.86357562e-01 -6.17514934e-01 -1.78070510e-02 1.73616798e+02] [ 6.17343584e-01 7.86559027e-01 -1.45532235e-02 3.35113202e+01] [ 2.29931296e-02 4.50968652e-04 9.99735521e-01 2.50566421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.680385723 meters Centerline goodness [0,1] 0.9996386899322012 Centerline is valid? [True, True] Translation: X:173.64, Y:33.53, Z:2.51 [[ 7.87618786e-01 -6.15899147e-01 -1.80246647e-02 1.73638067e+02] [ 6.15723070e-01 7.87824843e-01 -1.47349000e-02 3.35313971e+01] [ 2.32754910e-02 5.07282170e-04 9.99728960e-01 2.50590638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.710385723 meters Centerline goodness [0,1] 0.9992555884041943 Centerline is valid? [True, True] Translation: X:173.66, Y:33.55, Z:2.51 [[ 7.88839533e-01 -6.14333901e-01 -1.80568667e-02 1.73659734e+02] [ 6.14156611e-01 7.89045971e-01 -1.47686546e-02 3.35500753e+01] [ 2.33205831e-02 5.60354541e-04 9.99727881e-01 2.50651274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.740385723 meters Centerline goodness [0,1] 0.9997034086816516 Centerline is valid? [True, True] Translation: X:173.68, Y:33.57, Z:2.51 [[ 7.90744094e-01 -6.11878820e-01 -1.81131977e-02 1.73678272e+02] [ 6.11699640e-01 7.90951263e-01 -1.48205732e-02 3.35716741e+01] [ 2.33950515e-02 6.39444163e-04 9.99726094e-01 2.50522266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.770385723 meters Centerline goodness [0,1] 0.9997037977361685 Centerline is valid? [True, True] Translation: X:173.70, Y:33.59, Z:2.51 [[ 7.91198881e-01 -6.11292342e-01 -1.80555582e-02 1.73701137e+02] [ 6.11114049e-01 7.91404599e-01 -1.47776813e-02 3.35899304e+01] [ 2.33227352e-02 6.58079580e-04 9.99727771e-01 2.50599726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.800385723 meters Centerline goodness [0,1] 0.9995749654659442 Centerline is valid? [True, True] Translation: X:173.72, Y:33.61, Z:2.51 [[ 7.91827678e-01 -6.10503343e-01 -1.71637876e-02 1.73723015e+02] [ 6.10341916e-01 7.92013411e-01 -1.40535672e-02 3.36076219e+01] [ 2.21736997e-02 6.52224421e-04 9.99753921e-01 2.50738743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.830385723 meters Centerline goodness [0,1] 0.99968 Centerline is valid? [True, True] Translation: X:173.75, Y:33.62, Z:2.51 [[ 7.91736873e-01 -6.10637397e-01 -1.65738772e-02 1.73746313e+02] [ 6.10486804e-01 7.91910079e-01 -1.35753129e-02 3.36237469e+01] [ 2.14146141e-02 6.29942506e-04 9.99770482e-01 2.50926961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.860385723 meters Centerline goodness [0,1] 0.9994684018031811 Centerline is valid? [True, True] Translation: X:173.77, Y:33.64, Z:2.51 [[ 7.91173451e-01 -6.11380722e-01 -1.60680720e-02 1.73769133e+02] [ 6.11239209e-01 7.91336374e-01 -1.31670706e-02 3.36402447e+01] [ 2.07653430e-02 5.96001053e-04 9.99784199e-01 2.51105623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.890385723 meters Centerline goodness [0,1] 0.9992735353190034 Centerline is valid? [True, True] Translation: X:173.79, Y:33.66, Z:2.51 [[ 7.91242775e-01 -6.11292021e-01 -1.60292160e-02 1.73791309e+02] [ 6.11151125e-01 7.91404894e-01 -1.31375852e-02 3.36579594e+01] [ 2.07165010e-02 5.98745970e-04 9.99785211e-01 2.50930824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.920385723 meters Centerline goodness [0,1] 0.99963922667176 Centerline is valid? [True, True] Translation: X:173.81, Y:33.68, Z:2.51 [[ 7.91318328e-01 -6.11184029e-01 -1.64129831e-02 1.73812441e+02] [ 6.11036229e-01 7.91488282e-01 -1.34545716e-02 3.36757775e+01] [ 2.12139031e-02 6.17921804e-04 9.99774769e-01 2.51114241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.950385723 meters Centerline goodness [0,1] 0.9995318850139371 Centerline is valid? [True, True] Translation: X:173.83, Y:33.69, Z:2.51 [[ 7.92597513e-01 -6.09512129e-01 -1.68566628e-02 1.73834178e+02] [ 6.09355797e-01 7.92776449e-01 -1.38207780e-02 3.36941837e+01] [ 2.17874971e-02 6.82609070e-04 9.99762391e-01 2.50989706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.980385723 meters Centerline goodness [0,1] 0.9994913422207151 Centerline is valid? [True, True] Translation: X:173.85, Y:33.71, Z:2.51 [[ 7.93432089e-01 -6.08415858e-01 -1.71948575e-02 1.73854979e+02] [ 6.08252877e-01 7.93618052e-01 -1.41005785e-02 3.37121595e+01] [ 2.22251649e-02 7.29029907e-04 9.99752725e-01 2.50938359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.010385723 meters Centerline goodness [0,1] 0.99963707783613 Centerline is valid? [True, True] Translation: X:173.88, Y:33.73, Z:2.51 [[ 7.95760221e-01 -6.05334781e-01 -1.83159315e-02 1.73877138e+02] [ 6.05148935e-01 7.95970504e-01 -1.50240761e-02 3.37319929e+01] [ 2.36735370e-02 8.71695722e-04 9.99719363e-01 2.50841882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.040385723 meters Centerline goodness [0,1] 0.9995548017807929 Centerline is valid? [True, True] Translation: X:173.90, Y:33.75, Z:2.51 [[ 7.96674179e-01 -6.04112444e-01 -1.89316410e-02 1.73898831e+02] [ 6.03913415e-01 7.96898529e-01 -1.55345233e-02 3.37504715e+01] [ 2.44711957e-02 9.42881634e-04 9.99700091e-01 2.50807211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.07038572300002 meters Centerline goodness [0,1] 0.9994653435702218 Centerline is valid? [True, True] Translation: X:173.92, Y:33.77, Z:2.51 [[ 7.97871697e-01 -6.02514324e-01 -1.94227808e-02 1.73921224e+02] [ 6.02304247e-01 7.98107415e-01 -1.59420117e-02 3.37693884e+01] [ 2.51067558e-02 1.02125662e-03 9.99684254e-01 2.50760480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.10038572300002 meters Centerline goodness [0,1] 0.9995943291485182 Centerline is valid? [True, True] Translation: X:173.94, Y:33.79, Z:2.51 [[ 7.99026947e-01 -6.00943601e-01 -2.05603183e-02 1.73944822e+02] [ 6.00707472e-01 7.99290617e-01 -1.68831837e-02 3.37875820e+01] [ 2.65795108e-02 1.13938190e-03 9.99646053e-01 2.50725975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13038572300002 meters Centerline goodness [0,1] 0.9997856147497052 Centerline is valid? [True, True] Translation: X:173.97, Y:33.80, Z:2.51 [[ 7.99355657e-01 -6.00502357e-01 -2.06749176e-02 1.73968257e+02] [ 6.00263237e-01 7.99622134e-01 -1.69849381e-02 3.38043554e+01] [ 2.67316171e-02 1.16661344e-03 9.99641966e-01 2.50786928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.16038572300002 meters Centerline goodness [0,1] 0.9995719727774687 Centerline is valid? [True, True] Translation: X:173.99, Y:33.82, Z:2.51 [[ 7.98935598e-01 -6.01075314e-01 -2.02577638e-02 1.73991540e+02] [ 6.00845778e-01 7.99191587e-01 -1.66480844e-02 3.38203147e+01] [ 2.61965870e-02 1.12895542e-03 9.99656173e-01 2.50905979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19038572300002 meters Centerline goodness [0,1] 0.9996150556030795 Centerline is valid? [True, True] Translation: X:174.02, Y:33.84, Z:2.51 [[ 7.98133668e-01 -6.02154548e-01 -1.98128459e-02 1.74015807e+02] [ 6.01935198e-01 7.98378826e-01 -1.62870653e-02 3.38371495e+01] [ 2.56254871e-02 1.07320585e-03 9.99671037e-01 2.50998212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.220385723 meters Centerline goodness [0,1] 0.9996563278632185 Centerline is valid? [True, True] Translation: X:174.04, Y:33.85, Z:2.51 [[ 7.96672330e-01 -6.04113708e-01 -1.89690743e-02 1.74041012e+02] [ 6.03913042e-01 7.96897536e-01 -1.55998555e-02 3.38515523e+01] [ 2.45404951e-02 9.72301848e-04 9.99698364e-01 2.51113180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.250385723 meters Centerline goodness [0,1] 0.9996342355523044 Centerline is valid? [True, True] Translation: X:174.07, Y:33.87, Z:2.51 [[ 7.95740564e-01 -6.05351826e-01 -1.86043436e-02 1.74066016e+02] [ 6.05158986e-01 7.95957485e-01 -1.53063237e-02 3.38661952e+01] [ 2.40739776e-02 9.21276974e-04 9.99709755e-01 2.51227012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.280385723 meters Centerline goodness [0,1] 0.9996345893429056 Centerline is valid? [True, True] Translation: X:174.09, Y:33.88, Z:2.51 [[ 7.95014473e-01 -6.06315721e-01 -1.82546985e-02 1.74087294e+02] [ 6.06130181e-01 7.95223536e-01 -1.50243270e-02 3.38836758e+01] [ 2.36260515e-02 8.79833683e-04 9.99720479e-01 2.51286578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.310385723 meters Centerline goodness [0,1] 0.9994377162629757 Centerline is valid? [True, True] Translation: X:174.11, Y:33.90, Z:2.51 [[ 7.93567120e-01 -6.08232235e-01 -1.74577846e-02 1.74111051e+02] [ 6.08062950e-01 7.93758733e-01 -1.43708686e-02 3.38986821e+01] [ 2.25980945e-02 7.88816853e-04 9.99744319e-01 2.51413722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.340385723 meters Centerline goodness [0,1] 0.9996968647150528 Centerline is valid? [True, True] Translation: X:174.14, Y:33.91, Z:2.52 [[ 7.92987087e-01 -6.09000064e-01 -1.70411819e-02 1.74135053e+02] [ 6.08838860e-01 7.93169816e-01 -1.40315982e-02 3.39143069e+01] [ 2.20617953e-02 7.51542467e-04 9.99756326e-01 2.51535330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.370385723 meters Centerline goodness [0,1] 0.9995890559100249 Centerline is valid? [True, True] Translation: X:174.16, Y:33.93, Z:2.51 [[ 7.92289838e-01 -6.09903261e-01 -1.71704851e-02 1.74158071e+02] [ 6.09739693e-01 7.92475533e-01 -1.41433992e-02 3.39308030e+01] [ 2.22332946e-02 7.36145170e-04 9.99752539e-01 2.51466076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.400385723 meters Centerline goodness [0,1] 0.9995890559100249 Centerline is valid? [True, True] Translation: X:174.18, Y:33.95, Z:2.52 [[ 7.92132422e-01 -6.10107751e-01 -1.71685341e-02 1.74179303e+02] [ 6.09944180e-01 7.92318115e-01 -1.41457671e-02 3.39484132e+01] [ 2.22333827e-02 7.33473303e-04 9.99752539e-01 2.51507913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.430385723 meters Centerline goodness [0,1] 0.9996110967072854 Centerline is valid? [True, True] Translation: X:174.20, Y:33.96, Z:2.51 [[ 7.91858504e-01 -6.10447018e-01 -1.77355096e-02 1.74202533e+02] [ 6.10272367e-01 7.92056734e-01 -1.46207915e-02 3.39648429e+01] [ 2.29727484e-02 7.54106661e-04 9.99735807e-01 2.51460796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.460385723 meters Centerline goodness [0,1] 0.9995874587458746 Centerline is valid? [True, True] Translation: X:174.23, Y:33.98, Z:2.51 [[ 7.92469150e-01 -6.09619033e-01 -1.89018556e-02 1.74225367e+02] [ 6.09420256e-01 7.92694101e-01 -1.55889195e-02 3.39802380e+01] [ 2.44866914e-02 8.34564108e-04 9.99699808e-01 2.51298611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.490385723 meters Centerline goodness [0,1] 0.9996744509071968 Centerline is valid? [True, True] Translation: X:174.25, Y:34.00, Z:2.51 [[ 7.92838828e-01 -6.09123374e-01 -1.93728691e-02 1.74250244e+02] [ 6.08914292e-01 7.93074996e-01 -1.59823610e-02 3.39957942e+01] [ 2.50993677e-02 8.75019486e-04 9.99684578e-01 2.51351537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.520385723 meters Centerline goodness [0,1] 0.9995648768601514 Centerline is valid? [True, True] Translation: X:174.27, Y:34.01, Z:2.51 [[ 7.93463464e-01 -6.08305067e-01 -1.95109383e-02 1.74270956e+02] [ 6.08092594e-01 7.93702787e-01 -1.61022483e-02 3.40137208e+01] [ 2.52809653e-02 9.12088627e-04 9.99679969e-01 2.51277743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.550385723 meters Centerline goodness [0,1] 0.9995443103897231 Centerline is valid? [True, True] Translation: X:174.30, Y:34.03, Z:2.51 [[ 7.94649979e-01 -6.06732753e-01 -2.01687099e-02 1.74295020e+02] [ 6.06505067e-01 7.94905258e-01 -1.66503610e-02 3.40302958e+01] [ 2.61345329e-02 9.98784275e-04 9.99657936e-01 2.51268080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.580385723 meters Centerline goodness [0,1] 0.9997171761122593 Centerline is valid? [True, True] Translation: X:174.32, Y:34.05, Z:2.51 [[ 7.95122951e-01 -6.06116420e-01 -2.00593683e-02 1.74318246e+02] [ 6.05890800e-01 7.95375286e-01 -1.65678256e-02 3.40475597e+01] [ 2.59967569e-02 1.01967168e-03 9.99661507e-01 2.51329470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.610385723 meters Centerline goodness [0,1] 0.9996728176940191 Centerline is valid? [True, True] Translation: X:174.34, Y:34.06, Z:2.51 [[ 7.96214646e-01 -6.04718204e-01 -1.89243345e-02 1.74340958e+02] [ 6.04516873e-01 7.96438871e-01 -1.56357258e-02 3.40638209e+01] [ 2.45272836e-02 1.00931437e-03 9.99698651e-01 2.51432386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.640385723 meters Centerline goodness [0,1] 0.9995390592418621 Centerline is valid? [True, True] Translation: X:174.37, Y:34.08, Z:2.52 [[ 7.96546393e-01 -6.04303018e-01 -1.82128053e-02 1.74367984e+02] [ 6.04116333e-01 7.96753970e-01 -1.50521619e-02 3.40769989e+01] [ 2.36071918e-02 9.87092154e-04 9.99720824e-01 2.51645391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.670385723 meters Centerline goodness [0,1] 0.9996278051450466 Centerline is valid? [True, True] Translation: X:174.39, Y:34.09, Z:2.52 [[ 7.97168007e-01 -6.03510991e-01 -1.72526061e-02 1.74390522e+02] [ 6.03343167e-01 7.97354099e-01 -1.42640976e-02 3.40941355e+01] [ 2.23649758e-02 9.61640263e-04 9.99749410e-01 2.51736785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.700385723 meters Centerline goodness [0,1] 0.9997144426139484 Centerline is valid? [True, True] Translation: X:174.41, Y:34.11, Z:2.52 [[ 7.97546586e-01 -6.03023879e-01 -1.67823049e-02 1.74410108e+02] [ 6.02864911e-01 7.97722569e-01 -1.38780934e-02 3.41144905e+01] [ 2.17564451e-02 9.50963210e-04 9.99762848e-01 2.51738651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.730385723 meters Centerline goodness [0,1] 0.9995604492208963 Centerline is valid? [True, True] Translation: X:174.44, Y:34.13, Z:2.52 [[ 7.98002036e-01 -6.02418551e-01 -1.68712838e-02 1.74436941e+02] [ 6.02257654e-01 7.98179764e-01 -1.39564233e-02 3.41273264e+01] [ 2.18739256e-02 9.76394404e-04 9.99760260e-01 2.51876662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.760385723 meters Centerline goodness [0,1] 0.9996256990620459 Centerline is valid? [True, True] Translation: X:174.46, Y:34.14, Z:2.52 [[ 7.98128705e-01 -6.02253520e-01 -1.67710232e-02 1.74459960e+02] [ 6.02094345e-01 7.98304288e-01 -1.38803588e-02 3.41441487e+01] [ 2.17478746e-02 9.80574541e-04 9.99763006e-01 2.51949754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.790385723 meters Centerline goodness [0,1] 0.9996923482617677 Centerline is valid? [True, True] Translation: X:174.48, Y:34.16, Z:2.52 [[ 7.98237325e-01 -6.02126284e-01 -1.61589593e-02 1.74484021e+02] [ 6.01978354e-01 7.98400294e-01 -1.33802417e-02 3.41609492e+01] [ 2.09579130e-02 9.53264596e-04 9.99779904e-01 2.52018437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.82038572300002 meters Centerline goodness [0,1] 0.9996922738762501 Centerline is valid? [True, True] Translation: X:174.51, Y:34.18, Z:2.52 [[ 7.98150297e-01 -6.02246051e-01 -1.59936760e-02 1.74506120e+02] [ 6.02101017e-01 7.98309965e-01 -1.32501089e-02 3.41782716e+01] [ 2.07477367e-02 9.45769756e-04 9.99784295e-01 2.52076855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.85038572300002 meters Centerline goodness [0,1] 0.9996904161691212 Centerline is valid? [True, True] Translation: X:174.53, Y:34.20, Z:2.52 [[ 7.97873035e-01 -6.02622560e-01 -1.56419189e-02 1.74528938e+02] [ 6.02483768e-01 7.98025815e-01 -1.29656369e-02 3.41959088e+01] [ 2.02960404e-02 9.20929868e-04 9.99793590e-01 2.52064144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.88038572300002 meters Centerline goodness [0,1] 0.9996022451054051 Centerline is valid? [True, True] Translation: X:174.55, Y:34.21, Z:2.52 [[ 7.97224181e-01 -6.03496208e-01 -1.50310255e-02 1.74551094e+02] [ 6.03368102e-01 7.97365396e-01 -1.24643451e-02 3.42123419e+01] [ 1.95074046e-02 8.67635985e-04 9.99809336e-01 2.52055350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91038572300002 meters Centerline goodness [0,1] 0.9996453350475473 Centerline is valid? [True, True] Translation: X:174.58, Y:34.23, Z:2.52 [[ 7.96585779e-01 -6.04339052e-01 -1.50135465e-02 1.74575226e+02] [ 6.04211333e-01 7.96726798e-01 -1.24528903e-02 3.42290035e+01] [ 1.94874627e-02 8.48440366e-04 9.99809741e-01 2.52140778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.94038572300002 meters Centerline goodness [0,1] 0.9997787316900474 Centerline is valid? [True, True] Translation: X:174.60, Y:34.24, Z:2.52 [[ 7.95018759e-01 -6.06405652e-01 -1.47430702e-02 1.74600021e+02] [ 6.06282740e-01 7.95155057e-01 -1.22341414e-02 3.42443729e+01] [ 1.91418793e-02 7.87902893e-04 9.99816467e-01 2.52216766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.970385723 meters Centerline goodness [0,1] 0.9996445708192643 Centerline is valid? [True, True] Translation: X:174.62, Y:34.26, Z:2.52 [[ 7.94004747e-01 -6.07731791e-01 -1.47828665e-02 1.74624676e+02] [ 6.07608350e-01 7.94141984e-01 -1.22720180e-02 3.42606379e+01] [ 1.91977904e-02 7.61847394e-04 9.99815415e-01 2.52294795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.000385723 meters Centerline goodness [0,1] 0.9996888197377195 Centerline is valid? [True, True] Translation: X:174.65, Y:34.27, Z:2.52 [[ 7.92135442e-01 -6.10158071e-01 -1.51185290e-02 1.74651282e+02] [ 6.10029287e-01 7.92279373e-01 -1.25564617e-02 3.42742706e+01] [ 1.96395251e-02 7.23672825e-04 9.99806864e-01 2.52331363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.030385723 meters Centerline goodness [0,1] 0.9996669331201705 Centerline is valid? [True, True] Translation: X:174.67, Y:34.29, Z:2.52 [[ 7.91390769e-01 -6.11112408e-01 -1.55652078e-02 1.74672347e+02] [ 6.10975975e-01 7.91543491e-01 -1.29328563e-02 3.42921533e+01] [ 2.02239679e-02 7.24975023e-04 9.99795212e-01 2.52301074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.060385723 meters Centerline goodness [0,1] 0.9995754284820451 Centerline is valid? [True, True] Translation: X:174.70, Y:34.31, Z:2.52 [[ 7.90053805e-01 -6.12830994e-01 -1.59109429e-02 1.74699065e+02] [ 6.12688694e-01 7.90213695e-01 -1.32242682e-02 3.43059014e+01] [ 2.06772864e-02 6.99428590e-04 9.99785957e-01 2.52348911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.090385723 meters Centerline goodness [0,1] 0.9997992639678822 Centerline is valid? [True, True] Translation: X:174.72, Y:34.32, Z:2.52 [[ 7.89191218e-01 -6.13945888e-01 -1.57375056e-02 1.74720645e+02] [ 6.13806793e-01 7.89347834e-01 -1.30850348e-02 3.43235435e+01] [ 2.04558693e-02 6.66806703e-04 9.99790534e-01 2.52391186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.120385723 meters Centerline goodness [0,1] 0.999619669783883 Centerline is valid? [True, True] Translation: X:174.75, Y:34.34, Z:2.53 [[ 7.88358970e-01 -6.15026591e-01 -1.52455223e-02 1.74746379e+02] [ 6.14896199e-01 7.88506123e-01 -1.26790520e-02 3.43377446e+01] [ 1.98191418e-02 6.21230663e-04 9.99803389e-01 2.52523349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.150385723 meters Centerline goodness [0,1] 0.9997085136438036 Centerline is valid? [True, True] Translation: X:174.77, Y:34.35, Z:2.53 [[ 7.87406483e-01 -6.16267786e-01 -1.43194739e-02 1.74771748e+02] [ 6.16152856e-01 7.87536478e-01 -1.19144644e-02 3.43527142e+01] [ 1.86196087e-02 5.58541790e-04 9.99826484e-01 2.52663397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.180385723 meters Centerline goodness [0,1] 0.9997300033749578 Centerline is valid? [True, True] Translation: X:174.79, Y:34.37, Z:2.53 [[ 7.87130259e-01 -6.16632911e-01 -1.37771126e-02 1.74794614e+02] [ 6.16526477e-01 7.87250639e-01 -1.14688666e-02 3.43692106e+01] [ 1.79181213e-02 5.33537223e-04 9.99839315e-01 2.52740651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.210385723 meters Centerline goodness [0,1] 0.9997537662570233 Centerline is valid? [True, True] Translation: X:174.81, Y:34.39, Z:2.53 [[ 7.87748272e-01 -6.15842844e-01 -1.37931779e-02 1.74814452e+02] [ 6.15735931e-01 7.87868822e-01 -1.14883323e-02 3.43883824e+01] [ 1.79422220e-02 5.56958695e-04 9.99838870e-01 2.52789839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.240385723 meters Centerline goodness [0,1] 0.9998418650883296 Centerline is valid? [True, True] Translation: X:174.84, Y:34.40, Z:2.53 [[ 7.88367916e-01 -6.15047082e-01 -1.38966069e-02 1.74839555e+02] [ 6.14938373e-01 7.88490170e-01 -1.15780078e-02 3.44033247e+01] [ 1.80783578e-02 5.82173067e-04 9.99836404e-01 2.52884984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.270385723 meters Centerline goodness [0,1] 0.9997752960474575 Centerline is valid? [True, True] Translation: X:174.86, Y:34.43, Z:2.53 [[ 7.90348704e-01 -6.12472486e-01 -1.50459304e-02 1.74857466e+02] [ 6.12344472e-01 7.90491598e-01 -1.25411891e-02 3.44261046e+01] [ 1.95748148e-02 6.98620199e-04 9.99808151e-01 2.52794694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.300385723 meters Centerline goodness [0,1] 0.9998644772208796 Centerline is valid? [True, True] Translation: X:174.88, Y:34.45, Z:2.53 [[ 7.91214345e-01 -6.11345548e-01 -1.53779645e-02 1.74878024e+02] [ 6.11211552e-01 7.91363423e-01 -1.28207688e-02 3.44459289e+01] [ 2.00074786e-02 7.44786605e-04 9.99799553e-01 2.52769355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.330385723 meters Centerline goodness [0,1] 0.9998647277646263 Centerline is valid? [True, True] Translation: X:174.90, Y:34.46, Z:2.53 [[ 7.91346991e-01 -6.11158745e-01 -1.59664618e-02 1.74899749e+02] [ 6.11014127e-01 7.91507660e-01 -1.33177068e-02 3.44647608e+01] [ 2.07768097e-02 7.83193484e-04 9.99783832e-01 2.52655740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.360385723 meters Centerline goodness [0,1] 0.9999322233016289 Centerline is valid? [True, True] Translation: X:174.92, Y:34.48, Z:2.53 [[ 7.91603284e-01 -6.10801656e-01 -1.68990500e-02 1.74920430e+02] [ 6.10639448e-01 7.91783194e-01 -1.41010355e-02 3.44832237e+01] [ 2.19933196e-02 8.43199512e-04 9.99757762e-01 2.52558017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.390385723 meters Centerline goodness [0,1] 0.9998416038739166 Centerline is valid? [True, True] Translation: X:174.95, Y:34.50, Z:2.53 [[ 7.91353905e-01 -6.11119920e-01 -1.70716046e-02 1.74946829e+02] [ 6.10954363e-01 7.91537571e-01 -1.42491773e-02 3.44954643e+01] [ 2.22207726e-02 8.46170809e-04 9.99752730e-01 2.52742321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.420385723 meters Centerline goodness [0,1] 0.9998642595357676 Centerline is valid? [True, True] Translation: X:174.97, Y:34.51, Z:2.53 [[ 7.90720207e-01 -6.11933330e-01 -1.72960533e-02 1.74969222e+02] [ 6.11763410e-01 7.90908904e-01 -1.44442689e-02 3.45132829e+01] [ 2.25185321e-02 8.40282763e-04 9.99746073e-01 2.52755826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.450385723 meters Centerline goodness [0,1] 0.9997738937752957 Centerline is valid? [True, True] Translation: X:174.99, Y:34.53, Z:2.53 [[ 7.90344127e-01 -6.12414811e-01 -1.74430415e-02 1.74988458e+02] [ 6.12241986e-01 7.90536145e-01 -1.45723585e-02 3.45337944e+01] [ 2.27136829e-02 8.37815622e-04 9.99741660e-01 2.52701092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.480385723 meters Centerline goodness [0,1] 0.9998193437662308 Centerline is valid? [True, True] Translation: X:175.01, Y:34.55, Z:2.53 [[ 7.89290775e-01 -6.13764379e-01 -1.77019552e-02 1.75013246e+02] [ 6.13586626e-01 7.89488837e-01 -1.47928271e-02 3.45488032e+01] [ 2.30548064e-02 8.14158987e-04 9.99733871e-01 2.52818466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.510385723 meters Centerline goodness [0,1] 0.999886936661918 Centerline is valid? [True, True] Translation: X:175.03, Y:34.57, Z:2.53 [[ 7.88763491e-01 -6.14449017e-01 -1.74516795e-02 1.75034750e+02] [ 6.14276299e-01 7.88956137e-01 -1.45891119e-02 3.45660730e+01] [ 2.27328751e-02 7.87205784e-04 9.99741265e-01 2.52864755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.540385723 meters Centerline goodness [0,1] 0.9999318816557299 Centerline is valid? [True, True] Translation: X:175.06, Y:34.58, Z:2.53 [[ 7.88067341e-01 -6.15343630e-01 -1.73805346e-02 1.75060118e+02] [ 6.15172471e-01 7.88258611e-01 -1.45324691e-02 3.45815349e+01] [ 2.26428184e-02 7.60537805e-04 9.99743329e-01 2.53051442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.57038572300002 meters Centerline goodness [0,1] 0.9998872731371886 Centerline is valid? [True, True] Translation: X:175.08, Y:34.60, Z:2.53 [[ 7.86757570e-01 -6.17043242e-01 -1.64366440e-02 1.75083107e+02] [ 6.16890448e-01 7.86928955e-01 -1.37475412e-02 3.45982601e+01] [ 2.14172985e-02 6.76373435e-04 9.99770395e-01 2.53293412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.60038572300002 meters Centerline goodness [0,1] 0.9996378943556783 Centerline is valid? [True, True] Translation: X:175.11, Y:34.61, Z:2.54 [[ 7.85739569e-01 -6.18373444e-01 -1.50868624e-02 1.75108621e+02] [ 6.18244848e-01 7.85884173e-01 -1.26243852e-02 3.46135530e+01] [ 1.96631110e-02 5.92104061e-04 9.99806487e-01 2.53602464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63038572300002 meters Centerline goodness [0,1] 0.9997963432295438 Centerline is valid? [True, True] Translation: X:175.13, Y:34.63, Z:2.54 [[ 7.85075244e-01 -6.19224466e-01 -1.47621794e-02 1.75131178e+02] [ 6.19101385e-01 7.85213821e-01 -1.23584116e-02 3.46311618e+01] [ 1.92440980e-02 5.62997282e-04 9.99814657e-01 2.53710192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.66038572300002 meters Centerline goodness [0,1] 0.999841233839873 Centerline is valid? [True, True] Translation: X:175.15, Y:34.65, Z:2.54 [[ 7.84432078e-01 -6.20043085e-01 -1.45907116e-02 1.75153525e+02] [ 6.19922874e-01 7.84567575e-01 -1.22208839e-02 3.46489471e+01] [ 1.90248738e-02 5.41337425e-04 9.99818864e-01 2.53799199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69038572300002 meters Centerline goodness [0,1] 0.9997949045166583 Centerline is valid? [True, True] Translation: X:175.18, Y:34.67, Z:2.54 [[ 7.83850424e-01 -6.20792674e-01 -1.39631216e-02 1.75175760e+02] [ 6.20682600e-01 7.83974617e-01 -1.17008403e-02 3.46671307e+01] [ 1.82105289e-02 5.05042035e-04 9.99834047e-01 2.53852566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.720385723 meters Centerline goodness [0,1] 0.9999090040493198 Centerline is valid? [True, True] Translation: X:175.20, Y:34.69, Z:2.54 [[ 7.83776810e-01 -6.20880136e-01 -1.42045173e-02 1.75196445e+02] [ 6.20766123e-01 7.83905345e-01 -1.19093008e-02 3.46857619e+01] [ 1.85292453e-02 5.16550700e-04 9.99828185e-01 2.53877299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.750385723 meters Centerline goodness [0,1] 0.9998410535876476 Centerline is valid? [True, True] Translation: X:175.22, Y:34.70, Z:2.54 [[ 7.84013792e-01 -6.20564672e-01 -1.48950440e-02 1.75218324e+02] [ 6.20439106e-01 7.84155074e-01 -1.24954243e-02 3.47043537e+01] [ 1.94342432e-02 5.55117236e-04 9.99810983e-01 2.53856952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.780385723 meters Centerline goodness [0,1] 0.9998862265911211 Centerline is valid? [True, True] Translation: X:175.24, Y:34.72, Z:2.54 [[ 7.84364137e-01 -6.20109029e-01 -1.54172586e-02 1.75239822e+02] [ 6.19974282e-01 7.84515419e-01 -1.29401451e-02 3.47237147e+01] [ 2.01193779e-02 5.91481901e-04 9.99797410e-01 2.53851856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.26, Y:34.74, Z:2.54 [[ 7.84569275e-01 -6.19834609e-01 -1.60034534e-02 1.75259856e+02] [ 6.19689244e-01 7.84732226e-01 -1.34378057e-02 3.47427617e+01] [ 2.08876426e-02 6.25721554e-04 9.99781634e-01 2.53822499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.840385723 meters Centerline goodness [0,1] 0.9999318909346834 Centerline is valid? [True, True] Translation: X:175.28, Y:34.76, Z:2.54 [[ 7.85142308e-01 -6.19065767e-01 -1.75821681e-02 1.75280824e+02] [ 6.18890048e-01 7.85338824e-01 -1.47661736e-02 3.47620582e+01] [ 2.29491918e-02 7.12118749e-04 9.99736379e-01 2.53704929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.870385723 meters Centerline goodness [0,1] 0.9999318290272002 Centerline is valid? [True, True] Translation: X:175.30, Y:34.78, Z:2.54 [[ 7.85216850e-01 -6.18929517e-01 -1.89934304e-02 1.75302297e+02] [ 6.18724291e-01 7.85446146e-01 -1.59563039e-02 3.47813247e+01] [ 2.47941442e-02 7.77461988e-04 9.99692276e-01 2.53576151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.900385723 meters Centerline goodness [0,1] 0.999795700633328 Centerline is valid? [True, True] Translation: X:175.32, Y:34.80, Z:2.54 [[ 7.85281160e-01 -6.18816012e-01 -2.00060760e-02 1.75323942e+02] [ 6.18588054e-01 7.85535521e-01 -1.68155773e-02 3.48004732e+01] [ 2.61212318e-02 8.29436441e-04 9.99658438e-01 2.53532316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.930385723 meters Centerline goodness [0,1] 0.9999318057828697 Centerline is valid? [True, True] Translation: X:175.35, Y:34.82, Z:2.54 [[ 7.84966116e-01 -6.19196849e-01 -2.05781183e-02 1.75345259e+02] [ 6.18955549e-01 7.85235343e-01 -1.73056056e-02 3.48181369e+01] [ 2.68742423e-02 8.47373514e-04 9.99638463e-01 2.53583920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.37, Y:34.84, Z:2.54 [[ 7.84503934e-01 -6.19784598e-01 -2.05092711e-02 1.75366323e+02] [ 6.19544928e-01 7.84771536e-01 -1.72545152e-02 3.48361346e+01] [ 2.67891749e-02 8.29820143e-04 9.99640761e-01 2.53708778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.39, Y:34.85, Z:2.54 [[ 7.84004652e-01 -6.20428992e-01 -2.01139764e-02 1.75387122e+02] [ 6.20198609e-01 7.84262223e-01 -1.69248472e-02 3.48548338e+01] [ 2.62752977e-02 7.94498752e-04 9.99654429e-01 2.53795997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.41, Y:34.87, Z:2.54 [[ 7.82900684e-01 -6.21868103e-01 -1.86166708e-02 1.75408990e+02] [ 6.21671050e-01 7.83121689e-01 -1.56692630e-02 3.48730958e+01] [ 2.43233335e-02 6.94031446e-04 9.99703903e-01 2.54082078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.43, Y:34.89, Z:2.54 [[ 7.82270011e-01 -6.22666610e-01 -1.84369798e-02 1.75432576e+02] [ 6.22473387e-01 7.82486962e-01 -1.55253613e-02 3.48905426e+01] [ 2.40938204e-02 6.68495314e-04 9.99709478e-01 2.54276181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.080385723 meters Centerline goodness [0,1] 0.9999546701117382 Centerline is valid? [True, True] Translation: X:175.45, Y:34.91, Z:2.54 [[ 7.81766954e-01 -6.23309684e-01 -1.80407233e-02 1.75452702e+02] [ 6.23124718e-01 7.81974827e-01 -1.51972554e-02 3.49093006e+01] [ 2.35799879e-02 6.39091475e-04 9.99721749e-01 2.54412811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.110385723 meters Centerline goodness [0,1] 0.9999091714162447 Centerline is valid? [True, True] Translation: X:175.48, Y:34.93, Z:2.55 [[ 7.81405148e-01 -6.23754683e-01 -1.83327354e-02 1.75475680e+02] [ 6.23563689e-01 7.81619912e-01 -1.54479627e-02 3.49257027e+01] [ 2.39649701e-02 6.39489508e-04 9.99712594e-01 2.54573616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.50, Y:34.94, Z:2.55 [[ 7.81164240e-01 -6.24054622e-01 -1.83918009e-02 1.75496477e+02] [ 6.23862319e-01 7.81380459e-01 -1.55043499e-02 3.49436341e+01] [ 2.40465550e-02 6.37492099e-04 9.99710637e-01 2.54655375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.170385723 meters Centerline goodness [0,1] 0.9999549275460302 Centerline is valid? [True, True] Translation: X:175.52, Y:34.96, Z:2.55 [[ 7.81063229e-01 -6.24176102e-01 -1.85587458e-02 1.75515265e+02] [ 6.23980233e-01 7.81283419e-01 -1.56488942e-02 3.49639566e+01] [ 2.42673061e-02 6.42485313e-04 9.99705299e-01 2.54579599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.200385723 meters Centerline goodness [0,1] 0.9999775290998157 Centerline is valid? [True, True] Translation: X:175.54, Y:34.98, Z:2.54 [[ 7.81575043e-01 -6.23502574e-01 -1.96212387e-02 1.75535644e+02] [ 6.23283275e-01 7.81820978e-01 -1.65504417e-02 3.49847038e+01] [ 2.56595391e-02 7.05822295e-04 9.99670491e-01 2.54486581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.230385723 meters Centerline goodness [0,1] 0.9999774536108043 Centerline is valid? [True, True] Translation: X:175.56, Y:35.00, Z:2.54 [[ 7.81812048e-01 -6.23183475e-01 -2.03046393e-02 1.75557505e+02] [ 6.22948305e-01 7.82075315e-01 -1.71351139e-02 3.50037634e+01] [ 2.65580770e-02 7.47697870e-04 9.99646992e-01 2.54491141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.260385723 meters Centerline goodness [0,1] 0.9999775759614307 Centerline is valid? [True, True] Translation: X:175.58, Y:35.03, Z:2.54 [[ 7.82678229e-01 -6.22064366e-01 -2.12300295e-02 1.75576310e+02] [ 6.21806662e-01 7.82965670e-01 -1.79230043e-02 3.50250479e+01] [ 2.77716465e-02 8.26971475e-04 9.99613951e-01 2.54406528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.60, Y:35.04, Z:2.54 [[ 7.83032974e-01 -6.21599364e-01 -2.17621711e-02 1.75596439e+02] [ 6.21328265e-01 7.83334843e-01 -1.83768996e-02 3.50439316e+01] [ 2.84701360e-02 8.68266362e-04 9.99594266e-01 2.54439401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.62, Y:35.06, Z:2.54 [[ 7.82874128e-01 -6.21799529e-01 -2.17588041e-02 1.75617462e+02] [ 6.21528396e-01 7.83175967e-01 -1.83808857e-02 3.50618167e+01] [ 2.84701985e-02 8.66205284e-04 9.99594266e-01 2.54481231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.35038572300002 meters Centerline goodness [0,1] 0.9999550904926573 Centerline is valid? [True, True] Translation: X:175.64, Y:35.08, Z:2.55 [[ 7.84124373e-01 -6.20203106e-01 -2.22951651e-02 1.75638868e+02] [ 6.19917589e-01 7.84440692e-01 -1.88410043e-02 3.50806545e+01] [ 2.91744841e-02 9.52525638e-04 9.99573880e-01 2.54625961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38038572300002 meters Centerline goodness [0,1] 0.9998879300683626 Centerline is valid? [True, True] Translation: X:175.66, Y:35.10, Z:2.55 [[ 7.84900657e-01 -6.19221782e-01 -2.22563243e-02 1.75661164e+02] [ 6.18936762e-01 7.85215515e-01 -1.88117005e-02 3.50981835e+01] [ 2.91246258e-02 9.90058769e-04 9.99575298e-01 2.54763054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41038572300002 meters Centerline goodness [0,1] 0.9999552332348465 Centerline is valid? [True, True] Translation: X:175.68, Y:35.12, Z:2.55 [[ 7.86207942e-01 -6.17540145e-01 -2.28306946e-02 1.75679574e+02] [ 6.17239408e-01 7.86538618e-01 -1.93006610e-02 3.51194861e+01] [ 2.98761560e-02 1.08232858e-03 9.99553022e-01 2.54763963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44038572300002 meters Centerline goodness [0,1] 0.9998881531853973 Centerline is valid? [True, True] Translation: X:175.70, Y:35.14, Z:2.54 [[ 7.86226922e-01 -6.17504724e-01 -2.31331410e-02 1.75701100e+02] [ 6.17195754e-01 7.86566398e-01 -1.95628023e-02 3.51390866e+01] [ 3.02758742e-02 1.10312549e-03 9.99540972e-01 2.54486871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.470385723 meters Centerline goodness [0,1] 0.999977642639957 Centerline is valid? [True, True] Translation: X:175.72, Y:35.16, Z:2.55 [[ 7.86212264e-01 -6.17531534e-01 -2.29146158e-02 1.75721997e+02] [ 6.17228093e-01 7.86545355e-01 -1.93877666e-02 3.51571767e+01] [ 2.99959419e-02 1.09935529e-03 9.99549416e-01 2.54847706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.500385723 meters Centerline goodness [0,1] 0.9999775709319277 Centerline is valid? [True, True] Translation: X:175.74, Y:35.18, Z:2.55 [[ 7.85903023e-01 -6.17937372e-01 -2.25797113e-02 1.75742847e+02] [ 6.17642705e-01 7.86226591e-01 -1.91111651e-02 3.51756640e+01] [ 2.95622726e-02 1.07332845e-03 9.99562364e-01 2.55018940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.530385723 meters Centerline goodness [0,1] 0.9999776351396685 Centerline is valid? [True, True] Translation: X:175.77, Y:35.19, Z:2.55 [[ 7.85439198e-01 -6.18545186e-01 -2.20707854e-02 1.75766897e+02] [ 6.18263724e-01 7.85748553e-01 -1.86863165e-02 3.51922946e+01] [ 2.89004188e-02 1.03139952e-03 9.99581764e-01 2.55281195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.79, Y:35.21, Z:2.56 [[ 7.84721811e-01 -6.19481447e-01 -2.13170626e-02 1.75789604e+02] [ 6.19218985e-01 7.85010699e-01 -1.80569027e-02 3.52100982e+01] [ 2.79200384e-02 9.69715539e-04 9.99609689e-01 2.55559377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.81, Y:35.23, Z:2.56 [[ 7.84031487e-01 -6.20358362e-01 -2.12162450e-02 1.75808653e+02] [ 6.20098521e-01 7.84317933e-01 -1.79778545e-02 3.52308690e+01] [ 2.77929938e-02 9.39041847e-04 9.99613259e-01 2.55576203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.620385723 meters Centerline goodness [0,1] 0.9999777287810961 Centerline is valid? [True, True] Translation: X:175.83, Y:35.25, Z:2.56 [[ 7.83268250e-01 -6.21302853e-01 -2.17626787e-02 1.75830999e+02] [ 6.21029644e-01 7.83569967e-01 -1.84468813e-02 3.52496761e+01] [ 2.85136814e-02 9.33587805e-04 9.99592966e-01 2.55596474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.650385723 meters Centerline goodness [0,1] 0.9998441778153729 Centerline is valid? [True, True] Translation: X:175.85, Y:35.27, Z:2.55 [[ 7.82321369e-01 -6.22479681e-01 -2.21883159e-02 1.75853706e+02] [ 6.22195880e-01 7.82635425e-01 -1.88169901e-02 3.52676822e+01] [ 2.90785560e-02 9.15454760e-04 9.99576710e-01 2.55467581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.680385723 meters Centerline goodness [0,1] 0.9999556757235938 Centerline is valid? [True, True] Translation: X:175.87, Y:35.29, Z:2.55 [[ 7.81144326e-01 -6.23899267e-01 -2.37328078e-02 1.75874106e+02] [ 6.23574978e-01 7.81504217e-01 -2.01346733e-02 3.52872013e+01] [ 3.11092973e-02 9.28900678e-04 9.99515557e-01 2.55481838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.90, Y:35.31, Z:2.56 [[ 7.80047834e-01 -6.25238186e-01 -2.45476584e-02 1.75896795e+02] [ 6.24891641e-01 7.80433456e-01 -2.08340443e-02 3.53050555e+01] [ 3.21840539e-02 9.11924594e-04 9.99481543e-01 2.55531281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.740385723 meters Centerline goodness [0,1] 0.9999777372100271 Centerline is valid? [True, True] Translation: X:175.92, Y:35.32, Z:2.56 [[ 7.77986713e-01 -6.27761977e-01 -2.55259591e-02 1.75918991e+02] [ 6.27388242e-01 7.78404895e-01 -2.16751647e-02 3.53240816e+01] [ 3.34763757e-02 8.48303568e-04 9.99439149e-01 2.55521528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.770385723 meters Centerline goodness [0,1] 0.9999778511151963 Centerline is valid? [True, True] Translation: X:175.94, Y:35.34, Z:2.56 [[ 7.75943625e-01 -6.30271272e-01 -2.58768982e-02 1.75942120e+02] [ 6.29888223e-01 7.76374618e-01 -2.19835911e-02 3.53422319e+01] [ 3.39457929e-02 7.58473978e-04 9.99423388e-01 2.55612989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.96, Y:35.36, Z:2.56 [[ 7.74853485e-01 -6.31615788e-01 -2.57599227e-02 1.75964797e+02] [ 6.31236582e-01 7.75281239e-01 -2.18947013e-02 3.53601305e+01] [ 3.38002238e-02 7.04580075e-04 9.99428361e-01 2.55778025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.99, Y:35.38, Z:2.56 [[ 7.73353400e-01 -6.33487766e-01 -2.48549660e-02 1.75987517e+02] [ 6.33135382e-01 7.73752467e-01 -2.11354623e-02 3.53788977e+01] [ 3.26206480e-02 6.08623210e-04 9.99467620e-01 2.55992890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.860385723 meters Centerline goodness [0,1] 0.9999778113073577 Centerline is valid? [True, True] Translation: X:176.01, Y:35.40, Z:2.56 [[ 7.72368619e-01 -6.34706190e-01 -2.43878741e-02 1.76008513e+02] [ 6.34367222e-01 7.72753353e-01 -2.07480761e-02 3.53979743e+01] [ 3.20147438e-02 5.54294934e-04 9.99487243e-01 2.56068642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.03, Y:35.42, Z:2.56 [[ 7.71460916e-01 -6.35844424e-01 -2.34504520e-02 1.76030092e+02] [ 6.35531251e-01 7.71817092e-01 -1.99600968e-02 3.54166204e+01] [ 3.07909760e-02 4.94939456e-04 9.99525723e-01 2.56160806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.05, Y:35.43, Z:2.56 [[ 7.70205229e-01 -6.37390846e-01 -2.27335792e-02 1.76052598e+02] [ 6.37096927e-01 7.70540542e-01 -1.93591795e-02 3.54349786e+01] [ 2.98565083e-02 4.27047817e-04 9.99554104e-01 2.56358108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.07, Y:35.45, Z:2.56 [[ 7.69603889e-01 -6.38125874e-01 -2.24771608e-02 1.76074643e+02] [ 6.37838588e-01 7.69931950e-01 -1.91501339e-02 3.54537420e+01] [ 2.95260802e-02 4.01216971e-04 9.99563930e-01 2.56471789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.10, Y:35.47, Z:2.57 [[ 7.68994214e-01 -6.38883701e-01 -2.18063262e-02 1.76095933e+02] [ 6.38613360e-01 7.69303244e-01 -1.85875218e-02 3.54734743e+01] [ 2.86509422e-02 3.67885464e-04 9.99589410e-01 2.56554223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.12, Y:35.49, Z:2.56 [[ 7.68747150e-01 -6.39169482e-01 -2.21403027e-02 1.76115554e+02] [ 6.38890624e-01 7.69065820e-01 -1.88821153e-02 3.54941204e+01] [ 2.90962219e-02 3.70340447e-04 9.99576547e-01 2.56432995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.14, Y:35.51, Z:2.56 [[ 7.68749044e-01 -6.39145320e-01 -2.27632672e-02 1.76136096e+02] [ 6.38850224e-01 7.69085891e-01 -1.94237890e-02 3.55141074e+01] [ 2.99215314e-02 3.89700879e-04 9.99552175e-01 2.56376610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.07038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.16, Y:35.53, Z:2.56 [[ 7.69009341e-01 -6.38815412e-01 -2.32271884e-02 1.76155816e+02] [ 6.38507781e-01 7.69359926e-01 -1.98272027e-02 3.55341043e+01] [ 3.05359906e-02 4.16563586e-04 9.99533581e-01 2.56233256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.10038572300002 meters Centerline goodness [0,1] 0.9999779332259418 Centerline is valid? [True, True] Translation: X:176.17, Y:35.55, Z:2.56 [[ 7.69213270e-01 -6.38571457e-01 -2.31827248e-02 1.76174355e+02] [ 6.38264646e-01 7.69562413e-01 -1.97973362e-02 3.55546346e+01] [ 3.04825675e-02 4.31660058e-04 9.99535205e-01 2.56075758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.19, Y:35.57, Z:2.56 [[ 7.69327622e-01 -6.38429224e-01 -2.33052779e-02 1.76194966e+02] [ 6.38118828e-01 7.69680406e-01 -1.99106709e-02 3.55729475e+01] [ 3.06491699e-02 4.46292527e-04 9.99530104e-01 2.56190330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.16038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.21, Y:35.59, Z:2.56 [[ 7.69087542e-01 -6.38719278e-01 -2.32816699e-02 1.76214881e+02] [ 6.38409385e-01 7.69439724e-01 -1.98989489e-02 3.55928504e+01] [ 3.06236839e-02 4.40797108e-04 9.99530888e-01 2.56228611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19038572300002 meters Centerline goodness [0,1] 0.9999780922753363 Centerline is valid? [True, True] Translation: X:176.23, Y:35.61, Z:2.56 [[ 7.68390191e-01 -6.39589769e-01 -2.23928986e-02 1.76234467e+02] [ 6.39303235e-01 7.68716313e-01 -1.91469008e-02 3.56130224e+01] [ 2.94599483e-02 3.96438199e-04 9.99565883e-01 2.56241366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.26, Y:35.63, Z:2.56 [[ 7.68091332e-01 -6.39962445e-01 -2.19948846e-02 1.76256373e+02] [ 6.39685960e-01 7.68406093e-01 -1.88135159e-02 3.56312975e+01] [ 2.89409469e-02 3.80679607e-04 9.99581051e-01 2.56426037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.28, Y:35.65, Z:2.56 [[ 7.67918756e-01 -6.40173108e-01 -2.18901141e-02 1.76275523e+02] [ 6.39899140e-01 7.68230597e-01 -1.87307104e-02 3.56505844e+01] [ 2.88075525e-02 3.76198663e-04 9.99584906e-01 2.56321987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.30, Y:35.67, Z:2.56 [[ 7.67685448e-01 -6.40461814e-01 -2.16267869e-02 1.76296614e+02] [ 6.40194320e-01 7.67989929e-01 -1.85122160e-02 3.56690011e+01] [ 2.84655219e-02 3.66212700e-04 9.99594708e-01 2.56437958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.310385723 meters Centerline goodness [0,1] 0.9999781444650858 Centerline is valid? [True, True] Translation: X:176.32, Y:35.69, Z:2.57 [[ 7.67342906e-01 -6.40902255e-01 -2.07162491e-02 1.76319823e+02] [ 6.40656736e-01 7.67622422e-01 -1.77416078e-02 3.56869597e+01] [ 2.72728938e-02 3.41892379e-04 9.99627967e-01 2.56681230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.340385723 meters Centerline goodness [0,1] 0.9999341802145725 Centerline is valid? [True, True] Translation: X:176.34, Y:35.71, Z:2.57 [[ 7.66984478e-01 -6.41348080e-01 -2.01854000e-02 1.76341199e+02] [ 6.41114916e-01 7.67249982e-01 -1.72953349e-02 3.57062836e+01] [ 2.65795777e-02 3.24092383e-04 9.99646648e-01 2.56707241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.370385723 meters Centerline goodness [0,1] 0.9999780793090598 Centerline is valid? [True, True] Translation: X:176.36, Y:35.73, Z:2.57 [[ 7.67000477e-01 -6.41350822e-01 -1.94779627e-02 1.76361805e+02] [ 6.41133502e-01 7.67247692e-01 -1.66976531e-02 3.57252641e+01] [ 2.56534755e-02 3.19133460e-04 9.99670845e-01 2.56726488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.400385723 meters Centerline goodness [0,1] 0.999956234408508 Centerline is valid? [True, True] Translation: X:176.38, Y:35.74, Z:2.57 [[ 7.67386466e-01 -6.40903762e-01 -1.89836583e-02 1.76382074e+02] [ 6.40696973e-01 7.67621168e-01 -1.62828682e-02 3.57448119e+01] [ 2.50080094e-02 3.32480324e-04 9.99687196e-01 2.56793325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.40, Y:35.76, Z:2.57 [[ 7.67791792e-01 -6.40411771e-01 -1.91970681e-02 1.76403231e+02] [ 6.40199929e-01 7.68031663e-01 -1.64747151e-02 3.57642051e+01] [ 2.52945576e-02 3.59189388e-04 9.99679977e-01 2.56836217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.460385723 meters Centerline goodness [0,1] 0.999956252597502 Centerline is valid? [True, True] Translation: X:176.42, Y:35.78, Z:2.57 [[ 7.68867248e-01 -6.39104546e-01 -1.97112630e-02 1.76424503e+02] [ 6.38880554e-01 7.69119759e-01 -1.69243644e-02 3.57844799e+01] [ 2.59767601e-02 4.19446815e-04 9.99662459e-01 2.56828770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.490385723 meters Centerline goodness [0,1] 0.9999562956164503 Centerline is valid? [True, True] Translation: X:176.45, Y:35.80, Z:2.57 [[ 7.69403835e-01 -6.38460489e-01 -1.96454293e-02 1.76446047e+02] [ 6.38237567e-01 7.69654471e-01 -1.68761103e-02 3.58041992e+01] [ 2.58949222e-02 4.46092960e-04 9.99664571e-01 2.56833722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.47, Y:35.83, Z:2.57 [[ 7.70417957e-01 -6.37240315e-01 -1.95180108e-02 1.76465137e+02] [ 6.37019728e-01 7.70665000e-01 -1.67727162e-02 3.58252993e+01] [ 2.57300988e-02 4.88643783e-04 9.99668807e-01 2.56785239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.550385723 meters Centerline goodness [0,1] 0.9994746289567007 Centerline is valid? [True, True] Translation: X:176.48, Y:35.85, Z:2.57 [[ 7.70998626e-01 -6.36520517e-01 -2.00686219e-02 1.76483600e+02] [ 6.36286983e-01 7.71259587e-01 -1.72489132e-02 3.58460647e+01] [ 2.64574042e-02 5.29485547e-04 9.99649801e-01 2.56609222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.580385723 meters Centerline goodness [0,1] 0.999542264266097 Centerline is valid? [True, True] Translation: X:176.51, Y:35.86, Z:2.57 [[ 7.71697702e-01 -6.35660327e-01 -2.04598240e-02 1.76506407e+02] [ 6.35417150e-01 7.71968664e-01 -1.75905235e-02 3.58639552e+01] [ 2.69759409e-02 5.74043452e-04 9.99635918e-01 2.56740534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.610385723 meters Centerline goodness [0,1] 0.9993010353414006 Centerline is valid? [True, True] Translation: X:176.53, Y:35.88, Z:2.57 [[ 7.71916718e-01 -6.35375789e-01 -2.10282512e-02 1.76528492e+02] [ 6.35118562e-01 7.72202848e-01 -1.80879645e-02 3.58830491e+01] [ 2.77307301e-02 6.06969560e-04 9.99615245e-01 2.56809194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.640385723 meters Centerline goodness [0,1] 0.9995407527281475 Centerline is valid? [True, True] Translation: X:176.55, Y:35.90, Z:2.57 [[ 7.72411179e-01 -6.34776425e-01 -2.09728379e-02 1.76550067e+02] [ 6.34520094e-01 7.72695599e-01 -1.80488844e-02 3.59029267e+01] [ 2.76626258e-02 6.33473006e-04 9.99617116e-01 2.56886933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.670385723 meters Centerline goodness [0,1] 0.9994773519163763 Centerline is valid? [True, True] Translation: X:176.57, Y:35.92, Z:2.57 [[ 7.72710458e-01 -6.34404685e-01 -2.11953476e-02 1.76571333e+02] [ 6.34142500e-01 7.73000814e-01 -1.82491213e-02 3.59224191e+01] [ 2.79613490e-02 6.60416205e-04 9.99608787e-01 2.56930711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.700385723 meters Centerline goodness [0,1] 0.9995409033273578 Centerline is valid? [True, True] Translation: X:176.59, Y:35.94, Z:2.57 [[ 7.73365605e-01 -6.33621927e-01 -2.07097627e-02 1.76592014e+02] [ 6.33371109e-01 7.73642548e-01 -1.78394779e-02 3.59427501e+01] [ 2.73254379e-02 6.79473256e-04 9.99626360e-01 2.56973098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.730385723 meters Centerline goodness [0,1] 0.9993433293203459 Centerline is valid? [True, True] Translation: X:176.61, Y:35.96, Z:2.57 [[ 7.73896664e-01 -6.32979424e-01 -2.05183530e-02 1.76611840e+02] [ 6.32732831e-01 7.74168301e-01 -1.76806703e-02 3.59624560e+01] [ 2.70761590e-02 7.00376159e-04 9.99633128e-01 2.56963971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.760385723 meters Centerline goodness [0,1] 0.999412954145196 Centerline is valid? [True, True] Translation: X:176.63, Y:35.98, Z:2.57 [[ 7.74645292e-01 -6.32089019e-01 -1.97013280e-02 1.76633572e+02] [ 6.31861257e-01 7.74895459e-01 -1.69817321e-02 3.59817734e+01] [ 2.60004360e-02 7.06312925e-04 9.99661682e-01 2.57166904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.790385723 meters Centerline goodness [0,1] 0.999542901919812 Centerline is valid? [True, True] Translation: X:176.66, Y:36.00, Z:2.57 [[ 7.75062334e-01 -6.31593647e-01 -1.91792374e-02 1.76655385e+02] [ 6.31377443e-01 7.75299272e-01 -1.65397260e-02 3.60005755e+01] [ 2.53160347e-02 7.09980790e-04 9.99679246e-01 2.57287434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.82038572300002 meters Centerline goodness [0,1] 0.999498834244874 Centerline is valid? [True, True] Translation: X:176.67, Y:36.02, Z:2.57 [[ 7.75413259e-01 -6.31164660e-01 -1.91167541e-02 1.76674891e+02] [ 6.30949565e-01 7.75648531e-01 -1.64924789e-02 3.60201385e+01] [ 2.52373521e-02 7.26779124e-04 9.99681223e-01 2.57222661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.85038572300002 meters Centerline goodness [0,1] 0.9992605802270453 Centerline is valid? [True, True] Translation: X:176.70, Y:36.04, Z:2.57 [[ 7.76945419e-01 -6.29252588e-01 -1.99247714e-02 1.76695365e+02] [ 6.29018133e-01 7.77200422e-01 -1.71957041e-02 3.60407422e+01] [ 2.63059821e-02 8.27081010e-04 9.99653596e-01 2.57238018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88038572300002 meters Centerline goodness [0,1] 0.9995221338893957 Centerline is valid? [True, True] Translation: X:176.71, Y:36.06, Z:2.57 [[ 7.78203169e-01 -6.27670741e-01 -2.07188246e-02 1.76714675e+02] [ 6.27416492e-01 7.78478384e-01 -1.78871734e-02 3.60618576e+01] [ 2.73564125e-02 9.20522713e-04 9.99625319e-01 2.57115780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91038572300002 meters Centerline goodness [0,1] 0.9993678474114441 Centerline is valid? [True, True] Translation: X:176.73, Y:36.08, Z:2.57 [[ 7.78778360e-01 -6.26947998e-01 -2.09874603e-02 1.76732598e+02] [ 6.26686757e-01 7.79060514e-01 -1.81224622e-02 3.60829607e+01] [ 2.77123430e-02 9.60817973e-04 9.99615478e-01 2.56997909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94038572300002 meters Centerline goodness [0,1] 0.999521458247232 Centerline is valid? [True, True] Translation: X:176.76, Y:36.10, Z:2.57 [[ 7.78936871e-01 -6.26758571e-01 -2.07616021e-02 1.76756319e+02] [ 6.26502694e-01 7.79212916e-01 -1.79333788e-02 3.60997121e+01] [ 2.74176074e-02 9.61770307e-04 9.99623604e-01 2.57129710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.970385723 meters Centerline goodness [0,1] 0.9993241622882557 Centerline is valid? [True, True] Translation: X:176.78, Y:36.12, Z:2.57 [[ 7.79116568e-01 -6.26550147e-01 -2.03048306e-02 1.76777616e+02] [ 6.26305108e-01 7.79380525e-01 -1.75473368e-02 3.61193985e+01] [ 2.68194760e-02 9.54401692e-04 9.99639838e-01 2.57153794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.000385723 meters Centerline goodness [0,1] 0.9993472726877135 Centerline is valid? [True, True] Translation: X:176.80, Y:36.14, Z:2.57 [[ 7.78962469e-01 -6.26760933e-01 -1.97029356e-02 1.76798114e+02] [ 6.26530120e-01 7.79211063e-01 -1.70331436e-02 3.61381097e+01] [ 2.60284544e-02 9.23696970e-04 9.99660776e-01 2.57275125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.030385723 meters Centerline goodness [0,1] 0.9993452497872062 Centerline is valid? [True, True] Translation: X:176.82, Y:36.16, Z:2.57 [[ 7.77973061e-01 -6.28027659e-01 -1.84167277e-02 1.76820812e+02] [ 6.27826246e-01 7.78190578e-01 -1.59257628e-02 3.61563598e+01] [ 2.43335434e-02 8.27309431e-04 9.99703553e-01 2.57428434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.060385723 meters Centerline goodness [0,1] 0.9992831385497676 Centerline is valid? [True, True] Translation: X:176.84, Y:36.18, Z:2.57 [[ 7.76756956e-01 -6.29550621e-01 -1.77382648e-02 1.76840695e+02] [ 6.29364001e-01 7.76959100e-01 -1.53463686e-02 3.61768938e+01] [ 2.34432222e-02 7.56573247e-04 9.99724884e-01 2.57389007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.090385723 meters Centerline goodness [0,1] 0.9995211040727922 Centerline is valid? [True, True] Translation: X:176.86, Y:36.19, Z:2.57 [[ 7.76273453e-01 -6.30141030e-01 -1.79390243e-02 1.76864292e+02] [ 6.29950138e-01 7.76480338e-01 -1.55276441e-02 3.61939844e+01] [ 2.37139053e-02 7.53007097e-04 9.99718502e-01 2.57458050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.120385723 meters Centerline goodness [0,1] 0.9994115852329687 Centerline is valid? [True, True] Translation: X:176.89, Y:36.21, Z:2.57 [[ 7.75641452e-01 -6.30910634e-01 -1.82238539e-02 1.76886232e+02] [ 6.30713658e-01 7.75855150e-01 -1.57819029e-02 3.62134872e+01] [ 2.40960413e-02 7.47064593e-04 9.99709369e-01 2.57421023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.150385723 meters Centerline goodness [0,1] 0.9992149850629102 Centerline is valid? [True, True] Translation: X:176.91, Y:36.23, Z:2.57 [[ 7.74456321e-01 -6.32355231e-01 -1.85544783e-02 1.76908463e+02] [ 6.32151260e-01 7.74678219e-01 -1.60761132e-02 3.62320354e+01] [ 2.45395645e-02 7.21010625e-04 9.99698600e-01 2.57275100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.180385723 meters Centerline goodness [0,1] 0.9994770102418827 Centerline is valid? [True, True] Translation: X:176.93, Y:36.25, Z:2.57 [[ 7.74247694e-01 -6.32615024e-01 -1.84048795e-02 1.76927707e+02] [ 6.32414253e-01 7.74466090e-01 -1.59527130e-02 3.62506048e+01] [ 2.43458810e-02 7.11843197e-04 9.99703342e-01 2.57345710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.210385723 meters Centerline goodness [0,1] 0.9994770102418827 Centerline is valid? [True, True] Translation: X:176.95, Y:36.27, Z:2.57 [[ 7.74078647e-01 -6.32821942e-01 -1.84021307e-02 1.76948503e+02] [ 6.32621153e-01 7.74297027e-01 -1.59558833e-02 3.62687378e+01] [ 2.43459482e-02 7.09531410e-04 9.99703342e-01 2.57387536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.240385723 meters Centerline goodness [0,1] 0.9994329458463284 Centerline is valid? [True, True] Translation: X:176.97, Y:36.29, Z:2.58 [[ 7.73494610e-01 -6.33547153e-01 -1.80026003e-02 1.76971314e+02] [ 6.33354995e-01 7.73703784e-01 -1.56174502e-02 3.62861891e+01] [ 2.38230711e-02 6.77976670e-04 9.99715960e-01 2.57513137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.270385723 meters Centerline goodness [0,1] 0.9994352246068294 Centerline is valid? [True, True] Translation: X:176.99, Y:36.31, Z:2.57 [[ 7.72584842e-01 -6.34672855e-01 -1.74077343e-02 1.76990971e+02] [ 6.34493309e-01 7.72780676e-01 -1.51085099e-02 3.63068695e+01] [ 2.30413218e-02 6.27514837e-04 9.99734317e-01 2.57469825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.300385723 meters Centerline goodness [0,1] 0.9993675854849965 Centerline is valid? [True, True] Translation: X:177.02, Y:36.32, Z:2.58 [[ 7.72161346e-01 -6.35192087e-01 -1.72588711e-02 1.77015115e+02] [ 6.35015564e-01 7.72353959e-01 -1.49865114e-02 3.63234864e+01] [ 2.28492708e-02 6.12353039e-04 9.99738734e-01 2.57555401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.330385723 meters Centerline goodness [0,1] 0.9993239117159557 Centerline is valid? [True, True] Translation: X:177.04, Y:36.34, Z:2.58 [[ 7.71870341e-01 -6.35542379e-01 -1.73799033e-02 1.77036316e+02] [ 6.35363320e-01 7.72065743e-01 -1.50977187e-02 3.63410942e+01] [ 2.30136680e-02 6.10928227e-04 9.99734964e-01 2.57526557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.360385723 meters Centerline goodness [0,1] 0.9994758451996156 Centerline is valid? [True, True] Translation: X:177.06, Y:36.36, Z:2.58 [[ 7.71507362e-01 -6.35987810e-01 -1.72016231e-02 1.77059114e+02] [ 6.35812399e-01 7.71698873e-01 -1.49479867e-02 3.63577673e+01] [ 2.27812105e-02 5.95476550e-04 9.99740297e-01 2.57707537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.390385723 meters Centerline goodness [0,1] 0.9992110453648915 Centerline is valid? [True, True] Translation: X:177.08, Y:36.38, Z:2.57 [[ 7.70756205e-01 -6.36887906e-01 -1.75689377e-02 1.77080645e+02] [ 6.36704999e-01 7.70956193e-01 -1.52739219e-02 3.63757223e+01] [ 2.32726575e-02 5.86239667e-04 9.99728983e-01 2.57453130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.420385723 meters Centerline goodness [0,1] 0.9993666186170446 Centerline is valid? [True, True] Translation: X:177.10, Y:36.39, Z:2.58 [[ 7.70173375e-01 -6.37597554e-01 -1.73876964e-02 1.77103868e+02] [ 6.37418484e-01 7.70369420e-01 -1.51206403e-02 3.63924504e+01] [ 2.30358328e-02 5.62275489e-04 9.99734482e-01 2.57781435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.450385723 meters Centerline goodness [0,1] 0.9994107762477359 Centerline is valid? [True, True] Translation: X:177.13, Y:36.41, Z:2.58 [[ 7.69284382e-01 -6.38667338e-01 -1.74805742e-02 1.77127013e+02] [ 6.38486450e-01 7.69482775e-01 -1.52089827e-02 3.64101072e+01] [ 2.31644812e-02 5.38923148e-04 9.99731522e-01 2.57831717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.480385723 meters Centerline goodness [0,1] 0.9993647455696479 Centerline is valid? [True, True] Translation: X:177.15, Y:36.43, Z:2.58 [[ 7.67793841e-01 -6.40451326e-01 -1.77402433e-02 1.77149252e+02] [ 6.40265355e-01 7.67998601e-01 -1.54409600e-02 3.64264841e+01] [ 2.35136654e-02 4.97010816e-04 9.99723392e-01 2.57768688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.510385723 meters Centerline goodness [0,1] 0.999538633916998 Centerline is valid? [True, True] Translation: X:177.17, Y:36.44, Z:2.58 [[ 7.66687135e-01 -6.41782538e-01 -1.74931841e-02 1.77174696e+02] [ 6.41601984e-01 7.66886543e-01 -1.52290738e-02 3.64420128e+01] [ 2.31890412e-02 4.52273357e-04 9.99730996e-01 2.57905466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.540385723 meters Centerline goodness [0,1] 0.9995170672813083 Centerline is valid? [True, True] Translation: X:177.20, Y:36.46, Z:2.58 [[ 7.66132289e-01 -6.42454316e-01 -1.71396553e-02 1.77196042e+02] [ 6.42281076e-01 7.66323868e-01 -1.49247890e-02 3.64595445e+01] [ 2.27230220e-02 4.25886534e-04 9.99741708e-01 2.57937181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.57038572300002 meters Centerline goodness [0,1] 0.9994939939279271 Centerline is valid? [True, True] Translation: X:177.22, Y:36.48, Z:2.58 [[ 7.65924200e-01 -6.42709053e-01 -1.68876678e-02 1.77217560e+02] [ 6.42540833e-01 7.66110241e-01 -1.47097513e-02 3.64771300e+01] [ 2.23919056e-02 4.15538405e-04 9.99749183e-01 2.57976492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.60038572300002 meters Centerline goodness [0,1] 0.9995813594800044 Centerline is valid? [True, True] Translation: X:177.24, Y:36.50, Z:2.58 [[ 7.66309217e-01 -6.42255563e-01 -1.66726092e-02 1.77238051e+02] [ 6.42091354e-01 7.66490449e-01 -1.45287167e-02 3.64955194e+01] [ 2.21105448e-02 4.28151333e-04 9.99755440e-01 2.57981565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63038572300002 meters Centerline goodness [0,1] 0.9995158663791206 Centerline is valid? [True, True] Translation: X:177.26, Y:36.51, Z:2.58 [[ 7.66983799e-01 -6.41477973e-01 -1.55519649e-02 1.77259507e+02] [ 6.41334871e-01 7.67141338e-01 -1.35555078e-02 3.65142660e+01] [ 2.06261148e-02 4.22837463e-04 9.99787170e-01 2.58025108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.66038572300002 meters Centerline goodness [0,1] 0.9995599753586201 Centerline is valid? [True, True] Translation: X:177.28, Y:36.53, Z:2.58 [[ 7.67092639e-01 -6.41354495e-01 -1.52739677e-02 1.77281137e+02] [ 6.41216306e-01 7.67244571e-01 -1.33197804e-02 3.65326605e+01] [ 2.02615699e-02 4.23588365e-04 9.99794624e-01 2.58122189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69038572300002 meters Centerline goodness [0,1] 0.9997579651469811 Centerline is valid? [True, True] Translation: X:177.30, Y:36.55, Z:2.58 [[ 7.67079621e-01 -6.41366408e-01 -1.54267890e-02 1.77303224e+02] [ 6.41225287e-01 7.67234608e-01 -1.34605905e-02 3.65493168e+01] [ 2.04691370e-02 4.33297427e-04 9.99790391e-01 2.58237144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.720385723 meters Centerline goodness [0,1] 0.9997140343158821 Centerline is valid? [True, True] Translation: X:177.32, Y:36.57, Z:2.58 [[ 7.66715021e-01 -6.41795699e-01 -1.56957339e-02 1.77324666e+02] [ 6.41649544e-01 7.66875538e-01 -1.37029652e-02 3.65671479e+01] [ 2.08311785e-02 4.35108765e-04 9.99782913e-01 2.58263729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.750385723 meters Centerline goodness [0,1] 0.9995584696558271 Centerline is valid? [True, True] Translation: X:177.35, Y:36.59, Z:2.58 [[ 7.66776215e-01 -6.41713031e-01 -1.60817185e-02 1.77345325e+02] [ 6.41559445e-01 7.66944705e-01 -1.40462876e-02 3.65859711e+01] [ 2.13474747e-02 4.52980808e-04 9.99772014e-01 2.58235773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.780385723 meters Centerline goodness [0,1] 0.9996466821243237 Centerline is valid? [True, True] Translation: X:177.37, Y:36.60, Z:2.58 [[ 7.66430220e-01 -6.42106516e-01 -1.68505220e-02 1.77366922e+02] [ 6.41937888e-01 7.66615291e-01 -1.47221969e-02 3.66039923e+01] [ 2.23710864e-02 4.66548148e-04 9.99749627e-01 2.58082205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.810385723 meters Centerline goodness [0,1] 0.9996685302631869 Centerline is valid? [True, True] Translation: X:177.39, Y:36.62, Z:2.58 [[ 7.65767766e-01 -6.42873545e-01 -1.77012354e-02 1.77388388e+02] [ 6.42687493e-01 7.65972181e-01 -1.54727034e-02 3.66212912e+01] [ 2.35056456e-02 4.72134944e-04 9.99723593e-01 2.57978216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.840385723 meters Centerline goodness [0,1] 0.9996912627354122 Centerline is valid? [True, True] Translation: X:177.41, Y:36.64, Z:2.58 [[ 7.65101778e-01 -6.43659641e-01 -1.79314361e-02 1.77411601e+02] [ 6.43468806e-01 7.65311738e-01 -1.56792504e-02 3.66390453e+01] [ 2.38152392e-02 4.57902605e-04 9.99716272e-01 2.58050932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.870385723 meters Centerline goodness [0,1] 0.9996009842388774 Centerline is valid? [True, True] Translation: X:177.44, Y:36.65, Z:2.58 [[ 7.63412446e-01 -6.45671379e-01 -1.76041801e-02 1.77436467e+02] [ 6.45487812e-01 7.63615293e-01 -1.54003075e-02 3.66543233e+01] [ 2.33863590e-02 3.93502732e-04 9.99726424e-01 2.58238070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.900385723 meters Centerline goodness [0,1] 0.9998220719718873 Centerline is valid? [True, True] Translation: X:177.46, Y:36.67, Z:2.58 [[ 7.62481555e-01 -6.46764309e-01 -1.78271498e-02 1.77460138e+02] [ 6.46576181e-01 7.62689840e-01 -1.56028967e-02 3.66709255e+01] [ 2.36879827e-02 3.70310453e-04 9.99719332e-01 2.58413091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.930385723 meters Centerline goodness [0,1] 0.9997114381478769 Centerline is valid? [True, True] Translation: X:177.48, Y:36.69, Z:2.58 [[ 7.60891745e-01 -6.48652849e-01 -1.71240857e-02 1.77481064e+02] [ 6.48479619e-01 7.61084351e-01 -1.49931505e-02 3.66897071e+01] [ 2.27582234e-02 3.03543868e-04 9.99740952e-01 2.58331801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.960385723 meters Centerline goodness [0,1] 0.9996677372909514 Centerline is valid? [True, True] Translation: X:177.50, Y:36.71, Z:2.59 [[ 7.60266303e-01 -6.49400637e-01 -1.65517636e-02 1.77503832e+02] [ 6.49238887e-01 7.60446406e-01 -1.44958876e-02 3.67070210e+01] [ 2.20003678e-02 2.74686264e-04 9.99757925e-01 2.58506701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.990385723 meters Centerline goodness [0,1] 0.9996671843798536 Centerline is valid? [True, True] Translation: X:177.53, Y:36.73, Z:2.59 [[ 7.60108800e-01 -6.49596485e-01 -1.60940446e-02 1.77525560e+02] [ 6.49443454e-01 7.60279117e-01 -1.41019359e-02 3.67250110e+01] [ 2.13965340e-02 2.66833709e-04 9.99771032e-01 2.58576249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.020385723 meters Centerline goodness [0,1] 0.9998219254312743 Centerline is valid? [True, True] Translation: X:177.55, Y:36.74, Z:2.59 [[ 7.60182047e-01 -6.49530413e-01 -1.52806746e-02 1.77547933e+02] [ 6.49392302e-01 7.60335567e-01 -1.33963913e-02 3.67419302e+01] [ 2.03198040e-02 2.60543722e-04 9.99793498e-01 2.58785504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.050385723 meters Centerline goodness [0,1] 0.99982178261935 Centerline is valid? [True, True] Translation: X:177.57, Y:36.76, Z:2.59 [[ 7.60434415e-01 -6.49236468e-01 -1.52154100e-02 1.77568455e+02] [ 6.49099347e-01 7.60586573e-01 -1.33455085e-02 3.67591602e+01] [ 2.02370274e-02 2.72071232e-04 9.99795173e-01 2.58836935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.080385723 meters Centerline goodness [0,1] 0.9998670212765958 Centerline is valid? [True, True] Translation: X:177.59, Y:36.78, Z:2.59 [[ 7.60942639e-01 -6.48632192e-01 -1.55749608e-02 1.77589561e+02] [ 6.48488302e-01 7.61101958e-01 -1.36649637e-02 3.67783236e+01] [ 2.07176685e-02 2.98073603e-04 9.99785322e-01 2.58858172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.110385723 meters Centerline goodness [0,1] 0.999955450617009 Centerline is valid? [True, True] Translation: X:177.61, Y:36.80, Z:2.59 [[ 7.63124886e-01 -6.46022254e-01 -1.71946476e-02 1.77607709e+02] [ 6.45846057e-01 7.63318464e-01 -1.50928396e-02 3.67994256e+01] [ 2.28753023e-02 4.12626093e-04 9.99738241e-01 2.58682819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.140385723 meters Centerline goodness [0,1] 0.9997315075849107 Centerline is valid? [True, True] Translation: X:177.63, Y:36.82, Z:2.59 [[ 7.64225092e-01 -6.44706513e-01 -1.77065052e-02 1.77630890e+02] [ 6.44519178e-01 7.64430043e-01 -1.55479165e-02 3.68173656e+01] [ 2.35592276e-02 4.69925742e-04 9.99722332e-01 2.58799000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.170385723 meters Centerline goodness [0,1] 0.9998216912584139 Centerline is valid? [True, True] Translation: X:177.65, Y:36.84, Z:2.59 [[ 7.66477125e-01 -6.42006732e-01 -1.84437694e-02 1.77649858e+02] [ 6.41802537e-01 7.66698780e-01 -1.62014000e-02 3.68385186e+01] [ 2.45422234e-02 5.80744521e-04 9.99698626e-01 2.58696433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.200385723 meters Centerline goodness [0,1] 0.999910552561551 Centerline is valid? [True, True] Translation: X:177.67, Y:36.86, Z:2.59 [[ 7.67361111e-01 -6.40944031e-01 -1.86460024e-02 1.77671546e+02] [ 6.40734902e-01 7.67587362e-01 -1.63837544e-02 3.68574677e+01] [ 2.48135054e-02 6.25111462e-04 9.99691902e-01 2.58761509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.230385723 meters Centerline goodness [0,1] 0.999933223523127 Centerline is valid? [True, True] Translation: X:177.69, Y:36.88, Z:2.59 [[ 7.68449443e-01 -6.39619357e-01 -1.93010840e-02 1.77692694e+02] [ 6.39394695e-01 7.68691482e-01 -1.69655687e-02 3.68764996e+01] [ 2.56880850e-02 6.96171098e-04 9.99669764e-01 2.58754457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.260385723 meters Centerline goodness [0,1] 0.9999552512641517 Centerline is valid? [True, True] Translation: X:177.72, Y:36.89, Z:2.59 [[ 7.68465639e-01 -6.39581645e-01 -1.98967303e-02 1.77715450e+02] [ 6.39342745e-01 7.68722834e-01 -1.74945425e-02 3.68947845e+01] [ 2.64842592e-02 7.23124659e-04 9.99648969e-01 2.58802839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.290385723 meters Centerline goodness [0,1] 0.9998884127834315 Centerline is valid? [True, True] Translation: X:177.74, Y:36.91, Z:2.59 [[ 7.67689284e-01 -6.40511679e-01 -1.99487459e-02 1.77737485e+02] [ 6.40271677e-01 7.67948112e-01 -1.75464437e-02 3.69119375e+01] [ 2.65583039e-02 6.97599814e-04 9.99647023e-01 2.58858262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.32038572300002 meters Centerline goodness [0,1] 0.9999553232363848 Centerline is valid? [True, True] Translation: X:177.76, Y:36.93, Z:2.59 [[ 7.67078617e-01 -6.41248469e-01 -1.97685952e-02 1.77761626e+02] [ 6.41012894e-01 7.67333013e-01 -1.73930211e-02 3.69290358e+01] [ 2.63223438e-02 6.69890153e-04 9.99653283e-01 2.59011333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.35038572300002 meters Centerline goodness [0,1] 0.9999776080969122 Centerline is valid? [True, True] Translation: X:177.78, Y:36.95, Z:2.59 [[ 7.66189663e-01 -6.42317486e-01 -1.95357928e-02 1.77784420e+02] [ 6.42087566e-01 7.66438418e-01 -1.71961876e-02 3.69468712e+01] [ 2.60183941e-02 6.31851572e-04 9.99661265e-01 2.59138338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.38038572300002 meters Centerline goodness [0,1] 0.9999776964938888 Centerline is valid? [True, True] Translation: X:177.81, Y:36.97, Z:2.59 [[ 7.65266350e-01 -6.43428254e-01 -1.91701536e-02 1.77805241e+02] [ 6.43207001e-01 7.65506195e-01 -1.68825049e-02 3.69653113e+01] [ 2.55375520e-02 5.89235943e-04 9.99673690e-01 2.59142667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.83, Y:36.98, Z:2.59 [[ 7.64459662e-01 -6.44384532e-01 -1.92353737e-02 1.77829688e+02] [ 6.44161862e-01 7.64701416e-01 -1.69481875e-02 3.69819122e+01] [ 2.56304674e-02 5.65511588e-04 9.99671326e-01 2.59262583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.44038572300002 meters Centerline goodness [0,1] 0.9999553202421643 Centerline is valid? [True, True] Translation: X:177.85, Y:37.00, Z:2.59 [[ 7.64104532e-01 -6.44812358e-01 -1.90075364e-02 1.77851739e+02] [ 6.44594851e-01 7.64340709e-01 -1.67558721e-02 3.69998229e+01] [ 2.53326273e-02 5.51077750e-04 9.99678926e-01 2.59316144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.88, Y:37.02, Z:2.59 [[ 7.63396185e-01 -6.45664491e-01 -1.85372610e-02 1.77875713e+02] [ 6.45457658e-01 7.63621044e-01 -1.63497101e-02 3.70161491e+01] [ 2.47118699e-02 5.16289259e-04 9.99694482e-01 2.59429712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.90, Y:37.03, Z:2.59 [[ 7.62962195e-01 -6.46179783e-01 -1.84492767e-02 1.77896786e+02] [ 6.45974913e-01 7.63185060e-01 -1.62780696e-02 3.70344845e+01] [ 2.45987718e-02 5.01781744e-04 9.99697278e-01 2.59459042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.530385723 meters Centerline goodness [0,1] 0.9999102414504981 Centerline is valid? [True, True] Translation: X:177.92, Y:37.05, Z:2.60 [[ 7.61870735e-01 -6.47453553e-01 -1.88912928e-02 1.77920143e+02] [ 6.47239014e-01 7.62104764e-01 -1.66729640e-02 3.70517988e+01] [ 2.51921140e-02 4.75461561e-04 9.99682515e-01 2.59526818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.94, Y:37.07, Z:2.59 [[ 7.61027381e-01 -6.48440714e-01 -1.90254189e-02 1.77940158e+02] [ 6.48223224e-01 7.61265024e-01 -1.67992654e-02 3.70708027e+01] [ 2.53767136e-02 4.51982533e-04 9.99677857e-01 2.59444557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.590385723 meters Centerline goodness [0,1] 0.9999775472630114 Centerline is valid? [True, True] Translation: X:177.96, Y:37.09, Z:2.60 [[ 7.60551512e-01 -6.48964333e-01 -2.01666166e-02 1.77964546e+02] [ 6.48719909e-01 7.60818688e-01 -1.78157948e-02 3.70867888e+01] [ 2.69049542e-02 4.67343970e-04 9.99637887e-01 2.59658594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.98, Y:37.11, Z:2.60 [[ 7.60319054e-01 -6.49226184e-01 -2.05011730e-02 1.77983970e+02] [ 6.48973485e-01 7.60595254e-01 -1.81183800e-02 3.71051517e+01] [ 2.73560216e-02 4.71031857e-04 9.99625643e-01 2.59619688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.00, Y:37.12, Z:2.60 [[ 7.60302280e-01 -6.49240486e-01 -2.06696358e-02 1.78004000e+02] [ 6.48983428e-01 7.60583040e-01 -1.82742750e-02 3.71243051e+01] [ 2.75853736e-02 4.79721837e-04 9.99619336e-01 2.59599811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.02, Y:37.15, Z:2.59 [[ 7.60723459e-01 -6.48740745e-01 -2.08629947e-02 1.78021962e+02] [ 6.48478469e-01 7.61009322e-01 -1.84522918e-02 3.71454976e+01] [ 2.78476869e-02 5.07888404e-04 9.99612049e-01 2.59366529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.05, Y:37.16, Z:2.60 [[ 7.61602064e-01 -6.47710565e-01 -2.08163249e-02 1.78045325e+02] [ 6.47448916e-01 7.61886292e-01 -1.84168225e-02 3.71621403e+01] [ 2.77884431e-02 5.48783049e-04 9.99613676e-01 2.59675168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.740385723 meters Centerline goodness [0,1] 0.999932768589485 Centerline is valid? [True, True] Translation: X:178.07, Y:37.18, Z:2.60 [[ 7.62234273e-01 -6.46974601e-01 -2.05615731e-02 1.78065269e+02] [ 6.46718878e-01 7.62511335e-01 -1.81977177e-02 3.71815757e+01] [ 2.74518937e-02 5.73366656e-04 9.99622961e-01 2.59711781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.09, Y:37.20, Z:2.60 [[ 7.63188724e-01 -6.45860603e-01 -2.01755600e-02 1.78086277e+02] [ 6.45613856e-01 7.63455116e-01 -1.78615430e-02 3.72009047e+01] [ 2.69392014e-02 6.06107099e-04 9.99636890e-01 2.59905379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.11, Y:37.22, Z:2.60 [[ 7.64567359e-01 -6.44243377e-01 -1.96780495e-02 1.78105073e+02] [ 6.44007958e-01 7.64820271e-01 -1.74270550e-02 3.72214103e+01] [ 2.62774359e-02 6.51336906e-04 9.99654476e-01 2.59947853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.13, Y:37.24, Z:2.60 [[ 7.65151842e-01 -6.43535339e-01 -2.01227767e-02 1.78126722e+02] [ 6.43288763e-01 7.65416086e-01 -1.78264747e-02 3.72405149e+01] [ 2.68742634e-02 6.95203788e-04 9.99638580e-01 2.60055258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.15, Y:37.26, Z:2.60 [[ 7.65664597e-01 -6.42920235e-01 -2.02804209e-02 1.78147446e+02] [ 6.42669324e-01 7.65932790e-01 -1.79750032e-02 3.72608677e+01] [ 2.70899326e-02 7.29219209e-04 9.99632734e-01 2.60045652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.890385723 meters Centerline goodness [0,1] 0.9998886612630267 Centerline is valid? [True, True] Translation: X:178.16, Y:37.28, Z:2.60 [[ 7.66565709e-01 -6.41855203e-01 -1.99727754e-02 1.78164881e+02] [ 6.41611321e-01 7.66825482e-01 -1.77085358e-02 3.72831726e+01] [ 2.66819490e-02 7.59997484e-04 9.99643685e-01 2.59955401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.19, Y:37.30, Z:2.60 [[ 7.66628072e-01 -6.41783022e-01 -1.98985664e-02 1.78187396e+02] [ 6.41540782e-01 7.66885891e-01 -1.76481027e-02 3.73017872e+01] [ 2.65861825e-02 7.63789064e-04 9.99646233e-01 2.60080948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.950385723 meters Centerline goodness [0,1] 0.9999329788660024 Centerline is valid? [True, True] Translation: X:178.21, Y:37.32, Z:2.60 [[ 7.66950984e-01 -6.41394174e-01 -1.99925283e-02 1.78209570e+02] [ 6.41149344e-01 7.67211116e-01 -1.77376123e-02 3.73195603e+01] [ 2.67152912e-02 7.85682796e-04 9.99642774e-01 2.60217410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.23, Y:37.34, Z:2.60 [[ 7.66786684e-01 -6.41577418e-01 -2.04107163e-02 1.78231089e+02] [ 6.41322129e-01 7.67057870e-01 -1.81149405e-02 3.73371108e+01] [ 2.72783373e-02 8.00451144e-04 9.99627556e-01 2.60338579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.010385723 meters Centerline goodness [0,1] 0.9999776820586069 Centerline is valid? [True, True] Translation: X:178.25, Y:37.36, Z:2.60 [[ 7.66574372e-01 -6.41827464e-01 -2.05240862e-02 1.78252401e+02] [ 6.41569139e-01 7.66848655e-01 -1.82257828e-02 3.73559121e+01] [ 2.74366759e-02 8.03797651e-04 9.99623220e-01 2.60403741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.040385723 meters Centerline goodness [0,1] 0.9999776451389355 Centerline is valid? [True, True] Translation: X:178.27, Y:37.38, Z:2.61 [[ 7.66432660e-01 -6.41984167e-01 -2.09118827e-02 1.78274301e+02] [ 6.41715769e-01 7.66717455e-01 -1.85800157e-02 3.73752525e+01] [ 2.79615813e-02 8.20845993e-04 9.99608662e-01 2.60503833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.07038572300002 meters Centerline goodness [0,1] 0.9999776910206358 Centerline is valid? [True, True] Translation: X:178.29, Y:37.39, Z:2.61 [[ 7.66411925e-01 -6.42012734e-01 -2.07945149e-02 1.78294973e+02] [ 6.41747086e-01 7.66693533e-01 -1.84852487e-02 3.73942427e+01] [ 2.78107851e-02 8.22495704e-04 9.99612867e-01 2.60530014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.10038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.32, Y:37.41, Z:2.61 [[ 7.66289325e-01 -6.42161389e-01 -2.07224665e-02 1.78315573e+02] [ 6.41897353e-01 7.66569028e-01 -1.84313112e-02 3.74137966e+01] [ 2.77210774e-02 8.22020663e-04 9.99615359e-01 2.60566196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.34, Y:37.43, Z:2.61 [[ 7.66114225e-01 -6.42370440e-01 -2.07174490e-02 1.78336147e+02] [ 6.42106328e-01 7.66393856e-01 -1.84369500e-02 3.74322046e+01] [ 2.77210773e-02 8.22004543e-04 9.99615359e-01 2.60607940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.16038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.36, Y:37.45, Z:2.61 [[ 7.65915334e-01 -6.42593833e-01 -2.11392363e-02 1.78358859e+02] [ 6.42318638e-01 7.66206540e-01 -1.88229890e-02 3.74487776e+01] [ 2.82925578e-02 8.38690408e-04 9.99599334e-01 2.60726601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19038572300002 meters Centerline goodness [0,1] 0.9999777287810961 Centerline is valid? [True, True] Translation: X:178.38, Y:37.47, Z:2.60 [[ 7.65582947e-01 -6.42982950e-01 -2.13466085e-02 1.78375478e+02] [ 6.42702250e-01 7.65880032e-01 -1.90156350e-02 3.74716426e+01] [ 2.85756703e-02 8.38532582e-04 9.99591280e-01 2.60487739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.40, Y:37.49, Z:2.61 [[ 7.65065490e-01 -6.43582496e-01 -2.18258088e-02 1.78397098e+02] [ 6.43289174e-01 7.65376292e-01 -1.94465787e-02 3.74888250e+01] [ 2.92204343e-02 8.37599771e-04 9.99572641e-01 2.60557623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.42, Y:37.50, Z:2.61 [[ 7.64236165e-01 -6.44576321e-01 -2.15511103e-02 1.78421926e+02] [ 6.44290558e-01 7.64539558e-01 -1.92078638e-02 3.75045927e+01] [ 2.88576105e-02 7.94167340e-04 9.99583217e-01 2.60786623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.44, Y:37.52, Z:2.61 [[ 7.64054992e-01 -6.44773377e-01 -2.20739948e-02 1.78443609e+02] [ 6.44473378e-01 7.64373358e-01 -1.96833341e-02 3.75236214e+01] [ 2.95640633e-02 8.13047666e-04 9.99562557e-01 2.60823900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.47, Y:37.54, Z:2.61 [[ 7.63778382e-01 -6.45068750e-01 -2.29976463e-02 1.78465749e+02] [ 6.44742940e-01 7.64124072e-01 -2.05168909e-02 3.75422836e+01] [ 3.08078603e-02 8.42787598e-04 9.99524970e-01 2.60835956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.49, Y:37.56, Z:2.61 [[ 7.63904366e-01 -6.44901410e-01 -2.35008802e-02 1.78485325e+02] [ 6.44560891e-01 7.64265274e-01 -2.09726001e-02 3.75616357e+01] [ 3.14861660e-02 8.73312534e-04 9.99503806e-01 2.60759135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.51, Y:37.58, Z:2.61 [[ 7.64366755e-01 -6.44334563e-01 -2.40090574e-02 1.78507593e+02] [ 6.43978755e-01 7.64743177e-01 -2.14298115e-02 3.75793321e+01] [ 3.21687311e-02 9.18912541e-04 9.99482030e-01 2.60913167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.53, Y:37.60, Z:2.61 [[ 7.64306565e-01 -6.44400378e-01 -2.41583634e-02 1.78528966e+02] [ 6.44039923e-01 7.64687709e-01 -2.15704687e-02 3.75981255e+01] [ 3.23736217e-02 9.27500372e-04 9.99475407e-01 2.60932788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.55, Y:37.62, Z:2.61 [[ 7.63998922e-01 -6.44748074e-01 -2.46082927e-02 1.78547742e+02] [ 6.44373927e-01 7.64394560e-01 -2.19817965e-02 3.76177566e+01] [ 3.29831660e-02 9.37126642e-04 9.99455468e-01 2.60892328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.460385723 meters Centerline goodness [0,1] 0.9999775709319277 Centerline is valid? [True, True] Translation: X:178.57, Y:37.64, Z:2.61 [[ 7.63530740e-01 -6.45305934e-01 -2.45165536e-02 1.78568195e+02] [ 6.44934666e-01 7.63923698e-01 -2.19057106e-02 3.76366138e+01] [ 3.28646613e-02 9.14108121e-04 9.99459393e-01 2.60954474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.59, Y:37.65, Z:2.61 [[ 7.62307085e-01 -6.46765910e-01 -2.41198335e-02 1.78589422e+02] [ 6.46407175e-01 7.62688109e-01 -2.15548463e-02 3.76546746e+01] [ 3.23368500e-02 8.40178614e-04 9.99476674e-01 2.61010090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.520385723 meters Centerline goodness [0,1] 0.999977649635689 Centerline is valid? [True, True] Translation: X:178.61, Y:37.67, Z:2.61 [[ 7.61498326e-01 -6.47722822e-01 -2.39884648e-02 1.78611941e+02] [ 6.47368247e-01 7.61875650e-01 -2.14440453e-02 3.76735024e+01] [ 3.21660248e-02 8.00234199e-04 9.99482219e-01 2.61088491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.550385723 meters Centerline goodness [0,1] 0.9999776216264602 Centerline is valid? [True, True] Translation: X:178.63, Y:37.69, Z:2.61 [[ 7.60483976e-01 -6.48927903e-01 -2.35944681e-02 1.78634308e+02] [ 6.48585173e-01 7.60849540e-01 -2.11009512e-02 3.76912244e+01] [ 3.16448363e-02 7.43913076e-04 9.99498900e-01 2.61274368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.580385723 meters Centerline goodness [0,1] 0.9999776775748918 Centerline is valid? [True, True] Translation: X:178.65, Y:37.71, Z:2.61 [[ 7.60178082e-01 -6.49275733e-01 -2.38810950e-02 1.78654360e+02] [ 6.48924544e-01 7.60552739e-01 -2.13651063e-02 3.77096927e+01] [ 3.20346773e-02 7.44256801e-04 9.99486481e-01 2.61276573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.610385723 meters Centerline goodness [0,1] 0.9999776870384006 Centerline is valid? [True, True] Translation: X:178.68, Y:37.73, Z:2.61 [[ 7.59691910e-01 -6.49849555e-01 -2.37435960e-02 1.78677953e+02] [ 6.49502413e-01 7.60062520e-01 -2.12504458e-02 3.77272525e+01] [ 3.18562102e-02 7.22268802e-04 9.99492201e-01 2.61484606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.640385723 meters Centerline goodness [0,1] 0.9999776725908726 Centerline is valid? [True, True] Translation: X:178.70, Y:37.75, Z:2.62 [[ 7.58923955e-01 -6.50759900e-01 -2.33662790e-02 1.78699251e+02] [ 6.50423929e-01 7.59283275e-01 -2.09193910e-02 3.77450779e+01] [ 3.13551256e-02 6.78239966e-04 9.99508077e-01 2.61582298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.670385723 meters Centerline goodness [0,1] 0.9999553052650397 Centerline is valid? [True, True] Translation: X:178.72, Y:37.76, Z:2.62 [[ 7.58482611e-01 -6.51289717e-01 -2.29310534e-02 1.78722331e+02] [ 6.50966181e-01 7.58828889e-01 -2.05365137e-02 3.77632805e+01] [ 3.07759660e-02 6.49248323e-04 9.99526097e-01 2.61789610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.74, Y:37.78, Z:2.62 [[ 7.57947952e-01 -6.51927412e-01 -2.24844742e-02 1.78742532e+02] [ 6.51616440e-01 7.58281129e-01 -2.01431269e-02 3.77820812e+01] [ 3.01814091e-02 6.16188720e-04 9.99544248e-01 2.61818007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.730385723 meters Centerline goodness [0,1] 0.9999553282258605 Centerline is valid? [True, True] Translation: X:178.77, Y:37.80, Z:2.62 [[ 7.57149419e-01 -6.52884794e-01 -2.15917263e-02 1.78765649e+02] [ 6.52598239e-01 7.57457017e-01 -1.93495801e-02 3.77989878e+01] [ 2.89878512e-02 5.59800783e-04 9.99579607e-01 2.62092705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.79, Y:37.82, Z:2.62 [[ 7.56808541e-01 -6.53269038e-01 -2.19179404e-02 1.78785499e+02] [ 6.52973699e-01 7.57125651e-01 -1.96493397e-02 3.78179543e+01] [ 2.94309401e-02 5.58949511e-04 9.99566660e-01 2.62096818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.81, Y:37.84, Z:2.62 [[ 7.56781468e-01 -6.53298388e-01 -2.19778582e-02 1.78806250e+02] [ 6.53001224e-01 7.57100322e-01 -1.97105086e-02 3.78369676e+01] [ 2.95162870e-02 5.64979293e-04 9.99564140e-01 2.62184808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.82038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.82, Y:37.86, Z:2.62 [[ 7.56886191e-01 -6.53167000e-01 -2.22747316e-02 1.78824757e+02] [ 6.52861485e-01 7.57213662e-01 -1.99837852e-02 3.78583112e+01] [ 2.99194802e-02 5.83136734e-04 9.99552142e-01 2.61981484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.85038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.85, Y:37.88, Z:2.62 [[ 7.56543858e-01 -6.53570502e-01 -2.20678442e-02 1.78847527e+02] [ 6.53270599e-01 7.56865429e-01 -1.98052455e-02 3.78753625e+01] [ 2.96465126e-02 5.67263039e-04 9.99560285e-01 2.62275988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.88038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.87, Y:37.89, Z:2.62 [[ 7.56318512e-01 -6.53847604e-01 -2.15782086e-02 1.78867666e+02] [ 6.53560772e-01 7.56626070e-01 -1.93728519e-02 3.78940533e+01] [ 2.89935279e-02 5.49375823e-04 9.99579448e-01 2.62296283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91038572300002 meters Centerline goodness [0,1] 0.9999776501352167 Centerline is valid? [True, True] Translation: X:178.89, Y:37.91, Z:2.62 [[ 7.55222295e-01 -6.55127428e-01 -2.11503770e-02 1.78889671e+02] [ 6.54852190e-01 7.55518238e-01 -1.89947464e-02 3.79125545e+01] [ 2.84234750e-02 4.94885265e-04 9.99595849e-01 2.62414016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.94038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.91, Y:37.93, Z:2.62 [[ 7.54732266e-01 -6.55694703e-01 -2.10633048e-02 1.78910260e+02] [ 6.55421766e-01 7.55025979e-01 -1.89229883e-02 3.79315653e+01] [ 2.83110455e-02 4.76441464e-04 9.99599048e-01 2.62432554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.93, Y:37.95, Z:2.63 [[ 7.53422923e-01 -6.57207419e-01 -2.07920032e-02 1.78933023e+02] [ 6.56941879e-01 7.53709648e-01 -1.86851414e-02 3.79498843e+01] [ 2.79511470e-02 4.18676153e-04 9.99609203e-01 2.62565882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.95, Y:37.97, Z:2.63 [[ 7.52683009e-01 -6.58047915e-01 -2.10054793e-02 1.78953883e+02] [ 6.57777036e-01 7.52975952e-01 -1.88834793e-02 3.79689241e+01] [ 2.82428549e-02 3.96352067e-04 9.99601012e-01 2.62553162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.030385723 meters Centerline goodness [0,1] 0.9997981248037324 Centerline is valid? [True, True] Translation: X:178.98, Y:37.99, Z:2.62 [[ 7.50739975e-01 -6.60194016e-01 -2.30944034e-02 1.78975491e+02] [ 6.59867350e-01 7.51095025e-01 -2.07688256e-02 3.79869157e+01] [ 3.10575459e-02 3.52744811e-04 9.99517536e-01 2.62185336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.00, Y:38.01, Z:2.62 [[ 7.50709485e-01 -6.60234002e-01 -2.29419422e-02 1.78995852e+02] [ 6.59911316e-01 7.51059875e-01 -2.06426761e-02 3.80056168e+01] [ 3.08597689e-02 3.57005460e-04 9.99523660e-01 2.62416240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.090385723 meters Centerline goodness [0,1] 0.9999776156153467 Centerline is valid? [True, True] Translation: X:179.02, Y:38.02, Z:2.62 [[ 7.49789188e-01 -6.61249399e-01 -2.37782687e-02 1.79016769e+02] [ 6.60902882e-01 7.50166061e-01 -2.14070184e-02 3.80243014e+01] [ 3.19930282e-02 3.35624638e-04 9.99488036e-01 2.62348704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.120385723 meters Centerline goodness [0,1] 0.9999775543185491 Centerline is valid? [True, True] Translation: X:179.04, Y:38.04, Z:2.62 [[ 7.49720026e-01 -6.61349214e-01 -2.31754316e-02 1.79037308e+02] [ 6.61019873e-01 7.50078069e-01 -2.08714764e-02 3.80435180e+01] [ 3.11867175e-02 3.28343001e-04 9.99513522e-01 2.62342687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.06, Y:38.06, Z:2.63 [[ 7.49593259e-01 -6.61542230e-01 -2.17215095e-02 1.79058679e+02] [ 6.61252825e-01 7.49907851e-01 -1.95682229e-02 3.80631705e+01] [ 2.92343364e-02 3.04798446e-04 9.99572539e-01 2.62617443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.08, Y:38.08, Z:2.63 [[ 7.49200383e-01 -6.62002871e-01 -2.12364093e-02 1.79078934e+02] [ 6.61726177e-01 7.49501245e-01 -1.91402941e-02 3.80825866e+01] [ 2.85876448e-02 2.87227774e-04 9.99591248e-01 2.62640400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.10, Y:38.10, Z:2.63 [[ 7.48726412e-01 -6.62565765e-01 -2.03805384e-02 1.79099918e+02] [ 6.62310900e-01 7.49003697e-01 -1.83775264e-02 3.81018215e+01] [ 2.74414184e-02 2.61486658e-04 9.99623379e-01 2.62789194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.12, Y:38.12, Z:2.63 [[ 7.48364241e-01 -6.62993355e-01 -1.97680059e-02 1.79119974e+02] [ 6.62753571e-01 7.48625241e-01 -1.78312186e-02 3.81207154e+01] [ 2.66208077e-02 2.42929882e-04 9.99645574e-01 2.62844074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.270385723 meters Centerline goodness [0,1] 0.9998435789144376 Centerline is valid? [True, True] Translation: X:179.14, Y:38.14, Z:2.63 [[ 7.47627442e-01 -6.63838366e-01 -1.92829444e-02 1.79141078e+02] [ 6.63610358e-01 7.47876045e-01 -1.73986945e-02 3.81407701e+01] [ 2.59711731e-02 2.11379857e-04 9.99662670e-01 2.62715153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.16, Y:38.16, Z:2.63 [[ 7.47847335e-01 -6.63616733e-01 -1.83628542e-02 1.79160994e+02] [ 6.63409706e-01 7.48072714e-01 -1.65763892e-02 3.81606700e+01] [ 2.47371194e-02 2.14512757e-04 9.99693968e-01 2.62973881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.18, Y:38.18, Z:2.63 [[ 7.47216316e-01 -6.64328427e-01 -1.83171742e-02 1.79181870e+02] [ 6.64122421e-01 7.47440769e-01 -1.65441008e-02 3.81798547e+01] [ 2.46817192e-02 1.97175940e-04 9.99695341e-01 2.63074204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.20, Y:38.20, Z:2.63 [[ 7.46877575e-01 -6.64710521e-01 -1.82705077e-02 1.79200514e+02] [ 6.64505500e-01 7.47100989e-01 -1.65091651e-02 3.81993234e+01] [ 2.46237301e-02 1.89472325e-04 9.99696772e-01 2.62902187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.22, Y:38.22, Z:2.63 [[ 7.46305045e-01 -6.65340839e-01 -1.87175955e-02 1.79219456e+02] [ 6.65125746e-01 7.46539709e-01 -1.69175845e-02 3.82192041e+01] [ 2.52293882e-02 1.76123988e-04 9.99681673e-01 2.62783507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.420385723 meters Centerline goodness [0,1] 0.9999777406789093 Centerline is valid? [True, True] Translation: X:179.24, Y:38.24, Z:2.63 [[ 7.45934648e-01 -6.65765569e-01 -1.83768363e-02 1.79240925e+02] [ 6.65558206e-01 7.46160961e-01 -1.66160648e-02 3.82370738e+01] [ 2.47744817e-02 1.63644304e-04 9.99693052e-01 2.63083089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.450385723 meters Centerline goodness [0,1] 0.9999777614695221 Centerline is valid? [True, True] Translation: X:179.26, Y:38.26, Z:2.63 [[ 7.45740886e-01 -6.66002504e-01 -1.76407467e-02 1.79260098e+02] [ 6.65811335e-01 7.45949490e-01 -1.59569787e-02 3.82572192e+01] [ 2.37864938e-02 1.54362297e-04 9.99717049e-01 2.63097892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.28, Y:38.28, Z:2.63 [[ 7.45797185e-01 -6.65955201e-01 -1.70361111e-02 1.79280320e+02] [ 6.65776795e-01 7.45991720e-01 -1.54146797e-02 3.82764596e+01] [ 2.29742839e-02 1.53977261e-04 9.99736044e-01 2.63299210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.30, Y:38.30, Z:2.63 [[ 7.46021957e-01 -6.65730813e-01 -1.59287186e-02 1.79297770e+02] [ 6.65574663e-01 7.46191973e-01 -1.44189876e-02 3.82974567e+01] [ 2.14850463e-02 1.55129863e-04 9.99769158e-01 2.63188462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.540385723 meters Centerline goodness [0,1] 0.9999335312624629 Centerline is valid? [True, True] Translation: X:179.32, Y:38.32, Z:2.63 [[ 7.46342316e-01 -6.65360862e-01 -1.63728721e-02 1.79319160e+02] [ 6.65195690e-01 7.46521864e-01 -1.48256893e-02 3.83164111e+01] [ 2.20871404e-02 1.73875302e-04 9.99756034e-01 2.63367861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.57038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.34, Y:38.34, Z:2.63 [[ 7.47573159e-01 -6.63980340e-01 -1.62628394e-02 1.79337810e+02] [ 6.63816930e-01 7.47749999e-01 -1.47316852e-02 3.83370313e+01] [ 2.19420874e-02 2.17464319e-04 9.99759220e-01 2.63324545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.36, Y:38.36, Z:2.63 [[ 7.48375519e-01 -6.63076955e-01 -1.62183324e-02 1.79358123e+02] [ 6.62914142e-01 7.48551195e-01 -1.46952370e-02 3.83575256e+01] [ 2.18843251e-02 2.46193679e-04 9.99760479e-01 2.63364349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63038572300002 meters Centerline goodness [0,1] 0.9998894441250608 Centerline is valid? [True, True] Translation: X:179.38, Y:38.38, Z:2.63 [[ 7.50423601e-01 -6.60761374e-01 -1.60880495e-02 1.79377033e+02] [ 6.60600483e-01 7.50595967e-01 -1.45840929e-02 3.83794986e+01] [ 2.17122303e-02 3.16474221e-04 9.99764212e-01 2.63368102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.66038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.40, Y:38.40, Z:2.63 [[ 7.51302735e-01 -6.59757320e-01 -1.62627861e-02 1.79397632e+02] [ 6.59592522e-01 7.51478644e-01 -1.47496804e-02 3.83994063e+01] [ 2.19523461e-02 3.54663115e-04 9.99758955e-01 2.63411801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69038572300002 meters Centerline goodness [0,1] 0.9998682737271949 Centerline is valid? [True, True] Translation: X:179.41, Y:38.42, Z:2.63 [[ 7.53155691e-01 -6.57630533e-01 -1.66909188e-02 1.79414100e+02] [ 6.57456278e-01 7.53340491e-01 -1.51442141e-02 3.84219600e+01] [ 2.25332425e-02 4.32401647e-04 9.99746001e-01 2.63087720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.720385723 meters Centerline goodness [0,1] 0.9999338886685177 Centerline is valid? [True, True] Translation: X:179.43, Y:38.44, Z:2.63 [[ 7.54744010e-01 -6.55820495e-01 -1.61541934e-02 1.79434143e+02] [ 6.55656791e-01 7.54916721e-01 -1.46600616e-02 3.84419376e+01] [ 2.18094395e-02 4.72987035e-04 9.99762034e-01 2.63372355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.750385723 meters Centerline goodness [0,1] 0.9999780156967925 Centerline is valid? [True, True] Translation: X:179.46, Y:38.46, Z:2.63 [[ 7.56986520e-01 -6.53225846e-01 -1.63524489e-02 1.79455075e+02] [ 6.53057404e-01 7.57162917e-01 -1.48439969e-02 3.84618166e+01] [ 2.20779503e-02 5.57617721e-04 9.99756097e-01 2.63491894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.780385723 meters Centerline goodness [0,1] 0.9999121303984887 Centerline is valid? [True, True] Translation: X:179.47, Y:38.48, Z:2.63 [[ 7.57952069e-01 -6.52105323e-01 -1.63496023e-02 1.79473676e+02] [ 6.51936551e-01 7.58128152e-01 -1.48472085e-02 3.84821399e+01] [ 2.20770375e-02 5.94569018e-04 9.99756096e-01 2.63497895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.49, Y:38.50, Z:2.64 [[ 7.59154684e-01 -6.50715121e-01 -1.59372543e-02 1.79493369e+02] [ 6.50554367e-01 7.59321700e-01 -1.44765895e-02 3.85032056e+01] [ 2.15216387e-02 6.21920318e-04 9.99768189e-01 2.63523135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.840385723 meters Centerline goodness [0,1] 0.9999340615864782 Centerline is valid? [True, True] Translation: X:179.51, Y:38.52, Z:2.64 [[ 7.59326494e-01 -6.50526123e-01 -1.54608886e-02 1.79514187e+02] [ 6.50374657e-01 7.59483632e-01 -1.40506060e-02 3.85232709e+01] [ 2.08825781e-02 6.13627295e-04 9.99781747e-01 2.63536545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.54, Y:38.54, Z:2.64 [[ 7.58567278e-01 -6.51424398e-01 -1.48975996e-02 1.79536856e+02] [ 6.51283813e-01 7.58713336e-01 -1.35450920e-02 3.85415662e+01] [ 2.01266109e-02 5.72298100e-04 9.99797275e-01 2.63644269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.56, Y:38.56, Z:2.64 [[ 7.57858581e-01 -6.52247724e-01 -1.49424786e-02 1.79559222e+02] [ 6.52106315e-01 7.58005670e-01 -1.35925714e-02 3.85604904e+01] [ 2.01922072e-02 5.57162209e-04 9.99795961e-01 2.63712028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.930385723 meters Centerline goodness [0,1] 0.9998681782230424 Centerline is valid? [True, True] Translation: X:179.58, Y:38.58, Z:2.63 [[ 7.56546002e-01 -6.53759089e-01 -1.54013227e-02 1.79579830e+02] [ 6.53609052e-01 7.56702560e-01 -1.40157886e-02 3.85792824e+01] [ 2.08171695e-02 5.37144852e-04 9.99783155e-01 2.63468203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.960385723 meters Centerline goodness [0,1] 0.9999780147301308 Centerline is valid? [True, True] Translation: X:179.60, Y:38.60, Z:2.64 [[ 7.55389223e-01 -6.55118505e-01 -1.43828418e-02 1.79601819e+02] [ 6.54987844e-01 7.55525992e-01 -1.30919908e-02 3.85975923e+01] [ 1.94434162e-02 4.68962211e-04 9.99810849e-01 2.63692847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.990385723 meters Centerline goodness [0,1] 0.9999780214949779 Centerline is valid? [True, True] Translation: X:179.62, Y:38.62, Z:2.64 [[ 7.54194528e-01 -6.56514866e-01 -1.33732804e-02 1.79622954e+02] [ 6.56402023e-01 7.54312976e-01 -1.21786225e-02 3.86169663e+01] [ 1.80830856e-02 4.06802163e-04 9.99836405e-01 2.63752893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.020385723 meters Centerline goodness [0,1] 0.9999780214949779 Centerline is valid? [True, True] Translation: X:179.64, Y:38.64, Z:2.64 [[ 7.54013586e-01 -6.56722733e-01 -1.33702733e-02 1.79643309e+02] [ 6.56609864e-01 7.54132009e-01 -1.21819230e-02 3.86356011e+01] [ 1.80830969e-02 4.06282086e-04 9.99836405e-01 2.63794646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.050385723 meters Centerline goodness [0,1] 0.999934288342752 Centerline is valid? [True, True] Translation: X:179.66, Y:38.65, Z:2.64 [[ 7.53383932e-01 -6.57448953e-01 -1.31728927e-02 1.79663667e+02] [ 6.57339398e-01 7.53498988e-01 -1.20079685e-02 3.86542232e+01] [ 1.78203876e-02 3.87549218e-04 9.99841129e-01 2.63871301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.69, Y:38.67, Z:2.64 [[ 7.52529962e-01 -6.58437020e-01 -1.26232711e-02 1.79685563e+02] [ 6.58336517e-01 7.52635747e-01 -1.15092467e-02 3.86734025e+01] [ 1.70788391e-02 3.50692662e-04 9.99854084e-01 2.63957807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.71, Y:38.69, Z:2.64 [[ 7.51307133e-01 -6.59838701e-01 -1.22670586e-02 1.79707852e+02] [ 6.59743890e-01 7.51407207e-01 -1.11897077e-02 3.86923379e+01] [ 1.66009585e-02 3.13790260e-04 9.99862145e-01 2.64030387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.140385723 meters Centerline goodness [0,1] 0.9998679955118474 Centerline is valid? [True, True] Translation: X:179.73, Y:38.71, Z:2.64 [[ 7.50338354e-01 -6.60928331e-01 -1.28878242e-02 1.79728409e+02] [ 6.60823737e-01 7.50448963e-01 -1.17619071e-02 3.87121591e+01] [ 1.74454319e-02 3.08829883e-04 9.99847769e-01 2.63936238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.75, Y:38.73, Z:2.64 [[ 7.49974262e-01 -6.61339978e-01 -1.29629940e-02 1.79748902e+02] [ 6.61234119e-01 7.50086221e-01 -1.18363709e-02 3.87313155e+01] [ 1.75512284e-02 3.05399635e-04 9.99845919e-01 2.63906172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.200385723 meters Centerline goodness [0,1] 0.9998462248193142 Centerline is valid? [True, True] Translation: X:179.77, Y:38.75, Z:2.64 [[ 7.49230230e-01 -6.62172672e-01 -1.34690575e-02 1.79769023e+02] [ 6.62058405e-01 7.49351227e-01 -1.23047832e-02 3.87512067e+01] [ 1.82409459e-02 3.01812874e-04 9.99833575e-01 2.63677224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.79, Y:38.77, Z:2.64 [[ 7.48775092e-01 -6.62685794e-01 -1.35425355e-02 1.79787428e+02] [ 6.62570319e-01 7.48897492e-01 -1.23741228e-02 3.87719566e+01] [ 1.83421262e-02 2.92552875e-04 9.99831726e-01 2.63767196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.81, Y:38.79, Z:2.64 [[ 7.47999078e-01 -6.63555734e-01 -1.38263615e-02 1.79810019e+02] [ 6.63435455e-01 7.48126801e-01 -1.26367049e-02 3.87906351e+01] [ 1.87290296e-02 2.79345202e-04 9.99824557e-01 2.63849712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.83, Y:38.81, Z:2.64 [[ 7.46716336e-01 -6.65012937e-01 -1.31342076e-02 1.79829987e+02] [ 6.64904535e-01 7.46831801e-01 -1.20092015e-02 3.88097764e+01] [ 1.77953183e-02 2.34472798e-04 9.99841623e-01 2.63929713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.32038572300002 meters Centerline goodness [0,1] 0.9999341787704594 Centerline is valid? [True, True] Translation: X:179.85, Y:38.83, Z:2.64 [[ 7.44622784e-01 -6.67374106e-01 -1.21947297e-02 1.79851014e+02] [ 6.67280939e-01 7.44722616e-01 -1.11522879e-02 3.88302361e+01] [ 1.65244392e-02 1.66936940e-04 9.99863448e-01 2.63911995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.87, Y:38.85, Z:2.64 [[ 7.44051429e-01 -6.68017576e-01 -1.18316811e-02 1.79870618e+02] [ 6.67929874e-01 7.44145480e-01 -1.08253718e-02 3.88497449e+01] [ 1.60360306e-02 1.51900138e-04 9.99871403e-01 2.64104346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.38038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.89, Y:38.87, Z:2.64 [[ 7.43177421e-01 -6.69000884e-01 -1.11864967e-02 1.79890761e+02] [ 6.68922517e-01 7.43261596e-01 -1.02403885e-02 3.88689742e+01] [ 1.51653224e-02 1.27526044e-04 9.99884992e-01 2.64180827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.91, Y:38.89, Z:2.64 [[ 7.42409543e-01 -6.69857461e-01 -1.09111288e-02 1.79909107e+02] [ 6.69782915e-01 7.42489710e-01 -9.99380703e-03 3.88894669e+01] [ 1.47958270e-02 1.11410071e-04 9.99890530e-01 2.64202565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.44038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.93, Y:38.91, Z:2.64 [[ 7.41985565e-01 -6.70334331e-01 -1.04549400e-02 1.79929215e+02] [ 6.70265910e-01 7.42059212e-01 -9.57784496e-03 3.89094082e+01] [ 1.41785428e-02 9.90328658e-05 9.99899475e-01 2.64223376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.95, Y:38.93, Z:2.64 [[ 7.42150234e-01 -6.70147697e-01 -1.07282397e-02 1.79947336e+02] [ 6.70075552e-01 7.42227763e-01 -9.83371128e-03 3.89302473e+01] [ 1.45528363e-02 1.09359976e-04 9.99894096e-01 2.64236944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.500385723 meters Centerline goodness [0,1] 0.9999564374550761 Centerline is valid? [True, True] Translation: X:179.97, Y:38.95, Z:2.64 [[ 7.42116373e-01 -6.70189395e-01 -1.04624811e-02 1.79967075e+02] [ 6.70120738e-01 7.42190113e-01 -9.59340603e-03 3.89508066e+01] [ 1.41945490e-02 1.08298138e-04 9.99899246e-01 2.64262427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.99, Y:38.97, Z:2.64 [[ 7.42072602e-01 -6.70247138e-01 -9.85025884e-03 1.79985551e+02] [ 6.70186227e-01 7.42137968e-01 -9.03649751e-03 3.89715616e+01] [ 1.33669377e-02 1.04229416e-04 9.99910653e-01 2.64277836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.00, Y:38.99, Z:2.64 [[ 7.41881842e-01 -6.70458695e-01 -9.82194105e-03 1.80004411e+02] [ 6.70398084e-01 7.41946849e-01 -9.01566481e-03 3.89908712e+01] [ 1.33319891e-02 1.03947548e-04 9.99911120e-01 2.64326631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.590385723 meters Centerline goodness [0,1] 0.9999784119856655 Centerline is valid? [True, True] Translation: X:180.02, Y:39.01, Z:2.64 [[ 7.42313088e-01 -6.69976496e-01 -1.01377850e-02 1.80022204e+02] [ 6.69911827e-01 7.42382301e-01 -9.30931650e-03 3.90115463e+01] [ 1.37631354e-02 1.19005397e-04 9.99905276e-01 2.64319295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.620385723 meters Centerline goodness [0,1] 0.9999349847214095 Centerline is valid? [True, True] Translation: X:180.04, Y:39.03, Z:2.64 [[ 7.42357892e-01 -6.69928882e-01 -1.00027054e-02 1.80041601e+02] [ 6.69865898e-01 7.42425268e-01 -9.18695902e-03 3.90315855e+01] [ 1.35808704e-02 1.19540289e-04 9.99907769e-01 2.64303661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.06, Y:39.05, Z:2.64 [[ 7.42721015e-01 -6.69513755e-01 -1.08085988e-02 1.80058820e+02] [ 6.69440082e-01 7.42799644e-01 -9.93303224e-03 3.90530369e+01] [ 1.46789250e-02 1.41762546e-04 9.99892249e-01 2.64152362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.680385723 meters Centerline goodness [0,1] 0.9999564857926113 Centerline is valid? [True, True] Translation: X:180.08, Y:39.07, Z:2.64 [[ 7.42803395e-01 -6.69416803e-01 -1.11472043e-02 1.80078984e+02] [ 6.69338394e-01 7.42887018e-01 -1.02465680e-02 3.90724353e+01] [ 1.51403381e-02 1.49933721e-04 9.99885367e-01 2.64093812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.710385723 meters Centerline goodness [0,1] 0.999978349823551 Centerline is valid? [True, True] Translation: X:180.10, Y:39.09, Z:2.64 [[ 7.43356033e-01 -6.68795910e-01 -1.15688879e-02 1.80096858e+02] [ 6.68711286e-01 7.43446031e-01 -1.06402734e-02 3.90944541e+01] [ 1.57170152e-02 1.73265515e-04 9.99876465e-01 2.64022492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.740385723 meters Centerline goodness [0,1] 0.9999566771363587 Centerline is valid? [True, True] Translation: X:180.12, Y:39.12, Z:2.64 [[ 7.43921409e-01 -6.68161997e-01 -1.18525382e-02 1.80115314e+02] [ 6.68073060e-01 7.44015799e-01 -1.09031060e-02 3.91153577e+01] [ 1.61035168e-02 1.92692561e-04 9.99870311e-01 2.64031720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.770385723 meters Centerline goodness [0,1] 0.9999783376297035 Centerline is valid? [True, True] Translation: X:180.14, Y:39.13, Z:2.64 [[ 7.44406327e-01 -6.67619128e-01 -1.19966650e-02 1.80136950e+02] [ 6.67527909e-01 7.44502960e-01 -1.10378146e-02 3.91343986e+01] [ 1.63006087e-02 2.08510314e-04 9.99867115e-01 2.64112452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.800385723 meters Centerline goodness [0,1] 0.9999783713636855 Centerline is valid? [True, True] Translation: X:180.15, Y:39.16, Z:2.64 [[ 7.45724333e-01 -6.66148642e-01 -1.18830195e-02 1.80153625e+02] [ 6.66058873e-01 7.45818964e-01 -1.09384485e-02 3.91567180e+01] [ 1.61492139e-02 2.42276633e-04 9.99869564e-01 2.64121565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.830385723 meters Centerline goodness [0,1] 0.9999568118508282 Centerline is valid? [True, True] Translation: X:180.17, Y:39.18, Z:2.64 [[ 7.47944155e-01 -6.63648189e-01 -1.22728247e-02 1.80172367e+02] [ 6.63552034e-01 7.48044775e-01 -1.13010046e-02 3.91791051e+01] [ 1.66805137e-02 3.08862530e-04 9.99860823e-01 2.64044922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.860385723 meters Centerline goodness [0,1] 0.9999783984619705 Centerline is valid? [True, True] Translation: X:180.19, Y:39.20, Z:2.64 [[ 7.49205303e-01 -6.62222499e-01 -1.23602794e-02 1.80191446e+02] [ 6.62124679e-01 7.49307174e-01 -1.13871768e-02 3.92006244e+01] [ 1.68024907e-02 3.47287161e-04 9.99858768e-01 2.64021843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.21, Y:39.22, Z:2.64 [[ 7.51872852e-01 -6.59188385e-01 -1.25653653e-02 1.80209026e+02] [ 6.59086776e-01 7.51977720e-01 -1.15814383e-02 3.92230623e+01] [ 1.70832244e-02 4.26102926e-04 9.99853980e-01 2.64110670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.920385723 meters Centerline goodness [0,1] 0.9999784635927035 Centerline is valid? [True, True] Translation: X:180.22, Y:39.25, Z:2.64 [[ 7.53198288e-01 -6.57669420e-01 -1.27778546e-02 1.80224421e+02] [ 6.57564094e-01 7.53306520e-01 -1.17791568e-02 3.92472300e+01] [ 1.73724324e-02 4.69782347e-04 9.99848978e-01 2.64149925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.950385723 meters Centerline goodness [0,1] 0.9999138655009798 Centerline is valid? [True, True] Translation: X:180.25, Y:39.26, Z:2.64 [[ 7.53827687e-01 -6.56947735e-01 -1.27863929e-02 1.80247838e+02] [ 6.56842121e-01 7.53935962e-01 -1.17895117e-02 3.92640502e+01] [ 1.73852144e-02 4.88618900e-04 9.99848746e-01 2.64098042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.980385723 meters Centerline goodness [0,1] 0.9999357642977967 Centerline is valid? [True, True] Translation: X:180.27, Y:39.29, Z:2.64 [[ 7.55680241e-01 -6.54818166e-01 -1.26705782e-02 1.80265862e+02] [ 6.54714070e-01 7.55786267e-01 -1.16878112e-02 3.92863253e+01] [ 1.72296401e-02 5.36642129e-04 9.99851415e-01 2.64288462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.010385723 meters Centerline goodness [0,1] 0.9999142256722563 Centerline is valid? [True, True] Translation: X:180.28, Y:39.31, Z:2.64 [[ 7.56315065e-01 -6.54089655e-01 -1.24195644e-02 1.80279951e+02] [ 6.53989514e-01 7.56416835e-01 -1.14580731e-02 3.93119692e+01] [ 1.68889746e-02 5.43648397e-04 9.99857223e-01 2.64258066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.040385723 meters Centerline goodness [0,1] 0.9999572082673628 Centerline is valid? [True, True] Translation: X:180.30, Y:39.33, Z:2.64 [[ 7.57392661e-01 -6.52829440e-01 -1.30414107e-02 1.80304339e+02] [ 6.52718785e-01 7.57504692e-01 -1.20344612e-02 3.93278287e+01] [ 1.77353803e-02 6.02438814e-04 9.99842534e-01 2.64184468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.07038572300002 meters Centerline goodness [0,1] 0.9996352322712155 Centerline is valid? [True, True] Translation: X:180.32, Y:39.35, Z:2.64 [[ 7.57274440e-01 -6.52949336e-01 -1.38775708e-02 1.80322950e+02] [ 6.52823943e-01 7.57401315e-01 -1.28120360e-02 3.93474351e+01] [ 1.88765008e-02 6.42616907e-04 9.99821616e-01 2.63891941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.10038572300002 meters Centerline goodness [0,1] 0.9997856285371292 Centerline is valid? [True, True] Translation: X:180.35, Y:39.36, Z:2.64 [[ 7.58435626e-01 -6.51585666e-01 -1.45437201e-02 1.80346361e+02] [ 6.51447631e-01 7.58574725e-01 -1.34302230e-02 3.93639868e+01] [ 1.97834393e-02 7.11487594e-04 9.99804035e-01 2.64274215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13038572300002 meters Centerline goodness [0,1] 0.9996998477799456 Centerline is valid? [True, True] Translation: X:180.37, Y:39.38, Z:2.64 [[ 7.57894928e-01 -6.52204229e-01 -1.49973962e-02 1.80366220e+02] [ 6.52057515e-01 7.58042959e-01 -1.38517227e-02 3.93835159e+01] [ 2.04028227e-02 7.18985490e-04 9.99791582e-01 2.64045099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.16038572300002 meters Centerline goodness [0,1] 0.9997854951843669 Centerline is valid? [True, True] Translation: X:180.39, Y:39.40, Z:2.64 [[ 7.58159238e-01 -6.51896571e-01 -1.50143815e-02 1.80386631e+02] [ 6.51749390e-01 7.58307541e-01 -1.38710411e-02 3.94042703e+01] [ 2.04280029e-02 7.30843956e-04 9.99791059e-01 2.64276144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19038572300002 meters Centerline goodness [0,1] 0.9998078319169834 Centerline is valid? [True, True] Translation: X:180.40, Y:39.43, Z:2.64 [[ 7.58033200e-01 -6.52044056e-01 -1.49738559e-02 1.80401861e+02] [ 6.51897576e-01 7.58180728e-01 -1.38396027e-02 3.94270104e+01] [ 2.03769197e-02 7.29457934e-04 9.99792103e-01 2.64234821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.220385723 meters Centerline goodness [0,1] 0.9998505965466459 Centerline is valid? [True, True] Translation: X:180.43, Y:39.44, Z:2.64 [[ 7.57398638e-01 -6.52791766e-01 -1.44987735e-02 1.80426153e+02] [ 6.52654491e-01 7.57537085e-01 -1.34044808e-02 3.94427973e+01] [ 1.97336933e-02 6.89845886e-04 9.99805034e-01 2.64274003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.250385723 meters Centerline goodness [0,1] 0.9997004514624388 Centerline is valid? [True, True] Translation: X:180.44, Y:39.46, Z:2.64 [[ 7.56800169e-01 -6.53482244e-01 -1.46444536e-02 1.80444281e+02] [ 6.53342214e-01 7.56941537e-01 -1.35447987e-02 3.94647019e+01] [ 1.99362807e-02 6.82866170e-04 9.99801019e-01 2.64165202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.280385723 meters Centerline goodness [0,1] 0.9998723268432812 Centerline is valid? [True, True] Translation: X:180.47, Y:39.48, Z:2.65 [[ 7.56522022e-01 -6.53812165e-01 -1.42857896e-02 1.80469133e+02] [ 6.53678903e-01 7.56656605e-01 -1.32164654e-02 3.94783856e+01] [ 1.94505229e-02 6.60227829e-04 9.99810603e-01 2.64603007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.310385723 meters Centerline goodness [0,1] 0.9998928349443813 Centerline is valid? [True, True] Translation: X:180.49, Y:39.50, Z:2.65 [[ 7.55881839e-01 -6.54540015e-01 -1.48328963e-02 1.80489014e+02] [ 6.54396353e-01 7.56027062e-01 -1.37293400e-02 3.94974496e+01] [ 2.02004734e-02 6.71165564e-04 9.99795724e-01 2.64573497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.51, Y:39.52, Z:2.64 [[ 7.54700081e-01 -6.55884900e-01 -1.55815377e-02 1.80509192e+02] [ 6.55726599e-01 7.54860616e-01 -1.44248996e-02 3.95161358e+01] [ 2.12229630e-02 6.69244192e-04 9.99774544e-01 2.64480761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.370385723 meters Centerline goodness [0,1] 0.9999785591766723 Centerline is valid? [True, True] Translation: X:180.53, Y:39.54, Z:2.65 [[ 7.54252097e-01 -6.56394899e-01 -1.57959027e-02 1.80530946e+02] [ 6.56232239e-01 7.54417187e-01 -1.46272544e-02 3.95354891e+01] [ 2.15179556e-02 6.66856704e-04 9.99768240e-01 2.64522309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.400385723 meters Centerline goodness [0,1] 0.9999785403120238 Centerline is valid? [True, True] Translation: X:180.55, Y:39.55, Z:2.65 [[ 7.52803535e-01 -6.58064892e-01 -1.54089736e-02 1.80553281e+02] [ 6.57910310e-01 7.52960973e-01 -1.42757081e-02 3.95543260e+01] [ 2.09966981e-02 6.09080957e-04 9.99779360e-01 2.64592416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.430385723 meters Centerline goodness [0,1] 0.9999785181843569 Centerline is valid? [True, True] Translation: X:180.58, Y:39.57, Z:2.65 [[ 7.51914187e-01 -6.59081832e-01 -1.53686065e-02 1.80575468e+02] [ 6.58928129e-01 7.52071006e-01 -1.42451281e-02 3.95731848e+01] [ 2.09469885e-02 5.84306818e-04 9.99780417e-01 2.64714947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.460385723 meters Centerline goodness [0,1] 0.9997424561102288 Centerline is valid? [True, True] Translation: X:180.60, Y:39.59, Z:2.64 [[ 7.50057142e-01 -6.61196139e-01 -1.52954136e-02 1.80598363e+02] [ 6.61044213e-01 7.50212895e-01 -1.41831437e-02 3.95917508e+01] [ 2.08526564e-02 5.27223611e-04 9.99782421e-01 2.64406888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.490385723 meters Centerline goodness [0,1] 0.9999570962759567 Centerline is valid? [True, True] Translation: X:180.62, Y:39.61, Z:2.65 [[ 7.48750067e-01 -6.62680229e-01 -1.51080051e-02 1.80620804e+02] [ 6.62532216e-01 7.48902318e-01 -1.40136065e-02 3.96100627e+01] [ 2.06009600e-02 4.83148655e-04 9.99787661e-01 2.64875017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.520385723 meters Centerline goodness [0,1] 0.9999569938716267 Centerline is valid? [True, True] Translation: X:180.64, Y:39.63, Z:2.65 [[ 7.46571559e-01 -6.65125977e-01 -1.54382945e-02 1.80643587e+02] [ 6.64971815e-01 7.46731042e-01 -1.43260416e-02 3.96286051e+01] [ 2.10568762e-02 4.29384485e-04 9.99778187e-01 2.64919641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.67, Y:39.65, Z:2.65 [[ 7.44864801e-01 -6.67034368e-01 -1.55428468e-02 1.80665575e+02] [ 6.66878429e-01 7.45026850e-01 -1.44275438e-02 3.96468752e+01] [ 2.12035057e-02 3.81380227e-04 9.99775108e-01 2.64975805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.69, Y:39.66, Z:2.65 [[ 7.41431260e-01 -6.70826130e-01 -1.64921164e-02 1.80690804e+02] [ 6.70651347e-01 7.41614601e-01 -1.53151862e-02 3.96628839e+01] [ 2.25046214e-02 2.94697772e-04 9.99746696e-01 2.65086270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.71, Y:39.68, Z:2.65 [[ 7.39335561e-01 -6.73132527e-01 -1.65990677e-02 1.80712603e+02] [ 6.72955933e-01 7.39521838e-01 -1.54195716e-02 3.96811305e+01] [ 2.26547883e-02 2.29796507e-04 9.99743321e-01 2.65091273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.640385723 meters Centerline goodness [0,1] 0.9999568239713311 Centerline is valid? [True, True] Translation: X:180.74, Y:39.70, Z:2.65 [[ 7.37378424e-01 -6.75272517e-01 -1.67357902e-02 1.80735542e+02] [ 6.75093379e-01 7.37568301e-01 -1.55541544e-02 3.96993385e+01] [ 2.28470813e-02 1.71076718e-04 9.99738957e-01 2.65174143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.76, Y:39.72, Z:2.65 [[ 7.33544736e-01 -6.79431584e-01 -1.68773212e-02 1.80760213e+02] [ 6.79250324e-01 7.33738864e-01 -1.56931923e-02 3.97152406e+01] [ 2.30459970e-02 4.77327263e-05 9.99734405e-01 2.65313920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.78, Y:39.73, Z:2.65 [[ 7.29741281e-01 -6.83524410e-01 -1.64937572e-02 1.80783384e+02] [ 6.83352203e-01 7.29927651e-01 -1.53424931e-02 3.97298782e+01] [ 2.25262180e-02 -7.49946989e-05 9.99746250e-01 2.65418716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.80, Y:39.75, Z:2.66 [[ 7.28088910e-01 -6.85293783e-01 -1.60925361e-02 1.80804986e+02] [ 6.85130176e-01 7.28266720e-01 -1.49742005e-02 3.97478068e+01] [ 2.19813850e-02 -1.22932791e-04 9.99758373e-01 2.65556104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.760385723 meters Centerline goodness [0,1] 0.999978410587448 Centerline is valid? [True, True] Translation: X:180.83, Y:39.77, Z:2.66 [[ 7.25474182e-01 -6.88069216e-01 -1.57469137e-02 1.80827823e+02] [ 6.87913048e-01 7.25645034e-01 -1.46602663e-02 3.97651743e+01] [ 2.15139477e-02 -1.96862680e-04 9.99768529e-01 2.65658864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.790385723 meters Centerline goodness [0,1] 0.999870301117572 Centerline is valid? [True, True] Translation: X:180.85, Y:39.78, Z:2.66 [[ 7.24602734e-01 -6.88990874e-01 -1.55708967e-02 1.80849898e+02] [ 6.88838243e-01 7.24769983e-01 -1.45033298e-02 3.97841302e+01] [ 2.12779804e-02 -2.16676723e-04 9.99773575e-01 2.65748305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.82038572300002 meters Centerline goodness [0,1] 0.9999134536327837 Centerline is valid? [True, True] Translation: X:180.87, Y:39.80, Z:2.66 [[ 7.24073782e-01 -6.89529083e-01 -1.63341088e-02 1.80871971e+02] [ 6.89361087e-01 7.24257956e-01 -1.52218264e-02 3.98033792e+01] [ 2.23260002e-02 -2.38373590e-04 9.99750715e-01 2.65846826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.85038572300002 meters Centerline goodness [0,1] 0.999956771711408 Centerline is valid? [True, True] Translation: X:180.89, Y:39.82, Z:2.66 [[ 7.24152886e-01 -6.89416946e-01 -1.75177845e-02 1.80893488e+02] [ 6.89223485e-01 7.24364697e-01 -1.63331888e-02 3.98233321e+01] [ 2.39496418e-02 -2.45942671e-04 9.99713136e-01 2.65896250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.88038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.91, Y:39.84, Z:2.66 [[ 7.25080138e-01 -6.88426022e-01 -1.81219550e-02 1.80912588e+02] [ 6.88218508e-01 7.25306532e-01 -1.69032480e-02 3.98425374e+01] [ 2.47806081e-02 -2.15655439e-04 9.99692890e-01 2.65886943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91038572300002 meters Centerline goodness [0,1] 0.999956861222553 Centerline is valid? [True, True] Translation: X:180.93, Y:39.86, Z:2.66 [[ 7.25086713e-01 -6.88411081e-01 -1.84239791e-02 1.80932580e+02] [ 6.88196483e-01 7.25320713e-01 -1.71890595e-02 3.98613431e+01] [ 2.51964327e-02 -2.15758915e-04 9.99682496e-01 2.65750848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.94038572300002 meters Centerline goodness [0,1] 0.999956861222553 Centerline is valid? [True, True] Translation: X:180.95, Y:39.88, Z:2.66 [[ 7.24902419e-01 -6.88605223e-01 -1.84209235e-02 1.80952698e+02] [ 6.88390604e-01 7.25136401e-01 -1.71923336e-02 3.98802125e+01] [ 2.51964129e-02 -2.18026467e-04 9.99682496e-01 2.65792657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.970385723 meters Centerline goodness [0,1] 0.9999783900594273 Centerline is valid? [True, True] Translation: X:180.97, Y:39.90, Z:2.66 [[ 7.25936975e-01 -6.87511226e-01 -1.85424412e-02 1.80973056e+02] [ 6.87293182e-01 7.26173728e-01 -1.73146770e-02 3.99006714e+01] [ 2.53690685e-02 -1.74729189e-04 9.99678138e-01 2.65956187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.99, Y:39.92, Z:2.66 [[ 7.27535941e-01 -6.85809866e-01 -1.88754480e-02 1.80992548e+02] [ 6.85583166e-01 7.27780746e-01 -1.76325569e-02 3.99206394e+01] [ 2.58297691e-02 -1.12370564e-04 9.99666350e-01 2.65990158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.030385723 meters Centerline goodness [0,1] 0.999956955922865 Centerline is valid? [True, True] Translation: X:181.01, Y:39.94, Z:2.66 [[ 7.28195906e-01 -6.85113704e-01 -1.87065526e-02 1.81012361e+02] [ 6.84890645e-01 7.28436137e-01 -1.74813603e-02 3.99401638e+01] [ 2.56032485e-02 -8.20878785e-05 9.99672180e-01 2.66092701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.060385723 meters Centerline goodness [0,1] 0.9999783942615159 Centerline is valid? [True, True] Translation: X:181.03, Y:39.96, Z:2.66 [[ 7.29778159e-01 -6.83426151e-01 -1.87758789e-02 1.81030925e+02] [ 6.83200684e-01 7.30019654e-01 -1.75536315e-02 3.99601176e+01] [ 2.57033714e-02 -1.74364448e-05 9.99669614e-01 2.66079283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.090385723 meters Centerline goodness [0,1] 0.9998491119158476 Centerline is valid? [True, True] Translation: X:181.05, Y:39.98, Z:2.66 [[ 7.30353422e-01 -6.82816464e-01 -1.85891245e-02 1.81050495e+02] [ 6.82595101e-01 7.30589951e-01 -1.73853716e-02 3.99797772e+01] [ 2.54520455e-02 8.62034037e-06 9.99676044e-01 2.66160620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.07, Y:40.00, Z:2.66 [[ 7.31801166e-01 -6.81274914e-01 -1.82083889e-02 1.81069643e+02] [ 6.81061870e-01 7.32027655e-01 -1.70364974e-02 3.99990846e+01] [ 2.49355825e-02 6.62892441e-05 9.99689058e-01 2.66269226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.150385723 meters Centerline goodness [0,1] 0.9999566837044096 Centerline is valid? [True, True] Translation: X:181.09, Y:40.02, Z:2.66 [[ 7.32164186e-01 -6.80894994e-01 -1.78216615e-02 1.81089991e+02] [ 6.80690648e-01 7.32381049e-01 -1.66805636e-02 4.00180748e+01] [ 2.44099593e-02 8.18729733e-05 9.99702029e-01 2.66405270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.180385723 meters Centerline goodness [0,1] 0.9999567202614096 Centerline is valid? [True, True] Translation: X:181.11, Y:40.04, Z:2.67 [[ 7.33609257e-01 -6.79344310e-01 -1.75717367e-02 1.81109553e+02] [ 6.79145050e-01 7.33819658e-01 -1.64533141e-02 4.00378387e+01] [ 2.40719511e-02 1.36545498e-04 9.99710219e-01 2.66534624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.13, Y:40.06, Z:2.67 [[ 7.34360952e-01 -6.78536759e-01 -1.73740732e-02 1.81129208e+02] [ 6.78341613e-01 7.34566430e-01 -1.62731779e-02 4.00579117e+01] [ 2.38043603e-02 1.64829623e-04 9.99716622e-01 2.66567088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.240385723 meters Centerline goodness [0,1] 0.9999566508442248 Centerline is valid? [True, True] Translation: X:181.15, Y:40.08, Z:2.67 [[ 7.37035810e-01 -6.75642066e-01 -1.69119004e-02 1.81147592e+02] [ 6.75456253e-01 7.37229769e-01 -1.58466871e-02 4.00798346e+01] [ 2.31746448e-02 2.56326985e-04 9.99731399e-01 2.66583704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.270385723 meters Centerline goodness [0,1] 0.9999134873258932 Centerline is valid? [True, True] Translation: X:181.17, Y:40.10, Z:2.66 [[ 7.37883543e-01 -6.74710792e-01 -1.71237843e-02 1.81168191e+02] [ 6.74519937e-01 7.38082151e-01 -1.60497043e-02 4.01005952e+01] [ 2.34676682e-02 2.92478787e-04 9.99724554e-01 2.66498772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.300385723 meters Centerline goodness [0,1] 0.9999134704826184 Centerline is valid? [True, True] Translation: X:181.19, Y:40.12, Z:2.67 [[ 7.41216039e-01 -6.71031962e-01 -1.77451550e-02 1.81186752e+02] [ 6.70825794e-01 7.41428299e-01 -1.66382536e-02 4.01219385e+01] [ 2.43215601e-02 4.28632685e-04 9.99704095e-01 2.66560531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.21, Y:40.14, Z:2.67 [[ 7.42379573e-01 -6.69743035e-01 -1.77999192e-02 1.81208142e+02] [ 6.69535108e-01 7.42592782e-01 -1.66942628e-02 4.01418175e+01] [ 2.43989578e-02 4.75808892e-04 9.99702188e-01 2.66667340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.360385723 meters Centerline goodness [0,1] 0.9998492419021364 Centerline is valid? [True, True] Translation: X:181.23, Y:40.16, Z:2.67 [[ 7.44556213e-01 -6.67341909e-01 -1.70534769e-02 1.81227493e+02] [ 6.67150255e-01 7.44751293e-01 -1.60015304e-02 4.01631409e+01] [ 2.33790908e-02 5.36807461e-04 9.99726528e-01 2.66822409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.25, Y:40.18, Z:2.67 [[ 7.45385707e-01 -6.66431774e-01 -1.63962687e-02 1.81247872e+02] [ 6.66254231e-01 7.45565818e-01 -1.53918927e-02 4.01836527e+01] [ 2.24821438e-02 5.48813443e-04 9.99747094e-01 2.66932420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.420385723 meters Centerline goodness [0,1] 0.9998276938982101 Centerline is valid? [True, True] Translation: X:181.27, Y:40.20, Z:2.67 [[ 7.47092017e-01 -6.64525761e-01 -1.60944443e-02 1.81268240e+02] [ 6.64354098e-01 7.47265116e-01 -1.51155226e-02 4.02041675e+01] [ 2.20714709e-02 6.00276230e-04 9.99756215e-01 2.66986810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.450385723 meters Centerline goodness [0,1] 0.9998920249638283 Centerline is valid? [True, True] Translation: X:181.29, Y:40.22, Z:2.67 [[ 7.47534558e-01 -6.64030458e-01 -1.59886358e-02 1.81291515e+02] [ 6.63860777e-01 7.47705270e-01 -1.50232264e-02 4.02218661e+01] [ 2.19306672e-02 6.16152669e-04 9.99759304e-01 2.67096636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.480385723 meters Centerline goodness [0,1] 0.9999134517601749 Centerline is valid? [True, True] Translation: X:181.31, Y:40.24, Z:2.67 [[ 7.48417130e-01 -6.63024194e-01 -1.64535296e-02 1.81312265e+02] [ 6.62844119e-01 7.48597670e-01 -1.54661759e-02 4.02407139e+01] [ 2.25715227e-02 6.69025589e-04 9.99745007e-01 2.67078298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.510385723 meters Centerline goodness [0,1] 0.9998487140695915 Centerline is valid? [True, True] Translation: X:181.33, Y:40.26, Z:2.67 [[ 7.48389516e-01 -6.63039503e-01 -1.70807165e-02 1.81333485e+02] [ 6.62845332e-01 7.48584084e-01 -1.60603373e-02 4.02602879e+01] [ 2.34349906e-02 6.97514883e-04 9.99725120e-01 2.66915032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.540385723 meters Centerline goodness [0,1] 0.9998701270590272 Centerline is valid? [True, True] Translation: X:181.35, Y:40.28, Z:2.67 [[ 7.49116468e-01 -6.62231096e-01 -1.65678130e-02 1.81354343e+02] [ 6.62048048e-01 7.49299323e-01 -1.55854483e-02 4.02799001e+01] [ 2.27354196e-02 7.06627733e-04 9.99741267e-01 2.67111669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.57038572300002 meters Centerline goodness [0,1] 0.9999352848544988 Centerline is valid? [True, True] Translation: X:181.37, Y:40.30, Z:2.67 [[ 7.50047824e-01 -6.61175274e-01 -1.65987814e-02 1.81373351e+02] [ 6.60991137e-01 7.50231100e-01 -1.56209337e-02 4.03007767e+01] [ 2.27810971e-02 7.44799947e-04 9.99740200e-01 2.67057387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.60038572300002 meters Centerline goodness [0,1] 0.9998265018434179 Centerline is valid? [True, True] Translation: X:181.40, Y:40.32, Z:2.67 [[ 7.50591221e-01 -6.60545639e-01 -1.70961251e-02 1.81397435e+02] [ 6.60350011e-01 7.50785478e-01 -1.60944147e-02 4.03175232e+01] [ 2.34666179e-02 7.90899947e-04 9.99724308e-01 2.67035431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63038572300002 meters Centerline goodness [0,1] 0.9999565179580833 Centerline is valid? [True, True] Translation: X:181.42, Y:40.33, Z:2.67 [[ 7.50564793e-01 -6.60582244e-01 -1.68401386e-02 1.81421588e+02] [ 6.60392257e-01 7.50753278e-01 -1.58613691e-02 4.03333291e+01] [ 2.31205280e-02 7.83888069e-04 9.99732378e-01 2.67286100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.66038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.45, Y:40.35, Z:2.67 [[ 7.49430700e-01 -6.61854289e-01 -1.73932798e-02 1.81445922e+02] [ 6.61651744e-01 7.49632109e-01 -1.63911843e-02 4.03503915e+01] [ 2.38871367e-02 7.75762835e-04 9.99714361e-01 2.67308466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.47, Y:40.37, Z:2.67 [[ 7.48693742e-01 -6.62680674e-01 -1.76636613e-02 1.81467077e+02] [ 6.62471867e-01 7.48901688e-01 -1.66519115e-02 4.03681617e+01] [ 2.42632458e-02 7.65503255e-04 9.99705311e-01 2.67299322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.720385723 meters Centerline goodness [0,1] 0.9999781195982759 Centerline is valid? [True, True] Translation: X:181.49, Y:40.38, Z:2.67 [[ 7.46963332e-01 -6.64628224e-01 -1.77511685e-02 1.81492197e+02] [ 6.64417772e-01 7.47173889e-01 -1.67392955e-02 4.03835110e+01] [ 2.43886178e-02 7.09448114e-04 9.99702302e-01 2.67386832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.750385723 meters Centerline goodness [0,1] 0.9999342897820611 Centerline is valid? [True, True] Translation: X:181.51, Y:40.40, Z:2.67 [[ 7.46178916e-01 -6.65506755e-01 -1.78264980e-02 1.81514019e+02] [ 6.65294598e-01 7.46391509e-01 -1.68170244e-02 4.04009759e+01] [ 2.44973901e-02 6.88636197e-04 9.99699657e-01 2.67450877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.780385723 meters Centerline goodness [0,1] 0.9999339439844989 Centerline is valid? [True, True] Translation: X:181.54, Y:40.42, Z:2.68 [[ 7.44543717e-01 -6.67346959e-01 -1.73979617e-02 1.81540350e+02] [ 6.67145251e-01 7.44746705e-01 -1.64182431e-02 4.04155901e+01] [ 2.39137393e-02 6.17132223e-04 9.99713835e-01 2.67591668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.56, Y:40.43, Z:2.68 [[ 7.43563628e-01 -6.68452181e-01 -1.68763733e-02 1.81563896e+02] [ 6.68262495e-01 7.43754904e-01 -1.59336341e-02 4.04321362e+01] [ 2.32027578e-02 5.69823454e-04 9.99730617e-01 2.67674856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.840385723 meters Centerline goodness [0,1] 0.9999779434469981 Centerline is valid? [True, True] Translation: X:181.59, Y:40.45, Z:2.68 [[ 7.42107482e-01 -6.70087912e-01 -1.60834111e-02 1.81587128e+02] [ 6.69915890e-01 7.42281579e-01 -1.51907056e-02 4.04485645e+01] [ 2.21175280e-02 4.98603627e-04 9.99755253e-01 2.67706366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.870385723 meters Centerline goodness [0,1] 0.9999778961561415 Centerline is valid? [True, True] Translation: X:181.61, Y:40.47, Z:2.68 [[ 7.41194894e-01 -6.71104273e-01 -1.57855220e-02 1.81610988e+02] [ 6.70938710e-01 7.41362826e-01 -1.49133315e-02 4.04660298e+01] [ 2.17111997e-02 4.62567380e-04 9.99764177e-01 2.67799502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.900385723 meters Centerline goodness [0,1] 0.9999778746376972 Centerline is valid? [True, True] Translation: X:181.63, Y:40.48, Z:2.68 [[ 7.39819645e-01 -6.72622081e-01 -1.56980700e-02 1.81634597e+02] [ 6.72458562e-01 7.39986054e-01 -1.48365390e-02 4.04812470e+01] [ 2.15957366e-02 4.20061432e-04 9.99766697e-01 2.67868176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.930385723 meters Centerline goodness [0,1] 0.9999557287055073 Centerline is valid? [True, True] Translation: X:181.66, Y:40.50, Z:2.68 [[ 7.39014784e-01 -6.73505879e-01 -1.57155971e-02 1.81657252e+02] [ 6.73342109e-01 7.39181759e-01 -1.48570414e-02 4.04993126e+01] [ 2.16229874e-02 3.97599922e-04 9.99766117e-01 2.67874794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.960385723 meters Centerline goodness [0,1] 0.9999112215909091 Centerline is valid? [True, True] Translation: X:181.68, Y:40.51, Z:2.68 [[ 7.37700078e-01 -6.74937168e-01 -1.60752350e-02 1.81680859e+02] [ 6.74766023e-01 7.37875114e-01 -1.52029897e-02 4.05148743e+01] [ 2.21225787e-02 3.68224323e-04 9.99755198e-01 2.67906903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.990385723 meters Centerline goodness [0,1] 0.999843791841471 Centerline is valid? [True, True] Translation: X:181.70, Y:40.53, Z:2.68 [[ 7.36422023e-01 -6.76309215e-01 -1.69838295e-02 1.81704320e+02] [ 6.76118429e-01 7.36617760e-01 -1.60669401e-02 4.05315365e+01] [ 2.33768101e-02 3.48968430e-04 9.99726664e-01 2.67713649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.73, Y:40.55, Z:2.68 [[ 7.35179619e-01 -6.77660838e-01 -1.69326860e-02 1.81727266e+02] [ 6.77471415e-01 7.35374525e-01 -1.60246571e-02 4.05472893e+01] [ 2.33111485e-02 3.09590567e-04 9.99728210e-01 2.67818545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.75, Y:40.56, Z:2.68 [[ 7.34236503e-01 -6.78669275e-01 -1.74577283e-02 1.81749680e+02] [ 6.78468078e-01 7.34443961e-01 -1.65268333e-02 4.05645489e+01] [ 2.40379771e-02 2.90092901e-04 9.99711004e-01 2.67843278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.080385723 meters Centerline goodness [0,1] 0.9999552272218492 Centerline is valid? [True, True] Translation: X:181.77, Y:40.58, Z:2.68 [[ 7.33567620e-01 -6.79366527e-01 -1.84301205e-02 1.81771394e+02] [ 6.79142308e-01 7.33799046e-01 -1.74552483e-02 4.05810130e+01] [ 2.53825163e-02 2.87930399e-04 9.99677771e-01 2.67658449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.110385723 meters Centerline goodness [0,1] 0.9999776231287342 Centerline is valid? [True, True] Translation: X:181.79, Y:40.60, Z:2.68 [[ 7.33287168e-01 -6.79666447e-01 -1.85324420e-02 1.81793160e+02] [ 6.79439661e-01 7.33521261e-01 -1.75586400e-02 4.05982391e+01] [ 2.55279587e-02 2.83849259e-04 9.99674068e-01 2.67852285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.81, Y:40.62, Z:2.68 [[ 7.32718547e-01 -6.80283820e-01 -1.83699545e-02 1.81813925e+02] [ 6.80060998e-01 7.32948739e-01 -1.74122319e-02 4.06150387e+01] [ 2.53094946e-02 2.65575664e-04 9.99679628e-01 2.67839013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.84, Y:40.63, Z:2.68 [[ 7.32304117e-01 -6.80739032e-01 -1.80291529e-02 1.81835438e+02] [ 6.80524381e-01 7.32525977e-01 -1.70956051e-02 4.06331234e+01] [ 2.48444685e-02 2.49903886e-04 9.99691297e-01 2.67943555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.86, Y:40.65, Z:2.68 [[ 7.31316132e-01 -6.81826128e-01 -1.70248844e-02 1.81858403e+02] [ 6.81634826e-01 7.31514243e-01 -1.61516696e-02 4.06512747e+01] [ 2.34665757e-02 2.07222395e-04 9.99724601e-01 2.68136240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.88, Y:40.67, Z:2.68 [[ 7.30679839e-01 -6.82518417e-01 -1.66006988e-02 1.81879818e+02] [ 6.82336525e-01 7.30868371e-01 -1.57572268e-02 4.06696251e+01] [ 2.28875232e-02 1.86224808e-04 9.99738029e-01 2.68305414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.90, Y:40.69, Z:2.68 [[ 7.30064356e-01 -6.83185080e-01 -1.62536963e-02 1.81900068e+02] [ 6.83010720e-01 7.30245245e-01 -1.54349626e-02 4.06870777e+01] [ 2.24141206e-02 1.67067241e-04 9.99748758e-01 2.68474732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.290385723 meters Centerline goodness [0,1] 0.9999773617368075 Centerline is valid? [True, True] Translation: X:181.92, Y:40.71, Z:2.68 [[ 7.29810894e-01 -6.83452829e-01 -1.63795174e-02 1.81920108e+02] [ 6.83275698e-01 7.29994660e-01 -1.55601057e-02 4.07063426e+01] [ 2.25915585e-02 1.64208413e-04 9.99744765e-01 2.68496169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.94, Y:40.73, Z:2.68 [[ 7.30109646e-01 -6.83130819e-01 -1.64981361e-02 1.81938308e+02] [ 6.82950860e-01 7.30296003e-01 -1.56802987e-02 4.07257950e+01] [ 2.27602181e-02 1.80921056e-04 9.99740936e-01 2.68495830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.96, Y:40.75, Z:2.68 [[ 7.30481900e-01 -6.82727623e-01 -1.67089057e-02 1.81958378e+02] [ 6.82542792e-01 7.30672945e-01 -1.58865975e-02 4.07465983e+01] [ 2.30549643e-02 2.00328757e-04 9.99734179e-01 2.68480650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.38038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.98, Y:40.77, Z:2.68 [[ 7.31419139e-01 -6.81707947e-01 -1.73296901e-02 1.81976927e+02] [ 6.81508691e-01 7.31624367e-01 -1.64830210e-02 4.07675970e+01] [ 2.39154299e-02 2.45662629e-04 9.99713955e-01 2.68436322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.00, Y:40.79, Z:2.68 [[ 7.31743877e-01 -6.81341749e-01 -1.80088791e-02 1.81996752e+02] [ 6.81126369e-01 7.31965401e-01 -1.71324403e-02 4.07879513e+01] [ 2.48549232e-02 2.70235814e-04 9.99691032e-01 2.68419052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.02, Y:40.81, Z:2.68 [[ 7.32583321e-01 -6.80421110e-01 -1.86759479e-02 1.82015147e+02] [ 6.80189056e-01 7.32821270e-01 -1.77717475e-02 4.08083380e+01] [ 2.57784040e-02 3.16110422e-04 9.99667632e-01 2.68398865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.470385723 meters Centerline goodness [0,1] 0.9998646942089121 Centerline is valid? [True, True] Translation: X:182.04, Y:40.83, Z:2.68 [[ 7.32420222e-01 -6.80575716e-01 -1.94245430e-02 1.82035638e+02] [ 6.80324553e-01 7.32677683e-01 -1.84909682e-02 4.08291046e+01] [ 2.68164331e-02 3.28165521e-04 9.99640321e-01 2.68176347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.500385723 meters Centerline goodness [0,1] 0.9999549092548754 Centerline is valid? [True, True] Translation: X:182.05, Y:40.85, Z:2.69 [[ 7.32996304e-01 -6.79980165e-01 -1.85308920e-02 1.82054734e+02] [ 6.79751179e-01 7.33230427e-01 -1.76486712e-02 4.08491375e+01] [ 2.55881602e-02 3.40015052e-04 9.99672512e-01 2.68531584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.07, Y:40.87, Z:2.69 [[ 7.32831162e-01 -6.80168280e-01 -1.81548690e-02 1.82073852e+02] [ 6.79948369e-01 7.33055933e-01 -1.72978170e-02 4.08677085e+01] [ 2.50739609e-02 3.32005736e-04 9.99685544e-01 2.68612713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.09, Y:40.89, Z:2.69 [[ 7.32385143e-01 -6.80667697e-01 -1.74209103e-02 1.82094481e+02] [ 6.80465219e-01 7.32592242e-01 -1.66040181e-02 4.08873187e+01] [ 2.40642425e-02 3.06212589e-04 9.99710367e-01 2.68765295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.11, Y:40.91, Z:2.69 [[ 7.32128819e-01 -6.80949406e-01 -1.71842313e-02 1.82114156e+02] [ 6.80752321e-01 7.32330402e-01 -1.63847451e-02 4.09063682e+01] [ 2.37417175e-02 2.97538695e-04 9.99718081e-01 2.68840596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.13, Y:40.93, Z:2.69 [[ 7.31631435e-01 -6.81485763e-01 -1.71055130e-02 1.82134402e+02] [ 6.81290522e-01 7.31831316e-01 -1.63140853e-02 4.09250903e+01] [ 2.36361669e-02 2.82073757e-04 9.99720587e-01 2.68919016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.15, Y:40.94, Z:2.69 [[ 7.31464703e-01 -6.81656447e-01 -1.74320797e-02 1.82154378e+02] [ 6.81453581e-01 7.31672336e-01 -1.66315906e-02 4.09444986e+01] [ 2.40916014e-02 2.86268349e-04 9.99709714e-01 2.68920994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.17, Y:40.97, Z:2.69 [[ 7.32151321e-01 -6.80915622e-01 -1.75601733e-02 1.82173962e+02] [ 6.80709352e-01 7.32361806e-01 -1.67619904e-02 4.09653164e+01] [ 2.42739013e-02 3.18939227e-04 9.99705295e-01 2.68865182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.19, Y:40.99, Z:2.69 [[ 7.32742672e-01 -6.80283039e-01 -1.74115946e-02 1.82194225e+02] [ 6.80079890e-01 7.32949432e-01 -1.66275139e-02 4.09863717e+01] [ 2.40732340e-02 3.42413624e-04 9.99710139e-01 2.68858743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.21, Y:41.01, Z:2.69 [[ 7.34573947e-01 -6.78304866e-01 -1.74248770e-02 1.82213401e+02] [ 6.78100671e-01 7.34780470e-01 -1.66475535e-02 4.10082074e+01] [ 2.40955758e-02 4.13038244e-04 9.99709574e-01 2.68834987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.23, Y:41.03, Z:2.69 [[ 7.35573653e-01 -6.77221407e-01 -1.73944393e-02 1.82232074e+02] [ 6.77017448e-01 7.35779152e-01 -1.66257514e-02 4.10291580e+01] [ 2.40577806e-02 4.53125785e-04 9.99710467e-01 2.68844951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.25, Y:41.05, Z:2.69 [[ 7.37911536e-01 -6.74690000e-01 -1.67322848e-02 1.82250106e+02] [ 6.74500469e-01 7.38101032e-01 -1.59995056e-02 4.10509707e+01] [ 2.31448231e-02 5.20285838e-04 9.99731987e-01 2.68936497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.27, Y:41.07, Z:2.69 [[ 7.38935558e-01 -6.73574440e-01 -1.64837780e-02 1.82269972e+02] [ 6.73390073e-01 7.39119185e-01 -1.57683436e-02 4.10721552e+01] [ 2.28046298e-02 5.51777283e-04 9.99739788e-01 2.69003250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.29, Y:41.09, Z:2.69 [[ 7.38770754e-01 -6.73755278e-01 -1.64802422e-02 1.82289830e+02] [ 6.73570873e-01 7.38954343e-01 -1.57720385e-02 4.10913100e+01] [ 2.28046407e-02 5.51309602e-04 9.99739788e-01 2.69045004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.31, Y:41.11, Z:2.69 [[ 7.40082930e-01 -6.72299450e-01 -1.70501240e-02 1.82309365e+02] [ 6.72101499e-01 7.40279043e-01 -1.63252307e-02 4.11125856e+01] [ 2.35972931e-02 6.22610670e-04 9.99721351e-01 2.68997955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.33, Y:41.13, Z:2.69 [[ 7.40306217e-01 -6.72040492e-01 -1.75579718e-02 1.82329433e+02] [ 6.71830322e-01 7.40514111e-01 -1.68187693e-02 4.11331740e+01] [ 2.43048198e-02 6.55061667e-04 9.99704380e-01 2.68947880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.35, Y:41.15, Z:2.69 [[ 7.40342567e-01 -6.71985311e-01 -1.81280174e-02 1.82349387e+02] [ 6.71761057e-01 7.40564159e-01 -1.73726140e-02 4.11527586e+01] [ 2.50991014e-02 6.83989498e-04 9.99684734e-01 2.68870473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.37, Y:41.17, Z:2.69 [[ 7.40229294e-01 -6.72120224e-01 -1.77481450e-02 1.82367766e+02] [ 6.71905124e-01 7.40441730e-01 -1.70161651e-02 4.11731792e+01] [ 2.45783758e-02 6.70794297e-04 9.99697681e-01 2.68863781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.39, Y:41.19, Z:2.69 [[ 7.40123117e-01 -6.72245240e-01 -1.74387296e-02 1.82393571e+02] [ 6.72037420e-01 7.40328238e-01 -1.67273825e-02 4.11873898e+01] [ 2.41552873e-02 6.60843598e-04 9.99708000e-01 2.69210120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.040385723 meters Centerline goodness [0,1] 0.9999329354168064 Centerline is valid? [True, True] Translation: X:182.41, Y:41.21, Z:2.69 [[ 7.39860587e-01 -6.72547395e-01 -1.69208110e-02 1.82413613e+02] [ 6.72351611e-01 7.40053778e-01 -1.62393451e-02 4.12066136e+01] [ 2.34440394e-02 6.38116871e-04 9.99724947e-01 2.69309298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.07038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.43, Y:41.23, Z:2.69 [[ 7.39797941e-01 -6.72615037e-01 -1.69710973e-02 1.82432783e+02] [ 6.72417927e-01 7.39992296e-01 -1.62951771e-02 4.12258811e+01] [ 2.35188624e-02 6.43468419e-04 9.99723186e-01 2.69378797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.10038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.45, Y:41.25, Z:2.69 [[ 7.39610551e-01 -6.72833526e-01 -1.64705540e-02 1.82451417e+02] [ 6.72647825e-01 7.39793661e-01 -1.58190657e-02 4.12454306e+01] [ 2.28284092e-02 6.21065585e-04 9.99739205e-01 2.69374118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.47, Y:41.26, Z:2.69 [[ 7.39344934e-01 -6.73127831e-01 -1.63704747e-02 1.82472488e+02] [ 6.72944327e-01 7.39525894e-01 -1.57284621e-02 4.12644928e+01] [ 2.26936556e-02 6.12340685e-04 9.99742278e-01 2.69443156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.16038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.49, Y:41.28, Z:2.70 [[ 7.38361163e-01 -6.74226786e-01 -1.55252657e-02 1.82493715e+02] [ 6.74061822e-01 7.38524160e-01 -1.49240130e-02 4.12846867e+01] [ 2.15279531e-02 5.54322761e-04 9.99768093e-01 2.69530463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.51, Y:41.30, Z:2.70 [[ 7.37937168e-01 -6.74703411e-01 -1.49680801e-02 1.82513789e+02] [ 6.74550050e-01 7.38088769e-01 -1.43944265e-02 4.13041306e+01] [ 2.07597405e-02 5.25463192e-04 9.99784355e-01 2.69634792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.53, Y:41.32, Z:2.70 [[ 7.36911993e-01 -6.75847511e-01 -1.38150913e-02 1.82534377e+02] [ 6.75717007e-01 7.37041337e-01 -1.32888792e-02 4.13228738e+01] [ 1.91635493e-02 4.57642383e-04 9.99816258e-01 2.69783208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.56, Y:41.34, Z:2.70 [[ 7.36401424e-01 -6.76405810e-01 -1.37157977e-02 1.82556046e+02] [ 6.76277214e-01 7.36529011e-01 -1.31964473e-02 4.13415431e+01] [ 1.90282365e-02 4.42201101e-04 9.99818849e-01 2.69850333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.57, Y:41.36, Z:2.70 [[ 7.36017717e-01 -6.76807514e-01 -1.44744451e-02 1.82574674e+02] [ 6.76664245e-01 7.36159886e-01 -1.39327706e-02 4.13611488e+01] [ 2.00853097e-02 4.60426546e-04 9.99798164e-01 2.69742646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.59, Y:41.38, Z:2.70 [[ 7.35975228e-01 -6.76838993e-01 -1.51473047e-02 1.82594807e+02] [ 6.76681991e-01 7.36130927e-01 -1.45856540e-02 4.13820071e+01] [ 2.10225388e-02 4.84771679e-04 9.99778884e-01 2.69679986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.61, Y:41.41, Z:2.69 [[ 7.36043556e-01 -6.76737289e-01 -1.63255871e-02 1.82611498e+02] [ 6.76554740e-01 7.36224395e-01 -1.57265363e-02 4.14050047e+01] [ 2.26620291e-02 5.30262342e-04 9.99743043e-01 2.69441340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.63, Y:41.42, Z:2.69 [[ 7.35875057e-01 -6.76910607e-01 -1.67311400e-02 1.82632735e+02] [ 6.76718807e-01 7.36065036e-01 -1.61220069e-02 4.14233758e+01] [ 2.32283646e-02 5.41505630e-04 9.99730038e-01 2.69460324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.65, Y:41.44, Z:2.69 [[ 7.35372283e-01 -6.77443392e-01 -1.72642962e-02 1.82651450e+02] [ 6.77239127e-01 7.35574708e-01 -1.66437386e-02 4.14424191e+01] [ 2.39743703e-02 5.47287177e-04 9.99712424e-01 2.69426591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.67, Y:41.46, Z:2.69 [[ 7.34642782e-01 -6.78238023e-01 -1.71221545e-02 1.82673115e+02] [ 6.78037172e-01 7.34842100e-01 -1.65130458e-02 4.14622423e+01] [ 2.37818555e-02 5.21732723e-04 9.99717036e-01 2.69477857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.70, Y:41.48, Z:2.70 [[ 7.32674807e-01 -6.80388695e-01 -1.60888316e-02 1.82695957e+02] [ 6.80211726e-01 7.32851308e-01 -1.55231615e-02 4.14796973e+01] [ 2.23525048e-02 4.29617446e-04 9.99750059e-01 2.69699812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.72, Y:41.50, Z:2.70 [[ 7.31671176e-01 -6.81483068e-01 -1.54310723e-02 1.82716766e+02] [ 6.81320398e-01 7.31833779e-01 -1.48941640e-02 4.14985279e+01] [ 2.14431005e-02 3.84126163e-04 9.99769996e-01 2.69822547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.74, Y:41.52, Z:2.70 [[ 7.30289484e-01 -6.82977477e-01 -1.47998760e-02 1.82738429e+02] [ 6.82828076e-01 7.30439359e-01 -1.42884815e-02 4.15171588e+01] [ 2.05691230e-02 3.28956921e-04 9.99788379e-01 2.69934892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.76, Y:41.54, Z:2.70 [[ 7.29782606e-01 -6.83514087e-01 -1.50279876e-02 1.82757721e+02] [ 6.83360019e-01 7.29937249e-01 -1.45154149e-02 4.15367411e+01] [ 2.08909785e-02 3.23571438e-04 9.99781707e-01 2.69915339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.78, Y:41.56, Z:2.70 [[ 7.29799820e-01 -6.83491130e-01 -1.52347573e-02 1.82777651e+02] [ 6.83332652e-01 7.29958741e-01 -1.47215115e-02 4.15564797e+01] [ 2.11827668e-02 3.33349330e-04 9.99775564e-01 2.69854731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.80, Y:41.58, Z:2.70 [[ 7.29794677e-01 -6.83496863e-01 -1.52239077e-02 1.82797085e+02] [ 6.83338439e-01 7.29953371e-01 -1.47191834e-02 4.15761933e+01] [ 2.11732584e-02 3.38900412e-04 9.99775764e-01 2.69835014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.82, Y:41.60, Z:2.70 [[ 7.30370656e-01 -6.82866147e-01 -1.58912039e-02 1.82817365e+02] [ 6.82693193e-01 7.30543416e-01 -1.53727722e-02 4.15965149e+01] [ 2.21067600e-02 3.79004986e-04 9.99755544e-01 2.69732898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.84, Y:41.62, Z:2.70 [[ 7.30798990e-01 -6.82399075e-01 -1.62584754e-02 1.82837977e+02] [ 6.82217744e-01 7.30979710e-01 -1.57357664e-02 4.16171845e+01] [ 2.26226881e-02 4.07861814e-04 9.99743991e-01 2.69714202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.86, Y:41.64, Z:2.70 [[ 7.31783089e-01 -6.81337658e-01 -1.65077766e-02 1.82856986e+02] [ 6.81150302e-01 7.31969119e-01 -1.59836007e-02 4.16374137e+01] [ 2.29734117e-02 4.52251690e-04 9.99735974e-01 2.69725324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.88, Y:41.66, Z:2.70 [[ 7.32346281e-01 -6.80734037e-01 -1.64345908e-02 1.82876281e+02] [ 6.80548104e-01 7.32530510e-01 -1.59163318e-02 4.16581797e+01] [ 2.28736279e-02 4.71736774e-04 9.99738253e-01 2.69724099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.89, Y:41.68, Z:2.70 [[ 7.33473493e-01 -6.79524138e-01 -1.62351930e-02 1.82894278e+02] [ 6.79342324e-01 7.33652977e-01 -1.57262672e-02 4.16802296e+01] [ 2.25973758e-02 5.05546392e-04 9.99744519e-01 2.69657355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.91, Y:41.70, Z:2.70 [[ 7.33819049e-01 -6.79158487e-01 -1.59170667e-02 1.82914397e+02] [ 6.78983536e-01 7.33991478e-01 -1.54229859e-02 4.17004073e+01] [ 2.21576431e-02 5.10254619e-04 9.99754359e-01 2.69725089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.82038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.93, Y:41.72, Z:2.70 [[ 7.33770039e-01 -6.79223746e-01 -1.53828599e-02 1.82932563e+02] [ 6.79060227e-01 7.33931098e-01 -1.49114237e-02 4.17204772e+01] [ 2.14181523e-02 4.95667570e-04 9.99770482e-01 2.69739928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.85038572300002 meters Centerline goodness [0,1] 0.9999108575503655 Centerline is valid? [True, True] Translation: X:182.95, Y:41.74, Z:2.70 [[ 7.33286015e-01 -6.79754917e-01 -1.49957579e-02 1.82952191e+02] [ 6.79599561e-01 7.33439180e-01 -1.45398093e-02 4.17406115e+01] [ 2.08819833e-02 4.70728335e-04 9.99781837e-01 2.69743053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.88038572300002 meters Centerline goodness [0,1] 0.99997770047275 Centerline is valid? [True, True] Translation: X:182.97, Y:41.76, Z:2.70 [[ 7.32030480e-01 -6.81125025e-01 -1.41448452e-02 1.82973492e+02] [ 6.80986996e-01 7.32167012e-01 -1.37177949e-02 4.17600684e+01] [ 1.96999224e-02 4.09388295e-04 9.99805854e-01 2.69840690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.99, Y:41.78, Z:2.70 [[ 7.31021099e-01 -6.82213126e-01 -1.39069560e-02 1.82994670e+02] [ 6.82079782e-01 7.31153273e-01 -1.34930596e-02 4.17801434e+01] [ 1.93732587e-02 3.78057738e-04 9.99812249e-01 2.69908850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.02, Y:41.80, Z:2.70 [[ 7.29192449e-01 -6.84173366e-01 -1.36079987e-02 1.83017660e+02] [ 6.84045923e-01 7.29319341e-01 -1.32088773e-02 4.17977641e+01] [ 1.89617387e-02 3.23317595e-04 9.99820158e-01 2.69990347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.04, Y:41.82, Z:2.70 [[ 7.28404830e-01 -6.85012629e-01 -1.35684197e-02 1.83036477e+02] [ 6.84885963e-01 7.28531128e-01 -1.31762287e-02 4.18179388e+01] [ 1.89108992e-02 3.04808415e-04 9.99821126e-01 2.69967887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.06, Y:41.84, Z:2.70 [[ 7.26728546e-01 -6.86791151e-01 -1.35475102e-02 1.83058440e+02] [ 6.86665103e-01 7.26854763e-01 -1.31601317e-02 4.18371459e+01] [ 1.88853343e-02 2.61240884e-04 9.99821622e-01 2.69992783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.08, Y:41.86, Z:2.70 [[ 7.24548321e-01 -6.89095765e-01 -1.32949714e-02 1.83079780e+02] [ 6.88974648e-01 7.24670260e-01 -1.29208834e-02 4.18563042e+01] [ 1.85381964e-02 2.01906127e-04 9.99828132e-01 2.70080796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.10, Y:41.88, Z:2.70 [[ 7.23492407e-01 -6.90202741e-01 -1.33758396e-02 1.83099728e+02] [ 6.90080232e-01 7.23616020e-01 -1.30049634e-02 4.18753500e+01] [ 1.86550332e-02 1.78589812e-04 9.99825964e-01 2.70098970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.12, Y:41.89, Z:2.70 [[ 7.21322291e-01 -6.92457222e-01 -1.40409962e-02 1.83119588e+02] [ 6.92322603e-01 7.21458925e-01 -1.36540607e-02 4.18947743e+01] [ 1.95848549e-02 1.28079249e-04 9.99808190e-01 2.70111698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.14, Y:41.91, Z:2.70 [[ 7.20280474e-01 -6.93536117e-01 -1.42721477e-02 1.83139291e+02] [ 6.93397169e-01 7.20421852e-01 -1.38823993e-02 4.19143492e+01] [ 1.99099123e-02 1.02954300e-04 9.99801773e-01 2.70111554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.150385723 meters Centerline goodness [0,1] 0.9999777411743757 Centerline is valid? [True, True] Translation: X:183.16, Y:41.93, Z:2.70 [[ 7.18444516e-01 -6.95427292e-01 -1.47769884e-02 1.83159165e+02] [ 6.95278574e-01 7.18596465e-01 -1.43814155e-02 4.19345792e+01] [ 2.06199205e-02 5.81256819e-05 9.99787385e-01 2.70104446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.180385723 meters Centerline goodness [0,1] 0.999977661119178 Centerline is valid? [True, True] Translation: X:183.18, Y:41.95, Z:2.70 [[ 7.17660615e-01 -6.96234351e-01 -1.48650305e-02 1.83177947e+02] [ 6.96083881e-01 7.17814549e-01 -1.44742366e-02 4.19535768e+01] [ 2.07477959e-02 4.02814228e-05 9.99784741e-01 2.70111373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.20, Y:41.97, Z:2.70 [[ 7.16751240e-01 -6.97169683e-01 -1.49027856e-02 1.83197127e+02] [ 6.97018539e-01 7.16906153e-01 -1.45163590e-02 4.19734609e+01] [ 2.08042641e-02 1.71003997e-05 9.99783568e-01 2.70153997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.22, Y:41.99, Z:2.70 [[ 7.16742702e-01 -6.97180340e-01 -1.48146026e-02 1.83216393e+02] [ 6.97030818e-01 7.16895789e-01 -1.44383389e-02 4.19939096e+01] [ 2.06866523e-02 2.23394587e-05 9.99786008e-01 2.70284898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.23, Y:42.02, Z:2.70 [[ 7.17524566e-01 -6.96393979e-01 -1.39256650e-02 1.83232987e+02] [ 6.96261590e-01 7.17659686e-01 -1.35784151e-02 4.20153784e+01] [ 1.94498149e-02 4.69407405e-05 9.99810833e-01 2.70401708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.300385723 meters Centerline goodness [0,1] 0.9999778373706256 Centerline is valid? [True, True] Translation: X:183.25, Y:42.04, Z:2.70 [[ 7.18177560e-01 -6.95730354e-01 -1.34263795e-02 1.83250862e+02] [ 6.95607102e-01 7.18303049e-01 -1.30954090e-02 4.20362168e+01] [ 1.87550829e-02 6.53439594e-05 9.99824106e-01 2.70451076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.27, Y:42.06, Z:2.71 [[ 7.20413915e-01 -6.93426404e-01 -1.27911530e-02 1.83267986e+02] [ 6.93314104e-01 7.20527451e-01 -1.24797874e-02 4.20595853e+01] [ 1.78701910e-02 1.22325651e-04 9.99840308e-01 2.70598150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.29, Y:42.08, Z:2.71 [[ 7.21544059e-01 -6.92255044e-01 -1.25349238e-02 1.83287007e+02] [ 6.92146922e-01 7.21652916e-01 -1.22354979e-02 4.20813767e+01] [ 1.75159495e-02 1.52441890e-04 9.99846572e-01 2.70670817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.30, Y:42.11, Z:2.71 [[ 7.24495051e-01 -6.89160407e-01 -1.28395431e-02 1.83304050e+02] [ 6.89046369e-01 7.24608775e-01 -1.25389109e-02 4.21051562e+01] [ 1.79449665e-02 2.37338339e-04 9.99838948e-01 2.70707491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.420385723 meters Centerline goodness [0,1] 0.9998901219646192 Centerline is valid? [True, True] Translation: X:183.32, Y:42.13, Z:2.71 [[ 7.27174010e-01 -6.86333786e-01 -1.28020458e-02 1.83321084e+02] [ 6.86219868e-01 7.27286627e-01 -1.25082056e-02 4.21291701e+01] [ 1.78955608e-02 3.10623837e-04 9.99839813e-01 2.70690486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.34, Y:42.15, Z:2.71 [[ 7.27988000e-01 -6.85468765e-01 -1.28858009e-02 1.83340682e+02] [ 6.85353107e-01 7.28101956e-01 -1.25960741e-02 4.21505753e+01] [ 1.80163922e-02 3.38467112e-04 9.99837634e-01 2.70730353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.36, Y:42.17, Z:2.71 [[ 7.28811973e-01 -6.84602477e-01 -1.23513671e-02 1.83360331e+02] [ 6.84495993e-01 7.28916543e-01 -1.20792920e-02 4.21717700e+01] [ 1.72726290e-02 3.49071373e-04 9.99850756e-01 2.70785223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.510385723 meters Centerline goodness [0,1] 0.9999561162918267 Centerline is valid? [True, True] Translation: X:183.38, Y:42.19, Z:2.71 [[ 7.30071196e-01 -6.83270918e-01 -1.17005148e-02 1.83378567e+02] [ 6.83175102e-01 7.30164858e-01 -1.14481041e-02 4.21947214e+01] [ 1.63654614e-02 3.64430686e-04 9.99866010e-01 2.70869387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.540385723 meters Centerline goodness [0,1] 0.9999344276627833 Centerline is valid? [True, True] Translation: X:183.40, Y:42.22, Z:2.71 [[ 7.30602997e-01 -6.82705815e-01 -1.14904641e-02 1.83396480e+02] [ 6.82613256e-01 7.30693253e-01 -1.12477728e-02 4.22155937e+01] [ 1.60749245e-02 3.74113424e-04 9.99870720e-01 2.70915317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.57038572300002 meters Centerline goodness [0,1] 0.9999782035353866 Centerline is valid? [True, True] Translation: X:183.41, Y:42.24, Z:2.71 [[ 7.31472837e-01 -6.81762384e-01 -1.21466333e-02 1.83412087e+02] [ 6.81658784e-01 7.31573562e-01 -1.18922388e-02 4.22393868e+01] [ 1.69938368e-02 4.18990359e-04 9.99855507e-01 2.70853049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.60038572300002 meters Centerline goodness [0,1] 0.9999562602515035 Centerline is valid? [True, True] Translation: X:183.43, Y:42.26, Z:2.71 [[ 7.31717791e-01 -6.81492220e-01 -1.25470482e-02 1.83433629e+02] [ 6.81381590e-01 7.31825225e-01 -1.22869192e-02 4.22581447e+01] [ 1.75556862e-02 4.41229733e-04 9.99845790e-01 2.70815211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.45, Y:42.28, Z:2.71 [[ 7.31895836e-01 -6.81289992e-01 -1.31313688e-02 1.83453353e+02] [ 6.81168666e-01 7.32013473e-01 -1.28655993e-02 4.22795658e+01] [ 1.83775429e-02 4.71601617e-04 9.99831007e-01 2.70687828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.66038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.47, Y:42.30, Z:2.71 [[ 7.31995558e-01 -6.81172434e-01 -1.36608665e-02 1.83472091e+02] [ 6.81040987e-01 7.32122850e-01 -1.33905461e-02 4.22997202e+01] [ 1.91227034e-02 4.98210313e-04 9.99817020e-01 2.70644447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.49, Y:42.32, Z:2.71 [[ 7.31176093e-01 -6.82028129e-01 -1.48037959e-02 1.83492412e+02] [ 6.81873838e-01 7.31325757e-01 -1.45157508e-02 4.23201827e+01] [ 2.07265476e-02 5.19248815e-04 9.99785047e-01 2.70573317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.51, Y:42.34, Z:2.71 [[ 7.30986931e-01 -6.82230945e-01 -1.48001461e-02 1.83512063e+02] [ 6.82076620e-01 7.31136560e-01 -1.45194713e-02 4.23395529e+01] [ 2.07265606e-02 5.18710159e-04 9.99785047e-01 2.70615072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.53, Y:42.36, Z:2.71 [[ 7.30386896e-01 -6.82863477e-01 -1.52464608e-02 1.83532765e+02] [ 6.82699666e-01 7.30545823e-01 -1.49654975e-02 4.23597631e+01] [ 2.13576299e-02 5.21849538e-04 9.99771764e-01 2.70617112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.780385723 meters Centerline goodness [0,1] 0.9999346262802353 Centerline is valid? [True, True] Translation: X:183.55, Y:42.38, Z:2.71 [[ 7.29235869e-01 -6.84088688e-01 -1.54179953e-02 1.83551763e+02] [ 6.83921314e-01 7.29398671e-01 -1.51398521e-02 4.23798071e+01] [ 2.16028668e-02 4.95827554e-04 9.99766508e-01 2.70617262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.810385723 meters Centerline goodness [0,1] 0.9998253351382036 Centerline is valid? [True, True] Translation: X:183.57, Y:42.40, Z:2.70 [[ 7.28316806e-01 -6.85067560e-01 -1.53970144e-02 1.83573314e+02] [ 6.84900773e-01 7.28479388e-01 -1.51232661e-02 4.23992590e+01] [ 2.15768666e-02 4.69101840e-04 9.99767082e-01 2.70422153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.840385723 meters Centerline goodness [0,1] 0.999934878874707 Centerline is valid? [True, True] Translation: X:183.59, Y:42.42, Z:2.71 [[ 7.28392552e-01 -6.84995978e-01 -1.49933304e-02 1.83592811e+02] [ 6.84837654e-01 7.28546700e-01 -1.47341029e-02 4.24197585e+01] [ 2.10161426e-02 4.64213584e-04 9.99779029e-01 2.70852382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.870385723 meters Centerline goodness [0,1] 0.9999782428963057 Centerline is valid? [True, True] Translation: X:183.61, Y:42.44, Z:2.71 [[ 7.28128098e-01 -6.85275484e-01 -1.50659930e-02 1.83612957e+02] [ 6.85115506e-01 7.28283802e-01 -1.48137775e-02 4.24389312e+01] [ 2.11238372e-02 4.64382220e-04 9.99776759e-01 2.70915046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.900385723 meters Centerline goodness [0,1] 0.999956531188872 Centerline is valid? [True, True] Translation: X:183.63, Y:42.46, Z:2.71 [[ 7.27800672e-01 -6.85610455e-01 -1.56360554e-02 1.83629615e+02] [ 6.85438056e-01 7.27968458e-01 -1.53816363e-02 4.24603526e+01] [ 2.19283658e-02 4.77217802e-04 9.99759431e-01 2.70809839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.65, Y:42.48, Z:2.71 [[ 7.27571435e-01 -6.85845643e-01 -1.59863026e-02 1.83651896e+02] [ 6.85665367e-01 7.27746879e-01 -1.57316556e-02 4.24777844e+01] [ 2.24234693e-02 4.84649229e-04 9.99748445e-01 2.70914865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.67, Y:42.50, Z:2.71 [[ 7.27213368e-01 -6.86232508e-01 -1.56736154e-02 1.83671095e+02] [ 6.86059161e-01 7.27382104e-01 -1.54305816e-02 4.24976861e+01] [ 2.19896741e-02 4.68297841e-04 9.99758088e-01 2.70950060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.990385723 meters Centerline goodness [0,1] 0.9999782589790417 Centerline is valid? [True, True] Translation: X:183.69, Y:42.52, Z:2.71 [[ 7.27777265e-01 -6.85641576e-01 -1.53584220e-02 1.83690987e+02] [ 6.85474915e-01 7.27939145e-01 -1.51242164e-02 4.25183453e+01] [ 2.15497881e-02 4.79247823e-04 9.99767661e-01 2.71084558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.020385723 meters Centerline goodness [0,1] 0.999978288245256 Centerline is valid? [True, True] Translation: X:183.71, Y:42.54, Z:2.71 [[ 7.28396018e-01 -6.84987680e-01 -1.52026020e-02 1.83709815e+02] [ 6.84824110e-01 7.28554480e-01 -1.49769245e-02 4.25387036e+01] [ 2.13349326e-02 4.98023826e-04 9.99772260e-01 2.71171650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.050385723 meters Centerline goodness [0,1] 0.9999564990429789 Centerline is valid? [True, True] Translation: X:183.73, Y:42.56, Z:2.71 [[ 7.28926361e-01 -6.84424317e-01 -1.51563424e-02 1.83730711e+02] [ 6.84261519e-01 7.29083731e-01 -1.49360889e-02 4.25589245e+01] [ 2.12728651e-02 5.16407065e-04 9.99773574e-01 2.71281964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.080385723 meters Centerline goodness [0,1] 0.999912909055281 Centerline is valid? [True, True] Translation: X:183.75, Y:42.58, Z:2.71 [[ 7.30016880e-01 -6.83237837e-01 -1.61682878e-02 1.83749425e+02] [ 6.83052136e-01 7.30195664e-01 -1.59396515e-02 4.25793039e+01] [ 2.26965867e-02 5.92431177e-04 9.99742224e-01 2.71077970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.110385723 meters Centerline goodness [0,1] 0.9999782580336566 Centerline is valid? [True, True] Translation: X:183.77, Y:42.60, Z:2.71 [[ 7.31310712e-01 -6.81828429e-01 -1.71649768e-02 1.83769367e+02] [ 6.81618617e-01 7.31511813e-01 -1.69271303e-02 4.25997887e+01] [ 2.40977819e-02 6.79023976e-04 9.99709376e-01 2.71237690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.140385723 meters Centerline goodness [0,1] 0.999978300965607 Centerline is valid? [True, True] Translation: X:183.79, Y:42.62, Z:2.71 [[ 7.31718405e-01 -6.81390478e-01 -1.71811544e-02 1.83788586e+02] [ 6.81179990e-01 7.31919755e-01 -1.69497182e-02 4.26195050e+01] [ 2.41246029e-02 6.98962178e-04 9.99708715e-01 2.71256797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.170385723 meters Centerline goodness [0,1] 0.9999347684279191 Centerline is valid? [True, True] Translation: X:183.81, Y:42.64, Z:2.71 [[ 7.31954613e-01 -6.81139571e-01 -1.70683964e-02 1.83808376e+02] [ 6.80931670e-01 7.32153254e-01 -1.68425931e-02 4.26397224e+01] [ 2.39688386e-02 7.05602074e-04 9.99712457e-01 2.71253289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.200385723 meters Centerline goodness [0,1] 0.999912579770959 Centerline is valid? [True, True] Translation: X:183.83, Y:42.66, Z:2.72 [[ 7.32632841e-01 -6.80412252e-01 -1.69790651e-02 1.83831558e+02] [ 6.80206196e-01 7.32829199e-01 -1.67599264e-02 4.26571179e+01] [ 2.38464140e-02 7.29607212e-04 9.99715368e-01 2.71509072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.230385723 meters Centerline goodness [0,1] 0.9999127380614761 Centerline is valid? [True, True] Translation: X:183.85, Y:42.68, Z:2.72 [[ 7.33306944e-01 -6.79697468e-01 -1.65008755e-02 1.83850080e+02] [ 6.79502536e-01 7.33492202e-01 -1.62939577e-02 4.26778794e+01] [ 2.31782253e-02 7.36085569e-04 9.99731078e-01 2.71550054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.260385723 meters Centerline goodness [0,1] 0.9999781315605318 Centerline is valid? [True, True] Translation: X:183.87, Y:42.70, Z:2.72 [[ 7.33924829e-01 -6.79036197e-01 -1.62538825e-02 1.83871001e+02] [ 6.78846796e-01 7.34104409e-01 -1.60544242e-02 4.26983402e+01] [ 2.28335819e-02 7.48844505e-04 9.99738999e-01 2.71635403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.290385723 meters Centerline goodness [0,1] 0.9998472716165209 Centerline is valid? [True, True] Translation: X:183.89, Y:42.72, Z:2.72 [[ 7.35209916e-01 -6.77649520e-01 -1.60470098e-02 1.83891159e+02] [ 6.77464414e-01 7.35384598e-01 -1.58575130e-02 4.27191708e+01] [ 2.25465600e-02 7.87322713e-04 9.99745484e-01 2.71679005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.32038572300002 meters Centerline goodness [0,1] 0.9998905644684716 Centerline is valid? [True, True] Translation: X:183.91, Y:42.74, Z:2.72 [[ 7.35822400e-01 -6.76994396e-01 -1.56199693e-02 1.83912992e+02] [ 6.76818704e-01 7.35987746e-01 -1.54427820e-02 4.27386732e+01] [ 2.19507829e-02 7.91257512e-04 9.99758739e-01 2.71743987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.35038572300002 meters Centerline goodness [0,1] 0.9998904061547903 Centerline is valid? [True, True] Translation: X:183.93, Y:42.76, Z:2.72 [[ 7.37437035e-01 -6.75236611e-01 -1.55608012e-02 1.83933587e+02] [ 6.75061726e-01 7.37600708e-01 -1.53902748e-02 4.27583752e+01] [ 2.18697350e-02 8.44857276e-04 9.99760472e-01 2.71761520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.38038572300002 meters Centerline goodness [0,1] 0.9999781282124188 Centerline is valid? [True, True] Translation: X:183.95, Y:42.78, Z:2.72 [[ 7.37800229e-01 -6.74837621e-01 -1.56527197e-02 1.83952421e+02] [ 6.74660517e-01 7.37965744e-01 -1.54837609e-02 4.27787435e+01] [ 2.20001953e-02 8.63650369e-04 9.99757593e-01 2.71769266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41038572300002 meters Centerline goodness [0,1] 0.9998683315411793 Centerline is valid? [True, True] Translation: X:183.97, Y:42.80, Z:2.72 [[ 7.38165207e-01 -6.74440482e-01 -1.55615764e-02 1.83973710e+02] [ 6.74265258e-01 7.38328702e-01 -1.53977132e-02 4.27984613e+01] [ 2.18743996e-02 8.73425836e-04 9.99760345e-01 2.71800893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.440385723 meters Centerline goodness [0,1] 0.9999341180604358 Centerline is valid? [True, True] Translation: X:183.99, Y:42.82, Z:2.72 [[ 7.37732382e-01 -6.74911038e-01 -1.56851262e-02 1.83994283e+02] [ 6.74732960e-01 7.37898591e-01 -1.55274786e-02 4.28182255e+01] [ 2.20536992e-02 8.71852171e-04 9.99756407e-01 2.71706030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.470385723 meters Centerline goodness [0,1] 0.999868435478566 Centerline is valid? [True, True] Translation: X:184.02, Y:42.84, Z:2.72 [[ 7.37932683e-01 -6.74684731e-01 -1.59959130e-02 1.84016889e+02] [ 6.74499296e-01 7.38105480e-01 -1.58429573e-02 4.28370116e+01] [ 2.24956724e-02 9.01803918e-04 9.99746534e-01 2.71804030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.500385723 meters Centerline goodness [0,1] 0.9998905405109569 Centerline is valid? [True, True] Translation: X:184.03, Y:42.86, Z:2.72 [[ 7.37613759e-01 -6.75022606e-01 -1.64445691e-02 1.84033528e+02] [ 6.74826544e-01 7.37796471e-01 -1.62942590e-02 4.28597278e+01] [ 2.31317382e-02 9.21637914e-04 9.99732001e-01 2.71674300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.530385723 meters Centerline goodness [0,1] 0.9998900953971952 Centerline is valid? [True, True] Translation: X:184.06, Y:42.88, Z:2.72 [[ 7.36583339e-01 -6.76120594e-01 -1.74907592e-02 1.84058149e+02] [ 6.75898943e-01 7.36790366e-01 -1.73371092e-02 4.28756121e+01] [ 2.46089995e-02 9.48240164e-04 9.99696703e-01 2.71630394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.560385723 meters Centerline goodness [0,1] 0.999890276284316 Centerline is valid? [True, True] Translation: X:184.08, Y:42.90, Z:2.72 [[ 7.36029370e-01 -6.76716373e-01 -1.77684290e-02 1.84077665e+02] [ 6.76487644e-01 7.36243202e-01 -1.76185848e-02 4.28951947e+01] [ 2.50046699e-02 9.47673225e-04 9.99686885e-01 2.71582350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.590385723 meters Centerline goodness [0,1] 0.9999559073171808 Centerline is valid? [True, True] Translation: X:184.10, Y:42.91, Z:2.72 [[ 7.34061936e-01 -6.78841721e-01 -1.80829194e-02 1.84104253e+02] [ 6.78605327e-01 7.34284085e-01 -1.79357900e-02 4.29097551e+01] [ 2.54535625e-02 8.94815291e-04 9.99675605e-01 2.71680856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.620385723 meters Centerline goodness [0,1] 0.9999779293297137 Centerline is valid? [True, True] Translation: X:184.12, Y:42.93, Z:2.72 [[ 7.31756900e-01 -6.81334351e-01 -1.77578311e-02 1.84124193e+02] [ 6.81106953e-01 7.31971901e-01 -1.76197055e-02 4.29290535e+01] [ 2.50031440e-02 7.98358850e-04 9.99687054e-01 2.71612885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.15, Y:42.94, Z:2.72 [[ 7.30492944e-01 -6.82694230e-01 -1.75683540e-02 1.84149577e+02] [ 6.82471926e-01 7.30703790e-01 -1.74367908e-02 4.29446205e+01] [ 2.47412593e-02 7.47544249e-04 9.99693609e-01 2.71824203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.680385723 meters Centerline goodness [0,1] 0.9999557355642609 Centerline is valid? [True, True] Translation: X:184.18, Y:42.96, Z:2.72 [[ 7.27638997e-01 -6.85755124e-01 -1.67749814e-02 1.84175350e+02] [ 6.85553075e-01 7.27832072e-01 -1.66570309e-02 4.29605530e+01] [ 2.36320138e-02 6.20165164e-04 9.99720533e-01 2.72024754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.20, Y:42.98, Z:2.72 [[ 7.26344407e-01 -6.87134344e-01 -1.64376584e-02 1.84196293e+02] [ 6.86940557e-01 7.26530159e-01 -1.63279040e-02 4.29785818e+01] [ 2.31619182e-02 5.67987543e-04 9.99731565e-01 2.72107382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.22, Y:43.00, Z:2.72 [[ 7.24931309e-01 -6.88631251e-01 -1.61739603e-02 1.84217831e+02] [ 6.88443902e-01 7.25111533e-01 -1.60704371e-02 4.29975252e+01] [ 2.27945304e-02 5.15098661e-04 9.99740038e-01 2.72139570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.770385723 meters Centerline goodness [0,1] 0.9997105192838692 Centerline is valid? [True, True] Translation: X:184.24, Y:43.01, Z:2.72 [[ 7.22536710e-01 -6.91143210e-01 -1.61791984e-02 1.84241398e+02] [ 6.90956186e-01 7.22717696e-01 -1.60835558e-02 4.30143522e+01] [ 2.28090334e-02 4.41842297e-04 9.99739743e-01 2.72114205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.800385723 meters Centerline goodness [0,1] 0.9993994261182908 Centerline is valid? [True, True] Translation: X:184.26, Y:43.03, Z:2.72 [[ 7.21242623e-01 -6.92477475e-01 -1.68530440e-02 1.84262011e+02] [ 6.92274705e-01 7.21439372e-01 -1.67620074e-02 4.30339411e+01] [ 2.37657620e-02 4.22538075e-04 9.99717465e-01 2.72009347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.830385723 meters Centerline goodness [0,1] 0.9995097056004992 Centerline is valid? [True, True] Translation: X:184.29, Y:43.05, Z:2.72 [[ 7.20024020e-01 -6.93717971e-01 -1.79105336e-02 1.84285167e+02] [ 6.93489100e-01 7.20246629e-01 -1.78230452e-02 4.30516126e+01] [ 2.52641682e-02 4.12260867e-04 9.99680725e-01 2.72062578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.860385723 meters Centerline goodness [0,1] 0.9993300879817784 Centerline is valid? [True, True] Translation: X:184.31, Y:43.07, Z:2.72 [[ 7.19130598e-01 -6.94622230e-01 -1.87387411e-02 1.84306885e+02] [ 6.94371739e-01 7.19374584e-01 -1.86573187e-02 4.30694597e+01] [ 2.64399624e-02 4.05396516e-04 9.99650321e-01 2.72059317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.890385723 meters Centerline goodness [0,1] 0.9991947029348605 Centerline is valid? [True, True] Translation: X:184.33, Y:43.09, Z:2.72 [[ 7.18765971e-01 -6.94985447e-01 -1.92537689e-02 1.84326510e+02] [ 6.94720886e-01 7.19023686e-01 -1.91788717e-02 4.30881790e+01] [ 2.71729526e-02 4.09124947e-04 9.99630663e-01 2.72042664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.920385723 meters Centerline goodness [0,1] 0.9991721113398371 Centerline is valid? [True, True] Translation: X:184.35, Y:43.11, Z:2.72 [[ 7.18810207e-01 -6.94943088e-01 -1.91309011e-02 1.84346298e+02] [ 6.94681664e-01 7.19064624e-01 -1.90644244e-02 4.31076174e+01] [ 2.70050442e-02 4.13816593e-04 9.99635212e-01 2.72072689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.950385723 meters Centerline goodness [0,1] 0.9991518046472176 Centerline is valid? [True, True] Translation: X:184.37, Y:43.13, Z:2.72 [[ 7.19167446e-01 -6.94578943e-01 -1.89281756e-02 1.84365892e+02] [ 6.94322686e-01 7.19416366e-01 -1.88706252e-02 4.31278476e+01] [ 2.67243782e-02 4.28877675e-04 9.99642748e-01 2.72057716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.980385723 meters Centerline goodness [0,1] 0.9993742177722152 Centerline is valid? [True, True] Translation: X:184.39, Y:43.15, Z:2.72 [[ 7.19610680e-01 -6.94133217e-01 -1.84267675e-02 1.84385645e+02] [ 6.93890026e-01 7.19846431e-01 -1.83779220e-02 4.31476172e+01] [ 2.60211690e-02 4.38798731e-04 9.99661296e-01 2.72194390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.010385723 meters Centerline goodness [0,1] 0.9992843084630524 Centerline is valid? [True, True] Translation: X:184.41, Y:43.17, Z:2.72 [[ 7.20304087e-01 -6.93416511e-01 -1.83183953e-02 1.84406971e+02] [ 6.93175697e-01 7.20536829e-01 -1.82792339e-02 4.31671875e+01] [ 2.58742010e-02 4.68740423e-04 9.99665097e-01 2.72375312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.040385723 meters Centerline goodness [0,1] 0.9991933315407368 Centerline is valid? [True, True] Translation: X:184.43, Y:43.19, Z:2.72 [[ 7.20661665e-01 -6.93043256e-01 -1.83796262e-02 1.84427902e+02] [ 6.92800480e-01 7.20895835e-01 -1.83491099e-02 4.31867436e+01] [ 2.59665229e-02 4.90086247e-04 9.99662693e-01 2.72467877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.07038572300002 meters Centerline goodness [0,1] 0.9991690621631333 Centerline is valid? [True, True] Translation: X:184.45, Y:43.21, Z:2.72 [[ 7.20682926e-01 -6.93022873e-01 -1.83144155e-02 1.84447315e+02] [ 6.92781579e-01 7.20915426e-01 -1.82929489e-02 4.32067814e+01] [ 2.58805767e-02 4.95526268e-04 9.99664919e-01 2.72492541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.10038572300002 meters Centerline goodness [0,1] 0.9992161780843393 Centerline is valid? [True, True] Translation: X:184.47, Y:43.23, Z:2.73 [[ 7.20887150e-01 -6.92803971e-01 -1.85573626e-02 1.84468064e+02] [ 6.92555915e-01 7.21125781e-01 -1.85449002e-02 4.32275569e+01] [ 2.62301730e-02 5.16768996e-04 9.99655796e-01 2.72608625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13038572300002 meters Centerline goodness [0,1] 0.9991720928151082 Centerline is valid? [True, True] Translation: X:184.49, Y:43.25, Z:2.73 [[ 7.22044105e-01 -6.91584114e-01 -1.90715385e-02 1.84488359e+02] [ 6.91321442e-01 7.22295696e-01 -1.90680636e-02 4.32479615e+01] [ 2.69624601e-02 5.83419447e-04 9.99636277e-01 2.72636022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.16038572300002 meters Centerline goodness [0,1] 0.9994382148715759 Centerline is valid? [True, True] Translation: X:184.51, Y:43.27, Z:2.73 [[ 7.22950047e-01 -6.90633888e-01 -1.91849544e-02 1.84507523e+02] [ 6.90367566e-01 7.23204286e-01 -1.91881292e-02 4.32684384e+01] [ 2.71266135e-02 6.27388642e-04 9.99631809e-01 2.72665788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.190385723 meters Centerline goodness [0,1] 0.9993734195627364 Centerline is valid? [True, True] Translation: X:184.53, Y:43.29, Z:2.73 [[ 7.24313923e-01 -6.89189291e-01 -1.96840358e-02 1.84527045e+02] [ 6.88908225e-01 7.24581000e-01 -1.96934384e-02 4.32902794e+01] [ 2.78351852e-02 7.03737481e-04 9.99612278e-01 2.72655814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.220385723 meters Centerline goodness [0,1] 0.9992121375832883 Centerline is valid? [True, True] Translation: X:184.55, Y:43.31, Z:2.73 [[ 7.25109402e-01 -6.88340580e-01 -2.00898336e-02 1.84546755e+02] [ 6.88047201e-01 7.25387256e-01 -2.01091508e-02 4.33112194e+01] [ 2.84148538e-02 7.58580555e-04 9.99595929e-01 2.72610449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.250385723 meters Centerline goodness [0,1] 0.9994158091043904 Centerline is valid? [True, True] Translation: X:184.57, Y:43.33, Z:2.73 [[ 7.26377149e-01 -6.86973337e-01 -2.10682544e-02 1.84567458e+02] [ 6.86649886e-01 7.26682117e-01 -2.10958276e-02 4.33306794e+01] [ 2.98021948e-02 8.57012664e-04 9.99555449e-01 2.72652810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.280385723 meters Centerline goodness [0,1] 0.9995273570255002 Centerline is valid? [True, True] Translation: X:184.59, Y:43.35, Z:2.73 [[ 7.26953349e-01 -6.86357464e-01 -2.12663890e-02 1.84586624e+02] [ 6.86027524e-01 7.27263799e-01 -2.12979675e-02 4.33510429e+01] [ 3.00842938e-02 8.93300578e-04 9.99546966e-01 2.72662229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.310385723 meters Centerline goodness [0,1] 0.9995953510329789 Centerline is valid? [True, True] Translation: X:184.60, Y:43.37, Z:2.73 [[ 7.27265230e-01 -6.86045084e-01 -2.06743460e-02 1.84604934e+02] [ 6.85732996e-01 7.27558493e-01 -2.07098381e-02 4.33705324e+01] [ 2.92496786e-02 8.84463966e-04 9.99571745e-01 2.72767241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.340385723 meters Centerline goodness [0,1] 0.9997073060902848 Centerline is valid? [True, True] Translation: X:184.62, Y:43.39, Z:2.73 [[ 7.27268295e-01 -6.86051978e-01 -2.03349579e-02 1.84624418e+02] [ 6.85749817e-01 7.27552003e-01 -2.03781992e-02 4.33906805e+01] [ 2.87752432e-02 8.75724587e-04 9.99585523e-01 2.72888208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.370385723 meters Centerline goodness [0,1] 0.9996174617461746 Centerline is valid? [True, True] Translation: X:184.64, Y:43.41, Z:2.73 [[ 7.27435082e-01 -6.85911121e-01 -1.90823342e-02 1.84642881e+02] [ 6.85644735e-01 7.27684848e-01 -1.91326931e-02 4.34112331e+01] [ 2.70092525e-02 8.34090166e-04 9.99634836e-01 2.73057802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.400385723 meters Centerline goodness [0,1] 0.9996196527653481 Centerline is valid? [True, True] Translation: X:184.66, Y:43.43, Z:2.73 [[ 7.27155081e-01 -6.86223650e-01 -1.85091858e-02 1.84661904e+02] [ 6.85972950e-01 7.27390169e-01 -1.85648540e-02 4.34319549e+01] [ 2.62030416e-02 8.02727086e-04 9.99656319e-01 2.73084716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.430385723 meters Centerline goodness [0,1] 0.9996189366089842 Centerline is valid? [True, True] Translation: X:184.68, Y:43.45, Z:2.73 [[ 7.26645025e-01 -6.86764300e-01 -1.84879204e-02 1.84682758e+02] [ 6.86514211e-01 7.26879755e-01 -1.85488448e-02 4.34520052e+01] [ 2.61771795e-02 7.86205718e-04 9.99657010e-01 2.73180664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.460385723 meters Centerline goodness [0,1] 0.9996406513194834 Centerline is valid? [True, True] Translation: X:184.71, Y:43.47, Z:2.73 [[ 7.25758330e-01 -6.87706346e-01 -1.82983065e-02 1.84705397e+02] [ 6.87461442e-01 7.25988580e-01 -1.83670250e-02 4.34699946e+01] [ 2.59154813e-02 7.50641213e-04 9.99663856e-01 2.73334919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.490385723 meters Centerline goodness [0,1] 0.9995949230353767 Centerline is valid? [True, True] Translation: X:184.73, Y:43.49, Z:2.73 [[ 7.25203161e-01 -6.88286600e-01 -1.84913623e-02 1.84726171e+02] [ 6.88036458e-01 7.25438490e-01 -1.85696169e-02 4.34901847e+01] [ 2.61955644e-02 7.44013522e-04 9.99656560e-01 2.73299586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.520385723 meters Centerline goodness [0,1] 0.9996863377694134 Centerline is valid? [True, True] Translation: X:184.75, Y:43.51, Z:2.73 [[ 7.24983054e-01 -6.88520334e-01 -1.84206597e-02 1.84746046e+02] [ 6.88271932e-01 7.25216659e-01 -1.85079716e-02 4.35096012e+01] [ 2.61020841e-02 7.39542777e-04 9.99659009e-01 2.73389552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.550385723 meters Centerline goodness [0,1] 0.9996627242883482 Centerline is valid? [True, True] Translation: X:184.76, Y:43.53, Z:2.73 [[ 7.24489687e-01 -6.89037439e-01 -1.84959773e-02 1.84764452e+02] [ 6.88786977e-01 7.24725380e-01 -1.85909581e-02 4.35308832e+01] [ 2.62143703e-02 7.29169143e-04 9.99656078e-01 2.73256890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.580385723 meters Centerline goodness [0,1] 0.9997531806044831 Centerline is valid? [True, True] Translation: X:184.79, Y:43.55, Z:2.73 [[ 7.24141911e-01 -6.89405221e-01 -1.84101506e-02 1.84785472e+02] [ 6.89157040e-01 7.24375543e-01 -1.85107294e-02 4.35497393e+01] [ 2.60972563e-02 7.16910054e-04 9.99659152e-01 2.73366984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.610385723 meters Centerline goodness [0,1] 0.9995282277087593 Centerline is valid? [True, True] Translation: X:184.80, Y:43.57, Z:2.73 [[ 7.23866017e-01 -6.89691268e-01 -1.85457175e-02 1.84803746e+02] [ 6.89439245e-01 7.24103195e-01 -1.86571563e-02 4.35692370e+01] [ 2.62966911e-02 7.19135935e-04 9.99653924e-01 2.73391472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.640385723 meters Centerline goodness [0,1] 0.9997312189221879 Centerline is valid? [True, True] Translation: X:184.82, Y:43.59, Z:2.73 [[ 7.23622359e-01 -6.89963403e-01 -1.79216212e-02 1.84823874e+02] [ 6.89727914e-01 7.23843922e-01 -1.80383166e-02 4.35896957e+01] [ 2.54182349e-02 6.91886774e-04 9.99676665e-01 2.73493200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.670385723 meters Centerline goodness [0,1] 0.9997312189221879 Centerline is valid? [True, True] Translation: X:184.84, Y:43.61, Z:2.74 [[ 7.23438286e-01 -6.90156520e-01 -1.79171497e-02 1.84843268e+02] [ 6.89920980e-01 7.23659796e-01 -1.80427574e-02 4.36093367e+01] [ 2.54182476e-02 6.91404021e-04 9.99676665e-01 2.73534959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.700385723 meters Centerline goodness [0,1] 0.9996409899701573 Centerline is valid? [True, True] Translation: X:184.86, Y:43.63, Z:2.74 [[ 7.23492691e-01 -6.90107748e-01 -1.75960908e-02 1.84862279e+02] [ 6.89880328e-01 7.23706310e-01 -1.77287838e-02 4.36299924e+01] [ 2.49691730e-02 6.87448663e-04 9.99687985e-01 2.73583721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.730385723 meters Centerline goodness [0,1] 0.9996418338108882 Centerline is valid? [True, True] Translation: X:184.88, Y:43.65, Z:2.74 [[ 7.23508451e-01 -6.90097025e-01 -1.73671487e-02 1.84881351e+02] [ 6.89875254e-01 7.23716537e-01 -1.75073366e-02 4.36506447e+01] [ 2.46506536e-02 6.85539811e-04 9.99695891e-01 2.73626335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.760385723 meters Centerline goodness [0,1] 0.9996634432004308 Centerline is valid? [True, True] Translation: X:184.90, Y:43.67, Z:2.74 [[ 7.23930318e-01 -6.89668335e-01 -1.68072225e-02 1.84903173e+02] [ 6.89460317e-01 7.24125072e-01 -1.69514416e-02 4.36700249e+01] [ 2.38614037e-02 6.83749555e-04 9.99715042e-01 2.73793517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.790385723 meters Centerline goodness [0,1] 0.9997089248130402 Centerline is valid? [True, True] Translation: X:184.92, Y:43.69, Z:2.74 [[ 7.23624042e-01 -6.89994381e-01 -1.66132591e-02 1.84922042e+02] [ 6.89791023e-01 7.23814412e-01 -1.67642999e-02 4.36902611e+01] [ 2.35921891e-02 6.71373470e-04 9.99721440e-01 2.73780131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.82038572300002 meters Centerline goodness [0,1] 0.999753191680316 Centerline is valid? [True, True] Translation: X:184.94, Y:43.71, Z:2.74 [[ 7.23443803e-01 -6.90184809e-01 -1.65527222e-02 1.84938566e+02] [ 6.89982789e-01 7.23632836e-01 -1.67113583e-02 4.37113795e+01] [ 2.35120190e-02 6.68635178e-04 9.99723331e-01 2.73697315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.85038572300002 meters Centerline goodness [0,1] 0.999641094661283 Centerline is valid? [True, True] Translation: X:184.96, Y:43.73, Z:2.74 [[ 7.23645557e-01 -6.89976689e-01 -1.64096654e-02 1.84958065e+02] [ 6.89777967e-01 7.23831276e-01 -1.65722762e-02 4.37309392e+01] [ 2.33123133e-02 6.73428442e-04 9.99728004e-01 2.73670751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.88038572300002 meters Centerline goodness [0,1] 0.9997529144859498 Centerline is valid? [True, True] Translation: X:184.98, Y:43.75, Z:2.74 [[ 7.24060801e-01 -6.89534608e-01 -1.66727594e-02 1.84978190e+02] [ 6.89329221e-01 7.24252395e-01 -1.68432270e-02 4.37517748e+01] [ 2.36892738e-02 7.02500178e-04 9.99719123e-01 2.73729591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91038572300002 meters Centerline goodness [0,1] 0.9997993489989745 Centerline is valid? [True, True] Translation: X:185.00, Y:43.77, Z:2.74 [[ 7.24996466e-01 -6.88553281e-01 -1.65681617e-02 1.84997945e+02] [ 6.88350029e-01 7.25185382e-01 -1.67451249e-02 4.37724014e+01] [ 2.35448994e-02 7.35461769e-04 9.99722510e-01 2.73791588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.940385723 meters Centerline goodness [0,1] 0.9997989186290719 Centerline is valid? [True, True] Translation: X:185.02, Y:43.79, Z:2.74 [[ 7.25358313e-01 -6.88167386e-01 -1.67620621e-02 1.85017039e+02] [ 6.87959058e-01 7.25551561e-01 -1.69489606e-02 4.37935701e+01] [ 2.38254622e-02 7.62457054e-04 9.99715843e-01 2.73808809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.970385723 meters Centerline goodness [0,1] 0.999798522498321 Centerline is valid? [True, True] Translation: X:185.03, Y:43.82, Z:2.74 [[ 7.25735015e-01 -6.87778239e-01 -1.64250502e-02 1.85034254e+02] [ 6.87577954e-01 7.25920457e-01 -1.66146491e-02 4.38159095e+01] [ 2.33504741e-02 7.64330199e-04 9.99727048e-01 2.73812259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.000385723 meters Centerline goodness [0,1] 0.9999775462547152 Centerline is valid? [True, True] Translation: X:185.06, Y:43.83, Z:2.74 [[ 7.26277641e-01 -6.87185067e-01 -1.72473635e-02 1.85055402e+02] [ 6.86963954e-01 7.26481935e-01 -1.74506187e-02 4.38349742e+01] [ 2.45217026e-02 8.25677179e-04 9.99698957e-01 2.73850802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.030385723 meters Centerline goodness [0,1] 0.9999100132730422 Centerline is valid? [True, True] Translation: X:185.08, Y:43.85, Z:2.74 [[ 7.26127030e-01 -6.87321371e-01 -1.81347423e-02 1.85078496e+02] [ 6.87076818e-01 7.26352931e-01 -1.83539038e-02 4.38534328e+01] [ 2.57872535e-02 8.67304622e-04 9.99667077e-01 2.73839932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.060385723 meters Centerline goodness [0,1] 0.999977483563001 Centerline is valid? [True, True] Translation: X:185.10, Y:43.87, Z:2.74 [[ 7.25867607e-01 -6.87591464e-01 -1.82810019e-02 1.85099429e+02] [ 6.87342791e-01 7.26097252e-01 -1.85113347e-02 4.38717592e+01] [ 2.60020210e-02 8.71463357e-04 9.99661510e-01 2.73947285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.090385723 meters Centerline goodness [0,1] 0.9998425834307817 Centerline is valid? [True, True] Translation: X:185.12, Y:43.89, Z:2.74 [[ 7.25624228e-01 -6.87850191e-01 -1.82097316e-02 1.85117177e+02] [ 6.87603323e-01 7.25852166e-01 -1.84473154e-02 4.38929565e+01] [ 2.59065626e-02 8.64747046e-04 9.99663995e-01 2.73919506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.120385723 meters Centerline goodness [0,1] 0.9999775265748253 Centerline is valid? [True, True] Translation: X:185.13, Y:43.91, Z:2.74 [[ 7.25185245e-01 -6.88309513e-01 -1.83405049e-02 1.85134932e+02] [ 6.88059116e-01 7.25416624e-01 -1.85842554e-02 4.39139539e+01] [ 2.60962269e-02 8.57676195e-04 9.99659068e-01 2.73940870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.150385723 meters Centerline goodness [0,1] 0.9999774987624319 Centerline is valid? [True, True] Translation: X:185.16, Y:43.93, Z:2.74 [[ 7.24684154e-01 -6.88839348e-01 -1.82545645e-02 1.85155763e+02] [ 6.88591332e-01 7.24913547e-01 -1.85020738e-02 4.39346818e+01] [ 2.59779375e-02 8.38224792e-04 9.99662165e-01 2.74005205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.18, Y:43.95, Z:2.74 [[ 7.23729313e-01 -6.89867312e-01 -1.72908503e-02 1.85181525e+02] [ 6.89644912e-01 7.23935431e-01 -1.75324896e-02 4.39503961e+01] [ 2.46125506e-02 7.64229749e-04 9.99696773e-01 2.74406574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.210385723 meters Centerline goodness [0,1] 0.9999774576767881 Centerline is valid? [True, True] Translation: X:185.20, Y:43.97, Z:2.74 [[ 7.22705894e-01 -6.90961078e-01 -1.64005988e-02 1.85197983e+02] [ 6.90761143e-01 7.22891629e-01 -1.66353687e-02 4.39735672e+01] [ 2.33502479e-02 6.93582677e-04 9.99727105e-01 2.74488921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.240385723 meters Centerline goodness [0,1] 0.9999774495433532 Centerline is valid? [True, True] Translation: X:185.22, Y:43.99, Z:2.75 [[ 7.22223024e-01 -6.91478040e-01 -1.58752304e-02 1.85217563e+02] [ 6.91290738e-01 7.22397180e-01 -1.61067927e-02 4.39932182e+01] [ 2.26057151e-02 6.58296829e-04 9.99744241e-01 2.74552362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.24, Y:44.01, Z:2.75 [[ 7.21435826e-01 -6.92294313e-01 -1.60914100e-02 1.85242762e+02] [ 6.92101897e-01 7.21614971e-01 -1.63339733e-02 4.40089917e+01] [ 2.29197192e-02 6.47018132e-04 9.99737099e-01 2.74784733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.26, Y:44.03, Z:2.75 [[ 7.21113245e-01 -6.92625440e-01 -1.62999087e-02 1.85263419e+02] [ 6.92427897e-01 7.21297148e-01 -1.65538815e-02 4.40277643e+01] [ 2.32227171e-02 6.50711725e-04 9.99730105e-01 2.74837377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.330385723 meters Centerline goodness [0,1] 0.9999774327495938 Centerline is valid? [True, True] Translation: X:185.28, Y:44.05, Z:2.75 [[ 7.21454897e-01 -6.92246087e-01 -1.72680736e-02 1.85280403e+02] [ 6.92024086e-01 7.21661177e-01 -1.75445197e-02 4.40497704e+01] [ 2.46068234e-02 7.07656849e-04 9.99696956e-01 2.74743884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.30, Y:44.07, Z:2.75 [[ 7.21570923e-01 -6.92114493e-01 -1.76898865e-02 1.85297905e+02] [ 6.91881384e-01 7.21787360e-01 -1.79766037e-02 4.40717855e+01] [ 2.52102045e-02 7.32091372e-04 9.99681904e-01 2.74621361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.390385723 meters Centerline goodness [0,1] 0.9999323928426556 Centerline is valid? [True, True] Translation: X:185.32, Y:44.09, Z:2.75 [[ 7.21934637e-01 -6.91735561e-01 -1.76718042e-02 1.85319441e+02] [ 6.91502668e-01 7.22150505e-01 -1.79640491e-02 4.40907923e+01] [ 2.51880739e-02 7.48769557e-04 9.99682450e-01 2.74751688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.420385723 meters Centerline goodness [0,1] 0.9999775048364602 Centerline is valid? [True, True] Translation: X:185.34, Y:44.11, Z:2.75 [[ 7.21706418e-01 -6.91980845e-01 -1.73884044e-02 1.85338873e+02] [ 6.91755220e-01 7.21915488e-01 -1.76845753e-02 4.41115449e+01] [ 2.47903457e-02 7.34551959e-04 9.99692402e-01 2.74818793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.450385723 meters Centerline goodness [0,1] 0.9999774098086611 Centerline is valid? [True, True] Translation: X:185.36, Y:44.13, Z:2.75 [[ 7.21203768e-01 -6.92518082e-01 -1.68472940e-02 1.85358153e+02] [ 6.92306272e-01 7.21400179e-01 -1.71408468e-02 4.41313866e+01] [ 2.40239872e-02 6.98555969e-04 9.99711138e-01 2.74881847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.38, Y:44.15, Z:2.75 [[ 7.20879851e-01 -6.92850577e-01 -1.70387581e-02 1.85377831e+02] [ 6.92633889e-01 7.21080848e-01 -1.73408666e-02 4.41507836e+01] [ 2.43009515e-02 6.99060032e-04 9.99704444e-01 2.74905883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.510385723 meters Centerline goodness [0,1] 0.9996607179208794 Centerline is valid? [True, True] Translation: X:185.40, Y:44.17, Z:2.75 [[ 7.20724452e-01 -6.92996530e-01 -1.76656039e-02 1.85398255e+02] [ 6.92763416e-01 7.20940554e-01 -1.79879802e-02 4.41718493e+01] [ 2.52014581e-02 7.26293030e-04 9.99682129e-01 2.74863920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.540385723 meters Centerline goodness [0,1] 0.9998188446819591 Centerline is valid? [True, True] Translation: X:185.42, Y:44.19, Z:2.75 [[ 7.20937783e-01 -6.92762253e-01 -1.81431375e-02 1.85416870e+02] [ 6.92516127e-01 7.21165643e-01 -1.84805235e-02 4.41925496e+01] [ 2.58868166e-02 7.58892337e-04 9.99664592e-01 2.74796552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.57038572300002 meters Centerline goodness [0,1] 0.9998870362839456 Centerline is valid? [True, True] Translation: X:185.44, Y:44.21, Z:2.75 [[ 7.21596287e-01 -6.92055644e-01 -1.89151897e-02 1.85437999e+02] [ 6.91787720e-01 7.21843689e-01 -1.92727810e-02 4.42120149e+01] [ 2.69916472e-02 8.21871240e-04 9.99635321e-01 2.74779774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.60038572300002 meters Centerline goodness [0,1] 0.9994331836938285 Centerline is valid? [True, True] Translation: X:185.45, Y:44.23, Z:2.75 [[ 7.21966002e-01 -6.91658487e-01 -1.93294719e-02 1.85454050e+02] [ 6.91378367e-01 7.22224202e-01 -1.97016912e-02 4.42347517e+01] [ 2.75870544e-02 8.59972494e-04 9.99619035e-01 2.74598080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63038572300002 meters Centerline goodness [0,1] 0.9996825324837297 Centerline is valid? [True, True] Translation: X:185.48, Y:44.25, Z:2.75 [[ 7.22598985e-01 -6.90999339e-01 -1.92515160e-02 1.85476481e+02] [ 6.90721076e-01 7.22854847e-01 -1.96282067e-02 4.42536869e+01] [ 2.74791296e-02 8.85894411e-04 9.99621985e-01 2.74796558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.66038572300002 meters Centerline goodness [0,1] 0.999774210300526 Centerline is valid? [True, True] Translation: X:185.49, Y:44.28, Z:2.75 [[ 7.22617237e-01 -6.91003945e-01 -1.83814250e-02 1.85493718e+02] [ 6.90750086e-01 7.22850486e-01 -1.87481872e-02 4.42752973e+01] [ 2.62420933e-02 8.50792356e-04 9.99655255e-01 2.74790782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.690385723 meters Centerline goodness [0,1] 0.9997062744300594 Centerline is valid? [True, True] Translation: X:185.51, Y:44.29, Z:2.75 [[ 7.22499264e-01 -6.91171415e-01 -1.66399466e-02 1.85514911e+02] [ 6.90963297e-01 7.22690448e-01 -1.69776005e-02 4.42948749e+01] [ 2.37599626e-02 7.68711484e-04 9.99717397e-01 2.75126239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.720385723 meters Centerline goodness [0,1] 0.9996623446785521 Centerline is valid? [True, True] Translation: X:185.54, Y:44.32, Z:2.75 [[ 7.22266388e-01 -6.91433352e-01 -1.58488338e-02 1.85535042e+02] [ 6.91244451e-01 7.22439886e-01 -1.61777914e-02 4.43156719e+01] [ 2.26356942e-02 7.29256574e-04 9.99743514e-01 2.75292235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.750385723 meters Centerline goodness [0,1] 0.9999550046120272 Centerline is valid? [True, True] Translation: X:185.55, Y:44.34, Z:2.75 [[ 7.22278930e-01 -6.91446442e-01 -1.46616779e-02 1.85552490e+02] [ 6.91284641e-01 7.22427405e-01 -1.49729410e-02 4.43371635e+01] [ 2.09449847e-02 6.79247086e-04 9.99780399e-01 2.75463405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.780385723 meters Centerline goodness [0,1] 0.9994147307761571 Centerline is valid? [True, True] Translation: X:185.57, Y:44.36, Z:2.75 [[ 7.23041586e-01 -6.90644731e-01 -1.48566544e-02 1.85573938e+02] [ 6.90478258e-01 7.23193847e-01 -1.51800891e-02 4.43570430e+01] [ 2.12282897e-02 7.17638824e-04 9.99774397e-01 2.75484432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.810385723 meters Centerline goodness [0,1] 0.9997750938982974 Centerline is valid? [True, True] Translation: X:185.59, Y:44.38, Z:2.75 [[ 7.23330912e-01 -6.90337718e-01 -1.50408233e-02 1.85587000e+02] [ 6.90166893e-01 7.23486895e-01 -1.53744378e-02 4.43827936e+01] [ 2.14953929e-02 7.40127882e-04 9.99768673e-01 2.75337884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.840385723 meters Centerline goodness [0,1] 0.9994380380785398 Centerline is valid? [True, True] Translation: X:185.61, Y:44.40, Z:2.75 [[ 7.24221803e-01 -6.89382163e-01 -1.59691363e-02 1.85609745e+02] [ 6.89189287e-01 7.24397380e-01 -1.63267497e-02 4.44003407e+01] [ 2.28233705e-02 8.18430403e-04 9.99739178e-01 2.75362011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.870385723 meters Centerline goodness [0,1] 0.9996403605385601 Centerline is valid? [True, True] Translation: X:185.63, Y:44.42, Z:2.75 [[ 7.24639733e-01 -6.88934287e-01 -1.63341692e-02 1.85626902e+02] [ 6.88732288e-01 7.24823301e-01 -1.67038171e-02 4.44227743e+01] [ 2.33472188e-02 8.54379899e-04 9.99727051e-01 2.75245907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.900385723 meters Centerline goodness [0,1] 0.9995515091716375 Centerline is valid? [True, True] Translation: X:185.65, Y:44.44, Z:2.75 [[ 7.24929895e-01 -6.88617523e-01 -1.68093507e-02 1.85645473e+02] [ 6.88403396e-01 7.25124203e-01 -1.71946208e-02 4.44447999e+01] [ 2.40293842e-02 8.93280516e-04 9.99710854e-01 2.75193284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.930385723 meters Centerline goodness [0,1] 0.9996409013376425 Centerline is valid? [True, True] Translation: X:185.67, Y:44.46, Z:2.75 [[ 7.25214296e-01 -6.88304376e-01 -1.73583161e-02 1.85666242e+02] [ 6.88075729e-01 7.25421397e-01 -1.77647848e-02 4.44646777e+01] [ 2.48196730e-02 9.39439942e-04 9.99691503e-01 2.75212608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.960385723 meters Centerline goodness [0,1] 0.9995983846136683 Centerline is valid? [True, True] Translation: X:185.68, Y:44.49, Z:2.75 [[ 7.25013870e-01 -6.88508596e-01 -1.76295484e-02 1.85682679e+02] [ 6.88272627e-01 7.25227555e-01 -1.80495063e-02 4.44861741e+01] [ 2.52126746e-02 9.52206831e-04 9.99681657e-01 2.75217520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.990385723 meters Centerline goodness [0,1] 0.9996438508625487 Centerline is valid? [True, True] Translation: X:185.70, Y:44.51, Z:2.75 [[ 7.24196045e-01 -6.89362083e-01 -1.78887376e-02 1.85703882e+02] [ 6.89119222e-01 7.24416340e-01 -1.83211385e-02 4.45058789e+01] [ 2.55887921e-02 9.40623114e-04 9.99672111e-01 2.75349965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.020385723 meters Centerline goodness [0,1] 0.9995991983967936 Centerline is valid? [True, True] Translation: X:185.72, Y:44.53, Z:2.75 [[ 7.22844648e-01 -6.90778444e-01 -1.79096647e-02 1.85722336e+02] [ 6.90535280e-01 7.23065929e-01 -1.83490927e-02 4.45270667e+01] [ 2.56250260e-02 8.96288130e-04 9.99671223e-01 2.75422687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.050385723 meters Centerline goodness [0,1] 0.999554605380367 Centerline is valid? [True, True] Translation: X:185.74, Y:44.55, Z:2.75 [[ 7.21983037e-01 -6.91678457e-01 -1.79278283e-02 1.85741146e+02] [ 6.91434974e-01 7.22205067e-01 -1.83716459e-02 4.45481171e+01] [ 2.56548401e-02 8.68089180e-04 9.99670484e-01 2.75428472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.080385723 meters Centerline goodness [0,1] 0.9997104934972385 Centerline is valid? [True, True] Translation: X:185.76, Y:44.57, Z:2.75 [[ 7.20171450e-01 -6.93559394e-01 -1.81231882e-02 1.85761713e+02] [ 6.93310999e-01 7.20398990e-01 -1.85783200e-02 4.45690907e+01] [ 2.59410948e-02 8.14569952e-04 9.99663141e-01 2.75470698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.110385723 meters Centerline goodness [0,1] 0.9995789753589789 Centerline is valid? [True, True] Translation: X:185.78, Y:44.59, Z:2.76 [[ 7.19258258e-01 -6.94510912e-01 -1.79485722e-02 1.85781304e+02] [ 6.94267363e-01 7.19481749e-01 -1.84076573e-02 4.45907772e+01] [ 2.56979890e-02 7.78751640e-04 9.99669449e-01 2.75513547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.140385723 meters Centerline goodness [0,1] 0.9998232630067381 Centerline is valid? [True, True] Translation: X:185.80, Y:44.61, Z:2.76 [[ 7.18129730e-01 -6.95682645e-01 -1.77580506e-02 1.85800988e+02] [ 6.95444422e-01 7.18348883e-01 -1.82191703e-02 4.46125466e+01] [ 2.54312365e-02 7.33990625e-04 9.99676304e-01 2.75679057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.170385723 meters Centerline goodness [0,1] 0.9997357410262057 Centerline is valid? [True, True] Translation: X:185.82, Y:44.63, Z:2.76 [[ 7.17489660e-01 -6.96344199e-01 -1.77015412e-02 1.85818929e+02] [ 6.96107590e-01 7.17707636e-01 -1.81651189e-02 4.46340474e+01] [ 2.53537065e-02 7.11107810e-04 9.99678290e-01 2.75749197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.200385723 meters Centerline goodness [0,1] 0.9994041708043694 Centerline is valid? [True, True] Translation: X:185.84, Y:44.65, Z:2.76 [[ 7.16251544e-01 -6.97604613e-01 -1.82079392e-02 1.85839037e+02] [ 6.97354531e-01 7.16482609e-01 -1.86903709e-02 4.46544077e+01] [ 2.60841607e-02 6.89618146e-04 9.99659513e-01 2.75895005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.230385723 meters Centerline goodness [0,1] 0.9993625533037324 Centerline is valid? [True, True] Translation: X:185.86, Y:44.68, Z:2.76 [[ 7.15595905e-01 -6.98268989e-01 -1.85180946e-02 1.85858938e+02] [ 6.98010293e-01 7.15835143e-01 -1.90178832e-02 4.46755090e+01] [ 2.65355010e-02 6.83298740e-04 9.99647638e-01 2.75976590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.260385723 meters Centerline goodness [0,1] 0.9989015093261858 Centerline is valid? [True, True] Translation: X:185.88, Y:44.70, Z:2.76 [[ 7.14830824e-01 -6.99031272e-01 -1.92918079e-02 1.85878094e+02] [ 6.98750489e-01 7.15090767e-01 -1.98229702e-02 4.46961583e+01] [ 2.76522698e-02 6.89909944e-04 9.99617365e-01 2.76014228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.290385723 meters Centerline goodness [0,1] 0.998900615655233 Centerline is valid? [True, True] Translation: X:185.89, Y:44.72, Z:2.76 [[ 7.14524422e-01 -6.99325081e-01 -1.99820401e-02 1.85894997e+02] [ 6.99023708e-01 7.14803420e-01 -2.05408485e-02 4.47180954e+01] [ 2.86479611e-02 7.09018158e-04 9.99589311e-01 2.75939364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.32038572300002 meters Centerline goodness [0,1] 0.9982932913220428 Centerline is valid? [True, True] Translation: X:185.91, Y:44.74, Z:2.76 [[ 7.14569678e-01 -6.99251154e-01 -2.09284189e-02 1.85913174e+02] [ 6.98920386e-01 7.14875697e-01 -2.15181705e-02 4.47399344e+01] [ 3.00078236e-02 7.48933561e-04 9.99549383e-01 2.75970104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.35038572300002 meters Centerline goodness [0,1] 0.9982441508274439 Centerline is valid? [True, True] Translation: X:185.93, Y:44.76, Z:2.76 [[ 7.14091269e-01 -6.99735476e-01 -2.10694746e-02 1.85932473e+02] [ 6.99400208e-01 7.14401650e-01 -2.16709757e-02 4.47607031e+01] [ 3.02160179e-02 7.39059665e-04 9.99543119e-01 2.76045531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.38038572300002 meters Centerline goodness [0,1] 0.9984194582254028 Centerline is valid? [True, True] Translation: X:185.95, Y:44.78, Z:2.76 [[ 7.13248854e-01 -7.00586468e-01 -2.13230756e-02 1.85951602e+02] [ 7.00243111e-01 7.13567154e-01 -2.19431460e-02 4.47822374e+01] [ 3.05885175e-02 7.19586966e-04 9.99531803e-01 2.76176452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.41038572300002 meters Centerline goodness [0,1] 0.9982270279735587 Centerline is valid? [True, True] Translation: X:185.97, Y:44.80, Z:2.76 [[ 7.12663175e-01 -7.01194895e-01 -2.09025986e-02 1.85969832e+02] [ 7.00865003e-01 7.12969320e-01 -2.15173531e-02 4.48029372e+01] [ 2.99907697e-02 6.84725346e-04 9.99549941e-01 2.76191066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.440385723 meters Centerline goodness [0,1] 0.9983838560321482 Centerline is valid? [True, True] Translation: X:185.99, Y:44.82, Z:2.76 [[ 7.11262356e-01 -7.02640159e-01 -2.00665910e-02 1.85990179e+02] [ 7.02336524e-01 7.11545110e-01 -2.06631132e-02 4.48232835e+01] [ 2.87970178e-02 6.03394808e-04 9.99585098e-01 2.76299802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.470385723 meters Centerline goodness [0,1] 0.9984705471071491 Centerline is valid? [True, True] Translation: X:186.01, Y:44.84, Z:2.77 [[ 7.10833682e-01 -7.03074937e-01 -2.00277340e-02 1.86008911e+02] [ 7.02772443e-01 7.11115522e-01 -2.06302562e-02 4.48430504e+01] [ 2.87466486e-02 5.89741471e-04 9.99586556e-01 2.76533030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.500385723 meters Centerline goodness [0,1] 0.9986010928961748 Centerline is valid? [True, True] Translation: X:186.03, Y:44.86, Z:2.77 [[ 7.09548861e-01 -7.04379416e-01 -1.97497124e-02 1.86027800e+02] [ 7.04085660e-01 7.09823467e-01 -2.03476953e-02 4.48632676e+01] [ 2.83513071e-02 5.32194743e-04 9.99597879e-01 2.76640905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.530385723 meters Centerline goodness [0,1] 0.9986010928961748 Centerline is valid? [True, True] Translation: X:186.05, Y:44.88, Z:2.77 [[ 7.09364356e-01 -7.04565322e-01 -1.97463385e-02 1.86046953e+02] [ 7.04271547e-01 7.09638941e-01 -2.03509692e-02 4.48831232e+01] [ 2.83513579e-02 5.29467821e-04 9.99597879e-01 2.76682741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.560385723 meters Centerline goodness [0,1] 0.9987337903331441 Centerline is valid? [True, True] Translation: X:186.07, Y:44.90, Z:2.77 [[ 7.08768557e-01 -7.05157789e-01 -1.99906157e-02 1.86066479e+02] [ 7.04856623e-01 7.09050226e-01 -2.06135707e-02 4.49037000e+01] [ 2.87101706e-02 5.19732893e-04 9.99587643e-01 2.76668777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.590385723 meters Centerline goodness [0,1] 0.9985100462323889 Centerline is valid? [True, True] Translation: X:186.09, Y:44.92, Z:2.77 [[ 7.07840762e-01 -7.06078221e-01 -2.03716147e-02 1.86085901e+02] [ 7.05765626e-01 7.08133673e-01 -2.10138627e-02 4.49238557e+01] [ 2.92632571e-02 4.96883177e-04 9.99571616e-01 2.76629420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.620385723 meters Centerline goodness [0,1] 0.998687233344273 Centerline is valid? [True, True] Translation: X:186.11, Y:44.94, Z:2.77 [[ 7.06946955e-01 -7.06963525e-01 -2.07021122e-02 1.86106288e+02] [ 7.06640863e-01 7.07249851e-01 -2.13621180e-02 4.49431553e+01] [ 2.97438040e-02 4.72925878e-04 9.99557443e-01 2.76736658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.650385723 meters Centerline goodness [0,1] 0.9987489574645538 Centerline is valid? [True, True] Translation: X:186.13, Y:44.96, Z:2.77 [[ 7.06252716e-01 -7.07660070e-01 -2.05991768e-02 1.86125129e+02] [ 7.07340684e-01 7.06552918e-01 -2.12633585e-02 4.49632342e+01] [ 2.96016382e-02 4.46668875e-04 9.99561676e-01 2.76678764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.680385723 meters Centerline goodness [0,1] 0.9988425925925926 Centerline is valid? [True, True] Translation: X:186.14, Y:44.98, Z:2.77 [[ 7.05630563e-01 -7.08268846e-01 -2.09940591e-02 1.86144236e+02] [ 7.07937139e-01 7.05942670e-01 -2.16784324e-02 4.49834367e+01] [ 3.01747604e-02 4.34490309e-04 9.99544544e-01 2.76642896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.710385723 meters Centerline goodness [0,1] 0.998683633172444 Centerline is valid? [True, True] Translation: X:186.17, Y:45.00, Z:2.77 [[ 7.03996699e-01 -7.09876693e-01 -2.15343372e-02 1.86165481e+02] [ 7.09528095e-01 7.04325872e-01 -2.22474369e-02 4.50037347e+01] [ 3.09601277e-02 3.82904922e-04 9.99520547e-01 2.76575364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.740385723 meters Centerline goodness [0,1] 0.9987927742048772 Centerline is valid? [True, True] Translation: X:186.18, Y:45.02, Z:2.77 [[ 7.02760855e-01 -7.11089497e-01 -2.18839637e-02 1.86184956e+02] [ 7.10729820e-01 7.03101423e-01 -2.26166145e-02 4.50226646e+01] [ 3.14690831e-02 3.40485728e-04 9.99504668e-01 2.76555722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.770385723 meters Centerline goodness [0,1] 0.9988173973982742 Centerline is valid? [True, True] Translation: X:186.21, Y:45.04, Z:2.77 [[ 7.00372369e-01 -7.13437436e-01 -2.20356481e-02 1.86206940e+02] [ 7.13073656e-01 7.00718892e-01 -2.27814739e-02 4.50408435e+01] [ 3.16939513e-02 2.42474707e-04 9.99497591e-01 2.76598345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.800385723 meters Centerline goodness [0,1] 0.998840769903762 Centerline is valid? [True, True] Translation: X:186.23, Y:45.06, Z:2.77 [[ 6.98394054e-01 -7.15394086e-01 -2.13786473e-02 1.86229107e+02] [ 7.15052284e-01 6.98721172e-01 -2.21123055e-02 4.50599366e+01] [ 3.07567261e-02 1.56252084e-04 9.99526888e-01 2.76816268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.830385723 meters Centerline goodness [0,1] 0.9989929286073954 Centerline is valid? [True, True] Translation: X:186.25, Y:45.08, Z:2.77 [[ 6.97462436e-01 -7.16331789e-01 -2.03695380e-02 1.86249921e+02] [ 7.16021620e-01 6.97759811e-01 -2.10780973e-02 4.50805469e+01] [ 2.93119562e-02 1.16151500e-04 9.99570306e-01 2.76898341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.860385723 meters Centerline goodness [0,1] 0.9989045657698712 Centerline is valid? [True, True] Translation: X:186.27, Y:45.10, Z:2.77 [[ 6.96441229e-01 -7.17355475e-01 -1.92545588e-02 1.86271186e+02] [ 7.17078481e-01 6.96707340e-01 -1.99332486e-02 4.51006335e+01] [ 2.77140175e-02 7.53063995e-05 9.99615890e-01 2.77161577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.890385723 meters Centerline goodness [0,1] 0.9989932592138667 Centerline is valid? [True, True] Translation: X:186.29, Y:45.12, Z:2.77 [[ 6.96257333e-01 -7.17560961e-01 -1.82207137e-02 1.86291047e+02] [ 7.17312808e-01 6.96495702e-01 -1.88698866e-02 4.51207867e+01] [ 2.62309427e-02 6.83455610e-05 9.99655907e-01 2.77326441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.920385723 meters Centerline goodness [0,1] 0.9990620978471874 Centerline is valid? [True, True] Translation: X:186.31, Y:45.14, Z:2.78 [[ 6.96963091e-01 -7.16912482e-01 -1.67015725e-02 1.86310842e+02] [ 7.16703665e-01 6.97163169e-01 -1.73023607e-02 4.51414213e+01] [ 2.40479996e-02 8.90285882e-05 9.99710801e-01 2.77678340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.950385723 meters Centerline goodness [0,1] 0.9991256830601093 Centerline is valid? [True, True] Translation: X:186.33, Y:45.16, Z:2.78 [[ 6.97352766e-01 -7.16541068e-01 -1.63712385e-02 1.86330137e+02] [ 7.16340131e-01 6.97544900e-01 -1.69684946e-02 4.51619561e+01] [ 2.35782971e-02 1.05651516e-04 9.99721988e-01 2.77738241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.980385723 meters Centerline goodness [0,1] 0.9992579173669162 Centerline is valid? [True, True] Translation: X:186.35, Y:45.18, Z:2.78 [[ 6.98039871e-01 -7.15872073e-01 -1.63558286e-02 1.86347706e+02] [ 7.15671146e-01 6.98231450e-01 -1.69603449e-02 4.51823861e+01] [ 2.35615911e-02 1.33602364e-04 9.99722378e-01 2.77637743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.010385723 meters Centerline goodness [0,1] 0.9991251284967521 Centerline is valid? [True, True] Translation: X:186.37, Y:45.20, Z:2.78 [[ 6.99802621e-01 -7.14148923e-01 -1.63587220e-02 1.86366901e+02] [ 7.13947306e-01 6.99993770e-01 -1.69695760e-02 4.52046150e+01] [ 2.35698079e-02 1.96088243e-04 9.99722174e-01 2.77723722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.040385723 meters Centerline goodness [0,1] 0.9992778677403825 Centerline is valid? [True, True] Translation: X:186.38, Y:45.23, Z:2.78 [[ 7.02343492e-01 -7.11638695e-01 -1.68519265e-02 1.86384561e+02] [ 7.11423843e-01 7.02545573e-01 -1.74880931e-02 4.52267348e+01] [ 2.42844501e-02 2.93786051e-04 9.99705046e-01 2.77660841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.07038572300002 meters Centerline goodness [0,1] 0.9992552515716382 Centerline is valid? [True, True] Translation: X:186.41, Y:45.25, Z:2.78 [[ 7.03466605e-01 -7.10527574e-01 -1.68908635e-02 1.86405774e+02] [ 7.10311264e-01 7.03669278e-01 -1.75344156e-02 4.52468759e+01] [ 2.43442675e-02 3.37105234e-04 9.99703578e-01 2.77839046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.10038572300002 meters Centerline goodness [0,1] 0.999319787598192 Centerline is valid? [True, True] Translation: X:186.42, Y:45.27, Z:2.78 [[ 7.06204115e-01 -7.07789241e-01 -1.76107397e-02 1.86424286e+02] [ 7.07553069e-01 7.06423516e-01 -1.82885655e-02 4.52678962e+01] [ 2.53850905e-02 4.54927272e-04 9.99677643e-01 2.77877459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.13038572300002 meters Centerline goodness [0,1] 0.9994078168180024 Centerline is valid? [True, True] Translation: X:186.44, Y:45.29, Z:2.78 [[ 7.07116164e-01 -7.06869599e-01 -1.79471705e-02 1.86444337e+02] [ 7.06623871e-01 7.07343706e-01 -1.86436665e-02 4.52884230e+01] [ 2.58734592e-02 5.01338832e-04 9.99665100e-01 2.77930285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.16038572300002 meters Centerline goodness [0,1] 0.9994071536789407 Centerline is valid? [True, True] Translation: X:186.46, Y:45.31, Z:2.78 [[ 7.07919277e-01 -7.06064302e-01 -1.79860556e-02 1.86461566e+02] [ 7.05817077e-01 7.08147522e-01 -1.86906551e-02 4.53104711e+01] [ 2.59335850e-02 5.36609838e-04 9.99663524e-01 2.77794890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.190385723 meters Centerline goodness [0,1] 0.9993625252791699 Centerline is valid? [True, True] Translation: X:186.48, Y:45.33, Z:2.78 [[ 7.08867937e-01 -7.05127511e-01 -1.73620579e-02 1.86483702e+02] [ 7.04896734e-01 7.09080310e-01 -1.80473924e-02 4.53289143e+01] [ 2.50368063e-02 5.54759927e-04 9.99686376e-01 2.77997143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.220385723 meters Centerline goodness [0,1] 0.9993422206630416 Centerline is valid? [True, True] Translation: X:186.50, Y:45.35, Z:2.78 [[ 7.09605985e-01 -7.04416012e-01 -1.60445634e-02 1.86504625e+02] [ 7.04218580e-01 7.09787144e-01 -1.66854123e-02 4.53491165e+01] [ 2.31416964e-02 5.41188786e-04 9.99732049e-01 2.78099825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.250385723 meters Centerline goodness [0,1] 0.9994713772824387 Centerline is valid? [True, True] Translation: X:186.53, Y:45.37, Z:2.78 [[ 7.09552814e-01 -7.04484569e-01 -1.53719604e-02 1.86525252e+02] [ 7.04303189e-01 7.09719114e-01 -1.59936617e-02 4.53676341e+01] [ 2.21770620e-02 5.21826927e-04 9.99753923e-01 2.78080775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.280385723 meters Centerline goodness [0,1] 0.9994725738396625 Centerline is valid? [True, True] Translation: X:186.55, Y:45.39, Z:2.78 [[ 7.09537915e-01 -7.04506784e-01 -1.50379040e-02 1.86545558e+02] [ 7.04333024e-01 7.09697066e-01 -1.56545604e-02 4.53864687e+01] [ 2.17011003e-02 5.15811747e-04 9.99764370e-01 2.78358528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.310385723 meters Centerline goodness [0,1] 0.9993811881188119 Centerline is valid? [True, True] Translation: X:186.57, Y:45.40, Z:2.78 [[ 7.09032691e-01 -7.05015651e-01 -1.50191650e-02 1.86567943e+02] [ 7.04842257e-01 7.09191566e-01 -1.56433803e-02 4.54044708e+01] [ 2.16802931e-02 5.05525857e-04 9.99764827e-01 2.78374857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.340385723 meters Centerline goodness [0,1] 0.9996011168727563 Centerline is valid? [True, True] Translation: X:186.59, Y:45.42, Z:2.78 [[ 7.09081437e-01 -7.04961839e-01 -1.52420943e-02 1.86586768e+02] [ 7.04783093e-01 7.09245046e-01 -1.58825822e-02 4.54244844e+01] [ 2.20069942e-02 5.19673916e-04 9.99757682e-01 2.78472732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.370385723 meters Centerline goodness [0,1] 0.999534151156858 Centerline is valid? [True, True] Translation: X:186.61, Y:45.44, Z:2.79 [[ 7.09398340e-01 -7.04648204e-01 -1.49968093e-02 1.86609044e+02] [ 7.04474974e-01 7.09556646e-01 -1.56325465e-02 4.54425181e+01] [ 2.16565315e-02 5.24825688e-04 9.99765332e-01 2.78636550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.400385723 meters Centerline goodness [0,1] 0.9994665599786624 Centerline is valid? [True, True] Translation: X:186.63, Y:45.46, Z:2.79 [[ 7.09578566e-01 -7.04470755e-01 -1.48059085e-02 1.86628129e+02] [ 7.04301735e-01 7.09732821e-01 -1.54398638e-02 4.54631231e+01] [ 2.13851717e-02 5.27969402e-04 9.99771172e-01 2.78672690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.430385723 meters Centerline goodness [0,1] 0.9995769787376155 Centerline is valid? [True, True] Translation: X:186.65, Y:45.48, Z:2.79 [[ 7.09577589e-01 -7.04478721e-01 -1.44698697e-02 1.86650277e+02] [ 7.04317180e-01 7.09724920e-01 -1.50946335e-02 4.54806706e+01] [ 2.09034752e-02 5.19435872e-04 9.99781364e-01 2.78679681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.460385723 meters Centerline goodness [0,1] 0.9994895354772844 Centerline is valid? [True, True] Translation: X:186.67, Y:45.50, Z:2.79 [[ 7.09202750e-01 -7.04856636e-01 -1.44423727e-02 1.86670758e+02] [ 7.04695618e-01 7.09349603e-01 -1.50740260e-02 4.55001055e+01] [ 2.08697186e-02 5.13063910e-04 9.99782072e-01 2.78690507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.490385723 meters Centerline goodness [0,1] 0.9995547342876862 Centerline is valid? [True, True] Translation: X:186.69, Y:45.52, Z:2.79 [[ 7.07751503e-01 -7.06326471e-01 -1.38103632e-02 1.86694651e+02] [ 7.06179373e-01 7.07886086e-01 -1.44216277e-02 4.55167383e+01] [ 1.99625413e-02 4.54335036e-04 9.99800625e-01 2.78834623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.520385723 meters Centerline goodness [0,1] 0.9996199673619028 Centerline is valid? [True, True] Translation: X:186.72, Y:45.53, Z:2.79 [[ 7.06371862e-01 -7.07715027e-01 -1.33503751e-02 1.86717000e+02] [ 7.07577688e-01 7.06497895e-01 -1.39477679e-02 4.55348074e+01] [ 1.93030568e-02 4.05883227e-04 9.99813596e-01 2.78941832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.550385723 meters Centerline goodness [0,1] 0.9995293062871231 Centerline is valid? [True, True] Translation: X:186.74, Y:45.55, Z:2.79 [[ 7.03761729e-01 -7.10326476e-01 -1.24790445e-02 1.86739607e+02] [ 7.10206791e-01 7.03872288e-01 -1.30428963e-02 4.55518725e+01] [ 1.80483682e-02 3.16389102e-04 9.99837065e-01 2.79023078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.580385723 meters Centerline goodness [0,1] 0.9996192182775226 Centerline is valid? [True, True] Translation: X:186.76, Y:45.57, Z:2.79 [[ 7.02674874e-01 -7.11409890e-01 -1.19995501e-02 1.86761539e+02] [ 7.11299325e-01 7.02777269e-01 -1.25451024e-02 4.55705008e+01] [ 1.73577210e-02 2.79856337e-04 9.99849304e-01 2.79100835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.610385723 meters Centerline goodness [0,1] 0.9995066268978045 Centerline is valid? [True, True] Translation: X:186.79, Y:45.59, Z:2.79 [[ 7.00926640e-01 -7.13135385e-01 -1.18223615e-02 1.86785532e+02] [ 7.13028209e-01 7.01026295e-01 -1.23655414e-02 4.55883328e+01] [ 1.71060914e-02 2.37660145e-04 9.99853652e-01 2.79099691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.640385723 meters Centerline goodness [0,1] 0.9995964939810352 Centerline is valid? [True, True] Translation: X:186.80, Y:45.61, Z:2.79 [[ 7.00119010e-01 -7.13915911e-01 -1.25476602e-02 1.86804893e+02] [ 7.13795202e-01 7.00231402e-01 -1.31298965e-02 4.56080165e+01] [ 1.81599078e-02 2.36030491e-04 9.99835067e-01 2.78996889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.670385723 meters Centerline goodness [0,1] 0.9996846988874375 Centerline is valid? [True, True] Translation: X:186.83, Y:45.63, Z:2.79 [[ 6.99153987e-01 -7.14838296e-01 -1.37809311e-02 1.86827380e+02] [ 7.14692770e-01 6.99289751e-01 -1.44253047e-02 4.56253623e+01] [ 1.99486241e-02 2.36377490e-04 9.99800978e-01 2.78814030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.700385723 meters Centerline goodness [0,1] 0.9996622534450149 Centerline is valid? [True, True] Translation: X:186.85, Y:45.64, Z:2.79 [[ 6.98632884e-01 -7.15318401e-01 -1.52210097e-02 1.86848355e+02] [ 7.15140779e-01 6.98798628e-01 -1.59419146e-02 4.56438343e+01] [ 2.20399656e-02 2.52381074e-04 9.99757059e-01 2.78564655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.730385723 meters Centerline goodness [0,1] 0.9996846704806522 Centerline is valid? [True, True] Translation: X:186.87, Y:45.66, Z:2.79 [[ 6.98232679e-01 -7.15695617e-01 -1.58401037e-02 1.86868904e+02] [ 7.15503137e-01 6.98412283e-01 -1.65994969e-02 4.56633976e+01] [ 2.29431101e-02 2.56667343e-04 9.99736739e-01 2.78524730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.760385723 meters Centerline goodness [0,1] 0.9996396802161919 Centerline is valid? [True, True] Translation: X:186.89, Y:45.68, Z:2.79 [[ 6.97782714e-01 -7.16134838e-01 -1.58170173e-02 1.86889290e+02] [ 7.15942826e-01 6.97961913e-01 -1.65842700e-02 4.56828962e+01] [ 2.29162491e-02 2.48136846e-04 9.99737357e-01 2.78527279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.790385723 meters Centerline goodness [0,1] 0.999729260203506 Centerline is valid? [True, True] Translation: X:186.91, Y:45.70, Z:2.79 [[ 6.97161081e-01 -7.16757056e-01 -1.50249926e-02 1.86909999e+02] [ 7.16583787e-01 6.97322934e-01 -1.57607981e-02 4.57017312e+01] [ 2.17739351e-02 2.21148959e-04 9.99762895e-01 2.78519657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.82038572300002 meters Centerline goodness [0,1] 0.9995700676577739 Centerline is valid? [True, True] Translation: X:186.93, Y:45.72, Z:2.79 [[ 6.96741654e-01 -7.17180096e-01 -1.42750563e-02 1.86930284e+02] [ 7.17023678e-01 6.96887846e-01 -1.49791901e-02 4.57218340e+01] [ 2.06908902e-02 2.01072334e-04 9.99785900e-01 2.78684732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.85038572300002 meters Centerline goodness [0,1] 0.9995251447178003 Centerline is valid? [True, True] Translation: X:186.95, Y:45.74, Z:2.78 [[ 6.96403256e-01 -7.17517162e-01 -1.38429438e-02 1.86949072e+02] [ 7.17370003e-01 6.96540800e-01 -1.45324662e-02 4.57407882e+01] [ 2.00694690e-02 1.89944153e-04 9.99798570e-01 2.78471906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.88038572300002 meters Centerline goodness [0,1] 0.9995022737042148 Centerline is valid? [True, True] Translation: X:186.97, Y:45.76, Z:2.78 [[ 6.96308961e-01 -7.17601999e-01 -1.41845881e-02 1.86968787e+02] [ 7.17447396e-01 6.96453396e-01 -1.48963275e-02 4.57607365e+01] [ 2.05685390e-02 1.95750531e-04 9.99788426e-01 2.78392516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.91038572300002 meters Centerline goodness [0,1] 0.9996610169491525 Centerline is valid? [True, True] Translation: X:186.99, Y:45.78, Z:2.79 [[ 6.97564580e-01 -7.16365113e-01 -1.49894031e-02 1.86987894e+02] [ 7.16192020e-01 6.97725564e-01 -1.57489194e-02 4.57805969e+01] [ 2.17404662e-02 2.50597514e-04 9.99763617e-01 2.78503859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.940385723 meters Centerline goodness [0,1] 0.9995022286580537 Centerline is valid? [True, True] Translation: X:187.01, Y:45.80, Z:2.78 [[ 6.97116369e-01 -7.16782928e-01 -1.58430470e-02 1.87007714e+02] [ 7.16589526e-01 6.97296328e-01 -1.66517585e-02 4.58004605e+01] [ 2.29829947e-02 2.55251846e-04 9.99735824e-01 2.78182124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.970385723 meters Centerline goodness [0,1] 0.9996826260428001 Centerline is valid? [True, True] Translation: X:187.03, Y:45.82, Z:2.78 [[ 6.97804513e-01 -7.16107845e-01 -1.60753351e-02 1.87026124e+02] [ 7.15908345e-01 6.97989593e-01 -1.69047509e-02 4.58204793e+01] [ 2.33260413e-02 2.87744880e-04 9.99727869e-01 2.78186904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.000385723 meters Centerline goodness [0,1] 0.9996593928109176 Centerline is valid? [True, True] Translation: X:187.05, Y:45.84, Z:2.78 [[ 6.97746413e-01 -7.16159953e-01 -1.62746651e-02 1.87046068e+02] [ 7.15955276e-01 6.97936125e-01 -1.71233207e-02 4.58403744e+01] [ 2.36217132e-02 2.95803293e-04 9.99720925e-01 2.78243678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.030385723 meters Centerline goodness [0,1] 0.9998641827195147 Centerline is valid? [True, True] Translation: X:187.06, Y:45.86, Z:2.78 [[ 6.97628275e-01 -7.16268057e-01 -1.65789022e-02 1.87064143e+02] [ 7.16055489e-01 6.97825178e-01 -1.74515767e-02 4.58601389e+01] [ 2.40691822e-02 3.03299429e-04 9.99710249e-01 2.78319781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.060385723 meters Centerline goodness [0,1] 0.9997726187498579 Centerline is valid? [True, True] Translation: X:187.08, Y:45.88, Z:2.78 [[ 6.96970505e-01 -7.16916632e-01 -1.62067290e-02 1.87084772e+02] [ 7.16713531e-01 6.97158852e-01 -1.70660323e-02 4.58802466e+01] [ 2.35335870e-02 2.78939189e-04 9.99723008e-01 2.78425685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.090385723 meters Centerline goodness [0,1] 0.9998180080986396 Centerline is valid? [True, True] Translation: X:187.10, Y:45.90, Z:2.79 [[ 6.95461374e-01 -7.18406711e-01 -1.50091694e-02 1.87104690e+02] [ 7.18232744e-01 6.95623283e-01 -1.58105847e-02 4.59002998e+01] [ 2.17991579e-02 2.15574057e-04 9.99762347e-01 2.78544327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.120385723 meters Centerline goodness [0,1] 0.9997953708335228 Centerline is valid? [True, True] Translation: X:187.12, Y:45.92, Z:2.79 [[ 6.94543954e-01 -7.19303562e-01 -1.45286720e-02 1.87124435e+02] [ 7.19140700e-01 6.94695870e-01 -1.53069100e-02 4.59204237e+01] [ 2.11033233e-02 1.83162503e-04 9.99777283e-01 2.78626432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.150385723 meters Centerline goodness [0,1] 0.9998862369456896 Centerline is valid? [True, True] Translation: X:187.15, Y:45.94, Z:2.79 [[ 6.92592687e-01 -7.21188450e-01 -1.42334233e-02 1.87145556e+02] [ 7.21032461e-01 6.92738915e-01 -1.49995276e-02 4.59400244e+01] [ 2.06775322e-02 1.25802900e-04 9.99786189e-01 2.78749979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.180385723 meters Centerline goodness [0,1] 0.9999315630988229 Centerline is valid? [True, True] Translation: X:187.16, Y:45.96, Z:2.79 [[ 6.91793800e-01 -7.21961258e-01 -1.39025209e-02 1.87164138e+02] [ 7.21812471e-01 6.91933473e-01 -1.46569500e-02 4.59600489e+01] [ 2.02013696e-02 1.04574185e-04 9.99795926e-01 2.78820862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.210385723 meters Centerline goodness [0,1] 0.999908914949334 Centerline is valid? [True, True] Translation: X:187.18, Y:45.98, Z:2.79 [[ 6.91315813e-01 -7.22424136e-01 -1.36313494e-02 1.87182789e+02] [ 7.22281110e-01 6.91450186e-01 -1.43749617e-02 4.59801605e+01] [ 1.98102184e-02 9.19721674e-05 9.99803754e-01 2.78849580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.240385723 meters Centerline goodness [0,1] 0.9997269562447382 Centerline is valid? [True, True] Translation: X:187.20, Y:46.00, Z:2.79 [[ 6.89634594e-01 -7.24031742e-01 -1.34967878e-02 1.87201687e+02] [ 7.23891738e-01 6.89766652e-01 -1.42378963e-02 4.60015041e+01] [ 1.96183230e-02 4.87326507e-05 9.99807541e-01 2.78612682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.270385723 meters Centerline goodness [0,1] 0.9999318847489953 Centerline is valid? [True, True] Translation: X:187.22, Y:46.02, Z:2.79 [[ 6.89933868e-01 -7.23762118e-01 -1.26354297e-02 1.87218840e+02] [ 7.23639256e-01 6.90049559e-01 -1.33354556e-02 4.60226260e+01] [ 1.83707703e-02 5.70894714e-05 9.99831242e-01 2.78951019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.300385723 meters Centerline goodness [0,1] 0.9998639949224771 Centerline is valid? [True, True] Translation: X:187.24, Y:46.04, Z:2.79 [[ 6.90019130e-01 -7.23680569e-01 -1.26504960e-02 1.87236987e+02] [ 7.23557317e-01 6.90135082e-01 -1.33558073e-02 4.60436407e+01] [ 1.83958893e-02 6.24035369e-05 9.99830779e-01 2.78977782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.330385723 meters Centerline goodness [0,1] 0.999841417276455 Centerline is valid? [True, True] Translation: X:187.26, Y:46.07, Z:2.79 [[ 6.90108449e-01 -7.23588211e-01 -1.30548568e-02 1.87255369e+02] [ 7.23456795e-01 6.90231914e-01 -1.37902519e-02 4.60650896e+01] [ 1.89893425e-02 7.21445063e-05 9.99819684e-01 2.78886567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.360385723 meters Centerline goodness [0,1] 0.9998868547894367 Centerline is valid? [True, True] Translation: X:187.27, Y:46.09, Z:2.79 [[ 6.91255021e-01 -7.22480354e-01 -1.37344043e-02 1.87272791e+02] [ 7.22334523e-01 6.91391441e-01 -1.45159003e-02 4.60878284e+01] [ 1.99833024e-02 1.13354590e-04 9.99800307e-01 2.78900518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.390385723 meters Centerline goodness [0,1] 0.9998870209689081 Centerline is valid? [True, True] Translation: X:187.29, Y:46.11, Z:2.79 [[ 6.91756037e-01 -7.21986908e-01 -1.44391981e-02 1.87291349e+02] [ 7.21825462e-01 6.91906703e-01 -1.52681746e-02 4.61096448e+01] [ 2.10140001e-02 1.39271122e-04 9.99779172e-01 2.78823629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.420385723 meters Centerline goodness [0,1] 0.9999549153535764 Centerline is valid? [True, True] Translation: X:187.31, Y:46.13, Z:2.79 [[ 6.92816700e-01 -7.20927590e-01 -1.63838460e-02 1.87309331e+02] [ 7.20719218e-01 6.93010368e-01 -1.73331752e-02 4.61326075e+01] [ 2.38501394e-02 2.00560563e-04 9.99715525e-01 2.78687896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.450385723 meters Centerline goodness [0,1] 0.9998200953494648 Centerline is valid? [True, True] Translation: X:187.33, Y:46.15, Z:2.78 [[ 6.92870996e-01 -7.20850858e-01 -1.74304972e-02 1.87328493e+02] [ 7.20614757e-01 6.93090175e-01 -1.84494210e-02 4.61543645e+01] [ 2.53801873e-02 2.22395240e-04 9.99677846e-01 2.78402046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.480385723 meters Centerline goodness [0,1] 0.9998200953494648 Centerline is valid? [True, True] Translation: X:187.35, Y:46.17, Z:2.78 [[ 6.92677090e-01 -7.21037300e-01 -1.74258988e-02 1.87347389e+02] [ 7.20801148e-01 6.92896214e-01 -1.84537637e-02 4.61744802e+01] [ 2.53801912e-02 2.21891475e-04 9.99677846e-01 2.78443792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.36, Y:46.20, Z:2.79 [[ 6.93889480e-01 -7.19859588e-01 -1.78763110e-02 1.87363887e+02] [ 7.19610478e-01 6.94119656e-01 -1.89384287e-02 4.61965179e+01] [ 2.60413083e-02 2.77195752e-04 9.99660829e-01 2.78567733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.540385723 meters Centerline goodness [0,1] 0.9999549285617704 Centerline is valid? [True, True] Translation: X:187.38, Y:46.22, Z:2.79 [[ 6.93901645e-01 -7.19854116e-01 -1.76226873e-02 1.87382796e+02] [ 7.19611863e-01 6.94125331e-01 -1.86759823e-02 4.62175375e+01] [ 2.56763364e-02 2.77799970e-04 9.99670270e-01 2.78643269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.57038572300002 meters Centerline goodness [0,1] 0.9999548491963157 Centerline is valid? [True, True] Translation: X:187.40, Y:46.24, Z:2.79 [[ 6.94211783e-01 -7.19567699e-01 -1.70975962e-02 1.87400452e+02] [ 7.19339389e-01 6.94422239e-01 -1.81272696e-02 4.62384644e+01] [ 2.49167487e-02 2.85189711e-04 9.99689489e-01 2.78725833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.42, Y:46.26, Z:2.79 [[ 6.94161790e-01 -7.19622748e-01 -1.68080297e-02 1.87419551e+02] [ 7.19401958e-01 6.94365193e-01 -1.78269784e-02 4.62591813e+01] [ 2.44996099e-02 2.83077753e-04 9.99699799e-01 2.78847633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.63038572300002 meters Centerline goodness [0,1] 0.9999100476747323 Centerline is valid? [True, True] Translation: X:187.44, Y:46.28, Z:2.79 [[ 6.94161260e-01 -7.19644700e-01 -1.58634923e-02 1.87439047e+02] [ 7.19447838e-01 6.94342445e-01 -1.68338137e-02 4.62790036e+01] [ 2.31290609e-02 2.72426082e-04 9.99732450e-01 2.79117458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.66038572300002 meters Centerline goodness [0,1] 0.9999776461383704 Centerline is valid? [True, True] Translation: X:187.46, Y:46.30, Z:2.79 [[ 6.95297551e-01 -7.18567884e-01 -1.48832579e-02 1.87457808e+02] [ 7.18394183e-01 6.95456763e-01 -1.58015270e-02 4.63013438e+01] [ 2.17051322e-02 2.94717163e-04 9.99764372e-01 2.79432002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.690385723 meters Centerline goodness [0,1] 0.9999552952747105 Centerline is valid? [True, True] Translation: X:187.48, Y:46.32, Z:2.80 [[ 6.96060546e-01 -7.17834361e-01 -1.46132182e-02 1.87477233e+02] [ 7.17666589e-01 6.96213853e-01 -1.55221368e-02 4.63226575e+01] [ 2.13162482e-02 3.16928570e-04 9.99772733e-01 2.79559446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.720385723 meters Centerline goodness [0,1] 0.9999101628298709 Centerline is valid? [True, True] Translation: X:187.49, Y:46.35, Z:2.80 [[ 6.98200591e-01 -7.15761132e-01 -1.42104448e-02 1.87491489e+02] [ 7.15601929e-01 6.98345088e-01 -1.51002240e-02 4.63472629e+01] [ 2.07319477e-02 3.73963619e-04 9.99785000e-01 2.79559377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.51, Y:46.37, Z:2.80 [[ 6.99062317e-01 -7.14922968e-01 -1.40366354e-02 1.87512359e+02] [ 7.14767391e-01 6.99203112e-01 -1.49192709e-02 4.63673091e+01] [ 2.04805886e-02 3.96570832e-04 9.99790172e-01 2.79701119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.53, Y:46.39, Z:2.80 [[ 7.00014819e-01 -7.13985471e-01 -1.42828696e-02 1.87530927e+02] [ 7.13824037e-01 7.00160379e-01 -1.51884067e-02 4.63892778e+01] [ 2.08446011e-02 4.36654114e-04 9.99782632e-01 2.79733246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.55, Y:46.41, Z:2.80 [[ 7.01482506e-01 -7.12526515e-01 -1.51082629e-02 1.87549115e+02] [ 7.12345365e-01 7.01644997e-01 -1.60741645e-02 4.64117271e+01] [ 2.20539055e-02 5.13444153e-04 9.99756651e-01 2.79693216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.840385723 meters Centerline goodness [0,1] 0.9999776286353468 Centerline is valid? [True, True] Translation: X:187.57, Y:46.43, Z:2.80 [[ 7.01928199e-01 -7.12082642e-01 -1.53334679e-02 1.87567192e+02] [ 7.11895804e-01 7.02095450e-01 -1.63200334e-02 4.64327873e+01] [ 2.23867705e-02 5.39660159e-04 9.99749239e-01 2.79696321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.870385723 meters Centerline goodness [0,1] 0.9999549954995499 Centerline is valid? [True, True] Translation: X:187.59, Y:46.45, Z:2.80 [[ 7.02762573e-01 -7.11235170e-01 -1.64103413e-02 1.87586788e+02] [ 7.11020811e-01 7.02953883e-01 -1.74712412e-02 4.64542532e+01] [ 2.39618743e-02 6.10040237e-04 9.99712687e-01 2.79709234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.900385723 meters Centerline goodness [0,1] 0.9999774850838681 Centerline is valid? [True, True] Translation: X:187.61, Y:46.47, Z:2.80 [[ 7.02761926e-01 -7.11231298e-01 -1.66046757e-02 1.87606984e+02] [ 7.11011626e-01 7.02957788e-01 -1.76866169e-02 4.64749250e+01] [ 2.42516616e-02 6.23363515e-04 9.99705691e-01 2.79770250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.930385723 meters Centerline goodness [0,1] 0.9999097248865919 Centerline is valid? [True, True] Translation: X:187.63, Y:46.49, Z:2.80 [[ 7.02178937e-01 -7.11795901e-01 -1.70685529e-02 1.87626457e+02] [ 7.11563716e-01 7.02386078e-01 -1.81899925e-02 4.64947024e+01] [ 2.49362760e-02 6.27266711e-04 9.99688846e-01 2.79719501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.65, Y:46.51, Z:2.80 [[ 7.01708351e-01 -7.12268607e-01 -1.66979394e-02 1.87647520e+02] [ 7.12046309e-01 7.01906736e-01 -1.78041425e-02 4.65139701e+01] [ 2.44017279e-02 6.03609356e-04 9.99702051e-01 2.79994629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.990385723 meters Centerline goodness [0,1] 0.999954948866964 Centerline is valid? [True, True] Translation: X:187.66, Y:46.54, Z:2.80 [[ 7.00816860e-01 -7.13150104e-01 -1.65123916e-02 1.87664899e+02] [ 7.12932807e-01 7.01011129e-01 -1.76127511e-02 4.65355429e+01] [ 2.41359055e-02 5.71087217e-04 9.99708523e-01 2.79854625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.020385723 meters Centerline goodness [0,1] 0.9999322814383422 Centerline is valid? [True, True] Translation: X:187.69, Y:46.56, Z:2.80 [[ 6.99123599e-01 -7.14815323e-01 -1.62863897e-02 1.87687189e+02] [ 7.14604276e-01 6.99313087e-01 -1.73762742e-02 4.65550262e+01] [ 2.38101125e-02 5.09839675e-04 9.99716369e-01 2.80034277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.050385723 meters Centerline goodness [0,1] 0.9999773489172783 Centerline is valid? [True, True] Translation: X:187.71, Y:46.57, Z:2.80 [[ 6.97120712e-01 -7.16764581e-01 -1.64696245e-02 1.87710702e+02] [ 7.16549109e-01 6.97315087e-01 -1.75796674e-02 4.65720765e+01] [ 2.40850006e-02 4.53855523e-04 9.99709811e-01 2.80186224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.73, Y:46.59, Z:2.80 [[ 6.96067132e-01 -7.17788628e-01 -1.64326745e-02 1.87731961e+02] [ 7.17574208e-01 6.96260947e-01 -1.75485044e-02 4.65914509e+01] [ 2.40375464e-02 4.23273745e-04 9.99710967e-01 2.80246221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.75, Y:46.61, Z:2.80 [[ 6.93776357e-01 -7.20004526e-01 -1.63661051e-02 1.87754622e+02] [ 7.19792258e-01 6.93969279e-01 -1.74855850e-02 4.66095740e+01] [ 2.39472745e-02 3.50889691e-04 9.99713161e-01 2.80324125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.77, Y:46.63, Z:2.80 [[ 6.92910510e-01 -7.20842092e-01 -1.61772152e-02 1.87774952e+02] [ 7.20634779e-01 6.93099252e-01 -1.72899313e-02 4.66291739e+01] [ 2.36757260e-02 3.22511234e-04 9.99719639e-01 2.80387933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.80, Y:46.65, Z:2.80 [[ 6.92063805e-01 -7.21658278e-01 -1.60318342e-02 1.87797036e+02] [ 7.21454784e-01 6.92249408e-01 -1.71391858e-02 4.66485818e+01] [ 2.34666631e-02 2.95166663e-04 9.99724576e-01 2.80469100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.200385723 meters Centerline goodness [0,1] 0.999863465695756 Centerline is valid? [True, True] Translation: X:187.82, Y:46.67, Z:2.80 [[ 6.91652099e-01 -7.22044784e-01 -1.63922281e-02 1.87816878e+02] [ 7.21831935e-01 6.91846257e-01 -1.75332353e-02 4.66682589e+01] [ 2.40006828e-02 2.94465297e-04 9.99711899e-01 2.80300817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.84, Y:46.69, Z:2.81 [[ 6.91977689e-01 -7.21730993e-01 -1.64697255e-02 1.87836472e+02] [ 7.21515853e-01 6.92173588e-01 -1.76237644e-02 4.66876127e+01] [ 2.41195260e-02 3.12083741e-04 9.99709033e-01 2.80558178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.260385723 meters Centerline goodness [0,1] 0.9998631355642237 Centerline is valid? [True, True] Translation: X:187.85, Y:46.71, Z:2.80 [[ 6.91847291e-01 -7.21852882e-01 -1.66055204e-02 1.87854917e+02] [ 7.21634099e-01 6.92046471e-01 -1.77738137e-02 4.67071568e+01] [ 2.43218704e-02 3.13655123e-04 9.99704130e-01 2.80334978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.290385723 meters Centerline goodness [0,1] 0.9999771788493576 Centerline is valid? [True, True] Translation: X:187.87, Y:46.73, Z:2.81 [[ 6.92166034e-01 -7.21546415e-01 -1.66418787e-02 1.87874747e+02] [ 7.21326428e-01 6.92365988e-01 -1.78191496e-02 4.67278213e+01] [ 2.43796143e-02 3.29583153e-04 9.99702719e-01 2.80601492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.89, Y:46.75, Z:2.81 [[ 6.92600817e-01 -7.21127493e-01 -1.67106938e-02 1.87893919e+02] [ 7.20905350e-01 6.92802292e-01 -1.79014239e-02 4.67483555e+01] [ 2.44864159e-02 3.51712275e-04 9.99700101e-01 2.80586437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.35038572300002 meters Centerline goodness [0,1] 0.9999315381104519 Centerline is valid? [True, True] Translation: X:187.91, Y:46.77, Z:2.80 [[ 6.93004294e-01 -7.20730889e-01 -1.70890125e-02 1.87911871e+02] [ 7.20498265e-01 6.93214860e-01 -1.83141396e-02 4.67683939e+01] [ 2.50459236e-02 3.79173489e-04 9.99686230e-01 2.80476462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.38038572300002 meters Centerline goodness [0,1] 0.9999771689497717 Centerline is valid? [True, True] Translation: X:187.93, Y:46.79, Z:2.81 [[ 6.92999610e-01 -7.20726953e-01 -1.74413608e-02 1.87931675e+02] [ 7.20484467e-01 6.93218946e-01 -1.86983036e-02 4.67880528e+01] [ 2.55670531e-02 3.91687499e-04 9.99673033e-01 2.80533059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.41038572300002 meters Centerline goodness [0,1] 0.9999770747363594 Centerline is valid? [True, True] Translation: X:187.95, Y:46.81, Z:2.81 [[ 6.93079030e-01 -7.20648818e-01 -1.75139764e-02 1.87950588e+02] [ 7.20404034e-01 6.93300165e-01 -1.87858691e-02 4.68088225e+01] [ 2.56804571e-02 4.02952641e-04 9.99670121e-01 2.80509172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.440385723 meters Centerline goodness [0,1] 0.9999084102305772 Centerline is valid? [True, True] Translation: X:187.97, Y:46.83, Z:2.80 [[ 6.94085351e-01 -7.19682807e-01 -1.73833760e-02 1.87970994e+02] [ 7.19441119e-01 6.94302860e-01 -1.86551471e-02 4.68290624e+01] [ 2.54951163e-02 4.41948836e-04 9.99674849e-01 2.80446734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.99, Y:46.85, Z:2.81 [[ 6.94503403e-01 -7.19278335e-01 -1.74270163e-02 1.87990932e+02] [ 7.19035072e-01 6.94721859e-01 -1.87110427e-02 4.68499403e+01] [ 2.55653768e-02 4.64246925e-04 9.99673045e-01 2.80680942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.01, Y:46.87, Z:2.81 [[ 6.95287214e-01 -7.18513157e-01 -1.77350996e-02 1.88009136e+02] [ 7.18260789e-01 6.95513183e-01 -1.90486750e-02 4.68713561e+01] [ 2.60217191e-02 5.05873516e-04 9.99661250e-01 2.80626486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.03, Y:46.89, Z:2.81 [[ 6.95441918e-01 -7.18361854e-01 -1.77984849e-02 1.88028077e+02] [ 7.18107479e-01 6.95669447e-01 -1.91224884e-02 4.68928056e+01] [ 2.61187284e-02 5.17354926e-04 9.99658714e-01 2.80620655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.560385723 meters Centerline goodness [0,1] 0.9999771051788086 Centerline is valid? [True, True] Translation: X:188.05, Y:46.91, Z:2.81 [[ 6.96501544e-01 -7.17315117e-01 -1.85640166e-02 1.88045706e+02] [ 7.17037795e-01 6.96748649e-01 -1.99529716e-02 4.69142529e+01] [ 2.72470216e-02 5.86173948e-04 9.99628559e-01 2.80501122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.590385723 meters Centerline goodness [0,1] 0.9999771072753079 Centerline is valid? [True, True] Translation: X:188.07, Y:46.94, Z:2.81 [[ 6.96708844e-01 -7.17104251e-01 -1.89282913e-02 1.88065508e+02] [ 7.16815647e-01 6.96965652e-01 -2.03521113e-02 4.69350379e+01] [ 2.77869545e-02 6.11400557e-04 9.99613681e-01 2.80563918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.620385723 meters Centerline goodness [0,1] 0.9999542176948609 Centerline is valid? [True, True] Translation: X:188.08, Y:46.96, Z:2.80 [[ 6.97715324e-01 -7.16110503e-01 -1.94698285e-02 1.88082735e+02] [ 7.15804553e-01 6.97986599e-01 -2.09415525e-02 4.69575679e+01] [ 2.85861451e-02 6.74650235e-04 9.99591105e-01 2.80498305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.650385723 meters Centerline goodness [0,1] 0.9999543629061701 Centerline is valid? [True, True] Translation: X:188.10, Y:46.98, Z:2.81 [[ 6.97940251e-01 -7.15895101e-01 -1.93290064e-02 1.88101955e+02] [ 7.15593299e-01 6.98207518e-01 -2.07964393e-02 4.69787272e+01] [ 2.83837266e-02 6.82964554e-04 9.99596868e-01 2.80588812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.680385723 meters Centerline goodness [0,1] 0.999862725359202 Centerline is valid? [True, True] Translation: X:188.12, Y:47.00, Z:2.81 [[ 6.97971865e-01 -7.15882361e-01 -1.86472923e-02 1.88120516e+02] [ 7.15601207e-01 6.98220597e-01 -2.00726458e-02 4.69994433e+01] [ 2.73895766e-02 6.66117113e-04 9.99624613e-01 2.80639123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.14, Y:47.02, Z:2.81 [[ 6.97022576e-01 -7.16815200e-01 -1.83166061e-02 1.88140437e+02] [ 7.16543991e-01 6.97262919e-01 -1.97263647e-02 4.70204112e+01] [ 2.69116483e-02 6.25067461e-04 9.99637621e-01 2.80899098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.740385723 meters Centerline goodness [0,1] 0.9999542668983811 Centerline is valid? [True, True] Translation: X:188.16, Y:47.04, Z:2.81 [[ 6.95423989e-01 -7.18396867e-01 -1.70709477e-02 1.88161818e+02] [ 7.18161567e-01 6.95633279e-01 -1.83930535e-02 4.70395136e+01] [ 2.50886314e-02 5.31272084e-04 9.99685090e-01 2.81058072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.770385723 meters Centerline goodness [0,1] 0.9999083787621971 Centerline is valid? [True, True] Translation: X:188.18, Y:47.06, Z:2.81 [[ 6.94852390e-01 -7.18959137e-01 -1.66707672e-02 1.88182029e+02] [ 7.18734702e-01 6.95052159e-01 -1.79700794e-02 4.70608707e+01] [ 2.45068055e-02 5.04693695e-04 9.99699536e-01 2.81270172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.20, Y:47.08, Z:2.81 [[ 6.94324201e-01 -7.19468260e-01 -1.67130747e-02 1.88201656e+02] [ 7.19242618e-01 6.94525146e-01 -1.80243905e-02 4.70805663e+01] [ 2.45756276e-02 4.94014927e-04 9.99697852e-01 2.81371763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.22, Y:47.10, Z:2.81 [[ 6.94253735e-01 -7.19534894e-01 -1.67716611e-02 1.88219425e+02] [ 7.19307481e-01 6.94456109e-01 -1.80958455e-02 4.71008839e+01] [ 2.46677748e-02 4.99127055e-04 9.99695580e-01 2.81317595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.860385723 meters Centerline goodness [0,1] 0.9999314270040458 Centerline is valid? [True, True] Translation: X:188.24, Y:47.12, Z:2.81 [[ 6.94336307e-01 -7.19435003e-01 -1.76173106e-02 1.88238875e+02] [ 7.19183859e-01 6.94559568e-01 -1.90153439e-02 4.71223659e+01] [ 2.59165756e-02 5.32958218e-04 9.99663967e-01 2.81243405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.890385723 meters Centerline goodness [0,1] 0.9999770558002937 Centerline is valid? [True, True] Translation: X:188.25, Y:47.15, Z:2.81 [[ 6.94506201e-01 -7.19248448e-01 -1.85150419e-02 1.88254647e+02] [ 7.18970804e-01 6.94752720e-01 -1.99910107e-02 4.71460976e+01] [ 2.72418792e-02 5.72106359e-04 9.99628707e-01 2.80908486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.28, Y:47.16, Z:2.81 [[ 6.94667152e-01 -7.19088826e-01 -1.86763951e-02 1.88277009e+02] [ 7.18806093e-01 6.94917920e-01 -2.01714157e-02 4.71648593e+01] [ 2.74836013e-02 5.87713255e-04 9.99622082e-01 2.81117767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.950385723 meters Centerline goodness [0,1] 0.9999770694794772 Centerline is valid? [True, True] Translation: X:188.30, Y:47.18, Z:2.81 [[ 6.94570344e-01 -7.19185013e-01 -1.85729423e-02 1.88295234e+02] [ 7.18905205e-01 6.94818374e-01 -2.00682084e-02 4.71847718e+01] [ 2.73375763e-02 5.86597524e-04 9.99626087e-01 2.81172059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.980385723 meters Centerline goodness [0,1] 0.9998629792870356 Centerline is valid? [True, True] Translation: X:188.31, Y:47.21, Z:2.81 [[ 6.93466755e-01 -7.20248183e-01 -1.86122350e-02 1.88312058e+02] [ 7.19967418e-01 6.93716263e-01 -2.01162619e-02 4.72069239e+01] [ 2.74003112e-02 5.49756056e-04 9.99624390e-01 2.81074629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.010385723 meters Centerline goodness [0,1] 0.9999542344568774 Centerline is valid? [True, True] Translation: X:188.33, Y:47.23, Z:2.81 [[ 6.93290147e-01 -7.20430790e-01 -1.81176366e-02 1.88333634e+02] [ 7.20164648e-01 6.93526634e-01 -1.95879376e-02 4.72253514e+01] [ 2.66768169e-02 5.32442737e-04 9.99643969e-01 2.81382674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.040385723 meters Centerline goodness [0,1] 0.9999314081898621 Centerline is valid? [True, True] Translation: X:188.35, Y:47.25, Z:2.81 [[ 6.92919756e-01 -7.20793138e-01 -1.78735726e-02 1.88351486e+02] [ 7.20533989e-01 6.93150045e-01 -1.93335639e-02 4.72462400e+01] [ 2.63245678e-02 5.18091840e-04 9.99653314e-01 2.81398052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.07038572300002 meters Centerline goodness [0,1] 0.9999313061000183 Centerline is valid? [True, True] Translation: X:188.37, Y:47.27, Z:2.82 [[ 6.92894598e-01 -7.20817306e-01 -1.78742166e-02 1.88371427e+02] [ 7.20557893e-01 6.93124907e-01 -1.93438749e-02 4.72653938e+01] [ 2.63324646e-02 5.23858556e-04 9.99653103e-01 2.81534183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.10038572300002 meters Centerline goodness [0,1] 0.9999771778077002 Centerline is valid? [True, True] Translation: X:188.39, Y:47.29, Z:2.82 [[ 6.92887842e-01 -7.20816824e-01 -1.81533872e-02 1.88391108e+02] [ 7.20548963e-01 6.93125397e-01 -1.96564490e-02 4.72866937e+01] [ 2.67512728e-02 5.39310209e-04 9.99641975e-01 2.81557771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.13038572300002 meters Centerline goodness [0,1] 0.9999540915872833 Centerline is valid? [True, True] Translation: X:188.41, Y:47.31, Z:2.82 [[ 6.92519164e-01 -7.21178075e-01 -1.78715572e-02 1.88410390e+02] [ 7.20918327e-01 6.92749529e-01 -1.93612044e-02 4.73069017e+01] [ 2.63433890e-02 5.24071993e-04 9.99652815e-01 2.81694137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.16038572300002 meters Centerline goodness [0,1] 0.9999541073887104 Centerline is valid? [True, True] Translation: X:188.43, Y:47.33, Z:2.82 [[ 6.92326246e-01 -7.21364727e-01 -1.78129280e-02 1.88428178e+02] [ 7.21106516e-01 6.92555167e-01 -1.93062994e-02 4.73272062e+01] [ 2.62633187e-02 5.21239373e-04 9.99654924e-01 2.81705010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.190385723 meters Centerline goodness [0,1] 0.999748180028387 Centerline is valid? [True, True] Translation: X:188.45, Y:47.35, Z:2.82 [[ 6.91699712e-01 -7.21955196e-01 -1.82264484e-02 1.88447176e+02] [ 7.21684841e-01 6.91939614e-01 -1.97626388e-02 4.73472919e+01] [ 2.68793414e-02 5.16060121e-04 9.99638552e-01 2.81546794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.220385723 meters Centerline goodness [0,1] 0.9999771072753079 Centerline is valid? [True, True] Translation: X:188.47, Y:47.37, Z:2.82 [[ 6.92203402e-01 -7.21485322e-01 -1.77025705e-02 1.88465797e+02] [ 7.21229876e-01 6.92429530e-01 -1.92044530e-02 4.73687671e+01] [ 2.61135135e-02 5.25765022e-04 9.99658846e-01 2.81855108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.250385723 meters Centerline goodness [0,1] 0.9999772685942899 Centerline is valid? [True, True] Translation: X:188.48, Y:47.39, Z:2.82 [[ 6.92484849e-01 -7.21210904e-01 -1.78764246e-02 1.88483202e+02] [ 7.20950127e-01 6.92715334e-01 -1.94005136e-02 4.73913070e+01] [ 2.63751354e-02 5.46551094e-04 9.99651966e-01 2.81789030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.50, Y:47.41, Z:2.82 [[ 6.93685904e-01 -7.20046103e-01 -1.82613128e-02 1.88501596e+02] [ 7.19773385e-01 6.93925961e-01 -1.98251051e-02 4.74132920e+01] [ 2.69469887e-02 6.08389021e-04 9.99636679e-01 2.81797640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.310385723 meters Centerline goodness [0,1] 0.9999771960229864 Centerline is valid? [True, True] Translation: X:188.52, Y:47.44, Z:2.82 [[ 6.94707119e-01 -7.19038043e-01 -1.91392632e-02 1.88520262e+02] [ 7.18737796e-01 6.94970375e-01 -2.07884234e-02 4.74356388e+01] [ 2.82488882e-02 6.85753896e-04 9.99600685e-01 2.81837362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.340385723 meters Centerline goodness [0,1] 0.9999771960229864 Centerline is valid? [True, True] Translation: X:188.54, Y:47.46, Z:2.82 [[ 6.94510289e-01 -7.19228302e-01 -1.91339486e-02 1.88538906e+02] [ 7.18927992e-01 6.94773474e-01 -2.07933145e-02 4.74560039e+01] [ 2.82489002e-02 6.85239621e-04 9.99600685e-01 2.81879121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.370385723 meters Centerline goodness [0,1] 0.9998403066113063 Centerline is valid? [True, True] Translation: X:188.56, Y:47.48, Z:2.82 [[ 6.94550046e-01 -7.19187464e-01 -1.92256355e-02 1.88558021e+02] [ 7.18883945e-01 6.94815734e-01 -2.09038100e-02 4.74780009e+01] [ 2.83920322e-02 6.97741518e-04 9.99596621e-01 2.81703282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.58, Y:47.50, Z:2.82 [[ 6.95015313e-01 -7.18755104e-01 -1.85692168e-02 1.88577042e+02] [ 7.18471544e-01 6.95262982e-01 -2.01996772e-02 4.74996420e+01] [ 2.74291101e-02 6.97631132e-04 9.99623508e-01 2.82010982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.59, Y:47.52, Z:2.82 [[ 6.95251230e-01 -7.18547658e-01 -1.77479661e-02 1.88594814e+02] [ 7.18288307e-01 6.95477390e-01 -1.93160261e-02 4.75216151e+01] [ 2.62227945e-02 6.81334433e-04 9.99655891e-01 2.82128362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.460385723 meters Centerline goodness [0,1] 0.9998411581837573 Centerline is valid? [True, True] Translation: X:188.61, Y:47.54, Z:2.82 [[ 6.95136431e-01 -7.18648190e-01 -1.81692550e-02 1.88613592e+02] [ 7.18376129e-01 6.95373488e-01 -1.97850795e-02 4.75430494e+01] [ 2.68529297e-02 7.00970469e-04 9.99639149e-01 2.81966609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.490385723 meters Centerline goodness [0,1] 0.9999772995550713 Centerline is valid? [True, True] Translation: X:188.63, Y:47.56, Z:2.82 [[ 6.95902035e-01 -7.17916026e-01 -1.78027529e-02 1.88632385e+02] [ 7.17654347e-01 6.96129342e-01 -1.93953060e-02 4.75647248e+01] [ 2.63172197e-02 7.21009905e-04 9.99653382e-01 2.82350505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.520385723 meters Centerline goodness [0,1] 0.9999773863096719 Centerline is valid? [True, True] Translation: X:188.65, Y:47.59, Z:2.82 [[ 6.95911469e-01 -7.17908177e-01 -1.77504258e-02 1.88649699e+02] [ 7.17647822e-01 6.96137432e-01 -1.93463019e-02 4.75853668e+01] [ 2.62456042e-02 7.24758991e-04 9.99655262e-01 2.82366818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.550385723 meters Centerline goodness [0,1] 0.9999773062521276 Centerline is valid? [True, True] Translation: X:188.67, Y:47.61, Z:2.82 [[ 6.96321418e-01 -7.17504403e-01 -1.79976319e-02 1.88668327e+02] [ 7.17236406e-01 6.96553559e-01 -1.96233574e-02 4.76076018e+01] [ 2.66161599e-02 7.55607223e-04 9.99645442e-01 2.82457332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.580385723 meters Centerline goodness [0,1] 0.9999547705737353 Centerline is valid? [True, True] Translation: X:188.69, Y:47.63, Z:2.82 [[ 6.96642553e-01 -7.17193420e-01 -1.79652818e-02 1.88686226e+02] [ 7.16926034e-01 6.96873734e-01 -1.95974760e-02 4.76298061e+01] [ 2.65747139e-02 7.72657455e-04 9.99646531e-01 2.82470494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.610385723 meters Centerline goodness [0,1] 0.9999319542732716 Centerline is valid? [True, True] Translation: X:188.70, Y:47.65, Z:2.83 [[ 6.97065390e-01 -7.16789008e-01 -1.77019886e-02 1.88703806e+02] [ 7.16529073e-01 6.97289687e-01 -1.93178792e-02 4.76512381e+01] [ 2.61902575e-02 7.81835516e-04 9.99656671e-01 2.82524754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.72, Y:47.67, Z:2.83 [[ 6.97313272e-01 -7.16545297e-01 -1.78055726e-02 1.88723507e+02] [ 7.16282041e-01 6.97540104e-01 -1.94381422e-02 4.76722931e+01] [ 2.63484103e-02 8.00662648e-04 9.99652500e-01 2.82611422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.670385723 meters Centerline goodness [0,1] 0.999977335055869 Centerline is valid? [True, True] Translation: X:188.74, Y:47.69, Z:2.83 [[ 6.97448159e-01 -7.16417552e-01 -1.76622969e-02 1.88743101e+02] [ 7.16158228e-01 6.97671299e-01 -1.92912102e-02 4.76936020e+01] [ 2.61430392e-02 8.05619779e-04 9.99657888e-01 2.82666914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.700385723 meters Centerline goodness [0,1] 0.9999773842639709 Centerline is valid? [True, True] Translation: X:188.76, Y:47.72, Z:2.83 [[ 6.97711814e-01 -7.16145957e-01 -1.82535963e-02 1.88759605e+02] [ 7.15868608e-01 6.97950031e-01 -1.99471914e-02 4.77168140e+01] [ 2.70251986e-02 8.50214559e-04 9.99634391e-01 2.82617405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.730385723 meters Centerline goodness [0,1] 0.9999774082776071 Centerline is valid? [True, True] Translation: X:188.78, Y:47.74, Z:2.83 [[ 6.97945908e-01 -7.15911174e-01 -1.85121699e-02 1.88779157e+02] [ 7.15625550e-01 6.98190818e-01 -2.02399058e-02 4.77378249e+01] [ 2.74150017e-02 8.78577679e-04 9.99623752e-01 2.82669036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.80, Y:47.76, Z:2.83 [[ 6.98103439e-01 -7.15750509e-01 -1.87828714e-02 1.88796425e+02] [ 7.15456199e-01 6.98355492e-01 -2.05434882e-02 4.77591091e+01] [ 2.78211335e-02 9.03157953e-04 9.99612509e-01 2.82703966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.790385723 meters Centerline goodness [0,1] 0.9997752859486304 Centerline is valid? [True, True] Translation: X:188.81, Y:47.78, Z:2.83 [[ 6.97944441e-01 -7.15882113e-01 -1.96559677e-02 1.88814261e+02] [ 7.15559708e-01 6.98220531e-01 -2.15033384e-02 4.77809236e+01] [ 2.91180556e-02 9.43117009e-04 9.99575535e-01 2.82567220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.82038572300002 meters Centerline goodness [0,1] 0.9998872273721722 Centerline is valid? [True, True] Translation: X:188.83, Y:47.80, Z:2.83 [[ 6.98063358e-01 -7.15782242e-01 -1.90612288e-02 1.88834235e+02] [ 7.15478795e-01 6.98322940e-01 -2.08606263e-02 4.78012302e+01] [ 2.82425592e-02 9.24133882e-04 9.99600672e-01 2.82904192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.85038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.85, Y:47.82, Z:2.83 [[ 6.97848556e-01 -7.15987923e-01 -1.92012149e-02 1.88850666e+02] [ 7.15679798e-01 6.98112047e-01 -2.10237284e-02 4.78229293e+01] [ 2.84573351e-02 9.29456911e-04 9.99594576e-01 2.82808058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.88038572300002 meters Centerline goodness [0,1] 0.9999775164691863 Centerline is valid? [True, True] Translation: X:188.87, Y:47.84, Z:2.83 [[ 6.97689120e-01 -7.16130107e-01 -1.96865735e-02 1.88869394e+02] [ 7.15805991e-01 6.97966160e-01 -2.15643905e-02 4.78446432e+01] [ 2.91834714e-02 9.53473434e-04 9.99573617e-01 2.82801396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.91038572300002 meters Centerline goodness [0,1] 0.9999550440568243 Centerline is valid? [True, True] Translation: X:188.89, Y:47.86, Z:2.83 [[ 6.97088239e-01 -7.16694492e-01 -2.04204067e-02 1.88889540e+02] [ 7.16345642e-01 6.97386592e-01 -2.23799361e-02 4.78649122e+01] [ 3.02804948e-02 9.72720840e-04 9.99540967e-01 2.82808512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.91, Y:47.89, Z:2.83 [[ 6.96513859e-01 -7.17237770e-01 -2.09385976e-02 1.88908384e+02] [ 7.16870832e-01 6.96827824e-01 -2.29607026e-02 4.78857636e+01] [ 3.10588806e-02 9.82177675e-04 9.99517074e-01 2.82806307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.970385723 meters Centerline goodness [0,1] 0.9999775528070215 Centerline is valid? [True, True] Translation: X:188.93, Y:47.91, Z:2.83 [[ 6.95960987e-01 -7.17774467e-01 -2.09312682e-02 1.88927991e+02] [ 7.17407686e-01 6.96275004e-01 -2.29636799e-02 4.79076875e+01] [ 3.10566620e-02 9.65572600e-04 9.99517159e-01 2.82879344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.000385723 meters Centerline goodness [0,1] 0.9997750230601363 Centerline is valid? [True, True] Translation: X:188.95, Y:47.93, Z:2.83 [[ 6.94276519e-01 -7.19394331e-01 -2.12581965e-02 1.88947176e+02] [ 7.19016542e-01 6.94601299e-01 -2.33291118e-02 4.79279466e+01] [ 3.15488017e-02 9.11859541e-04 9.99501797e-01 2.82613455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.97, Y:47.95, Z:2.83 [[ 6.94287734e-01 -7.19416056e-01 -2.01266088e-02 1.88967581e+02] [ 7.19077291e-01 6.94578857e-01 -2.20920960e-02 4.79489992e+01] [ 2.98729255e-02 8.65683941e-04 9.99553330e-01 2.83094310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.060385723 meters Centerline goodness [0,1] 0.9998649378714208 Centerline is valid? [True, True] Translation: X:188.99, Y:47.97, Z:2.83 [[ 6.93081206e-01 -7.20598125e-01 -1.94109321e-02 1.88990011e+02] [ 7.20283258e-01 6.93352519e-01 -2.13145963e-02 4.79672861e+01] [ 2.88178768e-02 7.91376715e-04 9.99584365e-01 2.83346413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.01, Y:47.99, Z:2.84 [[ 6.92899090e-01 -7.20800036e-01 -1.83891051e-02 1.89008088e+02] [ 7.20517334e-01 6.93142663e-01 -2.01995012e-02 4.79889364e+01] [ 2.73060745e-02 7.46547017e-04 9.99626841e-01 2.83561687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.03, Y:48.01, Z:2.84 [[ 6.92686412e-01 -7.21001065e-01 -1.85202499e-02 1.89025653e+02] [ 7.20714257e-01 6.92933551e-01 -2.03482942e-02 4.80090961e+01] [ 2.75044443e-02 7.47178760e-04 9.99621402e-01 2.83598595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.150385723 meters Centerline goodness [0,1] 0.9998648496452304 Centerline is valid? [True, True] Translation: X:189.05, Y:48.03, Z:2.83 [[ 6.91756399e-01 -7.21888283e-01 -1.87187441e-02 1.89045866e+02] [ 7.21595397e-01 6.92009235e-01 -2.05742996e-02 4.80299511e+01] [ 2.78058896e-02 7.25043859e-04 9.99613079e-01 2.83497181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.180385723 meters Centerline goodness [0,1] 0.9999774475090774 Centerline is valid? [True, True] Translation: X:189.07, Y:48.05, Z:2.84 [[ 6.91564976e-01 -7.22080966e-01 -1.83565106e-02 1.89066135e+02] [ 7.21799094e-01 6.91808191e-01 -2.01864928e-02 4.80488891e+01] [ 2.72754666e-02 7.10558681e-04 9.99627703e-01 2.83846235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.210385723 meters Centerline goodness [0,1] 0.999932211049599 Centerline is valid? [True, True] Translation: X:189.09, Y:48.07, Z:2.84 [[ 6.90604890e-01 -7.22982810e-01 -1.89932464e-02 1.89085334e+02] [ 7.22681062e-01 6.90865659e-01 -2.08979433e-02 4.80701947e+01] [ 2.82306355e-02 7.06162341e-04 9.99601187e-01 2.83826616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.240385723 meters Centerline goodness [0,1] 0.9998872350022553 Centerline is valid? [True, True] Translation: X:189.10, Y:48.09, Z:2.84 [[ 6.89850510e-01 -7.23700289e-01 -1.90831273e-02 1.89103539e+02] [ 7.23395748e-01 6.90114065e-01 -2.10040268e-02 4.80914517e+01] [ 2.83701548e-02 6.84985408e-04 9.99597251e-01 2.83654239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.270385723 meters Centerline goodness [0,1] 0.9998870362839456 Centerline is valid? [True, True] Translation: X:189.12, Y:48.11, Z:2.84 [[ 6.88948324e-01 -7.24562736e-01 -1.89485922e-02 1.89124134e+02] [ 7.24262611e-01 6.89208546e-01 -2.08626546e-02 4.81118024e+01] [ 2.81758337e-02 6.49534052e-04 9.99602771e-01 2.83729791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.14, Y:48.13, Z:2.84 [[ 6.88621768e-01 -7.24889130e-01 -1.83251107e-02 1.89142640e+02] [ 7.24608361e-01 6.88865273e-01 -2.01831477e-02 4.81328545e+01] [ 2.72540767e-02 6.20026464e-04 9.99628346e-01 2.83853562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.330385723 meters Centerline goodness [0,1] 0.999977452594079 Centerline is valid? [True, True] Translation: X:189.16, Y:48.15, Z:2.84 [[ 6.86891985e-01 -7.26528183e-01 -1.83357638e-02 1.89162122e+02] [ 7.26247553e-01 6.87136440e-01 -2.01991314e-02 4.81522946e+01] [ 2.72744097e-02 5.58317845e-04 9.99627828e-01 2.83862279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.360385723 meters Centerline goodness [0,1] 0.9999774805206504 Centerline is valid? [True, True] Translation: X:189.18, Y:48.17, Z:2.84 [[ 6.85139280e-01 -7.28181823e-01 -1.83139147e-02 1.89183074e+02] [ 7.27902330e-01 6.85383825e-01 -2.01794640e-02 4.81714225e+01] [ 2.72463798e-02 4.95002249e-04 9.99628626e-01 2.83986198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.20, Y:48.19, Z:2.84 [[ 6.84313769e-01 -7.28957519e-01 -1.83194294e-02 1.89203173e+02] [ 7.28677965e-01 6.84558775e-01 -2.01917583e-02 4.81922621e+01] [ 2.72596602e-02 4.68533675e-04 9.99628277e-01 2.84061782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.22, Y:48.21, Z:2.84 [[ 6.83422365e-01 -7.29799420e-01 -1.80742430e-02 1.89223747e+02] [ 7.29527352e-01 6.83661186e-01 -1.99305183e-02 4.82133082e+01] [ 2.69019391e-02 4.35307286e-04 9.99637983e-01 2.84123905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.24, Y:48.23, Z:2.84 [[ 6.81967402e-01 -7.31172640e-01 -1.75223339e-02 1.89242838e+02] [ 7.30917231e-01 6.82192371e-01 -1.93279877e-02 4.82332805e+01] [ 2.60856982e-02 3.73681796e-04 9.99659640e-01 2.84170005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.26, Y:48.25, Z:2.84 [[ 6.81066206e-01 -7.32019494e-01 -1.72128774e-02 1.89261623e+02] [ 7.31773159e-01 6.81283601e-01 -1.89920735e-02 4.82546833e+01] [ 2.56294191e-02 3.38937727e-04 9.99671455e-01 2.84193258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.28, Y:48.28, Z:2.84 [[ 6.79659136e-01 -7.33341393e-01 -1.65487133e-02 1.89281540e+02] [ 7.33113897e-01 6.79860515e-01 -1.82672859e-02 4.82763151e+01] [ 2.46469737e-02 2.83436061e-04 9.99696177e-01 2.84262340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.30, Y:48.30, Z:2.84 [[ 6.79006662e-01 -7.33955569e-01 -1.60988996e-02 1.89300578e+02] [ 7.33740301e-01 6.79197435e-01 -1.77768275e-02 4.82969673e+01] [ 2.39817328e-02 2.58172864e-04 9.99712364e-01 2.84342560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.57038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.32, Y:48.32, Z:2.85 [[ 6.78189289e-01 -7.34716616e-01 -1.58361181e-02 1.89320746e+02] [ 7.34508414e-01 6.78374116e-01 -1.74913827e-02 4.83183531e+01] [ 2.35940221e-02 2.30706356e-04 9.99721596e-01 2.84511340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.34, Y:48.34, Z:2.85 [[ 6.77772173e-01 -7.35115033e-01 -1.51910991e-02 1.89339323e+02] [ 7.34923368e-01 6.77942359e-01 -1.67869096e-02 4.83400363e+01] [ 2.26389991e-02 2.13406447e-04 9.99743682e-01 2.84696593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.36, Y:48.36, Z:2.85 [[ 6.77810421e-01 -7.35075429e-01 -1.53995795e-02 1.89356571e+02] [ 7.34878237e-01 6.77985298e-01 -1.70268440e-02 4.83619165e+01] [ 2.29567031e-02 2.24156438e-04 9.99736435e-01 2.84706809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.66038572300002 meters Centerline goodness [0,1] 0.9999775361667715 Centerline is valid? [True, True] Translation: X:189.37, Y:48.38, Z:2.85 [[ 6.78242530e-01 -7.34663633e-01 -1.60130080e-02 1.89373640e+02] [ 7.34450109e-01 6.78431486e-01 -1.77131699e-02 4.83838190e+01] [ 2.38769506e-02 2.53069698e-04 9.99714873e-01 2.84638558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.690385723 meters Centerline goodness [0,1] 0.9999775935469415 Centerline is valid? [True, True] Translation: X:189.39, Y:48.41, Z:2.84 [[ 6.78648975e-01 -7.34254922e-01 -1.74722243e-02 1.89391472e+02] [ 7.34000386e-01 6.78873789e-01 -1.93342047e-02 4.84066898e+01] [ 2.60576701e-02 2.96518788e-04 9.99660397e-01 2.84476671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.41, Y:48.43, Z:2.84 [[ 6.78823228e-01 -7.34076667e-01 -1.81788856e-02 1.89410008e+02] [ 7.33800790e-01 6.79066523e-01 -2.01260487e-02 4.84284928e+01] [ 2.71187353e-02 3.22348736e-04 9.99632167e-01 2.84473769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.750385723 meters Centerline goodness [0,1] 0.9998432145496898 Centerline is valid? [True, True] Translation: X:189.43, Y:48.45, Z:2.84 [[ 6.77990901e-01 -7.34826607e-01 -1.89260756e-02 1.89426279e+02] [ 7.34527628e-01 6.78254938e-01 -2.09619132e-02 4.84497438e+01] [ 2.82400758e-02 3.10261034e-04 9.99601121e-01 2.84164542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.780385723 meters Centerline goodness [0,1] 0.9999550480985345 Centerline is valid? [True, True] Translation: X:189.44, Y:48.47, Z:2.84 [[ 6.78230075e-01 -7.34615170e-01 -1.85611687e-02 1.89444169e+02] [ 7.34327298e-01 6.78483935e-01 -2.05662125e-02 4.84707566e+01] [ 2.77017065e-02 3.18650949e-04 9.99616183e-01 2.84386148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.810385723 meters Centerline goodness [0,1] 0.9999552041570542 Centerline is valid? [True, True] Translation: X:189.46, Y:48.49, Z:2.85 [[ 6.78424390e-01 -7.34455023e-01 -1.77810714e-02 1.89461882e+02] [ 7.34190511e-01 6.78657291e-01 -1.97123190e-02 4.84931070e+01] [ 2.65450655e-02 3.18624060e-04 9.99647567e-01 2.84585066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.48, Y:48.51, Z:2.85 [[ 6.78872440e-01 -7.34048904e-01 -1.74475173e-02 1.89479027e+02] [ 7.33793867e-01 6.79096528e-01 -1.93511267e-02 4.85142137e+01] [ 2.60532218e-02 3.34065406e-04 9.99660501e-01 2.84725289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.50, Y:48.54, Z:2.85 [[ 6.79403065e-01 -7.33572095e-01 -1.68361909e-02 1.89496197e+02] [ 7.33334285e-01 6.79611553e-01 -1.86805624e-02 4.85360813e+01] [ 2.51456092e-02 3.45075356e-04 9.99683740e-01 2.84866829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.51, Y:48.56, Z:2.85 [[ 6.79951250e-01 -7.33063462e-01 -1.68599766e-02 1.89513552e+02] [ 7.32824623e-01 6.80160146e-01 -1.87149117e-02 4.85577373e+01] [ 2.51867021e-02 3.69821592e-04 9.99682696e-01 2.84906443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.930385723 meters Centerline goodness [0,1] 0.999888728162902 Centerline is valid? [True, True] Translation: X:189.53, Y:48.58, Z:2.85 [[ 6.81309573e-01 -7.31799656e-01 -1.69271723e-02 1.89530160e+02] [ 7.31558418e-01 6.81519689e-01 -1.87934824e-02 4.85810654e+01] [ 2.52892652e-02 4.20964091e-04 9.99680087e-01 2.84759283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.55, Y:48.60, Z:2.85 [[ 6.81980086e-01 -7.31171875e-01 -1.70543558e-02 1.89549057e+02] [ 7.30926657e-01 6.82193143e-01 -1.89403721e-02 4.86027168e+01] [ 2.54830319e-02 4.51473326e-04 9.99675153e-01 2.84957953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.56, Y:48.63, Z:2.85 [[ 6.82401057e-01 -7.30766982e-01 -1.75617689e-02 1.89564833e+02] [ 7.30506632e-01 6.82626825e-01 -1.95109955e-02 4.86265612e+01] [ 2.62461258e-02 4.85335243e-04 9.99655393e-01 2.84800082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.020385723 meters Centerline goodness [0,1] 0.9999331386926386 Centerline is valid? [True, True] Translation: X:189.58, Y:48.65, Z:2.85 [[ 6.82014404e-01 -7.31127131e-01 -1.75917848e-02 1.89582702e+02] [ 7.30865845e-01 6.82241080e-01 -1.95506137e-02 4.86485042e+01] [ 2.62958224e-02 4.76565490e-04 9.99654091e-01 2.84704530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.60, Y:48.67, Z:2.85 [[ 6.81551477e-01 -7.31581384e-01 -1.66211636e-02 1.89603037e+02] [ 7.31348049e-01 6.81753977e-01 -1.84809682e-02 4.86688421e+01] [ 2.48518767e-02 4.39875657e-04 9.99691048e-01 2.85104878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.080385723 meters Centerline goodness [0,1] 0.9998664411005254 Centerline is valid? [True, True] Translation: X:189.62, Y:48.69, Z:2.85 [[ 6.80701944e-01 -7.32385800e-01 -1.59969646e-02 1.89620140e+02] [ 7.32169734e-01 6.80889771e-01 -1.77932927e-02 4.86906366e+01] [ 2.39237244e-02 3.99435616e-04 9.99713707e-01 2.84928426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.64, Y:48.71, Z:2.85 [[ 6.79040891e-01 -7.33944859e-01 -1.51133313e-02 1.89640766e+02] [ 7.33752290e-01 6.79208978e-01 -1.68148983e-02 4.87111386e+01] [ 2.26063184e-02 3.28562058e-04 9.99744391e-01 2.85326389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.66, Y:48.73, Z:2.85 [[ 6.77997127e-01 -7.34912666e-01 -1.49422292e-02 1.89660233e+02] [ 7.34724490e-01 6.78161695e-01 -1.66324455e-02 4.87328359e+01] [ 2.23566424e-02 2.98328527e-04 9.99750015e-01 2.85348697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.68, Y:48.75, Z:2.85 [[ 6.76407522e-01 -7.36389039e-01 -1.42844980e-02 1.89677501e+02] [ 7.36217268e-01 6.76558293e-01 -1.59063048e-02 4.87545221e+01] [ 2.13775241e-02 2.42650155e-04 9.99771445e-01 2.85335568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.70, Y:48.78, Z:2.85 [[ 6.75514233e-01 -7.37219552e-01 -1.37059289e-02 1.89697290e+02] [ 7.37061508e-01 6.75653230e-01 -1.52658334e-02 4.87753405e+01] [ 2.05147260e-02 2.10175130e-04 9.99789529e-01 2.85467577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.230385723 meters Centerline goodness [0,1] 0.9999555427123391 Centerline is valid? [True, True] Translation: X:189.72, Y:48.80, Z:2.85 [[ 6.73513778e-01 -7.39065722e-01 -1.26905194e-02 1.89716422e+02] [ 7.38930435e-01 6.73633310e-01 -1.41412619e-02 4.87976935e+01] [ 1.90000786e-02 1.46923695e-04 9.99819471e-01 2.85486790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.73, Y:48.82, Z:2.86 [[ 6.72821636e-01 -7.39698721e-01 -1.25238942e-02 1.89734282e+02] [ 7.39566959e-01 6.72938173e-01 -1.39616461e-02 4.88185004e+01] [ 1.87552182e-02 1.31439265e-04 9.99824097e-01 2.85590696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.75, Y:48.84, Z:2.86 [[ 6.72618309e-01 -7.39883663e-01 -1.25210342e-02 1.89752655e+02] [ 7.39751886e-01 6.72734828e-01 -1.39642106e-02 4.88390872e+01] [ 1.87552271e-02 1.30125097e-04 9.99824097e-01 2.85632472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.32038572300002 meters Centerline goodness [0,1] 0.9998896344693625 Centerline is valid? [True, True] Translation: X:189.77, Y:48.86, Z:2.85 [[ 6.71114201e-01 -7.41233013e-01 -1.33921544e-02 1.89769789e+02] [ 7.41082354e-01 6.71247800e-01 -1.49444348e-02 4.88608997e+01] [ 2.00667626e-02 1.04733148e-04 9.99798637e-01 2.85340220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.79, Y:48.88, Z:2.85 [[ 6.71063744e-01 -7.41272927e-01 -1.37075947e-02 1.89787776e+02] [ 7.41114937e-01 6.71203721e-01 -1.53040865e-02 4.88817507e+01] [ 2.05450936e-02 1.11114357e-04 9.99788921e-01 2.85485396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.38038572300002 meters Centerline goodness [0,1] 0.999579748291345 Centerline is valid? [True, True] Translation: X:189.81, Y:48.90, Z:2.85 [[ 6.70710386e-01 -7.41567678e-01 -1.49985471e-02 1.89805782e+02] [ 7.41378452e-01 6.70878055e-01 -1.67518880e-02 4.89048016e+01] [ 2.24848549e-02 1.16065623e-04 9.99747177e-01 2.85305946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.41038572300002 meters Centerline goodness [0,1] 0.9993624131562747 Centerline is valid? [True, True] Translation: X:189.82, Y:48.93, Z:2.85 [[ 6.70635837e-01 -7.41599056e-01 -1.66857708e-02 1.89823166e+02] [ 7.41364625e-01 6.70843367e-01 -1.86459200e-02 4.89280970e+01] [ 2.50213353e-02 1.34381930e-04 9.99686908e-01 2.85129457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.440385723 meters Centerline goodness [0,1] 0.999381447853845 Centerline is valid? [True, True] Translation: X:189.84, Y:48.95, Z:2.85 [[ 6.70184249e-01 -7.42008808e-01 -1.66132716e-02 1.89841141e+02] [ 7.41776303e-01 6.70390120e-01 -1.85742776e-02 4.89498772e+01] [ 2.49196507e-02 1.24857102e-04 9.99689449e-01 2.85107334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.470385723 meters Centerline goodness [0,1] 0.9995810640971932 Centerline is valid? [True, True] Translation: X:189.86, Y:48.97, Z:2.85 [[ 6.69799033e-01 -7.42349585e-01 -1.69218480e-02 1.89859664e+02] [ 7.42108203e-01 6.70012745e-01 -1.89297472e-02 4.89713579e+01] [ 2.53903438e-02 1.21284160e-04 9.99677606e-01 2.85157521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.500385723 meters Centerline goodness [0,1] 0.9992302786391326 Centerline is valid? [True, True] Translation: X:189.88, Y:48.99, Z:2.85 [[ 6.69060122e-01 -7.43012163e-01 -1.70727396e-02 1.89877176e+02] [ 7.42766404e-01 6.69277905e-01 -1.91090352e-02 4.89931955e+01] [ 2.56246530e-02 1.04036019e-04 9.99671629e-01 2.85022995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.530385723 meters Centerline goodness [0,1] 0.9995384311053476 Centerline is valid? [True, True] Translation: X:189.90, Y:49.01, Z:2.85 [[ 6.68899323e-01 -7.43164497e-01 -1.67399565e-02 1.89895490e+02] [ 7.42928020e-01 6.69108750e-01 -1.87466650e-02 4.90142555e+01] [ 2.51327072e-02 1.03048812e-04 9.99684118e-01 2.85317153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.560385723 meters Centerline goodness [0,1] 0.9994718426090975 Centerline is valid? [True, True] Translation: X:189.91, Y:49.04, Z:2.85 [[ 6.68593147e-01 -7.43446405e-01 -1.64513296e-02 1.89912709e+02] [ 7.43217852e-01 6.68795510e-01 -1.84334196e-02 4.90367701e+01] [ 2.47068349e-02 9.75361619e-05 9.99694735e-01 2.85375548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.590385723 meters Centerline goodness [0,1] 0.9995817097065364 Centerline is valid? [True, True] Translation: X:189.93, Y:49.06, Z:2.86 [[ 6.68904608e-01 -7.43190277e-01 -1.53243885e-02 1.89930671e+02] [ 7.42991730e-01 6.69080116e-01 -1.71781171e-02 4.90600986e+01] [ 2.30198532e-02 1.04627789e-04 9.99735003e-01 2.85550049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.620385723 meters Centerline goodness [0,1] 0.9998901243792028 Centerline is valid? [True, True] Translation: X:189.95, Y:49.08, Z:2.86 [[ 6.68805092e-01 -7.43285735e-01 -1.50355055e-02 1.89948460e+02] [ 7.43094513e-01 6.68974070e-01 -1.68593845e-02 4.90810144e+01] [ 2.25897033e-02 1.02840578e-04 9.99744815e-01 2.85612891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.650385723 meters Centerline goodness [0,1] 0.9996263654146245 Centerline is valid? [True, True] Translation: X:189.97, Y:49.10, Z:2.86 [[ 6.68334805e-01 -7.43710175e-01 -1.49587725e-02 1.89966649e+02] [ 7.43520844e-01 6.68502182e-01 -1.67805355e-02 4.91028897e+01] [ 2.24798271e-02 9.28567838e-05 9.99747292e-01 2.85747706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.680385723 meters Centerline goodness [0,1] 0.9994959677419355 Centerline is valid? [True, True] Translation: X:189.98, Y:49.12, Z:2.86 [[ 6.68404562e-01 -7.43646329e-01 -1.50159800e-02 1.89984479e+02] [ 7.43455321e-01 6.68573203e-01 -1.68540075e-02 4.91239827e+01] [ 2.25727026e-02 1.01585202e-04 9.99745199e-01 2.85804885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.710385723 meters Centerline goodness [0,1] 0.9997812151311616 Centerline is valid? [True, True] Translation: X:190.00, Y:49.15, Z:2.86 [[ 6.68293728e-01 -7.43749995e-01 -1.48134193e-02 1.90001894e+02] [ 7.43563951e-01 6.68457878e-01 -1.66348177e-02 4.91453058e+01] [ 2.22742925e-02 1.02219753e-04 9.99751892e-01 2.85833891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.740385723 meters Centerline goodness [0,1] 0.9996292661650856 Centerline is valid? [True, True] Translation: X:190.02, Y:49.17, Z:2.86 [[ 6.68686020e-01 -7.43406571e-01 -1.43414377e-02 1.90018980e+02] [ 7.43231969e-01 6.68839784e-01 -1.61115869e-02 4.91676217e+01] [ 2.15695837e-02 1.14577883e-04 9.99767343e-01 2.85940004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.770385723 meters Centerline goodness [0,1] 0.9996730957829356 Centerline is valid? [True, True] Translation: X:190.04, Y:49.19, Z:2.86 [[ 6.68792115e-01 -7.43315424e-01 -1.41169542e-02 1.90035882e+02] [ 7.43146064e-01 6.68941079e-01 -1.58669920e-02 4.91888542e+01] [ 2.12375904e-02 1.20760142e-04 9.99774450e-01 2.86043654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.800385723 meters Centerline goodness [0,1] 0.9996298231861336 Centerline is valid? [True, True] Translation: X:190.05, Y:49.21, Z:2.86 [[ 6.68783926e-01 -7.43327470e-01 -1.38683740e-02 1.90052898e+02] [ 7.43163905e-01 6.68927692e-01 -1.55933716e-02 4.92118501e+01] [ 2.08679209e-02 1.22121301e-04 9.99782234e-01 2.85994710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.830385723 meters Centerline goodness [0,1] 0.9996091035441279 Centerline is valid? [True, True] Translation: X:190.07, Y:49.23, Z:2.86 [[ 6.68680847e-01 -7.43397932e-01 -1.50146524e-02 1.90068638e+02] [ 7.43206039e-01 6.68849383e-01 -1.68904461e-02 4.92348340e+01] [ 2.25988637e-02 1.35337473e-04 9.99744604e-01 2.85738821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.860385723 meters Centerline goodness [0,1] 0.9997615434641232 Centerline is valid? [True, True] Translation: X:190.09, Y:49.26, Z:2.86 [[ 6.68550161e-01 -7.43513337e-01 -1.51195514e-02 1.90086602e+02] [ 7.43318646e-01 6.68721092e-01 -1.70144325e-02 4.92565407e+01] [ 2.27612204e-02 1.36357143e-04 9.99740921e-01 2.85810941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.890385723 meters Centerline goodness [0,1] 0.9998484028153762 Centerline is valid? [True, True] Translation: X:190.10, Y:49.28, Z:2.86 [[ 6.68057290e-01 -7.43936269e-01 -1.60712573e-02 1.90103471e+02] [ 7.43716211e-01 6.68250559e-01 -1.80938479e-02 4.92784841e+01] [ 2.42002964e-02 1.35272404e-04 9.99707121e-01 2.85762388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.920385723 meters Centerline goodness [0,1] 0.9998475476957923 Centerline is valid? [True, True] Translation: X:190.12, Y:49.30, Z:2.86 [[ 6.67329997e-01 -7.44585539e-01 -1.62187978e-02 1.90121882e+02] [ 7.44361450e-01 6.67527049e-01 -1.82666528e-02 4.92998758e+01] [ 2.44275718e-02 1.17237556e-04 9.99701595e-01 2.85821278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.950385723 meters Centerline goodness [0,1] 0.9998912310470099 Centerline is valid? [True, True] Translation: X:190.14, Y:49.32, Z:2.86 [[ 6.66658788e-01 -7.45186163e-01 -1.62370694e-02 1.90140120e+02] [ 7.44961500e-01 6.66856485e-01 -1.82973073e-02 4.93209630e+01] [ 2.44626953e-02 1.02069161e-04 9.99700738e-01 2.85854883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.980385723 meters Centerline goodness [0,1] 0.9998261700925645 Centerline is valid? [True, True] Translation: X:190.16, Y:49.34, Z:2.86 [[ 6.65127690e-01 -7.46563829e-01 -1.57354599e-02 1.90159048e+02] [ 7.46353004e-01 6.65313795e-01 -1.77411463e-02 4.93430477e+01] [ 2.37139167e-02 5.59198969e-05 9.99718784e-01 2.85950339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.010385723 meters Centerline goodness [0,1] 0.9998486028203132 Centerline is valid? [True, True] Translation: X:190.18, Y:49.37, Z:2.86 [[ 6.64657005e-01 -7.47004551e-01 -1.46719506e-02 1.90176667e+02] [ 7.46821205e-01 6.64818922e-01 -1.65495978e-02 4.93653761e+01] [ 2.21168153e-02 4.24822929e-05 9.99755392e-01 2.85969598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.040385723 meters Centerline goodness [0,1] 0.9999783235428001 Centerline is valid? [True, True] Translation: X:190.19, Y:49.39, Z:2.86 [[ 6.64943902e-01 -7.46752245e-01 -1.45152221e-02 1.90194506e+02] [ 7.46572560e-01 6.65102309e-01 -1.63808354e-02 4.93871522e+01] [ 2.18865333e-02 5.56701278e-05 9.99760460e-01 2.86152486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.07038572300002 meters Centerline goodness [0,1] 0.9999132546842471 Centerline is valid? [True, True] Translation: X:190.21, Y:49.41, Z:2.86 [[ 6.66773596e-01 -7.45112575e-01 -1.48398800e-02 1.90210421e+02] [ 7.44924181e-01 6.66938705e-01 -1.67549453e-02 4.94102497e+01] [ 2.23816108e-02 1.17169665e-04 9.99749494e-01 2.86085686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.10038572300002 meters Centerline goodness [0,1] 0.999913284772806 Centerline is valid? [True, True] Translation: X:190.23, Y:49.43, Z:2.86 [[ 6.67835019e-01 -7.44154650e-01 -1.51737891e-02 1.90228570e+02] [ 7.43957295e-01 6.68007360e-01 -1.71379826e-02 4.94323593e+01] [ 2.28895123e-02 1.56693823e-04 9.99737989e-01 2.86144171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.13038572300002 meters Centerline goodness [0,1] 0.9997615176151762 Centerline is valid? [True, True] Translation: X:190.25, Y:49.45, Z:2.86 [[ 6.69205515e-01 -7.42915369e-01 -1.55155733e-02 1.90245660e+02] [ 7.42708530e-01 6.69385323e-01 -1.75307890e-02 4.94547110e+01] [ 2.34097896e-02 2.08152044e-04 9.99725932e-01 2.86138229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.16038572300002 meters Centerline goodness [0,1] 0.9996315481479876 Centerline is valid? [True, True] Translation: X:190.26, Y:49.48, Z:2.86 [[ 6.72515946e-01 -7.39914051e-01 -1.57955377e-02 1.90260480e+02] [ 7.39698774e-01 6.72701341e-01 -1.78502261e-02 4.94785771e+01] [ 2.38333125e-02 3.20621828e-04 9.99715895e-01 2.86135614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.190385723 meters Centerline goodness [0,1] 0.9997398204761285 Centerline is valid? [True, True] Translation: X:190.28, Y:49.50, Z:2.86 [[ 6.75568681e-01 -7.37114476e-01 -1.64075198e-02 1.90279532e+02] [ 7.36881224e-01 6.75767753e-01 -1.85473743e-02 4.95005733e+01] [ 2.47592109e-02 4.39631887e-04 9.99693347e-01 2.86334090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.220385723 meters Centerline goodness [0,1] 0.9997617964875809 Centerline is valid? [True, True] Translation: X:190.30, Y:49.52, Z:2.86 [[ 6.76814884e-01 -7.35966536e-01 -1.65792386e-02 1.90297051e+02] [ 7.35727856e-01 6.77017737e-01 -1.87484619e-02 4.95226858e+01] [ 2.50226791e-02 4.91430411e-04 9.99686763e-01 2.86385718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.250385723 meters Centerline goodness [0,1] 0.9998483042583162 Centerline is valid? [True, True] Translation: X:190.31, Y:49.54, Z:2.86 [[ 6.79001925e-01 -7.33956459e-01 -1.62573558e-02 1.90314808e+02] [ 7.33726304e-01 6.79196294e-01 -1.83876383e-02 4.95448551e+01] [ 2.45376617e-02 5.56792266e-04 9.99698751e-01 2.86496382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.280385723 meters Centerline goodness [0,1] 0.9998917702065024 Centerline is valid? [True, True] Translation: X:190.33, Y:49.57, Z:2.87 [[ 6.79550277e-01 -7.33456719e-01 -1.58953581e-02 1.90332567e+02] [ 7.33236478e-01 6.79735922e-01 -1.79817641e-02 4.95663630e+01] [ 2.39934916e-02 5.64456432e-04 9.99711955e-01 2.86575841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.310385723 meters Centerline goodness [0,1] 0.9998059382883757 Centerline is valid? [True, True] Translation: X:190.35, Y:49.59, Z:2.87 [[ 6.80310469e-01 -7.32772105e-01 -1.49233885e-02 1.90352742e+02] [ 7.32577695e-01 6.80473903e-01 -1.68874997e-02 4.95875717e+01] [ 2.25296651e-02 5.56201339e-04 9.99746020e-01 2.86744527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.340385723 meters Centerline goodness [0,1] 0.999783014364449 Centerline is valid? [True, True] Translation: X:190.37, Y:49.61, Z:2.87 [[ 6.80485534e-01 -7.32614842e-01 -1.46605353e-02 1.90372594e+02] [ 7.32427009e-01 6.80643213e-01 -1.65979866e-02 4.96088000e+01] [ 2.21385252e-02 5.56917695e-04 9.99754758e-01 2.86815324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.370385723 meters Centerline goodness [0,1] 0.9998044116049114 Centerline is valid? [True, True] Translation: X:190.39, Y:49.63, Z:2.87 [[ 6.81088679e-01 -7.32063088e-01 -1.42072696e-02 1.90392452e+02] [ 7.31886439e-01 6.81236611e-01 -1.60909826e-02 4.96284657e+01] [ 2.14581266e-02 5.61278117e-04 9.99769590e-01 2.86957279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.400385723 meters Centerline goodness [0,1] 0.9998046959767372 Centerline is valid? [True, True] Translation: X:190.41, Y:49.65, Z:2.87 [[ 6.81156518e-01 -7.32007603e-01 -1.38082511e-02 1.90411735e+02] [ 7.31840639e-01 6.81296240e-01 -1.56432788e-02 4.96490425e+01] [ 2.08585086e-02 5.50082019e-04 9.99782286e-01 2.86993423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.430385723 meters Centerline goodness [0,1] 0.9996300084880406 Centerline is valid? [True, True] Translation: X:190.43, Y:49.67, Z:2.87 [[ 6.81304682e-01 -7.31867380e-01 -1.39308360e-02 1.90431042e+02] [ 7.31697234e-01 6.81446857e-01 -1.57904908e-02 4.96706230e+01] [ 2.10496695e-02 5.64981157e-04 9.99778272e-01 2.86985313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.460385723 meters Centerline goodness [0,1] 0.9998696247365333 Centerline is valid? [True, True] Translation: X:190.45, Y:49.69, Z:2.87 [[ 6.81898662e-01 -7.31305849e-01 -1.43516323e-02 1.90451051e+02] [ 7.31124972e-01 6.82049403e-01 -1.62753338e-02 4.96916799e+01] [ 2.16907690e-02 6.05291615e-04 9.99764544e-01 2.86886766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.490385723 meters Centerline goodness [0,1] 0.9997604529616725 Centerline is valid? [True, True] Translation: X:190.47, Y:49.71, Z:2.87 [[ 6.82277265e-01 -7.30950220e-01 -1.44744265e-02 1.90468559e+02] [ 7.30766002e-01 6.82430497e-01 -1.64215490e-02 4.97127592e+01] [ 2.18811249e-02 6.26630740e-04 9.99760383e-01 2.86808609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.520385723 meters Centerline goodness [0,1] 0.9997814446508578 Centerline is valid? [True, True] Translation: X:190.49, Y:49.73, Z:2.87 [[ 6.83294022e-01 -7.29979582e-01 -1.54625081e-02 1.90488676e+02] [ 7.29768951e-01 6.83468587e-01 -1.75490184e-02 4.97339635e+01] [ 2.33785637e-02 7.07081096e-04 9.99726434e-01 2.86664629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.550385723 meters Centerline goodness [0,1] 0.999737555769399 Centerline is valid? [True, True] Translation: X:190.51, Y:49.75, Z:2.87 [[ 6.83749965e-01 -7.29541382e-01 -1.59799215e-02 1.90509972e+02] [ 7.29316085e-01 6.83936259e-01 -1.81450011e-02 4.97536390e+01] [ 2.41667768e-02 7.52230078e-04 9.99707658e-01 2.86720117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.580385723 meters Centerline goodness [0,1] 0.9998248494800219 Centerline is valid? [True, True] Translation: X:190.53, Y:49.77, Z:2.87 [[ 6.84600734e-01 -7.28726817e-01 -1.67050988e-02 1.90531017e+02] [ 7.28480125e-01 6.84804022e-01 -1.89778515e-02 4.97735567e+01] [ 2.52693881e-02 8.22918609e-04 9.99680339e-01 2.86733660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.610385723 meters Centerline goodness [0,1] 0.9997364953886693 Centerline is valid? [True, True] Translation: X:190.55, Y:49.79, Z:2.87 [[ 6.85033365e-01 -7.28317488e-01 -1.68204010e-02 1.90550352e+02] [ 7.28067063e-01 6.85239313e-01 -1.91163567e-02 4.97938069e+01] [ 2.54487769e-02 8.48962213e-04 9.99675767e-01 2.86746649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.640385723 meters Centerline goodness [0,1] 0.999802371541502 Centerline is valid? [True, True] Translation: X:190.57, Y:49.81, Z:2.87 [[ 6.85032447e-01 -7.28323854e-01 -1.65804335e-02 1.90569337e+02] [ 7.28080352e-01 6.85232556e-01 -1.88505821e-02 4.98147892e+01] [ 2.50907814e-02 8.41372545e-04 9.99684823e-01 2.86757157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.670385723 meters Centerline goodness [0,1] 0.9998250065622539 Centerline is valid? [True, True] Translation: X:190.59, Y:49.84, Z:2.87 [[ 6.85302272e-01 -7.28075615e-01 -1.63307928e-02 1.90588187e+02] [ 7.27839086e-01 6.85496306e-01 -1.85763107e-02 4.98365937e+01] [ 2.47196570e-02 8.44198647e-04 9.99694066e-01 2.86763994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.700385723 meters Centerline goodness [0,1] 0.9998022238825649 Centerline is valid? [True, True] Translation: X:190.61, Y:49.86, Z:2.87 [[ 6.85929979e-01 -7.27488703e-01 -1.61323272e-02 1.90606391e+02] [ 7.27257546e-01 6.86119121e-01 -1.83579456e-02 4.98570254e+01] [ 2.44238962e-02 8.59908564e-04 9.99701322e-01 2.86730898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.730385723 meters Centerline goodness [0,1] 0.9997576451925619 Centerline is valid? [True, True] Translation: X:190.63, Y:49.88, Z:2.87 [[ 6.86232009e-01 -7.27204568e-01 -1.60979927e-02 1.90626541e+02] [ 7.26974207e-01 6.86420248e-01 -1.83233766e-02 4.98766708e+01] [ 2.43748313e-02 8.71262006e-04 9.99702510e-01 2.86785715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.760385723 meters Centerline goodness [0,1] 0.9996253113222102 Centerline is valid? [True, True] Translation: X:190.65, Y:49.90, Z:2.87 [[ 6.85586805e-01 -7.27809051e-01 -1.62701457e-02 1.90646060e+02] [ 7.27573776e-01 6.85779295e-01 -1.85245462e-02 4.98983262e+01] [ 2.46400615e-02 8.62453098e-04 9.99696016e-01 2.86623860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.790385723 meters Centerline goodness [0,1] 0.9997576398528213 Centerline is valid? [True, True] Translation: X:190.67, Y:49.92, Z:2.87 [[ 6.86265363e-01 -7.27179912e-01 -1.57869630e-02 1.90666351e+02] [ 7.26958044e-01 6.86446377e-01 -1.79825901e-02 4.99192045e+01] [ 2.39134818e-02 8.64368992e-04 9.99713658e-01 2.86852341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.82038572300002 meters Centerline goodness [0,1] 0.9997354497354497 Centerline is valid? [True, True] Translation: X:190.69, Y:49.94, Z:2.87 [[ 6.87068483e-01 -7.26433260e-01 -1.52190069e-02 1.90685610e+02] [ 7.26226732e-01 6.87236476e-01 -1.73424163e-02 4.99393013e+01] [ 2.30571647e-02 8.62978021e-04 9.99733776e-01 2.86993183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.85038572300002 meters Centerline goodness [0,1] 0.9998020324666754 Centerline is valid? [True, True] Translation: X:190.70, Y:49.96, Z:2.87 [[ 6.87059256e-01 -7.26452616e-01 -1.47029149e-02 1.90704621e+02] [ 7.26259732e-01 6.87216048e-01 -1.67602489e-02 4.99601153e+01] [ 2.22796057e-02 8.37149110e-04 9.99751428e-01 2.87052891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.88038572300002 meters Centerline goodness [0,1] 0.9998228756144002 Centerline is valid? [True, True] Translation: X:190.73, Y:49.98, Z:2.87 [[ 6.87783781e-01 -7.25779614e-01 -1.40507165e-02 1.90728282e+02] [ 7.25603186e-01 6.87926792e-01 -1.60233169e-02 4.99771239e+01] [ 2.12952611e-02 8.25332824e-04 9.99772890e-01 2.87235761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.91038572300002 meters Centerline goodness [0,1] 0.9998674033149171 Centerline is valid? [True, True] Translation: X:190.75, Y:50.00, Z:2.87 [[ 6.88332542e-01 -7.25264154e-01 -1.37919803e-02 1.90747087e+02] [ 7.25093997e-01 6.88470204e-01 -1.57313370e-02 4.99978713e+01] [ 2.09047422e-02 8.27909062e-04 9.99781129e-01 2.87240558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.940385723 meters Centerline goodness [0,1] 0.9998893193137798 Centerline is valid? [True, True] Translation: X:190.77, Y:50.02, Z:2.87 [[ 6.88280722e-01 -7.25317581e-01 -1.35666812e-02 1.90767847e+02] [ 7.25152841e-01 6.88413931e-01 -1.54795646e-02 5.00175285e+01] [ 2.05670927e-02 8.16368500e-04 9.99788142e-01 2.87332547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.970385723 meters Centerline goodness [0,1] 0.9997561948667938 Centerline is valid? [True, True] Translation: X:190.79, Y:50.04, Z:2.87 [[ 6.87876981e-01 -7.25697365e-01 -1.37329402e-02 1.90785967e+02] [ 7.25528452e-01 6.88013561e-01 -1.56781505e-02 5.00383588e+01] [ 2.08260416e-02 8.20999985e-04 9.99782777e-01 2.87257859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.000385723 meters Centerline goodness [0,1] 0.9998446860439316 Centerline is valid? [True, True] Translation: X:190.80, Y:50.06, Z:2.87 [[ 6.87571596e-01 -7.25987244e-01 -1.37048469e-02 1.90803806e+02] [ 7.25818931e-01 6.87707683e-01 -1.56531717e-02 5.00594306e+01] [ 2.07889314e-02 8.15438896e-04 9.99783554e-01 2.87293165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.030385723 meters Centerline goodness [0,1] 0.9998667377398721 Centerline is valid? [True, True] Translation: X:190.83, Y:50.08, Z:2.87 [[ 6.87088437e-01 -7.26439674e-01 -1.39599818e-02 1.90826018e+02] [ 7.26265041e-01 6.87229750e-01 -1.59487210e-02 5.00780575e+01] [ 2.11794985e-02 8.19534975e-04 9.99775353e-01 2.87325051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.060385723 meters Centerline goodness [0,1] 0.9998662267011504 Centerline is valid? [True, True] Translation: X:190.85, Y:50.10, Z:2.87 [[ 6.85948698e-01 -7.27517489e-01 -1.38811612e-02 1.90845946e+02] [ 7.27344912e-01 6.86088686e-01 -1.58648715e-02 5.00981026e+01] [ 2.10656791e-02 7.86095983e-04 9.99777785e-01 2.87308315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.090385723 meters Centerline goodness [0,1] 0.9998888073476104 Centerline is valid? [True, True] Translation: X:190.87, Y:50.12, Z:2.87 [[ 6.84516628e-01 -7.28872716e-01 -1.34740706e-02 1.90866533e+02] [ 7.28710322e-01 6.84648844e-01 -1.54021985e-02 5.01170981e+01] [ 2.04512491e-02 7.24366634e-04 9.99790589e-01 2.87313114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.120385723 meters Centerline goodness [0,1] 0.9999330506583352 Centerline is valid? [True, True] Translation: X:190.89, Y:50.14, Z:2.87 [[ 6.83567064e-01 -7.29768965e-01 -1.31653374e-02 1.90886816e+02] [ 7.29614021e-01 6.83693491e-01 -1.50529175e-02 5.01376566e+01] [ 1.99862075e-02 6.84063807e-04 9.99800022e-01 2.87353364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.150385723 meters Centerline goodness [0,1] 0.9999330506583352 Centerline is valid? [True, True] Translation: X:190.90, Y:50.16, Z:2.87 [[ 6.83378024e-01 -7.29946055e-01 -1.31618148e-02 1.90904911e+02] [ 7.29791085e-01 6.83504418e-01 -1.50559971e-02 5.01584978e+01] [ 1.99862242e-02 6.83562463e-04 9.99800022e-01 2.87395130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.93, Y:50.18, Z:2.88 [[ 6.82315618e-01 -7.30946720e-01 -1.27393138e-02 1.90927127e+02] [ 7.30801574e-01 6.82434235e-01 -1.45799574e-02 5.01779022e+01] [ 1.93509159e-02 6.38222097e-04 9.99812550e-01 2.87529360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.210385723 meters Centerline goodness [0,1] 0.9999103179229631 Centerline is valid? [True, True] Translation: X:190.95, Y:50.20, Z:2.88 [[ 6.79948994e-01 -7.33163669e-01 -1.18490679e-02 1.90946557e+02] [ 7.33038333e-01 6.80052016e-01 -1.35667817e-02 5.01969423e+01] [ 1.80046540e-02 5.38898645e-04 9.99837758e-01 2.87652024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.240385723 meters Centerline goodness [0,1] 0.9999102374220188 Centerline is valid? [True, True] Translation: X:190.97, Y:50.21, Z:2.88 [[ 6.78795153e-01 -7.34233152e-01 -1.17821122e-02 1.90971045e+02] [ 7.34109306e-01 6.78897207e-01 -1.34948283e-02 5.02141187e+01] [ 1.79071934e-02 5.10865874e-04 9.99839523e-01 2.87812307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.99, Y:50.24, Z:2.88 [[ 6.77618878e-01 -7.35318723e-01 -1.17911737e-02 1.90988193e+02] [ 7.35194743e-01 6.77721284e-01 -1.35111275e-02 5.02363974e+01] [ 1.79261144e-02 4.86586141e-04 9.99839196e-01 2.87856543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.300385723 meters Centerline goodness [0,1] 0.9999550521395182 Centerline is valid? [True, True] Translation: X:191.01, Y:50.26, Z:2.88 [[ 6.77268744e-01 -7.35643974e-01 -1.16185781e-02 1.91009021e+02] [ 7.35523593e-01 6.77368231e-01 -1.33163167e-02 5.02550386e+01] [ 1.76661238e-02 4.72986784e-04 9.99843830e-01 2.87889741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.03, Y:50.28, Z:2.88 [[ 6.76799135e-01 -7.36075683e-01 -1.16412565e-02 1.91027033e+02] [ 7.35954767e-01 6.76899084e-01 -1.33495857e-02 5.02759581e+01] [ 1.77062613e-02 4.67549809e-04 9.99843123e-01 2.87849905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.05, Y:50.30, Z:2.88 [[ 6.75436892e-01 -7.37329309e-01 -1.14234770e-02 1.91046230e+02] [ 7.37212943e-01 6.75533348e-01 -1.31061960e-02 5.02959098e+01] [ 1.73805221e-02 4.30873228e-04 9.99848854e-01 2.87818096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.390385723 meters Centerline goodness [0,1] 0.9999097737576974 Centerline is valid? [True, True] Translation: X:191.07, Y:50.32, Z:2.88 [[ 6.74248125e-01 -7.38422499e-01 -1.10307704e-02 1.91066172e+02] [ 7.38314102e-01 6.74338239e-01 -1.26580480e-02 5.03166853e+01] [ 1.67854577e-02 3.90491752e-04 9.99859038e-01 2.87870255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.420385723 meters Centerline goodness [0,1] 0.9999095472841572 Centerline is valid? [True, True] Translation: X:191.09, Y:50.33, Z:2.88 [[ 6.71278720e-01 -7.41128582e-01 -1.06445053e-02 1.91089378e+02] [ 7.41027893e-01 6.71363035e-01 -1.22203084e-02 5.03343790e+01] [ 1.62031473e-02 3.15357637e-04 9.99868671e-01 2.88013554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.11, Y:50.36, Z:2.88 [[ 6.69804488e-01 -7.42464208e-01 -1.04329818e-02 1.91108581e+02] [ 7.42367548e-01 6.69885677e-01 -1.19834516e-02 5.03552803e+01] [ 1.58861890e-02 2.81462499e-04 9.99873767e-01 2.88110133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.13, Y:50.37, Z:2.88 [[ 6.67331319e-01 -7.44703410e-01 -9.25972630e-03 1.91130559e+02] [ 7.44627421e-01 6.67395527e-01 -1.06402377e-02 5.03746825e+01] [ 1.41037212e-02 2.05517727e-04 9.99900516e-01 2.88240426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.15, Y:50.40, Z:2.88 [[ 6.66475008e-01 -7.45474157e-01 -8.90759551e-03 1.91150216e+02] [ 7.45403842e-01 6.66534506e-01 -1.02403674e-02 5.03956786e+01] [ 1.35711491e-02 1.85193060e-04 9.99907891e-01 2.88282839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.17, Y:50.41, Z:2.88 [[ 6.64968354e-01 -7.46820505e-01 -8.73053701e-03 1.91172346e+02] [ 7.46753035e-01 6.65025646e-01 -1.00396580e-02 5.04147132e+01] [ 1.33038535e-02 1.56499847e-04 9.99911488e-01 2.88287022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.57038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.19, Y:50.44, Z:2.88 [[ 6.64435012e-01 -7.47294862e-01 -8.74662868e-03 1.91190943e+02] [ 7.47227116e-01 6.64492563e-01 -1.00633211e-02 5.04350202e+01] [ 1.33323379e-02 1.50704754e-04 9.99911109e-01 2.88322158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.21, Y:50.46, Z:2.88 [[ 6.64114864e-01 -7.47578650e-01 -8.80962642e-03 1.91210132e+02] [ 7.47509915e-01 6.64173276e-01 -1.01383839e-02 5.04551728e+01] [ 1.34303578e-02 1.47768322e-04 9.99909798e-01 2.88357056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.23, Y:50.48, Z:2.88 [[ 6.64248631e-01 -7.47457009e-01 -9.04299594e-03 1.91229346e+02] [ 7.47384492e-01 6.64310165e-01 -1.04127846e-02 5.04756911e+01] [ 1.37904629e-02 1.58082958e-04 9.99904895e-01 2.88394639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.66038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.25, Y:50.50, Z:2.88 [[ 6.64849786e-01 -7.46915138e-01 -9.61967664e-03 1.91247206e+02] [ 7.46832922e-01 6.64919350e-01 -1.10835638e-02 5.04966121e+01] [ 1.46747907e-02 1.84613809e-04 9.99892302e-01 2.88397197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.27, Y:50.52, Z:2.88 [[ 6.64962179e-01 -7.46811746e-01 -9.87504180e-03 1.91266792e+02] [ 7.46725051e-01 6.65035472e-01 -1.13806773e-02 5.05171922e+01] [ 1.50664766e-02 1.93778911e-04 9.99886475e-01 2.88346620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.29, Y:50.54, Z:2.88 [[ 6.65576895e-01 -7.46246442e-01 -1.11195356e-02 1.91285367e+02] [ 7.46136310e-01 6.65669731e-01 -1.28224571e-02 5.05381299e+01] [ 1.69706513e-02 2.37641881e-04 9.99855960e-01 2.88212643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.30, Y:50.56, Z:2.88 [[ 6.65596433e-01 -7.46223070e-01 -1.15116110e-02 1.91302347e+02] [ 7.46104970e-01 6.65695927e-01 -1.32780646e-02 5.05591683e+01] [ 1.75716307e-02 2.48962218e-04 9.99845576e-01 2.88126519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.32, Y:50.58, Z:2.88 [[ 6.65639101e-01 -7.46172659e-01 -1.22861671e-02 1.91322164e+02] [ 7.46038022e-01 6.65752424e-01 -1.41767420e-02 5.05792515e+01] [ 1.87578428e-02 2.70646016e-04 9.99824020e-01 2.88068805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.34, Y:50.60, Z:2.88 [[ 6.65449536e-01 -7.46341063e-01 -1.23261071e-02 1.91341760e+02] [ 7.46205434e-01 6.65563628e-01 -1.42304740e-02 5.05999400e+01] [ 1.88245957e-02 2.71854159e-04 9.99822765e-01 2.88141921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.36, Y:50.62, Z:2.88 [[ 6.64922078e-01 -7.46823480e-01 -1.15464559e-02 1.91362120e+02] [ 7.46704419e-01 6.65022277e-01 -1.33372335e-02 5.06193240e+01] [ 1.76392095e-02 2.46431396e-04 9.99844387e-01 2.88339167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.38, Y:50.64, Z:2.88 [[ 6.64612987e-01 -7.47103774e-01 -1.12039622e-02 1.91381210e+02] [ 7.46991592e-01 6.64707376e-01 -1.29486140e-02 5.06398520e+01] [ 1.71213147e-02 2.36551531e-04 9.99853392e-01 2.88488952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.40, Y:50.66, Z:2.89 [[ 6.64925575e-01 -7.46835283e-01 -1.05375872e-02 1.91398044e+02] [ 7.46735914e-01 6.65009027e-01 -1.21847463e-02 5.06614250e+01] [ 1.61075890e-02 2.33154613e-04 9.99870237e-01 2.88650554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.42, Y:50.68, Z:2.89 [[ 6.64877649e-01 -7.46880131e-01 -1.03818519e-02 1.91416722e+02] [ 7.46783621e-01 6.64958658e-01 -1.20086187e-02 5.06828469e+01] [ 1.58725010e-02 2.31265174e-04 9.99873997e-01 2.88713230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.960385723 meters Centerline goodness [0,1] 0.999954469915997 Centerline is valid? [True, True] Translation: X:191.43, Y:50.71, Z:2.89 [[ 6.65072519e-01 -7.46705754e-01 -1.04432008e-02 1.91434857e+02] [ 7.46607972e-01 6.65154462e-01 -1.20862388e-02 5.07054376e+01] [ 1.59712057e-02 2.41248286e-04 9.99872423e-01 2.88670443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.45, Y:50.73, Z:2.89 [[ 6.64847916e-01 -7.46901143e-01 -1.07671430e-02 1.91451800e+02] [ 7.46797122e-01 6.64935050e-01 -1.24674627e-02 5.07268148e+01] [ 1.64714129e-02 2.48095136e-04 9.99864306e-01 2.88625666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.47, Y:50.75, Z:2.89 [[ 6.64844853e-01 -7.46892399e-01 -1.15354556e-02 1.91469769e+02] [ 7.46772917e-01 6.64944864e-01 -1.33618289e-02 5.07490045e+01] [ 1.76502904e-02 2.69177367e-04 9.99844185e-01 2.88598009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.050385723 meters Centerline goodness [0,1] 0.9999545970488082 Centerline is valid? [True, True] Translation: X:191.49, Y:50.77, Z:2.89 [[ 6.64927127e-01 -7.46810543e-01 -1.20800845e-02 1.91487962e+02] [ 7.46679353e-01 6.65036788e-01 -1.40005096e-02 5.07711114e+01] [ 1.84894287e-02 2.89368930e-04 9.99829014e-01 2.88661272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.080385723 meters Centerline goodness [0,1] 0.9999092291283727 Centerline is valid? [True, True] Translation: X:191.51, Y:50.79, Z:2.89 [[ 6.65600032e-01 -7.46209208e-01 -1.21825906e-02 1.91506163e+02] [ 7.46075544e-01 6.65711439e-01 -1.41266978e-02 5.07937717e+01] [ 1.86515619e-02 3.13597585e-04 9.99825995e-01 2.88787231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.52, Y:50.82, Z:2.89 [[ 6.65906723e-01 -7.45937289e-01 -1.20746867e-02 1.91522371e+02] [ 7.45805815e-01 6.66016109e-01 -1.40081846e-02 5.08157447e+01] [ 1.84911631e-02 3.22772751e-04 9.99828972e-01 2.88804146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.140385723 meters Centerline goodness [0,1] 0.9999097635805811 Centerline is valid? [True, True] Translation: X:191.54, Y:50.84, Z:2.89 [[ 6.66785474e-01 -7.45145826e-01 -1.24430698e-02 1.91537995e+02] [ 7.45005945e-01 6.66901468e-01 -1.44420963e-02 5.08392844e+01] [ 1.90597693e-02 3.59619083e-04 9.99818281e-01 2.88802417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.56, Y:50.86, Z:2.89 [[ 6.66924393e-01 -7.45005053e-01 -1.33912365e-02 1.91557122e+02] [ 7.44842900e-01 6.67058705e-01 -1.55479251e-02 5.08606362e+01] [ 2.05160237e-02 3.94923123e-04 9.99789446e-01 2.88846947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.200385723 meters Centerline goodness [0,1] 0.9999546731937268 Centerline is valid? [True, True] Translation: X:191.57, Y:50.88, Z:2.89 [[ 6.66652080e-01 -7.45244736e-01 -1.36120492e-02 1.91574992e+02] [ 7.45077074e-01 6.66790915e-01 -1.58123043e-02 5.08820485e+01] [ 2.08604273e-02 3.99279738e-04 9.99782318e-01 2.88863495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.59, Y:50.90, Z:2.89 [[ 6.66302940e-01 -7.45551104e-01 -1.39263770e-02 1.91591231e+02] [ 7.45375500e-01 6.66448339e-01 -1.61856753e-02 5.09032631e+01] [ 2.13484589e-02 4.04182869e-04 9.99772014e-01 2.88840770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.260385723 meters Centerline goodness [0,1] 0.9999549153535764 Centerline is valid? [True, True] Translation: X:191.61, Y:50.92, Z:2.89 [[ 6.65585156e-01 -7.46187237e-01 -1.41776862e-02 1.91610494e+02] [ 7.46005227e-01 6.65736022e-01 -1.64848572e-02 5.09231793e+01] [ 2.17393865e-02 3.95448228e-04 9.99763593e-01 2.88957197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.290385723 meters Centerline goodness [0,1] 0.9999548990867065 Centerline is valid? [True, True] Translation: X:191.63, Y:50.94, Z:2.89 [[ 6.64419870e-01 -7.47228532e-01 -1.39913154e-02 1.91629100e+02] [ 7.47051356e-01 6.64567070e-01 -1.62751575e-02 5.09437679e+01] [ 2.14594296e-02 3.61306885e-04 9.99769655e-01 2.89104139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.32038572300002 meters Centerline goodness [0,1] 0.9999321558606029 Centerline is valid? [True, True] Translation: X:191.65, Y:50.96, Z:2.89 [[ 6.63372293e-01 -7.48159097e-01 -1.39702256e-02 1.91648056e+02] [ 7.47982566e-01 6.63519295e-01 -1.62550627e-02 5.09647212e+01] [ 2.14308873e-02 3.33673041e-04 9.99770276e-01 2.89226715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.67, Y:50.98, Z:2.89 [[ 6.61027653e-01 -7.50233688e-01 -1.38511585e-02 1.91668811e+02] [ 7.50060433e-01 6.61172701e-01 -1.61247488e-02 5.09845611e+01] [ 2.12553376e-02 2.69698912e-04 9.99774043e-01 2.89397710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.38038572300002 meters Centerline goodness [0,1] 0.9999772933696639 Centerline is valid? [True, True] Translation: X:191.69, Y:51.01, Z:2.89 [[ 6.59791328e-01 -7.51316706e-01 -1.40929449e-02 1.91688348e+02] [ 7.51137420e-01 6.59941776e-01 -1.64142829e-02 5.10055649e+01] [ 2.16328480e-02 2.44263227e-04 9.99765953e-01 2.89415023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.41038572300002 meters Centerline goodness [0,1] 0.9999549062049062 Centerline is valid? [True, True] Translation: X:191.71, Y:51.03, Z:2.89 [[ 6.58874292e-01 -7.52125991e-01 -1.38261469e-02 1.91705172e+02] [ 7.51953461e-01 6.59019307e-01 -1.61104437e-02 5.10273204e+01] [ 2.12287812e-02 2.18138170e-04 9.99774620e-01 2.89376964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.73, Y:51.05, Z:2.90 [[ 6.57124158e-01 -7.53649288e-01 -1.41630180e-02 1.91726279e+02] [ 7.53468473e-01 6.57276744e-01 -1.65088300e-02 5.10477874e+01] [ 2.17508904e-02 1.76963431e-04 9.99763406e-01 2.89567147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.75, Y:51.07, Z:2.90 [[ 6.56620295e-01 -7.54082969e-01 -1.44451865e-02 1.91745292e+02] [ 7.53894788e-01 6.56779146e-01 -1.68464356e-02 5.10688272e+01] [ 2.21909074e-02 1.71560700e-04 9.99753737e-01 2.89678634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.76, Y:51.09, Z:2.90 [[ 6.56114504e-01 -7.54507021e-01 -1.52614987e-02 1.91763174e+02] [ 7.54296875e-01 6.56291952e-01 -1.78072461e-02 5.10903138e+01] [ 2.34516910e-02 1.71891697e-04 9.99724956e-01 2.89714503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.78, Y:51.11, Z:2.90 [[ 6.55515467e-01 -7.55006316e-01 -1.62768656e-02 1.91781528e+02] [ 7.54767232e-01 6.55717496e-01 -1.89997503e-02 5.11122435e+01] [ 2.50179570e-02 1.69385350e-04 9.99686988e-01 2.89696311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.80, Y:51.13, Z:2.90 [[ 6.55022964e-01 -7.55420090e-01 -1.68939389e-02 1.91799920e+02] [ 7.55162381e-01 6.55240765e-01 -1.97311275e-02 5.11339602e+01] [ 2.59748876e-02 1.66674437e-04 9.99662582e-01 2.89653388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.82, Y:51.15, Z:2.90 [[ 6.53498649e-01 -7.56715824e-01 -1.79074655e-02 1.91818147e+02] [ 7.56426430e-01 6.53743944e-01 -2.09263326e-02 5.11544428e+01] [ 2.75421841e-02 1.29649881e-04 9.99620634e-01 2.89592767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.84, Y:51.18, Z:2.90 [[ 6.52336477e-01 -7.57706064e-01 -1.84022290e-02 1.91837169e+02] [ 7.57400525e-01 6.52595979e-01 -2.15158856e-02 5.11751987e+01] [ 2.83119376e-02 9.77390491e-05 9.99599132e-01 2.89601477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.86, Y:51.20, Z:2.90 [[ 6.51048798e-01 -7.58800019e-01 -1.89207223e-02 1.91856226e+02] [ 7.58477124e-01 6.51323674e-01 -2.21342508e-02 5.11953356e+01] [ 2.91189843e-02 5.95423684e-05 9.99575951e-01 2.89643115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.88, Y:51.22, Z:2.90 [[ 6.48443070e-01 -7.61026474e-01 -1.89813459e-02 1.91875974e+02] [ 7.60702105e-01 6.48720822e-01 -2.22171508e-02 5.12150287e+01] [ 2.92214343e-02 -3.25923687e-05 9.99572962e-01 2.89766164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.89, Y:51.24, Z:2.90 [[ 6.46815580e-01 -7.62410505e-01 -1.89691162e-02 1.91894344e+02] [ 7.62086798e-01 6.47093668e-01 -2.22148101e-02 5.12356510e+01] [ 2.92115995e-02 -8.72277497e-05 9.99573246e-01 2.90015453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.91, Y:51.26, Z:2.90 [[ 6.46301149e-01 -7.62862142e-01 -1.83351326e-02 1.91912034e+02] [ 7.62559600e-01 6.46561167e-01 -2.14828916e-02 5.12563939e+01] [ 2.82432694e-02 -9.72138588e-05 9.99601075e-01 2.90129736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.93, Y:51.28, Z:2.90 [[ 6.45910086e-01 -7.63208705e-01 -1.76814669e-02 1.91928913e+02] [ 7.62927234e-01 6.46152043e-01 -2.07261457e-02 5.12781691e+01] [ 2.72432908e-02 -1.02446131e-04 9.99628827e-01 2.90351861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.95, Y:51.30, Z:2.90 [[ 6.45693127e-01 -7.63398595e-01 -1.74060488e-02 1.91946106e+02] [ 7.63125635e-01 6.45927685e-01 -2.04130103e-02 5.13000382e+01] [ 2.68263122e-02 -1.02461533e-04 9.99640104e-01 2.90479736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.96, Y:51.32, Z:2.91 [[ 6.45683519e-01 -7.63421498e-01 -1.67454422e-02 1.91962422e+02] [ 7.63168652e-01 6.45900617e-01 -1.96469125e-02 5.13215960e+01] [ 2.58147668e-02 -9.39089320e-05 9.99666739e-01 2.90532480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.98, Y:51.34, Z:2.91 [[ 6.45511173e-01 -7.63570752e-01 -1.65840840e-02 1.91979907e+02] [ 7.63322594e-01 6.45724165e-01 -1.94658606e-02 5.13439587e+01] [ 2.55723056e-02 -9.35755278e-05 9.99672971e-01 2.90708099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.00, Y:51.37, Z:2.91 [[ 6.45553946e-01 -7.63530772e-01 -1.67589334e-02 1.91997495e+02] [ 7.63277057e-01 6.45771440e-01 -1.96820138e-02 5.13661035e+01] [ 2.58502637e-02 -8.59076965e-05 9.99665822e-01 2.90809333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.01, Y:51.39, Z:2.91 [[ 6.45798526e-01 -7.63311624e-01 -1.73097871e-02 1.92014001e+02] [ 7.63040627e-01 6.46030463e-01 -2.03381953e-02 5.13880486e+01] [ 2.67070307e-02 -7.36942181e-05 9.99643301e-01 2.90804797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.950385723 meters Centerline goodness [0,1] 0.9999776421400943 Centerline is valid? [True, True] Translation: X:192.03, Y:51.41, Z:2.91 [[ 6.46159947e-01 -7.62978150e-01 -1.84842012e-02 1.92030962e+02] [ 7.62668745e-01 6.46424272e-01 -2.17266362e-02 5.14110843e+01] [ 2.85255849e-02 -5.84404373e-05 9.99593061e-01 2.90813992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.05, Y:51.43, Z:2.91 [[ 6.45769305e-01 -7.63295555e-01 -1.90237152e-02 1.92048561e+02] [ 7.62967629e-01 6.46049450e-01 -2.23719842e-02 5.14339983e+01] [ 2.93666968e-02 -6.73381396e-05 9.99568703e-01 2.90803945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.010385723 meters Centerline goodness [0,1] 0.9998883006054107 Centerline is valid? [True, True] Translation: X:192.06, Y:51.46, Z:2.90 [[ 6.44418498e-01 -7.64398252e-01 -2.04966259e-02 1.92064977e+02] [ 7.64017859e-01 6.44744366e-01 -2.41125038e-02 5.14571426e+01] [ 3.16466398e-02 -1.21244790e-04 9.99499112e-01 2.90379290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.040385723 meters Centerline goodness [0,1] 0.9998440945232633 Centerline is valid? [True, True] Translation: X:192.08, Y:51.48, Z:2.90 [[ 6.43332579e-01 -7.65299339e-01 -2.09789064e-02 1.92082677e+02] [ 7.64901137e-01 6.43674525e-01 -2.46851312e-02 5.14782383e+01] [ 3.23951022e-02 -1.66040212e-04 9.99475127e-01 2.90298881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.07038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.10, Y:51.50, Z:2.91 [[ 6.41715208e-01 -7.66654476e-01 -2.10358083e-02 1.92101192e+02] [ 7.66254538e-01 6.42059858e-01 -2.47612799e-02 5.14978772e+01] [ 3.24895942e-02 -2.29093682e-04 9.99472048e-01 2.90615313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.10038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.12, Y:51.52, Z:2.91 [[ 6.41512316e-01 -7.66824430e-01 -2.10295574e-02 1.92119001e+02] [ 7.66424409e-01 6.41856870e-01 -2.47665884e-02 5.15189638e+01] [ 3.24895909e-02 -2.29494640e-04 9.99472048e-01 2.90657058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.13038572300002 meters Centerline goodness [0,1] 0.9998212210601591 Centerline is valid? [True, True] Translation: X:192.14, Y:51.54, Z:2.91 [[ 6.38112854e-01 -7.69650740e-01 -2.12066964e-02 1.92137583e+02] [ 7.69245084e-01 6.38465037e-01 -2.49879410e-02 5.15412953e+01] [ 3.27717214e-02 -3.68020607e-04 9.99462795e-01 2.90639624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.16038572300002 meters Centerline goodness [0,1] 0.9998211051231021 Centerline is valid? [True, True] Translation: X:192.16, Y:51.56, Z:2.91 [[ 6.36732765e-01 -7.70813866e-01 -2.04296195e-02 1.92155493e+02] [ 7.70437634e-01 6.37060295e-01 -2.40838691e-02 5.15614993e+01] [ 3.15790797e-02 -4.04759104e-04 9.99501175e-01 2.90761453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.17, Y:51.58, Z:2.91 [[ 6.35980337e-01 -7.71468555e-01 -1.91123219e-02 1.92173732e+02] [ 7.71139262e-01 6.36267324e-01 -2.25417524e-02 5.15840749e+01] [ 2.95507990e-02 -4.02150569e-04 9.99563199e-01 2.91287230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.19, Y:51.61, Z:2.91 [[ 6.33820566e-01 -7.73275351e-01 -1.77966946e-02 1.92191838e+02] [ 7.72990338e-01 6.34070210e-01 -2.09977689e-02 5.16055831e+01] [ 2.75214110e-02 -4.47855203e-04 9.99621114e-01 2.91403861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.250385723 meters Centerline goodness [0,1] 0.9998888790114677 Centerline is valid? [True, True] Translation: X:192.21, Y:51.63, Z:2.91 [[ 6.32426599e-01 -7.74425733e-01 -1.73603035e-02 1.92209160e+02] [ 7.74154769e-01 6.32664644e-01 -2.04900538e-02 5.16284550e+01] [ 2.68512752e-02 -4.81106702e-04 9.99639324e-01 2.91311004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.280385723 meters Centerline goodness [0,1] 0.9999112412905516 Centerline is valid? [True, True] Translation: X:192.22, Y:51.65, Z:2.91 [[ 6.32253253e-01 -7.74576543e-01 -1.69411443e-02 1.92224893e+02] [ 7.74318294e-01 6.32480006e-01 -2.00055416e-02 5.16518549e+01] [ 2.62107583e-02 -4.69269203e-04 9.99656329e-01 2.91333095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.24, Y:51.67, Z:2.91 [[ 6.32871410e-01 -7.74073675e-01 -1.68440831e-02 1.92241706e+02] [ 7.73817994e-01 6.33095372e-01 -1.98987814e-02 5.16739976e+01] [ 2.60670339e-02 -4.40884744e-04 9.99660100e-01 2.91498886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.340385723 meters Centerline goodness [0,1] 0.9998670536881523 Centerline is valid? [True, True] Translation: X:192.26, Y:51.70, Z:2.91 [[ 6.32652712e-01 -7.74238456e-01 -1.74745136e-02 1.92256751e+02] [ 7.73963160e-01 6.32893831e-01 -2.06500939e-02 5.16969558e+01] [ 2.70476087e-02 -4.60291844e-04 9.99634041e-01 2.91146849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.370385723 meters Centerline goodness [0,1] 0.9999778053977273 Centerline is valid? [True, True] Translation: X:192.27, Y:51.72, Z:2.91 [[ 6.33151176e-01 -7.73837350e-01 -1.71855538e-02 1.92273854e+02] [ 7.73570675e-01 6.33384220e-01 -2.03184752e-02 5.17204647e+01] [ 2.66082536e-02 -4.29573988e-04 9.99645845e-01 2.91447993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.400385723 meters Centerline goodness [0,1] 0.9998230049337374 Centerline is valid? [True, True] Translation: X:192.29, Y:51.74, Z:2.91 [[ 6.32349939e-01 -7.74473377e-01 -1.80150801e-02 1.92289218e+02] [ 7.74180351e-01 6.32606327e-01 -2.13077223e-02 5.17445854e+01] [ 2.78987173e-02 -4.72984155e-04 9.99610643e-01 2.90982187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.430385723 meters Centerline goodness [0,1] 0.9999336459347076 Centerline is valid? [True, True] Translation: X:192.31, Y:51.77, Z:2.91 [[ 6.32249108e-01 -7.74568424e-01 -1.74591473e-02 1.92305767e+02] [ 7.74293043e-01 6.32489958e-01 -2.06575903e-02 5.17685533e+01] [ 2.70434525e-02 -4.57753286e-04 9.99634154e-01 2.91248756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.32, Y:51.79, Z:2.91 [[ 6.32369307e-01 -7.74484947e-01 -1.67966160e-02 1.92322245e+02] [ 7.74229867e-01 6.32592190e-01 -1.98805078e-02 5.17905302e+01] [ 2.60225621e-02 -4.32618829e-04 9.99661262e-01 2.91412691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.34, Y:51.82, Z:2.92 [[ 6.31832395e-01 -7.74948300e-01 -1.55870661e-02 1.92337213e+02] [ 7.74728647e-01 6.32024493e-01 -1.84543860e-02 5.18153083e+01] [ 2.41526026e-02 -4.15667716e-04 9.99708197e-01 2.91618388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.35, Y:51.84, Z:2.92 [[ 6.30932892e-01 -7.75700475e-01 -1.45759668e-02 1.92351925e+02] [ 7.75508427e-01 6.31101105e-01 -1.72648783e-02 5.18386974e+01] [ 2.25912830e-02 -4.10805483e-04 9.99744700e-01 2.91740867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.37, Y:51.86, Z:2.92 [[ 6.30111761e-01 -7.76382291e-01 -1.37733825e-02 1.92367819e+02] [ 7.76210844e-01 6.30262145e-01 -1.63203575e-02 5.18617780e+01] [ 2.13516781e-02 -4.07399621e-04 9.99771944e-01 2.91798013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.38, Y:51.89, Z:2.92 [[ 6.29367769e-01 -7.77002139e-01 -1.28018398e-02 1.92382571e+02] [ 7.76854016e-01 6.29497833e-01 -1.51762061e-02 5.18856513e+01] [ 1.98506750e-02 -3.93745692e-04 9.99802878e-01 2.91840051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.610385723 meters Centerline goodness [0,1] 0.9999345692475463 Centerline is valid? [True, True] Translation: X:192.40, Y:51.91, Z:2.92 [[ 6.29398226e-01 -7.76980503e-01 -1.26163263e-02 1.92398845e+02] [ 7.76836537e-01 6.29524544e-01 -1.49614308e-02 5.19092672e+01] [ 1.95670271e-02 -3.84125254e-04 9.99808474e-01 2.91910703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.640385723 meters Centerline goodness [0,1] 0.9999129014697877 Centerline is valid? [True, True] Translation: X:192.41, Y:51.93, Z:2.92 [[ 6.29878443e-01 -7.76599092e-01 -1.21242863e-02 1.92412509e+02] [ 7.76465941e-01 6.29995020e-01 -1.43845762e-02 5.19339755e+01] [ 1.88092888e-02 -3.53560970e-04 9.99823027e-01 2.91900196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.670385723 meters Centerline goodness [0,1] 0.9998475277717273 Centerline is valid? [True, True] Translation: X:192.43, Y:51.96, Z:2.92 [[ 6.29926628e-01 -7.76556424e-01 -1.23516947e-02 1.92428494e+02] [ 7.76418152e-01 6.30047612e-01 -1.46580783e-02 5.19576481e+01] [ 1.91649806e-02 -3.56566104e-04 9.99816271e-01 2.91862219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.700385723 meters Centerline goodness [0,1] 0.9999782585063594 Centerline is valid? [True, True] Translation: X:192.44, Y:51.98, Z:2.92 [[ 6.30399498e-01 -7.76168552e-01 -1.26036078e-02 1.92442377e+02] [ 7.76024364e-01 6.30525382e-01 -1.49642433e-02 5.19823644e+01] [ 1.95616697e-02 -3.47255289e-04 9.99808592e-01 2.91768700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.730385723 meters Centerline goodness [0,1] 0.9998914930555556 Centerline is valid? [True, True] Translation: X:192.46, Y:52.01, Z:2.92 [[ 6.30504947e-01 -7.76083743e-01 -1.25512857e-02 1.92457425e+02] [ 7.75940649e-01 6.30629770e-01 -1.49064296e-02 5.20063682e+01] [ 1.94838521e-02 -3.40475215e-04 9.99810114e-01 2.91802898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.760385723 meters Centerline goodness [0,1] 0.99963283730373 Centerline is valid? [True, True] Translation: X:192.47, Y:52.03, Z:2.92 [[ 6.30485980e-01 -7.76098216e-01 -1.26090510e-02 1.92472055e+02] [ 7.75953657e-01 6.30611961e-01 -1.49825748e-02 5.20299680e+01] [ 1.95793680e-02 -3.37735816e-04 9.99808249e-01 2.91731287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.790385723 meters Centerline goodness [0,1] 0.9997835919409639 Centerline is valid? [True, True] Translation: X:192.49, Y:52.05, Z:2.92 [[ 6.30715888e-01 -7.75912455e-01 -1.25431668e-02 1.92487484e+02] [ 7.75769262e-01 6.30840515e-01 -1.49096046e-02 5.20541256e+01] [ 1.94812857e-02 -3.26878763e-04 9.99810168e-01 2.91721099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.82038572300002 meters Centerline goodness [0,1] 0.9996549493206814 Centerline is valid? [True, True] Translation: X:192.50, Y:52.08, Z:2.92 [[ 6.32058244e-01 -7.74808479e-01 -1.31983659e-02 1.92501228e+02] [ 7.74649517e-01 6.32195958e-01 -1.56970412e-02 5.20798670e+01] [ 2.05061542e-02 -3.02663451e-04 9.99789681e-01 2.91656928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.85038572300002 meters Centerline goodness [0,1] 0.9997415909384556 Centerline is valid? [True, True] Translation: X:192.52, Y:52.10, Z:2.92 [[ 6.32886286e-01 -7.74133598e-01 -1.31195183e-02 1.92516847e+02] [ 7.73976232e-01 6.33022194e-01 -1.56107308e-02 5.21039727e+01] [ 2.03897375e-02 -2.74377952e-04 9.99792070e-01 2.91673423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.88038572300002 meters Centerline goodness [0,1] 0.9998492678725237 Centerline is valid? [True, True] Translation: X:192.53, Y:52.13, Z:2.92 [[ 6.35723102e-01 -7.71812153e-01 -1.27333129e-02 1.92530074e+02] [ 7.71663307e-01 6.35850583e-01 -1.51583900e-02 5.21301272e+01] [ 1.97959140e-02 -1.89291647e-04 9.99804024e-01 2.91682665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.91038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.54, Y:52.16, Z:2.92 [[ 6.39262498e-01 -7.68890447e-01 -1.22857326e-02 1.92542812e+02] [ 7.68751225e-01 6.39380538e-01 -1.46315311e-02 5.21558001e+01] [ 1.91053028e-02 -9.12828818e-05 9.99817473e-01 2.91714604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.56, Y:52.18, Z:2.92 [[ 6.40767783e-01 -7.67643250e-01 -1.18528206e-02 1.92558450e+02] [ 7.67513392e-01 6.40877397e-01 -1.41192933e-02 5.21796244e+01] [ 1.84347850e-02 -5.00103105e-05 9.99830064e-01 2.91747104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.970385723 meters Centerline goodness [0,1] 0.9999352904380837 Centerline is valid? [True, True] Translation: X:192.57, Y:52.20, Z:2.92 [[ 6.42217548e-01 -7.66432503e-01 -1.17404930e-02 1.92573769e+02] [ 7.66304761e-01 6.42324854e-01 -1.39926918e-02 5.22021116e+01] [ 1.82656643e-02 -1.04434449e-05 9.99833169e-01 2.91758120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.000385723 meters Centerline goodness [0,1] 0.9999136237016563 Centerline is valid? [True, True] Translation: X:192.59, Y:52.23, Z:2.92 [[ 6.43030413e-01 -7.65755371e-01 -1.14280171e-02 1.92590027e+02] [ 7.65634150e-01 6.43131955e-01 -1.36248269e-02 5.22254373e+01] [ 1.77830074e-02 1.14979220e-05 9.99841870e-01 2.91803325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.030385723 meters Centerline goodness [0,1] 0.9998059508408796 Centerline is valid? [True, True] Translation: X:192.60, Y:52.25, Z:2.92 [[ 6.44440380e-01 -7.64573227e-01 -1.11525006e-02 1.92604783e+02] [ 7.64457485e-01 6.44536872e-01 -1.33032087e-02 5.22487663e+01] [ 1.73594750e-02 4.75123302e-05 9.99849312e-01 2.91829686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.060385723 meters Centerline goodness [0,1] 0.9997632371932845 Centerline is valid? [True, True] Translation: X:192.62, Y:52.27, Z:2.92 [[ 6.44458087e-01 -7.64559848e-01 -1.10459245e-02 1.92619879e+02] [ 7.64446236e-01 6.44552741e-01 -1.31801763e-02 5.22715743e+01] [ 1.71967145e-02 5.00558441e-05 9.99852124e-01 2.91602333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.090385723 meters Centerline goodness [0,1] 0.9998495012039904 Centerline is valid? [True, True] Translation: X:192.64, Y:52.29, Z:2.92 [[ 6.44201440e-01 -7.64778331e-01 -1.08907873e-02 1.92637210e+02] [ 7.64667846e-01 6.44293491e-01 -1.29993207e-02 5.22931087e+01] [ 1.69584622e-02 4.63462433e-05 9.99856194e-01 2.91686585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.120385723 meters Centerline goodness [0,1] 0.9999785393909479 Centerline is valid? [True, True] Translation: X:192.65, Y:52.32, Z:2.92 [[ 6.43641788e-01 -7.65247734e-01 -1.10070093e-02 1.92654963e+02] [ 7.65134820e-01 6.43735896e-01 -1.31454549e-02 5.23151427e+01] [ 1.71451366e-02 3.91180064e-05 9.99853011e-01 2.91838268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.150385723 meters Centerline goodness [0,1] 0.9996996996996997 Centerline is valid? [True, True] Translation: X:192.67, Y:52.34, Z:2.92 [[ 6.42201909e-01 -7.66457425e-01 -1.09418042e-02 1.92671707e+02] [ 7.66345900e-01 6.42295115e-01 -1.30746367e-02 5.23364761e+01] [ 1.70490198e-02 1.13498310e-05 9.99854655e-01 2.91614698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.180385723 meters Centerline goodness [0,1] 0.999850828964753 Centerline is valid? [True, True] Translation: X:192.69, Y:52.36, Z:2.92 [[ 6.39706612e-01 -7.68544540e-01 -1.07117285e-02 1.92690468e+02] [ 7.68437877e-01 6.39796287e-01 -1.28039002e-02 5.23576271e+01] [ 1.66936917e-02 -4.05583341e-05 9.99860650e-01 2.91908080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.210385723 meters Centerline goodness [0,1] 0.9999141980737467 Centerline is valid? [True, True] Translation: X:192.71, Y:52.38, Z:2.92 [[ 6.37985873e-01 -7.69982606e-01 -1.00405465e-02 1.92708946e+02] [ 7.69888970e-01 6.38064873e-01 -1.20079828e-02 5.23792471e+01] [ 1.56524579e-02 -6.91826266e-05 9.99877490e-01 2.91956658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.240385723 meters Centerline goodness [0,1] 0.9998930366884159 Centerline is valid? [True, True] Translation: X:192.73, Y:52.40, Z:2.92 [[ 6.34576479e-01 -7.72802903e-01 -9.40028844e-03 1.92727750e+02] [ 7.72721049e-01 6.34646088e-01 -1.12482751e-02 5.23995350e+01] [ 1.46585560e-02 -1.25909913e-04 9.99892550e-01 2.91918668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.270385723 meters Centerline goodness [0,1] 0.9999787111745045 Centerline is valid? [True, True] Translation: X:192.75, Y:52.42, Z:2.92 [[ 6.33619946e-01 -7.73584906e-01 -9.59982373e-03 1.92746542e+02] [ 7.73499584e-01 6.33692648e-01 -1.14900804e-02 5.24206327e+01] [ 1.49718905e-02 -1.45115516e-04 9.99887904e-01 2.92149166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.300385723 meters Centerline goodness [0,1] 0.9999786347612435 Centerline is valid? [True, True] Translation: X:192.76, Y:52.44, Z:2.92 [[ 6.32935656e-01 -7.74143419e-01 -9.71708232e-03 1.92763561e+02] [ 7.74056022e-01 6.33010222e-01 -1.16333292e-02 5.24428549e+01] [ 1.51568777e-02 -1.58417263e-04 9.99885115e-01 2.92122611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.330385723 meters Centerline goodness [0,1] 0.999957274999466 Centerline is valid? [True, True] Translation: X:192.78, Y:52.47, Z:2.92 [[ 6.35273573e-01 -7.72216144e-01 -1.04744762e-02 1.92778516e+02] [ 7.72114213e-01 6.35359908e-01 -1.25470780e-02 5.24665483e+01] [ 1.63441185e-02 -1.16664893e-04 9.99866419e-01 2.92000522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.360385723 meters Centerline goodness [0,1] 0.9998503378089455 Centerline is valid? [True, True] Translation: X:192.79, Y:52.49, Z:2.92 [[ 6.37027566e-01 -7.70771264e-01 -1.03700833e-02 1.92794965e+02] [ 7.70671126e-01 6.37111962e-01 -1.24243358e-02 5.24908564e+01] [ 1.61832251e-02 -7.72793461e-05 9.99869040e-01 2.91764485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.390385723 meters Centerline goodness [0,1] 0.999743463668042 Centerline is valid? [True, True] Translation: X:192.81, Y:52.51, Z:2.92 [[ 6.39015008e-01 -7.69123073e-01 -1.04650898e-02 1.92810718e+02] [ 7.69020770e-01 6.39100695e-01 -1.25442214e-02 5.25146635e+01] [ 1.63362963e-02 -3.19256254e-05 9.99866553e-01 2.91719223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.420385723 meters Centerline goodness [0,1] 0.9998715643462626 Centerline is valid? [True, True] Translation: X:192.83, Y:52.54, Z:2.92 [[ 6.44389049e-01 -7.64618484e-01 -1.10149167e-02 1.92825057e+02] [ 7.64504355e-01 6.44483177e-01 -1.32107993e-02 5.25393155e+01] [ 1.72001498e-02 9.19425765e-05 9.99852062e-01 2.91816866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.84, Y:52.56, Z:2.92 [[ 6.49776527e-01 -7.60028556e-01 -1.21267817e-02 1.92840346e+02] [ 7.59889317e-01 6.49889635e-01 -1.45495426e-02 5.25637733e+01] [ 1.89391376e-02 2.38939359e-04 9.99820610e-01 2.92034745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.480385723 meters Centerline goodness [0,1] 0.9997020008514261 Centerline is valid? [True, True] Translation: X:192.86, Y:52.59, Z:2.92 [[ 6.52094606e-01 -7.58035082e-01 -1.24675774e-02 1.92856555e+02] [ 7.57887408e-01 6.52213707e-01 -1.49652413e-02 5.25869075e+01] [ 1.94757028e-02 3.09733224e-04 9.99810283e-01 2.91709211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.510385723 meters Centerline goodness [0,1] 0.9998289648095096 Centerline is valid? [True, True] Translation: X:192.87, Y:52.61, Z:2.92 [[ 6.54133864e-01 -7.56273661e-01 -1.26110462e-02 1.92874016e+02] [ 7.56122145e-01 6.54255312e-01 -1.51422699e-02 5.26097912e+01] [ 1.97025439e-02 3.69580249e-04 9.99805818e-01 2.91851995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.540385723 meters Centerline goodness [0,1] 0.9999144568006844 Centerline is valid? [True, True] Translation: X:192.89, Y:52.63, Z:2.92 [[ 6.56835729e-01 -7.53922952e-01 -1.29231646e-02 1.92888556e+02] [ 7.53763248e-01 6.56962689e-01 -1.55239086e-02 5.26340366e+01] [ 2.01938679e-02 4.55651276e-04 9.99795979e-01 2.91917941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.57038572300002 meters Centerline goodness [0,1] 0.9998503698003506 Centerline is valid? [True, True] Translation: X:192.91, Y:52.65, Z:2.92 [[ 6.57303802e-01 -7.53520856e-01 -1.25710395e-02 1.92909724e+02] [ 7.53369572e-01 6.57423843e-01 -1.51055650e-02 5.26541489e+01] [ 1.96468594e-02 4.58306697e-04 9.99806877e-01 2.92081621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.60038572300002 meters Centerline goodness [0,1] 0.999786438868126 Centerline is valid? [True, True] Translation: X:192.93, Y:52.67, Z:2.92 [[ 6.56932934e-01 -7.53860867e-01 -1.15288181e-02 1.92928754e+02] [ 7.53733582e-01 6.57033958e-01 -1.38587945e-02 5.26743624e+01] [ 1.80224278e-02 4.14641187e-04 9.99837497e-01 2.92045620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.63038572300002 meters Centerline goodness [0,1] 0.9997647511708976 Centerline is valid? [True, True] Translation: X:192.95, Y:52.70, Z:2.92 [[ 6.56277792e-01 -7.54438840e-01 -1.10225774e-02 1.92948738e+02] [ 7.54322523e-01 6.56370239e-01 -1.32529343e-02 5.26950678e+01] [ 1.72334201e-02 3.83028046e-04 9.99851420e-01 2.92072987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.66038572300002 meters Centerline goodness [0,1] 0.9999145408708285 Centerline is valid? [True, True] Translation: X:192.97, Y:52.71, Z:2.92 [[ 6.54325064e-01 -7.56143072e-01 -1.03133038e-02 1.92968555e+02] [ 7.56041367e-01 6.54406259e-01 -1.24056107e-02 5.27146754e+01] [ 1.61295071e-02 3.20017713e-04 9.99869860e-01 2.92427327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.690385723 meters Centerline goodness [0,1] 0.999871904355252 Centerline is valid? [True, True] Translation: X:192.99, Y:52.74, Z:2.92 [[ 6.52979500e-01 -7.57306888e-01 -1.02005140e-02 1.92988640e+02] [ 7.57207503e-01 6.53059104e-01 -1.22720984e-02 5.27361689e+01] [ 1.59552832e-02 2.89522962e-04 9.99872664e-01 2.92454984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.720385723 meters Centerline goodness [0,1] 0.9999142183143899 Centerline is valid? [True, True] Translation: X:193.01, Y:52.76, Z:2.93 [[ 6.50165331e-01 -7.59727417e-01 -9.96465060e-03 1.93011763e+02] [ 7.59632807e-01 6.50241648e-01 -1.19915850e-02 5.27552517e+01] [ 1.55897668e-02 2.27037354e-04 9.99878446e-01 2.92540139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.750385723 meters Centerline goodness [0,1] 0.9999570409829023 Centerline is valid? [True, True] Translation: X:193.03, Y:52.77, Z:2.93 [[ 6.48739813e-01 -7.60944667e-01 -9.99347493e-03 1.93031454e+02] [ 7.60849571e-01 6.48816749e-01 -1.20315111e-02 5.27745648e+01] [ 1.56392481e-02 2.01789157e-04 9.99877679e-01 2.92612386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.780385723 meters Centerline goodness [0,1] 0.9999357243861678 Centerline is valid? [True, True] Translation: X:193.05, Y:52.79, Z:2.93 [[ 6.47060100e-01 -7.62373198e-01 -1.00166848e-02 1.93051874e+02] [ 7.62277798e-01 6.47137604e-01 -1.20614905e-02 5.27937429e+01] [ 1.56775305e-02 1.69012865e-04 9.99877086e-01 2.92587032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.07, Y:52.81, Z:2.93 [[ 6.46672454e-01 -7.62698558e-01 -1.02785288e-02 1.93072376e+02] [ 7.62598107e-01 6.46754113e-01 -1.23791854e-02 5.28134013e+01] [ 1.60892676e-02 1.66891609e-04 9.99870545e-01 2.92547560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.840385723 meters Centerline goodness [0,1] 0.9997848629577041 Centerline is valid? [True, True] Translation: X:193.09, Y:52.83, Z:2.92 [[ 6.47780179e-01 -7.61747806e-01 -1.10054534e-02 1.93091905e+02] [ 7.61632380e-01 6.47873627e-01 -1.32620212e-02 5.28339346e+01] [ 1.72324586e-02 2.08764814e-04 9.99851488e-01 2.92277053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.870385723 meters Centerline goodness [0,1] 0.9999137298882802 Centerline is valid? [True, True] Translation: X:193.11, Y:52.86, Z:2.92 [[ 6.50419109e-01 -7.59489554e-01 -1.14280325e-02 1.93112241e+02] [ 7.59364687e-01 6.50519438e-01 -1.37743736e-02 5.28550812e+01] [ 1.78956501e-02 2.81071478e-04 9.99839821e-01 2.92376423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.900385723 meters Centerline goodness [0,1] 0.9998492224184724 Centerline is valid? [True, True] Translation: X:193.13, Y:52.88, Z:2.92 [[ 6.52056319e-01 -7.58083249e-01 -1.15041011e-02 1.93130422e+02] [ 7.57956387e-01 6.52157712e-01 -1.38720813e-02 5.28766310e+01] [ 1.80186807e-02 3.25771325e-04 9.99837597e-01 2.92423554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.930385723 meters Centerline goodness [0,1] 0.9999785485981509 Centerline is valid? [True, True] Translation: X:193.15, Y:52.90, Z:2.93 [[ 6.53577508e-01 -7.56775099e-01 -1.13088478e-02 1.93150434e+02] [ 7.56652259e-01 6.53675242e-01 -1.36395463e-02 5.28974895e+01] [ 1.77143828e-02 3.57635499e-04 9.99843024e-01 2.92511965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.960385723 meters Centerline goodness [0,1] 0.9999785485981509 Centerline is valid? [True, True] Translation: X:193.17, Y:52.92, Z:2.93 [[ 6.53370253e-01 -7.56954092e-01 -1.13055157e-02 1.93167980e+02] [ 7.56831231e-01 6.53467960e-01 -1.36423077e-02 5.29187696e+01] [ 1.77143930e-02 3.57110679e-04 9.99843024e-01 2.92553713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.990385723 meters Centerline goodness [0,1] 0.9998274597765604 Centerline is valid? [True, True] Translation: X:193.19, Y:52.94, Z:2.93 [[ 6.56669158e-01 -7.54095695e-01 -1.11937243e-02 1.93188820e+02] [ 7.53974707e-01 6.56764412e-01 -1.35147658e-02 5.29389951e+01] [ 1.75430665e-02 4.34944881e-04 9.99846014e-01 2.92663750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.020385723 meters Centerline goodness [0,1] 0.999956870525317 Centerline is valid? [True, True] Translation: X:193.21, Y:52.96, Z:2.93 [[ 6.57928469e-01 -7.52992449e-01 -1.15109445e-02 1.93208171e+02] [ 7.52864208e-01 6.58028981e-01 -1.39048295e-02 5.29600116e+01] [ 1.80447667e-02 4.82205033e-04 9.99837064e-01 2.92623688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.050385723 meters Centerline goodness [0,1] 0.9999354116431278 Centerline is valid? [True, True] Translation: X:193.23, Y:52.98, Z:2.93 [[ 6.59394825e-01 -7.51695020e-01 -1.23718199e-02 1.93228744e+02] [ 7.51546516e-01 6.59510639e-01 -1.49516400e-02 5.29793281e+01] [ 1.93984202e-02 5.61035943e-04 9.99811676e-01 2.92660215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.080385723 meters Centerline goodness [0,1] 0.9999783568522206 Centerline is valid? [True, True] Translation: X:193.25, Y:53.00, Z:2.93 [[ 6.59695585e-01 -7.51422563e-01 -1.28789202e-02 1.93248359e+02] [ 7.51261518e-01 6.59821020e-01 -1.55676758e-02 5.29998693e+01] [ 2.01956851e-02 5.94489821e-04 9.99795870e-01 2.92656195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.110385723 meters Centerline goodness [0,1] 0.9999565943963366 Centerline is valid? [True, True] Translation: X:193.27, Y:53.02, Z:2.93 [[ 6.58901830e-01 -7.52111033e-01 -1.33181127e-02 1.93271714e+02] [ 7.51938844e-01 6.59036143e-01 -1.61039277e-02 5.30181953e+01] [ 2.08890593e-02 5.96501205e-04 9.99781622e-01 2.92636587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.140385723 meters Centerline goodness [0,1] 0.9999782348460116 Centerline is valid? [True, True] Translation: X:193.30, Y:53.04, Z:2.93 [[ 6.57587469e-01 -7.53259279e-01 -1.33858145e-02 1.93295950e+02] [ 7.53085403e-01 6.57723450e-01 -1.61938113e-02 5.30360242e+01] [ 2.10023027e-02 5.68185911e-04 9.99779266e-01 2.92640845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.170385723 meters Centerline goodness [0,1] 0.9998913586684919 Centerline is valid? [True, True] Translation: X:193.32, Y:53.06, Z:2.93 [[ 6.57271114e-01 -7.53536445e-01 -1.33232131e-02 1.93316838e+02] [ 7.53364076e-01 6.57405894e-01 -1.61263351e-02 5.30557279e+01] [ 2.09105401e-02 5.62144083e-04 9.99781193e-01 2.92690314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.34, Y:53.07, Z:2.93 [[ 6.57383631e-01 -7.53435571e-01 -1.34759721e-02 1.93339934e+02] [ 7.53259016e-01 6.57521487e-01 -1.63201943e-02 5.30746797e+01] [ 2.11569561e-02 5.77731079e-04 9.99776000e-01 2.92718833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.230385723 meters Centerline goodness [0,1] 0.9999780480309084 Centerline is valid? [True, True] Translation: X:193.36, Y:53.10, Z:2.93 [[ 6.57814986e-01 -7.53057705e-01 -1.35476136e-02 1.93361023e+02] [ 7.52879014e-01 6.57954205e-01 -1.64151010e-02 5.30951213e+01] [ 2.12752276e-02 5.98385453e-04 9.99773478e-01 2.92752201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.260385723 meters Centerline goodness [0,1] 0.9999341021416804 Centerline is valid? [True, True] Translation: X:193.38, Y:53.12, Z:2.93 [[ 6.59398898e-01 -7.51674538e-01 -1.33597315e-02 1.93379818e+02] [ 7.51500344e-01 6.59533912e-01 -1.61941902e-02 5.31152372e+01] [ 2.09839564e-02 6.38588387e-04 9.99779609e-01 2.92746379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.290385723 meters Centerline goodness [0,1] 0.9998900035198873 Centerline is valid? [True, True] Translation: X:193.40, Y:53.13, Z:2.93 [[ 6.60005092e-01 -7.51135589e-01 -1.37333417e-02 1.93402863e+02] [ 7.50951291e-01 6.60147610e-01 -1.66520818e-02 5.31332170e+01] [ 2.15740040e-02 6.77388156e-04 9.99767025e-01 2.92857948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.32038572300002 meters Centerline goodness [0,1] 0.9999115533443892 Centerline is valid? [True, True] Translation: X:193.42, Y:53.15, Z:2.93 [[ 6.60638522e-01 -7.50574262e-01 -1.39649533e-02 1.93421855e+02] [ 7.50383415e-01 6.60785721e-01 -1.69399093e-02 5.31530527e+01] [ 2.19425017e-02 7.12087307e-04 9.99758981e-01 2.92895825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.35038572300002 meters Centerline goodness [0,1] 0.9999109448748775 Centerline is valid? [True, True] Translation: X:193.45, Y:53.17, Z:2.93 [[ 6.60802453e-01 -7.50434782e-01 -1.37024392e-02 1.93446717e+02] [ 7.50250909e-01 6.60944127e-01 -1.66263007e-02 5.31700669e+01] [ 2.15335011e-02 7.06432789e-04 9.99767878e-01 2.93079996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.38038572300002 meters Centerline goodness [0,1] 0.9999554248016403 Centerline is valid? [True, True] Translation: X:193.47, Y:53.19, Z:2.93 [[ 6.60075418e-01 -7.51080247e-01 -1.33755701e-02 1.93468504e+02] [ 7.50905011e-01 6.60210579e-01 -1.62375087e-02 5.31899766e+01] [ 2.10263650e-02 6.74197719e-04 9.99778694e-01 2.93201345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.41038572300002 meters Centerline goodness [0,1] 0.9999328498522697 Centerline is valid? [True, True] Translation: X:193.49, Y:53.21, Z:2.93 [[ 6.56567999e-01 -7.54140018e-01 -1.38309569e-02 1.93494201e+02] [ 7.53953136e-01 6.56713386e-01 -1.67987528e-02 5.32061403e+01] [ 2.17515863e-02 6.01630201e-04 9.99763225e-01 2.93267328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.440385723 meters Centerline goodness [0,1] 0.9999774749408717 Centerline is valid? [True, True] Translation: X:193.52, Y:53.22, Z:2.93 [[ 6.53822261e-01 -7.56515259e-01 -1.41814702e-02 1.93517284e+02] [ 7.56319146e-01 6.53975818e-01 -1.72331074e-02 5.32242697e+01] [ 2.23114473e-02 5.41671799e-04 9.99750922e-01 2.93301392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.470385723 meters Centerline goodness [0,1] 0.9999099159966669 Centerline is valid? [True, True] Translation: X:193.54, Y:53.24, Z:2.93 [[ 6.48410029e-01 -7.61156999e-01 -1.42988282e-02 1.93541208e+02] [ 7.60958546e-01 6.48567552e-01 -1.73845549e-02 5.32409929e+01] [ 2.25061316e-02 3.91504223e-04 9.99746628e-01 2.93355801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.500385723 meters Centerline goodness [0,1] 0.9999321987931385 Centerline is valid? [True, True] Translation: X:193.56, Y:53.26, Z:2.93 [[ 6.46069841e-01 -7.63147353e-01 -1.41378185e-02 1.93562175e+02] [ 7.62953622e-01 6.46224429e-01 -1.71976241e-02 5.32614531e+01] [ 2.22605250e-02 3.24366427e-04 9.99752151e-01 2.93406559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.530385723 meters Centerline goodness [0,1] 0.999954714246898 Centerline is valid? [True, True] Translation: X:193.58, Y:53.28, Z:2.93 [[ 6.43040743e-01 -7.65702098e-01 -1.41032225e-02 1.93580908e+02] [ 7.65509740e-01 6.43195335e-01 -1.71638689e-02 5.32833760e+01] [ 2.22135373e-02 2.40912809e-04 9.99753220e-01 2.93443054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.560385723 meters Centerline goodness [0,1] 0.9997964399610975 Centerline is valid? [True, True] Translation: X:193.60, Y:53.30, Z:2.93 [[ 6.41626898e-01 -7.66889644e-01 -1.39712937e-02 1.93598217e+02] [ 7.66700984e-01 6.41778959e-01 -1.70108472e-02 5.33044311e+01] [ 2.20119249e-02 2.02812446e-04 9.99757688e-01 2.93354731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.62, Y:53.33, Z:2.94 [[ 6.41196313e-01 -7.67254616e-01 -1.36982749e-02 1.93615577e+02] [ 7.67073193e-01 6.41342590e-01 -1.66853201e-02 5.33265105e+01] [ 2.15871760e-02 1.90986303e-04 9.99766952e-01 2.93592290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.620385723 meters Centerline goodness [0,1] 0.9999549569839197 Centerline is valid? [True, True] Translation: X:193.63, Y:53.35, Z:2.94 [[ 6.40957369e-01 -7.67458156e-01 -1.34770244e-02 1.93631776e+02] [ 7.67282418e-01 6.41099013e-01 -1.64239839e-02 5.33484164e+01] [ 2.12448274e-02 1.86389681e-04 9.99774286e-01 2.93741062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.650385723 meters Centerline goodness [0,1] 0.9999098063090487 Centerline is valid? [True, True] Translation: X:193.65, Y:53.37, Z:2.94 [[ 6.41718444e-01 -7.66833654e-01 -1.27900616e-02 1.93649165e+02] [ 7.66675126e-01 6.41845859e-01 -1.55931102e-02 5.33702186e+01] [ 2.01665697e-02 2.00564307e-04 9.99796614e-01 2.93947238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.680385723 meters Centerline goodness [0,1] 0.9999548257402932 Centerline is valid? [True, True] Translation: X:193.67, Y:53.39, Z:2.94 [[ 6.42080165e-01 -7.66527359e-01 -1.29949997e-02 1.93667828e+02] [ 7.66363472e-01 6.42211617e-01 -1.58514494e-02 5.33928624e+01] [ 2.04961095e-02 2.19008181e-04 9.99789909e-01 2.94018942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.710385723 meters Centerline goodness [0,1] 0.9997290217685846 Centerline is valid? [True, True] Translation: X:193.69, Y:53.42, Z:2.94 [[ 6.42535932e-01 -7.66120883e-01 -1.43655389e-02 1.93686120e+02] [ 7.65920290e-01 6.42696447e-01 -1.75324367e-02 5.34154821e+01] [ 2.26646467e-02 2.62362816e-04 9.99743089e-01 2.93710303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.740385723 meters Centerline goodness [0,1] 0.9998412950325345 Centerline is valid? [True, True] Translation: X:193.70, Y:53.44, Z:2.94 [[ 6.42761856e-01 -7.65919937e-01 -1.49615287e-02 1.93703620e+02] [ 7.65702109e-01 6.42935898e-01 -1.82677773e-02 5.34376371e+01] [ 2.36109587e-02 2.85756374e-04 9.99721182e-01 2.93650196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.770385723 meters Centerline goodness [0,1] 0.9999322141130217 Centerline is valid? [True, True] Translation: X:193.72, Y:53.46, Z:2.94 [[ 6.43311256e-01 -7.65438738e-01 -1.59425858e-02 1.93720719e+02] [ 7.65191107e-01 6.43508688e-01 -1.94714853e-02 5.34594454e+01] [ 2.51634216e-02 3.27100829e-04 9.99683297e-01 2.93781672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.800385723 meters Centerline goodness [0,1] 0.9998640195811803 Centerline is valid? [True, True] Translation: X:193.74, Y:53.48, Z:2.94 [[ 6.42378848e-01 -7.66206272e-01 -1.66542666e-02 1.93738781e+02] [ 7.65936087e-01 6.42594623e-01 -2.03484808e-02 5.34800312e+01] [ 2.62930757e-02 3.15329870e-04 9.99654228e-01 2.93751429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.830385723 meters Centerline goodness [0,1] 0.9999547296226714 Centerline is valid? [True, True] Translation: X:193.76, Y:53.50, Z:2.94 [[ 6.41743152e-01 -7.66735039e-01 -1.68257716e-02 1.93758348e+02] [ 7.66459152e-01 6.41963619e-01 -2.05689058e-02 5.35009243e+01] [ 2.65724340e-02 3.03687745e-04 9.99646844e-01 2.93916956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.78, Y:53.52, Z:2.94 [[ 6.41361994e-01 -7.67061529e-01 -1.64743278e-02 1.93775770e+02] [ 7.66796923e-01 6.41573477e-01 -2.01482595e-02 5.35226157e+01] [ 2.60244465e-02 2.89864060e-04 9.99661265e-01 2.93939448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.890385723 meters Centerline goodness [0,1] 0.9999774036831997 Centerline is valid? [True, True] Translation: X:193.80, Y:53.54, Z:2.94 [[ 6.40784411e-01 -7.67559754e-01 -1.57277612e-02 1.93795833e+02] [ 7.67318567e-01 6.40977344e-01 -1.92421834e-02 5.35440077e+01] [ 2.48506641e-02 2.61887962e-04 9.99691140e-01 2.94224098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.81, Y:53.57, Z:2.94 [[ 6.40643000e-01 -7.67682257e-01 -1.55080626e-02 1.93813738e+02] [ 7.67447559e-01 6.40830621e-01 -1.89831250e-02 5.35653577e+01] [ 2.45110497e-02 2.59781368e-04 9.99699525e-01 2.94339791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.950385723 meters Centerline goodness [0,1] 0.9999321389793703 Centerline is valid? [True, True] Translation: X:193.83, Y:53.59, Z:2.94 [[ 6.41523256e-01 -7.66961010e-01 -1.47891901e-02 1.93830472e+02] [ 7.66747183e-01 6.41693642e-01 -1.81115081e-02 5.35868072e+01] [ 2.33809498e-02 2.79383828e-04 9.99726589e-01 2.94459984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.85, Y:53.61, Z:2.95 [[ 6.42080288e-01 -7.66498866e-01 -1.45736816e-02 1.93849316e+02] [ 7.66290951e-01 6.42245592e-01 -1.78543640e-02 5.36088086e+01] [ 2.30452325e-02 2.96254907e-04 9.99734379e-01 2.94614831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.010385723 meters Centerline goodness [0,1] 0.9998415500928064 Centerline is valid? [True, True] Translation: X:193.87, Y:53.63, Z:2.95 [[ 6.43311244e-01 -7.65473658e-01 -1.41676342e-02 1.93865183e+02] [ 7.65276757e-01 6.43467149e-01 -1.73641376e-02 5.36318629e+01] [ 2.24081972e-02 3.28383792e-04 9.99748851e-01 2.94634750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.040385723 meters Centerline goodness [0,1] 0.9998636363636364 Centerline is valid? [True, True] Translation: X:193.88, Y:53.65, Z:2.95 [[ 6.43855195e-01 -7.65008910e-01 -1.45552426e-02 1.93882874e+02] [ 7.64800826e-01 6.44019595e-01 -1.78453964e-02 5.36548298e+01] [ 2.30257487e-02 3.57989598e-04 9.99734808e-01 2.94678622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.07038572300002 meters Centerline goodness [0,1] 0.9999544678429141 Centerline is valid? [True, True] Translation: X:193.90, Y:53.68, Z:2.95 [[ 6.43958760e-01 -7.64913493e-01 -1.49821147e-02 1.93899824e+02] [ 7.64692815e-01 6.44132911e-01 -1.83763960e-02 5.36767661e+01] [ 2.37068264e-02 3.76925758e-04 9.99718883e-01 2.94712289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.10038572300002 meters Centerline goodness [0,1] 0.9998639856731576 Centerline is valid? [True, True] Translation: X:193.92, Y:53.70, Z:2.95 [[ 6.43723020e-01 -7.65112564e-01 -1.49478597e-02 1.93915361e+02] [ 7.64892818e-01 6.43896441e-01 -1.83398426e-02 5.36985439e+01] [ 2.36569177e-02 3.72268326e-04 9.99720067e-01 2.94686849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.13038572300002 meters Centerline goodness [0,1] 0.9999094489971476 Centerline is valid? [True, True] Translation: X:193.93, Y:53.72, Z:2.95 [[ 6.43292117e-01 -7.65477314e-01 -1.48234557e-02 1.93933790e+02] [ 7.65261120e-01 6.43462782e-01 -1.81952364e-02 5.37193700e+01] [ 2.34663828e-02 3.61037843e-04 9.99724561e-01 2.94904012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.16038572300002 meters Centerline goodness [0,1] 0.9998414064978024 Centerline is valid? [True, True] Translation: X:193.95, Y:53.74, Z:2.95 [[ 6.42826652e-01 -7.65872673e-01 -1.45926419e-02 1.93950817e+02] [ 7.65663032e-01 6.42992168e-01 -1.79218469e-02 5.37411896e+01] [ 2.31088073e-02 3.47594416e-04 9.99732895e-01 2.94978500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.97, Y:53.76, Z:2.95 [[ 6.42234051e-01 -7.66376158e-01 -1.42480822e-02 1.93969296e+02] [ 7.66176217e-01 6.42391996e-01 -1.75079238e-02 5.37633253e+01] [ 2.25705093e-02 3.27643103e-04 9.99745200e-01 2.95084381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.99, Y:53.78, Z:2.95 [[ 6.42011262e-01 -7.66572480e-01 -1.37175633e-02 1.93987528e+02] [ 7.66387013e-01 6.42157717e-01 -1.68645167e-02 5.37847101e+01] [ 2.17367135e-02 3.14247293e-04 9.99763680e-01 2.95193621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.00, Y:53.81, Z:2.95 [[ 6.42057659e-01 -7.66532900e-01 -1.37577586e-02 1.94004775e+02] [ 7.66346154e-01 6.42204959e-01 -1.69222722e-02 5.38060511e+01] [ 2.18067792e-02 3.21869064e-04 9.99762152e-01 2.95255729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.280385723 meters Centerline goodness [0,1] 0.9999773427587457 Centerline is valid? [True, True] Translation: X:194.02, Y:53.83, Z:2.95 [[ 6.41783846e-01 -7.66764629e-01 -1.36197833e-02 1.94023599e+02] [ 7.66581521e-01 6.41928271e-01 -1.67591074e-02 5.38271193e+01] [ 2.15932147e-02 3.15050180e-04 9.99766790e-01 2.95367946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.310385723 meters Centerline goodness [0,1] 0.9999546783294432 Centerline is valid? [True, True] Translation: X:194.04, Y:53.85, Z:2.95 [[ 6.41479417e-01 -7.67018730e-01 -1.36537670e-02 1.94040542e+02] [ 7.66834588e-01 6.41624633e-01 -1.68090712e-02 5.38482975e+01] [ 2.16534657e-02 3.12492405e-04 9.99765487e-01 2.95389465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.340385723 meters Centerline goodness [0,1] 0.9999320790599742 Centerline is valid? [True, True] Translation: X:194.06, Y:53.87, Z:2.95 [[ 6.40887557e-01 -7.67518040e-01 -1.33864350e-02 1.94058135e+02] [ 7.67341018e-01 6.41027278e-01 -1.64860642e-02 5.38704256e+01] [ 2.12344217e-02 2.93752756e-04 9.99774481e-01 2.95438830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.370385723 meters Centerline goodness [0,1] 0.9998641765704585 Centerline is valid? [True, True] Translation: X:194.08, Y:53.89, Z:2.95 [[ 6.40011629e-01 -7.68247407e-01 -1.34549525e-02 1.94075835e+02] [ 7.68068532e-01 6.40152985e-01 -1.65796498e-02 5.38924042e+01] [ 2.13505010e-02 2.76843058e-04 9.99772014e-01 2.95286256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.400385723 meters Centerline goodness [0,1] 0.999932266148879 Centerline is valid? [True, True] Translation: X:194.09, Y:53.91, Z:2.95 [[ 6.40260891e-01 -7.68045503e-01 -1.31185696e-02 1.94091762e+02] [ 7.67875242e-01 6.40395211e-01 -1.61736286e-02 5.39146285e+01] [ 2.08231519e-02 2.81917033e-04 9.99783135e-01 2.95480607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.430385723 meters Centerline goodness [0,1] 0.9999096820809249 Centerline is valid? [True, True] Translation: X:194.11, Y:53.94, Z:2.96 [[ 6.39934649e-01 -7.68321893e-01 -1.28496267e-02 1.94109977e+02] [ 7.68158435e-01 6.40063586e-01 -1.58500933e-02 5.39360080e+01] [ 2.04025518e-02 2.72474765e-04 9.99791809e-01 2.95603168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.13, Y:53.96, Z:2.96 [[ 6.40191000e-01 -7.68122163e-01 -1.19927989e-02 1.94126544e+02] [ 7.67979597e-01 6.40303266e-01 -1.48008740e-02 5.39578019e+01] [ 1.90479077e-02 2.65161510e-04 9.99818537e-01 2.95938799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.490385723 meters Centerline goodness [0,1] 0.9999322294259833 Centerline is valid? [True, True] Translation: X:194.15, Y:53.98, Z:2.96 [[ 6.39570721e-01 -7.68644026e-01 -1.16471150e-02 1.94145588e+02] [ 7.68509516e-01 6.39676716e-01 -1.43813185e-02 5.39791938e+01] [ 1.85045028e-02 2.46951524e-04 9.99828747e-01 2.96036394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.520385723 meters Centerline goodness [0,1] 0.9999774281651356 Centerline is valid? [True, True] Translation: X:194.16, Y:54.00, Z:2.96 [[ 6.39323978e-01 -7.68854384e-01 -1.13043007e-02 1.94163517e+02] [ 7.68727584e-01 6.39423865e-01 -1.39650400e-02 5.40010597e+01] [ 1.79653219e-02 2.38257143e-04 9.99838582e-01 2.96181945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.18, Y:54.02, Z:2.96 [[ 6.38264517e-01 -7.69741877e-01 -1.07633212e-02 1.94181773e+02] [ 7.69626937e-01 6.38355230e-01 -1.33033225e-02 5.40221606e+01] [ 1.71109468e-02 2.07296786e-04 9.99853576e-01 2.96251963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.20, Y:54.04, Z:2.96 [[ 6.36472252e-01 -7.71230551e-01 -1.03203528e-02 1.94200635e+02] [ 7.71125034e-01 6.36555897e-01 -1.27581756e-02 5.40423211e+01] [ 1.64089763e-02 1.61942383e-04 9.99865351e-01 2.96346291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.610385723 meters Centerline goodness [0,1] 0.9999773581488023 Centerline is valid? [True, True] Translation: X:194.22, Y:54.06, Z:2.96 [[ 6.35096700e-01 -7.72365892e-01 -1.01543138e-02 1.94219008e+02] [ 7.72263803e-01 6.35177858e-01 -1.25581746e-02 5.40632086e+01] [ 1.61493010e-02 1.33846264e-04 9.99869583e-01 2.96393362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.24, Y:54.08, Z:2.96 [[ 6.32972810e-01 -7.74117933e-01 -9.31924482e-03 1.94238103e+02] [ 7.74032050e-01 6.33041404e-01 -1.15311203e-02 5.40839670e+01] [ 1.48259148e-02 8.54914479e-05 9.99890086e-01 2.96479372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.26, Y:54.11, Z:2.97 [[ 6.31623388e-01 -7.75225418e-01 -8.80042959e-03 1.94256487e+02] [ 7.75148862e-01 6.31684691e-01 -1.08946190e-02 5.41052626e+01] [ 1.40048822e-02 5.96532041e-05 9.99901925e-01 2.96566338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.27, Y:54.13, Z:2.97 [[ 6.30301835e-01 -7.76309618e-01 -7.93562845e-03 1.94274028e+02] [ 7.76247393e-01 6.30351787e-01 -9.82896867e-03 5.41267494e+01] [ 1.26325605e-02 3.52060912e-05 9.99920205e-01 2.96671442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.29, Y:54.15, Z:2.97 [[ 6.28622195e-01 -7.77687847e-01 -5.97903591e-03 1.94292006e+02] [ 7.77652559e-01 6.28650629e-01 -7.40841879e-03 5.41488360e+01] [ 9.52016194e-03 7.48390767e-06 9.99954682e-01 2.96847644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.760385723 meters Centerline goodness [0,1] 0.999955000562493 Centerline is valid? [True, True] Translation: X:194.31, Y:54.17, Z:2.97 [[ 6.27054915e-01 -7.78961071e-01 -4.66741446e-03 1.94309504e+02] [ 7.78939577e-01 6.27072285e-01 -5.78654140e-03 5.41698440e+01] [ 7.43429674e-03 -7.15462040e-06 9.99972365e-01 2.96990651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.33, Y:54.19, Z:2.97 [[ 6.26463414e-01 -7.79440354e-01 -4.04039254e-03 1.94327008e+02] [ 7.79424269e-01 6.26476443e-01 -5.00756438e-03 5.41913280e+01] [ 6.43430851e-03 -1.21241194e-05 9.99979300e-01 2.97128131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.82038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.35, Y:54.21, Z:2.97 [[ 6.24762669e-01 -7.80810936e-01 -2.42691681e-03 1.94345165e+02] [ 7.80805144e-01 6.24767383e-01 -3.00740788e-03 5.42138901e+01] [ 3.86447542e-03 -1.60329506e-05 9.99992533e-01 2.97206387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.85038572300002 meters Centerline goodness [0,1] 0.9999550046120272 Centerline is valid? [True, True] Translation: X:194.36, Y:54.24, Z:2.97 [[ 6.23926215e-01 -7.81480987e-01 -1.88285961e-03 1.94362809e+02] [ 7.81477498e-01 6.23929056e-01 -2.33539640e-03 5.42351537e+01] [ 2.99983870e-03 -1.42973760e-05 9.99995500e-01 2.97369139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.88038572300002 meters Centerline goodness [0,1] 0.9999548929836036 Centerline is valid? [True, True] Translation: X:194.38, Y:54.26, Z:2.97 [[ 6.23212000e-01 -7.82051480e-01 -1.51171394e-03 1.94381278e+02] [ 7.82049239e-01 6.23213833e-01 -1.87252587e-03 5.42578175e+01] [ 2.40653267e-03 -1.52541429e-05 9.99997104e-01 2.97412736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.91038572300002 meters Centerline goodness [0,1] 0.9999548929836036 Centerline is valid? [True, True] Translation: X:194.40, Y:54.28, Z:2.97 [[ 6.22997441e-01 -7.82222413e-01 -1.51160249e-03 1.94398534e+02] [ 7.82220172e-01 6.22999275e-01 -1.87261618e-03 5.42793630e+01] [ 2.40652961e-03 -1.57708731e-05 9.99997104e-01 2.97454483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.42, Y:54.30, Z:2.98 [[ 6.22163885e-01 -7.82886490e-01 -9.18760871e-04 1.94416720e+02] [ 7.82885661e-01 6.22164563e-01 -1.13957263e-03 5.43002330e+01] [ 1.46377647e-03 -1.02837780e-05 9.99998929e-01 2.97615584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.43, Y:54.32, Z:2.98 [[ 6.21962354e-01 -7.83047073e-01 -3.34596191e-04 1.94433868e+02] [ 7.83046965e-01 6.21962444e-01 -4.10442563e-04 5.43209086e+01] [ 5.29502112e-04 -6.72470894e-06 9.99999860e-01 2.97816541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.45, Y:54.34, Z:2.98 [[ 6.21446455e-01 -7.83456606e-01 -2.23433156e-04 1.94450907e+02] [ 7.83456559e-01 6.21446495e-01 -2.71655347e-04 5.43433451e+01] [ 3.51681928e-04 -6.23091898e-06 9.99999938e-01 2.97780554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.47, Y:54.37, Z:2.98 [[ 6.21156836e-01 -7.83686220e-01 3.05673842e-04 1.94468132e+02] [ 7.83686125e-01 6.21156911e-01 3.86917354e-04 5.43658016e+01] [-4.93093218e-04 -7.84010273e-07 9.99999878e-01 2.97827585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.49, Y:54.39, Z:2.98 [[ 6.20970949e-01 -7.83833434e-01 4.78335609e-04 1.94485204e+02] [ 7.83833202e-01 6.20971133e-01 6.02798735e-04 5.43883673e+01] [-7.69526407e-04 6.14829797e-07 9.99999704e-01 2.97730623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.50, Y:54.41, Z:2.98 [[ 6.20481206e-01 -7.84220850e-01 8.55241108e-04 1.94503309e+02] [ 7.84220117e-01 6.20481795e-01 1.07215075e-03 5.44108354e+01] [-1.37146451e-03 5.44789451e-06 9.99999060e-01 2.97709500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.52, Y:54.43, Z:2.98 [[ 6.19920691e-01 -7.84664189e-01 6.68440247e-04 1.94520679e+02] [ 7.84663740e-01 6.19921051e-01 8.39796904e-04 5.44311121e+01] [-1.07333874e-03 3.89334709e-06 9.99999424e-01 2.97824035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.54, Y:54.45, Z:2.98 [[ 6.19266149e-01 -7.85181101e-01 2.72588904e-04 1.94538444e+02] [ 7.85181025e-01 6.19266209e-01 3.46595219e-04 5.44528348e+01] [-4.40945114e-04 -6.03052065e-07 9.99999903e-01 2.97690804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.180385723 meters Centerline goodness [0,1] 0.9998649864986499 Centerline is valid? [True, True] Translation: X:194.56, Y:54.48, Z:2.97 [[ 6.18331743e-01 -7.85917150e-01 -2.99144605e-04 1.94555824e+02] [ 7.85917064e-01 6.18331815e-01 -3.66971725e-04 5.44754031e+01] [ 4.73379998e-04 -8.19258310e-06 9.99999888e-01 2.97290525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.57, Y:54.50, Z:2.98 [[ 6.18422898e-01 -7.85845463e-01 -1.65452496e-04 1.94571841e+02] [ 7.85845437e-01 6.18422921e-01 -2.00795648e-04 5.44969715e+01] [ 2.60113964e-04 -5.84346237e-06 9.99999966e-01 2.97514275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.240385723 meters Centerline goodness [0,1] 0.9998878295008413 Centerline is valid? [True, True] Translation: X:194.59, Y:54.52, Z:2.97 [[ 6.18089274e-01 -7.86107586e-01 -7.15760923e-04 1.94588654e+02] [ 7.86107084e-01 6.18089689e-01 -8.88315605e-04 5.45190691e+01] [ 1.14071608e-03 -1.36063849e-05 9.99999349e-01 2.97279748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.60, Y:54.54, Z:2.97 [[ 6.18779472e-01 -7.85563815e-01 -1.20723069e-03 1.94604040e+02] [ 7.85562376e-01 6.18780649e-01 -1.50400502e-03 5.45436713e+01] [ 1.92850292e-03 -1.77075772e-05 9.99998140e-01 2.97285882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.62, Y:54.57, Z:2.97 [[ 6.19118675e-01 -7.85296066e-01 -1.46804440e-03 1.94619402e+02] [ 7.85293926e-01 6.19120415e-01 -1.83338372e-03 5.45654779e+01] [ 2.34864528e-03 -1.77642525e-05 9.99997242e-01 2.97272680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.63, Y:54.59, Z:2.97 [[ 6.19721563e-01 -7.84819968e-01 -1.67372977e-03 1.94634729e+02] [ 7.84817188e-01 6.19723823e-01 -2.08923421e-03 5.45878059e+01] [ 2.67692294e-03 -1.88284000e-05 9.99996417e-01 2.97278535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.65, Y:54.61, Z:2.97 [[ 6.21093438e-01 -7.83733216e-01 -2.27776944e-03 1.94648689e+02] [ 7.83728048e-01 6.21097614e-01 -2.84616820e-03 5.46126540e+01] [ 3.64535372e-03 -1.74154065e-05 9.99993356e-01 2.97072171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.66, Y:54.64, Z:2.97 [[ 6.23060263e-01 -7.82166365e-01 -3.41848253e-03 1.94663598e+02] [ 7.82154670e-01 6.23069641e-01 -4.27736217e-03 5.46382558e+01] [ 5.47556150e-03 -8.72767680e-06 9.99985009e-01 2.96789545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.420385723 meters Centerline goodness [0,1] 0.9999777965273768 Centerline is valid? [True, True] Translation: X:194.68, Y:54.66, Z:2.97 [[ 6.23675062e-01 -7.81672767e-01 -4.13540953e-03 1.94680059e+02] [ 7.81655617e-01 6.23688772e-01 -5.17805251e-03 5.46614933e+01] [ 6.62675112e-03 -3.04386419e-06 9.99978043e-01 2.96728176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.70, Y:54.69, Z:2.97 [[ 6.24593391e-01 -7.80931563e-01 -5.38426674e-03 1.94696182e+02] [ 7.80902414e-01 6.24616598e-01 -6.74725194e-03 5.46858281e+01] [ 8.63224438e-03 9.70207305e-06 9.99962741e-01 2.96555748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.71, Y:54.71, Z:2.96 [[ 6.24698825e-01 -7.80842835e-01 -5.98709686e-03 1.94712686e+02] [ 7.80806751e-01 6.24727514e-01 -7.50668823e-03 5.47081810e+01] [ 9.60184786e-03 1.46536659e-05 9.99953901e-01 2.96466469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.73, Y:54.73, Z:2.96 [[ 6.24690973e-01 -7.80835948e-01 -7.51067753e-03 1.94727794e+02] [ 7.80779066e-01 6.24736122e-01 -9.42486353e-03 5.47313455e+01] [ 1.20514638e-02 2.34473906e-05 9.99927378e-01 2.96250515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.74, Y:54.75, Z:2.96 [[ 6.24454495e-01 -7.81021311e-01 -7.89280242e-03 1.94744131e+02] [ 7.80958479e-01 6.24504373e-01 -9.90663514e-03 5.47542338e+01] [ 1.26663828e-02 2.22918716e-05 9.99919778e-01 2.96138288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.57038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.76, Y:54.78, Z:2.96 [[ 6.23901044e-01 -7.81451026e-01 -9.04331864e-03 1.94759026e+02] [ 7.81368476e-01 6.23966581e-01 -1.13582847e-02 5.47772641e+01] [ 1.45186718e-02 2.02815427e-05 9.99894598e-01 2.95961682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.60038572300002 meters Centerline goodness [0,1] 0.9999779239701532 Centerline is valid? [True, True] Translation: X:194.77, Y:54.80, Z:2.96 [[ 6.23515941e-01 -7.81748692e-01 -9.84142081e-03 1.94774990e+02] [ 7.81650900e-01 6.23593604e-01 -1.23647731e-02 5.47995247e+01] [ 1.58031922e-02 1.70776794e-05 9.99875122e-01 2.95880754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.79, Y:54.82, Z:2.96 [[ 6.23451209e-01 -7.81782334e-01 -1.11791370e-02 1.94790431e+02] [ 7.81656056e-01 6.23551427e-01 -1.40508923e-02 5.48227551e+01] [ 1.79555062e-02 2.18055905e-05 9.99838787e-01 2.95683819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.66038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.81, Y:54.84, Z:2.96 [[ 6.23517545e-01 -7.81716303e-01 -1.20620235e-02 1.94805403e+02] [ 7.81569107e-01 6.23634204e-01 -1.51693651e-02 5.48449328e+01] [ 1.93804304e-02 3.10603406e-05 9.99812181e-01 2.95530914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.82, Y:54.87, Z:2.95 [[ 6.24191866e-01 -7.81157499e-01 -1.33220230e-02 1.94821116e+02] [ 7.80977621e-01 6.24334012e-01 -1.67629602e-02 5.48698135e+01] [ 2.14119042e-02 5.91015755e-05 9.99770737e-01 2.95452464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.84, Y:54.89, Z:2.95 [[ 6.24514083e-01 -7.80890570e-01 -1.38592446e-02 1.94837407e+02] [ 7.80695628e-01 6.24667841e-01 -1.74477500e-02 5.48932267e+01] [ 2.22822078e-02 7.65139576e-05 9.99751718e-01 2.95433103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.85, Y:54.92, Z:2.95 [[ 6.26324307e-01 -7.79426418e-01 -1.45712816e-02 1.94850377e+02] [ 7.79210341e-01 6.26493767e-01 -1.83522243e-02 5.49186534e+01] [ 2.34330255e-02 1.40350916e-04 9.99725399e-01 2.95153745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.87, Y:54.94, Z:2.95 [[ 6.27601464e-01 -7.78399142e-01 -1.45319552e-02 1.94866638e+02] [ 7.78183796e-01 6.27769657e-01 -1.83094776e-02 5.49415760e+01] [ 2.33748022e-02 1.82522885e-04 9.99726755e-01 2.95386966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.88, Y:54.97, Z:2.95 [[ 6.31157799e-01 -7.75515786e-01 -1.46662539e-02 1.94880521e+02] [ 7.75295433e-01 6.31328106e-01 -1.84882126e-02 5.49671513e+01] [ 2.35971190e-02 2.98299920e-04 9.99721505e-01 2.95459828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.90, Y:54.99, Z:2.95 [[ 6.32779585e-01 -7.74184593e-01 -1.51066893e-02 1.94896241e+02] [ 7.73950192e-01 6.32959780e-01 -1.90530210e-02 5.49915732e+01] [ 2.43124820e-02 3.64537612e-04 9.99704341e-01 2.95441453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.91, Y:55.02, Z:2.95 [[ 6.35367104e-01 -7.72037076e-01 -1.63522760e-02 1.94910954e+02] [ 7.71761492e-01 6.35577308e-01 -2.06321290e-02 5.50163052e+01] [ 2.63219041e-02 4.88919064e-04 9.99653399e-01 2.95316569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.93, Y:55.04, Z:2.95 [[ 6.35874350e-01 -7.71612332e-01 -1.66799213e-02 1.94926237e+02] [ 7.71325336e-01 6.36092870e-01 -2.10496297e-02 5.50401027e+01] [ 2.68521328e-02 5.19273704e-04 9.99639282e-01 2.95172981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.930385723 meters Centerline goodness [0,1] 0.9999562324929971 Centerline is valid? [True, True] Translation: X:194.94, Y:55.06, Z:2.95 [[ 6.35935189e-01 -7.71561529e-01 -1.67105264e-02 1.94942999e+02] [ 7.71273260e-01 6.36154485e-01 -2.10957170e-02 5.50625584e+01] [ 2.69071200e-02 5.27126602e-04 9.99637799e-01 2.95125892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.96, Y:55.08, Z:2.95 [[ 6.35923282e-01 -7.71573441e-01 -1.66133994e-02 1.94959185e+02] [ 7.71288255e-01 6.36140035e-01 -2.09829128e-02 5.50845068e+01] [ 2.67583067e-02 5.29802934e-04 9.99641792e-01 2.95138111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.990385723 meters Centerline goodness [0,1] 0.999934296977661 Centerline is valid? [True, True] Translation: X:194.98, Y:55.11, Z:2.95 [[ 6.35653420e-01 -7.71811214e-01 -1.58801501e-02 1.94976947e+02] [ 7.71550527e-01 6.35851553e-01 -2.00645513e-02 5.51067750e+01] [ 2.55834638e-02 5.01762444e-04 9.99672564e-01 2.95192834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.99, Y:55.13, Z:2.95 [[ 6.35359115e-01 -7.72058015e-01 -1.56593766e-02 1.94994758e+02] [ 7.71804339e-01 6.35551870e-01 -1.97960135e-02 5.51289080e+01] [ 2.52360170e-02 4.91602837e-04 9.99681400e-01 2.95296731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.050385723 meters Centerline goodness [0,1] 0.999758337361044 Centerline is valid? [True, True] Translation: X:195.01, Y:55.15, Z:2.95 [[ 6.34749932e-01 -7.72569074e-01 -1.51509293e-02 1.95012812e+02] [ 7.72331501e-01 6.34930557e-01 -1.91635008e-02 5.51518334e+01] [ 2.44249160e-02 4.62490886e-04 9.99701560e-01 2.95190346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.080385723 meters Centerline goodness [0,1] 0.9999121419785626 Centerline is valid? [True, True] Translation: X:195.03, Y:55.17, Z:2.95 [[ 6.34777089e-01 -7.72563703e-01 -1.42608820e-02 1.95030835e+02] [ 7.72353057e-01 6.34937108e-01 -1.80450500e-02 5.51749904e+01] [ 2.29957138e-02 4.40148523e-04 9.99735467e-01 2.95398311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.110385723 meters Centerline goodness [0,1] 0.999956153812426 Centerline is valid? [True, True] Translation: X:195.05, Y:55.20, Z:2.95 [[ 6.34961959e-01 -7.72419711e-01 -1.38239224e-02 1.95048397e+02] [ 7.72221600e-01 6.35112274e-01 -1.74985725e-02 5.51972488e+01] [ 2.22959852e-02 4.35796391e-04 9.99751319e-01 2.95393564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.140385723 meters Centerline goodness [0,1] 0.9999559810718609 Centerline is valid? [True, True] Translation: X:195.07, Y:55.22, Z:2.95 [[ 6.35329713e-01 -7.72120965e-01 -1.36151019e-02 1.95066319e+02] [ 7.71928522e-01 6.35475426e-01 -1.72435418e-02 5.52196114e+01] [ 2.19661629e-02 4.45448983e-04 9.99758616e-01 2.95395622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.170385723 meters Centerline goodness [0,1] 0.99995612688106 Centerline is valid? [True, True] Translation: X:195.08, Y:55.24, Z:2.95 [[ 6.37195239e-01 -7.70575277e-01 -1.39989187e-02 1.95083153e+02] [ 7.70371296e-01 6.37348785e-01 -1.77367472e-02 5.52416880e+01] [ 2.25896927e-02 5.17405775e-04 9.99744686e-01 2.95320851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.200385723 meters Centerline goodness [0,1] 0.9998458353521561 Centerline is valid? [True, True] Translation: X:195.10, Y:55.26, Z:2.95 [[ 6.38279193e-01 -7.69674165e-01 -1.41898088e-02 1.95100521e+02] [ 7.69464287e-01 6.38436659e-01 -1.79817830e-02 5.52641375e+01] [ 2.28994079e-02 5.58846799e-04 9.99737618e-01 2.95157632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.12, Y:55.29, Z:2.95 [[ 6.40240549e-01 -7.68034990e-01 -1.46387577e-02 1.95119627e+02] [ 7.67811060e-01 6.40407561e-01 -1.85562107e-02 5.52856826e+01] [ 2.36265903e-02 6.40638467e-04 9.99720648e-01 2.95233636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.260385723 meters Centerline goodness [0,1] 0.9999116861325149 Centerline is valid? [True, True] Translation: X:195.14, Y:55.31, Z:2.95 [[ 6.41901931e-01 -7.66648066e-01 -1.45826526e-02 1.95135741e+02] [ 7.66425307e-01 6.42067178e-01 -1.84929075e-02 5.53080604e+01] [ 2.35405943e-02 6.94119007e-04 9.99722641e-01 2.95116937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.290385723 meters Centerline goodness [0,1] 0.9999336224444642 Centerline is valid? [True, True] Translation: X:195.16, Y:55.33, Z:2.95 [[ 6.42417716e-01 -7.66214911e-01 -1.46351335e-02 1.95156432e+02] [ 7.65990277e-01 6.42583999e-01 -1.85660933e-02 5.53281721e+01] [ 2.36299202e-02 7.16817320e-04 9.99720517e-01 2.95206895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.17, Y:55.35, Z:2.95 [[ 6.42930200e-01 -7.65780272e-01 -1.48772287e-02 1.95172156e+02] [ 7.65547834e-01 6.43101867e-01 -1.88812496e-02 5.53517402e+01] [ 2.40264620e-02 7.50095426e-04 9.99711041e-01 2.95139575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.35038572300002 meters Centerline goodness [0,1] 0.9999778098302452 Centerline is valid? [True, True] Translation: X:195.19, Y:55.37, Z:2.95 [[ 6.43572579e-01 -7.65241115e-01 -1.48449417e-02 1.95191059e+02] [ 7.65009420e-01 6.43743303e-01 -1.88453509e-02 5.53728091e+01] [ 2.39775691e-02 7.71830866e-04 9.99712199e-01 2.95120454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.38038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.21, Y:55.39, Z:2.95 [[ 6.43707411e-01 -7.65126628e-01 -1.49000843e-02 1.95209804e+02] [ 7.64893012e-01 6.43879360e-01 -1.89222130e-02 5.53942403e+01] [ 2.40717458e-02 7.83398432e-04 9.99709927e-01 2.95097300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.41038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.23, Y:55.41, Z:2.95 [[ 6.43822593e-01 -7.65020836e-01 -1.53489280e-02 1.95232502e+02] [ 7.64772650e-01 6.44005009e-01 -1.95023420e-02 5.54128826e+01] [ 2.48044845e-02 8.17608062e-04 9.99691987e-01 2.95107368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.25, Y:55.43, Z:2.95 [[ 6.43732134e-01 -7.65093557e-01 -1.55174044e-02 1.95250699e+02] [ 7.64839701e-01 6.43918599e-01 -1.97248547e-02 5.54330304e+01] [ 2.50833045e-02 8.29195852e-04 9.99685021e-01 2.95143729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.470385723 meters Centerline goodness [0,1] 0.9999553352092545 Centerline is valid? [True, True] Translation: X:195.27, Y:55.45, Z:2.95 [[ 6.43282388e-01 -7.65473172e-01 -1.54464375e-02 1.95271211e+02] [ 7.65221553e-01 6.43467294e-01 -1.96421997e-02 5.54539577e+01] [ 2.49748542e-02 8.15534199e-04 9.99687747e-01 2.95157887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.29, Y:55.48, Z:2.95 [[ 6.42418274e-01 -7.66197788e-01 -1.54825974e-02 1.95290803e+02] [ 7.65944966e-01 6.42604324e-01 -1.96974881e-02 5.54759091e+01] [ 2.50413559e-02 7.95208799e-04 9.99686100e-01 2.95208493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.31, Y:55.50, Z:2.95 [[ 6.40900806e-01 -7.67476412e-01 -1.50370830e-02 1.95310449e+02] [ 7.67238072e-01 6.41076770e-01 -1.91394005e-02 5.54976205e+01] [ 2.43289630e-02 7.29434674e-04 9.99703741e-01 2.95262191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.560385723 meters Centerline goodness [0,1] 0.9999776591228972 Centerline is valid? [True, True] Translation: X:195.33, Y:55.52, Z:2.95 [[ 6.39874729e-01 -7.68341363e-01 -1.45561488e-02 1.95328461e+02] [ 7.68118041e-01 6.40039911e-01 -1.85361060e-02 5.55201621e+01] [ 2.35585732e-02 6.79945300e-04 9.99722227e-01 2.95398193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.590385723 meters Centerline goodness [0,1] 0.9999553541531799 Centerline is valid? [True, True] Translation: X:195.35, Y:55.54, Z:2.96 [[ 6.38457446e-01 -7.69543931e-01 -1.31995505e-02 1.95345080e+02] [ 7.69360424e-01 6.38593612e-01 -1.68147535e-02 5.55429208e+01] [ 2.13688401e-02 5.80292796e-04 9.99771492e-01 2.95524138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.36, Y:55.57, Z:2.96 [[ 6.37525768e-01 -7.70323821e-01 -1.27320951e-02 1.95362324e+02] [ 7.70153152e-01 6.37652666e-01 -1.62234636e-02 5.55652697e+01] [ 2.06159749e-02 5.37212924e-04 9.99787324e-01 2.95605823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.650385723 meters Centerline goodness [0,1] 0.9999330282397589 Centerline is valid? [True, True] Translation: X:195.38, Y:55.59, Z:2.96 [[ 6.35937616e-01 -7.71649765e-01 -1.18316714e-02 1.95381295e+02] [ 7.71502473e-01 6.36047502e-01 -1.50834154e-02 5.55869138e+01] [ 1.91646190e-02 4.63947456e-04 9.99816234e-01 2.95787113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.40, Y:55.61, Z:2.96 [[ 6.35308815e-01 -7.72172747e-01 -1.14872943e-02 1.95402838e+02] [ 7.72033863e-01 6.35412508e-01 -1.46512491e-02 5.56065614e+01] [ 1.86124657e-02 4.39487465e-04 9.99826676e-01 2.95977695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.42, Y:55.63, Z:2.96 [[ 6.34453586e-01 -7.72885669e-01 -1.07884307e-02 1.95421256e+02] [ 7.72763165e-01 6.34545180e-01 -1.37661420e-02 5.56270465e+01] [ 1.74854006e-02 3.97076285e-04 9.99847040e-01 2.96133244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.44, Y:55.65, Z:2.96 [[ 6.32264196e-01 -7.74674535e-01 -1.10159898e-02 1.95439224e+02] [ 7.74547002e-01 6.32360054e-01 -1.40607092e-02 5.56487821e+01] [ 1.78585452e-02 3.57681144e-04 9.99840459e-01 2.96083493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.46, Y:55.67, Z:2.96 [[ 6.32050744e-01 -7.74848728e-01 -1.10138900e-02 1.95456190e+02] [ 7.74721194e-01 6.32146598e-01 -1.40623538e-02 5.56705502e+01] [ 1.78585900e-02 3.55427217e-04 9.99840459e-01 2.96125314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.48, Y:55.69, Z:2.96 [[ 6.31027939e-01 -7.75684121e-01 -1.08575130e-02 1.95475341e+02] [ 7.75560171e-01 6.31121252e-01 -1.38703476e-02 5.56925702e+01] [ 1.76114156e-02 3.31922165e-04 9.99844852e-01 2.96182391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.49, Y:55.71, Z:2.96 [[ 6.30410635e-01 -7.76189142e-01 -1.06229613e-02 1.95492978e+02] [ 7.76070455e-01 6.30500053e-01 -1.35768815e-02 5.57142994e+01] [ 1.72360056e-02 3.14844061e-04 9.99851399e-01 2.96252642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.860385723 meters Centerline goodness [0,1] 0.9999553621247629 Centerline is valid? [True, True] Translation: X:195.51, Y:55.74, Z:2.96 [[ 6.29614498e-01 -7.76832248e-01 -1.08278936e-02 1.95513050e+02] [ 7.76708978e-01 6.29707524e-01 -1.38418995e-02 5.57357042e+01] [ 1.75712399e-02 3.04938454e-04 9.99845567e-01 2.96432878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.53, Y:55.76, Z:2.97 [[ 6.29217364e-01 -7.77151819e-01 -1.09799027e-02 1.95531844e+02] [ 7.77024984e-01 6.29313083e-01 -1.40434247e-02 5.57569445e+01] [ 1.78236695e-02 3.04707932e-04 9.99841099e-01 2.96562617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.55, Y:55.78, Z:2.97 [[ 6.28473169e-01 -7.77759541e-01 -1.05627896e-02 1.95548945e+02] [ 7.77642126e-01 6.28561864e-01 -1.35168755e-02 5.57789908e+01] [ 1.71522456e-02 2.80923381e-04 9.99852850e-01 2.96665340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.950385723 meters Centerline goodness [0,1] 0.9999776271338121 Centerline is valid? [True, True] Translation: X:195.57, Y:55.80, Z:2.97 [[ 6.27866625e-01 -7.78256858e-01 -9.98825840e-03 1.95566649e+02] [ 7.78151893e-01 6.27946016e-01 -1.27841019e-02 5.58019850e+01] [ 1.62214020e-02 2.54328712e-04 9.99868392e-01 2.96728296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.58, Y:55.82, Z:2.97 [[ 6.26022986e-01 -7.79757847e-01 -8.53943831e-03 1.95584931e+02] [ 7.79681201e-01 6.26081197e-01 -1.09343369e-02 5.58243730e+01] [ 1.38725168e-02 1.87106730e-04 9.99903755e-01 2.96894434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.010385723 meters Centerline goodness [0,1] 0.9999776974887372 Centerline is valid? [True, True] Translation: X:195.60, Y:55.85, Z:2.97 [[ 6.24690784e-01 -7.80836124e-01 -7.50814242e-03 1.95603156e+02] [ 7.80776900e-01 6.24735886e-01 -9.61796354e-03 5.58461442e+01] [ 1.22006594e-02 1.46069018e-04 9.99925559e-01 2.97075270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.62, Y:55.87, Z:2.97 [[ 6.22231912e-01 -7.82809799e-01 -6.02216854e-03 1.95623829e+02] [ 7.82771764e-01 6.22261048e-01 -7.71714057e-03 5.58669754e+01] [ 9.78841416e-03 8.78676427e-05 9.99952088e-01 2.97372549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.07038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.64, Y:55.89, Z:2.98 [[ 6.19766106e-01 -7.84767518e-01 -5.46965048e-03 1.95644219e+02] [ 7.84736192e-01 6.19790239e-01 -7.01207753e-03 5.58878669e+01] [ 8.89288666e-03 5.36152972e-05 9.99960456e-01 2.97547741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.10038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.66, Y:55.91, Z:2.98 [[ 6.18943429e-01 -7.85417155e-01 -5.37818405e-03 1.95661457e+02] [ 7.85386854e-01 6.18966793e-01 -6.89917915e-03 5.59088438e+01] [ 8.74765099e-03 4.62465497e-05 9.99961738e-01 2.97618177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.13038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.68, Y:55.93, Z:2.98 [[ 6.18238004e-01 -7.85974820e-01 -5.03513326e-03 1.95679140e+02] [ 7.85948278e-01 6.18258507e-01 -6.45940185e-03 5.59306912e+01] [ 8.18994118e-03 3.60933926e-05 9.99966461e-01 2.97670114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.16038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.70, Y:55.95, Z:2.98 [[ 6.18240482e-01 -7.85976286e-01 -4.47029603e-03 1.95695667e+02] [ 7.85955334e-01 6.18256643e-01 -5.73901967e-03 5.59530993e+01] [ 7.27452359e-03 3.46412820e-05 9.99973540e-01 2.97744682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.71, Y:55.98, Z:2.98 [[ 6.18365989e-01 -7.85878728e-01 -4.25771587e-03 1.95712183e+02] [ 7.85859721e-01 6.18380646e-01 -5.46579743e-03 5.59757075e+01] [ 6.92834303e-03 3.38958304e-05 9.99975998e-01 2.97803840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.73, Y:56.00, Z:2.98 [[ 6.18581144e-01 -7.85707070e-01 -4.66568024e-03 1.95727480e+02] [ 7.85684207e-01 6.18598738e-01 -5.99394415e-03 5.59975211e+01] [ 7.59566820e-03 4.19895481e-05 9.99971152e-01 2.97780336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.74, Y:56.02, Z:2.98 [[ 6.18328964e-01 -7.85903797e-01 -4.95123458e-03 1.95744573e+02] [ 7.85878030e-01 6.18348785e-01 -6.36414900e-03 5.60194077e+01] [ 8.06319875e-03 4.40711822e-05 9.99967491e-01 2.97757302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.280385723 meters Centerline goodness [0,1] 0.9999554079061782 Centerline is valid? [True, True] Translation: X:195.76, Y:56.04, Z:2.98 [[ 6.17946058e-01 -7.86200510e-01 -5.60607332e-03 1.95761160e+02] [ 7.86167440e-01 6.17971485e-01 -7.21117741e-03 5.60411420e+01] [ 9.13382480e-03 4.88063414e-05 9.99958285e-01 2.97778001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.78, Y:56.06, Z:2.98 [[ 6.17669997e-01 -7.86418097e-01 -5.50911355e-03 1.95777747e+02] [ 7.86386142e-01 6.17694564e-01 -7.08953087e-03 5.60633991e+01] [ 8.97828487e-03 4.66999681e-05 9.99959693e-01 2.97835482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.79, Y:56.09, Z:2.98 [[ 6.18039314e-01 -7.86131773e-01 -4.92359404e-03 1.95793575e+02] [ 7.86106209e-01 6.18058924e-01 -6.33996666e-03 5.60857325e+01] [ 8.02712046e-03 4.78807981e-05 9.99967781e-01 2.97952437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.81, Y:56.11, Z:2.98 [[ 6.17809041e-01 -7.86313735e-01 -4.76442732e-03 1.95809967e+02] [ 7.86289795e-01 6.17827410e-01 -6.13598028e-03 5.61082262e+01] [ 7.76839937e-03 4.46435135e-05 9.99969825e-01 2.97949344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.83, Y:56.13, Z:2.98 [[ 6.17856694e-01 -7.86275406e-01 -4.90828999e-03 1.95827148e+02] [ 7.86249970e-01 6.17876188e-01 -6.32468946e-03 5.61300793e+01] [ 8.00566328e-03 4.86088677e-05 9.99967953e-01 2.97844597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.84, Y:56.15, Z:2.98 [[ 6.17705627e-01 -7.86390019e-01 -5.52236166e-03 1.95843090e+02] [ 7.86357767e-01 6.17730309e-01 -7.12232994e-03 5.61520236e+01] [ 9.01225935e-03 5.69513050e-05 9.99959387e-01 2.97800163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.86, Y:56.17, Z:2.98 [[ 6.16308097e-01 -7.87484100e-01 -5.75518235e-03 1.95860763e+02] [ 7.87449092e-01 6.16334966e-01 -7.42538749e-03 5.61737730e+01] [ 9.39449470e-03 4.44133176e-05 9.99955870e-01 2.97877046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.490385723 meters Centerline goodness [0,1] 0.9999554079061782 Centerline is valid? [True, True] Translation: X:195.88, Y:56.20, Z:2.98 [[ 6.15174051e-01 -7.88369749e-01 -5.83326713e-03 1.95878775e+02] [ 7.88333823e-01 6.15201706e-01 -7.52623048e-03 5.61958318e+01] [ 9.52208832e-03 3.13799073e-05 9.99954663e-01 2.97863603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.90, Y:56.22, Z:2.98 [[ 6.14096783e-01 -7.89208202e-01 -5.96288040e-03 1.95895149e+02] [ 7.89170656e-01 6.14125732e-01 -7.69812522e-03 5.62168857e+01] [ 9.73738185e-03 2.16636891e-05 9.99952590e-01 2.97878880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.550385723 meters Centerline goodness [0,1] 0.9999330551402494 Centerline is valid? [True, True] Translation: X:195.91, Y:56.24, Z:2.98 [[ 6.12942612e-01 -7.90109450e-01 -5.33028015e-03 1.95912273e+02] [ 7.90079461e-01 6.12965788e-01 -6.88383328e-03 5.62396654e+01] [ 8.70626110e-03 8.04987736e-06 9.99962100e-01 2.97866410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.580385723 meters Centerline goodness [0,1] 0.9999553162492459 Centerline is valid? [True, True] Translation: X:195.93, Y:56.26, Z:2.98 [[ 6.12838290e-01 -7.90190298e-01 -5.34066462e-03 1.95929193e+02] [ 7.90160162e-01 6.12861560e-01 -6.90114438e-03 5.62627226e+01] [ 8.72630539e-03 9.30509756e-06 9.99961925e-01 2.97899143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.610385723 meters Centerline goodness [0,1] 0.9999553062638271 Centerline is valid? [True, True] Translation: X:195.95, Y:56.29, Z:2.98 [[ 6.13466171e-01 -7.89699489e-01 -5.82871044e-03 1.95945334e+02] [ 7.89663526e-01 6.13493860e-01 -7.53659868e-03 5.62861398e+01] [ 9.52752619e-03 2.07282940e-05 9.99954612e-01 2.97826700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.96, Y:56.31, Z:2.98 [[ 6.15178278e-01 -7.88360054e-01 -6.64167941e-03 1.95960137e+02] [ 7.88313215e-01 6.15214128e-01 -8.59367583e-03 5.63091462e+01] [ 1.08609657e-02 5.09190484e-05 9.99941017e-01 2.97832447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.98, Y:56.33, Z:2.98 [[ 6.16209811e-01 -7.87549527e-01 -7.15618659e-03 1.95976253e+02] [ 7.87495038e-01 6.16251358e-01 -9.26437900e-03 5.63322285e+01] [ 1.17061670e-02 7.33398039e-05 9.99931478e-01 2.97775720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.99, Y:56.36, Z:2.98 [[ 6.17824214e-01 -7.86268365e-01 -8.67743832e-03 1.95991139e+02] [ 7.86188005e-01 6.17885137e-01 -1.12417888e-02 5.63566359e+01] [ 1.42007230e-02 1.23351394e-04 9.99899157e-01 2.97531895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.01, Y:56.38, Z:2.97 [[ 6.18144740e-01 -7.86008452e-01 -9.36978647e-03 1.96007046e+02] [ 7.85914676e-01 6.18215733e-01 -1.21420798e-02 5.63797799e+01] [ 1.53363268e-02 1.41710063e-04 9.99882382e-01 2.97445505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.760385723 meters Centerline goodness [0,1] 0.9999777411743757 Centerline is valid? [True, True] Translation: X:196.02, Y:56.40, Z:2.97 [[ 6.18555995e-01 -7.85664730e-01 -1.09275864e-02 1.96023320e+02] [ 7.85536962e-01 6.18652486e-01 -1.41697759e-02 5.64038617e+01] [ 1.78930717e-02 1.80776817e-04 9.99839890e-01 2.97221817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.790385723 meters Centerline goodness [0,1] 0.9999777396879104 Centerline is valid? [True, True] Translation: X:196.04, Y:56.43, Z:2.97 [[ 6.18594831e-01 -7.85626126e-01 -1.14901967e-02 1.96039112e+02] [ 7.85484718e-01 6.18701504e-01 -1.49065811e-02 5.64264728e+01] [ 1.88200015e-02 1.95760144e-04 9.99822869e-01 2.97140232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.82038572300002 meters Centerline goodness [0,1] 0.9999554922556525 Centerline is valid? [True, True] Translation: X:196.06, Y:56.45, Z:2.97 [[ 6.18288736e-01 -7.85858684e-01 -1.20486019e-02 1.96056163e+02] [ 7.85703117e-01 6.18406087e-01 -1.56372279e-02 5.64486920e+01] [ 1.97395801e-02 2.01697768e-04 9.99805135e-01 2.97073387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.85038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.07, Y:56.47, Z:2.97 [[ 6.17517227e-01 -7.86443429e-01 -1.33868507e-02 1.96072327e+02] [ 7.86251313e-01 6.17662278e-01 -1.73834343e-02 5.64704579e+01] [ 2.19396404e-02 2.09141255e-04 9.99759275e-01 2.96896826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.88038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.09, Y:56.49, Z:2.97 [[ 6.16847655e-01 -7.86961709e-01 -1.37927404e-02 1.96089656e+02] [ 7.86757728e-01 6.17001806e-01 -1.79178479e-02 5.64922399e+01] [ 2.26108059e-02 2.01037376e-04 9.99744323e-01 2.96865182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.91038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.11, Y:56.52, Z:2.97 [[ 6.15416148e-01 -7.88062907e-01 -1.48262652e-02 1.96106565e+02] [ 7.87827249e-01 6.15594689e-01 -1.92718407e-02 5.65153259e+01] [ 2.43143929e-02 1.79666255e-04 9.99704345e-01 2.96710233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.12, Y:56.54, Z:2.97 [[ 6.14737230e-01 -7.88589670e-01 -1.49823279e-02 1.96122069e+02] [ 7.88348942e-01 6.14919755e-01 -1.94843853e-02 5.65373020e+01] [ 2.45781144e-02 1.66474735e-04 9.99697899e-01 2.96562088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.14, Y:56.56, Z:2.97 [[ 6.13697906e-01 -7.89389818e-01 -1.54465645e-02 1.96140402e+02] [ 7.89133958e-01 6.13892250e-01 -2.00972999e-02 5.65583142e+01] [ 2.53471302e-02 1.44262278e-04 9.99678699e-01 2.96714440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.16, Y:56.58, Z:2.97 [[ 6.13529064e-01 -7.89511748e-01 -1.59150273e-02 1.96156726e+02] [ 7.89239880e-01 6.13735429e-01 -2.07179833e-02 5.65803093e+01] [ 2.61247073e-02 1.50310614e-04 9.99658680e-01 2.96685755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.030385723 meters Centerline goodness [0,1] 0.9999778658226167 Centerline is valid? [True, True] Translation: X:196.17, Y:56.60, Z:2.97 [[ 6.13856757e-01 -7.89255873e-01 -1.59702320e-02 1.96172911e+02] [ 7.88981745e-01 6.14064442e-01 -2.08006615e-02 5.66029716e+01] [ 2.62237958e-02 1.68405113e-04 9.99656083e-01 2.96636918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.060385723 meters Centerline goodness [0,1] 0.9999556314750316 Centerline is valid? [True, True] Translation: X:196.19, Y:56.63, Z:2.97 [[ 6.14097396e-01 -7.89069936e-01 -1.59067504e-02 1.96189720e+02] [ 7.88797627e-01 6.14303347e-01 -2.07292270e-02 5.66258391e+01] [ 2.61283798e-02 1.82557324e-04 9.99658579e-01 2.96655637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.090385723 meters Centerline goodness [0,1] 0.9999778780638882 Centerline is valid? [True, True] Translation: X:196.21, Y:56.65, Z:2.97 [[ 6.14809051e-01 -7.88523474e-01 -1.55100725e-02 1.96205849e+02] [ 7.88264131e-01 6.15004625e-01 -2.02230492e-02 5.66488401e+01] [ 2.54851153e-02 2.07279891e-04 9.99675180e-01 2.96737575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.22, Y:56.67, Z:2.97 [[ 6.16935667e-01 -7.86867735e-01 -1.51508954e-02 1.96221548e+02] [ 7.86619517e-01 6.17121618e-01 -1.97647283e-02 5.66732952e+01] [ 2.49021721e-02 2.75575856e-04 9.99689855e-01 2.96859866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.150385723 meters Centerline goodness [0,1] 0.99997779159634 Centerline is valid? [True, True] Translation: X:196.24, Y:56.70, Z:2.97 [[ 6.18997438e-01 -7.85258563e-01 -1.45313798e-02 1.96238814e+02] [ 7.85029612e-01 6.19167893e-01 -1.89638568e-02 5.66958178e+01] [ 2.38888947e-02 3.31015342e-04 9.99714565e-01 2.97114450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.25, Y:56.72, Z:2.97 [[ 6.19662721e-01 -7.84736116e-01 -1.43993326e-02 1.96253766e+02] [ 7.84511013e-01 6.19829899e-01 -1.87980428e-02 5.67191670e+01] [ 2.36766400e-02 3.52011339e-04 9.99719607e-01 2.97135593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.210385723 meters Centerline goodness [0,1] 0.9999557100781717 Centerline is valid? [True, True] Translation: X:196.27, Y:56.74, Z:2.97 [[ 6.20148992e-01 -7.84354260e-01 -1.42696197e-02 1.96272327e+02] [ 7.84132870e-01 6.20313033e-01 -1.86382278e-02 5.67406354e+01] [ 2.34706045e-02 3.69200370e-04 9.99724459e-01 2.97373305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.240385723 meters Centerline goodness [0,1] 0.9999332160904699 Centerline is valid? [True, True] Translation: X:196.29, Y:56.76, Z:2.97 [[ 6.21446389e-01 -7.83333956e-01 -1.38671678e-02 1.96287815e+02] [ 7.83124441e-01 6.21600959e-01 -1.81206321e-02 5.67633685e+01] [ 2.28143512e-02 4.01283331e-04 9.99739638e-01 2.97466052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.270385723 meters Centerline goodness [0,1] 0.9999556354118143 Centerline is valid? [True, True] Translation: X:196.31, Y:56.79, Z:2.98 [[ 6.21459294e-01 -7.83331279e-01 -1.34332817e-02 1.96305954e+02] [ 7.83134529e-01 6.21604338e-01 -1.75600985e-02 5.67852312e+01] [ 2.21055606e-02 3.92819649e-04 9.99755565e-01 2.97597632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.300385723 meters Centerline goodness [0,1] 0.9997775701766093 Centerline is valid? [True, True] Translation: X:196.32, Y:56.81, Z:2.98 [[ 6.20873893e-01 -7.83812283e-01 -1.24062310e-02 1.96324281e+02] [ 7.83644395e-01 6.20997731e-01 -1.62259091e-02 5.68074291e+01] [ 2.04223082e-02 3.52169956e-04 9.99791381e-01 2.97778492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.34, Y:56.83, Z:2.98 [[ 6.20169547e-01 -7.84378234e-01 -1.18540716e-02 1.96341927e+02] [ 7.84224914e-01 6.20282743e-01 -1.55113785e-02 5.68293826e+01] [ 1.95196638e-02 3.23426269e-04 9.99809421e-01 2.97924465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.36, Y:56.85, Z:2.98 [[ 6.18949441e-01 -7.85358032e-01 -1.06934953e-02 1.96360728e+02] [ 7.85233287e-01 6.19041751e-01 -1.39998504e-02 5.68502600e+01] [ 1.76146151e-02 2.68311107e-04 9.99844815e-01 2.98205032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.38, Y:56.87, Z:2.98 [[ 6.18197050e-01 -7.85959320e-01 -1.00177391e-02 1.96379000e+02] [ 7.85849811e-01 6.18278166e-01 -1.31219078e-02 5.68721771e+01] [ 1.65070350e-02 2.39486335e-04 9.99863721e-01 2.98358211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.40, Y:56.89, Z:2.98 [[ 6.16613711e-01 -7.87204237e-01 -9.84995586e-03 1.96396435e+02] [ 7.87098411e-01 6.16692344e-01 -1.29090976e-02 5.68933531e+01] [ 1.62364887e-02 2.07041957e-04 9.99868158e-01 2.98425527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.450385723 meters Centerline goodness [0,1] 0.9999776126085789 Centerline is valid? [True, True] Translation: X:196.41, Y:56.92, Z:2.98 [[ 6.15782604e-01 -7.87855511e-01 -9.77129898e-03 1.96413193e+02] [ 7.87751362e-01 6.15860095e-01 -1.28115214e-02 5.69155546e+01] [ 1.61113809e-02 1.91757941e-04 9.99870185e-01 2.98446320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.480385723 meters Centerline goodness [0,1] 0.9999330835117773 Centerline is valid? [True, True] Translation: X:196.43, Y:56.94, Z:2.98 [[ 6.14479909e-01 -7.88876117e-01 -9.42941277e-03 1.96429910e+02] [ 7.88779145e-01 6.14552232e-01 -1.23699270e-02 5.69371934e+01] [ 1.55532066e-02 1.63347481e-04 9.99879028e-01 2.98466694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.510385723 meters Centerline goodness [0,1] 0.999887867234806 Centerline is valid? [True, True] Translation: X:196.45, Y:56.96, Z:2.99 [[ 6.13008071e-01 -7.90015831e-01 -9.80268260e-03 1.96448177e+02] [ 7.89911075e-01 6.13086427e-01 -1.28657217e-02 5.69591107e+01] [ 1.61740155e-02 1.43543681e-04 9.99869182e-01 2.98537916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.540385723 meters Centerline goodness [0,1] 0.9999552482602762 Centerline is valid? [True, True] Translation: X:196.46, Y:56.98, Z:2.99 [[ 6.12206598e-01 -7.90633866e-01 -1.00583856e-02 1.96464173e+02] [ 7.90523534e-01 6.12289206e-01 -1.32087410e-02 5.69814043e+01] [ 1.66019189e-02 1.35087811e-04 9.99862170e-01 2.98584740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.57038572300002 meters Centerline goodness [0,1] 0.9999775865160481 Centerline is valid? [True, True] Translation: X:196.48, Y:57.00, Z:2.99 [[ 6.10949919e-01 -7.91599852e-01 -1.04819397e-02 1.96481367e+02] [ 7.91480048e-01 6.11039819e-01 -1.37722039e-02 5.70032143e+01] [ 1.73069571e-02 1.17880674e-04 9.99850216e-01 2.98659950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.60038572300002 meters Centerline goodness [0,1] 0.9999328498522697 Centerline is valid? [True, True] Translation: X:196.50, Y:57.03, Z:2.99 [[ 6.10590232e-01 -7.91874866e-01 -1.06660732e-02 1.96497618e+02] [ 7.91750712e-01 6.10683374e-01 -1.40223815e-02 5.70264419e+01] [ 1.76175651e-02 1.17058104e-04 9.99844792e-01 2.98670934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.63038572300002 meters Centerline goodness [0,1] 0.9999105105373842 Centerline is valid? [True, True] Translation: X:196.51, Y:57.05, Z:2.99 [[ 6.10342373e-01 -7.92064174e-01 -1.07950225e-02 1.96513064e+02] [ 7.91936890e-01 6.10437819e-01 -1.41997125e-02 5.70489513e+01] [ 1.78367736e-02 1.17709680e-04 9.99840905e-01 2.98634571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.66038572300002 meters Centerline goodness [0,1] 0.9999776940063795 Centerline is valid? [True, True] Translation: X:196.53, Y:57.07, Z:2.99 [[ 6.09556694e-01 -7.92673970e-01 -1.04218727e-02 1.96529158e+02] [ 7.92555342e-01 6.09645773e-01 -1.37135522e-02 5.70714717e+01] [ 1.72240265e-02 9.92766243e-05 9.99851651e-01 2.98723316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.690385723 meters Centerline goodness [0,1] 0.9999776940063795 Centerline is valid? [True, True] Translation: X:196.55, Y:57.09, Z:2.99 [[ 6.09335776e-01 -7.92843854e-01 -1.04180465e-02 1.96545800e+02] [ 7.92725202e-01 6.09424822e-01 -1.37164584e-02 5.70934825e+01] [ 1.72240259e-02 9.92807520e-05 9.99851651e-01 2.98765037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.56, Y:57.11, Z:2.99 [[ 6.08216945e-01 -7.93703311e-01 -1.03538280e-02 1.96562605e+02] [ 7.93586115e-01 6.08305061e-01 -1.36393202e-02 5.71147134e+01] [ 1.71238596e-02 7.90115602e-05 9.99853373e-01 2.98902725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.58, Y:57.14, Z:2.99 [[ 6.07723535e-01 -7.94079780e-01 -1.04598524e-02 1.96578907e+02] [ 7.93960149e-01 6.07813539e-01 -1.37834650e-02 5.71362970e+01] [ 1.73028108e-02 7.18300594e-05 9.99850293e-01 2.98936435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.780385723 meters Centerline goodness [0,1] 0.999955462521712 Centerline is valid? [True, True] Translation: X:196.60, Y:57.16, Z:2.99 [[ 6.06614566e-01 -7.94920831e-01 -1.09380487e-02 1.96596153e+02] [ 7.94790007e-01 6.06713169e-01 -1.44213685e-02 5.71582685e+01] [ 1.81001044e-02 5.47604289e-05 9.99836178e-01 2.98957522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.61, Y:57.18, Z:2.99 [[ 6.06138721e-01 -7.95281110e-01 -1.11268803e-02 1.96613272e+02] [ 7.95145633e-01 6.06240838e-01 -1.46788572e-02 5.71801005e+01] [ 1.84193871e-02 4.99334236e-05 9.99830347e-01 2.98999643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.63, Y:57.20, Z:2.99 [[ 6.05628144e-01 -7.95668823e-01 -1.12104780e-02 1.96629414e+02] [ 7.95531220e-01 6.05731890e-01 -1.47971488e-02 5.72017369e+01] [ 1.85641740e-02 4.32845396e-05 9.99827670e-01 2.99044103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.870385723 meters Centerline goodness [0,1] 0.9999330835117773 Centerline is valid? [True, True] Translation: X:196.65, Y:57.23, Z:2.99 [[ 6.04988843e-01 -7.96147107e-01 -1.17594368e-02 1.96645914e+02] [ 7.95995669e-01 6.05103118e-01 -1.55278084e-02 5.72250717e+01] [ 1.94780916e-02 3.36901265e-05 9.99810283e-01 2.98925483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.900385723 meters Centerline goodness [0,1] 0.9999332814411209 Centerline is valid? [True, True] Translation: X:196.66, Y:57.25, Z:2.99 [[ 6.05733038e-01 -7.95570466e-01 -1.24547397e-02 1.96660138e+02] [ 7.95400285e-01 6.05861065e-01 -1.64546594e-02 5.72492982e+01] [ 2.06366829e-02 6.06273606e-05 9.99787039e-01 2.98865439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.68, Y:57.27, Z:2.99 [[ 6.06132075e-01 -7.95259687e-01 -1.28816586e-02 1.96676317e+02] [ 7.95077430e-01 6.06268937e-01 -1.70252003e-02 5.72727186e+01] [ 2.13492049e-02 7.76039272e-05 9.99772077e-01 2.98778628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.960385723 meters Centerline goodness [0,1] 0.9999331818789255 Centerline is valid? [True, True] Translation: X:196.69, Y:57.30, Z:2.99 [[ 6.06398910e-01 -7.95035027e-01 -1.41303694e-02 1.96692572e+02] [ 7.94815399e-01 6.06563513e-01 -1.86865466e-02 5.72966301e+01] [ 2.34274256e-02 1.00466255e-04 9.99725535e-01 2.98576642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.71, Y:57.32, Z:2.99 [[ 6.07230949e-01 -7.94400112e-01 -1.41080591e-02 1.96708574e+02] [ 7.94180814e-01 6.07394802e-01 -1.86651757e-02 5.73191728e+01] [ 2.33967794e-02 1.29722495e-04 9.99726249e-01 2.98688988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.020385723 meters Centerline goodness [0,1] 0.9999110142154791 Centerline is valid? [True, True] Translation: X:196.73, Y:57.34, Z:2.99 [[ 6.08223679e-01 -7.93628018e-01 -1.47825900e-02 1.96726139e+02] [ 7.93386829e-01 6.08403271e-01 -1.95652688e-02 5.73419319e+01] [ 2.45213216e-02 1.71747585e-04 9.99699292e-01 2.98817447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.050385723 meters Centerline goodness [0,1] 0.9999777713561696 Centerline is valid? [True, True] Translation: X:196.74, Y:57.37, Z:2.99 [[ 6.08596769e-01 -7.93339044e-01 -1.49376767e-02 1.96743687e+02] [ 7.93092423e-01 6.08780030e-01 -1.97808870e-02 5.73651781e+01] [ 2.47867093e-02 1.91625733e-04 9.99692744e-01 2.98925193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.080385723 meters Centerline goodness [0,1] 0.9999333170330525 Centerline is valid? [True, True] Translation: X:196.76, Y:57.39, Z:2.99 [[ 6.08997081e-01 -7.93031561e-01 -1.49499036e-02 1.96758460e+02] [ 7.92784217e-01 6.09180515e-01 -1.98062106e-02 5.73874499e+01] [ 2.48141401e-02 2.09876782e-04 9.99692060e-01 2.98886820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.77, Y:57.41, Z:2.99 [[ 6.10236459e-01 -7.92076324e-01 -1.50519378e-02 1.96773333e+02] [ 7.91825098e-01 6.10422011e-01 -1.99494895e-02 5.74122182e+01] [ 2.49895524e-02 2.55403657e-04 9.99687680e-01 2.98790104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.140385723 meters Centerline goodness [0,1] 0.9999332294680614 Centerline is valid? [True, True] Translation: X:196.79, Y:57.44, Z:2.99 [[ 6.11568023e-01 -7.91043588e-01 -1.53164858e-02 1.96790137e+02] [ 7.90782865e-01 6.11759712e-01 -2.03104664e-02 5.74358711e+01] [ 2.54364732e-02 3.09217237e-04 9.99676393e-01 2.98738449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.81, Y:57.46, Z:2.99 [[ 6.12299653e-01 -7.90470074e-01 -1.56906930e-02 1.96807516e+02] [ 7.90195986e-01 6.12500564e-01 -2.08173431e-02 5.74589814e+01] [ 2.60660451e-02 3.47729351e-04 9.99660162e-01 2.98759861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.200385723 meters Centerline goodness [0,1] 0.9999553820412717 Centerline is valid? [True, True] Translation: X:196.82, Y:57.48, Z:2.99 [[ 6.14126900e-01 -7.89036903e-01 -1.63986820e-02 1.96824801e+02] [ 7.88736700e-01 6.14345650e-01 -2.17678802e-02 5.74825399e+01] [ 2.72501197e-02 4.33998453e-04 9.99628552e-01 2.98655294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.84, Y:57.51, Z:2.99 [[ 6.14748659e-01 -7.88546484e-01 -1.66891911e-02 1.96841573e+02] [ 7.88235056e-01 6.14974976e-01 -2.21647156e-02 5.75058574e+01] [ 2.77413434e-02 4.70723657e-04 9.99615024e-01 2.98649267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.260385723 meters Centerline goodness [0,1] 0.9999777535538698 Centerline is valid? [True, True] Translation: X:196.86, Y:57.53, Z:2.99 [[ 6.16190061e-01 -7.87409964e-01 -1.71859835e-02 1.96856611e+02] [ 7.87078992e-01 6.16429439e-01 -2.28343210e-02 5.75296867e+01] [ 2.85739180e-02 5.43555066e-04 9.99591534e-01 2.98503621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.87, Y:57.55, Z:2.98 [[ 6.16639483e-01 -7.87053598e-01 -1.73891248e-02 1.96872623e+02] [ 7.86714337e-01 6.16884354e-01 -2.31137597e-02 5.75536582e+01] [ 2.89188468e-02 5.72583068e-04 9.99581599e-01 2.98429255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.32038572300002 meters Centerline goodness [0,1] 0.9999332383834787 Centerline is valid? [True, True] Translation: X:196.89, Y:57.58, Z:2.98 [[ 6.17404749e-01 -7.86424100e-01 -1.86684625e-02 1.96890194e+02] [ 7.86032379e-01 6.17686577e-01 -2.48272257e-02 5.75768718e+01] [ 3.10559873e-02 6.54431091e-04 9.99517432e-01 2.98431032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.35038572300002 meters Centerline goodness [0,1] 0.9999333511063716 Centerline is valid? [True, True] Translation: X:196.91, Y:57.60, Z:2.98 [[ 6.17612506e-01 -7.86253025e-01 -1.89992991e-02 1.96907147e+02] [ 7.85846904e-01 6.17904295e-01 -2.52769764e-02 5.75991337e+01] [ 3.16138477e-02 6.80836392e-04 9.99499926e-01 2.98453768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.38038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.93, Y:57.62, Z:2.99 [[ 6.17807106e-01 -7.86084393e-01 -1.96394494e-02 1.96925287e+02] [ 7.85650014e-01 6.18118767e-01 -2.61389562e-02 5.76221290e+01] [ 3.26869378e-02 7.19099182e-04 9.99465381e-01 2.98541293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.41038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.94, Y:57.64, Z:2.99 [[ 6.17837498e-01 -7.86062314e-01 -1.95669479e-02 1.96941209e+02] [ 7.85630669e-01 6.18146837e-01 -2.60564731e-02 5.76447757e+01] [ 3.25772584e-02 7.26271741e-04 9.99468956e-01 2.98519651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.96, Y:57.67, Z:2.99 [[ 6.17807974e-01 -7.86080440e-01 -1.97699155e-02 1.96958175e+02] [ 7.85639334e-01 6.18123768e-01 -2.63409162e-02 5.76680193e+01] [ 3.29263337e-02 7.41604822e-04 9.99457506e-01 2.98543902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.97, Y:57.69, Z:2.99 [[ 6.17630414e-01 -7.86214700e-01 -1.99779293e-02 1.96974031e+02] [ 7.85763965e-01 6.17952980e-01 -2.66290512e-02 5.76900453e+01] [ 3.32815725e-02 7.48974971e-04 9.99445734e-01 2.98538020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.99, Y:57.71, Z:2.99 [[ 6.17717893e-01 -7.86157878e-01 -1.95037329e-02 1.96990251e+02] [ 7.85727910e-01 6.18025276e-01 -2.60078756e-02 5.77123145e+01] [ 3.25000962e-02 7.40902829e-04 9.99471458e-01 2.98604280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.01, Y:57.73, Z:2.99 [[ 6.17915548e-01 -7.86014535e-01 -1.90138579e-02 1.97007284e+02] [ 7.85605405e-01 6.18207576e-01 -2.53681064e-02 5.77342930e+01] [ 3.16942114e-02 7.37957858e-04 9.99497340e-01 2.98742595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.560385723 meters Centerline goodness [0,1] 0.9999113573407202 Centerline is valid? [True, True] Translation: X:197.03, Y:57.76, Z:2.99 [[ 6.18838756e-01 -7.85319242e-01 -1.76715122e-02 1.97025492e+02] [ 7.84965196e-01 6.19090592e-01 -2.35898251e-02 5.77554601e+01] [ 2.94658106e-02 7.26775993e-04 9.99565525e-01 2.99138954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.590385723 meters Centerline goodness [0,1] 0.9998887603452878 Centerline is valid? [True, True] Translation: X:197.04, Y:57.78, Z:2.99 [[ 6.19278798e-01 -7.84983830e-01 -1.71509861e-02 1.97042372e+02] [ 7.84649848e-01 6.19515823e-01 -2.29076536e-02 5.77777016e+01] [ 2.86074449e-02 7.28705525e-04 9.99590458e-01 2.99270195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.06, Y:57.80, Z:2.99 [[ 6.19745258e-01 -7.84620576e-01 -1.69223919e-02 1.97059942e+02] [ 7.84294940e-01 6.19975806e-01 -2.26152113e-02 5.77997951e+01] [ 2.82358337e-02 7.43523599e-04 9.99601013e-01 2.99349036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.650385723 meters Centerline goodness [0,1] 0.9999776969913241 Centerline is valid? [True, True] Translation: X:197.07, Y:57.82, Z:2.99 [[ 6.19745183e-01 -7.84618979e-01 -1.69990268e-02 1.97074112e+02] [ 7.84290090e-01 6.19977815e-01 -2.27280569e-02 5.78229880e+01] [ 2.83718843e-02 7.53435559e-04 9.99597153e-01 2.99229606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.09, Y:57.84, Z:2.99 [[ 6.18624043e-01 -7.85503128e-01 -1.70037891e-02 1.97092890e+02] [ 7.85174125e-01 6.18857268e-01 -2.27436615e-02 5.78449232e+01] [ 2.83881357e-02 7.18840571e-04 9.99596717e-01 2.99299788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.710385723 meters Centerline goodness [0,1] 0.9998879677347076 Centerline is valid? [True, True] Translation: X:197.11, Y:57.87, Z:2.99 [[ 6.17959558e-01 -7.86026848e-01 -1.69640416e-02 1.97110273e+02] [ 7.85699251e-01 6.18191964e-01 -2.27020354e-02 5.78669205e+01] [ 2.83314436e-02 7.00304985e-04 9.99598339e-01 2.99380547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.13, Y:57.89, Z:3.00 [[ 6.16893527e-01 -7.86886833e-01 -1.58583702e-02 1.97130006e+02] [ 7.86600562e-01 6.17097012e-01 -2.12328511e-02 5.78885283e+01] [ 2.64940038e-02 6.24205546e-04 9.99648777e-01 2.99703469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.15, Y:57.91, Z:3.00 [[ 6.16552645e-01 -7.87165844e-01 -1.52568022e-02 1.97146655e+02] [ 7.86900707e-01 6.16741096e-01 -2.04376846e-02 5.79115638e+01] [ 2.54973442e-02 5.95320039e-04 9.99674713e-01 2.99817948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.16, Y:57.93, Z:3.00 [[ 6.16491793e-01 -7.87225504e-01 -1.46245003e-02 1.97160360e+02] [ 7.86981661e-01 6.16664963e-01 -1.96007344e-02 5.79346387e+01] [ 2.44486149e-02 5.74478371e-04 9.99700923e-01 2.99894363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.18, Y:57.95, Z:3.00 [[ 6.15962572e-01 -7.87647466e-01 -1.41978860e-02 1.97181285e+02] [ 7.87417536e-01 6.16125937e-01 -1.90382313e-02 5.79548194e+01] [ 2.37431004e-02 5.47173508e-04 9.99717943e-01 3.00201408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.860385723 meters Centerline goodness [0,1] 0.9999327263757456 Centerline is valid? [True, True] Translation: X:197.20, Y:57.98, Z:3.00 [[ 6.14936473e-01 -7.88466890e-01 -1.31566746e-02 1.97200462e+02] [ 7.88269479e-01 6.15077013e-01 -1.76492860e-02 5.79762315e+01] [ 2.20082458e-02 4.82184714e-04 9.99757673e-01 3.00485678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.890385723 meters Centerline goodness [0,1] 0.9999775528070215 Centerline is valid? [True, True] Translation: X:197.22, Y:58.00, Z:3.01 [[ 6.12498023e-01 -7.90382612e-01 -1.18952646e-02 1.97220638e+02] [ 7.90221506e-01 6.12613405e-01 -1.59620591e-02 5.79976443e+01] [ 1.99033325e-02 3.76835758e-04 9.99801838e-01 3.00691243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.920385723 meters Centerline goodness [0,1] 0.9999550652676986 Centerline is valid? [True, True] Translation: X:197.24, Y:58.02, Z:3.01 [[ 6.10664658e-01 -7.91815028e-01 -1.08460072e-02 1.97237072e+02] [ 7.91681215e-01 6.10760893e-01 -1.45597405e-02 5.80203472e+01] [ 1.81529384e-02 3.04538738e-04 9.99835175e-01 3.00796440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.26, Y:58.04, Z:3.01 [[ 6.06772534e-01 -7.94822538e-01 -9.17740149e-03 1.97259257e+02] [ 7.94727045e-01 6.06841906e-01 -1.23217034e-02 5.80401831e+01] [ 1.53627994e-02 1.82942018e-04 9.99881968e-01 3.01059707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.980385723 meters Centerline goodness [0,1] 0.9998428802298438 Centerline is valid? [True, True] Translation: X:197.28, Y:58.06, Z:3.01 [[ 6.04260518e-01 -7.96739373e-01 -8.69466984e-03 1.97278111e+02] [ 7.96653780e-01 6.04323055e-01 -1.16790831e-02 5.80609361e+01] [ 1.45595748e-02 1.30567205e-04 9.99893995e-01 3.00999111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.30, Y:58.08, Z:3.02 [[ 6.01280592e-01 -7.99015930e-01 -5.93249863e-03 1.97298353e+02] [ 7.98976169e-01 6.01309855e-01 -7.97118720e-03 5.80817765e+01] [ 9.93637544e-03 5.29951222e-05 9.99950632e-01 3.01596109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.31, Y:58.10, Z:3.02 [[ 5.99728816e-01 -8.00189587e-01 -4.68745291e-03 1.97314929e+02] [ 8.00164779e-01 5.99747134e-01 -6.30090189e-03 5.81032768e+01] [ 7.85320252e-03 2.80977041e-05 9.99969163e-01 3.01838013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.07038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.33, Y:58.13, Z:3.02 [[ 5.98355520e-01 -8.01221398e-01 -3.86556203e-03 1.97332736e+02] [ 8.01204550e-01 5.98368006e-01 -5.19601763e-03 5.81251924e+01] [ 6.47618915e-03 1.19599486e-05 9.99979029e-01 3.01936250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.10038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.35, Y:58.15, Z:3.02 [[ 5.95495896e-01 -8.03352652e-01 -3.02566237e-03 1.97350777e+02] [ 8.03342339e-01 5.95503583e-01 -4.07055652e-03 5.81469696e+01] [ 5.07188516e-03 -6.64298424e-06 9.99987138e-01 3.02179466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.13038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.37, Y:58.17, Z:3.02 [[ 5.92627146e-01 -8.05471024e-01 -3.08141945e-03 1.97367506e+02] [ 8.05460364e-01 5.92635157e-01 -4.14409259e-03 5.81690903e+01] [ 5.16410400e-03 -2.60594664e-05 9.99986666e-01 3.02031646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.16038572300002 meters Centerline goodness [0,1] 0.9999553760681854 Centerline is valid? [True, True] Translation: X:197.38, Y:58.19, Z:3.02 [[ 5.90658335e-01 -8.06914955e-01 -3.31459925e-03 1.97385000e+02] [ 8.06902613e-01 5.90667634e-01 -4.46304084e-03 5.81914379e+01] [ 5.55912089e-03 -3.84265268e-05 9.99984547e-01 3.01989413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.40, Y:58.21, Z:3.02 [[ 5.87190496e-01 -8.09441278e-01 -3.48417428e-03 1.97403226e+02] [ 8.09427685e-01 5.87200829e-01 -4.69144936e-03 5.82142429e+01] [ 5.84336279e-03 -6.54126454e-05 9.99982925e-01 3.01959951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.42, Y:58.24, Z:3.02 [[ 5.85206709e-01 -8.10876451e-01 -3.53404265e-03 1.97421059e+02] [ 8.10862477e-01 5.85217374e-01 -4.76108692e-03 5.82367411e+01] [ 5.92883643e-03 -7.94025711e-05 9.99982421e-01 3.02001118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.44, Y:58.26, Z:3.02 [[ 5.81707958e-01 -8.13385714e-01 -4.41959055e-03 1.97438537e+02] [ 8.13363890e-01 5.81724733e-01 -5.95968125e-03 5.82579509e+01] [ 7.41850472e-03 -1.27941354e-04 9.99972474e-01 3.01914092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.46, Y:58.28, Z:3.02 [[ 5.79672401e-01 -8.14835233e-01 -4.84257472e-03 1.97455703e+02] [ 8.14809058e-01 5.79692607e-01 -6.53306058e-03 5.82804666e+01] [ 8.13057270e-03 -1.58738832e-04 9.99966934e-01 3.01838311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.310385723 meters Centerline goodness [0,1] 0.9999109032186212 Centerline is valid? [True, True] Translation: X:197.47, Y:58.30, Z:3.01 [[ 5.75752939e-01 -8.17602642e-01 -5.87134006e-03 1.97471692e+02] [ 8.17564284e-01 5.75782826e-01 -7.92333206e-03 5.83039929e+01] [ 9.85875400e-03 -2.38316213e-04 9.99951373e-01 3.01477474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.49, Y:58.33, Z:3.02 [[ 5.74131231e-01 -8.18741225e-01 -6.01126968e-03 1.97487958e+02] [ 8.18701026e-01 5.74162640e-01 -8.11738898e-03 5.83260325e+01] [ 1.00974875e-02 -2.60986127e-04 9.99948985e-01 3.01624154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.51, Y:58.35, Z:3.02 [[ 5.70787516e-01 -8.21071796e-01 -6.53577159e-03 1.97505092e+02] [ 8.21024415e-01 5.70824840e-01 -8.82682250e-03 5.83490582e+01] [ 1.09782358e-02 -3.27787950e-04 9.99939684e-01 3.01565194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.400385723 meters Centerline goodness [0,1] 0.9999556383639429 Centerline is valid? [True, True] Translation: X:197.52, Y:58.37, Z:3.01 [[ 5.67641027e-01 -8.23247574e-01 -6.86260059e-03 1.97521214e+02] [ 8.23195438e-01 5.67682378e-01 -9.27300406e-03 5.83724297e+01] [ 1.15297555e-02 -3.85523945e-04 9.99933456e-01 3.01406751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.430385723 meters Centerline goodness [0,1] 0.9998442402260742 Centerline is valid? [True, True] Translation: X:197.54, Y:58.40, Z:3.01 [[ 5.66433937e-01 -8.24074699e-01 -7.31341198e-03 1.97537492e+02] [ 8.24015485e-01 5.66480988e-01 -9.88788792e-03 5.83963426e+01] [ 1.22912671e-02 -4.25529443e-04 9.99924369e-01 3.01226353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.55, Y:58.42, Z:3.01 [[ 5.66435621e-01 -8.24071187e-01 -7.57410638e-03 1.97553291e+02] [ 8.24007610e-01 5.66486088e-01 -1.02455380e-02 5.84202278e+01] [ 1.27336786e-02 -4.37683606e-04 9.99918828e-01 3.01352234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.57, Y:58.45, Z:3.01 [[ 5.66991611e-01 -8.23666683e-01 -9.68034170e-03 1.97566398e+02] [ 8.23562629e-01 5.67073982e-01 -1.31032535e-02 5.84468752e+01] [ 1.62821833e-02 -5.42932852e-04 9.99867289e-01 3.01021316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.520385723 meters Centerline goodness [0,1] 0.9998891991313212 Centerline is valid? [True, True] Translation: X:197.58, Y:58.47, Z:3.01 [[ 5.68729348e-01 -8.22438309e-01 -1.19229210e-02 1.97581962e+02] [ 8.22280019e-01 5.68853973e-01 -1.61470520e-02 5.84705588e+01] [ 2.00623551e-02 -6.20677356e-04 9.99798538e-01 3.00519856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.550385723 meters Centerline goodness [0,1] 0.9999336474022958 Centerline is valid? [True, True] Translation: X:197.60, Y:58.50, Z:3.00 [[ 5.70086355e-01 -8.21491130e-01 -1.24044617e-02 1.97596293e+02] [ 8.21319478e-01 5.70220968e-01 -1.68036385e-02 5.84958434e+01] [ 2.08773242e-02 -6.08501018e-04 9.99781860e-01 3.00455947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.61, Y:58.52, Z:3.00 [[ 5.74149111e-01 -8.18646380e-01 -1.30729460e-02 1.97607089e+02] [ 8.18454789e-01 5.74297681e-01 -1.77181112e-02 5.85235281e+01] [ 2.20126302e-02 -5.26777442e-04 9.99757554e-01 3.00395487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.62, Y:58.55, Z:3.00 [[ 5.73937060e-01 -8.18795129e-01 -1.30685562e-02 1.97623400e+02] [ 8.18603503e-01 5.74085585e-01 -1.77213488e-02 5.85457835e+01] [ 2.20126238e-02 -5.27027020e-04 9.99757554e-01 3.00437230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.64, Y:58.57, Z:3.00 [[ 5.76008928e-01 -8.17333998e-01 -1.33735101e-02 1.97636025e+02] [ 8.17132709e-01 5.76163961e-01 -1.81446040e-02 5.85726940e+01] [ 2.25355362e-02 -4.76478586e-04 9.99745929e-01 3.00419949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.65, Y:58.60, Z:3.00 [[ 5.80799839e-01 -8.13914005e-01 -1.46812538e-02 1.97646014e+02] [ 8.13670112e-01 5.80985244e-01 -1.99272554e-02 5.85994726e+01] [ 2.47486641e-02 -3.71950736e-04 9.99693636e-01 3.00192391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.66, Y:58.62, Z:3.00 [[ 5.83448197e-01 -8.12007746e-01 -1.52191251e-02 1.97659337e+02] [ 8.11744852e-01 5.83646581e-01 -2.06631172e-02 5.86237099e+01] [ 2.56612015e-02 -2.98187975e-04 9.99670653e-01 2.99947444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.67, Y:58.65, Z:3.00 [[ 5.89203521e-01 -8.07813503e-01 -1.66299575e-02 1.97667698e+02] [ 8.07497636e-01 5.89438148e-01 -2.25884141e-02 5.86535044e+01] [ 2.80495573e-02 -1.19478256e-04 9.99606527e-01 2.99802248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.760385723 meters Centerline goodness [0,1] 0.9998905979913791 Centerline is valid? [True, True] Translation: X:197.68, Y:58.68, Z:3.00 [[ 5.91014259e-01 -8.06477317e-01 -1.72186764e-02 1.97680436e+02] [ 8.06137755e-01 5.91265029e-01 -2.34005390e-02 5.86795347e+01] [ 2.90528051e-02 -5.05729199e-05 9.99577877e-01 2.99520639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.69, Y:58.71, Z:2.99 [[ 5.95208462e-01 -8.03362750e-01 -1.83078806e-02 1.97689220e+02] [ 8.02977035e-01 5.95489949e-01 -2.48918133e-02 5.87082680e+01] [ 3.08993144e-02 1.15010262e-04 9.99522496e-01 2.99480313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.82038572300002 meters Centerline goodness [0,1] 0.9998688524590164 Centerline is valid? [True, True] Translation: X:197.70, Y:58.73, Z:2.99 [[ 5.95438509e-01 -8.03174883e-01 -1.90548854e-02 1.97702775e+02] [ 8.02756600e-01 5.95743308e-01 -2.59181936e-02 5.87337536e+01] [ 3.21686626e-02 1.36255541e-04 9.99482445e-01 2.99283637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.85038572300002 meters Centerline goodness [0,1] 0.9999781978328646 Centerline is valid? [True, True] Translation: X:197.71, Y:58.76, Z:2.99 [[ 5.95760276e-01 -8.02898977e-01 -2.05651458e-02 1.97712759e+02] [ 8.02411239e-01 5.96115093e-01 -2.79821245e-02 5.87609998e+01] [ 3.47260129e-02 1.68934091e-04 9.99396856e-01 2.98953584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.88038572300002 meters Centerline goodness [0,1] 0.9999128274419213 Centerline is valid? [True, True] Translation: X:197.73, Y:58.78, Z:2.99 [[ 5.94405324e-01 -8.03885130e-01 -2.12369826e-02 1.97726514e+02] [ 8.03365295e-01 5.94784569e-01 -2.89053395e-02 5.87843050e+01] [ 3.58680021e-02 1.20432921e-04 9.99356529e-01 2.98686994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.91038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.74, Y:58.81, Z:2.99 [[ 5.91965261e-01 -8.05685407e-01 -2.11696615e-02 1.97738642e+02] [ 8.05169491e-01 5.92343671e-01 -2.88282194e-02 5.88100153e+01] [ 3.57661907e-02 2.01388455e-05 9.99360185e-01 2.99046739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.75, Y:58.83, Z:2.99 [[ 5.89942330e-01 -8.07165302e-01 -2.12655270e-02 1.97751947e+02] [ 8.06645170e-01 5.90325479e-01 -2.89723920e-02 5.88338531e+01] [ 3.59390920e-02 -6.16942213e-05 9.99353980e-01 2.98962305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.76, Y:58.86, Z:2.99 [[ 5.86370346e-01 -8.09751553e-01 -2.17310962e-02 1.97763225e+02] [ 8.09209790e-01 5.86772848e-01 -2.96165652e-02 5.88605682e+01] [ 3.67332769e-02 -2.18740184e-04 9.99325082e-01 2.98792992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.000385723 meters Centerline goodness [0,1] 0.9998710537061314 Centerline is valid? [True, True] Translation: X:197.77, Y:58.89, Z:2.99 [[ 5.82949572e-01 -8.12185732e-01 -2.28939588e-02 1.97774255e+02] [ 8.11585766e-01 5.83398825e-01 -3.12146668e-02 5.88885445e+01] [ 3.87084157e-02 -3.83834462e-04 9.99250475e-01 2.98584942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.79, Y:58.91, Z:2.99 [[ 5.82744426e-01 -8.12308517e-01 -2.37446187e-02 1.97787941e+02] [ 8.11662549e-01 5.83227841e-01 -3.23912177e-02 5.89142055e+01] [ 4.01601847e-02 -3.96816241e-04 9.99193176e-01 2.98863127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.80, Y:58.94, Z:2.99 [[ 5.82873287e-01 -8.12183981e-01 -2.48175869e-02 1.97797277e+02] [ 8.11477735e-01 5.83401253e-01 -3.38653820e-02 5.89422027e+01] [ 4.19835321e-02 -3.99692734e-04 9.99118223e-01 2.98629099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.81, Y:58.97, Z:2.98 [[ 5.83260911e-01 -8.11906447e-01 -2.47917377e-02 1.97809143e+02] [ 8.11201061e-01 5.83787445e-01 -3.38387038e-02 5.89665834e+01] [ 4.19469670e-02 -3.74290723e-04 9.99119769e-01 2.98356437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.120385723 meters Centerline goodness [0,1] 0.9998731393775372 Centerline is valid? [True, True] Translation: X:197.82, Y:59.00, Z:2.99 [[ 5.83506766e-01 -8.11718958e-01 -2.51433237e-02 1.97817078e+02] [ 8.10992605e-01 5.84048119e-01 -3.43335093e-02 5.89969212e+01] [ 4.25540714e-02 -3.57214592e-04 9.99094101e-01 2.98576051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.150385723 meters Centerline goodness [0,1] 0.9997252573070989 Centerline is valid? [True, True] Translation: X:197.83, Y:59.02, Z:2.99 [[ 5.83403503e-01 -8.11765548e-01 -2.60201491e-02 1.97830714e+02] [ 8.10986861e-01 5.83983359e-01 -3.55492265e-02 5.90231062e+01] [ 4.40529714e-02 -3.62455770e-04 9.99029131e-01 2.98522136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.84, Y:59.05, Z:2.99 [[ 5.84913976e-01 -8.10659258e-01 -2.65933752e-02 1.97842153e+02] [ 8.09843879e-01 5.85518140e-01 -3.63510709e-02 5.90500362e+01] [ 4.50392357e-02 -2.74232738e-04 9.98985181e-01 2.98895672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.210385723 meters Centerline goodness [0,1] 0.9998733990251725 Centerline is valid? [True, True] Translation: X:197.85, Y:59.08, Z:2.99 [[ 5.85845458e-01 -8.09978361e-01 -2.68356982e-02 1.97852697e+02] [ 8.09146673e-01 5.86459725e-01 -3.66967629e-02 5.90756509e+01] [ 4.54616400e-02 -2.15384002e-04 9.98966062e-01 2.98745624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.87, Y:59.10, Z:2.99 [[ 5.87314333e-01 -8.08925079e-01 -2.64970058e-02 1.97866550e+02] [ 8.08112462e-01 5.87911730e-01 -3.62497829e-02 5.91012188e+01] [ 4.49012590e-02 -1.22543520e-04 9.98991422e-01 2.99107801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.270385723 meters Centerline goodness [0,1] 0.9999157469036987 Centerline is valid? [True, True] Translation: X:197.88, Y:59.13, Z:2.99 [[ 5.88210934e-01 -8.08273467e-01 -2.64933826e-02 1.97880159e+02] [ 8.07459510e-01 5.88807268e-01 -3.62648668e-02 5.91257950e+01] [ 4.49114259e-02 -6.09425464e-05 9.98990971e-01 2.99022515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.89, Y:59.15, Z:3.00 [[ 5.91383089e-01 -8.05997142e-01 -2.51922610e-02 1.97893220e+02] [ 8.05258348e-01 5.91919415e-01 -3.45021636e-02 5.91522377e+01] [ 4.27204336e-02 1.17717555e-04 9.99087059e-01 2.99625243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.91, Y:59.18, Z:3.00 [[ 5.92807808e-01 -8.04985598e-01 -2.40226898e-02 1.97908015e+02] [ 8.04312529e-01 5.93294321e-01 -3.29120769e-02 5.91763363e+01] [ 4.07462733e-02 1.88785795e-04 9.99169508e-01 2.99632698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.360385723 meters Centerline goodness [0,1] 0.9999370910920986 Centerline is valid? [True, True] Translation: X:197.92, Y:59.20, Z:3.00 [[ 5.94971736e-01 -8.03438407e-01 -2.22566825e-02 1.97924014e+02] [ 8.02859140e-01 5.95387813e-01 -3.05049799e-02 5.92003635e+01] [ 3.77602299e-02 2.80619859e-04 9.99286789e-01 3.00049901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.94, Y:59.22, Z:3.00 [[ 5.96337295e-01 -8.02454699e-01 -2.11727835e-02 1.97940441e+02] [ 8.01929354e-01 5.96712949e-01 -2.90338986e-02 5.92235653e+01] [ 3.59324624e-02 3.34919953e-04 9.99354164e-01 3.00409186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.96, Y:59.25, Z:3.01 [[ 5.98230718e-01 -8.01091030e-01 -1.93176094e-02 1.97955734e+02] [ 8.00652601e-01 5.98542406e-01 -2.65028423e-02 5.92480718e+01] [ 3.27935977e-02 3.88120197e-04 9.99462070e-01 3.00736974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.97, Y:59.27, Z:3.01 [[ 5.99098773e-01 -8.00461314e-01 -1.85025886e-02 1.97972346e+02] [ 8.00058503e-01 5.99384281e-01 -2.53944064e-02 5.92691710e+01] [ 3.14174007e-02 4.10604408e-04 9.99506267e-01 3.00990902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.99, Y:59.29, Z:3.01 [[ 5.98957621e-01 -8.00560698e-01 -1.87706388e-02 1.97991010e+02] [ 8.00145847e-01 5.99251528e-01 -2.57726396e-02 5.92912167e+01] [ 3.18808963e-02 4.17470193e-04 9.99491588e-01 3.01128452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.01, Y:59.31, Z:3.01 [[ 5.98662681e-01 -8.00775302e-01 -1.90239366e-02 1.98009790e+02] [ 8.00348828e-01 5.98964723e-01 -2.61345478e-02 5.93124309e+01] [ 3.23225673e-02 4.19993107e-04 9.99477401e-01 3.01303433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.03, Y:59.33, Z:3.02 [[ 5.97575144e-01 -8.01598558e-01 -1.85391499e-02 1.98029947e+02] [ 8.01193654e-01 5.97862538e-01 -2.54777137e-02 5.93319618e+01] [ 3.15067617e-02 3.71399168e-04 9.99503470e-01 3.01538460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.57038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.05, Y:59.35, Z:3.02 [[ 5.96338872e-01 -8.02520413e-01 -1.84644635e-02 1.98050505e+02] [ 8.02119019e-01 5.96624573e-01 -2.53810623e-02 5.93510578e+01] [ 3.13851732e-02 3.25016740e-04 9.99507311e-01 3.01673721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.07, Y:59.37, Z:3.02 [[ 5.95714278e-01 -8.02976174e-01 -1.88086041e-02 1.98069101e+02] [ 8.02559542e-01 5.96011045e-01 -2.58653380e-02 5.93716701e+01] [ 3.19793859e-02 3.13326403e-04 9.99488480e-01 3.01683212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.09, Y:59.39, Z:3.02 [[ 5.94821562e-01 -8.03638363e-01 -1.87800763e-02 1.98089430e+02] [ 8.03222862e-01 5.95117887e-01 -2.58405631e-02 5.93916740e+01] [ 3.19428272e-02 2.85937511e-04 9.99489657e-01 3.01744310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.66038572300002 meters Centerline goodness [0,1] 0.9998736389865847 Centerline is valid? [True, True] Translation: X:198.11, Y:59.41, Z:3.02 [[ 5.94181058e-01 -8.04107321e-01 -1.89812311e-02 1.98108459e+02] [ 8.03682632e-01 5.94484098e-01 -2.61320674e-02 5.94129198e+01] [ 3.22970267e-02 2.72293705e-04 9.99478278e-01 3.01543156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.13, Y:59.43, Z:3.02 [[ 5.95161506e-01 -8.03399883e-01 -1.82046806e-02 1.98131383e+02] [ 8.03008473e-01 5.95439782e-01 -2.50770272e-02 5.94302395e+01] [ 3.09866718e-02 3.06368556e-04 9.99519751e-01 3.02196743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.15, Y:59.45, Z:3.02 [[ 5.95375942e-01 -8.03247476e-01 -1.79159240e-02 1.98149043e+02] [ 8.02867983e-01 5.95645358e-01 -2.46902474e-02 5.94507654e+01] [ 3.05039159e-02 3.15857514e-04 9.99534597e-01 3.02267134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.750385723 meters Centerline goodness [0,1] 0.9998305407867144 Centerline is valid? [True, True] Translation: X:198.17, Y:59.47, Z:3.02 [[ 5.95523034e-01 -8.03144858e-01 -1.76253577e-02 1.98169445e+02] [ 8.02777215e-01 5.95783714e-01 -2.43003959e-02 5.94710572e+01] [ 3.00176391e-02 3.22209907e-04 9.99549317e-01 3.02226490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.780385723 meters Centerline goodness [0,1] 0.9999788520915281 Centerline is valid? [True, True] Translation: X:198.19, Y:59.49, Z:3.02 [[ 5.96114394e-01 -8.02708732e-01 -1.75020318e-02 1.98188865e+02] [ 8.02345652e-01 5.96371167e-01 -2.41430328e-02 5.94930966e+01] [ 2.98175304e-02 3.49330279e-04 9.99555298e-01 3.02465037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.21, Y:59.51, Z:3.03 [[ 5.95920275e-01 -8.02849484e-01 -1.76559261e-02 1.98211436e+02] [ 8.02479656e-01 5.96181668e-01 -2.43684227e-02 5.95111334e+01] [ 3.00903151e-02 3.53115653e-04 9.99547122e-01 3.02636496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.840385723 meters Centerline goodness [0,1] 0.9998286020353508 Centerline is valid? [True, True] Translation: X:198.23, Y:59.53, Z:3.03 [[ 5.95337010e-01 -8.03287768e-01 -1.73955905e-02 1.98232854e+02] [ 8.02928683e-01 5.95591010e-01 -2.40182889e-02 5.95299498e+01] [ 2.96542550e-02 3.31557707e-04 9.99560161e-01 3.02673710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.870385723 meters Centerline goodness [0,1] 0.9999785605557104 Centerline is valid? [True, True] Translation: X:198.25, Y:59.55, Z:3.03 [[ 5.95338690e-01 -8.03284338e-01 -1.74962002e-02 1.98251084e+02] [ 8.02920879e-01 5.95595633e-01 -2.41640897e-02 5.95499268e+01] [ 2.98312952e-02 3.37752994e-04 9.99554891e-01 3.02751521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.900385723 meters Centerline goodness [0,1] 0.9999786004707897 Centerline is valid? [True, True] Translation: X:198.27, Y:59.57, Z:3.03 [[ 5.95034961e-01 -8.03521156e-01 -1.69454066e-02 1.98273319e+02] [ 8.03180022e-01 5.95276111e-01 -2.34137651e-02 5.95698228e+01] [ 2.89006514e-02 3.21796731e-04 9.99582237e-01 3.02986432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.29, Y:59.59, Z:3.03 [[ 5.94510912e-01 -8.03915379e-01 -1.66385060e-02 1.98291930e+02] [ 8.03586301e-01 5.94743618e-01 -2.30018632e-02 5.95920633e+01] [ 2.83871969e-02 3.04383179e-04 9.99596956e-01 3.03064480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.31, Y:59.61, Z:3.03 [[ 5.93520852e-01 -8.04649879e-01 -1.64793856e-02 1.98311512e+02] [ 8.04327104e-01 5.93749525e-01 -2.27905899e-02 5.96121275e+01] [ 2.81230728e-02 2.71873839e-04 9.99604431e-01 3.03026779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.33, Y:59.63, Z:3.03 [[ 5.92614760e-01 -8.05312135e-01 -1.67365543e-02 1.98330592e+02] [ 8.04979220e-01 5.92850996e-01 -2.31549410e-02 5.96331845e+01] [ 2.85692379e-02 2.49381401e-04 9.99591785e-01 3.03074518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.020385723 meters Centerline goodness [0,1] 0.9999783704280493 Centerline is valid? [True, True] Translation: X:198.35, Y:59.65, Z:3.03 [[ 5.91105326e-01 -8.06415361e-01 -1.69929184e-02 1.98349364e+02] [ 8.06072278e-01 5.91349494e-01 -2.35214651e-02 5.96526442e+01] [ 2.90168245e-02 2.06142866e-04 9.99578902e-01 3.02999781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.050385723 meters Centerline goodness [0,1] 0.999978431076505 Centerline is valid? [True, True] Translation: X:198.37, Y:59.68, Z:3.03 [[ 5.90250889e-01 -8.07046215e-01 -1.67420293e-02 1.98367115e+02] [ 8.06713141e-01 5.90488252e-01 -2.31847403e-02 5.96751254e+01] [ 2.85971285e-02 1.78798530e-04 9.99591002e-01 3.02982353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.080385723 meters Centerline goodness [0,1] 0.999934997399896 Centerline is valid? [True, True] Translation: X:198.39, Y:59.70, Z:3.03 [[ 5.88015951e-01 -8.08689332e-01 -1.60874045e-02 1.98388803e+02] [ 8.08382103e-01 5.88235967e-01 -2.22894910e-02 5.96950146e+01] [ 2.74884635e-02 1.01806371e-04 9.99622116e-01 3.03201264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.110385723 meters Centerline goodness [0,1] 0.999956560456984 Centerline is valid? [True, True] Translation: X:198.41, Y:59.72, Z:3.03 [[ 5.86388062e-01 -8.09875693e-01 -1.58241122e-02 1.98407875e+02] [ 8.09578552e-01 5.86601533e-01 -2.19364734e-02 5.97153851e+01] [ 2.70482651e-02 5.24242483e-05 9.99634127e-01 3.03344675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.140385723 meters Centerline goodness [0,1] 0.9999565368567455 Centerline is valid? [True, True] Translation: X:198.43, Y:59.73, Z:3.03 [[ 5.83751826e-01 -8.11788792e-01 -1.52565463e-02 1.98428016e+02] [ 8.11513016e-01 5.83951159e-01 -2.11581879e-02 5.97347090e+01] [ 2.60850577e-02 -2.97550438e-05 9.99659727e-01 3.03432088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.45, Y:59.76, Z:3.03 [[ 5.82369370e-01 -8.12784538e-01 -1.50735155e-02 1.98446474e+02] [ 8.12515489e-01 5.82564408e-01 -2.09114792e-02 5.97566296e+01] [ 2.57778206e-02 -6.92598475e-05 9.99667694e-01 3.03469200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.47, Y:59.78, Z:3.04 [[ 5.80554096e-01 -8.14081658e-01 -1.50995072e-02 1.98465648e+02] [ 8.13811819e-01 5.80750411e-01 -2.09591144e-02 5.97756380e+01] [ 2.58314756e-02 -1.20257715e-04 9.99666305e-01 3.03506908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.230385723 meters Centerline goodness [0,1] 0.9999782106593454 Centerline is valid? [True, True] Translation: X:198.48, Y:59.80, Z:3.04 [[ 5.79815855e-01 -8.14610263e-01 -1.49564021e-02 1.98483605e+02] [ 8.14345405e-01 5.80008708e-01 -2.07716211e-02 5.97967962e+01] [ 2.55956192e-02 -1.35962046e-04 9.99672369e-01 3.03508339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.260385723 meters Centerline goodness [0,1] 0.9999782589790417 Centerline is valid? [True, True] Translation: X:198.50, Y:59.82, Z:3.04 [[ 5.78678453e-01 -8.15415226e-01 -1.51412253e-02 1.98502949e+02] [ 8.15143758e-01 5.78876481e-01 -2.10397985e-02 5.98169115e+01] [ 2.59210713e-02 -1.66997266e-04 9.99663979e-01 3.03603968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.290385723 meters Centerline goodness [0,1] 0.9999782840018241 Centerline is valid? [True, True] Translation: X:198.52, Y:59.84, Z:3.04 [[ 5.78403230e-01 -8.15622138e-01 -1.44993320e-02 1.98520298e+02] [ 8.15373025e-01 5.78584912e-01 -2.01576080e-02 5.98373041e+01] [ 2.48300861e-02 -1.63138599e-04 9.99691673e-01 3.03634694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.54, Y:59.86, Z:3.04 [[ 5.78488255e-01 -8.15564369e-01 -1.43561519e-02 1.98536681e+02] [ 8.15319882e-01 5.78666343e-01 -1.99688198e-02 5.98606548e+01] [ 2.45932799e-02 -1.53128326e-04 9.99697528e-01 3.03753161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.55, Y:59.88, Z:3.04 [[ 5.79017875e-01 -8.15193218e-01 -1.40825359e-02 1.98553437e+02] [ 8.14957583e-01 5.79189089e-01 -1.95994125e-02 5.98833003e+01] [ 2.41337593e-02 -1.28259249e-04 9.99708730e-01 3.03784270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.38038572300002 meters Centerline goodness [0,1] 0.9999781892734847 Centerline is valid? [True, True] Translation: X:198.57, Y:59.91, Z:3.04 [[ 5.80776560e-01 -8.13934771e-01 -1.44490809e-02 1.98570316e+02] [ 8.13686024e-01 5.80956266e-01 -2.01214036e-02 5.99052512e+01] [ 2.47717941e-02 -7.09756002e-05 9.99693130e-01 3.03730578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.41038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.59, Y:59.93, Z:3.04 [[ 5.81495599e-01 -8.13416426e-01 -1.47169035e-02 1.98586921e+02] [ 8.13157901e-01 5.81681800e-01 -2.05063690e-02 5.99278913e+01] [ 2.52407723e-02 -4.28030724e-05 9.99681400e-01 3.03696573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.440385723 meters Centerline goodness [0,1] 0.9999781573544188 Centerline is valid? [True, True] Translation: X:198.60, Y:59.95, Z:3.04 [[ 5.82250365e-01 -8.12885682e-01 -1.41908287e-02 1.98603493e+02] [ 8.12644884e-01 5.82423272e-01 -1.97844788e-02 5.99500812e+01] [ 2.43475885e-02 -1.25842981e-05 9.99703553e-01 3.03687471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.62, Y:59.97, Z:3.04 [[ 5.81158838e-01 -8.13674095e-01 -1.37430738e-02 1.98621116e+02] [ 8.13448220e-01 5.81321310e-01 -1.91710022e-02 5.99724395e+01] [ 2.35880895e-02 -3.78815613e-05 9.99721762e-01 3.03698848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.64, Y:59.99, Z:3.04 [[ 5.80937977e-01 -8.13831886e-01 -1.37378718e-02 1.98637125e+02] [ 8.13605967e-01 5.81100388e-01 -1.91747295e-02 5.99949007e+01] [ 2.35880889e-02 -3.78859180e-05 9.99721762e-01 3.03740569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.530385723 meters Centerline goodness [0,1] 0.999956296571466 Centerline is valid? [True, True] Translation: X:198.65, Y:60.02, Z:3.04 [[ 5.79880020e-01 -8.14585461e-01 -1.37727826e-02 1.98654011e+02] [ 8.14358352e-01 5.80043553e-01 -1.92341175e-02 6.00162476e+01] [ 2.36566462e-02 -6.25000740e-05 9.99720140e-01 3.03772606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.67, Y:60.04, Z:3.04 [[ 5.78699484e-01 -8.15424587e-01 -1.37713445e-02 1.98671591e+02] [ 8.15197519e-01 5.78863312e-01 -1.92424048e-02 6.00377401e+01] [ 2.36624561e-02 -9.07961180e-05 9.99720001e-01 3.03856588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.69, Y:60.06, Z:3.04 [[ 5.76599146e-01 -8.16905281e-01 -1.41133560e-02 1.98690410e+02] [ 8.16666962e-01 5.76771826e-01 -1.97315370e-02 6.00592826e+01] [ 2.42589829e-02 -1.48724196e-04 9.99705697e-01 3.03941505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.71, Y:60.08, Z:3.04 [[ 5.74472483e-01 -8.18403861e-01 -1.40173870e-02 1.98707970e+02] [ 8.18168964e-01 5.74643437e-01 -1.96078368e-02 6.00818645e+01] [ 2.41021288e-02 -2.04428257e-04 9.99709481e-01 3.04035325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.650385723 meters Centerline goodness [0,1] 0.9999780999518199 Centerline is valid? [True, True] Translation: X:198.72, Y:60.10, Z:3.04 [[ 5.73291334e-01 -8.19241273e-01 -1.34455382e-02 1.98724594e+02] [ 8.19025155e-01 5.73448939e-01 -1.88177920e-02 6.01049260e+01] [ 2.31266415e-02 -2.24156939e-04 9.99732518e-01 3.04115973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.680385723 meters Centerline goodness [0,1] 0.9999561864703821 Centerline is valid? [True, True] Translation: X:198.74, Y:60.13, Z:3.04 [[ 5.71516462e-01 -8.20476566e-01 -1.36798729e-02 1.98744127e+02] [ 8.20252982e-01 5.71680094e-01 -1.91550586e-02 6.01251820e+01] [ 2.35367877e-02 -2.73525278e-04 9.99722934e-01 3.04080282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.76, Y:60.15, Z:3.04 [[ 5.70735029e-01 -8.21009370e-01 -1.43227474e-02 1.98762112e+02] [ 8.20764261e-01 5.70914636e-01 -2.00625583e-02 6.01481681e+01] [ 2.46486145e-02 -3.05194358e-04 9.99696130e-01 3.04123815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.78, Y:60.17, Z:3.04 [[ 5.70483148e-01 -8.21172131e-01 -1.50102886e-02 1.98778932e+02] [ 8.20902692e-01 5.70680496e-01 -2.10367008e-02 6.01709316e+01] [ 2.58408314e-02 -3.20903000e-04 9.99666018e-01 3.04120699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.770385723 meters Centerline goodness [0,1] 0.9999780494764801 Centerline is valid? [True, True] Translation: X:198.79, Y:60.20, Z:3.04 [[ 5.71272174e-01 -8.20604714e-01 -1.60002045e-02 1.98793639e+02] [ 8.20297976e-01 5.71496115e-01 -2.24370500e-02 6.01952230e+01] [ 2.75560037e-02 -3.07273082e-04 9.99620214e-01 3.04021915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.81, Y:60.22, Z:3.04 [[ 5.71477310e-01 -8.20458752e-01 -1.61592130e-02 1.98808247e+02] [ 8.20145479e-01 5.71705649e-01 -2.26725392e-02 6.02178707e+01] [ 2.78401966e-02 -2.96063751e-04 9.99612343e-01 3.03974869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.830385723 meters Centerline goodness [0,1] 0.9999780913153974 Centerline is valid? [True, True] Translation: X:198.82, Y:60.24, Z:3.04 [[ 5.72171067e-01 -8.19978516e-01 -1.59844712e-02 1.98823797e+02] [ 8.19671467e-01 5.72394238e-01 -2.24393046e-02 6.02415759e+01] [ 2.75491669e-02 -2.62894082e-04 9.99620415e-01 3.03994298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.84, Y:60.26, Z:3.04 [[ 5.72255252e-01 -8.19924601e-01 -1.57345078e-02 1.98840414e+02] [ 8.19626727e-01 5.72471472e-01 -2.21007274e-02 6.02644325e+01] [ 2.71284869e-02 -2.49165794e-04 9.99631924e-01 3.04129161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.86, Y:60.29, Z:3.04 [[ 5.71656733e-01 -8.20354763e-01 -1.50546764e-02 1.98856737e+02] [ 8.20081919e-01 5.71854877e-01 -2.11576190e-02 6.02872634e+01] [ 2.59658437e-02 -2.51172519e-04 9.99662799e-01 3.04268137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.87, Y:60.31, Z:3.04 [[ 5.70706459e-01 -8.21026443e-01 -1.44815947e-02 1.98872891e+02] [ 8.20773909e-01 5.70890103e-01 -2.03637231e-02 6.03107675e+01] [ 2.49865542e-02 -2.64406746e-04 9.99687752e-01 3.04359476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.89, Y:60.33, Z:3.04 [[ 5.69854253e-01 -8.21623351e-01 -1.41844805e-02 1.98888558e+02] [ 8.21380978e-01 5.70030694e-01 -1.99573998e-02 6.03343571e+01] [ 2.44830550e-02 -2.78053304e-04 9.99700206e-01 3.04403462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.91, Y:60.36, Z:3.04 [[ 5.69007036e-01 -8.22214212e-01 -1.39564693e-02 1.98905067e+02] [ 8.21979473e-01 5.69178096e-01 -1.96479473e-02 6.03573022e+01] [ 2.40985381e-02 -2.92111004e-04 9.99709545e-01 3.04443867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.010385723 meters Centerline goodness [0,1] 0.9999562487694966 Centerline is valid? [True, True] Translation: X:198.92, Y:60.38, Z:3.05 [[ 5.67463289e-01 -8.23290531e-01 -1.33460432e-02 1.98922250e+02] [ 8.23075941e-01 5.67620120e-01 -1.87987980e-02 6.03782068e+01] [ 2.30523550e-02 -3.17179267e-04 9.99734209e-01 3.04617584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.94, Y:60.40, Z:3.05 [[ 5.66913667e-01 -8.23663752e-01 -1.36717692e-02 1.98938878e+02] [ 8.23438428e-01 5.67078400e-01 -1.92676984e-02 6.04019512e+01] [ 2.36230697e-02 -3.34738587e-04 9.99720880e-01 3.04763839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.07038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.95, Y:60.42, Z:3.05 [[ 5.66994170e-01 -8.23617575e-01 -1.31034792e-02 1.98953843e+02] [ 8.23410393e-01 5.67145476e-01 -1.84752155e-02 6.04246012e+01] [ 2.26480911e-02 -3.14201470e-04 9.99743450e-01 3.04788425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.10038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.97, Y:60.45, Z:3.05 [[ 5.67807982e-01 -8.23075274e-01 -1.18823161e-02 1.98966293e+02] [ 8.22904657e-01 5.67932237e-01 -1.67600506e-02 6.04508601e+01] [ 2.05431336e-02 -2.61522715e-04 9.99788933e-01 3.04895602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.13038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.98, Y:60.47, Z:3.05 [[ 5.68600538e-01 -8.22528535e-01 -1.18422263e-02 1.98981514e+02] [ 8.22358802e-01 5.68723794e-01 -1.67107057e-02 6.04743971e+01] [ 2.04799881e-02 -2.36842812e-04 9.99790235e-01 3.04866054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.16038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.00, Y:60.50, Z:3.05 [[ 5.70637359e-01 -8.21102802e-01 -1.27746967e-02 1.98995619e+02] [ 8.20904807e-01 5.70780299e-01 -1.80318775e-02 6.04999677e+01] [ 2.20975704e-02 -1.97146904e-04 9.99755799e-01 3.04859435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.190385723 meters Centerline goodness [0,1] 0.999978181659503 Centerline is valid? [True, True] Translation: X:199.01, Y:60.52, Z:3.05 [[ 5.71674454e-01 -8.20371045e-01 -1.34040361e-02 1.99011135e+02] [ 8.20152613e-01 5.71831549e-01 -1.89306993e-02 6.05228684e+01] [ 2.31950483e-02 -1.71157986e-04 9.99730944e-01 3.04890979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.03, Y:60.55, Z:3.05 [[ 5.74189143e-01 -8.18596752e-01 -1.43591541e-02 1.99025152e+02] [ 8.18345266e-01 5.74368651e-01 -2.02898621e-02 6.05463113e+01] [ 2.48566632e-02 -1.00527284e-04 9.99691020e-01 3.04837221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.250385723 meters Centerline goodness [0,1] 0.9999781702285577 Centerline is valid? [True, True] Translation: X:199.04, Y:60.57, Z:3.05 [[ 5.75443282e-01 -8.17718674e-01 -1.41844907e-02 1.99040275e+02] [ 8.17472799e-01 5.75618074e-01 -2.00513257e-02 6.05703437e+01] [ 2.45611927e-02 -5.70346570e-05 9.99698327e-01 3.04807794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.05, Y:60.60, Z:3.05 [[ 5.77661907e-01 -8.16166626e-01 -1.33701049e-02 1.99054798e+02] [ 8.15947528e-01 5.77816613e-01 -1.89101326e-02 6.05951684e+01] [ 2.31592879e-02 1.43592604e-05 9.99731788e-01 3.04913581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.310385723 meters Centerline goodness [0,1] 0.999978192127358 Centerline is valid? [True, True] Translation: X:199.07, Y:60.62, Z:3.05 [[ 5.78287192e-01 -8.15730241e-01 -1.29652099e-02 1.99069438e+02] [ 8.15523898e-01 5.78432513e-01 -1.83466496e-02 6.06174011e+01] [ 2.24654159e-02 3.61939544e-05 9.99747620e-01 3.04947461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.340385723 meters Centerline goodness [0,1] 0.9999781559230215 Centerline is valid? [True, True] Translation: X:199.09, Y:60.64, Z:3.05 [[ 5.79502507e-01 -8.14865850e-01 -1.30572325e-02 1.99085364e+02] [ 8.14656121e-01 5.79649585e-01 -1.84868258e-02 6.06402500e+01] [ 2.26329024e-02 7.60074614e-05 9.99743840e-01 3.04916291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.370385723 meters Centerline goodness [0,1] 0.999978079789566 Centerline is valid? [True, True] Translation: X:199.10, Y:60.66, Z:3.05 [[ 5.79739542e-01 -8.14698236e-01 -1.29941467e-02 1.99101961e+02] [ 8.14490250e-01 5.79885141e-01 -1.84080152e-02 6.06629299e+01] [ 2.25320901e-02 8.82484532e-05 9.99746116e-01 3.04925512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.12, Y:60.69, Z:3.05 [[ 5.80496011e-01 -8.14161889e-01 -1.28374187e-02 1.99118916e+02] [ 8.13958529e-01 5.80637929e-01 -1.81963847e-02 6.06852104e+01] [ 2.22686952e-02 1.13802349e-04 9.99752015e-01 3.04981727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.430385723 meters Centerline goodness [0,1] 0.9999782603969651 Centerline is valid? [True, True] Translation: X:199.13, Y:60.71, Z:3.05 [[ 5.81060179e-01 -8.13756160e-01 -1.30376667e-02 1.99134723e+02] [ 8.13546090e-01 5.81206412e-01 -1.84896322e-02 6.07073770e+01] [ 2.26236276e-02 1.36846191e-04 9.99744044e-01 3.04994276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.15, Y:60.73, Z:3.05 [[ 5.82500769e-01 -8.12722333e-01 -1.32387401e-02 1.99151412e+02] [ 8.12505331e-01 5.82651162e-01 -1.87805924e-02 6.07297252e+01] [ 2.29769741e-02 1.83162607e-04 9.99735978e-01 3.04977291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.490385723 meters Centerline goodness [0,1] 0.9999780605528741 Centerline is valid? [True, True] Translation: X:199.17, Y:60.75, Z:3.05 [[ 5.83693977e-01 -8.11857898e-01 -1.37147501e-02 1.99167588e+02] [ 8.11624613e-01 5.83855034e-01 -1.94624402e-02 6.07536740e+01] [ 2.38081617e-02 2.28880328e-04 9.99716519e-01 3.04909409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.520385723 meters Centerline goodness [0,1] 0.9999341614361585 Centerline is valid? [True, True] Translation: X:199.18, Y:60.78, Z:3.05 [[ 5.86411492e-01 -8.09879424e-01 -1.47268662e-02 1.99183752e+02] [ 8.09609533e-01 5.86596287e-01 -2.09093249e-02 6.07781637e+01] [ 2.55727570e-02 3.38457088e-04 9.99672906e-01 3.04702019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.550385723 meters Centerline goodness [0,1] 0.9998678006433702 Centerline is valid? [True, True] Translation: X:199.20, Y:60.80, Z:3.05 [[ 5.87313462e-01 -8.09219687e-01 -1.50464570e-02 1.99201913e+02] [ 8.08937452e-01 5.87506045e-01 -2.13739427e-02 6.08010271e+01] [ 2.61360996e-02 3.81561711e-04 9.99658321e-01 3.04793342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.580385723 meters Centerline goodness [0,1] 0.9999118068570169 Centerline is valid? [True, True] Translation: X:199.22, Y:60.82, Z:3.05 [[ 5.89399505e-01 -8.07701726e-01 -1.50381071e-02 1.99217274e+02] [ 8.07419064e-01 5.89591142e-01 -2.13714866e-02 6.08239210e+01] [ 2.61281214e-02 4.54289259e-04 9.99658499e-01 3.04741150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.610385723 meters Centerline goodness [0,1] 0.9999558859209917 Centerline is valid? [True, True] Translation: X:199.24, Y:60.85, Z:3.05 [[ 5.90057580e-01 -8.07226036e-01 -1.47708900e-02 1.99236750e+02] [ 8.06952966e-01 5.90242242e-01 -2.10001862e-02 6.08457854e+01] [ 2.56703003e-02 4.71905519e-04 9.99670352e-01 3.04973035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.25, Y:60.87, Z:3.05 [[ 5.91739359e-01 -8.05994624e-01 -1.47376126e-02 1.99253035e+02] [ 8.05722125e-01 5.91922617e-01 -2.09636099e-02 6.08693008e+01] [ 2.56200831e-02 5.30572482e-04 9.99671611e-01 3.04897533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.670385723 meters Centerline goodness [0,1] 0.999911902035063 Centerline is valid? [True, True] Translation: X:199.27, Y:60.89, Z:3.05 [[ 5.92420206e-01 -8.05496049e-01 -1.46429021e-02 1.99269069e+02] [ 8.05226618e-01 5.92600884e-01 -2.08395514e-02 6.08929630e+01] [ 2.54635730e-02 5.54916787e-04 9.99675597e-01 3.04852902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.700385723 meters Centerline goodness [0,1] 0.9999558674257469 Centerline is valid? [True, True] Translation: X:199.29, Y:60.92, Z:3.05 [[ 5.94331638e-01 -8.04093121e-01 -1.42883578e-02 1.99288307e+02] [ 8.03835919e-01 5.94503057e-01 -2.03452975e-02 6.09152340e+01] [ 2.48539862e-02 6.06358751e-04 9.99690908e-01 3.05003487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.730385723 meters Centerline goodness [0,1] 0.9999558372159781 Centerline is valid? [True, True] Translation: X:199.30, Y:60.94, Z:3.05 [[ 5.95467702e-01 -8.03245118e-01 -1.46798120e-02 1.99304546e+02] [ 8.02973125e-01 5.95648250e-01 -2.09122502e-02 6.09375840e+01] [ 2.55416672e-02 6.65075077e-04 9.99673537e-01 3.05069115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.760385723 meters Centerline goodness [0,1] 0.9999557815609109 Centerline is valid? [True, True] Translation: X:199.33, Y:60.96, Z:3.05 [[ 5.97782357e-01 -8.01519529e-01 -1.49230558e-02 1.99326093e+02] [ 8.01237675e-01 5.97968119e-01 -2.12677480e-02 6.09581382e+01] [ 2.59700270e-02 7.56570003e-04 9.99662436e-01 3.05312807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.790385723 meters Centerline goodness [0,1] 0.9999557385030762 Centerline is valid? [True, True] Translation: X:199.34, Y:60.98, Z:3.05 [[ 5.99754436e-01 -8.00036968e-01 -1.53449301e-02 1.99343180e+02] [ 7.99738152e-01 5.99950103e-01 -2.18806333e-02 6.09818423e+01] [ 2.67115079e-02 8.51080834e-04 9.99642822e-01 3.05278887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.82038572300002 meters Centerline goodness [0,1] 0.9999336635414824 Centerline is valid? [True, True] Translation: X:199.36, Y:61.01, Z:3.05 [[ 6.00725664e-01 -7.99308203e-01 -1.53321039e-02 1.99358614e+02] [ 7.99009430e-01 6.00920634e-01 -2.18705936e-02 6.10055547e+01] [ 2.66947224e-02 8.87731238e-04 9.99643238e-01 3.05199846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.85038572300002 meters Centerline goodness [0,1] 0.9999778795319308 Centerline is valid? [True, True] Translation: X:199.37, Y:61.03, Z:3.05 [[ 6.01372971e-01 -7.98819743e-01 -1.54132649e-02 1.99373126e+02] [ 7.98517498e-01 6.01569761e-01 -2.19915554e-02 6.10293183e+01] [ 2.68394427e-02 9.17365337e-04 9.99639336e-01 3.05077443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.88038572300002 meters Centerline goodness [0,1] 0.9999334043686734 Centerline is valid? [True, True] Translation: X:199.39, Y:61.05, Z:3.05 [[ 6.03035064e-01 -7.97551264e-01 -1.61459923e-02 1.99392396e+02] [ 7.97218879e-01 6.03250304e-01 -2.30462438e-02 6.10510610e+01] [ 2.81206356e-02 1.02580325e-03 9.99604010e-01 3.05114671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.91038572300002 meters Centerline goodness [0,1] 0.9999553919928628 Centerline is valid? [True, True] Translation: X:199.41, Y:61.07, Z:3.05 [[ 6.03281438e-01 -7.97362222e-01 -1.62786495e-02 1.99412372e+02] [ 7.97023945e-01 6.03500111e-01 -2.32475013e-02 6.10723841e+01] [ 2.83608461e-02 1.05031262e-03 9.99597199e-01 3.05289116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.43, Y:61.09, Z:3.05 [[ 6.02389564e-01 -7.98031555e-01 -1.65060798e-02 1.99430330e+02] [ 7.97683762e-01 6.02614769e-01 -2.35808647e-02 6.10935298e+01] [ 2.87650815e-02 1.03823499e-03 9.99585660e-01 3.05301209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.970385723 meters Centerline goodness [0,1] 0.9999553700934997 Centerline is valid? [True, True] Translation: X:199.45, Y:61.12, Z:3.05 [[ 6.01174244e-01 -7.98948485e-01 -1.64574018e-02 1.99447149e+02] [ 7.98602855e-01 6.01398641e-01 -2.35192381e-02 6.11170987e+01] [ 2.86881187e-02 9.96232102e-04 9.99587915e-01 3.05225972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.47, Y:61.14, Z:3.05 [[ 5.98273344e-01 -8.01134677e-01 -1.58818781e-02 1.99465698e+02] [ 8.00813334e-01 5.98483483e-01 -2.27051786e-02 6.11371696e+01] [ 2.76949477e-02 8.65483353e-04 9.99616047e-01 3.05315394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.030385723 meters Centerline goodness [0,1] 0.9999776531319136 Centerline is valid? [True, True] Translation: X:199.48, Y:61.16, Z:3.05 [[ 5.96731854e-01 -8.02289115e-01 -1.55971174e-02 1.99484241e+02] [ 8.01979376e-01 5.96935116e-01 -2.23057970e-02 6.11595277e+01] [ 2.72061653e-02 8.02013099e-04 9.99629522e-01 3.05458914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.50, Y:61.18, Z:3.06 [[ 5.95542512e-01 -8.03180149e-01 -1.51909333e-02 1.99502900e+02] [ 8.02886347e-01 5.95735754e-01 -2.17353496e-02 6.11823301e+01] [ 2.65071834e-02 7.47731786e-04 9.99648343e-01 3.05651290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.52, Y:61.20, Z:3.06 [[ 5.92960404e-01 -8.05092164e-01 -1.49855529e-02 1.99522544e+02] [ 8.04806658e-01 5.93149370e-01 -2.14492013e-02 6.12017882e+01] [ 2.61572551e-02 6.58054354e-04 9.99657624e-01 3.05884696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.54, Y:61.22, Z:3.06 [[ 5.91672161e-01 -8.06039393e-01 -1.49850346e-02 1.99541060e+02] [ 8.05754020e-01 5.91861565e-01 -2.14557049e-02 6.12238472e+01] [ 2.61632094e-02 6.20491472e-04 9.99657492e-01 3.05969001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.56, Y:61.25, Z:3.06 [[ 5.89799580e-01 -8.07403313e-01 -1.53735199e-02 1.99560920e+02] [ 8.07103106e-01 5.89999620e-01 -2.20232743e-02 6.12450778e+01] [ 2.68520355e-02 5.81302294e-04 9.99639250e-01 3.05952780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.58, Y:61.27, Z:3.06 [[ 5.88842231e-01 -8.08097044e-01 -1.56203118e-02 1.99578526e+02] [ 8.07787043e-01 5.89049104e-01 -2.23885310e-02 6.12675901e+01] [ 2.72932364e-02 5.65427101e-04 9.99627310e-01 3.05960711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.59, Y:61.29, Z:3.06 [[ 5.87489951e-01 -8.09065017e-01 -1.64120464e-02 1.99594243e+02] [ 8.08722805e-01 5.87718887e-01 -2.35358120e-02 6.12895662e+01] [ 2.86876718e-02 5.54256799e-04 9.99588270e-01 3.05754626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.61, Y:61.31, Z:3.06 [[ 5.86419734e-01 -8.09839278e-01 -1.64996845e-02 1.99613864e+02] [ 8.09493335e-01 5.86651571e-01 -2.36743526e-02 6.13106171e+01] [ 2.88519865e-02 5.26722933e-04 9.99583556e-01 3.06006840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.63, Y:61.33, Z:3.06 [[ 5.85365412e-01 -8.10608009e-01 -1.61861185e-02 1.99631398e+02] [ 8.10275024e-01 5.85588950e-01 -2.32371812e-02 6.13334733e+01] [ 2.83146574e-02 4.87034567e-04 9.99598941e-01 3.06051485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.300385723 meters Centerline goodness [0,1] 0.9999773637865857 Centerline is valid? [True, True] Translation: X:199.65, Y:61.36, Z:3.06 [[ 5.83462523e-01 -8.11990971e-01 -1.55611064e-02 1.99650023e+02] [ 8.11683387e-01 5.83669851e-01 -2.23513581e-02 6.13556727e+01] [ 2.72316497e-02 4.10488224e-04 9.99629066e-01 3.06252037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.330385723 meters Centerline goodness [0,1] 0.9999774179707789 Centerline is valid? [True, True] Translation: X:199.67, Y:61.38, Z:3.06 [[ 5.82895439e-01 -8.12404167e-01 -1.52438991e-02 1.99666820e+02] [ 8.12108836e-01 5.83094604e-01 -2.19071172e-02 6.13788951e+01] [ 2.66860686e-02 3.89853540e-04 9.99643787e-01 3.06368472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.360385723 meters Centerline goodness [0,1] 0.999977429184065 Centerline is valid? [True, True] Translation: X:199.68, Y:61.40, Z:3.06 [[ 5.82802171e-01 -8.12467035e-01 -1.54579262e-02 1.99682942e+02] [ 8.12163033e-01 5.83006997e-01 -2.22272285e-02 6.14024713e+01] [ 2.70709696e-02 3.99720811e-04 9.99633434e-01 3.06468279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.70, Y:61.43, Z:3.06 [[ 5.83017560e-01 -8.12308087e-01 -1.56874735e-02 1.99697785e+02] [ 8.11994623e-01 5.83228425e-01 -2.25684800e-02 6.14260675e+01] [ 2.74819393e-02 4.19676070e-04 9.99622212e-01 3.06394374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.71, Y:61.45, Z:3.06 [[ 5.82796635e-01 -8.12466701e-01 -1.56825372e-02 1.99713477e+02] [ 8.12153203e-01 5.83007448e-01 -2.25719100e-02 6.14487722e+01] [ 2.74819613e-02 4.18210391e-04 9.99622212e-01 3.06436164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.73, Y:61.47, Z:3.06 [[ 5.84022480e-01 -8.11576281e-01 -1.61766510e-02 1.99727219e+02] [ 8.11242062e-01 5.84246275e-01 -2.32939242e-02 6.14738090e+01] [ 2.83559444e-02 4.80995671e-04 9.99597774e-01 3.06272325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.74, Y:61.50, Z:3.06 [[ 5.84798201e-01 -8.11004961e-01 -1.67933709e-02 1.99743215e+02] [ 8.10644236e-01 5.85039031e-01 -2.41920306e-02 6.14983257e+01] [ 2.94446342e-02 5.34006636e-04 9.99566270e-01 3.06245207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.76, Y:61.52, Z:3.06 [[ 5.86456971e-01 -8.09785807e-01 -1.77529783e-02 1.99758126e+02] [ 8.09381702e-01 5.86725269e-01 -2.55874598e-02 6.15229198e+01] [ 3.11364827e-02 6.37008412e-04 9.99514939e-01 3.06227654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.540385723 meters Centerline goodness [0,1] 0.9999774820419285 Centerline is valid? [True, True] Translation: X:199.77, Y:61.55, Z:3.06 [[ 5.87103058e-01 -8.09309918e-01 -1.80957460e-02 1.99774147e+02] [ 8.08889408e-01 5.87381469e-01 -2.60947372e-02 6.15470598e+01] [ 3.17478355e-02 6.82842773e-04 9.99495677e-01 3.06299125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.57038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.79, Y:61.57, Z:3.06 [[ 5.88589324e-01 -8.08235730e-01 -1.78216485e-02 1.99786930e+02] [ 8.07826957e-01 5.88858608e-01 -2.57127998e-02 6.15731743e+01] [ 3.12764347e-02 7.37471434e-04 9.99510501e-01 3.06270747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.80, Y:61.60, Z:3.06 [[ 5.89247434e-01 -8.07760580e-01 -1.76155597e-02 1.99799274e+02] [ 8.07360649e-01 5.89510193e-01 -2.54266542e-02 6.15984403e+01] [ 3.09232010e-02 7.60481004e-04 9.99521474e-01 3.06183565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.82, Y:61.62, Z:3.06 [[ 5.89981647e-01 -8.07233390e-01 -1.72020481e-02 1.99816319e+02] [ 8.06851449e-01 5.90231862e-01 -2.48412557e-02 6.16215361e+01] [ 3.02058880e-02 7.76387518e-04 9.99543397e-01 3.06488383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.66038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.83, Y:61.64, Z:3.07 [[ 5.89347202e-01 -8.07702024e-01 -1.69504161e-02 1.99832542e+02] [ 8.07330958e-01 5.89590433e-01 -2.44917501e-02 6.16447165e+01] [ 2.97758393e-02 7.49548745e-04 9.99556320e-01 3.06632020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.85, Y:61.67, Z:3.07 [[ 5.87795757e-01 -8.08841762e-01 -1.64667123e-02 1.99847629e+02] [ 8.08491757e-01 5.88025974e-01 -2.38019528e-02 6.16679287e+01] [ 2.89348679e-02 6.77485701e-04 9.99581069e-01 3.06731027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.87, Y:61.69, Z:3.07 [[ 5.86618605e-01 -8.09702823e-01 -1.61229932e-02 1.99865704e+02] [ 8.09367384e-01 5.86839796e-01 -2.33128899e-02 6.16908126e+01] [ 2.83381268e-02 6.26350180e-04 9.99598198e-01 3.06886497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.88, Y:61.71, Z:3.07 [[ 5.84432884e-01 -8.11271532e-01 -1.66344640e-02 1.99883427e+02] [ 8.10914737e-01 5.84669283e-01 -2.40648801e-02 6.17138903e+01] [ 2.92488123e-02 5.75175303e-04 9.99571996e-01 3.06931317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.90, Y:61.74, Z:3.07 [[ 5.83300322e-01 -8.12079753e-01 -1.69472857e-02 1.99898902e+02] [ 8.11709385e-01 5.83546203e-01 -2.45296511e-02 6.17360124e+01] [ 2.98095572e-02 5.51882580e-04 9.99555444e-01 3.06854159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.92, Y:61.76, Z:3.07 [[ 5.80924266e-01 -8.13774645e-01 -1.72575898e-02 1.99918127e+02] [ 8.13390949e-01 5.81180347e-01 -2.49913515e-02 6.17574416e+01] [ 3.03671002e-02 4.80915190e-04 9.99538698e-01 3.07026171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.93, Y:61.78, Z:3.07 [[ 5.79731334e-01 -8.14631694e-01 -1.69346922e-02 1.99933882e+02] [ 8.14262243e-01 5.79978461e-01 -2.45353912e-02 6.17793113e+01] [ 2.98090640e-02 4.34654587e-04 9.99555517e-01 3.07125300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.95, Y:61.80, Z:3.07 [[ 5.76833210e-01 -8.16692397e-01 -1.66426174e-02 1.99952599e+02] [ 8.16336115e-01 5.77073150e-01 -2.41231589e-02 6.18021047e+01] [ 2.93052081e-02 3.29069514e-04 9.99570456e-01 3.07296030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.97, Y:61.82, Z:3.07 [[ 5.75292262e-01 -8.17776145e-01 -1.67627589e-02 1.99969215e+02] [ 8.17414779e-01 5.75536356e-01 -2.43101353e-02 6.18247828e+01] [ 2.95278258e-02 2.83305885e-04 9.99563919e-01 3.07341034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.99, Y:61.85, Z:3.07 [[ 5.73909515e-01 -8.18739744e-01 -1.71201596e-02 1.99985934e+02] [ 8.18362787e-01 5.74164759e-01 -2.48430757e-02 6.18468024e+01] [ 3.01698058e-02 2.47175980e-04 9.99544757e-01 3.07404991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.00, Y:61.87, Z:3.07 [[ 5.73607038e-01 -8.18943586e-01 -1.75033695e-02 2.00001139e+02] [ 8.18549215e-01 5.73873975e-01 -2.54134531e-02 6.18696467e+01] [ 3.08569127e-02 2.49966208e-04 9.99523781e-01 3.07289810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.02, Y:61.89, Z:3.07 [[ 5.74020519e-01 -8.18643644e-01 -1.79729987e-02 2.00017749e+02] [ 8.18227244e-01 5.74301755e-01 -2.61088547e-02 6.18929459e+01] [ 3.16957727e-02 2.81021120e-04 9.99497523e-01 3.07412418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.03, Y:61.92, Z:3.07 [[ 5.75980529e-01 -8.17250172e-01 -1.86704774e-02 2.00032699e+02] [ 8.16799627e-01 5.76282927e-01 -2.71358960e-02 6.19179192e+01] [ 3.29362930e-02 3.79708734e-04 9.99457381e-01 3.07498702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.050385723 meters Centerline goodness [0,1] 0.9998873848510101 Centerline is valid? [True, True] Translation: X:200.05, Y:61.94, Z:3.07 [[ 5.78698647e-01 -8.15307717e-01 -1.95244020e-02 2.00045024e+02] [ 8.14813391e-01 5.79027680e-01 -2.83915974e-02 6.19442526e+01] [ 3.44530577e-02 5.21434744e-04 9.99406181e-01 3.07465620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.06, Y:61.97, Z:3.08 [[ 5.79601903e-01 -8.14653934e-01 -2.00150388e-02 2.00060238e+02] [ 8.14133527e-01 5.79947091e-01 -2.91199551e-02 6.19690460e+01] [ 3.53303495e-02 5.83067245e-04 9.99375518e-01 3.07507834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.110385723 meters Centerline goodness [0,1] 0.9999775407074677 Centerline is valid? [True, True] Translation: X:200.08, Y:61.99, Z:3.08 [[ 5.80382973e-01 -8.14099151e-01 -1.99543787e-02 2.00075458e+02] [ 8.13581046e-01 5.80725567e-01 -2.90464775e-02 6.19940950e+01] [ 3.52347305e-02 6.23576636e-04 9.99378870e-01 3.07592890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.09, Y:62.02, Z:3.08 [[ 5.80272338e-01 -8.14174131e-01 -2.01121406e-02 2.00091038e+02] [ 8.13647270e-01 5.80620430e-01 -2.92922552e-02 6.20178842e+01] [ 3.55265161e-02 6.33297125e-04 9.99368533e-01 3.07631801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.170385723 meters Centerline goodness [0,1] 0.9998874710237886 Centerline is valid? [True, True] Translation: X:200.10, Y:62.04, Z:3.07 [[ 5.80238933e-01 -8.14174148e-01 -2.10532032e-02 2.00104769e+02] [ 8.13596321e-01 5.80620364e-01 -3.06760322e-02 6.20419377e+01] [ 3.71995509e-02 6.70619508e-04 9.99307632e-01 3.07412466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.200385723 meters Centerline goodness [0,1] 0.9999775618731348 Centerline is valid? [True, True] Translation: X:200.12, Y:62.06, Z:3.08 [[ 5.80163325e-01 -8.14221756e-01 -2.12943549e-02 2.00121905e+02] [ 8.13630109e-01 5.80553585e-01 -3.10415925e-02 6.20640436e+01] [ 3.76372540e-02 6.83465159e-04 9.99291234e-01 3.07648541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.230385723 meters Centerline goodness [0,1] 0.9999775880230395 Centerline is valid? [True, True] Translation: X:200.14, Y:62.09, Z:3.08 [[ 5.80365691e-01 -8.14064943e-01 -2.17700376e-02 2.00138547e+02] [ 8.13445801e-01 5.80773409e-01 -3.17517841e-02 6.20881415e+01] [ 3.84914732e-02 7.18900450e-04 9.99258670e-01 3.07713824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.260385723 meters Centerline goodness [0,1] 0.9999552532665116 Centerline is valid? [True, True] Translation: X:200.15, Y:62.11, Z:3.08 [[ 5.80540770e-01 -8.13922241e-01 -2.24276825e-02 2.00154692e+02] [ 8.13264342e-01 5.80973329e-01 -3.27276775e-02 6.21119534e+01] [ 3.96676699e-02 7.60116613e-04 9.99212639e-01 3.07736757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.290385723 meters Centerline goodness [0,1] 0.9998434249670074 Centerline is valid? [True, True] Translation: X:200.17, Y:62.14, Z:3.08 [[ 5.80497917e-01 -8.13940155e-01 -2.28821527e-02 2.00168927e+02] [ 8.13254813e-01 5.80948202e-01 -3.34035330e-02 6.21361210e+01] [ 4.04818222e-02 7.81660500e-04 9.99179969e-01 3.07647299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.32038572300002 meters Centerline goodness [0,1] 0.9999329069195331 Centerline is valid? [True, True] Translation: X:200.19, Y:62.16, Z:3.08 [[ 5.80676163e-01 -8.13809757e-01 -2.29972510e-02 2.00185481e+02] [ 8.13116760e-01 5.81130823e-01 -3.35872013e-02 6.21596122e+01] [ 4.06980035e-02 8.03836955e-04 9.99171170e-01 3.07799435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.20, Y:62.18, Z:3.08 [[ 5.82559875e-01 -8.12443350e-01 -2.36599716e-02 2.00199824e+02] [ 8.11707930e-01 5.83039387e-01 -3.45732505e-02 6.21836275e+01] [ 4.18835028e-02 9.36001940e-04 9.99122063e-01 3.07818677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.38038572300002 meters Centerline goodness [0,1] 0.9998879702448971 Centerline is valid? [True, True] Translation: X:200.22, Y:62.21, Z:3.08 [[ 5.83937461e-01 -8.11454839e-01 -2.36238404e-02 2.00215363e+02] [ 8.10720133e-01 5.84414248e-01 -3.45377077e-02 6.22081088e+01] [ 4.18318990e-02 1.01553840e-03 9.99124147e-01 3.07980971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.410385723 meters Centerline goodness [0,1] 0.9997542064219158 Centerline is valid? [True, True] Translation: X:200.22, Y:62.24, Z:3.08 [[ 5.87005594e-01 -8.09264077e-01 -2.27175147e-02 2.00223458e+02] [ 8.08582553e-01 5.87443926e-01 -3.32248159e-02 6.22359996e+01] [ 4.02329160e-02 1.13416671e-03 9.99189685e-01 3.07759123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.440385723 meters Centerline goodness [0,1] 0.9993314018275017 Centerline is valid? [True, True] Translation: X:200.24, Y:62.26, Z:3.08 [[ 5.88458034e-01 -8.08226957e-01 -2.20528735e-02 2.00241860e+02] [ 8.07583480e-01 5.88869934e-01 -3.22664459e-02 6.22581328e+01] [ 3.90648856e-02 1.17791296e-03 9.99235982e-01 3.08280656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.470385723 meters Centerline goodness [0,1] 0.9989995331154539 Centerline is valid? [True, True] Translation: X:200.25, Y:62.28, Z:3.08 [[ 5.91276030e-01 -8.06190782e-01 -2.11915124e-02 2.00253167e+02] [ 8.05594728e-01 5.91654299e-01 -3.10213636e-02 6.22842572e+01] [ 3.75471868e-02 1.27041805e-03 9.99294048e-01 3.08224100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.500385723 meters Centerline goodness [0,1] 0.9988432105356825 Centerline is valid? [True, True] Translation: X:200.27, Y:62.31, Z:3.08 [[ 5.91907992e-01 -8.05723886e-01 -2.13060923e-02 2.00269607e+02] [ 8.05120471e-01 5.92289868e-01 -3.12047984e-02 6.23084564e+01] [ 3.77618340e-02 1.31639851e-03 9.99285901e-01 3.08298892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.530385723 meters Centerline goodness [0,1] 0.9983772729293559 Centerline is valid? [True, True] Translation: X:200.28, Y:62.33, Z:3.08 [[ 5.92794436e-01 -8.05087266e-01 -2.07183778e-02 2.00282966e+02] [ 8.04515744e-01 5.93154895e-01 -3.03593133e-02 6.23328436e+01] [ 3.67311037e-02 1.32857087e-03 9.99324302e-01 3.08324516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.560385723 meters Centerline goodness [0,1] 0.9981174281854223 Centerline is valid? [True, True] Translation: X:200.30, Y:62.36, Z:3.09 [[ 5.92967325e-01 -8.04967637e-01 -2.04170080e-02 2.00300028e+02] [ 8.04411962e-01 5.93317237e-01 -2.99341085e-02 6.23554735e+01] [ 3.62097514e-02 1.32626277e-03 9.99343332e-01 3.08529405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.590385723 meters Centerline goodness [0,1] 0.998118386682605 Centerline is valid? [True, True] Translation: X:200.31, Y:62.38, Z:3.09 [[ 5.93297479e-01 -8.04725591e-01 -2.03672540e-02 2.00313288e+02] [ 8.04172055e-01 5.93645446e-01 -2.98729187e-02 6.23803175e+01] [ 3.61304297e-02 1.34475090e-03 9.99346178e-01 3.08525641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.620385723 meters Centerline goodness [0,1] 0.9982896870349393 Centerline is valid? [True, True] Translation: X:200.33, Y:62.40, Z:3.09 [[ 5.93369002e-01 -8.04641995e-01 -2.15519622e-02 2.00331778e+02] [ 8.04021599e-01 5.93758533e-01 -3.16239154e-02 6.24024794e+01] [ 3.82425919e-02 1.43640800e-03 9.99267452e-01 3.08741639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.650385723 meters Centerline goodness [0,1] 0.9981810518843859 Centerline is valid? [True, True] Translation: X:200.35, Y:62.43, Z:3.09 [[ 5.94481049e-01 -8.03847636e-01 -2.05246344e-02 2.00346637e+02] [ 8.03283960e-01 5.94833544e-01 -3.01319493e-02 6.24273622e+01] [ 3.64302372e-02 1.42576318e-03 9.99335182e-01 3.08824992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.680385723 meters Centerline goodness [0,1] 0.9979820379199468 Centerline is valid? [True, True] Translation: X:200.36, Y:62.45, Z:3.09 [[ 5.95012124e-01 -8.03458771e-01 -2.03611131e-02 2.00362130e+02] [ 8.02903251e-01 5.95358638e-01 -2.99075461e-02 6.24512817e+01] [ 3.61516448e-02 1.44734859e-03 9.99345268e-01 3.08836003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.710385723 meters Centerline goodness [0,1] 0.9982954042327106 Centerline is valid? [True, True] Translation: X:200.38, Y:62.47, Z:3.09 [[ 5.95085053e-01 -8.03404531e-01 -2.03700615e-02 2.00376524e+02] [ 8.02848081e-01 5.95431804e-01 -2.99320045e-02 6.24747130e+01] [ 3.61764905e-02 1.45802366e-03 9.99344353e-01 3.08818150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.740385723 meters Centerline goodness [0,1] 0.9982762430939226 Centerline is valid? [True, True] Translation: X:200.39, Y:62.50, Z:3.09 [[ 5.94750756e-01 -8.03654819e-01 -2.02600799e-02 2.00389023e+02] [ 8.03104071e-01 5.95093986e-01 -2.97825344e-02 6.24995245e+01] [ 3.59915290e-02 1.44223223e-03 9.99351054e-01 3.08697694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.770385723 meters Centerline goodness [0,1] 0.9980938871403874 Centerline is valid? [True, True] Translation: X:200.41, Y:62.52, Z:3.09 [[ 5.95071172e-01 -8.03424946e-01 -1.99663748e-02 2.00405843e+02] [ 8.02889366e-01 5.95404291e-01 -2.93665692e-02 6.25224413e+01] [ 3.54818995e-02 1.44440873e-03 9.99369275e-01 3.08907098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.800385723 meters Centerline goodness [0,1] 0.9983911845730028 Centerline is valid? [True, True] Translation: X:200.42, Y:62.55, Z:3.09 [[ 5.95265697e-01 -8.03286029e-01 -1.97561590e-02 2.00419208e+02] [ 8.02761021e-01 5.95591690e-01 -2.90737353e-02 6.25466183e+01] [ 3.51211295e-02 1.44712295e-03 9.99382015e-01 3.08887255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.830385723 meters Centerline goodness [0,1] 0.9982339565994834 Centerline is valid? [True, True] Translation: X:200.43, Y:62.57, Z:3.09 [[ 5.95254559e-01 -8.03309227e-01 -1.91388694e-02 2.00433320e+02] [ 8.02815992e-01 5.95560490e-01 -2.81812966e-02 6.25712358e+01] [ 3.40366500e-02 1.41005488e-03 9.99419591e-01 3.08945084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.860385723 meters Centerline goodness [0,1] 0.9982355925100902 Centerline is valid? [True, True] Translation: X:200.45, Y:62.59, Z:3.09 [[ 5.94492921e-01 -8.03896571e-01 -1.81237523e-02 2.00450393e+02] [ 8.03454094e-01 5.94767671e-01 -2.67008867e-02 6.25949745e+01] [ 3.22441732e-02 1.31188516e-03 9.99479160e-01 3.09120073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.890385723 meters Centerline goodness [0,1] 0.9983478720592123 Centerline is valid? [True, True] Translation: X:200.47, Y:62.62, Z:3.09 [[ 5.93481148e-01 -8.04650070e-01 -1.78435547e-02 2.00466714e+02] [ 8.04221093e-01 5.93747994e-01 -2.63012054e-02 6.26194102e+01] [ 3.17578415e-02 1.25910653e-03 9.99494799e-01 3.09212795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.920385723 meters Centerline goodness [0,1] 0.9982776514231457 Centerline is valid? [True, True] Translation: X:200.48, Y:62.64, Z:3.09 [[ 5.90894342e-01 -8.06566073e-01 -1.71769499e-02 2.00483802e+02] [ 8.06168969e-01 5.91142889e-01 -2.53313636e-02 6.26425379e+01] [ 3.05854502e-02 1.12063539e-03 9.99531527e-01 3.09322783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.950385723 meters Centerline goodness [0,1] 0.998567335243553 Centerline is valid? [True, True] Translation: X:200.50, Y:62.67, Z:3.09 [[ 5.89858121e-01 -8.07338600e-01 -1.64857979e-02 2.00500506e+02] [ 8.06972760e-01 5.90087531e-01 -2.43242945e-02 6.26667370e+01] [ 2.93660056e-02 1.04429276e-03 9.99568180e-01 3.09450957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.980385723 meters Centerline goodness [0,1] 0.9984760137821362 Centerline is valid? [True, True] Translation: X:200.52, Y:62.69, Z:3.09 [[ 5.88507783e-01 -8.08327753e-01 -1.62736948e-02 2.00515431e+02] [ 8.07971407e-01 5.88731917e-01 -2.40194973e-02 6.26904399e+01] [ 2.89964698e-02 9.86980970e-04 9.99579027e-01 3.09446470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.010385723 meters Centerline goodness [0,1] 0.9985466396547168 Centerline is valid? [True, True] Translation: X:200.53, Y:62.71, Z:3.09 [[ 5.85863729e-01 -8.10242906e-01 -1.64354854e-02 2.00533484e+02] [ 8.09879917e-01 5.86093518e-01 -2.42674516e-02 6.27125613e+01] [ 2.92952620e-02 9.06650157e-04 9.99570391e-01 3.09470347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.040385723 meters Centerline goodness [0,1] 0.998575592224925 Centerline is valid? [True, True] Translation: X:200.55, Y:62.74, Z:3.09 [[ 5.84658534e-01 -8.11103566e-01 -1.68938993e-02 2.00549939e+02] [ 8.10719974e-01 5.84901874e-01 -2.49583941e-02 6.27368806e+01] [ 3.01251159e-02 8.95916492e-04 9.99545734e-01 3.09445467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.07038572300002 meters Centerline goodness [0,1] 0.9984122083535483 Centerline is valid? [True, True] Translation: X:200.57, Y:62.76, Z:3.09 [[ 5.82277902e-01 -8.12804052e-01 -1.73786614e-02 2.00566120e+02] [ 8.12398448e-01 5.82536581e-01 -2.56883839e-02 6.27609624e+01] [ 3.10033285e-02 8.39380754e-04 9.99518929e-01 3.09290107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.10038572300002 meters Centerline goodness [0,1] 0.9987465916087607 Centerline is valid? [True, True] Translation: X:200.58, Y:62.79, Z:3.09 [[ 5.80715347e-01 -8.13923557e-01 -1.72663891e-02 2.00581148e+02] [ 8.13523255e-01 5.80971454e-01 -2.55359068e-02 6.27851059e+01] [ 3.08155553e-02 7.82483900e-04 9.99524782e-01 3.09243664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.13038572300002 meters Centerline goodness [0,1] 0.9986353531573966 Centerline is valid? [True, True] Translation: X:200.60, Y:62.81, Z:3.09 [[ 5.79996986e-01 -8.14439021e-01 -1.71048667e-02 2.00597586e+02] [ 8.14045995e-01 5.80248662e-01 -2.53102543e-02 6.28093527e+01] [ 3.05387348e-02 7.55723028e-04 9.99533298e-01 3.09321621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.160385723 meters Centerline goodness [0,1] 0.9990331157843848 Centerline is valid? [True, True] Translation: X:200.61, Y:62.83, Z:3.09 [[ 5.78489201e-01 -8.15518581e-01 -1.67238757e-02 2.00613701e+02] [ 8.15143024e-01 5.78730480e-01 -2.47564362e-02 6.28333966e+01] [ 2.98679503e-02 6.88980356e-04 9.99553616e-01 3.09401927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.190385723 meters Centerline goodness [0,1] 0.998876404494382 Centerline is valid? [True, True] Translation: X:200.63, Y:62.86, Z:3.09 [[ 5.77626023e-01 -8.16142839e-01 -1.60948754e-02 2.00629975e+02] [ 8.15794978e-01 5.77849860e-01 -2.38347003e-02 6.28571417e+01] [ 2.87529414e-02 6.37424601e-04 9.99586345e-01 3.09494587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.220385723 meters Centerline goodness [0,1] 0.9988127954270639 Centerline is valid? [True, True] Translation: X:200.65, Y:62.88, Z:3.09 [[ 5.76106773e-01 -8.17216011e-01 -1.60927819e-02 2.00645414e+02] [ 8.16868409e-01 5.76331194e-01 -2.38402388e-02 6.28807354e+01] [ 2.87573971e-02 5.88837892e-04 9.99586247e-01 3.09492048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.250385723 meters Centerline goodness [0,1] 0.9990111846008481 Centerline is valid? [True, True] Translation: X:200.66, Y:62.90, Z:3.10 [[ 5.75607782e-01 -8.17570112e-01 -1.59622591e-02 2.00661029e+02] [ 8.17228013e-01 5.75828782e-01 -2.36556370e-02 6.29042435e+01] [ 2.85316700e-02 5.71563436e-04 9.99592726e-01 3.09519977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.280385723 meters Centerline goodness [0,1] 0.998943127022921 Centerline is valid? [True, True] Translation: X:200.68, Y:62.93, Z:3.10 [[ 5.75414712e-01 -8.17716886e-01 -1.53949488e-02 2.00676178e+02] [ 8.17398367e-01 5.75620353e-01 -2.28280324e-02 6.29282650e+01] [ 2.75285134e-02 5.51779643e-04 9.99620866e-01 3.09618349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.310385723 meters Centerline goodness [0,1] 0.998943127022921 Centerline is valid? [True, True] Translation: X:200.69, Y:62.95, Z:3.10 [[ 5.75189053e-01 -8.17875750e-01 -1.53886796e-02 2.00691547e+02] [ 8.17557175e-01 5.75394607e-01 -2.28322583e-02 6.29511821e+01] [ 2.75285137e-02 5.51739582e-04 9.99620866e-01 3.09660083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.340385723 meters Centerline goodness [0,1] 0.9990325205039688 Centerline is valid? [True, True] Translation: X:200.70, Y:62.98, Z:3.10 [[ 5.75442246e-01 -8.17699934e-01 -1.52656483e-02 2.00703787e+02] [ 8.17386060e-01 5.75644424e-01 -2.26611101e-02 6.29753877e+01] [ 2.73175735e-02 5.62231924e-04 9.99626647e-01 3.09573058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.370385723 meters Centerline goodness [0,1] 0.9989228875406665 Centerline is valid? [True, True] Translation: X:200.72, Y:63.00, Z:3.10 [[ 5.76476323e-01 -8.16982158e-01 -1.46697700e-02 2.00715516e+02] [ 8.16691896e-01 5.76662657e-01 -2.17836259e-02 6.30011165e+01] [ 2.62563422e-02 5.77062317e-04 9.99655076e-01 3.09535163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.400385723 meters Centerline goodness [0,1] 0.9989283995976032 Centerline is valid? [True, True] Translation: X:200.73, Y:63.03, Z:3.10 [[ 5.76595828e-01 -8.16895875e-01 -1.47776991e-02 2.00729328e+02] [ 8.16601078e-01 5.76784865e-01 -2.19521856e-02 6.30256829e+01] [ 2.64562030e-02 5.90053643e-04 9.99649799e-01 3.09532283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.430385723 meters Centerline goodness [0,1] 0.9991207631775618 Centerline is valid? [True, True] Translation: X:200.74, Y:63.05, Z:3.10 [[ 5.77143428e-01 -8.16511640e-01 -1.46357728e-02 2.00743704e+02] [ 8.16222061e-01 5.77328652e-01 -2.17525910e-02 6.30508431e+01] [ 2.62108947e-02 6.08324273e-04 9.99656250e-01 3.09546355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.460385723 meters Centerline goodness [0,1] 0.9991245732294494 Centerline is valid? [True, True] Translation: X:200.76, Y:63.08, Z:3.10 [[ 5.77925567e-01 -8.15949030e-01 -1.51399617e-02 2.00758410e+02] [ 8.15638653e-01 5.78123465e-01 -2.25132585e-02 6.30761825e+01] [ 2.71224386e-02 6.62249735e-04 9.99631900e-01 3.09546204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.490385723 meters Centerline goodness [0,1] 0.9989796361425904 Centerline is valid? [True, True] Translation: X:200.77, Y:63.10, Z:3.09 [[ 5.77848459e-01 -8.16004997e-01 -1.50666414e-02 2.00769547e+02] [ 8.15697363e-01 5.78044468e-01 -2.24143823e-02 6.31008226e+01] [ 2.69994367e-02 6.62296560e-04 9.99635229e-01 3.09453923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.520385723 meters Centerline goodness [0,1] 0.9991491960993913 Centerline is valid? [True, True] Translation: X:200.78, Y:63.12, Z:3.10 [[ 5.77204002e-01 -8.16473953e-01 -1.43465736e-02 2.00784712e+02] [ 8.16194932e-01 5.77381941e-01 -2.13524517e-02 6.31244966e+01] [ 2.57171732e-02 6.15119873e-04 9.99669070e-01 3.09574404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.550385723 meters Centerline goodness [0,1] 0.9994097715597333 Centerline is valid? [True, True] Translation: X:200.80, Y:63.15, Z:3.10 [[ 5.76348978e-01 -8.17093767e-01 -1.34027096e-02 2.00800041e+02] [ 8.16850189e-01 5.76504527e-01 -1.99574574e-02 6.31486913e+01] [ 2.40338368e-02 5.54454342e-04 9.99710992e-01 3.09778940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.580385723 meters Centerline goodness [0,1] 0.9994980248368581 Centerline is valid? [True, True] Translation: X:200.82, Y:63.17, Z:3.10 [[ 5.75958154e-01 -8.17375279e-01 -1.30329223e-02 2.00818283e+02] [ 8.17144812e-01 5.76105345e-01 -1.94161639e-02 6.31717956e+01] [ 2.33786286e-02 5.33113107e-04 9.99726540e-01 3.09987857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.610385723 meters Centerline goodness [0,1] 0.9991066759630469 Centerline is valid? [True, True] Translation: X:200.83, Y:63.20, Z:3.10 [[ 5.75170395e-01 -8.17943636e-01 -1.21336018e-02 2.00833073e+02] [ 8.17743820e-01 5.75298164e-01 -1.80850295e-02 6.31962294e+01] [ 2.17729736e-02 4.79795717e-04 9.99762826e-01 3.10145542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.640385723 meters Centerline goodness [0,1] 0.9993236757134131 Centerline is valid? [True, True] Translation: X:200.85, Y:63.22, Z:3.10 [[ 5.74596376e-01 -8.18352515e-01 -1.17544356e-02 2.00847665e+02] [ 8.18164922e-01 5.74716413e-01 -1.75272399e-02 6.32205188e+01] [ 2.10989279e-02 4.54021581e-04 9.99777290e-01 3.10223326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.670385723 meters Centerline goodness [0,1] 0.9994335635389208 Centerline is valid? [True, True] Translation: X:200.86, Y:63.24, Z:3.10 [[ 5.74234761e-01 -8.18599990e-01 -1.21858894e-02 2.00859665e+02] [ 8.18398309e-01 5.74363858e-01 -1.81760126e-02 6.32446469e+01] [ 2.18780182e-02 4.64386932e-04 9.99760540e-01 3.10126115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.700385723 meters Centerline goodness [0,1] 0.9994355311434836 Centerline is valid? [True, True] Translation: X:200.87, Y:63.27, Z:3.10 [[ 5.73552026e-01 -8.19072622e-01 -1.25742990e-02 2.00874389e+02] [ 8.18857766e-01 5.73689656e-01 -1.87653261e-02 6.32675148e+01] [ 2.25839101e-02 4.66328373e-04 9.99744842e-01 3.10059364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.730385723 meters Centerline goodness [0,1] 0.999544981799272 Centerline is valid? [True, True] Translation: X:200.89, Y:63.29, Z:3.10 [[ 5.72965765e-01 -8.19465181e-01 -1.36765945e-02 2.00890171e+02] [ 8.19210838e-01 5.73128755e-01 -2.04213952e-02 6.32909718e+01] [ 2.45730719e-02 4.96745843e-04 9.99697913e-01 3.10015364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.760385723 meters Centerline goodness [0,1] 0.9993709736893478 Centerline is valid? [True, True] Translation: X:200.91, Y:63.31, Z:3.10 [[ 5.73291877e-01 -8.19238677e-01 -1.35798757e-02 2.00906398e+02] [ 8.18987585e-01 5.73452465e-01 -2.02880770e-02 6.33146427e+01] [ 2.44081906e-02 5.09240093e-04 9.99701946e-01 3.10156016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.790385723 meters Centerline goodness [0,1] 0.9994793700377457 Centerline is valid? [True, True] Translation: X:200.92, Y:63.34, Z:3.10 [[ 5.73246181e-01 -8.19274953e-01 -1.33179746e-02 2.00922159e+02] [ 8.19033202e-01 5.73400643e-01 -1.99077113e-02 6.33372963e+01] [ 2.39464244e-02 5.04156105e-04 9.99713116e-01 3.10338122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.82038572300002 meters Centerline goodness [0,1] 0.9994813502182651 Centerline is valid? [True, True] Translation: X:200.94, Y:63.36, Z:3.10 [[ 5.73260329e-01 -8.19271260e-01 -1.29305440e-02 2.00936499e+02] [ 8.19043145e-01 5.73405928e-01 -1.93382540e-02 6.33597973e+01] [ 2.32577263e-02 4.95180383e-04 9.99729380e-01 3.10459564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.85038572300002 meters Centerline goodness [0,1] 0.9995039896484796 Centerline is valid? [True, True] Translation: X:200.95, Y:63.38, Z:3.11 [[ 5.74145092e-01 -8.18661987e-01 -1.22459963e-02 2.00950860e+02] [ 8.18457136e-01 5.74275462e-01 -1.83196915e-02 6.33830517e+01] [ 2.20302102e-02 4.95337878e-04 9.99757183e-01 3.10680199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.88038572300002 meters Centerline goodness [0,1] 0.9995254222663243 Centerline is valid? [True, True] Translation: X:200.96, Y:63.41, Z:3.11 [[ 5.75016955e-01 -8.18048514e-01 -1.23340918e-02 2.00964812e+02] [ 8.17840434e-01 5.75148982e-01 -1.84573355e-02 6.34083427e+01] [ 2.21929362e-02 5.25961861e-04 9.99753568e-01 3.10636200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.910385723 meters Centerline goodness [0,1] 0.9995474235469063 Centerline is valid? [True, True] Translation: X:200.98, Y:63.43, Z:3.11 [[ 5.75457097e-01 -8.17733145e-01 -1.27135382e-02 2.00979413e+02] [ 8.17511755e-01 5.75597246e-01 -1.90352465e-02 6.34337505e+01] [ 2.28836296e-02 5.60500763e-04 9.99737978e-01 3.10576866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.940385723 meters Centerline goodness [0,1] 0.999653672157406 Centerline is valid? [True, True] Translation: X:200.99, Y:63.46, Z:3.10 [[ 5.76655751e-01 -8.16871491e-01 -1.37517957e-02 2.00993296e+02] [ 8.16611959e-01 5.76819335e-01 -2.06000575e-02 6.34585224e+01] [ 2.47599014e-02 6.49260797e-04 9.99693216e-01 3.10441609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.970385723 meters Centerline goodness [0,1] 0.9995888691738434 Centerline is valid? [True, True] Translation: X:201.01, Y:63.48, Z:3.11 [[ 5.76662314e-01 -8.16859376e-01 -1.41892830e-02 2.01010147e+02] [ 8.16582812e-01 5.76836461e-01 -2.12651769e-02 6.34818856e+01] [ 2.55555550e-02 6.76101488e-04 9.99673175e-01 3.10503449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.000385723 meters Centerline goodness [0,1] 0.9998056659181206 Centerline is valid? [True, True] Translation: X:201.02, Y:63.51, Z:3.11 [[ 5.77293840e-01 -8.16414145e-01 -1.41338606e-02 2.01023937e+02] [ 8.16139379e-01 5.77466411e-01 -2.11909962e-02 6.35064670e+01] [ 2.54624588e-02 6.98231405e-04 9.99675535e-01 3.10518234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.030385723 meters Centerline goodness [0,1] 0.9995236961181234 Centerline is valid? [True, True] Translation: X:201.04, Y:63.53, Z:3.11 [[ 5.77048095e-01 -8.16581426e-01 -1.45006948e-02 2.01040423e+02] [ 8.16292028e-01 5.77229819e-01 -2.17499638e-02 6.35296737e+01] [ 2.61308499e-02 7.13973588e-04 9.99658276e-01 3.10562678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.060385723 meters Centerline goodness [0,1] 0.9996109033527161 Centerline is valid? [True, True] Translation: X:201.05, Y:63.55, Z:3.10 [[ 5.76998672e-01 -8.16618162e-01 -1.43982389e-02 2.01052964e+02] [ 8.16332580e-01 5.77177848e-01 -2.16067272e-02 6.35537053e+01] [ 2.59547904e-02 7.13301396e-04 9.99662863e-01 3.10496411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.090385723 meters Centerline goodness [0,1] 0.9997194466624943 Centerline is valid? [True, True] Translation: X:201.07, Y:63.58, Z:3.11 [[ 5.76809193e-01 -8.16755640e-01 -1.41908296e-02 2.01067263e+02] [ 8.16478050e-01 5.76983303e-01 -2.13040428e-02 6.35772121e+01] [ 2.55880688e-02 7.01866844e-04 9.99672325e-01 3.10556501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.120385723 meters Centerline goodness [0,1] 0.9996754160084824 Centerline is valid? [True, True] Translation: X:201.08, Y:63.60, Z:3.11 [[ 5.77291148e-01 -8.16423204e-01 -1.37143100e-02 2.01084513e+02] [ 8.16163586e-01 5.77453603e-01 -2.05994614e-02 6.36002406e+01] [ 2.47372560e-02 6.98766355e-04 9.99693743e-01 3.10837136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.150385723 meters Centerline goodness [0,1] 0.9995472674355934 Centerline is valid? [True, True] Translation: X:201.10, Y:63.62, Z:3.11 [[ 5.77381607e-01 -8.16355675e-01 -1.39244729e-02 2.01099117e+02] [ 8.16087726e-01 5.77549040e-01 -2.09267536e-02 6.36235016e+01] [ 2.51257400e-02 7.19131193e-04 9.99684040e-01 3.10896628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.180385723 meters Centerline goodness [0,1] 0.9996534170908697 Centerline is valid? [True, True] Translation: X:201.11, Y:63.65, Z:3.11 [[ 5.77853282e-01 -8.16015316e-01 -1.43034236e-02 2.01113687e+02] [ 8.15732239e-01 5.78029780e-01 -2.15055232e-02 6.36477761e+01] [ 2.58166411e-02 7.59273443e-04 9.99666407e-01 3.10842869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.210385723 meters Centerline goodness [0,1] 0.9998053506931678 Centerline is valid? [True, True] Translation: X:201.13, Y:63.67, Z:3.11 [[ 5.77847959e-01 -8.16017954e-01 -1.43678303e-02 2.01128808e+02] [ 8.15732102e-01 5.78026045e-01 -2.16108370e-02 6.36713928e+01] [ 2.59398112e-02 7.67477662e-04 9.99663212e-01 3.10863890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.240385723 meters Centerline goodness [0,1] 0.9996978917157593 Centerline is valid? [True, True] Translation: X:201.15, Y:63.69, Z:3.11 [[ 5.78089449e-01 -8.15843060e-01 -1.45839012e-02 2.01147417e+02] [ 8.15548174e-01 5.78272834e-01 -2.19477898e-02 6.36935633e+01] [ 2.63394259e-02 7.93911709e-04 9.99652742e-01 3.11037294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.270385723 meters Centerline goodness [0,1] 0.9998046281422307 Centerline is valid? [True, True] Translation: X:201.16, Y:63.72, Z:3.11 [[ 5.78222798e-01 -8.15742949e-01 -1.48941806e-02 2.01162225e+02] [ 8.15435107e-01 5.78414010e-01 -2.24236413e-02 6.37166013e+01] [ 2.69069300e-02 8.20622849e-04 9.99637606e-01 3.11048686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.300385723 meters Centerline goodness [0,1] 0.9998266522210184 Centerline is valid? [True, True] Translation: X:201.18, Y:63.74, Z:3.11 [[ 5.78048758e-01 -8.15874627e-01 -1.44300571e-02 2.01179629e+02] [ 8.15585504e-01 5.78228297e-01 -2.17329875e-02 6.37389219e+01] [ 2.60752604e-02 7.93781030e-04 9.99659667e-01 3.11271192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.330385723 meters Centerline goodness [0,1] 0.9997192770303829 Centerline is valid? [True, True] Translation: X:201.19, Y:63.76, Z:3.11 [[ 5.76980599e-01 -8.16653293e-01 -1.30685522e-02 2.01193493e+02] [ 8.16416170e-01 5.77128166e-01 -1.96905150e-02 6.37632200e+01] [ 2.36225535e-02 6.91667785e-04 9.99720709e-01 3.11438673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.360385723 meters Centerline goodness [0,1] 0.99980508089143 Centerline is valid? [True, True] Translation: X:201.21, Y:63.78, Z:3.12 [[ 5.76551964e-01 -8.16967535e-01 -1.23239238e-02 2.01211888e+02] [ 8.16756617e-01 5.76683304e-01 -1.85740806e-02 6.37846049e+01] [ 2.22814219e-02 6.43276364e-04 9.99751531e-01 3.11687411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.390385723 meters Centerline goodness [0,1] 0.9996323211350463 Centerline is valid? [True, True] Translation: X:201.23, Y:63.81, Z:3.12 [[ 5.76325493e-01 -8.17135509e-01 -1.17680169e-02 2.01228321e+02] [ 8.16943020e-01 5.76445300e-01 -1.77459660e-02 6.38073876e+01] [ 2.12844770e-02 6.13653344e-04 9.99773272e-01 3.11793511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.420385723 meters Centerline goodness [0,1] 0.9997829060200161 Centerline is valid? [True, True] Translation: X:201.25, Y:63.83, Z:3.12 [[ 5.76697953e-01 -8.16866834e-01 -1.21674114e-02 2.01248065e+02] [ 8.16660761e-01 5.76825928e-01 -1.83589042e-02 6.38287966e+01] [ 2.20152583e-02 6.50895056e-04 9.99757423e-01 3.11879666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.450385723 meters Centerline goodness [0,1] 0.9996956852516031 Centerline is valid? [True, True] Translation: X:201.26, Y:63.85, Z:3.12 [[ 5.79198088e-01 -8.15078202e-01 -1.33078924e-02 2.01264305e+02] [ 8.14830944e-01 5.79350409e-01 -2.00906775e-02 6.38515438e+01] [ 2.40854062e-02 7.92799448e-04 9.99709590e-01 3.11834152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.480385723 meters Centerline goodness [0,1] 0.9995872615892601 Centerline is valid? [True, True] Translation: X:201.28, Y:63.88, Z:3.12 [[ 5.80907675e-01 -8.13855020e-01 -1.36484217e-02 2.01276277e+02] [ 8.13594356e-01 5.81067335e-01 -2.06149535e-02 6.38775323e+01] [ 2.47082355e-02 8.71105857e-04 9.99694325e-01 3.11744582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.510385723 meters Centerline goodness [0,1] 0.9997407703441273 Centerline is valid? [True, True] Translation: X:201.29, Y:63.90, Z:3.12 [[ 5.83894342e-01 -8.11707991e-01 -1.40547258e-02 2.01290322e+02] [ 8.11430663e-01 5.84062619e-01 -2.12399544e-02 6.39024786e+01] [ 2.54494806e-02 9.97453718e-04 9.99675612e-01 3.11636680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.540385723 meters Centerline goodness [0,1] 0.9996750433275563 Centerline is valid? [True, True] Translation: X:201.31, Y:63.93, Z:3.12 [[ 5.84303713e-01 -8.11407341e-01 -1.43978314e-02 2.01306739e+02] [ 8.11115905e-01 5.84480145e-01 -2.17703359e-02 6.39262632e+01] [ 2.60798569e-02 1.04217804e-03 9.99659319e-01 3.11565365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.57038572300002 meters Centerline goodness [0,1] 0.9998256358841351 Centerline is valid? [True, True] Translation: X:201.33, Y:63.95, Z:3.12 [[ 5.83405884e-01 -8.12037859e-01 -1.52344911e-02 2.01326954e+02] [ 8.11711432e-01 5.83603760e-01 -2.30478312e-02 6.39474161e+01] [ 2.76066178e-02 1.08022969e-03 9.99618281e-01 3.11502560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.60038572300002 meters Centerline goodness [0,1] 0.9997381799140357 Centerline is valid? [True, True] Translation: X:201.34, Y:63.97, Z:3.12 [[ 5.82492806e-01 -8.12686633e-01 -1.55745812e-02 2.01343458e+02] [ 8.12345366e-01 5.82699984e-01 -2.35740376e-02 6.39694466e+01] [ 2.82336134e-02 1.07976844e-03 9.99600769e-01 3.11533668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.63038572300002 meters Centerline goodness [0,1] 0.9999128521318548 Centerline is valid? [True, True] Translation: X:201.36, Y:63.99, Z:3.12 [[ 5.80923520e-01 -8.13811759e-01 -1.54364669e-02 2.01363871e+02] [ 8.13476611e-01 5.81127675e-01 -2.33758111e-02 6.39910766e+01] [ 2.79940680e-02 1.02235368e-03 9.99607566e-01 3.11689133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.660385723 meters Centerline goodness [0,1] 0.9998466257668711 Centerline is valid? [True, True] Translation: X:201.38, Y:64.01, Z:3.12 [[ 5.77476273e-01 -8.16278944e-01 -1.44858494e-02 2.01384807e+02] [ 8.15984283e-01 5.77657300e-01 -2.19475321e-02 6.40103149e+01] [ 2.62831650e-02 8.53953622e-04 9.99654173e-01 3.11924545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.690385723 meters Centerline goodness [0,1] 0.9999342336022449 Centerline is valid? [True, True] Translation: X:201.40, Y:64.03, Z:3.12 [[ 5.75471244e-01 -8.17709598e-01 -1.35595048e-02 2.01404559e+02] [ 8.17451537e-01 5.75630488e-01 -2.05554543e-02 6.40308855e+01] [ 2.46136566e-02 7.44834830e-04 9.99696761e-01 3.12169742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.720385723 meters Centerline goodness [0,1] 0.9999121072291804 Centerline is valid? [True, True] Translation: X:201.42, Y:64.05, Z:3.12 [[ 5.75165006e-01 -8.17931354e-01 -1.31725599e-02 2.01422228e+02] [ 8.17687602e-01 5.75315375e-01 -1.99801234e-02 6.40525215e+01] [ 2.39207456e-02 7.20828918e-04 9.99713598e-01 3.12287431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.750385723 meters Centerline goodness [0,1] 0.9998684816203064 Centerline is valid? [True, True] Translation: X:201.44, Y:64.07, Z:3.12 [[ 5.75667084e-01 -8.17593692e-01 -1.21640013e-02 2.01440380e+02] [ 8.17385537e-01 5.75795177e-01 -1.84607173e-02 6.40743590e+01] [ 2.20973393e-02 6.84548618e-04 9.99755590e-01 3.12463554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.780385723 meters Centerline goodness [0,1] 0.9998904613766815 Centerline is valid? [True, True] Translation: X:201.46, Y:64.10, Z:3.13 [[ 5.76410832e-01 -8.17076217e-01 -1.17050938e-02 2.01457712e+02] [ 8.16883158e-01 5.76529261e-01 -1.77740433e-02 6.40980330e+01] [ 2.12710771e-02 6.83457081e-04 9.99773511e-01 3.12575978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.810385723 meters Centerline goodness [0,1] 0.9998900156177822 Centerline is valid? [True, True] Translation: X:201.47, Y:64.12, Z:3.13 [[ 5.76958167e-01 -8.16691949e-01 -1.15557079e-02 2.01472462e+02] [ 8.16503541e-01 5.77073462e-01 -1.75552790e-02 6.41221901e+01] [ 2.10057473e-02 6.93385191e-04 9.99779115e-01 3.12610270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.840385723 meters Centerline goodness [0,1] 0.9999120782503572 Centerline is valid? [True, True] Translation: X:201.49, Y:64.15, Z:3.13 [[ 5.77923308e-01 -8.16010922e-01 -1.14378655e-02 2.01490433e+02] [ 8.15826075e-01 5.78036041e-01 -1.73825058e-02 6.41453988e+01] [ 2.07958130e-02 7.14446347e-04 9.99783488e-01 3.12613555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.870385723 meters Centerline goodness [0,1] 0.9999116412635299 Centerline is valid? [True, True] Translation: X:201.51, Y:64.17, Z:3.13 [[ 5.78618391e-01 -8.15503902e-01 -1.24154617e-02 2.01507893e+02] [ 8.15285755e-01 5.78751021e-01 -1.88783738e-02 6.41681789e+01] [ 2.25808486e-02 8.01225179e-04 9.99744699e-01 3.12511292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.900385723 meters Centerline goodness [0,1] 0.9999335768847559 Centerline is valid? [True, True] Translation: X:201.53, Y:64.19, Z:3.13 [[ 5.78831421e-01 -8.15344073e-01 -1.29703297e-02 2.01527576e+02] [ 8.15105700e-01 5.78976097e-01 -1.97326076e-02 6.41899880e+01] [ 2.35983756e-02 8.49663594e-04 9.99721158e-01 3.12507736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.930385723 meters Centerline goodness [0,1] 0.999933894495615 Centerline is valid? [True, True] Translation: X:201.54, Y:64.21, Z:3.12 [[ 5.78930745e-01 -8.15251639e-01 -1.42813548e-02 2.01541872e+02] [ 8.14962286e-01 5.79106094e-01 -2.17394747e-02 6.42144502e+01] [ 2.59935620e-02 9.46884787e-04 9.99661662e-01 3.12225016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.960385723 meters Centerline goodness [0,1] 0.9998890589984246 Centerline is valid? [True, True] Translation: X:201.56, Y:64.24, Z:3.12 [[ 5.78144369e-01 -8.15799143e-01 -1.48609035e-02 2.01560600e+02] [ 8.15485650e-01 5.78334525e-01 -2.26347395e-02 6.42352949e+01] [ 2.70599746e-02 9.67293581e-04 9.99633344e-01 3.12262846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.58, Y:64.26, Z:3.12 [[ 5.76504659e-01 -8.16956920e-01 -1.49589445e-02 2.01577349e+02] [ 8.16639306e-01 5.76697956e-01 -2.27971754e-02 6.42576767e+01] [ 2.72511029e-02 9.26615788e-04 9.99628190e-01 3.12253482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.020385723 meters Centerline goodness [0,1] 0.9999556068543017 Centerline is valid? [True, True] Translation: X:201.59, Y:64.28, Z:3.12 [[ 5.75508103e-01 -8.17665705e-01 -1.46020023e-02 2.01593203e+02] [ 8.17363075e-01 5.75692649e-01 -2.22615816e-02 6.42803829e+01] [ 2.66087972e-02 8.76583119e-04 9.99645539e-01 3.12303158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.61, Y:64.30, Z:3.12 [[ 5.73454777e-01 -8.19129688e-01 -1.32730331e-02 2.01610805e+02] [ 8.18879923e-01 5.73607889e-01 -2.02400682e-02 6.43032313e+01] [ 2.41927572e-02 7.37743484e-04 9.99707040e-01 3.12467817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.63, Y:64.33, Z:3.13 [[ 5.72334522e-01 -8.19923805e-01 -1.25757386e-02 2.01628668e+02] [ 8.19699628e-01 5.72472273e-01 -1.91837371e-02 6.43267421e+01] [ 2.29284644e-02 6.71186683e-04 9.99736883e-01 3.12618796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.110385723 meters Centerline goodness [0,1] 0.9999553611284707 Centerline is valid? [True, True] Translation: X:201.65, Y:64.35, Z:3.13 [[ 5.69924551e-01 -8.21609481e-01 -1.19944200e-02 2.01646459e+02] [ 8.21405768e-01 5.70050458e-01 -1.83041034e-02 6.43480944e+01] [ 2.18762495e-02 5.79672145e-04 9.99760518e-01 3.12786153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.140385723 meters Centerline goodness [0,1] 0.9999776546299607 Centerline is valid? [True, True] Translation: X:201.67, Y:64.37, Z:3.13 [[ 5.68465832e-01 -8.22622912e-01 -1.17533933e-02 2.01665855e+02] [ 8.22427402e-01 5.68587074e-01 -1.79417873e-02 6.43702361e+01] [ 2.14421528e-02 5.32980340e-04 9.99769949e-01 3.12943604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.170385723 meters Centerline goodness [0,1] 0.9999776090996619 Centerline is valid? [True, True] Translation: X:201.69, Y:64.39, Z:3.13 [[ 5.65735633e-01 -8.24507430e-01 -1.14320558e-02 2.01685517e+02] [ 8.24322664e-01 5.65850945e-01 -1.74600735e-02 6.43914256e+01] [ 2.08647999e-02 4.54083062e-04 9.99782203e-01 3.13136886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.200385723 meters Centerline goodness [0,1] 0.9999328618744965 Centerline is valid? [True, True] Translation: X:201.70, Y:64.41, Z:3.13 [[ 5.64585045e-01 -8.25295701e-01 -1.14338271e-02 2.01701416e+02] [ 8.25110840e-01 5.64700647e-01 -1.74723010e-02 6.44144076e+01] [ 2.08765045e-02 4.30425173e-04 9.99781969e-01 3.13173889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.230385723 meters Centerline goodness [0,1] 0.9999328618744965 Centerline is valid? [True, True] Translation: X:201.72, Y:64.44, Z:3.13 [[ 5.64360566e-01 -8.25449287e-01 -1.14291910e-02 2.01716453e+02] [ 8.25264396e-01 5.64476120e-01 -1.74753334e-02 6.44375520e+01] [ 2.08765068e-02 4.30284666e-04 9.99781969e-01 3.13215625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.260385723 meters Centerline goodness [0,1] 0.9999776905229342 Centerline is valid? [True, True] Translation: X:201.73, Y:64.46, Z:3.13 [[ 5.63354305e-01 -8.26133977e-01 -1.16007799e-02 2.01729242e+02] [ 8.25943424e-01 5.63473582e-01 -1.77477347e-02 6.44619844e+01] [ 2.11987397e-02 4.16674904e-04 9.99775195e-01 3.13107407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.75, Y:64.48, Z:3.13 [[ 5.62864430e-01 -8.26464315e-01 -1.18477600e-02 2.01747039e+02] [ 8.26265432e-01 5.62988953e-01 -1.81349138e-02 6.44840583e+01] [ 2.16580171e-02 4.18103414e-04 9.99765350e-01 3.13183435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.76, Y:64.51, Z:3.13 [[ 5.62148775e-01 -8.26946517e-01 -1.21742419e-02 2.01762703e+02] [ 8.26736383e-01 5.62280431e-01 -1.86458815e-02 6.45074296e+01] [ 2.22644848e-02 4.16870713e-04 9.99752029e-01 3.13079982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.35038572300002 meters Centerline goodness [0,1] 0.9999326024442847 Centerline is valid? [True, True] Translation: X:201.78, Y:64.53, Z:3.13 [[ 5.61549149e-01 -8.27351375e-01 -1.23391817e-02 2.01779291e+02] [ 8.27135348e-01 5.61684548e-01 -1.89099206e-02 6.45301659e+01] [ 2.25758765e-02 4.12676527e-04 9.99745047e-01 3.13106246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.38038572300002 meters Centerline goodness [0,1] 0.9999102092125348 Centerline is valid? [True, True] Translation: X:201.80, Y:64.55, Z:3.13 [[ 5.60951299e-01 -8.27751851e-01 -1.26694149e-02 2.01795527e+02] [ 8.27523938e-01 5.61094201e-01 -1.94275379e-02 6.45513127e+01] [ 2.31899157e-02 4.13658488e-04 9.99730992e-01 3.13204684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.81, Y:64.57, Z:3.13 [[ 5.60190079e-01 -8.28266724e-01 -1.27007654e-02 2.01812518e+02] [ 8.28037560e-01 5.60333896e-01 -1.94865143e-02 6.45739856e+01] [ 2.32567007e-02 3.99441133e-04 9.99729447e-01 3.13378385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.440385723 meters Centerline goodness [0,1] 0.9999775714349796 Centerline is valid? [True, True] Translation: X:201.83, Y:64.60, Z:3.14 [[ 5.58680122e-01 -8.29296130e-01 -1.20187400e-02 2.01829505e+02] [ 8.29090936e-01 5.58809280e-01 -1.84501826e-02 6.45972295e+01] [ 2.20168485e-02 3.43121926e-04 9.99757541e-01 3.13605907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.84, Y:64.62, Z:3.14 [[ 5.57594236e-01 -8.30034563e-01 -1.14583128e-02 2.01842053e+02] [ 8.29848028e-01 5.57711872e-01 -1.75988252e-02 6.46216728e+01] [ 2.09980702e-02 3.04345182e-04 9.99779470e-01 3.13538292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.86, Y:64.64, Z:3.14 [[ 5.56016214e-01 -8.31103011e-01 -1.06655989e-02 2.01860013e+02] [ 8.30941414e-01 5.56118443e-01 -1.63903667e-02 6.46437180e+01] [ 1.95534194e-02 2.50821795e-04 9.99808782e-01 3.13702210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.530385723 meters Centerline goodness [0,1] 0.9999775573409938 Centerline is valid? [True, True] Translation: X:201.88, Y:64.67, Z:3.14 [[ 5.55030102e-01 -8.31766928e-01 -1.02647240e-02 2.01876128e+02] [ 8.31617197e-01 5.55124966e-01 -1.57831976e-02 6.46666853e+01] [ 1.88261464e-02 2.23828790e-04 9.99822747e-01 3.13781985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.89, Y:64.69, Z:3.14 [[ 5.53203518e-01 -8.32990407e-01 -9.63582899e-03 2.01894027e+02] [ 8.32858503e-01 5.53287404e-01 -1.48243901e-02 6.46887121e+01] [ 1.76799575e-02 1.75622617e-04 9.99843682e-01 3.13962457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.91, Y:64.71, Z:3.14 [[ 5.52531158e-01 -8.33437510e-01 -9.55182545e-03 2.01909335e+02] [ 8.33307814e-01 5.52613690e-01 -1.47036090e-02 6.47112617e+01] [ 1.75330088e-02 1.64591320e-04 9.99846271e-01 3.14016629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.620385723 meters Centerline goodness [0,1] 0.9999775729439997 Centerline is valid? [True, True] Translation: X:201.93, Y:64.73, Z:3.14 [[ 5.51749569e-01 -8.33954717e-01 -9.58870936e-03 2.01925350e+02] [ 8.33823953e-01 5.51832861e-01 -1.47684908e-02 6.47342669e+01] [ 1.76076175e-02 1.53212903e-04 9.99844962e-01 3.14074323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.94, Y:64.76, Z:3.14 [[ 5.51205928e-01 -8.34312754e-01 -9.70844918e-03 2.01940693e+02] [ 8.34178598e-01 5.51291400e-01 -1.49619332e-02 6.47573727e+01] [ 1.78351163e-02 1.48525775e-04 9.99840931e-01 3.14043210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.680385723 meters Centerline goodness [0,1] 0.9999774464918018 Centerline is valid? [True, True] Translation: X:201.96, Y:64.78, Z:3.14 [[ 5.51132360e-01 -8.34361198e-01 -9.72176738e-03 2.01955504e+02] [ 8.34226519e-01 5.51218076e-01 -1.49916066e-02 6.47817211e+01] [ 1.78672288e-02 1.52203358e-04 9.99840357e-01 3.14033302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.710385723 meters Centerline goodness [0,1] 0.9998195882100895 Centerline is valid? [True, True] Translation: X:201.97, Y:64.81, Z:3.14 [[ 5.51372262e-01 -8.34193580e-01 -1.04737479e-02 2.01968480e+02] [ 8.34037031e-01 5.51471704e-01 -1.61613972e-02 6.48057913e+01] [ 1.92577094e-02 1.75452535e-04 9.99814538e-01 3.13833383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.98, Y:64.83, Z:3.14 [[ 5.51954593e-01 -8.33808284e-01 -1.04820312e-02 2.01982842e+02] [ 8.33651245e-01 5.52054081e-01 -1.61831263e-02 6.48302267e+01] [ 1.92802729e-02 1.93992503e-04 9.99814099e-01 3.13944650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.00, Y:64.86, Z:3.14 [[ 5.52924936e-01 -8.33147417e-01 -1.18066177e-02 2.01995891e+02] [ 8.32947783e-01 5.53050918e-01 -1.82392940e-02 6.48564125e+01] [ 2.17256814e-02 2.50664459e-04 9.99763938e-01 3.13704118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.01, Y:64.88, Z:3.14 [[ 5.52868679e-01 -8.33173484e-01 -1.25765348e-02 2.02010280e+02] [ 8.32946717e-01 5.53011637e-01 -1.94395454e-02 6.48810510e+01] [ 2.31514838e-02 2.71932427e-04 9.99731931e-01 3.13614257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.830385723 meters Centerline goodness [0,1] 0.9999099241110636 Centerline is valid? [True, True] Translation: X:202.03, Y:64.90, Z:3.14 [[ 5.52681023e-01 -8.33294145e-01 -1.28278536e-02 2.02026565e+02] [ 8.33057978e-01 5.52829802e-01 -1.98397579e-02 6.49040292e+01] [ 2.36239739e-02 2.78711929e-04 9.99720876e-01 3.13727200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.860385723 meters Centerline goodness [0,1] 0.999819969844949 Centerline is valid? [True, True] Translation: X:202.04, Y:64.93, Z:3.14 [[ 5.51544774e-01 -8.34040591e-01 -1.32156899e-02 2.02042720e+02] [ 8.33789830e-01 5.51703021e-01 -2.04522876e-02 6.49276037e+01] [ 2.43491741e-02 2.61244483e-04 9.99703481e-01 3.13702135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.890385723 meters Centerline goodness [0,1] 0.9999323654071602 Centerline is valid? [True, True] Translation: X:202.06, Y:64.95, Z:3.14 [[ 5.50111875e-01 -8.35004299e-01 -1.20310125e-02 2.02059103e+02] [ 8.34796533e-01 5.50243382e-01 -1.86271057e-02 6.49501557e+01] [ 2.21736984e-02 2.03544501e-04 9.99754113e-01 3.14071153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.920385723 meters Centerline goodness [0,1] 0.9999549924612372 Centerline is valid? [True, True] Translation: X:202.08, Y:64.97, Z:3.14 [[ 5.48955567e-01 -8.35774737e-01 -1.13302379e-02 2.02075036e+02] [ 8.35590529e-01 5.49072456e-01 -1.75472266e-02 6.49735986e+01] [ 2.08866502e-02 1.65208249e-04 9.99781836e-01 3.14234382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.09, Y:65.00, Z:3.14 [[ 5.46086467e-01 -8.37665466e-01 -1.03023720e-02 2.02090280e+02] [ 8.37513345e-01 5.46183632e-01 -1.59636283e-02 6.49957665e+01] [ 1.89991671e-02 8.91473337e-05 9.99819496e-01 3.14459238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.980385723 meters Centerline goodness [0,1] 0.9999775396985827 Centerline is valid? [True, True] Translation: X:202.11, Y:65.02, Z:3.15 [[ 5.44791739e-01 -8.38510032e-01 -1.01433663e-02 2.02106032e+02] [ 8.38362580e-01 5.44886155e-01 -1.57245975e-02 6.50195365e+01] [ 1.87122126e-02 6.28120512e-05 9.99824909e-01 3.14509106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.12, Y:65.04, Z:3.14 [[ 5.42329289e-01 -8.40097151e-01 -1.07573243e-02 2.02121236e+02] [ 8.39931406e-01 5.42435966e-01 -1.66870168e-02 6.50430346e+01] [ 1.98538749e-02 1.44434440e-05 9.99802892e-01 3.14387775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.14, Y:65.07, Z:3.14 [[ 5.41095103e-01 -8.40885577e-01 -1.12931863e-02 2.02136408e+02] [ 8.40702851e-01 5.41212940e-01 -1.75291007e-02 6.50656364e+01] [ 2.08519865e-02 -9.30337653e-06 9.99782574e-01 3.14270779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.07038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.15, Y:65.09, Z:3.14 [[ 5.40231911e-01 -8.41426277e-01 -1.23005492e-02 2.02151882e+02] [ 8.41209375e-01 5.40371928e-01 -1.91041131e-02 6.50889727e+01] [ 2.27215743e-02 -2.66858007e-05 9.99741831e-01 3.14270690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.10038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.17, Y:65.11, Z:3.14 [[ 5.38831382e-01 -8.42307315e-01 -1.33839380e-02 2.02167725e+02] [ 8.42050485e-01 5.38997573e-01 -2.07989663e-02 6.51128348e+01] [ 2.47330315e-02 -6.28157705e-05 9.99694090e-01 3.14255678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.13038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.18, Y:65.14, Z:3.14 [[ 5.37984183e-01 -8.42849287e-01 -1.33453534e-02 2.02182520e+02] [ 8.42593822e-01 5.38149675e-01 -2.07503715e-02 6.51366836e+01] [ 2.46712335e-02 -8.13406843e-05 9.99695615e-01 3.14315412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.160385723 meters Centerline goodness [0,1] 0.999954943792381 Centerline is valid? [True, True] Translation: X:202.20, Y:65.16, Z:3.14 [[ 5.36304790e-01 -8.43925224e-01 -1.29378847e-02 2.02196206e+02] [ 8.43685152e-01 5.36460812e-01 -2.01286380e-02 6.51616707e+01] [ 2.39277334e-02 -1.20416259e-04 9.99713684e-01 3.14493499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.21, Y:65.19, Z:3.15 [[ 5.35541519e-01 -8.44419338e-01 -1.22988989e-02 2.02210322e+02] [ 8.44202270e-01 5.35682709e-01 -1.91457929e-02 6.51861711e+01] [ 2.27553853e-02 -1.29391393e-04 9.99741054e-01 3.14642825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.22, Y:65.21, Z:3.15 [[ 5.35016839e-01 -8.44756798e-01 -1.19555188e-02 2.02224181e+02] [ 8.44551528e-01 5.35150385e-01 -1.86220817e-02 6.52093486e+01] [ 2.21291306e-02 -1.33924402e-04 9.99755112e-01 3.14692136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.24, Y:65.23, Z:3.15 [[ 5.34288392e-01 -8.45217538e-01 -1.19677478e-02 2.02237606e+02] [ 8.45011730e-01 5.34422390e-01 -1.86516712e-02 6.52336949e+01] [ 2.21605520e-02 -1.47515902e-04 9.99754414e-01 3.14802480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.25, Y:65.26, Z:3.15 [[ 5.35046318e-01 -8.44728325e-01 -1.26291026e-02 2.02250363e+02] [ 8.44498716e-01 5.35195329e-01 -1.96946460e-02 6.52582928e+01] [ 2.33956621e-02 -1.27713108e-04 9.99726276e-01 3.14917492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.26, Y:65.28, Z:3.15 [[ 5.35873550e-01 -8.44199623e-01 -1.29048442e-02 2.02263473e+02] [ 8.43959427e-01 5.36028905e-01 -2.01370009e-02 6.52827170e+01] [ 2.39170181e-02 -1.00278755e-04 9.99713942e-01 3.14990728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.28, Y:65.31, Z:3.15 [[ 5.36761727e-01 -8.43635000e-01 -1.29164570e-02 2.02276658e+02] [ 8.43393915e-01 5.36917109e-01 -2.01673547e-02 6.53081153e+01] [ 2.39489530e-02 -6.85970770e-05 9.99713180e-01 3.15061651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.29, Y:65.33, Z:3.15 [[ 5.37816131e-01 -8.42962779e-01 -1.29446332e-02 2.02289588e+02] [ 8.42720149e-01 5.37971889e-01 -2.02236717e-02 6.53333717e+01] [ 2.40116513e-02 -3.20863792e-05 9.99711678e-01 3.15181318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.30, Y:65.36, Z:3.15 [[ 5.40099952e-01 -8.41506472e-01 -1.26055364e-02 2.02300116e+02] [ 8.41275713e-01 5.40247032e-01 -1.97057906e-02 6.53595974e+01] [ 2.33926539e-02 3.83649038e-05 9.99726354e-01 3.15329561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.31, Y:65.38, Z:3.15 [[ 5.42128247e-01 -8.40202813e-01 -1.24978857e-02 2.02310983e+02] [ 8.39975363e-01 5.42272277e-01 -1.95490939e-02 6.53845384e+01] [ 2.32024607e-02 1.00199912e-04 9.99730782e-01 3.15433774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.32, Y:65.41, Z:3.16 [[ 5.42889497e-01 -8.39712165e-01 -1.24287328e-02 2.02324204e+02] [ 8.39486839e-01 5.43031734e-01 -1.94520801e-02 6.54096116e+01] [ 2.30833447e-02 1.26572366e-04 9.99733536e-01 3.15514936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.34, Y:65.43, Z:3.16 [[ 5.43989825e-01 -8.38996214e-01 -1.26658081e-02 2.02336737e+02] [ 8.38761737e-01 5.44137230e-01 -1.98349125e-02 6.54346054e+01] [ 2.35333543e-02 1.66395366e-04 9.99723038e-01 3.15526581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.35, Y:65.46, Z:3.16 [[ 5.45164298e-01 -8.38231718e-01 -1.27857496e-02 2.02349134e+02] [ 8.37992297e-01 5.45314171e-01 -2.00341001e-02 6.54603366e+01] [ 2.37654685e-02 2.07516476e-04 9.99717540e-01 3.15522121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.550385723 meters Centerline goodness [0,1] 0.9999779283554417 Centerline is valid? [True, True] Translation: X:202.36, Y:65.49, Z:3.15 [[ 5.47609827e-01 -8.36627458e-01 -1.33406705e-02 2.02358568e+02] [ 8.36366065e-01 5.47772224e-01 -2.09140228e-02 6.54869349e+01] [ 2.48048945e-02 2.95040333e-04 9.99692268e-01 3.15395948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.37, Y:65.51, Z:3.15 [[ 5.48122614e-01 -8.36283107e-01 -1.38623817e-02 2.02372653e+02] [ 8.36000526e-01 5.48297783e-01 -2.17407854e-02 6.55122895e+01] [ 2.57821647e-02 3.27657755e-04 9.99667531e-01 3.15422376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.39, Y:65.54, Z:3.15 [[ 5.49001927e-01 -8.35693969e-01 -1.45764932e-02 2.02386198e+02] [ 8.35380971e-01 5.49195270e-01 -2.28732941e-02 6.55377181e+01] [ 2.71204150e-02 3.80557528e-04 9.99632101e-01 3.15487316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.640385723 meters Centerline goodness [0,1] 0.9999341440927251 Centerline is valid? [True, True] Translation: X:202.40, Y:65.56, Z:3.15 [[ 5.49199145e-01 -8.35560865e-01 -1.47763508e-02 2.02397798e+02] [ 8.35238828e-01 5.49397745e-01 -2.31995425e-02 6.55621668e+01] [ 2.75027236e-02 3.99386967e-04 9.99621649e-01 3.15407937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.41, Y:65.59, Z:3.15 [[ 5.48936043e-01 -8.35729024e-01 -1.50405970e-02 2.02411209e+02] [ 8.35395045e-01 5.49141907e-01 -2.36280361e-02 6.55870962e+01] [ 2.80060577e-02 4.05440404e-04 9.99607671e-01 3.15394366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.42, Y:65.61, Z:3.15 [[ 5.48510570e-01 -8.35998164e-01 -1.55956695e-02 2.02423547e+02] [ 8.35638746e-01 5.48732082e-01 -2.45150410e-02 6.56130247e+01] [ 2.90523734e-02 4.14413348e-04 9.99577805e-01 3.15297671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.44, Y:65.64, Z:3.15 [[ 5.47973333e-01 -8.36349203e-01 -1.56600521e-02 2.02437505e+02] [ 8.35986585e-01 5.48196906e-01 -2.46288870e-02 6.56360159e+01] [ 2.91831421e-02 4.04379847e-04 9.99574000e-01 3.15319144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.45, Y:65.66, Z:3.16 [[ 5.45117500e-01 -8.38224223e-01 -1.50686002e-02 2.02454169e+02] [ 8.37888888e-01 5.45325648e-01 -2.37097027e-02 6.56598973e+01] [ 2.80913413e-02 2.98761221e-04 9.99605316e-01 3.15508458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.790385723 meters Centerline goodness [0,1] 0.9999780615155105 Centerline is valid? [True, True] Translation: X:202.47, Y:65.68, Z:3.16 [[ 5.43098475e-01 -8.39540752e-01 -1.46755467e-02 2.02469499e+02] [ 8.39222813e-01 5.43296670e-01 -2.31040653e-02 6.56831795e+01] [ 2.73699800e-02 2.31729049e-04 9.99625345e-01 3.15642692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.82038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.49, Y:65.71, Z:3.16 [[ 5.40054382e-01 -8.41503833e-01 -1.45795598e-02 2.02485098e+02] [ 8.41190382e-01 5.40251127e-01 -2.29665267e-02 6.57064246e+01] [ 2.72030439e-02 1.38987894e-04 9.99629919e-01 3.15826768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.85038572300002 meters Centerline goodness [0,1] 0.99986838064318 Centerline is valid? [True, True] Translation: X:202.50, Y:65.73, Z:3.16 [[ 5.38807296e-01 -8.42290530e-01 -1.52761465e-02 2.02499542e+02] [ 8.41946318e-01 5.39023793e-01 -2.40779420e-02 6.57299807e+01] [ 2.85148289e-02 1.11675519e-04 9.99593363e-01 3.15705858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.88038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.51, Y:65.75, Z:3.16 [[ 5.38744415e-01 -8.42332018e-01 -1.52061541e-02 2.02514095e+02] [ 8.41990578e-01 5.38958958e-01 -2.39814154e-02 6.57541905e+01] [ 2.83958070e-02 1.16415175e-04 9.99596751e-01 3.15838817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.910385723 meters Centerline goodness [0,1] 0.9999125511029492 Centerline is valid? [True, True] Translation: X:202.53, Y:65.78, Z:3.16 [[ 5.38962288e-01 -8.42193863e-01 -1.51376615e-02 2.02526530e+02] [ 8.41855088e-01 5.39174814e-01 -2.38857873e-02 6.57777780e+01] [ 2.82783093e-02 1.29821186e-04 9.99600080e-01 3.15844473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.940385723 meters Centerline goodness [0,1] 0.9998908058528063 Centerline is valid? [True, True] Translation: X:202.54, Y:65.80, Z:3.16 [[ 5.38956234e-01 -8.42205926e-01 -1.46749960e-02 2.02541069e+02] [ 8.41887238e-01 5.39155970e-01 -2.31671930e-02 6.58020907e+01] [ 2.74236590e-02 1.31411236e-04 9.99623892e-01 3.15924564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.970385723 meters Centerline goodness [0,1] 0.9999782481021469 Centerline is valid? [True, True] Translation: X:202.55, Y:65.83, Z:3.16 [[ 5.38842312e-01 -8.42280073e-01 -1.46028141e-02 2.02554050e+02] [ 8.41964212e-01 5.39040130e-01 -2.30652324e-02 6.58263210e+01] [ 2.72988884e-02 1.33476261e-04 9.99627307e-01 3.15842751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.000385723 meters Centerline goodness [0,1] 0.9998475476957923 Centerline is valid? [True, True] Translation: X:202.57, Y:65.85, Z:3.16 [[ 5.38490730e-01 -8.42492935e-01 -1.52770608e-02 2.02568631e+02] [ 8.42146966e-01 5.38707376e-01 -2.41423112e-02 6.58505935e+01] [ 2.85695920e-02 1.34880412e-04 9.99591797e-01 3.15782769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.030385723 meters Centerline goodness [0,1] 0.9999781892734847 Centerline is valid? [True, True] Translation: X:202.58, Y:65.87, Z:3.16 [[ 5.38248770e-01 -8.42646107e-01 -1.53557864e-02 2.02583705e+02] [ 8.42296208e-01 5.38467753e-01 -2.42812054e-02 6.58741472e+01] [ 2.87290590e-02 1.35208257e-04 9.99587226e-01 3.15938615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.60, Y:65.90, Z:3.16 [[ 5.38374838e-01 -8.42550809e-01 -1.61452141e-02 2.02599191e+02] [ 8.42163602e-01 5.38616849e-01 -2.55413015e-02 6.58972187e+01] [ 3.02159286e-02 1.53882407e-04 9.99543383e-01 3.15890612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.090385723 meters Centerline goodness [0,1] 0.9998909630146545 Centerline is valid? [True, True] Translation: X:202.61, Y:65.92, Z:3.16 [[ 5.38138785e-01 -8.42690645e-01 -1.67070522e-02 2.02614665e+02] [ 8.42275733e-01 5.38398043e-01 -2.64411922e-02 6.59213764e+01] [ 3.12767895e-02 1.57086419e-04 9.99510749e-01 3.15941173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.120385723 meters Centerline goodness [0,1] 0.9998909630146545 Centerline is valid? [True, True] Translation: X:202.63, Y:65.94, Z:3.16 [[ 5.37903577e-01 -8.42840939e-01 -1.67001180e-02 2.02629349e+02] [ 8.42425963e-01 5.38162734e-01 -2.64455717e-02 6.59447330e+01] [ 3.12767916e-02 1.56554612e-04 9.99510749e-01 3.15982919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.64, Y:65.97, Z:3.16 [[ 5.37846855e-01 -8.42893708e-01 -1.58416231e-02 2.02642869e+02] [ 8.42519938e-01 5.38080080e-01 -2.50994318e-02 6.59683658e+01] [ 2.96802149e-02 1.52767160e-04 9.99559434e-01 3.15961417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.66, Y:65.99, Z:3.16 [[ 5.37397904e-01 -8.43184708e-01 -1.55897585e-02 2.02657601e+02] [ 8.42822464e-01 5.37623965e-01 -2.47137017e-02 6.59918039e+01] [ 2.92196431e-02 1.41692779e-04 9.99573005e-01 3.16076800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.210385723 meters Centerline goodness [0,1] 0.9999565840316068 Centerline is valid? [True, True] Translation: X:202.67, Y:66.02, Z:3.16 [[ 5.37150693e-01 -8.43348214e-01 -1.52618283e-02 2.02672657e+02] [ 8.43000695e-01 5.37367445e-01 -2.42086249e-02 6.60156741e+01] [ 2.86175102e-02 1.37947816e-04 9.99590426e-01 3.16094490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.69, Y:66.04, Z:3.16 [[ 5.36591113e-01 -8.43724365e-01 -1.41129015e-02 2.02687238e+02] [ 8.43427030e-01 5.36776660e-01 -2.23978034e-02 6.60383682e+01] [ 2.64730486e-02 1.15259688e-04 9.99649521e-01 3.16209708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.70, Y:66.06, Z:3.16 [[ 5.36208444e-01 -8.43977933e-01 -1.34815667e-02 2.02702201e+02] [ 8.43706423e-01 5.36377887e-01 -2.14063987e-02 6.60619814e+01] [ 2.52977424e-02 1.03807283e-04 9.99679956e-01 3.16351648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.300385723 meters Centerline goodness [0,1] 0.9999348859418749 Centerline is valid? [True, True] Translation: X:202.72, Y:66.09, Z:3.17 [[ 5.35522289e-01 -8.44426418e-01 -1.26453023e-02 2.02717898e+02] [ 8.44187405e-01 5.35671558e-01 -2.00899526e-02 6.60853950e+01] [ 2.37382156e-02 8.36124436e-05 9.99718205e-01 3.16555915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.330385723 meters Centerline goodness [0,1] 0.9999127875286166 Centerline is valid? [True, True] Translation: X:202.73, Y:66.11, Z:3.17 [[ 5.34955131e-01 -8.44781871e-01 -1.29072988e-02 2.02732811e+02] [ 8.44532650e-01 5.35110816e-01 -2.05187243e-02 6.61089412e+01] [ 2.42406815e-02 7.59616120e-05 9.99706149e-01 3.16503499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.75, Y:66.13, Z:3.17 [[ 5.34891664e-01 -8.44826413e-01 -1.26189859e-02 2.02748132e+02] [ 8.44587930e-01 5.35040489e-01 -2.00724684e-02 6.61323989e+01] [ 2.37094199e-02 7.87528888e-05 9.99718889e-01 3.16668503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.76, Y:66.16, Z:3.17 [[ 5.35527250e-01 -8.44427606e-01 -1.23524359e-02 2.02762620e+02] [ 8.44198710e-01 5.35669681e-01 -1.96603679e-02 6.61570580e+01] [ 2.32185828e-02 1.00752296e-04 9.99730407e-01 3.16665427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.78, Y:66.18, Z:3.17 [[ 5.35914337e-01 -8.44182307e-01 -1.23311312e-02 2.02776122e+02] [ 8.43953866e-01 5.36056172e-01 -1.96380504e-02 6.61803613e+01] [ 2.31882737e-02 1.17406891e-04 9.99731109e-01 3.16636992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.79, Y:66.20, Z:3.17 [[ 5.36370855e-01 -8.43890460e-01 -1.24578041e-02 2.02790175e+02] [ 8.43656954e-01 5.36515491e-01 -1.98512551e-02 6.62044504e+01] [ 2.34360897e-02 1.37521618e-04 9.99725328e-01 3.16598168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.80, Y:66.23, Z:3.16 [[ 5.37395675e-01 -8.43236082e-01 -1.26015461e-02 2.02803091e+02] [ 8.42996691e-01 5.37543375e-01 -2.00922549e-02 6.62285967e+01] [ 2.37163919e-02 1.74429219e-04 9.99718712e-01 3.16486191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.82, Y:66.25, Z:3.17 [[ 5.37629424e-01 -8.43085909e-01 -1.26788001e-02 2.02818182e+02] [ 8.42843255e-01 5.37778871e-01 -2.02270565e-02 6.62523640e+01] [ 2.38715372e-02 1.88419575e-04 9.99715017e-01 3.16527479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.83, Y:66.27, Z:3.17 [[ 5.36781088e-01 -8.43623298e-01 -1.28761269e-02 2.02834129e+02] [ 8.43372887e-01 5.36935471e-01 -2.05541351e-02 6.62741244e+01] [ 2.42535965e-02 1.73694681e-04 9.99705823e-01 3.16576178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.57038572300002 meters Centerline goodness [0,1] 0.9999781325169473 Centerline is valid? [True, True] Translation: X:202.85, Y:66.30, Z:3.17 [[ 5.35645644e-01 -8.44341117e-01 -1.31081118e-02 2.02849306e+02] [ 8.44081554e-01 5.35805988e-01 -2.09349801e-02 6.62967539e+01] [ 2.46996693e-02 1.49415509e-04 9.99694905e-01 3.16544867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.87, Y:66.32, Z:3.17 [[ 5.34441275e-01 -8.45100839e-01 -1.33077398e-02 2.02865154e+02] [ 8.44833284e-01 5.34606918e-01 -2.12641854e-02 6.63198154e+01] [ 2.50847907e-02 1.21636874e-04 9.99685320e-01 3.16527822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.88, Y:66.34, Z:3.17 [[ 5.33495823e-01 -8.45699402e-01 -1.32184599e-02 2.02881534e+02] [ 8.45435294e-01 5.33659546e-01 -2.11341810e-02 6.63428646e+01] [ 2.49273216e-02 9.96447651e-05 9.99689261e-01 3.16586353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.90, Y:66.36, Z:3.17 [[ 5.31182261e-01 -8.47163971e-01 -1.25941550e-02 2.02899773e+02] [ 8.46924353e-01 5.31331540e-01 -2.01478080e-02 6.63643209e+01] [ 2.37601688e-02 3.58615634e-05 9.99717687e-01 3.16664014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.92, Y:66.39, Z:3.17 [[ 5.29783598e-01 -8.48052036e-01 -1.17082889e-02 2.02915440e+02] [ 8.47844940e-01 5.29912960e-01 -1.87406715e-02 6.63862223e+01] [ 2.20974387e-02 1.68688990e-06 9.99755822e-01 3.16726667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.93, Y:66.41, Z:3.17 [[ 5.27754635e-01 -8.49330145e-01 -1.06466028e-02 2.02932094e+02] [ 8.49158999e-01 5.27862011e-01 -1.70496820e-02 6.64085276e+01] [ 2.01007461e-02 -4.26099164e-05 9.99797959e-01 3.16798061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.750385723 meters Centerline goodness [0,1] 0.9999560014079549 Centerline is valid? [True, True] Translation: X:202.95, Y:66.43, Z:3.17 [[ 5.26542558e-01 -8.50083243e-01 -1.05553018e-02 2.02948287e+02] [ 8.49914974e-01 5.26648341e-01 -1.69133521e-02 6.64305888e+01] [ 1.99366894e-02 -6.55094125e-05 9.99801242e-01 3.16731978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.97, Y:66.45, Z:3.17 [[ 5.25813757e-01 -8.50537463e-01 -1.02916338e-02 2.02965535e+02] [ 8.50377410e-01 5.25914460e-01 -1.64997780e-02 6.64525417e+01] [ 1.94461983e-02 -7.59626901e-05 9.99810902e-01 3.16836035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.98, Y:66.47, Z:3.17 [[ 5.25287247e-01 -8.50860853e-01 -1.04458535e-02 2.02983418e+02] [ 8.50695842e-01 5.25391093e-01 -1.67566027e-02 6.64728405e+01] [ 1.97456956e-02 -8.42144267e-05 9.99805031e-01 3.16874515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.00, Y:66.50, Z:3.17 [[ 5.25605417e-01 -8.50664159e-01 -1.04610388e-02 2.02998706e+02] [ 8.50498449e-01 5.25709504e-01 -1.67900638e-02 6.64968248e+01] [ 1.97821730e-02 -7.21487724e-05 9.99804311e-01 3.16940337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.870385723 meters Centerline goodness [0,1] 0.9998673212153376 Centerline is valid? [True, True] Translation: X:203.01, Y:66.52, Z:3.17 [[ 5.27898883e-01 -8.49237818e-01 -1.08580606e-02 2.03013018e+02] [ 8.49058770e-01 5.28010537e-01 -1.74378173e-02 6.65203818e+01] [ 2.05420243e-02 -1.37273398e-05 9.99788990e-01 3.16737372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.03, Y:66.54, Z:3.17 [[ 5.29847992e-01 -8.48025572e-01 -1.06646668e-02 2.03027811e+02] [ 8.47852408e-01 5.29955308e-01 -1.71366873e-02 6.65446947e+01] [ 2.01841458e-02 3.77759466e-05 9.99796279e-01 3.16964610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.930385723 meters Centerline goodness [0,1] 0.9999777906098698 Centerline is valid? [True, True] Translation: X:203.04, Y:66.57, Z:3.17 [[ 5.33541883e-01 -8.45706607e-01 -1.06486242e-02 2.03039982e+02] [ 8.45533312e-01 5.33648121e-01 -1.71201928e-02 6.65704384e+01] [ 2.01612785e-02 1.30573434e-04 9.99796732e-01 3.16723010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.960385723 meters Centerline goodness [0,1] 0.9999110537902204 Centerline is valid? [True, True] Translation: X:203.05, Y:66.60, Z:3.16 [[ 5.35063771e-01 -8.44739343e-01 -1.10545350e-02 2.03053587e+02] [ 8.44552234e-01 5.35177924e-01 -1.77795888e-02 6.65956258e+01] [ 2.09352613e-02 1.77081578e-04 9.99780818e-01 3.16493990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.07, Y:66.62, Z:3.17 [[ 5.37222022e-01 -8.43364033e-01 -1.13845558e-02 2.03070234e+02] [ 8.43165088e-01 5.37342581e-01 -1.83189766e-02 6.66186111e+01] [ 2.15669726e-02 2.42297648e-04 9.99767376e-01 3.16667970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.09, Y:66.64, Z:3.17 [[ 5.40119952e-01 -8.41503107e-01 -1.19565631e-02 2.03086857e+02] [ 8.41283036e-01 5.40252171e-01 -1.92469516e-02 6.66423664e+01] [ 2.26559287e-02 3.36808834e-04 9.99743265e-01 3.16656437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.050385723 meters Centerline goodness [0,1] 0.9999776571262596 Centerline is valid? [True, True] Translation: X:203.10, Y:66.67, Z:3.16 [[ 5.41043608e-01 -8.40906463e-01 -1.21710732e-02 2.03098578e+02] [ 8.40678063e-01 5.41180360e-01 -1.96013330e-02 6.66677738e+01] [ 2.30696333e-02 3.73221707e-04 9.99733791e-01 3.16488394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.12, Y:66.69, Z:3.17 [[ 5.42228991e-01 -8.40139035e-01 -1.24146453e-02 2.03118464e+02] [ 8.39901022e-01 5.42370932e-01 -2.00011264e-02 6.66892738e+01] [ 2.35370698e-02 4.18117270e-04 9.99722877e-01 3.16805952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.13, Y:66.71, Z:3.17 [[ 5.42503825e-01 -8.39967391e-01 -1.20158623e-02 2.03129651e+02] [ 8.39744153e-01 5.42636717e-01 -1.93688211e-02 6.67141174e+01] [ 2.27894262e-02 4.17409448e-04 9.99740200e-01 3.16721548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.15, Y:66.74, Z:3.17 [[ 5.42315897e-01 -8.40092800e-01 -1.17283891e-02 2.03149948e+02] [ 8.39879911e-01 5.42442550e-01 -1.89159944e-02 6.67350143e+01] [ 2.22531680e-02 4.08006073e-04 9.99752284e-01 3.17028430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.17, Y:66.76, Z:3.17 [[ 5.41895107e-01 -8.40370300e-01 -1.12894680e-02 2.03166493e+02] [ 8.40172898e-01 5.42012555e-01 -1.82178877e-02 6.67564679e+01] [ 2.14288051e-02 3.87079208e-04 9.99770302e-01 3.17110915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.18, Y:66.78, Z:3.17 [[ 5.41366603e-01 -8.40711383e-01 -1.12504202e-02 2.03184261e+02] [ 8.40515236e-01 5.41483359e-01 -1.81634045e-02 6.67779324e+01] [ 2.13620962e-02 3.76911002e-04 9.99771733e-01 3.17216410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.20, Y:66.80, Z:3.17 [[ 5.40074269e-01 -8.41542374e-01 -1.12346326e-02 2.03203942e+02] [ 8.41346715e-01 5.40190995e-01 -1.81492399e-02 6.67990151e+01] [ 2.13422017e-02 3.49716234e-04 9.99772168e-01 3.17223430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.22, Y:66.82, Z:3.17 [[ 5.39396522e-01 -8.41977910e-01 -1.11620711e-02 2.03220766e+02] [ 8.41784631e-01 5.39511897e-01 -1.80429816e-02 6.68222162e+01] [ 2.12138621e-02 3.36261589e-04 9.99774904e-01 3.17258677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.24, Y:66.85, Z:3.17 [[ 5.38828877e-01 -8.42341941e-01 -1.11128853e-02 2.03235466e+02] [ 8.42150220e-01 5.38943363e-01 -1.79738130e-02 6.68455008e+01] [ 2.11293123e-02 3.26090684e-04 9.99776698e-01 3.17253584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.25, Y:66.87, Z:3.17 [[ 5.38547047e-01 -8.42527747e-01 -1.06805457e-02 2.03253685e+02] [ 8.42350497e-01 5.38652856e-01 -1.72841340e-02 6.68673856e+01] [ 2.03154689e-02 3.11556332e-04 9.99793571e-01 3.17341901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.27, Y:66.89, Z:3.17 [[ 5.38713221e-01 -8.42421481e-01 -1.06823972e-02 2.03268336e+02] [ 8.42243930e-01 5.38819028e-01 -1.72979240e-02 6.68913638e+01] [ 2.03280217e-02 3.21436115e-04 9.99793313e-01 3.17293367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.38038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.28, Y:66.92, Z:3.17 [[ 5.40087164e-01 -8.41533589e-01 -1.12727251e-02 2.03282691e+02] [ 8.41335455e-01 5.40204660e-01 -1.82641101e-02 6.69155688e+01] [ 2.14594407e-02 3.80068138e-04 9.99769647e-01 3.17093105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.30, Y:66.94, Z:3.17 [[ 5.40329798e-01 -8.41370182e-01 -1.18290474e-02 2.03299268e+02] [ 8.41151786e-01 5.40459109e-01 -1.91735200e-02 6.69390661e+01] [ 2.25251444e-02 4.09999833e-04 9.99746193e-01 3.17097062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.32, Y:66.96, Z:3.17 [[ 5.39029432e-01 -8.42197135e-01 -1.22987060e-02 2.03315742e+02] [ 8.41960981e-01 5.39169574e-01 -1.99468553e-02 6.69615130e+01] [ 2.34302725e-02 3.96911503e-04 9.99725395e-01 3.17063263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.33, Y:66.98, Z:3.17 [[ 5.36851522e-01 -8.43581741e-01 -1.26605336e-02 2.03334049e+02] [ 8.43331574e-01 5.37000671e-01 -2.05459344e-02 6.69840226e+01] [ 2.41308901e-02 3.53088469e-04 9.99708745e-01 3.17051845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.35, Y:67.01, Z:3.17 [[ 5.35774069e-01 -8.44272118e-01 -1.22775436e-02 2.03349411e+02] [ 8.44036817e-01 5.35914630e-01 -1.99339191e-02 6.70079192e+01] [ 2.34093673e-02 3.17378149e-04 9.99725913e-01 3.17086883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.36, Y:67.03, Z:3.17 [[ 5.34205231e-01 -8.45274190e-01 -1.16753617e-02 2.03364137e+02] [ 8.45061495e-01 5.34332737e-01 -1.89630292e-02 6.70308440e+01] [ 2.22674871e-02 2.63750817e-04 9.99752014e-01 3.17186563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.38, Y:67.05, Z:3.17 [[ 5.33493792e-01 -8.45730834e-01 -1.11234075e-02 2.03379467e+02] [ 8.45537706e-01 5.33609689e-01 -1.80745195e-02 6.70540130e+01] [ 2.12217365e-02 2.37383528e-04 9.99774765e-01 3.17354041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.39, Y:67.08, Z:3.17 [[ 5.33072286e-01 -8.46000336e-01 -1.08337121e-02 2.03394201e+02] [ 8.45816978e-01 5.33182315e-01 -1.76141809e-02 6.70782189e+01] [ 2.06779467e-02 2.26294034e-04 9.99786163e-01 3.17475347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.620385723 meters Centerline goodness [0,1] 0.9999775058484794 Centerline is valid? [True, True] Translation: X:203.41, Y:67.10, Z:3.17 [[ 5.33457245e-01 -8.45749742e-01 -1.14341838e-02 2.03407025e+02] [ 8.45545221e-01 5.33579711e-01 -1.86003111e-02 6.71018750e+01] [ 2.18322568e-02 2.54351255e-04 9.99761616e-01 3.17461815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.650385723 meters Centerline goodness [0,1] 0.9999775402030365 Centerline is valid? [True, True] Translation: X:203.42, Y:67.13, Z:3.17 [[ 5.33431499e-01 -8.45759823e-01 -1.18809942e-02 2.03422221e+02] [ 8.45538834e-01 5.33563726e-01 -1.93346798e-02 6.71261183e+01] [ 2.26917629e-02 2.67885211e-04 9.99742473e-01 3.17471783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.44, Y:67.15, Z:3.17 [[ 5.33518973e-01 -8.45701072e-01 -1.21327440e-02 2.03435708e+02] [ 8.45470328e-01 5.33656835e-01 -1.97561658e-02 6.71500049e+01] [ 2.31825324e-02 2.82414187e-04 9.99731209e-01 3.17432178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.710385723 meters Centerline goodness [0,1] 0.9999774708811139 Centerline is valid? [True, True] Translation: X:203.45, Y:67.17, Z:3.17 [[ 5.33707682e-01 -8.45585268e-01 -1.19022571e-02 2.03448656e+02] [ 8.45362940e-01 5.33840305e-01 -1.93914437e-02 6.71743814e+01] [ 2.27510237e-02 2.87635455e-04 9.99741121e-01 3.17468555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.46, Y:67.20, Z:3.18 [[ 5.33069900e-01 -8.45984743e-01 -1.20953246e-02 2.03464233e+02] [ 8.45754983e-01 5.33207029e-01 -1.97173306e-02 6.71978092e+01] [ 2.31298730e-02 2.81034395e-04 9.99732429e-01 3.17514121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.770385723 meters Centerline goodness [0,1] 0.9999774444569753 Centerline is valid? [True, True] Translation: X:203.48, Y:67.22, Z:3.18 [[ 5.30544353e-01 -8.47575170e-01 -1.17906824e-02 2.03480242e+02] [ 8.47357027e-01 5.30675311e-01 -1.92297335e-02 6.72209829e+01] [ 2.25556687e-02 2.11308946e-04 9.99745566e-01 3.17567648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.50, Y:67.24, Z:3.18 [[ 5.28458852e-01 -8.48882287e-01 -1.14063121e-02 2.03495985e+02] [ 8.48678314e-01 5.28581913e-01 -1.86086373e-02 6.72446745e+01] [ 2.18257129e-02 1.53609448e-04 9.99761779e-01 3.17677516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.51, Y:67.27, Z:3.18 [[ 5.26580930e-01 -8.50049534e-01 -1.13275533e-02 2.03511714e+02] [ 8.49848397e-01 5.26702741e-01 -1.84912224e-02 6.72685597e+01] [ 2.16847084e-02 1.10422069e-04 9.99764853e-01 3.17703471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.860385723 meters Centerline goodness [0,1] 0.999977335055869 Centerline is valid? [True, True] Translation: X:203.53, Y:67.29, Z:3.18 [[ 5.23389494e-01 -8.52008557e-01 -1.20356536e-02 2.03530733e+02] [ 8.51781707e-01 5.23527857e-01 -1.96597542e-02 6.72904006e+01] [ 2.30512787e-02 3.79592133e-05 9.99734283e-01 3.17811932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.890385723 meters Centerline goodness [0,1] 0.9999546248610386 Centerline is valid? [True, True] Translation: X:203.55, Y:67.31, Z:3.18 [[ 5.21660403e-01 -8.53065892e-01 -1.22068881e-02 2.03546266e+02] [ 8.52832547e-01 5.21803204e-01 -1.99515156e-02 6.73125499e+01] [ 2.33895508e-02 -2.51581392e-06 9.99726427e-01 3.17801428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.920385723 meters Centerline goodness [0,1] 0.9999773175766099 Centerline is valid? [True, True] Translation: X:203.56, Y:67.34, Z:3.18 [[ 5.19079445e-01 -8.54640744e-01 -1.20718377e-02 2.03559732e+02] [ 8.54412699e-01 5.19219795e-01 -1.97419394e-02 6.73368619e+01] [ 2.31402028e-02 -6.66965162e-05 9.99732227e-01 3.17617499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.57, Y:67.36, Z:3.18 [[ 5.18176526e-01 -8.55193257e-01 -1.17295181e-02 2.03573917e+02] [ 8.54977853e-01 5.18309258e-01 -1.91933539e-02 6.73613593e+01] [ 2.24935447e-02 -8.29327384e-05 9.99746985e-01 3.17594749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.980385723 meters Centerline goodness [0,1] 0.9999773314594006 Centerline is valid? [True, True] Translation: X:203.59, Y:67.39, Z:3.18 [[ 5.17340468e-01 -8.55703486e-01 -1.14185879e-02 2.03588526e+02] [ 8.55499234e-01 5.17466457e-01 -1.86956093e-02 6.73856558e+01] [ 2.19066343e-02 -9.65979057e-05 9.99760016e-01 3.17720072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.010385723 meters Centerline goodness [0,1] 0.9999320359756235 Centerline is valid? [True, True] Translation: X:203.60, Y:67.41, Z:3.18 [[ 5.15459743e-01 -8.56840474e-01 -1.12096252e-02 2.03603603e+02] [ 8.56643664e-01 5.15581598e-01 -1.83643546e-02 6.74080049e+01] [ 2.15147988e-02 -1.36568893e-04 9.99768521e-01 3.17911921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.040385723 meters Centerline goodness [0,1] 0.9999320359756235 Centerline is valid? [True, True] Translation: X:203.62, Y:67.43, Z:3.18 [[ 5.15228137e-01 -8.56979823e-01 -1.12049360e-02 2.03617920e+02] [ 8.56782984e-01 5.15349944e-01 -1.83672155e-02 6.74316006e+01] [ 2.15147962e-02 -1.36892303e-04 9.99768521e-01 3.17953656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.07038572300002 meters Centerline goodness [0,1] 0.9999773391647216 Centerline is valid? [True, True] Translation: X:203.63, Y:67.45, Z:3.18 [[ 5.14204237e-01 -8.57596722e-01 -1.10392716e-02 2.03633005e+02] [ 8.57405572e-01 5.14322699e-01 -1.81065401e-02 6.74547610e+01] [ 2.12058574e-02 -1.54673307e-04 9.99775119e-01 3.18088926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.10038572300002 meters Centerline goodness [0,1] 0.9999548145135783 Centerline is valid? [True, True] Translation: X:203.65, Y:67.48, Z:3.18 [[ 5.13024881e-01 -8.58303163e-01 -1.10068870e-02 2.03648338e+02] [ 8.58113064e-01 5.13142913e-01 -1.80643233e-02 6.74788313e+01] [ 2.11527718e-02 -1.77706191e-04 9.99776239e-01 3.18229408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.13038572300002 meters Centerline goodness [0,1] 0.9999323272653448 Centerline is valid? [True, True] Translation: X:203.66, Y:67.50, Z:3.18 [[ 5.12713656e-01 -8.58487502e-01 -1.11317822e-02 2.03663172e+02] [ 8.58292870e-01 5.12834453e-01 -1.82803884e-02 6.75031871e+01] [ 2.14022464e-02 -1.81724546e-04 9.99770929e-01 3.18289837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.160385723 meters Centerline goodness [0,1] 0.999977400619223 Centerline is valid? [True, True] Translation: X:203.68, Y:67.53, Z:3.18 [[ 5.12619296e-01 -8.58543571e-01 -1.11531768e-02 2.03677182e+02] [ 8.58347966e-01 5.12740582e-01 -1.83266123e-02 6.75279278e+01] [ 2.14528816e-02 -1.78731503e-04 9.99769844e-01 3.18281251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.190385723 meters Centerline goodness [0,1] 0.9999547521549286 Centerline is valid? [True, True] Translation: X:203.69, Y:67.55, Z:3.18 [[ 5.13551165e-01 -8.57975026e-01 -1.20023373e-02 2.03689412e+02] [ 8.57748048e-01 5.13691376e-01 -1.97346340e-02 6.75536199e+01] [ 2.30973203e-02 -1.60237123e-04 9.99733208e-01 3.18145134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.220385723 meters Centerline goodness [0,1] 0.9999323410013532 Centerline is valid? [True, True] Translation: X:203.70, Y:67.58, Z:3.18 [[ 5.14320281e-01 -8.57510376e-01 -1.22720576e-02 2.03702680e+02] [ 8.57272682e-01 5.14466653e-01 -2.01894095e-02 6.75768276e+01] [ 2.36261925e-02 -1.36676948e-04 9.99720853e-01 3.18149524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.250385723 meters Centerline goodness [0,1] 0.9999774419129258 Centerline is valid? [True, True] Translation: X:203.72, Y:67.60, Z:3.18 [[ 5.14834720e-01 -8.57202743e-01 -1.21930014e-02 2.03716861e+02] [ 8.56967796e-01 5.14979072e-01 -2.00686844e-02 6.76003132e+01] [ 2.34820718e-02 -1.16954021e-04 9.99724251e-01 3.18222962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.280385723 meters Centerline goodness [0,1] 0.9999097595090918 Centerline is valid? [True, True] Translation: X:203.73, Y:67.63, Z:3.18 [[ 5.16954257e-01 -8.55925474e-01 -1.22425601e-02 2.03730106e+02] [ 8.55687979e-01 5.17099198e-01 -2.01618895e-02 6.76252734e+01] [ 2.35876928e-02 -5.30368989e-05 9.99721770e-01 3.18476555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.310385723 meters Centerline goodness [0,1] 0.9999323333709259 Centerline is valid? [True, True] Translation: X:203.74, Y:67.65, Z:3.18 [[ 5.19974570e-01 -8.54087847e-01 -1.26647442e-02 2.03740859e+02] [ 8.53832825e-01 5.20128780e-01 -2.08700751e-02 6.76499358e+01] [ 2.44121755e-02 3.83339604e-05 9.99701978e-01 3.18389190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.340385723 meters Centerline goodness [0,1] 0.9999774561522161 Centerline is valid? [True, True] Translation: X:203.75, Y:67.67, Z:3.18 [[ 5.21371028e-01 -8.53232092e-01 -1.29324764e-02 2.03754538e+02] [ 8.52965591e-01 5.21531390e-01 -2.13239299e-02 6.76744176e+01] [ 2.49389537e-02 8.67218876e-05 9.99688972e-01 3.18454732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.77, Y:67.70, Z:3.19 [[ 5.22599693e-01 -8.52482928e-01 -1.27443155e-02 2.03768334e+02] [ 8.52223588e-01 5.22755049e-01 -2.10265410e-02 6.76983455e+01] [ 2.45869225e-02 1.27457629e-04 9.99697688e-01 3.18501533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.400385723 meters Centerline goodness [0,1] 0.9999324537308056 Centerline is valid? [True, True] Translation: X:203.78, Y:67.72, Z:3.19 [[ 5.23623146e-01 -8.51853243e-01 -1.28395325e-02 2.03781741e+02] [ 8.51589506e-01 5.23780513e-01 -2.11963952e-02 6.77221462e+01] [ 2.47813149e-02 1.64912028e-04 9.99692882e-01 3.18578350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.430385723 meters Centerline goodness [0,1] 0.9999775648935454 Centerline is valid? [True, True] Translation: X:203.79, Y:67.75, Z:3.18 [[ 5.25970927e-01 -8.50407166e-01 -1.27371819e-02 2.03793203e+02] [ 8.50146909e-01 5.26125076e-01 -2.10389714e-02 6.77486016e+01] [ 2.45930429e-02 2.37411464e-04 9.99697517e-01 3.18498204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.460385723 meters Centerline goodness [0,1] 0.9998654618023634 Centerline is valid? [True, True] Translation: X:203.80, Y:67.77, Z:3.18 [[ 5.27992506e-01 -8.49150952e-01 -1.29063588e-02 2.03804903e+02] [ 8.48883069e-01 5.28150137e-01 -2.13299969e-02 6.77749783e+01] [ 2.49288823e-02 3.06089073e-04 9.99689180e-01 3.18468340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.490385723 meters Centerline goodness [0,1] 0.9998206840901959 Centerline is valid? [True, True] Translation: X:203.82, Y:67.80, Z:3.19 [[ 5.28836649e-01 -8.48628834e-01 -1.26846653e-02 2.03819186e+02] [ 8.48369640e-01 5.28988651e-01 -2.09752683e-02 6.77993126e+01] [ 2.45102615e-02 3.31205732e-04 9.99699524e-01 3.18593226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.520385723 meters Centerline goodness [0,1] 0.9997981112182867 Centerline is valid? [True, True] Translation: X:203.83, Y:67.82, Z:3.19 [[ 5.29227220e-01 -8.48386441e-01 -1.26093820e-02 2.03834504e+02] [ 8.48129938e-01 5.29377301e-01 -2.08634145e-02 6.78230824e+01] [ 2.43753586e-02 3.47092536e-04 9.99702817e-01 3.18771772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.550385723 meters Centerline goodness [0,1] 0.9997321009979238 Centerline is valid? [True, True] Translation: X:203.85, Y:67.85, Z:3.19 [[ 5.29379654e-01 -8.48289587e-01 -1.27262646e-02 2.03847454e+02] [ 8.48027964e-01 5.29532478e-01 -2.10695679e-02 6.78469678e+01] [ 2.46120655e-02 3.61572354e-04 9.99697012e-01 3.18803073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.580385723 meters Centerline goodness [0,1] 0.9998881681950347 Centerline is valid? [True, True] Translation: X:203.86, Y:67.87, Z:3.19 [[ 5.29730150e-01 -8.48074513e-01 -1.24735382e-02 2.03860803e+02] [ 8.47822828e-01 5.29876857e-01 -2.06632291e-02 6.78712806e+01] [ 2.41333971e-02 3.70585046e-04 9.99708678e-01 3.18940405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.610385723 meters Centerline goodness [0,1] 0.9997982108024484 Centerline is valid? [True, True] Translation: X:203.87, Y:67.90, Z:3.19 [[ 5.29916187e-01 -8.47960995e-01 -1.22876242e-02 2.03872940e+02] [ 8.47716462e-01 5.30058496e-01 -2.03664133e-02 6.78952602e+01] [ 2.37830837e-02 3.76070757e-04 9.99717072e-01 3.18944901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.640385723 meters Centerline goodness [0,1] 0.9997536835505396 Centerline is valid? [True, True] Translation: X:203.89, Y:67.92, Z:3.19 [[ 5.29651406e-01 -8.48125891e-01 -1.23232227e-02 2.03887180e+02] [ 8.47879739e-01 5.29794614e-01 -2.04356248e-02 6.79194038e+01] [ 2.38607595e-02 3.75146534e-04 9.99715221e-01 3.18932560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.670385723 meters Centerline goodness [0,1] 0.9997309296381004 Centerline is valid? [True, True] Translation: X:203.90, Y:67.94, Z:3.19 [[ 5.28797518e-01 -8.48649899e-01 -1.29048133e-02 2.03900158e+02] [ 8.48379814e-01 5.28954827e-01 -2.14121849e-02 6.79429973e+01] [ 2.49975118e-02 3.74527111e-04 9.99687443e-01 3.18783560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.700385723 meters Centerline goodness [0,1] 0.9998658108380113 Centerline is valid? [True, True] Translation: X:203.91, Y:67.97, Z:3.19 [[ 5.27890313e-01 -8.49213681e-01 -1.29592285e-02 2.03913778e+02] [ 8.48941231e-01 5.28049238e-01 -2.15125234e-02 6.79663985e+01] [ 2.51118399e-02 3.54629339e-04 9.99684585e-01 3.18733385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.730385723 meters Centerline goodness [0,1] 0.9998433057999239 Centerline is valid? [True, True] Translation: X:203.93, Y:67.99, Z:3.19 [[ 5.24923053e-01 -8.51046430e-01 -1.32575387e-02 2.03930459e+02] [ 8.50761566e-01 5.25090369e-01 -2.20195736e-02 6.79897948e+01] [ 2.57010854e-02 2.79577459e-04 9.99669633e-01 3.18725276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.760385723 meters Centerline goodness [0,1] 0.9999552842801886 Centerline is valid? [True, True] Translation: X:203.95, Y:68.01, Z:3.19 [[ 5.22833254e-01 -8.52322279e-01 -1.38607746e-02 2.03945483e+02] [ 8.52010979e-01 5.23016900e-01 -2.30350520e-02 6.80131204e+01] [ 2.68827074e-02 2.33959078e-04 9.99638567e-01 3.18726384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.790385723 meters Centerline goodness [0,1] 0.9999328257948947 Centerline is valid? [True, True] Translation: X:203.96, Y:68.04, Z:3.19 [[ 5.20790200e-01 -8.53571242e-01 -1.39176705e-02 2.03960542e+02] [ 8.53257435e-01 5.20976106e-01 -2.31440561e-02 6.80371886e+01] [ 2.70058745e-02 1.77841718e-04 9.99635259e-01 3.18669598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.82038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.98, Y:68.06, Z:3.19 [[ 5.16746918e-01 -8.56029135e-01 -1.36653681e-02 2.03976672e+02] [ 8.55727143e-01 5.16927574e-01 -2.27363214e-02 6.80591492e+01] [ 2.65269591e-02 5.50975591e-05 9.99648097e-01 3.18667267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.85038572300002 meters Centerline goodness [0,1] 0.9998874710237886 Centerline is valid? [True, True] Translation: X:203.99, Y:68.08, Z:3.19 [[ 5.14210763e-01 -8.57559924e-01 -1.33517289e-02 2.03993474e+02] [ 8.57271867e-01 5.14384076e-01 -2.22254100e-02 6.80820719e+01] [ 2.59275377e-02 -1.75165221e-05 9.99663825e-01 3.18914228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.88038572300002 meters Centerline goodness [0,1] 0.9998877337943732 Centerline is valid? [True, True] Translation: X:204.01, Y:68.11, Z:3.19 [[ 5.11850911e-01 -8.58976964e-01 -1.29313679e-02 2.04010047e+02] [ 8.58706880e-01 5.12014228e-01 -2.15389205e-02 6.81052510e+01] [ 2.51224808e-02 -7.95384701e-05 9.99684378e-01 3.19032068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.03, Y:68.13, Z:3.19 [[ 5.07362499e-01 -8.61651428e-01 -1.18368172e-02 2.04025890e+02] [ 8.61425590e-01 5.07500523e-01 -1.97274523e-02 6.81288336e+01] [ 2.30053784e-02 -1.87567723e-04 9.99735324e-01 3.19152231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.04, Y:68.15, Z:3.19 [[ 5.05649379e-01 -8.62668993e-01 -1.09960883e-02 2.04039290e+02] [ 8.62474114e-01 5.05768883e-01 -1.83368571e-02 6.81529438e+01] [ 2.13801174e-02 -2.11821150e-04 9.99771397e-01 3.19146954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.05, Y:68.18, Z:3.19 [[ 5.04415827e-01 -8.63397895e-01 -1.04282350e-02 2.04052282e+02] [ 8.63222584e-01 5.04523561e-01 -1.73996542e-02 6.81775192e+01] [ 2.02841151e-02 -2.25227060e-04 9.99794231e-01 3.19129223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.07, Y:68.20, Z:3.19 [[ 5.02875333e-01 -8.64297700e-01 -1.02900588e-02 2.04065767e+02] [ 8.64126982e-01 5.02980539e-01 -1.71795476e-02 6.82022379e+01] [ 2.00239427e-02 -2.52746716e-04 9.99799469e-01 3.19152884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.08, Y:68.23, Z:3.19 [[ 5.02168601e-01 -8.64708686e-01 -1.02754230e-02 2.04080371e+02] [ 8.64538332e-01 5.02273649e-01 -1.71654858e-02 6.82256930e+01] [ 2.00042189e-02 -2.63529108e-04 9.99799861e-01 3.19305427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.10, Y:68.25, Z:3.20 [[ 5.01342175e-01 -8.65194610e-01 -9.71138978e-03 2.04095142e+02] [ 8.65042364e-01 5.01436156e-01 -1.62324051e-02 6.82482029e+01] [ 1.89138314e-02 -2.62774292e-04 9.99821083e-01 3.19689854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.11, Y:68.27, Z:3.20 [[ 5.01074126e-01 -8.65355586e-01 -9.18862065e-03 2.04108348e+02] [ 8.65219200e-01 5.01158306e-01 -1.53651845e-02 6.82721229e+01] [ 1.79013017e-02 -2.51074638e-04 9.99839727e-01 3.19810254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.12, Y:68.30, Z:3.20 [[ 5.01097020e-01 -8.65346219e-01 -8.81461820e-03 2.04119541e+02] [ 8.65220571e-01 5.01174485e-01 -1.47478430e-02 6.82983034e+01] [ 1.71796519e-02 -2.36488816e-04 9.99852391e-01 3.19810162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.13, Y:68.33, Z:3.20 [[ 5.02561903e-01 -8.64495614e-01 -8.88076397e-03 2.04126493e+02] [ 8.64367782e-01 5.02640321e-01 -1.48675764e-02 6.83258460e+01] [ 1.73167847e-02 -2.04368753e-04 9.99850032e-01 3.19502589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.180385723 meters Centerline goodness [0,1] 0.9999335842373257 Centerline is valid? [True, True] Translation: X:204.14, Y:68.35, Z:3.19 [[ 5.03267974e-01 -8.64083773e-01 -8.97662826e-03 2.04138403e+02] [ 8.63952969e-01 5.03347989e-01 -1.50355673e-02 6.83512547e+01] [ 1.75103575e-02 -1.88465169e-04 9.99846664e-01 3.19464950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.15, Y:68.38, Z:3.20 [[ 5.05017765e-01 -8.63058677e-01 -9.31540625e-03 2.04150205e+02] [ 8.62917461e-01 5.05103649e-01 -1.56127885e-02 6.83774490e+01] [ 1.81799982e-02 -1.53691181e-04 9.99834718e-01 3.19540817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.16, Y:68.40, Z:3.20 [[ 5.05751654e-01 -8.62629070e-01 -9.29264203e-03 2.04163712e+02] [ 8.62488301e-01 5.05837000e-01 -1.55839531e-02 6.84023260e+01] [ 1.81437331e-02 -1.33185000e-04 9.99835380e-01 3.19704600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.17, Y:68.43, Z:3.20 [[ 5.06578768e-01 -8.62143896e-01 -9.26577476e-03 2.04174726e+02] [ 8.62003687e-01 5.06663488e-01 -1.55484162e-02 6.84282117e+01] [ 1.80996018e-02 -1.10634504e-04 9.99836183e-01 3.19927061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.19, Y:68.45, Z:3.20 [[ 5.07113209e-01 -8.61828286e-01 -9.39141153e-03 2.04185845e+02] [ 8.61684024e-01 5.07200154e-01 -1.57685544e-02 6.84529736e+01] [ 1.83531116e-02 -9.59870698e-05 9.99831563e-01 3.19929769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.20, Y:68.48, Z:3.20 [[ 5.07977544e-01 -8.61317183e-01 -9.56689971e-03 2.04196876e+02] [ 8.61167248e-01 5.08067619e-01 -1.60706286e-02 6.84790255e+01] [ 1.87025405e-02 -7.51822673e-05 9.99825089e-01 3.19837706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.21, Y:68.50, Z:3.20 [[ 5.08874298e-01 -8.60787966e-01 -9.54079203e-03 2.04208531e+02] [ 8.60638573e-01 5.08963727e-01 -1.60365535e-02 6.85048189e+01] [ 1.86599894e-02 -5.05837157e-05 9.99825886e-01 3.19812922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.390385723 meters Centerline goodness [0,1] 0.9999781157675894 Centerline is valid? [True, True] Translation: X:204.22, Y:68.53, Z:3.20 [[ 5.11121165e-01 -8.59459489e-01 -9.19466973e-03 2.04219654e+02] [ 8.59320358e-01 5.11203861e-01 -1.54639767e-02 6.85312081e+01] [ 1.79910122e-02 2.79891177e-06 9.99838149e-01 3.19932004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.23, Y:68.56, Z:3.20 [[ 5.12344499e-01 -8.58728188e-01 -9.43466280e-03 2.04231769e+02] [ 8.58581391e-01 5.12431359e-01 -1.58775677e-02 6.85551216e+01] [ 1.84691320e-02 3.43585484e-05 9.99829430e-01 3.19950924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.24, Y:68.58, Z:3.20 [[ 5.13486268e-01 -8.58047264e-01 -9.31371199e-03 2.04241811e+02] [ 8.57903932e-01 5.13570725e-01 -1.56829231e-02 6.85820307e+01] [ 1.82399391e-02 6.26955435e-05 9.99833637e-01 3.19947180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.25, Y:68.61, Z:3.20 [[ 5.13551094e-01 -8.58009465e-01 -9.22120811e-03 2.04252701e+02] [ 8.57868792e-01 5.13633870e-01 -1.55365339e-02 6.86074350e+01] [ 1.80668179e-02 6.82173060e-05 9.99836779e-01 3.19840726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.26, Y:68.63, Z:3.20 [[ 5.13710114e-01 -8.57915660e-01 -9.09059791e-03 2.04264811e+02] [ 8.57778777e-01 5.13790535e-01 -1.53250200e-02 6.86324107e+01] [ 1.78182379e-02 7.48958421e-05 9.99841240e-01 3.19897359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.28, Y:68.66, Z:3.20 [[ 5.13291293e-01 -8.58165516e-01 -9.16493537e-03 2.04276009e+02] [ 8.58026255e-01 5.13373103e-01 -1.54597369e-02 6.86568398e+01] [ 1.79720444e-02 7.15931520e-05 9.99838487e-01 3.19957336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.57038572300002 meters Centerline goodness [0,1] 0.9999347428869747 Centerline is valid? [True, True] Translation: X:204.29, Y:68.68, Z:3.20 [[ 5.12912617e-01 -8.58390218e-01 -9.32097630e-03 2.04290792e+02] [ 8.58246050e-01 5.12997298e-01 -1.57318002e-02 6.86811611e+01] [ 1.82856591e-02 6.93477347e-05 9.99832801e-01 3.20076690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.60038572300002 meters Centerline goodness [0,1] 0.9999132264572532 Centerline is valid? [True, True] Translation: X:204.30, Y:68.71, Z:3.20 [[ 5.11853466e-01 -8.59024705e-01 -9.08765015e-03 2.04303044e+02] [ 8.58887610e-01 5.11934130e-01 -1.53466819e-02 6.87065383e+01] [ 1.78354571e-02 4.99821837e-05 9.99840934e-01 3.20247305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.63038572300002 meters Centerline goodness [0,1] 0.9999784101213351 Centerline is valid? [True, True] Translation: X:204.31, Y:68.73, Z:3.20 [[ 5.11157831e-01 -8.59440154e-01 -8.96067351e-03 2.04312911e+02] [ 8.59306771e-01 5.11236365e-01 -1.51411089e-02 6.87320741e+01] [ 1.75938991e-02 3.95289519e-05 9.99845215e-01 3.20166995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.32, Y:68.76, Z:3.20 [[ 5.11138696e-01 -8.59450881e-01 -9.02313242e-03 2.04323712e+02] [ 8.59315485e-01 5.11218331e-01 -1.52550271e-02 6.87581699e+01] [ 1.77237371e-02 4.37172297e-05 9.99842921e-01 3.20069155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.690385723 meters Centerline goodness [0,1] 0.9998710287605864 Centerline is valid? [True, True] Translation: X:204.33, Y:68.78, Z:3.20 [[ 5.11991918e-01 -8.58931896e-01 -1.00136569e-02 2.04333784e+02] [ 8.58764829e-01 5.12089828e-01 -1.69403898e-02 6.87834322e+01] [ 1.96785329e-02 7.39663432e-05 9.99806356e-01 3.19851619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.35, Y:68.81, Z:3.20 [[ 5.12196995e-01 -8.58801903e-01 -1.06550554e-02 2.04348297e+02] [ 8.58612501e-01 5.12307802e-01 -1.80357818e-02 6.88072485e+01] [ 2.09478317e-02 8.93094857e-05 9.99780566e-01 3.19896422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.750385723 meters Centerline goodness [0,1] 0.9999141354513256 Centerline is valid? [True, True] Translation: X:204.36, Y:68.83, Z:3.20 [[ 5.11881387e-01 -8.58986923e-01 -1.09046685e-02 2.04360432e+02] [ 8.58788347e-01 5.11997517e-01 -1.84693491e-02 6.88324177e+01] [ 2.14480925e-02 8.93137604e-05 9.99769959e-01 3.19988893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.780385723 meters Centerline goodness [0,1] 0.9998714294897894 Centerline is valid? [True, True] Translation: X:204.37, Y:68.86, Z:3.20 [[ 5.11150337e-01 -8.59426163e-01 -1.05831775e-02 2.04372556e+02] [ 8.59238997e-01 5.11259880e-01 -1.79354795e-02 6.88576531e+01] [ 2.08249744e-02 7.42475295e-05 9.99783134e-01 3.20103308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.38, Y:68.88, Z:3.20 [[ 5.10077318e-01 -8.60070027e-01 -1.00338233e-02 2.04384948e+02] [ 8.59901713e-01 5.10175995e-01 -1.70146558e-02 6.88831265e+01] [ 1.97528113e-02 5.06881654e-05 9.99804893e-01 3.20194443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.840385723 meters Centerline goodness [0,1] 0.9999786602932076 Centerline is valid? [True, True] Translation: X:204.40, Y:68.91, Z:3.20 [[ 5.07780325e-01 -8.61432925e-01 -9.61543572e-03 2.04397153e+02] [ 8.61278413e-01 5.07871357e-01 -1.63150375e-02 6.89081963e+01] [ 1.89377149e-02 2.88782941e-06 9.99820665e-01 3.20330667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.870385723 meters Centerline goodness [0,1] 0.9999574649085495 Centerline is valid? [True, True] Translation: X:204.41, Y:68.93, Z:3.20 [[ 5.06631975e-01 -8.62109325e-01 -9.56832909e-03 2.04411284e+02] [ 8.61956254e-01 5.06722321e-01 -1.62451763e-02 6.89326352e+01] [ 1.88536039e-02 -1.71553441e-05 9.99822255e-01 3.20484543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.43, Y:68.96, Z:3.21 [[ 5.04575925e-01 -8.63314790e-01 -9.52409257e-03 2.04425349e+02] [ 8.63163155e-01 5.04665800e-01 -1.61801629e-02 6.89570996e+01] [ 1.87750578e-02 -5.67251107e-05 9.99823731e-01 3.20646176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.44, Y:68.98, Z:3.21 [[ 5.04340848e-01 -8.63452190e-01 -9.51968573e-03 2.04439274e+02] [ 8.63300530e-01 5.04430682e-01 -1.61827555e-02 6.89809008e+01] [ 1.87750572e-02 -5.67251090e-05 9.99823731e-01 3.20687897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.45, Y:69.01, Z:3.21 [[ 5.03061157e-01 -8.64196405e-01 -9.69778174e-03 2.04452453e+02] [ 8.64038954e-01 5.03154616e-01 -1.64960023e-02 6.90058611e+01] [ 1.91352695e-02 -8.07631837e-05 9.99816901e-01 3.20739133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.47, Y:69.03, Z:3.21 [[ 5.01683983e-01 -8.64996678e-01 -9.69161186e-03 2.04465097e+02] [ 8.64839375e-01 5.01777575e-01 -1.64960763e-02 6.90308319e+01] [ 1.91320847e-02 -1.05870301e-04 9.99816959e-01 3.20686614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.48, Y:69.06, Z:3.21 [[ 5.00165726e-01 -8.65871606e-01 -1.00304103e-02 2.04478149e+02] [ 8.65703071e-01 5.00266272e-01 -1.70836180e-02 6.90567657e+01] [ 1.98100957e-02 -1.38716814e-04 9.99803751e-01 3.20684772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.49, Y:69.08, Z:3.21 [[ 4.97430595e-01 -8.67450099e-01 -9.65032616e-03 2.04489979e+02] [ 8.67294238e-01 4.97524160e-01 -1.64442915e-02 6.90825691e+01] [ 1.90658727e-02 -1.89778573e-04 9.99818212e-01 3.20638056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.50, Y:69.11, Z:3.21 [[ 4.96205263e-01 -8.68154889e-01 -9.35016862e-03 2.04503444e+02] [ 8.68008598e-01 4.96293306e-01 -1.59382650e-02 6.91077095e+01] [ 1.84773088e-02 -2.07375778e-04 9.99829258e-01 3.20799069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.52, Y:69.13, Z:3.21 [[ 4.94981989e-01 -8.68860705e-01 -8.59688847e-03 2.04517547e+02] [ 8.68737005e-01 4.95056594e-01 -1.46623332e-02 6.91312801e+01] [ 1.69954715e-02 -2.10844278e-04 9.99855544e-01 3.21107064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.53, Y:69.15, Z:3.21 [[ 4.94687770e-01 -8.69025532e-01 -8.86765015e-03 2.04529974e+02] [ 8.68893828e-01 4.94767194e-01 -1.51307567e-02 6.91548558e+01] [ 1.75364363e-02 -2.20046194e-04 9.99846201e-01 3.21198469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.54, Y:69.18, Z:3.21 [[ 4.94854756e-01 -8.68926330e-01 -9.26307060e-03 2.04541223e+02] [ 8.68782427e-01 4.94941395e-01 -1.58148526e-02 6.91802560e+01] [ 1.83266189e-02 -2.21537924e-04 9.99832029e-01 3.21143039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.55, Y:69.21, Z:3.21 [[ 4.96314987e-01 -8.68081216e-01 -1.03168042e-02 2.04548154e+02] [ 8.67902285e-01 4.96422159e-01 -1.76256367e-02 6.92084767e+01] [ 2.04219743e-02 -2.06110357e-04 9.99791428e-01 3.20803934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.56, Y:69.23, Z:3.21 [[ 4.97175437e-01 -8.67582596e-01 -1.08177573e-02 2.04559920e+02] [ 8.67385495e-01 4.97293076e-01 -1.84932625e-02 6.92344105e+01] [ 2.14240285e-02 -1.88769926e-04 9.99770461e-01 3.20819277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.57, Y:69.26, Z:3.21 [[ 4.98529985e-01 -8.66803190e-01 -1.09582839e-02 2.04573427e+02] [ 8.66600492e-01 4.98650386e-01 -1.87451541e-02 6.92596047e+01] [ 2.17127118e-02 -1.51432803e-04 9.99764240e-01 3.20918229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.59, Y:69.29, Z:3.21 [[ 5.00728191e-01 -8.65540003e-01 -1.05726542e-02 2.04586134e+02] [ 8.65350831e-01 5.00839789e-01 -1.80954297e-02 6.92852711e+01] [ 2.09575242e-02 -8.81633010e-05 9.99780363e-01 3.21177896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.60, Y:69.31, Z:3.21 [[ 5.01084804e-01 -8.65337860e-01 -1.02179580e-02 2.04598557e+02] [ 8.65160950e-01 5.01188969e-01 -1.74970709e-02 6.93089987e+01] [ 2.02620057e-02 -7.26619337e-05 9.99794702e-01 3.21285122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.61, Y:69.33, Z:3.21 [[ 5.01580782e-01 -8.65053366e-01 -9.96962547e-03 2.04610023e+02] [ 8.64884781e-01 5.01679850e-01 -1.70776145e-02 6.93338591e+01] [ 1.97746081e-02 -5.67740914e-05 9.99804462e-01 3.21300607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.38038572300002 meters Centerline goodness [0,1] 0.99985199594046 Centerline is valid? [True, True] Translation: X:204.62, Y:69.36, Z:3.21 [[ 5.01521765e-01 -8.65086350e-01 -1.00760093e-02 2.04623212e+02] [ 8.64914009e-01 5.01622970e-01 -1.72670928e-02 6.93581632e+01] [ 1.99918840e-02 -5.50587785e-05 9.99800141e-01 3.21373808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.64, Y:69.38, Z:3.21 [[ 5.01657189e-01 -8.65008474e-01 -1.00201665e-02 2.04637513e+02] [ 8.64837804e-01 5.01757249e-01 -1.71824309e-02 6.93823566e+01] [ 1.98906395e-02 -4.61287839e-05 9.99802161e-01 3.21496414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.65, Y:69.41, Z:3.22 [[ 5.02400839e-01 -8.64582605e-01 -9.50345641e-03 2.04651934e+02] [ 8.64428837e-01 5.02490715e-01 -1.63054544e-02 6.94051099e+01] [ 1.88728108e-02 -2.31877956e-05 9.99821892e-01 3.21712288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.67, Y:69.43, Z:3.22 [[ 5.02553591e-01 -8.64495819e-01 -9.32022851e-03 2.04665837e+02] [ 8.64347793e-01 5.02640008e-01 -1.59973423e-02 6.94297961e+01] [ 1.85143553e-02 -1.63971322e-05 9.99828595e-01 3.21813005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.68, Y:69.45, Z:3.22 [[ 5.02948705e-01 -8.64265947e-01 -9.32598410e-03 2.04679224e+02] [ 8.64117505e-01 5.03035161e-01 -1.60176395e-02 6.94544297e+01] [ 1.85347983e-02 -2.69507361e-06 9.99828216e-01 3.21774448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.530385723 meters Centerline goodness [0,1] 0.9998941843731483 Centerline is valid? [True, True] Translation: X:204.69, Y:69.48, Z:3.22 [[ 5.03274700e-01 -8.64070709e-01 -9.81759939e-03 2.04693574e+02] [ 8.63905944e-01 5.03370449e-01 -1.68733856e-02 6.94782301e+01] [ 1.95216877e-02 1.04656003e-05 9.99809434e-01 3.21777146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.560385723 meters Centerline goodness [0,1] 0.9998102786795396 Centerline is valid? [True, True] Translation: X:204.71, Y:69.50, Z:3.22 [[ 5.03769104e-01 -8.63777081e-01 -1.02880611e-02 2.04708382e+02] [ 8.63595839e-01 5.03874144e-01 -1.76939088e-02 6.95021321e+01] [ 2.04674809e-02 2.89178616e-05 9.99790519e-01 3.21763852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.72, Y:69.53, Z:3.22 [[ 5.05821038e-01 -8.62565594e-01 -1.12104027e-02 2.04720859e+02] [ 8.62349807e-01 5.05945241e-01 -1.92930761e-02 6.95279158e+01] [ 2.23133936e-02 9.15551412e-05 9.99751021e-01 3.21642158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.620385723 meters Centerline goodness [0,1] 0.9998519834221433 Centerline is valid? [True, True] Translation: X:204.73, Y:69.55, Z:3.21 [[ 5.09169012e-01 -8.60588133e-01 -1.16182215e-02 2.04732434e+02] [ 8.60355629e-01 5.09301512e-01 -2.00040556e-02 6.95538945e+01] [ 2.31324307e-02 1.89642954e-04 9.99732392e-01 3.21484989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.650385723 meters Centerline goodness [0,1] 0.9999788793376561 Centerline is valid? [True, True] Translation: X:204.75, Y:69.58, Z:3.22 [[ 5.10443595e-01 -8.59833183e-01 -1.15858847e-02 2.04746949e+02] [ 8.59601620e-01 5.10575014e-01 -1.99551724e-02 6.95779525e+01] [ 2.30735827e-02 2.26744645e-04 9.99733744e-01 3.21565175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.680385723 meters Centerline goodness [0,1] 0.9999362854412234 Centerline is valid? [True, True] Translation: X:204.76, Y:69.60, Z:3.22 [[ 5.11529982e-01 -8.59190503e-01 -1.13470924e-02 2.04763288e+02] [ 8.58967964e-01 5.11655756e-01 -1.95556759e-02 6.96011334e+01] [ 2.26078562e-02 2.56525639e-04 9.99744377e-01 3.21777209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.78, Y:69.62, Z:3.22 [[ 5.11814450e-01 -8.59028864e-01 -1.07414905e-02 2.04779997e+02] [ 8.58829174e-01 5.11927091e-01 -1.85230661e-02 6.96238173e+01] [ 2.14107084e-02 2.55267518e-04 9.99770732e-01 3.22027195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.740385723 meters Centerline goodness [0,1] 0.9999154923626222 Centerline is valid? [True, True] Translation: X:204.79, Y:69.65, Z:3.22 [[ 5.12433415e-01 -8.58671094e-01 -9.79527381e-03 2.04794409e+02] [ 8.58504779e-01 5.12526964e-01 -1.69013796e-02 6.96480739e+01] [ 1.95330680e-02 2.51542274e-04 9.99809180e-01 3.22219139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.80, Y:69.67, Z:3.22 [[ 5.13803391e-01 -8.57845225e-01 -1.03752483e-02 2.04803765e+02] [ 8.57658246e-01 5.13908044e-01 -1.79124231e-02 6.96749577e+01] [ 2.06980101e-02 3.05046469e-04 9.99785727e-01 3.21822491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.800385723 meters Centerline goodness [0,1] 0.9999787663233889 Centerline is valid? [True, True] Translation: X:204.82, Y:69.70, Z:3.22 [[ 5.14521931e-01 -8.57405248e-01 -1.11095911e-02 2.04818659e+02] [ 8.57190587e-01 5.14641738e-01 -1.91879742e-02 6.96997093e+01] [ 2.21693290e-02 3.49596586e-04 9.99754169e-01 3.21708904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.830385723 meters Centerline goodness [0,1] 0.9999787631668365 Centerline is valid? [True, True] Translation: X:204.83, Y:69.72, Z:3.22 [[ 5.15370168e-01 -8.56887657e-01 -1.17104041e-02 2.04833252e+02] [ 8.56648794e-01 5.15503042e-01 -2.02350760e-02 6.97228415e+01] [ 2.33759358e-02 3.96850987e-04 9.99726667e-01 3.21659394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.860385723 meters Centerline goodness [0,1] 0.9997875053123672 Centerline is valid? [True, True] Translation: X:204.85, Y:69.75, Z:3.22 [[ 5.15669527e-01 -8.56697094e-01 -1.24510306e-02 2.04851390e+02] [ 8.56426806e-01 5.15819639e-01 -2.15226820e-02 6.97462299e+01] [ 2.48609053e-02 4.35194891e-04 9.99690825e-01 3.21761217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.87, Y:69.77, Z:3.22 [[ 5.15658706e-01 -8.56699254e-01 -1.27470428e-02 2.04868330e+02] [ 8.56415650e-01 5.15816037e-01 -2.20465525e-02 6.97680078e+01] [ 2.54623942e-02 4.51729743e-04 9.99675679e-01 3.21914236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.88, Y:69.79, Z:3.22 [[ 5.15308145e-01 -8.56915294e-01 -1.23974055e-02 2.04882008e+02] [ 8.56646799e-01 5.15457069e-01 -2.14539372e-02 6.97926713e+01] [ 2.47745372e-02 4.35190859e-04 9.99692969e-01 3.21896087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.950385723 meters Centerline goodness [0,1] 0.9999359535449713 Centerline is valid? [True, True] Translation: X:204.90, Y:69.82, Z:3.22 [[ 5.14550876e-01 -8.57373261e-01 -1.21855744e-02 2.04897261e+02] [ 8.57113683e-01 5.14694979e-01 -2.11000775e-02 6.98169257e+01] [ 2.43624962e-02 4.12640768e-04 9.99703105e-01 3.21934923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.980385723 meters Centerline goodness [0,1] 0.9999143670655735 Centerline is valid? [True, True] Translation: X:204.91, Y:69.84, Z:3.22 [[ 5.13861833e-01 -8.57783817e-01 -1.23668597e-02 2.04914358e+02] [ 8.57516249e-01 5.14010465e-01 -2.14272141e-02 6.98400228e+01] [ 2.47366128e-02 4.05844427e-04 9.99693921e-01 3.22020391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.010385723 meters Centerline goodness [0,1] 0.9998506156768177 Centerline is valid? [True, True] Translation: X:204.93, Y:69.86, Z:3.22 [[ 5.12181565e-01 -8.58776135e-01 -1.31755558e-02 2.04933755e+02] [ 8.58472383e-01 5.12350856e-01 -2.28422436e-02 6.98605148e+01] [ 2.63668809e-02 3.88525306e-04 9.99652258e-01 3.22039151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.040385723 meters Centerline goodness [0,1] 0.9997849970974608 Centerline is valid? [True, True] Translation: X:204.95, Y:69.88, Z:3.22 [[ 5.10765750e-01 -8.59615757e-01 -1.33827579e-02 2.04953642e+02] [ 8.59302310e-01 5.10940918e-01 -2.32146242e-02 6.98821617e+01] [ 2.67934554e-02 3.57400148e-04 9.99640927e-01 3.22363629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.07038572300002 meters Centerline goodness [0,1] 0.999700956937799 Centerline is valid? [True, True] Translation: X:204.97, Y:69.91, Z:3.22 [[ 5.09567017e-01 -8.60323930e-01 -1.35716454e-02 2.04969366e+02] [ 8.60001432e-01 5.09747609e-01 -2.35565824e-02 6.99050965e+01] [ 2.71844053e-02 3.32022988e-04 9.99630381e-01 3.22442695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.10038572300002 meters Centerline goodness [0,1] 0.9997423123174712 Centerline is valid? [True, True] Translation: X:204.98, Y:69.93, Z:3.22 [[ 5.07640814e-01 -8.61462269e-01 -1.35485173e-02 2.04984229e+02] [ 8.61140902e-01 5.07821506e-01 -2.35300959e-02 6.99277025e+01] [ 2.71505183e-02 2.77654641e-04 9.99631318e-01 3.22360529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13038572300002 meters Centerline goodness [0,1] 0.9998712612110029 Centerline is valid? [True, True] Translation: X:205.00, Y:69.95, Z:3.22 [[ 5.06956863e-01 -8.61862515e-01 -1.37019882e-02 2.04998964e+02] [ 8.61533621e-01 5.07141927e-01 -2.38093493e-02 6.99502339e+01] [ 2.74692384e-02 2.65589550e-04 9.99622614e-01 3.22344904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.160385723 meters Centerline goodness [0,1] 0.9995700404162009 Centerline is valid? [True, True] Translation: X:205.02, Y:69.97, Z:3.22 [[ 5.06045758e-01 -8.62402863e-01 -1.33788389e-02 2.05017526e+02] [ 8.62089152e-01 5.06222526e-01 -2.32604363e-02 6.99709746e+01] [ 2.68325365e-02 2.37093194e-04 9.99639915e-01 3.22377554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.190385723 meters Centerline goodness [0,1] 0.9996965559095736 Centerline is valid? [True, True] Translation: X:205.04, Y:69.99, Z:3.23 [[ 5.04784119e-01 -8.63152926e-01 -1.26498980e-02 2.05037228e+02] [ 8.62872405e-01 5.04942561e-01 -2.20050844e-02 6.99920663e+01] [ 2.53812249e-02 1.92569174e-04 9.99677826e-01 3.22962385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.220385723 meters Centerline goodness [0,1] 0.999566508442248 Centerline is valid? [True, True] Translation: X:205.05, Y:70.01, Z:3.23 [[ 5.03643409e-01 -8.63826293e-01 -1.21430186e-02 2.05053027e+02] [ 8.63567707e-01 5.03789749e-01 -2.11353858e-02 7.00139065e+01] [ 2.43748302e-02 1.58378959e-04 9.99702877e-01 3.23109052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.250385723 meters Centerline goodness [0,1] 0.9998046154180145 Centerline is valid? [True, True] Translation: X:205.07, Y:70.04, Z:3.23 [[ 5.02635992e-01 -8.64422899e-01 -1.14065993e-02 2.05068675e+02] [ 8.64194644e-01 5.02765387e-01 -1.98640868e-02 7.00371869e+01] [ 2.29058148e-02 1.26882942e-04 9.99737619e-01 3.23233615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.280385723 meters Centerline goodness [0,1] 0.999718089950991 Centerline is valid? [True, True] Translation: X:205.09, Y:70.06, Z:3.23 [[ 5.01387190e-01 -8.65149049e-01 -1.13141018e-02 2.05085626e+02] [ 8.64924394e-01 5.01514819e-01 -1.97149254e-02 7.00599925e+01] [ 2.27305387e-02 9.89684564e-05 9.99741623e-01 3.23242201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.310385723 meters Centerline goodness [0,1] 0.9996510435977405 Centerline is valid? [True, True] Translation: X:205.10, Y:70.08, Z:3.23 [[ 5.00932111e-01 -8.65406422e-01 -1.17790211e-02 2.05102614e+02] [ 8.65162682e-01 5.01070570e-01 -2.05382062e-02 7.00829708e+01] [ 2.36760163e-02 9.74775164e-05 9.99719679e-01 3.23332765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.340385723 meters Centerline goodness [0,1] 0.999650471862985 Centerline is valid? [True, True] Translation: X:205.12, Y:70.10, Z:3.23 [[ 5.01315655e-01 -8.65171762e-01 -1.26663675e-02 2.05122193e+02] [ 8.64889529e-01 5.01475630e-01 -2.20974156e-02 7.01033620e+01] [ 2.54699346e-02 1.22771747e-04 9.99675581e-01 3.23399004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.370385723 meters Centerline goodness [0,1] 0.9996490150484798 Centerline is valid? [True, True] Translation: X:205.14, Y:70.13, Z:3.23 [[ 5.01472980e-01 -8.65077403e-01 -1.28816753e-02 2.05136882e+02] [ 8.64785246e-01 5.01638385e-01 -2.24813049e-02 7.01258312e+01] [ 2.59100117e-02 1.33884215e-04 9.99664270e-01 3.23392995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.400385723 meters Centerline goodness [0,1] 0.9998469978798278 Centerline is valid? [True, True] Translation: X:205.15, Y:70.15, Z:3.23 [[ 5.01697708e-01 -8.64948892e-01 -1.27602742e-02 2.05151156e+02] [ 8.64661889e-01 5.01859935e-01 -2.22805770e-02 7.01498124e+01] [ 2.56754307e-02 1.44791625e-04 9.99670321e-01 3.23392245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.430385723 meters Centerline goodness [0,1] 0.9997361245492128 Centerline is valid? [True, True] Translation: X:205.17, Y:70.17, Z:3.23 [[ 5.02202164e-01 -8.64654063e-01 -1.28972116e-02 2.05166093e+02] [ 8.64360395e-01 5.02367717e-01 -2.25340676e-02 7.01732831e+01] [ 2.59633159e-02 1.68818638e-04 9.99662882e-01 3.23308788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.460385723 meters Centerline goodness [0,1] 0.9997364027765574 Centerline is valid? [True, True] Translation: X:205.18, Y:70.20, Z:3.23 [[ 5.02285769e-01 -8.64602708e-01 -1.30829426e-02 2.05181983e+02] [ 8.64300109e-01 5.02456091e-01 -2.28735248e-02 7.01962564e+01] [ 2.63501157e-02 1.81457303e-04 9.99652759e-01 3.23369117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.490385723 meters Centerline goodness [0,1] 0.9998013727350974 Centerline is valid? [True, True] Translation: X:205.20, Y:70.22, Z:3.24 [[ 5.00789100e-01 -8.65474278e-01 -1.28277654e-02 2.05201388e+02] [ 8.65183308e-01 5.00953346e-01 -2.24408029e-02 7.02168777e+01] [ 2.58480497e-02 1.39740999e-04 9.99665874e-01 3.23522321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.520385723 meters Centerline goodness [0,1] 0.999691466854725 Centerline is valid? [True, True] Translation: X:205.22, Y:70.24, Z:3.24 [[ 4.99290615e-01 -8.66344478e-01 -1.24951049e-02 2.05217869e+02] [ 8.66068364e-01 4.99446931e-01 -2.18712591e-02 7.02398522e+01] [ 2.51886863e-02 9.84993228e-05 9.99682710e-01 3.23616903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.550385723 meters Centerline goodness [0,1] 0.9996477400321437 Centerline is valid? [True, True] Translation: X:205.23, Y:70.26, Z:3.24 [[ 4.97507737e-01 -8.67368862e-01 -1.25423110e-02 2.05232975e+02] [ 8.67090643e-01 4.97665806e-01 -2.19672841e-02 7.02624229e+01] [ 2.52956175e-02 5.35732892e-05 9.99680013e-01 3.23672560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.580385723 meters Centerline goodness [0,1] 0.9998678122934567 Centerline is valid? [True, True] Translation: X:205.25, Y:70.28, Z:3.24 [[ 4.94746074e-01 -8.68941229e-01 -1.29407026e-02 2.05250497e+02] [ 8.68645228e-01 4.94915285e-01 -2.26788028e-02 7.02848108e+01] [ 2.61110983e-02 -2.06308689e-05 9.99659047e-01 3.23655691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.610385723 meters Centerline goodness [0,1] 0.999845119037083 Centerline is valid? [True, True] Translation: X:205.27, Y:70.31, Z:3.24 [[ 4.92882189e-01 -8.69986998e-01 -1.37757225e-02 2.05266781e+02] [ 8.69651550e-01 4.93074657e-01 -2.41570567e-02 7.03089247e+01] [ 2.78087849e-02 -7.34954174e-05 9.99613258e-01 3.23541691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.640385723 meters Centerline goodness [0,1] 0.9999556521353496 Centerline is valid? [True, True] Translation: X:205.28, Y:70.33, Z:3.24 [[ 4.92264354e-01 -8.70340038e-01 -1.35655300e-02 2.05284512e+02] [ 8.70014508e-01 4.92451226e-01 -2.38021992e-02 7.03309143e+01] [ 2.73963689e-02 -8.52337442e-05 9.99624645e-01 3.23734540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.30, Y:70.35, Z:3.24 [[ 4.91359010e-01 -8.70851879e-01 -1.35398845e-02 2.05299847e+02] [ 8.70527369e-01 4.91545515e-01 -2.37719803e-02 7.03546648e+01] [ 2.73573432e-02 -1.06263264e-04 9.99625712e-01 3.23730109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.31, Y:70.38, Z:3.24 [[ 4.90067521e-01 -8.71585756e-01 -1.31184789e-02 2.05314519e+02] [ 8.71281040e-01 4.90243053e-01 -2.30455756e-02 7.03771433e+01] [ 2.65174386e-02 -1.35993872e-04 9.99648342e-01 3.23756669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.730385723 meters Centerline goodness [0,1] 0.9998442991236265 Centerline is valid? [True, True] Translation: X:205.33, Y:70.40, Z:3.24 [[ 4.87254496e-01 -8.73168782e-01 -1.26227833e-02 2.05332536e+02] [ 8.72886859e-01 4.87417927e-01 -2.21877165e-02 7.03982234e+01] [ 2.55261922e-02 -2.07197059e-04 9.99674132e-01 3.23832500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.760385723 meters Centerline goodness [0,1] 0.9999331118592674 Centerline is valid? [True, True] Translation: X:205.35, Y:70.42, Z:3.24 [[ 4.85755416e-01 -8.73997335e-01 -1.30511881e-02 2.05349275e+02] [ 8.73695864e-01 4.85930648e-01 -2.29552490e-02 7.04211195e+01] [ 2.64047988e-02 -2.52132571e-04 9.99651301e-01 3.23801733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.790385723 meters Centerline goodness [0,1] 0.9999106823865667 Centerline is valid? [True, True] Translation: X:205.37, Y:70.44, Z:3.24 [[ 4.84372722e-01 -8.74753104e-01 -1.37867442e-02 2.05365350e+02] [ 8.74416586e-01 4.84568794e-01 -2.42634936e-02 7.04444085e+01] [ 2.79051923e-02 -3.02783388e-04 9.99610528e-01 3.23815073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.82038572300002 meters Centerline goodness [0,1] 0.9999553002704333 Centerline is valid? [True, True] Translation: X:205.38, Y:70.47, Z:3.24 [[ 4.83022876e-01 -8.75490764e-01 -1.43116389e-02 2.05382720e+02] [ 8.75128087e-01 4.83234723e-01 -2.51998892e-02 7.04657180e+01] [ 2.89781511e-02 -3.52394264e-04 9.99579983e-01 3.23724866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.85038572300002 meters Centerline goodness [0,1] 0.9999553002704333 Centerline is valid? [True, True] Translation: X:205.40, Y:70.49, Z:3.24 [[ 4.82791786e-01 -8.75618308e-01 -1.43062912e-02 2.05396278e+02] [ 8.75255596e-01 4.83003575e-01 -2.52029251e-02 7.04897550e+01] [ 2.89781325e-02 -3.53896192e-04 9.99579983e-01 3.23766656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.88038572300002 meters Centerline goodness [0,1] 0.9999776101023218 Centerline is valid? [True, True] Translation: X:205.41, Y:70.51, Z:3.24 [[ 4.83100787e-01 -8.75448338e-01 -1.42771761e-02 2.05410957e+02] [ 8.75086579e-01 4.83311592e-01 -2.51671337e-02 7.05141512e+01] [ 2.89328501e-02 -3.35503074e-04 9.99581301e-01 3.23869462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.910385723 meters Centerline goodness [0,1] 0.9998434494789105 Centerline is valid? [True, True] Translation: X:205.42, Y:70.54, Z:3.24 [[ 4.86704936e-01 -8.73448279e-01 -1.43669443e-02 2.05422051e+02] [ 8.73080641e-01 4.86916892e-01 -2.53403758e-02 7.05412680e+01] [ 2.91290156e-02 -2.10214970e-04 9.99575638e-01 3.23899368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.940385723 meters Centerline goodness [0,1] 0.9998436243409883 Centerline is valid? [True, True] Translation: X:205.43, Y:70.57, Z:3.24 [[ 4.88759947e-01 -8.72300222e-01 -1.43539786e-02 2.05434302e+02] [ 8.71932314e-01 4.88970658e-01 -2.53324830e-02 7.05671321e+01] [ 2.91162049e-02 -1.34194747e-04 9.99576024e-01 3.23810703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.970385723 meters Centerline goodness [0,1] 0.999687597625742 Centerline is valid? [True, True] Translation: X:205.45, Y:70.59, Z:3.24 [[ 4.90308730e-01 -8.71430603e-01 -1.43545603e-02 2.05446295e+02] [ 8.71061821e-01 4.90518806e-01 -2.53496525e-02 7.05926137e+01] [ 2.91316448e-02 -7.45534904e-05 9.99575581e-01 3.23841609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.000385723 meters Centerline goodness [0,1] 0.9998214644379477 Centerline is valid? [True, True] Translation: X:205.46, Y:70.62, Z:3.24 [[ 4.93257735e-01 -8.69775935e-01 -1.36612335e-02 2.05458158e+02] [ 8.69440871e-01 4.93446878e-01 -2.41402357e-02 7.06178244e+01] [ 2.77376892e-02 2.97232096e-05 9.99615236e-01 3.23913767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.030385723 meters Centerline goodness [0,1] 0.9998215281650864 Centerline is valid? [True, True] Translation: X:205.47, Y:70.64, Z:3.24 [[ 4.93807175e-01 -8.69469663e-01 -1.33033007e-02 2.05471248e+02] [ 8.69151424e-01 4.93986337e-01 -2.35223247e-02 7.06426931e+01] [ 2.70235965e-02 5.29099693e-05 9.99634795e-01 3.23948572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.060385723 meters Centerline goodness [0,1] 0.9997550602329155 Centerline is valid? [True, True] Translation: X:205.48, Y:70.67, Z:3.24 [[ 4.94409673e-01 -8.69136470e-01 -1.26835565e-02 2.05482201e+02] [ 8.68846752e-01 4.94572332e-01 -2.24394745e-02 7.06674223e+01] [ 2.57759018e-02 7.42263450e-05 9.99667743e-01 3.23874716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.090385723 meters Centerline goodness [0,1] 0.9999332814411209 Centerline is valid? [True, True] Translation: X:205.49, Y:70.69, Z:3.24 [[ 4.94373378e-01 -8.69158588e-01 -1.25822423e-02 2.05494880e+02] [ 8.68873162e-01 4.94533460e-01 -2.22729526e-02 7.06927512e+01] [ 2.55810678e-02 7.87821698e-05 9.99672748e-01 3.23866364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.120385723 meters Centerline goodness [0,1] 0.9995784148397976 Centerline is valid? [True, True] Translation: X:205.51, Y:70.72, Z:3.24 [[ 4.94067857e-01 -8.69333353e-01 -1.25089731e-02 2.05508008e+02] [ 8.69050947e-01 4.94226179e-01 -2.21570440e-02 7.07175032e+01] [ 2.54441193e-02 7.61483732e-05 9.99676243e-01 3.23869162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.150385723 meters Centerline goodness [0,1] 0.9999554545859504 Centerline is valid? [True, True] Translation: X:205.52, Y:70.74, Z:3.24 [[ 4.92526778e-01 -8.70218599e-01 -1.17030858e-02 2.05522992e+02] [ 8.69971372e-01 4.92665798e-01 -2.07418284e-02 7.07419237e+01] [ 2.38156349e-02 3.45562591e-05 9.99716367e-01 3.24037009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.180385723 meters Centerline goodness [0,1] 0.9999110834481839 Centerline is valid? [True, True] Translation: X:205.54, Y:70.77, Z:3.24 [[ 4.91698854e-01 -8.70693436e-01 -1.11882703e-02 2.05537304e+02] [ 8.70467336e-01 4.91826128e-01 -1.98413018e-02 7.07655512e+01] [ 2.27783749e-02 1.69215307e-05 9.99740539e-01 3.24240340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.55, Y:70.79, Z:3.24 [[ 4.90022594e-01 -8.71646479e-01 -1.05011171e-02 2.05549853e+02] [ 8.71447285e-01 4.90135100e-01 -1.86336809e-02 7.07895861e+01] [ 2.13889484e-02 -2.02453507e-05 9.99771230e-01 3.24252292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.56, Y:70.81, Z:3.24 [[ 4.89532377e-01 -8.71927030e-01 -1.00651186e-02 2.05562402e+02] [ 8.71743889e-01 4.89635838e-01 -1.78700231e-02 7.08142117e+01] [ 2.05095989e-02 -2.62507314e-05 9.99789656e-01 3.24203219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.270385723 meters Centerline goodness [0,1] 0.9999553969669938 Centerline is valid? [True, True] Translation: X:205.58, Y:70.84, Z:3.24 [[ 4.89167692e-01 -8.72130834e-01 -1.01378744e-02 2.05575913e+02] [ 8.71944841e-01 4.89272733e-01 -1.80107442e-02 7.08391183e+01] [ 2.06679108e-02 -2.93930973e-05 9.99786395e-01 3.24184013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.59, Y:70.86, Z:3.24 [[ 4.88880046e-01 -8.72281861e-01 -1.09843162e-02 2.05589607e+02] [ 8.72063255e-01 4.89003429e-01 -1.95275714e-02 7.08637189e+01] [ 2.24049146e-02 -3.23785155e-05 9.99748978e-01 3.24055610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.60, Y:70.89, Z:3.24 [[ 4.88435214e-01 -8.72527053e-01 -1.12953212e-02 2.05603211e+02] [ 8.72295656e-01 4.88565800e-01 -2.00934545e-02 7.08877564e+01] [ 2.30505903e-02 -3.85088836e-05 9.99734299e-01 3.24029290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:70.91, Z:3.24 [[ 4.86093339e-01 -8.73836669e-01 -1.10789205e-02 2.05617920e+02] [ 8.73614118e-01 4.86219568e-01 -1.97206635e-02 7.09110545e+01] [ 2.26194268e-02 -9.26181851e-05 9.99744144e-01 3.23974344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.63, Y:70.93, Z:3.24 [[ 4.84932540e-01 -8.74484103e-01 -1.08621030e-02 2.05631925e+02] [ 8.74270085e-01 4.85054162e-01 -1.93462768e-02 7.09346189e+01] [ 2.21867198e-02 -1.14772583e-04 9.99753838e-01 3.23988164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:70.96, Z:3.24 [[ 4.83427174e-01 -8.75317192e-01 -1.08619045e-02 2.05645338e+02] [ 8.75103112e-01 4.83549162e-01 -1.93584849e-02 7.09599071e+01] [ 2.21970794e-02 -1.46868825e-04 9.99753604e-01 3.24027754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:70.98, Z:3.24 [[ 4.80431412e-01 -8.76974144e-01 -1.00999591e-02 2.05658951e+02] [ 8.76789188e-01 4.80537522e-01 -1.80114094e-02 7.09843526e+01] [ 2.06489496e-02 -2.02288053e-04 9.99786767e-01 3.23901609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.67, Y:71.01, Z:3.24 [[ 4.78865392e-01 -8.77838685e-01 -9.33703155e-03 2.05674546e+02] [ 8.77680597e-01 4.78956362e-01 -1.66605345e-02 7.10065002e+01] [ 1.90972924e-02 -2.16778029e-04 9.99817607e-01 3.23944402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.69, Y:71.03, Z:3.24 [[ 4.75938575e-01 -8.79441043e-01 -8.11937604e-03 2.05692603e+02] [ 8.79321614e-01 4.76007767e-01 -1.44949815e-02 7.10297000e+01] [ 1.66123677e-02 -2.40821993e-04 9.99861976e-01 3.24349862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:71.05, Z:3.25 [[ 4.74408847e-01 -8.80268999e-01 -7.92056796e-03 2.05708860e+02] [ 8.80155389e-01 4.74474890e-01 -1.41446004e-02 7.10515480e+01] [ 1.62091639e-02 -2.61006989e-04 9.99868589e-01 3.24522373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.57038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.72, Y:71.07, Z:3.25 [[ 4.73249161e-01 -8.80894239e-01 -7.78280723e-03 2.05723903e+02] [ 8.80784541e-01 4.73313073e-01 -1.39042555e-02 7.10745157e+01] [ 1.59318830e-02 -2.74799025e-04 9.99873042e-01 3.24634145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:71.10, Z:3.24 [[ 4.72438660e-01 -8.81332371e-01 -7.41382283e-03 2.05734861e+02] [ 8.81232774e-01 4.72496749e-01 -1.32521667e-02 7.10990347e+01] [ 1.51825707e-02 -2.72467776e-04 9.99884701e-01 3.24457198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.75, Y:71.12, Z:3.24 [[ 4.72694744e-01 -8.81195166e-01 -7.39986535e-03 2.05745948e+02] [ 8.81095795e-01 4.72752589e-01 -1.32359103e-02 7.11246298e+01] [ 1.51617257e-02 -2.63445008e-04 9.99885020e-01 3.24330671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.76, Y:71.15, Z:3.24 [[ 4.74790212e-01 -8.80059658e-01 -8.32177979e-03 2.05759080e+02] [ 8.79933634e-01 4.74863070e-01 -1.48951277e-02 7.11500989e+01] [ 1.70603069e-02 -2.50553098e-04 9.99854431e-01 3.24123163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.77, Y:71.17, Z:3.24 [[ 4.75644201e-01 -8.79593139e-01 -8.86024162e-03 2.05774020e+02] [ 8.79450024e-01 4.75726655e-01 -1.58683905e-02 7.11744222e+01] [ 1.81727805e-02 -2.44431807e-04 9.99834832e-01 3.24148537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.79, Y:71.20, Z:3.24 [[ 4.76329874e-01 -8.79218179e-01 -9.23280827e-03 2.05789251e+02] [ 8.79062505e-01 4.76419288e-01 -1.65460926e-02 7.11974644e+01] [ 1.89463134e-02 -2.34817363e-04 9.99820475e-01 3.24134488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.80, Y:71.22, Z:3.24 [[ 4.76651037e-01 -8.79046933e-01 -8.95986255e-03 2.05799400e+02] [ 8.78900137e-01 4.76735191e-01 -1.60656939e-02 7.12242000e+01] [ 1.83939808e-02 -2.17094751e-04 9.99830793e-01 3.24038240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.81, Y:71.25, Z:3.24 [[ 4.76540158e-01 -8.79110760e-01 -8.58772198e-03 2.05811424e+02] [ 8.78975754e-01 4.76617487e-01 -1.54076207e-02 7.12497523e+01] [ 1.76380636e-02 -2.06049390e-04 9.99844416e-01 3.24041141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.82, Y:71.27, Z:3.24 [[ 4.76633180e-01 -8.79067808e-01 -7.78469888e-03 2.05824682e+02] [ 8.78956742e-01 4.76696713e-01 -1.39746161e-02 7.12729882e+01] [ 1.59955755e-02 -1.81647839e-04 9.99872046e-01 3.24260248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.84, Y:71.30, Z:3.24 [[ 4.76378945e-01 -8.79208143e-01 -7.49282839e-03 2.05839149e+02] [ 8.79105176e-01 4.76437835e-01 -1.34565550e-02 7.12961830e+01] [ 1.54009797e-02 -1.76564728e-04 9.99881382e-01 3.24416074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.85, Y:71.32, Z:3.25 [[ 4.75559478e-01 -8.79659227e-01 -6.54426219e-03 2.05852902e+02] [ 8.79580636e-01 4.75604476e-01 -1.17595358e-02 7.13208129e+01] [ 1.34568645e-02 -1.63847607e-04 9.99909439e-01 3.24589459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.86, Y:71.35, Z:3.25 [[ 4.74911722e-01 -8.80013595e-01 -5.91010763e-03 2.05864874e+02] [ 8.79949456e-01 4.74948470e-01 -1.06256780e-02 7.13468291e+01] [ 1.21577376e-02 -1.54336970e-04 9.99926080e-01 3.24611079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.930385723 meters Centerline goodness [0,1] 0.9999551458879993 Centerline is valid? [True, True] Translation: X:205.88, Y:71.37, Z:3.25 [[ 4.74604654e-01 -8.80181650e-01 -5.53949784e-03 2.05878275e+02] [ 8.80125239e-01 4.74636959e-01 -9.96601713e-03 7.13706469e+01] [ 1.14011558e-02 -1.45533748e-04 9.99934994e-01 3.24625247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.960385723 meters Centerline goodness [0,1] 0.9999550430462831 Centerline is valid? [True, True] Translation: X:205.89, Y:71.39, Z:3.25 [[ 4.73906157e-01 -8.80557295e-01 -5.63958408e-03 2.05892213e+02] [ 8.80498806e-01 4.73939687e-01 -1.01501418e-02 7.13946002e+01] [ 1.16106041e-02 -1.55432358e-04 9.99932583e-01 3.24566777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.91, Y:71.42, Z:3.25 [[ 4.73153164e-01 -8.80961084e-01 -5.80107105e-03 2.05905272e+02] [ 8.80899145e-01 4.73188695e-01 -1.04477090e-02 7.14192375e+01] [ 1.19490263e-02 -1.66791967e-04 9.99928594e-01 3.24549011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.020385723 meters Centerline goodness [0,1] 0.9999551478998004 Centerline is valid? [True, True] Translation: X:205.92, Y:71.44, Z:3.25 [[ 4.72852827e-01 -8.81121690e-01 -5.89682166e-03 2.05919462e+02] [ 8.81057615e-01 4.72889564e-01 -1.06272817e-02 7.14433990e+01] [ 1.21524739e-02 -1.70299413e-04 9.99926141e-01 3.24563188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.93, Y:71.47, Z:3.25 [[ 4.72954236e-01 -8.81066383e-01 -6.02649013e-03 2.05934946e+02] [ 8.80999366e-01 4.72992600e-01 -1.08682122e-02 7.14663876e+01] [ 1.24261017e-02 -1.69166953e-04 9.99922779e-01 3.24700778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.95, Y:71.49, Z:3.25 [[ 4.73155248e-01 -8.80957190e-01 -6.20808164e-03 2.05949166e+02] [ 8.80885962e-01 4.73195944e-01 -1.12036280e-02 7.14891662e+01] [ 1.28075557e-02 -1.67556567e-04 9.99917966e-01 3.24778186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.96, Y:71.51, Z:3.25 [[ 4.72992492e-01 -8.81038677e-01 -6.99658231e-03 2.05962890e+02] [ 8.80948125e-01 4.73044199e-01 -1.26328163e-02 7.15127004e+01] [ 1.44396924e-02 -1.88398801e-04 9.99895724e-01 3.24739626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.98, Y:71.54, Z:3.25 [[ 4.73025041e-01 -8.81018752e-01 -7.29858134e-03 2.05975755e+02] [ 8.80920092e-01 4.73081306e-01 -1.31859704e-02 7.15372156e+01] [ 1.50699096e-02 -1.92172745e-04 9.99886424e-01 3.24700944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.99, Y:71.56, Z:3.25 [[ 4.73213545e-01 -8.80920071e-01 -6.98345066e-03 2.05988041e+02] [ 8.80829628e-01 4.73265038e-01 -1.26242081e-02 7.15625616e+01] [ 1.44259414e-02 -1.77283966e-04 9.99895925e-01 3.24702393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.00, Y:71.59, Z:3.25 [[ 4.74455696e-01 -8.80252205e-01 -6.91725881e-03 2.05999613e+02] [ 8.80163281e-01 4.74506094e-01 -1.25126087e-02 7.15868652e+01] [ 1.42965329e-02 -1.51638723e-04 9.99897788e-01 3.24794288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.01, Y:71.61, Z:3.25 [[ 4.74953888e-01 -8.79983807e-01 -6.87772463e-03 2.06012262e+02] [ 8.79895781e-01 4.75003663e-01 -1.24473020e-02 7.16114765e+01] [ 1.42203686e-02 -1.39786390e-04 9.99898876e-01 3.24871247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.03, Y:71.64, Z:3.25 [[ 4.75523858e-01 -8.79677105e-01 -6.72686360e-03 2.06025801e+02] [ 8.79592760e-01 4.75571420e-01 -1.21820027e-02 7.16363313e+01] [ 1.39153330e-02 -1.24067582e-04 9.99903169e-01 3.25064328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.04, Y:71.66, Z:3.25 [[ 4.75202525e-01 -8.79853179e-01 -6.39871108e-03 2.06038943e+02] [ 8.79776784e-01 4.75245588e-01 -1.15949075e-02 7.16612617e+01] [ 1.32427755e-02 -1.19508121e-04 9.99912303e-01 3.25178830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.05, Y:71.69, Z:3.25 [[ 4.74571968e-01 -8.80194090e-01 -6.30966491e-03 2.06050107e+02] [ 8.80119737e-01 4.74613895e-01 -1.14410972e-02 7.16863353e+01] [ 1.30650408e-02 -1.23636616e-04 9.99914641e-01 3.25113227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.06, Y:71.71, Z:3.25 [[ 4.74330283e-01 -8.80324535e-01 -6.28452878e-03 2.06062495e+02] [ 8.80250698e-01 4.74371898e-01 -1.14022316e-02 7.17114408e+01] [ 1.30188680e-02 -1.23537132e-04 9.99915243e-01 3.25074741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.38038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.08, Y:71.74, Z:3.25 [[ 4.74500070e-01 -8.80230942e-01 -6.57049192e-03 2.06075451e+02] [ 8.80150111e-01 4.74545544e-01 -1.19293075e-02 7.17360667e+01] [ 1.36185433e-02 -1.22561930e-04 9.99907256e-01 3.25093195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.09, Y:71.76, Z:3.25 [[ 4.75611982e-01 -8.79625728e-01 -7.19868440e-03 2.06088585e+02] [ 8.79528491e-01 4.75666444e-01 -1.30792754e-02 7.17603434e+01] [ 1.49290397e-02 -1.10787944e-04 9.99888550e-01 3.25113619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.10, Y:71.79, Z:3.25 [[ 4.76064813e-01 -8.79377399e-01 -7.59494925e-03 2.06101037e+02] [ 8.79269003e-01 4.76125381e-01 -1.38073050e-02 7.17852085e+01] [ 1.57579800e-02 -1.04831389e-04 9.99875830e-01 3.25129045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.11, Y:71.81, Z:3.25 [[ 4.77160592e-01 -8.78778644e-01 -8.11572276e-03 2.06111170e+02] [ 8.78654612e-01 4.77229597e-01 -1.47643054e-02 7.18117687e+01] [ 1.68476194e-02 -8.59725287e-05 9.99858065e-01 3.24946135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.12, Y:71.84, Z:3.25 [[ 4.78020345e-01 -8.78307991e-01 -8.46305860e-03 2.06122766e+02] [ 8.78172858e-01 4.78095251e-01 -1.54065744e-02 7.18372682e+01] [ 1.75778655e-02 -6.73723557e-05 9.99845495e-01 3.24845166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.13, Y:71.86, Z:3.25 [[ 4.80391294e-01 -8.77008501e-01 -8.96071352e-03 2.06134407e+02] [ 8.76856573e-01 4.80474858e-01 -1.63236128e-02 7.18634563e+01] [ 1.86213447e-02 -1.55390973e-05 9.99826608e-01 3.24781810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.15, Y:71.89, Z:3.25 [[ 4.81464758e-01 -8.76420135e-01 -8.91257400e-03 2.06147315e+02] [ 8.76269540e-01 4.81547242e-01 -1.62464289e-02 7.18885385e+01] [ 1.85305228e-02 1.22658146e-05 9.99828295e-01 3.24870328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.16, Y:71.91, Z:3.25 [[ 4.82594787e-01 -8.75800917e-01 -8.66166019e-03 2.06159493e+02] [ 8.75658406e-01 4.82672510e-01 -1.57988723e-02 7.19130628e+01] [ 1.80174121e-02 3.97978583e-05 9.99837672e-01 3.25012238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.17, Y:71.94, Z:3.25 [[ 4.84944798e-01 -8.74506677e-01 -8.16179328e-03 2.06170526e+02] [ 8.74379815e-01 4.85013468e-01 -1.48954657e-02 7.19389991e+01] [ 1.69847639e-02 8.69713143e-05 9.99855745e-01 3.25177626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.18, Y:71.96, Z:3.25 [[ 4.85985238e-01 -8.73930667e-01 -7.97113453e-03 2.06182166e+02] [ 8.73809434e-01 4.86050592e-01 -1.45565889e-02 7.19640797e+01] [ 1.65958241e-02 1.09034764e-04 9.99862274e-01 3.25272486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.19, Y:71.99, Z:3.25 [[ 4.87710491e-01 -8.72975156e-01 -7.27011305e-03 2.06194167e+02] [ 8.72874095e-01 4.87764656e-01 -1.32836163e-02 7.19902842e+01] [ 1.51423712e-02 1.32665685e-04 9.99885339e-01 3.25317696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.21, Y:72.01, Z:3.25 [[ 4.88041544e-01 -8.72792563e-01 -6.97084740e-03 2.06206669e+02] [ 8.72699521e-01 4.88091306e-01 -1.27445672e-02 7.20141557e+01] [ 1.45257735e-02 1.36423060e-04 9.99894486e-01 3.25404830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.22, Y:72.04, Z:3.25 [[ 4.87804067e-01 -8.72925337e-01 -6.96764622e-03 2.06219840e+02] [ 8.72832283e-01 4.87853807e-01 -1.27463170e-02 7.20383981e+01] [ 1.45257758e-02 1.36118727e-04 9.99894486e-01 3.25446564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.23, Y:72.06, Z:3.26 [[ 4.87423229e-01 -8.73141248e-01 -6.55413810e-03 2.06233976e+02] [ 8.73058832e-01 4.87467276e-01 -1.19970982e-02 7.20624042e+01] [ 1.36700891e-02 1.25516173e-04 9.99906552e-01 3.25565978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.800385723 meters Centerline goodness [0,1] 0.9999109448748775 Centerline is valid? [True, True] Translation: X:206.25, Y:72.09, Z:3.26 [[ 4.86801583e-01 -8.73489341e-01 -6.37104585e-03 2.06248270e+02] [ 8.73411397e-01 4.86843258e-01 -1.16693770e-02 7.20866140e+01] [ 1.32947771e-02 1.16127144e-04 9.99911614e-01 3.25700137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.26, Y:72.11, Z:3.26 [[ 4.85669536e-01 -8.74121117e-01 -6.11344948e-03 2.06262013e+02] [ 8.74049308e-01 4.85708002e-01 -1.12046838e-02 7.21094419e+01] [ 1.27636021e-02 9.83173004e-05 9.99918537e-01 3.25734762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.860385723 meters Centerline goodness [0,1] 0.9999778191819715 Centerline is valid? [True, True] Translation: X:206.27, Y:72.13, Z:3.26 [[ 4.85260094e-01 -8.74348257e-01 -6.14550836e-03 2.06274855e+02] [ 8.74275623e-01 4.85298997e-01 -1.12702247e-02 7.21334743e+01] [ 1.28365104e-02 9.61221557e-05 9.99917604e-01 3.25697891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.29, Y:72.16, Z:3.26 [[ 4.84913743e-01 -8.74537275e-01 -6.57383167e-03 2.06288302e+02] [ 8.74454108e-01 4.84958291e-01 -1.20610462e-02 7.21579107e+01] [ 1.37358687e-02 1.00052962e-04 9.99905654e-01 3.25664308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.920385723 meters Centerline goodness [0,1] 0.9999777787653882 Centerline is valid? [True, True] Translation: X:206.30, Y:72.18, Z:3.26 [[ 4.85202335e-01 -8.74371402e-01 -7.30378838e-03 2.06300600e+02] [ 8.74268574e-01 4.85257290e-01 -1.34098533e-02 7.21822533e+01] [ 1.52694088e-02 1.21019484e-04 9.99883408e-01 3.25510650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.950385723 meters Centerline goodness [0,1] 0.9999555772733331 Centerline is valid? [True, True] Translation: X:206.31, Y:72.21, Z:3.25 [[ 4.85313958e-01 -8.74307329e-01 -7.55358643e-03 2.06314081e+02] [ 8.74197207e-01 4.85372720e-01 -1.38768525e-02 7.22064779e+01] [ 1.57989386e-02 1.31306029e-04 9.99875180e-01 3.25482648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.33, Y:72.23, Z:3.25 [[ 4.85367190e-01 -8.74275615e-01 -7.80002836e-03 2.06326858e+02] [ 8.74158024e-01 4.85429840e-01 -1.43394552e-02 7.22314100e+01] [ 1.63230026e-02 1.41443721e-04 9.99866761e-01 3.25477055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.34, Y:72.26, Z:3.25 [[ 4.84928212e-01 -8.74518512e-01 -7.87411151e-03 2.06339281e+02] [ 8.74398549e-01 4.84992117e-01 -1.44852819e-02 7.22550260e+01] [ 1.64865292e-02 1.39210197e-04 9.99864078e-01 3.25464651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.35, Y:72.28, Z:3.26 [[ 4.84117958e-01 -8.74964451e-01 -8.18609020e-03 2.06354909e+02] [ 8.74834696e-01 4.84187146e-01 -1.50686006e-02 7.22786440e+01] [ 1.71480895e-02 1.33504450e-04 9.99852952e-01 3.25609214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.07038572300002 meters Centerline goodness [0,1] 0.99993321460374 Centerline is valid? [True, True] Translation: X:206.37, Y:72.30, Z:3.26 [[ 4.83066183e-01 -8.75545035e-01 -8.24343226e-03 2.06369338e+02] [ 8.75413374e-01 4.83136500e-01 -1.51837850e-02 7.23014708e+01] [ 1.72767906e-02 1.18362240e-04 9.99850738e-01 3.25547913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.10038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.38, Y:72.32, Z:3.26 [[ 4.81391510e-01 -8.76464867e-01 -8.45882952e-03 2.06383481e+02] [ 8.76326251e-01 4.81465813e-01 -1.55875952e-02 7.23249294e+01] [ 1.77346168e-02 9.10416374e-05 9.99842725e-01 3.25715718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.40, Y:72.35, Z:3.26 [[ 4.79993070e-01 -8.77231442e-01 -8.46460674e-03 2.06397070e+02] [ 8.77092630e-01 4.80067696e-01 -1.56053137e-02 7.23487631e+01] [ 1.77530561e-02 6.61982518e-05 9.99842400e-01 3.25735334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.160385723 meters Centerline goodness [0,1] 0.9999331699710403 Centerline is valid? [True, True] Translation: X:206.41, Y:72.37, Z:3.26 [[ 4.78556582e-01 -8.78014455e-01 -8.61477289e-03 2.06411428e+02] [ 8.77870631e-01 4.78634114e-01 -1.58915111e-02 7.23730053e+01] [ 1.80763007e-02 4.23311395e-05 9.99836609e-01 3.25612415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.43, Y:72.40, Z:3.26 [[ 4.76930497e-01 -8.78896449e-01 -8.85057762e-03 2.06425597e+02] [ 8.78744595e-01 4.77012612e-01 -1.63372174e-02 7.23977155e+01] [ 1.85805595e-02 1.43199859e-05 9.99827366e-01 3.25686093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.220385723 meters Centerline goodness [0,1] 0.9999552622749133 Centerline is valid? [True, True] Translation: X:206.44, Y:72.42, Z:3.26 [[ 4.75843099e-01 -8.79485456e-01 -8.87001104e-03 2.06439372e+02] [ 8.79332844e-01 4.75925763e-01 -1.63834503e-02 7.24207486e+01] [ 1.86304731e-02 -3.74024327e-06 9.99826438e-01 3.25730031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.45, Y:72.44, Z:3.26 [[ 4.74558118e-01 -8.80183518e-01 -8.45980110e-03 2.06453691e+02] [ 8.80044650e-01 4.74633516e-01 -1.56345772e-02 7.24437810e+01] [ 1.77766023e-02 -2.54871668e-05 9.99841983e-01 3.25869126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.47, Y:72.47, Z:3.26 [[ 4.72796237e-01 -8.81136883e-01 -7.84297072e-03 2.06468398e+02] [ 8.81017517e-01 4.72861281e-01 -1.45032134e-02 7.24682153e+01] [ 1.64879534e-02 -5.27298879e-05 9.99864063e-01 3.26081295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.48, Y:72.49, Z:3.26 [[ 4.70618092e-01 -8.82307384e-01 -7.23126608e-03 2.06482884e+02] [ 8.82205929e-01 4.70673637e-01 -1.33800597e-02 7.24922988e+01] [ 1.52088918e-02 -8.25676422e-05 9.99884335e-01 3.26311831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.50, Y:72.52, Z:3.26 [[ 4.70410158e-01 -8.82417918e-01 -7.27334848e-03 2.06495057e+02] [ 8.82315160e-01 4.70466376e-01 -1.34665089e-02 7.25167940e+01] [ 1.53049546e-02 -8.26030696e-05 9.99882869e-01 3.26287697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.51, Y:72.54, Z:3.26 [[ 4.71598969e-01 -8.81780460e-01 -7.59168002e-03 2.06505696e+02] [ 8.81668315e-01 4.71660065e-01 -1.40628889e-02 7.25427431e+01] [ 1.59810729e-02 -6.12998466e-05 9.99872293e-01 3.26218897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.52, Y:72.57, Z:3.26 [[ 4.72215603e-01 -8.81449182e-01 -7.73068708e-03 2.06518777e+02] [ 8.81332694e-01 4.72278876e-01 -1.43298676e-02 7.25680076e+01] [ 1.62820903e-02 -4.65202213e-05 9.99867437e-01 3.26277298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.53, Y:72.59, Z:3.26 [[ 4.73628786e-01 -8.80687441e-01 -8.08730684e-03 2.06531983e+02] [ 8.80559680e-01 4.73697827e-01 -1.50006638e-02 7.25912930e+01] [ 1.70418359e-02 -1.66101184e-05 9.99854777e-01 3.26432485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.460385723 meters Centerline goodness [0,1] 0.9999107939339875 Centerline is valid? [True, True] Translation: X:206.55, Y:72.62, Z:3.26 [[ 4.73022855e-01 -8.81012860e-01 -8.10673914e-03 2.06545448e+02] [ 8.80884412e-01 4.73092317e-01 -1.50436987e-02 7.26158634e+01] [ 1.70889280e-02 -2.50868285e-05 9.99853973e-01 3.26296801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.490385723 meters Centerline goodness [0,1] 0.9998223643307577 Centerline is valid? [True, True] Translation: X:206.56, Y:72.64, Z:3.26 [[ 4.72593733e-01 -8.81242709e-01 -8.15173711e-03 2.06557056e+02] [ 8.81112694e-01 4.72664031e-01 -1.51371552e-02 7.26407288e+01] [ 1.71925406e-02 -2.88743708e-05 9.99852197e-01 3.26138785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.57, Y:72.67, Z:3.26 [[ 4.73646588e-01 -8.80676076e-01 -8.28007133e-03 2.06567253e+02] [ 8.80541683e-01 4.73718956e-01 -1.53849024e-02 7.26667397e+01] [ 1.74715422e-02 -3.94140108e-06 9.99847361e-01 3.26370382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.58, Y:72.69, Z:3.26 [[ 4.74887512e-01 -8.80004338e-01 -8.61494234e-03 2.06577397e+02] [ 8.79858547e-01 4.74965646e-01 -1.60178829e-02 7.26918447e+01] [ 1.81876081e-02 2.67619175e-05 9.99834591e-01 3.26364835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.59, Y:72.72, Z:3.26 [[ 4.75341787e-01 -8.79755849e-01 -8.93490176e-03 2.06589999e+02] [ 8.79598790e-01 4.75425751e-01 -1.66229803e-02 7.27157196e+01] [ 1.88720466e-02 4.24683949e-05 9.99821906e-01 3.26446288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.60, Y:72.74, Z:3.27 [[ 4.75150977e-01 -8.79851824e-01 -9.60814755e-03 2.06603932e+02] [ 8.79669995e-01 4.75248109e-01 -1.78867028e-02 7.27405174e+01] [ 2.03039020e-02 4.68851905e-05 9.99793853e-01 3.26562897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.62, Y:72.76, Z:3.27 [[ 4.74493053e-01 -8.80207731e-01 -9.52329816e-03 2.06616894e+02] [ 8.80028958e-01 4.74588611e-01 -1.77393274e-02 7.27648389e+01] [ 2.01339420e-02 3.64094572e-05 9.99797291e-01 3.26578295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.63, Y:72.79, Z:3.27 [[ 4.73514476e-01 -8.80733786e-01 -9.59375347e-03 2.06630333e+02] [ 8.80552247e-01 4.73611654e-01 -1.78813252e-02 7.27900549e+01] [ 2.02924007e-02 1.92651577e-05 9.99794088e-01 3.26637432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.64, Y:72.82, Z:3.27 [[ 4.70896393e-01 -8.82137266e-01 -9.50953989e-03 2.06642582e+02] [ 8.81958957e-01 4.70992403e-01 -1.77356977e-02 7.28150538e+01] [ 2.01242409e-02 -3.53477972e-05 9.99797486e-01 3.26684929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.730385723 meters Centerline goodness [0,1] 0.999955857685177 Centerline is valid? [True, True] Translation: X:206.65, Y:72.84, Z:3.27 [[ 4.69730930e-01 -8.82760168e-01 -9.34557952e-03 2.06654808e+02] [ 8.82587859e-01 4.69823885e-01 -1.74409843e-02 7.28398996e+01] [ 1.97869827e-02 -5.57252714e-05 9.99804217e-01 3.26755647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.67, Y:72.86, Z:3.27 [[ 4.68499039e-01 -8.83414741e-01 -9.32987387e-03 2.06667639e+02] [ 8.83242935e-01 4.68591923e-01 -1.74220558e-02 7.28640655e+01] [ 1.97628045e-02 -7.83287771e-05 9.99804694e-01 3.26788390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.790385723 meters Centerline goodness [0,1] 0.9998673974540311 Centerline is valid? [True, True] Translation: X:206.68, Y:72.89, Z:3.27 [[ 4.66490204e-01 -8.84479342e-01 -9.12049185e-03 2.06681900e+02] [ 8.84315208e-01 4.66579340e-01 -1.70391251e-02 7.28885836e+01] [ 1.93261872e-02 -1.16804727e-04 9.99813225e-01 3.27116060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.82038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.69, Y:72.91, Z:3.27 [[ 4.65280043e-01 -8.85118780e-01 -8.90091263e-03 2.06694530e+02] [ 8.84962375e-01 4.65365154e-01 -1.66393309e-02 7.29131949e+01] [ 1.88699589e-02 -1.35024173e-04 9.99821937e-01 3.27312062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.85038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.71, Y:72.94, Z:3.27 [[ 4.64272271e-01 -8.85649353e-01 -8.74536121e-03 2.06706979e+02] [ 8.85498265e-01 4.64354606e-01 -1.63591769e-02 7.29368841e+01] [ 1.85494432e-02 -1.48889974e-04 9.99827933e-01 3.27344662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.88038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.72, Y:72.96, Z:3.27 [[ 4.62535979e-01 -8.86556232e-01 -8.86091297e-03 2.06716631e+02] [ 8.86401096e-01 4.62620811e-01 -1.65856266e-02 7.29638170e+01] [ 1.88033333e-02 -1.82873950e-04 9.99823185e-01 3.27204647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.73, Y:72.99, Z:3.27 [[ 4.61397446e-01 -8.87147754e-01 -9.01433442e-03 2.06728150e+02] [ 8.86987106e-01 4.61485449e-01 -1.68835714e-02 7.29887422e+01] [ 1.91382067e-02 -2.05561646e-04 9.99816827e-01 3.27099566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.74, Y:73.01, Z:3.27 [[ 4.60700207e-01 -8.87504676e-01 -9.52728561e-03 2.06740265e+02] [ 8.87325071e-01 4.60798652e-01 -1.78555462e-02 7.30139308e+01] [ 2.02370411e-02 -2.27745550e-04 9.99795184e-01 3.27055778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.75, Y:73.04, Z:3.27 [[ 4.59486583e-01 -8.88119930e-01 -1.07270873e-02 2.06753435e+02] [ 8.87892093e-01 4.59611696e-01 -2.01176538e-02 7.30396808e+01] [ 2.27971841e-02 -2.80703961e-04 9.99740071e-01 3.27090205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.000385723 meters Centerline goodness [0,1] 0.9999780152134723 Centerline is valid? [True, True] Translation: X:206.77, Y:73.06, Z:3.27 [[ 4.58508527e-01 -8.88620132e-01 -1.11441484e-02 2.06766669e+02] [ 8.88374113e-01 4.58643831e-01 -2.09110498e-02 7.30635812e+01] [ 2.36931747e-02 -3.12278279e-04 9.99719229e-01 3.27113225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.030385723 meters Centerline goodness [0,1] 0.9998682795108779 Centerline is valid? [True, True] Translation: X:206.78, Y:73.09, Z:3.27 [[ 4.55940305e-01 -8.89936578e-01 -1.14597286e-02 2.06777438e+02] [ 8.89676624e-01 4.56084134e-01 -2.15120346e-02 7.30901493e+01] [ 2.43709468e-02 -3.87249033e-04 9.99702909e-01 3.26864775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.060385723 meters Centerline goodness [0,1] 0.9997809467481544 Centerline is valid? [True, True] Translation: X:206.79, Y:73.12, Z:3.27 [[ 4.55393202e-01 -8.90210597e-01 -1.19215787e-02 2.06788693e+02] [ 8.89929078e-01 4.55549033e-01 -2.23900413e-02 7.31159647e+01] [ 2.53627157e-02 -4.13086906e-04 9.99678229e-01 3.26802783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.80, Y:73.14, Z:3.27 [[ 4.56285187e-01 -8.89749402e-01 -1.22405134e-02 2.06799338e+02] [ 8.89452055e-01 4.56449175e-01 -2.30041886e-02 7.31418804e+01] [ 2.60551353e-02 -3.90879324e-04 9.99660431e-01 3.27149305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.120385723 meters Centerline goodness [0,1] 0.9999781325169473 Centerline is valid? [True, True] Translation: X:206.81, Y:73.17, Z:3.27 [[ 4.56936172e-01 -8.89411753e-01 -1.24927315e-02 2.06811907e+02] [ 8.89101535e-01 4.57106765e-01 -2.34918137e-02 7.31654873e+01] [ 2.66044073e-02 -3.73047337e-04 9.99645971e-01 3.27049631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.150385723 meters Centerline goodness [0,1] 0.9999781964067679 Centerline is valid? [True, True] Translation: X:206.82, Y:73.19, Z:3.27 [[ 4.57315110e-01 -8.89216202e-01 -1.25473272e-02 2.06821848e+02] [ 8.88902848e-01 4.57487068e-01 -2.36073940e-02 7.31925210e+01] [ 2.67323172e-02 -3.57336931e-04 9.99642564e-01 3.27219708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.180385723 meters Centerline goodness [0,1] 0.9999563642710652 Centerline is valid? [True, True] Translation: X:206.83, Y:73.22, Z:3.27 [[ 4.59267698e-01 -8.88220033e-01 -1.17624582e-02 2.06831046e+02] [ 8.87943996e-01 4.59418217e-01 -2.21441290e-02 7.32198211e+01] [ 2.50727466e-02 -2.74320969e-04 9.99685592e-01 3.27487929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.210385723 meters Centerline goodness [0,1] 0.9999782187275381 Centerline is valid? [True, True] Translation: X:206.84, Y:73.25, Z:3.28 [[ 4.60374357e-01 -8.87656144e-01 -1.10463431e-02 2.06841376e+02] [ 8.87412281e-01 4.60506808e-01 -2.08068167e-02 7.32455449e+01] [ 2.35562149e-02 -2.23735698e-04 9.99722489e-01 3.27614689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.85, Y:73.27, Z:3.28 [[ 4.62849656e-01 -8.86372590e-01 -1.06690482e-02 2.06847624e+02] [ 8.86144521e-01 4.62972581e-01 -2.01066399e-02 7.32739705e+01] [ 2.27614513e-02 -1.47967212e-04 9.99740914e-01 3.27734096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.270385723 meters Centerline goodness [0,1] 0.9999784129177101 Centerline is valid? [True, True] Translation: X:206.86, Y:73.30, Z:3.28 [[ 4.64090274e-01 -8.85721377e-01 -1.08563558e-02 2.06857645e+02] [ 8.85484742e-01 4.64217224e-01 -2.04729449e-02 7.33008920e+01] [ 2.31730323e-02 -1.11842840e-04 9.99731463e-01 3.27755983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.300385723 meters Centerline goodness [0,1] 0.9999351154944199 Centerline is valid? [True, True] Translation: X:206.87, Y:73.33, Z:3.28 [[ 4.66447202e-01 -8.84474674e-01 -1.14699076e-02 2.06865158e+02] [ 8.84209834e-01 4.66588201e-01 -2.16430369e-02 7.33270814e+01] [ 2.44944415e-02 -4.64710717e-05 9.99699965e-01 3.27760616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.330385723 meters Centerline goodness [0,1] 0.9999351211072665 Centerline is valid? [True, True] Translation: X:206.88, Y:73.35, Z:3.28 [[ 4.66919218e-01 -8.84221462e-01 -1.17834562e-02 2.06876018e+02] [ 8.83941559e-01 4.67067880e-01 -2.22467116e-02 7.33527462e+01] [ 2.51746938e-02 -2.84694734e-05 9.99683067e-01 3.27835534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.360385723 meters Centerline goodness [0,1] 0.999870214146658 Centerline is valid? [True, True] Translation: X:206.89, Y:73.38, Z:3.28 [[ 4.66894701e-01 -8.84230682e-01 -1.20598456e-02 2.06887655e+02] [ 8.83937102e-01 4.67050427e-01 -2.27837484e-02 7.33789032e+01] [ 2.57786454e-02 -2.25335844e-05 9.99667675e-01 3.27883319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.390385723 meters Centerline goodness [0,1] 0.9998705026654868 Centerline is valid? [True, True] Translation: X:206.90, Y:73.40, Z:3.28 [[ 4.65805932e-01 -8.84800700e-01 -1.23512876e-02 2.06897502e+02] [ 8.84492562e-01 4.65969654e-01 -2.33492985e-02 7.34046445e+01] [ 2.64148008e-02 -4.83802485e-05 9.99651067e-01 3.27928034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.420385723 meters Centerline goodness [0,1] 0.9999784073242356 Centerline is valid? [True, True] Translation: X:206.91, Y:73.43, Z:3.28 [[ 4.64758470e-01 -8.85352722e-01 -1.22524563e-02 2.06909022e+02] [ 8.85049313e-01 4.64919943e-01 -2.31767122e-02 7.34298036e+01] [ 2.62159765e-02 -7.24547310e-05 9.99656300e-01 3.28070764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.92, Y:73.46, Z:3.28 [[ 4.63327306e-01 -8.86105120e-01 -1.20633243e-02 2.06920523e+02] [ 8.85810880e-01 4.63484309e-01 -2.28337641e-02 7.34556495e+01] [ 2.58242768e-02 -1.06317488e-04 9.99666492e-01 3.28234309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.480385723 meters Centerline goodness [0,1] 0.9999570778607606 Centerline is valid? [True, True] Translation: X:206.93, Y:73.48, Z:3.28 [[ 4.60227599e-01 -8.87723309e-01 -1.17423858e-02 2.06931437e+02] [ 8.87444690e-01 4.60377337e-01 -2.22402661e-02 7.34807622e+01] [ 2.51491309e-02 -1.85133664e-04 9.99683693e-01 3.28141576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.510385723 meters Centerline goodness [0,1] 0.999849552957359 Centerline is valid? [True, True] Translation: X:206.94, Y:73.51, Z:3.28 [[ 4.58153214e-01 -8.88789972e-01 -1.21662855e-02 2.06943822e+02] [ 8.88490877e-01 4.58314658e-01 -2.30572281e-02 7.35070577e+01] [ 2.60690201e-02 -2.45890540e-04 9.99660115e-01 3.28063818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.96, Y:73.53, Z:3.28 [[ 4.56126097e-01 -8.89826829e-01 -1.25378565e-02 2.06955826e+02] [ 8.89509256e-01 4.56298278e-01 -2.37731988e-02 7.35324690e+01] [ 2.68750324e-02 -3.08963013e-04 9.99638753e-01 3.28376481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.57038572300002 meters Centerline goodness [0,1] 0.9997416410101837 Centerline is valid? [True, True] Translation: X:206.97, Y:73.56, Z:3.28 [[ 4.53160465e-01 -8.91336097e-01 -1.28668076e-02 2.06969172e+02] [ 8.91001933e-01 4.53342915e-01 -2.44081168e-02 7.35578776e+01] [ 2.75889117e-02 -4.03556862e-04 9.99619272e-01 3.28034543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.60038572300002 meters Centerline goodness [0,1] 0.9998926969547396 Centerline is valid? [True, True] Translation: X:206.98, Y:73.58, Z:3.28 [[ 4.51730090e-01 -8.92067427e-01 -1.24752241e-02 2.06981525e+02] [ 8.91753182e-01 4.51902116e-01 -2.36799326e-02 7.35828345e+01] [ 2.67616767e-02 -4.27882686e-04 9.99641751e-01 3.28322457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63038572300002 meters Centerline goodness [0,1] 0.9999571146753581 Centerline is valid? [True, True] Translation: X:206.99, Y:73.61, Z:3.29 [[ 4.50895938e-01 -8.92491946e-01 -1.22873679e-02 2.06993363e+02] [ 8.92186937e-01 4.51063113e-01 -2.33353328e-02 7.36068209e+01] [ 2.63689750e-02 -4.40822419e-04 9.99652181e-01 3.28556975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.660385723 meters Centerline goodness [0,1] 0.9999571146753581 Centerline is valid? [True, True] Translation: X:207.01, Y:73.63, Z:3.29 [[ 4.50653768e-01 -8.92614313e-01 -1.22829346e-02 2.07006152e+02] [ 8.92309285e-01 4.50820910e-01 -2.33376663e-02 7.36312548e+01] [ 2.63689387e-02 -4.42969366e-04 9.99652181e-01 3.28598776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.02, Y:73.66, Z:3.29 [[ 4.47549472e-01 -8.94182114e-01 -1.17395539e-02 2.07016056e+02] [ 8.93903671e-01 4.47703129e-01 -2.23189574e-02 7.36586264e+01] [ 2.52130475e-02 -5.05192672e-04 9.99681973e-01 3.28659897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.720385723 meters Centerline goodness [0,1] 0.9998713688498231 Centerline is valid? [True, True] Translation: X:207.03, Y:73.68, Z:3.28 [[ 4.45609071e-01 -8.95148195e-01 -1.19275034e-02 2.07028456e+02] [ 8.94860839e-01 4.45768316e-01 -2.26866988e-02 7.36831211e+01] [ 2.56248605e-02 -5.64056883e-04 9.99671470e-01 3.28433762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.750385723 meters Centerline goodness [0,1] 0.9999356043531458 Centerline is valid? [True, True] Translation: X:207.04, Y:73.71, Z:3.28 [[ 4.44747951e-01 -8.95573233e-01 -1.21591509e-02 2.07041181e+02] [ 8.95274595e-01 4.44913731e-01 -2.31337588e-02 7.37078941e+01] [ 2.61277484e-02 -5.97087128e-04 9.99658434e-01 3.28435477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.780385723 meters Centerline goodness [0,1] 0.9998285212097828 Centerline is valid? [True, True] Translation: X:207.05, Y:73.73, Z:3.28 [[ 4.43497898e-01 -8.96182248e-01 -1.29225871e-02 2.07052194e+02] [ 8.95844952e-01 4.43685622e-01 -2.45945141e-02 7.37342235e+01] [ 2.77747331e-02 -6.69019129e-04 9.99613984e-01 3.28279753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.810385723 meters Centerline goodness [0,1] 0.99993564855531 Centerline is valid? [True, True] Translation: X:207.06, Y:73.76, Z:3.28 [[ 4.43893699e-01 -8.95985786e-01 -1.29559230e-02 2.07063856e+02] [ 8.95646363e-01 4.44082249e-01 -2.46687566e-02 7.37586979e+01] [ 2.78563507e-02 -6.53619744e-04 9.99611723e-01 3.28455757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.07, Y:73.79, Z:3.29 [[ 4.44288533e-01 -8.95794207e-01 -1.26664385e-02 2.07073762e+02] [ 8.95469324e-01 4.44468620e-01 -2.41316209e-02 7.37856026e+01] [ 2.72468007e-02 -6.21004704e-04 9.99628544e-01 3.28654018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.870385723 meters Centerline goodness [0,1] 0.9998930801471217 Centerline is valid? [True, True] Translation: X:207.08, Y:73.81, Z:3.28 [[ 4.43521590e-01 -8.96175210e-01 -1.25933609e-02 2.07084989e+02] [ 8.95853819e-01 4.43699889e-01 -2.40071384e-02 7.38104385e+01] [ 2.71022751e-02 -6.34126260e-04 9.99632465e-01 3.28407506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.10, Y:73.84, Z:3.29 [[ 4.44151651e-01 -8.95868145e-01 -1.22301856e-02 2.07096164e+02] [ 8.95564546e-01 4.44319611e-01 -2.33286886e-02 7.38362477e+01] [ 2.63335402e-02 -5.91445036e-04 9.99653037e-01 3.28740015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.930385723 meters Centerline goodness [0,1] 0.9998292240367168 Centerline is valid? [True, True] Translation: X:207.11, Y:73.86, Z:3.29 [[ 4.43082554e-01 -8.96394109e-01 -1.24680220e-02 2.07108716e+02] [ 8.96078472e-01 4.43257493e-01 -2.37942768e-02 7.38614784e+01] [ 2.68555937e-02 -6.29497144e-04 9.99639125e-01 3.28542958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.960385723 meters Centerline goodness [0,1] 0.9998934310925445 Centerline is valid? [True, True] Translation: X:207.12, Y:73.89, Z:3.29 [[ 4.42637939e-01 -8.96613925e-01 -1.24548676e-02 2.07119130e+02] [ 8.96298739e-01 4.42812673e-01 -2.37804048e-02 7.38876002e+01] [ 2.68370153e-02 -6.37172762e-04 9.99639619e-01 3.28816200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.13, Y:73.91, Z:3.29 [[ 4.42514575e-01 -8.96675651e-01 -1.23946517e-02 2.07130662e+02] [ 8.96363105e-01 4.42687676e-01 -2.36813161e-02 7.39133397e+01] [ 2.67214191e-02 -6.30780894e-04 9.99642720e-01 3.29092837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.020385723 meters Centerline goodness [0,1] 0.9999575659848935 Centerline is valid? [True, True] Translation: X:207.14, Y:73.94, Z:3.29 [[ 4.41489001e-01 -8.97168765e-01 -1.32539807e-02 2.07142245e+02] [ 8.96811110e-01 4.41687353e-01 -2.53399867e-02 7.39396110e+01] [ 2.85883603e-02 -6.98991707e-04 9.99591025e-01 3.29068237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.16, Y:73.96, Z:3.29 [[ 4.41225073e-01 -8.97296061e-01 -1.34243703e-02 2.07156312e+02] [ 8.96928859e-01 4.41428673e-01 -2.56777823e-02 7.39636406e+01] [ 2.89664749e-02 -7.11023791e-04 9.99580131e-01 3.29143139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.17, Y:73.99, Z:3.29 [[ 4.39507933e-01 -8.98148689e-01 -1.27165198e-02 2.07168065e+02] [ 8.97819265e-01 4.39691268e-01 -2.43342496e-02 7.39901191e+01] [ 2.74471170e-02 -7.22040744e-04 9.99622996e-01 3.29398790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.18, Y:74.02, Z:3.30 [[ 4.38238230e-01 -8.98775273e-01 -1.22581510e-02 2.07180687e+02] [ 8.98469057e-01 4.38409031e-01 -2.34707451e-02 7.40164035e+01] [ 2.64690094e-02 -7.27791632e-04 9.99649369e-01 3.29521906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.19, Y:74.04, Z:3.30 [[ 4.37191091e-01 -8.99288865e-01 -1.19786178e-02 2.07193496e+02] [ 8.98996302e-01 4.37354543e-01 -2.29489287e-02 7.40417986e+01] [ 2.58766190e-02 -7.35665946e-04 9.99664874e-01 3.29606267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.170385723 meters Centerline goodness [0,1] 0.9998731822793372 Centerline is valid? [True, True] Translation: X:207.21, Y:74.07, Z:3.29 [[ 4.35441103e-01 -9.00125823e-01 -1.28276515e-02 2.07206766e+02] [ 8.99790251e-01 4.35629208e-01 -2.45906132e-02 7.40675504e+01] [ 2.77227456e-02 -8.34431984e-04 9.99615303e-01 3.29427057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.200385723 meters Centerline goodness [0,1] 0.9997894603869718 Centerline is valid? [True, True] Translation: X:207.22, Y:74.09, Z:3.30 [[ 4.34896344e-01 -9.00378252e-01 -1.35710831e-02 2.07219816e+02] [ 9.00002303e-01 4.35107121e-01 -2.60316661e-02 7.40935302e+01] [ 2.93432209e-02 -8.92929665e-04 9.99568996e-01 3.29528883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.23, Y:74.12, Z:3.30 [[ 4.35950526e-01 -8.99884202e-01 -1.24724373e-02 2.07233389e+02] [ 8.99566210e-01 4.36128198e-01 -2.39338433e-02 7.41176973e+01] [ 2.69772691e-02 -7.85811587e-04 9.99635738e-01 3.29931419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.260385723 meters Centerline goodness [0,1] 0.999894778930533 Centerline is valid? [True, True] Translation: X:207.25, Y:74.14, Z:3.30 [[ 4.35183497e-01 -9.00248921e-01 -1.29307393e-02 2.07245301e+02] [ 8.99907016e-01 4.35374763e-01 -2.48229515e-02 7.41443753e+01] [ 2.79765528e-02 -8.33924151e-04 9.99608232e-01 3.29886104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.26, Y:74.17, Z:3.30 [[ 4.36617676e-01 -8.99563174e-01 -1.22922932e-02 2.07255614e+02] [ 8.99253572e-01 4.36790042e-01 -2.36108601e-02 7.41710618e+01] [ 2.66086115e-02 -7.44969667e-04 9.99645651e-01 3.30020303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.27, Y:74.20, Z:3.30 [[ 4.36883849e-01 -8.99431931e-01 -1.24380180e-02 2.07265139e+02] [ 8.99114486e-01 4.37060242e-01 -2.39057526e-02 7.41974204e+01] [ 2.69377604e-02 -7.39164965e-04 9.99636839e-01 3.30092425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.28, Y:74.22, Z:3.30 [[ 4.38604161e-01 -8.98590019e-01 -1.27423716e-02 2.07278518e+02] [ 8.98256056e-01 4.38788664e-01 -2.45064374e-02 7.42225760e+01] [ 2.76124483e-02 -6.97287003e-04 9.99618460e-01 3.30189914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.38038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.29, Y:74.25, Z:3.30 [[ 4.39949232e-01 -8.97931462e-01 -1.27970049e-02 2.07292416e+02] [ 8.97593948e-01 4.40134825e-01 -2.46260186e-02 7.42477412e+01] [ 2.77448844e-02 -6.52316181e-04 9.99614824e-01 3.30296622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.30, Y:74.27, Z:3.30 [[ 4.43367457e-01 -8.96246913e-01 -1.29139199e-02 2.07302859e+02] [ 8.95902059e-01 4.43555154e-01 -2.48661535e-02 7.42746500e+01] [ 2.80142491e-02 -5.44764170e-04 9.99607375e-01 3.30363478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.31, Y:74.30, Z:3.30 [[ 4.45750708e-01 -8.95063450e-01 -1.29509210e-02 2.07312189e+02] [ 8.94715685e-01 4.45938565e-01 -2.49527246e-02 7.43020004e+01] [ 2.81095869e-02 -4.64697566e-04 9.99604739e-01 3.30331854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.32, Y:74.33, Z:3.30 [[ 4.48271297e-01 -8.93804580e-01 -1.28925120e-02 2.07322479e+02] [ 8.93459010e-01 4.48456498e-01 -2.48549057e-02 7.43286196e+01] [ 2.79971594e-02 -3.77190172e-04 9.99607932e-01 3.30209668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.33, Y:74.36, Z:3.30 [[ 4.50531358e-01 -8.92671101e-01 -1.26412712e-02 2.07333021e+02] [ 8.92338034e-01 4.50708575e-01 -2.43846984e-02 7.43552340e+01] [ 2.74650449e-02 -2.94215766e-04 9.99622721e-01 3.30189842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.530385723 meters Centerline goodness [0,1] 0.9998738780400648 Centerline is valid? [True, True] Translation: X:207.35, Y:74.38, Z:3.30 [[ 4.52915439e-01 -8.91460845e-01 -1.28517023e-02 2.07346688e+02] [ 8.91115677e-01 4.53097687e-01 -2.48059827e-02 7.43800733e+01] [ 2.79366389e-02 -2.17340872e-04 9.99609672e-01 3.30153785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.36, Y:74.40, Z:3.31 [[ 4.54492400e-01 -8.90668296e-01 -1.21096752e-02 2.07360955e+02] [ 8.90361215e-01 4.54653673e-01 -2.33868417e-02 7.44031860e+01] [ 2.63356268e-02 -1.52843276e-04 9.99653146e-01 3.30537023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.37, Y:74.43, Z:3.31 [[ 4.55209581e-01 -8.90306457e-01 -1.17749546e-02 2.07374596e+02] [ 8.90015694e-01 4.55361831e-01 -2.27523041e-02 7.44288430e+01] [ 2.56183882e-02 -1.22827543e-04 9.99671788e-01 3.30716729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.39, Y:74.45, Z:3.31 [[ 4.55018918e-01 -8.90403471e-01 -1.18085980e-02 2.07385385e+02] [ 8.90110720e-01 4.55172103e-01 -2.28311788e-02 7.44540202e+01] [ 2.57039053e-02 -1.22341424e-04 9.99669593e-01 3.30567242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.40, Y:74.48, Z:3.30 [[ 4.54876655e-01 -8.90472407e-01 -1.20880321e-02 2.07395660e+02] [ 8.90165277e-01 4.55037226e-01 -2.33859383e-02 7.44787603e+01] [ 2.63250373e-02 -1.22629046e-04 9.99653429e-01 3.30369810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.41, Y:74.50, Z:3.30 [[ 4.54651175e-01 -8.90582131e-01 -1.24810692e-02 2.07408135e+02] [ 8.90254322e-01 4.54822440e-01 -2.41617501e-02 7.45038581e+01] [ 2.71946933e-02 -1.26157671e-04 9.99630148e-01 3.30285236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.42, Y:74.53, Z:3.30 [[ 4.54486739e-01 -8.90665544e-01 -1.25176508e-02 2.07422630e+02] [ 8.90335394e-01 4.54659073e-01 -2.42489986e-02 7.45275557e+01] [ 2.72890110e-02 -1.24059251e-04 9.99627578e-01 3.30495162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.740385723 meters Centerline goodness [0,1] 0.9999788140081778 Centerline is valid? [True, True] Translation: X:207.44, Y:74.55, Z:3.31 [[ 4.54654369e-01 -8.90586540e-01 -1.20423904e-02 2.07439760e+02] [ 8.90280663e-01 4.54813810e-01 -2.33396569e-02 7.45498971e+01] [ 2.62630298e-02 -1.09630290e-04 9.99655061e-01 3.30586186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.45, Y:74.58, Z:3.31 [[ 4.54742290e-01 -8.90548558e-01 -1.15202509e-02 2.07452987e+02] [ 8.90268414e-01 4.54888180e-01 -2.23359569e-02 7.45754584e+01] [ 2.51316801e-02 -9.90113425e-05 9.99684145e-01 3.30879540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.47, Y:74.60, Z:3.31 [[ 4.55262766e-01 -8.90290585e-01 -1.08852423e-02 2.07465413e+02] [ 8.90040181e-01 4.55392873e-01 -2.11141567e-02 7.45999318e+01] [ 2.37547966e-02 -7.58136372e-05 9.99717812e-01 3.30897604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.48, Y:74.63, Z:3.31 [[ 4.56484001e-01 -8.89671363e-01 -1.03548013e-02 2.07475046e+02] [ 8.89444468e-01 4.56601428e-01 -2.00916512e-02 7.46251926e+01] [ 2.26029838e-02 -3.85034227e-05 9.99744519e-01 3.30859664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.49, Y:74.65, Z:3.31 [[ 4.57016945e-01 -8.89393707e-01 -1.06933069e-02 2.07486948e+02] [ 8.89151363e-01 4.57142028e-01 -2.07610089e-02 7.46497157e+01] [ 2.33530707e-02 -1.98355375e-05 9.99727280e-01 3.30793711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.890385723 meters Centerline goodness [0,1] 0.9998935785284039 Centerline is valid? [True, True] Translation: X:207.50, Y:74.67, Z:3.31 [[ 4.57173746e-01 -8.89305370e-01 -1.13192330e-02 2.07501025e+02] [ 8.89033429e-01 4.57313852e-01 -2.19909515e-02 7.46749775e+01] [ 2.47331134e-02 -9.49086799e-06 9.99694090e-01 3.30751841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.52, Y:74.70, Z:3.31 [[ 4.58271519e-01 -8.88738087e-01 -1.14815807e-02 2.07517058e+02] [ 8.88457764e-01 4.58415326e-01 -2.23201760e-02 7.46970294e+01] [ 2.51001231e-02 2.78014567e-05 9.99684942e-01 3.30973022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.53, Y:74.72, Z:3.31 [[ 4.58361739e-01 -8.88691765e-01 -1.14657395e-02 2.07530943e+02] [ 8.88411853e-01 4.58505121e-01 -2.23032223e-02 7.47205849e+01] [ 2.50777902e-02 3.66448699e-05 9.99685502e-01 3.31010971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.54, Y:74.74, Z:3.31 [[ 4.57919585e-01 -8.88926029e-01 -1.09621365e-02 2.07544657e+02] [ 8.88669919e-01 4.58050776e-01 -2.13368414e-02 7.47448431e+01] [ 2.39880889e-02 2.88366340e-05 9.99712244e-01 3.31106487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.56, Y:74.77, Z:3.31 [[ 4.57308065e-01 -8.89245279e-01 -1.05909341e-02 2.07557904e+02] [ 8.89005990e-01 4.57430688e-01 -2.06280260e-02 7.47700898e+01] [ 2.31879930e-02 1.79588419e-05 9.99731122e-01 3.31118597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.57, Y:74.79, Z:3.31 [[ 4.56885731e-01 -8.89465650e-01 -1.03095659e-02 2.07571085e+02] [ 8.89238674e-01 4.57002033e-01 -2.00928535e-02 7.47936367e+01] [ 2.25833956e-02 1.24733070e-05 9.99744963e-01 3.31136956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.07038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.59, Y:74.82, Z:3.31 [[ 4.55958311e-01 -8.89944034e-01 -1.00813751e-02 2.07585649e+02] [ 8.89726847e-01 4.56069749e-01 -1.96601714e-02 7.48174629e+01] [ 2.20942625e-02 -5.45154477e-06 9.99755892e-01 3.31227775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.10038572300002 meters Centerline goodness [0,1] 0.9998930961493233 Centerline is valid? [True, True] Translation: X:207.60, Y:74.84, Z:3.31 [[ 4.53588517e-01 -8.91147350e-01 -1.06704200e-02 2.07604974e+02] [ 8.90904041e-01 4.53714003e-01 -2.08228837e-02 7.48401290e+01] [ 2.33975766e-02 -6.12993604e-05 9.99726237e-01 3.31181887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.13038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.62, Y:74.86, Z:3.31 [[ 4.53408422e-01 -8.91240759e-01 -1.05219443e-02 2.07620399e+02] [ 8.91003912e-01 4.53530490e-01 -2.05456355e-02 7.48629683e+01] [ 2.30831303e-02 -5.95293305e-05 9.99733547e-01 3.31370529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.160385723 meters Centerline goodness [0,1] 0.9999786013866302 Centerline is valid? [True, True] Translation: X:207.64, Y:74.89, Z:3.31 [[ 4.51959946e-01 -8.91969701e-01 -1.10571409e-02 2.07636617e+02] [ 8.91708027e-01 4.52095171e-01 -2.16043970e-02 7.48859144e+01] [ 2.42693476e-02 -9.54192338e-05 9.99705451e-01 3.31291151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.65, Y:74.91, Z:3.31 [[ 4.51487247e-01 -8.92208192e-01 -1.11268769e-02 2.07650318e+02] [ 8.91942958e-01 4.51624325e-01 -2.17538133e-02 7.49091122e+01] [ 2.44340987e-02 -1.02970233e-04 9.99701438e-01 3.31211666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.66, Y:74.93, Z:3.31 [[ 4.50376037e-01 -8.92772625e-01 -1.08842176e-02 2.07663790e+02] [ 8.92518681e-01 4.50507519e-01 -2.12926961e-02 7.49337099e+01] [ 2.39129581e-02 -1.24647416e-04 9.99714037e-01 3.31348698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.68, Y:74.96, Z:3.31 [[ 4.48344117e-01 -8.93797307e-01 -1.06736581e-02 2.07680178e+02] [ 8.93553065e-01 4.48471120e-01 -2.08943795e-02 7.49556385e+01] [ 2.34621675e-02 -1.69607825e-04 9.99724711e-01 3.31363146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.280385723 meters Centerline goodness [0,1] 0.9999358069071768 Centerline is valid? [True, True] Translation: X:207.70, Y:74.98, Z:3.31 [[ 4.46733024e-01 -8.94602610e-01 -1.07599198e-02 2.07695211e+02] [ 8.94354320e-01 4.46862538e-01 -2.10766009e-02 7.49794212e+01] [ 2.36633873e-02 -2.07567086e-04 9.99719961e-01 3.31281899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.71, Y:75.00, Z:3.31 [[ 4.44737889e-01 -8.95592255e-01 -1.10780876e-02 2.07713048e+02] [ 8.95329077e-01 4.44875763e-01 -2.17117281e-02 7.50012090e+01] [ 2.43732282e-02 -2.62505812e-04 9.99702894e-01 3.31377044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.73, Y:75.02, Z:3.31 [[ 4.43294173e-01 -8.96309802e-01 -1.09093740e-02 2.07728444e+02] [ 8.96054567e-01 4.43428294e-01 -2.13906899e-02 7.50248021e+01] [ 2.40102101e-02 -2.93026190e-04 9.99711670e-01 3.31477703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.370385723 meters Centerline goodness [0,1] 0.9999571422448892 Centerline is valid? [True, True] Translation: X:207.74, Y:75.05, Z:3.31 [[ 4.41714866e-01 -8.97092134e-01 -1.06620619e-02 2.07743426e+02] [ 8.96848258e-01 4.41843410e-01 -2.09189632e-02 7.50485595e+01] [ 2.34771991e-02 -3.22034635e-04 9.99724321e-01 3.31486231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.400385723 meters Centerline goodness [0,1] 0.9999355365507757 Centerline is valid? [True, True] Translation: X:207.76, Y:75.07, Z:3.32 [[ 4.38949669e-01 -8.98454670e-01 -1.01190236e-02 2.07758692e+02] [ 8.98235099e-01 4.39066134e-01 -1.98654840e-02 7.50733467e+01] [ 2.22911574e-02 -3.69314575e-04 9.99751453e-01 3.31648601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.430385723 meters Centerline goodness [0,1] 0.9998930687140444 Centerline is valid? [True, True] Translation: X:207.77, Y:75.10, Z:3.32 [[ 4.38028577e-01 -8.98904401e-01 -1.00917783e-02 2.07771908e+02] [ 8.98685858e-01 4.38144645e-01 -1.98242232e-02 7.50980062e+01] [ 2.22417401e-02 -3.85762185e-04 9.99752547e-01 3.31593164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.460385723 meters Centerline goodness [0,1] 0.9999569994194921 Centerline is valid? [True, True] Translation: X:207.79, Y:75.12, Z:3.32 [[ 4.37602826e-01 -8.99113040e-01 -9.97535591e-03 2.07785103e+02] [ 8.98899278e-01 4.37716337e-01 -1.96085567e-02 7.51228212e+01] [ 2.19966853e-02 -3.86080409e-04 9.99757969e-01 3.31662019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.80, Y:75.15, Z:3.32 [[ 4.38062917e-01 -8.98889941e-01 -9.88704809e-03 2.07798933e+02] [ 8.98679619e-01 4.38174325e-01 -1.94474577e-02 7.51465328e+01] [ 2.18133748e-02 -3.66078534e-04 9.99761993e-01 3.31734011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.520385723 meters Centerline goodness [0,1] 0.9998924869909259 Centerline is valid? [True, True] Translation: X:207.81, Y:75.17, Z:3.32 [[ 4.37767314e-01 -8.99037621e-01 -9.54640259e-03 2.07811813e+02] [ 8.98841356e-01 4.37871247e-01 -1.87879835e-02 7.51699081e+01] [ 2.10711992e-02 -3.55936380e-04 9.99777914e-01 3.31614987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.550385723 meters Centerline goodness [0,1] 0.9999142348678145 Centerline is valid? [True, True] Translation: X:207.82, Y:75.19, Z:3.32 [[ 4.37672698e-01 -8.99086576e-01 -9.27029919e-03 2.07824858e+02] [ 8.98901285e-01 4.37770729e-01 -1.82556583e-02 7.51945520e+01] [ 2.04716829e-02 -3.43080630e-04 9.99790374e-01 3.31739969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.580385723 meters Centerline goodness [0,1] 0.9999142348678145 Centerline is valid? [True, True] Translation: X:207.84, Y:75.22, Z:3.32 [[ 4.37430837e-01 -8.99204323e-01 -9.26538232e-03 2.07837279e+02] [ 8.99019006e-01 4.37528819e-01 -1.82581536e-02 7.52191757e+01] [ 2.04716825e-02 -3.43075370e-04 9.99790374e-01 3.31781694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.610385723 meters Centerline goodness [0,1] 0.9998709288818138 Centerline is valid? [True, True] Translation: X:207.85, Y:75.24, Z:3.32 [[ 4.36939726e-01 -8.99446569e-01 -8.91879317e-03 2.07850597e+02] [ 8.99274683e-01 4.37030613e-01 -1.75865903e-02 7.52441825e+01] [ 1.97159840e-02 -3.36164936e-04 9.99805565e-01 3.31841482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.86, Y:75.27, Z:3.32 [[ 4.36495462e-01 -8.99666182e-01 -8.51315556e-03 2.07863849e+02] [ 8.99509413e-01 4.36578350e-01 -1.67976279e-02 7.52692810e+01] [ 1.88289172e-02 -3.25575204e-04 9.99822667e-01 3.32096389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.88, Y:75.29, Z:3.32 [[ 4.35447831e-01 -9.00176508e-01 -8.21223229e-03 2.07876613e+02] [ 9.00030529e-01 4.35525137e-01 -1.62142403e-02 7.52929167e+01] [ 1.81723118e-02 -3.30803991e-04 9.99834815e-01 3.32158891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.89, Y:75.32, Z:3.32 [[ 4.34061288e-01 -9.00849599e-01 -7.79736828e-03 2.07890742e+02] [ 9.00717954e-01 4.34131187e-01 -1.54038963e-02 7.53179263e+01] [ 1.72616745e-02 -3.36994555e-04 9.99850949e-01 3.32227714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.730385723 meters Centerline goodness [0,1] 0.9999570123589469 Centerline is valid? [True, True] Translation: X:207.90, Y:75.34, Z:3.32 [[ 4.33825137e-01 -9.00961325e-01 -8.02754755e-03 2.07904138e+02] [ 9.00821641e-01 4.33899263e-01 -1.58682497e-02 7.53420598e+01] [ 1.77798262e-02 -3.47342964e-04 9.99841866e-01 3.32277196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.92, Y:75.37, Z:3.32 [[ 4.35045299e-01 -9.00371528e-01 -8.16700138e-03 2.07917110e+02] [ 9.00226656e-01 4.35121830e-01 -1.61542753e-02 7.53663340e+01] [ 1.80984901e-02 -3.24310797e-04 9.99836156e-01 3.32332139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.790385723 meters Centerline goodness [0,1] 0.9999784110535406 Centerline is valid? [True, True] Translation: X:207.93, Y:75.39, Z:3.32 [[ 4.36062566e-01 -8.99879800e-01 -8.11071404e-03 2.07927905e+02] [ 8.99736687e-01 4.36137887e-01 -1.60511089e-02 7.53929595e+01] [ 1.79814583e-02 -2.98219246e-04 9.99838276e-01 3.32346795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.82038572300002 meters Centerline goodness [0,1] 0.9999354422207876 Centerline is valid? [True, True] Translation: X:207.94, Y:75.42, Z:3.32 [[ 4.37282197e-01 -8.99287222e-01 -8.17146818e-03 2.07939408e+02] [ 8.99141669e-01 4.37358456e-01 -1.61814807e-02 7.54181631e+01] [ 1.81256595e-02 -2.71434098e-04 9.99835680e-01 3.32274940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.85038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.95, Y:75.44, Z:3.32 [[ 4.39030096e-01 -8.98438527e-01 -7.79667360e-03 2.07950797e+02] [ 8.98305773e-01 4.39099264e-01 -1.54458629e-02 7.54425884e+01] [ 1.73006720e-02 -2.22598244e-04 9.99850307e-01 3.32417866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.88038572300002 meters Centerline goodness [0,1] 0.9998923481031736 Centerline is valid? [True, True] Translation: X:207.96, Y:75.47, Z:3.32 [[ 4.41540893e-01 -8.97207463e-01 -7.77227792e-03 2.07961352e+02] [ 8.97075220e-01 4.41609261e-01 -1.54048729e-02 7.54671885e+01] [ 1.72536768e-02 -1.70436601e-04 9.99851130e-01 3.32372886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.910385723 meters Centerline goodness [0,1] 0.9998060804550646 Centerline is valid? [True, True] Translation: X:207.97, Y:75.49, Z:3.32 [[ 4.41897364e-01 -8.97032442e-01 -7.71478161e-03 2.07973448e+02] [ 8.96901994e-01 4.41964674e-01 -1.52983646e-02 7.54922127e+01] [ 1.71327903e-02 -1.59096023e-04 9.99853210e-01 3.32119564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.940385723 meters Centerline goodness [0,1] 0.9999784021943371 Centerline is valid? [True, True] Translation: X:207.98, Y:75.52, Z:3.32 [[ 4.42781833e-01 -8.96593436e-01 -8.02867434e-03 2.07984292e+02] [ 8.96451896e-01 4.42854593e-01 -1.59313508e-02 7.55183083e+01] [ 1.78394799e-02 -1.43207626e-04 9.99840854e-01 3.32342047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.970385723 meters Centerline goodness [0,1] 0.9998738117270969 Centerline is valid? [True, True] Translation: X:208.00, Y:75.54, Z:3.32 [[ 4.42107658e-01 -8.96922482e-01 -8.41901808e-03 2.07997392e+02] [ 8.96766685e-01 4.42187784e-01 -1.67175848e-02 7.55415704e+01] [ 1.87171646e-02 -1.58922649e-04 9.99824806e-01 3.32146631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.000385723 meters Centerline goodness [0,1] 0.9998492061782382 Centerline is valid? [True, True] Translation: X:208.01, Y:75.57, Z:3.32 [[ 4.40560312e-01 -8.97687628e-01 -7.97082912e-03 2.08009384e+02] [ 8.97547935e-01 4.40632376e-01 -1.58370838e-02 7.55655421e+01] [ 1.77289596e-02 -1.77010634e-04 9.99842814e-01 3.32074511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.02, Y:75.59, Z:3.32 [[ 4.39163712e-01 -8.98371007e-01 -8.04784907e-03 2.08023345e+02] [ 8.98228527e-01 4.39237399e-01 -1.60006243e-02 7.55902703e+01] [ 1.79094133e-02 -2.01914052e-04 9.99839593e-01 3.32374392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.060385723 meters Centerline goodness [0,1] 0.9999351883857587 Centerline is valid? [True, True] Translation: X:208.04, Y:75.62, Z:3.32 [[ 4.37364026e-01 -8.99248892e-01 -8.00869599e-03 2.08038182e+02] [ 8.99107769e-01 4.37437283e-01 -1.59324670e-02 7.56151087e+01] [ 1.78305555e-02 -2.32392875e-04 9.99840996e-01 3.32245152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.05, Y:75.64, Z:3.33 [[ 4.36199932e-01 -8.99812000e-01 -8.24521576e-03 2.08049739e+02] [ 8.99662333e-01 4.36277776e-01 -1.64130651e-02 7.56407202e+01] [ 1.83658773e-02 -2.58532184e-04 9.99831300e-01 3.32567769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.06, Y:75.66, Z:3.33 [[ 4.34109275e-01 -9.00821837e-01 -8.31592187e-03 2.08064545e+02] [ 9.00669588e-01 4.34188816e-01 -1.65639692e-02 7.56641213e+01] [ 1.85318654e-02 -2.99325252e-04 9.99828225e-01 3.32610380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.150385723 meters Centerline goodness [0,1] 0.9998483371249052 Centerline is valid? [True, True] Translation: X:208.08, Y:75.69, Z:3.32 [[ 4.32769621e-01 -9.01469869e-01 -7.90765687e-03 2.08081792e+02] [ 9.01332220e-01 4.32841750e-01 -1.57559225e-02 7.56865036e+01] [ 1.76262534e-02 -3.08741294e-04 9.99844598e-01 3.32261950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.180385723 meters Centerline goodness [0,1] 0.9998054853141413 Centerline is valid? [True, True] Translation: X:208.09, Y:75.71, Z:3.32 [[ 4.31093388e-01 -9.02274488e-01 -7.69670310e-03 2.08090895e+02] [ 9.02144126e-01 4.31161964e-01 -1.53407144e-02 7.57146687e+01] [ 1.71600609e-02 -3.30254930e-04 9.99852701e-01 3.32290476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.10, Y:75.74, Z:3.33 [[ 4.30111580e-01 -9.02745042e-01 -7.44432003e-03 2.08102583e+02] [ 9.02623018e-01 4.30175868e-01 -1.48462296e-02 7.57397281e+01] [ 1.66047270e-02 -3.33879321e-04 9.99862076e-01 3.32619976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.240385723 meters Centerline goodness [0,1] 0.999848327266424 Centerline is valid? [True, True] Translation: X:208.12, Y:75.76, Z:3.32 [[ 4.29885002e-01 -9.02851664e-01 -7.59990033e-03 2.08115599e+02] [ 9.02724342e-01 4.29952041e-01 -1.51659181e-02 7.57646038e+01] [ 1.69601670e-02 -3.41014297e-04 9.99856108e-01 3.32379484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.270385723 meters Centerline goodness [0,1] 0.9998480902777778 Centerline is valid? [True, True] Translation: X:208.13, Y:75.79, Z:3.33 [[ 4.31097728e-01 -9.02272149e-01 -7.72773930e-03 2.08129492e+02] [ 9.02140238e-01 4.31166867e-01 -1.54312417e-02 7.57880213e+01] [ 1.72551247e-02 -3.19131351e-04 9.99851068e-01 3.32522264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.300385723 meters Centerline goodness [0,1] 0.9998923179635173 Centerline is valid? [True, True] Translation: X:208.14, Y:75.81, Z:3.33 [[ 4.31842353e-01 -9.01915107e-01 -7.83081013e-03 2.08142130e+02] [ 9.01779461e-01 4.31913239e-01 -1.56447239e-02 7.58124331e+01] [ 1.74924434e-02 -3.05609351e-04 9.99846949e-01 3.32601813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.330385723 meters Centerline goodness [0,1] 0.9999567286888793 Centerline is valid? [True, True] Translation: X:208.15, Y:75.84, Z:3.33 [[ 4.33030661e-01 -9.01347919e-01 -7.50840060e-03 2.08152848e+02] [ 9.01223018e-01 4.33095668e-01 -1.50071760e-02 7.58385236e+01] [ 1.67785426e-02 -2.68176095e-04 9.99859194e-01 3.32748078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.360385723 meters Centerline goodness [0,1] 0.9999784617372762 Centerline is valid? [True, True] Translation: X:208.16, Y:75.87, Z:3.33 [[ 4.35485190e-01 -9.00166754e-01 -7.24326231e-03 2.08162100e+02] [ 9.00050210e-01 4.35545372e-01 -1.44861628e-02 7.58667394e+01] [ 1.61947315e-02 -2.10790427e-04 9.99868835e-01 3.32787857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.390385723 meters Centerline goodness [0,1] 0.9999786333917354 Centerline is valid? [True, True] Translation: X:208.17, Y:75.89, Z:3.33 [[ 4.36627382e-01 -8.99611562e-01 -7.45429991e-03 2.08174135e+02] [ 8.99487904e-01 4.36690967e-01 -1.49167751e-02 7.58916515e+01] [ 1.66745288e-02 -1.91980151e-04 9.99860952e-01 3.32708039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.18, Y:75.92, Z:3.33 [[ 4.37986375e-01 -8.98950195e-01 -7.51544728e-03 2.08184364e+02] [ 8.98824258e-01 4.38050818e-01 -1.50477022e-02 7.59176050e+01] [ 1.68192827e-02 -1.64377802e-04 9.99858532e-01 3.32742225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.450385723 meters Centerline goodness [0,1] 0.9999785642322779 Centerline is valid? [True, True] Translation: X:208.20, Y:75.94, Z:3.33 [[ 4.39513838e-01 -8.98202107e-01 -7.78215812e-03 2.08197174e+02] [ 8.98066767e-01 4.39582708e-01 -1.55924626e-02 7.59426238e+01] [ 1.74260849e-02 -1.35794517e-04 9.99848145e-01 3.32745904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.21, Y:75.97, Z:3.33 [[ 4.42838548e-01 -8.96564972e-01 -8.07905506e-03 2.08211191e+02] [ 8.96418630e-01 4.42912233e-01 -1.61985800e-02 7.59667209e+01] [ 1.81013917e-02 -6.88598194e-05 9.99836154e-01 3.33023431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.22, Y:75.99, Z:3.33 [[ 4.44342321e-01 -8.95819085e-01 -8.25038963e-03 2.08222715e+02] [ 8.95666140e-01 4.44418909e-01 -1.65529014e-02 7.59911082e+01] [ 1.84950342e-02 -3.44399974e-05 9.99828952e-01 3.33058580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.540385723 meters Centerline goodness [0,1] 0.9999140727374277 Centerline is valid? [True, True] Translation: X:208.23, Y:76.02, Z:3.33 [[ 4.46641641e-01 -8.94676754e-01 -8.04671045e-03 2.08232627e+02] [ 8.94530938e-01 4.46714120e-01 -1.61522853e-02 7.60173409e+01] [ 1.80456533e-02 1.62517599e-05 9.99837164e-01 3.32730389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.57038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.24, Y:76.04, Z:3.33 [[ 4.47753479e-01 -8.94121757e-01 -7.94396689e-03 2.08244350e+02] [ 8.93979359e-01 4.47823941e-01 -1.59569397e-02 7.60429908e+01] [ 1.78249455e-02 4.30328197e-05 9.99841122e-01 3.32946420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.60038572300002 meters Centerline goodness [0,1] 0.9998066345823307 Centerline is valid? [True, True] Translation: X:208.26, Y:76.07, Z:3.33 [[ 4.47748793e-01 -8.94124458e-01 -7.90387167e-03 2.08257322e+02] [ 8.93983301e-01 4.47818547e-01 -1.58873079e-02 7.60679592e+01] [ 1.77447309e-02 4.75936562e-05 9.99842549e-01 3.32609688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.63038572300002 meters Centerline goodness [0,1] 0.9999569531434966 Centerline is valid? [True, True] Translation: X:208.27, Y:76.09, Z:3.33 [[ 4.48415640e-01 -8.93792183e-01 -7.67780264e-03 2.08272633e+02] [ 8.93658760e-01 4.48481360e-01 -1.54431227e-02 7.60908280e+01] [ 1.72462937e-02 6.36021592e-05 9.99851270e-01 3.32939192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.29, Y:76.12, Z:3.33 [[ 4.48403865e-01 -8.93793850e-01 -8.15647930e-03 2.08287124e+02] [ 8.93643072e-01 4.48478037e-01 -1.64168031e-02 7.61151659e+01] [ 1.83312395e-02 7.23767589e-05 9.99831966e-01 3.33077919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.690385723 meters Centerline goodness [0,1] 0.9998919199342873 Centerline is valid? [True, True] Translation: X:208.30, Y:76.14, Z:3.33 [[ 4.48321218e-01 -8.93830242e-01 -8.69388638e-03 2.08301320e+02] [ 8.93658700e-01 4.48405499e-01 -1.75110543e-02 7.61396693e+01] [ 1.95502964e-02 8.12099950e-05 9.99808871e-01 3.33034628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.31, Y:76.16, Z:3.33 [[ 4.47851975e-01 -8.94062933e-01 -8.94881342e-03 2.08314938e+02] [ 8.93880972e-01 4.47941365e-01 -1.80372404e-02 7.61643389e+01] [ 2.01349717e-02 7.88396890e-05 9.99797268e-01 3.33000610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.750385723 meters Centerline goodness [0,1] 0.9998486911786957 Centerline is valid? [True, True] Translation: X:208.33, Y:76.19, Z:3.33 [[ 4.46817216e-01 -8.94576450e-01 -9.34615786e-03 2.08331256e+02] [ 8.94377800e-01 4.46914948e-01 -1.88515216e-02 7.61877678e+01] [ 2.10410649e-02 6.41882860e-05 9.99778610e-01 3.32715075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.34, Y:76.21, Z:3.33 [[ 4.47105010e-01 -8.94437795e-01 -8.83967347e-03 2.08344690e+02] [ 8.94259838e-01 4.47192380e-01 -1.78414465e-02 7.62107167e+01] [ 1.99110987e-02 7.20351556e-05 9.99801752e-01 3.33149545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.810385723 meters Centerline goodness [0,1] 0.999978454776576 Centerline is valid? [True, True] Translation: X:208.36, Y:76.23, Z:3.33 [[ 4.47173048e-01 -8.94410298e-01 -8.15379108e-03 2.08359788e+02] [ 8.94258704e-01 4.47247375e-01 -1.64668256e-02 7.62340534e+01] [ 1.83748600e-02 7.19219340e-05 9.99831165e-01 3.33295415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.37, Y:76.26, Z:3.33 [[ 4.46751143e-01 -8.94624075e-01 -7.82182093e-03 2.08373750e+02] [ 8.94484421e-01 4.46819606e-01 -1.58069688e-02 7.62585911e+01] [ 1.76362377e-02 6.52843845e-05 9.99844467e-01 3.33379085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.39, Y:76.28, Z:3.33 [[ 4.46400559e-01 -8.94799336e-01 -7.79031143e-03 2.08387844e+02] [ 8.94660641e-01 4.46468525e-01 -1.57541658e-02 7.62823950e+01] [ 1.75749460e-02 6.29834000e-05 9.99845547e-01 3.33434008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.41, Y:76.30, Z:3.34 [[ 4.45801668e-01 -8.95096996e-01 -7.88926005e-03 2.08405383e+02] [ 8.94954605e-01 4.45871467e-01 -1.59652564e-02 7.63037901e+01] [ 1.78080490e-02 5.68083412e-05 9.99841423e-01 3.33523310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.42, Y:76.33, Z:3.34 [[ 4.45277652e-01 -8.95359217e-01 -7.72559899e-03 2.08420200e+02] [ 8.95222545e-01 4.45344664e-01 -1.56437020e-02 7.63275090e+01] [ 1.74472871e-02 4.96605173e-05 9.99847783e-01 3.33616411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.44, Y:76.35, Z:3.34 [[ 4.43772342e-01 -8.96104885e-01 -7.88316784e-03 2.08435504e+02] [ 8.95962499e-01 4.43842354e-01 -1.59738924e-02 7.63508879e+01] [ 1.78131668e-02 2.57488703e-05 9.99841333e-01 3.33572997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.45, Y:76.38, Z:3.34 [[ 4.43206577e-01 -8.96383668e-01 -8.01558493e-03 2.08449465e+02] [ 8.96236298e-01 4.43279053e-01 -1.62535755e-02 7.63751360e+01] [ 1.81225805e-02 1.98333918e-05 9.99835772e-01 3.33550701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.020385723 meters Centerline goodness [0,1] 0.9999122345093909 Centerline is valid? [True, True] Translation: X:208.46, Y:76.40, Z:3.33 [[ 4.42219905e-01 -8.96867032e-01 -8.43109861e-03 2.08463522e+02] [ 8.96703837e-01 4.42300269e-01 -1.71085290e-02 7.63983899e+01] [ 1.90731528e-02 5.53358695e-06 9.99818091e-01 3.33345718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.48, Y:76.42, Z:3.34 [[ 4.42727116e-01 -8.96616660e-01 -8.44191502e-03 2.08477631e+02] [ 8.96452791e-01 4.42807593e-01 -1.71414192e-02 7.64215479e+01] [ 1.91074261e-02 2.11927829e-05 9.99817436e-01 3.33617461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.49, Y:76.44, Z:3.34 [[ 4.43021992e-01 -8.96467989e-01 -8.75556649e-03 2.08493755e+02] [ 8.96291454e-01 4.43108502e-01 -1.77900217e-02 7.64449480e+01] [ 1.98278510e-02 3.38314519e-05 9.99803408e-01 3.33638526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.51, Y:76.47, Z:3.34 [[ 4.42858840e-01 -8.96550059e-01 -8.60463262e-03 2.08507351e+02] [ 8.96379348e-01 4.42942424e-01 -1.74949791e-02 7.64697858e+01] [ 1.94964813e-02 3.47911660e-05 9.99809925e-01 3.33669579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.52, Y:76.49, Z:3.34 [[ 4.43370684e-01 -8.96298210e-01 -8.48269159e-03 2.08521538e+02] [ 8.96132032e-01 4.43451820e-01 -1.72587601e-02 7.64940794e+01] [ 1.92306608e-02 5.04166259e-05 9.99815072e-01 3.33680747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.53, Y:76.52, Z:3.34 [[ 4.43615898e-01 -8.96175733e-01 -8.60185299e-03 2.08534487e+02] [ 8.96004587e-01 4.43699282e-01 -1.75136516e-02 7.65188821e+01] [ 1.95119455e-02 6.20345334e-05 9.99809622e-01 3.33649959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.200385723 meters Centerline goodness [0,1] 0.9999114828830025 Centerline is valid? [True, True] Translation: X:208.55, Y:76.54, Z:3.33 [[ 4.43179321e-01 -8.96384528e-01 -9.32028255e-03 2.08546920e+02] [ 8.96183349e-01 4.43277311e-01 -1.89902769e-02 7.65429361e+01] [ 2.11540601e-02 6.34159717e-05 9.99776226e-01 3.33319146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.56, Y:76.57, Z:3.34 [[ 4.44680419e-01 -8.95637956e-01 -9.59049310e-03 2.08561841e+02] [ 8.95424485e-01 4.44783813e-01 -1.95537957e-02 7.65671337e+01] [ 2.17788177e-02 1.07627715e-04 9.99762808e-01 3.33545963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.58, Y:76.59, Z:3.34 [[ 4.45156854e-01 -8.95399572e-01 -9.74587778e-03 2.08575832e+02] [ 8.95178767e-01 4.45263507e-01 -1.98842543e-02 7.65920351e+01] [ 2.21438365e-02 1.27309236e-04 9.99754787e-01 3.33625615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.59, Y:76.62, Z:3.34 [[ 4.45224174e-01 -8.95365942e-01 -9.76032807e-03 2.08589929e+02] [ 8.95144167e-01 4.45331125e-01 -1.99276024e-02 7.66161035e+01] [ 2.21890744e-02 1.35349580e-04 9.99753783e-01 3.33711913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.32038572300002 meters Centerline goodness [0,1] 0.9999555812197397 Centerline is valid? [True, True] Translation: X:208.61, Y:76.64, Z:3.34 [[ 4.44106366e-01 -8.95924227e-01 -9.45067873e-03 2.08606430e+02] [ 8.95716142e-01 4.44206897e-01 -1.93087069e-02 7.66391460e+01] [ 2.14971949e-02 1.09994146e-04 9.99768903e-01 3.33846644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.62, Y:76.66, Z:3.34 [[ 4.42951165e-01 -8.96496820e-01 -9.36572544e-03 2.08619443e+02] [ 8.96292308e-01 4.43050159e-01 -1.91482164e-02 7.66629818e+01] [ 2.13158012e-02 8.72970740e-05 9.99772789e-01 3.33761750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.38038572300002 meters Centerline goodness [0,1] 0.9999776725908726 Centerline is valid? [True, True] Translation: X:208.63, Y:76.69, Z:3.34 [[ 4.41782051e-01 -8.97073473e-01 -9.37041340e-03 2.08632837e+02] [ 8.96868617e-01 4.41881410e-01 -1.91703539e-02 7.66873846e+01] [ 2.13378275e-02 6.50885596e-05 9.99772321e-01 3.33654480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.65, Y:76.71, Z:3.34 [[ 4.41191846e-01 -8.97364408e-01 -9.32062167e-03 2.08647147e+02] [ 8.97161511e-01 4.41290285e-01 -1.90815784e-02 7.67101173e+01] [ 2.12362291e-02 5.65337581e-05 9.99774484e-01 3.33671147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.66, Y:76.73, Z:3.34 [[ 4.40946175e-01 -8.97485202e-01 -9.31571501e-03 2.08659195e+02] [ 8.97282282e-01 4.41044566e-01 -1.90839737e-02 7.67349436e+01] [ 2.12362295e-02 5.61792052e-05 9.99774484e-01 3.33712882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.67, Y:76.76, Z:3.34 [[ 4.40788317e-01 -8.97562346e-01 -9.35387024e-03 2.08673700e+02] [ 8.97357492e-01 4.40887550e-01 -1.91754931e-02 7.67594418e+01] [ 2.13352055e-02 5.85677942e-05 9.99772377e-01 3.33795446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.69, Y:76.78, Z:3.34 [[ 4.41609114e-01 -8.97160641e-01 -9.17471206e-03 2.08688815e+02] [ 8.96963211e-01 4.41704401e-01 -1.88207460e-02 7.67825148e+01] [ 2.09377432e-02 8.20337605e-05 9.99780778e-01 3.34061095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.70, Y:76.81, Z:3.34 [[ 4.43033538e-01 -8.96459234e-01 -9.06229650e-03 2.08699637e+02] [ 8.96266225e-01 4.43126197e-01 -1.86017921e-02 7.68083284e+01] [ 2.06914893e-02 1.18987500e-04 9.99785901e-01 3.34139304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.560385723 meters Centerline goodness [0,1] 0.999977601576849 Centerline is valid? [True, True] Translation: X:208.71, Y:76.83, Z:3.34 [[ 4.44262510e-01 -8.95849865e-01 -9.15645075e-03 2.08709609e+02] [ 8.95652440e-01 4.44356833e-01 -1.88072392e-02 7.68337012e+01] [ 2.09171941e-02 1.54353838e-04 9.99781200e-01 3.34105988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.72, Y:76.86, Z:3.34 [[ 4.45190545e-01 -8.95388036e-01 -9.25441752e-03 2.08720247e+02] [ 8.95185999e-01 4.45286685e-01 -1.90208911e-02 7.68598762e+01] [ 2.11519472e-02 1.83495887e-04 9.99776256e-01 3.34050363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.73, Y:76.89, Z:3.34 [[ 4.46041641e-01 -8.94960550e-01 -9.61600194e-03 2.08728547e+02] [ 8.94742006e-01 4.46145229e-01 -1.97781926e-02 7.68862058e+01] [ 2.19908355e-02 2.18056626e-04 9.99758149e-01 3.33804358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.74, Y:76.91, Z:3.34 [[ 4.45935588e-01 -8.95011166e-01 -9.82157343e-03 2.08740666e+02] [ 8.94782870e-01 4.46043676e-01 -2.02151991e-02 7.69112410e+01] [ 2.24736797e-02 2.26501065e-04 9.99747409e-01 3.33833128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.75, Y:76.94, Z:3.34 [[ 4.44962364e-01 -8.95492676e-01 -1.00678838e-02 2.08754262e+02] [ 8.95252578e-01 4.45076198e-01 -2.07364357e-02 7.69352384e+01] [ 2.30503017e-02 2.13634557e-04 9.99734284e-01 3.33969853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.77, Y:76.96, Z:3.34 [[ 4.43794664e-01 -8.96071617e-01 -1.00971587e-02 2.08766032e+02] [ 8.95829953e-01 4.43909473e-01 -2.08104351e-02 7.69595064e+01] [ 2.31298647e-02 1.90222814e-04 9.99732451e-01 3.34014930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.78, Y:76.99, Z:3.34 [[ 4.42300572e-01 -8.96810313e-01 -1.00730487e-02 2.08778156e+02] [ 8.96569653e-01 4.42415232e-01 -2.07754525e-02 7.69853011e+01] [ 2.30881103e-02 1.57804760e-04 9.99733422e-01 3.33993937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.79, Y:77.01, Z:3.34 [[ 4.39361088e-01 -8.98252811e-01 -1.01844540e-02 2.08790299e+02] [ 8.98006877e-01 4.39479101e-01 -2.10182989e-02 7.70099759e+01] [ 2.33556008e-02 8.89129136e-05 9.99727217e-01 3.33825528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.80, Y:77.03, Z:3.34 [[ 4.37590170e-01 -8.99117486e-01 -1.01286099e-02 2.08804121e+02] [ 8.98874203e-01 4.37707372e-01 -2.09146820e-02 7.70347324e+01] [ 2.32381235e-02 4.77131020e-05 9.99729957e-01 3.33872935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.82, Y:77.06, Z:3.34 [[ 4.35767681e-01 -9.00002206e-01 -1.01271051e-02 2.08817859e+02] [ 8.99758907e-01 4.35885340e-01 -2.09255773e-02 7.70598000e+01] [ 2.32473224e-02 6.73722612e-06 9.99729744e-01 3.33957100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.83, Y:77.08, Z:3.34 [[ 4.32103313e-01 -9.01766845e-01 -1.01629427e-02 2.08831764e+02] [ 9.01521971e-01 4.32222803e-01 -2.10139163e-02 7.70834132e+01] [ 2.33423086e-02 -8.19333083e-05 9.99727528e-01 3.33985213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.84, Y:77.11, Z:3.34 [[ 4.30395424e-01 -9.02583427e-01 -1.01457977e-02 2.08844693e+02] [ 9.02339270e-01 4.30514975e-01 -2.09928263e-02 7.71083373e+01] [ 2.33156949e-02 -1.19735276e-04 9.99728145e-01 3.33970168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.86, Y:77.13, Z:3.34 [[ 4.28770632e-01 -9.03354373e-01 -1.03257820e-02 2.08857088e+02] [ 9.03101356e-01 4.28894919e-01 -2.13796518e-02 7.71330370e+01] [ 2.37420774e-02 -1.58260883e-04 9.99718105e-01 3.33936041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.87, Y:77.16, Z:3.34 [[ 4.27943666e-01 -9.03744063e-01 -1.05302818e-02 2.08868416e+02] [ 9.03480672e-01 4.28073167e-01 -2.18182998e-02 7.71573244e+01] [ 2.42258900e-02 -1.76902925e-04 9.99706494e-01 3.33861536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.88, Y:77.18, Z:3.34 [[ 4.27803069e-01 -9.03804060e-01 -1.10794766e-02 2.08879598e+02] [ 9.03512091e-01 4.27946477e-01 -2.29720232e-02 7.71835781e+01] [ 2.55036308e-02 -1.82939086e-04 9.99674713e-01 3.33787142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.89, Y:77.21, Z:3.34 [[ 4.27672238e-01 -9.03866482e-01 -1.10380873e-02 2.08890305e+02] [ 9.03576327e-01 4.27814622e-01 -2.29013056e-02 7.72091930e+01] [ 2.54219776e-02 -1.79501775e-04 9.99676793e-01 3.34056556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.90, Y:77.23, Z:3.34 [[ 4.27645139e-01 -9.03882236e-01 -1.07952882e-02 2.08901689e+02] [ 9.03604327e-01 4.27781340e-01 -2.24130577e-02 7.72344880e+01] [ 2.48767875e-02 -1.69833995e-04 9.99690510e-01 3.34246567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.07038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.91, Y:77.26, Z:3.34 [[ 4.27902062e-01 -9.03769045e-01 -1.00666853e-02 2.08912024e+02] [ 9.03527051e-01 4.28020433e-01 -2.09135811e-02 7.72592522e+01] [ 2.32097942e-02 -1.46557994e-04 9.99730606e-01 3.34470002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.10038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.92, Y:77.28, Z:3.35 [[ 4.27535901e-01 -9.03944854e-01 -9.83634250e-03 2.08922995e+02] [ 9.03713574e-01 4.27649013e-01 -2.04474363e-02 7.72849866e+01] [ 2.26898570e-02 -1.47223146e-04 9.99742541e-01 3.34589616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.13038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.93, Y:77.31, Z:3.35 [[ 4.26376158e-01 -9.04490681e-01 -9.99902377e-03 2.08934881e+02] [ 9.04251497e-01 4.26493351e-01 -2.08002858e-02 7.73108514e+01] [ 2.30781818e-02 -1.72886261e-04 9.99733648e-01 3.34722841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.160385723 meters Centerline goodness [0,1] 0.9998212330450716 Centerline is valid? [True, True] Translation: X:208.95, Y:77.34, Z:3.34 [[ 4.25240490e-01 -9.05024066e-01 -1.00978302e-02 2.08947174e+02] [ 9.04779938e-01 4.25360320e-01 -2.10205140e-02 7.73362320e+01] [ 2.33192873e-02 -1.97540441e-04 9.99728049e-01 3.34455798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.96, Y:77.36, Z:3.35 [[ 4.25322482e-01 -9.04984910e-01 -1.01537731e-02 2.08959431e+02] [ 9.04737721e-01 4.25443623e-01 -2.11513533e-02 7.73598642e+01] [ 2.34615136e-02 -1.90355468e-04 9.99724723e-01 3.34862323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.220385723 meters Centerline goodness [0,1] 0.9999553631210106 Centerline is valid? [True, True] Translation: X:208.97, Y:77.39, Z:3.35 [[ 4.24411040e-01 -9.05411711e-01 -1.02421961e-02 2.08971611e+02] [ 9.05159986e-01 4.24534556e-01 -2.13497374e-02 7.73856363e+01] [ 2.36784685e-02 -2.09761770e-04 9.99719604e-01 3.34871534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.250385723 meters Centerline goodness [0,1] 0.9998434284691777 Centerline is valid? [True, True] Translation: X:208.98, Y:77.41, Z:3.35 [[ 4.24029406e-01 -9.05589841e-01 -1.03006129e-02 2.08983030e+02] [ 9.05334925e-01 4.24154446e-01 -2.14867449e-02 7.74112856e+01] [ 2.38272286e-02 -2.14492892e-04 9.99716068e-01 3.34695755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.280385723 meters Centerline goodness [0,1] 0.9999330297347977 Centerline is valid? [True, True] Translation: X:208.99, Y:77.44, Z:3.35 [[ 4.24664925e-01 -9.05293204e-01 -1.01939487e-02 2.08994266e+02] [ 9.05043117e-01 4.24787217e-01 -2.12785367e-02 7.74361523e+01] [ 2.35935738e-02 -1.89714924e-04 9.99721615e-01 3.34815317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.310385723 meters Centerline goodness [0,1] 0.9999332309541297 Centerline is valid? [True, True] Translation: X:209.00, Y:77.46, Z:3.35 [[ 4.26263287e-01 -9.04541554e-01 -1.02072443e-02 2.09004057e+02] [ 9.04290275e-01 4.26385457e-01 -2.13199470e-02 7.74627518e+01] [ 2.36369985e-02 -1.42401001e-04 9.99720597e-01 3.34798481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.340385723 meters Centerline goodness [0,1] 0.9998885545525465 Centerline is valid? [True, True] Translation: X:209.02, Y:77.49, Z:3.35 [[ 4.27187744e-01 -9.04105251e-01 -1.02140079e-02 2.09015325e+02] [ 9.03853166e-01 4.27309819e-01 -2.13488188e-02 7.74886103e+01] [ 2.36661251e-02 -1.12009694e-04 9.99719912e-01 3.34786995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.370385723 meters Centerline goodness [0,1] 0.9997991654207484 Centerline is valid? [True, True] Translation: X:209.03, Y:77.51, Z:3.35 [[ 4.27983012e-01 -9.03728382e-01 -1.02739167e-02 2.09026794e+02] [ 9.03472869e-01 4.28106301e-01 -2.14888462e-02 7.75148210e+01] [ 2.38184087e-02 -8.53438448e-05 9.99716298e-01 3.34799522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.400385723 meters Centerline goodness [0,1] 0.9998883504901414 Centerline is valid? [True, True] Translation: X:209.04, Y:77.54, Z:3.35 [[ 4.30169626e-01 -9.02682276e-01 -1.08996517e-02 2.09037555e+02] [ 9.02393940e-01 4.30307691e-01 -2.28137902e-02 7.75412639e+01] [ 2.52838080e-02 -2.19800720e-05 9.99680313e-01 3.34862605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.05, Y:77.57, Z:3.35 [[ 4.31278617e-01 -9.02151727e-01 -1.10007631e-02 2.09048752e+02] [ 9.01857439e-01 4.31418894e-01 -2.30412319e-02 7.75663940e+01] [ 2.55326242e-02 1.60705418e-05 9.99673989e-01 3.35071812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.460385723 meters Centerline goodness [0,1] 0.9998216713849446 Centerline is valid? [True, True] Translation: X:209.06, Y:77.59, Z:3.35 [[ 4.32389291e-01 -9.01617479e-01 -1.11991944e-02 2.09060406e+02] [ 9.01311898e-01 4.32534297e-01 -2.34722141e-02 7.75914221e+01] [ 2.60069942e-02 5.51668703e-05 9.99661759e-01 3.34921427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.490385723 meters Centerline goodness [0,1] 0.9998663131391903 Centerline is valid? [True, True] Translation: X:209.07, Y:77.62, Z:3.35 [[ 4.32835337e-01 -9.01404756e-01 -1.10922165e-02 2.09071967e+02] [ 9.01104529e-01 4.32977437e-01 -2.32629932e-02 7.76164172e+01] [ 2.57720521e-02 7.37989814e-05 9.99667843e-01 3.35090881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.520385723 meters Centerline goodness [0,1] 0.99984403547079 Centerline is valid? [True, True] Translation: X:209.08, Y:77.64, Z:3.35 [[ 4.32445199e-01 -9.01593765e-01 -1.09467977e-02 2.09083345e+02] [ 9.01301033e-01 4.32583724e-01 -2.29732348e-02 7.76421764e+01] [ 2.54479318e-02 6.83050039e-05 9.99676147e-01 3.35081174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.550385723 meters Centerline goodness [0,1] 0.9998445204566656 Centerline is valid? [True, True] Translation: X:209.09, Y:77.67, Z:3.35 [[ 4.31875524e-01 -9.01872190e-01 -1.04921522e-02 2.09094101e+02] [ 9.01602985e-01 4.32002952e-01 -2.20342298e-02 7.76679372e+01] [ 2.44046998e-02 5.62887810e-05 9.99702159e-01 3.35089789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.11, Y:77.69, Z:3.35 [[ 4.31275494e-01 -9.02161281e-01 -1.03185219e-02 2.09105437e+02] [ 9.01900632e-01 4.31398912e-01 -2.16847429e-02 7.76934570e+01] [ 2.40145345e-02 4.58167965e-05 9.99711608e-01 3.35463259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.610385723 meters Centerline goodness [0,1] 0.999977802934452 Centerline is valid? [True, True] Translation: X:209.12, Y:77.72, Z:3.35 [[ 4.31180047e-01 -9.02204018e-01 -1.05677407e-02 2.09117853e+02] [ 9.01930255e-01 4.31309526e-01 -2.22240187e-02 7.77179934e+01] [ 2.46085662e-02 5.11883221e-05 9.99697162e-01 3.35492713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.640385723 meters Centerline goodness [0,1] 0.9999332562071728 Centerline is valid? [True, True] Translation: X:209.13, Y:77.74, Z:3.36 [[ 4.30952373e-01 -9.02306210e-01 -1.11155755e-02 2.09131935e+02] [ 9.02002941e-01 4.31095698e-01 -2.33921556e-02 7.77422916e+01] [ 2.58987640e-02 5.46231964e-05 9.99664569e-01 3.35700228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.670385723 meters Centerline goodness [0,1] 0.9998664381274626 Centerline is valid? [True, True] Translation: X:209.14, Y:77.77, Z:3.35 [[ 4.30166825e-01 -9.02676543e-01 -1.14699811e-02 2.09143850e+02] [ 9.02353312e-01 4.30319714e-01 -2.41545898e-02 7.77668501e+01] [ 2.67395406e-02 4.05278182e-05 9.99642434e-01 3.35477974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.15, Y:77.79, Z:3.36 [[ 4.29942777e-01 -9.02780469e-01 -1.16890400e-02 2.09154826e+02] [ 9.02444370e-01 4.30101643e-01 -2.46320284e-02 7.77916648e+01] [ 2.72647895e-02 4.16543218e-05 9.99628246e-01 3.35609162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.16, Y:77.82, Z:3.36 [[ 4.29318291e-01 -9.03071260e-01 -1.21698562e-02 2.09164555e+02] [ 9.02706561e-01 4.29490744e-01 -2.56625181e-02 7.78180854e+01] [ 2.84019231e-02 3.15793837e-05 9.99596584e-01 3.35544706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.760385723 meters Centerline goodness [0,1] 0.9998441327098642 Centerline is valid? [True, True] Translation: X:209.18, Y:77.84, Z:3.35 [[ 4.28712952e-01 -9.03347522e-01 -1.29791489e-02 2.09175790e+02] [ 9.02932246e-01 4.28909377e-01 -2.73880747e-02 7.78428803e+01] [ 3.03078281e-02 2.23303100e-05 9.99540612e-01 3.35186036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.19, Y:77.87, Z:3.36 [[ 4.26954292e-01 -9.04173035e-01 -1.34593594e-02 2.09189760e+02] [ 9.03726274e-01 4.27166386e-01 -2.84200608e-02 7.78665425e+01] [ 3.14460386e-02 -2.95098194e-05 9.99505451e-01 3.35594247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.82038572300002 meters Centerline goodness [0,1] 0.9999776905229342 Centerline is valid? [True, True] Translation: X:209.20, Y:77.89, Z:3.36 [[ 4.25555004e-01 -9.04827168e-01 -1.38106710e-02 2.09203768e+02] [ 9.04356496e-01 4.25779040e-01 -2.91811084e-02 7.78910126e+01] [ 3.22841539e-02 -7.16033415e-05 9.99478728e-01 3.35719369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.85038572300002 meters Centerline goodness [0,1] 0.9997999377584137 Centerline is valid? [True, True] Translation: X:209.22, Y:77.91, Z:3.36 [[ 4.24057724e-01 -9.05525863e-01 -1.40697664e-02 2.09217049e+02] [ 9.05037043e-01 4.24291053e-01 -2.97498403e-02 7.79145068e+01] [ 3.29089258e-02 -1.18010187e-04 9.99458348e-01 3.35602762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.88038572300002 meters Centerline goodness [0,1] 0.9999108297293682 Centerline is valid? [True, True] Translation: X:209.23, Y:77.94, Z:3.36 [[ 4.20903359e-01 -9.07001764e-01 -1.37172213e-02 2.09230663e+02] [ 9.06537253e-01 4.21126765e-01 -2.90250993e-02 7.79396082e+01] [ 3.21025053e-02 -2.18410331e-04 9.99484558e-01 3.35946899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.910385723 meters Centerline goodness [0,1] 0.9998000533191149 Centerline is valid? [True, True] Translation: X:209.24, Y:77.97, Z:3.36 [[ 4.19514320e-01 -9.07645186e-01 -1.37095321e-02 2.09243303e+02] [ 9.07180889e-01 4.19738191e-01 -2.90290499e-02 7.79650534e+01] [ 3.21024915e-02 -2.58923392e-04 9.99484549e-01 3.35959541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.940385723 meters Centerline goodness [0,1] 0.999955294275432 Centerline is valid? [True, True] Translation: X:209.26, Y:77.99, Z:3.36 [[ 4.17718785e-01 -9.08473574e-01 -1.36668107e-02 2.09256094e+02] [ 9.08011945e-01 4.17942182e-01 -2.89592778e-02 7.79890871e+01] [ 3.20206753e-02 -3.12793015e-04 9.99487158e-01 3.36149635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.970385723 meters Centerline goodness [0,1] 0.9998438301764719 Centerline is valid? [True, True] Translation: X:209.27, Y:78.01, Z:3.36 [[ 4.16941171e-01 -9.08827888e-01 -1.38538603e-02 2.09269003e+02] [ 9.08353041e-01 4.17171136e-01 -2.93767867e-02 7.80144153e+01] [ 3.24778737e-02 -3.35804289e-04 9.99472398e-01 3.36115848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.000385723 meters Centerline goodness [0,1] 0.9998657387724048 Centerline is valid? [True, True] Translation: X:209.28, Y:78.04, Z:3.36 [[ 4.16158295e-01 -9.09189783e-01 -1.36459791e-02 2.09281252e+02] [ 9.08728627e-01 4.16381816e-01 -2.89562662e-02 7.80392782e+01] [ 3.20086789e-02 -3.50101503e-04 9.99487530e-01 3.36361056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.29, Y:78.06, Z:3.37 [[ 4.15267876e-01 -9.09604235e-01 -1.31425835e-02 2.09294094e+02] [ 9.09176129e-01 4.15475638e-01 -2.79062669e-02 7.80631821e+01] [ 3.08440818e-02 -3.60347042e-04 9.99524143e-01 3.36557923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.060385723 meters Centerline goodness [0,1] 0.9998655853756889 Centerline is valid? [True, True] Translation: X:209.31, Y:78.09, Z:3.36 [[ 4.14169860e-01 -9.10092725e-01 -1.39484710e-02 2.09306775e+02] [ 9.09610137e-01 4.14404466e-01 -2.96367520e-02 7.80883623e+01] [ 3.27525010e-02 -4.13021215e-04 9.99463408e-01 3.36374681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.090385723 meters Centerline goodness [0,1] 0.9997982696014703 Centerline is valid? [True, True] Translation: X:209.32, Y:78.11, Z:3.36 [[ 4.12436034e-01 -9.10866256e-01 -1.48048160e-02 2.09319638e+02] [ 9.10322324e-01 4.12701369e-01 -3.14777137e-02 7.81131898e+01] [ 3.47819551e-02 -4.94611070e-04 9.99394802e-01 3.36455462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.120385723 meters Centerline goodness [0,1] 0.9998659936570331 Centerline is valid? [True, True] Translation: X:209.33, Y:78.14, Z:3.37 [[ 4.11688940e-01 -9.11205986e-01 -1.46924256e-02 2.09332505e+02] [ 9.10669760e-01 4.11950713e-01 -3.12601782e-02 7.81380685e+01] [ 3.45370167e-02 -5.10478108e-04 9.99403289e-01 3.36667483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.150385723 meters Centerline goodness [0,1] 0.9999101062993011 Centerline is valid? [True, True] Translation: X:209.34, Y:78.16, Z:3.37 [[ 4.10182070e-01 -9.11881411e-01 -1.49319193e-02 2.09344677e+02] [ 9.11327237e-01 4.10453372e-01 -3.17914557e-02 7.81634144e+01] [ 3.51188941e-02 -5.67579646e-04 9.99382980e-01 3.36944193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.36, Y:78.19, Z:3.37 [[ 4.09648305e-01 -9.12123832e-01 -1.47777243e-02 2.09355709e+02] [ 9.11580447e-01 4.09914364e-01 -3.14849577e-02 7.81890161e+01] [ 3.47757817e-02 -5.73325027e-04 9.99394975e-01 3.37199557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.210385723 meters Centerline goodness [0,1] 0.9999551639877149 Centerline is valid? [True, True] Translation: X:209.37, Y:78.21, Z:3.37 [[ 4.09052644e-01 -9.12387161e-01 -1.50200517e-02 2.09367745e+02] [ 9.11825210e-01 4.09327878e-01 -3.20230216e-02 7.82139479e+01] [ 3.53655197e-02 -5.96560163e-04 9.99374266e-01 3.37094769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.240385723 meters Centerline goodness [0,1] 0.9999102495063723 Centerline is valid? [True, True] Translation: X:209.38, Y:78.24, Z:3.37 [[ 4.08421945e-01 -9.12657397e-01 -1.57477101e-02 2.09378704e+02] [ 9.12039029e-01 4.08724925e-01 -3.35967963e-02 7.82402267e+01] [ 3.70988463e-02 -6.40857358e-04 9.99311395e-01 3.37101670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.39, Y:78.27, Z:3.37 [[ 4.08518846e-01 -9.12619034e-01 -1.54547936e-02 2.09389973e+02] [ 9.12022604e-01 4.08810614e-01 -3.29947264e-02 7.82651693e+01] [ 3.64296990e-02 -6.16153520e-04 9.99336028e-01 3.37208316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:78.29, Z:3.37 [[ 4.08333206e-01 -9.12703301e-01 -1.53843020e-02 2.09401594e+02] [ 9.12111518e-01 4.08622454e-01 -3.28674437e-02 7.82906663e+01] [ 3.62845956e-02 -6.11330426e-04 9.99341310e-01 3.37310688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.330385723 meters Centerline goodness [0,1] 0.9998878647199982 Centerline is valid? [True, True] Translation: X:209.41, Y:78.32, Z:3.37 [[ 4.08440870e-01 -9.12644225e-01 -1.60179731e-02 2.09412304e+02] [ 9.12001722e-01 4.08754368e-01 -3.42450792e-02 7.83168730e+01] [ 3.78009903e-02 -6.21329122e-04 9.99285094e-01 3.37446311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.360385723 meters Centerline goodness [0,1] 0.999820892849147 Centerline is valid? [True, True] Translation: X:209.42, Y:78.34, Z:3.38 [[ 4.08345893e-01 -9.12679235e-01 -1.64391687e-02 2.09423789e+02] [ 9.12001616e-01 4.08676175e-01 -3.51686893e-02 7.83438383e+01] [ 3.88160290e-02 -6.31558573e-04 9.99246174e-01 3.37520086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.390385723 meters Centerline goodness [0,1] 0.999820892849147 Centerline is valid? [True, True] Translation: X:209.44, Y:78.37, Z:3.38 [[ 4.08091956e-01 -9.12792975e-01 -1.64298598e-02 2.09435424e+02] [ 9.12115273e-01 4.08422068e-01 -3.51730385e-02 7.83688744e+01] [ 3.88160198e-02 -6.32091940e-04 9.99246174e-01 3.37561845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.420385723 meters Centerline goodness [0,1] 0.9999552672780139 Centerline is valid? [True, True] Translation: X:209.45, Y:78.40, Z:3.38 [[ 4.08247584e-01 -9.12743440e-01 -1.52749271e-02 2.09446678e+02] [ 9.12156895e-01 4.08532842e-01 -3.27218044e-02 7.83954149e+01] [ 3.61069217e-02 -5.74532446e-04 9.99347767e-01 3.37716901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.46, Y:78.42, Z:3.38 [[ 4.07935097e-01 -9.12898276e-01 -1.43420428e-02 2.09456827e+02] [ 9.12380628e-01 4.08186773e-01 -3.07432478e-02 7.84219224e+01] [ 3.39196901e-02 -5.44152253e-04 9.99424414e-01 3.37703037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.480385723 meters Centerline goodness [0,1] 0.9999330461758208 Centerline is valid? [True, True] Translation: X:209.47, Y:78.45, Z:3.38 [[ 4.08233734e-01 -9.12765250e-01 -1.43114078e-02 2.09467785e+02] [ 9.12249053e-01 4.08484178e-01 -3.06975806e-02 7.84471432e+01] [ 3.38656685e-02 -5.23780239e-04 9.99426256e-01 3.37741439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.510385723 meters Centerline goodness [0,1] 0.9999777277890376 Centerline is valid? [True, True] Translation: X:209.48, Y:78.47, Z:3.38 [[ 4.09343555e-01 -9.12276826e-01 -1.37421618e-02 2.09477363e+02] [ 9.11800103e-01 4.09573905e-01 -2.94921772e-02 7.84726009e+01] [ 3.25334606e-02 -4.57671916e-04 9.99470542e-01 3.37800788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.540385723 meters Centerline goodness [0,1] 0.9999778083529359 Centerline is valid? [True, True] Translation: X:209.49, Y:78.50, Z:3.38 [[ 4.10392873e-01 -9.11809197e-01 -1.34788076e-02 2.09487727e+02] [ 9.11349778e-01 4.10613960e-01 -2.89440575e-02 7.84990069e+01] [ 3.19260444e-02 -4.05473404e-04 9.99490152e-01 3.37881327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.57038572300002 meters Centerline goodness [0,1] 0.999778300004434 Centerline is valid? [True, True] Translation: X:209.50, Y:78.53, Z:3.38 [[ 4.11079443e-01 -9.11495584e-01 -1.37656231e-02 2.09497249e+02] [ 9.11015523e-01 4.11309684e-01 -2.95814143e-02 7.85254586e+01] [ 3.26252626e-02 -3.80385041e-04 9.99467582e-01 3.37928193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.60038572300002 meters Centerline goodness [0,1] 0.9999778628826954 Centerline is valid? [True, True] Translation: X:209.51, Y:78.55, Z:3.38 [[ 4.12930265e-01 -9.10675494e-01 -1.25992644e-02 2.09505716e+02] [ 9.10272462e-01 4.13122338e-01 -2.70920507e-02 7.85540409e+01] [ 2.98771042e-02 -2.81635736e-04 9.99553540e-01 3.37949051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.52, Y:78.58, Z:3.38 [[ 4.13001106e-01 -9.10644097e-01 -1.25464800e-02 2.09516636e+02] [ 9.10243895e-01 4.13191547e-01 -2.69962507e-02 7.85800936e+01] [ 2.97680758e-02 -2.70875399e-04 9.99556796e-01 3.37932875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.53, Y:78.61, Z:3.38 [[ 4.12818337e-01 -9.10731798e-01 -1.21906740e-02 2.09528242e+02] [ 9.10353577e-01 4.12998212e-01 -2.62457998e-02 7.86063626e+01] [ 2.89376110e-02 -2.63076241e-04 9.99581185e-01 3.38005402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.690385723 meters Centerline goodness [0,1] 0.9999337426564777 Centerline is valid? [True, True] Translation: X:209.54, Y:78.63, Z:3.38 [[ 4.12448057e-01 -9.10901038e-01 -1.20788512e-02 2.09538691e+02] [ 9.10529399e-01 4.12624802e-01 -2.60189598e-02 7.86317020e+01] [ 2.86847311e-02 -2.66679708e-04 9.99588473e-01 3.38048694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.55, Y:78.66, Z:3.38 [[ 4.12179084e-01 -9.11021471e-01 -1.21771089e-02 2.09548942e+02] [ 9.10643316e-01 4.12358832e-01 -2.62477623e-02 7.86570939e+01] [ 2.89336135e-02 -2.70224193e-04 9.99581299e-01 3.37991566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.56, Y:78.68, Z:3.38 [[ 4.11663084e-01 -9.11257764e-01 -1.19495548e-02 2.09557299e+02] [ 9.10893217e-01 4.11836389e-01 -2.57747237e-02 7.86841587e+01] [ 2.84086786e-02 -2.74266130e-04 9.99596354e-01 3.38004562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.780385723 meters Centerline goodness [0,1] 0.9999118593274867 Centerline is valid? [True, True] Translation: X:209.57, Y:78.71, Z:3.38 [[ 4.10780309e-01 -9.11652891e-01 -1.21878442e-02 2.09568088e+02] [ 9.11273304e-01 4.10960966e-01 -2.63068493e-02 7.87096507e+01] [ 2.89914434e-02 -3.00121364e-04 9.99579615e-01 3.37920200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.58, Y:78.73, Z:3.38 [[ 4.09951904e-01 -9.12033192e-01 -1.16143164e-02 2.09579317e+02] [ 9.11688225e-01 4.10116280e-01 -2.50841989e-02 7.87337418e+01] [ 2.76408423e-02 -3.05320337e-04 9.99617872e-01 3.38068283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.840385723 meters Centerline goodness [0,1] 0.9999779239701532 Centerline is valid? [True, True] Translation: X:209.59, Y:78.76, Z:3.38 [[ 4.08530798e-01 -9.12671609e-01 -1.15378598e-02 2.09591340e+02] [ 9.12330982e-01 4.08693552e-01 -2.49351018e-02 7.87588310e+01] [ 2.74730084e-02 -3.39589976e-04 9.99622488e-01 3.38191673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.61, Y:78.78, Z:3.38 [[ 4.05511027e-01 -9.14022268e-01 -1.11400538e-02 2.09605111e+02] [ 9.13704816e-01 4.05663809e-01 -2.40911429e-02 7.87822192e+01] [ 2.65389578e-02 -4.09496674e-04 9.99647696e-01 3.38294660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.62, Y:78.81, Z:3.38 [[ 4.04056335e-01 -9.14667010e-01 -1.10787413e-02 2.09616695e+02] [ 9.14352876e-01 4.04207947e-01 -2.39740112e-02 7.88084698e+01] [ 2.64063524e-02 -4.43027911e-04 9.99651193e-01 3.38312861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.63, Y:78.84, Z:3.38 [[ 4.03031815e-01 -9.15125204e-01 -1.05459536e-02 2.09625625e+02] [ 9.14840343e-01 4.03169522e-01 -2.28359957e-02 7.88355990e+01] [ 2.51496023e-02 -4.44231011e-04 9.99683600e-01 3.38311688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.64, Y:78.86, Z:3.38 [[ 4.02883327e-01 -9.15191927e-01 -1.04288668e-02 2.09636078e+02] [ 9.14912988e-01 4.03018046e-01 -2.25982008e-02 7.88613248e+01] [ 2.48847125e-02 -4.37067347e-04 9.99690232e-01 3.38403725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.65, Y:78.89, Z:3.39 [[ 4.04223096e-01 -9.14609490e-01 -9.65242109e-03 2.09646882e+02] [ 9.14370093e-01 4.04338158e-01 -2.09281261e-02 7.88866194e+01] [ 2.30439049e-02 -3.66253242e-04 9.99734387e-01 3.38575863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.66, Y:78.91, Z:3.39 [[ 4.04807972e-01 -9.14351905e-01 -9.54455700e-03 2.09657130e+02] [ 9.14117497e-01 4.04920332e-01 -2.07056867e-02 7.89112576e+01] [ 2.27970693e-02 -3.43019496e-04 9.99740054e-01 3.38619274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.67, Y:78.94, Z:3.39 [[ 4.05281846e-01 -9.14143827e-01 -9.36427748e-03 2.09667673e+02] [ 9.13917815e-01 4.05389889e-01 -2.03289232e-02 7.89378037e+01] [ 2.23797431e-02 -3.19236503e-04 9.99749491e-01 3.38670713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.68, Y:78.96, Z:3.39 [[ 4.05692226e-01 -9.13964837e-01 -9.06056935e-03 2.09677578e+02] [ 9.13752916e-01 4.05793284e-01 -1.96829469e-02 7.89645120e+01] [ 2.16662396e-02 -2.93903121e-04 9.99765216e-01 3.38637796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.69, Y:78.99, Z:3.38 [[ 4.06741376e-01 -9.13499262e-01 -8.97502505e-03 2.09685568e+02] [ 9.13290946e-01 4.06840300e-01 -1.95094658e-02 7.89903517e+01] [ 2.14732845e-02 -2.61502136e-04 9.99769388e-01 3.38468450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.70, Y:79.02, Z:3.38 [[ 4.07084102e-01 -9.13344705e-01 -9.16422061e-03 2.09696124e+02] [ 9.13127226e-01 4.07187162e-01 -1.99320107e-02 7.90161731e+01] [ 2.19363494e-02 -2.54094645e-04 9.99759337e-01 3.38427533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.71, Y:79.04, Z:3.38 [[ 4.07510934e-01 -9.13153557e-01 -9.24232192e-03 2.09706856e+02] [ 9.12932001e-01 4.07615657e-01 -2.01155971e-02 7.90422827e+01] [ 2.21359442e-02 -2.40285687e-04 9.99754941e-01 3.38434733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.200385723 meters Centerline goodness [0,1] 0.9999341238471673 Centerline is valid? [True, True] Translation: X:209.72, Y:79.07, Z:3.39 [[ 4.07381758e-01 -9.13213839e-01 -8.97708999e-03 2.09715110e+02] [ 9.13004548e-01 4.07480590e-01 -1.95515939e-02 7.90696760e+01] [ 2.15127760e-02 -2.31161306e-04 9.99768547e-01 3.38548920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.73, Y:79.10, Z:3.39 [[ 4.06479214e-01 -9.13616176e-01 -8.95164606e-03 2.09725492e+02] [ 9.13407868e-01 4.06577695e-01 -1.95101078e-02 7.90952642e+01] [ 2.14642897e-02 -2.46050654e-04 9.99769585e-01 3.38583701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.260385723 meters Centerline goodness [0,1] 0.999934484942456 Centerline is valid? [True, True] Translation: X:209.74, Y:79.12, Z:3.38 [[ 4.05508000e-01 -9.14046828e-01 -9.03648496e-03 2.09738590e+02] [ 9.13834367e-01 4.05608587e-01 -1.97084737e-02 7.91196783e+01] [ 2.16797437e-02 -2.65906779e-04 9.99764931e-01 3.38383423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.75, Y:79.15, Z:3.38 [[ 4.05277392e-01 -9.14150640e-01 -8.87939234e-03 2.09746856e+02] [ 9.13945250e-01 4.05374567e-01 -1.93788457e-02 7.91463543e+01] [ 2.13146640e-02 -2.61470429e-04 9.99772783e-01 3.38493370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.76, Y:79.17, Z:3.38 [[ 4.04423450e-01 -9.14530864e-01 -8.65865592e-03 2.09756621e+02] [ 9.14335373e-01 4.04516040e-01 -1.89102971e-02 7.91725594e+01] [ 2.07966156e-02 -2.69147774e-04 9.99783691e-01 3.38486632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.77, Y:79.20, Z:3.38 [[ 4.03545394e-01 -9.14917890e-01 -8.73900814e-03 2.09767801e+02] [ 9.14718552e-01 4.03639905e-01 -1.90996474e-02 7.91985010e+01] [ 2.10020216e-02 -2.86158130e-04 9.99779392e-01 3.38492567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.38038572300002 meters Centerline goodness [0,1] 0.9999562018220042 Centerline is valid? [True, True] Translation: X:209.78, Y:79.22, Z:3.39 [[ 4.00882020e-01 -9.16093613e-01 -8.13004148e-03 2.09780233e+02] [ 9.15921133e-01 4.00964325e-01 -1.77788930e-02 7.92228939e+01] [ 1.95469870e-02 -3.19238246e-04 9.99808888e-01 3.38569382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.79, Y:79.25, Z:3.39 [[ 3.99028774e-01 -9.16905756e-01 -7.73768356e-03 2.09792211e+02] [ 9.16749572e-01 3.99103645e-01 -1.69263779e-02 7.92493187e+01] [ 1.86080310e-02 -3.39406273e-04 9.99826798e-01 3.38612181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.80, Y:79.27, Z:3.39 [[ 3.96548846e-01 -9.17983736e-01 -7.40765483e-03 2.09803358e+02] [ 9.17840602e-01 3.96617857e-01 -1.62143607e-02 7.92740147e+01] [ 1.78225276e-02 -3.69260339e-04 9.99841098e-01 3.38557500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.470385723 meters Centerline goodness [0,1] 0.999956252597502 Centerline is valid? [True, True] Translation: X:209.81, Y:79.30, Z:3.39 [[ 3.96058866e-01 -9.18198984e-01 -6.92821996e-03 2.09813563e+02] [ 9.18073653e-01 3.96119303e-01 -1.51745232e-02 7.93007060e+01] [ 1.66776334e-02 -3.50611769e-04 9.99860857e-01 3.38580162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.82, Y:79.33, Z:3.39 [[ 3.96247460e-01 -9.18120169e-01 -6.58078750e-03 2.09823998e+02] [ 9.18006925e-01 3.96301968e-01 -1.44234313e-02 7.93254972e+01] [ 1.58504222e-02 -3.25960489e-04 9.99874321e-01 3.38660584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.83, Y:79.35, Z:3.39 [[ 3.97517567e-01 -9.17575100e-01 -5.97665469e-03 2.09832578e+02] [ 9.17481526e-01 3.97562400e-01 -1.31068049e-02 7.93514645e+01] [ 1.44025710e-02 -2.73285078e-04 9.99896240e-01 3.38681680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.560385723 meters Centerline goodness [0,1] 0.9999346262802353 Centerline is valid? [True, True] Translation: X:209.84, Y:79.38, Z:3.39 [[ 3.97898568e-01 -9.17408988e-01 -6.12192945e-03 2.09842763e+02] [ 9.17310687e-01 3.97945568e-01 -1.34324020e-02 7.93768530e+01] [ 1.47592011e-02 -2.70977779e-04 9.99891040e-01 3.38545837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.590385723 meters Centerline goodness [0,1] 0.9999782139822662 Centerline is valid? [True, True] Translation: X:209.85, Y:79.41, Z:3.39 [[ 3.99565135e-01 -9.16683400e-01 -6.26475706e-03 2.09850282e+02] [ 9.16580211e-01 3.99614169e-01 -1.37561604e-02 7.94055291e+01] [ 1.51135295e-02 -2.45670270e-04 9.99885754e-01 3.38564729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.86, Y:79.43, Z:3.39 [[ 4.00230981e-01 -9.16393936e-01 -6.10874527e-03 2.09860080e+02] [ 9.16295666e-01 4.00277534e-01 -1.34219232e-02 7.94322788e+01] [ 1.47449625e-02 -2.25547329e-04 9.99891262e-01 3.38527091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.87, Y:79.46, Z:3.39 [[ 4.01609555e-01 -9.15791028e-01 -6.04626150e-03 2.09871259e+02] [ 9.15694552e-01 4.01655018e-01 -1.32941376e-02 7.94577389e+01] [ 1.46031632e-02 -1.97476031e-04 9.99893349e-01 3.38553632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.680385723 meters Centerline goodness [0,1] 0.9998914671471054 Centerline is valid? [True, True] Translation: X:209.88, Y:79.48, Z:3.39 [[ 4.02447174e-01 -9.15423907e-01 -5.94489845e-03 2.09880417e+02] [ 9.15330469e-01 4.02491041e-01 -1.30803369e-02 7.94845319e+01] [ 1.43668215e-02 -1.77402064e-04 9.99896776e-01 3.38580884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.710385723 meters Centerline goodness [0,1] 0.9998264190244749 Centerline is valid? [True, True] Translation: X:209.89, Y:79.51, Z:3.39 [[ 4.04338307e-01 -9.14592854e-01 -5.51770093e-03 2.09888807e+02] [ 9.14512174e-01 4.04375931e-01 -1.21486625e-02 7.95104322e+01] [ 1.33423054e-02 -1.33835028e-04 9.99910979e-01 3.38537864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.90, Y:79.54, Z:3.38 [[ 4.04353371e-01 -9.14587044e-01 -5.37492757e-03 2.09898197e+02] [ 9.14510406e-01 4.04389072e-01 -1.18403928e-02 7.95366032e+01] [ 1.30026318e-02 -1.27724474e-04 9.99915454e-01 3.38498041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.91, Y:79.56, Z:3.38 [[ 4.04933857e-01 -9.14330761e-01 -5.27550272e-03 2.09906241e+02] [ 9.14256806e-01 4.04968205e-01 -1.16295350e-02 7.95638369e+01] [ 1.27696524e-02 -1.13971813e-04 9.99918458e-01 3.38415851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.92, Y:79.59, Z:3.38 [[ 4.05247629e-01 -9.14192030e-01 -5.22407659e-03 2.09918012e+02] [ 9.14119390e-01 4.05281286e-01 -1.15247444e-02 7.95882998e+01] [ 1.26530499e-02 -1.05054384e-04 9.99919941e-01 3.38486773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.93, Y:79.61, Z:3.39 [[ 4.05657463e-01 -9.14010884e-01 -5.11147056e-03 2.09929735e+02] [ 9.13941241e-01 4.05689655e-01 -1.12833061e-02 7.96136631e+01] [ 1.23867353e-02 -9.44264258e-05 9.99923277e-01 3.38588283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.94, Y:79.64, Z:3.39 [[ 4.06077115e-01 -9.13826095e-01 -4.82119845e-03 2.09939394e+02] [ 9.13764039e-01 4.06105727e-01 -1.06498404e-02 7.96404469e+01] [ 1.16900184e-02 -8.07813008e-05 9.99931666e-01 3.38568968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.95, Y:79.67, Z:3.39 [[ 4.06410204e-01 -9.13677614e-01 -4.89531543e-03 2.09948716e+02] [ 9.13613524e-01 4.06439679e-01 -1.08219909e-02 7.96654471e+01] [ 1.18774613e-02 -7.42588370e-05 9.99929458e-01 3.38515405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.96, Y:79.69, Z:3.38 [[ 4.06789755e-01 -9.13508505e-01 -4.93009995e-03 2.09958812e+02] [ 9.13443405e-01 4.06819623e-01 -1.09059494e-02 7.96920028e+01] [ 1.19683390e-02 -6.69387913e-05 9.99928375e-01 3.38477098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.97, Y:79.72, Z:3.38 [[ 4.07260126e-01 -9.13297264e-01 -5.22479387e-03 2.09970158e+02] [ 9.13224014e-01 4.07293635e-01 -1.15669723e-02 7.97179781e+01] [ 1.26921095e-02 -6.06406195e-05 9.99919450e-01 3.38460076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.980385723 meters Centerline goodness [0,1] 0.9998707592891761 Centerline is valid? [True, True] Translation: X:209.98, Y:79.74, Z:3.38 [[ 4.09136940e-01 -9.12456705e-01 -5.45207029e-03 2.09982834e+02] [ 9.12376746e-01 4.09173264e-01 -1.20795024e-02 7.97431436e+01] [ 1.32528644e-02 -3.21715029e-05 9.99912176e-01 3.38437153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.99, Y:79.77, Z:3.39 [[ 4.10517095e-01 -9.11835810e-01 -5.58302912e-03 2.09993827e+02] [ 9.11751773e-01 4.10555058e-01 -1.23793987e-02 7.97676868e+01] [ 1.35801199e-02 -8.38191264e-06 9.99907786e-01 3.38535684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.00, Y:79.79, Z:3.39 [[ 4.11970494e-01 -9.11180994e-01 -5.43223042e-03 2.10003933e+02] [ 9.11101306e-01 4.12006307e-01 -1.20504591e-02 7.97934050e+01] [ 1.32182625e-02 1.51213363e-05 9.99912635e-01 3.38559015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.07038572300002 meters Centerline goodness [0,1] 0.999913741050634 Centerline is valid? [True, True] Translation: X:210.01, Y:79.82, Z:3.38 [[ 4.15296383e-01 -9.09671172e-01 -5.22233741e-03 2.10011688e+02] [ 9.09597299e-01 4.15329212e-01 -1.15930422e-02 7.98210031e+01] [ 1.27148455e-02 6.43244660e-05 9.99919161e-01 3.38416787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.10038572300002 meters Centerline goodness [0,1] 0.9999783923941228 Centerline is valid? [True, True] Translation: X:210.02, Y:79.85, Z:3.38 [[ 4.16943647e-01 -9.08916443e-01 -5.37547943e-03 2.10022863e+02] [ 9.08837997e-01 4.16978287e-01 -1.19417151e-02 7.98473083e+01] [ 1.30954794e-02 9.35822997e-05 9.99914246e-01 3.38390597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.04, Y:79.87, Z:3.39 [[ 4.19516061e-01 -9.07732779e-01 -5.24181493e-03 2.10036757e+02] [ 9.07657980e-01 4.19548788e-01 -1.16536144e-02 7.98713588e+01] [ 1.27775649e-02 1.31103282e-04 9.99918355e-01 3.38585371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.05, Y:79.90, Z:3.39 [[ 4.19935642e-01 -9.07539882e-01 -5.04168938e-03 2.10049509e+02] [ 9.07470638e-01 4.19965885e-01 -1.12114570e-02 7.98965615e+01] [ 1.22921819e-02 1.32905323e-04 9.99924439e-01 3.38714457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.190385723 meters Centerline goodness [0,1] 0.9999352401511064 Centerline is valid? [True, True] Translation: X:210.06, Y:79.92, Z:3.39 [[ 4.20681280e-01 -9.07196551e-01 -4.65602405e-03 2.10060964e+02] [ 9.07137398e-01 4.20707024e-01 -1.03605462e-02 7.99227612e+01] [ 1.13578738e-02 1.34834289e-04 9.99935488e-01 3.38774198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.220385723 meters Centerline goodness [0,1] 0.9999349325467402 Centerline is valid? [True, True] Translation: X:210.07, Y:79.95, Z:3.39 [[ 4.22034622e-01 -9.06568458e-01 -4.51751110e-03 2.10070662e+02] [ 9.06512656e-01 4.22058773e-01 -1.00596609e-02 7.99479464e+01] [ 1.10264265e-02 1.50344207e-04 9.99939196e-01 3.38747399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.250385723 meters Centerline goodness [0,1] 0.9999349325467402 Centerline is valid? [True, True] Translation: X:210.08, Y:79.97, Z:3.39 [[ 4.21798705e-01 -9.06678256e-01 -4.51580682e-03 2.10081871e+02] [ 9.06622452e-01 4.21822851e-01 -1.00604259e-02 7.99731366e+01] [ 1.10264399e-02 1.49342752e-04 9.99939196e-01 3.38789156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.280385723 meters Centerline goodness [0,1] 0.9999350480644323 Centerline is valid? [True, True] Translation: X:210.10, Y:80.00, Z:3.39 [[ 4.22138543e-01 -9.06519714e-01 -4.58907475e-03 2.10095223e+02] [ 9.06461993e-01 4.22163456e-01 -1.02309219e-02 7.99977857e+01] [ 1.12118720e-02 1.59044609e-04 9.99937132e-01 3.38822621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.11, Y:80.02, Z:3.39 [[ 4.22524536e-01 -9.06338404e-01 -4.86981203e-03 2.10110511e+02] [ 9.06273296e-01 4.22552561e-01 -1.08649235e-02 8.00213401e+01] [ 1.19050490e-02 1.77316157e-04 9.99929117e-01 3.38888269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.340385723 meters Centerline goodness [0,1] 0.999804449852251 Centerline is valid? [True, True] Translation: X:210.13, Y:80.04, Z:3.39 [[ 4.22621326e-01 -9.06293922e-01 -4.74777769e-03 2.10126310e+02] [ 9.06231946e-01 4.22647957e-01 -1.06002345e-02 8.00448520e+01] [ 1.16135666e-02 1.77297337e-04 9.99932545e-01 3.38990931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.370385723 meters Centerline goodness [0,1] 0.999956610404825 Centerline is valid? [True, True] Translation: X:210.14, Y:80.07, Z:3.39 [[ 4.22592900e-01 -9.06308495e-01 -4.48932665e-03 2.10139541e+02] [ 9.06253007e-01 4.22616710e-01 -1.00300964e-02 8.00698273e+01] [ 1.09876260e-02 1.70181725e-04 9.99939620e-01 3.39086438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.400385723 meters Centerline goodness [0,1] 0.9999126923496672 Centerline is valid? [True, True] Translation: X:210.15, Y:80.10, Z:3.39 [[ 4.22364346e-01 -9.06415314e-01 -4.43150367e-03 2.10149991e+02] [ 9.06361171e-01 4.22387560e-01 -9.90840324e-03 8.00951171e+01] [ 1.08529405e-02 1.68413400e-04 9.99941091e-01 3.39196652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.430385723 meters Centerline goodness [0,1] 0.9998906099588694 Centerline is valid? [True, True] Translation: X:210.17, Y:80.12, Z:3.39 [[ 4.21829784e-01 -9.06663736e-01 -4.52801362e-03 2.10165043e+02] [ 9.06607148e-01 4.21854052e-01 -1.01310294e-02 8.01193211e+01] [ 1.10955978e-02 1.68440424e-04 9.99938428e-01 3.39037812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.460385723 meters Centerline goodness [0,1] 0.9999344305291457 Centerline is valid? [True, True] Translation: X:210.18, Y:80.14, Z:3.39 [[ 4.21576684e-01 -9.06778426e-01 -5.09753219e-03 2.10179858e+02] [ 9.06706604e-01 4.21607459e-01 -1.14142731e-02 8.01439640e+01] [ 1.24993742e-02 1.90025320e-04 9.99921862e-01 3.38957116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.490385723 meters Centerline goodness [0,1] 0.9998462552163409 Centerline is valid? [True, True] Translation: X:210.20, Y:80.17, Z:3.39 [[ 4.20743577e-01 -9.07162348e-01 -5.59619064e-03 2.10199132e+02] [ 9.07075682e-01 4.20780745e-01 -1.25408393e-02 8.01662605e+01] [ 1.37313464e-02 2.00309131e-04 9.99905701e-01 3.38938129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.520385723 meters Centerline goodness [0,1] 0.999890001099989 Centerline is valid? [True, True] Translation: X:210.21, Y:80.19, Z:3.39 [[ 4.19777042e-01 -9.07610134e-01 -5.57496135e-03 2.10212489e+02] [ 9.07524038e-01 4.19814018e-01 -1.25024475e-02 8.01894578e+01] [ 1.36877950e-02 1.88828995e-04 9.99906300e-01 3.39087277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.550385723 meters Centerline goodness [0,1] 0.9999560410576521 Centerline is valid? [True, True] Translation: X:210.23, Y:80.21, Z:3.39 [[ 4.18396166e-01 -9.08247859e-01 -5.52046532e-03 2.10229158e+02] [ 9.08163392e-01 4.18432550e-01 -1.23876807e-02 8.02125607e+01] [ 1.35610269e-02 1.69473621e-04 9.99908031e-01 3.39161763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.580385723 meters Centerline goodness [0,1] 0.9999559781651699 Centerline is valid? [True, True] Translation: X:210.24, Y:80.24, Z:3.39 [[ 4.17041268e-01 -9.08872065e-01 -5.30575637e-03 2.10240893e+02] [ 9.08793981e-01 4.17074991e-01 -1.19143514e-02 8.02372875e+01] [ 1.30415195e-02 1.46936766e-04 9.99914945e-01 3.39199289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.610385723 meters Centerline goodness [0,1] 0.9999339410754393 Centerline is valid? [True, True] Translation: X:210.26, Y:80.26, Z:3.39 [[ 4.14705454e-01 -9.09939070e-01 -5.50220292e-03 2.10256222e+02] [ 9.09855101e-01 4.14741936e-01 -1.23620875e-02 8.02608705e+01] [ 1.35307407e-02 1.20417732e-04 9.99908448e-01 3.39021334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.27, Y:80.29, Z:3.39 [[ 4.13371881e-01 -9.10544803e-01 -5.64354227e-03 2.10271199e+02] [ 9.10456394e-01 4.13410389e-01 -1.26887665e-02 8.02850839e+01] [ 1.38867894e-02 1.06980144e-04 9.99903568e-01 3.39021672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.29, Y:80.31, Z:3.39 [[ 4.12254691e-01 -9.11049965e-01 -5.83357020e-03 2.10287440e+02] [ 9.10955412e-01 4.12295951e-01 -1.31257608e-02 8.03082176e+01] [ 1.43633813e-02 9.70340970e-05 9.99896837e-01 3.39094765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.30, Y:80.33, Z:3.39 [[ 4.10737183e-01 -9.11733171e-01 -6.13110398e-03 2.10302987e+02] [ 9.11628640e-01 4.10782932e-01 -1.38059921e-02 8.03307851e+01] [ 1.51059338e-02 8.13443129e-05 9.99885896e-01 3.39198225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.32, Y:80.35, Z:3.39 [[ 4.07709692e-01 -9.13088455e-01 -6.50227439e-03 2.10322628e+02] [ 9.12970894e-01 4.07761537e-01 -1.46517934e-02 8.03528043e+01] [ 1.60297608e-02 3.72909150e-05 9.99871514e-01 3.39288113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.760385723 meters Centerline goodness [0,1] 0.9999331178240999 Centerline is valid? [True, True] Translation: X:210.34, Y:80.38, Z:3.39 [[ 4.05980799e-01 -9.13858000e-01 -6.56864971e-03 2.10335806e+02] [ 9.13737950e-01 4.06033935e-01 -1.48122471e-02 8.03761564e+01] [ 1.62033852e-02 1.14633857e-05 9.99868716e-01 3.39267780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.35, Y:80.40, Z:3.39 [[ 4.02228498e-01 -9.15516698e-01 -6.43516090e-03 2.10351834e+02] [ 9.15401514e-01 4.02279969e-01 -1.45222411e-02 8.03994647e+01] [ 1.58840906e-02 -4.94967965e-05 9.99873839e-01 3.39150608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.82038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.37, Y:80.42, Z:3.39 [[ 4.00105742e-01 -9.16446032e-01 -6.48573326e-03 2.10366346e+02] [ 9.16328983e-01 4.00158297e-01 -1.46469342e-02 8.04241024e+01] [ 1.60184447e-02 -8.27428749e-05 9.99871693e-01 3.39236002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.85038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.38, Y:80.45, Z:3.39 [[ 3.98624616e-01 -9.17092475e-01 -6.30938413e-03 2.10381737e+02] [ 9.16981626e-01 3.98674532e-01 -1.42588346e-02 8.04466820e+01] [ 1.55920607e-02 -1.01666853e-04 9.99878431e-01 3.39376382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.88038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.40, Y:80.47, Z:3.40 [[ 3.96962643e-01 -9.17814312e-01 -6.12770287e-03 2.10399460e+02] [ 9.17709732e-01 3.97009916e-01 -1.38554753e-02 8.04682823e+01] [ 1.51495123e-02 -1.23346463e-04 9.99885232e-01 3.39666450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.910385723 meters Centerline goodness [0,1] 0.9999549620555318 Centerline is valid? [True, True] Translation: X:210.41, Y:80.49, Z:3.40 [[ 3.97016108e-01 -9.17791651e-01 -6.05763631e-03 2.10411369e+02] [ 9.17689296e-01 3.97062301e-01 -1.37071040e-02 8.04941344e+01] [ 1.49855247e-02 -1.17086900e-04 9.99887704e-01 3.39751663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.42, Y:80.52, Z:3.40 [[ 4.00685208e-01 -9.16193876e-01 -6.33616346e-03 2.10418503e+02] [ 9.16081519e-01 4.00735299e-01 -1.43481868e-02 8.05210294e+01] [ 1.56848453e-02 -5.53360330e-05 9.99876984e-01 3.39557420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.43, Y:80.55, Z:3.40 [[ 4.03080204e-01 -9.15140413e-01 -6.66130789e-03 2.10426936e+02] [ 9.15015893e-01 4.03135243e-01 -1.50961060e-02 8.05476373e+01] [ 1.65004647e-02 -1.02610867e-05 9.99863858e-01 3.39500194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.44, Y:80.57, Z:3.39 [[ 4.05823651e-01 -9.13926381e-01 -6.76272285e-03 2.10435688e+02] [ 9.13797683e-01 4.05879993e-01 -1.53370852e-02 8.05739654e+01] [ 1.67618207e-02 4.43914628e-05 9.99859510e-01 3.39484002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.45, Y:80.60, Z:3.40 [[ 4.08098467e-01 -9.12912691e-01 -6.78668124e-03 2.10445545e+02] [ 9.12782754e-01 4.08154885e-01 -1.54024078e-02 8.05999718e+01] [ 1.68310706e-02 9.09334114e-05 9.99858343e-01 3.39602829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.45, Y:80.63, Z:3.40 [[ 4.10867890e-01 -9.11674255e-01 -6.13426263e-03 2.10454709e+02] [ 9.11567825e-01 4.10913659e-01 -1.39307196e-02 8.06256900e+01] [ 1.52209307e-02 1.31888934e-04 9.99884146e-01 3.39876501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.46, Y:80.65, Z:3.40 [[ 4.11086147e-01 -9.11576229e-01 -6.07936775e-03 2.10464595e+02] [ 9.11471593e-01 4.11131074e-01 -1.38121432e-02 8.06518211e+01] [ 1.50902384e-02 1.36809721e-04 9.99886127e-01 3.39951271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.47, Y:80.68, Z:3.40 [[ 4.11335664e-01 -9.11463818e-01 -6.05639691e-03 2.10473064e+02] [ 9.11359813e-01 4.11380223e-01 -1.37696524e-02 8.06773631e+01] [ 1.50420218e-02 1.44392356e-04 9.99886852e-01 3.39949543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.48, Y:80.70, Z:3.40 [[ 4.11234708e-01 -9.11509991e-01 -5.96242287e-03 2.10484279e+02] [ 9.11409047e-01 4.11277905e-01 -1.35659168e-02 8.07028929e+01] [ 1.48176815e-02 1.44569707e-04 9.99890202e-01 3.40032194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.50, Y:80.73, Z:3.40 [[ 4.10480192e-01 -9.11849446e-01 -6.04979438e-03 2.10495826e+02] [ 9.11745412e-01 4.10524749e-01 -1.37744041e-02 8.07279963e+01] [ 1.50437730e-02 1.38247760e-04 9.99886826e-01 3.40114088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.51, Y:80.75, Z:3.40 [[ 4.08766972e-01 -9.12618686e-01 -6.05772246e-03 2.10507939e+02] [ 9.12514320e-01 4.08811840e-01 -1.38019866e-02 8.07530324e+01] [ 1.50724195e-02 1.14037756e-04 9.99886398e-01 3.40047841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.52, Y:80.78, Z:3.40 [[ 4.07524290e-01 -9.13171685e-01 -6.43640370e-03 2.10516899e+02] [ 9.13053747e-01 4.07575101e-01 -1.46762445e-02 8.07784042e+01] [ 1.60252488e-02 1.04143586e-04 9.99871582e-01 3.39926531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.270385723 meters Centerline goodness [0,1] 0.9999332398691502 Centerline is valid? [True, True] Translation: X:210.53, Y:80.80, Z:3.40 [[ 4.05949015e-01 -9.13872058e-01 -6.57712379e-03 2.10528003e+02] [ 9.13748802e-01 4.06002284e-01 -1.50090863e-02 8.08035240e+01] [ 1.63867118e-02 8.30848091e-05 9.99865725e-01 3.39796582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.54, Y:80.83, Z:3.40 [[ 4.04226915e-01 -9.14633204e-01 -6.83395786e-03 2.10540936e+02] [ 9.14500033e-01 4.04284675e-01 -1.56073983e-02 8.08289199e+01] [ 1.70379091e-02 5.92757635e-05 9.99854843e-01 3.39773035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.56, Y:80.85, Z:3.40 [[ 4.00660700e-01 -9.16199093e-01 -7.08696606e-03 2.10555604e+02] [ 9.16055904e-01 4.00723373e-01 -1.61974786e-02 8.08535849e+01] [ 1.76800281e-02 -2.36399424e-06 9.99843696e-01 3.39772805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.57, Y:80.88, Z:3.40 [[ 3.98401068e-01 -9.17182679e-01 -7.24725438e-03 2.10568847e+02] [ 9.17032876e-01 3.98466978e-01 -1.65762634e-02 8.08769965e+01] [ 1.80912532e-02 -4.19694862e-05 9.99836339e-01 3.39893746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.390385723 meters Centerline goodness [0,1] 0.9999550177679817 Centerline is valid? [True, True] Translation: X:210.58, Y:80.90, Z:3.40 [[ 3.94671093e-01 -9.18794453e-01 -7.17504982e-03 2.10583938e+02] [ 9.18647661e-01 3.94736293e-01 -1.64235913e-02 8.09014370e+01] [ 1.79221572e-02 -1.09425984e-04 9.99839379e-01 3.40084756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.59, Y:80.93, Z:3.40 [[ 3.93517032e-01 -9.19288602e-01 -7.26716834e-03 2.10594841e+02] [ 9.19137878e-01 3.93584107e-01 -1.66466963e-02 8.09263029e+01] [ 1.81633601e-02 -1.28771181e-04 9.99835024e-01 3.40110147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.60, Y:80.95, Z:3.40 [[ 3.92754031e-01 -9.19612759e-01 -7.52631540e-03 2.10604935e+02] [ 9.19450900e-01 3.92826111e-01 -1.72536422e-02 8.09525908e+01] [ 1.88232027e-02 -1.43639932e-04 9.99822818e-01 3.39998029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.61, Y:80.98, Z:3.40 [[ 3.92971135e-01 -9.19517883e-01 -7.78139657e-03 2.10613357e+02] [ 9.19344590e-01 3.93048145e-01 -1.78516123e-02 8.09780804e+01] [ 1.94733402e-02 -1.38616490e-04 9.99810367e-01 3.39798315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.62, Y:81.00, Z:3.40 [[ 3.92923767e-01 -9.19538588e-01 -7.72644223e-03 2.10624312e+02] [ 9.19367486e-01 3.92999703e-01 -1.77386170e-02 8.10036822e+01] [ 1.93478323e-02 -1.33515567e-04 9.99812804e-01 3.39869590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.64, Y:81.03, Z:3.40 [[ 3.92791885e-01 -9.19593839e-01 -7.85534446e-03 2.10635990e+02] [ 9.19416738e-01 3.92870403e-01 -1.80473822e-02 8.10296238e+01] [ 1.96823939e-02 -1.33469881e-04 9.99806274e-01 3.39940294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.57038572300002 meters Centerline goodness [0,1] 0.9999775462547152 Centerline is valid? [True, True] Translation: X:210.65, Y:81.05, Z:3.40 [[ 3.91901142e-01 -9.19974539e-01 -7.76805498e-03 2.10647052e+02] [ 9.19801183e-01 3.91978095e-01 -1.78593473e-02 8.10547787e+01] [ 1.94750522e-02 -1.45967575e-04 9.99810333e-01 3.40022423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.60038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.66, Y:81.08, Z:3.40 [[ 3.90865989e-01 -9.20414819e-01 -7.76783207e-03 2.10657848e+02] [ 9.20241307e-01 3.90943134e-01 -1.78718610e-02 8.10811757e+01] [ 1.94863064e-02 -1.62777296e-04 9.99810111e-01 3.40093842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.63038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.67, Y:81.11, Z:3.40 [[ 3.90355836e-01 -9.20630494e-01 -7.86224223e-03 2.10668794e+02] [ 9.20452526e-01 3.90434968e-01 -1.81020165e-02 8.11072619e+01] [ 1.97349627e-02 -1.70592949e-04 9.99805232e-01 3.40170146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.68, Y:81.13, Z:3.40 [[ 3.89704476e-01 -9.20904474e-01 -8.08523287e-03 2.10680157e+02] [ 9.20716045e-01 3.89788296e-01 -1.86292595e-02 8.11320912e+01] [ 2.03072976e-02 -1.84297815e-04 9.99793769e-01 3.40232402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.69, Y:81.16, Z:3.40 [[ 3.89547771e-01 -9.20972453e-01 -7.89142423e-03 2.10691677e+02] [ 9.20792700e-01 3.89627654e-01 -1.81960211e-02 8.11575187e+01] [ 1.98327513e-02 -1.78146335e-04 9.99803296e-01 3.40398429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.70, Y:81.18, Z:3.41 [[ 3.89538388e-01 -9.20982317e-01 -7.17052534e-03 2.10702227e+02] [ 9.20833712e-01 3.89604347e-01 -1.65446973e-02 8.11827884e+01] [ 1.80310415e-02 -1.58066761e-04 9.99837415e-01 3.40667730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.71, Y:81.21, Z:3.41 [[ 3.89887839e-01 -9.20835657e-01 -7.01180321e-03 2.10712139e+02] [ 9.20693330e-01 3.89950858e-01 -1.61901494e-02 8.12091853e+01] [ 1.76427255e-02 -1.43378087e-04 9.99844345e-01 3.40672839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.72, Y:81.24, Z:3.41 [[ 3.90192641e-01 -9.20705542e-01 -7.14195505e-03 2.10721657e+02] [ 9.20557649e-01 3.90257974e-01 -1.65023566e-02 8.12359481e+01] [ 1.79810161e-02 -1.35483234e-04 9.99838319e-01 3.40612867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.73, Y:81.26, Z:3.40 [[ 3.91373058e-01 -9.20201962e-01 -7.44834890e-03 2.10730551e+02] [ 9.20040778e-01 3.91443912e-01 -1.72229837e-02 8.12612833e+01] [ 1.87642343e-02 -1.12172907e-04 9.99823930e-01 3.40485651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.74, Y:81.29, Z:3.41 [[ 3.92133000e-01 -9.19877267e-01 -7.58446565e-03 2.10740687e+02] [ 9.19709824e-01 3.92206329e-01 -1.75509131e-02 8.12870954e+01] [ 1.91193614e-02 -9.32153673e-05 9.99817204e-01 3.40579204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.75, Y:81.31, Z:3.41 [[ 3.92578269e-01 -9.19687760e-01 -7.53174368e-03 2.10751903e+02] [ 9.19522354e-01 3.92650505e-01 -1.74419570e-02 8.13119337e+01] [ 1.89984973e-02 -7.82733734e-05 9.99819509e-01 3.40699317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.76, Y:81.34, Z:3.41 [[ 3.92475666e-01 -9.19732693e-01 -7.39088198e-03 2.10763533e+02] [ 9.19573181e-01 3.92545243e-01 -1.71288348e-02 8.13377752e+01] [ 1.86552049e-02 -7.38059999e-05 9.99825974e-01 3.40855835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.78, Y:81.36, Z:3.41 [[ 3.92318598e-01 -9.19803005e-01 -6.96774369e-03 2.10775037e+02] [ 9.19661049e-01 3.92380462e-01 -1.61594722e-02 8.13633972e+01] [ 1.75975375e-02 -6.83010127e-05 9.99845149e-01 3.41005863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.79, Y:81.39, Z:3.41 [[ 3.90762649e-01 -9.20468342e-01 -6.52564941e-03 2.10785923e+02] [ 9.20343750e-01 3.90817124e-01 -1.51445295e-02 8.13894878e+01] [ 1.64903955e-02 -8.79241684e-05 9.99864020e-01 3.41152622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.990385723 meters Centerline goodness [0,1] 0.9999552652769079 Centerline is valid? [True, True] Translation: X:210.80, Y:81.42, Z:3.41 [[ 3.90124572e-01 -9.20739655e-01 -6.42704079e-03 2.10796896e+02] [ 9.20618663e-01 3.90177498e-01 -1.49263977e-02 8.14157185e+01] [ 1.62510130e-02 -9.36991809e-05 9.99867939e-01 3.41165223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.81, Y:81.44, Z:3.41 [[ 3.89223158e-01 -9.21120420e-01 -6.51955986e-03 2.10807545e+02] [ 9.20995789e-01 3.89277741e-01 -1.51524421e-02 8.14408755e+01] [ 1.64951433e-02 -1.06805829e-04 9.99863940e-01 3.41207361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.82, Y:81.47, Z:3.41 [[ 3.88449966e-01 -9.21446994e-01 -6.48552856e-03 2.10819621e+02] [ 9.21323517e-01 3.88504086e-01 -1.50848172e-02 8.14665379e+01] [ 1.64195138e-02 -1.15573260e-04 9.99865184e-01 3.41306195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.83, Y:81.49, Z:3.41 [[ 3.88037852e-01 -9.21620185e-01 -6.54668427e-03 2.10830406e+02] [ 9.21494210e-01 3.88093055e-01 -1.52381400e-02 8.14919675e+01] [ 1.65845001e-02 -1.19756527e-04 9.99862461e-01 3.41414411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.110385723 meters Centerline goodness [0,1] 0.9999328588693434 Centerline is valid? [True, True] Translation: X:210.84, Y:81.52, Z:3.41 [[ 3.87379182e-01 -9.21894839e-01 -6.87569706e-03 2.10842310e+02] [ 9.21755703e-01 3.87440173e-01 -1.60167553e-02 8.15164488e+01] [ 1.74296854e-02 -1.33155396e-04 9.99848083e-01 3.41405969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.85, Y:81.54, Z:3.41 [[ 3.86199758e-01 -9.22388515e-01 -7.01241867e-03 2.10852951e+02] [ 9.22243638e-01 3.86263386e-01 -1.63483420e-02 8.15427632e+01] [ 1.77881635e-02 -1.53432794e-04 9.99841766e-01 3.41365405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.86, Y:81.57, Z:3.41 [[ 3.85303871e-01 -9.22764434e-01 -6.83560784e-03 2.10862054e+02] [ 9.22626637e-01 3.85364467e-01 -1.59472687e-02 8.15695606e+01] [ 1.73497727e-02 -1.62169524e-04 9.99849468e-01 3.41432669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.87, Y:81.59, Z:3.41 [[ 3.85049357e-01 -9.22870699e-01 -6.83119034e-03 2.10872863e+02] [ 9.22732885e-01 3.85109915e-01 -1.59491608e-02 8.15949528e+01] [ 1.73497723e-02 -1.62149854e-04 9.99849468e-01 3.41474389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.88, Y:81.62, Z:3.42 [[ 3.83783958e-01 -9.23398555e-01 -6.70681535e-03 2.10882719e+02] [ 9.23265597e-01 3.83842515e-01 -1.56703982e-02 8.16202828e+01] [ 1.70443839e-02 -1.78124431e-04 9.99854718e-01 3.41568905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.89, Y:81.64, Z:3.42 [[ 3.83564399e-01 -9.23489766e-01 -6.70844727e-03 2.10893464e+02] [ 9.23356578e-01 3.83623017e-01 -1.56847335e-02 8.16449276e+01] [ 1.70582057e-02 -1.78183539e-04 9.99854482e-01 3.41638741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.90, Y:81.67, Z:3.42 [[ 3.83403442e-01 -9.23555444e-01 -6.86598608e-03 2.10904587e+02] [ 9.23415770e-01 3.83464872e-01 -1.60625993e-02 8.16691406e+01] [ 1.74675655e-02 -1.81703953e-04 9.99847414e-01 3.41686179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.32038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.91, Y:81.70, Z:3.42 [[ 3.83367683e-01 -9.23563491e-01 -7.72643989e-03 2.10914521e+02] [ 9.23386309e-01 3.83445483e-01 -1.80910194e-02 8.16959329e+01] [ 1.96708735e-02 -1.98976641e-04 9.99806490e-01 3.41660925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.35038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.92, Y:81.72, Z:3.42 [[ 3.83475154e-01 -9.23516341e-01 -8.02335436e-03 2.10924217e+02] [ 9.23324978e-01 3.83559029e-01 -1.88004444e-02 8.17229009e+01] [ 2.04399476e-02 -1.98660174e-04 9.99791063e-01 3.41559335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.38038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.93, Y:81.75, Z:3.41 [[ 3.83718984e-01 -9.23412312e-01 -8.33332428e-03 2.10933007e+02] [ 9.23205535e-01 3.83809412e-01 -1.95416189e-02 8.17493603e+01] [ 2.12433798e-02 -1.94880947e-04 9.99774315e-01 3.41491015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.94, Y:81.78, Z:3.41 [[ 3.83438737e-01 -9.23527689e-01 -8.44645812e-03 2.10942470e+02] [ 9.23314961e-01 3.83531704e-01 -1.98220912e-02 8.17755430e+01] [ 2.15457345e-02 -1.98183548e-04 9.99767844e-01 3.41485858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.440385723 meters Centerline goodness [0,1] 0.999977649635689 Centerline is valid? [True, True] Translation: X:210.95, Y:81.80, Z:3.42 [[ 3.82997841e-01 -9.23712651e-01 -8.22142364e-03 2.10953746e+02] [ 9.23510848e-01 3.83086020e-01 -1.93084353e-02 8.18014686e+01] [ 2.09849584e-02 -1.97484882e-04 9.99779772e-01 3.41675197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.470385723 meters Centerline goodness [0,1] 0.9999553700934997 Centerline is valid? [True, True] Translation: X:210.97, Y:81.83, Z:3.42 [[ 3.82061896e-01 -9.24100606e-01 -8.17178268e-03 2.10965363e+02] [ 9.23901011e-01 3.82149219e-01 -1.92066798e-02 8.18263466e+01] [ 2.08717449e-02 -2.11777767e-04 9.99782139e-01 3.41812439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.500385723 meters Centerline goodness [0,1] 0.9999107561187837 Centerline is valid? [True, True] Translation: X:210.98, Y:81.85, Z:3.42 [[ 3.80729099e-01 -9.24650602e-01 -8.16198095e-03 2.10975779e+02] [ 9.24451294e-01 3.80816503e-01 -1.91988426e-02 8.18525758e+01] [ 2.08604384e-02 -2.35795814e-04 9.99782370e-01 3.41974538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.530385723 meters Centerline goodness [0,1] 0.9999554615298964 Centerline is valid? [True, True] Translation: X:210.99, Y:81.88, Z:3.42 [[ 3.80115523e-01 -9.24902797e-01 -8.18572296e-03 2.10985552e+02] [ 9.24702079e-01 3.80203573e-01 -1.92693708e-02 8.18773934e+01] [ 2.09345360e-02 -2.44768093e-04 9.99780819e-01 3.41959646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.560385723 meters Centerline goodness [0,1] 0.9999554952268631 Centerline is valid? [True, True] Translation: X:210.99, Y:81.90, Z:3.42 [[ 3.80006724e-01 -9.24946462e-01 -8.30250043e-03 2.10994536e+02] [ 9.24739658e-01 3.80097332e-01 -1.95597268e-02 8.19044333e+01] [ 2.12474583e-02 -2.44823715e-04 9.99774217e-01 3.42023267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.590385723 meters Centerline goodness [0,1] 0.9999109884730073 Centerline is valid? [True, True] Translation: X:211.00, Y:81.93, Z:3.42 [[ 3.80387815e-01 -9.24787491e-01 -8.55608737e-03 2.11003472e+02] [ 9.24567469e-01 3.80483956e-01 -2.01731368e-02 8.19299444e+01] [ 2.19113186e-02 -2.37064589e-04 9.99759890e-01 3.41963542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.620385723 meters Centerline goodness [0,1] 0.999977783208549 Centerline is valid? [True, True] Translation: X:211.01, Y:81.96, Z:3.42 [[ 3.80362145e-01 -9.24796571e-01 -8.71441975e-03 2.11012452e+02] [ 9.24567964e-01 3.80461887e-01 -2.05628857e-02 8.19566395e+01] [ 2.23319908e-02 -2.35730000e-04 9.99750582e-01 3.42090505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.650385723 meters Centerline goodness [0,1] 0.9999778309834175 Centerline is valid? [True, True] Translation: X:211.02, Y:81.98, Z:3.42 [[ 3.80305280e-01 -9.24817492e-01 -8.97219707e-03 2.11021916e+02] [ 9.24574790e-01 3.80411027e-01 -2.11874603e-02 8.19826388e+01] [ 2.30076566e-02 -2.37764198e-04 9.99735261e-01 3.42156454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.680385723 meters Centerline goodness [0,1] 0.9999778775744973 Centerline is valid? [True, True] Translation: X:211.03, Y:82.01, Z:3.42 [[ 3.80405716e-01 -9.24772366e-01 -9.35752908e-03 2.11031471e+02] [ 9.24507936e-01 3.80520715e-01 -2.21147127e-02 8.20091253e+01] [ 2.40118088e-02 -2.38546789e-04 9.99711646e-01 3.42213793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.04, Y:82.04, Z:3.42 [[ 3.80365374e-01 -9.24784003e-01 -9.83518392e-03 2.11041316e+02] [ 9.24491486e-01 3.80492428e-01 -2.32595141e-02 8.20350059e+01] [ 2.52522396e-02 -2.45430021e-04 9.99681081e-01 3.42213924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.740385723 meters Centerline goodness [0,1] 0.9998454131884634 Centerline is valid? [True, True] Translation: X:211.05, Y:82.06, Z:3.42 [[ 3.79904093e-01 -9.24972049e-01 -9.97943676e-03 2.11051543e+02] [ 9.24670590e-01 3.80035056e-01 -2.36147476e-02 8.20616569e+01] [ 2.56355172e-02 -2.56352409e-04 9.99671323e-01 3.42300008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.770385723 meters Centerline goodness [0,1] 0.9999559218935955 Centerline is valid? [True, True] Translation: X:211.06, Y:82.09, Z:3.43 [[ 3.79782564e-01 -9.25017555e-01 -1.03791446e-02 2.11058767e+02] [ 9.24690978e-01 3.79924274e-01 -2.45792823e-02 8.20893913e+01] [ 2.66795566e-02 -2.62718536e-04 9.99644003e-01 3.42517178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.07, Y:82.11, Z:3.43 [[ 3.80085653e-01 -9.24889829e-01 -1.06630929e-02 2.11067996e+02] [ 9.24544568e-01 3.80235112e-01 -2.52705562e-02 8.21149145e+01] [ 2.74269628e-02 -2.53528773e-04 9.99623778e-01 3.42505545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.830385723 meters Centerline goodness [0,1] 0.9998903797246339 Centerline is valid? [True, True] Translation: X:211.08, Y:82.14, Z:3.42 [[ 3.80443932e-01 -9.24736143e-01 -1.12017999e-02 2.11077947e+02] [ 9.24354453e-01 3.80608729e-01 -2.65676720e-02 8.21396514e+01] [ 2.88315894e-02 -2.46924004e-04 9.99584253e-01 3.42368739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.860385723 meters Centerline goodness [0,1] 0.9999780210119126 Centerline is valid? [True, True] Translation: X:211.09, Y:82.17, Z:3.43 [[ 3.80556678e-01 -9.24685863e-01 -1.15182398e-02 2.11085945e+02] [ 9.24281632e-01 3.80730872e-01 -2.73398495e-02 8.21668074e+01] [ 2.96661218e-02 -2.41735140e-04 9.99559835e-01 3.42611326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.09, Y:82.19, Z:3.43 [[ 3.81021626e-01 -9.24488747e-01 -1.19615137e-02 2.11091726e+02] [ 9.24052030e-01 3.81209268e-01 -2.84137279e-02 8.21949483e+01] [ 3.08280116e-02 -2.26816201e-04 9.99524678e-01 3.42659116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.10, Y:82.22, Z:3.43 [[ 3.80709382e-01 -9.24617077e-01 -1.19844225e-02 2.11100525e+02] [ 9.24178080e-01 3.80897897e-01 -2.84898078e-02 8.22217398e+01] [ 3.09070042e-02 -2.29403448e-04 9.99522238e-01 3.42753527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.950385723 meters Centerline goodness [0,1] 0.9999781702285577 Centerline is valid? [True, True] Translation: X:211.11, Y:82.25, Z:3.43 [[ 3.79111824e-01 -9.25271297e-01 -1.21347459e-02 2.11110637e+02] [ 9.24820863e-01 3.79305879e-01 -2.88690526e-02 8.22478902e+01] [ 3.13144862e-02 -2.77867016e-04 9.99509543e-01 3.43063827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.980385723 meters Centerline goodness [0,1] 0.9999128502331256 Centerline is valid? [True, True] Translation: X:211.12, Y:82.27, Z:3.43 [[ 3.77645596e-01 -9.25873210e-01 -1.19416803e-02 2.11121959e+02] [ 9.25436642e-01 3.77834224e-01 -2.84309746e-02 8.22737807e+01] [ 3.08354532e-02 -3.14436140e-04 9.99524425e-01 3.43302433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.010385723 meters Centerline goodness [0,1] 0.9999564156206415 Centerline is valid? [True, True] Translation: X:211.13, Y:82.30, Z:3.43 [[ 3.76139102e-01 -9.26486357e-01 -1.19333725e-02 2.11131752e+02] [ 9.26050068e-01 3.76328184e-01 -2.84318466e-02 8.22988743e+01] [ 3.08325824e-02 -3.56571179e-04 9.99524499e-01 3.43415536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.14, Y:82.33, Z:3.43 [[ 3.73861467e-01 -9.27403420e-01 -1.22678837e-02 2.11138405e+02] [ 9.26942149e-01 3.74062437e-01 -2.92496973e-02 8.23273254e+01] [ 3.17152238e-02 -4.36283782e-04 9.99496851e-01 3.43491283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.07038572300002 meters Centerline goodness [0,1] 0.999869822741967 Centerline is valid? [True, True] Translation: X:211.15, Y:82.35, Z:3.43 [[ 3.73148918e-01 -9.27688314e-01 -1.24208224e-02 2.11146756e+02] [ 9.27214954e-01 3.73355302e-01 -2.96352442e-02 8.23530584e+01] [ 3.21296496e-02 -4.58412918e-04 9.99483604e-01 3.43402546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.10038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.16, Y:82.38, Z:3.43 [[ 3.72520877e-01 -9.27940823e-01 -1.24106890e-02 2.11155302e+02] [ 9.27467686e-01 3.72727255e-01 -2.96324810e-02 8.23797688e+01] [ 3.21229909e-02 -4.71795219e-04 9.99483812e-01 3.43475984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13038572300002 meters Centerline goodness [0,1] 0.9999783334055553 Centerline is valid? [True, True] Translation: X:211.16, Y:82.41, Z:3.44 [[ 3.72076171e-01 -9.28116090e-01 -1.26430453e-02 2.11164127e+02] [ 9.27624423e-01 3.72290594e-01 -3.02099859e-02 8.24062823e+01] [ 3.27452609e-02 -4.87581707e-04 9.99463611e-01 3.43531683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.160385723 meters Centerline goodness [0,1] 0.9999137838129109 Centerline is valid? [True, True] Translation: X:211.17, Y:82.43, Z:3.44 [[ 3.70849258e-01 -9.28607209e-01 -1.26285293e-02 2.11170620e+02] [ 9.28116193e-01 3.71063848e-01 -3.01985549e-02 8.24328399e+01] [ 3.27285864e-02 -5.21630853e-04 9.99464140e-01 3.43577978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.18, Y:82.46, Z:3.44 [[ 3.69972631e-01 -9.28953104e-01 -1.28989288e-02 2.11179635e+02] [ 9.28440254e-01 3.70197004e-01 -3.08686523e-02 8.24599988e+01] [ 3.34506752e-02 -5.55328194e-04 9.99440215e-01 3.43614277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.220385723 meters Centerline goodness [0,1] 0.9999569522169608 Centerline is valid? [True, True] Translation: X:211.19, Y:82.49, Z:3.44 [[ 3.68897793e-01 -9.29377213e-01 -1.31306334e-02 2.11188747e+02] [ 9.28845289e-01 3.69130925e-01 -3.14450300e-02 8.24862238e+01] [ 3.40712172e-02 -5.96324754e-04 9.99419230e-01 3.43591852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.250385723 meters Centerline goodness [0,1] 0.9999355476303012 Centerline is valid? [True, True] Translation: X:211.19, Y:82.51, Z:3.43 [[ 3.67225109e-01 -9.30030967e-01 -1.37156566e-02 2.11194679e+02] [ 9.29450197e-01 3.67480531e-01 -3.28692983e-02 8.25137472e+01] [ 3.56097021e-02 -6.77588031e-04 9.99365544e-01 3.43490178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.20, Y:82.54, Z:3.43 [[ 3.66865076e-01 -9.30168422e-01 -1.40257795e-02 2.11202561e+02] [ 9.29560312e-01 3.67132428e-01 -3.36364027e-02 8.25408410e+01] [ 3.64368381e-02 -6.97786529e-04 9.99335714e-01 3.43492122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.310385723 meters Centerline goodness [0,1] 0.9999145079935026 Centerline is valid? [True, True] Translation: X:211.21, Y:82.57, Z:3.44 [[ 3.66177441e-01 -9.30443069e-01 -1.37759737e-02 2.11209031e+02] [ 9.29855756e-01 3.66435807e-01 -3.30616481e-02 8.25676668e+01] [ 3.58099914e-02 -7.03238720e-04 9.99358369e-01 3.43594992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.22, Y:82.59, Z:3.44 [[ 3.65632086e-01 -9.30659381e-01 -1.36489662e-02 2.11217799e+02] [ 9.30082267e-01 3.65886064e-01 -3.27775046e-02 8.25927819e+01] [ 3.54986586e-02 -7.10154061e-04 9.99369472e-01 3.43654673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.370385723 meters Centerline goodness [0,1] 0.9999785738772712 Centerline is valid? [True, True] Translation: X:211.22, Y:82.62, Z:3.44 [[ 3.65069320e-01 -9.30880108e-01 -1.36607837e-02 2.11223981e+02] [ 9.30301367e-01 3.65324104e-01 -3.28278068e-02 8.26209141e+01] [ 3.55493658e-02 -7.24220632e-04 9.99367659e-01 3.44028710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.400385723 meters Centerline goodness [0,1] 0.9999572402882004 Centerline is valid? [True, True] Translation: X:211.23, Y:82.65, Z:3.44 [[ 3.63876212e-01 -9.31354061e-01 -1.31801252e-02 2.11229396e+02] [ 9.30814826e-01 3.64114094e-01 -3.16967913e-02 8.26485559e+01] [ 3.43200047e-02 -7.34547587e-04 9.99410625e-01 3.44132029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.24, Y:82.68, Z:3.44 [[ 3.63358706e-01 -9.31561139e-01 -1.28177619e-02 2.11238023e+02] [ 9.31050498e-01 3.63583991e-01 -3.08488446e-02 8.26758019e+01] [ 3.33979179e-02 -7.24787337e-04 9.99441871e-01 3.44218963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.25, Y:82.70, Z:3.44 [[ 3.63188042e-01 -9.31630827e-01 -1.25876368e-02 2.11246866e+02] [ 9.31137642e-01 3.63405419e-01 -3.03181923e-02 8.27025223e+01] [ 3.28197780e-02 -7.09617535e-04 9.99461034e-01 3.44314082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.490385723 meters Centerline goodness [0,1] 0.9999146229536189 Centerline is valid? [True, True] Translation: X:211.25, Y:82.73, Z:3.44 [[ 3.63190780e-01 -9.31628540e-01 -1.26775899e-02 2.11252341e+02] [ 9.31127490e-01 3.63411290e-01 -3.05586506e-02 8.27310123e+01] [ 3.30764904e-02 -7.05832346e-04 9.99452574e-01 3.44296268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.520385723 meters Centerline goodness [0,1] 0.9999786866727765 Centerline is valid? [True, True] Translation: X:211.26, Y:82.76, Z:3.44 [[ 3.64852996e-01 -9.30984475e-01 -1.22555624e-02 2.11260772e+02] [ 9.30515415e-01 3.65058245e-01 -2.95557184e-02 8.27572458e+01] [ 3.19899091e-02 -6.20497350e-04 9.99487999e-01 3.44357417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.27, Y:82.78, Z:3.44 [[ 3.65801626e-01 -9.30612224e-01 -1.22498366e-02 2.11268760e+02] [ 9.30142915e-01 3.66006214e-01 -2.95568733e-02 8.27845960e+01] [ 3.19895040e-02 -5.82146438e-04 9.99488035e-01 3.44384288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.28, Y:82.81, Z:3.44 [[ 3.66999800e-01 -9.30140472e-01 -1.22412664e-02 2.11276956e+02] [ 9.29670853e-01 3.67203511e-01 -2.95582033e-02 8.28119637e+01] [ 3.19883172e-02 -5.32493827e-04 9.99488101e-01 3.44391027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.28, Y:82.84, Z:3.44 [[ 3.69953542e-01 -9.28966541e-01 -1.24716844e-02 2.11282262e+02] [ 9.28477697e-01 3.70163451e-01 -3.01361043e-02 8.28412848e+01] [ 3.26119943e-02 -4.30722330e-04 9.99467995e-01 3.44334058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.29, Y:82.87, Z:3.44 [[ 3.70934808e-01 -9.28574336e-01 -1.25327489e-02 2.11289900e+02] [ 9.28079811e-01 3.71146264e-01 -3.03037331e-02 8.28669720e+01] [ 3.27907517e-02 -3.90681786e-04 9.99462162e-01 3.44290457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.30, Y:82.89, Z:3.44 [[ 3.71454483e-01 -9.28369644e-01 -1.23032960e-02 2.11298142e+02] [ 9.27892288e-01 3.71658009e-01 -2.97695420e-02 8.28942557e+01] [ 3.22097576e-02 -3.58103687e-04 9.99481067e-01 3.44267868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.30, Y:82.92, Z:3.44 [[ 3.71608178e-01 -9.28310582e-01 -1.21171469e-02 2.11304645e+02] [ 9.27846895e-01 3.71805524e-01 -2.93392479e-02 8.29213103e+01] [ 3.17411565e-02 -3.40152701e-04 9.99496065e-01 3.44158535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.31, Y:82.95, Z:3.44 [[ 3.71116811e-01 -9.28508425e-01 -1.20173572e-02 2.11314398e+02] [ 9.28051801e-01 3.71311169e-01 -2.91182289e-02 8.29476174e+01] [ 3.14986998e-02 -3.46465721e-04 9.99503733e-01 3.44290444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.33, Y:82.97, Z:3.44 [[ 3.70590110e-01 -9.28720157e-01 -1.19096599e-02 2.11325646e+02] [ 9.28271096e-01 3.70781263e-01 -2.88795436e-02 8.29730660e+01] [ 3.12368930e-02 -3.52919842e-04 9.99511947e-01 3.44498292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.34, Y:83.00, Z:3.44 [[ 3.70534847e-01 -9.28742394e-01 -1.18950306e-02 2.11336084e+02] [ 9.28293785e-01 3.70725565e-01 -2.88652667e-02 8.29985173e+01] [ 3.12181888e-02 -3.46495823e-04 9.99512534e-01 3.44432687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.82038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.34, Y:83.03, Z:3.44 [[ 3.70591167e-01 -9.28718922e-01 -1.19729257e-02 2.11344621e+02] [ 9.28263737e-01 3.70784370e-01 -2.90755084e-02 8.30254017e+01] [ 3.14423485e-02 -3.38906220e-04 9.99505510e-01 3.44423510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.85038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.35, Y:83.05, Z:3.44 [[ 3.71253536e-01 -9.28456139e-01 -1.18326163e-02 2.11352643e+02] [ 9.28010764e-01 3.71441928e-01 -2.87561573e-02 8.30520642e+01] [ 3.10939606e-02 -3.04970157e-04 9.99516419e-01 3.44365102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.88038572300002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.36, Y:83.08, Z:3.44 [[ 3.73382370e-01 -9.27609154e-01 -1.12633896e-02 2.11359824e+02] [ 9.27204664e-01 3.73552154e-01 -2.73916130e-02 8.30806356e+01] [ 2.96161744e-02 -2.15921971e-04 9.99561322e-01 3.44439294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.37, Y:83.11, Z:3.45 [[ 3.74290105e-01 -9.27245624e-01 -1.10666689e-02 2.11369542e+02] [ 9.26854420e-01 3.74453632e-01 -2.69325359e-02 8.31074844e+01] [ 2.91170304e-02 -1.76609330e-04 9.99575994e-01 3.44627341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.38, Y:83.13, Z:3.45 [[ 3.75046788e-01 -9.26942413e-01 -1.08475557e-02 2.11379716e+02] [ 9.26565880e-01 3.75203601e-01 -2.64183127e-02 8.31325049e+01] [ 2.85582965e-02 -1.42871712e-04 9.99592118e-01 3.44618221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.39, Y:83.16, Z:3.45 [[ 3.76595173e-01 -9.26317186e-01 -1.06088020e-02 2.11389169e+02] [ 9.25956287e-01 3.76744560e-01 -2.58552008e-02 8.31595255e+01] [ 2.79469253e-02 -8.63430789e-05 9.99609405e-01 3.44772364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.00038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.40, Y:83.19, Z:3.45 [[ 3.77133719e-01 -9.26097615e-01 -1.06473018e-02 2.11398703e+02] [ 9.25733458e-01 3.77283982e-01 -2.59684749e-02 8.31853037e+01] [ 2.80663991e-02 -6.29759592e-05 9.99606059e-01 3.44723759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.41, Y:83.21, Z:3.45 [[ 3.77573106e-01 -9.25918839e-01 -1.06232778e-02 2.11408035e+02] [ 9.25555710e-01 3.77722521e-01 -2.59292316e-02 8.32114298e+01] [ 2.80210153e-02 -4.22549255e-05 9.99607333e-01 3.44798487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.42, Y:83.24, Z:3.45 [[ 3.78422078e-01 -9.25572339e-01 -1.06102185e-02 2.11417122e+02] [ 9.25209420e-01 3.78570793e-01 -2.59168634e-02 8.32365180e+01] [ 2.80046508e-02 -9.16079456e-06 9.99607793e-01 3.44588110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.43, Y:83.26, Z:3.45 [[ 3.78182724e-01 -9.25670238e-01 -1.06036550e-02 2.11427479e+02] [ 9.25307283e-01 3.78331349e-01 -2.59195490e-02 8.32620553e+01] [ 2.80046502e-02 -9.31359474e-06 9.99607793e-01 3.44629836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.44, Y:83.29, Z:3.45 [[ 3.77864267e-01 -9.25800437e-01 -1.05899028e-02 2.11438262e+02] [ 9.25437933e-01 3.78012632e-01 -2.59052670e-02 8.32880954e+01] [ 2.79862245e-02 -1.16230312e-05 9.99608309e-01 3.44744626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.45, Y:83.31, Z:3.45 [[ 3.77900543e-01 -9.25790360e-01 -1.01680803e-02 2.11449419e+02] [ 9.25455656e-01 3.78037313e-01 -2.48921213e-02 8.33142115e+01] [ 2.68887997e-02 -3.36126911e-06 9.99638431e-01 3.44927522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.18038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.46, Y:83.34, Z:3.45 [[ 3.77659340e-01 -9.25890447e-01 -1.00151480e-02 2.11460497e+02] [ 9.25565262e-01 3.77792113e-01 -2.45370255e-02 8.33403954e+01] [ 2.65022415e-02 -3.03624588e-06 9.99648754e-01 3.45055089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.47, Y:83.37, Z:3.45 [[ 3.79406538e-01 -9.25183338e-01 -9.29887355e-03 2.11470873e+02] [ 9.24902400e-01 3.79520471e-01 -2.27983102e-02 8.33654638e+01] [ 2.46217296e-02 4.92774989e-05 9.99696838e-01 3.45145585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.24038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.48, Y:83.39, Z:3.45 [[ 3.80473666e-01 -9.24747927e-01 -9.00333409e-03 2.11480798e+02] [ 9.24484081e-01 3.80580168e-01 -2.20889097e-02 8.33916082e+01] [ 2.38531639e-02 8.08094343e-05 9.99715470e-01 3.45165022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.49, Y:83.42, Z:3.45 [[ 3.83668402e-01 -9.23426766e-01 -9.03132243e-03 2.11489365e+02] [ 9.23160570e-01 3.83774646e-01 -2.21716508e-02 8.34185779e+01] [ 2.39398884e-02 1.69201078e-04 9.99713385e-01 3.45078091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.50, Y:83.44, Z:3.45 [[ 3.85065816e-01 -9.22848723e-01 -8.63429045e-03 2.11499190e+02] [ 9.22605038e-01 3.85162555e-01 -2.12072983e-02 8.34448490e+01] [ 2.28967336e-02 2.00165776e-04 9.99737815e-01 3.45134075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.51, Y:83.47, Z:3.45 [[ 3.86090158e-01 -9.22424587e-01 -8.20196663e-03 2.11509910e+02] [ 9.22204271e-01 3.86177205e-01 -2.01605541e-02 8.34711355e+01] [ 2.17640033e-02 2.19902850e-04 9.99763112e-01 3.45247753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.52, Y:83.50, Z:3.45 [[ 3.87114851e-01 -9.21995153e-01 -8.18718647e-03 2.11520360e+02] [ 9.21775207e-01 3.87201338e-01 -2.01392916e-02 8.34960679e+01] [ 2.17384188e-02 2.49473367e-04 9.99763662e-01 3.45306337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.53, Y:83.52, Z:3.45 [[ 3.87589953e-01 -9.21796773e-01 -8.04603358e-03 2.11532297e+02] [ 9.21584037e-01 3.87673370e-01 -1.98045468e-02 8.35200570e+01] [ 2.13750003e-02 2.60947241e-04 9.99771495e-01 3.45279904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.54, Y:83.55, Z:3.45 [[ 3.87476322e-01 -9.21844249e-01 -8.07964750e-03 2.11544391e+02] [ 9.21629493e-01 3.87560462e-01 -1.98989161e-02 8.35456765e+01] [ 2.14750532e-02 2.63917382e-04 9.99769350e-01 3.45291233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.56, Y:83.57, Z:3.45 [[ 3.88268683e-01 -9.21511445e-01 -8.00537167e-03 2.11558956e+02] [ 9.21300233e-01 3.88351097e-01 -1.97308493e-02 8.35700145e+01] [ 2.12910983e-02 2.85520073e-04 9.99773278e-01 3.45358744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.57, Y:83.60, Z:3.45 [[ 3.88464883e-01 -9.21431027e-01 -7.73932161e-03 2.11570908e+02] [ 9.21233304e-01 3.88541865e-01 -1.90897433e-02 8.35952208e+01] [ 2.05969322e-02 2.85974067e-04 9.99787820e-01 3.45457718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.510385723 meters Centerline goodness [0,1] 0.9999787919918561 Centerline is valid? [True, True] Translation: X:211.58, Y:83.62, Z:3.46 [[ 3.88962951e-01 -9.21223789e-01 -7.38598944e-03 2.11581870e+02] [ 9.21043398e-01 3.89032964e-01 -1.82321877e-02 8.36196885e+01] [ 1.96693184e-02 2.88828734e-04 9.99806499e-01 3.45521497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.540385723 meters Centerline goodness [0,1] 0.9999787016527517 Centerline is valid? [True, True] Translation: X:211.59, Y:83.65, Z:3.46 [[ 3.89322927e-01 -9.21074359e-01 -7.04871340e-03 2.11593842e+02] [ 9.20909806e-01 3.89386624e-01 -1.74122361e-02 8.36453869e+01] [ 1.87826389e-02 2.87753438e-04 9.99823549e-01 3.45597310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.61, Y:83.67, Z:3.46 [[ 3.90362988e-01 -9.20632886e-01 -7.19909300e-03 2.11605995e+02] [ 9.20460887e-01 3.90429233e-01 -1.77980126e-02 8.36717465e+01] [ 1.91961721e-02 3.21201873e-04 9.99815685e-01 3.45551331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.600385723 meters Centerline goodness [0,1] 0.9999787111745045 Centerline is valid? [True, True] Translation: X:211.62, Y:83.70, Z:3.46 [[ 3.89854129e-01 -9.20848187e-01 -7.23703823e-03 2.11617228e+02] [ 9.20674159e-01 3.89921166e-01 -1.79046649e-02 8.36960456e+01] [ 1.93093526e-02 3.17253460e-04 9.99813507e-01 3.45531382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.63, Y:83.72, Z:3.46 [[ 3.87614264e-01 -9.21793575e-01 -7.19633130e-03 2.11632719e+02] [ 9.21621429e-01 3.87680964e-01 -1.78160295e-02 8.37192683e+01] [ 1.92125822e-02 2.73454023e-04 9.99815384e-01 3.45628649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.660385723 meters Centerline goodness [0,1] 0.9999572996285068 Centerline is valid? [True, True] Translation: X:211.65, Y:83.74, Z:3.46 [[ 3.86216758e-01 -9.22380476e-01 -7.13254280e-03 2.11647082e+02] [ 9.22211300e-01 3.86282536e-01 -1.76669629e-02 8.37444722e+01] [ 1.90508384e-02 2.45565594e-04 9.99818486e-01 3.45753323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.690385723 meters Centerline goodness [0,1] 0.9999359767809125 Centerline is valid? [True, True] Translation: X:211.66, Y:83.77, Z:3.46 [[ 3.83946606e-01 -9.23328286e-01 -7.06266089e-03 2.11660643e+02] [ 9.23162395e-01 3.84011506e-01 -1.75029955e-02 8.37690045e+01] [ 1.88731539e-02 2.00232785e-04 9.99821866e-01 3.45846609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.720385723 meters Centerline goodness [0,1] 0.9998715313463515 Centerline is valid? [True, True] Translation: X:211.68, Y:83.79, Z:3.46 [[ 3.80368186e-01 -9.24808190e-01 -7.06082626e-03 2.11677039e+02] [ 9.24642390e-01 3.80433693e-01 -1.75116029e-02 8.37933382e+01] [ 1.88810499e-02 1.32117340e-04 9.99821728e-01 3.45911401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.750385723 meters Centerline goodness [0,1] 0.9999571550985433 Centerline is valid? [True, True] Translation: X:211.69, Y:83.82, Z:3.46 [[ 3.78495212e-01 -9.25576315e-01 -7.06116303e-03 2.11689227e+02] [ 9.25410401e-01 3.78561060e-01 -1.75246452e-02 8.38178259e+01] [ 1.88934778e-02 9.85205762e-05 9.99821497e-01 3.45894725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.70, Y:83.84, Z:3.46 [[ 3.76782498e-01 -9.26275619e-01 -6.95902837e-03 2.11702439e+02] [ 9.26114365e-01 3.76846751e-01 -1.72831917e-02 8.38429397e+01] [ 1.86314863e-02 6.71479855e-05 9.99826417e-01 3.45961207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.810385723 meters Centerline goodness [0,1] 0.9999138098213709 Centerline is valid? [True, True] Translation: X:211.72, Y:83.87, Z:3.46 [[ 3.73779179e-01 -9.27490487e-01 -7.10782847e-03 2.11719916e+02] [ 9.27322209e-01 3.73846754e-01 -1.76670763e-02 8.38663871e+01] [ 1.90432838e-02 1.23380703e-05 9.99818660e-01 3.45959004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.840385723 meters Centerline goodness [0,1] 0.9999784217681204 Centerline is valid? [True, True] Translation: X:211.73, Y:83.89, Z:3.46 [[ 3.72619903e-01 -9.27956756e-01 -7.11802259e-03 2.11733082e+02] [ 9.27787811e-01 3.72687883e-01 -1.77064693e-02 8.38906681e+01] [ 1.90836386e-02 -6.23173789e-06 9.99817891e-01 3.46146278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.870385723 meters Centerline goodness [0,1] 0.9999136758961521 Centerline is valid? [True, True] Translation: X:211.75, Y:83.92, Z:3.46 [[ 3.71459119e-01 -9.28420850e-01 -7.26973117e-03 2.11745508e+02] [ 9.28244446e-01 3.71530249e-01 -1.80976028e-02 8.39163113e+01] [ 1.95031168e-02 -2.55679748e-05 9.99809796e-01 3.46213683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.76, Y:83.94, Z:3.46 [[ 3.71322708e-01 -9.28472760e-01 -7.60132033e-03 2.11757555e+02] [ 9.28279587e-01 3.71400502e-01 -1.89387332e-02 8.39409048e+01] [ 2.04072321e-02 -2.37687870e-05 9.99791750e-01 3.46100120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.93038572300003 meters Centerline goodness [0,1] 0.9999352792699502 Centerline is valid? [True, True] Translation: X:211.77, Y:83.97, Z:3.46 [[ 3.71439957e-01 -9.28425657e-01 -7.62617526e-03 2.11769338e+02] [ 9.28230911e-01 3.71518236e-01 -1.90151669e-02 8.39667338e+01] [ 2.04874320e-02 -1.58588323e-05 9.99790110e-01 3.46095130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.960385723 meters Centerline goodness [0,1] 0.9999139340735003 Centerline is valid? [True, True] Translation: X:211.78, Y:83.99, Z:3.46 [[ 3.71780729e-01 -9.28286870e-01 -7.91049464e-03 2.11781301e+02] [ 9.28076954e-01 3.71864877e-01 -1.97403167e-02 8.39911359e+01] [ 2.12663120e-02 -2.47841531e-06 9.99773846e-01 3.46132734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.99038572300003 meters Centerline goodness [0,1] 0.999892122807396 Centerline is valid? [True, True] Translation: X:211.79, Y:84.02, Z:3.46 [[ 3.72190834e-01 -9.28121711e-01 -8.00457628e-03 2.11794121e+02] [ 9.27906401e-01 3.72276900e-01 -1.99905074e-02 8.40166823e+01] [ 2.15335428e-02 1.27860508e-05 9.99768126e-01 3.46236897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.020385723 meters Centerline goodness [0,1] 0.9998920133039609 Centerline is valid? [True, True] Translation: X:211.81, Y:84.04, Z:3.46 [[ 3.72610416e-01 -9.27953361e-01 -8.00233405e-03 2.11806640e+02] [ 9.27737793e-01 3.72696336e-01 -2.00007300e-02 8.40407119e+01] [ 2.15421852e-02 2.84125850e-05 9.99767940e-01 3.46376607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.050385723 meters Centerline goodness [0,1] 0.9999352205739457 Centerline is valid? [True, True] Translation: X:211.82, Y:84.07, Z:3.46 [[ 3.72252027e-01 -9.28098612e-01 -7.83548600e-03 2.11817071e+02] [ 9.27891665e-01 3.72334481e-01 -1.95982639e-02 8.40666465e+01] [ 2.11065431e-02 2.50113111e-05 9.99777232e-01 3.46376435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.080385723 meters Centerline goodness [0,1] 0.9998919993087956 Centerline is valid? [True, True] Translation: X:211.83, Y:84.09, Z:3.46 [[ 3.72218106e-01 -9.28113598e-01 -7.67013364e-03 2.11827664e+02] [ 9.27914983e-01 3.72297124e-01 -1.91998671e-02 8.40922249e+01] [ 2.06752264e-02 2.93062472e-05 9.99786244e-01 3.46419116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.84, Y:84.12, Z:3.47 [[ 3.72303073e-01 -9.28082616e-01 -7.28552123e-03 2.11840862e+02] [ 9.27903148e-01 3.72374349e-01 -1.82508090e-02 8.41165972e+01] [ 1.96511998e-02 3.45742085e-05 9.99806896e-01 3.46649148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.85, Y:84.14, Z:3.47 [[ 3.71942141e-01 -9.28229812e-01 -6.96133681e-03 2.11853402e+02] [ 9.28065756e-01 3.72007279e-01 -1.74509532e-02 8.41416914e+01] [ 1.87881630e-02 3.01665919e-05 9.99823486e-01 3.46823292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.170385723 meters Centerline goodness [0,1] 0.9999784936986537 Centerline is valid? [True, True] Translation: X:211.87, Y:84.17, Z:3.47 [[ 3.71866643e-01 -9.28261782e-01 -6.72779313e-03 2.11866463e+02] [ 9.28108323e-01 3.71927496e-01 -1.68783660e-02 8.41668120e+01] [ 1.81697934e-02 3.23805221e-05 9.99834915e-01 3.47102337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.200385723 meters Centerline goodness [0,1] 0.9999784473468684 Centerline is valid? [True, True] Translation: X:211.88, Y:84.19, Z:3.47 [[ 3.72572439e-01 -9.27976656e-01 -7.00733710e-03 2.11876270e+02] [ 9.27809854e-01 3.72638326e-01 -1.75941053e-02 8.41924108e+01] [ 1.89381214e-02 5.36023103e-05 9.99820656e-01 3.47097996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.89, Y:84.22, Z:3.47 [[ 3.73299383e-01 -9.27679346e-01 -7.65518511e-03 2.11885586e+02] [ 9.27479861e-01 3.73377858e-01 -1.92375249e-02 8.42192681e+01] [ 2.07045312e-02 8.13261654e-05 9.99785635e-01 3.46953459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.260385723 meters Centerline goodness [0,1] 0.9999351449510344 Centerline is valid? [True, True] Translation: X:211.89, Y:84.25, Z:3.47 [[ 3.76134126e-01 -9.26524461e-01 -8.69148705e-03 2.11894733e+02] [ 9.26266567e-01 3.76234492e-01 -2.18598503e-02 8.42455033e+01] [ 2.35237232e-02 1.71601800e-04 9.99723264e-01 3.46718568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.290385723 meters Centerline goodness [0,1] 0.9999136572625035 Centerline is valid? [True, True] Translation: X:211.91, Y:84.27, Z:3.47 [[ 3.77505894e-01 -9.25964742e-01 -8.86544574e-03 2.11906404e+02] [ 9.25695866e-01 3.77609916e-01 -2.23140050e-02 8.42710113e+01] [ 2.40096621e-02 2.16961917e-04 9.99711703e-01 3.46911023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.320385723 meters Centerline goodness [0,1] 0.9999566480253176 Centerline is valid? [True, True] Translation: X:211.92, Y:84.30, Z:3.47 [[ 3.78344434e-01 -9.25622886e-01 -8.81834115e-03 2.11916185e+02] [ 9.25356367e-01 3.78447109e-01 -2.22121561e-02 8.42964753e+01] [ 2.38973558e-02 2.43737499e-04 9.99714388e-01 3.46911142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.93, Y:84.32, Z:3.47 [[ 3.78826433e-01 -9.25426416e-01 -8.74543003e-03 2.11927837e+02] [ 9.25163843e-01 3.78927277e-01 -2.20449995e-02 8.43218702e+01] [ 2.37149069e-02 2.60272867e-04 9.99718728e-01 3.47018990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.380385723 meters Centerline goodness [0,1] 0.9999350494706531 Centerline is valid? [True, True] Translation: X:211.94, Y:84.35, Z:3.47 [[ 3.79162330e-01 -9.25287581e-01 -8.87811796e-03 2.11938062e+02] [ 9.25016509e-01 3.79266153e-01 -2.23973907e-02 8.43483716e+01] [ 2.40911971e-02 2.79841169e-04 9.99709726e-01 3.46948401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.95, Y:84.37, Z:3.47 [[ 3.79025047e-01 -9.25343509e-01 -8.91089853e-03 2.11947641e+02] [ 9.25070034e-01 3.79129674e-01 -2.24971612e-02 8.43734541e+01] [ 2.41959882e-02 2.83782376e-04 9.99707194e-01 3.46836626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.96, Y:84.40, Z:3.47 [[ 3.78736817e-01 -9.25459348e-01 -9.13339513e-03 2.11960105e+02] [ 9.25171640e-01 3.78846818e-01 -2.30764924e-02 8.43982855e+01] [ 2.48165133e-02 2.89959132e-04 9.99691981e-01 3.46950833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.97, Y:84.42, Z:3.47 [[ 3.78220290e-01 -9.25667562e-01 -9.43274136e-03 2.11974967e+02] [ 9.25360243e-01 3.78337784e-01 -2.38525102e-02 8.44225950e+01] [ 2.56482575e-02 2.92819509e-04 9.99670986e-01 3.47141819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.500385723 meters Centerline goodness [0,1] 0.999956547244009 Centerline is valid? [True, True] Translation: X:211.99, Y:84.45, Z:3.47 [[ 3.77501158e-01 -9.25962656e-01 -9.27548564e-03 2.11985362e+02] [ 9.25665134e-01 3.77614994e-01 -2.34728786e-02 8.44478121e+01] [ 2.52375715e-02 2.75045220e-04 9.99681444e-01 3.47064916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.00, Y:84.47, Z:3.47 [[ 3.76662021e-01 -9.26308268e-01 -8.87217046e-03 2.11997926e+02] [ 9.26035768e-01 3.76766416e-01 -2.24682977e-02 8.44729904e+01] [ 2.41553057e-02 2.47007210e-04 9.99708188e-01 3.47205977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.01, Y:84.50, Z:3.47 [[ 3.76447469e-01 -9.26396388e-01 -8.77696906e-03 2.12008748e+02] [ 9.26129312e-01 3.76549694e-01 -2.22446580e-02 8.44988264e+01] [ 2.39123359e-02 2.45336898e-04 9.99714029e-01 3.47254671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.02, Y:84.52, Z:3.47 [[ 3.76536924e-01 -9.26359347e-01 -8.84901774e-03 2.12017377e+02] [ 9.26087429e-01 3.76640803e-01 -2.24450367e-02 8.45241166e+01] [ 2.41250707e-02 2.56421000e-04 9.99708915e-01 3.47138502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.620385723 meters Centerline goodness [0,1] 0.9999564516831424 Centerline is valid? [True, True] Translation: X:212.03, Y:84.55, Z:3.47 [[ 3.76797517e-01 -9.26252395e-01 -8.95163270e-03 2.12029578e+02] [ 9.25973677e-01 3.76903736e-01 -2.27227417e-02 8.45499599e+01] [ 2.44208977e-02 2.72896406e-04 9.99701728e-01 3.47210781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.650385723 meters Centerline goodness [0,1] 0.9999344276627833 Centerline is valid? [True, True] Translation: X:212.04, Y:84.57, Z:3.47 [[ 3.76621998e-01 -9.26323269e-01 -9.00404559e-03 2.12044505e+02] [ 9.26040843e-01 3.76729512e-01 -2.28742493e-02 8.45745743e+01] [ 2.45810391e-02 2.76831511e-04 9.99697802e-01 3.47345350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.68038572300003 meters Centerline goodness [0,1] 0.9999781363417727 Centerline is valid? [True, True] Translation: X:212.06, Y:84.60, Z:3.47 [[ 3.76203934e-01 -9.26491734e-01 -9.14700024e-03 2.12055931e+02] [ 9.26199842e-01 3.76315015e-01 -2.32564453e-02 8.45999121e+01] [ 2.49890579e-02 2.77216038e-04 9.99687686e-01 3.47393396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.710385723 meters Centerline goodness [0,1] 0.9999563404571155 Centerline is valid? [True, True] Translation: X:212.07, Y:84.63, Z:3.47 [[ 3.75593171e-01 -9.26737016e-01 -9.39535917e-03 2.12065461e+02] [ 9.26428648e-01 3.75710563e-01 -2.39067493e-02 8.46251502e+01] [ 2.56852052e-02 2.75081859e-04 9.99670043e-01 3.47190774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.74038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.08, Y:84.65, Z:3.47 [[ 3.74760261e-01 -9.27073094e-01 -9.49865532e-03 2.12077005e+02] [ 9.26757536e-01 3.74880527e-01 -2.41880313e-02 8.46503773e+01] [ 2.59849339e-02 2.61762532e-04 9.99662300e-01 3.47130869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.09, Y:84.67, Z:3.47 [[ 3.74195961e-01 -9.27302496e-01 -9.35219599e-03 2.12088047e+02] [ 9.26996173e-01 3.74312729e-01 -2.38343564e-02 8.46749217e+01] [ 2.56023042e-02 2.49270011e-04 9.99672176e-01 3.47168639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.800385723 meters Centerline goodness [0,1] 0.9999561941475381 Centerline is valid? [True, True] Translation: X:212.10, Y:84.70, Z:3.47 [[ 3.72881350e-01 -9.27833129e-01 -9.22949071e-03 2.12102204e+02] [ 9.27534470e-01 3.72995493e-01 -2.35407821e-02 8.46995183e+01] [ 2.52844760e-02 2.17247851e-04 9.99680273e-01 3.47319071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.830385723 meters Centerline goodness [0,1] 0.9999780860342297 Centerline is valid? [True, True] Translation: X:212.11, Y:84.72, Z:3.47 [[ 3.71990548e-01 -9.28190059e-01 -9.28691894e-03 2.12113671e+02] [ 9.27887295e-01 3.72106402e-01 -2.37063946e-02 8.47241819e+01] [ 2.54597618e-02 2.01340633e-04 9.99675827e-01 3.47377035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.860385723 meters Centerline goodness [0,1] 0.999978072579761 Centerline is valid? [True, True] Translation: X:212.13, Y:84.75, Z:3.47 [[ 3.71479724e-01 -9.28395451e-01 -9.20333569e-03 2.12125468e+02] [ 9.28097700e-01 3.71593662e-01 -2.35119135e-02 8.47495131e+01] [ 2.52482547e-02 1.92604449e-04 9.99681193e-01 3.47473997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.890385723 meters Centerline goodness [0,1] 0.9999341469839319 Centerline is valid? [True, True] Translation: X:212.14, Y:84.77, Z:3.47 [[ 3.70102828e-01 -9.28948532e-01 -8.86118593e-03 2.12138033e+02] [ 9.28672255e-01 3.70208860e-01 -2.26548808e-02 8.47746805e+01] [ 2.43257078e-02 1.55497940e-04 9.99704074e-01 3.47494525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.920385723 meters Centerline goodness [0,1] 0.9999119563303398 Centerline is valid? [True, True] Translation: X:212.15, Y:84.80, Z:3.48 [[ 3.69391525e-01 -9.29232350e-01 -8.78305584e-03 2.12149343e+02] [ 9.28960588e-01 3.69495900e-01 -2.24723203e-02 8.48006512e+01] [ 2.41273102e-02 1.41971947e-04 9.99708884e-01 3.47541993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.950385723 meters Centerline goodness [0,1] 0.9999340441903924 Centerline is valid? [True, True] Translation: X:212.16, Y:84.83, Z:3.48 [[ 3.68621144e-01 -9.29539874e-01 -8.60665197e-03 2.12160230e+02] [ 9.29278601e-01 3.68721584e-01 -2.20380532e-02 8.48251584e+01] [ 2.36587076e-02 1.25714899e-04 9.99720086e-01 3.47570088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.980385723 meters Centerline goodness [0,1] 0.9999340441903924 Centerline is valid? [True, True] Translation: X:212.17, Y:84.85, Z:3.48 [[ 3.68380687e-01 -9.29635249e-01 -8.60073157e-03 2.12170177e+02] [ 9.29373948e-01 3.68481054e-01 -2.20403638e-02 8.48508866e+01] [ 2.36587058e-02 1.25948520e-04 9.99720086e-01 3.47611799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.010385723 meters Centerline goodness [0,1] 0.9999559655650719 Centerline is valid? [True, True] Translation: X:212.18, Y:84.88, Z:3.48 [[ 3.67258729e-01 -9.30082211e-01 -8.25270482e-03 2.12182221e+02] [ 9.29841387e-01 3.67351427e-01 -2.11642073e-02 8.48761999e+01] [ 2.27160956e-02 9.90333775e-05 9.99741951e-01 3.47724621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.20, Y:84.90, Z:3.48 [[ 3.65330920e-01 -9.30845364e-01 -7.76062664e-03 2.12197657e+02] [ 9.30632265e-01 3.65413335e-01 -1.99168893e-02 8.48994941e+01] [ 2.13753805e-02 5.39659526e-05 9.99771519e-01 3.47895529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.21, Y:84.92, Z:3.48 [[ 3.64076395e-01 -9.31337307e-01 -7.69415154e-03 2.12209959e+02] [ 9.31127630e-01 3.64157686e-01 -1.97614996e-02 8.49247398e+01] [ 2.12065062e-02 3.04584438e-05 9.99775116e-01 3.47973119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.100385723 meters Centerline goodness [0,1] 0.9999335636460271 Centerline is valid? [True, True] Translation: X:212.22, Y:84.95, Z:3.48 [[ 3.63488060e-01 -9.31565060e-01 -7.93537184e-03 2.12222656e+02] [ 9.31341733e-01 3.63574668e-01 -2.03969845e-02 8.49501482e+01] [ 2.18862182e-02 2.35173579e-05 9.99760468e-01 3.47907203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.130385723 meters Centerline goodness [0,1] 0.999977783208549 Centerline is valid? [True, True] Translation: X:212.23, Y:84.97, Z:3.48 [[ 3.63531063e-01 -9.31545816e-01 -8.21940036e-03 2.12232994e+02] [ 9.31305853e-01 3.63623970e-01 -2.11427810e-02 8.49747245e+01] [ 2.26842402e-02 3.12819976e-05 9.99742679e-01 3.47778170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.160385723 meters Centerline goodness [0,1] 0.9999778231171826 Centerline is valid? [True, True] Translation: X:212.24, Y:85.00, Z:3.48 [[ 3.63971391e-01 -9.31372755e-01 -8.34369203e-03 2.12243804e+02] [ 9.31125101e-01 3.64067011e-01 -2.14769043e-02 8.49996785e+01] [ 2.30406666e-02 4.79576567e-05 9.99734527e-01 3.47795261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.190385723 meters Centerline goodness [0,1] 0.9999554803668418 Centerline is valid? [True, True] Translation: X:212.26, Y:85.02, Z:3.48 [[ 3.64990921e-01 -9.30972938e-01 -8.42710429e-03 2.12255989e+02] [ 9.30719785e-01 3.65088184e-01 -2.17094247e-02 8.50248075e+01] [ 2.32875231e-02 8.04702419e-05 9.99728806e-01 3.48010846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.27, Y:85.05, Z:3.48 [[ 3.64899834e-01 -9.31009602e-01 -8.32061347e-03 2.12266053e+02] [ 9.30762420e-01 3.64994677e-01 -2.14523639e-02 8.50501946e+01] [ 2.30093364e-02 8.34496763e-05 9.99735247e-01 3.48018719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.28, Y:85.08, Z:3.48 [[ 3.64869795e-01 -9.31021483e-01 -8.30850545e-03 2.12276615e+02] [ 9.30774668e-01 3.64964369e-01 -2.14365538e-02 8.50763001e+01] [ 2.29902005e-02 8.82045742e-05 9.99735687e-01 3.47964378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.280385723 meters Centerline goodness [0,1] 0.9999777327484468 Centerline is valid? [True, True] Translation: X:212.29, Y:85.10, Z:3.48 [[ 3.64665054e-01 -9.31100888e-01 -8.39852139e-03 2.12288407e+02] [ 9.30848455e-01 3.64761743e-01 -2.16800433e-02 8.51002629e+01] [ 2.32497669e-02 8.82035141e-05 9.99729684e-01 3.48039210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.30, Y:85.13, Z:3.48 [[ 3.64510420e-01 -9.31162848e-01 -8.24042702e-03 2.12300176e+02] [ 9.30919531e-01 3.64603542e-01 -2.12857570e-02 8.51254694e+01] [ 2.28249950e-02 8.77057624e-05 9.99739472e-01 3.48266690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.340385723 meters Centerline goodness [0,1] 0.9999328603719535 Centerline is valid? [True, True] Translation: X:212.31, Y:85.15, Z:3.48 [[ 3.63856987e-01 -9.31420028e-01 -8.05136894e-03 2.12310757e+02] [ 9.31187429e-01 3.63946048e-01 -2.08145913e-02 8.51501856e+01] [ 2.23173911e-02 7.62009276e-05 9.99750933e-01 3.48307235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.370385723 meters Centerline goodness [0,1] 0.9999552312306935 Centerline is valid? [True, True] Translation: X:212.32, Y:85.18, Z:3.48 [[ 3.63321204e-01 -9.31628484e-01 -8.12836228e-03 2.12321822e+02] [ 9.31391067e-01 3.63412112e-01 -2.10313309e-02 8.51760937e+01] [ 2.25473322e-02 7.04444461e-05 9.99745774e-01 3.48341678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.33, Y:85.20, Z:3.48 [[ 3.62510373e-01 -9.31943918e-01 -8.17090275e-03 2.12332634e+02] [ 9.31703705e-01 3.62602442e-01 -2.11583208e-02 8.52007896e+01] [ 2.26811577e-02 5.72504200e-05 9.99742748e-01 3.48292787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.43038572300003 meters Centerline goodness [0,1] 0.9999776989808434 Centerline is valid? [True, True] Translation: X:212.34, Y:85.23, Z:3.48 [[ 3.62342439e-01 -9.32008779e-01 -8.22150554e-03 2.12343362e+02] [ 9.31765187e-01 3.62435694e-01 -2.13073781e-02 8.52266050e+01] [ 2.28384306e-02 6.00547162e-05 9.99739167e-01 3.48405368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.35, Y:85.25, Z:3.48 [[ 3.61899864e-01 -9.32182011e-01 -8.07381829e-03 2.12354535e+02] [ 9.31946762e-01 3.61989910e-01 -2.09412909e-02 8.52527571e+01] [ 2.24437354e-02 5.42815046e-05 9.99748106e-01 3.48467028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.49038572300003 meters Centerline goodness [0,1] 0.9999551850855964 Centerline is valid? [True, True] Translation: X:212.36, Y:85.28, Z:3.48 [[ 3.61318495e-01 -9.32408181e-01 -7.99558253e-03 2.12364642e+02] [ 9.32177138e-01 3.61406948e-01 -2.07557508e-02 8.52775406e+01] [ 2.22424909e-02 4.61373984e-05 9.99752604e-01 3.48482917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.38, Y:85.30, Z:3.49 [[ 3.60945234e-01 -9.32553972e-01 -7.85029262e-03 2.12375168e+02] [ 9.32330902e-01 3.61030591e-01 -2.03961035e-02 8.53025023e+01] [ 2.18546631e-02 4.28059490e-05 9.99761157e-01 3.48513776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.39, Y:85.33, Z:3.49 [[ 3.60573083e-01 -9.32694940e-01 -8.19758070e-03 2.12386543e+02] [ 9.32451312e-01 3.60666254e-01 -2.13167716e-02 8.53284409e+01] [ 2.28386357e-02 4.24091669e-05 9.99739163e-01 3.48568915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.580385723 meters Centerline goodness [0,1] 0.9998653228883752 Centerline is valid? [True, True] Translation: X:212.40, Y:85.35, Z:3.49 [[ 3.60886191e-01 -9.32571068e-01 -8.50643346e-03 2.12396041e+02] [ 9.32308267e-01 3.60986425e-01 -2.21381070e-02 8.53544986e+01] [ 2.37160651e-02 5.87188577e-05 9.99718733e-01 3.48549911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.610385723 meters Centerline goodness [0,1] 0.9999551388452739 Centerline is valid? [True, True] Translation: X:212.40, Y:85.38, Z:3.48 [[ 3.62208412e-01 -9.32054730e-01 -8.89084833e-03 2.12403673e+02] [ 9.31766987e-01 3.62317499e-01 -2.31583963e-02 8.53801358e+01] [ 2.48062027e-02 1.03966989e-04 9.99692273e-01 3.48393593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.640385723 meters Centerline goodness [0,1] 0.9999776126085789 Centerline is valid? [True, True] Translation: X:212.41, Y:85.41, Z:3.48 [[ 3.62902020e-01 -9.31783433e-01 -9.04206018e-03 2.12413053e+02] [ 9.31485227e-01 3.63014624e-01 -2.35723229e-02 8.54070317e+01] [ 2.52467000e-02 1.31898096e-04 9.99681243e-01 3.48440077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.670385723 meters Centerline goodness [0,1] 0.9999776356398443 Centerline is valid? [True, True] Translation: X:212.42, Y:85.43, Z:3.48 [[ 3.63004155e-01 -9.31743921e-01 -9.01382421e-03 2.12422068e+02] [ 9.31447084e-01 3.63116023e-01 -2.35177255e-02 8.54334583e+01] [ 2.51855618e-02 1.41131805e-04 9.99682783e-01 3.48456532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.43, Y:85.46, Z:3.49 [[ 3.62948059e-01 -9.31768366e-01 -8.74177440e-03 2.12431626e+02] [ 9.31488746e-01 3.63053291e-01 -2.28259467e-02 8.54597986e+01] [ 2.44422251e-02 1.41768590e-04 9.99701234e-01 3.48505500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.730385723 meters Centerline goodness [0,1] 0.9999776096010031 Centerline is valid? [True, True] Translation: X:212.44, Y:85.49, Z:3.49 [[ 3.61129400e-01 -9.32476335e-01 -8.56979505e-03 2.12442901e+02] [ 9.32207381e-01 3.61231055e-01 -2.23947165e-02 8.54859551e+01] [ 2.39782193e-02 9.85643361e-05 9.99712476e-01 3.48744074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.45, Y:85.51, Z:3.49 [[ 3.59708247e-01 -9.33025882e-01 -8.52527800e-03 2.12453430e+02] [ 9.32759428e-01 3.59809253e-01 -2.22969031e-02 8.55105297e+01] [ 2.38710616e-02 6.83464987e-05 9.99715043e-01 3.48801491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.46, Y:85.54, Z:3.49 [[ 3.58072205e-01 -9.33654488e-01 -8.57867562e-03 2.12464168e+02] [ 9.33384398e-01 3.58174952e-01 -2.24559326e-02 8.55356380e+01] [ 2.40387489e-02 3.36433071e-05 9.99711027e-01 3.48822037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.820385723 meters Centerline goodness [0,1] 0.999910410320731 Centerline is valid? [True, True] Translation: X:212.48, Y:85.56, Z:3.49 [[ 3.54990691e-01 -9.34830816e-01 -8.54132846e-03 2.12476637e+02] [ 9.34562961e-01 3.55093429e-01 -2.23769803e-02 8.55609938e+01] [ 2.39516603e-02 -3.87895379e-05 9.99713117e-01 3.49057243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.49, Y:85.59, Z:3.49 [[ 3.53322728e-01 -9.35463291e-01 -8.45459812e-03 2.12487325e+02] [ 9.35200589e-01 3.53423860e-01 -2.21682782e-02 8.55856380e+01] [ 2.37256672e-02 -7.41886179e-05 9.99718504e-01 3.49117668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.50, Y:85.61, Z:3.49 [[ 3.50321425e-01 -9.36591988e-01 -8.38734946e-03 2.12498998e+02] [ 9.36333332e-01 3.50421786e-01 -2.20105481e-02 8.56111954e+01] [ 2.35540130e-02 -1.42588298e-04 9.99722556e-01 3.49224836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.51, Y:85.64, Z:3.49 [[ 3.48728541e-01 -9.37186554e-01 -8.35273755e-03 2.12509174e+02] [ 9.36929781e-01 3.48828515e-01 -2.19374674e-02 8.56375209e+01] [ 2.34731725e-02 -1.75707564e-04 9.99724452e-01 3.49262574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.52, Y:85.66, Z:3.49 [[ 3.47354175e-01 -9.37696850e-01 -8.34828120e-03 2.12518626e+02] [ 9.37440071e-01 3.47454422e-01 -2.19439780e-02 8.56629272e+01] [ 2.34774463e-02 -2.03680941e-04 9.99724346e-01 3.49267952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.970385723 meters Centerline goodness [0,1] 0.9999549295774648 Centerline is valid? [True, True] Translation: X:212.53, Y:85.69, Z:3.49 [[ 3.45986062e-01 -9.38201994e-01 -8.40612629e-03 2.12528504e+02] [ 9.37941351e-01 3.46088086e-01 -2.21146585e-02 8.56895730e+01] [ 2.36572768e-02 -2.33089858e-04 9.99720100e-01 3.49269780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.54, Y:85.72, Z:3.49 [[ 3.44528623e-01 -9.38735555e-01 -8.69404861e-03 2.12538856e+02] [ 9.38456479e-01 3.44638193e-01 -2.28900251e-02 8.57151309e+01] [ 2.44839816e-02 -2.72717426e-04 9.99700185e-01 3.49226394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.55, Y:85.74, Z:3.49 [[ 3.43807190e-01 -9.38997091e-01 -9.00436939e-03 2.12549247e+02] [ 9.38697367e-01 3.43924955e-01 -2.37250435e-02 8.57411801e+01] [ 2.53745742e-02 -2.95537308e-04 9.99677970e-01 3.49249846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.56, Y:85.77, Z:3.49 [[ 3.43395545e-01 -9.39145206e-01 -9.26181726e-03 2.12559823e+02] [ 9.38827636e-01 3.43520285e-01 -2.44229973e-02 8.57673277e+01] [ 2.61183629e-02 -3.08501550e-04 9.99658810e-01 3.49325395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.57, Y:85.79, Z:3.49 [[ 3.43665751e-01 -9.39044331e-01 -9.46546681e-03 2.12569241e+02] [ 9.38712071e-01 3.43795947e-01 -2.49798957e-02 8.57942153e+01] [ 2.67114186e-02 -3.00613325e-04 9.99643141e-01 3.49334314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.58, Y:85.82, Z:3.49 [[ 3.44193850e-01 -9.38850410e-01 -9.51319306e-03 2.12576939e+02] [ 9.38514178e-01 3.44325178e-01 -2.51258871e-02 8.58212762e+01] [ 2.68650813e-02 -2.80090764e-04 9.99639029e-01 3.49422292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.58, Y:85.85, Z:3.49 [[ 3.46157723e-01 -9.38130354e-01 -9.28817949e-03 2.12582905e+02] [ 9.37809081e-01 3.46282246e-01 -2.45506129e-02 8.58496037e+01] [ 2.62480068e-02 -2.12154830e-04 9.99655439e-01 3.49371853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.18038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.59, Y:85.88, Z:3.49 [[ 3.47370639e-01 -9.37684459e-01 -9.02743545e-03 2.12592031e+02] [ 9.37380371e-01 3.47487881e-01 -2.38791282e-02 8.58767268e+01] [ 2.55280118e-02 -1.67232768e-04 9.99674093e-01 3.49499680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.60, Y:85.90, Z:3.50 [[ 3.48139795e-01 -9.37401735e-01 -8.75619342e-03 2.12601512e+02] [ 9.37115115e-01 3.48249866e-01 -2.31795393e-02 8.59018261e+01] [ 2.47778836e-02 -1.35841126e-04 9.99692972e-01 3.49544064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.24038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.61, Y:85.93, Z:3.50 [[ 3.49368539e-01 -9.36948246e-01 -8.34313563e-03 2.12609918e+02] [ 9.36687490e-01 3.49468132e-01 -2.21036424e-02 8.59284408e+01] [ 2.36256290e-02 -9.25935350e-05 9.99720872e-01 3.49916539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.62, Y:85.95, Z:3.50 [[ 3.49557278e-01 -9.36878983e-01 -8.21468120e-03 2.12618757e+02] [ 9.36625772e-01 3.49653779e-01 -2.17806962e-02 8.59538792e+01] [ 2.32781709e-02 -8.04812237e-05 9.99729023e-01 3.49969276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.63, Y:85.98, Z:3.50 [[ 3.49732169e-01 -9.36813724e-01 -8.21324389e-03 2.12627980e+02] [ 9.36560167e-01 3.49828590e-01 -2.17947283e-02 8.59802534e+01] [ 2.32908281e-02 -6.98794824e-05 9.99728729e-01 3.50080148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.64, Y:86.01, Z:3.50 [[ 3.50996240e-01 -9.36339870e-01 -8.32392274e-03 2.12636373e+02] [ 9.36078875e-01 3.51094926e-01 -2.21063985e-02 8.60066006e+01] [ 2.36215893e-02 -3.25854885e-05 9.99720971e-01 3.50239066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.360385723 meters Centerline goodness [0,1] 0.9999329698811332 Centerline is valid? [True, True] Translation: X:212.65, Y:86.03, Z:3.50 [[ 3.51806358e-01 -9.36034227e-01 -8.49782045e-03 2.12645150e+02] [ 9.35761650e-01 3.51908975e-01 -2.25877897e-02 8.60320894e+01] [ 2.41334036e-02 -5.40645394e-06 9.99708747e-01 3.50147646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.390385723 meters Centerline goodness [0,1] 0.9999107481536025 Centerline is valid? [True, True] Translation: X:212.65, Y:86.06, Z:3.50 [[ 3.53172968e-01 -9.35517302e-01 -8.73110472e-03 2.12652921e+02] [ 9.35228889e-01 3.53280874e-01 -2.32281900e-02 8.60592495e+01] [ 2.48149059e-02 3.79874240e-05 9.99692062e-01 3.50222660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.66, Y:86.09, Z:3.50 [[ 3.53503008e-01 -9.35391203e-01 -8.88368582e-03 2.12661768e+02] [ 9.35092085e-01 3.53614612e-01 -2.36537378e-02 8.60859523e+01] [ 2.52668994e-02 5.46031599e-05 9.99680739e-01 3.50217118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.67, Y:86.11, Z:3.50 [[ 3.53277016e-01 -9.35475617e-01 -8.98441342e-03 2.12670363e+02] [ 9.35169198e-01 3.53391238e-01 -2.39416696e-02 8.61124393e+01] [ 2.55718611e-02 5.60949121e-05 9.99672985e-01 3.50182216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.480385723 meters Centerline goodness [0,1] 0.9999331610373406 Centerline is valid? [True, True] Translation: X:212.68, Y:86.14, Z:3.50 [[ 3.53078238e-01 -9.35548834e-01 -9.17264186e-03 2.12678235e+02] [ 9.35228939e-01 3.53197361e-01 -2.44633694e-02 8.61394545e+01] [ 2.61264296e-02 5.89632340e-05 9.99658645e-01 3.50097759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.510385723 meters Centerline goodness [0,1] 0.9999108476162881 Centerline is valid? [True, True] Translation: X:212.69, Y:86.16, Z:3.50 [[ 3.52840586e-01 -9.35639076e-01 -9.11259285e-03 2.12687024e+02] [ 9.35322866e-01 3.52958235e-01 -2.43232767e-02 8.61646817e+01] [ 2.59741728e-02 5.90227590e-05 9.99662613e-01 3.50170244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.540385723 meters Centerline goodness [0,1] 0.9999777019644569 Centerline is valid? [True, True] Translation: X:212.70, Y:86.19, Z:3.50 [[ 3.52721567e-01 -9.35684683e-01 -9.03713303e-03 2.12696508e+02] [ 9.35373189e-01 3.52837313e-01 -2.41418286e-02 8.61912261e+01] [ 2.57777770e-02 6.22516818e-05 9.99667696e-01 3.50259176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.570385723 meters Centerline goodness [0,1] 0.999932989345306 Centerline is valid? [True, True] Translation: X:212.71, Y:86.22, Z:3.50 [[ 3.52261256e-01 -9.35856402e-01 -9.20883387e-03 2.12706129e+02] [ 9.35532491e-01 3.52381600e-01 -2.46204692e-02 8.62175528e+01] [ 2.62862474e-02 5.76741238e-05 9.99654455e-01 3.50395198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.600385723 meters Centerline goodness [0,1] 0.9998666281370173 Centerline is valid? [True, True] Translation: X:212.72, Y:86.24, Z:3.50 [[ 3.50630180e-01 -9.36466334e-01 -9.44892637e-03 2.12715710e+02] [ 9.36124957e-01 3.50757473e-01 -2.52835859e-02 8.62426514e+01] [ 2.69915085e-02 1.98124614e-05 9.99635663e-01 3.50485979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.630385723 meters Centerline goodness [0,1] 0.9997999599919984 Centerline is valid? [True, True] Translation: X:212.72, Y:86.27, Z:3.50 [[ 3.49415231e-01 -9.36919032e-01 -9.57728313e-03 2.12724918e+02] [ 9.36567885e-01 3.49546460e-01 -2.56489620e-02 8.62678234e+01] [ 2.73787061e-02 -7.63782085e-06 9.99625133e-01 3.50497910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.660385723 meters Centerline goodness [0,1] 0.9999110775181735 Centerline is valid? [True, True] Translation: X:212.73, Y:86.29, Z:3.50 [[ 3.47352047e-01 -9.37684989e-01 -9.66523988e-03 2.12733420e+02] [ 9.37327052e-01 3.47486485e-01 -2.59063828e-02 8.62937534e+01] [ 2.76505665e-02 -6.08557096e-05 9.99617648e-01 3.50438438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.690385723 meters Centerline goodness [0,1] 0.9998668885191347 Centerline is valid? [True, True] Translation: X:212.74, Y:86.32, Z:3.51 [[ 3.46541565e-01 -9.37983555e-01 -9.78746901e-03 2.12742336e+02] [ 9.37616018e-01 3.46679744e-01 -2.62556359e-02 8.63199515e+01] [ 2.80204720e-02 -7.82185368e-05 9.99607346e-01 3.50520616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.720385723 meters Centerline goodness [0,1] 0.9998216515070447 Centerline is valid? [True, True] Translation: X:212.75, Y:86.35, Z:3.51 [[ 3.45621540e-01 -9.38324464e-01 -9.64112192e-03 2.12751655e+02] [ 9.37967388e-01 3.45755970e-01 -2.58841169e-02 8.63466062e+01] [ 2.76211756e-02 -9.69495864e-05 9.99618458e-01 3.50721158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.750385723 meters Centerline goodness [0,1] 0.9999109726240819 Centerline is valid? [True, True] Translation: X:212.76, Y:86.37, Z:3.51 [[ 3.44465736e-01 -9.38751197e-01 -9.46289960e-03 2.12761646e+02] [ 9.38406770e-01 3.44595669e-01 -2.54275220e-02 8.63716540e+01] [ 2.71309910e-02 -1.21138951e-04 9.99631880e-01 3.50776831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.780385723 meters Centerline goodness [0,1] 0.9999555456768171 Centerline is valid? [True, True] Translation: X:212.77, Y:86.40, Z:3.51 [[ 3.43975021e-01 -9.38932309e-01 -9.34365280e-03 2.12770048e+02] [ 9.38595987e-01 3.44101878e-01 -2.51290608e-02 8.63982573e+01] [ 2.68096556e-02 -1.26145809e-04 9.99640549e-01 3.51076914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.810385723 meters Centerline goodness [0,1] 0.9999777223311352 Centerline is valid? [True, True] Translation: X:212.78, Y:86.42, Z:3.51 [[ 3.43323278e-01 -9.39173627e-01 -9.05675239e-03 2.12779169e+02] [ 9.38857267e-01 3.43442688e-01 -2.43752419e-02 8.64241904e+01] [ 2.60030597e-02 -1.34409857e-04 9.99661854e-01 3.51187737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.79, Y:86.45, Z:3.51 [[ 3.42651429e-01 -9.39422437e-01 -8.68813500e-03 2.12788877e+02] [ 9.39131018e-01 3.42761528e-01 -2.33979772e-02 8.64492868e+01] [ 2.49585432e-02 -1.41946759e-04 9.99688477e-01 3.51230842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.870385723 meters Centerline goodness [0,1] 0.9999555891104499 Centerline is valid? [True, True] Translation: X:212.80, Y:86.48, Z:3.51 [[ 3.41456488e-01 -9.39856422e-01 -8.79621795e-03 2.12797206e+02] [ 9.39557377e-01 3.41569726e-01 -2.37077582e-02 8.64759916e+01] [ 2.52864105e-02 -1.69383610e-04 9.99680233e-01 3.51398645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.900385723 meters Centerline goodness [0,1] 0.9999555891104499 Centerline is valid? [True, True] Translation: X:212.81, Y:86.50, Z:3.51 [[ 3.41198384e-01 -9.39950213e-01 -8.78972729e-03 2.12806735e+02] [ 9.39651138e-01 3.41311540e-01 -2.37101648e-02 8.65018885e+01] [ 2.52864098e-02 -1.69407344e-04 9.99680233e-01 3.51440368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.93038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.82, Y:86.53, Z:3.51 [[ 3.40790786e-01 -9.40095870e-01 -9.02196787e-03 2.12815155e+02] [ 9.39780288e-01 3.40910140e-01 -2.43574612e-02 8.65289221e+01] [ 2.59740290e-02 -1.77869213e-04 9.99662602e-01 3.51389285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.960385723 meters Centerline goodness [0,1] 0.9999334855774561 Centerline is valid? [True, True] Translation: X:212.82, Y:86.55, Z:3.51 [[ 3.40874715e-01 -9.40057668e-01 -9.79847065e-03 2.12823139e+02] [ 9.39684774e-01 3.41015466e-01 -2.64759900e-02 8.65548499e+01] [ 2.82303875e-02 -1.82478118e-04 9.99601427e-01 3.51237540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.99038572300003 meters Centerline goodness [0,1] 0.9999778221335107 Centerline is valid? [True, True] Translation: X:212.83, Y:86.58, Z:3.51 [[ 3.40401290e-01 -9.40224646e-01 -1.02262979e-02 2.12832609e+02] [ 9.39817928e-01 3.40554806e-01 -2.76529613e-02 8.65808066e+01] [ 2.94826106e-02 -1.97754370e-04 9.99565274e-01 3.51252344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.020385723 meters Centerline goodness [0,1] 0.9999112964030692 Centerline is valid? [True, True] Translation: X:212.84, Y:86.61, Z:3.51 [[ 3.39834052e-01 -9.40422855e-01 -1.08475913e-02 2.12842189e+02] [ 9.39964590e-01 3.40007066e-01 -2.93558299e-02 8.66079622e+01] [ 3.12951510e-02 -2.20241063e-04 9.99510163e-01 3.51181819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.85, Y:86.64, Z:3.51 [[ 3.38656887e-01 -9.40857632e-01 -9.92110252e-03 2.12849593e+02] [ 9.40473926e-01 3.38802099e-01 -2.68687974e-02 8.66356138e+01] [ 2.86410035e-02 -2.31234956e-04 9.99589736e-01 3.51481193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.86, Y:86.66, Z:3.52 [[ 3.37580074e-01 -9.41248228e-01 -9.56387822e-03 2.12858089e+02] [ 9.40891315e-01 3.37715431e-01 -2.59195049e-02 8.66615314e+01] [ 2.76265573e-02 -2.48661577e-04 9.99618283e-01 3.51571532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.110385723 meters Centerline goodness [0,1] 0.9999561259186136 Centerline is valid? [True, True] Translation: X:212.87, Y:86.69, Z:3.52 [[ 3.35989667e-01 -9.41821109e-01 -9.16205987e-03 2.12866135e+02] [ 9.41493321e-01 3.36114449e-01 -2.48476248e-02 8.66884007e+01] [ 2.64815182e-02 -2.77473010e-04 9.99649265e-01 3.51741815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.140385723 meters Centerline goodness [0,1] 0.9999781344295273 Centerline is valid? [True, True] Translation: X:212.88, Y:86.71, Z:3.52 [[ 3.35048058e-01 -9.42157869e-01 -9.01938067e-03 2.12875196e+02] [ 9.41839808e-01 3.35169308e-01 -2.44808472e-02 8.67148225e+01] [ 2.60878424e-02 -2.92551440e-04 9.99659612e-01 3.51895548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.170385723 meters Centerline goodness [0,1] 0.9998904949627683 Centerline is valid? [True, True] Translation: X:212.88, Y:86.74, Z:3.52 [[ 3.34307929e-01 -9.42421239e-01 -8.96753730e-03 2.12884515e+02] [ 9.42106393e-01 3.34428042e-01 -2.43603812e-02 8.67411113e+01] [ 2.59567365e-02 -3.04505656e-04 9.99663021e-01 3.52035883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.200385723 meters Centerline goodness [0,1] 0.9998905955975669 Centerline is valid? [True, True] Translation: X:212.89, Y:86.77, Z:3.52 [[ 3.33490242e-01 -9.42712302e-01 -8.81897863e-03 2.12893760e+02] [ 9.42407399e-01 3.33606679e-01 -2.39765943e-02 8.67681470e+01] [ 2.55451006e-02 -3.15110480e-04 9.99673621e-01 3.52143657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.230385723 meters Centerline goodness [0,1] 0.9999781186407299 Centerline is valid? [True, True] Translation: X:212.90, Y:86.80, Z:3.52 [[ 3.33165495e-01 -9.42825512e-01 -8.98923523e-03 2.12898687e+02] [ 9.42508214e-01 3.33286587e-01 -2.44605260e-02 8.67953507e+01] [ 2.60579995e-02 -3.23024800e-04 9.99660380e-01 3.52070515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.260385723 meters Centerline goodness [0,1] 0.9999563213872328 Centerline is valid? [True, True] Translation: X:212.90, Y:86.82, Z:3.52 [[ 3.33463000e-01 -9.42718582e-01 -9.17076513e-03 2.12904923e+02] [ 9.42387787e-01 3.33588933e-01 -2.49736374e-02 8.68214769e+01] [ 2.66023778e-02 -3.14632985e-04 9.99646045e-01 3.51897863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.290385723 meters Centerline goodness [0,1] 0.999912736157773 Centerline is valid? [True, True] Translation: X:212.91, Y:86.85, Z:3.52 [[ 3.33818940e-01 -9.42590898e-01 -9.34419413e-03 2.12910117e+02] [ 9.42246920e-01 3.33949557e-01 -2.54643809e-02 8.68496535e+01] [ 2.71229832e-02 -3.04045486e-04 9.99632058e-01 3.52060132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.320385723 meters Centerline goodness [0,1] 0.9999563918627216 Centerline is valid? [True, True] Translation: X:212.92, Y:86.88, Z:3.52 [[ 3.34444697e-01 -9.42368501e-01 -9.39961282e-03 2.12918289e+02] [ 9.42019760e-01 3.34576642e-01 -2.56367526e-02 8.68754311e+01] [ 2.73041590e-02 -2.80545045e-04 9.99627133e-01 3.52047812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.350385723 meters Centerline goodness [0,1] 0.9999782097097534 Centerline is valid? [True, True] Translation: X:212.93, Y:86.90, Z:3.52 [[ 3.36188910e-01 -9.41747771e-01 -9.38899397e-03 2.12925730e+02] [ 9.41399063e-01 3.36319917e-01 -2.56265067e-02 8.69020560e+01] [ 2.72914113e-02 -2.23442761e-04 9.99627495e-01 3.52179619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.93, Y:86.93, Z:3.52 [[ 3.36590947e-01 -9.41606868e-01 -9.11270417e-03 2.12933566e+02] [ 9.41277848e-01 3.36714221e-01 -2.48906674e-02 8.69295476e+01] [ 2.65056005e-02 -1.99613264e-04 9.99648645e-01 3.52278405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.94, Y:86.96, Z:3.52 [[ 3.37831421e-01 -9.41168188e-01 -8.50719538e-03 2.12937295e+02] [ 9.40880850e-01 3.37938485e-01 -2.32552537e-02 8.69580129e+01] [ 2.47620138e-02 -1.47901799e-04 9.99693363e-01 3.52347254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.94, Y:86.99, Z:3.52 [[ 3.39073096e-01 -9.40723839e-01 -8.25190984e-03 2.12943758e+02] [ 9.40452917e-01 3.39173476e-01 -2.25757426e-02 8.69856108e+01] [ 2.40363682e-02 -1.05705733e-04 9.99711079e-01 3.52368333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.470385723 meters Centerline goodness [0,1] 0.9999566883946553 Centerline is valid? [True, True] Translation: X:212.95, Y:87.01, Z:3.52 [[ 3.40159872e-01 -9.40333174e-01 -8.04878225e-03 2.12950176e+02] [ 9.40074887e-01 3.40255076e-01 -2.20383757e-02 8.70126575e+01] [ 2.34620548e-02 -6.98870013e-05 9.99724726e-01 3.52407577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.96, Y:87.04, Z:3.53 [[ 3.42000590e-01 -9.39668481e-01 -7.66431761e-03 2.12957069e+02] [ 9.39433723e-01 3.42086458e-01 -2.10032071e-02 8.70389634e+01] [ 2.23579110e-02 -1.70092156e-05 9.99750031e-01 3.52560986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.530385723 meters Centerline goodness [0,1] 0.9998916482468686 Centerline is valid? [True, True] Translation: X:212.97, Y:87.06, Z:3.52 [[ 3.42021473e-01 -9.39660447e-01 -7.71732425e-03 2.12965291e+02] [ 9.39422045e-01 3.42108528e-01 -2.11654630e-02 8.70643707e+01] [ 2.25285108e-02 -1.07817139e-05 9.99746201e-01 3.52445802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.97, Y:87.09, Z:3.53 [[ 3.43201518e-01 -9.39233539e-01 -7.28546035e-03 2.12972868e+02] [ 9.39020698e-01 3.43278836e-01 -1.99942421e-02 8.70910464e+01] [ 2.12802071e-02 2.08561582e-05 9.99773551e-01 3.52735954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.98, Y:87.12, Z:3.53 [[ 3.43793191e-01 -9.39016646e-01 -7.34718146e-03 2.12977402e+02] [ 9.38799760e-01 3.43871688e-01 -2.01809986e-02 8.71190275e+01] [ 2.14767813e-02 4.05577193e-05 9.99769347e-01 3.52635170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.620385723 meters Centerline goodness [0,1] 0.999978418974038 Centerline is valid? [True, True] Translation: X:212.98, Y:87.14, Z:3.53 [[ 3.44059795e-01 -9.38919853e-01 -7.23645354e-03 2.12984593e+02] [ 9.38709089e-01 3.44135884e-01 -1.98931887e-02 8.71448728e+01] [ 2.11684332e-02 5.15217304e-05 9.99775922e-01 3.52645528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.650385723 meters Centerline goodness [0,1] 0.9998703459601962 Centerline is valid? [True, True] Translation: X:212.99, Y:87.17, Z:3.53 [[ 3.44284429e-01 -9.38838875e-01 -7.05684363e-03 2.12993068e+02] [ 9.38638117e-01 3.44356739e-01 -1.94144798e-02 8.71711820e+01] [ 2.06571400e-02 6.02806687e-05 9.99786617e-01 3.52703425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.68038572300003 meters Centerline goodness [0,1] 0.9999569827716001 Centerline is valid? [True, True] Translation: X:213.00, Y:87.20, Z:3.53 [[ 3.43885294e-01 -9.38986273e-01 -6.90530823e-03 2.13001637e+02] [ 9.38793752e-01 3.43954613e-01 -1.90135565e-02 8.71974857e+01] [ 2.02285812e-02 5.58222437e-05 9.99795380e-01 3.52803756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.710385723 meters Centerline goodness [0,1] 0.9998926324378878 Centerline is valid? [True, True] Translation: X:213.01, Y:87.22, Z:3.53 [[ 3.43741161e-01 -9.39042966e-01 -6.34995245e-03 2.13007896e+02] [ 9.38879920e-01 3.43799803e-01 -1.74982988e-02 8.72236139e+01] [ 1.86147668e-02 5.30426785e-05 9.99826729e-01 3.52861306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.74038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.02, Y:87.25, Z:3.53 [[ 3.42850782e-01 -9.39369313e-01 -6.21573166e-03 2.13016428e+02] [ 9.39212900e-01 3.42907119e-01 -1.71416439e-02 8.72503119e+01] [ 1.82337529e-02 3.91306643e-05 9.99833751e-01 3.52877912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.770385723 meters Centerline goodness [0,1] 0.999935880995127 Centerline is valid? [True, True] Translation: X:213.03, Y:87.28, Z:3.53 [[ 3.42097104e-01 -9.39641855e-01 -6.53880480e-03 2.13025019e+02] [ 9.39468502e-01 3.42159587e-01 -1.80485405e-02 8.72757978e+01] [ 1.91964788e-02 3.13522685e-05 9.99815730e-01 3.52839682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.03, Y:87.30, Z:3.53 [[ 3.39985743e-01 -9.40405695e-01 -6.84275933e-03 2.13034279e+02] [ 9.40215689e-01 3.40054597e-01 -1.89031429e-02 8.73018251e+01] [ 2.01035350e-02 -6.87060206e-06 9.99797904e-01 3.52828441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.830385723 meters Centerline goodness [0,1] 0.9999571045576408 Centerline is valid? [True, True] Translation: X:213.04, Y:87.33, Z:3.53 [[ 3.38723624e-01 -9.40859133e-01 -7.09919689e-03 2.13043530e+02] [ 9.40654356e-01 3.38798010e-01 -1.96288529e-02 8.73287450e+01] [ 2.08731793e-02 -2.91342669e-05 9.99782131e-01 3.52798162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.860385723 meters Centerline goodness [0,1] 0.9999143010176754 Centerline is valid? [True, True] Translation: X:213.05, Y:87.36, Z:3.53 [[ 3.37446151e-01 -9.41316781e-01 -7.26732715e-03 2.13051838e+02] [ 9.41101920e-01 3.37524393e-01 -2.01112146e-02 8.73552175e+01] [ 2.13839239e-02 -5.28435816e-05 9.99771336e-01 3.52804521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.06, Y:87.38, Z:3.53 [[ 3.34900859e-01 -9.42224910e-01 -7.32350415e-03 2.13059370e+02] [ 9.42006549e-01 3.34980906e-01 -2.02843397e-02 8.73810549e+01] [ 2.15656442e-02 -1.05546095e-04 9.99767429e-01 3.52662574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.920385723 meters Centerline goodness [0,1] 0.9998927935847681 Centerline is valid? [True, True] Translation: X:213.07, Y:87.41, Z:3.53 [[ 3.33389234e-01 -9.42761025e-01 -7.29855231e-03 2.13069286e+02] [ 9.42543893e-01 3.33469088e-01 -2.02330723e-02 8.74077878e+01] [ 2.15087935e-02 -1.33717444e-04 9.99768650e-01 3.52742947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.950385723 meters Centerline goodness [0,1] 0.9999142955090847 Centerline is valid? [True, True] Translation: X:213.08, Y:87.43, Z:3.53 [[ 3.31699610e-01 -9.43358463e-01 -7.08376269e-03 2.13079338e+02] [ 9.43153717e-01 3.31775202e-01 -1.96540333e-02 8.74339617e+01] [ 2.08910154e-02 -1.61841949e-04 9.99781746e-01 3.52727068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.09, Y:87.46, Z:3.53 [[ 3.29543683e-01 -9.44119333e-01 -6.29647398e-03 2.13088134e+02] [ 9.43957461e-01 3.29603779e-01 -1.74831674e-02 8.74593079e+01] [ 1.85815379e-02 -1.82136237e-04 9.99827332e-01 3.53044308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.10, Y:87.49, Z:3.53 [[ 3.28347945e-01 -9.44538293e-01 -5.91956140e-03 2.13096607e+02] [ 9.44395072e-01 3.28401246e-01 -1.64489905e-02 8.74859266e+01] [ 1.74806927e-02 -1.89412403e-04 9.99847183e-01 3.53072647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.040385723 meters Centerline goodness [0,1] 0.9999785614749706 Centerline is valid? [True, True] Translation: X:213.11, Y:87.51, Z:3.53 [[ 3.26931475e-01 -9.45030517e-01 -5.75616028e-03 2.13105382e+02] [ 9.44894943e-01 3.26982080e-01 -1.60083215e-02 8.75115516e+01] [ 1.70105136e-02 -2.05342572e-04 9.99855290e-01 3.53093346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.11, Y:87.54, Z:3.53 [[ 3.25474016e-01 -9.45533473e-01 -5.75458751e-03 2.13113229e+02] [ 9.45397809e-01 3.25524806e-01 -1.60182284e-02 8.75385027e+01] [ 1.70190321e-02 -2.26857291e-04 9.99855140e-01 3.53127360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.100385723 meters Centerline goodness [0,1] 0.9999143762308417 Centerline is valid? [True, True] Translation: X:213.12, Y:87.57, Z:3.53 [[ 3.25080143e-01 -9.45668563e-01 -5.81975211e-03 2.13122460e+02] [ 9.45529595e-01 3.25132150e-01 -1.62132407e-02 8.75652062e+01] [ 1.72245405e-02 -2.32145253e-04 9.99851620e-01 3.52957348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.13, Y:87.59, Z:3.53 [[ 3.25719594e-01 -9.45448517e-01 -5.81786523e-03 2.13130431e+02] [ 9.45309364e-01 3.25771477e-01 -1.62219448e-02 8.75919673e+01] [ 1.72323082e-02 -2.15877213e-04 9.99851489e-01 3.53211616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.14, Y:87.62, Z:3.53 [[ 3.27296918e-01 -9.44905598e-01 -5.48989408e-03 2.13136214e+02] [ 9.44781410e-01 3.27342911e-01 -1.53201235e-02 8.76193820e+01] [ 1.62731484e-02 -1.72520654e-04 9.99867569e-01 3.53179837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.14, Y:87.65, Z:3.53 [[ 3.28265300e-01 -9.44569823e-01 -5.45367497e-03 2.13143658e+02] [ 9.44447014e-01 3.28310565e-01 -1.52318909e-02 8.76470187e+01] [ 1.61780836e-02 -1.50605806e-04 9.99869115e-01 3.53173478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.15, Y:87.67, Z:3.53 [[ 3.29028981e-01 -9.44305665e-01 -5.17109252e-03 2.13151260e+02] [ 9.44195042e-01 3.29069589e-01 -1.44543560e-02 8.76745642e+01] [ 1.53509796e-02 -1.26617893e-04 9.99882159e-01 3.53204137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.250385723 meters Centerline goodness [0,1] 0.9998299392032651 Centerline is valid? [True, True] Translation: X:213.16, Y:87.70, Z:3.53 [[ 3.28774234e-01 -9.44394519e-01 -5.14740843e-03 2.13159243e+02] [ 9.44284729e-01 3.28814502e-01 -1.44004906e-02 8.77019557e+01] [ 1.52922869e-02 -1.26108925e-04 9.99883058e-01 3.52932127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.280385723 meters Centerline goodness [0,1] 0.9999360668314722 Centerline is valid? [True, True] Translation: X:213.17, Y:87.73, Z:3.53 [[ 3.29513068e-01 -9.44138963e-01 -4.77034596e-03 2.13166945e+02] [ 9.44044489e-01 3.29547581e-01 -1.33564740e-02 8.77280353e+01] [ 1.41824235e-02 -1.02286077e-04 9.99899419e-01 3.53073833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.17, Y:87.76, Z:3.53 [[ 3.29742229e-01 -9.44057949e-01 -4.96498059e-03 2.13174628e+02] [ 9.43955434e-01 3.29779591e-01 -1.39125589e-02 8.77553917e+01] [ 1.47716111e-02 -9.91622079e-05 9.99890889e-01 3.53182268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.18, Y:87.78, Z:3.53 [[ 3.30087334e-01 -9.43936566e-01 -5.10992280e-03 2.13182680e+02] [ 9.43827769e-01 3.30126871e-01 -1.43314669e-02 8.77820720e+01] [ 1.52149185e-02 -9.22513366e-05 9.99884242e-01 3.53185710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.19, Y:87.81, Z:3.53 [[ 3.30618230e-01 -9.43751966e-01 -4.87983843e-03 2.13190798e+02] [ 9.43652563e-01 3.30654231e-01 -1.36974348e-02 8.78092606e+01] [ 1.45405203e-02 -7.62503875e-05 9.99894278e-01 3.53216132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.20, Y:87.84, Z:3.53 [[ 3.31052579e-01 -9.43600151e-01 -4.79015719e-03 2.13199599e+02] [ 9.43504189e-01 3.31087227e-01 -1.34571202e-02 8.78364244e+01] [ 1.42841005e-02 -6.45190351e-05 9.99897975e-01 3.53269170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.43038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.21, Y:87.86, Z:3.53 [[ 3.31519941e-01 -9.43437103e-01 -4.57832308e-03 2.13207698e+02] [ 9.43349281e-01 3.31551549e-01 -1.28726546e-02 8.78629417e+01] [ 1.36624900e-02 -5.14161086e-05 9.99906663e-01 3.53313160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.22, Y:87.89, Z:3.53 [[ 3.31728279e-01 -9.43363959e-01 -4.55960199e-03 2.13215961e+02] [ 9.43276688e-01 3.31759610e-01 -1.28316234e-02 8.78889037e+01] [ 1.36175829e-02 -4.43539136e-05 9.99907275e-01 3.53356022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.49038572300003 meters Centerline goodness [0,1] 0.9999577435030635 Centerline is valid? [True, True] Translation: X:213.22, Y:87.92, Z:3.53 [[ 3.33109123e-01 -9.42877572e-01 -4.49409500e-03 2.13223606e+02] [ 9.42792612e-01 3.33139437e-01 -1.26573076e-02 8.79151358e+01] [ 1.34314518e-02 -2.07349182e-05 9.99909794e-01 3.53347338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.23, Y:87.94, Z:3.53 [[ 3.33986379e-01 -9.42568143e-01 -4.28887015e-03 2.13232322e+02] [ 9.42490626e-01 3.34013916e-01 -1.20881688e-02 8.79416214e+01] [ 1.28264651e-02 -4.93619382e-06 9.99917738e-01 3.53360870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.24, Y:87.97, Z:3.53 [[ 3.34847441e-01 -9.42262024e-01 -4.41235741e-03 2.13241147e+02] [ 9.42179802e-01 3.34876511e-01 -1.24476168e-02 8.79684093e+01] [ 1.32065115e-02 1.08186035e-05 9.99912790e-01 3.53365725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.25, Y:88.00, Z:3.53 [[ 3.37131563e-01 -9.41446909e-01 -4.47502807e-03 2.13247790e+02] [ 9.41362109e-01 3.37161259e-01 -1.26358984e-02 8.79951043e+01] [ 1.34048336e-02 4.73383105e-05 9.99910150e-01 3.53264901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.26, Y:88.02, Z:3.53 [[ 3.38208896e-01 -9.41061046e-01 -4.34178860e-03 2.13256087e+02] [ 9.40981066e-01 3.38236758e-01 -1.22690494e-02 8.80218226e+01] [ 1.30144770e-02 6.39607990e-05 9.99915306e-01 3.53240485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.640385723 meters Centerline goodness [0,1] 0.9999788449333615 Centerline is valid? [True, True] Translation: X:213.27, Y:88.05, Z:3.53 [[ 3.38900665e-01 -9.40812542e-01 -4.25442084e-03 2.13265750e+02] [ 9.40735601e-01 3.38927359e-01 -1.20322386e-02 8.80479334e+01] [ 1.27620206e-02 7.54485228e-05 9.99918559e-01 3.53259239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.28, Y:88.07, Z:3.53 [[ 3.40508355e-01 -9.40233802e-01 -3.80243843e-03 2.13275848e+02] [ 9.40172189e-01 3.40529573e-01 -1.07640251e-02 8.80741446e+01] [ 1.14155430e-02 9.02936165e-05 9.99934836e-01 3.53444509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.700385723 meters Centerline goodness [0,1] 0.9999364433710436 Centerline is valid? [True, True] Translation: X:213.29, Y:88.10, Z:3.54 [[ 3.40745902e-01 -9.40149076e-01 -3.45608628e-03 2.13285835e+02] [ 9.40098161e-01 3.40763418e-01 -9.78474725e-03 8.81005883e+01] [ 1.03768289e-02 8.50521795e-05 9.99946156e-01 3.53505655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.29, Y:88.13, Z:3.54 [[ 3.41118391e-01 -9.40014245e-01 -3.38556131e-03 2.13293436e+02] [ 9.39965293e-01 3.41135179e-01 -9.59364560e-03 8.81269049e+01] [ 1.01730976e-02 9.02588217e-05 9.99948249e-01 3.53574305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.30, Y:88.15, Z:3.53 [[ 3.42679932e-01 -9.39444888e-01 -3.71028957e-03 2.13303444e+02] [ 9.39385956e-01 3.42699996e-01 -1.05232376e-02 8.81532604e+01] [ 1.11575180e-02 1.20708430e-04 9.99937746e-01 3.53416154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.31, Y:88.18, Z:3.53 [[ 3.42412769e-01 -9.39542309e-01 -3.70744278e-03 2.13312553e+02] [ 9.39483372e-01 3.42432818e-01 -1.05242403e-02 8.81792848e+01] [ 1.11575191e-02 1.20553415e-04 9.99937746e-01 3.53457881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.820385723 meters Centerline goodness [0,1] 0.9999576719576719 Centerline is valid? [True, True] Translation: X:213.32, Y:88.21, Z:3.53 [[ 3.43270946e-01 -9.39228467e-01 -3.86567905e-03 2.13321298e+02] [ 9.39164245e-01 3.43292683e-01 -1.09842770e-02 8.82052311e+01] [ 1.16438050e-02 1.40075626e-04 9.99932199e-01 3.53448674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.33, Y:88.23, Z:3.53 [[ 3.43686128e-01 -9.39075492e-01 -4.13094503e-03 2.13330454e+02] [ 9.39002013e-01 3.43710917e-01 -1.17483908e-02 8.82302454e+01] [ 1.24524767e-02 1.58793240e-04 9.99922452e-01 3.53415760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.880385723 meters Centerline goodness [0,1] 0.9999361634216406 Centerline is valid? [True, True] Translation: X:213.34, Y:88.26, Z:3.53 [[ 3.44133103e-01 -9.38911304e-01 -4.23911113e-03 2.13343072e+02] [ 9.38833789e-01 3.44159168e-01 -1.20658193e-02 8.82559089e+01] [ 1.27876631e-02 1.72427065e-04 9.99918220e-01 3.53394910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.910385723 meters Centerline goodness [0,1] 0.9999787442077966 Centerline is valid? [True, True] Translation: X:213.35, Y:88.28, Z:3.53 [[ 3.44306957e-01 -9.38847457e-01 -4.26275865e-03 2.13351527e+02] [ 9.38768927e-01 3.44333297e-01 -1.21442201e-02 8.82812963e+01] [ 1.28693799e-02 1.79594099e-04 9.99917170e-01 3.53403123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.940385723 meters Centerline goodness [0,1] 0.9996590303676078 Centerline is valid? [True, True] Translation: X:213.36, Y:88.31, Z:3.53 [[ 3.43524816e-01 -9.39132084e-01 -4.65071077e-03 2.13361334e+02] [ 9.39038468e-01 3.43556244e-01 -1.32613488e-02 8.83081047e+01] [ 1.40519389e-02 1.88406096e-04 9.99901249e-01 3.52927900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.970385723 meters Centerline goodness [0,1] 0.9998295260825094 Centerline is valid? [True, True] Translation: X:213.37, Y:88.33, Z:3.53 [[ 3.43864980e-01 -9.39006232e-01 -4.91644882e-03 2.13372110e+02] [ 9.38901402e-01 3.43900062e-01 -1.40322576e-02 8.83342086e+01] [ 1.48671444e-02 2.09141286e-04 9.99889456e-01 3.53022436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.000385723 meters Centerline goodness [0,1] 0.9998719016204445 Centerline is valid? [True, True] Translation: X:213.38, Y:88.36, Z:3.53 [[ 3.44290762e-01 -9.38851534e-01 -4.65494965e-03 2.13382478e+02] [ 9.38757391e-01 3.44322166e-01 -1.32968908e-02 8.83600401e+01] [ 1.40866086e-02 2.08128264e-04 9.99900757e-01 3.53320556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.030385723 meters Centerline goodness [0,1] 0.999978624257193 Centerline is valid? [True, True] Translation: X:213.39, Y:88.39, Z:3.53 [[ 3.43867132e-01 -9.39007537e-01 -4.49900320e-03 2.13393857e+02] [ 9.38919465e-01 3.43896505e-01 -1.28620379e-02 8.83863173e+01] [ 1.36247420e-02 1.98630398e-04 9.99907159e-01 3.53388073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.060385723 meters Centerline goodness [0,1] 0.9999573515300139 Centerline is valid? [True, True] Translation: X:213.40, Y:88.41, Z:3.53 [[ 3.43474409e-01 -9.39151512e-01 -4.44605005e-03 2.13404197e+02] [ 9.39065356e-01 3.43503128e-01 -1.27223438e-02 8.84111933e+01] [ 1.34754405e-02 1.94667943e-04 9.99909183e-01 3.53469119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.090385723 meters Centerline goodness [0,1] 0.9999571211114208 Centerline is valid? [True, True] Translation: X:213.42, Y:88.44, Z:3.53 [[ 3.41777579e-01 -9.39770456e-01 -4.42448665e-03 2.13417311e+02] [ 9.39685088e-01 3.41806173e-01 -1.26678921e-02 8.84363572e+01] [ 1.34172276e-02 1.71977385e-04 9.99909970e-01 3.53491622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.120385723 meters Centerline goodness [0,1] 0.999935608499678 Centerline is valid? [True, True] Translation: X:213.43, Y:88.46, Z:3.53 [[ 3.40856255e-01 -9.40104590e-01 -4.51376964e-03 2.13427798e+02] [ 9.40015615e-01 3.40886100e-01 -1.29348486e-02 8.84621649e+01] [ 1.36987919e-02 1.65910106e-04 9.99906153e-01 3.53460487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.150385723 meters Centerline goodness [0,1] 0.9998928739769465 Centerline is valid? [True, True] Translation: X:213.44, Y:88.49, Z:3.53 [[ 3.40040029e-01 -9.40398507e-01 -4.84005394e-03 2.13438671e+02] [ 9.40296039e-01 3.40074431e-01 -1.38830840e-02 8.84870335e+01] [ 1.47016101e-02 1.69720743e-04 9.99891911e-01 3.53337680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.18038572300003 meters Centerline goodness [0,1] 0.9997637304809158 Centerline is valid? [True, True] Translation: X:213.45, Y:88.51, Z:3.53 [[ 3.38748854e-01 -9.40862965e-01 -5.10839232e-03 2.13449807e+02] [ 9.40748686e-01 3.38787331e-01 -1.46647028e-02 8.85129484e+01] [ 1.55281343e-02 1.61937907e-04 9.99879418e-01 3.52995732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.210385723 meters Centerline goodness [0,1] 0.999720910261915 Centerline is valid? [True, True] Translation: X:213.46, Y:88.54, Z:3.53 [[ 3.38723505e-01 -9.40873924e-01 -4.75881005e-03 2.13460386e+02] [ 9.40774591e-01 3.38756898e-01 -1.36723856e-02 8.85377944e+01] [ 1.44760708e-02 1.54190792e-04 9.99895204e-01 3.53303226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.24038572300003 meters Centerline goodness [0,1] 0.9997862517099864 Centerline is valid? [True, True] Translation: X:213.47, Y:88.56, Z:3.54 [[ 3.37906999e-01 -9.41170820e-01 -4.04318070e-03 2.13472780e+02] [ 9.41099072e-01 3.37931165e-01 -1.16217313e-02 8.85629341e+01] [ 1.23043511e-02 1.22030727e-04 9.99924291e-01 3.53657883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.270385723 meters Centerline goodness [0,1] 0.9998068669527898 Centerline is valid? [True, True] Translation: X:213.48, Y:88.59, Z:3.54 [[ 3.37370696e-01 -9.41363577e-01 -3.95340777e-03 2.13481843e+02] [ 9.41294878e-01 3.37393839e-01 -1.13732109e-02 8.85882224e+01] [ 1.20401819e-02 1.15665574e-04 9.99927508e-01 3.53713813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.300385723 meters Centerline goodness [0,1] 0.9999570271373628 Centerline is valid? [True, True] Translation: X:213.49, Y:88.61, Z:3.54 [[ 3.36706118e-01 -9.41601186e-01 -4.02438810e-03 2.13492456e+02] [ 9.41529880e-01 3.36730149e-01 -1.15884816e-02 8.86138593e+01] [ 1.22668608e-02 1.12831009e-04 9.99924753e-01 3.53673090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.330385723 meters Centerline goodness [0,1] 0.9997847703499634 Centerline is valid? [True, True] Translation: X:213.50, Y:88.64, Z:3.54 [[ 3.36399556e-01 -9.41709554e-01 -4.29587414e-03 2.13502339e+02] [ 9.41628160e-01 3.36426963e-01 -1.23817046e-02 8.86393879e+01] [ 1.31052174e-02 1.20083859e-04 9.99914116e-01 3.53685625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.360385723 meters Centerline goodness [0,1] 0.9998922320889732 Centerline is valid? [True, True] Translation: X:213.52, Y:88.66, Z:3.54 [[ 3.35416949e-01 -9.42059237e-01 -4.45692546e-03 2.13516559e+02] [ 9.41971490e-01 3.35446539e-01 -1.28581444e-02 8.86638404e+01] [ 1.36081939e-02 1.14542846e-04 9.99907398e-01 3.53690306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.390385723 meters Centerline goodness [0,1] 0.999935368507228 Centerline is valid? [True, True] Translation: X:213.53, Y:88.69, Z:3.54 [[ 3.34583822e-01 -9.42355703e-01 -4.40402995e-03 2.13526526e+02] [ 9.42269892e-01 3.34612789e-01 -1.27173895e-02 8.86891372e+01] [ 1.34579493e-02 1.05247961e-04 9.99909432e-01 3.53576548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.420385723 meters Centerline goodness [0,1] 0.999870429956594 Centerline is valid? [True, True] Translation: X:213.54, Y:88.71, Z:3.54 [[ 3.33238765e-01 -9.42832853e-01 -4.25881811e-03 2.13537357e+02] [ 9.42752559e-01 3.33265967e-01 -1.23047584e-02 8.87146058e+01] [ 1.30206496e-02 8.54108085e-05 9.99915224e-01 3.53697071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.450385723 meters Centerline goodness [0,1] 0.9998704998704999 Centerline is valid? [True, True] Translation: X:213.55, Y:88.74, Z:3.54 [[ 3.31966361e-01 -9.43281636e-01 -4.25336403e-03 2.13547940e+02] [ 9.43201441e-01 3.31993601e-01 -1.23000703e-02 8.87404341e+01] [ 1.30145201e-02 7.14305044e-05 9.99915305e-01 3.53686871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.480385723 meters Centerline goodness [0,1] 0.9998058545634964 Centerline is valid? [True, True] Translation: X:213.56, Y:88.77, Z:3.54 [[ 3.30720352e-01 -9.43718890e-01 -4.32500520e-03 2.13558247e+02] [ 9.43635846e-01 3.30748626e-01 -1.25194335e-02 8.87656506e+01] [ 1.32453154e-02 5.92015190e-05 9.99912275e-01 3.53737209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.510385723 meters Centerline goodness [0,1] 0.9999783779108737 Centerline is valid? [True, True] Translation: X:213.57, Y:88.79, Z:3.54 [[ 3.29474268e-01 -9.44154571e-01 -4.34192780e-03 2.13569665e+02] [ 9.44070817e-01 3.29502873e-01 -1.25757502e-02 8.87917945e+01] [ 1.33041297e-02 4.42987554e-05 9.99911495e-01 3.53759812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.540385723 meters Centerline goodness [0,1] 0.9999348265299473 Centerline is valid? [True, True] Translation: X:213.58, Y:88.82, Z:3.54 [[ 3.27724135e-01 -9.44762749e-01 -4.49888716e-03 2.13582731e+02] [ 9.44672717e-01 3.27755012e-01 -1.30426092e-02 8.88175089e+01] [ 1.37967041e-02 2.44018525e-05 9.99904821e-01 3.53739161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.59, Y:88.84, Z:3.54 [[ 3.27055847e-01 -9.44994159e-01 -4.52905869e-03 2.13592395e+02] [ 9.44902770e-01 3.27087204e-01 -1.31421886e-02 8.88431384e+01] [ 1.39006886e-02 1.87095142e-05 9.99903381e-01 3.53800432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.600385723 meters Centerline goodness [0,1] 0.9999351547639633 Centerline is valid? [True, True] Translation: X:213.60, Y:88.87, Z:3.54 [[ 3.26332669e-01 -9.45244409e-01 -4.47183410e-03 2.13601045e+02] [ 9.45155197e-01 3.26363307e-01 -1.29863848e-02 8.88684708e+01] [ 1.37347502e-02 1.13043625e-05 9.99905674e-01 3.53792721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.61, Y:88.89, Z:3.54 [[ 3.25915272e-01 -9.45389274e-01 -4.28453561e-03 2.13609403e+02] [ 9.45307247e-01 3.25943433e-01 -1.24534063e-02 8.88947957e+01] [ 1.31698329e-02 8.55272178e-06 9.99913274e-01 3.53686154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.660385723 meters Centerline goodness [0,1] 0.9999782910732893 Centerline is valid? [True, True] Translation: X:213.62, Y:88.92, Z:3.54 [[ 3.25688961e-01 -9.45466452e-01 -4.45973506e-03 2.13618665e+02] [ 9.45377423e-01 3.25719494e-01 -1.29745860e-02 8.89209139e+01] [ 1.37196585e-02 9.54661234e-06 9.99905881e-01 3.53674600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.690385723 meters Centerline goodness [0,1] 0.9999348802882633 Centerline is valid? [True, True] Translation: X:213.63, Y:88.95, Z:3.54 [[ 3.25317680e-01 -9.45593718e-01 -4.57457002e-03 2.13629113e+02] [ 9.45499889e-01 3.25349842e-01 -1.33206677e-02 8.89466494e+01] [ 1.40842754e-02 8.19328863e-06 9.99900812e-01 3.53699011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.720385723 meters Centerline goodness [0,1] 0.9998480836841876 Centerline is valid? [True, True] Translation: X:213.64, Y:88.97, Z:3.54 [[ 3.25225051e-01 -9.45624412e-01 -4.81024055e-03 2.13641464e+02] [ 9.45520471e-01 3.25260622e-01 -1.40202106e-02 8.89709573e+01] [ 1.48224352e-02 1.15427906e-05 9.99890142e-01 3.53602408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.750385723 meters Centerline goodness [0,1] 0.9999565962803012 Centerline is valid? [True, True] Translation: X:213.65, Y:89.00, Z:3.54 [[ 3.26237668e-01 -9.45276566e-01 -4.60415082e-03 2.13650190e+02] [ 9.45181161e-01 3.26270154e-01 -1.34297871e-02 8.89974325e+01] [ 1.41970600e-02 2.95457949e-05 9.99899216e-01 3.53965091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.780385723 meters Centerline goodness [0,1] 0.9999129715852225 Centerline is valid? [True, True] Translation: X:213.66, Y:89.02, Z:3.54 [[ 3.27133830e-01 -9.44966534e-01 -4.65901267e-03 2.13657424e+02] [ 9.44868633e-01 3.27167001e-01 -1.36021681e-02 8.90248879e+01] [ 1.43778689e-02 4.75744139e-05 9.99896632e-01 3.53941325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.810385723 meters Centerline goodness [0,1] 0.9999783680886043 Centerline is valid? [True, True] Translation: X:213.66, Y:89.05, Z:3.54 [[ 3.29926895e-01 -9.43994329e-01 -4.79076931e-03 2.13661785e+02] [ 9.43890516e-01 3.29961661e-01 -1.39998462e-02 8.90534164e+01] [ 1.47965456e-02 9.69640576e-05 9.99890520e-01 3.53737097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.67, Y:89.08, Z:3.54 [[ 3.31208891e-01 -9.43544661e-01 -4.91369521e-03 2.13669597e+02] [ 9.43435208e-01 3.31245314e-01 -1.43718207e-02 8.90804816e+01] [ 1.51880932e-02 1.24321733e-04 9.99884647e-01 3.53704167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.870385723 meters Centerline goodness [0,1] 0.999869941256801 Centerline is valid? [True, True] Translation: X:213.68, Y:89.11, Z:3.54 [[ 3.32696836e-01 -9.43018844e-01 -5.31740415e-03 2.13678842e+02] [ 9.42890360e-01 3.32739285e-01 -1.55671852e-02 8.91070433e+01] [ 1.64494582e-02 1.65424149e-04 9.99864685e-01 3.53761109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.900385723 meters Centerline goodness [0,1] 0.9999351126876325 Centerline is valid? [True, True] Translation: X:213.69, Y:89.13, Z:3.54 [[ 3.35112789e-01 -9.42161036e-01 -5.65702253e-03 2.13689327e+02] [ 9.42015235e-01 3.35160457e-01 -1.65760583e-02 8.91324140e+01] [ 1.75133265e-02 2.25847707e-04 9.99846604e-01 3.53872610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.93038572300003 meters Centerline goodness [0,1] 0.9999565830891132 Centerline is valid? [True, True] Translation: X:213.70, Y:89.16, Z:3.54 [[ 3.35215413e-01 -9.42124384e-01 -5.68075042e-03 2.13699687e+02] [ 9.41977173e-01 3.35263464e-01 -1.66557902e-02 8.91585255e+01] [ 1.75963742e-02 2.32140376e-04 9.99845145e-01 3.53906408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.960385723 meters Centerline goodness [0,1] 0.9999783061437001 Centerline is valid? [True, True] Translation: X:213.71, Y:89.18, Z:3.54 [[ 3.34611463e-01 -9.42338736e-01 -5.73364844e-03 2.13708116e+02] [ 9.42188533e-01 3.34660505e-01 -1.68260132e-02 8.91845020e+01] [ 1.77746297e-02 2.27999081e-04 9.99841993e-01 3.53866796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.99038572300003 meters Centerline goodness [0,1] 0.9999565444116113 Centerline is valid? [True, True] Translation: X:213.72, Y:89.21, Z:3.54 [[ 3.33350422e-01 -9.42784900e-01 -5.84192323e-03 2.13717107e+02] [ 9.42628778e-01 3.33401540e-01 -1.71580904e-02 8.92110460e+01] [ 1.81240947e-02 2.12891709e-04 9.99835722e-01 3.53711155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.73, Y:89.24, Z:3.54 [[ 3.32589690e-01 -9.43052347e-01 -6.03069767e-03 2.13727408e+02] [ 9.42885709e-01 3.32644295e-01 -1.77288408e-02 8.92371924e+01] [ 1.87253021e-02 2.10171035e-04 9.99824644e-01 3.53734656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.74, Y:89.26, Z:3.54 [[ 3.31709148e-01 -9.43361499e-01 -6.17440210e-03 2.13739169e+02] [ 9.43186560e-01 3.31766546e-01 -1.81679047e-02 8.92631994e+01] [ 1.91873618e-02 2.02847099e-04 9.99815885e-01 3.53805885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.75, Y:89.29, Z:3.54 [[ 3.30352068e-01 -9.43838653e-01 -6.00895704e-03 2.13753004e+02] [ 9.43672752e-01 3.30406667e-01 -1.76966563e-02 8.92865737e+01] [ 1.86881877e-02 1.75637982e-04 9.99825345e-01 3.54046818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.76, Y:89.31, Z:3.54 [[ 3.29732930e-01 -9.44055409e-01 -5.96479816e-03 2.13764362e+02] [ 9.43891674e-01 3.29786834e-01 -1.75827057e-02 8.93127805e+01] [ 1.85661603e-02 1.67473741e-04 9.99827620e-01 3.54148926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.140385723 meters Centerline goodness [0,1] 0.9999781745165656 Centerline is valid? [True, True] Translation: X:213.77, Y:89.34, Z:3.54 [[ 3.28861547e-01 -9.44358956e-01 -6.02035701e-03 2.13773460e+02] [ 9.44191902e-01 3.28916611e-01 -1.77627535e-02 8.93378671e+01] [ 1.87546108e-02 1.57114255e-04 9.99824104e-01 3.54091646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.78, Y:89.36, Z:3.54 [[ 3.28332925e-01 -9.44543271e-01 -5.95810976e-03 2.13783391e+02] [ 9.44379381e-01 3.28386946e-01 -1.75954080e-02 8.93640465e+01] [ 1.85761897e-02 1.50435775e-04 9.99827436e-01 3.54086884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.200385723 meters Centerline goodness [0,1] 0.9999780374242291 Centerline is valid? [True, True] Translation: X:213.79, Y:89.39, Z:3.54 [[ 3.27856223e-01 -9.44708106e-01 -6.07376120e-03 2.13794367e+02] [ 9.44537519e-01 3.27912445e-01 -1.79528395e-02 8.93900444e+01] [ 1.89518549e-02 1.49054812e-04 9.99820386e-01 3.54125700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.230385723 meters Centerline goodness [0,1] 0.9999560362261497 Centerline is valid? [True, True] Translation: X:213.80, Y:89.42, Z:3.54 [[ 3.27389673e-01 -9.44869384e-01 -6.15219130e-03 2.13804860e+02] [ 9.44694092e-01 3.27447440e-01 -1.82002014e-02 8.94154908e+01] [ 1.92113324e-02 1.46619214e-04 9.99815435e-01 3.54163940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.260385723 meters Centerline goodness [0,1] 0.9999780330821783 Centerline is valid? [True, True] Translation: X:213.82, Y:89.44, Z:3.54 [[ 3.25586981e-01 -9.45492303e-01 -6.11741214e-03 2.13820054e+02] [ 9.45318853e-01 3.25644425e-01 -1.81100659e-02 8.94399612e+01] [ 1.91150291e-02 1.13496635e-04 9.99817285e-01 3.54385150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.290385723 meters Centerline goodness [0,1] 0.99993399339934 Centerline is valid? [True, True] Translation: X:213.83, Y:89.47, Z:3.54 [[ 3.24599190e-01 -9.45832108e-01 -6.08181647e-03 2.13831725e+02] [ 9.45660422e-01 3.24656146e-01 -1.80209301e-02 8.94653545e+01] [ 1.90192734e-02 9.82461978e-05 9.99819112e-01 3.54487398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.320385723 meters Centerline goodness [0,1] 0.9999779073877695 Centerline is valid? [True, True] Translation: X:213.84, Y:89.49, Z:3.55 [[ 3.23540654e-01 -9.46194041e-01 -6.18729091e-03 2.13842529e+02] [ 9.46016083e-01 3.23599799e-01 -1.83505206e-02 8.94902080e+01] [ 1.93653594e-02 8.38627275e-05 9.99812470e-01 3.54528860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.350385723 meters Centerline goodness [0,1] 0.9999778142609931 Centerline is valid? [True, True] Translation: X:213.85, Y:89.52, Z:3.54 [[ 3.22491713e-01 -9.46550261e-01 -6.45738079e-03 2.13853996e+02] [ 9.46356118e-01 3.22556348e-01 -1.91702760e-02 8.95154692e+01] [ 2.02284989e-02 7.12733290e-05 9.99795380e-01 3.54456841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.86, Y:89.54, Z:3.55 [[ 3.22028939e-01 -9.46706719e-01 -6.61445979e-03 2.13864548e+02] [ 9.46502670e-01 3.22096855e-01 -1.96548146e-02 8.95414305e+01] [ 2.07378418e-02 6.88152518e-05 9.99784945e-01 3.54561620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.87, Y:89.57, Z:3.54 [[ 3.21657222e-01 -9.46832070e-01 -6.75746376e-03 2.13873509e+02] [ 9.46618731e-01 3.21728188e-01 -2.00985466e-02 8.95668203e+01] [ 2.12040151e-02 6.81008952e-05 9.99775167e-01 3.54435334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.89, Y:89.59, Z:3.55 [[ 3.22029426e-01 -9.46705578e-01 -6.75266118e-03 2.13885905e+02] [ 9.46492114e-01 3.22100206e-01 -2.01031354e-02 8.95926220e+01] [ 2.12067840e-02 8.24606017e-05 9.99775107e-01 3.54544426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.470385723 meters Centerline goodness [0,1] 0.9999555288728793 Centerline is valid? [True, True] Translation: X:213.90, Y:89.62, Z:3.55 [[ 3.21324129e-01 -9.46945252e-01 -6.74493239e-03 2.13896552e+02] [ 9.46731940e-01 3.21394905e-01 -2.00984905e-02 8.96178239e+01] [ 2.11999571e-02 7.24870469e-05 9.99775253e-01 3.54619414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.91, Y:89.64, Z:3.55 [[ 3.20563843e-01 -9.47202978e-01 -6.73361786e-03 2.13907742e+02] [ 9.46990040e-01 3.20634551e-01 -2.00835178e-02 8.96437860e+01] [ 2.11821985e-02 6.13806176e-05 9.99775630e-01 3.54674107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.92, Y:89.67, Z:3.55 [[ 3.18560476e-01 -9.47877175e-01 -6.93425341e-03 2.13920887e+02] [ 9.47651106e-01 3.18635937e-01 -2.07007576e-02 8.96686632e+01] [ 2.18312779e-02 2.31902718e-05 9.99761669e-01 3.54713446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.93, Y:89.70, Z:3.55 [[ 3.17700258e-01 -9.48166136e-01 -6.89383360e-03 2.13931798e+02] [ 9.47942364e-01 3.17775044e-01 -2.05984298e-02 8.96950207e+01] [ 2.17214218e-02 9.16953310e-06 9.99764062e-01 3.54774242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.94, Y:89.72, Z:3.55 [[ 3.17185275e-01 -9.48338219e-01 -6.93713527e-03 2.13942149e+02] [ 9.48111293e-01 3.17261126e-01 -2.07449553e-02 8.97195859e+01] [ 2.18741173e-02 2.81805481e-06 9.99760733e-01 3.54851631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.620385723 meters Centerline goodness [0,1] 0.9999775386896071 Centerline is valid? [True, True] Translation: X:213.95, Y:89.74, Z:3.55 [[ 3.16635394e-01 -9.48522850e-01 -6.81403265e-03 2.13954574e+02] [ 9.48303631e-01 3.16708705e-01 -2.03916643e-02 8.97437933e+01] [ 2.15000230e-02 -5.04923619e-06 9.99768848e-01 3.55062849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.97, Y:89.77, Z:3.55 [[ 3.16183956e-01 -9.48673917e-01 -6.74580010e-03 2.13965029e+02] [ 9.48458712e-01 3.16255909e-01 -2.02057219e-02 8.97703572e+01] [ 2.13020405e-02 -9.38778015e-06 9.99773086e-01 3.55141692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.68038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.97, Y:89.80, Z:3.55 [[ 3.15891133e-01 -9.48771300e-01 -6.76844717e-03 2.13974954e+02] [ 9.48554298e-01 3.15963636e-01 -2.02909902e-02 8.97961616e+01] [ 2.13900923e-02 -1.04957649e-05 9.99771206e-01 3.55194005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.98, Y:89.82, Z:3.55 [[ 3.15647792e-01 -9.48852322e-01 -6.76324159e-03 2.13983594e+02] [ 9.48635301e-01 3.15720240e-01 -2.02927254e-02 8.98223636e+01] [ 2.13900918e-02 -1.04957644e-05 9.99771206e-01 3.55235724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.74038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.99, Y:89.85, Z:3.55 [[ 3.15483242e-01 -9.48907039e-01 -6.76422717e-03 2.13993464e+02] [ 9.48689593e-01 3.15555748e-01 -2.03131792e-02 8.98485534e+01] [ 2.14098095e-02 -8.68430553e-06 9.99770784e-01 3.55270334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.00, Y:89.87, Z:3.55 [[ 3.15706621e-01 -9.48830960e-01 -7.00995829e-03 2.14003961e+02] [ 9.48597022e-01 3.15784436e-01 -2.10684465e-02 8.98733801e+01] [ 2.22040300e-02 1.82249299e-06 9.99753460e-01 3.55211083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.01, Y:89.90, Z:3.55 [[ 3.15370134e-01 -9.48941380e-01 -7.20666422e-03 2.14013792e+02] [ 9.48693777e-01 3.15452464e-01 -2.16762751e-02 8.98992045e+01] [ 2.28428744e-02 -8.67724930e-07 9.99739068e-01 3.55298853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.02, Y:89.92, Z:3.55 [[ 3.15015838e-01 -9.49059129e-01 -7.19669059e-03 2.14023983e+02] [ 9.48811755e-01 3.15098033e-01 -2.16675697e-02 8.99247358e+01] [ 2.28314679e-02 -2.67699971e-06 9.99739328e-01 3.55228517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.03, Y:89.95, Z:3.55 [[ 3.14626018e-01 -9.49188635e-01 -7.16967582e-03 2.14033292e+02] [ 9.48942669e-01 3.14707698e-01 -2.16072934e-02 8.99499486e+01] [ 2.27657495e-02 -5.39464563e-06 9.99740827e-01 3.55339593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.04, Y:89.98, Z:3.56 [[ 3.13755202e-01 -9.49478377e-01 -6.96313283e-03 2.14042506e+02] [ 9.49246018e-01 3.13832457e-01 -2.10044137e-02 8.99768361e+01] [ 2.21284937e-02 -1.94820641e-05 9.99755135e-01 3.55522625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.05, Y:90.00, Z:3.56 [[ 3.12755328e-01 -9.49807930e-01 -7.00004426e-03 2.14052000e+02] [ 9.49572752e-01 3.12833653e-01 -2.11351319e-02 9.00030508e+01] [ 2.22641653e-02 -3.69261851e-05 9.99752122e-01 3.55596402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.06, Y:90.03, Z:3.56 [[ 3.11331646e-01 -9.50275642e-01 -6.98643974e-03 2.14061214e+02] [ 9.50041060e-01 3.11410019e-01 -2.11135952e-02 9.00299526e+01] [ 2.22393826e-02 -6.40742764e-05 9.99752672e-01 3.55738205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.07, Y:90.06, Z:3.56 [[ 3.10779478e-01 -9.50456044e-01 -7.03020340e-03 2.14069488e+02] [ 9.50218108e-01 3.10858975e-01 -2.12660414e-02 9.00557188e+01] [ 2.23978394e-02 -7.11773319e-05 9.99749134e-01 3.55760591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.08, Y:90.08, Z:3.56 [[ 3.10118597e-01 -9.50671926e-01 -7.02460683e-03 2.14078099e+02] [ 9.50433968e-01 3.10198135e-01 -2.12694750e-02 9.00819758e+01] [ 2.23993127e-02 -8.03652013e-05 9.99749101e-01 3.55842277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.09, Y:90.11, Z:3.56 [[ 3.08751046e-01 -9.51117756e-01 -6.91422200e-03 2.14086326e+02] [ 9.50886909e-01 3.08828437e-01 -2.09542856e-02 9.01090035e+01] [ 2.20653014e-02 -1.04985603e-04 9.99756526e-01 3.55947914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.09, Y:90.13, Z:3.56 [[ 3.07794208e-01 -9.51427624e-01 -6.94276433e-03 2.14094056e+02] [ 9.51194507e-01 3.07872477e-01 -2.10605841e-02 9.01345405e+01] [ 2.21751075e-02 -1.21593486e-04 9.99754095e-01 3.55976302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.10, Y:90.16, Z:3.56 [[ 3.05418384e-01 -9.52192164e-01 -7.04936722e-03 2.14102228e+02] [ 9.51951609e-01 3.05499677e-01 -2.14028382e-02 9.01606336e+01] [ 2.25331942e-02 -1.73836219e-04 9.99746080e-01 3.55955254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.11, Y:90.19, Z:3.56 [[ 3.04134209e-01 -9.52602977e-01 -7.06763216e-03 2.14110753e+02] [ 9.52360923e-01 3.04216253e-01 -2.14742729e-02 9.01871816e+01] [ 2.26065449e-02 -1.99875670e-04 9.99744419e-01 3.56024455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.12, Y:90.21, Z:3.56 [[ 3.03299420e-01 -9.52868354e-01 -7.16673429e-03 2.14118905e+02] [ 9.52619083e-01 3.03384003e-01 -2.17951545e-02 9.02139447e+01] [ 2.29421856e-02 -2.16710133e-04 9.99736770e-01 3.56013438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.13, Y:90.24, Z:3.56 [[ 3.02558364e-01 -9.53102214e-01 -7.38967158e-03 2.14126514e+02] [ 9.52836765e-01 3.02648501e-01 -2.24940889e-02 9.02399120e+01] [ 2.36756389e-02 -2.35376037e-04 9.99719665e-01 3.55967587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.13, Y:90.27, Z:3.56 [[ 3.01462173e-01 -9.53447432e-01 -7.65197342e-03 2.14133595e+02] [ 9.53162364e-01 3.01559155e-01 -2.33148787e-02 9.02667723e+01] [ 2.45370338e-02 -2.65019086e-04 9.99698887e-01 3.56012800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.14, Y:90.29, Z:3.56 [[ 3.00777257e-01 -9.53662292e-01 -7.82785010e-03 2.14142338e+02] [ 9.53363464e-01 3.00878969e-01 -2.38736719e-02 9.02923590e+01] [ 2.51226561e-02 -2.82128741e-04 9.99684336e-01 3.56034121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.15, Y:90.32, Z:3.56 [[ 3.00019159e-01 -9.53900224e-01 -7.92888227e-03 2.14149022e+02] [ 9.53593119e-01 3.00123764e-01 -2.42051635e-02 9.03198515e+01] [ 2.54689568e-02 -2.98914775e-04 9.99675569e-01 3.56016518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.16, Y:90.35, Z:3.56 [[ 2.99165145e-01 -9.54169064e-01 -7.84942101e-03 2.14156728e+02] [ 9.53867607e-01 2.99267940e-01 -2.39851520e-02 9.03463717e+01] [ 2.52349701e-02 -3.11786962e-04 9.99681499e-01 3.56013857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.17, Y:90.37, Z:3.56 [[ 2.98576887e-01 -9.54354053e-01 -7.75786451e-03 2.14165186e+02] [ 9.54059078e-01 2.98677487e-01 -2.37283364e-02 9.03722444e+01] [ 2.49623335e-02 -3.16728262e-04 9.99688342e-01 3.56013111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.17, Y:90.40, Z:3.56 [[ 2.97952475e-01 -9.54547582e-01 -7.95215916e-03 2.14173778e+02] [ 9.54237099e-01 2.98058388e-01 -2.43465828e-02 9.03984567e+01] [ 2.56101795e-02 -3.34120678e-04 9.99671950e-01 3.56137920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.18, Y:90.42, Z:3.56 [[ 2.97820749e-01 -9.54587100e-01 -8.14058084e-03 2.14182448e+02] [ 9.54261115e-01 2.97931793e-01 -2.49473666e-02 9.04247446e+01] [ 2.62397721e-02 -3.38396350e-04 9.99655621e-01 3.56160228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.43038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.19, Y:90.45, Z:3.56 [[ 2.97703766e-01 -9.54621717e-01 -8.35737600e-03 2.14191089e+02] [ 9.54277494e-01 2.97820852e-01 -2.56359937e-02 9.04503475e+01] [ 2.69616772e-02 -3.43323958e-04 9.99636409e-01 3.56141403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.20, Y:90.48, Z:3.56 [[ 2.97838671e-01 -9.54580056e-01 -8.30925117e-03 2.14199484e+02] [ 9.54239120e-01 2.97954373e-01 -2.55126073e-02 9.04761915e+01] [ 2.68296038e-02 -3.30371492e-04 9.99639967e-01 3.56233273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.49038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.21, Y:90.50, Z:3.56 [[ 2.97848672e-01 -9.54577643e-01 -8.22752758e-03 2.14207736e+02] [ 9.54242768e-01 2.97962114e-01 -2.52847319e-02 9.05025769e+01] [ 2.65877313e-02 -3.20034865e-04 9.99646433e-01 3.56347199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.22, Y:90.53, Z:3.56 [[ 2.97666715e-01 -9.54635343e-01 -8.11718862e-03 2.14215752e+02] [ 9.54308825e-01 2.97777204e-01 -2.49680271e-02 9.05281681e+01] [ 2.62524748e-02 -3.14154138e-04 9.99655295e-01 3.56395231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.22, Y:90.56, Z:3.57 [[ 2.97593395e-01 -9.54659001e-01 -8.02267076e-03 2.14223699e+02] [ 9.54339467e-01 2.97701358e-01 -2.46998586e-02 9.05553044e+01] [ 2.59683023e-02 -3.05836542e-04 9.99662720e-01 3.56508876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.580385723 meters Centerline goodness [0,1] 0.999954980303883 Centerline is valid? [True, True] Translation: X:214.23, Y:90.58, Z:3.57 [[ 2.97664917e-01 -9.54636011e-01 -8.10452269e-03 2.14232985e+02] [ 9.54309330e-01 2.97775076e-01 -2.49741401e-02 9.05823365e+01] [ 2.62545384e-02 -3.00296268e-04 9.99655245e-01 3.56615378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.24, Y:90.61, Z:3.57 [[ 2.97707812e-01 -9.54622882e-01 -8.07540621e-03 2.14242460e+02] [ 9.54297961e-01 2.97817173e-01 -2.49064888e-02 9.06083536e+01] [ 2.61812988e-02 -2.91487400e-04 9.99657169e-01 3.56792554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.25, Y:90.63, Z:3.57 [[ 2.97576851e-01 -9.54664554e-01 -7.97541468e-03 2.14252459e+02] [ 9.54347128e-01 2.97683570e-01 -2.46181300e-02 9.06330727e+01] [ 2.58762060e-02 -2.85528488e-04 9.99665114e-01 3.56840047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.26, Y:90.66, Z:3.57 [[ 2.97601197e-01 -9.54656527e-01 -8.02760382e-03 2.14261245e+02] [ 9.54334437e-01 2.97709315e-01 -2.47981233e-02 9.06602208e+01] [ 2.60635827e-02 -2.81067581e-04 9.99660248e-01 3.56856831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.27, Y:90.69, Z:3.57 [[ 2.97518901e-01 -9.54681226e-01 -8.14005803e-03 2.14268615e+02] [ 9.54349440e-01 2.97630104e-01 -2.51687950e-02 9.06868378e+01] [ 2.64509023e-02 -2.80267597e-04 9.99650074e-01 3.56937311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.28, Y:90.71, Z:3.57 [[ 2.98493078e-01 -9.54375715e-01 -8.29926244e-03 2.14276372e+02] [ 9.54030026e-01 2.98608327e-01 -2.56861317e-02 9.07125701e+01] [ 2.69924492e-02 -2.50613042e-04 9.99635606e-01 3.56733555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.760385723 meters Centerline goodness [0,1] 0.9999551448820311 Centerline is valid? [True, True] Translation: X:214.28, Y:90.74, Z:3.57 [[ 2.98830935e-01 -9.54267370e-01 -8.59416735e-03 2.14284371e+02] [ 9.53895894e-01 2.98954393e-01 -2.66250799e-02 9.07381701e+01] [ 2.79767091e-02 -2.41543413e-04 9.99608546e-01 3.56723637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.790385723 meters Centerline goodness [0,1] 0.9999326584210645 Centerline is valid? [True, True] Translation: X:214.29, Y:90.77, Z:3.57 [[ 2.99067790e-01 -9.54191754e-01 -8.74951482e-03 2.14292219e+02] [ 9.53805942e-01 2.99195661e-01 -2.71326815e-02 9.07651888e+01] [ 2.85075978e-02 -2.30828138e-04 9.99593549e-01 3.57000578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.30, Y:90.79, Z:3.57 [[ 2.98920022e-01 -9.54238660e-01 -8.68331145e-03 2.14303371e+02] [ 9.53857946e-01 2.99046031e-01 -2.69534831e-02 9.07900666e+01] [ 2.83167654e-02 -2.25709872e-04 9.99598975e-01 3.56831114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.850385723 meters Centerline goodness [0,1] 0.9998204788726073 Centerline is valid? [True, True] Translation: X:214.31, Y:90.82, Z:3.57 [[ 2.98325550e-01 -9.54427731e-01 -8.34099595e-03 2.14309246e+02] [ 9.54075851e-01 2.98442046e-01 -2.59155669e-02 9.08176229e+01] [ 2.72238396e-02 -2.26667059e-04 9.99629337e-01 3.57164492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.880385723 meters Centerline goodness [0,1] 0.9998656455730216 Centerline is valid? [True, True] Translation: X:214.32, Y:90.84, Z:3.57 [[ 2.98014025e-01 -9.54526102e-01 -8.21955851e-03 2.14317005e+02] [ 9.54183779e-01 2.98127271e-01 -2.55626144e-02 9.08440103e+01] [ 2.68506572e-02 -2.24951806e-04 9.99639431e-01 3.57049816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.910385723 meters Centerline goodness [0,1] 0.9999551850855964 Centerline is valid? [True, True] Translation: X:214.32, Y:90.87, Z:3.57 [[ 2.98263866e-01 -9.54444747e-01 -8.59602977e-03 2.14324881e+02] [ 9.54069577e-01 2.98387629e-01 -2.67594010e-02 9.08711399e+01] [ 2.81053187e-02 -2.19848100e-04 9.99604943e-01 3.57033710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.940385723 meters Centerline goodness [0,1] 0.9999327309011817 Centerline is valid? [True, True] Translation: X:214.33, Y:90.90, Z:3.57 [[ 2.98108340e-01 -9.54493372e-01 -8.59184913e-03 2.14332789e+02] [ 9.54117900e-01 2.98232049e-01 -2.67708357e-02 9.08975800e+01] [ 2.81149500e-02 -2.17027676e-04 9.99604673e-01 3.57229770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.970385723 meters Centerline goodness [0,1] 0.9999328949134344 Centerline is valid? [True, True] Translation: X:214.34, Y:90.92, Z:3.57 [[ 2.97849500e-01 -9.54574702e-01 -8.53310535e-03 2.14341376e+02] [ 9.54203671e-01 2.97971629e-01 -2.66132006e-02 9.09230652e+01] [ 2.79469113e-02 -2.15591980e-04 9.99609386e-01 3.57369845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.000385723 meters Centerline goodness [0,1] 0.9998654104979812 Centerline is valid? [True, True] Translation: X:214.35, Y:90.95, Z:3.58 [[ 2.97294928e-01 -9.54749360e-01 -8.32981518e-03 2.14349706e+02] [ 9.54395190e-01 2.97411519e-01 -2.60040153e-02 9.09494992e+01] [ 2.73046999e-02 -2.19073698e-04 9.99627133e-01 3.57620986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.030385723 meters Centerline goodness [0,1] 0.9999775764642569 Centerline is valid? [True, True] Translation: X:214.36, Y:90.98, Z:3.58 [[ 2.96575696e-01 -9.54974216e-01 -8.19165726e-03 2.14356475e+02] [ 9.54631122e-01 2.96688716e-01 -2.55973876e-02 9.09752630e+01] [ 2.68752174e-02 -2.28447941e-04 9.99638770e-01 3.57720342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.36, Y:91.00, Z:3.58 [[ 2.95601658e-01 -9.55276118e-01 -8.19738762e-03 2.14362568e+02] [ 9.54931980e-01 2.95715194e-01 -2.56405482e-02 9.10026635e+01] [ 2.69178955e-02 -2.48559010e-04 9.99637617e-01 3.57704275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.090385723 meters Centerline goodness [0,1] 0.999687792694349 Centerline is valid? [True, True] Translation: X:214.37, Y:91.03, Z:3.57 [[ 2.94679031e-01 -9.55559757e-01 -8.35576168e-03 2.14368775e+02] [ 9.55201591e-01 2.94797348e-01 -2.61619009e-02 9.10290278e+01] [ 2.74625160e-02 -2.72073244e-04 9.99622797e-01 3.57483746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.120385723 meters Centerline goodness [0,1] 0.9998662237185347 Centerline is valid? [True, True] Translation: X:214.38, Y:91.06, Z:3.58 [[ 2.94320820e-01 -9.55669942e-01 -8.37951744e-03 2.14377319e+02] [ 9.55309064e-01 2.94439953e-01 -2.62622728e-02 9.10555649e+01] [ 2.75653294e-02 -2.75495295e-04 9.99619966e-01 3.57681190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.150385723 meters Centerline goodness [0,1] 0.9997993624183517 Centerline is valid? [True, True] Translation: X:214.39, Y:91.08, Z:3.58 [[ 2.93871914e-01 -9.55808682e-01 -8.31039954e-03 2.14387113e+02] [ 9.55453091e-01 2.93989263e-01 -2.60711525e-02 9.10813379e+01] [ 2.73622021e-02 -2.78617453e-04 9.99625546e-01 3.57839104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.18038572300003 meters Centerline goodness [0,1] 0.9999107541276216 Centerline is valid? [True, True] Translation: X:214.40, Y:91.11, Z:3.58 [[ 2.93176567e-01 -9.56022230e-01 -8.30642920e-03 2.14396089e+02] [ 9.55666345e-01 2.93294070e-01 -2.60849701e-02 9.11070953e+01] [ 2.73740377e-02 -2.90672851e-04 9.99625219e-01 3.57984387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.40, Y:91.13, Z:3.58 [[ 2.92363699e-01 -9.56274084e-01 -7.95884486e-03 2.14403205e+02] [ 9.55946818e-01 2.92471861e-01 -2.50178428e-02 9.11333975e+01] [ 2.62516529e-02 -2.93923334e-04 9.99655323e-01 3.58104747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.24038572300003 meters Centerline goodness [0,1] 0.9999556393478984 Centerline is valid? [True, True] Translation: X:214.41, Y:91.16, Z:3.58 [[ 2.92152526e-01 -9.56339627e-01 -7.83704302e-03 2.14409809e+02] [ 9.56021709e-01 2.92257480e-01 -2.46588366e-02 9.11610218e+01] [ 2.58726571e-02 -2.88241849e-04 9.99665205e-01 3.58198768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.42, Y:91.19, Z:3.58 [[ 2.92333382e-01 -9.56285523e-01 -7.69366336e-03 2.14416565e+02] [ 9.55978535e-01 2.92434480e-01 -2.42304760e-02 9.11884042e+01] [ 2.54211459e-02 -2.71600033e-04 9.99676794e-01 3.58228882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.42, Y:91.21, Z:3.58 [[ 2.93363261e-01 -9.55969773e-01 -7.73247991e-03 2.14422626e+02] [ 9.55658964e-01 2.93465052e-01 -2.43763669e-02 9.12149827e+01] [ 2.55722825e-02 -2.38483280e-04 9.99672947e-01 3.58116549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.330385723 meters Centerline goodness [0,1] 0.9999331937825681 Centerline is valid? [True, True] Translation: X:214.43, Y:91.24, Z:3.58 [[ 2.94114205e-01 -9.55738626e-01 -7.77897316e-03 2.14430517e+02] [ 9.55423373e-01 2.94216983e-01 -2.45468072e-02 9.12414630e+01] [ 2.57490378e-02 -2.12648070e-04 9.99668416e-01 3.58147116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.360385723 meters Centerline goodness [0,1] 0.9999776840507911 Centerline is valid? [True, True] Translation: X:214.44, Y:91.27, Z:3.58 [[ 2.95702192e-01 -9.55246258e-01 -8.04989851e-03 2.14437950e+02] [ 9.54907826e-01 2.95811695e-01 -2.54260587e-02 9.12684946e+01] [ 2.66694016e-02 -1.68369787e-04 9.99644294e-01 3.58141221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.390385723 meters Centerline goodness [0,1] 0.9999555278840168 Centerline is valid? [True, True] Translation: X:214.45, Y:91.29, Z:3.58 [[ 2.96340917e-01 -9.55046876e-01 -8.21740454e-03 2.14445388e+02] [ 9.54693444e-01 2.96454791e-01 -2.59804729e-02 9.12946582e+01] [ 2.72486585e-02 -1.46025072e-04 9.99628676e-01 3.58110924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.45, Y:91.32, Z:3.58 [[ 2.97403589e-01 -9.54717378e-01 -8.11381716e-03 2.14451707e+02] [ 9.54372003e-01 2.97514231e-01 -2.56780438e-02 9.13214601e+01] [ 2.69292507e-02 -1.06857553e-04 9.99637336e-01 3.58052381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.450385723 meters Centerline goodness [0,1] 0.9998661431376048 Centerline is valid? [True, True] Translation: X:214.46, Y:91.35, Z:3.58 [[ 2.96995396e-01 -9.54844804e-01 -8.07057401e-03 2.14459186e+02] [ 9.54502499e-01 2.97105011e-01 -2.55654447e-02 9.13485245e+01] [ 2.68088400e-02 -1.10563691e-04 9.99640572e-01 3.58015424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.480385723 meters Centerline goodness [0,1] 0.9997993445254498 Centerline is valid? [True, True] Translation: X:214.47, Y:91.37, Z:3.58 [[ 2.98020905e-01 -9.54529065e-01 -7.60291528e-03 2.14466967e+02] [ 9.54224641e-01 2.98117861e-01 -2.41054914e-02 9.13749941e+01] [ 2.52759570e-02 -7.09487311e-05 9.99680509e-01 3.58188894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.510385723 meters Centerline goodness [0,1] 0.9995767808615851 Centerline is valid? [True, True] Translation: X:214.47, Y:91.40, Z:3.58 [[ 2.98322446e-01 -9.54435992e-01 -7.46027921e-03 2.14474917e+02] [ 9.54142323e-01 2.98415708e-01 -2.36747421e-02 9.14018917e+01] [ 2.48222904e-02 -5.54611616e-05 9.99691878e-01 3.58174631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.540385723 meters Centerline goodness [0,1] 0.9988846505610207 Centerline is valid? [True, True] Translation: X:214.48, Y:91.43, Z:3.58 [[ 2.98579092e-01 -9.54357072e-01 -7.28728092e-03 2.14483300e+02] [ 9.54076326e-01 2.98668004e-01 -2.31470965e-02 9.14278684e+01] [ 2.42670729e-02 -4.13831514e-05 9.99705510e-01 3.58133672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.570385723 meters Centerline goodness [0,1] 0.9982122106015912 Centerline is valid? [True, True] Translation: X:214.49, Y:91.45, Z:3.58 [[ 2.97714332e-01 -9.54626437e-01 -7.38528785e-03 2.14492874e+02] [ 9.54337621e-01 2.97805915e-01 -2.34806960e-02 9.14538240e+01] [ 2.46146755e-02 -5.75183067e-05 9.99697011e-01 3.58100793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.600385723 meters Centerline goodness [0,1] 0.9982122106015912 Centerline is valid? [True, True] Translation: X:214.50, Y:91.48, Z:3.58 [[ 2.97467641e-01 -9.54703383e-01 -7.37922519e-03 2.14501062e+02] [ 9.54414543e-01 2.97559149e-01 -2.34826015e-02 9.14801687e+01] [ 2.46146750e-02 -5.75257928e-05 9.99697011e-01 3.58142513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.630385723 meters Centerline goodness [0,1] 0.9979877926084915 Centerline is valid? [True, True] Translation: X:214.51, Y:91.50, Z:3.58 [[ 2.95609696e-01 -9.55283189e-01 -6.99542577e-03 2.14511803e+02] [ 9.55023295e-01 2.95692441e-01 -2.22819795e-02 9.15044162e+01] [ 2.33540950e-02 -9.40253717e-05 9.99727252e-01 3.58321663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.660385723 meters Centerline goodness [0,1] 0.9974094999888341 Centerline is valid? [True, True] Translation: X:214.52, Y:91.53, Z:3.58 [[ 2.94353297e-01 -9.55672833e-01 -6.75068729e-03 2.14520416e+02] [ 9.55430422e-01 2.94430675e-01 -2.15240694e-02 9.15314232e+01] [ 2.25575778e-02 -1.14131211e-04 9.99745539e-01 3.58464876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.690385723 meters Centerline goodness [0,1] 0.997094192856185 Centerline is valid? [True, True] Translation: X:214.53, Y:91.56, Z:3.58 [[ 2.93192194e-01 -9.56031342e-01 -6.51224656e-03 2.14528840e+02] [ 9.55805421e-01 2.93264480e-01 -2.07831964e-02 9.15578699e+01] [ 2.17791978e-02 -1.30969593e-04 9.99762797e-01 3.58445968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.720385723 meters Centerline goodness [0,1] 0.9968069666182874 Centerline is valid? [True, True] Translation: X:214.54, Y:91.59, Z:3.58 [[ 2.92104990e-01 -9.56363708e-01 -6.56753884e-03 2.14536801e+02] [ 9.56133573e-01 2.92178772e-01 -2.09798933e-02 9.15851853e+01] [ 2.19833040e-02 -1.51112865e-04 9.99758327e-01 3.58393186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.750385723 meters Centerline goodness [0,1] 0.9969053344019948 Centerline is valid? [True, True] Translation: X:214.55, Y:91.61, Z:3.58 [[ 2.91696034e-01 -9.56487721e-01 -6.68308865e-03 2.14545102e+02] [ 9.56248972e-01 2.91772540e-01 -2.13702676e-02 9.16112236e+01] [ 2.23903403e-02 -1.57074334e-04 9.99749293e-01 3.58324768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.780385723 meters Centerline goodness [0,1] 0.9970252739879222 Centerline is valid? [True, True] Translation: X:214.55, Y:91.64, Z:3.58 [[ 2.91031967e-01 -9.56688889e-01 -6.83837445e-03 2.14553643e+02] [ 9.56438460e-01 2.91112247e-01 -2.18890711e-02 9.16378193e+01] [ 2.29317657e-02 -1.70064893e-04 9.99737018e-01 3.58348068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.810385723 meters Centerline goodness [0,1] 0.9969395049593424 Centerline is valid? [True, True] Translation: X:214.56, Y:91.66, Z:3.58 [[ 2.88780359e-01 -9.57369569e-01 -7.02937517e-03 2.14564249e+02] [ 9.57104654e-01 2.88865813e-01 -2.25216171e-02 9.16635373e+01] [ 2.35920570e-02 -2.24047021e-04 9.99721644e-01 3.58395680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.840385723 meters Centerline goodness [0,1] 0.9971134481987022 Centerline is valid? [True, True] Translation: X:214.57, Y:91.69, Z:3.59 [[ 2.87212884e-01 -9.57841461e-01 -6.96375919e-03 2.14573656e+02] [ 9.57581150e-01 2.87297180e-01 -2.23309529e-02 9.16899722e+01] [ 2.33901809e-02 -2.54627148e-04 9.99726380e-01 3.58500958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.870385723 meters Centerline goodness [0,1] 0.9970418179373404 Centerline is valid? [True, True] Translation: X:214.58, Y:91.72, Z:3.59 [[ 2.85559262e-01 -9.58334436e-01 -7.14262297e-03 2.14582763e+02] [ 9.58060219e-01 2.85648423e-01 -2.29258660e-02 9.17167080e+01] [ 2.40109258e-02 -2.96369550e-04 9.99711652e-01 3.58502363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.900385723 meters Centerline goodness [0,1] 0.9965918518352429 Centerline is valid? [True, True] Translation: X:214.59, Y:91.74, Z:3.58 [[ 2.82268226e-01 -9.59306123e-01 -7.51076270e-03 2.14592953e+02] [ 9.59002695e-01 2.82367862e-01 -2.41292622e-02 9.17431857e+01] [ 2.52681469e-02 -3.91917638e-04 9.99680633e-01 3.58466080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.93038572300003 meters Centerline goodness [0,1] 0.9968619715784283 Centerline is valid? [True, True] Translation: X:214.60, Y:91.77, Z:3.59 [[ 2.80346203e-01 -9.59868434e-01 -7.65475550e-03 2.14602475e+02] [ 9.59552911e-01 2.80450336e-01 -2.46133990e-02 9.17697696e+01] [ 2.57724035e-02 -4.44869975e-04 9.99667737e-01 3.58538410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.960385723 meters Centerline goodness [0,1] 0.9970006267347121 Centerline is valid? [True, True] Translation: X:214.61, Y:91.80, Z:3.59 [[ 2.79180476e-01 -9.60208394e-01 -7.62249014e-03 2.14610850e+02] [ 9.59895089e-01 2.79284123e-01 -2.45315458e-02 9.17960781e+01] [ 2.56842367e-02 -4.68062218e-04 9.99669996e-01 3.58718666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.99038572300003 meters Centerline goodness [0,1] 0.9970719713902548 Centerline is valid? [True, True] Translation: X:214.62, Y:91.82, Z:3.59 [[ 2.77557116e-01 -9.60679789e-01 -7.50930306e-03 2.14620006e+02] [ 9.60375349e-01 2.77658233e-01 -2.41887184e-02 9.18220749e+01] [ 2.53226327e-02 -4.97998640e-04 9.99679207e-01 3.58844316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.020385723 meters Centerline goodness [0,1] 0.996898636738883 Centerline is valid? [True, True] Translation: X:214.63, Y:91.85, Z:3.59 [[ 2.76972591e-01 -9.60848822e-01 -7.46489021e-03 2.14626391e+02] [ 9.60547504e-01 2.77072709e-01 -2.40667130e-02 9.18496429e+01] [ 2.51927902e-02 -5.04561813e-04 9.99682484e-01 3.58981956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.050385723 meters Centerline goodness [0,1] 0.9971632789814608 Centerline is valid? [True, True] Translation: X:214.63, Y:91.88, Z:3.59 [[ 2.76371656e-01 -9.61022210e-01 -7.41751068e-03 2.14632987e+02] [ 9.60724196e-01 2.76470705e-01 -2.39367705e-02 9.18771961e+01] [ 2.50544925e-02 -5.10737081e-04 9.99685956e-01 3.59103850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.080385723 meters Centerline goodness [0,1] 0.9972302881393791 Centerline is valid? [True, True] Translation: X:214.64, Y:91.90, Z:3.59 [[ 2.75987652e-01 -9.61134265e-01 -7.19311176e-03 2.14641123e+02] [ 9.60853497e-01 2.76080923e-01 -2.32353569e-02 9.19034601e+01] [ 2.43181786e-02 -4.98855001e-04 9.99704145e-01 3.59112477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.110385723 meters Centerline goodness [0,1] 0.9973865260900643 Centerline is valid? [True, True] Translation: X:214.65, Y:91.93, Z:3.59 [[ 2.75783343e-01 -9.61194339e-01 -6.99936098e-03 2.14647682e+02] [ 9.60927984e-01 2.75871725e-01 -2.26318396e-02 9.19303221e+01] [ 2.36845219e-02 -4.84397445e-04 9.99719365e-01 3.59185403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.140385723 meters Centerline goodness [0,1] 0.9973228030252326 Centerline is valid? [True, True] Translation: X:214.66, Y:91.96, Z:3.59 [[ 2.75811169e-01 -9.61186389e-01 -6.99460281e-03 2.14655478e+02] [ 9.60919930e-01 2.75899433e-01 -2.26360405e-02 9.19562041e+01] [ 2.36872610e-02 -4.77980440e-04 9.99719303e-01 3.59167097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.170385723 meters Centerline goodness [0,1] 0.9974804905239688 Centerline is valid? [True, True] Translation: X:214.66, Y:91.98, Z:3.59 [[ 2.76337435e-01 -9.61037224e-01 -6.71395576e-03 2.14660425e+02] [ 9.60791293e-01 2.76418631e-01 -2.17446757e-02 9.19840642e+01] [ 2.27533052e-02 -4.41842355e-04 9.99741012e-01 3.59351748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.200385723 meters Centerline goodness [0,1] 0.9973850415512465 Centerline is valid? [True, True] Translation: X:214.66, Y:92.01, Z:3.59 [[ 2.79076311e-01 -9.60246735e-01 -6.52850470e-03 2.14663931e+02] [ 9.60013539e-01 2.79152428e-01 -2.11642787e-02 9.20128438e+01] [ 2.21453774e-02 -3.61004092e-04 9.99754696e-01 3.59346139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.230385723 meters Centerline goodness [0,1] 0.9973281515666748 Centerline is valid? [True, True] Translation: X:214.67, Y:92.04, Z:3.59 [[ 2.80993751e-01 -9.59688245e-01 -6.40195660e-03 2.14669838e+02] [ 9.59463470e-01 2.81066504e-01 -2.07718401e-02 9.20397476e+01] [ 2.17338664e-02 -3.05686209e-04 9.99763745e-01 3.59345213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.260385723 meters Centerline goodness [0,1] 0.9973977859127596 Centerline is valid? [True, True] Translation: X:214.67, Y:92.07, Z:3.59 [[ 2.84287380e-01 -9.58717067e-01 -6.50153439e-03 2.14671755e+02] [ 9.58484634e-01 2.84361621e-01 -2.11110143e-02 9.20694192e+01] [ 2.20882766e-02 -2.30025866e-04 9.99755998e-01 3.59285069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.290385723 meters Centerline goodness [0,1] 0.9974856638729599 Centerline is valid? [True, True] Translation: X:214.68, Y:92.10, Z:3.59 [[ 2.86049972e-01 -9.58193041e-01 -6.44280183e-03 2.14677225e+02] [ 9.57964233e-01 2.86122462e-01 -2.09395492e-02 9.20961450e+01] [ 2.19075607e-02 -1.82216232e-04 9.99759984e-01 3.59313195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.320385723 meters Centerline goodness [0,1] 0.9975988544993942 Centerline is valid? [True, True] Translation: X:214.68, Y:92.12, Z:3.59 [[ 2.87417509e-01 -9.57783842e-01 -6.42559069e-03 2.14682705e+02] [ 9.57555695e-01 2.87489290e-01 -2.09045132e-02 9.21239619e+01] [ 2.18692935e-02 -1.44537851e-04 9.99760828e-01 3.59283429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.350385723 meters Centerline goodness [0,1] 0.9973939513391586 Centerline is valid? [True, True] Translation: X:214.69, Y:92.15, Z:3.59 [[ 2.88578712e-01 -9.57437213e-01 -6.02580109e-03 2.14686948e+02] [ 9.57236124e-01 2.88641598e-01 -1.96221978e-02 9.21525245e+01] [ 2.05263192e-02 -1.05565925e-04 9.99789307e-01 3.59343258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.380385723 meters Centerline goodness [0,1] 0.9974973656480506 Centerline is valid? [True, True] Translation: X:214.69, Y:92.18, Z:3.59 [[ 2.88436284e-01 -9.57481560e-01 -5.79421306e-03 2.14693469e+02] [ 9.57295306e-01 2.88494459e-01 -1.88850085e-02 9.21791844e+01] [ 1.97536457e-02 -9.96512957e-05 9.99804873e-01 3.59373353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.410385723 meters Centerline goodness [0,1] 0.9975761546020308 Centerline is valid? [True, True] Translation: X:214.70, Y:92.21, Z:3.59 [[ 2.87774603e-01 -9.57682331e-01 -5.50739506e-03 2.14698188e+02] [ 9.57513848e-01 2.87827279e-01 -1.79635092e-02 9.22072270e+01] [ 1.87885139e-02 -1.03965297e-04 9.99823475e-01 3.59358989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.440385723 meters Centerline goodness [0,1] 0.9976799667315984 Centerline is valid? [True, True] Translation: X:214.70, Y:92.23, Z:3.59 [[ 2.87064519e-01 -9.57895364e-01 -5.51665487e-03 2.14704782e+02] [ 9.57726022e-01 2.87117499e-01 -1.80113215e-02 9.22342726e+01] [ 1.88368896e-02 -1.13032573e-04 9.99822564e-01 3.59350097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.470385723 meters Centerline goodness [0,1] 0.9977227440933675 Centerline is valid? [True, True] Translation: X:214.71, Y:92.26, Z:3.59 [[ 2.86067397e-01 -9.58193061e-01 -5.61278525e-03 2.14712287e+02] [ 9.58017471e-01 2.86122425e-01 -1.83434800e-02 9.22616563e+01] [ 1.91825390e-02 -1.29674762e-04 9.99815990e-01 3.59293114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.500385723 meters Centerline goodness [0,1] 0.9980097979179424 Centerline is valid? [True, True] Translation: X:214.72, Y:92.29, Z:3.59 [[ 2.85218504e-01 -9.58445941e-01 -5.63760869e-03 2.14720150e+02] [ 9.58268494e-01 2.85274180e-01 -1.84427695e-02 9.22886520e+01] [ 1.92846617e-02 -1.42123667e-04 9.99814024e-01 3.59320989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.530385723 meters Centerline goodness [0,1] 0.9979884994643287 Centerline is valid? [True, True] Translation: X:214.73, Y:92.32, Z:3.59 [[ 2.84273792e-01 -9.58726932e-01 -5.57509261e-03 2.14727932e+02] [ 9.58553113e-01 2.84328413e-01 -1.82560260e-02 9.23151519e+01] [ 1.90877010e-02 -1.54312646e-04 9.99817801e-01 3.59347637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.560385723 meters Centerline goodness [0,1] 0.9980989839396919 Centerline is valid? [True, True] Translation: X:214.73, Y:92.34, Z:3.59 [[ 2.82767656e-01 -9.59174877e-01 -5.09978842e-03 2.14733793e+02] [ 9.59029244e-01 2.82813593e-01 -1.67147186e-02 9.23424639e+01] [ 1.74746277e-02 -1.64464414e-04 9.99847294e-01 3.59354837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.590385723 meters Centerline goodness [0,1] 0.9980785187126076 Centerline is valid? [True, True] Translation: X:214.74, Y:92.37, Z:3.59 [[ 2.82113917e-01 -9.59368315e-01 -4.91665060e-03 2.14740166e+02] [ 9.59232725e-01 2.82156709e-01 -1.61298193e-02 9.23696453e+01] [ 1.68617035e-02 -1.65765652e-04 9.99857818e-01 3.59379019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.620385723 meters Centerline goodness [0,1] 0.9982324058919804 Centerline is valid? [True, True] Translation: X:214.75, Y:92.40, Z:3.59 [[ 2.81453487e-01 -9.59562682e-01 -4.83681241e-03 2.14745666e+02] [ 9.59431231e-01 2.81494993e-01 -1.58833799e-02 9.23966951e+01] [ 1.66026371e-02 -1.70156225e-04 9.99862152e-01 3.59334658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.650385723 meters Centerline goodness [0,1] 0.9981672993847363 Centerline is valid? [True, True] Translation: X:214.75, Y:92.42, Z:3.59 [[ 2.80821735e-01 -9.59747164e-01 -4.95328927e-03 2.14752941e+02] [ 9.59609042e-01 2.80865358e-01 -1.62830654e-02 9.24236147e+01] [ 1.70188332e-02 -1.80582500e-04 9.99855153e-01 3.59317148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.68038572300003 meters Centerline goodness [0,1] 0.9981682585372236 Centerline is valid? [True, True] Translation: X:214.76, Y:92.45, Z:3.59 [[ 2.79552003e-01 -9.60117241e-01 -5.05577848e-03 2.14761394e+02] [ 9.59973110e-01 2.79597643e-01 -1.66369034e-02 9.24496085e+01] [ 1.73869615e-02 -2.02531731e-04 9.99848815e-01 3.59305066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.710385723 meters Centerline goodness [0,1] 0.9981505254683523 Centerline is valid? [True, True] Translation: X:214.77, Y:92.48, Z:3.59 [[ 2.78547013e-01 -9.60409471e-01 -5.02102264e-03 2.14768640e+02] [ 9.60267068e-01 2.78592180e-01 -1.65395286e-02 9.24770241e+01] [ 1.72835375e-02 -2.14486411e-04 9.99850606e-01 3.59255664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.74038572300003 meters Centerline goodness [0,1] 0.9981693363844394 Centerline is valid? [True, True] Translation: X:214.78, Y:92.50, Z:3.59 [[ 2.77674724e-01 -9.60662440e-01 -4.94206760e-03 2.14775052e+02] [ 9.60524259e-01 2.77718611e-01 -1.62948164e-02 9.25040959e+01] [ 1.70263223e-02 -2.22317160e-04 9.99855017e-01 3.59307832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.770385723 meters Centerline goodness [0,1] 0.9983525178296591 Centerline is valid? [True, True] Translation: X:214.78, Y:92.53, Z:3.59 [[ 2.76459323e-01 -9.61012822e-01 -4.95974708e-03 2.14782951e+02] [ 9.60873431e-01 2.76503705e-01 -1.63691928e-02 9.25299610e+01] [ 1.71023926e-02 -2.40273227e-04 9.99853715e-01 3.59317034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.800385723 meters Centerline goodness [0,1] 0.9979981286855104 Centerline is valid? [True, True] Translation: X:214.79, Y:92.56, Z:3.59 [[ 2.73995981e-01 -9.61717340e-01 -5.09505727e-03 2.14790997e+02] [ 9.61570054e-01 2.74043199e-01 -1.68331860e-02 9.25576031e+01] [ 1.75850326e-02 -2.87029195e-04 9.99845330e-01 3.59247708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.830385723 meters Centerline goodness [0,1] 0.998524113382819 Centerline is valid? [True, True] Translation: X:214.80, Y:92.59, Z:3.59 [[ 2.73030023e-01 -9.61992645e-01 -4.97565081e-03 2.14797810e+02] [ 9.61851974e-01 2.73075199e-01 -1.64534435e-02 9.25852251e+01] [ 1.71868185e-02 -2.93555488e-04 9.99852253e-01 3.59441367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.860385723 meters Centerline goodness [0,1] 0.9982826460294342 Centerline is valid? [True, True] Translation: X:214.80, Y:92.61, Z:3.60 [[ 2.72554425e-01 -9.62128007e-01 -4.87682897e-03 2.14802693e+02] [ 9.61992627e-01 2.72597896e-01 -1.61422895e-02 9.26126898e+01] [ 1.68603621e-02 -2.91821080e-04 9.99857811e-01 3.59551931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.890385723 meters Centerline goodness [0,1] 0.9985927080627003 Centerline is valid? [True, True] Translation: X:214.81, Y:92.64, Z:3.60 [[ 2.72317481e-01 -9.62195486e-01 -4.79958098e-03 2.14809984e+02] [ 9.62064110e-01 2.72359623e-01 -1.59023381e-02 9.26392028e+01] [ 1.66083700e-02 -2.87019930e-04 9.99862030e-01 3.59566881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.920385723 meters Centerline goodness [0,1] 0.9985688264376789 Centerline is valid? [True, True] Translation: X:214.82, Y:92.67, Z:3.60 [[ 2.72224950e-01 -9.62221204e-01 -4.89186734e-03 2.14816798e+02] [ 9.62084438e-01 2.72268746e-01 -1.62253997e-02 9.26664526e+01] [ 1.69443263e-02 -2.89430808e-04 9.99856393e-01 3.59608857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.950385723 meters Centerline goodness [0,1] 0.9986373369671014 Centerline is valid? [True, True] Translation: X:214.82, Y:92.69, Z:3.60 [[ 2.72831722e-01 -9.62049572e-01 -4.84491046e-03 2.14822563e+02] [ 9.61915128e-01 2.72874601e-01 -1.60853523e-02 9.26938311e+01] [ 1.67969593e-02 -2.71798307e-04 9.99858884e-01 3.59615325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.980385723 meters Centerline goodness [0,1] 0.9988110678772157 Centerline is valid? [True, True] Translation: X:214.83, Y:92.72, Z:3.60 [[ 2.73240870e-01 -9.61933307e-01 -4.87228941e-03 2.14829559e+02] [ 9.61797056e-01 2.73284181e-01 -1.61919515e-02 9.27203112e+01] [ 1.69070971e-02 -2.61850685e-04 9.99857031e-01 3.59718768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.010385723 meters Centerline goodness [0,1] 0.9987665274501742 Centerline is valid? [True, True] Translation: X:214.84, Y:92.75, Z:3.60 [[ 2.73700220e-01 -9.61803157e-01 -4.78297169e-03 2.14835766e+02] [ 9.61671652e-01 2.73741898e-01 -1.59062243e-02 9.27465009e+01] [ 1.66079565e-02 -2.46111189e-04 9.99862048e-01 3.59711634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.040385723 meters Centerline goodness [0,1] 0.9988992251408344 Centerline is valid? [True, True] Translation: X:214.84, Y:92.77, Z:3.60 [[ 2.75260208e-01 -9.61357765e-01 -4.80268814e-03 2.14839675e+02] [ 9.61224827e-01 2.75302018e-01 -1.59884548e-02 9.27741004e+01] [ 1.66928149e-02 -2.15477678e-04 9.99860642e-01 3.59776146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.070385723 meters Centerline goodness [0,1] 0.9989643566065418 Centerline is valid? [True, True] Translation: X:214.85, Y:92.80, Z:3.60 [[ 2.75917632e-01 -9.61169759e-01 -4.70680761e-03 2.14846423e+02] [ 9.61041801e-01 2.75957706e-01 -1.56844337e-02 9.28017899e+01] [ 1.63742832e-02 -1.95827050e-04 9.99865913e-01 3.59693615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.100385723 meters Centerline goodness [0,1] 0.9990955293306917 Centerline is valid? [True, True] Translation: X:214.85, Y:92.83, Z:3.60 [[ 2.76526847e-01 -9.60994836e-01 -4.67198273e-03 2.14854046e+02] [ 9.60868491e-01 2.76566253e-01 -1.55836522e-02 9.28291517e+01] [ 1.62679221e-02 -1.79862788e-04 9.99867652e-01 3.59835364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.130385723 meters Centerline goodness [0,1] 0.9992472632642966 Centerline is valid? [True, True] Translation: X:214.86, Y:92.86, Z:3.60 [[ 2.77549726e-01 -9.60699998e-01 -4.65434623e-03 2.14861428e+02] [ 9.60574317e-01 2.77588704e-01 -1.55400700e-02 9.28560105e+01] [ 1.62213391e-02 -1.57703296e-04 9.99868413e-01 3.60061758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.160385723 meters Centerline goodness [0,1] 0.9992471013401596 Centerline is valid? [True, True] Translation: X:214.87, Y:92.88, Z:3.60 [[ 2.77538074e-01 -9.60703548e-01 -4.61626177e-03 2.14868700e+02] [ 9.60579673e-01 2.77576420e-01 -1.54279825e-02 9.28831676e+01] [ 1.61030829e-02 -1.52434678e-04 9.99870325e-01 3.60074792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.190385723 meters Centerline goodness [0,1] 0.999289512778005 Centerline is valid? [True, True] Translation: X:214.87, Y:92.91, Z:3.60 [[ 2.77997380e-01 -9.60571451e-01 -4.46581040e-03 2.14873681e+02] [ 9.60455280e-01 2.78033215e-01 -1.49394393e-02 9.29110558e+01] [ 1.55920426e-02 -1.36086175e-04 9.99878427e-01 3.60056757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.220385723 meters Centerline goodness [0,1] 0.9993156397698839 Centerline is valid? [True, True] Translation: X:214.88, Y:92.94, Z:3.60 [[ 2.78447098e-01 -9.60440334e-01 -4.64532577e-03 2.14880454e+02] [ 9.60314348e-01 2.78485814e-01 -1.55564763e-02 9.29374494e+01] [ 1.62347246e-02 -1.29317320e-04 9.99868200e-01 3.60028851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.250385723 meters Centerline goodness [0,1] 0.9995479690896959 Centerline is valid? [True, True] Translation: X:214.89, Y:92.96, Z:3.60 [[ 2.78864564e-01 -9.60319563e-01 -4.57078430e-03 2.14887728e+02] [ 9.60197350e-01 2.78901997e-01 -1.53207645e-02 9.29646537e+01] [ 1.59876307e-02 -1.16436655e-04 9.99872183e-01 3.60052110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.280385723 meters Centerline goodness [0,1] 0.9996128615980213 Centerline is valid? [True, True] Translation: X:214.90, Y:92.99, Z:3.60 [[ 2.79162357e-01 -9.60232701e-01 -4.64098155e-03 2.14895598e+02] [ 9.60106435e-01 2.79200911e-01 -1.55718968e-02 9.29910920e+01] [ 1.62484108e-02 -1.08748839e-04 9.99867980e-01 3.60070688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.310385723 meters Centerline goodness [0,1] 0.9995049185268098 Centerline is valid? [True, True] Translation: X:214.90, Y:93.02, Z:3.60 [[ 2.79297175e-01 -9.60193196e-01 -4.70253178e-03 2.14902514e+02] [ 9.60063290e-01 2.79336742e-01 -1.57944008e-02 9.30179514e+01] [ 1.64792661e-02 -1.03396610e-04 9.99864202e-01 3.60140259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.340385723 meters Centerline goodness [0,1] 0.9997427321842037 Centerline is valid? [True, True] Translation: X:214.91, Y:93.04, Z:3.60 [[ 2.79725171e-01 -9.60069438e-01 -4.52806475e-03 2.14909145e+02] [ 9.59948743e-01 2.79761804e-01 -1.52231603e-02 9.30442552e+01] [ 1.58820705e-02 -8.84089588e-05 9.99873868e-01 3.60223347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.370385723 meters Centerline goodness [0,1] 0.9997204361196533 Centerline is valid? [True, True] Translation: X:214.92, Y:93.07, Z:3.60 [[ 2.80017091e-01 -9.59984958e-01 -4.39429845e-03 2.14915608e+02] [ 9.59871124e-01 2.80051558e-01 -1.47834484e-02 9.30718695e+01] [ 1.54225182e-02 -7.83419777e-05 9.99881063e-01 3.60238499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.400385723 meters Centerline goodness [0,1] 0.9998281196287384 Centerline is valid? [True, True] Translation: X:214.92, Y:93.10, Z:3.60 [[ 2.79776439e-01 -9.60054511e-01 -4.52559687e-03 2.14923273e+02] [ 9.59933531e-01 2.79813027e-01 -1.52409345e-02 9.30988232e+01] [ 1.58984488e-02 -8.02178103e-05 9.99873608e-01 3.60218960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.43038572300003 meters Centerline goodness [0,1] 0.9998495982123673 Centerline is valid? [True, True] Translation: X:214.93, Y:93.12, Z:3.60 [[ 2.79612720e-01 -9.60101213e-01 -4.73159077e-03 2.14931504e+02] [ 9.59968694e-01 2.79652739e-01 -1.59515799e-02 9.31246130e+01] [ 1.66383335e-02 -8.19143743e-05 9.99861570e-01 3.60204849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.460385723 meters Centerline goodness [0,1] 0.9998922274432038 Centerline is valid? [True, True] Translation: X:214.94, Y:93.15, Z:3.60 [[ 2.79564671e-01 -9.60115688e-01 -4.63249130e-03 2.14939610e+02] [ 9.59988398e-01 2.79603038e-01 -1.56338303e-02 9.31516163e+01] [ 1.63055443e-02 -7.64712931e-05 9.99867053e-01 3.60278360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.49038572300003 meters Centerline goodness [0,1] 0.9999354491662183 Centerline is valid? [True, True] Translation: X:214.95, Y:93.18, Z:3.60 [[ 2.78907701e-01 -9.60306951e-01 -4.58849476e-03 2.14947427e+02] [ 9.60181842e-01 2.78945430e-01 -1.55008765e-02 9.31777986e+01] [ 1.61655391e-02 -8.24755263e-05 9.99869326e-01 3.60305975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.520385723 meters Centerline goodness [0,1] 0.9999354491662183 Centerline is valid? [True, True] Translation: X:214.96, Y:93.20, Z:3.60 [[ 2.78645777e-01 -9.60383003e-01 -4.58460638e-03 2.14955184e+02] [ 9.60257885e-01 2.78683477e-01 -1.55020265e-02 9.32042600e+01] [ 1.61655368e-02 -8.28302191e-05 9.99869326e-01 3.60347706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.550385723 meters Centerline goodness [0,1] 0.9999785564180641 Centerline is valid? [True, True] Translation: X:214.96, Y:93.23, Z:3.60 [[ 2.78102805e-01 -9.60540919e-01 -4.46915741e-03 2.14963287e+02] [ 9.60421810e-01 2.78138700e-01 -1.51264729e-02 9.32314847e+01] [ 1.57726418e-02 -8.55617218e-05 9.99875600e-01 3.60382216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.580385723 meters Centerline goodness [0,1] 0.9999784301460279 Centerline is valid? [True, True] Translation: X:214.97, Y:93.26, Z:3.60 [[ 2.77047580e-01 -9.60842943e-01 -5.04744992e-03 2.14972476e+02] [ 9.60690736e-01 2.77093533e-01 -1.71021767e-02 9.32572980e+01] [ 1.78311215e-02 -1.10921730e-04 9.99841007e-01 3.60215833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.98, Y:93.28, Z:3.60 [[ 2.76237153e-01 -9.61074682e-01 -5.33771992e-03 2.14981328e+02] [ 9.60904228e-01 2.76288689e-01 -1.81004436e-02 9.32837254e+01] [ 1.88706297e-02 -1.29022639e-04 9.99821925e-01 3.60198711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.99, Y:93.31, Z:3.60 [[ 2.75779439e-01 -9.61206279e-01 -5.30942742e-03 2.14991021e+02] [ 9.61037320e-01 2.75830512e-01 -1.80221522e-02 9.33100351e+01] [ 1.87875080e-02 -1.32418869e-04 9.99823490e-01 3.60322485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.00, Y:93.34, Z:3.60 [[ 2.75932389e-01 -9.61163033e-01 -5.19037173e-03 2.14999540e+02] [ 9.61001241e-01 2.75981174e-01 -1.76353549e-02 9.33367452e+01] [ 1.83828960e-02 -1.21788087e-04 9.99831013e-01 3.60406334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.01, Y:93.36, Z:3.60 [[ 2.77958182e-01 -9.60580202e-01 -4.99253385e-03 2.15006386e+02] [ 9.60430126e-01 2.78003005e-01 -1.69794856e-02 9.33635963e+01] [ 1.76980971e-02 -7.53929814e-05 9.99843374e-01 3.60442565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.730385723 meters Centerline goodness [0,1] 0.999978531097705 Centerline is valid? [True, True] Translation: X:215.01, Y:93.39, Z:3.60 [[ 2.79407734e-01 -9.60159536e-01 -4.99829022e-03 2.15012662e+02] [ 9.60008745e-01 2.79452434e-01 -1.70160602e-02 9.33900487e+01] [ 1.77349168e-02 -4.39834931e-05 9.99842723e-01 3.60425141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.760385723 meters Centerline goodness [0,1] 0.9999785490583036 Centerline is valid? [True, True] Translation: X:215.02, Y:93.42, Z:3.60 [[ 2.81012474e-01 -9.59691030e-01 -5.01160627e-03 2.15019075e+02] [ 9.59539044e-01 2.81057159e-01 -1.70791408e-02 9.34176279e+01] [ 1.77992460e-02 -9.38029513e-06 9.99841581e-01 3.60425714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.03, Y:93.44, Z:3.60 [[ 2.82835025e-01 -9.59155648e-01 -4.97916521e-03 2.15025850e+02] [ 9.59005245e-01 2.82878848e-01 -1.69852107e-02 9.34446152e+01] [ 1.76999613e-02 2.89669363e-05 9.99843343e-01 3.60498802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.03, Y:93.47, Z:3.61 [[ 2.84490916e-01 -9.58665670e-01 -5.00514819e-03 2.15032850e+02] [ 9.58513312e-01 2.84534934e-01 -1.70909885e-02 9.34708782e+01] [ 1.78086834e-02 6.47297964e-05 9.99841411e-01 3.60556348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.04, Y:93.50, Z:3.61 [[ 2.86102425e-01 -9.58186630e-01 -4.87684392e-03 2.15041981e+02] [ 9.58041620e-01 2.86143971e-01 -1.66698061e-02 9.34978761e+01] [ 1.73682648e-02 9.70524933e-05 9.99849156e-01 3.60730950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.05, Y:93.52, Z:3.61 [[ 2.86473710e-01 -9.58075475e-01 -4.91919161e-03 2.15050238e+02] [ 9.57927621e-01 2.86515921e-01 -1.68315012e-02 9.35237097e+01] [ 1.75352752e-02 1.09553057e-04 9.99846239e-01 3.60815970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.06, Y:93.55, Z:3.61 [[ 2.86415676e-01 -9.58092022e-01 -5.07333332e-03 2.15057875e+02] [ 9.57934421e-01 2.86460581e-01 -1.73775698e-02 9.35496752e+01] [ 1.81026210e-02 1.17287780e-04 9.99836127e-01 3.60835701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.940385723 meters Centerline goodness [0,1] 0.9999135359474298 Centerline is valid? [True, True] Translation: X:215.07, Y:93.58, Z:3.61 [[ 2.85483115e-01 -9.58369756e-01 -5.17702671e-03 2.15066442e+02] [ 9.58205351e-01 2.85530032e-01 -1.77512487e-02 9.35760990e+01] [ 1.84904565e-02 1.07027065e-04 9.99829031e-01 3.60579320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.08, Y:93.60, Z:3.61 [[ 2.85303095e-01 -9.58421349e-01 -5.53735149e-03 2.15075920e+02] [ 9.58232890e-01 2.85356802e-01 -1.90059064e-02 9.36024384e+01] [ 1.97957873e-02 1.16371591e-04 9.99804037e-01 3.60819697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.000385723 meters Centerline goodness [0,1] 0.9998704439454137 Centerline is valid? [True, True] Translation: X:215.08, Y:93.63, Z:3.61 [[ 2.84948213e-01 -9.58526315e-01 -5.64092150e-03 2.15084712e+02] [ 9.58330376e-01 2.85004019e-01 -1.93804116e-02 9.36289448e+01] [ 2.01843198e-02 1.16547227e-04 9.99796269e-01 3.60814801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.030385723 meters Centerline goodness [0,1] 0.9999135490285072 Centerline is valid? [True, True] Translation: X:215.09, Y:93.66, Z:3.61 [[ 2.84557025e-01 -9.58641779e-01 -5.76528731e-03 2.15093826e+02] [ 9.58436728e-01 2.84615399e-01 -1.98270835e-02 9.36556136e+01] [ 2.06479602e-02 1.16272797e-04 9.99786801e-01 3.60844096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.10, Y:93.68, Z:3.61 [[ 2.83822335e-01 -9.58858963e-01 -5.86265439e-03 2.15103477e+02] [ 9.58646555e-01 2.83882858e-01 -2.01818050e-02 9.36809599e+01] [ 2.10158117e-02 1.07833583e-04 9.99779138e-01 3.60778949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.090385723 meters Centerline goodness [0,1] 0.9999355351655672 Centerline is valid? [True, True] Translation: X:215.11, Y:93.71, Z:3.61 [[ 2.83386208e-01 -9.58986801e-01 -6.04757300e-03 2.15113357e+02] [ 9.58760340e-01 2.83450709e-01 -2.08400233e-02 9.37077658e+01] [ 2.16994961e-02 1.07602024e-04 9.99764532e-01 3.60862322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.12, Y:93.73, Z:3.61 [[ 2.82743567e-01 -9.59173454e-01 -6.50856402e-03 2.15124073e+02] [ 9.58910629e-01 2.82818448e-01 -2.24528489e-02 9.37345232e+01] [ 2.33769186e-02 1.07267364e-04 9.99726717e-01 3.60813548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.150385723 meters Centerline goodness [0,1] 0.9999569503637694 Centerline is valid? [True, True] Translation: X:215.13, Y:93.76, Z:3.61 [[ 2.82205927e-01 -9.59331084e-01 -6.60955852e-03 2.15133620e+02] [ 9.59059534e-01 2.82283299e-01 -2.28243326e-02 9.37600755e+01] [ 2.37618598e-02 1.02201830e-04 9.99717642e-01 3.60912582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.18038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.14, Y:93.79, Z:3.61 [[ 2.81812671e-01 -9.59447064e-01 -6.55362279e-03 2.15143203e+02] [ 9.59179601e-01 2.81888847e-01 -2.26532816e-02 9.37861946e+01] [ 2.35820177e-02 9.78805073e-05 9.99721901e-01 3.61025346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.15, Y:93.81, Z:3.61 [[ 2.81367378e-01 -9.59579817e-01 -6.24284024e-03 2.15153672e+02] [ 9.59336667e-01 2.81436612e-01 -2.16007656e-02 9.38122926e+01] [ 2.24846225e-02 8.87652314e-05 9.99747185e-01 3.61202563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.24038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.16, Y:93.84, Z:3.61 [[ 2.81180367e-01 -9.59635102e-01 -6.17021316e-03 2.15162256e+02] [ 9.59397103e-01 2.81248044e-01 -2.13714155e-02 9.38389399e+01] [ 2.22441209e-02 8.95378333e-05 9.99752565e-01 3.61293497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.17, Y:93.87, Z:3.61 [[ 2.80945236e-01 -9.59703891e-01 -6.18194569e-03 2.15172746e+02] [ 9.59464507e-01 2.81013228e-01 -2.14342416e-02 9.38652543e+01] [ 2.23077336e-02 9.04906149e-05 9.99751147e-01 3.61402238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.18, Y:93.89, Z:3.61 [[ 2.80493441e-01 -9.59834542e-01 -6.40951283e-03 2.15182292e+02] [ 9.59576698e-01 2.80566648e-01 -2.22467310e-02 9.38919658e+01] [ 2.31514764e-02 8.96429648e-05 9.99731965e-01 3.61432419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.19, Y:93.92, Z:3.61 [[ 2.80114566e-01 -9.59943640e-01 -6.63607793e-03 2.15191982e+02] [ 9.59666693e-01 2.80193147e-01 -2.30572812e-02 9.39189024e+01] [ 2.39930740e-02 9.02573597e-05 9.99712121e-01 3.61479100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.360385723 meters Centerline goodness [0,1] 0.9999125434549708 Centerline is valid? [True, True] Translation: X:215.20, Y:93.95, Z:3.62 [[ 2.79140021e-01 -9.60227800e-01 -6.58940246e-03 2.15203289e+02] [ 9.59954256e-01 2.79217776e-01 -2.29185450e-02 9.39453195e+01] [ 2.38469023e-02 7.19581888e-05 9.99715620e-01 3.61576500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.21, Y:93.97, Z:3.62 [[ 2.78245406e-01 -9.60488685e-01 -6.40151936e-03 2.15211603e+02] [ 9.60230055e-01 2.78319030e-01 -2.22880839e-02 9.39710959e+01] [ 2.31891170e-02 5.46256490e-05 9.99731095e-01 3.61636486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.22, Y:94.00, Z:3.62 [[ 2.77607544e-01 -9.60673929e-01 -6.29713725e-03 2.15219801e+02] [ 9.60423175e-01 2.77678952e-01 -2.19482059e-02 9.39968563e+01] [ 2.28336517e-02 4.50709960e-05 9.99739277e-01 3.61666619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.23, Y:94.02, Z:3.62 [[ 2.76494611e-01 -9.60993256e-01 -6.53385369e-03 2.15229987e+02] [ 9.60722798e-01 2.76571800e-01 -2.27979183e-02 9.40234743e+01] [ 2.37157255e-02 2.62793693e-05 9.99718742e-01 3.61650203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.24, Y:94.05, Z:3.62 [[ 2.75793023e-01 -9.61193616e-01 -6.71122812e-03 2.15239074e+02] [ 9.60907739e-01 2.75874667e-01 -2.34410994e-02 9.40498512e+01] [ 2.43828929e-02 1.60206200e-05 9.99702693e-01 3.61679497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.510385723 meters Centerline goodness [0,1] 0.9999779885980938 Centerline is valid? [True, True] Translation: X:215.25, Y:94.08, Z:3.62 [[ 2.75052481e-01 -9.61405801e-01 -6.70963419e-03 2.15248461e+02] [ 9.61119594e-01 2.75134307e-01 -2.34571777e-02 9.40756921e+01] [ 2.43979173e-02 3.19405104e-06 9.99702327e-01 3.61642130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.26, Y:94.10, Z:3.62 [[ 2.74614027e-01 -9.61531988e-01 -6.58572033e-03 2.15256569e+02] [ 9.61255887e-01 2.74692984e-01 -2.30409291e-02 9.41014113e+01] [ 2.39636416e-02 -3.20011858e-06 9.99712831e-01 3.61661304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.27, Y:94.13, Z:3.62 [[ 2.73947284e-01 -9.61722635e-01 -6.51602690e-03 2.15265448e+02] [ 9.61451950e-01 2.74024767e-01 -2.28160904e-02 9.41283756e+01] [ 2.37283033e-02 -1.44407795e-05 9.99718444e-01 3.61776761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.28, Y:94.15, Z:3.62 [[ 2.72561489e-01 -9.62115891e-01 -6.57632794e-03 2.15276103e+02] [ 9.61839720e-01 2.72640810e-01 -2.30508666e-02 9.41543918e+01] [ 2.39705804e-02 -4.25949059e-05 9.99712663e-01 3.61891938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.28, Y:94.18, Z:3.62 [[ 2.71752870e-01 -9.62344703e-01 -6.56128147e-03 2.15284540e+02] [ 9.62069356e-01 2.71832061e-01 -2.30192405e-02 9.41805403e+01] [ 2.39360108e-02 -5.68631733e-05 9.99713491e-01 3.61836974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.660385723 meters Centerline goodness [0,1] 0.9999556924167571 Centerline is valid? [True, True] Translation: X:215.29, Y:94.21, Z:3.62 [[ 2.71161977e-01 -9.62510376e-01 -6.70515004e-03 2.15293164e+02] [ 9.62222374e-01 2.71244856e-01 -2.35442246e-02 9.42076942e+01] [ 2.44802979e-02 -6.75469118e-05 9.99700310e-01 3.61819030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.30, Y:94.23, Z:3.62 [[ 2.71058266e-01 -9.62539934e-01 -6.65518928e-03 2.15302081e+02] [ 9.62255641e-01 2.71139948e-01 -2.33925296e-02 9.42338404e+01] [ 2.43207315e-02 -6.32549127e-05 9.99704205e-01 3.61852625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.720385723 meters Centerline goodness [0,1] 0.9999335621747315 Centerline is valid? [True, True] Translation: X:215.31, Y:94.26, Z:3.62 [[ 2.70947610e-01 -9.62571593e-01 -6.58182118e-03 2.15311538e+02] [ 9.62292984e-01 2.71027534e-01 -2.31579291e-02 9.42605044e+01] [ 2.40750194e-02 -5.90548214e-05 9.99710153e-01 3.61954724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.32, Y:94.29, Z:3.62 [[ 2.70416099e-01 -9.62721567e-01 -6.50523326e-03 2.15321746e+02] [ 9.62448891e-01 2.70494326e-01 -2.29118428e-02 9.42860396e+01] [ 2.38173539e-02 -6.52233962e-05 9.99716324e-01 3.62070968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.33, Y:94.31, Z:3.62 [[ 2.69705138e-01 -9.62921246e-01 -6.46624413e-03 2.15329925e+02] [ 9.62651314e-01 2.69782631e-01 -2.27986826e-02 9.43134242e+01] [ 2.36978162e-02 -7.58165674e-05 9.99719164e-01 3.62192836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.34, Y:94.34, Z:3.62 [[ 2.68539508e-01 -9.63247774e-01 -6.34502515e-03 2.15338272e+02] [ 9.62987410e-01 2.68614440e-01 -2.23948884e-02 9.43407583e+01] [ 2.32761917e-02 -9.62670316e-05 9.99729068e-01 3.62194687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.35, Y:94.37, Z:3.62 [[ 2.67535271e-01 -9.63527457e-01 -6.30229458e-03 2.15348825e+02] [ 9.63270117e-01 2.67609468e-01 -2.22677963e-02 9.43674343e+01] [ 2.31421869e-02 -1.13391100e-04 9.99732177e-01 3.62260152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.36, Y:94.39, Z:3.62 [[ 2.67342286e-01 -9.63580718e-01 -6.34832312e-03 2.15358432e+02] [ 9.63319058e-01 2.67417626e-01 -2.24545207e-02 9.43942166e+01] [ 2.33343967e-02 -1.12417744e-04 9.99727710e-01 3.62349410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.900385723 meters Centerline goodness [0,1] 0.9999331401827501 Centerline is valid? [True, True] Translation: X:215.37, Y:94.42, Z:3.62 [[ 2.66942138e-01 -9.63690862e-01 -6.46658400e-03 2.15369431e+02] [ 9.63418793e-01 2.67020426e-01 -2.28980491e-02 9.44197329e+01] [ 2.37933507e-02 -1.17574376e-04 9.99716891e-01 3.62296162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.93038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.38, Y:94.45, Z:3.62 [[ 2.66212917e-01 -9.63893013e-01 -6.39871158e-03 2.15377484e+02] [ 9.63626099e-01 2.66289775e-01 -2.26825180e-02 9.44471153e+01] [ 2.35674321e-02 -1.27586196e-04 9.99722241e-01 3.62396987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.39, Y:94.47, Z:3.62 [[ 2.65574717e-01 -9.64069511e-01 -6.32838018e-03 2.15385558e+02] [ 9.63807987e-01 2.65650071e-01 -2.24544887e-02 9.44726125e+01] [ 2.33288225e-02 -1.35998886e-04 9.99727837e-01 3.62382434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.99038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.39, Y:94.50, Z:3.62 [[ 2.65099118e-01 -9.64200580e-01 -6.30067659e-03 2.15393954e+02] [ 9.63940929e-01 2.65173944e-01 -2.23755535e-02 9.44993029e+01] [ 2.32452969e-02 -1.41740545e-04 9.99729782e-01 3.62379618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.40, Y:94.53, Z:3.62 [[ 2.64323836e-01 -9.64412937e-01 -6.37151600e-03 2.15404192e+02] [ 9.64146911e-01 2.64400571e-01 -2.26510991e-02 9.45256740e+01] [ 2.35296455e-02 -1.55852080e-04 9.99723127e-01 3.62442992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.41, Y:94.55, Z:3.63 [[ 2.64373268e-01 -9.64399582e-01 -6.34207741e-03 2.15414523e+02] [ 9.64135441e-01 2.64449286e-01 -2.25704737e-02 9.45506191e+01] [ 2.34441133e-02 -1.47591720e-04 9.99725138e-01 3.62638349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.080385723 meters Centerline goodness [0,1] 0.9999777079292895 Centerline is valid? [True, True] Translation: X:215.42, Y:94.58, Z:3.63 [[ 2.65015106e-01 -9.64223609e-01 -6.31072544e-03 2.15421945e+02] [ 9.63961449e-01 2.65090204e-01 -2.24835119e-02 9.45767211e+01] [ 2.33520444e-02 -1.24825767e-04 9.99727296e-01 3.62734527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.110385723 meters Centerline goodness [0,1] 0.9999775950529877 Centerline is valid? [True, True] Translation: X:215.43, Y:94.60, Z:3.63 [[ 2.65565063e-01 -9.64072285e-01 -6.31087859e-03 2.15428154e+02] [ 9.63809505e-01 2.65640018e-01 -2.25082176e-02 9.46041434e+01] [ 2.33759707e-02 -1.05088533e-04 9.99726739e-01 3.62852149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.43, Y:94.63, Z:3.63 [[ 2.66026635e-01 -9.63944136e-01 -6.44455379e-03 2.15434103e+02] [ 9.63669471e-01 2.66104669e-01 -2.30099023e-02 9.46308316e+01] [ 2.38951863e-02 -8.91728562e-05 9.99714465e-01 3.62819790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.170385723 meters Centerline goodness [0,1] 0.9999106744082179 Centerline is valid? [True, True] Translation: X:215.44, Y:94.66, Z:3.63 [[ 2.67061794e-01 -9.63654033e-01 -6.99310948e-03 2.15438778e+02] [ 9.63329774e-01 2.67153330e-01 -2.49968995e-02 9.46584125e+01] [ 2.59565955e-02 -6.09537575e-05 9.99663069e-01 3.62721062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.200385723 meters Centerline goodness [0,1] 0.9999554019400156 Centerline is valid? [True, True] Translation: X:215.45, Y:94.68, Z:3.63 [[ 2.67000553e-01 -9.63670218e-01 -7.10042568e-03 2.15445555e+02] [ 9.63335212e-01 2.67094942e-01 -2.54078896e-02 9.46846377e+01] [ 2.63813143e-02 -5.61695039e-05 9.99651951e-01 3.62720690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.45, Y:94.71, Z:3.63 [[ 2.65484563e-01 -9.64088032e-01 -7.22593712e-03 2.15453989e+02] [ 9.63740472e-01 2.65582866e-01 -2.58851925e-02 9.47111540e+01] [ 2.68746894e-02 -9.18090285e-05 9.99638806e-01 3.62965135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.46, Y:94.74, Z:3.63 [[ 2.63933510e-01 -9.64514630e-01 -7.11551236e-03 2.15462056e+02] [ 9.64177060e-01 2.64029378e-01 -2.55163518e-02 9.47385390e+01] [ 2.64895989e-02 -1.25993487e-04 9.99649081e-01 3.63090503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.47, Y:94.77, Z:3.63 [[ 2.60703124e-01 -9.65391687e-01 -7.26445286e-03 2.15470425e+02] [ 9.65039443e-01 2.60804229e-01 -2.60773430e-02 9.47650978e+01] [ 2.70694502e-02 -2.12038768e-04 9.99633533e-01 3.63089741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.48, Y:94.79, Z:3.63 [[ 2.59015848e-01 -9.65844988e-01 -7.36542327e-03 2.15477455e+02] [ 9.65482370e-01 2.59120423e-01 -2.64650738e-02 9.47920914e+01] [ 2.74696905e-02 -2.56312771e-04 9.99622604e-01 3.63110365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.350385723 meters Centerline goodness [0,1] 0.9999102978112666 Centerline is valid? [True, True] Translation: X:215.48, Y:94.82, Z:3.63 [[ 2.57599446e-01 -9.66222480e-01 -7.52628216e-03 2.15484311e+02] [ 9.65843258e-01 2.57709200e-01 -2.70696938e-02 9.48194074e+01] [ 2.80949388e-02 -2.96070764e-04 9.99605215e-01 3.63115364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.380385723 meters Centerline goodness [0,1] 0.999977613109763 Centerline is valid? [True, True] Translation: X:215.49, Y:94.85, Z:3.63 [[ 2.56957922e-01 -9.66392201e-01 -7.66425451e-03 2.15491249e+02] [ 9.65998191e-01 2.57072006e-01 -2.75949002e-02 9.48470248e+01] [ 2.86377616e-02 -3.12927783e-04 9.99589806e-01 3.63152440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.410385723 meters Centerline goodness [0,1] 0.999977613109763 Centerline is valid? [True, True] Translation: X:215.50, Y:94.87, Z:3.63 [[ 2.56690741e-01 -9.66463263e-01 -7.65662397e-03 2.15498572e+02] [ 9.66069222e-01 2.56804717e-01 -2.75970178e-02 9.48736345e+01] [ 2.86377610e-02 -3.12929806e-04 9.99589806e-01 3.63194164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.440385723 meters Centerline goodness [0,1] 0.999888140674288 Centerline is valid? [True, True] Translation: X:215.51, Y:94.90, Z:3.63 [[ 2.56137012e-01 -9.66607402e-01 -7.99763645e-03 2.15505885e+02] [ 9.66176643e-01 2.56261620e-01 -2.88561294e-02 9.48998579e+01] [ 2.99420356e-02 -3.36006772e-04 9.99551580e-01 3.63135591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.470385723 meters Centerline goodness [0,1] 0.9999776361399978 Centerline is valid? [True, True] Translation: X:215.51, Y:94.93, Z:3.63 [[ 2.55827237e-01 -9.66689644e-01 -7.97222983e-03 2.15511945e+02] [ 9.66260794e-01 2.55951202e-01 -2.87934047e-02 9.49269402e+01] [ 2.98747880e-02 -3.37115952e-04 9.99553592e-01 3.63274171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.500385723 meters Centerline goodness [0,1] 0.9999554555780752 Centerline is valid? [True, True] Translation: X:215.52, Y:94.95, Z:3.63 [[ 2.55616911e-01 -9.66745040e-01 -8.00139439e-03 2.15517803e+02] [ 9.66312125e-01 2.55741890e-01 -2.89303225e-02 9.49530165e+01] [ 3.00145375e-02 -3.36764746e-04 9.99549406e-01 3.63447117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.530385723 meters Centerline goodness [0,1] 0.9999776905229342 Centerline is valid? [True, True] Translation: X:215.52, Y:94.98, Z:3.64 [[ 2.55089961e-01 -9.66884663e-01 -7.94734404e-03 2.15524689e+02] [ 9.66456718e-01 2.55213501e-01 -2.87659806e-02 9.49802084e+01] [ 2.98416550e-02 -3.42851152e-04 9.99554580e-01 3.63509624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.560385723 meters Centerline goodness [0,1] 0.9998888122929129 Centerline is valid? [True, True] Translation: X:215.53, Y:95.01, Z:3.64 [[ 2.54998898e-01 -9.66907995e-01 -8.03063345e-03 2.15531095e+02] [ 9.66470112e-01 2.55125092e-01 -2.90982802e-02 9.50074303e+01] [ 3.01841759e-02 -3.41337816e-04 9.99544296e-01 3.63605116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.590385723 meters Centerline goodness [0,1] 0.9998442921968147 Centerline is valid? [True, True] Translation: X:215.54, Y:95.04, Z:3.64 [[ 2.56317691e-01 -9.66558104e-01 -8.16537446e-03 2.15536728e+02] [ 9.66104249e-01 2.56447546e-01 -2.96181791e-02 9.50351304e+01] [ 3.07216813e-02 -2.96939681e-04 9.99527934e-01 3.63684689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.620385723 meters Centerline goodness [0,1] 0.9999556048834628 Centerline is valid? [True, True] Translation: X:215.54, Y:95.06, Z:3.64 [[ 2.57104909e-01 -9.66348863e-01 -8.18177011e-03 2.15543005e+02] [ 9.65892078e-01 2.57234924e-01 -2.97100596e-02 9.50619049e+01] [ 3.08149193e-02 -2.64104761e-04 9.99525073e-01 3.63727534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.650385723 meters Centerline goodness [0,1] 0.9998664381274626 Centerline is valid? [True, True] Translation: X:215.55, Y:95.09, Z:3.64 [[ 2.57936488e-01 -9.66127443e-01 -8.15674534e-03 2.15548755e+02] [ 9.65672337e-01 2.58065325e-01 -2.96517232e-02 9.50897543e+01] [ 3.07523167e-02 -2.28481982e-04 9.99527010e-01 3.63901734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.68038572300003 meters Centerline goodness [0,1] 0.9999115005088721 Centerline is valid? [True, True] Translation: X:215.55, Y:95.12, Z:3.64 [[ 2.59894175e-01 -9.65604462e-01 -7.93984015e-03 2.15553345e+02] [ 9.65172068e-01 2.60015383e-01 -2.88942673e-02 9.51166027e+01] [ 2.99649140e-02 -1.53860182e-04 9.99550939e-01 3.64022878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.710385723 meters Centerline goodness [0,1] 0.9999336870026525 Centerline is valid? [True, True] Translation: X:215.56, Y:95.14, Z:3.64 [[ 2.60626902e-01 -9.65408117e-01 -7.79651217e-03 2.15559438e+02] [ 9.64990210e-01 2.60743462e-01 -2.84031919e-02 9.51436027e+01] [ 2.94535616e-02 -1.20921991e-04 9.99566142e-01 3.64132701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.74038572300003 meters Centerline goodness [0,1] 0.9998668885191347 Centerline is valid? [True, True] Translation: X:215.57, Y:95.17, Z:3.64 [[ 2.61571328e-01 -9.65154434e-01 -7.57350175e-03 2.15566062e+02] [ 9.64759155e-01 2.61680934e-01 -2.76199613e-02 9.51708469e+01] [ 2.86393691e-02 -8.20151777e-05 9.99589806e-01 3.64301038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.770385723 meters Centerline goodness [0,1] 0.9999337587493652 Centerline is valid? [True, True] Translation: X:215.57, Y:95.20, Z:3.65 [[ 2.63657764e-01 -9.64589927e-01 -7.13138490e-03 2.15572289e+02] [ 9.64238538e-01 2.63754191e-01 -2.60339941e-02 9.51987830e+01] [ 2.69930611e-02 -1.22914612e-05 9.99635621e-01 3.64561632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.800385723 meters Centerline goodness [0,1] 0.9998901364505285 Centerline is valid? [True, True] Translation: X:215.58, Y:95.23, Z:3.65 [[ 2.64004201e-01 -9.64496335e-01 -6.97150860e-03 2.15578963e+02] [ 9.64159785e-01 2.64096233e-01 -2.54772195e-02 9.52251393e+01] [ 2.64138340e-02 4.44474164e-06 9.99651094e-01 3.64634428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.830385723 meters Centerline goodness [0,1] 0.9999118262978067 Centerline is valid? [True, True] Translation: X:215.59, Y:95.25, Z:3.65 [[ 2.64731937e-01 -9.64296280e-01 -7.04883784e-03 2.15585903e+02] [ 9.63951376e-01 2.64825761e-01 -2.57887589e-02 9.52526169e+01] [ 2.67347181e-02 3.23711765e-05 9.99642563e-01 3.64687425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.59, Y:95.28, Z:3.65 [[ 2.64661116e-01 -9.64314477e-01 -7.21693504e-03 2.15592736e+02] [ 9.63952138e-01 2.64759493e-01 -2.64326709e-02 9.52802619e+01] [ 2.74001593e-02 3.89202154e-05 9.99624544e-01 3.64684916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.890385723 meters Centerline goodness [0,1] 0.9999558469655827 Centerline is valid? [True, True] Translation: X:215.60, Y:95.31, Z:3.65 [[ 2.64701856e-01 -9.64302253e-01 -7.35476152e-03 2.15599433e+02] [ 9.63925104e-01 2.64804008e-01 -2.69672234e-02 9.53076064e+01] [ 2.79521246e-02 4.88348104e-05 9.99609262e-01 3.64698866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.920385723 meters Centerline goodness [0,1] 0.9999558352655404 Centerline is valid? [True, True] Translation: X:215.61, Y:95.34, Z:3.65 [[ 2.64355847e-01 -9.64395564e-01 -7.56189057e-03 2.15606126e+02] [ 9.63996014e-01 2.64463975e-01 -2.77577131e-02 9.53351456e+01] [ 2.87692630e-02 4.82814122e-05 9.99586078e-01 3.64605334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.950385723 meters Centerline goodness [0,1] 0.999933996303793 Centerline is valid? [True, True] Translation: X:215.61, Y:95.36, Z:3.65 [[ 2.63953044e-01 -9.64508398e-01 -7.23468175e-03 2.15611814e+02] [ 9.64142066e-01 2.64052170e-01 -2.65806000e-02 9.53623205e+01] [ 2.75475454e-02 4.07692847e-05 9.99620494e-01 3.64562705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.980385723 meters Centerline goodness [0,1] 0.9998686486131483 Centerline is valid? [True, True] Translation: X:215.62, Y:95.39, Z:3.65 [[ 2.62508438e-01 -9.64904030e-01 -7.03801808e-03 2.15618559e+02] [ 9.64556882e-01 2.62602767e-01 -2.58806392e-02 9.53896383e+01] [ 2.68205361e-02 5.31738060e-06 9.99640265e-01 3.64588767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.010385723 meters Centerline goodness [0,1] 0.9999124400761772 Centerline is valid? [True, True] Translation: X:215.63, Y:95.42, Z:3.65 [[ 2.59013175e-01 -9.65850506e-01 -6.70631364e-03 2.15625727e+02] [ 9.65534946e-01 2.59099967e-01 -2.46875669e-02 9.54156963e+01] [ 2.55821046e-02 -8.07751095e-05 9.99672721e-01 3.64639671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.040385723 meters Centerline goodness [0,1] 0.9999121168845435 Centerline is valid? [True, True] Translation: X:215.63, Y:95.44, Z:3.65 [[ 2.56712570e-01 -9.66464223e-01 -6.75002161e-03 2.15633790e+02] [ 9.66144024e-01 2.56801262e-01 -2.48764291e-02 9.54430031e+01] [ 2.57755928e-02 -1.35400980e-04 9.99667745e-01 3.64699993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.070385723 meters Centerline goodness [0,1] 0.9999120743850702 Centerline is valid? [True, True] Translation: X:215.64, Y:95.47, Z:3.65 [[ 2.52573962e-01 -9.67554904e-01 -6.62577758e-03 2.15642745e+02] [ 9.67246121e-01 2.52660745e-01 -2.44435736e-02 9.54685054e+01] [ 2.53245734e-02 -2.34947428e-04 9.99679254e-01 3.64763458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.100385723 meters Centerline goodness [0,1] 0.9998684873857484 Centerline is valid? [True, True] Translation: X:215.65, Y:95.50, Z:3.65 [[ 2.51257257e-01 -9.67898770e-01 -6.46232733e-03 2.15650113e+02] [ 9.67604566e-01 2.51340217e-01 -2.38641583e-02 9.54952293e+01] [ 2.47223323e-02 -2.56934463e-04 9.99694323e-01 3.64856750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.66, Y:95.52, Z:3.65 [[ 2.49921894e-01 -9.68246218e-01 -6.18930839e-03 2.15656594e+02] [ 9.67975898e-01 2.49998372e-01 -2.28795574e-02 9.55229790e+01] [ 2.37003620e-02 -2.72999020e-04 9.99719070e-01 3.64899655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.66, Y:95.55, Z:3.65 [[ 2.49040757e-01 -9.68474652e-01 -5.96238689e-03 2.15661415e+02] [ 9.68223339e-01 2.49111966e-01 -2.20634387e-02 9.55509829e+01] [ 2.28531830e-02 -2.78226660e-04 9.99738793e-01 3.64864485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.190385723 meters Centerline goodness [0,1] 0.9999781239061953 Centerline is valid? [True, True] Translation: X:215.66, Y:95.58, Z:3.65 [[ 2.48747984e-01 -9.68549758e-01 -5.98395287e-03 2.15661805e+02] [ 9.68296100e-01 2.48819792e-01 -2.21669773e-02 9.55801782e+01] [ 2.29587464e-02 -2.80247315e-04 9.99736374e-01 3.64708274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.220385723 meters Centerline goodness [0,1] 0.999890979656804 Centerline is valid? [True, True] Translation: X:215.67, Y:95.61, Z:3.65 [[ 2.48771649e-01 -9.68543800e-01 -5.96443176e-03 2.15667447e+02] [ 9.68291227e-01 2.48842990e-01 -2.21193503e-02 9.56071804e+01] [ 2.29077666e-02 -2.72639684e-04 9.99737546e-01 3.64687927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.250385723 meters Centerline goodness [0,1] 0.9998909820338392 Centerline is valid? [True, True] Translation: X:215.67, Y:95.64, Z:3.65 [[ 2.49125086e-01 -9.68452537e-01 -6.03126137e-03 2.15672352e+02] [ 9.68193650e-01 2.49197947e-01 -2.23928317e-02 9.56352375e+01] [ 2.31893726e-02 -2.60812829e-04 9.99731056e-01 3.64821690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.280385723 meters Centerline goodness [0,1] 0.9999781797551769 Centerline is valid? [True, True] Translation: X:215.68, Y:95.66, Z:3.65 [[ 2.48664800e-01 -9.68570986e-01 -6.00517878e-03 2.15677865e+02] [ 9.68313807e-01 2.48737161e-01 -2.23203212e-02 9.56626845e+01] [ 2.31125266e-02 -2.64619314e-04 9.99732835e-01 3.64862605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.310385723 meters Centerline goodness [0,1] 0.9999782011596983 Centerline is valid? [True, True] Translation: X:215.68, Y:95.69, Z:3.65 [[ 2.47925268e-01 -9.68759960e-01 -6.09926741e-03 2.15682904e+02] [ 9.68494126e-01 2.48000123e-01 -2.26950728e-02 9.56902569e+01] [ 2.34986969e-02 -2.80422652e-04 9.99723828e-01 3.64828634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.69, Y:95.72, Z:3.65 [[ 2.46284026e-01 -9.69177753e-01 -6.21786565e-03 2.15686010e+02] [ 9.68901008e-01 2.46362296e-01 -2.31615217e-02 9.57186591e+01] [ 2.39794792e-02 -3.20183488e-04 9.99712400e-01 3.64713742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.370385723 meters Centerline goodness [0,1] 0.999978286359491 Centerline is valid? [True, True] Translation: X:215.69, Y:95.75, Z:3.65 [[ 2.44896895e-01 -9.69528812e-01 -6.27636449e-03 2.15691791e+02] [ 9.69246342e-01 2.44977057e-01 -2.34044740e-02 9.57464153e+01] [ 2.42288772e-02 -3.51660309e-04 9.99706376e-01 3.64720477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.400385723 meters Centerline goodness [0,1] 0.9999346917450366 Centerline is valid? [True, True] Translation: X:215.70, Y:95.77, Z:3.65 [[ 2.43316457e-01 -9.69926526e-01 -6.29571436e-03 2.15697232e+02] [ 9.69641820e-01 2.43397587e-01 -2.35022625e-02 9.57747820e+01] [ 2.43278295e-02 -3.86100689e-04 9.99703960e-01 3.64767243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.43038572300003 meters Centerline goodness [0,1] 0.9999130321346262 Centerline is valid? [True, True] Translation: X:215.70, Y:95.80, Z:3.65 [[ 2.40361966e-01 -9.70664611e-01 -6.02813499e-03 2.15703639e+02] [ 9.70403284e-01 2.40437152e-01 -2.25264914e-02 9.58018988e+01] [ 2.33150556e-02 -4.35210220e-04 9.99728072e-01 3.64813287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.71, Y:95.83, Z:3.65 [[ 2.39041031e-01 -9.70992556e-01 -5.73074411e-03 2.15709485e+02] [ 9.70755993e-01 2.39109312e-01 -2.14368441e-02 9.58290223e+01] [ 2.21852903e-02 -4.38868886e-04 9.99753780e-01 3.64899680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.49038572300003 meters Centerline goodness [0,1] 0.999891781918923 Centerline is valid? [True, True] Translation: X:215.71, Y:95.86, Z:3.65 [[ 2.37348302e-01 -9.71409132e-01 -5.48467711e-03 2.15710714e+02] [ 9.71192103e-01 2.37411233e-01 -2.05379049e-02 9.58585264e+01] [ 2.12528323e-02 -4.52038247e-04 9.99774031e-01 3.64910077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.72, Y:95.89, Z:3.65 [[ 2.36411598e-01 -9.71638155e-01 -5.37146677e-03 2.15715464e+02] [ 9.71429653e-01 2.36472168e-01 -2.01331304e-02 9.58859371e+01] [ 2.08323201e-02 -4.58296579e-04 9.99782879e-01 3.64869061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.72, Y:95.91, Z:3.65 [[ 2.35702939e-01 -9.71809855e-01 -5.45260853e-03 2.15720505e+02] [ 9.71594692e-01 2.35765517e-01 -2.04542484e-02 9.59135296e+01] [ 2.11631773e-02 -4.76599036e-04 9.99775921e-01 3.64867604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.73, Y:95.94, Z:3.65 [[ 2.34705542e-01 -9.72050766e-01 -5.53322645e-03 2.15725767e+02] [ 9.71828765e-01 2.34770224e-01 -2.07796479e-02 9.59412789e+01] [ 2.14979095e-02 -5.00250095e-04 9.99768768e-01 3.64894075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.73, Y:95.97, Z:3.65 [[ 2.32861982e-01 -9.72493672e-01 -5.59960263e-03 2.15730241e+02] [ 9.72265955e-01 2.32928668e-01 -2.10511170e-02 9.59682775e+01] [ 2.17763861e-02 -5.42298164e-04 9.99762719e-01 3.64921476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.73, Y:96.00, Z:3.65 [[ 2.31477412e-01 -9.72824154e-01 -5.60114293e-03 2.15734956e+02] [ 9.72595935e-01 2.31544471e-01 -2.10785511e-02 9.59966723e+01] [ 2.18026373e-02 -5.68440389e-04 9.99762133e-01 3.64965013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.670385723 meters Centerline goodness [0,1] 0.9999571054776305 Centerline is valid? [True, True] Translation: X:215.74, Y:96.02, Z:3.65 [[ 2.28937260e-01 -9.73424390e-01 -5.71731808e-03 2.15739305e+02] [ 9.73186270e-01 2.29007764e-01 -2.15389701e-02 9.60236979e+01] [ 2.22758691e-02 -6.32942654e-04 9.99751662e-01 3.64869889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.700385723 meters Centerline goodness [0,1] 0.9998713081526285 Centerline is valid? [True, True] Translation: X:215.74, Y:96.05, Z:3.65 [[ 2.27821341e-01 -9.73684000e-01 -6.07489426e-03 2.15744246e+02] [ 9.73414657e-01 2.27901264e-01 -2.29111014e-02 9.60513868e+01] [ 2.36926489e-02 -6.93753284e-04 9.99719049e-01 3.64739746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.75, Y:96.08, Z:3.65 [[ 2.28056716e-01 -9.73632015e-01 -5.55280276e-03 2.15745585e+02] [ 9.73406531e-01 2.28123452e-01 -2.09622361e-02 9.60798455e+01] [ 2.16762287e-02 -6.24555754e-04 9.99764848e-01 3.64880298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.75, Y:96.11, Z:3.65 [[ 2.29194526e-01 -9.73364749e-01 -5.56194818e-03 2.15747752e+02] [ 9.73137943e-01 2.29261232e-01 -2.10198109e-02 9.61080385e+01] [ 2.17350820e-02 -5.94917206e-04 9.99763588e-01 3.64905844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.75, Y:96.14, Z:3.65 [[ 2.29896187e-01 -9.73199780e-01 -5.47103307e-03 2.15752609e+02] [ 9.72979813e-01 2.29960584e-01 -2.06981558e-02 9.61355857e+01] [ 2.14015626e-02 -5.64777630e-04 9.99770801e-01 3.64940926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.76, Y:96.16, Z:3.65 [[ 2.32019866e-01 -9.72695327e-01 -5.53007542e-03 2.15756813e+02] [ 9.72469998e-01 2.32085180e-01 -2.09421060e-02 9.61624191e+01] [ 2.16537372e-02 -5.18847808e-04 9.99765396e-01 3.64955338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.76, Y:96.19, Z:3.65 [[ 2.32447517e-01 -9.72593182e-01 -5.53656811e-03 2.15760147e+02] [ 9.72366930e-01 2.32512893e-01 -2.09835220e-02 9.61905017e+01] [ 2.16957539e-02 -5.06008161e-04 9.99764491e-01 3.65000605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.76, Y:96.22, Z:3.65 [[ 2.32395520e-01 -9.72605779e-01 -5.50642632e-03 2.15764838e+02] [ 9.72381487e-01 2.32460210e-01 -2.08924590e-02 9.62175122e+01] [ 2.16001513e-02 -4.99033146e-04 9.99766565e-01 3.64967080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.77, Y:96.24, Z:3.65 [[ 2.32334489e-01 -9.72619419e-01 -5.67019897e-03 2.15770116e+02] [ 9.72381025e-01 2.32403112e-01 -2.15391730e-02 9.62438696e+01] [ 2.22671898e-02 -5.09301141e-04 9.99751926e-01 3.64964923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.78, Y:96.27, Z:3.65 [[ 2.31770104e-01 -9.72754275e-01 -5.63380291e-03 2.15775040e+02] [ 9.72518438e-01 2.31837998e-01 -2.14250061e-02 9.62712131e+01] [ 2.21473959e-02 -5.13301304e-04 9.99754585e-01 3.65141699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.78, Y:96.30, Z:3.65 [[ 2.31044274e-01 -9.72927771e-01 -5.48602925e-03 2.15784207e+02] [ 9.72703698e-01 2.31108833e-01 -2.08859798e-02 9.62970653e+01] [ 2.15884196e-02 -5.10694886e-04 9.99766812e-01 3.65208128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.79, Y:96.33, Z:3.65 [[ 2.30639861e-01 -9.73024025e-01 -5.43156089e-03 2.15788823e+02] [ 9.72803902e-01 2.30703247e-01 -2.07021746e-02 9.63253518e+01] [ 2.13967920e-02 -5.09096962e-04 9.99770933e-01 3.65351316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.79, Y:96.35, Z:3.65 [[ 2.31136287e-01 -9.72906256e-01 -5.42533903e-03 2.15793282e+02] [ 9.72686111e-01 2.31199428e-01 -2.07015648e-02 9.63523127e+01] [ 2.13950172e-02 -4.92269086e-04 9.99770979e-01 3.65334821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.060385723 meters Centerline goodness [0,1] 0.9999575758861337 Centerline is valid? [True, True] Translation: X:215.80, Y:96.38, Z:3.65 [[ 2.31623854e-01 -9.72789931e-01 -5.49008356e-03 2.15797999e+02] [ 9.72563959e-01 2.31688408e-01 -2.09720687e-02 9.63806135e+01] [ 2.16734059e-02 -4.81826035e-04 9.99764988e-01 3.65332579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.80, Y:96.41, Z:3.65 [[ 2.33945389e-01 -9.72236130e-01 -5.14427554e-03 2.15802084e+02] [ 9.72037206e-01 2.34001602e-01 -1.96703174e-02 9.64092497e+01] [ 2.03279620e-02 -3.98647166e-04 9.99793286e-01 3.65477260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.81, Y:96.44, Z:3.65 [[ 2.34901740e-01 -9.72005997e-01 -5.05117199e-03 2.15808528e+02] [ 9.71813794e-01 2.34955755e-01 -1.93324098e-02 9.64355631e+01] [ 1.99780202e-02 -3.67581915e-04 9.99800352e-01 3.65472325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.81, Y:96.46, Z:3.66 [[ 2.35771330e-01 -9.71795212e-01 -5.09371619e-03 2.15812836e+02] [ 9.71599358e-01 2.35826089e-01 -1.95126503e-02 9.64632326e+01] [ 2.01635313e-02 -3.48527874e-04 9.99796635e-01 3.65519344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.18038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.82, Y:96.49, Z:3.66 [[ 2.36644404e-01 -9.71582505e-01 -5.18286411e-03 2.15818768e+02] [ 9.71379224e-01 2.36700922e-01 -1.98765519e-02 9.64910384e+01] [ 2.05384988e-02 -3.30851743e-04 9.99789008e-01 3.65574817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.83, Y:96.52, Z:3.66 [[ 2.38254389e-01 -9.71190090e-01 -4.96543453e-03 2.15825284e+02] [ 9.71003041e-01 2.38305961e-01 -1.90621119e-02 9.65174880e+01] [ 1.96962268e-02 -2.79820203e-04 9.99805971e-01 3.65663309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.24038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.83, Y:96.54, Z:3.66 [[ 2.38843410e-01 -9.71045992e-01 -4.84834552e-03 2.15831935e+02] [ 9.70867318e-01 2.38892475e-01 -1.86288855e-02 9.65448227e+01] [ 1.92477378e-02 -2.57713680e-04 9.99814712e-01 3.65736698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.270385723 meters Centerline goodness [0,1] 0.9999576001695993 Centerline is valid? [True, True] Translation: X:215.84, Y:96.57, Z:3.66 [[ 2.40399763e-01 -9.70660311e-01 -5.14933143e-03 2.15838115e+02] [ 9.70458199e-01 2.40454790e-01 -1.98085362e-02 9.65724162e+01] [ 2.04655413e-02 -2.35243515e-04 9.99790531e-01 3.65687831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.300385723 meters Centerline goodness [0,1] 0.9999576001695993 Centerline is valid? [True, True] Translation: X:215.84, Y:96.60, Z:3.66 [[ 2.40129862e-01 -9.70727145e-01 -5.14390625e-03 2.15844989e+02] [ 9.70525018e-01 2.40184835e-01 -1.98099451e-02 9.65991126e+01] [ 2.04655397e-02 -2.35330333e-04 9.99790531e-01 3.65729555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.85, Y:96.63, Z:3.66 [[ 2.41845443e-01 -9.70301224e-01 -5.12997087e-03 2.15850598e+02] [ 9.70099636e-01 2.41899767e-01 -1.97787314e-02 9.66272872e+01] [ 2.04322661e-02 -1.93186817e-04 9.99791221e-01 3.65823114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.86, Y:96.65, Z:3.66 [[ 2.43375611e-01 -9.69919031e-01 -5.03836483e-03 2.15856323e+02] [ 9.69724065e-01 2.43427710e-01 -1.94470795e-02 9.66548844e+01] [ 2.00885701e-02 -1.52878774e-04 9.99798193e-01 3.65845267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.390385723 meters Centerline goodness [0,1] 0.9999363435749449 Centerline is valid? [True, True] Translation: X:215.86, Y:96.68, Z:3.66 [[ 2.45945090e-01 -9.69271428e-01 -4.88994049e-03 2.15862557e+02] [ 9.69087261e-01 2.45993679e-01 -1.88941831e-02 9.66816546e+01] [ 1.95164863e-02 -9.18474799e-05 9.99809531e-01 3.65843994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.420385723 meters Centerline goodness [0,1] 0.999978815354631 Centerline is valid? [True, True] Translation: X:215.87, Y:96.71, Z:3.66 [[ 2.45737802e-01 -9.69324515e-01 -4.78715646e-03 2.15870044e+02] [ 9.69147684e-01 2.45784410e-01 -1.85145701e-02 9.67083874e+01] [ 1.91232351e-02 -8.97318264e-05 9.99817130e-01 3.65876359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.450385723 meters Centerline goodness [0,1] 0.999978770831122 Centerline is valid? [True, True] Translation: X:215.88, Y:96.74, Z:3.66 [[ 2.44357149e-01 -9.69674193e-01 -4.64155211e-03 2.15878087e+02] [ 9.69507647e-01 2.44401204e-01 -1.79714802e-02 9.67354108e+01] [ 1.85608815e-02 -1.08560604e-04 9.99827726e-01 3.65864354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.89, Y:96.76, Z:3.66 [[ 2.43097968e-01 -9.69991088e-01 -4.54607728e-03 2.15885873e+02] [ 9.69831020e-01 2.43140439e-01 -1.76215612e-02 9.67623583e+01] [ 1.81980925e-02 -1.25161062e-04 9.99834393e-01 3.65876707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.510385723 meters Centerline goodness [0,1] 0.9999362095728168 Centerline is valid? [True, True] Translation: X:215.89, Y:96.79, Z:3.66 [[ 2.42328872e-01 -9.70184025e-01 -4.43577332e-03 2.15893592e+02] [ 9.70031322e-01 2.42369430e-01 -1.72131825e-02 9.67889744e+01] [ 1.77750506e-02 -1.31587954e-04 9.99842003e-01 3.65893132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.540385723 meters Centerline goodness [0,1] 0.9999362691989039 Centerline is valid? [True, True] Translation: X:215.90, Y:96.82, Z:3.66 [[ 2.40239805e-01 -9.70703246e-01 -4.47716376e-03 2.15902441e+02] [ 9.70547434e-01 2.40281462e-01 -1.73924417e-02 9.68154683e+01] [ 1.79586791e-02 -1.66943001e-04 9.99838716e-01 3.65840257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.570385723 meters Centerline goodness [0,1] 0.9999146484583378 Centerline is valid? [True, True] Translation: X:215.91, Y:96.84, Z:3.66 [[ 2.40382858e-01 -9.70668755e-01 -4.27195263e-03 2.15909301e+02] [ 9.70526734e-01 2.40420765e-01 -1.66046531e-02 9.68429322e+01] [ 1.71446841e-02 -1.54570258e-04 9.99853007e-01 3.66003414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.92, Y:96.87, Z:3.66 [[ 2.40273120e-01 -9.70696891e-01 -4.04642491e-03 2.15916090e+02] [ 9.70569197e-01 2.40307147e-01 -1.57450977e-02 9.68698559e+01] [ 1.62561022e-02 -1.44211626e-04 9.99867850e-01 3.66067349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.92, Y:96.90, Z:3.66 [[ 2.40583558e-01 -9.70619509e-01 -4.16169833e-03 2.15922208e+02] [ 9.70484108e-01 2.40619511e-01 -1.62125835e-02 9.68968668e+01] [ 1.67376356e-02 -1.38381076e-04 9.99859906e-01 3.65999451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.660385723 meters Centerline goodness [0,1] 0.9999362895005097 Centerline is valid? [True, True] Translation: X:215.93, Y:96.92, Z:3.66 [[ 2.40819747e-01 -9.70559677e-01 -4.44547735e-03 2.15927701e+02] [ 9.70404794e-01 2.40860735e-01 -1.73390470e-02 9.69240926e+01] [ 1.78993208e-02 -1.38327642e-04 9.99839785e-01 3.65860155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.93, Y:96.95, Z:3.66 [[ 2.42137332e-01 -9.70231642e-01 -4.48034167e-03 2.15933146e+02] [ 9.70073910e-01 2.42178754e-01 -1.74945861e-02 9.69508827e+01] [ 1.80588445e-02 -1.10170158e-04 9.99836920e-01 3.65876518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.94, Y:96.98, Z:3.66 [[ 2.43985772e-01 -9.69767772e-01 -4.62728217e-03 2.15939239e+02] [ 9.69599144e-01 2.44029635e-01 -1.80841854e-02 9.69787016e+01] [ 1.86666542e-02 -7.43249015e-05 9.99825760e-01 3.65915885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.95, Y:97.01, Z:3.66 [[ 2.44024476e-01 -9.69757858e-01 -4.66387344e-03 2.15945906e+02] [ 9.69586154e-01 2.44069031e-01 -1.82482575e-02 9.70051565e+01] [ 1.88346982e-02 -6.90056265e-05 9.99822609e-01 3.65944893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.95, Y:97.03, Z:3.66 [[ 2.43030026e-01 -9.70006840e-01 -4.81011590e-03 2.15952018e+02] [ 9.69823873e-01 2.43077607e-01 -1.88396443e-02 9.70313093e+01] [ 1.94438153e-02 -8.63659834e-05 9.99810947e-01 3.65889578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.96, Y:97.06, Z:3.66 [[ 2.41895257e-01 -9.70290690e-01 -4.76034506e-03 2.15959135e+02] [ 9.70111233e-01 2.41942070e-01 -1.86609408e-02 9.70577783e+01] [ 1.92582649e-02 -1.04071140e-04 9.99814537e-01 3.65921850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.97, Y:97.08, Z:3.66 [[ 2.40626173e-01 -9.70606497e-01 -4.69822039e-03 2.15966499e+02] [ 9.70431337e-01 2.40672004e-01 -1.84392739e-02 9.70845376e+01] [ 1.90280092e-02 -1.22328372e-04 9.99818944e-01 3.66005739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.97, Y:97.11, Z:3.66 [[ 2.38815115e-01 -9.71053493e-01 -4.73862879e-03 2.15974887e+02] [ 9.70874983e-01 2.38862073e-01 -1.86192665e-02 9.71117455e+01] [ 1.92121824e-02 -1.54053880e-04 9.99815417e-01 3.66036129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.900385723 meters Centerline goodness [0,1] 0.9998526098582949 Centerline is valid? [True, True] Translation: X:215.98, Y:97.14, Z:3.66 [[ 2.37961470e-01 -9.71261853e-01 -4.97516631e-03 2.15982171e+02] [ 9.71064654e-01 2.38013410e-01 -1.95717872e-02 9.71375006e+01] [ 2.01934866e-02 -1.73876899e-04 9.99796076e-01 3.65870382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.93038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.99, Y:97.16, Z:3.66 [[ 2.38560433e-01 -9.71116197e-01 -4.71714648e-03 2.15988005e+02] [ 9.70938489e-01 2.38607019e-01 -1.85779909e-02 9.71645717e+01] [ 1.91669322e-02 -1.48085511e-04 9.99816287e-01 3.66082366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.99, Y:97.19, Z:3.66 [[ 2.39587665e-01 -9.70863388e-01 -4.69386700e-03 2.15993982e+02] [ 9.70686988e-01 2.39633609e-01 -1.85068634e-02 9.71924105e+01] [ 1.90924444e-02 -1.22259423e-04 9.99817715e-01 3.66156123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.99038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.00, Y:97.22, Z:3.66 [[ 2.39761179e-01 -9.70820393e-01 -4.72664553e-03 2.16000375e+02] [ 9.70641106e-01 2.39807738e-01 -1.86572293e-02 9.72190035e+01] [ 1.92463049e-02 -1.14597147e-04 9.99814766e-01 3.66213833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.01, Y:97.25, Z:3.66 [[ 2.40171330e-01 -9.70718883e-01 -4.75220221e-03 2.16006477e+02] [ 9.70537202e-01 2.40218319e-01 -1.87802527e-02 9.72455378e+01] [ 1.93719120e-02 -1.01710760e-04 9.99812342e-01 3.66174217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.01, Y:97.27, Z:3.66 [[ 2.40540396e-01 -9.70626868e-01 -4.87870138e-03 2.16012348e+02] [ 9.70434916e-01 2.40589849e-01 -1.93028328e-02 9.72724954e+01] [ 1.99096142e-02 -9.13511163e-05 9.99801780e-01 3.66120113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.02, Y:97.30, Z:3.66 [[ 2.41428666e-01 -9.70406045e-01 -4.93013991e-03 2.16018440e+02] [ 9.70209540e-01 2.41478990e-01 -1.95281087e-02 9.72999575e+01] [ 2.01407199e-02 -6.86235303e-05 9.99797153e-01 3.66214530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.03, Y:97.33, Z:3.66 [[ 2.41801320e-01 -9.70313122e-01 -4.95658078e-03 2.16025889e+02] [ 9.70114020e-01 2.41852110e-01 -1.96556562e-02 9.73263933e+01] [ 2.02709006e-02 -5.56848923e-05 9.99794523e-01 3.66246448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.140385723 meters Centerline goodness [0,1] 0.9999369575724463 Centerline is valid? [True, True] Translation: X:216.03, Y:97.35, Z:3.66 [[ 2.42338061e-01 -9.70180176e-01 -4.76344505e-03 2.16032377e+02] [ 9.69995839e-01 2.42384869e-01 -1.89115804e-02 9.73526677e+01] [ 1.95022274e-02 -3.75261430e-05 9.99809813e-01 3.66373473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.04, Y:97.38, Z:3.66 [[ 2.42473315e-01 -9.70146810e-01 -4.67536801e-03 2.16038062e+02] [ 9.69968810e-01 2.42518384e-01 -1.85833392e-02 9.73779290e+01] [ 1.91624299e-02 -2.89972851e-05 9.99816383e-01 3.66457842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.04, Y:97.41, Z:3.67 [[ 2.43053387e-01 -9.70001967e-01 -4.60811644e-03 2.16044580e+02] [ 9.69828600e-01 2.43097066e-01 -1.83385816e-02 9.74054597e+01] [ 1.89086799e-02 -1.18287420e-05 9.99821215e-01 3.66609309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.05, Y:97.43, Z:3.67 [[ 2.43882921e-01 -9.69792529e-01 -4.85515254e-03 2.16051868e+02] [ 9.69599567e-01 2.43931243e-01 -1.93449781e-02 9.74330725e+01] [ 1.99449386e-02 1.03559642e-05 9.99801080e-01 3.66580831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.260385723 meters Centerline goodness [0,1] 0.9999156224950428 Centerline is valid? [True, True] Translation: X:216.06, Y:97.46, Z:3.67 [[ 2.44356522e-01 -9.69671599e-01 -5.18470399e-03 2.16059712e+02] [ 9.69450973e-01 2.44411518e-01 -2.06838211e-02 9.74601680e+01] [ 2.13237152e-02 2.79102453e-05 9.99772623e-01 3.66596694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.07, Y:97.49, Z:3.67 [[ 2.44464773e-01 -9.69642949e-01 -5.43380587e-03 2.16067774e+02] [ 9.69400062e-01 2.44525152e-01 -2.17018496e-02 9.74861162e+01] [ 2.23717476e-02 3.78059781e-05 9.99749720e-01 3.66500107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.320385723 meters Centerline goodness [0,1] 0.9999153904729673 Centerline is valid? [True, True] Translation: X:216.08, Y:97.51, Z:3.66 [[ 2.44393330e-01 -9.69659993e-01 -5.60350422e-03 2.16078208e+02] [ 9.69401209e-01 2.44457557e-01 -2.24008529e-02 9.75122122e+01] [ 2.30910298e-02 4.25752557e-05 9.99733366e-01 3.66448795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.08, Y:97.54, Z:3.67 [[ 2.45268381e-01 -9.69439917e-01 -5.44691532e-03 2.16084768e+02] [ 9.69194772e-01 2.45328847e-01 -2.18002659e-02 9.75395575e+01] [ 2.24703334e-02 6.77940573e-05 9.99747508e-01 3.66625556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.09, Y:97.57, Z:3.67 [[ 2.45787900e-01 -9.69308064e-01 -5.49408445e-03 2.16091192e+02] [ 9.69058020e-01 2.45849281e-01 -2.20155384e-02 9.75665222e+01] [ 2.26905556e-02 8.70663496e-05 9.99742532e-01 3.66603110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.10, Y:97.59, Z:3.67 [[ 2.48156374e-01 -9.68704309e-01 -5.51136922e-03 2.16099569e+02] [ 9.68451945e-01 2.48217523e-01 -2.21108837e-02 9.75933083e+01] [ 2.27869268e-02 1.49460495e-04 9.99740333e-01 3.66627343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.11, Y:97.62, Z:3.67 [[ 2.49347596e-01 -9.68398892e-01 -5.41866359e-03 2.16107628e+02] [ 9.68154379e-01 2.49406402e-01 -2.17611042e-02 9.76197233e+01] [ 2.24248786e-02 1.79976145e-04 9.99748515e-01 3.66709617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.470385723 meters Centerline goodness [0,1] 0.9998514052814809 Centerline is valid? [True, True] Translation: X:216.12, Y:97.65, Z:3.67 [[ 2.52190015e-01 -9.67663197e-01 -5.30403443e-03 2.16117617e+02] [ 9.67428345e-01 2.52245667e-01 -2.13195088e-02 9.76465798e+01] [ 2.19680237e-02 2.45293990e-04 9.99758644e-01 3.66888452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.13, Y:97.67, Z:3.67 [[ 2.53051227e-01 -9.67438598e-01 -5.25706773e-03 2.16125770e+02] [ 9.67207316e-01 2.53105685e-01 -2.11546674e-02 9.76733545e+01] [ 2.17964355e-02 2.68540164e-04 9.99762393e-01 3.67008539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.13, Y:97.70, Z:3.67 [[ 2.53811461e-01 -9.67240093e-01 -5.13272826e-03 2.16133133e+02] [ 9.67019091e-01 2.53863195e-01 -2.06774272e-02 9.76998553e+01] [ 2.13030474e-02 2.84721793e-04 9.99773024e-01 3.67061194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.560385723 meters Centerline goodness [0,1] 0.9999574114690913 Centerline is valid? [True, True] Translation: X:216.14, Y:97.73, Z:3.67 [[ 2.54390492e-01 -9.67088623e-01 -5.00736251e-03 2.16141470e+02] [ 9.66877800e-01 2.54439597e-01 -2.01943575e-02 9.77263403e+01] [ 2.08038047e-02 2.95744897e-04 9.99783534e-01 3.67112021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.15, Y:97.75, Z:3.67 [[ 2.55035972e-01 -9.66917174e-01 -5.27564792e-03 2.16150826e+02] [ 9.66682555e-01 2.55090315e-01 -2.13018768e-02 9.77521326e+01] [ 2.19429172e-02 3.32868047e-04 9.99759170e-01 3.66974569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.620385723 meters Centerline goodness [0,1] 0.9999574730485445 Centerline is valid? [True, True] Translation: X:216.16, Y:97.78, Z:3.67 [[ 2.54657157e-01 -9.67016024e-01 -5.45366896e-03 2.16159440e+02] [ 9.66764773e-01 2.54715318e-01 -2.20449628e-02 9.77783074e+01] [ 2.27069653e-02 3.41492512e-04 9.99742105e-01 3.66924567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.650385723 meters Centerline goodness [0,1] 0.9999143212097845 Centerline is valid? [True, True] Translation: X:216.17, Y:97.80, Z:3.67 [[ 2.53169104e-01 -9.67406809e-01 -5.42863320e-03 2.16170097e+02] [ 9.67157399e-01 2.53227109e-01 -2.19680794e-02 9.78047977e+01] [ 2.26267467e-02 3.11296210e-04 9.99743934e-01 3.66849503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.68038572300003 meters Centerline goodness [0,1] 0.9998926785292666 Centerline is valid? [True, True] Translation: X:216.18, Y:97.83, Z:3.67 [[ 2.52227926e-01 -9.67655998e-01 -4.78980729e-03 2.16183307e+02] [ 9.67461480e-01 2.52273267e-01 -1.94031935e-02 9.78308580e+01] [ 1.99839569e-02 2.60073211e-04 9.99800267e-01 3.67291752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.19, Y:97.86, Z:3.67 [[ 2.51151380e-01 -9.67936982e-01 -4.58083800e-03 2.16192179e+02] [ 9.67758725e-01 2.51193045e-01 -1.85769873e-02 9.78566605e+01] [ 1.91320276e-02 2.32490045e-04 9.99816939e-01 3.67402053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.74038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.20, Y:97.88, Z:3.67 [[ 2.49935658e-01 -9.68253048e-01 -4.26640740e-03 2.16201947e+02] [ 9.68098115e-01 2.49971990e-01 -1.73217640e-02 9.78833447e+01] [ 1.78383331e-02 1.99025514e-04 9.99840864e-01 3.67439551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.770385723 meters Centerline goodness [0,1] 0.9998711174120376 Centerline is valid? [True, True] Translation: X:216.21, Y:97.91, Z:3.67 [[ 2.49519845e-01 -9.68360945e-01 -4.11433211e-03 2.16209179e+02] [ 9.68216555e-01 2.49553692e-01 -1.67229749e-02 9.79093252e+01] [ 1.72206225e-02 1.89149639e-04 9.99851696e-01 3.67427391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.800385723 meters Centerline goodness [0,1] 0.9999353949521923 Centerline is valid? [True, True] Translation: X:216.22, Y:97.94, Z:3.67 [[ 2.49010251e-01 -9.68492149e-01 -4.10523481e-03 2.16218077e+02] [ 9.68348155e-01 2.49044021e-01 -1.67011165e-02 9.79358152e+01] [ 1.71972844e-02 1.83452655e-04 9.99852099e-01 3.67465207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.830385723 meters Centerline goodness [0,1] 0.9998700426693236 Centerline is valid? [True, True] Translation: X:216.23, Y:97.96, Z:3.68 [[ 2.47595167e-01 -9.68853820e-01 -4.34852979e-03 2.16231812e+02] [ 9.68691901e-01 2.47633290e-01 -1.77131194e-02 9.79601630e+01] [ 1.82382641e-02 1.73297161e-04 9.99833654e-01 3.67509944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.860385723 meters Centerline goodness [0,1] 0.9998916036161034 Centerline is valid? [True, True] Translation: X:216.24, Y:97.99, Z:3.68 [[ 2.46498672e-01 -9.69133487e-01 -4.32318389e-03 2.16242747e+02] [ 9.68973099e-01 2.46536530e-01 -1.76315889e-02 9.79865148e+01] [ 1.81531860e-02 1.57114354e-04 9.99835205e-01 3.67622132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.890385723 meters Centerline goodness [0,1] 0.9998700736249458 Centerline is valid? [True, True] Translation: X:216.25, Y:98.01, Z:3.68 [[ 2.45487807e-01 -9.69389802e-01 -4.37592490e-03 2.16251993e+02] [ 9.69225116e-01 2.45526763e-01 -1.78685078e-02 9.80129894e+01] [ 1.83959559e-02 1.45244470e-04 9.99830770e-01 3.67633776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.920385723 meters Centerline goodness [0,1] 0.9999568323584641 Centerline is valid? [True, True] Translation: X:216.26, Y:98.04, Z:3.67 [[ 2.43836031e-01 -9.69806254e-01 -4.45197509e-03 2.16259262e+02] [ 9.69635450e-01 2.43876639e-01 -1.82010492e-02 9.80392681e+01] [ 1.87372240e-02 1.21278709e-04 9.99824435e-01 3.67420919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.27, Y:98.07, Z:3.67 [[ 2.42671323e-01 -9.70098404e-01 -4.44030120e-03 2.16267829e+02] [ 9.69928175e-01 2.42711921e-01 -1.81730318e-02 9.80656596e+01] [ 1.87073432e-02 1.03300443e-04 9.99824997e-01 3.67378387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.28, Y:98.09, Z:3.67 [[ 2.41996947e-01 -9.70266443e-01 -4.52845884e-03 2.16277378e+02] [ 9.70088980e-01 2.42039294e-01 -1.85566798e-02 9.80919135e+01] [ 1.91009887e-02 9.76518423e-05 9.99817555e-01 3.67390209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.29, Y:98.12, Z:3.67 [[ 2.41036162e-01 -9.70505055e-01 -4.63751528e-03 2.16286645e+02] [ 9.70318516e-01 2.41080755e-01 -1.90275438e-02 9.81174853e+01] [ 1.95843431e-02 8.64591806e-05 9.99808205e-01 3.67377411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.040385723 meters Centerline goodness [0,1] 0.9999782481021469 Centerline is valid? [True, True] Translation: X:216.30, Y:98.14, Z:3.67 [[ 2.39888537e-01 -9.70788439e-01 -4.82654224e-03 2.16299702e+02] [ 9.70585912e-01 2.39937076e-01 -1.98289535e-02 9.81426923e+01] [ 2.04077853e-02 7.21647606e-05 9.99791737e-01 3.67453874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.070385723 meters Centerline goodness [0,1] 0.9999782025851734 Centerline is valid? [True, True] Translation: X:216.31, Y:98.17, Z:3.67 [[ 2.39332105e-01 -9.70925455e-01 -4.88911335e-03 2.16308061e+02] [ 9.70717169e-01 2.39382028e-01 -2.01102453e-02 9.81696750e+01] [ 2.06959150e-02 6.70810784e-05 9.99785814e-01 3.67456661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.100385723 meters Centerline goodness [0,1] 0.9999345906464624 Centerline is valid? [True, True] Translation: X:216.32, Y:98.20, Z:3.67 [[ 2.38472328e-01 -9.71136969e-01 -4.89255341e-03 2.16316537e+02] [ 9.70927918e-01 2.38522505e-01 -2.01492777e-02 9.81955298e+01] [ 2.07346925e-02 5.47284617e-05 9.99785012e-01 3.67302285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.32, Y:98.22, Z:3.67 [[ 2.37825903e-01 -9.71294979e-01 -4.99036519e-03 2.16324889e+02] [ 9.71076966e-01 2.37878249e-01 -2.05782793e-02 9.82224741e+01] [ 2.11746787e-02 4.80191660e-05 9.99775790e-01 3.67320473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.160385723 meters Centerline goodness [0,1] 0.9999562755514746 Centerline is valid? [True, True] Translation: X:216.33, Y:98.25, Z:3.67 [[ 2.37093193e-01 -9.71473765e-01 -5.05390554e-03 2.16333597e+02] [ 9.71249669e-01 2.37147049e-01 -2.08652394e-02 9.82487607e+01] [ 2.14685515e-02 3.84021516e-05 9.99769523e-01 3.67349663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.35, Y:98.27, Z:3.67 [[ 2.35873180e-01 -9.71770837e-01 -5.02824096e-03 2.16345602e+02] [ 9.71548594e-01 2.35926768e-01 -2.07819751e-02 9.82738506e+01] [ 2.13816140e-02 1.67301181e-05 9.99771387e-01 3.67453816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.35, Y:98.30, Z:3.67 [[ 2.35613710e-01 -9.71833804e-01 -5.02370378e-03 2.16352011e+02] [ 9.71611551e-01 2.35667260e-01 -2.07830720e-02 9.83006799e+01] [ 2.13816144e-02 1.56880715e-05 9.99771387e-01 3.67495575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.36, Y:98.33, Z:3.68 [[ 2.34775636e-01 -9.72037095e-01 -4.92812843e-03 2.16361478e+02] [ 9.71822768e-01 2.34827353e-01 -2.04113330e-02 9.83270223e+01] [ 2.09978322e-02 2.81626853e-06 9.99779521e-01 3.67633318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.37, Y:98.35, Z:3.68 [[ 2.33933641e-01 -9.72240324e-01 -4.87884873e-03 2.16370622e+02] [ 9.72029802e-01 2.33984511e-01 -2.02314661e-02 9.83523904e+01] [ 2.08114222e-02 -9.56584549e-06 9.99783419e-01 3.67692713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.38, Y:98.38, Z:3.68 [[ 2.33407932e-01 -9.72366458e-01 -4.92021069e-03 2.16380557e+02] [ 9.72151846e-01 2.33459785e-01 -2.04283426e-02 9.83784759e+01] [ 2.10125065e-02 -1.50546866e-05 9.99779213e-01 3.67702379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.39, Y:98.41, Z:3.68 [[ 2.33445529e-01 -9.72357130e-01 -4.97956180e-03 2.16387351e+02] [ 9.72136782e-01 2.33498632e-01 -2.06994101e-02 9.84056751e+01] [ 2.12899399e-02 -8.63043578e-06 9.99773344e-01 3.67680059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.39, Y:98.43, Z:3.68 [[ 2.34054122e-01 -9.72210902e-01 -4.96282546e-03 2.16393931e+02] [ 9.71991471e-01 2.34106731e-01 -2.06547597e-02 9.84323800e+01] [ 2.12426134e-02 1.05076262e-05 9.99774350e-01 3.67615820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.40, Y:98.46, Z:3.68 [[ 2.34555745e-01 -9.72090360e-01 -4.89222402e-03 2.16401212e+02] [ 9.71876577e-01 2.34606757e-01 -2.03859982e-02 9.84592323e+01] [ 2.09647812e-02 2.70150620e-05 9.99780214e-01 3.67719602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.43038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.41, Y:98.49, Z:3.68 [[ 2.35641022e-01 -9.71828400e-01 -4.78213775e-03 2.16411227e+02] [ 9.71623589e-01 2.35689535e-01 -1.99510379e-02 9.84854754e+01] [ 2.05160850e-02 5.48451087e-05 9.99789521e-01 3.67902627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.42, Y:98.51, Z:3.68 [[ 2.35662749e-01 -9.71823181e-01 -4.77222552e-03 2.16418901e+02] [ 9.71618755e-01 2.35711056e-01 -1.99322103e-02 9.85111314e+01] [ 2.04954504e-02 6.04956692e-05 9.99789944e-01 3.67933647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.49038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.43, Y:98.54, Z:3.68 [[ 2.35438009e-01 -9.71877145e-01 -4.87430398e-03 2.16426535e+02] [ 9.71663464e-01 2.35488453e-01 -2.03789509e-02 9.85371259e+01] [ 2.09536789e-02 6.17965545e-05 9.99780446e-01 3.67905860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.43, Y:98.56, Z:3.68 [[ 2.34837446e-01 -9.72021378e-01 -5.08076674e-03 2.16434422e+02] [ 9.71788652e-01 2.34892394e-01 -2.12692235e-02 9.85643508e+01] [ 2.18675734e-02 5.73786723e-05 9.99760874e-01 3.67925819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.44, Y:98.59, Z:3.68 [[ 2.34057427e-01 -9.72208589e-01 -5.25164731e-03 2.16443780e+02] [ 9.71959367e-01 2.34116332e-01 -2.20121080e-02 9.85907943e+01] [ 2.26298568e-02 4.77095676e-05 9.99743911e-01 3.67814658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.45, Y:98.62, Z:3.68 [[ 2.33093114e-01 -9.72440621e-01 -5.18057917e-03 2.16451805e+02] [ 9.72197557e-01 2.33150675e-01 -2.17410282e-02 9.86163309e+01] [ 2.23497145e-02 3.11375465e-05 9.99750213e-01 3.67816820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.46, Y:98.64, Z:3.68 [[ 2.31860278e-01 -9.72736570e-01 -4.93731694e-03 2.16461756e+02] [ 9.72515326e-01 2.31912840e-01 -2.07454983e-02 9.86423707e+01] [ 2.13249320e-02 8.44060142e-06 9.99772598e-01 3.67972624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.47, Y:98.67, Z:3.68 [[ 2.31292542e-01 -9.72872393e-01 -4.80277239e-03 2.16469228e+02] [ 9.72662574e-01 2.31342401e-01 -2.02042224e-02 9.86689740e+01] [ 2.07672151e-02 1.60899950e-06 9.99784338e-01 3.68076209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.48, Y:98.69, Z:3.68 [[ 2.31025282e-01 -9.72935985e-01 -4.78421167e-03 2.16475975e+02] [ 9.72727275e-01 2.31074814e-01 -2.01514175e-02 9.86947685e+01] [ 2.07115501e-02 1.75373517e-06 9.99785493e-01 3.68100570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.48, Y:98.72, Z:3.68 [[ 2.31043692e-01 -9.72931793e-01 -4.74742925e-03 2.16482389e+02] [ 9.72725755e-01 2.31092461e-01 -2.00219945e-02 9.87224465e+01] [ 2.05771301e-02 8.00881812e-06 9.99788268e-01 3.68109862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.730385723 meters Centerline goodness [0,1] 0.9999776760799196 Centerline is valid? [True, True] Translation: X:216.49, Y:98.75, Z:3.68 [[ 2.32358178e-01 -9.72618338e-01 -4.82133987e-03 2.16487646e+02] [ 9.72405281e-01 2.32408189e-01 -2.03568988e-02 9.87495400e+01] [ 2.09200119e-02 4.17955616e-05 9.99781152e-01 3.68112217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.49, Y:98.78, Z:3.68 [[ 2.32735874e-01 -9.72528361e-01 -4.75394489e-03 2.16493467e+02] [ 9.72320780e-01 2.32784416e-01 -2.00926885e-02 9.87755137e+01] [ 2.06473537e-02 5.39300089e-05 9.99786819e-01 3.68109778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.50, Y:98.80, Z:3.68 [[ 2.32731304e-01 -9.72529034e-01 -4.83925893e-03 2.16501561e+02] [ 9.72313380e-01 2.32781602e-01 -2.04796832e-02 9.88025348e+01] [ 2.10435770e-02 6.09871639e-05 9.99778558e-01 3.68187754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.51, Y:98.83, Z:3.68 [[ 2.32184469e-01 -9.72659735e-01 -4.83861598e-03 2.16508891e+02] [ 9.72443655e-01 2.32234875e-01 -2.05012604e-02 9.88297119e+01] [ 2.10644459e-02 5.47928647e-05 9.99778118e-01 3.68246503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.52, Y:98.86, Z:3.68 [[ 2.31335195e-01 -9.72862345e-01 -4.78391924e-03 2.16515105e+02] [ 9.72650638e-01 2.31384650e-01 -2.02948325e-02 9.88569278e+01] [ 2.08510039e-02 4.18269400e-05 9.99782593e-01 3.68266873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.52, Y:98.88, Z:3.68 [[ 2.30670913e-01 -9.73020696e-01 -4.65352557e-03 2.16520185e+02] [ 9.72819905e-01 2.30717846e-01 -1.97663552e-02 9.88837090e+01] [ 2.03067241e-02 3.24809082e-05 9.99793797e-01 3.68258458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.910385723 meters Centerline goodness [0,1] 0.9999776950014498 Centerline is valid? [True, True] Translation: X:216.52, Y:98.91, Z:3.68 [[ 2.31201153e-01 -9.72895191e-01 -4.57978544e-03 2.16524031e+02] [ 9.72700181e-01 2.31246503e-01 -1.94784951e-02 9.89110085e+01] [ 2.00095936e-02 4.86924094e-05 9.99799787e-01 3.68198560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.940385723 meters Centerline goodness [0,1] 0.9999776780731713 Centerline is valid? [True, True] Translation: X:216.53, Y:98.94, Z:3.68 [[ 2.31433768e-01 -9.72839770e-01 -4.60368887e-03 2.16529945e+02] [ 9.72642194e-01 2.31479544e-01 -1.96057047e-02 9.89374889e+01] [ 2.01388691e-02 5.96800633e-05 9.99797191e-01 3.68245908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.970385723 meters Centerline goodness [0,1] 0.99997771339425 Centerline is valid? [True, True] Translation: X:216.54, Y:98.96, Z:3.68 [[ 2.32010535e-01 -9.72702187e-01 -4.64410902e-03 2.16536444e+02] [ 9.72500583e-01 2.32056998e-01 -1.98031700e-02 9.89644783e+01] [ 2.03402848e-02 7.81453499e-05 9.99793112e-01 3.68335203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.54, Y:98.99, Z:3.68 [[ 2.32241123e-01 -9.72647288e-01 -4.61681048e-03 2.16542925e+02] [ 9.72447554e-01 2.32286991e-01 -1.97106011e-02 9.89915329e+01] [ 2.02438877e-02 8.80060735e-05 9.99795068e-01 3.68485083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.55, Y:99.02, Z:3.68 [[ 2.31972166e-01 -9.72711980e-01 -4.50751473e-03 2.16548344e+02] [ 9.72521141e-01 2.32015939e-01 -1.92674521e-02 9.90178804e+01] [ 1.97874968e-02 8.58592226e-05 9.99804205e-01 3.68481160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.55, Y:99.05, Z:3.68 [[ 2.31467734e-01 -9.72831418e-01 -4.66052943e-03 2.16553325e+02] [ 9.72626891e-01 2.31514633e-01 -1.99475836e-02 9.90460476e+01] [ 2.04846168e-02 8.42657368e-05 9.99790165e-01 3.68330957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.090385723 meters Centerline goodness [0,1] 0.9999552562697152 Centerline is valid? [True, True] Translation: X:216.56, Y:99.07, Z:3.68 [[ 2.31547071e-01 -9.72811587e-01 -4.85497435e-03 2.16558874e+02] [ 9.72589065e-01 2.31597944e-01 -2.08063032e-02 9.90721093e+01] [ 2.13650149e-02 9.57435834e-05 9.99771737e-01 3.68311677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.120385723 meters Centerline goodness [0,1] 0.9999551458879993 Centerline is valid? [True, True] Translation: X:216.57, Y:99.10, Z:3.68 [[ 2.31609771e-01 -9.72796006e-01 -4.98447834e-03 2.16565742e+02] [ 9.72560844e-01 2.31663376e-01 -2.13888997e-02 9.90997270e+01] [ 2.19617573e-02 1.06169689e-04 9.99758806e-01 3.68335085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.150385723 meters Centerline goodness [0,1] 0.9999775779726002 Centerline is valid? [True, True] Translation: X:216.57, Y:99.13, Z:3.68 [[ 2.31290772e-01 -9.72871342e-01 -5.09220144e-03 2.16572827e+02] [ 9.72625310e-01 2.31346797e-01 -2.18784499e-02 9.91265041e+01] [ 2.24629814e-02 1.07479573e-04 9.99747670e-01 3.68400226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.18038572300003 meters Centerline goodness [0,1] 0.9999775960569061 Centerline is valid? [True, True] Translation: X:216.58, Y:99.15, Z:3.68 [[ 2.30345096e-01 -9.73096373e-01 -4.95831675e-03 2.16579373e+02] [ 9.72862597e-01 2.30398438e-01 -2.13290372e-02 9.91533078e+01] [ 2.18975972e-02 8.92782119e-05 9.99760215e-01 3.68467768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.59, Y:99.18, Z:3.69 [[ 2.29039471e-01 -9.73405147e-01 -4.83127664e-03 2.16586603e+02] [ 9.73182729e-01 2.29090411e-01 -2.08076935e-02 9.91803703e+01] [ 2.13611151e-02 6.40681130e-05 9.99771823e-01 3.68582348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.24038572300003 meters Centerline goodness [0,1] 0.9999776311374566 Centerline is valid? [True, True] Translation: X:216.59, Y:99.21, Z:3.69 [[ 2.27467755e-01 -9.73773978e-01 -4.76023642e-03 2.16594140e+02] [ 9.73557605e-01 2.27517556e-01 -2.05268359e-02 9.92072276e+01] [ 2.10715360e-02 3.48289161e-05 9.99777970e-01 3.68633355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.60, Y:99.23, Z:3.69 [[ 2.24495536e-01 -9.74463340e-01 -4.79105660e-03 2.16602543e+02] [ 9.74243756e-01 2.24546653e-01 -2.06858552e-02 9.92326928e+01] [ 2.12334232e-02 -2.37748246e-05 9.99774545e-01 3.68703571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.61, Y:99.26, Z:3.69 [[ 2.23057461e-01 -9.74793951e-01 -4.70341316e-03 2.16609657e+02] [ 9.74581862e-01 2.23107039e-01 -2.03333106e-02 9.92595022e+01] [ 2.08701528e-02 -4.83645094e-05 9.99782193e-01 3.68790526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.330385723 meters Centerline goodness [0,1] 0.9998657327634435 Centerline is valid? [True, True] Translation: X:216.62, Y:99.29, Z:3.69 [[ 2.21637668e-01 -9.75117642e-01 -4.72534300e-03 2.16616062e+02] [ 9.74903160e-01 2.21688022e-01 -2.04511714e-02 9.92852926e+01] [ 2.09898499e-02 -7.40018950e-05 9.99779686e-01 3.68725590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.62, Y:99.31, Z:3.69 [[ 2.21715455e-01 -9.75100553e-01 -4.60098680e-03 2.16622839e+02] [ 9.74896841e-01 2.21763179e-01 -1.99309430e-02 9.93125460e+01] [ 2.04550030e-02 -6.64893990e-05 9.99790772e-01 3.69093221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.63, Y:99.34, Z:3.69 [[ 2.21528797e-01 -9.75142413e-01 -4.71880221e-03 2.16628279e+02] [ 9.74927593e-01 2.21579039e-01 -2.04674957e-02 9.93391368e+01] [ 2.10043108e-02 -6.63507883e-05 9.99779383e-01 3.69093581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.63, Y:99.37, Z:3.69 [[ 2.21693794e-01 -9.75104365e-01 -4.83114702e-03 2.16633763e+02] [ 9.74878593e-01 2.21746420e-01 -2.09822569e-02 9.93663893e+01] [ 2.15311798e-02 -5.81456756e-05 9.99768176e-01 3.69074072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.450385723 meters Centerline goodness [0,1] 0.9999776080969122 Centerline is valid? [True, True] Translation: X:216.64, Y:99.39, Z:3.69 [[ 2.22568158e-01 -9.74903819e-01 -5.09502503e-03 2.16638431e+02] [ 9.74651998e-01 2.22626466e-01 -2.21571602e-02 9.93935561e+01] [ 2.27353875e-02 -3.43979939e-05 9.99741517e-01 3.69068578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.64, Y:99.42, Z:3.69 [[ 2.22844991e-01 -9.74839399e-01 -5.31560035e-03 2.16643860e+02] [ 9.74564628e-01 2.22908378e-01 -2.31439024e-02 9.94201060e+01] [ 2.37464797e-02 -2.28933707e-05 9.99718012e-01 3.69050142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.65, Y:99.45, Z:3.69 [[ 2.22962242e-01 -9.74811156e-01 -5.57214290e-03 2.16649149e+02] [ 9.74508572e-01 2.23031859e-01 -2.42864979e-02 9.94476128e+01] [ 2.49175145e-02 -1.51289980e-05 9.99689510e-01 3.69111227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.540385723 meters Centerline goodness [0,1] 0.9999776406403721 Centerline is valid? [True, True] Translation: X:216.65, Y:99.47, Z:3.69 [[ 2.22098823e-01 -9.75006632e-01 -5.84633345e-03 2.16654097e+02] [ 9.74672744e-01 2.22175754e-01 -2.55142304e-02 9.94748778e+01] [ 2.61754574e-02 -3.15813267e-05 9.99657364e-01 3.69104415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.66, Y:99.50, Z:3.69 [[ 2.20888954e-01 -9.75280858e-01 -5.94289830e-03 2.16660184e+02] [ 9.74935076e-01 2.20968877e-01 -2.59683020e-02 9.95020180e+01] [ 2.66395834e-02 -5.78289365e-05 9.99645102e-01 3.69220499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.67, Y:99.53, Z:3.69 [[ 2.18386594e-01 -9.75842665e-01 -6.19585717e-03 2.16667498e+02] [ 9.75466129e-01 2.18474432e-01 -2.71063558e-02 9.95283536e+01] [ 2.78051749e-02 -1.24184096e-04 9.99613354e-01 3.69392843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.67, Y:99.56, Z:3.69 [[ 2.16836148e-01 -9.76187499e-01 -6.32871574e-03 2.16674239e+02] [ 9.75793979e-01 2.16928422e-01 -2.77158854e-02 9.95551177e+01] [ 2.84287791e-02 -1.65716897e-04 9.99595807e-01 3.69432909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.68, Y:99.58, Z:3.69 [[ 2.14775421e-01 -9.76642195e-01 -6.44525034e-03 2.16680325e+02] [ 9.76233381e-01 2.14871992e-01 -2.82561975e-02 9.95829425e+01] [ 2.89810985e-02 -2.23331819e-04 9.99579935e-01 3.69395714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.69, Y:99.61, Z:3.69 [[ 2.12371283e-01 -9.77167412e-01 -6.50288777e-03 2.16685872e+02] [ 9.76750444e-01 2.12470623e-01 -2.85447905e-02 9.96093111e+01] [ 2.92747117e-02 -2.89604736e-04 9.99571362e-01 3.69302059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.69, Y:99.64, Z:3.70 [[ 2.08260485e-01 -9.78051308e-01 -6.57335884e-03 2.16690403e+02] [ 9.77624608e-01 2.08363795e-01 -2.88904043e-02 9.96371074e+01] [ 2.96259477e-02 -4.09547746e-04 9.99560971e-01 3.69536442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.750385723 meters Centerline goodness [0,1] 0.9999553152509049 Centerline is valid? [True, True] Translation: X:216.70, Y:99.66, Z:3.70 [[ 2.05967337e-01 -9.78537338e-01 -6.49116383e-03 2.16697660e+02] [ 9.78120504e-01 2.06069070e-01 -2.85625112e-02 9.96633825e+01] [ 2.92871117e-02 -4.66196080e-04 9.99570932e-01 3.69604379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.70, Y:99.69, Z:3.70 [[ 2.03553951e-01 -9.79042920e-01 -6.38358567e-03 2.16704392e+02] [ 9.78639101e-01 2.03653351e-01 -2.81215676e-02 9.96914340e+01] [ 2.88322602e-02 -5.22970366e-04 9.99584127e-01 3.69704451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.71, Y:99.72, Z:3.70 [[ 1.99641215e-01 -9.79848427e-01 -6.35969973e-03 2.16710379e+02] [ 9.79447075e-01 1.99741495e-01 -2.80492918e-02 9.97197194e+01] [ 2.87543504e-02 -6.29194590e-04 9.99586310e-01 3.69687360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.72, Y:99.75, Z:3.70 [[ 1.98596634e-01 -9.80060228e-01 -6.42856902e-03 2.16716121e+02] [ 9.79649268e-01 1.98699556e-01 -2.83866007e-02 9.97474048e+01] [ 2.90979322e-02 -6.60259597e-04 9.99576347e-01 3.69733328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.72, Y:99.78, Z:3.70 [[ 1.98535537e-01 -9.80070769e-01 -6.70283139e-03 2.16719503e+02] [ 9.79622867e-01 1.98647480e-01 -2.96347251e-02 9.97750627e+01] [ 3.03756284e-02 -6.82700844e-04 9.99538321e-01 3.69789023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.900385723 meters Centerline goodness [0,1] 0.9999555229390442 Centerline is valid? [True, True] Translation: X:216.72, Y:99.80, Z:3.70 [[ 1.99062041e-01 -9.79962672e-01 -6.88952864e-03 2.16723725e+02] [ 9.79488178e-01 1.99180078e-01 -3.04992764e-02 9.98026360e+01] [ 3.12604093e-02 -6.76963635e-04 9.99511045e-01 3.69806732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.93038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.73, Y:99.83, Z:3.70 [[ 2.00306590e-01 -9.79709821e-01 -6.77765029e-03 2.16726774e+02] [ 9.79249330e-01 2.00420265e-01 -3.00410960e-02 9.98312562e+01] [ 3.07899353e-02 -6.19580012e-04 9.99525686e-01 3.70015699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.73, Y:99.86, Z:3.70 [[ 2.03474448e-01 -9.79058250e-01 -6.56449910e-03 2.16728696e+02] [ 9.78625076e-01 2.03579704e-01 -2.91249732e-02 9.98587630e+01] [ 2.98514441e-02 -4.97995582e-04 9.99554222e-01 3.70030652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.99038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.73, Y:99.89, Z:3.70 [[ 2.04779604e-01 -9.78785854e-01 -6.60044063e-03 2.16730571e+02] [ 9.78346872e-01 2.04885444e-01 -2.93147063e-02 9.98871317e+01] [ 3.00451541e-02 -4.54466497e-04 9.99548439e-01 3.70177127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.73, Y:99.91, Z:3.70 [[ 2.06206145e-01 -9.78486756e-01 -6.53407146e-03 2.16733888e+02] [ 9.78055291e-01 2.06309256e-01 -2.90575025e-02 9.99138274e+01] [ 2.97804207e-02 -3.98847598e-04 9.99556385e-01 3.70174298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.050385723 meters Centerline goodness [0,1] 0.999911921433919 Centerline is valid? [True, True] Translation: X:216.74, Y:99.94, Z:3.70 [[ 2.09055845e-01 -9.77881592e-01 -6.57611648e-03 2.16736588e+02] [ 9.77443136e-01 2.09159025e-01 -2.92816976e-02 9.99423533e+01] [ 3.00094871e-02 -3.06269891e-04 9.99549567e-01 3.70306753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.74, Y:99.97, Z:3.70 [[ 2.09479600e-01 -9.77790813e-01 -6.58963693e-03 2.16741333e+02] [ 9.77349402e-01 2.09583025e-01 -2.93786147e-02 9.99703346e+01] [ 3.01072156e-02 -2.86157263e-04 9.99546634e-01 3.70441383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.75, Y:100.00, Z:3.70 [[ 2.09214125e-01 -9.77847704e-01 -6.58165442e-03 2.16747302e+02] [ 9.77406264e-01 2.09317430e-01 -2.93804035e-02 9.99972722e+01] [ 3.01072150e-02 -2.86154847e-04 9.99546634e-01 3.70483107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.75, Y:100.03, Z:3.71 [[ 2.10195018e-01 -9.77639408e-01 -6.26442581e-03 2.16749078e+02] [ 9.77238406e-01 2.10288214e-01 -2.79993689e-02 1.00025483e+02] [ 2.86906213e-02 -2.36509636e-04 9.99588311e-01 3.70662852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.75, Y:100.05, Z:3.71 [[ 2.10174113e-01 -9.77644899e-01 -6.10681878e-03 2.16752857e+02] [ 9.77262850e-01 2.10262695e-01 -2.73298482e-02 1.00053562e+02] [ 2.80029229e-02 -2.23940531e-04 9.99607816e-01 3.70715426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.200385723 meters Centerline goodness [0,1] 0.9999780171466256 Centerline is valid? [True, True] Translation: X:216.76, Y:100.08, Z:3.71 [[ 2.10189801e-01 -9.77642798e-01 -5.89977173e-03 2.16757021e+02] [ 9.77285311e-01 2.10272481e-01 -2.64368017e-02 1.00081205e+02] [ 2.70863084e-02 -2.09014168e-04 9.99633077e-01 3.70743978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.76, Y:100.11, Z:3.71 [[ 2.10247136e-01 -9.77630616e-01 -5.87536067e-03 2.16761544e+02] [ 9.77275134e-01 2.10329119e-01 -2.63623526e-02 1.00108023e+02] [ 2.70084025e-02 -1.99234756e-04 9.99635187e-01 3.70734282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.77, Y:100.14, Z:3.71 [[ 2.09281569e-01 -9.77836339e-01 -6.10886418e-03 2.16766579e+02] [ 9.77451085e-01 2.09370585e-01 -2.74469416e-02 1.00136352e+02] [ 2.81176334e-02 -2.26976908e-04 9.99604595e-01 3.70779761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.77, Y:100.16, Z:3.71 [[ 2.08081264e-01 -9.78092145e-01 -6.15983605e-03 2.16771705e+02] [ 9.77699510e-01 2.08172261e-01 -2.77124162e-02 1.00162892e+02] [ 2.83876036e-02 -2.56034113e-04 9.99596958e-01 3.70734642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.78, Y:100.19, Z:3.71 [[ 2.05245958e-01 -9.78690788e-01 -6.19994229e-03 2.16775593e+02] [ 9.78292265e-01 2.05339308e-01 -2.79287169e-02 1.00189941e+02] [ 2.86066698e-02 -3.33099334e-04 9.99590690e-01 3.70609470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.78, Y:100.22, Z:3.71 [[ 2.03479619e-01 -9.79059030e-01 -6.28183402e-03 2.16781308e+02] [ 9.78649126e-01 2.03576202e-01 -2.83305307e-02 1.00217094e+02] [ 2.90160938e-02 -3.83025781e-04 9.99578871e-01 3.70578553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.380385723 meters Centerline goodness [0,1] 0.999890545303299 Centerline is valid? [True, True] Translation: X:216.79, Y:100.24, Z:3.71 [[ 2.01286320e-01 -9.79510718e-01 -6.52457656e-03 2.16787358e+02] [ 9.79067691e-01 2.01391516e-01 -2.94603738e-02 1.00244935e+02] [ 3.01707463e-02 -4.58031884e-04 9.99544654e-01 3.70584879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.410385723 meters Centerline goodness [0,1] 0.999890676928459 Centerline is valid? [True, True] Translation: X:216.79, Y:100.27, Z:3.71 [[ 1.98393898e-01 -9.80102341e-01 -6.26603603e-03 2.16793862e+02] [ 9.79693083e-01 1.98492147e-01 -2.83254315e-02 1.00271240e+02] [ 2.90055807e-02 -5.19199399e-04 9.99579115e-01 3.70744180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.80, Y:100.30, Z:3.71 [[ 1.96831838e-01 -9.80417887e-01 -6.16389071e-03 2.16799103e+02] [ 9.80021093e-01 1.96927559e-01 -2.78961087e-02 1.00299479e+02] [ 2.85636840e-02 -5.49900559e-04 9.99591823e-01 3.70882437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.470385723 meters Centerline goodness [0,1] 0.9998470914611504 Centerline is valid? [True, True] Translation: X:216.80, Y:100.33, Z:3.71 [[ 1.94806808e-01 -9.80822435e-01 -6.13670803e-03 2.16802869e+02] [ 9.80428380e-01 1.94902519e-01 -2.78064672e-02 1.00327242e+02] [ 2.84692667e-02 -5.99713587e-04 9.99594488e-01 3.70927093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.81, Y:100.36, Z:3.71 [[ 1.92412289e-01 -9.81297750e-01 -5.67780570e-03 2.16806165e+02] [ 9.80959842e-01 1.92495064e-01 -2.57572830e-02 1.00355729e+02] [ 2.63685134e-02 -6.13681600e-04 9.99652102e-01 3.71067617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.81, Y:100.38, Z:3.71 [[ 1.91044894e-01 -9.81564874e-01 -5.67864429e-03 2.16811745e+02] [ 9.81226149e-01 1.91128185e-01 -2.57926555e-02 1.00382435e+02] [ 2.64025137e-02 -6.44479127e-04 9.99651185e-01 3.71069301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.82, Y:100.41, Z:3.71 [[ 1.89198266e-01 -9.81922970e-01 -5.59437170e-03 2.16817126e+02] [ 9.81593592e-01 1.89279742e-01 -2.54401250e-02 1.00410506e+02] [ 2.60391443e-02 -6.78171887e-04 9.99660694e-01 3.71131958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.590385723 meters Centerline goodness [0,1] 0.9999347939488784 Centerline is valid? [True, True] Translation: X:216.82, Y:100.44, Z:3.71 [[ 1.86023752e-01 -9.82530912e-01 -5.30759372e-03 2.16821656e+02] [ 9.82233974e-01 1.86098069e-01 -2.41646052e-02 1.00438827e+02] [ 2.47302045e-02 -7.18108337e-04 9.99693904e-01 3.71212825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.620385723 meters Centerline goodness [0,1] 0.9998913161612868 Centerline is valid? [True, True] Translation: X:216.83, Y:100.47, Z:3.71 [[ 1.84682547e-01 -9.82783905e-01 -5.30596317e-03 2.16826607e+02] [ 9.82486519e-01 1.84757245e-01 -2.41867720e-02 1.00466670e+02] [ 2.47506854e-02 -7.46162617e-04 9.99693376e-01 3.71283619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.83, Y:100.49, Z:3.71 [[ 1.84127341e-01 -9.82888766e-01 -5.17649359e-03 2.16829922e+02] [ 9.82605046e-01 1.84198621e-01 -2.36260857e-02 1.00494612e+02] [ 2.41753172e-02 -7.36240382e-04 9.99707463e-01 3.71442716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.68038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.83, Y:100.52, Z:3.71 [[ 1.84111075e-01 -9.82892096e-01 -5.12239332e-03 2.16831388e+02] [ 9.82613527e-01 1.84180900e-01 -2.34105124e-02 1.00522420e+02] [ 2.39534547e-02 -7.23198360e-04 9.99712813e-01 3.71396037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.83, Y:100.55, Z:3.71 [[ 1.84625680e-01 -9.82796189e-01 -5.00103327e-03 2.16833323e+02] [ 9.82529913e-01 1.84692117e-01 -2.28864812e-02 1.00551322e+02] [ 2.34163979e-02 -6.88232640e-04 9.99725562e-01 3.71468248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.74038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.84, Y:100.58, Z:3.71 [[ 1.86895561e-01 -9.82366975e-01 -5.01748614e-03 2.16835992e+02] [ 9.82098169e-01 1.86961834e-01 -2.29882193e-02 1.00578596e+02] [ 2.35209459e-02 -6.31267797e-04 9.99723145e-01 3.71449268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.770385723 meters Centerline goodness [0,1] 0.9999138488046522 Centerline is valid? [True, True] Translation: X:216.84, Y:100.61, Z:3.71 [[ 1.87771060e-01 -9.82199110e-01 -5.19013120e-03 2.16839402e+02] [ 9.81910818e-01 1.87841731e-01 -2.38040007e-02 1.00606419e+02] [ 2.43551915e-02 -6.26543513e-04 9.99703172e-01 3.71291928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.800385723 meters Centerline goodness [0,1] 0.9999784844442532 Centerline is valid? [True, True] Translation: X:216.84, Y:100.63, Z:3.71 [[ 1.89081724e-01 -9.81947650e-01 -5.18787733e-03 2.16842049e+02] [ 9.81658772e-01 1.89151967e-01 -2.38241018e-02 1.00634981e+02] [ 2.43753180e-02 -5.88023039e-04 9.99702705e-01 3.71329892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.830385723 meters Centerline goodness [0,1] 0.999956961480525 Centerline is valid? [True, True] Translation: X:216.84, Y:100.66, Z:3.71 [[ 1.89984651e-01 -9.81772576e-01 -5.33313668e-03 2.16842982e+02] [ 9.81466428e-01 1.90058619e-01 -2.45228978e-02 1.00663545e+02] [ 2.50895171e-02 -5.75320437e-04 9.99685043e-01 3.71352473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.860385723 meters Centerline goodness [0,1] 0.9999785550384938 Centerline is valid? [True, True] Translation: X:216.84, Y:100.69, Z:3.71 [[ 1.91175096e-01 -9.81542944e-01 -5.05282980e-03 2.16844114e+02] [ 9.81267446e-01 1.91241175e-01 -2.32596620e-02 1.00691649e+02] [ 2.37966663e-02 -5.11509267e-04 9.99716688e-01 3.71401932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.85, Y:100.72, Z:3.72 [[ 1.90618528e-01 -9.81652548e-01 -4.78038754e-03 2.16848567e+02] [ 9.81405508e-01 1.90677824e-01 -2.20271610e-02 1.00719304e+02] [ 2.25345327e-02 -4.92713653e-04 9.99745944e-01 3.71531207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.85, Y:100.75, Z:3.72 [[ 1.88649127e-01 -9.82034527e-01 -4.43792742e-03 2.16852374e+02] [ 9.81821189e-01 1.88700672e-01 -2.04746091e-02 1.00747578e+02] [ 2.09442129e-02 -4.94734033e-04 9.99780524e-01 3.71680428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.86, Y:100.78, Z:3.72 [[ 1.87221913e-01 -9.82308206e-01 -4.30625431e-03 2.16856861e+02] [ 9.82106913e-01 1.87270749e-01 -1.98916693e-02 1.00775376e+02] [ 2.03461854e-02 -5.05045762e-04 9.99792867e-01 3.71735541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.86, Y:100.80, Z:3.72 [[ 1.85921856e-01 -9.82555186e-01 -4.28590299e-03 2.16861983e+02] [ 9.82355354e-01 1.85970509e-01 -1.98224377e-02 1.00802609e+02] [ 2.02736906e-02 -5.24855330e-04 9.99794330e-01 3.71750912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.86, Y:100.83, Z:3.72 [[ 1.84507339e-01 -9.82821847e-01 -4.27294369e-03 2.16864224e+02] [ 9.82622812e-01 1.84555997e-01 -1.97861744e-02 1.00830756e+02] [ 2.02348819e-02 -5.47997544e-04 9.99795104e-01 3.71740531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.87, Y:100.86, Z:3.72 [[ 1.83773137e-01 -9.82959382e-01 -4.27642729e-03 2.16868697e+02] [ 9.82759557e-01 1.83822037e-01 -1.98270470e-02 1.00857709e+02] [ 2.02752834e-02 -5.59021169e-04 9.99794279e-01 3.71729760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.070385723 meters Centerline goodness [0,1] 0.999829344255301 Centerline is valid? [True, True] Translation: X:216.87, Y:100.89, Z:3.72 [[ 1.83502781e-01 -9.83009166e-01 -4.43956106e-03 2.16870190e+02] [ 9.82793201e-01 1.83555559e-01 -2.06126345e-02 1.00886096e+02] [ 2.10773147e-02 -5.80694674e-04 9.99777680e-01 3.71536760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.87, Y:100.91, Z:3.72 [[ 1.84164638e-01 -9.82885617e-01 -4.38760481e-03 2.16872992e+02] [ 9.82674078e-01 1.84216061e-01 -2.03985356e-02 1.00914481e+02] [ 2.08576945e-02 -5.54896592e-04 9.99782301e-01 3.71744756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.87, Y:100.94, Z:3.72 [[ 1.85959790e-01 -9.82546849e-01 -4.54377005e-03 2.16874987e+02] [ 9.82319262e-01 1.86014539e-01 -2.11532498e-02 1.00943071e+02] [ 2.16292662e-02 -5.29778959e-04 9.99765920e-01 3.71730337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.88, Y:100.97, Z:3.72 [[ 1.86413618e-01 -9.82460302e-01 -4.66026803e-03 2.16879571e+02] [ 9.82220229e-01 1.86471114e-01 -2.17243161e-02 1.00970811e+02] [ 2.22122835e-02 -5.27701172e-04 9.99753138e-01 3.71749883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.190385723 meters Centerline goodness [0,1] 0.9998734844491302 Centerline is valid? [True, True] Translation: X:216.88, Y:101.00, Z:3.72 [[ 1.86695093e-01 -9.82406356e-01 -4.76385218e-03 2.16884229e+02] [ 9.82154789e-01 1.86755118e-01 -2.22372581e-02 1.00998330e+02] [ 2.27356975e-02 -5.27253258e-04 9.99741372e-01 3.71597330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.89, Y:101.03, Z:3.72 [[ 1.86585867e-01 -9.82427958e-01 -4.58501983e-03 2.16885979e+02] [ 9.82194327e-01 1.86641510e-01 -2.14301479e-02 1.01026426e+02] [ 2.19093315e-02 -5.04817744e-04 9.99759834e-01 3.71780924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.89, Y:101.05, Z:3.72 [[ 1.86152715e-01 -9.82509985e-01 -4.61478211e-03 2.16889611e+02] [ 9.82272700e-01 1.86209203e-01 -2.15980544e-02 1.01054833e+02] [ 2.20796190e-02 -5.12438006e-04 9.99756084e-01 3.71768595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.90, Y:101.08, Z:3.72 [[ 1.85922064e-01 -9.82553328e-01 -4.68449757e-03 2.16895518e+02] [ 9.82308151e-01 1.85980344e-01 -2.19546729e-02 1.01081713e+02] [ 2.24428614e-02 -5.19762040e-04 9.99747992e-01 3.71731006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.90, Y:101.11, Z:3.72 [[ 1.86341145e-01 -9.82474075e-01 -4.65506425e-03 2.16900376e+02] [ 9.82231284e-01 1.86398606e-01 -2.18463731e-02 1.01109833e+02] [ 2.23311927e-02 -5.01471559e-04 9.99750502e-01 3.71935584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.91, Y:101.14, Z:3.72 [[ 1.86943714e-01 -9.82360516e-01 -4.45697578e-03 2.16906068e+02] [ 9.82137365e-01 1.86996265e-01 -2.09425980e-02 1.01136524e+02] [ 2.14066192e-02 -4.62275397e-04 9.99770745e-01 3.72075294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.91, Y:101.17, Z:3.72 [[ 1.89230837e-01 -9.81923427e-01 -4.25125978e-03 2.16906979e+02] [ 9.81719768e-01 1.89278187e-01 -2.00016484e-02 1.01165151e+02] [ 2.04447579e-02 -3.88617090e-04 9.99790909e-01 3.72223636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.91, Y:101.19, Z:3.72 [[ 1.90965490e-01 -9.81587687e-01 -4.21821390e-03 2.16908959e+02] [ 9.81386580e-01 1.91011761e-01 -1.98717648e-02 1.01193422e+02] [ 2.03116081e-02 -3.44877216e-04 9.99793639e-01 3.72263096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.43038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.91, Y:101.22, Z:3.72 [[ 1.93298279e-01 -9.81131009e-01 -4.20935354e-03 2.16911620e+02] [ 9.80930106e-01 1.93343887e-01 -1.98562096e-02 1.01221474e+02] [ 2.02953958e-02 -2.90910468e-04 9.99793985e-01 3.72306864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.91, Y:101.25, Z:3.72 [[ 1.99279266e-01 -9.79934579e-01 -3.99950745e-03 2.16914478e+02] [ 9.79752507e-01 1.99319337e-01 -1.88898869e-02 1.01250512e+02] [ 1.93080325e-02 -1.54164661e-04 9.99813571e-01 3.72475244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.49038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.92, Y:101.28, Z:3.73 [[ 2.01822017e-01 -9.79413942e-01 -4.02548742e-03 2.16920232e+02] [ 9.79228946e-01 2.01862133e-01 -1.90354949e-02 1.01277442e+02] [ 1.94562226e-02 -1.00091838e-04 9.99810705e-01 3.72583223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.520385723 meters Centerline goodness [0,1] 0.9998323799945523 Centerline is valid? [True, True] Translation: X:216.93, Y:101.30, Z:3.72 [[ 2.04246673e-01 -9.78910572e-01 -4.16992346e-03 2.16925138e+02] [ 9.78711473e-01 2.04289230e-01 -1.97424100e-02 1.01304638e+02] [ 2.01779244e-02 -4.88303613e-05 9.99796404e-01 3.72478590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.93, Y:101.33, Z:3.73 [[ 2.07809360e-01 -9.78161226e-01 -3.98568456e-03 2.16925527e+02] [ 9.77978718e-01 2.07847576e-01 -1.88947874e-02 1.01333341e+02] [ 1.93105633e-02 2.85990036e-05 9.99813533e-01 3.72743137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.580385723 meters Centerline goodness [0,1] 0.999916687494793 Centerline is valid? [True, True] Translation: X:216.93, Y:101.36, Z:3.73 [[ 2.08380959e-01 -9.78039503e-01 -4.01328110e-03 2.16928488e+02] [ 9.77853926e-01 2.08419597e-01 -1.90517825e-02 1.01360183e+02] [ 1.94698423e-02 4.56260337e-05 9.99810444e-01 3.72520254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.610385723 meters Centerline goodness [0,1] 0.9999790838736666 Centerline is valid? [True, True] Translation: X:216.93, Y:101.39, Z:3.73 [[ 2.09232003e-01 -9.77857934e-01 -3.97855232e-03 2.16933435e+02] [ 9.77675009e-01 2.09269815e-01 -1.89135410e-02 1.01387674e+02] [ 1.93273471e-02 6.75869032e-05 9.99813207e-01 3.72755339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.94, Y:101.41, Z:3.73 [[ 2.09102862e-01 -9.77885119e-01 -4.08500122e-03 2.16939855e+02] [ 9.77691744e-01 2.09142747e-01 -1.94464411e-02 1.01414085e+02] [ 1.98707338e-02 7.24345185e-05 9.99802555e-01 3.72955589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.670385723 meters Centerline goodness [0,1] 0.9999790624149411 Centerline is valid? [True, True] Translation: X:216.95, Y:101.44, Z:3.73 [[ 2.08175181e-01 -9.78083242e-01 -4.03298038e-03 2.16946849e+02] [ 9.77894322e-01 2.08214235e-01 -1.92231134e-02 1.01441046e+02] [ 1.96415290e-02 5.79465034e-05 9.99807085e-01 3.73007766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.700385723 meters Centerline goodness [0,1] 0.9998952177375414 Centerline is valid? [True, True] Translation: X:216.95, Y:101.47, Z:3.73 [[ 2.06508259e-01 -9.78435754e-01 -4.22063021e-03 2.16953853e+02] [ 9.78228321e-01 2.06551383e-01 -2.01464134e-02 1.01466892e+02] [ 2.05837481e-02 3.16607458e-05 9.99788132e-01 3.72950408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.96, Y:101.49, Z:3.73 [[ 2.03113796e-01 -9.79144971e-01 -4.46215914e-03 2.16960940e+02] [ 9.78912595e-01 2.03162801e-01 -2.13309190e-02 1.01494436e+02] [ 2.17926068e-02 -3.54598551e-05 9.99762512e-01 3.73094113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.97, Y:101.52, Z:3.73 [[ 2.00803821e-01 -9.79620464e-01 -4.64450392e-03 2.16967272e+02] [ 9.79368137e-01 2.00857509e-01 -2.22331494e-02 1.01521106e+02] [ 2.27129316e-02 -8.41777970e-05 9.99742025e-01 3.73017486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.97, Y:101.55, Z:3.73 [[ 1.98870857e-01 -9.80014299e-01 -4.72820968e-03 2.16973921e+02] [ 9.79752221e-01 1.98927017e-01 -2.26633426e-02 1.01548687e+02] [ 2.31509685e-02 -1.25395562e-04 9.99731973e-01 3.73063307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.98, Y:101.58, Z:3.73 [[ 1.97003283e-01 -9.80391032e-01 -4.80938374e-03 2.16981678e+02] [ 9.80119239e-01 1.97061909e-01 -2.30842253e-02 1.01576196e+02] [ 2.35793138e-02 -1.66101370e-04 9.99721956e-01 3.73131374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.99, Y:101.60, Z:3.73 [[ 1.93702825e-01 -9.81047677e-01 -4.96702847e-03 2.16993495e+02] [ 9.80757210e-01 1.93766341e-01 -2.38725921e-02 1.01602040e+02] [ 2.43825939e-02 -2.47260444e-04 9.99702670e-01 3.73301059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.00, Y:101.63, Z:3.73 [[ 1.92086927e-01 -9.81365195e-01 -4.99658886e-03 2.17001674e+02] [ 9.81070603e-01 1.92151693e-01 -2.40457636e-02 1.01628872e+02] [ 2.45577785e-02 -2.83129621e-04 9.99698372e-01 3.73410178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.01, Y:101.66, Z:3.74 [[ 1.90199374e-01 -9.81733239e-01 -4.90365205e-03 2.17007601e+02] [ 9.81448865e-01 1.90262309e-01 -2.36300494e-02 1.01656420e+02] [ 2.41313851e-02 -3.18263138e-04 9.99708745e-01 3.73586105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.940385723 meters Centerline goodness [0,1] 0.9998729621003599 Centerline is valid? [True, True] Translation: X:217.01, Y:101.68, Z:3.73 [[ 1.89378726e-01 -9.81891155e-01 -5.04555060e-03 2.17013199e+02] [ 9.81589309e-01 1.89445619e-01 -2.43471797e-02 1.01684377e+02] [ 2.48621379e-02 -3.41820654e-04 9.99690831e-01 3.73445184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.02, Y:101.71, Z:3.74 [[ 1.89408620e-01 -9.81885464e-01 -5.03094565e-03 2.17018959e+02] [ 9.81584566e-01 1.89475128e-01 -2.43087599e-02 1.01711239e+02] [ 2.48216571e-02 -3.34009936e-04 9.99691839e-01 3.73650293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.03, Y:101.74, Z:3.74 [[ 1.89503958e-01 -9.81866469e-01 -5.14652858e-03 2.17025727e+02] [ 9.81550736e-01 1.89573538e-01 -2.49003203e-02 1.01738171e+02] [ 2.54244352e-02 -3.32869657e-04 9.99676691e-01 3.73705107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.03, Y:101.77, Z:3.74 [[ 1.89233358e-01 -9.81918693e-01 -5.13966575e-03 2.17031242e+02] [ 9.81602941e-01 1.89302851e-01 -2.49017372e-02 1.01765181e+02] [ 2.54244346e-02 -3.32871668e-04 9.99676691e-01 3.73746831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.060385723 meters Centerline goodness [0,1] 0.9999576325043427 Centerline is valid? [True, True] Translation: X:217.04, Y:101.79, Z:3.74 [[ 1.89184008e-01 -9.81927592e-01 -5.25508733e-03 2.17037574e+02] [ 9.81596557e-01 1.89256685e-01 -2.54971682e-02 1.01792827e+02] [ 2.60309333e-02 -3.34719161e-04 9.99661082e-01 3.73824397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.090385723 meters Centerline goodness [0,1] 0.999788748758899 Centerline is valid? [True, True] Translation: X:217.04, Y:101.82, Z:3.74 [[ 1.91770160e-01 -9.81423665e-01 -5.63879175e-03 2.17042132e+02] [ 9.81041234e-01 1.91852842e-01 -2.73968063e-02 1.01819870e+02] [ 2.79696923e-02 -2.77997288e-04 9.99608733e-01 3.73595545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.04, Y:101.85, Z:3.74 [[ 1.94045063e-01 -9.80977396e-01 -5.46454877e-03 2.17044308e+02] [ 9.80617186e-01 1.94121888e-01 -2.65824633e-02 1.01848416e+02] [ 2.71375842e-02 -2.00434672e-04 9.99631688e-01 3.73913642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.150385723 meters Centerline goodness [0,1] 0.9999367395567552 Centerline is valid? [True, True] Translation: X:217.05, Y:101.88, Z:3.74 [[ 1.96184173e-01 -9.80550117e-01 -5.76534523e-03 2.17047622e+02] [ 9.80147917e-01 1.96268818e-01 -2.80822343e-02 1.01875614e+02] [ 2.86675956e-02 -1.41601209e-04 9.99588990e-01 3.73716196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.18038572300003 meters Centerline goodness [0,1] 0.9998310311325138 Centerline is valid? [True, True] Translation: X:217.05, Y:101.90, Z:3.74 [[ 1.98163776e-01 -9.80150696e-01 -5.97759256e-03 2.17051130e+02] [ 9.79717010e-01 1.98253897e-01 -2.91542883e-02 1.01902303e+02] [ 2.97606770e-02 -7.90252484e-05 9.99557050e-01 3.73602802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.06, Y:101.93, Z:3.74 [[ 2.00907110e-01 -9.79592419e-01 -5.91819570e-03 2.17055980e+02] [ 9.79165917e-01 2.00994258e-01 -2.89035427e-02 1.01930000e+02] [ 2.95032147e-02 1.20317309e-05 9.99564685e-01 3.73933895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.06, Y:101.96, Z:3.74 [[ 2.00866836e-01 -9.79601137e-01 -5.84183569e-03 2.17062083e+02] [ 9.79184577e-01 2.00951767e-01 -2.85648720e-02 1.01956308e+02] [ 2.91561083e-02 1.75000494e-05 9.99574870e-01 3.74001434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.270385723 meters Centerline goodness [0,1] 0.9999789473684211 Centerline is valid? [True, True] Translation: X:217.07, Y:101.98, Z:3.74 [[ 2.00419358e-01 -9.79693286e-01 -5.75726194e-03 2.17067778e+02] [ 9.79287939e-01 2.00502033e-01 -2.81791912e-02 1.01983005e+02] [ 2.87613072e-02 9.63823909e-06 9.99586308e-01 3.73989197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.07, Y:102.01, Z:3.74 [[ 1.99578569e-01 -9.79865240e-01 -5.70138804e-03 2.17072648e+02] [ 9.79466819e-01 1.99659988e-01 -2.79399330e-02 1.02009644e+02] [ 2.85157083e-02 -8.10854971e-06 9.99593344e-01 3.74054151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.330385723 meters Centerline goodness [0,1] 0.9999578477037536 Centerline is valid? [True, True] Translation: X:217.08, Y:102.04, Z:3.74 [[ 1.97580957e-01 -9.80269251e-01 -5.82758314e-03 2.17079276e+02] [ 9.79851955e-01 1.97666871e-01 -2.85999145e-02 1.02036720e+02] [ 2.91875369e-02 -5.93702486e-05 9.99573951e-01 3.74173020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.09, Y:102.06, Z:3.74 [[ 1.96454776e-01 -9.80494788e-01 -5.95747755e-03 2.17086624e+02] [ 9.80057589e-01 1.96545066e-01 -2.92772756e-02 1.02063098e+02] [ 2.98771289e-02 -8.70104740e-05 9.99553575e-01 3.74185597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.10, Y:102.09, Z:3.74 [[ 1.94335958e-01 -9.80915497e-01 -6.19060356e-03 2.17096135e+02] [ 9.80442380e-01 1.94434476e-01 -3.04626692e-02 1.02089649e+02] [ 3.10849710e-02 -1.49538105e-04 9.99516734e-01 3.74261751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.10, Y:102.12, Z:3.74 [[ 1.94011395e-01 -9.80979846e-01 -6.17419136e-03 2.17102662e+02] [ 9.80507991e-01 1.94109554e-01 -3.04230427e-02 1.02116788e+02] [ 3.10428612e-02 -1.51427033e-04 9.99518043e-01 3.74319408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.11, Y:102.14, Z:3.74 [[ 1.94077832e-01 -9.80967166e-01 -6.10044604e-03 2.17108552e+02] [ 9.80505201e-01 1.94173636e-01 -3.01023141e-02 1.02143725e+02] [ 3.07139275e-02 -1.39327229e-04 9.99528206e-01 3.74313402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.11, Y:102.17, Z:3.74 [[ 1.96555852e-01 -9.80473194e-01 -6.17351488e-03 2.17113582e+02] [ 9.79998497e-01 1.96652771e-01 -3.05063009e-02 1.02171629e+02] [ 3.11246491e-02 -5.38433474e-05 9.99515509e-01 3.74305381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.12, Y:102.20, Z:3.74 [[ 1.97808483e-01 -9.80221675e-01 -6.10508167e-03 2.17118668e+02] [ 9.79756019e-01 1.97902673e-01 -3.02105021e-02 1.02199234e+02] [ 3.08212009e-02 -5.59693636e-06 9.99524914e-01 3.74345717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.12, Y:102.23, Z:3.74 [[ 1.98911203e-01 -9.79999401e-01 -5.95881935e-03 2.17123961e+02] [ 9.79554455e-01 1.99000434e-01 -2.95278848e-02 1.02226629e+02] [ 3.01231171e-02 3.64390419e-05 9.99546195e-01 3.74445004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.570385723 meters Centerline goodness [0,1] 0.999978816700913 Centerline is valid? [True, True] Translation: X:217.13, Y:102.25, Z:3.75 [[ 2.00811832e-01 -9.79612655e-01 -5.80124312e-03 2.17131387e+02] [ 9.79189590e-01 2.00895585e-01 -2.87873516e-02 1.02253578e+02] [ 2.93658981e-02 1.00323938e-04 9.99568724e-01 3.74688441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.600385723 meters Centerline goodness [0,1] 0.9998722398483912 Centerline is valid? [True, True] Translation: X:217.14, Y:102.28, Z:3.75 [[ 2.01031715e-01 -9.79566471e-01 -5.98152698e-03 2.17138886e+02] [ 9.79115372e-01 2.01120648e-01 -2.97249507e-02 1.02281078e+02] [ 3.03205736e-02 1.19052821e-04 9.99540219e-01 3.74683666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.14, Y:102.31, Z:3.75 [[ 2.01768695e-01 -9.79416093e-01 -5.78882101e-03 2.17144966e+02] [ 9.78992327e-01 2.01851667e-01 -2.88084891e-02 1.02307588e+02] [ 2.93839811e-02 1.45439905e-04 9.99568187e-01 3.74822204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.15, Y:102.33, Z:3.75 [[ 2.01728804e-01 -9.79424564e-01 -5.74565881e-03 2.17150431e+02] [ 9.79005891e-01 2.01810555e-01 -2.86350231e-02 1.02334687e+02] [ 2.92053797e-02 1.51475148e-04 9.99573420e-01 3.74777193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.16, Y:102.36, Z:3.75 [[ 2.01657606e-01 -9.79439118e-01 -5.76395751e-03 2.17156736e+02] [ 9.79016594e-01 2.01739903e-01 -2.87666545e-02 1.02362250e+02] [ 2.93380070e-02 1.58004630e-04 9.99569536e-01 3.74790378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.17, Y:102.39, Z:3.75 [[ 2.00791846e-01 -9.79617751e-01 -5.62990094e-03 2.17166118e+02] [ 9.79213597e-01 2.00870710e-01 -2.81369795e-02 1.02388857e+02] [ 2.86943668e-02 1.36800482e-04 9.99588223e-01 3.75059885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.750385723 meters Centerline goodness [0,1] 0.9999786361305759 Centerline is valid? [True, True] Translation: X:217.17, Y:102.41, Z:3.75 [[ 2.00251452e-01 -9.79728164e-01 -5.66403015e-03 2.17173046e+02] [ 9.79317921e-01 2.00331496e-01 -2.83496087e-02 1.02414710e+02] [ 2.89095937e-02 1.30164069e-04 9.99582022e-01 3.75069201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.18, Y:102.44, Z:3.75 [[ 1.99832286e-01 -9.79813929e-01 -5.63215146e-03 2.17179953e+02] [ 9.79407097e-01 1.99911600e-01 -2.82327923e-02 1.02441278e+02] [ 2.87888156e-02 1.25654316e-04 9.99585508e-01 3.75139789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.19, Y:102.47, Z:3.75 [[ 1.99276416e-01 -9.79926546e-01 -5.73360257e-03 2.17188984e+02] [ 9.79503719e-01 1.99358847e-01 -2.87839185e-02 1.02468142e+02] [ 2.93491702e-02 1.19871065e-04 9.99569213e-01 3.75157670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.20, Y:102.50, Z:3.75 [[ 1.99510841e-01 -9.79878457e-01 -5.79947011e-03 2.17196382e+02] [ 9.79444584e-01 1.99595067e-01 -2.91567343e-02 1.02495387e+02] [ 2.97276014e-02 1.36824991e-04 9.99558028e-01 3.75301835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.20, Y:102.52, Z:3.75 [[ 1.99731484e-01 -9.79833314e-01 -5.83198238e-03 2.17203016e+02] [ 9.79393254e-01 1.99816552e-01 -2.93632531e-02 1.02523060e+02] [ 2.99364202e-02 1.52961925e-04 9.99551793e-01 3.75293020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.900385723 meters Centerline goodness [0,1] 0.9999357986646122 Centerline is valid? [True, True] Translation: X:217.21, Y:102.55, Z:3.75 [[ 2.00355316e-01 -9.79705200e-01 -5.95556233e-03 2.17210901e+02] [ 9.79244872e-01 2.00443726e-01 -3.00298920e-02 1.02550102e+02] [ 3.06141965e-02 1.84694629e-04 9.99531259e-01 3.75223536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.93038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.22, Y:102.58, Z:3.75 [[ 2.00229778e-01 -9.79730804e-01 -5.96555808e-03 2.17218079e+02] [ 9.79267578e-01 2.00318535e-01 -3.01246608e-02 1.02577492e+02] [ 3.07090700e-02 1.89976516e-04 9.99528347e-01 3.75306928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.960385723 meters Centerline goodness [0,1] 0.9999785591766723 Centerline is valid? [True, True] Translation: X:217.22, Y:102.60, Z:3.75 [[ 1.99750385e-01 -9.79828984e-01 -5.91151405e-03 2.17224503e+02] [ 9.79372888e-01 1.99837757e-01 -2.98934209e-02 1.02603825e+02] [ 3.04717839e-02 1.81645720e-04 9.99535611e-01 3.75271877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.990385723 meters Centerline goodness [0,1] 0.9999570714117066 Centerline is valid? [True, True] Translation: X:217.23, Y:102.63, Z:3.75 [[ 1.98736715e-01 -9.80035366e-01 -5.86519003e-03 2.17233713e+02] [ 9.79585210e-01 1.98823182e-01 -2.97011730e-02 1.02630019e+02] [ 3.02743357e-02 1.57260152e-04 9.99541615e-01 3.75265284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.24, Y:102.66, Z:3.75 [[ 1.98048860e-01 -9.80174096e-01 -5.94900224e-03 2.17240798e+02] [ 9.79709844e-01 1.98138134e-01 -3.01645788e-02 1.02656219e+02] [ 3.07452630e-02 1.45764388e-04 9.99527242e-01 3.75295892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.050385723 meters Centerline goodness [0,1] 0.9999569975703627 Centerline is valid? [True, True] Translation: X:217.25, Y:102.68, Z:3.75 [[ 1.97048844e-01 -9.80375766e-01 -5.92547351e-03 2.17247470e+02] [ 9.79914095e-01 1.97137879e-01 -3.00835888e-02 1.02682293e+02] [ 3.06613567e-02 1.21481363e-04 9.99529823e-01 3.75176189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.26, Y:102.71, Z:3.75 [[ 1.95768932e-01 -9.80631247e-01 -6.07312289e-03 2.17256691e+02] [ 9.80144871e-01 1.95863087e-01 -3.08817513e-02 1.02707089e+02] [ 3.14731108e-02 9.31472017e-05 9.99504595e-01 3.75125695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.26, Y:102.73, Z:3.75 [[ 1.95102599e-01 -9.80764220e-01 -6.04319102e-03 2.17264625e+02] [ 9.80281236e-01 1.95196152e-01 -3.07759762e-02 1.02734547e+02] [ 3.13635839e-02 8.04461761e-05 9.99508039e-01 3.75341092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.27, Y:102.76, Z:3.75 [[ 1.94579565e-01 -9.80868202e-01 -6.03020063e-03 2.17271576e+02] [ 9.80386160e-01 1.94672971e-01 -3.07475399e-02 1.02760389e+02] [ 3.13332013e-02 7.09177071e-05 9.99508992e-01 3.75218418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.28, Y:102.79, Z:3.75 [[ 1.94390930e-01 -9.80905978e-01 -5.96895547e-03 2.17278029e+02] [ 9.80432657e-01 1.94482536e-01 -3.04688219e-02 1.02785760e+02] [ 3.10479071e-02 7.07037406e-05 9.99517895e-01 3.75260858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.200385723 meters Centerline goodness [0,1] 0.9999784231648902 Centerline is valid? [True, True] Translation: X:217.29, Y:102.81, Z:3.75 [[ 1.94946875e-01 -9.80796602e-01 -5.80873759e-03 2.17285437e+02] [ 9.80347160e-01 1.95033374e-01 -2.96888570e-02 1.02813335e+02] [ 3.02516278e-02 9.31704888e-05 9.99542310e-01 3.75453033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.29, Y:102.84, Z:3.76 [[ 1.95320090e-01 -9.80722851e-01 -5.72290821e-03 2.17291933e+02] [ 9.80285336e-01 1.95403881e-01 -2.92913591e-02 1.02840823e+02] [ 2.98449837e-02 1.11107883e-04 9.99554533e-01 3.75527787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.30, Y:102.87, Z:3.76 [[ 1.97570122e-01 -9.80273647e-01 -5.44270752e-03 2.17300177e+02] [ 9.79876640e-01 1.97644996e-01 -2.78967145e-02 1.02866991e+02] [ 2.84221380e-02 1.78375336e-04 9.99595994e-01 3.75639672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.290385723 meters Centerline goodness [0,1] 0.999935179983579 Centerline is valid? [True, True] Translation: X:217.31, Y:102.89, Z:3.76 [[ 1.99098977e-01 -9.79964531e-01 -5.39597392e-03 2.17305796e+02] [ 9.79573016e-01 1.99171952e-01 -2.76990798e-02 1.02893562e+02] [ 2.82188424e-02 2.29107991e-04 9.99601743e-01 3.75719383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.320385723 meters Centerline goodness [0,1] 0.999978321663162 Centerline is valid? [True, True] Translation: X:217.31, Y:102.92, Z:3.76 [[ 2.00448372e-01 -9.79689736e-01 -5.33578007e-03 2.17311992e+02] [ 9.79305669e-01 2.00519191e-01 -2.74310177e-02 1.02921436e+02] [ 2.79438128e-02 2.73143169e-04 9.99609458e-01 3.75846116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.32, Y:102.95, Z:3.76 [[ 2.03319209e-01 -9.79098424e-01 -5.25123989e-03 2.17316985e+02] [ 9.78725216e-01 2.03386698e-01 -2.70333610e-02 1.02948167e+02] [ 2.75363535e-02 3.56880668e-04 9.99620739e-01 3.75781347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.32, Y:102.98, Z:3.76 [[ 2.04308720e-01 -9.78892260e-01 -5.28118378e-03 2.17322302e+02] [ 9.78513740e-01 2.04376585e-01 -2.72226423e-02 1.02975046e+02] [ 2.77273841e-02 3.94112303e-04 9.99615444e-01 3.75764375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.33, Y:103.00, Z:3.76 [[ 2.06103672e-01 -9.78515358e-01 -5.38244225e-03 2.17330482e+02] [ 9.78120970e-01 2.06173426e-01 -2.77828419e-02 1.03001079e+02] [ 2.82956541e-02 4.61466120e-04 9.99599491e-01 3.75845642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.34, Y:103.03, Z:3.76 [[ 2.06550207e-01 -9.78421592e-01 -5.31034383e-03 2.17340232e+02] [ 9.78036548e-01 2.06617911e-01 -2.74508740e-02 1.03027906e+02] [ 2.79557400e-02 4.76273372e-04 9.99609048e-01 3.76128635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.470385723 meters Centerline goodness [0,1] 0.9999563404571155 Centerline is valid? [True, True] Translation: X:217.34, Y:103.05, Z:3.76 [[ 2.06960719e-01 -9.78335166e-01 -5.25003569e-03 2.17344318e+02] [ 9.77957824e-01 2.07026719e-01 -2.71741082e-02 1.03054430e+02] [ 2.76722833e-02 4.89659502e-04 9.99616929e-01 3.75994679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.35, Y:103.08, Z:3.76 [[ 2.07134950e-01 -9.78298794e-01 -5.15578071e-03 2.17353548e+02] [ 9.77933965e-01 2.07198521e-01 -2.67195180e-02 1.03080808e+02] [ 2.72079424e-02 4.92532956e-04 9.99629674e-01 3.76270194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.36, Y:103.11, Z:3.76 [[ 2.07928548e-01 -9.78131999e-01 -4.84887881e-03 2.17359318e+02] [ 9.77808330e-01 2.07984498e-01 -2.51658058e-02 1.03107340e+02] [ 2.56239716e-02 4.91415379e-04 9.99671531e-01 3.76279651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.560385723 meters Centerline goodness [0,1] 0.9999781143307362 Centerline is valid? [True, True] Translation: X:217.36, Y:103.13, Z:3.76 [[ 2.08204316e-01 -9.78073485e-01 -4.81872735e-03 2.17364654e+02] [ 9.77752826e-01 2.08259463e-01 -2.50480975e-02 1.03134200e+02] [ 2.55024256e-02 5.03597729e-04 9.99674633e-01 3.76203952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.590385723 meters Centerline goodness [0,1] 0.9999560584422718 Centerline is valid? [True, True] Translation: X:217.37, Y:103.16, Z:3.76 [[ 2.07952096e-01 -9.78126829e-01 -4.88179586e-03 2.17371864e+02] [ 9.77796707e-01 2.08008760e-01 -2.54156776e-02 1.03160086e+02] [ 2.58752125e-02 5.11839515e-04 9.99665050e-01 3.76206504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.620385723 meters Centerline goodness [0,1] 0.9999121419785626 Centerline is valid? [True, True] Translation: X:217.38, Y:103.19, Z:3.76 [[ 2.08361085e-01 -9.78037940e-01 -5.23884320e-03 2.17380600e+02] [ 9.77656519e-01 2.08426155e-01 -2.73179371e-02 1.03185758e+02] [ 2.78098909e-02 5.70205811e-04 9.99613068e-01 3.76127003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.39, Y:103.21, Z:3.76 [[ 2.07837501e-01 -9.78149282e-01 -5.24943192e-03 2.17391438e+02] [ 9.77765205e-01 2.07903016e-01 -2.74142406e-02 1.03212095e+02] [ 2.79065924e-02 5.64995364e-04 9.99610376e-01 3.76414476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.68038572300003 meters Centerline goodness [0,1] 0.9999559131489033 Centerline is valid? [True, True] Translation: X:217.40, Y:103.24, Z:3.76 [[ 2.06975505e-01 -9.78331491e-01 -5.35099763e-03 2.17396033e+02] [ 9.77931205e-01 2.07043906e-01 -2.79889038e-02 1.03238716e+02] [ 2.84903174e-02 5.60109933e-04 9.99593912e-01 3.76162819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.710385723 meters Centerline goodness [0,1] 0.9999114064230343 Centerline is valid? [True, True] Translation: X:217.41, Y:103.27, Z:3.77 [[ 2.05941701e-01 -9.78549562e-01 -5.36384962e-03 2.17408149e+02] [ 9.78146162e-01 2.06010832e-01 -2.81002342e-02 1.03265041e+02] [ 2.86024830e-02 5.40381101e-04 9.99590719e-01 3.76515360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.740385723 meters Centerline goodness [0,1] 0.9998891008295258 Centerline is valid? [True, True] Translation: X:217.42, Y:103.29, Z:3.76 [[ 2.04490713e-01 -9.78853250e-01 -5.46469404e-03 2.17415495e+02] [ 9.78433336e-01 2.04563065e-01 -2.86733223e-02 1.03291287e+02] [ 2.91848493e-02 5.16589295e-04 9.99573898e-01 3.76475044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.770385723 meters Centerline goodness [0,1] 0.9999555683913536 Centerline is valid? [True, True] Translation: X:217.42, Y:103.32, Z:3.77 [[ 2.03140965e-01 -9.79133171e-01 -5.65526470e-03 2.17423949e+02] [ 9.78682403e-01 2.03219051e-01 -2.97114739e-02 1.03318746e+02] [ 3.02407472e-02 5.00909429e-04 9.99542519e-01 3.76526156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.800385723 meters Centerline goodness [0,1] 0.9999777792591605 Centerline is valid? [True, True] Translation: X:217.44, Y:103.34, Z:3.76 [[ 2.00077797e-01 -9.79761267e-01 -6.06087250e-03 2.17435065e+02] [ 9.79242427e-01 2.00169083e-01 -3.18842951e-02 1.03344087e+02] [ 3.24521967e-02 4.44276029e-04 9.99473190e-01 3.76438649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.830385723 meters Centerline goodness [0,1] 0.9996656040305861 Centerline is valid? [True, True] Translation: X:217.44, Y:103.37, Z:3.76 [[ 1.97711090e-01 -9.80240110e-01 -6.29701528e-03 2.17443757e+02] [ 9.79678532e-01 1.97810958e-01 -3.31782841e-02 1.03371111e+02] [ 3.37683035e-02 3.90664033e-04 9.99429612e-01 3.76428600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.860385723 meters Centerline goodness [0,1] 0.9995765167387332 Centerline is valid? [True, True] Translation: X:217.45, Y:103.40, Z:3.76 [[ 1.95304686e-01 -9.80721079e-01 -6.49961136e-03 2.17453068e+02] [ 9.80121227e-01 1.95412532e-01 -3.42975568e-02 1.03397774e+02] [ 3.49064424e-02 3.28066506e-04 9.99390531e-01 3.76450861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.890385723 meters Centerline goodness [0,1] 0.9999105385578816 Centerline is valid? [True, True] Translation: X:217.47, Y:103.42, Z:3.77 [[ 1.89164731e-01 -9.81924302e-01 -6.43186262e-03 2.17466740e+02] [ 9.81336161e-01 1.89274010e-01 -3.39807106e-02 1.03423373e+02] [ 3.45838700e-02 1.16132601e-04 9.99401792e-01 3.76517001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.920385723 meters Centerline goodness [0,1] 0.9999105385578816 Centerline is valid? [True, True] Translation: X:217.47, Y:103.45, Z:3.77 [[ 1.88900885e-01 -9.81975146e-01 -6.42407347e-03 2.17471794e+02] [ 9.81386983e-01 1.89010053e-01 -3.39821836e-02 1.03450503e+02] [ 3.45838741e-02 1.14762476e-04 9.99401792e-01 3.76558784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.950385723 meters Centerline goodness [0,1] 0.9997983825802549 Centerline is valid? [True, True] Translation: X:217.48, Y:103.48, Z:3.77 [[ 1.86262785e-01 -9.82479525e-01 -6.33706103e-03 2.17480801e+02] [ 9.81905856e-01 1.86370552e-01 -3.35694456e-02 1.03477864e+02] [ 3.41623345e-02 3.03411056e-05 9.99416297e-01 3.76743402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.980385723 meters Centerline goodness [0,1] 0.9998881381717303 Centerline is valid? [True, True] Translation: X:217.49, Y:103.50, Z:3.77 [[ 1.84987625e-01 -9.82724227e-01 -5.71599909e-03 2.17487241e+02] [ 9.82256544e-01 1.85075914e-01 -3.03148104e-02 1.03504324e+02] [ 3.08489924e-02 -6.71272146e-06 9.99524057e-01 3.77046462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.010385723 meters Centerline goodness [0,1] 0.9998658498412556 Centerline is valid? [True, True] Translation: X:217.49, Y:103.53, Z:3.77 [[ 1.85425286e-01 -9.82643111e-01 -5.47534981e-03 2.17491913e+02] [ 9.82212856e-01 1.85506108e-01 -2.90755710e-02 1.03532021e+02] [ 2.95866203e-02 1.33870868e-05 9.99562220e-01 3.77364015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.50, Y:103.56, Z:3.77 [[ 1.86769177e-01 -9.82389064e-01 -5.38529675e-03 2.17496372e+02] [ 9.81971448e-01 1.86846791e-01 -2.86417934e-02 1.03558748e+02] [ 2.91436100e-02 6.11965239e-05 9.99575233e-01 3.77462024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.070385723 meters Centerline goodness [0,1] 0.9999553710893917 Centerline is valid? [True, True] Translation: X:217.50, Y:103.59, Z:3.78 [[ 1.89471405e-01 -9.81871033e-01 -5.46461230e-03 2.17500305e+02] [ 9.81439439e-01 1.89550131e-01 -2.91096976e-02 1.03586853e+02] [ 2.96177868e-02 1.52269273e-04 9.99561286e-01 3.77654631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.100385723 meters Centerline goodness [0,1] 0.9999553162492459 Centerline is valid? [True, True] Translation: X:217.50, Y:103.61, Z:3.78 [[ 1.89995148e-01 -9.81769218e-01 -5.57191835e-03 2.17504490e+02] [ 9.81319032e-01 1.90076747e-01 -2.97285693e-02 1.03613675e+02] [ 3.02456864e-02 1.80454398e-04 9.99542478e-01 3.77647600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.130385723 meters Centerline goodness [0,1] 0.9998214484990514 Centerline is valid? [True, True] Translation: X:217.51, Y:103.64, Z:3.78 [[ 1.90264058e-01 -9.81716293e-01 -5.71916098e-03 2.17509262e+02] [ 9.81240457e-01 1.90349886e-01 -3.05628415e-02 1.03641268e+02] [ 3.10926811e-02 2.03138115e-04 9.99516485e-01 3.77635991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.160385723 meters Centerline goodness [0,1] 0.9998661192431274 Centerline is valid? [True, True] Translation: X:217.51, Y:103.67, Z:3.77 [[ 1.90580105e-01 -9.81652804e-01 -6.08247607e-03 2.17513233e+02] [ 9.81113100e-01 1.90676998e-01 -3.25479192e-02 1.03668063e+02] [ 3.31105444e-02 2.35388907e-04 9.99451668e-01 3.77463045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.190385723 meters Centerline goodness [0,1] 0.9998216117379476 Centerline is valid? [True, True] Translation: X:217.52, Y:103.70, Z:3.77 [[ 1.90024699e-01 -9.81759217e-01 -6.28127407e-03 2.17518256e+02] [ 9.81182204e-01 1.90128342e-01 -3.36555370e-02 1.03696186e+02] [ 3.42358819e-02 2.32308944e-04 9.99413753e-01 3.77469216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.220385723 meters Centerline goodness [0,1] 0.9997544533238091 Centerline is valid? [True, True] Translation: X:217.52, Y:103.72, Z:3.77 [[ 1.89238585e-01 -9.81911048e-01 -6.28106549e-03 2.17523692e+02] [ 9.81332398e-01 1.89342673e-01 -3.37057442e-02 1.03722652e+02] [ 3.42853164e-02 2.14614297e-04 9.99412063e-01 3.77488641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.250385723 meters Centerline goodness [0,1] 0.9998215838890252 Centerline is valid? [True, True] Translation: X:217.53, Y:103.75, Z:3.77 [[ 1.86369723e-01 -9.82459084e-01 -6.36190753e-03 2.17529653e+02] [ 9.81863857e-01 1.86478234e-01 -3.41940731e-02 1.03748915e+02] [ 3.47806350e-02 1.26212874e-04 9.99394963e-01 3.77478232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.54, Y:103.78, Z:3.78 [[ 1.84905912e-01 -9.82735573e-01 -6.37168006e-03 2.17535157e+02] [ 9.82136850e-01 1.85015641e-01 -3.42989876e-02 1.03776336e+02] [ 3.48856957e-02 8.42237997e-05 9.99391305e-01 3.77694724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.310385723 meters Centerline goodness [0,1] 0.9999776521331039 Centerline is valid? [True, True] Translation: X:217.54, Y:103.80, Z:3.78 [[ 1.82562200e-01 -9.83174376e-01 -6.26009123e-03 2.17540720e+02] [ 9.82595004e-01 1.82669498e-01 -3.37477799e-02 1.03803945e+02] [ 3.43234801e-02 9.93456501e-06 9.99410776e-01 3.77759805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.340385723 meters Centerline goodness [0,1] 0.999955410888661 Centerline is valid? [True, True] Translation: X:217.55, Y:103.83, Z:3.78 [[ 1.77831626e-01 -9.84041907e-01 -6.11871074e-03 2.17548549e+02] [ 9.83487138e-01 1.77936802e-01 -3.30385239e-02 1.03828773e+02] [ 3.36000358e-02 -1.42378885e-04 9.99435349e-01 3.77894451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.370385723 meters Centerline goodness [0,1] 0.9999776341392499 Centerline is valid? [True, True] Translation: X:217.56, Y:103.86, Z:3.78 [[ 1.75103570e-01 -9.84532054e-01 -5.94761047e-03 2.17555567e+02] [ 9.84006417e-01 1.75204412e-01 -3.21680783e-02 1.03855142e+02] [ 3.27125518e-02 -2.19741517e-04 9.99464777e-01 3.77999227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.56, Y:103.88, Z:3.78 [[ 1.70630649e-01 -9.85317669e-01 -5.85431663e-03 2.17563775e+02] [ 9.84807282e-01 1.70730682e-01 -3.17120041e-02 1.03882283e+02] [ 3.22459095e-02 -3.54333794e-04 9.99479903e-01 3.78204593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.43038572300003 meters Centerline goodness [0,1] 0.9999776060911432 Centerline is valid? [True, True] Translation: X:217.57, Y:103.91, Z:3.78 [[ 1.68633470e-01 -9.85661465e-01 -5.85060963e-03 2.17569247e+02] [ 9.85150445e-01 1.68734429e-01 -3.17378853e-02 1.03909433e+02] [ 3.22700098e-02 -4.11660942e-04 9.99479103e-01 3.78211866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.57, Y:103.94, Z:3.78 [[ 1.67696533e-01 -9.85821512e-01 -5.81547170e-03 2.17574311e+02] [ 9.85315153e-01 1.67796783e-01 -3.15957073e-02 1.03936209e+02] [ 3.21235454e-02 -4.31581829e-04 9.99483813e-01 3.78248709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.58, Y:103.96, Z:3.78 [[ 1.66738270e-01 -9.85984623e-01 -5.71593514e-03 2.17579466e+02] [ 9.85493925e-01 1.66835617e-01 -3.11062805e-02 1.03961951e+02] [ 3.16239358e-02 -4.46411977e-04 9.99499739e-01 3.78282499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.520385723 meters Centerline goodness [0,1] 0.9998883878744587 Centerline is valid? [True, True] Translation: X:217.58, Y:103.99, Z:3.78 [[ 1.65923111e-01 -9.86122484e-01 -5.65395313e-03 2.17584471e+02] [ 9.85640869e-01 1.66018780e-01 -3.08195167e-02 1.03988424e+02] [ 3.13304808e-02 -4.59097186e-04 9.99508975e-01 3.78406135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.59, Y:104.01, Z:3.79 [[ 1.65569092e-01 -9.86182325e-01 -5.59448352e-03 2.17589823e+02] [ 9.85709321e-01 1.65662951e-01 -3.05437714e-02 1.04014721e+02] [ 3.10485262e-02 -4.57430039e-04 9.99517774e-01 3.78611842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.580385723 meters Centerline goodness [0,1] 0.9999553112570944 Centerline is valid? [True, True] Translation: X:217.59, Y:104.04, Z:3.79 [[ 1.65399619e-01 -9.86210796e-01 -5.58858449e-03 2.17593071e+02] [ 9.85737345e-01 1.65493382e-01 -3.05585835e-02 1.04043030e+02] [ 3.10620787e-02 -4.54498386e-04 9.99517354e-01 3.78794953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.60, Y:104.07, Z:3.79 [[ 1.65443009e-01 -9.86202315e-01 -5.79690227e-03 2.17595639e+02] [ 9.85691313e-01 1.65543892e-01 -3.17467521e-02 1.04070803e+02] [ 3.22683621e-02 -4.61678018e-04 9.99479134e-01 3.78873996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.640385723 meters Centerline goodness [0,1] 0.9999553451817451 Centerline is valid? [True, True] Translation: X:217.60, Y:104.10, Z:3.79 [[ 1.65624175e-01 -9.86171564e-01 -5.85478925e-03 2.17599617e+02] [ 9.85648653e-01 1.65727009e-01 -3.21137229e-02 1.04098635e+02] [ 3.26399370e-02 -4.51956280e-04 9.99467073e-01 3.78883996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.60, Y:104.13, Z:3.79 [[ 1.66059831e-01 -9.86097631e-01 -5.96609648e-03 2.17603709e+02] [ 9.85552837e-01 1.66166395e-01 -3.27770375e-02 1.04125298e+02] [ 3.33127238e-02 -4.36954023e-04 9.99444882e-01 3.78822077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.700385723 meters Centerline goodness [0,1] 0.9999554535937814 Centerline is valid? [True, True] Translation: X:217.61, Y:104.15, Z:3.79 [[ 1.66041150e-01 -9.86100496e-01 -6.01241328e-03 2.17607887e+02] [ 9.85545451e-01 1.66149408e-01 -3.30837981e-02 1.04153289e+02] [ 3.36229086e-02 -4.32234676e-04 9.99434497e-01 3.78814740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.730385723 meters Centerline goodness [0,1] 0.9998446791515044 Centerline is valid? [True, True] Translation: X:217.61, Y:104.18, Z:3.79 [[ 1.65615380e-01 -9.86172767e-01 -5.90087654e-03 2.17612282e+02] [ 9.85636544e-01 1.65719912e-01 -3.25194291e-02 1.04180788e+02] [ 3.30476681e-02 -4.30401952e-04 9.99453684e-01 3.78909609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.760385723 meters Centerline goodness [0,1] 0.9999555703654337 Centerline is valid? [True, True] Translation: X:217.62, Y:104.21, Z:3.79 [[ 1.64813872e-01 -9.86306768e-01 -5.94536061e-03 2.17617004e+02] [ 9.85760832e-01 1.64920451e-01 -3.28150457e-02 1.04208446e+02] [ 3.33462132e-02 -4.52328876e-04 9.99443758e-01 3.78981945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.62, Y:104.24, Z:3.79 [[ 1.64045696e-01 -9.86436823e-01 -5.60384479e-03 2.17621186e+02] [ 9.85950434e-01 1.64140784e-01 -3.09765253e-02 1.04236530e+02] [ 3.14762047e-02 -4.43547540e-04 9.99504403e-01 3.79215187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.63, Y:104.26, Z:3.79 [[ 1.63112507e-01 -9.86591850e-01 -5.55255438e-03 2.17627530e+02] [ 9.86113135e-01 1.63206332e-01 -3.07339898e-02 1.04263112e+02] [ 3.12281159e-02 -4.62348695e-04 9.99512177e-01 3.79133675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.63, Y:104.29, Z:3.79 [[ 1.61681292e-01 -9.86828030e-01 -5.44050261e-03 2.17631157e+02] [ 9.86367347e-01 1.61772057e-01 -3.01539175e-02 1.04290773e+02] [ 3.06368523e-02 -4.91009770e-04 9.99530461e-01 3.79307180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.64, Y:104.32, Z:3.79 [[ 1.58988731e-01 -9.87266608e-01 -5.21809155e-03 2.17635378e+02] [ 9.86841733e-01 1.59073408e-01 -2.89662628e-02 1.04317945e+02] [ 2.94274836e-02 -5.44121147e-04 9.99566770e-01 3.79375488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.64, Y:104.35, Z:3.79 [[ 1.57500891e-01 -9.87505725e-01 -5.09047312e-03 2.17638925e+02] [ 9.87100220e-01 1.57582112e-01 -2.83025242e-02 1.04345592e+02] [ 2.87510722e-02 -5.67134364e-04 9.99586442e-01 3.79483534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.64, Y:104.37, Z:3.79 [[ 1.56030204e-01 -9.87740099e-01 -4.90646166e-03 2.17643891e+02] [ 9.87362485e-01 1.56106242e-01 -2.73160149e-02 1.04372708e+02] [ 2.77470525e-02 -5.82332811e-04 9.99614807e-01 3.79378972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.970385723 meters Centerline goodness [0,1] 0.9999334826278796 Centerline is valid? [True, True] Translation: X:217.65, Y:104.40, Z:3.80 [[ 1.55414396e-01 -9.87837778e-01 -4.78425132e-03 2.17645687e+02] [ 9.87477841e-01 1.55486938e-01 -2.66706859e-02 1.04400680e+02] [ 2.70901997e-02 -5.79333628e-04 9.99632825e-01 3.79589746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.65, Y:104.43, Z:3.79 [[ 1.55237704e-01 -9.87866252e-01 -4.63929858e-03 2.17652011e+02] [ 9.87526737e-01 1.55306001e-01 -2.59034768e-02 1.04427368e+02] [ 2.63096814e-02 -5.60235122e-04 9.99653683e-01 3.79485566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.65, Y:104.45, Z:3.79 [[ 1.55751201e-01 -9.87785554e-01 -4.61114397e-03 2.17653078e+02] [ 9.87448978e-01 1.55818521e-01 -2.57896171e-02 1.04454172e+02] [ 2.61931129e-02 -5.36505555e-04 9.99656758e-01 3.79390248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.060385723 meters Centerline goodness [0,1] 0.9999779502557771 Centerline is valid? [True, True] Translation: X:217.65, Y:104.48, Z:3.79 [[ 1.56251754e-01 -9.87706682e-01 -4.57168113e-03 2.17651633e+02] [ 9.87374695e-01 1.56317781e-01 -2.56117642e-02 1.04482498e+02] [ 2.60115457e-02 -5.12079193e-04 9.99661511e-01 3.79466113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.66, Y:104.51, Z:3.79 [[ 1.57345700e-01 -9.87533136e-01 -4.54258989e-03 2.17657369e+02] [ 9.87204235e-01 1.57410546e-01 -2.54895559e-02 1.04509195e+02] [ 2.58868326e-02 -4.73791954e-04 9.99664768e-01 3.79195745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.66, Y:104.54, Z:3.79 [[ 1.58823182e-01 -9.87297376e-01 -4.36894885e-03 2.17659414e+02] [ 9.86992131e-01 1.58882726e-01 -2.45522385e-02 1.04535968e+02] [ 2.49345111e-02 -4.12653493e-04 9.99689002e-01 3.79196951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.66, Y:104.56, Z:3.79 [[ 1.59048565e-01 -9.87261509e-01 -4.27392980e-03 2.17659913e+02] [ 9.86968515e-01 1.59105494e-01 -2.40539266e-02 1.04564431e+02] [ 2.44275216e-02 -3.92491654e-04 9.99701527e-01 3.79476638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.18038572300003 meters Centerline goodness [0,1] 0.9999561114768488 Centerline is valid? [True, True] Translation: X:217.66, Y:104.59, Z:3.80 [[ 1.59080994e-01 -9.87257361e-01 -4.01757196e-03 2.17661955e+02] [ 9.86997647e-01 1.59131305e-01 -2.26466792e-02 1.04591977e+02] [ 2.29974222e-02 -3.62677818e-04 9.99735459e-01 3.79513648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.66, Y:104.62, Z:3.80 [[ 1.58735162e-01 -9.87313823e-01 -3.81618885e-03 2.17664226e+02] [ 9.87078759e-01 1.58780650e-01 -2.15459607e-02 1.04619850e+02] [ 2.18785618e-02 -3.46777382e-04 9.99760575e-01 3.79518291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.67, Y:104.65, Z:3.80 [[ 1.58961888e-01 -9.87277581e-01 -3.75443895e-03 2.17668173e+02] [ 9.87049375e-01 1.59005874e-01 -2.12288339e-02 1.04646534e+02] [ 2.15557297e-02 -3.31241106e-04 9.99767593e-01 3.79557668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.270385723 meters Centerline goodness [0,1] 0.9999781009110021 Centerline is valid? [True, True] Translation: X:217.67, Y:104.67, Z:3.80 [[ 1.59003132e-01 -9.87271088e-01 -3.71513178e-03 2.17671504e+02] [ 9.87047048e-01 1.59046202e-01 -2.10340328e-02 1.04674032e+02] [ 2.13571701e-02 -3.22532758e-04 9.99771858e-01 3.79620406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.300385723 meters Centerline goodness [0,1] 0.9999343473027683 Centerline is valid? [True, True] Translation: X:217.67, Y:104.70, Z:3.80 [[ 1.59009789e-01 -9.87269853e-01 -3.75814165e-03 2.17674374e+02] [ 9.87039834e-01 1.59053871e-01 -2.13127379e-02 1.04701507e+02] [ 2.16391706e-02 -3.20501548e-04 9.99765794e-01 3.79513043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.330385723 meters Centerline goodness [0,1] 0.9999781100190442 Centerline is valid? [True, True] Translation: X:217.68, Y:104.73, Z:3.80 [[ 1.59086562e-01 -9.87257978e-01 -3.62648701e-03 2.17676238e+02] [ 9.87043084e-01 1.59127604e-01 -2.05998978e-02 1.04729691e+02] [ 2.09144877e-02 -3.02331995e-04 9.99781222e-01 3.79553477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.68, Y:104.76, Z:3.80 [[ 1.58230089e-01 -9.87396118e-01 -3.48500745e-03 2.17679526e+02] [ 9.87197057e-01 1.58268173e-01 -1.98281588e-02 1.04756250e+02] [ 2.01298128e-02 -3.02977753e-04 9.99797329e-01 3.79517166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.68, Y:104.78, Z:3.80 [[ 1.56391831e-01 -9.87689451e-01 -3.33824842e-03 2.17682051e+02] [ 9.87506270e-01 1.56427125e-01 -1.90242024e-02 1.04784263e+02] [ 1.93121966e-02 -3.21311401e-04 9.99813451e-01 3.79525023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.69, Y:104.81, Z:3.79 [[ 1.55383580e-01 -9.87848394e-01 -3.39018080e-03 2.17685282e+02] [ 9.87658900e-01 1.55420184e-01 -1.93510824e-02 1.04810868e+02] [ 1.96428382e-02 -3.41501774e-04 9.99807003e-01 3.79473795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.69, Y:104.84, Z:3.79 [[ 1.53794492e-01 -9.88097302e-01 -3.31311915e-03 2.17686922e+02] [ 9.87915792e-01 1.53829753e-01 -1.89419083e-02 1.04838276e+02] [ 1.92261048e-02 -3.59921560e-04 9.99815097e-01 3.79369403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.69, Y:104.87, Z:3.79 [[ 1.52866949e-01 -9.88241523e-01 -3.22317425e-03 2.17691089e+02] [ 9.88069274e-01 1.52900493e-01 -1.84539934e-02 1.04866511e+02] [ 1.87298275e-02 -3.63713768e-04 9.99824515e-01 3.79460242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.70, Y:104.89, Z:3.80 [[ 1.51660372e-01 -9.88428039e-01 -3.02389907e-03 2.17695263e+02] [ 9.88276010e-01 1.51690091e-01 -1.73391220e-02 1.04893973e+02] [ 1.75971699e-02 -3.58789218e-04 9.99845093e-01 3.79550963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.70, Y:104.92, Z:3.79 [[ 1.49505198e-01 -9.88756111e-01 -3.09011867e-03 2.17698271e+02] [ 9.88596924e-01 1.49536589e-01 -1.77462893e-02 1.04920889e+02] [ 1.80088378e-02 -4.01719329e-04 9.99837747e-01 3.79454961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.570385723 meters Centerline goodness [0,1] 0.9999566169931238 Centerline is valid? [True, True] Translation: X:217.70, Y:104.95, Z:3.79 [[ 1.48172648e-01 -9.88956563e-01 -3.12791477e-03 2.17700271e+02] [ 9.88793103e-01 1.48205041e-01 -1.79851184e-02 1.04949690e+02] [ 1.82500736e-02 -4.27957938e-04 9.99833362e-01 3.79399139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.70, Y:104.98, Z:3.79 [[ 1.47235365e-01 -9.89096507e-01 -3.13809899e-03 2.17704292e+02] [ 9.88931513e-01 1.47268138e-01 -1.80709059e-02 1.04976300e+02] [ 1.83360119e-02 -4.42688555e-04 9.99831783e-01 3.79290775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.71, Y:105.00, Z:3.79 [[ 1.46359844e-01 -9.89226235e-01 -3.20201052e-03 2.17708035e+02] [ 9.89053966e-01 1.46394130e-01 -1.84664789e-02 1.05003266e+02] [ 1.87362809e-02 -4.64210235e-04 9.99824353e-01 3.79329959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.71, Y:105.03, Z:3.79 [[ 1.45349669e-01 -9.89376027e-01 -2.92417570e-03 2.17708329e+02] [ 9.89231949e-01 1.45378422e-01 -1.68898213e-02 1.05031935e+02] [ 1.71354963e-02 -4.37758084e-04 9.99853081e-01 3.79475861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.690385723 meters Centerline goodness [0,1] 0.9998916177140008 Centerline is valid? [True, True] Translation: X:217.71, Y:105.06, Z:3.80 [[ 1.44795598e-01 -9.89457553e-01 -2.82601215e-03 2.17711668e+02] [ 9.89322580e-01 1.44822538e-01 -1.63482604e-02 1.05059919e+02] [ 1.65851800e-02 -4.28681496e-04 9.99862365e-01 3.79585134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.720385723 meters Centerline goodness [0,1] 0.9999566433263241 Centerline is valid? [True, True] Translation: X:217.71, Y:105.09, Z:3.80 [[ 1.44237193e-01 -9.89539939e-01 -2.51821164e-03 2.17713448e+02] [ 9.89432469e-01 1.44258653e-01 -1.45886711e-02 1.05088173e+02] [ 1.47993466e-02 -3.87371386e-04 9.99890409e-01 3.79706710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.72, Y:105.12, Z:3.80 [[ 1.44258318e-01 -9.89537065e-01 -2.43616815e-03 2.17715436e+02] [ 9.89436170e-01 1.44278409e-01 -1.41352958e-02 1.05115184e+02] [ 1.43388855e-02 -3.71298896e-04 9.99897124e-01 3.79700435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.780385723 meters Centerline goodness [0,1] 0.9999566940216097 Centerline is valid? [True, True] Translation: X:217.71, Y:105.14, Z:3.80 [[ 1.44657119e-01 -9.89478957e-01 -2.38984637e-03 2.17714683e+02] [ 9.89381529e-01 1.44676423e-01 -1.38896508e-02 1.05142353e+02] [ 1.40892716e-02 -3.55232984e-04 9.99900678e-01 3.79566773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.72, Y:105.17, Z:3.80 [[ 1.45256529e-01 -9.89391036e-01 -2.43265493e-03 2.17717195e+02] [ 9.89289731e-01 1.45276478e-01 -1.41623619e-02 1.05170543e+02] [ 1.43655215e-02 -3.49425008e-04 9.99896750e-01 3.79568162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.72, Y:105.20, Z:3.80 [[ 1.44995509e-01 -9.89429332e-01 -2.42892267e-03 2.17721782e+02] [ 9.89328022e-01 1.45015431e-01 -1.41630019e-02 1.05197740e+02] [ 1.43655208e-02 -3.49429587e-04 9.99896750e-01 3.79609891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.72, Y:105.23, Z:3.80 [[ 1.45205251e-01 -9.89398278e-01 -2.54624441e-03 2.17724930e+02] [ 9.89286566e-01 1.45227129e-01 -1.48718398e-02 1.05225956e+02] [ 1.50839565e-02 -3.59496159e-04 9.99886166e-01 3.79578755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.900385723 meters Centerline goodness [0,1] 0.9999140764290164 Centerline is valid? [True, True] Translation: X:217.73, Y:105.25, Z:3.80 [[ 1.45941930e-01 -9.89289745e-01 -2.59885914e-03 2.17725566e+02] [ 9.89172974e-01 1.45964644e-01 -1.52036258e-02 1.05253891e+02] [ 1.54201327e-02 -3.51874724e-04 9.99881041e-01 3.79609005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.93038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.73, Y:105.28, Z:3.80 [[ 1.45848316e-01 -9.89304152e-01 -2.35880712e-03 2.17728463e+02] [ 9.89207681e-01 1.45867043e-01 -1.38191835e-02 1.05281718e+02] [ 1.40154478e-02 -3.17845495e-04 9.99901728e-01 3.79738426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.73, Y:105.31, Z:3.80 [[ 1.46082556e-01 -9.89269781e-01 -2.27758810e-03 2.17732927e+02] [ 9.89179557e-01 1.46100001e-01 -1.33639071e-02 1.05308822e+02] [ 1.35532651e-02 -3.00709878e-04 9.99908105e-01 3.79875150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.990385723 meters Centerline goodness [0,1] 0.9999785803024461 Centerline is valid? [True, True] Translation: X:217.73, Y:105.34, Z:3.80 [[ 1.47203993e-01 -9.89103883e-01 -2.11957763e-03 2.17728941e+02] [ 9.89025484e-01 1.47219018e-01 -1.24560277e-02 1.05338276e+02] [ 1.26323475e-02 -2.62739264e-04 9.99920174e-01 3.79840592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.020385723 meters Centerline goodness [0,1] 0.9999572905099513 Centerline is valid? [True, True] Translation: X:217.73, Y:105.37, Z:3.80 [[ 1.48417880e-01 -9.88922563e-01 -2.07316929e-03 2.17730621e+02] [ 9.88847299e-01 1.48432166e-01 -1.22029231e-02 1.05366437e+02] [ 1.23754710e-02 -2.38915882e-04 9.99923392e-01 3.79832449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.73, Y:105.40, Z:3.80 [[ 1.51000027e-01 -9.88531695e-01 -2.02007213e-03 2.17730161e+02] [ 9.88459970e-01 1.51013408e-01 -1.19095546e-02 1.05395581e+02] [ 1.20780302e-02 -1.98417374e-04 9.99927038e-01 3.79813192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.080385723 meters Centerline goodness [0,1] 0.9999786525488856 Centerline is valid? [True, True] Translation: X:217.73, Y:105.42, Z:3.80 [[ 1.51606671e-01 -9.88438567e-01 -2.14882614e-03 2.17732807e+02] [ 9.88357120e-01 1.51621767e-01 -1.26902464e-02 1.05423179e+02] [ 1.28693378e-02 -1.99881596e-04 9.99917167e-01 3.79835494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.74, Y:105.45, Z:3.80 [[ 1.52074090e-01 -9.88366704e-01 -2.17470931e-03 2.17735630e+02] [ 9.88282991e-01 1.52089517e-01 -1.28650183e-02 1.05451493e+02] [ 1.30461062e-02 -1.92792266e-04 9.99914877e-01 3.79826268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.74, Y:105.48, Z:3.80 [[ 1.52053948e-01 -9.88369650e-01 -2.24342537e-03 2.17740252e+02] [ 9.88280238e-01 1.52070371e-01 -1.32956382e-02 1.05478591e+02] [ 1.34821638e-02 -1.95478672e-04 9.99909092e-01 3.79828140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.74, Y:105.51, Z:3.80 [[ 1.51665580e-01 -9.88429021e-01 -2.37109062e-03 2.17741548e+02] [ 9.88328822e-01 1.51683970e-01 -1.40752911e-02 1.05506851e+02] [ 1.42720826e-02 -2.08680014e-04 9.99898127e-01 3.79712839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.74, Y:105.54, Z:3.80 [[ 1.51796178e-01 -9.88408805e-01 -2.44030810e-03 2.17744510e+02] [ 9.88302296e-01 1.51815649e-01 -1.45114156e-02 1.05535189e+02] [ 1.47136879e-02 -2.08984666e-04 9.99891726e-01 3.79654612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.75, Y:105.56, Z:3.80 [[ 1.52938419e-01 -9.88232631e-01 -2.47129240e-03 2.17749279e+02] [ 9.88122997e-01 1.52958266e-01 -1.47211295e-02 1.05563251e+02] [ 1.49259051e-02 -1.90514579e-04 9.99888584e-01 3.79763176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.75, Y:105.59, Z:3.80 [[ 1.53401767e-01 -9.88160799e-01 -2.47643406e-03 2.17754130e+02] [ 9.88050329e-01 1.53421649e-01 -1.47764790e-02 1.05589631e+02] [ 1.49814759e-02 -1.80103506e-04 9.99887755e-01 3.79875873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.76, Y:105.62, Z:3.80 [[ 1.53735031e-01 -9.88109097e-01 -2.43976428e-03 2.17758137e+02] [ 9.88001487e-01 1.53754297e-01 -1.45835084e-02 1.05617665e+02] [ 1.47852216e-02 -1.68494617e-04 9.99890678e-01 3.79940178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.76, Y:105.64, Z:3.80 [[ 1.53656632e-01 -9.88121324e-01 -2.42644842e-03 2.17761483e+02] [ 9.88014529e-01 1.53675701e-01 -1.45282238e-02 1.05644846e+02] [ 1.47285339e-02 -1.65008360e-04 9.99891516e-01 3.79938869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.76, Y:105.67, Z:3.80 [[ 1.53385860e-01 -9.88163330e-01 -2.45167428e-03 2.17764326e+02] [ 9.88053913e-01 1.53405362e-01 -1.47057858e-02 1.05673235e+02] [ 1.49078182e-02 -1.66726763e-04 9.99888858e-01 3.79824743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.77, Y:105.70, Z:3.80 [[ 1.52674014e-01 -9.88273522e-01 -2.46806657e-03 2.17770039e+02] [ 9.88162272e-01 1.52693861e-01 -1.48293434e-02 1.05700017e+02] [ 1.50323060e-02 -1.74794895e-04 9.99886993e-01 3.79877559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.78, Y:105.73, Z:3.80 [[ 1.51210379e-01 -9.88498244e-01 -2.57748293e-03 2.17778216e+02] [ 9.88376489e-01 1.51232211e-01 -1.55156268e-02 1.05727475e+02] [ 1.57269683e-02 -2.01399723e-04 9.99876303e-01 3.79951092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.78, Y:105.76, Z:3.80 [[ 1.50244226e-01 -9.88645657e-01 -2.53734319e-03 2.17783583e+02] [ 9.88527289e-01 1.50265504e-01 -1.52995936e-02 1.05755349e+02] [ 1.55071519e-02 -2.09557387e-04 9.99879735e-01 3.80036556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.79, Y:105.78, Z:3.80 [[ 1.49499797e-01 -9.88758766e-01 -2.43188754e-03 2.17787745e+02] [ 9.88649691e-01 1.49519429e-01 -1.46876773e-02 1.05782869e+02] [ 1.48861841e-02 -2.08480103e-04 9.99889173e-01 3.80053073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.500385723 meters Centerline goodness [0,1] 0.9998309990071191 Centerline is valid? [True, True] Translation: X:217.79, Y:105.81, Z:3.80 [[ 1.47528028e-01 -9.89055388e-01 -2.21803481e-03 2.17792753e+02] [ 9.88964394e-01 1.47544545e-01 -1.34176835e-02 1.05809735e+02] [ 1.35980911e-02 -2.14073069e-04 9.99907519e-01 3.79871907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.80, Y:105.84, Z:3.80 [[ 1.47809728e-01 -9.89013578e-01 -2.10403796e-03 2.17798267e+02] [ 9.88931550e-01 1.47824570e-01 -1.27391854e-02 1.05836167e+02] [ 1.29102558e-02 -1.97773999e-04 9.99916640e-01 3.80205391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.560385723 meters Centerline goodness [0,1] 0.99991533495608 Centerline is valid? [True, True] Translation: X:217.80, Y:105.86, Z:3.80 [[ 1.47045646e-01 -9.89127302e-01 -2.18144577e-03 2.17803591e+02] [ 9.89038815e-01 1.47061674e-01 -1.32320030e-02 1.05863748e+02] [ 1.34089425e-02 -2.11826109e-04 9.99910074e-01 3.80155406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.81, Y:105.89, Z:3.80 [[ 1.46914666e-01 -9.89146538e-01 -2.28209468e-03 2.17810413e+02] [ 9.89049350e-01 1.46932225e-01 -1.38674080e-02 1.05891065e+02] [ 1.40522119e-02 -2.19778638e-04 9.99901239e-01 3.80450210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.81, Y:105.92, Z:3.80 [[ 1.46930649e-01 -9.89144114e-01 -2.30332924e-03 2.17814850e+02] [ 9.89044764e-01 1.46948540e-01 -1.40207560e-02 1.05917786e+02] [ 1.42070191e-02 -2.18016951e-04 9.99899051e-01 3.80450597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.82, Y:105.94, Z:3.80 [[ 1.47211064e-01 -9.89102202e-01 -2.39529469e-03 2.17817881e+02] [ 9.88994343e-01 1.47230388e-01 -1.46082645e-02 1.05944825e+02] [ 1.48017268e-02 -2.18434727e-04 9.99890425e-01 3.80393092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.68038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.82, Y:105.97, Z:3.80 [[ 1.47598875e-01 -9.89043438e-01 -2.76592050e-03 2.17822138e+02] [ 9.88899027e-01 1.47624593e-01 -1.69024864e-02 1.05972516e+02] [ 1.71256111e-02 -2.40428120e-04 9.99853317e-01 3.80128563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.83, Y:106.00, Z:3.80 [[ 1.47254575e-01 -9.89094402e-01 -2.89026828e-03 2.17827822e+02] [ 9.88936171e-01 1.47282720e-01 -1.76932262e-02 1.05999652e+02] [ 1.79259576e-02 -2.52882336e-04 9.99839285e-01 3.80190827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.740385723 meters Centerline goodness [0,1] 0.999914946097089 Centerline is valid? [True, True] Translation: X:217.83, Y:106.03, Z:3.80 [[ 1.46796799e-01 -9.89162061e-01 -3.01934275e-03 2.17834246e+02] [ 9.88988772e-01 1.46827603e-01 -1.85165645e-02 1.06027463e+02] [ 1.87592059e-02 -2.67923689e-04 9.99823995e-01 3.80161883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.770385723 meters Centerline goodness [0,1] 0.9998511461744567 Centerline is valid? [True, True] Translation: X:217.84, Y:106.05, Z:3.80 [[ 1.46451841e-01 -9.89213352e-01 -2.96693211e-03 2.17839715e+02] [ 9.89045448e-01 1.46481651e-01 -1.82271030e-02 1.06054497e+02] [ 1.84650948e-02 -2.65037903e-04 9.99829470e-01 3.80207829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.800385723 meters Centerline goodness [0,1] 0.9999575218231633 Centerline is valid? [True, True] Translation: X:217.84, Y:106.08, Z:3.80 [[ 1.47072164e-01 -9.89121132e-01 -3.02725166e-03 2.17844813e+02] [ 9.88945688e-01 1.47103097e-01 -1.86307456e-02 1.06081507e+02] [ 1.88733822e-02 -2.53723407e-04 9.99821850e-01 3.80290687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.830385723 meters Centerline goodness [0,1] 0.9999151265675063 Centerline is valid? [True, True] Translation: X:217.85, Y:106.11, Z:3.80 [[ 1.46804733e-01 -9.89160207e-01 -3.23343371e-03 2.17847011e+02] [ 9.88959475e-01 1.46840085e-01 -1.99285230e-02 1.06109357e+02] [ 2.01872996e-02 -2.72133411e-04 9.99796179e-01 3.80131694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.85, Y:106.14, Z:3.80 [[ 1.47916141e-01 -9.88994011e-01 -3.41489474e-03 2.17852977e+02] [ 9.88769263e-01 1.47955330e-01 -2.10847215e-02 1.06137159e+02] [ 2.13579152e-02 -2.57772319e-04 9.99771860e-01 3.80270230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.86, Y:106.16, Z:3.80 [[ 1.48047991e-01 -9.88974067e-01 -3.47666545e-03 2.17858981e+02] [ 9.88740294e-01 1.48088589e-01 -2.15034912e-02 1.06164475e+02] [ 2.17812497e-02 -2.53970546e-04 9.99762728e-01 3.80355424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.920385723 meters Centerline goodness [0,1] 0.9998938676742162 Centerline is valid? [True, True] Translation: X:217.87, Y:106.19, Z:3.80 [[ 1.47787754e-01 -9.89013137e-01 -3.43422075e-03 2.17866085e+02] [ 9.88784279e-01 1.47827436e-01 -2.12767308e-02 1.06192267e+02] [ 2.15506383e-02 -2.51263234e-04 9.99767726e-01 3.80369891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.950385723 meters Centerline goodness [0,1] 0.9998294824793248 Centerline is valid? [True, True] Translation: X:217.87, Y:106.22, Z:3.80 [[ 1.47351114e-01 -9.89078189e-01 -3.46190062e-03 2.17870727e+02] [ 9.88844854e-01 1.47391551e-01 -2.14845368e-02 1.06219867e+02] [ 2.17601417e-02 -2.57512178e-04 9.99763187e-01 3.80375799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.87, Y:106.25, Z:3.81 [[ 1.47445308e-01 -9.89064730e-01 -3.29267409e-03 2.17874793e+02] [ 9.88852976e-01 1.47481876e-01 -2.04667424e-02 1.06246514e+02] [ 2.07285428e-02 -2.38245451e-04 9.99785112e-01 3.80628757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.88, Y:106.27, Z:3.81 [[ 1.47208483e-01 -9.89099441e-01 -3.45802272e-03 2.17879469e+02] [ 9.88865197e-01 1.47248879e-01 -2.15264751e-02 1.06273989e+02] [ 2.18010145e-02 -2.50638579e-04 9.99762298e-01 3.80647064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.89, Y:106.30, Z:3.81 [[ 1.47935930e-01 -9.88990285e-01 -3.62995393e-03 2.17885899e+02] [ 9.88731270e-01 1.47980263e-01 -2.26344182e-02 1.06300080e+02] [ 2.29223813e-02 -2.40605242e-04 9.99737219e-01 3.80678501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.89, Y:106.33, Z:3.81 [[ 1.48039841e-01 -9.88974630e-01 -3.65882114e-03 2.17892345e+02] [ 9.88710688e-01 1.48084862e-01 -2.28483927e-02 1.06326452e+02] [ 2.31382967e-02 -2.35043139e-04 9.99732246e-01 3.80772364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.90, Y:106.35, Z:3.81 [[ 1.48278787e-01 -9.88938937e-01 -3.63047511e-03 2.17897842e+02] [ 9.88678109e-01 1.48323060e-01 -2.27126998e-02 1.06354322e+02] [ 2.29999564e-02 -2.21559681e-04 9.99735441e-01 3.80964174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.130385723 meters Centerline goodness [0,1] 0.9999786507258753 Centerline is valid? [True, True] Translation: X:217.90, Y:106.38, Z:3.81 [[ 1.48584661e-01 -9.88893149e-01 -3.59688273e-03 2.17903925e+02] [ 9.88636195e-01 1.48628047e-01 -2.25428101e-02 1.06381970e+02] [ 2.28270281e-02 -2.06492672e-04 9.99739408e-01 3.80961291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.160385723 meters Centerline goodness [0,1] 0.9998930206684069 Centerline is valid? [True, True] Translation: X:217.91, Y:106.41, Z:3.81 [[ 1.48300593e-01 -9.88935405e-01 -3.70111951e-03 2.17908796e+02] [ 9.88662336e-01 1.48346618e-01 -2.32393465e-02 1.06408650e+02] [ 2.35312611e-02 -2.12748576e-04 9.99723079e-01 3.80817050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.190385723 meters Centerline goodness [0,1] 0.9999787134403337 Centerline is valid? [True, True] Translation: X:217.91, Y:106.44, Z:3.81 [[ 1.47637334e-01 -9.89035093e-01 -3.57793463e-03 2.17914978e+02] [ 9.88779002e-01 1.47680527e-01 -2.25066004e-02 1.06436322e+02] [ 2.27882089e-02 -2.14972148e-04 9.99740292e-01 3.81037285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.220385723 meters Centerline goodness [0,1] 0.9999571541806809 Centerline is valid? [True, True] Translation: X:217.92, Y:106.46, Z:3.81 [[ 1.47122110e-01 -9.89111693e-01 -3.62538822e-03 2.17921434e+02] [ 9.88847839e-01 1.47166601e-01 -2.28460572e-02 1.06463578e+02] [ 2.31308384e-02 -2.23797170e-04 9.99732421e-01 3.81064425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.93, Y:106.49, Z:3.81 [[ 1.46681495e-01 -9.89177315e-01 -3.57471573e-03 2.17927685e+02] [ 9.88919973e-01 1.46724874e-01 -2.25632021e-02 1.06490377e+02] [ 2.28435074e-02 -2.25503563e-04 9.99739028e-01 3.81257681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.280385723 meters Centerline goodness [0,1] 0.9999785743363401 Centerline is valid? [True, True] Translation: X:217.94, Y:106.52, Z:3.81 [[ 1.45406247e-01 -9.89365532e-01 -3.58704349e-03 2.17935752e+02] [ 9.89105703e-01 1.45450268e-01 -2.26743730e-02 1.06517926e+02] [ 2.29549795e-02 -2.50969712e-04 9.99736468e-01 3.81316099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.94, Y:106.54, Z:3.81 [[ 1.44875633e-01 -9.89443352e-01 -3.59229759e-03 2.17940989e+02] [ 9.89181837e-01 1.44919934e-01 -2.27487423e-02 1.06544431e+02] [ 2.30291874e-02 -2.57697093e-04 9.99734760e-01 3.81387883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.95, Y:106.57, Z:3.81 [[ 1.44309804e-01 -9.89525777e-01 -3.66288563e-03 2.17946191e+02] [ 9.89252896e-01 1.44356030e-01 -2.32388348e-02 1.06572086e+02] [ 2.35241857e-02 -2.69928520e-04 9.99723232e-01 3.81342927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.370385723 meters Centerline goodness [0,1] 0.9997645850276078 Centerline is valid? [True, True] Translation: X:217.95, Y:106.60, Z:3.81 [[ 1.43650357e-01 -9.89621180e-01 -3.80712546e-03 2.17952439e+02] [ 9.89325350e-01 1.43700504e-01 -2.41974443e-02 1.06599315e+02] [ 2.44933893e-02 -2.90514210e-04 9.99699950e-01 3.80979098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.400385723 meters Centerline goodness [0,1] 0.9999785264875776 Centerline is valid? [True, True] Translation: X:217.96, Y:106.63, Z:3.81 [[ 1.43857707e-01 -9.89591404e-01 -3.71653366e-03 2.17956498e+02] [ 9.89308486e-01 1.43905448e-01 -2.36630686e-02 1.06627466e+02] [ 2.39515988e-02 -2.72683502e-04 9.99713082e-01 3.81391403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.43038572300003 meters Centerline goodness [0,1] 0.9999355268530657 Centerline is valid? [True, True] Translation: X:217.96, Y:106.65, Z:3.81 [[ 1.44185718e-01 -9.89543406e-01 -3.78509395e-03 2.17962871e+02] [ 9.89248857e-01 1.44235151e-01 -2.41437441e-02 1.06654592e+02] [ 2.44372264e-02 -2.63216784e-04 9.99701332e-01 3.81267917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.460385723 meters Centerline goodness [0,1] 0.9998709427631154 Centerline is valid? [True, True] Translation: X:217.97, Y:106.68, Z:3.81 [[ 1.44602761e-01 -9.89482059e-01 -3.91096939e-03 2.17968581e+02] [ 9.89166402e-01 1.44655416e-01 -2.49927790e-02 1.06682164e+02] [ 2.52956493e-02 -2.54574675e-04 9.99679981e-01 3.81231963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.490385723 meters Centerline goodness [0,1] 0.9998494235071417 Centerline is valid? [True, True] Translation: X:217.97, Y:106.71, Z:3.81 [[ 1.45163271e-01 -9.89400117e-01 -3.87724919e-03 2.17973349e+02] [ 9.89088723e-01 1.45214857e-01 -2.48222285e-02 1.06710299e+02] [ 2.51221500e-02 -2.31667553e-04 9.99684362e-01 3.81398100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.98, Y:106.74, Z:3.82 [[ 1.46825838e-01 -9.89155111e-01 -3.78676820e-03 2.17977616e+02] [ 9.88857084e-01 1.46874552e-01 -2.42803281e-02 1.06738466e+02] [ 2.45731905e-02 -1.79593052e-04 9.99698017e-01 3.81562553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.550385723 meters Centerline goodness [0,1] 0.9998273480662984 Centerline is valid? [True, True] Translation: X:217.98, Y:106.77, Z:3.81 [[ 1.46806045e-01 -9.89157570e-01 -3.90976304e-03 2.17983032e+02] [ 9.88838956e-01 1.46857987e-01 -2.51047854e-02 1.06765904e+02] [ 2.54067684e-02 -1.80591768e-04 9.99677180e-01 3.81293969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.580385723 meters Centerline goodness [0,1] 0.9998702814891685 Centerline is valid? [True, True] Translation: X:217.99, Y:106.79, Z:3.81 [[ 1.49040392e-01 -9.88822638e-01 -4.09294563e-03 2.17989957e+02] [ 9.88472025e-01 1.49096532e-01 -2.63302030e-02 1.06793562e+02] [ 2.66461447e-02 -1.21498479e-04 9.99644921e-01 3.81463555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.99, Y:106.82, Z:3.82 [[ 1.50214218e-01 -9.88645511e-01 -3.96770624e-03 2.17994829e+02] [ 9.88314782e-01 1.50266588e-01 -2.55703878e-02 1.06821455e+02] [ 2.58762628e-02 -8.03069108e-05 9.99665150e-01 3.81745377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.00, Y:106.85, Z:3.82 [[ 1.50403319e-01 -9.88616725e-01 -3.97642124e-03 2.17999747e+02] [ 9.88283286e-01 1.50455859e-01 -2.56745408e-02 1.06847781e+02] [ 2.59805563e-02 -6.82945013e-05 9.99662446e-01 3.81573376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.670385723 meters Centerline goodness [0,1] 0.9999783263616463 Centerline is valid? [True, True] Translation: X:218.01, Y:106.88, Z:3.82 [[ 1.50031687e-01 -9.88673746e-01 -3.83633560e-03 2.18005192e+02] [ 9.88362263e-01 1.50080712e-01 -2.48156533e-02 1.06875327e+02] [ 2.51103449e-02 -6.85549919e-05 9.99684683e-01 3.81778525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.700385723 meters Centerline goodness [0,1] 0.9999783188430935 Centerline is valid? [True, True] Translation: X:218.01, Y:106.90, Z:3.82 [[ 1.49527806e-01 -9.88750169e-01 -3.81288316e-03 2.18011526e+02] [ 9.88441517e-01 1.49576393e-01 -2.47036464e-02 1.06901492e+02] [ 2.49960519e-02 -7.49299622e-05 9.99687547e-01 3.81662170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.730385723 meters Centerline goodness [0,1] 0.9999783188430935 Centerline is valid? [True, True] Translation: X:218.02, Y:106.93, Z:3.82 [[ 1.49253673e-01 -9.88791609e-01 -3.80721232e-03 2.18015468e+02] [ 9.88482948e-01 1.49302204e-01 -2.47045206e-02 1.06927950e+02] [ 2.49960479e-02 -7.61240229e-05 9.99687547e-01 3.81702666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.760385723 meters Centerline goodness [0,1] 0.9999782769257506 Centerline is valid? [True, True] Translation: X:218.02, Y:106.96, Z:3.82 [[ 1.48527585e-01 -9.88901191e-01 -3.74042941e-03 2.18021187e+02] [ 9.88602210e-01 1.48574651e-01 -2.43154810e-02 1.06955661e+02] [ 2.46013411e-02 -8.62770997e-05 9.99697337e-01 3.82035808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.790385723 meters Centerline goodness [0,1] 0.9998914058597398 Centerline is valid? [True, True] Translation: X:218.03, Y:106.98, Z:3.82 [[ 1.47527851e-01 -9.89050315e-01 -3.87395916e-03 2.18028557e+02] [ 9.88728417e-01 1.47578666e-01 -2.52320099e-02 1.06981555e+02] [ 2.55274410e-02 -1.07869314e-04 9.99674116e-01 3.81655531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.820385723 meters Centerline goodness [0,1] 0.9998477499619375 Centerline is valid? [True, True] Translation: X:218.03, Y:107.01, Z:3.82 [[ 1.47214035e-01 -9.89097072e-01 -3.87423430e-03 2.18033061e+02] [ 9.88773919e-01 1.47264965e-01 -2.52817589e-02 1.07008745e+02] [ 2.55766527e-02 -1.08912084e-04 9.99672858e-01 3.81887233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.04, Y:107.04, Z:3.82 [[ 1.47851924e-01 -9.89002763e-01 -3.65292565e-03 2.18037156e+02] [ 9.88714436e-01 1.47897020e-01 -2.38796022e-02 1.07036158e+02] [ 2.41572494e-02 -8.10551991e-05 9.99708168e-01 3.82204585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.04, Y:107.06, Z:3.82 [[ 1.48396842e-01 -9.88921214e-01 -3.63448838e-03 2.18042254e+02] [ 9.88634724e-01 1.48441330e-01 -2.38024083e-02 1.07063299e+02] [ 2.40782148e-02 -6.09791936e-05 9.99710076e-01 3.82290845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.05, Y:107.09, Z:3.82 [[ 1.49611913e-01 -9.88738334e-01 -3.57518813e-03 2.18049143e+02] [ 9.88460034e-01 1.49654622e-01 -2.34575208e-02 1.07089739e+02] [ 2.37283935e-02 -2.44060238e-05 9.99718442e-01 3.82325439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.05, Y:107.12, Z:3.82 [[ 1.49954675e-01 -9.88686531e-01 -3.54099321e-03 2.18054359e+02] [ 9.88412484e-01 1.49996477e-01 -2.32769724e-02 1.07117683e+02] [ 2.35447656e-02 -9.47105910e-06 9.99722784e-01 3.82365075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.970385723 meters Centerline goodness [0,1] 0.9999561893496309 Centerline is valid? [True, True] Translation: X:218.06, Y:107.14, Z:3.82 [[ 1.50736327e-01 -9.88567878e-01 -3.48013300e-03 2.18059942e+02] [ 9.88302171e-01 1.50776494e-01 -2.29186980e-02 1.07144202e+02] [ 2.31814109e-02 1.52573450e-05 9.99731275e-01 3.82335005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.000385723 meters Centerline goodness [0,1] 0.9999562229129274 Centerline is valid? [True, True] Translation: X:218.06, Y:107.17, Z:3.82 [[ 1.50996109e-01 -9.88528433e-01 -3.42243415e-03 2.18064710e+02] [ 9.88270502e-01 1.51034888e-01 -2.25804478e-02 1.07172103e+02] [ 2.28383216e-02 2.72690403e-05 9.99739171e-01 3.82375942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.030385723 meters Centerline goodness [0,1] 0.9999781152886593 Centerline is valid? [True, True] Translation: X:218.07, Y:107.20, Z:3.83 [[ 1.51443144e-01 -9.88460180e-01 -3.38332621e-03 2.18069913e+02] [ 9.88207199e-01 1.51480926e-01 -2.23620324e-02 1.07199618e+02] [ 2.26164879e-02 4.31491744e-05 9.99744214e-01 3.82518612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.08, Y:107.23, Z:3.83 [[ 1.51358859e-01 -9.88472702e-01 -3.49489270e-03 2.18078306e+02] [ 9.88201719e-01 1.51399194e-01 -2.31440369e-02 1.07225076e+02] [ 2.34063726e-02 4.93960457e-05 9.99726032e-01 3.82623010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.08, Y:107.25, Z:3.83 [[ 1.50627900e-01 -9.88584484e-01 -3.45728484e-03 2.18084352e+02] [ 9.88318247e-01 1.50667567e-01 -2.29418213e-02 1.07251921e+02] [ 2.32008293e-02 3.87806807e-05 9.99730824e-01 3.82711571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.09, Y:107.28, Z:3.83 [[ 1.49401693e-01 -9.88770781e-01 -3.38781996e-03 2.18089940e+02] [ 9.88514184e-01 1.49440098e-01 -2.25247714e-02 1.07278851e+02] [ 2.27781119e-02 1.63308996e-05 9.99740545e-01 3.82784953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.10, Y:107.31, Z:3.83 [[ 1.46022192e-01 -9.89275959e-01 -3.25532568e-03 2.18098266e+02] [ 9.89038272e-01 1.46058464e-01 -2.16845872e-02 1.07306090e+02] [ 2.19275086e-02 -5.32107449e-05 9.99759562e-01 3.82886578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.18038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.11, Y:107.33, Z:3.83 [[ 1.44038891e-01 -9.89566994e-01 -3.15646355e-03 2.18105772e+02] [ 9.89342785e-01 1.44073445e-01 -2.10641102e-02 1.07333692e+02] [ 2.12991108e-02 -8.87733707e-05 9.99773144e-01 3.83002022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.12, Y:107.36, Z:3.83 [[ 1.40382253e-01 -9.90092731e-01 -3.03434744e-03 2.18116827e+02] [ 9.89884906e-01 1.40414956e-01 -2.02857629e-02 1.07360444e+02] [ 2.05108541e-02 -1.55893634e-04 9.99789618e-01 3.83243001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.12, Y:107.39, Z:3.83 [[ 1.38862984e-01 -9.90306825e-01 -3.07640679e-03 2.18124480e+02] [ 9.90092508e-01 1.38896934e-01 -2.06026133e-02 1.07386469e+02] [ 2.08302120e-02 -1.84986955e-04 9.99783010e-01 3.83191674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.13, Y:107.41, Z:3.83 [[ 1.37076164e-01 -9.90555851e-01 -3.03830670e-03 2.18128775e+02] [ 9.90346256e-01 1.37109662e-01 -2.03773041e-02 1.07413946e+02] [ 2.06014390e-02 -2.15732987e-04 9.99787745e-01 3.83219566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.13, Y:107.44, Z:3.83 [[ 1.35968091e-01 -9.90708573e-01 -3.03348443e-03 2.18133905e+02] [ 9.90498910e-01 1.36001726e-01 -2.03823378e-02 1.07442051e+02] [ 2.06055159e-02 -2.33315458e-04 9.99787657e-01 3.83170885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.14, Y:107.47, Z:3.83 [[ 1.34546770e-01 -9.90902324e-01 -3.12267334e-03 2.18141342e+02] [ 9.90679352e-01 1.34582741e-01 -2.10215811e-02 1.07468410e+02] [ 2.12505915e-02 -2.65182167e-04 9.99774146e-01 3.83068143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.15, Y:107.50, Z:3.83 [[ 1.34266040e-01 -9.90940162e-01 -3.19788053e-03 2.18147531e+02] [ 9.90705418e-01 1.34303842e-01 -2.15697050e-02 1.07495822e+02] [ 2.18037746e-02 -2.72078687e-04 9.99762232e-01 3.83146839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.16, Y:107.52, Z:3.83 [[ 1.33465864e-01 -9.91048093e-01 -3.24671234e-03 2.18155445e+02] [ 9.90805245e-01 1.33505036e-01 -2.19401767e-02 1.07522815e+02] [ 2.21772228e-02 -2.88594974e-04 9.99754014e-01 3.83226861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.420385723 meters Centerline goodness [0,1] 0.9999551146819875 Centerline is valid? [True, True] Translation: X:218.16, Y:107.55, Z:3.83 [[ 1.32763947e-01 -9.91142307e-01 -3.26519495e-03 2.18160886e+02] [ 9.90895781e-01 1.32803753e-01 -2.21069020e-02 1.07550805e+02] [ 2.23447160e-02 -3.00468325e-04 9.99750281e-01 3.83119755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.17, Y:107.58, Z:3.83 [[ 1.32826749e-01 -9.91133809e-01 -3.29051480e-03 2.18165351e+02] [ 9.90882489e-01 1.32867171e-01 -2.23205878e-02 1.07578987e+02] [ 2.25598906e-02 -2.95742387e-04 9.99745450e-01 3.83190766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.17, Y:107.61, Z:3.83 [[ 1.33160187e-01 -9.91088545e-01 -3.44388198e-03 2.18171714e+02] [ 9.90812136e-01 1.33204386e-01 -2.34073273e-02 1.07605467e+02] [ 2.36574742e-02 -2.95315980e-04 9.99720079e-01 3.83064136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.18, Y:107.63, Z:3.83 [[ 1.33285489e-01 -9.91071505e-01 -3.49996175e-03 2.18178116e+02] [ 9.90784991e-01 1.33331116e-01 -2.38309594e-02 1.07631509e+02] [ 2.40848386e-02 -2.91388500e-04 9.99709876e-01 3.83043165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.19, Y:107.66, Z:3.83 [[ 1.34020096e-01 -9.90972511e-01 -3.47806751e-03 2.18185114e+02] [ 9.90688647e-01 1.34064954e-01 -2.37190530e-02 1.07658950e+02] [ 2.39712165e-02 -2.66852230e-04 9.99712613e-01 3.83277205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.19, Y:107.69, Z:3.83 [[ 1.34861453e-01 -9.90858776e-01 -3.35785061e-03 2.18189603e+02] [ 9.90593147e-01 1.34903050e-01 -2.29430892e-02 1.07685895e+02] [ 2.31863455e-02 -2.32125457e-04 9.99731134e-01 3.83300480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.19, Y:107.71, Z:3.83 [[ 1.35527320e-01 -9.90768640e-01 -3.13800378e-03 2.18191646e+02] [ 9.90535757e-01 1.35563501e-01 -2.14814157e-02 1.07714010e+02] [ 2.17085118e-02 -1.96986250e-04 9.99764323e-01 3.83434646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.19, Y:107.74, Z:3.83 [[ 1.37038194e-01 -9.90561281e-01 -2.98013240e-03 2.18193287e+02] [ 9.90350406e-01 1.37070511e-01 -2.04389049e-02 1.07741046e+02] [ 2.06544761e-02 -1.50464721e-04 9.99786662e-01 3.83409660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.20, Y:107.77, Z:3.83 [[ 1.37798840e-01 -9.90455666e-01 -3.00879667e-03 2.18196260e+02] [ 9.90239839e-01 1.37831622e-01 -2.06762027e-02 1.07768594e+02] [ 2.08935695e-02 -1.30273584e-04 9.99781697e-01 3.83403144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.20, Y:107.80, Z:3.84 [[ 1.38478587e-01 -9.90360833e-01 -3.01673158e-03 2.18201057e+02] [ 9.90143012e-01 1.38511398e-01 -2.07703489e-02 1.07796532e+02] [ 2.09879917e-02 -1.10747133e-04 9.99779722e-01 3.83556157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.21, Y:107.82, Z:3.84 [[ 1.38234889e-01 -9.90394612e-01 -3.10301433e-03 2.18206274e+02] [ 9.90163246e-01 1.38269666e-01 -2.14066726e-02 1.07824168e+02] [ 2.16301059e-02 -1.13341727e-04 9.99766035e-01 3.83691502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.21, Y:107.85, Z:3.84 [[ 1.37571106e-01 -9.90486968e-01 -3.12359543e-03 2.18210561e+02] [ 9.90251626e-01 1.37606508e-01 -2.15908924e-02 1.07852059e+02] [ 2.18153246e-02 -1.22862506e-04 9.99762010e-01 3.83759588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.21, Y:107.88, Z:3.84 [[ 1.35894399e-01 -9.90718303e-01 -3.15538731e-03 2.18212580e+02] [ 9.90477332e-01 1.35930938e-01 -2.18502711e-02 1.07879551e+02] [ 2.20763782e-02 -1.56010143e-04 9.99756275e-01 3.83635106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.22, Y:107.91, Z:3.84 [[ 1.34653756e-01 -9.90887918e-01 -3.08221931e-03 2.18215676e+02] [ 9.90657315e-01 1.34688914e-01 -2.13770985e-02 1.07907378e+02] [ 2.15974494e-02 -1.74916492e-04 9.99766733e-01 3.83676963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.22, Y:107.93, Z:3.84 [[ 1.32228731e-01 -9.91214835e-01 -2.95186733e-03 2.18220053e+02] [ 9.91002661e-01 1.32261503e-01 -2.05090440e-02 1.07933794e+02] [ 2.07192870e-02 -2.13423531e-04 9.99785310e-01 3.83819736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.22, Y:107.96, Z:3.84 [[ 1.30857793e-01 -9.91396672e-01 -2.97939464e-03 2.18223989e+02] [ 9.91179868e-01 1.30891486e-01 -2.07337340e-02 1.07960285e+02] [ 2.09453323e-02 -2.39945314e-04 9.99780594e-01 3.83840518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.23, Y:107.99, Z:3.84 [[ 1.29164931e-01 -9.91618626e-01 -2.98683639e-03 2.18228402e+02] [ 9.91399911e-01 1.29199176e-01 -2.08276280e-02 1.07987640e+02] [ 2.10389606e-02 -2.70950208e-04 9.99778620e-01 3.83868596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.93038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.23, Y:108.02, Z:3.84 [[ 1.27257081e-01 -9.91865458e-01 -2.92369475e-03 2.18232459e+02] [ 9.91655159e-01 1.27290309e-01 -2.04260463e-02 1.08015224e+02] [ 2.06320478e-02 -2.99937957e-04 9.99787092e-01 3.83893075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.24, Y:108.04, Z:3.84 [[ 1.23840642e-01 -9.92297879e-01 -2.90071604e-03 2.18236170e+02] [ 9.92090194e-01 1.23874076e-01 -2.03042057e-02 1.08043600e+02] [ 2.05071438e-02 -3.63286071e-04 9.99789640e-01 3.83883322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.24, Y:108.07, Z:3.84 [[ 1.22474893e-01 -9.92467096e-01 -2.99411987e-03 2.18240061e+02] [ 9.92245025e-01 1.22510835e-01 -2.09977631e-02 1.08071656e+02] [ 2.12064011e-02 -3.99201757e-04 9.99775039e-01 3.83903615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.24, Y:108.10, Z:3.84 [[ 1.21391774e-01 -9.92599755e-01 -3.12462753e-03 2.18244098e+02] [ 9.92357029e-01 1.21431200e-01 -2.19542941e-02 1.08098595e+02] [ 2.21712542e-02 -4.35675375e-04 9.99754093e-01 3.83884081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.25, Y:108.13, Z:3.84 [[ 1.21508690e-01 -9.92585587e-01 -3.08062550e-03 2.18246561e+02] [ 9.92348799e-01 1.21547002e-01 -2.16838231e-02 1.08126380e+02] [ 2.18974911e-02 -4.22282079e-04 9.99760132e-01 3.83977141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.25, Y:108.15, Z:3.84 [[ 1.21881797e-01 -9.92539848e-01 -3.07862724e-03 2.18250257e+02] [ 9.92302510e-01 1.21919986e-01 -2.17081880e-02 1.08153317e+02] [ 2.19215878e-02 -4.09096576e-04 9.99759609e-01 3.83990432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.110385723 meters Centerline goodness [0,1] 0.9999776750831603 Centerline is valid? [True, True] Translation: X:218.25, Y:108.18, Z:3.84 [[ 1.23514096e-01 -9.92338083e-01 -3.06533477e-03 2.18251435e+02] [ 9.92102009e-01 1.23551581e-01 -2.16474310e-02 1.08182052e+02] [ 2.18602971e-02 -3.67361916e-04 9.99760968e-01 3.84095577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.140385723 meters Centerline goodness [0,1] 0.9999553591357528 Centerline is valid? [True, True] Translation: X:218.25, Y:108.21, Z:3.84 [[ 1.24001308e-01 -9.92277407e-01 -3.03701634e-03 2.18254003e+02] [ 9.92044764e-01 1.24038004e-01 -2.14886011e-02 1.08207955e+02] [ 2.16993588e-02 -3.48241529e-04 9.99764481e-01 3.84108350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.26, Y:108.24, Z:3.84 [[ 1.24664748e-01 -9.92194376e-01 -3.00361222e-03 2.18257207e+02] [ 9.91965806e-01 1.24700505e-01 -2.12984552e-02 1.08235559e+02] [ 2.15067594e-02 -3.24314077e-04 9.99768650e-01 3.84197177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.200385723 meters Centerline goodness [0,1] 0.9997772778903762 Centerline is valid? [True, True] Translation: X:218.26, Y:108.26, Z:3.84 [[ 1.26034628e-01 -9.92021086e-01 -3.07220946e-03 2.18259261e+02] [ 9.91780920e-01 1.26071720e-01 -2.18295309e-02 1.08263193e+02] [ 2.20426736e-02 -2.95681919e-04 9.99756987e-01 3.84366735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.230385723 meters Centerline goodness [0,1] 0.9997992953035101 Centerline is valid? [True, True] Translation: X:218.26, Y:108.29, Z:3.84 [[ 1.26848198e-01 -9.91917116e-01 -3.15736334e-03 2.18261248e+02] [ 9.91662412e-01 1.26887178e-01 -2.24789745e-02 1.08291778e+02] [ 2.26979085e-02 -2.79621148e-04 9.99742330e-01 3.84345476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.26, Y:108.32, Z:3.84 [[ 1.29506425e-01 -9.91573335e-01 -3.22606288e-03 2.18260245e+02] [ 9.91306286e-01 1.29546417e-01 -2.30124731e-02 1.08319940e+02] [ 2.32364796e-02 -2.17753298e-04 9.99729973e-01 3.84286290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.290385723 meters Centerline goodness [0,1] 0.9999115122555526 Centerline is valid? [True, True] Translation: X:218.26, Y:108.35, Z:3.84 [[ 1.30560433e-01 -9.91435096e-01 -3.22870011e-03 2.18263533e+02] [ 9.91166472e-01 1.30600215e-01 -2.30783202e-02 1.08346374e+02] [ 2.33023255e-02 -1.87063822e-04 9.99728446e-01 3.84336090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.320385723 meters Centerline goodness [0,1] 0.9997557997557998 Centerline is valid? [True, True] Translation: X:218.27, Y:108.37, Z:3.85 [[ 1.31166753e-01 -9.91355059e-01 -3.22957998e-03 2.18266951e+02] [ 9.91085138e-01 1.31206401e-01 -2.31328574e-02 1.08374098e+02] [ 2.33566168e-02 -1.66526923e-04 9.99727183e-01 3.84569104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.350385723 meters Centerline goodness [0,1] 0.9999334501652655 Centerline is valid? [True, True] Translation: X:218.27, Y:108.40, Z:3.85 [[ 1.31649516e-01 -9.91290808e-01 -3.30731801e-03 2.18271801e+02] [ 9.91006642e-01 1.31690964e-01 -2.37344815e-02 1.08401121e+02] [ 2.39633173e-02 -1.52941111e-04 9.99712827e-01 3.84637885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.28, Y:108.43, Z:3.85 [[ 1.31505375e-01 -9.91309557e-01 -3.42025903e-03 2.18275884e+02] [ 9.91004579e-01 1.31549753e-01 -2.45883488e-02 1.08428034e+02] [ 2.48245994e-02 -1.55992325e-04 9.99691810e-01 3.84597768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.28, Y:108.46, Z:3.85 [[ 1.30734674e-01 -9.91411579e-01 -3.39492180e-03 2.18277587e+02] [ 9.91109899e-01 1.30778639e-01 -2.44563950e-02 1.08455721e+02] [ 2.46903365e-02 -1.67441770e-04 9.99695133e-01 3.84775923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.440385723 meters Centerline goodness [0,1] 0.9999778255759807 Centerline is valid? [True, True] Translation: X:218.28, Y:108.48, Z:3.85 [[ 1.28241379e-01 -9.91736717e-01 -3.52593182e-03 2.18281507e+02] [ 9.91410278e-01 1.28289631e-01 -2.54446905e-02 1.08483042e+02] [ 2.56867743e-02 -2.32582841e-04 9.99670013e-01 3.84702471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.29, Y:108.51, Z:3.85 [[ 1.25886762e-01 -9.92038160e-01 -3.57936554e-03 2.18287752e+02] [ 9.91700838e-01 1.25937297e-01 -2.58697786e-02 1.08510646e+02] [ 2.61145831e-02 -2.92997159e-04 9.99658913e-01 3.84759442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.29, Y:108.54, Z:3.85 [[ 1.22865675e-01 -9.92416429e-01 -3.69550210e-03 2.18293984e+02] [ 9.92055643e-01 1.22920657e-01 -2.67602923e-02 1.08538186e+02] [ 2.70116073e-02 -3.78222326e-04 9.99635048e-01 3.84806949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.30, Y:108.56, Z:3.85 [[ 1.16953387e-01 -9.93130829e-01 -3.61405810e-03 2.18302051e+02] [ 9.92784948e-01 1.17008049e-01 -2.62138015e-02 1.08564216e+02] [ 2.64566083e-02 -5.22189610e-04 9.99649826e-01 3.84869514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.31, Y:108.59, Z:3.85 [[ 1.14348267e-01 -9.93434274e-01 -3.58010689e-03 2.18306401e+02] [ 9.93094097e-01 1.14402817e-01 -2.60021203e-02 1.08591885e+02] [ 2.62409718e-02 -5.82085617e-04 9.99655477e-01 3.84972282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.31, Y:108.62, Z:3.85 [[ 1.12180264e-01 -9.93681590e-01 -3.53357104e-03 2.18311604e+02] [ 9.93349333e-01 1.12234152e-01 -2.57020831e-02 1.08619443e+02] [ 2.59362741e-02 -6.26803961e-04 9.99663402e-01 3.84995771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.32, Y:108.65, Z:3.85 [[ 1.09943790e-01 -9.93931626e-01 -3.50517318e-03 2.18315039e+02] [ 9.93603585e-01 1.09997583e-01 -2.55430445e-02 1.08647803e+02] [ 2.57736003e-02 -6.74453514e-04 9.99667578e-01 3.85119690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.32, Y:108.68, Z:3.85 [[ 1.09670553e-01 -9.93961836e-01 -3.49840684e-03 2.18318729e+02] [ 9.93633782e-01 1.09724262e-01 -2.55439716e-02 1.08675162e+02] [ 2.57735930e-02 -6.74713736e-04 9.99667578e-01 3.85161434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.68038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.32, Y:108.70, Z:3.85 [[ 1.09350979e-01 -9.93997235e-01 -3.44379308e-03 2.18322056e+02] [ 9.93678035e-01 1.09403162e-01 -2.51974567e-02 1.08701918e+02] [ 2.54229641e-02 -6.66654979e-04 9.99676562e-01 3.85177782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.33, Y:108.73, Z:3.85 [[ 1.10772456e-01 -9.93840126e-01 -3.35662983e-03 2.18325291e+02] [ 9.93535708e-01 1.10821625e-01 -2.46041450e-02 1.08728904e+02] [ 2.48245737e-02 -6.09470021e-04 9.99691637e-01 3.85104038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.740385723 meters Centerline goodness [0,1] 0.9998446343358118 Centerline is valid? [True, True] Translation: X:218.33, Y:108.76, Z:3.85 [[ 1.11701746e-01 -9.93736214e-01 -3.32522634e-03 2.18325687e+02] [ 9.93436495e-01 1.11749742e-01 -2.44115850e-02 1.08757722e+02] [ 2.46302692e-02 -5.76584529e-04 9.99696463e-01 3.85238739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.770385723 meters Centerline goodness [0,1] 0.9999778663125277 Centerline is valid? [True, True] Translation: X:218.33, Y:108.78, Z:3.85 [[ 1.12812752e-01 -9.93610912e-01 -3.26170303e-03 2.18328610e+02] [ 9.93321486e-01 1.12858631e-01 -2.39865523e-02 1.08784719e+02] [ 2.42014114e-02 -5.33930726e-04 9.99706960e-01 3.85268486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.33, Y:108.81, Z:3.85 [[ 1.14494421e-01 -9.93419005e-01 -3.11566443e-03 2.18329954e+02] [ 9.93153991e-01 1.14535855e-01 -2.29496682e-02 1.08812330e+02] [ 2.31554919e-02 -4.66725578e-04 9.99731767e-01 3.85363725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.33, Y:108.84, Z:3.85 [[ 1.14935883e-01 -9.93368167e-01 -3.07060322e-03 2.18331891e+02] [ 9.93109683e-01 1.14976033e-01 -2.26642541e-02 1.08839315e+02] [ 2.28669944e-02 -4.44509724e-04 9.99738417e-01 3.85421900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.860385723 meters Centerline goodness [0,1] 0.9999119136754019 Centerline is valid? [True, True] Translation: X:218.33, Y:108.87, Z:3.85 [[ 1.16180022e-01 -9.93223873e-01 -2.92236451e-03 2.18332280e+02] [ 9.92988727e-01 1.16216114e-01 -2.16148589e-02 1.08867154e+02] [ 2.18080198e-02 -3.90660219e-04 9.99762101e-01 3.85408573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.33, Y:108.90, Z:3.86 [[ 1.16693700e-01 -9.93163758e-01 -2.88621673e-03 2.18331739e+02] [ 9.92933476e-01 1.16728802e-01 -2.13892146e-02 1.08896037e+02] [ 2.15798973e-02 -3.69834613e-04 9.99767059e-01 3.85517766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.34, Y:108.92, Z:3.85 [[ 1.17364154e-01 -9.93084800e-01 -2.86983025e-03 2.18336375e+02] [ 9.92856176e-01 1.17398720e-01 -2.13108977e-02 1.08923101e+02] [ 2.15004430e-02 -3.48193197e-04 9.99768778e-01 3.85428359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.950385723 meters Centerline goodness [0,1] 0.9999558225834954 Centerline is valid? [True, True] Translation: X:218.34, Y:108.95, Z:3.86 [[ 1.18620991e-01 -9.92935840e-01 -2.73455979e-03 2.18336888e+02] [ 9.92727360e-01 1.18652126e-01 -2.03485247e-02 1.08951093e+02] [ 2.05292408e-02 -3.00910149e-04 9.99789208e-01 3.85652848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.34, Y:108.98, Z:3.86 [[ 1.18986467e-01 -9.92892379e-01 -2.63524728e-03 2.18339350e+02] [ 9.92697979e-01 1.19015321e-01 -1.96488406e-02 1.08978636e+02] [ 1.98228189e-02 -2.78058515e-04 9.99803470e-01 3.85715176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.010385723 meters Centerline goodness [0,1] 0.9999559917264446 Centerline is valid? [True, True] Translation: X:218.34, Y:109.01, Z:3.86 [[ 1.19189959e-01 -9.92868194e-01 -2.55005072e-03 2.18341403e+02] [ 9.92685463e-01 1.19216950e-01 -1.90496611e-02 1.09005485e+02] [ 1.92178119e-02 -2.60869944e-04 9.99815287e-01 3.85706107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.040385723 meters Centerline goodness [0,1] 0.9999779239701532 Centerline is valid? [True, True] Translation: X:218.34, Y:109.03, Z:3.86 [[ 1.20407594e-01 -9.92721141e-01 -2.59756049e-03 2.18341800e+02] [ 9.92530873e-01 1.20435375e-01 -1.94367314e-02 1.09034239e+02] [ 1.96080923e-02 -2.37828916e-04 9.99807715e-01 3.85707470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.070385723 meters Centerline goodness [0,1] 0.9999779434469981 Centerline is valid? [True, True] Translation: X:218.35, Y:109.06, Z:3.86 [[ 1.21003498e-01 -9.92648516e-01 -2.66022393e-03 2.18345172e+02] [ 9.92448103e-01 1.21032525e-01 -1.99472009e-02 1.09062026e+02] [ 2.01225330e-02 -2.26453101e-04 9.99797496e-01 3.85724282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.35, Y:109.09, Z:3.86 [[ 1.22242420e-01 -9.92496264e-01 -2.82064491e-03 2.18347511e+02] [ 9.92269942e-01 1.22274781e-01 -2.11952805e-02 1.09090028e+02] [ 2.13811305e-02 -2.07878775e-04 9.99771376e-01 3.85653489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.130385723 meters Centerline goodness [0,1] 0.9999558450160062 Centerline is valid? [True, True] Translation: X:218.35, Y:109.12, Z:3.86 [[ 1.22381421e-01 -9.92479309e-01 -2.75860655e-03 2.18349761e+02] [ 9.92261949e-01 1.22412352e-01 -2.07711252e-02 1.09117785e+02] [ 2.09525995e-02 -1.95260496e-04 9.99780451e-01 3.85663348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.35, Y:109.14, Z:3.86 [[ 1.21488415e-01 -9.92589227e-01 -2.68156324e-03 2.18350955e+02] [ 9.92383094e-01 1.21517836e-01 -2.02289629e-02 1.09144499e+02] [ 2.04049084e-02 -2.03553379e-04 9.99791777e-01 3.85672843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.190385723 meters Centerline goodness [0,1] 0.9999780552568632 Centerline is valid? [True, True] Translation: X:218.35, Y:109.17, Z:3.86 [[ 1.19908299e-01 -9.92781191e-01 -2.73966843e-03 2.18353403e+02] [ 9.92565339e-01 1.19939359e-01 -2.07026115e-02 1.09172788e+02] [ 2.08817573e-02 -2.36885007e-04 9.99781924e-01 3.85680225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.36, Y:109.20, Z:3.86 [[ 1.18243635e-01 -9.92980724e-01 -2.77915041e-03 2.18357814e+02] [ 9.92757742e-01 1.18275981e-01 -2.10442104e-02 1.09199052e+02] [ 2.12252020e-02 -2.70679142e-04 9.99774683e-01 3.85671223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.36, Y:109.23, Z:3.86 [[ 1.16442938e-01 -9.93193508e-01 -2.77462759e-03 2.18361606e+02] [ 9.92970496e-01 1.16475593e-01 -2.10483007e-02 1.09227339e+02] [ 2.12282120e-02 -3.04197361e-04 9.99774610e-01 3.85726994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.37, Y:109.26, Z:3.86 [[ 1.12569239e-01 -9.93639895e-01 -2.81513256e-03 2.18366371e+02] [ 9.93409512e-01 1.12603767e-01 -2.13993841e-02 1.09255357e+02] [ 2.15802763e-02 -3.87667082e-04 9.99767044e-01 3.85806977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.310385723 meters Centerline goodness [0,1] 0.9999338157430286 Centerline is valid? [True, True] Translation: X:218.37, Y:109.28, Z:3.86 [[ 1.10294771e-01 -9.93895193e-01 -2.72183164e-03 2.18370432e+02] [ 9.93679071e-01 1.10327558e-01 -2.07300156e-02 1.09282145e+02] [ 2.09037559e-02 -4.18214810e-04 9.99781405e-01 3.85717337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.37, Y:109.31, Z:3.86 [[ 1.06687874e-01 -9.94289315e-01 -2.54068301e-03 2.18372740e+02] [ 9.94100408e-01 1.06717142e-01 -1.93863263e-02 1.09309602e+02] [ 1.95467516e-02 -4.57408073e-04 9.99808839e-01 3.85905850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.38, Y:109.34, Z:3.86 [[ 1.05130207e-01 -9.94455157e-01 -2.56515694e-03 2.18378099e+02] [ 9.94261887e-01 1.05160361e-01 -1.96112001e-02 1.09336087e+02] [ 1.97722119e-02 -4.88708261e-04 9.99804391e-01 3.85860838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.38, Y:109.36, Z:3.86 [[ 1.03933829e-01 -9.94580805e-01 -2.60427107e-03 2.18377229e+02] [ 9.94380975e-01 1.03965166e-01 -1.99429489e-02 1.09364783e+02] [ 2.01056276e-02 -5.16890568e-04 9.99797728e-01 3.85900806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.43038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.38, Y:109.39, Z:3.86 [[ 1.03241295e-01 -9.94652917e-01 -2.60954192e-03 2.18379638e+02] [ 9.94451463e-01 1.03272921e-01 -2.00247492e-02 1.09391482e+02] [ 2.01871702e-02 -5.27681747e-04 9.99796079e-01 3.85953671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.38, Y:109.42, Z:3.86 [[ 1.03074807e-01 -9.94670317e-01 -2.55828615e-03 2.18381111e+02] [ 9.94475851e-01 1.03105258e-01 -1.96745475e-02 1.09419912e+02] [ 1.98334612e-02 -5.16203609e-04 9.99803164e-01 3.86084203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.38, Y:109.45, Z:3.86 [[ 1.03182291e-01 -9.94659292e-01 -2.51151724e-03 2.18384459e+02] [ 9.94471063e-01 1.03211639e-01 -1.93561845e-02 1.09447282e+02] [ 1.95120266e-02 -5.00415770e-04 9.99809497e-01 3.86085260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.38, Y:109.48, Z:3.86 [[ 1.04479251e-01 -9.94523738e-01 -2.57307408e-03 2.18383538e+02] [ 9.94325268e-01 1.04509818e-01 -1.98735997e-02 1.09476190e+02] [ 2.00336782e-02 -4.82093761e-04 9.99799190e-01 3.86036085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.38, Y:109.50, Z:3.86 [[ 1.05005682e-01 -9.94468378e-01 -2.54011359e-03 2.18383708e+02] [ 9.94274150e-01 1.05035388e-01 -1.96591390e-02 1.09504692e+02] [ 1.98171939e-02 -4.61247973e-04 9.99803514e-01 3.86033181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.580385723 meters Centerline goodness [0,1] 0.9998268585650903 Centerline is valid? [True, True] Translation: X:218.38, Y:109.53, Z:3.86 [[ 1.06258726e-01 -9.94334996e-01 -2.64545106e-03 2.18384631e+02] [ 9.94123340e-01 1.06290701e-01 -2.05200329e-02 1.09532001e+02] [ 2.06849737e-02 -4.49472092e-04 9.99785942e-01 3.85629007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.39, Y:109.56, Z:3.86 [[ 1.07744514e-01 -9.94175065e-01 -2.65709001e-03 2.18386047e+02] [ 9.93960568e-01 1.07776471e-01 -2.06548038e-02 1.09558668e+02] [ 2.08208627e-02 -4.15600897e-04 9.99783136e-01 3.85914608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.640385723 meters Centerline goodness [0,1] 0.9998481924052829 Centerline is valid? [True, True] Translation: X:218.39, Y:109.59, Z:3.86 [[ 1.08925338e-01 -9.94046225e-01 -2.71552757e-03 2.18386436e+02] [ 9.93821187e-01 1.08958468e-01 -2.11541851e-02 1.09587306e+02] [ 2.13241175e-02 -3.94522064e-04 9.99772537e-01 3.86010850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.39, Y:109.62, Z:3.86 [[ 1.11114240e-01 -9.93804265e-01 -2.59022106e-03 2.18387163e+02] [ 9.93598603e-01 1.11143945e-01 -2.02197801e-02 1.09615293e+02] [ 2.03823911e-02 -3.26934534e-04 9.99792204e-01 3.86085684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.39, Y:109.64, Z:3.86 [[ 1.11682940e-01 -9.93740614e-01 -2.55224120e-03 2.18387182e+02] [ 9.93540094e-01 1.11711680e-01 -1.99645388e-02 1.09643649e+02] [ 2.01246882e-02 -3.06055565e-04 9.99797431e-01 3.86172605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.39, Y:109.67, Z:3.86 [[ 1.13565609e-01 -9.93527522e-01 -2.43213743e-03 2.18385997e+02] [ 9.93344624e-01 1.13591372e-01 -1.90645831e-02 1.09672126e+02] [ 1.92174579e-02 -2.50869650e-04 9.99815296e-01 3.86277881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.39, Y:109.70, Z:3.86 [[ 1.14231608e-01 -9.93451485e-01 -2.29907933e-03 2.18388979e+02] [ 9.93287370e-01 1.14254529e-01 -1.80583093e-02 1.09698614e+02] [ 1.82027344e-02 -2.20816749e-04 9.99834292e-01 3.86401952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.790385723 meters Centerline goodness [0,1] 0.9999354852583815 Centerline is valid? [True, True] Translation: X:218.39, Y:109.73, Z:3.86 [[ 1.14076521e-01 -9.93469338e-01 -2.28525376e-03 2.18391675e+02] [ 9.93306465e-01 1.14099201e-01 -1.79899848e-02 1.09727032e+02] [ 1.81332439e-02 -2.17722461e-04 9.99835556e-01 3.86397990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.820385723 meters Centerline goodness [0,1] 0.9999357656731758 Centerline is valid? [True, True] Translation: X:218.39, Y:109.75, Z:3.86 [[ 1.13453794e-01 -9.93540541e-01 -2.33027785e-03 2.18394647e+02] [ 9.93370443e-01 1.13477492e-01 -1.83853971e-02 1.09754083e+02] [ 1.85310715e-02 -2.28936078e-04 9.99828259e-01 3.86438969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.40, Y:109.78, Z:3.87 [[ 1.12625535e-01 -9.93634650e-01 -2.38139705e-03 2.18398119e+02] [ 9.93456195e-01 1.12650443e-01 -1.88326079e-02 1.09780750e+02] [ 1.89809972e-02 -2.44781107e-04 9.99819815e-01 3.86526101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.880385723 meters Centerline goodness [0,1] 0.9999355573217623 Centerline is valid? [True, True] Translation: X:218.40, Y:109.81, Z:3.86 [[ 1.09137565e-01 -9.94023797e-01 -2.38412718e-03 2.18400112e+02] [ 9.93844212e-01 1.09163170e-01 -1.88966587e-02 1.09808537e+02] [ 1.90439873e-02 -3.07115693e-04 9.99818600e-01 3.86471993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.40, Y:109.84, Z:3.87 [[ 1.06695638e-01 -9.94288938e-01 -2.35551186e-03 2.18404442e+02] [ 9.94112959e-01 1.06721077e-01 -1.87092566e-02 1.09836129e+02] [ 1.88537896e-02 -3.45448801e-04 9.99822192e-01 3.86510590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.41, Y:109.86, Z:3.87 [[ 1.04173083e-01 -9.94556376e-01 -2.36295450e-03 2.18409378e+02] [ 9.94378582e-01 1.04199148e-01 -1.88088439e-02 1.09862650e+02] [ 1.89526735e-02 -3.90296077e-04 9.99820306e-01 3.86546719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.41, Y:109.89, Z:3.87 [[ 1.01813719e-01 -9.94800668e-01 -2.36594355e-03 2.18414053e+02] [ 9.94621692e-01 1.01840291e-01 -1.88744563e-02 1.09890392e+02] [ 1.90172701e-02 -4.31540178e-04 9.99819062e-01 3.86612100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.41, Y:109.92, Z:3.87 [[ 9.81380867e-02 -9.95170090e-01 -2.32535767e-03 2.18414425e+02] [ 9.94996579e-01 9.81644122e-02 -1.85891454e-02 1.09918887e+02] [ 1.87276289e-02 -4.89419759e-04 9.99824503e-01 3.86697938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.42, Y:109.95, Z:3.87 [[ 9.69316181e-02 -9.95288140e-01 -2.40432521e-03 2.18421675e+02] [ 9.95101933e-01 9.69600069e-02 -1.92587690e-02 1.09945461e+02] [ 1.94011478e-02 -5.25765025e-04 9.99811642e-01 3.86616737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.42, Y:109.97, Z:3.87 [[ 9.47496940e-02 -9.95497723e-01 -2.60383689e-03 2.18422412e+02] [ 9.95278663e-01 9.47834896e-02 -2.08919308e-02 1.09973485e+02] [ 2.10446703e-02 -6.12039245e-04 9.99778349e-01 3.86650722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.43, Y:110.00, Z:3.87 [[ 9.42531707e-02 -9.95544688e-01 -2.66726682e-03 2.18430196e+02] [ 9.95313811e-01 9.42887777e-02 -2.14486283e-02 1.09999358e+02] [ 2.16045613e-02 -6.33166281e-04 9.99766394e-01 3.86591838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.43, Y:110.03, Z:3.87 [[ 9.35731817e-02 -9.95608948e-01 -2.62350157e-03 2.18429289e+02] [ 9.95384596e-01 9.36078127e-02 -2.11443637e-02 1.10027737e+02] [ 2.12970979e-02 -6.32847670e-04 9.99772991e-01 3.86781988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.43, Y:110.06, Z:3.87 [[ 9.33793007e-02 -9.95627121e-01 -2.63487387e-03 2.18429761e+02] [ 9.95399818e-01 9.34143066e-02 -2.12831030e-02 1.10056236e+02] [ 2.14361695e-02 -6.35351686e-04 9.99770017e-01 3.86846302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.18038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.43, Y:110.08, Z:3.87 [[ 9.34744518e-02 -9.95618135e-01 -2.65649198e-03 2.18431561e+02] [ 9.95386029e-01 9.35100434e-02 -2.15063738e-02 1.10084003e+02] [ 2.16605444e-02 -6.33938510e-04 9.99765182e-01 3.86802993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.43, Y:110.11, Z:3.87 [[ 9.48467788e-02 -9.95487983e-01 -2.78639807e-03 2.18433151e+02] [ 9.95231476e-01 9.48856144e-02 -2.26059606e-02 1.10111370e+02] [ 2.27683513e-02 -6.29008513e-04 9.99740570e-01 3.86793583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.44, Y:110.14, Z:3.87 [[ 9.54169088e-02 -9.95433370e-01 -2.83180531e-03 2.18436015e+02] [ 9.95167420e-01 9.54568952e-02 -2.30171046e-02 1.10139656e+02] [ 2.31823094e-02 -6.21899412e-04 9.99731061e-01 3.86814267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.44, Y:110.17, Z:3.87 [[ 9.75350116e-02 -9.95228011e-01 -2.85085027e-03 2.18436394e+02] [ 9.94957333e-01 9.75749898e-02 -2.32169370e-02 1.10167533e+02] [ 2.33843178e-02 -5.72010157e-04 9.99726386e-01 3.86853059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.300385723 meters Centerline goodness [0,1] 0.999935504675911 Centerline is valid? [True, True] Translation: X:218.44, Y:110.20, Z:3.87 [[ 9.85289041e-02 -9.95130262e-01 -2.79580227e-03 2.18435557e+02] [ 9.94869031e-01 9.85671137e-02 -2.28064872e-02 1.10195870e+02] [ 2.29709998e-02 -5.34358902e-04 9.99735989e-01 3.87005594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.330385723 meters Centerline goodness [0,1] 0.9999138821908371 Centerline is valid? [True, True] Translation: X:218.44, Y:110.22, Z:3.87 [[ 9.90754927e-02 -9.95076325e-01 -2.67489803e-03 2.18436803e+02] [ 9.94836134e-01 9.91103617e-02 -2.18678687e-02 1.10223315e+02] [ 2.20253085e-02 -4.94515342e-04 9.99757291e-01 3.87077632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.44, Y:110.25, Z:3.87 [[ 9.96937748e-02 -9.95014487e-01 -2.70596632e-03 2.18436522e+02] [ 9.94767605e-01 9.97293286e-02 -2.21692089e-02 1.10250565e+02] [ 2.23285482e-02 -4.81675512e-04 9.99750571e-01 3.87076656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.44, Y:110.28, Z:3.87 [[ 9.96035703e-02 -9.95023206e-01 -2.81927745e-03 2.18438157e+02] [ 9.94754183e-01 9.96422103e-02 -2.31418482e-02 1.10278276e+02] [ 2.33075950e-02 -4.99477334e-04 9.99728216e-01 3.87036876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.44, Y:110.31, Z:3.87 [[ 9.92624387e-02 -9.95057222e-01 -2.84473854e-03 2.18440985e+02] [ 9.94782076e-01 9.93019008e-02 -2.34041282e-02 1.10306209e+02] [ 2.35709348e-02 -5.06744064e-04 9.99722038e-01 3.87034148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.44, Y:110.33, Z:3.87 [[ 9.95554174e-02 -9.95027567e-01 -2.97643773e-03 2.18443734e+02] [ 9.94724930e-01 9.95985584e-02 -2.45446755e-02 1.10333751e+02] [ 2.47190776e-02 -5.17181399e-04 9.99694303e-01 3.87160518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.480385723 meters Centerline goodness [0,1] 0.9999144366724422 Centerline is valid? [True, True] Translation: X:218.45, Y:110.36, Z:3.87 [[ 9.96736365e-02 -9.95015085e-01 -3.18531988e-03 2.18445752e+02] [ 9.94666823e-01 9.97230371e-02 -2.63292098e-02 1.10361943e+02] [ 2.65156107e-02 -5.44003921e-04 9.99648251e-01 3.87044723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.44, Y:110.39, Z:3.87 [[ 1.00849422e-01 -9.94897211e-01 -2.98896382e-03 2.18442491e+02] [ 9.94589392e-01 1.00892580e-01 -2.47513557e-02 1.10391323e+02] [ 2.49266191e-02 -4.76631782e-04 9.99689170e-01 3.87273767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.45, Y:110.42, Z:3.87 [[ 1.00574981e-01 -9.94925007e-01 -2.98388728e-03 2.18445737e+02] [ 9.94617182e-01 1.00618098e-01 -2.47519679e-02 1.10418709e+02] [ 2.49265849e-02 -4.78396840e-04 9.99689170e-01 3.87315552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.570385723 meters Centerline goodness [0,1] 0.9999142330288606 Centerline is valid? [True, True] Translation: X:218.45, Y:110.45, Z:3.87 [[ 1.01065658e-01 -9.94875125e-01 -3.03635487e-03 2.18448436e+02] [ 9.94554852e-01 1.01110174e-01 -2.52463862e-02 1.10447127e+02] [ 2.54240080e-02 -4.68278839e-04 9.99676648e-01 3.87249648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.45, Y:110.48, Z:3.87 [[ 1.01441403e-01 -9.94837296e-01 -2.89771757e-03 2.18451971e+02] [ 9.94544269e-01 1.01481861e-01 -2.41480441e-02 1.10475056e+02] [ 2.43174407e-02 -4.32296912e-04 9.99704194e-01 3.87465583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.630385723 meters Centerline goodness [0,1] 0.9998712667353244 Centerline is valid? [True, True] Translation: X:218.46, Y:110.50, Z:3.87 [[ 1.01069840e-01 -9.94874500e-01 -3.10122327e-03 2.18459444e+02] [ 9.94537493e-01 1.01116330e-01 -2.58971787e-02 1.10501757e+02] [ 2.60780270e-02 -4.66859105e-04 9.99659801e-01 3.87469549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.660385723 meters Centerline goodness [0,1] 0.9998712391089747 Centerline is valid? [True, True] Translation: X:218.46, Y:110.53, Z:3.88 [[ 1.01676477e-01 -9.94813386e-01 -2.86729335e-03 2.18461842e+02] [ 9.94524326e-01 1.01716060e-01 -2.39834830e-02 1.10530164e+02] [ 2.41507398e-02 -4.13036923e-04 9.99708243e-01 3.87761412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.690385723 meters Centerline goodness [0,1] 0.9998926209088567 Centerline is valid? [True, True] Translation: X:218.46, Y:110.56, Z:3.87 [[ 1.02424904e-01 -9.94735696e-01 -3.16767441e-03 2.18463156e+02] [ 9.94381119e-01 1.02472976e-01 -2.65608648e-02 1.10557317e+02] [ 2.67456414e-02 -4.29381599e-04 9.99642179e-01 3.87418696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.720385723 meters Centerline goodness [0,1] 0.9997854261436786 Centerline is valid? [True, True] Translation: X:218.47, Y:110.59, Z:3.88 [[ 1.04432845e-01 -9.94527045e-01 -3.12062729e-03 2.18465324e+02] [ 9.94181208e-01 1.04478828e-01 -2.62278678e-02 1.10585742e+02] [ 2.64103633e-02 -3.63418145e-04 9.99651119e-01 3.87521949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.47, Y:110.61, Z:3.88 [[ 1.05515130e-01 -9.94412696e-01 -3.15379684e-03 2.18468380e+02] [ 9.94057806e-01 1.05561731e-01 -2.65668961e-02 1.10613636e+02] [ 2.67513790e-02 -3.31846868e-04 9.99642063e-01 3.87508815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.780385723 meters Centerline goodness [0,1] 0.9995488140254383 Centerline is valid? [True, True] Translation: X:218.47, Y:110.64, Z:3.87 [[ 1.07458773e-01 -9.94203752e-01 -3.39285779e-03 2.18473172e+02] [ 9.93790934e-01 1.07511922e-01 -2.86490051e-02 1.10640909e+02] [ 2.88477210e-02 -2.93204372e-04 9.99583775e-01 3.87423455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.810385723 meters Centerline goodness [0,1] 0.9999352611135088 Centerline is valid? [True, True] Translation: X:218.48, Y:110.67, Z:3.88 [[ 1.09291619e-01 -9.94005474e-01 -2.90856049e-03 2.18476486e+02] [ 9.93700767e-01 1.09330131e-01 -2.46111468e-02 1.10669236e+02] [ 2.47816079e-02 -2.00446712e-04 9.99692869e-01 3.87932572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.840385723 meters Centerline goodness [0,1] 0.9997634510343641 Centerline is valid? [True, True] Translation: X:218.48, Y:110.70, Z:3.88 [[ 1.10862225e-01 -9.93831627e-01 -2.87481065e-03 2.18480575e+02] [ 9.93532650e-01 1.10899386e-01 -2.43762273e-02 1.10696321e+02] [ 2.45446803e-02 -1.53815462e-04 9.99698722e-01 3.88018704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.870385723 meters Centerline goodness [0,1] 0.9996781461216607 Centerline is valid? [True, True] Translation: X:218.48, Y:110.72, Z:3.88 [[ 1.13852819e-01 -9.93493645e-01 -2.81303158e-03 2.18482560e+02] [ 9.93206145e-01 1.13887542e-01 -2.38994049e-02 1.10724814e+02] [ 2.40642761e-02 -7.29056398e-05 9.99710411e-01 3.87975242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.900385723 meters Centerline goodness [0,1] 0.9998490728762398 Centerline is valid? [True, True] Translation: X:218.49, Y:110.75, Z:3.88 [[ 1.14151944e-01 -9.93458972e-01 -2.93332591e-03 2.18485389e+02] [ 9.93144808e-01 1.14189610e-01 -2.49824473e-02 1.10753111e+02] [ 2.51539918e-02 -6.14224710e-05 9.99683586e-01 3.87840289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.93038572300003 meters Centerline goodness [0,1] 0.9998708232862556 Centerline is valid? [True, True] Translation: X:218.49, Y:110.78, Z:3.88 [[ 1.15192621e-01 -9.93338830e-01 -2.93742094e-03 2.18490992e+02] [ 9.93022211e-01 1.15230064e-01 -2.50782861e-02 1.10779695e+02] [ 2.52497145e-02 -2.80907345e-05 9.99681175e-01 3.87822099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.960385723 meters Centerline goodness [0,1] 0.9997625472207231 Centerline is valid? [True, True] Translation: X:218.50, Y:110.81, Z:3.88 [[ 1.14329628e-01 -9.93438369e-01 -2.99054036e-03 2.18497082e+02] [ 9.93108580e-01 1.14368725e-01 -2.55957594e-02 1.10806962e+02] [ 2.57698337e-02 -4.35776430e-05 9.99667902e-01 3.87891581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.990385723 meters Centerline goodness [0,1] 0.9997849508612718 Centerline is valid? [True, True] Translation: X:218.50, Y:110.83, Z:3.88 [[ 1.12897539e-01 -9.93602017e-01 -3.02951523e-03 2.18503744e+02] [ 9.93261980e-01 1.12938154e-01 -2.59925434e-02 1.10834428e+02] [ 2.61683914e-02 -7.46081274e-05 9.99657546e-01 3.87938580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.020385723 meters Centerline goodness [0,1] 0.999783676206546 Centerline is valid? [True, True] Translation: X:218.51, Y:110.86, Z:3.88 [[ 1.11161285e-01 -9.93797584e-01 -3.08734743e-03 2.18509839e+02] [ 9.93443032e-01 1.11204089e-01 -2.65441636e-02 1.10860428e+02] [ 2.67228513e-02 -1.16420464e-04 9.99642874e-01 3.87989842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.050385723 meters Centerline goodness [0,1] 0.9998272324802937 Centerline is valid? [True, True] Translation: X:218.52, Y:110.89, Z:3.88 [[ 1.07016812e-01 -9.94252718e-01 -2.98924952e-03 2.18517152e+02] [ 9.93919249e-01 1.07058336e-01 -2.57495590e-02 1.10887799e+02] [ 2.59215931e-02 -2.15436912e-04 9.99663956e-01 3.88006681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.080385723 meters Centerline goodness [0,1] 0.9997625472207231 Centerline is valid? [True, True] Translation: X:218.52, Y:110.92, Z:3.88 [[ 1.04884734e-01 -9.94480078e-01 -2.92701741e-03 2.18521864e+02] [ 9.94158919e-01 1.04925248e-01 -2.52732272e-02 1.10915950e+02] [ 2.54408390e-02 -2.59144753e-04 9.99676296e-01 3.88027152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.110385723 meters Centerline goodness [0,1] 0.9997623933470137 Centerline is valid? [True, True] Translation: X:218.53, Y:110.94, Z:3.88 [[ 1.00455230e-01 -9.94937123e-01 -2.97788771e-03 2.18530646e+02] [ 9.94603297e-01 1.00498667e-01 -2.57740050e-02 1.10942288e+02] [ 2.59427881e-02 -3.72683341e-04 9.99663360e-01 3.87958643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.54, Y:110.97, Z:3.88 [[ 1.00319215e-01 -9.94951631e-01 -2.70323810e-03 2.18536442e+02] [ 9.94675347e-01 1.00355066e-01 -2.34481180e-02 1.10969627e+02] [ 2.36010268e-02 -3.36547498e-04 9.99721400e-01 3.88174903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.54, Y:111.00, Z:3.88 [[ 9.86462457e-02 -9.95118985e-01 -2.66912584e-03 2.18541655e+02] [ 9.94848429e-01 9.86816697e-02 -2.32062661e-02 1.10997806e+02] [ 2.33563897e-02 -3.66164628e-04 9.99727135e-01 3.88194099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.200385723 meters Centerline goodness [0,1] 0.9999134461418617 Centerline is valid? [True, True] Translation: X:218.55, Y:111.02, Z:3.88 [[ 9.67917112e-02 -9.95300572e-01 -2.85221978e-03 2.18550518e+02] [ 9.94990230e-01 9.68327624e-02 -2.48567371e-02 1.11024257e+02] [ 2.50161130e-02 -4.32004698e-04 9.99686955e-01 3.87870135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.55, Y:111.05, Z:3.88 [[ 9.70319661e-02 -9.95277597e-01 -2.70244893e-03 2.18553431e+02] [ 9.94997751e-01 9.70687734e-02 -2.36035923e-02 1.11052173e+02] [ 2.37544500e-02 -3.98627642e-04 9.99717744e-01 3.88049566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.260385723 meters Centerline goodness [0,1] 0.9999783037903278 Centerline is valid? [True, True] Translation: X:218.56, Y:111.08, Z:3.88 [[ 9.90939408e-02 -9.95074431e-01 -2.69581959e-03 2.18559275e+02] [ 9.94794678e-01 9.91300082e-02 -2.35963958e-02 1.11079225e+02] [ 2.37474067e-02 -3.43527138e-04 9.99717932e-01 3.88018025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.56, Y:111.11, Z:3.88 [[ 1.00866833e-01 -9.94896477e-01 -2.62343244e-03 2.18562695e+02] [ 9.94630490e-01 1.00900530e-01 -2.30058863e-02 1.11107233e+02] [ 2.31531810e-02 -2.88815002e-04 9.99731887e-01 3.88005096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.57, Y:111.14, Z:3.88 [[ 1.03269947e-01 -9.94650190e-01 -2.51354091e-03 2.18565657e+02] [ 9.94404852e-01 1.03300301e-01 -2.20915733e-02 1.11135252e+02] [ 2.22330371e-02 -2.18081685e-04 9.99752792e-01 3.88038789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.57, Y:111.16, Z:3.88 [[ 1.08978792e-01 -9.94041494e-01 -2.26534681e-03 2.18569044e+02] [ 9.93841244e-01 1.09002307e-01 -1.99518958e-02 1.11163860e+02] [ 2.00799403e-02 -7.70616011e-05 9.99798375e-01 3.88159534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.380385723 meters Centerline goodness [0,1] 0.9999565292992523 Centerline is valid? [True, True] Translation: X:218.57, Y:111.19, Z:3.88 [[ 1.11845804e-01 -9.93723122e-01 -2.20755263e-03 2.18572372e+02] [ 9.93532059e-01 1.11867587e-01 -1.94856589e-02 1.11190807e+02] [ 1.96103034e-02 -1.38851188e-05 9.99807699e-01 3.88169043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.410385723 meters Centerline goodness [0,1] 0.9998908630549613 Centerline is valid? [True, True] Translation: X:218.57, Y:111.22, Z:3.88 [[ 1.17887810e-01 -9.93024534e-01 -2.17707126e-03 2.18574702e+02] [ 9.92837664e-01 1.17907860e-01 -1.92641909e-02 1.11218989e+02] [ 1.93865080e-02 1.09534929e-04 9.99812058e-01 3.88083589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.440385723 meters Centerline goodness [0,1] 0.9999130056546325 Centerline is valid? [True, True] Translation: X:218.58, Y:111.25, Z:3.88 [[ 1.21119371e-01 -9.92635689e-01 -2.11826057e-03 2.18577063e+02] [ 9.92457941e-01 1.21137769e-01 -1.87850138e-02 1.11245557e+02] [ 1.89032764e-02 1.72944523e-04 9.99821302e-01 3.88105506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.470385723 meters Centerline goodness [0,1] 0.9998035577867511 Centerline is valid? [True, True] Translation: X:218.58, Y:111.27, Z:3.88 [[ 1.23757141e-01 -9.92310357e-01 -2.07988625e-03 2.18580104e+02] [ 9.92138311e-01 1.23774415e-01 -1.84787980e-02 1.11272569e+02] [ 1.85941393e-02 2.23348361e-04 9.99827089e-01 3.87884697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.59, Y:111.30, Z:3.88 [[ 1.25365497e-01 -9.92108558e-01 -2.02500188e-03 2.18585158e+02] [ 9.91944666e-01 1.25381597e-01 -1.80342445e-02 1.11299941e+02] [ 1.81458263e-02 2.52182217e-04 9.99835319e-01 3.88038096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.530385723 meters Centerline goodness [0,1] 0.9999563023006839 Centerline is valid? [True, True] Translation: X:218.59, Y:111.33, Z:3.88 [[ 1.25645354e-01 -9.92073277e-01 -1.96429524e-03 2.18590014e+02] [ 9.91918339e-01 1.25660449e-01 -1.75345580e-02 1.11325823e+02] [ 1.76424006e-02 2.54715271e-04 9.99844328e-01 3.88086241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.560385723 meters Centerline goodness [0,1] 0.9999560052793665 Centerline is valid? [True, True] Translation: X:218.60, Y:111.35, Z:3.88 [[ 1.26772977e-01 -9.91929986e-01 -1.87502243e-03 2.18597711e+02] [ 9.91788054e-01 1.26786560e-01 -1.67816645e-02 1.11351939e+02] [ 1.68839639e-02 2.67836735e-04 9.99857420e-01 3.88198997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.60, Y:111.38, Z:3.88 [[ 1.27088785e-01 -9.91889562e-01 -1.88059646e-03 2.18602963e+02] [ 9.91746071e-01 1.27102391e-01 -1.68734220e-02 1.11378303e+02] [ 1.69755994e-02 2.79348540e-04 9.99855865e-01 3.88256070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.620385723 meters Centerline goodness [0,1] 0.9999337909116991 Centerline is valid? [True, True] Translation: X:218.61, Y:111.40, Z:3.88 [[ 1.27156395e-01 -9.91881071e-01 -1.78685835e-03 2.18608484e+02] [ 9.91750892e-01 1.27168659e-01 -1.60716990e-02 1.11404027e+02] [ 1.61684464e-02 2.71500935e-04 9.99869245e-01 3.88116078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.650385723 meters Centerline goodness [0,1] 0.999933818663137 Centerline is valid? [True, True] Translation: X:218.61, Y:111.43, Z:3.88 [[ 1.26290895e-01 -9.91991641e-01 -1.78736718e-03 2.18613403e+02] [ 9.91860873e-01 1.26303271e-01 -1.61087973e-02 1.11429616e+02] [ 1.62055426e-02 2.61574845e-04 9.99868647e-01 3.88059491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.68038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.62, Y:111.45, Z:3.88 [[ 1.23687382e-01 -9.92319452e-01 -1.88090314e-03 2.18624724e+02] [ 9.92174049e-01 1.23701459e-01 -1.69884075e-02 1.11454619e+02] [ 1.70905976e-02 2.35068358e-04 9.99853917e-01 3.87989311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.710385723 meters Centerline goodness [0,1] 0.9999555437005424 Centerline is valid? [True, True] Translation: X:218.63, Y:111.48, Z:3.88 [[ 1.22654429e-01 -9.92447620e-01 -1.90089377e-03 2.18632647e+02] [ 9.92298326e-01 1.22668952e-01 -1.72151147e-02 1.11481387e+02] [ 1.73182803e-02 2.25256372e-04 9.99850002e-01 3.88061270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.740385723 meters Centerline goodness [0,1] 0.9999329713787788 Centerline is valid? [True, True] Translation: X:218.64, Y:111.51, Z:3.88 [[ 1.20914908e-01 -9.92660936e-01 -1.96249351e-03 2.18642481e+02] [ 9.92501012e-01 1.20930656e-01 -1.78190197e-02 1.11508651e+02] [ 1.79255704e-02 2.06808326e-04 9.99839303e-01 3.88110841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.65, Y:111.54, Z:3.88 [[ 1.18684818e-01 -9.92929956e-01 -2.00419294e-03 2.18651333e+02] [ 9.92762357e-01 1.18701609e-01 -1.82436583e-02 1.11536164e+02] [ 1.83525757e-02 1.75557952e-04 9.99831562e-01 3.87939362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.66, Y:111.56, Z:3.88 [[ 1.17800314e-01 -9.93035327e-01 -1.98126627e-03 2.18657207e+02] [ 9.92870748e-01 1.17816862e-01 -1.80794133e-02 1.11563947e+02] [ 1.81869226e-02 1.62619233e-04 9.99834591e-01 3.87960104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.830385723 meters Centerline goodness [0,1] 0.9999551509171637 Centerline is valid? [True, True] Translation: X:218.66, Y:111.59, Z:3.88 [[ 1.16564446e-01 -9.93181163e-01 -1.97695384e-03 2.18664036e+02] [ 9.93016511e-01 1.16581119e-01 -1.80845821e-02 1.11591463e+02] [ 1.81917418e-02 1.44871483e-04 9.99834506e-01 3.88025990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.860385723 meters Centerline goodness [0,1] 0.9998648679083805 Centerline is valid? [True, True] Translation: X:218.67, Y:111.62, Z:3.88 [[ 1.14863571e-01 -9.93379498e-01 -1.87945167e-03 2.18672994e+02] [ 9.93230025e-01 1.14878891e-01 -1.72324908e-02 1.11617588e+02] [ 1.73343124e-02 1.12657602e-04 9.99849743e-01 3.88172850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.890385723 meters Centerline goodness [0,1] 0.999887458359593 Centerline is valid? [True, True] Translation: X:218.68, Y:111.64, Z:3.88 [[ 1.14952395e-01 -9.93369546e-01 -1.70070686e-03 2.18675887e+02] [ 9.93246734e-01 1.14964926e-01 -1.56202236e-02 1.11643498e+02] [ 1.57121761e-02 1.06360576e-04 9.99876550e-01 3.88306090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.920385723 meters Centerline goodness [0,1] 0.999617418701474 Centerline is valid? [True, True] Translation: X:218.68, Y:111.67, Z:3.88 [[ 1.14637826e-01 -9.93406205e-01 -1.51047130e-03 2.18679090e+02] [ 9.93308821e-01 1.14647738e-01 -1.39097610e-02 1.11669225e+02] [ 1.39912150e-02 9.42202989e-05 9.99902114e-01 3.88475174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.950385723 meters Centerline goodness [0,1] 0.9997748254897546 Centerline is valid? [True, True] Translation: X:218.68, Y:111.70, Z:3.89 [[ 1.13758563e-01 -9.93507338e-01 -1.46953290e-03 2.18682182e+02] [ 9.93414801e-01 1.13768025e-01 -1.35598395e-02 1.11695518e+02] [ 1.36389859e-02 8.26921220e-05 9.99906981e-01 3.88570429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.980385723 meters Centerline goodness [0,1] 0.999707437830539 Centerline is valid? [True, True] Translation: X:218.69, Y:111.72, Z:3.89 [[ 1.12424865e-01 -9.93659131e-01 -1.47719090e-03 2.18686024e+02] [ 9.93565093e-01 1.12434548e-01 -1.36703535e-02 1.11722503e+02] [ 1.37497588e-02 6.92023266e-05 9.99905465e-01 3.88580554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.010385723 meters Centerline goodness [0,1] 0.9998420791409105 Centerline is valid? [True, True] Translation: X:218.69, Y:111.75, Z:3.89 [[ 1.10405314e-01 -9.93885486e-01 -1.51907387e-03 2.18689308e+02] [ 9.93785500e-01 1.10415754e-01 -1.40975570e-02 1.11749416e+02] [ 1.41790870e-02 4.68116222e-05 9.99899471e-01 3.88579716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.040385723 meters Centerline goodness [0,1] 0.9996171257404113 Centerline is valid? [True, True] Translation: X:218.69, Y:111.78, Z:3.89 [[ 1.09837760e-01 -9.93948291e-01 -1.56905577e-03 2.18691482e+02] [ 9.93841010e-01 1.09848957e-01 -1.46032065e-02 1.11776510e+02] [ 1.46871913e-02 4.45915148e-05 9.99892136e-01 3.88583314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.070385723 meters Centerline goodness [0,1] 0.9998872756786004 Centerline is valid? [True, True] Translation: X:218.69, Y:111.80, Z:3.88 [[ 1.07649013e-01 -9.94187663e-01 -1.60628482e-03 2.18693464e+02] [ 9.94074642e-01 1.07660995e-01 -1.49905404e-02 1.11804495e+02] [ 1.50763446e-02 1.69498744e-05 9.99886345e-01 3.88496004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.100385723 meters Centerline goodness [0,1] 0.9999097513650106 Centerline is valid? [True, True] Translation: X:218.70, Y:111.83, Z:3.88 [[ 1.05690066e-01 -9.94397819e-01 -1.60840026e-03 2.18695720e+02] [ 9.94283923e-01 1.05702303e-01 -1.50500495e-02 1.11831204e+02] [ 1.51357481e-02 -8.56579650e-06 9.99885448e-01 3.88436491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.130385723 meters Centerline goodness [0,1] 0.9999325660852365 Centerline is valid? [True, True] Translation: X:218.70, Y:111.86, Z:3.88 [[ 1.03397879e-01 -9.94638744e-01 -1.62712978e-03 2.18698790e+02] [ 9.94521561e-01 1.03410673e-01 -1.52675180e-02 1.11857929e+02] [ 1.53539275e-02 -3.95866821e-05 9.99882121e-01 3.88495441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.160385723 meters Centerline goodness [0,1] 0.9999322844954066 Centerline is valid? [True, True] Translation: X:218.70, Y:111.89, Z:3.89 [[ 9.91498746e-02 -9.95071303e-01 -1.55028794e-03 2.18701809e+02] [ 9.94964426e-01 9.91619470e-02 -1.45842135e-02 1.11885863e+02] [ 1.46660619e-02 -9.64584131e-05 9.99892443e-01 3.88559878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.190385723 meters Centerline goodness [0,1] 0.9999549965122297 Centerline is valid? [True, True] Translation: X:218.70, Y:111.91, Z:3.89 [[ 9.67943520e-02 -9.95303219e-01 -1.53501015e-03 2.18704468e+02] [ 9.95197925e-01 9.68064403e-02 -1.44776589e-02 1.11913289e+02] [ 1.45582594e-02 -1.26283303e-04 9.99894015e-01 3.88664025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.71, Y:111.94, Z:3.89 [[ 9.32148357e-02 -9.95644774e-01 -1.57420558e-03 2.18707450e+02] [ 9.95533639e-01 9.32279527e-02 -1.48768898e-02 1.11940124e+02] [ 1.49588575e-02 -1.80427777e-04 9.99888094e-01 3.88738635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.71, Y:111.97, Z:3.89 [[ 9.21330753e-02 -9.95745419e-01 -1.59932164e-03 2.18709425e+02] [ 9.95630457e-01 9.21467423e-02 -1.51317828e-02 1.11968364e+02] [ 1.52147757e-02 -1.98195651e-04 9.99884229e-01 3.88788597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.71, Y:112.00, Z:3.89 [[ 9.14568016e-02 -9.95807722e-01 -1.62297553e-03 2.18711577e+02] [ 9.95688720e-01 9.14709646e-02 -1.53959332e-02 1.11996521e+02] [ 1.54798443e-02 -2.07915629e-04 9.99880158e-01 3.88848356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.71, Y:112.03, Z:3.89 [[ 9.12595908e-02 -9.95825870e-01 -1.58877500e-03 2.18710937e+02] [ 9.95711256e-01 9.12731937e-02 -1.51095604e-02 1.12025179e+02] [ 1.51915037e-02 -2.03068848e-04 9.99884582e-01 3.88989058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.71, Y:112.05, Z:3.89 [[ 9.09781605e-02 -9.95851623e-01 -1.58714600e-03 2.18712156e+02] [ 9.95736641e-01 9.09917760e-02 -1.51340140e-02 1.12052728e+02] [ 1.52156497e-02 -2.03514668e-04 9.99884215e-01 3.89058354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.370385723 meters Centerline goodness [0,1] 0.999977680066067 Centerline is valid? [True, True] Translation: X:218.71, Y:112.08, Z:3.89 [[ 9.04824773e-02 -9.95896779e-01 -1.58970063e-03 2.18711636e+02] [ 9.95780784e-01 9.04962029e-02 -1.52008835e-02 1.12080859e+02] [ 1.52823728e-02 -2.07579746e-04 9.99883196e-01 3.89086919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.71, Y:112.11, Z:3.89 [[ 8.94239624e-02 -9.95992309e-01 -1.63578411e-03 2.18713133e+02] [ 9.95868845e-01 8.94386355e-02 -1.56835921e-02 1.12109283e+02] [ 1.57670394e-02 -2.26537476e-04 9.99875667e-01 3.89101812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.43038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.72, Y:112.14, Z:3.89 [[ 8.85069162e-02 -9.96074257e-01 -1.61261187e-03 2.18715078e+02] [ 9.95953656e-01 8.85212964e-02 -1.55014413e-02 1.12136477e+02] [ 1.55833371e-02 -2.34101925e-04 9.99878545e-01 3.89147357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.72, Y:112.16, Z:3.89 [[ 8.82418019e-02 -9.96097785e-01 -1.60822136e-03 2.18717851e+02] [ 9.95977180e-01 8.82561460e-02 -1.55018968e-02 1.12163930e+02] [ 1.55833405e-02 -2.33836473e-04 9.99878545e-01 3.89189067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.72, Y:112.19, Z:3.89 [[ 8.65408451e-02 -9.96246849e-01 -1.70232725e-03 2.18720465e+02] [ 9.96110999e-01 8.65571600e-02 -1.64540573e-02 1.12191860e+02] [ 1.65396513e-02 -2.71758874e-04 9.99863174e-01 3.89290318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.72, Y:112.22, Z:3.89 [[ 8.54591823e-02 -9.96340022e-01 -1.81336425e-03 2.18724090e+02] [ 9.96185021e-01 8.54778772e-02 -1.75766030e-02 1.12217572e+02] [ 1.76672755e-02 -3.04364180e-04 9.99843875e-01 3.89396110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.73, Y:112.25, Z:3.90 [[ 8.38022127e-02 -9.96480630e-01 -1.88261528e-03 2.18726758e+02] [ 9.96312562e-01 8.38226598e-02 -1.83040899e-02 1.12245807e+02] [ 1.83974768e-02 -3.41750020e-04 9.99830694e-01 3.89537928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.73, Y:112.27, Z:3.90 [[ 8.29129746e-02 -9.96555029e-01 -1.87418592e-03 2.18728060e+02] [ 9.96387610e-01 8.29334045e-02 -1.82696913e-02 1.12273071e+02] [ 1.83621853e-02 -3.52621182e-04 9.99831339e-01 3.89589920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.73, Y:112.30, Z:3.90 [[ 8.18738146e-02 -9.96641083e-01 -1.79750457e-03 2.18727159e+02] [ 9.96486252e-01 8.18927847e-02 -1.75704855e-02 1.12300931e+02] [ 1.76586703e-02 -3.52625923e-04 9.99844011e-01 3.89684134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.640385723 meters Centerline goodness [0,1] 0.9999334516415261 Centerline is valid? [True, True] Translation: X:218.73, Y:112.33, Z:3.90 [[ 7.96918934e-02 -9.96817883e-01 -1.81931417e-03 2.18730222e+02] [ 9.96658451e-01 7.97116928e-02 -1.78319235e-02 1.12328032e+02] [ 1.79202009e-02 -3.92175092e-04 9.99839343e-01 3.89797822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.73, Y:112.35, Z:3.90 [[ 7.86811421e-02 -9.96897917e-01 -1.95485691e-03 2.18734190e+02] [ 9.96712865e-01 7.87042109e-02 -1.92123081e-02 1.12354450e+02] [ 1.93065654e-02 -4.36784682e-04 9.99813515e-01 3.89774228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.74, Y:112.38, Z:3.90 [[ 7.66705543e-02 -9.97053903e-01 -2.26741649e-03 2.18736321e+02] [ 9.96803467e-01 7.67021286e-02 -2.23524471e-02 1.12382673e+02] [ 2.24605103e-02 -5.46394104e-04 9.99747582e-01 3.89632516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.74, Y:112.41, Z:3.90 [[ 7.58736180e-02 -9.97114656e-01 -2.35737080e-03 2.18738233e+02] [ 9.96842500e-01 7.59080003e-02 -2.33024813e-02 1.12410447e+02] [ 2.34141889e-02 -5.81883844e-04 9.99725681e-01 3.89598751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.74, Y:112.44, Z:3.90 [[ 7.49206429e-02 -9.97186259e-01 -2.54205403e-03 2.18740908e+02] [ 9.96868011e-01 7.49609718e-02 -2.51996398e-02 1.12437437e+02] [ 2.53192893e-02 -6.46119136e-04 9.99679207e-01 3.89552722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.74, Y:112.47, Z:3.90 [[ 7.45613598e-02 -9.97213059e-01 -2.59202280e-03 2.18741515e+02] [ 9.96880322e-01 7.46034570e-02 -2.57671942e-02 1.12465712e+02] [ 2.58887564e-02 -6.62699478e-04 9.99664610e-01 3.89686019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.820385723 meters Centerline goodness [0,1] 0.9999558303886926 Centerline is valid? [True, True] Translation: X:218.74, Y:112.49, Z:3.90 [[ 7.46591757e-02 -9.97205634e-01 -2.63275653e-03 2.18739529e+02] [ 9.96860441e-01 7.47026210e-02 -2.62446246e-02 1.12493674e+02] [ 2.63679613e-02 -6.65088800e-04 9.99652084e-01 3.89716740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.850385723 meters Centerline goodness [0,1] 0.9999558381911323 Centerline is valid? [True, True] Translation: X:218.74, Y:112.52, Z:3.90 [[ 7.47404253e-02 -9.97199489e-01 -2.65476934e-03 2.18741347e+02] [ 9.96846483e-01 7.47846217e-02 -2.65395746e-02 1.12520756e+02] [ 2.66637861e-02 -6.62818392e-04 9.99644238e-01 3.89699606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.880385723 meters Centerline goodness [0,1] 0.9999779112917476 Centerline is valid? [True, True] Translation: X:218.74, Y:112.55, Z:3.90 [[ 7.47664020e-02 -9.97197423e-01 -2.69901008e-03 2.18743804e+02] [ 9.96830436e-01 7.48121263e-02 -2.70597102e-02 1.12548885e+02] [ 2.71857919e-02 -6.67298224e-04 9.99630175e-01 3.89777988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.910385723 meters Centerline goodness [0,1] 0.9999779064115594 Centerline is valid? [True, True] Translation: X:218.75, Y:112.58, Z:3.90 [[ 7.43449210e-02 -9.97228782e-01 -2.75479989e-03 2.18747662e+02] [ 9.96844329e-01 7.43927700e-02 -2.76965757e-02 1.12576867e+02] [ 2.78247596e-02 -6.87006917e-04 9.99612580e-01 3.90016102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.940385723 meters Centerline goodness [0,1] 0.9999559063450769 Centerline is valid? [True, True] Translation: X:218.75, Y:112.60, Z:3.90 [[ 7.38703901e-02 -9.97263869e-01 -2.81800162e-03 2.18749451e+02] [ 9.96859253e-01 7.39207095e-02 -2.84140395e-02 1.12603563e+02] [ 2.85446037e-02 -7.10194808e-04 9.99592267e-01 3.90061953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.970385723 meters Centerline goodness [0,1] 0.9998461775111521 Centerline is valid? [True, True] Translation: X:218.75, Y:112.63, Z:3.90 [[ 7.40456828e-02 -9.97250848e-01 -2.82555526e-03 2.18750673e+02] [ 9.96841784e-01 7.40962564e-02 -2.85692722e-02 1.12632170e+02] [ 2.87000940e-02 -7.01200285e-04 9.99587822e-01 3.90061777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.000385723 meters Centerline goodness [0,1] 0.9999560603730474 Centerline is valid? [True, True] Translation: X:218.75, Y:112.66, Z:3.90 [[ 7.46264537e-02 -9.97207401e-01 -2.87967274e-03 2.18752415e+02] [ 9.96780200e-01 7.46787896e-02 -2.91943667e-02 1.12660491e+02] [ 2.93278890e-02 -6.91728712e-04 9.99569606e-01 3.90069914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.030385723 meters Centerline goodness [0,1] 0.999912319158264 Centerline is valid? [True, True] Translation: X:218.75, Y:112.69, Z:3.90 [[ 7.70015906e-02 -9.97026983e-01 -2.81948280e-03 2.18753100e+02] [ 9.96615169e-01 7.70508320e-02 -2.86596343e-02 1.12687918e+02] [ 2.87916722e-02 -6.03101903e-04 9.99585252e-01 3.90174978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.060385723 meters Centerline goodness [0,1] 0.9999562994362627 Centerline is valid? [True, True] Translation: X:218.75, Y:112.72, Z:3.90 [[ 7.87795483e-02 -9.96888152e-01 -2.79216739e-03 2.18754504e+02] [ 9.96482053e-01 7.88271608e-02 -2.84569341e-02 1.12716140e+02] [ 2.85884791e-02 -5.40520280e-04 9.99591120e-01 3.90350916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.090385723 meters Centerline goodness [0,1] 0.9996499135724132 Centerline is valid? [True, True] Translation: X:218.75, Y:112.74, Z:3.91 [[ 8.27397111e-02 -9.96567496e-01 -2.71409555e-03 2.18754459e+02] [ 9.96181588e-01 8.27832037e-02 -2.77341949e-02 1.12744723e+02] [ 2.78636787e-02 -4.09012743e-04 9.99611649e-01 3.90684107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.120385723 meters Centerline goodness [0,1] 0.9998690785310611 Centerline is valid? [True, True] Translation: X:218.75, Y:112.77, Z:3.91 [[ 8.50874631e-02 -9.96369778e-01 -2.71821329e-03 2.18754774e+02] [ 9.95980507e-01 8.51302011e-02 -2.78509999e-02 1.12773346e+02] [ 2.79812967e-02 -3.37516520e-04 9.99608390e-01 3.90831710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.150385723 meters Centerline goodness [0,1] 0.9999345863677991 Centerline is valid? [True, True] Translation: X:218.76, Y:112.80, Z:3.91 [[ 8.71908939e-02 -9.96187920e-01 -2.71585721e-03 2.18755082e+02] [ 9.95797054e-01 8.72327587e-02 -2.79047016e-02 1.12801402e+02] [ 2.80352384e-02 -2.71406734e-04 9.99606899e-01 3.90776162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.18038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.75, Y:112.83, Z:3.91 [[ 9.12233111e-02 -9.95826557e-01 -2.78857123e-03 2.18753375e+02] [ 9.95411914e-01 9.12657918e-02 -2.87345855e-02 1.12830208e+02] [ 2.88691645e-02 -1.54512993e-04 9.99583187e-01 3.90625949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.76, Y:112.86, Z:3.90 [[ 9.29916366e-02 -9.95663028e-01 -2.77315326e-03 2.18755117e+02] [ 9.95250849e-01 9.30329276e-02 -2.86464922e-02 1.12856994e+02] [ 2.87802477e-02 -9.60989394e-05 9.99585758e-01 3.90429758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.76, Y:112.88, Z:3.91 [[ 9.61836419e-02 -9.95359607e-01 -2.82120818e-03 2.18756804e+02] [ 9.94930775e-01 9.62250081e-02 -2.92147206e-02 1.12884734e+02] [ 2.93506236e-02 3.07138603e-06 9.99569178e-01 3.90711513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.270385723 meters Centerline goodness [0,1] 0.9999563375976946 Centerline is valid? [True, True] Translation: X:218.76, Y:112.91, Z:3.91 [[ 9.65902078e-02 -9.95320083e-01 -2.87479036e-03 2.18759124e+02] [ 9.94872160e-01 9.66329762e-02 -2.98572236e-02 1.12911313e+02] [ 2.99952938e-02 2.38665353e-05 9.99550040e-01 3.90708713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.300385723 meters Centerline goodness [0,1] 0.9997820970975333 Centerline is valid? [True, True] Translation: X:218.76, Y:112.94, Z:3.91 [[ 9.57219783e-02 -9.95404138e-01 -2.81146196e-03 2.18762915e+02] [ 9.94973265e-01 9.57632571e-02 -2.92848207e-02 1.12939192e+02] [ 2.94194665e-02 5.87148206e-06 9.99567154e-01 3.90858067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.330385723 meters Centerline goodness [0,1] 0.999890583626934 Centerline is valid? [True, True] Translation: X:218.77, Y:112.97, Z:3.91 [[ 9.43103209e-02 -9.95538841e-01 -2.82474333e-03 2.18766969e+02] [ 9.95101738e-01 9.43526097e-02 -2.94977426e-02 1.12965907e+02] [ 2.96326704e-02 -2.89654237e-05 9.99560856e-01 3.90735217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.360385723 meters Centerline goodness [0,1] 0.9996737995824635 Centerline is valid? [True, True] Translation: X:218.77, Y:112.99, Z:3.91 [[ 9.25219838e-02 -9.95706795e-01 -2.76799878e-03 2.18770464e+02] [ 9.95285081e-01 9.25633503e-02 -2.89764347e-02 1.12993443e+02] [ 2.91082481e-02 -7.39906672e-05 9.99576262e-01 3.90911903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.390385723 meters Centerline goodness [0,1] 0.9999563766440552 Centerline is valid? [True, True] Translation: X:218.78, Y:113.02, Z:3.91 [[ 8.86550500e-02 -9.96058338e-01 -2.84055875e-03 2.18775294e+02] [ 9.95611846e-01 8.87003535e-02 -2.98211229e-02 1.13021520e+02] [ 2.99555367e-02 -1.84300799e-04 9.99551215e-01 3.90917868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.420385723 meters Centerline goodness [0,1] 0.9998475111643612 Centerline is valid? [True, True] Translation: X:218.78, Y:113.05, Z:3.91 [[ 8.65228484e-02 -9.96245925e-01 -2.80248300e-03 2.18780108e+02] [ 9.95809203e-01 8.65678940e-02 -2.94962713e-02 1.13047770e+02] [ 2.96281451e-02 -2.38636960e-04 9.99560962e-01 3.90880767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.79, Y:113.08, Z:3.91 [[ 8.14147460e-02 -9.96676502e-01 -2.75489055e-03 2.18788215e+02] [ 9.96252606e-01 8.14604652e-02 -2.90678034e-02 1.13075087e+02] [ 2.91956113e-02 -3.78019053e-04 9.99573646e-01 3.91119135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.480385723 meters Centerline goodness [0,1] 0.9999780065100731 Centerline is valid? [True, True] Translation: X:218.79, Y:113.10, Z:3.91 [[ 7.82758655e-02 -9.96927888e-01 -2.77052269e-03 2.18793162e+02] [ 9.96496973e-01 7.83234921e-02 -2.93123424e-02 1.13102792e+02] [ 2.94392886e-02 -4.66368500e-04 9.99566461e-01 3.91233547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.80, Y:113.13, Z:3.91 [[ 7.32665240e-02 -9.97308625e-01 -2.74265986e-03 2.18798294e+02] [ 9.96884536e-01 7.33153609e-02 -2.90874446e-02 1.13129614e+02] [ 2.92102384e-02 -6.02979243e-04 9.99573108e-01 3.91152867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.80, Y:113.16, Z:3.91 [[ 7.10512157e-02 -9.97469051e-01 -2.68641037e-03 2.18800962e+02] [ 9.97060338e-01 7.10990180e-02 -2.85589105e-02 1.13158016e+02] [ 2.86776305e-02 -6.49367923e-04 9.99588501e-01 3.91177876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.81, Y:113.18, Z:3.91 [[ 6.97546910e-02 -9.97560619e-01 -2.66361094e-03 2.18807569e+02] [ 9.97157000e-01 6.98022525e-02 -2.83824399e-02 1.13184665e+02] [ 2.84991304e-02 -6.76229968e-04 9.99593589e-01 3.91204693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.81, Y:113.21, Z:3.91 [[ 6.97702922e-02 -9.97559421e-01 -2.70319447e-03 2.18811152e+02] [ 9.97141737e-01 6.98193178e-02 -2.88724812e-02 1.13212092e+02] [ 2.89907508e-02 -6.81026577e-04 9.99579448e-01 3.91333122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.630385723 meters Centerline goodness [0,1] 0.9999778280342335 Centerline is valid? [True, True] Translation: X:218.82, Y:113.24, Z:3.91 [[ 7.03055354e-02 -9.97521763e-01 -2.73204793e-03 2.18815600e+02] [ 9.97092890e-01 7.03554342e-02 -2.92554379e-02 1.13239062e+02] [ 2.93751504e-02 -6.67286345e-04 9.99568234e-01 3.91315431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.82, Y:113.27, Z:3.91 [[ 7.22645980e-02 -9.97381575e-01 -2.79660255e-03 2.18817205e+02] [ 9.96929819e-01 7.23160466e-02 -3.00220889e-02 1.13266552e+02] [ 3.01457176e-02 -6.18482284e-04 9.99545323e-01 3.91147967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.82, Y:113.29, Z:3.91 [[ 7.45485831e-02 -9.97213401e-01 -2.81816761e-03 2.18818678e+02] [ 9.96751922e-01 7.45998245e-02 -3.03392889e-02 1.13293509e+02] [ 3.04649802e-02 -5.47262986e-04 9.99535685e-01 3.90948312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.82, Y:113.32, Z:3.91 [[ 7.50908895e-02 -9.97172851e-01 -2.76822609e-03 2.18821837e+02] [ 9.96724924e-01 7.51401346e-02 -2.98895794e-02 1.13320577e+02] [ 3.00130820e-02 -5.14724830e-04 9.99549373e-01 3.91002007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.750385723 meters Centerline goodness [0,1] 0.9999557864485464 Centerline is valid? [True, True] Translation: X:218.82, Y:113.35, Z:3.91 [[ 7.51030879e-02 -9.97172271e-01 -2.64356753e-03 2.18824030e+02] [ 9.96761344e-01 7.51480347e-02 -2.86285772e-02 1.13348255e+02] [ 2.87462822e-02 -4.84911378e-04 9.99586623e-01 3.91217458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.83, Y:113.37, Z:3.91 [[ 7.47793295e-02 -9.97197094e-01 -2.45097267e-03 2.18828936e+02] [ 9.96841880e-01 7.48181154e-02 -2.66179666e-02 1.13374827e+02] [ 2.67267361e-02 -4.52758512e-04 9.99642674e-01 3.91373316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.810385723 meters Centerline goodness [0,1] 0.9999778570005093 Centerline is valid? [True, True] Translation: X:218.83, Y:113.40, Z:3.91 [[ 7.38868151e-02 -9.97263855e-01 -2.35397740e-03 2.18831668e+02] [ 9.96934247e-01 7.39229208e-02 -2.56419437e-02 1.13402308e+02] [ 2.57457966e-02 -4.52159134e-04 9.99668420e-01 3.91420541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.840385723 meters Centerline goodness [0,1] 0.9999335739432722 Centerline is valid? [True, True] Translation: X:218.84, Y:113.43, Z:3.91 [[ 7.27865381e-02 -9.97344908e-01 -2.29219629e-03 2.18836021e+02] [ 9.97030586e-01 7.28211522e-02 -2.50417875e-02 1.13427818e+02] [ 2.51422197e-02 -4.62684785e-04 9.99683777e-01 3.91393633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.84, Y:113.45, Z:3.91 [[ 7.18664664e-02 -9.97411704e-01 -2.25929371e-03 2.18839475e+02] [ 9.97104667e-01 7.19004084e-02 -2.47510319e-02 1.13454536e+02] [ 2.48494131e-02 -4.73983098e-04 9.99691093e-01 3.91437943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.84, Y:113.48, Z:3.92 [[ 6.98095089e-02 -9.97557850e-01 -2.22917024e-03 2.18844582e+02] [ 9.97257105e-01 6.98432084e-02 -2.44988267e-02 1.13481798e+02] [ 2.45946892e-02 -5.12804807e-04 9.99697373e-01 3.91515540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.93038572300003 meters Centerline goodness [0,1] 0.9998890146722603 Centerline is valid? [True, True] Translation: X:218.85, Y:113.51, Z:3.92 [[ 6.87372911e-02 -9.97632504e-01 -2.13809521e-03 2.18847477e+02] [ 9.97354192e-01 6.87686274e-02 -2.35688514e-02 1.13510143e+02] [ 2.36600861e-02 -5.12379227e-04 9.99719930e-01 3.91599201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.85, Y:113.54, Z:3.92 [[ 6.78816084e-02 -9.97691317e-01 -2.03067681e-03 2.18849719e+02] [ 9.97438820e-01 6.79101236e-02 -2.24503067e-02 1.13538092e+02] [ 2.25363796e-02 -5.01512951e-04 9.99745898e-01 3.91692057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.85, Y:113.56, Z:3.92 [[ 6.72781386e-02 -9.97732430e-01 -1.91054493e-03 2.18854079e+02] [ 9.97507600e-01 6.73035457e-02 -2.11853670e-02 1.13564769e+02] [ 2.12659141e-02 -4.80471029e-04 9.99773739e-01 3.91750446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.020385723 meters Centerline goodness [0,1] 0.9999108317171582 Centerline is valid? [True, True] Translation: X:218.86, Y:113.59, Z:3.92 [[ 6.63343648e-02 -9.97795675e-01 -1.88210346e-03 2.18857974e+02] [ 9.97576110e-01 6.63592604e-02 -2.09369047e-02 1.13591376e+02] [ 2.10156480e-02 -4.88705176e-04 9.99779027e-01 3.91687713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.050385723 meters Centerline goodness [0,1] 0.9999777029588174 Centerline is valid? [True, True] Translation: X:218.86, Y:113.62, Z:3.92 [[ 6.70003337e-02 -9.97751154e-01 -1.89453722e-03 2.18859183e+02] [ 9.97527235e-01 6.70254427e-02 -2.11424914e-02 1.13619832e+02] [ 2.12219274e-02 -4.73298494e-04 9.99774678e-01 3.91706997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.86, Y:113.65, Z:3.92 [[ 6.71853837e-02 -9.97738643e-01 -1.93014292e-03 2.18861928e+02] [ 9.97504747e-01 6.72114347e-02 -2.16079408e-02 1.13646383e+02] [ 2.16888052e-02 -4.73588935e-04 9.99764658e-01 3.91664527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.86, Y:113.67, Z:3.92 [[ 6.74821104e-02 -9.97718679e-01 -1.89803889e-03 2.18864668e+02] [ 9.97491021e-01 6.75072663e-02 -2.13174140e-02 1.13673738e+02] [ 2.13969135e-02 -4.54732664e-04 9.99770956e-01 3.91678459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.87, Y:113.70, Z:3.92 [[ 6.78201419e-02 -9.97695838e-01 -1.85536875e-03 2.18866415e+02] [ 9.97476874e-01 6.78441353e-02 -2.09059377e-02 1.13702003e+02] [ 2.09836429e-02 -4.32843767e-04 9.99779725e-01 3.91824550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.170385723 meters Centerline goodness [0,1] 0.9999552592725157 Centerline is valid? [True, True] Translation: X:218.87, Y:113.73, Z:3.92 [[ 6.71990227e-02 -9.97737906e-01 -1.83370367e-03 2.18869174e+02] [ 9.97522673e-01 6.72226210e-02 -2.07276682e-02 1.13729472e+02] [ 2.08040466e-02 -4.36281945e-04 9.99783477e-01 3.91860986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.87, Y:113.76, Z:3.92 [[ 6.52959135e-02 -9.97864514e-01 -1.68968528e-03 2.18872477e+02] [ 9.97680684e-01 6.53163247e-02 -1.91580163e-02 1.13756728e+02] [ 1.92274686e-02 -4.34826197e-04 9.99815041e-01 3.91895880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.230385723 meters Centerline goodness [0,1] 0.9999776720923482 Centerline is valid? [True, True] Translation: X:218.87, Y:113.78, Z:3.92 [[ 6.48732070e-02 -9.97892234e-01 -1.59887171e-03 2.18874697e+02] [ 9.97726712e-01 6.48915743e-02 -1.81794084e-02 1.13783942e+02] [ 1.82448438e-02 -4.15880493e-04 9.99833463e-01 3.91962606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.88, Y:113.81, Z:3.92 [[ 6.40768334e-02 -9.97943859e-01 -1.48785101e-03 2.18876604e+02] [ 9.97799623e-01 6.40928746e-02 -1.69710144e-02 1.13812150e+02] [ 1.70314802e-02 -3.97128320e-04 9.99854875e-01 3.92091656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.88, Y:113.84, Z:3.92 [[ 6.38659390e-02 -9.97957407e-01 -1.46843723e-03 2.18880136e+02] [ 9.97816030e-01 6.38816146e-02 -1.68020597e-02 1.13839638e+02] [ 1.68615460e-02 -3.92150887e-04 9.99857757e-01 3.92170564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.88, Y:113.87, Z:3.92 [[ 6.33343319e-02 -9.97991302e-01 -1.45722732e-03 2.18882893e+02] [ 9.97851202e-01 6.33498642e-02 -1.67264399e-02 1.13867180e+02] [ 1.67851567e-02 -3.94738139e-04 9.99859041e-01 3.92182545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.89, Y:113.89, Z:3.92 [[ 6.30601593e-02 -9.98008670e-01 -1.45263045e-03 2.18885222e+02] [ 9.97868566e-01 6.30756530e-02 -1.67268392e-02 1.13894685e+02] [ 1.67851562e-02 -3.94737124e-04 9.99859041e-01 3.92224274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.89, Y:113.92, Z:3.92 [[ 6.29040954e-02 -9.98018602e-01 -1.39439553e-03 2.18887332e+02] [ 9.97888707e-01 6.29184109e-02 -1.61059924e-02 1.13922045e+02] [ 1.61618132e-02 -3.78318672e-04 9.99869318e-01 3.92147744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.89, Y:113.95, Z:3.92 [[ 6.37461410e-02 -9.97965130e-01 -1.42427588e-03 2.18887661e+02] [ 9.97828657e-01 6.37609832e-02 -1.65078059e-02 1.13949576e+02] [ 1.65650279e-02 -3.68874368e-04 9.99862722e-01 3.91983570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.89, Y:113.98, Z:3.92 [[ 6.39921169e-02 -9.97949443e-01 -1.38504578e-03 2.18889996e+02] [ 9.97819570e-01 6.40061388e-02 -1.61034387e-02 1.13977421e+02] [ 1.61590691e-02 -3.51532652e-04 9.99869372e-01 3.92023645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.89, Y:114.01, Z:3.92 [[ 6.42095637e-02 -9.97935526e-01 -1.34852564e-03 2.18893752e+02] [ 9.97811651e-01 6.42228453e-02 -1.57269179e-02 1.14005672e+02] [ 1.57810563e-02 -3.35756056e-04 9.99875415e-01 3.92137116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.90, Y:114.03, Z:3.92 [[ 6.41380143e-02 -9.97940214e-01 -1.28249860e-03 2.18897865e+02] [ 9.97827502e-01 6.41500495e-02 -1.50015667e-02 1.14033916e+02] [ 1.50529390e-02 -3.17541671e-04 9.99886648e-01 3.92368739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.90, Y:114.06, Z:3.92 [[ 6.34987261e-02 -9.97981209e-01 -1.19090378e-03 2.18898265e+02] [ 9.97883454e-01 6.35091783e-02 -1.39713038e-02 1.14060233e+02] [ 1.40187320e-02 -3.01223182e-04 9.99901687e-01 3.92284127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.90, Y:114.09, Z:3.92 [[ 6.30354235e-02 -9.98010640e-01 -1.13890087e-03 2.18900081e+02] [ 9.97920788e-01 6.30450343e-02 -1.33949594e-02 1.14087739e+02] [ 1.34401141e-02 -2.92175913e-04 9.99909635e-01 3.92285502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.90, Y:114.12, Z:3.92 [[ 6.29252670e-02 -9.98017621e-01 -1.11333588e-03 2.18902656e+02] [ 9.97931165e-01 6.29344735e-02 -1.31393290e-02 1.14115032e+02] [ 1.31833491e-02 -2.84236790e-04 9.99913055e-01 3.92324482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.91, Y:114.14, Z:3.92 [[ 6.24934477e-02 -9.98044837e-01 -1.03521669e-03 2.18906651e+02] [ 9.97969608e-01 6.25014505e-02 -1.22568684e-02 1.14142504e+02] [ 1.22976068e-02 -2.67140827e-04 9.99924346e-01 3.92495402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.91, Y:114.17, Z:3.93 [[ 6.21232665e-02 -9.98067997e-01 -9.86454318e-04 2.18908737e+02] [ 9.97999241e-01 6.21305683e-02 -1.17177942e-02 1.14168196e+02] [ 1.17564443e-02 -2.56533012e-04 9.99930858e-01 3.92574006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.68038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.91, Y:114.19, Z:3.93 [[ 6.18754264e-02 -9.98083538e-01 -8.26426782e-04 2.18909482e+02] [ 9.98035011e-01 6.18805693e-02 -9.84441772e-03 1.14194524e+02] [ 9.87669103e-03 -2.15675317e-04 9.99951201e-01 3.92592856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.91, Y:114.22, Z:3.93 [[ 6.18701577e-02 -9.98083894e-01 -7.90321184e-04 2.18909041e+02] [ 9.98039184e-01 6.18748684e-02 -9.44920947e-03 1.14223002e+02] [ 9.48000480e-03 -2.04147430e-04 9.99955043e-01 3.92523482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.91, Y:114.25, Z:3.93 [[ 6.23340799e-02 -9.98055014e-01 -8.06815268e-04 2.18912196e+02] [ 9.98008106e-01 6.23389741e-02 -9.67845238e-03 1.14249578e+02] [ 9.70992396e-03 -2.01910755e-04 9.99952837e-01 3.92560933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.92, Y:114.28, Z:3.93 [[ 6.22806213e-02 -9.98058331e-01 -8.32241074e-04 2.18917230e+02] [ 9.98008085e-01 6.22858385e-02 -1.00168572e-02 1.14275600e+02] [ 1.00492446e-02 -2.06727228e-04 9.99949484e-01 3.92692247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.91, Y:114.30, Z:3.93 [[ 6.43031490e-02 -9.97930111e-01 -7.74200374e-04 2.18914305e+02] [ 9.97886293e-01 6.43075818e-02 -9.35317241e-03 1.14303978e+02] [ 9.38359933e-03 -1.71125502e-04 9.99955958e-01 3.92716765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.92, Y:114.33, Z:3.93 [[ 6.53762208e-02 -9.97860402e-01 -7.53025211e-04 2.18915607e+02] [ 9.97818696e-01 6.53803741e-02 -9.12450266e-03 1.14331302e+02] [ 9.15421297e-03 -1.54857133e-04 9.99958087e-01 3.92772440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.91, Y:114.36, Z:3.93 [[ 6.65846399e-02 -9.97780499e-01 -7.49717982e-04 2.18914882e+02] [ 9.97738861e-01 6.65887113e-02 -9.11636901e-03 1.14359217e+02] [ 9.14605798e-03 -1.41012617e-04 9.99958164e-01 3.92736594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.91, Y:114.39, Z:3.93 [[ 6.97420219e-02 -9.97564807e-01 -7.10987271e-04 2.18914172e+02] [ 9.97527056e-01 6.97455685e-02 -8.67918309e-03 1.14386710e+02] [ 8.70763582e-03 -1.03925262e-04 9.99962082e-01 3.92817239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.91, Y:114.41, Z:3.93 [[ 7.13187088e-02 -9.97453317e-01 -7.22906611e-04 2.18913822e+02] [ 9.97414160e-01 7.13223149e-02 -8.83856345e-03 1.14414523e+02] [ 8.86761380e-03 -9.06823576e-05 9.99960678e-01 3.92845783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.950385723 meters Centerline goodness [0,1] 0.9999778398262642 Centerline is valid? [True, True] Translation: X:218.91, Y:114.44, Z:3.93 [[ 7.13393413e-02 -9.97451830e-01 -7.38435752e-04 2.18914625e+02] [ 9.97410692e-01 7.13431059e-02 -9.05936637e-03 1.14442819e+02] [ 9.08896386e-03 -9.02344851e-05 9.99958690e-01 3.92754362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.92, Y:114.47, Z:3.93 [[ 7.10750818e-02 -9.97470632e-01 -8.18800451e-04 2.18916320e+02] [ 9.97419653e-01 7.10797278e-02 -1.00850015e-02 1.14469924e+02] [ 1.01176930e-02 -9.98953536e-05 9.99948810e-01 3.92678378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.92, Y:114.50, Z:3.93 [[ 7.03204208e-02 -9.97523995e-01 -9.58584748e-04 2.18917858e+02] [ 9.97453487e-01 7.03268480e-02 -1.18607156e-02 1.14497744e+02] [ 1.18987627e-02 -1.22093186e-04 9.99929200e-01 3.92577385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.040385723 meters Centerline goodness [0,1] 0.9999556482015346 Centerline is valid? [True, True] Translation: X:218.92, Y:114.53, Z:3.93 [[ 6.92507082e-02 -9.97598812e-01 -9.74393985e-04 2.18919878e+02] [ 9.97525456e-01 6.92574331e-02 -1.20984435e-02 1.14525380e+02] [ 1.21368769e-02 -1.34157025e-04 9.99926336e-01 3.92580985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.92, Y:114.55, Z:3.93 [[ 6.70796712e-02 -9.97747183e-01 -9.35877857e-04 2.18922566e+02] [ 9.97679066e-01 6.70860281e-02 -1.16595658e-02 1.14552252e+02] [ 1.16960833e-02 -1.51585904e-04 9.99931587e-01 3.92658862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.92, Y:114.58, Z:3.93 [[ 6.53985212e-02 -9.97858755e-01 -9.68780312e-04 2.18924099e+02] [ 9.97785319e-01 6.54054626e-02 -1.21071546e-02 1.14580286e+02] [ 1.21445937e-02 -1.74844767e-04 9.99926236e-01 3.92657504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.93, Y:114.61, Z:3.93 [[ 6.34654908e-02 -9.97983486e-01 -1.04579572e-03 2.18925227e+02] [ 9.97897239e-01 6.34737565e-02 -1.31218203e-02 1.14607565e+02] [ 1.31617406e-02 -2.10813900e-04 9.99913358e-01 3.92630520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.160385723 meters Centerline goodness [0,1] 0.9998893315626384 Centerline is valid? [True, True] Translation: X:218.93, Y:114.63, Z:3.93 [[ 6.29273353e-02 -9.98017525e-01 -1.08163041e-03 2.18927186e+02] [ 9.97924886e-01 6.29362333e-02 -1.35997145e-02 1.14634338e+02] [ 1.36408272e-02 -2.23592112e-04 9.99906935e-01 3.92726281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.93, Y:114.66, Z:3.93 [[ 6.27513647e-02 -9.98028629e-01 -1.05903649e-03 2.18928860e+02] [ 9.97939182e-01 6.27599210e-02 -1.33634669e-02 1.14662347e+02] [ 1.34035876e-02 -2.18278221e-04 9.99910144e-01 3.92898347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.93, Y:114.69, Z:3.93 [[ 6.25495692e-02 -9.98041306e-01 -1.04979912e-03 2.18929271e+02] [ 9.97952820e-01 6.25580044e-02 -1.32915245e-02 1.14690039e+02] [ 1.33311638e-02 -2.16270861e-04 9.99911113e-01 3.92912575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.250385723 meters Centerline goodness [0,1] 0.9998899139126797 Centerline is valid? [True, True] Translation: X:218.93, Y:114.72, Z:3.93 [[ 6.27939896e-02 -9.98025986e-01 -1.02293319e-03 2.18928908e+02] [ 9.97941407e-01 6.28019870e-02 -1.29945749e-02 1.14718053e+02] [ 1.30331657e-02 -2.04846181e-04 9.99915044e-01 3.92914387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.280385723 meters Centerline goodness [0,1] 0.9999342105263158 Centerline is valid? [True, True] Translation: X:218.93, Y:114.75, Z:3.93 [[ 6.30832313e-02 -9.98007748e-01 -1.01992983e-03 2.18928129e+02] [ 9.97923080e-01 6.30911663e-02 -1.30011755e-02 1.14745188e+02] [ 1.30396225e-02 -1.97655357e-04 9.99914961e-01 3.92886827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.93, Y:114.77, Z:3.93 [[ 6.32139550e-02 -9.97999458e-01 -1.03769113e-03 2.18928804e+02] [ 9.97911150e-01 6.32221672e-02 -1.32776118e-02 1.14773562e+02] [ 1.33166545e-02 -1.96193191e-04 9.99911310e-01 3.92959342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.340385723 meters Centerline goodness [0,1] 0.9999560304269446 Centerline is valid? [True, True] Translation: X:218.93, Y:114.80, Z:3.93 [[ 6.33144037e-02 -9.97993035e-01 -1.08984917e-03 2.18931117e+02] [ 9.97894911e-01 6.33234626e-02 -1.39958842e-02 1.14800915e+02] [ 1.40368080e-02 -2.01413877e-04 9.99901459e-01 3.93110913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.370385723 meters Centerline goodness [0,1] 0.9999780922753363 Centerline is valid? [True, True] Translation: X:218.93, Y:114.83, Z:3.93 [[ 6.30163146e-02 -9.98011881e-01 -1.10882177e-03 2.18933245e+02] [ 9.97909558e-01 6.30257330e-02 -1.42923782e-02 1.14826741e+02] [ 1.43338476e-02 -2.05850843e-04 9.99897244e-01 3.93239141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.400385723 meters Centerline goodness [0,1] 0.9998464339775793 Centerline is valid? [True, True] Translation: X:218.93, Y:114.85, Z:3.93 [[ 6.35513536e-02 -9.97977939e-01 -1.12187157e-03 2.18931130e+02] [ 9.97872316e-01 6.35609507e-02 -1.45205273e-02 1.14854083e+02] [ 1.45624731e-02 -1.96685416e-04 9.99893942e-01 3.93206968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.43038572300003 meters Centerline goodness [0,1] 0.9999126332343177 Centerline is valid? [True, True] Translation: X:218.93, Y:114.88, Z:3.93 [[ 6.35545804e-02 -9.97977688e-01 -1.16158685e-03 2.18931269e+02] [ 9.97863548e-01 6.35648807e-02 -1.50945622e-02 1.14881158e+02] [ 1.51378724e-02 -1.99776608e-04 9.99885396e-01 3.93170695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.93, Y:114.91, Z:3.93 [[ 6.34839995e-02 -9.97982119e-01 -1.21361250e-03 2.18932206e+02] [ 9.97856522e-01 6.34952650e-02 -1.58338841e-02 1.14908551e+02] [ 1.58789919e-02 -2.05812856e-04 9.99873900e-01 3.93152093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.490385723 meters Centerline goodness [0,1] 0.9997373949579832 Centerline is valid? [True, True] Translation: X:218.93, Y:114.94, Z:3.93 [[ 6.35948173e-02 -9.97974858e-01 -1.37204026e-03 2.18933043e+02] [ 9.97812952e-01 6.36092156e-02 -1.79772340e-02 1.14935553e+02] [ 1.80281020e-02 -2.25780627e-04 9.99837455e-01 3.93063894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.520385723 meters Centerline goodness [0,1] 0.9999780941949616 Centerline is valid? [True, True] Translation: X:218.93, Y:114.96, Z:3.93 [[ 6.38397807e-02 -9.97959055e-01 -1.48588991e-03 2.18933491e+02] [ 9.97767588e-01 6.38566398e-02 -1.95491598e-02 1.14962096e+02] [ 1.96041450e-02 -2.34558712e-04 9.99807793e-01 3.93069027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.550385723 meters Centerline goodness [0,1] 0.9998029858587627 Centerline is valid? [True, True] Translation: X:218.93, Y:114.99, Z:3.93 [[ 6.35012697e-02 -9.97980607e-01 -1.51568352e-03 2.18934780e+02] [ 9.97779778e-01 6.35188988e-02 -2.00215701e-02 1.14989824e+02] [ 2.00774132e-02 -2.40923246e-04 9.99798399e-01 3.93089097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.580385723 meters Centerline goodness [0,1] 0.9996281226757667 Centerline is valid? [True, True] Translation: X:218.94, Y:115.02, Z:3.93 [[ 6.32671581e-02 -9.97995424e-01 -1.54953634e-03 2.18935986e+02] [ 9.97783907e-01 6.32856523e-02 -2.05475413e-02 1.15016603e+02] [ 2.06044156e-02 -2.46117887e-04 9.99787676e-01 3.93140257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.610385723 meters Centerline goodness [0,1] 0.9997809851288902 Centerline is valid? [True, True] Translation: X:218.94, Y:115.04, Z:3.93 [[ 6.13334860e-02 -9.98115977e-01 -1.64328765e-03 2.18938394e+02] [ 9.97876282e-01 6.13547717e-02 -2.18750301e-02 1.15043802e+02] [ 2.19346405e-02 -2.98125925e-04 9.99759362e-01 3.93052130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.640385723 meters Centerline goodness [0,1] 0.9995838444016121 Centerline is valid? [True, True] Translation: X:218.94, Y:115.07, Z:3.93 [[ 6.15541489e-02 -9.98102432e-01 -1.61904871e-03 2.18940838e+02] [ 9.97868083e-01 6.15747821e-02 -2.16295201e-02 1.15070882e+02] [ 2.16881692e-02 -2.84210333e-04 9.99764744e-01 3.93410989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.670385723 meters Centerline goodness [0,1] 0.9999343932468782 Centerline is valid? [True, True] Translation: X:218.94, Y:115.10, Z:3.94 [[ 6.10474060e-02 -9.98133454e-01 -1.67981764e-03 2.18940935e+02] [ 9.97879202e-01 6.10697719e-02 -2.25295795e-02 1.15098391e+02] [ 2.25901131e-02 -3.00882700e-04 9.99744766e-01 3.93771220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.700385723 meters Centerline goodness [0,1] 0.9998033732412829 Centerline is valid? [True, True] Translation: X:218.94, Y:115.12, Z:3.94 [[ 6.08878315e-02 -9.98143180e-01 -1.69245602e-03 2.18943132e+02] [ 9.97882968e-01 6.09106047e-02 -2.27921265e-02 1.15124469e+02] [ 2.28528942e-02 -3.01109881e-04 9.99738793e-01 3.93670687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.730385723 meters Centerline goodness [0,1] 0.9998039429256073 Centerline is valid? [True, True] Translation: X:218.94, Y:115.15, Z:3.94 [[ 6.13553668e-02 -9.98114461e-01 -1.74397950e-03 2.18939359e+02] [ 9.97835808e-01 6.13794475e-02 -2.35852355e-02 1.15152519e+02] [ 2.36478091e-02 -2.93124425e-04 9.99720308e-01 3.93799884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.760385723 meters Centerline goodness [0,1] 0.9998042542085345 Centerline is valid? [True, True] Translation: X:218.94, Y:115.18, Z:3.94 [[ 6.16812680e-02 -9.98094398e-01 -1.73032759e-03 2.18939443e+02] [ 9.97817882e-01 6.17049099e-02 -2.34942190e-02 1.15179547e+02] [ 2.35562181e-02 -2.77398597e-04 9.99722475e-01 3.93864457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.94, Y:115.21, Z:3.94 [[ 6.21013602e-02 -9.98068241e-01 -1.79100922e-03 2.18942244e+02] [ 9.97769471e-01 6.21265926e-02 -2.44206903e-02 1.15205920e+02] [ 2.44847847e-02 -2.70456239e-04 9.99700166e-01 3.93743115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.820385723 meters Centerline goodness [0,1] 0.9998913067107237 Centerline is valid? [True, True] Translation: X:218.94, Y:115.23, Z:3.94 [[ 6.35081036e-02 -9.97979429e-01 -1.94446032e-03 2.18942428e+02] [ 9.97624047e-01 6.35373780e-02 -2.66319977e-02 1.15231606e+02] [ 2.67017317e-02 -2.48492706e-04 9.99643414e-01 3.93752465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.850385723 meters Centerline goodness [0,1] 0.9998479715055164 Centerline is valid? [True, True] Translation: X:218.94, Y:115.26, Z:3.94 [[ 6.48653621e-02 -9.97891858e-01 -2.07978386e-03 2.18942210e+02] [ 9.97481588e-01 6.48983276e-02 -2.86127508e-02 1.15256641e+02] [ 2.86874055e-02 -2.18569664e-04 9.99588408e-01 3.93741136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.880385723 meters Centerline goodness [0,1] 0.9994577124140475 Centerline is valid? [True, True] Translation: X:218.94, Y:115.28, Z:3.94 [[ 6.54934618e-02 -9.97850648e-01 -2.16560254e-03 2.18940451e+02] [ 9.97402117e-01 6.55289486e-02 -2.99161005e-02 1.15284963e+02] [ 2.99937099e-02 -2.00667572e-04 9.99550067e-01 3.94152195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.910385723 meters Centerline goodness [0,1] 0.9996310283457047 Centerline is valid? [True, True] Translation: X:218.94, Y:115.31, Z:3.94 [[ 6.54726201e-02 -9.97851984e-01 -2.18028064e-03 2.18942621e+02] [ 9.97393840e-01 6.55086221e-02 -3.02348895e-02 1.15312014e+02] [ 3.03127716e-02 -1.95041050e-04 9.99540443e-01 3.93672156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.940385723 meters Centerline goodness [0,1] 0.9998484684489664 Centerline is valid? [True, True] Translation: X:218.94, Y:115.34, Z:3.94 [[ 6.54106894e-02 -9.97855985e-01 -2.20782309e-03 2.18942383e+02] [ 9.97382520e-01 6.54476590e-02 -3.07361761e-02 1.15339948e+02] [ 3.08147741e-02 -1.91569689e-04 9.99525094e-01 3.94306334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.970385723 meters Centerline goodness [0,1] 0.9995656140046045 Centerline is valid? [True, True] Translation: X:218.95, Y:115.37, Z:3.94 [[ 6.49324906e-02 -9.97887070e-01 -2.27332600e-03 2.18945935e+02] [ 9.97381191e-01 6.49719522e-02 -3.17711243e-02 1.15367378e+02] [ 3.18516965e-02 -2.04394361e-04 9.99492585e-01 3.94454921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.000385723 meters Centerline goodness [0,1] 0.9998696247365333 Centerline is valid? [True, True] Translation: X:218.95, Y:115.39, Z:3.95 [[ 6.42988277e-02 -9.97928083e-01 -2.28100498e-03 2.18951270e+02] [ 9.97414853e-01 6.43389070e-02 -3.20018024e-02 1.15394729e+02] [ 3.20822547e-02 -2.17429866e-04 9.99485208e-01 3.94773236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.030385723 meters Centerline goodness [0,1] 0.9997826842837274 Centerline is valid? [True, True] Translation: X:218.95, Y:115.42, Z:3.95 [[ 6.50795633e-02 -9.97877438e-01 -2.29530493e-03 2.18951657e+02] [ 9.97353666e-01 6.51197637e-02 -3.23277073e-02 1.15423141e+02] [ 3.24085595e-02 -1.85357710e-04 9.99474687e-01 3.94854777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.060385723 meters Centerline goodness [0,1] 0.9998701776402622 Centerline is valid? [True, True] Translation: X:218.95, Y:115.45, Z:3.95 [[ 6.54655025e-02 -9.97852193e-01 -2.29552017e-03 2.18952054e+02] [ 9.97324086e-01 6.55055298e-02 -3.24606323e-02 1.15450013e+02] [ 3.25412823e-02 -1.64325955e-04 9.99470379e-01 3.94742414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.090385723 meters Centerline goodness [0,1] 0.9996960750260507 Centerline is valid? [True, True] Translation: X:218.95, Y:115.48, Z:3.95 [[ 6.61665342e-02 -9.97805738e-01 -2.38706436e-03 2.18953736e+02] [ 9.97230112e-01 6.62094346e-02 -3.38882599e-02 1.15478696e+02] [ 3.39719463e-02 -1.38183759e-04 9.99422777e-01 3.94728189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.120385723 meters Centerline goodness [0,1] 0.999804279749478 Centerline is valid? [True, True] Translation: X:218.96, Y:115.51, Z:3.95 [[ 6.61424354e-02 -9.97807270e-01 -2.41448041e-03 2.18958558e+02] [ 9.97213843e-01 6.61863587e-02 -3.44081025e-02 1.15506948e+02] [ 3.44924605e-02 -1.31917593e-04 9.99404949e-01 3.94912735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.96, Y:115.54, Z:3.95 [[ 6.52156419e-02 -9.97868355e-01 -2.38022072e-03 2.18962163e+02] [ 9.97287170e-01 6.52588844e-02 -3.40525730e-02 1.15535147e+02] [ 3.41353155e-02 -1.53003186e-04 9.99417209e-01 3.95153958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.18038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.97, Y:115.56, Z:3.95 [[ 6.47114673e-02 -9.97901123e-01 -2.40317853e-03 2.18966835e+02] [ 9.97304669e-01 6.47558667e-02 -3.44974699e-02 1.15561490e+02] [ 3.45806838e-02 -1.64319271e-04 9.99401896e-01 3.95280126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.97, Y:115.59, Z:3.95 [[ 6.45679965e-02 -9.97910260e-01 -2.46720283e-03 2.18968771e+02] [ 9.97277044e-01 6.46149045e-02 -3.55445121e-02 1.15588949e+02] [ 3.56296514e-02 -1.65446818e-04 9.99365049e-01 3.95203955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.240385723 meters Centerline goodness [0,1] 0.999869292436389 Centerline is valid? [True, True] Translation: X:218.97, Y:115.62, Z:3.95 [[ 6.56712013e-02 -9.97838123e-01 -2.52449039e-03 2.18970953e+02] [ 9.97169722e-01 6.57195976e-02 -3.65168457e-02 1.15617049e+02] [ 3.66038093e-02 -1.19240251e-04 9.99329849e-01 3.95249880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.270385723 meters Centerline goodness [0,1] 0.999869292436389 Centerline is valid? [True, True] Translation: X:218.97, Y:115.64, Z:3.95 [[ 6.54020007e-02 -9.97855829e-01 -2.51462919e-03 2.18972782e+02] [ 9.97187414e-01 6.54502165e-02 -3.65175256e-02 1.15644576e+02] [ 3.66038088e-02 -1.19237346e-04 9.99329849e-01 3.95291606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.300385723 meters Centerline goodness [0,1] 0.999934864735768 Centerline is valid? [True, True] Translation: X:218.98, Y:115.67, Z:3.95 [[ 6.59477660e-02 -9.97819981e-01 -2.48547797e-03 2.18975834e+02] [ 9.97161646e-01 6.59945272e-02 -3.62404977e-02 1.15671698e+02] [ 3.63255207e-02 -8.84434433e-05 9.99340007e-01 3.95241556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.330385723 meters Centerline goodness [0,1] 0.9999125721279944 Centerline is valid? [True, True] Translation: X:218.98, Y:115.70, Z:3.96 [[ 6.60047560e-02 -9.97816224e-01 -2.48082322e-03 2.18981783e+02] [ 9.97154986e-01 6.60513168e-02 -3.63202048e-02 1.15699791e+02] [ 3.64047512e-02 -7.64589938e-05 9.99337124e-01 3.95539516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.360385723 meters Centerline goodness [0,1] 0.9999781239061953 Centerline is valid? [True, True] Translation: X:218.98, Y:115.73, Z:3.96 [[ 6.66106530e-02 -9.97776049e-01 -2.44474885e-03 2.18984773e+02] [ 9.97128718e-01 6.66554871e-02 -3.59355924e-02 1.15728046e+02] [ 3.60186293e-02 -4.40360071e-05 9.99351118e-01 3.95737214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.390385723 meters Centerline goodness [0,1] 0.9999123902139869 Centerline is valid? [True, True] Translation: X:218.99, Y:115.76, Z:3.96 [[ 6.64702408e-02 -9.97785513e-01 -2.40367835e-03 2.18986979e+02] [ 9.97154665e-01 6.65136758e-02 -3.54754050e-02 1.15755592e+02] [ 3.55567226e-02 -3.87803684e-05 9.99367659e-01 3.95807035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.420385723 meters Centerline goodness [0,1] 0.9996492996953291 Centerline is valid? [True, True] Translation: X:218.99, Y:115.78, Z:3.95 [[ 6.54088273e-02 -9.97855383e-01 -2.51395716e-03 2.18989367e+02] [ 9.97159713e-01 6.54570834e-02 -3.72542299e-02 1.15783911e+02] [ 3.73388901e-02 -7.00613129e-05 9.99302658e-01 3.95411284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.450385723 meters Centerline goodness [0,1] 0.9998463800557421 Centerline is valid? [True, True] Translation: X:218.99, Y:115.81, Z:3.96 [[ 6.62836386e-02 -9.97797683e-01 -2.50243330e-03 2.18992700e+02] [ 9.97102749e-01 6.63308539e-02 -3.72334032e-02 1.15811915e+02] [ 3.73173920e-02 -2.72176764e-05 9.99303463e-01 3.95571284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.480385723 meters Centerline goodness [0,1] 0.9999559160641862 Centerline is valid? [True, True] Translation: X:219.00, Y:115.84, Z:3.96 [[ 6.53305784e-02 -9.97860551e-01 -2.49745633e-03 2.19000662e+02] [ 9.97162663e-01 6.53782762e-02 -3.73135983e-02 1.15839546e+02] [ 3.73970471e-02 -5.26512474e-05 9.99300484e-01 3.95661362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.510385723 meters Centerline goodness [0,1] 0.9998451875442321 Centerline is valid? [True, True] Translation: X:219.01, Y:115.87, Z:3.96 [[ 6.34210840e-02 -9.97983684e-01 -2.51643857e-03 2.19005782e+02] [ 9.97270262e-01 6.34708809e-02 -3.77289387e-02 1.15866335e+02] [ 3.78125858e-02 -1.16759163e-04 9.99284842e-01 3.95540491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.540385723 meters Centerline goodness [0,1] 0.9999558118468439 Centerline is valid? [True, True] Translation: X:219.01, Y:115.89, Z:3.96 [[ 6.31395840e-02 -9.98001735e-01 -2.43495991e-03 2.19009562e+02] [ 9.97328910e-01 6.31864137e-02 -3.66404498e-02 1.15893966e+02] [ 3.67210889e-02 -1.14993150e-04 9.99325547e-01 3.95811185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.570385723 meters Centerline goodness [0,1] 0.9999556953613044 Centerline is valid? [True, True] Translation: X:219.01, Y:115.92, Z:3.96 [[ 6.14154841e-02 -9.98109505e-01 -2.35697096e-03 2.19014526e+02] [ 9.97473909e-01 6.14604767e-02 -3.56147638e-02 1.15921216e+02] [ 3.56922948e-02 -1.63719077e-04 9.99362814e-01 3.95707510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.600385723 meters Centerline goodness [0,1] 0.9998668176067124 Centerline is valid? [True, True] Translation: X:219.02, Y:115.95, Z:3.96 [[ 6.06545183e-02 -9.98156086e-01 -2.33595644e-03 2.19019127e+02] [ 9.97526621e-01 6.06992154e-02 -3.54435517e-02 1.15948819e+02] [ 3.55199876e-02 -1.80367182e-04 9.99368950e-01 3.95751381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.630385723 meters Centerline goodness [0,1] 0.9998665421059656 Centerline is valid? [True, True] Translation: X:219.02, Y:115.98, Z:3.96 [[ 5.93924605e-02 -9.98231954e-01 -2.34569447e-03 2.19023697e+02] [ 9.97591728e-01 5.94383678e-02 -3.57466629e-02 1.15976043e+02] [ 3.58228854e-02 -2.16963136e-04 9.99358131e-01 3.95654309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.660385723 meters Centerline goodness [0,1] 0.999933187831277 Centerline is valid? [True, True] Translation: X:219.03, Y:116.00, Z:3.96 [[ 5.97831560e-02 -9.98208854e-01 -2.24908501e-03 2.19027606e+02] [ 9.97614976e-01 5.98251596e-02 -3.44283396e-02 1.16002936e+02] [ 3.45012253e-02 -1.85486083e-04 9.99404638e-01 3.95928028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.690385723 meters Centerline goodness [0,1] 0.9999106464727695 Centerline is valid? [True, True] Translation: X:219.03, Y:116.03, Z:3.96 [[ 5.87488060e-02 -9.98270472e-01 -2.15459256e-03 2.19033917e+02] [ 9.97721209e-01 5.87879467e-02 -3.31114347e-02 1.16028441e+02] [ 3.31808316e-02 -2.04425444e-04 9.99449344e-01 3.96055033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.720385723 meters Centerline goodness [0,1] 0.9999775664034458 Centerline is valid? [True, True] Translation: X:219.04, Y:116.06, Z:3.96 [[ 5.70876330e-02 -9.98366855e-01 -2.15044146e-03 2.19038884e+02] [ 9.97815294e-01 5.71275680e-02 -3.31825220e-02 1.16055928e+02] [ 3.32511796e-02 -2.51431738e-04 9.99446995e-01 3.96063350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.750385723 meters Centerline goodness [0,1] 0.9998655763414361 Centerline is valid? [True, True] Translation: X:219.04, Y:116.08, Z:3.96 [[ 5.57331114e-02 -9.98443347e-01 -2.16888257e-03 2.19042034e+02] [ 9.97877192e-01 5.57745404e-02 -3.36200896e-02 1.16082940e+02] [ 3.36887232e-02 -2.90526251e-04 9.99432332e-01 3.95886410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.05, Y:116.11, Z:3.96 [[ 5.69790497e-02 -9.98373158e-01 -2.10368274e-03 2.19045860e+02] [ 9.97835683e-01 5.70173959e-02 -3.27561542e-02 1.16109554e+02] [ 3.28228117e-02 -2.32715161e-04 9.99461159e-01 3.96140312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.05, Y:116.14, Z:3.96 [[ 5.78439972e-02 -9.98323446e-01 -2.09014654e-03 2.19048775e+02] [ 9.97788586e-01 5.78814177e-02 -3.26753635e-02 1.16135762e+02] [ 3.27415621e-02 -1.95450726e-04 9.99463832e-01 3.96178098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.840385723 meters Centerline goodness [0,1] 0.9998648283319816 Centerline is valid? [True, True] Translation: X:219.05, Y:116.16, Z:3.96 [[ 5.83562296e-02 -9.98293631e-01 -2.09197295e-03 2.19050636e+02] [ 9.97753350e-01 5.83934644e-02 -3.28398384e-02 1.16162732e+02] [ 3.29059591e-02 -1.70863869e-04 9.99458438e-01 3.96228708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.870385723 meters Centerline goodness [0,1] 0.9999099423631124 Centerline is valid? [True, True] Translation: X:219.05, Y:116.19, Z:3.96 [[ 6.25643476e-02 -9.98038863e-01 -2.03256842e-03 2.19050100e+02] [ 9.97523816e-01 6.25973518e-02 -3.20594472e-02 1.16188786e+02] [ 3.21238076e-02 -2.17570061e-05 9.99483897e-01 3.96311944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.900385723 meters Centerline goodness [0,1] 0.999954864480603 Centerline is valid? [True, True] Translation: X:219.05, Y:116.22, Z:3.96 [[ 6.46710053e-02 -9.97904495e-01 -2.06896344e-03 2.19049219e+02] [ 9.97365487e-01 6.47040667e-02 -3.27943320e-02 1.16215201e+02] [ 3.28594816e-02 5.73296818e-05 9.99459980e-01 3.96176425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.93038572300003 meters Centerline goodness [0,1] 0.9998421432437309 Centerline is valid? [True, True] Translation: X:219.05, Y:116.24, Z:3.96 [[ 6.44011957e-02 -9.97921866e-01 -2.10625587e-03 2.19049984e+02] [ 9.97357883e-01 6.44356017e-02 -3.35455941e-02 1.16242949e+02] [ 3.36115998e-02 5.96854781e-05 9.99434969e-01 3.96103794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.960385723 meters Centerline goodness [0,1] 0.9998876328741263 Centerline is valid? [True, True] Translation: X:219.05, Y:116.27, Z:3.96 [[ 6.47078835e-02 -9.97901987e-01 -2.12466654e-03 2.19051231e+02] [ 9.97322784e-01 6.47427051e-02 -3.39948149e-02 1.16271349e+02] [ 3.40610500e-02 8.07541778e-05 9.99419751e-01 3.96374223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.05, Y:116.30, Z:3.97 [[ 6.53108372e-02 -9.97862662e-01 -2.14520551e-03 2.19053001e+02] [ 9.97266826e-01 6.53459616e-02 -3.44787301e-02 1.16299501e+02] [ 3.45452179e-02 1.12492433e-04 9.99403130e-01 3.96517346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.020385723 meters Centerline goodness [0,1] 0.9999323882716189 Centerline is valid? [True, True] Translation: X:219.06, Y:116.33, Z:3.96 [[ 6.46894277e-02 -9.97903101e-01 -2.16313897e-03 2.19055102e+02] [ 9.97291719e-01 6.47255036e-02 -3.49261456e-02 1.16327574e+02] [ 3.49929193e-02 1.02071791e-04 9.99387555e-01 3.96486098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.06, Y:116.35, Z:3.97 [[ 6.25027876e-02 -9.98042457e-01 -2.15766373e-03 2.19056477e+02] [ 9.97428448e-01 6.25400088e-02 -3.50034040e-02 1.16354138e+02] [ 3.50698236e-02 3.56951391e-05 9.99384864e-01 3.96608344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.080385723 meters Centerline goodness [0,1] 0.9997969268259663 Centerline is valid? [True, True] Translation: X:219.06, Y:116.38, Z:3.96 [[ 5.97285355e-02 -9.98212370e-01 -2.13682723e-03 2.19058490e+02] [ 9.97604604e-01 5.97667242e-02 -3.48280443e-02 1.16382399e+02] [ 3.48934958e-02 -5.14806028e-05 9.99391035e-01 3.96413644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.110385723 meters Centerline goodness [0,1] 0.9999323257387773 Centerline is valid? [True, True] Translation: X:219.06, Y:116.41, Z:3.97 [[ 5.50545634e-02 -9.98481270e-01 -2.03694961e-03 2.19061601e+02] [ 9.97924081e-01 5.50918824e-02 -3.33528569e-02 1.16409195e+02] [ 3.34144223e-02 -1.96494098e-04 9.99441563e-01 3.96640041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.06, Y:116.44, Z:3.97 [[ 5.28212104e-02 -9.98602105e-01 -1.93803332e-03 2.19064983e+02] [ 9.98093205e-01 5.28561583e-02 -3.18775859e-02 1.16437478e+02] [ 3.19354614e-02 -2.50525222e-04 9.99489902e-01 3.96933461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.170385723 meters Centerline goodness [0,1] 0.9998645200623207 Centerline is valid? [True, True] Translation: X:219.07, Y:116.46, Z:3.97 [[ 4.87011916e-02 -9.98811787e-01 -1.79108240e-03 2.19073224e+02] [ 9.98373357e-01 4.87328807e-02 -2.95930043e-02 1.16463858e+02] [ 2.96451261e-02 -3.46954381e-04 9.99560426e-01 3.96705641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.200385723 meters Centerline goodness [0,1] 0.9998419115156169 Centerline is valid? [True, True] Translation: X:219.07, Y:116.49, Z:3.97 [[ 4.72591263e-02 -9.98881180e-01 -1.72127554e-03 2.19073468e+02] [ 9.98472404e-01 4.72890291e-02 -2.85763387e-02 1.16491579e+02] [ 2.86257644e-02 -3.68153322e-04 9.99590131e-01 3.97135873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.230385723 meters Centerline goodness [0,1] 0.9999097065462754 Centerline is valid? [True, True] Translation: X:219.07, Y:116.52, Z:3.97 [[ 4.72014491e-02 -9.98883983e-01 -1.67707940e-03 2.19073194e+02] [ 9.98492239e-01 4.72299058e-02 -2.79747046e-02 1.16519632e+02] [ 2.80226927e-02 -3.54104173e-04 9.99607225e-01 3.97229679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.07, Y:116.55, Z:3.97 [[ 4.78790200e-02 -9.98851692e-01 -1.70221058e-03 2.19073255e+02] [ 9.98444249e-01 4.79081076e-02 -2.85288276e-02 1.16546890e+02] [ 2.85776174e-02 -3.33630061e-04 9.99591521e-01 3.97188207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.290385723 meters Centerline goodness [0,1] 0.9998194945848375 Centerline is valid? [True, True] Translation: X:219.07, Y:116.58, Z:3.97 [[ 4.79261501e-02 -9.98849358e-01 -1.74504364e-03 2.19073303e+02] [ 9.98417012e-01 4.79567469e-02 -2.93874070e-02 1.16575050e+02] [ 2.94372793e-02 -3.33855981e-04 9.99566574e-01 3.96961572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.07, Y:116.60, Z:3.97 [[ 5.19616464e-02 -9.98647471e-01 -1.79310169e-03 2.19073176e+02] [ 9.98187127e-01 5.19921335e-02 -3.03195849e-02 1.16601704e+02] [ 3.03718040e-02 -2.14395473e-04 9.99538647e-01 3.97063051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.350385723 meters Centerline goodness [0,1] 0.9998194701448752 Centerline is valid? [True, True] Translation: X:219.07, Y:116.63, Z:3.97 [[ 5.27209527e-02 -9.98607653e-01 -1.80461321e-03 2.19073918e+02] [ 9.98137344e-01 5.27515026e-02 -3.06450864e-02 1.16628737e+02] [ 3.06976139e-02 -1.85613687e-04 9.99528700e-01 3.96896968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.07, Y:116.66, Z:3.97 [[ 5.58656480e-02 -9.98436840e-01 -1.70475444e-03 2.19073720e+02] [ 9.98013097e-01 5.58916002e-02 -2.90858581e-02 1.16655621e+02] [ 2.91356737e-02 -7.64669423e-05 9.99575463e-01 3.97123331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.410385723 meters Centerline goodness [0,1] 0.9999326145552561 Centerline is valid? [True, True] Translation: X:219.08, Y:116.68, Z:3.97 [[ 5.56548659e-02 -9.98448659e-01 -1.67670924e-03 2.19075124e+02] [ 9.98034840e-01 5.56800685e-02 -2.87434806e-02 1.16682785e+02] [ 2.87922489e-02 -7.36996751e-05 9.99585415e-01 3.97117636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.08, Y:116.71, Z:3.97 [[ 5.54895138e-02 -9.98457973e-01 -1.60914113e-03 2.19076543e+02] [ 9.98073139e-01 5.55127990e-02 -2.77189136e-02 1.16710649e+02] [ 2.77654982e-02 -6.79315057e-05 9.99614462e-01 3.97415923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.08, Y:116.74, Z:3.97 [[ 5.46953859e-02 -9.98501857e-01 -1.56756653e-03 2.19078828e+02] [ 9.98133201e-01 5.47177850e-02 -2.71307419e-02 1.16739105e+02] [ 2.71758699e-02 -8.07138026e-05 9.99630665e-01 3.97444142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.08, Y:116.77, Z:3.98 [[ 5.35113480e-02 -9.98566151e-01 -1.47581935e-03 2.19083222e+02] [ 9.98236366e-01 5.35316019e-02 -2.56617591e-02 1.16767440e+02] [ 2.57039670e-02 -1.00021223e-04 9.99669593e-01 3.97632351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:116.80, Z:3.98 [[ 5.29563072e-02 -9.98595787e-01 -1.44334207e-03 2.19086581e+02] [ 9.98277336e-01 5.29758680e-02 -2.52174250e-02 1.16795302e+02] [ 2.52584767e-02 -1.05433970e-04 9.99680948e-01 3.97754771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:116.82, Z:3.98 [[ 5.15214600e-02 -9.98670919e-01 -1.39123719e-03 2.19090232e+02] [ 9.98372243e-01 5.15400748e-02 -2.44230581e-02 1.16822737e+02] [ 2.44623024e-02 -1.30660979e-04 9.99700745e-01 3.97827672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:116.85, Z:3.98 [[ 5.16190491e-02 -9.98665940e-01 -1.34698348e-03 2.19091942e+02] [ 9.98383228e-01 5.16364852e-02 -2.37613762e-02 1.16850125e+02] [ 2.37992306e-02 -1.18266069e-04 9.99716751e-01 3.97870525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.620385723 meters Centerline goodness [0,1] 0.9998872985461512 Centerline is valid? [True, True] Translation: X:219.09, Y:116.88, Z:3.98 [[ 5.06205296e-02 -9.98717125e-01 -1.29074160e-03 2.19092954e+02] [ 9.98454993e-01 5.06368147e-02 -2.28809913e-02 1.16878240e+02] [ 2.29169969e-02 -1.30499498e-04 9.99737363e-01 3.97765264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:116.91, Z:3.98 [[ 5.27455154e-02 -9.98607325e-01 -1.14916386e-03 2.19093065e+02] [ 9.98397653e-01 5.27579885e-02 -2.04626661e-02 1.16906062e+02] [ 2.04947959e-02 -6.80086280e-05 9.99789957e-01 3.98082613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.68038572300003 meters Centerline goodness [0,1] 0.9999774830559996 Centerline is valid? [True, True] Translation: X:219.09, Y:116.93, Z:3.98 [[ 5.34876959e-02 -9.98567870e-01 -1.12966844e-03 2.19094072e+02] [ 9.98363260e-01 5.34996037e-02 -2.02136856e-02 1.16933693e+02] [ 2.02451737e-02 -4.66359987e-05 9.99795044e-01 3.98168164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:116.96, Z:3.98 [[ 5.44006739e-02 -9.98518551e-01 -1.12736053e-03 2.19094971e+02] [ 9.98312696e-01 5.44123493e-02 -2.02745292e-02 1.16961023e+02] [ 2.03058359e-02 -2.25102805e-05 9.99793815e-01 3.98109686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.740385723 meters Centerline goodness [0,1] 0.9998876555969981 Centerline is valid? [True, True] Translation: X:219.10, Y:116.99, Z:3.98 [[ 5.33527582e-02 -9.98575075e-01 -1.14168975e-03 2.19096190e+02] [ 9.98361740e-01 5.33649583e-02 -2.06402123e-02 1.16989328e+02] [ 2.06717277e-02 -3.86071059e-05 9.99786316e-01 3.97938685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.10, Y:117.02, Z:3.98 [[ 5.22433047e-02 -9.98633777e-01 -1.10318179e-03 2.19097954e+02] [ 9.98432799e-01 5.22549221e-02 -2.00342063e-02 1.17015872e+02] [ 2.00644818e-02 -5.47997371e-05 9.99798687e-01 3.97956849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.800385723 meters Centerline goodness [0,1] 0.9999550197912919 Centerline is valid? [True, True] Translation: X:219.10, Y:117.04, Z:3.98 [[ 5.05391194e-02 -9.98721525e-01 -1.05495211e-03 2.19100207e+02] [ 9.98536360e-01 5.05500630e-02 -1.92309435e-02 1.17043413e+02] [ 1.92596851e-02 -8.14930901e-05 9.99814512e-01 3.97893682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.830385723 meters Centerline goodness [0,1] 0.999977533643369 Centerline is valid? [True, True] Translation: X:219.10, Y:117.07, Z:3.98 [[ 4.77125732e-02 -9.98860645e-01 -9.60797689e-04 2.19103736e+02] [ 9.98705637e-01 4.77220954e-02 -1.75969550e-02 1.17069670e+02] [ 1.76227571e-02 -1.19958063e-04 9.99844700e-01 3.98046276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.11, Y:117.10, Z:3.98 [[ 4.64175318e-02 -9.98921713e-01 -9.07585035e-04 2.19105443e+02] [ 9.98781882e-01 4.64262199e-02 -1.67139899e-02 1.17097227e+02] [ 1.67381032e-02 -1.30657332e-04 9.99859900e-01 3.98155896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.890385723 meters Centerline goodness [0,1] 0.9998657177386867 Centerline is valid? [True, True] Translation: X:219.11, Y:117.13, Z:3.98 [[ 4.39251603e-02 -9.99034449e-01 -8.66626599e-04 2.19107049e+02] [ 9.98905752e-01 4.39334125e-02 -1.60360286e-02 1.17125492e+02] [ 1.60586189e-02 -1.61293168e-04 9.99871039e-01 3.97991380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.920385723 meters Centerline goodness [0,1] 0.9999775769670606 Centerline is valid? [True, True] Translation: X:219.11, Y:117.15, Z:3.98 [[ 4.25962824e-02 -9.99092095e-01 -7.36589692e-04 2.19109370e+02] [ 9.98998358e-01 4.26023764e-02 -1.36864617e-02 1.17153544e+02] [ 1.37054161e-02 -1.52859507e-04 9.99906065e-01 3.98345117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.11, Y:117.18, Z:3.98 [[ 4.08625816e-02 -9.99164544e-01 -6.80888615e-04 2.19111230e+02] [ 9.99083725e-01 4.08679371e-02 -1.27091757e-02 1.17181475e+02] [ 1.27263843e-02 -1.60935004e-04 9.99919003e-01 3.98428802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.980385723 meters Centerline goodness [0,1] 0.9999775980644727 Centerline is valid? [True, True] Translation: X:219.11, Y:117.21, Z:3.98 [[ 3.77264353e-02 -9.99287932e-01 -5.86686218e-04 2.19112846e+02] [ 9.99227451e-01 3.77306075e-02 -1.09955837e-02 1.17209338e+02] [ 1.10098902e-02 -1.71408795e-04 9.99939375e-01 3.98475005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.12, Y:117.24, Z:3.98 [[ 3.56026403e-02 -9.99365859e-01 -5.76719001e-04 2.19115206e+02] [ 9.99306854e-01 3.56068061e-02 -1.08612321e-02 1.17236641e+02] [ 1.08748797e-02 -1.89630711e-04 9.99940849e-01 3.98481443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.040385723 meters Centerline goodness [0,1] 0.9999776501352167 Centerline is valid? [True, True] Translation: X:219.11, Y:117.27, Z:3.98 [[ 3.05789853e-02 -9.99532203e-01 -5.47848443e-04 2.19114881e+02] [ 9.99478415e-01 3.05830247e-02 -1.03719346e-02 1.17265182e+02] [ 1.03838375e-02 -2.30399456e-04 9.99946060e-01 3.98410511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.12, Y:117.29, Z:3.99 [[ 2.84082602e-02 -9.99596267e-01 -5.22664304e-04 2.19119405e+02] [ 9.99546810e-01 2.84120553e-02 -9.94637177e-03 1.17291965e+02] [ 9.95720606e-03 -2.39868320e-04 9.99950397e-01 3.98611015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.12, Y:117.32, Z:3.99 [[ 2.59182286e-02 -9.99663952e-01 -4.78860127e-04 2.19119122e+02] [ 9.99622253e-01 2.59215228e-02 -9.13376351e-03 1.17320044e+02] [ 9.14310691e-03 -2.41948268e-04 9.99958172e-01 3.98667085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.12, Y:117.35, Z:3.99 [[ 2.18457966e-02 -9.99761283e-01 -3.72181677e-04 2.19119803e+02] [ 9.99735972e-01 2.18478931e-02 -7.11732981e-03 1.17347884e+02] [ 7.12376217e-03 -2.16599671e-04 9.99974602e-01 3.98800406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.12, Y:117.38, Z:3.99 [[ 2.15777244e-02 -9.99767105e-01 -3.70220875e-04 2.19121159e+02] [ 9.99741794e-01 2.15798137e-02 -7.11743150e-03 1.17375458e+02] [ 7.12376319e-03 -2.16547307e-04 9.99974602e-01 3.98842140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.12, Y:117.40, Z:3.99 [[ 1.98182201e-02 -9.99803539e-01 -3.49887667e-04 2.19121400e+02] [ 9.99780744e-01 1.98201321e-02 -6.75474578e-03 1.17403030e+02] [ 6.76035355e-03 -2.15943913e-04 9.99977125e-01 3.98842588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.220385723 meters Centerline goodness [0,1] 0.9999557100781717 Centerline is valid? [True, True] Translation: X:219.12, Y:117.43, Z:3.99 [[ 1.77443249e-02 -9.99842502e-01 -3.31216500e-04 2.19118900e+02] [ 9.99821860e-01 1.77460881e-02 -6.42849192e-03 1.17431050e+02] [ 6.43335725e-03 -2.17088248e-04 9.99979282e-01 3.98710393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.12, Y:117.46, Z:3.99 [[ 1.80726328e-02 -9.99836615e-01 -3.50349803e-04 2.19116494e+02] [ 9.99813246e-01 1.80746071e-02 -6.83972407e-03 1.17459479e+02] [ 6.84493900e-03 -2.26672552e-04 9.99976547e-01 3.98683343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.280385723 meters Centerline goodness [0,1] 0.9999779658029262 Centerline is valid? [True, True] Translation: X:219.11, Y:117.49, Z:3.99 [[ 2.06632574e-02 -9.99786432e-01 -3.46203736e-04 2.19112686e+02] [ 9.99763365e-01 2.06651335e-02 -6.79461716e-03 1.17487931e+02] [ 6.80032039e-03 -2.05722888e-04 9.99976856e-01 3.98602221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.11, Y:117.52, Z:3.99 [[ 2.29166841e-02 -9.99737314e-01 -3.58420577e-04 2.19111697e+02] [ 9.99712165e-01 2.29186509e-02 -7.09390850e-03 1.17515146e+02] [ 7.10025955e-03 -1.95748550e-04 9.99974774e-01 3.98730285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.340385723 meters Centerline goodness [0,1] 0.9999781028291145 Centerline is valid? [True, True] Translation: X:219.11, Y:117.54, Z:3.99 [[ 2.49472712e-02 -9.99688708e-01 -3.47480766e-04 2.19108923e+02] [ 9.99665038e-01 2.49490724e-02 -6.88153074e-03 1.17543762e+02] [ 6.88805790e-03 -1.75688960e-04 9.99976262e-01 3.98749928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.370385723 meters Centerline goodness [0,1] 0.9999780917953773 Centerline is valid? [True, True] Translation: X:219.10, Y:117.57, Z:3.99 [[ 2.83643911e-02 -9.99597593e-01 -3.37914483e-04 2.19104809e+02] [ 9.99574863e-01 2.83660254e-02 -6.74257623e-03 1.17570955e+02] [ 6.74944826e-03 -1.46521754e-04 9.99977211e-01 3.98804251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.10, Y:117.60, Z:3.99 [[ 3.06202289e-02 -9.99531039e-01 -3.20680799e-04 2.19101245e+02] [ 9.99510556e-01 3.06216548e-02 -6.40016952e-03 1.17599055e+02] [ 6.40698787e-03 -1.24549188e-04 9.99979467e-01 3.98870073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.43038572300003 meters Centerline goodness [0,1] 0.99993462912926 Centerline is valid? [True, True] Translation: X:219.10, Y:117.63, Z:3.99 [[ 3.10621627e-02 -9.99517414e-01 -2.85877917e-04 2.19100544e+02] [ 9.99501019e-01 3.10632908e-02 -5.72576222e-03 1.17627291e+02] [ 5.73187935e-03 -1.07880712e-04 9.99983567e-01 3.98903218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.460385723 meters Centerline goodness [0,1] 0.999956384254716 Centerline is valid? [True, True] Translation: X:219.10, Y:117.65, Z:3.99 [[ 3.14532874e-02 -9.99505196e-01 -2.30943136e-04 2.19101092e+02] [ 9.99494419e-01 3.14540209e-02 -4.64233330e-03 1.17653551e+02] [ 4.64730035e-03 -8.48097317e-05 9.99989198e-01 3.99154121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.10, Y:117.68, Z:3.99 [[ 3.05698654e-02 -9.99532620e-01 -1.59422826e-04 2.19099756e+02] [ 9.99527536e-01 3.05702184e-02 -3.18834949e-03 1.17682042e+02] [ 3.19173291e-03 -6.18800899e-05 9.99994905e-01 3.99336284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.10, Y:117.71, Z:3.99 [[ 2.96002395e-02 -9.99561808e-01 -1.33504505e-04 2.19098378e+02] [ 9.99558236e-01 2.96004907e-02 -2.67286665e-03 1.17710709e+02] [ 2.67564722e-03 -5.43280344e-05 9.99996419e-01 3.99247141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.550385723 meters Centerline goodness [0,1] 0.9999347896967721 Centerline is valid? [True, True] Translation: X:219.10, Y:117.74, Z:3.99 [[ 2.84108882e-02 -9.99596314e-01 -1.75403588e-04 2.19096431e+02] [ 9.99590011e-01 2.84113321e-02 -3.55042023e-03 1.17738399e+02] [ 3.55397042e-03 -7.44610825e-05 9.99993682e-01 3.99149378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.580385723 meters Centerline goodness [0,1] 0.9999565547952645 Centerline is valid? [True, True] Translation: X:219.10, Y:117.77, Z:3.99 [[ 2.81588541e-02 -9.99603444e-01 -1.81706306e-04 2.19096131e+02] [ 9.99596568e-01 2.81593346e-02 -3.70841003e-03 1.17766072e+02] [ 3.71205617e-03 -7.72084228e-05 9.99993107e-01 3.99147294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.610385723 meters Centerline goodness [0,1] 0.9999566677499729 Centerline is valid? [True, True] Translation: X:219.09, Y:117.79, Z:3.99 [[ 2.99714071e-02 -9.99550725e-01 -2.49145645e-04 2.19093743e+02] [ 9.99537464e-01 2.99722930e-02 -5.14975842e-03 1.17794699e+02] [ 5.15491223e-03 -9.46848999e-05 9.99986709e-01 3.99145157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:117.82, Z:3.99 [[ 3.06062696e-02 -9.99531489e-01 -2.43511255e-04 2.19092336e+02] [ 9.99518723e-01 3.06071096e-02 -5.05252488e-03 1.17822286e+02] [ 5.05761089e-03 -8.87551203e-05 9.99987206e-01 3.99138937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:117.85, Z:3.99 [[ 3.14298630e-02 -9.99505928e-01 -2.52643799e-04 2.19087058e+02] [ 9.99492001e-01 3.14307589e-02 -5.27710080e-03 1.17850347e+02] [ 5.28243432e-03 -8.66569010e-05 9.99986044e-01 3.98964102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.700385723 meters Centerline goodness [0,1] 0.9999353406470246 Centerline is valid? [True, True] Translation: X:219.09, Y:117.88, Z:3.99 [[ 3.06613751e-02 -9.99529789e-01 -2.83356599e-04 2.19086966e+02] [ 9.99511997e-01 3.06625202e-02 -5.96468271e-03 1.17878671e+02] [ 5.97056648e-03 -1.00332946e-04 9.99982171e-01 3.98809877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:117.91, Z:3.99 [[ 3.05315066e-02 -9.99533751e-01 -3.27569448e-04 2.19087951e+02] [ 9.99509594e-01 3.05330464e-02 -6.95013255e-03 1.17906607e+02] [ 6.95689375e-03 -1.15210788e-04 9.99975794e-01 3.98987283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:117.93, Z:3.99 [[ 2.87834586e-02 -9.99585609e-01 -3.50763699e-04 2.19089705e+02] [ 9.99557498e-01 2.87852802e-02 -7.49771683e-03 1.17933971e+02] [ 7.50470667e-03 -1.34798263e-04 9.99971830e-01 3.99105581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:117.96, Z:3.99 [[ 2.74831573e-02 -9.99622212e-01 -3.32084854e-04 2.19091186e+02] [ 9.99596748e-01 2.74848279e-02 -7.13625607e-03 1.17960534e+02] [ 7.14268737e-03 -1.35824092e-04 9.99974481e-01 3.99213044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.820385723 meters Centerline goodness [0,1] 0.9999785020208101 Centerline is valid? [True, True] Translation: X:219.09, Y:117.99, Z:3.99 [[ 2.53152747e-02 -9.99679471e-01 -3.03890101e-04 2.19087877e+02] [ 9.99658032e-01 2.53167225e-02 -6.54846623e-03 1.17988969e+02] [ 6.55406076e-03 -1.38009959e-04 9.99978512e-01 3.99066638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:118.02, Z:3.99 [[ 2.42006214e-02 -9.99707069e-01 -3.26482953e-04 2.19088292e+02] [ 9.99682027e-01 2.42023266e-02 -7.07759641e-03 1.18016830e+02] [ 7.08342481e-03 -1.55096910e-04 9.99974900e-01 3.99038569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:118.04, Z:3.99 [[ 2.26508756e-02 -9.99743380e-01 -3.35792005e-04 2.19094042e+02] [ 9.99716576e-01 2.26527279e-02 -7.32266229e-03 1.18043800e+02] [ 7.32838975e-03 -1.69832120e-04 9.99973133e-01 3.99249447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:118.07, Z:3.99 [[ 2.17858451e-02 -9.99762605e-01 -3.33810984e-04 2.19093557e+02] [ 9.99735764e-01 2.17877069e-02 -7.32792937e-03 1.18072103e+02] [ 7.33346273e-03 -1.74077645e-04 9.99973095e-01 3.99289167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:118.10, Z:3.99 [[ 2.11376992e-02 -9.99776524e-01 -3.14754362e-04 2.19094341e+02] [ 9.99752416e-01 2.11393760e-02 -6.94504238e-03 1.18100506e+02] [ 6.95014405e-03 -1.67874217e-04 9.99975833e-01 3.99343104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:118.13, Z:3.99 [[ 2.08145923e-02 -9.99783315e-01 -2.75599780e-04 2.19092264e+02] [ 9.99764683e-01 2.08158875e-02 -6.10554472e-03 1.18128282e+02] [ 6.10995859e-03 -1.48450502e-04 9.99981323e-01 3.99409431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:118.16, Z:3.99 [[ 2.14082484e-02 -9.99770771e-01 -3.03300890e-04 2.19090932e+02] [ 9.99747864e-01 2.14098116e-02 -6.76960598e-03 1.18156037e+02] [ 6.77454780e-03 -1.58299011e-04 9.99977040e-01 3.99410174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:118.18, Z:3.99 [[ 2.31576310e-02 -9.99731755e-01 -3.77817042e-04 2.19091217e+02] [ 9.99695543e-01 2.31600086e-02 -8.51084443e-03 1.18183830e+02] [ 8.51731168e-03 -1.80611018e-04 9.99963711e-01 3.99382753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:118.21, Z:3.99 [[ 2.43853881e-02 -9.99702556e-01 -3.91468574e-04 2.19091575e+02] [ 9.99663178e-01 2.43879028e-02 -8.87474814e-03 1.18212404e+02] [ 8.88165549e-03 -1.74922541e-04 9.99960542e-01 3.99411470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:118.24, Z:4.00 [[ 2.73053504e-02 -9.99627078e-01 -3.50735095e-04 2.19092894e+02] [ 9.99595054e-01 2.73072834e-02 -8.00254051e-03 1.18239835e+02] [ 8.00913380e-03 -1.32080894e-04 9.99967918e-01 3.99572240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.120385723 meters Centerline goodness [0,1] 0.9998715010815326 Centerline is valid? [True, True] Translation: X:219.09, Y:118.27, Z:4.00 [[ 2.86411729e-02 -9.99589705e-01 -3.24155446e-04 2.19092624e+02] [ 9.99562315e-01 2.86427881e-02 -7.40063034e-03 1.18267200e+02] [ 7.40687862e-03 -1.12050834e-04 9.99972562e-01 3.99663363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:118.29, Z:4.00 [[ 2.97273261e-02 -9.99558003e-01 -2.91179092e-04 2.19092818e+02] [ 9.99535664e-01 2.97286086e-02 -6.68321938e-03 1.18294680e+02] [ 6.68892177e-03 -9.23696454e-05 9.99977625e-01 3.99740336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.18038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:118.32, Z:4.00 [[ 3.26236316e-02 -9.99467675e-01 -2.56821925e-04 2.19093066e+02] [ 9.99450010e-01 3.26245821e-02 -5.94258323e-03 1.18322454e+02] [ 5.94779855e-03 -6.28120293e-05 9.99982310e-01 3.99861180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:118.35, Z:4.00 [[ 3.37394057e-02 -9.99430640e-01 -2.20268134e-04 2.19094231e+02] [ 9.99417681e-01 3.37400899e-02 -5.08975950e-03 1.18349954e+02] [ 5.09429346e-03 -4.84144072e-05 9.99987023e-01 3.99965584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.240385723 meters Centerline goodness [0,1] 0.9999786698519688 Centerline is valid? [True, True] Translation: X:219.10, Y:118.38, Z:4.00 [[ 3.57634907e-02 -9.99360268e-01 -1.66603616e-04 2.19096663e+02] [ 9.99352848e-01 3.57638672e-02 -3.85117114e-03 1.18376738e+02] [ 3.85466581e-03 -2.87644750e-05 9.99992570e-01 4.00173133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.270385723 meters Centerline goodness [0,1] 0.9998716769681545 Centerline is valid? [True, True] Translation: X:219.10, Y:118.40, Z:4.00 [[ 3.55941749e-02 -9.99366317e-01 -1.36011602e-04 2.19099400e+02] [ 9.99361377e-01 3.55944267e-02 -3.14254757e-03 1.18402964e+02] [ 3.14539745e-03 -2.40683537e-05 9.99995053e-01 3.99972647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.300385723 meters Centerline goodness [0,1] 0.9999785913080711 Centerline is valid? [True, True] Translation: X:219.10, Y:118.43, Z:4.00 [[ 3.58738611e-02 -9.99356321e-01 -9.83629525e-05 2.19100753e+02] [ 9.99353756e-01 3.58739919e-02 -2.26419737e-03 1.18431433e+02] [ 2.26626863e-03 -1.70738840e-05 9.99997432e-01 4.00195034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.11, Y:118.46, Z:4.00 [[ 3.50750565e-02 -9.99384680e-01 -3.43441828e-05 2.19105356e+02] [ 9.99384411e-01 3.50750723e-02 -7.33253223e-04 1.18459517e+02] [ 7.34006663e-04 -8.60414263e-06 9.99999731e-01 4.00397873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.11, Y:118.49, Z:4.00 [[ 3.37750132e-02 -9.99429461e-01 4.14451155e-05 2.19110358e+02] [ 9.99428850e-01 3.37750383e-02 1.10497895e-03 1.18486362e+02] [-1.10574833e-03 4.10076542e-06 9.99999389e-01 4.00478384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.390385723 meters Centerline goodness [0,1] 0.9998924152770307 Centerline is valid? [True, True] Translation: X:219.11, Y:118.51, Z:4.00 [[ 3.25988952e-02 -9.99468509e-01 1.09379451e-04 2.19114207e+02] [ 9.99464639e-01 3.25990734e-02 2.78149009e-03 1.18514329e+02] [-2.78357742e-03 1.86473896e-05 9.99996126e-01 4.00303737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.420385723 meters Centerline goodness [0,1] 0.9998708093792391 Centerline is valid? [True, True] Translation: X:219.12, Y:118.54, Z:4.01 [[ 3.21775422e-02 -9.99482154e-01 1.73201453e-04 2.19118754e+02] [ 9.99472602e-01 3.21779920e-02 4.36971638e-03 1.18541898e+02] [-4.37302682e-03 3.25033730e-05 9.99990438e-01 4.00507215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.13, Y:118.57, Z:4.01 [[ 3.24366662e-02 -9.99473754e-01 2.77412374e-04 2.19126019e+02] [ 9.99449308e-01 3.24378131e-02 6.99071079e-03 1.18569661e+02] [-6.99603061e-03 5.05042527e-05 9.99975526e-01 4.01158025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.13, Y:118.60, Z:4.01 [[ 3.27592805e-02 -9.99463213e-01 3.38587640e-04 2.19130324e+02] [ 9.99426485e-01 3.27609794e-02 8.56853597e-03 1.18598359e+02] [-8.57502896e-03 5.76943819e-05 9.99963232e-01 4.01115791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.13, Y:118.63, Z:4.01 [[ 3.29422976e-02 -9.99457193e-01 3.51651334e-04 2.19133510e+02] [ 9.99417005e-01 3.29441265e-02 8.96299706e-03 1.18626342e+02] [-8.96971673e-03 5.61846064e-05 9.99959770e-01 4.01144619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:118.65, Z:4.01 [[ 3.26155106e-02 -9.99467901e-01 3.78303174e-04 2.19137939e+02] [ 9.99420998e-01 3.26176450e-02 9.68286984e-03 1.18653527e+02] [-9.69005695e-03 6.22723918e-05 9.99953048e-01 4.01338764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.15, Y:118.68, Z:4.01 [[ 3.23805997e-02 -9.99475539e-01 3.78016238e-04 2.19146533e+02] [ 9.99427935e-01 3.23827469e-02 9.75497515e-03 1.18681426e+02] [-9.76210026e-03 6.19280424e-05 9.99952348e-01 4.01439647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.15, Y:118.71, Z:4.02 [[ 3.16708981e-02 -9.99498278e-01 3.82856631e-04 2.19150935e+02] [ 9.99448770e-01 3.16731401e-02 9.94830036e-03 1.18709044e+02] [-9.95543535e-03 6.75739814e-05 9.99950441e-01 4.01553006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.630385723 meters Centerline goodness [0,1] 0.9998469476998426 Centerline is valid? [True, True] Translation: X:219.16, Y:118.74, Z:4.01 [[ 2.95957041e-02 -9.99561871e-01 4.00811428e-04 2.19156211e+02] [ 9.99507012e-01 2.95982791e-02 1.04725909e-02 1.18737423e+02] [-1.04798658e-02 9.06701329e-05 9.99945081e-01 4.01102146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.660385723 meters Centerline goodness [0,1] 0.9998683517640864 Centerline is valid? [True, True] Translation: X:219.16, Y:118.77, Z:4.01 [[ 2.84469373e-02 -9.99595231e-01 3.82004363e-04 2.19159059e+02] [ 9.99544578e-01 2.84493416e-02 1.00633650e-02 1.18765096e+02] [-1.00701594e-02 9.55584771e-05 9.99949290e-01 4.01040195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.16, Y:118.79, Z:4.01 [[ 2.70250946e-02 -9.99634687e-01 3.69055855e-04 2.19162846e+02] [ 9.99586644e-01 2.70274142e-02 9.80099183e-03 1.18792927e+02] [-9.80738603e-03 1.04030571e-04 9.99951901e-01 4.01207856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.720385723 meters Centerline goodness [0,1] 0.9999778403173266 Centerline is valid? [True, True] Translation: X:219.17, Y:118.82, Z:4.01 [[ 2.33549236e-02 -9.99727190e-01 3.05187799e-04 2.19174443e+02] [ 9.99693612e-01 2.33566407e-02 8.19449686e-03 1.18819439e+02] [-8.19938948e-03 1.13712445e-04 9.99966378e-01 4.01382143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.18, Y:118.85, Z:4.01 [[ 2.11454134e-02 -9.99776370e-01 2.84042434e-04 2.19177998e+02] [ 9.99746860e-01 2.11469719e-02 7.68261049e-03 1.18847827e+02] [-7.68689907e-03 1.21518556e-04 9.99970448e-01 4.01214212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.18, Y:118.88, Z:4.01 [[ 1.78104979e-02 -9.99841351e-01 2.42025469e-04 2.19184057e+02] [ 9.99819900e-01 1.78117015e-02 6.55066010e-03 1.18875619e+02] [-6.55393173e-03 1.25311363e-04 9.99978515e-01 4.00998306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.19, Y:118.90, Z:4.01 [[ 1.66565567e-02 -9.99861244e-01 2.29371899e-04 2.19188662e+02] [ 9.99841672e-01 1.66576661e-02 6.25722096e-03 1.18902834e+02] [-6.26017353e-03 1.25111827e-04 9.99980397e-01 4.01083064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.19, Y:118.93, Z:4.01 [[ 1.45001239e-02 -9.99894855e-01 1.56853572e-04 2.19189931e+02] [ 9.99885319e-01 1.45006708e-02 4.36805745e-03 1.18931427e+02] [-4.36987265e-03 9.34982095e-05 9.99990448e-01 4.00510418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.19, Y:118.96, Z:4.00 [[ 1.35539536e-02 -9.99908135e-01 1.10451910e-04 2.19193160e+02] [ 9.99903208e-01 1.35542336e-02 3.13967982e-03 1.18958761e+02] [-3.14088848e-03 6.78861445e-05 9.99995065e-01 4.00483754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.19, Y:118.99, Z:4.00 [[ 1.36780431e-02 -9.99906447e-01 9.55324632e-05 2.19193551e+02] [ 9.99902678e-01 1.36782538e-02 2.74588332e-03 1.18986641e+02] [-2.74693315e-03 5.79648555e-05 9.99996226e-01 4.00372672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.93038572300003 meters Centerline goodness [0,1] 0.9999776050881239 Centerline is valid? [True, True] Translation: X:219.19, Y:119.02, Z:4.00 [[ 1.58437282e-02 -9.99874479e-01 5.56518416e-05 2.19191091e+02] [ 9.99873107e-01 1.58437987e-02 1.65650899e-03 1.19015083e+02] [-1.65718280e-03 2.93995015e-05 9.99998626e-01 4.00192711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.19, Y:119.04, Z:4.00 [[ 1.66890455e-02 -9.99860728e-01 1.41444045e-05 2.19190203e+02] [ 9.99860600e-01 1.66890505e-02 5.07096204e-04 1.19043865e+02] [-5.07261637e-04 5.67948120e-06 9.99999871e-01 4.00093740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.19, Y:119.07, Z:4.00 [[ 1.90383151e-02 -9.99818751e-01 -9.29096271e-05 2.19185686e+02] [ 9.99815629e-01 1.90384879e-02 -2.49882904e-03 1.19072092e+02] [ 2.50014499e-03 -4.53190026e-05 9.99996874e-01 3.99754202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.020385723 meters Centerline goodness [0,1] 0.9999776745847473 Centerline is valid? [True, True] Translation: X:219.18, Y:119.10, Z:4.00 [[ 2.01235451e-02 -9.99797491e-01 -1.44318023e-04 2.19184154e+02] [ 9.99789571e-01 2.01239602e-02 -3.98002652e-03 1.19100487e+02] [ 3.98212478e-03 -6.41954105e-05 9.99992069e-01 3.99584891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.18, Y:119.13, Z:3.99 [[ 2.14623667e-02 -9.99769611e-01 -3.02969102e-04 2.19179969e+02] [ 9.99733038e-01 2.14641733e-02 -8.55234696e-03 1.19127667e+02] [ 8.55687958e-03 -1.19334614e-04 9.99963382e-01 3.99070745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.18, Y:119.16, Z:3.99 [[ 2.11950437e-02 -9.99775315e-01 -3.00816132e-04 2.19180861e+02] [ 9.99738741e-01 2.11968417e-02 -8.55242248e-03 1.19155246e+02] [ 8.55687723e-03 -1.19468573e-04 9.99963382e-01 3.99112472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.18, Y:119.18, Z:3.99 [[ 2.17195044e-02 -9.99764037e-01 -3.66462566e-04 2.19178635e+02] [ 9.99708638e-01 2.17221590e-02 -1.05255036e-02 1.19183064e+02] [ 1.05309804e-02 -1.37747070e-04 9.99944538e-01 3.98848879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.17, Y:119.21, Z:3.98 [[ 2.23177741e-02 -9.99750811e-01 -4.83367840e-04 2.19174680e+02] [ 9.99652396e-01 2.23223598e-02 -1.40285366e-02 1.19209134e+02] [ 1.40358307e-02 -1.70114110e-04 9.99901478e-01 3.98301323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.17, Y:119.24, Z:3.98 [[ 2.26295133e-02 -9.99743765e-01 -5.57099271e-04 2.19172991e+02] [ 9.99610242e-01 2.26355963e-02 -1.63399227e-02 1.19236921e+02] [ 1.63483461e-02 -1.87117640e-04 9.99866339e-01 3.98096861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.17, Y:119.26, Z:3.98 [[ 2.27837147e-02 -9.99740215e-01 -6.37028040e-04 2.19172979e+02] [ 9.99562394e-01 2.27916774e-02 -1.88562811e-02 1.19264095e+02] [ 1.88659015e-02 -2.07133143e-04 9.99822002e-01 3.97803811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.17, Y:119.29, Z:3.97 [[ 2.45730663e-02 -9.99697706e-01 -8.12700350e-04 2.19167464e+02] [ 9.99402420e-01 2.45855603e-02 -2.42971668e-02 1.19292149e+02] [ 2.43098026e-02 -2.15158808e-04 9.99704450e-01 3.97269781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.17, Y:119.32, Z:3.97 [[ 2.58145997e-02 -9.99666366e-01 -8.73720626e-04 2.19166081e+02] [ 9.99318992e-01 2.58286614e-02 -2.63520982e-02 1.19319246e+02] [ 2.63658732e-02 -1.92856750e-04 9.99652341e-01 3.97029165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.16, Y:119.35, Z:3.97 [[ 2.96155265e-02 -9.99560863e-01 -1.00088716e-03 2.19160894e+02] [ 9.99096670e-01 2.96322729e-02 -3.04593553e-02 1.19347824e+02] [ 3.04756380e-02 -9.79131885e-05 9.99535505e-01 3.96645661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.16, Y:119.38, Z:3.96 [[ 3.13060739e-02 -9.99509295e-01 -1.04850938e-03 2.19158067e+02] [ 9.98991441e-01 3.13236015e-02 -3.21703687e-02 1.19376717e+02] [ 3.21874256e-02 -4.03239598e-05 9.99481850e-01 3.96433152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.350385723 meters Centerline goodness [0,1] 0.9997795122811659 Centerline is valid? [True, True] Translation: X:219.16, Y:119.40, Z:3.96 [[ 3.30475964e-02 -9.99453178e-01 -1.09574278e-03 2.19155186e+02] [ 9.98879413e-01 3.30657478e-02 -3.38610947e-02 1.19403857e+02] [ 3.38788102e-02 2.45128857e-05 9.99425948e-01 3.95871231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.15, Y:119.43, Z:3.96 [[ 3.64097192e-02 -9.99336250e-01 -1.17948288e-03 2.19151271e+02] [ 9.98661174e-01 3.64284704e-02 -3.67263661e-02 1.19431789e+02] [ 3.67449558e-02 1.59292919e-04 9.99324663e-01 3.95724726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.15, Y:119.46, Z:3.96 [[ 3.76066652e-02 -9.99291891e-01 -1.20656712e-03 2.19151198e+02] [ 9.98573718e-01 3.76253746e-02 -3.78795593e-02 1.19460469e+02] [ 3.78981340e-02 2.19677691e-04 9.99281584e-01 3.95783333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.440385723 meters Centerline goodness [0,1] 0.9999115357395613 Centerline is valid? [True, True] Translation: X:219.15, Y:119.49, Z:3.95 [[ 4.02480199e-02 -9.99188954e-01 -1.23719032e-03 2.19147962e+02] [ 9.98420486e-01 4.02655802e-02 -3.91818285e-02 1.19487435e+02] [ 3.91998665e-02 3.41754853e-04 9.99231331e-01 3.95480286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.15, Y:119.52, Z:3.96 [[ 4.12995510e-02 -9.99146031e-01 -1.24750771e-03 2.19147050e+02] [ 9.98351045e-01 4.13164479e-02 -3.98515048e-02 1.19515760e+02] [ 3.98690155e-02 4.00398627e-04 9.99204835e-01 3.95648807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:119.54, Z:3.95 [[ 4.22402530e-02 -9.99106673e-01 -1.27140812e-03 2.19141167e+02] [ 9.98269943e-01 4.22569040e-02 -4.08836812e-02 1.19543829e+02] [ 4.09008845e-02 4.57728524e-04 9.99163104e-01 3.95118095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.530385723 meters Centerline goodness [0,1] 0.9998234112531179 Centerline is valid? [True, True] Translation: X:219.14, Y:119.57, Z:3.95 [[ 4.20336451e-02 -9.99115407e-01 -1.25535075e-03 2.19140588e+02] [ 9.98286717e-01 4.20499031e-02 -4.06870570e-02 1.19570928e+02] [ 4.07038529e-02 4.57025335e-04 9.99171150e-01 3.95083776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:119.60, Z:3.95 [[ 4.02020171e-02 -9.99190799e-01 -1.24316125e-03 2.19141619e+02] [ 9.98362240e-01 4.02192990e-02 -4.06847163e-02 1.19597440e+02] [ 4.07017933e-02 3.94482417e-04 9.99171261e-01 3.95188126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.590385723 meters Centerline goodness [0,1] 0.9999119776423212 Centerline is valid? [True, True] Translation: X:219.14, Y:119.63, Z:3.95 [[ 3.88470607e-02 -9.99244398e-01 -1.24029324e-03 2.19144039e+02] [ 9.98404108e-01 3.88652493e-02 -4.09723101e-02 1.19625344e+02] [ 4.09895556e-02 3.53339953e-04 9.99159513e-01 3.95458645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:119.65, Z:3.96 [[ 3.73716569e-02 -9.99300718e-01 -1.19753639e-03 2.19144523e+02] [ 9.98503617e-01 3.73896701e-02 -3.99066316e-02 1.19653825e+02] [ 3.99235011e-02 2.95632523e-04 9.99202695e-01 3.95784299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:119.68, Z:3.96 [[ 3.38061480e-02 -9.99427756e-01 -1.14243762e-03 2.19143359e+02] [ 9.98689776e-01 3.38250808e-02 -3.84004579e-02 1.19681328e+02] [ 3.84171265e-02 1.57230793e-04 9.99261777e-01 3.95756585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.68038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:119.71, Z:3.96 [[ 3.19164164e-02 -9.99489894e-01 -1.13770540e-03 2.19142448e+02] [ 9.98743919e-01 3.19365433e-02 -3.86088287e-02 1.19708555e+02] [ 3.86254685e-02 9.59791019e-05 9.99253754e-01 3.95682370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.710385723 meters Centerline goodness [0,1] 0.999890001099989 Centerline is valid? [True, True] Translation: X:219.14, Y:119.74, Z:3.96 [[ 2.90845556e-02 -9.99576299e-01 -1.14503540e-03 2.19142282e+02] [ 9.98805909e-01 2.91070864e-02 -3.92368862e-02 1.19737081e+02] [ 3.92535901e-02 -2.48072209e-06 9.99229281e-01 3.95608115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:119.76, Z:3.96 [[ 2.84160605e-02 -9.99595556e-01 -1.11896197e-03 2.19144221e+02] [ 9.98848231e-01 2.84380764e-02 -3.86456566e-02 1.19763601e+02] [ 3.86618477e-02 -1.95158699e-05 9.99252351e-01 3.95744603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.770385723 meters Centerline goodness [0,1] 0.9999560023758717 Centerline is valid? [True, True] Translation: X:219.15, Y:119.79, Z:3.96 [[ 2.71347818e-02 -9.99631188e-01 -1.09137576e-03 2.19145934e+02] [ 9.98908120e-01 2.71566574e-02 -3.80142672e-02 1.19791087e+02] [ 3.80298852e-02 -5.86752650e-05 9.99276601e-01 3.96310649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.800385723 meters Centerline goodness [0,1] 0.9999341093784319 Centerline is valid? [True, True] Translation: X:219.14, Y:119.82, Z:3.96 [[ 2.68669285e-02 -9.99638463e-01 -1.05381492e-03 2.19144550e+02] [ 9.98951106e-01 2.68875275e-02 -3.70641047e-02 1.19818602e+02] [ 3.70790391e-02 -5.69109247e-05 9.99312334e-01 3.96368758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:119.85, Z:3.96 [[ 2.71699442e-02 -9.99630308e-01 -1.02066726e-03 2.19142793e+02] [ 9.98972631e-01 2.71890867e-02 -3.62551621e-02 1.19846182e+02] [ 3.62695098e-02 -3.45679280e-05 9.99342044e-01 3.96184206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:119.87, Z:3.97 [[ 2.97858661e-02 -9.99555855e-01 -9.46168670e-04 2.19141063e+02] [ 9.98979870e-01 2.98008184e-02 -3.39283031e-02 1.19874479e+02] [ 3.39414306e-02 6.53804354e-05 9.99423822e-01 3.96782860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.890385723 meters Centerline goodness [0,1] 0.999956242068875 Centerline is valid? [True, True] Translation: X:219.14, Y:119.90, Z:3.97 [[ 3.19466302e-02 -9.99489159e-01 -9.13290437e-04 2.19140316e+02] [ 9.98941681e-01 3.19593559e-02 -3.30774430e-02 1.19901962e+02] [ 3.30897339e-02 1.44388955e-04 9.99452374e-01 3.96743318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:119.93, Z:3.97 [[ 3.66078624e-02 -9.99329333e-01 -8.64808867e-04 2.19136281e+02] [ 9.98827863e-01 3.66168871e-02 -3.16560096e-02 1.19928247e+02] [ 3.16664455e-02 2.95063648e-04 9.99498449e-01 3.97023475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:119.96, Z:3.97 [[ 3.87584419e-02 -9.99248255e-01 -8.41245438e-04 2.19137048e+02] [ 9.98763608e-01 3.87658430e-02 -3.11201694e-02 1.19956259e+02] [ 3.11293866e-02 3.65963951e-04 9.99515296e-01 3.97406500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.980385723 meters Centerline goodness [0,1] 0.9999781411209233 Centerline is valid? [True, True] Translation: X:219.14, Y:119.98, Z:3.98 [[ 4.31211987e-02 -9.99069516e-01 -8.15426660e-04 2.19135506e+02] [ 9.98605053e-01 4.31260167e-02 -3.04646361e-02 1.19984235e+02] [ 3.04714553e-02 4.99382440e-04 9.99535513e-01 3.97623096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.010385723 meters Centerline goodness [0,1] 0.9999346846356492 Centerline is valid? [True, True] Translation: X:219.14, Y:120.01, Z:3.98 [[ 4.41242662e-02 -9.99025734e-01 -7.95597965e-04 2.19135580e+02] [ 9.98574632e-01 4.41282521e-02 -3.00233697e-02 1.20012690e+02] [ 3.00292273e-02 5.30295213e-04 9.99548880e-01 3.97755483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.040385723 meters Centerline goodness [0,1] 0.9999562851085222 Centerline is valid? [True, True] Translation: X:219.14, Y:120.04, Z:3.98 [[ 4.46992769e-02 -9.99000201e-01 -7.56918616e-04 2.19135813e+02] [ 9.98583184e-01 4.47024898e-02 -2.88671540e-02 1.20039700e+02] [ 2.88721288e-02 5.34494710e-04 9.99582970e-01 3.97904070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.070385723 meters Centerline goodness [0,1] 0.9999782395822 Centerline is valid? [True, True] Translation: X:219.14, Y:120.07, Z:3.98 [[ 4.34207701e-02 -9.99056643e-01 -6.79391133e-04 2.19137227e+02] [ 9.98713732e-01 4.34236682e-02 -2.61775994e-02 1.20067180e+02] [ 2.61824062e-02 4.58134269e-04 9.99657077e-01 3.98226309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:120.09, Z:3.98 [[ 4.17072752e-02 -9.99129657e-01 -6.57096987e-04 2.19138881e+02] [ 9.98802557e-01 4.17104358e-02 -2.55673815e-02 1.20092977e+02] [ 2.55725369e-02 4.10035665e-04 9.99672885e-01 3.98378668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:120.12, Z:3.99 [[ 3.87272524e-02 -9.99249611e-01 -6.44859990e-04 2.19143532e+02] [ 9.98928518e-01 3.87311559e-02 -2.53320759e-02 1.20119931e+02] [ 2.53380432e-02 3.36872662e-04 9.99678883e-01 3.98526942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.15, Y:120.15, Z:3.99 [[ 3.70472773e-02 -9.99313304e-01 -6.47447256e-04 2.19147313e+02] [ 9.98982473e-01 3.70516722e-02 -2.57136466e-02 1.20147428e+02] [ 2.57199781e-02 3.05832134e-04 9.99669140e-01 3.98623872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.15, Y:120.18, Z:3.99 [[ 3.53201600e-02 -9.99375829e-01 -6.62543298e-04 2.19152173e+02] [ 9.99021109e-01 3.53252754e-02 -2.66260797e-02 1.20175527e+02] [ 2.66328650e-02 2.78542655e-04 9.99645244e-01 3.98816628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.220385723 meters Centerline goodness [0,1] 0.9999780485127867 Centerline is valid? [True, True] Translation: X:219.16, Y:120.20, Z:3.99 [[ 3.18752762e-02 -9.99491642e-01 -6.51595754e-04 2.19156401e+02] [ 9.99140690e-01 3.18813502e-02 -2.64851035e-02 1.20202946e+02] [ 2.64924134e-02 1.93184159e-04 9.99648996e-01 3.98851877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.16, Y:120.23, Z:3.99 [[ 3.04756696e-02 -9.99535316e-01 -6.21556596e-04 2.19158790e+02] [ 9.99208692e-01 3.04815998e-02 -2.55511585e-02 1.20231323e+02] [ 2.55582313e-02 1.57623912e-04 9.99673323e-01 3.99079635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.16, Y:120.26, Z:3.99 [[ 2.91044604e-02 -9.99576198e-01 -5.96031674e-04 2.19159884e+02] [ 9.99268723e-01 2.91102904e-02 -2.47913158e-02 1.20258294e+02] [ 2.47981598e-02 1.25942058e-04 9.99692470e-01 3.99202025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.16, Y:120.29, Z:3.99 [[ 2.83709002e-02 -9.99597292e-01 -5.87506775e-04 2.19161513e+02] [ 9.99291257e-01 2.83767512e-02 -2.47334627e-02 1.20285936e+02] [ 2.47401739e-02 1.14620218e-04 9.99693908e-01 3.99282091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.340385723 meters Centerline goodness [0,1] 0.9999342321604735 Centerline is valid? [True, True] Translation: X:219.16, Y:120.31, Z:3.99 [[ 2.75775552e-02 -9.99619491e-01 -5.92833413e-04 2.19164068e+02] [ 9.99300346e-01 2.75837300e-02 -2.52578121e-02 1.20314457e+02] [ 2.52645539e-02 1.04130075e-04 9.99680795e-01 3.99337007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.370385723 meters Centerline goodness [0,1] 0.9999342364855978 Centerline is valid? [True, True] Translation: X:219.17, Y:120.34, Z:3.99 [[ 2.59860495e-02 -9.99662109e-01 -6.27185572e-04 2.19169398e+02] [ 9.99296636e-01 2.59935071e-02 -2.70290661e-02 1.20340894e+02] [ 2.70362359e-02 7.56342167e-05 9.99634451e-01 3.99421282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.17, Y:120.37, Z:4.00 [[ 2.29335898e-02 -9.99736811e-01 -5.99976657e-04 2.19174028e+02] [ 9.99395297e-01 2.29414366e-02 -2.61291343e-02 1.20369070e+02] [ 2.61360218e-02 -3.79000804e-07 9.99658396e-01 3.99613071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.43038572300003 meters Centerline goodness [0,1] 0.9999780841131737 Centerline is valid? [True, True] Translation: X:219.18, Y:120.40, Z:4.00 [[ 2.07325684e-02 -9.99784891e-01 -5.77261169e-04 2.19176028e+02] [ 9.99461185e-01 2.07405441e-02 -2.54395433e-02 1.20397516e+02] [ 2.54460437e-02 -4.95230597e-05 9.99676196e-01 3.99717395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.460385723 meters Centerline goodness [0,1] 0.9998904301711481 Centerline is valid? [True, True] Translation: X:219.18, Y:120.43, Z:4.00 [[ 1.79508409e-02 -9.99838714e-01 -5.59606590e-04 2.19177717e+02] [ 9.99527130e-01 1.79592167e-02 -2.49596116e-02 1.20425938e+02] [ 2.49656361e-02 -1.11295951e-04 9.99688304e-01 3.99677794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.18, Y:120.45, Z:4.00 [[ 1.37030220e-02 -9.99905988e-01 -4.92007982e-04 2.19180203e+02] [ 9.99659523e-01 1.37105682e-02 -2.22004343e-02 1.20452668e+02] [ 2.22050930e-02 -1.87627424e-04 9.99753419e-01 4.00097490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.520385723 meters Centerline goodness [0,1] 0.9999781090606598 Centerline is valid? [True, True] Translation: X:219.18, Y:120.48, Z:4.00 [[ 1.12889704e-02 -9.99936165e-01 -4.74389214e-04 2.19182724e+02] [ 9.99701195e-01 1.12966018e-02 -2.16773304e-02 1.20480702e+02] [ 2.16813056e-02 -2.29532722e-04 9.99764907e-01 4.00262959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.19, Y:120.51, Z:4.01 [[ 7.72869657e-03 -9.99970033e-01 -4.47376952e-04 2.19187659e+02] [ 9.99756448e-01 7.73629275e-03 -2.06686654e-02 1.20507742e+02] [ 2.06715070e-02 -2.87526150e-04 9.99786280e-01 4.00561326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.19, Y:120.54, Z:4.01 [[ 6.35105994e-03 -9.99979729e-01 -4.52592410e-04 2.19187488e+02] [ 9.99756622e-01 6.35920407e-03 -2.11248091e-02 1.20535657e+02] [ 2.11272590e-02 -3.18317330e-04 9.99776744e-01 4.00687449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.19, Y:120.56, Z:4.01 [[ 5.64853813e-03 -9.99983939e-01 -4.63981873e-04 2.19188310e+02] [ 9.99743055e-01 5.65736218e-03 -2.19503421e-02 1.20563076e+02] [ 2.19526145e-02 -3.39875311e-04 9.99758955e-01 4.00607554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.18, Y:120.59, Z:4.01 [[ 6.10274423e-03 -9.99981271e-01 -4.62198039e-04 2.19182974e+02] [ 9.99735642e-01 6.11149009e-03 -2.21652156e-02 1.20590868e+02] [ 2.21676252e-02 -3.26807212e-04 9.99754215e-01 4.00539487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.18, Y:120.62, Z:4.01 [[ 6.73455040e-03 -9.99977223e-01 -4.47461060e-04 2.19180316e+02] [ 9.99740925e-01 6.74268694e-03 -2.17397931e-02 1.20619104e+02] [ 2.17423150e-02 -3.00937402e-04 9.99763563e-01 4.00679334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.18, Y:120.65, Z:4.01 [[ 8.03164155e-03 -9.99967658e-01 -4.19970623e-04 2.19179241e+02] [ 9.99753902e-01 8.03860848e-03 -2.06764689e-02 1.20646634e+02] [ 2.06791762e-02 -2.53801282e-04 9.99786131e-01 4.00902600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.730385723 meters Centerline goodness [0,1] 0.9998910746574298 Centerline is valid? [True, True] Translation: X:219.18, Y:120.68, Z:4.01 [[ 8.33632629e-03 -9.99965161e-01 -4.27897720e-04 2.19178023e+02] [ 9.99736866e-01 8.34356664e-03 -2.13678183e-02 1.20675029e+02] [ 2.13706441e-02 -2.49656020e-04 9.99771591e-01 4.00881339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.18, Y:120.70, Z:4.01 [[ 9.58886157e-03 -9.99953945e-01 -4.01167482e-04 2.19176686e+02] [ 9.99747741e-01 9.59503125e-03 -2.03073738e-02 1.20702509e+02] [ 2.03102878e-02 -2.06341688e-04 9.99793704e-01 4.01125453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.17, Y:120.73, Z:4.01 [[ 1.19844044e-02 -9.99928106e-01 -3.96388859e-04 2.19170278e+02] [ 9.99720825e-01 1.19899910e-02 -2.03595756e-02 1.20730406e+02] [ 2.03628646e-02 -1.52280809e-04 9.99792644e-01 4.01240350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.820385723 meters Centerline goodness [0,1] 0.9999350522829122 Centerline is valid? [True, True] Translation: X:219.17, Y:120.76, Z:4.01 [[ 1.33935874e-02 -9.99910223e-01 -3.96592060e-04 2.19168331e+02] [ 9.99696413e-01 1.33989246e-02 -2.06773169e-02 1.20757831e+02] [ 2.06807745e-02 -1.19528209e-04 9.99786123e-01 4.01276294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.16, Y:120.79, Z:4.01 [[ 1.64083996e-02 -9.99865294e-01 -3.97802617e-04 2.19163840e+02] [ 9.99643505e-01 1.64131383e-02 -2.10587824e-02 1.20786490e+02] [ 2.10624748e-02 -5.21198864e-05 9.99778160e-01 4.01420535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.16, Y:120.81, Z:4.01 [[ 1.73408694e-02 -9.99849562e-01 -3.85171796e-04 2.19161210e+02] [ 9.99635750e-01 1.73451264e-02 -2.06763987e-02 1.20814634e+02] [ 2.06799690e-02 -2.64847665e-05 9.99786146e-01 4.01492466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.16, Y:120.84, Z:4.02 [[ 1.76765143e-02 -9.99843689e-01 -3.72943181e-04 2.19158614e+02] [ 9.99637149e-01 1.76804429e-02 -2.03217422e-02 1.20843056e+02] [ 2.03251595e-02 -1.35902914e-05 9.99793423e-01 4.01535345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.15, Y:120.87, Z:4.02 [[ 1.72711604e-02 -9.99850781e-01 -3.49501465e-04 2.19154231e+02] [ 9.99663967e-01 1.72746893e-02 -1.93271264e-02 1.20871698e+02] [ 1.93302800e-02 -1.55821205e-05 9.99813153e-01 4.01607516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.15, Y:120.90, Z:4.02 [[ 1.69913527e-02 -9.99855577e-01 -3.44090716e-04 2.19154666e+02] [ 9.99668762e-01 1.69948292e-02 -1.93272229e-02 1.20899271e+02] [ 1.93302794e-02 -1.55810806e-05 9.99813153e-01 4.01649233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.15, Y:120.93, Z:4.02 [[ 1.65027823e-02 -9.99863761e-01 -3.42817068e-04 2.19153107e+02] [ 9.99672301e-01 1.65063307e-02 -1.95661077e-02 1.20926982e+02] [ 1.95691007e-02 -1.98095127e-05 9.99808507e-01 4.01717963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.030385723 meters Centerline goodness [0,1] 0.9999569661108123 Centerline is valid? [True, True] Translation: X:219.15, Y:120.95, Z:4.02 [[ 1.53166013e-02 -9.99882634e-01 -3.45809793e-04 2.19149351e+02] [ 9.99681344e-01 1.53204564e-02 -2.00622606e-02 1.20954766e+02] [ 2.00652039e-02 -3.84139523e-05 9.99798673e-01 4.01758120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.15, Y:120.98, Z:4.02 [[ 1.43082874e-02 -9.99897571e-01 -3.47557541e-04 2.19147568e+02] [ 9.99687418e-01 1.43124055e-02 -2.04993156e-02 1.20983209e+02] [ 2.05021902e-02 -5.41388032e-05 9.99789807e-01 4.01792353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.15, Y:121.01, Z:4.02 [[ 1.32557753e-02 -9.99912076e-01 -3.53560235e-04 2.19145616e+02] [ 9.99687016e-01 1.32602928e-02 -2.12140231e-02 1.21010323e+02] [ 2.12168462e-02 -7.22412516e-05 9.99774895e-01 4.01760238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:121.04, Z:4.02 [[ 1.04602680e-02 -9.99945222e-01 -3.69384211e-04 2.19140772e+02] [ 9.99690691e-01 1.04659395e-02 -2.25607257e-02 1.21038715e+02] [ 2.25633558e-02 -1.33278719e-04 9.99745406e-01 4.01654243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:121.07, Z:4.02 [[ 8.94092548e-03 -9.99959958e-01 -3.77367875e-04 2.19138561e+02] [ 9.99685356e-01 8.94731363e-03 -2.34336122e-02 1.21066539e+02] [ 2.34360503e-02 -1.67730958e-04 9.99725324e-01 4.01587914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.18038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.13, Y:121.09, Z:4.02 [[ 7.56739125e-03 -9.99971290e-01 -3.93128276e-04 2.19133349e+02] [ 9.99662714e-01 7.57482209e-03 -2.48411134e-02 1.21094731e+02] [ 2.48433781e-02 -2.05013255e-04 9.99691335e-01 4.01579577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.13, Y:121.12, Z:4.02 [[ 7.50748856e-03 -9.99971742e-01 -3.91760098e-04 2.19131224e+02] [ 9.99655746e-01 7.51496447e-03 -2.51379058e-02 1.21121657e+02] [ 2.51401395e-02 -2.02902693e-04 9.99683916e-01 4.01672677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.12, Y:121.15, Z:4.02 [[ 1.01840459e-02 -9.99948066e-01 -3.89153656e-04 2.19123763e+02] [ 9.99626760e-01 1.01906381e-02 -2.53474366e-02 1.21149730e+02] [ 2.53500859e-02 -1.30868952e-04 9.99678626e-01 4.01810896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.12, Y:121.18, Z:4.02 [[ 1.22252046e-02 -9.99925195e-01 -3.86719413e-04 2.19118015e+02] [ 9.99596033e-01 1.22311022e-02 -2.56548372e-02 1.21177635e+02] [ 2.56576481e-02 -7.29275581e-05 9.99670786e-01 4.01864110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.11, Y:121.20, Z:4.02 [[ 1.49645856e-02 -9.99887950e-01 -3.84415933e-04 2.19112761e+02] [ 9.99549751e-01 1.49695215e-02 -2.60040074e-02 1.21204404e+02] [ 2.60068481e-02 4.89634511e-06 9.99661765e-01 4.01832167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.10, Y:121.23, Z:4.02 [[ 2.10423303e-02 -9.99778515e-01 -3.76302227e-04 2.19103417e+02] [ 9.99441554e-01 2.10450076e-02 -2.59555120e-02 1.21233315e+02] [ 2.59576826e-02 1.70072376e-04 9.99663028e-01 4.01892092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.10, Y:121.26, Z:4.02 [[ 2.37834305e-02 -9.99717065e-01 -3.73310791e-04 2.19099867e+02] [ 9.99372723e-01 2.37850363e-02 -2.62379841e-02 1.21261940e+02] [ 2.62394397e-02 2.50952650e-04 9.99655655e-01 4.01982054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:121.29, Z:4.02 [[ 2.84049423e-02 -9.99596430e-01 -3.68634691e-04 2.19094202e+02] [ 9.99247656e-01 2.84047696e-02 -2.64062703e-02 1.21290237e+02] [ 2.64060845e-02 3.81711232e-04 9.99651226e-01 4.02008847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:121.32, Z:4.02 [[ 2.97678843e-02 -9.99556772e-01 -3.63692894e-04 2.19091958e+02] [ 9.99203995e-01 2.97670413e-02 -2.65574901e-02 1.21319074e+02] [ 2.65565451e-02 4.27156899e-04 9.99647222e-01 4.02030401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.450385723 meters Centerline goodness [0,1] 0.9999154691462384 Centerline is valid? [True, True] Translation: X:219.09, Y:121.35, Z:4.02 [[ 3.16132594e-02 -9.99500103e-01 -3.81133452e-04 2.19087286e+02] [ 9.99096560e-01 3.16113269e-02 -2.84040047e-02 1.21346525e+02] [ 2.84018537e-02 5.17154048e-04 9.99596452e-01 4.01872598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:121.37, Z:4.02 [[ 3.25970018e-02 -9.99468513e-01 -3.55155496e-04 2.19087204e+02] [ 9.99103733e-01 3.25947011e-02 -2.70058493e-02 1.21374545e+02] [ 2.70030722e-02 5.25472537e-04 9.99635212e-01 4.02195225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.510385723 meters Centerline goodness [0,1] 0.9999157717414192 Centerline is valid? [True, True] Translation: X:219.09, Y:121.40, Z:4.02 [[ 3.35420383e-02 -9.99437240e-01 -3.67843349e-04 2.19085526e+02] [ 9.99028357e-01 3.35388390e-02 -2.85917547e-02 1.21403464e+02] [ 2.85880014e-02 5.91539794e-04 9.99591105e-01 4.02157143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.08, Y:121.43, Z:4.02 [[ 3.39025227e-02 -9.99425085e-01 -3.44351059e-04 2.19083418e+02] [ 9.99050840e-01 3.38992524e-02 -2.73543545e-02 1.21430871e+02] [ 2.73503014e-02 5.83357409e-04 9.99625740e-01 4.02246572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.570385723 meters Centerline goodness [0,1] 0.9999579867238048 Centerline is valid? [True, True] Translation: X:219.08, Y:121.46, Z:4.02 [[ 3.36859407e-02 -9.99432408e-01 -3.46234923e-04 2.19083592e+02] [ 9.99035660e-01 3.36823254e-02 -2.81647229e-02 1.21458771e+02] [ 2.81603988e-02 6.02854150e-04 9.99603236e-01 4.02255912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.600385723 meters Centerline goodness [0,1] 0.999874116190756 Centerline is valid? [True, True] Translation: X:219.09, Y:121.49, Z:4.02 [[ 3.35479105e-02 -9.99437049e-01 -3.51061992e-04 2.19085202e+02] [ 9.99009653e-01 3.35438323e-02 -2.92322518e-02 1.21486610e+02] [ 2.92275715e-02 6.29966650e-04 9.99572585e-01 4.02247706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.630385723 meters Centerline goodness [0,1] 0.9999161970208041 Centerline is valid? [True, True] Translation: X:219.09, Y:121.51, Z:4.02 [[ 3.31588773e-02 -9.99450035e-01 -3.42718734e-04 2.19085280e+02] [ 9.99022551e-01 3.31547196e-02 -2.92353742e-02 1.21513959e+02] [ 2.92306585e-02 6.27028440e-04 9.99572496e-01 4.02247615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.660385723 meters Centerline goodness [0,1] 0.9999373250323821 Centerline is valid? [True, True] Translation: X:219.09, Y:121.54, Z:4.02 [[ 3.29646022e-02 -9.99456462e-01 -3.38852993e-04 2.19088417e+02] [ 9.99017309e-01 3.29601640e-02 -2.96318180e-02 1.21542125e+02] [ 2.96268807e-02 6.38281087e-04 9.99560824e-01 4.02437290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.690385723 meters Centerline goodness [0,1] 0.9999370937303418 Centerline is valid? [True, True] Translation: X:219.09, Y:121.57, Z:4.02 [[ 3.23849267e-02 -9.99475418e-01 -3.24916272e-04 2.19088796e+02] [ 9.99051265e-01 3.23806503e-02 -2.91215369e-02 1.21568876e+02] [ 2.91167812e-02 6.18490823e-04 9.99575825e-01 4.02487100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:121.60, Z:4.03 [[ 3.18559108e-02 -9.99492428e-01 -2.97126483e-04 2.19092698e+02] [ 9.99119937e-01 3.18521517e-02 -2.72908879e-02 1.21597218e+02] [ 2.72864999e-02 5.72511096e-04 9.99627490e-01 4.02854477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.10, Y:121.63, Z:4.03 [[ 3.12079654e-02 -9.99512871e-01 -2.88902431e-04 2.19096042e+02] [ 9.99142370e-01 3.12042643e-02 -2.72179866e-02 1.21625511e+02] [ 2.72137429e-02 5.60763323e-04 9.99629480e-01 4.02992978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.10, Y:121.65, Z:4.03 [[ 2.97209490e-02 -9.99558192e-01 -2.92796173e-04 2.19102667e+02] [ 9.99156493e-01 2.97173065e-02 -2.83405189e-02 1.21653868e+02] [ 2.83366990e-02 5.49757922e-04 9.99598284e-01 4.03176847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.10, Y:121.68, Z:4.03 [[ 2.88352712e-02 -9.99584136e-01 -2.88077974e-04 2.19104999e+02] [ 9.99172655e-01 2.88316676e-02 -2.86834549e-02 1.21680704e+02] [ 2.86798323e-02 5.39255567e-04 9.99588504e-01 4.03192919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.11, Y:121.71, Z:4.03 [[ 2.79066252e-02 -9.99610494e-01 -2.84369884e-04 2.19105835e+02] [ 9.99184866e-01 2.79030417e-02 -2.91723194e-02 1.21708067e+02] [ 2.91688914e-02 5.29962901e-04 9.99574357e-01 4.03109836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.11, Y:121.74, Z:4.03 [[ 2.68390012e-02 -9.99639726e-01 -2.95254828e-04 2.19111556e+02] [ 9.99152219e-01 2.68351336e-02 -3.12204918e-02 1.21736491e+02] [ 3.12171671e-02 5.42922301e-04 9.99512478e-01 4.03128919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.900385723 meters Centerline goodness [0,1] 0.9999155458902519 Centerline is valid? [True, True] Translation: X:219.12, Y:121.76, Z:4.03 [[ 2.57036183e-02 -9.99669562e-01 -3.02984032e-04 2.19115273e+02] [ 9.99124365e-01 2.56996067e-02 -3.30156409e-02 1.21764647e+02] [ 3.30125179e-02 5.45902705e-04 9.99454789e-01 4.03149912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.93038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.12, Y:121.79, Z:4.03 [[ 2.59188944e-02 -9.99664006e-01 -2.92436834e-04 2.19117896e+02] [ 9.99129271e-01 2.59145952e-02 -3.26975985e-02 1.21792155e+02] [ 3.26941907e-02 5.55303403e-04 9.99465248e-01 4.03161475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.960385723 meters Centerline goodness [0,1] 0.9999788350829665 Centerline is valid? [True, True] Translation: X:219.12, Y:121.82, Z:4.03 [[ 2.54411241e-02 -9.99676281e-01 -2.85555761e-04 2.19122213e+02] [ 9.99138110e-01 2.54367980e-02 -3.28025265e-02 1.21820092e+02] [ 3.27991714e-02 5.49223506e-04 9.99461812e-01 4.03435517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.990385723 meters Centerline goodness [0,1] 0.9998936057027343 Centerline is valid? [True, True] Translation: X:219.13, Y:121.85, Z:4.03 [[ 2.40557660e-02 -9.99710577e-01 -2.87926618e-04 2.19127476e+02] [ 9.99125843e-01 2.40515433e-02 -3.41916991e-02 1.21847374e+02] [ 3.41887283e-02 5.34832586e-04 9.99415251e-01 4.03382783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.13, Y:121.88, Z:4.04 [[ 2.30231052e-02 -9.99734895e-01 -2.76797168e-04 2.19132147e+02] [ 9.99157938e-01 2.30192219e-02 -3.39636681e-02 1.21875856e+02] [ 3.39610358e-02 5.05385015e-04 9.99423030e-01 4.03614578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.050385723 meters Centerline goodness [0,1] 0.9999148211243611 Centerline is valid? [True, True] Translation: X:219.14, Y:121.90, Z:4.04 [[ 2.23915570e-02 -9.99749241e-01 -2.70198063e-04 2.19135531e+02] [ 9.99160969e-01 2.23876501e-02 -3.42950495e-02 1.21903956e+02] [ 3.42924988e-02 4.97948197e-04 9.99411715e-01 4.03675049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:121.93, Z:4.04 [[ 2.12477749e-02 -9.99774207e-01 -2.58479628e-04 2.19142482e+02] [ 9.99195288e-01 2.12442672e-02 -3.40214361e-02 1.21930707e+02] [ 3.40192455e-02 4.64608188e-04 9.99421070e-01 4.03796390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.110385723 meters Centerline goodness [0,1] 0.9999147103349751 Centerline is valid? [True, True] Translation: X:219.15, Y:121.96, Z:4.04 [[ 2.08652331e-02 -9.99782266e-01 -2.49604138e-04 2.19145849e+02] [ 9.99200571e-01 2.08616073e-02 -3.41029565e-02 1.21958928e+02] [ 3.41007383e-02 4.62161539e-04 9.99418294e-01 4.03919458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.140385723 meters Centerline goodness [0,1] 0.9998929336188437 Centerline is valid? [True, True] Translation: X:219.15, Y:121.99, Z:4.04 [[ 2.06889826e-02 -9.99785932e-01 -2.36403576e-04 2.19150205e+02] [ 9.99222272e-01 2.06852564e-02 -3.35703835e-02 1.21986249e+02] [ 3.35680872e-02 4.58317363e-04 9.99436328e-01 4.03931959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.170385723 meters Centerline goodness [0,1] 0.9999356554564173 Centerline is valid? [True, True] Translation: X:219.15, Y:122.01, Z:4.04 [[ 2.06240691e-02 -9.99787276e-01 -2.24502136e-04 2.19152944e+02] [ 9.99234288e-01 2.06201284e-02 -3.32512950e-02 1.22013195e+02] [ 3.32488509e-02 4.61446775e-04 9.99446998e-01 4.04008267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.200385723 meters Centerline goodness [0,1] 0.9999570049659264 Centerline is valid? [True, True] Translation: X:219.16, Y:122.04, Z:4.04 [[ 2.11713993e-02 -9.99775838e-01 -2.12800768e-04 2.19157648e+02] [ 9.99233643e-01 2.11669258e-02 -3.29255047e-02 1.22041462e+02] [ 3.29226284e-02 4.84441320e-04 9.99457786e-01 4.04364224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.230385723 meters Centerline goodness [0,1] 0.9999140080832402 Centerline is valid? [True, True] Translation: X:219.16, Y:122.07, Z:4.04 [[ 2.32617129e-02 -9.99729390e-01 -1.99015345e-04 2.19161804e+02] [ 9.99213999e-01 2.32561113e-02 -3.21019835e-02 1.22068492e+02] [ 3.20979247e-02 5.47888206e-04 9.99484579e-01 4.04323325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.17, Y:122.10, Z:4.04 [[ 2.42773072e-02 -9.99705245e-01 -1.87262546e-04 2.19165169e+02] [ 9.99205943e-01 2.42711007e-02 -3.15974377e-02 1.22095346e+02] [ 3.15926692e-02 5.79986853e-04 9.99500659e-01 4.04428661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.290385723 meters Centerline goodness [0,1] 0.9999133824166305 Centerline is valid? [True, True] Translation: X:219.17, Y:122.12, Z:4.04 [[ 2.72042596e-02 -9.99629880e-01 -1.76264247e-04 2.19170285e+02] [ 9.99142894e-01 2.71965092e-02 -3.12062206e-02 1.22123304e+02] [ 3.11994644e-02 6.72828958e-04 9.99512952e-01 4.04471765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.320385723 meters Centerline goodness [0,1] 0.9999349748569447 Centerline is valid? [True, True] Translation: X:219.17, Y:122.15, Z:4.04 [[ 2.86274446e-02 -9.99590136e-01 -1.69145663e-04 2.19171444e+02] [ 9.99094933e-01 2.86185874e-02 -3.14688960e-02 1.22150636e+02] [ 3.14608387e-02 7.31881502e-04 9.99504717e-01 4.04391184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.18, Y:122.18, Z:4.04 [[ 3.06390181e-02 -9.99530502e-01 -1.62355837e-04 2.19178204e+02] [ 9.99024182e-01 3.06286664e-02 -3.18208847e-02 1.22178719e+02] [ 3.18109176e-02 8.12763256e-04 9.99493574e-01 4.04349889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.18, Y:122.21, Z:4.04 [[ 3.05215548e-02 -9.99534097e-01 -1.52680308e-04 2.19183475e+02] [ 9.99034944e-01 3.05111390e-02 -3.15951268e-02 1.22206540e+02] [ 3.15850650e-02 8.11799433e-04 9.99500738e-01 4.04469702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.19, Y:122.23, Z:4.05 [[ 3.03931854e-02 -9.99538011e-01 -1.40455034e-04 2.19192820e+02] [ 9.99063640e-01 3.03830893e-02 -3.08011565e-02 1.22234313e+02] [ 3.07911941e-02 7.95821743e-04 9.99525522e-01 4.04654777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.440385723 meters Centerline goodness [0,1] 0.9999561490056788 Centerline is valid? [True, True] Translation: X:219.20, Y:122.26, Z:4.05 [[ 3.03086235e-02 -9.99540580e-01 -1.27767581e-04 2.19197632e+02] [ 9.99096676e-01 3.02989720e-02 -2.97960410e-02 1.22262658e+02] [ 2.97862234e-02 7.75424826e-04 9.99555991e-01 4.04769568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.470385723 meters Centerline goodness [0,1] 0.9999114652501107 Centerline is valid? [True, True] Translation: X:219.20, Y:122.29, Z:4.05 [[ 3.08111281e-02 -9.99525218e-01 -1.15933527e-04 2.19204233e+02] [ 9.99108108e-01 3.08016205e-02 -2.88833555e-02 1.22291124e+02] [ 2.88732132e-02 7.74098638e-04 9.99582782e-01 4.04823475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.21, Y:122.32, Z:4.05 [[ 3.07250135e-02 -9.99527870e-01 -1.06374872e-04 2.19206904e+02] [ 9.99122868e-01 3.07155929e-02 -2.84613305e-02 1.22318925e+02] [ 2.84511604e-02 7.68193195e-04 9.99594889e-01 4.04821552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.21, Y:122.35, Z:4.05 [[ 2.98438468e-02 -9.99554569e-01 -9.51136837e-05 2.19212509e+02] [ 9.99177638e-01 2.98352054e-02 -2.74573962e-02 1.22345956e+02] [ 2.74480036e-02 7.24398859e-04 9.99622970e-01 4.04701545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.22, Y:122.37, Z:4.05 [[ 2.68885128e-02 -9.99638435e-01 -8.99702305e-05 2.19216630e+02] [ 9.99240110e-01 2.68803389e-02 -2.82249922e-02 1.22372889e+02] [ 2.82172055e-02 6.69026201e-04 9.99601592e-01 4.04606128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:122.40, Z:4.05 [[ 2.05367824e-02 -9.99789095e-01 -8.26806281e-05 2.19229180e+02] [ 9.99387549e-01 2.05308777e-02 -2.83374172e-02 1.22400880e+02] [ 2.83331382e-02 4.99329382e-04 9.99598411e-01 4.04769660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.620385723 meters Centerline goodness [0,1] 0.999752263411558 Centerline is valid? [True, True] Translation: X:219.23, Y:122.43, Z:4.05 [[ 1.66819307e-02 -9.99860844e-01 -7.60372953e-05 2.19233828e+02] [ 9.99447749e-01 1.66772242e-02 -2.87413895e-02 1.22428831e+02] [ 2.87386581e-02 4.03466564e-04 9.99586878e-01 4.04608880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.650385723 meters Centerline goodness [0,1] 0.9999548206379326 Centerline is valid? [True, True] Translation: X:219.24, Y:122.46, Z:4.05 [[ 1.46153507e-02 -9.99893188e-01 -6.77770567e-05 2.19238139e+02] [ 9.99487572e-01 1.46113524e-02 -2.84798452e-02 1.22456899e+02] [ 2.84777936e-02 3.48500601e-04 9.99594365e-01 4.05002833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.68038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.24, Y:122.48, Z:4.05 [[ 1.07016208e-02 -9.99942734e-01 -5.99942041e-05 2.19238836e+02] [ 9.99538093e-01 1.06989969e-02 -2.84452468e-02 1.22484463e+02] [ 2.84442597e-02 2.44443753e-04 9.99595350e-01 4.04825924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.24, Y:122.51, Z:4.05 [[ 9.20631161e-03 -9.99957620e-01 -5.13804601e-05 2.19237664e+02] [ 9.99561827e-01 9.20411319e-03 -2.81325209e-02 1.22512088e+02] [ 2.81318015e-02 2.07638807e-04 9.99604201e-01 4.04817845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:122.54, Z:4.05 [[ 7.57120079e-03 -9.99971337e-01 -4.22468639e-05 2.19232386e+02] [ 9.99585474e-01 7.56945279e-03 -2.77773926e-02 1.22538580e+02] [ 2.77769162e-02 1.68078865e-04 9.99614133e-01 4.04584999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.770385723 meters Centerline goodness [0,1] 0.9999551418638556 Centerline is valid? [True, True] Translation: X:219.23, Y:122.57, Z:4.05 [[ 6.93401950e-03 -9.99975959e-01 -3.35297984e-05 2.19230567e+02] [ 9.99595370e-01 6.93230543e-03 -2.75869299e-02 1.22566190e+02] [ 2.75864991e-02 1.57772078e-04 9.99619408e-01 4.04506883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:122.59, Z:4.05 [[ 5.66002087e-03 -9.99983982e-01 -2.54171467e-05 2.19232147e+02] [ 9.99601101e-01 5.65855702e-03 -2.76698224e-02 1.22593193e+02] [ 2.76695230e-02 1.31204764e-04 9.99617117e-01 4.04610354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:122.62, Z:4.05 [[ 5.05707895e-03 -9.99987213e-01 -1.70993905e-05 2.19234234e+02] [ 9.99601348e-01 5.05560255e-03 -2.77774529e-02 1.22619131e+02] [ 2.77771842e-02 1.23380199e-04 9.99614132e-01 4.04697018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.24, Y:122.65, Z:4.05 [[ 4.08716893e-03 -9.99991647e-01 -8.73253309e-06 2.19235917e+02] [ 9.99598323e-01 4.08580623e-03 -2.80445923e-02 1.22646318e+02] [ 2.80443938e-02 1.05893961e-04 9.99606673e-01 4.04715972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.24, Y:122.67, Z:4.05 [[ 3.79158958e-03 -9.99992812e-01 -4.65605029e-07 2.19235792e+02] [ 9.99599488e-01 3.79011130e-03 -2.80445930e-02 1.22673088e+02] [ 2.80443932e-02 1.05868168e-04 9.99606673e-01 4.04756426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.24, Y:122.70, Z:4.05 [[ 2.12477267e-03 -9.99997743e-01 8.29492205e-06 2.19236618e+02] [ 9.99574443e-01 2.12363192e-03 -2.90933439e-02 1.22700182e+02] [ 2.90932607e-02 7.01081341e-05 9.99576699e-01 4.04669328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.24, Y:122.73, Z:4.05 [[-4.45493020e-04 -9.99999901e-01 1.69886808e-05 2.19236838e+02] [ 9.99573679e-01 -4.45799103e-04 -2.91935067e-02 1.22727555e+02] [ 2.91935113e-02 3.97593471e-06 9.99573779e-01 4.04519128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.24, Y:122.76, Z:4.05 [[-1.74791626e-03 -9.99998472e-01 2.48472812e-05 2.19236413e+02] [ 9.99587614e-01 -1.74791030e-03 -2.86626400e-02 1.22755370e+02] [ 2.86626396e-02 -2.52628600e-05 9.99589142e-01 4.04713688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.24, Y:122.78, Z:4.05 [[-2.62568756e-03 -9.99996552e-01 3.16205664e-05 2.19235874e+02] [ 9.99611157e-01 -2.62555343e-03 -2.77604290e-02 1.22783702e+02] [ 2.77604163e-02 -4.12819420e-05 9.99614605e-01 4.04757568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.24, Y:122.81, Z:4.05 [[-2.66859017e-03 -9.99996439e-01 3.53949575e-05 2.19236257e+02] [ 9.99663865e-01 -2.66861545e-03 -2.57882809e-02 1.22811026e+02] [ 2.57882836e-02 -3.34352931e-05 9.99667426e-01 4.04765502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.24, Y:122.84, Z:4.05 [[-1.25906073e-03 -9.99999207e-01 3.92139397e-05 2.19236508e+02] [ 9.99699900e-01 -1.25964325e-03 -2.44647515e-02 1.22837370e+02] [ 2.44647815e-02 8.39956367e-06 9.99700692e-01 4.04985782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.24, Y:122.87, Z:4.05 [[-2.02552925e-04 -9.99999978e-01 4.60626923e-05 2.19235191e+02] [ 9.99702525e-01 -2.03616097e-04 -2.43889421e-02 1.22865737e+02] [ 2.43889509e-02 4.11089382e-05 9.99702544e-01 4.05155263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:122.89, Z:4.05 [[ 9.66227401e-04 -9.99999532e-01 5.17042368e-05 2.19232456e+02] [ 9.99712458e-01 9.64711197e-04 -2.39597886e-02 1.22893886e+02] [ 2.39597275e-02 7.48399738e-05 9.99712922e-01 4.05097490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:122.92, Z:4.05 [[ 3.73231628e-03 -9.99993033e-01 5.68031029e-05 2.19227447e+02] [ 9.99718641e-01 3.72996153e-03 -2.34248958e-02 1.22921923e+02] [ 2.34245207e-02 1.44216240e-04 9.99725598e-01 4.04903955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.190385723 meters Centerline goodness [0,1] 0.9999775925427983 Centerline is valid? [True, True] Translation: X:219.23, Y:122.95, Z:4.05 [[ 4.85617925e-03 -9.99988207e-01 6.21240252e-05 2.19225835e+02] [ 9.99721798e-01 4.85345155e-03 -2.30818089e-02 1.22950267e+02] [ 2.30812352e-02 1.74196144e-04 9.99733578e-01 4.04897552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.220385723 meters Centerline goodness [0,1] 0.9999775078722447 Centerline is valid? [True, True] Translation: X:219.23, Y:122.98, Z:4.05 [[ 5.57851712e-03 -9.99984438e-01 6.65492819e-05 2.19226676e+02] [ 9.99731158e-01 5.57560639e-03 -2.25060850e-02 1.22978832e+02] [ 2.25053637e-02 1.92081971e-04 9.99746704e-01 4.05031038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:123.01, Z:4.05 [[ 5.44009360e-03 -9.99985200e-01 7.20658132e-05 2.19228494e+02] [ 9.99736109e-01 5.43713002e-03 -2.23192639e-02 1.23007214e+02] [ 2.23185417e-02 1.93465680e-04 9.99750892e-01 4.05179458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:123.04, Z:4.05 [[ 4.80046474e-03 -9.99988475e-01 7.65365841e-05 2.19230325e+02] [ 9.99749165e-01 4.79764154e-03 -2.18766959e-02 1.23035761e+02] [ 2.18760766e-02 1.81535693e-04 9.99760674e-01 4.05336473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:123.06, Z:4.05 [[ 3.50013860e-03 -9.99993871e-01 8.08386987e-05 2.19232419e+02] [ 9.99764164e-01 3.49760194e-03 -2.14332369e-02 1.23062611e+02] [ 2.14328228e-02 1.55838934e-04 9.99770279e-01 4.05372843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:123.09, Z:4.05 [[ 2.37032623e-03 -9.99997187e-01 8.62630268e-05 2.19232602e+02] [ 9.99770562e-01 2.36795260e-03 -2.12888964e-02 1.23090909e+02] [ 2.12886322e-02 1.36704864e-04 9.99773362e-01 4.05360542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:123.12, Z:4.05 [[ 2.34657504e-04 -9.99999968e-01 9.09469490e-05 2.19233334e+02] [ 9.99778888e-01 2.32693310e-04 -2.10266896e-02 1.23117728e+02] [ 2.10266678e-02 9.58609100e-05 9.99778911e-01 4.05216206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:123.14, Z:4.05 [[-1.00309612e-03 -9.99999492e-01 9.66974005e-05 2.19233766e+02] [ 9.99780201e-01 -1.00490112e-03 -2.09413278e-02 1.23143881e+02] [ 2.09414143e-02 7.56699819e-05 9.99780702e-01 4.05180072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.43038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.24, Y:123.17, Z:4.05 [[-2.42308637e-03 -9.99997059e-01 9.86134278e-05 2.19236568e+02] [ 9.99795690e-01 -2.42457735e-03 -2.00674047e-02 1.23172091e+02] [ 2.00675848e-02 4.99682253e-05 9.99798625e-01 4.05411606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.24, Y:123.20, Z:4.06 [[-3.07276076e-03 -9.99995274e-01 9.59227089e-05 2.19236668e+02] [ 9.99823502e-01 -3.07401080e-03 -1.85341727e-02 1.23199248e+02] [ 1.85343800e-02 3.89547001e-05 9.99828223e-01 4.05516420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.24, Y:123.23, Z:4.06 [[-4.14098300e-03 -9.99991421e-01 9.69739181e-05 2.19237062e+02] [ 9.99833580e-01 -4.14205230e-03 -1.77667292e-02 1.23226493e+02] [ 1.77669784e-02 2.33860562e-05 9.99842155e-01 4.05647950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.24, Y:123.25, Z:4.06 [[-5.36038105e-03 -9.99985628e-01 1.00883565e-04 2.19236464e+02] [ 9.99831819e-01 -5.36132591e-03 -1.75382415e-02 1.23254131e+02] [ 1.75385303e-02 6.85494126e-06 9.99846188e-01 4.05705639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.24, Y:123.28, Z:4.06 [[-6.16279211e-03 -9.99981004e-01 1.07712704e-04 2.19235709e+02] [ 9.99821697e-01 -6.16373290e-03 -1.78488641e-02 1.23280856e+02] [ 1.78491890e-02 -2.30534048e-06 9.99840691e-01 4.05669989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:123.31, Z:4.06 [[-6.94972288e-03 -9.99975844e-01 1.09900915e-04 2.19234988e+02] [ 9.99824510e-01 -6.95058306e-03 -1.73964953e-02 1.23308927e+02] [ 1.73968390e-02 -1.10191934e-05 9.99848663e-01 4.05748716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:123.34, Z:4.06 [[-8.20118818e-03 -9.99966363e-01 1.13707869e-04 2.19234607e+02] [ 9.99817594e-01 -8.20192940e-03 -1.72483741e-02 1.23335912e+02] [ 1.72487265e-02 -2.77700339e-05 9.99851229e-01 4.05777897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:123.36, Z:4.06 [[-9.35664662e-03 -9.99956219e-01 1.16389681e-04 2.19233348e+02] [ 9.99812940e-01 -9.35727618e-03 -1.69271154e-02 1.23364023e+02] [ 1.69274634e-02 -4.20131286e-05 9.99856719e-01 4.05732885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:123.39, Z:4.06 [[-1.03395065e-02 -9.99946538e-01 1.22041813e-04 2.19231747e+02] [ 9.99800800e-01 -1.03400832e-02 -1.70716755e-02 1.23392037e+02] [ 1.70720248e-02 -5.44951985e-05 9.99854261e-01 4.05681926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:123.42, Z:4.06 [[-1.11536120e-02 -9.99937788e-01 1.27596406e-04 2.19230684e+02] [ 9.99790032e-01 -1.11541573e-02 -1.71894172e-02 1.23418907e+02] [ 1.71897710e-02 -6.41544743e-05 9.99852243e-01 4.05664727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.730385723 meters Centerline goodness [0,1] 0.9999775598590759 Centerline is valid? [True, True] Translation: X:219.23, Y:123.45, Z:4.06 [[-1.14525725e-02 -9.99934408e-01 1.33635983e-04 2.19230479e+02] [ 9.99784259e-01 -1.14531686e-02 -1.73280181e-02 1.23446192e+02] [ 1.73284121e-02 -6.48432313e-05 9.99849850e-01 4.05694653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:123.47, Z:4.06 [[-1.14932866e-02 -9.99933940e-01 1.43408931e-04 2.19229746e+02] [ 9.99773837e-01 -1.14940126e-02 -1.78930781e-02 1.23474304e+02] [ 1.78935444e-02 -6.22737780e-05 9.99839896e-01 4.05764247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:123.50, Z:4.06 [[-1.16246628e-02 -9.99932420e-01 1.51169233e-04 2.19229513e+02] [ 9.99765871e-01 -1.16254856e-02 -1.82497106e-02 1.23500966e+02] [ 1.82502347e-02 -6.10128923e-05 9.99833449e-01 4.05794142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:123.53, Z:4.06 [[-1.15111158e-02 -9.99933732e-01 1.62593596e-04 2.19229341e+02] [ 9.99752217e-01 -1.15121242e-02 -1.90519359e-02 1.23529208e+02] [ 1.90525452e-02 -5.67557333e-05 9.99818482e-01 4.05798936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:123.56, Z:4.06 [[-1.15801881e-02 -9.99932932e-01 1.74538482e-04 2.19228759e+02] [ 9.99737098e-01 -1.15813744e-02 -1.97890605e-02 1.23556315e+02] [ 1.97897546e-02 -5.46684477e-05 9.99804162e-01 4.05713721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:123.58, Z:4.06 [[-1.06875030e-02 -9.99942870e-01 1.86152963e-04 2.19226397e+02] [ 9.99734132e-01 -1.06890754e-02 -2.04305736e-02 1.23584571e+02] [ 2.04313962e-02 -3.22483451e-05 9.99791257e-01 4.05572438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.910385723 meters Centerline goodness [0,1] 0.9999551418638556 Centerline is valid? [True, True] Translation: X:219.23, Y:123.61, Z:4.06 [[-1.03354169e-02 -9.99946571e-01 1.88011132e-04 2.19225458e+02] [ 9.99744929e-01 -1.03371082e-02 -2.00803789e-02 1.23611415e+02] [ 2.00812495e-02 -1.95759111e-05 9.99798351e-01 4.05523357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:123.64, Z:4.06 [[-9.14064842e-03 -9.99958206e-01 1.85442794e-04 2.19225358e+02] [ 9.99770547e-01 -9.14252554e-03 -1.93718443e-02 1.23639519e+02] [ 1.93727301e-02 8.32902566e-06 9.99812331e-01 4.05777802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.22, Y:123.67, Z:4.06 [[-8.29739886e-03 -9.99965560e-01 1.81393746e-04 2.19224953e+02] [ 9.99794845e-01 -8.29933400e-03 -1.84767414e-02 1.23668054e+02] [ 1.84776105e-02 2.80476395e-05 9.99829274e-01 4.05919754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.22, Y:123.70, Z:4.06 [[-7.24413713e-03 -9.99973746e-01 1.73174077e-04 2.19223480e+02] [ 9.99823592e-01 -7.24605031e-03 -1.73286048e-02 1.23695366e+02] [ 1.73294047e-02 4.76127385e-05 9.99849833e-01 4.06052064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.030385723 meters Centerline goodness [0,1] 0.9999776686020545 Centerline is valid? [True, True] Translation: X:219.22, Y:123.72, Z:4.06 [[-7.31272982e-03 -9.99973246e-01 1.77430950e-04 2.19222383e+02] [ 9.99824429e-01 -7.31470252e-03 -1.72512706e-02 1.23721378e+02] [ 1.72521069e-02 5.12459174e-05 9.99851170e-01 4.06078621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.22, Y:123.75, Z:4.06 [[-7.99929009e-03 -9.99967988e-01 1.83221616e-04 2.19222616e+02] [ 9.99818703e-01 -8.00126174e-03 -1.72783635e-02 1.23749139e+02] [ 1.72792764e-02 4.49737564e-05 9.99850701e-01 4.06123478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.22, Y:123.78, Z:4.06 [[-8.83888860e-03 -9.99960920e-01 1.80950962e-04 2.19223720e+02] [ 9.99822958e-01 -8.84067486e-03 -1.66101010e-02 1.23776791e+02] [ 1.66110516e-02 3.41040941e-05 9.99862026e-01 4.06279440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:123.80, Z:4.07 [[-1.03294294e-02 -9.99946633e-01 1.82258428e-04 2.19225580e+02] [ 9.99813218e-01 -1.03310284e-02 -1.63339818e-02 1.23803733e+02] [ 1.63349930e-02 1.35036732e-05 9.99866575e-01 4.06536634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.150385723 meters Centerline goodness [0,1] 0.9998660116123269 Centerline is valid? [True, True] Translation: X:219.23, Y:123.83, Z:4.07 [[-1.12847367e-02 -9.99936309e-01 1.81934894e-04 2.19225036e+02] [ 9.99808052e-01 -1.12862032e-02 -1.60150481e-02 1.23830495e+02] [ 1.60160814e-02 1.17436999e-06 9.99871734e-01 4.06569419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.18038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.22, Y:123.86, Z:4.07 [[-1.22336282e-02 -9.99925150e-01 1.83585386e-04 2.19224054e+02] [ 9.99801300e-01 -1.22350023e-02 -1.57373777e-02 1.23857663e+02] [ 1.57384459e-02 -8.97631992e-06 9.99876143e-01 4.06553414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.22, Y:123.88, Z:4.06 [[-1.46809530e-02 -9.99892208e-01 2.05951090e-04 2.19223908e+02] [ 9.99744594e-01 -1.46823245e-02 -1.71807061e-02 1.23884876e+02] [ 1.71818780e-02 -4.63306510e-05 9.99852380e-01 4.06464193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.240385723 meters Centerline goodness [0,1] 0.9999328648793806 Centerline is valid? [True, True] Translation: X:219.22, Y:123.91, Z:4.06 [[-1.62978207e-02 -9.99867157e-01 2.20911738e-04 2.19224331e+02] [ 9.99705816e-01 -1.62991593e-02 -1.79615756e-02 1.23912305e+02] [ 1.79627902e-02 -7.18877885e-05 9.99838653e-01 4.06457466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:123.94, Z:4.07 [[-1.89021439e-02 -9.99821311e-01 2.33653441e-04 2.19225955e+02] [ 9.99649632e-01 -1.89032281e-02 -1.85278521e-02 1.23939124e+02] [ 1.85289582e-02 -1.16644550e-04 9.99828317e-01 4.06524567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:123.97, Z:4.07 [[-2.00079103e-02 -9.99799792e-01 2.43431008e-04 2.19225970e+02] [ 9.99622525e-01 -2.00089468e-02 -1.88268129e-02 1.23965515e+02] [ 1.88279144e-02 -1.33346063e-04 9.99822730e-01 4.06524451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.22, Y:123.99, Z:4.06 [[-2.11315152e-02 -9.99776672e-01 2.55816577e-04 2.19223601e+02] [ 9.99590012e-01 -2.11325132e-02 -1.93190291e-02 1.23993576e+02] [ 1.93201206e-02 -1.52528662e-04 9.99813337e-01 4.06421398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.22, Y:124.02, Z:4.06 [[-2.15083044e-02 -9.99768636e-01 2.59119198e-04 2.19222980e+02] [ 9.99584913e-01 -2.15093194e-02 -1.91664183e-02 1.24020661e+02] [ 1.91675574e-02 -1.53225518e-04 9.99816274e-01 4.06342044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.22, Y:124.05, Z:4.06 [[-2.16674560e-02 -9.99765198e-01 2.64735206e-04 2.19220851e+02] [ 9.99581325e-01 -2.16685482e-02 -1.91741838e-02 1.24048612e+02] [ 1.91754181e-02 -1.50831414e-04 9.99816123e-01 4.06351254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.420385723 meters Centerline goodness [0,1] 0.9999777203457803 Centerline is valid? [True, True] Translation: X:219.22, Y:124.08, Z:4.06 [[-2.10711913e-02 -9.99777940e-01 2.76385219e-04 2.19222023e+02] [ 9.99584868e-01 -2.10725537e-02 -1.96478654e-02 1.24075803e+02] [ 1.96493265e-02 -1.37733448e-04 9.99806924e-01 4.06448664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.22, Y:124.10, Z:4.07 [[-2.11984843e-02 -9.99775251e-01 2.66577965e-04 2.19222793e+02] [ 9.99600729e-01 -2.11997647e-02 -1.86802475e-02 1.24104197e+02] [ 1.86817006e-02 -1.29521405e-04 9.99825473e-01 4.06711176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.22, Y:124.13, Z:4.07 [[-2.13434147e-02 -9.99772166e-01 2.72105334e-04 2.19221150e+02] [ 9.99597240e-01 -2.13447704e-02 -1.87018419e-02 1.24130358e+02] [ 1.87033890e-02 -1.27165428e-04 9.99825068e-01 4.06766705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.510385723 meters Centerline goodness [0,1] 0.9999776835527784 Centerline is valid? [True, True] Translation: X:219.22, Y:124.16, Z:4.07 [[-2.12023163e-02 -9.99775169e-01 2.70574279e-04 2.19218910e+02] [ 9.99609308e-01 -2.12037274e-02 -1.82107797e-02 1.24157206e+02] [ 1.82124225e-02 -1.15642143e-04 9.99834133e-01 4.06660505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.21, Y:124.18, Z:4.07 [[-1.84412400e-02 -9.99829907e-01 2.79988391e-04 2.19214954e+02] [ 9.99659438e-01 -1.84432659e-02 -1.84622288e-02 1.24183363e+02] [ 1.84642524e-02 -6.05733538e-05 9.99829519e-01 4.06723359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.21, Y:124.21, Z:4.07 [[-1.54327577e-02 -9.99880862e-01 3.03469445e-04 2.19212409e+02] [ 9.99688954e-01 -1.54357411e-02 -1.95891159e-02 1.24210965e+02] [ 1.95914664e-02 1.06097262e-06 9.99808069e-01 4.06811430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.21, Y:124.24, Z:4.07 [[-1.42965990e-02 -9.99897749e-01 3.16005171e-04 2.19210597e+02] [ 9.99697594e-01 -1.43000597e-02 -2.00057421e-02 1.24237680e+02] [ 2.00082153e-02 2.98955378e-05 9.99799815e-01 4.06831839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.21, Y:124.27, Z:4.07 [[-1.37280528e-02 -9.99905716e-01 3.17155802e-04 2.19208731e+02] [ 9.99711506e-01 -1.37316370e-02 -1.97065299e-02 1.24266014e+02] [ 1.97090269e-02 4.65320231e-05 9.99805757e-01 4.06925991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.20, Y:124.29, Z:4.07 [[-1.37132866e-02 -9.99905920e-01 3.10789054e-04 2.19204250e+02] [ 9.99725518e-01 -1.37167159e-02 -1.89931537e-02 1.24293407e+02] [ 1.89956299e-02 5.02451871e-05 9.99819565e-01 4.06956430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.20, Y:124.32, Z:4.07 [[-1.39455927e-02 -9.99902710e-01 3.03348959e-04 2.19202302e+02] [ 9.99736519e-01 -1.39488053e-02 -1.82297272e-02 1.24321389e+02] [ 1.82321850e-02 4.90446823e-05 9.99833779e-01 4.07037499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.720385723 meters Centerline goodness [0,1] 0.9999558830017206 Centerline is valid? [True, True] Translation: X:219.20, Y:124.35, Z:4.07 [[-1.45462961e-02 -9.99894156e-01 2.87240014e-04 2.19200350e+02] [ 9.99749695e-01 -1.45490770e-02 -1.69962506e-02 1.24348315e+02] [ 1.69986308e-02 3.99356216e-05 9.99855512e-01 4.07157466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.20, Y:124.38, Z:4.07 [[-1.54715438e-02 -9.99880268e-01 2.85078067e-04 2.19200288e+02] [ 9.99742614e-01 -1.54741441e-02 -1.65908601e-02 1.24375908e+02] [ 1.65932850e-02 2.83184730e-05 9.99862322e-01 4.07354588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.20, Y:124.40, Z:4.07 [[-1.57491465e-02 -9.99875933e-01 2.89690502e-04 2.19199746e+02] [ 9.99738279e-01 -1.57517851e-02 -1.65907796e-02 1.24403493e+02] [ 1.65932844e-02 2.83240660e-05 9.99862322e-01 4.07396304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.810385723 meters Centerline goodness [0,1] 0.999955879108758 Centerline is valid? [True, True] Translation: X:219.20, Y:124.43, Z:4.08 [[-1.78831937e-02 -9.99840043e-01 2.81095215e-04 2.19199967e+02] [ 9.99714294e-01 -1.78854026e-02 -1.58569612e-02 1.24432015e+02] [ 1.58594522e-02 -2.55820307e-06 9.99874231e-01 4.07633485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.840385723 meters Centerline goodness [0,1] 0.99997799779978 Centerline is valid? [True, True] Translation: X:219.20, Y:124.46, Z:4.08 [[-1.93567999e-02 -9.99812596e-01 2.96125652e-04 2.19199341e+02] [ 9.99677462e-01 -1.93590523e-02 -1.64377170e-02 1.24458614e+02] [ 1.64403692e-02 -2.21514596e-05 9.99864848e-01 4.07664492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.20, Y:124.49, Z:4.08 [[-2.08693029e-02 -9.99782164e-01 3.11939484e-04 2.19198328e+02] [ 9.99637073e-01 -2.08715885e-02 -1.70322685e-02 1.24486232e+02] [ 1.70350689e-02 -4.36252969e-05 9.99854892e-01 4.07622758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.20, Y:124.51, Z:4.07 [[-2.34838470e-02 -9.99724153e-01 3.57398193e-04 2.19195261e+02] [ 9.99539769e-01 -2.34863797e-02 -1.91999882e-02 1.24514756e+02] [ 1.92030859e-02 -9.36558764e-05 9.99815599e-01 4.07360001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.93038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.19, Y:124.54, Z:4.07 [[-2.47129981e-02 -9.99694517e-01 3.74332810e-04 2.19194413e+02] [ 9.99498241e-01 -2.47155636e-02 -1.98092656e-02 1.24542127e+02] [ 1.98124661e-02 -1.15401359e-04 9.99803707e-01 4.07319192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.960385723 meters Centerline goodness [0,1] 0.9999779298168174 Centerline is valid? [True, True] Translation: X:219.20, Y:124.57, Z:4.07 [[-2.64364716e-02 -9.99650413e-01 4.05321040e-04 2.19195252e+02] [ 9.99427099e-01 -2.64391330e-02 -2.11292565e-02 1.24568257e+02] [ 2.11325863e-02 -1.53494157e-04 9.99776670e-01 4.07431511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.19, Y:124.60, Z:4.08 [[-2.86556202e-02 -9.99589258e-01 4.13287142e-04 2.19194865e+02] [ 9.99362914e-01 -2.86579265e-02 -2.12717824e-02 1.24596505e+02] [ 2.12748892e-02 -1.96532276e-04 9.99773645e-01 4.07588015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.19, Y:124.62, Z:4.08 [[-2.97491967e-02 -9.99557313e-01 4.04132924e-04 2.19192979e+02] [ 9.99346878e-01 -2.97512263e-02 -2.05105132e-02 1.24623220e+02] [ 2.05134569e-02 -2.06302314e-04 9.99789556e-01 4.07644372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.19, Y:124.65, Z:4.08 [[-3.05983517e-02 -9.99531679e-01 4.05166599e-04 2.19189046e+02] [ 9.99326560e-01 -3.06002808e-02 -2.02496557e-02 1.24651112e+02] [ 2.02525706e-02 -2.14712342e-04 9.99794873e-01 4.07703309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.19, Y:124.68, Z:4.08 [[-3.08740827e-02 -9.99523194e-01 4.19173017e-04 2.19186346e+02] [ 9.99309812e-01 -3.08761531e-02 -2.06534060e-02 1.24678382e+02] [ 2.06565007e-02 -2.18771255e-04 9.99786608e-01 4.07564263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.18, Y:124.71, Z:4.08 [[-3.11542682e-02 -9.99514496e-01 4.29492669e-04 2.19183976e+02] [ 9.99296767e-01 -3.11564464e-02 -2.08625933e-02 1.24706696e+02] [ 2.08658458e-02 -2.20768190e-04 9.99782260e-01 4.07675115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.18, Y:124.73, Z:4.08 [[-3.17848584e-02 -9.99494639e-01 4.35194039e-04 2.19183529e+02] [ 9.99277070e-01 -3.17870200e-02 -2.08548057e-02 1.24733289e+02] [ 2.08581001e-02 -2.27987623e-04 9.99782420e-01 4.07874267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.18, Y:124.76, Z:4.08 [[-3.25886374e-02 -9.99468759e-01 4.23840464e-04 2.19182005e+02] [ 9.99267797e-01 -3.25905844e-02 -2.00430697e-02 1.24761045e+02] [ 2.00462352e-02 -2.29646204e-04 9.99799028e-01 4.08011573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.18, Y:124.79, Z:4.08 [[-3.34581487e-02 -9.99440031e-01 4.20947358e-04 2.19177533e+02] [ 9.99246798e-01 -3.34599576e-02 -1.96537169e-02 1.24788221e+02] [ 1.96567963e-02 -2.36946683e-04 9.99806758e-01 4.08020808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.230385723 meters Centerline goodness [0,1] 0.99997814876322 Centerline is valid? [True, True] Translation: X:219.17, Y:124.82, Z:4.08 [[-3.38347961e-02 -9.99427346e-01 4.31103644e-04 2.19174357e+02] [ 9.99229971e-01 -3.38366821e-02 -1.98631120e-02 1.24815895e+02] [ 1.98663244e-02 -2.41292663e-04 9.99802616e-01 4.07896840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.17, Y:124.84, Z:4.08 [[-3.30908138e-02 -9.99452245e-01 4.56527678e-04 2.19171520e+02] [ 9.99236546e-01 -3.30931571e-02 -2.07646079e-02 1.24842482e+02] [ 2.07683419e-02 -2.30938633e-04 9.99784288e-01 4.07929258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.17, Y:124.87, Z:4.08 [[-3.11684719e-02 -9.99514023e-01 4.94657674e-04 2.19168052e+02] [ 9.99267600e-01 -3.11717714e-02 -2.21942585e-02 1.24869518e+02] [ 2.21988920e-02 -1.97465736e-04 9.99753555e-01 4.07889005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.16, Y:124.90, Z:4.08 [[-2.82106783e-02 -9.99601869e-01 5.10168404e-04 2.19164523e+02] [ 9.99346544e-01 -2.82150029e-02 -2.25920032e-02 1.24897121e+02] [ 2.25974031e-02 -1.27500705e-04 9.99744638e-01 4.08056240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.350385723 meters Centerline goodness [0,1] 0.9998696275694233 Centerline is valid? [True, True] Translation: X:219.16, Y:124.92, Z:4.08 [[-2.75431169e-02 -9.99620476e-01 5.30607570e-04 2.19161684e+02] [ 9.99351038e-01 -2.75480119e-02 -2.32079760e-02 1.24924502e+02] [ 2.32137852e-02 -1.08956769e-04 9.99730518e-01 4.07603862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.16, Y:124.95, Z:4.08 [[-2.50591789e-02 -9.99685820e-01 5.46957695e-04 2.19156535e+02] [ 9.99406852e-01 -2.50651066e-02 -2.36153684e-02 1.24950990e+02] [ 2.36216585e-02 -4.51484734e-05 9.99720969e-01 4.07962764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.410385723 meters Centerline goodness [0,1] 0.9999565425231411 Centerline is valid? [True, True] Translation: X:219.15, Y:124.98, Z:4.08 [[-2.27929600e-02 -9.99740057e-01 5.47623690e-04 2.19149855e+02] [ 9.99467426e-01 -2.27995326e-02 -2.33462248e-02 1.24978790e+02] [ 2.33526417e-02 1.52024718e-05 9.99727290e-01 4.08034821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.440385723 meters Centerline goodness [0,1] 0.9999129545405088 Centerline is valid? [True, True] Translation: X:219.15, Y:125.01, Z:4.08 [[-2.18798740e-02 -9.99760473e-01 5.17486410e-04 2.19146849e+02] [ 9.99522400e-01 -2.18859564e-02 -2.18168978e-02 1.25006935e+02] [ 2.18229978e-02 3.98882823e-05 9.99761849e-01 4.08248869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.470385723 meters Centerline goodness [0,1] 0.9999132339862475 Centerline is valid? [True, True] Translation: X:219.15, Y:125.03, Z:4.08 [[-2.27869183e-02 -9.99740207e-01 5.24705182e-04 2.19146221e+02] [ 9.99500570e-01 -2.27929441e-02 -2.18881956e-02 1.25034211e+02] [ 2.18944687e-02 2.56786052e-05 9.99760287e-01 4.08073340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:125.06, Z:4.08 [[-2.22881197e-02 -9.99751448e-01 5.31960860e-04 2.19144933e+02] [ 9.99509669e-01 -2.22944282e-02 -2.19859125e-02 1.25062278e+02] [ 2.19923076e-02 4.16753721e-05 9.99758139e-01 4.08494296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.530385723 meters Centerline goodness [0,1] 0.9999133129618794 Centerline is valid? [True, True] Translation: X:219.14, Y:125.09, Z:4.09 [[-2.29903799e-02 -9.99735531e-01 5.56901693e-04 2.19144123e+02] [ 9.99476643e-01 -2.29970994e-02 -2.27502236e-02 1.25089843e+02] [ 2.27570140e-02 3.35739522e-05 9.99741025e-01 4.08575824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:125.12, Z:4.09 [[-2.40853571e-02 -9.99709739e-01 5.77777907e-04 2.19142108e+02] [ 9.99437580e-01 -2.40922811e-02 -2.33256377e-02 1.25116610e+02] [ 2.33327871e-02 1.56466406e-05 9.99727753e-01 4.08533491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:125.14, Z:4.08 [[-2.63977897e-02 -9.99651342e-01 5.92540986e-04 2.19137859e+02] [ 9.99371853e-01 -2.64044200e-02 -2.36369507e-02 1.25142434e+02] [ 2.36443552e-02 -3.17944708e-05 9.99720433e-01 4.08325771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.620385723 meters Centerline goodness [0,1] 0.9999132302219137 Centerline is valid? [True, True] Translation: X:219.14, Y:125.17, Z:4.08 [[-2.89259136e-02 -9.99581379e-01 5.97874858e-04 2.19137542e+02] [ 9.99303515e-01 -2.89319690e-02 -2.35674989e-02 1.25170137e+02] [ 2.35749307e-02 -8.42529872e-05 9.99722069e-01 4.08076977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:125.20, Z:4.09 [[-3.25133902e-02 -9.99471113e-01 6.10858651e-04 2.19140715e+02] [ 9.99187259e-01 -3.25187141e-02 -2.38192111e-02 1.25197942e+02] [ 2.38264778e-02 -1.64081124e-04 9.99716096e-01 4.08563144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.68038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:125.23, Z:4.09 [[-3.57026823e-02 -9.99362252e-01 6.37938683e-04 2.19141840e+02] [ 9.99059255e-01 -3.57075663e-02 -2.46084275e-02 1.25226482e+02] [ 2.46155127e-02 -2.41248323e-04 9.99696963e-01 4.08660918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.710385723 meters Centerline goodness [0,1] 0.9999134255351384 Centerline is valid? [True, True] Translation: X:219.14, Y:125.25, Z:4.08 [[-4.19562264e-02 -9.99119225e-01 6.70971748e-04 2.19141318e+02] [ 9.98789476e-01 -4.19596185e-02 -2.56704749e-02 1.25253495e+02] [ 2.56760187e-02 -4.06876737e-04 9.99670234e-01 4.08251536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.740385723 meters Centerline goodness [0,1] 0.9998917139515745 Centerline is valid? [True, True] Translation: X:219.14, Y:125.28, Z:4.09 [[-4.27994131e-02 -9.99083463e-01 6.67137468e-04 2.19139461e+02] [ 9.98762040e-01 -4.28025674e-02 -2.53441768e-02 1.25281129e+02] [ 2.53495031e-02 -4.18404314e-04 9.99678562e-01 4.08510659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:125.31, Z:4.09 [[-4.31674446e-02 -9.99067607e-01 6.98356770e-04 2.19139061e+02] [ 9.98722830e-01 -4.31708955e-02 -2.62484955e-02 1.25309655e+02] [ 2.62541703e-02 -4.35615628e-04 9.99655205e-01 4.08629503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:125.34, Z:4.09 [[-4.22731506e-02 -9.99105837e-01 7.12346061e-04 2.19138630e+02] [ 9.98754475e-01 -4.22771767e-02 -2.64979003e-02 1.25337643e+02] [ 2.65043228e-02 -4.08690914e-04 9.99648615e-01 4.08695241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:125.37, Z:4.09 [[-3.91905837e-02 -9.99231493e-01 7.21594108e-04 2.19136002e+02] [ 9.98877211e-01 -3.91959035e-02 -2.66082597e-02 1.25365255e+02] [ 2.66160946e-02 -3.22009316e-04 9.99645677e-01 4.08715062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.13, Y:125.39, Z:4.09 [[-3.77974840e-02 -9.99285165e-01 7.13463658e-04 2.19132934e+02] [ 9.98944340e-01 -3.78032260e-02 -2.60983158e-02 1.25393450e+02] [ 2.61066310e-02 -2.73740191e-04 9.99659126e-01 4.08763322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.890385723 meters Centerline goodness [0,1] 0.9998923388312303 Centerline is valid? [True, True] Translation: X:219.13, Y:125.42, Z:4.09 [[-3.57963430e-02 -9.99358848e-01 7.17560611e-04 2.19129340e+02] [ 9.99020919e-01 -3.58028983e-02 -2.59875948e-02 1.25421274e+02] [ 2.59966236e-02 -2.13402797e-04 9.99662008e-01 4.08574197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.13, Y:125.45, Z:4.09 [[-3.39515254e-02 -9.99423216e-01 7.28049745e-04 2.19128721e+02] [ 9.99082273e-01 -3.39589590e-02 -2.61036454e-02 1.25449430e+02] [ 2.61133130e-02 -1.58876987e-04 9.99658977e-01 4.08878630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.13, Y:125.48, Z:4.09 [[-3.27909633e-02 -9.99461944e-01 7.58415743e-04 2.19128757e+02] [ 9.99099521e-01 -3.27994954e-02 -2.69135743e-02 1.25476254e+02] [ 2.69239690e-02 -1.24789222e-04 9.99637476e-01 4.08901938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.13, Y:125.50, Z:4.09 [[-3.05286580e-02 -9.99533578e-01 7.91883845e-04 2.19130452e+02] [ 9.99146644e-01 -3.05388720e-02 -2.78093561e-02 1.25503344e+02] [ 2.78205685e-02 -5.77742369e-05 9.99612931e-01 4.09037905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.010385723 meters Centerline goodness [0,1] 0.9999566771363587 Centerline is valid? [True, True] Translation: X:219.13, Y:125.53, Z:4.09 [[-2.90138610e-02 -9.99578700e-01 7.85934198e-04 2.19130111e+02] [ 9.99204877e-01 -2.90245028e-02 -2.73347973e-02 1.25531488e+02] [ 2.73460925e-02 -7.77872345e-06 9.99626026e-01 4.09117533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.13, Y:125.56, Z:4.09 [[-2.82142163e-02 -9.99601576e-01 8.04951531e-04 2.19128533e+02] [ 9.99216765e-01 -2.82256881e-02 -2.77338512e-02 1.25559172e+02] [ 2.77455216e-02 2.18321897e-05 9.99615019e-01 4.09094540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.070385723 meters Centerline goodness [0,1] 0.9999565802613868 Centerline is valid? [True, True] Translation: X:219.13, Y:125.59, Z:4.09 [[-2.70836243e-02 -9.99632847e-01 8.04777099e-04 2.19127184e+02] [ 9.99255259e-01 -2.70955118e-02 -2.74729152e-02 1.25587605e+02] [ 2.74846343e-02 6.01116323e-05 9.99622224e-01 4.09061901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.100385723 meters Centerline goodness [0,1] 0.9999348986589124 Centerline is valid? [True, True] Translation: X:219.13, Y:125.62, Z:4.09 [[-2.49088112e-02 -9.99689401e-01 8.07651991e-04 2.19129250e+02] [ 9.99316126e-01 -2.49215796e-02 -2.73165864e-02 1.25615454e+02] [ 2.73282298e-02 1.26675965e-04 9.99626506e-01 4.09220315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.13, Y:125.64, Z:4.09 [[-2.44330825e-02 -9.99701146e-01 8.02008427e-04 2.19130856e+02] [ 9.99339824e-01 -2.44458129e-02 -2.68759755e-02 1.25643664e+02] [ 2.68875493e-02 1.44816032e-04 9.99638454e-01 4.09372459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.160385723 meters Centerline goodness [0,1] 0.9999350761772853 Centerline is valid? [True, True] Translation: X:219.13, Y:125.67, Z:4.10 [[-2.46846304e-02 -9.99694984e-01 7.79797839e-04 2.19134206e+02] [ 9.99359511e-01 -2.46965473e-02 -2.58968773e-02 1.25671783e+02] [ 2.59082367e-02 1.40043542e-04 9.99664315e-01 4.09572999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.13, Y:125.70, Z:4.09 [[-2.55215087e-02 -9.99673954e-01 7.99041801e-04 2.19134682e+02] [ 9.99328268e-01 -2.55336953e-02 -2.62876922e-02 1.25698960e+02] [ 2.62995237e-02 1.27603493e-04 9.99654100e-01 4.09486839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:125.73, Z:4.10 [[-2.63857274e-02 -9.99651485e-01 8.38261830e-04 2.19138692e+02] [ 9.99278210e-01 -2.63987807e-02 -2.73159766e-02 1.25727113e+02] [ 2.73285857e-02 1.16904870e-04 9.99626498e-01 4.09740262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.250385723 meters Centerline goodness [0,1] 0.9999562707713836 Centerline is valid? [True, True] Translation: X:219.14, Y:125.75, Z:4.10 [[-2.68187890e-02 -9.99639958e-01 8.41187992e-04 2.19139356e+02] [ 9.99270940e-01 -2.68317434e-02 -2.71596529e-02 1.25754644e+02] [ 2.71724448e-02 1.12185715e-04 9.99630755e-01 4.09766999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:125.78, Z:4.10 [[-2.73126166e-02 -9.99626590e-01 8.37128221e-04 2.19140031e+02] [ 9.99267855e-01 -2.73252403e-02 -2.67784348e-02 1.25782020e+02] [ 2.67913102e-02 1.05126198e-04 9.99641043e-01 4.09840809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:125.81, Z:4.10 [[-2.84723858e-02 -9.99594209e-01 8.60106225e-04 2.19143434e+02] [ 9.99222366e-01 -2.84852525e-02 -2.72626771e-02 1.25810127e+02] [ 2.72761145e-02 8.32039185e-05 9.99627934e-01 4.09940991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.340385723 meters Centerline goodness [0,1] 0.9999120782503572 Centerline is valid? [True, True] Translation: X:219.15, Y:125.84, Z:4.10 [[-3.10727973e-02 -9.99516694e-01 9.27705878e-04 2.19148427e+02] [ 9.99091724e-01 -3.10866357e-02 -2.91435695e-02 1.25838362e+02] [ 2.91583235e-02 2.12910359e-05 9.99574805e-01 4.09750696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.15, Y:125.87, Z:4.10 [[-3.20543867e-02 -9.99485669e-01 9.55558261e-04 2.19150424e+02] [ 9.99041477e-01 -3.20686263e-02 -2.97947902e-02 1.25865625e+02] [ 2.98101093e-02 -4.11389552e-07 9.99555580e-01 4.09968439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.400385723 meters Centerline goodness [0,1] 0.9999118729207517 Centerline is valid? [True, True] Translation: X:219.15, Y:125.89, Z:4.10 [[-3.43557286e-02 -9.99409188e-01 9.79562822e-04 2.19152704e+02] [ 9.98948272e-01 -3.43696308e-02 -3.03492791e-02 1.25893318e+02] [ 3.03650156e-02 -6.41390107e-05 9.99538875e-01 4.09816237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.43038572300003 meters Centerline goodness [0,1] 0.9999778765956505 Centerline is valid? [True, True] Translation: X:219.16, Y:125.92, Z:4.10 [[-3.77312867e-02 -9.99287446e-01 9.74560004e-04 2.19158346e+02] [ 9.98836512e-01 -3.77435349e-02 -3.00174721e-02 1.25920034e+02] [ 3.00328664e-02 -1.59171733e-04 9.99548899e-01 4.10078596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.460385723 meters Centerline goodness [0,1] 0.9999334531177214 Centerline is valid? [True, True] Translation: X:219.16, Y:125.95, Z:4.10 [[-4.13745491e-02 -9.99143193e-01 1.01354260e-03 2.19163226e+02] [ 9.98662494e-01 -4.13860806e-02 -3.09905694e-02 1.25947758e+02] [ 3.10059630e-02 -2.70033853e-04 9.99519163e-01 4.10079747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.490385723 meters Centerline goodness [0,1] 0.9999777183600713 Centerline is valid? [True, True] Translation: X:219.16, Y:125.98, Z:4.10 [[-4.23027393e-02 -9.99104319e-01 1.01909640e-03 2.19164416e+02] [ 9.98626557e-01 -4.23140242e-02 -3.08953480e-02 1.25975677e+02] [ 3.09107977e-02 -2.89261127e-04 9.99522105e-01 4.10151745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.520385723 meters Centerline goodness [0,1] 0.9999553949774744 Centerline is valid? [True, True] Translation: X:219.17, Y:126.00, Z:4.10 [[-4.28441339e-02 -9.99081227e-01 1.03980301e-03 2.19166594e+02] [ 9.98592003e-01 -4.28556919e-02 -3.12634157e-02 1.26003894e+02] [ 3.12792532e-02 -3.01114996e-04 9.99510639e-01 4.10241727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.550385723 meters Centerline goodness [0,1] 0.9999776336390069 Centerline is valid? [True, True] Translation: X:219.17, Y:126.03, Z:4.11 [[-4.43319944e-02 -9.99016357e-01 9.95941441e-04 2.19172965e+02] [ 9.98573643e-01 -4.43419971e-02 -2.97399906e-02 1.26030934e+02] [ 2.97548991e-02 -3.23912226e-04 9.99557172e-01 4.10503984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.580385723 meters Centerline goodness [0,1] 0.9999551840813857 Centerline is valid? [True, True] Translation: X:219.17, Y:126.06, Z:4.11 [[-4.55835021e-02 -9.98960068e-01 9.63049537e-04 2.19173899e+02] [ 9.98551710e-01 -4.55924041e-02 -2.85624796e-02 1.26058632e+02] [ 2.85766843e-02 -3.40323088e-04 9.99591545e-01 4.10677899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.17, Y:126.09, Z:4.11 [[-4.79388158e-02 -9.98849830e-01 9.41486945e-04 2.19174468e+02] [ 9.98465730e-01 -4.79464910e-02 -2.77005311e-02 1.26086819e+02] [ 2.77138118e-02 -3.87888210e-04 9.99615823e-01 4.10708298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.640385723 meters Centerline goodness [0,1] 0.9999775412118762 Centerline is valid? [True, True] Translation: X:219.18, Y:126.11, Z:4.11 [[-4.87166028e-02 -9.98812180e-01 9.60461896e-04 2.19175995e+02] [ 9.98419101e-01 -4.87243767e-02 -2.80220197e-02 1.26114120e+02] [ 2.80355325e-02 -4.06194102e-04 9.99606845e-01 4.10715272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.670385723 meters Centerline goodness [0,1] 0.9999325175454382 Centerline is valid? [True, True] Translation: X:219.18, Y:126.14, Z:4.11 [[-4.72009243e-02 -9.98884899e-01 1.01570977e-03 2.19181068e+02] [ 9.98452868e-01 -4.72103818e-02 -2.93777037e-02 1.26141532e+02] [ 2.93928966e-02 -3.72516440e-04 9.99567866e-01 4.10848602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.700385723 meters Centerline goodness [0,1] 0.9999548919662592 Centerline is valid? [True, True] Translation: X:219.18, Y:126.17, Z:4.11 [[-4.55258021e-02 -9.98962613e-01 1.04867268e-03 2.19181017e+02] [ 9.98509955e-01 -4.55367407e-02 -3.00711748e-02 1.26168767e+02] [ 3.00877325e-02 -3.21904245e-04 9.99547210e-01 4.10942456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.730385723 meters Centerline goodness [0,1] 0.9999548919662592 Centerline is valid? [True, True] Translation: X:219.18, Y:126.20, Z:4.11 [[-4.58267216e-02 -9.98948844e-01 1.05773402e-03 2.19179976e+02] [ 9.98496189e-01 -4.58377965e-02 -3.00708568e-02 1.26195527e+02] [ 3.00877318e-02 -3.21905390e-04 9.99547210e-01 4.10982912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.760385723 meters Centerline goodness [0,1] 0.9999099423631124 Centerline is valid? [True, True] Translation: X:219.18, Y:126.22, Z:4.11 [[-4.20227196e-02 -9.99116112e-01 1.04226106e-03 2.19175548e+02] [ 9.98683153e-01 -4.20351903e-02 -2.94109327e-02 1.26224216e+02] [ 2.94287483e-02 -1.95038816e-04 9.99566862e-01 4.11033348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.790385723 meters Centerline goodness [0,1] 0.9998202247191011 Centerline is valid? [True, True] Translation: X:219.17, Y:126.25, Z:4.11 [[-4.03645775e-02 -9.99184500e-01 1.01732530e-03 2.19171416e+02] [ 9.98777730e-01 -4.03771710e-02 -2.85084194e-02 1.26251755e+02] [ 2.85262475e-02 -1.34648446e-04 9.99593035e-01 4.10977688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.820385723 meters Centerline goodness [0,1] 0.9998656846723826 Centerline is valid? [True, True] Translation: X:219.17, Y:126.28, Z:4.11 [[-3.78849752e-02 -9.99281617e-01 9.88941212e-04 2.19166307e+02] [ 9.98903486e-01 -3.78978427e-02 -2.74877884e-02 1.26277457e+02] [ 2.75055204e-02 -5.35173552e-05 9.99621650e-01 4.10949431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.17, Y:126.31, Z:4.11 [[-3.77834868e-02 -9.99285470e-01 9.78295356e-04 2.19165739e+02] [ 9.98921765e-01 -3.77961272e-02 -2.69584741e-02 1.26305053e+02] [ 2.69761873e-02 -4.13446283e-05 9.99636076e-01 4.11123133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.17, Y:126.33, Z:4.11 [[-3.89320480e-02 -9.99241367e-01 9.92683003e-04 2.19166313e+02] [ 9.98872819e-01 -3.89446474e-02 -2.71368143e-02 1.26333275e+02] [ 2.71548871e-02 -6.49276871e-05 9.99631236e-01 4.11373822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.17, Y:126.36, Z:4.11 [[-4.05692281e-02 -9.99176219e-01 1.01009978e-03 2.19166769e+02] [ 9.98800310e-01 -4.05816704e-02 -2.74056326e-02 1.26361391e+02] [ 2.74240479e-02 -1.02937387e-04 9.99623885e-01 4.11488187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.940385723 meters Centerline goodness [0,1] 0.9999775007874724 Centerline is valid? [True, True] Translation: X:219.17, Y:126.39, Z:4.12 [[-4.37256817e-02 -9.99043025e-01 1.04799539e-03 2.19166697e+02] [ 9.98644251e-01 -4.37378365e-02 -2.82251837e-02 1.26389472e+02] [ 2.82440100e-02 -1.87590825e-04 9.99601041e-01 4.11515984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.970385723 meters Centerline goodness [0,1] 0.999932505399568 Centerline is valid? [True, True] Translation: X:219.17, Y:126.42, Z:4.12 [[-4.55795916e-02 -9.98960150e-01 1.05798716e-03 2.19165330e+02] [ 9.98559491e-01 -4.55912733e-02 -2.82909632e-02 1.26417241e+02] [ 2.83097798e-02 -2.33027425e-04 9.99599171e-01 4.11515794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.16, Y:126.44, Z:4.11 [[-4.90559761e-02 -9.98795488e-01 1.04106580e-03 2.19162903e+02] [ 9.98413178e-01 -4.90660027e-02 -2.76342869e-02 1.26444357e+02] [ 2.76520820e-02 -3.16213102e-04 9.99617558e-01 4.11379003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.030385723 meters Centerline goodness [0,1] 0.9999775563336026 Centerline is valid? [True, True] Translation: X:219.16, Y:126.47, Z:4.11 [[-5.13345632e-02 -9.98680969e-01 1.04114115e-03 2.19161945e+02] [ 9.98304165e-01 -5.13437947e-02 -2.74337038e-02 1.26472631e+02] [ 2.74509741e-02 -3.68921652e-04 9.99623083e-01 4.11327017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.060385723 meters Centerline goodness [0,1] 0.9999325691166554 Centerline is valid? [True, True] Translation: X:219.16, Y:126.50, Z:4.11 [[-5.53341839e-02 -9.98467353e-01 1.03630850e-03 2.19163020e+02] [ 9.98099332e-01 -5.53419268e-02 -2.71107669e-02 1.26500001e+02] [ 2.71265670e-02 -4.65813342e-04 9.99631898e-01 4.11411717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.17, Y:126.53, Z:4.12 [[-5.82907559e-02 -9.98299086e-01 1.05983698e-03 2.19165854e+02] [ 9.97919041e-01 -5.82978124e-02 -2.75490937e-02 1.26527160e+02] [ 2.75640213e-02 -5.48225990e-04 9.99619890e-01 4.11647003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.120385723 meters Centerline goodness [0,1] 0.9997972607677059 Centerline is valid? [True, True] Translation: X:219.17, Y:126.56, Z:4.11 [[-6.08012126e-02 -9.98149284e-01 1.10413798e-03 2.19165883e+02] [ 9.97741634e-01 -6.08079418e-02 -2.85311288e-02 1.26555434e+02] [ 2.85454662e-02 -6.33082798e-04 9.99592295e-01 4.11424592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.150385723 meters Centerline goodness [0,1] 0.9999774749408717 Centerline is valid? [True, True] Translation: X:219.16, Y:126.58, Z:4.12 [[-6.06177475e-02 -9.98160448e-01 1.09909520e-03 2.19164465e+02] [ 9.97762161e-01 -6.06246130e-02 -2.82015188e-02 1.26582756e+02] [ 2.82162728e-02 -6.12876940e-04 9.99601654e-01 4.11743360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.18038572300003 meters Centerline goodness [0,1] 0.9999101285162219 Centerline is valid? [True, True] Translation: X:219.16, Y:126.61, Z:4.11 [[-6.01866357e-02 -9.98186504e-01 1.12796725e-03 2.19158686e+02] [ 9.97773425e-01 -6.01941831e-02 -2.87202599e-02 1.26608663e+02] [ 2.87360729e-02 -6.03120075e-04 9.99586852e-01 4.11480650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.210385723 meters Centerline goodness [0,1] 0.9998878194341613 Centerline is valid? [True, True] Translation: X:219.15, Y:126.64, Z:4.11 [[-5.92417898e-02 -9.98242996e-01 1.15354861e-03 2.19154568e+02] [ 9.97817490e-01 -5.92502217e-02 -2.91490762e-02 1.26635575e+02] [ 2.91662092e-02 -5.75812465e-04 9.99574410e-01 4.11362871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.240385723 meters Centerline goodness [0,1] 0.9999776526325199 Centerline is valid? [True, True] Translation: X:219.15, Y:126.66, Z:4.11 [[-5.60377086e-02 -9.98427919e-01 1.21109705e-03 2.19149196e+02] [ 9.97965452e-01 -5.60486145e-02 -3.03892838e-02 1.26663838e+02] [ 3.04093896e-02 -4.94312807e-04 9.99537405e-01 4.11270794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.270385723 meters Centerline goodness [0,1] 0.9998881556872833 Centerline is valid? [True, True] Translation: X:219.14, Y:126.69, Z:4.12 [[-5.42125708e-02 -9.98528652e-01 1.23648315e-03 2.19144809e+02] [ 9.98053031e-01 -5.42249114e-02 -3.08189181e-02 1.26691480e+02] [ 3.08406209e-02 -4.36697025e-04 9.99524220e-01 4.11549929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.300385723 meters Centerline goodness [0,1] 0.9999107481536025 Centerline is valid? [True, True] Translation: X:219.14, Y:126.72, Z:4.11 [[-5.13165919e-02 -9.98681657e-01 1.24731596e-03 2.19141819e+02] [ 9.98203401e-01 -5.13306166e-02 -3.09053142e-02 1.26718664e+02] [ 3.09285959e-02 -3.40880368e-04 9.99521538e-01 4.11485722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.330385723 meters Centerline goodness [0,1] 0.9998882082010464 Centerline is valid? [True, True] Translation: X:219.14, Y:126.75, Z:4.12 [[-5.03745143e-02 -9.98729620e-01 1.24676547e-03 2.19137855e+02] [ 9.98257389e-01 -5.03890331e-02 -3.07104192e-02 1.26746478e+02] [ 3.07342286e-02 -3.02429604e-04 9.99527546e-01 4.11601980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.360385723 meters Centerline goodness [0,1] 0.9996440331049212 Centerline is valid? [True, True] Translation: X:219.13, Y:126.77, Z:4.12 [[-4.95120708e-02 -9.98772740e-01 1.25231223e-03 2.19134493e+02] [ 9.98302481e-01 -4.95271850e-02 -3.06465991e-02 1.26774961e+02] [ 3.06710113e-02 -2.67190183e-04 9.99529498e-01 4.11563339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.390385723 meters Centerline goodness [0,1] 0.9998441812839463 Centerline is valid? [True, True] Translation: X:219.13, Y:126.80, Z:4.12 [[-4.72972259e-02 -9.98880118e-01 1.21749025e-03 2.19130141e+02] [ 9.98441217e-01 -4.73125323e-02 -2.96084469e-02 1.26802963e+02] [ 2.96328915e-02 -1.84804955e-04 9.99560832e-01 4.11668863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.420385723 meters Centerline goodness [0,1] 0.9998000044443457 Centerline is valid? [True, True] Translation: X:219.13, Y:126.83, Z:4.12 [[-4.54283366e-02 -9.98966904e-01 1.17949384e-03 2.19128145e+02] [ 9.98560299e-01 -4.54434958e-02 -2.84994219e-02 1.26830238e+02] [ 2.85235795e-02 -1.16885604e-04 9.99593113e-01 4.11904799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.13, Y:126.86, Z:4.12 [[-4.44259120e-02 -9.99011971e-01 1.19189798e-03 2.19126117e+02] [ 9.98602272e-01 -4.44418244e-02 -2.86081608e-02 1.26858044e+02] [ 2.86328652e-02 -8.07116055e-05 9.99589992e-01 4.11962633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.480385723 meters Centerline goodness [0,1] 0.9999332947925468 Centerline is valid? [True, True] Translation: X:219.12, Y:126.89, Z:4.12 [[-4.27184263e-02 -9.99086356e-01 1.26038779e-03 2.19123075e+02] [ 9.98634285e-01 -4.27370085e-02 -3.00518439e-02 1.26886078e+02] [ 3.00782524e-02 -2.51010244e-05 9.99547547e-01 4.11849525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.510385723 meters Centerline goodness [0,1] 0.9999334043686734 Centerline is valid? [True, True] Translation: X:219.12, Y:126.91, Z:4.12 [[-4.23777622e-02 -9.99100850e-01 1.27191151e-03 2.19120737e+02] [ 9.98646870e-01 -4.23968448e-02 -3.01153958e-02 1.26911802e+02] [ 3.01422426e-02 -6.03263513e-06 9.99545619e-01 4.11809044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.540385723 meters Centerline goodness [0,1] 0.9997779800626097 Centerline is valid? [True, True] Translation: X:219.12, Y:126.94, Z:4.12 [[-4.15509170e-02 -9.99135582e-01 1.26884977e-03 2.19118110e+02] [ 9.98690026e-01 -4.15702770e-02 -2.98352879e-02 1.26940055e+02] [ 2.98622442e-02 2.75040356e-05 9.99554023e-01 4.11904208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.570385723 meters Centerline goodness [0,1] 0.9999334914758241 Centerline is valid? [True, True] Translation: X:219.12, Y:126.97, Z:4.12 [[-4.21139205e-02 -9.99112046e-01 1.24013369e-03 2.19116597e+02] [ 9.98691832e-01 -4.21321718e-02 -2.89742163e-02 1.26967415e+02] [ 2.90007380e-02 1.82935474e-05 9.99579390e-01 4.11892529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.12, Y:127.00, Z:4.12 [[-4.26232363e-02 -9.99090476e-01 1.21644402e-03 2.19116701e+02] [ 9.98691265e-01 -4.26405897e-02 -2.82407104e-02 1.26995871e+02] [ 2.82668947e-02 1.11415446e-05 9.99600411e-01 4.12267756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.12, Y:127.02, Z:4.12 [[-4.33871764e-02 -9.99057527e-01 1.26951319e-03 2.19116074e+02] [ 9.98628235e-01 -4.34057454e-02 -2.92846183e-02 1.27024065e+02] [ 2.93121225e-02 -2.80518024e-06 9.99570307e-01 4.12347423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.12, Y:127.05, Z:4.12 [[-4.45169921e-02 -9.99007754e-01 1.32095559e-03 2.19115320e+02] [ 9.98548841e-01 -4.45365769e-02 -3.02771460e-02 1.27052174e+02] [ 3.03059345e-02 -2.88088012e-05 9.99540669e-01 4.12366983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.690385723 meters Centerline goodness [0,1] 0.9999112767278857 Centerline is valid? [True, True] Translation: X:219.11, Y:127.08, Z:4.12 [[-4.74632895e-02 -9.98871945e-01 1.44026037e-03 2.19114295e+02] [ 9.98333126e-01 -4.74849871e-02 -3.28046622e-02 1.27080807e+02] [ 3.28360475e-02 -1.19157547e-04 9.99460745e-01 4.12244508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.11, Y:127.11, Z:4.12 [[-4.83365704e-02 -9.98830078e-01 1.43195879e-03 2.19113591e+02] [ 9.98303783e-01 -4.83575808e-02 -3.24206956e-02 1.27109036e+02] [ 3.24520119e-02 -1.37575360e-04 9.99473285e-01 4.12437378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.11, Y:127.14, Z:4.13 [[-5.10234589e-02 -9.98696412e-01 1.44353225e-03 2.19112297e+02] [ 9.98168119e-01 -5.10434160e-02 -3.24803949e-02 1.27136643e+02] [ 3.25117367e-02 -2.16374221e-04 9.99471330e-01 4.12552217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.780385723 meters Centerline goodness [0,1] 0.9999556786703601 Centerline is valid? [True, True] Translation: X:219.11, Y:127.17, Z:4.13 [[-5.27554838e-02 -9.98606394e-01 1.45881599e-03 2.19111039e+02] [ 9.98073527e-01 -5.27749852e-02 -3.26195487e-02 1.27165039e+02] [ 3.26510789e-02 -2.64854448e-04 9.99466776e-01 4.12626067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.810385723 meters Centerline goodness [0,1] 0.9999778555294743 Centerline is valid? [True, True] Translation: X:219.11, Y:127.19, Z:4.12 [[-5.55960279e-02 -9.98452269e-01 1.46590118e-03 2.19110920e+02] [ 9.97920426e-01 -5.56142563e-02 -3.25864574e-02 1.27192427e+02] [ 3.26175474e-02 -3.48824872e-04 9.99467845e-01 4.12469487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.840385723 meters Centerline goodness [0,1] 0.9999557962205768 Centerline is valid? [True, True] Translation: X:219.11, Y:127.22, Z:4.13 [[-5.69506400e-02 -9.98375881e-01 1.49156802e-03 2.19108939e+02] [ 9.97831500e-01 -5.69688398e-02 -3.29673786e-02 1.27221124e+02] [ 3.29988086e-02 -3.89179753e-04 9.99455315e-01 4.12731419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.870385723 meters Centerline goodness [0,1] 0.9999336312552541 Centerline is valid? [True, True] Translation: X:219.11, Y:127.25, Z:4.13 [[-5.87886466e-02 -9.98269318e-01 1.50476306e-03 2.19108990e+02] [ 9.97720467e-01 -5.88062204e-02 -3.31013452e-02 1.27248526e+02] [ 3.31325468e-02 -4.44650383e-04 9.99450868e-01 4.12709983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.900385723 meters Centerline goodness [0,1] 0.9999556649154309 Centerline is valid? [True, True] Translation: X:219.11, Y:127.28, Z:4.13 [[-6.19892050e-02 -9.98075762e-01 1.45330694e-03 2.19107521e+02] [ 9.97568604e-01 -6.20040365e-02 -3.18179259e-02 1.27276982e+02] [ 3.18468115e-02 -5.22594556e-04 9.99492625e-01 4.13016204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.93038572300003 meters Centerline goodness [0,1] 0.9999779332259418 Centerline is valid? [True, True] Translation: X:219.11, Y:127.30, Z:4.13 [[-6.39870978e-02 -9.97949785e-01 1.37006025e-03 2.19105724e+02] [ 9.97503436e-01 -6.39994575e-02 -2.98490407e-02 1.27304240e+02] [ 2.98755269e-02 -5.43313684e-04 9.99553479e-01 4.13160852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.10, Y:127.33, Z:4.13 [[-6.47360601e-02 -9.97901491e-01 1.36241790e-03 2.19103261e+02] [ 9.97464697e-01 -6.47480377e-02 -2.95274280e-02 1.27331734e+02] [ 2.95536783e-02 -5.52525593e-04 9.99563042e-01 4.13180477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.10, Y:127.36, Z:4.13 [[-6.53654853e-02 -9.97860424e-01 1.38846069e-03 2.19100158e+02] [ 9.97412494e-01 -6.53777487e-02 -2.99009479e-02 1.27359165e+02] [ 2.99277469e-02 -5.69621925e-04 9.99551902e-01 4.13092339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:127.39, Z:4.13 [[-6.53065733e-02 -9.97864233e-01 1.42280896e-03 2.19094459e+02] [ 9.97399943e-01 -6.53195928e-02 -3.04418314e-02 1.27386059e+02] [ 3.04697520e-02 -5.68942119e-04 9.99535527e-01 4.12936547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:127.41, Z:4.13 [[-6.52048758e-02 -9.97870915e-01 1.40045690e-03 2.19091062e+02] [ 9.97426909e-01 -6.52176424e-02 -2.97694410e-02 1.27412405e+02] [ 2.97973938e-02 -5.44259307e-04 9.99555811e-01 4.12979081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:127.44, Z:4.13 [[-6.57822234e-02 -9.97833054e-01 1.37674745e-03 2.19088641e+02] [ 9.97408838e-01 -6.57944049e-02 -2.90982121e-02 1.27438684e+02] [ 2.91257401e-02 -5.40965012e-04 9.99575609e-01 4.13000419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:127.47, Z:4.13 [[-6.67383508e-02 -9.97769601e-01 1.34784718e-03 2.19085767e+02] [ 9.97367338e-01 -6.67497209e-02 -2.83349227e-02 1.27465424e+02] [ 2.83616929e-02 -5.46727252e-04 9.99597577e-01 4.13045859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.08, Y:127.49, Z:4.13 [[-6.76890449e-02 -9.97705569e-01 1.33828542e-03 2.19081020e+02] [ 9.97313863e-01 -6.76999745e-02 -2.79602020e-02 1.27491356e+02] [ 2.79866511e-02 -5.57908766e-04 9.99608141e-01 4.13058339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.170385723 meters Centerline goodness [0,1] 0.9999565170127188 Centerline is valid? [True, True] Translation: X:219.08, Y:127.52, Z:4.13 [[-6.81868539e-02 -9.97671668e-01 1.34032100e-03 2.19075268e+02] [ 9.97283452e-01 -6.81977158e-02 -2.78349985e-02 1.27519576e+02] [ 2.78615962e-02 -5.61301017e-04 9.99611633e-01 4.13190377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.07, Y:127.55, Z:4.13 [[-6.79859093e-02 -9.97685446e-01 1.29100961e-03 2.19068353e+02] [ 9.97329239e-01 -6.79961381e-02 -2.66629899e-02 1.27547200e+02] [ 2.66890607e-02 -5.25145984e-04 9.99643646e-01 4.13412614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.230385723 meters Centerline goodness [0,1] 0.9999349494774274 Centerline is valid? [True, True] Translation: X:219.07, Y:127.57, Z:4.13 [[-6.81599756e-02 -9.97673619e-01 1.25194866e-03 2.19065350e+02] [ 9.97342448e-01 -6.81696116e-02 -2.57088488e-02 1.27574410e+02] [ 2.57343850e-02 -5.03692968e-04 9.99668689e-01 4.13388434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.06, Y:127.60, Z:4.13 [[-6.66800379e-02 -9.97773680e-01 1.20629687e-03 2.19057094e+02] [ 9.97469660e-01 -6.66895016e-02 -2.46330770e-02 1.27601976e+02] [ 2.46586833e-02 -4.39289978e-04 9.99695832e-01 4.13448561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.05, Y:127.63, Z:4.13 [[-6.59531204e-02 -9.97821995e-01 1.20527031e-03 2.19053086e+02] [ 9.97521836e-01 -6.59628457e-02 -2.44763078e-02 1.27629361e+02] [ 2.45025014e-02 -4.12005420e-04 9.99699684e-01 4.13434247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.05, Y:127.66, Z:4.13 [[-6.42635440e-02 -9.97932183e-01 1.24680999e-03 2.19047771e+02] [ 9.97614692e-01 -6.42745503e-02 -2.51735838e-02 1.27655808e+02] [ 2.52016676e-02 -3.73907748e-04 9.99682318e-01 4.13304967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.04, Y:127.68, Z:4.13 [[-6.39523821e-02 -9.97952183e-01 1.23866323e-03 2.19041331e+02] [ 9.97642286e-01 -6.39633925e-02 -2.48707349e-02 1.27683605e+02] [ 2.48990333e-02 -3.54799925e-04 9.99689908e-01 4.13495939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.04, Y:127.71, Z:4.14 [[-6.36861351e-02 -9.97969243e-01 1.21097811e-03 2.19038449e+02] [ 9.97676322e-01 -6.36967832e-02 -2.41800975e-02 1.27710120e+02] [ 2.42081290e-02 -3.31772773e-04 9.99706885e-01 4.13536867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.03, Y:127.74, Z:4.14 [[-6.20791929e-02 -9.98070512e-01 1.19418676e-03 2.19030517e+02] [ 9.97788831e-01 -6.20900443e-02 -2.37123486e-02 1.27737447e+02] [ 2.37407430e-02 -2.80497249e-04 9.99718109e-01 4.13692049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.02, Y:127.77, Z:4.14 [[-5.99860213e-02 -9.98198542e-01 1.16114681e-03 2.19022775e+02] [ 9.97935077e-01 -5.99968661e-02 -2.29337694e-02 1.27765142e+02] [ 2.29621203e-02 -2.16956443e-04 9.99736312e-01 4.13762134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.02, Y:127.79, Z:4.14 [[-5.94000350e-02 -9.98233584e-01 1.16114675e-03 2.19018902e+02] [ 9.97972975e-01 -5.94110593e-02 -2.28093842e-02 1.27792833e+02] [ 2.28380783e-02 -1.96085150e-04 9.99739158e-01 4.13833596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.500385723 meters Centerline goodness [0,1] 0.9999573005401482 Centerline is valid? [True, True] Translation: X:219.02, Y:127.82, Z:4.14 [[-5.92565492e-02 -9.98242115e-01 1.15845156e-03 2.19015169e+02] [ 9.97985506e-01 -5.92675829e-02 -2.26336748e-02 1.27820554e+02] [ 2.26625460e-02 -1.85075599e-04 9.99743154e-01 4.13810677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.01, Y:127.85, Z:4.14 [[-5.97759109e-02 -9.98211127e-01 1.17790649e-03 2.19010443e+02] [ 9.97948760e-01 -5.97872053e-02 -2.28858452e-02 1.27847359e+02] [ 2.29153291e-02 -1.92531928e-04 9.99737391e-01 4.13717558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.01, Y:127.88, Z:4.14 [[-6.07903890e-02 -9.98149833e-01 1.19949679e-03 2.19007813e+02] [ 9.97880787e-01 -6.08018528e-02 -2.31747813e-02 1.27875390e+02] [ 2.32048357e-02 -2.11849167e-04 9.99730709e-01 4.13758942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.01, Y:127.90, Z:4.14 [[-6.10639132e-02 -9.98133130e-01 1.20585155e-03 2.19006320e+02] [ 9.97864086e-01 -6.10754508e-02 -2.31744509e-02 1.27902923e+02] [ 2.32048351e-02 -2.11846706e-04 9.99730709e-01 4.13800661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.00, Y:127.93, Z:4.14 [[-6.27496196e-02 -9.98028561e-01 1.21554500e-03 2.19003933e+02] [ 9.97757757e-01 -6.27609095e-02 -2.32492454e-02 1.27929730e+02] [ 2.32796997e-02 -2.46061856e-04 9.99728961e-01 4.13895651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.00, Y:127.96, Z:4.14 [[-6.40204354e-02 -9.97947884e-01 1.18557693e-03 2.19001995e+02] [ 9.97692405e-01 -6.40308728e-02 -2.25812241e-02 1.27957805e+02] [ 2.26107983e-02 -2.62818697e-04 9.99744309e-01 4.14019659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.68038572300003 meters Centerline goodness [0,1] 0.9998522177887559 Centerline is valid? [True, True] Translation: X:219.00, Y:127.99, Z:4.14 [[-6.60329178e-02 -9.97816720e-01 1.20311460e-03 2.18997918e+02] [ 9.97556272e-01 -6.60431716e-02 -2.27987862e-02 1.27986346e+02] [ 2.28284676e-02 -3.05295862e-04 9.99739350e-01 4.13940542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.710385723 meters Centerline goodness [0,1] 0.9999575209209465 Centerline is valid? [True, True] Translation: X:219.00, Y:128.01, Z:4.14 [[-6.65875096e-02 -9.97779875e-01 1.19355117e-03 2.18996726e+02] [ 9.97526108e-01 -6.65974940e-02 -2.25041735e-02 1.28013108e+02] [ 2.25336990e-02 -3.07898414e-04 9.99746037e-01 4.14071122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.740385723 meters Centerline goodness [0,1] 0.9999366794714847 Centerline is valid? [True, True] Translation: X:218.99, Y:128.04, Z:4.14 [[-6.65840231e-02 -9.97780057e-01 1.23495222e-03 2.18994588e+02] [ 9.97511313e-01 -6.65947526e-02 -2.31585852e-02 1.28041125e+02] [ 2.31894158e-02 -3.10112964e-04 9.99731041e-01 4.14164012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.99, Y:128.07, Z:4.14 [[-6.50201231e-02 -9.97883048e-01 1.34358533e-03 2.18992069e+02] [ 9.97568455e-01 -6.50333621e-02 -2.50567281e-02 1.28067745e+02] [ 2.50910621e-02 -2.88873205e-04 9.99685128e-01 4.14108541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.800385723 meters Centerline goodness [0,1] 0.9998939689541098 Centerline is valid? [True, True] Translation: X:218.99, Y:128.10, Z:4.14 [[-6.40004349e-02 -9.97948953e-01 1.35333199e-03 2.18988261e+02] [ 9.97632673e-01 -6.40142226e-02 -2.51242817e-02 1.28096125e+02] [ 2.51593831e-02 -2.57836741e-04 9.99683419e-01 4.14037841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.830385723 meters Centerline goodness [0,1] 0.9999576979208528 Centerline is valid? [True, True] Translation: X:218.98, Y:128.12, Z:4.14 [[-6.25365601e-02 -9.98041685e-01 1.40463938e-03 2.18983941e+02] [ 9.97703783e-01 -6.25519368e-02 -2.59695208e-02 1.28123444e+02] [ 2.60065273e-02 -2.22630481e-04 9.99661748e-01 4.13686223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.860385723 meters Centerline goodness [0,1] 0.9999787739853965 Centerline is valid? [True, True] Translation: X:218.98, Y:128.15, Z:4.14 [[-6.26013976e-02 -9.98037560e-01 1.44722682e-03 2.18981144e+02] [ 9.97682646e-01 -6.26177295e-02 -2.66150025e-02 1.28150992e+02] [ 2.66533942e-02 -2.22263275e-04 9.99644710e-01 4.13858197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.98, Y:128.18, Z:4.14 [[-6.27886125e-02 -9.98025768e-01 1.46832583e-03 2.18983241e+02] [ 9.97664267e-01 -6.28053877e-02 -2.68606331e-02 1.28178710e+02] [ 2.68998228e-02 -2.21645667e-04 9.99638110e-01 4.13940247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.98, Y:128.21, Z:4.14 [[-6.31596098e-02 -9.98002370e-01 1.46037265e-03 2.18983114e+02] [ 9.97648546e-01 -6.31761027e-02 -2.65736441e-02 1.28206001e+02] [ 2.66128205e-02 -2.21442339e-04 9.99645792e-01 4.14028069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.98, Y:128.23, Z:4.14 [[-6.30188625e-02 -9.98011295e-01 1.44183622e-03 2.18981015e+02] [ 9.97669895e-01 -6.30350163e-02 -2.61030145e-02 1.28233745e+02] [ 2.61419895e-02 -2.06505693e-04 9.99658218e-01 4.14104986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.98, Y:128.26, Z:4.14 [[-6.24591077e-02 -9.98046444e-01 1.46785995e-03 2.18978212e+02] [ 9.97696143e-01 -6.24760735e-02 -2.64413716e-02 1.28261338e+02] [ 2.64814230e-02 -1.87026264e-04 9.99649288e-01 4.14081747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.010385723 meters Centerline goodness [0,1] 0.9999787600093456 Centerline is valid? [True, True] Translation: X:218.98, Y:128.29, Z:4.14 [[-6.17282610e-02 -9.98091896e-01 1.47919950e-03 2.18976016e+02] [ 9.97739751e-01 -6.17457726e-02 -2.65113001e-02 1.28288227e+02] [ 2.65520482e-02 -1.60640318e-04 9.99647419e-01 4.14032988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.040385723 meters Centerline goodness [0,1] 0.9999360368427785 Centerline is valid? [True, True] Translation: X:218.98, Y:128.32, Z:4.14 [[-6.04495668e-02 -9.98170150e-01 1.48401897e-03 2.18977152e+02] [ 9.97819297e-01 -6.04676632e-02 -2.64634254e-02 1.28316493e+02] [ 2.65047364e-02 -1.18919830e-04 9.99648681e-01 4.14190941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.070385723 meters Centerline goodness [0,1] 0.9998083434485402 Centerline is valid? [True, True] Translation: X:218.98, Y:128.34, Z:4.14 [[-6.00213669e-02 -9.98195977e-01 1.49208529e-03 2.18979055e+02] [ 9.97844764e-01 -6.00398263e-02 -2.64772771e-02 1.28344309e+02] [ 2.65190961e-02 -1.00332876e-04 9.99648302e-01 4.14298075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.98, Y:128.37, Z:4.14 [[-5.98135376e-02 -9.98208551e-01 1.42483984e-03 2.18977649e+02] [ 9.97891299e-01 -5.98304479e-02 -2.51649316e-02 1.28372663e+02] [ 2.52050987e-02 -8.33682981e-05 9.99682298e-01 4.14487563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.98, Y:128.40, Z:4.14 [[-5.93618314e-02 -9.98235575e-01 1.38183459e-03 2.18976106e+02] [ 9.97940052e-01 -5.93778793e-02 -2.42882721e-02 1.28399970e+02] [ 2.43274677e-02 -6.28082362e-05 9.99704041e-01 4.14396837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.97, Y:128.43, Z:4.14 [[-5.76314872e-02 -9.98337008e-01 1.35272199e-03 2.18973892e+02] [ 9.98056565e-01 -5.76473589e-02 -2.36616597e-02 1.28428040e+02] [ 2.37002914e-02 -1.35635751e-05 9.99719109e-01 4.14388004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.97, Y:128.46, Z:4.14 [[-5.68408687e-02 -9.98382288e-01 1.38660944e-03 2.18972417e+02] [ 9.98090447e-01 -5.68577778e-02 -2.41382208e-02 1.28455928e+02] [ 2.41780117e-02 1.19241946e-05 9.99707669e-01 4.14379507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.97, Y:128.48, Z:4.14 [[-5.41685558e-02 -9.98530764e-01 1.44287347e-03 2.18972983e+02] [ 9.98217862e-01 -5.41877004e-02 -2.49958687e-02 1.28484243e+02] [ 2.50373298e-02 8.63119626e-05 9.99686513e-01 4.14401108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.250385723 meters Centerline goodness [0,1] 0.9999141520367429 Centerline is valid? [True, True] Translation: X:218.97, Y:128.51, Z:4.15 [[-5.37140991e-02 -9.98555368e-01 1.40478393e-03 2.18973443e+02] [ 9.98261553e-01 -5.37323701e-02 -2.42219676e-02 1.28512322e+02] [ 2.42624581e-02 1.01280621e-04 9.99705618e-01 4.14590577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.97, Y:128.54, Z:4.15 [[-5.32695726e-02 -9.98579284e-01 1.32870857e-03 2.18973229e+02] [ 9.98318654e-01 -5.32860251e-02 -2.28136842e-02 1.28539474e+02] [ 2.28520741e-02 1.11199347e-04 9.99738851e-01 4.14660997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.310385723 meters Centerline goodness [0,1] 0.9998931623931624 Centerline is valid? [True, True] Translation: X:218.97, Y:128.57, Z:4.15 [[-5.31931395e-02 -9.98583359e-01 1.32836066e-03 2.18972007e+02] [ 9.98324909e-01 -5.32095929e-02 -2.27181617e-02 1.28567351e+02] [ 2.27566598e-02 1.17685194e-04 9.99741027e-01 4.14698123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.340385723 meters Centerline goodness [0,1] 0.9998928096728551 Centerline is valid? [True, True] Translation: X:218.97, Y:128.59, Z:4.15 [[-5.23763376e-02 -9.98626524e-01 1.33571615e-03 2.18970946e+02] [ 9.98367740e-01 -5.23931720e-02 -2.27334941e-02 1.28594392e+02] [ 2.27722526e-02 1.42838754e-04 9.99740668e-01 4.14564326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.370385723 meters Centerline goodness [0,1] 0.9999570585077832 Centerline is valid? [True, True] Translation: X:218.97, Y:128.62, Z:4.15 [[-5.17989882e-02 -9.98656656e-01 1.32198518e-03 2.18971642e+02] [ 9.98405635e-01 -5.18156077e-02 -2.23904173e-02 1.28622180e+02] [ 2.24288387e-02 1.60076491e-04 9.99748429e-01 4.14752722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.400385723 meters Centerline goodness [0,1] 0.9998929427886263 Centerline is valid? [True, True] Translation: X:218.97, Y:128.65, Z:4.15 [[-5.15667539e-02 -9.98668653e-01 1.33835030e-03 2.18971588e+02] [ 9.98413873e-01 -5.15838285e-02 -2.25576178e-02 1.28649515e+02] [ 2.25966230e-02 1.73004382e-04 9.99744649e-01 4.14817444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.43038572300003 meters Centerline goodness [0,1] 0.9999568407423393 Centerline is valid? [True, True] Translation: X:218.97, Y:128.68, Z:4.15 [[-5.18368846e-02 -9.98654676e-01 1.33256448e-03 2.18973779e+02] [ 9.98404575e-01 -5.18537248e-02 -2.23493832e-02 1.28677044e+02] [ 2.23884145e-02 1.71916081e-04 9.99749333e-01 4.14849239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.460385723 meters Centerline goodness [0,1] 0.9999570843078772 Centerline is valid? [True, True] Translation: X:218.98, Y:128.70, Z:4.15 [[-5.20855391e-02 -9.98641679e-01 1.37624136e-03 2.18975028e+02] [ 9.98377561e-01 -5.21034147e-02 -2.29669227e-02 1.28704700e+02] [ 2.30074332e-02 1.77763940e-04 9.99735278e-01 4.14730812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.490385723 meters Centerline goodness [0,1] 0.999978501096444 Centerline is valid? [True, True] Translation: X:218.98, Y:128.73, Z:4.15 [[-5.24010959e-02 -9.98625139e-01 1.39920699e-03 2.18975065e+02] [ 9.98354725e-01 -5.24194671e-02 -2.32388316e-02 1.28732481e+02] [ 2.32802272e-02 1.79164668e-04 9.99728963e-01 4.14718402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.520385723 meters Centerline goodness [0,1] 0.9999568593615186 Centerline is valid? [True, True] Translation: X:218.98, Y:128.76, Z:4.15 [[-5.24446995e-02 -9.98622767e-01 1.45707674e-03 2.18975731e+02] [ 9.98332272e-01 -5.24645873e-02 -2.40861466e-02 1.28759230e+02] [ 2.41294193e-02 1.91456015e-04 9.99708825e-01 4.14698264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.98, Y:128.79, Z:4.15 [[-5.23158931e-02 -9.98629331e-01 1.58314660e-03 2.18979335e+02] [ 9.98289767e-01 -5.23393873e-02 -2.60409195e-02 1.28786367e+02] [ 2.60880870e-02 2.18085091e-04 9.99659624e-01 4.14647352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.580385723 meters Centerline goodness [0,1] 0.9999784007948508 Centerline is valid? [True, True] Translation: X:218.98, Y:128.81, Z:4.15 [[-5.25140579e-02 -9.98618869e-01 1.62128629e-03 2.18979216e+02] [ 9.98266260e-01 -5.25385976e-02 -2.65362189e-02 1.28813183e+02] [ 2.65847490e-02 2.24950865e-04 9.99646538e-01 4.14636861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.98, Y:128.84, Z:4.15 [[-5.14905894e-02 -9.98672176e-01 1.61382359e-03 2.18979928e+02] [ 9.98326252e-01 -5.15152289e-02 -2.62845334e-02 1.28841514e+02] [ 2.63327687e-02 2.57716335e-04 9.99653199e-01 4.14735955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.640385723 meters Centerline goodness [0,1] 0.9999783338749865 Centerline is valid? [True, True] Translation: X:218.98, Y:128.87, Z:4.15 [[-5.10815662e-02 -9.98693218e-01 1.59043372e-03 2.18979816e+02] [ 9.98360306e-01 -5.11056028e-02 -2.57859953e-02 1.28869704e+02] [ 2.58335787e-02 2.70636864e-04 9.99666221e-01 4.14850835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.98, Y:128.90, Z:4.15 [[-5.05942931e-02 -9.98718055e-01 1.56981928e-03 2.18980461e+02] [ 9.98396740e-01 -5.06178356e-02 -2.53334451e-02 1.28897020e+02] [ 2.53804299e-02 2.85574709e-04 9.99677824e-01 4.14789016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.700385723 meters Centerline goodness [0,1] 0.9999782414760983 Centerline is valid? [True, True] Translation: X:218.98, Y:128.93, Z:4.15 [[-5.09739339e-02 -9.98698702e-01 1.60009708e-03 2.18981896e+02] [ 9.98368001e-01 -5.09982317e-02 -2.57004753e-02 1.28925255e+02] [ 2.57486335e-02 2.87431392e-04 9.99668408e-01 4.14970463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.98, Y:128.95, Z:4.15 [[-5.21833996e-02 -9.98636254e-01 1.58904479e-03 2.18984239e+02] [ 9.98312508e-01 -5.22069434e-02 -2.54277887e-02 1.28953998e+02] [ 2.54760708e-02 2.59454826e-04 9.99675399e-01 4.15016264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.760385723 meters Centerline goodness [0,1] 0.9999782509406469 Centerline is valid? [True, True] Translation: X:218.98, Y:128.98, Z:4.15 [[-5.32836573e-02 -9.98578155e-01 1.58783450e-03 2.18984870e+02] [ 9.98257076e-01 -5.33067889e-02 -2.53218654e-02 1.28981811e+02] [ 2.53705040e-02 2.35825425e-04 9.99678089e-01 4.15078952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.99, Y:129.01, Z:4.15 [[-5.49172836e-02 -9.98489637e-01 1.59280575e-03 2.18985899e+02] [ 9.98169332e-01 -5.49400096e-02 -2.52899296e-02 1.29010270e+02] [ 2.53392414e-02 2.01035617e-04 9.99678890e-01 4.15127926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.99, Y:129.04, Z:4.15 [[-5.92088105e-02 -9.98244222e-01 1.67018460e-03 2.18990981e+02] [ 9.97895131e-01 -5.92322717e-02 -2.63978505e-02 1.29037343e+02] [ 2.64504306e-02 1.03683752e-04 9.99650121e-01 4.15082604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.99, Y:129.07, Z:4.15 [[-6.18004768e-02 -9.98087109e-01 1.68049308e-03 2.18993687e+02] [ 9.97736901e-01 -6.18233059e-02 -2.64377536e-02 1.29065025e+02] [ 2.64910747e-02 4.28241830e-05 9.99649049e-01 4.15185837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.00, Y:129.09, Z:4.15 [[-6.71124578e-02 -9.97743911e-01 1.73365803e-03 2.19000837e+02] [ 9.97374642e-01 -6.71347823e-02 -2.71430519e-02 1.29092633e+02] [ 2.71982035e-02 -9.25303691e-05 9.99630056e-01 4.15323731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.00, Y:129.12, Z:4.15 [[-6.98445045e-02 -9.97556336e-01 1.76107709e-03 2.19001847e+02] [ 9.97178690e-01 -6.98665179e-02 -2.74468715e-02 1.29120932e+02] [ 2.75028409e-02 -1.60904602e-04 9.99621712e-01 4.15359553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.00, Y:129.15, Z:4.15 [[-7.37358041e-02 -9.97276201e-01 1.79180579e-03 2.19004725e+02] [ 9.96888618e-01 -7.37570998e-02 -2.78024126e-02 1.29148715e+02] [ 2.78588428e-02 -2.63802449e-04 9.99611832e-01 4.15156168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.00, Y:129.18, Z:4.15 [[-7.55613152e-02 -9.97139535e-01 1.79874132e-03 2.19004933e+02] [ 9.96752431e-01 -7.55821004e-02 -2.77837766e-02 1.29176056e+02] [ 2.78402547e-02 -3.06478922e-04 9.99612338e-01 4.15114302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.01, Y:129.20, Z:4.15 [[-7.74623871e-02 -9.96993658e-01 1.79583141e-03 2.19005106e+02] [ 9.96611200e-01 -7.74824133e-02 -2.76150787e-02 1.29203721e+02] [ 2.76712037e-02 -3.49384216e-04 9.99617018e-01 4.15227098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.01, Y:129.23, Z:4.16 [[-8.01385729e-02 -9.96782164e-01 1.76805412e-03 2.19009887e+02] [ 9.96414486e-01 -8.01570361e-02 -2.70743697e-02 1.29232257e+02] [ 2.71289708e-02 -4.07986617e-04 9.99631858e-01 4.15544711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.01, Y:129.26, Z:4.16 [[-8.13151474e-02 -9.96686882e-01 1.76236080e-03 2.19012358e+02] [ 9.96324605e-01 -8.13331099e-02 -2.68739187e-02 1.29259302e+02] [ 2.69282205e-02 -4.29373236e-04 9.99637278e-01 4.15571950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.01, Y:129.29, Z:4.16 [[-8.19369862e-02 -9.96635954e-01 1.76231893e-03 2.19011860e+02] [ 9.96276786e-01 -8.19547728e-02 -2.67578080e-02 1.29287444e+02] [ 2.68122240e-02 -4.36696711e-04 9.99640392e-01 4.15633151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.01, Y:129.32, Z:4.16 [[-8.15905375e-02 -9.96664320e-01 1.79395710e-03 2.19009511e+02] [ 9.96295240e-01 -8.16091465e-02 -2.71245655e-02 1.29315249e+02] [ 2.71804899e-02 -4.25796956e-04 9.99630452e-01 4.15669025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.01, Y:129.34, Z:4.16 [[-7.96610206e-02 -9.96820411e-01 1.78588947e-03 2.19009103e+02] [ 9.96457328e-01 -7.96802066e-02 -2.69046173e-02 1.29342210e+02] [ 2.69613717e-02 -3.63686620e-04 9.99636410e-01 4.15622400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.18038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.01, Y:129.37, Z:4.16 [[-7.91014174e-02 -9.96865057e-01 1.73882529e-03 2.19007245e+02] [ 9.96523195e-01 -7.91198288e-02 -2.61069945e-02 1.29370479e+02] [ 2.61627262e-02 -3.32320540e-04 9.99657642e-01 4.15724505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.01, Y:129.40, Z:4.16 [[-7.82057684e-02 -9.96935729e-01 1.73512933e-03 2.19006636e+02] [ 9.96598129e-01 -7.82244401e-02 -2.59443018e-02 1.29397222e+02] [ 2.60005309e-02 -2.99767411e-04 9.99661884e-01 4.15760974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.00, Y:129.43, Z:4.16 [[-7.63991209e-02 -9.97075901e-01 1.67988400e-03 2.19004456e+02] [ 9.96762030e-01 -7.64172205e-02 -2.50172574e-02 1.29425140e+02] [ 2.50724765e-02 -2.36851887e-04 9.99685608e-01 4.15904892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.00, Y:129.45, Z:4.16 [[-7.59487357e-02 -9.97110341e-01 1.66055228e-03 2.19001635e+02] [ 9.96806099e-01 -7.59665813e-02 -2.46308542e-02 1.29452886e+02] [ 2.46858259e-02 -2.15433599e-04 9.99695235e-01 4.15992445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.00, Y:129.48, Z:4.16 [[-7.48378933e-02 -9.97194341e-01 1.65386608e-03 2.19000523e+02] [ 9.96895056e-01 -7.48559504e-02 -2.44301887e-02 1.29480189e+02] [ 2.44854476e-02 -1.79572935e-04 9.99700170e-01 4.15948104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.00, Y:129.51, Z:4.16 [[-7.49416988e-02 -9.97186480e-01 1.69315332e-03 2.18998295e+02] [ 9.96875437e-01 -7.49606103e-02 -2.49052191e-02 1.29508047e+02] [ 2.49620676e-02 -1.78576478e-04 9.99688383e-01 4.16024495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.00, Y:129.54, Z:4.16 [[-7.49478025e-02 -9.97186126e-01 1.63014789e-03 2.18996608e+02] [ 9.96900047e-01 -7.49653470e-02 -2.38849921e-02 1.29535588e+02] [ 2.39399873e-02 -1.65033158e-04 9.99713384e-01 4.15964145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.99, Y:129.56, Z:4.16 [[-7.51794226e-02 -9.97168721e-01 1.61111863e-03 2.18993577e+02] [ 9.96891481e-01 -7.51965105e-02 -2.35129818e-02 1.29563406e+02] [ 2.35675605e-02 -1.61581959e-04 9.99722233e-01 4.16052898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.99, Y:129.59, Z:4.16 [[-7.52357455e-02 -9.97164561e-01 1.55625125e-03 2.18991891e+02] [ 9.96907720e-01 -7.52516873e-02 -2.26314077e-02 1.29590344e+02] [ 2.26843483e-02 -1.51251941e-04 9.99742666e-01 4.16033248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.99, Y:129.62, Z:4.16 [[-7.48797993e-02 -9.97191389e-01 1.53299097e-03 2.18990302e+02] [ 9.96943774e-01 -7.48953671e-02 -2.22214982e-02 1.29618727e+02] [ 2.22739005e-02 -1.35635518e-04 9.99751897e-01 4.16137566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.99, Y:129.65, Z:4.16 [[-7.47255092e-02 -9.97202914e-01 1.56404176e-03 2.18988798e+02] [ 9.96947209e-01 -7.47417656e-02 -2.25816721e-02 1.29646847e+02] [ 2.26354084e-02 -1.28159877e-04 9.99743778e-01 4.16159033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.99, Y:129.67, Z:4.16 [[-7.35495307e-02 -9.97290300e-01 1.58888105e-03 2.18986382e+02] [ 9.97028586e-01 -7.35666281e-02 -2.28462349e-02 1.29672707e+02] [ 2.29012170e-02 -9.61700270e-05 9.99737728e-01 4.16084725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.98, Y:129.70, Z:4.16 [[-7.38542901e-02 -9.97267766e-01 1.59585591e-03 2.18984397e+02] [ 9.97006057e-01 -7.38714672e-02 -2.28457480e-02 1.29699411e+02] [ 2.29012163e-02 -9.61784876e-05 9.99737728e-01 4.16125176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.98, Y:129.73, Z:4.16 [[-7.33248003e-02 -9.97306849e-01 1.58805186e-03 2.18980929e+02] [ 9.97049953e-01 -7.33419554e-02 -2.26351236e-02 1.29726935e+02] [ 2.26906347e-02 -7.63488873e-05 9.99742531e-01 4.16107687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.98, Y:129.75, Z:4.16 [[-7.13329552e-02 -9.97451286e-01 1.59422524e-03 2.18975958e+02] [ 9.97194656e-01 -7.13507636e-02 -2.26249230e-02 1.29753809e+02] [ 2.26810077e-02 -2.41497266e-05 9.99742753e-01 4.16004458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.97, Y:129.78, Z:4.16 [[-7.05997332e-02 -9.97503401e-01 1.62570637e-03 2.18972980e+02] [ 9.97238822e-01 -7.06184484e-02 -2.29731930e-02 1.29780809e+02] [ 2.30306430e-02 -6.83790318e-07 9.99734760e-01 4.15993187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.660385723 meters Centerline goodness [0,1] 0.9999326780665141 Centerline is valid? [True, True] Translation: X:218.97, Y:129.81, Z:4.16 [[-7.02551040e-02 -9.97527729e-01 1.62822019e-03 2.18970691e+02] [ 9.97264554e-01 -7.02739678e-02 -2.29124362e-02 1.29808121e+02] [ 2.29702119e-02 1.40506955e-05 9.99736150e-01 4.16010552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.97, Y:129.83, Z:4.16 [[-6.99022586e-02 -9.97552545e-01 1.61054678e-03 2.18968238e+02] [ 9.97297211e-01 -6.99208038e-02 -2.25688655e-02 1.29834708e+02] [ 2.26262399e-02 2.85791424e-05 9.99743993e-01 4.16081679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.97, Y:129.86, Z:4.16 [[-7.06509110e-02 -9.97499854e-01 1.57832273e-03 2.18966422e+02] [ 9.97256668e-01 -7.06685362e-02 -2.20249200e-02 1.29861852e+02] [ 2.20813922e-02 1.79122005e-05 9.99756176e-01 4.16168748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.97, Y:129.89, Z:4.16 [[-7.27476544e-02 -9.97349129e-01 1.57917002e-03 2.18966378e+02] [ 9.97107644e-01 -7.27647890e-02 -2.19461313e-02 1.29887767e+02] [ 2.20028629e-02 -2.19270839e-05 9.99757907e-01 4.16270358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.96, Y:129.92, Z:4.16 [[-7.39191726e-02 -9.97263016e-01 1.55972593e-03 2.18964819e+02] [ 9.97029327e-01 -7.39356150e-02 -2.15880980e-02 1.29916294e+02] [ 2.16443311e-02 -4.06818498e-05 9.99765733e-01 4.16397709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.96, Y:129.94, Z:4.16 [[-7.53250804e-02 -9.97157821e-01 1.55309941e-03 2.18963767e+02] [ 9.96927912e-01 -7.53410625e-02 -2.14117455e-02 1.29942893e+02] [ 2.14679017e-02 -6.45132963e-05 9.99769536e-01 4.16389040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.96, Y:129.97, Z:4.17 [[-7.81667831e-02 -9.96939190e-01 1.48509306e-03 2.18961539e+02] [ 9.96730685e-01 -7.81808072e-02 -2.03887769e-02 1.29970374e+02] [ 2.04424765e-02 -1.13487283e-04 9.99791024e-01 4.16649252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.870385723 meters Centerline goodness [0,1] 0.9999554257950923 Centerline is valid? [True, True] Translation: X:218.96, Y:130.00, Z:4.17 [[-7.92909886e-02 -9.96850430e-01 1.46918363e-03 2.18959880e+02] [ 9.96647982e-01 -7.93044943e-02 -2.00897119e-02 1.29996943e+02] [ 2.01429508e-02 -1.28674219e-04 9.99797102e-01 4.16687496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.900385723 meters Centerline goodness [0,1] 0.9999104905119943 Centerline is valid? [True, True] Translation: X:218.96, Y:130.03, Z:4.17 [[-8.18105485e-02 -9.96646808e-01 1.47442692e-03 2.18958509e+02] [ 9.96444476e-01 -8.18236493e-02 -2.00822454e-02 1.30025056e+02] [ 2.01355488e-02 -1.73754952e-04 9.99797244e-01 4.16785293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.93038572300003 meters Centerline goodness [0,1] 0.9999104203524959 Centerline is valid? [True, True] Translation: X:218.96, Y:130.05, Z:4.17 [[-8.33209529e-02 -9.96521649e-01 1.49034249e-03 2.18957115e+02] [ 9.96316450e-01 -8.33340402e-02 -2.02229882e-02 1.30053355e+02] [ 2.02768418e-02 -2.00145904e-04 9.99794384e-01 4.16825250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.960385723 meters Centerline goodness [0,1] 0.9998882356885799 Centerline is valid? [True, True] Translation: X:218.96, Y:130.08, Z:4.17 [[-8.59309972e-02 -9.96299899e-01 1.54137672e-03 2.18955929e+02] [ 9.96081941e-01 -8.59444405e-02 -2.08403386e-02 1.30079898e+02] [ 2.08957000e-02 -2.55493564e-04 9.99781628e-01 4.16856090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.990385723 meters Centerline goodness [0,1] 0.9998880981155722 Centerline is valid? [True, True] Translation: X:218.95, Y:130.11, Z:4.17 [[-8.73126020e-02 -9.96179721e-01 1.57258339e-03 2.18954035e+02] [ 9.95954219e-01 -8.73262992e-02 -2.11969777e-02 1.30105647e+02] [ 2.12533272e-02 -2.84542213e-04 9.99774082e-01 4.16851733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.020385723 meters Centerline goodness [0,1] 0.9999776361399978 Centerline is valid? [True, True] Translation: X:218.95, Y:130.13, Z:4.17 [[-8.90645668e-02 -9.96024577e-01 1.59528606e-03 2.18950153e+02] [ 9.95794039e-01 -8.90782773e-02 -2.14311061e-02 1.30133243e+02] [ 2.14880137e-02 -3.20175835e-04 9.99769055e-01 4.16958102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.050385723 meters Centerline goodness [0,1] 0.9997314474979858 Centerline is valid? [True, True] Translation: X:218.95, Y:130.16, Z:4.17 [[-8.95891236e-02 -9.95977460e-01 1.63971907e-03 2.18948292e+02] [ 9.95735741e-01 -8.96035083e-02 -2.19441627e-02 1.30160459e+02] [ 2.20028160e-02 -3.33231427e-04 9.99757853e-01 4.17049985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.080385723 meters Centerline goodness [0,1] 0.9999329833575338 Centerline is valid? [True, True] Translation: X:218.95, Y:130.19, Z:4.17 [[-8.98975002e-02 -9.95949665e-01 1.64450184e-03 2.18946325e+02] [ 9.95708455e-01 -8.99119231e-02 -2.19207502e-02 1.30186204e+02] [ 2.19798241e-02 -3.33176260e-04 9.99758359e-01 4.17171317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.110385723 meters Centerline goodness [0,1] 0.9998662117867416 Centerline is valid? [True, True] Translation: X:218.94, Y:130.21, Z:4.17 [[-8.94763444e-02 -9.95987646e-01 1.61030582e-03 2.18942968e+02] [ 9.95758283e-01 -8.94902996e-02 -2.13758837e-02 1.30212207e+02] [ 2.14342229e-02 -3.09160576e-04 9.99770213e-01 4.17312566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.140385723 meters Centerline goodness [0,1] 0.9999331550802139 Centerline is valid? [True, True] Translation: X:218.94, Y:130.24, Z:4.17 [[-8.91527313e-02 -9.96016673e-01 1.60566731e-03 2.18937404e+02] [ 9.95790333e-01 -8.91667040e-02 -2.12346858e-02 1.30239183e+02] [ 2.12932732e-02 -2.94222251e-04 9.99773229e-01 4.17373031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.170385723 meters Centerline goodness [0,1] 0.999911130859809 Centerline is valid? [True, True] Translation: X:218.93, Y:130.27, Z:4.17 [[-8.85334922e-02 -9.96071835e-01 1.64955556e-03 2.18933305e+02] [ 9.95834464e-01 -8.85484072e-02 -2.17462575e-02 1.30265821e+02] [ 2.18069001e-02 -2.82587846e-04 9.99762161e-01 4.17359011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.200385723 meters Centerline goodness [0,1] 0.9999113651975449 Centerline is valid? [True, True] Translation: X:218.93, Y:130.29, Z:4.17 [[-8.81481629e-02 -9.96105984e-01 1.66441179e-03 2.18928993e+02] [ 9.95866223e-01 -8.81634648e-02 -2.18556368e-02 1.30292745e+02] [ 2.19172709e-02 -2.69002751e-04 9.99759752e-01 4.17424587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.230385723 meters Centerline goodness [0,1] 0.9999114397679721 Centerline is valid? [True, True] Translation: X:218.92, Y:130.32, Z:4.18 [[-8.66126873e-02 -9.96240596e-01 1.70792465e-03 2.18924387e+02] [ 9.95990184e-01 -8.66292102e-02 -2.23368059e-02 1.30319526e+02] [ 2.24007890e-02 -2.33574603e-04 9.99749044e-01 4.17638496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.92, Y:130.35, Z:4.18 [[-8.61264081e-02 -9.96282733e-01 1.71989418e-03 2.18921698e+02] [ 9.96030858e-01 -8.61433073e-02 -2.24022637e-02 1.30346175e+02] [ 2.24671459e-02 -2.16358831e-04 9.99747558e-01 4.17826381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.290385723 meters Centerline goodness [0,1] 0.9998447824737239 Centerline is valid? [True, True] Translation: X:218.92, Y:130.37, Z:4.18 [[-8.44394758e-02 -9.96426990e-01 1.79667343e-03 2.18916799e+02] [ 9.96154200e-01 -8.44583986e-02 -2.33149873e-02 1.30373585e+02] [ 2.33834268e-02 -1.78941521e-04 9.99726554e-01 4.18097052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.91, Y:130.40, Z:4.18 [[-8.36704460e-02 -9.96491837e-01 1.80965338e-03 2.18912741e+02] [ 9.96216982e-01 -8.36898694e-02 -2.34036239e-02 1.30399385e+02] [ 2.34729698e-02 -1.55384219e-04 9.99724460e-01 4.18107633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.350385723 meters Centerline goodness [0,1] 0.9999558079413129 Centerline is valid? [True, True] Translation: X:218.91, Y:130.43, Z:4.18 [[-8.04278538e-02 -9.96758473e-01 1.97656318e-03 2.18905876e+02] [ 9.96433446e-01 -8.04521003e-02 -2.54528256e-02 1.30427306e+02] [ 2.55293382e-02 -7.76024703e-05 9.99674070e-01 4.18252490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.90, Y:130.46, Z:4.18 [[-7.92825795e-02 -9.96849991e-01 2.08977861e-03 2.18902000e+02] [ 9.96489344e-01 -7.93101048e-02 -2.68122192e-02 1.30455030e+02] [ 2.68935010e-02 -4.32997850e-05 9.99638303e-01 4.18254887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.410385723 meters Centerline goodness [0,1] 0.9999779614325068 Centerline is valid? [True, True] Translation: X:218.90, Y:130.48, Z:4.18 [[-7.85625881e-02 -9.96906767e-01 2.19484186e-03 2.18898000e+02] [ 9.96511922e-01 -7.85932395e-02 -2.80551521e-02 1.30481772e+02] [ 2.81408707e-02 -1.68992774e-05 9.99603967e-01 4.18173794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.440385723 meters Centerline goodness [0,1] 0.999933768986224 Centerline is valid? [True, True] Translation: X:218.89, Y:130.51, Z:4.18 [[-7.90731870e-02 -9.96866003e-01 2.36707669e-03 2.18893999e+02] [ 9.96410176e-01 -7.91086046e-02 -3.01428387e-02 1.30509799e+02] [ 3.02356273e-02 -2.49110207e-05 9.99542799e-01 4.18069351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.470385723 meters Centerline goodness [0,1] 0.999911651021535 Centerline is valid? [True, True] Translation: X:218.89, Y:130.54, Z:4.18 [[-8.05476521e-02 -9.96747826e-01 2.41807423e-03 2.18892728e+02] [ 9.96275439e-01 -8.05839155e-02 -3.06835823e-02 1.30537629e+02] [ 3.07786519e-02 -6.24225457e-05 9.99526223e-01 4.18178172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.500385723 meters Centerline goodness [0,1] 0.9999335312624629 Centerline is valid? [True, True] Translation: X:218.90, Y:130.57, Z:4.19 [[-8.45871568e-02 -9.96412843e-01 2.54134795e-03 2.18895557e+02] [ 9.95894515e-01 -8.46251171e-02 -3.21357283e-02 1.30566578e+02] [ 3.22355143e-02 -1.87355409e-04 9.99480283e-01 4.18517534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.530385723 meters Centerline goodness [0,1] 0.9998454200158997 Centerline is valid? [True, True] Translation: X:218.90, Y:130.59, Z:4.19 [[-8.68581693e-02 -9.96217328e-01 2.58712340e-03 2.18895736e+02] [ 9.95683527e-01 -8.68963120e-02 -3.26089675e-02 1.30593904e+02] [ 3.27104300e-02 -2.56399068e-04 9.99464838e-01 4.18623227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.560385723 meters Centerline goodness [0,1] 0.9999778550390859 Centerline is valid? [True, True] Translation: X:218.89, Y:130.62, Z:4.19 [[-9.02084179e-02 -9.95919242e-01 2.70284014e-03 2.18893882e+02] [ 9.95340378e-01 -9.02481311e-02 -3.39529971e-02 1.30621922e+02] [ 3.40583694e-02 -3.72600225e-04 9.99419776e-01 4.18618129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.590385723 meters Centerline goodness [0,1] 0.9999779628895059 Centerline is valid? [True, True] Translation: X:218.89, Y:130.65, Z:4.19 [[-9.13829901e-02 -9.95812174e-01 2.69486887e-03 2.18890678e+02] [ 9.95240636e-01 -9.14218382e-02 -3.37360967e-02 1.30649592e+02] [ 3.38411857e-02 -4.00862381e-04 9.99427143e-01 4.18634061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.89, Y:130.68, Z:4.19 [[-9.25053584e-02 -9.95708366e-01 2.75833305e-03 2.18888077e+02] [ 9.95113605e-01 -9.25454344e-02 -3.44130045e-02 1.30677444e+02] [ 3.45205876e-02 -4.38532563e-04 9.99403891e-01 4.18711748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.650385723 meters Centerline goodness [0,1] 0.9999114319243628 Centerline is valid? [True, True] Translation: X:218.89, Y:130.70, Z:4.19 [[-9.52417809e-02 -9.95450105e-01 2.84460169e-03 2.18888708e+02] [ 9.94821037e-01 -9.52827183e-02 -3.53879744e-02 1.30704586e+02] [ 3.54980042e-02 -5.40544104e-04 9.99369601e-01 4.18722066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.68038572300003 meters Centerline goodness [0,1] 0.999933532735128 Centerline is valid? [True, True] Translation: X:218.89, Y:130.73, Z:4.19 [[-9.82264623e-02 -9.95159992e-01 2.85515649e-03 2.18887525e+02] [ 9.94529901e-01 -9.82658716e-02 -3.54131996e-02 1.30732936e+02] [ 3.55223638e-02 -6.38974809e-04 9.99368677e-01 4.18889149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.710385723 meters Centerline goodness [0,1] 0.9997572011919215 Centerline is valid? [True, True] Translation: X:218.89, Y:130.76, Z:4.19 [[-9.90569375e-02 -9.95077704e-01 2.84352314e-03 2.18886398e+02] [ 9.94457033e-01 -9.90955858e-02 -3.51464684e-02 1.30760458e+02] [ 3.52552476e-02 -6.53739931e-04 9.99378127e-01 4.18790171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.740385723 meters Centerline goodness [0,1] 0.9998893633969863 Centerline is valid? [True, True] Translation: X:218.88, Y:130.79, Z:4.19 [[-9.97427469e-02 -9.95009091e-01 2.87976178e-03 2.18883422e+02] [ 9.94377062e-01 -9.97820350e-02 -3.54655249e-02 1.30787863e+02] [ 3.55758682e-02 -6.73859822e-04 9.99366751e-01 4.18860852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.770385723 meters Centerline goodness [0,1] 0.9999334782030245 Centerline is valid? [True, True] Translation: X:218.88, Y:130.82, Z:4.19 [[-1.00000270e-01 -9.94983211e-01 2.89063998e-03 2.18877201e+02] [ 9.94350885e-01 -1.00039776e-01 -3.54733779e-02 1.30815710e+02] [ 3.55845944e-02 -6.73036952e-04 9.99366441e-01 4.19245883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.800385723 meters Centerline goodness [0,1] 0.9999779327389884 Centerline is valid? [True, True] Translation: X:218.87, Y:130.84, Z:4.19 [[-1.00313781e-01 -9.94951797e-01 2.84034932e-03 2.18874904e+02] [ 9.94345545e-01 -1.00351815e-01 -3.47340057e-02 1.30843021e+02] [ 3.48436956e-02 -6.60010762e-04 9.99392556e-01 4.19290248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.87, Y:130.87, Z:4.19 [[-1.01187975e-01 -9.94863427e-01 2.78504438e-03 2.18871291e+02] [ 9.94284556e-01 -1.01224109e-01 -3.39396789e-02 1.30870571e+02] [ 3.40472588e-02 -6.65160747e-04 9.99420003e-01 4.19410051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.87, Y:130.90, Z:4.19 [[-1.01685365e-01 -9.94812641e-01 2.81005499e-03 2.18868322e+02] [ 9.94226733e-01 -1.01721925e-01 -3.41445836e-02 1.30897921e+02] [ 3.42533076e-02 -6.78172654e-04 9.99412953e-01 4.19387144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.890385723 meters Centerline goodness [0,1] 0.9999779604610671 Centerline is valid? [True, True] Translation: X:218.86, Y:130.93, Z:4.19 [[-1.01562680e-01 -9.94825210e-01 2.79692589e-03 2.18863607e+02] [ 9.94248188e-01 -1.01599037e-01 -3.38847436e-02 1.30925954e+02] [ 3.39935622e-02 -6.60586879e-04 9.99421834e-01 4.19307031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.920385723 meters Centerline goodness [0,1] 0.9999779565744517 Centerline is valid? [True, True] Translation: X:218.86, Y:130.95, Z:4.19 [[-1.01164602e-01 -9.94865643e-01 2.84196890e-03 2.18859913e+02] [ 9.94273910e-01 -1.01202453e-01 -3.43140761e-02 1.30953980e+02] [ 3.44255096e-02 -6.45674310e-04 9.99407058e-01 4.19406295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.86, Y:130.98, Z:4.19 [[-9.87832921e-02 -9.95104836e-01 2.86810631e-03 2.18856735e+02] [ 9.94505595e-01 -9.88233391e-02 -3.45335841e-02 1.30981000e+02] [ 3.46479724e-02 -5.58993353e-04 9.99399422e-01 4.19464452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.85, Y:131.01, Z:4.20 [[-9.78909272e-02 -9.95193183e-01 2.80965709e-03 2.18852683e+02] [ 9.94621379e-01 -9.79299237e-02 -3.37348948e-02 1.31008998e+02] [ 3.38478868e-02 -5.07795119e-04 9.99426867e-01 4.19544751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.85, Y:131.04, Z:4.20 [[-9.67669750e-02 -9.95303315e-01 2.73193812e-03 2.18848144e+02] [ 9.94766218e-01 -9.68045028e-02 -3.26964809e-02 1.31037214e+02] [ 3.28073798e-02 -4.46299804e-04 9.99461593e-01 4.19564243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.84, Y:131.06, Z:4.20 [[-9.39143201e-02 -9.95576911e-01 2.59138517e-03 2.18840385e+02] [ 9.95096763e-01 -9.39495035e-02 -3.09180029e-02 1.31064799e+02] [ 3.10247092e-02 -3.24964235e-04 9.99518565e-01 4.19602843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.84, Y:131.09, Z:4.20 [[-9.25522658e-02 -9.95704613e-01 2.53009976e-03 2.18835715e+02] [ 9.95249843e-01 -9.25864571e-02 -3.00914868e-02 1.31092950e+02] [ 3.01964852e-02 -2.66953889e-04 9.99543947e-01 4.19577771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.83, Y:131.12, Z:4.20 [[-9.01293584e-02 -9.95926905e-01 2.50987357e-03 2.18831612e+02] [ 9.95482342e-01 -9.01641122e-02 -2.97546614e-02 1.31120783e+02] [ 2.98597683e-02 -1.83233720e-04 9.99554081e-01 4.19577027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.130385723 meters Centerline goodness [0,1] 0.9999120415164042 Centerline is valid? [True, True] Translation: X:218.83, Y:131.15, Z:4.20 [[-8.98314718e-02 -9.95953887e-01 2.48224301e-03 2.18829057e+02] [ 9.95521844e-01 -8.98656107e-02 -2.93330996e-02 1.31148271e+02] [ 2.94374829e-02 -1.63908368e-04 9.99566610e-01 4.19600021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.83, Y:131.18, Z:4.20 [[-8.99504842e-02 -9.95943419e-01 2.37009488e-03 2.18825385e+02] [ 9.95552010e-01 -8.99815754e-02 -2.79197346e-02 1.31176054e+02] [ 2.80197408e-02 -1.51840930e-04 9.99607358e-01 4.19745435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.190385723 meters Centerline goodness [0,1] 0.9999780518853431 Centerline is valid? [True, True] Translation: X:218.82, Y:131.20, Z:4.20 [[-9.01066853e-02 -9.95929540e-01 2.26632643e-03 2.18822343e+02] [ 9.95573951e-01 -9.01350704e-02 -2.66115942e-02 1.31202708e+02] [ 2.67075483e-02 -1.41586986e-04 9.99643280e-01 4.19788689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.82, Y:131.23, Z:4.20 [[-9.01405011e-02 -9.95926555e-01 2.23340670e-03 2.18819144e+02] [ 9.95583476e-01 -9.01680678e-02 -2.61392960e-02 1.31230846e+02] [ 2.62342009e-02 -1.32666436e-04 9.99655815e-01 4.19892915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.250385723 meters Centerline goodness [0,1] 0.9999124630703579 Centerline is valid? [True, True] Translation: X:218.82, Y:131.26, Z:4.20 [[-8.94487171e-02 -9.95988845e-01 2.26904149e-03 2.18816276e+02] [ 9.95637104e-01 -8.94774262e-02 -2.64678433e-02 1.31257703e+02] [ 2.65647046e-02 -1.08372722e-04 9.99647090e-01 4.19824640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.81, Y:131.29, Z:4.20 [[-8.76198053e-02 -9.96151338e-01 2.29815785e-03 2.18813188e+02] [ 9.95792958e-01 -8.76499233e-02 -2.67184720e-02 1.31285857e+02] [ 2.68170750e-02 -5.25779173e-05 9.99640356e-01 4.19768282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.81, Y:131.31, Z:4.20 [[-8.69049791e-02 -9.96213873e-01 2.33332489e-03 2.18809692e+02] [ 9.95846989e-01 -8.69362935e-02 -2.70343377e-02 1.31311852e+02] [ 2.71348329e-02 -2.57839855e-05 9.99631782e-01 4.19699775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.340385723 meters Centerline goodness [0,1] 0.9998460117031106 Centerline is valid? [True, True] Translation: X:218.81, Y:131.34, Z:4.20 [[-8.60174550e-02 -9.96290913e-01 2.32693830e-03 2.18805891e+02] [ 9.95928573e-01 -8.60489231e-02 -2.68674650e-02 1.31339990e+02] [ 2.69680418e-02 6.39337232e-06 9.99636296e-01 4.19667820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.370385723 meters Centerline goodness [0,1] 0.9999342436928742 Centerline is valid? [True, True] Translation: X:218.80, Y:131.37, Z:4.20 [[-8.43814566e-02 -9.96430785e-01 2.33683113e-03 2.18801308e+02] [ 9.96067703e-01 -8.44137881e-02 -2.68969058e-02 1.31367312e+02] [ 2.69981658e-02 5.80419200e-05 9.99635481e-01 4.19596548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.400385723 meters Centerline goodness [0,1] 0.9999342436928742 Centerline is valid? [True, True] Translation: X:218.80, Y:131.39, Z:4.20 [[-8.46530611e-02 -9.96407730e-01 2.34416524e-03 2.18798848e+02] [ 9.96044657e-01 -8.46854917e-02 -2.68962671e-02 1.31394788e+02] [ 2.69981652e-02 5.80419189e-05 9.99635481e-01 4.19638267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.43038572300003 meters Centerline goodness [0,1] 0.9998901461056795 Centerline is valid? [True, True] Translation: X:218.80, Y:131.42, Z:4.20 [[-8.45249969e-02 -9.96418597e-01 2.34600360e-03 2.18796186e+02] [ 9.96057266e-01 -8.45575195e-02 -2.68318757e-02 1.31422864e+02] [ 2.69341522e-02 6.87897169e-05 9.99637208e-01 4.19728338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.460385723 meters Centerline goodness [0,1] 0.9999340499901075 Centerline is valid? [True, True] Translation: X:218.79, Y:131.45, Z:4.20 [[-8.42605514e-02 -9.96441199e-01 2.25760858e-03 2.18794369e+02] [ 9.96108736e-01 -8.42907522e-02 -2.57381875e-02 1.31449502e+02] [ 2.58368860e-02 8.01097517e-05 9.99666169e-01 4.19850162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.490385723 meters Centerline goodness [0,1] 0.9997590678114596 Centerline is valid? [True, True] Translation: X:218.79, Y:131.48, Z:4.20 [[-8.48326630e-02 -9.96392913e-01 2.14039858e-03 2.18792373e+02] [ 9.96095951e-01 -8.48596330e-02 -2.43248640e-02 1.31477306e+02] [ 2.44187555e-02 6.84993748e-05 9.99701815e-01 4.19995726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.520385723 meters Centerline goodness [0,1] 0.9999121381188771 Centerline is valid? [True, True] Translation: X:218.79, Y:131.51, Z:4.20 [[-8.67182410e-02 -9.96230945e-01 1.96221225e-03 2.18791664e+02] [ 9.95982805e-01 -8.67404342e-02 -2.22339816e-02 1.31505079e+02] [ 2.23203837e-02 2.62378846e-05 9.99750869e-01 4.20204812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.550385723 meters Centerline goodness [0,1] 0.9999780171466256 Centerline is valid? [True, True] Translation: X:218.79, Y:131.53, Z:4.20 [[-8.87195028e-02 -9.96054795e-01 1.92241232e-03 2.18790151e+02] [ 9.95818052e-01 -8.87403273e-02 -2.17154892e-02 1.31533254e+02] [ 2.18004126e-02 -1.22145130e-05 9.99762343e-01 4.20223967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.580385723 meters Centerline goodness [0,1] 0.9997145178645936 Centerline is valid? [True, True] Translation: X:218.79, Y:131.56, Z:4.20 [[-9.11282531e-02 -9.95837278e-01 1.93832151e-03 2.18789082e+02] [ 9.95598092e-01 -9.11488459e-02 -2.18249412e-02 1.31560788e+02] [ 2.19107658e-02 -5.90795737e-05 9.99759929e-01 4.20223186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.610385723 meters Centerline goodness [0,1] 0.9998904925644452 Centerline is valid? [True, True] Translation: X:218.79, Y:131.59, Z:4.20 [[-9.46575966e-02 -9.95507789e-01 2.04466180e-03 2.18789169e+02] [ 9.95243329e-01 -9.46795778e-02 -2.29454623e-02 1.31588758e+02] [ 2.30359741e-02 -1.37026295e-04 9.99734627e-01 4.20110010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.640385723 meters Centerline goodness [0,1] 0.9997798859809381 Centerline is valid? [True, True] Translation: X:218.79, Y:131.62, Z:4.20 [[-9.63602961e-02 -9.95344272e-01 2.11504180e-03 2.18788712e+02] [ 9.95063058e-01 -9.63833459e-02 -2.36592758e-02 1.31616443e+02] [ 2.37529795e-02 -1.75214864e-04 9.99717843e-01 4.20125406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.670385723 meters Centerline goodness [0,1] 0.9999118418442686 Centerline is valid? [True, True] Translation: X:218.79, Y:131.64, Z:4.20 [[-9.65198649e-02 -9.95328705e-01 2.16433573e-03 2.18787299e+02] [ 9.95036130e-01 -9.65439683e-02 -2.41321680e-02 1.31644549e+02] [ 2.42283931e-02 -1.75641342e-04 9.99706434e-01 4.20149723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.700385723 meters Centerline goodness [0,1] 0.9998240675580577 Centerline is valid? [True, True] Translation: X:218.79, Y:131.67, Z:4.20 [[-9.68278508e-02 -9.95298718e-01 2.19759140e-03 2.18785728e+02] [ 9.94998923e-01 -9.68526209e-02 -2.44277039e-02 1.31672218e+02] [ 2.45257048e-02 -1.78680983e-04 9.99699184e-01 4.20140752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.730385723 meters Centerline goodness [0,1] 0.9999337675240093 Centerline is valid? [True, True] Translation: X:218.78, Y:131.70, Z:4.20 [[-9.77601433e-02 -9.95207652e-01 2.16420685e-03 2.18784260e+02] [ 9.94918648e-01 -9.77839086e-02 -2.39831220e-02 1.31699101e+02] [ 2.40798112e-02 -1.91383692e-04 9.99710021e-01 4.20061702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.760385723 meters Centerline goodness [0,1] 0.999779556025836 Centerline is valid? [True, True] Translation: X:218.78, Y:131.73, Z:4.20 [[-9.82035020e-02 -9.95164042e-01 2.14501334e-03 2.18782817e+02] [ 9.94881955e-01 -9.82267363e-02 -2.36939564e-02 1.31726268e+02] [ 2.37900711e-02 -1.92794433e-04 9.99716958e-01 4.19968699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.790385723 meters Centerline goodness [0,1] 0.9999339396208135 Centerline is valid? [True, True] Translation: X:218.78, Y:131.75, Z:4.20 [[-9.85300230e-02 -9.95131745e-01 2.15529212e-03 2.18782795e+02] [ 9.94848865e-01 -9.85534029e-02 -2.37268321e-02 1.31753091e+02] [ 2.38237352e-02 -1.93615394e-04 9.99716156e-01 4.19959111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.78, Y:131.78, Z:4.20 [[-1.00069031e-01 -9.94978291e-01 2.09497506e-03 2.18784905e+02] [ 9.94712760e-01 -1.00090724e-01 -2.29863561e-02 1.31780698e+02] [ 2.30806128e-02 -2.16323955e-04 9.99733584e-01 4.20135934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.850385723 meters Centerline goodness [0,1] 0.9999555900965915 Centerline is valid? [True, True] Translation: X:218.78, Y:131.81, Z:4.20 [[-1.00607396e-01 -9.94924244e-01 1.97515432e-03 2.18783499e+02] [ 9.94689664e-01 -1.00626566e-01 -2.16047841e-02 1.31808145e+02] [ 2.16938765e-02 -2.08935490e-04 9.99764638e-01 4.20263213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.78, Y:131.84, Z:4.20 [[-1.00674158e-01 -9.94917649e-01 1.89358939e-03 2.18781319e+02] [ 9.94703387e-01 -1.00691775e-01 -2.06479476e-02 1.31835758e+02] [ 2.07336763e-02 -1.95154943e-04 9.99785015e-01 4.20336474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.910385723 meters Centerline goodness [0,1] 0.9998439520263944 Centerline is valid? [True, True] Translation: X:218.78, Y:131.86, Z:4.20 [[-9.99666749e-02 -9.94989342e-01 1.69532330e-03 2.18779226e+02] [ 9.94818627e-01 -9.99809276e-02 -1.84313392e-02 1.31862083e+02] [ 1.85084860e-02 -1.55980492e-04 9.99828691e-01 4.20408358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.940385723 meters Centerline goodness [0,1] 0.9999553790549284 Centerline is valid? [True, True] Translation: X:218.78, Y:131.89, Z:4.20 [[-9.95795287e-02 -9.95028268e-01 1.63207670e-03 2.18776092e+02] [ 9.94871066e-01 -9.95928073e-02 -1.76871356e-02 1.31890407e+02] [ 1.77617430e-02 -1.37570737e-04 9.99842238e-01 4.20479137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.78, Y:131.92, Z:4.20 [[-9.89566593e-02 -9.95090651e-01 1.47516884e-03 2.18775698e+02] [ 9.94962921e-01 -9.89675929e-02 -1.59436833e-02 1.31917465e+02] [ 1.60114041e-02 -1.09995332e-04 9.99871803e-01 4.20486526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.77, Y:131.94, Z:4.21 [[-9.86023614e-02 -9.95125902e-01 1.41865343e-03 2.18774727e+02] [ 9.95008274e-01 -9.86125186e-02 -1.53005392e-02 1.31943267e+02] [ 1.53658599e-02 -9.70973948e-05 9.99881934e-01 4.20522807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.77, Y:131.97, Z:4.20 [[-9.79753953e-02 -9.95187731e-01 1.48409578e-03 2.18772488e+02] [ 9.95059697e-01 -9.79865961e-02 -1.59632730e-02 1.31970234e+02] [ 1.60318750e-02 -8.72440936e-05 9.99871477e-01 4.20347474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.060385723 meters Centerline goodness [0,1] 0.9998880830871161 Centerline is valid? [True, True] Translation: X:218.77, Y:132.00, Z:4.20 [[-9.80668691e-02 -9.95178639e-01 1.53828793e-03 2.18770847e+02] [ 9.95042006e-01 -9.80788951e-02 -1.64905213e-02 1.31997132e+02] [ 1.65618881e-02 -8.65126822e-05 9.99862839e-01 4.20288032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.77, Y:132.03, Z:4.20 [[-9.84151035e-02 -9.95144355e-01 1.47634977e-03 2.18771149e+02] [ 9.95019277e-01 -9.84261408e-02 -1.57776043e-02 1.32025461e+02] [ 1.58463052e-02 -8.37580721e-05 9.99874436e-01 4.20414073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.120385723 meters Centerline goodness [0,1] 0.999977661119178 Centerline is valid? [True, True] Translation: X:218.77, Y:132.05, Z:4.21 [[-9.86657741e-02 -9.95119599e-01 1.43163454e-03 2.18770320e+02] [ 9.95002654e-01 -9.86761269e-02 -1.52558514e-02 1.32052588e+02] [ 1.53226649e-02 -8.07502296e-05 9.99882598e-01 4.20522192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.150385723 meters Centerline goodness [0,1] 0.9998204345483929 Centerline is valid? [True, True] Translation: X:218.77, Y:132.08, Z:4.21 [[-9.96813787e-02 -9.95018535e-01 1.31811481e-03 2.18768413e+02] [ 9.94919958e-01 -9.96900573e-02 -1.40060274e-02 1.32081002e+02] [ 1.40676598e-02 -8.47213926e-05 9.99901042e-01 4.20576270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.18038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.77, Y:132.11, Z:4.21 [[-1.00138994e-01 -9.94972633e-01 1.28155633e-03 2.18767345e+02] [ 9.94879970e-01 -1.00147158e-01 -1.35790872e-02 1.32109572e+02] [ 1.36391644e-02 -8.48014174e-05 9.99906979e-01 4.20573766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.77, Y:132.14, Z:4.21 [[-1.00494908e-01 -9.94936739e-01 1.28821371e-03 2.18765917e+02] [ 9.94843657e-01 -1.00503127e-01 -1.36095653e-02 1.32137310e+02] [ 1.36701260e-02 -8.61207745e-05 9.99906556e-01 4.20598174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.240385723 meters Centerline goodness [0,1] 0.9999773689094077 Centerline is valid? [True, True] Translation: X:218.77, Y:132.16, Z:4.21 [[-1.00392865e-01 -9.94946955e-01 1.35229500e-03 2.18766573e+02] [ 9.94844999e-01 -1.00401936e-01 -1.42435808e-02 1.32163922e+02] [ 1.43073804e-02 -8.46299636e-05 9.99897641e-01 4.20657663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.270385723 meters Centerline goodness [0,1] 0.9998419365036355 Centerline is valid? [True, True] Translation: X:218.77, Y:132.19, Z:4.21 [[-1.00498459e-01 -9.94936342e-01 1.31718225e-03 2.18765386e+02] [ 9.94840251e-01 -1.00507060e-01 -1.38277216e-02 1.32190454e+02] [ 1.38900889e-02 -7.92787983e-05 9.99903525e-01 4.20725582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.300385723 meters Centerline goodness [0,1] 0.9999773745418344 Centerline is valid? [True, True] Translation: X:218.76, Y:132.22, Z:4.21 [[-1.00186061e-01 -9.94967972e-01 1.21989425e-03 2.18762921e+02] [ 9.94886064e-01 -1.00193466e-01 -1.27666806e-02 1.32217273e+02] [ 1.28246637e-02 -6.53876535e-05 9.99917758e-01 4.20770446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.330385723 meters Centerline goodness [0,1] 0.9998644251626898 Centerline is valid? [True, True] Translation: X:218.76, Y:132.24, Z:4.21 [[-1.00064381e-01 -9.94980216e-01 1.22055935e-03 2.18760278e+02] [ 9.94898758e-01 -1.00071807e-01 -1.27316558e-02 1.32243170e+02] [ 1.27898892e-02 -5.96522711e-05 9.99918204e-01 4.20769902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.360385723 meters Centerline goodness [0,1] 0.9999096698432772 Centerline is valid? [True, True] Translation: X:218.76, Y:132.27, Z:4.21 [[-1.00541399e-01 -9.94932071e-01 1.26546672e-03 2.18758282e+02] [ 9.94844925e-01 -1.00549342e-01 -1.31683482e-02 1.32269796e+02] [ 1.32288538e-02 -6.50210103e-05 9.99912493e-01 4.20763449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.390385723 meters Centerline goodness [0,1] 0.9999318893883667 Centerline is valid? [True, True] Translation: X:218.76, Y:132.30, Z:4.21 [[-1.01037751e-01 -9.94881734e-01 1.30666017e-03 2.18757951e+02] [ 9.94789443e-01 -1.01046176e-01 -1.35512039e-02 1.32296061e+02] [ 1.36138782e-02 -6.93314190e-05 9.99907324e-01 4.20788592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.420385723 meters Centerline goodness [0,1] 0.9999547388431248 Centerline is valid? [True, True] Translation: X:218.76, Y:132.32, Z:4.21 [[-1.01823746e-01 -9.94801583e-01 1.31765702e-03 2.18755955e+02] [ 9.94708337e-01 -1.01832243e-01 -1.36205259e-02 1.32323301e+02] [ 1.36839006e-02 -7.62085462e-05 9.99906368e-01 4.20823252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.75, Y:132.35, Z:4.21 [[-1.03174400e-01 -9.94662443e-01 1.29167608e-03 2.18753361e+02] [ 9.94573348e-01 -1.03182447e-01 -1.33130775e-02 1.32349963e+02] [ 1.33752965e-02 -8.89021754e-05 9.99910543e-01 4.20837371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.75, Y:132.38, Z:4.21 [[-1.04589711e-01 -9.94514604e-01 1.30182075e-03 2.18751213e+02] [ 9.94424701e-01 -1.04597761e-01 -1.33724788e-02 1.32376031e+02] [ 1.34352930e-02 -1.04060997e-04 9.99909737e-01 4.20816593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.75, Y:132.40, Z:4.21 [[-1.07234478e-01 -9.94232863e-01 1.33461970e-03 2.18749233e+02] [ 9.94138797e-01 -1.07242692e-01 -1.36768745e-02 1.32403099e+02] [ 1.37411263e-02 -1.39835280e-04 9.99905576e-01 4.20755414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.75, Y:132.43, Z:4.21 [[-1.08031232e-01 -9.94146603e-01 1.33608546e-03 2.18746546e+02] [ 9.94052854e-01 -1.08039394e-01 -1.36533293e-02 1.32429810e+02] [ 1.37177608e-02 -1.46846415e-04 9.99905896e-01 4.20776601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.570385723 meters Centerline goodness [0,1] 0.9999546885973856 Centerline is valid? [True, True] Translation: X:218.74, Y:132.46, Z:4.21 [[-1.08458802e-01 -9.94099966e-01 1.39479706e-03 2.18743123e+02] [ 9.93998428e-01 -1.08467660e-01 -1.42089048e-02 1.32457374e+02] [ 1.42763622e-02 -1.54654702e-04 9.99898076e-01 4.20903589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.600385723 meters Centerline goodness [0,1] 0.9999773852868676 Centerline is valid? [True, True] Translation: X:218.74, Y:132.49, Z:4.21 [[-1.08713105e-01 -9.94072179e-01 1.40121481e-03 2.18740045e+02] [ 9.93970271e-01 -1.08722025e-01 -1.42345332e-02 1.32485718e+02] [ 1.43024963e-02 -1.54714443e-04 9.99897702e-01 4.20943216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.74, Y:132.51, Z:4.21 [[-1.09758640e-01 -9.93957186e-01 1.46758783e-03 2.18737189e+02] [ 9.93846037e-01 -1.09768315e-01 -1.48651503e-02 1.32512578e+02] [ 1.49364176e-02 -1.73022325e-04 9.99888431e-01 4.20954811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.73, Y:132.54, Z:4.21 [[-1.10294726e-01 -9.93897877e-01 1.44333264e-03 2.18733335e+02] [ 9.93790789e-01 -1.10304031e-01 -1.45907006e-02 1.32540219e+02] [ 1.46608718e-02 -1.74906642e-04 9.99892508e-01 4.21006679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.73, Y:132.57, Z:4.21 [[-1.11044003e-01 -9.93814432e-01 1.45078089e-03 2.18731734e+02] [ 9.93706824e-01 -1.11053330e-01 -1.46255327e-02 1.32566749e+02] [ 1.46961796e-02 -1.82426840e-04 9.99891989e-01 4.21057564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.720385723 meters Centerline goodness [0,1] 0.9999548990867065 Centerline is valid? [True, True] Translation: X:218.73, Y:132.59, Z:4.21 [[-1.11702168e-01 -9.93740597e-01 1.50068424e-03 2.18729060e+02] [ 9.93626220e-01 -1.11712081e-01 -1.50779765e-02 1.32594087e+02] [ 1.51512419e-02 -1.93123458e-04 9.99885195e-01 4.21165389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.73, Y:132.62, Z:4.21 [[-1.12308580e-01 -9.93672216e-01 1.51986326e-03 2.18726246e+02] [ 9.93555598e-01 -1.12318686e-01 -1.52245221e-02 1.32621122e+02] [ 1.52988936e-02 -1.99775799e-04 9.99882945e-01 4.21254998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.72, Y:132.65, Z:4.21 [[-1.12154564e-01 -9.93689451e-01 1.62148703e-03 2.18722566e+02] [ 9.93557574e-01 -1.12166098e-01 -1.61899059e-02 1.32647067e+02] [ 1.62696145e-02 -2.04731118e-04 9.99867620e-01 4.21278551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.72, Y:132.67, Z:4.21 [[-1.11824293e-01 -9.93726617e-01 1.65476645e-03 2.18719282e+02] [ 9.93590159e-01 -1.11836361e-01 -1.64688931e-02 1.32672944e+02] [ 1.65506405e-02 -1.97462659e-04 9.99863009e-01 4.21314357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.71, Y:132.70, Z:4.21 [[-1.09968218e-01 -9.93933797e-01 1.61175896e-03 2.18714725e+02] [ 9.93805149e-01 -1.09979917e-01 -1.59919968e-02 1.32699734e+02] [ 1.60722472e-02 -1.56837028e-04 9.99870821e-01 4.21456840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.71, Y:132.73, Z:4.22 [[-1.09467232e-01 -9.93989224e-01 1.53199225e-03 2.18711368e+02] [ 9.93873655e-01 -1.09477867e-01 -1.51576345e-02 1.32725498e+02] [ 1.52342446e-02 -1.36657565e-04 9.99883943e-01 4.21558784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.71, Y:132.75, Z:4.22 [[-1.08834389e-01 -9.94058821e-01 1.46161515e-03 2.18706361e+02] [ 9.93954256e-01 -1.08844141e-01 -1.44184013e-02 1.32752815e+02] [ 1.44918272e-02 -1.16439297e-04 9.99894981e-01 4.21608134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.93038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.70, Y:132.78, Z:4.22 [[-1.09540423e-01 -9.93981246e-01 1.47603305e-03 2.18703415e+02] [ 9.93875183e-01 -1.09550297e-01 -1.45207531e-02 1.32780261e+02] [ 1.45950561e-02 -1.23616805e-04 9.99893479e-01 4.21653796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.70, Y:132.81, Z:4.22 [[-1.09972307e-01 -9.93933598e-01 1.44714438e-03 2.18702349e+02] [ 9.93832180e-01 -1.09981759e-01 -1.41989778e-02 1.32807711e+02] [ 1.42720005e-02 -1.23275687e-04 9.99898142e-01 4.21791138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.70, Y:132.83, Z:4.22 [[-1.09817614e-01 -9.93950746e-01 1.41649748e-03 2.18699015e+02] [ 9.93854113e-01 -1.09826690e-01 -1.38600406e-02 1.32834922e+02] [ 1.39317669e-02 -1.14284744e-04 9.99902942e-01 4.21895265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.69, Y:132.86, Z:4.22 [[-1.08755677e-01 -9.94067599e-01 1.34611440e-03 2.18693250e+02] [ 9.93980834e-01 -1.08763969e-01 -1.31339385e-02 1.32862652e+02] [ 1.32024314e-02 -9.03784498e-05 9.99912840e-01 4.21994586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.69, Y:132.89, Z:4.22 [[-1.08270077e-01 -9.94120628e-01 1.32952323e-03 2.18688786e+02] [ 9.94036420e-01 -1.08278211e-01 -1.29392524e-02 1.32888180e+02] [ 1.30071361e-02 -7.93393427e-05 9.99915400e-01 4.22021453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.68, Y:132.92, Z:4.22 [[-1.06671819e-01 -9.94293026e-01 1.58130616e-03 2.18682181e+02] [ 9.94174798e-01 -1.06683521e-01 -1.53329205e-02 1.32915291e+02] [ 1.54141152e-02 -6.34957928e-05 9.99881193e-01 4.21813266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.68, Y:132.94, Z:4.22 [[-1.06020031e-01 -9.94362503e-01 1.72223574e-03 2.18677491e+02] [ 9.94223155e-01 -1.06034005e-01 -1.66465808e-02 1.32942580e+02] [ 1.67353513e-02 -5.25843669e-05 9.99859953e-01 4.21687775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.140385723 meters Centerline goodness [0,1] 0.9999331312410842 Centerline is valid? [True, True] Translation: X:218.67, Y:132.97, Z:4.22 [[-1.04156827e-01 -9.94559104e-01 1.88271938e-03 2.18672314e+02] [ 9.94393652e-01 -1.04173841e-01 -1.81404624e-02 1.32969663e+02] [ 1.82378921e-02 -1.72888117e-05 9.99833676e-01 4.21553492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.67, Y:133.00, Z:4.22 [[-1.03337419e-01 -9.94644522e-01 1.91136791e-03 2.18668354e+02] [ 9.94474999e-01 -1.03355094e-01 -1.83630419e-02 1.32997725e+02] [ 1.84622486e-02 3.21824158e-06 9.99829558e-01 4.21591212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.200385723 meters Centerline goodness [0,1] 0.9999776984834968 Centerline is valid? [True, True] Translation: X:218.66, Y:133.02, Z:4.22 [[-1.03128833e-01 -9.94666137e-01 1.92866152e-03 2.18664385e+02] [ 9.94494472e-01 -1.03146865e-01 -1.84788891e-02 1.33024976e+02] [ 1.85792606e-02 1.23369657e-05 9.99827391e-01 4.21560045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.66, Y:133.05, Z:4.22 [[-1.03433472e-01 -9.94634551e-01 1.90461390e-03 2.18658532e+02] [ 9.94468075e-01 -1.03451006e-01 -1.81971790e-02 1.33051190e+02] [ 1.82965772e-02 1.18803052e-05 9.99832604e-01 4.21500718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.260385723 meters Centerline goodness [0,1] 0.9999556983054602 Centerline is valid? [True, True] Translation: X:218.65, Y:133.08, Z:4.21 [[-1.03775572e-01 -9.94598906e-01 1.90969591e-03 2.18653773e+02] [ 9.94432529e-01 -1.03793141e-01 -1.81914442e-02 1.33078416e+02] [ 1.82914038e-02 1.12361982e-05 9.99832698e-01 4.21356123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.290385723 meters Centerline goodness [0,1] 0.99995560094126 Centerline is valid? [True, True] Translation: X:218.65, Y:133.11, Z:4.21 [[-1.03278953e-01 -9.94650167e-01 2.12228510e-03 2.18650513e+02] [ 9.94445920e-01 -1.03300752e-01 -2.01560419e-02 1.33106245e+02] [ 2.02674440e-02 2.88028731e-05 9.99794594e-01 4.21414991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.65, Y:133.13, Z:4.22 [[-1.03300526e-01 -9.94647739e-01 2.20818868e-03 2.18648662e+02] [ 9.94427837e-01 -1.03324119e-01 -2.09141768e-02 1.33133392e+02] [ 2.10303978e-02 3.54388275e-05 9.99778836e-01 4.21506839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.65, Y:133.16, Z:4.22 [[-1.03603234e-01 -9.94616240e-01 2.21454661e-03 2.18645739e+02] [ 9.94396346e-01 -1.03626893e-01 -2.09135038e-02 1.33160001e+02] [ 2.10303971e-02 3.54304325e-05 9.99778836e-01 4.21547289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.64, Y:133.19, Z:4.22 [[-1.04204027e-01 -9.94553714e-01 2.10475378e-03 2.18643520e+02] [ 9.94356149e-01 -1.04225278e-01 -1.98227119e-02 1.33187739e+02] [ 1.99341203e-02 2.72684577e-05 9.99801295e-01 4.21892449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.64, Y:133.22, Z:4.22 [[-1.04954948e-01 -9.94474975e-01 1.99581913e-03 2.18639693e+02] [ 9.94298199e-01 -1.04973921e-01 -1.87501254e-02 1.33215777e+02] [ 1.88560394e-02 1.65209298e-05 9.99822209e-01 4.21991898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.63, Y:133.24, Z:4.22 [[-1.06649550e-01 -9.94294901e-01 1.87691637e-03 2.18634075e+02] [ 9.94139294e-01 -1.06666064e-01 -1.75901800e-02 1.33243563e+02] [ 1.76900296e-02 -1.00684660e-05 9.99843519e-01 4.21996332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.63, Y:133.27, Z:4.22 [[-1.07688463e-01 -9.94182943e-01 1.86322032e-03 2.18630139e+02] [ 9.94030360e-01 -1.07704578e-01 -1.74174278e-02 1.33271616e+02] [ 1.75167870e-02 -2.35584618e-05 9.99846569e-01 4.22010746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.63, Y:133.30, Z:4.22 [[-1.10564453e-01 -9.93867152e-01 1.89389720e-03 2.18628215e+02] [ 9.93710257e-01 -1.10580650e-01 -1.76591382e-02 1.33299076e+02] [ 1.77602658e-02 -7.04878831e-05 9.99842272e-01 4.21976553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.530385723 meters Centerline goodness [0,1] 0.9999557414415012 Centerline is valid? [True, True] Translation: X:218.63, Y:133.33, Z:4.22 [[-1.12298260e-01 -9.93672666e-01 1.93246628e-03 2.18626812e+02] [ 9.93509950e-01 -1.12314842e-01 -1.79821147e-02 1.33327323e+02] [ 1.80853805e-02 -9.94357253e-05 9.99836441e-01 4.22051150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.63, Y:133.36, Z:4.22 [[-1.13940459e-01 -9.93485702e-01 1.93163961e-03 2.18625818e+02] [ 9.93323922e-01 -1.13956764e-01 -1.79288220e-02 1.33355782e+02] [ 1.80321517e-02 -1.24074369e-04 9.99837400e-01 4.22212119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.62, Y:133.38, Z:4.22 [[-1.17827186e-01 -9.93032130e-01 1.98569711e-03 2.18624073e+02] [ 9.92861982e-01 -1.17843756e-01 -1.83829902e-02 1.33383819e+02] [ 1.84889019e-02 -1.94492832e-04 9.99829047e-01 4.22321129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.62, Y:133.41, Z:4.22 [[-1.21133999e-01 -9.92633881e-01 2.12886163e-03 2.18617323e+02] [ 9.92439209e-01 -1.21152407e-01 -1.96598663e-02 1.33409900e+02] [ 1.97729661e-02 -2.68712468e-04 9.99804460e-01 4.22001819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.61, Y:133.44, Z:4.22 [[-1.22175895e-01 -9.92506055e-01 2.18681823e-03 2.18612726e+02] [ 9.92301458e-01 -1.22195114e-01 -2.01536653e-02 1.33437127e+02] [ 2.02698533e-02 -2.92309165e-04 9.99794503e-01 4.21921630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.68038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.61, Y:133.46, Z:4.22 [[-1.22881840e-01 -9.92418770e-01 2.24475409e-03 2.18610909e+02] [ 9.92204086e-01 -1.22901952e-01 -2.06437122e-02 1.33464585e+02] [ 2.07630921e-02 -3.09483165e-04 9.99784376e-01 4.21936260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.61, Y:133.49, Z:4.22 [[-1.23798692e-01 -9.92304548e-01 2.35976167e-03 2.18610485e+02] [ 9.92068570e-01 -1.23820718e-01 -2.16421207e-02 1.33492372e+02] [ 2.17677622e-02 -3.38220851e-04 9.99762997e-01 4.22209515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.61, Y:133.52, Z:4.22 [[-1.24618215e-01 -9.92201967e-01 2.35728497e-03 2.18608646e+02] [ 9.91967565e-01 -1.24640018e-01 -2.15688400e-02 1.33519852e+02] [ 2.16944575e-02 -3.49520110e-04 9.99764586e-01 4.22302457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.60, Y:133.55, Z:4.22 [[-1.26358923e-01 -9.91982093e-01 2.22479801e-03 2.18601975e+02] [ 9.91774076e-01 -1.26377993e-01 -2.03170929e-02 1.33547403e+02] [ 2.04353579e-02 -3.60748994e-04 9.99791111e-01 4.22243746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.60, Y:133.58, Z:4.22 [[-1.26826773e-01 -9.91922405e-01 2.21625538e-03 2.18596364e+02] [ 9.91716995e-01 -1.26845618e-01 -2.01888868e-02 1.33575484e+02] [ 2.03069314e-02 -3.62593241e-04 9.99793727e-01 4.22175070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.59, Y:133.60, Z:4.22 [[-1.26261410e-01 -9.91994493e-01 2.23222787e-03 2.18591556e+02] [ 9.91787159e-01 -1.26280663e-01 -2.02836011e-02 1.33602861e+02] [ 2.04031078e-02 -3.47141134e-04 9.99791775e-01 4.22184921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.59, Y:133.63, Z:4.22 [[-1.25135368e-01 -9.92137097e-01 2.26280762e-03 2.18590094e+02] [ 9.91925149e-01 -1.25155411e-01 -2.05090842e-02 1.33629774e+02] [ 2.06310258e-02 -3.21876009e-04 9.99787106e-01 4.22316848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.59, Y:133.66, Z:4.22 [[-1.23779289e-01 -9.92307125e-01 2.29272878e-03 2.18586748e+02] [ 9.92090706e-01 -1.23800179e-01 -2.07255149e-02 1.33656396e+02] [ 2.08499163e-02 -2.90794582e-04 9.99782575e-01 4.22462831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.58, Y:133.68, Z:4.22 [[-1.20365786e-01 -9.92727068e-01 2.24627063e-03 2.18579730e+02] [ 9.92520495e-01 -1.20386565e-01 -2.02519690e-02 1.33683751e+02] [ 2.03750987e-02 -2.08174542e-04 9.99792384e-01 4.22472170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.950385723 meters Centerline goodness [0,1] 0.999933989042181 Centerline is valid? [True, True] Translation: X:218.57, Y:133.71, Z:4.22 [[-1.17068851e-01 -9.93121055e-01 2.33559096e-03 2.18571695e+02] [ 9.92898978e-01 -1.17092064e-01 -2.10016306e-02 1.33709418e+02] [ 2.11306407e-02 -1.39630900e-04 9.99776713e-01 4.22243131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.57, Y:133.74, Z:4.22 [[-1.16009507e-01 -9.93245313e-01 2.35441229e-03 2.18566788e+02] [ 9.93020949e-01 -1.16033342e-01 -2.11106171e-02 1.33736728e+02] [ 2.12412118e-02 -1.11051551e-04 9.99774374e-01 4.22213907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.010385723 meters Centerline goodness [0,1] 0.9999561941475381 Centerline is valid? [True, True] Translation: X:218.56, Y:133.76, Z:4.22 [[-1.15590998e-01 -9.93294015e-01 2.39205466e-03 2.18562883e+02] [ 9.93063686e-01 -1.15615705e-01 -2.13898064e-02 1.33763354e+02] [ 2.15229257e-02 -9.70064378e-05 9.99768350e-01 4.22279751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.56, Y:133.79, Z:4.22 [[-1.15482199e-01 -9.93306789e-01 2.34181483e-03 2.18560463e+02] [ 9.93087176e-01 -1.15505909e-01 -2.08865146e-02 1.33791563e+02] [ 2.10172102e-02 -8.63943616e-05 9.99779110e-01 4.22490537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.56, Y:133.82, Z:4.23 [[-1.15786107e-01 -9.93271507e-01 2.30032381e-03 2.18556976e+02] [ 9.93060667e-01 -1.15808924e-01 -2.04647065e-02 1.33817936e+02] [ 2.05934078e-02 -8.51675998e-05 9.99787930e-01 4.22621529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.55, Y:133.85, Z:4.23 [[-1.16043973e-01 -9.93241307e-01 2.34588459e-03 2.18552500e+02] [ 9.93023246e-01 -1.16067651e-01 -2.08118627e-02 1.33846037e+02] [ 2.09434830e-02 -8.55733082e-05 9.99780658e-01 4.22634828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.55, Y:133.87, Z:4.23 [[-1.16484797e-01 -9.93189509e-01 2.42737395e-03 2.18548203e+02] [ 9.92957187e-01 -1.16510050e-01 -2.14810160e-02 1.33873695e+02] [ 2.16175332e-02 -9.19333780e-05 9.99766310e-01 4.22607730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.55, Y:133.90, Z:4.23 [[-1.17744246e-01 -9.93040598e-01 2.58146503e-03 2.18546231e+02] [ 9.92779179e-01 -1.17772480e-01 -2.27847639e-02 1.33900916e+02] [ 2.29302211e-02 -1.19950101e-04 9.99737061e-01 4.22592395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.54, Y:133.93, Z:4.23 [[-1.18727029e-01 -9.92923572e-01 2.58300907e-03 2.18543848e+02] [ 9.92663142e-01 -1.18755046e-01 -2.27403866e-02 1.33928513e+02] [ 2.28862112e-02 -1.35840636e-04 9.99738067e-01 4.22703185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.54, Y:133.96, Z:4.23 [[-1.20602574e-01 -9.92697735e-01 2.49512753e-03 2.18540552e+02] [ 9.92455848e-01 -1.20628267e-01 -2.19137230e-02 1.33955534e+02] [ 2.20546861e-02 -1.66547487e-04 9.99756752e-01 4.22814509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.54, Y:133.98, Z:4.23 [[-1.21457093e-01 -9.92593476e-01 2.52310135e-03 2.18536331e+02] [ 9.92347355e-01 -1.21483163e-01 -2.21035638e-02 1.33983653e+02] [ 2.22463676e-02 -1.80841671e-04 9.99752503e-01 4.22799337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.53, Y:134.01, Z:4.23 [[-1.23280413e-01 -9.92368578e-01 2.55839602e-03 2.18532805e+02] [ 9.92116734e-01 -1.23306764e-01 -2.23568235e-02 1.34010274e+02] [ 2.25016767e-02 -2.17930924e-04 9.99746781e-01 4.22788278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.53, Y:134.04, Z:4.23 [[-1.24139096e-01 -9.92261352e-01 2.62575678e-03 2.18530213e+02] [ 9.91997456e-01 -1.24166638e-01 -2.28843520e-02 1.34037738e+02] [ 2.30332894e-02 -2.36098733e-04 9.99734671e-01 4.22897447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.53, Y:134.07, Z:4.23 [[-1.25260711e-01 -9.92120344e-01 2.64128651e-03 2.18528531e+02] [ 9.91854644e-01 -1.25288294e-01 -2.29610049e-02 1.34065230e+02] [ 2.31110023e-02 -2.56339510e-04 9.99732872e-01 4.22951078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.53, Y:134.09, Z:4.23 [[-1.27223051e-01 -9.91870613e-01 2.64238084e-03 2.18527938e+02] [ 9.91605950e-01 -1.27250147e-01 -2.29137658e-02 1.34093557e+02] [ 2.30637343e-02 -2.94958639e-04 9.99733953e-01 4.23146637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.53, Y:134.12, Z:4.23 [[-1.28057106e-01 -9.91763342e-01 2.61752091e-03 2.18525329e+02] [ 9.91504831e-01 -1.28083493e-01 -2.26448399e-02 1.34121923e+02] [ 2.27935833e-02 -3.04548043e-04 9.99740146e-01 4.23263009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.43038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.52, Y:134.15, Z:4.23 [[-1.28513915e-01 -9.91704266e-01 2.61205196e-03 2.18521979e+02] [ 9.91448033e-01 -1.28540089e-01 -2.25442598e-02 1.34149990e+02] [ 2.26929920e-02 -3.07537314e-04 9.99742434e-01 4.23278033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.460385723 meters Centerline goodness [0,1] 0.9998684787373959 Centerline is valid? [True, True] Translation: X:218.52, Y:134.18, Z:4.23 [[-1.28602440e-01 -9.91692424e-01 2.74755080e-03 2.18519442e+02] [ 9.91410375e-01 -1.28631394e-01 -2.36523436e-02 1.34176611e+02] [ 2.38092713e-02 -3.17798719e-04 9.99716469e-01 4.22933298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.490385723 meters Centerline goodness [0,1] 0.9999341599912214 Centerline is valid? [True, True] Translation: X:218.51, Y:134.20, Z:4.23 [[-1.25301238e-01 -9.92114947e-01 2.74433303e-03 2.18514904e+02] [ 9.91835090e-01 -1.25331075e-01 -2.35642748e-02 1.34204870e+02] [ 2.37224194e-02 -2.30707011e-04 9.99718557e-01 4.23249801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.51, Y:134.23, Z:4.23 [[-1.23029297e-01 -9.92399006e-01 2.82937525e-03 2.18510857e+02] [ 9.92102959e-01 -1.23061702e-01 -2.42391415e-02 1.34232316e+02] [ 2.44030876e-02 -1.75092973e-04 9.99702185e-01 4.23256717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.51, Y:134.26, Z:4.23 [[-1.20997030e-01 -9.92648627e-01 2.90201034e-03 2.18506566e+02] [ 9.92338728e-01 -1.21031765e-01 -2.48024258e-02 1.34259609e+02] [ 2.49713293e-02 -1.21242605e-04 9.99688160e-01 4.23253683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.50, Y:134.29, Z:4.23 [[-1.17373942e-01 -9.93083531e-01 2.90824461e-03 2.18501440e+02] [ 9.92773890e-01 -1.17409964e-01 -2.47972371e-02 1.34287570e+02] [ 2.49671847e-02 -2.33201544e-05 9.99688271e-01 4.23242955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.50, Y:134.31, Z:4.23 [[-1.16538375e-01 -9.93181997e-01 2.88592024e-03 2.18498092e+02] [ 9.92878581e-01 -1.16574103e-01 -2.45479398e-02 1.34313960e+02] [ 2.47169954e-02 4.59137948e-06 9.99694488e-01 4.23302296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.50, Y:134.34, Z:4.24 [[-1.14922164e-01 -9.93370646e-01 2.76689167e-03 2.18496604e+02] [ 9.93093120e-01 -1.14955456e-01 -2.34797199e-02 1.34342418e+02] [ 2.36421338e-02 4.94408714e-05 9.99720484e-01 4.23649044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.670385723 meters Centerline goodness [0,1] 0.9999779944105803 Centerline is valid? [True, True] Translation: X:218.49, Y:134.37, Z:4.24 [[-1.14626477e-01 -9.93405049e-01 2.67951256e-03 2.18493514e+02] [ 9.93146002e-01 -1.14657775e-01 -2.26851000e-02 1.34369550e+02] [ 2.28427199e-02 6.08340784e-05 9.99739069e-01 4.23768812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.49, Y:134.40, Z:4.24 [[-1.13643739e-01 -9.93518252e-01 2.56596882e-03 2.18488979e+02] [ 9.93281878e-01 -1.13672671e-01 -2.16710638e-02 1.34396325e+02] [ 2.18222779e-02 8.59496290e-05 9.99761862e-01 4.23940143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.49, Y:134.42, Z:4.24 [[-1.13500034e-01 -9.93534616e-01 2.59013966e-03 2.18485199e+02] [ 9.93295041e-01 -1.13529544e-01 -2.18175321e-02 1.34422427e+02] [ 2.19705307e-02 9.64822446e-05 9.99758614e-01 4.23931380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.48, Y:134.45, Z:4.24 [[-1.12859881e-01 -9.93607272e-01 2.69003937e-03 2.18482582e+02] [ 9.93350239e-01 -1.12891870e-01 -2.25992997e-02 1.34450013e+02] [ 2.27585121e-02 1.21596971e-04 9.99740984e-01 4.23885642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.790385723 meters Centerline goodness [0,1] 0.9999119679563361 Centerline is valid? [True, True] Translation: X:218.48, Y:134.48, Z:4.24 [[-1.13005746e-01 -9.93590219e-01 2.85966884e-03 2.18479710e+02] [ 9.93301214e-01 -1.13041845e-01 -2.39632887e-02 1.34476030e+02] [ 2.41329515e-02 1.32523212e-04 9.99708749e-01 4.23644339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.48, Y:134.50, Z:4.24 [[-1.13094141e-01 -9.93580351e-01 2.79296448e-03 2.18476893e+02] [ 9.93306105e-01 -1.13128543e-01 -2.33434192e-02 1.34502998e+02] [ 2.35095267e-02 1.34264735e-04 9.99723604e-01 4.23854213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.850385723 meters Centerline goodness [0,1] 0.9998900107789437 Centerline is valid? [True, True] Translation: X:218.47, Y:134.53, Z:4.24 [[-1.13846332e-01 -9.93494167e-01 2.89019840e-03 2.18473738e+02] [ 9.93201985e-01 -1.13882942e-01 -2.40933953e-02 1.34530569e+02] [ 2.42657920e-02 1.27606102e-04 9.99705534e-01 4.23837876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.47, Y:134.56, Z:4.24 [[-1.15973902e-01 -9.93247760e-01 2.99012217e-03 2.18472079e+02] [ 9.92936514e-01 -1.16012411e-01 -2.48636430e-02 1.34558905e+02] [ 2.50426490e-02 8.54677946e-05 9.99686380e-01 4.23835045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.47, Y:134.59, Z:4.24 [[-1.17665606e-01 -9.93048777e-01 2.98874132e-03 2.18471114e+02] [ 9.92739222e-01 -1.17703547e-01 -2.47933724e-02 1.34585723e+02] [ 2.49728136e-02 4.97135321e-05 9.99688129e-01 4.23920430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.940385723 meters Centerline goodness [0,1] 0.9998453277945953 Centerline is valid? [True, True] Translation: X:218.47, Y:134.61, Z:4.24 [[-1.21060899e-01 -9.92640368e-01 3.05912260e-03 2.18473350e+02] [ 9.92317484e-01 -1.21099541e-01 -2.53162281e-02 1.34614607e+02] [ 2.55003683e-02 -2.91844942e-05 9.99674812e-01 4.23914316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.970385723 meters Centerline goodness [0,1] 0.9999778540582438 Centerline is valid? [True, True] Translation: X:218.47, Y:134.64, Z:4.24 [[-1.22347056e-01 -9.92482941e-01 2.96810047e-03 2.18471615e+02] [ 9.92180312e-01 -1.22383042e-01 -2.45075246e-02 1.34642861e+02] [ 2.46865453e-02 -5.35326340e-05 9.99695239e-01 4.24365810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.000385723 meters Centerline goodness [0,1] 0.9999778692515381 Centerline is valid? [True, True] Translation: X:218.47, Y:134.67, Z:4.24 [[-1.24019875e-01 -9.92275358e-01 2.94698098e-03 2.18469593e+02] [ 9.91978379e-01 -1.24054853e-01 -2.42752727e-02 1.34669894e+02] [ 2.44533422e-02 -8.72748729e-05 9.99700969e-01 4.24313670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.030385723 meters Centerline goodness [0,1] 0.9998449715412043 Centerline is valid? [True, True] Translation: X:218.47, Y:134.70, Z:4.24 [[-1.25747612e-01 -9.92057796e-01 2.97782112e-03 2.18467281e+02] [ 9.91755971e-01 -1.25782805e-01 -2.44699914e-02 1.34697772e+02] [ 2.46502044e-02 -1.23771109e-04 9.99696130e-01 4.24334421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.060385723 meters Centerline goodness [0,1] 0.9998449406344143 Centerline is valid? [True, True] Translation: X:218.47, Y:134.73, Z:4.24 [[-1.26417058e-01 -9.91972532e-01 3.03683154e-03 2.18465068e+02] [ 9.91660062e-01 -1.26453455e-01 -2.48966849e-02 1.34725864e+02] [ 2.50808454e-02 -1.35861098e-04 9.99685417e-01 4.24388625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.090385723 meters Centerline goodness [0,1] 0.999977787156534 Centerline is valid? [True, True] Translation: X:218.47, Y:134.75, Z:4.25 [[-1.27347868e-01 -9.91853559e-01 3.00631222e-03 2.18465300e+02] [ 9.91548732e-01 -1.27383260e-01 -2.45889510e-02 1.34753288e+02] [ 2.47715924e-02 -1.50445422e-04 9.99693126e-01 4.24531387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.120385723 meters Centerline goodness [0,1] 0.9999557012492247 Centerline is valid? [True, True] Translation: X:218.46, Y:134.78, Z:4.25 [[-1.28042299e-01 -9.91764370e-01 2.93312190e-03 2.18462157e+02] [ 9.91475528e-01 -1.28075794e-01 -2.39346614e-02 1.34781598e+02] [ 2.41132063e-02 -1.56530493e-04 9.99709222e-01 4.24647083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.46, Y:134.81, Z:4.25 [[-1.28232380e-01 -9.91740100e-01 2.83395269e-03 2.18457893e+02] [ 9.91471644e-01 -1.28263605e-01 -2.30743695e-02 1.34809028e+02] [ 2.32472705e-02 -1.49097588e-04 9.99729735e-01 4.24888511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.18038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.45, Y:134.84, Z:4.25 [[-1.28607208e-01 -9.91691384e-01 2.89565856e-03 2.18454878e+02] [ 9.91412392e-01 -1.28639710e-01 -2.35222177e-02 1.34837256e+02] [ 2.36992773e-02 -1.54334976e-04 9.99719121e-01 4.24923024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.45, Y:134.86, Z:4.25 [[-1.28883759e-01 -9.91655461e-01 2.90221991e-03 2.18451444e+02] [ 9.91376478e-01 -1.28916338e-01 -2.35214084e-02 1.34864637e+02] [ 2.36992767e-02 -1.54334972e-04 9.99719121e-01 4.24964741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.240385723 meters Centerline goodness [0,1] 0.999933568059523 Centerline is valid? [True, True] Translation: X:218.45, Y:134.89, Z:4.25 [[-1.29559251e-01 -9.91567129e-01 3.00495702e-03 2.18449277e+02] [ 9.91269441e-01 -1.29593984e-01 -2.42959964e-02 1.34891329e+02] [ 2.44805357e-02 -1.69049028e-04 9.99700292e-01 4.24911263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.270385723 meters Centerline goodness [0,1] 0.9997106352668833 Centerline is valid? [True, True] Translation: X:218.45, Y:134.92, Z:4.25 [[-1.30480953e-01 -9.91446012e-01 3.08657590e-03 2.18446482e+02] [ 9.91133397e-01 -1.30517318e-01 -2.48961732e-02 1.34919783e+02] [ 2.50860632e-02 -1.89267954e-04 9.99685277e-01 4.24895783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.300385723 meters Centerline goodness [0,1] 0.9998887974556858 Centerline is valid? [True, True] Translation: X:218.44, Y:134.95, Z:4.25 [[-1.30965273e-01 -9.91382228e-01 3.06199297e-03 2.18443782e+02] [ 9.91075974e-01 -1.31000921e-01 -2.46408725e-02 1.34946803e+02] [ 2.48296470e-02 -1.92430919e-04 9.99691678e-01 4.24851871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.330385723 meters Centerline goodness [0,1] 0.999955551604587 Centerline is valid? [True, True] Translation: X:218.44, Y:134.97, Z:4.25 [[-1.31176032e-01 -9.91354195e-01 3.11575735e-03 2.18441011e+02] [ 9.91038651e-01 -1.31212888e-01 -2.50114071e-02 1.34972636e+02] [ 2.52039909e-02 -1.93061182e-04 9.99682310e-01 4.24756932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.360385723 meters Centerline goodness [0,1] 0.9999777079292895 Centerline is valid? [True, True] Translation: X:218.44, Y:135.00, Z:4.25 [[-1.31380952e-01 -9.91327211e-01 3.06697076e-03 2.18437100e+02] [ 9.91022924e-01 -1.31416611e-01 -2.45609261e-02 1.35000278e+02] [ 2.47509652e-02 -1.87399508e-04 9.99693630e-01 4.24850215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.390385723 meters Centerline goodness [0,1] 0.9999776890296959 Centerline is valid? [True, True] Translation: X:218.43, Y:135.03, Z:4.25 [[-1.31886051e-01 -9.91260234e-01 3.03606541e-03 2.18434416e+02] [ 9.90963366e-01 -1.31920854e-01 -2.42589381e-02 1.35027302e+02] [ 2.44474410e-02 -1.90785940e-04 9.99701098e-01 4.24850280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.43, Y:135.05, Z:4.25 [[-1.32916779e-01 -9.91123073e-01 2.86089619e-03 2.18433258e+02] [ 9.90860635e-01 -1.32947419e-01 -2.28075648e-02 1.35054271e+02] [ 2.29854525e-02 -1.96758644e-04 9.99735780e-01 4.24868353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.450385723 meters Centerline goodness [0,1] 0.999977611104892 Centerline is valid? [True, True] Translation: X:218.43, Y:135.08, Z:4.25 [[-1.34141525e-01 -9.90958411e-01 2.73492396e-03 2.18432229e+02] [ 9.90719662e-01 -1.34169241e-01 -2.17523873e-02 1.35081854e+02] [ 2.19226538e-02 -2.08355471e-04 9.99759648e-01 4.25034188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.43, Y:135.11, Z:4.25 [[-1.34535848e-01 -9.90905027e-01 2.70802333e-03 2.18429725e+02] [ 9.90672067e-01 -1.34562939e-01 -2.14865447e-02 1.35108887e+02] [ 2.16555248e-02 -2.07947449e-04 9.99765470e-01 4.25089033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.43, Y:135.14, Z:4.25 [[-1.35366533e-01 -9.90792059e-01 2.64521280e-03 2.18426336e+02] [ 9.90570790e-01 -1.35392206e-01 -2.09394534e-02 1.35137102e+02] [ 2.11047854e-02 -2.14230665e-04 9.99777246e-01 4.25118643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.42, Y:135.16, Z:4.25 [[-1.36662336e-01 -9.90614740e-01 2.41703119e-03 2.18423580e+02] [ 9.90430740e-01 -1.36683539e-01 -1.90934365e-02 1.35163932e+02] [ 1.92446080e-02 -2.15451648e-04 9.99814782e-01 4.25033610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.570385723 meters Centerline goodness [0,1] 0.9999775900320462 Centerline is valid? [True, True] Translation: X:218.42, Y:135.19, Z:4.25 [[-1.37639912e-01 -9.90479720e-01 2.27562127e-03 2.18419318e+02] [ 9.90317314e-01 -1.37658554e-01 -1.79371242e-02 1.35192034e+02] [ 1.80796165e-02 -2.15277049e-04 9.99836527e-01 4.24926063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.42, Y:135.22, Z:4.25 [[-1.38277306e-01 -9.90390950e-01 2.27007582e-03 2.18415979e+02] [ 9.90230027e-01 -1.38295762e-01 -1.78542803e-02 1.35219477e+02] [ 1.79966595e-02 -2.20944545e-04 9.99838023e-01 4.24840144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.630385723 meters Centerline goodness [0,1] 0.9999102716525718 Centerline is valid? [True, True] Translation: X:218.41, Y:135.25, Z:4.25 [[-1.38760604e-01 -9.90323403e-01 2.24781053e-03 2.18413019e+02] [ 9.90166295e-01 -1.38778632e-01 -1.76408694e-02 1.35247423e+02] [ 1.77821139e-02 -2.22151476e-04 9.99841861e-01 4.24815188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.41, Y:135.28, Z:4.25 [[-1.40226167e-01 -9.90117179e-01 2.14322372e-03 2.18411671e+02] [ 9.89974922e-01 -1.40242353e-01 -1.67849977e-02 1.35275512e+02] [ 1.69196853e-02 -2.31958161e-04 9.99856825e-01 4.24853037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.690385723 meters Centerline goodness [0,1] 0.9998877161464181 Centerline is valid? [True, True] Translation: X:218.41, Y:135.30, Z:4.25 [[-1.41511685e-01 -9.89934403e-01 2.07840451e-03 2.18408959e+02] [ 9.89801165e-01 -1.41526742e-01 -1.62429927e-02 1.35303485e+02] [ 1.63736471e-02 -2.41366066e-04 9.99865914e-01 4.24836271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.41, Y:135.33, Z:4.25 [[-1.42430780e-01 -9.89803259e-01 1.72695012e-03 2.18405554e+02] [ 9.89711589e-01 -1.42441094e-01 -1.34723813e-02 1.35331791e+02] [ 1.35809956e-02 -2.09699224e-04 9.99907752e-01 4.25133887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.40, Y:135.36, Z:4.25 [[-1.42247526e-01 -9.89829679e-01 1.68784285e-03 2.18401143e+02] [ 9.89742490e-01 -1.42257401e-01 -1.31390535e-02 1.35359872e+02] [ 1.32455332e-02 -1.98468057e-04 9.99912254e-01 4.25205557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.39, Y:135.39, Z:4.25 [[-1.39384625e-01 -9.90236724e-01 1.77685184e-03 2.18394647e+02] [ 9.90140588e-01 -1.39395854e-01 -1.37990048e-02 1.35386789e+02] [ 1.39119671e-02 -1.64035995e-04 9.99903210e-01 4.25183325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.810385723 meters Centerline goodness [0,1] 0.999955331219011 Centerline is valid? [True, True] Translation: X:218.39, Y:135.41, Z:4.25 [[-1.37193300e-01 -9.90542592e-01 1.83609559e-03 2.18388881e+02] [ 9.90440269e-01 -1.37205520e-01 -1.42379640e-02 1.35414083e+02] [ 1.43552322e-02 -1.34810260e-04 9.99896949e-01 4.25116411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.38, Y:135.44, Z:4.25 [[-1.33442286e-01 -9.91054659e-01 1.95441189e-03 2.18381089e+02] [ 9.90939308e-01 -1.33456573e-01 -1.51205227e-02 1.35440781e+02] [ 1.52460936e-02 -8.10135460e-05 9.99883768e-01 4.24953726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.38, Y:135.47, Z:4.25 [[-1.32900498e-01 -9.91127340e-01 2.01335664e-03 2.18375762e+02] [ 9.91005484e-01 -1.32915730e-01 -1.55415598e-02 1.35468126e+02] [ 1.56712716e-02 -7.02335790e-05 9.99877196e-01 4.24908833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.37, Y:135.50, Z:4.25 [[-1.33471980e-01 -9.91050303e-01 2.12789798e-03 2.18371557e+02] [ 9.90914798e-01 -1.33488918e-01 -1.63881580e-02 1.35495271e+02] [ 1.65255398e-02 -7.87942937e-05 9.99863441e-01 4.24819450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.93038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.37, Y:135.52, Z:4.25 [[-1.34636788e-01 -9.90892763e-01 2.11357995e-03 2.18369300e+02] [ 9.90759660e-01 -1.34653345e-01 -1.62410997e-02 1.35522569e+02] [ 1.63777888e-02 -9.25997427e-05 9.99865871e-01 4.24898223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.37, Y:135.55, Z:4.25 [[-1.37945855e-01 -9.90437656e-01 2.04706728e-03 2.18369255e+02] [ 9.90313287e-01 -1.37960974e-01 -1.56959369e-02 1.35550575e+02] [ 1.58282623e-02 -1.37951510e-04 9.99874716e-01 4.25104674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.37, Y:135.58, Z:4.25 [[-1.39661845e-01 -9.90197155e-01 2.04066426e-03 2.18367646e+02] [ 9.90074054e-01 -1.39676660e-01 -1.56140606e-02 1.35576765e+02] [ 1.57460315e-02 -1.60279764e-04 9.99876011e-01 4.25214041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.36, Y:135.60, Z:4.25 [[-1.40929794e-01 -9.90017395e-01 2.08593134e-03 2.18364536e+02] [ 9.89889392e-01 -1.40945117e-01 -1.59206051e-02 1.35604208e+02] [ 1.60556778e-02 -1.78846296e-04 9.99871083e-01 4.25279817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.36, Y:135.63, Z:4.25 [[-1.42100663e-01 -9.89850026e-01 2.08032163e-03 2.18361187e+02] [ 9.89723260e-01 -1.42115759e-01 -1.58423668e-02 1.35632171e+02] [ 1.59772136e-02 -1.92268111e-04 9.99872338e-01 4.25257228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.36, Y:135.66, Z:4.25 [[-1.42353063e-01 -9.89813766e-01 2.07683340e-03 2.18357129e+02] [ 9.89687952e-01 -1.42368083e-01 -1.57824848e-02 1.35659292e+02] [ 1.59173955e-02 -1.91268055e-04 9.99873292e-01 4.25253195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.35, Y:135.69, Z:4.25 [[-1.42745455e-01 -9.89757403e-01 2.00459655e-03 2.18353323e+02] [ 9.89640717e-01 -1.42759409e-01 -1.51987894e-02 1.35686761e+02] [ 1.53292893e-02 -1.85727736e-04 9.99882482e-01 4.25278645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.140385723 meters Centerline goodness [0,1] 0.9999104123272637 Centerline is valid? [True, True] Translation: X:218.35, Y:135.71, Z:4.25 [[-1.42809910e-01 -9.89748233e-01 1.94045258e-03 2.18350021e+02] [ 9.89639388e-01 -1.42822984e-01 -1.46791547e-02 1.35713091e+02] [ 1.48058086e-02 -1.75980455e-04 9.99890373e-01 4.25334315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.35, Y:135.74, Z:4.25 [[-1.43123831e-01 -9.89702982e-01 1.89109860e-03 2.18345819e+02] [ 9.89600089e-01 -1.43136221e-01 -1.42718610e-02 1.35739584e+02] [ 1.43955881e-02 -1.71212070e-04 9.99896364e-01 4.25408773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.34, Y:135.77, Z:4.26 [[-1.43291880e-01 -9.89678818e-01 1.80960197e-03 2.18342426e+02] [ 9.89585012e-01 -1.43303215e-01 -1.36269446e-02 1.35765743e+02] [ 1.37456202e-02 -1.61875518e-04 9.99905511e-01 4.25500753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.34, Y:135.79, Z:4.26 [[-1.43334755e-01 -9.89672650e-01 1.78721746e-03 2.18339153e+02] [ 9.89581587e-01 -1.43345812e-01 -1.34261226e-02 1.35792869e+02] [ 1.35436565e-02 -1.55832498e-04 9.99908268e-01 4.25635155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.34, Y:135.82, Z:4.26 [[-1.43774517e-01 -9.89609105e-01 1.64559977e-03 2.18336544e+02] [ 9.89532207e-01 -1.43783861e-01 -1.23374613e-02 1.35818586e+02] [ 1.24458747e-02 -1.45438574e-04 9.99922537e-01 4.25884505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.290385723 meters Centerline goodness [0,1] 0.9999776216264602 Centerline is valid? [True, True] Translation: X:218.33, Y:135.84, Z:4.26 [[-1.44362948e-01 -9.89523761e-01 1.43691987e-03 2.18331550e+02] [ 9.89465359e-01 -1.44370041e-01 -1.07515116e-02 1.35844991e+02] [ 1.08463244e-02 -1.30337482e-04 9.99941168e-01 4.25953188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.33, Y:135.87, Z:4.26 [[-1.44760165e-01 -9.89465778e-01 1.40305686e-03 2.18326748e+02] [ 9.89410330e-01 -1.44766907e-01 -1.04757925e-02 1.35872272e+02] [ 1.05685544e-02 -1.28278502e-04 9.99944143e-01 4.25964178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.32, Y:135.90, Z:4.26 [[-1.45072776e-01 -9.89419973e-01 1.41667141e-03 2.18320432e+02] [ 9.89363695e-01 -1.45079635e-01 -1.05536362e-02 1.35899951e+02] [ 1.06475086e-02 -1.29442042e-04 9.99943305e-01 4.25838661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.32, Y:135.93, Z:4.26 [[-1.46155635e-01 -9.89260225e-01 1.65442083e-03 2.18318211e+02] [ 9.89183844e-01 -1.46164910e-01 -1.22939481e-02 1.35926797e+02] [ 1.24037321e-02 -1.60303425e-04 9.99923058e-01 4.25695684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.31, Y:135.95, Z:4.26 [[-1.46597247e-01 -9.89194619e-01 1.80357005e-03 2.18312094e+02] [ 9.89104286e-01 -1.46608236e-01 -1.33692592e-02 1.35954662e+02] [ 1.34892175e-02 -1.75977737e-04 9.99909001e-01 4.25655152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.31, Y:135.98, Z:4.26 [[-1.47161421e-01 -9.89110525e-01 1.97098308e-03 2.18307776e+02] [ 9.89003125e-01 -1.47174489e-01 -1.45770155e-02 1.35982025e+02] [ 1.47083579e-02 -1.95865903e-04 9.99891807e-01 4.25585055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.30, Y:136.01, Z:4.26 [[-1.47448266e-01 -9.89067735e-01 2.00614781e-03 2.18302750e+02] [ 9.88956925e-01 -1.47461779e-01 -1.48061976e-02 1.36009782e+02] [ 1.49401625e-02 -1.99154404e-04 9.99888370e-01 4.25598120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.30, Y:136.04, Z:4.26 [[-1.47121083e-01 -9.89116259e-01 2.10073895e-03 2.18297583e+02] [ 9.88995280e-01 -1.47135947e-01 -1.54709210e-02 1.36036814e+02] [ 1.56116337e-02 -1.98477743e-04 9.99878111e-01 4.25588670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.530385723 meters Centerline goodness [0,1] 0.9999332487817902 Centerline is valid? [True, True] Translation: X:218.29, Y:136.06, Z:4.25 [[-1.47217866e-01 -9.89101903e-01 2.07951382e-03 2.18292540e+02] [ 9.88983860e-01 -1.47232426e-01 -1.52819448e-02 1.36064053e+02] [ 1.54215725e-02 -1.93169698e-04 9.99881062e-01 4.25471230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.560385723 meters Centerline goodness [0,1] 0.9999555209607472 Centerline is valid? [True, True] Translation: X:218.29, Y:136.09, Z:4.26 [[-1.46776280e-01 -9.89167576e-01 2.05673238e-03 2.18286805e+02] [ 9.89052578e-01 -1.46790580e-01 -1.50838883e-02 1.36091369e+02] [ 1.52224022e-02 -1.79740555e-04 9.99884116e-01 4.25622273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.28, Y:136.12, Z:4.26 [[-1.46517959e-01 -9.89205841e-01 2.07156395e-03 2.18281527e+02] [ 9.89089661e-01 -1.46532502e-01 -1.51614343e-02 1.36118454e+02] [ 1.53013308e-02 -1.72459927e-04 9.99882913e-01 4.25750365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.28, Y:136.15, Z:4.26 [[-1.46676568e-01 -9.89182465e-01 2.00868724e-03 2.18276026e+02] [ 9.89073684e-01 -1.46690228e-01 -1.46705488e-02 1.36146254e+02] [ 1.48065044e-02 -1.65086054e-04 9.99890364e-01 4.25759400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.650385723 meters Centerline goodness [0,1] 0.9999778491527301 Centerline is valid? [True, True] Translation: X:218.27, Y:136.17, Z:4.26 [[-1.46072671e-01 -9.89272217e-01 1.80453310e-03 2.18271236e+02] [ 9.89184749e-01 -1.46083753e-01 -1.31555856e-02 1.36172130e+02] [ 1.32780683e-02 -1.36654916e-04 9.99911833e-01 4.25977850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.68038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.27, Y:136.20, Z:4.26 [[-1.46312816e-01 -9.89236806e-01 1.76118382e-03 2.18266799e+02] [ 9.89153762e-01 -1.46323355e-01 -1.28183644e-02 1.36200206e+02] [ 1.29381002e-02 -1.33409385e-04 9.99916290e-01 4.26131335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.710385723 meters Centerline goodness [0,1] 0.9999335754140466 Centerline is valid? [True, True] Translation: X:218.26, Y:136.23, Z:4.26 [[-1.47503217e-01 -9.89060127e-01 1.69285268e-03 2.18261637e+02] [ 9.88983681e-01 -1.47512864e-01 -1.22976760e-02 1.36226891e+02] [ 1.24128585e-02 -1.39743090e-04 9.99922948e-01 4.26183231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.26, Y:136.25, Z:4.26 [[-1.48498356e-01 -9.88911230e-01 1.67877155e-03 2.18256244e+02] [ 9.88836354e-01 -1.48507772e-01 -1.21699532e-02 1.36254020e+02] [ 1.22843140e-02 -1.47187690e-04 9.99924534e-01 4.26166508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.25, Y:136.28, Z:4.26 [[-1.49722380e-01 -9.88726583e-01 1.71825944e-03 2.18250007e+02] [ 9.88648483e-01 -1.49732152e-01 -1.24281982e-02 1.36280524e+02] [ 1.25453687e-02 -1.62024835e-04 9.99921291e-01 4.26155824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.25, Y:136.31, Z:4.26 [[-1.50539136e-01 -9.88602244e-01 1.88968186e-03 2.18245590e+02] [ 9.88508232e-01 -1.50550882e-01 -1.36347767e-02 1.36307863e+02] [ 1.37638641e-02 -1.84601432e-04 9.99905257e-01 4.26110717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.830385723 meters Centerline goodness [0,1] 0.9999779619181947 Centerline is valid? [True, True] Translation: X:218.24, Y:136.33, Z:4.26 [[-1.51722179e-01 -9.88420439e-01 2.32721369e-03 2.18239376e+02] [ 9.88278578e-01 -1.51739835e-01 -1.67473949e-02 1.36333792e+02] [ 1.69065984e-02 -2.41015809e-04 9.99857044e-01 4.25875458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.23, Y:136.36, Z:4.26 [[-1.52700095e-01 -9.88269551e-01 2.44434293e-03 2.18233933e+02] [ 9.88113765e-01 -1.52719429e-01 -1.75488653e-02 1.36360241e+02] [ 1.77163079e-02 -2.64424513e-04 9.99843019e-01 4.25802064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.23, Y:136.39, Z:4.26 [[-1.54495284e-01 -9.87990101e-01 2.60131876e-03 2.18227755e+02] [ 9.87814403e-01 -1.54516872e-01 -1.86343933e-02 1.36386335e+02] [ 1.88125438e-02 -3.09305745e-04 9.99822981e-01 4.25762004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.22, Y:136.41, Z:4.26 [[-1.55669745e-01 -9.87805724e-01 2.60432032e-03 2.18219563e+02] [ 9.87630300e-01 -1.55691186e-01 -1.86183956e-02 1.36413264e+02] [ 1.87968275e-02 -3.26215233e-04 9.99823271e-01 4.25849520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.22, Y:136.44, Z:4.26 [[-1.56993521e-01 -9.87596307e-01 2.56276685e-03 2.18217289e+02] [ 9.87427060e-01 -1.57014069e-01 -1.82861641e-02 1.36440268e+02] [ 1.84617386e-02 -3.40263952e-04 9.99829510e-01 4.25856509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.980385723 meters Centerline goodness [0,1] 0.9998044456032853 Centerline is valid? [True, True] Translation: X:218.21, Y:136.47, Z:4.26 [[-1.59626709e-01 -9.87174520e-01 2.40421834e-03 2.18205455e+02] [ 9.87025953e-01 -1.59644405e-01 -1.71298382e-02 1.36467442e+02] [ 1.72939598e-02 -3.61353809e-04 9.99850383e-01 4.25659763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.20, Y:136.49, Z:4.26 [[-1.59031279e-01 -9.87271005e-01 2.23921092e-03 2.18200287e+02] [ 9.87142599e-01 -1.59046716e-01 -1.59257992e-02 1.36493650e+02] [ 1.60792190e-02 -3.22279738e-04 9.99870669e-01 4.26129511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.040385723 meters Centerline goodness [0,1] 0.9999782703172534 Centerline is valid? [True, True] Translation: X:218.19, Y:136.52, Z:4.26 [[-1.58135174e-01 -9.87414958e-01 2.22870655e-03 2.18193434e+02] [ 9.87288287e-01 -1.58150592e-01 -1.58186089e-02 1.36520860e+02] [ 1.59720023e-02 -3.01102600e-04 9.99872394e-01 4.26465547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.070385723 meters Centerline goodness [0,1] 0.9999349889481212 Centerline is valid? [True, True] Translation: X:218.19, Y:136.55, Z:4.27 [[-1.57723721e-01 -9.87480856e-01 2.18801365e-03 2.18187140e+02] [ 9.87359256e-01 -1.57738641e-01 -1.54990543e-02 1.36548057e+02] [ 1.56501537e-02 -2.84212996e-04 9.99877488e-01 4.26553057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.18, Y:136.57, Z:4.27 [[-1.56385320e-01 -9.87693942e-01 2.07586193e-03 2.18176787e+02] [ 9.87584923e-01 -1.56398905e-01 -1.46765919e-02 1.36573545e+02] [ 1.48206434e-02 -2.45113577e-04 9.99890138e-01 4.26513550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.17, Y:136.60, Z:4.26 [[-1.55822125e-01 -9.87783017e-01 2.04353415e-03 2.18169419e+02] [ 9.87677797e-01 -1.55835357e-01 -1.44191201e-02 1.36600601e+02] [ 1.45614169e-02 -2.28464633e-04 9.99893951e-01 4.26461086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.17, Y:136.63, Z:4.27 [[-1.56094566e-01 -9.87739993e-01 2.04750693e-03 2.18165481e+02] [ 9.87634776e-01 -1.56107827e-01 -1.44185560e-02 1.36627902e+02] [ 1.45614162e-02 -2.28469181e-04 9.99893951e-01 4.26502807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.16, Y:136.66, Z:4.27 [[-1.54995896e-01 -9.87912785e-01 2.14509331e-03 2.18159445e+02] [ 9.87797791e-01 -1.55010586e-01 -1.50745295e-02 1.36655131e+02] [ 1.52248326e-02 -2.17571770e-04 9.99884072e-01 4.26506548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.15, Y:136.68, Z:4.27 [[-1.53899939e-01 -9.88083754e-01 2.30296906e-03 2.18153043e+02] [ 9.87951785e-01 -1.53917025e-01 -1.61499171e-02 1.36682112e+02] [ 1.63119369e-02 -2.10248866e-04 9.99866929e-01 4.26524586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.15, Y:136.71, Z:4.26 [[-1.53918082e-01 -9.88080301e-01 2.55775737e-03 2.18145297e+02] [ 9.87918218e-01 -1.53939164e-01 -1.78977111e-02 1.36708732e+02] [ 1.80781148e-02 -2.27926256e-04 9.99836552e-01 4.26418640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.14, Y:136.74, Z:4.26 [[-1.54182584e-01 -9.88038861e-01 2.63427516e-03 2.18138337e+02] [ 9.87867652e-01 -1.54204909e-01 -1.83942379e-02 1.36736311e+02] [ 1.85804400e-02 -2.33755916e-04 9.99827341e-01 4.26454587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.13, Y:136.76, Z:4.26 [[-1.54410302e-01 -9.88003055e-01 2.72431765e-03 2.18131275e+02] [ 9.87820686e-01 -1.54434147e-01 -1.89838393e-02 1.36762690e+02] [ 1.91768189e-02 -2.40163042e-04 9.99816079e-01 4.26385780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.340385723 meters Centerline goodness [0,1] 0.999957141326476 Centerline is valid? [True, True] Translation: X:218.12, Y:136.79, Z:4.26 [[-1.54832328e-01 -9.87936834e-01 2.78608424e-03 2.18124839e+02] [ 9.87746888e-01 -1.54857194e-01 -1.93735401e-02 1.36790022e+02] [ 1.95712791e-02 -2.47704277e-04 9.99808434e-01 4.26443123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.12, Y:136.82, Z:4.26 [[-1.55757050e-01 -9.87791289e-01 2.84811198e-03 2.18120886e+02] [ 9.87593563e-01 -1.55782861e-01 -1.97649994e-02 1.36816706e+02] [ 1.99673813e-02 -2.65760943e-04 9.99800597e-01 4.26399878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.11, Y:136.84, Z:4.26 [[-1.57938317e-01 -9.87444538e-01 2.96170403e-03 2.18114131e+02] [ 9.87231548e-01 -1.57965769e-01 -2.05106503e-02 1.36843745e+02] [ 2.07209775e-02 -3.15529936e-04 9.99785248e-01 4.26386043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.43038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.11, Y:136.87, Z:4.26 [[-1.60745118e-01 -9.86991460e-01 2.97724896e-03 2.18106167e+02] [ 9.86776961e-01 -1.60772262e-01 -2.05793207e-02 1.36871520e+02] [ 2.07902729e-02 -3.70144665e-04 9.99783790e-01 4.26309759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.10, Y:136.90, Z:4.26 [[-1.62084559e-01 -9.86772470e-01 2.94756372e-03 2.18101495e+02] [ 9.86562963e-01 -1.62110893e-01 -2.03366280e-02 1.36898880e+02] [ 2.05454568e-02 -3.88296172e-04 9.99788844e-01 4.26319334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.10, Y:136.93, Z:4.26 [[-1.63229990e-01 -9.86583485e-01 2.99971137e-03 2.18097281e+02] [ 9.86367299e-01 -1.63257029e-01 -2.06565511e-02 1.36926909e+02] [ 2.08691361e-02 -4.12951429e-04 9.99782131e-01 4.26378220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.09, Y:136.95, Z:4.26 [[-1.64835480e-01 -9.86316388e-01 3.04096423e-03 2.18091483e+02] [ 9.86094985e-01 -1.64862923e-01 -2.09020943e-02 1.36954840e+02] [ 2.11174204e-02 -4.46727172e-04 9.99776903e-01 4.26399264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.09, Y:136.98, Z:4.26 [[-1.65459806e-01 -9.86211702e-01 3.08739788e-03 2.18086573e+02] [ 9.85984326e-01 -1.65487968e-01 -2.11811657e-02 1.36981451e+02] [ 2.14000407e-02 -4.60505656e-04 9.99770887e-01 4.26382539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.580385723 meters Centerline goodness [0,1] 0.9999356968319972 Centerline is valid? [True, True] Translation: X:218.08, Y:137.01, Z:4.26 [[-1.64167417e-01 -9.86427084e-01 3.26607651e-03 2.18078152e+02] [ 9.86173709e-01 -1.64199286e-01 -2.23608953e-02 1.37008966e+02] [ 2.25936802e-02 -4.50011637e-04 9.99744629e-01 4.26181855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.07, Y:137.04, Z:4.26 [[-1.62541563e-01 -9.86696272e-01 3.27222151e-03 2.18072308e+02] [ 9.86442949e-01 -1.62573988e-01 -2.23608455e-02 1.37037020e+02] [ 2.25953410e-02 -4.06706943e-04 9.99744610e-01 4.26334935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.07, Y:137.06, Z:4.26 [[-1.61344035e-01 -9.86892647e-01 3.31741092e-03 2.18066770e+02] [ 9.86633284e-01 -1.61377695e-01 -2.26274844e-02 1.37064476e+02] [ 2.28662541e-02 -3.77741617e-04 9.99738462e-01 4.26370239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.06, Y:137.09, Z:4.27 [[-1.58368179e-01 -9.87374968e-01 3.19257269e-03 2.18059861e+02] [ 9.87135733e-01 -1.58400089e-01 -2.17360837e-02 1.37091623e+02] [ 2.19673688e-02 -2.90801413e-04 9.99758646e-01 4.26555846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.05, Y:137.12, Z:4.27 [[-1.55988761e-01 -9.87754199e-01 3.02456172e-03 2.18052722e+02] [ 9.87540322e-01 -1.56017926e-01 -2.05552794e-02 1.37118272e+02] [ 2.07754494e-02 -2.19515910e-04 9.99784143e-01 4.26615775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.05, Y:137.15, Z:4.27 [[-1.55700904e-01 -9.87799405e-01 3.09250011e-03 2.18047185e+02] [ 9.87576662e-01 -1.55731468e-01 -2.09773074e-02 1.37146277e+02] [ 2.12029713e-02 -2.12104784e-04 9.99775169e-01 4.26643123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.04, Y:137.17, Z:4.27 [[-1.55430598e-01 -9.87841863e-01 3.12792204e-03 2.18043099e+02] [ 9.87614871e-01 -1.55461936e-01 -2.11767016e-02 1.37172681e+02] [ 2.14055052e-02 -2.02325069e-04 9.99770855e-01 4.26637229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.04, Y:137.20, Z:4.27 [[-1.55135619e-01 -9.87888536e-01 3.02985478e-03 2.18038050e+02] [ 9.87676410e-01 -1.55165095e-01 -2.04720075e-02 1.37198896e+02] [ 2.06941893e-02 -1.83421474e-04 9.99785836e-01 4.26702019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.03, Y:137.23, Z:4.27 [[-1.55061002e-01 -9.87900491e-01 2.95040634e-03 2.18032508e+02] [ 9.87700175e-01 -1.55088975e-01 -1.98940697e-02 1.37226372e+02] [ 2.01109367e-02 -1.70677527e-04 9.99797740e-01 4.26813557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.03, Y:137.25, Z:4.27 [[-1.54849475e-01 -9.87933626e-01 2.96493510e-03 2.18028561e+02] [ 9.87732116e-01 -1.54877774e-01 -1.99534833e-02 1.37253530e+02] [ 2.01719197e-02 -1.61224790e-04 9.99796513e-01 4.26779454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.02, Y:137.28, Z:4.27 [[-1.54335409e-01 -9.88013832e-01 3.04117780e-03 2.18024850e+02] [ 9.87802685e-01 -1.54365298e-01 -2.04257158e-02 1.37281581e+02] [ 2.06503421e-02 -1.48327619e-04 9.99786748e-01 4.26777617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.02, Y:137.31, Z:4.27 [[-1.54228237e-01 -9.88030340e-01 3.11408248e-03 2.18020772e+02] [ 9.87809784e-01 -1.54259606e-01 -2.08759273e-02 1.37308917e+02] [ 2.11064267e-02 -1.43536323e-04 9.99777224e-01 4.26767468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.02, Y:137.33, Z:4.27 [[-1.53738801e-01 -9.88106976e-01 2.99765307e-03 2.18016857e+02] [ 9.87903385e-01 -1.53767975e-01 -2.00577309e-02 1.37334786e+02] [ 2.02801269e-02 -1.22259899e-04 9.99794330e-01 4.26681561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.01, Y:137.36, Z:4.27 [[-1.54267095e-01 -9.88024957e-01 2.88936722e-03 2.18011977e+02] [ 9.87836581e-01 -1.54294103e-01 -1.92930040e-02 1.37361932e+02] [ 1.95077818e-02 -1.22053052e-04 9.99809698e-01 4.26762445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.000385723 meters Centerline goodness [0,1] 0.9999572402882004 Centerline is valid? [True, True] Translation: X:218.01, Y:137.39, Z:4.27 [[-1.55919452e-01 -9.87765156e-01 3.01999175e-03 2.18007143e+02] [ 9.87560159e-01 -1.55948619e-01 -2.01236454e-02 1.37389965e+02] [ 2.03483993e-02 -1.55244234e-04 9.99792938e-01 4.26737306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.00, Y:137.42, Z:4.27 [[-1.56889623e-01 -9.87611229e-01 3.11557690e-03 2.18003458e+02] [ 9.87393854e-01 -1.56920458e-01 -2.07207091e-02 1.37418130e+02] [ 2.09529027e-02 -1.74562746e-04 9.99780449e-01 4.26684294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.060385723 meters Centerline goodness [0,1] 0.999871948096295 Centerline is valid? [True, True] Translation: X:218.00, Y:137.45, Z:4.26 [[-1.58350092e-01 -9.87376372e-01 3.62609390e-03 2.18002080e+02] [ 9.87083024e-01 -1.58391434e-01 -2.40677659e-02 1.37446154e+02] [ 2.43382856e-02 -2.31877216e-04 9.99703753e-01 4.26334555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.090385723 meters Centerline goodness [0,1] 0.9999357505407663 Centerline is valid? [True, True] Translation: X:218.00, Y:137.47, Z:4.27 [[-1.59305259e-01 -9.87223108e-01 3.51699226e-03 2.17999619e+02] [ 9.86948056e-01 -1.59343894e-01 -2.33036016e-02 1.37473977e+02] [ 2.35662653e-02 -2.41297618e-04 9.99722248e-01 4.26550035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.00, Y:137.50, Z:4.27 [[-1.61129708e-01 -9.86927617e-01 3.33098444e-03 2.17997469e+02] [ 9.86681709e-01 -1.61163920e-01 -2.20316857e-02 1.37501851e+02] [ 2.22805136e-02 -2.63337673e-04 9.99751724e-01 4.26731633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.99, Y:137.53, Z:4.27 [[-1.61685311e-01 -9.86837103e-01 3.22372113e-03 2.17993241e+02] [ 9.86607607e-01 -1.61717235e-01 -2.12829756e-02 1.37530096e+02] [ 2.15241612e-02 -2.60596726e-04 9.99768294e-01 4.26768116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.18038572300003 meters Centerline goodness [0,1] 0.9999357821731313 Centerline is valid? [True, True] Translation: X:217.99, Y:137.56, Z:4.27 [[-1.61851184e-01 -9.86809775e-01 3.26544406e-03 2.17988846e+02] [ 9.86575180e-01 -1.61883911e-01 -2.15177287e-02 1.37557353e+02] [ 2.17625279e-02 -2.61063800e-04 9.99763134e-01 4.26721004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.210385723 meters Centerline goodness [0,1] 0.9999786288254402 Centerline is valid? [True, True] Translation: X:217.98, Y:137.59, Z:4.27 [[-1.61381600e-01 -9.86886597e-01 3.29001603e-03 2.17984649e+02] [ 9.86649364e-01 -1.61414946e-01 -2.16390407e-02 1.37585066e+02] [ 2.18863370e-02 -2.46050797e-04 9.99760435e-01 4.26704818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.240385723 meters Centerline goodness [0,1] 0.9999786265415607 Centerline is valid? [True, True] Translation: X:217.98, Y:137.61, Z:4.27 [[-1.60307613e-01 -9.87061449e-01 3.34142010e-03 2.17983437e+02] [ 9.86817714e-01 -1.60342284e-01 -2.19351799e-02 1.37612667e+02] [ 2.21871414e-02 -2.19003800e-04 9.99753811e-01 4.26752334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.270385723 meters Centerline goodness [0,1] 0.9999785890161653 Centerline is valid? [True, True] Translation: X:217.98, Y:137.64, Z:4.27 [[-1.60175600e-01 -9.87082719e-01 3.38872537e-03 2.17981034e+02] [ 9.86832997e-01 -1.60211301e-01 -2.22030587e-02 1.37640187e+02] [ 2.24591677e-02 -2.12282236e-04 9.99747739e-01 4.26796232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.98, Y:137.67, Z:4.27 [[-1.60082830e-01 -9.87097467e-01 3.47530301e-03 2.17977391e+02] [ 9.86835795e-01 -1.60120412e-01 -2.27281330e-02 1.37667995e+02] [ 2.29913494e-02 -2.08830431e-04 9.99735642e-01 4.26806374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.97, Y:137.70, Z:4.27 [[-1.60556750e-01 -9.87019800e-01 3.66666308e-03 2.17973828e+02] [ 9.86729599e-01 -1.60598455e-01 -2.39339736e-02 1.37695601e+02] [ 2.42121662e-02 -2.24756013e-04 9.99706817e-01 4.26668812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.97, Y:137.72, Z:4.27 [[-1.61477218e-01 -9.86869820e-01 3.61476577e-03 2.17973152e+02] [ 9.86588790e-01 -1.61517499e-01 -2.35511356e-02 1.37722681e+02] [ 2.38257529e-02 -2.36684476e-04 9.99716098e-01 4.26696458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.390385723 meters Centerline goodness [0,1] 0.9999570879910743 Centerline is valid? [True, True] Translation: X:217.97, Y:137.75, Z:4.27 [[-1.62416755e-01 -9.86715808e-01 3.56544555e-03 2.17971451e+02] [ 9.86443387e-01 -1.62455696e-01 -2.31860074e-02 1.37750692e+02] [ 2.34572269e-02 -2.48685906e-04 9.99724810e-01 4.26772958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.97, Y:137.78, Z:4.27 [[-1.64284316e-01 -9.86407722e-01 3.23567741e-03 2.17971816e+02] [ 9.86184083e-01 -1.64315971e-01 -2.10051543e-02 1.37778258e+02] [ 2.12513199e-02 -2.59843836e-04 9.99774131e-01 4.27039877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.450385723 meters Centerline goodness [0,1] 0.9999570640389859 Centerline is valid? [True, True] Translation: X:217.97, Y:137.81, Z:4.27 [[-1.64931341e-01 -9.86300119e-01 3.11891850e-03 2.17968280e+02] [ 9.86093072e-01 -1.64960627e-01 -2.02100386e-02 1.37806015e+02] [ 2.04476622e-02 -2.57724852e-04 9.99790891e-01 4.27039678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.480385723 meters Centerline goodness [0,1] 0.9999141280779718 Centerline is valid? [True, True] Translation: X:217.96, Y:137.83, Z:4.27 [[-1.64917449e-01 -9.86302036e-01 3.24496347e-03 2.17964438e+02] [ 9.86078751e-01 -1.64949163e-01 -2.09873823e-02 1.37833057e+02] [ 2.12351519e-02 -2.61396029e-04 9.99774475e-01 4.26860989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.96, Y:137.86, Z:4.27 [[-1.62234480e-01 -9.86746414e-01 3.38937833e-03 2.17959519e+02] [ 9.86503842e-01 -1.62269751e-01 -2.18791871e-02 1.37860585e+02] [ 2.21392030e-02 -2.05923801e-04 9.99754877e-01 4.26925667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.96, Y:137.89, Z:4.27 [[-1.60585762e-01 -9.87015622e-01 3.51783620e-03 2.17955942e+02] [ 9.86755363e-01 -1.60624200e-01 -2.26653802e-02 1.37887914e+02] [ 2.29361340e-02 -1.68493617e-04 9.99736918e-01 4.26906003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.95, Y:137.92, Z:4.27 [[-1.57632389e-01 -9.87491792e-01 3.46279477e-03 2.17953044e+02] [ 9.87240657e-01 -1.57670392e-01 -2.22695548e-02 1.37916299e+02] [ 2.25369828e-02 -9.17913378e-05 9.99746006e-01 4.27035491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.95, Y:137.94, Z:4.27 [[-1.56625109e-01 -9.87652224e-01 3.41459804e-03 2.17949024e+02] [ 9.87408932e-01 -1.56662314e-01 -2.19207866e-02 1.37944051e+02] [ 2.21850525e-02 -6.17409866e-05 9.99753880e-01 4.27140686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.630385723 meters Centerline goodness [0,1] 0.9999783984619705 Centerline is valid? [True, True] Translation: X:217.94, Y:137.97, Z:4.27 [[-1.55411189e-01 -9.87844766e-01 3.17505029e-03 2.17944735e+02] [ 9.87635168e-01 -1.55443616e-01 -2.03483776e-02 1.37972140e+02] [ 2.05945796e-02 -2.65742252e-05 9.99787909e-01 4.27243986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.660385723 meters Centerline goodness [0,1] 0.999935401907797 Centerline is valid? [True, True] Translation: X:217.94, Y:138.00, Z:4.27 [[-1.55418191e-01 -9.87843582e-01 3.20045179e-03 2.17941331e+02] [ 9.87631393e-01 -1.55451139e-01 -2.04737426e-02 1.37999995e+02] [ 2.07223691e-02 -2.11253857e-05 9.99785268e-01 4.27254880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.94, Y:138.03, Z:4.27 [[-1.55823962e-01 -9.87779472e-01 3.25705233e-03 2.17938599e+02] [ 9.87560500e-01 -1.55857996e-01 -2.07976963e-02 1.38028012e+02] [ 2.10511751e-02 -2.42432233e-05 9.99778399e-01 4.27265139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.94, Y:138.06, Z:4.27 [[-1.56724682e-01 -9.87636152e-01 3.49350093e-03 2.17939017e+02] [ 9.87385168e-01 -1.56763609e-01 -2.22643361e-02 1.38055286e+02] [ 2.25367171e-02 -3.99400054e-05 9.99746015e-01 4.27201946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.94, Y:138.08, Z:4.27 [[-1.57753047e-01 -9.87471989e-01 3.61207628e-03 2.17937204e+02] [ 9.87204676e-01 -1.57794384e-01 -2.29752071e-02 1.38082758e+02] [ 2.32573388e-02 -5.85503265e-05 9.99729510e-01 4.27130515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.94, Y:138.11, Z:4.27 [[-1.59921994e-01 -9.87123517e-01 3.48111213e-03 2.17937344e+02] [ 9.86876081e-01 -1.59959846e-01 -2.21008769e-02 1.38110551e+02] [ 2.23731335e-02 -9.89900068e-05 9.99749685e-01 4.27243584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.93, Y:138.14, Z:4.27 [[-1.61251993e-01 -9.86907347e-01 3.41807711e-03 2.17934910e+02] [ 9.86669638e-01 -1.61288171e-01 -2.16598998e-02 1.38138387e+02] [ 2.19276096e-02 -1.20189113e-04 9.99759554e-01 4.27381486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.93, Y:138.17, Z:4.27 [[-1.63129786e-01 -9.86599247e-01 3.25573963e-03 2.17933931e+02] [ 9.86384263e-01 -1.63162204e-01 -2.05956674e-02 1.38166711e+02] [ 2.08508836e-02 -1.48356467e-04 9.99782586e-01 4.27452976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.93, Y:138.20, Z:4.28 [[-1.64064505e-01 -9.86444615e-01 3.14000516e-03 2.17932489e+02] [ 9.86245310e-01 -1.64094475e-01 -1.98290828e-02 1.38195185e+02] [ 2.00755495e-02 -1.56433295e-04 9.99798454e-01 4.27563875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.93, Y:138.22, Z:4.28 [[-1.64482791e-01 -9.86375111e-01 3.09057304e-03 2.17929985e+02] [ 9.86182702e-01 -1.64511749e-01 -1.94823496e-02 1.38222895e+02] [ 1.97253403e-02 -1.56641554e-04 9.99805424e-01 4.27659231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.93038572300003 meters Centerline goodness [0,1] 0.9998692952837381 Centerline is valid? [True, True] Translation: X:217.93, Y:138.25, Z:4.28 [[-1.65114517e-01 -9.86269357e-01 3.15476535e-03 2.17928318e+02] [ 9.86069602e-01 -1.65144568e-01 -1.98497480e-02 1.38250200e+02] [ 2.00981905e-02 -1.66663329e-04 9.99797997e-01 4.27551308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.93, Y:138.28, Z:4.28 [[-1.65927107e-01 -9.86132957e-01 3.16020320e-03 2.17926860e+02] [ 9.85933254e-01 -1.65957104e-01 -1.98458928e-02 1.38277340e+02] [ 2.00951471e-02 -1.77222142e-04 9.99798056e-01 4.27730462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.990385723 meters Centerline goodness [0,1] 0.9999343946815955 Centerline is valid? [True, True] Translation: X:217.93, Y:138.31, Z:4.28 [[-1.67451707e-01 -9.85875223e-01 3.15771625e-03 2.17925116e+02] [ 9.85676531e-01 -1.67481356e-01 -1.97932190e-02 1.38305366e+02] [ 2.00425028e-02 -2.01921523e-04 9.99799108e-01 4.27740491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.020385723 meters Centerline goodness [0,1] 0.9999343946815955 Centerline is valid? [True, True] Translation: X:217.92, Y:138.33, Z:4.28 [[-1.67726491e-01 -9.85828493e-01 3.16323304e-03 2.17920707e+02] [ 9.85629810e-01 -1.67756196e-01 -1.97923375e-02 1.38332599e+02] [ 2.00425022e-02 -2.01922547e-04 9.99799108e-01 4.27782209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.050385723 meters Centerline goodness [0,1] 0.9999781248632804 Centerline is valid? [True, True] Translation: X:217.92, Y:138.36, Z:4.28 [[-1.68393253e-01 -9.85714632e-01 3.22132288e-03 2.17919112e+02] [ 9.85509316e-01 -1.68423927e-01 -2.01188704e-02 1.38360110e+02] [ 2.03740128e-02 -2.13238327e-04 9.99792406e-01 4.27718983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.92, Y:138.39, Z:4.28 [[-1.68728499e-01 -9.85656826e-01 3.36371530e-03 2.17916351e+02] [ 9.85433793e-01 -1.68761877e-01 -2.09682924e-02 1.38387931e+02] [ 2.12352074e-02 -2.23229772e-04 9.99774483e-01 4.27703747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.91, Y:138.42, Z:4.28 [[-1.69048618e-01 -9.85601511e-01 3.49663170e-03 2.17913296e+02] [ 9.85361354e-01 -1.69084616e-01 -2.17576560e-02 1.38416115e+02] [ 2.20356053e-02 -2.32655929e-04 9.99757160e-01 4.27752959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.140385723 meters Centerline goodness [0,1] 0.9999559781651699 Centerline is valid? [True, True] Translation: X:217.91, Y:138.44, Z:4.28 [[-1.69530991e-01 -9.85518230e-01 3.61414053e-03 2.17913724e+02] [ 9.85262577e-01 -1.69569334e-01 -2.24476140e-02 1.38443391e+02] [ 2.27353802e-02 -2.44688841e-04 9.99741488e-01 4.27762277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.170385723 meters Centerline goodness [0,1] 0.999911921433919 Centerline is valid? [True, True] Translation: X:217.91, Y:138.47, Z:4.28 [[-1.70829163e-01 -9.85293801e-01 3.67721984e-03 2.17910353e+02] [ 9.85030064e-01 -1.70868519e-01 -2.27974154e-02 1.38471270e+02] [ 2.30904731e-02 -2.72291288e-04 9.99733342e-01 4.27676836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.91, Y:138.50, Z:4.28 [[-1.72385438e-01 -9.85022684e-01 3.68426909e-03 2.17907412e+02] [ 9.84758812e-01 -1.72424539e-01 -2.28004473e-02 1.38498750e+02] [ 2.30942162e-02 -3.02348632e-04 9.99733247e-01 4.27785719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.230385723 meters Centerline goodness [0,1] 0.9999778765956505 Centerline is valid? [True, True] Translation: X:217.91, Y:138.53, Z:4.28 [[-1.73578474e-01 -9.84812532e-01 3.84592122e-03 2.17907153e+02] [ 9.84525891e-01 -1.73620746e-01 -2.37614374e-02 1.38525607e+02] [ 2.40682931e-02 -3.38065040e-04 9.99710260e-01 4.27798761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.90, Y:138.55, Z:4.28 [[-1.73708701e-01 -9.84789119e-01 3.95950136e-03 2.17904589e+02] [ 9.84486148e-01 -1.73753478e-01 -2.44285197e-02 1.38553721e+02] [ 2.47449175e-02 -3.45372168e-04 9.99693738e-01 4.27859799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.290385723 meters Centerline goodness [0,1] 0.9999779088519231 Centerline is valid? [True, True] Translation: X:217.90, Y:138.58, Z:4.28 [[-1.74062202e-01 -9.84726327e-01 4.05097974e-03 2.17902137e+02] [ 9.84410346e-01 -1.74108974e-01 -2.49466555e-02 1.38579501e+02] [ 2.52709403e-02 -3.54443411e-04 9.99680576e-01 4.27899154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.90, Y:138.61, Z:4.28 [[-1.74423933e-01 -9.84662152e-01 4.09119451e-03 2.17898296e+02] [ 9.84341066e-01 -1.74471538e-01 -2.51465238e-02 1.38607157e+02] [ 2.54746272e-02 -3.59024826e-04 9.99675405e-01 4.27913799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.89, Y:138.63, Z:4.28 [[-1.74512694e-01 -9.84646746e-01 4.01322918e-03 2.17894091e+02] [ 9.84338892e-01 -1.74558489e-01 -2.46227306e-02 1.38633280e+02] [ 2.49452348e-02 -3.46601483e-04 9.99688759e-01 4.27967174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.89, Y:138.66, Z:4.28 [[-1.74771810e-01 -9.84602425e-01 3.58888881e-03 2.17890145e+02] [ 9.84357100e-01 -1.74808381e-01 -2.19802232e-02 1.38661135e+02] [ 2.22691489e-02 -3.08775200e-04 9.99751964e-01 4.28232464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.410385723 meters Centerline goodness [0,1] 0.999955779605554 Centerline is valid? [True, True] Translation: X:217.89, Y:138.69, Z:4.28 [[-1.75114332e-01 -9.84542024e-01 3.46042903e-03 2.17886772e+02] [ 9.84314695e-01 -1.75148264e-01 -2.11581375e-02 1.38689329e+02] [ 2.14371636e-02 -2.98941966e-04 9.99770153e-01 4.28441265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.440385723 meters Centerline goodness [0,1] 0.9999336635414824 Centerline is valid? [True, True] Translation: X:217.88, Y:138.72, Z:4.29 [[-1.75292365e-01 -9.84510539e-01 3.40367069e-03 2.17883232e+02] [ 9.84291354e-01 -1.75325164e-01 -2.07754173e-02 1.38717556e+02] [ 2.10503664e-02 -2.91568403e-04 9.99778374e-01 4.28627732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.470385723 meters Centerline goodness [0,1] 0.9999116744319562 Centerline is valid? [True, True] Translation: X:217.88, Y:138.74, Z:4.29 [[-1.75800596e-01 -9.84419290e-01 3.57941774e-03 2.17880158e+02] [ 9.84177758e-01 -1.75836757e-01 -2.18076792e-02 1.38744992e+02] [ 2.20972933e-02 -3.11019670e-04 9.99755777e-01 4.28538112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.500385723 meters Centerline goodness [0,1] 0.9999778594518001 Centerline is valid? [True, True] Translation: X:217.88, Y:138.77, Z:4.28 [[-1.75400912e-01 -9.84490180e-01 3.68873340e-03 2.17877592e+02] [ 9.84234646e-01 -1.75439432e-01 -2.24313954e-02 1.38772265e+02] [ 2.27306377e-02 -3.03907979e-04 9.99741579e-01 4.28498565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.87, Y:138.80, Z:4.29 [[-1.74940973e-01 -9.84570605e-01 4.04714977e-03 2.17872179e+02] [ 9.84264167e-01 -1.74987499e-01 -2.45646926e-02 1.38799456e+02] [ 2.48938749e-02 -3.13906715e-04 9.99690050e-01 4.28605466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.87, Y:138.83, Z:4.29 [[-1.75117667e-01 -9.84538788e-01 4.14462751e-03 2.17868598e+02] [ 9.84218503e-01 -1.75166417e-01 -2.51130522e-02 1.38827243e+02] [ 2.54507736e-02 -3.18520030e-04 9.99676026e-01 4.28633136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.590385723 meters Centerline goodness [0,1] 0.9999110320284698 Centerline is valid? [True, True] Translation: X:217.87, Y:138.85, Z:4.29 [[-1.76086364e-01 -9.84365281e-01 4.31103445e-03 2.17867264e+02] [ 9.84019931e-01 -1.76138782e-01 -2.60749917e-02 1.38854159e+02] [ 2.64266569e-02 -3.49306656e-04 9.99650694e-01 4.28715048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.620385723 meters Centerline goodness [0,1] 0.9998888567808478 Centerline is valid? [True, True] Translation: X:217.86, Y:138.88, Z:4.29 [[-1.77103564e-01 -9.84183022e-01 4.25512715e-03 2.17863753e+02] [ 9.83847728e-01 -1.77154301e-01 -2.56905120e-02 1.38880775e+02] [ 2.60379799e-02 -3.63484066e-04 9.99660888e-01 4.28783504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.650385723 meters Centerline goodness [0,1] 0.9999333703498057 Centerline is valid? [True, True] Translation: X:217.86, Y:138.91, Z:4.29 [[-1.77684376e-01 -9.84078360e-01 4.24779512e-03 2.17859755e+02] [ 9.83745424e-01 -1.77734759e-01 -2.55987477e-02 1.38907332e+02] [ 2.59461545e-02 -3.69748492e-04 9.99663273e-01 4.28835343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.68038572300003 meters Centerline goodness [0,1] 0.999666525866477 Centerline is valid? [True, True] Translation: X:217.86, Y:138.93, Z:4.29 [[-1.78382169e-01 -9.83951851e-01 4.30771794e-03 2.17856610e+02] [ 9.83610716e-01 -1.78433759e-01 -2.59104819e-02 1.38933519e+02] [ 2.62633089e-02 -3.84850419e-04 9.99654986e-01 4.28814754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.710385723 meters Centerline goodness [0,1] 0.999822048224931 Centerline is valid? [True, True] Translation: X:217.85, Y:138.96, Z:4.29 [[-1.78884051e-01 -9.83860683e-01 4.31885729e-03 2.17852976e+02] [ 9.83519048e-01 -1.78935753e-01 -2.59283173e-02 1.38960276e+02] [ 2.62826499e-02 -3.90484020e-04 9.99654475e-01 4.28975161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.740385723 meters Centerline goodness [0,1] 0.9999106983389892 Centerline is valid? [True, True] Translation: X:217.85, Y:138.99, Z:4.29 [[-1.78698941e-01 -9.83895033e-01 4.15368963e-03 2.17849231e+02] [ 9.83580188e-01 -1.78746841e-01 -2.48913837e-02 1.38985932e+02] [ 2.52329677e-02 -3.62577080e-04 9.99681532e-01 4.29200954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.770385723 meters Centerline goodness [0,1] 0.9997992371009837 Centerline is valid? [True, True] Translation: X:217.84, Y:139.01, Z:4.29 [[-1.78675176e-01 -9.83899339e-01 4.15591619e-03 2.17842107e+02] [ 9.83585299e-01 -1.78723151e-01 -2.48595068e-02 1.39013447e+02] [ 2.52020107e-02 -3.54078682e-04 9.99682316e-01 4.29319808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.84, Y:139.04, Z:4.29 [[-1.78824120e-01 -9.83871976e-01 4.22717035e-03 2.17838535e+02] [ 9.83548184e-01 -1.78873721e-01 -2.52420769e-02 1.39039963e+02] [ 2.55911017e-02 -3.56266472e-04 9.99672431e-01 4.29205238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.830385723 meters Centerline goodness [0,1] 0.9999777049472722 Centerline is valid? [True, True] Translation: X:217.83, Y:139.07, Z:4.29 [[-1.78433426e-01 -9.83942057e-01 4.42060839e-03 2.17832660e+02] [ 9.83589216e-01 -1.78487827e-01 -2.63505372e-02 1.39066962e+02] [ 2.67164265e-02 -3.53753894e-04 9.99642990e-01 4.29395915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.860385723 meters Centerline goodness [0,1] 0.999933187831277 Centerline is valid? [True, True] Translation: X:217.83, Y:139.09, Z:4.29 [[-1.78381066e-01 -9.83950948e-01 4.55267382e-03 2.17829100e+02] [ 9.83578007e-01 -1.78438801e-01 -2.70905757e-02 1.39093466e+02] [ 2.74681713e-02 -3.54535921e-04 9.99622616e-01 4.29459976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.890385723 meters Centerline goodness [0,1] 0.9999332547222284 Centerline is valid? [True, True] Translation: X:217.82, Y:139.12, Z:4.29 [[-1.78655493e-01 -9.83900933e-01 4.60096223e-03 2.17824016e+02] [ 9.83521397e-01 -1.78714371e-01 -2.73282947e-02 1.39120061e+02] [ 2.77105927e-02 -3.57205171e-04 9.99615924e-01 4.29491812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.920385723 meters Centerline goodness [0,1] 0.9996431677780504 Centerline is valid? [True, True] Translation: X:217.82, Y:139.15, Z:4.30 [[-1.79124709e-01 -9.83815094e-01 4.71159215e-03 2.17817795e+02] [ 9.83418476e-01 -1.79186281e-01 -2.79352382e-02 1.39147562e+02] [ 2.83273617e-02 -3.70424648e-04 9.99598631e-01 4.29597662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.950385723 meters Centerline goodness [0,1] 0.999822020512136 Centerline is valid? [True, True] Translation: X:217.81, Y:139.17, Z:4.30 [[-1.79406632e-01 -9.83763242e-01 4.81080076e-03 2.17811311e+02] [ 9.83351117e-01 -1.79470723e-01 -2.84752687e-02 1.39174502e+02] [ 2.88763206e-02 -3.77945761e-04 9.99582921e-01 4.29643722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.980385723 meters Centerline goodness [0,1] 0.9997555392581727 Centerline is valid? [True, True] Translation: X:217.81, Y:139.20, Z:4.30 [[-1.79495473e-01 -9.83746766e-01 4.86573755e-03 2.17805537e+02] [ 9.83326574e-01 -1.79561017e-01 -2.87522384e-02 1.39201926e+02] [ 2.91586183e-02 -3.76287601e-04 9.99574726e-01 4.29719127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.010385723 meters Centerline goodness [0,1] 0.9998004080546439 Centerline is valid? [True, True] Translation: X:217.80, Y:139.23, Z:4.30 [[-1.79579508e-01 -9.83730720e-01 5.00707887e-03 2.17799529e+02] [ 9.83287242e-01 -1.79648895e-01 -2.95376928e-02 1.39229855e+02] [ 2.99566520e-02 -3.80967556e-04 9.99551126e-01 4.29892321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.040385723 meters Centerline goodness [0,1] 0.999845005867635 Centerline is valid? [True, True] Translation: X:217.80, Y:139.26, Z:4.30 [[-1.80433138e-01 -9.83574735e-01 4.96216970e-03 2.17795165e+02] [ 9.83140583e-01 -1.80500928e-01 -2.92234402e-02 1.39256437e+02] [ 2.96391136e-02 -3.94366591e-04 9.99560587e-01 4.29943884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.79, Y:139.28, Z:4.30 [[-1.83364509e-01 -9.83032526e-01 4.95077012e-03 2.17790939e+02] [ 9.82601613e-01 -1.83430722e-01 -2.91073871e-02 1.39283858e+02] [ 2.95216316e-02 -4.72627023e-04 9.99564030e-01 4.30017692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.78, Y:139.31, Z:4.30 [[-1.85298697e-01 -9.82669832e-01 4.93908470e-03 2.17784880e+02] [ 9.82242190e-01 -1.85363779e-01 -2.89922246e-02 1.39311580e+02] [ 2.94053118e-02 -5.20844064e-04 9.99567435e-01 4.30145707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.78, Y:139.34, Z:4.30 [[-1.88756967e-01 -9.82010674e-01 5.08367754e-03 2.17779893e+02] [ 9.81558820e-01 -1.88824349e-01 -2.97934230e-02 1.39339573e+02] [ 3.02173815e-02 -6.33787625e-04 9.99543150e-01 4.30193058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.78, Y:139.37, Z:4.30 [[-1.90546226e-01 -9.81665297e-01 5.03793429e-03 2.17777934e+02] [ 9.81222761e-01 -1.90611623e-01 -2.94805537e-02 1.39367527e+02] [ 2.99003254e-02 -6.74072462e-04 9.99552658e-01 4.30160066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.77, Y:139.40, Z:4.30 [[-1.92165615e-01 -9.81350289e-01 4.89758630e-03 2.17770009e+02] [ 9.80933228e-01 -1.92226760e-01 -2.86160057e-02 1.39395179e+02] [ 2.90237726e-02 -6.94807191e-04 9.99578480e-01 4.30478743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.76, Y:139.42, Z:4.31 [[-1.91969438e-01 -9.81388610e-01 4.91235031e-03 2.17762956e+02] [ 9.80970397e-01 -1.92031067e-01 -2.86557061e-02 1.39422868e+02] [ 2.90657075e-02 -6.82149566e-04 9.99577270e-01 4.30551533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.250385723 meters Centerline goodness [0,1] 0.9999557913351017 Centerline is valid? [True, True] Translation: X:217.76, Y:139.45, Z:4.31 [[-1.90188253e-01 -9.81735305e-01 4.92121702e-03 2.17756369e+02] [ 9.81316862e-01 -1.90250892e-01 -2.86673073e-02 1.39449252e+02] [ 2.90799736e-02 -6.22911853e-04 9.99576894e-01 4.30513457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.280385723 meters Centerline goodness [0,1] 0.9999337104472336 Centerline is valid? [True, True] Translation: X:217.75, Y:139.48, Z:4.31 [[-1.89144404e-01 -9.81936773e-01 4.95658968e-03 2.17750631e+02] [ 9.81513511e-01 -1.89208421e-01 -2.88340281e-02 1.39476605e+02] [ 2.92510210e-02 -5.88835313e-04 9.99571924e-01 4.30564630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.74, Y:139.50, Z:4.31 [[-1.87697762e-01 -9.82214559e-01 4.91015780e-03 2.17743998e+02] [ 9.81800585e-01 -1.87761221e-01 -2.85190258e-02 1.39504386e+02] [ 2.89337396e-02 -5.32161508e-04 9.99581190e-01 4.30603533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.340385723 meters Centerline goodness [0,1] 0.999978083632857 Centerline is valid? [True, True] Translation: X:217.73, Y:139.53, Z:4.31 [[-1.84654477e-01 -9.82792827e-01 4.58080716e-03 2.17734155e+02] [ 9.82433789e-01 -1.84710842e-01 -2.65660457e-02 1.39531181e+02] [ 2.69550439e-02 -4.05199526e-04 9.99636565e-01 4.30637241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.73, Y:139.56, Z:4.31 [[-1.81200225e-01 -9.83437082e-01 4.24071774e-03 2.17725624e+02] [ 9.83130472e-01 -1.81249624e-01 -2.45570572e-02 1.39558795e+02] [ 2.49189491e-02 -2.80565434e-04 9.99689435e-01 4.30822502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.400385723 meters Centerline goodness [0,1] 0.9999780994721973 Centerline is valid? [True, True] Translation: X:217.72, Y:139.59, Z:4.31 [[-1.79574796e-01 -9.83735640e-01 4.13313956e-03 2.17718674e+02] [ 9.83445358e-01 -1.79622212e-01 -2.38974835e-02 1.39586132e+02] [ 2.42512099e-02 -2.26668820e-04 9.99705870e-01 4.30963042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.43038572300003 meters Centerline goodness [0,1] 0.9999781363417727 Centerline is valid? [True, True] Translation: X:217.71, Y:139.61, Z:4.31 [[-1.78308530e-01 -9.83966596e-01 3.97569712e-03 2.17712731e+02] [ 9.83698939e-01 -1.78352755e-01 -2.29497860e-02 1.39613494e+02] [ 2.32908993e-02 -1.81253578e-04 9.99728714e-01 4.31033591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.460385723 meters Centerline goodness [0,1] 0.9999782144568864 Centerline is valid? [True, True] Translation: X:217.71, Y:139.64, Z:4.31 [[-1.75767004e-01 -9.84424009e-01 3.91532298e-03 2.17705557e+02] [ 9.84165393e-01 -1.75810571e-01 -2.25637457e-02 1.39640007e+02] [ 2.29006482e-02 -1.12636614e-04 9.99737739e-01 4.31121199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.490385723 meters Centerline goodness [0,1] 0.999978184515369 Centerline is valid? [True, True] Translation: X:217.70, Y:139.67, Z:4.31 [[-1.75020047e-01 -9.84556968e-01 3.94469058e-03 2.17699220e+02] [ 9.84295377e-01 -1.75064472e-01 -2.26945255e-02 1.39667310e+02] [ 2.30346284e-02 -8.92562257e-05 9.99734664e-01 4.31087798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.69, Y:139.69, Z:4.31 [[-1.74174686e-01 -9.84706210e-01 4.10594338e-03 2.17691176e+02] [ 9.84423803e-01 -1.74223063e-01 -2.35818007e-02 1.39693243e+02] [ 2.39364956e-02 -6.53643330e-05 9.99713479e-01 4.30846299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.550385723 meters Centerline goodness [0,1] 0.9999129450683382 Centerline is valid? [True, True] Translation: X:217.68, Y:139.72, Z:4.31 [[-1.74587355e-01 -9.84632838e-01 4.17485935e-03 2.17684770e+02] [ 9.84341838e-01 -1.74637250e-01 -2.39369258e-02 1.39720716e+02] [ 2.42981692e-02 -6.95958494e-05 9.99704753e-01 4.30777238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.68, Y:139.75, Z:4.31 [[-1.76434815e-01 -9.84304219e-01 3.99518645e-03 2.17677877e+02] [ 9.84038527e-01 -1.76480012e-01 -2.28688161e-02 1.39745834e+02] [ 2.32149427e-02 -1.03437934e-04 9.99730492e-01 4.30676059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.610385723 meters Centerline goodness [0,1] 0.9999346348265644 Centerline is valid? [True, True] Translation: X:217.67, Y:139.77, Z:4.31 [[-1.78350155e-01 -9.83958981e-01 3.99317110e-03 2.17672949e+02] [ 9.83694419e-01 -1.78394796e-01 -2.28163871e-02 1.39773907e+02] [ 2.31627500e-02 -1.41246056e-04 9.99731698e-01 4.30772302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.640385723 meters Centerline goodness [0,1] 0.9999781664155805 Centerline is valid? [True, True] Translation: X:217.67, Y:139.80, Z:4.31 [[-1.82579219e-01 -9.83182691e-01 4.07727176e-03 2.17670473e+02] [ 9.82907581e-01 -1.82624583e-01 -2.32582913e-02 1.39800765e+02] [ 2.36117594e-02 -2.38899331e-04 9.99721175e-01 4.30828571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.67, Y:139.83, Z:4.31 [[-1.84929936e-01 -9.82743424e-01 4.03495226e-03 2.17666216e+02] [ 9.82474773e-01 -1.84973730e-01 -2.29791326e-02 1.39828701e+02] [ 2.33289517e-02 -2.85290729e-04 9.99727802e-01 4.30835801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.700385723 meters Centerline goodness [0,1] 0.9999782073354109 Centerline is valid? [True, True] Translation: X:217.66, Y:139.86, Z:4.31 [[-1.87724897e-01 -9.82213572e-01 3.98281384e-03 2.17657873e+02] [ 9.81952509e-01 -1.87766834e-01 -2.26470020e-02 1.39855691e+02] [ 2.29920331e-02 -3.40472085e-04 9.99735590e-01 4.30881051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.730385723 meters Centerline goodness [0,1] 0.9998910960097578 Centerline is valid? [True, True] Translation: X:217.65, Y:139.88, Z:4.31 [[-1.88340259e-01 -9.82096213e-01 3.86968333e-03 2.17650609e+02] [ 9.81850502e-01 -1.88379705e-01 -2.19699468e-02 1.39883364e+02] [ 2.23055713e-02 -3.38374944e-04 9.99751143e-01 4.30840230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.64, Y:139.91, Z:4.31 [[-1.88739554e-01 -9.82020142e-01 3.71776651e-03 2.17642002e+02] [ 9.81794054e-01 -1.88775882e-01 -2.10737347e-02 1.39909024e+02] [ 2.13966566e-02 -3.27366225e-04 9.99771012e-01 4.30704785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.64, Y:139.94, Z:4.31 [[-1.89233402e-01 -9.81925164e-01 3.70029407e-03 2.17636210e+02] [ 9.81701921e-01 -1.89269289e-01 -2.09397838e-02 1.39936505e+02] [ 2.12616527e-02 -3.29920744e-04 9.99773891e-01 4.30747281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.820385723 meters Centerline goodness [0,1] 0.999934850590688 Centerline is valid? [True, True] Translation: X:217.63, Y:139.96, Z:4.31 [[-1.89938340e-01 -9.81789503e-01 3.57748584e-03 2.17630351e+02] [ 9.81581453e-01 -1.89971745e-01 -2.02135344e-02 1.39964344e+02] [ 2.05250572e-02 -3.27731427e-04 9.99789285e-01 4.30846775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.62, Y:139.99, Z:4.31 [[-1.91069841e-01 -9.81570758e-01 3.34117826e-03 2.17622111e+02] [ 9.81389797e-01 -1.91098780e-01 -1.88499854e-02 1.39991865e+02] [ 1.91410895e-02 -3.22665466e-04 9.99816741e-01 4.30895190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.62, Y:140.02, Z:4.31 [[-1.90773993e-01 -9.81627992e-01 3.43069044e-03 2.17615018e+02] [ 9.81437832e-01 -1.90804571e-01 -1.93235018e-02 1.40018764e+02] [ 1.96230817e-02 -3.19412220e-04 9.99807398e-01 4.30912799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.60, Y:140.04, Z:4.31 [[-1.87778154e-01 -9.82205064e-01 3.54644043e-03 2.17604123e+02] [ 9.82002615e-01 -1.87811457e-01 -1.99429212e-02 1.40044835e+02] [ 2.02541004e-02 -2.62231156e-04 9.99794830e-01 4.30735443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.59, Y:140.07, Z:4.31 [[-1.85575666e-01 -9.82623675e-01 3.51916633e-03 2.17594457e+02] [ 9.82425027e-01 -1.85608913e-01 -1.97584927e-02 1.40071710e+02] [ 2.00683514e-02 -2.09378377e-04 9.99798588e-01 4.30706182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.59, Y:140.10, Z:4.31 [[-1.85844054e-01 -9.82572931e-01 3.52455963e-03 2.17589552e+02] [ 9.82374292e-01 -1.85877355e-01 -1.97575308e-02 1.40098848e+02] [ 2.00683507e-02 -2.09382844e-04 9.99798588e-01 4.30747900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.58, Y:140.13, Z:4.31 [[-1.83515763e-01 -9.83010813e-01 3.42159451e-03 2.17580971e+02] [ 9.82824262e-01 -1.83547594e-01 -1.91507164e-02 1.40125138e+02] [ 1.94533867e-02 -1.51632217e-04 9.99810753e-01 4.30665837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.57, Y:140.15, Z:4.31 [[-1.78278873e-01 -9.83974536e-01 3.27966170e-03 2.17569183e+02] [ 9.83803827e-01 -1.78309033e-01 -1.83280978e-02 1.40151462e+02] [ 1.86191748e-02 -4.09688948e-05 9.99826647e-01 4.30638653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.060385723 meters Centerline goodness [0,1] 0.9999784710112166 Centerline is valid? [True, True] Translation: X:217.56, Y:140.18, Z:4.31 [[-1.74256396e-01 -9.84695137e-01 3.19322924e-03 2.17559232e+02] [ 9.84533925e-01 -1.74285646e-01 -1.78175215e-02 1.40178185e+02] [ 1.81013608e-02 3.90254432e-05 9.99836156e-01 4.30653138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.55, Y:140.21, Z:4.31 [[-1.72318119e-01 -9.85035839e-01 3.29584557e-03 2.17551721e+02] [ 9.84864722e-01 -1.72349616e-01 -1.83599848e-02 1.40205516e+02] [ 1.86532807e-02 8.22039836e-05 9.99826009e-01 4.30692251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.54, Y:140.23, Z:4.31 [[-1.70525722e-01 -9.85347794e-01 3.27139148e-03 2.17544338e+02] [ 9.85179802e-01 -1.70557057e-01 -1.81947070e-02 1.40232360e+02] [ 1.84860733e-02 1.20243258e-04 9.99829111e-01 4.30722344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.53, Y:140.26, Z:4.31 [[-1.66225876e-01 -9.86082522e-01 3.19645121e-03 2.17534185e+02] [ 9.85922768e-01 -1.66256485e-01 -1.77503808e-02 1.40258593e+02] [ 1.80347710e-02 2.00881418e-04 9.99837340e-01 4.30769898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.18038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.53, Y:140.29, Z:4.31 [[-1.64411178e-01 -9.86387194e-01 3.04421774e-03 2.17526957e+02] [ 9.86242755e-01 -1.64439202e-01 -1.68812685e-02 1.40286026e+02] [ 1.71520558e-02 2.26868457e-04 9.99852867e-01 4.30853167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.210385723 meters Centerline goodness [0,1] 0.9999571661098261 Centerline is valid? [True, True] Translation: X:217.52, Y:140.31, Z:4.31 [[-1.60949879e-01 -9.86958727e-01 2.75825516e-03 2.17518565e+02] [ 9.86840552e-01 -1.60973297e-01 -1.52749189e-02 1.40312535e+02] [ 1.55197199e-02 2.63461694e-04 9.99879527e-01 4.30977707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.51, Y:140.34, Z:4.31 [[-1.60105675e-01 -9.87096074e-01 2.74119231e-03 2.17511887e+02] [ 9.86979645e-01 -1.60128899e-01 -1.51630085e-02 1.40338664e+02] [ 1.54062903e-02 2.77817291e-04 9.99881277e-01 4.30986615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.270385723 meters Centerline goodness [0,1] 0.9999573078318782 Centerline is valid? [True, True] Translation: X:217.51, Y:140.37, Z:4.31 [[-1.59370245e-01 -9.87214782e-01 2.84581218e-03 2.17506085e+02] [ 9.87089742e-01 -1.59395361e-01 -1.57149710e-02 1.40365712e+02] [ 1.59676609e-02 3.04573229e-04 9.99872462e-01 4.30859882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.300385723 meters Centerline goodness [0,1] 0.9998710287605864 Centerline is valid? [True, True] Translation: X:217.50, Y:140.39, Z:4.31 [[-1.59319661e-01 -9.87222911e-01 2.85827490e-03 2.17501164e+02] [ 9.87097167e-01 -1.59344995e-01 -1.57592677e-02 1.40392796e+02] [ 1.60133620e-02 3.10633870e-04 9.99871730e-01 4.30829604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.50, Y:140.42, Z:4.31 [[-1.59845394e-01 -9.87137789e-01 2.90440383e-03 2.17497353e+02] [ 9.87008395e-01 -1.59871475e-01 -1.59856168e-02 1.40418435e+02] [ 1.62443377e-02 3.11443744e-04 9.99868004e-01 4.30829261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.50, Y:140.44, Z:4.31 [[-1.61349212e-01 -9.86893191e-01 2.87430844e-03 2.17495746e+02] [ 9.86766877e-01 -1.61374555e-01 -1.57918692e-02 1.40444381e+02] [ 1.60487284e-02 2.88266709e-04 9.99871169e-01 4.30906072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.390385723 meters Centerline goodness [0,1] 0.9999784825924173 Centerline is valid? [True, True] Translation: X:217.50, Y:140.47, Z:4.31 [[-1.63351767e-01 -9.86564417e-01 2.61754756e-03 2.17496037e+02] [ 9.86459962e-01 -1.63372566e-01 -1.43578668e-02 1.40472685e+02] [ 1.45925960e-02 2.36722952e-04 9.99893494e-01 4.31054971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.420385723 meters Centerline goodness [0,1] 0.9997838538852264 Centerline is valid? [True, True] Translation: X:217.49, Y:140.50, Z:4.31 [[-1.64918087e-01 -9.86304431e-01 2.36524623e-03 2.17491099e+02] [ 9.86219353e-01 -1.64934931e-01 -1.29559175e-02 1.40499341e+02] [ 1.31685905e-02 1.95986481e-04 9.99913271e-01 4.30947878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.450385723 meters Centerline goodness [0,1] 0.9999569373869607 Centerline is valid? [True, True] Translation: X:217.49, Y:140.53, Z:4.31 [[-1.65355841e-01 -9.86230653e-01 2.55834701e-03 2.17490129e+02] [ 9.86131457e-01 -1.65375498e-01 -1.39891054e-02 1.40528093e+02] [ 1.42195724e-02 2.09686185e-04 9.99898875e-01 4.31177704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.480385723 meters Centerline goodness [0,1] 0.9999567847882455 Centerline is valid? [True, True] Translation: X:217.49, Y:140.56, Z:4.31 [[-1.67236004e-01 -9.85913577e-01 2.55687867e-03 2.17490271e+02] [ 9.85814769e-01 -1.67255446e-01 -1.39591590e-02 1.40556658e+02] [ 1.41901762e-02 1.86134784e-04 9.99899297e-01 4.31238566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.49, Y:140.58, Z:4.31 [[-1.68573697e-01 -9.85685879e-01 2.50114617e-03 2.17487227e+02] [ 9.85591595e-01 -1.68592169e-01 -1.36340675e-02 1.40584646e+02] [ 1.38605815e-02 1.66763478e-04 9.99903924e-01 4.31286933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.540385723 meters Centerline goodness [0,1] 0.9999134854547421 Centerline is valid? [True, True] Translation: X:217.49, Y:140.61, Z:4.31 [[-1.70664227e-01 -9.85326014e-01 2.52346221e-03 2.17486095e+02] [ 9.85230303e-01 -1.70682823e-01 -1.37340479e-02 1.40613463e+02] [ 1.39632263e-02 1.42280779e-04 9.99902499e-01 4.31195222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.570385723 meters Centerline goodness [0,1] 0.9999568286312518 Centerline is valid? [True, True] Translation: X:217.48, Y:140.64, Z:4.31 [[-1.72203769e-01 -9.85057911e-01 2.60252650e-03 2.17483982e+02] [ 9.84956408e-01 -1.72223386e-01 -1.41413825e-02 1.40640363e+02] [ 1.43782967e-02 1.28175785e-04 9.99896619e-01 4.31181068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.600385723 meters Centerline goodness [0,1] 0.999913079380256 Centerline is valid? [True, True] Translation: X:217.48, Y:140.67, Z:4.31 [[-1.74006248e-01 -9.84741075e-01 2.61565989e-03 2.17482707e+02] [ 9.84638847e-01 -1.74025873e-01 -1.41893406e-02 1.40669067e+02] [ 1.44280190e-02 1.06446422e-04 9.99895905e-01 4.31258564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.48, Y:140.70, Z:4.31 [[-1.77279574e-01 -9.84156791e-01 2.71352045e-03 2.17484968e+02] [ 9.84047052e-01 -1.77300328e-01 -1.46967104e-02 1.40697661e+02] [ 1.49449754e-02 6.48052518e-05 9.99888316e-01 4.31287780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.48, Y:140.73, Z:4.31 [[-1.79795409e-01 -9.83700902e-01 2.47910209e-03 2.17484763e+02] [ 9.83609519e-01 -1.79812498e-01 -1.34082076e-02 1.40726536e+02] [ 1.36354394e-02 2.77342463e-05 9.99907033e-01 4.31354992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.690385723 meters Centerline goodness [0,1] 0.9999781544914366 Centerline is valid? [True, True] Translation: X:217.48, Y:140.75, Z:4.31 [[-1.80359313e-01 -9.83597744e-01 2.44879959e-03 2.17482281e+02] [ 9.83508846e-01 -1.80375934e-01 -1.32239388e-02 1.40753842e+02] [ 1.34487409e-02 2.33555431e-05 9.99909561e-01 4.31458374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.720385723 meters Centerline goodness [0,1] 0.9999561682263473 Centerline is valid? [True, True] Translation: X:217.48, Y:140.78, Z:4.31 [[-1.80602244e-01 -9.83553176e-01 2.44524465e-03 2.17480424e+02] [ 9.83464826e-01 -1.80618795e-01 -1.31828268e-02 1.40781849e+02] [ 1.34076683e-02 2.39640025e-05 9.99910113e-01 4.31474074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.48, Y:140.81, Z:4.32 [[-1.79867466e-01 -9.83687737e-01 2.47584700e-03 2.17480713e+02] [ 9.83597462e-01 -1.79884501e-01 -1.33266313e-02 1.40808984e+02] [ 1.35546102e-02 3.82094292e-05 9.99908131e-01 4.31506528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.780385723 meters Centerline goodness [0,1] 0.9998902425639337 Centerline is valid? [True, True] Translation: X:217.48, Y:140.84, Z:4.32 [[-1.79703075e-01 -9.83718101e-01 2.34599022e-03 2.17477887e+02] [ 9.83637305e-01 -1.79718383e-01 -1.26077419e-02 1.40836783e+02] [ 1.28240814e-02 4.19535195e-05 9.99917767e-01 4.31601391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.810385723 meters Centerline goodness [0,1] 0.9999340833186852 Centerline is valid? [True, True] Translation: X:217.48, Y:140.87, Z:4.32 [[-1.79134291e-01 -9.83822375e-01 2.10729287e-03 2.17476664e+02] [ 9.83757364e-01 -1.79146679e-01 -1.13099667e-02 1.40865539e+02] [ 1.15045128e-02 4.70620152e-05 9.99933820e-01 4.31678731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.840385723 meters Centerline goodness [0,1] 0.9999779424739721 Centerline is valid? [True, True] Translation: X:217.47, Y:140.89, Z:4.32 [[-1.79001533e-01 -9.83846519e-01 2.11638278e-03 2.17473407e+02] [ 9.83781150e-01 -1.79014037e-01 -1.13412476e-02 1.40893923e+02] [ 1.15369092e-02 5.19567757e-05 9.99933446e-01 4.31667226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.870385723 meters Centerline goodness [0,1] 0.9999559364603758 Centerline is valid? [True, True] Translation: X:217.47, Y:140.92, Z:4.32 [[-1.78364158e-01 -9.83961752e-01 2.34455744e-03 2.17472897e+02] [ 9.83881805e-01 -1.78379553e-01 -1.25430992e-02 1.40920925e+02] [ 1.27601510e-02 6.95280691e-05 9.99918584e-01 4.31649417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.900385723 meters Centerline goodness [0,1] 0.9999335091646535 Centerline is valid? [True, True] Translation: X:217.47, Y:140.95, Z:4.32 [[-1.78286631e-01 -9.83975845e-01 2.32665296e-03 2.17469756e+02] [ 9.83897398e-01 -1.78301796e-01 -1.24249401e-02 1.40948121e+02] [ 1.26406874e-02 7.39870757e-05 9.99920101e-01 4.31730189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.93038572300003 meters Centerline goodness [0,1] 0.9999777777777777 Centerline is valid? [True, True] Translation: X:217.47, Y:140.98, Z:4.32 [[-1.77702620e-01 -9.84081658e-01 2.25172092e-03 2.17466249e+02] [ 9.84008426e-01 -1.77716866e-01 -1.20055259e-02 1.40975419e+02] [ 1.22145866e-02 8.22989440e-05 9.99925396e-01 4.31831713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.960385723 meters Centerline goodness [0,1] 0.9999554079061782 Centerline is valid? [True, True] Translation: X:217.47, Y:141.00, Z:4.32 [[-1.76938281e-01 -9.84219715e-01 2.09705687e-03 2.17465155e+02] [ 9.84156400e-01 -1.76950685e-01 -1.11639874e-02 1.41002787e+02] [ 1.13588922e-02 8.84952042e-05 9.99935482e-01 4.31979865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.46, Y:141.03, Z:4.32 [[-1.77216087e-01 -9.84169601e-01 2.15752807e-03 2.17462348e+02] [ 9.84102818e-01 -1.77229196e-01 -1.14653927e-02 1.41031306e+02] [ 1.16662679e-02 9.13774282e-05 9.99931943e-01 4.31879354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.46, Y:141.06, Z:4.32 [[-1.77511453e-01 -9.84116330e-01 2.17558640e-03 2.17457000e+02] [ 9.84048645e-01 -1.77524760e-01 -1.15422260e-02 1.41057627e+02] [ 1.17451135e-02 9.20055485e-05 9.99931020e-01 4.31805862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.45, Y:141.08, Z:4.32 [[-1.78404648e-01 -9.83954514e-01 2.30129198e-03 2.17453186e+02] [ 9.83878931e-01 -1.78419468e-01 -1.21959924e-02 1.41084603e+02] [ 1.24108970e-02 8.83709593e-05 9.99922978e-01 4.31764425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.080385723 meters Centerline goodness [0,1] 0.9999776080969122 Centerline is valid? [True, True] Translation: X:217.45, Y:141.11, Z:4.32 [[-1.80237257e-01 -9.83620207e-01 2.41227194e-03 2.17454225e+02] [ 9.83537410e-01 -1.80253384e-01 -1.27624579e-02 1.41112750e+02] [ 1.29882317e-02 7.22892968e-05 9.99915647e-01 4.31916598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.110385723 meters Centerline goodness [0,1] 0.9998880003583989 Centerline is valid? [True, True] Translation: X:217.45, Y:141.14, Z:4.32 [[-1.81735845e-01 -9.83344412e-01 2.41885873e-03 2.17452889e+02] [ 9.83261407e-01 -1.81751932e-01 -1.27765330e-02 1.41140634e+02] [ 1.30033645e-02 5.64164358e-05 9.99915451e-01 4.32011389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.140385723 meters Centerline goodness [0,1] 0.9999550874671577 Centerline is valid? [True, True] Translation: X:217.45, Y:141.17, Z:4.32 [[-1.85439426e-01 -9.82652702e-01 2.42640145e-03 2.17452349e+02] [ 9.82569367e-01 -1.85455299e-01 -1.27973188e-02 1.41168009e+02] [ 1.30253089e-02 1.09802771e-05 9.99915167e-01 4.32116332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.45, Y:141.20, Z:4.32 [[-1.87314399e-01 -9.82296876e-01 2.48272961e-03 2.17448539e+02] [ 9.82209875e-01 -1.87330851e-01 -1.30734039e-02 1.41195557e+02] [ 1.33070556e-02 -1.02752511e-05 9.99911457e-01 4.32130967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.200385723 meters Centerline goodness [0,1] 0.9999550602193061 Centerline is valid? [True, True] Translation: X:217.44, Y:141.22, Z:4.32 [[-1.88724931e-01 -9.82026832e-01 2.49030693e-03 2.17443910e+02] [ 9.81939539e-01 -1.88741359e-01 -1.30935607e-02 1.41222399e+02] [ 1.33282519e-02 -2.57504970e-05 9.99911175e-01 4.32131131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.44, Y:141.25, Z:4.32 [[-1.90410058e-01 -9.81701479e-01 2.49299256e-03 2.17437544e+02] [ 9.81614252e-01 -1.90426372e-01 -1.30865382e-02 1.41249685e+02] [ 1.33218054e-02 -4.46514761e-05 9.99911260e-01 4.31994298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.43, Y:141.28, Z:4.32 [[-1.91258871e-01 -9.81536328e-01 2.54576710e-03 2.17432368e+02] [ 9.81445628e-01 -1.91275806e-01 -1.33433824e-02 1.41277170e+02] [ 1.35839582e-02 -5.35082760e-05 9.99907732e-01 4.32033944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.43, Y:141.31, Z:4.32 [[-1.92562990e-01 -9.81281543e-01 2.45534673e-03 2.17427614e+02] [ 9.81197391e-01 -1.92578632e-01 -1.28511106e-02 1.41305159e+02] [ 1.30834050e-02 -6.54684829e-05 9.99914406e-01 4.32246921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.42, Y:141.33, Z:4.32 [[-1.93466597e-01 -9.81103910e-01 2.40712535e-03 2.17421914e+02] [ 9.81023244e-01 -1.93481558e-01 -1.25809767e-02 1.41332242e+02] [ 1.28089798e-02 -7.25528416e-05 9.99917959e-01 4.32345222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.41, Y:141.36, Z:4.32 [[-1.93667119e-01 -9.81064303e-01 2.42496878e-03 2.17413571e+02] [ 9.80982703e-01 -1.93682287e-01 -1.26534163e-02 1.41357168e+02] [ 1.28834886e-02 -7.16982499e-05 9.99917002e-01 4.32257038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.41, Y:141.38, Z:4.32 [[-1.93309436e-01 -9.81134702e-01 2.48167366e-03 2.17406183e+02] [ 9.81049550e-01 -1.93325354e-01 -1.29262864e-02 1.41383445e+02] [ 1.31621986e-02 -6.41283003e-05 9.99913372e-01 4.32228948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.40, Y:141.41, Z:4.32 [[-1.91396837e-01 -9.81508740e-01 2.80084903e-03 2.17397564e+02] [ 9.81400712e-01 -1.91417325e-01 -1.45619425e-02 1.41409229e+02] [ 1.48288049e-02 -3.83545041e-05 9.99890047e-01 4.32202303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.39, Y:141.44, Z:4.32 [[-1.90980174e-01 -9.81589629e-01 2.89378196e-03 2.17390970e+02] [ 9.81474706e-01 -1.91002094e-01 -1.50200102e-02 1.41435297e+02] [ 1.52962047e-02 -2.83503660e-05 9.99883006e-01 4.32238366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.470385723 meters Centerline goodness [0,1] 0.9998662833455907 Centerline is valid? [True, True] Translation: X:217.38, Y:141.46, Z:4.32 [[-1.91303544e-01 -9.81526138e-01 3.06507547e-03 2.17382862e+02] [ 9.81397640e-01 -1.91328094e-01 -1.58818532e-02 1.41462458e+02] [ 1.61748891e-02 -3.01969628e-05 9.99869177e-01 4.32172101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.38, Y:141.49, Z:4.32 [[-1.92255098e-01 -9.81339893e-01 3.16098898e-03 2.17376496e+02] [ 9.81203615e-01 -1.92281077e-01 -1.63540111e-02 1.41489328e+02] [ 1.66566419e-02 -4.25681921e-05 9.99861268e-01 4.32170265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.37, Y:141.52, Z:4.32 [[-1.93238896e-01 -9.81146702e-01 3.14310800e-03 2.17370615e+02] [ 9.81012371e-01 -1.93264448e-01 -1.62352061e-02 1.41515822e+02] [ 1.65365699e-02 -5.38454564e-05 9.99863260e-01 4.32197566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.37, Y:141.54, Z:4.32 [[-1.95893980e-01 -9.80620204e-01 3.09252245e-03 2.17365653e+02] [ 9.80490509e-01 -1.95918367e-01 -1.59485442e-02 1.41543102e+02] [ 1.62453466e-02 -9.20348778e-05 9.99868031e-01 4.32310157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.36, Y:141.57, Z:4.32 [[-1.97386041e-01 -9.80321105e-01 3.04668246e-03 2.17359645e+02] [ 9.80195587e-01 -1.97409522e-01 -1.56873443e-02 1.41571008e+02] [ 1.59800788e-02 -1.10118091e-04 9.99872304e-01 4.32401905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.35, Y:141.60, Z:4.33 [[-1.99406018e-01 -9.79912453e-01 2.97057910e-03 2.17353742e+02] [ 9.79793426e-01 -1.99428098e-01 -1.52733701e-02 1.41598307e+02] [ 1.55589825e-02 -1.35048038e-04 9.99878943e-01 4.32506712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.35, Y:141.62, Z:4.33 [[-1.99884103e-01 -9.79814659e-01 3.09501772e-03 2.17348856e+02] [ 9.79685840e-01 -1.99908012e-01 -1.58884376e-02 1.41624886e+02] [ 1.61864429e-02 -1.43701075e-04 9.99868981e-01 4.32548734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.68038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.34, Y:141.65, Z:4.33 [[-2.00275019e-01 -9.79734649e-01 3.15175735e-03 2.17342764e+02] [ 9.79601475e-01 -2.00299763e-01 -1.61540852e-02 1.41652089e+02] [ 1.64580133e-02 -1.47793576e-04 9.99864547e-01 4.32534834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.33, Y:141.68, Z:4.33 [[-2.00745353e-01 -9.79638123e-01 3.23287524e-03 2.17334960e+02] [ 9.79498407e-01 -2.00771323e-01 -1.65452833e-02 1.41679427e+02] [ 1.68574589e-02 -1.54792579e-04 9.99857891e-01 4.32527557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.33, Y:141.71, Z:4.33 [[-2.01119439e-01 -9.79561905e-01 3.07348391e-03 2.17328387e+02] [ 9.79435969e-01 -2.01142867e-01 -1.57076279e-02 1.41706359e+02] [ 1.60048033e-02 -1.48828617e-04 9.99871904e-01 4.32566427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.770385723 meters Centerline goodness [0,1] 0.9999778966447107 Centerline is valid? [True, True] Translation: X:217.32, Y:141.73, Z:4.33 [[-2.00716051e-01 -9.79644689e-01 3.05796088e-03 2.17322207e+02] [ 9.79520394e-01 -2.00739297e-01 -1.56055306e-02 1.41732463e+02] [ 1.59017281e-02 -1.36945434e-04 9.99873550e-01 4.32655007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.32, Y:141.76, Z:4.33 [[-2.00642723e-01 -9.79659740e-01 3.04827108e-03 2.17317004e+02] [ 9.79536610e-01 -2.00665835e-01 -1.55323280e-02 1.41759948e+02] [ 1.58280803e-02 -1.30555470e-04 9.99874720e-01 4.32725714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.31, Y:141.79, Z:4.33 [[-2.00910321e-01 -9.79604882e-01 3.05251086e-03 2.17311618e+02] [ 9.79481758e-01 -2.00933466e-01 -1.55314948e-02 1.41787005e+02] [ 1.58280797e-02 -1.30558890e-04 9.99874720e-01 4.32767430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.31, Y:141.81, Z:4.33 [[-2.00722891e-01 -9.79643064e-01 3.12862513e-03 2.17306392e+02] [ 9.79514108e-01 -2.00747233e-01 -1.58953176e-02 1.41814405e+02] [ 1.61998004e-02 -1.26021645e-04 9.99868767e-01 4.32852795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.30, Y:141.84, Z:4.33 [[-2.00030516e-01 -9.79784491e-01 3.18500763e-03 2.17298640e+02] [ 9.79651252e-01 -2.00055840e-01 -1.61581259e-02 1.41841851e+02] [ 1.64686605e-02 -1.11921547e-04 9.99864376e-01 4.32843717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.29, Y:141.87, Z:4.33 [[-1.99804352e-01 -9.79830529e-01 3.21805344e-03 2.17289497e+02] [ 9.79694911e-01 -1.99830238e-01 -1.63020804e-02 1.41869080e+02] [ 1.66163405e-02 -1.04516042e-04 9.99861934e-01 4.32731323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.950385723 meters Centerline goodness [0,1] 0.9999779609467977 Centerline is valid? [True, True] Translation: X:217.28, Y:141.90, Z:4.33 [[-2.00167194e-01 -9.79756169e-01 3.30808477e-03 2.17283541e+02] [ 9.79613273e-01 -2.00194499e-01 -1.67331170e-02 1.41895287e+02] [ 1.70566349e-02 -1.08777331e-04 9.99854519e-01 4.32729843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.28, Y:141.92, Z:4.33 [[-2.01178629e-01 -9.79548577e-01 3.42716815e-03 2.17277936e+02] [ 9.79395654e-01 -2.01207779e-01 -1.73084455e-02 1.41922460e+02] [ 1.76440360e-02 -1.25535735e-04 9.99844324e-01 4.32755516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.010385723 meters Centerline goodness [0,1] 0.9999560883502393 Centerline is valid? [True, True] Translation: X:217.27, Y:141.95, Z:4.33 [[-2.02923801e-01 -9.79188167e-01 3.53061197e-03 2.17273493e+02] [ 9.79026291e-01 -2.02954453e-01 -1.78048269e-02 1.41950023e+02] [ 1.81508292e-02 -1.56461211e-04 9.99835248e-01 4.32804125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.27, Y:141.98, Z:4.33 [[-2.07157756e-01 -9.78301258e-01 3.50907398e-03 2.17272319e+02] [ 9.78141658e-01 -2.07187348e-01 -1.76719748e-02 1.41977243e+02] [ 1.80155509e-02 -2.28515193e-04 9.99837681e-01 4.32981133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.27, Y:142.00, Z:4.33 [[-2.11301412e-01 -9.77414943e-01 3.42687538e-03 2.17265565e+02] [ 9.77262941e-01 -2.11328994e-01 -1.72394915e-02 1.42004038e+02] [ 1.75743347e-02 -2.93770574e-04 9.99845516e-01 4.33058197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.26, Y:142.03, Z:4.33 [[-2.12785966e-01 -9.77092611e-01 3.48734359e-03 2.17258003e+02] [ 9.76935630e-01 -2.12814300e-01 -1.75171006e-02 1.42031676e+02] [ 1.78579861e-02 -3.20482959e-04 9.99840482e-01 4.33033831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.25, Y:142.06, Z:4.33 [[-2.13632754e-01 -9.76907450e-01 3.58885603e-03 2.17252284e+02] [ 9.76741619e-01 -2.13662626e-01 -1.80025568e-02 1.42058554e+02] [ 1.83536363e-02 -3.40550744e-04 9.99831500e-01 4.33007056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.25, Y:142.09, Z:4.33 [[-2.13629039e-01 -9.76907680e-01 3.74425260e-03 2.17246615e+02] [ 9.76727594e-01 -2.13661561e-01 -1.87601854e-02 1.42086309e+02] [ 1.91269720e-02 -3.50605543e-04 9.99817001e-01 4.33080228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.190385723 meters Centerline goodness [0,1] 0.99997810330859 Centerline is valid? [True, True] Translation: X:217.24, Y:142.11, Z:4.33 [[-2.13614812e-01 -9.76910339e-01 3.86033455e-03 2.17240622e+02] [ 9.76719471e-01 -2.13649395e-01 -1.93134831e-02 1.42112580e+02] [ 1.96922994e-02 -3.55182135e-04 9.99806025e-01 4.33091546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.23, Y:142.14, Z:4.33 [[-2.13091855e-01 -9.77024445e-01 3.88531114e-03 2.17231177e+02] [ 9.76831686e-01 -2.13127000e-01 -1.94097499e-02 1.42139735e+02] [ 1.97918648e-02 -3.40764569e-04 9.99804064e-01 4.32962802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.22, Y:142.17, Z:4.33 [[-2.12312093e-01 -9.77193620e-01 4.02539526e-03 2.17223836e+02] [ 9.76987335e-01 -2.12349993e-01 -2.00805221e-02 1.42166859e+02] [ 2.04773508e-02 -3.30577502e-04 9.99790262e-01 4.32936648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.22, Y:142.19, Z:4.33 [[-2.12022120e-01 -9.77256339e-01 4.08271910e-03 2.17216259e+02] [ 9.77044749e-01 -2.12061179e-01 -2.03375452e-02 1.42194249e+02] [ 2.07407812e-02 -3.23010191e-04 9.99784835e-01 4.32916139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.310385723 meters Centerline goodness [0,1] 0.999912711402073 Centerline is valid? [True, True] Translation: X:217.21, Y:142.22, Z:4.33 [[-2.10855040e-01 -9.77508405e-01 4.17974871e-03 2.17206068e+02] [ 9.77287315e-01 -2.10896251e-01 -2.07912546e-02 1.42220494e+02] [ 2.12051194e-02 -2.99125419e-04 9.99775101e-01 4.32854413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.340385723 meters Centerline goodness [0,1] 0.9999564829521965 Centerline is valid? [True, True] Translation: X:217.20, Y:142.25, Z:4.33 [[-2.10467126e-01 -9.77592065e-01 4.16447757e-03 2.17199267e+02] [ 9.77373215e-01 -2.10508132e-01 -2.06863319e-02 1.42247972e+02] [ 2.10994504e-02 -2.83543998e-04 9.99777342e-01 4.32865832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.19, Y:142.28, Z:4.33 [[-2.09332261e-01 -9.77836039e-01 4.08466599e-03 2.17194135e+02] [ 9.77626123e-01 -2.09371962e-01 -2.02619408e-02 1.42275305e+02] [ 2.06680704e-02 -2.48201700e-04 9.99786362e-01 4.33081068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.19, Y:142.30, Z:4.33 [[-2.08751146e-01 -9.77960581e-01 4.00758326e-03 2.17188176e+02] [ 9.77759107e-01 -2.08789489e-01 -1.98513949e-02 1.42301613e+02] [ 2.02506229e-02 -2.25550399e-04 9.99794910e-01 4.33186712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.43038572300003 meters Centerline goodness [0,1] 0.999978308967073 Centerline is valid? [True, True] Translation: X:217.18, Y:142.33, Z:4.33 [[-2.07536286e-01 -9.78220102e-01 3.75782610e-03 2.17178622e+02] [ 9.78043515e-01 -2.07570225e-01 -1.85872125e-02 1.42328182e+02] [ 1.89623977e-02 -1.82203615e-04 9.99820181e-01 4.33273391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.17, Y:142.35, Z:4.33 [[-2.07571327e-01 -9.78212938e-01 3.68668108e-03 2.17170230e+02] [ 9.78043453e-01 -2.07603991e-01 -1.82095119e-02 1.42353779e+02] [ 1.85781498e-02 -1.74038256e-04 9.99827396e-01 4.33248754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.16, Y:142.38, Z:4.33 [[-2.07295486e-01 -9.78271568e-01 3.64964617e-03 2.17162245e+02] [ 9.78106014e-01 -2.07327549e-01 -1.79976003e-02 1.42379739e+02] [ 1.83632128e-02 -1.61080435e-04 9.99831369e-01 4.33233214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.520385723 meters Centerline goodness [0,1] 0.9999349959914194 Centerline is valid? [True, True] Translation: X:217.16, Y:142.41, Z:4.33 [[-2.06984769e-01 -9.78337032e-01 3.73591166e-03 2.17155737e+02] [ 9.78164106e-01 -2.07018425e-01 -1.83944076e-02 1.42407274e+02] [ 1.87693327e-02 -1.53027519e-04 9.99823829e-01 4.33276106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.15, Y:142.44, Z:4.33 [[-2.07483864e-01 -9.78231156e-01 3.77517845e-03 2.17151143e+02] [ 9.78055050e-01 -2.07518145e-01 -1.85617413e-02 1.42435067e+02] [ 1.89410917e-02 -1.58929449e-04 9.99820589e-01 4.33429528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.580385723 meters Centerline goodness [0,1] 0.9999784082566826 Centerline is valid? [True, True] Translation: X:217.15, Y:142.46, Z:4.34 [[-2.09070443e-01 -9.77894008e-01 3.58603838e-03 2.17146101e+02] [ 9.77735491e-01 -2.09101122e-01 -1.76076841e-02 1.42460587e+02] [ 1.79682934e-02 -1.75049313e-04 9.99838542e-01 4.33631292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.14, Y:142.49, Z:4.34 [[-2.09967055e-01 -9.77702104e-01 3.52587779e-03 2.17139134e+02] [ 9.77549326e-01 -2.09996578e-01 -1.72844579e-02 1.42485690e+02] [ 1.76394731e-02 -1.82447275e-04 9.99844396e-01 4.33628624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.13, Y:142.51, Z:4.34 [[-2.10253731e-01 -9.77640090e-01 3.63633433e-03 2.17131234e+02] [ 9.77478111e-01 -2.10285090e-01 -1.77967114e-02 1.42512162e+02] [ 1.81634454e-02 -1.87387746e-04 9.99835013e-01 4.33606387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.12, Y:142.54, Z:4.34 [[-2.10229438e-01 -9.77645076e-01 3.69975059e-03 2.17122779e+02] [ 9.77477916e-01 -2.10261910e-01 -1.80790736e-02 1.42536940e+02] [ 1.84528339e-02 -1.84328975e-04 9.99829715e-01 4.33562139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.12, Y:142.56, Z:4.34 [[-2.10572688e-01 -9.77571818e-01 3.53330068e-03 2.17116758e+02] [ 9.77419810e-01 -2.10602255e-01 -1.72396378e-02 1.42563093e+02] [ 1.75971052e-02 -1.76678792e-04 9.99845143e-01 4.33776217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.11, Y:142.59, Z:4.34 [[-2.10957261e-01 -9.77489136e-01 3.46732874e-03 2.17110670e+02] [ 9.77343173e-01 -2.10985682e-01 -1.68927173e-02 1.42589895e+02] [ 1.72440044e-02 -1.74871301e-04 9.99851296e-01 4.33916716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.10, Y:142.62, Z:4.34 [[-2.11688933e-01 -9.77331376e-01 3.34317877e-03 2.17104174e+02] [ 9.77196055e-01 -2.11715257e-01 -1.62640745e-02 1.42615980e+02] [ 1.66031923e-02 -1.75983464e-04 9.99862142e-01 4.33998730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.10, Y:142.64, Z:4.34 [[-2.12555198e-01 -9.77142514e-01 3.57712240e-03 2.17095003e+02] [ 9.76988055e-01 -2.12585203e-01 -1.73744720e-02 1.42641450e+02] [ 1.77377786e-02 -1.98228483e-04 9.99842654e-01 4.33927799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.09, Y:142.67, Z:4.34 [[-2.12900109e-01 -9.77066910e-01 3.71434370e-03 2.17087672e+02] [ 9.76900878e-01 -2.12932408e-01 -1.80129187e-02 1.42668144e+02] [ 1.83907309e-02 -2.06406736e-04 9.99830855e-01 4.33872622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.08, Y:142.70, Z:4.34 [[-2.12626212e-01 -9.77125807e-01 3.90538029e-03 2.17080874e+02] [ 9.76942824e-01 -2.12661976e-01 -1.89103948e-02 1.42695318e+02] [ 1.93083606e-02 -2.05512363e-04 9.99813555e-01 4.33935366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.08, Y:142.72, Z:4.34 [[-2.12955106e-01 -9.77053419e-01 4.09126615e-03 2.17076492e+02] [ 9.76853176e-01 -2.12994293e-01 -1.97814174e-02 1.42720805e+02] [ 2.01989178e-02 -2.15987507e-04 9.99795958e-01 4.33975736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.07, Y:142.75, Z:4.34 [[-2.12827364e-01 -9.77080722e-01 4.21622859e-03 2.17068204e+02] [ 9.76868749e-01 -2.12869017e-01 -2.03526022e-02 1.42746153e+02] [ 2.07836397e-02 -2.12888740e-04 9.99783974e-01 4.33967073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.06, Y:142.77, Z:4.34 [[-2.12844450e-01 -9.77076643e-01 4.29800675e-03 2.17058219e+02] [ 9.76857032e-01 -2.12887737e-01 -2.07159594e-02 1.42772957e+02] [ 2.11560730e-02 -2.10738871e-04 9.99776163e-01 4.33977062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.05, Y:142.80, Z:4.34 [[-2.12447573e-01 -9.77161882e-01 4.54799184e-03 2.17049707e+02] [ 9.76916703e-01 -2.12496147e-01 -2.18893435e-02 1.42799139e+02] [ 2.23558628e-02 -2.07328721e-04 9.99750055e-01 4.33786012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.04, Y:142.83, Z:4.34 [[-2.12664161e-01 -9.77114242e-01 4.65973690e-03 2.17044146e+02] [ 9.76857607e-01 -2.12715101e-01 -2.23942304e-02 1.42825960e+02] [ 2.28729179e-02 -2.10550788e-04 9.99738358e-01 4.33845941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.04, Y:142.85, Z:4.34 [[-2.12989865e-01 -9.77043546e-01 4.60722335e-03 2.17037767e+02] [ 9.76793365e-01 -2.13039586e-01 -2.21101232e-02 1.42853085e+02] [ 2.25840741e-02 -2.08926940e-04 9.99744925e-01 4.34095493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.03, Y:142.88, Z:4.34 [[-2.14613294e-01 -9.76688998e-01 4.44240721e-03 2.17034059e+02] [ 9.76456963e-01 -2.14659142e-01 -2.12897195e-02 1.42879562e+02] [ 2.17470381e-02 -2.31237373e-04 9.99763478e-01 4.34218897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.03, Y:142.91, Z:4.34 [[-2.15896924e-01 -9.76405849e-01 4.48742374e-03 2.17027325e+02] [ 9.76169709e-01 -2.15943403e-01 -2.14743192e-02 1.42907037e+02] [ 2.19366804e-02 -2.55752331e-04 9.99759329e-01 4.34278937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.02, Y:142.93, Z:4.34 [[-2.16959994e-01 -9.76169303e-01 4.67474741e-03 2.17018424e+02] [ 9.75913696e-01 -2.17010164e-01 -2.23393593e-02 1.42933776e+02] [ 2.28214645e-02 -2.84597235e-04 9.99739516e-01 4.34236401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.01, Y:142.96, Z:4.34 [[-2.17386203e-01 -9.76074358e-01 4.69970459e-03 2.17010656e+02] [ 9.75816699e-01 -2.17436806e-01 -2.24277908e-02 1.42961284e+02] [ 2.29130803e-02 -2.89442061e-04 9.99737419e-01 4.34290531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.18038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.00, Y:142.99, Z:4.34 [[-2.17504211e-01 -9.76048113e-01 4.69028848e-03 2.17004429e+02] [ 9.75792125e-01 -2.17554588e-01 -2.23546591e-02 1.42987956e+02] [ 2.28396166e-02 -2.85485920e-04 9.99739101e-01 4.34317146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.00, Y:143.01, Z:4.34 [[-2.17826022e-01 -9.75976595e-01 4.63791820e-03 2.16999297e+02] [ 9.75726844e-01 -2.17875206e-01 -2.20798507e-02 1.43014509e+02] [ 2.25599049e-02 -2.84224749e-04 9.99745453e-01 4.34379498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.99, Y:143.04, Z:4.34 [[-2.18124908e-01 -9.75910042e-01 4.59515040e-03 2.16993926e+02] [ 9.75665562e-01 -2.18173123e-01 -2.18448864e-02 1.43041694e+02] [ 2.23211823e-02 -2.81583828e-04 9.99750812e-01 4.34480566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.99, Y:143.07, Z:4.34 [[-2.19119623e-01 -9.75686649e-01 4.70674277e-03 2.16988388e+02] [ 9.75430877e-01 -2.19169957e-01 -2.23413010e-02 1.43067857e+02] [ 2.28296857e-02 -3.04315220e-04 9.99739322e-01 4.34461626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.98, Y:143.09, Z:4.34 [[-2.19313020e-01 -9.75641925e-01 4.96321964e-03 2.16981658e+02] [ 9.75358395e-01 -2.19368943e-01 -2.35216553e-02 1.43094560e+02] [ 2.40374893e-02 -3.17687323e-04 9.99711007e-01 4.34367472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.97, Y:143.12, Z:4.34 [[-2.19394832e-01 -9.75622766e-01 5.11139697e-03 2.16972207e+02] [ 9.75322919e-01 -2.19454130e-01 -2.41885936e-02 1.43121469e+02] [ 2.47206597e-02 -3.21589806e-04 9.99694346e-01 4.34334944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.97, Y:143.15, Z:4.34 [[-2.18903429e-01 -9.75733256e-01 5.08931585e-03 2.16967313e+02] [ 9.75436751e-01 -2.18962375e-01 -2.40545791e-02 1.43147657e+02] [ 2.45852215e-02 -3.01324151e-04 9.99697692e-01 4.34397243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.96, Y:143.18, Z:4.35 [[-2.18265555e-01 -9.75876457e-01 5.02872691e-03 2.16961859e+02] [ 9.75587660e-01 -2.18323302e-01 -2.37413673e-02 1.43175234e+02] [ 2.42665297e-02 -2.75958782e-04 9.99705486e-01 4.34653482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.420385723 meters Centerline goodness [0,1] 0.9999573906003665 Centerline is valid? [True, True] Translation: X:216.96, Y:143.20, Z:4.35 [[-2.15563063e-01 -9.76477012e-01 5.02110341e-03 2.16958039e+02] [ 9.76190035e-01 -2.15621439e-01 -2.36729777e-02 1.43201691e+02] [ 2.41987761e-02 -2.01468467e-04 9.99707146e-01 4.34903499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.95, Y:143.23, Z:4.35 [[-2.13919165e-01 -9.76837705e-01 5.16614587e-03 2.16951118e+02] [ 9.76534855e-01 -2.13981478e-01 -2.43229090e-02 1.43228986e+02] [ 2.48649942e-02 -1.58214876e-04 9.99690806e-01 4.34986716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.480385723 meters Centerline goodness [0,1] 0.99991440005136 Centerline is valid? [True, True] Translation: X:216.94, Y:143.26, Z:4.35 [[-2.09607830e-01 -9.77770821e-01 5.36467558e-03 2.16941885e+02] [ 9.77445465e-01 -2.09676466e-01 -2.52218587e-02 1.43255078e+02] [ 2.57860437e-02 -4.30212547e-05 9.99667484e-01 4.34821050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.94, Y:143.28, Z:4.35 [[-2.07823635e-01 -9.78151091e-01 5.45716630e-03 2.16935216e+02] [ 9.77815498e-01 -2.07895271e-01 -2.56204839e-02 1.43282148e+02] [ 2.61952233e-02 1.15596927e-05 9.99656846e-01 4.34825528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.540385723 meters Centerline goodness [0,1] 0.9999142863265262 Centerline is valid? [True, True] Translation: X:216.93, Y:143.31, Z:4.35 [[-2.06023713e-01 -9.78530973e-01 5.60040341e-03 2.16929512e+02] [ 9.78178532e-01 -2.06099807e-01 -2.62607743e-02 1.43309100e+02] [ 2.68512231e-02 6.78521582e-05 9.99639439e-01 4.34873020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.570385723 meters Centerline goodness [0,1] 0.9998286644393044 Centerline is valid? [True, True] Translation: X:216.93, Y:143.34, Z:4.35 [[-2.03119487e-01 -9.79136940e-01 5.77286985e-03 2.16925419e+02] [ 9.78763527e-01 -2.03201445e-01 -2.70394206e-02 1.43336055e+02] [ 2.76483510e-02 1.58041210e-04 9.99617699e-01 4.34775440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.600385723 meters Centerline goodness [0,1] 0.9999137652258273 Centerline is valid? [True, True] Translation: X:216.92, Y:143.37, Z:4.35 [[-2.01536677e-01 -9.79462537e-01 6.00893809e-03 2.16923878e+02] [ 9.79059123e-01 -2.01626119e-01 -2.81094587e-02 1.43365014e+02] [ 2.87437206e-02 2.18018767e-04 9.99586790e-01 4.35137646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.630385723 meters Centerline goodness [0,1] 0.9999571716133453 Centerline is valid? [True, True] Translation: X:216.92, Y:143.39, Z:4.35 [[-2.01078224e-01 -9.79557064e-01 5.95871816e-03 2.16918408e+02] [ 9.79161473e-01 -2.01166355e-01 -2.78371744e-02 1.43391576e+02] [ 2.84667944e-02 2.37097671e-04 9.99594711e-01 4.35212300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.660385723 meters Centerline goodness [0,1] 0.9999569994194921 Centerline is valid? [True, True] Translation: X:216.91, Y:143.42, Z:4.35 [[-2.00582526e-01 -9.79658656e-01 5.96396856e-03 2.16912789e+02] [ 9.79263509e-01 -2.00671003e-01 -2.78231822e-02 1.43419391e+02] [ 2.84540168e-02 2.59452608e-04 9.99595069e-01 4.35270731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.690385723 meters Centerline goodness [0,1] 0.9998274672187716 Centerline is valid? [True, True] Translation: X:216.91, Y:143.45, Z:4.35 [[-1.99320860e-01 -9.79915166e-01 6.12063976e-03 2.16909222e+02] [ 9.79500220e-01 -1.99414570e-01 -2.85157726e-02 1.43448030e+02] [ 2.91635828e-02 3.11379657e-04 9.99574604e-01 4.35411435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.720385723 meters Centerline goodness [0,1] 0.9999137298882802 Centerline is valid? [True, True] Translation: X:216.90, Y:143.47, Z:4.36 [[-1.99055747e-01 -9.79969085e-01 6.11577651e-03 2.16904976e+02] [ 9.79555969e-01 -1.99149407e-01 -2.84537619e-02 1.43474482e+02] [ 2.91017602e-02 3.26860554e-04 9.99576401e-01 4.35509143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.750385723 meters Centerline goodness [0,1] 0.9999568090528226 Centerline is valid? [True, True] Translation: X:216.90, Y:143.50, Z:4.36 [[-1.98363093e-01 -9.80108915e-01 6.21281400e-03 2.16901819e+02] [ 9.79683805e-01 -1.98460035e-01 -2.88661901e-02 1.43501746e+02] [ 2.95250056e-02 3.60606507e-04 9.99563977e-01 4.35592889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.780385723 meters Centerline goodness [0,1] 0.9999568090528226 Centerline is valid? [True, True] Translation: X:216.90, Y:143.53, Z:4.36 [[-1.98631629e-01 -9.80054480e-01 6.22036319e-03 2.16895946e+02] [ 9.79629394e-01 -1.98728677e-01 -2.88645638e-02 1.43528693e+02] [ 2.95250096e-02 3.60235299e-04 9.99563977e-01 4.35634625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.810385723 meters Centerline goodness [0,1] 0.9999783202532194 Centerline is valid? [True, True] Translation: X:216.89, Y:143.56, Z:4.36 [[-1.98588837e-01 -9.80061896e-01 6.41509535e-03 2.16892083e+02] [ 9.79610997e-01 -1.98692060e-01 -2.97281144e-02 1.43556226e+02] [ 3.04100207e-02 3.80626296e-04 9.99537436e-01 4.35696861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.840385723 meters Centerline goodness [0,1] 0.9999783258918895 Centerline is valid? [True, True] Translation: X:216.89, Y:143.58, Z:4.36 [[-1.99760498e-01 -9.79821026e-01 6.81907139e-03 2.16890820e+02] [ 9.79312761e-01 -1.99876503e-01 -3.15578798e-02 1.43584801e+02] [ 3.22840463e-02 3.73985855e-04 9.99478664e-01 4.35756306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.89, Y:143.61, Z:4.36 [[-2.00442795e-01 -9.79679099e-01 7.17973632e-03 2.16887070e+02] [ 9.79116895e-01 -2.00570985e-01 -3.31871404e-02 1.43611229e+02] [ 3.39527946e-02 3.77677936e-04 9.99423366e-01 4.35735517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.900385723 meters Centerline goodness [0,1] 0.9999348265299473 Centerline is valid? [True, True] Translation: X:216.89, Y:143.64, Z:4.36 [[-2.02096438e-01 -9.79338345e-01 7.30992810e-03 2.16885314e+02] [ 9.78756650e-01 -2.02228322e-01 -3.37509527e-02 1.43637362e+02] [ 3.45318767e-02 3.33693407e-04 9.99403541e-01 4.35726017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.93038572300003 meters Centerline goodness [0,1] 0.9999347357887179 Centerline is valid? [True, True] Translation: X:216.88, Y:143.67, Z:4.36 [[-2.03094429e-01 -9.79130841e-01 7.44647567e-03 2.16882095e+02] [ 9.78528580e-01 -2.03230656e-01 -3.43383116e-02 1.43665493e+02] [ 3.51350520e-02 3.12669462e-04 9.99382525e-01 4.35860270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.88, Y:143.69, Z:4.36 [[-2.06128649e-01 -9.78495145e-01 7.63090426e-03 2.16882027e+02] [ 9.77863950e-01 -2.06269733e-01 -3.51410391e-02 1.43694682e+02] [ 3.59593608e-02 2.18411272e-04 9.99353229e-01 4.36020153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.990385723 meters Centerline goodness [0,1] 0.9999782054355644 Centerline is valid? [True, True] Translation: X:216.88, Y:143.72, Z:4.36 [[-2.07557857e-01 -9.78193383e-01 7.57907541e-03 2.16879282e+02] [ 9.77572228e-01 -2.07696114e-01 -3.48549019e-02 1.43722638e+02] [ 3.56689789e-02 1.74684895e-04 9.99363644e-01 4.36170578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.020385723 meters Centerline goodness [0,1] 0.9999563108916947 Centerline is valid? [True, True] Translation: X:216.88, Y:143.75, Z:4.36 [[-2.10012749e-01 -9.77670939e-01 7.36073113e-03 2.16878753e+02] [ 9.77086321e-01 -2.10141682e-01 -3.38052416e-02 1.43751463e+02] [ 3.45971987e-02 9.25379981e-05 9.99401333e-01 4.36368734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.050385723 meters Centerline goodness [0,1] 0.9999563737893726 Centerline is valid? [True, True] Translation: X:216.87, Y:143.78, Z:4.36 [[-2.11393952e-01 -9.77374787e-01 7.15007943e-03 2.16874779e+02] [ 9.76824489e-01 -2.11514831e-01 -3.27931999e-02 1.43778343e+02] [ 3.35635946e-02 5.20885692e-05 9.99436582e-01 4.36367028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.080385723 meters Centerline goodness [0,1] 0.9999563204333013 Centerline is valid? [True, True] Translation: X:216.87, Y:143.81, Z:4.36 [[-2.12529476e-01 -9.77128531e-01 7.14536436e-03 2.16870029e+02] [ 9.76580316e-01 -2.12649557e-01 -3.27269412e-02 1.43805705e+02] [ 3.34978865e-02 2.25825190e-05 9.99438788e-01 4.36359357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.110385723 meters Centerline goodness [0,1] 0.9999780653652117 Centerline is valid? [True, True] Translation: X:216.87, Y:143.83, Z:4.36 [[-2.14893468e-01 -9.76614538e-01 6.69645558e-03 2.16866779e+02] [ 9.76134029e-01 -2.14997775e-01 -3.06319063e-02 1.43834129e+02] [ 3.13552881e-02 -4.59584161e-05 9.99508301e-01 4.36296980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.87, Y:143.86, Z:4.36 [[-2.16145319e-01 -9.76339511e-01 6.50843650e-03 2.16866221e+02] [ 9.75886682e-01 -2.16243272e-01 -2.97326449e-02 1.43861725e+02] [ 3.04365616e-02 -7.50754952e-05 9.99536698e-01 4.36299294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.170385723 meters Centerline goodness [0,1] 0.9999339527101404 Centerline is valid? [True, True] Translation: X:216.86, Y:143.89, Z:4.36 [[-2.16841738e-01 -9.76185151e-01 6.49702453e-03 2.16863170e+02] [ 9.75735049e-01 -2.16939030e-01 -2.96407053e-02 1.43889379e+02] [ 3.03442746e-02 -8.79674963e-05 9.99539503e-01 4.36378787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.200385723 meters Centerline goodness [0,1] 0.9999559820406726 Centerline is valid? [True, True] Translation: X:216.86, Y:143.92, Z:4.36 [[-2.17065556e-01 -9.76136565e-01 6.32073802e-03 2.16858832e+02] [ 9.75711628e-01 -2.17157547e-01 -2.87996334e-02 1.43917519e+02] [ 2.94849712e-02 -8.41908462e-05 9.99565220e-01 4.36413174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.230385723 meters Centerline goodness [0,1] 0.9999343271819794 Centerline is valid? [True, True] Translation: X:216.85, Y:143.94, Z:4.36 [[-2.16213137e-01 -9.76327495e-01 6.04162624e-03 2.16851889e+02] [ 9.75940256e-01 -2.16297525e-01 -2.74953902e-02 1.43943091e+02] [ 2.81512943e-02 -4.85983034e-05 9.99603673e-01 4.36330277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.260385723 meters Centerline goodness [0,1] 0.9999780427288496 Centerline is valid? [True, True] Translation: X:216.84, Y:143.97, Z:4.36 [[-2.15490834e-01 -9.76488415e-01 5.83748502e-03 2.16844746e+02] [ 9.76127758e-01 -2.15569885e-01 -2.65372513e-02 1.43968279e+02] [ 2.71717044e-02 -2.04032399e-05 9.99630781e-01 4.36221287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.290385723 meters Centerline goodness [0,1] 0.9998465147893963 Centerline is valid? [True, True] Translation: X:216.84, Y:143.99, Z:4.36 [[-2.13936869e-01 -9.76831070e-01 5.66372548e-03 2.16838787e+02] [ 9.76492515e-01 -2.14011824e-01 -2.57159005e-02 1.43994987e+02] [ 2.63321949e-02 2.90062948e-05 9.99653247e-01 4.36168881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.83, Y:144.02, Z:4.36 [[-2.13743457e-01 -9.76874197e-01 5.52618754e-03 2.16834515e+02] [ 9.76552808e-01 -2.13814879e-01 -2.50561493e-02 1.44021777e+02] [ 2.56582868e-02 4.10259965e-05 9.99670771e-01 4.36351933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.350385723 meters Centerline goodness [0,1] 0.9998677102855253 Centerline is valid? [True, True] Translation: X:216.83, Y:144.05, Z:4.37 [[-2.14369398e-01 -9.76738894e-01 5.18604242e-03 2.16832223e+02] [ 9.76456616e-01 -2.14432117e-01 -2.34807154e-02 1.44047726e+02] [ 2.40465820e-02 3.03986147e-05 9.99710839e-01 4.36554201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.380385723 meters Centerline goodness [0,1] 0.9999558498896247 Centerline is valid? [True, True] Translation: X:216.83, Y:144.08, Z:4.37 [[-2.14815005e-01 -9.76641166e-01 5.15236836e-03 2.16827057e+02] [ 9.76363316e-01 -2.14876784e-01 -2.32946917e-02 1.44075480e+02] [ 2.38576792e-02 2.65341441e-05 9.99715365e-01 4.36664717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.410385723 meters Centerline goodness [0,1] 0.9999115826702034 Centerline is valid? [True, True] Translation: X:216.82, Y:144.10, Z:4.36 [[-2.16409026e-01 -9.76288937e-01 5.20048087e-03 2.16820696e+02] [ 9.76006540e-01 -2.16471503e-01 -2.34802453e-02 1.44102045e+02] [ 2.40492596e-02 -5.63367540e-06 9.99710775e-01 4.36375050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.440385723 meters Centerline goodness [0,1] 0.9999778712104448 Centerline is valid? [True, True] Translation: X:216.81, Y:144.13, Z:4.36 [[-2.16840077e-01 -9.76193506e-01 5.15954831e-03 2.16814882e+02] [ 9.75916287e-01 -2.16901452e-01 -2.32628564e-02 1.44128483e+02] [ 2.38281628e-02 -9.03233157e-06 9.99716069e-01 4.36388145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.81, Y:144.16, Z:4.36 [[-2.17740385e-01 -9.75992893e-01 5.19586314e-03 2.16809551e+02] [ 9.75712503e-01 -2.17802368e-01 -2.33931575e-02 1.44155690e+02] [ 2.39632268e-02 -2.39664909e-05 9.99712840e-01 4.36401208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.81, Y:144.18, Z:4.37 [[-2.19668123e-01 -9.75561445e-01 5.07765079e-03 2.16806479e+02] [ 9.75294278e-01 -2.19726791e-01 -2.28299998e-02 1.44183490e+02] [ 2.33877635e-02 -6.28194500e-05 9.99726467e-01 4.36579283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.80, Y:144.21, Z:4.37 [[-2.20947434e-01 -9.75272677e-01 5.04340199e-03 2.16801520e+02] [ 9.75009704e-01 -2.21004971e-01 -2.26468717e-02 1.44211465e+02] [ 2.32014921e-02 -8.64023081e-05 9.99730805e-01 4.36597722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.560385723 meters Centerline goodness [0,1] 0.9999778113073577 Centerline is valid? [True, True] Translation: X:216.80, Y:144.24, Z:4.36 [[-2.23522574e-01 -9.74684483e-01 5.27420609e-03 2.16796319e+02] [ 9.74397498e-01 -2.23584742e-01 -2.36512176e-02 1.44237683e+02] [ 2.42317068e-02 -1.47407828e-04 9.99706358e-01 4.36358023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.590385723 meters Centerline goodness [0,1] 0.9999331640155059 Centerline is valid? [True, True] Translation: X:216.79, Y:144.26, Z:4.36 [[-2.24623043e-01 -9.74431039e-01 5.35158346e-03 2.16790311e+02] [ 9.74136321e-01 -2.24686720e-01 -2.39646970e-02 1.44264341e+02] [ 2.45543743e-02 -1.69851329e-04 9.99698481e-01 4.36321950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.79, Y:144.29, Z:4.36 [[-2.25778132e-01 -9.74163633e-01 5.42685174e-03 2.16785675e+02] [ 9.73861370e-01 -2.25843260e-01 -2.42663227e-02 1.44290497e+02] [ 2.48649870e-02 -1.93803724e-04 9.99690800e-01 4.36190067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.650385723 meters Centerline goodness [0,1] 0.9999553810458682 Centerline is valid? [True, True] Translation: X:216.78, Y:144.32, Z:4.36 [[-2.28137102e-01 -9.73614477e-01 5.32102569e-03 2.16782594e+02] [ 9.73324493e-01 -2.28199019e-01 -2.37621455e-02 1.44317160e+02] [ 2.43494217e-02 -2.41942381e-04 9.99703480e-01 4.36320767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.68038572300003 meters Centerline goodness [0,1] 0.999821372750413 Centerline is valid? [True, True] Translation: X:216.78, Y:144.34, Z:4.36 [[-2.29328876e-01 -9.73334817e-01 5.25366825e-03 2.16776737e+02] [ 9.73052728e-01 -2.29388897e-01 -2.34333571e-02 1.44343273e+02] [ 2.40136355e-02 -2.61849231e-04 9.99711597e-01 4.36404679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.710385723 meters Centerline goodness [0,1] 0.9998885570365087 Centerline is valid? [True, True] Translation: X:216.77, Y:144.37, Z:4.37 [[-2.31040520e-01 -9.72930215e-01 5.20334186e-03 2.16771366e+02] [ 9.72654202e-01 -2.31098920e-01 -2.31752600e-02 1.44369082e+02] [ 2.37503974e-02 -2.93371803e-04 9.99717876e-01 4.36527243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.740385723 meters Centerline goodness [0,1] 0.9999106744082179 Centerline is valid? [True, True] Translation: X:216.77, Y:144.40, Z:4.36 [[-2.31513342e-01 -9.72818150e-01 5.13993991e-03 2.16765947e+02] [ 9.72549564e-01 -2.31570206e-01 -2.28601456e-02 1.44395057e+02] [ 2.34290215e-02 -2.93582375e-04 9.99725460e-01 4.36464272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.770385723 meters Centerline goodness [0,1] 0.9999108515901848 Centerline is valid? [True, True] Translation: X:216.76, Y:144.42, Z:4.37 [[-2.31730718e-01 -9.72766841e-01 5.05441306e-03 2.16757675e+02] [ 9.72507823e-01 -2.31785657e-01 -2.24486894e-02 1.44420889e+02] [ 2.30088812e-02 -2.86594686e-04 9.99735220e-01 4.36543981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.800385723 meters Centerline goodness [0,1] 0.9996876324772975 Centerline is valid? [True, True] Translation: X:216.75, Y:144.45, Z:4.37 [[-2.31388568e-01 -9.72848059e-01 5.09756462e-03 2.16749355e+02] [ 9.72585314e-01 -2.31444549e-01 -2.26103382e-02 1.44447755e+02] [ 2.31762272e-02 -2.73957285e-04 9.99731358e-01 4.36678652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.830385723 meters Centerline goodness [0,1] 0.999799991110716 Centerline is valid? [True, True] Translation: X:216.74, Y:144.47, Z:4.37 [[-2.30040553e-01 -9.73167425e-01 5.14841798e-03 2.16741671e+02] [ 9.72900182e-01 -2.30098035e-01 -2.28063554e-02 1.44473692e+02] [ 2.33790431e-02 -2.37489828e-04 9.99726645e-01 4.36659098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.860385723 meters Centerline goodness [0,1] 0.9998443821973234 Centerline is valid? [True, True] Translation: X:216.73, Y:144.50, Z:4.37 [[-2.29659796e-01 -9.73258012e-01 5.02198172e-03 2.16733357e+02] [ 9.73004406e-01 -2.29714596e-01 -2.22177832e-02 1.44500790e+02] [ 2.27772580e-02 -2.16121233e-04 9.99740541e-01 4.36744266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.890385723 meters Centerline goodness [0,1] 0.9996217599288019 Centerline is valid? [True, True] Translation: X:216.73, Y:144.53, Z:4.37 [[-2.29568933e-01 -9.73280800e-01 4.75283546e-03 2.16726507e+02] [ 9.73054223e-01 -2.29618044e-01 -2.10007989e-02 1.44527278e+02] [ 2.15310111e-02 -1.96364376e-04 9.99768162e-01 4.36753956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.920385723 meters Centerline goodness [0,1] 0.9998001243670604 Centerline is valid? [True, True] Translation: X:216.72, Y:144.55, Z:4.37 [[-2.29877891e-01 -9.73209646e-01 4.37507052e-03 2.16719664e+02] [ 9.73018118e-01 -2.29919449e-01 -1.93077616e-02 1.44554043e+02] [ 1.97964136e-02 -1.81404616e-04 9.99804015e-01 4.36965417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.950385723 meters Centerline goodness [0,1] 0.9996231935455271 Centerline is valid? [True, True] Translation: X:216.71, Y:144.58, Z:4.37 [[-2.29690717e-01 -9.73254134e-01 4.30875802e-03 2.16713681e+02] [ 9.73068836e-01 -2.29731065e-01 -1.89915370e-02 1.44581319e+02] [ 1.94734474e-02 -1.69461594e-04 9.99810360e-01 4.37131203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.980385723 meters Centerline goodness [0,1] 0.9996678182301355 Centerline is valid? [True, True] Translation: X:216.71, Y:144.61, Z:4.37 [[-2.28568124e-01 -9.73517812e-01 4.43651742e-03 2.16706650e+02] [ 9.73321916e-01 -2.28611130e-01 -1.95294639e-02 1.44608741e+02] [ 2.00265182e-02 -1.45653289e-04 9.99799439e-01 4.37374541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.010385723 meters Centerline goodness [0,1] 0.9997351578018098 Centerline is valid? [True, True] Translation: X:216.70, Y:144.64, Z:4.37 [[-2.28480105e-01 -9.73537860e-01 4.56923767e-03 2.16699863e+02] [ 9.73330616e-01 -2.28525745e-01 -2.00871932e-02 1.44635215e+02] [ 2.05998315e-02 -1.42145093e-04 9.99787791e-01 4.37354816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.040385723 meters Centerline goodness [0,1] 0.9998674384693562 Centerline is valid? [True, True] Translation: X:216.69, Y:144.66, Z:4.37 [[-2.28562596e-01 -9.73516919e-01 4.89360270e-03 2.16690008e+02] [ 9.73279858e-01 -2.28614929e-01 -2.14833170e-02 1.44661357e+02] [ 2.20331232e-02 -1.47437763e-04 9.99757230e-01 4.37295178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.070385723 meters Centerline goodness [0,1] 0.9999559655650719 Centerline is valid? [True, True] Translation: X:216.68, Y:144.69, Z:4.37 [[-2.29355541e-01 -9.73329184e-01 5.13185023e-03 2.16683882e+02] [ 9.73069127e-01 -2.29412886e-01 -2.24989329e-02 1.44687300e+02] [ 2.30761806e-02 -1.66609905e-04 9.99733696e-01 4.37194074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.68, Y:144.71, Z:4.37 [[-2.31811203e-01 -9.72745848e-01 5.39263742e-03 2.16677143e+02] [ 9.72459321e-01 -2.31873807e-01 -2.36094468e-02 1.44714101e+02] [ 2.42164027e-02 -2.28813757e-04 9.99706714e-01 4.37264109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.130385723 meters Centerline goodness [0,1] 0.9999779132432194 Centerline is valid? [True, True] Translation: X:216.67, Y:144.74, Z:4.37 [[-2.33372116e-01 -9.72371996e-01 5.49156777e-03 2.16670773e+02] [ 9.72075537e-01 -2.33436569e-01 -2.40107996e-02 1.44741163e+02] [ 2.46293618e-02 -2.65232423e-04 9.99696616e-01 4.37327663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.160385723 meters Centerline goodness [0,1] 0.9999559519876665 Centerline is valid? [True, True] Translation: X:216.66, Y:144.77, Z:4.37 [[-2.36205467e-01 -9.71687442e-01 5.52207098e-03 2.16663778e+02] [ 9.71388259e-01 -2.36269774e-01 -2.41131641e-02 1.44767044e+02] [ 2.47351572e-02 -3.31586265e-04 9.99693984e-01 4.37260196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.190385723 meters Centerline goodness [0,1] 0.9999341729933734 Centerline is valid? [True, True] Translation: X:216.66, Y:144.79, Z:4.37 [[-2.37784506e-01 -9.71302822e-01 5.41826084e-03 2.16656678e+02] [ 9.71015419e-01 -2.37845961e-01 -2.36295228e-02 1.44794316e+02] [ 2.42401336e-02 -3.57519579e-04 9.99706101e-01 4.37413549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.220385723 meters Centerline goodness [0,1] 0.9999119698937037 Centerline is valid? [True, True] Translation: X:216.65, Y:144.82, Z:4.38 [[-2.39738124e-01 -9.70825817e-01 4.78182311e-03 2.16650306e+02] [ 9.70602393e-01 -2.39785549e-01 -2.08299013e-02 1.44821997e+02] [ 2.13688180e-02 -3.52472489e-04 9.99771599e-01 4.37789569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.250385723 meters Centerline goodness [0,1] 0.9998680825803047 Centerline is valid? [True, True] Translation: X:216.64, Y:144.85, Z:4.38 [[-2.39475573e-01 -9.70892814e-01 4.31203916e-03 2.16640867e+02] [ 9.70711567e-01 -2.39514194e-01 -1.87618096e-02 1.44848455e+02] [ 1.92485007e-02 -3.07248798e-04 9.99814683e-01 4.37970848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.280385723 meters Centerline goodness [0,1] 0.9999781138517432 Centerline is valid? [True, True] Translation: X:216.63, Y:144.87, Z:4.38 [[-2.38722689e-01 -9.71078573e-01 4.22889039e-03 2.16631692e+02] [ 9.70904707e-01 -2.38759977e-01 -1.83772662e-02 1.44873960e+02] [ 1.88554592e-02 -2.81220821e-04 9.99822180e-01 4.37946103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.310385723 meters Centerline goodness [0,1] 0.9999343128024348 Centerline is valid? [True, True] Translation: X:216.62, Y:144.90, Z:4.38 [[-2.37922757e-01 -9.71274981e-01 4.20403479e-03 2.16621400e+02] [ 9.71103618e-01 -2.37959755e-01 -1.82460445e-02 1.44900512e+02] [ 1.87223176e-02 -2.58595813e-04 9.99824689e-01 4.37874569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.340385723 meters Centerline goodness [0,1] 0.9999564260659274 Centerline is valid? [True, True] Translation: X:216.61, Y:144.93, Z:4.38 [[-2.35181947e-01 -9.71942169e-01 4.22758881e-03 2.16609319e+02] [ 9.71769416e-01 -2.35219855e-01 -1.83254413e-02 1.44926281e+02] [ 1.88056820e-02 -2.01571454e-04 9.99823137e-01 4.37785893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.60, Y:144.95, Z:4.38 [[-2.34098352e-01 -9.72203229e-01 4.34089744e-03 2.16602435e+02] [ 9.72021611e-01 -2.34138526e-01 -1.87919950e-02 1.44951164e+02] [ 1.92860095e-02 -1.79728940e-04 9.99813991e-01 4.37857376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.400385723 meters Centerline goodness [0,1] 0.9999127932327548 Centerline is valid? [True, True] Translation: X:216.60, Y:144.98, Z:4.38 [[-2.32523286e-01 -9.72581006e-01 4.37139505e-03 2.16595277e+02] [ 9.72397429e-01 -2.32564329e-01 -1.88963858e-02 1.44976705e+02] [ 1.93948965e-02 -1.43116435e-04 9.99811891e-01 4.38039764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.43038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.59, Y:145.00, Z:4.38 [[-2.32272381e-01 -9.72641294e-01 4.29579989e-03 2.16587398e+02] [ 9.72464525e-01 -2.32312066e-01 -1.85432372e-02 1.45001512e+02] [ 1.90338843e-02 -1.29568849e-04 9.99818831e-01 4.38114464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.57, Y:145.03, Z:4.38 [[-2.31948521e-01 -9.72719432e-01 4.09760945e-03 2.16573720e+02] [ 9.72559043e-01 -2.31984685e-01 -1.76638997e-02 1.45026929e+02] [ 1.81326011e-02 -1.11948295e-04 9.99835585e-01 4.38092393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.490385723 meters Centerline goodness [0,1] 0.9999567623659633 Centerline is valid? [True, True] Translation: X:216.57, Y:145.05, Z:4.38 [[-2.31896371e-01 -9.72731620e-01 4.15556680e-03 2.16565005e+02] [ 9.72567091e-01 -2.31933577e-01 -1.78904993e-02 1.45053162e+02] [ 1.83664698e-02 -1.07174345e-04 9.99831316e-01 4.38048235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.56, Y:145.08, Z:4.38 [[-2.31771036e-01 -9.72761001e-01 4.26877762e-03 2.16557222e+02] [ 9.72587859e-01 -2.31810322e-01 -1.83529843e-02 1.45080077e+02] [ 1.88426141e-02 -1.01928894e-04 9.99822457e-01 4.38073099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.550385723 meters Centerline goodness [0,1] 0.9999564355572982 Centerline is valid? [True, True] Translation: X:216.55, Y:145.11, Z:4.38 [[-2.31665278e-01 -9.72785309e-01 4.46554309e-03 2.16552256e+02] [ 9.72596344e-01 -2.31708291e-01 -1.91733920e-02 1.45106605e+02] [ 1.96862975e-02 -9.86383054e-05 9.99806201e-01 4.38335681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.55, Y:145.13, Z:4.39 [[-2.33886621e-01 -9.72254395e-01 4.29409683e-03 2.16545611e+02] [ 9.72080019e-01 -2.33925999e-01 -1.84136643e-02 1.45133687e+02] [ 1.89072669e-02 -1.32503986e-04 9.99821233e-01 4.38623527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.610385723 meters Centerline goodness [0,1] 0.999978265594436 Centerline is valid? [True, True] Translation: X:216.54, Y:145.16, Z:4.39 [[-2.35805082e-01 -9.71790624e-01 4.35275797e-03 2.16537322e+02] [ 9.71611829e-01 -2.35845194e-01 -1.86413243e-02 1.45159998e+02] [ 1.91420412e-02 -1.66527886e-04 9.99816760e-01 4.38537852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.640385723 meters Centerline goodness [0,1] 0.999978265594436 Centerline is valid? [True, True] Translation: X:216.53, Y:145.19, Z:4.39 [[-2.36069759e-01 -9.71726338e-01 4.35813006e-03 2.16530980e+02] [ 9.71547555e-01 -2.36109925e-01 -1.86400684e-02 1.45186837e+02] [ 1.91420432e-02 -1.66225863e-04 9.99816760e-01 4.38579557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.52, Y:145.21, Z:4.38 [[-2.38378862e-01 -9.71161543e-01 4.55804448e-03 2.16521450e+02] [ 9.70966371e-01 -2.38422338e-01 -1.94703923e-02 1.45213743e+02] [ 1.99956359e-02 -2.15622056e-04 9.99800044e-01 4.38407027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.51, Y:145.24, Z:4.38 [[-2.42425838e-01 -9.70157248e-01 4.96254751e-03 2.16512811e+02] [ 9.69926278e-01 -2.42476415e-01 -2.11707982e-02 1.45240547e+02] [ 2.17423041e-02 -3.19043267e-04 9.99763557e-01 4.38159241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.51, Y:145.27, Z:4.38 [[-2.44092067e-01 -9.69738531e-01 5.12294811e-03 2.16506049e+02] [ 9.69492902e-01 -2.44145553e-01 -2.18280234e-02 1.45268282e+02] [ 2.24182204e-02 -3.61385517e-04 9.99748615e-01 4.38264512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.760385723 meters Centerline goodness [0,1] 0.9999782858879986 Centerline is valid? [True, True] Translation: X:216.50, Y:145.30, Z:4.38 [[-2.46826003e-01 -9.69044534e-01 5.44197694e-03 2.16502485e+02] [ 9.68767743e-01 -2.46885586e-01 -2.31639483e-02 1.45295164e+02] [ 2.37904431e-02 -4.45453046e-04 9.99716868e-01 4.38384808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.49, Y:145.32, Z:4.38 [[-2.48339692e-01 -9.68656655e-01 5.62875173e-03 2.16494836e+02] [ 9.68360903e-01 -2.48402980e-01 -2.39399370e-02 1.45322370e+02] [ 2.45877780e-02 -4.94573455e-04 9.99697553e-01 4.38451009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.48, Y:145.35, Z:4.38 [[-2.50468039e-01 -9.68108161e-01 5.68778058e-03 2.16483147e+02] [ 9.67806733e-01 -2.50532013e-01 -2.41627311e-02 1.45348634e+02] [ 2.48171083e-02 -5.47319532e-04 9.99691858e-01 4.38418233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.47, Y:145.38, Z:4.38 [[-2.51104155e-01 -9.67943240e-01 5.70855475e-03 2.16474083e+02] [ 9.67640278e-01 -2.51168414e-01 -2.42223064e-02 1.45375275e+02] [ 2.48796264e-02 -5.58494269e-04 9.99690298e-01 4.38434838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.880385723 meters Centerline goodness [0,1] 0.9998920575980657 Centerline is valid? [True, True] Translation: X:216.46, Y:145.40, Z:4.38 [[-2.51525199e-01 -9.67832900e-01 5.87802573e-03 2.16464029e+02] [ 9.67512457e-01 -2.51593208e-01 -2.49098953e-02 1.45401475e+02] [ 2.55874876e-02 -5.78403264e-04 9.99672419e-01 4.38379597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.46, Y:145.43, Z:4.39 [[-2.49603537e-01 -9.68329883e-01 5.94239177e-03 2.16455792e+02] [ 9.68003229e-01 -2.49673708e-01 -2.51552755e-02 1.45427122e+02] [ 2.58422640e-02 -5.26591335e-04 9.99665894e-01 4.38740255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.44, Y:145.45, Z:4.39 [[-2.45795586e-01 -9.69301515e-01 6.25329867e-03 2.16444669e+02] [ 9.68940670e-01 -2.45874721e-01 -2.64499313e-02 1.45452579e+02] [ 2.71754865e-02 -4.42200956e-04 9.99630580e-01 4.38724588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.970385723 meters Centerline goodness [0,1] 0.999957153262779 Centerline is valid? [True, True] Translation: X:216.43, Y:145.48, Z:4.39 [[-2.43496432e-01 -9.69881207e-01 6.31916503e-03 2.16433622e+02] [ 9.69513614e-01 -2.43578125e-01 -2.67029966e-02 1.45478986e+02] [ 2.74379449e-02 -3.75567848e-04 9.99623438e-01 4.38665218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.42, Y:145.51, Z:4.39 [[-2.40926913e-01 -9.70521730e-01 6.46491699e-03 2.16422422e+02] [ 9.70138143e-01 -2.41013447e-01 -2.72855527e-02 1.45505490e+02] [ 2.80393537e-02 -3.01961426e-04 9.99606774e-01 4.38649116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.030385723 meters Centerline goodness [0,1] 0.9999359371329731 Centerline is valid? [True, True] Translation: X:216.41, Y:145.53, Z:4.39 [[-2.36926926e-01 -9.71507093e-01 6.29279324e-03 2.16410927e+02] [ 9.71144867e-01 -2.37010416e-01 -2.65275339e-02 1.45531591e+02] [ 2.72631449e-02 -1.73873221e-04 9.99628276e-01 4.38678052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.060385723 meters Centerline goodness [0,1] 0.9999573915081276 Centerline is valid? [True, True] Translation: X:216.40, Y:145.56, Z:4.39 [[-2.34807233e-01 -9.72023285e-01 6.02464152e-03 2.16403454e+02] [ 9.71692224e-01 -2.34884488e-01 -2.53672991e-02 1.45557369e+02] [ 2.60727002e-02 -1.02327991e-04 9.99660044e-01 4.38942200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.39, Y:145.58, Z:4.39 [[-2.31710425e-01 -9.72766415e-01 5.98164771e-03 2.16393077e+02] [ 9.72441121e-01 -2.31787620e-01 -2.51548200e-02 1.45582452e+02] [ 2.58562360e-02 -1.18338215e-05 9.99665672e-01 4.39023361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.38, Y:145.61, Z:4.39 [[-2.30036086e-01 -9.73163382e-01 6.03577803e-03 2.16384440e+02] [ 9.72833135e-01 -2.30115254e-01 -2.53507680e-02 1.45608757e+02] [ 2.60593637e-02 4.02134135e-05 9.99660396e-01 4.39059496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.37, Y:145.64, Z:4.39 [[-2.25994543e-01 -9.74109130e-01 6.15388825e-03 2.16373791e+02] [ 9.73767004e-01 -2.26078258e-01 -2.58155664e-02 1.45635500e+02] [ 2.65384392e-02 1.58276204e-04 9.99647781e-01 4.39177860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.18038572300003 meters Centerline goodness [0,1] 0.9999577542140171 Centerline is valid? [True, True] Translation: X:216.37, Y:145.66, Z:4.39 [[-2.24089684e-01 -9.74548672e-01 6.22088838e-03 2.16365142e+02] [ 9.74200079e-01 -2.24175908e-01 -2.60647042e-02 1.45661971e+02] [ 2.67958962e-02 2.19558638e-04 9.99640901e-01 4.39247002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.210385723 meters Centerline goodness [0,1] 0.9999580140652882 Centerline is valid? [True, True] Translation: X:216.36, Y:145.69, Z:4.39 [[-2.22349523e-01 -9.74947060e-01 6.23851323e-03 2.16356076e+02] [ 9.74597484e-01 -2.22436854e-01 -2.61072918e-02 1.45688198e+02] [ 2.68409027e-02 2.75095409e-04 9.99639680e-01 4.39192362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.35, Y:145.72, Z:4.39 [[-2.19760991e-01 -9.75535079e-01 6.03462381e-03 2.16347472e+02] [ 9.75208933e-01 -2.19843566e-01 -2.52258488e-02 1.45715251e+02] [ 2.59353736e-02 3.41361506e-04 9.99663563e-01 4.39263365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.34, Y:145.74, Z:4.39 [[-2.19096552e-01 -9.75685146e-01 5.93273876e-03 2.16340040e+02] [ 9.75370725e-01 -2.19176567e-01 -2.47705592e-02 1.45742441e+02] [ 2.54685840e-02 3.59475581e-04 9.99675558e-01 4.39292092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.33, Y:145.77, Z:4.39 [[-2.18279011e-01 -9.75868311e-01 5.94241731e-03 2.16330838e+02] [ 9.75553677e-01 -2.18359540e-01 -2.47817292e-02 1.45768667e+02] [ 2.54812877e-02 3.87815721e-04 9.99675224e-01 4.39169233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.330385723 meters Centerline goodness [0,1] 0.9999789553432383 Centerline is valid? [True, True] Translation: X:216.33, Y:145.80, Z:4.39 [[-2.18886434e-01 -9.75731631e-01 6.04254501e-03 2.16325328e+02] [ 9.75407005e-01 -2.18969486e-01 -2.51701952e-02 1.45795857e+02] [ 2.58824886e-02 3.84526457e-04 9.99664918e-01 4.39222157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.32, Y:145.82, Z:4.39 [[-2.21141635e-01 -9.75224186e-01 5.84494576e-03 2.16321038e+02] [ 9.74920992e-01 -2.21218633e-01 -2.43182064e-02 1.45822299e+02] [ 2.50087140e-02 3.20592395e-04 9.99687182e-01 4.39231053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.32, Y:145.85, Z:4.39 [[-2.22722072e-01 -9.74865037e-01 5.74786304e-03 2.16315785e+02] [ 9.74572411e-01 -2.22796050e-01 -2.38859048e-02 1.45849905e+02] [ 2.45661347e-02 2.81790515e-04 9.99698167e-01 4.39275258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.31, Y:145.88, Z:4.39 [[-2.25392227e-01 -9.74252848e-01 5.45272362e-03 2.16310636e+02] [ 9.73989930e-01 -2.25458076e-01 -2.26334382e-02 1.45876595e+02] [ 2.32800522e-02 2.09496860e-04 9.99728961e-01 4.39174608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.31, Y:145.90, Z:4.39 [[-2.26163284e-01 -9.74074184e-01 5.44555174e-03 2.16305416e+02] [ 9.73812551e-01 -2.26228748e-01 -2.25758630e-02 1.45902873e+02] [ 2.32225057e-02 1.97115318e-04 9.99730302e-01 4.39179859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.30, Y:145.93, Z:4.39 [[-2.27999216e-01 -9.73646446e-01 5.38108892e-03 2.16301641e+02] [ 9.73391503e-01 -2.28062653e-01 -2.22802106e-02 1.45930972e+02] [ 2.29202733e-02 1.58035677e-04 9.99737284e-01 4.39125259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.30, Y:145.96, Z:4.39 [[-2.29657849e-01 -9.73257007e-01 5.29821910e-03 2.16297763e+02] [ 9.73010287e-01 -2.29718923e-01 -2.19134116e-02 1.45957747e+02] [ 2.25444826e-02 1.22634718e-04 9.99745833e-01 4.39150580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.30, Y:145.99, Z:4.39 [[-2.32864232e-01 -9.72496272e-01 5.02502019e-03 2.16296252e+02] [ 9.72274596e-01 -2.32918438e-01 -2.07632357e-02 1.45985349e+02] [ 2.13625891e-02 5.06845466e-05 9.99771793e-01 4.39235703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.29, Y:146.01, Z:4.39 [[-2.34732138e-01 -9.72047191e-01 5.00813427e-03 2.16291208e+02] [ 9.71827481e-01 -2.34785557e-01 -2.06661286e-02 1.46012304e+02] [ 2.12642899e-02 1.60379452e-05 9.99773889e-01 4.39223685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.29, Y:146.04, Z:4.39 [[-2.37253795e-01 -9.71434114e-01 5.13806080e-03 2.16286579e+02] [ 9.71203338e-01 -2.37309422e-01 -2.11734230e-02 1.46038661e+02] [ 2.17878957e-02 -3.33731795e-05 9.99762615e-01 4.38983432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.630385723 meters Centerline goodness [0,1] 0.9998722833606505 Centerline is valid? [True, True] Translation: X:216.28, Y:146.07, Z:4.39 [[-2.38608746e-01 -9.71101007e-01 5.35726722e-03 2.16281070e+02] [ 9.70850731e-01 -2.38668872e-01 -2.20460578e-02 1.46065660e+02] [ 2.26875618e-02 -5.92754069e-05 9.99742602e-01 4.38692541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.28, Y:146.09, Z:4.39 [[-2.38959039e-01 -9.71017042e-01 4.94799707e-03 2.16278137e+02] [ 9.70804053e-01 -2.39010255e-01 -2.03368882e-02 1.46093099e+02] [ 2.09300870e-02 -5.61476545e-05 9.99780940e-01 4.39037057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.27, Y:146.12, Z:4.39 [[-2.38940424e-01 -9.71022646e-01 4.74285537e-03 2.16273544e+02] [ 9.70827448e-01 -2.38987487e-01 -1.94691525e-02 1.46120363e+02] [ 2.00384711e-02 -4.74733821e-05 9.99799209e-01 4.39158828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.27, Y:146.15, Z:4.39 [[-2.38920792e-01 -9.71028175e-01 4.59764494e-03 2.16268352e+02] [ 9.70845219e-01 -2.38965021e-01 -1.88488814e-02 1.46146590e+02] [ 1.94014712e-02 -3.97880565e-05 9.99811773e-01 4.39210979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.26, Y:146.17, Z:4.39 [[-2.38779032e-01 -9.71063484e-01 4.50376992e-03 2.16261424e+02] [ 9.70888393e-01 -2.38821500e-01 -1.84396077e-02 1.46172592e+02] [ 1.89816268e-02 -3.03337377e-05 9.99819832e-01 4.39088296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.780385723 meters Centerline goodness [0,1] 0.999936153911637 Centerline is valid? [True, True] Translation: X:216.26, Y:146.20, Z:4.39 [[-2.38612372e-01 -9.71103519e-01 4.70003443e-03 2.16257273e+02] [ 9.70913353e-01 -2.38658656e-01 -1.92173679e-02 1.46198181e+02] [ 1.97837575e-02 -2.21755554e-05 9.99804282e-01 4.38941770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.25, Y:146.23, Z:4.39 [[-2.38923432e-01 -9.71027003e-01 4.70668085e-03 2.16252583e+02] [ 9.70836788e-01 -2.38969786e-01 -1.92190746e-02 1.46225210e+02] [ 1.97869950e-02 -2.24683571e-05 9.99804218e-01 4.38988583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.840385723 meters Centerline goodness [0,1] 0.999936088623775 Centerline is valid? [True, True] Translation: X:216.25, Y:146.25, Z:4.39 [[-2.39476501e-01 -9.70891472e-01 4.55582593e-03 2.16247646e+02] [ 9.70713665e-01 -2.39519831e-01 -1.85803846e-02 1.46252181e+02] [ 1.91307476e-02 -2.71629913e-05 9.99816990e-01 4.39099679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.24, Y:146.28, Z:4.39 [[-2.41112299e-01 -9.70488834e-01 4.03508240e-03 2.16244413e+02] [ 9.70349616e-01 -2.41146056e-01 -1.64378535e-02 1.46278063e+02] [ 1.69257975e-02 -4.79279963e-05 9.99856747e-01 4.39315124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.24, Y:146.31, Z:4.39 [[-2.42200877e-01 -9.70218504e-01 3.84574020e-03 2.16238424e+02] [ 9.70092329e-01 -2.42231400e-01 -1.56468063e-02 1.46305097e+02] [ 1.61123801e-02 -5.89471549e-05 9.99870185e-01 4.39379659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.93038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.23, Y:146.33, Z:4.39 [[-2.42598479e-01 -9.70117898e-01 4.15244339e-03 2.16234580e+02] [ 9.69971174e-01 -2.42634005e-01 -1.68719106e-02 1.46330850e+02] [ 1.73752664e-02 -6.53494517e-05 9.99849037e-01 4.39221487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.23, Y:146.36, Z:4.39 [[-2.42355815e-01 -9.70176717e-01 4.56032904e-03 2.16233045e+02] [ 9.70000253e-01 -2.42398709e-01 -1.85033825e-02 1.46358288e+02] [ 1.90569687e-02 -6.08820210e-05 9.99818398e-01 4.39180444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.990385723 meters Centerline goodness [0,1] 0.9999785568778814 Centerline is valid? [True, True] Translation: X:216.23, Y:146.39, Z:4.39 [[-2.42360576e-01 -9.70175817e-01 4.49839744e-03 2.16228317e+02] [ 9.70004527e-01 -2.42402313e-01 -1.82301035e-02 1.46385202e+02] [ 1.87768275e-02 -5.47925178e-05 9.99823698e-01 4.39250596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.22, Y:146.41, Z:4.39 [[-2.42710869e-01 -9.70089113e-01 4.30659658e-03 2.16223016e+02] [ 9.69932481e-01 -2.42749068e-01 -1.74319217e-02 1.46410188e+02] [ 1.79559398e-02 -5.38089734e-05 9.99838778e-01 4.39294949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.22, Y:146.44, Z:4.39 [[-2.42804818e-01 -9.70067104e-01 3.95403020e-03 2.16218029e+02] [ 9.69935408e-01 -2.42837006e-01 -1.59841669e-02 1.46436348e+02] [ 1.64658994e-02 -4.58788379e-05 9.99864427e-01 4.39389068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.080385723 meters Centerline goodness [0,1] 0.9998922181504635 Centerline is valid? [True, True] Translation: X:216.21, Y:146.46, Z:4.40 [[-2.43052767e-01 -9.70004375e-01 4.10672948e-03 2.16214866e+02] [ 9.69862688e-01 -2.43087455e-01 -1.65787915e-02 1.46464055e+02] [ 1.70797947e-02 -4.65574485e-05 9.99854129e-01 4.39518530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.21, Y:146.49, Z:4.40 [[-2.43419821e-01 -9.69912169e-01 4.14440669e-03 2.16210916e+02] [ 9.69768210e-01 -2.43455094e-01 -1.67103721e-02 1.46491021e+02] [ 1.72165702e-02 -4.85219316e-05 9.99851783e-01 4.39584036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.21, Y:146.52, Z:4.40 [[-2.43605183e-01 -9.69865128e-01 4.26012151e-03 2.16206708e+02] [ 9.69713410e-01 -2.43642426e-01 -1.71543309e-02 1.46517290e+02] [ 1.76753336e-02 -4.77869636e-05 9.99843778e-01 4.39599936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.20, Y:146.55, Z:4.40 [[-2.44375631e-01 -9.69671592e-01 4.18976691e-03 2.16203672e+02] [ 9.69525202e-01 -2.44411539e-01 -1.68487873e-02 1.46545753e+02] [ 1.73618178e-02 -5.53484154e-05 9.99849271e-01 4.39670849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.200385723 meters Centerline goodness [0,1] 0.9999783844540994 Centerline is valid? [True, True] Translation: X:216.20, Y:146.57, Z:4.40 [[-2.45083569e-01 -9.69493109e-01 4.14208832e-03 2.16198400e+02] [ 9.69350341e-01 -2.45118561e-01 -1.66375412e-02 1.46573089e+02] [ 1.71452843e-02 -6.24532592e-05 9.99853007e-01 4.39672947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.230385723 meters Centerline goodness [0,1] 0.9999783877242273 Centerline is valid? [True, True] Translation: X:216.19, Y:146.60, Z:4.40 [[-2.47022952e-01 -9.69001538e-01 3.95982026e-03 2.16193852e+02] [ 9.68871291e-01 -2.47054672e-01 -1.58874286e-02 1.46600861e+02] [ 1.63732348e-02 -8.80033342e-05 9.99865946e-01 4.39641676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.260385723 meters Centerline goodness [0,1] 0.9999135957143475 Centerline is valid? [True, True] Translation: X:216.19, Y:146.63, Z:4.40 [[-2.48012428e-01 -9.68748861e-01 3.93447893e-03 2.16189126e+02] [ 9.68620544e-01 -2.48043615e-01 -1.57672707e-02 1.46627720e+02] [ 1.62504479e-02 -9.94619691e-05 9.99867948e-01 4.39670420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.290385723 meters Centerline goodness [0,1] 0.9999349508879204 Centerline is valid? [True, True] Translation: X:216.19, Y:146.66, Z:4.40 [[-2.49906618e-01 -9.68261795e-01 3.97218378e-03 2.16186954e+02] [ 9.68131268e-01 -2.49938152e-01 -1.58986582e-02 1.46656014e+02] [ 1.63868636e-02 -1.27584587e-04 9.99865718e-01 4.39816295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.18, Y:146.68, Z:4.40 [[-2.50676179e-01 -9.68063099e-01 3.91020877e-03 2.16182027e+02] [ 9.67936876e-01 -2.50706639e-01 -1.56328051e-02 1.46683934e+02] [ 1.61138570e-02 -1.33936591e-04 9.99870154e-01 4.39905916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.18, Y:146.71, Z:4.40 [[-2.51107351e-01 -9.67951363e-01 3.90612339e-03 2.16177079e+02] [ 9.67825680e-01 -2.51137693e-01 -1.55984684e-02 1.46711697e+02] [ 1.60795336e-02 -1.36443564e-04 9.99870707e-01 4.39961681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.17, Y:146.74, Z:4.40 [[-2.50844464e-01 -9.68019186e-01 3.98877442e-03 2.16171362e+02] [ 9.67888447e-01 -2.50876141e-01 -1.59095942e-02 1.46737163e+02] [ 1.64014808e-02 -1.30144942e-04 9.99865478e-01 4.39985030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.16, Y:146.76, Z:4.40 [[-2.50626502e-01 -9.68075468e-01 4.03056470e-03 2.16164829e+02] [ 9.67942342e-01 -2.50658879e-01 -1.60545275e-02 1.46764099e+02] [ 1.65522911e-02 -1.22335829e-04 9.99862994e-01 4.40000404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.440385723 meters Centerline goodness [0,1] 0.9999126370506268 Centerline is valid? [True, True] Translation: X:216.16, Y:146.79, Z:4.40 [[-2.48986602e-01 -9.68498646e-01 4.00552482e-03 2.16159310e+02] [ 9.68367526e-01 -2.49018803e-01 -1.59364345e-02 1.46790877e+02] [ 1.64318663e-02 -8.91385228e-05 9.99864984e-01 4.39937250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.470385723 meters Centerline goodness [0,1] 0.9999124879670954 Centerline is valid? [True, True] Translation: X:216.15, Y:146.82, Z:4.40 [[-2.46883419e-01 -9.69035965e-01 4.22789739e-03 2.16154400e+02] [ 9.68890325e-01 -2.46919613e-01 -1.68000805e-02 1.46818799e+02] [ 1.73238330e-02 -5.12924509e-05 9.99849930e-01 4.39987072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.500385723 meters Centerline goodness [0,1] 0.9999781239061953 Centerline is valid? [True, True] Translation: X:216.15, Y:146.85, Z:4.40 [[-2.46072793e-01 -9.69241427e-01 4.38588572e-03 2.16149373e+02] [ 9.69085111e-01 -2.46111874e-01 -1.74066994e-02 1.46845750e+02] [ 1.79507127e-02 -3.30185745e-05 9.99838872e-01 4.40063922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.14, Y:146.87, Z:4.40 [[-2.44188383e-01 -9.69717851e-01 4.39585036e-03 2.16143869e+02] [ 9.69561283e-01 -2.44227946e-01 -1.74249742e-02 1.46873458e+02] [ 1.79708980e-02 7.07005597e-06 9.99838510e-01 4.40195914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.560385723 meters Centerline goodness [0,1] 0.9999780282556632 Centerline is valid? [True, True] Translation: X:216.14, Y:146.90, Z:4.40 [[-2.43670557e-01 -9.69848769e-01 4.24560183e-03 2.16136834e+02] [ 9.69703069e-01 -2.43707540e-01 -1.68105207e-02 1.46900585e+02] [ 1.73383480e-02 2.07441690e-05 9.99849679e-01 4.40217721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.590385723 meters Centerline goodness [0,1] 0.9999780282556632 Centerline is valid? [True, True] Translation: X:216.13, Y:146.93, Z:4.40 [[-2.43937142e-01 -9.69781731e-01 4.25021880e-03 2.16130009e+02] [ 9.69636041e-01 -2.43974165e-01 -1.68093534e-02 1.46927313e+02] [ 1.73383475e-02 2.07396991e-05 9.99849679e-01 4.40259436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.12, Y:146.95, Z:4.40 [[-2.43666289e-01 -9.69849664e-01 4.28577192e-03 2.16123657e+02] [ 9.69701884e-01 -2.43703975e-01 -1.69301143e-02 1.46954040e+02] [ 1.74641254e-02 3.06229697e-05 9.99847490e-01 4.40303219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.12, Y:146.98, Z:4.40 [[-2.43569079e-01 -9.69875582e-01 3.93193610e-03 2.16120146e+02] [ 9.69751479e-01 -2.43600811e-01 -1.55149932e-02 1.46981733e+02] [ 1.60054359e-02 3.40282475e-05 9.99871904e-01 4.40462083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.68038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.12, Y:147.01, Z:4.41 [[-2.43929000e-01 -9.69784613e-01 4.05559944e-03 2.16115179e+02] [ 9.69652875e-01 -2.43962710e-01 -1.59843394e-02 1.47008300e+02] [ 1.64907814e-02 3.34797255e-05 9.99864017e-01 4.40535592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.11, Y:147.04, Z:4.41 [[-2.45378474e-01 -9.69419191e-01 3.97952894e-03 2.16111782e+02] [ 9.69292515e-01 -2.45410742e-01 -1.56712543e-02 1.47036563e+02] [ 1.61686338e-02 1.19391561e-05 9.99869279e-01 4.40616509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.740385723 meters Centerline goodness [0,1] 0.9999778201659052 Centerline is valid? [True, True] Translation: X:216.11, Y:147.06, Z:4.41 [[-2.46898729e-01 -9.69032911e-01 4.02927285e-03 2.16106950e+02] [ 9.68903298e-01 -2.46931605e-01 -1.58487146e-02 1.47062974e+02] [ 1.63528808e-02 -9.05173244e-06 9.99866283e-01 4.40643058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.10, Y:147.09, Z:4.41 [[-2.47835799e-01 -9.68793067e-01 4.17241286e-03 2.16102136e+02] [ 9.68654411e-01 -2.47870918e-01 -1.63902129e-02 1.47090262e+02] [ 1.69129445e-02 -2.04553985e-05 9.99856966e-01 4.40657101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.800385723 meters Centerline goodness [0,1] 0.9999554595461327 Centerline is valid? [True, True] Translation: X:216.10, Y:147.12, Z:4.41 [[-2.49216776e-01 -9.68438659e-01 4.19083476e-03 2.16099280e+02] [ 9.68299073e-01 -2.49252007e-01 -1.64421153e-02 1.47117058e+02] [ 1.69677541e-02 -3.96695602e-05 9.99856037e-01 4.40699938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.09, Y:147.14, Z:4.41 [[-2.49730754e-01 -9.68305826e-01 4.28693010e-03 2.16093691e+02] [ 9.68160044e-01 -2.49767543e-01 -1.68019092e-02 1.47144214e+02] [ 1.73401226e-02 -4.55190253e-05 9.99849648e-01 4.40786062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.860385723 meters Centerline goodness [0,1] 0.9999332472965156 Centerline is valid? [True, True] Translation: X:216.09, Y:147.17, Z:4.41 [[-2.50347346e-01 -9.68147081e-01 4.17564069e-03 2.16089438e+02] [ 9.68009056e-01 -2.50382162e-01 -1.63475152e-02 1.47172003e+02] [ 1.68723051e-02 -5.04990431e-05 9.99857651e-01 4.40907235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.08, Y:147.20, Z:4.41 [[-2.50898425e-01 -9.68003811e-01 4.31293533e-03 2.16083889e+02] [ 9.67856881e-01 -2.50935485e-01 -1.68653715e-02 1.47199334e+02] [ 1.74080124e-02 -5.71909996e-05 9.99848467e-01 4.40971086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.920385723 meters Centerline goodness [0,1] 0.9999776969913241 Centerline is valid? [True, True] Translation: X:216.08, Y:147.23, Z:4.41 [[-2.51801919e-01 -9.67767671e-01 4.63999293e-03 2.16080219e+02] [ 9.67597960e-01 -2.51844655e-01 -1.81234195e-02 1.47226161e+02] [ 1.87078169e-02 -7.38641134e-05 9.99824991e-01 4.40904665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.07, Y:147.25, Z:4.41 [[-2.51606259e-01 -9.67817954e-01 4.76431680e-03 2.16074360e+02] [ 9.67639370e-01 -2.51651353e-01 -1.85915851e-02 1.47252381e+02] [ 1.91922167e-02 -6.76186726e-05 9.99815810e-01 4.40921664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.07, Y:147.28, Z:4.41 [[-2.51135543e-01 -9.67939715e-01 4.86285906e-03 2.16067713e+02] [ 9.67754164e-01 -2.51182614e-01 -1.89518287e-02 1.47279162e+02] [ 1.95656933e-02 -5.34256932e-05 9.99808572e-01 4.40956480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.06, Y:147.31, Z:4.41 [[-2.49410351e-01 -9.68385654e-01 4.86853563e-03 2.16061203e+02] [ 9.68200211e-01 -2.49457864e-01 -1.89505953e-02 1.47306054e+02] [ 1.95659791e-02 -1.27573949e-05 9.99808568e-01 4.40996878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.040385723 meters Centerline goodness [0,1] 0.9999775664034458 Centerline is valid? [True, True] Translation: X:216.05, Y:147.33, Z:4.41 [[-2.48662776e-01 -9.68577261e-01 4.99134946e-03 2.16053979e+02] [ 9.68382831e-01 -2.48712866e-01 -1.94062662e-02 1.47333170e+02] [ 2.00378810e-02 7.92109247e-06 9.99799221e-01 4.41045695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.05, Y:147.36, Z:4.41 [[-2.47761655e-01 -9.68808043e-01 5.01382147e-03 2.16045293e+02] [ 9.68612351e-01 -2.47812379e-01 -1.94714587e-02 1.47359752e+02] [ 2.01065928e-02 3.21685694e-05 9.99797842e-01 4.41081813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.04, Y:147.39, Z:4.41 [[-2.47881242e-01 -9.68778430e-01 4.82115069e-03 2.16037831e+02] [ 9.68597883e-01 -2.47928120e-01 -1.87026179e-02 1.47386399e+02] [ 1.93139916e-02 3.37281927e-05 9.99813467e-01 4.41209441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.03, Y:147.41, Z:4.42 [[-2.48498425e-01 -9.68621416e-01 4.59192340e-03 2.16031491e+02] [ 9.68457967e-01 -2.48540846e-01 -1.77936599e-02 1.47414043e+02] [ 1.83766006e-02 2.53883376e-05 9.99831136e-01 4.41518177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.160385723 meters Centerline goodness [0,1] 0.9999553172475425 Centerline is valid? [True, True] Translation: X:216.03, Y:147.44, Z:4.42 [[-2.49546872e-01 -9.68352033e-01 4.54967654e-03 2.16025237e+02] [ 9.68191898e-01 -2.49588342e-01 -1.76099046e-02 1.47441088e+02] [ 1.81881331e-02 1.04633689e-05 9.99834582e-01 4.41647329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.02, Y:147.47, Z:4.42 [[-2.51832463e-01 -9.67759702e-01 4.64444006e-03 2.16018254e+02] [ 9.67593112e-01 -2.51875285e-01 -1.79557893e-02 1.47467293e+02] [ 1.85467090e-02 -2.79224287e-05 9.99827995e-01 4.41609532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.01, Y:147.49, Z:4.42 [[-2.53304518e-01 -9.67373795e-01 4.97618337e-03 2.16010948e+02] [ 9.67182951e-01 -2.53353387e-01 -1.92146062e-02 1.47493318e+02] [ 1.98484394e-02 -5.42668405e-05 9.99802999e-01 4.41539796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.00, Y:147.52, Z:4.41 [[-2.54739267e-01 -9.66995744e-01 5.20922272e-03 2.16004038e+02] [ 9.66787077e-01 -2.54792511e-01 -2.00879174e-02 1.47520007e+02] [ 2.07522015e-02 -8.09721409e-05 9.99784647e-01 4.41443102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.280385723 meters Centerline goodness [0,1] 0.9999329324182334 Centerline is valid? [True, True] Translation: X:216.00, Y:147.55, Z:4.41 [[-2.57232265e-01 -9.66332188e-01 5.80216972e-03 2.15999308e+02] [ 9.66073819e-01 -2.57297655e-01 -2.23448617e-02 1.47547024e+02] [ 2.30854437e-02 -1.42495117e-04 9.99733485e-01 4.41372487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.99, Y:147.57, Z:4.41 [[-2.59146028e-01 -9.65820365e-01 5.86161466e-03 2.15993423e+02] [ 9.65557174e-01 -2.59212246e-01 -2.25467265e-02 1.47574063e+02] [ 2.32954900e-02 -1.83170528e-04 9.99728606e-01 4.41447206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.99, Y:147.60, Z:4.42 [[-2.62308923e-01 -9.64966402e-01 5.81991785e-03 2.15987675e+02] [ 9.64707286e-01 -2.62373359e-01 -2.23622944e-02 1.47600276e+02] [ 2.31058542e-02 -2.51312215e-04 9.99732993e-01 4.41606425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.370385723 meters Centerline goodness [0,1] 0.9999553850272151 Centerline is valid? [True, True] Translation: X:215.98, Y:147.63, Z:4.42 [[-2.63857109e-01 -9.64544260e-01 5.81342905e-03 2.15980607e+02] [ 9.64286113e-01 -2.63920992e-01 -2.23159779e-02 1.47625997e+02] [ 2.30590344e-02 -2.82420524e-04 9.99734065e-01 4.41641797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.97, Y:147.65, Z:4.42 [[-2.64813951e-01 -9.64282110e-01 5.79509945e-03 2.15972844e+02] [ 9.64026161e-01 -2.64877186e-01 -2.22179277e-02 1.47651770e+02] [ 2.29593398e-02 -2.96989736e-04 9.99736356e-01 4.41655803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.43038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.97, Y:147.68, Z:4.42 [[-2.64973735e-01 -9.64239261e-01 5.61846429e-03 2.15965408e+02] [ 9.63999192e-01 -2.65033141e-01 -2.15172365e-02 1.47677036e+02] [ 2.22368435e-02 -2.85307489e-04 9.99752690e-01 4.41793937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.460385723 meters Centerline goodness [0,1] 0.9999556413156786 Centerline is valid? [True, True] Translation: X:215.96, Y:147.70, Z:4.42 [[-2.64849457e-01 -9.64273170e-01 5.65843409e-03 2.15958160e+02] [ 9.64030173e-01 -2.64909749e-01 -2.16483153e-02 1.47703345e+02] [ 2.23738639e-02 -2.78643351e-04 9.99749635e-01 4.41951264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.490385723 meters Centerline goodness [0,1] 0.9998224943974794 Centerline is valid? [True, True] Translation: X:215.95, Y:147.73, Z:4.42 [[-2.63746855e-01 -9.64574319e-01 5.82918447e-03 2.15947868e+02] [ 9.64317113e-01 -2.63811142e-01 -2.22752546e-02 1.47729199e+02] [ 2.30239424e-02 -2.53846008e-04 9.99734882e-01 4.42097848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.520385723 meters Centerline goodness [0,1] 0.9999110438998354 Centerline is valid? [True, True] Translation: X:215.94, Y:147.76, Z:4.42 [[-2.63548893e-01 -9.64627644e-01 5.95736991e-03 2.15939321e+02] [ 9.64359639e-01 -2.63616099e-01 -2.27384832e-02 1.47755395e+02] [ 2.35046281e-02 -2.47654981e-04 9.99723697e-01 4.42105523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.93, Y:147.78, Z:4.42 [[-2.63747097e-01 -9.64572475e-01 6.11637253e-03 2.15931938e+02] [ 9.64290677e-01 -2.63817888e-01 -2.33155135e-02 1.47780984e+02] [ 2.41031111e-02 -2.51438008e-04 9.99709446e-01 4.41998446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.580385723 meters Centerline goodness [0,1] 0.9998895344983761 Centerline is valid? [True, True] Translation: X:215.92, Y:147.81, Z:4.42 [[-2.63220005e-01 -9.64714774e-01 6.37450143e-03 2.15922396e+02] [ 9.64409517e-01 -2.63297071e-01 -2.42680087e-02 1.47805895e+02] [ 2.50900941e-02 -2.40195527e-04 9.99685165e-01 4.41927961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.610385723 meters Centerline goodness [0,1] 0.9998006335422989 Centerline is valid? [True, True] Translation: X:215.91, Y:147.83, Z:4.42 [[-2.63437338e-01 -9.64654955e-01 6.44872810e-03 2.15912042e+02] [ 9.64343292e-01 -2.63516146e-01 -2.45205341e-02 1.47831701e+02] [ 2.53531987e-02 -2.40836542e-04 9.99678527e-01 4.42186991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.640385723 meters Centerline goodness [0,1] 0.999822965766005 Centerline is valid? [True, True] Translation: X:215.90, Y:147.86, Z:4.42 [[-2.64006671e-01 -9.64500430e-01 6.27684935e-03 2.15904939e+02] [ 9.64205822e-01 -2.64081168e-01 -2.38384223e-02 1.47858354e+02] [ 2.46497663e-02 -2.41327836e-04 9.99696119e-01 4.42350439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.670385723 meters Centerline goodness [0,1] 0.9999778873582027 Centerline is valid? [True, True] Translation: X:215.90, Y:147.88, Z:4.43 [[-2.64791492e-01 -9.64285195e-01 6.28712725e-03 2.15897873e+02] [ 9.63990281e-01 -2.64865999e-01 -2.38482978e-02 1.47884792e+02] [ 2.46618068e-02 -2.54096806e-04 9.99695819e-01 4.42556336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.89, Y:147.91, Z:4.43 [[-2.65699128e-01 -9.64031314e-01 6.89927999e-03 2.15889209e+02] [ 9.63676954e-01 -2.65788523e-01 -2.61378960e-02 1.47911396e+02] [ 2.70314996e-02 -2.96139039e-04 9.99634538e-01 4.42550659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.730385723 meters Centerline goodness [0,1] 0.9999558985667034 Centerline is valid? [True, True] Translation: X:215.88, Y:147.94, Z:4.42 [[-2.66380092e-01 -9.63841271e-01 7.18689067e-03 2.15880438e+02] [ 9.63457534e-01 -2.66476832e-01 -2.71970143e-02 1.47938154e+02] [ 2.81287447e-02 -3.20479200e-04 9.99604257e-01 4.42486593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.87, Y:147.96, Z:4.42 [[-2.67911039e-01 -9.63415715e-01 7.33733280e-03 2.15870836e+02] [ 9.63016466e-01 -2.68011246e-01 -2.77355106e-02 1.47964317e+02] [ 2.86873145e-02 -3.64677168e-04 9.99588368e-01 4.42497327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.790385723 meters Centerline goodness [0,1] 0.9999779322520137 Centerline is valid? [True, True] Translation: X:215.87, Y:147.99, Z:4.42 [[-2.68691767e-01 -9.63198353e-01 7.32575419e-03 2.15866591e+02] [ 9.62801178e-01 -2.68791348e-01 -2.76605066e-02 1.47991019e+02] [ 2.86116537e-02 -3.78905640e-04 9.99590531e-01 4.42175166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.820385723 meters Centerline goodness [0,1] 0.999977959003747 Centerline is valid? [True, True] Translation: X:215.85, Y:148.02, Z:4.43 [[-2.69765236e-01 -9.62898453e-01 7.29982031e-03 2.15854853e+02] [ 9.62504864e-01 -2.69863686e-01 -2.75313793e-02 1.48016942e+02] [ 2.84798789e-02 -4.00896461e-04 9.99594286e-01 4.42695743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.85, Y:148.04, Z:4.43 [[-2.71913535e-01 -9.62296445e-01 6.97004986e-03 2.15847258e+02] [ 9.61938192e-01 -2.72002504e-01 -2.62593513e-02 1.48044045e+02] [ 2.71651514e-02 -4.35515862e-04 9.99630864e-01 4.42967403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.880385723 meters Centerline goodness [0,1] 0.9999121188153617 Centerline is valid? [True, True] Translation: X:215.84, Y:148.07, Z:4.43 [[-2.73489245e-01 -9.61850112e-01 6.92782771e-03 2.15839179e+02] [ 9.61496815e-01 -2.73576574e-01 -2.60716859e-02 1.48071016e+02] [ 2.69723454e-02 -4.69241412e-04 9.99636070e-01 4.43138957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.83, Y:148.10, Z:4.43 [[-2.74016522e-01 -9.61699036e-01 7.06466062e-03 2.15831557e+02] [ 9.61332283e-01 -2.74107145e-01 -2.65615390e-02 1.48096500e+02] [ 2.74806804e-02 -4.86814210e-04 9.99622216e-01 4.43112973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.940385723 meters Centerline goodness [0,1] 0.9999779852060585 Centerline is valid? [True, True] Translation: X:215.82, Y:148.12, Z:4.43 [[-2.74133728e-01 -9.61664939e-01 7.15848160e-03 2.15821759e+02] [ 9.61289042e-01 -2.74226739e-01 -2.68900321e-02 1.48122960e+02] [ 2.78222481e-02 -4.90094815e-04 9.99612766e-01 4.43177837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.81, Y:148.15, Z:4.43 [[-2.72299888e-01 -9.62185313e-01 7.22458567e-03 2.15811182e+02] [ 9.61803459e-01 -2.72395368e-01 -2.71084966e-02 1.48147980e+02] [ 2.80513410e-02 -4.33009129e-04 9.99606390e-01 4.43154038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.000385723 meters Centerline goodness [0,1] 0.9999563242487771 Centerline is valid? [True, True] Translation: X:215.80, Y:148.17, Z:4.43 [[-2.71270999e-01 -9.62474455e-01 7.41403399e-03 2.15799776e+02] [ 9.62073307e-01 -2.71371993e-01 -2.77883677e-02 1.48174193e+02] [ 2.87575552e-02 -4.05334061e-04 9.99586334e-01 4.43194099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.79, Y:148.20, Z:4.43 [[-2.68856064e-01 -9.63150019e-01 7.64576791e-03 2.15787060e+02] [ 9.62724627e-01 -2.68964549e-01 -2.86245212e-02 1.48198413e+02] [ 2.96261487e-02 -3.35107039e-04 9.99560993e-01 4.43054558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.060385723 meters Centerline goodness [0,1] 0.9999564365062078 Centerline is valid? [True, True] Translation: X:215.78, Y:148.22, Z:4.43 [[-2.67804040e-01 -9.63441247e-01 7.87148505e-03 2.15776648e+02] [ 9.62991496e-01 -2.67919526e-01 -2.94364866e-02 1.48224736e+02] [ 3.04692499e-02 -3.03036868e-04 9.99535659e-01 4.43053759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.090385723 meters Centerline goodness [0,1] 0.9998915401301518 Centerline is valid? [True, True] Translation: X:215.77, Y:148.25, Z:4.43 [[-2.68127853e-01 -9.63351155e-01 7.87436034e-03 2.15769265e+02] [ 9.62902100e-01 -2.68243283e-01 -2.94123639e-02 1.48249436e+02] [ 3.04466790e-02 -3.04035882e-04 9.99536346e-01 4.43065784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.120385723 meters Centerline goodness [0,1] 0.9999349494774274 Centerline is valid? [True, True] Translation: X:215.76, Y:148.28, Z:4.43 [[-2.68560259e-01 -9.63230651e-01 7.88043761e-03 2.15761334e+02] [ 9.62781964e-01 -2.68675676e-01 -2.93985006e-02 1.48275314e+02] [ 3.04348188e-02 -3.08125736e-04 9.99536706e-01 4.43135732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.150385723 meters Centerline goodness [0,1] 0.9998914836357322 Centerline is valid? [True, True] Translation: X:215.75, Y:148.30, Z:4.43 [[-2.69116137e-01 -9.63075968e-01 7.82202769e-03 2.15751272e+02] [ 9.62634854e-01 -2.69229606e-01 -2.91471669e-02 1.48301787e+02] [ 3.01768574e-02 -3.14216467e-04 9.99544526e-01 4.43378173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.18038572300003 meters Centerline goodness [0,1] 0.999934997399896 Centerline is valid? [True, True] Translation: X:215.74, Y:148.33, Z:4.44 [[-2.69168837e-01 -9.63061215e-01 7.82515543e-03 2.15742508e+02] [ 9.62620707e-01 -2.69282382e-01 -2.91268645e-02 1.48328075e+02] [ 3.01581300e-02 -3.07387586e-04 9.99545093e-01 4.43501252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.210385723 meters Centerline goodness [0,1] 0.9999349663993063 Centerline is valid? [True, True] Translation: X:215.73, Y:148.35, Z:4.44 [[-2.69349442e-01 -9.63010601e-01 7.83973678e-03 2.15732482e+02] [ 9.62569397e-01 -2.69463338e-01 -2.91490289e-02 1.48354948e+02] [ 3.01833455e-02 -3.04983977e-04 9.99544333e-01 4.43568052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.240385723 meters Centerline goodness [0,1] 0.9999568453986406 Centerline is valid? [True, True] Translation: X:215.72, Y:148.38, Z:4.44 [[-2.69485739e-01 -9.62972831e-01 7.79501502e-03 2.15725000e+02] [ 9.62537613e-01 -2.69598288e-01 -2.89500597e-02 1.48380645e+02] [ 2.99796437e-02 -2.98633094e-04 9.99550465e-01 4.43520720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.72, Y:148.41, Z:4.44 [[-2.71156777e-01 -9.62508518e-01 7.16620392e-03 2.15715683e+02] [ 9.62141321e-01 -2.71251274e-01 -2.65861646e-02 1.48406938e+02] [ 2.75332519e-02 -3.14117808e-04 9.99620839e-01 4.43795126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.71, Y:148.43, Z:4.44 [[-2.72347453e-01 -9.62173698e-01 6.97426138e-03 2.15708619e+02] [ 9.61826495e-01 -2.72436535e-01 -2.58481552e-02 1.48432082e+02] [ 2.67704586e-02 -3.31649847e-04 9.99641552e-01 4.43846784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.330385723 meters Centerline goodness [0,1] 0.9999348972461535 Centerline is valid? [True, True] Translation: X:215.70, Y:148.46, Z:4.44 [[-2.73600791e-01 -9.61818768e-01 6.87496252e-03 2.15699307e+02] [ 9.61481940e-01 -2.73686924e-01 -2.54547926e-02 1.48458297e+02] [ 2.63644846e-02 -3.54299083e-04 9.99652334e-01 4.43984879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.69, Y:148.48, Z:4.44 [[-2.75619949e-01 -9.61240005e-01 7.16219165e-03 2.15689193e+02] [ 9.60875073e-01 -2.75712673e-01 -2.64880217e-02 1.48483954e+02] [ 2.74360531e-02 -4.18655773e-04 9.99623473e-01 4.43922492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.68, Y:148.51, Z:4.44 [[-2.77696335e-01 -9.60641332e-01 7.27848753e-03 2.15679615e+02] [ 9.60265087e-01 -2.77791294e-01 -2.68879086e-02 1.48510633e+02] [ 2.78515368e-02 -4.77396212e-04 9.99611957e-01 4.43917849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.67, Y:148.54, Z:4.44 [[-2.79024400e-01 -9.60256850e-01 7.22265651e-03 2.15671268e+02] [ 9.59887013e-01 -2.79117410e-01 -2.66532084e-02 1.48537053e+02] [ 2.76098951e-02 -5.03961294e-04 9.99618647e-01 4.43935894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.66, Y:148.56, Z:4.44 [[-2.80278586e-01 -9.59892033e-01 7.15531956e-03 2.15660711e+02] [ 9.59529727e-01 -2.80369411e-01 -2.63760522e-02 1.48563526e+02] [ 2.73242951e-02 -5.26900788e-04 9.99626483e-01 4.44012497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.65, Y:148.59, Z:4.44 [[-2.80549252e-01 -9.59812905e-01 7.16276066e-03 2.15653435e+02] [ 9.59450624e-01 -2.80640180e-01 -2.63740318e-02 1.48590135e+02] [ 2.73242945e-02 -5.26899721e-04 9.99626483e-01 4.44054223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.64, Y:148.62, Z:4.44 [[-2.81736808e-01 -9.59463644e-01 7.34075918e-03 2.15643277e+02] [ 9.59083825e-01 -2.81831855e-01 -2.70004041e-02 1.48615387e+02] [ 2.79747659e-02 -5.66604274e-04 9.99608469e-01 4.43963167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.63, Y:148.64, Z:4.44 [[-2.82009928e-01 -9.59382630e-01 7.44111456e-03 2.15634146e+02] [ 9.58993156e-01 -2.82107497e-01 -2.73402227e-02 1.48641087e+02] [ 2.83289289e-02 -5.74236286e-04 9.99598490e-01 4.43910170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.62, Y:148.67, Z:4.44 [[-2.81875266e-01 -9.59419672e-01 7.76062305e-03 2.15622858e+02] [ 9.58996999e-01 -2.81981470e-01 -2.84816747e-02 1.48666725e+02] [ 2.95142309e-02 -5.85865409e-04 9.99564189e-01 4.43786789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.61, Y:148.69, Z:4.44 [[-2.81900841e-01 -9.59413246e-01 7.62492062e-03 2.15613736e+02] [ 9.59006098e-01 -2.82003371e-01 -2.79535708e-02 1.48693490e+02] [ 2.89692794e-02 -5.67789744e-04 9.99580141e-01 4.43809082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.60, Y:148.72, Z:4.44 [[-2.81224492e-01 -9.59613488e-01 7.39851596e-03 2.15603722e+02] [ 9.59231050e-01 -2.81321311e-01 -2.70945073e-02 1.48718735e+02] [ 2.80816149e-02 -5.22752824e-04 9.99605497e-01 4.43882078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.59, Y:148.75, Z:4.44 [[-2.80202264e-01 -9.59912993e-01 7.33057592e-03 2.15593366e+02] [ 9.59538461e-01 -2.80297727e-01 -2.68165326e-02 1.48745115e+02] [ 2.77962819e-02 -4.80083626e-04 9.99613493e-01 4.44000011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.58, Y:148.77, Z:4.44 [[-2.78942032e-01 -9.60280476e-01 7.26295854e-03 2.15584102e+02] [ 9.59913744e-01 -2.79036237e-01 -2.65401929e-02 1.48770549e+02] [ 2.75126577e-02 -4.31361605e-04 9.99621362e-01 4.44029614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.57, Y:148.80, Z:4.44 [[-2.76161482e-01 -9.61085863e-01 6.98563525e-03 2.15572268e+02] [ 9.60747572e-01 -2.76249622e-01 -2.54999920e-02 1.48795535e+02] [ 2.64374609e-02 -3.30683488e-04 9.99650415e-01 4.43936108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.56, Y:148.82, Z:4.44 [[-2.73879946e-01 -9.61740693e-01 6.67942376e-03 2.15560271e+02] [ 9.61432229e-01 -2.73961269e-01 -2.43575923e-02 1.48821816e+02] [ 2.52555911e-02 -2.49242781e-04 9.99680996e-01 4.44138010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.55, Y:148.85, Z:4.44 [[-2.72808140e-01 -9.62047023e-01 6.42216023e-03 2.15551550e+02] [ 9.61762539e-01 -2.72883644e-01 -2.33951820e-02 1.48847205e+02] [ 2.42597677e-02 -2.05802971e-04 9.99705667e-01 4.44196046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.54, Y:148.87, Z:4.44 [[-2.71996109e-01 -9.62278450e-01 6.18878342e-03 2.15542167e+02] [ 9.62014896e-01 -2.72066453e-01 -2.25207644e-02 1.48872277e+02] [ 2.33550066e-02 -1.71858440e-04 9.99727220e-01 4.44243401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.53, Y:148.90, Z:4.44 [[-2.70550556e-01 -9.62687371e-01 5.95171072e-03 2.15530583e+02] [ 9.62444239e-01 -2.70615984e-01 -2.16350619e-02 1.48898053e+02] [ 2.24384289e-02 -1.25188339e-04 9.99748219e-01 4.44275223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.52, Y:148.92, Z:4.44 [[-2.69684374e-01 -9.62930756e-01 5.89046929e-03 2.15521087e+02] [ 9.62693166e-01 -2.69748678e-01 -2.13896976e-02 1.48924515e+02] [ 2.21857440e-02 -9.77526632e-05 9.99753861e-01 4.44408313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.51, Y:148.95, Z:4.45 [[-2.69819546e-01 -9.62892738e-01 5.91501466e-03 2.15512623e+02] [ 9.62653675e-01 -2.69884357e-01 -2.14554486e-02 1.48951675e+02] [ 2.22556655e-02 -9.49887939e-05 9.99752308e-01 4.44517011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.93038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.50, Y:148.98, Z:4.45 [[-2.70397117e-01 -9.62731482e-01 5.78732203e-03 2.15503882e+02] [ 9.62503087e-01 -2.70459024e-01 -2.09695870e-02 1.48978787e+02] [ 2.17533150e-02 -9.98005402e-05 9.99763364e-01 4.44611886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.50, Y:149.01, Z:4.45 [[-2.71915763e-01 -9.62304147e-01 5.70497597e-03 2.15496145e+02] [ 9.62082608e-01 -2.71975575e-01 -2.06480583e-02 1.49005157e+02] [ 2.14213263e-02 -1.25874378e-04 9.99770529e-01 4.44649703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.49, Y:149.03, Z:4.45 [[-2.73071440e-01 -9.61976819e-01 5.70866211e-03 2.15488930e+02] [ 9.61755436e-01 -2.73131065e-01 -2.06373974e-02 1.49031386e+02] [ 2.14119108e-02 -1.45146987e-04 9.99770728e-01 4.44625809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.48, Y:149.06, Z:4.45 [[-2.75484309e-01 -9.61287167e-01 5.94791452e-03 2.15481553e+02] [ 9.61047221e-01 -2.75548438e-01 -2.14778105e-02 1.49058852e+02] [ 2.22852822e-02 -2.00573068e-04 9.99751632e-01 4.44559877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.050385723 meters Centerline goodness [0,1] 0.999978830602481 Centerline is valid? [True, True] Translation: X:215.47, Y:149.09, Z:4.44 [[-2.76780328e-01 -9.60914212e-01 6.04383518e-03 2.15474191e+02] [ 9.60666905e-01 -2.76846213e-01 -2.18007428e-02 1.49086290e+02] [ 2.26218564e-02 -2.27904294e-04 9.99744067e-01 4.44493358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.47, Y:149.11, Z:4.45 [[-2.77944518e-01 -9.60577525e-01 6.13701752e-03 2.15468110e+02] [ 9.60322941e-01 -2.78012147e-01 -2.21155039e-02 1.49112146e+02] [ 2.29498214e-02 -2.53364361e-04 9.99736586e-01 4.44510456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.46, Y:149.14, Z:4.45 [[-2.80044120e-01 -9.59968148e-01 6.03695032e-03 2.15461958e+02] [ 9.59722055e-01 -2.80109028e-01 -2.17373028e-02 1.49139419e+02] [ 2.25581227e-02 -2.93609490e-04 9.99745490e-01 4.44621358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.46, Y:149.17, Z:4.45 [[-2.81358821e-01 -9.59583275e-01 6.09526438e-03 2.15455679e+02] [ 9.59332832e-01 -2.81424653e-01 -2.19244810e-02 1.49166939e+02] [ 2.27537230e-02 -3.21258902e-04 9.99741049e-01 4.44616550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.45, Y:149.19, Z:4.45 [[-2.83680597e-01 -9.58898262e-01 6.28027628e-03 2.15450966e+02] [ 9.58632797e-01 -2.83749851e-01 -2.25650641e-02 1.49193768e+02] [ 2.34196282e-02 -3.80792050e-04 9.99725650e-01 4.44514693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.44, Y:149.22, Z:4.45 [[-2.84664128e-01 -9.58606688e-01 6.28907253e-03 2.15443427e+02] [ 9.58340993e-01 -2.84733314e-01 -2.25716966e-02 1.49220535e+02] [ 2.34280877e-02 -3.98276315e-04 9.99725445e-01 4.44612692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.230385723 meters Centerline goodness [0,1] 0.9997674271095418 Centerline is valid? [True, True] Translation: X:215.44, Y:149.25, Z:4.44 [[-2.84804991e-01 -9.58565525e-01 6.18472157e-03 2.15439575e+02] [ 9.58309121e-01 -2.84871871e-01 -2.21730681e-02 1.49247388e+02] [ 2.30161919e-02 -3.88125360e-04 9.99735017e-01 4.44446248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.43, Y:149.27, Z:4.45 [[-2.84897672e-01 -9.58538550e-01 6.09631177e-03 2.15431965e+02] [ 9.58289968e-01 -2.84962640e-01 -2.18318975e-02 1.49274841e+02] [ 2.26639365e-02 -3.77822369e-04 9.99743069e-01 4.44886258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.43, Y:149.30, Z:4.45 [[-2.85105319e-01 -9.58477794e-01 5.93922619e-03 2.15426015e+02] [ 9.58242355e-01 -2.85166940e-01 -2.12463273e-02 1.49301782e+02] [ 2.20578039e-02 -3.66222830e-04 9.99756630e-01 4.44902477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.42, Y:149.33, Z:4.45 [[-2.85496461e-01 -9.58362612e-01 5.73360760e-03 2.15419476e+02] [ 9.58143653e-01 -2.85553808e-01 -2.04881256e-02 1.49328261e+02] [ 2.12723071e-02 -3.55667638e-04 9.99773656e-01 4.45003713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.41, Y:149.36, Z:4.45 [[-2.85858716e-01 -9.58256316e-01 5.44305525e-03 2.15412268e+02] [ 9.58059385e-01 -2.85910331e-01 -1.94293080e-02 1.49355235e+02] [ 2.01744828e-02 -3.39266881e-04 9.99796417e-01 4.45154797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.41, Y:149.38, Z:4.45 [[-2.86501575e-01 -9.58065997e-01 5.13733564e-03 2.15406697e+02] [ 9.57890891e-01 -2.86547443e-01 -1.83195046e-02 1.49382360e+02] [ 1.90233849e-02 -3.27559908e-04 9.99818985e-01 4.45260087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.40, Y:149.41, Z:4.45 [[-2.87634657e-01 -9.57725019e-01 5.39368249e-03 2.15400562e+02] [ 9.57532363e-01 -2.87684996e-01 -1.92124081e-02 1.49408304e+02] [ 1.99518854e-02 -3.61528868e-04 9.99800876e-01 4.45245040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.39, Y:149.43, Z:4.45 [[-2.87847643e-01 -9.57661282e-01 5.34816685e-03 2.15393719e+02] [ 9.57472272e-01 -2.87897101e-01 -1.90291138e-02 1.49434262e+02] [ 1.97631673e-02 -3.56764088e-04 9.99804626e-01 4.45302698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.470385723 meters Centerline goodness [0,1] 0.9999576073593625 Centerline is valid? [True, True] Translation: X:215.39, Y:149.46, Z:4.45 [[-2.88306974e-01 -9.57524039e-01 5.17715662e-03 2.15386453e+02] [ 9.57347291e-01 -2.88353243e-01 -1.84002903e-02 1.49460863e+02] [ 1.91115702e-02 -3.48595143e-04 9.99817297e-01 4.45387099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.38, Y:149.49, Z:4.45 [[-2.89300208e-01 -9.57224207e-01 5.21599815e-03 2.15380940e+02] [ 9.57045126e-01 -2.89346995e-01 -1.85187272e-02 1.49487407e+02] [ 1.92358073e-02 -3.65526017e-04 9.99814908e-01 4.45461089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.37, Y:149.51, Z:4.45 [[-2.90052249e-01 -9.56995378e-01 5.43501294e-03 2.15374802e+02] [ 9.56801343e-01 -2.90102903e-01 -1.92742201e-02 1.49514055e+02] [ 2.00220526e-02 -3.90303227e-04 9.99799462e-01 4.45472608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.37, Y:149.54, Z:4.45 [[-2.89734309e-01 -9.57090601e-01 5.62248732e-03 2.15367517e+02] [ 9.56883442e-01 -2.89788595e-01 -1.99160459e-02 1.49541199e+02] [ 2.06907930e-02 -3.90296772e-04 9.99785846e-01 4.45472189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.36, Y:149.57, Z:4.45 [[-2.89909903e-01 -9.57036937e-01 5.70513785e-03 2.15359060e+02] [ 9.56824079e-01 -2.89965766e-01 -2.01875135e-02 1.49567936e+02] [ 2.09744907e-02 -3.93746803e-04 9.99779934e-01 4.45441165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.35, Y:149.59, Z:4.45 [[-2.90262114e-01 -9.56929807e-01 5.76617782e-03 2.15349256e+02] [ 9.56712805e-01 -2.90319107e-01 -2.03819513e-02 1.49594801e+02] [ 2.11781283e-02 -3.99532111e-04 9.99775638e-01 4.45407322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.34, Y:149.62, Z:4.45 [[-2.90102260e-01 -9.56977692e-01 5.86308661e-03 2.15342136e+02] [ 9.56753826e-01 -2.90161231e-01 -2.07021132e-02 1.49622404e+02] [ 2.15127010e-02 -3.96199289e-04 9.99768497e-01 4.45361991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.68038572300003 meters Centerline goodness [0,1] 0.9999575974728094 Centerline is valid? [True, True] Translation: X:215.34, Y:149.65, Z:4.45 [[-2.89328382e-01 -9.57211163e-01 5.98970517e-03 2.15338097e+02] [ 9.56978080e-01 -2.89390125e-01 -2.11260332e-02 1.49649711e+02] [ 2.19554363e-02 -3.80344440e-04 9.99758878e-01 4.45407860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.33, Y:149.68, Z:4.46 [[-2.88888720e-01 -9.57344706e-01 5.86704615e-03 2.15329213e+02] [ 9.57121576e-01 -2.88948071e-01 -2.06712724e-02 1.49675907e+02] [ 2.14848049e-02 -3.56220965e-04 9.99769111e-01 4.45524376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.32, Y:149.70, Z:4.46 [[-2.88521340e-01 -9.57456095e-01 5.76733923e-03 2.15320126e+02] [ 9.57240953e-01 -2.88578781e-01 -2.02988798e-02 1.49702844e+02] [ 2.10996180e-02 -3.35926709e-04 9.99777322e-01 4.45622742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.31, Y:149.73, Z:4.46 [[-2.88059836e-01 -9.57595924e-01 5.61937077e-03 2.15314562e+02] [ 9.57392103e-01 -2.88114472e-01 -1.97588726e-02 1.49729340e+02] [ 2.05400379e-02 -3.11796393e-04 9.99788983e-01 4.45641391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.31, Y:149.76, Z:4.46 [[-2.88434342e-01 -9.57483669e-01 5.53655046e-03 2.15307116e+02] [ 9.57286128e-01 -2.88487308e-01 -1.94510369e-02 1.49755394e+02] [ 2.02212747e-02 -3.10284074e-04 9.99795481e-01 4.45706890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.30, Y:149.78, Z:4.46 [[-2.88087759e-01 -9.57590323e-01 5.12011993e-03 2.15297966e+02] [ 9.57421746e-01 -2.88133124e-01 -1.79694842e-02 1.49781712e+02] [ 1.86826803e-02 -2.74674266e-04 9.99825426e-01 4.45990643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.29, Y:149.81, Z:4.46 [[-2.87481689e-01 -9.57773836e-01 4.85357268e-03 2.15290140e+02] [ 9.57622683e-01 -2.87522554e-01 -1.70169687e-02 1.49808491e+02] [ 1.76939190e-02 -2.44175607e-04 9.99843421e-01 4.46146560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.890385723 meters Centerline goodness [0,1] 0.9999360995143564 Centerline is valid? [True, True] Translation: X:215.28, Y:149.83, Z:4.46 [[-2.86445101e-01 -9.58084670e-01 4.79255353e-03 2.15283364e+02] [ 9.57937647e-01 -2.86485109e-01 -1.67853014e-02 1.49834551e+02] [ 1.74547352e-02 -2.17099918e-04 9.99847631e-01 4.46237300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.27, Y:149.86, Z:4.46 [[-2.83647516e-01 -9.58915367e-01 5.04035171e-03 2.15272141e+02] [ 9.58753239e-01 -2.83692245e-01 -1.76334005e-02 1.49861063e+02] [ 1.83388474e-02 -1.69216725e-04 9.99831815e-01 4.46165892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.26, Y:149.89, Z:4.46 [[-2.82057847e-01 -9.59383708e-01 5.12556533e-03 2.15262247e+02] [ 9.59216466e-01 -2.82104382e-01 -1.79133777e-02 1.49886658e+02] [ 1.86317471e-02 -1.36082087e-04 9.99826405e-01 4.46061714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.25, Y:149.91, Z:4.46 [[-2.78154146e-01 -9.60521862e-01 5.29370918e-03 2.15252393e+02] [ 9.60344061e-01 -2.78204510e-01 -1.84806935e-02 1.49912625e+02] [ 1.92238439e-02 -5.66993604e-05 9.99815203e-01 4.46034299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.25, Y:149.94, Z:4.46 [[-2.76631021e-01 -9.60961505e-01 5.31639330e-03 2.15245157e+02] [ 9.60782626e-01 -2.76682101e-01 -1.85407660e-02 1.49939790e+02] [ 1.92879132e-02 -2.10526908e-05 9.99813971e-01 4.46100327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.24, Y:149.97, Z:4.46 [[-2.75874983e-01 -9.61177991e-01 5.46468979e-03 2.15238252e+02] [ 9.60989440e-01 -2.75929102e-01 -1.90375254e-02 1.49965770e+02] [ 1.98063174e-02 -4.67830363e-07 9.99803836e-01 4.46146424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.070385723 meters Centerline goodness [0,1] 0.9999785679075848 Centerline is valid? [True, True] Translation: X:215.23, Y:149.99, Z:4.46 [[-2.75405584e-01 -9.61312307e-01 5.51481712e-03 2.15231061e+02] [ 9.61120738e-01 -2.75460794e-01 -1.91905949e-02 1.49992622e+02] [ 1.99672709e-02 1.52080982e-05 9.99800634e-01 4.46179862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.22, Y:150.02, Z:4.46 [[-2.76092694e-01 -9.61115061e-01 5.53743329e-03 2.15223173e+02] [ 9.60922261e-01 -2.76148219e-01 -1.92501768e-02 1.50017435e+02] [ 2.00307872e-02 6.20975185e-06 9.99799364e-01 4.46151637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.130385723 meters Centerline goodness [0,1] 0.9999141280779718 Centerline is valid? [True, True] Translation: X:215.22, Y:150.04, Z:4.46 [[-2.77485971e-01 -9.60709464e-01 6.23384038e-03 2.15217011e+02] [ 9.60465528e-01 -2.77555985e-01 -2.16482269e-02 1.50042984e+02] [ 2.25278961e-02 -1.96904699e-05 9.99746215e-01 4.45792405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.160385723 meters Centerline goodness [0,1] 0.9998926647060087 Centerline is valid? [True, True] Translation: X:215.21, Y:150.07, Z:4.46 [[-2.78115598e-01 -9.60526018e-01 6.44072862e-03 2.15211479e+02] [ 9.60266194e-01 -2.78190165e-01 -2.23398372e-02 1.50068649e+02] [ 2.32497422e-02 -2.82432146e-05 9.99729688e-01 4.45912824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.190385723 meters Centerline goodness [0,1] 0.9999355642424502 Centerline is valid? [True, True] Translation: X:215.21, Y:150.10, Z:4.46 [[-2.79340893e-01 -9.60168619e-01 6.69984257e-03 2.15206540e+02] [ 9.59888021e-01 -2.79421222e-01 -2.32113642e-02 1.50095461e+02] [ 2.41589018e-02 -5.27845794e-05 9.99708130e-01 4.45934977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.20, Y:150.12, Z:4.46 [[-2.81935959e-01 -9.59408842e-01 6.84030595e-03 2.15202061e+02] [ 9.59116785e-01 -2.82018904e-01 -2.36713073e-02 1.50122679e+02] [ 2.46395571e-02 -1.13140472e-04 9.99696394e-01 4.46040807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.250385723 meters Centerline goodness [0,1] 0.9999569818463392 Centerline is valid? [True, True] Translation: X:215.20, Y:150.15, Z:4.46 [[-2.83414620e-01 -9.58973797e-01 6.73874167e-03 2.15195830e+02] [ 9.58690875e-01 -2.83494687e-01 -2.32931140e-02 1.50147826e+02] [ 2.42478835e-02 -1.41238910e-04 9.99705967e-01 4.45930111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.280385723 meters Centerline goodness [0,1] 0.9999785098747126 Centerline is valid? [True, True] Translation: X:215.19, Y:150.18, Z:4.46 [[-2.85513064e-01 -9.58350757e-01 6.79089510e-03 2.15188670e+02] [ 9.58063911e-01 -2.85593751e-01 -2.34468032e-02 1.50175120e+02] [ 2.44096988e-02 -1.88257119e-04 9.99702021e-01 4.46036701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.310385723 meters Centerline goodness [0,1] 0.9999139840440402 Centerline is valid? [True, True] Translation: X:215.18, Y:150.20, Z:4.46 [[-2.86515867e-01 -9.58051107e-01 6.83619472e-03 2.15183832e+02] [ 9.57760944e-01 -2.86597335e-01 -2.35784272e-02 1.50202105e+02] [ 2.45485735e-02 -2.08153206e-04 9.99698617e-01 4.45897144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.340385723 meters Centerline goodness [0,1] 0.9999786009287197 Centerline is valid? [True, True] Translation: X:215.18, Y:150.23, Z:4.46 [[-2.87497201e-01 -9.57756620e-01 6.90040228e-03 2.15178339e+02] [ 9.57461530e-01 -2.87579909e-01 -2.37742380e-02 1.50229115e+02] [ 2.47543509e-02 -2.28157159e-04 9.99693538e-01 4.45945749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.17, Y:150.26, Z:4.46 [[-2.87972258e-01 -9.57614147e-01 6.86464269e-03 2.15173233e+02] [ 9.57322679e-01 -2.88053972e-01 -2.36261934e-02 1.50256987e+02] [ 2.46021647e-02 -2.32010128e-04 9.99697294e-01 4.46353943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.17, Y:150.28, Z:4.46 [[-2.88240561e-01 -9.57533375e-01 6.87126310e-03 2.15165480e+02] [ 9.57241930e-01 -2.88322357e-01 -2.36242682e-02 1.50283453e+02] [ 2.46021640e-02 -2.32011165e-04 9.99697294e-01 4.46395662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.43038572300003 meters Centerline goodness [0,1] 0.9999568946937368 Centerline is valid? [True, True] Translation: X:215.16, Y:150.31, Z:4.47 [[-2.88467925e-01 -9.57465307e-01 6.81491297e-03 2.15158975e+02] [ 9.57179196e-01 -2.88548322e-01 -2.34062430e-02 1.50310973e+02] [ 2.43770974e-02 -2.28857434e-04 9.99702808e-01 4.46508744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.460385723 meters Centerline goodness [0,1] 0.9999570419056211 Centerline is valid? [True, True] Translation: X:215.15, Y:150.34, Z:4.46 [[-2.87487577e-01 -9.57761240e-01 6.65591055e-03 2.15153281e+02] [ 9.57488968e-01 -2.87564551e-01 -2.28364861e-02 1.50337517e+02] [ 2.37859052e-02 -1.92245141e-04 9.99717057e-01 4.46359266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.490385723 meters Centerline goodness [0,1] 0.9999355656264095 Centerline is valid? [True, True] Translation: X:215.15, Y:150.36, Z:4.46 [[-2.86771874e-01 -9.57975484e-01 6.69803186e-03 2.15145450e+02] [ 9.57700423e-01 -2.86850036e-01 -2.29555474e-02 1.50362307e+02] [ 2.39121824e-02 -1.68297417e-04 9.99714049e-01 4.46435416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.14, Y:150.39, Z:4.47 [[-2.85777460e-01 -9.58272824e-01 6.66617163e-03 2.15136733e+02] [ 9.58001057e-01 -2.85855166e-01 -2.28209955e-02 1.50389295e+02] [ 2.37742994e-02 -1.35526664e-04 9.99717342e-01 4.46703122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.13, Y:150.42, Z:4.47 [[-2.83255728e-01 -9.59022796e-01 6.43958523e-03 2.15131895e+02] [ 9.58769900e-01 -2.83328911e-01 -2.20228583e-02 1.50416517e+02] [ 2.29449438e-02 -6.40202745e-05 9.99736728e-01 4.46795193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.12, Y:150.44, Z:4.47 [[-2.81867263e-01 -9.59431343e-01 6.50724068e-03 2.15124460e+02] [ 9.59173754e-01 -2.81942365e-01 -2.22308790e-02 1.50443632e+02] [ 2.31636689e-02 -2.45825455e-05 9.99731686e-01 4.46971603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.12, Y:150.47, Z:4.47 [[-2.80630545e-01 -9.59794027e-01 6.47483258e-03 2.15116966e+02] [ 9.59539608e-01 -2.80705230e-01 -2.20978246e-02 1.50470850e+02] [ 2.30268794e-02 1.15337765e-05 9.99734846e-01 4.47060382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.640385723 meters Centerline goodness [0,1] 0.999935339253384 Centerline is valid? [True, True] Translation: X:215.11, Y:150.50, Z:4.47 [[-2.78387746e-01 -9.60444841e-01 6.78021092e-03 2.15110413e+02] [ 9.60166637e-01 -2.78470290e-01 -2.31155162e-02 1.50498490e+02] [ 2.40892656e-02 7.50558590e-05 9.99709809e-01 4.47023225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.670385723 meters Centerline goodness [0,1] 0.9999568118508282 Centerline is valid? [True, True] Translation: X:215.10, Y:150.52, Z:4.47 [[-2.77539217e-01 -9.60688993e-01 6.97441811e-03 2.15103015e+02] [ 9.60395331e-01 -2.77626815e-01 -2.37520629e-02 1.50524524e+02] [ 2.47546309e-02 1.06069636e-04 9.99693552e-01 4.46951693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.700385723 meters Centerline goodness [0,1] 0.9998917655208243 Centerline is valid? [True, True] Translation: X:215.10, Y:150.55, Z:4.47 [[-2.75786075e-01 -9.61192131e-01 7.19229515e-03 2.15096899e+02] [ 9.60880667e-01 -2.75879796e-01 -2.44680037e-02 1.50552707e+02] [ 2.55026615e-02 1.63002656e-04 9.99674741e-01 4.46988758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.09, Y:150.58, Z:4.47 [[-2.75817814e-01 -9.61182158e-01 7.30704460e-03 2.15090495e+02] [ 9.60861332e-01 -2.75914534e-01 -2.48328555e-02 1.50578803e+02] [ 2.58850175e-02 1.71712683e-04 9.99664912e-01 4.47001229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.760385723 meters Centerline goodness [0,1] 0.99989152365869 Centerline is valid? [True, True] Translation: X:215.08, Y:150.61, Z:4.47 [[-2.76147969e-01 -9.61087361e-01 7.30640561e-03 2.15084446e+02] [ 9.60767235e-01 -2.76244557e-01 -2.48045444e-02 1.50606291e+02] [ 2.58576889e-02 1.70030565e-04 9.99665620e-01 4.47070801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.790385723 meters Centerline goodness [0,1] 0.9999350086655112 Centerline is valid? [True, True] Translation: X:215.08, Y:150.63, Z:4.47 [[-2.77761010e-01 -9.60623389e-01 7.17814688e-03 2.15080608e+02] [ 9.60314883e-01 -2.77853715e-01 -2.43441584e-02 1.50633268e+02] [ 2.53800428e-02 1.31423243e-04 9.99677866e-01 4.47141529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.08, Y:150.66, Z:4.47 [[-2.78958045e-01 -9.60276285e-01 7.20177013e-03 2.15075207e+02] [ 9.59966280e-01 -2.79050972e-01 -2.43986892e-02 1.50660918e+02] [ 2.54391436e-02 1.07245836e-04 9.99676367e-01 4.47309711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.850385723 meters Centerline goodness [0,1] 0.9999782158806231 Centerline is valid? [True, True] Translation: X:215.07, Y:150.69, Z:4.47 [[-2.80493247e-01 -9.59827150e-01 7.44174211e-03 2.15071864e+02] [ 9.59496689e-01 -2.80591938e-01 -2.51847005e-02 1.50688667e+02] [ 2.62610521e-02 7.61885004e-05 9.99655116e-01 4.47255199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.880385723 meters Centerline goodness [0,1] 0.9999126389586563 Centerline is valid? [True, True] Translation: X:215.07, Y:150.72, Z:4.47 [[-2.81452644e-01 -9.59545371e-01 7.55575613e-03 2.15066255e+02] [ 9.59205326e-01 -2.81554039e-01 -2.55433909e-02 1.50716445e+02] [ 2.66373961e-02 5.82666290e-05 9.99645160e-01 4.47277598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.910385723 meters Centerline goodness [0,1] 0.9998908010832532 Centerline is valid? [True, True] Translation: X:215.06, Y:150.74, Z:4.47 [[-2.82027721e-01 -9.59375250e-01 7.71326705e-03 2.15060535e+02] [ 9.59021557e-01 -2.82133173e-01 -2.60485178e-02 1.50743344e+02] [ 2.71664718e-02 5.07852708e-05 9.99630922e-01 4.47203116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.940385723 meters Centerline goodness [0,1] 0.9998685536520177 Centerline is valid? [True, True] Translation: X:215.06, Y:150.77, Z:4.47 [[-2.83116480e-01 -9.59053220e-01 7.87271686e-03 2.15055366e+02] [ 9.58685419e-01 -2.83225917e-01 -2.65583638e-02 1.50770610e+02] [ 2.77006417e-02 2.83484119e-05 9.99616263e-01 4.47109631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.970385723 meters Centerline goodness [0,1] 0.9999340383896572 Centerline is valid? [True, True] Translation: X:215.05, Y:150.80, Z:4.47 [[-2.84304731e-01 -9.58700747e-01 7.98104783e-03 2.15052267e+02] [ 9.58323404e-01 -2.84416731e-01 -2.68956503e-02 1.50799149e+02] [ 2.80548236e-02 1.86430457e-06 9.99606386e-01 4.47266838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.000385723 meters Centerline goodness [0,1] 0.9999780605528741 Centerline is valid? [True, True] Translation: X:215.05, Y:150.83, Z:4.47 [[-2.85452024e-01 -9.58359339e-01 8.03245141e-03 2.15048264e+02] [ 9.57977756e-01 -2.85565014e-01 -2.70414706e-02 1.50827248e+02] [ 2.82092330e-02 -2.41327353e-05 9.99602040e-01 4.47196960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.030385723 meters Centerline goodness [0,1] 0.9999780258416102 Centerline is valid? [True, True] Translation: X:215.04, Y:150.85, Z:4.47 [[-2.85944035e-01 -9.58211875e-01 8.12480769e-03 2.15042327e+02] [ 9.57822096e-01 -2.86059438e-01 -2.73281887e-02 1.50853869e+02] [ 2.85103729e-02 -3.22122051e-05 9.99593496e-01 4.47118609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.04, Y:150.88, Z:4.47 [[-2.86474479e-01 -9.58053701e-01 8.09188153e-03 2.15036471e+02] [ 9.57667672e-01 -2.86588736e-01 -2.71942333e-02 1.50881707e+02] [ 2.83725780e-02 -4.11204570e-05 9.99597417e-01 4.47226437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.090385723 meters Centerline goodness [0,1] 0.9999779317650175 Centerline is valid? [True, True] Translation: X:215.03, Y:150.91, Z:4.47 [[-2.86252945e-01 -9.58120219e-01 8.05584787e-03 2.15033459e+02] [ 9.57738406e-01 -2.86366277e-01 -2.70462796e-02 1.50909706e+02] [ 2.82205105e-02 -2.66822835e-05 9.99601722e-01 4.47362886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.120385723 meters Centerline goodness [0,1] 0.9999778570005093 Centerline is valid? [True, True] Translation: X:215.03, Y:150.94, Z:4.47 [[-2.86696257e-01 -9.57988591e-01 7.94461236e-03 2.15027933e+02] [ 9.57617994e-01 -2.86806310e-01 -2.66442756e-02 1.50935854e+02] [ 2.78034769e-02 -3.09103181e-05 9.99613408e-01 4.47367247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.150385723 meters Centerline goodness [0,1] 0.9999778520962991 Centerline is valid? [True, True] Translation: X:215.02, Y:150.96, Z:4.48 [[-2.86515999e-01 -9.58043103e-01 7.87371588e-03 2.15021217e+02] [ 9.57679910e-01 -2.86624166e-01 -2.63775984e-02 1.50962745e+02] [ 2.75276734e-02 -1.71044214e-05 9.99621042e-01 4.47528441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.18038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.02, Y:150.99, Z:4.47 [[-2.87013311e-01 -9.57895248e-01 7.74940710e-03 2.15016425e+02] [ 9.57544101e-01 -2.87117909e-01 -2.59345465e-02 1.50989266e+02] [ 2.70675724e-02 -2.31610230e-05 9.99633606e-01 4.47494942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.01, Y:151.02, Z:4.47 [[-2.87509226e-01 -9.57746202e-01 7.78829292e-03 2.15010797e+02] [ 9.57392261e-01 -2.87614694e-01 -2.60354989e-02 1.51015387e+02] [ 2.71754276e-02 -2.89947688e-05 9.99630679e-01 4.47468623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.01, Y:151.04, Z:4.48 [[-2.87267275e-01 -9.57816638e-01 8.04986023e-03 2.15006869e+02] [ 9.57439429e-01 -2.87380040e-01 -2.68784578e-02 1.51042982e+02] [ 2.80580032e-02 -1.40477470e-05 9.99606297e-01 4.47560261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.00, Y:151.07, Z:4.48 [[-2.87556713e-01 -9.57730092e-01 8.01294826e-03 2.15001065e+02] [ 9.57357122e-01 -2.87668333e-01 -2.67258378e-02 1.51069484e+02] [ 2.79012106e-02 -1.39409735e-05 9.99610685e-01 4.47620320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.300385723 meters Centerline goodness [0,1] 0.9999326901503254 Centerline is valid? [True, True] Translation: X:215.00, Y:151.10, Z:4.47 [[-2.88746555e-01 -9.57372855e-01 7.91476442e-03 2.14995624e+02] [ 9.57009640e-01 -2.88855007e-01 -2.63691898e-02 1.51095526e+02] [ 2.75313658e-02 -3.95068760e-05 9.99620939e-01 4.47478808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.330385723 meters Centerline goodness [0,1] 0.9999775351574786 Centerline is valid? [True, True] Translation: X:214.99, Y:151.12, Z:4.48 [[-2.89428289e-01 -9.57169867e-01 7.55720280e-03 2.14990022e+02] [ 9.56839360e-01 -2.89526931e-01 -2.51514582e-02 1.51122938e+02] [ 2.62622316e-02 -4.85144287e-05 9.99655087e-01 4.47884536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.360385723 meters Centerline goodness [0,1] 0.9999550592094915 Centerline is valid? [True, True] Translation: X:214.98, Y:151.15, Z:4.48 [[-2.90575401e-01 -9.56822387e-01 7.54024794e-03 2.14983809e+02] [ 9.56493828e-01 -2.90673208e-01 -2.50727707e-02 1.51149851e+02] [ 2.61819363e-02 -7.33297864e-05 9.99657192e-01 4.47671135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.98, Y:151.18, Z:4.48 [[-2.90733101e-01 -9.56774077e-01 7.59140868e-03 2.14978028e+02] [ 9.56441623e-01 -2.90832186e-01 -2.52202543e-02 1.51175285e+02] [ 2.63379115e-02 -7.16235047e-05 9.99653094e-01 4.47813069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.420385723 meters Centerline goodness [0,1] 0.9999324506890029 Centerline is valid? [True, True] Translation: X:214.97, Y:151.20, Z:4.48 [[-2.91124486e-01 -9.56654272e-01 7.69005100e-03 2.14970508e+02] [ 9.56313812e-01 -2.91226025e-01 -2.55204928e-02 1.51202182e+02] [ 2.66538314e-02 -7.55383461e-05 9.99644721e-01 4.48016564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.450385723 meters Centerline goodness [0,1] 0.9999775184910411 Centerline is valid? [True, True] Translation: X:214.96, Y:151.23, Z:4.48 [[-2.91733713e-01 -9.56467828e-01 7.79330207e-03 2.14964218e+02] [ 9.56118820e-01 -2.91837776e-01 -2.58363112e-02 1.51228947e+02] [ 2.69859804e-02 -8.60002300e-05 9.99635808e-01 4.47878985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.480385723 meters Centerline goodness [0,1] 0.999977441404047 Centerline is valid? [True, True] Translation: X:214.96, Y:151.26, Z:4.48 [[-2.92131174e-01 -9.56345513e-01 7.91432444e-03 2.14956170e+02] [ 9.55986281e-01 -2.92238346e-01 -2.62102799e-02 1.51256018e+02] [ 2.73789527e-02 -9.08542456e-05 9.99625122e-01 4.48105686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.510385723 meters Centerline goodness [0,1] 0.9999096208595056 Centerline is valid? [True, True] Translation: X:214.95, Y:151.28, Z:4.48 [[-2.93213687e-01 -9.56012307e-01 8.13648579e-03 2.14948033e+02] [ 9.55633258e-01 -2.93326533e-01 -2.69188039e-02 1.51283229e+02] [ 2.81213550e-02 -1.17465315e-04 9.99604510e-01 4.48042612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.540385723 meters Centerline goodness [0,1] 0.9998877363150568 Centerline is valid? [True, True] Translation: X:214.94, Y:151.31, Z:4.48 [[-2.94149051e-01 -9.55724750e-01 8.15708011e-03 2.14939603e+02] [ 9.55344448e-01 -2.94262100e-01 -2.69592798e-02 1.51309051e+02] [ 2.81659705e-02 -1.37225377e-04 9.99603251e-01 4.47984030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.93, Y:151.33, Z:4.48 [[-2.94294803e-01 -9.55680023e-01 8.14017229e-03 2.14929635e+02] [ 9.55302089e-01 -2.94407330e-01 -2.68745634e-02 1.51334069e+02] [ 2.80800097e-02 -1.32720729e-04 9.99605670e-01 4.48238837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.600385723 meters Centerline goodness [0,1] 0.9999775205125323 Centerline is valid? [True, True] Translation: X:214.92, Y:151.36, Z:4.48 [[-2.95682627e-01 -9.55248780e-01 8.45883783e-03 2.14919193e+02] [ 9.54841362e-01 -2.95803547e-01 -2.78968712e-02 1.51360579e+02] [ 2.91506064e-02 -1.71771917e-04 9.99575016e-01 4.48120059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.91, Y:151.39, Z:4.48 [[-2.95911325e-01 -9.55176291e-01 8.64526495e-03 2.14911136e+02] [ 9.54751472e-01 -2.96037536e-01 -2.84851498e-02 1.51385615e+02] [ 2.97676627e-02 -1.74999003e-04 9.99556830e-01 4.48207756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.90, Y:151.41, Z:4.48 [[-2.96883206e-01 -9.54872595e-01 8.87071459e-03 2.14902377e+02] [ 9.54426020e-01 -2.97015634e-01 -2.92007897e-02 1.51412161e+02] [ 3.05177748e-02 -2.02783261e-04 9.99534204e-01 4.48313130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.89, Y:151.44, Z:4.48 [[-2.98164583e-01 -9.54472512e-01 8.95020594e-03 2.14894103e+02] [ 9.54018606e-01 -2.98298791e-01 -2.94334933e-02 1.51439190e+02] [ 3.07632958e-02 -2.37362256e-04 9.99526670e-01 4.48357494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.720385723 meters Centerline goodness [0,1] 0.9999550975505714 Centerline is valid? [True, True] Translation: X:214.89, Y:151.46, Z:4.48 [[-2.99901641e-01 -9.53928272e-01 8.93628644e-03 2.14886530e+02] [ 9.53476493e-01 -3.00034617e-01 -2.93565399e-02 1.51464692e+02] [ 3.06852286e-02 -2.83535437e-04 9.99529057e-01 4.48396364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.88, Y:151.49, Z:4.49 [[-3.03105135e-01 -9.52917372e-01 8.70394491e-03 2.14878035e+02] [ 9.52489259e-01 -3.03229857e-01 -2.85633612e-02 1.51491234e+02] [ 2.98578191e-02 -3.67287413e-04 9.99554088e-01 4.48536287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.780385723 meters Centerline goodness [0,1] 0.9999551740368021 Centerline is valid? [True, True] Translation: X:214.87, Y:151.52, Z:4.49 [[-3.04791436e-01 -9.52380921e-01 8.53004233e-03 2.14868723e+02] [ 9.51970331e-01 -3.04910509e-01 -2.79655162e-02 1.51517409e+02] [ 2.92347236e-02 -4.03302630e-04 9.99572493e-01 4.48512395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.86, Y:151.54, Z:4.49 [[-3.04651359e-01 -9.52427077e-01 8.37927261e-03 2.14859858e+02] [ 9.52031679e-01 -3.04766329e-01 -2.74438709e-02 1.51543124e+02] [ 2.86920060e-02 -3.83479590e-04 9.99588226e-01 4.48615040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.840385723 meters Centerline goodness [0,1] 0.9999776416402093 Centerline is valid? [True, True] Translation: X:214.85, Y:151.57, Z:4.49 [[-3.03187897e-01 -9.52892267e-01 8.56897672e-03 2.14851160e+02] [ 9.52479840e-01 -3.03308776e-01 -2.80346359e-02 1.51568014e+02] [ 2.93130336e-02 -3.37984721e-04 9.99570224e-01 4.48650161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.870385723 meters Centerline goodness [0,1] 0.9998429965234944 Centerline is valid? [True, True] Translation: X:214.84, Y:151.60, Z:4.48 [[-3.03350494e-01 -9.52837856e-01 8.85993885e-03 2.14843090e+02] [ 9.52397857e-01 -3.03479656e-01 -2.89555045e-02 1.51595083e+02] [ 3.02787120e-02 -3.45479834e-04 9.99541435e-01 4.48453993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.83, Y:151.62, Z:4.49 [[-3.01260677e-01 -9.53501050e-01 8.81773080e-03 2.14833879e+02] [ 9.53066405e-01 -3.01389574e-01 -2.87880644e-02 1.51620990e+02] [ 3.01070218e-02 -2.68828766e-04 9.99546645e-01 4.48827375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.93038572300003 meters Centerline goodness [0,1] 0.9999107162786545 Centerline is valid? [True, True] Translation: X:214.82, Y:151.65, Z:4.48 [[-2.99976997e-01 -9.53904347e-01 8.96086753e-03 2.14821907e+02] [ 9.53456626e-01 -3.00110724e-01 -2.92235457e-02 1.51645888e+02] [ 3.05657198e-02 -2.22592969e-04 9.99532734e-01 4.48482702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.960385723 meters Centerline goodness [0,1] 0.9999108118352694 Centerline is valid? [True, True] Translation: X:214.81, Y:151.67, Z:4.49 [[-2.98946100e-01 -9.54229182e-01 8.82597169e-03 2.14811190e+02] [ 9.53795873e-01 -2.99076306e-01 -2.87540527e-02 1.51671637e+02] [ 3.00775952e-02 -1.77736535e-04 9.99547551e-01 4.48572474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.990385723 meters Centerline goodness [0,1] 0.9999553820412717 Centerline is valid? [True, True] Translation: X:214.80, Y:151.70, Z:4.49 [[-2.96548342e-01 -9.54977299e-01 8.79996416e-03 2.14802948e+02] [ 9.54547736e-01 -2.96678867e-01 -2.86403556e-02 1.51697350e+02] [ 2.99616528e-02 -9.32641063e-05 9.99551045e-01 4.48632122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.020385723 meters Centerline goodness [0,1] 0.9998885023637499 Centerline is valid? [True, True] Translation: X:214.80, Y:151.72, Z:4.49 [[-2.96464189e-01 -9.55003018e-01 8.84419577e-03 2.14795370e+02] [ 9.54570015e-01 -2.96596069e-01 -2.87551485e-02 1.51724418e+02] [ 3.00844073e-02 -8.24677101e-05 9.99547358e-01 4.48836203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.79, Y:151.75, Z:4.49 [[-2.95379976e-01 -9.55341311e-01 8.58186805e-03 2.14786934e+02] [ 9.54934567e-01 -2.95504615e-01 -2.78746293e-02 1.51750290e+02] [ 2.91657665e-02 -3.84849007e-05 9.99574588e-01 4.49181229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.080385723 meters Centerline goodness [0,1] 0.99993320568197 Centerline is valid? [True, True] Translation: X:214.78, Y:151.78, Z:4.49 [[-2.95929084e-01 -9.55170849e-01 8.63863490e-03 2.14778491e+02] [ 9.54759462e-01 -2.96055141e-01 -2.80307617e-02 1.51777439e+02] [ 2.93316787e-02 -4.72992280e-05 9.99569733e-01 4.49188388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.77, Y:151.80, Z:4.49 [[-2.96128640e-01 -9.55108801e-01 8.66065849e-03 2.14769589e+02] [ 9.54696122e-01 -2.96255256e-01 -2.80737921e-02 1.51802775e+02] [ 2.93792915e-02 -4.51568098e-05 9.99568334e-01 4.49193995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.140385723 meters Centerline goodness [0,1] 0.9999776900252103 Centerline is valid? [True, True] Translation: X:214.76, Y:151.83, Z:4.49 [[-2.96821170e-01 -9.54891693e-01 8.89089757e-03 2.14761870e+02] [ 9.54457572e-01 -2.96954292e-01 -2.87904938e-02 1.51829854e+02] [ 3.01319936e-02 -5.96435726e-05 9.99545927e-01 4.49303934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.76, Y:151.86, Z:4.49 [[-2.99164306e-01 -9.54158479e-01 9.07271711e-03 2.14757256e+02] [ 9.53706857e-01 -2.99301821e-01 -2.93538930e-02 1.51857228e+02] [ 3.07237467e-02 -1.28924512e-04 9.99527906e-01 4.49386288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.200385723 meters Centerline goodness [0,1] 0.9998663190963171 Centerline is valid? [True, True] Translation: X:214.75, Y:151.89, Z:4.49 [[-3.01877610e-01 -9.53300053e-01 9.42966411e-03 2.14750962e+02] [ 9.52812583e-01 -3.02024772e-01 -3.04831103e-02 1.51885481e+02] [ 3.19075428e-02 -2.17465865e-04 9.99490801e-01 4.49223846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.230385723 meters Centerline goodness [0,1] 0.9998882506760834 Centerline is valid? [True, True] Translation: X:214.74, Y:151.91, Z:4.49 [[-3.03616351e-01 -9.52748100e-01 9.38983762e-03 2.14744048e+02] [ 9.52265418e-01 -3.03761399e-01 -3.03246718e-02 1.51912110e+02] [ 3.17440436e-02 -2.65448542e-04 9.99495996e-01 4.49284910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.74, Y:151.94, Z:4.50 [[-3.05190914e-01 -9.52246010e-01 9.27590224e-03 2.14736294e+02] [ 9.51775674e-01 -3.05331694e-01 -2.99269555e-02 1.51938586e+02] [ 3.13300509e-02 -3.04856798e-04 9.99509047e-01 4.49599414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.73, Y:151.96, Z:4.50 [[-3.05451882e-01 -9.52162251e-01 9.28410970e-03 2.14728059e+02] [ 9.51691954e-01 -3.05592792e-01 -2.99244098e-02 1.51964926e+02] [ 3.13300504e-02 -3.04854797e-04 9.99509047e-01 4.49641136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.72, Y:151.99, Z:4.50 [[-3.05948945e-01 -9.52004576e-01 9.08463688e-03 2.14720535e+02] [ 9.51555062e-01 -3.06083639e-01 -2.92535533e-02 1.51991806e+02] [ 3.06301753e-02 -3.05561567e-04 9.99530739e-01 4.49736788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.350385723 meters Centerline goodness [0,1] 0.9999328768962277 Centerline is valid? [True, True] Translation: X:214.71, Y:152.02, Z:4.50 [[-3.07014591e-01 -9.51662294e-01 8.99555181e-03 2.14713513e+02] [ 9.51222245e-01 -3.07146172e-01 -2.89390799e-02 1.52018767e+02] [ 3.03031805e-02 -3.27950797e-04 9.99540699e-01 4.49765035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.71, Y:152.05, Z:4.50 [[-3.07126925e-01 -9.51631346e-01 8.41624253e-03 2.14705029e+02] [ 9.51246837e-01 -3.07242070e-01 -2.70511660e-02 1.52045957e+02] [ 2.83285613e-02 -3.02217332e-04 9.99598620e-01 4.50125936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.70, Y:152.07, Z:4.50 [[-3.07667032e-01 -9.51455277e-01 8.59381511e-03 2.14695905e+02] [ 9.51055053e-01 -3.07786867e-01 -2.75958524e-02 1.52072592e+02] [ 2.89012828e-02 -3.17142693e-04 9.99582220e-01 4.50187582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.440385723 meters Centerline goodness [0,1] 0.9998441327098642 Centerline is valid? [True, True] Translation: X:214.69, Y:152.10, Z:4.50 [[-3.08629320e-01 -9.51138932e-01 9.09258756e-03 2.14687452e+02] [ 9.50691647e-01 -3.08763023e-01 -2.91682630e-02 1.52099671e+02] [ 3.05505253e-02 -3.57934124e-04 9.99533160e-01 4.49830829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.68, Y:152.13, Z:4.50 [[-3.07688409e-01 -9.51443153e-01 9.15261510e-03 2.14678450e+02] [ 9.50990835e-01 -3.07824338e-01 -2.93361353e-02 1.52125286e+02] [ 3.07290627e-02 -3.22335705e-04 9.99527699e-01 4.50143275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.67, Y:152.15, Z:4.50 [[-3.07519335e-01 -9.51498841e-01 9.04509053e-03 2.14669228e+02] [ 9.51057850e-01 -3.07652177e-01 -2.89672851e-02 1.52152066e+02] [ 3.03450800e-02 -3.05595920e-04 9.99539435e-01 4.50212239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.66, Y:152.18, Z:4.50 [[-3.06544837e-01 -9.51814677e-01 8.89291393e-03 2.14659317e+02] [ 9.51389363e-01 -3.06673691e-01 -2.84521887e-02 1.52177003e+02] [ 2.98084336e-02 -2.61247848e-04 9.99555596e-01 4.50273483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.65, Y:152.20, Z:4.50 [[-3.06231864e-01 -9.51916096e-01 8.81996940e-03 2.14649365e+02] [ 9.51498586e-01 -3.06358758e-01 -2.81913567e-02 1.52203184e+02] [ 2.95378811e-02 -2.40903313e-04 9.99563633e-01 4.50341125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.64, Y:152.23, Z:4.50 [[-3.06047920e-01 -9.51976309e-01 8.70508290e-03 2.14640061e+02] [ 9.51570356e-01 -3.06171614e-01 -2.77992854e-02 1.52227631e+02] [ 2.91295104e-02 -2.24414646e-04 9.99575621e-01 4.50403535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.620385723 meters Centerline goodness [0,1] 0.9999557776500243 Centerline is valid? [True, True] Translation: X:214.63, Y:152.25, Z:4.50 [[-3.05295518e-01 -9.52218951e-01 8.58579300e-03 2.14630858e+02] [ 9.51824903e-01 -3.05416164e-01 -2.73919718e-02 1.52251944e+02] [ 2.87053946e-02 -1.90474630e-04 9.99587897e-01 4.50399084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.650385723 meters Centerline goodness [0,1] 0.9999777416698199 Centerline is valid? [True, True] Translation: X:214.62, Y:152.28, Z:4.51 [[-3.05108109e-01 -9.52278548e-01 8.63761937e-03 2.14621664e+02] [ 9.51880623e-01 -3.05230299e-01 -2.75271508e-02 1.52278129e+02] [ 2.88499783e-02 -1.76774400e-04 9.99583737e-01 4.50558853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.68038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.61, Y:152.30, Z:4.51 [[-3.04213752e-01 -9.52567045e-01 8.36770773e-03 2.14613352e+02] [ 9.52194491e-01 -3.04328781e-01 -2.66391625e-02 1.52303856e+02] [ 2.79221226e-02 -1.36314402e-04 9.99610092e-01 4.50706998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.60, Y:152.33, Z:4.51 [[-3.03896536e-01 -9.52671614e-01 7.98064229e-03 2.14604579e+02] [ 9.52333465e-01 -3.04001287e-01 -2.53808727e-02 1.52329818e+02] [ 2.66057625e-02 -1.12926590e-04 9.99645998e-01 4.50843080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.740385723 meters Centerline goodness [0,1] 0.9999334723023019 Centerline is valid? [True, True] Translation: X:214.60, Y:152.36, Z:4.51 [[-3.03697084e-01 -9.52737358e-01 7.72061836e-03 2.14595608e+02] [ 9.52421564e-01 -3.03795190e-01 -2.45285038e-02 1.52355669e+02] [ 2.57147086e-02 -9.59516633e-05 9.99669318e-01 4.50838078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.59, Y:152.38, Z:4.51 [[-3.01048551e-01 -9.53580062e-01 7.40514916e-03 2.14585043e+02] [ 9.53290416e-01 -3.01139612e-01 -2.35014120e-02 1.52379675e+02] [ 2.46404616e-02 -1.58082888e-05 9.99696378e-01 4.51020276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.58, Y:152.41, Z:4.51 [[-3.00041198e-01 -9.53898303e-01 7.30115724e-03 2.14575839e+02] [ 9.53617420e-01 -3.00130017e-01 -2.31471358e-02 1.52405768e+02] [ 2.42713100e-02 1.74163695e-05 9.99705408e-01 4.51100691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.57, Y:152.43, Z:4.51 [[-2.99077061e-01 -9.54201016e-01 7.30298565e-03 2.14566875e+02] [ 9.53920632e-01 -2.99166207e-01 -2.31302592e-02 1.52431768e+02] [ 2.42557234e-02 4.87387253e-05 9.99705785e-01 4.51054086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.860385723 meters Centerline goodness [0,1] 0.9999332844085663 Centerline is valid? [True, True] Translation: X:214.56, Y:152.46, Z:4.51 [[-2.97609420e-01 -9.54662798e-01 6.89745421e-03 2.14558238e+02] [ 9.54413294e-01 -2.97689325e-01 -2.18249812e-02 1.52458036e+02] [ 2.28887962e-02 8.77019781e-05 9.99738013e-01 4.51192360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.55, Y:152.48, Z:4.51 [[-2.97204045e-01 -9.54790966e-01 6.63072766e-03 2.14549107e+02] [ 9.54560857e-01 -2.97277986e-01 -2.09611268e-02 1.52483677e+02] [ 2.19846639e-02 9.97013962e-05 9.99758303e-01 4.51139319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.54, Y:152.51, Z:4.51 [[-2.97267632e-01 -9.54771630e-01 6.56434907e-03 2.14540477e+02] [ 9.54546556e-01 -2.97340083e-01 -2.07303774e-02 1.52509644e+02] [ 2.17446204e-02 1.03506588e-04 9.99763552e-01 4.51171315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.950385723 meters Centerline goodness [0,1] 0.9999779190955661 Centerline is valid? [True, True] Translation: X:214.53, Y:152.54, Z:4.51 [[-2.97441529e-01 -9.54716664e-01 6.68042185e-03 2.14532944e+02] [ 9.54484035e-01 -2.97516520e-01 -2.10747918e-02 1.52536216e+02] [ 2.21079908e-02 1.07837699e-04 9.99755583e-01 4.51111844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.53, Y:152.56, Z:4.51 [[-2.98108827e-01 -9.54509481e-01 6.54050814e-03 2.14525437e+02] [ 9.54286897e-01 -2.98180552e-01 -2.06125590e-02 1.52563168e+02] [ 2.16251353e-02 9.67354311e-05 9.99766145e-01 4.51175867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.52, Y:152.59, Z:4.51 [[-2.99798061e-01 -9.53982916e-01 6.14158572e-03 2.14517798e+02] [ 9.53786907e-01 -2.99860956e-01 -1.93376275e-02 1.52590361e+02] [ 2.02893880e-02 6.03808289e-05 9.99794147e-01 4.51292988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.51, Y:152.62, Z:4.51 [[-3.01045863e-01 -9.53592184e-01 5.77356592e-03 2.14509660e+02] [ 9.53419208e-01 -3.01101220e-01 -1.81623099e-02 1.52617019e+02] [ 1.90578645e-02 3.69403680e-05 9.99818382e-01 4.51373504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.50, Y:152.64, Z:4.51 [[-3.02347696e-01 -9.53181857e-01 5.49711609e-03 2.14501618e+02] [ 9.53025270e-01 -3.02397664e-01 -1.72767925e-02 1.52644131e+02] [ 1.81302402e-02 1.52921342e-05 9.99835634e-01 4.51455846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.49, Y:152.67, Z:4.52 [[-3.04096351e-01 -9.52626309e-01 5.34081309e-03 2.14494101e+02] [ 9.52478694e-01 -3.04143247e-01 -1.67696754e-02 1.52670151e+02] [ 1.75996063e-02 -1.25864296e-05 9.99845115e-01 4.51527570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.130385723 meters Centerline goodness [0,1] 0.9999779594895418 Centerline is valid? [True, True] Translation: X:214.49, Y:152.70, Z:4.52 [[-3.07366395e-01 -9.51576498e-01 5.29787749e-03 2.14487415e+02] [ 9.51431380e-01 -3.07412043e-01 -1.66182476e-02 1.52698016e+02] [ 1.74421652e-02 -6.73239834e-05 9.99847872e-01 4.51580896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.48, Y:152.72, Z:4.52 [[-3.09502015e-01 -9.50883774e-01 5.34340380e-03 2.14480101e+02] [ 9.50736330e-01 -3.09548120e-01 -1.67448972e-02 1.52724215e+02] [ 1.75764917e-02 -1.02411313e-04 9.99845516e-01 4.51600754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.47, Y:152.75, Z:4.52 [[-3.13650993e-01 -9.49525193e-01 4.99627277e-03 2.14472944e+02] [ 9.49396352e-01 -3.13690742e-01 -1.56424241e-02 1.52751217e+02] [ 1.64201602e-02 -1.62818689e-04 9.99865167e-01 4.51692996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.47, Y:152.78, Z:4.52 [[-3.15547724e-01 -9.48897411e-01 4.83080603e-03 2.14465494e+02] [ 9.48777110e-01 -3.15584646e-01 -1.51104939e-02 1.52777433e+02] [ 1.58628367e-02 -1.84723772e-04 9.99874160e-01 4.51817223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.46, Y:152.80, Z:4.52 [[-3.17293566e-01 -9.48315823e-01 4.67902584e-03 2.14456094e+02] [ 9.48203116e-01 -3.17328000e-01 -1.46216329e-02 1.52804591e+02] [ 1.53507118e-02 -2.02683174e-04 9.99882150e-01 4.51838182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.45, Y:152.83, Z:4.52 [[-3.20175785e-01 -9.47346206e-01 4.75734114e-03 2.14446009e+02] [ 9.47229801e-01 -3.20211030e-01 -1.48526458e-02 1.52831094e+02] [ 1.55939507e-02 -2.49162226e-04 9.99878376e-01 4.51841243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.44, Y:152.86, Z:4.52 [[-3.21024708e-01 -9.47058500e-01 4.83052249e-03 2.14437564e+02] [ 9.46938671e-01 -3.21060942e-01 -1.50673513e-02 1.52856793e+02] [ 1.58205552e-02 -2.62783500e-04 9.99874813e-01 4.51883508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.43, Y:152.88, Z:4.52 [[-3.21629514e-01 -9.46854514e-01 4.58099821e-03 2.14428202e+02] [ 9.46746928e-01 -3.21662035e-01 -1.42754556e-02 1.52882828e+02] [ 1.49903128e-02 -2.54361856e-04 9.99887607e-01 4.51946273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.42, Y:152.91, Z:4.52 [[-3.22067679e-01 -9.46705326e-01 4.63002726e-03 2.14419258e+02] [ 9.46595616e-01 -3.22100853e-01 -1.44146274e-02 1.52907845e+02] [ 1.51377402e-02 -2.59722077e-04 9.99885384e-01 4.51987849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.41, Y:152.93, Z:4.52 [[-3.22178709e-01 -9.46668285e-01 4.47637848e-03 2.14406681e+02] [ 9.46565950e-01 -3.22209709e-01 -1.39214091e-02 1.52933697e+02] [ 1.46212891e-02 -2.47994168e-04 9.99893072e-01 4.52034328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.43038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.40, Y:152.96, Z:4.52 [[-3.22337804e-01 -9.46614702e-01 4.35271971e-03 2.14396903e+02] [ 9.46518112e-01 -3.22367102e-01 -1.35245860e-02 1.52958964e+02] [ 1.42057456e-02 -2.39557316e-04 9.99899065e-01 4.52045918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.38, Y:152.98, Z:4.52 [[-3.22436782e-01 -9.46581202e-01 4.30689718e-03 2.14382842e+02] [ 9.46486817e-01 -3.22465460e-01 -1.33691099e-02 1.52983510e+02] [ 1.40437737e-02 -2.34271376e-04 9.99901354e-01 4.52052950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.490385723 meters Centerline goodness [0,1] 0.9999782891880157 Centerline is valid? [True, True] Translation: X:214.37, Y:153.01, Z:4.52 [[-3.22377865e-01 -9.46601308e-01 4.29845876e-03 2.14371936e+02] [ 9.46507467e-01 -3.22406440e-01 -1.33305092e-02 1.53008437e+02] [ 1.40045282e-02 -2.28937771e-04 9.99901906e-01 4.52017858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.36, Y:153.03, Z:4.52 [[-3.22608164e-01 -9.46522121e-01 4.45490876e-03 2.14359911e+02] [ 9.46421523e-01 -3.22638835e-01 -1.38015236e-02 1.53034439e+02] [ 1.45007740e-02 -2.36262672e-04 9.99894830e-01 4.51998543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.35, Y:153.06, Z:4.52 [[-3.22179371e-01 -9.46667790e-01 4.53299994e-03 2.14346646e+02] [ 9.46563845e-01 -3.22211177e-01 -1.40301699e-02 1.53060115e+02] [ 1.47424932e-02 -2.29457475e-04 9.99891297e-01 4.52103686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.580385723 meters Centerline goodness [0,1] 0.9999567474048443 Centerline is valid? [True, True] Translation: X:214.34, Y:153.09, Z:4.52 [[-3.21783023e-01 -9.46802840e-01 4.47972465e-03 2.14337758e+02] [ 9.46701527e-01 -3.21814131e-01 -1.38522332e-02 1.53085443e+02] [ 1.45569724e-02 -2.16451312e-04 9.99894018e-01 4.52237558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.610385723 meters Centerline goodness [0,1] 0.999978483518375 Centerline is valid? [True, True] Translation: X:214.32, Y:153.11, Z:4.52 [[-3.21443046e-01 -9.46918381e-01 4.46628435e-03 2.14324207e+02] [ 9.46817821e-01 -3.21474005e-01 -1.38013651e-02 1.53110796e+02] [ 1.45045606e-02 -2.07595220e-04 9.99894782e-01 4.52339896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.31, Y:153.13, Z:4.52 [[-3.20493335e-01 -9.47242683e-01 3.91432940e-03 2.14306402e+02] [ 9.47165598e-01 -3.20517195e-01 -1.20854397e-02 1.53133077e+02] [ 1.27024543e-02 -1.65784747e-04 9.99919307e-01 4.52287644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.29, Y:153.16, Z:4.52 [[-3.20508736e-01 -9.47238442e-01 3.67196341e-03 2.14292894e+02] [ 9.47170684e-01 -3.20529733e-01 -1.13307735e-02 1.53158320e+02] [ 1.19099177e-02 -1.53635791e-04 9.99929063e-01 4.52295769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.28, Y:153.18, Z:4.52 [[-3.20678728e-01 -9.47180579e-01 3.75567676e-03 2.14281817e+02] [ 9.47109827e-01 -3.20700682e-01 -1.15779114e-02 1.53183208e+02] [ 1.21708209e-02 -1.55751524e-04 9.99925921e-01 4.52398525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.27, Y:153.21, Z:4.52 [[-3.21766689e-01 -9.46811339e-01 3.80603959e-03 2.14267564e+02] [ 9.46738800e-01 -3.21789155e-01 -1.17210944e-02 1.53208506e+02] [ 1.23224073e-02 -1.68132372e-04 9.99924062e-01 4.52483824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.26, Y:153.23, Z:4.52 [[-3.23060931e-01 -9.46370089e-01 3.91020632e-03 2.14255945e+02] [ 9.46293643e-01 -3.23084540e-01 -1.20300172e-02 1.53234388e+02] [ 1.26481756e-02 -1.86225152e-04 9.99919991e-01 4.52474412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.24, Y:153.26, Z:4.52 [[-3.24308758e-01 -9.45942204e-01 4.14452098e-03 2.14244762e+02] [ 9.45856458e-01 -3.24335171e-01 -1.27380707e-02 1.53258869e+02] [ 1.33936926e-02 -2.10945950e-04 9.99910278e-01 4.52453548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.23, Y:153.28, Z:4.52 [[-3.26040354e-01 -9.45345409e-01 4.44350938e-03 2.14228126e+02] [ 9.45247001e-01 -3.26070538e-01 -1.36422539e-02 1.53283358e+02] [ 1.43455396e-02 -2.47711392e-04 9.99897067e-01 4.52273999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.22, Y:153.31, Z:4.52 [[-3.26641210e-01 -9.45137597e-01 4.52135983e-03 2.14215208e+02] [ 9.45035881e-01 -3.26672400e-01 -1.38681952e-02 1.53308238e+02] [ 1.45843561e-02 -2.57076777e-04 9.99893610e-01 4.52230520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.20, Y:153.33, Z:4.52 [[-3.27819660e-01 -9.44731125e-01 4.16801029e-03 2.14200732e+02] [ 9.44644799e-01 -3.27846060e-01 -1.27735911e-02 1.53332002e+02] [ 1.34340748e-02 -2.50145040e-04 9.99909727e-01 4.52272033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.19, Y:153.36, Z:4.52 [[-3.28282381e-01 -9.44570386e-01 4.17910383e-03 2.14190361e+02] [ 9.44483761e-01 -3.28308882e-01 -1.27946623e-02 1.53355736e+02] [ 1.34574960e-02 -2.53166486e-04 9.99909412e-01 4.52376837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.18, Y:153.38, Z:4.52 [[-3.29250602e-01 -9.44232739e-01 4.30995008e-03 2.14179251e+02] [ 9.44140722e-01 -3.29278698e-01 -1.31846709e-02 1.53380807e+02] [ 1.38685727e-02 -2.71861452e-04 9.99903790e-01 4.52411514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.17, Y:153.41, Z:4.52 [[-3.29701624e-01 -9.44074376e-01 4.51794719e-03 2.14167445e+02] [ 9.43973465e-01 -3.29732452e-01 -1.38060341e-02 1.53406762e+02] [ 1.45236369e-02 -2.87049609e-04 9.99894485e-01 4.52430928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.15, Y:153.43, Z:4.52 [[-3.29175463e-01 -9.44256141e-01 4.88411116e-03 2.14149897e+02] [ 9.44138460e-01 -3.29211561e-01 -1.49102627e-02 1.53430680e+02] [ 1.56870130e-02 -2.96815432e-04 9.99876907e-01 4.52367004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.14, Y:153.46, Z:4.52 [[-3.28595143e-01 -9.44457824e-01 4.96485203e-03 2.14136950e+02] [ 9.44336472e-01 -3.28632524e-01 -1.51423973e-02 1.53455581e+02] [ 1.59329675e-02 -2.87227362e-04 9.99873021e-01 4.52336544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.12, Y:153.48, Z:4.52 [[-3.27632771e-01 -9.44792619e-01 4.86568928e-03 2.14124711e+02] [ 9.44676314e-01 -3.27668795e-01 -1.48264318e-02 1.53479798e+02] [ 1.56022379e-02 -2.61123518e-04 9.99878244e-01 4.52395821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.11, Y:153.50, Z:4.53 [[-3.24932123e-01 -9.45725983e-01 4.63466205e-03 2.14109456e+02] [ 9.45620745e-01 -3.24965112e-01 -1.41096866e-02 1.53503383e+02] [ 1.48500007e-02 -2.02057837e-04 9.99889712e-01 4.52605863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.10, Y:153.53, Z:4.53 [[-3.23841333e-01 -9.46100037e-01 4.63809797e-03 2.14097507e+02] [ 9.45994869e-01 -3.23874494e-01 -1.41074535e-02 1.53527768e+02] [ 1.48492239e-02 -1.80959663e-04 9.99889728e-01 4.52687981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.08, Y:153.55, Z:4.53 [[-3.21304073e-01 -9.46964073e-01 4.76843874e-03 2.14081940e+02] [ 9.46853236e-01 -3.21339424e-01 -1.44887233e-02 1.53550307e+02] [ 1.52525877e-02 -1.40274147e-04 9.99883663e-01 4.52636077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.18038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.07, Y:153.57, Z:4.53 [[-3.20545166e-01 -9.47221150e-01 4.78439182e-03 2.14069709e+02] [ 9.47109775e-01 -3.20580845e-01 -1.45256822e-02 1.53574792e+02] [ 1.52928177e-02 -1.24792942e-04 9.99883050e-01 4.52639758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.06, Y:153.60, Z:4.53 [[-3.20828840e-01 -9.47125083e-01 4.78874336e-03 2.14061240e+02] [ 9.47013720e-01 -3.20864553e-01 -1.45242474e-02 1.53600145e+02] [ 1.52928170e-02 -1.24791798e-04 9.99883050e-01 4.52680207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.05, Y:153.62, Z:4.53 [[-3.19984977e-01 -9.47411186e-01 4.65401463e-03 2.14050353e+02] [ 9.47306235e-01 -3.20018804e-01 -1.41018462e-02 1.53624481e+02] [ 1.48496190e-02 -1.03601874e-04 9.99889733e-01 4.52687666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.270385723 meters Centerline goodness [0,1] 0.9999790698647913 Centerline is valid? [True, True] Translation: X:214.04, Y:153.65, Z:4.53 [[-3.19477520e-01 -9.47582253e-01 4.68921643e-03 2.14038109e+02] [ 9.47475953e-01 -3.19511918e-01 -1.41934137e-02 1.53649646e+02] [ 1.49476875e-02 -9.15568033e-05 9.99888273e-01 4.52717260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.03, Y:153.67, Z:4.53 [[-3.18490268e-01 -9.47913873e-01 4.82069724e-03 2.14026016e+02] [ 9.47801782e-01 -3.18526740e-01 -1.45773072e-02 1.53674483e+02] [ 1.53535527e-02 -7.36650524e-05 9.99882125e-01 4.52748667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.330385723 meters Centerline goodness [0,1] 0.9999790965530216 Centerline is valid? [True, True] Translation: X:214.02, Y:153.70, Z:4.53 [[-3.17942305e-01 -9.48096521e-01 5.06725142e-03 2.14015635e+02] [ 9.47972949e-01 -3.17982676e-01 -1.53070395e-02 1.53699352e+02] [ 1.61238490e-02 -6.31381325e-05 9.99870000e-01 4.52726455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.00, Y:153.72, Z:4.53 [[-3.15284429e-01 -9.48982545e-01 5.27804259e-03 2.14001150e+02] [ 9.48848870e-01 -3.15328604e-01 -1.59277694e-02 1.53723067e+02] [ 1.67794930e-02 -1.37129418e-05 9.99859214e-01 4.52625403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.99, Y:153.75, Z:4.53 [[-3.13652334e-01 -9.49521569e-01 5.56797845e-03 2.13990068e+02] [ 9.49373200e-01 -3.13701751e-01 -1.67850564e-02 1.53749400e+02] [ 1.76844577e-02 2.14174076e-05 9.99843618e-01 4.52632359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.98, Y:153.77, Z:4.53 [[-3.11793751e-01 -9.50132661e-01 5.70816229e-03 2.13979844e+02] [ 9.49977127e-01 -3.11845991e-01 -1.71911535e-02 1.53774040e+02] [ 1.81139440e-02 6.25293766e-05 9.99835927e-01 4.52622946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.97, Y:153.80, Z:4.53 [[-3.08687388e-01 -9.51148108e-01 5.41969445e-03 2.13968595e+02] [ 9.51008314e-01 -3.08734938e-01 -1.63072008e-02 1.53799488e+02] [ 1.71838122e-02 1.20347266e-04 9.99852340e-01 4.52721598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.96, Y:153.82, Z:4.53 [[-3.07841265e-01 -9.51422229e-01 5.43113769e-03 2.13957280e+02] [ 9.51282147e-01 -3.07889139e-01 -1.63265272e-02 1.53824418e+02] [ 1.72056092e-02 1.40565519e-04 9.99851963e-01 4.52744163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.95, Y:153.85, Z:4.53 [[-3.07296591e-01 -9.51598179e-01 5.45072167e-03 2.13948728e+02] [ 9.51457385e-01 -3.07344889e-01 -1.63696049e-02 1.53850951e+02] [ 1.72525377e-02 1.55805606e-04 9.99851152e-01 4.52775131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.94, Y:153.88, Z:4.53 [[-3.07482690e-01 -9.51537947e-01 5.47082040e-03 2.13939614e+02] [ 9.51396365e-01 -3.07531315e-01 -1.64148623e-02 1.53877562e+02] [ 1.73018130e-02 1.57632609e-04 9.99850300e-01 4.52781139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.570385723 meters Centerline goodness [0,1] 0.9999792160285987 Centerline is valid? [True, True] Translation: X:213.93, Y:153.90, Z:4.53 [[-3.08084597e-01 -9.51343651e-01 5.39794337e-03 2.13930892e+02] [ 9.51206035e-01 -3.08131846e-01 -1.61815894e-02 1.53904340e+02] [ 1.70575306e-02 1.49257860e-04 9.99854499e-01 4.52808263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.92, Y:153.93, Z:4.53 [[-3.09295612e-01 -9.50950559e-01 5.40912755e-03 2.13923145e+02] [ 9.50812565e-01 -3.09342879e-01 -1.62002923e-02 1.53931808e+02] [ 1.70789521e-02 1.32387124e-04 9.99854135e-01 4.52866394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.630385723 meters Centerline goodness [0,1] 0.9999792453613383 Centerline is valid? [True, True] Translation: X:213.92, Y:153.96, Z:4.53 [[-3.11462633e-01 -9.50242757e-01 5.45262441e-03 2.13918062e+02] [ 9.50102685e-01 -3.11510342e-01 -1.63154605e-02 1.53959588e+02] [ 1.72021970e-02 9.88968240e-05 9.99852026e-01 4.52993767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.91, Y:153.99, Z:4.53 [[-3.13004534e-01 -9.49736189e-01 5.41608231e-03 2.13910903e+02] [ 9.49598165e-01 -3.13051380e-01 -1.61912914e-02 1.53987005e+02] [ 1.70729674e-02 7.51542245e-05 9.99854243e-01 4.53059190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.90, Y:154.01, Z:4.53 [[-3.14822334e-01 -9.49134881e-01 5.46592025e-03 2.13904288e+02] [ 9.48994484e-01 -3.14869777e-01 -1.63246360e-02 1.54013237e+02] [ 1.72153345e-02 4.77681600e-05 9.99851804e-01 4.52995802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.90, Y:154.04, Z:4.53 [[-3.14884720e-01 -9.49114310e-01 5.44423732e-03 2.13896134e+02] [ 9.48975296e-01 -3.14931777e-01 -1.62438909e-02 1.54040530e+02] [ 1.71318726e-02 5.14936940e-05 9.99853237e-01 4.53060627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.89, Y:154.07, Z:4.53 [[-3.14703276e-01 -9.49175130e-01 5.33113777e-03 2.13888129e+02] [ 9.49042084e-01 -3.14748422e-01 -1.58919167e-02 1.54066915e+02] [ 1.67621793e-02 5.82358672e-05 9.99859503e-01 4.53110190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.88, Y:154.09, Z:4.53 [[-3.12766769e-01 -9.49814481e-01 5.42223236e-03 2.13881590e+02] [ 9.49677205e-01 -3.12813750e-01 -1.61481827e-02 1.54093844e+02] [ 1.70339266e-02 9.87555518e-05 9.99854907e-01 4.53202289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.87, Y:154.12, Z:4.53 [[-3.11461111e-01 -9.50243227e-01 5.45762713e-03 2.13873485e+02] [ 9.50104481e-01 -3.11508898e-01 -1.62382746e-02 1.54119821e+02] [ 1.71304099e-02 1.27724938e-04 9.99853256e-01 4.53264548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.87, Y:154.15, Z:4.53 [[-3.10218938e-01 -9.50649177e-01 5.50929719e-03 2.13865361e+02] [ 9.50508134e-01 -3.10267815e-01 -1.63759311e-02 1.54146476e+02] [ 1.72771231e-02 1.56507837e-04 9.99850727e-01 4.53341259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.86, Y:154.17, Z:4.53 [[-3.07487016e-01 -9.51535862e-01 5.58910998e-03 2.13858357e+02] [ 9.51391105e-01 -3.07537733e-01 -1.65984083e-02 1.54172623e+02] [ 1.75128430e-02 2.13634477e-04 9.99846616e-01 4.53409824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.85, Y:154.20, Z:4.53 [[-3.06484576e-01 -9.51858108e-01 5.77465883e-03 2.13851019e+02] [ 9.51703862e-01 -3.06538876e-01 -1.71369698e-02 1.54198452e+02] [ 1.80821211e-02 2.43548194e-04 9.99836475e-01 4.53428918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.93038572300003 meters Centerline goodness [0,1] 0.9999790540823593 Centerline is valid? [True, True] Translation: X:213.85, Y:154.23, Z:4.53 [[-3.05131285e-01 -9.52288907e-01 6.38246835e-03 2.13845102e+02] [ 9.52100955e-01 -3.05197878e-01 -1.89215735e-02 1.54225996e+02] [ 1.99667204e-02 3.03190169e-04 9.99800599e-01 4.53348878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.84, Y:154.25, Z:4.53 [[-3.05112123e-01 -9.52293847e-01 6.55911707e-03 2.13839503e+02] [ 9.52095712e-01 -3.05182452e-01 -1.94274559e-02 1.54253519e+02] [ 2.05023742e-02 3.17354911e-04 9.99789754e-01 4.53357086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.83, Y:154.28, Z:4.53 [[-3.05330989e-01 -9.52221517e-01 6.86798904e-03 2.13831793e+02] [ 9.52004687e-01 -3.05408040e-01 -2.03224998e-02 1.54279653e+02] [ 2.14490607e-02 3.33268792e-04 9.99769887e-01 4.53315524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.83, Y:154.31, Z:4.53 [[-3.06666923e-01 -9.51789803e-01 7.18124720e-03 2.13829908e+02] [ 9.51553109e-01 -3.06750822e-01 -2.12276774e-02 1.54306312e+02] [ 2.24071403e-02 3.23511614e-04 9.99748876e-01 4.53391662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.82, Y:154.33, Z:4.53 [[-3.07822135e-01 -9.51415419e-01 7.36444194e-03 2.13824112e+02] [ 9.51166898e-01 -3.07910060e-01 -2.17468939e-02 1.54332930e+02] [ 2.29579159e-02 3.10638103e-04 9.99736384e-01 4.53445389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.82, Y:154.36, Z:4.53 [[-3.09288911e-01 -9.50938580e-01 7.49584397e-03 2.13818687e+02] [ 9.50681482e-01 -3.09379598e-01 -2.21129972e-02 1.54360100e+02] [ 2.33471634e-02 2.86855221e-04 9.99727377e-01 4.53473166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.82, Y:154.39, Z:4.54 [[-3.11758021e-01 -9.50132561e-01 7.41974393e-03 2.13815454e+02] [ 9.49880914e-01 -3.11846217e-01 -2.18674562e-02 1.54388728e+02] [ 2.30908012e-02 2.30518293e-04 9.99733345e-01 4.53573931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.81, Y:154.42, Z:4.54 [[-3.13196892e-01 -9.49659839e-01 7.34149269e-03 2.13809492e+02] [ 9.49413793e-01 -3.13282860e-01 -2.16170890e-02 1.54415588e+02] [ 2.28288451e-02 1.99709337e-04 9.99739368e-01 4.53679747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.81, Y:154.44, Z:4.54 [[-3.15391840e-01 -9.48931883e-01 7.50125115e-03 2.13806944e+02] [ 9.48675287e-01 -3.15480993e-01 -2.20667922e-02 1.54444061e+02] [ 2.33063849e-02 1.56565386e-04 9.99728357e-01 4.53851426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.80, Y:154.47, Z:4.54 [[-3.16651476e-01 -9.48510776e-01 7.69087692e-03 2.13800411e+02] [ 9.48241407e-01 -3.16744832e-01 -2.26041174e-02 1.54471487e+02] [ 2.38762945e-02 1.35180790e-04 9.99714912e-01 4.53875046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.230385723 meters Centerline goodness [0,1] 0.9999573651673417 Centerline is valid? [True, True] Translation: X:213.79, Y:154.50, Z:4.54 [[-3.17673683e-01 -9.48167007e-01 7.92203636e-03 2.13793700e+02] [ 9.47881635e-01 -3.17772424e-01 -2.32613994e-02 1.54497803e+02] [ 2.45730962e-02 1.19618352e-04 9.99698029e-01 4.53874530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.260385723 meters Centerline goodness [0,1] 0.9998072185926957 Centerline is valid? [True, True] Translation: X:213.79, Y:154.53, Z:4.54 [[-3.18654971e-01 -9.47834524e-01 8.29005689e-03 2.13786947e+02] [ 9.47522523e-01 -3.18762771e-01 -2.43179972e-02 1.54525160e+02] [ 2.56919988e-02 1.05964938e-04 9.99669901e-01 4.53942206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.78, Y:154.55, Z:4.54 [[-3.20441178e-01 -9.47227847e-01 8.76680371e-03 2.13783474e+02] [ 9.46879361e-01 -3.20561072e-01 -2.56919321e-02 1.54552725e+02] [ 2.71464096e-02 6.83524948e-05 9.99631466e-01 4.53873038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.78, Y:154.58, Z:4.54 [[-3.21526492e-01 -9.46857543e-01 9.02820181e-03 2.13777520e+02] [ 9.46488510e-01 -3.21653216e-01 -2.64331174e-02 1.54580458e+02] [ 2.79323467e-02 4.61417748e-05 9.99609815e-01 4.54002529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.78, Y:154.61, Z:4.54 [[-3.24383487e-01 -9.45880939e-01 9.19792690e-03 2.13775522e+02] [ 9.45498196e-01 -3.24513863e-01 -2.69056328e-02 1.54609210e+02] [ 2.84343800e-02 -3.11196865e-05 9.99595661e-01 4.54159936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.77, Y:154.64, Z:4.54 [[-3.26370102e-01 -9.45197242e-01 9.20493274e-03 2.13769779e+02] [ 9.44814338e-01 -3.26499873e-01 -2.69016688e-02 1.54636926e+02] [ 2.84327925e-02 -8.29479583e-05 9.99595703e-01 4.54255440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.76, Y:154.66, Z:4.54 [[-3.28483194e-01 -9.44465144e-01 9.18605998e-03 2.13763116e+02] [ 9.44084213e-01 -3.28611584e-01 -2.68220965e-02 1.54664768e+02] [ 2.83511809e-02 -1.38193695e-04 9.99598015e-01 4.54290337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.76, Y:154.69, Z:4.54 [[-3.31895317e-01 -9.43269846e-01 9.35389217e-03 2.13758958e+02] [ 9.42875094e-01 -3.32027018e-01 -2.72876528e-02 1.54693147e+02] [ 2.88453650e-02 -2.37092222e-04 9.99583858e-01 4.54238944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.75, Y:154.72, Z:4.54 [[-3.33319886e-01 -9.42766844e-01 9.40909087e-03 2.13753738e+02] [ 9.42367944e-01 -3.33452549e-01 -2.74236517e-02 1.54719550e+02] [ 2.89915949e-02 -2.74022850e-04 9.99579618e-01 4.54251761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.500385723 meters Centerline goodness [0,1] 0.9999568398109584 Centerline is valid? [True, True] Translation: X:213.75, Y:154.75, Z:4.54 [[-3.34503672e-01 -9.42348933e-01 9.26189810e-03 2.13750807e+02] [ 9.41962966e-01 -3.34631739e-01 -2.69698003e-02 1.54748518e+02] [ 2.85142876e-02 -2.97132237e-04 9.99593341e-01 4.54451389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.74, Y:154.78, Z:4.55 [[-3.34713727e-01 -9.42276795e-01 9.00902413e-03 2.13743933e+02] [ 9.41912232e-01 -3.34834824e-01 -2.62104655e-02 1.54775850e+02] [ 2.77140485e-02 -2.87292579e-04 9.99615851e-01 4.54553706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.74, Y:154.80, Z:4.55 [[-3.34673873e-01 -9.42292081e-01 8.89009464e-03 2.13736906e+02] [ 9.41937633e-01 -3.34791815e-01 -2.58444606e-02 1.54801544e+02] [ 2.73293614e-02 -2.75551015e-04 9.99626445e-01 4.54613365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.73, Y:154.83, Z:4.55 [[-3.33888572e-01 -9.42574365e-01 8.48451825e-03 2.13728822e+02] [ 9.42252113e-01 -3.33996273e-01 -2.46463926e-02 1.54827936e+02] [ 2.60648554e-02 -2.34593588e-04 9.99660226e-01 4.54608468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.72, Y:154.85, Z:4.55 [[-3.33081670e-01 -9.42859680e-01 8.49850679e-03 2.13720591e+02] [ 9.42537090e-01 -3.33190008e-01 -2.46627895e-02 1.54854209e+02] [ 2.60851674e-02 -2.04565277e-04 9.99659703e-01 4.54604362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.71, Y:154.88, Z:4.55 [[-3.30550703e-01 -9.43748142e-01 8.69922460e-03 2.13714764e+02] [ 9.43411076e-01 -3.30665128e-01 -2.52213136e-02 1.54882138e+02] [ 2.66790981e-02 -1.29978103e-04 9.99644041e-01 4.54750118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.68038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.71, Y:154.91, Z:4.55 [[-3.29369646e-01 -9.44160340e-01 8.76856666e-03 2.13707006e+02] [ 9.43818630e-01 -3.29486333e-01 -2.53997974e-02 1.54909651e+02] [ 2.68706042e-02 -8.99857220e-05 9.99638916e-01 4.54780803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.70, Y:154.94, Z:4.55 [[-3.28646792e-01 -9.44412437e-01 8.74267756e-03 2.13698319e+02] [ 9.44073432e-01 -3.28763052e-01 -2.53023651e-02 1.54935935e+02] [ 2.67701377e-02 -6.18115107e-05 9.99641614e-01 4.54826284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.740385723 meters Centerline goodness [0,1] 0.9999346248556299 Centerline is valid? [True, True] Translation: X:213.69, Y:154.96, Z:4.55 [[-3.28448753e-01 -9.44480687e-01 8.81186117e-03 2.13689443e+02] [ 9.44136937e-01 -3.28566933e-01 -2.54796799e-02 1.54962094e+02] [ 2.69603518e-02 -4.91654662e-05 9.99636502e-01 4.54749836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.770385723 meters Centerline goodness [0,1] 0.9999346433706592 Centerline is valid? [True, True] Translation: X:213.68, Y:154.99, Z:4.54 [[-3.28082164e-01 -9.44608021e-01 8.81933502e-03 2.13681808e+02] [ 9.44264365e-01 -3.28200679e-01 -2.54779055e-02 1.54988083e+02] [ 2.69611456e-02 -3.10625811e-05 9.99636482e-01 4.54357529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.800385723 meters Centerline goodness [0,1] 0.9998255598438761 Centerline is valid? [True, True] Translation: X:213.67, Y:155.01, Z:4.54 [[-3.28155673e-01 -9.44581634e-01 8.91017996e-03 2.13674886e+02] [ 9.44231529e-01 -3.28276616e-01 -2.57154398e-02 1.55014292e+02] [ 2.72153358e-02 -2.53946073e-05 9.99629594e-01 4.54413628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.830385723 meters Centerline goodness [0,1] 0.9999563433161617 Centerline is valid? [True, True] Translation: X:213.67, Y:155.04, Z:4.55 [[-3.28180493e-01 -9.44574965e-01 8.70052376e-03 2.13668829e+02] [ 9.44241804e-01 -3.28295804e-01 -2.50854627e-02 1.55039966e+02] [ 2.65514455e-02 -1.71612921e-05 9.99647448e-01 4.54736915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.860385723 meters Centerline goodness [0,1] 0.9999781047468909 Centerline is valid? [True, True] Translation: X:213.67, Y:155.07, Z:4.55 [[-3.29425269e-01 -9.44141058e-01 8.75528236e-03 2.13665011e+02] [ 9.43804198e-01 -3.29541592e-01 -2.52185353e-02 1.55068211e+02] [ 2.66950842e-02 -4.43505000e-05 9.99643622e-01 4.54972741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.66, Y:155.09, Z:4.55 [[-3.30253675e-01 -9.43850712e-01 8.85120363e-03 2.13658064e+02] [ 9.43506970e-01 -3.30372259e-01 -2.54709065e-02 1.55094842e+02] [ 2.69649253e-02 -6.06881280e-05 9.99636378e-01 4.54840869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.920385723 meters Centerline goodness [0,1] 0.999934022432373 Centerline is valid? [True, True] Translation: X:213.65, Y:155.12, Z:4.55 [[-3.31759685e-01 -9.43322559e-01 8.83527873e-03 2.13651732e+02] [ 9.42980505e-01 -3.31877299e-01 -2.54012909e-02 1.55122793e+02] [ 2.68938392e-02 -9.56286710e-05 9.99638291e-01 4.54944373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.950385723 meters Centerline goodness [0,1] 0.9999340992465348 Centerline is valid? [True, True] Translation: X:213.65, Y:155.15, Z:4.55 [[-3.32724485e-01 -9.42981838e-01 8.92585254e-03 2.13645669e+02] [ 9.42633262e-01 -3.32844168e-01 -2.56377333e-02 1.55148897e+02] [ 2.71468348e-02 -1.16496101e-04 9.99631450e-01 4.54751149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.980385723 meters Centerline goodness [0,1] 0.99995587813541 Centerline is valid? [True, True] Translation: X:213.64, Y:155.18, Z:4.55 [[-3.33498446e-01 -9.42708957e-01 8.86618885e-03 2.13638695e+02] [ 9.42365562e-01 -3.33616256e-01 -2.54428995e-02 1.55175868e+02] [ 2.69431540e-02 -1.29976399e-04 9.99636959e-01 4.55024370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.010385723 meters Centerline goodness [0,1] 0.999977893712972 Centerline is valid? [True, True] Translation: X:213.63, Y:155.20, Z:4.55 [[-3.34641357e-01 -9.42306165e-01 8.61707734e-03 2.13632180e+02] [ 9.41982230e-01 -3.34752250e-01 -2.47064726e-02 1.55203566e+02] [ 2.61656474e-02 -1.50673775e-04 9.99657609e-01 4.55179079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.63, Y:155.23, Z:4.55 [[-3.35378750e-01 -9.42045205e-01 8.48095635e-03 2.13628146e+02] [ 9.41731892e-01 -3.35485926e-01 -2.42948140e-02 1.55231556e+02] [ 2.57320546e-02 -1.61177298e-04 9.99668863e-01 4.55371011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.62, Y:155.26, Z:4.55 [[-3.35736111e-01 -9.41920147e-01 8.22801284e-03 2.13620780e+02] [ 9.41625667e-01 -3.35836882e-01 -2.35518960e-02 1.55257668e+02] [ 2.49472755e-02 -1.59513879e-04 9.99688756e-01 4.55386529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.61, Y:155.28, Z:4.55 [[-3.35993480e-01 -9.41828324e-01 8.23342688e-03 2.13611615e+02] [ 9.41533863e-01 -3.36094305e-01 -2.35500034e-02 1.55283692e+02] [ 2.49472681e-02 -1.60597382e-04 9.99688756e-01 4.55428289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.60, Y:155.31, Z:4.55 [[-3.35345097e-01 -9.42060618e-01 8.09066587e-03 2.13604921e+02] [ 9.41776874e-01 -3.35442655e-01 -2.31202305e-02 1.55308864e+02] [ 2.44946130e-02 -1.33653917e-04 9.99699953e-01 4.55370526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.160385723 meters Centerline goodness [0,1] 0.9998438127538043 Centerline is valid? [True, True] Translation: X:213.60, Y:155.33, Z:4.55 [[-3.34825808e-01 -9.42244562e-01 8.17700860e-03 2.13597313e+02] [ 9.41955370e-01 -3.34925622e-01 -2.33432810e-02 1.55334956e+02] [ 2.47337693e-02 -1.13555770e-04 9.99694067e-01 4.55008466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.190385723 meters Centerline goodness [0,1] 0.9999777575124001 Centerline is valid? [True, True] Translation: X:213.59, Y:155.36, Z:4.56 [[-3.33153795e-01 -9.42837410e-01 8.13433103e-03 2.13588794e+02] [ 9.42551937e-01 -3.33253079e-01 -2.31998195e-02 1.55361982e+02] [ 2.45844486e-02 -6.20784464e-05 9.99697755e-01 4.55521379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.58, Y:155.39, Z:4.55 [[-3.29866236e-01 -9.43989123e-01 8.53245746e-03 2.13582090e+02] [ 9.43675980e-01 -3.29976568e-01 -2.43127471e-02 1.55388869e+02] [ 2.57664798e-02 3.19208007e-05 9.99667989e-01 4.55486457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.57, Y:155.42, Z:4.56 [[-3.28414197e-01 -9.44492474e-01 8.83642770e-03 2.13573180e+02] [ 9.44157422e-01 -3.28533044e-01 -2.51555618e-02 1.55415938e+02] [ 2.66622973e-02 8.15351406e-05 9.99644494e-01 4.55504657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.56, Y:155.44, Z:4.55 [[-3.26609462e-01 -9.45116130e-01 9.04216223e-03 2.13564517e+02] [ 9.44766186e-01 -3.26734572e-01 -2.57171948e-02 1.55441880e+02] [ 2.72601226e-02 1.43249976e-04 9.99628364e-01 4.55467595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.56, Y:155.47, Z:4.55 [[-3.22433940e-01 -9.46544807e-01 9.44897414e-03 2.13555749e+02] [ 9.46163977e-01 -3.22572238e-01 -2.68492197e-02 1.55468276e+02] [ 2.84619662e-02 2.83179235e-04 9.99594836e-01 4.55381994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.55, Y:155.50, Z:4.55 [[-3.20374413e-01 -9.47242262e-01 9.60901203e-03 2.13546630e+02] [ 9.46849411e-01 -3.20518282e-01 -2.72804664e-02 1.55495237e+02] [ 2.89210747e-02 3.58323958e-04 9.99581634e-01 4.55451428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.53, Y:155.52, Z:4.55 [[-3.16798364e-01 -9.48444182e-01 9.61405861e-03 2.13534817e+02] [ 9.48052177e-01 -3.16943856e-01 -2.72701672e-02 1.55520055e+02] [ 2.89113482e-02 4.75484835e-04 9.99581867e-01 4.55396733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.52, Y:155.55, Z:4.55 [[-3.15641902e-01 -9.48832947e-01 9.28594273e-03 2.13523290e+02] [ 9.48468096e-01 -3.15778068e-01 -2.63150856e-02 1.55545060e+02] [ 2.79009172e-02 5.01276744e-04 9.99610568e-01 4.55392025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.43038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.51, Y:155.57, Z:4.56 [[-3.15287490e-01 -9.48952491e-01 9.10871609e-03 2.13513123e+02] [ 9.48602166e-01 -3.15418627e-01 -2.57879903e-02 1.55570092e+02] [ 2.73446363e-02 5.09917083e-04 9.99625935e-01 4.55513296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.460385723 meters Centerline goodness [0,1] 0.9999552051603655 Centerline is valid? [True, True] Translation: X:213.50, Y:155.59, Z:4.56 [[-3.16282675e-01 -9.48623809e-01 8.83956717e-03 2.13501932e+02] [ 9.48294391e-01 -3.16405820e-01 -2.50020917e-02 1.55594362e+02] [ 2.65144700e-02 4.74783515e-04 9.99648317e-01 4.55646127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.49, Y:155.62, Z:4.56 [[-3.17503137e-01 -9.48217838e-01 8.64235741e-03 2.13493149e+02] [ 9.47903412e-01 -3.17620434e-01 -2.44209276e-02 1.55620050e+02] [ 2.59013485e-02 4.38398942e-04 9.99664408e-01 4.55804503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.48, Y:155.65, Z:4.56 [[-3.19275144e-01 -9.47625702e-01 8.30126109e-03 2.13484256e+02] [ 9.47335942e-01 -3.19382815e-01 -2.34356466e-02 1.55646425e+02] [ 2.48595012e-02 3.81663564e-04 9.99690882e-01 4.55949828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.48, Y:155.67, Z:4.56 [[-3.23596571e-01 -9.46166448e-01 7.36970090e-03 2.13476637e+02] [ 9.45938062e-01 -3.23680388e-01 -2.07891617e-02 1.55672553e+02] [ 2.20554349e-02 2.43979161e-04 9.99756720e-01 4.56156474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.47, Y:155.70, Z:4.56 [[-3.25378876e-01 -9.45557693e-01 7.01688637e-03 2.13469618e+02] [ 9.45350859e-01 -3.25454467e-01 -1.97773229e-02 1.55698423e+02] [ 2.09842769e-02 1.98296457e-04 9.99779786e-01 4.56324442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.610385723 meters Centerline goodness [0,1] 0.9999776920159725 Centerline is valid? [True, True] Translation: X:213.46, Y:155.72, Z:4.56 [[-3.26475438e-01 -9.45179314e-01 7.06070911e-03 2.13461942e+02] [ 9.44970214e-01 -3.26551730e-01 -1.98812218e-02 1.55723515e+02] [ 2.10970064e-02 1.81429201e-04 9.99777417e-01 4.56384612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.45, Y:155.75, Z:4.56 [[-3.26965094e-01 -9.45005564e-01 7.63614666e-03 2.13453986e+02] [ 9.44761455e-01 -3.27054195e-01 -2.14789636e-02 1.55750005e+02] [ 2.27951739e-02 1.91465678e-04 9.99740138e-01 4.56314236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.44, Y:155.78, Z:4.56 [[-3.27505939e-01 -9.44816897e-01 7.80320461e-03 2.13444911e+02] [ 9.44562419e-01 -3.27598832e-01 -2.19281223e-02 1.55776334e+02] [ 2.32743812e-02 1.89023529e-04 9.99729097e-01 4.56275849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.43, Y:155.80, Z:4.56 [[-3.28985624e-01 -9.44297077e-01 8.45516930e-03 2.13434627e+02] [ 9.43998615e-01 -3.29094213e-01 -2.37405314e-02 1.55801057e+02] [ 2.52006617e-02 1.71374572e-04 9.99682398e-01 4.56017171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.43, Y:155.83, Z:4.56 [[-3.30470502e-01 -9.43776389e-01 8.68186207e-03 2.13425579e+02] [ 9.43462021e-01 -3.30584494e-01 -2.43579084e-02 1.55826929e+02] [ 2.58585078e-02 1.41436897e-04 9.99665603e-01 4.55975902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.760385723 meters Centerline goodness [0,1] 0.9999776431397974 Centerline is valid? [True, True] Translation: X:213.42, Y:155.85, Z:4.56 [[-3.32285966e-01 -9.43137926e-01 8.76862293e-03 2.13418001e+02] [ 9.42817618e-01 -3.32401628e-01 -2.45783832e-02 1.55853737e+02] [ 2.60955099e-02 1.00160359e-04 9.99659449e-01 4.56149400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.790385723 meters Centerline goodness [0,1] 0.9999776050881239 Centerline is valid? [True, True] Translation: X:213.41, Y:155.88, Z:4.56 [[-3.34246453e-01 -9.42444057e-01 8.86052650e-03 2.13411100e+02] [ 9.42117329e-01 -3.34363870e-01 -2.48141421e-02 1.55881113e+02] [ 2.63485806e-02 5.36165876e-05 9.99652814e-01 4.56390458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.41, Y:155.91, Z:4.57 [[-3.37899367e-01 -9.41142590e-01 8.63963406e-03 2.13405972e+02] [ 9.40832071e-01 -3.38009798e-01 -2.41741694e-02 1.55908533e+02] [ 2.56716214e-02 -3.99917328e-05 9.99670429e-01 4.56624954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.40, Y:155.93, Z:4.57 [[-3.41017813e-01 -9.40018189e-01 8.52380805e-03 2.13396395e+02] [ 9.39716144e-01 -3.41124304e-01 -2.38280998e-02 1.55934502e+02] [ 2.53065254e-02 -1.15846472e-04 9.99679732e-01 4.56623151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.39, Y:155.96, Z:4.57 [[-3.41954694e-01 -9.39678918e-01 8.39752837e-03 2.13386019e+02] [ 9.39386187e-01 -3.42057764e-01 -2.34537344e-02 1.55960707e+02] [ 2.49114196e-02 -1.31592409e-04 9.99689654e-01 4.56713501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.38, Y:155.99, Z:4.57 [[-3.42729183e-01 -9.39397015e-01 8.36387482e-03 2.13376747e+02] [ 9.39107050e-01 -3.42831193e-01 -2.33392741e-02 1.55987598e+02] [ 2.47922417e-02 -1.44476558e-04 9.99692615e-01 4.56774501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.940385723 meters Centerline goodness [0,1] 0.9999102354076435 Centerline is valid? [True, True] Translation: X:213.37, Y:156.01, Z:4.57 [[-3.43312712e-01 -9.39183418e-01 8.41954416e-03 2.13368159e+02] [ 9.38890029e-01 -3.43415904e-01 -2.34740301e-02 1.56014567e+02] [ 2.49378252e-02 -1.53906856e-04 9.99688992e-01 4.56603204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.36, Y:156.04, Z:4.57 [[-3.43631530e-01 -9.39065554e-01 8.55907368e-03 2.13360484e+02] [ 9.38762864e-01 -3.43738071e-01 -2.38416260e-02 1.56040162e+02] [ 2.53309292e-02 -1.57793891e-04 9.99679108e-01 4.56921708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.35, Y:156.07, Z:4.57 [[-3.42803929e-01 -9.39372339e-01 8.06693317e-03 2.13348333e+02] [ 9.39104028e-01 -3.42898811e-01 -2.24506229e-02 1.56065210e+02] [ 2.38556359e-02 -1.20472293e-04 9.99715407e-01 4.57014030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.34, Y:156.09, Z:4.57 [[-3.41780531e-01 -9.39744821e-01 8.10805962e-03 2.13338094e+02] [ 9.39474386e-01 -3.41876680e-01 -2.25436107e-02 1.56090168e+02] [ 2.39571979e-02 -8.76529164e-05 9.99712981e-01 4.57059638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.33, Y:156.12, Z:4.57 [[-3.40249997e-01 -9.40298218e-01 8.31875215e-03 2.13327549e+02] [ 9.40014235e-01 -3.40351671e-01 -2.31079503e-02 1.56116366e+02] [ 2.45596657e-02 -4.27345852e-05 9.99698365e-01 4.57210335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.090385723 meters Centerline goodness [0,1] 0.9999102192893857 Centerline is valid? [True, True] Translation: X:213.32, Y:156.14, Z:4.57 [[-3.36925621e-01 -9.41492275e-01 8.56866089e-03 2.13317611e+02] [ 9.41191883e-01 -3.37034558e-01 -2.37812052e-02 1.56142392e+02] [ 2.52777558e-02 5.22567606e-05 9.99680465e-01 4.57112642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.31, Y:156.17, Z:4.57 [[-3.35913036e-01 -9.41854608e-01 8.50467207e-03 2.13307250e+02] [ 9.41559325e-01 -3.36020669e-01 -2.35827797e-02 1.56167028e+02] [ 2.50692954e-02 8.58901663e-05 9.99685712e-01 4.57444150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.30, Y:156.19, Z:4.57 [[-3.35598077e-01 -9.41968521e-01 8.32087569e-03 2.13296614e+02] [ 9.41686419e-01 -3.35701201e-01 -2.30519274e-02 1.56192067e+02] [ 2.45075179e-02 9.94731255e-05 9.99699641e-01 4.57484079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.18038572300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.28, Y:156.22, Z:4.57 [[-3.36190998e-01 -9.41760050e-01 7.97632579e-03 2.13284866e+02] [ 9.41501235e-01 -3.36285594e-01 -2.20776575e-02 1.56218078e+02] [ 2.34741793e-02 8.74108960e-05 9.99724440e-01 4.57427738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.28, Y:156.24, Z:4.57 [[-3.36737906e-01 -9.41563875e-01 8.06549323e-03 2.13275828e+02] [ 9.41299660e-01 -3.36834474e-01 -2.23044147e-02 1.56243929e+02] [ 2.37177673e-02 8.13041456e-05 9.99718691e-01 4.57467958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.27, Y:156.27, Z:4.58 [[-3.38329804e-01 -9.40992801e-01 8.09274720e-03 2.13269729e+02] [ 9.40727144e-01 -3.38426575e-01 -2.23583173e-02 1.56271136e+02] [ 2.37778164e-02 4.85818358e-05 9.99717267e-01 4.57730524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.270385723 meters Centerline goodness [0,1] 0.9999775739499002 Centerline is valid? [True, True] Translation: X:213.26, Y:156.30, Z:4.58 [[-3.39295040e-01 -9.40644601e-01 8.16149061e-03 2.13261676e+02] [ 9.40374830e-01 -3.39393184e-01 -2.25265466e-02 1.56296782e+02] [ 2.39594287e-02 3.17148282e-05 9.99712931e-01 4.57864802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.300385723 meters Centerline goodness [0,1] 0.9999775809886784 Centerline is valid? [True, True] Translation: X:213.25, Y:156.32, Z:4.58 [[-3.40229865e-01 -9.40307721e-01 8.06402433e-03 2.13252440e+02] [ 9.40044762e-01 -3.40325417e-01 -2.22363933e-02 1.56321958e+02] [ 2.36534448e-02 1.50587230e-05 9.99720218e-01 4.57873988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.24, Y:156.35, Z:4.58 [[-3.41053923e-01 -9.40010390e-01 7.91757510e-03 2.13242557e+02] [ 9.39757254e-01 -3.41145813e-01 -2.18136910e-02 1.56346733e+02] [ 2.32061438e-02 9.53748535e-07 9.99730701e-01 4.57820679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.23, Y:156.37, Z:4.58 [[-3.41573887e-01 -9.39819620e-01 8.14629407e-03 2.13232111e+02] [ 9.39552014e-01 -3.41671015e-01 -2.24260938e-02 1.56372748e+02] [ 2.38598355e-02 -6.30101349e-06 9.99715314e-01 4.57751588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.22, Y:156.40, Z:4.58 [[-3.42111432e-01 -9.39622296e-01 8.34915289e-03 2.13223715e+02] [ 9.39341561e-01 -3.42213296e-01 -2.29671970e-02 1.56397964e+02] [ 2.44376816e-02 -1.46343693e-05 9.99701355e-01 4.57749634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.420385723 meters Centerline goodness [0,1] 0.9998884252337491 Centerline is valid? [True, True] Translation: X:213.22, Y:156.42, Z:4.58 [[-3.42698671e-01 -9.39402610e-01 8.96422809e-03 2.13215917e+02] [ 9.39079372e-01 -3.42815892e-01 -2.46413662e-02 1.56423558e+02] [ 2.62212436e-02 -2.64417736e-05 9.99656164e-01 4.57766990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.21, Y:156.45, Z:4.58 [[-3.42928240e-01 -9.39318697e-01 8.97820090e-03 2.13205975e+02] [ 9.38994992e-01 -3.43045748e-01 -2.46580439e-02 1.56450332e+02] [ 2.62416953e-02 -2.54539064e-05 9.99655627e-01 4.57878700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.20, Y:156.48, Z:4.58 [[-3.43085675e-01 -9.39258335e-01 9.27362252e-03 2.13196695e+02] [ 9.38913572e-01 -3.43210985e-01 -2.54465013e-02 1.56475772e+02] [ 2.70836475e-02 -2.32000234e-05 9.99633170e-01 4.57868357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.19, Y:156.50, Z:4.58 [[-3.43181521e-01 -9.39217796e-01 9.81704546e-03 2.13186667e+02] [ 9.38832138e-01 -3.43321905e-01 -2.69125486e-02 1.56501383e+02] [ 2.86471513e-02 -1.93315877e-05 9.99589586e-01 4.57815985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.18, Y:156.53, Z:4.58 [[-3.43243855e-01 -9.39191637e-01 1.01353302e-02 2.13176490e+02] [ 9.38781317e-01 -3.43393460e-01 -2.77591492e-02 1.56526300e+02] [ 2.95515669e-02 -1.32987793e-05 9.99563257e-01 4.57830802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.570385723 meters Centerline goodness [0,1] 0.9999776416402093 Centerline is valid? [True, True] Translation: X:213.17, Y:156.55, Z:4.58 [[-3.43207264e-01 -9.39203532e-01 1.02712705e-02 2.13166044e+02] [ 9.38782930e-01 -3.43360925e-01 -2.81049162e-02 1.56551694e+02] [ 2.99229895e-02 -3.31792124e-06 9.99552207e-01 4.57820450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.600385723 meters Centerline goodness [0,1] 0.9999331655044891 Centerline is valid? [True, True] Translation: X:213.16, Y:156.58, Z:4.58 [[-3.44092603e-01 -9.38880096e-01 1.02199260e-02 2.13157005e+02] [ 9.38464337e-01 -3.44244340e-01 -2.79378327e-02 1.56576180e+02] [ 2.97484267e-02 -2.21654943e-05 9.99557417e-01 4.57815623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.15, Y:156.60, Z:4.58 [[-3.44859846e-01 -9.38598789e-01 1.01980622e-02 2.13147676e+02] [ 9.38185477e-01 -3.45010598e-01 -2.78513581e-02 1.56601779e+02] [ 2.96596905e-02 -3.71412199e-05 9.99560054e-01 4.57936874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.14, Y:156.63, Z:4.58 [[-3.46271999e-01 -9.38078446e-01 1.02240682e-02 2.13138133e+02] [ 9.37663577e-01 -3.46422897e-01 -2.78961116e-02 1.56627323e+02] [ 2.97105923e-02 -7.29059662e-05 9.99558540e-01 4.58012606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.690385723 meters Centerline goodness [0,1] 0.9999552752806476 Centerline is valid? [True, True] Translation: X:213.13, Y:156.65, Z:4.58 [[-3.46798766e-01 -9.37884621e-01 1.01514982e-02 2.13128477e+02] [ 9.37476300e-01 -3.46947302e-01 -2.76722876e-02 1.56652458e+02] [ 2.94754479e-02 -7.99262129e-05 9.99565501e-01 4.58101267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.720385723 meters Centerline goodness [0,1] 0.9999777029588174 Centerline is valid? [True, True] Translation: X:213.12, Y:156.68, Z:4.58 [[-3.47166534e-01 -9.37751962e-01 9.83130383e-03 2.13118516e+02] [ 9.37369649e-01 -3.47305702e-01 -2.67748012e-02 1.56677507e+02] [ 2.85225902e-02 -7.97491029e-05 9.99593145e-01 4.58341599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.11, Y:156.70, Z:4.58 [[-3.46916596e-01 -9.37845731e-01 9.70877242e-03 2.13108905e+02] [ 9.37473637e-01 -3.47052418e-01 -2.64158753e-02 1.56701897e+02] [ 2.81434689e-02 -6.23873446e-05 9.99603892e-01 4.58415826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.10, Y:156.73, Z:4.59 [[-3.47044986e-01 -9.37797895e-01 9.74089256e-03 2.13098561e+02] [ 9.37424042e-01 -3.47181659e-01 -2.64775819e-02 1.56727181e+02] [ 2.82124798e-02 -5.75651519e-05 9.99601947e-01 4.58539249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.810385723 meters Centerline goodness [0,1] 0.9999777772839397 Centerline is valid? [True, True] Translation: X:213.09, Y:156.75, Z:4.59 [[-3.46332887e-01 -9.38059791e-01 9.86711704e-03 2.13087378e+02] [ 9.37677035e-01 -3.46473416e-01 -2.67945795e-02 1.56751532e+02] [ 2.85536114e-02 -2.76750131e-05 9.99592262e-01 4.58565066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.840385723 meters Centerline goodness [0,1] 0.9999556216300175 Centerline is valid? [True, True] Translation: X:213.08, Y:156.78, Z:4.59 [[-3.46407284e-01 -9.38032754e-01 9.82580510e-03 2.13076942e+02] [ 9.37653919e-01 -3.46546609e-01 -2.66566327e-02 1.56776927e+02] [ 2.84098940e-02 -2.08470777e-05 9.99596357e-01 4.58685084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.07, Y:156.80, Z:4.59 [[-3.47546164e-01 -9.37606653e-01 1.02678715e-02 2.13066286e+02] [ 9.37193565e-01 -3.47697804e-01 -2.78291180e-02 1.56802538e+02] [ 2.96628826e-02 -4.89200726e-05 9.99559959e-01 4.58646497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.06, Y:156.83, Z:4.59 [[-3.48426353e-01 -9.37279382e-01 1.03168494e-02 2.13056752e+02] [ 9.36862896e-01 -3.48579053e-01 -2.79384766e-02 1.56827096e+02] [ 2.97823957e-02 -6.90281538e-05 9.99556404e-01 4.58616500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.05, Y:156.85, Z:4.59 [[-3.49844051e-01 -9.36750734e-01 1.03538866e-02 2.13047178e+02] [ 9.36331684e-01 -3.49997217e-01 -2.80165215e-02 1.56853694e+02] [ 2.98683286e-02 -1.06741343e-04 9.99553836e-01 4.58850242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.960385723 meters Centerline goodness [0,1] 0.9999778088453942 Centerline is valid? [True, True] Translation: X:213.04, Y:156.88, Z:4.59 [[-3.51942731e-01 -9.35965108e-01 1.02777243e-02 2.13039649e+02] [ 9.35552591e-01 -3.52092730e-01 -2.77859483e-02 1.56879453e+02] [ 2.96253902e-02 -1.63710916e-04 9.99561058e-01 4.58814678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.990385723 meters Centerline goodness [0,1] 0.9999778088453942 Centerline is valid? [True, True] Translation: X:213.03, Y:156.90, Z:4.59 [[-3.52221664e-01 -9.35860085e-01 1.02859673e-02 2.13030256e+02] [ 9.35447613e-01 -3.52371785e-01 -2.77828973e-02 1.56904521e+02] [ 2.96253892e-02 -1.63754732e-04 9.99561058e-01 4.58855133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.02, Y:156.93, Z:4.59 [[-3.56659663e-01 -9.34181841e-01 9.90818629e-03 2.13022040e+02] [ 9.33799013e-01 -3.56797149e-01 -2.67431934e-02 1.56931200e+02] [ 2.85182183e-02 -2.85963768e-04 9.99593232e-01 4.59121870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.01, Y:156.96, Z:4.59 [[-3.59420979e-01 -9.33126124e-01 9.60186403e-03 2.13013205e+02] [ 9.32766722e-01 -3.59549040e-01 -2.58984529e-02 1.56957356e+02] [ 2.76188639e-02 -3.52148058e-04 9.99618464e-01 4.58971872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.00, Y:156.98, Z:4.59 [[-3.64361626e-01 -9.31215756e-01 8.82165994e-03 2.13000969e+02] [ 9.30912321e-01 -3.64468124e-01 -2.37747013e-02 1.56982792e+02] [ 2.53545903e-02 -4.50396909e-04 9.99678419e-01 4.59098785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.99, Y:157.01, Z:4.59 [[-3.66439691e-01 -9.30402272e-01 8.57696363e-03 2.12991815e+02] [ 9.30115685e-01 -3.66539733e-01 -2.30962725e-02 1.57008417e+02] [ 2.46326224e-02 -4.85822588e-04 9.99696453e-01 4.59205307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.98, Y:157.04, Z:4.59 [[-3.68442715e-01 -9.29613548e-01 8.28357543e-03 2.12981202e+02] [ 9.29346483e-01 -3.68535464e-01 -2.22873673e-02 1.57035160e+02] [ 2.37714299e-02 -5.13306429e-04 9.99717288e-01 4.59341894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.97, Y:157.06, Z:4.59 [[-3.71394723e-01 -9.28441598e-01 7.88412306e-03 2.12970983e+02] [ 9.28199783e-01 -3.71477984e-01 -2.11960157e-02 1.57060915e+02] [ 2.26080409e-02 -5.54047084e-04 9.99744252e-01 4.59453830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.96, Y:157.09, Z:4.59 [[-3.72393134e-01 -9.28043874e-01 7.61057628e-03 2.12960253e+02] [ 9.27818831e-01 -3.72470486e-01 -2.04439501e-02 1.57085672e+02] [ 2.18075977e-02 -5.51950675e-04 9.99762034e-01 4.59476839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.95, Y:157.11, Z:4.60 [[-3.72807093e-01 -9.27880516e-01 7.25393886e-03 2.12948247e+02] [ 9.27676382e-01 -3.72877283e-01 -1.94695110e-02 1.57110867e+02] [ 2.07702089e-02 -5.29064048e-04 9.99784136e-01 4.59500989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.93, Y:157.13, Z:4.59 [[-3.72126159e-01 -9.28153272e-01 7.32292806e-03 2.12933515e+02] [ 9.27945644e-01 -3.72197852e-01 -1.96377540e-02 1.57134777e+02] [ 2.09524237e-02 -5.12442787e-04 9.99780343e-01 4.59388090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.92, Y:157.16, Z:4.59 [[-3.70892548e-01 -9.28643901e-01 7.69569272e-03 2.12920696e+02] [ 9.28415120e-01 -3.70972039e-01 -2.06182472e-02 1.57160061e+02] [ 2.20018964e-02 -5.02356779e-04 9.99757803e-01 4.59380857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.90, Y:157.18, Z:4.59 [[-3.68072190e-01 -9.29762472e-01 8.03792384e-03 2.12904913e+02] [ 9.29513575e-01 -3.68159672e-01 -2.15167373e-02 1.57183996e+02] [ 2.29646942e-02 -4.48353282e-04 9.99736176e-01 4.59313857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.350385723 meters Centerline goodness [0,1] 0.9999562994362627 Centerline is valid? [True, True] Translation: X:212.89, Y:157.21, Z:4.59 [[-3.67059579e-01 -9.30162800e-01 8.02690728e-03 2.12892199e+02] [ 9.29915092e-01 -3.67147099e-01 -2.14692695e-02 1.57208793e+02] [ 2.29169716e-02 -4.16158802e-04 9.99737285e-01 4.59359246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.88, Y:157.23, Z:4.59 [[-3.66024493e-01 -9.30571396e-01 7.93399865e-03 2.12880185e+02] [ 9.30329849e-01 -3.66110274e-01 -2.12047097e-02 1.57233395e+02] [ 2.26372147e-02 -3.80207338e-04 9.99743673e-01 4.59375348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.87, Y:157.26, Z:4.59 [[-3.65072432e-01 -9.30944271e-01 8.05501357e-03 2.12867533e+02] [ 9.30695732e-01 -3.65161110e-01 -2.15131963e-02 1.57258998e+02] [ 2.29689645e-02 -3.57108135e-04 9.99736115e-01 4.59418751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.440385723 meters Centerline goodness [0,1] 0.9999348052851182 Centerline is valid? [True, True] Translation: X:212.85, Y:157.28, Z:4.59 [[-3.63843343e-01 -9.31423833e-01 8.22593836e-03 2.12853184e+02] [ 9.31165189e-01 -3.63936172e-01 -2.19511732e-02 1.57283095e+02] [ 2.34395624e-02 -3.27080791e-04 9.99725202e-01 4.59309118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.84, Y:157.31, Z:4.59 [[-3.63584649e-01 -9.31525169e-01 8.18912821e-03 2.12841698e+02] [ 9.31269307e-01 -3.63676727e-01 -2.18338400e-02 1.57307304e+02] [ 2.33169669e-02 -3.12165311e-04 9.99728074e-01 4.59328325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.500385723 meters Centerline goodness [0,1] 0.9999783380989515 Centerline is valid? [True, True] Translation: X:212.83, Y:157.33, Z:4.59 [[-3.63843903e-01 -9.31425287e-01 8.03428915e-03 2.12830650e+02] [ 9.31179446e-01 -3.63932470e-01 -2.14008557e-02 1.57332160e+02] [ 2.28572369e-02 -3.05205948e-04 9.99738693e-01 4.59394485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.530385723 meters Centerline goodness [0,1] 0.9998699102380643 Centerline is valid? [True, True] Translation: X:212.82, Y:157.36, Z:4.59 [[-3.64188534e-01 -9.31287174e-01 8.42084250e-03 2.12818793e+02] [ 9.31017558e-01 -3.64285734e-01 -2.24100509e-02 1.57357709e+02] [ 2.39377858e-02 -3.21531372e-04 9.99713398e-01 4.59463253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.81, Y:157.38, Z:4.60 [[-3.64541983e-01 -9.31156249e-01 7.56198853e-03 2.12808782e+02] [ 9.30939153e-01 -3.64620291e-01 -2.01081210e-02 1.57381589e+02] [ 2.14810570e-02 -2.90503095e-04 9.99769213e-01 4.59633628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.590385723 meters Centerline goodness [0,1] 0.9999566358058152 Centerline is valid? [True, True] Translation: X:212.80, Y:157.41, Z:4.60 [[-3.65040046e-01 -9.30961093e-01 7.56362083e-03 2.12796304e+02] [ 9.30744265e-01 -3.65118277e-01 -2.00937056e-02 1.57406404e+02] [ 2.14680743e-02 -2.95210499e-04 9.99769491e-01 4.59637751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.620385723 meters Centerline goodness [0,1] 0.999978339506574 Centerline is valid? [True, True] Translation: X:212.78, Y:157.43, Z:4.60 [[-3.66239831e-01 -9.30488931e-01 7.66386820e-03 2.12783439e+02] [ 9.30266593e-01 -3.66319868e-01 -2.03425540e-02 1.57430175e+02] [ 2.17359485e-02 -3.20812973e-04 9.99763695e-01 4.59500310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.650385723 meters Centerline goodness [0,1] 0.9997829625610418 Centerline is valid? [True, True] Translation: X:212.77, Y:157.46, Z:4.59 [[-3.66965014e-01 -9.30196394e-01 8.44672210e-03 2.12773748e+02] [ 9.29926678e-01 -3.67062031e-01 -2.24017616e-02 1.57456009e+02] [ 2.39385088e-02 -3.65830534e-04 9.99713366e-01 4.59391274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.77, Y:157.48, Z:4.60 [[-3.68479033e-01 -9.29606341e-01 7.43321895e-03 2.12766332e+02] [ 9.29397625e-01 -3.68553833e-01 -1.97009631e-02 1.57481617e+02] [ 2.10536815e-02 -3.50975789e-04 9.99778285e-01 4.59722638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.76, Y:157.51, Z:4.60 [[-3.69295878e-01 -9.29281090e-01 7.56369554e-03 2.12755732e+02] [ 9.29065315e-01 -3.69373143e-01 -2.00280035e-02 1.57508133e+02] [ 2.14054709e-02 -3.69091941e-04 9.99770809e-01 4.59766188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.74, Y:157.53, Z:4.60 [[-3.69781405e-01 -9.29087176e-01 7.66367657e-03 2.12744502e+02] [ 9.28865981e-01 -3.69860616e-01 -2.02759296e-02 1.57533508e+02] [ 2.16725983e-02 -3.79133281e-04 9.99765050e-01 4.59733056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.770385723 meters Centerline goodness [0,1] 0.9999566771363587 Centerline is valid? [True, True] Translation: X:212.73, Y:157.56, Z:4.59 [[-3.68782223e-01 -9.29480963e-01 8.05059480e-03 2.12731476e+02] [ 9.29237369e-01 -3.68869902e-01 -2.12816169e-02 1.57558329e+02] [ 2.27504799e-02 -3.67368446e-04 9.99741107e-01 4.59489939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.800385723 meters Centerline goodness [0,1] 0.9998695453655991 Centerline is valid? [True, True] Translation: X:212.72, Y:157.58, Z:4.60 [[-3.67902476e-01 -9.29832366e-01 7.71621233e-03 2.12720520e+02] [ 9.29609021e-01 -3.67983241e-01 -2.03814340e-02 1.57584227e+02] [ 2.17907538e-02 -3.25319448e-04 9.99762500e-01 4.59546083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.71, Y:157.61, Z:4.60 [[-3.66984695e-01 -9.30193405e-01 7.90341265e-03 2.12710877e+02] [ 9.29959571e-01 -3.67069663e-01 -2.08580892e-02 1.57609787e+02] [ 2.23031600e-02 -3.04745263e-04 9.99751207e-01 4.59560904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.860385723 meters Centerline goodness [0,1] 0.9999134349030471 Centerline is valid? [True, True] Translation: X:212.70, Y:157.64, Z:4.59 [[-3.65976645e-01 -9.30586633e-01 8.34353740e-03 2.12701549e+02] [ 9.30326542e-01 -3.66071625e-01 -2.20020416e-02 1.57635321e+02] [ 2.35291381e-02 -2.90019055e-04 9.99723109e-01 4.59485462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.69, Y:157.66, Z:4.60 [[-3.63871218e-01 -9.31418136e-01 7.61527033e-03 2.12689341e+02] [ 9.31201924e-01 -3.63950836e-01 -2.00690281e-02 1.57660245e+02] [ 2.14642407e-02 -2.11187293e-04 9.99769594e-01 4.59614773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.68, Y:157.68, Z:4.60 [[-3.62839989e-01 -9.31821517e-01 7.47015698e-03 2.12678114e+02] [ 9.31613902e-01 -3.62916835e-01 -1.96699856e-02 1.57684116e+02] [ 2.10399616e-02 -1.77755263e-04 9.99778620e-01 4.59594053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.66, Y:157.71, Z:4.60 [[-3.61413274e-01 -9.32379206e-01 7.03293481e-03 2.12663655e+02] [ 9.32195622e-01 -3.61481672e-01 -1.85019916e-02 1.57708161e+02] [ 1.97931493e-02 -1.30794330e-04 9.99804088e-01 4.59500496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.65, Y:157.73, Z:4.60 [[-3.61146441e-01 -9.32481546e-01 7.17036196e-03 2.12652738e+02] [ 9.32291078e-01 -3.61217596e-01 -1.88465987e-02 1.57733727e+02] [ 2.01641664e-02 -1.21517579e-04 9.99796675e-01 4.59530354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.010385723 meters Centerline goodness [0,1] 0.9999136106431687 Centerline is valid? [True, True] Translation: X:212.64, Y:157.76, Z:4.60 [[-3.60835576e-01 -9.32601178e-01 7.26157695e-03 2.12643594e+02] [ 9.32406184e-01 -3.60908619e-01 -1.90703300e-02 1.57759852e+02] [ 2.04057780e-02 -1.10514277e-04 9.99791774e-01 4.59588667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.64, Y:157.79, Z:4.60 [[-3.59813964e-01 -9.32996699e-01 7.14643919e-03 2.12635020e+02] [ 9.32808225e-01 -3.59884918e-01 -1.87526300e-02 1.57786613e+02] [ 2.00680376e-02 -8.12009034e-05 9.99798613e-01 4.59701158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.62, Y:157.81, Z:4.60 [[-3.59128132e-01 -9.33261927e-01 7.01143858e-03 2.12624209e+02] [ 9.33080854e-01 -3.59196565e-01 -1.83833636e-02 1.57812944e+02] [ 1.96749780e-02 -5.97439427e-05 9.99806427e-01 4.59712475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.100385723 meters Centerline goodness [0,1] 0.9999568221070811 Centerline is valid? [True, True] Translation: X:212.61, Y:157.84, Z:4.60 [[-3.58663301e-01 -9.33440107e-01 7.08542440e-03 2.12612996e+02] [ 9.33255541e-01 -3.58733278e-01 -1.85615071e-02 1.57838169e+02] [ 1.98678327e-02 -4.48198336e-05 9.99802614e-01 4.59650600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.130385723 meters Centerline goodness [0,1] 0.9998924916143459 Centerline is valid? [True, True] Translation: X:212.60, Y:157.86, Z:4.59 [[-3.58138467e-01 -9.33641667e-01 7.07640962e-03 2.12600352e+02] [ 9.33457929e-01 -3.58208370e-01 -1.85218174e-02 1.57863203e+02] [ 1.98275697e-02 -2.78446326e-05 9.99803414e-01 4.59428177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.160385723 meters Centerline goodness [0,1] 0.9998268098372013 Centerline is valid? [True, True] Translation: X:212.59, Y:157.89, Z:4.59 [[-3.57883314e-01 -9.33741690e-01 6.78159196e-03 2.12589670e+02] [ 9.33573234e-01 -3.57947561e-01 -1.77358239e-02 1.57888507e+02] [ 1.89881324e-02 -1.62426824e-05 9.99819709e-01 4.59428480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.190385723 meters Centerline goodness [0,1] 0.999935170178282 Centerline is valid? [True, True] Translation: X:212.58, Y:157.91, Z:4.60 [[-3.56756560e-01 -9.34174223e-01 6.57862829e-03 2.12582065e+02] [ 9.34016048e-01 -3.56817210e-01 -1.71901556e-02 1.57914181e+02] [ 1.84059680e-02 1.18436106e-05 9.99830596e-01 4.59616016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.220385723 meters Centerline goodness [0,1] 0.9999350508768131 Centerline is valid? [True, True] Translation: X:212.57, Y:157.94, Z:4.60 [[-3.56551979e-01 -9.34252467e-01 6.55846952e-03 2.12574081e+02] [ 9.34095565e-01 -3.56612292e-01 -1.71215654e-02 1.57941185e+02] [ 1.83346956e-02 2.15092549e-05 9.99831905e-01 4.59794314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.57, Y:157.97, Z:4.60 [[-3.56198176e-01 -9.34387942e-01 6.48331892e-03 2.12565416e+02] [ 9.34234892e-01 -3.56257173e-01 -1.69113655e-02 1.57967284e+02] [ 1.81115048e-02 3.31452114e-05 9.99835973e-01 4.59889145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.280385723 meters Centerline goodness [0,1] 0.9999133317444153 Centerline is valid? [True, True] Translation: X:212.56, Y:157.99, Z:4.60 [[-3.56147607e-01 -9.34406078e-01 6.64555569e-03 2.12555363e+02] [ 9.34245561e-01 -3.56209601e-01 -1.73191302e-02 1.57992221e+02] [ 1.85503113e-02 4.04141318e-05 9.99827927e-01 4.59906243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.310385723 meters Centerline goodness [0,1] 0.9997185355186524 Centerline is valid? [True, True] Translation: X:212.54, Y:158.02, Z:4.60 [[-3.56674394e-01 -9.34202178e-01 7.04745670e-03 2.12544256e+02] [ 9.34021948e-01 -3.56744010e-01 -1.83497189e-02 1.58017278e+02] [ 1.96564853e-02 3.76043760e-05 9.99806792e-01 4.59717086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.340385723 meters Centerline goodness [0,1] 0.9999783699602007 Centerline is valid? [True, True] Translation: X:212.53, Y:158.04, Z:4.60 [[-3.56654870e-01 -9.34212656e-01 6.63453604e-03 2.12534587e+02] [ 9.34053203e-01 -3.56716570e-01 -1.72598808e-02 1.58043697e+02] [ 1.84910481e-02 4.11890880e-05 9.99829025e-01 4.59786287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.370385723 meters Centerline goodness [0,1] 0.9998476107543268 Centerline is valid? [True, True] Translation: X:212.53, Y:158.07, Z:4.60 [[-3.57077983e-01 -9.34050939e-01 6.64502045e-03 2.12528417e+02] [ 9.33891218e-01 -3.57139806e-01 -1.72728593e-02 1.58071809e+02] [ 1.85069318e-02 3.79684795e-05 9.99828731e-01 4.59927789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.400385723 meters Centerline goodness [0,1] 0.9999782849449523 Centerline is valid? [True, True] Translation: X:212.52, Y:158.10, Z:4.60 [[-3.57639686e-01 -9.33838087e-01 6.34684842e-03 2.12520178e+02] [ 9.33692575e-01 -3.57695997e-01 -1.64847994e-02 1.58099138e+02] [ 1.76643758e-02 3.03867737e-05 9.99843972e-01 4.60095069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.430385723 meters Centerline goodness [0,1] 0.9997611499544014 Centerline is valid? [True, True] Translation: X:212.51, Y:158.12, Z:4.60 [[-3.58681938e-01 -9.33438430e-01 6.32182524e-03 2.12511779e+02] [ 9.33294227e-01 -3.58737645e-01 -1.64069456e-02 1.58124835e+02] [ 1.75827502e-02 1.52479650e-05 9.99845411e-01 4.60049739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.460385723 meters Centerline goodness [0,1] 0.999544112539076 Centerline is valid? [True, True] Translation: X:212.50, Y:158.15, Z:4.60 [[-3.58735040e-01 -9.33420098e-01 6.00774208e-03 2.12502196e+02] [ 9.33290021e-01 -3.58785342e-01 -1.55825159e-02 1.58150075e+02] [ 1.67005233e-02 1.69712786e-05 9.99860536e-01 4.60055451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.490385723 meters Centerline goodness [0,1] 0.999432289619634 Centerline is valid? [True, True] Translation: X:212.49, Y:158.18, Z:4.60 [[-3.58884471e-01 -9.33358856e-01 6.57137586e-03 2.12493329e+02] [ 9.33203513e-01 -3.58944629e-01 -1.70281296e-02 1.58176243e+02] [ 1.82521156e-02 2.12997359e-05 9.99833416e-01 4.60003755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.520385723 meters Centerline goodness [0,1] 0.9996726749007114 Centerline is valid? [True, True] Translation: X:212.49, Y:158.20, Z:4.60 [[-3.59036716e-01 -9.33291717e-01 7.69462845e-03 2.12488198e+02] [ 9.33079107e-01 -3.59119159e-01 -1.99200762e-02 1.58202949e+02] [ 2.13545306e-02 2.76583154e-05 9.99771966e-01 4.59958994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.550385723 meters Centerline goodness [0,1] 0.9996064197314908 Centerline is valid? [True, True] Translation: X:212.48, Y:158.23, Z:4.60 [[-3.59261919e-01 -9.33203250e-01 7.90997639e-03 2.12480849e+02] [ 9.32978941e-01 -3.59348985e-01 -2.04597626e-02 1.58230517e+02] [ 2.19355590e-02 2.94278157e-05 9.99759386e-01 4.60139869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.580385723 meters Centerline goodness [0,1] 0.9996933321650749 Centerline is valid? [True, True] Translation: X:212.47, Y:158.26, Z:4.60 [[-3.59665501e-01 -9.33048523e-01 7.82186251e-03 2.12472819e+02] [ 9.32829503e-01 -3.59750543e-01 -2.02154548e-02 1.58257233e+02] [ 2.16759195e-02 2.56624583e-05 9.99765049e-01 4.60269231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.610385723 meters Centerline goodness [0,1] 0.9999341180604358 Centerline is valid? [True, True] Translation: X:212.46, Y:158.28, Z:4.60 [[-3.60145823e-01 -9.32863897e-01 7.74180642e-03 2.12463449e+02] [ 9.32649643e-01 -3.60229023e-01 -1.99923677e-02 1.58283363e+02] [ 2.14389814e-02 2.02252773e-05 9.99770158e-01 4.60294512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.640385723 meters Centerline goodness [0,1] 0.9997372627153899 Centerline is valid? [True, True] Translation: X:212.45, Y:158.31, Z:4.60 [[-3.61054073e-01 -9.32513045e-01 7.70566603e-03 2.12454538e+02] [ 9.32301050e-01 -3.61136291e-01 -1.98829234e-02 1.58309675e+02] [ 2.13238811e-02 5.19007132e-06 9.99772620e-01 4.60163466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.670385723 meters Centerline goodness [0,1] 0.999912319158264 Centerline is valid? [True, True] Translation: X:212.45, Y:158.34, Z:4.60 [[-3.61900986e-01 -9.32183620e-01 7.83425235e-03 2.12446978e+02] [ 9.31964785e-01 -3.61985772e-01 -2.01975578e-02 1.58336107e+02] [ 2.16637204e-02 -8.26877938e-06 9.99765314e-01 4.60191925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.44, Y:158.36, Z:4.60 [[-3.62683304e-01 -9.31878826e-01 7.91666995e-03 2.12440755e+02] [ 9.31655697e-01 -3.62769696e-01 -2.03914386e-02 1.58362970e+02] [ 2.18742778e-02 -2.00236600e-05 9.99760729e-01 4.60288970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.730385723 meters Centerline goodness [0,1] 0.9999559422843926 Centerline is valid? [True, True] Translation: X:212.44, Y:158.39, Z:4.61 [[-3.64215483e-01 -9.31281755e-01 7.83422890e-03 2.12437755e+02] [ 9.31063489e-01 -3.64299726e-01 -2.01615552e-02 1.58391371e+02] [ 2.16300960e-02 -4.89860630e-05 9.99766041e-01 4.60526015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.760385723 meters Centerline goodness [0,1] 0.999890278692122 Centerline is valid? [True, True] Translation: X:212.43, Y:158.42, Z:4.61 [[-3.64941852e-01 -9.30999804e-01 7.53720842e-03 2.12429292e+02] [ 9.30798040e-01 -3.65019673e-01 -1.93816437e-02 1.58417892e+02] [ 2.07955358e-02 -5.75541333e-05 9.99783748e-01 4.60562762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.790385723 meters Centerline goodness [0,1] 0.9998460658838018 Centerline is valid? [True, True] Translation: X:212.42, Y:158.44, Z:4.61 [[-3.65964854e-01 -9.30599839e-01 7.32565577e-03 2.12420315e+02] [ 9.30409474e-01 -3.66038159e-01 -1.88222481e-02 1.58443257e+02] [ 2.01974506e-02 -7.24217359e-05 9.99796008e-01 4.60538474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.820385723 meters Centerline goodness [0,1] 0.9999780567014833 Centerline is valid? [True, True] Translation: X:212.41, Y:158.47, Z:4.61 [[-3.66044010e-01 -9.30570466e-01 7.09864940e-03 2.12412401e+02] [ 9.30392009e-01 -3.66112829e-01 -1.82237759e-02 1.58470408e+02] [ 1.95574142e-02 -6.61773204e-05 9.99808733e-01 4.60574418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.850385723 meters Centerline goodness [0,1] 0.9997575971264241 Centerline is valid? [True, True] Translation: X:212.40, Y:158.50, Z:4.61 [[-3.65893222e-01 -9.30628655e-01 7.24271012e-03 2.12403707e+02] [ 9.30443199e-01 -3.65964894e-01 -1.85782080e-02 1.58497591e+02] [ 1.99399903e-02 -5.87100060e-05 9.99801177e-01 4.60623831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.880385723 meters Centerline goodness [0,1] 0.9998015085351329 Centerline is valid? [True, True] Translation: X:212.40, Y:158.52, Z:4.61 [[-3.65400344e-01 -9.30819380e-01 7.60725027e-03 2.12398374e+02] [ 9.30615182e-01 -3.65479520e-01 -1.94962370e-02 1.58524994e+02] [ 2.09277695e-02 -4.45091295e-05 9.99780989e-01 4.60611972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.910385723 meters Centerline goodness [0,1] 0.9998015085351329 Centerline is valid? [True, True] Translation: X:212.39, Y:158.55, Z:4.61 [[-3.65659832e-01 -9.30717428e-01 7.61294184e-03 2.12388283e+02] [ 9.30513254e-01 -3.65739070e-01 -1.94940146e-02 1.58550674e+02] [ 2.09277694e-02 -4.42348048e-05 9.99780989e-01 4.60653677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.940385723 meters Centerline goodness [0,1] 0.9998237303073703 Centerline is valid? [True, True] Translation: X:212.38, Y:158.58, Z:4.61 [[-3.65336024e-01 -9.30842637e-01 7.84699198e-03 2.12380221e+02] [ 9.30626078e-01 -3.65420285e-01 -2.00777803e-02 1.58576639e+02] [ 2.15567040e-02 -3.25210552e-05 9.99767627e-01 4.60513887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.970385723 meters Centerline goodness [0,1] 0.9998895369388476 Centerline is valid? [True, True] Translation: X:212.37, Y:158.60, Z:4.61 [[-3.65146377e-01 -9.30914361e-01 8.15941207e-03 2.12371099e+02] [ 9.30680550e-01 -3.65237529e-01 -2.08629349e-02 1.58602825e+02] [ 2.24017292e-02 -2.42189790e-05 9.99749049e-01 4.60512994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.000385723 meters Centerline goodness [0,1] 0.9998891008295258 Centerline is valid? [True, True] Translation: X:212.36, Y:158.63, Z:4.60 [[-3.64680636e-01 -9.31093095e-01 8.58380211e-03 2.12362480e+02] [ 9.30834830e-01 -3.64781644e-01 -2.19287581e-02 1.58627768e+02] [ 2.35489287e-02 -6.89146301e-06 9.99722686e-01 4.60411041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.030385723 meters Centerline goodness [0,1] 0.9998227225386133 Centerline is valid? [True, True] Translation: X:212.36, Y:158.65, Z:4.60 [[-3.63242675e-01 -9.31649695e-01 9.14358220e-03 2.12355232e+02] [ 9.31357390e-01 -3.63357737e-01 -2.33359657e-02 1.58653112e+02] [ 2.50633367e-02 3.93242391e-05 9.99685864e-01 4.60242788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.060385723 meters Centerline goodness [0,1] 0.9999332487817902 Centerline is valid? [True, True] Translation: X:212.35, Y:158.68, Z:4.60 [[-3.62646321e-01 -9.31881131e-01 9.23061886e-03 2.12346739e+02] [ 9.31583853e-01 -3.62763772e-01 -2.35365572e-02 1.58678576e+02] [ 2.52818076e-02 6.36496104e-05 9.99680362e-01 4.60275856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.34, Y:158.70, Z:4.60 [[-3.61940570e-01 -9.32154842e-01 9.29374849e-03 2.12338674e+02] [ 9.31854109e-01 -3.62059859e-01 -2.36765243e-02 1.58704174e+02] [ 2.54350801e-02 9.09229970e-05 9.99676472e-01 4.60448981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.120385723 meters Centerline goodness [0,1] 0.999888967845088 Centerline is valid? [True, True] Translation: X:212.33, Y:158.73, Z:4.61 [[-3.61113285e-01 -9.32475966e-01 9.26107532e-03 2.12329719e+02] [ 9.32177986e-01 -3.61232000e-01 -2.35721283e-02 1.58730138e+02] [ 2.53258399e-02 1.20761841e-04 9.99679242e-01 4.60511535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.150385723 meters Centerline goodness [0,1] 0.9998220680145015 Centerline is valid? [True, True] Translation: X:212.32, Y:158.75, Z:4.61 [[-3.59964073e-01 -9.32924987e-01 8.76557470e-03 2.12321017e+02] [ 9.32658648e-01 -3.60070752e-01 -2.22912795e-02 1.58754862e+02] [ 2.39523187e-02 1.51229293e-04 9.99713091e-01 4.60579360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.180385723 meters Centerline goodness [0,1] 0.9999332873757477 Centerline is valid? [True, True] Translation: X:212.31, Y:158.78, Z:4.61 [[-3.59407082e-01 -9.33141405e-01 8.58299845e-03 2.12311165e+02] [ 9.32886572e-01 -3.59509513e-01 -2.18072089e-02 1.58779939e+02] [ 2.34348791e-02 1.69298700e-04 9.99725351e-01 4.60655112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.210385723 meters Centerline goodness [0,1] 0.9998214604534904 Centerline is valid? [True, True] Translation: X:212.30, Y:158.81, Z:4.61 [[-3.58240128e-01 -9.33591667e-01 8.40293073e-03 2.12301502e+02] [ 9.33347965e-01 -3.58338608e-01 -2.13311659e-02 1.58805147e+02] [ 2.29256933e-02 2.01178692e-04 9.99737152e-01 4.60694654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.240385723 meters Centerline goodness [0,1] 0.999775824964132 Centerline is valid? [True, True] Translation: X:212.29, Y:158.83, Z:4.61 [[-3.57868159e-01 -9.33736111e-01 8.20100359e-03 2.12291687e+02] [ 9.33504427e-01 -3.57962052e-01 -2.08003261e-02 1.58829616e+02] [ 2.23576637e-02 2.11898755e-04 9.99750014e-01 4.60752303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.270385723 meters Centerline goodness [0,1] 0.9998888617217542 Centerline is valid? [True, True] Translation: X:212.28, Y:158.86, Z:4.61 [[-3.57716318e-01 -9.33794725e-01 8.15154117e-03 2.12281916e+02] [ 9.33566258e-01 -3.57809116e-01 -2.06562246e-02 1.58855293e+02] [ 2.22053693e-02 2.20935155e-04 9.99753406e-01 4.60896354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.300385723 meters Centerline goodness [0,1] 0.9997765363128491 Centerline is valid? [True, True] Translation: X:212.27, Y:158.88, Z:4.61 [[-3.57174045e-01 -9.34003522e-01 8.00762766e-03 2.12270610e+02] [ 9.33783494e-01 -3.57263719e-01 -2.02736908e-02 1.58878993e+02] [ 2.17965334e-02 2.36154383e-04 9.99762399e-01 4.60924717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.330385723 meters Centerline goodness [0,1] 0.9997993803080627 Centerline is valid? [True, True] Translation: X:212.26, Y:158.90, Z:4.61 [[-3.57459846e-01 -9.33893826e-01 8.04865331e-03 2.12260902e+02] [ 9.33671919e-01 -3.57550368e-01 -2.03588246e-02 1.58904498e+02] [ 2.18907796e-02 2.37339272e-04 9.99760340e-01 4.61029510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.360385723 meters Centerline goodness [0,1] 0.9998887331152503 Centerline is valid? [True, True] Translation: X:212.25, Y:158.93, Z:4.61 [[-3.58126183e-01 -9.33639830e-01 7.89331599e-03 2.12250277e+02] [ 9.33426735e-01 -3.58213089e-01 -1.99477608e-02 1.58928049e+02] [ 2.14515131e-02 2.24016733e-04 9.99769865e-01 4.61053586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.390385723 meters Centerline goodness [0,1] 0.9995541784623615 Centerline is valid? [True, True] Translation: X:212.24, Y:158.95, Z:4.61 [[-3.59844569e-01 -9.32978708e-01 7.91310841e-03 2.12238446e+02] [ 9.32764790e-01 -3.59931514e-01 -1.99787896e-02 1.58951317e+02] [ 2.14879624e-02 1.91809964e-04 9.99769089e-01 4.60982806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.420385723 meters Centerline goodness [0,1] 0.9996880431391774 Centerline is valid? [True, True] Translation: X:212.23, Y:158.98, Z:4.61 [[-3.61514416e-01 -9.32334851e-01 7.68457488e-03 2.12229227e+02] [ 9.32133329e-01 -3.61596048e-01 -1.93844010e-02 1.58976967e+02] [ 2.08514646e-02 1.55307939e-04 9.99782573e-01 4.61043803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.450385723 meters Centerline goodness [0,1] 0.9998880605368616 Centerline is valid? [True, True] Translation: X:212.22, Y:159.00, Z:4.61 [[-3.63470837e-01 -9.31574755e-01 7.57799990e-03 2.12220045e+02] [ 9.31378956e-01 -3.63549807e-01 -1.90991637e-02 1.59002886e+02] [ 2.05472792e-02 1.16000620e-04 9.99788876e-01 4.61090296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.480385723 meters Centerline goodness [0,1] 0.9996654399464704 Centerline is valid? [True, True] Translation: X:212.21, Y:159.03, Z:4.61 [[-3.65790898e-01 -9.30667010e-01 7.47905785e-03 2.12211873e+02] [ 9.30476421e-01 -3.65867342e-01 -1.88339323e-02 1.59029704e+02] [ 2.02644625e-02 6.98059897e-05 9.99794652e-01 4.61181902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.510385723 meters Centerline goodness [0,1] 0.999708605115101 Centerline is valid? [True, True] Translation: X:212.21, Y:159.06, Z:4.61 [[-3.70682930e-01 -9.28728933e-01 7.53227837e-03 2.12205014e+02] [ 9.28535530e-01 -3.70759448e-01 -1.89526184e-02 1.59057543e+02] [ 2.03945084e-02 -3.14240084e-05 9.99792010e-01 4.61181790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.540385723 meters Centerline goodness [0,1] 0.9999104544436982 Centerline is valid? [True, True] Translation: X:212.20, Y:159.08, Z:4.61 [[-3.73171467e-01 -9.27731136e-01 7.61552026e-03 2.12196266e+02] [ 9.27533543e-01 -3.73249157e-01 -1.91466394e-02 1.59083986e+02] [ 2.06054200e-02 -8.13290337e-05 9.99787682e-01 4.61194611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.570385723 meters Centerline goodness [0,1] 0.9999776035834267 Centerline is valid? [True, True] Translation: X:212.19, Y:159.11, Z:4.61 [[-3.75297983e-01 -9.26870997e-01 7.84727162e-03 2.12187635e+02] [ 9.26661362e-01 -3.75379994e-01 -1.97124350e-02 1.59108614e+02] [ 2.12165930e-02 -1.26273679e-04 9.99774895e-01 4.61181458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.18, Y:159.13, Z:4.61 [[-3.78498067e-01 -9.25566985e-01 8.06031573e-03 2.12177775e+02] [ 9.25345896e-01 -3.78583830e-01 -2.02300857e-02 1.59133318e+02] [ 2.17758046e-02 -1.98468247e-04 9.99762859e-01 4.61022455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.630385723 meters Centerline goodness [0,1] 0.9999776481369722 Centerline is valid? [True, True] Translation: X:212.17, Y:159.16, Z:4.61 [[-3.79820121e-01 -9.25026228e-01 7.94687218e-03 2.12167281e+02] [ 9.24811502e-01 -3.79903183e-01 -1.99313231e-02 1.59158068e+02] [ 2.14560386e-02 -2.20958738e-04 9.99769768e-01 4.61030110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.16, Y:159.18, Z:4.61 [[-3.82182014e-01 -9.24057881e-01 7.34446625e-03 2.12158401e+02] [ 9.23874587e-01 -3.82252497e-01 -1.84058849e-02 1.59182867e+02] [ 1.98155435e-02 -2.49032437e-04 9.99803622e-01 4.61156719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.15, Y:159.21, Z:4.61 [[-3.83203751e-01 -9.23637724e-01 6.94554431e-03 2.12147988e+02] [ 9.23473959e-01 -3.83266607e-01 -1.73941263e-02 1.59207570e+02] [ 1.87278664e-02 -2.51465142e-04 9.99824587e-01 4.61293803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.14, Y:159.23, Z:4.61 [[-3.83900516e-01 -9.23349420e-01 6.80014687e-03 2.12137229e+02] [ 9.23192661e-01 -3.83960654e-01 -1.70155003e-02 1.59232895e+02] [ 1.83222412e-02 -2.54413670e-04 9.99832101e-01 4.61393505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.13, Y:159.26, Z:4.61 [[-3.84728955e-01 -9.23005505e-01 6.66853326e-03 2.12125330e+02] [ 9.22854955e-01 -3.84786656e-01 -1.66721584e-02 1.59258448e+02] [ 1.79544566e-02 -2.60173098e-04 9.99838772e-01 4.61468088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.11, Y:159.28, Z:4.62 [[-3.84580505e-01 -9.23067686e-01 6.62444257e-03 2.12113460e+02] [ 9.22919361e-01 -3.84637472e-01 -1.65489455e-02 1.59283674e+02] [ 1.78238056e-02 -2.50575487e-04 9.99841112e-01 4.61506661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.810385723 meters Centerline goodness [0,1] 0.9999777812340302 Centerline is valid? [True, True] Translation: X:212.10, Y:159.31, Z:4.61 [[-3.84673056e-01 -9.23028722e-01 6.67972384e-03 2.12102659e+02] [ 9.22878138e-01 -3.84730966e-01 -1.66741214e-02 1.59308172e+02] [ 1.79605896e-02 -2.49514138e-04 9.99838664e-01 4.61486428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.840385723 meters Centerline goodness [0,1] 0.999977707432342 Centerline is valid? [True, True] Translation: X:212.09, Y:159.33, Z:4.61 [[-3.84672282e-01 -9.23029846e-01 6.56809472e-03 2.12090025e+02] [ 9.22884495e-01 -3.84728276e-01 -1.63817848e-02 1.59332900e+02] [ 1.76478080e-02 -2.40025739e-04 9.99844237e-01 4.61490800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.08, Y:159.36, Z:4.62 [[-3.84854377e-01 -9.22956353e-01 6.21931525e-03 2.12078555e+02] [ 9.22826219e-01 -3.84904560e-01 -1.55000042e-02 1.59357585e+02] [ 1.66996701e-02 -2.25897264e-04 9.99860525e-01 4.61595980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.07, Y:159.38, Z:4.62 [[-3.85267680e-01 -9.22785653e-01 5.95430595e-03 2.12067427e+02] [ 9.22666544e-01 -3.85313627e-01 -1.48275606e-02 1.59382003e+02] [ 1.59769354e-02 -2.18740984e-04 9.99872337e-01 4.61677543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.930385723 meters Centerline goodness [0,1] 0.9999555555555556 Centerline is valid? [True, True] Translation: X:212.06, Y:159.41, Z:4.62 [[-3.85713229e-01 -9.22599393e-01 5.97195413e-03 2.12056332e+02] [ 9.22479767e-01 -3.85759394e-01 -1.48583166e-02 1.59407059e+02] [ 1.60120113e-02 -2.22042441e-04 9.99871775e-01 4.61666634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.960385723 meters Centerline goodness [0,1] 0.9999555812197397 Centerline is valid? [True, True] Translation: X:212.04, Y:159.43, Z:4.62 [[-3.86217278e-01 -9.22389400e-01 5.83175993e-03 2.12044779e+02] [ 9.22275495e-01 -3.86261242e-01 -1.44970644e-02 1.59432198e+02] [ 1.56245214e-02 -2.20527486e-04 9.99877905e-01 4.61668764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.04, Y:159.46, Z:4.62 [[-3.86689626e-01 -9.22192541e-01 5.66129118e-03 2.12035638e+02] [ 9.22085360e-01 -3.86731005e-01 -1.40612698e-02 1.59456409e+02] [ 1.51565949e-02 -2.17153428e-04 9.99885109e-01 4.61732328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.020385723 meters Centerline goodness [0,1] 0.9999334708269576 Centerline is valid? [True, True] Translation: X:212.02, Y:159.48, Z:4.62 [[-3.86969376e-01 -9.22075625e-01 5.58952182e-03 2.12024734e+02] [ 9.21971322e-01 -3.87009684e-01 -1.38703697e-02 1.59481803e+02] [ 1.49527288e-02 -2.14029472e-04 9.99888179e-01 4.61815274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.050385723 meters Centerline goodness [0,1] 0.9998891278799034 Centerline is valid? [True, True] Translation: X:212.01, Y:159.51, Z:4.62 [[-3.86461336e-01 -9.22289540e-01 5.44424378e-03 2.12013380e+02] [ 9.22190775e-01 -3.86499632e-01 -1.34984691e-02 1.59505593e+02] [ 1.45536951e-02 -1.96005015e-04 9.99894070e-01 4.61849974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.080385723 meters Centerline goodness [0,1] 0.9999779015292142 Centerline is valid? [True, True] Translation: X:212.00, Y:159.53, Z:4.62 [[-3.86030779e-01 -9.22469141e-01 5.56080308e-03 2.12001644e+02] [ 9.22366310e-01 -3.86070783e-01 -1.37746454e-02 1.59530734e+02] [ 1.48535489e-02 -1.88339664e-04 9.99889662e-01 4.61890416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.110385723 meters Centerline goodness [0,1] 0.999867136119046 Centerline is valid? [True, True] Translation: X:211.99, Y:159.56, Z:4.62 [[-3.85338893e-01 -9.22759372e-01 5.39242787e-03 2.11990024e+02] [ 9.22662862e-01 -3.85376586e-01 -1.33465243e-02 1.59555188e+02] [ 1.43937459e-02 -1.67541979e-04 9.99896391e-01 4.61924824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.140385723 meters Centerline goodness [0,1] 0.9999556835807667 Centerline is valid? [True, True] Translation: X:211.98, Y:159.58, Z:4.62 [[-3.84735335e-01 -9.23012984e-01 5.07484156e-03 2.11978235e+02] [ 9.22927664e-01 -3.84768776e-01 -1.25505415e-02 1.59579463e+02] [ 1.35369533e-02 -1.44925125e-04 9.99908361e-01 4.61970472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.170385723 meters Centerline goodness [0,1] 0.999933598937583 Centerline is valid? [True, True] Translation: X:211.97, Y:159.60, Z:4.62 [[-3.83874152e-01 -9.23372459e-01 4.89269997e-03 2.11965161e+02] [ 9.23293310e-01 -3.83905311e-01 -1.20903485e-02 1.59603156e+02] [ 1.30422283e-02 -1.23775132e-04 9.99914939e-01 4.62051472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.200385723 meters Centerline goodness [0,1] 0.9999778132765353 Centerline is valid? [True, True] Translation: X:211.95, Y:159.63, Z:4.62 [[-3.84367917e-01 -9.23167604e-01 4.78333070e-03 2.11953634e+02] [ 9.23092063e-01 -3.84397659e-01 -1.18102714e-02 1.59627981e+02] [ 1.27415610e-02 -1.24034805e-04 9.99918815e-01 4.62090007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.230385723 meters Centerline goodness [0,1] 0.999933569530558 Centerline is valid? [True, True] Translation: X:211.94, Y:159.65, Z:4.62 [[-3.84852675e-01 -9.22966461e-01 4.61857335e-03 2.11943364e+02] [ 9.22896136e-01 -3.84880368e-01 -1.13940343e-02 1.59652360e+02] [ 1.22939097e-02 -1.22561061e-04 9.99924420e-01 4.62123237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.93, Y:159.68, Z:4.62 [[-3.85729289e-01 -9.22598559e-01 4.98133144e-03 2.11933437e+02] [ 9.22516886e-01 -3.85761427e-01 -1.22766731e-02 1.59676843e+02] [ 1.32480465e-02 -1.40110039e-04 9.99912231e-01 4.62131620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.290385723 meters Centerline goodness [0,1] 0.9998449612403101 Centerline is valid? [True, True] Translation: X:211.92, Y:159.70, Z:4.62 [[-3.86491080e-01 -9.22278706e-01 5.16073875e-03 2.11922009e+02] [ 9.22191180e-01 -3.86525504e-01 -1.27068248e-02 1.59701326e+02] [ 1.37139910e-02 -1.51886665e-04 9.99905947e-01 4.62123192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.320385723 meters Centerline goodness [0,1] 0.9997123193697581 Centerline is valid? [True, True] Translation: X:211.91, Y:159.73, Z:4.62 [[-3.87336863e-01 -9.21923979e-01 5.13154270e-03 2.11910997e+02] [ 9.21837557e-01 -3.87370821e-01 -1.26240178e-02 1.59725583e+02] [ 1.36261947e-02 -1.59298681e-04 9.99907146e-01 4.62094775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.350385723 meters Centerline goodness [0,1] 0.999758060968636 Centerline is valid? [True, True] Translation: X:211.90, Y:159.75, Z:4.62 [[-3.87972570e-01 -9.21656050e-01 5.23545258e-03 2.11899220e+02] [ 9.21566237e-01 -3.88007857e-01 -1.28675398e-02 1.59749834e+02] [ 1.38908426e-02 -1.67436161e-04 9.99903504e-01 4.62078428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.380385723 meters Centerline goodness [0,1] 0.9998238661382651 Centerline is valid? [True, True] Translation: X:211.89, Y:159.77, Z:4.62 [[-3.88579710e-01 -9.21399530e-01 5.35867199e-03 2.11888449e+02] [ 9.21305580e-01 -3.88616618e-01 -1.31587366e-02 1.59774152e+02] [ 1.42069227e-02 -1.76243650e-04 9.99899061e-01 4.62039163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.410385723 meters Centerline goodness [0,1] 0.9996910378919956 Centerline is valid? [True, True] Translation: X:211.88, Y:159.80, Z:4.62 [[-3.89143475e-01 -9.21158304e-01 5.89357242e-03 2.11876688e+02] [ 9.21044858e-01 -3.89188052e-01 -1.44578713e-02 1.59799062e+02] [ 1.56116962e-02 -1.97941709e-04 9.99878110e-01 4.61927919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.440385723 meters Centerline goodness [0,1] 0.9999337587493652 Centerline is valid? [True, True] Translation: X:211.87, Y:159.82, Z:4.62 [[-3.89362661e-01 -9.21064326e-01 6.10130242e-03 2.11866425e+02] [ 9.20942940e-01 -3.89410408e-01 -1.49544499e-02 1.59824284e+02] [ 1.61499210e-02 -2.03753029e-04 9.99869561e-01 4.61997461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.470385723 meters Centerline goodness [0,1] 0.9997794004103152 Centerline is valid? [True, True] Translation: X:211.86, Y:159.85, Z:4.62 [[-3.89515867e-01 -9.20999868e-01 6.05243452e-03 2.11855723e+02] [ 9.20880609e-01 -3.89562835e-01 -1.48223241e-02 1.59849216e+02] [ 1.60091621e-02 -1.99960824e-04 9.99871825e-01 4.62073199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.500385723 meters Centerline goodness [0,1] 0.9998237613728989 Centerline is valid? [True, True] Translation: X:211.84, Y:159.88, Z:4.62 [[-3.89442172e-01 -9.21030386e-01 6.15003095e-03 2.11844553e+02] [ 9.20907464e-01 -3.89490679e-01 -1.50483446e-02 1.59875045e+02] [ 1.62553623e-02 -1.96850577e-04 9.99867854e-01 4.62184890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.530385723 meters Centerline goodness [0,1] 0.9998460286386732 Centerline is valid? [True, True] Translation: X:211.83, Y:159.90, Z:4.62 [[-3.88699045e-01 -9.21342964e-01 6.33995907e-03 2.11833481e+02] [ 9.21212585e-01 -3.88750703e-01 -1.55004783e-02 1.59898571e+02] [ 1.67459201e-02 -1.84571026e-04 9.99859760e-01 4.62250501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.560385723 meters Centerline goodness [0,1] 0.9999780036074084 Centerline is valid? [True, True] Translation: X:211.82, Y:159.92, Z:4.62 [[-3.88441958e-01 -9.21450225e-01 6.50597099e-03 2.11820697e+02] [ 9.21313195e-01 -3.88496397e-01 -1.58917027e-02 1.59924079e+02] [ 1.71709594e-02 -1.78967211e-04 9.99852552e-01 4.62289328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.590385723 meters Centerline goodness [0,1] 0.999978039835738 Centerline is valid? [True, True] Translation: X:211.81, Y:159.95, Z:4.62 [[-3.87547691e-01 -9.21824182e-01 6.85310109e-03 2.11808995e+02] [ 9.21672447e-01 -3.87608244e-01 -1.67257442e-02 1.59948391e+02] [ 1.80745140e-02 -1.65709108e-04 9.99836629e-01 4.62284806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.620385723 meters Centerline goodness [0,1] 0.9998905213373913 Centerline is valid? [True, True] Translation: X:211.80, Y:159.97, Z:4.62 [[-3.87490768e-01 -9.21848187e-01 6.84291204e-03 2.11798702e+02] [ 9.21697158e-01 -3.87551152e-01 -1.66869402e-02 1.59972995e+02] [ 1.80348040e-02 -1.58942683e-04 9.99837347e-01 4.62113016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.650385723 meters Centerline goodness [0,1] 0.9999781133727292 Centerline is valid? [True, True] Translation: X:211.79, Y:160.00, Z:4.62 [[-3.87372437e-01 -9.21894966e-01 7.22950525e-03 2.11787232e+02] [ 9.21726711e-01 -3.87439861e-01 -1.76132192e-02 1.59998062e+02] [ 1.90385366e-02 -1.59247544e-04 9.99818738e-01 4.62314568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.78, Y:160.02, Z:4.62 [[-3.87359452e-01 -9.21899190e-01 7.38506624e-03 2.11775731e+02] [ 9.21723913e-01 -3.87429813e-01 -1.79769055e-02 1.60023311e+02] [ 1.94340894e-02 -1.56532097e-04 9.99811128e-01 4.62375901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.710385723 meters Centerline goodness [0,1] 0.9999561826307949 Centerline is valid? [True, True] Translation: X:211.77, Y:160.05, Z:4.62 [[-3.87406875e-01 -9.21877849e-01 7.55938906e-03 2.11765025e+02] [ 9.21694483e-01 -3.87480589e-01 -1.83867497e-02 1.60048733e+02] [ 1.98794538e-02 -1.55706055e-04 9.99802372e-01 4.62423290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.75, Y:160.07, Z:4.63 [[-3.87485653e-01 -9.21844428e-01 7.59737472e-03 2.11754612e+02] [ 9.21659507e-01 -3.87560096e-01 -1.84641450e-02 1.60073091e+02] [ 1.99655084e-02 -1.52398615e-04 9.99800658e-01 4.62508647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.770385723 meters Centerline goodness [0,1] 0.9999781339514137 Centerline is valid? [True, True] Translation: X:211.74, Y:160.10, Z:4.63 [[-3.87415561e-01 -9.21875430e-01 7.40771247e-03 2.11744291e+02] [ 9.21699943e-01 -3.87486350e-01 -1.79873059e-02 1.60098142e+02] [ 1.94524428e-02 -1.40874053e-04 9.99810773e-01 4.62681370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.800385723 meters Centerline goodness [0,1] 0.9999781339514137 Centerline is valid? [True, True] Translation: X:211.73, Y:160.12, Z:4.63 [[-3.87693102e-01 -9.21758702e-01 7.41312852e-03 2.11733999e+02] [ 9.21583236e-01 -3.87763944e-01 -1.79850737e-02 1.60122845e+02] [ 1.94524421e-02 -1.40874048e-04 9.99810773e-01 4.62721819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.72, Y:160.15, Z:4.63 [[-3.87811950e-01 -9.21711024e-01 7.11894432e-03 2.11723539e+02] [ 9.21549469e-01 -3.87877262e-01 -1.72570506e-02 1.60147945e+02] [ 1.86672904e-02 -1.32031077e-04 9.99825742e-01 4.62861840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.860385723 meters Centerline goodness [0,1] 0.9999781940295253 Centerline is valid? [True, True] Translation: X:211.71, Y:160.17, Z:4.63 [[-3.87851543e-01 -9.21694419e-01 7.11185287e-03 2.11712339e+02] [ 9.21533455e-01 -3.87916720e-01 -1.72252412e-02 1.60173670e+02] [ 1.86352153e-02 -1.27026028e-04 9.99826341e-01 4.63005854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.70, Y:160.20, Z:4.63 [[-3.87614168e-01 -9.21795593e-01 6.93843242e-03 2.11701130e+02] [ 9.21642625e-01 -3.87676246e-01 -1.67928657e-02 1.60198374e+02] [ 1.81694550e-02 -1.14397575e-04 9.99834915e-01 4.63033640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.69, Y:160.22, Z:4.63 [[-3.87795825e-01 -9.21718586e-01 7.01758044e-03 2.11688938e+02] [ 9.21562287e-01 -3.87859298e-01 -1.69740213e-02 1.60223919e+02] [ 1.83671047e-02 -1.15317099e-04 9.99831304e-01 4.63078199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.68, Y:160.25, Z:4.63 [[-3.87826423e-01 -9.21705476e-01 7.04845974e-03 2.11677837e+02] [ 9.21548038e-01 -3.87890452e-01 -1.70355541e-02 1.60249709e+02] [ 1.84357937e-02 -1.11343758e-04 9.99830040e-01 4.63073029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.67, Y:160.28, Z:4.63 [[-3.88040350e-01 -9.21613847e-01 7.25283228e-03 2.11667463e+02] [ 9.21447392e-01 -3.88108108e-01 -1.75156958e-02 1.60275421e+02] [ 1.89575908e-02 -1.13693314e-04 9.99820282e-01 4.63147273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.66, Y:160.30, Z:4.63 [[-3.89295614e-01 -9.21081367e-01 7.61835682e-03 2.11660468e+02] [ 9.20897912e-01 -3.89370126e-01 -1.83831578e-02 1.60300532e+02] [ 1.98987446e-02 -1.40753800e-04 9.99801990e-01 4.63151111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.65, Y:160.33, Z:4.63 [[-3.90527102e-01 -9.20558638e-01 7.77031140e-03 2.11649825e+02] [ 9.20368031e-01 -3.90604362e-01 -1.87328262e-02 1.60325872e+02] [ 2.02797825e-02 -1.64130095e-04 9.99794331e-01 4.63259673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.64, Y:160.35, Z:4.63 [[-3.93533882e-01 -9.19279187e-01 7.54053234e-03 2.11639686e+02] [ 9.19099731e-01 -3.93606058e-01 -1.81646916e-02 1.60350462e+02] [ 1.96664222e-02 -2.17920374e-04 9.99806573e-01 4.63325201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.100385723 meters Centerline goodness [0,1] 0.9999781516277038 Centerline is valid? [True, True] Translation: X:211.63, Y:160.38, Z:4.63 [[-3.95381324e-01 -9.18485882e-01 7.56926864e-03 2.11629435e+02] [ 9.18305141e-01 -3.95453690e-01 -1.82221442e-02 1.60376579e+02] [ 1.97300774e-02 -2.53797200e-04 9.99805311e-01 4.63349314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.62, Y:160.40, Z:4.63 [[-3.97172331e-01 -9.17712601e-01 7.59749868e-03 2.11619781e+02] [ 9.17530639e-01 -3.97244886e-01 -1.82764052e-02 1.60403242e+02] [ 1.97905549e-02 -2.87944658e-04 9.99804106e-01 4.63410862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.61, Y:160.43, Z:4.63 [[-3.99639200e-01 -9.16639789e-01 7.74643438e-03 2.11612476e+02] [ 9.16450708e-01 -3.99714123e-01 -1.86204136e-02 1.60429971e+02] [ 2.01645712e-02 -3.42221911e-04 9.99796616e-01 4.63473491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.60, Y:160.46, Z:4.64 [[-4.00808406e-01 -9.16128759e-01 7.79220282e-03 2.11601991e+02] [ 9.15937634e-01 -4.00883978e-01 -1.87159358e-02 1.60455861e+02] [ 2.02699763e-02 -3.64332575e-04 9.99794477e-01 4.63554176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.59, Y:160.48, Z:4.64 [[-4.01456451e-01 -9.15847234e-01 7.52078614e-03 2.11590320e+02] [ 9.15669400e-01 -4.01526729e-01 -1.80508984e-02 1.60480930e+02] [ 1.95516620e-02 -3.60095856e-04 9.99808783e-01 4.63607471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.58, Y:160.51, Z:4.64 [[-4.01591830e-01 -9.15789373e-01 7.33659296e-03 2.11578311e+02] [ 9.15620403e-01 -4.01658689e-01 -1.75947566e-02 1.60505421e+02] [ 1.90598974e-02 -3.48376300e-04 9.99818283e-01 4.63635407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.57, Y:160.53, Z:4.64 [[-4.01067771e-01 -9.16019679e-01 7.25192337e-03 2.11565822e+02] [ 9.15854886e-01 -4.01133195e-01 -1.73777934e-02 1.60529336e+02] [ 1.88273879e-02 -3.27963399e-04 9.99822695e-01 4.63708585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.55, Y:160.55, Z:4.64 [[-4.00706658e-01 -9.16179319e-01 7.04479630e-03 2.11554372e+02] [ 9.16024070e-01 -4.00768463e-01 -1.68683683e-02 1.60554590e+02] [ 1.82777824e-02 -3.06064491e-04 9.99832901e-01 4.63785902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.54, Y:160.58, Z:4.64 [[-3.99401490e-01 -9.16749200e-01 7.02529479e-03 2.11543010e+02] [ 9.16595132e-01 -3.99463177e-01 -1.68087585e-02 1.60578010e+02] [ 1.82157625e-02 -2.74092201e-04 9.99834042e-01 4.63917664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.53, Y:160.60, Z:4.64 [[-3.98307431e-01 -9.17226720e-01 6.80688216e-03 2.11531672e+02] [ 9.17082391e-01 -3.98365519e-01 -1.62727275e-02 1.60600591e+02] [ 1.76374076e-02 -2.39076529e-04 9.99844420e-01 4.63957054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.400385723 meters Centerline goodness [0,1] 0.9999347868617264 Centerline is valid? [True, True] Translation: X:211.52, Y:160.62, Z:4.64 [[-3.96744728e-01 -9.17902794e-01 6.93404439e-03 2.11518657e+02] [ 9.17753400e-01 -3.96805264e-01 -1.65614121e-02 1.60623603e+02] [ 1.79532317e-02 -2.06910109e-04 9.99838806e-01 4.63957243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.50, Y:160.65, Z:4.64 [[-3.92873697e-01 -9.19566829e-01 6.86341107e-03 2.11502317e+02] [ 9.19420960e-01 -3.92933623e-01 -1.63788248e-02 1.60645673e+02] [ 1.77582889e-02 -1.24445432e-04 9.99842301e-01 4.63850734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.460385723 meters Centerline goodness [0,1] 0.9999347698462743 Centerline is valid? [True, True] Translation: X:211.49, Y:160.67, Z:4.64 [[-3.90684205e-01 -9.20497972e-01 7.02391458e-03 2.11489380e+02] [ 9.20345595e-01 -3.90747332e-01 -1.67483812e-02 1.60668770e+02] [ 1.81614268e-02 -7.88991755e-05 9.99835065e-01 4.63813819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.48, Y:160.69, Z:4.64 [[-3.88864304e-01 -9.21266597e-01 7.23955363e-03 2.11477467e+02] [ 9.21105125e-01 -3.88931686e-01 -1.72479990e-02 1.60691476e+02] [ 1.87056972e-02 -3.87411761e-05 9.99825032e-01 4.63802221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.46, Y:160.71, Z:4.64 [[-3.86202210e-01 -9.22387564e-01 7.00248976e-03 2.11463949e+02] [ 9.22236885e-01 -3.86265688e-01 -1.66717396e-02 1.60714079e+02] [ 1.80826268e-02 1.92916683e-05 9.99836496e-01 4.63865879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.45, Y:160.74, Z:4.64 [[-3.85362347e-01 -9.22740749e-01 6.73587131e-03 2.11452349e+02] [ 9.22601605e-01 -3.85421210e-01 -1.60240006e-02 1.60738778e+02] [ 1.73821460e-02 3.94792039e-05 9.99848918e-01 4.64012114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.580385723 meters Centerline goodness [0,1] 0.9998702029161078 Centerline is valid? [True, True] Translation: X:211.44, Y:160.76, Z:4.64 [[-3.84930495e-01 -9.22921399e-01 6.67868416e-03 2.11440605e+02] [ 9.22784858e-01 -3.84988426e-01 -1.58750655e-02 1.60763557e+02] [ 1.72226538e-02 5.21917816e-05 9.99851678e-01 4.64032928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.610385723 meters Centerline goodness [0,1] 0.9998708121608819 Centerline is valid? [True, True] Translation: X:211.43, Y:160.79, Z:4.64 [[-3.85517928e-01 -9.22674122e-01 6.95645045e-03 2.11427897e+02] [ 9.22526196e-01 -3.85580682e-01 -1.65213689e-02 1.60788057e+02] [ 1.79261124e-02 4.82238769e-05 9.99839313e-01 4.63896729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.42, Y:160.81, Z:4.64 [[-3.86711553e-01 -9.22175388e-01 6.83582883e-03 2.11417253e+02] [ 9.22032698e-01 -3.86771965e-01 -1.62219581e-02 1.60812743e+02] [ 1.76033975e-02 2.96390901e-05 9.99845048e-01 4.63904861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.41, Y:160.84, Z:4.64 [[-3.90430563e-01 -9.20609616e-01 6.47390085e-03 2.11410209e+02] [ 9.20481615e-01 -3.90484231e-01 -1.53512564e-02 1.60838164e+02] [ 1.66604705e-02 -3.44929817e-05 9.99861204e-01 4.64033952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.700385723 meters Centerline goodness [0,1] 0.9999566987096216 Centerline is valid? [True, True] Translation: X:211.40, Y:160.86, Z:4.64 [[-3.93106857e-01 -9.19470390e-01 6.41877449e-03 2.11401779e+02] [ 9.19344617e-01 -3.93159250e-01 -1.52078542e-02 1.60864542e+02] [ 1.65067722e-02 -7.72459986e-05 9.99863751e-01 4.64101155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.730385723 meters Centerline goodness [0,1] 0.9999783258918895 Centerline is valid? [True, True] Translation: X:211.39, Y:160.89, Z:4.64 [[-3.96317793e-01 -9.18090335e-01 6.50723766e-03 2.11393993e+02] [ 9.17961092e-01 -3.96371189e-01 -1.54050289e-02 1.60889368e+02] [ 1.67224897e-02 -1.31896070e-04 9.99860161e-01 4.64111282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.39, Y:160.91, Z:4.64 [[-4.01647793e-01 -9.15769314e-01 6.75379767e-03 2.11386668e+02] [ 9.15629996e-01 -4.01704505e-01 -1.59750140e-02 1.60914637e+02] [ 1.73424585e-02 -2.32349372e-04 9.99849581e-01 4.63959757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.38, Y:160.94, Z:4.64 [[-4.03770524e-01 -9.14833340e-01 7.02317696e-03 2.11376590e+02] [ 9.14682795e-01 -4.03831504e-01 -1.65982268e-02 1.60940272e+02] [ 1.80207913e-02 -2.77895582e-04 9.99837574e-01 4.63884393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.36, Y:160.96, Z:4.64 [[-4.04972396e-01 -9.14300823e-01 7.16680032e-03 2.11364774e+02] [ 9.14144221e-01 -4.05035694e-01 -1.69242225e-02 1.60964751e+02] [ 1.83766405e-02 -3.02353846e-04 9.99831090e-01 4.63949361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.36, Y:160.99, Z:4.64 [[-4.05186337e-01 -9.14204853e-01 7.31560320e-03 2.11356751e+02] [ 9.14041939e-01 -4.05252257e-01 -1.72609801e-02 1.60989346e+02] [ 1.87447365e-02 -3.07145175e-04 9.99824255e-01 4.64023285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.35, Y:161.01, Z:4.64 [[-4.04709328e-01 -9.14415567e-01 7.38447545e-03 2.11345034e+02] [ 9.14249892e-01 -4.04776585e-01 -1.74083721e-02 1.61013636e+02] [ 1.89075492e-02 -2.94074707e-04 9.99821193e-01 4.64101690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.33, Y:161.04, Z:4.64 [[-4.03867459e-01 -9.14786742e-01 7.50287471e-03 2.11332673e+02] [ 9.14616059e-01 -4.03937052e-01 -1.76726549e-02 1.61039276e+02] [ 1.91973995e-02 -2.75160527e-04 9.99815675e-01 4.64122563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.940385723 meters Centerline goodness [0,1] 0.999913520992779 Centerline is valid? [True, True] Translation: X:211.32, Y:161.06, Z:4.64 [[-4.01658323e-01 -9.15759357e-01 7.44259667e-03 2.11318740e+02] [ 9.15591824e-01 -4.01727210e-01 -1.75174062e-02 1.61062487e+02] [ 1.90316222e-02 -2.21631329e-04 9.99818858e-01 4.64009491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.970385723 meters Centerline goodness [0,1] 0.9999350621239015 Centerline is valid? [True, True] Translation: X:211.31, Y:161.09, Z:4.64 [[-4.00950047e-01 -9.16068030e-01 7.64353035e-03 2.11306415e+02] [ 9.15891664e-01 -4.01022843e-01 -1.79760487e-02 1.61087169e+02] [ 1.95325138e-02 -2.06851851e-04 9.99809201e-01 4.63772001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.30, Y:161.11, Z:4.64 [[-3.99807566e-01 -9.16564756e-01 7.93462745e-03 2.11295246e+02] [ 9.16375106e-01 -3.99886252e-01 -1.86454016e-02 1.61111087e+02] [ 2.02626664e-02 -1.83477567e-04 9.99794674e-01 4.63896001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.29, Y:161.14, Z:4.64 [[-3.99004372e-01 -9.16910063e-01 8.45260821e-03 2.11286442e+02] [ 9.16695232e-01 -3.99093857e-01 -1.98480563e-02 1.61137047e+02] [ 2.15722665e-02 -1.70995590e-04 9.99767277e-01 4.63998957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.28, Y:161.16, Z:4.64 [[-3.99072135e-01 -9.16881786e-01 8.31989834e-03 2.11276767e+02] [ 9.16673981e-01 -3.99158819e-01 -1.95204857e-02 1.61162991e+02] [ 2.12189386e-02 -1.63447588e-04 9.99774840e-01 4.64168586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.090385723 meters Centerline goodness [0,1] 0.9998056785058836 Centerline is valid? [True, True] Translation: X:211.27, Y:161.19, Z:4.64 [[-3.99480268e-01 -9.16703292e-01 8.40181177e-03 2.11266830e+02] [ 9.16491684e-01 -3.99568575e-01 -1.96963606e-02 1.61188160e+02] [ 2.14128185e-02 -1.68116774e-04 9.99770705e-01 4.64033411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.120385723 meters Centerline goodness [0,1] 0.9999566855806298 Centerline is valid? [True, True] Translation: X:211.26, Y:161.21, Z:4.64 [[-3.99149477e-01 -9.16851303e-01 7.96132992e-03 2.11255061e+02] [ 9.16661630e-01 -3.99228839e-01 -1.86491095e-02 1.61212524e+02] [ 2.02768528e-02 -1.45936620e-04 9.99794393e-01 4.64329586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.150385723 meters Centerline goodness [0,1] 0.9999783844540994 Centerline is valid? [True, True] Translation: X:211.24, Y:161.24, Z:4.64 [[-3.98034677e-01 -9.17338464e-01 7.65100842e-03 2.11243107e+02] [ 9.17163659e-01 -3.98108188e-01 -1.79079310e-02 1.61235695e+02] [ 1.94735630e-02 -1.10750645e-04 9.99810366e-01 4.64349107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.180385723 meters Centerline goodness [0,1] 0.999956741791755 Centerline is valid? [True, True] Translation: X:211.23, Y:161.26, Z:4.64 [[-3.97736914e-01 -9.17468171e-01 7.58303035e-03 2.11232863e+02] [ 9.17296767e-01 -3.97809183e-01 -1.77340162e-02 1.61260460e+02] [ 1.92869945e-02 -9.75836519e-05 9.99813984e-01 4.64245635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.22, Y:161.29, Z:4.64 [[-3.96929832e-01 -9.17818090e-01 7.52745831e-03 2.11224450e+02] [ 9.17649523e-01 -3.97001194e-01 -1.75898831e-02 1.61285666e+02] [ 1.91327228e-02 -7.43808016e-05 9.99816950e-01 4.64487395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.21, Y:161.31, Z:4.65 [[-3.96977653e-01 -9.17797477e-01 7.51898553e-03 2.11214757e+02] [ 9.17629566e-01 -3.97048847e-01 -1.75554354e-02 1.61311007e+02] [ 1.90977388e-02 -6.94720975e-05 9.99817619e-01 4.64582550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.270385723 meters Centerline goodness [0,1] 0.999978286830963 Centerline is valid? [True, True] Translation: X:211.21, Y:161.34, Z:4.65 [[-3.97363659e-01 -9.17631005e-01 7.44717121e-03 2.11205504e+02] [ 9.17466511e-01 -3.97433432e-01 -1.73743820e-02 1.61335704e+02] [ 1.89030265e-02 -7.14178331e-05 9.99821319e-01 4.64590225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.20, Y:161.36, Z:4.65 [[-3.98355546e-01 -9.17197478e-01 7.85144790e-03 2.11196574e+02] [ 9.17014797e-01 -3.98432902e-01 -1.83053328e-02 1.61360028e+02] [ 1.99178803e-02 -9.21369392e-05 9.99801615e-01 4.64532128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.330385723 meters Centerline goodness [0,1] 0.9999130170051755 Centerline is valid? [True, True] Translation: X:211.19, Y:161.38, Z:4.64 [[-3.99196662e-01 -9.16830459e-01 7.99592206e-03 2.11187115e+02] [ 9.16641198e-01 -3.99276719e-01 -1.86283741e-02 1.61384313e+02] [ 2.02716463e-02 -1.06993164e-04 9.99794503e-01 4.64496832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.360385723 meters Centerline goodness [0,1] 0.9999128445364419 Centerline is valid? [True, True] Translation: X:211.18, Y:161.41, Z:4.65 [[-4.00486086e-01 -9.16267231e-01 8.07814050e-03 2.11178482e+02] [ 9.16074271e-01 -4.00567528e-01 -1.88038643e-02 1.61409927e+02] [ 2.04652054e-02 -1.30509327e-04 9.99790557e-01 4.64587886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.390385723 meters Centerline goodness [0,1] 0.9999344677690645 Centerline is valid? [True, True] Translation: X:211.17, Y:161.44, Z:4.65 [[-4.01457188e-01 -9.15844289e-01 7.83349419e-03 2.11169605e+02] [ 9.15663053e-01 -4.01533582e-01 -1.82196436e-02 1.61435905e+02] [ 1.98317675e-02 -1.41565685e-04 9.99803321e-01 4.64700327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.16, Y:161.46, Z:4.65 [[-4.02322670e-01 -9.15465432e-01 7.71440249e-03 2.11160004e+02] [ 9.15289875e-01 -4.02396595e-01 -1.79283149e-02 1.61462800e+02] [ 1.95170019e-02 -1.52053041e-04 9.99809514e-01 4.64832886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.450385723 meters Centerline goodness [0,1] 0.9999781854671582 Centerline is valid? [True, True] Translation: X:211.15, Y:161.49, Z:4.65 [[-4.03770395e-01 -9.14828629e-01 7.61893529e-03 2.11152567e+02] [ 9.14657540e-01 -4.03842234e-01 -1.76927890e-02 1.61488456e+02] [ 1.92627178e-02 -1.75107803e-04 9.99814441e-01 4.64845319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.480385723 meters Centerline goodness [0,1] 0.9999561191803062 Centerline is valid? [True, True] Translation: X:211.14, Y:161.51, Z:4.65 [[-4.04546979e-01 -9.14484629e-01 7.72044704e-03 2.11141214e+02] [ 9.14309197e-01 -4.04620598e-01 -1.79126624e-02 1.61513684e+02] [ 1.95047064e-02 -1.87637743e-04 9.99809748e-01 4.64852640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.13, Y:161.54, Z:4.65 [[-4.04903124e-01 -9.14325916e-01 7.84721616e-03 2.11132190e+02] [ 9.14144958e-01 -4.04979113e-01 -1.81910605e-02 1.61538343e+02] [ 1.98105167e-02 -1.92124152e-04 9.99803734e-01 4.64740491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.540385723 meters Centerline goodness [0,1] 0.9999339468933022 Centerline is valid? [True, True] Translation: X:211.12, Y:161.56, Z:4.65 [[-4.05113808e-01 -9.14232267e-01 7.88442669e-03 2.11122391e+02] [ 9.14049889e-01 -4.05190480e-01 -1.82613278e-02 1.61564148e+02] [ 1.98897898e-02 -1.91156722e-04 9.99802160e-01 4.64776506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.11, Y:161.59, Z:4.65 [[-4.05163766e-01 -9.14209787e-01 7.92386649e-03 2.11113202e+02] [ 9.14025885e-01 -4.05241200e-01 -1.83371718e-02 1.61588690e+02] [ 1.99750991e-02 -1.86938504e-04 9.99800460e-01 4.64813477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.11, Y:161.61, Z:4.65 [[-4.05260402e-01 -9.14167195e-01 7.89597508e-03 2.11105272e+02] [ 9.13984892e-01 -4.05337275e-01 -1.82567954e-02 1.61613574e+02] [ 1.98902965e-02 -1.81954311e-04 9.99802152e-01 4.64748042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.630385723 meters Centerline goodness [0,1] 0.9999116861325149 Centerline is valid? [True, True] Translation: X:211.09, Y:161.64, Z:4.65 [[-4.04967701e-01 -9.14295464e-01 8.06018786e-03 2.11093832e+02] [ 9.14105850e-01 -4.05047868e-01 -1.86203951e-02 1.61638606e+02] [ 2.02893046e-02 -1.72793690e-04 9.99794136e-01 4.64776166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.08, Y:161.66, Z:4.65 [[-4.04891117e-01 -9.14329597e-01 8.03564533e-03 2.11084032e+02] [ 9.14141452e-01 -4.04970816e-01 -1.85484379e-02 1.61662490e+02] [ 2.02135876e-02 -1.64381244e-04 9.99795671e-01 4.64749935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.07, Y:161.69, Z:4.65 [[-4.04788383e-01 -9.14375178e-01 8.02496617e-03 2.11073372e+02] [ 9.14187855e-01 -4.04867893e-01 -1.85082552e-02 1.61687064e+02] [ 2.01725403e-02 -1.55600096e-04 9.99796502e-01 4.64746431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.06, Y:161.71, Z:4.65 [[-4.05055273e-01 -9.14256933e-01 8.03036927e-03 2.11062615e+02] [ 9.14069633e-01 -4.05134838e-01 -1.85059109e-02 1.61711567e+02] [ 2.01725397e-02 -1.55600091e-04 9.99796502e-01 4.64786880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.05, Y:161.74, Z:4.65 [[-4.05154613e-01 -9.14215005e-01 7.78873588e-03 2.11052618e+02] [ 9.14039078e-01 -4.05229445e-01 -1.79349160e-02 1.61735596e+02] [ 1.95525944e-02 -1.47204971e-04 9.99808819e-01 4.64808838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.04, Y:161.76, Z:4.65 [[-4.04956193e-01 -9.14302477e-01 7.83982164e-03 2.11043574e+02] [ 9.14124545e-01 -4.05032051e-01 -1.80375719e-02 1.61761292e+02] [ 1.96671757e-02 -1.37853072e-04 9.99806573e-01 4.64942274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.810385723 meters Centerline goodness [0,1] 0.9999558108705259 Centerline is valid? [True, True] Translation: X:211.03, Y:161.79, Z:4.65 [[-4.05539229e-01 -9.14043375e-01 7.91476374e-03 2.11033653e+02] [ 9.13862263e-01 -4.05616430e-01 -1.81955079e-02 1.61786456e+02] [ 1.98418416e-02 -1.45988326e-04 9.99803121e-01 4.64960042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.840385723 meters Centerline goodness [0,1] 0.9999779278682736 Centerline is valid? [True, True] Translation: X:211.02, Y:161.81, Z:4.65 [[-4.06386860e-01 -9.13666914e-01 7.90510616e-03 2.11024550e+02] [ 9.13486462e-01 -4.06463708e-01 -1.81586839e-02 1.61811126e+02] [ 1.98041274e-02 -1.58243070e-04 9.99803867e-01 4.65019609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.01, Y:161.84, Z:4.65 [[-4.06899060e-01 -9.13439900e-01 7.79130818e-03 2.11013749e+02] [ 9.13264851e-01 -4.06973615e-01 -1.78826262e-02 1.61836102e+02] [ 1.95055611e-02 -1.60895869e-04 9.99809736e-01 4.65053511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.00, Y:161.86, Z:4.65 [[-4.07474677e-01 -9.13182421e-01 7.89010145e-03 2.11003545e+02] [ 9.13003148e-01 -4.07551024e-01 -1.80946013e-02 1.61860669e+02] [ 1.97392908e-02 -1.69404375e-04 9.99805147e-01 4.65071021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.930385723 meters Centerline goodness [0,1] 0.999977856019841 Centerline is valid? [True, True] Translation: X:211.00, Y:161.89, Z:4.65 [[-4.09279519e-01 -9.12375460e-01 7.82920473e-03 2.10996082e+02] [ 9.12199088e-01 -4.09354346e-01 -1.79400061e-02 1.61885764e+02] [ 1.95729403e-02 -2.00683666e-04 9.99808412e-01 4.65016682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.99, Y:161.91, Z:4.65 [[-4.10459247e-01 -9.11844008e-01 7.98200779e-03 2.10985366e+02] [ 9.11660890e-01 -4.10536789e-01 -1.82747586e-02 1.61910482e+02] [ 1.99406370e-02 -2.24159328e-04 9.99801141e-01 4.65132494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.98, Y:161.94, Z:4.65 [[-4.11294462e-01 -9.11466866e-01 8.06333069e-03 2.10976402e+02] [ 9.11280240e-01 -4.11373425e-01 -1.84453198e-02 1.61935734e+02] [ 2.01293378e-02 -2.38503971e-04 9.99797356e-01 4.65162449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.97, Y:161.96, Z:4.65 [[-4.12505194e-01 -9.10915965e-01 8.45982275e-03 2.10967968e+02] [ 9.10710768e-01 -4.12591844e-01 -1.93356437e-02 1.61962209e+02] [ 2.11036004e-02 -2.71601772e-04 9.99777257e-01 4.65182086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.96, Y:161.99, Z:4.65 [[-4.12596243e-01 -9.10872136e-01 8.73457590e-03 2.10957487e+02] [ 9.10653719e-01 -4.12688595e-01 -1.99481460e-02 1.61987666e+02] [ 2.17748702e-02 -2.76356089e-04 9.99762861e-01 4.65180032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.95, Y:162.01, Z:4.65 [[-4.12513951e-01 -9.10907967e-01 8.88344465e-03 2.10946278e+02] [ 9.10682420e-01 -4.12609502e-01 -2.02713642e-02 1.62012370e+02] [ 2.21307408e-02 -2.72223652e-04 9.99755048e-01 4.65150818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.93, Y:162.04, Z:4.65 [[-4.11243499e-01 -9.11481419e-01 8.96706396e-03 2.10934424e+02] [ 9.11252115e-01 -4.11341181e-01 -2.04454303e-02 1.62036722e+02] [ 2.23241525e-02 -2.36794303e-04 9.99750757e-01 4.65089970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.92, Y:162.06, Z:4.65 [[-4.11461321e-01 -9.11384085e-01 8.86740817e-03 2.10924089e+02] [ 9.11160188e-01 -4.11556795e-01 -2.02018864e-02 1.62061457e+02] [ 2.20611199e-02 -2.32665584e-04 9.99756597e-01 4.65136399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.92, Y:162.09, Z:4.65 [[-4.12276736e-01 -9.11017366e-01 8.67481222e-03 2.10916784e+02] [ 9.10803326e-01 -4.12367920e-01 -1.97484299e-02 1.62087081e+02] [ 2.15683768e-02 -2.40770396e-04 9.99767347e-01 4.65256633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.91, Y:162.11, Z:4.65 [[-4.13266198e-01 -9.10570521e-01 8.50745685e-03 2.10906562e+02] [ 9.10364838e-01 -4.13353677e-01 -1.93545489e-02 1.62112452e+02] [ 2.11402702e-02 -2.53691236e-04 9.99776487e-01 4.65383198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.89, Y:162.14, Z:4.66 [[-4.13762831e-01 -9.10346523e-01 8.33836140e-03 2.10894867e+02] [ 9.10149195e-01 -4.13846764e-01 -1.89552022e-02 1.62137472e+02] [ 2.07066063e-02 -2.53805209e-04 9.99785563e-01 4.65520408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.88, Y:162.16, Z:4.66 [[-4.13829272e-01 -9.10321698e-01 7.72914490e-03 2.10882534e+02] [ 9.10152385e-01 -4.13901380e-01 -1.75579991e-02 1.62162621e+02] [ 1.91825313e-02 -2.31314317e-04 9.99815972e-01 4.65568067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.87, Y:162.19, Z:4.66 [[-4.13264117e-01 -9.10578727e-01 7.69095692e-03 2.10872674e+02] [ 9.10411367e-01 -4.13335622e-01 -1.74586932e-02 1.62186726e+02] [ 1.90764611e-02 -2.13116848e-04 9.99818005e-01 4.65574912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.86, Y:162.21, Z:4.66 [[-4.12529541e-01 -9.10911096e-01 7.76875457e-03 2.10860407e+02] [ 9.10740619e-01 -4.12602639e-01 -1.76234890e-02 1.62212060e+02] [ 1.92588403e-02 -1.94889483e-04 9.99814512e-01 4.65676782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.85, Y:162.24, Z:4.66 [[-4.10684070e-01 -9.11743154e-01 7.93828528e-03 2.10850296e+02] [ 9.11565586e-01 -4.10760756e-01 -1.79939972e-02 1.62236421e+02] [ 1.96666398e-02 -1.53580325e-04 9.99806581e-01 4.65765628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.84, Y:162.26, Z:4.66 [[-4.09898582e-01 -9.12098169e-01 7.75131210e-03 2.10837633e+02] [ 9.11929211e-01 -4.09971845e-01 -1.75556481e-02 1.62261407e+02] [ 1.91902942e-02 -1.27387351e-04 9.99815841e-01 4.65811599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.82, Y:162.28, Z:4.66 [[-4.08517666e-01 -9.12717567e-01 7.74336777e-03 2.10824447e+02] [ 9.12549323e-01 -4.08591036e-01 -1.75242142e-02 1.62284742e+02] [ 1.91585288e-02 -9.27460557e-05 9.99816454e-01 4.65799819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.440385723 meters Centerline goodness [0,1] 0.9999554128767612 Centerline is valid? [True, True] Translation: X:210.81, Y:162.31, Z:4.66 [[-4.08323813e-01 -9.12802431e-01 7.96148377e-03 2.10813306e+02] [ 9.12624906e-01 -4.08401413e-01 -1.80018309e-02 1.62308240e+02] [ 1.96835962e-02 -8.47278400e-05 9.99806256e-01 4.65583891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.80, Y:162.33, Z:4.66 [[-4.07938002e-01 -9.12974498e-01 8.00954602e-03 2.10800700e+02] [ 9.12795162e-01 -4.08016619e-01 -1.80950484e-02 1.62332794e+02] [ 1.97883456e-02 -7.05830189e-05 9.99804189e-01 4.65734023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.79, Y:162.36, Z:4.66 [[-4.07924681e-01 -9.12977509e-01 8.33801920e-03 2.10788897e+02] [ 9.12783488e-01 -4.08009882e-01 -1.88212890e-02 1.62357403e+02] [ 2.05854078e-02 -6.68620706e-05 9.99788096e-01 4.65708694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.78, Y:162.38, Z:4.66 [[-4.09064576e-01 -9.12465665e-01 8.51962390e-03 2.10778569e+02] [ 9.12263315e-01 -4.09153276e-01 -1.92156484e-02 1.62383477e+02] [ 2.10194514e-02 -8.83007097e-05 9.99779063e-01 4.65771529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.560385723 meters Centerline goodness [0,1] 0.9999776551292651 Centerline is valid? [True, True] Translation: X:210.77, Y:162.41, Z:4.66 [[-4.10369984e-01 -9.11878550e-01 8.60155746e-03 2.10768420e+02] [ 9.11672471e-01 -4.10460104e-01 -1.93857895e-02 1.62409236e+02] [ 2.12080817e-02 -1.13542962e-04 9.99775077e-01 4.65839455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.76, Y:162.44, Z:4.66 [[-4.12225225e-01 -9.11040834e-01 8.65804473e-03 2.10757564e+02] [ 9.10832167e-01 -4.12316111e-01 -1.94984121e-02 1.62435052e+02] [ 2.13337009e-02 -1.51711666e-04 9.99772399e-01 4.65834196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.75, Y:162.46, Z:4.66 [[-4.15422123e-01 -9.09582806e-01 9.14219248e-03 2.10746438e+02] [ 9.09350128e-01 -4.15522641e-01 -2.05737648e-02 1.62459163e+02] [ 2.25123307e-02 -2.33343132e-04 9.99746538e-01 4.65644894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.74, Y:162.48, Z:4.66 [[-4.17104457e-01 -9.08810853e-01 9.31153465e-03 2.10736021e+02] [ 9.08569596e-01 -4.17208290e-01 -2.09411661e-02 1.62484688e+02] [ 2.29164085e-02 -2.74476444e-04 9.99737347e-01 4.65530740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.73, Y:162.51, Z:4.66 [[-4.19573975e-01 -9.07675242e-01 9.12880740e-03 2.10729476e+02] [ 9.07443430e-01 -4.19673148e-01 -2.05151281e-02 1.62511815e+02] [ 2.24521892e-02 -3.23737559e-04 9.99747865e-01 4.65557499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.72, Y:162.54, Z:4.66 [[-4.20868235e-01 -9.07078364e-01 8.87522718e-03 2.10717219e+02] [ 9.06859456e-01 -4.20961668e-01 -1.99299066e-02 1.62536521e+02] [ 2.18141175e-02 -3.39280920e-04 9.99761986e-01 4.65824997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.71, Y:162.56, Z:4.66 [[-4.21923775e-01 -9.06592504e-01 8.38808556e-03 2.10706812e+02] [ 9.06397175e-01 -4.22007011e-01 -1.88213628e-02 1.62562045e+02] [ 2.06031374e-02 -3.38243397e-04 9.99787676e-01 4.65981571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.70, Y:162.59, Z:4.66 [[-4.22780037e-01 -9.06197058e-01 7.99574350e-03 2.10695663e+02] [ 9.06019779e-01 -4.22855507e-01 -1.79270712e-02 1.62587173e+02] [ 1.96265033e-02 -3.34906048e-04 9.99807326e-01 4.66122619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.68, Y:162.61, Z:4.66 [[-4.22797075e-01 -9.06194678e-01 7.33751453e-03 2.10680950e+02] [ 9.06045606e-01 -4.22860632e-01 -1.64391478e-02 1.62611250e+02] [ 1.79998143e-02 -3.02300792e-04 9.99837945e-01 4.66250231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.67, Y:162.64, Z:4.66 [[-4.22167792e-01 -9.06488880e-01 7.22950958e-03 2.10667724e+02] [ 9.06344416e-01 -4.22229596e-01 -1.61854243e-02 1.62636316e+02] [ 1.77244201e-02 -2.80539220e-04 9.99842871e-01 4.66302867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.65, Y:162.66, Z:4.66 [[-4.19154099e-01 -9.07888247e-01 6.98375100e-03 2.10653715e+02] [ 9.07753812e-01 -4.19212222e-01 -1.56246392e-02 1.62661586e+02] [ 1.71131001e-02 -2.09604979e-04 9.99853538e-01 4.66432187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.64, Y:162.69, Z:4.67 [[-4.17614957e-01 -9.08596651e-01 7.06208266e-03 2.10642037e+02] [ 9.08459414e-01 -4.17674626e-01 -1.57924089e-02 1.62687375e+02] [ 1.72985826e-02 -1.79530683e-04 9.99850352e-01 4.66534230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.63, Y:162.71, Z:4.67 [[-4.16373433e-01 -9.09164422e-01 7.29503542e-03 2.10631803e+02] [ 9.09018292e-01 -4.16437305e-01 -1.63008046e-02 1.62712766e+02] [ 1.78580364e-02 -1.55901316e-04 9.99840520e-01 4.66570234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.62, Y:162.74, Z:4.67 [[-4.14703564e-01 -9.09929075e-01 7.07333829e-03 2.10615288e+02] [ 9.09792008e-01 -4.14763867e-01 -1.57936090e-02 1.62736337e+02] [ 1.73048291e-02 -1.14399277e-04 9.99850254e-01 4.66547865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.980385723 meters Centerline goodness [0,1] 0.9999778354057229 Centerline is valid? [True, True] Translation: X:210.60, Y:162.76, Z:4.66 [[-4.14222506e-01 -9.10149397e-01 6.91305486e-03 2.10601880e+02] [ 9.10018685e-01 -4.14280177e-01 -1.54248980e-02 1.62759912e+02] [ 1.69029032e-02 -9.83307882e-05 9.99857131e-01 4.66497590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.59, Y:162.78, Z:4.67 [[-4.13746615e-01 -9.10365897e-01 6.90451724e-03 2.10588929e+02] [ 9.10235685e-01 -4.13804213e-01 -1.53971465e-02 1.62784286e+02] [ 1.68741554e-02 -8.57792518e-05 9.99857618e-01 4.66503322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.040385723 meters Centerline goodness [0,1] 0.9999338128226625 Centerline is valid? [True, True] Translation: X:210.58, Y:162.81, Z:4.67 [[-4.13590222e-01 -9.10434916e-01 7.16884419e-03 2.10577807e+02] [ 9.10294789e-01 -4.13652339e-01 -1.59731063e-02 1.62807765e+02] [ 1.75078828e-02 -8.05590548e-05 9.99846722e-01 4.66539677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.57, Y:162.83, Z:4.67 [[-4.14234980e-01 -9.10142775e-01 7.03637396e-03 2.10567180e+02] [ 9.10007961e-01 -4.14294728e-01 -1.56649153e-02 1.62832902e+02] [ 1.71724421e-02 -8.57995601e-05 9.99852539e-01 4.66704788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.56, Y:162.86, Z:4.67 [[-4.15316740e-01 -9.09651045e-01 6.85434535e-03 2.10556321e+02] [ 9.09523247e-01 -4.15373286e-01 -1.52478509e-02 1.62858951e+02] [ 1.67173355e-02 -9.85013145e-05 9.99860251e-01 4.66846334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.55, Y:162.88, Z:4.67 [[-4.18187860e-01 -9.08331595e-01 7.25449948e-03 2.10546792e+02] [ 9.08188459e-01 -4.18250750e-01 -1.61255667e-02 1.62884035e+02] [ 1.76815616e-02 -1.55063545e-04 9.99843657e-01 4.66873573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.160385723 meters Centerline goodness [0,1] 0.9999778619025481 Centerline is valid? [True, True] Translation: X:210.53, Y:162.91, Z:4.67 [[-4.19957771e-01 -9.07513842e-01 7.35510215e-03 2.10534307e+02] [ 9.07366812e-01 -4.20022132e-01 -1.63363419e-02 1.62908721e+02] [ 1.79147621e-02 -1.86798138e-04 9.99839500e-01 4.66820848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.52, Y:162.93, Z:4.67 [[-4.21783719e-01 -9.06664127e-01 7.65869472e-03 2.10521702e+02] [ 9.06504826e-01 -4.21853185e-01 -1.69967646e-02 1.62934100e+02] [ 1.86412015e-02 -2.26314833e-04 9.99826212e-01 4.66737640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.51, Y:162.96, Z:4.67 [[-4.22960376e-01 -9.06115600e-01 7.68372816e-03 2.10509794e+02] [ 9.05955399e-01 -4.23030092e-01 -1.70398388e-02 1.62959022e+02] [ 1.86905120e-02 -2.46061606e-04 9.99825287e-01 4.66729493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.50, Y:162.98, Z:4.67 [[-4.24837196e-01 -9.05237622e-01 7.62928252e-03 2.10498675e+02] [ 9.05079785e-01 -4.24905603e-01 -1.69059505e-02 1.62984683e+02] [ 1.85456273e-02 -2.77167227e-04 9.99827977e-01 4.66824290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.49, Y:163.01, Z:4.67 [[-4.26202945e-01 -9.04595282e-01 7.64370984e-03 2.10487895e+02] [ 9.04436956e-01 -4.26271376e-01 -1.69265186e-02 1.63009558e+02] [ 1.85699435e-02 -3.00878409e-04 9.99827518e-01 4.66876243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.47, Y:163.03, Z:4.67 [[-4.28876883e-01 -9.03329976e-01 7.71845231e-03 2.10473806e+02] [ 9.03168500e-01 -4.28946184e-01 -1.70830689e-02 1.63033478e+02] [ 1.87424489e-02 -3.55470339e-04 9.99824282e-01 4.66910651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.46, Y:163.06, Z:4.67 [[-4.29934481e-01 -9.02827241e-01 7.70160900e-03 2.10462485e+02] [ 9.02666575e-01 -4.30003295e-01 -1.70358476e-02 1.63058120e+02] [ 1.86921445e-02 -3.72313257e-04 9.99825217e-01 4.66977889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.370385723 meters Centerline goodness [0,1] 0.9999342710661233 Centerline is valid? [True, True] Translation: X:210.45, Y:163.08, Z:4.67 [[-4.30704220e-01 -9.02460404e-01 7.68724723e-03 2.10450156e+02] [ 9.02300521e-01 -4.30772647e-01 -1.69910589e-02 1.63083596e+02] [ 1.86452137e-02 -3.81913578e-04 9.99826090e-01 4.67061429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.44, Y:163.11, Z:4.67 [[-4.30651402e-01 -9.02486612e-01 7.56868195e-03 2.10437444e+02] [ 9.02331852e-01 -4.30717748e-01 -1.67167860e-02 1.63107111e+02] [ 1.83466412e-02 -3.69644533e-04 9.99831618e-01 4.67107536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.430385723 meters Centerline goodness [0,1] 0.9999781253417915 Centerline is valid? [True, True] Translation: X:210.42, Y:163.13, Z:4.67 [[-4.30019222e-01 -9.02790191e-01 7.30332572e-03 2.10423149e+02] [ 9.02646348e-01 -4.30081103e-01 -1.61187754e-02 1.63131937e+02] [ 1.76928947e-02 -3.39062965e-04 9.99843411e-01 4.67118578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.41, Y:163.16, Z:4.67 [[-4.28806058e-01 -9.03367687e-01 7.22406308e-03 2.10408804e+02] [ 9.03227231e-01 -4.28866796e-01 -1.59323938e-02 1.63156554e+02] [ 1.74909705e-02 -3.06936501e-04 9.99846974e-01 4.67161244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.39, Y:163.18, Z:4.67 [[-4.25925437e-01 -9.04726236e-01 7.61312836e-03 2.10393079e+02] [ 9.04570693e-01 -4.25993392e-01 -1.67777225e-02 1.63180815e+02] [ 1.84223881e-02 -2.59445989e-04 9.99830260e-01 4.67167954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.38, Y:163.21, Z:4.67 [[-4.25047139e-01 -9.05139649e-01 7.55953639e-03 2.10379207e+02] [ 9.04986568e-01 -4.25114292e-01 -1.66478301e-02 1.63205468e+02] [ 1.82822780e-02 -2.34833657e-04 9.99832838e-01 4.67242812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.37, Y:163.23, Z:4.67 [[-4.24356901e-01 -9.05466007e-01 7.24785521e-03 2.10365408e+02] [ 9.05325542e-01 -4.24418741e-01 -1.59497984e-02 1.63229275e+02] [ 1.75181258e-02 -2.06738551e-04 9.99846524e-01 4.67312520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.35, Y:163.25, Z:4.67 [[-4.24155063e-01 -9.05561667e-01 7.10988978e-03 2.10352518e+02] [ 9.05426716e-01 -4.24214604e-01 -1.56342886e-02 1.63254449e+02] [ 1.71739315e-02 -1.93878507e-04 9.99852498e-01 4.67429704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.34, Y:163.28, Z:4.67 [[-4.24402994e-01 -9.05445464e-01 7.11416614e-03 2.10341035e+02] [ 9.05310530e-01 -4.24462572e-01 -1.56323425e-02 1.63279529e+02] [ 1.71739309e-02 -1.93883448e-04 9.99852498e-01 4.67471420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.33, Y:163.30, Z:4.68 [[-4.24398772e-01 -9.05449007e-01 6.91219826e-03 2.10327777e+02] [ 9.05321805e-01 -4.24455018e-01 -1.51778157e-02 1.63304165e+02] [ 1.66766554e-02 -1.83682522e-04 9.99860918e-01 4.67500291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.670385723 meters Centerline goodness [0,1] 0.9999783774433489 Centerline is valid? [True, True] Translation: X:210.31, Y:163.33, Z:4.68 [[-4.23778408e-01 -9.05741573e-01 6.63810581e-03 2.10311980e+02] [ 9.05624458e-01 -4.23830364e-01 -1.45658181e-02 1.63328019e+02] [ 1.60062978e-02 -1.61048214e-04 9.99871878e-01 4.67532767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.700385723 meters Centerline goodness [0,1] 0.9999784608094427 Centerline is valid? [True, True] Translation: X:210.30, Y:163.35, Z:4.68 [[-4.23895001e-01 -9.05686085e-01 6.76348964e-03 2.10299198e+02] [ 9.05564677e-01 -4.23948924e-01 -1.48298612e-02 1.63352220e+02] [ 1.62985731e-02 -1.61526717e-04 9.99867156e-01 4.67603953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.730385723 meters Centerline goodness [0,1] 0.9999784287501617 Centerline is valid? [True, True] Translation: X:210.29, Y:163.38, Z:4.68 [[-4.24331802e-01 -9.05482927e-01 6.57196627e-03 2.10286218e+02] [ 9.05368445e-01 -4.24382662e-01 -1.43991572e-02 1.63377492e+02] [ 1.58272196e-02 -1.59969460e-04 9.99874729e-01 4.67647208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.760385723 meters Centerline goodness [0,1] 0.9999135153834512 Centerline is valid? [True, True] Translation: X:210.27, Y:163.40, Z:4.68 [[-4.26403726e-01 -9.04510431e-01 6.38296402e-03 2.10272365e+02] [ 9.04402481e-01 -4.26451457e-01 -1.39752776e-02 1.63401228e+02] [ 1.53628087e-02 -1.86341959e-04 9.99881968e-01 4.67630999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.26, Y:163.43, Z:4.68 [[-4.27485152e-01 -9.03999186e-01 6.47434200e-03 2.10259652e+02] [ 9.03888232e-01 -4.27534129e-01 -1.41644616e-02 1.63425604e+02] [ 1.55726639e-02 -2.03015463e-04 9.99878718e-01 4.67643067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.25, Y:163.45, Z:4.68 [[-4.28352342e-01 -9.03586480e-01 6.76349165e-03 2.10247243e+02] [ 9.03465542e-01 -4.28405677e-01 -1.47847856e-02 1.63449769e+02] [ 1.62568506e-02 -2.22515889e-04 9.99867824e-01 4.67635899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.23, Y:163.47, Z:4.68 [[-4.29421761e-01 -9.03073423e-01 7.43939826e-03 2.10233703e+02] [ 9.02927277e-01 -4.29486118e-01 -1.62482950e-02 1.63473686e+02] [ 1.78685216e-02 -2.60135828e-04 9.99840311e-01 4.67609765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.22, Y:163.50, Z:4.68 [[-4.29624540e-01 -9.02975390e-01 7.62885853e-03 2.10220771e+02] [ 9.02821939e-01 -4.29692186e-01 -1.66485057e-02 1.63497450e+02] [ 1.83112519e-02 -2.65105766e-04 9.99832300e-01 4.67589532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.20, Y:163.52, Z:4.68 [[-4.29036568e-01 -9.03253825e-01 7.75571784e-03 2.10204281e+02] [ 9.03095523e-01 -4.29106589e-01 -1.69119088e-02 1.63520302e+02] [ 1.86037759e-02 -2.51673261e-04 9.99826903e-01 4.67541914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.19, Y:163.55, Z:4.68 [[-4.28747060e-01 -9.03389467e-01 7.96428449e-03 2.10190665e+02] [ 9.03222802e-01 -4.28820954e-01 -1.73539441e-02 1.63545087e+02] [ 1.90926224e-02 -2.46929186e-04 9.99817689e-01 4.67524847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.18, Y:163.57, Z:4.67 [[-4.28332263e-01 -9.03581702e-01 8.46051056e-03 2.10176780e+02] [ 9.03393939e-01 -4.28415740e-01 -1.84213327e-02 1.63569599e+02] [ 2.02697951e-02 -2.47277159e-04 9.99794516e-01 4.67493502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.16, Y:163.59, Z:4.67 [[-4.27198462e-01 -9.04111761e-01 9.13224910e-03 2.10162044e+02] [ 9.03893448e-01 -4.27295997e-01 -1.98687084e-02 1.63593520e+02] [ 2.18657064e-02 -2.33301542e-04 9.99760890e-01 4.67383893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.15, Y:163.62, Z:4.67 [[-4.26797781e-01 -9.04300264e-01 9.20249355e-03 2.10149790e+02] [ 9.04078943e-01 -4.26896924e-01 -2.00070249e-02 1.63618220e+02] [ 2.20208741e-02 -2.19173216e-04 9.99757487e-01 4.67413673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.060385723 meters Centerline goodness [0,1] 0.9999569781448976 Centerline is valid? [True, True] Translation: X:210.14, Y:163.64, Z:4.68 [[-4.26697351e-01 -9.04349476e-01 9.02201480e-03 2.10137343e+02] [ 9.04137062e-01 -4.26792670e-01 -1.96007836e-02 1.63643407e+02] [ 2.15764881e-02 -2.06464468e-04 9.99767179e-01 4.67506293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.13, Y:163.67, Z:4.68 [[-4.26420330e-01 -9.04483307e-01 8.69763766e-03 2.10125908e+02] [ 9.04286186e-01 -4.26508983e-01 -1.88833870e-02 1.63666994e+02] [ 2.07893289e-02 -1.87106555e-04 9.99783861e-01 4.67660231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.11, Y:163.69, Z:4.68 [[-4.26687071e-01 -9.04362611e-01 8.14937177e-03 2.10112331e+02] [ 9.04189749e-01 -4.26764851e-01 -1.76821835e-02 1.63692024e+02] [ 1.94689711e-02 -1.76180669e-04 9.99810446e-01 4.67827794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.10, Y:163.72, Z:4.68 [[-4.26373906e-01 -9.04515081e-01 7.60005281e-03 2.10098693e+02] [ 9.04364960e-01 -4.26441608e-01 -1.64794796e-02 1.63715818e+02] [ 1.81469165e-02 -1.53198614e-04 9.99835319e-01 4.67981421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.09, Y:163.74, Z:4.68 [[-4.26592855e-01 -9.04412209e-01 7.55593612e-03 2.10086120e+02] [ 9.04263975e-01 -4.26659739e-01 -1.63746615e-02 1.63740757e+02] [ 1.80332575e-02 -1.52752774e-04 9.99837376e-01 4.68026174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.210385723 meters Centerline goodness [0,1] 0.9999787252148753 Centerline is valid? [True, True] Translation: X:210.07, Y:163.77, Z:4.68 [[-4.26362980e-01 -9.04521155e-01 7.48924024e-03 2.10072094e+02] [ 9.04375750e-01 -4.26428727e-01 -1.62186378e-02 1.63765739e+02] [ 1.78637282e-02 -1.41939485e-04 9.99840421e-01 4.68082917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.06, Y:163.79, Z:4.68 [[-4.25936355e-01 -9.04721587e-01 7.55456603e-03 2.10059525e+02] [ 9.04573869e-01 -4.26003325e-01 -1.63487882e-02 1.63790331e+02] [ 1.80093718e-02 -1.29880223e-04 9.99837810e-01 4.68096427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.05, Y:163.81, Z:4.68 [[-4.25363906e-01 -9.04988940e-01 7.78242412e-03 2.10047459e+02] [ 9.04832454e-01 -4.25435077e-01 -1.68293258e-02 1.63814484e+02] [ 1.85412700e-02 -1.16797856e-04 9.99828089e-01 4.68110982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.03, Y:163.84, Z:4.68 [[-4.24086762e-01 -9.05582232e-01 8.44039046e-03 2.10033714e+02] [ 9.05398576e-01 -4.24170736e-01 -1.82374581e-02 1.63839475e+02] [ 2.00956846e-02 -9.23470434e-05 9.99798057e-01 4.68101240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.02, Y:163.86, Z:4.68 [[-4.24124287e-01 -9.05561346e-01 8.78853394e-03 2.10021551e+02] [ 9.05362532e-01 -4.24215324e-01 -1.89748636e-02 1.63863857e+02] [ 2.09111338e-02 -9.08911597e-05 9.99781334e-01 4.68057256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.01, Y:163.89, Z:4.68 [[-4.24254516e-01 -9.05496194e-01 9.20586466e-03 2.10010551e+02] [ 9.05278386e-01 -4.24354373e-01 -1.98597539e-02 1.63888168e+02] [ 2.18894805e-02 -9.17199791e-05 9.99760392e-01 4.67973403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.390385723 meters Centerline goodness [0,1] 0.9999785867237687 Centerline is valid? [True, True] Translation: X:210.00, Y:163.91, Z:4.68 [[-4.24647675e-01 -9.05311555e-01 9.23797498e-03 2.09998718e+02] [ 9.05092517e-01 -4.24748136e-01 -1.99137401e-02 1.63913544e+02] [ 2.19519516e-02 -9.51013914e-05 9.99759022e-01 4.68071743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.99, Y:163.94, Z:4.68 [[-4.24781416e-01 -9.05247820e-01 9.33452094e-03 2.09987005e+02] [ 9.05024490e-01 -4.24883956e-01 -2.01071335e-02 1.63938994e+02] [ 2.21680269e-02 -9.31665890e-05 9.99754255e-01 4.68107105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.450385723 meters Centerline goodness [0,1] 0.9999785334020265 Centerline is valid? [True, True] Translation: X:209.98, Y:163.96, Z:4.68 [[-4.23929029e-01 -9.05641771e-01 9.85706367e-03 2.09975034e+02] [ 9.05393213e-01 -4.24043604e-01 -2.12167607e-02 1.63964890e+02] [ 2.33946095e-02 -6.98821832e-05 9.99726306e-01 4.68020095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.96, Y:163.99, Z:4.68 [[-4.23626428e-01 -9.05779669e-01 1.01902684e-02 2.09963606e+02] [ 9.05514455e-01 -4.23748969e-01 -2.19176514e-02 1.63990390e+02] [ 2.41706787e-02 -5.74610634e-05 9.99707845e-01 4.68034202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.95, Y:164.01, Z:4.68 [[-4.23169683e-01 -9.05989965e-01 1.04691306e-02 2.09953331e+02] [ 9.05710473e-01 -4.23299164e-01 -2.25023990e-02 1.64014968e+02] [ 2.48185219e-02 -4.03318566e-05 9.99691972e-01 4.67956265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.94, Y:164.04, Z:4.68 [[-4.22875372e-01 -9.06125740e-01 1.06095938e-02 2.09944267e+02] [ 9.05839107e-01 -4.23008443e-01 -2.27896738e-02 1.64040785e+02] [ 2.51382578e-02 -2.66067819e-05 9.99683984e-01 4.68035226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.570385723 meters Centerline goodness [0,1] 0.9999354574987629 Centerline is valid? [True, True] Translation: X:209.93, Y:164.07, Z:4.68 [[-4.22505549e-01 -9.06298432e-01 1.05930562e-02 2.09933514e+02] [ 9.06013183e-01 -4.22638322e-01 -2.27367564e-02 1.64066603e+02] [ 2.50833181e-02 -8.95716293e-06 9.99685364e-01 4.68159768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.600385723 meters Centerline goodness [0,1] 0.9998927567938571 Centerline is valid? [True, True] Translation: X:209.92, Y:164.09, Z:4.68 [[-4.21462551e-01 -9.06783411e-01 1.06378014e-02 2.09922150e+02] [ 9.06496317e-01 -4.21596779e-01 -2.28163038e-02 1.64092521e+02] [ 2.51743086e-02 2.69102288e-05 9.99683077e-01 4.68221277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.630385723 meters Centerline goodness [0,1] 0.9998922576335466 Centerline is valid? [True, True] Translation: X:209.91, Y:164.12, Z:4.68 [[-4.18747460e-01 -9.08038722e-01 1.07817060e-02 2.09910974e+02] [ 9.07744646e-01 -4.18886223e-01 -2.31081992e-02 1.64118648e+02] [ 2.54994478e-02 1.10536224e-04 9.99674830e-01 4.68184767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.660385723 meters Centerline goodness [0,1] 0.9998703459601962 Centerline is valid? [True, True] Translation: X:209.90, Y:164.14, Z:4.68 [[-4.17495327e-01 -9.08615304e-01 1.07647874e-02 2.09899996e+02] [ 9.08322773e-01 -4.17634057e-01 -2.30550464e-02 1.64143151e+02] [ 2.54439098e-02 1.52527444e-04 9.99676240e-01 4.68207271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.690385723 meters Centerline goodness [0,1] 0.9999783914603051 Centerline is valid? [True, True] Translation: X:209.89, Y:164.17, Z:4.68 [[-4.15527942e-01 -9.09513308e-01 1.10486538e-02 2.09890324e+02] [ 9.09205930e-01 -4.15674747e-01 -2.36449213e-02 1.64168442e+02] [ 2.60980170e-02 2.20376030e-04 9.99659364e-01 4.68144931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:164.19, Z:4.68 [[-4.14772890e-01 -9.09857563e-01 1.10753844e-02 2.09880645e+02] [ 9.09549301e-01 -4.14920657e-01 -2.36836764e-02 1.64192596e+02] [ 2.61441779e-02 2.50261272e-04 9.99658151e-01 4.68164739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.750385723 meters Centerline goodness [0,1] 0.9999135490285072 Centerline is valid? [True, True] Translation: X:209.87, Y:164.22, Z:4.68 [[-4.14526043e-01 -9.09967948e-01 1.12469454e-02 2.09871050e+02] [ 9.09650616e-01 -4.14678504e-01 -2.40311230e-02 1.64218334e+02] [ 2.65314182e-02 2.69264514e-04 9.99647944e-01 4.68243964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.86, Y:164.25, Z:4.68 [[-4.14174470e-01 -9.10131344e-01 1.09747838e-02 2.09863679e+02] [ 9.09829692e-01 -4.14319755e-01 -2.34322930e-02 1.64245641e+02] [ 2.58735341e-02 2.80126665e-04 9.99665185e-01 4.68436121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.810385723 meters Centerline goodness [0,1] 0.9999783329361038 Centerline is valid? [True, True] Translation: X:209.85, Y:164.27, Z:4.68 [[-4.14157159e-01 -9.10143622e-01 1.06035815e-02 2.09853456e+02] [ 9.09862452e-01 -4.14292784e-01 -2.26231822e-02 1.64271290e+02] [ 2.49833322e-02 2.78247790e-04 9.99687829e-01 4.68493572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.85, Y:164.30, Z:4.69 [[-4.14145007e-01 -9.10150117e-01 1.05203022e-02 2.09846143e+02] [ 9.09873791e-01 -4.14278509e-01 -2.24276953e-02 1.64297515e+02] [ 2.47709047e-02 2.83829208e-04 9.99693114e-01 4.68613841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.870385723 meters Centerline goodness [0,1] 0.9999783615354655 Centerline is valid? [True, True] Translation: X:209.84, Y:164.32, Z:4.69 [[-4.14316666e-01 -9.10072867e-01 1.04439818e-02 2.09836833e+02] [ 9.09800908e-01 -4.14448182e-01 -2.22488631e-02 1.64322600e+02] [ 2.45765759e-02 2.83869303e-04 9.99697910e-01 4.68633757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.83, Y:164.35, Z:4.69 [[-4.14697879e-01 -9.09896369e-01 1.06895628e-02 2.09828061e+02] [ 9.09611789e-01 -4.14835529e-01 -2.27569035e-02 1.64349028e+02] [ 2.51408343e-02 2.86112725e-04 9.99683878e-01 4.68683071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.930385723 meters Centerline goodness [0,1] 0.9999124649859944 Centerline is valid? [True, True] Translation: X:209.82, Y:164.38, Z:4.69 [[-4.15359955e-01 -9.09592491e-01 1.08447681e-02 2.09820343e+02] [ 9.09299862e-01 -4.15501412e-01 -2.30724380e-02 1.64375555e+02] [ 2.54925328e-02 2.77779356e-04 9.99674974e-01 4.68572273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.960385723 meters Centerline goodness [0,1] 0.9998909749024225 Centerline is valid? [True, True] Translation: X:209.81, Y:164.40, Z:4.69 [[-4.16148759e-01 -9.09229600e-01 1.10338398e-02 2.09810966e+02] [ 9.08926946e-01 -4.16294925e-01 -2.34593810e-02 1.64400216e+02] [ 2.59232951e-02 2.66361986e-04 9.99663899e-01 4.68542862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.990385723 meters Centerline goodness [0,1] 0.9999561105137265 Centerline is valid? [True, True] Translation: X:209.80, Y:164.43, Z:4.69 [[-4.17253191e-01 -9.08721743e-01 1.11610581e-02 2.09803041e+02] [ 9.08412393e-01 -4.17402365e-01 -2.37105641e-02 1.64426317e+02] [ 2.62049572e-02 2.45534981e-04 9.99656561e-01 4.68602564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.020385723 meters Centerline goodness [0,1] 0.9999781167253868 Centerline is valid? [True, True] Translation: X:209.80, Y:164.45, Z:4.69 [[-4.19597151e-01 -9.07637343e-01 1.15189116e-02 2.09798837e+02] [ 9.07307965e-01 -4.19755187e-01 -2.44507455e-02 1.64453189e+02] [ 2.70275326e-02 1.91737099e-04 9.99634671e-01 4.68564077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.050385723 meters Centerline goodness [0,1] 0.9999779638607316 Centerline is valid? [True, True] Translation: X:209.79, Y:164.48, Z:4.69 [[-4.21214030e-01 -9.06886171e-01 1.16710690e-02 2.09791350e+02] [ 9.06548292e-01 -4.21375663e-01 -2.47536928e-02 1.64479260e+02] [ 2.73666861e-02 1.53784954e-04 9.99625450e-01 4.68700513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.79, Y:164.51, Z:4.69 [[-4.24352458e-01 -9.05417114e-01 1.20350159e-02 2.09785228e+02] [ 9.05057781e-01 -4.24523080e-01 -2.55062231e-02 1.64506903e+02] [ 2.82029129e-02 6.87563334e-05 9.99602216e-01 4.68829201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.110385723 meters Centerline goodness [0,1] 0.999955879108758 Centerline is valid? [True, True] Translation: X:209.78, Y:164.53, Z:4.69 [[-4.25862300e-01 -9.04710680e-01 1.18273784e-02 2.09776296e+02] [ 9.04363870e-01 -4.26026507e-01 -2.50480764e-02 1.64532270e+02] [ 2.77000390e-02 2.92222765e-05 9.99616280e-01 4.68860971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.77, Y:164.56, Z:4.69 [[-4.27187645e-01 -9.04085216e-01 1.18591359e-02 2.09768149e+02] [ 9.03736847e-01 -4.27352224e-01 -2.50955955e-02 1.64557692e+02] [ 2.77565850e-02 -2.99028094e-06 9.99614712e-01 4.68941917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.76, Y:164.59, Z:4.69 [[-4.29603289e-01 -9.02932610e-01 1.23982335e-02 2.09762673e+02] [ 9.02551966e-01 -4.29782151e-01 -2.62154803e-02 1.64585742e+02] [ 2.89993515e-02 -7.22065428e-05 9.99579428e-01 4.69109020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.75, Y:164.61, Z:4.69 [[-4.30773382e-01 -9.02372788e-01 1.25556954e-02 2.09753364e+02] [ 9.01982737e-01 -4.30956310e-01 -2.65292456e-02 1.64612590e+02] [ 2.93502255e-02 -1.03072325e-04 9.99569184e-01 4.69185070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.74, Y:164.64, Z:4.69 [[-4.31806497e-01 -9.01877986e-01 1.26193599e-02 2.09743923e+02] [ 9.01484324e-01 -4.31990836e-01 -2.66445412e-02 1.64638703e+02] [ 2.94815730e-02 -1.29130861e-04 9.99565316e-01 4.69267389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.74, Y:164.67, Z:4.69 [[-4.32296245e-01 -9.01642990e-01 1.26441477e-02 2.09736071e+02] [ 9.01248174e-01 -4.32481097e-01 -2.66801298e-02 1.64665076e+02] [ 2.95243069e-02 -1.38204936e-04 9.99564053e-01 4.69383644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.73, Y:164.69, Z:4.69 [[-4.32145831e-01 -9.01712314e-01 1.28407207e-02 2.09725214e+02] [ 9.01305659e-01 -4.32336543e-01 -2.70780841e-02 1.64691378e+02] [ 2.99681547e-02 -1.28266954e-04 9.99550846e-01 4.69424344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.71, Y:164.72, Z:4.70 [[-4.31251679e-01 -9.02138785e-01 1.29461169e-02 2.09714428e+02] [ 9.01726257e-01 -4.31445946e-01 -2.72791818e-02 1.64715533e+02] [ 3.01951576e-02 -9.03394076e-05 9.99544018e-01 4.69518133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.70, Y:164.74, Z:4.70 [[-4.30513577e-01 -9.02495652e-01 1.26356062e-02 2.09701274e+02] [ 9.02103434e-01 -4.30698961e-01 -2.66044912e-02 1.64740810e+02] [ 2.94525801e-02 -5.49709407e-05 9.99566177e-01 4.69710935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.69, Y:164.76, Z:4.70 [[-4.29545299e-01 -9.02959130e-01 1.24758063e-02 2.09689023e+02] [ 9.02577523e-01 -4.29726436e-01 -2.62489223e-02 1.64764524e+02] [ 2.90628878e-02 -1.47187783e-05 9.99577585e-01 4.69816487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.68, Y:164.79, Z:4.70 [[-4.28185923e-01 -9.03603440e-01 1.25554074e-02 2.09676615e+02] [ 9.03217789e-01 -4.28369958e-01 -2.63970465e-02 1.64789811e+02] [ 2.92308214e-02 3.74236378e-05 9.99572688e-01 4.69963849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.67, Y:164.81, Z:4.70 [[-4.27932614e-01 -9.03721703e-01 1.26791657e-02 2.09665374e+02] [ 9.03329055e-01 -4.28120404e-01 -2.66371482e-02 1.64813155e+02] [ 2.95007784e-02 5.45542909e-05 9.99564756e-01 4.69938255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.65, Y:164.84, Z:4.70 [[-4.27403499e-01 -9.03967790e-01 1.29801047e-02 2.09651764e+02] [ 9.03557056e-01 -4.27600546e-01 -2.72473747e-02 1.64837021e+02] [ 3.01810489e-02 8.26419216e-05 9.99544445e-01 4.70102915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.500385723 meters Centerline goodness [0,1] 0.9999778083529359 Centerline is valid? [True, True] Translation: X:209.64, Y:164.86, Z:4.70 [[-4.27618774e-01 -9.03864190e-01 1.31037952e-02 2.09639192e+02] [ 9.03446135e-01 -4.27819493e-01 -2.74875159e-02 1.64859792e+02] [ 3.04510403e-02 8.43952954e-05 9.99536256e-01 4.70097138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.530385723 meters Centerline goodness [0,1] 0.9999778083529359 Centerline is valid? [True, True] Translation: X:209.63, Y:164.88, Z:4.70 [[-4.27894141e-01 -9.03733755e-01 1.31112521e-02 2.09627574e+02] [ 9.03315747e-01 -4.28094959e-01 -2.74839592e-02 1.64883912e+02] [ 3.04510426e-02 8.33754222e-05 9.99536256e-01 4.70137631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.61, Y:164.91, Z:4.70 [[-4.28483032e-01 -9.03454945e-01 1.30939967e-02 2.09614412e+02] [ 9.03038533e-01 -4.28683049e-01 -2.74271917e-02 1.64908813e+02] [ 3.03924064e-02 7.22972998e-05 9.99538042e-01 4.70257548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.60, Y:164.93, Z:4.70 [[-4.29281231e-01 -9.03072782e-01 1.33107002e-02 2.09602283e+02] [ 9.02642926e-01 -4.29487540e-01 -2.78603907e-02 1.64933035e+02] [ 3.08767405e-02 5.48665644e-05 9.99523198e-01 4.70291244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.59, Y:164.96, Z:4.71 [[-4.31376561e-01 -9.02074477e-01 1.32627563e-02 2.09591170e+02] [ 9.01647866e-01 -4.31580395e-01 -2.77396382e-02 1.64958958e+02] [ 3.07471652e-02 -7.89383689e-06 9.99527194e-01 4.70504644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.58, Y:164.98, Z:4.71 [[-4.32856249e-01 -9.01368955e-01 1.30182426e-02 2.09579861e+02] [ 9.00958195e-01 -4.33051965e-01 -2.72089392e-02 1.64984903e+02] [ 3.01628686e-02 -4.86669819e-05 9.99544996e-01 4.70658644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.57, Y:165.01, Z:4.71 [[-4.36180648e-01 -8.99771382e-01 1.25659011e-02 2.09569734e+02] [ 8.99388559e-01 -4.36361592e-01 -2.62446593e-02 1.65010530e+02] [ 2.90974700e-02 -1.45784780e-04 9.99576568e-01 4.70886836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.56, Y:165.04, Z:4.71 [[-4.37766270e-01 -8.99003085e-01 1.24155544e-02 2.09558061e+02] [ 8.98629628e-01 -4.37942255e-01 -2.59108489e-02 1.65035462e+02] [ 2.87312290e-02 -1.85910675e-04 9.99587156e-01 4.70959410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.55, Y:165.06, Z:4.71 [[-4.39180861e-01 -8.98312829e-01 1.24190636e-02 2.09546475e+02] [ 8.97939484e-01 -4.39356362e-01 -2.58972949e-02 1.65059306e+02] [ 2.87202669e-02 -2.22028725e-04 9.99587463e-01 4.70955908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.53, Y:165.08, Z:4.71 [[-4.41389484e-01 -8.97233409e-01 1.21463635e-02 2.09533216e+02] [ 8.96876438e-01 -4.41556490e-01 -2.53085322e-02 1.65083457e+02] [ 2.80709663e-02 -2.77132718e-04 9.99605894e-01 4.70795326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.800385723 meters Centerline goodness [0,1] 0.9999779005524861 Centerline is valid? [True, True] Translation: X:209.52, Y:165.11, Z:4.71 [[-4.42532612e-01 -8.96668499e-01 1.22674058e-02 2.09521098e+02] [ 8.96304724e-01 -4.42702505e-01 -2.55408177e-02 1.65107891e+02] [ 2.83324580e-02 -3.07311023e-04 9.99598508e-01 4.70707714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:165.13, Z:4.71 [[-4.44005480e-01 -8.95943352e-01 1.20267953e-02 2.09509064e+02] [ 8.95593978e-01 -4.44168206e-01 -2.50206162e-02 1.65132711e+02] [ 2.77589749e-02 -3.38165266e-04 9.99614588e-01 4.70672600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:165.16, Z:4.71 [[-4.44927652e-01 -8.95487993e-01 1.18591223e-02 2.09497184e+02] [ 8.95148632e-01 -4.45085531e-01 -2.46535298e-02 1.65158419e+02] [ 2.73552637e-02 -3.53360047e-04 9.99625712e-01 4.70716650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.49, Y:165.18, Z:4.71 [[-4.46575851e-01 -8.94673987e-01 1.13343407e-02 2.09485112e+02] [ 8.94364158e-01 -4.46719503e-01 -2.35465086e-02 1.65183801e+02] [ 2.61297198e-02 -3.78274023e-04 9.99658489e-01 4.70764208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.47, Y:165.21, Z:4.71 [[-4.47463909e-01 -8.94235492e-01 1.09057394e-02 2.09472919e+02] [ 8.93948917e-01 -4.47596625e-01 -2.26405688e-02 1.65208934e+02] [ 2.51273723e-02 -3.81663516e-04 9.99684185e-01 4.70800910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.950385723 meters Centerline goodness [0,1] 0.9998671008040402 Centerline is valid? [True, True] Translation: X:209.46, Y:165.23, Z:4.71 [[-4.48763288e-01 -8.93579734e-01 1.12592562e-02 2.09460679e+02] [ 8.93274504e-01 -4.48904310e-01 -2.33576668e-02 1.65234692e+02] [ 2.59262663e-02 -4.24456909e-04 9.99663768e-01 4.70777044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.45, Y:165.26, Z:4.71 [[-4.49278980e-01 -8.93334343e-01 1.01068760e-02 2.09448530e+02] [ 8.93088665e-01 -4.49392480e-01 -2.09531941e-02 1.65259818e+02] [ 2.32601619e-02 -3.87493311e-04 9.99729371e-01 4.70914604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.010385723 meters Centerline goodness [0,1] 0.999911288534043 Centerline is valid? [True, True] Translation: X:209.44, Y:165.28, Z:4.71 [[-4.49567953e-01 -8.93186877e-01 1.02887311e-02 2.09437652e+02] [ 8.92932563e-01 -4.49685496e-01 -2.13164778e-02 1.65284339e+02] [ 2.36662914e-02 -3.96062243e-04 9.99719836e-01 4.70908209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:165.31, Z:4.71 [[-4.49965395e-01 -8.92984758e-01 1.04578174e-02 2.09425309e+02] [ 8.92722282e-01 -4.50086721e-01 -2.16534122e-02 1.65308895e+02] [ 2.40430919e-02 -4.07359532e-04 9.99710840e-01 4.70859185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.070385723 meters Centerline goodness [0,1] 0.9999555693784156 Centerline is valid? [True, True] Translation: X:209.41, Y:165.33, Z:4.71 [[-4.49784076e-01 -8.93066516e-01 1.12464605e-02 2.09412539e+02] [ 8.92763479e-01 -4.49924457e-01 -2.32669956e-02 1.65331873e+02] [ 2.58390323e-02 -4.24694886e-04 9.99666026e-01 4.70576506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:165.35, Z:4.71 [[-4.49296112e-01 -8.93310214e-01 1.13958666e-02 2.09400567e+02] [ 8.92999655e-01 -4.49440426e-01 -2.35567473e-02 1.65354890e+02] [ 2.61652461e-02 -4.07450068e-04 9.99657548e-01 4.70522248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.39, Y:165.38, Z:4.70 [[-4.48705133e-01 -8.93607180e-01 1.13978844e-02 2.09388323e+02] [ 8.93297094e-01 -4.48849710e-01 -2.35422994e-02 1.65378782e+02] [ 2.61535049e-02 -3.81853523e-04 9.99657866e-01 4.70438887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.38, Y:165.40, Z:4.70 [[-4.48847391e-01 -8.93537162e-01 1.12853960e-02 2.09376481e+02] [ 8.93233602e-01 -4.48989088e-01 -2.32922906e-02 1.65403429e+02] [ 2.58795469e-02 -3.74188967e-04 9.99664998e-01 4.70484967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.36, Y:165.43, Z:4.71 [[-4.48857718e-01 -8.93534771e-01 1.10617734e-02 2.09364710e+02] [ 8.93243559e-01 -4.48993858e-01 -2.28135808e-02 1.65427663e+02] [ 2.53513960e-02 -3.59193952e-04 9.99678537e-01 4.70555122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.35, Y:165.45, Z:4.71 [[-4.49187070e-01 -8.93371442e-01 1.08831646e-02 2.09353635e+02] [ 8.93089941e-01 -4.49318752e-01 -2.24280388e-02 1.65451380e+02] [ 2.49265793e-02 -3.54740247e-04 9.99689222e-01 4.70663083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.34, Y:165.48, Z:4.71 [[-4.49818648e-01 -8.93059239e-01 1.04105198e-02 2.09341429e+02] [ 8.92801968e-01 -4.49938966e-01 -2.14376458e-02 1.65475802e+02] [ 2.38291862e-02 -3.48520237e-04 9.99715984e-01 4.70891415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.280385723 meters Centerline goodness [0,1] 0.9999777148842288 Centerline is valid? [True, True] Translation: X:209.33, Y:165.50, Z:4.71 [[-4.50177078e-01 -8.92881411e-01 1.01678604e-02 2.09329417e+02] [ 8.92636318e-01 -4.50291760e-01 -2.09220990e-02 1.65500727e+02] [ 2.32594570e-02 -3.42447897e-04 9.99729404e-01 4.70959521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.32, Y:165.52, Z:4.71 [[-4.49626727e-01 -8.93164082e-01 9.68140209e-03 2.09316809e+02] [ 8.92942276e-01 -4.49730841e-01 -1.99063526e-02 1.65524658e+02] [ 2.21336642e-02 -3.05494934e-04 9.99754974e-01 4.71105208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.30, Y:165.55, Z:4.71 [[-4.48970861e-01 -8.93494711e-01 9.61077719e-03 2.09304169e+02] [ 8.93276537e-01 -4.49073627e-01 -1.97460695e-02 1.65548843e+02] [ 2.19589552e-02 -2.80328034e-04 9.99758834e-01 4.71196288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.29, Y:165.57, Z:4.71 [[-4.48278798e-01 -8.93842988e-01 9.53058107e-03 2.09291526e+02] [ 8.93628844e-01 -4.48380027e-01 -1.95663171e-02 1.65573509e+02] [ 2.17625375e-02 -2.54362978e-04 9.99763136e-01 4.71280547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.400385723 meters Centerline goodness [0,1] 0.9999777317567418 Centerline is valid? [True, True] Translation: X:209.28, Y:165.60, Z:4.71 [[-4.45868757e-01 -8.95045765e-01 9.70207832e-03 2.09277363e+02] [ 8.94824471e-01 -4.45974261e-01 -1.99028899e-02 1.65596401e+02] [ 2.21408745e-02 -1.92419683e-04 9.99754842e-01 4.71254495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.26, Y:165.62, Z:4.71 [[-4.44563043e-01 -8.95695594e-01 9.64901545e-03 2.09263319e+02] [ 8.95477198e-01 -4.44667718e-01 -1.97789839e-02 1.65620182e+02] [ 2.20065544e-02 -1.52531943e-04 9.99757815e-01 4.71209564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.25, Y:165.64, Z:4.71 [[-4.43571920e-01 -8.96184051e-01 9.90449433e-03 2.09249662e+02] [ 8.95954410e-01 -4.43682467e-01 -2.02870206e-02 1.65643731e+02] [ 2.25753548e-02 -1.24777308e-04 9.99745136e-01 4.71180349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.24, Y:165.67, Z:4.71 [[-4.41911445e-01 -8.97003077e-01 9.98772079e-03 2.09237360e+02] [ 8.96770129e-01 -4.42024291e-01 -2.04416908e-02 1.65667313e+02] [ 2.27510748e-02 -7.67274730e-05 9.99741158e-01 4.71220269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.23, Y:165.69, Z:4.71 [[-4.41650220e-01 -8.97132818e-01 9.88888088e-03 2.09226533e+02] [ 8.96904816e-01 -4.41760911e-01 -2.02249280e-02 1.65691584e+02] [ 2.25129676e-02 -6.29589920e-05 9.99746549e-01 4.71323156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.21, Y:165.72, Z:4.72 [[-4.42453069e-01 -8.96744660e-01 9.18133216e-03 2.09214073e+02] [ 8.96548264e-01 -4.42548314e-01 -1.87670067e-02 1.65717229e+02] [ 2.08923961e-02 -7.20123053e-05 9.99781727e-01 4.71595654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.20, Y:165.74, Z:4.72 [[-4.43231251e-01 -8.96364091e-01 8.80197510e-03 2.09202530e+02] [ 8.96183770e-01 -4.43318633e-01 -1.79788744e-02 1.65741113e+02] [ 2.00176970e-02 -8.06117662e-05 9.99799623e-01 4.71514839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.19, Y:165.77, Z:4.72 [[-4.44219089e-01 -8.95876154e-01 8.67851902e-03 2.09189597e+02] [ 8.95701040e-01 -4.44303845e-01 -1.77127290e-02 1.65766101e+02] [ 1.97243109e-02 -9.49738318e-05 9.99805452e-01 4.71595909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.18, Y:165.79, Z:4.72 [[-4.44992209e-01 -8.95491166e-01 8.80372812e-03 2.09178412e+02] [ 8.95311145e-01 -4.45079274e-01 -1.79552931e-02 1.65790938e+02] [ 1.99971633e-02 -1.07889638e-04 9.99800031e-01 4.71661429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.17, Y:165.81, Z:4.72 [[-4.46465077e-01 -8.94755790e-01 9.00062464e-03 2.09168762e+02] [ 8.94567764e-01 -4.46555772e-01 -1.83427993e-02 1.65814935e+02] [ 2.04316067e-02 -1.37750622e-04 9.99791243e-01 4.71714004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.700385723 meters Centerline goodness [0,1] 0.9999777639420083 Centerline is valid? [True, True] Translation: X:209.16, Y:165.84, Z:4.72 [[-4.47210093e-01 -8.94384563e-01 8.90986454e-03 2.09156520e+02] [ 8.94200522e-01 -4.47298817e-01 -1.81437186e-02 1.65838986e+02] [ 2.02128337e-02 -1.46848579e-04 9.99795689e-01 4.71766150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.14, Y:165.86, Z:4.72 [[-4.48175447e-01 -8.93901940e-01 8.83692207e-03 2.09144983e+02] [ 8.93721092e-01 -4.48262531e-01 -1.79809009e-02 1.65862310e+02] [ 2.00344233e-02 -1.60854657e-04 9.99799278e-01 4.71758359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.13, Y:165.89, Z:4.72 [[-4.49523839e-01 -8.93224620e-01 8.83725062e-03 2.09132392e+02] [ 8.93043919e-01 -4.49610659e-01 -1.79670387e-02 1.65886585e+02] [ 2.00219233e-02 -1.84559275e-04 9.99799524e-01 4.71783379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.12, Y:165.91, Z:4.72 [[-4.50046501e-01 -8.92960538e-01 8.92329740e-03 2.09120220e+02] [ 8.92776534e-01 -4.50134915e-01 -1.81278429e-02 1.65910588e+02] [ 2.02041361e-02 -1.91861750e-04 9.99795857e-01 4.71807424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.11, Y:165.94, Z:4.72 [[-4.50654843e-01 -8.92652688e-01 9.02171849e-03 2.09108045e+02] [ 8.92464832e-01 -4.50745092e-01 -1.83135467e-02 1.65935058e+02] [ 2.04141320e-02 -2.01522012e-04 9.99791590e-01 4.71837923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.10, Y:165.96, Z:4.72 [[-4.51601084e-01 -8.92171666e-01 9.28328823e-03 2.09097174e+02] [ 8.91972946e-01 -4.51696434e-01 -1.88306910e-02 1.65958915e+02] [ 2.09934372e-02 -2.23518528e-04 9.99779589e-01 4.71904052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.09, Y:165.98, Z:4.72 [[-4.52279541e-01 -8.91825807e-01 9.48399324e-03 2.09085772e+02] [ 8.91618592e-01 -4.52378904e-01 -1.92253414e-02 1.65983967e+02] [ 2.14360141e-02 -2.39123898e-04 9.99770194e-01 4.71995262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.910385723 meters Centerline goodness [0,1] 0.9999334560699155 Centerline is valid? [True, True] Translation: X:209.07, Y:166.01, Z:4.72 [[-4.52751036e-01 -8.91581872e-01 9.91285767e-03 2.09074907e+02] [ 8.91355787e-01 -4.52859471e-01 -2.00788593e-02 1.66008190e+02] [ 2.23910784e-02 -2.54841290e-04 9.99749256e-01 4.72052245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.06, Y:166.03, Z:4.72 [[-4.53128695e-01 -8.91389217e-01 9.98248438e-03 2.09061210e+02] [ 8.91160257e-01 -4.53238565e-01 -2.02039685e-02 1.66032366e+02] [ 2.25340465e-02 -2.59004522e-04 9.99746043e-01 4.72128847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.05, Y:166.06, Z:4.72 [[-4.53147846e-01 -8.91379408e-01 9.98901324e-03 2.09047373e+02] [ 8.91150485e-01 -4.53257859e-01 -2.02021298e-02 1.66056397e+02] [ 2.25353612e-02 -2.52837605e-04 9.99746015e-01 4.72148479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.03, Y:166.08, Z:4.72 [[-4.52777292e-01 -8.91567818e-01 9.97743627e-03 2.09034580e+02] [ 8.91339803e-01 -4.52887149e-01 -2.01639663e-02 1.66079753e+02] [ 2.24961961e-02 -2.36499962e-04 9.99746901e-01 4.72133405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.02, Y:166.10, Z:4.72 [[-4.52358183e-01 -8.91781932e-01 9.85185098e-03 2.09021949e+02] [ 8.91560023e-01 -4.52465400e-01 -1.98943836e-02 1.66103965e+02] [ 2.21990735e-02 -2.15870730e-04 9.99753547e-01 4.72321904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.01, Y:166.13, Z:4.73 [[-4.51736177e-01 -8.92100630e-01 9.53375306e-03 2.09009790e+02] [ 8.91893201e-01 -4.51836731e-01 -1.92376558e-02 1.66128453e+02] [ 2.14696246e-02 -1.87255546e-04 9.99769484e-01 4.72610935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.00, Y:166.15, Z:4.73 [[-4.51333617e-01 -8.92302707e-01 9.68736399e-03 2.08996414e+02] [ 8.92088907e-01 -4.51437536e-01 -1.95328814e-02 1.66153115e+02] [ 2.18024827e-02 -1.73856093e-04 9.99762283e-01 4.72716779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.120385723 meters Centerline goodness [0,1] 0.9999777550384837 Centerline is valid? [True, True] Translation: X:208.98, Y:166.18, Z:4.73 [[-4.50781850e-01 -8.92577679e-01 1.00404499e-02 2.08982619e+02] [ 8.92348401e-01 -4.50893625e-01 -2.02304283e-02 1.66177797e+02] [ 2.25844036e-02 -1.59930505e-04 9.99744927e-01 4.72731380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.97, Y:166.20, Z:4.73 [[-4.49459888e-01 -8.93234167e-01 1.08872089e-02 2.08968388e+02] [ 8.92965165e-01 -4.49591710e-01 -2.19204890e-02 1.66202356e+02] [ 2.44749286e-02 -1.30482206e-04 9.99700436e-01 4.72718772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.96, Y:166.23, Z:4.73 [[-4.48884559e-01 -8.93521084e-01 1.10781394e-02 2.08956301e+02] [ 8.93243048e-01 -4.49021225e-01 -2.22889411e-02 1.66226766e+02] [ 2.48899585e-02 -1.09690539e-04 9.99690191e-01 4.72654636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.94, Y:166.25, Z:4.73 [[-4.48594657e-01 -8.93663746e-01 1.13112141e-02 2.08942900e+02] [ 8.93374353e-01 -4.48737229e-01 -2.27412788e-02 1.66251661e+02] [ 2.53988193e-02 -9.64675930e-05 9.99677393e-01 4.72916256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.93, Y:166.28, Z:4.73 [[-4.48989029e-01 -8.93466135e-01 1.12746193e-02 2.08930607e+02] [ 8.93178909e-01 -4.49130555e-01 -2.26535123e-02 1.66275438e+02] [ 2.53039221e-02 -1.00926385e-04 9.99679799e-01 4.73043410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.270385723 meters Centerline goodness [0,1] 0.9999557737384459 Centerline is valid? [True, True] Translation: X:208.92, Y:166.30, Z:4.73 [[-4.50003838e-01 -8.92955136e-01 1.12991946e-02 2.08917544e+02] [ 8.92666832e-01 -4.50145655e-01 -2.26895749e-02 1.66300111e+02] [ 2.53470557e-02 -1.23979515e-04 9.99678704e-01 4.73122439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.90, Y:166.32, Z:4.73 [[-4.50536162e-01 -8.92687578e-01 1.12274206e-02 2.08903580e+02] [ 8.92403236e-01 -4.50676015e-01 -2.25298280e-02 1.66324788e+02] [ 2.51720267e-02 -1.31115790e-04 9.99683126e-01 4.73199909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.89, Y:166.35, Z:4.73 [[-4.51217293e-01 -8.92341023e-01 1.14216455e-02 2.08889771e+02] [ 8.92047068e-01 -4.51361804e-01 -2.29030721e-02 1.66348303e+02] [ 2.55926453e-02 -1.45616857e-04 9.99672444e-01 4.73164229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.88, Y:166.37, Z:4.73 [[-4.51741099e-01 -8.92072600e-01 1.16814118e-02 2.08877497e+02] [ 8.91765495e-01 -4.51892080e-01 -2.34061901e-02 1.66372664e+02] [ 2.61587583e-02 -1.56458097e-04 9.99657789e-01 4.73223589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.86, Y:166.40, Z:4.73 [[-4.53103141e-01 -8.91381560e-01 1.16815238e-02 2.08864549e+02] [ 8.91074668e-01 -4.53253658e-01 -2.33892778e-02 1.66397607e+02] [ 2.61434643e-02 -1.88645263e-04 9.99658183e-01 4.73394264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.85, Y:166.42, Z:4.73 [[-4.53346303e-01 -8.91257832e-01 1.16879062e-02 2.08852158e+02] [ 8.90950980e-01 -4.53496904e-01 -2.33860885e-02 1.66422257e+02] [ 2.61434638e-02 -1.88645258e-04 9.99658183e-01 4.73435981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.84, Y:166.45, Z:4.74 [[-4.54363327e-01 -8.90741445e-01 1.15605406e-02 2.08838796e+02] [ 8.90441486e-01 -4.54510325e-01 -2.31154444e-02 1.66446902e+02] [ 2.58442694e-02 -2.08825242e-04 9.99665959e-01 4.73574627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.83, Y:166.47, Z:4.74 [[-4.55336549e-01 -8.90246656e-01 1.13806051e-02 2.08825391e+02] [ 8.89956207e-01 -4.55478693e-01 -2.27400398e-02 1.66471865e+02] [ 2.54278675e-02 -2.26131135e-04 9.99676634e-01 4.73665064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.81, Y:166.50, Z:4.74 [[-4.57424860e-01 -8.89179618e-01 1.10500662e-02 2.08810974e+02] [ 8.88905856e-01 -4.57558229e-01 -2.20646017e-02 1.66496196e+02] [ 2.46754428e-02 -2.70428807e-04 9.99695478e-01 4.73791693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.540385723 meters Centerline goodness [0,1] 0.9999781396873976 Centerline is valid? [True, True] Translation: X:208.80, Y:166.52, Z:4.74 [[-4.58235743e-01 -8.88763765e-01 1.09075421e-02 2.08797289e+02] [ 8.88497265e-01 -4.58365456e-01 -2.17650967e-02 1.66520532e+02] [ 2.43436698e-02 -2.82223931e-04 9.99703609e-01 4.73860636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.570385723 meters Centerline goodness [0,1] 0.9999781897491821 Centerline is valid? [True, True] Translation: X:208.78, Y:166.54, Z:4.74 [[-4.58828223e-01 -8.88460181e-01 1.07316658e-02 2.08783035e+02] [ 8.88202474e-01 -4.58953619e-01 -2.13995442e-02 1.66544977e+02] [ 2.39379797e-02 -2.86822744e-04 9.99713404e-01 4.73926743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.77, Y:166.57, Z:4.74 [[-4.59458888e-01 -8.88129366e-01 1.11247088e-02 2.08768133e+02] [ 8.87852734e-01 -4.59593445e-01 -2.21672735e-02 1.66567682e+02] [ 2.48002498e-02 -3.07847699e-04 9.99692379e-01 4.73890169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.630385723 meters Centerline goodness [0,1] 0.9999783273010988 Centerline is valid? [True, True] Translation: X:208.75, Y:166.59, Z:4.74 [[-4.59717960e-01 -8.87994620e-01 1.11782532e-02 2.08754709e+02] [ 8.87715699e-01 -4.59853738e-01 -2.22570590e-02 1.66590613e+02] [ 2.49045102e-02 -3.08858871e-04 9.99689787e-01 4.73903556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.74, Y:166.61, Z:4.74 [[-4.60683682e-01 -8.87498708e-01 1.07976212e-02 2.08737442e+02] [ 8.87238708e-01 -4.60810094e-01 -2.14832893e-02 1.66613068e+02] [ 2.40420443e-02 -3.16933324e-04 9.99710898e-01 4.73954239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.690385723 meters Centerline goodness [0,1] 0.9999567791848554 Centerline is valid? [True, True] Translation: X:208.72, Y:166.64, Z:4.74 [[-4.61864924e-01 -8.86885941e-01 1.06826557e-02 2.08722584e+02] [ 8.86631627e-01 -4.61988325e-01 -2.12401763e-02 1.66637179e+02] [ 2.37728760e-02 -3.38511954e-04 9.99717328e-01 4.74006462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.71, Y:166.66, Z:4.74 [[-4.63251316e-01 -8.86166553e-01 1.03468660e-02 2.08707718e+02] [ 8.85928114e-01 -4.63366715e-01 -2.05587910e-02 1.66660837e+02] [ 2.30129062e-02 -3.57307509e-04 9.99735104e-01 4.74037270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.750385723 meters Centerline goodness [0,1] 0.9999138469491051 Centerline is valid? [True, True] Translation: X:208.69, Y:166.68, Z:4.74 [[-4.66542163e-01 -8.84437819e-01 1.03997209e-02 2.08691401e+02] [ 8.84196842e-01 -4.66657853e-01 -2.06492892e-02 1.66683004e+02] [ 2.31161238e-02 -4.38363688e-04 9.99732691e-01 4.73857689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.68, Y:166.71, Z:4.74 [[-4.67222124e-01 -8.84082055e-01 1.01196528e-02 2.08675779e+02] [ 8.83854114e-01 -4.67331499e-01 -2.00792068e-02 1.66707094e+02] [ 2.24808989e-02 -4.37152937e-04 9.99747177e-01 4.73938724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.66, Y:166.73, Z:4.74 [[-4.68433020e-01 -8.83442999e-01 9.94857369e-03 2.08659977e+02] [ 8.83222849e-01 -4.68538432e-01 -1.97265302e-02 1.66730732e+02] [ 2.20885542e-02 -4.53750525e-04 9.99755915e-01 4.73965045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.840385723 meters Centerline goodness [0,1] 0.9999785761724189 Centerline is valid? [True, True] Translation: X:208.64, Y:166.75, Z:4.74 [[-4.70342098e-01 -8.82436833e-01 9.14034477e-03 2.08643938e+02] [ 8.82251038e-01 -4.70430684e-01 -1.81129468e-02 1.66752457e+02] [ 2.02834301e-02 -4.55202769e-04 9.99794166e-01 4.74008713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.870385723 meters Centerline goodness [0,1] 0.9999786516374194 Centerline is valid? [True, True] Translation: X:208.63, Y:166.78, Z:4.74 [[-4.71859811e-01 -8.81631587e-01 8.60603185e-03 2.08628618e+02] [ 8.81466927e-01 -4.71938064e-01 -1.70446462e-02 1.66775631e+02] [ 1.90886125e-02 -4.56751074e-04 9.99817692e-01 4.74091033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.61, Y:166.80, Z:4.74 [[-4.75301882e-01 -8.79783518e-01 8.31151231e-03 2.08610544e+02] [ 8.79629862e-01 -4.75374277e-01 -1.64500285e-02 1.66796967e+02] [ 1.84235431e-02 -5.07675084e-04 9.99830143e-01 4.74122155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.59, Y:166.82, Z:4.74 [[-4.77164991e-01 -8.78775737e-01 8.17162356e-03 2.08594995e+02] [ 8.78627262e-01 -4.77234660e-01 -1.61620969e-02 1.66820484e+02] [ 1.81026406e-02 -5.32175616e-04 9.99835992e-01 4.74105356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.58, Y:166.84, Z:4.74 [[-4.78719356e-01 -8.77929795e-01 8.18868051e-03 2.08576645e+02] [ 8.77780768e-01 -4.78789058e-01 -1.61852327e-02 1.66842998e+02] [ 1.81301486e-02 -5.60317889e-04 9.99835478e-01 4.74155171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.56, Y:166.87, Z:4.74 [[-4.80040430e-01 -8.77211595e-01 7.81045981e-03 2.08564284e+02] [ 8.77076087e-01 -4.80103644e-01 -1.54281722e-02 1.66867829e+02] [ 1.72836017e-02 -5.55778866e-04 9.99850473e-01 4.74164660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.54, Y:166.89, Z:4.74 [[-4.81759596e-01 -8.76273318e-01 7.26387015e-03 2.08541662e+02] [ 8.76156142e-01 -4.81814048e-01 -1.43400987e-02 1.66888225e+02] [ 1.60656806e-02 -5.44195741e-04 9.99870791e-01 4.74186047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.53, Y:166.91, Z:4.74 [[-4.82369008e-01 -8.75940949e-01 6.89891328e-03 2.08525501e+02] [ 8.75835351e-01 -4.82418056e-01 -1.36108848e-02 1.66911094e+02] [ 1.52504917e-02 -5.23156871e-04 9.99883568e-01 4.74185671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.51, Y:166.93, Z:4.74 [[-4.82309092e-01 -8.75977005e-01 6.49822177e-03 2.08507846e+02] [ 8.75883440e-01 -4.82352619e-01 -1.28121479e-02 1.66932893e+02] [ 1.43575812e-02 -4.87730556e-04 9.99896806e-01 4.74218058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.49, Y:166.95, Z:4.74 [[-4.82296674e-01 -8.75982932e-01 6.61977988e-03 2.08490153e+02] [ 8.75885928e-01 -4.82341849e-01 -1.30454128e-02 1.66954496e+02] [ 1.46205559e-02 -4.93587173e-04 9.99892992e-01 4.74159969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.47, Y:166.98, Z:4.74 [[-4.81452403e-01 -8.76445791e-01 6.80871357e-03 2.08471029e+02] [ 8.76343371e-01 -4.81500297e-01 -1.34074361e-02 1.66976792e+02] [ 1.50292886e-02 -4.88271335e-04 9.99886935e-01 4.74065400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.45, Y:167.00, Z:4.74 [[-4.77739158e-01 -8.78470654e-01 7.38974121e-03 2.08448871e+02] [ 8.78350406e-01 -4.77796089e-01 -1.45417274e-02 1.66995828e+02] [ 1.63052702e-02 -4.56370387e-04 9.99866956e-01 4.73805129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.43, Y:167.02, Z:4.74 [[-4.75536092e-01 -8.79666992e-01 7.16992259e-03 2.08431926e+02] [ 8.79554046e-01 -4.75589974e-01 -1.41016470e-02 1.67018263e+02] [ 1.58146967e-02 -3.99507704e-04 9.99874860e-01 4.73833969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.41, Y:167.04, Z:4.74 [[-4.71503148e-01 -8.81836892e-01 6.96261576e-03 2.08411037e+02] [ 8.81730754e-01 -4.71554449e-01 -1.36850348e-02 1.67037685e+02] [ 1.53512210e-02 -3.13384555e-04 9.99882114e-01 4.73811989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.39, Y:167.06, Z:4.74 [[-4.69945744e-01 -8.82668044e-01 6.93705201e-03 2.08393627e+02] [ 8.82562881e-01 -4.69996857e-01 -1.36277884e-02 1.67060748e+02] [ 1.52892060e-02 -2.81936551e-04 9.99883074e-01 4.73809253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.38, Y:167.08, Z:4.74 [[-4.69185527e-01 -8.83072096e-01 6.97243836e-03 2.08376649e+02] [ 8.82966042e-01 -4.69237256e-01 -1.36881984e-02 1.67083292e+02] [ 1.53593939e-02 -2.65878285e-04 9.99882002e-01 4.73821974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.36, Y:167.10, Z:4.74 [[-4.67882297e-01 -8.83762152e-01 7.11443713e-03 2.08359455e+02] [ 8.83651963e-01 -4.67936320e-01 -1.39573938e-02 1.67103680e+02] [ 1.56641199e-02 -2.43731121e-04 9.99877280e-01 4.73825317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.34, Y:167.13, Z:4.74 [[-4.67580552e-01 -8.83919100e-01 7.44657421e-03 2.08344568e+02] [ 8.83798598e-01 -4.67639781e-01 -1.45970300e-02 1.67126350e+02] [ 1.63849080e-02 -2.44015495e-04 9.99865729e-01 4.73856931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.33, Y:167.15, Z:4.74 [[-4.68349570e-01 -8.83511754e-01 7.46062911e-03 2.08327142e+02] [ 8.83390921e-01 -4.68408920e-01 -1.46138246e-02 1.67148775e+02] [ 1.64061110e-02 -2.53726425e-04 9.99865379e-01 4.73905029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.31, Y:167.17, Z:4.74 [[-4.69225351e-01 -8.83048886e-01 7.22735419e-03 2.08313928e+02] [ 8.82935585e-01 -4.69280938e-01 -1.41475534e-02 1.67172129e+02] [ 1.58846409e-02 -2.57102535e-04 9.99873798e-01 4.73962859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.440385723 meters Centerline goodness [0,1] 0.9999791723075 Centerline is valid? [True, True] Translation: X:208.30, Y:167.20, Z:4.74 [[-4.70117408e-01 -8.82574537e-01 7.19787718e-03 2.08302101e+02] [ 8.82462262e-01 -4.70172431e-01 -1.40797856e-02 1.67195778e+02] [ 1.58107037e-02 -2.67297343e-04 9.99874967e-01 4.74004411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.29, Y:167.22, Z:4.74 [[-4.72336428e-01 -8.81395194e-01 6.38835791e-03 2.08285321e+02] [ 8.81306770e-01 -4.72379551e-01 -1.24874512e-02 1.67219468e+02] [ 1.40241091e-02 -2.68175010e-04 9.99901621e-01 4.74166731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.28, Y:167.25, Z:4.74 [[-4.73432364e-01 -8.80808101e-01 6.23585563e-03 2.08275345e+02] [ 8.80723903e-01 -4.73473351e-01 -1.21816464e-02 1.67245203e+02] [ 1.36822042e-02 -2.75118524e-04 9.99906356e-01 4.74337704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.26, Y:167.27, Z:4.74 [[-4.75393102e-01 -8.79751461e-01 6.22624192e-03 2.08259277e+02] [ 8.79667510e-01 -4.75433777e-01 -1.21571341e-02 1.67268335e+02] [ 1.36554222e-02 -3.02394946e-04 9.99906715e-01 4.74400500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.24, Y:167.29, Z:4.74 [[-4.76035042e-01 -8.79404456e-01 6.20017082e-03 2.08243821e+02] [ 8.79321284e-01 -4.76075319e-01 -1.20983432e-02 1.67291948e+02] [ 1.35910853e-02 -3.07293174e-04 9.99907590e-01 4.74375346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.23, Y:167.32, Z:4.74 [[-4.75801542e-01 -8.79529155e-01 6.43110588e-03 2.08229579e+02] [ 8.79439808e-01 -4.75844901e-01 -1.25400774e-02 1.67316198e+02] [ 1.40895726e-02 -3.10817624e-04 9.99900689e-01 4.74385967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.21, Y:167.34, Z:4.74 [[-4.75023232e-01 -8.79945783e-01 6.95326377e-03 2.08214833e+02] [ 8.79841534e-01 -4.75074013e-01 -1.35483256e-02 1.67340000e+02] [ 1.52251069e-02 -3.17999169e-04 9.99884041e-01 4.74388858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.20, Y:167.36, Z:4.74 [[-4.73925780e-01 -8.80531673e-01 7.63724681e-03 2.08199234e+02] [ 8.80406165e-01 -4.73987202e-01 -1.48700231e-02 1.67363066e+02] [ 1.67134835e-02 -3.23408105e-04 9.99860268e-01 4.74354492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.19, Y:167.39, Z:4.74 [[-4.73357716e-01 -8.80832848e-01 8.12195219e-03 2.08186321e+02] [ 8.80691149e-01 -4.73427277e-01 -1.58023525e-02 1.67386560e+02] [ 1.77643849e-02 -3.27234089e-04 9.99842147e-01 4.74363279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.17, Y:167.41, Z:4.74 [[-4.73508577e-01 -8.80753428e-01 7.93894634e-03 2.08172432e+02] [ 8.80618216e-01 -4.73575019e-01 -1.54356556e-02 1.67410519e+02] [ 1.73546932e-02 -3.17734549e-04 9.99849345e-01 4.74412691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.16, Y:167.43, Z:4.75 [[-4.72806890e-01 -8.81129769e-01 7.99846922e-03 2.08158871e+02] [ 8.80992760e-01 -4.72874444e-01 -1.55408229e-02 1.67434118e+02] [ 1.74757533e-02 -3.01214652e-04 9.99847242e-01 4.74508739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.15, Y:167.46, Z:4.75 [[-4.72448375e-01 -8.81321781e-01 8.02810456e-03 2.08146693e+02] [ 8.81183976e-01 -4.72516490e-01 -1.55874052e-02 1.67457045e+02] [ 1.75309315e-02 -2.90007169e-04 9.99846279e-01 4.74584095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.13, Y:167.48, Z:4.75 [[-4.71651913e-01 -8.81748655e-01 7.98635760e-03 2.08130312e+02] [ 8.81612547e-01 -4.71719448e-01 -1.54945136e-02 1.67479881e+02] [ 1.74295867e-02 -2.67143908e-04 9.99848058e-01 4.74719607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.12, Y:167.50, Z:4.75 [[-4.70924578e-01 -8.82133079e-01 8.44236536e-03 2.08119023e+02] [ 8.81981248e-01 -4.71000173e-01 -1.63681330e-02 1.67504660e+02] [ 1.84152271e-02 -2.62148186e-04 9.99830391e-01 4.74685302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.11, Y:167.53, Z:4.75 [[-4.70736260e-01 -8.82231895e-01 8.61728774e-03 2.08105063e+02] [ 8.82073894e-01 -4.70815056e-01 -1.66981757e-02 1.67527598e+02] [ 1.87888120e-02 -2.59352222e-04 9.99823441e-01 4.74754384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.09, Y:167.55, Z:4.75 [[-4.70109674e-01 -8.82565167e-01 8.69593770e-03 2.08090385e+02] [ 8.82404553e-01 -4.70190032e-01 -1.68386190e-02 1.67551256e+02] [ 1.89499218e-02 -2.42662689e-04 9.99820405e-01 4.74937002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.920385723 meters Centerline goodness [0,1] 0.9999791579824927 Centerline is valid? [True, True] Translation: X:208.08, Y:167.58, Z:4.75 [[-4.69719330e-01 -8.82773667e-01 8.62580009e-03 2.08078459e+02] [ 8.82615876e-01 -4.69798469e-01 -1.66917305e-02 1.67576099e+02] [ 1.87874078e-02 -2.27160338e-04 9.99823475e-01 4.74982854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.950385723 meters Centerline goodness [0,1] 0.999958210576903 Centerline is valid? [True, True] Translation: X:208.06, Y:167.60, Z:4.75 [[-4.69416887e-01 -8.82936327e-01 8.43969068e-03 2.08063190e+02] [ 8.82785495e-01 -4.69492702e-01 -1.63209305e-02 1.67600251e+02] [ 1.83727156e-02 -2.10883875e-04 9.99831185e-01 4.75121078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.05, Y:167.62, Z:4.75 [[-4.68380543e-01 -8.83481467e-01 8.95342588e-03 2.08050167e+02] [ 8.83312034e-01 -4.68466070e-01 -1.73029511e-02 1.67624088e+02] [ 1.94812128e-02 -1.95696795e-04 9.99810204e-01 4.75139695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.04, Y:167.65, Z:4.75 [[-4.68443757e-01 -8.83446177e-01 9.12681812e-03 2.08037419e+02] [ 8.83270305e-01 -4.68532618e-01 -1.76282539e-02 1.67647589e+02] [ 1.98498255e-02 -1.96398049e-04 9.99802954e-01 4.75189142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.040385723 meters Centerline goodness [0,1] 0.9999792143005612 Centerline is valid? [True, True] Translation: X:208.03, Y:167.67, Z:4.75 [[-4.68686473e-01 -8.83322690e-01 8.60318058e-03 2.08025232e+02] [ 8.83166619e-01 -4.68765390e-01 -1.66051981e-02 1.67672360e+02] [ 1.87006215e-02 -1.84589823e-04 9.99825111e-01 4.75415373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.01, Y:167.70, Z:4.76 [[-4.68982820e-01 -8.83168148e-01 8.31481845e-03 2.08013773e+02] [ 8.83022540e-01 -4.69056489e-01 -1.60376027e-02 1.67695492e+02] [ 1.80640195e-02 -1.79188045e-04 9.99836816e-01 4.75520916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.00, Y:167.72, Z:4.76 [[-4.68782534e-01 -8.83274544e-01 8.30760557e-03 2.07999680e+02] [ 8.83129374e-01 -4.68856110e-01 -1.60142870e-02 1.67719538e+02] [ 1.80400837e-02 -1.70527539e-04 9.99837250e-01 4.75617401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.99, Y:167.74, Z:4.76 [[-4.68777001e-01 -8.83278497e-01 8.19877002e-03 2.07988170e+02] [ 8.83137302e-01 -4.68848665e-01 -1.57935499e-02 1.67744257e+02] [ 1.77940854e-02 -1.63013341e-04 9.99841659e-01 4.75612073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.98, Y:167.77, Z:4.76 [[-4.68381813e-01 -8.83484373e-01 8.59304633e-03 2.07976114e+02] [ 8.83329539e-01 -4.68460605e-01 -1.65404713e-02 1.67768421e+02] [ 1.86387516e-02 -1.56764290e-04 9.99826271e-01 4.75713955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.97, Y:167.79, Z:4.76 [[-4.69746791e-01 -8.82755881e-01 8.94468560e-03 2.07966278e+02] [ 8.82588222e-01 -4.69831906e-01 -1.72049807e-02 1.67792677e+02] [ 1.93902966e-02 -1.87510299e-04 9.99811973e-01 4.75662156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.95, Y:167.82, Z:4.76 [[-4.71375477e-01 -8.81886685e-01 9.00198352e-03 2.07953227e+02] [ 8.81716915e-01 -4.71461374e-01 -1.73047674e-02 1.67816936e+02] [ 1.95049315e-02 -2.19841839e-04 9.99809737e-01 4.75797643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.94, Y:167.84, Z:4.76 [[-4.73245755e-01 -8.80884100e-01 9.03642403e-03 2.07944088e+02] [ 8.80713083e-01 -4.73331951e-01 -1.73588455e-02 1.67842726e+02] [ 1.95683592e-02 -2.56503094e-04 9.99808488e-01 4.75739265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.93, Y:167.87, Z:4.76 [[-4.75322070e-01 -8.79764157e-01 9.16280332e-03 2.07933476e+02] [ 8.79588334e-01 -4.75410282e-01 -1.75905159e-02 1.67867602e+02] [ 1.98315963e-02 -3.01665534e-04 9.99803289e-01 4.75722034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.92, Y:167.89, Z:4.76 [[-4.79136418e-01 -8.77687372e-01 9.65250174e-03 2.07920919e+02] [ 8.77492098e-01 -4.79233467e-01 -1.85176236e-02 1.67893053e+02] [ 2.08784863e-02 -4.02473859e-04 9.99781940e-01 4.75804412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.91, Y:167.92, Z:4.76 [[-4.79380706e-01 -8.77553915e-01 9.65741030e-03 2.07908130e+02] [ 8.77358666e-01 -4.79477804e-01 -1.85150636e-02 1.67917456e+02] [ 2.08784804e-02 -4.02751627e-04 9.99781940e-01 4.75846141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.90, Y:167.94, Z:4.76 [[-4.81005978e-01 -8.76664902e-01 9.58639070e-03 2.07897831e+02] [ 8.76472587e-01 -4.81101302e-01 -1.83668452e-02 1.67943010e+02] [ 2.07135936e-02 -4.32353690e-04 9.99785357e-01 4.75857096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.89, Y:167.97, Z:4.76 [[-4.82936149e-01 -8.75598478e-01 9.99908160e-03 2.07886100e+02] [ 8.75389284e-01 -4.83039401e-01 -1.91452055e-02 1.67968821e+02] [ 2.15934632e-02 -4.92822943e-04 9.99766713e-01 4.75809869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.87, Y:167.99, Z:4.76 [[-4.83633451e-01 -8.75215521e-01 9.82229854e-03 2.07874097e+02] [ 8.75013821e-01 -4.83732929e-01 -1.87953756e-02 1.67992709e+02] [ 2.12013737e-02 -4.95425402e-04 9.99775103e-01 4.75830509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.86, Y:168.02, Z:4.76 [[-4.84379108e-01 -8.74805835e-01 9.57244429e-03 2.07861049e+02] [ 8.74614385e-01 -4.84473432e-01 -1.83077001e-02 1.68017102e+02] [ 2.06532778e-02 -4.95669975e-04 9.99786575e-01 4.75920693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.85, Y:168.04, Z:4.76 [[-4.84493904e-01 -8.74748758e-01 8.95922900e-03 2.07848850e+02] [ 8.74581255e-01 -4.84576515e-01 -1.71239656e-02 1.68041007e+02] [ 1.93205996e-02 -4.60883221e-04 9.99813234e-01 4.76053380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.84, Y:168.07, Z:4.76 [[-4.83896404e-01 -8.75079151e-01 8.98604537e-03 2.07835127e+02] [ 8.74910930e-01 -4.83979630e-01 -1.71633954e-02 1.68065015e+02] [ 1.93683924e-02 -4.43316005e-04 9.99812317e-01 4.76089817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.82, Y:168.09, Z:4.76 [[-4.81747465e-01 -8.76265048e-01 8.88513177e-03 2.07821814e+02] [ 8.76100995e-01 -4.81829240e-01 -1.69596714e-02 1.68088342e+02] [ 1.91422836e-02 -3.86005921e-04 9.99816695e-01 4.76141392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.81, Y:168.11, Z:4.76 [[-4.80472595e-01 -8.76968414e-01 8.51387694e-03 2.07807411e+02] [ 8.76818076e-01 -4.80547903e-01 -1.62411576e-02 1.68113056e+02] [ 1.83343079e-02 -3.38309949e-04 9.99831855e-01 4.76232015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.79, Y:168.14, Z:4.76 [[-4.79138811e-01 -8.77700150e-01 8.27322294e-03 2.07794014e+02] [ 8.77558472e-01 -4.79210140e-01 -1.57724250e-02 1.68137850e+02] [ 1.78080721e-02 -2.96944060e-04 9.99841380e-01 4.76266181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.78, Y:168.16, Z:4.76 [[-4.76293016e-01 -8.79243132e-01 8.74518166e-03 2.07781694e+02] [ 8.79085292e-01 -4.76373230e-01 -1.66612089e-02 1.68161967e+02] [ 1.88152239e-02 -2.47856855e-04 9.99822947e-01 4.76145943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.77, Y:168.19, Z:4.76 [[-4.75157987e-01 -8.79853852e-01 9.06012071e-03 2.07767627e+02] [ 8.79684734e-01 -4.75244302e-01 -1.72516985e-02 1.68185233e+02] [ 1.94847441e-02 -2.27232449e-04 9.99810129e-01 4.76117910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.75, Y:168.21, Z:4.76 [[-4.72540773e-01 -8.81264779e-01 8.80952494e-03 2.07753942e+02] [ 8.81105351e-01 -4.72622857e-01 -1.67628988e-02 1.68209607e+02] [ 1.89361352e-02 -1.59033603e-04 9.99820683e-01 4.76171320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.74, Y:168.23, Z:4.76 [[-4.71875851e-01 -8.81625008e-01 8.39799451e-03 2.07740609e+02] [ 8.81480366e-01 -4.71950556e-01 -1.59698917e-02 1.68234355e+02] [ 1.80428941e-02 -1.33138976e-04 9.99837205e-01 4.76280280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.73, Y:168.26, Z:4.76 [[-4.71605326e-01 -8.81773448e-01 8.00016255e-03 2.07729574e+02] [ 8.81642377e-01 -4.71673162e-01 -1.52035145e-02 1.68258361e+02] [ 1.71795174e-02 -1.16776099e-04 9.99852414e-01 4.76388677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.72, Y:168.28, Z:4.76 [[-4.71682506e-01 -8.81733827e-01 7.81489561e-03 2.07717383e+02] [ 8.81608938e-01 -4.71747227e-01 -1.48402749e-02 1.68283352e+02] [ 1.67718277e-02 -1.10216237e-04 9.99859337e-01 4.76472805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.71, Y:168.31, Z:4.77 [[-4.71468360e-01 -8.81849109e-01 7.72878609e-03 2.07707515e+02] [ 8.81727133e-01 -4.71531694e-01 -1.46671146e-02 1.68308369e+02] [ 1.65785495e-02 -1.00400038e-04 9.99862561e-01 4.76537718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.70, Y:168.33, Z:4.77 [[-4.71561466e-01 -8.81798493e-01 7.82316726e-03 2.07695745e+02] [ 8.81673697e-01 -4.71626344e-01 -1.48352220e-02 1.68332847e+02] [ 1.67712882e-02 -9.82382465e-05 9.99859347e-01 4.76566584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.69, Y:168.36, Z:4.77 [[-4.71397102e-01 -8.81890695e-01 7.31941438e-03 2.07685466e+02] [ 8.81781615e-01 -4.71453916e-01 -1.38704339e-02 1.68357105e+02] [ 1.56829732e-02 -8.43573180e-05 9.99877011e-01 4.76607108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.67, Y:168.38, Z:4.77 [[-4.71595771e-01 -8.81785927e-01 7.14197037e-03 2.07673176e+02] [ 8.81682214e-01 -4.71649841e-01 -1.35240913e-02 1.68382581e+02] [ 1.52938625e-02 -8.09559997e-05 9.99883039e-01 4.76717460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.66, Y:168.41, Z:4.77 [[-4.71999857e-01 -8.81571208e-01 6.95271411e-03 2.07662736e+02] [ 8.81473026e-01 -4.72051055e-01 -1.31569369e-02 1.68407546e+02] [ 1.48808128e-02 -8.14423913e-05 9.99889271e-01 4.76799841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.65, Y:168.43, Z:4.77 [[-4.73349441e-01 -8.80850668e-01 6.51208847e-03 2.07651940e+02] [ 8.80764585e-01 -4.73394225e-01 -1.23147840e-02 1.68433030e+02] [ 1.39302708e-02 -9.35792341e-05 9.99902965e-01 4.76859644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.64, Y:168.46, Z:4.77 [[-4.74563724e-01 -8.80200866e-01 5.97551096e-03 2.07641125e+02] [ 8.80128422e-01 -4.74601333e-01 -1.12932036e-02 1.68457727e+02] [ 1.27762730e-02 -1.00127725e-04 9.99918375e-01 4.76951235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.63, Y:168.48, Z:4.77 [[-4.75859667e-01 -8.79503761e-01 5.54176921e-03 2.07630165e+02] [ 8.79441487e-01 -4.75891924e-01 -1.04664934e-02 1.68483775e+02] [ 1.18426035e-02 -1.06920298e-04 9.99929868e-01 4.77033730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.62, Y:168.51, Z:4.77 [[-4.78492833e-01 -8.78075598e-01 5.27756801e-03 2.07621859e+02] [ 8.78019104e-01 -4.78521918e-01 -9.96126898e-03 1.68510950e+02] [ 1.12721792e-02 -1.32590278e-04 9.99936458e-01 4.77158402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.61, Y:168.54, Z:4.77 [[-4.80149644e-01 -8.77171176e-01 5.20076839e-03 2.07610419e+02] [ 8.77116332e-01 -4.80177786e-01 -9.80985105e-03 1.68537149e+02] [ 1.11022120e-02 -1.48517589e-04 9.99938358e-01 4.77211881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.60, Y:168.56, Z:4.77 [[-4.83427299e-01 -8.75371697e-01 4.73692297e-03 2.07602846e+02] [ 8.75326167e-01 -4.83450476e-01 -8.92960014e-03 1.68563126e+02] [ 1.01067869e-02 -1.70459850e-04 9.99948911e-01 4.77272864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.59, Y:168.59, Z:4.77 [[-4.85024271e-01 -8.74487380e-01 4.82481125e-03 2.07591540e+02] [ 8.74440148e-01 -4.85048231e-01 -9.09070095e-03 1.68589186e+02] [ 1.02899694e-02 -1.90201941e-04 9.99947039e-01 4.77255306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.58, Y:168.61, Z:4.77 [[-4.86377066e-01 -8.73735387e-01 4.88092859e-03 2.07581571e+02] [ 8.73687075e-01 -4.86401513e-01 -9.19036776e-03 1.68614936e+02] [ 1.04040406e-02 -2.05579884e-04 9.99945855e-01 4.77228601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.57, Y:168.64, Z:4.77 [[-4.87350772e-01 -8.73190189e-01 5.30279026e-03 2.07569288e+02] [ 8.73133205e-01 -4.87379565e-01 -9.97827588e-03 1.68640318e+02] [ 1.12974042e-02 -2.32878202e-04 9.99936155e-01 4.77169716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.56, Y:168.67, Z:4.77 [[-4.88615055e-01 -8.72480068e-01 5.81883202e-03 2.07560255e+02] [ 8.72411508e-01 -4.88649627e-01 -1.09409089e-02 1.68666214e+02] [ 1.23890950e-02 -2.69476782e-04 9.99923216e-01 4.77109300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.55, Y:168.69, Z:4.77 [[-4.89286824e-01 -8.72104733e-01 5.63378668e-03 2.07546553e+02] [ 8.72040489e-01 -4.89319184e-01 -1.05887378e-02 1.68690706e+02] [ 1.19912082e-02 -2.68039778e-04 9.99928067e-01 4.77114280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.300385723 meters Centerline goodness [0,1] 0.9999581589958159 Centerline is valid? [True, True] Translation: X:207.54, Y:168.72, Z:4.77 [[-4.90530779e-01 -8.71406391e-01 5.51868599e-03 2.07538165e+02] [ 8.71344790e-01 -4.90561745e-01 -1.03649511e-02 1.68716785e+02] [ 1.17393408e-02 -2.75649241e-04 9.99931054e-01 4.77109794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.52, Y:168.74, Z:4.77 [[-4.91199969e-01 -8.71032947e-01 4.91893677e-03 2.07524489e+02] [ 8.70984024e-01 -4.91224533e-01 -9.23516756e-03 1.68741032e+02] [ 1.04604376e-02 -2.51998671e-04 9.99945256e-01 4.77263789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.51, Y:168.77, Z:4.77 [[-4.91841893e-01 -8.70671728e-01 4.72172456e-03 2.07510862e+02] [ 8.70626679e-01 -4.91864495e-01 -8.86032956e-03 1.68765126e+02] [ 1.00368871e-02 -2.47021885e-04 9.99949599e-01 4.77284984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.50, Y:168.79, Z:4.77 [[-4.92635822e-01 -8.70223436e-01 4.59548678e-03 2.07500313e+02] [ 8.70180802e-01 -4.92657194e-01 -8.61747808e-03 1.68790044e+02] [ 9.76313101e-03 -2.46374029e-04 9.99952309e-01 4.77316471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.49, Y:168.82, Z:4.77 [[-4.93349211e-01 -8.69818037e-01 4.81029344e-03 2.07491447e+02] [ 8.69771360e-01 -4.93372591e-01 -9.01490174e-03 1.68816441e+02] [ 1.02145911e-02 -2.63639190e-04 9.99947795e-01 4.77434866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.450385723 meters Centerline goodness [0,1] 0.9998531447992279 Centerline is valid? [True, True] Translation: X:207.48, Y:168.84, Z:4.77 [[-4.96001625e-01 -8.68303175e-01 5.65553026e-03 2.07477948e+02] [ 8.68238664e-01 -4.96033748e-01 -1.05897218e-02 1.68841531e+02] [ 1.20004229e-02 -3.42169173e-04 9.99927934e-01 4.77035385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.46, Y:168.87, Z:4.77 [[-4.96754448e-01 -8.67871989e-01 5.76448189e-03 2.07464312e+02] [ 8.67805022e-01 -4.96787765e-01 -1.07870744e-02 1.68865695e+02] [ 1.22255238e-02 -3.56080862e-04 9.99925202e-01 4.77296852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.45, Y:168.89, Z:4.77 [[-4.97794928e-01 -8.67274739e-01 5.89385140e-03 2.07451532e+02] [ 8.67204782e-01 -4.97829676e-01 -1.10218010e-02 1.68889977e+02] [ 1.24930637e-02 -3.75420495e-04 9.99921888e-01 4.77265624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.44, Y:168.91, Z:4.77 [[-4.99311874e-01 -8.66402466e-01 5.86685304e-03 2.07438418e+02] [ 8.66333188e-01 -4.99346186e-01 -1.09632819e-02 1.68913109e+02] [ 1.24282051e-02 -3.91447309e-04 9.99922690e-01 4.77261915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.42, Y:168.94, Z:4.77 [[-5.00141467e-01 -8.65925654e-01 5.59240590e-03 2.07423679e+02] [ 8.65862730e-01 -5.00172586e-01 -1.04459104e-02 1.68937366e+02] [ 1.18425499e-02 -3.82177108e-04 9.99929802e-01 4.77353343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.600385723 meters Centerline goodness [0,1] 0.9998323413530052 Centerline is valid? [True, True] Translation: X:207.41, Y:168.96, Z:4.77 [[-5.02878797e-01 -8.64338734e-01 5.60969179e-03 2.07414127e+02] [ 8.64275410e-01 -5.02909912e-01 -1.04707745e-02 1.68962805e+02] [ 1.18714655e-02 -4.17211797e-04 9.99929445e-01 4.77295707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.630385723 meters Centerline goodness [0,1] 0.9999580853382514 Centerline is valid? [True, True] Translation: X:207.40, Y:168.99, Z:4.78 [[-5.04021777e-01 -8.63673809e-01 5.44060442e-03 2.07401069e+02] [ 8.63614232e-01 -5.04050966e-01 -1.01529382e-02 1.68987738e+02] [ 1.15111687e-02 -4.18718561e-04 9.99933657e-01 4.77597259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.39, Y:169.01, Z:4.78 [[-5.05368897e-01 -8.62886187e-01 5.45024601e-03 2.07387279e+02] [ 8.62826430e-01 -5.05398100e-01 -1.01643027e-02 1.69012238e+02] [ 1.15251803e-02 -4.34106130e-04 9.99933489e-01 4.77708210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.37, Y:169.04, Z:4.78 [[-5.06828776e-01 -8.62028488e-01 5.61058424e-03 2.07371733e+02] [ 8.61965193e-01 -5.06859618e-01 -1.04563414e-02 1.69035546e+02] [ 1.18574428e-02 -4.63446403e-04 9.99929591e-01 4.77675570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.36, Y:169.06, Z:4.78 [[-5.09231762e-01 -8.60610878e-01 5.65064337e-03 2.07356168e+02] [ 8.60546670e-01 -5.09262869e-01 -1.05242340e-02 1.69057880e+02] [ 1.19349332e-02 -4.96631914e-04 9.99928653e-01 4.77641320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.750385723 meters Centerline goodness [0,1] 0.9998955635391428 Centerline is valid? [True, True] Translation: X:207.34, Y:169.08, Z:4.77 [[-5.10693147e-01 -8.59742670e-01 5.92042186e-03 2.07343652e+02] [ 8.59672230e-01 -5.10727181e-01 -1.10183080e-02 1.69081295e+02] [ 1.24966299e-02 -5.37352126e-04 9.99921770e-01 4.77368525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.33, Y:169.10, Z:4.78 [[-5.10643778e-01 -8.59773297e-01 5.72796702e-03 2.07329357e+02] [ 8.59707422e-01 -5.10675641e-01 -1.06554180e-02 1.69104710e+02] [ 1.20863771e-02 -5.16747155e-04 9.99926824e-01 4.77790454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.31, Y:169.13, Z:4.78 [[-5.10730645e-01 -8.59720629e-01 5.88634439e-03 2.07312487e+02] [ 8.59651158e-01 -5.10764291e-01 -1.09419208e-02 1.69127524e+02] [ 1.24135296e-02 -5.28171510e-04 9.99922810e-01 4.77864952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.30, Y:169.15, Z:4.78 [[-5.10562576e-01 -8.59819382e-01 6.04042762e-03 2.07297105e+02] [ 8.59746328e-01 -5.10598026e-01 -1.12208922e-02 1.69151144e+02] [ 1.27321710e-02 -5.35732146e-04 9.99918799e-01 4.77844445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.28, Y:169.17, Z:4.78 [[-5.08393762e-01 -8.61105440e-01 5.76238199e-03 2.07276646e+02] [ 8.61039117e-01 -5.08426194e-01 -1.06978855e-02 1.69172410e+02] [ 1.21417533e-02 -4.77101944e-04 9.99926172e-01 4.77829767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.900385723 meters Centerline goodness [0,1] 0.9999582759627822 Centerline is valid? [True, True] Translation: X:207.26, Y:169.20, Z:4.78 [[-5.07001600e-01 -8.61926104e-01 5.72451500e-03 2.07260360e+02] [ 8.61860780e-01 -5.07033715e-01 -1.06210459e-02 1.69195447e+02] [ 1.20570788e-02 -4.51152280e-04 9.99927209e-01 4.77734576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.24, Y:169.22, Z:4.78 [[-5.04727193e-01 -8.63260977e-01 5.56302525e-03 2.07243774e+02] [ 8.63199443e-01 -5.04757687e-01 -1.03150088e-02 1.69218062e+02] [ 1.17125244e-02 -4.04265165e-04 9.99931324e-01 4.77959951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.23, Y:169.24, Z:4.78 [[-5.00841534e-01 -8.65522012e-01 5.42259836e-03 2.07225346e+02] [ 8.65463750e-01 -5.00870773e-01 -1.00482176e-02 1.69239645e+02] [ 1.14129746e-02 -3.39502402e-04 9.99934812e-01 4.78060462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.21, Y:169.26, Z:4.78 [[-4.99177167e-01 -8.66484168e-01 5.22893447e-03 2.07209778e+02] [ 8.66430118e-01 -4.99204461e-01 -9.68282561e-03 1.69263015e+02] [ 1.10003225e-02 -3.02939147e-04 9.99939449e-01 4.78171593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.19, Y:169.29, Z:4.78 [[-4.95560383e-01 -8.68557330e-01 5.29815615e-03 2.07193016e+02] [ 8.68502024e-01 -4.95588638e-01 -9.80491445e-03 1.69285163e+02] [ 1.11418363e-02 -2.57467821e-04 9.99937895e-01 4.78235545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.18, Y:169.31, Z:4.78 [[-4.93923033e-01 -8.69487979e-01 5.54002546e-03 2.07176130e+02] [ 8.69427651e-01 -4.93954041e-01 -1.02452025e-02 1.69308208e+02] [ 1.16445983e-02 -2.43690148e-04 9.99932170e-01 4.78227451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.16, Y:169.33, Z:4.78 [[-4.92137342e-01 -8.70498879e-01 5.70418197e-03 2.07160805e+02] [ 8.70435076e-01 -4.92170348e-01 -1.05417022e-02 1.69331497e+02] [ 1.19839692e-02 -2.22845223e-04 9.99928165e-01 4.78274831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.14, Y:169.35, Z:4.78 [[-4.89569379e-01 -8.71943262e-01 6.06401309e-03 2.07142689e+02] [ 8.71871363e-01 -4.89606894e-01 -1.11989307e-02 1.69354033e+02] [ 1.27338148e-02 -1.95614186e-04 9.99918903e-01 4.78229226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.13, Y:169.38, Z:4.78 [[-4.89178282e-01 -8.72163145e-01 6.00473908e-03 2.07128992e+02] [ 8.72092748e-01 -4.89215100e-01 -1.10826651e-02 1.69376843e+02] [ 1.26035011e-02 -1.84709647e-04 9.99920556e-01 4.78257140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.12, Y:169.40, Z:4.78 [[-4.88997634e-01 -8.72264057e-01 6.06036416e-03 2.07115512e+02] [ 8.72192457e-01 -4.89035154e-01 -1.11775243e-02 1.69400794e+02] [ 1.27134839e-02 -1.79979055e-04 9.99919164e-01 4.78280349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.200385723 meters Centerline goodness [0,1] 0.9999583584917445 Centerline is valid? [True, True] Translation: X:207.10, Y:169.42, Z:4.78 [[-4.88969605e-01 -8.72277342e-01 6.40027040e-03 2.07101618e+02] [ 8.72197602e-01 -4.89011456e-01 -1.17957642e-02 1.69424867e+02] [ 1.34189834e-02 -1.85469679e-04 9.99909944e-01 4.78200143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.230385723 meters Centerline goodness [0,1] 0.9999583584917445 Centerline is valid? [True, True] Translation: X:207.09, Y:169.45, Z:4.78 [[-4.89214369e-01 -8.72140066e-01 6.40358035e-03 2.07088426e+02] [ 8.72060337e-01 -4.89256242e-01 -1.17939670e-02 1.69449052e+02] [ 1.34189828e-02 -1.85469670e-04 9.99909944e-01 4.78241861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.08, Y:169.47, Z:4.78 [[-4.88790680e-01 -8.72377937e-01 6.35653375e-03 2.07077605e+02] [ 8.72299499e-01 -4.88831979e-01 -1.16996068e-02 1.69473475e+02] [ 1.33137558e-02 -1.73857559e-04 9.99911353e-01 4.78495410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.06, Y:169.50, Z:4.78 [[-4.87817792e-01 -8.72916603e-01 7.09965059e-03 2.07060622e+02] [ 8.72818962e-01 -4.87869423e-01 -1.30570590e-02 1.69496758e+02] [ 1.48614261e-02 -1.72756064e-04 9.99889548e-01 4.78429818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.05, Y:169.52, Z:4.78 [[-4.87310154e-01 -8.73201316e-01 6.94804729e-03 2.07047484e+02] [ 8.73107903e-01 -4.87359658e-01 -1.27731251e-02 1.69520873e+02] [ 1.45397076e-02 -1.58078537e-04 9.99894280e-01 4.78480594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.03, Y:169.55, Z:4.79 [[-4.86911280e-01 -8.73422399e-01 7.12164535e-03 2.07033139e+02] [ 8.73324426e-01 -4.86963335e-01 -1.30827176e-02 1.69545450e+02] [ 1.48947187e-02 -1.50615925e-04 9.99889056e-01 4.78547661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.02, Y:169.57, Z:4.79 [[-4.86333022e-01 -8.73745831e-01 6.95803802e-03 2.07019674e+02] [ 8.73652460e-01 -4.86382776e-01 -1.27739657e-02 1.69569352e+02] [ 1.45454691e-02 -1.33494309e-04 9.99894200e-01 4.78602109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.01, Y:169.59, Z:4.79 [[-4.85613464e-01 -8.74142892e-01 7.33272527e-03 2.07007912e+02] [ 8.74039388e-01 -4.85668807e-01 -1.34520431e-02 1.69593692e+02] [ 1.53202838e-02 -1.23402563e-04 9.99882630e-01 4.78591784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.00, Y:169.62, Z:4.79 [[-4.85426785e-01 -8.74245603e-01 7.44730642e-03 2.06995706e+02] [ 8.74138999e-01 -4.85483894e-01 -1.36527902e-02 1.69618562e+02] [ 1.55514391e-02 -1.17449046e-04 9.99879062e-01 4.78597568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.98, Y:169.64, Z:4.79 [[-4.85381172e-01 -8.74269016e-01 7.66855598e-03 2.06983674e+02] [ 8.74156152e-01 -4.85441732e-01 -1.40479964e-02 1.69643328e+02] [ 1.60043651e-02 -1.15117571e-04 9.99871915e-01 4.78627744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.500385723 meters Centerline goodness [0,1] 0.9999792000332799 Centerline is valid? [True, True] Translation: X:206.97, Y:169.67, Z:4.79 [[-4.85294533e-01 -8.74320334e-01 7.29177133e-03 2.06973796e+02] [ 8.74218434e-01 -4.85349300e-01 -1.33486929e-02 1.69667964e+02] [ 1.52100897e-02 -1.03446748e-04 9.99884315e-01 4.78749501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.96, Y:169.69, Z:4.79 [[-4.85205991e-01 -8.74370133e-01 7.21225583e-03 2.06961181e+02] [ 8.74270595e-01 -4.85259581e-01 -1.31933596e-02 1.69692557e+02] [ 1.50356958e-02 -9.60339003e-05 9.99886953e-01 4.78805902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.95, Y:169.72, Z:4.79 [[-4.84450944e-01 -8.74784808e-01 7.66964255e-03 2.06949458e+02] [ 8.74672466e-01 -4.84511645e-01 -1.40193777e-02 1.69718641e+02] [ 1.59799698e-02 -8.32756006e-05 9.99872309e-01 4.78738829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.94, Y:169.74, Z:4.79 [[-4.84211416e-01 -8.74913089e-01 8.14809624e-03 2.06937789e+02] [ 8.74786486e-01 -4.84279961e-01 -1.48836902e-02 1.69743725e+02] [ 1.69678951e-02 -7.90082413e-05 9.99856032e-01 4.78713376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.93, Y:169.77, Z:4.79 [[-4.84095003e-01 -8.74974912e-01 8.42206394e-03 2.06926147e+02] [ 8.74839842e-01 -4.84168253e-01 -1.53737717e-02 1.69768852e+02] [ 1.75293605e-02 -7.44089589e-05 9.99846346e-01 4.78727624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.92, Y:169.80, Z:4.79 [[-4.83531208e-01 -8.75283323e-01 8.75643977e-03 2.06915662e+02] [ 8.75137562e-01 -4.83610484e-01 -1.59733092e-02 1.69795403e+02] [ 1.82158772e-02 -6.05041181e-05 9.99834075e-01 4.78766983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.90, Y:169.82, Z:4.79 [[-4.82941982e-01 -8.75608953e-01 8.71801095e-03 2.06903603e+02] [ 8.75464713e-01 -4.83020662e-01 -1.58926352e-02 1.69820936e+02] [ 1.81267131e-02 -4.29097928e-05 9.99835697e-01 4.78828383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.710385723 meters Centerline goodness [0,1] 0.9999581309663373 Centerline is valid? [True, True] Translation: X:206.89, Y:169.85, Z:4.79 [[-4.82774792e-01 -8.75703295e-01 8.49933322e-03 2.06892237e+02] [ 8.75566397e-01 -4.82849601e-01 -1.54837895e-02 1.69845710e+02] [ 1.76631051e-02 -3.34526832e-05 9.99843995e-01 4.78745310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.88, Y:169.87, Z:4.79 [[-4.81145060e-01 -8.76604652e-01 7.98223668e-03 2.06883553e+02] [ 8.76484189e-01 -4.81211268e-01 -1.45321008e-02 1.69871499e+02] [ 1.65800494e-02 4.25574457e-06 9.99862542e-01 4.79119901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.87, Y:169.90, Z:4.79 [[-4.80636265e-01 -8.76884871e-01 7.85518588e-03 2.06872443e+02] [ 8.76768407e-01 -4.80700450e-01 -1.42912078e-02 1.69896808e+02] [ 1.63077353e-02 1.83060767e-05 9.99867020e-01 4.79197219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.86, Y:169.92, Z:4.79 [[-4.79688129e-01 -8.77397337e-01 8.55644502e-03 2.06861453e+02] [ 8.77259378e-01 -4.79764434e-01 -1.55586608e-02 1.69923161e+02] [ 1.77562055e-02 4.29167407e-05 9.99842345e-01 4.79122348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.85, Y:169.95, Z:4.79 [[-4.79538125e-01 -8.77472913e-01 9.19100424e-03 2.06849383e+02] [ 8.77313970e-01 -4.79626193e-01 -1.67006835e-02 1.69947362e+02] [ 1.90626437e-02 5.47819855e-05 9.99818290e-01 4.79034588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.84, Y:169.97, Z:4.79 [[-4.79840605e-01 -8.77302189e-01 9.68828034e-03 2.06838377e+02] [ 8.77125803e-01 -4.79938398e-01 -1.75914543e-02 1.69972076e+02] [ 2.00827991e-02 5.67466063e-05 9.99798319e-01 4.78996493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.83, Y:170.00, Z:4.79 [[-4.82422419e-01 -8.75879457e-01 1.01876068e-02 2.06831751e+02] [ 8.75684381e-01 -4.82529976e-01 -1.84847798e-02 1.70000081e+02] [ 2.11062646e-02 3.65600815e-06 9.99777238e-01 4.79125912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.82, Y:170.03, Z:4.79 [[-4.84035965e-01 -8.74988793e-01 1.01880947e-02 2.06821482e+02] [ 8.74793760e-01 -4.84143173e-01 -1.84733726e-02 1.70026627e+02] [ 2.10964905e-02 -2.92950276e-05 9.99777444e-01 4.79202294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.81, Y:170.05, Z:4.79 [[-4.86103603e-01 -8.73838319e-01 1.04823327e-02 2.06811198e+02] [ 8.73631871e-01 -4.86216605e-01 -1.89938525e-02 1.70052232e+02] [ 2.16942403e-02 -7.52802156e-05 9.99764649e-01 4.79240909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.80, Y:170.08, Z:4.79 [[-4.89285780e-01 -8.72062237e-01 1.03382901e-02 2.06803202e+02] [ 8.71861299e-01 -4.89394967e-01 -1.87200847e-02 1.70079899e+02] [ 2.13845860e-02 -1.45916233e-04 9.99771313e-01 4.79352913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.79, Y:170.11, Z:4.79 [[-4.90614389e-01 -8.71317453e-01 1.01694525e-02 2.06793110e+02] [ 8.71123123e-01 -4.90719744e-01 -1.84020774e-02 1.70105210e+02] [ 2.10244023e-02 -1.69478745e-04 9.99778948e-01 4.79430063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.78, Y:170.13, Z:4.80 [[-4.93259820e-01 -8.69826491e-01 9.82978141e-03 2.06784519e+02] [ 8.69644871e-01 -4.93357707e-01 -1.77756059e-02 1.70133094e+02] [ 2.03112913e-02 -2.19573201e-04 9.99793680e-01 4.79589427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.77, Y:170.16, Z:4.80 [[-4.94827459e-01 -8.68938537e-01 9.57106741e-03 2.06774349e+02] [ 8.68766401e-01 -4.94919953e-01 -1.72968353e-02 1.70158677e+02] [ 1.97667990e-02 -2.43927260e-04 9.99804588e-01 4.79658689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.76, Y:170.18, Z:4.80 [[-4.96649295e-01 -8.67897866e-01 9.63182552e-03 2.06762677e+02] [ 8.67723577e-01 -4.96742604e-01 -1.73947914e-02 1.70184862e+02] [ 1.98814405e-02 -2.81348808e-04 9.99802305e-01 4.79699768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.75, Y:170.21, Z:4.80 [[-4.98230159e-01 -8.66994585e-01 9.33266150e-03 2.06751353e+02] [ 8.66830993e-01 -4.98317467e-01 -1.68443551e-02 1.70211281e+02] [ 1.92545929e-02 -3.02525467e-04 9.99814567e-01 4.79697156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.160385723 meters Centerline goodness [0,1] 0.9999367808825389 Centerline is valid? [True, True] Translation: X:206.74, Y:170.24, Z:4.79 [[-5.01829293e-01 -8.64907474e-01 1.01203979e-02 2.06743186e+02] [ 8.64714922e-01 -5.01931165e-01 -1.82540218e-02 1.70238774e+02] [ 2.08677830e-02 -4.09143770e-04 9.99782160e-01 4.79420138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.73, Y:170.26, Z:4.80 [[-5.03401496e-01 -8.63991525e-01 1.02751058e-02 2.06732360e+02] [ 8.63793104e-01 -5.03506151e-01 -1.85210481e-02 1.70264761e+02] [ 2.11756075e-02 -4.47957805e-04 9.99775671e-01 4.79698915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.72, Y:170.29, Z:4.80 [[-5.05679105e-01 -8.62658359e-01 1.04497930e-02 2.06721356e+02] [ 8.62453109e-01 -5.05786812e-01 -1.88237925e-02 1.70290946e+02] [ 2.15238694e-02 -5.06342134e-04 9.99768206e-01 4.79703085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.72, Y:170.32, Z:4.80 [[-5.10239330e-01 -8.59971424e-01 1.02457417e-02 2.06715033e+02] [ 8.59773811e-01 -5.10341833e-01 -1.84446959e-02 1.70317644e+02] [ 2.10907420e-02 -6.02188892e-04 9.99777384e-01 4.79844975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.70, Y:170.34, Z:4.80 [[-5.12496513e-01 -8.58631731e-01 9.94361786e-03 2.06700744e+02] [ 8.58445574e-01 -5.12592578e-01 -1.78898391e-02 1.70342466e+02] [ 2.04578082e-02 -6.32425414e-04 9.99790517e-01 4.80038574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.69, Y:170.37, Z:4.80 [[-5.14798801e-01 -8.57253823e-01 9.90340959e-03 2.06689634e+02] [ 8.57069134e-01 -5.14893603e-01 -1.78066544e-02 1.70368861e+02] [ 2.03640248e-02 -6.78937659e-04 9.99792401e-01 4.80148337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.68, Y:170.39, Z:4.80 [[-5.18484257e-01 -8.55034274e-01 9.51136480e-03 2.06680839e+02] [ 8.54863730e-01 -5.18570975e-01 -1.70922862e-02 1.70394618e+02] [ 1.95468083e-02 -7.31160539e-04 9.99808676e-01 4.80269561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.67, Y:170.42, Z:4.80 [[-5.19842538e-01 -8.54209851e-01 9.44808776e-03 2.06669334e+02] [ 8.54041583e-01 -5.19927845e-01 -1.69708893e-02 1.70419079e+02] [ 1.94090247e-02 -7.53130358e-04 9.99811343e-01 4.80332280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.66, Y:170.44, Z:4.80 [[-5.21243023e-01 -8.53356656e-01 9.38764706e-03 2.06656720e+02] [ 8.53190559e-01 -5.21326976e-01 -1.68539104e-02 1.70444328e+02] [ 1.92764302e-02 -7.75531354e-04 9.99813892e-01 4.80364912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.64, Y:170.47, Z:4.80 [[-5.23430691e-01 -8.52010479e-01 9.92253015e-03 2.06643868e+02] [ 8.51824911e-01 -5.23524015e-01 -1.78024516e-02 1.70469126e+02] [ 2.03625581e-02 -8.66091151e-04 9.99792286e-01 4.80355642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.460385723 meters Centerline goodness [0,1] 0.9999359275554227 Centerline is valid? [True, True] Translation: X:206.63, Y:170.49, Z:4.80 [[-5.24700097e-01 -8.51225433e-01 1.02503808e-02 2.06628948e+02] [ 8.51027503e-01 -5.24799405e-01 -1.83786324e-02 1.70493429e+02] [ 2.10237531e-02 -9.19914247e-04 9.99778553e-01 4.80075781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.62, Y:170.52, Z:4.80 [[-5.25069228e-01 -8.50993705e-01 1.05839424e-02 2.06618091e+02] [ 8.50782909e-01 -5.25175025e-01 -1.89640464e-02 1.70518714e+02] [ 2.16967063e-02 -9.52799909e-04 9.99764145e-01 4.80243831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.60, Y:170.54, Z:4.80 [[-5.26107807e-01 -8.50354279e-01 1.04007751e-02 2.06598873e+02] [ 8.50150850e-01 -5.26209737e-01 -1.86237874e-02 1.70541037e+02] [ 2.13098064e-02 -9.55892159e-04 9.99772463e-01 4.80304401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.58, Y:170.57, Z:4.80 [[-5.26441964e-01 -8.50152299e-01 9.99633511e-03 2.06584624e+02] [ 8.49964569e-01 -5.26536058e-01 -1.78888863e-02 1.70565062e+02] [ 2.04717087e-02 -9.20929752e-04 9.99790008e-01 4.80400846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.57, Y:170.59, Z:4.80 [[-5.26297733e-01 -8.50245833e-01 9.62912674e-03 2.06570034e+02] [ 8.50071870e-01 -5.26385081e-01 -1.72209877e-02 1.70588650e+02] [ 1.97107017e-02 -8.77917015e-04 9.99805340e-01 4.80486813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.55, Y:170.61, Z:4.81 [[-5.24377311e-01 -8.51433976e-01 9.41385740e-03 2.06553283e+02] [ 8.51268101e-01 -5.24461181e-01 -1.68253004e-02 1.70611365e+02] [ 1.92628351e-02 -8.09089249e-04 9.99814127e-01 4.80627723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.54, Y:170.63, Z:4.81 [[-5.23121983e-01 -8.52206877e-01 9.31823233e-03 2.06537747e+02] [ 8.52044682e-01 -5.23204406e-01 -1.66435781e-02 1.70634746e+02] [ 1.90591119e-02 -7.67071259e-04 9.99818064e-01 4.80664808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.52, Y:170.66, Z:4.81 [[-5.21462969e-01 -8.53222946e-01 9.32613801e-03 2.06523172e+02] [ 8.53060834e-01 -5.21545855e-01 -1.66473513e-02 1.70657205e+02] [ 1.90679107e-02 -7.25214147e-04 9.99817928e-01 4.80670160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.51, Y:170.68, Z:4.81 [[-5.17455335e-01 -8.55657127e-01 9.53195584e-03 2.06505955e+02] [ 8.55488398e-01 -5.17542720e-01 -1.70039265e-02 1.70677885e+02] [ 1.94827252e-02 -6.44294830e-04 9.99809986e-01 4.80635196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.49, Y:170.70, Z:4.81 [[-5.15043801e-01 -8.57108945e-01 9.70252989e-03 2.06489511e+02] [ 8.56934620e-01 -5.15134840e-01 -1.72960353e-02 1.70700731e+02] [ 1.98226978e-02 -5.93782018e-04 9.99803335e-01 4.80667818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.47, Y:170.72, Z:4.81 [[-5.09901176e-01 -8.60182122e-01 9.35462235e-03 2.06471633e+02] [ 8.60020774e-01 -5.09986777e-01 -1.66659933e-02 1.70722189e+02] [ 1.91065232e-02 -4.52840016e-04 9.99817351e-01 4.80700750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.45, Y:170.75, Z:4.81 [[-5.07280981e-01 -8.61732915e-01 9.07693865e-03 2.06454424e+02] [ 8.61581396e-01 -5.07362041e-01 -1.61634663e-02 1.70745399e+02] [ 1.85338850e-02 -3.78897555e-04 9.99828161e-01 4.80807692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.44, Y:170.77, Z:4.81 [[-5.05038671e-01 -8.63050826e-01 8.90012166e-03 2.06440271e+02] [ 8.62905518e-01 -5.05116985e-01 -1.58397790e-02 1.70769218e+02] [ 1.81661370e-02 -3.19736841e-04 9.99834931e-01 4.80759059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.43, Y:170.79, Z:4.81 [[-5.02622176e-01 -8.64460249e-01 8.91217881e-03 2.06425334e+02] [ 8.64314895e-01 -5.02701112e-01 -1.58541336e-02 1.70792548e+02] [ 1.81854305e-02 -2.65710221e-04 9.99834596e-01 4.80680854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.41, Y:170.81, Z:4.81 [[-4.97988843e-01 -8.67137690e-01 8.90718296e-03 2.06405423e+02] [ 8.66993103e-01 -4.98068469e-01 -1.58353935e-02 1.70814097e+02] [ 1.81678535e-02 -1.63383083e-04 9.99834938e-01 4.80668699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.39, Y:170.84, Z:4.81 [[-4.96188555e-01 -8.68169198e-01 8.89726393e-03 2.06393059e+02] [ 8.68025284e-01 -4.96268304e-01 -1.58075119e-02 1.70838060e+02] [ 1.81390250e-02 -1.20456425e-04 9.99835467e-01 4.80718589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.38, Y:170.86, Z:4.81 [[-4.93425496e-01 -8.69736499e-01 9.47107333e-03 2.06381564e+02] [ 8.69573949e-01 -4.93516381e-01 -1.68145763e-02 1.70862192e+02] [ 1.92983805e-02 -6.09420122e-05 9.99813767e-01 4.80741793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.37, Y:170.89, Z:4.81 [[-4.92517586e-01 -8.70248943e-01 9.65423115e-03 2.06366801e+02] [ 8.70080391e-01 -4.92612196e-01 -1.71271298e-02 1.70886642e+02] [ 1.96606586e-02 -3.54553885e-05 9.99806710e-01 4.80820323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.35, Y:170.91, Z:4.81 [[-4.91697267e-01 -8.70707760e-01 1.00893607e-02 2.06352979e+02] [ 8.70523994e-01 -4.91800770e-01 -1.78879226e-02 1.70910007e+02] [ 2.05371083e-02 -1.24121024e-05 9.99789091e-01 4.80679485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.34, Y:170.93, Z:4.81 [[-4.89650596e-01 -8.71849294e-01 1.10046803e-02 2.06339333e+02] [ 8.71631198e-01 -4.89774241e-01 -1.94999255e-02 1.70934470e+02] [ 2.23908052e-02 4.38725738e-05 9.99749294e-01 4.80604598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.33, Y:170.96, Z:4.81 [[-4.88719820e-01 -8.72369849e-01 1.11258473e-02 2.06326762e+02] [ 8.72147348e-01 -4.88846439e-01 -1.97018557e-02 1.70959295e+02] [ 2.26261357e-02 7.46909007e-05 9.99743993e-01 4.80671965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.31, Y:170.98, Z:4.81 [[-4.87729612e-01 -8.72922867e-01 1.12024320e-02 2.06314464e+02] [ 8.72697737e-01 -4.87858235e-01 -1.98242748e-02 1.70984973e+02] [ 2.27702615e-02 1.07451190e-04 9.99740718e-01 4.80705485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.30, Y:171.01, Z:4.81 [[-4.86458890e-01 -8.73626165e-01 1.16220147e-02 2.06303362e+02] [ 8.73384375e-01 -4.86597678e-01 -2.05531814e-02 1.71010067e+02] [ 2.36110424e-02 1.52208197e-04 9.99721209e-01 4.80553594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.29, Y:171.03, Z:4.81 [[-4.86729839e-01 -8.73475163e-01 1.16276714e-02 2.06290458e+02] [ 8.73233406e-01 -4.86868685e-01 -2.05499810e-02 1.71032534e+02] [ 2.36110471e-02 1.51382120e-04 9.99721209e-01 4.80592802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.28, Y:171.06, Z:4.81 [[-4.86011976e-01 -8.73872273e-01 1.18156388e-02 2.06279682e+02] [ 8.73623104e-01 -4.86155549e-01 -2.08675584e-02 1.71058710e+02] [ 2.39798190e-02 1.80531798e-04 9.99712427e-01 4.80781591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.27, Y:171.08, Z:4.81 [[-4.85024327e-01 -8.74416413e-01 1.21383584e-02 2.06267341e+02] [ 8.74153958e-01 -4.85176142e-01 -2.14235384e-02 1.71083984e+02] [ 2.46223355e-02 2.19856753e-04 9.99696800e-01 4.80763402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.240385723 meters Centerline goodness [0,1] 0.999978601844521 Centerline is valid? [True, True] Translation: X:206.26, Y:171.11, Z:4.81 [[-4.82576532e-01 -8.75761842e-01 1.26920466e-02 2.06255867e+02] [ 8.75475730e-01 -4.82743308e-01 -2.23862412e-02 1.71110028e+02] [ 2.57320163e-02 3.08504110e-04 9.99668829e-01 4.80737144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.270385723 meters Centerline goodness [0,1] 0.9999146957838391 Centerline is valid? [True, True] Translation: X:206.24, Y:171.13, Z:4.81 [[-4.81206505e-01 -8.76513756e-01 1.28037291e-02 2.06242817e+02] [ 8.76223207e-01 -4.81376679e-01 -2.25695430e-02 1.71133778e+02] [ 2.59459315e-02 3.58313672e-04 9.99663283e-01 4.80646782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.300385723 meters Centerline goodness [0,1] 0.9998930160903801 Centerline is valid? [True, True] Translation: X:206.23, Y:171.16, Z:4.81 [[-4.79737889e-01 -8.77315398e-01 1.30096182e-02 2.06231108e+02] [ 8.77016093e-01 -4.79914076e-01 -2.29183811e-02 1.71158937e+02] [ 2.63501476e-02 4.14828765e-04 9.99652689e-01 4.80767131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.22, Y:171.19, Z:4.81 [[-4.77694072e-01 -8.78436428e-01 1.25624993e-02 2.06221942e+02] [ 8.78158085e-01 -4.77859001e-01 -2.21168189e-02 1.71185815e+02] [ 2.54313227e-02 4.66787059e-04 9.99676463e-01 4.80991464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.360385723 meters Centerline goodness [0,1] 0.9999354394421968 Centerline is valid? [True, True] Translation: X:206.21, Y:171.21, Z:4.81 [[-4.77406575e-01 -8.78594489e-01 1.24372664e-02 2.06211432e+02] [ 8.78322098e-01 -4.77568315e-01 -2.18814390e-02 1.71209525e+02] [ 2.51645560e-02 4.77583062e-04 9.99683208e-01 4.81064501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.390385723 meters Centerline goodness [0,1] 0.9998274448902118 Centerline is valid? [True, True] Translation: X:206.20, Y:171.24, Z:4.81 [[-4.77034909e-01 -8.78794142e-01 1.25917485e-02 2.06201285e+02] [ 8.78515411e-01 -4.77200802e-01 -2.21374638e-02 1.71236029e+02] [ 2.54630660e-02 5.01702056e-04 9.99675638e-01 4.81169894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.420385723 meters Centerline goodness [0,1] 0.9999783928610013 Centerline is valid? [True, True] Translation: X:206.19, Y:171.26, Z:4.81 [[-4.77153336e-01 -8.78715148e-01 1.35787637e-02 2.06193069e+02] [ 8.78391403e-01 -4.77346198e-01 -2.38568481e-02 1.71263880e+02] [ 2.74451450e-02 5.44094695e-04 9.99623163e-01 4.81113403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.450385723 meters Centerline goodness [0,1] 0.9999566132286266 Centerline is valid? [True, True] Translation: X:206.18, Y:171.29, Z:4.81 [[-4.77341957e-01 -8.78608112e-01 1.38723373e-02 2.06182118e+02] [ 8.78270612e-01 -4.77543166e-01 -2.43568811e-02 1.71289822e+02] [ 2.80247932e-02 5.57104917e-04 9.99607073e-01 4.81050060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.17, Y:171.32, Z:4.81 [[-4.78257540e-01 -8.78104791e-01 1.42021771e-02 2.06171973e+02] [ 8.77751313e-01 -4.78468051e-01 -2.49189969e-02 1.71315150e+02] [ 2.86767786e-02 5.48281397e-04 9.99588586e-01 4.81035847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.17, Y:171.34, Z:4.81 [[-4.79502113e-01 -8.77437275e-01 1.34741291e-02 2.06165222e+02] [ 8.77119275e-01 -4.79691139e-01 -2.36260358e-02 1.71343914e+02] [ 2.71937848e-02 4.89684222e-04 9.99630061e-01 4.81138429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.540385723 meters Centerline goodness [0,1] 0.999978184991274 Centerline is valid? [True, True] Translation: X:206.16, Y:171.37, Z:4.81 [[-4.80409402e-01 -8.76950371e-01 1.28395031e-02 2.06156450e+02] [ 8.76661814e-01 -4.80580739e-01 -2.24992908e-02 1.71371401e+02] [ 2.59011793e-02 4.47031199e-04 9.99664408e-01 4.81395378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.570385723 meters Centerline goodness [0,1] 0.9999781411209233 Centerline is valid? [True, True] Translation: X:206.15, Y:171.40, Z:4.81 [[-4.81445510e-01 -8.76386467e-01 1.25292257e-02 2.06146495e+02] [ 8.76111856e-01 -4.81608337e-01 -2.19414191e-02 1.71396962e+02] [ 2.52633423e-02 4.13405509e-04 9.99680745e-01 4.81449107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.14, Y:171.43, Z:4.82 [[-4.83085367e-01 -8.75493087e-01 1.18483238e-02 2.06141655e+02] [ 8.75247561e-01 -4.83230515e-01 -2.07358907e-02 1.71426197e+02] [ 2.38796006e-02 3.53011161e-04 9.99714779e-01 4.81841933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.630385723 meters Centerline goodness [0,1] 0.9999780069937759 Centerline is valid? [True, True] Translation: X:206.13, Y:171.45, Z:4.82 [[-4.83933035e-01 -8.75031114e-01 1.13739939e-02 2.06130574e+02] [ 8.74805014e-01 -4.84066572e-01 -1.98932810e-02 1.71452282e+02] [ 2.29130101e-02 3.23011086e-04 9.99737410e-01 4.81951730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.660385723 meters Centerline goodness [0,1] 0.9999558713207714 Centerline is valid? [True, True] Translation: X:206.12, Y:171.48, Z:4.82 [[-4.84548982e-01 -8.74695762e-01 1.09365163e-02 2.06120937e+02] [ 8.74486902e-01 -4.84672294e-01 -1.91160839e-02 1.71478880e+02] [ 2.20213840e-02 3.01161253e-04 9.99757455e-01 4.81967574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.11, Y:171.50, Z:4.82 [[-4.84687342e-01 -8.74620170e-01 1.08507815e-02 2.06109425e+02] [ 8.74414818e-01 -4.84808693e-01 -1.89540880e-02 1.71503660e+02] [ 2.18381808e-02 3.01277563e-04 9.99761473e-01 4.81976565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.10, Y:171.53, Z:4.82 [[-4.85192517e-01 -8.74335780e-01 1.11877657e-02 2.06099809e+02] [ 8.74117688e-01 -4.85321390e-01 -1.95298719e-02 1.71530897e+02] [ 2.25053278e-02 3.03676170e-04 9.99746677e-01 4.82121420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.09, Y:171.56, Z:4.82 [[-4.87182739e-01 -8.73220627e-01 1.17777529e-02 2.06093334e+02] [ 8.72978942e-01 -4.87325007e-01 -2.05451762e-02 1.71557656e+02] [ 2.36800652e-02 2.72475048e-04 9.99719551e-01 4.82106614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.08, Y:171.58, Z:4.82 [[-4.89315843e-01 -8.72023798e-01 1.20209181e-02 2.06082446e+02] [ 8.71772052e-01 -4.89463426e-01 -2.09534057e-02 1.71582121e+02] [ 2.41556682e-02 2.26667058e-04 9.99708184e-01 4.82013752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.810385723 meters Centerline goodness [0,1] 0.9999775910364146 Centerline is valid? [True, True] Translation: X:206.07, Y:171.61, Z:4.82 [[-4.91481845e-01 -8.70803479e-01 1.21201345e-02 2.06072533e+02] [ 8.70547552e-01 -4.91631235e-01 -2.11113570e-02 1.71609201e+02] [ 2.43424798e-02 1.75304754e-04 9.99703663e-01 4.82114870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.06, Y:171.63, Z:4.82 [[-4.94218128e-01 -8.69257684e-01 1.18118983e-02 2.06059730e+02] [ 8.69014481e-01 -4.94359250e-01 -2.05612068e-02 1.71632894e+02] [ 2.37123082e-02 1.02989516e-04 9.99718818e-01 4.82051851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.870385723 meters Centerline goodness [0,1] 0.9999553212402824 Centerline is valid? [True, True] Translation: X:206.05, Y:171.65, Z:4.82 [[-4.95462984e-01 -8.68545764e-01 1.20286056e-02 2.06045803e+02] [ 8.68293700e-01 -4.95608968e-01 -2.09237130e-02 1.71654793e+02] [ 2.41346871e-02 7.74372066e-05 9.99708713e-01 4.81967284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.900385723 meters Centerline goodness [0,1] 0.9999777337400637 Centerline is valid? [True, True] Translation: X:206.03, Y:171.68, Z:4.82 [[-4.97976063e-01 -8.67095331e-01 1.28657608e-02 2.06030603e+02] [ 8.66806908e-01 -4.98142236e-01 -2.23628508e-02 1.71677355e+02] [ 2.57997023e-02 1.59659869e-05 9.99667132e-01 4.81899354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.02, Y:171.70, Z:4.82 [[-4.99474259e-01 -8.66234455e-01 1.27802348e-02 2.06016221e+02] [ 8.65949983e-01 -4.99637738e-01 -2.21981632e-02 1.71699520e+02] [ 2.56143013e-02 -2.03670256e-05 9.99671900e-01 4.81784305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.00, Y:171.72, Z:4.82 [[-5.00809722e-01 -8.65463979e-01 1.27170657e-02 2.06001389e+02] [ 8.65182459e-01 -5.00971155e-01 -2.20729201e-02 1.71723073e+02] [ 2.54742004e-02 -5.17507667e-05 9.99675479e-01 4.81973377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.99, Y:171.75, Z:4.82 [[-5.01965981e-01 -8.64798789e-01 1.23777613e-02 2.05987467e+02] [ 8.64532237e-01 -5.02118561e-01 -2.14700113e-02 1.71746587e+02] [ 2.47823435e-02 -7.62416201e-05 9.99692868e-01 4.81994102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.97, Y:171.77, Z:4.82 [[-5.04413689e-01 -8.63380268e-01 1.18888160e-02 2.05974900e+02] [ 8.63134292e-01 -5.04553759e-01 -2.06082309e-02 1.71771166e+02] [ 2.37912867e-02 -1.33428976e-04 9.99716938e-01 4.82048115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.96, Y:171.80, Z:4.82 [[-5.05374787e-01 -8.62812754e-01 1.22668840e-02 2.05961503e+02] [ 8.62551066e-01 -5.05523617e-01 -2.12492837e-02 1.71795833e+02] [ 2.45353526e-02 -1.58038403e-04 9.99698950e-01 4.82018178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.95, Y:171.82, Z:4.82 [[-5.07793667e-01 -8.61378151e-01 1.31632755e-02 2.05949119e+02] [ 8.61076734e-01 -5.07964196e-01 -2.27867164e-02 1.71819893e+02] [ 2.63144523e-02 -2.36360056e-04 9.99653687e-01 4.81813622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.93, Y:171.84, Z:4.82 [[-5.09157025e-01 -8.60573673e-01 1.31178335e-02 2.05934969e+02] [ 8.60274469e-01 -5.09325908e-01 -2.26926802e-02 1.71843314e+02] [ 2.62099756e-02 -2.69200247e-04 9.99656423e-01 4.81708815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.92, Y:171.87, Z:4.82 [[-5.10453151e-01 -8.59812815e-01 1.26294443e-02 2.05919113e+02] [ 8.59535620e-01 -5.10609282e-01 -2.18329930e-02 1.71865585e+02] [ 2.52209986e-02 -2.89262846e-04 9.99681858e-01 4.81591836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.91, Y:171.89, Z:4.82 [[-5.10837919e-01 -8.59588841e-01 1.23144312e-02 2.05905146e+02] [ 8.59325593e-01 -5.10986246e-01 -2.12739766e-02 1.71889185e+02] [ 2.45793779e-02 -2.85448043e-04 9.99697841e-01 4.81647571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.89, Y:171.91, Z:4.82 [[-5.10690033e-01 -8.59683858e-01 1.18048122e-02 2.05890573e+02] [ 8.59442290e-01 -5.10826384e-01 -2.03802918e-02 1.71912703e+02] [ 2.35508174e-02 -2.62457108e-04 9.99722607e-01 4.81927895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.88, Y:171.94, Z:4.82 [[-5.09067046e-01 -8.60661622e-01 1.05979029e-02 2.05877853e+02] [ 8.60467368e-01 -5.09177314e-01 -1.82858190e-02 1.71936583e+02] [ 2.11341144e-02 -1.89558286e-04 9.99776632e-01 4.82256872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.87, Y:171.96, Z:4.82 [[-5.08495763e-01 -8.61006468e-01 9.99611280e-03 2.05865438e+02] [ 8.60833935e-01 -5.08593981e-01 -1.72365692e-02 1.71959207e+02] [ 1.99247604e-02 -1.59729315e-04 9.99801470e-01 4.82320359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.85, Y:171.98, Z:4.82 [[-5.07819235e-01 -8.61407960e-01 9.79546637e-03 2.05850194e+02] [ 8.61242597e-01 -5.07913682e-01 -1.68783865e-02 1.71981754e+02] [ 1.95144279e-02 -1.34896420e-04 9.99809566e-01 4.82417632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.320385723 meters Centerline goodness [0,1] 0.9999115318264254 Centerline is valid? [True, True] Translation: X:205.84, Y:172.00, Z:4.82 [[-5.07389573e-01 -8.61664347e-01 9.50651471e-03 2.05835293e+02] [ 8.61508855e-01 -5.07478610e-01 -1.63693013e-02 1.72004745e+02] [ 1.89291962e-02 -1.15666189e-04 9.99820820e-01 4.82398936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.82, Y:172.03, Z:4.82 [[-5.06782565e-01 -8.62021349e-01 9.51978925e-03 2.05821117e+02] [ 8.61865704e-01 -5.06871961e-01 -1.63805543e-02 1.72026727e+02] [ 1.89457018e-02 -9.65994653e-05 9.99820509e-01 4.82252338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.81, Y:172.05, Z:4.82 [[-5.07094479e-01 -8.61835957e-01 9.69391507e-03 2.05807400e+02] [ 8.61674769e-01 -5.07187119e-01 -1.66679143e-02 1.72050743e+02] [ 1.92816367e-02 -9.92052953e-05 9.99814087e-01 4.82229673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.79, Y:172.08, Z:4.82 [[-5.07659372e-01 -8.61500726e-01 9.92272637e-03 2.05794512e+02] [ 8.61332011e-01 -5.07756326e-01 -1.70493505e-02 1.72075261e+02] [ 1.97263549e-02 -1.08500704e-04 9.99805411e-01 4.82252906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.440385723 meters Centerline goodness [0,1] 0.9999555239281267 Centerline is valid? [True, True] Translation: X:205.78, Y:172.10, Z:4.82 [[-5.09405653e-01 -8.60470682e-01 9.80237108e-03 2.05784393e+02] [ 8.60306069e-01 -5.09499937e-01 -1.68309919e-02 1.72099386e+02] [ 1.94768825e-02 -1.40763104e-04 9.99810298e-01 4.82335963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.77, Y:172.12, Z:4.82 [[-5.10422114e-01 -8.59869352e-01 9.69349559e-03 2.05772253e+02] [ 8.59708494e-01 -5.10514127e-01 -1.66322290e-02 1.72122613e+02] [ 1.92502104e-02 -1.55876995e-04 9.99814685e-01 4.82386720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.76, Y:172.15, Z:4.82 [[-5.11715124e-01 -8.59099553e-01 9.77695702e-03 2.05759068e+02] [ 8.58936003e-01 -5.11808485e-01 -1.67635971e-02 1.72146701e+02] [ 1.94055284e-02 -1.80405813e-04 9.99811679e-01 4.82342341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.530385723 meters Centerline goodness [0,1] 0.9999777797529108 Centerline is valid? [True, True] Translation: X:205.75, Y:172.17, Z:4.82 [[-5.14476868e-01 -8.57447846e-01 9.83580649e-03 2.05745906e+02] [ 8.57282233e-01 -5.14570825e-01 -1.68534376e-02 1.72171347e+02] [ 1.95121629e-02 -2.38641650e-04 9.99809591e-01 4.82157916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:172.20, Z:4.82 [[-5.16228241e-01 -8.56391820e-01 1.00724252e-02 2.05732872e+02] [ 8.56218151e-01 -5.16326420e-01 -1.72483298e-02 1.72195430e+02] [ 1.99719878e-02 -2.79881635e-04 9.99800501e-01 4.82107283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.72, Y:172.22, Z:4.82 [[-5.17868864e-01 -8.55402812e-01 9.89290555e-03 2.05718879e+02] [ 8.55235302e-01 -5.17963257e-01 -1.69305238e-02 1.72219383e+02] [ 1.96065792e-02 -3.07029046e-04 9.99807725e-01 4.82140559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:172.24, Z:4.82 [[-5.20665398e-01 -8.53699094e-01 1.02664206e-02 2.05706765e+02] [ 8.53518591e-01 -5.20766466e-01 -1.75585698e-02 1.72244602e+02] [ 2.03361427e-02 -3.79558925e-04 9.99793127e-01 4.82220604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.69, Y:172.27, Z:4.82 [[-5.21312646e-01 -8.53300388e-01 1.05628120e-02 2.05694553e+02] [ 8.53109483e-01 -5.21419494e-01 -1.80533124e-02 1.72267403e+02] [ 2.09125545e-02 -4.00184962e-04 9.99781229e-01 4.82233859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:172.29, Z:4.82 [[-5.21940224e-01 -8.52910483e-01 1.10503889e-02 2.05680926e+02] [ 8.52701748e-01 -5.22057013e-01 -1.88733542e-02 1.72289670e+02] [ 2.18662147e-02 -4.28076819e-04 9.99760814e-01 4.82122691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:172.31, Z:4.82 [[-5.21605507e-01 -8.53112895e-01 1.12286481e-02 2.05663772e+02] [ 8.52897673e-01 -5.21726184e-01 -1.91663515e-02 1.72311758e+02] [ 2.22093413e-02 -4.20386636e-04 9.99753254e-01 4.82137907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:172.33, Z:4.82 [[-5.21099406e-01 -8.53421804e-01 1.12531630e-02 2.05648223e+02] [ 8.53206018e-01 -5.21220744e-01 -1.91944507e-02 1.72333200e+02] [ 2.22463447e-02 -4.00950430e-04 9.99752439e-01 4.82117678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.770385723 meters Centerline goodness [0,1] 0.9999337250916803 Centerline is valid? [True, True] Translation: X:205.63, Y:172.35, Z:4.82 [[-5.19550050e-01 -8.54374210e-01 1.06044356e-02 2.05630695e+02] [ 8.54183042e-01 -5.19658155e-01 -1.80757428e-02 1.72354942e+02] [ 2.09541299e-02 -3.33124031e-04 9.99780383e-01 4.82135573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:172.38, Z:4.82 [[-5.19406089e-01 -8.54464467e-01 1.03821246e-02 2.05616336e+02] [ 8.54281479e-01 -5.19509744e-01 -1.76856269e-02 1.72376883e+02] [ 2.05053546e-02 -3.16765490e-04 9.99789693e-01 4.82182290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.60, Y:172.40, Z:4.82 [[-5.19445950e-01 -8.54441254e-01 1.02980185e-02 2.05600906e+02] [ 8.54261467e-01 -5.19547927e-01 -1.75299062e-02 1.72399183e+02] [ 2.03285891e-02 -3.08638393e-04 9.99793305e-01 4.82281084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:172.42, Z:4.82 [[-5.19526501e-01 -8.54394853e-01 1.00821765e-02 2.05584300e+02] [ 8.54222748e-01 -5.19624236e-01 -1.71507798e-02 1.72421502e+02] [ 1.98924813e-02 -2.97860083e-04 9.99802081e-01 4.82430244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.890385723 meters Centerline goodness [0,1] 0.9999779234827914 Centerline is valid? [True, True] Translation: X:205.57, Y:172.45, Z:4.83 [[-5.19647990e-01 -8.54324746e-01 9.75677483e-03 2.05568513e+02] [ 8.54163774e-01 -5.19739499e-01 -1.65861423e-02 1.72445165e+02] [ 1.92409331e-02 -2.85071893e-04 9.99814835e-01 4.82524144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.55, Y:172.47, Z:4.83 [[-5.19178775e-01 -8.54617424e-01 9.08062525e-03 2.05553004e+02] [ 8.54478201e-01 -5.19258120e-01 -1.54275156e-02 1.72467027e+02] [ 1.78998120e-02 -2.50442306e-04 9.99839754e-01 4.82705369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.950385723 meters Centerline goodness [0,1] 0.9999781578315096 Centerline is valid? [True, True] Translation: X:205.54, Y:172.49, Z:4.83 [[-5.19143747e-01 -8.54640331e-01 8.92603758e-03 2.05537366e+02] [ 8.54505984e-01 -5.19220422e-01 -1.51550719e-02 1.72489947e+02] [ 1.75867166e-02 -2.40308260e-04 9.99845313e-01 4.82828703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.980385723 meters Centerline goodness [0,1] 0.999956145159522 Centerline is valid? [True, True] Translation: X:205.52, Y:172.51, Z:4.83 [[-5.19040573e-01 -8.54704404e-01 8.79008446e-03 2.05521829e+02] [ 8.54574306e-01 -5.19114948e-01 -1.49139665e-02 1.72512861e+02] [ 1.73100971e-02 -2.29173407e-04 9.99850143e-01 4.82894539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.51, Y:172.53, Z:4.83 [[-5.18234975e-01 -8.55188442e-01 9.23248765e-03 2.05507242e+02] [ 8.55045194e-01 -5.18317162e-01 -1.56536045e-02 1.72534376e+02] [ 1.81721384e-02 -2.18051139e-04 9.99834849e-01 4.82919975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.49, Y:172.56, Z:4.83 [[-5.18486779e-01 -8.55035759e-01 9.23633727e-03 2.05493543e+02] [ 8.54892527e-01 -5.18568995e-01 -1.56513328e-02 1.72557366e+02] [ 1.81721274e-02 -2.18933431e-04 9.99834849e-01 4.82960458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.48, Y:172.58, Z:4.83 [[-5.18619793e-01 -8.54954727e-01 9.26961173e-03 2.05477911e+02] [ 8.54810642e-01 -5.18702582e-01 -1.56970811e-02 1.72580222e+02] [ 1.82284652e-02 -2.17054205e-04 9.99833824e-01 4.83038001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.100385723 meters Centerline goodness [0,1] 0.9999126885381878 Centerline is valid? [True, True] Translation: X:205.46, Y:172.60, Z:4.83 [[-5.18524682e-01 -8.55010784e-01 9.41881257e-03 2.05462468e+02] [ 8.54862228e-01 -5.18610175e-01 -1.59391853e-02 1.72603301e+02] [ 1.85128673e-02 -2.13073873e-04 9.99828599e-01 4.83099550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.130385723 meters Centerline goodness [0,1] 0.9999565009352299 Centerline is valid? [True, True] Translation: X:205.45, Y:172.62, Z:4.83 [[-5.18176924e-01 -8.55224382e-01 9.16150558e-03 2.05446751e+02] [ 8.55084008e-01 -5.18257869e-01 -1.54958161e-02 1.72624834e+02] [ 1.80004221e-02 -1.95717386e-04 9.99837960e-01 4.83195296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.43, Y:172.65, Z:4.83 [[-5.18146903e-01 -8.55243253e-01 9.09755466e-03 2.05431496e+02] [ 8.55105030e-01 -5.18226730e-01 -1.53767530e-02 1.72648810e+02] [ 1.78654602e-02 -1.88052186e-04 9.99840382e-01 4.83328321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.190385723 meters Centerline goodness [0,1] 0.9999781778505182 Centerline is valid? [True, True] Translation: X:205.42, Y:172.67, Z:4.83 [[-5.18107741e-01 -8.55265278e-01 9.25599570e-03 2.05418351e+02] [ 8.55122387e-01 -5.18190381e-01 -1.56343428e-02 1.72671953e+02] [ 1.81678784e-02 -1.85264881e-04 9.99834933e-01 4.83408456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.220385723 meters Centerline goodness [0,1] 0.999956279374795 Centerline is valid? [True, True] Translation: X:205.40, Y:172.69, Z:4.84 [[-5.17444319e-01 -8.55667040e-01 9.23548557e-03 2.05401859e+02] [ 8.55525051e-01 -5.17526705e-01 -1.55883445e-02 1.72693883e+02] [ 1.81180430e-02 -1.64911028e-04 9.99835841e-01 4.83560848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.250385723 meters Centerline goodness [0,1] 0.999847258286238 Centerline is valid? [True, True] Translation: X:205.39, Y:172.72, Z:4.84 [[-5.17395116e-01 -8.55697247e-01 9.19326577e-03 2.05386748e+02] [ 8.55556752e-01 -5.17476760e-01 -1.55063407e-02 1.72716124e+02] [ 1.80260344e-02 -1.57544320e-04 9.99837505e-01 4.83618259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.280385723 meters Centerline goodness [0,1] 0.9998692411628819 Centerline is valid? [True, True] Translation: X:205.37, Y:172.74, Z:4.84 [[-5.17861058e-01 -8.55414359e-01 9.28434532e-03 2.05371778e+02] [ 8.55271222e-01 -5.17944252e-01 -1.56488927e-02 1.72738240e+02] [ 1.81950608e-02 -1.63318774e-04 9.99834443e-01 4.83681101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.310385723 meters Centerline goodness [0,1] 0.9998257574107551 Centerline is valid? [True, True] Translation: X:205.36, Y:172.76, Z:4.84 [[-5.18950042e-01 -8.54751836e-01 9.49488548e-03 2.05357520e+02] [ 8.54602241e-01 -5.19036863e-01 -1.59920136e-02 1.72761167e+02] [ 1.85973986e-02 -1.84705743e-04 9.99827036e-01 4.83713440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.340385723 meters Centerline goodness [0,1] 0.9998045305475316 Centerline is valid? [True, True] Translation: X:205.34, Y:172.78, Z:4.84 [[-5.20028430e-01 -8.54089179e-01 1.01048093e-02 2.05343381e+02] [ 8.53919865e-01 -5.20126550e-01 -1.70069162e-02 1.72783934e+02] [ 1.97812027e-02 -2.15382525e-04 9.99804310e-01 4.83742935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.33, Y:172.81, Z:4.84 [[-5.21538840e-01 -8.53166919e-01 1.01708472e-02 2.05329136e+02] [ 8.52995455e-01 -5.21637947e-01 -1.71057260e-02 1.72806888e+02] [ 1.98995394e-02 -2.45614050e-04 9.99801954e-01 4.83735589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.400385723 meters Centerline goodness [0,1] 0.9998695368558382 Centerline is valid? [True, True] Translation: X:205.31, Y:172.83, Z:4.84 [[-5.23550928e-01 -8.51925142e-01 1.08617604e-02 2.05313964e+02] [ 8.51729592e-01 -5.23663497e-01 -1.82549524e-02 1.72830423e+02] [ 2.12397604e-02 -3.06114518e-04 9.99774364e-01 4.83784235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.430385723 meters Centerline goodness [0,1] 0.9998911742300577 Centerline is valid? [True, True] Translation: X:205.30, Y:172.85, Z:4.84 [[-5.24959168e-01 -8.51055455e-01 1.10672907e-02 2.05299248e+02] [ 8.50852493e-01 -5.25075705e-01 -1.85886894e-02 1.72853954e+02] [ 2.16311710e-02 -3.41671051e-04 9.99765960e-01 4.83836357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.460385723 meters Centerline goodness [0,1] 0.9999128730124156 Centerline is valid? [True, True] Translation: X:205.28, Y:172.88, Z:4.84 [[-5.26073294e-01 -8.50365115e-01 1.12277210e-02 2.05284035e+02] [ 8.50156328e-01 -5.26192964e-01 -1.88462734e-02 1.72877956e+02] [ 2.19341612e-02 -3.69203065e-04 9.99759349e-01 4.83910641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.490385723 meters Centerline goodness [0,1] 0.9999349945828819 Centerline is valid? [True, True] Translation: X:205.27, Y:172.90, Z:4.84 [[-5.28437077e-01 -8.48903684e-01 1.08069851e-02 2.05268488e+02] [ 8.48710185e-01 -5.28547414e-01 -1.81288109e-02 1.72899895e+02] [ 2.11016184e-02 -4.07937480e-04 9.99777253e-01 4.83965876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.520385723 meters Centerline goodness [0,1] 0.9997839052640678 Centerline is valid? [True, True] Translation: X:205.25, Y:172.92, Z:4.84 [[-5.29658878e-01 -8.48146452e-01 1.04436352e-02 2.05251290e+02] [ 8.47965827e-01 -5.29761666e-01 -1.75081076e-02 1.72922388e+02] [ 2.03820769e-02 -4.17478894e-04 9.99792177e-01 4.84089604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.23, Y:172.95, Z:4.84 [[-5.31410531e-01 -8.47050491e-01 1.04073631e-02 2.05234724e+02] [ 8.46871130e-01 -5.31512240e-01 -1.74364020e-02 1.72945275e+02] [ 2.03011537e-02 -4.52192316e-04 9.99793808e-01 4.84139815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.580385723 meters Centerline goodness [0,1] 0.9999568472608799 Centerline is valid? [True, True] Translation: X:205.22, Y:172.97, Z:4.84 [[-5.31987473e-01 -8.46682049e-01 1.09012365e-02 2.05218987e+02] [ 8.46485424e-01 -5.32098935e-01 -1.82524376e-02 1.72968627e+02] [ 2.12545476e-02 -4.82330367e-04 9.99773980e-01 4.84138402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.610385723 meters Centerline goodness [0,1] 0.9999568109181999 Centerline is valid? [True, True] Translation: X:205.20, Y:172.99, Z:4.84 [[-5.32095324e-01 -8.46607354e-01 1.14260054e-02 2.05203407e+02] [ 8.46391599e-01 -5.32217752e-01 -1.91187267e-02 1.72991591e+02] [ 2.22671775e-02 -5.02110069e-04 9.99751930e-01 4.84148158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.19, Y:173.01, Z:4.84 [[-5.31891582e-01 -8.46736111e-01 1.13711701e-02 2.05186053e+02] [ 8.46522714e-01 -5.32012895e-01 -1.90151107e-02 1.73014233e+02] [ 2.21503900e-02 -4.88023518e-04 9.99754531e-01 4.84224057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.17, Y:173.03, Z:4.84 [[-5.31053830e-01 -8.47263130e-01 1.12702874e-02 2.05166461e+02] [ 8.47053882e-01 -5.31173213e-01 -1.88345287e-02 1.73034513e+02] [ 2.19442765e-02 -4.55607902e-04 9.99759092e-01 4.84217948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.700385723 meters Centerline goodness [0,1] 0.9998923017274803 Centerline is valid? [True, True] Translation: X:205.15, Y:173.06, Z:4.84 [[-5.30574806e-01 -8.47566655e-01 1.10064250e-02 2.05149135e+02] [ 8.47367402e-01 -5.30688782e-01 -1.83821033e-02 1.73056977e+02] [ 2.14210441e-02 -4.26595111e-04 9.99770452e-01 4.84229800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.730385723 meters Centerline goodness [0,1] 0.9999355323949716 Centerline is valid? [True, True] Translation: X:205.13, Y:173.08, Z:4.84 [[-5.29992522e-01 -8.47928883e-01 1.11595885e-02 2.05130532e+02] [ 8.47724382e-01 -5.30109839e-01 -1.86260762e-02 1.73077424e+02] [ 2.17093957e-02 -4.11425798e-04 9.99764239e-01 4.84154031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.760385723 meters Centerline goodness [0,1] 0.9998926439644437 Centerline is valid? [True, True] Translation: X:205.12, Y:173.10, Z:4.84 [[-5.30495209e-01 -8.47611053e-01 1.14165249e-02 2.05115738e+02] [ 8.47397240e-01 -5.30617867e-01 -1.90419691e-02 1.73098833e+02] [ 2.21979956e-02 -4.27341660e-04 9.99753503e-01 4.84173291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.10, Y:173.12, Z:4.84 [[-5.32941809e-01 -8.46078779e-01 1.11232955e-02 2.05099174e+02] [ 8.45875747e-01 -5.33057667e-01 -1.85403143e-02 1.73121367e+02] [ 2.16159245e-02 -4.71982765e-04 9.99766237e-01 4.84294138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.08, Y:173.14, Z:4.84 [[-5.34564231e-01 -8.45059428e-01 1.07539401e-02 2.05083567e+02] [ 8.44869672e-01 -5.34672164e-01 -1.79140611e-02 1.73144231e+02] [ 2.08882786e-02 -4.90538450e-04 9.99781696e-01 4.84414925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.850385723 meters Centerline goodness [0,1] 0.9999571045576408 Centerline is valid? [True, True] Translation: X:205.07, Y:173.17, Z:4.85 [[-5.36495488e-01 -8.43841963e-01 1.01652517e-02 2.05068583e+02] [ 8.43672394e-01 -5.36591547e-01 -1.69234666e-02 1.73166764e+02] [ 1.97353194e-02 -5.03221197e-04 9.99805113e-01 4.84502906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.05, Y:173.19, Z:4.85 [[-5.39864027e-01 -8.41699236e-01 9.44614447e-03 2.05050841e+02] [ 8.41552654e-01 -5.39946396e-01 -1.57169086e-02 1.73188762e+02] [ 1.83293216e-02 -5.35565625e-04 9.99831860e-01 4.84649542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.04, Y:173.21, Z:4.85 [[-5.41881593e-01 -8.40405570e-01 9.10037567e-03 2.05035178e+02] [ 8.40269498e-01 -5.41957721e-01 -1.51327364e-02 1.73211814e+02] [ 1.76496548e-02 -5.53383222e-04 9.99844080e-01 4.84733468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.02, Y:173.23, Z:4.85 [[-5.43583454e-01 -8.39306929e-01 8.99489754e-03 2.05017002e+02] [ 8.39173996e-01 -5.43657563e-01 -1.49485001e-02 1.73234437e+02] [ 1.74365238e-02 -5.77473223e-04 9.99847806e-01 4.84783778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.00, Y:173.26, Z:4.85 [[-5.46328733e-01 -8.37521498e-01 9.09147712e-03 2.04998527e+02] [ 8.37385605e-01 -5.46404003e-01 -1.51001304e-02 1.73256781e+02] [ 1.76143033e-02 -6.36563057e-04 9.99844654e-01 4.84803567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.000385723 meters Centerline goodness [0,1] 0.9999786689419795 Centerline is valid? [True, True] Translation: X:204.98, Y:173.28, Z:4.85 [[-5.47336723e-01 -8.36860881e-01 9.29400229e-03 2.04981856e+02] [ 8.36718937e-01 -5.47415218e-01 -1.54272426e-02 1.73279995e+02] [ 1.79981341e-02 -6.67428710e-04 9.99837798e-01 4.84841705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.96, Y:173.30, Z:4.85 [[-5.48218103e-01 -8.36279855e-01 9.63930221e-03 2.04962634e+02] [ 8.36127259e-01 -5.48302385e-01 -1.59906798e-02 1.73301191e+02] [ 1.86579358e-02 -7.06696837e-04 9.99825676e-01 4.84767514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.95, Y:173.32, Z:4.85 [[-5.47915040e-01 -8.36478110e-01 9.66852132e-03 2.04946243e+02] [ 8.36324789e-01 -5.47999896e-01 -1.60300428e-02 1.73323229e+02] [ 1.87071286e-02 -6.97077495e-04 9.99824763e-01 4.84714184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.93, Y:173.35, Z:4.85 [[-5.47504412e-01 -8.36742250e-01 1.00660428e-02 2.04929273e+02] [ 8.36576270e-01 -5.47596476e-01 -1.66806459e-02 1.73345927e+02] [ 1.94695307e-02 -7.11714692e-04 9.99810197e-01 4.84684490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.92, Y:173.37, Z:4.85 [[-5.46990530e-01 -8.37072981e-01 1.04968820e-02 2.04918275e+02] [ 8.36892773e-01 -5.47090761e-01 -1.73835070e-02 1.73370679e+02] [ 2.02940112e-02 -7.23849035e-04 9.99793793e-01 4.84505071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.89, Y:173.39, Z:4.84 [[-5.44917369e-01 -8.38412883e-01 1.13533590e-02 2.04892291e+02] [ 8.38202623e-01 -5.45035152e-01 -1.87895427e-02 1.73388013e+02] [ 2.19413744e-02 -7.22332862e-04 9.99758998e-01 4.84401936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.87, Y:173.41, Z:4.84 [[-5.44146229e-01 -8.38912870e-01 1.14051692e-02 2.04874819e+02] [ 8.38701053e-01 -5.44265291e-01 -1.88636450e-02 1.73410232e+02] [ 2.20323923e-02 -6.99053855e-04 9.99757013e-01 4.84407152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.86, Y:173.43, Z:4.84 [[-5.42086381e-01 -8.40253582e-01 1.07830151e-02 2.04860532e+02] [ 8.40064727e-01 -5.42193280e-01 -1.78241908e-02 1.73433559e+02] [ 2.08233185e-02 -6.03820413e-04 9.99782989e-01 4.84374692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.84, Y:173.45, Z:4.85 [[-5.41485361e-01 -8.40641105e-01 1.07766958e-02 2.04839099e+02] [ 8.40452781e-01 -5.41592276e-01 -1.78025064e-02 1.73452127e+02] [ 2.08020938e-02 -5.82492669e-04 9.99783443e-01 4.84539177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.82, Y:173.47, Z:4.84 [[-5.40150551e-01 -8.41492386e-01 1.13113134e-02 2.04819694e+02] [ 8.41285372e-01 -5.40268673e-01 -1.86730644e-02 1.73472715e+02] [ 2.18243898e-02 -5.70223520e-04 9.99761657e-01 4.84480930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.80, Y:173.49, Z:4.84 [[-5.39684195e-01 -8.41792324e-01 1.12539872e-02 2.04802468e+02] [ 8.41587718e-01 -5.39801243e-01 -1.85669318e-02 1.73494104e+02] [ 2.17044169e-02 -5.49062262e-04 9.99764281e-01 4.84459416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.78, Y:173.52, Z:4.85 [[-5.39926427e-01 -8.41638865e-01 1.11119201e-02 2.04784692e+02] [ 8.41439616e-01 -5.40040487e-01 -1.83205982e-02 1.73516482e+02] [ 2.14202142e-02 -5.41765374e-04 9.99770414e-01 4.84542226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.77, Y:173.54, Z:4.85 [[-5.39964818e-01 -8.41615886e-01 1.09861477e-02 2.04769463e+02] [ 8.41421334e-01 -5.40076308e-01 -1.81030563e-02 1.73539438e+02] [ 2.11691778e-02 -5.31034445e-04 9.99775767e-01 4.84571941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.75, Y:173.56, Z:4.85 [[-5.40886514e-01 -8.41026185e-01 1.08044161e-02 2.04752545e+02] [ 8.40838079e-01 -5.40994144e-01 -1.77949723e-02 1.73562409e+02] [ 2.08111635e-02 -5.40296054e-04 9.99783278e-01 4.84779221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.420385723 meters Centerline goodness [0,1] 0.9999580721578164 Centerline is valid? [True, True] Translation: X:204.73, Y:173.59, Z:4.85 [[-5.41995135e-01 -8.40313883e-01 1.06701080e-02 2.04734929e+02] [ 8.40130502e-01 -5.42099871e-01 -1.75633203e-02 1.73585191e+02] [ 2.05429661e-02 -5.54950918e-04 9.99788817e-01 4.84812399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.72, Y:173.61, Z:4.85 [[-5.43389100e-01 -8.39412115e-01 1.07511484e-02 2.04721082e+02] [ 8.39225948e-01 -5.43495129e-01 -1.76876723e-02 1.73608218e+02] [ 2.06904432e-02 -5.88645616e-04 9.99785757e-01 4.84915038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.70, Y:173.63, Z:4.85 [[-5.44159635e-01 -8.38913181e-01 1.07222130e-02 2.04701728e+02] [ 8.38728052e-01 -5.44264928e-01 -1.76335990e-02 1.73629603e+02] [ 2.06287831e-02 -6.02471953e-04 9.99787023e-01 4.85006347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.69, Y:173.65, Z:4.85 [[-5.44652349e-01 -8.38595248e-01 1.05748835e-02 2.04685033e+02] [ 8.38415335e-01 -5.44754669e-01 -1.73803616e-02 1.73652134e+02] [ 2.03358058e-02 -6.00110331e-04 9.99793026e-01 4.85077159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.540385723 meters Centerline goodness [0,1] 0.9999161741900331 Centerline is valid? [True, True] Translation: X:204.67, Y:173.68, Z:4.85 [[-5.43692579e-01 -8.39216192e-01 1.07034275e-02 2.04669773e+02] [ 8.39032227e-01 -5.43797618e-01 -1.75804364e-02 1.73675491e+02] [ 2.05742852e-02 -5.77832176e-04 9.99788160e-01 4.84920365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.65, Y:173.70, Z:4.85 [[-5.42262296e-01 -8.40140765e-01 1.07283439e-02 2.04654136e+02] [ 8.39956343e-01 -5.42368146e-01 -1.76106963e-02 1.73698749e+02] [ 2.06141759e-02 -5.38276066e-04 9.99787360e-01 4.85210995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.64, Y:173.72, Z:4.85 [[-5.40978833e-01 -8.40965163e-01 1.09314374e-02 2.04638699e+02] [ 8.40774085e-01 -5.41089026e-01 -1.79333228e-02 1.73722002e+02] [ 2.09961806e-02 -5.10678758e-04 9.99779425e-01 4.85317169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.62, Y:173.74, Z:4.85 [[-5.38403995e-01 -8.42619158e-01 1.06813986e-02 2.04618167e+02] [ 8.42437257e-01 -5.38509767e-01 -1.75128186e-02 1.73742178e+02] [ 2.05086739e-02 -4.30563329e-04 9.99789582e-01 4.85357225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.60, Y:173.76, Z:4.85 [[-5.37390351e-01 -8.43265249e-01 1.07391726e-02 2.04602405e+02] [ 8.43081715e-01 -5.37497495e-01 -1.75972801e-02 1.73764005e+02] [ 2.06114531e-02 -4.02608495e-04 9.99787480e-01 4.85319048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.58, Y:173.79, Z:4.85 [[-5.35520740e-01 -8.44453710e-01 1.07456728e-02 2.04584509e+02] [ 8.44270375e-01 -5.35628424e-01 -1.75990538e-02 1.73786625e+02] [ 2.06172740e-02 -3.52405100e-04 9.99787379e-01 4.85423216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.57, Y:173.81, Z:4.85 [[-5.35028910e-01 -8.44768378e-01 1.05096743e-02 2.04569928e+02] [ 8.44593282e-01 -5.35132022e-01 -1.72019584e-02 1.73809708e+02] [ 2.01557337e-02 -3.27144758e-04 9.99796799e-01 4.85499590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.56, Y:173.83, Z:4.86 [[-5.34557089e-01 -8.45069329e-01 1.03221697e-02 2.04556389e+02] [ 8.44900699e-01 -5.34656652e-01 -1.68841008e-02 1.73832678e+02] [ 1.97870524e-02 -3.04307396e-04 9.99804171e-01 4.85578320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.54, Y:173.86, Z:4.86 [[-5.33678929e-01 -8.45630168e-01 9.81937557e-03 2.04540880e+02] [ 8.45477850e-01 -5.33769191e-01 -1.60516751e-02 1.73855167e+02] [ 1.88150609e-02 -2.64376262e-04 9.99822946e-01 4.85639317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.53, Y:173.88, Z:4.86 [[-5.33605478e-01 -8.45677302e-01 9.75166789e-03 2.04526209e+02] [ 8.45527273e-01 -5.33694516e-01 -1.59309310e-02 1.73877687e+02] [ 1.86768384e-02 -2.55530867e-04 9.99825540e-01 4.85654500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.840385723 meters Centerline goodness [0,1] 0.9999790764337874 Centerline is valid? [True, True] Translation: X:204.51, Y:173.90, Z:4.86 [[-5.33307219e-01 -8.45860867e-01 1.01392930e-02 2.04510755e+02] [ 8.45698925e-01 -5.33403534e-01 -1.65528562e-02 1.73900578e+02] [ 1.94097480e-02 -2.52968487e-04 9.99811581e-01 4.85688771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.50, Y:173.92, Z:4.86 [[-5.32926489e-01 -8.46098192e-01 1.03540560e-02 2.04497252e+02] [ 8.45929559e-01 -5.33027007e-01 -1.68935491e-02 1.73923807e+02] [ 1.98125928e-02 -2.44217795e-04 9.99803682e-01 4.85678446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.48, Y:173.95, Z:4.86 [[-5.33142186e-01 -8.45960172e-01 1.05259962e-02 2.04482778e+02] [ 8.45786037e-01 -5.33246027e-01 -1.71654946e-02 1.73947274e+02] [ 2.01342704e-02 -2.48908743e-04 9.99797254e-01 4.85753202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.47, Y:173.97, Z:4.86 [[-5.33380553e-01 -8.45809841e-01 1.05308349e-02 2.04468326e+02] [ 8.45635735e-01 -5.33484443e-01 -1.71625258e-02 1.73970730e+02] [ 2.01342698e-02 -2.48907194e-04 9.99797254e-01 4.85794919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.45, Y:173.99, Z:4.86 [[-5.33625439e-01 -8.45656396e-01 1.04475582e-02 2.04454746e+02] [ 8.45485203e-01 -5.33727645e-01 -1.70168114e-02 1.73994552e+02] [ 1.99665260e-02 -2.47347619e-04 9.99800618e-01 4.85819349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.44, Y:174.02, Z:4.86 [[-5.33404139e-01 -8.45799647e-01 1.01479751e-02 2.04441157e+02] [ 8.45638314e-01 -5.33500612e-01 -1.65208340e-02 1.74018991e+02] [ 1.93872665e-02 -2.30764704e-04 9.99812023e-01 4.85880892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.43, Y:174.04, Z:4.86 [[-5.33303583e-01 -8.45860974e-01 1.03199584e-02 2.04427502e+02] [ 8.45694333e-01 -5.33403376e-01 -1.67909015e-02 1.74042234e+02] [ 1.97074690e-02 -2.27117619e-04 9.99805763e-01 4.85889980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.41, Y:174.07, Z:4.86 [[-5.33330505e-01 -8.45835327e-01 1.10078356e-02 2.04414106e+02] [ 8.45645918e-01 -5.33444040e-01 -1.79007531e-02 1.74067026e+02] [ 2.10131536e-02 -2.38286420e-04 9.99779171e-01 4.85918219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.40, Y:174.09, Z:4.86 [[-5.33762783e-01 -8.45558998e-01 1.12815185e-02 2.04400939e+02] [ 8.45360240e-01 -5.33881934e-01 -1.83342756e-02 1.74091452e+02] [ 2.15257106e-02 -2.49206830e-04 9.99768264e-01 4.85914372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.110385723 meters Centerline goodness [0,1] 0.9998112930618749 Centerline is valid? [True, True] Translation: X:204.39, Y:174.12, Z:4.86 [[-5.34897052e-01 -8.44828242e-01 1.22631464e-02 2.04388911e+02] [ 8.44593467e-01 -5.35037525e-01 -1.99178820e-02 1.74115287e+02] [ 2.33884327e-02 -2.96643042e-04 9.99726409e-01 4.85574547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.37, Y:174.14, Z:4.86 [[-5.35517052e-01 -8.44443454e-01 1.16935905e-02 2.04374789e+02] [ 8.44230095e-01 -5.35644627e-01 -1.89836962e-02 1.74139891e+02] [ 2.22942669e-02 -2.94012022e-04 9.99751409e-01 4.86011173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.170385723 meters Centerline goodness [0,1] 0.9999580827028273 Centerline is valid? [True, True] Translation: X:204.36, Y:174.16, Z:4.86 [[-5.36511800e-01 -8.43807290e-01 1.20144410e-02 2.04362466e+02] [ 8.43582185e-01 -5.36646209e-01 -1.94921203e-02 1.74163640e+02] [ 2.28950974e-02 -3.22584121e-04 9.99737821e-01 4.85935234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.35, Y:174.19, Z:4.86 [[-5.38683852e-01 -8.42425357e-01 1.17993607e-02 2.04350428e+02] [ 8.42208179e-01 -5.38812938e-01 -1.91311400e-02 1.74188778e+02] [ 2.24742057e-02 -3.68118078e-04 9.99747355e-01 4.86069761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.34, Y:174.21, Z:4.86 [[-5.39894914e-01 -8.41645960e-01 1.20648738e-02 2.04336783e+02] [ 8.41418980e-01 -5.40029551e-01 -1.95495030e-02 1.74213476e+02] [ 2.29691486e-02 -4.03063399e-04 9.99736093e-01 4.86098133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.33, Y:174.24, Z:4.86 [[-5.42206678e-01 -8.40149302e-01 1.26912705e-02 2.04326744e+02] [ 8.39898019e-01 -5.42354972e-01 -2.05524290e-02 1.74238522e+02] [ 2.41502826e-02 -4.84291302e-04 9.99708222e-01 4.86031524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.31, Y:174.26, Z:4.86 [[-5.43277801e-01 -8.39460969e-01 1.24303139e-02 2.04311898e+02] [ 8.39219987e-01 -5.43419757e-01 -2.01191509e-02 1.74262016e+02] [ 2.36441200e-02 -4.98520186e-04 9.99720314e-01 4.86167222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.320385723 meters Centerline goodness [0,1] 0.9999163162409256 Centerline is valid? [True, True] Translation: X:204.30, Y:174.29, Z:4.86 [[-5.44256806e-01 -8.38819107e-01 1.29241999e-02 2.04300219e+02] [ 8.38558725e-01 -5.44409968e-01 -2.09057520e-02 1.74287205e+02] [ 2.45722075e-02 -5.40397258e-04 9.99697912e-01 4.86029671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.29, Y:174.31, Z:4.86 [[-5.44085879e-01 -8.38933758e-01 1.26769965e-02 2.04285048e+02] [ 8.38683556e-01 -5.44233297e-01 -2.04941745e-02 1.74310425e+02] [ 2.40924984e-02 -5.18602425e-04 9.99709599e-01 4.86307008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.380385723 meters Centerline goodness [0,1] 0.9999582149423366 Centerline is valid? [True, True] Translation: X:204.27, Y:174.34, Z:4.86 [[-5.43779763e-01 -8.39125194e-01 1.31330715e-02 2.04270724e+02] [ 8.38857052e-01 -5.43938081e-01 -2.12181604e-02 1.74335114e+02] [ 2.49482707e-02 -5.21236535e-04 9.99688608e-01 4.86206101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.26, Y:174.36, Z:4.86 [[-5.42977580e-01 -8.39639367e-01 1.34566097e-02 2.04256431e+02] [ 8.39358349e-01 -5.43144070e-01 -2.17274239e-02 1.74359517e+02] [ 2.55520782e-02 -5.02586359e-04 9.99673366e-01 4.86334191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.24, Y:174.38, Z:4.86 [[-5.40855340e-01 -8.40997544e-01 1.40936541e-02 2.04241616e+02] [ 8.40690113e-01 -5.41038747e-01 -2.27422178e-02 1.74383856e+02] [ 2.67513623e-02 -4.51854249e-04 9.99642016e-01 4.86342885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.23, Y:174.41, Z:4.86 [[-5.40236625e-01 -8.41400739e-01 1.37544871e-02 2.04228205e+02] [ 8.41108418e-01 -5.40411533e-01 -2.21811435e-02 1.74406443e+02] [ 2.60963140e-02 -4.14051213e-04 9.99659347e-01 4.86360390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.500385723 meters Centerline goodness [0,1] 0.9998740633461369 Centerline is valid? [True, True] Translation: X:204.21, Y:174.43, Z:4.86 [[-5.38201949e-01 -8.42703542e-01 1.37623403e-02 2.04212604e+02] [ 8.42411698e-01 -5.38377769e-01 -2.21790254e-02 1.74430018e+02] [ 2.60996813e-02 -3.43238241e-04 9.99659286e-01 4.86254862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.20, Y:174.45, Z:4.87 [[-5.37453814e-01 -8.43192577e-01 1.30260125e-02 2.04198559e+02] [ 8.42931589e-01 -5.37611562e-01 -2.09796308e-02 1.74453727e+02] [ 2.46928039e-02 -2.95545186e-04 9.99695043e-01 4.86535790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.19, Y:174.48, Z:4.87 [[-5.36874247e-01 -8.43559515e-01 1.31676335e-02 2.04185110e+02] [ 8.43293288e-01 -5.37035631e-01 -2.11934319e-02 1.74476983e+02] [ 2.49494095e-02 -2.74030843e-04 9.99688677e-01 4.86569617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.17, Y:174.50, Z:4.87 [[-5.36352293e-01 -8.43883226e-01 1.36864349e-02 2.04172495e+02] [ 8.43596098e-01 -5.36526823e-01 -2.20134304e-02 1.74500953e+02] [ 2.59199042e-02 -2.61130768e-04 9.99663989e-01 4.86528305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.16, Y:174.53, Z:4.87 [[-5.36346788e-01 -8.43879742e-01 1.41104458e-02 2.04157670e+02] [ 8.43574940e-01 -5.36532304e-01 -2.26805655e-02 1.74525272e+02] [ 2.67103798e-02 -2.61429952e-04 9.99643180e-01 4.86587531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.14, Y:174.55, Z:4.87 [[-5.36541839e-01 -8.43754512e-01 1.41837215e-02 2.04144522e+02] [ 8.43446877e-01 -5.36729219e-01 -2.27840167e-02 1.74549449e+02] [ 2.68369347e-02 -2.61362588e-04 9.99639790e-01 4.86534280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.13, Y:174.57, Z:4.87 [[-5.37149109e-01 -8.43381880e-01 1.33356159e-02 2.04131758e+02] [ 8.43110166e-01 -5.37314562e-01 -2.14081501e-02 1.74573931e+02] [ 2.52206665e-02 -2.55975445e-04 9.99681876e-01 4.86715718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.12, Y:174.60, Z:4.87 [[-5.37420536e-01 -8.43215169e-01 1.29362184e-02 2.04117251e+02] [ 8.42959762e-01 -5.37576149e-01 -2.07538589e-02 1.74597585e+02] [ 2.44541711e-02 -2.48838381e-04 9.99700921e-01 4.86822895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.740385723 meters Centerline goodness [0,1] 0.999874471735219 Centerline is valid? [True, True] Translation: X:204.10, Y:174.62, Z:4.87 [[-5.37657318e-01 -8.43053050e-01 1.36441811e-02 2.04102958e+02] [ 8.42769223e-01 -5.37830351e-01 -2.18758118e-02 1.74622225e+02] [ 2.57807245e-02 -2.62794378e-04 9.99667587e-01 4.86671305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.770385723 meters Centerline goodness [0,1] 0.9998743639675859 Centerline is valid? [True, True] Translation: X:204.09, Y:174.65, Z:4.86 [[-5.38787496e-01 -8.42325291e-01 1.40049080e-02 2.04092035e+02] [ 8.42026366e-01 -5.38969400e-01 -2.24406836e-02 1.74647534e+02] [ 2.64505722e-02 -2.98257999e-04 9.99650078e-01 4.86451454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.08, Y:174.67, Z:4.87 [[-5.39694620e-01 -8.41756435e-01 1.32597508e-02 2.04078404e+02] [ 8.41488611e-01 -5.39857400e-01 -2.12345282e-02 1.74671305e+02] [ 2.50326753e-02 -3.02231310e-04 9.99686588e-01 4.86715257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.07, Y:174.70, Z:4.87 [[-5.42183078e-01 -8.40157094e-01 1.31745352e-02 2.04065687e+02] [ 8.39892553e-01 -5.42342994e-01 -2.10849774e-02 1.74696419e+02] [ 2.48598101e-02 -3.66723936e-04 9.99690880e-01 4.86868921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.860385723 meters Centerline goodness [0,1] 0.9999371253720082 Centerline is valid? [True, True] Translation: X:204.05, Y:174.72, Z:4.87 [[-5.43688391e-01 -8.39179613e-01 1.34354338e-02 2.04053786e+02] [ 8.38904503e-01 -5.43854215e-01 -2.14901783e-02 1.74721436e+02] [ 2.53410368e-02 -4.12914581e-04 9.99678779e-01 4.86761762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.04, Y:174.75, Z:4.87 [[-5.45126666e-01 -8.38254985e-01 1.28645849e-02 2.04040675e+02] [ 8.38002780e-01 -5.45278273e-01 -2.05656461e-02 1.74746058e+02] [ 2.42540340e-02 -4.30324165e-04 9.99705735e-01 4.86986173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.03, Y:174.77, Z:4.87 [[-5.47216298e-01 -8.36897624e-01 1.25175791e-02 2.04028510e+02] [ 8.36658774e-01 -5.47359247e-01 -1.99987530e-02 1.74770826e+02] [ 2.35885216e-02 -4.70701234e-04 9.99721641e-01 4.87018289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.950385723 meters Centerline goodness [0,1] 0.999915883330179 Centerline is valid? [True, True] Translation: X:204.02, Y:174.79, Z:4.87 [[-5.48140481e-01 -8.36287745e-01 1.28382508e-02 2.04015787e+02] [ 8.36036653e-01 -5.48290576e-01 -2.04978057e-02 1.74794522e+02] [ 2.41811556e-02 -5.02428844e-04 9.99707467e-01 4.86824845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.980385723 meters Centerline goodness [0,1] 0.9999789331760344 Centerline is valid? [True, True] Translation: X:204.00, Y:174.82, Z:4.87 [[-5.48982345e-01 -8.35739355e-01 1.25744183e-02 2.04001097e+02] [ 8.35498626e-01 -5.49126098e-01 -2.00642363e-02 1.74817984e+02] [ 2.36734132e-02 -5.09002289e-04 9.99719616e-01 4.86994852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.99, Y:174.84, Z:4.87 [[-5.51057793e-01 -8.34367514e-01 1.28902787e-02 2.03989931e+02] [ 8.34114468e-01 -5.51208237e-01 -2.05556312e-02 1.74844176e+02] [ 2.42561787e-02 -5.75372815e-04 9.99705610e-01 4.87055023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.040385723 meters Centerline goodness [0,1] 0.9998732706727215 Centerline is valid? [True, True] Translation: X:203.98, Y:174.87, Z:4.87 [[-5.52419954e-01 -8.33460048e-01 1.32869141e-02 2.03978473e+02] [ 8.33191256e-01 -5.52579365e-01 -2.11748836e-02 1.74868531e+02] [ 2.49904941e-02 -6.26887606e-04 9.99687492e-01 4.86874683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.070385723 meters Centerline goodness [0,1] 0.9998940273833241 Centerline is valid? [True, True] Translation: X:203.96, Y:174.89, Z:4.87 [[-5.54101104e-01 -8.32353583e-01 1.26285258e-02 2.03964578e+02] [ 8.32110766e-01 -5.54244628e-01 -2.01138151e-02 1.74892789e+02] [ 2.37410987e-02 -6.36754884e-04 9.99717938e-01 4.87034358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.95, Y:174.92, Z:4.87 [[-5.54660571e-01 -8.31989690e-01 1.20335507e-02 2.03952271e+02] [ 8.31769380e-01 -5.54790751e-01 -1.91552031e-02 1.74917387e+02] [ 2.26130341e-02 -6.15496902e-04 9.99744103e-01 4.87142403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.94, Y:174.94, Z:4.87 [[-5.54942913e-01 -8.31796180e-01 1.23886508e-02 2.03937106e+02] [ 8.31562922e-01 -5.55080816e-01 -1.97077269e-02 1.74940437e+02] [ 2.32695144e-02 -6.34720674e-04 9.99729027e-01 4.87140686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.160385723 meters Centerline goodness [0,1] 0.9999787649706957 Centerline is valid? [True, True] Translation: X:203.92, Y:174.96, Z:4.87 [[-5.55141462e-01 -8.31655228e-01 1.29437089e-02 2.03921763e+02] [ 8.31400869e-01 -5.55291945e-01 -2.05779274e-02 1.74964395e+02] [ 2.43012782e-02 -6.62249859e-04 9.99704461e-01 4.87108611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.190385723 meters Centerline goodness [0,1] 0.9999576396831449 Centerline is valid? [True, True] Translation: X:203.91, Y:174.99, Z:4.87 [[-5.55009535e-01 -8.31732208e-01 1.36363806e-02 2.03909321e+02] [ 8.31450273e-01 -5.55176606e-01 -2.16651655e-02 1.74988169e+02] [ 2.55902154e-02 -6.86401114e-04 9.99672281e-01 4.87014838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.89, Y:175.01, Z:4.87 [[-5.55076061e-01 -8.31695802e-01 1.31399763e-02 2.03894364e+02] [ 8.31434331e-01 -5.55231179e-01 -2.08636117e-02 1.75011753e+02] [ 2.46479028e-02 -6.55863963e-04 9.99695979e-01 4.87212601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.88, Y:175.04, Z:4.87 [[-5.55235034e-01 -8.31598261e-01 1.25852516e-02 2.03879131e+02] [ 8.31358655e-01 -5.55377295e-01 -1.99711379e-02 1.75035868e+02] [ 2.35975266e-02 -6.25817595e-04 9.99721344e-01 4.87361174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.87, Y:175.06, Z:4.87 [[-5.55375570e-01 -8.31511687e-01 1.20950402e-02 2.03867762e+02] [ 8.31290623e-01 -5.55506936e-01 -1.91818660e-02 1.75060801e+02] [ 2.26688245e-02 -5.98646296e-04 9.99742850e-01 4.87428354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.85, Y:175.09, Z:4.88 [[-5.54770812e-01 -8.31930329e-01 1.10124475e-02 2.03852729e+02] [ 8.31747365e-01 -5.54879855e-01 -1.74547223e-02 1.75085108e+02] [ 2.06316982e-02 -5.23796263e-04 9.99787007e-01 4.87621824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.84, Y:175.11, Z:4.88 [[-5.54301717e-01 -8.32245150e-01 1.08451662e-02 2.03836032e+02] [ 8.32067962e-01 -5.54407577e-01 -1.71797895e-02 1.75108209e+02] [ 2.03104388e-02 -4.98871447e-04 9.99793597e-01 4.87716661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.370385723 meters Centerline goodness [0,1] 0.999872857112585 Centerline is valid? [True, True] Translation: X:203.82, Y:175.13, Z:4.87 [[-5.51703275e-01 -8.33960392e-01 1.15568046e-02 2.03820849e+02] [ 8.33759812e-01 -5.51824115e-01 -1.82954042e-02 1.75132141e+02] [ 2.16349659e-02 -4.58035191e-04 9.99765832e-01 4.87487725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.80, Y:175.15, Z:4.88 [[-5.50164932e-01 -8.34974806e-01 1.16456672e-02 2.03804693e+02] [ 8.34771595e-01 -5.50288017e-01 -1.84250348e-02 1.75154895e+02] [ 2.17929110e-02 -4.15335898e-04 9.99762420e-01 4.87716478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.79, Y:175.18, Z:4.88 [[-5.48817910e-01 -8.35852886e-01 1.22005576e-02 2.03790928e+02] [ 8.35630318e-01 -5.48953366e-01 -1.92918131e-02 1.75178603e+02] [ 2.28226548e-02 -3.92536739e-04 9.99739452e-01 4.87666563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.78, Y:175.20, Z:4.88 [[-5.46923777e-01 -8.37098013e-01 1.18869177e-02 2.03775283e+02] [ 8.36887242e-01 -5.47052840e-01 -1.87865590e-02 1.75201885e+02] [ 2.22289633e-02 -3.26806017e-04 9.99752853e-01 4.87776160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.76, Y:175.23, Z:4.88 [[-5.46522196e-01 -8.37362813e-01 1.17050948e-02 2.03760502e+02] [ 8.37158743e-01 -5.46647443e-01 -1.84881586e-02 1.75225191e+02] [ 2.18798566e-02 -3.05166593e-04 9.99760561e-01 4.87891377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.74, Y:175.25, Z:4.88 [[-5.45697611e-01 -8.37918649e-01 1.03176993e-02 2.03744995e+02] [ 8.37760369e-01 -5.45795087e-01 -1.62876227e-02 1.75248781e+02] [ 1.92790524e-02 -2.44357196e-04 9.99814112e-01 4.88081322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.73, Y:175.27, Z:4.88 [[-5.45205003e-01 -8.38242544e-01 1.00470062e-02 2.03731189e+02] [ 8.38092698e-01 -5.45297523e-01 -1.58505790e-02 1.75272087e+02] [ 1.87652372e-02 -2.21492453e-04 9.99823893e-01 4.88166516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.72, Y:175.30, Z:4.88 [[-5.44628341e-01 -8.38620157e-01 9.80827799e-03 2.03716621e+02] [ 8.38477588e-01 -5.44716617e-01 -1.54642213e-02 1.75296077e+02] [ 1.83113397e-02 -1.98231933e-04 9.99832314e-01 4.88264034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.70, Y:175.32, Z:4.88 [[-5.44136276e-01 -8.38941540e-01 9.63354588e-03 2.03704311e+02] [ 8.38804221e-01 -5.44221518e-01 -1.51795646e-02 1.75321716e+02] [ 1.79775503e-02 -1.79092819e-04 9.99838375e-01 4.88362885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.69, Y:175.35, Z:4.88 [[-5.44148202e-01 -8.38931258e-01 9.85285820e-03 2.03691675e+02] [ 8.38787792e-01 -5.44237368e-01 -1.55153906e-02 1.75345238e+02] [ 1.83786398e-02 -1.78214737e-04 9.99831083e-01 4.88401236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.670385723 meters Centerline goodness [0,1] 0.9998517263291675 Centerline is valid? [True, True] Translation: X:203.68, Y:175.37, Z:4.88 [[-5.45043710e-01 -8.38335613e-01 1.09888347e-02 2.03680099e+02] [ 8.38157281e-01 -5.45154431e-01 -1.72921592e-02 1.75369542e+02] [ 2.04872448e-02 -2.14610760e-04 9.99790091e-01 4.88098682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.67, Y:175.39, Z:4.88 [[-5.45902016e-01 -8.37785600e-01 1.03090785e-02 2.03665955e+02] [ 8.37628744e-01 -5.45999305e-01 -1.62125414e-02 1.75392547e+02] [ 1.92113834e-02 -2.15278549e-04 9.99815421e-01 4.88323016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.65, Y:175.42, Z:4.88 [[-5.46429777e-01 -8.37441193e-01 1.03318773e-02 2.03653645e+02] [ 8.37283791e-01 -5.46527401e-01 -1.62374167e-02 1.75415807e+02] [ 1.92445357e-02 -2.21894577e-04 9.99814782e-01 4.88318180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.64, Y:175.44, Z:4.88 [[-5.47417128e-01 -8.36796675e-01 1.02865249e-02 2.03641233e+02] [ 8.36640751e-01 -5.47513715e-01 -1.61550227e-02 1.75440009e+02] [ 1.91504827e-02 -2.37410234e-04 9.99816585e-01 4.88403297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.63, Y:175.47, Z:4.88 [[-5.49154777e-01 -8.35653383e-01 1.06044483e-02 2.03630692e+02] [ 8.35487673e-01 -5.49257085e-01 -1.66434202e-02 1.75466320e+02] [ 1.97326987e-02 -2.79927840e-04 9.99805252e-01 4.88480770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.62, Y:175.49, Z:4.89 [[-5.51008492e-01 -8.34429716e-01 1.08023215e-02 2.03619236e+02] [ 8.34257730e-01 -5.51114274e-01 -1.69439394e-02 1.75492338e+02] [ 2.00918401e-02 -3.24334227e-04 9.99798086e-01 4.88548948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.60, Y:175.51, Z:4.89 [[-5.51260017e-01 -8.34263509e-01 1.08070010e-02 2.03604766e+02] [ 8.34091549e-01 -5.51365842e-01 -1.69409545e-02 1.75514836e+02] [ 2.00918313e-02 -3.24842639e-04 9.99798086e-01 4.88589418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.59, Y:175.54, Z:4.89 [[-5.52194864e-01 -8.33642793e-01 1.09783995e-02 2.03591662e+02] [ 8.33465448e-01 -5.52303878e-01 -1.71980805e-02 1.75538944e+02] [ 2.04004685e-02 -3.46575111e-04 9.99791829e-01 4.88600728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.58, Y:175.56, Z:4.89 [[-5.52617119e-01 -8.33358315e-01 1.13242402e-02 2.03577605e+02] [ 8.33169806e-01 -5.52733016e-01 -1.77281580e-02 1.75563327e+02] [ 2.10331893e-02 -3.61868587e-04 9.99778713e-01 4.88638848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.57, Y:175.59, Z:4.89 [[-5.53034581e-01 -8.33076594e-01 1.16679023e-02 2.03565122e+02] [ 8.32876661e-01 -5.53157523e-01 -1.82543864e-02 1.75587070e+02] [ 2.16614900e-02 -3.77383389e-04 9.99765291e-01 4.88651187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.55, Y:175.61, Z:4.89 [[-5.52617976e-01 -8.33354324e-01 1.15734137e-02 2.03554288e+02] [ 8.33157948e-01 -5.52739038e-01 -1.80939057e-02 1.75611078e+02] [ 2.14757121e-02 -3.56535891e-04 9.99769307e-01 4.88660944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.54, Y:175.63, Z:4.89 [[-5.52217544e-01 -8.33619938e-01 1.15578063e-02 2.03540181e+02] [ 8.33424414e-01 -5.52338378e-01 -1.80572128e-02 1.75634623e+02] [ 2.14366726e-02 -3.38951740e-04 9.99770151e-01 4.88734257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.53, Y:175.66, Z:4.89 [[-5.50241985e-01 -8.34923415e-01 1.16896910e-02 2.03526075e+02] [ 8.34723947e-01 -5.50366068e-01 -1.82516502e-02 1.75658442e+02] [ 2.16723394e-02 -2.85159229e-04 9.99765087e-01 4.88790265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.51, Y:175.68, Z:4.89 [[-5.49454775e-01 -8.35439966e-01 1.18115409e-02 2.03514354e+02] [ 8.35236689e-01 -5.49581654e-01 -1.84303798e-02 1.75681671e+02] [ 2.18888820e-02 -2.61227914e-04 9.99760376e-01 4.88749656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.50, Y:175.70, Z:4.89 [[-5.48584618e-01 -8.36011141e-01 1.18443810e-02 2.03499288e+02] [ 8.35807141e-01 -5.48712419e-01 -1.84690061e-02 1.75704310e+02] [ 2.19394538e-02 -2.32194392e-04 9.99759274e-01 4.88881604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.49, Y:175.73, Z:4.89 [[-5.47756053e-01 -8.36549811e-01 1.21539734e-02 2.03486467e+02] [ 8.36335426e-01 -5.47890837e-01 -1.89390080e-02 1.75728889e+02] [ 2.25024743e-02 -2.09157750e-04 9.99746765e-01 4.89009939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.150385723 meters Centerline goodness [0,1] 0.9999784710112166 Centerline is valid? [True, True] Translation: X:203.47, Y:175.75, Z:4.89 [[-5.47649618e-01 -8.36611682e-01 1.26802772e-02 2.03473142e+02] [ 8.36378651e-01 -5.47796358e-01 -1.97459647e-02 1.75753488e+02] [ 2.34659144e-02 -2.08356939e-04 9.99724616e-01 4.89103986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.46, Y:175.78, Z:4.89 [[-5.47546631e-01 -8.36674581e-01 1.29743321e-02 2.03460567e+02] [ 8.36430929e-01 -5.47700287e-01 -2.01915078e-02 1.75779154e+02] [ 2.39997668e-02 -2.03659441e-04 9.99711943e-01 4.89192579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.210385723 meters Centerline goodness [0,1] 0.9999567249437424 Centerline is valid? [True, True] Translation: X:203.45, Y:175.80, Z:4.89 [[-5.47448029e-01 -8.36737516e-01 1.30760951e-02 2.03446565e+02] [ 8.36490351e-01 -5.47604137e-01 -2.03372067e-02 1.75802789e+02] [ 2.41774276e-02 -1.95536365e-04 9.99707664e-01 4.89171094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.43, Y:175.83, Z:4.89 [[-5.47230534e-01 -8.36877948e-01 1.31925545e-02 2.03432192e+02] [ 8.36626717e-01 -5.47389502e-01 -2.05053581e-02 1.75826998e+02] [ 2.43819479e-02 -1.83914498e-04 9.99702699e-01 4.89187130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.42, Y:175.85, Z:4.89 [[-5.47019792e-01 -8.37018002e-01 1.30465118e-02 2.03420819e+02] [ 8.36772645e-01 -5.47175325e-01 -2.02658419e-02 1.75851627e+02] [ 2.41016039e-02 -1.68852408e-04 9.99709500e-01 4.89194105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.41, Y:175.88, Z:4.89 [[-5.47430631e-01 -8.36748197e-01 1.31209193e-02 2.03407155e+02] [ 8.36500269e-01 -5.47587823e-01 -2.03685198e-02 1.75876568e+02] [ 2.42281779e-02 -1.74699110e-04 9.99706439e-01 4.89306711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.39, Y:175.90, Z:4.89 [[-5.47732326e-01 -8.36544781e-01 1.34954807e-02 2.03394595e+02] [ 8.36282757e-01 -5.47898527e-01 -2.09369237e-02 1.75901384e+02] [ 2.49088283e-02 -1.81792145e-04 9.99689710e-01 4.89362230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.38, Y:175.93, Z:4.89 [[-5.48433164e-01 -8.36080685e-01 1.37895489e-02 2.03382373e+02] [ 8.35807314e-01 -5.48606460e-01 -2.13795843e-02 1.75926250e+02] [ 2.54400931e-02 -1.99867283e-04 9.99676328e-01 4.89384946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.390385723 meters Centerline goodness [0,1] 0.9999781037880446 Centerline is valid? [True, True] Translation: X:203.37, Y:175.95, Z:4.89 [[-5.49979348e-01 -8.35067345e-01 1.36105291e-02 2.03372291e+02] [ 8.34801045e-01 -5.50147684e-01 -2.10888789e-02 1.75953428e+02] [ 2.50984352e-02 -2.36363995e-04 9.99684957e-01 4.89452623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.36, Y:175.98, Z:4.90 [[-5.50704153e-01 -8.34589468e-01 1.36145356e-02 2.03360533e+02] [ 8.34323207e-01 -5.50872360e-01 -2.10814976e-02 1.75977335e+02] [ 2.50942672e-02 -2.50745293e-04 9.99685058e-01 4.89512870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.450385723 meters Centerline goodness [0,1] 0.9999780619967971 Centerline is valid? [True, True] Translation: X:203.35, Y:176.00, Z:4.90 [[-5.51417033e-01 -8.34121903e-01 1.34129252e-02 2.03348337e+02] [ 8.33863685e-01 -5.51580079e-01 -2.07550405e-02 1.76001955e+02] [ 2.47105362e-02 -2.60131596e-04 9.99694614e-01 4.89617443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.34, Y:176.03, Z:4.90 [[-5.52800782e-01 -8.33212381e-01 1.29777868e-02 2.03338822e+02] [ 8.32970710e-01 -5.52953025e-01 -2.00685881e-02 1.76028343e+02] [ 2.38975026e-02 -2.83814879e-04 9.99714374e-01 4.89823689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.33, Y:176.05, Z:4.90 [[-5.53889583e-01 -8.32490629e-01 1.28717971e-02 2.03326535e+02] [ 8.32253006e-01 -5.54039042e-01 -1.98915499e-02 1.76052531e+02] [ 2.36910070e-02 -3.05130462e-04 9.99719282e-01 4.89973348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.32, Y:176.08, Z:4.90 [[-5.55032560e-01 -8.31735278e-01 1.24613188e-02 2.03316211e+02] [ 8.31512672e-01 -5.55172338e-01 -1.92445124e-02 1.76076983e+02] [ 2.29245193e-02 -3.19586500e-04 9.99737148e-01 4.90104782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.30, Y:176.10, Z:4.90 [[-5.55506952e-01 -8.31420285e-01 1.23424395e-02 2.03303549e+02] [ 8.31202126e-01 -5.55643956e-01 -1.90478096e-02 1.76100666e+02] [ 2.26947372e-02 -3.22128690e-04 9.99742389e-01 4.90151971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.29, Y:176.12, Z:4.90 [[-5.55620864e-01 -8.31342119e-01 1.24794828e-02 2.03288481e+02] [ 8.31119362e-01 -5.55760900e-01 -1.92465061e-02 1.76124790e+02] [ 2.29360397e-02 -3.21820554e-04 9.99736883e-01 4.90256222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.28, Y:176.15, Z:4.90 [[-5.55307993e-01 -8.31545232e-01 1.28670237e-02 2.03275937e+02] [ 8.31308767e-01 -5.55456954e-01 -1.98319634e-02 1.76150213e+02] [ 2.36382524e-02 -3.16378187e-04 9.99720527e-01 4.90251251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.26, Y:176.17, Z:4.90 [[-5.54954626e-01 -8.31775109e-01 1.32488086e-02 2.03262836e+02] [ 8.31524779e-01 -5.55112667e-01 -2.04075688e-02 1.76173534e+02] [ 2.43290892e-02 -3.08562026e-04 9.99703956e-01 4.90157507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.25, Y:176.20, Z:4.90 [[-5.54665017e-01 -8.31968859e-01 1.32112446e-02 2.03249184e+02] [ 8.31720327e-01 -5.54822254e-01 -2.03363037e-02 1.76196224e+02] [ 2.42490639e-02 -2.91775583e-04 9.99705906e-01 4.90157014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.24, Y:176.22, Z:4.90 [[-5.54104300e-01 -8.32343149e-01 1.31645785e-02 2.03235969e+02] [ 8.32096809e-01 -5.54260598e-01 -2.02506555e-02 1.76219865e+02] [ 2.41521015e-02 -2.66771529e-04 9.99708260e-01 4.90293102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.22, Y:176.24, Z:4.90 [[-5.53979675e-01 -8.32434618e-01 1.26145450e-02 2.03221343e+02] [ 8.32208748e-01 -5.54123224e-01 -1.93920768e-02 1.76243113e+02] [ 2.31326484e-02 -2.44881722e-04 9.99732375e-01 4.90414447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.21, Y:176.27, Z:4.91 [[-5.53695795e-01 -8.32637964e-01 1.16184089e-02 2.03207089e+02] [ 8.32446648e-01 -5.53817638e-01 -1.78494421e-02 1.76265520e+02] [ 2.12966029e-02 -2.11455461e-04 9.99773179e-01 4.90620276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.19, Y:176.29, Z:4.91 [[-5.54252996e-01 -8.32269588e-01 1.14432916e-02 2.03191921e+02] [ 8.32084168e-01 -5.54371073e-01 -1.75684816e-02 1.76288103e+02] [ 2.09655428e-02 -2.15601752e-04 9.99780176e-01 4.90712885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.18, Y:176.31, Z:4.91 [[-5.54538402e-01 -8.32075165e-01 1.17507580e-02 2.03177433e+02] [ 8.31879867e-01 -5.54662844e-01 -1.80282026e-02 1.76310903e+02] [ 2.15185285e-02 -2.22111622e-04 9.99768425e-01 4.90734053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.16, Y:176.33, Z:4.91 [[-5.55036776e-01 -8.31731437e-01 1.25297307e-02 2.03161397e+02] [ 8.31509595e-01 -5.55178131e-01 -1.92103181e-02 1.76333991e+02] [ 2.29340580e-02 -2.43841719e-04 9.99736950e-01 4.90657790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.15, Y:176.36, Z:4.91 [[-5.55425751e-01 -8.31470494e-01 1.26116361e-02 2.03146280e+02] [ 8.31245960e-01 -5.55568858e-01 -1.93235199e-02 1.76356104e+02] [ 2.30735689e-02 -2.49408993e-04 9.99733739e-01 4.90567617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.930385723 meters Centerline goodness [0,1] 0.9999553491694946 Centerline is valid? [True, True] Translation: X:203.13, Y:176.38, Z:4.91 [[-5.56353013e-01 -8.30846720e-01 1.28472731e-02 2.03129842e+02] [ 8.30613864e-01 -5.56501261e-01 -1.96712055e-02 1.76378845e+02] [ 2.34932802e-02 -2.73011243e-04 9.99723958e-01 4.90563789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.11, Y:176.40, Z:4.91 [[-5.58331314e-01 -8.29513692e-01 1.31597342e-02 2.03114983e+02] [ 8.29269265e-01 -5.58486280e-01 -2.01385617e-02 1.76400901e+02] [ 2.40547437e-02 -3.31026491e-04 9.99710588e-01 4.90561255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.10, Y:176.42, Z:4.91 [[-5.59686289e-01 -8.28600233e-01 1.31495829e-02 2.03099392e+02] [ 8.28356170e-01 -5.59840621e-01 -2.01130435e-02 1.76424824e+02] [ 2.40273432e-02 -3.64456543e-04 9.99711235e-01 4.90630656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.09, Y:176.45, Z:4.91 [[-5.62186707e-01 -8.26901163e-01 1.34377505e-02 2.03086035e+02] [ 8.26646111e-01 -5.62347111e-01 -2.05410303e-02 1.76448196e+02] [ 2.45420820e-02 -4.39629938e-04 9.99698701e-01 4.90730275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.07, Y:176.47, Z:4.91 [[-5.63589594e-01 -8.25945614e-01 1.34391851e-02 2.03071990e+02] [ 8.25690553e-01 -5.63749606e-01 -2.05302773e-02 1.76471524e+02] [ 2.45332278e-02 -4.74042487e-04 9.99698903e-01 4.90727112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.06, Y:176.49, Z:4.91 [[-5.64713881e-01 -8.25177185e-01 1.34478955e-02 2.03055242e+02] [ 8.24921885e-01 -5.64873758e-01 -2.05309882e-02 1.76494187e+02] [ 2.45380663e-02 -5.00670720e-04 9.99698771e-01 4.90805397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.04, Y:176.52, Z:4.91 [[-5.66047149e-01 -8.24262935e-01 1.34624994e-02 2.03040879e+02] [ 8.24007127e-01 -5.66206967e-01 -2.05408313e-02 1.76517438e+02] [ 2.45536069e-02 -5.33883552e-04 9.99698372e-01 4.90674487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.02, Y:176.54, Z:4.91 [[-5.66585226e-01 -8.23888526e-01 1.37433104e-02 2.03024805e+02] [ 8.23622162e-01 -5.66751612e-01 -2.09557858e-02 1.76539308e+02] [ 2.50542748e-02 -5.53943631e-04 9.99685939e-01 4.90708124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.01, Y:176.56, Z:4.91 [[-5.66659794e-01 -8.23831991e-01 1.40544486e-02 2.03010403e+02] [ 8.23553740e-01 -5.66833780e-01 -2.14173322e-02 1.76561590e+02] [ 2.56108196e-02 -5.61747373e-04 9.99671831e-01 4.90648972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.00, Y:176.58, Z:4.91 [[-5.66610108e-01 -8.23867375e-01 1.39833296e-02 2.02995683e+02] [ 8.23592252e-01 -5.66782361e-01 -2.12968736e-02 1.76583733e+02] [ 2.54713040e-02 -5.50461948e-04 9.99675402e-01 4.90613295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.98, Y:176.61, Z:4.91 [[-5.66797669e-01 -8.23742637e-01 1.37284857e-02 2.02979108e+02] [ 8.23477754e-01 -5.66963648e-01 -2.08952092e-02 1.76606020e+02] [ 2.49958271e-02 -5.38253234e-04 9.99687411e-01 4.90703821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.96, Y:176.63, Z:4.91 [[-5.65533384e-01 -8.24623754e-01 1.29481718e-02 2.02960983e+02] [ 8.24388641e-01 -5.65681402e-01 -1.96957163e-02 1.76627791e+02] [ 2.35660954e-02 -4.64259344e-04 9.99722173e-01 4.90888165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.94, Y:176.65, Z:4.91 [[-5.64877851e-01 -8.25076959e-01 1.26895577e-02 2.02944360e+02] [ 8.24851521e-01 -5.65020200e-01 -1.92909728e-02 1.76650926e+02] [ 2.30863937e-02 -4.30042288e-04 9.99733381e-01 4.91004771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.93, Y:176.67, Z:4.91 [[-5.64246125e-01 -8.25515907e-01 1.22392326e-02 2.02931216e+02] [ 8.25306536e-01 -5.64378716e-01 -1.85953414e-02 1.76674219e+02] [ 2.22583125e-02 -3.91230654e-04 9.99752177e-01 4.91009704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.91, Y:176.70, Z:4.91 [[-5.62837863e-01 -8.26484249e-01 1.17185962e-02 2.02913191e+02] [ 8.26292752e-01 -5.62959746e-01 -1.77936195e-02 1.76695511e+02] [ 2.13032442e-02 -3.31931669e-04 9.99773005e-01 4.91176258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.90, Y:176.72, Z:4.91 [[-5.62176209e-01 -8.26934650e-01 1.17045047e-02 2.02895950e+02] [ 8.26743944e-01 -5.62297955e-01 -1.77612117e-02 1.76718084e+02] [ 2.12687804e-02 -3.08302278e-04 9.99773746e-01 4.91219176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.410385723 meters Centerline goodness [0,1] 0.9999110794949315 Centerline is valid? [True, True] Translation: X:202.88, Y:176.74, Z:4.91 [[-5.60537345e-01 -8.28035968e-01 1.24225610e-02 2.02878342e+02] [ 8.27821679e-01 -5.60674914e-01 -1.88390324e-02 1.76740217e+02] [ 2.25644148e-02 -2.76315902e-04 9.99745353e-01 4.91094667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.440385723 meters Centerline goodness [0,1] 0.99997783933518 Centerline is valid? [True, True] Translation: X:202.86, Y:176.76, Z:4.91 [[-5.59516856e-01 -8.28720752e-01 1.27594124e-02 2.02862303e+02] [ 8.28495140e-01 -5.59662267e-01 -1.93378192e-02 1.76762575e+02] [ 2.31666137e-02 -2.48724651e-04 9.99731587e-01 4.91071275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.85, Y:176.79, Z:4.91 [[-5.59051596e-01 -8.29032491e-01 1.29012306e-02 2.02846068e+02] [ 8.28802203e-01 -5.59200389e-01 -1.95405486e-02 1.76785011e+02] [ 2.34141229e-02 -2.31606509e-04 9.99725825e-01 4.91133994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.83, Y:176.81, Z:4.91 [[-5.58429276e-01 -8.29452970e-01 1.28262804e-02 2.02830998e+02] [ 8.29225707e-01 -5.58576519e-01 -1.94164813e-02 1.76806964e+02] [ 2.32695172e-02 -2.06850134e-04 9.99729207e-01 4.91175054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.82, Y:176.83, Z:4.91 [[-5.57563650e-01 -8.30039811e-01 1.25175184e-02 2.02816518e+02] [ 8.29823725e-01 -5.57704117e-01 -1.89394846e-02 1.76829488e+02] [ 2.27015978e-02 -1.72634472e-04 9.99742271e-01 4.91309626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.80, Y:176.85, Z:4.91 [[-5.57618278e-01 -8.30003722e-01 1.24770359e-02 2.02801529e+02] [ 8.29789303e-01 -5.57757826e-01 -1.88658126e-02 1.76852105e+02] [ 2.26178591e-02 -1.66611024e-04 9.99744170e-01 4.91421505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.590385723 meters Centerline goodness [0,1] 0.9998447032723239 Centerline is valid? [True, True] Translation: X:202.79, Y:176.87, Z:4.91 [[-5.57539667e-01 -8.30058719e-01 1.23305814e-02 2.02785715e+02] [ 8.29849587e-01 -5.57675980e-01 -1.86323158e-02 1.76874774e+02] [ 2.23423852e-02 -1.55727304e-04 9.99750366e-01 4.91412671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.620385723 meters Centerline goodness [0,1] 0.9996449336469753 Centerline is valid? [True, True] Translation: X:202.77, Y:176.90, Z:4.91 [[-5.57358880e-01 -8.30175452e-01 1.26410826e-02 2.02769719e+02] [ 8.29955967e-01 -5.57502194e-01 -1.90891848e-02 1.76898015e+02] [ 2.28948039e-02 -1.47984741e-04 9.99737869e-01 4.91483916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.650385723 meters Centerline goodness [0,1] 0.9998000577610913 Centerline is valid? [True, True] Translation: X:202.76, Y:176.92, Z:4.91 [[-5.57481097e-01 -8.30082567e-01 1.33326262e-02 2.02755969e+02] [ 8.29838688e-01 -5.57640483e-01 -2.01207203e-02 1.76920991e+02] [ 2.41366713e-02 -1.52992189e-04 9.99708656e-01 4.91462907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.680385723 meters Centerline goodness [0,1] 0.9996007452754858 Centerline is valid? [True, True] Translation: X:202.74, Y:176.94, Z:4.91 [[-5.58008156e-01 -8.29722442e-01 1.36955038e-02 2.02741107e+02] [ 8.29465332e-01 -5.58176175e-01 -2.06547948e-02 1.76944072e+02] [ 2.47822507e-02 -1.65598341e-04 9.99692859e-01 4.91498253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.710385723 meters Centerline goodness [0,1] 0.9997786043216437 Centerline is valid? [True, True] Translation: X:202.73, Y:176.97, Z:4.92 [[-5.58764806e-01 -8.29210718e-01 1.38375325e-02 2.02726042e+02] [ 8.28948440e-01 -5.58936089e-01 -2.08550338e-02 1.76966529e+02] [ 2.50275138e-02 -1.82457973e-04 9.99686746e-01 4.91534466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.740385723 meters Centerline goodness [0,1] 0.9997786043216437 Centerline is valid? [True, True] Translation: X:202.71, Y:176.99, Z:4.92 [[-5.59019285e-01 -8.29039073e-01 1.38439334e-02 2.02711158e+02] [ 8.28776847e-01 -5.59190650e-01 -2.08507845e-02 1.76988778e+02] [ 2.50275131e-02 -1.82459164e-04 9.99686746e-01 4.91574916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.770385723 meters Centerline goodness [0,1] 0.9996443496043389 Centerline is valid? [True, True] Translation: X:202.70, Y:177.01, Z:4.92 [[-5.61021670e-01 -8.27684589e-01 1.38890863e-02 2.02697192e+02] [ 8.27420575e-01 -5.61193519e-01 -2.09051797e-02 1.77011567e+02] [ 2.50973602e-02 -2.36143033e-04 9.99684984e-01 4.91590902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.800385723 meters Centerline goodness [0,1] 0.9998228756144002 Centerline is valid? [True, True] Translation: X:202.68, Y:177.04, Z:4.92 [[-5.62634420e-01 -8.26591941e-01 1.37212755e-02 2.02683250e+02] [ 8.26334268e-01 -5.62801643e-01 -2.06394964e-02 1.77035553e+02] [ 2.47827978e-02 -2.74130919e-04 9.99692822e-01 4.91681364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.830385723 meters Centerline goodness [0,1] 0.9997109762333534 Centerline is valid? [True, True] Translation: X:202.67, Y:177.06, Z:4.92 [[-5.64382801e-01 -8.25395941e-01 1.39138302e-02 2.02670535e+02] [ 8.25130923e-01 -5.64554192e-01 -2.09170872e-02 1.77059398e+02] [ 2.51199900e-02 -3.24512699e-04 9.99684391e-01 4.91766117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.66, Y:177.08, Z:4.92 [[-5.67884061e-01 -8.22987659e-01 1.41069729e-02 2.02657937e+02] [ 8.22714758e-01 -5.68059088e-01 -2.11966807e-02 1.77084052e+02] [ 2.54582008e-02 -4.31242295e-04 9.99675794e-01 4.91824950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.890385723 meters Centerline goodness [0,1] 0.9999111288853341 Centerline is valid? [True, True] Translation: X:202.64, Y:177.11, Z:4.92 [[-5.69171031e-01 -8.22093448e-01 1.43770800e-02 2.02643455e+02] [ 8.21810058e-01 -5.69352386e-01 -2.15891148e-02 1.77107576e+02] [ 2.59338946e-02 -4.72669826e-04 9.99663548e-01 4.91855835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.920385723 meters Centerline goodness [0,1] 0.9998664143381943 Centerline is valid? [True, True] Translation: X:202.63, Y:177.13, Z:4.92 [[-5.70865672e-01 -8.20910299e-01 1.47873818e-02 2.02629951e+02] [ 8.20610422e-01 -5.71056911e-01 -2.21932301e-02 1.77130960e+02] [ 2.66630878e-02 -5.34673571e-04 9.99644334e-01 4.91859608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.62, Y:177.15, Z:4.92 [[-5.71349645e-01 -8.20565533e-01 1.52246053e-02 2.02615638e+02] [ 8.20247874e-01 -5.71552178e-01 -2.28370927e-02 1.77152485e+02] [ 2.74409875e-02 -5.60014701e-04 9.99623268e-01 4.91866483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.980385723 meters Centerline goodness [0,1] 0.9999554843304843 Centerline is valid? [True, True] Translation: X:202.60, Y:177.17, Z:4.92 [[-5.71707470e-01 -8.20319877e-01 1.50289329e-02 2.02600196e+02] [ 8.20010644e-01 -5.71904705e-01 -2.25289449e-02 1.77174641e+02] [ 2.70760587e-02 -5.56081141e-04 9.99633222e-01 4.91843097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.010385723 meters Centerline goodness [0,1] 0.999910885354008 Centerline is valid? [True, True] Translation: X:202.58, Y:177.20, Z:4.92 [[-5.71349794e-01 -8.20561882e-01 1.54146259e-02 2.02581656e+02] [ 8.20237061e-01 -5.71557429e-01 -2.30926363e-02 1.77196573e+02] [ 2.77592810e-02 -5.50325515e-04 9.99614485e-01 4.92027844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.57, Y:177.22, Z:4.92 [[-5.71068771e-01 -8.20760690e-01 1.52429610e-02 2.02567491e+02] [ 8.20443464e-01 -5.71271924e-01 -2.28235017e-02 1.77219960e+02] [ 2.74405087e-02 -5.27801322e-04 9.99623299e-01 4.91957076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.55, Y:177.24, Z:4.92 [[-5.71387748e-01 -8.20537558e-01 1.53022128e-02 2.02554149e+02] [ 8.20218073e-01 -5.71592364e-01 -2.29015884e-02 1.77242136e+02] [ 2.75382414e-02 -5.34535511e-04 9.99620608e-01 4.91962851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.100385723 meters Centerline goodness [0,1] 0.9999778765956505 Centerline is valid? [True, True] Translation: X:202.54, Y:177.26, Z:4.92 [[-5.72152958e-01 -8.20018385e-01 1.45203621e-02 2.02536527e+02] [ 8.19730864e-01 -5.72336941e-01 -2.17195212e-02 1.77263233e+02] [ 2.61209463e-02 -5.24099392e-04 9.99658652e-01 4.92258224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.130385723 meters Centerline goodness [0,1] 0.9999778196739492 Centerline is valid? [True, True] Translation: X:202.52, Y:177.29, Z:4.92 [[-5.72619182e-01 -8.19690867e-01 1.46340785e-02 2.02519523e+02] [ 8.19399085e-01 -5.72805898e-01 -2.18756264e-02 1.77285868e+02] [ 2.63137376e-02 -5.35252745e-04 9.99653590e-01 4.92381029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.160385723 meters Centerline goodness [0,1] 0.9999778707207506 Centerline is valid? [True, True] Translation: X:202.50, Y:177.31, Z:4.92 [[-5.73313386e-01 -8.19208954e-01 1.44378809e-02 2.02504787e+02] [ 8.18925100e-01 -5.73494896e-01 -2.15704824e-02 1.77307986e+02] [ 2.59507833e-02 -5.43103262e-04 9.99663074e-01 4.92363624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.190385723 meters Centerline goodness [0,1] 0.9999779512281166 Centerline is valid? [True, True] Translation: X:202.49, Y:177.33, Z:4.92 [[-5.74395735e-01 -8.18457864e-01 1.40094480e-02 2.02489223e+02] [ 8.18190673e-01 -5.74566288e-01 -2.09189644e-02 1.77330231e+02] [ 2.51706474e-02 -5.53364214e-04 9.99683016e-01 4.92464910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.47, Y:177.35, Z:4.93 [[-5.74816864e-01 -8.18169000e-01 1.36036705e-02 2.02472045e+02] [ 8.17917296e-01 -5.74977559e-01 -2.03003394e-02 1.77353031e+02] [ 2.44309136e-02 -5.42300063e-04 9.99701374e-01 4.92629817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.46, Y:177.38, Z:4.93 [[-5.75580205e-01 -8.17634201e-01 1.34811345e-02 2.02457770e+02] [ 8.17387163e-01 -5.75737795e-01 -2.01051646e-02 1.77375609e+02] [ 2.42002689e-02 -5.52828466e-04 9.99706978e-01 4.92599853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.280385723 meters Centerline goodness [0,1] 0.9999779900515032 Centerline is valid? [True, True] Translation: X:202.44, Y:177.40, Z:4.93 [[-5.76068297e-01 -8.17287491e-01 1.36555588e-02 2.02443090e+02] [ 8.17034249e-01 -5.76229846e-01 -2.03519178e-02 1.77397035e+02] [ 2.45021084e-02 -5.67035409e-04 9.99699617e-01 4.92589052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.310385723 meters Centerline goodness [0,1] 0.9999779944105803 Centerline is valid? [True, True] Translation: X:202.43, Y:177.42, Z:4.93 [[-5.76447844e-01 -8.17017902e-01 1.37706659e-02 2.02425681e+02] [ 8.16760623e-01 -5.76612016e-01 -2.05101837e-02 1.77418714e+02] [ 2.46975187e-02 -5.75713495e-04 9.99694804e-01 4.92656925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.340385723 meters Centerline goodness [0,1] 0.9999559616866674 Centerline is valid? [True, True] Translation: X:202.41, Y:177.44, Z:4.93 [[-5.76027059e-01 -8.17315269e-01 1.37323514e-02 2.02408525e+02] [ 8.17059816e-01 -5.76190458e-01 -2.04405051e-02 1.77440249e+02] [ 2.46187868e-02 -5.54131561e-04 9.99696758e-01 4.92698182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.370385723 meters Centerline goodness [0,1] 0.9999561566959686 Centerline is valid? [True, True] Translation: X:202.39, Y:177.46, Z:4.93 [[-5.75325410e-01 -8.17811643e-01 1.35937008e-02 2.02392228e+02] [ 8.17561784e-01 -5.75485748e-01 -2.02208551e-02 1.77462466e+02] [ 2.43598318e-02 -5.19881470e-04 9.99703120e-01 4.92780756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.37, Y:177.48, Z:4.93 [[-5.73003152e-01 -8.19439055e-01 1.36756422e-02 2.02373558e+02] [ 8.19186943e-01 -5.73166151e-01 -2.03301856e-02 1.77484366e+02] [ 2.44977633e-02 -4.46352920e-04 9.99699785e-01 4.92880765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.35, Y:177.51, Z:4.93 [[-5.71841787e-01 -8.20247252e-01 1.38353382e-02 2.02354886e+02] [ 8.19989744e-01 -5.72008984e-01 -2.05558293e-02 1.77505779e+02] [ 2.47748002e-02 -4.09846716e-04 9.99692974e-01 4.92897786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.34, Y:177.53, Z:4.93 [[-5.70686867e-01 -8.21045169e-01 1.41890885e-02 2.02338832e+02] [ 8.20774900e-01 -5.70863108e-01 -2.10683803e-02 1.77527244e+02] [ 2.53981190e-02 -3.77400234e-04 9.99677345e-01 4.92827060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.490385723 meters Centerline goodness [0,1] 0.999890117135134 Centerline is valid? [True, True] Translation: X:202.32, Y:177.55, Z:4.93 [[-5.69618944e-01 -8.21784523e-01 1.42988658e-02 2.02319931e+02] [ 8.21510621e-01 -5.69798283e-01 -2.12183124e-02 1.77548836e+02] [ 2.55843499e-02 -3.39682601e-04 9.99672609e-01 4.92889233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.520385723 meters Centerline goodness [0,1] 0.9999123633415857 Centerline is valid? [True, True] Translation: X:202.30, Y:177.57, Z:4.93 [[-5.69902671e-01 -8.21588827e-01 1.42388584e-02 2.02304014e+02] [ 8.21317490e-01 -5.70080420e-01 -2.11162674e-02 1.77571066e+02] [ 2.54661837e-02 -3.39593785e-04 9.99675626e-01 4.92936125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.550385723 meters Centerline goodness [0,1] 0.9999123978887892 Centerline is valid? [True, True] Translation: X:202.29, Y:177.59, Z:4.93 [[-5.71576029e-01 -8.20435517e-01 1.36530334e-02 2.02286611e+02] [ 8.20186021e-01 -5.71738950e-01 -2.02352324e-02 1.77592671e+02] [ 2.44076743e-02 -3.67946698e-04 9.99702021e-01 4.93031706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.580385723 meters Centerline goodness [0,1] 0.9999781114564636 Centerline is valid? [True, True] Translation: X:202.27, Y:177.62, Z:4.93 [[-5.72613923e-01 -8.19715660e-01 1.33989488e-02 2.02270751e+02] [ 8.19475448e-01 -5.72770538e-01 -1.98469359e-02 1.77615773e+02] [ 2.39433672e-02 -3.84522293e-04 9.99713243e-01 4.93117801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.610385723 meters Centerline goodness [0,1] 0.9998465719796599 Centerline is valid? [True, True] Translation: X:202.25, Y:177.64, Z:4.93 [[-5.75096981e-01 -8.17982781e-01 1.29472922e-02 2.02254848e+02] [ 8.17758307e-01 -5.75242540e-01 -1.91669193e-02 1.77639405e+02] [ 2.31260432e-02 -4.35081676e-04 9.99732463e-01 4.93352459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.640385723 meters Centerline goodness [0,1] 0.9998253846993342 Centerline is valid? [True, True] Translation: X:202.24, Y:177.66, Z:4.93 [[-5.76601273e-01 -8.16926564e-01 1.27263798e-02 2.02240561e+02] [ 8.16709665e-01 -5.76741515e-01 -1.88294607e-02 1.77662764e+02] [ 2.27221182e-02 -4.63333642e-04 9.99741712e-01 4.93307131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.670385723 meters Centerline goodness [0,1] 0.999956279374795 Centerline is valid? [True, True] Translation: X:202.22, Y:177.69, Z:4.93 [[-5.78022347e-01 -8.15919648e-01 1.28566705e-02 2.02223264e+02] [ 8.15698279e-01 -5.78165094e-01 -1.90116060e-02 1.77685443e+02] [ 2.29452210e-02 -5.01969099e-04 9.99736598e-01 4.93365649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.700385723 meters Centerline goodness [0,1] 0.9999124630703579 Centerline is valid? [True, True] Translation: X:202.21, Y:177.71, Z:4.93 [[-5.79355856e-01 -8.14974201e-01 1.28001449e-02 2.02205943e+02] [ 8.14754797e-01 -5.79496998e-01 -1.89169338e-02 1.77707330e+02] [ 2.28344585e-02 -5.30656917e-04 9.99739119e-01 4.93380145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.730385723 meters Centerline goodness [0,1] 0.9998906099588694 Centerline is valid? [True, True] Translation: X:202.19, Y:177.73, Z:4.93 [[-5.81278998e-01 -8.13604596e-01 1.27392564e-02 2.02188714e+02] [ 8.13387204e-01 -5.81418293e-01 -1.88155559e-02 1.77728907e+02] [ 2.27152595e-02 -5.75139311e-04 9.99741810e-01 4.93390190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.17, Y:177.75, Z:4.93 [[-5.82303930e-01 -8.12867190e-01 1.30024867e-02 2.02172513e+02] [ 8.12640821e-01 -5.82448762e-01 -1.91920646e-02 1.77751104e+02] [ 2.31738819e-02 -6.09263138e-04 9.99731264e-01 4.93402281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.790385723 meters Centerline goodness [0,1] 0.9999347499836875 Centerline is valid? [True, True] Translation: X:202.15, Y:177.77, Z:4.93 [[-5.83252220e-01 -8.12178734e-01 1.35111828e-02 2.02153369e+02] [ 8.11934421e-01 -5.83408327e-01 -1.99303992e-02 1.77771672e+02] [ 2.40695830e-02 -6.54255212e-04 9.99710072e-01 4.93350356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.820385723 meters Centerline goodness [0,1] 0.9998911600165437 Centerline is valid? [True, True] Translation: X:202.14, Y:177.79, Z:4.93 [[-5.83279997e-01 -8.12156995e-01 1.36183513e-02 2.02135439e+02] [ 8.11909071e-01 -5.83438590e-01 -2.00766616e-02 1.77793815e+02] [ 2.42508728e-02 -6.53452140e-04 9.99705691e-01 4.93381792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.850385723 meters Centerline goodness [0,1] 0.9999566771363587 Centerline is valid? [True, True] Translation: X:202.12, Y:177.82, Z:4.93 [[-5.83017606e-01 -8.12341670e-01 1.38377149e-02 2.02118074e+02] [ 8.12086056e-01 -5.83181438e-01 -2.03874536e-02 1.77815135e+02] [ 2.46314766e-02 -6.48829092e-04 9.99696389e-01 4.93404455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.880385723 meters Centerline goodness [0,1] 0.9998911671237648 Centerline is valid? [True, True] Translation: X:202.10, Y:177.83, Z:4.93 [[-5.82207901e-01 -8.12915547e-01 1.42222798e-02 2.02097673e+02] [ 8.12646034e-01 -5.82381242e-01 -2.09406953e-02 1.77834987e+02] [ 2.53058057e-02 -6.34159034e-04 9.99679556e-01 4.93358202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.910385723 meters Centerline goodness [0,1] 0.9999348619072433 Centerline is valid? [True, True] Translation: X:202.08, Y:177.86, Z:4.93 [[-5.82157998e-01 -8.12956301e-01 1.39326279e-02 2.02081797e+02] [ 8.12697981e-01 -5.82324375e-01 -2.05015564e-02 1.77855776e+02] [ 2.47801782e-02 -6.12126452e-04 9.99692737e-01 4.93374700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.07, Y:177.88, Z:4.93 [[-5.82201043e-01 -8.12924597e-01 1.39837564e-02 2.02066100e+02] [ 8.12664684e-01 -5.82368637e-01 -2.05640868e-02 1.77876372e+02] [ 2.48607532e-02 -6.08327796e-04 9.99690739e-01 4.93412396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.05, Y:177.90, Z:4.93 [[-5.81868414e-01 -8.13154598e-01 1.44481088e-02 2.02046392e+02] [ 8.12877518e-01 -5.82047443e-01 -2.12347683e-02 1.77896446e+02] [ 2.56766343e-02 -6.11298188e-04 9.99670114e-01 4.93409337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.000385723 meters Centerline goodness [0,1] 0.9999784250269688 Centerline is valid? [True, True] Translation: X:202.03, Y:177.92, Z:4.93 [[-5.81686278e-01 -8.13275597e-01 1.49625236e-02 2.02028865e+02] [ 8.12978860e-01 -5.81878355e-01 -2.19761871e-02 1.77918074e+02] [ 2.65790653e-02 -6.19031071e-04 9.99646523e-01 4.93391343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.01, Y:177.94, Z:4.93 [[-5.81376167e-01 -8.13484245e-01 1.56567679e-02 2.02009576e+02] [ 8.13159816e-01 -5.81586611e-01 -2.29810208e-02 1.77938471e+02] [ 2.78004649e-02 -6.29163304e-04 9.99613294e-01 4.93457909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.99, Y:177.96, Z:4.94 [[-5.81215016e-01 -8.13600188e-01 1.56153466e-02 2.01993346e+02] [ 8.13277894e-01 -5.81424421e-01 -2.29065423e-02 1.77961661e+02] [ 2.77159110e-02 -6.14010128e-04 9.99615652e-01 4.93572722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.98, Y:177.98, Z:4.94 [[-5.81230355e-01 -8.13600510e-01 1.50161456e-02 2.01976717e+02] [ 8.13302823e-01 -5.81424003e-01 -2.20146909e-02 1.77983937e+02] [ 2.66419112e-02 -5.82932997e-04 9.99644871e-01 4.93727943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.120385723 meters Centerline goodness [0,1] 0.9999784936986537 Centerline is valid? [True, True] Translation: X:201.96, Y:178.01, Z:4.94 [[-5.81623956e-01 -8.13335866e-01 1.40834276e-02 2.01958898e+02] [ 8.13074239e-01 -5.81794177e-01 -2.06353480e-02 1.78005300e+02] [ 2.49771248e-02 -5.51140576e-04 9.99687871e-01 4.93907304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.94, Y:178.03, Z:4.94 [[-5.82075284e-01 -8.13013517e-01 1.40494140e-02 2.01942993e+02] [ 8.12753371e-01 -5.82244547e-01 -2.05729376e-02 1.78027355e+02] [ 2.49062711e-02 -5.56289908e-04 9.99689636e-01 4.93928281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.93, Y:178.05, Z:4.94 [[-5.83064442e-01 -8.12306519e-01 1.39275080e-02 2.01926556e+02] [ 8.12050982e-01 -5.83230477e-01 -2.03816818e-02 1.78049250e+02] [ 2.46791201e-02 -5.73987379e-04 9.99695259e-01 4.93934154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.91, Y:178.07, Z:4.94 [[-5.83729435e-01 -8.11832829e-01 1.36895673e-02 2.01909040e+02] [ 8.11586116e-01 -5.83889651e-01 -2.00212857e-02 1.78070990e+02] [ 2.42471336e-02 -5.76751052e-04 9.99705829e-01 4.94070896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.240385723 meters Centerline goodness [0,1] 0.999978507565337 Centerline is valid? [True, True] Translation: X:201.89, Y:178.09, Z:4.94 [[-5.84302297e-01 -8.11427866e-01 1.32530923e-02 2.01893589e+02] [ 8.11196806e-01 -5.84452304e-01 -1.93712807e-02 1.78093297e+02] [ 2.34641973e-02 -5.67817700e-04 9.99724517e-01 4.94119158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.88, Y:178.11, Z:4.94 [[-5.85660179e-01 -8.10449724e-01 1.31681785e-02 2.01877860e+02] [ 8.10221649e-01 -5.85807895e-01 -1.92350895e-02 1.78114876e+02] [ 2.33030959e-02 -5.96082634e-04 9.99728268e-01 4.94079398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.86, Y:178.14, Z:4.94 [[-5.86409567e-01 -8.09903462e-01 1.34239731e-02 2.01861260e+02] [ 8.09666581e-01 -5.86562865e-01 -1.95967381e-02 1.78137882e+02] [ 2.37454701e-02 -6.22772301e-04 9.99717843e-01 4.94056959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.84, Y:178.16, Z:4.94 [[-5.87433791e-01 -8.09150760e-01 1.40210386e-02 2.01842210e+02] [ 8.08892416e-01 -5.87600708e-01 -2.04564634e-02 1.78159080e+02] [ 2.47911351e-02 -6.75306089e-04 9.99692425e-01 4.93998648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.360385723 meters Centerline goodness [0,1] 0.999978594515915 Centerline is valid? [True, True] Translation: X:201.83, Y:178.18, Z:4.94 [[-5.87497360e-01 -8.09100517e-01 1.42549908e-02 2.01825866e+02] [ 8.08833764e-01 -5.87669880e-01 -2.07859056e-02 1.78182298e+02] [ 2.51951157e-02 -6.81746791e-04 9.99682320e-01 4.93996977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.81, Y:178.20, Z:4.94 [[-5.87191177e-01 -8.09321826e-01 1.43074976e-02 2.01808776e+02] [ 8.09053477e-01 -5.87365080e-01 -2.08502766e-02 1.78204982e+02] [ 2.52783084e-02 -6.67567764e-04 9.99680230e-01 4.94023453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.420385723 meters Centerline goodness [0,1] 0.9999139396286495 Centerline is valid? [True, True] Translation: X:201.79, Y:178.23, Z:4.94 [[-5.86652982e-01 -8.09710655e-01 1.43851662e-02 2.01792654e+02] [ 8.09439827e-01 -5.86828967e-01 -2.09506740e-02 1.78226563e+02] [ 2.54056162e-02 -6.46848946e-04 9.99677016e-01 4.94016790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.78, Y:178.25, Z:4.94 [[-5.86023252e-01 -8.10159377e-01 1.47828644e-02 2.01776914e+02] [ 8.09873883e-01 -5.86209331e-01 -2.15154190e-02 1.78247546e+02] [ 2.60967715e-02 -6.36280028e-04 9.99659219e-01 4.93981132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.76, Y:178.27, Z:4.94 [[-5.84255686e-01 -8.11423480e-01 1.54022609e-02 2.01760340e+02] [ 8.11114385e-01 -5.84458366e-01 -2.24024983e-02 1.78269158e+02] [ 2.71798933e-02 -5.95791578e-04 9.99630381e-01 4.93966696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.74, Y:178.29, Z:4.94 [[-5.84064968e-01 -8.11557664e-01 1.55650649e-02 2.01743122e+02] [ 8.11242404e-01 -5.84272036e-01 -2.26263293e-02 1.78291575e+02] [ 2.74568031e-02 -5.88205638e-04 9.99622818e-01 4.94065135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.540385723 meters Centerline goodness [0,1] 0.9999357711741029 Centerline is valid? [True, True] Translation: X:201.73, Y:178.31, Z:4.94 [[-5.83530436e-01 -8.11928831e-01 1.62420413e-02 2.01728946e+02] [ 8.11586123e-01 -5.83756138e-01 -2.35952465e-02 1.78313393e+02] [ 2.86390522e-02 -5.86729188e-04 9.99589646e-01 4.94048618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.72, Y:178.34, Z:4.94 [[-5.83351714e-01 -8.12062678e-01 1.59682517e-02 2.01715672e+02] [ 8.11731867e-01 -5.83569953e-01 -2.31837408e-02 1.78336380e+02] [ 2.81452425e-02 -5.62336205e-04 9.99603686e-01 4.94093616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.600385723 meters Centerline goodness [0,1] 0.9999785089510219 Centerline is valid? [True, True] Translation: X:201.70, Y:178.36, Z:4.94 [[-5.83637935e-01 -8.11857321e-01 1.59515120e-02 2.01700146e+02] [ 8.11527496e-01 -5.83855609e-01 -2.31463163e-02 1.78358628e+02] [ 2.81048861e-02 -5.63977709e-04 9.99604821e-01 4.94242572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.630385723 meters Centerline goodness [0,1] 0.999827882960413 Centerline is valid? [True, True] Translation: X:201.69, Y:178.38, Z:4.94 [[-5.84439510e-01 -8.11250711e-01 1.73995119e-02 2.01688235e+02] [ 8.10858436e-01 -5.84698107e-01 -2.52333210e-02 1.78383352e+02] [ 3.06440112e-02 -6.38808738e-04 9.99530158e-01 4.94028269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.660385723 meters Centerline goodness [0,1] 0.999827882960413 Centerline is valid? [True, True] Translation: X:201.67, Y:178.41, Z:4.94 [[-5.84673346e-01 -8.11082069e-01 1.74056216e-02 2.01672951e+02] [ 8.10689845e-01 -5.84932020e-01 -2.52291064e-02 1.78405306e+02] [ 3.06439812e-02 -6.40225409e-04 9.99530158e-01 4.94068775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.690385723 meters Centerline goodness [0,1] 0.9998711589254654 Centerline is valid? [True, True] Translation: X:201.66, Y:178.43, Z:4.94 [[-5.85239136e-01 -8.10681598e-01 1.70440657e-02 2.01656212e+02] [ 8.10305774e-01 -5.85486924e-01 -2.46903695e-02 1.78427278e+02] [ 2.99951058e-02 -6.38865651e-04 9.99549841e-01 4.94364884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.720385723 meters Centerline goodness [0,1] 0.9999139488856381 Centerline is valid? [True, True] Translation: X:201.64, Y:178.45, Z:4.95 [[-5.85779940e-01 -8.10317377e-01 1.57356632e-02 2.01641738e+02] [ 8.09997271e-01 -5.85990946e-01 -2.27822711e-02 1.78450970e+02] [ 2.76818264e-02 -5.99553121e-04 9.99616605e-01 4.94661428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.63, Y:178.47, Z:4.95 [[-5.85946446e-01 -8.10201383e-01 1.55074754e-02 2.01627740e+02] [ 8.09890836e-01 -5.86151323e-01 -2.24379138e-02 1.78473039e+02] [ 2.72689560e-02 -5.88053643e-04 9.99627960e-01 4.94679964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.61, Y:178.50, Z:4.95 [[-5.85912402e-01 -8.10225439e-01 1.55368935e-02 2.01612566e+02] [ 8.09914133e-01 -5.86118079e-01 -2.24654219e-02 1.78495415e+02] [ 2.73085106e-02 -5.79219678e-04 9.99626885e-01 4.94740237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.60, Y:178.52, Z:4.95 [[-5.85769054e-01 -8.10324648e-01 1.57664207e-02 2.01597581e+02] [ 8.10004505e-01 -5.85980917e-01 -2.27830621e-02 1.78518755e+02] [ 2.77004984e-02 -5.74741004e-04 9.99616102e-01 4.94752165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.840385723 meters Centerline goodness [0,1] 0.9999568202426702 Centerline is valid? [True, True] Translation: X:201.58, Y:178.54, Z:4.95 [[-5.85775632e-01 -8.10312782e-01 1.61277232e-02 2.01582083e+02] [ 8.09978180e-01 -5.85997319e-01 -2.32913973e-02 1.78542333e+02] [ 2.83241195e-02 -5.80429116e-04 9.99598623e-01 4.94749516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.57, Y:178.56, Z:4.95 [[-5.85645144e-01 -8.10389985e-01 1.69657791e-02 2.01568131e+02] [ 8.10020204e-01 -5.85890532e-01 -2.44858034e-02 1.78564908e+02] [ 2.97831392e-02 -5.97368007e-04 9.99556205e-01 4.94670146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.900385723 meters Centerline goodness [0,1] 0.9999136665803332 Centerline is valid? [True, True] Translation: X:201.55, Y:178.59, Z:4.95 [[-5.85952960e-01 -8.10156432e-01 1.74838542e-02 2.01551603e+02] [ 8.09764093e-01 -5.86213420e-01 -2.52178510e-02 1.78587264e+02] [ 3.06796741e-02 -6.18677064e-04 9.99529077e-01 4.94750656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.54, Y:178.61, Z:4.95 [[-5.86602152e-01 -8.09700216e-01 1.68367344e-02 2.01537936e+02] [ 8.09336611e-01 -5.86843410e-01 -2.42706075e-02 1.78611110e+02] [ 2.95324428e-02 -6.10605007e-04 9.99563636e-01 4.94704260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.52, Y:178.63, Z:4.95 [[-5.88638106e-01 -8.08233657e-01 1.62338008e-02 2.01523610e+02] [ 8.07895476e-01 -5.88861555e-01 -2.33873723e-02 1.78634464e+02] [ 2.84619226e-02 -6.51484359e-04 9.99594665e-01 4.94747064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.51, Y:178.66, Z:4.95 [[-5.89937264e-01 -8.07284209e-01 1.63165724e-02 2.01507204e+02] [ 8.06942602e-01 -5.90162458e-01 -2.34927827e-02 1.78657141e+02] [ 2.85947810e-02 -6.92730611e-04 9.99590846e-01 4.94847158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.020385723 meters Centerline goodness [0,1] 0.9999572476005216 Centerline is valid? [True, True] Translation: X:201.49, Y:178.68, Z:4.95 [[-5.91676506e-01 -8.05999118e-01 1.68621977e-02 2.01492540e+02] [ 8.05634177e-01 -5.91916232e-01 -2.42641113e-02 1.78681292e+02] [ 2.95378608e-02 -7.71741823e-04 9.99563364e-01 4.94826234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.050385723 meters Centerline goodness [0,1] 0.9999140284136093 Centerline is valid? [True, True] Translation: X:201.48, Y:178.71, Z:4.95 [[-5.92638366e-01 -8.05276804e-01 1.75794208e-02 2.01477351e+02] [ 8.04880295e-01 -5.92898453e-01 -2.52811221e-02 1.78705247e+02] [ 3.07811126e-02 -8.33233491e-04 9.99525802e-01 4.94873221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.46, Y:178.73, Z:4.95 [[-5.93266849e-01 -8.04823385e-01 1.71395831e-02 2.01463496e+02] [ 8.04446724e-01 -5.93513805e-01 -2.46339605e-02 1.78728968e+02] [ 2.99985666e-02 -8.26630669e-04 9.99549600e-01 4.94957900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.45, Y:178.75, Z:4.95 [[-5.93375119e-01 -8.04737091e-01 1.74408123e-02 2.01447632e+02] [ 8.04347498e-01 -5.93630790e-01 -2.50517125e-02 1.78751928e+02] [ 3.05134455e-02 -8.36589162e-04 9.99534006e-01 4.95094878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.43, Y:178.77, Z:4.95 [[-5.92944394e-01 -8.05052206e-01 1.75468259e-02 2.01432138e+02] [ 8.04658458e-01 -5.93203405e-01 -2.51890147e-02 1.78774259e+02] [ 3.06873087e-02 -8.16483137e-04 9.99528700e-01 4.95090930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.42, Y:178.80, Z:4.95 [[-5.92665300e-01 -8.05261828e-01 1.73560299e-02 2.01416234e+02] [ 8.04877156e-01 -5.92918855e-01 -2.48996882e-02 1.78796003e+02] [ 3.03414859e-02 -7.87709161e-04 9.99539281e-01 4.95066923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.200385723 meters Centerline goodness [0,1] 0.9999136796219168 Centerline is valid? [True, True] Translation: X:201.40, Y:178.82, Z:4.95 [[-5.91173175e-01 -8.06353770e-01 1.75463723e-02 2.01400636e+02] [ 8.05961505e-01 -5.91433058e-01 -2.51592878e-02 1.78818034e+02] [ 3.06647913e-02 -7.31795392e-04 9.99529457e-01 4.94997526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.230385723 meters Centerline goodness [0,1] 0.999891982976517 Centerline is valid? [True, True] Translation: X:201.38, Y:178.84, Z:4.95 [[-5.90362242e-01 -8.06957529e-01 1.70871233e-02 2.01384006e+02] [ 8.06586134e-01 -5.90609084e-01 -2.44891420e-02 1.78841123e+02] [ 2.98535077e-02 -6.75228006e-04 9.99554057e-01 4.95239217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.37, Y:178.86, Z:4.95 [[-5.88631352e-01 -8.08237201e-01 1.63021042e-02 2.01370479e+02] [ 8.07899997e-01 -5.88856771e-01 -2.33516161e-02 1.78864871e+02] [ 2.84732493e-02 -5.75023417e-04 9.99594389e-01 4.95392026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.35, Y:178.89, Z:4.96 [[-5.87921806e-01 -8.08755674e-01 1.61928853e-02 2.01353896e+02] [ 8.08423558e-01 -5.88144515e-01 -2.31814752e-02 1.78886079e+02] [ 2.82719062e-02 -5.38184771e-04 9.99600125e-01 4.95532934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.320385723 meters Centerline goodness [0,1] 0.9999783947283137 Centerline is valid? [True, True] Translation: X:201.34, Y:178.91, Z:4.96 [[-5.87372465e-01 -8.09158352e-01 1.60109261e-02 2.01337327e+02] [ 8.08834207e-01 -5.87590425e-01 -2.29067272e-02 1.78908312e+02] [ 2.79430365e-02 -5.04596049e-04 9.99609390e-01 4.95579339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.32, Y:178.93, Z:4.96 [[-5.86665829e-01 -8.09677057e-01 1.56929456e-02 2.01320982e+02] [ 8.09366228e-01 -5.86875498e-01 -2.24378998e-02 1.78929963e+02] [ 2.73772579e-02 -4.62208893e-04 9.99625066e-01 4.95627946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.380385723 meters Centerline goodness [0,1] 0.9998917491177554 Centerline is valid? [True, True] Translation: X:201.31, Y:178.95, Z:4.96 [[-5.87056746e-01 -8.09385780e-01 1.60946084e-02 2.01306697e+02] [ 8.09059147e-01 -5.87277132e-01 -2.29971016e-02 1.78953139e+02] [ 2.80655225e-02 -4.79113490e-04 9.99605971e-01 4.95592985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.29, Y:178.98, Z:4.96 [[-5.87668702e-01 -8.08959764e-01 1.51524466e-02 2.01294198e+02] [ 8.08670483e-01 -5.87863833e-01 -2.16371037e-02 1.78976048e+02] [ 2.64111216e-02 -4.62112341e-04 9.99651059e-01 4.95805724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.440385723 meters Centerline goodness [0,1] 0.9999135153834512 Centerline is valid? [True, True] Translation: X:201.28, Y:179.00, Z:4.96 [[-5.88410203e-01 -8.08419391e-01 1.52158564e-02 2.01280529e+02] [ 8.08127890e-01 -5.88606710e-01 -2.17130173e-02 1.78998613e+02] [ 2.65093794e-02 -4.79803047e-04 9.99648450e-01 4.95823870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.470385723 meters Centerline goodness [0,1] 0.999891894229314 Centerline is valid? [True, True] Translation: X:201.27, Y:179.02, Z:4.96 [[-5.88966159e-01 -8.08014927e-01 1.51901750e-02 2.01266127e+02] [ 8.07724656e-01 -5.89161811e-01 -2.16619870e-02 1.79021037e+02] [ 2.64526798e-02 -4.88698385e-04 9.99649947e-01 4.95873605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.25, Y:179.04, Z:4.96 [[-5.88215291e-01 -8.08563648e-01 1.50863967e-02 2.01250499e+02] [ 8.08277874e-01 -5.88408551e-01 -2.15001543e-02 1.79043337e+02] [ 2.62612081e-02 -4.52718866e-04 9.99655013e-01 4.95848696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.23, Y:179.07, Z:4.96 [[-5.87732682e-01 -8.08912311e-01 1.52041937e-02 2.01234760e+02] [ 8.08622532e-01 -5.87929150e-01 -2.16544407e-02 1.79065092e+02] [ 2.64555324e-02 -4.32568883e-04 9.99649898e-01 4.95822306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.22, Y:179.09, Z:4.96 [[-5.85742138e-01 -8.10335567e-01 1.61992759e-02 2.01218930e+02] [ 8.10007568e-01 -5.85965972e-01 -2.30568521e-02 1.79087831e+02] [ 2.81760117e-02 -3.83833764e-04 9.99602904e-01 4.95695088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.20, Y:179.11, Z:4.96 [[-5.84829314e-01 -8.10986201e-01 1.66148943e-02 2.01204186e+02] [ 8.10641797e-01 -5.85065173e-01 -2.36351504e-02 1.79109806e+02] [ 2.88885769e-02 -3.53801031e-04 9.99582575e-01 4.95643442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.620385723 meters Centerline goodness [0,1] 0.9999136516708401 Centerline is valid? [True, True] Translation: X:201.19, Y:179.13, Z:4.96 [[-5.83804655e-01 -8.11714568e-01 1.70758531e-02 2.01188714e+02] [ 8.11351493e-01 -5.84054243e-01 -2.42774907e-02 1.79132494e+02] [ 2.96796173e-02 -3.18793250e-04 9.99559412e-01 4.95637576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.18, Y:179.16, Z:4.96 [[-5.82164096e-01 -8.12886073e-01 1.73550327e-02 2.01175282e+02] [ 8.12512016e-01 -5.82422671e-01 -2.46588147e-02 1.79155237e+02] [ 3.01527716e-02 -2.54303989e-04 9.99545269e-01 4.95669523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.16, Y:179.18, Z:4.96 [[-5.81729225e-01 -8.13202694e-01 1.71022623e-02 2.01159824e+02] [ 8.12840051e-01 -5.81980522e-01 -2.42842218e-02 1.79177758e+02] [ 2.97011781e-02 -2.25437768e-04 9.99558797e-01 4.95958528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.15, Y:179.20, Z:4.96 [[-5.82151318e-01 -8.12900046e-01 1.71277104e-02 2.01146057e+02] [ 8.12536666e-01 -5.82403178e-01 -2.43044400e-02 1.79200783e+02] [ 2.97323133e-02 -2.31969066e-04 9.99557870e-01 4.95801113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.13, Y:179.22, Z:4.96 [[-5.83219126e-01 -8.12136540e-01 1.70203091e-02 2.01131289e+02] [ 8.11777841e-01 -5.83467371e-01 -2.41363627e-02 1.79224120e+02] [ 2.95328171e-02 -2.60078604e-04 9.99563777e-01 4.96057276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.12, Y:179.25, Z:4.96 [[-5.86262575e-01 -8.09951727e-01 1.65648300e-02 2.01120261e+02] [ 8.09611503e-01 -5.86496441e-01 -2.34763529e-02 1.79250190e+02] [ 2.87299264e-02 -3.52230210e-04 9.99587148e-01 4.96474279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.11, Y:179.27, Z:4.97 [[-5.88146333e-01 -8.08593572e-01 1.61346713e-02 2.01106722e+02] [ 8.08270648e-01 -5.88367467e-01 -2.28535379e-02 1.79274640e+02] [ 2.79723395e-02 -4.00043261e-04 9.99608618e-01 4.96625679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.10, Y:179.30, Z:4.97 [[-5.91863495e-01 -8.05887476e-01 1.55877762e-02 2.01095546e+02] [ 8.05585484e-01 -5.92068512e-01 -2.20659214e-02 1.79299726e+02] [ 2.70116812e-02 -5.02727153e-04 9.99634992e-01 4.96714842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.08, Y:179.32, Z:4.97 [[-5.93782195e-01 -8.04469827e-01 1.58430220e-02 2.01081135e+02] [ 8.04157728e-01 -5.93993244e-01 -2.24137163e-02 1.79324051e+02] [ 2.74418065e-02 -5.68577129e-04 9.99623241e-01 4.96739314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.07, Y:179.35, Z:4.97 [[-5.95845340e-01 -8.02943120e-01 1.58327617e-02 2.01066055e+02] [ 8.02631240e-01 -5.96055323e-01 -2.23862531e-02 1.79347753e+02] [ 2.74120899e-02 -6.30875427e-04 9.99624019e-01 4.96769267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.920385723 meters Centerline goodness [0,1] 0.9999780658463293 Centerline is valid? [True, True] Translation: X:201.06, Y:179.37, Z:4.97 [[-5.98996714e-01 -8.00568386e-01 1.71229652e-02 2.01055533e+02] [ 8.00203070e-01 -5.99240881e-01 -2.41953285e-02 1.79373565e+02] [ 2.96307959e-02 -7.91072921e-04 9.99560599e-01 4.96634083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.04, Y:179.40, Z:4.97 [[-6.00606567e-01 -7.99357603e-01 1.72966333e-02 2.01040652e+02] [ 7.98984775e-01 -6.00854973e-01 -2.44260162e-02 1.79397104e+02] [ 2.99178899e-02 -8.50679097e-04 9.99551998e-01 4.96714878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.03, Y:179.42, Z:4.97 [[-6.03460659e-01 -7.97186430e-01 1.81391676e-02 2.01027364e+02] [ 7.96775881e-01 -6.03732395e-01 -2.56006102e-02 1.79422217e+02] [ 3.13596621e-02 -9.96109821e-04 9.99507668e-01 4.96732250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.01, Y:179.45, Z:4.97 [[-6.04832768e-01 -7.96141019e-01 1.83521209e-02 2.01014088e+02] [ 7.95720721e-01 -6.05110209e-01 -2.58876090e-02 1.79445475e+02] [ 3.17152431e-02 -1.05451127e-03 9.99496389e-01 4.96706944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.00, Y:179.47, Z:4.97 [[-6.05967958e-01 -7.95268140e-01 1.87461777e-02 2.00999769e+02] [ 7.94829556e-01 -6.06256825e-01 -2.64317668e-02 1.79469208e+02] [ 3.23853402e-02 -1.11678759e-03 9.99474833e-01 4.96714842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.98, Y:179.49, Z:4.97 [[-6.06889998e-01 -7.94556450e-01 1.90939380e-02 2.00984432e+02] [ 7.94101536e-01 -6.07189167e-01 -2.69084716e-02 1.79492845e+02] [ 3.29739320e-02 -1.16795678e-03 9.99455530e-01 4.96744674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.97, Y:179.52, Z:4.97 [[-6.07081151e-01 -7.94391550e-01 1.98630768e-02 2.00970553e+02] [ 7.93899727e-01 -6.07404800e-01 -2.79755598e-02 1.79516387e+02] [ 3.42884764e-02 -1.21414379e-03 9.99411240e-01 4.96629400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.96, Y:179.54, Z:4.97 [[-6.06644289e-01 -7.94716274e-01 2.02175882e-02 2.00955282e+02] [ 7.94207536e-01 -6.06979892e-01 -2.84570016e-02 1.79539064e+02] [ 3.48869118e-02 -1.20631658e-03 9.99390538e-01 4.96626478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.94, Y:179.56, Z:4.97 [[-6.05536450e-01 -7.95558814e-01 2.02923942e-02 2.00939334e+02] [ 7.95047374e-01 -6.05875273e-01 -2.85451714e-02 1.79561755e+02] [ 3.50040226e-02 -1.15172704e-03 9.99386508e-01 4.96701953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.92, Y:179.59, Z:4.97 [[-6.04993155e-01 -7.95986643e-01 1.97116021e-02 2.00923571e+02] [ 7.95504824e-01 -6.05313214e-01 -2.77126005e-02 1.79585435e+02] [ 3.39905531e-02 -1.08525909e-03 9.99421565e-01 4.96800251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.91, Y:179.61, Z:4.97 [[-6.04371506e-01 -7.96473639e-01 1.91003853e-02 2.00907271e+02] [ 7.96021990e-01 -6.04672399e-01 -2.68380467e-02 1.79608007e+02] [ 3.29252725e-02 -1.01582401e-03 9.99457300e-01 4.97027400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.89, Y:179.63, Z:4.97 [[-6.03980738e-01 -7.96820903e-01 1.68438759e-02 2.00894784e+02] [ 7.96470200e-01 -6.04214936e-01 -2.36544237e-02 1.79632566e+02] [ 2.90256607e-02 -8.71171130e-04 9.99578287e-01 4.97389352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.88, Y:179.65, Z:4.98 [[-6.03921464e-01 -7.96884889e-01 1.59166252e-02 2.00877475e+02] [ 7.96572108e-01 -6.04130626e-01 -2.23397064e-02 1.79654439e+02] [ 2.74178952e-02 -8.12688498e-04 9.99623729e-01 4.97664435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.86, Y:179.68, Z:4.98 [[-6.02935845e-01 -7.97656555e-01 1.45735178e-02 2.00862630e+02] [ 7.97394817e-01 -6.03111533e-01 -2.04446639e-02 1.79676614e+02] [ 2.50972768e-02 -7.05973184e-04 9.99684764e-01 4.97823114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.85, Y:179.70, Z:4.98 [[-6.02740620e-01 -7.97807314e-01 1.43956880e-02 2.00846958e+02] [ 7.97552211e-01 -6.02912117e-01 -2.01853942e-02 1.79700154e+02] [ 2.47833899e-02 -6.85244257e-04 9.99692610e-01 4.97901961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.83, Y:179.72, Z:4.98 [[-6.02900659e-01 -7.97692576e-01 1.40481497e-02 2.00831966e+02] [ 7.97449896e-01 -6.03063936e-01 -1.96863428e-02 1.79722777e+02] [ 2.41755819e-02 -6.66213497e-04 9.99707506e-01 4.98010930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.82, Y:179.75, Z:4.98 [[-6.03148710e-01 -7.97511983e-01 1.36480978e-02 2.00818768e+02] [ 7.97283175e-01 -6.03302759e-01 -1.91133290e-02 1.79745148e+02] [ 2.34770440e-02 -6.46780974e-04 9.99724167e-01 4.98106681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.80, Y:179.77, Z:4.98 [[-6.03635994e-01 -7.97141754e-01 1.37335368e-02 2.00803378e+02] [ 7.96910280e-01 -6.03791844e-01 -1.92201682e-02 1.79768050e+02] [ 2.36133961e-02 -6.57588708e-04 9.99720949e-01 4.98124829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.79, Y:179.79, Z:4.98 [[-6.04572398e-01 -7.96424076e-01 1.41741475e-02 2.00788231e+02] [ 7.96177617e-01 -6.04738126e-01 -1.98242448e-02 1.79790169e+02] [ 2.43601533e-02 -7.00052225e-04 9.99703002e-01 4.98058711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.77, Y:179.81, Z:4.98 [[-6.05451741e-01 -7.95745268e-01 1.47532397e-02 2.00772061e+02] [ 7.95478373e-01 -6.05630999e-01 -2.06216110e-02 1.79812589e+02] [ 2.53445687e-02 -7.49507160e-04 9.99678494e-01 4.97974445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.76, Y:179.84, Z:4.98 [[-6.06332617e-01 -7.95069591e-01 1.50034666e-02 2.00755934e+02] [ 7.94793672e-01 -6.06517710e-01 -2.09591664e-02 1.79835434e+02] [ 2.57638640e-02 -7.83565904e-04 9.99667749e-01 4.97912492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.74, Y:179.86, Z:4.98 [[-6.06566967e-01 -7.94890708e-01 1.50092442e-02 2.00740255e+02] [ 7.94614837e-01 -6.06752131e-01 -2.09550286e-02 1.79857145e+02] [ 2.57638484e-02 -7.84060001e-04 9.99667750e-01 4.97952979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.73, Y:179.88, Z:4.98 [[-6.07979968e-01 -7.93791676e-01 1.59729344e-02 2.00727043e+02] [ 7.93479205e-01 -6.08189122e-01 -2.22877269e-02 1.79880482e+02] [ 2.74063770e-02 -8.76300210e-04 9.99623991e-01 4.97870167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.71, Y:179.90, Z:4.98 [[-6.08870499e-01 -7.93100637e-01 1.63735881e-02 2.00712143e+02] [ 7.92772376e-01 -6.09089917e-01 -2.28348935e-02 1.79903829e+02] [ 2.80833560e-02 -9.22964654e-04 9.99605159e-01 4.97898714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.70, Y:179.93, Z:4.98 [[-6.09763926e-01 -7.92412085e-01 1.64633667e-02 2.00696672e+02] [ 7.92080328e-01 -6.09985395e-01 -2.29471618e-02 1.79927350e+02] [ 2.82260215e-02 -9.52042557e-04 9.99601113e-01 4.97957556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.68, Y:179.95, Z:4.98 [[-6.11330527e-01 -7.91200241e-01 1.66482810e-02 2.00681693e+02] [ 7.90860910e-01 -6.11556339e-01 -2.31919056e-02 1.79950431e+02] [ 2.85308031e-02 -1.01144523e-03 9.99592402e-01 4.97862549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.67, Y:179.97, Z:4.98 [[-6.12143420e-01 -7.90570762e-01 1.66824687e-02 2.00668242e+02] [ 7.90230202e-01 -6.12369824e-01 -2.32255682e-02 1.79972773e+02] [ 2.85772956e-02 -1.03438815e-03 9.99591051e-01 4.97880275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.65, Y:179.99, Z:4.98 [[-6.12440129e-01 -7.90350694e-01 1.62132605e-02 2.00653986e+02] [ 7.90029337e-01 -6.12653872e-01 -2.25583632e-02 1.79994975e+02] [ 2.77621349e-02 -1.00669539e-03 9.99614051e-01 4.98040002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.64, Y:180.02, Z:4.98 [[-6.12417764e-01 -7.90385268e-01 1.53495833e-02 2.00637883e+02] [ 7.90097586e-01 -6.12609368e-01 -2.13440240e-02 1.80017191e+02] [ 2.62733006e-02 -9.43790772e-04 9.99654352e-01 4.98271279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.62, Y:180.04, Z:4.98 [[-6.12074649e-01 -7.90653468e-01 1.52223016e-02 2.00623164e+02] [ 7.90370953e-01 -6.12263223e-01 -2.11542825e-02 1.80038748e+02] [ 2.60457623e-02 -9.16735011e-04 9.99660331e-01 4.98383943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.60, Y:180.06, Z:4.99 [[-6.10947940e-01 -7.91528824e-01 1.49911844e-02 2.00600643e+02] [ 7.91255403e-01 -6.11131233e-01 -2.08207312e-02 1.80056785e+02] [ 2.56417898e-02 -8.58527180e-04 9.99670827e-01 4.98696412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.58, Y:180.08, Z:4.99 [[-6.09884369e-01 -7.92345511e-01 1.51541420e-02 2.00582271e+02] [ 7.92066675e-01 -6.10072053e-01 -2.10350411e-02 1.80077854e+02] [ 2.59121389e-02 -8.25851979e-04 9.99663883e-01 4.98728460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.56, Y:180.10, Z:4.99 [[-6.09861968e-01 -7.92365203e-01 1.50254799e-02 2.00562506e+02] [ 7.92091396e-01 -6.10046496e-01 -2.08444860e-02 1.80098363e+02] [ 2.56826867e-02 -8.10705938e-04 9.99669817e-01 4.98865717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.55, Y:180.12, Z:4.99 [[-6.10423830e-01 -7.91937627e-01 1.47493425e-02 2.00548757e+02] [ 7.91673977e-01 -6.10601462e-01 -2.04491689e-02 1.80121989e+02] [ 2.52004364e-02 -8.05989370e-04 9.99682094e-01 4.98885148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.53, Y:180.14, Z:4.99 [[-6.11150582e-01 -7.91383336e-01 1.44007587e-02 2.00532898e+02] [ 7.91132151e-01 -6.11319698e-01 -1.99535863e-02 1.80144295e+02] [ 2.45944032e-02 -8.01742715e-04 9.99697190e-01 4.99029272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.51, Y:180.17, Z:4.99 [[-6.12683603e-01 -7.90200880e-01 1.41905433e-02 2.00512610e+02] [ 7.89956942e-01 -6.12847355e-01 -1.96506769e-02 1.80165121e+02] [ 2.42246192e-02 -8.29729321e-04 9.99706197e-01 4.99270074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.49, Y:180.19, Z:4.99 [[-6.13961950e-01 -7.89210807e-01 1.40366033e-02 2.00494581e+02] [ 7.88972141e-01 -6.14121792e-01 -1.94264023e-02 1.80185822e+02] [ 2.39517106e-02 -8.52582907e-04 9.99712753e-01 4.99294035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.48, Y:180.21, Z:4.99 [[-6.14485061e-01 -7.88804868e-01 1.39639043e-02 2.00476104e+02] [ 7.88568841e-01 -6.14643105e-01 -1.93141461e-02 1.80207588e+02] [ 2.38179100e-02 -8.56754463e-04 9.99715946e-01 4.99312784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.46, Y:180.23, Z:4.99 [[-6.14869499e-01 -7.88503974e-01 1.40350236e-02 2.00458177e+02] [ 7.88265729e-01 -6.15029050e-01 -1.94012145e-02 1.80228831e+02] [ 2.39298819e-02 -8.65886934e-04 9.99713264e-01 4.99327880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.44, Y:180.25, Z:4.99 [[-6.15407115e-01 -7.88082188e-01 1.41615042e-02 2.00440373e+02] [ 7.87839794e-01 -6.15569400e-01 -1.95646040e-02 1.80251162e+02] [ 2.41359046e-02 -8.83199950e-04 9.99708297e-01 4.99344100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.42, Y:180.27, Z:4.99 [[-6.16703550e-01 -7.87062101e-01 1.44907263e-02 2.00422599e+02] [ 7.86808320e-01 -6.16873059e-01 -2.00073998e-02 1.80272052e+02] [ 2.46860048e-02 -9.37210518e-04 9.99694815e-01 4.99343887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.41, Y:180.29, Z:4.99 [[-6.17336915e-01 -7.86567939e-01 1.43530755e-02 2.00405878e+02] [ 7.86319118e-01 -6.17503031e-01 -1.98053307e-02 1.80293414e+02] [ 2.44413058e-02 -9.40464072e-04 9.99700824e-01 4.99347679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.39, Y:180.31, Z:4.99 [[-6.18047376e-01 -7.86012845e-01 1.41862238e-02 2.00386691e+02] [ 7.85769916e-01 -6.18209444e-01 -1.95633060e-02 1.80313602e+02] [ 2.41470674e-02 -9.43942045e-04 9.99707971e-01 4.99398262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.37, Y:180.33, Z:4.99 [[-6.18169363e-01 -7.85916768e-01 1.41941104e-02 2.00370635e+02] [ 7.85673842e-01 -6.18331585e-01 -1.95618218e-02 1.80333855e+02] [ 2.41506305e-02 -9.40577625e-04 9.99707889e-01 4.99456515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.35, Y:180.35, Z:5.00 [[-6.18209420e-01 -7.85897497e-01 1.34995646e-02 2.00354423e+02] [ 7.85678039e-01 -6.18356157e-01 -1.85925526e-02 1.80354102e+02] [ 2.29593794e-02 -8.87779698e-04 9.99736005e-01 4.99508394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.33, Y:180.37, Z:5.00 [[-6.17669406e-01 -7.86336661e-01 1.26159049e-02 2.00334372e+02] [ 7.86145312e-01 -6.17797704e-01 -1.73650288e-02 1.80373481e+02] [ 2.14488358e-02 -8.07912468e-04 9.99769621e-01 4.99624457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.31, Y:180.39, Z:5.00 [[-6.17054907e-01 -7.86828246e-01 1.20230103e-02 2.00314011e+02] [ 7.86654737e-01 -6.17171574e-01 -1.65400448e-02 1.80393099e+02] [ 2.04344346e-02 -7.48157822e-04 9.99790915e-01 4.99704314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.29, Y:180.41, Z:5.00 [[-6.15654211e-01 -7.87928379e-01 1.17797205e-02 2.00294897e+02] [ 7.87762202e-01 -6.15766507e-01 -1.61963634e-02 1.80413027e+02] [ 2.00151317e-02 -6.91740748e-04 9.99799438e-01 4.99739168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.27, Y:180.43, Z:5.00 [[-6.15389187e-01 -7.88135726e-01 1.17569720e-02 2.00274611e+02] [ 7.87970415e-01 -6.15501112e-01 -1.61556832e-02 1.80431745e+02] [ 1.99693004e-02 -6.77886698e-04 9.99800364e-01 4.99769557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.25, Y:180.45, Z:5.00 [[-6.15363058e-01 -7.88156373e-01 1.17404929e-02 2.00252408e+02] [ 7.87991730e-01 -6.15474681e-01 -1.61229657e-02 1.80450083e+02] [ 1.99333942e-02 -6.70066152e-04 9.99801086e-01 4.99763511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.23, Y:180.47, Z:5.00 [[-6.15720375e-01 -7.87879260e-01 1.16056742e-02 2.00231807e+02] [ 7.87718508e-01 -6.15829383e-01 -1.59286946e-02 1.80470350e+02] [ 1.96970033e-02 -6.65617392e-04 9.99805774e-01 4.99703244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.21, Y:180.49, Z:5.00 [[-6.16105034e-01 -7.87576261e-01 1.17567545e-02 2.00213242e+02] [ 7.87411433e-01 -6.16216824e-01 -1.61264038e-02 1.80490902e+02] [ 1.99454827e-02 -6.78155679e-04 9.99800839e-01 4.99645470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.19, Y:180.51, Z:5.00 [[-6.15766051e-01 -7.87832404e-01 1.23399468e-02 2.00193127e+02] [ 7.87651092e-01 -6.15889291e-01 -1.69156478e-02 1.80509239e+02] [ 2.09267365e-02 -6.96509135e-04 9.99780769e-01 4.99504183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.17, Y:180.53, Z:4.99 [[-6.15411989e-01 -7.88111729e-01 1.21649333e-02 2.00172947e+02] [ 7.87935779e-01 -6.15531845e-01 -1.66660353e-02 1.80529795e+02] [ 2.06226017e-02 -6.71291761e-04 9.99787106e-01 4.99481418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.15, Y:180.55, Z:4.99 [[-6.14025354e-01 -7.89196452e-01 1.19090562e-02 2.00152169e+02] [ 7.89028212e-01 -6.14140523e-01 -1.63064381e-02 1.80548578e+02] [ 2.01828171e-02 -6.15985086e-04 9.99796116e-01 4.99436311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.13, Y:180.57, Z:4.99 [[-6.13451424e-01 -7.89640880e-01 1.20263049e-02 2.00132817e+02] [ 7.89469581e-01 -6.13569001e-01 -1.64578788e-02 1.80569426e+02] [ 2.03747818e-02 -6.01707256e-04 9.99792232e-01 4.99458113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.11, Y:180.59, Z:4.99 [[-6.13149001e-01 -7.89881489e-01 1.16419599e-02 2.00114967e+02] [ 7.89721191e-01 -6.13259251e-01 -1.59226862e-02 1.80589397e+02] [ 1.97165747e-02 -5.69076679e-04 9.99805448e-01 4.99497003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.09, Y:180.61, Z:5.00 [[-6.11877527e-01 -7.90883845e-01 1.04228156e-02 2.00092012e+02] [ 7.90755658e-01 -6.11966108e-01 -1.42467977e-02 1.80607377e+02] [ 1.76459720e-02 -4.75394965e-04 9.99844185e-01 4.99574737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.07, Y:180.63, Z:5.00 [[-6.11225307e-01 -7.91388603e-01 1.03780501e-02 2.00073151e+02] [ 7.91261726e-01 -6.11313237e-01 -1.41777188e-02 1.80627962e+02] [ 1.75643245e-02 -4.54026687e-04 9.99845632e-01 4.99609379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.05, Y:180.65, Z:5.00 [[-6.09896685e-01 -7.92414406e-01 1.02685120e-02 2.00052972e+02] [ 7.92290479e-01 -6.09982980e-01 -1.40200161e-02 1.80648311e+02] [ 1.73732803e-02 -4.15117018e-04 9.99848987e-01 4.99704638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.03, Y:180.67, Z:5.00 [[-6.09892333e-01 -7.92420151e-01 1.00819748e-02 2.00034973e+02] [ 7.92300817e-01 -6.09975526e-01 -1.37576686e-02 1.80669937e+02] [ 1.70516117e-02 -4.02739748e-04 9.99854530e-01 4.99757734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.02, Y:180.69, Z:5.00 [[-6.09642574e-01 -7.92611138e-01 1.01742486e-02 2.00016355e+02] [ 7.92489777e-01 -6.09727338e-01 -1.38754075e-02 1.80691454e+02] [ 1.72013200e-02 -3.96051094e-04 9.99851968e-01 4.99775464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.780385723 meters Centerline goodness [0,1] 0.9998937368499352 Centerline is valid? [True, True] Translation: X:200.00, Y:180.71, Z:5.00 [[-6.09479839e-01 -7.92730967e-01 1.05801804e-02 1.99997087e+02] [ 7.92599901e-01 -6.09571532e-01 -1.44202728e-02 1.80712215e+02] [ 1.78807736e-02 -4.03015659e-04 9.99840045e-01 4.99644407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.98, Y:180.73, Z:5.00 [[-6.08862722e-01 -7.93218901e-01 9.48478291e-03 1.99978731e+02] [ 7.93113740e-01 -6.08936496e-01 -1.29205059e-02 1.80733828e+02] [ 1.60244199e-02 -3.44302730e-04 9.99871541e-01 4.99830380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.96, Y:180.75, Z:5.00 [[-6.07637953e-01 -7.94165676e-01 8.77480162e-03 1.99960591e+02] [ 7.94075864e-01 -6.07701238e-01 -1.19468800e-02 1.80754126e+02] [ 1.48202598e-02 -2.91519519e-04 9.99890131e-01 4.99950674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.94, Y:180.78, Z:5.00 [[-6.07326245e-01 -7.94408742e-01 8.34167936e-03 1.99942148e+02] [ 7.94327660e-01 -6.07383469e-01 -1.13529528e-02 1.80775935e+02] [ 1.40854831e-02 -2.68919515e-04 9.99900759e-01 4.99971877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.92, Y:180.80, Z:5.00 [[-6.06703041e-01 -7.94881813e-01 8.62106998e-03 1.99924980e+02] [ 7.94795358e-01 -6.06764233e-01 -1.17262110e-02 1.80796831e+02] [ 1.45519087e-02 -2.62341458e-04 9.99894081e-01 4.99973379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.91, Y:180.82, Z:5.00 [[-6.05718788e-01 -7.95627520e-01 9.03324661e-03 1.99905686e+02] [ 7.95532799e-01 -6.05786090e-01 -1.22792387e-02 1.80818107e+02] [ 1.52419154e-02 -2.51521642e-04 9.99883804e-01 4.99921883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.89, Y:180.84, Z:5.00 [[-6.06199950e-01 -7.95259614e-01 9.15242006e-03 1.99889910e+02] [ 7.95162439e-01 -6.06268982e-01 -1.24344815e-02 1.80839080e+02] [ 1.54374693e-02 -2.60121398e-04 9.99880801e-01 4.99928137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.87, Y:180.86, Z:5.00 [[-6.08674502e-01 -7.93372538e-01 8.68139022e-03 1.99872714e+02] [ 7.93285027e-01 -6.08736341e-01 -1.17869903e-02 1.80861512e+02] [ 1.46361521e-02 -2.87623549e-04 9.99892844e-01 5.00062895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.86, Y:180.89, Z:5.00 [[-6.10944472e-01 -7.91627049e-01 8.57136372e-03 1.99859716e+02] [ 7.91541660e-01 -6.11004511e-01 -1.16313495e-02 1.80885590e+02] [ 1.44448328e-02 -3.21517226e-04 9.99895616e-01 5.00116845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.050385723 meters Centerline goodness [0,1] 0.9999367755532139 Centerline is valid? [True, True] Translation: X:199.84, Y:180.91, Z:5.00 [[-6.13649425e-01 -7.89529812e-01 8.77831184e-03 1.99842390e+02] [ 7.89440134e-01 -6.13712094e-01 -1.19054940e-02 1.80908609e+02] [ 1.47870986e-02 -3.75847875e-04 9.99890594e-01 5.00052440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.83, Y:180.93, Z:5.00 [[-6.17524061e-01 -7.86495745e-01 9.40628080e-03 1.99827709e+02] [ 7.86392538e-01 -6.17595512e-01 -1.27498602e-02 1.80931465e+02] [ 1.58369876e-02 -4.76316416e-04 9.99874474e-01 5.00073464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.81, Y:180.95, Z:5.00 [[-6.19942801e-01 -7.84582389e-01 1.00696547e-02 1.99812128e+02] [ 7.84463964e-01 -6.20024324e-01 -1.36428275e-02 1.80953103e+02] [ 1.69473531e-02 -5.58491413e-04 9.99856227e-01 4.99924360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.80, Y:180.98, Z:5.00 [[-6.20684120e-01 -7.83993626e-01 1.02575735e-02 1.99795317e+02] [ 7.83870775e-01 -6.20768602e-01 -1.38907103e-02 1.80975729e+02] [ 1.72578079e-02 -5.81131225e-04 9.99850904e-01 4.99916367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.78, Y:181.00, Z:5.00 [[-6.21127780e-01 -7.83642172e-01 1.02580041e-02 1.99779046e+02] [ 7.83519399e-01 -6.21212204e-01 -1.38833850e-02 1.80998525e+02] [ 1.72520033e-02 -5.86010904e-04 9.99851001e-01 4.99973907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.76, Y:181.02, Z:5.00 [[-6.21354193e-01 -7.83463328e-01 1.02068743e-02 1.99762202e+02] [ 7.83341886e-01 -6.21437747e-01 -1.38063966e-02 1.81021342e+02] [ 1.71597424e-02 -5.83190305e-04 9.99852591e-01 5.00075544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.74, Y:181.04, Z:5.00 [[-6.20720787e-01 -7.83965749e-01 1.01690606e-02 1.99742186e+02] [ 7.83845405e-01 -6.20803824e-01 -1.37474920e-02 1.81042189e+02] [ 1.70905546e-02 -5.62382644e-04 9.99853788e-01 5.00172092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.72, Y:181.06, Z:5.00 [[-6.20266940e-01 -7.84323277e-01 1.02917866e-02 1.99724044e+02] [ 7.84200197e-01 -6.20352069e-01 -1.39054387e-02 1.81063939e+02] [ 1.72908903e-02 -5.54262817e-04 9.99850348e-01 5.00167727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.71, Y:181.09, Z:5.00 [[-6.19523504e-01 -7.84906961e-01 1.05683708e-02 1.99706143e+02] [ 7.84777412e-01 -6.19613399e-01 -1.42706090e-02 1.81086346e+02] [ 1.77494045e-02 -5.47158982e-04 9.99842317e-01 5.00207147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.320385723 meters Centerline goodness [0,1] 0.9999158585582364 Centerline is valid? [True, True] Translation: X:199.69, Y:181.11, Z:5.00 [[-6.19519742e-01 -7.84904666e-01 1.09523342e-02 1.99691069e+02] [ 7.84765692e-01 -6.19616292e-01 -1.47803935e-02 1.81108767e+02] [ 1.83874445e-02 -5.61729448e-04 9.99830779e-01 5.00112328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.350385723 meters Centerline goodness [0,1] 0.9999583116206358 Centerline is valid? [True, True] Translation: X:199.68, Y:181.13, Z:5.00 [[-6.19330301e-01 -7.85057255e-01 1.07277762e-02 1.99675227e+02] [ 7.84924100e-01 -6.19422969e-01 -1.44686676e-02 1.81130163e+02] [ 1.80037635e-02 -5.40394198e-04 9.99837773e-01 5.00262931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.66, Y:181.15, Z:5.00 [[-6.19827607e-01 -7.84666459e-01 1.05965043e-02 1.99658487e+02] [ 7.84536634e-01 -6.19917944e-01 -1.42833063e-02 1.81153027e+02] [ 1.77765945e-02 -5.39841754e-04 9.99841838e-01 5.00405945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.410385723 meters Centerline goodness [0,1] 0.9998525912354961 Centerline is valid? [True, True] Translation: X:199.64, Y:181.18, Z:5.00 [[-6.20981749e-01 -7.83751174e-01 1.07593652e-02 1.99641854e+02] [ 7.83617342e-01 -6.21074692e-01 -1.44944703e-02 1.81176348e+02] [ 1.80424275e-02 -5.69576329e-04 9.99837060e-01 5.00307580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.63, Y:181.20, Z:5.01 [[-6.21534841e-01 -7.83325482e-01 9.77910380e-03 1.99626616e+02] [ 7.83214979e-01 -6.21611546e-01 -1.31675096e-02 1.81198626e+02] [ 1.63932496e-02 -5.24925401e-04 9.99865484e-01 5.00647325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.61, Y:181.22, Z:5.01 [[-6.21746731e-01 -7.83157276e-01 9.78181139e-03 1.99610118e+02] [ 7.83046783e-01 -6.21823451e-01 -1.31654979e-02 1.81220725e+02] [ 1.63932152e-02 -5.25989352e-04 9.99865484e-01 5.00689091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.59, Y:181.24, Z:5.01 [[-6.22645333e-01 -7.82448213e-01 9.35861472e-03 1.99593456e+02] [ 7.82347102e-01 -6.22715446e-01 -1.25890955e-02 1.81243463e+02] [ 1.56780692e-02 -5.16856453e-04 9.99876958e-01 5.00753969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.58, Y:181.26, Z:5.01 [[-6.23305677e-01 -7.81925377e-01 9.09608992e-03 1.99577108e+02] [ 7.81829905e-01 -6.23371835e-01 -1.22292647e-02 1.81264964e+02] [ 1.52326187e-02 -5.10974981e-04 9.99883846e-01 5.00801854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.56, Y:181.29, Z:5.01 [[-6.23262612e-01 -7.81961781e-01 8.91571785e-03 1.99561319e+02] [ 7.81870172e-01 -6.23326181e-01 -1.19793698e-02 1.81285417e+02] [ 1.49248097e-02 -4.95359479e-04 9.99888496e-01 5.00815360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.54, Y:181.31, Z:5.01 [[-6.22797276e-01 -7.82330457e-01 9.08899929e-03 1.99541843e+02] [ 7.82235417e-01 -6.22863400e-01 -1.22039864e-02 1.81305534e+02] [ 1.52087553e-02 -4.90872364e-04 9.99884220e-01 5.00840307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.52, Y:181.33, Z:5.01 [[-6.20577895e-01 -7.84089951e-01 9.27498901e-03 1.99523094e+02] [ 7.83991290e-01 -6.20647037e-01 -1.24463757e-02 1.81326876e+02] [ 1.55155725e-02 -4.52435019e-04 9.99879524e-01 5.00860355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.650385723 meters Centerline goodness [0,1] 0.9999580237585527 Centerline is valid? [True, True] Translation: X:199.51, Y:181.35, Z:5.01 [[-6.19262332e-01 -7.85132268e-01 9.02692301e-03 1.99505435e+02] [ 7.85039028e-01 -6.19327985e-01 -1.21066781e-02 1.81347911e+02] [ 1.50959697e-02 -4.10722845e-04 9.99885965e-01 5.00845653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.49, Y:181.37, Z:5.01 [[-6.17784351e-01 -7.86299240e-01 8.71787720e-03 1.99485729e+02] [ 7.86212450e-01 -6.17845750e-01 -1.16881561e-02 1.81368585e+02] [ 1.45766916e-02 -3.66656318e-04 9.99893687e-01 5.00845783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.47, Y:181.39, Z:5.01 [[-6.14534081e-01 -7.88842759e-01 8.65822163e-03 1.99466888e+02] [ 7.88757496e-01 -6.14594998e-01 -1.16017905e-02 1.81388495e+02] [ 1.44732881e-02 -3.00458451e-04 9.99895211e-01 5.00848073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.45, Y:181.41, Z:5.01 [[-6.13470743e-01 -7.89668963e-01 8.75081813e-03 1.99451256e+02] [ 7.89582052e-01 -6.13533089e-01 -1.17188784e-02 1.81410569e+02] [ 1.46229510e-02 -2.79700077e-04 9.99893040e-01 5.00900669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.43, Y:181.43, Z:5.01 [[-6.12681597e-01 -7.90276570e-01 9.17628407e-03 1.99434197e+02] [ 7.90181184e-01 -6.12750250e-01 -1.22812149e-02 1.81432690e+02] [ 1.53283267e-02 -2.73547330e-04 9.99882477e-01 5.00928195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.42, Y:181.46, Z:5.01 [[-6.12983530e-01 -7.90041863e-01 9.22208378e-03 1.99417702e+02] [ 7.89945604e-01 -6.13052835e-01 -1.23355163e-02 1.81455199e+02] [ 1.53991989e-02 -2.76523809e-04 9.99881387e-01 5.00960573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.40, Y:181.48, Z:5.01 [[-6.13493700e-01 -7.89650993e-01 8.76295828e-03 1.99400459e+02] [ 7.89564132e-01 -6.13556221e-01 -1.17151260e-02 1.81476964e+02] [ 1.46274285e-02 -2.68238451e-04 9.99892977e-01 5.00957990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.38, Y:181.50, Z:5.01 [[-6.13122379e-01 -7.89936173e-01 9.04380927e-03 1.99382070e+02] [ 7.89843792e-01 -6.13189018e-01 -1.20835663e-02 1.81498371e+02] [ 1.50908107e-02 -2.65508339e-04 9.99886092e-01 5.00988932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.37, Y:181.52, Z:5.01 [[-6.12682992e-01 -7.90270779e-01 9.57329709e-03 1.99366595e+02] [ 7.90167427e-01 -6.12757721e-01 -1.27832775e-02 1.81520502e+02] [ 1.59683624e-02 -2.67589197e-04 9.99872462e-01 5.00952546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.920385723 meters Centerline goodness [0,1] 0.9998320985581464 Centerline is valid? [True, True] Translation: X:199.35, Y:181.54, Z:5.01 [[-6.11756044e-01 -7.90974032e-01 1.07062251e-02 1.99349844e+02] [ 7.90845002e-01 -6.11849659e-01 -1.42890904e-02 1.81543060e+02] [ 1.78528996e-02 -2.74472751e-04 9.99840587e-01 5.00609586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.33, Y:181.57, Z:5.01 [[-6.11230650e-01 -7.91382176e-01 1.05520046e-02 1.99332971e+02] [ 7.91257037e-01 -6.11321673e-01 -1.40752953e-02 1.81565060e+02] [ 1.75896069e-02 -2.53904002e-04 9.99845259e-01 5.00967541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.32, Y:181.59, Z:5.01 [[-6.11018249e-01 -7.91548262e-01 1.03946697e-02 1.99318311e+02] [ 7.91426985e-01 -6.11106613e-01 -1.38577090e-02 1.81587618e+02] [ 1.73212969e-02 -2.40690946e-04 9.99849946e-01 5.01007326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.30, Y:181.61, Z:5.01 [[-6.11261675e-01 -7.91363258e-01 1.01665582e-02 1.99300924e+02] [ 7.91247320e-01 -6.11346169e-01 -1.35477199e-02 1.81609444e+02] [ 1.69364541e-02 -2.36940058e-04 9.99856540e-01 5.01044680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.28, Y:181.63, Z:5.01 [[-6.11536367e-01 -7.91151357e-01 1.01391012e-02 1.99284133e+02] [ 7.91036147e-01 -6.11620367e-01 -1.35033422e-02 1.81631850e+02] [ 1.68844683e-02 -2.37389299e-04 9.99857419e-01 5.01049558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.27, Y:181.66, Z:5.01 [[-6.12306297e-01 -7.90558000e-01 9.95229316e-03 1.99269892e+02] [ 7.90447042e-01 -6.12387124e-01 -1.32470357e-02 1.81655009e+02] [ 1.65672062e-02 -2.44482680e-04 9.99862725e-01 5.01070598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.25, Y:181.68, Z:5.01 [[-6.12961072e-01 -7.90048932e-01 1.00702600e-02 1.99253359e+02] [ 7.89935397e-01 -6.13043734e-01 -1.33958770e-02 1.81678196e+02] [ 1.67569080e-02 -2.56296292e-04 9.99859560e-01 5.01158233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.24, Y:181.70, Z:5.01 [[-6.13400980e-01 -7.89712377e-01 9.67469121e-03 1.99238823e+02] [ 7.89607663e-01 -6.13477220e-01 -1.28623371e-02 1.81701357e+02] [ 1.60927495e-02 -2.50559887e-04 9.99870472e-01 5.01251643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.160385723 meters Centerline goodness [0,1] 0.9998323729701414 Centerline is valid? [True, True] Translation: X:199.22, Y:181.72, Z:5.01 [[-6.13834553e-01 -7.89372343e-01 9.92197672e-03 1.99222428e+02] [ 7.89262301e-01 -6.13914681e-01 -1.31827520e-02 1.81724450e+02] [ 1.64973470e-02 -2.60986525e-04 9.99863875e-01 5.00951744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.21, Y:181.75, Z:5.01 [[-6.14357047e-01 -7.88969969e-01 9.58162321e-03 1.99205534e+02] [ 7.88867411e-01 -6.14431706e-01 -1.27234395e-02 1.81746646e+02] [ 1.59256648e-02 -2.58104404e-04 9.99873145e-01 5.01251143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.19, Y:181.77, Z:5.01 [[-6.15158941e-01 -7.88343255e-01 9.71539963e-03 1.99191554e+02] [ 7.88237859e-01 -6.15235595e-01 -1.28934344e-02 1.81770206e+02] [ 1.61417117e-02 -2.73465641e-04 9.99869677e-01 5.01275825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.17, Y:181.79, Z:5.01 [[-6.15371476e-01 -7.88175606e-01 9.85699850e-03 1.99174855e+02] [ 7.88067226e-01 -6.15450354e-01 -1.30732458e-02 1.81793342e+02] [ 1.63705066e-02 -2.76925107e-04 9.99865956e-01 5.01264373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.16, Y:181.82, Z:5.01 [[-6.15366218e-01 -7.88176211e-01 1.01330088e-02 1.99160449e+02] [ 7.88061808e-01 -6.15449577e-01 -1.34314615e-02 1.81816295e+02] [ 1.68227144e-02 -2.79830398e-04 9.99858449e-01 5.01261674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.14, Y:181.84, Z:5.01 [[-6.15396627e-01 -7.88153216e-01 1.00746939e-02 1.99144852e+02] [ 7.88040257e-01 -6.15479027e-01 -1.33461861e-02 1.81838518e+02] [ 1.67196023e-02 -2.73933542e-04 9.99860180e-01 5.01294860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.13, Y:181.86, Z:5.01 [[-6.15366384e-01 -7.88174840e-01 1.02291745e-02 1.99127470e+02] [ 7.88058537e-01 -6.15451337e-01 -1.35423276e-02 1.81860779e+02] [ 1.69692810e-02 -2.72304911e-04 9.99855974e-01 5.01332475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.11, Y:181.88, Z:5.01 [[-6.15368570e-01 -7.88175326e-01 1.00587609e-02 1.99110545e+02] [ 7.88062992e-01 -6.15450719e-01 -1.33091658e-02 1.81883307e+02] [ 1.66806278e-02 -2.63105098e-04 9.99860834e-01 5.01368261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.10, Y:181.91, Z:5.01 [[-6.15096205e-01 -7.88384896e-01 1.02914942e-02 1.99095221e+02] [ 7.88267466e-01 -6.15182241e-01 -1.36092957e-02 1.81905448e+02] [ 1.70605077e-02 -2.58576065e-04 9.99854426e-01 5.01365882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.08, Y:181.93, Z:5.02 [[-6.15039413e-01 -7.88437683e-01 9.61976581e-03 1.99081301e+02] [ 7.88335172e-01 -6.15114594e-01 -1.27158682e-02 1.81928550e+02] [ 1.59429280e-02 -2.37160351e-04 9.99872875e-01 5.01525081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.07, Y:181.95, Z:5.02 [[-6.15083469e-01 -7.88406737e-01 9.33503380e-03 1.99065040e+02] [ 7.88310312e-01 -6.15154262e-01 -1.23323446e-02 1.81952048e+02] [ 1.54653894e-02 -2.26517868e-04 9.99880378e-01 5.01649721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.05, Y:181.98, Z:5.02 [[-6.14987838e-01 -7.88482269e-01 9.25585888e-03 1.99050154e+02] [ 7.88387580e-01 -6.15057447e-01 -1.22213210e-02 1.81976460e+02] [ 1.53291798e-02 -2.18759598e-04 9.99882477e-01 5.01731635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.03, Y:182.00, Z:5.02 [[-6.15015552e-01 -7.88462323e-01 9.11245410e-03 1.99034108e+02] [ 7.88370646e-01 -6.15083019e-01 -1.20251291e-02 1.81999938e+02] [ 1.50862770e-02 -2.11650109e-04 9.99886173e-01 5.01756443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.02, Y:182.02, Z:5.02 [[-6.14395909e-01 -7.88944522e-01 9.17658107e-03 1.99019008e+02] [ 7.88851710e-01 -6.14464404e-01 -1.21027568e-02 1.82022079e+02] [ 1.51870860e-02 -1.96922560e-04 9.99884650e-01 5.01746449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.580385723 meters Centerline goodness [0,1] 0.9999788270167267 Centerline is valid? [True, True] Translation: X:199.00, Y:182.05, Z:5.02 [[-6.13923299e-01 -7.89310990e-01 9.29211423e-03 1.99002202e+02] [ 7.89215982e-01 -6.13993588e-01 -1.22477542e-02 1.82045067e+02] [ 1.53725856e-02 -1.85696619e-04 9.99881818e-01 5.01734112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.99, Y:182.07, Z:5.02 [[-6.12385034e-01 -7.90504632e-01 9.32723405e-03 1.98988186e+02] [ 7.90409151e-01 -6.12456042e-01 -1.22869832e-02 1.82068756e+02] [ 1.54254380e-02 -1.52033502e-04 9.99881009e-01 5.01814974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.97, Y:182.09, Z:5.02 [[-6.12053440e-01 -7.90762009e-01 9.27531687e-03 1.98971981e+02] [ 7.90667726e-01 -6.12123701e-01 -1.22115130e-02 1.82091284e+02] [ 1.53340418e-02 -1.40404817e-04 9.99882417e-01 5.01910967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.96, Y:182.11, Z:5.02 [[-6.11636402e-01 -7.91081931e-01 9.50217729e-03 1.98957253e+02] [ 7.90983136e-01 -6.11710195e-01 -1.25026729e-02 1.82113691e+02] [ 1.57032173e-02 -1.31027872e-04 9.99876688e-01 5.01955540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.700385723 meters Centerline goodness [0,1] 0.9999787224988297 Centerline is valid? [True, True] Translation: X:198.94, Y:182.14, Z:5.02 [[-6.11347101e-01 -7.91301663e-01 9.81833317e-03 1.98942913e+02] [ 7.91196346e-01 -6.11425925e-01 -1.29104613e-02 1.82137419e+02] [ 1.62192530e-02 -1.24543783e-04 9.99868452e-01 5.01926625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.93, Y:182.16, Z:5.02 [[-6.11135270e-01 -7.91452165e-01 1.08236630e-02 1.98928058e+02] [ 7.91324363e-01 -6.11231097e-01 -1.42231598e-02 1.82161272e+02] [ 1.78727100e-02 -1.27246349e-04 9.99840262e-01 5.01898137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.91, Y:182.19, Z:5.02 [[-6.10969240e-01 -7.91572624e-01 1.13740273e-02 1.98912398e+02] [ 7.91431684e-01 -6.11075090e-01 -1.49373504e-02 1.82185076e+02] [ 1.87743824e-02 -1.24496022e-04 9.99823738e-01 5.01907729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.90, Y:182.21, Z:5.02 [[-6.10804440e-01 -7.91693569e-01 1.17995223e-02 1.98897304e+02] [ 7.91542090e-01 -6.10918390e-01 -1.54868233e-02 1.82208528e+02] [ 1.94693636e-02 -1.19601899e-04 9.99810447e-01 5.01951065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.88, Y:182.23, Z:5.02 [[-6.10827950e-01 -7.91670363e-01 1.21347346e-02 1.98884022e+02] [ 7.91510342e-01 -6.10948461e-01 -1.59171937e-02 1.82234176e+02] [ 2.00148679e-02 -1.17898887e-04 9.99799676e-01 5.01987506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.850385723 meters Centerline goodness [0,1] 0.9999786045914547 Centerline is valid? [True, True] Translation: X:198.87, Y:182.26, Z:5.02 [[-6.11161735e-01 -7.91411863e-01 1.21900165e-02 1.98869993e+02] [ 7.91250521e-01 -6.11283280e-01 -1.59801059e-02 1.82257316e+02] [ 2.00983986e-02 -1.21072356e-04 9.99797999e-01 5.02007525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.880385723 meters Centerline goodness [0,1] 0.9998713495432909 Centerline is valid? [True, True] Translation: X:198.86, Y:182.28, Z:5.02 [[-6.11489552e-01 -7.91153466e-01 1.25188489e-02 1.98856619e+02] [ 7.90983458e-01 -6.11617672e-01 -1.64009571e-02 1.82282564e+02] [ 2.06324233e-02 -1.26811468e-04 9.99787121e-01 5.02006020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.910385723 meters Centerline goodness [0,1] 0.9999784927735719 Centerline is valid? [True, True] Translation: X:198.84, Y:182.31, Z:5.02 [[-6.11537960e-01 -7.91115286e-01 1.25669359e-02 1.98840836e+02] [ 7.90944159e-01 -6.11667058e-01 -1.64544103e-02 1.82306374e+02] [ 2.07041162e-02 -1.22751938e-04 9.99785639e-01 5.02020137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.940385723 meters Centerline goodness [0,1] 0.9999784635927035 Centerline is valid? [True, True] Translation: X:198.83, Y:182.33, Z:5.02 [[-6.11693571e-01 -7.90988298e-01 1.29802603e-02 1.98826863e+02] [ 7.90805920e-01 -6.11831265e-01 -1.69853023e-02 1.82329384e+02] [ 2.13769044e-02 -1.24933562e-04 9.99771480e-01 5.02022228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.970385723 meters Centerline goodness [0,1] 0.9998057330340183 Centerline is valid? [True, True] Translation: X:198.82, Y:182.36, Z:5.02 [[-6.12469054e-01 -7.90380916e-01 1.34039439e-02 1.98815245e+02] [ 7.90186529e-01 -6.12615693e-01 -1.75288971e-02 1.82355681e+02] [ 2.20659722e-02 -1.44291120e-04 9.99756506e-01 5.01877746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.80, Y:182.38, Z:5.02 [[-6.12655844e-01 -7.90239805e-01 1.31858896e-02 1.98801218e+02] [ 7.90051856e-01 -6.12797708e-01 -1.72346989e-02 1.82378802e+02] [ 2.16998280e-02 -1.41402484e-04 9.99764521e-01 5.02318862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.030385723 meters Centerline goodness [0,1] 0.9999567791848554 Centerline is valid? [True, True] Translation: X:198.79, Y:182.40, Z:5.02 [[-6.13696818e-01 -7.89432988e-01 1.31062444e-02 1.98787592e+02] [ 7.89247289e-01 -6.13836730e-01 -1.71226669e-02 1.82403908e+02] [ 2.15622923e-02 -1.64058298e-04 9.99767493e-01 5.02394785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.060385723 meters Centerline goodness [0,1] 0.9999133204758706 Centerline is valid? [True, True] Translation: X:198.77, Y:182.43, Z:5.02 [[-6.14904094e-01 -7.88495054e-01 1.29809012e-02 1.98773474e+02] [ 7.88312897e-01 -6.15041067e-01 -1.69488568e-02 1.82426710e+02] [ 2.13478771e-02 -1.88909646e-04 9.99772090e-01 5.02241831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.76, Y:182.45, Z:5.02 [[-6.15571693e-01 -7.87975049e-01 1.29155949e-02 1.98758530e+02] [ 7.87794840e-01 -6.15707140e-01 -1.68525401e-02 1.82449924e+02] [ 2.12316051e-02 -1.99107634e-04 9.99774564e-01 5.02467226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.75, Y:182.48, Z:5.02 [[-6.17260611e-01 -7.86641151e-01 1.36028826e-02 1.98745304e+02] [ 7.86441175e-01 -6.17410428e-01 -1.77381251e-02 1.82475282e+02] [ 2.23521007e-02 -2.51178946e-04 9.99750129e-01 5.02487872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.73, Y:182.50, Z:5.02 [[-6.18532707e-01 -7.85640688e-01 1.36381906e-02 1.98731741e+02] [ 7.85439666e-01 -6.18682981e-01 -1.77735744e-02 1.82497531e+02] [ 2.24013597e-02 -2.81561235e-04 9.99749018e-01 5.02483339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.180385723 meters Centerline goodness [0,1] 0.9998909130577069 Centerline is valid? [True, True] Translation: X:198.72, Y:182.52, Z:5.03 [[-6.21143995e-01 -7.83584091e-01 1.32706385e-02 1.98717307e+02] [ 7.83393524e-01 -6.21285649e-01 -1.72837949e-02 1.82521943e+02] [ 2.17881640e-02 -3.39593168e-04 9.99762552e-01 5.02625167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.210385723 meters Centerline goodness [0,1] 0.9999781664155805 Centerline is valid? [True, True] Translation: X:198.70, Y:182.55, Z:5.03 [[-6.22624285e-01 -7.82401930e-01 1.36462551e-02 1.98702732e+02] [ 7.82200374e-01 -6.22773693e-01 -1.77624137e-02 1.82545473e+02] [ 2.23958754e-02 -3.85204288e-04 9.99749107e-01 5.02616375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.69, Y:182.57, Z:5.03 [[-6.25659369e-01 -7.79949654e-01 1.51291654e-02 1.98689620e+02] [ 7.79701494e-01 -6.25842049e-01 -1.96801891e-02 1.82570659e+02] [ 2.48180245e-02 -5.16861832e-04 9.99691852e-01 5.02567846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.67, Y:182.59, Z:5.03 [[-6.27260253e-01 -7.78648200e-01 1.58605131e-02 1.98673697e+02] [ 7.78375355e-01 -6.27460464e-01 -2.06197132e-02 1.82594490e+02] [ 2.60073474e-02 -5.88494024e-04 9.99661579e-01 5.02601359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.66, Y:182.62, Z:5.03 [[-6.28429330e-01 -7.77699668e-01 1.61184296e-02 1.98658306e+02] [ 7.77417873e-01 -6.28635688e-01 -2.09433159e-02 1.82617724e+02] [ 2.64202299e-02 -6.30638767e-04 9.99650726e-01 5.02584691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.65, Y:182.64, Z:5.02 [[-6.30347266e-01 -7.76122938e-01 1.71903947e-02 1.98645098e+02] [ 7.75802202e-01 -6.30581196e-01 -2.23225958e-02 1.82642047e+02] [ 2.81650183e-02 -7.34641183e-04 9.99603017e-01 5.02481418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.63, Y:182.66, Z:5.03 [[-6.30582910e-01 -7.75931347e-01 1.71970314e-02 1.98628680e+02] [ 7.75610679e-01 -6.30816934e-01 -2.23174826e-02 1.82663201e+02] [ 2.81650129e-02 -7.34821899e-04 9.99603017e-01 5.02521888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.61, Y:182.69, Z:5.03 [[-6.33267446e-01 -7.73741110e-01 1.72347488e-02 1.98614757e+02] [ 7.73418609e-01 -6.33501392e-01 -2.23526726e-02 1.82687422e+02] [ 2.82134190e-02 -8.25544429e-04 9.99601581e-01 5.02635986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.60, Y:182.71, Z:5.03 [[-6.35114197e-01 -7.72224300e-01 1.73085880e-02 1.98599505e+02] [ 7.71898837e-01 -6.35349385e-01 -2.24353493e-02 1.82711347e+02] [ 2.83221227e-02 -8.88529967e-04 9.99598453e-01 5.02746600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.58, Y:182.74, Z:5.03 [[-6.37190956e-01 -7.70513459e-01 1.72248203e-02 1.98584339e+02] [ 7.70190866e-01 -6.37423017e-01 -2.23142795e-02 1.82735111e+02] [ 2.81729496e-02 -9.52057801e-04 9.99602610e-01 5.02820014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.57, Y:182.76, Z:5.03 [[-6.41711056e-01 -7.66750573e-01 1.73343374e-02 1.98570188e+02] [ 7.66422858e-01 -6.41944166e-01 -2.24430565e-02 1.82758708e+02] [ 2.83359032e-02 -1.11652510e-03 9.99597834e-01 5.02813728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.55, Y:182.78, Z:5.03 [[-6.44091831e-01 -7.64753988e-01 1.72351461e-02 1.98554616e+02] [ 7.64429666e-01 -6.44321289e-01 -2.23016216e-02 1.82781834e+02] [ 2.81602256e-02 -1.18923534e-03 9.99602715e-01 5.02870125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.54, Y:182.81, Z:5.03 [[-6.48370925e-01 -7.61143276e-01 1.66149540e-02 1.98543592e+02] [ 7.60841031e-01 -6.48582492e-01 -2.14866507e-02 1.82806952e+02] [ 2.71305880e-02 -1.28998085e-03 9.99631066e-01 5.03080041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.53, Y:182.83, Z:5.03 [[-6.50885604e-01 -7.59004539e-01 1.61257760e-02 1.98529090e+02] [ 7.58719502e-01 -6.51083972e-01 -2.08417589e-02 1.82828916e+02] [ 2.63182239e-02 -1.33066010e-03 9.99652730e-01 5.03216621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.51, Y:182.85, Z:5.03 [[-6.54795042e-01 -7.55646538e-01 1.55487530e-02 1.98514616e+02] [ 7.55380883e-01 -6.54978117e-01 -2.00845408e-02 1.82850953e+02] [ 2.53609067e-02 -1.40602698e-03 9.99677372e-01 5.03407306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.50, Y:182.87, Z:5.04 [[-6.56377060e-01 -7.54276667e-01 1.53578916e-02 1.98497614e+02] [ 7.54017416e-01 -6.56555143e-01 -1.98262734e-02 1.82872831e+02] [ 2.50377981e-02 -1.43339337e-03 9.99685478e-01 5.03512769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.48, Y:182.89, Z:5.04 [[-6.58711538e-01 -7.52234634e-01 1.55616570e-02 1.98480445e+02] [ 7.51968181e-01 -6.58893568e-01 -2.00778802e-02 1.82892747e+02] [ 2.53567526e-02 -1.52366049e-03 9.99677305e-01 5.03529156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.690385723 meters Centerline goodness [0,1] 0.9999780258416102 Centerline is valid? [True, True] Translation: X:198.46, Y:182.91, Z:5.04 [[-6.59398582e-01 -7.51630203e-01 1.56699671e-02 1.98462243e+02] [ 7.51360156e-01 -6.59582925e-01 -2.02059397e-02 1.82913343e+02] [ 2.55230373e-02 -1.54997909e-03 9.99673033e-01 5.03577101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.44, Y:182.93, Z:5.04 [[-6.60184792e-01 -7.50948477e-01 1.52455134e-02 1.98441564e+02] [ 7.50692963e-01 -6.60359035e-01 -1.96473849e-02 1.82932321e+02] [ 2.48216863e-02 -1.52620506e-03 9.99690729e-01 5.03620707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.42, Y:182.95, Z:5.04 [[-6.60642867e-01 -7.50549765e-01 1.50350370e-02 1.98422470e+02] [ 7.50301429e-01 -6.60812199e-01 -1.93650338e-02 1.82952526e+02] [ 2.44697574e-02 -1.51256174e-03 9.99699426e-01 5.03651345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.40, Y:182.97, Z:5.04 [[-6.61059201e-01 -7.50186872e-01 1.48455515e-02 1.98398078e+02] [ 7.49944934e-01 -6.61224175e-01 -1.91098342e-02 1.82967947e+02] [ 2.41521843e-02 -1.49938557e-03 9.99707169e-01 5.03792311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.810385723 meters Centerline goodness [0,1] 0.999978181659503 Centerline is valid? [True, True] Translation: X:198.38, Y:182.99, Z:5.04 [[-6.61441366e-01 -7.49842728e-01 1.52053422e-02 1.98383797e+02] [ 7.49589121e-01 -6.61614320e-01 -1.95612281e-02 1.82990836e+02] [ 2.47279168e-02 -1.54084629e-03 9.99693031e-01 5.03640324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.35, Y:183.00, Z:5.04 [[-6.62027829e-01 -7.49330338e-01 1.49398477e-02 1.98350965e+02] [ 7.49085647e-01 -6.62194622e-01 -1.92087237e-02 1.83000250e+02] [ 2.42867662e-02 -1.52548411e-03 9.99703869e-01 5.03867740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.33, Y:183.02, Z:5.04 [[-6.62696133e-01 -7.48744683e-01 1.46708522e-02 1.98329411e+02] [ 7.48508843e-01 -6.62856782e-01 -1.88520279e-02 1.83019112e+02] [ 2.38400296e-02 -1.51190341e-03 9.99714643e-01 5.03986259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.31, Y:183.04, Z:5.04 [[-6.63338381e-01 -7.48178018e-01 1.45549376e-02 1.98313224e+02] [ 7.47946009e-01 -6.63496318e-01 -1.86923322e-02 1.83041217e+02] [ 2.36423396e-02 -1.51303388e-03 9.99719336e-01 5.04045976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.29, Y:183.06, Z:5.04 [[-6.63733305e-01 -7.47832627e-01 1.42990393e-02 1.98293559e+02] [ 7.47608881e-01 -6.63885637e-01 -1.83526988e-02 1.83060475e+02] [ 2.32176738e-02 -1.49120870e-03 9.99729321e-01 5.04124993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.27, Y:183.08, Z:5.04 [[-6.62954877e-01 -7.48513724e-01 1.47660452e-02 1.98270166e+02] [ 7.48275568e-01 -6.63117585e-01 -1.89405240e-02 1.83077680e+02] [ 2.39688664e-02 -1.50764191e-03 9.99711569e-01 5.04123223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.990385723 meters Centerline goodness [0,1] 0.999978566070089 Centerline is valid? [True, True] Translation: X:198.24, Y:183.09, Z:5.04 [[-6.59786316e-01 -7.51295165e-01 1.54140568e-02 1.98244363e+02] [ 7.51036679e-01 -6.59964727e-01 -1.97601963e-02 1.83093342e+02] [ 2.50184737e-02 -1.46098513e-03 9.99685921e-01 5.04054819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.22, Y:183.11, Z:5.04 [[-6.57341347e-01 -7.53434179e-01 1.54690447e-02 1.98222679e+02] [ 7.53174721e-01 -6.57521894e-01 -1.98191399e-02 1.83112325e+02] [ 2.51036530e-02 -1.37704667e-03 9.99683905e-01 5.04177166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.20, Y:183.13, Z:5.04 [[-6.54793613e-01 -7.55644338e-01 1.57149222e-02 1.98201286e+02] [ 7.55377499e-01 -6.54980863e-01 -2.01222216e-02 1.83130712e+02] [ 2.54982161e-02 -1.30520356e-03 9.99674016e-01 5.04227448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.18, Y:183.15, Z:5.04 [[-6.48337527e-01 -7.61201712e-01 1.51790823e-02 1.98177025e+02] [ 7.60954547e-01 -6.48514353e-01 -1.94245308e-02 1.83146018e+02] [ 2.46298388e-02 -1.04306059e-03 9.99696095e-01 5.04229242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.16, Y:183.17, Z:5.04 [[-6.44992276e-01 -7.64041451e-01 1.50208398e-02 1.98155306e+02] [ 7.63800451e-01 -6.45166505e-01 -1.92107372e-02 1.83165013e+02] [ 2.43687423e-02 -9.17852855e-04 9.99702617e-01 5.04287772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.13, Y:183.18, Z:5.04 [[-6.38393826e-01 -7.69564537e-01 1.49581389e-02 1.98131703e+02] [ 7.69327309e-01 -6.38568662e-01 -1.91194936e-02 1.83180701e+02] [ 2.42654829e-02 -6.98061923e-04 9.99705306e-01 5.04275158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.11, Y:183.20, Z:5.04 [[-6.35565779e-01 -7.71898320e-01 1.51368569e-02 1.98111565e+02] [ 7.71656327e-01 -6.35745714e-01 -1.93364908e-02 1.83200574e+02] [ 2.45489966e-02 -6.09160439e-04 9.99698442e-01 5.04315249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.09, Y:183.22, Z:5.04 [[-6.33146408e-01 -7.73884610e-01 1.51074859e-02 1.98091914e+02] [ 7.73644385e-01 -6.33326405e-01 -1.92880997e-02 1.83220272e+02] [ 2.44947332e-02 -5.24369365e-04 9.99699822e-01 5.04401074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.07, Y:183.24, Z:5.05 [[-6.28895875e-01 -7.77343696e-01 1.50584560e-02 1.98070970e+02] [ 7.77106276e-01 -6.29076015e-01 -1.92146740e-02 1.83238834e+02] [ 2.44093192e-02 -3.82008517e-04 9.99701975e-01 5.04562002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.05, Y:183.26, Z:5.05 [[-6.27112905e-01 -7.78791342e-01 1.46099115e-02 1.98050195e+02] [ 7.78568492e-01 -6.27282990e-01 -1.86320712e-02 1.83257998e+02] [ 2.36750447e-02 -3.09595597e-04 9.99719659e-01 5.04727508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.03, Y:183.28, Z:5.05 [[-6.23904761e-01 -7.81372078e-01 1.41607042e-02 1.98027829e+02] [ 7.81163606e-01 -6.24065411e-01 -1.80494718e-02 1.83276330e+02] [ 2.29405590e-02 -1.99324645e-04 9.99736811e-01 5.04736518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.01, Y:183.30, Z:5.05 [[-6.22652978e-01 -7.82370227e-01 1.41455806e-02 1.98009622e+02] [ 7.82162691e-01 -6.22813619e-01 -1.80200032e-02 1.83296566e+02] [ 2.29083742e-02 -1.56063267e-04 9.99737557e-01 5.04739061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.99, Y:183.32, Z:5.05 [[-6.21411626e-01 -7.83362257e-01 1.38262477e-02 1.97992745e+02] [ 7.83164462e-01 -6.21565412e-01 -1.76029383e-02 1.83317344e+02] [ 2.23833949e-02 -1.10444636e-04 9.99749454e-01 5.04805040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.98, Y:183.34, Z:5.05 [[-6.21381918e-01 -7.83392479e-01 1.34437873e-02 1.97975775e+02] [ 7.83205696e-01 -6.21527323e-01 -1.71062594e-02 1.83339690e+02] [ 2.17565961e-02 -1.00269432e-04 9.99763292e-01 5.04971433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.96, Y:183.36, Z:5.05 [[-6.21136767e-01 -7.83581194e-01 1.37705717e-02 1.97959253e+02] [ 7.83385497e-01 -6.21289388e-01 -1.75116757e-02 1.83361505e+02] [ 2.22773298e-02 -8.94794360e-05 9.99751826e-01 5.05012173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.94, Y:183.38, Z:5.05 [[-6.20711128e-01 -7.83904388e-01 1.45466796e-02 1.97941676e+02] [ 7.83686363e-01 -6.20881554e-01 -1.84873000e-02 1.83383314e+02] [ 2.35240406e-02 -7.52384148e-05 9.99723269e-01 5.04938075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.93, Y:183.41, Z:5.05 [[-6.20015519e-01 -7.84455444e-01 1.45055813e-02 1.97925663e+02] [ 7.84239048e-01 -6.20185177e-01 -1.84244817e-02 1.83405644e+02] [ 2.34493314e-02 -4.76213222e-05 9.99725026e-01 5.04896356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.91, Y:183.43, Z:5.05 [[-6.19533118e-01 -7.84828341e-01 1.49395957e-02 1.97909478e+02] [ 7.84599181e-01 -6.19713220e-01 -1.89644391e-02 1.83429002e+02] [ 2.41420942e-02 -2.75035345e-05 9.99708537e-01 5.05029948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.530385723 meters Centerline goodness [0,1] 0.9999576710618214 Centerline is valid? [True, True] Translation: X:197.89, Y:183.45, Z:5.05 [[-6.19195023e-01 -7.85090277e-01 1.51914569e-02 1.97894217e+02] [ 7.84853674e-01 -6.19381350e-01 -1.92731354e-02 1.83452143e+02] [ 2.45404564e-02 -1.07587613e-05 9.99698838e-01 5.04972140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.88, Y:183.48, Z:5.05 [[-6.17822869e-01 -7.86180933e-01 1.46438669e-02 1.97880802e+02] [ 7.85961645e-01 -6.17996391e-01 -1.85675292e-02 1.83475235e+02] [ 2.36472943e-02 3.80735453e-05 9.99720363e-01 5.05298868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.87, Y:183.50, Z:5.05 [[-6.16904289e-01 -7.86911055e-01 1.41452933e-02 1.97865504e+02] [ 7.86706900e-01 -6.17066436e-01 -1.79239506e-02 1.83498208e+02] [ 2.28331405e-02 7.08378322e-05 9.99739287e-01 5.05392994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.85, Y:183.52, Z:5.05 [[-6.17136607e-01 -7.86730185e-01 1.40721012e-02 1.97850593e+02] [ 7.86528325e-01 -6.17297020e-01 -1.78208882e-02 1.83519559e+02] [ 2.27068968e-02 7.01836684e-05 9.99742163e-01 5.05353145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.84, Y:183.55, Z:5.05 [[-6.19107042e-01 -7.85174540e-01 1.44018001e-02 1.97838473e+02] [ 7.84962910e-01 -6.19274528e-01 -1.82288107e-02 1.83546045e+02] [ 2.32314660e-02 1.92938569e-05 9.99730113e-01 5.05458249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.83, Y:183.57, Z:5.05 [[-6.20894512e-01 -7.83761961e-01 1.43941969e-02 1.97825577e+02] [ 7.83550425e-01 -6.21061339e-01 -1.82083808e-02 1.83570364e+02] [ 2.32107154e-02 -2.69046303e-05 9.99730595e-01 5.05490288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.710385723 meters Centerline goodness [0,1] 0.9999785366272456 Centerline is valid? [True, True] Translation: X:197.81, Y:183.59, Z:5.06 [[-6.22657423e-01 -7.82367896e-01 1.40786862e-02 1.97813473e+02] [ 7.82165425e-01 -6.22816563e-01 -1.77982469e-02 1.83594626e+02] [ 2.26932159e-02 -7.03489798e-05 9.99742473e-01 5.05599537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.80, Y:183.62, Z:5.06 [[-6.26070993e-01 -7.79650405e-01 1.34296937e-02 1.97802707e+02] [ 7.79465772e-01 -6.26214996e-01 -1.69672916e-02 1.83621419e+02] [ 2.16384313e-02 -1.54742540e-04 9.99765850e-01 5.05743175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.79, Y:183.64, Z:5.06 [[-6.27286099e-01 -7.78677968e-01 1.31443270e-02 1.97786010e+02] [ 7.78501091e-01 -6.27423773e-01 -1.65970159e-02 1.83643601e+02] [ 2.11707938e-02 -1.78204474e-04 9.99775858e-01 5.05884456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.77, Y:183.67, Z:5.06 [[-6.27914788e-01 -7.78175217e-01 1.28976759e-02 1.97772596e+02] [ 7.78005005e-01 -6.28047209e-01 -1.62762397e-02 1.83668245e+02] [ 2.07661157e-02 -1.85635201e-04 9.99784344e-01 5.05955790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.76, Y:183.69, Z:5.06 [[-6.27970625e-01 -7.78127716e-01 1.30442558e-02 1.97758256e+02] [ 7.77953806e-01 -6.28106062e-01 -1.64514805e-02 1.83691926e+02] [ 2.09945290e-02 -1.83218026e-04 9.99779574e-01 5.06017621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.75, Y:183.72, Z:5.06 [[-6.28017666e-01 -7.78082007e-01 1.34981993e-02 1.97745887e+02] [ 7.77895997e-01 -6.28162683e-01 -1.70135871e-02 1.83718291e+02] [ 2.17170311e-02 -1.84638029e-04 9.99764140e-01 5.06119207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.890385723 meters Centerline goodness [0,1] 0.9999567959906679 Centerline is valid? [True, True] Translation: X:197.73, Y:183.74, Z:5.06 [[-6.28440130e-01 -7.77741072e-01 1.34843742e-02 1.97730146e+02] [ 7.77555574e-01 -6.28584751e-01 -1.69864555e-02 1.83741787e+02] [ 2.16871361e-02 -1.90120023e-04 9.99764788e-01 5.06195715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.72, Y:183.77, Z:5.06 [[-6.29162341e-01 -7.77169307e-01 1.27521131e-02 1.97716323e+02] [ 7.77003480e-01 -6.29291531e-01 -1.60549448e-02 1.83765281e+02] [ 2.05022071e-02 -1.92730382e-04 9.99789789e-01 5.06210811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.950385723 meters Centerline goodness [0,1] 0.9999355240817555 Centerline is valid? [True, True] Translation: X:197.70, Y:183.79, Z:5.06 [[-6.29311075e-01 -7.77052134e-01 1.25519394e-02 1.97700315e+02] [ 7.76891638e-01 -6.29436212e-01 -1.57935760e-02 1.83787860e+02] [ 2.01730771e-02 -1.87575552e-04 9.99796485e-01 5.06243818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.68, Y:183.81, Z:5.06 [[-6.29517992e-01 -7.76883934e-01 1.25877111e-02 1.97683759e+02] [ 7.76722670e-01 -6.29643802e-01 -1.58296343e-02 1.83810969e+02] [ 2.02235629e-02 -1.87879003e-04 9.99795465e-01 5.06287234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.67, Y:183.84, Z:5.06 [[-6.29962661e-01 -7.76516471e-01 1.30082701e-02 1.97671411e+02] [ 7.76344374e-01 -6.30096921e-01 -1.63488091e-02 1.83836099e+02] [ 2.08915905e-02 -2.00241935e-04 9.99781727e-01 5.06363558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.66, Y:183.86, Z:5.07 [[-6.31172184e-01 -7.75543290e-01 1.24209829e-02 1.97657219e+02] [ 7.75386373e-01 -6.31294352e-01 -1.56017295e-02 1.83861191e+02] [ 1.99411130e-02 -2.16316809e-04 9.99801133e-01 5.06514241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.64, Y:183.88, Z:5.07 [[-6.31901925e-01 -7.74957018e-01 1.18986007e-02 1.97642416e+02] [ 7.74813071e-01 -6.32013901e-01 -1.49376734e-02 1.83883863e+02] [ 1.90961359e-02 -2.19953235e-04 9.99817628e-01 5.06529913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.63, Y:183.91, Z:5.07 [[-6.32970566e-01 -7.74092462e-01 1.13632433e-02 1.97625740e+02] [ 7.73961150e-01 -6.33072513e-01 -1.42594190e-02 1.83906049e+02] [ 1.82318658e-02 -2.31083680e-04 9.99833759e-01 5.06583585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.61, Y:183.93, Z:5.07 [[-6.34572872e-01 -7.72779575e-01 1.13577444e-02 1.97611795e+02] [ 7.72648327e-01 -6.34674451e-01 -1.42444268e-02 1.83930638e+02] [ 1.82162723e-02 -2.63584572e-04 9.99834035e-01 5.06638870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.160385723 meters Centerline goodness [0,1] 0.9998685968331836 Centerline is valid? [True, True] Translation: X:197.60, Y:183.96, Z:5.06 [[-6.36066179e-01 -7.71548228e-01 1.15389365e-02 1.97597461e+02] [ 7.71412710e-01 -6.36170765e-01 -1.44633246e-02 1.83955254e+02] [ 1.84998866e-02 -2.98349352e-04 9.99828818e-01 5.06294087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.58, Y:183.98, Z:5.07 [[-6.35894069e-01 -7.71689777e-01 1.15594628e-02 1.97581018e+02] [ 7.71553953e-01 -6.35999060e-01 -1.44808233e-02 1.83977740e+02] [ 1.85265108e-02 -2.89520453e-04 9.99828328e-01 5.06678308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.56, Y:184.00, Z:5.07 [[-6.36196755e-01 -7.71442126e-01 1.14339408e-02 1.97564654e+02] [ 7.71309344e-01 -6.36299429e-01 -1.43154625e-02 1.84000102e+02] [ 1.83189608e-02 -2.88345417e-04 9.99832152e-01 5.06710068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.55, Y:184.02, Z:5.07 [[-6.35964989e-01 -7.71632046e-01 1.15117051e-02 1.97549600e+02] [ 7.71497637e-01 -6.36069106e-01 -1.44044411e-02 1.84023372e+02] [ 1.84371683e-02 -2.79467002e-04 9.99829982e-01 5.06698540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.53, Y:184.04, Z:5.07 [[-6.36203067e-01 -7.71435700e-01 1.15159705e-02 1.97532809e+02] [ 7.71301321e-01 -6.36307223e-01 -1.44010304e-02 1.84044222e+02] [ 1.84371642e-02 -2.79696455e-04 9.99829982e-01 5.06738999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.52, Y:184.07, Z:5.07 [[-6.35911542e-01 -7.71677156e-01 1.14401917e-02 1.97515528e+02] [ 7.71544741e-01 -6.36014384e-01 -1.42974265e-02 1.84066399e+02] [ 1.83091239e-02 -2.65278741e-04 9.99832339e-01 5.06767345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.50, Y:184.09, Z:5.07 [[-6.35773451e-01 -7.71796510e-01 1.10574106e-02 1.97499994e+02] [ 7.71672961e-01 -6.35869551e-01 -1.38114167e-02 1.84089422e+02] [ 1.76906740e-02 -2.48227272e-04 9.99843477e-01 5.06824994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.370385723 meters Centerline goodness [0,1] 0.9999780860342297 Centerline is valid? [True, True] Translation: X:197.48, Y:184.11, Z:5.07 [[-6.35950622e-01 -7.71656250e-01 1.06506987e-02 1.97483771e+02] [ 7.71541728e-01 -6.36039759e-01 -1.32961177e-02 1.84111886e+02] [ 1.70343002e-02 -2.38215912e-04 9.99854877e-01 5.06889174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.47, Y:184.13, Z:5.07 [[-6.36171822e-01 -7.71472023e-01 1.07857209e-02 1.97469184e+02] [ 7.71354686e-01 -6.36263201e-01 -1.34568879e-02 1.84134836e+02] [ 1.72441698e-02 -2.41276539e-04 9.99851279e-01 5.06908652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.430385723 meters Centerline goodness [0,1] 0.9999559102332348 Centerline is valid? [True, True] Translation: X:197.45, Y:184.16, Z:5.07 [[-6.36282953e-01 -7.71374220e-01 1.12167942e-02 1.97452960e+02] [ 7.71247465e-01 -6.36381765e-01 -1.39856006e-02 1.84157159e+02] [ 1.79262950e-02 -2.47875214e-04 9.99839280e-01 5.06907814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.460385723 meters Centerline goodness [0,1] 0.999889756140583 Centerline is valid? [True, True] Translation: X:197.44, Y:184.18, Z:5.07 [[-6.36535026e-01 -7.71160907e-01 1.15765407e-02 1.97436804e+02] [ 7.71026027e-01 -6.36640236e-01 -1.44248284e-02 1.84179324e+02] [ 1.84939553e-02 -2.56094349e-04 9.99828939e-01 5.06762278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.490385723 meters Centerline goodness [0,1] 0.99991175627082 Centerline is valid? [True, True] Translation: X:197.42, Y:184.20, Z:5.07 [[-6.36765552e-01 -7.70969691e-01 1.16347867e-02 1.97421343e+02] [ 7.70833590e-01 -6.36871785e-01 -1.44881634e-02 1.84200525e+02] [ 1.85798022e-02 -2.57078961e-04 9.99827348e-01 5.06718485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.520385723 meters Centerline goodness [0,1] 0.9999557619995576 Centerline is valid? [True, True] Translation: X:197.41, Y:184.22, Z:5.07 [[-6.37669208e-01 -7.70216981e-01 1.19909315e-02 1.97407102e+02] [ 7.70072478e-01 -6.37781877e-01 -1.49216514e-02 1.84223734e+02] [ 1.91405081e-02 -2.81191258e-04 9.99816764e-01 5.06761430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.39, Y:184.25, Z:5.07 [[-6.38271749e-01 -7.69708641e-01 1.25611341e-02 1.97393302e+02] [ 7.69550176e-01 -6.38395266e-01 -1.56208843e-02 1.84245892e+02] [ 2.00424982e-02 -3.03946216e-04 9.99799083e-01 5.06750356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.580385723 meters Centerline goodness [0,1] 0.9999778663125277 Centerline is valid? [True, True] Translation: X:197.38, Y:184.27, Z:5.07 [[-6.39059604e-01 -7.69044149e-01 1.31878371e-02 1.97378172e+02] [ 7.68869565e-01 -6.39195577e-01 -1.63892045e-02 1.84268350e+02] [ 2.10336290e-02 -3.33951944e-04 9.99778713e-01 5.06667995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.610385723 meters Centerline goodness [0,1] 0.9998668235189665 Centerline is valid? [True, True] Translation: X:197.36, Y:184.29, Z:5.07 [[-6.39694858e-01 -7.68518500e-01 1.30308375e-02 1.97361793e+02] [ 7.68348148e-01 -6.39827476e-01 -1.61840932e-02 1.84289813e+02] [ 2.07752629e-02 -3.40661328e-04 9.99784113e-01 5.06650967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.35, Y:184.31, Z:5.07 [[-6.40541755e-01 -7.67818872e-01 1.26664778e-02 1.97346222e+02] [ 7.67657973e-01 -6.40666886e-01 -1.57218536e-02 1.84311994e+02] [ 2.01865288e-02 -3.46980981e-04 9.99796171e-01 5.06710039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.670385723 meters Centerline goodness [0,1] 0.9999332264957265 Centerline is valid? [True, True] Translation: X:197.33, Y:184.34, Z:5.07 [[-6.42345091e-01 -7.66315828e-01 1.23626700e-02 1.97332702e+02] [ 7.66162459e-01 -6.42463935e-01 -1.53355358e-02 1.84336983e+02] [ 1.96944335e-02 -3.78892470e-04 9.99805974e-01 5.06798597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.700385723 meters Centerline goodness [0,1] 0.9999327293927707 Centerline is valid? [True, True] Translation: X:197.32, Y:184.36, Z:5.07 [[-6.44320890e-01 -7.64654755e-01 1.23974436e-02 1.97320372e+02] [ 7.64500385e-01 -6.44440009e-01 -1.53699882e-02 1.84362196e+02] [ 1.97421432e-02 -4.25354079e-04 9.99805014e-01 5.06924739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.31, Y:184.38, Z:5.07 [[-6.45526729e-01 -7.63631494e-01 1.27351162e-02 1.97305512e+02] [ 7.63468577e-01 -6.45652171e-01 -1.57799095e-02 1.84384367e+02] [ 2.02724913e-02 -4.63492281e-04 9.99794385e-01 5.06965607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.760385723 meters Centerline goodness [0,1] 0.9999775965588314 Centerline is valid? [True, True] Translation: X:197.29, Y:184.41, Z:5.07 [[-6.46810982e-01 -7.62540014e-01 1.29722972e-02 1.97288013e+02] [ 7.62370900e-01 -6.46940859e-01 -1.60666119e-02 1.84405931e+02] [ 2.06437436e-02 -5.02359113e-04 9.99786769e-01 5.06991129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.27, Y:184.43, Z:5.07 [[-6.48950950e-01 -7.60724610e-01 1.26780601e-02 1.97274457e+02] [ 7.60562901e-01 -6.49074552e-01 -1.56938957e-02 1.84429110e+02] [ 2.01677389e-02 -5.42106304e-04 9.99796464e-01 5.06921967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.26, Y:184.45, Z:5.07 [[-6.49531130e-01 -7.60240221e-01 1.20049000e-02 1.97259248e+02] [ 7.60095282e-01 -6.49641850e-01 -1.48535639e-02 1.84451362e+02] [ 1.90911621e-02 -5.22984266e-04 9.99817610e-01 5.07132501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.24, Y:184.47, Z:5.07 [[-6.49351867e-01 -7.60400040e-01 1.15729081e-02 1.97242621e+02] [ 7.60265532e-01 -6.49454798e-01 -1.43103613e-02 1.84472744e+02] [ 1.83976800e-02 -4.93976755e-04 9.99830626e-01 5.07271938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.23, Y:184.49, Z:5.07 [[-6.48712220e-01 -7.60950437e-01 1.12644312e-02 1.97225684e+02] [ 7.60823241e-01 -6.48809849e-01 -1.39203544e-02 1.84493226e+02] [ 1.79011737e-02 -4.60062936e-04 9.99839655e-01 5.07326531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.20, Y:184.51, Z:5.07 [[-6.45800743e-01 -7.63415188e-01 1.17750477e-02 1.97204438e+02] [ 7.63276784e-01 -6.45907956e-01 -1.45417483e-02 1.84511821e+02] [ 1.87069885e-02 -4.03451280e-04 9.99824928e-01 5.07229657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.19, Y:184.53, Z:5.07 [[-6.44697930e-01 -7.64341702e-01 1.20972082e-02 1.97185655e+02] [ 7.64195947e-01 -6.44811304e-01 -1.49310855e-02 1.84533125e+02] [ 1.92128679e-02 -3.81402422e-04 9.99815343e-01 5.07223250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.17, Y:184.55, Z:5.07 [[-6.43009366e-01 -7.65759791e-01 1.22840681e-02 1.97167504e+02] [ 7.65609920e-01 -6.43126603e-01 -1.51533042e-02 1.84554123e+02] [ 1.95040021e-02 -3.38912118e-04 9.99809721e-01 5.07331078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.15, Y:184.57, Z:5.07 [[-6.42937643e-01 -7.65828828e-01 1.17214744e-02 1.97149433e+02] [ 7.65692530e-01 -6.43044404e-01 -1.44514347e-02 1.84574311e+02] [ 1.86047538e-02 -3.16325992e-04 9.99826867e-01 5.07433937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.030385723 meters Centerline goodness [0,1] 0.999955210176248 Centerline is valid? [True, True] Translation: X:197.13, Y:184.59, Z:5.08 [[-6.43422779e-01 -7.65429334e-01 1.11831297e-02 1.97131761e+02] [ 7.65305357e-01 -6.43519883e-01 -1.37793363e-02 1.84594760e+02] [ 1.77436745e-02 -3.07429814e-04 9.99842521e-01 5.07534576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.11, Y:184.62, Z:5.08 [[-6.45256400e-01 -7.63895394e-01 1.03925493e-02 1.97112262e+02] [ 7.63788251e-01 -6.45340007e-01 -1.27977603e-02 1.84615623e+02] [ 1.64828780e-02 -3.20129664e-04 9.99864097e-01 5.07554062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.10, Y:184.64, Z:5.07 [[-6.48710523e-01 -7.60959764e-01 1.07189319e-02 1.97096003e+02] [ 7.60845512e-01 -6.48798949e-01 -1.31920753e-02 1.84638361e+02] [ 1.69930703e-02 -4.02386871e-04 9.99855526e-01 5.07477308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.08, Y:184.66, Z:5.08 [[-6.51206552e-01 -7.58816886e-01 1.12676516e-02 1.97079738e+02] [ 7.58690460e-01 -6.51303851e-01 -1.38592738e-02 1.84660660e+02] [ 1.78553159e-02 -4.76590183e-04 9.99840468e-01 5.07509396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.06, Y:184.68, Z:5.08 [[-6.53420492e-01 -7.56901907e-01 1.18812682e-02 1.97062843e+02] [ 7.56761186e-01 -6.53528270e-01 -1.46050920e-02 1.84683258e+02] [ 1.88193666e-02 -5.51983819e-04 9.99822748e-01 5.07534414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.05, Y:184.70, Z:5.07 [[-6.56772478e-01 -7.53985562e-01 1.24773394e-02 1.97046183e+02] [ 7.53830015e-01 -6.56890656e-01 -1.53289017e-02 1.84704159e+02] [ 1.97540182e-02 -6.61807802e-04 9.99804651e-01 5.07455622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.03, Y:184.72, Z:5.07 [[-6.58034523e-01 -7.52882584e-01 1.25849636e-02 1.97028642e+02] [ 7.52724316e-01 -6.58154489e-01 -1.54522695e-02 1.84724423e+02] [ 1.99165948e-02 -6.95118635e-04 9.99801403e-01 5.07401456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.01, Y:184.74, Z:5.07 [[-6.59738033e-01 -7.51390309e-01 1.25830296e-02 1.97009120e+02] [ 7.51231997e-01 -6.59857610e-01 -1.54409072e-02 1.84744227e+02] [ 1.99051558e-02 -7.34179321e-04 9.99801603e-01 5.07304230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.99, Y:184.77, Z:5.07 [[-6.60325406e-01 -7.50869224e-01 1.28750422e-02 1.96991201e+02] [ 7.50703566e-01 -6.60450474e-01 -1.57900980e-02 1.84765543e+02] [ 2.03596264e-02 -7.61262798e-04 9.99792432e-01 5.07288976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.97, Y:184.79, Z:5.07 [[-6.60969431e-01 -7.50306822e-01 1.26128350e-02 1.96971795e+02] [ 7.50147906e-01 -6.61089328e-01 -1.54602541e-02 1.84785965e+02] [ 1.99381447e-02 -7.57263545e-04 9.99800929e-01 5.07421594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.96, Y:184.81, Z:5.07 [[-6.60747589e-01 -7.50504117e-01 1.24977482e-02 1.96956366e+02] [ 7.50348296e-01 -6.60865360e-01 -1.53104719e-02 1.84806723e+02] [ 1.97499011e-02 -7.38693364e-04 9.99804679e-01 5.07455309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.93, Y:184.83, Z:5.07 [[-6.58610774e-01 -7.52369901e-01 1.30912227e-02 1.96934646e+02] [ 7.52199507e-01 -6.58740488e-01 -1.60272039e-02 1.84825307e+02] [ 2.06821043e-02 -7.08477876e-04 9.99785851e-01 5.07355473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.91, Y:184.85, Z:5.07 [[-6.57306213e-01 -7.53505623e-01 1.33348118e-02 1.96914506e+02] [ 7.53329249e-01 -6.57441111e-01 -1.63164974e-02 1.84845116e+02] [ 2.10614261e-02 -6.79431360e-04 9.99777953e-01 5.07336391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.89, Y:184.86, Z:5.07 [[-6.54149940e-01 -7.56249616e-01 1.32051014e-02 1.96890049e+02] [ 7.56077393e-01 -6.54282953e-01 -1.61490976e-02 1.84861122e+02] [ 2.08526216e-02 -5.79852606e-04 9.99782392e-01 5.07425854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.87, Y:184.88, Z:5.08 [[-6.53146650e-01 -7.57122668e-01 1.28343147e-02 1.96872337e+02] [ 7.56960317e-01 -6.53272519e-01 -1.56874000e-02 1.84881505e+02] [ 2.02615913e-02 -5.31105860e-04 9.99794572e-01 5.07510250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.85, Y:184.90, Z:5.08 [[-6.51717777e-01 -7.58371167e-01 1.17095005e-02 1.96850970e+02] [ 7.58236337e-01 -6.51822810e-01 -1.43067182e-02 1.84900189e+02] [ 1.84823221e-02 -4.45373858e-04 9.99829088e-01 5.07666038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.83, Y:184.92, Z:5.08 [[-6.51694726e-01 -7.58392187e-01 1.16307923e-02 1.96832881e+02] [ 7.58259314e-01 -6.51798359e-01 -1.42025431e-02 1.84920876e+02] [ 1.83520290e-02 -4.36565806e-04 9.99831492e-01 5.07675026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.81, Y:184.94, Z:5.08 [[-6.51996385e-01 -7.58122058e-01 1.23150051e-02 1.96814369e+02] [ 7.57973227e-01 -6.52112513e-01 -1.50285691e-02 1.84940149e+02] [ 1.94242587e-02 -4.64128586e-04 9.99811224e-01 5.07621931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.570385723 meters Centerline goodness [0,1] 0.9999341686598934 Centerline is valid? [True, True] Translation: X:196.80, Y:184.96, Z:5.08 [[-6.52777512e-01 -7.57453670e-01 1.20605582e-02 1.96796052e+02] [ 7.57310989e-01 -6.52888749e-01 -1.47087545e-02 1.84960990e+02] [ 1.90154029e-02 -4.67950896e-04 9.99819081e-01 5.07649682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.78, Y:184.98, Z:5.08 [[-6.54624283e-01 -7.55860689e-01 1.19023873e-02 1.96779205e+02] [ 7.55721626e-01 -6.54732286e-01 -1.45071352e-02 1.84982490e+02] [ 1.87582505e-02 -5.01831501e-04 9.99823923e-01 5.07760568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.630385723 meters Centerline goodness [0,1] 0.9999342537804077 Centerline is valid? [True, True] Translation: X:196.76, Y:185.00, Z:5.08 [[-6.55750475e-01 -7.54885311e-01 1.18102492e-02 1.96759248e+02] [ 7.54748387e-01 -6.55856613e-01 -1.43866451e-02 1.85002695e+02] [ 1.86060971e-02 -5.20282829e-04 9.99826756e-01 5.07875714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.74, Y:185.02, Z:5.08 [[-6.57123361e-01 -7.53696488e-01 1.14232909e-02 1.96740580e+02] [ 7.53568348e-01 -6.57222430e-01 -1.39076430e-02 1.85021969e+02] [ 1.79897847e-02 -5.30806682e-04 9.99838030e-01 5.07870957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.690385723 meters Centerline goodness [0,1] 0.9999561951069934 Centerline is valid? [True, True] Translation: X:196.72, Y:185.04, Z:5.08 [[-6.57572480e-01 -7.53302567e-01 1.15618366e-02 1.96722590e+02] [ 7.53171387e-01 -6.57673892e-01 -1.40681965e-02 1.85041826e+02] [ 1.82015266e-02 -5.42814314e-04 9.99834191e-01 5.07874524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.70, Y:185.06, Z:5.08 [[-6.57795620e-01 -7.53105184e-01 1.17261868e-02 1.96704557e+02] [ 7.52970345e-01 -6.57899899e-01 -1.42612061e-02 1.85061384e+02] [ 1.84548454e-02 -5.51488013e-04 9.99829543e-01 5.07918768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.750385723 meters Centerline goodness [0,1] 0.999978204960551 Centerline is valid? [True, True] Translation: X:196.69, Y:185.08, Z:5.08 [[-6.57737065e-01 -7.53155127e-01 1.18029355e-02 1.96686356e+02] [ 7.53018659e-01 -6.57842728e-01 -1.43472840e-02 1.85081118e+02] [ 1.85702058e-02 -5.48909771e-04 9.99827408e-01 5.07978532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.67, Y:185.10, Z:5.08 [[-6.57231147e-01 -7.53595183e-01 1.18962056e-02 1.96666636e+02] [ 7.53456788e-01 -6.57338585e-01 -1.44517662e-02 1.85100490e+02] [ 1.87106163e-02 -5.34873996e-04 9.99824798e-01 5.08034395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.65, Y:185.12, Z:5.08 [[-6.57153907e-01 -7.53660446e-01 1.20281012e-02 1.96648156e+02] [ 7.53519146e-01 -6.57263759e-01 -1.46030290e-02 1.85120756e+02] [ 1.89113603e-02 -5.33032975e-04 9.99821022e-01 5.08082338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.840385723 meters Centerline goodness [0,1] 0.999956369982548 Centerline is valid? [True, True] Translation: X:196.63, Y:185.14, Z:5.08 [[-6.56289711e-01 -7.54388164e-01 1.35023764e-02 1.96626959e+02] [ 7.54210480e-01 -6.56428348e-01 -1.63821904e-02 1.85139225e+02] [ 2.12218732e-02 -5.67829244e-04 9.99774629e-01 5.08004096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.61, Y:185.16, Z:5.08 [[-6.56253232e-01 -7.54411854e-01 1.39445358e-02 1.96611093e+02] [ 7.54222558e-01 -6.56401111e-01 -1.69090341e-02 1.85159651e+02] [ 2.19095845e-02 -5.79324826e-04 9.99759788e-01 5.07892722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.900385723 meters Centerline goodness [0,1] 0.999978253778406 Centerline is valid? [True, True] Translation: X:196.59, Y:185.18, Z:5.08 [[-6.56114333e-01 -7.54523197e-01 1.44473956e-02 1.96588508e+02] [ 7.54320241e-01 -6.56273112e-01 -1.75093462e-02 1.85176505e+02] [ 2.26926451e-02 -5.90170112e-04 9.99742315e-01 5.07838555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.930385723 meters Centerline goodness [0,1] 0.9999782561426397 Centerline is valid? [True, True] Translation: X:196.57, Y:185.20, Z:5.08 [[-6.56293835e-01 -7.54367795e-01 1.44094287e-02 1.96572759e+02] [ 7.54166116e-01 -6.56451739e-01 -1.74523256e-02 1.85197180e+02] [ 2.26245669e-02 -5.86750767e-04 9.99743860e-01 5.07780604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.55, Y:185.22, Z:5.08 [[-6.57296136e-01 -7.53493977e-01 1.44435502e-02 1.96552213e+02] [ 7.53291375e-01 -6.57454526e-01 -1.74828730e-02 1.85217024e+02] [ 2.26692170e-02 -6.11223120e-04 9.99742833e-01 5.07891757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.54, Y:185.24, Z:5.08 [[-6.58266679e-01 -7.52645767e-01 1.44682148e-02 1.96535159e+02] [ 7.52442488e-01 -6.58425354e-01 -1.75030385e-02 1.85237601e+02] [ 2.26998273e-02 -6.35167520e-04 9.99742124e-01 5.07947028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.52, Y:185.26, Z:5.08 [[-6.59496600e-01 -7.51572200e-01 1.42640542e-02 1.96516623e+02] [ 7.51374582e-01 -6.59650512e-01 -1.72464528e-02 1.85258412e+02] [ 2.23712451e-02 -6.56329216e-04 9.99749517e-01 5.08019199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.50, Y:185.28, Z:5.08 [[-6.61509877e-01 -7.49805401e-01 1.40194325e-02 1.96496828e+02] [ 7.49614306e-01 -6.61658049e-01 -1.69416156e-02 1.85278397e+02] [ 2.19789853e-02 -6.97878890e-04 9.99758189e-01 5.08100210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.48, Y:185.30, Z:5.08 [[-6.62281488e-01 -7.49123805e-01 1.40269247e-02 1.96479662e+02] [ 7.48932560e-01 -6.62429629e-01 -1.69412778e-02 1.85298872e+02] [ 2.19829650e-02 -7.14674049e-04 9.99758090e-01 5.08053024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.46, Y:185.32, Z:5.08 [[-6.62951020e-01 -7.48525088e-01 1.43575177e-02 1.96458722e+02] [ 7.48324803e-01 -6.63106053e-01 -1.73306700e-02 1.85317676e+02] [ 2.24929982e-02 -7.45298736e-04 9.99746723e-01 5.08076888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.44, Y:185.34, Z:5.08 [[-6.63149794e-01 -7.48347463e-01 1.44369556e-02 1.96437933e+02] [ 7.48145127e-01 -6.63306501e-01 -1.74171068e-02 1.85336293e+02] [ 2.26101742e-02 -7.49212815e-04 9.99744077e-01 5.08195041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.42, Y:185.36, Z:5.08 [[-6.63353460e-01 -7.48166843e-01 1.44416959e-02 1.96420271e+02] [ 7.47964549e-01 -6.63510222e-01 -1.74131757e-02 1.85357496e+02] [ 2.26101736e-02 -7.49213779e-04 9.99744077e-01 5.08236777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.40, Y:185.37, Z:5.08 [[-6.63541713e-01 -7.48010256e-01 1.38943055e-02 1.96400513e+02] [ 7.47823182e-01 -6.63686778e-01 -1.67436233e-02 1.85374730e+02] [ 2.17458688e-02 -7.19608675e-04 9.99763272e-01 5.08308194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.38, Y:185.39, Z:5.08 [[-6.63810706e-01 -7.47785089e-01 1.31456206e-02 1.96383157e+02] [ 7.47617795e-01 -6.63940507e-01 -1.58315133e-02 1.85394791e+02] [ 2.05664796e-02 -6.81228113e-04 9.99788256e-01 5.08263271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.36, Y:185.41, Z:5.08 [[-6.63218932e-01 -7.48314852e-01 1.28658363e-02 1.96361755e+02] [ 7.48154891e-01 -6.63343400e-01 -1.54852144e-02 1.85413428e+02] [ 2.01222835e-02 -6.44448963e-04 9.99797319e-01 5.08221183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.34, Y:185.43, Z:5.08 [[-6.63059428e-01 -7.48448268e-01 1.33186056e-02 1.96341661e+02] [ 7.48277062e-01 -6.63192851e-01 -1.60212578e-02 1.85431953e+02] [ 2.08238867e-02 -6.57038977e-04 9.99782943e-01 5.08255372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.32, Y:185.45, Z:5.08 [[-6.62021022e-01 -7.49365212e-01 1.34143927e-02 1.96321634e+02] [ 7.49191919e-01 -6.62156618e-01 -1.61270279e-02 1.85451352e+02] [ 2.09674626e-02 -6.26476882e-04 9.99779962e-01 5.08176821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.350385723 meters Centerline goodness [0,1] 0.9999357904199306 Centerline is valid? [True, True] Translation: X:196.30, Y:185.47, Z:5.08 [[-6.61561825e-01 -7.49767219e-01 1.36039852e-02 1.96303043e+02] [ 7.49589271e-01 -6.61701396e-01 -1.63458684e-02 1.85471827e+02] [ 2.12573723e-02 -6.16401229e-04 9.99773847e-01 5.08206454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.28, Y:185.49, Z:5.08 [[-6.60830146e-01 -7.50405955e-01 1.39435036e-02 1.96280595e+02] [ 7.50219371e-01 -6.60976957e-01 -1.67438800e-02 1.85489858e+02] [ 2.17810418e-02 -6.04174176e-04 9.99762582e-01 5.08258345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.410385723 meters Centerline goodness [0,1] 0.9998497370398197 Centerline is valid? [True, True] Translation: X:196.26, Y:185.51, Z:5.08 [[-6.60625024e-01 -7.50585288e-01 1.40108296e-02 1.96260517e+02] [ 7.50397143e-01 -6.60773313e-01 -1.68153334e-02 1.85510017e+02] [ 2.18793241e-02 -5.94943535e-04 9.99760442e-01 5.08317733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.440385723 meters Centerline goodness [0,1] 0.9999357023447212 Centerline is valid? [True, True] Translation: X:196.24, Y:185.53, Z:5.08 [[-6.59736760e-01 -7.51366501e-01 1.39924638e-02 1.96242643e+02] [ 7.51179215e-01 -6.59884888e-01 -1.67845903e-02 1.85530047e+02] [ 2.18447943e-02 -5.62563277e-04 9.99761216e-01 5.08374610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.470385723 meters Centerline goodness [0,1] 0.9998067300878304 Centerline is valid? [True, True] Translation: X:196.22, Y:185.55, Z:5.08 [[-6.59359991e-01 -7.51699337e-01 1.38747323e-02 1.96223072e+02] [ 7.51515428e-01 -6.59505734e-01 -1.66357540e-02 1.85550736e+02] [ 2.16555508e-02 -5.41875191e-04 9.99765344e-01 5.08461756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.500385723 meters Centerline goodness [0,1] 0.9999141372944661 Centerline is valid? [True, True] Translation: X:196.20, Y:185.57, Z:5.09 [[-6.57594581e-01 -7.53255134e-01 1.32690994e-02 1.96204412e+02] [ 7.53087408e-01 -6.57728278e-01 -1.59018400e-02 1.85570598e+02] [ 2.07056045e-02 -4.64172135e-04 9.99785508e-01 5.08537362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.530385723 meters Centerline goodness [0,1] 0.9998288879857977 Centerline is valid? [True, True] Translation: X:196.19, Y:185.59, Z:5.09 [[-6.56791443e-01 -7.53955280e-01 1.32829123e-02 1.96185480e+02] [ 7.53787478e-01 -6.56925600e-01 -1.59120809e-02 1.85591534e+02] [ 2.07228826e-02 -4.38425611e-04 9.99785162e-01 5.08591088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.560385723 meters Centerline goodness [0,1] 0.999872040946897 Centerline is valid? [True, True] Translation: X:196.17, Y:185.61, Z:5.09 [[-6.56248435e-01 -7.54429478e-01 1.31967231e-02 1.96166282e+02] [ 7.54264122e-01 -6.56380979e-01 -1.58001446e-02 1.85612676e+02] [ 2.05821729e-02 -4.15005352e-04 9.99788079e-01 5.08620200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.590385723 meters Centerline goodness [0,1] 0.9998716302952503 Centerline is valid? [True, True] Translation: X:196.15, Y:185.63, Z:5.09 [[-6.56143941e-01 -7.54541556e-01 1.19234718e-02 1.96147043e+02] [ 7.54406719e-01 -6.56252166e-01 -1.42687337e-02 1.85632832e+02] [ 1.85911567e-02 -3.67195918e-04 9.99827102e-01 5.08629613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.620385723 meters Centerline goodness [0,1] 0.9998285285607116 Centerline is valid? [True, True] Translation: X:196.13, Y:185.65, Z:5.09 [[-6.56934424e-01 -7.53864318e-01 1.12139440e-02 1.96129028e+02] [ 7.53745077e-01 -6.57030031e-01 -1.34125695e-02 1.85654786e+02] [ 1.74791555e-02 -3.58723539e-04 9.99847164e-01 5.08728098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.650385723 meters Centerline goodness [0,1] 0.99980762242695 Centerline is valid? [True, True] Translation: X:196.11, Y:185.68, Z:5.09 [[-6.58281424e-01 -7.52701336e-01 1.03085550e-02 1.96113210e+02] [ 7.52600533e-01 -6.58362038e-01 -1.23233400e-02 1.85678015e+02] [ 1.60625557e-02 -3.54001824e-04 9.99870926e-01 5.08884191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.680385723 meters Centerline goodness [0,1] 0.9998288001027199 Centerline is valid? [True, True] Translation: X:196.10, Y:185.70, Z:5.09 [[-6.59298695e-01 -7.51811243e-01 1.02511778e-02 1.96095997e+02] [ 7.51711558e-01 -6.59378282e-01 -1.22480160e-02 1.85700554e+02] [ 1.59676001e-02 -3.69172116e-04 9.99872442e-01 5.08945274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.710385723 meters Centerline goodness [0,1] 0.9997428975446716 Centerline is valid? [True, True] Translation: X:196.08, Y:185.72, Z:5.09 [[-6.61150180e-01 -7.50176093e-01 1.07827890e-02 1.96078581e+02] [ 7.50065708e-01 -6.61237967e-01 -1.28757771e-02 1.85722305e+02] [ 1.67890897e-02 -4.25022092e-04 9.99858963e-01 5.08874091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.740385723 meters Centerline goodness [0,1] 0.9998074124796713 Centerline is valid? [True, True] Translation: X:196.06, Y:185.74, Z:5.09 [[-6.62160486e-01 -7.49277100e-01 1.12835340e-02 1.96061862e+02] [ 7.49156223e-01 -6.62256455e-01 -1.34663089e-02 1.85743084e+02] [ 1.75625901e-02 -4.63727951e-04 9.99845658e-01 5.08817647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.770385723 meters Centerline goodness [0,1] 0.9997646958158638 Centerline is valid? [True, True] Translation: X:196.05, Y:185.77, Z:5.09 [[-6.64706884e-01 -7.47009495e-01 1.18984900e-02 1.96046204e+02] [ 7.46874835e-01 -6.64813143e-01 -1.41938602e-02 1.85765957e+02] [ 1.85132209e-02 -5.48073827e-04 9.99828465e-01 5.08703322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.800385723 meters Centerline goodness [0,1] 0.9998497821841671 Centerline is valid? [True, True] Translation: X:196.03, Y:185.79, Z:5.09 [[-6.66429304e-01 -7.45467699e-01 1.22430977e-02 1.96029201e+02] [ 7.45325027e-01 -6.66541482e-01 -1.45964787e-02 1.85787875e+02] [ 1.90417359e-02 -6.02434024e-04 9.99818508e-01 5.08737190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.01, Y:185.81, Z:5.09 [[-6.70917604e-01 -7.41412254e-01 1.33206339e-02 1.96012974e+02] [ 7.41242753e-01 -6.71049380e-01 -1.58717161e-02 1.85810543e+02] [ 2.07062879e-02 -7.74790429e-04 9.99785302e-01 5.08721924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.00, Y:185.83, Z:5.09 [[-6.73580705e-01 -7.38987082e-01 1.36794217e-02 1.95995731e+02] [ 7.38808031e-01 -6.73719039e-01 -1.62895673e-02 1.85832449e+02] [ 2.12538666e-02 -8.65871572e-04 9.99773736e-01 5.08713439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.98, Y:185.85, Z:5.09 [[-6.76364667e-01 -7.36433812e-01 1.40028077e-02 1.95977092e+02] [ 7.36245858e-01 -6.76508917e-01 -1.66649632e-02 1.85852849e+02] [ 2.17456666e-02 -9.62083162e-04 9.99763072e-01 5.08742610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.96, Y:185.88, Z:5.09 [[-6.82331854e-01 -7.30921250e-01 1.33179443e-02 1.95961710e+02] [ 7.30750356e-01 -6.82460963e-01 -1.58414441e-02 1.85875667e+02] [ 2.06678252e-02 -1.07702945e-03 9.99785818e-01 5.08868626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.95, Y:185.90, Z:5.09 [[-6.85644082e-01 -7.27820086e-01 1.30427885e-02 1.95947415e+02] [ 7.27655767e-01 -6.85767175e-01 -1.55069756e-02 1.85897948e+02] [ 2.02306046e-02 -1.14160574e-03 9.99794689e-01 5.08984882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.93, Y:185.92, Z:5.09 [[-6.91135457e-01 -7.22628523e-01 1.18236432e-02 1.95929859e+02] [ 7.22492866e-01 -6.91235599e-01 -1.40500607e-02 1.85919653e+02] [ 1.83258977e-02 -1.16799721e-03 9.99831384e-01 5.09222788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.91, Y:185.94, Z:5.09 [[-6.93645043e-01 -7.20237930e-01 1.06713755e-02 1.95914641e+02] [ 7.20127227e-01 -6.93726240e-01 -1.26759842e-02 1.85941926e+02] [ 1.65327378e-02 -1.10788555e-03 9.99862711e-01 5.09294643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.040385723 meters Centerline goodness [0,1] 0.9999576073593625 Centerline is valid? [True, True] Translation: X:195.89, Y:185.96, Z:5.09 [[-6.97616951e-01 -7.16405321e-01 9.69567292e-03 1.95888963e+02] [ 7.16313639e-01 -6.97683479e-01 -1.15123305e-02 1.85957193e+02] [ 1.50120056e-02 -1.08605416e-03 9.99886724e-01 5.09367012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.87, Y:185.98, Z:5.09 [[-6.99426931e-01 -7.14642887e-01 9.35481530e-03 1.95871522e+02] [ 7.14557468e-01 -6.99488655e-01 -1.11016530e-02 1.85978087e+02] [ 1.44773045e-02 -1.08024193e-03 9.99894615e-01 5.09420440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.100385723 meters Centerline goodness [0,1] 0.999978807722466 Centerline is valid? [True, True] Translation: X:195.85, Y:186.00, Z:5.09 [[-7.00958328e-01 -7.13144543e-01 9.07102558e-03 1.95849406e+02] [ 7.13064191e-01 -7.01016198e-01 -1.07587450e-02 1.85995776e+02] [ 1.40314761e-02 -1.07320839e-03 9.99900978e-01 5.09481321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.130385723 meters Centerline goodness [0,1] 0.9999371530323662 Centerline is valid? [True, True] Translation: X:195.83, Y:186.02, Z:5.10 [[-7.02844121e-01 -7.11292361e-01 8.56271460e-03 1.95833362e+02] [ 7.11220672e-01 -7.02895501e-01 -1.01523845e-02 1.86018120e+02] [ 1.32400071e-02 -1.04556413e-03 9.99911801e-01 5.09650650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.160385723 meters Centerline goodness [0,1] 0.9999790619765494 Centerline is valid? [True, True] Translation: X:195.81, Y:186.03, Z:5.10 [[-7.02722574e-01 -7.11410481e-01 8.72418066e-03 1.95806125e+02] [ 7.11336123e-01 -7.02775926e-01 -1.03401315e-02 1.86032223e+02] [ 1.34872221e-02 -1.06041898e-03 9.99908481e-01 5.09632325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.190385723 meters Centerline goodness [0,1] 0.9999790558371382 Centerline is valid? [True, True] Translation: X:195.79, Y:186.05, Z:5.10 [[-7.01979775e-01 -7.12138390e-01 9.12734280e-03 1.95785894e+02] [ 7.12057149e-01 -7.02038264e-01 -1.08116738e-02 1.86050613e+02] [ 1.41071518e-02 -1.09038663e-03 9.99899895e-01 5.09612793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.220385723 meters Centerline goodness [0,1] 0.9999791039786025 Centerline is valid? [True, True] Translation: X:195.76, Y:186.07, Z:5.10 [[-7.00650867e-01 -7.13436570e-01 9.82970851e-03 1.95763921e+02] [ 7.13342562e-01 -7.00718886e-01 -1.16375477e-02 1.86067764e+02] [ 1.51905145e-02 -1.14190841e-03 9.99883965e-01 5.09543103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.73, Y:186.08, Z:5.09 [[-6.96915711e-01 -7.17067390e-01 1.10837317e-02 1.95733682e+02] [ 7.16948466e-01 -6.97002824e-01 -1.31133824e-02 1.86079052e+02] [ 1.71285712e-02 -1.19245779e-03 9.99852584e-01 5.09372296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.71, Y:186.09, Z:5.09 [[-6.92067763e-01 -7.21732138e-01 1.20388417e-02 1.95705524e+02] [ 7.21592684e-01 -6.92171486e-01 -1.42349222e-02 1.86092348e+02] [ 1.86067438e-02 -1.16439065e-03 9.99826202e-01 5.09359273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.68, Y:186.11, Z:5.09 [[-6.89549495e-01 -7.24130679e-01 1.25001202e-02 1.95682030e+02] [ 7.23980889e-01 -6.89661851e-01 -1.47717209e-02 1.86108932e+02] [ 1.93175123e-02 -1.13598454e-03 9.99812754e-01 5.09426924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.340385723 meters Centerline goodness [0,1] 0.9999791649304108 Centerline is valid? [True, True] Translation: X:195.66, Y:186.13, Z:5.09 [[-6.87214631e-01 -7.26345304e-01 1.25917041e-02 1.95662709e+02] [ 7.26193838e-01 -6.87329136e-01 -1.48717237e-02 1.86127182e+02] [ 1.94566517e-02 -1.07604818e-03 9.99810122e-01 5.09431630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.64, Y:186.14, Z:5.09 [[-6.82438924e-01 -7.30819570e-01 1.34115957e-02 1.95637234e+02] [ 7.30648753e-01 -6.82569957e-01 -1.58320741e-02 1.86140272e+02] [ 2.07247419e-02 -1.00525798e-03 9.99784714e-01 5.09396197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.61, Y:186.16, Z:5.09 [[-6.80339096e-01 -7.32769957e-01 1.36713243e-02 1.95614231e+02] [ 7.32593037e-01 -6.80475769e-01 -1.61297989e-02 1.86158113e+02] [ 2.11224370e-02 -9.58215847e-04 9.99776437e-01 5.09400838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.59, Y:186.17, Z:5.09 [[-6.76806192e-01 -7.36033722e-01 1.37017600e-02 1.95588288e+02] [ 7.35856863e-01 -6.76944336e-01 -1.61568360e-02 1.86173001e+02] [ 2.11673050e-02 -8.52512456e-04 9.99775584e-01 5.09425870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.460385723 meters Centerline goodness [0,1] 0.9999582672564894 Centerline is valid? [True, True] Translation: X:195.57, Y:186.19, Z:5.09 [[-6.75795839e-01 -7.36964498e-01 1.35393030e-02 1.95568583e+02] [ 7.36792179e-01 -6.75930970e-01 -1.59564595e-02 1.86192814e+02] [ 2.09109784e-02 -8.07656361e-04 9.99781015e-01 5.09414776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.55, Y:186.21, Z:5.10 [[-6.74258254e-01 -7.38380744e-01 1.30262926e-02 1.95547536e+02] [ 7.38221646e-01 -6.74383678e-01 -1.53446164e-02 1.86212119e+02] [ 2.01148883e-02 -7.29943118e-04 9.99797409e-01 5.09648812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.52, Y:186.23, Z:5.10 [[-6.71502755e-01 -7.40886620e-01 1.30792216e-02 1.95523899e+02] [ 7.40726825e-01 -6.71629801e-01 -1.54006797e-02 1.86228287e+02] [ 2.01945525e-02 -6.53468543e-04 9.99795856e-01 5.09773248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.50, Y:186.25, Z:5.10 [[-6.70109400e-01 -7.42144657e-01 1.32174392e-02 1.95502205e+02] [ 7.41981890e-01 -6.70239457e-01 -1.55546242e-02 1.86246862e+02] [ 2.04026305e-02 -6.16199335e-04 9.99791655e-01 5.09805063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.48, Y:186.26, Z:5.10 [[-6.66937433e-01 -7.44999923e-01 1.30221161e-02 1.95479275e+02] [ 7.44842628e-01 -6.67064351e-01 -1.53170373e-02 1.86262411e+02] [ 2.00977811e-02 -5.16078356e-04 9.99797886e-01 5.09867666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.46, Y:186.28, Z:5.10 [[-6.65847966e-01 -7.45977351e-01 1.28170918e-02 1.95458195e+02] [ 7.45825290e-01 -6.65971146e-01 -1.50688525e-02 1.86281726e+02] [ 1.97768360e-02 -4.74253582e-04 9.99804307e-01 5.10015148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.44, Y:186.30, Z:5.10 [[-6.63987737e-01 -7.47652983e-01 1.16320012e-02 1.95436879e+02] [ 7.47528120e-01 -6.64089507e-01 -1.36688583e-02 1.86301464e+02] [ 1.79442526e-02 -3.80706322e-04 9.99838916e-01 5.10267284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.42, Y:186.32, Z:5.10 [[-6.63558659e-01 -7.48039194e-01 1.12814491e-02 1.95419155e+02] [ 7.47921915e-01 -6.63654458e-01 -1.32502897e-02 1.86321914e+02] [ 1.73987200e-02 -3.54701431e-04 9.99848568e-01 5.10393943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.40, Y:186.34, Z:5.10 [[-6.63572429e-01 -7.48025177e-01 1.14002628e-02 1.95399993e+02] [ 7.47905549e-01 -6.63670257e-01 -1.33820638e-02 1.86342407e+02] [ 1.75761360e-02 -3.53648807e-04 9.99845465e-01 5.10484385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.38, Y:186.36, Z:5.10 [[-6.63679793e-01 -7.47926968e-01 1.15923625e-02 1.95381375e+02] [ 7.47803396e-01 -6.63780930e-01 -1.35999426e-02 1.86363084e+02] [ 1.78665530e-02 -3.57199074e-04 9.99840317e-01 5.10465567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.36, Y:186.38, Z:5.10 [[-6.63558583e-01 -7.48027535e-01 1.20338164e-02 1.95363630e+02] [ 7.47894531e-01 -6.63667594e-01 -1.41101468e-02 1.86383895e+02] [ 1.85412323e-02 -3.62883563e-04 9.99828031e-01 5.10464526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.34, Y:186.40, Z:5.10 [[-6.62886686e-01 -7.48622008e-01 1.20967095e-02 1.95343612e+02] [ 7.48487824e-01 -6.62996961e-01 -1.41777047e-02 1.86403487e+02] [ 1.86338234e-02 -3.43971894e-04 9.99826316e-01 5.10431741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.32, Y:186.42, Z:5.10 [[-6.62377470e-01 -7.49074951e-01 1.19501193e-02 1.95324387e+02] [ 7.48944217e-01 -6.62485181e-01 -1.39980629e-02 1.86424547e+02] [ 1.84023752e-02 -3.22028774e-04 9.99830610e-01 5.10478591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.31, Y:186.45, Z:5.10 [[-6.60858810e-01 -7.50410297e-01 1.22482738e-02 1.95308648e+02] [ 7.50273336e-01 -6.60972242e-01 -1.43393643e-02 1.86447443e+02] [ 1.88561756e-02 -2.86742017e-04 9.99822165e-01 5.10453656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.29, Y:186.47, Z:5.10 [[-6.60208897e-01 -7.50971670e-01 1.28749237e-02 1.95292182e+02] [ 7.50820584e-01 -6.60334365e-01 -1.50657793e-02 1.86468401e+02] [ 1.98157280e-02 -2.79803805e-04 9.99803610e-01 5.10385112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.27, Y:186.49, Z:5.10 [[-6.59971097e-01 -7.51172840e-01 1.33235042e-02 1.95273429e+02] [ 7.51011283e-01 -6.60105513e-01 -1.55808860e-02 1.86489235e+02] [ 2.04988569e-02 -2.76832428e-04 9.99789838e-01 5.10419052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.26, Y:186.51, Z:5.10 [[-6.59288909e-01 -7.51770833e-01 1.33696878e-02 1.95257621e+02] [ 7.51608458e-01 -6.59424409e-01 -1.56261060e-02 1.86510777e+02] [ 2.05635492e-02 -2.53347979e-04 9.99788516e-01 5.10391823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.24, Y:186.53, Z:5.11 [[-6.59062390e-01 -7.51969615e-01 1.33590711e-02 1.95237831e+02] [ 7.51807724e-01 -6.59197725e-01 -1.56047003e-02 1.86530598e+02] [ 2.05405297e-02 -2.41018235e-04 9.99788992e-01 5.10545605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.22, Y:186.55, Z:5.11 [[-6.58166816e-01 -7.52760377e-01 1.29714261e-02 1.95221671e+02] [ 7.52608071e-01 -6.58294595e-01 -1.51432256e-02 1.86552949e+02] [ 1.99382399e-02 -2.04368601e-04 9.99801193e-01 5.10680617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.21, Y:186.57, Z:5.11 [[-6.57969182e-01 -7.52934948e-01 1.28654411e-02 1.95205474e+02] [ 7.52785319e-01 -6.58094923e-01 -1.50112209e-02 1.86574993e+02] [ 1.97691543e-02 -1.92005555e-04 9.99804553e-01 5.10738934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.19, Y:186.60, Z:5.11 [[-6.58770530e-01 -7.52231778e-01 1.29900647e-02 1.95192327e+02] [ 7.52079236e-01 -6.58898557e-01 -1.51497570e-02 1.86597600e+02] [ 1.99552635e-02 -2.10655524e-04 9.99800852e-01 5.10763460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.17, Y:186.62, Z:5.11 [[-6.58992388e-01 -7.52037352e-01 1.29943811e-02 1.95174849e+02] [ 7.51884845e-01 -6.59120457e-01 -1.51460539e-02 1.86617805e+02] [ 1.99552607e-02 -2.10856010e-04 9.99800852e-01 5.10803913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.16, Y:186.64, Z:5.11 [[-6.59328512e-01 -7.51747091e-01 1.27367220e-02 1.95156896e+02] [ 7.51600688e-01 -6.59451489e-01 -1.48370836e-02 1.86638803e+02] [ 1.95529847e-02 -2.09583252e-04 9.99808800e-01 5.10962262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.14, Y:186.66, Z:5.11 [[-6.59507262e-01 -7.51596853e-01 1.23426917e-02 1.95139870e+02] [ 7.51459495e-01 -6.59622717e-01 -1.43700313e-02 1.86660970e+02] [ 1.89419902e-02 -2.02107074e-04 9.99820564e-01 5.11007101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.12, Y:186.68, Z:5.11 [[-6.58611504e-01 -7.52385029e-01 1.21513607e-02 1.95124704e+02] [ 7.52252180e-01 -6.58723568e-01 -1.41392349e-02 1.86684024e+02] [ 1.86425363e-02 -1.71375110e-04 9.99826198e-01 5.11061887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.11, Y:186.71, Z:5.11 [[-6.57664831e-01 -7.53212308e-01 1.21732833e-02 1.95107675e+02] [ 7.53079276e-01 -6.57777469e-01 -1.41564400e-02 1.86706203e+02] [ 1.86701164e-02 -1.42745344e-04 9.99825688e-01 5.11106363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.240385723 meters Centerline goodness [0,1] 0.9999372082801348 Centerline is valid? [True, True] Translation: X:195.09, Y:186.73, Z:5.11 [[-6.54906132e-01 -7.55601531e-01 1.28173440e-02 1.95090642e+02] [ 7.55454675e-01 -6.55031542e-01 -1.48967537e-02 1.86728867e+02] [ 1.96517745e-02 -7.30528498e-05 9.99806883e-01 5.10934781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.07, Y:186.75, Z:5.11 [[-6.53029439e-01 -7.57224314e-01 1.28019686e-02 1.95073533e+02] [ 7.57078285e-01 -6.53154912e-01 -1.48705135e-02 1.86749548e+02] [ 1.96219831e-02 -1.87906323e-05 9.99807470e-01 5.11168663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.06, Y:186.77, Z:5.11 [[-6.49406610e-01 -7.60330395e-01 1.29901775e-02 1.95056840e+02] [ 7.60180835e-01 -6.49536514e-01 -1.50803077e-02 1.86772187e+02] [ 1.99036109e-02 8.16324843e-05 9.99801900e-01 5.11226561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.04, Y:186.79, Z:5.11 [[-6.47965135e-01 -7.61561945e-01 1.28292085e-02 1.95040015e+02] [ 7.61416469e-01 -6.48092115e-01 -1.48852627e-02 1.86794382e+02] [ 1.96505585e-02 1.23239368e-04 9.99806902e-01 5.11323250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.02, Y:186.82, Z:5.11 [[-6.46550801e-01 -7.62764412e-01 1.27480934e-02 1.95023339e+02] [ 7.62621169e-01 -6.46676445e-01 -1.47826720e-02 1.86815373e+02] [ 1.95195879e-02 1.64217485e-04 9.99809461e-01 5.11406083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.390385723 meters Centerline goodness [0,1] 0.9999790921825671 Centerline is valid? [True, True] Translation: X:195.01, Y:186.84, Z:5.11 [[-6.44275422e-01 -7.64683635e-01 1.29660599e-02 1.95008627e+02] [ 7.64536015e-01 -6.44405838e-01 -1.50265405e-02 1.86839824e+02] [ 1.98459543e-02 2.31789011e-04 9.99803023e-01 5.11423157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.420385723 meters Centerline goodness [0,1] 0.9999583229140618 Centerline is valid? [True, True] Translation: X:194.99, Y:186.86, Z:5.12 [[-6.43883303e-01 -7.65015845e-01 1.28471233e-02 1.94992313e+02] [ 7.64871145e-01 -6.44011410e-01 -1.48806888e-02 1.86861810e+02] [ 1.96576568e-02 2.44966832e-04 9.99806740e-01 5.11520666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.98, Y:186.89, Z:5.12 [[-6.45058433e-01 -7.64035880e-01 1.21980274e-02 1.94980754e+02] [ 7.63905406e-01 -6.45173721e-01 -1.41209433e-02 1.86888282e+02] [ 1.86587541e-02 2.09305503e-04 9.99825888e-01 5.11692658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.97, Y:186.91, Z:5.12 [[-6.46148465e-01 -7.63122011e-01 1.17028967e-02 1.94966336e+02] [ 7.63001896e-01 -6.46254412e-01 -1.35403874e-02 1.86911993e+02] [ 1.78960163e-02 1.80231872e-04 9.99839837e-01 5.11829838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.95, Y:186.94, Z:5.12 [[-6.47604683e-01 -7.61892721e-01 1.12985408e-02 1.94951369e+02] [ 7.61780710e-01 -6.47703220e-01 -1.30647919e-02 1.86936503e+02] [ 1.72720711e-02 1.46190027e-04 9.99850816e-01 5.11931073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.94, Y:186.96, Z:5.12 [[-6.49900457e-01 -7.59940961e-01 1.09147928e-02 1.94940490e+02] [ 7.59836269e-01 -6.49992098e-01 -1.26141665e-02 1.86961390e+02] [ 1.66805509e-02 9.55028021e-05 9.99860865e-01 5.12075034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.93, Y:186.99, Z:5.12 [[-6.52366804e-01 -7.57821407e-01 1.11475386e-02 1.94930116e+02] [ 7.57712038e-01 -6.52462039e-01 -1.28746005e-02 1.86987593e+02] [ 1.70299937e-02 4.76622081e-05 9.99854978e-01 5.12179784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.600385723 meters Centerline goodness [0,1] 0.9999789051787786 Centerline is valid? [True, True] Translation: X:194.92, Y:187.01, Z:5.12 [[-6.53562848e-01 -7.56781691e-01 1.17079350e-02 1.94915288e+02] [ 7.56661039e-01 -6.53667707e-01 -1.35129458e-02 1.87012301e+02] [ 1.78794490e-02 2.73789225e-05 9.99840150e-01 5.12285708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.630385723 meters Centerline goodness [0,1] 0.9998111346609867 Centerline is valid? [True, True] Translation: X:194.90, Y:187.04, Z:5.12 [[-6.54512432e-01 -7.55962121e-01 1.16080777e-02 1.94900847e+02] [ 7.55843519e-01 -6.54615362e-01 -1.33904065e-02 1.87035002e+02] [ 1.77214661e-02 9.70279245e-06 9.99842962e-01 5.12289097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.89, Y:187.06, Z:5.12 [[-6.55661199e-01 -7.54960282e-01 1.19735295e-02 1.94887336e+02] [ 7.54834041e-01 -6.55770518e-01 -1.38057196e-02 1.87060545e+02] [ 1.82746576e-02 -1.38470482e-05 9.99833004e-01 5.12426918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.87, Y:187.08, Z:5.12 [[-6.56265179e-01 -7.54428135e-01 1.24178911e-02 1.94873767e+02] [ 7.54292404e-01 -6.56382654e-01 -1.43101742e-02 1.87084861e+02] [ 1.89468864e-02 -2.45480811e-05 9.99820491e-01 5.12371481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.86, Y:187.11, Z:5.12 [[-6.56909429e-01 -7.53853914e-01 1.32014390e-02 1.94857548e+02] [ 7.53700539e-01 -6.57042064e-01 -1.52060031e-02 1.87107738e+02] [ 2.01370057e-02 -3.90351532e-05 9.99797229e-01 5.12334739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.84, Y:187.13, Z:5.12 [[-6.58321721e-01 -7.52581809e-01 1.52686820e-02 1.94843592e+02] [ 7.52376538e-01 -6.58498758e-01 -1.75764414e-02 1.87133782e+02] [ 2.32821182e-02 -8.31550628e-05 9.99728931e-01 5.12151097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.780385723 meters Centerline goodness [0,1] 0.9997244011023956 Centerline is valid? [True, True] Translation: X:194.83, Y:187.16, Z:5.12 [[-6.59452202e-01 -7.51580535e-01 1.57953278e-02 1.94827578e+02] [ 7.51360816e-01 -6.59641332e-01 -1.81724669e-02 1.87157604e+02] [ 2.40773234e-02 -1.15882912e-04 9.99710093e-01 5.12134264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.810385723 meters Centerline goodness [0,1] 0.9996369383222279 Centerline is valid? [True, True] Translation: X:194.81, Y:187.18, Z:5.12 [[-6.60612909e-01 -7.50535161e-01 1.69575175e-02 1.94812503e+02] [ 7.50281800e-01 -6.60830498e-01 -1.95005860e-02 1.87180302e+02] [ 2.58419202e-02 -1.59422089e-04 9.99666029e-01 5.11809325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.840385723 meters Centerline goodness [0,1] 0.9998078975453575 Centerline is valid? [True, True] Translation: X:194.80, Y:187.20, Z:5.12 [[-6.62325891e-01 -7.49006586e-01 1.77072823e-02 1.94796523e+02] [ 7.48729983e-01 -6.62562513e-01 -2.03550471e-02 1.87203859e+02] [ 2.69782458e-02 -2.23701493e-04 9.99635996e-01 5.11997159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.870385723 meters Centerline goodness [0,1] 0.9999145445223039 Centerline is valid? [True, True] Translation: X:194.78, Y:187.23, Z:5.12 [[-6.65121063e-01 -7.46505730e-01 1.85247589e-02 1.94783814e+02] [ 7.46202347e-01 -6.65378903e-01 -2.12831443e-02 1.87228929e+02] [ 2.82139729e-02 -3.32648925e-04 9.99601851e-01 5.11943213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.900385723 meters Centerline goodness [0,1] 0.9995722474120968 Centerline is valid? [True, True] Translation: X:194.77, Y:187.25, Z:5.12 [[-6.66799871e-01 -7.45010508e-01 1.83650585e-02 1.94769974e+02] [ 7.44712043e-01 -6.67052618e-01 -2.10897553e-02 1.87253019e+02] [ 2.79625496e-02 -3.85965864e-04 9.99608897e-01 5.11978071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.930385723 meters Centerline goodness [0,1] 0.999764620289731 Centerline is valid? [True, True] Translation: X:194.76, Y:187.28, Z:5.12 [[-6.70012235e-01 -7.42140629e-01 1.76321460e-02 1.94756383e+02] [ 7.41864764e-01 -6.70244028e-01 -2.02389290e-02 1.87278079e+02] [ 2.68379720e-02 -4.79662205e-04 9.99639682e-01 5.12169160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.960385723 meters Centerline goodness [0,1] 0.9997002462263141 Centerline is valid? [True, True] Translation: X:194.74, Y:187.30, Z:5.12 [[-6.71328278e-01 -7.40964795e-01 1.70151634e-02 1.94738021e+02] [ 7.40707795e-01 -6.71543685e-01 -1.95202835e-02 1.87299468e+02] [ 2.58902683e-02 -5.01254136e-04 9.99664665e-01 5.12350196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.990385723 meters Centerline goodness [0,1] 0.999935813774364 Centerline is valid? [True, True] Translation: X:194.72, Y:187.32, Z:5.12 [[-6.72691883e-01 -7.39735170e-01 1.66586187e-02 1.94720686e+02] [ 7.39488720e-01 -6.72897910e-01 -1.91006811e-02 1.87322056e+02] [ 2.53389953e-02 -5.30012527e-04 9.99678776e-01 5.12430730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.020385723 meters Centerline goodness [0,1] 0.9998288989648387 Centerline is valid? [True, True] Translation: X:194.70, Y:187.35, Z:5.13 [[-6.74851738e-01 -7.37768355e-01 1.65222585e-02 1.94704549e+02] [ 7.37525591e-01 -6.75053704e-01 -1.89340679e-02 1.87345766e+02] [ 2.51223679e-02 -5.92100146e-04 9.99684208e-01 5.12595490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.050385723 meters Centerline goodness [0,1] 0.9998282967032966 Centerline is valid? [True, True] Translation: X:194.69, Y:187.37, Z:5.13 [[-6.76957064e-01 -7.35822700e-01 1.71489856e-02 1.94689578e+02] [ 7.35560790e-01 -6.77173897e-01 -1.96427380e-02 1.87368395e+02] [ 2.60664180e-02 -6.83168854e-04 9.99659980e-01 5.12608455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.080385723 meters Centerline goodness [0,1] 0.9997420630655804 Centerline is valid? [True, True] Translation: X:194.67, Y:187.39, Z:5.13 [[-6.78023354e-01 -7.34844081e-01 1.69855382e-02 1.94671953e+02] [ 7.34587065e-01 -6.78235708e-01 -1.94465370e-02 1.87390517e+02] [ 2.58103711e-02 -7.07849585e-04 9.99666606e-01 5.12689403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.65, Y:187.41, Z:5.13 [[-6.78949089e-01 -7.33995092e-01 1.67134415e-02 1.94653495e+02] [ 7.33746255e-01 -6.79154389e-01 -1.91245721e-02 1.87411632e+02] [ 2.53883493e-02 -7.21185701e-04 9.99677404e-01 5.12901590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.140385723 meters Centerline goodness [0,1] 0.9997420852408279 Centerline is valid? [True, True] Translation: X:194.64, Y:187.43, Z:5.13 [[-6.78690764e-01 -7.34221148e-01 1.72671137e-02 1.94635140e+02] [ 7.33955921e-01 -6.78909990e-01 -1.97466701e-02 1.87431902e+02] [ 2.62212388e-02 -7.28582246e-04 9.99655899e-01 5.12894755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.62, Y:187.45, Z:5.13 [[-6.78150714e-01 -7.34713391e-01 1.75454280e-02 1.94616973e+02] [ 7.34440019e-01 -6.78377273e-01 -2.00533004e-02 1.87451944e+02] [ 2.66358479e-02 -7.13095517e-04 9.99644949e-01 5.12814441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.200385723 meters Centerline goodness [0,1] 0.9999572091829093 Centerline is valid? [True, True] Translation: X:194.60, Y:187.47, Z:5.13 [[-6.75968035e-01 -7.36698271e-01 1.85168093e-02 1.94596460e+02] [ 7.36394856e-01 -6.76221279e-01 -2.11517647e-02 1.87471809e+02] [ 2.81039289e-02 -6.62233709e-04 9.99604787e-01 5.12818973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.230385723 meters Centerline goodness [0,1] 0.9998711644585686 Centerline is valid? [True, True] Translation: X:194.58, Y:187.49, Z:5.13 [[-6.74059890e-01 -7.38426037e-01 1.92419767e-02 1.94578909e+02] [ 7.38099428e-01 -6.74334206e-01 -2.19684565e-02 1.87492242e+02] [ 2.91976033e-02 -6.05563300e-04 9.99573476e-01 5.12909474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.260385723 meters Centerline goodness [0,1] 0.9998709927110881 Centerline is valid? [True, True] Translation: X:194.56, Y:187.51, Z:5.13 [[-6.73907940e-01 -7.38576248e-01 1.87939667e-02 1.94561054e+02] [ 7.38265075e-01 -6.74169706e-01 -2.14449569e-02 1.87512344e+02] [ 2.85090589e-02 -5.76997478e-04 9.99593368e-01 5.13020936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.290385723 meters Centerline goodness [0,1] 0.9999785140303382 Centerline is valid? [True, True] Translation: X:194.54, Y:187.53, Z:5.13 [[-6.74187380e-01 -7.38328331e-01 1.85108522e-02 1.94541626e+02] [ 7.38026714e-01 -6.74441213e-01 -2.11097222e-02 1.87532118e+02] [ 2.80703876e-02 -5.70404881e-04 9.99605786e-01 5.13168466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.52, Y:187.55, Z:5.13 [[-6.75068587e-01 -7.37524820e-01 1.84267061e-02 1.94522181e+02] [ 7.37225963e-01 -6.75319767e-01 -2.10021816e-02 1.87553042e+02] [ 2.79335491e-02 -5.93266876e-04 9.99609606e-01 5.13168612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.350385723 meters Centerline goodness [0,1] 0.9998494073101994 Centerline is valid? [True, True] Translation: X:194.50, Y:187.57, Z:5.13 [[-6.75764921e-01 -7.36889711e-01 1.83119027e-02 1.94503529e+02] [ 7.36594654e-01 -6.76012711e-01 -2.08597977e-02 1.87573508e+02] [ 2.77504493e-02 -6.07869950e-04 9.99614697e-01 5.13275300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.380385723 meters Centerline goodness [0,1] 0.9998497692885503 Centerline is valid? [True, True] Translation: X:194.49, Y:187.60, Z:5.13 [[-6.77281079e-01 -7.35498253e-01 1.82389703e-02 1.94488312e+02] [ 7.35205365e-01 -6.77526303e-01 -2.07648516e-02 1.87595848e+02] [ 2.76298942e-02 -6.54252291e-04 9.99618008e-01 5.13423146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.47, Y:187.62, Z:5.13 [[-6.78444415e-01 -7.34427240e-01 1.81605271e-02 1.94472352e+02] [ 7.34136767e-01 -6.78687082e-01 -2.06652198e-02 1.87617233e+02] [ 2.75024155e-02 -6.87892334e-04 9.99621500e-01 5.13493888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.440385723 meters Centerline goodness [0,1] 0.9999569281130206 Centerline is valid? [True, True] Translation: X:194.45, Y:187.64, Z:5.14 [[-6.80212803e-01 -7.32783479e-01 1.84096614e-02 1.94454071e+02] [ 7.32484646e-01 -6.80461459e-01 -2.09390854e-02 1.87638784e+02] [ 2.78708809e-02 -7.58239665e-04 9.99611244e-01 5.13523517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.44, Y:187.66, Z:5.13 [[-6.81060898e-01 -7.31991103e-01 1.85762589e-02 1.94437161e+02] [ 7.31686832e-01 -6.81313730e-01 -2.11182459e-02 1.87659261e+02] [ 2.81146284e-02 -7.90807515e-04 9.99604393e-01 5.13472675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.500385723 meters Centerline goodness [0,1] 0.9998713495432909 Centerline is valid? [True, True] Translation: X:194.42, Y:187.68, Z:5.13 [[-6.80758501e-01 -7.32249183e-01 1.94678527e-02 1.94419676e+02] [ 7.31915449e-01 -6.81036327e-01 -2.21200724e-02 1.87678653e+02] [ 2.94557198e-02 -8.09605208e-04 9.99565758e-01 5.13328126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.530385723 meters Centerline goodness [0,1] 0.999806101344364 Centerline is valid? [True, True] Translation: X:194.40, Y:187.70, Z:5.13 [[-6.80196486e-01 -7.32750803e-01 2.02237742e-02 1.94398604e+02] [ 7.32391281e-01 -6.80496588e-01 -2.29652979e-02 1.87697478e+02] [ 3.05900498e-02 -8.09199055e-04 9.99531687e-01 5.13466989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.38, Y:187.72, Z:5.13 [[-6.78433234e-01 -7.34361333e-01 2.10185770e-02 1.94381043e+02] [ 7.33974180e-01 -6.78758323e-01 -2.38546293e-02 1.87717830e+02] [ 3.17844514e-02 -7.56680474e-04 9.99494460e-01 5.13383742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.590385723 meters Centerline goodness [0,1] 0.9998282893324748 Centerline is valid? [True, True] Translation: X:194.36, Y:187.74, Z:5.13 [[-6.77606183e-01 -7.35112740e-01 2.14270960e-02 1.94364801e+02] [ 7.34711234e-01 -6.77944491e-01 -2.43037155e-02 1.87738660e+02] [ 3.23923526e-02 -7.25619712e-04 9.99474967e-01 5.13199181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.34, Y:187.76, Z:5.13 [[-6.75861743e-01 -7.36712263e-01 2.15857818e-02 1.94342646e+02] [ 7.36306067e-01 -6.76206053e-01 -2.44693609e-02 1.87756527e+02] [ 3.26233146e-02 -6.44162810e-04 9.99467510e-01 5.13254568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.32, Y:187.78, Z:5.13 [[-6.74871588e-01 -7.37612417e-01 2.18234357e-02 1.94323181e+02] [ 7.37198167e-01 -6.75224086e-01 -2.47244158e-02 1.87775452e+02] [ 3.29727455e-02 -5.97608919e-04 9.99456073e-01 5.13360020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.680385723 meters Centerline goodness [0,1] 0.9999785862652305 Centerline is valid? [True, True] Translation: X:194.31, Y:187.80, Z:5.13 [[-6.73549705e-01 -7.38807802e-01 2.22222147e-02 1.94306990e+02] [ 7.38379458e-01 -6.73915976e-01 -2.51601580e-02 1.87795847e+02] [ 3.35644265e-02 -5.38190174e-04 9.99436411e-01 5.13230931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.710385723 meters Centerline goodness [0,1] 0.9999142440614013 Centerline is valid? [True, True] Translation: X:194.29, Y:187.82, Z:5.13 [[-6.73175569e-01 -7.39143030e-01 2.24105907e-02 1.94288212e+02] [ 7.38708120e-01 -6.73548302e-01 -2.53574161e-02 1.87815886e+02] [ 3.38373727e-02 -5.15107676e-04 9.99427219e-01 5.13393603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.740385723 meters Centerline goodness [0,1] 0.9997632626708275 Centerline is valid? [True, True] Translation: X:194.27, Y:187.84, Z:5.13 [[-6.73052810e-01 -7.39260755e-01 2.22137550e-02 1.94272091e+02] [ 7.38834047e-01 -6.73419106e-01 -2.51188992e-02 1.87837285e+02] [ 3.35285834e-02 -4.94067155e-04 9.99437637e-01 5.13239302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.770385723 meters Centerline goodness [0,1] 0.9998069125313768 Centerline is valid? [True, True] Translation: X:194.25, Y:187.86, Z:5.13 [[-6.73216803e-01 -7.39118230e-01 2.19858413e-02 1.94253411e+02] [ 7.38700674e-01 -6.73575538e-01 -2.48456875e-02 1.87857131e+02] [ 3.31730254e-02 -4.85578528e-04 9.99449506e-01 5.13492156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.800385723 meters Centerline goodness [0,1] 0.9998498820501823 Centerline is valid? [True, True] Translation: X:194.24, Y:187.88, Z:5.13 [[-6.74115491e-01 -7.38320146e-01 2.12524404e-02 1.94239873e+02] [ 7.37930068e-01 -6.74450231e-01 -2.40020806e-02 1.87880318e+02] [ 3.20549330e-02 -4.97359553e-04 9.99485985e-01 5.13177045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.830385723 meters Centerline goodness [0,1] 0.9996560101477007 Centerline is valid? [True, True] Translation: X:194.22, Y:187.90, Z:5.14 [[-6.74929134e-01 -7.37589629e-01 2.07895062e-02 1.94220661e+02] [ 7.37216464e-01 -6.75249049e-01 -2.34650271e-02 1.87899535e+02] [ 3.13456550e-02 -5.10864169e-04 9.99508474e-01 5.13590472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.860385723 meters Centerline goodness [0,1] 0.9996998284734134 Centerline is valid? [True, True] Translation: X:194.21, Y:187.92, Z:5.14 [[-6.76249694e-01 -7.36379241e-01 2.07837597e-02 1.94206172e+02] [ 7.36006063e-01 -6.76568771e-01 -2.34472705e-02 1.87922770e+02] [ 3.13277260e-02 -5.59236376e-04 9.99509010e-01 5.13673851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.890385723 meters Centerline goodness [0,1] 0.9998279717873731 Centerline is valid? [True, True] Translation: X:194.19, Y:187.94, Z:5.14 [[-6.76809771e-01 -7.35859310e-01 2.09668999e-02 1.94189255e+02] [ 7.35479632e-01 -6.77134211e-01 -2.36425797e-02 1.87944346e+02] [ 3.15950176e-02 -5.80801094e-04 9.99500584e-01 5.13692925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.920385723 meters Centerline goodness [0,1] 0.9999784394471875 Centerline is valid? [True, True] Translation: X:194.17, Y:187.96, Z:5.14 [[-6.76972005e-01 -7.35694623e-01 2.15017862e-02 1.94170504e+02] [ 7.35295706e-01 -6.77313125e-01 -2.42312857e-02 1.87964486e+02] [ 3.23902686e-02 -5.93730940e-04 9.99475121e-01 5.13999269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.950385723 meters Centerline goodness [0,1] 0.9999138339580371 Centerline is valid? [True, True] Translation: X:194.15, Y:187.99, Z:5.14 [[-6.76772155e-01 -7.35869159e-01 2.18181121e-02 1.94152706e+02] [ 7.35459002e-01 -6.77123504e-01 -2.45726931e-02 1.87985572e+02] [ 3.28558435e-02 -5.83787519e-04 9.99459931e-01 5.14064593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.980385723 meters Centerline goodness [0,1] 0.9999138339580371 Centerline is valid? [True, True] Translation: X:194.13, Y:188.01, Z:5.14 [[-6.76993998e-01 -7.35664851e-01 2.18255263e-02 1.94134859e+02] [ 7.35254799e-01 -6.77345470e-01 -2.45661070e-02 1.88005516e+02] [ 3.28558429e-02 -5.83784040e-04 9.99459931e-01 5.14105050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.010385723 meters Centerline goodness [0,1] 0.9999137484905986 Centerline is valid? [True, True] Translation: X:194.12, Y:188.03, Z:5.14 [[-6.76518827e-01 -7.36093661e-01 2.20997539e-02 1.94118571e+02] [ 7.35673984e-01 -6.76879465e-01 -2.48591836e-02 1.88026615e+02] [ 3.32575571e-02 -5.59491733e-04 9.99446658e-01 5.14097000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.040385723 meters Centerline goodness [0,1] 0.9999352694946705 Centerline is valid? [True, True] Translation: X:194.10, Y:188.05, Z:5.14 [[-6.76785665e-01 -7.35844034e-01 2.22423580e-02 1.94101149e+02] [ 7.35419304e-01 -6.77150824e-01 -2.50041528e-02 1.88048194e+02] [ 3.34605877e-02 -5.64992749e-04 9.99439878e-01 5.14132379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.070385723 meters Centerline goodness [0,1] 0.9999350607182285 Centerline is valid? [True, True] Translation: X:194.09, Y:188.07, Z:5.14 [[-6.77137480e-01 -7.35512921e-01 2.24850317e-02 1.94086860e+02] [ 7.35079215e-01 -6.77510450e-01 -2.52613825e-02 1.88070572e+02] [ 3.38139172e-02 -5.77149434e-04 9.99427979e-01 5.14177714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.07, Y:188.09, Z:5.14 [[-6.77739203e-01 -7.34974659e-01 2.19504701e-02 1.94070872e+02] [ 7.34561556e-01 -6.78094326e-01 -2.46456007e-02 1.88091807e+02] [ 3.29983812e-02 -5.79318351e-04 9.99455237e-01 5.14235940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.130385723 meters Centerline goodness [0,1] 0.9999783202532194 Centerline is valid? [True, True] Translation: X:194.05, Y:188.11, Z:5.14 [[-6.78683187e-01 -7.34106017e-01 2.18514784e-02 1.94054870e+02] [ 7.33696666e-01 -6.79034598e-01 -2.45197411e-02 1.88113976e+02] [ 3.28379994e-02 -6.08779225e-04 9.99460502e-01 5.14298224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.160385723 meters Centerline goodness [0,1] 0.9999564222682209 Centerline is valid? [True, True] Translation: X:194.04, Y:188.14, Z:5.14 [[-6.79045691e-01 -7.33775934e-01 2.16755431e-02 1.94037946e+02] [ 7.33373440e-01 -6.79391277e-01 -2.43082262e-02 1.88135249e+02] [ 3.25629662e-02 -6.10128648e-04 9.99469500e-01 5.14290274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.190385723 meters Centerline goodness [0,1] 0.9999347982004303 Centerline is valid? [True, True] Translation: X:194.02, Y:188.16, Z:5.14 [[-6.79659820e-01 -7.33239622e-01 2.05471906e-02 1.94023650e+02] [ 7.32878120e-01 -6.79970077e-01 -2.30294594e-02 1.88157531e+02] [ 3.08575868e-02 -5.93611787e-04 9.99523615e-01 5.14382675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.01, Y:188.18, Z:5.15 [[-6.79913722e-01 -7.33033164e-01 1.94861859e-02 1.94007381e+02] [ 7.32708324e-01 -6.80192666e-01 -2.18277254e-02 1.88179495e+02] [ 2.92548073e-02 -5.63279407e-04 9.99571828e-01 5.14535509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.99, Y:188.20, Z:5.15 [[-6.79783253e-01 -7.33195745e-01 1.78529678e-02 1.93988616e+02] [ 7.32923427e-01 -6.80017461e-01 -1.99875644e-02 1.88200395e+02] [ 2.67951270e-02 -5.02353216e-04 9.99640820e-01 5.14850719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.97, Y:188.22, Z:5.15 [[-6.79237251e-01 -7.33716156e-01 1.72441113e-02 1.93970175e+02] [ 7.33462535e-01 -6.79455953e-01 -1.92955130e-02 1.88221088e+02] [ 2.58740437e-02 -4.58321567e-04 9.99665106e-01 5.14882061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.95, Y:188.24, Z:5.15 [[-6.78927775e-01 -7.34009281e-01 1.69544298e-02 1.93952507e+02] [ 7.33764478e-01 -6.79139300e-01 -1.89605088e-02 1.88241413e+02] [ 2.54316090e-02 -4.32257708e-04 9.99676471e-01 5.14858419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.340385723 meters Centerline goodness [0,1] 0.9999781339514137 Centerline is valid? [True, True] Translation: X:193.94, Y:188.26, Z:5.15 [[-6.78076348e-01 -7.34801513e-01 1.67093726e-02 1.93936851e+02] [ 7.34564263e-01 -6.78282084e-01 -1.86750543e-02 1.88263376e+02] [ 2.50561262e-02 -3.89004587e-04 9.99685970e-01 5.14818169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.370385723 meters Centerline goodness [0,1] 0.9999780749835563 Centerline is valid? [True, True] Translation: X:193.92, Y:188.29, Z:5.15 [[-6.77263778e-01 -7.35578922e-01 1.54085803e-02 1.93920610e+02] [ 7.35377601e-01 -6.77438959e-01 -1.72116595e-02 1.88286553e+02] [ 2.30989066e-02 -3.25708764e-04 9.99733132e-01 5.14984342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.400385723 meters Centerline goodness [0,1] 0.9999345335515548 Centerline is valid? [True, True] Translation: X:193.90, Y:188.31, Z:5.15 [[-6.76700517e-01 -7.36106727e-01 1.49431134e-02 1.93902794e+02] [ 7.35917720e-01 -6.76865423e-01 -1.66825566e-02 1.88307740e+02] [ 2.23946189e-02 -2.92192682e-04 9.99749166e-01 5.14997395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.430385723 meters Centerline goodness [0,1] 0.9999780893952673 Centerline is valid? [True, True] Translation: X:193.89, Y:188.33, Z:5.15 [[-6.75903385e-01 -7.36840175e-01 1.48718312e-02 1.93885210e+02] [ 7.36653367e-01 -6.76066927e-01 -1.65929929e-02 1.88328238e+02] [ 2.22807370e-02 -2.59875540e-04 9.99751720e-01 5.14983384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.460385723 meters Centerline goodness [0,1] 0.9999120898441792 Centerline is valid? [True, True] Translation: X:193.87, Y:188.35, Z:5.15 [[-6.74100880e-01 -7.38472205e-01 1.57100557e-02 1.93867063e+02] [ 7.38264441e-01 -6.74283886e-01 -1.75173034e-02 1.88348516e+02] [ 2.35290791e-02 -2.10254155e-04 9.99723131e-01 5.14773689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.85, Y:188.37, Z:5.15 [[-6.73327449e-01 -7.39165958e-01 1.62429388e-02 1.93850061e+02] [ 7.38944337e-01 -6.73523312e-01 -1.81001262e-02 1.88368446e+02] [ 2.43189951e-02 -1.84684130e-04 9.99704232e-01 5.14644175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.83, Y:188.39, Z:5.15 [[-6.72839875e-01 -7.39611290e-01 1.61753703e-02 1.93834710e+02] [ 7.39391885e-01 -6.73034260e-01 -1.80146189e-02 1.88389659e+02] [ 2.42103939e-02 -1.61016354e-04 9.99706873e-01 5.14515750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.82, Y:188.41, Z:5.15 [[-6.73552848e-01 -7.38987183e-01 1.49834430e-02 1.93819212e+02] [ 7.38798953e-01 -6.73719464e-01 -1.66790368e-02 1.88411923e+02] [ 2.24202316e-02 -1.64460734e-04 9.99748622e-01 5.14710196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.580385723 meters Centerline goodness [0,1] 0.9999777841956768 Centerline is valid? [True, True] Translation: X:193.80, Y:188.43, Z:5.15 [[-6.74500239e-01 -7.38131183e-01 1.45528294e-02 1.93803695e+02] [ 7.37953635e-01 -6.74657191e-01 -1.61897596e-02 1.88433274e+02] [ 2.17683374e-02 -1.80683405e-04 9.99763025e-01 5.14804079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.79, Y:188.45, Z:5.15 [[-6.75609402e-01 -7.37120884e-01 1.43086976e-02 1.93787636e+02] [ 7.36949235e-01 -6.75760876e-01 -1.59079867e-02 1.88454832e+02] [ 2.13953672e-02 -2.02801639e-04 9.99771072e-01 5.14889351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.77, Y:188.48, Z:5.15 [[-6.78460730e-01 -7.34520936e-01 1.30396744e-02 1.93774725e+02] [ 7.34378069e-01 -6.78585979e-01 -1.44886638e-02 1.88479171e+02] [ 1.94907671e-02 -2.53938563e-04 9.99810005e-01 5.14999693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.76, Y:188.50, Z:5.15 [[-6.79968254e-01 -7.33135594e-01 1.24649041e-02 1.93758042e+02] [ 7.33004953e-01 -6.80082440e-01 -1.38424860e-02 1.88502100e+02] [ 1.86255815e-02 -2.75614622e-04 9.99826491e-01 5.15089623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.74, Y:188.53, Z:5.15 [[-6.82027186e-01 -7.31232322e-01 1.17562555e-02 1.93742952e+02] [ 7.31115947e-01 -6.82128433e-01 -1.30488768e-02 1.88526607e+02] [ 1.75610366e-02 -3.04502832e-04 9.99845747e-01 5.15196670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.730385723 meters Centerline goodness [0,1] 0.9998875393612235 Centerline is valid? [True, True] Translation: X:193.73, Y:188.55, Z:5.15 [[-6.83237938e-01 -7.30104856e-01 1.15246822e-02 1.93727243e+02] [ 7.29992979e-01 -6.83335053e-01 -1.27849900e-02 1.88549307e+02] [ 1.72096026e-02 -3.22253062e-04 9.99851852e-01 5.15066870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.71, Y:188.57, Z:5.15 [[-6.84129748e-01 -7.29249571e-01 1.27102977e-02 1.93709641e+02] [ 7.29113504e-01 -6.84247707e-01 -1.40916509e-02 1.88571493e+02] [ 1.89733224e-02 -3.73267905e-04 9.99819921e-01 5.15057326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.790385723 meters Centerline goodness [0,1] 0.999977441404047 Centerline is valid? [True, True] Translation: X:193.69, Y:188.59, Z:5.15 [[-6.84533660e-01 -7.28863425e-01 1.31063841e-02 1.93692957e+02] [ 7.28718835e-01 -6.84659007e-01 -1.45225095e-02 1.88591767e+02] [ 1.95583300e-02 -3.90277620e-04 9.99808641e-01 5.14962017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.67, Y:188.61, Z:5.15 [[-6.83801837e-01 -7.29546248e-01 1.33161360e-02 1.93674618e+02] [ 7.29397308e-01 -6.83931381e-01 -1.47456017e-02 1.88611354e+02] [ 1.98649217e-02 -3.70315765e-04 9.99802604e-01 5.14937373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.66, Y:188.63, Z:5.15 [[-6.83316938e-01 -7.29991558e-01 1.37944473e-02 1.93655161e+02] [ 7.29832010e-01 -6.83456065e-01 -1.52657893e-02 1.88630147e+02] [ 2.05717960e-02 -3.63743189e-04 9.99788312e-01 5.15002017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.880385723 meters Centerline goodness [0,1] 0.9998873010864175 Centerline is valid? [True, True] Translation: X:193.64, Y:188.65, Z:5.15 [[-6.82647236e-01 -7.30614626e-01 1.39649477e-02 1.93636187e+02] [ 7.30451441e-01 -6.82789976e-01 -1.54447677e-02 1.88649401e+02] [ 2.08192995e-02 -3.42611835e-04 9.99783196e-01 5.14870244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.62, Y:188.67, Z:5.15 [[-6.82932780e-01 -7.30344014e-01 1.41576635e-02 1.93616428e+02] [ 7.30176439e-01 -6.83079424e-01 -1.56483090e-02 1.88668744e+02] [ 2.10994574e-02 -3.49150864e-04 9.99777321e-01 5.15065444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.60, Y:188.69, Z:5.15 [[-6.83863127e-01 -7.29469925e-01 1.43126646e-02 1.93598578e+02] [ 7.29298660e-01 -6.84012784e-01 -1.58105879e-02 1.88688846e+02] [ 2.13233939e-02 -3.74070944e-04 9.99772561e-01 5.14920097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.58, Y:188.71, Z:5.15 [[-6.84485200e-01 -7.28878226e-01 1.47153758e-02 1.93578049e+02] [ 7.28697266e-01 -6.84643246e-01 -1.62456318e-02 1.88707648e+02] [ 2.19158699e-02 -3.96840427e-04 9.99759740e-01 5.14937216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.56, Y:188.73, Z:5.15 [[-6.85751960e-01 -7.27692188e-01 1.44336099e-02 1.93558474e+02] [ 7.27518027e-01 -6.85903713e-01 -1.59253916e-02 1.88727541e+02] [ 2.14888497e-02 -4.20157104e-04 9.99769000e-01 5.15013748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.54, Y:188.75, Z:5.15 [[-6.86440958e-01 -7.27046253e-01 1.42322553e-02 1.93539701e+02] [ 7.26876963e-01 -6.86588350e-01 -1.56945353e-02 1.88747924e+02] [ 2.11823538e-02 -4.28273387e-04 9.99775537e-01 5.15100069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.52, Y:188.77, Z:5.15 [[-6.87100682e-01 -7.26429236e-01 1.39002985e-02 1.93521169e+02] [ 7.26267804e-01 -6.87241136e-01 -1.53198583e-02 1.88766728e+02] [ 2.06816499e-02 -4.30945822e-04 9.99786019e-01 5.15180104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.50, Y:188.79, Z:5.15 [[-6.87330655e-01 -7.26220140e-01 1.34491238e-02 1.93501656e+02] [ 7.26069124e-01 -6.87462096e-01 -1.48153375e-02 1.88785818e+02] [ 2.00049593e-02 -4.18042035e-04 9.99799793e-01 5.15197312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.48, Y:188.80, Z:5.15 [[-6.86534046e-01 -7.26979981e-01 1.30809912e-02 1.93481170e+02] [ 7.26837417e-01 -6.86658550e-01 -1.44015598e-02 1.88804486e+02] [ 1.94518201e-02 -3.79407256e-04 9.99810723e-01 5.15227759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.46, Y:188.82, Z:5.15 [[-6.86377789e-01 -7.27131812e-01 1.28397196e-02 1.93463017e+02] [ 7.26994633e-01 -6.86497776e-01 -1.41282835e-02 1.88823971e+02] [ 1.90875634e-02 -3.62932743e-04 9.99817750e-01 5.15281948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.44, Y:188.84, Z:5.15 [[-6.86139193e-01 -7.27360231e-01 1.26531476e-02 1.93444429e+02] [ 7.27227208e-01 -6.86255765e-01 -1.39144889e-02 1.88843676e+02] [ 1.88041414e-02 -3.45562941e-04 9.99823127e-01 5.15376902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.210385723 meters Centerline goodness [0,1] 0.999933041692706 Centerline is valid? [True, True] Translation: X:193.43, Y:188.86, Z:5.16 [[-6.85936334e-01 -7.27558786e-01 1.22294006e-02 1.93426162e+02] [ 7.27434696e-01 -6.86045267e-01 -1.34407898e-02 1.88863921e+02] [ 1.81688872e-02 -3.23435786e-04 9.99834880e-01 5.15542136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.41, Y:188.88, Z:5.16 [[-6.86083440e-01 -7.27420504e-01 1.22034190e-02 1.93407282e+02] [ 7.27297062e-01 -6.86191888e-01 -1.34043423e-02 1.88884074e+02] [ 1.81244806e-02 -3.20986473e-04 9.99835687e-01 5.15593156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.270385723 meters Centerline goodness [0,1] 0.9999776301366798 Centerline is valid? [True, True] Translation: X:193.39, Y:188.90, Z:5.15 [[-6.85811861e-01 -7.27664728e-01 1.28893533e-02 1.93388124e+02] [ 7.27527227e-01 -6.85932896e-01 -1.41490793e-02 1.88902867e+02] [ 1.91370173e-02 -3.26250975e-04 9.99816817e-01 5.15496858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.37, Y:188.92, Z:5.15 [[-6.85574388e-01 -7.27883307e-01 1.31776439e-02 1.93368802e+02] [ 7.27739794e-01 -6.85700947e-01 -1.44569453e-02 1.88922392e+02] [ 1.95588921e-02 -3.21415612e-04 9.99808655e-01 5.15467758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.35, Y:188.94, Z:5.16 [[-6.84224529e-01 -7.29141097e-01 1.37860174e-02 1.93348877e+02] [ 7.28984470e-01 -6.84363336e-01 -1.51151051e-02 1.88941574e+02] [ 2.04556892e-02 -2.92333085e-04 9.99790718e-01 5.15514582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.33, Y:188.96, Z:5.16 [[-6.83609601e-01 -7.29717686e-01 1.37844784e-02 1.93332746e+02] [ 7.29561405e-01 -6.83748511e-01 -1.51039790e-02 1.88962161e+02] [ 2.04467572e-02 -2.68601573e-04 9.99790907e-01 5.15526651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.31, Y:188.98, Z:5.16 [[-6.83265033e-01 -7.30052951e-01 1.30989637e-02 1.93313000e+02] [ 7.29912061e-01 -6.83390541e-01 -1.43440594e-02 1.88981543e+02] [ 1.94236308e-02 -2.39702593e-04 9.99811315e-01 5.15634650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.29, Y:189.00, Z:5.16 [[-6.83323677e-01 -7.30002114e-01 1.28711610e-02 1.93294226e+02] [ 7.29866234e-01 -6.83444848e-01 -1.40861721e-02 1.89001599e+02] [ 1.90796641e-02 -2.31189119e-04 9.99817940e-01 5.15733459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.28, Y:189.02, Z:5.16 [[-6.83357894e-01 -7.29970745e-01 1.28335371e-02 1.93276173e+02] [ 7.29835816e-01 -6.83478354e-01 -1.40364097e-02 1.89021641e+02] [ 1.90176133e-02 -2.25516362e-04 9.99819123e-01 5.15804805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.480385723 meters Centerline goodness [0,1] 0.9999776999754699 Centerline is valid? [True, True] Translation: X:193.26, Y:189.04, Z:5.16 [[-6.83099762e-01 -7.30208591e-01 1.30433231e-02 1.93259739e+02] [ 7.30069432e-01 -6.83224243e-01 -1.42568609e-02 1.89042207e+02] [ 1.93219969e-02 -2.16326857e-04 9.99813289e-01 5.15955702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.510385723 meters Centerline goodness [0,1] 0.9999776820586069 Centerline is valid? [True, True] Translation: X:193.24, Y:189.06, Z:5.16 [[-6.82990964e-01 -7.30313983e-01 1.28385661e-02 1.93240816e+02] [ 7.30179343e-01 -6.83111590e-01 -1.40243598e-02 1.89063010e+02] [ 1.90123594e-02 -2.04055303e-04 9.99819228e-01 5.16108258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.540385723 meters Centerline goodness [0,1] 0.9999552812807441 Centerline is valid? [True, True] Translation: X:193.22, Y:189.08, Z:5.16 [[-6.82876546e-01 -7.30425740e-01 1.25642573e-02 1.93224499e+02] [ 7.30296948e-01 -6.82992094e-01 -1.37174141e-02 1.89083568e+02] [ 1.86008408e-02 -1.91661650e-04 9.99826971e-01 5.16220205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.570385723 meters Centerline goodness [0,1] 0.9999776835527784 Centerline is valid? [True, True] Translation: X:193.21, Y:189.10, Z:5.16 [[-6.83144049e-01 -7.30166034e-01 1.31061545e-02 1.93206004e+02] [ 7.30025986e-01 -6.83269728e-01 -1.43016832e-02 1.89104207e+02] [ 1.93976420e-02 -2.02276400e-04 9.99811828e-01 5.16244443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.600385723 meters Centerline goodness [0,1] 0.9999327595481442 Centerline is valid? [True, True] Translation: X:193.19, Y:189.12, Z:5.16 [[-6.83612589e-01 -7.29724535e-01 1.32638740e-02 1.93189157e+02] [ 7.29581178e-01 -6.83741221e-01 -1.44653541e-02 1.89123801e+02] [ 1.96247812e-02 -2.11625381e-04 9.99807393e-01 5.16189606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.630385723 meters Centerline goodness [0,1] 0.999843246148334 Centerline is valid? [True, True] Translation: X:193.17, Y:189.15, Z:5.16 [[-6.84588057e-01 -7.28805693e-01 1.34704947e-02 1.93171920e+02] [ 7.28657846e-01 -6.84720532e-01 -1.46811619e-02 1.89145071e+02] [ 1.99232386e-02 -2.35166429e-04 9.99801485e-01 5.16161051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.660385723 meters Centerline goodness [0,1] 0.9999552041570542 Centerline is valid? [True, True] Translation: X:193.15, Y:189.17, Z:5.16 [[-6.84996143e-01 -7.28422991e-01 1.34249480e-02 1.93154242e+02] [ 7.28276244e-01 -6.85127644e-01 -1.46227305e-02 1.89166180e+02] [ 1.98493360e-02 -2.39443280e-04 9.99802954e-01 5.16248263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.14, Y:189.19, Z:5.16 [[-6.86060843e-01 -7.27432870e-01 1.27255281e-02 1.93137211e+02] [ 7.27300997e-01 -6.86178809e-01 -1.38528922e-02 1.89187954e+02] [ 1.88090368e-02 -2.48637612e-04 9.99823064e-01 5.16492156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.12, Y:189.21, Z:5.17 [[-6.86675933e-01 -7.26858209e-01 1.23817081e-02 1.93120043e+02] [ 7.26733421e-01 -6.86787508e-01 -1.34705120e-02 1.89207592e+02] [ 1.82947547e-02 -2.51675307e-04 9.99832605e-01 5.16570711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.10, Y:189.23, Z:5.17 [[-6.87052048e-01 -7.26501801e-01 1.24344910e-02 1.93100749e+02] [ 7.26376045e-01 -6.87164513e-01 -1.35193470e-02 1.89226636e+02] [ 1.83663709e-02 -2.56378606e-04 9.99831291e-01 5.16521189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.08, Y:189.25, Z:5.17 [[-6.87130724e-01 -7.26413730e-01 1.32083598e-02 1.93082228e+02] [ 7.26271995e-01 -6.87257609e-01 -1.43516283e-02 1.89246176e+02] [ 1.95027656e-02 -2.68582974e-04 9.99809767e-01 5.16509323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.06, Y:189.27, Z:5.17 [[-6.87220950e-01 -7.26321139e-01 1.36003473e-02 1.93063672e+02] [ 7.26171033e-01 -6.87355460e-01 -1.47682771e-02 1.89266359e+02] [ 2.00747848e-02 -2.72891189e-04 9.99798444e-01 5.16557151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.05, Y:189.29, Z:5.17 [[-6.87324950e-01 -7.26220684e-01 1.37087980e-02 1.93046249e+02] [ 7.26068345e-01 -6.87461595e-01 -1.48766121e-02 1.89285799e+02] [ 2.02279755e-02 -2.71542425e-04 9.99795357e-01 5.16607186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.03, Y:189.30, Z:5.17 [[-6.88275824e-01 -7.25323154e-01 1.35171556e-02 1.93026054e+02] [ 7.25175057e-01 -6.88408484e-01 -1.46593311e-02 1.89304564e+02] [ 1.99380768e-02 -2.87359114e-04 9.99801176e-01 5.16592155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.01, Y:189.32, Z:5.17 [[-6.88496766e-01 -7.25113349e-01 1.35216214e-02 1.93007825e+02] [ 7.24965293e-01 -6.88629471e-01 -1.46552109e-02 1.89324179e+02] [ 1.99380761e-02 -2.87359104e-04 9.99801176e-01 5.16632606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.930385723 meters Centerline goodness [0,1] 0.9999553411932833 Centerline is valid? [True, True] Translation: X:192.99, Y:189.34, Z:5.17 [[-6.89380976e-01 -7.24276194e-01 1.33365740e-02 1.92989039e+02] [ 7.24132178e-01 -6.89509901e-01 -1.44459138e-02 1.89343983e+02] [ 1.96585312e-02 -3.01295767e-04 9.99806707e-01 5.16631323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.97, Y:189.36, Z:5.17 [[-6.90355858e-01 -7.23343808e-01 1.35101450e-02 1.92970909e+02] [ 7.23196017e-01 -6.90487964e-01 -1.46250413e-02 1.89363844e+02] [ 1.99075256e-02 -3.25999926e-04 9.99801772e-01 5.16650377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.95, Y:189.38, Z:5.17 [[-6.92329010e-01 -7.21453779e-01 1.36009618e-02 1.92953534e+02] [ 7.21303787e-01 -6.92462491e-01 -1.47154786e-02 1.89384093e+02] [ 2.00346935e-02 -3.77527430e-04 9.99799214e-01 5.16731600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.93, Y:189.40, Z:5.17 [[-6.93408491e-01 -7.20420730e-01 1.33654786e-02 1.92934994e+02] [ 7.20275818e-01 -6.93537176e-01 -1.44544650e-02 1.89404664e+02] [ 1.96827525e-02 -3.96017687e-04 9.99806197e-01 5.16845121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.92, Y:189.42, Z:5.17 [[-6.95464698e-01 -7.18444376e-01 1.29047414e-02 1.92915929e+02] [ 7.18309080e-01 -6.95584281e-01 -1.39489345e-02 1.89424528e+02] [ 1.89978688e-02 -4.31398597e-04 9.99819431e-01 5.16929706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.90, Y:189.44, Z:5.17 [[-6.96387078e-01 -7.17548829e-01 1.29890819e-02 1.92897286e+02] [ 7.17411753e-01 -6.96508057e-01 -1.40322353e-02 1.89444059e+02] [ 1.91158142e-02 -4.53347339e-04 9.99817173e-01 5.16909969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.88, Y:189.46, Z:5.17 [[-6.97583023e-01 -7.16380595e-01 1.32954535e-02 1.92876570e+02] [ 7.16236920e-01 -6.97709540e-01 -1.43552414e-02 1.89463241e+02] [ 1.95601811e-02 -4.91278013e-04 9.99808561e-01 5.16853956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.140385723 meters Centerline goodness [0,1] 0.9999777886366665 Centerline is valid? [True, True] Translation: X:192.85, Y:189.48, Z:5.17 [[-6.98219438e-01 -7.15759614e-01 1.33338233e-02 1.92854937e+02] [ 7.15615148e-01 -6.98346561e-01 -1.43888813e-02 1.89480380e+02] [ 1.96106097e-02 -5.04710649e-04 9.99807566e-01 5.16946719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.84, Y:189.50, Z:5.17 [[-6.98470155e-01 -7.15513711e-01 1.34004388e-02 1.92836819e+02] [ 7.15367920e-01 -6.98598505e-01 -1.44522706e-02 1.89499238e+02] [ 1.97023243e-02 -5.08235639e-04 9.99805761e-01 5.16993272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.82, Y:189.52, Z:5.17 [[-6.97978547e-01 -7.15996165e-01 1.32453558e-02 1.92815946e+02] [ 7.15853955e-01 -6.98104045e-01 -1.42778560e-02 1.89516919e+02] [ 1.94695266e-02 -4.83896804e-04 9.99810334e-01 5.17113063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.79, Y:189.53, Z:5.17 [[-6.96982360e-01 -7.16957764e-01 1.36804445e-02 1.92792405e+02] [ 7.16806421e-01 -6.97116452e-01 -1.47379266e-02 1.89533154e+02] [ 2.01033338e-02 -4.65844410e-04 9.99797799e-01 5.17050906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.77, Y:189.55, Z:5.17 [[-6.96336211e-01 -7.17579313e-01 1.39932613e-02 1.92772617e+02] [ 7.17421274e-01 -6.96476651e-01 -1.50662042e-02 1.89550978e+02] [ 2.05571762e-02 -4.52080226e-04 9.99788577e-01 5.17011287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.75, Y:189.57, Z:5.17 [[-6.95389439e-01 -7.18493760e-01 1.41508337e-02 1.92750270e+02] [ 7.18332527e-01 -6.95533276e-01 -1.52263810e-02 1.89568587e+02] [ 2.07824354e-02 -4.23260453e-04 9.99783932e-01 5.17106631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.73, Y:189.59, Z:5.17 [[-6.93534135e-01 -7.20291268e-01 1.38163791e-02 1.92728945e+02] [ 7.20138086e-01 -6.93671653e-01 -1.48584792e-02 1.89585761e+02] [ 2.02864633e-02 -3.55161749e-04 9.99794145e-01 5.17186554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.350385723 meters Centerline goodness [0,1] 0.9999781176831003 Centerline is valid? [True, True] Translation: X:192.71, Y:189.60, Z:5.17 [[-6.93069113e-01 -7.20739005e-01 1.38018237e-02 1.92708095e+02] [ 7.20586396e-01 -6.93206443e-01 -1.48348374e-02 1.89604953e+02] [ 2.02595591e-02 -3.36161161e-04 9.99794698e-01 5.17239808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.68, Y:189.62, Z:5.17 [[-6.92303239e-01 -7.21473569e-01 1.38605727e-02 1.92684865e+02] [ 7.21319972e-01 -6.92441906e-01 -1.48897298e-02 1.89621266e+02] [ 2.03401879e-02 -3.10300226e-04 9.99793069e-01 5.17257813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.67, Y:189.64, Z:5.17 [[-6.92060968e-01 -7.21705635e-01 1.38777819e-02 1.92665275e+02] [ 7.21551875e-01 -6.92200035e-01 -1.48997726e-02 1.89640008e+02] [ 2.03594510e-02 -2.98011449e-04 9.99792680e-01 5.17230482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.440385723 meters Centerline goodness [0,1] 0.9999562162043828 Centerline is valid? [True, True] Translation: X:192.64, Y:189.66, Z:5.17 [[-6.92061731e-01 -7.21703695e-01 1.39404872e-02 1.92644769e+02] [ 7.21548724e-01 -6.92202059e-01 -1.49582170e-02 1.89658830e+02] [ 2.04450344e-02 -2.93268772e-04 9.99790935e-01 5.17279913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.470385723 meters Centerline goodness [0,1] 0.9999563375976946 Centerline is valid? [True, True] Translation: X:192.63, Y:189.68, Z:5.17 [[-6.92694335e-01 -7.21094301e-01 1.40558588e-02 1.92625010e+02] [ 7.20936817e-01 -6.92836860e-01 -1.50728550e-02 1.89677735e+02] [ 2.06073669e-02 -3.07495177e-04 9.99787598e-01 5.17440851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.500385723 meters Centerline goodness [0,1] 0.9998690585308367 Centerline is valid? [True, True] Translation: X:192.60, Y:189.70, Z:5.17 [[-6.94080993e-01 -7.19753564e-01 1.43660247e-02 1.92603275e+02] [ 7.19588958e-01 -6.94229563e-01 -1.53962839e-02 1.89696232e+02] [ 2.10548492e-02 -3.48635243e-04 9.99778261e-01 5.17347918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.530385723 meters Centerline goodness [0,1] 0.999868872522237 Centerline is valid? [True, True] Translation: X:192.58, Y:189.71, Z:5.18 [[-6.94418918e-01 -7.19436894e-01 1.38896284e-02 1.92582586e+02] [ 7.19283128e-01 -6.94557729e-01 -1.48775839e-02 1.89714140e+02] [ 2.03506315e-02 -3.40700356e-04 9.99792846e-01 5.17628187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.560385723 meters Centerline goodness [0,1] 0.9999127094972067 Centerline is valid? [True, True] Translation: X:192.56, Y:189.73, Z:5.18 [[-6.95076293e-01 -7.18806746e-01 1.36312149e-02 1.92562461e+02] [ 7.18658703e-01 -6.95209855e-01 -1.45920066e-02 1.89732577e+02] [ 1.99653877e-02 -3.46366595e-04 9.99800612e-01 5.17689751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.590385723 meters Centerline goodness [0,1] 0.9998691470568992 Centerline is valid? [True, True] Translation: X:192.54, Y:189.75, Z:5.18 [[-6.95999290e-01 -7.17902452e-01 1.41794551e-02 1.92541849e+02] [ 7.17742267e-01 -6.96143609e-01 -1.51695219e-02 1.89750743e+02] [ 2.07611740e-02 -3.80782202e-04 9.99784391e-01 5.17640304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.52, Y:189.77, Z:5.18 [[-6.96636209e-01 -7.17288136e-01 1.39901100e-02 1.92520796e+02] [ 7.17132252e-01 -6.96776564e-01 -1.49583885e-02 1.89768435e+02] [ 2.04774554e-02 -3.87795910e-04 9.99790240e-01 5.17661364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.650385723 meters Centerline goodness [0,1] 0.9998050133240896 Centerline is valid? [True, True] Translation: X:192.50, Y:189.79, Z:5.18 [[-6.98031879e-01 -7.15938930e-01 1.35256828e-02 1.92499982e+02] [ 7.15793136e-01 -6.98162791e-01 -1.44535167e-02 1.89786336e+02] [ 1.97909637e-02 -4.07424481e-04 9.99804057e-01 5.17734069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.48, Y:189.80, Z:5.18 [[-6.98709587e-01 -7.15287170e-01 1.30068232e-02 1.92480099e+02] [ 7.15152381e-01 -6.98830524e-01 -1.38914045e-02 1.89804635e+02] [ 1.90259085e-02 -4.04196873e-04 9.99818909e-01 5.17865690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.46, Y:189.82, Z:5.18 [[-6.99845011e-01 -7.14179870e-01 1.28091127e-02 1.92458511e+02] [ 7.14049112e-01 -6.99962095e-01 -1.36722528e-02 1.89821815e+02] [ 1.87303411e-02 -4.22122379e-04 9.99824483e-01 5.17904068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.740385723 meters Centerline goodness [0,1] 0.9999354741574 Centerline is valid? [True, True] Translation: X:192.43, Y:189.84, Z:5.18 [[-7.00337614e-01 -7.13687695e-01 1.33079228e-02 1.92434994e+02] [ 7.13546625e-01 -7.00463899e-01 -1.41964634e-02 1.89838900e+02] [ 1.94535607e-02 -4.46493907e-04 9.99810662e-01 5.17979272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.41, Y:189.86, Z:5.18 [[-7.00700952e-01 -7.13334661e-01 1.31086722e-02 1.92414499e+02] [ 7.13197862e-01 -7.00823418e-01 -1.39766067e-02 1.89857095e+02] [ 1.91568625e-02 -4.44344611e-04 9.99816392e-01 5.17992176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.39, Y:189.88, Z:5.18 [[-7.01785321e-01 -7.12264095e-01 1.33124626e-02 1.92394734e+02] [ 7.12122941e-01 -7.01911413e-01 -1.41874668e-02 1.89875528e+02] [ 1.94493927e-02 -4.76445922e-04 9.99810729e-01 5.17945501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.37, Y:189.89, Z:5.18 [[-7.02913312e-01 -7.11149915e-01 1.33668941e-02 1.92370349e+02] [ 7.11007564e-01 -7.03040216e-01 -1.42372360e-02 1.89890940e+02] [ 1.95222732e-02 -5.03579904e-04 9.99809295e-01 5.17973445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.860385723 meters Centerline goodness [0,1] 0.9999787234042553 Centerline is valid? [True, True] Translation: X:192.35, Y:189.91, Z:5.18 [[-7.03443463e-01 -7.10625805e-01 1.33513976e-02 1.92349021e+02] [ 7.10483841e-01 -7.03569971e-01 -1.42129516e-02 1.89909507e+02] [ 1.94937326e-02 -5.12055700e-04 9.99809848e-01 5.18042906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.33, Y:189.93, Z:5.18 [[-7.03745317e-01 -7.10326449e-01 1.33740420e-02 1.92329529e+02] [ 7.10184094e-01 -7.03872197e-01 -1.42296471e-02 1.89928560e+02] [ 1.95213110e-02 -5.16015644e-04 9.99809308e-01 5.18101655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.30, Y:189.94, Z:5.18 [[-7.03740225e-01 -7.10325953e-01 1.36651608e-02 1.92304678e+02] [ 7.10177461e-01 -7.03872693e-01 -1.45329245e-02 1.89943113e+02] [ 1.99416469e-02 -5.22714376e-04 9.99801009e-01 5.18088068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.28, Y:189.96, Z:5.18 [[-7.03654653e-01 -7.10409610e-01 1.37228105e-02 1.92282825e+02] [ 7.10260039e-01 -7.03788263e-01 -1.45862257e-02 1.89960777e+02] [ 2.00201479e-02 -5.16901635e-04 9.99799443e-01 5.18081211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.26, Y:189.98, Z:5.18 [[-7.02689627e-01 -7.11364853e-01 1.36870004e-02 1.92259505e+02] [ 7.11216400e-01 -7.02822746e-01 -1.45402725e-02 1.89976012e+02] [ 1.99629740e-02 -4.82879535e-04 9.99800603e-01 5.18161164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.24, Y:189.99, Z:5.18 [[-7.02265751e-01 -7.11785723e-01 1.35609696e-02 1.92238357e+02] [ 7.11640222e-01 -7.02396521e-01 -1.43986617e-02 1.89994717e+02] [ 1.97739396e-02 -4.61155554e-04 9.99804370e-01 5.18261027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.22, Y:190.01, Z:5.18 [[-7.01523456e-01 -7.12521231e-01 1.33542459e-02 1.92217047e+02] [ 7.12380411e-01 -7.01650420e-01 -1.41717652e-02 1.90010678e+02] [ 1.94676958e-02 -4.28522530e-04 9.99810395e-01 5.18333385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.20, Y:190.03, Z:5.18 [[-7.01209248e-01 -7.12828121e-01 1.34781206e-02 1.92195864e+02] [ 7.12684874e-01 -7.01338644e-01 -1.42959984e-02 1.90028487e+02] [ 1.96433165e-02 -4.18833617e-04 9.99806964e-01 5.18330962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.17, Y:190.05, Z:5.18 [[-7.00550880e-01 -7.13468802e-01 1.38105718e-02 1.92174402e+02] [ 7.13318705e-01 -7.00686880e-01 -1.46397090e-02 1.90045910e+02] [ 2.01218621e-02 -4.04521879e-04 9.99797453e-01 5.18277722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.15, Y:190.06, Z:5.18 [[-6.99075923e-01 -7.14906746e-01 1.41844557e-02 1.92151850e+02] [ 7.14748877e-01 -6.99219715e-01 -1.50277351e-02 1.90061418e+02] [ 2.06614802e-02 -3.67204003e-04 9.99786461e-01 5.18190390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.13, Y:190.08, Z:5.18 [[-6.97794451e-01 -7.16154373e-01 1.43463742e-02 1.92130836e+02] [ 7.15993272e-01 -6.97941835e-01 -1.51930749e-02 1.90078090e+02] [ 2.08935218e-02 -3.29736014e-04 9.99781652e-01 5.18256901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.11, Y:190.10, Z:5.18 [[-6.97291701e-01 -7.16642640e-01 1.44087065e-02 1.92110129e+02] [ 7.16480397e-01 -6.97440485e-01 -1.52515784e-02 1.90095638e+02] [ 2.09791466e-02 -3.11243307e-04 9.99779865e-01 5.18406445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.09, Y:190.11, Z:5.19 [[-6.97056891e-01 -7.16871905e-01 1.43653120e-02 1.92088138e+02] [ 7.16710871e-01 -6.97204836e-01 -1.51968129e-02 1.90113971e+02] [ 2.09097332e-02 -2.97267816e-04 9.99781323e-01 5.18558684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.07, Y:190.13, Z:5.19 [[-6.96315612e-01 -7.17591429e-01 1.43913286e-02 1.92066415e+02] [ 7.17430142e-01 -6.96464262e-01 -1.52158748e-02 1.90131627e+02] [ 2.09418274e-02 -2.70278265e-04 9.99780659e-01 5.18562019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.04, Y:190.15, Z:5.19 [[-6.96192986e-01 -7.17688697e-01 1.54357181e-02 1.92044493e+02] [ 7.17503386e-01 -6.96364026e-01 -1.63105827e-02 1.90150139e+02] [ 2.24547997e-02 -2.80133245e-04 9.99747820e-01 5.18552063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.03, Y:190.17, Z:5.19 [[-6.96443339e-01 -7.17444563e-01 1.54910955e-02 1.92026342e+02] [ 7.17258072e-01 -6.96615546e-01 -1.63596681e-02 1.90169833e+02] [ 2.25284929e-02 -2.82468559e-04 9.99746161e-01 5.18533483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.01, Y:190.19, Z:5.19 [[-6.96897534e-01 -7.17004941e-01 1.54188712e-02 1.92007456e+02] [ 7.16820295e-01 -6.97068025e-01 -1.62736843e-02 1.90188988e+02] [ 2.24163141e-02 -2.88530637e-04 9.99748681e-01 5.18538368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.99, Y:190.21, Z:5.19 [[-6.97859174e-01 -7.16087055e-01 1.45568782e-02 1.91987071e+02] [ 7.15922463e-01 -6.98010919e-01 -1.53552242e-02 1.90208958e+02] [ 2.11565372e-02 -2.94188017e-04 9.99776132e-01 5.18650457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.97, Y:190.23, Z:5.19 [[-6.98592647e-01 -7.15373994e-01 1.44347554e-02 1.91969391e+02] [ 7.15212178e-01 -6.98741694e-01 -1.52179358e-02 1.90229824e+02] [ 2.09726810e-02 -3.07225179e-04 9.99780002e-01 5.18673704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.95, Y:190.25, Z:5.19 [[-6.99294063e-01 -7.14704997e-01 1.35860865e-02 1.91949953e+02] [ 7.14561679e-01 -6.99425962e-01 -1.43153914e-02 1.90250048e+02] [ 1.97337434e-02 -3.02571470e-04 9.99805225e-01 5.18799813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.93, Y:190.27, Z:5.19 [[-6.99645619e-01 -7.14364901e-01 1.33714952e-02 1.91930420e+02] [ 7.14226160e-01 -6.99773319e-01 -1.40817095e-02 1.90270711e+02] [ 1.94164946e-02 -3.01934675e-04 9.99811437e-01 5.18819293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.91, Y:190.29, Z:5.19 [[-6.99776507e-01 -7.14239281e-01 1.32321521e-02 1.91911550e+02] [ 7.14103543e-01 -6.99901537e-01 -1.39272726e-02 1.90290114e+02] [ 1.92086088e-02 -2.96851472e-04 9.99815454e-01 5.18874297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.89, Y:190.31, Z:5.19 [[-6.99593670e-01 -7.14431931e-01 1.24785174e-02 1.91893543e+02] [ 7.14311384e-01 -6.99704898e-01 -1.31263897e-02 1.90308992e+02] [ 1.81091917e-02 -2.69592145e-04 9.99835979e-01 5.18920018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.88, Y:190.33, Z:5.19 [[-6.99654226e-01 -7.14379808e-01 1.20604824e-02 1.91875980e+02] [ 7.14267333e-01 -6.99758119e-01 -1.26788298e-02 1.90328610e+02] [ 1.74969205e-02 -2.56388242e-04 9.99846884e-01 5.18996448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.580385723 meters Centerline goodness [0,1] 0.9998949005759449 Centerline is valid? [True, True] Translation: X:191.86, Y:190.35, Z:5.19 [[-7.00327415e-01 -7.13711823e-01 1.25277965e-02 1.91858023e+02] [ 7.13590509e-01 -7.00439402e-01 -1.31616486e-02 1.90348981e+02] [ 1.81685865e-02 -2.77746688e-04 9.99834899e-01 5.18772936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.84, Y:190.37, Z:5.19 [[-7.00026166e-01 -7.14013168e-01 1.21886487e-02 1.91838956e+02] [ 7.13898509e-01 -7.00132224e-01 -1.27979722e-02 1.90368362e+02] [ 1.76715864e-02 -2.57457260e-04 9.99843812e-01 5.19075023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.82, Y:190.39, Z:5.19 [[-6.99747911e-01 -7.14287993e-01 1.20632968e-02 1.91820953e+02] [ 7.14175852e-01 -6.99851844e-01 -1.26589392e-02 1.90387558e+02] [ 1.74846488e-02 -2.42750983e-04 9.99847102e-01 5.19071194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.81, Y:190.41, Z:5.19 [[-6.99868866e-01 -7.14165681e-01 1.22861706e-02 1.91805070e+02] [ 7.14049482e-01 -6.99976657e-01 -1.28847752e-02 1.90408332e+02] [ 1.78018969e-02 -2.44719244e-04 9.99841504e-01 5.19055422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.79, Y:190.43, Z:5.19 [[-7.00160684e-01 -7.13871987e-01 1.27201986e-02 1.91787406e+02] [ 7.13747536e-01 -7.00276175e-01 -1.33316776e-02 1.90429015e+02] [ 1.84247632e-02 -2.55306145e-04 9.99830217e-01 5.19071453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.730385723 meters Centerline goodness [0,1] 0.999936874000505 Centerline is valid? [True, True] Translation: X:191.77, Y:190.45, Z:5.19 [[-7.00871092e-01 -7.13168650e-01 1.30456147e-02 1.91769757e+02] [ 7.13037779e-01 -7.00992440e-01 -1.36647476e-02 1.90449235e+02] [ 1.88901468e-02 -2.75210440e-04 9.99821527e-01 5.18904161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.75, Y:190.47, Z:5.19 [[-7.00531152e-01 -7.13494823e-01 1.34626626e-02 1.91752188e+02] [ 7.13355672e-01 -7.00660450e-01 -1.40932460e-02 1.90468463e+02] [ 1.94882133e-02 -2.69091121e-04 9.99810051e-01 5.18935798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.73, Y:190.49, Z:5.19 [[-7.00732749e-01 -7.13296754e-01 1.34668284e-02 1.91733627e+02] [ 7.13157643e-01 -7.00862089e-01 -1.40892645e-02 1.90487699e+02] [ 1.94882161e-02 -2.68837492e-04 9.99810051e-01 5.18976240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.820385723 meters Centerline goodness [0,1] 0.9999580114208935 Centerline is valid? [True, True] Translation: X:191.72, Y:190.51, Z:5.19 [[-7.00607226e-01 -7.13399505e-01 1.45141667e-02 1.91715645e+02] [ 7.13238125e-01 -7.00757496e-01 -1.51759537e-02 1.90508069e+02] [ 2.09974290e-02 -2.80325764e-04 9.99779490e-01 5.18885634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.70, Y:190.53, Z:5.19 [[-6.99723505e-01 -7.14247296e-01 1.54213215e-02 1.91698351e+02] [ 7.14065527e-01 -6.99893371e-01 -1.61149569e-02 1.90529539e+02] [ 2.23033450e-02 -2.64180068e-04 9.99751215e-01 5.18904649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.68, Y:190.55, Z:5.19 [[-6.99207182e-01 -7.14752204e-01 1.54468173e-02 1.91681797e+02] [ 7.14570168e-01 -6.99377744e-01 -1.61321755e-02 1.90550012e+02] [ 2.23336682e-02 -2.41898118e-04 9.99750543e-01 5.18925842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.66, Y:190.57, Z:5.19 [[-6.98523243e-01 -7.15432699e-01 1.48772382e-02 1.91663819e+02] [ 7.15264188e-01 -6.98681624e-01 -1.55283566e-02 1.90570389e+02] [ 2.15039470e-02 -2.05762322e-04 9.99768742e-01 5.19067080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.64, Y:190.59, Z:5.19 [[-6.98137949e-01 -7.15811605e-01 1.47359974e-02 1.91644221e+02] [ 7.15646548e-01 -6.98293428e-01 -1.53722925e-02 1.90589822e+02] [ 2.12937155e-02 -1.86215041e-04 9.99773246e-01 5.19220772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.63, Y:190.61, Z:5.19 [[-6.98047678e-01 -7.15910129e-01 1.42171191e-02 1.91626688e+02] [ 7.15756679e-01 -6.98192422e-01 -1.48229020e-02 1.90610592e+02] [ 2.05381505e-02 -1.71094347e-04 9.99789055e-01 5.19283778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.61, Y:190.63, Z:5.19 [[-6.97676753e-01 -7.16284592e-01 1.35473472e-02 1.91609693e+02] [ 7.16145485e-01 -6.97808255e-01 -1.41167776e-02 1.90633346e+02] [ 1.95650810e-02 -1.47075985e-04 9.99808575e-01 5.19458348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.59, Y:190.66, Z:5.20 [[-6.97301321e-01 -7.16650917e-01 1.35029804e-02 1.91593266e+02] [ 7.16512938e-01 -6.97432037e-01 -1.40628501e-02 1.90655959e+02] [ 1.94955655e-02 -1.30983808e-04 9.99809935e-01 5.19516037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.58, Y:190.68, Z:5.20 [[-6.97021543e-01 -7.16922130e-01 1.35509325e-02 1.91575024e+02] [ 7.16783373e-01 -6.97153244e-01 -1.41050141e-02 1.90677175e+02] [ 1.95592733e-02 -1.18415583e-04 9.99808692e-01 5.19589419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.56, Y:190.70, Z:5.20 [[-6.95980536e-01 -7.17932963e-01 1.35408347e-02 1.91557895e+02] [ 7.17794756e-01 -6.96112242e-01 -1.40866593e-02 1.90699632e+02] [ 1.95392179e-02 -8.45005997e-05 9.99809088e-01 5.19673996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.54, Y:190.72, Z:5.20 [[-6.95511918e-01 -7.18384837e-01 1.36528076e-02 1.91540150e+02] [ 7.18244570e-01 -6.95645903e-01 -1.41956287e-02 1.90720425e+02] [ 1.96954441e-02 -6.71739975e-05 9.99806024e-01 5.19708002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.150385723 meters Centerline goodness [0,1] 0.9999785274097615 Centerline is valid? [True, True] Translation: X:191.52, Y:190.74, Z:5.20 [[-6.94829639e-01 -7.19042881e-01 1.37516442e-02 1.91521730e+02] [ 7.18900831e-01 -6.94965707e-01 -1.42920307e-02 1.90741720e+02] [ 1.98335040e-02 -4.44581042e-05 9.99803296e-01 5.19760239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.180385723 meters Centerline goodness [0,1] 0.9999570114349583 Centerline is valid? [True, True] Translation: X:191.50, Y:190.76, Z:5.20 [[-6.94058397e-01 -7.19783635e-01 1.39449120e-02 1.91504407e+02] [ 7.19637876e-01 -6.94198472e-01 -1.44847601e-02 1.90763382e+02] [ 2.01064298e-02 -1.79825315e-05 9.99797845e-01 5.19801616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.210385723 meters Centerline goodness [0,1] 0.9999139155511557 Centerline is valid? [True, True] Translation: X:191.49, Y:190.79, Z:5.20 [[-6.94297404e-01 -7.19552026e-01 1.39998838e-02 1.91488726e+02] [ 7.19405238e-01 -6.94438537e-01 -1.45335063e-02 1.90785518e+02] [ 2.01796727e-02 -1.89859770e-05 9.99796370e-01 5.19717353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.240385723 meters Centerline goodness [0,1] 0.9999354797083683 Centerline is valid? [True, True] Translation: X:191.47, Y:190.81, Z:5.20 [[-6.94840750e-01 -7.19024020e-01 1.41700833e-02 1.91471190e+02] [ 7.18873708e-01 -6.94985222e-01 -1.47014645e-02 1.90807897e+02] [ 2.04187046e-02 -2.86762436e-05 9.99791516e-01 5.19745234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.270385723 meters Centerline goodness [0,1] 0.9999568211748958 Centerline is valid? [True, True] Translation: X:191.45, Y:190.83, Z:5.20 [[-6.95811575e-01 -7.18081971e-01 1.43015844e-02 1.91454466e+02] [ 7.17928832e-01 -6.95958534e-01 -1.48294183e-02 1.90830403e+02] [ 2.06020477e-02 -5.09611375e-05 9.99787754e-01 5.19829909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.44, Y:190.86, Z:5.20 [[-6.97300609e-01 -7.16615169e-01 1.53153755e-02 1.91441223e+02] [ 7.16439387e-01 -6.97468774e-01 -1.58717963e-02 1.90855440e+02] [ 2.20559661e-02 -9.48749555e-05 9.99756733e-01 5.19889320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.42, Y:190.88, Z:5.20 [[-6.98243491e-01 -7.15693912e-01 1.54354108e-02 1.91424871e+02] [ 7.15515308e-01 -6.98414068e-01 -1.59885644e-02 1.90876846e+02] [ 2.22232262e-02 -1.19638303e-04 9.99753026e-01 5.19909951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.41, Y:190.90, Z:5.20 [[-6.99883534e-01 -7.14100300e-01 1.49599484e-02 1.91408945e+02] [ 7.13932355e-01 -7.00043382e-01 -1.54872786e-02 1.90900733e+02] [ 2.15320831e-02 -1.58900129e-04 9.99768145e-01 5.19869816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.39, Y:190.93, Z:5.20 [[-7.01316536e-01 -7.12685762e-01 1.53010295e-02 1.91394580e+02] [ 7.12509929e-01 -7.01483403e-01 -1.58315255e-02 1.90925557e+02] [ 2.20163211e-02 -2.00775166e-04 9.99757591e-01 5.19903332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.38, Y:190.95, Z:5.20 [[-7.02154098e-01 -7.11859786e-01 1.53384376e-02 1.91377979e+02] [ 7.11683087e-01 -7.02321576e-01 -1.58615004e-02 1.90948243e+02] [ 2.20636799e-02 -2.21110903e-04 9.99756543e-01 5.19995845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.450385723 meters Centerline goodness [0,1] 0.9998910343024016 Centerline is valid? [True, True] Translation: X:191.36, Y:190.97, Z:5.20 [[-7.03349954e-01 -7.10661995e-01 1.60739453e-02 1.91360766e+02] [ 7.10467843e-01 -7.03533552e-01 -1.66127913e-02 1.90970784e+02] [ 2.31146392e-02 -2.64584791e-04 9.99732786e-01 5.19875860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.35, Y:190.99, Z:5.20 [[-7.03789242e-01 -7.10234795e-01 1.57238278e-02 1.91346788e+02] [ 7.10049103e-01 -7.03964818e-01 -1.62421041e-02 1.90994652e+02] [ 2.26047290e-02 -2.66328359e-04 9.99744445e-01 5.20147782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.33, Y:191.02, Z:5.20 [[-7.04006613e-01 -7.10013707e-01 1.59757453e-02 1.91327933e+02] [ 7.09822182e-01 -7.04187804e-01 -1.64926616e-02 1.91015370e+02] [ 2.29599408e-02 -2.71004503e-04 9.99736349e-01 5.20220998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.31, Y:191.04, Z:5.20 [[-7.04111788e-01 -7.09925221e-01 1.52568330e-02 1.91311059e+02] [ 7.09750715e-01 -7.04277016e-01 -1.57418643e-02 1.91037429e+02] [ 2.19205833e-02 -2.55484103e-04 9.99759683e-01 5.20110156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.570385723 meters Centerline goodness [0,1] 0.9999781940295253 Centerline is valid? [True, True] Translation: X:191.29, Y:191.06, Z:5.20 [[-7.04086087e-01 -7.09953056e-01 1.51473054e-02 1.91292656e+02] [ 7.09781248e-01 -7.04248960e-01 -1.56199364e-02 1.91058159e+02] [ 2.17568957e-02 -2.46506536e-04 9.99763260e-01 5.20222382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.600385723 meters Centerline goodness [0,1] 0.999956173028882 Centerline is valid? [True, True] Translation: X:191.28, Y:191.08, Z:5.20 [[-7.03961479e-01 -7.10083847e-01 1.48042507e-02 1.91277510e+02] [ 7.09919940e-01 -7.04117090e-01 -1.52578818e-02 1.91082263e+02] [ 2.12583014e-02 -2.31128232e-04 9.99773990e-01 5.20402668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.26, Y:191.10, Z:5.20 [[-7.03922883e-01 -7.10123364e-01 1.47439176e-02 1.91259406e+02] [ 7.09960976e-01 -7.04077239e-01 -1.51873335e-02 1.91104172e+02] [ 2.11657371e-02 -2.23105486e-04 9.99775956e-01 5.20455175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.660385723 meters Centerline goodness [0,1] 0.9999560854576993 Centerline is valid? [True, True] Translation: X:191.24, Y:191.13, Z:5.20 [[-7.03264954e-01 -7.10778718e-01 1.45608649e-02 1.91241015e+02] [ 7.10620648e-01 -7.03415650e-01 -1.49906017e-02 1.91125509e+02] [ 2.08973409e-02 -1.95113583e-04 9.99781608e-01 5.20424206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.690385723 meters Centerline goodness [0,1] 0.9999780330821783 Centerline is valid? [True, True] Translation: X:191.22, Y:191.15, Z:5.20 [[-7.02700005e-01 -7.11341088e-01 1.43722100e-02 1.91222793e+02] [ 7.11187377e-01 -7.02846945e-01 -1.47880614e-02 1.91145585e+02] [ 2.06208196e-02 -1.70236533e-04 9.99787354e-01 5.20374258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.20, Y:191.17, Z:5.20 [[-7.02185169e-01 -7.11846106e-01 1.45296410e-02 1.91204238e+02] [ 7.11689305e-01 -7.02335460e-01 -1.49410229e-02 1.91166315e+02] [ 2.08403911e-02 -1.50774605e-04 9.99782804e-01 5.20391167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.19, Y:191.19, Z:5.20 [[-7.01080762e-01 -7.12931178e-01 1.46595025e-02 1.91187079e+02] [ 7.12771975e-01 -7.01234000e-01 -1.50661654e-02 1.91189321e+02] [ 2.10208806e-02 -1.13716172e-04 9.99779030e-01 5.20403976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.780385723 meters Centerline goodness [0,1] 0.9999558352655404 Centerline is valid? [True, True] Translation: X:191.17, Y:191.21, Z:5.20 [[-7.00136372e-01 -7.13860186e-01 1.45840528e-02 1.91171148e+02] [ 7.13703000e-01 -7.00288246e-01 -1.49800000e-02 1.91210851e+02] [ 2.09066663e-02 -7.93606560e-05 9.99781429e-01 5.20413882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.15, Y:191.23, Z:5.20 [[-6.99886498e-01 -7.14110799e-01 1.43058608e-02 1.91153356e+02] [ 7.13959794e-01 -7.00032687e-01 -1.46849921e-02 1.91231150e+02] [ 2.05012816e-02 -6.40182622e-05 9.99789825e-01 5.20473371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.14, Y:191.25, Z:5.20 [[-6.99381124e-01 -7.14606494e-01 1.42688796e-02 1.91135336e+02] [ 7.14456556e-01 -6.99526666e-01 -1.46380801e-02 1.91251118e+02] [ 2.04419289e-02 -4.31023662e-05 9.99791041e-01 5.20475544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.870385723 meters Centerline goodness [0,1] 0.9998449612403101 Centerline is valid? [True, True] Translation: X:191.12, Y:191.27, Z:5.20 [[-6.98511826e-01 -7.15447520e-01 1.46994764e-02 1.91117617e+02] [ 7.15288779e-01 -6.98666477e-01 -1.50704064e-02 1.91271936e+02] [ 2.10521163e-02 -1.24865315e-05 9.99778380e-01 5.20334958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.10, Y:191.30, Z:5.20 [[-6.98163703e-01 -7.15771491e-01 1.54471965e-02 1.91100867e+02] [ 7.15596483e-01 -6.98334570e-01 -1.58272328e-02 1.91295162e+02] [ 2.21159933e-02 3.96004120e-06 9.99755412e-01 5.20334765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.08, Y:191.32, Z:5.20 [[-6.98779859e-01 -7.15174546e-01 1.52340952e-02 1.91084029e+02] [ 7.15004383e-01 -6.98945898e-01 -1.56001430e-02 1.91316012e+02] [ 2.18046335e-02 -8.62091875e-06 9.99762251e-01 5.20358640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.960385723 meters Centerline goodness [0,1] 0.9999555090872689 Centerline is valid? [True, True] Translation: X:191.07, Y:191.34, Z:5.20 [[-6.99627551e-01 -7.14343748e-01 1.53068884e-02 1.91068423e+02] [ 7.14171953e-01 -6.99794977e-01 -1.56656203e-02 1.91339336e+02] [ 2.19023216e-02 -2.83491818e-05 9.99760115e-01 5.20479529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.05, Y:191.36, Z:5.21 [[-7.00500419e-01 -7.13492997e-01 1.50634398e-02 1.91051558e+02] [ 7.13326620e-01 -7.00662359e-01 -1.54075295e-02 1.91359339e+02] [ 2.15475496e-02 -4.78282278e-05 9.99767823e-01 5.20529567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.03, Y:191.38, Z:5.21 [[-7.01215122e-01 -7.12787401e-01 1.52142858e-02 1.91033513e+02] [ 7.12617729e-01 -7.01380152e-01 -1.55516775e-02 1.91379925e+02] [ 2.17560379e-02 -6.31016018e-05 9.99763307e-01 5.20573854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.02, Y:191.40, Z:5.21 [[-7.02152957e-01 -7.11870241e-01 1.48991559e-02 1.91017706e+02] [ 7.11707504e-01 -7.02311009e-01 -1.52208807e-02 1.91401060e+02] [ 2.12991332e-02 -8.35453247e-05 9.99773144e-01 5.20583811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.00, Y:191.42, Z:5.21 [[-7.02668582e-01 -7.11355343e-01 1.51802392e-02 1.91000915e+02] [ 7.11186463e-01 -7.02832531e-01 -1.54999393e-02 1.91422496e+02] [ 2.16951306e-02 -9.53397839e-05 9.99764628e-01 5.20666481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.98, Y:191.44, Z:5.21 [[-7.03146832e-01 -7.10879773e-01 1.53127394e-02 1.90982767e+02] [ 7.10708027e-01 -7.03313541e-01 -1.56257196e-02 1.91442591e+02] [ 2.18776650e-02 -1.04288381e-04 9.99760650e-01 5.20698161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.140385723 meters Centerline goodness [0,1] 0.9999549620555318 Centerline is valid? [True, True] Translation: X:190.96, Y:191.46, Z:5.21 [[-7.03796247e-01 -7.10227600e-01 1.57352680e-02 1.90964593e+02] [ 7.10046304e-01 -7.03972117e-01 -1.60469818e-02 1.91462809e+02] [ 2.24741993e-02 -1.21036726e-04 9.99747416e-01 5.20627950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.95, Y:191.48, Z:5.21 [[-7.04135881e-01 -7.09875492e-01 1.64148719e-02 1.90946631e+02] [ 7.09678350e-01 -7.04327175e-01 -1.67293417e-02 1.91481839e+02] [ 2.34371900e-02 -1.30450575e-04 9.99725303e-01 5.20563985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.93, Y:191.50, Z:5.21 [[-7.04329087e-01 -7.09674097e-01 1.68289562e-02 1.90926719e+02] [ 7.09467088e-01 -7.04530098e-01 -1.71403993e-02 1.91500635e+02] [ 2.40206035e-02 -1.32891202e-04 9.99711455e-01 5.20595528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.91, Y:191.52, Z:5.21 [[-7.04513613e-01 -7.09494711e-01 1.66680762e-02 1.90907040e+02] [ 7.09291839e-01 -7.04710748e-01 -1.69661170e-02 1.91518314e+02] [ 2.37835428e-02 -1.30329949e-04 9.99717123e-01 5.20581051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.89, Y:191.54, Z:5.21 [[-7.05190123e-01 -7.08821030e-01 1.67224043e-02 1.90887792e+02] [ 7.08616897e-01 -7.05388352e-01 -1.70107787e-02 1.91537698e+02] [ 2.38533869e-02 -1.46054855e-04 9.99715457e-01 5.20670357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.87, Y:191.56, Z:5.21 [[-7.07362395e-01 -7.06658132e-01 1.65144343e-02 1.90868937e+02] [ 7.06458687e-01 -7.07555115e-01 -1.67893687e-02 1.91557822e+02] [ 2.35492164e-02 -2.09402449e-04 9.99722657e-01 5.20808272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.85, Y:191.58, Z:5.21 [[-7.08874025e-01 -7.05141434e-01 1.65280116e-02 1.90850639e+02] [ 7.04941449e-01 -7.09066636e-01 -1.67946242e-02 1.91577738e+02] [ 2.35620470e-02 -2.53992367e-04 9.99722344e-01 5.20847405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.83, Y:191.60, Z:5.21 [[-7.11883791e-01 -7.02096854e-01 1.67772365e-02 1.90831240e+02] [ 7.01890133e-01 -7.12081373e-01 -1.70399571e-02 1.91597356e+02] [ 2.39104579e-02 -3.54692533e-04 9.99714041e-01 5.20868899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.81, Y:191.62, Z:5.21 [[-7.13112854e-01 -7.00833535e-01 1.73900413e-02 1.90813037e+02] [ 7.00611286e-01 -7.13324745e-01 -1.76531593e-02 1.91617386e+02] [ 2.47766728e-02 -4.05035583e-04 9.99692929e-01 5.20809508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.79, Y:191.64, Z:5.21 [[-7.14322220e-01 -6.99592922e-01 1.77062239e-02 1.90793407e+02] [ 6.99362341e-01 -7.14541490e-01 -1.79659304e-02 1.91637768e+02] [ 2.52206693e-02 -4.50397115e-04 9.99681807e-01 5.20804145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.78, Y:191.66, Z:5.21 [[-7.14426200e-01 -6.99480197e-01 1.79627034e-02 1.90775056e+02] [ 6.99243090e-01 -7.14651837e-01 -1.82168599e-02 1.91656360e+02] [ 2.55794117e-02 -4.54305793e-04 9.99672690e-01 5.20807647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.75, Y:191.68, Z:5.21 [[-7.14513052e-01 -6.99404739e-01 1.74387175e-02 1.90754502e+02] [ 6.99181460e-01 -7.14725695e-01 -1.76767482e-02 1.91675103e+02] [ 2.48271010e-02 -4.37439337e-04 9.99691664e-01 5.20801291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.73, Y:191.69, Z:5.21 [[-7.14464450e-01 -6.99458597e-01 1.72690885e-02 1.90734709e+02] [ 6.99239900e-01 -7.14672996e-01 -1.74948954e-02 1.91693348e+02] [ 2.45787062e-02 -4.24245088e-04 9.99697808e-01 5.20814225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.72, Y:191.71, Z:5.21 [[-7.13908467e-01 -7.00038878e-01 1.67412967e-02 1.90715179e+02] [ 6.99833742e-01 -7.14104629e-01 -1.69502665e-02 1.91711166e+02] [ 2.38208830e-02 -3.84814417e-04 9.99716168e-01 5.20855572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.70, Y:191.73, Z:5.21 [[-7.13500726e-01 -7.00460477e-01 1.64874047e-02 1.90695766e+02] [ 7.00261863e-01 -7.13691105e-01 -1.66832475e-02 1.91729908e+02] [ 2.34528695e-02 -3.58008499e-04 9.99724880e-01 5.20941494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.68, Y:191.75, Z:5.21 [[-7.12725075e-01 -7.01268751e-01 1.56558797e-02 1.90677516e+02] [ 7.01090063e-01 -7.12896938e-01 -1.58328450e-02 1.91748516e+02] [ 2.22641081e-02 -3.08283949e-04 9.99752077e-01 5.21196969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.66, Y:191.77, Z:5.21 [[-7.12518339e-01 -7.01487414e-01 1.52651633e-02 1.90656843e+02] [ 7.01317785e-01 -7.12681785e-01 -1.54284768e-02 1.91766151e+02] [ 2.17020861e-02 -2.87342127e-04 9.99764441e-01 5.21378476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.64, Y:191.78, Z:5.21 [[-7.12280799e-01 -7.01721828e-01 1.55736687e-02 1.90635725e+02] [ 7.01545546e-01 -7.12450980e-01 -1.57304864e-02 1.91784261e+02] [ 2.21339011e-02 -2.78885529e-04 9.99754976e-01 5.21254448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.62, Y:191.80, Z:5.21 [[-7.12259093e-01 -7.01740508e-01 1.57240114e-02 1.90617111e+02] [ 7.01561033e-01 -7.12432583e-01 -1.58723822e-02 1.91802544e+02] [ 2.23405917e-02 -2.73894864e-04 9.99750380e-01 5.21184011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.60, Y:191.82, Z:5.21 [[-7.12469681e-01 -7.01526587e-01 1.57290065e-02 1.90598191e+02] [ 7.01347169e-01 -7.12643230e-01 -1.58674313e-02 1.91821486e+02] [ 2.23405949e-02 -2.73569485e-04 9.99750380e-01 5.21224446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.58, Y:191.84, Z:5.21 [[-7.12824371e-01 -7.01160078e-01 1.59987514e-02 1.90580357e+02] [ 7.00974587e-01 -7.13003832e-01 -1.61295991e-02 1.91840754e+02] [ 2.27166020e-02 -2.82853192e-04 9.99741905e-01 5.21125337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.56, Y:191.86, Z:5.21 [[-7.12757254e-01 -7.01219706e-01 1.63713168e-02 1.90560802e+02] [ 7.01025733e-01 -7.12945191e-01 -1.64947582e-02 1.91859684e+02] [ 2.32383011e-02 -2.80044214e-04 9.99729915e-01 5.21286643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.54, Y:191.88, Z:5.21 [[-7.13174063e-01 -7.00796442e-01 1.63432697e-02 1.90543756e+02] [ 7.00603260e-01 -7.13361244e-01 -1.64562282e-02 1.91879934e+02] [ 2.31911214e-02 -2.86007110e-04 9.99731009e-01 5.21296851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.52, Y:191.90, Z:5.21 [[-7.14280186e-01 -6.99688546e-01 1.54839849e-02 1.90524634e+02] [ 6.99515094e-01 -7.14447933e-01 -1.55815275e-02 1.91899656e+02] [ 2.19647174e-02 -2.98295220e-04 9.99758702e-01 5.21442652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.51, Y:191.92, Z:5.21 [[-7.16155351e-01 -6.97780100e-01 1.49814667e-02 1.90505057e+02] [ 6.97617489e-01 -7.16311955e-01 -1.50672602e-02 1.91920187e+02] [ 2.12450380e-02 -3.39165860e-04 9.99774241e-01 5.21440770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.49, Y:191.94, Z:5.21 [[-7.16939225e-01 -6.96978041e-01 1.48242532e-02 1.90486986e+02] [ 6.96818828e-01 -7.17092383e-01 -1.49008549e-02 1.91939808e+02] [ 2.10159277e-02 -3.53188609e-04 9.99779079e-01 5.21456625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.47, Y:191.96, Z:5.22 [[-7.17646150e-01 -6.96245764e-01 1.50279716e-02 1.90468583e+02] [ 6.96082184e-01 -7.17803384e-01 -1.50961991e-02 1.91959673e+02] [ 2.12977935e-02 -3.73025880e-04 9.99773107e-01 5.21525227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.45, Y:191.98, Z:5.22 [[-7.18534503e-01 -6.95331058e-01 1.49294664e-02 1.90450534e+02] [ 6.95169602e-01 -7.18689479e-01 -1.49885643e-02 1.91979471e+02] [ 2.11516647e-02 -3.91289385e-04 9.99776202e-01 5.21612738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.43, Y:192.00, Z:5.22 [[-7.19489288e-01 -6.94352049e-01 1.45050690e-02 1.90431323e+02] [ 6.94199606e-01 -7.19635373e-01 -1.45546059e-02 1.91998028e+02] [ 2.05443811e-02 -4.02469827e-04 9.99788861e-01 5.21579304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.41, Y:192.02, Z:5.22 [[-7.19605529e-01 -6.94228526e-01 1.46504585e-02 1.90412446e+02] [ 6.94073146e-01 -7.19754535e-01 -1.46927718e-02 1.92016193e+02] [ 2.07448752e-02 -4.04510021e-04 9.99784720e-01 5.21567521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.39, Y:192.03, Z:5.22 [[-7.19804937e-01 -6.94013319e-01 1.50454712e-02 1.90392462e+02] [ 6.93849557e-01 -7.19962041e-01 -1.50815047e-02 1.92034504e+02] [ 2.12989333e-02 -4.16447963e-04 9.99773065e-01 5.21502230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.37, Y:192.05, Z:5.22 [[-7.20179240e-01 -6.93626041e-01 1.49925987e-02 1.90371176e+02] [ 6.93463528e-01 -7.20335158e-01 -1.50198427e-02 1.92052436e+02] [ 2.12178499e-02 -4.20158500e-04 9.99774788e-01 5.21562393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.35, Y:192.07, Z:5.22 [[-7.20476685e-01 -6.93310368e-01 1.52996864e-02 1.90351160e+02] [ 6.93141258e-01 -7.20638986e-01 -1.53182387e-02 1.92071176e+02] [ 2.16458442e-02 -4.31589957e-04 9.99765608e-01 5.21581224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.33, Y:192.09, Z:5.22 [[-7.21125292e-01 -6.92641671e-01 1.50275993e-02 1.90330392e+02] [ 6.92478568e-01 -7.21281723e-01 -1.50369049e-02 1.92088358e+02] [ 2.12543196e-02 -4.37202005e-04 9.99774006e-01 5.21660227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.31, Y:192.11, Z:5.22 [[-7.21765607e-01 -6.91966417e-01 1.53910988e-02 1.90311517e+02] [ 6.91795379e-01 -7.21929543e-01 -1.53911993e-02 1.92107306e+02] [ 2.17614820e-02 -4.61347339e-04 9.99763084e-01 5.21672190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.29, Y:192.08, Z:5.22 [[-6.73648320e-01 -7.38891649e-01 1.53971538e-02 1.90294642e+02] [ 7.38710060e-01 -6.73824174e-01 -1.63838056e-02 1.92076631e+02] [ 2.24808316e-02 3.37109270e-04 9.99747217e-01 5.21689703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.28, Y:192.10, Z:5.22 [[-6.73648786e-01 -7.38899345e-01 1.50023740e-02 1.90276245e+02] [ 7.38700187e-01 -6.73815649e-01 -1.71611488e-02 1.92096656e+02] [ 2.27891960e-02 -4.78330563e-04 9.99740178e-01 5.21743108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.26, Y:192.12, Z:5.22 [[-6.73057385e-01 -7.39432300e-01 1.52849337e-02 1.90257845e+02] [ 7.39225965e-01 -6.73230763e-01 -1.74732118e-02 1.92115661e+02] [ 2.32105448e-02 -4.61454400e-04 9.99730493e-01 5.21686350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.24, Y:192.14, Z:5.22 [[-6.73121849e-01 -7.39381343e-01 1.49065493e-02 1.90238501e+02] [ 7.39185327e-01 -6.73286738e-01 -1.70300186e-02 1.92135521e+02] [ 2.26280599e-02 -4.44575100e-04 9.99743854e-01 5.21751102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.22, Y:192.15, Z:5.22 [[-6.72478116e-01 -7.39983689e-01 1.40472398e-02 1.90220380e+02] [ 7.39809955e-01 -6.72624699e-01 -1.60388649e-02 1.92154336e+02] [ 2.13170189e-02 -3.93497824e-04 9.99772689e-01 5.21958255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.20, Y:192.17, Z:5.22 [[-6.72489304e-01 -7.39978224e-01 1.37972531e-02 1.90201838e+02] [ 7.39810821e-01 -6.72630718e-01 -1.57437732e-02 1.92174356e+02] [ 2.09305056e-02 -3.80161879e-04 9.99780861e-01 5.22076040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.18, Y:192.19, Z:5.22 [[-6.71729587e-01 -7.40665288e-01 1.39389239e-02 1.90181960e+02] [ 7.40494777e-01 -6.71874099e-01 -1.58958989e-02 1.92193662e+02] [ 2.11387425e-02 -3.56045216e-04 9.99776488e-01 5.22156502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.16, Y:192.21, Z:5.22 [[-6.70912082e-01 -7.41414502e-01 1.34727646e-02 1.90160475e+02] [ 7.41255537e-01 -6.71047269e-01 -1.53555106e-02 1.92212130e+02] [ 2.04256602e-02 -3.15436183e-04 9.99791325e-01 5.22301785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.14, Y:192.23, Z:5.22 [[-6.70607629e-01 -7.41691458e-01 1.33861279e-02 1.90143554e+02] [ 7.41534761e-01 -6.70741150e-01 -1.52481937e-02 1.92233501e+02] [ 2.02880818e-02 -2.99275858e-04 9.99794131e-01 5.22348578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.13, Y:192.25, Z:5.22 [[-6.70575455e-01 -7.41730243e-01 1.28376582e-02 1.90125270e+02] [ 7.41586294e-01 -6.70698269e-01 -1.46151242e-02 1.92253517e+02] [ 1.94506748e-02 -2.80312256e-04 9.99810778e-01 5.22491268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.11, Y:192.27, Z:5.23 [[-6.70621510e-01 -7.41693422e-01 1.25562232e-02 1.90107441e+02] [ 7.41555861e-01 -6.70738992e-01 -1.42867302e-02 1.92272235e+02] [ 1.90183223e-02 -2.69847656e-04 9.99819099e-01 5.22578299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.09, Y:192.29, Z:5.23 [[-6.71152510e-01 -7.41210148e-01 1.27210616e-02 1.90088706e+02] [ 7.41069001e-01 -6.71272997e-01 -1.44671542e-02 1.92291864e+02] [ 1.92625067e-02 -2.82482487e-04 9.99814421e-01 5.22592282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.07, Y:192.31, Z:5.23 [[-6.71900500e-01 -7.40523172e-01 1.32344350e-02 1.90069155e+02] [ 7.40370453e-01 -6.72030756e-01 -1.50418175e-02 1.92310721e+02] [ 2.00327618e-02 -3.08220040e-04 9.99799277e-01 5.22603623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.05, Y:192.33, Z:5.23 [[-6.73110883e-01 -7.39413476e-01 1.37640695e-02 1.90050260e+02] [ 7.39248254e-01 -6.73251505e-01 -1.56342490e-02 1.92331282e+02] [ 2.08268549e-02 -3.48518810e-04 9.99783037e-01 5.22742309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.03, Y:192.35, Z:5.23 [[-6.74265163e-01 -7.38361805e-01 1.37235324e-02 1.90032781e+02] [ 7.38197519e-01 -6.74404705e-01 -1.55794077e-02 1.92351847e+02] [ 2.07584544e-02 -3.73974291e-04 9.99784450e-01 5.22745027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.01, Y:192.37, Z:5.23 [[-6.75419309e-01 -7.37305573e-01 1.37567935e-02 1.90014224e+02] [ 7.37140458e-01 -6.75559273e-01 -1.56081347e-02 1.92372501e+02] [ 2.08014941e-02 -4.01346484e-04 9.99783545e-01 5.22802317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.99, Y:192.39, Z:5.23 [[-6.77308049e-01 -7.35575204e-01 1.35249836e-02 1.89994650e+02] [ 7.35415433e-01 -6.77442931e-01 -1.53367634e-02 1.92392663e+02] [ 2.04437474e-02 -4.41231661e-04 9.99790907e-01 5.22879714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.98, Y:192.41, Z:5.23 [[-6.78053387e-01 -7.34883802e-01 1.37623625e-02 1.89976977e+02] [ 7.34718416e-01 -6.78192880e-01 -1.55970014e-02 1.92413066e+02] [ 2.07955200e-02 -4.64138485e-04 9.99783642e-01 5.22853377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.96, Y:192.43, Z:5.23 [[-6.78433664e-01 -7.34518574e-01 1.44992611e-02 1.89957283e+02] [ 7.34335140e-01 -6.78588403e-01 -1.64219815e-02 1.92431977e+02] [ 2.19012808e-02 -4.93908127e-04 9.99760016e-01 5.22842175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.94, Y:192.45, Z:5.23 [[-6.78549768e-01 -7.34412243e-01 1.44523394e-02 1.89939363e+02] [ 7.34230190e-01 -6.78703484e-01 -1.63587754e-02 1.92452269e+02] [ 2.18229380e-02 -4.88899309e-04 9.99761732e-01 5.22929520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.92, Y:192.47, Z:5.23 [[-6.78066980e-01 -7.34865429e-01 1.40702420e-02 1.89920472e+02] [ 7.34693179e-01 -6.78212794e-01 -1.59166289e-02 1.92472094e+02] [ 2.12391985e-02 -4.55229675e-04 9.99774319e-01 5.23187636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.90, Y:192.49, Z:5.23 [[-6.78016792e-01 -7.34915810e-01 1.38557372e-02 1.89902624e+02] [ 7.34748987e-01 -6.78158210e-01 -1.56642362e-02 1.92490807e+02] [ 2.09082767e-02 -4.40126308e-04 9.99781301e-01 5.23243038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.88, Y:192.51, Z:5.23 [[-6.77788241e-01 -7.35130081e-01 1.36698051e-02 1.89882023e+02] [ 7.34967950e-01 -6.77925945e-01 -1.54442739e-02 1.92509345e+02] [ 2.06206659e-02 -4.21078571e-04 9.99787283e-01 5.23238164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.86, Y:192.53, Z:5.23 [[-6.78100294e-01 -7.34847069e-01 1.34080792e-02 1.89862694e+02] [ 7.34691216e-01 -6.78232713e-01 -1.51394551e-02 1.92528648e+02] [ 2.02189822e-02 -4.15270931e-04 9.99795489e-01 5.23254341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.84, Y:192.55, Z:5.23 [[-6.78578187e-01 -7.34405330e-01 1.34333747e-02 1.89843332e+02] [ 7.34248990e-01 -6.78711008e-01 -1.51587725e-02 1.92547551e+02] [ 2.02500626e-02 -4.22970521e-04 9.99794857e-01 5.23278418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.940385723 meters Centerline goodness [0,1] 0.9999781114564636 Centerline is valid? [True, True] Translation: X:189.82, Y:192.57, Z:5.23 [[-6.78997439e-01 -7.34019066e-01 1.33599941e-02 1.89824676e+02] [ 7.33864538e-01 -6.79128728e-01 -1.50668791e-02 1.92567315e+02] [ 2.01325323e-02 -4.25946390e-04 9.99797229e-01 5.23328348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.81, Y:192.59, Z:5.23 [[-6.79555676e-01 -7.33501185e-01 1.34199513e-02 1.89806277e+02] [ 7.33345353e-01 -6.79688032e-01 -1.51252333e-02 1.92585808e+02] [ 2.02157569e-02 -4.36979222e-04 9.99795545e-01 5.23387693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.79, Y:192.61, Z:5.23 [[-6.79634318e-01 -7.33424443e-01 1.36301567e-02 1.89786317e+02] [ 7.33263874e-01 -6.79770839e-01 -1.53524482e-02 1.92605150e+02] [ 2.05252438e-02 -4.39549142e-04 9.99789238e-01 5.23414329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.77, Y:192.62, Z:5.23 [[-6.80116130e-01 -7.32971567e-01 1.39546526e-02 1.89767123e+02] [ 7.32803371e-01 -6.80259122e-01 -1.57081418e-02 1.92623423e+02] [ 2.10064010e-02 -4.57344079e-04 9.99779237e-01 5.23292189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.74, Y:192.64, Z:5.23 [[-6.80295800e-01 -7.32797930e-01 1.43114956e-02 1.89744113e+02] [ 7.32621200e-01 -6.80446159e-01 -1.60997586e-02 1.92640982e+02] [ 2.15360720e-02 -4.67693090e-04 9.99767963e-01 5.23398814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.72, Y:192.66, Z:5.23 [[-6.80763436e-01 -7.32355851e-01 1.46987110e-02 1.89724278e+02] [ 7.32169538e-01 -6.80921926e-01 -1.65256954e-02 1.92659887e+02] [ 2.21113643e-02 -4.88140736e-04 9.99755395e-01 5.23358909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.71, Y:192.68, Z:5.23 [[-6.81453851e-01 -7.31709054e-01 1.49167224e-02 1.89707462e+02] [ 7.31517243e-01 -6.81616901e-01 -1.67607940e-02 1.92681794e+02] [ 2.24315148e-02 -5.09868022e-04 9.99748252e-01 5.23337096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.69, Y:192.70, Z:5.23 [[-6.82318756e-01 -7.30907678e-01 1.46656500e-02 1.89687752e+02] [ 7.30722286e-01 -6.82476150e-01 -1.64695647e-02 1.92702000e+02] [ 2.20466876e-02 -5.20975639e-04 9.99756807e-01 5.23428168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.66, Y:192.72, Z:5.24 [[-6.84107867e-01 -7.29240789e-01 1.42932756e-02 1.89663414e+02] [ 7.29064506e-01 -6.84256943e-01 -1.60431395e-02 1.92717791e+02] [ 2.14795848e-02 -5.54518023e-04 9.99769133e-01 5.23636061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.64, Y:192.74, Z:5.24 [[-6.85167035e-01 -7.28247017e-01 1.42273271e-02 1.89643563e+02] [ 7.28072330e-01 -6.85314490e-01 -1.59603506e-02 1.92737149e+02] [ 2.13732711e-02 -5.76982962e-04 9.99771399e-01 5.23661797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.62, Y:192.76, Z:5.24 [[-6.86449581e-01 -7.27020200e-01 1.51195507e-02 1.89622085e+02] [ 7.26822837e-01 -6.86615766e-01 -1.69515359e-02 1.92755693e+02] [ 2.27054309e-02 -6.47139976e-04 9.99741989e-01 5.23639246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.60, Y:192.77, Z:5.24 [[-6.86827383e-01 -7.26658291e-01 1.53581794e-02 1.89603085e+02] [ 7.26454787e-01 -6.86998754e-01 -1.72091100e-02 1.92774704e+02] [ 2.30561926e-02 -6.62664973e-04 9.99733951e-01 5.23644828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.300385723 meters Centerline goodness [0,1] 0.9999572357167293 Centerline is valid? [True, True] Translation: X:189.58, Y:192.79, Z:5.24 [[-6.86886068e-01 -7.26602727e-01 1.53625372e-02 1.89581429e+02] [ 7.26399337e-01 -6.87057527e-01 -1.72034201e-02 1.92791465e+02] [ 2.30549988e-02 -6.57452738e-04 9.99733982e-01 5.23650815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.56, Y:192.81, Z:5.24 [[-6.86855671e-01 -7.26637989e-01 1.50505636e-02 1.89560701e+02] [ 7.26443016e-01 -6.87020253e-01 -1.68438904e-02 1.92809970e+02] [ 2.25794527e-02 -6.35944830e-04 9.99744849e-01 5.23680074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.360385723 meters Centerline goodness [0,1] 0.999978596348537 Centerline is valid? [True, True] Translation: X:189.54, Y:192.83, Z:5.24 [[-6.86321943e-01 -7.27150055e-01 1.46624811e-02 1.89536216e+02] [ 7.26965333e-01 -6.86478290e-01 -1.64000776e-02 1.92826475e+02] [ 2.19907923e-02 -5.96617635e-04 9.99757995e-01 5.23786266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.52, Y:192.85, Z:5.24 [[-6.85803401e-01 -7.27634740e-01 1.48788546e-02 1.89515948e+02] [ 7.27444845e-01 -6.85964536e-01 -1.66328944e-02 1.92845890e+02] [ 2.23090384e-02 -5.83349457e-04 9.99750952e-01 5.23837221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.50, Y:192.87, Z:5.24 [[-6.85376476e-01 -7.28027881e-01 1.53130713e-02 1.89496635e+02] [ 7.27827064e-01 -6.85547276e-01 -1.71084067e-02 1.92865448e+02] [ 2.29532314e-02 -5.80431739e-04 9.99736371e-01 5.23867821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.47, Y:192.88, Z:5.24 [[-6.84223357e-01 -7.29099659e-01 1.58772059e-02 1.89473145e+02] [ 7.28884303e-01 -6.84407318e-01 -1.77283833e-02 1.92882588e+02] [ 2.37922341e-02 -5.57527746e-04 9.99716769e-01 5.23866854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.480385723 meters Centerline goodness [0,1] 0.9999147248811479 Centerline is valid? [True, True] Translation: X:189.45, Y:192.90, Z:5.24 [[-6.83045702e-01 -7.30191227e-01 1.64116115e-02 1.89450994e+02] [ 7.29961670e-01 -6.83242629e-01 -1.83158492e-02 1.92899651e+02] [ 2.45871850e-02 -5.30714695e-04 9.99697549e-01 5.23767375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.43, Y:192.92, Z:5.24 [[-6.82873096e-01 -7.30350703e-01 1.64980194e-02 1.89428969e+02] [ 7.30118983e-01 -6.83072162e-01 -1.84036243e-02 1.92917456e+02] [ 2.47104377e-02 -5.21822814e-04 9.99694514e-01 5.23817423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.41, Y:192.94, Z:5.24 [[-6.82806497e-01 -7.30408998e-01 1.66728135e-02 1.89408920e+02] [ 7.30172621e-01 -6.83009830e-01 -1.85880824e-02 1.92936513e+02] [ 2.49645982e-02 -5.18031543e-04 9.99688202e-01 5.23781754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.39, Y:192.96, Z:5.24 [[-6.82980379e-01 -7.30251745e-01 1.64374933e-02 1.89387713e+02] [ 7.30022198e-01 -6.83177963e-01 -1.83155745e-02 1.92955144e+02] [ 2.46047135e-02 -5.09443006e-04 9.99697128e-01 5.23906408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.37, Y:192.98, Z:5.24 [[-6.83182646e-01 -7.30062405e-01 1.64425707e-02 1.89369249e+02] [ 7.29832913e-01 -6.83380294e-01 -1.83110157e-02 1.92975625e+02] [ 2.46047130e-02 -5.09438922e-04 9.99697128e-01 5.23948074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.35, Y:193.00, Z:5.24 [[-6.84502952e-01 -7.28825493e-01 1.64045733e-02 1.89349093e+02] [ 7.28596951e-01 -6.84699279e-01 -1.82587207e-02 1.92995930e+02] [ 2.45396206e-02 -5.45826138e-04 9.99698709e-01 5.24121336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.33, Y:193.02, Z:5.24 [[-6.85620344e-01 -7.27774470e-01 1.64032075e-02 1.89330077e+02] [ 7.27545898e-01 -6.85816293e-01 -1.82476984e-02 1.93016165e+02] [ 2.45297960e-02 -5.76906892e-04 9.99698933e-01 5.24114170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.31, Y:193.04, Z:5.24 [[-6.86762250e-01 -7.26693440e-01 1.65607001e-02 1.89309749e+02] [ 7.26460382e-01 -6.86961619e-01 -1.84132274e-02 1.93036001e+02] [ 2.47573370e-02 -6.14816943e-04 9.99693301e-01 5.24103264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.29, Y:193.06, Z:5.24 [[-6.88471162e-01 -7.25068508e-01 1.68260821e-02 1.89290941e+02] [ 7.24827702e-01 -6.88676412e-01 -1.86976678e-02 1.93055799e+02] [ 2.51448159e-02 -6.76794662e-04 9.99683590e-01 5.24112831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.27, Y:193.08, Z:5.24 [[-6.89559856e-01 -7.24031724e-01 1.68898420e-02 1.89271745e+02] [ 7.23789043e-01 -6.89766307e-01 -1.87580198e-02 1.93076247e+02] [ 2.52314454e-02 -7.10094830e-04 9.99681384e-01 5.24266893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.25, Y:193.10, Z:5.24 [[-6.90411496e-01 -7.23230495e-01 1.64200026e-02 1.89253782e+02] [ 7.23001145e-01 -6.90606360e-01 -1.82263829e-02 1.93096534e+02] [ 2.45216341e-02 -7.12023587e-04 9.99699046e-01 5.24402908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.810385723 meters Centerline goodness [0,1] 0.9999369337173369 Centerline is valid? [True, True] Translation: X:189.23, Y:193.12, Z:5.25 [[-6.90213321e-01 -7.23420589e-01 1.63775137e-02 1.89232652e+02] [ 7.23192733e-01 -6.90407247e-01 -1.81687809e-02 1.93115255e+02] [ 2.44508243e-02 -6.96235742e-04 9.99700791e-01 5.24546184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.21, Y:193.13, Z:5.25 [[-6.88367336e-01 -7.25176950e-01 1.63951912e-02 1.89211830e+02] [ 7.24949343e-01 -6.88562268e-01 -1.81783663e-02 1.93133788e+02] [ 2.44716422e-02 -6.27710503e-04 9.99700327e-01 5.24552316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.19, Y:193.15, Z:5.25 [[-6.87305207e-01 -7.26175492e-01 1.67543251e-02 1.89190893e+02] [ 7.25938352e-01 -6.87509125e-01 -1.85664273e-02 1.93152797e+02] [ 2.50012359e-02 -5.98194971e-04 9.99687241e-01 5.24617768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.17, Y:193.17, Z:5.25 [[-6.84693277e-01 -7.28639588e-01 1.67173053e-02 1.89171394e+02] [ 7.28404469e-01 -6.84897146e-01 -1.85156175e-02 1.93171316e+02] [ 2.49408466e-02 -5.00558955e-04 9.99688803e-01 5.24595302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.15, Y:193.19, Z:5.25 [[-6.83853584e-01 -7.29437520e-01 1.62843458e-02 1.89149710e+02] [ 7.29214879e-01 -6.84047294e-01 -1.80266456e-02 1.93189750e+02] [ 2.42885743e-02 -4.52798946e-04 9.99704887e-01 5.24803184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.13, Y:193.21, Z:5.25 [[-6.81964200e-01 -7.31208771e-01 1.60798979e-02 1.89129975e+02] [ 7.30992381e-01 -6.82153641e-01 -1.77918306e-02 1.93208444e+02] [ 2.39785035e-02 -3.79108673e-04 9.99712402e-01 5.24867507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.11, Y:193.23, Z:5.25 [[-6.81448245e-01 -7.31685605e-01 1.62623832e-02 1.89111613e+02] [ 7.31464607e-01 -6.81642168e-01 -1.79856611e-02 1.93228038e+02] [ 2.42449754e-02 -3.60939459e-04 9.99705982e-01 5.24876817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.09, Y:193.25, Z:5.25 [[-6.80917760e-01 -7.32166878e-01 1.68127064e-02 1.89093057e+02] [ 7.31931085e-01 -6.81125202e-01 -1.85834844e-02 1.93248892e+02] [ 2.50577698e-02 -3.48082192e-04 9.99685944e-01 5.24954813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.07, Y:193.27, Z:5.25 [[-6.80882775e-01 -7.32195154e-01 1.69971545e-02 1.89074335e+02] [ 7.31954435e-01 -6.81094808e-01 -1.87767771e-02 1.93269638e+02] [ 2.53249389e-02 -3.43641429e-04 9.99679213e-01 5.25079726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.06, Y:193.29, Z:5.25 [[-6.81046793e-01 -7.32045203e-01 1.68845038e-02 1.89055832e+02] [ 7.31807884e-01 -6.81255976e-01 -1.86417541e-02 1.93291196e+02] [ 2.51492758e-02 -3.39693819e-04 9.99683649e-01 5.25176511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.04, Y:193.31, Z:5.25 [[-6.81640573e-01 -7.31507248e-01 1.62257721e-02 1.89039208e+02] [ 7.31288182e-01 -6.81833580e-01 -1.79042995e-02 1.93312958e+02] [ 2.41604011e-02 -3.38581560e-04 9.99708038e-01 5.25298131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.02, Y:193.33, Z:5.25 [[-6.82334578e-01 -7.30854646e-01 1.64623881e-02 1.89020680e+02] [ 7.30629216e-01 -6.82533045e-01 -1.81546480e-02 1.93333545e+02] [ 2.45045327e-02 -3.59642375e-04 9.99699654e-01 5.25357181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.00, Y:193.35, Z:5.25 [[-6.82749749e-01 -7.30462719e-01 1.66431952e-02 1.89003383e+02] [ 7.30232424e-01 -6.82952471e-01 -1.83447331e-02 1.93354440e+02] [ 2.47666549e-02 -3.71461189e-04 9.99693190e-01 5.25291351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.99, Y:193.38, Z:5.25 [[-6.83556188e-01 -7.29710406e-01 1.65427207e-02 1.88986322e+02] [ 7.29482872e-01 -6.83756222e-01 -1.82254906e-02 1.93376919e+02] [ 2.46105183e-02 -3.90515477e-04 9.99697039e-01 5.25399179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.230385723 meters Centerline goodness [0,1] 0.9998942984588716 Centerline is valid? [True, True] Translation: X:188.97, Y:193.40, Z:5.25 [[-6.84471201e-01 -7.28837302e-01 1.71861259e-02 1.88969284e+02] [ 7.28591711e-01 -6.84686791e-01 -1.89239836e-02 1.93398500e+02] [ 2.55596185e-02 -4.31252860e-04 9.99673207e-01 5.25325830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.95, Y:193.42, Z:5.26 [[-6.85422330e-01 -7.27989084e-01 1.51037429e-02 1.88951468e+02] [ 7.27799381e-01 -6.85588603e-01 -1.66231375e-02 1.93420786e+02] [ 2.24564167e-02 -4.01374872e-04 9.99747742e-01 5.25609024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.93, Y:193.44, Z:5.26 [[-6.86193863e-01 -7.27270612e-01 1.46778643e-02 1.88932133e+02] [ 7.27091484e-01 -6.86350706e-01 -1.61456397e-02 1.93441653e+02] [ 2.18164118e-02 -4.06888720e-04 9.99761911e-01 5.25714124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.91, Y:193.46, Z:5.26 [[-6.86613811e-01 -7.26875185e-01 1.46267167e-02 1.88914896e+02] [ 7.26697414e-01 -6.86769464e-01 -1.60801937e-02 1.93462563e+02] [ 2.17334761e-02 -4.11685913e-04 9.99763715e-01 5.25666175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.90, Y:193.48, Z:5.26 [[-6.86553246e-01 -7.26917064e-01 1.53695204e-02 1.88895142e+02] [ 7.26721019e-01 -6.86725128e-01 -1.68866279e-02 1.93482443e+02] [ 2.28298138e-02 -4.24215648e-04 9.99739276e-01 5.25628362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.88, Y:193.50, Z:5.26 [[-6.86666104e-01 -7.26806833e-01 1.55399189e-02 1.88879049e+02] [ 7.26606615e-01 -6.86841792e-01 -1.70640121e-02 1.93504335e+02] [ 2.30757063e-02 -4.25870869e-04 9.99733630e-01 5.25585783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.86, Y:193.53, Z:5.26 [[-6.86741318e-01 -7.26740844e-01 1.53006099e-02 1.88860973e+02] [ 7.26546949e-01 -6.86911620e-01 -1.67915637e-02 1.93526192e+02] [ 2.27132819e-02 -4.14849173e-04 9.99741934e-01 5.25874958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.440385723 meters Centerline goodness [0,1] 0.9998528453404528 Centerline is valid? [True, True] Translation: X:188.84, Y:193.55, Z:5.26 [[-6.86601913e-01 -7.26871447e-01 1.53529504e-02 1.88843167e+02] [ 7.26676476e-01 -6.86773423e-01 -1.68393654e-02 1.93546571e+02] [ 2.27840522e-02 -4.05312583e-04 9.99740328e-01 5.25876713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.82, Y:193.57, Z:5.26 [[-6.85840614e-01 -7.27591202e-01 1.52870958e-02 1.88822630e+02] [ 7.27398297e-01 -6.86010863e-01 -1.67574747e-02 1.93565512e+02] [ 2.26797050e-02 -3.73149317e-04 9.99742713e-01 5.25813526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.80, Y:193.59, Z:5.26 [[-6.85467699e-01 -7.27953207e-01 1.47702832e-02 1.88804270e+02] [ 7.27773404e-01 -6.85626728e-01 -1.61821608e-02 1.93586459e+02] [ 2.19067568e-02 -3.42929227e-04 9.99759959e-01 5.25828228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.530385723 meters Centerline goodness [0,1] 0.9998322182840125 Centerline is valid? [True, True] Translation: X:188.79, Y:193.61, Z:5.26 [[-6.85504753e-01 -7.27922279e-01 1.45735822e-02 1.88787595e+02] [ 7.27747421e-01 -6.85659569e-01 -1.59576764e-02 1.93608200e+02] [ 2.16084643e-02 -3.33176179e-04 9.99766454e-01 5.25835016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.77, Y:193.63, Z:5.26 [[-6.85589651e-01 -7.27837786e-01 1.47982526e-02 1.88770157e+02] [ 7.27657681e-01 -6.85749258e-01 -1.61942489e-02 1.93630304e+02] [ 2.19346770e-02 -3.34547245e-04 9.99759350e-01 5.25940027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.76, Y:193.65, Z:5.26 [[-6.86463493e-01 -7.27037602e-01 1.35719486e-02 1.88755043e+02] [ 7.26886118e-01 -6.86597567e-01 -1.48442907e-02 1.93651940e+02] [ 2.01108244e-02 -3.24802614e-04 9.99797704e-01 5.26093835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.620385723 meters Centerline goodness [0,1] 0.999936550907322 Centerline is valid? [True, True] Translation: X:188.74, Y:193.67, Z:5.26 [[-6.87192641e-01 -7.26356798e-01 1.31177797e-02 1.88735832e+02] [ 7.26215329e-01 -6.87317754e-01 -1.43388242e-02 1.93672291e+02] [ 1.94311853e-02 -3.27201813e-04 9.99811143e-01 5.26132945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.650385723 meters Centerline goodness [0,1] 0.9997268792806421 Centerline is valid? [True, True] Translation: X:188.72, Y:193.69, Z:5.26 [[-6.87620909e-01 -7.25939758e-01 1.37460487e-02 1.88718579e+02] [ 7.25784506e-01 -6.87758203e-01 -1.50168489e-02 1.93692621e+02] [ 2.03552854e-02 -3.49230147e-04 9.99792749e-01 5.25923354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.680385723 meters Centerline goodness [0,1] 0.9994086838993074 Centerline is valid? [True, True] Translation: X:188.70, Y:193.71, Z:5.26 [[-6.87744317e-01 -7.25828759e-01 1.34300983e-02 1.88700277e+02] [ 7.25680709e-01 -6.87875351e-01 -1.46632230e-02 1.93712497e+02] [ 1.98812225e-02 -3.38584995e-04 9.99802292e-01 5.25897979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.710385723 meters Centerline goodness [0,1] 0.9993859574828492 Centerline is valid? [True, True] Translation: X:188.68, Y:193.73, Z:5.26 [[-6.88134581e-01 -7.25467046e-01 1.29755320e-02 1.88684846e+02] [ 7.25328946e-01 -6.88256824e-01 -1.41585444e-02 1.93734110e+02] [ 1.92020558e-02 -3.31455132e-04 9.99815569e-01 5.26013007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.740385723 meters Centerline goodness [0,1] 0.9993427050866145 Centerline is valid? [True, True] Translation: X:188.67, Y:193.75, Z:5.26 [[-6.88625122e-01 -7.25005332e-01 1.27558113e-02 1.88667255e+02] [ 7.24871952e-01 -6.88743173e-01 -1.39102233e-02 1.93754416e+02] [ 1.88704640e-02 -3.32599349e-04 9.99821882e-01 5.26145113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.770385723 meters Centerline goodness [0,1] 0.999681886624393 Centerline is valid? [True, True] Translation: X:188.65, Y:193.78, Z:5.26 [[-6.89639129e-01 -7.24045591e-01 1.24841811e-02 1.88649779e+02] [ 7.23917823e-01 -6.89752030e-01 -1.36059599e-02 1.93775157e+02] [ 1.84623245e-02 -3.45681132e-04 9.99829497e-01 5.26242499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.800385723 meters Centerline goodness [0,1] 0.9997659773636286 Centerline is valid? [True, True] Translation: X:188.63, Y:193.80, Z:5.26 [[-6.91466552e-01 -7.22304031e-01 1.22838574e-02 1.88631231e+02] [ 7.22180199e-01 -6.91575550e-01 -1.33797989e-02 1.93796463e+02] [ 1.81594981e-02 -3.80524836e-04 9.99835030e-01 5.26166404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.830385723 meters Centerline goodness [0,1] 0.9997657580919932 Centerline is valid? [True, True] Translation: X:188.61, Y:193.82, Z:5.26 [[-6.92509166e-01 -7.21289218e-01 1.31498298e-02 1.88610835e+02] [ 7.21147283e-01 -6.92633870e-01 -1.43149345e-02 1.93816708e+02] [ 1.94332255e-02 -4.30259294e-04 9.99811064e-01 5.26059342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.860385723 meters Centerline goodness [0,1] 0.9995532105016808 Centerline is valid? [True, True] Translation: X:188.59, Y:193.84, Z:5.26 [[-6.92823351e-01 -7.20978523e-01 1.36298454e-02 1.88592682e+02] [ 7.20826140e-01 -6.92957262e-01 -1.48293435e-02 1.93837626e+02] [ 2.01365386e-02 -4.49366624e-04 9.99797138e-01 5.26038066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.890385723 meters Centerline goodness [0,1] 0.9996588413399007 Centerline is valid? [True, True] Translation: X:188.58, Y:193.86, Z:5.26 [[-6.93183531e-01 -7.20625762e-01 1.39679563e-02 1.88575493e+02] [ 7.20465828e-01 -6.93324091e-01 -1.51886458e-02 1.93859392e+02] [ 2.06296500e-02 -4.65083883e-04 9.99787078e-01 5.26083063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.920385723 meters Centerline goodness [0,1] 0.9996804499265035 Centerline is valid? [True, True] Translation: X:188.56, Y:193.88, Z:5.26 [[-6.93090990e-01 -7.20716681e-01 1.38689003e-02 1.88557268e+02] [ 7.20559195e-01 -6.93229587e-01 -1.50726708e-02 1.93881050e+02] [ 2.04774573e-02 -4.53368664e-04 9.99790212e-01 5.26125704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.950385723 meters Centerline goodness [0,1] 0.9996593280245284 Centerline is valid? [True, True] Translation: X:188.54, Y:193.90, Z:5.26 [[-6.92832222e-01 -7.20963039e-01 1.39931734e-02 1.88537998e+02] [ 7.20802943e-01 -6.92973375e-01 -1.51992832e-02 1.93901000e+02] [ 2.06550180e-02 -4.44232630e-04 9.99786564e-01 5.26247905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.980385723 meters Centerline goodness [0,1] 0.9994681869429258 Centerline is valid? [True, True] Translation: X:188.52, Y:193.92, Z:5.26 [[-6.91323883e-01 -7.22402470e-01 1.43512714e-02 1.88518360e+02] [ 7.22234570e-01 -6.91472708e-01 -1.55794418e-02 1.93921204e+02] [ 2.11781398e-02 -4.05455891e-04 9.99775636e-01 5.26262378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.010385723 meters Centerline goodness [0,1] 0.9994873766500064 Centerline is valid? [True, True] Translation: X:188.50, Y:193.94, Z:5.26 [[-6.89387886e-01 -7.24234440e-01 1.51267672e-02 1.88499117e+02] [ 7.24048545e-01 -6.89553729e-01 -1.64121768e-02 1.93941463e+02] [ 2.23169824e-02 -3.61842089e-04 9.99750880e-01 5.26127228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.040385723 meters Centerline goodness [0,1] 0.9997456926695912 Centerline is valid? [True, True] Translation: X:188.48, Y:193.96, Z:5.26 [[-6.88442804e-01 -7.25127243e-01 1.53943918e-02 1.88481637e+02] [ 7.24935143e-01 -6.88614821e-01 -1.66933109e-02 1.93962321e+02] [ 2.27055808e-02 -3.32454162e-04 9.99742140e-01 5.26180549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.070385723 meters Centerline goodness [0,1] 0.9997443762781186 Centerline is valid? [True, True] Translation: X:188.46, Y:193.98, Z:5.26 [[-6.87945881e-01 -7.25599446e-01 1.53593357e-02 1.88463455e+02] [ 7.25408550e-01 -6.88117249e-01 -1.66459540e-02 1.93983218e+02] [ 2.26473188e-02 -3.09722061e-04 9.99743469e-01 5.26247340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.100385723 meters Centerline goodness [0,1] 0.9994461014060503 Centerline is valid? [True, True] Translation: X:188.45, Y:194.01, Z:5.26 [[-6.87567055e-01 -7.25953737e-01 1.55794067e-02 1.88448371e+02] [ 7.25757648e-01 -6.87743473e-01 -1.68745769e-02 1.94005494e+02] [ 2.29647974e-02 -2.95529582e-04 9.99736231e-01 5.26279254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.130385723 meters Centerline goodness [0,1] 0.9995720735177697 Centerline is valid? [True, True] Translation: X:188.43, Y:194.03, Z:5.26 [[-6.87545178e-01 -7.25979787e-01 1.53289627e-02 1.88429412e+02] [ 7.25790187e-01 -6.87715980e-01 -1.65932202e-02 1.94025844e+02] [ 2.25883150e-02 -2.82977806e-04 9.99744811e-01 5.26449270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.160385723 meters Centerline goodness [0,1] 0.9996355685131195 Centerline is valid? [True, True] Translation: X:188.41, Y:194.05, Z:5.27 [[-6.87214451e-01 -7.26305255e-01 1.47300713e-02 1.88413091e+02] [ 7.26130446e-01 -6.87372251e-01 -1.59362433e-02 1.94048064e+02] [ 2.16996195e-02 -2.55663449e-04 9.99764503e-01 5.26597097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.190385723 meters Centerline goodness [0,1] 0.9997016261375503 Centerline is valid? [True, True] Translation: X:188.40, Y:194.07, Z:5.27 [[-6.87047281e-01 -7.26470115e-01 1.43946512e-02 1.88395937e+02] [ 7.26303404e-01 -6.87198017e-01 -1.55643872e-02 1.94068808e+02] [ 2.11990379e-02 -2.38585801e-04 9.99775247e-01 5.26656480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.220385723 meters Centerline goodness [0,1] 0.9996573729067626 Centerline is valid? [True, True] Translation: X:188.38, Y:194.09, Z:5.27 [[-6.86908776e-01 -7.26606927e-01 1.40963616e-02 1.88377695e+02] [ 7.26447269e-01 -6.87053363e-01 -1.52329103e-02 1.94090354e+02] [ 2.07532908e-02 -2.23356374e-04 9.99784602e-01 5.26778579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.250385723 meters Centerline goodness [0,1] 0.999763415421013 Centerline is valid? [True, True] Translation: X:188.36, Y:194.11, Z:5.27 [[-6.86943511e-01 -7.26585011e-01 1.35216245e-02 1.88361899e+02] [ 7.26438265e-01 -6.87076545e-01 -1.46037116e-02 1.94110906e+02] [ 1.99012289e-02 -2.09299490e-04 9.99801929e-01 5.26827032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.280385723 meters Centerline goodness [0,1] 0.9998500556935995 Centerline is valid? [True, True] Translation: X:188.34, Y:194.13, Z:5.27 [[-6.86981799e-01 -7.26548331e-01 1.35473208e-02 1.88344384e+02] [ 7.26401207e-01 -6.87115333e-01 -1.46220896e-02 1.94131468e+02] [ 1.99322267e-02 -2.04319220e-04 9.99801313e-01 5.26879691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.310385723 meters Centerline goodness [0,1] 0.9997428865272541 Centerline is valid? [True, True] Translation: X:188.33, Y:194.15, Z:5.27 [[-6.87815434e-01 -7.25765738e-01 1.31917731e-02 1.88328601e+02] [ 7.25626251e-01 -6.87941893e-01 -1.42300966e-02 1.94151919e+02] [ 1.94028899e-02 -2.15383243e-04 9.99811723e-01 5.26921683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.340385723 meters Centerline goodness [0,1] 0.99957015130674 Centerline is valid? [True, True] Translation: X:188.31, Y:194.17, Z:5.27 [[-6.88694043e-01 -7.24932657e-01 1.31589301e-02 1.88310782e+02] [ 7.24793858e-01 -6.88819707e-01 -1.41871436e-02 1.94173230e+02] [ 1.93488541e-02 -2.33089580e-04 9.99812766e-01 5.26881901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.370385723 meters Centerline goodness [0,1] 0.9998494137893944 Centerline is valid? [True, True] Translation: X:188.29, Y:194.20, Z:5.27 [[-6.89854200e-01 -7.23846002e-01 1.21716214e-02 1.88293971e+02] [ 7.23727214e-01 -6.89961526e-01 -1.31153041e-02 1.94195885e+02] [ 1.78914109e-02 -2.38713989e-04 9.99839907e-01 5.27084791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.400385723 meters Centerline goodness [0,1] 0.9997204240951418 Centerline is valid? [True, True] Translation: X:188.28, Y:194.22, Z:5.27 [[-6.90776568e-01 -7.22953931e-01 1.28587560e-02 1.88276325e+02] [ 7.22821347e-01 -6.90896187e-01 -1.38477512e-02 1.94217251e+02] [ 1.88953516e-02 -2.71118750e-04 9.99821430e-01 5.27020817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.430385723 meters Centerline goodness [0,1] 0.9999570123589469 Centerline is valid? [True, True] Translation: X:188.26, Y:194.24, Z:5.27 [[-6.92453175e-01 -7.21369471e-01 1.16054764e-02 1.88260564e+02] [ 7.21261360e-01 -6.92550365e-01 -1.24916991e-02 1.94239085e+02] [ 1.70485073e-02 -2.79335010e-04 9.99854625e-01 5.27083860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.460385723 meters Centerline goodness [0,1] 0.9998706450500172 Centerline is valid? [True, True] Translation: X:188.24, Y:194.26, Z:5.27 [[-6.93364570e-01 -7.20499551e-01 1.12236234e-02 1.88242923e+02] [ 7.20398437e-01 -6.93455344e-01 -1.20738039e-02 1.94259850e+02] [ 1.64822519e-02 -2.86067102e-04 9.99864118e-01 5.27092000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.490385723 meters Centerline goodness [0,1] 0.999913791245501 Centerline is valid? [True, True] Translation: X:188.23, Y:194.28, Z:5.27 [[-6.94899021e-01 -7.19025640e-01 1.08387834e-02 1.88227116e+02] [ 7.18931270e-01 -6.94983479e-01 -1.16530246e-02 1.94281769e+02] [ 1.59115989e-02 -3.05335103e-04 9.99873356e-01 5.27056190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.520385723 meters Centerline goodness [0,1] 0.999913791245501 Centerline is valid? [True, True] Translation: X:188.21, Y:194.30, Z:5.27 [[-6.95116880e-01 -7.18814992e-01 1.08411478e-02 1.88208815e+02] [ 7.18720631e-01 -6.95201347e-01 -1.16508246e-02 1.94301293e+02] [ 1.59115679e-02 -3.06928252e-04 9.99873356e-01 5.27096646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.550385723 meters Centerline goodness [0,1] 0.9998707453683757 Centerline is valid? [True, True] Translation: X:188.19, Y:194.32, Z:5.27 [[-6.95812150e-01 -7.18138596e-01 1.10638457e-02 1.88190904e+02] [ 7.18040351e-01 -6.95900030e-01 -1.18828399e-02 1.94322701e+02] [ 1.62328565e-02 -3.23936730e-04 9.99868186e-01 5.27118249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.17, Y:194.35, Z:5.27 [[-6.96652250e-01 -7.17309230e-01 1.19628669e-02 1.88174964e+02] [ 7.17194380e-01 -6.96754859e-01 -1.28408392e-02 1.94345693e+02] [ 1.75460381e-02 -3.65898639e-04 9.99845989e-01 5.27107853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.610385723 meters Centerline goodness [0,1] 0.9999134498874849 Centerline is valid? [True, True] Translation: X:188.16, Y:194.37, Z:5.27 [[-6.96991444e-01 -7.16977746e-01 1.20763861e-02 1.88156578e+02] [ 7.16860783e-01 -6.97095957e-01 -1.29554828e-02 1.94366581e+02] [ 1.77071928e-02 -3.72773061e-04 9.99843146e-01 5.27117901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.14, Y:194.39, Z:5.27 [[-6.96780011e-01 -7.17194228e-01 1.14041835e-02 1.88139472e+02] [ 7.17090059e-01 -6.96873247e-01 -1.22280719e-02 1.94387008e+02] [ 1.67171729e-02 -3.42449461e-04 9.99860200e-01 5.27080239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.670385723 meters Centerline goodness [0,1] 0.9999566282826968 Centerline is valid? [True, True] Translation: X:188.12, Y:194.41, Z:5.27 [[-6.96496944e-01 -7.17468250e-01 1.14593369e-02 1.88119211e+02] [ 7.17363195e-01 -6.96591127e-01 -1.22820181e-02 1.94406404e+02] [ 1.67944305e-02 -3.33881554e-04 9.99858908e-01 5.27118901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.700385723 meters Centerline goodness [0,1] 0.9999782428963057 Centerline is valid? [True, True] Translation: X:188.10, Y:194.43, Z:5.27 [[-6.96060108e-01 -7.17893450e-01 1.13719419e-02 1.88102112e+02] [ 7.17790159e-01 -6.96152925e-01 -1.21816838e-02 1.94427113e+02] [ 1.66617616e-02 -3.16516188e-04 9.99861133e-01 5.27113357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.08, Y:194.45, Z:5.27 [[-6.95387088e-01 -7.18540233e-01 1.16932213e-02 1.88084194e+02] [ 7.18431209e-01 -6.95485327e-01 -1.25203240e-02 1.94448656e+02] [ 1.71288204e-02 -3.05696565e-04 9.99853244e-01 5.27141157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.07, Y:194.47, Z:5.27 [[-6.95501956e-01 -7.18426850e-01 1.18275640e-02 1.88066005e+02] [ 7.18315413e-01 -6.95602449e-01 -1.26570027e-02 1.94470447e+02] [ 1.73204130e-02 -3.07048630e-04 9.99849943e-01 5.27095953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.05, Y:194.49, Z:5.27 [[-6.96036766e-01 -7.17907338e-01 1.19110649e-02 1.88046968e+02] [ 7.17794372e-01 -6.96138602e-01 -1.27391660e-02 1.94491029e+02] [ 1.74372928e-02 -3.17232511e-04 9.99847909e-01 5.27099387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.820385723 meters Centerline goodness [0,1] 0.9999564213186909 Centerline is valid? [True, True] Translation: X:188.03, Y:194.51, Z:5.27 [[-6.96707043e-01 -7.17258465e-01 1.18148946e-02 1.88030183e+02] [ 7.17147346e-01 -6.96807139e-01 -1.26291386e-02 1.94511941e+02] [ 1.72910595e-02 -3.25789496e-04 9.99850445e-01 5.27115247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.850385723 meters Centerline goodness [0,1] 0.9998249682754999 Centerline is valid? [True, True] Translation: X:188.01, Y:194.53, Z:5.27 [[-6.98492543e-01 -7.15512160e-01 1.22684865e-02 1.88014324e+02] [ 7.15392221e-01 -6.98600176e-01 -1.31059113e-02 1.94534834e+02] [ 1.79482057e-02 -3.77601491e-04 9.99838847e-01 5.27098400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.00, Y:194.56, Z:5.27 [[-7.00814259e-01 -7.13257360e-01 1.11046327e-02 1.87997618e+02] [ 7.13158918e-01 -7.00902123e-01 -1.18562862e-02 1.94557532e+02] [ 1.62398441e-02 -3.89686601e-04 9.99868049e-01 5.27360679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.98, Y:194.58, Z:5.27 [[-7.02468906e-01 -7.11636894e-01 1.05055704e-02 1.87979222e+02] [ 7.11548696e-01 -7.02547344e-01 -1.12108077e-02 1.94579288e+02] [ 1.53586849e-02 -4.00018904e-04 9.99881968e-01 5.27424112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.96, Y:194.60, Z:5.27 [[-7.05278020e-01 -7.08853043e-01 1.05013701e-02 1.87961654e+02] [ 7.08764701e-01 -7.05356049e-01 -1.12001388e-02 1.94601402e+02] [ 1.53464574e-02 -4.56211244e-04 9.99882132e-01 5.27378657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.94, Y:194.62, Z:5.27 [[-7.06564819e-01 -7.07564255e-01 1.09078341e-02 1.87943317e+02] [ 7.07468895e-01 -7.06648835e-01 -1.16269704e-02 1.94622864e+02] [ 1.59348369e-02 -4.98254908e-04 9.99872908e-01 5.27347966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.93, Y:194.64, Z:5.27 [[-7.07556037e-01 -7.06567965e-01 1.12323445e-02 1.87926603e+02] [ 7.06466829e-01 -7.07644988e-01 -1.19662154e-02 1.94643632e+02] [ 1.64034568e-02 -5.31489206e-04 9.99865313e-01 5.27303917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.91, Y:194.67, Z:5.27 [[-7.09435344e-01 -7.04672687e-01 1.17429175e-02 1.87908507e+02] [ 7.04561989e-01 -7.09532273e-01 -1.25042522e-02 1.94665109e+02] [ 1.71433839e-02 -5.97345127e-04 9.99852863e-01 5.27218837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.89, Y:194.69, Z:5.27 [[-7.10525014e-01 -7.03564996e-01 1.22679101e-02 1.87889597e+02] [ 7.03444144e-01 -7.10630620e-01 -1.30559773e-02 1.94686383e+02] [ 1.79036811e-02 -6.46808949e-04 9.99839507e-01 5.27126888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.87, Y:194.71, Z:5.27 [[-7.10988933e-01 -7.03095209e-01 1.23233268e-02 1.87870668e+02] [ 7.02973322e-01 -7.11095420e-01 -1.31076998e-02 1.94705757e+02] [ 1.79790222e-02 -6.56459570e-04 9.99838149e-01 5.27134041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.85, Y:194.73, Z:5.27 [[-7.11197706e-01 -7.02876761e-01 1.27311483e-02 1.87852254e+02] [ 7.02746795e-01 -7.11311324e-01 -1.35329863e-02 1.94725525e+02] [ 1.85678315e-02 -6.77855140e-04 9.99827373e-01 5.27136341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.83, Y:194.75, Z:5.27 [[-7.11156455e-01 -7.02920167e-01 1.26386105e-02 1.87834951e+02] [ 7.02792243e-01 -7.11268441e-01 -1.34264245e-02 1.94745935e+02] [ 1.84271493e-02 -6.65971059e-04 9.99829984e-01 5.27142520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.81, Y:194.76, Z:5.27 [[-7.11022119e-01 -7.03062798e-01 1.22575626e-02 1.87813138e+02] [ 7.02942634e-01 -7.11127483e-01 -1.30136934e-02 1.94764485e+02] [ 1.78661334e-02 -6.36660544e-04 9.99840185e-01 5.27228416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.80, Y:194.79, Z:5.27 [[-7.11079813e-01 -7.03010883e-01 1.18826748e-02 1.87795278e+02] [ 7.02898069e-01 -7.11178825e-01 -1.26088458e-02 1.94785403e+02] [ 1.73148625e-02 -6.13586477e-04 9.99849898e-01 5.27348826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.77, Y:194.81, Z:5.27 [[-7.10725044e-01 -7.03367778e-01 1.19867234e-02 1.87774536e+02] [ 7.03253159e-01 -7.10825860e-01 -1.27118742e-02 1.94805010e+02] [ 1.74615957e-02 -6.04946278e-04 9.99847352e-01 5.27404699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.75, Y:194.82, Z:5.27 [[-7.09942747e-01 -7.04167640e-01 1.13680075e-02 1.87753446e+02] [ 7.04064755e-01 -7.10033543e-01 -1.20494172e-02 1.94823571e+02] [ 1.65564763e-02 -5.50582916e-04 9.99862781e-01 5.27404473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.73, Y:194.84, Z:5.27 [[-7.09631248e-01 -7.04474566e-01 1.17930866e-02 1.87733049e+02] [ 7.04364004e-01 -7.09729014e-01 -1.24930499e-02 1.94843371e+02] [ 1.71709316e-02 -5.58832910e-04 9.99852413e-01 5.27417620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.71, Y:194.86, Z:5.27 [[-7.08561006e-01 -7.05550754e-01 1.18082365e-02 1.87714360e+02] [ 7.05440173e-01 -7.08659195e-01 -1.25023100e-02 1.94862636e+02] [ 1.71890296e-02 -5.28644963e-04 9.99852118e-01 5.27404954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.69, Y:194.88, Z:5.27 [[-7.07975632e-01 -7.06140073e-01 1.16919932e-02 1.87693755e+02] [ 7.06031828e-01 -7.08071989e-01 -1.23740090e-02 1.94881649e+02] [ 1.70165565e-02 -5.05577540e-04 9.99855080e-01 5.27440858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.390385723 meters Centerline goodness [0,1] 0.9999782367407343 Centerline is valid? [True, True] Translation: X:187.67, Y:194.90, Z:5.27 [[-7.06003949e-01 -7.08103974e-01 1.21320375e-02 1.87673639e+02] [ 7.07987843e-01 -7.06108024e-01 -1.28325103e-02 1.94899898e+02] [ 1.76532806e-02 -4.70467919e-04 9.99844058e-01 5.27439543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.65, Y:194.92, Z:5.27 [[-7.03159546e-01 -7.10918354e-01 1.27179379e-02 1.87652239e+02] [ 7.10791328e-01 -7.03274429e-01 -1.34449294e-02 1.94917286e+02] [ 1.85024476e-02 -4.14130470e-04 9.99828729e-01 5.27411542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.63, Y:194.94, Z:5.27 [[-7.02059887e-01 -7.12009697e-01 1.24139290e-02 1.87631444e+02] [ 7.11888971e-01 -7.02169533e-01 -1.31163868e-02 1.94935740e+02] [ 1.80556774e-02 -3.71149914e-04 9.99836914e-01 5.27441858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.480385723 meters Centerline goodness [0,1] 0.9999783881913077 Centerline is valid? [True, True] Translation: X:187.61, Y:194.95, Z:5.27 [[-7.00634013e-01 -7.13410714e-01 1.25352306e-02 1.87610560e+02] [ 7.13287978e-01 -7.00746061e-01 -1.32369974e-02 1.94954776e+02] [ 1.82274292e-02 -3.33061352e-04 9.99833811e-01 5.27447162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.59, Y:194.97, Z:5.28 [[-6.98165248e-01 -7.15822205e-01 1.28006988e-02 1.87589233e+02] [ 7.15694756e-01 -6.98282534e-01 -1.35099654e-02 1.94972778e+02] [ 1.86092376e-02 -2.70795381e-04 9.99826796e-01 5.27515726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.57, Y:194.99, Z:5.28 [[-6.97470820e-01 -7.16500743e-01 1.26941080e-02 1.87570478e+02] [ 7.16375655e-01 -6.97586285e-01 -1.33901413e-02 1.94991531e+02] [ 1.84492818e-02 -2.45482852e-04 9.99829767e-01 5.27586279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.55, Y:195.01, Z:5.28 [[-6.95979892e-01 -7.17955858e-01 1.23034924e-02 1.87551169e+02] [ 7.17838719e-01 -6.96088606e-01 -1.29701613e-02 1.95009535e+02] [ 1.78763242e-02 -1.95048246e-04 9.99840187e-01 5.27686601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.600385723 meters Centerline goodness [0,1] 0.9999784756451925 Centerline is valid? [True, True] Translation: X:187.53, Y:195.03, Z:5.28 [[-6.95590624e-01 -7.18335342e-01 1.21663505e-02 1.87530191e+02] [ 7.18220996e-01 -6.95696992e-01 -1.28178048e-02 1.95028592e+02] [ 1.76715756e-02 -1.77816441e-04 9.99843830e-01 5.27766106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.630385723 meters Centerline goodness [0,1] 0.9999137893874736 Centerline is valid? [True, True] Translation: X:187.51, Y:195.05, Z:5.28 [[-6.95337197e-01 -7.18583682e-01 1.19864303e-02 1.87511483e+02] [ 7.18472847e-01 -6.95440483e-01 -1.26215172e-02 1.95047066e+02] [ 1.74054652e-02 -1.64285682e-04 9.99848500e-01 5.27804125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.660385723 meters Centerline goodness [0,1] 0.9999785094128771 Centerline is valid? [True, True] Translation: X:187.49, Y:195.07, Z:5.28 [[-6.95884393e-01 -7.18055121e-01 1.19060479e-02 1.87493000e+02] [ 7.17945797e-01 -6.95986216e-01 -1.25307143e-02 1.95066849e+02] [ 1.72841888e-02 -1.72031461e-04 9.99850602e-01 5.27830917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.690385723 meters Centerline goodness [0,1] 0.9999568575003236 Centerline is valid? [True, True] Translation: X:187.48, Y:195.09, Z:5.28 [[-6.96995152e-01 -7.16969737e-01 1.23350736e-02 1.87476875e+02] [ 7.16852369e-01 -6.97104264e-01 -1.29740380e-02 1.95088089e+02] [ 1.79008251e-02 -2.00414862e-04 9.99839747e-01 5.27848945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.720385723 meters Centerline goodness [0,1] 0.9999569104815254 Centerline is valid? [True, True] Translation: X:187.46, Y:195.11, Z:5.28 [[-6.97878567e-01 -7.16103565e-01 1.26960328e-02 1.87458526e+02] [ 7.15979243e-01 -6.97994007e-01 -1.33450199e-02 1.95108746e+02] [ 1.84181711e-02 -2.23107447e-04 9.99830346e-01 5.27926327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.44, Y:195.13, Z:5.28 [[-6.98884227e-01 -7.15121557e-01 1.27277479e-02 1.87442405e+02] [ 7.14996604e-01 -6.99000071e-01 -1.33700152e-02 1.95129237e+02] [ 1.84578828e-02 -2.43796236e-04 9.99829609e-01 5.27952410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.42, Y:195.15, Z:5.28 [[-7.00949827e-01 -7.13104304e-01 1.23122592e-02 1.87423790e+02] [ 7.12987206e-01 -7.01057895e-01 -1.29256564e-02 1.95150411e+02] [ 1.78489477e-02 -2.81753291e-04 9.99840655e-01 5.28012634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.810385723 meters Centerline goodness [0,1] 0.9999783390373869 Centerline is valid? [True, True] Translation: X:187.41, Y:195.17, Z:5.28 [[-7.02404281e-01 -7.11667859e-01 1.25333584e-02 1.87406990e+02] [ 7.11546419e-01 -7.02516019e-01 -1.31505262e-02 1.95171351e+02] [ 1.81636919e-02 -3.18919614e-04 9.99834976e-01 5.27991591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.39, Y:195.19, Z:5.28 [[-7.02989535e-01 -7.11084585e-01 1.28229151e-02 1.87389075e+02] [ 7.10957517e-01 -7.03106393e-01 -1.34465020e-02 1.95191800e+02] [ 1.85774738e-02 -3.36202307e-04 9.99827367e-01 5.28007223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.37, Y:195.21, Z:5.28 [[-7.03145784e-01 -7.10925519e-01 1.30733542e-02 1.87370892e+02] [ 7.10793568e-01 -7.03267225e-01 -1.37008299e-02 1.95212717e+02] [ 1.89343312e-02 -3.41224707e-04 9.99820671e-01 5.28043977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.35, Y:195.23, Z:5.28 [[-7.03252529e-01 -7.10817204e-01 1.32205907e-02 1.87353376e+02] [ 7.10682405e-01 -7.03376703e-01 -1.38467636e-02 1.95232654e+02] [ 1.91415732e-02 -3.42130313e-04 9.99816725e-01 5.28074446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.33, Y:195.25, Z:5.28 [[-7.03178282e-01 -7.10882600e-01 1.36467222e-02 1.87334763e+02] [ 7.10739161e-01 -7.03310607e-01 -1.42840898e-02 1.95252128e+02] [ 1.97521954e-02 -3.45001792e-04 9.99804847e-01 5.28069277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.32, Y:195.27, Z:5.28 [[-7.02891810e-01 -7.11147733e-01 1.45604090e-02 1.87315557e+02] [ 7.10984695e-01 -7.03042515e-01 -1.52310747e-02 1.95271412e+02] [ 2.10681308e-02 -3.53569686e-04 9.99777980e-01 5.27973360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.30, Y:195.29, Z:5.28 [[-7.02465959e-01 -7.11557104e-01 1.51017943e-02 1.87295680e+02] [ 7.11382021e-01 -7.02628185e-01 -1.57877579e-02 1.95290515e+02] [ 2.18448376e-02 -3.47217514e-04 9.99761313e-01 5.28000387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.020385723 meters Centerline goodness [0,1] 0.9998910390516039 Centerline is valid? [True, True] Translation: X:187.28, Y:195.31, Z:5.28 [[-7.00918848e-01 -7.13065051e-01 1.58430222e-02 1.87277348e+02] [ 7.12872980e-01 -7.01097810e-01 -1.65522147e-02 1.95310258e+02] [ 2.29103139e-02 -3.07696835e-04 9.99737477e-01 5.28047975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.26, Y:195.33, Z:5.28 [[-7.00413453e-01 -7.13558372e-01 1.59825949e-02 1.87259817e+02] [ 7.13363250e-01 -7.00595723e-01 -1.66885373e-02 1.95329539e+02] [ 2.31055831e-02 -2.87480164e-04 9.99732989e-01 5.28077022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.080385723 meters Centerline goodness [0,1] 0.9999781768980643 Centerline is valid? [True, True] Translation: X:187.24, Y:195.35, Z:5.28 [[-6.99395647e-01 -7.14558917e-01 1.58518960e-02 1.87241017e+02] [ 7.14367425e-01 -6.99575224e-01 -1.65435236e-02 1.95349126e+02] [ 2.29109160e-02 -2.46390281e-04 9.99737480e-01 5.28111121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.22, Y:195.37, Z:5.28 [[-6.99305328e-01 -7.14639579e-01 1.61966212e-02 1.87222244e+02] [ 7.14439932e-01 -6.99492826e-01 -1.68928860e-02 1.95368991e+02] [ 2.34017453e-02 -2.41772243e-04 9.99726112e-01 5.28155154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.140385723 meters Centerline goodness [0,1] 0.9999781085814361 Centerline is valid? [True, True] Translation: X:187.21, Y:195.39, Z:5.28 [[-6.99201525e-01 -7.14736520e-01 1.63992079e-02 1.87206603e+02] [ 7.14532126e-01 -6.99393775e-01 -1.70935278e-02 1.95390101e+02] [ 2.36868725e-02 -2.34059862e-04 9.99719399e-01 5.28154619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.170385723 meters Centerline goodness [0,1] 0.9999780147301308 Centerline is valid? [True, True] Translation: X:187.19, Y:195.41, Z:5.28 [[-6.99605593e-01 -7.14346110e-01 1.61755622e-02 1.87189271e+02] [ 7.14147393e-01 -6.99792526e-01 -1.68499667e-02 1.95411328e+02] [ 2.33562457e-02 -2.36595422e-04 9.99727178e-01 5.28270454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.200385723 meters Centerline goodness [0,1] 0.9999780514036127 Centerline is valid? [True, True] Translation: X:187.18, Y:195.43, Z:5.28 [[-7.01092005e-01 -7.12896434e-01 1.57693945e-02 1.87175043e+02] [ 7.12707432e-01 -7.01269278e-01 -1.64169426e-02 1.95434082e+02] [ 2.27621718e-02 -2.70822551e-04 9.99740872e-01 5.28342781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.16, Y:195.45, Z:5.28 [[-7.02010100e-01 -7.11993696e-01 1.57097616e-02 1.87158880e+02] [ 7.11806111e-01 -7.02185796e-01 -1.63453182e-02 1.95454238e+02] [ 2.26689350e-02 -2.92274216e-04 9.99742984e-01 5.28383846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.14, Y:195.48, Z:5.28 [[-7.03621773e-01 -7.10399349e-01 1.57849457e-02 1.87141785e+02] [ 7.10209750e-01 -7.03798728e-01 -1.64153115e-02 1.95476893e+02] [ 2.27708514e-02 -3.39548249e-04 9.99740653e-01 5.28450458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.12, Y:195.50, Z:5.29 [[-7.04349922e-01 -7.09670284e-01 1.61020140e-02 1.87123869e+02] [ 7.09473016e-01 -7.04533857e-01 -1.67357118e-02 1.95497620e+02] [ 2.32212513e-02 -3.63852838e-04 9.99730284e-01 5.28518529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.11, Y:195.52, Z:5.29 [[-7.05055472e-01 -7.08964942e-01 1.62939271e-02 1.87107892e+02] [ 7.08762995e-01 -7.05243620e-01 -1.69249297e-02 1.95520009e+02] [ 2.34903699e-02 -3.84481745e-04 9.99723989e-01 5.28565215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.350385723 meters Centerline goodness [0,1] 0.9998667614141056 Centerline is valid? [True, True] Translation: X:187.09, Y:195.54, Z:5.29 [[-7.05278410e-01 -7.08747435e-01 1.61070986e-02 1.87091322e+02] [ 7.08550250e-01 -7.05462209e-01 -1.67216956e-02 1.95540325e+02] [ 2.32144082e-02 -3.80762113e-04 9.99730437e-01 5.28607167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.07, Y:195.56, Z:5.29 [[-7.05046987e-01 -7.08969261e-01 1.64722009e-02 1.87073014e+02] [ 7.08763304e-01 -7.05239283e-01 -1.70919258e-02 1.95561220e+02] [ 2.37344932e-02 -3.75719263e-04 9.99718227e-01 5.28558293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.05, Y:195.58, Z:5.29 [[-7.05254970e-01 -7.08762252e-01 1.64772160e-02 1.87054353e+02] [ 7.08556350e-01 -7.05447326e-01 -1.70870902e-02 1.95580414e+02] [ 2.37344925e-02 -3.75719252e-04 9.99718227e-01 5.28598691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.04, Y:195.60, Z:5.29 [[-7.05040977e-01 -7.08973280e-01 1.65562496e-02 1.87035983e+02] [ 7.08765697e-01 -7.05235249e-01 -1.71589626e-02 1.95600355e+02] [ 2.38412968e-02 -3.63269913e-04 9.99715690e-01 5.28522932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.02, Y:195.62, Z:5.29 [[-7.04950646e-01 -7.09055869e-01 1.68630300e-02 1.87017899e+02] [ 7.08840795e-01 -7.05152214e-01 -1.74666151e-02 1.95620467e+02] [ 2.42758089e-02 -3.59898018e-04 9.99705234e-01 5.28518436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.00, Y:195.64, Z:5.29 [[-7.05318140e-01 -7.08698474e-01 1.65164921e-02 1.87002599e+02] [ 7.08492289e-01 -7.05511407e-01 -1.70976938e-02 1.95642025e+02] [ 2.37696831e-02 -3.57506327e-04 9.99717397e-01 5.28571929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.98, Y:195.66, Z:5.29 [[-7.06423736e-01 -7.07605288e-01 1.61326392e-02 1.86983414e+02] [ 7.07408517e-01 -7.06607822e-01 -1.66906238e-02 1.95663106e+02] [ 2.32098227e-02 -3.78286425e-04 9.99730544e-01 5.28817155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.97, Y:195.69, Z:5.29 [[-7.06722344e-01 -7.07320586e-01 1.55279412e-02 1.86967427e+02] [ 7.07138421e-01 -7.06892816e-01 -1.60561426e-02 1.95685069e+02] [ 2.23334303e-02 -3.66830896e-04 9.99750511e-01 5.28843073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.95, Y:195.70, Z:5.29 [[-7.06940444e-01 -7.07102498e-01 1.55327261e-02 1.86948742e+02] [ 7.06920382e-01 -7.07110969e-01 -1.60515127e-02 1.95704252e+02] [ 2.23334258e-02 -3.67062839e-04 9.99750511e-01 5.28883480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.93, Y:195.72, Z:5.29 [[-7.06538928e-01 -7.07500063e-01 1.56972242e-02 1.86930373e+02] [ 7.07314394e-01 -7.06713193e-01 -1.62114354e-02 1.95724360e+02] [ 2.25630270e-02 -3.51137568e-04 9.99745361e-01 5.28935198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.91, Y:195.74, Z:5.29 [[-7.05999130e-01 -7.08042342e-01 1.55328928e-02 1.86912832e+02] [ 7.07860894e-01 -7.06169907e-01 -1.60317709e-02 1.95743607e+02] [ 2.23200340e-02 -3.23288890e-04 9.99750825e-01 5.28958959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.89, Y:195.76, Z:5.29 [[-7.04902266e-01 -7.09134665e-01 1.55184529e-02 1.86894575e+02] [ 7.08954044e-01 -7.05073009e-01 -1.60067631e-02 1.95763339e+02] [ 2.22925929e-02 -2.81333630e-04 9.99751450e-01 5.28959829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.88, Y:195.78, Z:5.29 [[-7.04620896e-01 -7.09413610e-01 1.55474559e-02 1.86876078e+02] [ 7.09232597e-01 -7.04792352e-01 -1.60269712e-02 1.95783563e+02] [ 2.23274795e-02 -2.66176279e-04 9.99750675e-01 5.28902797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.86, Y:195.80, Z:5.29 [[-7.04625890e-01 -7.09408748e-01 1.55429511e-02 1.86860195e+02] [ 7.09228060e-01 -7.04797248e-01 -1.60124371e-02 1.95804442e+02] [ 2.23139921e-02 -2.59280711e-04 9.99750978e-01 5.28787202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.84, Y:195.82, Z:5.29 [[-7.04891354e-01 -7.09147439e-01 1.54301327e-02 1.86842513e+02] [ 7.08969522e-01 -7.05060170e-01 -1.58862999e-02 1.95823941e+02] [ 2.21449008e-02 -2.58621644e-04 9.99754738e-01 5.28836160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.82, Y:195.84, Z:5.29 [[-7.05684795e-01 -7.08366642e-01 1.50223459e-02 1.86823518e+02] [ 7.08198026e-01 -7.05844620e-01 -1.54572923e-02 1.95843474e+02] [ 2.15528723e-02 -2.69180372e-04 9.99767674e-01 5.29072739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.830385723 meters Centerline goodness [0,1] 0.9999774612333213 Centerline is valid? [True, True] Translation: X:186.81, Y:195.86, Z:5.29 [[-7.06084829e-01 -7.07973225e-01 1.47691410e-02 1.86805221e+02] [ 7.07810352e-01 -7.06239223e-01 -1.51876713e-02 1.95863141e+02] [ 2.11830113e-02 -2.70033406e-04 9.99775578e-01 5.29160450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.79, Y:195.88, Z:5.29 [[-7.07030085e-01 -7.07034249e-01 1.45268538e-02 1.86786142e+02] [ 7.06876667e-01 -7.07179247e-01 -1.49295107e-02 1.95883177e+02] [ 2.08287650e-02 -2.86919224e-04 9.99783017e-01 5.29178758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.77, Y:195.90, Z:5.29 [[-7.07493250e-01 -7.06579715e-01 1.40856904e-02 1.86767212e+02] [ 7.06431643e-01 -7.07633397e-01 -1.44675160e-02 1.95902661e+02] [ 2.01899583e-02 -2.85092561e-04 9.99796121e-01 5.29192766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.75, Y:195.92, Z:5.29 [[-7.08084066e-01 -7.05991151e-01 1.39086555e-02 1.86748307e+02] [ 7.05846835e-01 -7.08220594e-01 -1.42771042e-02 1.95922691e+02] [ 1.99299055e-02 -2.92009499e-04 9.99801337e-01 5.29236428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.73, Y:195.94, Z:5.29 [[-7.08852804e-01 -7.05208655e-01 1.44379582e-02 1.86731311e+02] [ 7.05053176e-01 -7.08999754e-01 -1.48110649e-02 1.95943141e+02] [ 2.06814000e-02 -3.19336585e-04 9.99786066e-01 5.29300863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.71, Y:195.96, Z:5.29 [[-7.09538547e-01 -7.04513408e-01 1.46938453e-02 1.86711887e+02] [ 7.04352420e-01 -7.09690597e-01 -1.50640086e-02 1.95962450e+02] [ 2.10408799e-02 -3.38849269e-04 9.99778559e-01 5.29319150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.69, Y:195.98, Z:5.29 [[-7.09828592e-01 -7.04226578e-01 1.44324955e-02 1.86693574e+02] [ 7.04071391e-01 -7.09975221e-01 -1.47872283e-02 1.95981689e+02] [ 2.06602734e-02 -3.34890201e-04 9.99786498e-01 5.29332290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.67, Y:196.00, Z:5.29 [[-7.10068639e-01 -7.03993226e-01 1.40023507e-02 1.86673186e+02] [ 7.03847280e-01 -7.10206613e-01 -1.43378450e-02 1.96000103e+02] [ 2.00383078e-02 -3.25337656e-04 9.99799160e-01 5.29396807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.65, Y:196.02, Z:5.29 [[-7.09937870e-01 -7.04132544e-01 1.36228030e-02 1.86653513e+02] [ 7.03994589e-01 -7.10068494e-01 -1.39410260e-02 1.96017861e+02] [ 1.94894533e-02 -3.06882714e-04 9.99810015e-01 5.29410139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.63, Y:196.04, Z:5.29 [[-7.09840845e-01 -7.04227068e-01 1.37917380e-02 1.86633302e+02] [ 7.04085861e-01 -7.09974750e-01 -1.41051292e-02 1.96035893e+02] [ 1.97249996e-02 -3.01829078e-04 9.99805398e-01 5.29474831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.61, Y:196.05, Z:5.29 [[-7.09198124e-01 -7.04867875e-01 1.41173625e-02 1.86614140e+02] [ 7.04720216e-01 -7.09338564e-01 -1.44298148e-02 1.96053475e+02] [ 2.01851025e-02 -2.84806800e-04 9.99796220e-01 5.29433768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.59, Y:196.07, Z:5.29 [[-7.08983990e-01 -7.05076855e-01 1.44336709e-02 1.86594468e+02] [ 7.04922700e-01 -7.09130842e-01 -1.47457038e-02 1.96071827e+02] [ 2.06322156e-02 -2.79845662e-04 9.99787094e-01 5.29427829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.57, Y:196.09, Z:5.29 [[-7.09243701e-01 -7.04800232e-01 1.51659436e-02 1.86572343e+02] [ 7.04630177e-01 -7.09405769e-01 -1.54844511e-02 1.96088747e+02] [ 2.16722526e-02 -2.95867859e-04 9.99765085e-01 5.29367398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.220385723 meters Centerline goodness [0,1] 0.9998657988324499 Centerline is valid? [True, True] Translation: X:186.55, Y:196.11, Z:5.29 [[-7.10672964e-01 -7.03363463e-01 1.49591826e-02 1.86550202e+02] [ 7.03197881e-01 -7.10830311e-01 -1.52646493e-02 1.96106895e+02] [ 2.13700370e-02 -3.28908096e-04 9.99771581e-01 5.29181406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.53, Y:196.13, Z:5.29 [[-7.11247202e-01 -7.02790749e-01 1.45801565e-02 1.86531112e+02] [ 7.02633499e-01 -7.11396552e-01 -1.48698416e-02 1.96126768e+02] [ 2.08226602e-02 -3.31626864e-04 9.99783130e-01 5.29488683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.51, Y:196.15, Z:5.30 [[-7.11980698e-01 -7.02046087e-01 1.46552912e-02 1.86510791e+02] [ 7.01887238e-01 -7.12131428e-01 -1.49376868e-02 1.96145857e+02] [ 2.09234380e-02 -3.48982779e-04 9.99781020e-01 5.29584722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.49, Y:196.17, Z:5.30 [[-7.13349307e-01 -7.00651116e-01 1.48587053e-02 1.86492372e+02] [ 7.00487708e-01 -7.13503933e-01 -1.51363262e-02 1.96165835e+02] [ 2.12070286e-02 -3.89147375e-04 9.99775030e-01 5.29594543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.47, Y:196.18, Z:5.30 [[-7.14383914e-01 -6.99600419e-01 1.46586677e-02 1.86470874e+02] [ 6.99441339e-01 -7.14534174e-01 -1.49240340e-02 1.96184201e+02] [ 2.09149795e-02 -4.08611641e-04 9.99781174e-01 5.29668031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.45, Y:196.20, Z:5.30 [[-7.15273769e-01 -6.98697663e-01 1.43181950e-02 1.86451170e+02] [ 6.98545871e-01 -7.15416941e-01 -1.45693522e-02 1.96202798e+02] [ 2.04230516e-02 -4.19159479e-04 9.99791340e-01 5.29735372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.43, Y:196.22, Z:5.30 [[-7.16095952e-01 -6.97876003e-01 1.32541684e-02 1.86429947e+02] [ 6.97745940e-01 -7.16218487e-01 -1.34789444e-02 1.96220368e+02] [ 1.88995123e-02 -4.04175347e-04 9.99821307e-01 5.29831747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.41, Y:196.24, Z:5.30 [[-7.16281787e-01 -6.97683871e-01 1.33273544e-02 1.86411218e+02] [ 6.97552493e-01 -7.16405648e-01 -1.35450235e-02 1.96238275e+02] [ 1.89979364e-02 -4.05524337e-04 9.99819441e-01 5.29886402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.39, Y:196.26, Z:5.30 [[-7.15554547e-01 -6.98419577e-01 1.38486697e-02 1.86390134e+02] [ 6.98278037e-01 -7.15688437e-01 -1.40657015e-02 1.96255530e+02] [ 1.97350941e-02 -3.94554749e-04 9.99805166e-01 5.29977160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.37, Y:196.27, Z:5.30 [[-7.14137674e-01 -6.99872785e-01 1.36186856e-02 1.86368043e+02] [ 6.99736320e-01 -7.14267434e-01 -1.38244022e-02 1.96272313e+02] [ 1.94027065e-02 -3.43037480e-04 9.99811691e-01 5.29966693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.35, Y:196.29, Z:5.30 [[-7.13823680e-01 -7.00202072e-01 1.31458125e-02 1.86346977e+02] [ 7.00075084e-01 -7.13944645e-01 -1.33386964e-02 1.96290151e+02] [ 1.87251653e-02 -3.18421572e-04 9.99824618e-01 5.29976614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.33, Y:196.31, Z:5.30 [[-7.13220773e-01 -7.00818208e-01 1.30372410e-02 1.86327096e+02] [ 7.00693560e-01 -7.13339858e-01 -1.32205057e-02 1.96307453e+02] [ 1.85651548e-02 -2.94028467e-04 9.99827609e-01 5.29942541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.580385723 meters Centerline goodness [0,1] 0.9999780345297192 Centerline is valid? [True, True] Translation: X:186.31, Y:196.33, Z:5.30 [[-7.11953971e-01 -7.02103415e-01 1.31277555e-02 1.86305710e+02] [ 7.01977404e-01 -7.12074946e-01 -1.33039694e-02 1.96325384e+02] [ 1.86887081e-02 -2.56426150e-04 9.99825318e-01 5.29966028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.29, Y:196.34, Z:5.30 [[-7.11569583e-01 -7.02492695e-01 1.31431287e-02 1.86286948e+02] [ 7.02366599e-01 -7.11690913e-01 -1.33118538e-02 1.96343529e+02] [ 1.87053254e-02 -2.41015657e-04 9.99825011e-01 5.30063223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.27, Y:196.36, Z:5.30 [[-7.10646015e-01 -7.03432399e-01 1.28491697e-02 1.86265049e+02] [ 7.03312178e-01 -7.10762139e-01 -1.30062665e-02 1.96361372e+02] [ 1.82817326e-02 -2.05873956e-04 9.99832854e-01 5.30194455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.670385723 meters Centerline goodness [0,1] 0.999933911970745 Centerline is valid? [True, True] Translation: X:186.25, Y:196.38, Z:5.30 [[-7.11126928e-01 -7.02950786e-01 1.25970244e-02 1.86245869e+02] [ 7.02835289e-01 -7.11238462e-01 -1.27439218e-02 1.96379432e+02] [ 1.79178381e-02 -2.08912705e-04 9.99839441e-01 5.30031094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.23, Y:196.40, Z:5.30 [[-7.11086136e-01 -7.02998156e-01 1.22514951e-02 1.86226787e+02] [ 7.02889053e-01 -7.11191644e-01 -1.23864980e-02 1.96397777e+02] [ 1.74208462e-02 -1.96425194e-04 9.99848226e-01 5.30261922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.21, Y:196.42, Z:5.30 [[-7.11874286e-01 -7.02200022e-01 1.22527561e-02 1.86206900e+02] [ 7.02090917e-01 -7.11979694e-01 -1.23798376e-02 1.96416494e+02] [ 1.74168358e-02 -2.10339296e-04 9.99848293e-01 5.30308608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.19, Y:196.44, Z:5.30 [[-7.12140284e-01 -7.01932883e-01 1.21013400e-02 1.86188397e+02] [ 7.01826547e-01 -7.12243065e-01 -1.22194234e-02 1.96435002e+02] [ 1.71963106e-02 -2.08902011e-04 9.99852111e-01 5.30360635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.17, Y:196.45, Z:5.30 [[-7.12334268e-01 -7.01740330e-01 1.18490624e-02 1.86168161e+02] [ 7.01638481e-01 -7.12432781e-01 -1.19572152e-02 1.96453773e+02] [ 1.68325206e-02 -2.03775997e-04 9.99858302e-01 5.30433998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.15, Y:196.47, Z:5.31 [[-7.12471601e-01 -7.01601693e-01 1.18018085e-02 1.86148672e+02] [ 7.01500755e-01 -7.12569312e-01 -1.19023448e-02 1.96472626e+02] [ 1.67603118e-02 -2.01105070e-04 9.99859516e-01 5.30546847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.13, Y:196.49, Z:5.31 [[-7.12106261e-01 -7.01976967e-01 1.15330472e-02 1.86126658e+02] [ 7.01880736e-01 -7.12199624e-01 -1.16244425e-02 1.96490874e+02] [ 1.63739227e-02 -1.83014644e-04 9.99865922e-01 5.30664076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.11, Y:196.51, Z:5.31 [[-7.12004485e-01 -7.02079554e-01 1.15720838e-02 1.86106435e+02] [ 7.01982791e-01 -7.12098497e-01 -1.16572641e-02 1.96509965e+02] [ 1.64247903e-02 -1.76620635e-04 9.99865088e-01 5.30719247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.09, Y:196.53, Z:5.31 [[-7.11829863e-01 -7.02254596e-01 1.16931082e-02 1.86087088e+02] [ 7.02155932e-01 -7.11925877e-01 -1.17725247e-02 1.96528530e+02] [ 1.65919359e-02 -1.69649356e-04 9.99862330e-01 5.30768300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.07, Y:196.55, Z:5.31 [[-7.11386677e-01 -7.02704225e-01 1.16519610e-02 1.86066137e+02] [ 7.02606428e-01 -7.11482079e-01 -1.17242643e-02 1.96546765e+02] [ 1.65288515e-02 -1.53742714e-04 9.99863377e-01 5.30802568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.05, Y:196.57, Z:5.31 [[-7.10995596e-01 -7.03100637e-01 1.16084540e-02 1.86046115e+02] [ 7.03003728e-01 -7.11090342e-01 -1.16740525e-02 1.96565746e+02] [ 1.64626933e-02 -1.39413455e-04 9.99864471e-01 5.30814616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.03, Y:196.58, Z:5.31 [[-7.09890941e-01 -7.04207118e-01 1.21320294e-02 1.86025743e+02] [ 7.04101552e-01 -7.09994593e-01 -1.21935232e-02 1.96583767e+02] [ 1.72004411e-02 -1.13890913e-04 9.99852055e-01 5.30805563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.01, Y:196.60, Z:5.31 [[-7.09131822e-01 -7.04954029e-01 1.31101348e-02 1.86006807e+02] [ 7.04831036e-01 -7.09252993e-01 -1.31682685e-02 1.96601733e+02] [ 1.85814263e-02 -9.76083800e-05 9.99827346e-01 5.30786915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.99, Y:196.62, Z:5.31 [[-7.09049698e-01 -7.05038805e-01 1.29926853e-02 1.85987030e+02] [ 7.04918136e-01 -7.09168722e-01 -1.30439623e-02 1.96621330e+02] [ 1.84105056e-02 -9.00380112e-05 9.99830508e-01 5.30828068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.97, Y:196.64, Z:5.31 [[-7.09239204e-01 -7.04848189e-01 1.29916100e-02 1.85968458e+02] [ 7.04727644e-01 -7.09358177e-01 -1.30355030e-02 1.96639841e+02] [ 1.84037554e-02 -8.97430730e-05 9.99830633e-01 5.30883264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.95, Y:196.66, Z:5.31 [[-7.09346176e-01 -7.04728387e-01 1.36346337e-02 1.85949943e+02] [ 7.04595759e-01 -7.09477197e-01 -1.36720216e-02 1.96658231e+02] [ 1.93085234e-02 -9.12911601e-05 9.99813569e-01 5.30861198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.150385723 meters Centerline goodness [0,1] 0.9999781420765027 Centerline is valid? [True, True] Translation: X:185.93, Y:196.68, Z:5.31 [[-7.09996617e-01 -7.04055896e-01 1.44947873e-02 1.85931633e+02] [ 7.03906022e-01 -7.10144551e-01 -1.45268520e-02 1.96677818e+02] [ 2.05211100e-02 -1.11047709e-04 9.99789414e-01 5.30818771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.91, Y:196.70, Z:5.31 [[-7.10703643e-01 -7.03344507e-01 1.43818057e-02 1.85913194e+02] [ 7.03196991e-01 -7.10849132e-01 -1.44049543e-02 1.96697673e+02] [ 2.03549396e-02 -1.24411030e-04 9.99792809e-01 5.30989318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.90, Y:196.72, Z:5.31 [[-7.12544892e-01 -7.01473513e-01 1.46522278e-02 1.85895035e+02] [ 7.01320183e-01 -7.12695504e-01 -1.46669958e-02 1.96719467e+02] [ 2.07310859e-02 -1.74989861e-04 9.99785073e-01 5.31077034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.240385723 meters Centerline goodness [0,1] 0.9999341238471673 Centerline is valid? [True, True] Translation: X:185.88, Y:196.74, Z:5.31 [[-7.13775764e-01 -7.00221913e-01 1.46092609e-02 1.85877086e+02] [ 7.00069387e-01 -7.13925227e-01 -1.46158638e-02 1.96739454e+02] [ 2.06642680e-02 -2.04953065e-04 9.99786450e-01 5.31140594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.86, Y:196.76, Z:5.31 [[-7.14956613e-01 -6.99015472e-01 1.46427875e-02 1.85858906e+02] [ 6.98862174e-01 -7.15106506e-01 -1.46405803e-02 1.96759577e+02] [ 2.07051447e-02 -2.34089409e-04 9.99785598e-01 5.31222740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.84, Y:196.73, Z:5.31 [[-6.68282316e-01 -7.43787168e-01 1.33938291e-02 1.85842609e+02] [ 7.43654064e-01 -6.68416297e-01 -1.40814538e-02 1.96733201e+02] [ 1.94262583e-02 5.49988885e-04 9.99811141e-01 5.31347560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.83, Y:196.75, Z:5.31 [[-6.68513963e-01 -7.43589780e-01 1.27796645e-02 1.85825229e+02] [ 7.43446125e-01 -6.68636048e-01 -1.46183039e-02 1.96753556e+02] [ 1.94149657e-02 -2.71548179e-04 9.99811475e-01 5.31419847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.360385723 meters Centerline goodness [0,1] 0.9999781344295273 Centerline is valid? [True, True] Translation: X:185.81, Y:196.78, Z:5.32 [[-6.70038855e-01 -7.42222974e-01 1.23688736e-02 1.85807291e+02] [ 7.42088331e-01 -6.70152945e-01 -1.41400247e-02 1.96775387e+02] [ 1.87840882e-02 -2.95569192e-04 9.99823520e-01 5.31542275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.79, Y:196.80, Z:5.32 [[-6.70849810e-01 -7.41490096e-01 1.23680677e-02 1.85789151e+02] [ 7.41355494e-01 -6.70963740e-01 -1.41312066e-02 1.96797285e+02] [ 1.87766747e-02 -3.10782344e-04 9.99823654e-01 5.31589963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.77, Y:196.82, Z:5.32 [[-6.71912096e-01 -7.40525859e-01 1.24734610e-02 1.85771548e+02] [ 7.40388937e-01 -6.72027782e-01 -1.42436517e-02 1.96819084e+02] [ 1.89303048e-02 -3.35269383e-04 9.99820750e-01 5.31571402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.75, Y:196.84, Z:5.32 [[-6.72450081e-01 -7.40032405e-01 1.27643243e-02 1.85752536e+02] [ 7.39889093e-01 -6.72571124e-01 -1.45675466e-02 1.96839997e+02] [ 1.93653725e-02 -3.51763558e-04 9.99812412e-01 5.31560181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.480385723 meters Centerline goodness [0,1] 0.9999342033117666 Centerline is valid? [True, True] Translation: X:185.73, Y:196.86, Z:5.32 [[-6.72192001e-01 -7.40257377e-01 1.33014979e-02 1.85733948e+02] [ 7.40101970e-01 -6.72323501e-01 -1.51718200e-02 1.96861203e+02] [ 2.01739613e-02 -3.53911256e-04 9.99796422e-01 5.31517844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.510385723 meters Centerline goodness [0,1] 0.9999560970255735 Centerline is valid? [True, True] Translation: X:185.72, Y:196.88, Z:5.32 [[-6.71609499e-01 -7.40784910e-01 1.33565826e-02 1.85715264e+02] [ 7.40628490e-01 -6.71742217e-01 -1.52260932e-02 1.96882758e+02] [ 2.02514405e-02 -3.33723217e-04 9.99794863e-01 5.31577109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.540385723 meters Centerline goodness [0,1] 0.9999120975716954 Centerline is valid? [True, True] Translation: X:185.70, Y:196.90, Z:5.32 [[-6.71035457e-01 -7.41297258e-01 1.37764130e-02 1.85697722e+02] [ 7.41131132e-01 -6.71176780e-01 -1.56963411e-02 1.96903350e+02] [ 2.08820631e-02 -3.22672905e-04 9.99781894e-01 5.31617916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.570385723 meters Centerline goodness [0,1] 0.9999560555457901 Centerline is valid? [True, True] Translation: X:185.68, Y:196.92, Z:5.32 [[-6.69085022e-01 -7.43046409e-01 1.43967774e-02 1.85678660e+02] [ 7.42865552e-01 -6.69239836e-01 -1.63955246e-02 1.96924436e+02] [ 2.18175326e-02 -2.75129960e-04 9.99761931e-01 5.31594813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.66, Y:196.95, Z:5.32 [[-6.68374807e-01 -7.43678375e-01 1.47510026e-02 1.85659618e+02] [ 7.43488872e-01 -6.68537516e-01 -1.67894745e-02 1.96945025e+02] [ 2.23475678e-02 -2.54455493e-04 9.99750230e-01 5.31612656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.64, Y:196.96, Z:5.32 [[-6.66901235e-01 -7.44990279e-01 1.52390182e-02 1.85642358e+02] [ 7.44788612e-01 -6.67075288e-01 -1.73344349e-02 1.96964269e+02] [ 2.30795579e-02 -2.10508858e-04 9.99733609e-01 5.31532093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.660385723 meters Centerline goodness [0,1] 0.9999780802700511 Centerline is valid? [True, True] Translation: X:185.62, Y:196.98, Z:5.32 [[-6.66212711e-01 -7.45599642e-01 1.55498066e-02 1.85623920e+02] [ 7.45390102e-01 -6.66394132e-01 -1.76764458e-02 1.96984562e+02] [ 2.35418515e-02 -1.85600961e-04 9.99722835e-01 5.31506453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.690385723 meters Centerline goodness [0,1] 0.9999779808433337 Centerline is valid? [True, True] Translation: X:185.61, Y:197.00, Z:5.31 [[-6.65104687e-01 -7.46581263e-01 1.58799661e-02 1.85606160e+02] [ 7.46363254e-01 -6.65294218e-01 -1.80415069e-02 1.97003850e+02] [ 2.40343006e-02 -1.47267597e-04 9.99711124e-01 5.31463860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.59, Y:197.02, Z:5.32 [[-6.64877278e-01 -7.46788202e-01 1.56712365e-02 1.85588617e+02] [ 7.46576163e-01 -6.65061926e-01 -1.77951602e-02 1.97024265e+02] [ 2.37115584e-02 -1.31826066e-04 9.99718833e-01 5.31566970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.57, Y:197.04, Z:5.32 [[-6.64526124e-01 -7.47106482e-01 1.53927261e-02 1.85572598e+02] [ 7.46902248e-01 -6.64704365e-01 -1.74682197e-02 1.97044652e+02] [ 2.32822324e-02 -1.11226606e-04 9.99728926e-01 5.31702097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.780385723 meters Centerline goodness [0,1] 0.9999780214949779 Centerline is valid? [True, True] Translation: X:185.55, Y:197.07, Z:5.32 [[-6.64539815e-01 -7.47096342e-01 1.52934891e-02 1.85554623e+02] [ 7.46894981e-01 -6.64715763e-01 -1.73447924e-02 1.97065032e+02] [ 2.31240542e-02 -1.03674878e-04 9.99732598e-01 5.31773550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.54, Y:197.08, Z:5.32 [[-6.64366565e-01 -7.47248937e-01 1.53652991e-02 1.85537322e+02] [ 7.47045969e-01 -6.64544218e-01 -1.74155769e-02 1.97084670e+02] [ 2.32246920e-02 -9.17422178e-05 9.99730266e-01 5.31786940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.52, Y:197.10, Z:5.32 [[-6.64729689e-01 -7.46927272e-01 1.53000485e-02 1.85519978e+02] [ 7.46726188e-01 -6.64905739e-01 -1.73308355e-02 1.97104912e+02] [ 2.31179637e-02 -9.53740103e-05 9.99732740e-01 5.31809546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.50, Y:197.13, Z:5.32 [[-6.65255267e-01 -7.46464717e-01 1.50285271e-02 1.85502455e+02] [ 7.46270826e-01 -6.65424989e-01 -1.70128916e-02 1.97125743e+02] [ 2.26998808e-02 -1.02564422e-04 9.99742319e-01 5.31954917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.900385723 meters Centerline goodness [0,1] 0.9999778383529464 Centerline is valid? [True, True] Translation: X:185.48, Y:197.15, Z:5.32 [[-6.65675356e-01 -7.46083567e-01 1.53503255e-02 1.85484375e+02] [ 7.45881426e-01 -6.65852311e-01 -1.73665973e-02 1.97146875e+02] [ 2.31779826e-02 -1.10993207e-04 9.99731348e-01 5.32030721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.930385723 meters Centerline goodness [0,1] 0.9999777846892078 Centerline is valid? [True, True] Translation: X:185.47, Y:197.17, Z:5.32 [[-6.66093115e-01 -7.45707869e-01 1.54834127e-02 1.85467821e+02] [ 7.45502317e-01 -6.66273037e-01 -1.75081488e-02 1.97168771e+02] [ 2.33721447e-02 -1.19137332e-04 9.99726827e-01 5.31974051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.960385723 meters Centerline goodness [0,1] 0.9999114299632434 Centerline is valid? [True, True] Translation: X:185.45, Y:197.19, Z:5.32 [[-6.66560537e-01 -7.45283034e-01 1.58192891e-02 1.85450193e+02] [ 7.45068548e-01 -6.66748215e-01 -1.78795016e-02 1.97190189e+02] [ 2.38727719e-02 -1.31315459e-04 9.99714996e-01 5.32036637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.43, Y:197.21, Z:5.32 [[-6.66982179e-01 -7.44897769e-01 1.61891001e-02 1.85432461e+02] [ 7.44673277e-01 -6.67178607e-01 -1.82870521e-02 1.97212049e+02] [ 2.44230056e-02 -1.41547634e-04 9.99701704e-01 5.32093927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.42, Y:197.23, Z:5.32 [[-6.67425977e-01 -7.44500974e-01 1.61513079e-02 1.85416513e+02] [ 7.44277669e-01 -6.67621357e-01 -1.82338645e-02 1.97233703e+02] [ 2.43580880e-02 -1.48697069e-04 9.99703287e-01 5.32087528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.40, Y:197.25, Z:5.32 [[-6.67662559e-01 -7.44284753e-01 1.63374851e-02 1.85400080e+02] [ 7.44056489e-01 -6.67862399e-01 -1.84325326e-02 1.97254069e+02] [ 2.46302450e-02 -1.50700105e-04 9.99696618e-01 5.32112656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.080385723 meters Centerline goodness [0,1] 0.9998440841054882 Centerline is valid? [True, True] Translation: X:185.38, Y:197.28, Z:5.32 [[-6.67542942e-01 -7.44393840e-01 1.62552265e-02 1.85382647e+02] [ 7.44168179e-01 -6.67740812e-01 -1.83283480e-02 1.97276338e+02] [ 2.44977874e-02 -1.38337024e-04 9.99699875e-01 5.31948851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.110385723 meters Centerline goodness [0,1] 0.9999776865405212 Centerline is valid? [True, True] Translation: X:185.37, Y:197.30, Z:5.32 [[-6.67145535e-01 -7.44756160e-01 1.59717895e-02 1.85365425e+02] [ 7.44538662e-01 -6.67336684e-01 -1.79980825e-02 1.97296297e+02] [ 2.40627439e-02 -1.15725571e-04 9.99710444e-01 5.32221136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.35, Y:197.32, Z:5.32 [[-6.66595221e-01 -7.45255864e-01 1.56367695e-02 1.85347216e+02] [ 7.45047799e-01 -6.66778591e-01 -1.76093000e-02 1.97316235e+02] [ 2.35496972e-02 -8.81345630e-05 9.99722664e-01 5.32219483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.33, Y:197.34, Z:5.32 [[-6.66583744e-01 -7.45266926e-01 1.55987250e-02 1.85329798e+02] [ 7.45060132e-01 -6.66766227e-01 -1.75555544e-02 1.97336624e+02] [ 2.34842771e-02 -8.02591363e-05 9.99724203e-01 5.32239426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.31, Y:197.36, Z:5.32 [[-6.66335024e-01 -7.45491276e-01 1.55046116e-02 1.85312244e+02] [ 7.45287280e-01 -6.66515381e-01 -1.74389302e-02 1.97358060e+02] [ 2.33346325e-02 -6.47801662e-05 9.99727708e-01 5.32325252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.30, Y:197.38, Z:5.32 [[-6.66300654e-01 -7.45524199e-01 1.53982799e-02 1.85295735e+02] [ 7.45323247e-01 -6.66478556e-01 -1.73087432e-02 1.97380102e+02] [ 2.31667103e-02 -5.61309565e-05 9.99731614e-01 5.32436069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.28, Y:197.40, Z:5.33 [[-6.66659791e-01 -7.45214235e-01 1.48481010e-02 1.85279777e+02] [ 7.45027537e-01 -6.66825120e-01 -1.66801947e-02 1.97401074e+02] [ 2.23314052e-02 -5.77710307e-05 9.99750621e-01 5.32521276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.26, Y:197.42, Z:5.33 [[-6.67110721e-01 -7.44820141e-01 1.43611799e-02 1.85261704e+02] [ 7.44645607e-01 -6.67265280e-01 -1.61234660e-02 1.97422490e+02] [ 2.15917990e-02 -6.21475415e-05 9.99766868e-01 5.32665584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.320385723 meters Centerline goodness [0,1] 0.9998655221104064 Centerline is valid? [True, True] Translation: X:185.24, Y:197.44, Z:5.32 [[-6.68151947e-01 -7.43889515e-01 1.41903242e-02 1.85244897e+02] [ 7.43719081e-01 -6.68302613e-01 -1.59231357e-02 1.97442708e+02] [ 2.13284844e-02 -8.54592653e-05 9.99772518e-01 5.32454801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.23, Y:197.46, Z:5.33 [[-6.68302321e-01 -7.43752233e-01 1.43046632e-02 1.85227963e+02] [ 7.43579195e-01 -6.68455390e-01 -1.60428239e-02 1.97462224e+02] [ 2.14939153e-02 -8.48064670e-05 9.99768976e-01 5.32655620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.21, Y:197.48, Z:5.33 [[-6.68832297e-01 -7.43266756e-01 1.47610177e-02 1.85210523e+02] [ 7.43082620e-01 -6.68995157e-01 -1.65438926e-02 1.97482881e+02] [ 2.21715747e-02 -9.64340077e-05 9.99754176e-01 5.32647328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.19, Y:197.50, Z:5.33 [[-6.69325742e-01 -7.42817217e-01 1.50211251e-02 1.85192829e+02] [ 7.42626654e-01 -6.69494266e-01 -1.68250338e-02 1.97503750e+02] [ 2.25544819e-02 -1.06340402e-04 9.99745610e-01 5.32697299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.18, Y:197.52, Z:5.33 [[-6.70242325e-01 -7.41986445e-01 1.52099248e-02 1.85176631e+02] [ 7.41791091e-01 -6.70414871e-01 -1.70258192e-02 1.97524227e+02] [ 2.28298868e-02 -1.28837978e-04 9.99739356e-01 5.32688376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.16, Y:197.54, Z:5.33 [[-6.70785837e-01 -7.41489233e-01 1.54944326e-02 1.85158613e+02] [ 7.41286625e-01 -6.70964751e-01 -1.73332759e-02 1.97544930e+02] [ 2.32486555e-02 -1.41100328e-04 9.99729704e-01 5.32723643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.14, Y:197.56, Z:5.33 [[-6.71561687e-01 -7.40787994e-01 1.54288311e-02 1.85139956e+02] [ 7.40587154e-01 -6.71738881e-01 -1.72494393e-02 1.97564696e+02] [ 2.31423233e-02 -1.57668376e-04 9.99732168e-01 5.32798532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.530385723 meters Centerline goodness [0,1] 0.9999776010751484 Centerline is valid? [True, True] Translation: X:185.12, Y:197.58, Z:5.33 [[-6.71898551e-01 -7.40486170e-01 1.52501983e-02 1.85122546e+02] [ 7.40290120e-01 -6.72071578e-01 -1.70391204e-02 1.97583742e+02] [ 2.28664579e-02 -1.58989212e-04 9.99738516e-01 5.32750775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.560385723 meters Centerline goodness [0,1] 0.9999775860136725 Centerline is valid? [True, True] Translation: X:185.10, Y:197.60, Z:5.33 [[-6.72394642e-01 -7.40051428e-01 1.44682091e-02 1.85103207e+02] [ 7.39875084e-01 -6.72550265e-01 -1.61555287e-02 1.97602525e+02] [ 2.16865200e-02 -1.58223529e-04 9.99764807e-01 5.32817136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.09, Y:197.62, Z:5.33 [[-6.72904088e-01 -7.39581842e-01 1.47914811e-02 1.85085174e+02] [ 7.39397640e-01 -6.73066617e-01 -1.65063525e-02 1.97622466e+02] [ 2.21634507e-02 -1.70405869e-04 9.99754346e-01 5.32858913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.07, Y:197.64, Z:5.33 [[-6.73787254e-01 -7.38782054e-01 1.45537708e-02 1.85067946e+02] [ 7.38603754e-01 -6.73944391e-01 -1.62312427e-02 1.97642383e+02] [ 2.17997830e-02 -1.86934728e-04 9.99762339e-01 5.32928419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.05, Y:197.66, Z:5.33 [[-6.74176076e-01 -7.38429021e-01 1.44637321e-02 1.85050383e+02] [ 7.38253060e-01 -6.74331183e-01 -1.61206632e-02 1.97661567e+02] [ 2.16573111e-02 -1.90270967e-04 9.99765435e-01 5.32974777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.03, Y:197.68, Z:5.33 [[-6.73880512e-01 -7.38703195e-01 1.42354014e-02 1.85030483e+02] [ 7.38533013e-01 -6.74030831e-01 -1.58564582e-02 1.97680865e+02] [ 2.13083157e-02 -1.72044267e-04 9.99772937e-01 5.33016584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.01, Y:197.70, Z:5.33 [[-6.73691273e-01 -7.38873846e-01 1.43355591e-02 1.85010929e+02] [ 7.38701503e-01 -6.73843760e-01 -1.59585611e-02 1.97700394e+02] [ 2.14512905e-02 -1.61444316e-04 9.99769882e-01 5.33038881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.99, Y:197.72, Z:5.33 [[-6.72512054e-01 -7.39950490e-01 1.41707695e-02 1.84989506e+02] [ 7.39782516e-01 -6.72661326e-01 -1.57660955e-02 1.97718649e+02] [ 2.11982586e-02 -1.19601756e-04 9.99775285e-01 5.33139095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.97, Y:197.74, Z:5.33 [[-6.72056569e-01 -7.40370837e-01 1.38199530e-02 1.84971554e+02] [ 7.40211349e-01 -6.72198642e-01 -1.53670025e-02 1.97737686e+02] [ 2.06670341e-02 -9.78088982e-05 9.99786409e-01 5.33098983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.800385723 meters Centerline goodness [0,1] 0.9999777659196015 Centerline is valid? [True, True] Translation: X:184.95, Y:197.76, Z:5.33 [[-6.70491772e-01 -7.41785575e-01 1.39622502e-02 1.84949989e+02] [ 7.41623296e-01 -6.70637129e-01 -1.55154099e-02 1.97756613e+02] [ 2.08727106e-02 -4.82246995e-05 9.99782140e-01 5.33236954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.93, Y:197.78, Z:5.33 [[-6.70233483e-01 -7.42014140e-01 1.42159957e-02 1.84930142e+02] [ 7.41846149e-01 -6.70384230e-01 -1.57884606e-02 1.97777040e+02] [ 2.12454403e-02 -3.58732152e-05 9.99774290e-01 5.33286171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.91, Y:197.80, Z:5.33 [[-6.69903293e-01 -7.42313222e-01 1.41654016e-02 1.84911187e+02] [ 7.42146687e-01 -6.70053043e-01 -1.57230750e-02 1.97795368e+02] [ 2.11630170e-02 -2.01338533e-05 9.99776038e-01 5.33335323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.89, Y:197.82, Z:5.33 [[-6.69946829e-01 -7.42276002e-01 1.40564433e-02 1.84892008e+02] [ 7.42112221e-01 -6.70094275e-01 -1.55921308e-02 1.97815272e+02] [ 2.09928067e-02 -1.44401827e-05 9.99779627e-01 5.33374251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.87, Y:197.83, Z:5.34 [[-6.70200001e-01 -7.42057876e-01 1.34932024e-02 1.84872619e+02] [ 7.41907095e-01 -6.70335818e-01 -1.49584221e-02 1.97834722e+02] [ 2.01449918e-02 -1.44319043e-05 9.99797069e-01 5.33502279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.85, Y:197.85, Z:5.34 [[-6.70463727e-01 -7.41825092e-01 1.31880294e-02 1.84853418e+02] [ 7.41681180e-01 -6.70593418e-01 -1.46114669e-02 1.97854724e+02] [ 1.96829585e-02 -1.51453665e-05 9.99806272e-01 5.33565853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.83, Y:197.87, Z:5.34 [[-6.71090651e-01 -7.41254140e-01 1.34028961e-02 1.84833822e+02] [ 7.41105554e-01 -6.71224477e-01 -1.48411468e-02 1.97874319e+02] [ 1.99974135e-02 -2.67941166e-05 9.99800031e-01 5.33557325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.82, Y:197.89, Z:5.34 [[-6.71637806e-01 -7.40755802e-01 1.35462063e-02 1.84815243e+02] [ 7.40604094e-01 -6.71774397e-01 -1.49911810e-02 1.97893841e+02] [ 2.02047989e-02 -3.62680586e-05 9.99795862e-01 5.33600133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.80, Y:197.91, Z:5.34 [[-6.72862254e-01 -7.39647132e-01 1.33606366e-02 1.84797403e+02] [ 7.39499517e-01 -6.72994886e-01 -1.47766269e-02 1.97913087e+02] [ 1.99211298e-02 -6.24501246e-05 9.99801553e-01 5.33596167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.78, Y:197.93, Z:5.34 [[-6.73841197e-01 -7.38752577e-01 1.35155656e-02 1.84779136e+02] [ 7.38601532e-01 -6.73976723e-01 -1.49383330e-02 1.97932938e+02] [ 2.01449086e-02 -8.34467651e-05 9.99797067e-01 5.33634848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.100385723 meters Centerline goodness [0,1] 0.9999335430419565 Centerline is valid? [True, True] Translation: X:184.76, Y:197.95, Z:5.34 [[-6.75391581e-01 -7.37330020e-01 1.38077700e-02 1.84760468e+02] [ 7.37172269e-01 -6.75532699e-01 -1.52518684e-02 1.97952867e+02] [ 2.05732606e-02 -1.22278394e-04 9.99788341e-01 5.33595909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.130385723 meters Centerline goodness [0,1] 0.9999333422210372 Centerline is valid? [True, True] Translation: X:184.74, Y:197.97, Z:5.34 [[-6.76379595e-01 -7.36411103e-01 1.44682524e-02 1.84741814e+02] [ 7.36237902e-01 -6.76534304e-01 -1.59714361e-02 1.97972444e+02] [ 2.15498119e-02 -1.50677620e-04 9.99767765e-01 5.33584791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.160385723 meters Centerline goodness [0,1] 0.9999335783554001 Centerline is valid? [True, True] Translation: X:184.72, Y:197.99, Z:5.34 [[-6.78153864e-01 -7.34755109e-01 1.55649138e-02 1.84722948e+02] [ 7.34554463e-01 -6.78332430e-01 -1.71713636e-02 1.97991916e+02] [ 2.31749329e-02 -2.11549643e-04 9.99731403e-01 5.33524643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.190385723 meters Centerline goodness [0,1] 0.9999778961561415 Centerline is valid? [True, True] Translation: X:184.70, Y:198.01, Z:5.34 [[-6.79272873e-01 -7.33711062e-01 1.60137987e-02 1.84704011e+02] [ 7.33498620e-01 -6.79461563e-01 -1.76566644e-02 1.98012888e+02] [ 2.38356507e-02 -2.47593868e-04 9.99715860e-01 5.33509682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.220385723 meters Centerline goodness [0,1] 0.9999778961561415 Centerline is valid? [True, True] Translation: X:184.69, Y:198.03, Z:5.34 [[-6.79488763e-01 -7.33511025e-01 1.60186279e-02 1.84685943e+02] [ 7.33298631e-01 -6.79677508e-01 -1.76522826e-02 1.98032633e+02] [ 2.38356450e-02 -2.48089799e-04 9.99715860e-01 5.33550041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.67, Y:198.05, Z:5.34 [[-6.80639362e-01 -7.32437642e-01 1.62837078e-02 1.84667692e+02] [ 7.32218105e-01 -6.80834062e-01 -1.79339256e-02 1.98053005e+02] [ 2.42219851e-02 -2.83310011e-04 9.99706565e-01 5.33587891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.65, Y:198.07, Z:5.34 [[-6.81279820e-01 -7.31839752e-01 1.63824214e-02 1.84648913e+02] [ 7.31617623e-01 -6.81476696e-01 -1.80323748e-02 1.98072831e+02] [ 2.43610471e-02 -2.99424863e-04 9.99703181e-01 5.33691747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.63, Y:198.09, Z:5.34 [[-6.82302516e-01 -7.30896339e-01 1.59316756e-02 1.84629663e+02] [ 7.30686253e-01 -6.82488418e-01 -1.75259312e-02 1.98091036e+02] [ 2.36828230e-02 -3.16930593e-04 9.99719472e-01 5.33755866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.340385723 meters Centerline goodness [0,1] 0.9999779239701532 Centerline is valid? [True, True] Translation: X:184.61, Y:198.11, Z:5.34 [[-6.82942861e-01 -7.30293596e-01 1.61341801e-02 1.84609311e+02] [ 7.30078230e-01 -6.83133333e-01 -1.77377102e-02 1.98109011e+02] [ 2.39755324e-02 -3.34628887e-04 9.99712490e-01 5.33844113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.370385723 meters Centerline goodness [0,1] 0.9999559461662151 Centerline is valid? [True, True] Translation: X:184.59, Y:198.13, Z:5.34 [[-6.84029580e-01 -7.29261592e-01 1.67649648e-02 1.84589822e+02] [ 7.29029019e-01 -6.84234892e-01 -1.84201376e-02 1.98128698e+02] [ 2.49042728e-02 -3.77773175e-04 9.99689769e-01 5.33816734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.57, Y:198.15, Z:5.34 [[-6.84805882e-01 -7.28523460e-01 1.71601781e-02 1.84571879e+02] [ 7.28279836e-01 -6.85020732e-01 -1.88435014e-02 1.98149754e+02] [ 2.54830106e-02 -4.06728892e-04 9.99675173e-01 5.33869385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.55, Y:198.17, Z:5.34 [[-6.85985829e-01 -7.27420146e-01 1.68336902e-02 1.84554603e+02] [ 7.27185625e-01 -6.86192207e-01 -1.84749144e-02 1.98169481e+02] [ 2.49901720e-02 -4.32311935e-04 9.99687603e-01 5.34023629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.460385723 meters Centerline goodness [0,1] 0.9999124841377499 Centerline is valid? [True, True] Translation: X:184.54, Y:198.19, Z:5.34 [[-6.86534888e-01 -7.26913037e-01 1.63488367e-02 1.84535332e+02] [ 7.26691911e-01 -6.86729387e-01 -1.79336539e-02 1.98188250e+02] [ 2.42634334e-02 -4.31511691e-04 9.99705506e-01 5.34102426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.490385723 meters Centerline goodness [0,1] 0.9998899599454202 Centerline is valid? [True, True] Translation: X:184.51, Y:198.21, Z:5.34 [[-6.86663461e-01 -7.26795520e-01 1.61728981e-02 1.84514011e+02] [ 7.26579353e-01 -6.86853763e-01 -1.77299866e-02 1.98206251e+02] [ 2.39944908e-02 -4.23640181e-04 9.99712001e-01 5.34207272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.520385723 meters Centerline goodness [0,1] 0.99993441189331 Centerline is valid? [True, True] Translation: X:184.49, Y:198.22, Z:5.34 [[-6.85674548e-01 -7.27728114e-01 1.61927913e-02 1.84491343e+02] [ 7.27511927e-01 -6.85865617e-01 -1.77412312e-02 1.98223659e+02] [ 2.40168715e-02 -3.84261870e-04 9.99711480e-01 5.34264551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.550385723 meters Centerline goodness [0,1] 0.9999343975508419 Centerline is valid? [True, True] Translation: X:184.47, Y:198.24, Z:5.34 [[-6.84947772e-01 -7.28416098e-01 1.60168073e-02 1.84471962e+02] [ 7.28205005e-01 -6.85134926e-01 -1.75386634e-02 1.98242710e+02] [ 2.37491188e-02 -3.49549189e-04 9.99717889e-01 5.34358726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.45, Y:198.26, Z:5.35 [[-6.82547358e-01 -7.30675214e-01 1.55832150e-02 1.84450614e+02] [ 7.30476201e-01 -6.82725176e-01 -1.70544452e-02 1.98260651e+02] [ 2.31003137e-02 -2.57298826e-04 9.99733119e-01 5.34619039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.43, Y:198.28, Z:5.35 [[-6.79861247e-01 -7.33173706e-01 1.56525494e-02 1.84428223e+02] [ 7.32973798e-01 -6.80041388e-01 -1.71208164e-02 1.98276306e+02] [ 2.31969138e-02 -1.66870971e-04 9.99730901e-01 5.34670106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.41, Y:198.29, Z:5.35 [[-6.78981051e-01 -7.33991503e-01 1.55307905e-02 1.84406892e+02] [ 7.33795131e-01 -6.79158638e-01 -1.69779139e-02 1.98294241e+02] [ 2.30095151e-02 -1.31263427e-04 9.99735237e-01 5.34642938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.39, Y:198.31, Z:5.35 [[-6.78161595e-01 -7.34742797e-01 1.58073807e-02 1.84386080e+02] [ 7.34539823e-01 -6.78345791e-01 -1.72694933e-02 1.98312206e+02] [ 2.34115060e-02 -1.00356544e-04 9.99725908e-01 5.34617451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.700385723 meters Centerline goodness [0,1] 0.9999134891969634 Centerline is valid? [True, True] Translation: X:184.37, Y:198.33, Z:5.35 [[-6.77376806e-01 -7.35454498e-01 1.63506620e-02 1.84365281e+02] [ 7.35237816e-01 -6.77574111e-01 -1.78515716e-02 1.98328996e+02] [ 2.42078039e-02 -7.06155284e-05 9.99706946e-01 5.34589342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.35, Y:198.35, Z:5.35 [[-6.78705484e-01 -7.34216974e-01 1.68612481e-02 1.84345855e+02] [ 7.33986447e-01 -6.78914887e-01 -1.83976086e-02 1.98349631e+02] [ 2.49551888e-02 -1.10630293e-04 9.99688565e-01 5.34654694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.760385723 meters Centerline goodness [0,1] 0.9999567230709309 Centerline is valid? [True, True] Translation: X:184.33, Y:198.37, Z:5.35 [[-6.80018589e-01 -7.32996615e-01 1.70493461e-02 1.84327066e+02] [ 7.32760792e-01 -6.80232269e-01 -1.85925247e-02 1.98370292e+02] [ 2.52257730e-02 -1.50170076e-04 9.99681768e-01 5.34716407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.790385723 meters Centerline goodness [0,1] 0.9998915777604303 Centerline is valid? [True, True] Translation: X:184.31, Y:198.39, Z:5.35 [[-6.82941840e-01 -7.30267205e-01 1.73277635e-02 1.84307612e+02] [ 7.30023004e-01 -6.83161582e-01 -1.88856003e-02 1.98390009e+02] [ 2.56291969e-02 -2.48100604e-04 9.99671487e-01 5.34594189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.29, Y:198.41, Z:5.35 [[-6.84210079e-01 -7.29082934e-01 1.71651974e-02 1.84288296e+02] [ 7.28843153e-01 -6.84425303e-01 -1.86992601e-02 1.98409708e+02] [ 2.53816068e-02 -2.83485671e-04 9.99677795e-01 5.34590878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.850385723 meters Centerline goodness [0,1] 0.9998918076773272 Centerline is valid? [True, True] Translation: X:184.27, Y:198.43, Z:5.34 [[-6.85549776e-01 -7.27807443e-01 1.78277982e-02 1.84269094e+02] [ 7.27548603e-01 -6.85781461e-01 -1.94118141e-02 1.98430297e+02] [ 2.63540362e-02 -3.37175133e-04 9.99652615e-01 5.34453597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.880385723 meters Centerline goodness [0,1] 0.9999784417712241 Centerline is valid? [True, True] Translation: X:184.25, Y:198.45, Z:5.35 [[-6.86920255e-01 -7.26545445e-01 1.65008977e-02 1.84250270e+02] [ 7.26323572e-01 -6.87118326e-01 -1.79575622e-02 1.98450624e+02] [ 2.43850542e-02 -3.50422203e-04 9.99702579e-01 5.34773812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.910385723 meters Centerline goodness [0,1] 0.9999567445984817 Centerline is valid? [True, True] Translation: X:184.23, Y:198.47, Z:5.35 [[-6.87654570e-01 -7.25860425e-01 1.60572669e-02 1.84230965e+02] [ 7.25650368e-01 -6.87841926e-01 -1.74650726e-02 1.98469327e+02] [ 2.37220664e-02 -3.57975282e-04 9.99718528e-01 5.34777215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.940385723 meters Centerline goodness [0,1] 0.9999783825850105 Centerline is valid? [True, True] Translation: X:184.21, Y:198.49, Z:5.35 [[-6.87845992e-01 -7.25681684e-01 1.59369284e-02 1.84210362e+02] [ 7.25474949e-01 -6.88030500e-01 -1.73242635e-02 1.98487864e+02] [ 2.35369935e-02 -3.54582879e-04 9.99722904e-01 5.34829811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.970385723 meters Centerline goodness [0,1] 0.999913476097772 Centerline is valid? [True, True] Translation: X:184.19, Y:198.51, Z:5.35 [[-6.87647147e-01 -7.25868219e-01 1.60228100e-02 1.84189973e+02] [ 7.25659532e-01 -6.87833709e-01 -1.74078173e-02 1.98507835e+02] [ 2.36568101e-02 -3.43331074e-04 9.99720080e-01 5.34775906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.17, Y:198.53, Z:5.35 [[-6.87765726e-01 -7.25741205e-01 1.66736464e-02 1.84169177e+02] [ 7.25515438e-01 -6.87967716e-01 -1.81044538e-02 1.98526900e+02] [ 2.46100785e-02 -3.54634993e-04 9.99697063e-01 5.34721893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.15, Y:198.55, Z:5.35 [[-6.87898668e-01 -7.25612074e-01 1.68089547e-02 1.84150314e+02] [ 7.25382852e-01 -6.88103911e-01 -1.82407720e-02 1.98547007e+02] [ 2.48020319e-02 -3.54875276e-04 9.99692319e-01 5.34632258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.13, Y:198.57, Z:5.35 [[-6.88111184e-01 -7.25404090e-01 1.70851906e-02 1.84129277e+02] [ 7.25167481e-01 -6.88323162e-01 -1.85296773e-02 1.98565292e+02] [ 2.52016362e-02 -3.60853571e-04 9.99682323e-01 5.34630641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.090385723 meters Centerline goodness [0,1] 0.999956912338152 Centerline is valid? [True, True] Translation: X:184.11, Y:198.59, Z:5.35 [[-6.88572726e-01 -7.24960180e-01 1.73303049e-02 1.84109776e+02] [ 7.24716859e-01 -6.88790677e-01 -1.87850135e-02 1.98585672e+02] [ 2.55553392e-02 -3.75283852e-04 9.99673339e-01 5.34609676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.09, Y:198.61, Z:5.35 [[-6.89261928e-01 -7.24298481e-01 1.75984729e-02 1.84091111e+02] [ 7.24047637e-01 -6.89486441e-01 -1.90648309e-02 1.98605948e+02] [ 2.59425365e-02 -3.98529408e-04 9.99663356e-01 5.34572378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.150385723 meters Centerline goodness [0,1] 0.9999784175767256 Centerline is valid? [True, True] Translation: X:184.07, Y:198.63, Z:5.35 [[-6.89457425e-01 -7.24109760e-01 1.77063410e-02 1.84071668e+02] [ 7.23856054e-01 -6.89684634e-01 -1.91707634e-02 1.98626444e+02] [ 2.60935282e-02 -4.00583048e-04 9.99659426e-01 5.34618285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.05, Y:198.65, Z:5.35 [[-6.89693264e-01 -7.23884913e-01 1.77153895e-02 1.84052474e+02] [ 7.23631161e-01 -6.89920627e-01 -1.91695278e-02 1.98646376e+02] [ 2.60987447e-02 -4.01686315e-04 9.99659289e-01 5.34598570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.03, Y:198.66, Z:5.35 [[-6.88610363e-01 -7.24918932e-01 1.75587394e-02 1.84033539e+02] [ 7.24670256e-01 -6.88834100e-01 -1.89895336e-02 1.98664415e+02] [ 2.58609308e-02 -3.52093467e-04 9.99665488e-01 5.34582360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.01, Y:198.68, Z:5.35 [[-6.86744837e-01 -7.26703839e-01 1.68243774e-02 1.84013203e+02] [ 7.26476260e-01 -6.86950842e-01 -1.81874947e-02 1.98682823e+02] [ 2.47744424e-02 -2.67657284e-04 9.99693031e-01 5.34654704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.99, Y:198.70, Z:5.35 [[-6.85804572e-01 -7.27597559e-01 1.65493548e-02 1.83993556e+02] [ 7.27377825e-01 -6.86004185e-01 -1.78817980e-02 1.98701837e+02] [ 2.43636792e-02 -2.25785158e-04 9.99703136e-01 5.34736367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.97, Y:198.72, Z:5.35 [[-6.84820224e-01 -7.28536438e-01 1.59974573e-02 1.83974332e+02] [ 7.28331613e-01 -6.85007026e-01 -1.72752928e-02 1.98720611e+02] [ 2.35440510e-02 -1.79015990e-04 9.99722784e-01 5.34833690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.95, Y:198.74, Z:5.35 [[-6.82989531e-01 -7.30275754e-01 1.49205748e-02 1.83953242e+02] [ 7.30098190e-01 -6.83152481e-01 -1.61034222e-02 1.98739320e+02] [ 2.19529664e-02 -1.04984106e-04 9.99758999e-01 5.35020901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.93, Y:198.76, Z:5.35 [[-6.82324137e-01 -7.30900577e-01 1.47688114e-02 1.83933223e+02] [ 7.30726944e-01 -6.82483949e-01 -1.59309143e-02 1.98759185e+02] [ 2.17233912e-02 -7.80789742e-05 9.99764016e-01 5.35086963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.390385723 meters Centerline goodness [0,1] 0.9999568872601854 Centerline is valid? [True, True] Translation: X:183.91, Y:198.78, Z:5.35 [[-6.82342680e-01 -7.30888182e-01 1.45235523e-02 1.83914610e+02] [ 7.30720452e-01 -6.82497224e-01 -1.56575895e-02 1.98779007e+02] [ 2.13562313e-02 -7.11848437e-05 9.99771927e-01 5.35099817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.90, Y:198.80, Z:5.35 [[-6.82724280e-01 -7.30538845e-01 1.41616790e-02 1.83895590e+02] [ 7.30379477e-01 -6.82871138e-01 -1.52587508e-02 1.98799694e+02] [ 2.08177120e-02 -7.41199570e-05 9.99783285e-01 5.35170806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.450385723 meters Centerline goodness [0,1] 0.9999785126453082 Centerline is valid? [True, True] Translation: X:183.88, Y:198.82, Z:5.35 [[-6.83084202e-01 -7.30197961e-01 1.43843731e-02 1.83877631e+02] [ 7.30033655e-01 -6.83235634e-01 -1.54897230e-02 1.98820186e+02] [ 2.11384804e-02 -7.97086107e-05 9.99776554e-01 5.35068495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.86, Y:198.84, Z:5.35 [[-6.84016407e-01 -7.29327489e-01 1.42467257e-02 1.83858436e+02] [ 7.29166309e-01 -6.84164750e-01 -1.53326313e-02 1.98840826e+02] [ 2.09296170e-02 -9.95389704e-05 9.99780947e-01 5.35118721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.84, Y:198.86, Z:5.35 [[-6.84889996e-01 -7.28512208e-01 1.39876958e-02 1.83840156e+02] [ 7.28356835e-01 -6.85032809e-01 -1.50456537e-02 1.98861899e+02] [ 2.05429730e-02 -1.16583845e-04 9.99788964e-01 5.35195677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.540385723 meters Centerline goodness [0,1] 0.9998921414241646 Centerline is valid? [True, True] Translation: X:183.82, Y:198.88, Z:5.35 [[-6.85482955e-01 -7.27955411e-01 1.39297236e-02 1.83821509e+02] [ 7.27801380e-01 -6.85624462e-01 -1.49749399e-02 1.98882715e+02] [ 2.04516478e-02 -1.26993957e-04 9.99790835e-01 5.35200701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.80, Y:198.90, Z:5.35 [[-6.86275642e-01 -7.27206683e-01 1.40065743e-02 1.83803530e+02] [ 7.27050967e-01 -6.86418546e-01 -1.50490005e-02 1.98903206e+02] [ 2.05581061e-02 -1.44269041e-04 9.99788649e-01 5.35178585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.79, Y:198.92, Z:5.35 [[-6.86874205e-01 -7.26638958e-01 1.41298158e-02 1.83785326e+02] [ 7.26480552e-01 -6.87019505e-01 -1.51725833e-02 1.98924010e+02] [ 2.07324492e-02 -1.56619748e-04 9.99785047e-01 5.35188363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.77, Y:198.95, Z:5.35 [[-6.88603743e-01 -7.24994484e-01 1.44181681e-02 1.83769469e+02] [ 7.24829370e-01 -6.88754642e-01 -1.54734491e-02 1.98946327e+02] [ 2.11487455e-02 -2.04363271e-04 9.99776319e-01 5.35261586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.75, Y:198.97, Z:5.35 [[-6.90317496e-01 -7.23364159e-01 1.43544145e-02 1.83753197e+02] [ 7.23200320e-01 -6.90466677e-01 -1.53969270e-02 1.98968304e+02] [ 2.10488300e-02 -2.47650972e-04 9.99778418e-01 5.35304367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.690385723 meters Centerline goodness [0,1] 0.9999784082566826 Centerline is valid? [True, True] Translation: X:183.74, Y:198.99, Z:5.35 [[-6.91281941e-01 -7.22448069e-01 1.40736132e-02 1.83735016e+02] [ 7.22290527e-01 -6.91425135e-01 -1.50889881e-02 1.98988561e+02] [ 2.06318603e-02 -2.65507469e-04 9.99787105e-01 5.35359472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.720385723 meters Centerline goodness [0,1] 0.9998702253752649 Centerline is valid? [True, True] Translation: X:183.72, Y:199.01, Z:5.35 [[-6.92687593e-01 -7.21092210e-01 1.44887289e-02 1.83716911e+02] [ 7.20925138e-01 -6.92839036e-01 -1.55246963e-02 1.99009795e+02] [ 2.12330945e-02 -3.08475671e-04 9.99774505e-01 5.35199831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.70, Y:199.03, Z:5.35 [[-6.93823061e-01 -7.20002549e-01 1.43488387e-02 1.83700040e+02] [ 7.19838631e-01 -6.93971339e-01 -1.53663971e-02 1.99031639e+02] [ 2.10215279e-02 -3.32712262e-04 9.99778968e-01 5.35378609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.68, Y:199.05, Z:5.35 [[-6.94590567e-01 -7.19259690e-01 1.44721557e-02 1.83682450e+02] [ 7.19092972e-01 -6.94741229e-01 -1.54894267e-02 1.99052403e+02] [ 2.11953235e-02 -3.51984238e-04 9.99775292e-01 5.35415402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.810385723 meters Centerline goodness [0,1] 0.9998694431751419 Centerline is valid? [True, True] Translation: X:183.67, Y:199.07, Z:5.35 [[-6.95645563e-01 -7.18241256e-01 1.43787502e-02 1.83666006e+02] [ 7.18076657e-01 -6.95794048e-01 -1.53804389e-02 1.99074330e+02] [ 2.10515146e-02 -3.74289184e-04 9.99778322e-01 5.35460221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.840385723 meters Centerline goodness [0,1] 0.999956610404825 Centerline is valid? [True, True] Translation: X:183.65, Y:199.09, Z:5.35 [[-6.96187993e-01 -7.17710235e-01 1.46389112e-02 1.83649030e+02] [ 7.17539687e-01 -6.96341774e-01 -1.56502910e-02 1.99094902e+02] [ 2.14260594e-02 -3.91544896e-04 9.99770359e-01 5.35473808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.63, Y:199.11, Z:5.36 [[-6.96504432e-01 -7.17400756e-01 1.47557163e-02 1.83629496e+02] [ 7.17227578e-01 -6.96660603e-01 -1.57672209e-02 1.99114111e+02] [ 2.15911424e-02 -3.98732526e-04 9.99766805e-01 5.35539641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.61, Y:199.13, Z:5.35 [[-6.96721245e-01 -7.17181980e-01 1.51497338e-02 1.83612575e+02] [ 7.16999600e-01 -6.96885816e-01 -1.61781862e-02 1.99133618e+02] [ 2.21603382e-02 -4.09332940e-04 9.99754346e-01 5.35489717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.59, Y:199.15, Z:5.35 [[-6.95688501e-01 -7.18167878e-01 1.58873466e-02 1.83594889e+02] [ 7.17967814e-01 -6.95869778e-01 -1.69549554e-02 1.99152796e+02] [ 2.32320287e-02 -3.88764015e-04 9.99730024e-01 5.35417365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.58, Y:199.17, Z:5.35 [[-6.93057854e-01 -7.20670829e-01 1.74461453e-02 1.83575785e+02] [ 7.20430650e-01 -6.93277325e-01 -1.86072315e-02 1.99171973e+02] [ 2.55047059e-02 -3.27150122e-04 9.99674649e-01 5.35298843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.990385723 meters Centerline goodness [0,1] 0.9999349522983522 Centerline is valid? [True, True] Translation: X:183.55, Y:199.19, Z:5.36 [[-6.92033112e-01 -7.21655247e-01 1.74320680e-02 1.83554642e+02] [ 7.21416018e-01 -6.92252572e-01 -1.85823709e-02 1.99190146e+02] [ 2.54774593e-02 -2.83842861e-04 9.99675357e-01 5.35540564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.020385723 meters Centerline goodness [0,1] 0.9997186147186147 Centerline is valid? [True, True] Translation: X:183.54, Y:199.21, Z:5.36 [[-6.90872881e-01 -7.22764595e-01 1.74929207e-02 1.83536140e+02] [ 7.22524318e-01 -6.91094266e-01 -1.86366782e-02 1.99210213e+02] [ 2.55591883e-02 -2.36514974e-04 9.99673283e-01 5.35590855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.050385723 meters Centerline goodness [0,1] 0.9996749517845147 Centerline is valid? [True, True] Translation: X:183.52, Y:199.23, Z:5.36 [[-6.89544398e-01 -7.24039758e-01 1.71741456e-02 1.83516996e+02] [ 7.23808811e-01 -6.89758216e-01 -1.82868427e-02 1.99230990e+02] [ 2.50864092e-02 -1.78791983e-04 9.99685271e-01 5.35756389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.080385723 meters Centerline goodness [0,1] 0.9997402035072527 Centerline is valid? [True, True] Translation: X:183.50, Y:199.25, Z:5.36 [[-6.89735012e-01 -7.23860599e-01 1.70718099e-02 1.83500476e+02] [ 7.23632607e-01 -6.89946231e-01 -1.81672211e-02 1.99252090e+02] [ 2.49291664e-02 -1.76850158e-04 9.99689204e-01 5.35610264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.110385723 meters Centerline goodness [0,1] 0.9997614659004662 Centerline is valid? [True, True] Translation: X:183.48, Y:199.27, Z:5.36 [[-6.90137600e-01 -7.23488422e-01 1.65709487e-02 1.83481969e+02] [ 7.23273762e-01 -6.90336492e-01 -1.76236303e-02 1.99273669e+02] [ 2.41900231e-02 -1.77397489e-04 9.99707363e-01 5.36037909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.140385723 meters Centerline goodness [0,1] 0.9997614659004662 Centerline is valid? [True, True] Translation: X:183.46, Y:199.29, Z:5.36 [[-6.90337253e-01 -7.23297808e-01 1.65758114e-02 1.83463027e+02] [ 7.23083204e-01 -6.90536204e-01 -1.76190561e-02 1.99293716e+02] [ 2.41900225e-02 -1.77399965e-04 9.99707363e-01 5.36079511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.170385723 meters Centerline goodness [0,1] 0.9996743095362168 Centerline is valid? [True, True] Translation: X:183.44, Y:199.32, Z:5.36 [[-6.90949219e-01 -7.22719252e-01 1.63113487e-02 1.83444728e+02] [ 7.22511508e-01 -6.91141698e-01 -1.73283969e-02 1.99315439e+02] [ 2.37970193e-02 -1.87905177e-04 9.99716793e-01 5.36249492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.200385723 meters Centerline goodness [0,1] 0.9997830426104313 Centerline is valid? [True, True] Translation: X:183.43, Y:199.34, Z:5.37 [[-6.92521497e-01 -7.21219985e-01 1.59909177e-02 1.83430322e+02] [ 7.21020122e-01 -6.92706057e-01 -1.69794599e-02 1.99338358e+02] [ 2.33229314e-02 -2.28867572e-04 9.99727957e-01 5.36518801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.230385723 meters Centerline goodness [0,1] 0.9997606354041998 Centerline is valid? [True, True] Translation: X:183.41, Y:199.36, Z:5.37 [[-6.93626843e-01 -7.20153134e-01 1.61637039e-02 1.83412613e+02] [ 7.19948827e-01 -6.93815101e-01 -1.71549441e-02 1.99360232e+02] [ 2.35688086e-02 -2.62090072e-04 9.99722183e-01 5.36619364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.260385723 meters Centerline goodness [0,1] 0.9997403047091413 Centerline is valid? [True, True] Translation: X:183.40, Y:199.38, Z:5.37 [[-6.95498347e-01 -7.18342872e-01 1.62962708e-02 1.83397320e+02] [ 7.18134907e-01 -6.95689167e-01 -1.72869603e-02 1.99382268e+02] [ 2.37551038e-02 -3.20131391e-04 9.99717756e-01 5.36648793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.290385723 meters Centerline goodness [0,1] 0.9998700539276201 Centerline is valid? [True, True] Translation: X:183.38, Y:199.40, Z:5.37 [[-6.96728467e-01 -7.17153904e-01 1.61158967e-02 1.83380155e+02] [ 7.16950389e-01 -6.96914740e-01 -1.70875534e-02 1.99403228e+02] [ 2.34858116e-02 -3.51086488e-04 9.99724109e-01 5.36751080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.320385723 meters Centerline goodness [0,1] 0.9999782040104621 Centerline is valid? [True, True] Translation: X:183.36, Y:199.43, Z:5.37 [[-6.97773141e-01 -7.16131604e-01 1.63758935e-02 1.83362373e+02] [ 7.15921433e-01 -6.97965170e-01 -1.73529046e-02 1.99425497e+02] [ 2.38567667e-02 -3.84537609e-04 9.99715313e-01 5.36829696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.350385723 meters Centerline goodness [0,1] 0.9997378882530252 Centerline is valid? [True, True] Translation: X:183.35, Y:199.45, Z:5.37 [[-6.99469857e-01 -7.14452324e-01 1.73146058e-02 1.83346282e+02] [ 7.14217114e-01 -6.99683975e-01 -1.83370749e-02 1.99448260e+02] [ 2.52157180e-02 -4.59843401e-04 9.99681927e-01 5.36852626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.380385723 meters Centerline goodness [0,1] 0.9996931305072114 Centerline is valid? [True, True] Translation: X:183.33, Y:199.47, Z:5.37 [[-7.00915135e-01 -7.13003200e-01 1.85582838e-02 1.83330602e+02] [ 7.12732789e-01 -7.01160569e-01 -1.96424758e-02 1.99470518e+02] [ 2.70174849e-02 -5.40611196e-04 9.99634815e-01 5.36780778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.410385723 meters Centerline goodness [0,1] 0.9996929218486105 Centerline is valid? [True, True] Translation: X:183.31, Y:199.49, Z:5.37 [[-7.01489526e-01 -7.12424600e-01 1.90692046e-02 1.83312104e+02] [ 7.12139193e-01 -7.01748434e-01 -2.01718864e-02 1.99492190e+02] [ 2.77527326e-02 -5.70439065e-04 9.99614656e-01 5.36802717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.440385723 meters Centerline goodness [0,1] 0.9996493227545697 Centerline is valid? [True, True] Translation: X:183.29, Y:199.51, Z:5.37 [[-7.01902971e-01 -7.12002794e-01 1.96020501e-02 1.83293849e+02] [ 7.11701389e-01 -7.02176379e-01 -2.07235549e-02 1.99512657e+02] [ 2.85193256e-02 -5.95118467e-04 9.99593064e-01 5.36892187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.470385723 meters Centerline goodness [0,1] 0.9999121670582553 Centerline is valid? [True, True] Translation: X:183.28, Y:199.53, Z:5.37 [[-7.02023505e-01 -7.11864685e-01 2.02896053e-02 1.83277188e+02] [ 7.11542097e-01 -7.02316378e-01 -2.14370883e-02 1.99534379e+02] [ 2.95100282e-02 -6.12431546e-04 9.99564297e-01 5.37005906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.500385723 meters Centerline goodness [0,1] 0.9999561162918267 Centerline is valid? [True, True] Translation: X:183.26, Y:199.56, Z:5.37 [[-7.02107045e-01 -7.11779335e-01 2.03930504e-02 1.83258819e+02] [ 7.11453785e-01 -7.02402880e-01 -2.15338398e-02 1.99555373e+02] [ 2.96514795e-02 -6.10347684e-04 9.99560112e-01 5.37111572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.530385723 meters Centerline goodness [0,1] 0.9999559529577589 Centerline is valid? [True, True] Translation: X:183.24, Y:199.58, Z:5.37 [[-7.02545742e-01 -7.11329533e-01 2.09708291e-02 1.83242311e+02] [ 7.10985455e-01 -7.02858370e-01 -2.21313202e-02 1.99577111e+02] [ 3.04821844e-02 -6.38310342e-04 9.99535106e-01 5.37192586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.560385723 meters Centerline goodness [0,1] 0.9998019714838937 Centerline is valid? [True, True] Translation: X:183.22, Y:199.60, Z:5.37 [[-7.02745711e-01 -7.11126715e-01 2.11485716e-02 1.83224509e+02] [ 7.10777095e-01 -7.03063569e-01 -2.23055957e-02 1.99597499e+02] [ 3.07308952e-02 -6.43241417e-04 9.99527488e-01 5.37249166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.590385723 meters Centerline goodness [0,1] 0.9999559451958236 Centerline is valid? [True, True] Translation: X:183.21, Y:199.62, Z:5.37 [[-7.03473489e-01 -7.10405987e-01 2.11750893e-02 1.83208847e+02] [ 7.10055592e-01 -7.03791795e-01 -2.23196016e-02 1.99618585e+02] [ 3.07588327e-02 -6.65757470e-04 9.99526613e-01 5.37282991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.620385723 meters Centerline goodness [0,1] 0.9998676051987025 Centerline is valid? [True, True] Translation: X:183.19, Y:199.64, Z:5.37 [[-7.03986456e-01 -7.09896100e-01 2.12272493e-02 1.83190600e+02] [ 7.09544179e-01 -7.04306087e-01 -2.23605360e-02 1.99638546e+02] [ 3.08241382e-02 -6.79843281e-04 9.99524592e-01 5.37400481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.650385723 meters Centerline goodness [0,1] 0.9998900446418754 Centerline is valid? [True, True] Translation: X:183.17, Y:199.66, Z:5.38 [[-7.04502520e-01 -7.09399735e-01 2.06933538e-02 1.83173278e+02] [ 7.09065470e-01 -7.04806045e-01 -2.17852674e-02 1.99660348e+02] [ 3.00392638e-02 -6.74833154e-04 9.99548492e-01 5.37570423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.680385723 meters Centerline goodness [0,1] 0.9998678705131029 Centerline is valid? [True, True] Translation: X:183.15, Y:199.68, Z:5.38 [[-7.04714859e-01 -7.09191977e-01 2.05841647e-02 1.83154025e+02] [ 7.08861510e-01 -7.05015099e-01 -2.16580332e-02 1.99680734e+02] [ 2.98718503e-02 -6.71415738e-04 9.99553511e-01 5.37658404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.710385723 meters Centerline goodness [0,1] 0.9997353972349011 Centerline is valid? [True, True] Translation: X:183.14, Y:199.70, Z:5.38 [[-7.04735953e-01 -7.09153355e-01 2.11838460e-02 1.83135145e+02] [ 7.08803716e-01 -7.05053935e-01 -2.22764755e-02 1.99701710e+02] [ 3.07331913e-02 -6.83844414e-04 9.99527390e-01 5.37677088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.740385723 meters Centerline goodness [0,1] 0.9998896027908415 Centerline is valid? [True, True] Translation: X:183.12, Y:199.72, Z:5.38 [[-7.04563931e-01 -7.09316729e-01 2.14346703e-02 1.83116023e+02] [ 7.08959226e-01 -7.04889581e-01 -2.25276697e-02 1.99721911e+02] [ 3.10883288e-02 -6.75876270e-04 9.99516413e-01 5.37744446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.770385723 meters Centerline goodness [0,1] 0.9996687279151943 Centerline is valid? [True, True] Translation: X:183.10, Y:199.74, Z:5.38 [[-7.04055887e-01 -7.09833841e-01 2.10053977e-02 1.83098114e+02] [ 7.09491066e-01 -7.04368879e-01 -2.20660118e-02 1.99741743e+02] [ 3.04587503e-02 -6.32563494e-04 9.99535824e-01 5.37743928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.800385723 meters Centerline goodness [0,1] 0.9997798278253595 Centerline is valid? [True, True] Translation: X:183.08, Y:199.76, Z:5.38 [[-7.03671811e-01 -7.10230473e-01 2.04611283e-02 1.83078708e+02] [ 7.09905703e-01 -7.03968980e-01 -2.14841151e-02 1.99761422e+02] [ 2.96626729e-02 -5.92294517e-04 9.99559791e-01 5.37894160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.830385723 meters Centerline goodness [0,1] 0.9999119543923752 Centerline is valid? [True, True] Translation: X:183.06, Y:199.78, Z:5.38 [[-7.03128391e-01 -7.10769623e-01 2.04207860e-02 1.83061176e+02] [ 7.10446741e-01 -7.03424644e-01 -2.14289204e-02 1.99780720e+02] [ 2.95955098e-02 -5.59401510e-04 9.99561800e-01 5.37868348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.860385723 meters Centerline goodness [0,1] 0.9997792104565928 Centerline is valid? [True, True] Translation: X:183.04, Y:199.80, Z:5.38 [[-7.03626939e-01 -7.10253820e-01 2.11811728e-02 1.83041514e+02] [ 7.09906620e-01 -7.03945424e-01 -2.22133182e-02 1.99800375e+02] [ 3.06874837e-02 -5.93234303e-04 9.99528852e-01 5.37825882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.890385723 meters Centerline goodness [0,1] 0.9998675701326506 Centerline is valid? [True, True] Translation: X:183.02, Y:199.82, Z:5.38 [[-7.04161803e-01 -7.09735232e-01 2.07859349e-02 1.83023563e+02] [ 7.09401022e-01 -7.04468272e-01 -2.17863358e-02 1.99820389e+02] [ 3.01055618e-02 -5.95542029e-04 9.99546547e-01 5.37897756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.920385723 meters Centerline goodness [0,1] 0.9998896563899985 Centerline is valid? [True, True] Translation: X:183.01, Y:199.84, Z:5.38 [[-7.04938182e-01 -7.08963862e-01 2.07942656e-02 1.83005223e+02] [ 7.08629449e-01 -7.05244538e-01 -2.17817869e-02 1.99841183e+02] [ 3.01075420e-02 -6.19384347e-04 9.99546473e-01 5.37943555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.950385723 meters Centerline goodness [0,1] 0.9997785700050928 Centerline is valid? [True, True] Translation: X:182.99, Y:199.86, Z:5.38 [[-7.06824519e-01 -7.07089834e-01 2.05685780e-02 1.82986901e+02] [ 7.06762216e-01 -7.07123399e-01 -2.15329694e-02 1.99862191e+02] [ 2.97702665e-02 -6.82936989e-04 9.99556534e-01 5.38098808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.980385723 meters Centerline goodness [0,1] 0.9998896052282964 Centerline is valid? [True, True] Translation: X:182.97, Y:199.88, Z:5.38 [[-7.07976792e-01 -7.05949901e-01 2.00898047e-02 1.82970023e+02] [ 7.05637191e-01 -7.08261419e-01 -2.10218233e-02 1.99883885e+02] [ 2.90691877e-02 -7.06849620e-04 9.99577152e-01 5.38042764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.010385723 meters Centerline goodness [0,1] 0.9997353330392589 Centerline is valid? [True, True] Translation: X:182.95, Y:199.91, Z:5.38 [[-7.10007978e-01 -7.03935666e-01 1.90590835e-02 1.82951569e+02] [ 7.03653746e-01 -7.10263350e-01 -1.99343750e-02 1.99905138e+02] [ 2.75694860e-02 -7.42569789e-04 9.99619614e-01 5.38150087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.040385723 meters Centerline goodness [0,1] 0.9998675028707711 Centerline is valid? [True, True] Translation: X:182.93, Y:199.92, Z:5.38 [[-7.11533132e-01 -7.02409205e-01 1.84908465e-02 1.82931063e+02] [ 7.02143614e-01 -7.11772938e-01 -1.93295066e-02 1.99923638e+02] [ 2.67385075e-02 -7.70354585e-04 9.99642165e-01 5.38330319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.070385723 meters Centerline goodness [0,1] 0.9998894954361616 Centerline is valid? [True, True] Translation: X:182.91, Y:199.94, Z:5.38 [[-7.12026360e-01 -7.01924571e-01 1.78985901e-02 1.82913284e+02] [ 7.01675849e-01 -7.12250887e-01 -1.86996405e-02 1.99944831e+02] [ 2.58740238e-02 -7.55628556e-04 9.99664926e-01 5.38303328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.100385723 meters Centerline goodness [0,1] 0.9999558313641483 Centerline is valid? [True, True] Translation: X:182.89, Y:199.96, Z:5.38 [[-7.12072526e-01 -7.01879678e-01 1.78223526e-02 1.82892809e+02] [ 7.01633341e-01 -7.12295136e-01 -1.86089578e-02 1.99963432e+02] [ 2.57560244e-02 -7.46170809e-04 9.99667980e-01 5.38367484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.130385723 meters Centerline goodness [0,1] 0.9999559723506362 Centerline is valid? [True, True] Translation: X:182.87, Y:199.98, Z:5.38 [[-7.11421838e-01 -7.02542462e-01 1.76934084e-02 1.82872026e+02] [ 7.02300156e-01 -7.11641473e-01 -1.84636084e-02 1.99982612e+02] [ 2.55628321e-02 -7.09330746e-04 9.99672966e-01 5.38379082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.160385723 meters Centerline goodness [0,1] 0.9999119427627958 Centerline is valid? [True, True] Translation: X:182.85, Y:200.00, Z:5.38 [[-7.10910725e-01 -7.03060836e-01 1.76466054e-02 1.82853024e+02] [ 7.02820237e-01 -7.11129381e-01 -1.84043012e-02 2.00001539e+02] [ 2.54883630e-02 -6.81423705e-04 9.99674887e-01 5.38389714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.190385723 meters Centerline goodness [0,1] 0.9999340354889069 Centerline is valid? [True, True] Translation: X:182.83, Y:200.02, Z:5.38 [[-7.09113223e-01 -7.04861699e-01 1.81224424e-02 1.82830070e+02] [ 7.04608824e-01 -7.09344482e-01 -1.88894381e-02 2.00018729e+02] [ 2.61694960e-02 -6.25517531e-04 9.99657324e-01 5.38365161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.220385723 meters Centerline goodness [0,1] 0.9999561172546955 Centerline is valid? [True, True] Translation: X:182.81, Y:200.04, Z:5.38 [[-7.08362423e-01 -7.05609010e-01 1.84011592e-02 1.82809585e+02] [ 7.05348841e-01 -7.08601133e-01 -1.91689115e-02 2.00036624e+02] [ 2.65648389e-02 -5.99300301e-04 9.99646913e-01 5.38328066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.79, Y:200.06, Z:5.38 [[-7.07377279e-01 -7.06594001e-01 1.85014279e-02 1.82789426e+02] [ 7.06331624e-01 -7.07618970e-01 -1.92621524e-02 2.00055496e+02] [ 2.67024827e-02 -5.57465323e-04 9.99643270e-01 5.38293782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.77, Y:200.07, Z:5.38 [[-7.07157909e-01 -7.06814226e-01 1.84754241e-02 1.82769390e+02] [ 7.06552953e-01 -7.07399009e-01 -1.92241435e-02 2.00074482e+02] [ 2.66573948e-02 -5.40639667e-04 9.99644482e-01 5.38379638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.75, Y:200.09, Z:5.38 [[-7.07252773e-01 -7.06713569e-01 1.86934890e-02 1.82748627e+02] [ 7.06446365e-01 -7.07499567e-01 -1.94395761e-02 2.00092966e+02] [ 2.69638475e-02 -5.42746763e-04 9.99636262e-01 5.38453731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.73, Y:200.11, Z:5.38 [[-7.07547145e-01 -7.06424514e-01 1.84782185e-02 1.82729742e+02] [ 7.06163620e-01 -7.07788185e-01 -1.92048560e-02 2.00112468e+02] [ 2.66454458e-02 -5.39695334e-04 9.99644801e-01 5.38447053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.370385723 meters Centerline goodness [0,1] 0.9999779793887078 Centerline is valid? [True, True] Translation: X:182.71, Y:200.13, Z:5.38 [[-7.07877504e-01 -7.06099544e-01 1.82448111e-02 1.82710112e+02] [ 7.05845389e-01 -7.08112382e-01 -1.89510207e-02 2.00131679e+02] [ 2.63006838e-02 -5.36985461e-04 9.99653933e-01 5.38499144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.69, Y:200.15, Z:5.39 [[-7.07983310e-01 -7.06012181e-01 1.75052229e-02 1.82688411e+02] [ 7.05778453e-01 -7.08199505e-01 -1.81723939e-02 2.00150267e+02] [ 2.52271217e-02 -5.10942486e-04 9.99681615e-01 5.38591190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.67, Y:200.17, Z:5.39 [[-7.07972695e-01 -7.06030528e-01 1.71917701e-02 1.82670086e+02] [ 7.05805360e-01 -7.08181226e-01 -1.78365985e-02 2.00169370e+02] [ 2.47680719e-02 -4.93781179e-04 9.99693102e-01 5.38630352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.65, Y:200.19, Z:5.39 [[-7.08004497e-01 -7.05996978e-01 1.72597891e-02 1.82649119e+02] [ 7.05770287e-01 -7.08214677e-01 -1.78962117e-02 2.00188501e+02] [ 2.48583074e-02 -4.89152053e-04 9.99690865e-01 5.38713732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.63, Y:200.21, Z:5.39 [[-7.08144468e-01 -7.05846545e-01 1.76654140e-02 1.82628557e+02] [ 7.05609286e-01 -7.08364599e-01 -1.83065536e-02 2.00207273e+02] [ 2.54351715e-02 -4.98804467e-04 9.99676349e-01 5.38698168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.61, Y:200.23, Z:5.39 [[-7.07753110e-01 -7.06234682e-01 1.78356165e-02 1.82607596e+02] [ 7.05993219e-01 -7.07977642e-01 -1.84725041e-02 2.00225333e+02] [ 2.56731408e-02 -4.82147915e-04 9.99670274e-01 5.38626401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.550385723 meters Centerline goodness [0,1] 0.9999561345791113 Centerline is valid? [True, True] Translation: X:182.59, Y:200.24, Z:5.39 [[-7.07983408e-01 -7.06010783e-01 1.75575853e-02 1.82587780e+02] [ 7.05776989e-01 -7.08200924e-01 -1.81739443e-02 2.00244218e+02] [ 2.52652988e-02 -4.75111380e-04 9.99680669e-01 5.38670607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.57, Y:200.26, Z:5.39 [[-7.08872204e-01 -7.05142935e-01 1.65420519e-02 1.82568074e+02] [ 7.04935412e-01 -7.09065033e-01 -1.71126986e-02 2.00262778e+02] [ 2.37962890e-02 -4.69638177e-04 9.99716718e-01 5.38841233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.55, Y:200.28, Z:5.39 [[-7.09503124e-01 -7.04516817e-01 1.61670045e-02 1.82549783e+02] [ 7.04318650e-01 -7.09687136e-01 -1.67155028e-02 2.00282154e+02] [ 2.32498680e-02 -4.72978673e-04 9.99729573e-01 5.38908821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.53, Y:200.30, Z:5.39 [[-7.10458843e-01 -7.03547140e-01 1.64211358e-02 1.82530832e+02] [ 7.03342638e-01 -7.10648412e-01 -1.69696392e-02 2.00301314e+02] [ 2.36085952e-02 -5.06545246e-04 9.99721150e-01 5.38941015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.51, Y:200.32, Z:5.39 [[-7.10635986e-01 -7.03364369e-01 1.65849077e-02 1.82511190e+02] [ 7.03155953e-01 -7.10829307e-01 -1.71289939e-02 2.00319835e+02] [ 2.38369624e-02 -5.10702901e-04 9.99715729e-01 5.38919966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.49, Y:200.34, Z:5.39 [[-7.10537385e-01 -7.03461098e-01 1.67065475e-02 1.82489496e+02] [ 7.03249890e-01 -7.10733586e-01 -1.72442077e-02 2.00337103e+02] [ 2.40045337e-02 -5.03776582e-04 9.99711723e-01 5.38935146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.47, Y:200.36, Z:5.39 [[-7.10325645e-01 -7.03675478e-01 1.66822930e-02 1.82468871e+02] [ 7.03465186e-01 -7.10521345e-01 -1.72089924e-02 2.00356470e+02] [ 2.39626712e-02 -4.88576227e-04 9.99712735e-01 5.38998225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.45, Y:200.38, Z:5.39 [[-7.09260752e-01 -7.04754596e-01 1.64360868e-02 1.82449650e+02] [ 7.04550975e-01 -7.09451032e-01 -1.69457198e-02 2.00376212e+02] [ 2.36031726e-02 -4.38873021e-04 9.99721310e-01 5.38909017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.790385723 meters Centerline goodness [0,1] 0.9998907605252234 Centerline is valid? [True, True] Translation: X:182.43, Y:200.39, Z:5.39 [[-7.08987653e-01 -7.05007844e-01 1.73334319e-02 1.82427262e+02] [ 7.04781706e-01 -7.09199366e-01 -1.78607215e-02 2.00393069e+02] [ 2.48848077e-02 -4.46745304e-04 9.99690225e-01 5.38843370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.820385723 meters Centerline goodness [0,1] 0.9999349678090654 Centerline is valid? [True, True] Translation: X:182.41, Y:200.41, Z:5.39 [[-7.06713954e-01 -7.07297468e-01 1.69020490e-02 1.82406229e+02] [ 7.07083329e-01 -7.06915956e-01 -1.74068092e-02 2.00411018e+02] [ 2.42601202e-02 -3.50477827e-04 9.99705619e-01 5.38915951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.39, Y:200.43, Z:5.39 [[-7.05911308e-01 -7.08093872e-01 1.70965860e-02 1.82385863e+02] [ 7.07875247e-01 -7.06118238e-01 -1.75974264e-02 2.00429826e+02] [ 2.45328410e-02 -3.19972271e-04 9.99698973e-01 5.38934384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.880385723 meters Centerline goodness [0,1] 0.9999782566154247 Centerline is valid? [True, True] Translation: X:182.37, Y:200.45, Z:5.39 [[-7.04985778e-01 -7.09019660e-01 1.69167125e-02 1.82365915e+02] [ 7.08806112e-01 -7.05188659e-01 -1.74026250e-02 2.00448343e+02] [ 2.42682770e-02 -2.77933886e-04 9.99705443e-01 5.38955643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.910385723 meters Centerline goodness [0,1] 0.9999782981401506 Centerline is valid? [True, True] Translation: X:182.35, Y:200.47, Z:5.39 [[-7.05047681e-01 -7.08976154e-01 1.61425051e-02 1.82346866e+02] [ 7.08781917e-01 -7.05232406e-01 -1.65966281e-02 2.00466769e+02] [ 2.31508312e-02 -2.59898482e-04 9.99731950e-01 5.39034352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.940385723 meters Centerline goodness [0,1] 0.9998915424828095 Centerline is valid? [True, True] Translation: X:182.33, Y:200.48, Z:5.39 [[-7.05264259e-01 -7.08765365e-01 1.59368196e-02 1.82326397e+02] [ 7.08576227e-01 -7.05444251e-01 -1.63749521e-02 2.00484952e+02] [ 2.28485367e-02 -2.56216914e-04 9.99738905e-01 5.38981313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.970385723 meters Centerline goodness [0,1] 0.999935137939981 Centerline is valid? [True, True] Translation: X:182.31, Y:200.51, Z:5.39 [[-7.05306977e-01 -7.08727718e-01 1.57190902e-02 1.82306188e+02] [ 7.08543911e-01 -7.05482077e-01 -1.61420516e-02 2.00505129e+02] [ 2.25298558e-02 -2.47435975e-04 9.99746140e-01 5.39093896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.000385723 meters Centerline goodness [0,1] 0.9999784254924381 Centerline is valid? [True, True] Translation: X:182.29, Y:200.52, Z:5.39 [[-7.05780060e-01 -7.08250424e-01 1.59951225e-02 1.82287926e+02] [ 7.08060189e-01 -7.05961238e-01 -1.64164369e-02 2.00524731e+02] [ 2.29188849e-02 -2.60884346e-04 9.99737294e-01 5.39095836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.030385723 meters Centerline goodness [0,1] 0.9999784254924381 Centerline is valid? [True, True] Translation: X:182.27, Y:200.54, Z:5.39 [[-7.05996571e-01 -7.08034489e-01 1.60001427e-02 1.82269179e+02] [ 7.07844310e-01 -7.06177807e-01 -1.64115431e-02 2.00543826e+02] [ 2.29188842e-02 -2.60883154e-04 9.99737294e-01 5.39136175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.060385723 meters Centerline goodness [0,1] 0.9999566395663957 Centerline is valid? [True, True] Translation: X:182.25, Y:200.56, Z:5.39 [[-7.07119905e-01 -7.06911528e-01 1.60477954e-02 1.82251540e+02] [ 7.06720160e-01 -7.07301921e-01 -1.64501713e-02 2.00563936e+02] [ 2.29794523e-02 -2.90943020e-04 9.99735895e-01 5.39202170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.090385723 meters Centerline goodness [0,1] 0.9999783648125311 Centerline is valid? [True, True] Translation: X:182.23, Y:200.58, Z:5.39 [[-7.08105861e-01 -7.05928502e-01 1.58442229e-02 1.82232889e+02] [ 7.05741943e-01 -7.08283032e-01 -1.62313776e-02 2.00583546e+02] [ 2.26803863e-02 -3.11601012e-04 9.99742718e-01 5.39261229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.120385723 meters Centerline goodness [0,1] 0.9999566536627655 Centerline is valid? [True, True] Translation: X:182.21, Y:200.60, Z:5.39 [[-7.09091160e-01 -7.04949976e-01 1.53381474e-02 1.82214092e+02] [ 7.04775119e-01 -7.09256954e-01 -1.57036693e-02 2.00602669e+02] [ 2.19489890e-02 -3.25388412e-04 9.99759039e-01 5.39317904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.150385723 meters Centerline goodness [0,1] 0.9999351813840935 Centerline is valid? [True, True] Translation: X:182.20, Y:200.62, Z:5.39 [[-7.10537223e-01 -7.03493761e-01 1.52768397e-02 1.82195828e+02] [ 7.03320146e-01 -7.10701341e-01 -1.56325312e-02 2.00622972e+02] [ 2.18546586e-02 -3.62986156e-04 9.99761093e-01 5.39401339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.18, Y:200.64, Z:5.39 [[-7.10953426e-01 -7.03065869e-01 1.56080195e-02 1.82177323e+02] [ 7.02884705e-01 -7.11124631e-01 -1.59640574e-02 2.00642831e+02] [ 2.23230310e-02 -3.79063165e-04 9.99750738e-01 5.39431929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.210385723 meters Centerline goodness [0,1] 0.9999783802481947 Centerline is valid? [True, True] Translation: X:182.16, Y:200.66, Z:5.39 [[-7.11254969e-01 -7.02739751e-01 1.65291352e-02 1.82159902e+02] [ 7.02536732e-01 -7.11446891e-01 -1.68956151e-02 2.00661951e+02] [ 2.36328222e-02 -4.04765536e-04 9.99720624e-01 5.39415180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.240385723 meters Centerline goodness [0,1] 0.9999567324333679 Centerline is valid? [True, True] Translation: X:182.14, Y:200.68, Z:5.39 [[-7.11412581e-01 -7.02575056e-01 1.67460619e-02 1.82141298e+02] [ 7.02366877e-01 -7.11609531e-01 -1.71068946e-02 2.00681302e+02] [ 2.39355347e-02 -4.08180861e-04 9.99713421e-01 5.39459656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.12, Y:200.70, Z:5.40 [[-7.11098375e-01 -7.02906229e-01 1.61843967e-02 1.82122767e+02] [ 7.02712089e-01 -7.11282427e-01 -1.65235743e-02 2.00700037e+02] [ 2.31262003e-02 -3.76915606e-04 9.99732483e-01 5.39603164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.300385723 meters Centerline goodness [0,1] 0.9999133805409385 Centerline is valid? [True, True] Translation: X:182.10, Y:200.72, Z:5.40 [[-7.11220623e-01 -7.02770736e-01 1.66888547e-02 1.82100015e+02] [ 7.02564512e-01 -7.11416294e-01 -1.70283196e-02 2.00717429e+02] [ 2.38397279e-02 -3.85894978e-04 9.99715719e-01 5.39768142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.08, Y:200.74, Z:5.40 [[-7.10800048e-01 -7.03204382e-01 1.63367661e-02 1.82082555e+02] [ 7.03007100e-01 -7.10987672e-01 -1.66597414e-02 2.00738385e+02] [ 2.33304424e-02 -3.56882390e-04 9.99727745e-01 5.39751972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.06, Y:200.76, Z:5.40 [[-7.10856016e-01 -7.03135919e-01 1.68405742e-02 1.82061176e+02] [ 7.02926501e-01 -7.11055376e-01 -1.71635270e-02 2.00757094e+02] [ 2.40428731e-02 -3.63110555e-04 9.99710862e-01 5.39978818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.04, Y:200.78, Z:5.40 [[-7.10978038e-01 -7.03000586e-01 1.73321944e-02 1.82043090e+02] [ 7.02778974e-01 -7.11189172e-01 -1.76543501e-02 2.00777208e+02] [ 2.47374875e-02 -3.71153425e-04 9.99693913e-01 5.40113890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.02, Y:200.80, Z:5.40 [[-7.11500353e-01 -7.02472141e-01 1.73245405e-02 1.82023768e+02] [ 7.02250817e-01 -7.11711139e-01 -1.76364582e-02 2.00797078e+02] [ 2.47191890e-02 -3.82173534e-04 9.99694361e-01 5.40167369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.01, Y:200.82, Z:5.40 [[-7.12116511e-01 -7.01853609e-01 1.70759092e-02 1.82005486e+02] [ 7.01638661e-01 -7.12321107e-01 -1.73732594e-02 2.00816019e+02] [ 2.43570153e-02 -3.90666860e-04 9.99703248e-01 5.40253628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.99, Y:200.84, Z:5.40 [[-7.12522178e-01 -7.01440971e-01 1.71087668e-02 1.81986325e+02] [ 7.01225344e-01 -7.12727442e-01 -1.73956951e-02 2.00835020e+02] [ 2.43959408e-02 -3.97717674e-04 9.99702296e-01 5.40327952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.97, Y:200.85, Z:5.40 [[-7.12829085e-01 -7.01124505e-01 1.72952033e-02 1.81966133e+02] [ 7.00904324e-01 -7.13038753e-01 -1.75745453e-02 2.00853822e+02] [ 2.46540946e-02 -4.05364245e-04 9.99695959e-01 5.40361924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.95, Y:200.87, Z:5.40 [[-7.13481002e-01 -7.00443213e-01 1.80045876e-02 1.81947438e+02] [ 7.00204662e-01 -7.13708003e-01 -1.82843533e-02 2.00873377e+02] [ 2.56571694e-02 -4.38642537e-04 9.99670704e-01 5.40376628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.93, Y:200.89, Z:5.40 [[-7.14036940e-01 -6.99863173e-01 1.85145159e-02 1.81928590e+02] [ 6.99611006e-01 -7.14276783e-01 -1.87914108e-02 2.00892719e+02] [ 2.63759052e-02 -4.64802375e-04 9.99651987e-01 5.40409738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.91, Y:200.91, Z:5.40 [[-7.14896286e-01 -6.98981368e-01 1.86640521e-02 1.81908564e+02] [ 6.98725087e-01 -7.15139709e-01 -1.89327550e-02 2.00912725e+02] [ 2.65810478e-02 -4.93914778e-04 9.99646540e-01 5.40443973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.89, Y:200.93, Z:5.40 [[-7.16522742e-01 -6.97315427e-01 1.86106223e-02 1.81890452e+02] [ 6.97060291e-01 -7.16764184e-01 -1.88694297e-02 2.00932149e+02] [ 2.64973719e-02 -5.47649717e-04 9.99648733e-01 5.40424611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.87, Y:200.95, Z:5.40 [[-7.17380310e-01 -6.96429196e-01 1.87581151e-02 1.81870884e+02] [ 6.96169934e-01 -7.17625279e-01 -1.90100647e-02 2.00952901e+02] [ 2.67004616e-02 -5.78610337e-04 9.99643312e-01 5.40449960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.85, Y:200.97, Z:5.41 [[-7.17878739e-01 -6.95896886e-01 1.94329418e-02 1.81851799e+02] [ 6.95618733e-01 -7.18141455e-01 -1.96832166e-02 2.00972834e+02] [ 2.76530903e-02 -6.12244338e-04 9.99617393e-01 5.40535030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.83, Y:200.99, Z:5.41 [[-7.17941764e-01 -6.95826972e-01 1.96073672e-02 1.81832903e+02] [ 6.95544100e-01 -7.18209197e-01 -1.98482842e-02 2.00991673e+02] [ 2.78931630e-02 -6.12123628e-04 9.99610723e-01 5.40550220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.81, Y:201.01, Z:5.41 [[-7.17749888e-01 -6.96033582e-01 1.92963736e-02 1.81813062e+02] [ 6.95760006e-01 -7.18008989e-01 -1.95219045e-02 2.01009647e+02] [ 2.74428708e-02 -5.86199801e-04 9.99623202e-01 5.40617543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.79, Y:201.03, Z:5.41 [[-7.17850793e-01 -6.95943454e-01 1.87869352e-02 1.81792121e+02] [ 6.95684397e-01 -7.18096365e-01 -1.89955389e-02 2.01027528e+02] [ 2.67106508e-02 -5.66184971e-04 9.99643047e-01 5.40801046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.810385723 meters Centerline goodness [0,1] 0.9999784552407627 Centerline is valid? [True, True] Translation: X:181.77, Y:201.05, Z:5.41 [[-7.17489214e-01 -6.96348458e-01 1.75514375e-02 1.81773098e+02] [ 6.96122723e-01 -7.17703676e-01 -1.77366167e-02 2.01047354e+02] [ 2.49475969e-02 -5.07876712e-04 9.99688631e-01 5.40827147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.840385723 meters Centerline goodness [0,1] 0.9999569957210742 Centerline is valid? [True, True] Translation: X:181.75, Y:201.06, Z:5.41 [[-7.17641305e-01 -6.96206647e-01 1.69487951e-02 1.81752298e+02] [ 6.95996333e-01 -7.17841254e-01 -1.71183880e-02 2.01064962e+02] [ 2.40844798e-02 -4.88563044e-04 9.99709807e-01 5.40963261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.73, Y:201.08, Z:5.41 [[-7.16218692e-01 -6.97683419e-01 1.63900215e-02 1.81730675e+02] [ 6.97487344e-01 -7.16406081e-01 -1.65448853e-02 2.01083147e+02] [ 2.32850032e-02 -4.17923582e-04 9.99728780e-01 5.41109060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.71, Y:201.10, Z:5.41 [[-7.15409446e-01 -6.98503693e-01 1.67903167e-02 1.81710637e+02] [ 6.98298372e-01 -7.15606341e-01 -1.69395456e-02 2.01101522e+02] [ 2.38475922e-02 -3.94060079e-04 9.99715528e-01 5.41112625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.930385723 meters Centerline goodness [0,1] 0.9999785006342313 Centerline is valid? [True, True] Translation: X:181.69, Y:201.12, Z:5.41 [[-7.14266752e-01 -6.99658206e-01 1.73609224e-02 1.81690152e+02] [ 6.99439290e-01 -7.14477617e-01 -1.75047228e-02 2.01119280e+02] [ 2.46513134e-02 -3.60130306e-04 9.99696045e-01 5.41017532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.960385723 meters Centerline goodness [0,1] 0.9998494623655914 Centerline is valid? [True, True] Translation: X:181.67, Y:201.14, Z:5.41 [[-7.14147885e-01 -6.99780052e-01 1.73400163e-02 1.81670978e+02] [ 6.99561955e-01 -7.14358284e-01 -1.74732270e-02 2.01137820e+02] [ 2.46144000e-02 -3.48052365e-04 9.99696959e-01 5.40990089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.65, Y:201.16, Z:5.41 [[-7.14943195e-01 -6.98979073e-01 1.68666462e-02 1.81649761e+02] [ 6.98772735e-01 -7.15142033e-01 -1.69863634e-02 2.01155725e+02] [ 2.39351602e-02 -3.58332379e-04 9.99713449e-01 5.41210822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.63, Y:201.18, Z:5.41 [[-7.16096105e-01 -6.97800693e-01 1.67499501e-02 1.81633269e+02] [ 6.97597103e-01 -7.16291869e-01 -1.68594006e-02 2.01177073e+02] [ 2.37623545e-02 -3.88234392e-04 9.99717560e-01 5.41130286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.61, Y:201.20, Z:5.41 [[-7.18608011e-01 -6.95220886e-01 1.64452541e-02 1.81614140e+02] [ 6.95024173e-01 -7.18796014e-01 -1.65435682e-02 2.01197166e+02] [ 2.33222172e-02 -4.58491485e-04 9.99727895e-01 5.41331392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.59, Y:201.22, Z:5.41 [[-7.19698233e-01 -6.94091157e-01 1.64899803e-02 1.81594188e+02] [ 6.93893277e-01 -7.19886954e-01 -1.65799273e-02 2.01217107e+02] [ 2.33789026e-02 -4.90257952e-04 9.99726556e-01 5.41358519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.57, Y:201.24, Z:5.41 [[-7.21550643e-01 -6.92147680e-01 1.72122064e-02 1.81573016e+02] [ 6.91931760e-01 -7.21755682e-01 -1.72967065e-02 2.01235497e+02] [ 2.43948831e-02 -5.70777390e-04 9.99702238e-01 5.41331614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.55, Y:201.25, Z:5.41 [[-7.22515766e-01 -6.91135411e-01 1.74015064e-02 1.81552368e+02] [ 6.90914657e-01 -7.22725037e-01 -1.74773468e-02 2.01254665e+02] [ 2.46557176e-02 -6.04702795e-04 9.99695819e-01 5.41360340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.170385723 meters Centerline goodness [0,1] 0.9997853432361654 Centerline is valid? [True, True] Translation: X:181.53, Y:201.27, Z:5.41 [[-7.23670308e-01 -6.89933018e-01 1.71381481e-02 1.81531565e+02] [ 6.89718787e-01 -7.23872941e-01 -1.72034662e-02 2.01273535e+02] [ 2.42750810e-02 -6.29135005e-04 9.99705119e-01 5.41389685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.200385723 meters Centerline goodness [0,1] 0.9998712584486643 Centerline is valid? [True, True] Translation: X:181.51, Y:201.29, Z:5.41 [[-7.23841294e-01 -6.89757149e-01 1.69957765e-02 1.81511040e+02] [ 6.89546640e-01 -7.24040529e-01 -1.70512354e-02 2.01293135e+02] [ 2.40668425e-02 -6.23007702e-04 9.99710157e-01 5.41406264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.230385723 meters Centerline goodness [0,1] 0.9998925816916235 Centerline is valid? [True, True] Translation: X:181.49, Y:201.31, Z:5.41 [[-7.22677874e-01 -6.90955230e-01 1.78202536e-02 1.81490302e+02] [ 6.90724414e-01 -7.22897300e-01 -1.78683758e-02 2.01311405e+02] [ 2.52284609e-02 -6.04195600e-04 9.99681529e-01 5.41327071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.260385723 meters Centerline goodness [0,1] 0.9998500781735238 Centerline is valid? [True, True] Translation: X:181.47, Y:201.33, Z:5.41 [[-7.21687751e-01 -6.91980841e-01 1.81467853e-02 1.81469758e+02] [ 6.91742073e-01 -7.21915639e-01 -1.81855721e-02 2.01330076e+02] [ 2.56845156e-02 -5.71409743e-04 9.99669935e-01 5.41402571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.290385723 meters Centerline goodness [0,1] 0.9999141151715549 Centerline is valid? [True, True] Translation: X:181.45, Y:201.35, Z:5.42 [[-7.19917740e-01 -6.93823150e-01 1.81075504e-02 1.81447562e+02] [ 6.93586255e-01 -7.20145255e-01 -1.81361118e-02 2.01348317e+02] [ 2.56233207e-02 -4.97360568e-04 9.99671545e-01 5.41614883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.320385723 meters Centerline goodness [0,1] 0.9999785287928887 Centerline is valid? [True, True] Translation: X:181.43, Y:201.37, Z:5.42 [[-7.19506481e-01 -6.94255555e-01 1.78787166e-02 1.81429273e+02] [ 6.94024992e-01 -7.19728425e-01 -1.78970966e-02 2.01367933e+02] [ 2.52929792e-02 -4.68800870e-04 9.99679972e-01 5.41677564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.41, Y:201.39, Z:5.42 [[-7.19145469e-01 -6.94645240e-01 1.72564509e-02 1.81408744e+02] [ 6.94430789e-01 -7.19352350e-01 -1.72648851e-02 2.01387742e+02] [ 2.44064387e-02 -4.32553109e-04 9.99702025e-01 5.41835803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.39, Y:201.41, Z:5.42 [[-7.19038245e-01 -6.94751525e-01 1.74448129e-02 1.81388652e+02] [ 6.94532625e-01 -7.19249704e-01 -1.74441040e-02 2.01407798e+02] [ 2.46664943e-02 -4.26986206e-04 9.99695645e-01 5.41927830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.93, Y:200.93, Z:6.38 [[-7.44286336e-01 6.67852294e-01 -3.34112237e-03 1.80925912e+02] [ 6.67839067e-01 7.44293189e-01 4.31611187e-03 2.00925172e+02] [ 5.36929984e-03 9.81091045e-04 -9.99985104e-01 6.38043854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.94, Y:200.95, Z:6.38 [[-7.89549055e-01 6.13676493e-01 -3.66767876e-03 1.80941481e+02] [ 6.13663661e-01 7.89556970e-01 4.08683758e-03 2.00949136e+02] [ 5.40383748e-03 9.76037573e-04 -9.99984923e-01 6.38109062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.34, Y:201.49, Z:5.42 [[-7.69683386e-01 -6.38164484e-01 1.82640672e-02 1.81337677e+02] [ 6.37991884e-01 -7.69900019e-01 -1.48430810e-02 2.01488165e+02] [ 2.35338328e-02 2.27853756e-04 9.99723015e-01 5.42173975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.91, Y:200.97, Z:6.38 [[-7.90240418e-01 6.12773075e-01 -5.40746987e-03 1.80909301e+02] [ 6.12750372e-01 7.90258386e-01 5.35401136e-03 2.00971393e+02] [ 7.55409242e-03 9.17526996e-04 -9.99971047e-01 6.38103849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.30, Y:201.52, Z:5.42 [[-7.73496194e-01 -6.33569690e-01 1.71197422e-02 1.81302357e+02] [ 6.33421340e-01 -7.73685589e-01 -1.37118693e-02 2.01515185e+02] [ 2.19327227e-02 2.37931313e-04 9.99759421e-01 5.42313671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.87, Y:201.00, Z:6.38 [[-7.90352210e-01 6.12621961e-01 -6.14143774e-03 1.80868647e+02] [ 6.12594567e-01 7.90375594e-01 5.85811462e-03 2.00996771e+02] [ 8.44285217e-03 8.67762443e-04 -9.99963982e-01 6.38018865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.89, Y:201.02, Z:6.38 [[-8.31574376e-01 5.55377812e-01 -6.28840490e-03 1.80887129e+02] [ 5.55353730e-01 8.31597698e-01 5.24433744e-03 2.01018272e+02] [ 8.14201170e-03 8.68767520e-04 -9.99966476e-01 6.38044774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.90, Y:201.04, Z:6.38 [[-8.69135337e-01 4.94535418e-01 -6.20382069e-03 1.80903582e+02] [ 4.94515316e-01 8.69157029e-01 4.54543181e-03 2.01042629e+02] [ 7.63997138e-03 8.82711060e-04 -9.99970425e-01 6.38168445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.91, Y:201.07, Z:6.38 [[-9.02275548e-01 4.31110939e-01 -6.49567976e-03 1.80906628e+02] [ 4.31092497e-01 9.02298496e-01 4.08462601e-03 2.01074911e+02] [ 7.62196903e-03 8.85219367e-04 -9.99970561e-01 6.38237162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.18, Y:201.69, Z:5.42 [[-8.90837627e-01 -4.53852653e-01 2.06420074e-02 1.81182195e+02] [ 4.53741300e-01 -8.91076656e-01 -1.00611027e-02 2.01693914e+02] [ 2.29598691e-02 4.03322435e-04 9.99736306e-01 5.42415278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.87, Y:201.09, Z:6.38 [[-9.05343172e-01 4.24646756e-01 -5.37344860e-03 1.80870931e+02] [ 4.24632932e-01 9.05358637e-01 3.55124154e-03 2.01092470e+02] [ 6.37292130e-03 9.33349043e-04 -9.99979257e-01 6.38443293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.14, Y:201.71, Z:5.42 [[-8.91157828e-01 -4.53193042e-01 2.13024219e-02 1.81135763e+02] [ 4.53074686e-01 -8.91412303e-01 -1.03650417e-02 2.01713965e+02] [ 2.36866058e-02 4.14700120e-04 9.99719347e-01 5.42329583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.82, Y:201.11, Z:6.39 [[-9.07711027e-01 4.19565111e-01 -5.08029834e-03 1.80823801e+02] [ 4.19552471e-01 9.07724749e-01 3.39168700e-03 2.01109780e+02] [ 6.03454607e-03 9.47219974e-04 -9.99981343e-01 6.38713356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.83, Y:201.14, Z:6.39 [[-9.35097180e-01 3.54355462e-01 -5.04692178e-03 1.80834791e+02] [ 3.54344655e-01 9.35110320e-01 2.92492113e-03 2.01137105e+02] [ 5.75589042e-03 9.46735745e-04 -9.99982987e-01 6.38750381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.84, Y:201.16, Z:6.39 [[-9.57570597e-01 2.88110755e-01 -7.12352515e-03 1.80843153e+02] [ 2.88095631e-01 9.57596666e-01 3.08736585e-03 2.01163486e+02] [ 7.71096724e-03 9.04114286e-04 -9.99969861e-01 6.38814559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.02, Y:201.83, Z:5.42 [[-9.48019919e-01 -3.17593409e-01 1.98156455e-02 1.81018527e+02] [ 3.17532071e-01 -9.48226921e-01 -6.25223433e-03 2.01825246e+02] [ 2.07753970e-02 3.64860273e-04 9.99784102e-01 5.42448292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.890385723 meters Centerline goodness [0,1] 0.999978458953536 Centerline is valid? [True, True] Translation: X:180.79, Y:201.17, Z:6.39 [[-9.58127458e-01 2.86172724e-01 -9.84609699e-03 1.80794003e+02] [ 2.86148565e-01 9.58177685e-01 3.81079876e-03 2.01174500e+02] [ 1.05248571e-02 8.33784411e-04 -9.99944265e-01 6.38801737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.80, Y:201.20, Z:6.39 [[-9.75843329e-01 2.18217583e-01 -1.05301521e-02 1.80799293e+02] [ 2.18195833e-01 9.75899805e-01 3.18592237e-03 2.01203060e+02] [ 1.09715977e-02 8.11325769e-04 -9.99939481e-01 6.38845309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.80, Y:201.23, Z:6.39 [[-9.88824941e-01 1.48637902e-01 -1.14896065e-02 1.80800813e+02] [ 1.48618527e-01 9.88891373e-01 2.52685826e-03 2.01231180e+02] [ 1.17375597e-02 7.91052072e-04 -9.99930800e-01 6.38875526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.80, Y:201.26, Z:6.39 [[-9.96881819e-01 7.80512501e-02 -1.16035288e-02 1.80799904e+02] [ 7.80367158e-02 9.96949035e-01 1.70079705e-03 2.01261131e+02] [ 1.17008762e-02 7.89992377e-04 -9.99931230e-01 6.38919860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.010385723 meters Centerline goodness [0,1] 0.9999567333693888 Centerline is valid? [True, True] Translation: X:180.83, Y:201.95, Z:5.43 [[-9.94414420e-01 -1.04255953e-01 1.64516954e-02 1.80826822e+02] [ 1.04249508e-01 -9.94550388e-01 -1.25117236e-03 2.01954285e+02] [ 1.64924822e-02 4.70897323e-04 9.99863879e-01 5.42715165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.73, Y:201.26, Z:6.39 [[-9.97285700e-01 7.25137973e-02 -1.27664480e-02 1.80728999e+02] [ 7.24977247e-02 9.97367098e-01 1.71790286e-03 2.01264989e+02] [ 1.28574069e-02 7.87701518e-04 -9.99917030e-01 6.39047546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.72, Y:201.30, Z:6.39 [[-9.99902517e-01 1.60283086e-03 -1.38703545e-02 1.80723450e+02] [ 1.59227096e-03 9.99998434e-01 7.72338478e-04 2.01295172e+02] [ 1.38715707e-02 7.50177825e-04 -9.99903504e-01 6.39122380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.100385723 meters Centerline goodness [0,1] 0.9999783816503448 Centerline is valid? [True, True] Translation: X:180.72, Y:201.32, Z:6.39 [[-9.97511987e-01 -6.90520364e-02 -1.42004022e-02 1.80719659e+02] [-6.90555079e-02 9.97612789e-01 -2.46308925e-04 2.01324375e+02] [ 1.41835110e-02 7.34919881e-04 -9.99899139e-01 6.39226336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.130385723 meters Centerline goodness [0,1] 0.9999567127675693 Centerline is valid? [True, True] Translation: X:180.64, Y:202.01, Z:5.43 [[-9.98978421e-01 4.30489850e-02 1.37440960e-02 1.80642304e+02] [-4.30374014e-02 -9.99072814e-01 1.13760360e-03 2.02014647e+02] [ 1.37803253e-02 5.44931276e-04 9.99904898e-01 5.42776472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.62, Y:201.32, Z:6.39 [[-9.97139880e-01 -7.38680794e-02 -1.59864442e-02 1.80615797e+02] [-7.38699169e-02 9.97267772e-01 -4.76332222e-04 2.01315724e+02] [ 1.59779514e-02 7.05947451e-04 -9.99872095e-01 6.39400102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.60, Y:201.34, Z:6.39 [[-9.89321242e-01 -1.44818591e-01 -1.64637945e-02 1.80604572e+02] [-1.44809621e-01 9.89458003e-01 -1.74197080e-03 2.01344784e+02] [ 1.65425030e-02 6.60747127e-04 -9.99862945e-01 6.39493804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.58, Y:201.37, Z:6.40 [[-9.76313839e-01 -2.15760363e-01 -1.60858205e-02 1.80578947e+02] [-2.15742397e-01 9.76446113e-01 -2.86462247e-03 2.01368785e+02] [ 1.63250088e-02 6.73622907e-04 -9.99866511e-01 6.39624044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.250385723 meters Centerline goodness [0,1] 0.9999783685565338 Centerline is valid? [True, True] Translation: X:180.37, Y:202.03, Z:5.43 [[-9.81709538e-01 1.90014293e-01 1.18723089e-02 1.80373981e+02] [-1.89992197e-01 -9.81781101e-01 2.97250348e-03 2.02031382e+02] [ 1.22208267e-02 6.62488959e-04 9.99925103e-01 5.42825740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.280385723 meters Centerline goodness [0,1] 0.9999568183780982 Centerline is valid? [True, True] Translation: X:180.43, Y:201.34, Z:6.40 [[-9.74188600e-01 -2.25182384e-01 -1.57944997e-02 1.80430065e+02] [-2.25165336e-01 9.74316335e-01 -2.87262101e-03 2.01336104e+02] [ 1.60357027e-02 7.57899184e-04 -9.99871133e-01 6.40009440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.39, Y:201.35, Z:6.40 [[-9.54316722e-01 -2.98368294e-01 -1.59985828e-02 1.80394116e+02] [-2.98339919e-01 9.54450500e-01 -4.18748558e-03 2.01354273e+02] [ 1.65192683e-02 7.76828384e-04 -9.99863246e-01 6.40072232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.33, Y:201.37, Z:6.40 [[-9.29121579e-01 -3.69463533e-01 -1.51588368e-02 1.80332802e+02] [-3.69428815e-01 9.29244858e-01 -5.13262875e-03 2.01366025e+02] [ 1.59825903e-02 8.31274967e-04 -9.99871925e-01 6.40233646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.370385723 meters Centerline goodness [0,1] 0.999956783854448 Centerline is valid? [True, True] Translation: X:180.27, Y:201.37, Z:6.41 [[-8.97532237e-01 -4.40711459e-01 -1.44669742e-02 1.80266936e+02] [-4.40670308e-01 8.97648363e-01 -6.09059047e-03 2.01369521e+02] [ 1.56704487e-02 9.08664672e-04 -9.99876798e-01 6.40514830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.19, Y:201.36, Z:6.41 [[-8.61361045e-01 -5.07812262e-01 -1.35593385e-02 1.80187154e+02] [-5.07766378e-01 8.61467241e-01 -6.89192867e-03 2.01360192e+02] [ 1.51807318e-02 9.48537326e-04 -9.99884316e-01 6.40758434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.430385723 meters Centerline goodness [0,1] 0.9999132415139356 Centerline is valid? [True, True] Translation: X:180.11, Y:201.34, Z:6.41 [[-8.20219007e-01 -5.71911247e-01 -1.25819565e-02 1.80108120e+02] [-5.71861885e-01 8.20314919e-01 -7.57755825e-03 2.01343828e+02] [ 1.46548574e-02 9.79884071e-04 -9.99892132e-01 6.41009109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.02, Y:201.31, Z:6.41 [[-7.73501991e-01 -6.33684707e-01 -1.17627529e-02 1.80021367e+02] [-6.33630913e-01 7.73590755e-01 -8.31930564e-03 2.01311061e+02] [ 1.43713736e-02 1.01824437e-03 -9.99896208e-01 6.41151849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.94, Y:201.27, Z:6.41 [[-7.23390890e-01 -6.90335506e-01 -1.19377416e-02 1.79937048e+02] [-6.90264150e-01 7.23488662e-01 -9.97793022e-03 2.01269075e+02] [ 1.55249402e-02 1.02225123e-03 -9.99878958e-01 6.41105435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.85, Y:201.22, Z:6.41 [[-6.69620967e-01 -7.42609434e-01 -1.17893699e-02 1.79849769e+02] [-7.42520078e-01 6.69723979e-01 -1.15639580e-02 2.01217565e+02] [ 1.64831280e-02 1.01037507e-03 -9.99863634e-01 6.41221625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.76, Y:201.15, Z:6.41 [[-6.11680909e-01 -7.91030054e-01 -1.08590505e-02 1.79762104e+02] [-7.90933498e-01 6.11776467e-01 -1.23998133e-02 2.01153326e+02] [ 1.64519366e-02 1.00405773e-03 -9.99864154e-01 6.41322090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.580385723 meters Centerline goodness [0,1] 0.9999346376748443 Centerline is valid? [True, True] Translation: X:179.68, Y:201.08, Z:6.42 [[-5.50770545e-01 -8.34599715e-01 -9.75306213e-03 1.79677363e+02] [-8.34499186e-01 5.50856013e-01 -1.29908282e-02 2.01079363e+02] [ 1.62146745e-02 9.83956853e-04 -9.99868049e-01 6.41635226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.610385723 meters Centerline goodness [0,1] 0.9998692981309633 Centerline is valid? [True, True] Translation: X:179.60, Y:201.00, Z:6.42 [[-4.85576665e-01 -8.74149492e-01 -8.82997267e-03 1.79598421e+02] [-8.74039925e-01 4.85655953e-01 -1.38745961e-02 2.01001460e+02] [ 1.64167999e-02 9.80568551e-04 -9.99864754e-01 6.41825192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.640385723 meters Centerline goodness [0,1] 0.9999344247961705 Centerline is valid? [True, True] Translation: X:179.52, Y:200.91, Z:6.42 [[-4.17177450e-01 -9.08790363e-01 -7.94046073e-03 1.79524906e+02] [-9.08667974e-01 4.17251861e-01 -1.49464966e-02 2.00911357e+02] [ 1.68964041e-02 9.79901015e-04 -9.99856765e-01 6.41975666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.670385723 meters Centerline goodness [0,1] 0.9999342436928742 Centerline is valid? [True, True] Translation: X:179.46, Y:200.81, Z:6.42 [[-3.45896979e-01 -9.38248698e-01 -6.68289717e-03 1.79455606e+02] [-9.38124904e-01 3.45960124e-01 -1.52727810e-02 2.00814852e+02] [ 1.66416828e-02 9.86583465e-04 -9.99861031e-01 6.42162508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.700385723 meters Centerline goodness [0,1] 0.9999780567014833 Centerline is valid? [True, True] Translation: X:179.39, Y:200.71, Z:6.42 [[-2.72517982e-01 -9.62137045e-01 -5.12412348e-03 1.79393818e+02] [-9.62029196e-01 2.72564338e-01 -1.44398030e-02 2.00708422e+02] [ 1.52897227e-02 9.94450434e-04 -9.99882611e-01 6.42449855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.34, Y:200.60, Z:6.43 [[-1.97808323e-01 -9.80233371e-01 -3.79555921e-03 1.79338860e+02] [-9.80137040e-01 1.97842233e-01 -1.37780059e-02 2.00598051e+02] [ 1.42565831e-02 9.94763922e-04 -9.99897875e-01 6.42685619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.29, Y:200.48, Z:6.43 [[-1.22412432e-01 -9.92475844e-01 -2.62602752e-03 1.79293705e+02] [-9.92388211e-01 1.22436617e-01 -1.32254688e-02 2.00482467e+02] [ 1.34474803e-02 9.87076954e-04 -9.99909091e-01 6.42975148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.790385723 meters Centerline goodness [0,1] 0.9999779161697805 Centerline is valid? [True, True] Translation: X:179.26, Y:200.36, Z:6.43 [[-4.62300458e-02 -9.98929574e-01 -1.57783696e-03 1.79256535e+02] [-9.98846297e-01 4.62466236e-02 -1.29354085e-02 2.00358932e+02] [ 1.29945317e-02 9.78012073e-04 -9.99915089e-01 6.43193819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.820385723 meters Centerline goodness [0,1] 0.9999778761061947 Centerline is valid? [True, True] Translation: X:179.23, Y:200.25, Z:6.43 [[ 2.79857871e-02 -9.99608146e-01 -5.91150939e-04 1.79232666e+02] [-9.99530247e-01 -2.79762052e-02 -1.25146818e-02 2.00246124e+02] [ 1.24932397e-02 9.41106465e-04 -9.99921514e-01 6.43327074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.22, Y:200.12, Z:6.43 [[ 1.03203118e-01 -9.94660246e-01 3.33973492e-04 1.79215588e+02] [-9.94586139e-01 -1.03199517e-01 -1.21766940e-02 2.00124389e+02] [ 1.21461393e-02 9.24507377e-04 -9.99925806e-01 6.43473385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.21, Y:200.00, Z:6.44 [[ 1.77444711e-01 -9.84129954e-01 1.26793189e-03 1.79207428e+02] [-9.84056260e-01 -1.77446983e-01 -1.20766244e-02 1.99999657e+02] [ 1.21099585e-02 8.95216820e-04 -9.99926271e-01 6.43661327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.21, Y:199.88, Z:6.44 [[ 2.48776714e-01 -9.68558544e-01 2.11963522e-03 1.79210205e+02] [-9.68488832e-01 -2.48784307e-01 -1.16512110e-02 1.99876492e+02] [ 1.18122119e-02 8.45706955e-04 -9.99929876e-01 6.43824928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.22, Y:199.75, Z:6.44 [[ 3.21193349e-01 -9.47009165e-01 2.91092178e-03 1.79220154e+02] [-9.46943739e-01 -3.21205470e-01 -1.11625243e-02 1.99753082e+02] [ 1.15060168e-02 8.28849413e-04 -9.99933460e-01 6.43984964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.25, Y:199.62, Z:6.44 [[ 3.91146671e-01 -9.20321596e-01 3.52728598e-03 1.79247240e+02] [-9.20263527e-01 -3.91161735e-01 -1.03700380e-02 1.99617949e+02] [ 1.09235093e-02 8.10173220e-04 -9.99940008e-01 6.44174774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.27, Y:199.51, Z:6.44 [[ 4.59970283e-01 -8.87923928e-01 4.29392539e-03 1.79269560e+02] [-8.87867745e-01 -4.59989635e-01 -1.00201800e-02 1.99510089e+02] [ 1.08723187e-02 7.96547159e-04 -9.99940577e-01 6.44349492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.030385723 meters Centerline goodness [0,1] 0.9999101022586807 Centerline is valid? [True, True] Translation: X:179.32, Y:199.39, Z:6.45 [[ 5.25243998e-01 -8.50938332e-01 4.76425104e-03 1.79315285e+02] [-8.50888869e-01 -5.25265021e-01 -9.20814397e-03 1.99387657e+02] [ 1.03380571e-02 7.82674172e-04 -9.99946255e-01 6.44691309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.35, Y:199.28, Z:6.45 [[ 5.88573524e-01 -8.08427712e-01 5.08353137e-03 1.79351005e+02] [-8.08385292e-01 -5.88594951e-01 -8.31890590e-03 1.99282879e+02] [ 9.71737495e-03 7.86835772e-04 -9.99952476e-01 6.44706251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.40, Y:199.18, Z:6.45 [[ 6.48993496e-01 -7.60776545e-01 5.14693083e-03 1.79398394e+02] [-7.60742218e-01 -6.49013407e-01 -7.27149560e-03 1.99179097e+02] [ 8.87241042e-03 8.03665774e-04 -9.99960316e-01 6.44927195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.45, Y:199.08, Z:6.45 [[ 7.05755707e-01 -7.08430766e-01 5.89338735e-03 1.79452235e+02] [-7.08396171e-01 -7.05779861e-01 -7.04648248e-03 1.99078789e+02] [ 9.15137908e-03 7.98242190e-04 -9.99957807e-01 6.45120317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.44, Y:199.07, Z:6.45 [[ 7.60766512e-01 -6.48998199e-01 5.97099548e-03 1.79443164e+02] [-6.48968992e-01 -7.60789464e-01 -6.21601742e-03 1.99069607e+02] [ 8.57685456e-03 8.53946975e-04 -9.99962853e-01 6.45174767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.44, Y:199.06, Z:6.45 [[ 8.10051543e-01 -5.86328047e-01 5.99318560e-03 1.79436125e+02] [-5.86303678e-01 -8.10073242e-01 -5.41659565e-03 1.99062028e+02] [ 8.03082124e-03 8.73894899e-04 -9.99967371e-01 6.45245680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.43, Y:199.05, Z:6.45 [[ 8.54168744e-01 -5.19956386e-01 6.41193444e-03 1.79429016e+02] [-5.19933708e-01 -8.54192355e-01 -4.93563998e-03 1.99054246e+02] [ 8.04334290e-03 8.82088549e-04 -9.99967263e-01 6.45286503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.240385723 meters Centerline goodness [0,1] 0.9999775497833554 Centerline is valid? [True, True] Translation: X:179.42, Y:199.05, Z:6.45 [[ 8.93860313e-01 -4.48298106e-01 6.52299853e-03 1.79421919e+02] [-4.48278487e-01 -8.93883647e-01 -4.29221690e-03 1.99045395e+02] [ 7.75499443e-03 9.12522426e-04 -9.99969513e-01 6.45288267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.42, Y:199.03, Z:6.45 [[ 9.27510017e-01 -3.73744722e-01 6.32861239e-03 1.79415167e+02] [-3.73728903e-01 -9.27531130e-01 -3.56524617e-03 1.99034142e+02] [ 7.20247693e-03 9.41616172e-04 -9.99973619e-01 6.45361931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.41, Y:199.02, Z:6.45 [[ 9.54338228e-01 -2.98671911e-01 5.79965844e-03 1.79411021e+02] [-2.98660157e-01 -9.54355372e-01 -2.81704041e-03 1.99024923e+02] [ 6.37630603e-03 9.56282457e-04 -9.99979214e-01 6.45451126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.330385723 meters Centerline goodness [0,1] 0.9999552932761088 Centerline is valid? [True, True] Translation: X:179.41, Y:199.02, Z:6.46 [[ 9.74945998e-01 -2.22357992e-01 6.10125116e-03 1.79407900e+02] [-2.22347387e-01 -9.74964619e-01 -2.37323251e-03 1.99016476e+02] [ 6.47621122e-03 9.57176290e-04 -9.99978571e-01 6.45561361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.40, Y:199.01, Z:6.46 [[ 9.89312181e-01 -1.45699623e-01 5.74711145e-03 1.79401197e+02] [-1.45691475e-01 -9.89328410e-01 -1.81398402e-03 1.99006264e+02] [ 5.95007742e-03 9.57291344e-04 -9.99981840e-01 6.45510861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.39, Y:199.00, Z:6.46 [[ 9.97624763e-01 -6.86012643e-02 6.22080209e-03 1.79394659e+02] [-6.85939822e-02 -9.97643709e-01 -1.37673911e-03 1.98997002e+02] [ 6.30059012e-03 9.46759440e-04 -9.99979703e-01 6.45519159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.39, Y:198.99, Z:6.45 [[ 9.99957790e-01 6.29741604e-03 6.69029846e-03 1.79389598e+02] [ 6.30341138e-03 -9.99979750e-01 -8.75415347e-04 1.98987688e+02] [ 6.68465013e-03 9.17550100e-04 -9.99977237e-01 6.45411798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.39, Y:198.98, Z:6.45 [[ 9.96733645e-01 8.04977783e-02 6.49219756e-03 1.79385881e+02] [ 8.05018603e-02 -9.96754390e-01 -3.69482886e-04 1.98979119e+02] [ 6.44138387e-03 8.90910005e-04 -9.99978857e-01 6.45413999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.38, Y:198.97, Z:6.45 [[ 9.87766973e-01 1.55779427e-01 7.01264462e-03 1.79381493e+02] [ 1.55781640e-01 -9.87791489e-01 2.32946558e-04 1.98970013e+02] [ 6.96331895e-03 8.62344364e-04 -9.99975384e-01 6.45451972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.38, Y:198.96, Z:6.45 [[ 9.73063109e-01 2.30423043e-01 7.30801374e-03 1.79378717e+02] [ 2.30422916e-01 -9.73090192e-01 8.70783753e-04 1.98959072e+02] [ 7.31200513e-03 8.36606288e-04 -9.99972917e-01 6.45419485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.540385723 meters Centerline goodness [0,1] 0.9998882806390348 Centerline is valid? [True, True] Translation: X:179.38, Y:198.95, Z:6.45 [[ 9.53272779e-01 3.02013468e-01 7.67288124e-03 1.79377284e+02] [ 3.02010268e-01 -9.53303329e-01 1.60009533e-03 1.98946089e+02] [ 7.79783357e-03 7.91961595e-04 -9.99969283e-01 6.45278126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.38, Y:198.93, Z:6.45 [[ 9.27280509e-01 3.74299297e-01 7.13403457e-03 1.79375480e+02] [ 3.74294622e-01 -9.27307617e-01 2.02991833e-03 1.98934183e+02] [ 7.37524160e-03 7.87927070e-04 -9.99972492e-01 6.45283012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.38, Y:198.92, Z:6.45 [[ 8.96026950e-01 4.43964134e-01 5.61724620e-03 1.79377298e+02] [ 4.43960911e-01 -8.96044189e-01 1.87657320e-03 1.98920118e+02] [ 5.86643201e-03 8.12377584e-04 -9.99982462e-01 6.45371953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.38, Y:198.91, Z:6.46 [[ 8.58576368e-01 5.12665559e-01 4.54367350e-03 1.79376447e+02] [ 5.12663306e-01 -8.58587981e-01 1.73602662e-03 1.98909300e+02] [ 4.79114451e-03 8.38863250e-04 -9.99988171e-01 6.45577850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.660385723 meters Centerline goodness [0,1] 0.999977767896843 Centerline is valid? [True, True] Translation: X:179.38, Y:198.89, Z:6.46 [[ 8.15104504e-01 5.79310022e-01 2.13213044e-03 1.79382133e+02] [ 5.79310616e-01 -8.15106777e-01 3.90169939e-04 1.98892933e+02] [ 1.96394333e-03 9.17136523e-04 -9.99997651e-01 6.45665313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.690385723 meters Centerline goodness [0,1] 0.9999555338165326 Centerline is valid? [True, True] Translation: X:179.39, Y:198.88, Z:6.46 [[ 7.66552115e-01 6.42179353e-01 1.88014389e-03 1.79386933e+02] [ 6.42179911e-01 -7.66553863e-01 3.69372088e-04 1.98879664e+02] [ 1.67843469e-03 9.24247679e-04 -9.99998164e-01 6.45677933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.39, Y:198.87, Z:6.46 [[ 7.12475590e-01 7.01693653e-01 2.13346921e-03 1.79390842e+02] [ 7.01693773e-01 -7.12478197e-01 8.17261795e-04 1.98866068e+02] [ 2.09351771e-03 9.14762979e-04 -9.99997390e-01 6.45667824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.40, Y:198.85, Z:6.46 [[ 6.54917848e-01 7.55697347e-01 2.03271806e-03 1.79398494e+02] [ 7.55697301e-01 -6.54920366e-01 9.50773762e-04 1.98851965e+02] [ 2.04976566e-03 9.13440843e-04 -9.99997482e-01 6.45600801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.41, Y:198.84, Z:6.46 [[ 5.92946813e-01 8.05238668e-01 2.18296392e-03 1.79408756e+02] [ 8.05237886e-01 -5.92950143e-01 1.44062877e-03 1.98837964e+02] [ 2.45443876e-03 9.03589011e-04 -9.99996580e-01 6.45598428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.810385723 meters Centerline goodness [0,1] 0.9999338420147312 Centerline is valid? [True, True] Translation: X:179.42, Y:198.83, Z:6.46 [[ 5.27802550e-01 8.49365151e-01 1.81875238e-03 1.79417636e+02] [ 8.49364795e-01 -5.27804896e-01 1.19860872e-03 1.98826464e+02] [ 1.97800288e-03 9.12155506e-04 -9.99997628e-01 6.45734764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.840385723 meters Centerline goodness [0,1] 0.9999338420147312 Centerline is valid? [True, True] Translation: X:179.43, Y:198.82, Z:6.46 [[ 4.59656884e-01 8.88094960e-01 1.70036416e-03 1.79426365e+02] [ 8.88094467e-01 -4.59659128e-01 1.30505139e-03 1.98815733e+02] [ 1.94059747e-03 9.10208152e-04 -9.99997703e-01 6.45767873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87038572299997 meters Centerline goodness [0,1] 0.9999779512281166 Centerline is valid? [True, True] Translation: X:179.44, Y:198.81, Z:6.46 [[ 3.87648129e-01 9.21806311e-01 1.43298715e-03 1.79435857e+02] [ 9.21806183e-01 -3.87649690e-01 1.03873429e-03 1.98806062e+02] [ 1.51300884e-03 9.18273013e-04 -9.99998434e-01 6.45700919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.45, Y:198.80, Z:6.46 [[ 3.13745893e-01 9.49505928e-01 1.41704356e-03 1.79446517e+02] [ 9.49505358e-01 -3.13747769e-01 1.38292304e-03 1.98797158e+02] [ 1.75768788e-03 9.11604026e-04 -9.99998040e-01 6.45666070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.930385723 meters Centerline goodness [0,1] 0.999977991989084 Centerline is valid? [True, True] Translation: X:179.46, Y:198.79, Z:6.46 [[ 2.36875355e-01 9.71538957e-01 1.45625536e-03 1.79458560e+02] [ 9.71536921e-01 -2.36878130e-01 2.18243934e-03 1.98787784e+02] [ 2.46527989e-03 8.97839757e-04 -9.99996558e-01 6.45689866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.47, Y:198.78, Z:6.46 [[ 1.59439920e-01 9.87206673e-01 1.37728795e-03 1.79469412e+02] [ 9.87202564e-01 -1.59443417e-01 2.98245701e-03 1.98780553e+02] [ 3.16390096e-03 8.84139490e-04 -9.99994604e-01 6.45726167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.48, Y:198.77, Z:6.46 [[ 8.00334494e-02 9.96791547e-01 1.12184161e-03 1.79480881e+02] [ 9.96787860e-01 -8.00363647e-02 2.85336795e-03 1.98774069e+02] [ 2.93400118e-03 8.89873216e-04 -9.99995300e-01 6.45837218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.49, Y:198.77, Z:6.46 [[ 9.19940353e-04 9.99999180e-01 8.90682469e-04 1.79489591e+02] [ 9.99995007e-01 -9.22628538e-04 3.02242287e-03 1.98768596e+02] [ 3.02324217e-03 8.87897573e-04 -9.99995036e-01 6.45822212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.50, Y:198.76, Z:6.46 [[-7.86678484e-02 9.96900677e-01 6.40040193e-04 1.79498173e+02] [ 9.96896021e-01 7.86654436e-02 3.17342237e-03 1.98763516e+02] [ 3.11323787e-03 8.87699832e-04 -9.99994760e-01 6.45726671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.080385723 meters Centerline goodness [0,1] 0.9999125205030072 Centerline is valid? [True, True] Translation: X:179.51, Y:198.76, Z:6.46 [[-1.56743562e-01 9.87639169e-01 5.72516273e-04 1.79513648e+02] [ 9.87637262e-01 1.56742020e-01 2.13957702e-03 1.98760894e+02] [ 2.02339271e-03 9.00803329e-04 -9.99997547e-01 6.45793092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.53, Y:198.76, Z:6.46 [[-2.33890522e-01 9.72262912e-01 2.29951831e-04 1.79526056e+02] [ 9.72259159e-01 2.33888947e-01 2.84387172e-03 1.98757885e+02] [ 2.71120781e-03 8.88727417e-04 -9.99995930e-01 6.45844893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.54, Y:198.75, Z:6.46 [[-3.08619343e-01 9.51185624e-01 1.03228794e-04 1.79535877e+02] [ 9.51182591e-01 3.08618081e-01 2.56118295e-03 1.98754480e+02] [ 2.40430213e-03 8.88620031e-04 -9.99996715e-01 6.46080739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.55, Y:198.76, Z:6.46 [[-3.79841891e-01 9.25051415e-01 -1.31507789e-04 1.79550732e+02] [ 9.25048087e-01 3.79840899e-01 2.63205590e-03 1.98756026e+02] [ 2.48473907e-03 8.78114061e-04 -9.99996528e-01 6.46095879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.200385723 meters Centerline goodness [0,1] 0.9999781540141999 Centerline is valid? [True, True] Translation: X:179.56, Y:198.76, Z:6.46 [[-4.49783535e-01 8.93137544e-01 -3.15052173e-04 1.79564473e+02] [ 8.93134285e-01 4.49782799e-01 2.56559330e-03 1.98757929e+02] [ 2.43313275e-03 8.72577728e-04 -9.99996659e-01 6.46129364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.58, Y:198.76, Z:6.46 [[-5.17131994e-01 8.55905468e-01 -5.74928997e-04 1.79577376e+02] [ 8.55901886e-01 5.17131592e-01 2.62276021e-03 1.98759070e+02] [ 2.54214875e-03 8.64230404e-04 -9.99996395e-01 6.46210623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.260385723 meters Centerline goodness [0,1] 0.9999128938829729 Centerline is valid? [True, True] Translation: X:179.59, Y:198.76, Z:6.46 [[-5.80610802e-01 8.14179329e-01 -1.76553794e-03 1.79590781e+02] [ 8.14170471e-01 5.80612910e-01 3.88491331e-03 1.98762979e+02] [ 4.18811023e-03 8.18173780e-04 -9.99990895e-01 6.46245682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.290385723 meters Centerline goodness [0,1] 0.9999345221206103 Centerline is valid? [True, True] Translation: X:179.61, Y:198.77, Z:6.46 [[-6.41756296e-01 7.66905302e-01 -2.26159323e-03 1.79605204e+02] [ 7.66895524e-01 6.41759777e-01 3.95509940e-03 1.98769348e+02] [ 4.48458627e-03 8.03804210e-04 -9.99989621e-01 6.46283956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.62, Y:198.78, Z:6.46 [[-6.99264364e-01 7.14856518e-01 -3.08358026e-03 1.79618907e+02] [ 7.14844206e-01 6.99270728e-01 4.26740709e-03 1.98776305e+02] [ 5.20684118e-03 7.79766222e-04 -9.99986140e-01 6.46453441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.350385723 meters Centerline goodness [0,1] 0.9999346561826142 Centerline is valid? [True, True] Translation: X:179.64, Y:198.80, Z:6.47 [[-7.47975897e-01 6.63714483e-01 -3.89126467e-03 1.79644044e+02] [ 6.63700546e-01 7.47985716e-01 4.35368936e-03 1.98796202e+02] [ 5.80021707e-03 6.73820226e-04 -9.99982952e-01 6.46521664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.380385723 meters Centerline goodness [0,1] 0.9997606041480772 Centerline is valid? [True, True] Translation: X:179.67, Y:198.82, Z:6.47 [[-7.93230932e-01 6.08907745e-01 -4.00590501e-03 1.79665223e+02] [ 6.08895432e-01 7.93240756e-01 3.93134638e-03 1.98819845e+02] [ 5.57147438e-03 6.79288291e-04 -9.99984249e-01 6.46614358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.410385723 meters Centerline goodness [0,1] 0.9999128787053776 Centerline is valid? [True, True] Translation: X:179.68, Y:198.84, Z:6.47 [[-8.34229679e-01 5.51397653e-01 -4.63368840e-03 1.79684466e+02] [ 5.51384536e-01 8.34242282e-01 3.86116001e-03 1.98843818e+02] [ 5.99465335e-03 6.66150146e-04 -9.99981810e-01 6.46670091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.440385723 meters Centerline goodness [0,1] 0.9998479087452471 Centerline is valid? [True, True] Translation: X:179.70, Y:198.87, Z:6.47 [[-8.71521083e-01 4.90327072e-01 -5.51029129e-03 1.79703037e+02] [ 4.90312403e-01 8.71538259e-01 3.84845202e-03 1.98871438e+02] [ 6.68942989e-03 6.52242911e-04 -9.99977413e-01 6.46757417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.470385723 meters Centerline goodness [0,1] 0.9999566536627655 Centerline is valid? [True, True] Translation: X:179.72, Y:198.90, Z:6.47 [[-9.04215389e-01 4.27032665e-01 -6.13460355e-03 1.79717889e+02] [ 4.27017901e-01 9.04235970e-01 3.60872092e-03 1.98900246e+02] [ 7.08817090e-03 6.43475455e-04 -9.99974672e-01 6.46829560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.500385723 meters Centerline goodness [0,1] 0.9999783188430935 Centerline is valid? [True, True] Translation: X:180.00, Y:199.56, Z:5.49 [[-8.94419672e-01 -4.46990960e-01 1.45784789e-02 1.80002829e+02] [ 4.46936758e-01 -8.94538429e-01 -6.96659622e-03 1.99561743e+02] [ 1.61550151e-02 2.84597389e-04 9.99869459e-01 5.49361308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.68, Y:198.92, Z:6.47 [[-9.07073881e-01 4.20933991e-01 -5.61697793e-03 1.79676067e+02] [ 4.20921195e-01 9.07091020e-01 3.35091796e-03 1.98924916e+02] [ 6.50562551e-03 6.75225094e-04 -9.99978610e-01 6.46989839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.69, Y:198.96, Z:6.47 [[-9.35210490e-01 3.54032804e-01 -6.48950305e-03 1.79689296e+02] [ 3.54019226e-01 9.35232766e-01 3.17202252e-03 1.98957230e+02] [ 7.19219592e-03 6.69099887e-04 -9.99973912e-01 6.46966490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.70, Y:198.99, Z:6.47 [[-9.58065211e-01 2.86463734e-01 -7.04140163e-03 1.79698280e+02] [ 2.86450816e-01 9.58090854e-01 2.80093351e-03 1.98987733e+02] [ 7.54866838e-03 6.66461709e-04 -9.99971286e-01 6.47047729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.70, Y:199.02, Z:6.47 [[-9.75824473e-01 2.18416347e-01 -7.80363660e-03 1.79703985e+02] [ 2.18404002e-01 9.75855460e-01 2.41099453e-03 1.99020358e+02] [ 8.14182200e-03 6.48362005e-04 -9.99966645e-01 6.47196593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.650385723 meters Centerline goodness [0,1] 0.9998918872167445 Centerline is valid? [True, True] Translation: X:179.71, Y:199.05, Z:6.47 [[-9.88712613e-01 1.49621160e-01 -7.80238516e-03 1.79707743e+02] [ 1.49611351e-01 9.88743191e-01 1.82934115e-03 1.99050242e+02] [ 7.98826334e-03 6.41367282e-04 -9.99967888e-01 6.47261004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.680385723 meters Centerline goodness [0,1] 0.9999783023780594 Centerline is valid? [True, True] Translation: X:179.71, Y:199.08, Z:6.47 [[-9.96573119e-01 8.22347921e-02 -8.91391055e-03 1.79709396e+02] [ 8.22261826e-02 9.96612808e-01 1.32869237e-03 1.99079516e+02] [ 8.99298217e-03 5.91182265e-04 -9.99959388e-01 6.47203940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.71, Y:199.11, Z:6.47 [[-9.99874044e-01 1.27013892e-02 -9.51684602e-03 1.79706305e+02] [ 1.26954542e-02 9.99919176e-01 6.83781352e-04 1.99109723e+02] [ 9.52476180e-03 5.62874543e-04 -9.99954480e-01 6.47250795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.69, Y:199.80, Z:5.50 [[-9.99534652e-01 -2.82447204e-02 1.15202055e-02 1.79689211e+02] [ 2.82457662e-02 -9.99601006e-01 -7.19497958e-05 1.99797408e+02] [ 1.15176412e-02 2.53480716e-04 9.99933638e-01 5.49525191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.63, Y:199.11, Z:6.47 [[-9.99876017e-01 1.09768630e-02 -1.12898097e-02 1.79625701e+02] [ 1.09705965e-02 9.99939631e-01 6.16842005e-04 1.99110812e+02] [ 1.12958991e-02 4.92909580e-04 -9.99936078e-01 6.47362258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.61, Y:199.80, Z:5.50 [[-9.99724650e-01 -2.10393597e-02 1.03908594e-02 1.79605053e+02] [ 2.10414216e-02 -9.99778601e-01 8.91336979e-05 1.99795924e+02] [ 1.03866835e-02 3.07747607e-04 9.99946010e-01 5.49593145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.54, Y:199.11, Z:6.48 [[-9.99904774e-01 6.69939006e-03 -1.20648596e-02 1.79543190e+02] [ 6.69339405e-03 9.99977455e-01 5.37292305e-04 1.99111939e+02] [ 1.20681871e-02 4.56486282e-04 -9.99927073e-01 6.47505425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.52, Y:199.79, Z:5.50 [[-9.99795426e-01 -1.75992738e-02 9.96855798e-03 1.79517362e+02] [ 1.76023149e-02 -9.99845044e-01 2.17410321e-04 1.99787972e+02] [ 9.96318703e-03 3.92835541e-04 9.99950289e-01 5.49550720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.46, Y:199.12, Z:6.48 [[-9.99917125e-01 -9.11492473e-04 -1.28418539e-02 1.79460931e+02] [-9.17352171e-04 9.99999478e-01 4.50413615e-04 1.99115649e+02] [ 1.28414367e-02 4.62156789e-04 -9.99917439e-01 6.47738845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.43, Y:199.78, Z:5.50 [[-9.99838812e-01 -1.60936595e-02 7.95894722e-03 1.79431758e+02] [ 1.60964448e-02 -9.99870403e-01 2.86020189e-04 1.99780784e+02] [ 7.95331265e-03 4.14084840e-04 9.99968286e-01 5.49606996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.38, Y:199.12, Z:6.48 [[-9.99849846e-01 -1.03711597e-02 -1.38825632e-02 1.79380960e+02] [-1.03769848e-02 9.99946097e-01 3.47628558e-04 1.99119790e+02] [ 1.38782096e-02 4.91635507e-04 -9.99903572e-01 6.47872576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.35, Y:199.77, Z:5.50 [[-9.99854204e-01 -1.52176928e-02 7.74547962e-03 1.79347756e+02] [ 1.52211861e-02 -9.99884074e-01 3.92257061e-04 1.99774087e+02] [ 7.73861247e-03 5.10095257e-04 9.99969926e-01 5.49642991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.30, Y:199.12, Z:6.48 [[-9.99712436e-01 -1.88485471e-02 -1.48248895e-02 1.79301053e+02] [-1.88541568e-02 9.99822216e-01 2.38708738e-04 1.99121188e+02] [ 1.48177546e-02 5.18150886e-04 -9.99890077e-01 6.47969512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.29, Y:199.15, Z:6.48 [[-9.95684851e-01 -9.16919051e-02 -1.42924090e-02 1.79290785e+02] [-9.16902079e-02 9.95787279e-01 -7.75354180e-04 1.99153445e+02] [ 1.43032928e-02 5.38465542e-04 -9.99897558e-01 6.48104671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.28, Y:199.18, Z:6.48 [[-9.86523683e-01 -1.63038296e-01 -1.37672727e-02 1.79275814e+02] [-1.63030221e-01 9.86619586e-01 -1.71440723e-03 1.99181621e+02] [ 1.38625750e-02 5.53178180e-04 -9.99903757e-01 6.48204408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.100385723 meters Centerline goodness [0,1] 0.9999571945294609 Centerline is valid? [True, True] Translation: X:179.25, Y:199.21, Z:6.48 [[-9.72290379e-01 -2.33403459e-01 -1.32001420e-02 1.79246084e+02] [-2.33389775e-01 9.72379817e-01 -2.58936266e-03 1.99208319e+02] [ 1.34399179e-02 5.63165772e-04 -9.99909522e-01 6.48371197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.130385723 meters Centerline goodness [0,1] 0.9999786283687034 Centerline is valid? [True, True] Translation: X:179.21, Y:199.23, Z:6.48 [[-9.52901127e-01 -3.03019705e-01 -1.25897505e-02 1.79208085e+02] [-3.03001174e-01 9.52984118e-01 -3.40006126e-03 1.99228654e+02] [ 1.30281179e-02 5.74786991e-04 -9.99914965e-01 6.48473043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.160385723 meters Centerline goodness [0,1] 0.9999785899329865 Centerline is valid? [True, True] Translation: X:179.15, Y:199.24, Z:6.49 [[-9.28496573e-01 -3.71122085e-01 -1.27480575e-02 1.79149710e+02] [-3.71095360e-01 9.28583912e-01 -4.48911115e-03 1.99238746e+02] [ 1.35036494e-02 5.62620690e-04 -9.99908663e-01 6.48555222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.190385723 meters Centerline goodness [0,1] 0.9999575137018312 Centerline is valid? [True, True] Translation: X:179.08, Y:199.24, Z:6.49 [[-8.99001643e-01 -4.37766345e-01 -1.25169470e-02 1.79076656e+02] [-4.37732354e-01 8.99088608e-01 -5.48281623e-03 1.99236300e+02] [ 1.36540369e-02 5.50011887e-04 -9.99906628e-01 6.48624603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.00, Y:199.23, Z:6.49 [[-8.65003634e-01 -5.01604416e-01 -1.27170412e-02 1.79001801e+02] [-5.01558854e-01 8.65096957e-01 -6.78014879e-03 1.99230786e+02] [ 1.44024262e-02 5.13491258e-04 -9.99896148e-01 6.48757573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.92, Y:199.22, Z:6.49 [[-8.25754301e-01 -5.63902002e-01 -1.20152492e-02 1.78921868e+02] [-5.63851130e-01 8.25841556e-01 -7.59127834e-03 1.99215186e+02] [ 1.42034291e-02 5.06281096e-04 -9.99898998e-01 6.48952129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.84, Y:199.19, Z:6.49 [[-7.81602151e-01 -6.23675346e-01 -1.12756579e-02 1.78837138e+02] [-6.23619620e-01 7.81683318e-01 -8.35225187e-03 1.99187647e+02] [ 1.40230873e-02 5.03583482e-04 -9.99901545e-01 6.49100923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.75, Y:199.15, Z:6.49 [[-7.33077335e-01 -6.80063369e-01 -1.05562477e-02 1.78747577e+02] [-6.80002476e-01 7.33153167e-01 -9.11400906e-03 1.99148717e+02] [ 1.39374502e-02 4.97001134e-04 -9.99902746e-01 6.49298309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.66, Y:199.10, Z:6.49 [[-6.79528235e-01 -7.33585738e-01 -9.66141533e-03 1.78657822e+02] [-7.33522023e-01 6.79596724e-01 -9.68166818e-03 1.99098545e+02] [ 1.36681999e-02 5.07894036e-04 -9.99906457e-01 6.49429005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.57, Y:199.04, Z:6.50 [[-6.21644835e-01 -7.83256394e-01 -8.19274195e-03 1.78570203e+02] [-7.83199574e-01 6.21698583e-01 -9.44980802e-03 1.99041363e+02] [ 1.24950386e-02 5.42127656e-04 -9.99921787e-01 6.49649753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.400385723 meters Centerline goodness [0,1] 0.9999144696046357 Centerline is valid? [True, True] Translation: X:178.48, Y:198.97, Z:6.50 [[-5.60126387e-01 -8.28374767e-01 -7.32640243e-03 1.78484228e+02] [-8.28316420e-01 5.60174027e-01 -9.84727574e-03 1.98973831e+02] [ 1.22612951e-02 5.52860442e-04 -9.99924675e-01 6.50049345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.40, Y:198.90, Z:6.50 [[-4.94827728e-01 -8.68971722e-01 -5.80227427e-03 1.78402135e+02] [-8.68925464e-01 4.94861387e-01 -8.98585435e-03 1.98896490e+02] [ 1.06797748e-02 5.95293973e-04 -9.99942792e-01 6.50112612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.460385723 meters Centerline goodness [0,1] 0.9998725058966023 Centerline is valid? [True, True] Translation: X:178.33, Y:198.81, Z:6.50 [[-4.26427030e-01 -9.04508019e-01 -5.02303214e-03 1.78325940e+02] [-9.04461168e-01 4.26456179e-01 -9.22618621e-03 1.98810179e+02] [ 1.04872625e-02 6.08842326e-04 -9.99944822e-01 6.50265159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.26, Y:198.72, Z:6.50 [[-3.54500333e-01 -9.35046356e-01 -4.22196911e-03 1.78255149e+02] [-9.34999798e-01 3.54524910e-01 -9.35232785e-03 1.98716463e+02] [ 1.02416533e-02 6.32136927e-04 -9.99947353e-01 6.50431554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.19, Y:198.62, Z:6.51 [[-2.81222891e-01 -9.59636345e-01 -3.43083475e-03 1.78192011e+02] [-9.59590380e-01 2.81243079e-01 -9.41455894e-03 1.98615357e+02] [ 9.99945146e-03 6.44606537e-04 -9.99949796e-01 6.50592305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.14, Y:198.51, Z:6.51 [[-2.06342570e-01 -9.78476221e-01 -2.65127020e-03 1.78136586e+02] [-9.78431333e-01 2.06358561e-01 -9.39523421e-03 1.98509079e+02] [ 9.74012557e-03 6.55449064e-04 -9.99952349e-01 6.50754717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.09, Y:198.39, Z:6.51 [[-1.28479265e-01 -9.91710494e-01 -1.83687980e-03 1.78087326e+02] [-9.91671436e-01 1.28490557e-01 -8.82834101e-03 1.98392494e+02] [ 8.99118014e-03 6.87322470e-04 -9.99959342e-01 6.50971719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.05, Y:198.28, Z:6.51 [[-4.88423247e-02 -9.98805833e-01 -1.15540670e-03 1.78047610e+02] [-9.98765924e-01 4.88507349e-02 -8.95742416e-03 1.98278918e+02] [ 9.00316997e-03 7.16479424e-04 -9.99959214e-01 6.51162640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.640385723 meters Centerline goodness [0,1] 0.9999357367778421 Centerline is valid? [True, True] Translation: X:178.02, Y:198.16, Z:6.51 [[ 2.93978651e-02 -9.99567688e-01 -4.51382259e-04 1.78017598e+02] [-9.99523882e-01 -2.93923382e-02 -9.38616367e-03 1.98161194e+02] [ 9.36883873e-03 7.27100521e-04 -9.99955847e-01 6.51302371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.670385723 meters Centerline goodness [0,1] 0.9999574829931973 Centerline is valid? [True, True] Translation: X:178.00, Y:198.04, Z:6.51 [[ 1.07097840e-01 -9.94248446e-01 2.83577245e-04 1.77997414e+02] [-9.94203210e-01 -1.07095680e-01 -9.51277582e-03 1.98039741e+02] [ 9.48843248e-03 7.36864331e-04 -9.99954712e-01 6.51433927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.99, Y:197.92, Z:6.52 [[ 1.85131534e-01 -9.82713165e-01 1.07237227e-03 1.77986983e+02] [-9.82664842e-01 -1.85133097e-01 -9.77468538e-03 1.97918727e+02] [ 9.80424361e-03 7.55819975e-04 -9.99951652e-01 6.51500426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.99, Y:197.79, Z:6.52 [[ 2.60930174e-01 -9.65355793e-01 1.90703350e-03 1.77986278e+02] [-9.65304437e-01 -2.60936022e-01 -9.98679727e-03 1.97793434e+02] [ 1.01384263e-02 7.64988854e-04 -9.99948312e-01 6.51648900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.760385723 meters Centerline goodness [0,1] 0.9999785656106658 Centerline is valid? [True, True] Translation: X:178.00, Y:197.67, Z:6.52 [[ 3.36183785e-01 -9.41792755e-01 2.62114188e-03 1.77996920e+02] [-9.41743316e-01 -3.36193083e-01 -9.68184557e-03 1.97666092e+02] [ 9.99950178e-03 7.86436643e-04 -9.99949694e-01 6.51796495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.790385723 meters Centerline goodness [0,1] 0.9999785656106658 Centerline is valid? [True, True] Translation: X:178.01, Y:197.55, Z:6.52 [[ 4.07176614e-01 -9.13343323e-01 3.34369729e-03 1.78012416e+02] [-9.13295030e-01 -4.07189588e-01 -9.42486137e-03 1.97548517e+02] [ 9.96965292e-03 7.83801021e-04 -9.99949995e-01 6.51940410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.03, Y:197.44, Z:6.52 [[ 4.77406968e-01 -8.78672576e-01 4.13408292e-03 1.78033615e+02] [-8.78623885e-01 -4.77424196e-01 -9.28465687e-03 1.97442609e+02] [ 1.01318846e-02 8.00255881e-04 -9.99948351e-01 6.52065471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.07, Y:197.33, Z:6.52 [[ 5.43458243e-01 -8.39421924e-01 4.89616880e-03 1.78067020e+02] [-8.39373642e-01 -5.43479706e-01 -9.03871200e-03 1.97330847e+02] [ 1.02482614e-02 8.02447503e-04 -9.99947163e-01 6.52143113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.11, Y:197.22, Z:6.52 [[ 6.06088477e-01 -7.95379143e-01 5.36443033e-03 1.78109709e+02] [-7.95335588e-01 -6.06111687e-01 -8.36219483e-03 1.97222439e+02] [ 9.90255927e-03 8.01707583e-04 -9.99950647e-01 6.52250610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.16, Y:197.12, Z:6.52 [[ 6.64778818e-01 -7.47017684e-01 5.80540246e-03 1.78155047e+02] [-7.46978188e-01 -6.64803688e-01 -7.72287373e-03 1.97124258e+02] [ 9.62857622e-03 7.97493860e-04 -9.99953326e-01 6.52351895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.21, Y:197.03, Z:6.53 [[ 7.18850238e-01 -6.95147364e-01 4.94758766e-03 1.78210325e+02] [-6.95123022e-01 -7.18866841e-01 -5.86938350e-03 1.97029877e+02] [ 7.63674317e-03 7.80025640e-04 -9.99970535e-01 6.52704553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.970385723 meters Centerline goodness [0,1] 0.9998919502971367 Centerline is valid? [True, True] Translation: X:178.21, Y:197.02, Z:6.53 [[ 7.69805302e-01 -6.38261970e-01 4.63199375e-03 1.78210322e+02] [-6.38243938e-01 -7.69818836e-01 -4.86165963e-03 1.97024223e+02] [ 6.66880849e-03 7.86189423e-04 -9.99977454e-01 6.52841807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.21, Y:197.02, Z:6.53 [[ 8.16567110e-01 -5.77229570e-01 4.91713592e-03 1.78209494e+02] [-5.77213129e-01 -8.16581547e-01 -4.42500200e-03 1.97015063e+02] [ 6.56948446e-03 7.75075687e-04 -9.99978120e-01 6.52835922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.030385723 meters Centerline goodness [0,1] 0.999934964989486 Centerline is valid? [True, True] Translation: X:178.21, Y:197.01, Z:6.53 [[ 8.58548079e-01 -5.12709940e-01 4.86964712e-03 1.78208918e+02] [-5.12696433e-01 -8.58561548e-01 -3.79955848e-03 1.97006315e+02] [ 6.12896317e-03 7.65452931e-04 -9.99980925e-01 6.52858016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.21, Y:197.00, Z:6.53 [[ 8.94313471e-01 -4.47410361e-01 5.23299778e-03 1.78210876e+02] [-4.47397713e-01 -8.94328476e-01 -3.44432607e-03 1.97003283e+02] [ 6.22104610e-03 7.39075959e-04 -9.99980376e-01 6.52852004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.21, Y:197.00, Z:6.53 [[ 9.25902476e-01 -3.77718850e-01 5.75114976e-03 1.78211118e+02] [-3.77706591e-01 -9.25920054e-01 -3.12820258e-03 1.96996187e+02] [ 6.50668598e-03 7.24163345e-04 -9.99978569e-01 6.52807046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.12038572299997 meters Centerline goodness [0,1] 0.9999563756925359 Centerline is valid? [True, True] Translation: X:178.21, Y:196.99, Z:6.53 [[ 9.51531139e-01 -3.07492513e-01 6.07012857e-03 1.78211699e+02] [-3.07481493e-01 -9.51550244e-01 -2.69526160e-03 1.96990180e+02] [ 6.60480508e-03 6.98173147e-04 -9.99977944e-01 6.52744276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.21, Y:196.98, Z:6.53 [[ 9.72305297e-01 -2.33632474e-01 6.18683838e-03 1.78212283e+02] [-2.33623191e-01 -9.72324738e-01 -2.19297941e-03 1.96981531e+02] [ 6.52796721e-03 6.86856572e-04 -9.99978457e-01 6.52738622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.21, Y:196.97, Z:6.53 [[ 9.87446881e-01 -1.57842427e-01 5.86725561e-03 1.78209424e+02] [-1.57835479e-01 -9.87464075e-01 -1.63187294e-03 1.96972488e+02] [ 6.05128291e-03 6.85326746e-04 -9.99981456e-01 6.52779729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.210385723 meters Centerline goodness [0,1] 0.9999123268455199 Centerline is valid? [True, True] Translation: X:178.21, Y:196.97, Z:6.53 [[ 9.96598522e-01 -8.22392082e-02 5.30082422e-03 1.78205665e+02] [-8.22343942e-02 -9.96612387e-01 -1.12018641e-03 1.96967911e+02] [ 5.37499032e-03 6.80466055e-04 -9.99985323e-01 6.53063872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.240385723 meters Centerline goodness [0,1] 0.9999780831525193 Centerline is valid? [True, True] Translation: X:178.20, Y:196.96, Z:6.53 [[ 9.99980154e-01 -4.19872466e-03 4.69695577e-03 1.78202745e+02] [-4.19544817e-03 -9.99990949e-01 -7.07213020e-04 1.96957461e+02] [ 4.69988265e-03 6.87493151e-04 -9.99988719e-01 6.52842817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.20, Y:196.95, Z:6.53 [[ 9.97284746e-01 7.35208514e-02 4.22132502e-03 1.78201089e+02] [ 7.35231090e-02 -9.97293441e-01 -3.81944991e-04 1.96945994e+02] [ 4.18181883e-03 6.91272853e-04 -9.99991017e-01 6.52934333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.20, Y:196.93, Z:6.53 [[ 9.88456188e-01 1.51448808e-01 4.19794604e-03 1.78198735e+02] [ 1.51450369e-01 -9.88464862e-01 -5.47530101e-05 1.96934618e+02] [ 4.14122988e-03 6.89901430e-04 -9.99991187e-01 6.52979609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.20, Y:196.92, Z:6.53 [[ 9.73492088e-01 2.28685424e-01 4.01629712e-03 1.78198133e+02] [ 2.28686353e-01 -9.73500127e-01 2.32743467e-04 1.96923731e+02] [ 3.96309079e-03 6.91898415e-04 -9.99991908e-01 6.52946893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.20, Y:196.92, Z:6.53 [[ 9.52406426e-01 3.04812472e-01 3.36992373e-03 1.78196560e+02] [ 3.04813089e-01 -9.52412129e-01 3.41214985e-04 1.96915529e+02] [ 3.31356282e-03 7.02221520e-04 -9.99994264e-01 6.52902814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.20, Y:196.90, Z:6.53 [[ 9.25283408e-01 3.79266889e-01 2.69125180e-03 1.78196622e+02] [ 3.79267415e-01 -9.25287046e-01 3.31866059e-04 1.96904441e+02] [ 2.61604623e-03 7.13633954e-04 -9.99996324e-01 6.52985721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.20, Y:196.89, Z:6.53 [[ 8.91670044e-01 4.52684492e-01 1.13288061e-03 1.78196058e+02] [ 4.52685024e-01 -8.91670457e-01 -2.53405905e-04 1.96893573e+02] [ 8.95443251e-04 7.38792542e-04 -9.99999326e-01 6.53221985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.20, Y:196.88, Z:6.53 [[ 8.52747941e-01 5.22322607e-01 2.08095675e-04 1.78199352e+02] [ 5.22322604e-01 -8.52747637e-01 -7.51973722e-04 1.96880705e+02] [-2.15319780e-04 7.49937118e-04 -9.99999696e-01 6.53290570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.20, Y:196.87, Z:6.53 [[ 8.08342535e-01 5.88712248e-01 -4.84608796e-04 1.78200909e+02] [ 5.88711323e-01 -8.08342326e-01 -1.28895067e-03 1.96869954e+02] [-1.15055085e-03 7.56618964e-04 -9.99999052e-01 6.53392779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.20, Y:196.86, Z:6.53 [[ 7.58280814e-01 6.51927541e-01 -8.29639917e-04 1.78199644e+02] [ 6.51925737e-01 -7.58280892e-01 -1.70963078e-03 1.96862548e+02] [-1.74365549e-03 7.55516607e-04 -9.99998194e-01 6.53362538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.540385723 meters Centerline goodness [0,1] 0.9999776446391845 Centerline is valid? [True, True] Translation: X:178.20, Y:196.85, Z:6.53 [[ 7.04076282e-01 7.10124048e-01 -6.52171884e-04 1.78199499e+02] [ 7.10122352e-01 -7.04076184e-01 -1.72411750e-03 1.96854437e+02] [-1.68351599e-03 7.50788409e-04 -9.99998301e-01 6.53366026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.20, Y:196.84, Z:6.53 [[ 6.45813061e-01 7.63495463e-01 -4.10876588e-04 1.78204662e+02] [ 7.63494062e-01 -6.45812760e-01 -1.64188890e-03 1.96842949e+02] [-1.51892407e-03 7.46651461e-04 -9.99998568e-01 6.53268485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.21, Y:196.83, Z:6.53 [[ 5.83455794e-01 8.12144885e-01 -1.48323385e-04 1.78210032e+02] [ 8.12143878e-01 -5.83455341e-01 -1.47861037e-03 1.96832342e+02] [-1.28738592e-03 7.42243856e-04 -9.99998896e-01 6.53272704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.22, Y:196.82, Z:6.53 [[ 5.17623220e-01 8.55608631e-01 2.68496992e-04 1.78215216e+02] [ 8.55608388e-01 -5.17622766e-01 -9.79667124e-04 1.96822247e+02] [-6.99231491e-04 7.36826730e-04 -9.99999484e-01 6.53169962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.22, Y:196.81, Z:6.53 [[ 4.49379925e-01 8.93340368e-01 8.18153599e-04 1.78220323e+02] [ 8.93340667e-01 -4.49380076e-01 1.07734237e-06 1.96812289e+02] [ 3.68624360e-04 7.30405745e-04 -9.99999665e-01 6.53115142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.690385723 meters Centerline goodness [0,1] 0.9999776676046273 Centerline is valid? [True, True] Translation: X:178.23, Y:196.80, Z:6.53 [[ 3.78826366e-01 9.25467237e-01 9.89210236e-04 1.78225666e+02] [ 9.25467385e-01 -3.78826963e-01 5.01493319e-04 1.96803164e+02] [ 8.38855146e-04 7.25502919e-04 -9.99999385e-01 6.53016066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.720385723 meters Centerline goodness [0,1] 0.9999776216264602 Centerline is valid? [True, True] Translation: X:178.23, Y:196.79, Z:6.53 [[ 3.05328226e-01 9.52246814e-01 8.24394062e-04 1.78232130e+02] [ 9.52247070e-01 -3.05328478e-01 1.97128147e-04 1.96794141e+02] [ 4.39425634e-04 7.24838042e-04 -9.99999641e-01 6.53087455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.24, Y:196.79, Z:6.53 [[ 2.29856851e-01 9.73224162e-01 7.47882194e-04 1.78238782e+02] [ 9.73224431e-01 -2.29856928e-01 1.62911264e-05 1.96785080e+02] [ 1.87760821e-04 7.24112595e-04 -9.99999720e-01 6.53142204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.780385723 meters Centerline goodness [0,1] 0.9998658888218332 Centerline is valid? [True, True] Translation: X:178.25, Y:196.78, Z:6.53 [[ 1.54526676e-01 9.87988308e-01 7.80843855e-04 1.78246645e+02] [ 9.87988513e-01 -1.54526973e-01 3.35821655e-04 1.96777894e+02] [ 4.52449307e-04 7.19571355e-04 -9.99999639e-01 6.53490472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.26, Y:196.77, Z:6.53 [[ 7.67043291e-02 9.97053583e-01 7.73355273e-04 1.78255152e+02] [ 9.97053570e-01 -7.67048965e-02 7.32842698e-04 1.96771099e+02] [ 7.90003574e-04 7.14864429e-04 -9.99999432e-01 6.53103732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.26, Y:196.76, Z:6.53 [[ 5.40470242e-04 9.99999597e-01 7.16309817e-04 1.78263029e+02] [ 9.99999812e-01 -5.40678271e-04 2.90252155e-04 1.96764611e+02] [ 2.90639331e-04 7.16152809e-04 -9.99999701e-01 6.53088717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.27, Y:196.76, Z:6.53 [[-7.64812481e-02 9.97070746e-01 7.38679627e-04 1.78270816e+02] [ 9.97070980e-01 7.64814327e-02 -2.24902099e-04 1.96757889e+02] [-2.80738579e-04 7.19315227e-04 -9.99999702e-01 6.53132808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.28, Y:196.75, Z:6.53 [[-1.53125660e-01 9.88206322e-01 8.93195344e-04 1.78279257e+02] [ 9.88206074e-01 1.53126535e-01 -1.01004183e-03 1.96752403e+02] [-1.13490163e-03 7.27997742e-04 -9.99999091e-01 6.53155955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.29, Y:196.75, Z:6.53 [[-2.27840113e-01 9.73697829e-01 1.19184813e-03 1.78287985e+02] [ 9.73696377e-01 2.27842023e-01 -1.83805378e-03 1.96746636e+02] [-2.06126207e-03 7.41715828e-04 -9.99997601e-01 6.53314591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.30, Y:196.74, Z:6.53 [[-3.02442158e-01 9.53166559e-01 1.50099195e-03 1.78296514e+02] [ 9.53164195e-01 3.02444953e-01 -2.25132981e-03 1.96741914e+02] [-2.59985972e-03 7.49794737e-04 -9.99996339e-01 6.53348394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.30, Y:196.74, Z:6.53 [[-3.73409982e-01 9.27664923e-01 1.66594102e-03 1.78304617e+02] [ 9.27662817e-01 3.73412934e-01 -2.11611914e-03 1.96737195e+02] [-2.58513342e-03 7.55251529e-04 -9.99996373e-01 6.53390158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.31, Y:196.73, Z:6.53 [[-4.43518005e-01 8.96263290e-01 1.97340078e-03 1.78311871e+02] [ 8.96260749e-01 4.43521738e-01 -2.26645769e-03 1.96732965e+02] [-2.90658897e-03 7.63466869e-04 -9.99995484e-01 6.53389071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.32, Y:196.73, Z:6.53 [[-5.10526108e-01 8.59860272e-01 1.84562450e-03 1.78318956e+02] [ 8.59859061e-01 5.10528885e-01 -1.62892109e-03 1.96729652e+02] [-2.34288915e-03 7.55370200e-04 -9.99996970e-01 6.53358322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.33, Y:196.72, Z:6.53 [[-5.73499122e-01 8.19204136e-01 1.82778067e-03 1.78325909e+02] [ 8.19203462e-01 5.73501538e-01 -1.29392567e-03 1.96724767e+02] [-2.10822429e-03 7.55259018e-04 -9.99997493e-01 6.53327191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.33, Y:196.72, Z:6.53 [[-6.35334059e-01 7.72235575e-01 1.68827565e-03 1.78332900e+02] [ 7.72235434e-01 6.35335865e-01 -8.79173625e-04 1.96721671e+02] [-1.75155122e-03 7.45177330e-04 -9.99998188e-01 6.53314105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.34, Y:196.72, Z:6.53 [[-6.94149911e-01 7.19829909e-01 8.96495797e-04 1.78341098e+02] [ 7.19830254e-01 6.94150126e-01 9.49138163e-05 1.96720642e+02] [-5.53980866e-04 7.11209214e-04 -9.99999594e-01 6.53259512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.37, Y:196.74, Z:6.53 [[-7.44026940e-01 6.68149432e-01 4.99997202e-04 1.78366632e+02] [ 6.68149610e-01 7.44026841e-01 3.97653782e-04 1.96742952e+02] [-1.06319189e-04 6.29938062e-04 -9.99999796e-01 6.53216741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.39, Y:196.76, Z:6.53 [[-7.90512981e-01 6.12445117e-01 4.54081810e-04 1.78389252e+02] [ 6.12445279e-01 7.90512862e-01 4.42359224e-04 1.96764357e+02] [-8.80367642e-05 6.27790970e-04 -9.99999799e-01 6.53303646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.41, Y:196.80, Z:6.53 [[-8.34672110e-01 5.50747069e-01 3.66729044e-04 1.78409250e+02] [ 5.50747190e-01 8.34671957e-01 5.06484256e-04 1.96797818e+02] [-2.71537291e-05 6.24723273e-04 -9.99999805e-01 6.53289518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.42, Y:196.83, Z:6.53 [[-8.73071831e-01 4.87591124e-01 6.88173654e-04 1.78423642e+02] [ 4.87591414e-01 8.73071875e-01 3.36699092e-04 1.96828781e+02] [-4.36653574e-04 6.29510057e-04 -9.99999707e-01 6.53254546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.44, Y:196.86, Z:6.53 [[-9.07907980e-01 4.19169409e-01 3.25873464e-04 1.78435309e+02] [ 4.19169529e-01 9.07907825e-01 5.35315285e-04 1.96860614e+02] [-7.14752768e-05 6.22613246e-04 -9.99999804e-01 6.53228090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.46, Y:196.89, Z:6.53 [[-9.36167540e-01 3.51554097e-01 2.31058627e-04 1.78455155e+02] [ 3.51554172e-01 9.36167363e-01 5.75884573e-04 1.96886616e+02] [-1.38549642e-05 6.20354069e-04 -9.99999808e-01 6.53156731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.46, Y:196.92, Z:6.53 [[-9.59473609e-01 2.81798497e-01 -3.83614637e-05 1.78459032e+02] [ 2.81798413e-01 9.59473410e-01 6.55322850e-04 1.96919559e+02] [ 2.21475799e-04 6.17954780e-04 -9.99999785e-01 6.53184904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.47, Y:196.95, Z:6.53 [[-9.77270558e-01 2.11995594e-01 -3.53943807e-04 1.78467024e+02] [ 2.11995309e-01 9.77270427e-01 7.07773215e-04 1.96949236e+02] [ 4.95943618e-04 6.16651498e-04 -9.99999687e-01 6.53242379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.47, Y:196.98, Z:6.53 [[-9.89933034e-01 1.41533218e-01 -9.67221362e-04 1.78470840e+02] [ 1.41532517e-01 9.89933316e-01 7.59195405e-04 1.96979425e+02] [ 1.06493602e-03 6.14659337e-04 -9.99999244e-01 6.53188158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.57, Y:197.71, Z:5.55 [[-9.78792806e-01 -2.04248725e-01 1.57194491e-02 1.78565747e+02] [ 2.04229756e-01 -9.78918922e-01 -2.81979469e-03 1.97705634e+02] [ 1.59640057e-02 4.50384504e-04 9.99872466e-01 5.54761996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.470385723 meters Centerline goodness [0,1] 0.9999562315351789 Centerline is valid? [True, True] Translation: X:178.42, Y:196.99, Z:6.53 [[-9.90540719e-01 1.37213977e-01 -1.18671952e-03 1.78416254e+02] [ 1.37213106e-01 9.90541238e-01 7.87468798e-04 1.96987278e+02] [ 1.28354634e-03 6.17186439e-04 -9.99998986e-01 6.53306146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.42, Y:197.02, Z:6.53 [[-9.97598358e-01 6.92358846e-02 -1.97700875e-03 1.78419475e+02] [ 6.92345364e-02 9.97600134e-01 7.42474787e-04 1.97015037e+02] [ 2.02367009e-03 6.03814344e-04 -9.99997770e-01 6.53315071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.530385723 meters Centerline goodness [0,1] 0.9999561566959686 Centerline is valid? [True, True] Translation: X:178.42, Y:197.04, Z:6.53 [[-9.99996821e-01 1.32987671e-04 -2.51807596e-03 1.78418779e+02] [ 1.31487195e-04 9.99999814e-01 5.96036871e-04 1.97042971e+02] [ 2.51815475e-03 5.95703881e-04 -9.99996652e-01 6.53332928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.42, Y:197.07, Z:6.53 [[-9.97794129e-01 -6.63091885e-02 -3.15727832e-03 1.78416487e+02] [-6.63106717e-02 9.97798958e-01 3.67315970e-04 1.97069807e+02] [ 3.12597260e-03 5.75866965e-04 -9.99994948e-01 6.53287819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.41, Y:197.10, Z:6.53 [[-9.90829073e-01 -1.35079711e-01 -3.34948094e-03 1.78407387e+02] [-1.35080850e-01 9.90834573e-01 1.15069918e-04 1.97097069e+02] [ 3.30323790e-03 5.66465353e-04 -9.99994384e-01 6.53383189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.62038572299997 meters Centerline goodness [0,1] 0.9999780456211992 Centerline is valid? [True, True] Translation: X:178.38, Y:197.12, Z:6.53 [[-9.79036018e-01 -2.03662251e-01 -3.18807465e-03 1.78383040e+02] [-2.03663013e-01 9.79041046e-01 -8.71456335e-05 1.97121657e+02] [ 3.13900421e-03 5.63974174e-04 -9.99994914e-01 6.53438809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.650385723 meters Centerline goodness [0,1] 0.9999780456211992 Centerline is valid? [True, True] Translation: X:178.34, Y:197.14, Z:6.53 [[-9.61697813e-01 -2.74093734e-01 -3.15290090e-03 1.78342405e+02] [-2.74094149e-01 9.61702814e-01 -3.08211331e-04 1.97141598e+02] [ 3.11663247e-03 5.67785526e-04 -9.99994982e-01 6.53492805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.28, Y:197.15, Z:6.54 [[-9.40175521e-01 -3.40683381e-01 -2.19631511e-03 1.78280132e+02] [-3.40683837e-01 9.40177905e-01 -1.74678775e-04 1.97148592e+02] [ 2.12443709e-03 5.84020351e-04 -9.99997573e-01 6.53638842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.710385723 meters Centerline goodness [0,1] 0.999867998415981 Centerline is valid? [True, True] Translation: X:178.21, Y:197.15, Z:6.54 [[-9.13060296e-01 -4.07820534e-01 -1.81880866e-03 1.78209902e+02] [-4.07820929e-01 9.13061916e-01 -1.64933445e-04 1.97152161e+02] [ 1.72794817e-03 5.91154058e-04 -9.99998332e-01 6.53731174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.13, Y:197.14, Z:6.54 [[-8.80978335e-01 -4.73155470e-01 -1.03664401e-03 1.78128655e+02] [-4.73155844e-01 8.80978733e-01 1.35696095e-04 1.97143057e+02] [ 8.49055978e-04 6.10039492e-04 -9.99999453e-01 6.53895957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.04, Y:197.12, Z:6.54 [[-8.44902647e-01 -5.34919959e-01 -3.92626335e-04 1.78040299e+02] [-5.34920099e-01 8.44902504e-01 4.97335671e-04 1.97120399e+02] [ 6.56961972e-05 6.30223943e-04 -9.99999799e-01 6.54189906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.800385723 meters Centerline goodness [0,1] 0.999890114720232 Centerline is valid? [True, True] Translation: X:177.95, Y:197.09, Z:6.54 [[-8.02845353e-01 -5.96187303e-01 1.95009592e-04 1.77950494e+02] [-5.96186890e-01 8.02845110e-01 9.60036760e-04 1.97094460e+02] [-7.28924224e-04 6.54498890e-04 -9.99999520e-01 6.54217642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.86, Y:197.05, Z:6.54 [[-7.55905974e-01 -6.54680195e-01 -1.29516274e-05 1.77859354e+02] [-6.54679968e-01 7.55905694e-01 8.49065069e-04 1.97053399e+02] [-5.46075876e-04 6.50292529e-04 -9.99999639e-01 6.54406958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.76, Y:197.00, Z:6.54 [[-7.04163485e-01 -7.10037774e-01 -3.81221375e-04 1.77761993e+02] [-7.10037869e-01 7.04163300e-01 5.20380366e-04 1.97003261e+02] [-1.01047615e-04 6.37114464e-04 -9.99999792e-01 6.54406082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.67, Y:196.95, Z:6.54 [[-6.47896905e-01 -7.61727811e-01 -5.85606242e-04 1.77668790e+02] [-7.61728019e-01 6.47896863e-01 2.83485620e-04 1.96945032e+02] [ 1.63473567e-04 6.29742138e-04 -9.99999788e-01 6.54454685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.58, Y:196.87, Z:6.55 [[-5.86333326e-01 -8.10069464e-01 -8.33674882e-04 1.77577529e+02] [-8.10069694e-01 5.86333592e-01 -9.64139952e-05 1.96874930e+02] [ 5.66913622e-04 6.18804018e-04 -9.99999648e-01 6.54596923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.49, Y:196.79, Z:6.55 [[-5.21668722e-01 -8.53147624e-01 -9.36539467e-04 1.77487561e+02] [-8.53147770e-01 5.21669202e-01 -3.55925476e-04 1.96792398e+02] [ 7.92220770e-04 6.13331369e-04 -9.99999498e-01 6.54736646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.41, Y:196.70, Z:6.55 [[-4.53011821e-01 -8.91503985e-01 -9.66533576e-04 1.77405447e+02] [-8.91504023e-01 4.53012440e-01 -5.52958575e-04 1.96704151e+02] [ 9.30816507e-04 6.11171801e-04 -9.99999380e-01 6.54866872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.33, Y:196.61, Z:6.55 [[-3.82568592e-01 -9.23926497e-01 -1.04913976e-03 1.77331860e+02] [-9.23926201e-01 3.82569553e-01 -9.54760710e-04 1.96613478e+02] [ 1.28349765e-03 6.04066257e-04 -9.99998994e-01 6.54946164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.26, Y:196.51, Z:6.55 [[-3.09976068e-01 -9.50743963e-01 -8.68250482e-04 1.77263162e+02] [-9.50743907e-01 3.09976683e-01 -6.92869466e-04 1.96505687e+02] [ 9.27878867e-04 6.10710902e-04 -9.99999383e-01 6.55091199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.20, Y:196.40, Z:6.55 [[-2.35304430e-01 -9.71921392e-01 -7.95736910e-04 1.77203912e+02] [-9.71921342e-01 2.35304980e-01 -6.86996168e-04 1.96398742e+02] [ 8.54947129e-04 6.11740443e-04 -9.99999447e-01 6.55215850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.15, Y:196.29, Z:6.55 [[-1.59056375e-01 -9.87269222e-01 -7.43996791e-04 1.77152352e+02] [-9.87269102e-01 1.59056944e-01 -7.80677795e-04 1.96286780e+02] [ 8.89077015e-04 6.10353263e-04 -9.99999419e-01 6.55368184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.11, Y:196.17, Z:6.55 [[-8.21036754e-02 -9.96623540e-01 -7.11685795e-04 1.77107613e+02] [-9.96622819e-01 8.21045728e-02 -1.33972888e-03 1.96166519e+02] [ 1.39363800e-03 5.99285639e-04 -9.99998849e-01 6.55432698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.08, Y:196.05, Z:6.56 [[-4.97916701e-03 -9.99987420e-01 -6.06338838e-04 1.77076777e+02] [-9.99986718e-01 4.97996874e-03 -1.32800313e-03 1.96045779e+02] [ 1.33100598e-03 5.99718435e-04 -9.99998934e-01 6.55611389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.05, Y:195.92, Z:6.56 [[ 7.17186332e-02 -9.97424781e-01 -4.94587401e-04 1.77051290e+02] [-9.97423933e-01 -7.17178627e-02 -1.43075900e-03 1.95921047e+02] [ 1.39160373e-03 5.95925391e-04 -9.99998854e-01 6.55675385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.04, Y:195.80, Z:6.56 [[ 1.46055348e-01 -9.89276305e-01 -4.77775101e-04 1.77038983e+02] [-9.89276089e-01 -1.46054887e-01 -8.89154189e-04 1.95798186e+02] [ 8.09837783e-04 6.02517208e-04 -9.99999491e-01 6.55880520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.04, Y:195.67, Z:6.56 [[ 2.20555209e-01 -9.75374398e-01 -4.29693139e-04 1.77036255e+02] [-9.75374229e-01 -2.20554804e-01 -8.32403763e-04 1.95667751e+02] [ 7.17134434e-04 6.02702599e-04 -9.99999561e-01 6.55979415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.04, Y:195.55, Z:6.56 [[ 2.93840078e-01 -9.55854483e-01 -4.64356086e-04 1.77039566e+02] [-9.55854515e-01 -2.93839818e-01 -5.55083645e-04 1.95553559e+02] [ 3.94132883e-04 6.06962683e-04 -9.99999738e-01 6.56072847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.05, Y:195.43, Z:6.56 [[ 3.65818475e-01 -9.30686121e-01 -4.33055495e-04 1.77054013e+02] [-9.30686153e-01 -3.65818230e-01 -5.53917494e-04 1.95431440e+02] [ 3.57103729e-04 6.05672005e-04 -9.99999753e-01 6.56168833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.08, Y:195.31, Z:6.56 [[ 4.35780056e-01 -9.00053081e-01 -4.41264917e-04 1.77077284e+02] [-9.00053157e-01 -4.35779858e-01 -4.79110691e-04 1.95308560e+02] [ 2.38930691e-04 6.05948765e-04 -9.99999788e-01 6.56268486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.11, Y:195.20, Z:6.56 [[ 5.03417710e-01 -8.64043090e-01 -3.84048469e-04 1.77107357e+02] [-8.64043133e-01 -5.03417496e-01 -5.38759678e-04 1.95195893e+02] [ 2.72174859e-04 6.03055606e-04 -9.99999781e-01 6.56366245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.400385723 meters Centerline goodness [0,1] 0.9998688696564385 Centerline is valid? [True, True] Translation: X:177.15, Y:195.08, Z:6.57 [[ 5.68388994e-01 -8.22759941e-01 -1.77563011e-04 1.77147315e+02] [-8.22759778e-01 -5.68388712e-01 -7.87112898e-04 1.95082796e+02] [ 5.46680150e-04 5.93478011e-04 -9.99999674e-01 6.56763341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.20, Y:194.97, Z:6.57 [[ 6.30606633e-01 -7.76102504e-01 4.22679868e-04 1.77200280e+02] [-7.76101402e-01 -6.30606515e-01 -1.42767014e-03 1.94966955e+02] [ 1.37456305e-03 5.72255823e-04 -9.99998892e-01 6.56505136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.24, Y:194.88, Z:6.57 [[ 6.88599491e-01 -7.25141314e-01 9.03430362e-04 1.77242825e+02] [-7.25139384e-01 -6.88599856e-01 -1.76408904e-03 1.94876467e+02] [ 1.90131586e-03 5.59637881e-04 -9.99998036e-01 6.56526874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.30, Y:194.78, Z:6.57 [[ 7.43440625e-01 -6.68800087e-01 1.57522538e-03 1.77299543e+02] [-6.68796843e-01 -7.43442092e-01 -2.15383701e-03 1.94780998e+02] [ 2.61157523e-03 5.47744170e-04 -9.99996440e-01 6.56584537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.29, Y:194.77, Z:6.57 [[ 7.94276201e-01 -6.07553768e-01 1.93272951e-03 1.77292846e+02] [-6.07550093e-01 -7.94278353e-01 -2.18706646e-03 1.94768795e+02] [ 2.86388568e-03 5.62904850e-04 -9.99995741e-01 6.56601658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.550385723 meters Centerline goodness [0,1] 0.9999346632981967 Centerline is valid? [True, True] Translation: X:177.29, Y:194.75, Z:6.57 [[ 8.40897870e-01 -5.41191016e-01 1.74852489e-03 1.77286364e+02] [-5.41188297e-01 -8.40899491e-01 -1.80916855e-03 1.94754542e+02] [ 2.44943946e-03 5.75044772e-04 -9.99996835e-01 6.56865147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.28, Y:194.74, Z:6.57 [[ 8.81663476e-01 -4.71874536e-01 1.98433832e-03 1.77282180e+02] [-4.71871766e-01 -8.81665520e-01 -1.71680276e-03 1.94743113e+02] [ 2.55963818e-03 5.77289064e-04 -9.99996558e-01 6.56623602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.28, Y:194.73, Z:6.57 [[ 9.16416912e-01 -4.00218541e-01 2.27233141e-03 1.77278113e+02] [-4.00215670e-01 -9.16419548e-01 -1.62184385e-03 1.94727791e+02] [ 2.73150090e-03 5.76862490e-04 -9.99996103e-01 6.56535888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.28, Y:194.71, Z:6.57 [[ 9.45666604e-01 -3.25126812e-01 2.68903395e-03 1.77275308e+02] [-3.25123695e-01 -9.45670250e-01 -1.53688324e-03 1.94714485e+02] [ 3.04262136e-03 5.79110501e-04 -9.99995204e-01 6.56579388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.27, Y:194.70, Z:6.57 [[ 9.68359987e-01 -2.49539607e-01 2.98678571e-03 1.77274116e+02] [-2.49536537e-01 -9.68364421e-01 -1.36600940e-03 1.94701684e+02] [ 3.23317046e-03 5.77476680e-04 -9.99994607e-01 6.56629271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.27, Y:194.69, Z:6.57 [[ 9.84918935e-01 -1.72991212e-01 2.95503522e-03 1.77272809e+02] [-1.72988644e-01 -9.84923198e-01 -1.10558432e-03 1.94689260e+02] [ 3.10173911e-03 5.77723395e-04 -9.99995023e-01 6.56677050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.27, Y:194.68, Z:6.57 [[ 9.95271724e-01 -9.70803578e-02 3.09825296e-03 1.77269524e+02] [-9.70780899e-02 -9.95276384e-01 -8.74522413e-04 1.94679808e+02] [ 3.16851695e-03 5.69614950e-04 -9.99994818e-01 6.56751896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.27, Y:194.67, Z:6.57 [[ 9.99784591e-01 -2.04995829e-02 3.24650030e-03 1.77268237e+02] [-2.04976476e-02 -9.99789704e-01 -6.28264790e-04 1.94670579e+02] [ 3.25869673e-03 5.61583837e-04 -9.99994533e-01 6.56721669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.27, Y:194.66, Z:6.57 [[ 9.98543813e-01 5.38434994e-02 3.33636518e-03 1.77267505e+02] [ 5.38450175e-02 -9.98549237e-01 -3.66820900e-04 1.94663647e+02] [ 3.31177398e-03 5.45933382e-04 -9.99994367e-01 6.56645103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.27, Y:194.66, Z:6.57 [[ 9.91524624e-01 1.29879797e-01 3.18735561e-03 1.77265952e+02] [ 1.29880859e-01 -9.91529599e-01 -1.27694438e-04 1.94655278e+02] [ 3.14377250e-03 5.40588665e-04 -9.99994912e-01 6.56672601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.27, Y:194.65, Z:6.57 [[ 9.78698012e-01 2.05278892e-01 3.28306358e-03 1.77266240e+02] [ 2.05279525e-01 -9.78703374e-01 1.46426512e-04 1.94645549e+02] [ 3.24320368e-03 5.30638397e-04 -9.99994600e-01 6.56705004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.27, Y:194.64, Z:6.57 [[ 9.60263602e-01 2.79076248e-01 3.20365522e-03 1.77265324e+02] [ 2.79076470e-01 -9.60268803e-01 3.86611298e-04 1.94637432e+02] [ 3.18426420e-03 5.22816034e-04 -9.99994794e-01 6.56748372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.910385723 meters Centerline goodness [0,1] 0.9999781042674782 Centerline is valid? [True, True] Translation: X:177.27, Y:194.62, Z:6.57 [[ 9.35802405e-01 3.52509754e-01 3.27605646e-03 1.77267960e+02] [ 3.52509467e-01 -9.35807998e-01 6.83618420e-04 1.94624507e+02] [ 3.30674200e-03 5.15109157e-04 -9.99994400e-01 6.56841502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.27, Y:194.61, Z:6.57 [[ 9.05406468e-01 4.24529444e-01 3.72533799e-03 1.77270338e+02] [ 4.24528058e-01 -9.05413994e-01 1.19454418e-03 1.94613348e+02] [ 3.88009232e-03 4.99962476e-04 -9.99992347e-01 6.56763783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.28, Y:194.60, Z:6.57 [[ 8.69318550e-01 4.94236455e-01 3.94789812e-03 1.77275155e+02] [ 4.94233839e-01 -8.69327376e-01 1.68092230e-03 1.94599862e+02] [ 4.26278900e-03 4.89927909e-04 -9.99990794e-01 6.56746958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.28, Y:194.59, Z:6.57 [[ 8.27729472e-01 5.61114065e-01 3.86375862e-03 1.77278827e+02] [ 5.61110608e-01 -8.27738345e-01 2.02913566e-03 1.94588631e+02] [ 4.33675773e-03 4.88420559e-04 -9.99990477e-01 6.56797973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.29, Y:194.58, Z:6.57 [[ 7.80294250e-01 6.25400687e-01 3.85539313e-03 1.77285660e+02] [ 6.25396027e-01 -7.80303622e-01 2.46317652e-03 1.94576419e+02] [ 4.54884951e-03 4.89145074e-04 -9.99989534e-01 6.56744805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.060385723 meters Centerline goodness [0,1] 0.9999782731499587 Centerline is valid? [True, True] Translation: X:177.30, Y:194.56, Z:6.57 [[ 7.28241160e-01 6.85312595e-01 3.38518736e-03 1.77295226e+02] [ 6.85308217e-01 -7.28248857e-01 2.50012694e-03 1.94562671e+02] [ 4.17862731e-03 4.99201375e-04 -9.99991145e-01 6.56732749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.30, Y:194.55, Z:6.57 [[ 6.71455358e-01 7.41038323e-01 3.14745446e-03 1.77303049e+02] [ 7.41033486e-01 -6.71462547e-01 2.72428282e-03 1.94551672e+02] [ 4.13219576e-03 5.03134853e-04 -9.99991336e-01 6.56799477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.12038572299997 meters Centerline goodness [0,1] 0.9998912759850396 Centerline is valid? [True, True] Translation: X:177.32, Y:194.54, Z:6.57 [[ 6.10373337e-01 7.92109662e-01 2.58324293e-03 1.77316988e+02] [ 7.92105865e-01 -6.10378585e-01 2.50628831e-03 1.94538180e+02] [ 3.56201135e-03 5.16430317e-04 -9.99993523e-01 6.57140112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.33, Y:194.53, Z:6.57 [[ 5.44983863e-01 8.38441681e-01 2.85251517e-03 1.77328205e+02] [ 8.38434704e-01 -5.44991092e-01 3.45777296e-03 1.94527132e+02] [ 4.45373633e-03 5.07217248e-04 -9.99989953e-01 6.56877014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.34, Y:194.52, Z:6.57 [[ 4.76269529e-01 8.79296269e-01 2.32541790e-03 1.77339822e+02] [ 8.79290592e-01 -4.76274923e-01 3.20206353e-03 1.94518021e+02] [ 3.92310074e-03 5.19672794e-04 -9.99992170e-01 6.56982086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.35, Y:194.51, Z:6.57 [[ 4.05435415e-01 9.14121456e-01 2.02191950e-03 1.77351281e+02] [ 9.14115750e-01 -4.05440121e-01 3.27175584e-03 1.94510518e+02] [ 3.81054950e-03 5.21782770e-04 -9.99992604e-01 6.57003691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.36, Y:194.50, Z:6.57 [[ 3.32225887e-01 9.43198471e-01 1.61397827e-03 1.77363889e+02] [ 9.43193864e-01 -3.32229389e-01 2.99465627e-03 1.94503682e+02] [ 3.36076623e-03 5.27392061e-04 -9.99994214e-01 6.57006098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.270385723 meters Centerline goodness [0,1] 0.9999783122600794 Centerline is valid? [True, True] Translation: X:177.38, Y:194.50, Z:6.57 [[ 2.57047750e-01 9.66397623e-01 1.44484899e-03 1.77376611e+02] [ 9.66391793e-01 -2.57051279e-01 3.39740105e-03 1.94496475e+02] [ 3.65464058e-03 5.22995906e-04 -9.99993185e-01 6.57085665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.39, Y:194.49, Z:6.57 [[ 1.80441509e-01 9.83585002e-01 1.18605372e-03 1.77388838e+02] [ 9.83578628e-01 -1.80444655e-01 3.57884445e-03 1.94492014e+02] [ 3.73411478e-03 5.20804995e-04 -9.99992893e-01 6.57138803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.40, Y:194.49, Z:6.57 [[ 1.02872296e-01 9.94694174e-01 8.89900890e-04 1.77401327e+02] [ 9.94687994e-01 -1.02874828e-01 3.54477141e-03 1.94488332e+02] [ 3.61751187e-03 5.20514958e-04 -9.99993321e-01 6.57163383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.41, Y:194.49, Z:6.57 [[ 2.45019581e-02 9.99699596e-01 6.10101392e-04 1.77412844e+02] [ 9.99692530e-01 -2.45041003e-02 3.79400983e-03 1.94485698e+02] [ 3.80782008e-03 5.16953134e-04 -9.99992617e-01 6.57160872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.390385723 meters Centerline goodness [0,1] 0.9999565736619259 Centerline is valid? [True, True] Translation: X:177.42, Y:194.48, Z:6.57 [[-5.38964051e-02 9.98546491e-01 2.88277706e-04 1.77424898e+02] [ 9.98538002e-01 5.38947491e-02 4.14909330e-03 1.94483994e+02] [ 4.12752590e-03 5.11477458e-04 -9.99991351e-01 6.57143929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.420385723 meters Centerline goodness [0,1] 0.9999565812040032 Centerline is valid? [True, True] Translation: X:177.44, Y:194.48, Z:6.57 [[-1.32432683e-01 9.91191992e-01 -1.39396507e-04 1.77436206e+02] [ 9.91180277e-01 1.32431799e-01 4.84533288e-03 1.94481528e+02] [ 4.82111568e-03 5.03513364e-04 -9.99988252e-01 6.57183319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.45, Y:194.48, Z:6.57 [[-2.10009858e-01 9.77699134e-01 -5.12339550e-04 1.77447091e+02] [ 9.77687556e-01 2.10009878e-01 4.78487215e-03 1.94480982e+02] [ 4.78576172e-03 5.03962317e-04 -9.99988421e-01 6.57249617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.480385723 meters Centerline goodness [0,1] 0.9999565122852794 Centerline is valid? [True, True] Translation: X:177.46, Y:194.48, Z:6.57 [[-2.86574717e-01 9.58057632e-01 -7.11271081e-04 1.77456880e+02] [ 9.58048723e-01 2.86575143e-01 4.16318984e-03 1.94480325e+02] [ 4.19240841e-03 5.11632597e-04 -9.99991081e-01 6.57409038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.510385723 meters Centerline goodness [0,1] 0.9999565047192379 Centerline is valid? [True, True] Translation: X:177.47, Y:194.48, Z:6.57 [[-3.61426957e-01 9.32399837e-01 -1.04869112e-03 1.77466817e+02] [ 9.32390859e-01 3.61428115e-01 4.12363694e-03 1.94480582e+02] [ 4.22390486e-03 5.12603535e-04 -9.99990948e-01 6.57386813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.48, Y:194.48, Z:6.57 [[-4.34801513e-01 9.00525067e-01 -1.49899296e-03 1.77479069e+02] [ 9.00515000e-01 4.34803792e-01 4.28919163e-03 1.94483853e+02] [ 4.51429241e-03 5.15081372e-04 -9.99989678e-01 6.57451007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.49, Y:194.49, Z:6.58 [[-5.04451661e-01 8.63438274e-01 -1.69395382e-03 1.77490530e+02] [ 8.63429502e-01 5.04454239e-01 3.92636363e-03 1.94486070e+02] [ 4.24469482e-03 5.18050954e-04 -9.99990857e-01 6.57531309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.50, Y:194.49, Z:6.58 [[-5.70535752e-01 8.21270366e-01 -1.98527294e-03 1.77501017e+02] [ 8.21261908e-01 5.70538972e-01 3.76300133e-03 1.94489257e+02] [ 4.22311706e-03 5.16497753e-04 -9.99990949e-01 6.57550011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.630385723 meters Centerline goodness [0,1] 0.9998908225429614 Centerline is valid? [True, True] Translation: X:177.51, Y:194.49, Z:6.58 [[-6.33727403e-01 7.73555754e-01 -1.03625538e-03 1.77511879e+02] [ 7.73553075e-01 6.33728027e-01 2.10423581e-03 1.94494312e+02] [ 2.28444779e-03 5.31913362e-04 -9.99997249e-01 6.57696820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.52, Y:194.50, Z:6.58 [[-6.92288150e-01 7.21620634e-01 -8.81786448e-04 1.77522127e+02] [ 7.21618854e-01 6.92288506e-01 1.68941071e-03 1.94501082e+02] [ 1.82956425e-03 5.33245288e-04 -9.99998184e-01 6.57810333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.690385723 meters Centerline goodness [0,1] 0.9999782182531038 Centerline is valid? [True, True] Translation: X:177.53, Y:194.51, Z:6.58 [[-7.46326856e-01 6.65579600e-01 1.40581766e-04 1.77531297e+02] [ 6.65579550e-01 7.46326672e-01 6.01420263e-04 1.94505267e+02] [ 2.95373137e-04 5.42424443e-04 -9.99999809e-01 6.57957860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.55, Y:194.53, Z:6.58 [[-7.91198684e-01 6.11559041e-01 4.25563185e-04 1.77546274e+02] [ 6.11559169e-01 7.91198646e-01 2.92687067e-04 1.94528100e+02] [-1.57709593e-04 4.91830690e-04 -9.99999867e-01 6.57971957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.57, Y:194.55, Z:6.58 [[-8.32109762e-01 5.54610745e-01 5.15066349e-04 1.77568026e+02] [ 5.54610908e-01 8.32109776e-01 2.47816613e-04 1.94545822e+02] [-2.91149988e-04 4.91872038e-04 -9.99999837e-01 6.57971823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.780385723 meters Centerline goodness [0,1] 0.9999560680944536 Centerline is valid? [True, True] Translation: X:177.58, Y:194.57, Z:6.58 [[-8.67772461e-01 4.96961569e-01 -3.93744729e-04 1.77580228e+02] [ 4.96961191e-01 8.67772418e-01 7.78159438e-04 1.94567911e+02] [ 7.28396151e-04 4.79589480e-04 -9.99999620e-01 6.58076112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.810385723 meters Centerline goodness [0,1] 0.9999560545802114 Centerline is valid? [True, True] Translation: X:177.95, Y:195.21, Z:5.59 [[-8.46024570e-01 -5.33045168e-01 1.02603882e-02 1.77945087e+02] [ 5.33007824e-01 -8.46086776e-01 -6.31089081e-03 1.95212924e+02] [ 1.20451686e-02 1.29698506e-04 9.99927446e-01 5.58626132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.54, Y:194.58, Z:6.58 [[-8.68489826e-01 4.95705260e-01 -1.31042297e-03 1.77540198e+02] [ 4.95703822e-01 8.68490692e-01 1.28040382e-03 1.94584479e+02] [ 1.77279306e-03 4.62436017e-04 -9.99998322e-01 6.57947572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.56, Y:194.60, Z:6.58 [[-9.00483992e-01 4.34887608e-01 -1.16146472e-03 1.77556121e+02] [ 4.34886529e-01 9.00484623e-01 1.07286495e-03 1.94604594e+02] [ 1.51245680e-03 4.60992352e-04 -9.99998750e-01 6.58048230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.57, Y:194.63, Z:6.58 [[-9.28783732e-01 3.70619158e-01 -1.48990298e-03 1.77569326e+02] [ 3.70617852e-01 9.28784816e-01 1.08374996e-03 1.94629396e+02] [ 1.78545777e-03 4.54384688e-04 -9.99998303e-01 6.58118024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.84, Y:195.34, Z:5.59 [[-9.16204819e-01 -4.00574645e-01 1.04251443e-02 1.77836992e+02] [ 4.00550245e-01 -9.16264121e-01 -4.42298238e-03 1.95341515e+02] [ 1.13239202e-02 1.23436314e-04 9.99935875e-01 5.58645534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.52, Y:194.64, Z:6.58 [[-9.29723215e-01 3.68250875e-01 -2.45687949e-03 1.77523233e+02] [ 3.68248318e-01 9.29726360e-01 1.43906275e-03 1.94643232e+02] [ 2.81416175e-03 4.33188309e-04 -9.99995946e-01 6.58044874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.79, Y:195.36, Z:5.59 [[-9.17808634e-01 -3.96893205e-01 1.01535595e-02 1.77792151e+02] [ 3.96870992e-01 -9.17864780e-01 -4.20257577e-03 1.95359683e+02] [ 1.09875684e-02 1.72492894e-04 9.99939620e-01 5.58724966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.020385723 meters Centerline goodness [0,1] 0.9999333866240341 Centerline is valid? [True, True] Translation: X:177.48, Y:194.66, Z:6.58 [[-9.31366068e-01 3.64079465e-01 -1.84152465e-03 1.77477134e+02] [ 3.64077768e-01 9.31367782e-01 1.19739868e-03 1.94656656e+02] [ 2.15108500e-03 4.44758314e-04 -9.99997588e-01 6.58215993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.48, Y:194.68, Z:6.58 [[-9.55033387e-01 2.96492397e-01 -1.86779117e-03 1.77484102e+02] [ 2.96490887e-01 9.55035110e-01 1.04573938e-03 1.94683999e+02] [ 2.09385992e-03 4.44932964e-04 -9.99997709e-01 6.58305440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.080385723 meters Centerline goodness [0,1] 0.9999777767900796 Centerline is valid? [True, True] Translation: X:177.70, Y:195.43, Z:5.59 [[-9.43805392e-01 -3.30309730e-01 1.12634204e-02 1.77700300e+02] [ 3.30288990e-01 -9.43872573e-01 -3.70807568e-03 1.95425903e+02] [ 1.18560471e-02 2.20481915e-04 9.99929690e-01 5.58515007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.44, Y:194.70, Z:6.58 [[-9.56926592e-01 2.90324992e-01 -1.70205668e-03 1.77437696e+02] [ 2.90323658e-01 9.56927998e-01 9.89773825e-04 1.94695302e+02] [ 1.91610177e-03 4.52993571e-04 -9.99998062e-01 6.58402124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.44, Y:194.73, Z:6.58 [[-9.75362394e-01 2.20599289e-01 -2.03801640e-03 1.77443491e+02] [ 2.20597822e-01 9.75364420e-01 9.21182830e-04 1.94725136e+02] [ 2.19102096e-03 4.48905112e-04 -9.99997499e-01 6.58345695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.170385723 meters Centerline goodness [0,1] 0.9999777490988385 Centerline is valid? [True, True] Translation: X:177.60, Y:195.48, Z:5.59 [[-9.64947432e-01 -2.62233228e-01 1.04969946e-02 1.77604233e+02] [ 2.62220262e-01 -9.65004499e-01 -2.61759655e-03 1.95481052e+02] [ 1.08160678e-02 2.26681616e-04 9.99941479e-01 5.58593137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.39, Y:194.74, Z:6.58 [[-9.76636308e-01 2.14881535e-01 -2.72904244e-03 1.77388097e+02] [ 2.14879398e-01 9.76640019e-01 1.05704974e-03 1.94735798e+02] [ 2.89243253e-03 4.45938155e-04 -9.99995717e-01 6.58488024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.55, Y:195.49, Z:5.59 [[-9.65837134e-01 -2.58931040e-01 1.06464224e-02 1.77550614e+02] [ 2.58918523e-01 -9.65895769e-01 -2.56162149e-03 1.95493296e+02] [ 1.09466177e-02 2.82446796e-04 9.99940044e-01 5.58507118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.260385723 meters Centerline goodness [0,1] 0.9999107620917366 Centerline is valid? [True, True] Translation: X:177.34, Y:194.74, Z:6.59 [[-9.77183215e-01 2.12383080e-01 -2.52820340e-03 1.77342096e+02] [ 2.12381175e-01 9.77186385e-01 1.00256218e-03 1.94741653e+02] [ 2.68345318e-03 4.42744125e-04 -9.99996302e-01 6.58812566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.290385723 meters Centerline goodness [0,1] 0.9999776890296959 Centerline is valid? [True, True] Translation: X:177.49, Y:195.51, Z:5.59 [[-9.67494024e-01 -2.52704420e-01 9.78719814e-03 1.77494693e+02] [ 2.52693518e-01 -9.67543507e-01 -2.35534237e-03 1.95506993e+02] [ 1.00647454e-02 1.94381861e-04 9.99949330e-01 5.58525993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.320385723 meters Centerline goodness [0,1] 0.9999553461787493 Centerline is valid? [True, True] Translation: X:177.28, Y:194.75, Z:6.59 [[-9.77485698e-01 2.10968081e-01 -3.76551586e-03 1.77280753e+02] [ 2.10964860e-01 9.77492863e-01 1.23741796e-03 1.94750846e+02] [ 3.94182057e-03 4.15166829e-04 -9.99992145e-01 6.58639861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.350385723 meters Centerline goodness [0,1] 0.9999776576254524 Centerline is valid? [True, True] Translation: X:177.44, Y:195.52, Z:5.59 [[-9.69473373e-01 -2.45060415e-01 8.17144620e-03 1.77444637e+02] [ 2.45053075e-01 -9.69507797e-01 -1.90318138e-03 1.95520608e+02] [ 8.38867522e-03 1.57354348e-04 9.99964802e-01 5.58616833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.24, Y:194.76, Z:6.59 [[-9.77562573e-01 2.10579664e-01 -5.25555682e-03 1.77236827e+02] [ 2.10574561e-01 9.77576630e-01 1.51237221e-03 1.94755103e+02] [ 5.45618436e-03 3.71751895e-04 -9.99985046e-01 6.58687902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.24, Y:194.78, Z:6.59 [[-9.89948986e-01 1.41312236e-01 -5.64424305e-03 1.77244846e+02] [ 1.41307863e-01 9.89965011e-01 1.16818829e-03 1.94784346e+02] [ 5.75268243e-03 3.58870890e-04 -9.99983389e-01 6.58740155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.24, Y:194.81, Z:6.59 [[-9.97504788e-01 7.03478423e-02 -5.94802004e-03 1.77239297e+02] [ 7.03444645e-02 9.97522458e-01 7.75445867e-04 1.94813549e+02] [ 5.98783452e-03 3.55100680e-04 -9.99982010e-01 6.58769919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.26, Y:195.61, Z:5.59 [[-9.94903864e-01 -1.00619737e-01 6.47841417e-03 1.77263454e+02] [ 1.00619090e-01 -9.94924930e-01 -4.26651731e-04 1.95605153e+02] [ 6.48846535e-03 2.27374679e-04 9.99978924e-01 5.58568216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.15, Y:194.82, Z:6.59 [[-9.98063261e-01 6.18807084e-02 -6.36436491e-03 1.77153729e+02] [ 6.18770393e-02 9.98083482e-01 7.71998783e-04 1.94822262e+02] [ 6.39993932e-03 3.76695565e-04 -9.99979449e-01 6.59002494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.19, Y:195.60, Z:5.58 [[-9.95214588e-01 -9.74466957e-02 7.21565065e-03 1.77187318e+02] [ 9.74463233e-02 -9.95240700e-01 -4.04003956e-04 1.95604785e+02] [ 7.22067805e-03 3.01067996e-04 9.99973885e-01 5.58412280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.560385723 meters Centerline goodness [0,1] 0.999977674086312 Centerline is valid? [True, True] Translation: X:177.08, Y:194.83, Z:6.59 [[-9.98443721e-01 5.55423834e-02 -5.01785891e-03 1.77075097e+02] [ 5.55396740e-02 9.98456251e-01 6.77796505e-04 1.94830353e+02] [ 5.04775903e-03 3.98051417e-04 -9.99987181e-01 6.59298121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.08, Y:194.86, Z:6.59 [[-9.99871461e-01 -1.53682085e-02 -4.56937722e-03 1.77077035e+02] [-1.53698541e-02 9.99881824e-01 3.25237325e-04 1.94860324e+02] [ 4.56383891e-03 3.95426180e-04 -9.99989507e-01 6.59372387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.05, Y:195.64, Z:5.58 [[-9.99753778e-01 -2.06405242e-02 8.14574686e-03 1.77050191e+02] [ 2.06417756e-02 -9.99786933e-01 6.95653452e-05 1.95635392e+02] [ 8.14257541e-03 2.37690895e-04 9.99966820e-01 5.58299283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.98, Y:194.86, Z:6.59 [[-9.99799363e-01 -1.94076709e-02 -4.95735024e-03 1.76975904e+02] [-1.94093798e-02 9.99811576e-01 2.96851228e-04 1.94856301e+02] [ 4.95065496e-03 3.93010762e-04 -9.99987668e-01 6.59368535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.94, Y:195.63, Z:5.58 [[-9.99885600e-01 -1.29562308e-02 7.80532401e-03 1.76940495e+02] [ 1.29575747e-02 -9.99916040e-01 1.21622912e-04 1.95632974e+02] [ 7.80309290e-03 2.22747067e-04 9.99969531e-01 5.58428362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.87, Y:194.86, Z:6.59 [[-9.99699484e-01 -2.39861487e-02 -5.06020188e-03 1.76872332e+02] [-2.39877702e-02 9.99712218e-01 2.59976461e-04 1.94855293e+02] [ 5.05250981e-03 3.81281293e-04 -9.99987163e-01 6.59487830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.86, Y:194.88, Z:6.59 [[-9.95444523e-01 -9.51894661e-02 -5.40062684e-03 1.76864822e+02] [-9.51900140e-02 9.95459109e-01 -1.56099508e-04 1.94884139e+02] [ 5.39096221e-03 3.58697344e-04 -9.99985404e-01 6.59498791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.85, Y:194.91, Z:6.60 [[-9.86164093e-01 -1.65672546e-01 -5.74359256e-03 1.76848556e+02] [-1.65671791e-01 9.86180757e-01 -6.10328060e-04 1.94914512e+02] [ 5.76533506e-03 3.49667649e-04 -9.99983319e-01 6.59501027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.800385723 meters Centerline goodness [0,1] 0.9999108496032807 Centerline is valid? [True, True] Translation: X:176.82, Y:194.94, Z:6.60 [[-9.71907511e-01 -2.35281974e-01 -6.17917614e-03 1.76819160e+02] [-2.35279398e-01 9.71927096e-01 -1.15096489e-03 1.94937304e+02] [ 6.27651002e-03 3.35201419e-04 -9.99980246e-01 6.59734052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.830385723 meters Centerline goodness [0,1] 0.9998221154915171 Centerline is valid? [True, True] Translation: X:176.77, Y:194.95, Z:6.60 [[-9.52270339e-01 -3.05180324e-01 -6.79490052e-03 1.76767879e+02] [-3.05174951e-01 9.52294527e-01 -1.83936367e-03 1.94953758e+02] [ 7.03208418e-03 3.22061962e-04 -9.99975223e-01 6.59880169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.70, Y:194.96, Z:6.60 [[-9.27212584e-01 -3.74472864e-01 -6.84828163e-03 1.76702102e+02] [-3.74465165e-01 9.27237819e-01 -2.42221506e-03 1.94963283e+02] [ 7.25703953e-03 3.18534628e-04 -9.99973617e-01 6.59578758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.890385723 meters Centerline goodness [0,1] 0.9999777866631125 Centerline is valid? [True, True] Translation: X:176.62, Y:194.96, Z:6.60 [[-8.96900750e-01 -4.42185295e-01 -6.41943992e-03 1.76624037e+02] [-4.42176542e-01 8.96923664e-01 -2.80122306e-03 1.94958936e+02] [ 6.99640722e-03 3.26106684e-04 -9.99975472e-01 6.59680757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.920385723 meters Centerline goodness [0,1] 0.9999335518738371 Centerline is valid? [True, True] Translation: X:176.54, Y:194.95, Z:6.60 [[-8.61417788e-01 -5.07859980e-01 -6.13468867e-03 1.76542395e+02] [-5.07849784e-01 8.61439570e-01 -3.23487711e-03 1.94948813e+02] [ 6.92752819e-03 3.28919637e-04 -9.99975950e-01 6.59728721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.950385723 meters Centerline goodness [0,1] 0.9998671125777945 Centerline is valid? [True, True] Translation: X:176.45, Y:194.93, Z:6.60 [[-8.21322403e-01 -5.70432314e-01 -6.04027074e-03 1.76452332e+02] [-5.70419706e-01 8.21344552e-01 -3.80603086e-03 1.94925491e+02] [ 7.13222646e-03 3.19511045e-04 -9.99974514e-01 6.60070720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.980385723 meters Centerline goodness [0,1] 0.9999778619025481 Centerline is valid? [True, True] Translation: X:176.36, Y:194.89, Z:6.60 [[-7.75777134e-01 -6.30980567e-01 -5.77596971e-03 1.76359522e+02] [-6.30966113e-01 7.75798569e-01 -4.28303773e-03 1.94890671e+02] [ 7.18350261e-03 3.21758423e-04 -9.99974147e-01 6.59840330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.010385723 meters Centerline goodness [0,1] 0.9999116900320124 Centerline is valid? [True, True] Translation: X:176.26, Y:194.85, Z:6.60 [[-7.26476558e-01 -6.87169779e-01 -5.43190863e-03 1.76264453e+02] [-6.87153749e-01 7.26496797e-01 -4.70415667e-03 1.94845527e+02] [ 7.17881852e-03 3.15096837e-04 -9.99974182e-01 6.60170824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.17, Y:194.80, Z:6.60 [[-6.72796117e-01 -7.39811877e-01 -4.87565733e-03 1.76173183e+02] [-7.39795777e-01 6.72813709e-01 -4.89097300e-03 1.94795355e+02] [ 6.89880901e-03 3.16363067e-04 -9.99976153e-01 6.60128786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.08, Y:194.73, Z:6.60 [[-6.15075083e-01 -7.88457836e-01 -4.10897160e-03 1.76081938e+02] [-7.88443677e-01 6.15088721e-01 -4.73649041e-03 1.94730548e+02] [ 6.26190506e-03 3.26395448e-04 -9.99980341e-01 6.60261691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.100385723 meters Centerline goodness [0,1] 0.9998681115776054 Centerline is valid? [True, True] Translation: X:175.99, Y:194.65, Z:6.61 [[-5.54159025e-01 -8.32404653e-01 -3.20442589e-03 1.75993551e+02] [-8.32394158e-01 5.54168183e-01 -4.19410156e-03 1.94654865e+02] [ 5.26698053e-03 3.43146163e-04 -9.99986071e-01 6.60733437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.130385723 meters Centerline goodness [0,1] 0.999889976895148 Centerline is valid? [True, True] Translation: X:175.91, Y:194.57, Z:6.61 [[-4.88929331e-01 -8.72318933e-01 -2.79068948e-03 1.75911005e+02] [-8.72308553e-01 4.88937172e-01 -4.26973394e-03 1.94573455e+02] [ 5.08904158e-03 3.46744145e-04 -9.99986991e-01 6.60816006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.83, Y:194.48, Z:6.61 [[-4.20135931e-01 -9.07458420e-01 -2.23961564e-03 1.75831515e+02] [-9.07449785e-01 4.20141745e-01 -3.97517775e-03 1.94479847e+02] [ 4.54826454e-03 3.62223721e-04 -9.99989591e-01 6.60647010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.76, Y:194.38, Z:6.61 [[-3.49439807e-01 -9.36957142e-01 -1.77056411e-03 1.75760600e+02] [-9.36949988e-01 3.49444094e-01 -3.68035977e-03 1.94384397e+02] [ 4.06705254e-03 3.72865807e-04 -9.99991660e-01 6.60748199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.220385723 meters Centerline goodness [0,1] 0.9999561874301737 Centerline is valid? [True, True] Translation: X:175.70, Y:194.28, Z:6.61 [[-2.76989065e-01 -9.60871863e-01 -1.52314274e-03 1.75695892e+02] [-9.60863763e-01 2.76993011e-01 -3.96245907e-03 1.94276496e+02] [ 4.22931532e-03 3.65974831e-04 -9.99990989e-01 6.61027286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.64, Y:194.17, Z:6.61 [[-2.02180701e-01 -9.79347449e-01 -1.24032549e-03 1.75638929e+02] [-9.79338429e-01 2.02184182e-01 -4.21886878e-03 1.94166158e+02] [ 4.38251257e-03 3.61724567e-04 -9.99990331e-01 6.60959088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.59, Y:194.05, Z:6.61 [[-1.26444339e-01 -9.91973255e-01 -9.44103220e-04 1.75589188e+02] [-9.91962507e-01 1.26447377e-01 -4.63094533e-03 1.94047511e+02] [ 4.71315328e-03 3.50958175e-04 -9.99988831e-01 6.61032038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.310385723 meters Centerline goodness [0,1] 0.9999123729407641 Centerline is valid? [True, True] Translation: X:175.55, Y:193.93, Z:6.61 [[-4.99713831e-02 -9.98750477e-01 -5.88704121e-04 1.75551106e+02] [-9.98738690e-01 4.99736607e-02 -4.86442415e-03 1.93930862e+02] [ 4.88776563e-03 3.44879580e-04 -9.99987995e-01 6.61293742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.340385723 meters Centerline goodness [0,1] 0.9999343918120982 Centerline is valid? [True, True] Translation: X:175.52, Y:193.80, Z:6.61 [[ 2.83791479e-02 -9.99597201e-01 -2.44722215e-04 1.75522070e+02] [-9.99588194e-01 -2.83778495e-02 -4.25908102e-03 1.93803072e+02] [ 4.25042077e-03 3.65490527e-04 -9.99990900e-01 6.61371622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37038572299997 meters Centerline goodness [0,1] 0.999803502030479 Centerline is valid? [True, True] Translation: X:175.50, Y:193.68, Z:6.62 [[ 1.05513388e-01 -9.94417881e-01 5.47441621e-05 1.75502109e+02] [-9.94409767e-01 -1.05512750e-01 -4.03411636e-03 1.93679620e+02] [ 4.01737365e-03 3.71215157e-04 -9.99991861e-01 6.61634302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.49, Y:193.55, Z:6.61 [[ 1.83312768e-01 -9.83054517e-01 4.95526110e-04 1.75486911e+02] [-9.83043667e-01 -1.83313080e-01 -4.63293279e-03 1.93551295e+02] [ 4.64526193e-03 3.62151929e-04 -9.99989145e-01 6.61382375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.430385723 meters Centerline goodness [0,1] 0.9998258673980236 Centerline is valid? [True, True] Translation: X:175.49, Y:193.43, Z:6.62 [[ 2.58363751e-01 -9.66047328e-01 8.56256475e-04 1.75486734e+02] [-9.66036446e-01 -2.58364918e-01 -4.59932077e-03 1.93429827e+02] [ 4.66438817e-03 3.61122804e-04 -9.99989056e-01 6.61718888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.460385723 meters Centerline goodness [0,1] 0.9998258673980236 Centerline is valid? [True, True] Translation: X:175.50, Y:193.31, Z:6.62 [[ 3.31640664e-01 -9.43405016e-01 1.20253963e-03 1.75496272e+02] [-9.43394339e-01 -3.31642650e-01 -4.50262958e-03 1.93307421e+02] [ 4.64661676e-03 3.58785984e-04 -9.99989140e-01 6.61808330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.51, Y:193.19, Z:6.62 [[ 4.03752285e-01 -9.14867097e-01 1.51218753e-03 1.75513932e+02] [-9.14856943e-01 -4.03754953e-01 -4.32572136e-03 1.93185297e+02] [ 4.56801335e-03 3.63084621e-04 -9.99989501e-01 6.61627642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.54, Y:193.06, Z:6.62 [[ 4.72905591e-01 -8.81111387e-01 1.73927000e-03 1.75538881e+02] [-8.81102308e-01 -4.72908647e-01 -4.01675264e-03 1.93064778e+02] [ 4.36172232e-03 3.67069972e-04 -9.99990420e-01 6.61621529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.58, Y:192.95, Z:6.62 [[ 5.38850052e-01 -8.42399693e-01 1.83790176e-03 1.75576391e+02] [-8.42392233e-01 -5.38853058e-01 -3.56478726e-03 1.92945147e+02] [ 3.99333467e-03 3.72651633e-04 -9.99991957e-01 6.61761524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.61, Y:192.84, Z:6.62 [[ 6.01461218e-01 -7.98900009e-01 1.78318811e-03 1.75613481e+02] [-7.98894458e-01 -6.01463741e-01 -3.00238197e-03 1.92841357e+02] [ 3.47112598e-03 3.81237217e-04 -9.99993903e-01 6.61916892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.610385723 meters Centerline goodness [0,1] 0.9999783141413484 Centerline is valid? [True, True] Translation: X:175.66, Y:192.74, Z:6.62 [[ 6.60389018e-01 -7.50922109e-01 1.52658492e-03 1.75659667e+02] [-7.50918592e-01 -6.60390666e-01 -2.33165623e-03 1.92738634e+02] [ 2.75903464e-03 3.93459170e-04 -9.99996116e-01 6.62058012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.640385723 meters Centerline goodness [0,1] 0.9998703123311359 Centerline is valid? [True, True] Translation: X:175.72, Y:192.64, Z:6.63 [[ 7.14662035e-01 -6.99468520e-01 1.40217271e-03 1.75715149e+02] [-6.99465976e-01 -7.14663300e-01 -1.92765309e-03 1.92642780e+02] [ 2.35041402e-03 3.96848376e-04 -9.99997159e-01 6.62506113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.670385723 meters Centerline goodness [0,1] 0.999956619816068 Centerline is valid? [True, True] Translation: X:175.71, Y:192.63, Z:6.62 [[ 7.67060952e-01 -6.41572517e-01 1.48388679e-03 1.75709128e+02] [-6.41570191e-01 -7.67062277e-01 -1.77566945e-03 1.92630061e+02] [ 2.27745429e-03 4.10029169e-04 -9.99997323e-01 6.62277936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.700385723 meters Centerline goodness [0,1] 0.9998707063741757 Centerline is valid? [True, True] Translation: X:175.70, Y:192.62, Z:6.62 [[ 8.14615064e-01 -5.79999634e-01 1.64969203e-03 1.75704563e+02] [-5.79997361e-01 -8.14616633e-01 -1.67396428e-03 1.92619425e+02] [ 2.31476524e-03 4.06819492e-04 -9.99997238e-01 6.62380710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.730385723 meters Centerline goodness [0,1] 0.9999134854547421 Centerline is valid? [True, True] Translation: X:175.70, Y:192.61, Z:6.62 [[ 8.57549015e-01 -5.14399097e-01 1.80425509e-03 1.75700730e+02] [-5.14396908e-01 -8.57550817e-01 -1.55458236e-03 1.92606599e+02] [ 2.34691619e-03 4.05027328e-04 -9.99997164e-01 6.62404155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.760385723 meters Centerline goodness [0,1] 0.9998923434674016 Centerline is valid? [True, True] Translation: X:175.70, Y:192.59, Z:6.62 [[ 8.95681290e-01 -4.44691429e-01 2.13557338e-03 1.75697790e+02] [-4.44689051e-01 -8.95683746e-01 -1.50867179e-03 1.92594016e+02] [ 2.58369178e-03 4.01622996e-04 -9.99996582e-01 6.62466382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.70, Y:192.58, Z:6.62 [[ 9.28262946e-01 -3.71915235e-01 2.63823441e-03 1.75696422e+02] [-3.71912488e-01 -9.28266611e-01 -1.48323835e-03 1.92581454e+02] [ 3.00062385e-03 3.95642880e-04 -9.99995420e-01 6.62148677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.820385723 meters Centerline goodness [0,1] 0.9999784686934803 Centerline is valid? [True, True] Translation: X:175.70, Y:192.57, Z:6.62 [[ 9.55110943e-01 -2.96234799e-01 2.83384925e-03 1.75696827e+02] [-2.96232231e-01 -9.55115064e-01 -1.29635938e-03 1.92570713e+02] [ 3.09067886e-03 3.98689546e-04 -9.99995144e-01 6.62089452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.70, Y:192.56, Z:6.62 [[ 9.75558822e-01 -2.19715725e-01 3.15978910e-03 1.75698002e+02] [-2.19713239e-01 -9.75563859e-01 -1.11789186e-03 1.92555699e+02] [ 3.32819447e-03 3.96321773e-04 -9.99994383e-01 6.62033150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.70, Y:192.54, Z:6.62 [[ 9.90168384e-01 -1.39852402e-01 2.80671809e-03 1.75695953e+02] [-1.39850651e-01 -9.90172276e-01 -8.11723215e-04 1.92543585e+02] [ 2.89265588e-03 4.11221311e-04 -9.99995732e-01 6.62100207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.910385723 meters Centerline goodness [0,1] 0.9999353587588882 Centerline is valid? [True, True] Translation: X:175.70, Y:192.53, Z:6.62 [[ 9.98164993e-01 -6.05151385e-02 2.13644110e-03 1.75695477e+02] [-6.05140869e-02 -9.98167190e-01 -5.53566465e-04 1.92530016e+02] [ 2.16602456e-03 4.23265884e-04 -9.99997565e-01 6.62359021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.70, Y:192.52, Z:6.62 [[ 9.99796349e-01 2.00918788e-02 1.89127139e-03 1.75696233e+02] [ 2.00926541e-02 -9.99798046e-01 -3.91811563e-04 1.92516766e+02] [ 1.88301720e-03 4.29732432e-04 -9.99998135e-01 6.62201607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.970385723 meters Centerline goodness [0,1] 0.9999784524553427 Centerline is valid? [True, True] Translation: X:175.70, Y:192.50, Z:6.62 [[ 9.94800692e-01 1.01833619e-01 1.22390016e-03 1.75698362e+02] [ 1.01834076e-01 -9.94801347e-01 -3.16716912e-04 1.92504175e+02] [ 1.18528510e-03 4.39704944e-04 -9.99999201e-01 6.62349468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.000385723 meters Centerline goodness [0,1] 0.9999568109181999 Centerline is valid? [True, True] Translation: X:175.70, Y:192.49, Z:6.62 [[ 9.83527814e-01 1.80751861e-01 1.34326972e-03 1.75702512e+02] [ 1.80752284e-01 -9.83528633e-01 -1.99755948e-04 1.92488718e+02] [ 1.28503797e-03 4.39264601e-04 -9.99999078e-01 6.62375831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.71, Y:192.47, Z:6.62 [[ 9.65549358e-01 2.60215432e-01 1.53810434e-03 1.75706191e+02] [ 2.60215804e-01 -9.65550482e-01 -4.29635047e-05 1.92474294e+02] [ 1.47393762e-03 4.41722441e-04 -9.99998816e-01 6.62174466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.060385723 meters Centerline goodness [0,1] 0.9999568239713311 Centerline is valid? [True, True] Translation: X:175.71, Y:192.46, Z:6.62 [[ 9.41738544e-01 3.36344630e-01 8.97210605e-04 1.75711754e+02] [ 3.36344888e-01 -9.41738867e-01 -1.49940011e-04 1.92462162e+02] [ 7.94506582e-04 4.42976488e-04 -9.99999586e-01 6.62168553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.72, Y:192.45, Z:6.62 [[ 9.12128936e-01 4.09902125e-01 1.02523022e-03 1.75718207e+02] [ 4.09902364e-01 -9.12129405e-01 -2.43093110e-05 1.92450460e+02] [ 9.25178192e-04 4.42417516e-04 -9.99999474e-01 6.62191168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.73, Y:192.44, Z:6.62 [[ 8.76831552e-01 4.80797153e-01 7.26267941e-04 1.75725049e+02] [ 4.80797344e-01 -8.76831741e-01 -1.05335169e-04 1.92439256e+02] [ 5.86169934e-04 4.41548897e-04 -9.99999731e-01 6.62187303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.73, Y:192.43, Z:6.62 [[ 8.36194602e-01 5.48432528e-01 5.92001019e-04 1.75732122e+02] [ 5.48432687e-01 -8.36194695e-01 -1.38603253e-04 1.92430826e+02] [ 4.19013580e-04 4.40572001e-04 -9.99999815e-01 6.62173690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.74, Y:192.42, Z:6.62 [[ 7.90309152e-01 6.12708250e-01 2.12809603e-04 1.75739791e+02] [ 6.12708283e-01 -7.90309059e-01 -3.89758461e-04 1.92422646e+02] [-7.06228672e-05 4.38419885e-04 -9.99999901e-01 6.62145487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.210385723 meters Centerline goodness [0,1] 0.999978383052313 Centerline is valid? [True, True] Translation: X:175.75, Y:192.41, Z:6.62 [[ 7.39781933e-01 6.72846674e-01 2.13294740e-04 1.75747949e+02] [ 6.72846699e-01 -7.39781835e-01 -3.96814271e-04 1.92414924e+02] [-1.09203588e-04 4.37070690e-04 -9.99999899e-01 6.62235203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.76, Y:192.41, Z:6.62 [[ 6.84775180e-01 7.28754383e-01 3.53747389e-05 1.75757409e+02] [ 7.28754268e-01 -6.84775043e-01 -5.97518678e-04 1.92407413e+02] [-4.11220617e-04 4.34945453e-04 -9.99999821e-01 6.62162275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.77, Y:192.40, Z:6.62 [[ 6.25593810e-01 7.80148522e-01 -8.17611283e-04 1.75765995e+02] [ 7.80146772e-01 -6.25594196e-01 -1.70762684e-03 1.92401255e+02] [-1.84369543e-03 4.30423980e-04 -9.99998208e-01 6.62220590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.77, Y:192.40, Z:6.62 [[ 5.62731479e-01 8.26639360e-01 -8.06483528e-04 1.75774305e+02] [ 8.26637178e-01 -5.62731894e-01 -1.94716763e-03 1.92396143e+02] [-2.06343941e-03 4.29063253e-04 -9.99997779e-01 6.62253757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.78, Y:192.39, Z:6.62 [[ 4.97214619e-01 8.67627259e-01 -7.49797974e-04 1.75780721e+02] [ 8.67624646e-01 -4.97214999e-01 -2.17242375e-03 1.92392426e+02] [-2.25766486e-03 4.29617647e-04 -9.99997359e-01 6.62214788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.79, Y:192.39, Z:6.62 [[ 4.28825358e-01 9.03387191e-01 -6.29364405e-04 1.75787030e+02] [ 9.03384286e-01 -4.28825603e-01 -2.33125703e-03 1.92388192e+02] [-2.37591531e-03 4.31144218e-04 -9.99997085e-01 6.62248575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.79, Y:192.39, Z:6.62 [[ 3.58012289e-01 9.33716676e-01 -6.08668006e-04 1.75794098e+02] [ 9.33712582e-01 -3.58012544e-01 -2.79869738e-03 1.92385751e+02] [-2.83110120e-03 4.33647083e-04 -9.99995898e-01 6.62230879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.420385723 meters Centerline goodness [0,1] 0.9998921972359371 Centerline is valid? [True, True] Translation: X:175.80, Y:192.38, Z:6.63 [[ 2.87613148e-01 9.57746472e-01 -6.10533878e-04 1.75797796e+02] [ 9.57739847e-01 -2.87613447e-01 -3.59044287e-03 1.92383948e+02] [-3.61433175e-03 4.47925953e-04 -9.99993368e-01 6.62622548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.80, Y:192.38, Z:6.62 [[ 2.12918626e-01 9.77069880e-01 -3.28778414e-04 1.75802584e+02] [ 9.77063252e-01 -2.12918402e-01 -3.62694860e-03 1.92380751e+02] [-3.61378520e-03 4.51007604e-04 -9.99993369e-01 6.62299476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.480385723 meters Centerline goodness [0,1] 0.9999566724436741 Centerline is valid? [True, True] Translation: X:175.80, Y:192.38, Z:6.62 [[ 1.39293903e-01 9.90251080e-01 -8.45848239e-05 1.75804978e+02] [ 9.90243332e-01 -1.39293150e-01 -3.94472366e-03 1.92379077e+02] [-3.91804895e-03 4.65716398e-04 -9.99992216e-01 6.62448275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.81, Y:192.38, Z:6.62 [[ 6.23734968e-02 9.98052852e-01 2.29318378e-04 1.75809107e+02] [ 9.98045626e-01 -6.23721661e-02 -3.82640904e-03 1.92376241e+02] [-3.80465537e-03 4.67536717e-04 -9.99992653e-01 6.62284990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.82, Y:192.38, Z:6.62 [[-1.49436319e-02 9.99888196e-01 5.32580058e-04 1.75822725e+02] [ 9.99880268e-01 1.49456491e-02 -4.00962487e-03 1.92375351e+02] [-4.01713633e-03 4.72597933e-04 -9.99991820e-01 6.62153738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.83, Y:192.37, Z:6.62 [[-9.11811180e-02 9.95833900e-01 9.20499520e-04 1.75833009e+02] [ 9.95823034e-01 9.11844470e-02 -4.67787104e-03 1.92373975e+02] [-4.74231780e-03 4.90121113e-04 -9.99988635e-01 6.62281648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.84, Y:192.37, Z:6.63 [[-1.68298334e-01 9.85735150e-01 1.37272220e-03 1.75841067e+02] [ 9.85722225e-01 1.68303191e-01 -5.07266423e-03 1.92372594e+02] [-5.23133696e-03 4.99401837e-04 -9.99986192e-01 6.62508335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.630385723 meters Centerline goodness [0,1] 0.999804143454039 Centerline is valid? [True, True] Translation: X:175.85, Y:192.37, Z:6.63 [[-2.44122638e-01 9.69742140e-01 2.07825226e-03 1.75850703e+02] [ 9.69722986e-01 2.44130926e-01 -6.11736709e-03 1.92372695e+02] [-6.43963430e-03 5.21941198e-04 -9.99979129e-01 6.62761748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.660385723 meters Centerline goodness [0,1] 0.9999564696920231 Centerline is valid? [True, True] Translation: X:175.86, Y:192.37, Z:6.62 [[-3.20084512e-01 9.47385974e-01 2.39205600e-03 1.75863586e+02] [ 9.47370195e-01 3.20093046e-01 -5.49137815e-03 1.92374768e+02] [-5.96813513e-03 5.08457467e-04 -9.99982061e-01 6.62391879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.87, Y:192.38, Z:6.62 [[-3.93554204e-01 9.19296838e-01 2.90046584e-03 1.75874262e+02] [ 9.19280630e-01 3.93564563e-01 -5.48250760e-03 1.92376078e+02] [-6.18157247e-03 5.08678154e-04 -9.99980765e-01 6.62415000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.88, Y:192.38, Z:6.62 [[-4.65595112e-01 8.84992463e-01 3.08742291e-03 1.75883468e+02] [ 8.84979519e-01 4.65605088e-01 -4.81166708e-03 1.92377843e+02] [-5.69580892e-03 4.92017367e-04 -9.99983658e-01 6.62340597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.89, Y:192.38, Z:6.62 [[-5.34277994e-01 8.45302502e-01 3.27202075e-03 1.75894145e+02] [ 8.45291824e-01 5.34287796e-01 -4.27591624e-03 1.92381559e+02] [-5.36264345e-03 4.81284434e-04 -9.99985505e-01 6.62293124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.90, Y:192.39, Z:6.62 [[-6.00910275e-01 7.99311492e-01 2.82487692e-03 1.75904120e+02] [ 7.99305979e-01 6.00916744e-01 -3.00316300e-03 1.92385312e+02] [-4.09797854e-03 4.53309515e-04 -9.99991501e-01 6.62218386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.91, Y:192.39, Z:6.62 [[-6.62847002e-01 7.48750390e-01 2.58939266e-03 1.75913031e+02] [ 7.48747104e-01 6.62851914e-01 -2.26150087e-03 1.92389694e+02] [-3.40968354e-03 4.39771186e-04 -9.99994090e-01 6.62192168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.92, Y:192.40, Z:6.62 [[-7.20386510e-01 6.93568082e-01 2.56751039e-03 1.75922750e+02] [ 6.93565691e-01 7.20390956e-01 -1.87177930e-03 1.92396904e+02] [-3.14781765e-03 4.32332561e-04 -9.99994952e-01 6.62103814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.94, Y:192.42, Z:6.62 [[-7.68962691e-01 6.39289127e-01 2.40676649e-03 1.75940358e+02] [ 6.39287477e-01 7.68966362e-01 -1.50232666e-03 1.92418945e+02] [-2.81114357e-03 3.83382532e-04 -9.99995975e-01 6.62030809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.900385723 meters Centerline goodness [0,1] 0.9998915071822245 Centerline is valid? [True, True] Translation: X:175.97, Y:192.44, Z:6.62 [[-8.12777626e-01 5.82567241e-01 2.81810397e-03 1.75966429e+02] [ 5.82565303e-01 8.12782421e-01 -1.55026322e-03 1.92435617e+02] [-3.19363794e-03 3.81710339e-04 -9.99994827e-01 6.62084381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.38, Y:193.01, Z:5.62 [[-7.76396790e-01 -6.30147955e-01 1.10262621e-02 1.76377362e+02] [ 6.30088880e-01 -7.76475044e-01 -8.63183717e-03 1.93013124e+02] [ 1.40009519e-02 2.45794477e-04 9.99901952e-01 5.61947008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.92, Y:192.47, Z:6.62 [[-8.16325533e-01 5.77578741e-01 3.92714457e-03 1.75915136e+02] [ 5.77574201e-01 8.16334893e-01 -2.32030133e-03 1.92470301e+02] [-4.54602186e-03 3.74096172e-04 -9.99989597e-01 6.62222804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.33, Y:193.05, Z:5.62 [[-7.77202381e-01 -6.29135215e-01 1.20557249e-02 1.76332546e+02] [ 6.29064719e-01 -7.77295834e-01 -9.42158633e-03 1.93046694e+02] [ 1.52983165e-02 2.61351887e-04 9.99882940e-01 5.61898254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.020385723 meters Centerline goodness [0,1] 0.9999563080283997 Centerline is valid? [True, True] Translation: X:176.33, Y:193.02, Z:5.62 [[-7.32910454e-01 -6.80225651e-01 1.16331633e-02 1.76325010e+02] [ 6.80144699e-01 -7.33002739e-01 -1.04963275e-02 1.93016445e+02] [ 1.56670118e-02 2.19366154e-04 9.99877241e-01 5.61947489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.050385723 meters Centerline goodness [0,1] 0.9999781095398625 Centerline is valid? [True, True] Translation: X:175.83, Y:192.48, Z:6.62 [[-7.77951586e-01 6.28309023e-01 4.37050745e-03 1.75834984e+02] [ 6.28301725e-01 7.77963773e-01 -3.05110933e-03 1.92483638e+02] [-5.31713599e-03 3.72382025e-04 -9.99985795e-01 6.62113193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.080385723 meters Centerline goodness [0,1] 0.9999562984813722 Centerline is valid? [True, True] Translation: X:175.85, Y:192.50, Z:6.62 [[-8.20457347e-01 5.71691461e-01 4.31458117e-03 1.75854443e+02] [ 5.71685876e-01 8.20468607e-01 -2.55403839e-03 1.92502877e+02] [-5.00010034e-03 3.71105557e-04 -9.99987431e-01 6.62083112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.110385723 meters Centerline goodness [0,1] 0.9997587454764777 Centerline is valid? [True, True] Translation: X:175.87, Y:192.53, Z:6.62 [[-8.58825162e-01 5.12243387e-01 5.10425995e-03 1.75865998e+02] [ 5.12236862e-01 8.58840250e-01 -2.61199865e-03 1.92526458e+02] [-5.72172292e-03 3.71339939e-04 -9.99983562e-01 6.61972860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.140385723 meters Centerline goodness [0,1] 0.9997804706708816 Centerline is valid? [True, True] Translation: X:175.88, Y:192.55, Z:6.62 [[-8.93059839e-01 4.49900869e-01 5.77334771e-03 1.75877621e+02] [ 4.49894107e-01 8.93078424e-01 -2.49432257e-03 1.92552278e+02] [-6.27825016e-03 3.69815796e-04 -9.99980223e-01 6.62049884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.89, Y:192.57, Z:6.62 [[-9.22979888e-01 3.84786299e-01 6.90152995e-03 1.75893343e+02] [ 3.84778468e-01 9.23005618e-01 -2.48184547e-03 1.92575000e+02] [-7.32513105e-03 3.64866662e-04 -9.99973104e-01 6.62150104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.200385723 meters Centerline goodness [0,1] 0.9999779716274562 Centerline is valid? [True, True] Translation: X:175.90, Y:192.60, Z:6.62 [[-9.48056293e-01 3.18019227e-01 7.28257565e-03 1.75901780e+02] [ 3.18012745e-01 9.48084195e-01 -2.06224614e-03 1.92601197e+02] [-7.56032880e-03 3.60826446e-04 -9.99971355e-01 6.62140898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.91, Y:192.63, Z:6.62 [[-9.68252013e-01 2.49853623e-01 7.82348377e-03 1.75910481e+02] [ 2.49848448e-01 9.68283552e-01 -1.64774041e-03 1.92626873e+02] [-7.98704457e-03 3.59257309e-04 -9.99968039e-01 6.62102284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.260385723 meters Centerline goodness [0,1] 0.9998897731531492 Centerline is valid? [True, True] Translation: X:175.91, Y:192.65, Z:6.62 [[-9.83305585e-01 1.81737896e-01 9.02571365e-03 1.75907859e+02] [ 1.81733672e-01 9.83346938e-01 -1.29281455e-03 1.92652683e+02] [-9.11036128e-03 3.69044320e-04 -9.99958432e-01 6.62238880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.290385723 meters Centerline goodness [0,1] 0.9999338668077508 Centerline is valid? [True, True] Translation: X:175.92, Y:192.68, Z:6.62 [[-9.93758923e-01 1.11296645e-01 7.50061544e-03 1.75924543e+02] [ 1.11296244e-01 9.93787162e-01 -4.72148090e-04 1.92677614e+02] [-7.50656383e-03 3.65588948e-04 -9.99971759e-01 6.61909802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.92, Y:192.70, Z:6.62 [[-9.99103781e-01 4.17265135e-02 7.10870159e-03 1.75916310e+02] [ 4.17281171e-02 9.99129000e-01 7.73498561e-05 1.92703893e+02] [-7.09928237e-03 3.73913266e-04 -9.99974730e-01 6.61792627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.350385723 meters Centerline goodness [0,1] 0.999889761001852 Centerline is valid? [True, True] Translation: X:175.96, Y:193.47, Z:5.63 [[-9.94476521e-01 -1.03646598e-01 1.65478716e-02 1.75957689e+02] [ 1.03635968e-01 -9.94614163e-01 -1.50094435e-03 1.93470323e+02] [ 1.66143153e-02 2.22300785e-04 9.99861948e-01 5.62652124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.380385723 meters Centerline goodness [0,1] 0.9999778594518001 Centerline is valid? [True, True] Translation: X:175.84, Y:192.70, Z:6.62 [[-9.99214263e-01 3.90547798e-02 6.75130552e-03 1.75842734e+02] [ 3.90565153e-02 9.99236995e-01 1.25365654e-04 1.92703080e+02] [-6.74125811e-03 3.88949617e-04 -9.99977202e-01 6.61761980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.410385723 meters Centerline goodness [0,1] 0.9999778594518001 Centerline is valid? [True, True] Translation: X:175.84, Y:192.73, Z:6.62 [[-9.99461637e-01 -3.21097086e-02 6.73815504e-03 1.75840878e+02] [-3.21063858e-02 9.99484277e-01 6.00755894e-04 1.92731934e+02] [-6.75397012e-03 3.84094664e-04 -9.99977118e-01 6.61777957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.440385723 meters Centerline goodness [0,1] 0.9999555782600005 Centerline is valid? [True, True] Translation: X:175.85, Y:192.76, Z:6.62 [[-9.94801469e-01 -1.01535026e-01 7.78940611e-03 1.75848419e+02] [-1.01528730e-01 9.94831883e-01 1.20059678e-03 1.92756491e+02] [-7.87105218e-03 4.03506939e-04 -9.99968941e-01 6.61809436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.470385723 meters Centerline goodness [0,1] 0.9999110696102625 Centerline is valid? [True, True] Translation: X:175.83, Y:192.78, Z:6.62 [[-9.85159640e-01 -1.71437119e-01 8.35454602e-03 1.75832691e+02] [-1.71427358e-01 9.85194976e-01 1.87619570e-03 1.92781035e+02] [-8.55250635e-03 4.16154529e-04 -9.99963340e-01 6.61873753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.500385723 meters Centerline goodness [0,1] 0.9998886141370937 Centerline is valid? [True, True] Translation: X:175.80, Y:192.80, Z:6.62 [[-9.70683300e-01 -2.40173963e-01 9.50785277e-03 1.75801674e+02] [-2.40157929e-01 9.70729761e-01 2.81061461e-03 1.92800831e+02] [-9.90459210e-03 4.44830430e-04 -9.99950849e-01 6.61944153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.530385723 meters Centerline goodness [0,1] 0.9999106225141887 Centerline is valid? [True, True] Translation: X:175.74, Y:192.81, Z:6.62 [[-9.50790998e-01 -3.09658475e-01 1.03974316e-02 1.75741074e+02] [-3.09634603e-01 9.50847735e-01 3.87277672e-03 1.92811469e+02] [-1.10856124e-02 4.62796659e-04 -9.99938446e-01 6.62143553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.68, Y:192.82, Z:6.62 [[-9.25391075e-01 -3.78865056e-01 1.06126402e-02 1.75679711e+02] [-3.78834170e-01 9.25451804e-01 4.86114179e-03 1.92818266e+02] [-1.16632037e-02 4.78026498e-04 -9.99931868e-01 6.62267464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.590385723 meters Centerline goodness [0,1] 0.999933041692706 Centerline is valid? [True, True] Translation: X:175.61, Y:192.82, Z:6.62 [[-8.94425370e-01 -4.47100920e-01 1.01992384e-02 1.75613728e+02] [-4.47065696e-01 8.94483392e-01 5.63248565e-03 1.92819908e+02] [-1.16413389e-02 4.78108433e-04 -9.99932123e-01 6.62133536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.53, Y:192.81, Z:6.62 [[-8.58301259e-01 -5.13055124e-01 9.66376837e-03 1.75530734e+02] [-5.13016311e-01 8.58355530e-01 6.32845276e-03 1.92805732e+02] [-1.15417941e-02 4.74048171e-04 -9.99933279e-01 6.62317871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.44, Y:192.78, Z:6.62 [[-8.16953373e-01 -5.76645363e-01 8.20437338e-03 1.75438086e+02] [-5.76610580e-01 8.16994441e-01 6.35006064e-03 1.92781954e+02] [-1.03646605e-02 4.56974970e-04 -9.99946181e-01 6.62086675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.34, Y:192.75, Z:6.62 [[-7.70942130e-01 -6.36864101e-01 7.23526953e-03 1.75342622e+02] [-6.36830460e-01 7.70975949e-01 6.56133250e-03 1.92747050e+02] [-9.75689592e-03 4.50767622e-04 -9.99952299e-01 6.62093828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.25, Y:192.70, Z:6.62 [[-7.20033124e-01 -6.93913597e-01 6.01825955e-03 1.75249659e+02] [-6.93884141e-01 7.20058141e-01 6.40874127e-03 1.92703737e+02] [-8.78060949e-03 4.38531138e-04 -9.99961354e-01 6.62256195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.740385723 meters Centerline goodness [0,1] 0.9999777614695221 Centerline is valid? [True, True] Translation: X:175.16, Y:192.65, Z:6.62 [[-6.64337907e-01 -7.47420651e-01 4.18516888e-03 1.75156250e+02] [-7.47401731e-01 6.64350959e-01 5.33430920e-03 1.92652431e+02] [-6.76739382e-03 4.15781339e-04 -9.99977015e-01 6.62175674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.07, Y:192.59, Z:6.62 [[-6.05576450e-01 -7.95779296e-01 3.53217193e-03 1.75065765e+02] [-7.95761573e-01 6.05586609e-01 5.32709163e-03 1.92589060e+02] [-6.37822524e-03 4.15194544e-04 -9.99979573e-01 6.62247022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.98, Y:192.52, Z:6.62 [[-5.43219877e-01 -8.39585648e-01 2.84701996e-03 1.74978050e+02] [-8.39569881e-01 5.43227180e-01 5.16188828e-03 1.92515904e+02] [-5.88042594e-03 4.13768110e-04 -9.99982625e-01 6.62295826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.89, Y:192.43, Z:6.62 [[-4.78181085e-01 -8.78257902e-01 2.43048201e-03 1.74894914e+02] [-8.78241771e-01 4.78187078e-01 5.33945774e-03 1.92433012e+02] [-5.85164604e-03 4.18676864e-04 -9.99982791e-01 6.62463503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.860385723 meters Centerline goodness [0,1] 0.9999779492833517 Centerline is valid? [True, True] Translation: X:174.82, Y:192.34, Z:6.63 [[-4.10096772e-01 -9.12039921e-01 1.95460149e-03 1.74816449e+02] [-9.12024177e-01 4.10101213e-01 5.37544066e-03 1.92340199e+02] [-5.70420091e-03 4.21807049e-04 -9.99983642e-01 6.62550570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.890385723 meters Centerline goodness [0,1] 0.9999337265557691 Centerline is valid? [True, True] Translation: X:174.74, Y:192.24, Z:6.63 [[-3.39622730e-01 -9.40560724e-01 1.38787489e-03 1.74743092e+02] [-9.40547068e-01 3.39625304e-01 5.08585542e-03 1.92237307e+02] [-5.25491329e-03 4.21910449e-04 -9.99986104e-01 6.62601148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.920385723 meters Centerline goodness [0,1] 0.9999338318004367 Centerline is valid? [True, True] Translation: X:174.68, Y:192.14, Z:6.63 [[-2.66814731e-01 -9.63747229e-01 1.08582007e-03 1.74682073e+02] [-9.63731476e-01 2.66816596e-01 5.52689503e-03 1.92136884e+02] [-5.61624458e-03 4.28218026e-04 -9.99984137e-01 6.62655865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.63, Y:192.03, Z:6.63 [[-1.92590917e-01 -9.81278975e-01 5.58943925e-04 1.74625774e+02] [-9.81266032e-01 1.92591258e-01 5.05781934e-03 1.92025885e+02] [-5.07077949e-03 4.25617375e-04 -9.99987053e-01 6.62670316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.58, Y:191.90, Z:6.63 [[-1.16536570e-01 -9.93186395e-01 1.12685258e-04 1.74578303e+02] [-9.93176029e-01 1.16535870e-01 4.55711039e-03 1.91904442e+02] [-4.53919191e-03 4.19153715e-04 -9.99989610e-01 6.62798212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.010385723 meters Centerline goodness [0,1] 0.9999112944359435 Centerline is valid? [True, True] Translation: X:174.54, Y:191.78, Z:6.63 [[-3.96917967e-02 -9.99211942e-01 -2.35439310e-04 1.74540304e+02] [-9.99201187e-01 3.96902726e-02 4.65520778e-03 1.91782546e+02] [-4.64219455e-03 4.20024798e-04 -9.99989137e-01 6.62881057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.51, Y:191.66, Z:6.63 [[ 3.63249155e-02 -9.99339856e-01 -5.93422389e-04 1.74512232e+02] [-9.99329210e-01 -3.63272793e-02 4.63239576e-03 1.91660389e+02] [-4.65089513e-03 4.24752942e-04 -9.99989094e-01 6.63022078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.49, Y:191.53, Z:6.63 [[ 1.12905884e-01 -9.93605270e-01 -9.10266822e-04 1.74492165e+02] [-9.93596151e-01 -1.12908766e-01 4.27771954e-03 1.91534703e+02] [-4.35314178e-03 4.21457905e-04 -9.99990436e-01 6.63000792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.48, Y:191.41, Z:6.63 [[ 1.88217442e-01 -9.82126796e-01 -1.07327505e-03 1.74484290e+02] [-9.82120975e-01 -1.88220049e-01 3.40653170e-03 1.91410264e+02] [-3.54765794e-03 4.12917253e-04 -9.99993622e-01 6.63164562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.48, Y:191.28, Z:6.63 [[ 2.63195319e-01 -9.64741726e-01 -1.27505493e-03 1.74483437e+02] [-9.64736775e-01 -2.63198089e-01 3.11802462e-03 1.91284354e+02] [-3.34368048e-03 4.09442894e-04 -9.99994326e-01 6.63146873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.160385723 meters Centerline goodness [0,1] 0.9999557385030762 Centerline is valid? [True, True] Translation: X:174.49, Y:191.16, Z:6.63 [[ 3.36762343e-01 -9.41588760e-01 -1.31588516e-03 1.74492927e+02] [-9.41585548e-01 -3.36764677e-01 2.49162143e-03 1.91160661e+02] [-2.78922637e-03 3.99934181e-04 -9.99996030e-01 6.63202184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.51, Y:191.04, Z:6.63 [[ 4.08733778e-01 -9.12652712e-01 -1.31410005e-03 1.74511343e+02] [-9.12650652e-01 -4.08735704e-01 1.97806322e-03 1.91037161e+02] [-2.34240436e-03 3.90813011e-04 -9.99997180e-01 6.63238558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.220385723 meters Centerline goodness [0,1] 0.9999558518387709 Centerline is valid? [True, True] Translation: X:174.54, Y:190.92, Z:6.63 [[ 4.78252040e-01 -8.78221531e-01 -1.38869733e-03 1.74539966e+02] [-8.78219885e-01 -4.78253901e-01 1.74363012e-03 1.90915521e+02] [-2.19544343e-03 3.85686953e-04 -9.99997516e-01 6.63346300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.57, Y:190.80, Z:6.63 [[ 5.45084746e-01 -8.38379963e-01 -1.28744628e-03 1.74574949e+02] [-8.38379056e-01 -5.45086137e-01 1.28951474e-03 1.90797836e+02] [-1.78287244e-03 3.76473184e-04 -9.99998340e-01 6.63421047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.62, Y:190.69, Z:6.63 [[ 6.08176107e-01 -7.93801767e-01 -7.59611756e-04 1.74615933e+02] [-7.93801751e-01 -6.08176474e-01 3.96176989e-04 1.90687376e+02] [-7.76463992e-04 3.62035763e-04 -9.99999633e-01 6.63456549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.67, Y:190.58, Z:6.64 [[ 6.67777457e-01 -7.44360884e-01 -3.77690597e-04 1.74666814e+02] [-7.44360960e-01 -6.67777470e-01 -1.07768018e-04 1.90579213e+02] [-1.71994974e-04 3.53103188e-04 -9.99999923e-01 6.63512052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.340385723 meters Centerline goodness [0,1] 0.9999119757052947 Centerline is valid? [True, True] Translation: X:174.72, Y:190.48, Z:6.64 [[ 7.24124337e-01 -6.89669427e-01 1.59935201e-04 1.74717675e+02] [-6.89669227e-01 -7.24124273e-01 -6.28602152e-04 1.90481692e+02] [ 5.49340647e-04 3.44883730e-04 -9.99999790e-01 6.63508782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37038572299997 meters Centerline goodness [0,1] 0.9999340528895826 Centerline is valid? [True, True] Translation: X:174.71, Y:190.47, Z:6.63 [[ 7.76543172e-01 -6.30063988e-01 2.69755394e-04 1.74710156e+02] [-6.30063727e-01 -7.76543139e-01 -6.73416786e-04 1.90470375e+02] [ 6.33772367e-04 3.52974118e-04 -9.99999737e-01 6.63477147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.70, Y:190.46, Z:6.64 [[ 8.24150194e-01 -5.66371033e-01 5.57081499e-04 1.74702838e+02] [-5.66370564e-01 -8.24150308e-01 -8.08547774e-04 1.90458939e+02] [ 9.17056927e-04 3.50850242e-04 -9.99999518e-01 6.63599460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.70, Y:190.45, Z:6.64 [[ 8.65946204e-01 -5.00136754e-01 6.31620762e-04 1.74700904e+02] [-5.00136286e-01 -8.65946364e-01 -7.68652326e-04 1.90453234e+02] [ 9.31380982e-04 3.49715102e-04 -9.99999505e-01 6.63672416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.70, Y:190.44, Z:6.64 [[ 9.02166096e-01 -4.31388209e-01 7.40504222e-04 1.74696505e+02] [-4.31387715e-01 -9.02166333e-01 -7.39727672e-04 1.90441200e+02] [ 9.87167774e-04 3.47912801e-04 -9.99999452e-01 6.63669981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.490385723 meters Centerline goodness [0,1] 0.9999780292211359 Centerline is valid? [True, True] Translation: X:174.69, Y:190.43, Z:6.64 [[ 9.32614501e-01 -3.60873009e-01 9.29178428e-04 1.74692977e+02] [-3.60872437e-01 -9.32614901e-01 -7.28828140e-04 1.90427931e+02] [ 1.12958005e-03 3.44400808e-04 -9.99999303e-01 6.63757738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.520385723 meters Centerline goodness [0,1] 0.9999561931880407 Centerline is valid? [True, True] Translation: X:174.69, Y:190.42, Z:6.64 [[ 9.57649284e-01 -2.87935690e-01 9.42527107e-04 1.74690813e+02] [-2.87935180e-01 -9.57649686e-01 -6.41020250e-04 1.90416642e+02] [ 1.08718340e-03 3.42485871e-04 -9.99999350e-01 6.63838883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.69, Y:190.41, Z:6.64 [[ 9.76685808e-01 -2.14673009e-01 5.75147709e-04 1.74690081e+02] [-2.14672752e-01 -9.76685917e-01 -4.78210359e-04 1.90405968e+02] [ 6.64397524e-04 3.43592730e-04 -9.99999720e-01 6.63944844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.69, Y:190.40, Z:6.64 [[ 9.90332011e-01 -1.38715478e-01 7.23371081e-04 1.74686629e+02] [-1.38715182e-01 -9.90332217e-01 -4.45375903e-04 1.90396867e+02] [ 7.78158218e-04 3.40727463e-04 -9.99999639e-01 6.63968158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.68, Y:190.39, Z:6.64 [[ 9.98059428e-01 -6.22676933e-02 3.34150189e-04 1.74683831e+02] [-6.22675707e-02 -9.98059425e-01 -3.65698578e-04 1.90387720e+02] [ 3.56272952e-04 3.44182193e-04 -9.99999877e-01 6.63999782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.640385723 meters Centerline goodness [0,1] 0.9999782016348774 Centerline is valid? [True, True] Translation: X:174.68, Y:190.38, Z:6.64 [[ 9.99907112e-01 1.35539081e-02 1.43481322e-03 1.74681224e+02] [ 1.35543593e-02 -9.99908089e-01 -3.05207174e-04 1.90378524e+02] [ 1.43054460e-03 3.24626798e-04 -9.99998924e-01 6.63933876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.670385723 meters Centerline goodness [0,1] 0.9999782286858835 Centerline is valid? [True, True] Translation: X:174.68, Y:190.36, Z:6.64 [[ 9.95854622e-01 9.09464880e-02 1.51949162e-03 1.74681190e+02] [ 9.09468698e-02 -9.95855729e-01 -1.83974094e-04 1.90363341e+02] [ 1.49646263e-03 3.21404458e-04 -9.99998829e-01 6.63902053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.700385723 meters Centerline goodness [0,1] 0.9999563756925359 Centerline is valid? [True, True] Translation: X:174.68, Y:190.35, Z:6.64 [[ 9.85906760e-01 1.67289337e-01 1.46250773e-03 1.74681237e+02] [ 1.67289625e-01 -9.85907793e-01 -7.59677408e-05 1.90349922e+02] [ 1.42918918e-03 3.19559479e-04 -9.99998928e-01 6.63946107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.68, Y:190.34, Z:6.64 [[ 9.69882599e-01 2.43570176e-01 1.14611943e-03 1.74682964e+02] [ 2.43570388e-01 -9.69883222e-01 -4.63100917e-05 1.90338541e+02] [ 1.10032225e-03 3.24076107e-04 -9.99999342e-01 6.63999866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.760385723 meters Centerline goodness [0,1] 0.9998695311820475 Centerline is valid? [True, True] Translation: X:174.68, Y:190.33, Z:6.64 [[ 9.48140934e-01 3.17849323e-01 7.59727396e-04 1.74684781e+02] [ 3.17849481e-01 -9.48141181e-01 -9.35586297e-05 1.90325570e+02] [ 6.90591283e-04 3.30185725e-04 -9.99999707e-01 6.64163403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.790385723 meters Centerline goodness [0,1] 0.9999783765082385 Centerline is valid? [True, True] Translation: X:174.69, Y:190.31, Z:6.64 [[ 9.20394868e-01 3.90989296e-01 8.10107699e-04 1.74688848e+02] [ 3.90989434e-01 -9.20395167e-01 -1.23370733e-05 1.90311652e+02] [ 7.40795547e-04 3.28098529e-04 -9.99999672e-01 6.64143134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.69, Y:190.30, Z:6.64 [[ 8.87124525e-01 4.61529343e-01 8.61655113e-04 1.74692434e+02] [ 4.61529450e-01 -8.87124884e-01 8.14173993e-05 1.90299900e+02] [ 8.01972211e-04 3.25451839e-04 -9.99999625e-01 6.64102858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.70, Y:190.29, Z:6.64 [[ 8.48493751e-01 5.29201058e-01 2.14347580e-03 1.74699185e+02] [ 5.29200208e-01 -8.48496408e-01 9.92804168e-04 1.90287404e+02] [ 2.34412454e-03 2.91939707e-04 -9.99997210e-01 6.64028778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.880385723 meters Centerline goodness [0,1] 0.9999568435362406 Centerline is valid? [True, True] Translation: X:174.71, Y:190.28, Z:6.64 [[ 8.04618315e-01 5.93787170e-01 2.48286456e-03 1.74706148e+02] [ 5.93785377e-01 -8.04622097e-01 1.48563906e-03 1.90276850e+02] [ 2.87992110e-03 2.78916267e-04 -9.99995814e-01 6.63980222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.910385723 meters Centerline goodness [0,1] 0.9999353545801279 Centerline is valid? [True, True] Translation: X:174.71, Y:190.27, Z:6.64 [[ 7.56031734e-01 6.54528692e-01 2.86523037e-03 1.74713539e+02] [ 6.54525262e-01 -7.56037118e-01 2.13479287e-03 1.90266711e+02] [ 3.56350370e-03 2.61394506e-04 -9.99993617e-01 6.64035013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.73, Y:190.25, Z:6.64 [[ 7.01936084e-01 7.12235901e-01 2.39917602e-03 1.74727519e+02] [ 7.12233010e-01 -7.01940131e-01 2.04728875e-03 1.90252363e+02] [ 3.14223048e-03 2.71706509e-04 -9.99995026e-01 6.63932585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.74, Y:190.24, Z:6.64 [[ 6.43321631e-01 7.65593272e-01 2.05463719e-03 1.74738924e+02] [ 7.65590681e-01 -6.43324851e-01 2.01109227e-03 1.90240916e+02] [ 2.86147788e-03 2.79231929e-04 -9.99995867e-01 6.63989395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.75, Y:190.23, Z:6.64 [[ 5.80464743e-01 8.14284304e-01 1.32464295e-03 1.74754472e+02] [ 8.14283256e-01 -5.80466177e-01 1.34061348e-03 1.90229606e+02] [ 1.86055094e-03 3.00455718e-04 -9.99998224e-01 6.64110173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.77, Y:190.22, Z:6.64 [[ 5.15055546e-01 8.57155933e-01 1.22093127e-03 1.74768396e+02] [ 8.57154756e-01 -5.15056906e-01 1.45170039e-03 1.90221223e+02] [ 1.87318269e-03 2.98820706e-04 -9.99998201e-01 6.64188698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.060385723 meters Centerline goodness [0,1] 0.9999571981937638 Centerline is valid? [True, True] Translation: X:174.78, Y:190.21, Z:6.64 [[ 4.47466299e-01 8.94300655e-01 4.99503149e-04 1.74781793e+02] [ 8.94300672e-01 -4.47466460e-01 2.73619562e-04 1.90213249e+02] [ 4.68209060e-04 3.24270469e-04 -9.99999838e-01 6.64267651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.80, Y:190.21, Z:6.64 [[ 3.77077532e-01 9.26181658e-01 2.67375784e-04 1.74795752e+02] [ 9.26181689e-01 -3.77077478e-01 -2.32007050e-04 1.90207443e+02] [-1.14059287e-04 3.35123201e-04 -9.99999937e-01 6.64321518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.12038572299997 meters Centerline goodness [0,1] 0.9999786438868126 Centerline is valid? [True, True] Translation: X:174.81, Y:190.20, Z:6.64 [[ 3.04432417e-01 9.52533925e-01 1.58704131e-04 1.74809802e+02] [ 9.52533776e-01 -3.04432263e-01 -6.34048279e-04 1.90203164e+02] [-5.55637838e-04 3.44195896e-04 -9.99999786e-01 6.64361379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.83, Y:190.20, Z:6.64 [[ 2.30531801e-01 9.73064772e-01 1.96970333e-04 1.74826059e+02] [ 9.73064605e-01 -2.30531626e-01 -6.66847557e-04 1.90199298e+02] [-6.03477975e-04 3.45394427e-04 -9.99999758e-01 6.64346207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.180385723 meters Centerline goodness [0,1] 0.9999785968066436 Centerline is valid? [True, True] Translation: X:174.84, Y:190.20, Z:6.64 [[ 1.54508786e-01 9.87991371e-01 2.93407584e-04 1.74839592e+02] [ 9.87991383e-01 -1.54508699e-01 -2.98421091e-04 1.90196153e+02] [-2.49503439e-04 3.35992845e-04 -9.99999912e-01 6.64363704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.85, Y:190.20, Z:6.64 [[ 7.90877958e-02 9.96867595e-01 3.44262632e-04 1.74854461e+02] [ 9.96867602e-01 -7.90878989e-02 2.96860880e-04 1.90195524e+02] [ 3.23158000e-04 3.19706192e-04 -9.99999897e-01 6.64327339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.240385723 meters Centerline goodness [0,1] 0.9999574965465944 Centerline is valid? [True, True] Translation: X:174.87, Y:190.19, Z:6.64 [[ 1.71224067e-03 9.99998483e-01 3.19385017e-04 1.74866853e+02] [ 9.99998487e-01 -1.71233857e-03 3.06496723e-04 1.90194915e+02] [ 3.07043153e-04 3.18859738e-04 -9.99999902e-01 6.64373805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.270385723 meters Centerline goodness [0,1] 0.9999574965465944 Centerline is valid? [True, True] Translation: X:174.88, Y:190.20, Z:6.64 [[-7.66000798e-02 9.97061854e-01 2.94773547e-04 1.74878295e+02] [ 9.97061854e-01 7.65999859e-02 3.17730133e-04 1.90195627e+02] [ 2.94216946e-04 3.18245612e-04 -9.99999906e-01 6.64384944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.300385723 meters Centerline goodness [0,1] 0.9999575641841715 Centerline is valid? [True, True] Translation: X:174.89, Y:190.20, Z:6.64 [[-1.54075254e-01 9.88059063e-01 3.22281831e-04 1.74890987e+02] [ 9.88059116e-01 1.54075247e-01 4.81085273e-05 1.90198212e+02] [-2.12158592e-06 3.25845834e-04 -9.99999947e-01 6.64403029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.330385723 meters Centerline goodness [0,1] 0.9999789247402474 Centerline is valid? [True, True] Translation: X:174.90, Y:190.20, Z:6.64 [[-2.30866022e-01 9.72985485e-01 3.55975418e-04 1.74904897e+02] [ 9.72985537e-01 2.30866062e-01 -7.44768025e-05 1.90200816e+02] [-1.54647491e-04 3.29164770e-04 -9.99999934e-01 6.64411013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.92, Y:190.21, Z:6.64 [[-3.06730346e-01 9.51796433e-01 2.13160007e-04 1.74916469e+02] [ 9.51796414e-01 3.06730258e-01 3.67254448e-04 1.90205484e+02] [ 2.84168850e-04 3.15533014e-04 -9.99999910e-01 6.64409453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.93, Y:190.21, Z:6.64 [[-3.81140355e-01 9.24517187e-01 1.76834319e-05 1.74929446e+02] [ 9.24516930e-01 3.81140235e-01 7.53426557e-04 1.90212139e+02] [ 6.89815934e-04 3.03509898e-04 -9.99999716e-01 6.64395125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.94, Y:190.22, Z:6.64 [[-4.54483766e-01 8.90755021e-01 1.87727583e-05 1.74942441e+02] [ 8.90754844e-01 4.54483662e-01 6.39546043e-04 1.90218913e+02] [ 5.61146937e-04 3.07385219e-04 -9.99999795e-01 6.64427673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.96, Y:190.23, Z:6.64 [[-5.24153577e-01 8.51623617e-01 4.92775965e-04 1.74955634e+02] [ 8.51623664e-01 5.24153704e-01 -1.70547057e-04 1.90228861e+02] [-4.03532248e-04 3.30266823e-04 -9.99999864e-01 6.64445099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.97, Y:190.24, Z:6.65 [[-5.91930908e-01 8.05988195e-01 9.10892383e-04 1.74967652e+02] [ 8.05987995e-01 5.91931510e-01 -6.63099297e-04 1.90238905e+02] [-1.07363611e-03 3.41659356e-04 -9.99999365e-01 6.64505221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.510385723 meters Centerline goodness [0,1] 0.999936885952917 Centerline is valid? [True, True] Translation: X:174.98, Y:190.25, Z:6.65 [[-6.54418294e-01 7.56131980e-01 1.06041357e-03 1.74976206e+02] [ 7.56131731e-01 6.54419064e-01 -7.02673811e-04 1.90249937e+02] [-1.22526900e-03 3.41969753e-04 -9.99999191e-01 6.64526040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.98, Y:190.26, Z:6.65 [[-7.12541004e-01 7.01627726e-01 1.96264627e-03 1.74984169e+02] [ 7.01626366e-01 7.12543616e-01 -1.42759809e-03 1.90261719e+02] [-2.40011347e-03 3.59822190e-04 -9.99997055e-01 6.64564278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.00, Y:190.29, Z:6.65 [[-7.60459925e-01 6.49381305e-01 2.15019711e-03 1.75002180e+02] [ 6.49379878e-01 7.60462893e-01 -1.40108729e-03 1.90288691e+02] [-2.54498501e-03 3.30823996e-04 -9.99996707e-01 6.64528089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.02, Y:190.31, Z:6.65 [[-8.04465766e-01 5.93993679e-01 2.51799432e-03 1.75015460e+02] [ 5.93992026e-01 8.04469637e-01 -1.44109263e-03 1.90314608e+02] [-2.88164989e-03 3.36358867e-04 -9.99995791e-01 6.64572149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.03, Y:190.34, Z:6.65 [[-8.44229288e-01 5.35974561e-01 2.86007344e-03 1.75028861e+02] [ 5.35972814e-01 8.44234063e-01 -1.41038999e-03 1.90341530e+02] [-3.17050457e-03 3.42229070e-04 -9.99994915e-01 6.64563576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.05, Y:190.37, Z:6.64 [[-8.77883988e-01 4.78865242e-01 2.78988362e-03 1.75047867e+02] [ 4.78864212e-01 8.77888332e-01 -1.06949338e-03 1.90370189e+02] [-2.96134948e-03 3.97084309e-04 -9.99995536e-01 6.64440287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.31, Y:190.88, Z:5.65 [[-8.63816071e-01 -5.03722955e-01 9.21845058e-03 1.75308318e+02] [ 5.03693432e-01 -8.63865256e-01 -5.45404530e-03 1.90879507e+02] [ 1.07108270e-02 -6.80189728e-05 9.99942635e-01 5.65025343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.01, Y:190.39, Z:6.64 [[-8.78837888e-01 4.77116692e-01 1.90506842e-03 1.75007115e+02] [ 4.77116341e-01 8.78839892e-01 -6.64083400e-04 1.90391228e+02] [-1.99109540e-03 3.25317622e-04 -9.99997965e-01 6.64384742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.26, Y:190.90, Z:5.65 [[-8.66434586e-01 -4.99214355e-01 8.72558182e-03 1.75264084e+02] [ 4.99189102e-01 -8.66478522e-01 -5.02119272e-03 1.90900467e+02] [ 1.00671807e-02 5.18031358e-06 9.99949325e-01 5.65089220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.97, Y:190.41, Z:6.64 [[-8.80293969e-01 4.74422894e-01 2.33360873e-03 1.74966027e+02] [ 4.74422204e-01 8.80296998e-01 -8.76457233e-04 1.90412824e+02] [-2.47008014e-03 3.35575780e-04 -9.99996893e-01 6.64431105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.97, Y:190.45, Z:6.65 [[-9.11676080e-01 4.10896702e-01 3.25966747e-03 1.74973716e+02] [ 4.10895437e-01 9.11681838e-01 -1.07973055e-03 1.90445270e+02] [-3.41543735e-03 3.55017973e-04 -9.99994104e-01 6.64557997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.19, Y:190.96, Z:5.65 [[-9.01130837e-01 -4.33422497e-01 1.03997201e-02 1.75186541e+02] [ 4.33393426e-01 -9.01190845e-01 -5.01986173e-03 1.90964491e+02] [ 1.15478536e-02 -1.63818663e-05 9.99933321e-01 5.64873749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.93, Y:190.47, Z:6.65 [[-9.13558655e-01 4.06686081e-01 4.12494958e-03 1.74930220e+02] [ 4.06683734e-01 9.13567892e-01 -1.43056360e-03 1.90466301e+02] [-4.35021179e-03 3.70646137e-04 -9.99990469e-01 6.64709571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.93, Y:190.50, Z:6.65 [[-9.40377138e-01 3.40108216e-01 4.15210010e-03 1.74933801e+02] [ 3.40106587e-01 9.40386234e-01 -1.11406290e-03 1.90496937e+02] [-4.28347972e-03 3.64517315e-04 -9.99990759e-01 6.64695121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.11, Y:191.02, Z:5.65 [[-9.30256770e-01 -3.66743812e-01 1.10145098e-02 1.75106869e+02] [ 3.66717720e-01 -9.30321974e-01 -4.37467666e-03 1.91023258e+02] [ 1.18514261e-02 -3.03566463e-05 9.99929769e-01 5.64977673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.88, Y:190.52, Z:6.65 [[-9.42159596e-01 3.35139513e-01 4.09905248e-03 1.74881284e+02] [ 3.35137963e-01 9.42168446e-01 -1.07976315e-03 1.90515242e+02] [-4.22386920e-03 3.56438887e-04 -9.99991016e-01 6.64653956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.89, Y:190.55, Z:6.65 [[-9.64323910e-01 2.64691249e-01 4.23546425e-03 1.74885464e+02] [ 2.64690243e-01 9.64333150e-01 -8.06335215e-04 1.90548876e+02] [-4.29782846e-03 3.43517736e-04 -9.99990705e-01 6.64656343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.89, Y:190.58, Z:6.65 [[-9.80968898e-01 1.94102046e-01 4.94139518e-03 1.74886759e+02] [ 1.94101349e-01 9.80981282e-01 -6.24921616e-04 1.90580671e+02] [-4.96871475e-03 3.46102801e-04 -9.99987596e-01 6.64719396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.88, Y:190.61, Z:6.65 [[-9.92493785e-01 1.22178519e-01 5.33827317e-03 1.74876587e+02] [ 1.22178596e-01 9.92508082e-01 -3.13068868e-04 1.90613091e+02] [-5.33652956e-03 3.41503813e-04 -9.99985702e-01 6.64813153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.87, Y:190.65, Z:6.65 [[-9.98822354e-01 4.81519593e-02 5.94093358e-03 1.74870194e+02] [ 4.81530646e-02 9.98839967e-01 4.30760263e-05 1.90645232e+02] [-5.93196770e-03 3.29099456e-04 -9.99982352e-01 6.64782643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.85, Y:190.67, Z:6.65 [[-9.99685508e-01 -2.43811024e-02 5.86916334e-03 1.74854466e+02] [-2.43788023e-02 9.99702686e-01 4.63124236e-04 1.90674434e+02] [-5.87870983e-03 3.19895414e-04 -9.99982669e-01 6.64829751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.84, Y:190.70, Z:6.65 [[-9.95317281e-01 -9.64356267e-02 6.60908834e-03 1.74843577e+02] [-9.64313631e-02 9.95339172e-01 9.61515855e-04 1.90703335e+02] [-6.67100890e-03 3.19689949e-04 -9.99977697e-01 6.64831720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.82, Y:190.73, Z:6.65 [[-9.85939170e-01 -1.66982391e-01 6.39020137e-03 1.74824541e+02] [-1.66976776e-01 9.85959826e-01 1.40607349e-03 1.90730123e+02] [-6.53527135e-03 3.19287704e-04 -9.99978594e-01 6.64862109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.80, Y:190.75, Z:6.65 [[-9.71565229e-01 -2.36682261e-01 6.52019366e-03 1.74796016e+02] [-2.36674676e-01 9.71587053e-01 1.92247435e-03 1.90752492e+02] [-6.78995132e-03 3.24644514e-04 -9.99976895e-01 6.64987482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.76, Y:190.77, Z:6.65 [[-9.52494493e-01 -3.04490036e-01 6.32926273e-03 1.74761912e+02] [-3.04480948e-01 9.52515462e-01 2.37654322e-03 1.90771682e+02] [-6.75235434e-03 3.36504414e-04 -9.99977146e-01 6.64828435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.71, Y:190.78, Z:6.65 [[-9.28137884e-01 -3.72189701e-01 5.90716688e-03 1.74708553e+02] [-3.72179792e-01 9.28156619e-01 2.73731925e-03 1.90781090e+02] [-6.50157807e-03 3.42081561e-04 -9.99978806e-01 6.64832003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.64, Y:190.78, Z:6.65 [[-8.98951658e-01 -4.38011546e-01 5.63928764e-03 1.74639174e+02] [-4.38000420e-01 8.98969276e-01 3.14206980e-03 1.90778737e+02] [-6.44580918e-03 3.54558504e-04 -9.99979163e-01 6.64671944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.57, Y:190.77, Z:6.65 [[-8.64417304e-01 -5.02748750e-01 5.13992936e-03 1.74567515e+02] [-5.02737391e-01 8.64432513e-01 3.39796904e-03 1.90772113e+02] [-6.15144674e-03 3.53228559e-04 -9.99981017e-01 6.64708153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.49, Y:190.76, Z:6.65 [[-8.24752256e-01 -5.65469241e-01 5.31542351e-03 1.74488461e+02] [-5.65454624e-01 8.24769305e-01 4.08189269e-03 1.90756036e+02] [-6.69218291e-03 3.60919403e-04 -9.99977542e-01 6.64767505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.380385723 meters Centerline goodness [0,1] 0.9999159487287245 Centerline is valid? [True, True] Translation: X:174.40, Y:190.72, Z:6.65 [[-7.80480275e-01 -6.25153525e-01 5.79751707e-03 1.74400327e+02] [-6.25132657e-01 7.80501718e-01 5.12153418e-03 1.90723743e+02] [-7.72671717e-03 3.73039159e-04 -9.99970079e-01 6.65108991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.32, Y:190.69, Z:6.65 [[-7.31551684e-01 -6.81767570e-01 5.01131025e-03 1.74319761e+02] [-6.81748033e-01 7.31568755e-01 5.17454229e-03 1.90691182e+02] [-7.19395313e-03 3.68994227e-04 -9.99974055e-01 6.64991551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.23, Y:190.64, Z:6.65 [[-6.78178130e-01 -7.34878885e-01 5.23909721e-03 1.74232178e+02] [-7.34852533e-01 6.78198261e-01 6.23486146e-03 1.90638462e+02] [-8.13501466e-03 3.78382830e-04 -9.99966839e-01 6.65093918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.470385723 meters Centerline goodness [0,1] 0.9999789274049099 Centerline is valid? [True, True] Translation: X:174.15, Y:190.59, Z:6.65 [[-6.20704729e-01 -7.84028705e-01 4.96280385e-03 1.74151675e+02] [-7.83998596e-01 6.20724452e-01 6.88162535e-03 1.90585490e+02] [-8.47592551e-03 3.80626146e-04 -9.99964006e-01 6.65214384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.500385723 meters Centerline goodness [0,1] 0.999978931844517 Centerline is valid? [True, True] Translation: X:174.07, Y:190.52, Z:6.65 [[-5.59891431e-01 -8.28552918e-01 4.65280772e-03 1.74067181e+02] [-8.28518377e-01 5.59910630e-01 7.57532387e-03 1.90515118e+02] [-8.88171319e-03 3.86422214e-04 -9.99960482e-01 6.65294053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.99, Y:190.45, Z:6.65 [[-4.95475320e-01 -8.68612313e-01 4.10561750e-03 1.73990577e+02] [-8.68575769e-01 4.95492179e-01 7.97705214e-03 1.90445848e+02] [-8.96326707e-03 3.86392586e-04 -9.99959754e-01 6.65195391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.560385723 meters Centerline goodness [0,1] 0.9999577354662834 Centerline is valid? [True, True] Translation: X:173.92, Y:190.36, Z:6.65 [[-4.27754347e-01 -9.03886302e-01 3.97127810e-03 1.73916478e+02] [-9.03838420e-01 4.27772600e-01 9.31194208e-03 1.90360839e+02] [-1.01157408e-02 3.93829984e-04 -9.99948757e-01 6.65410574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.85, Y:190.27, Z:6.65 [[-3.57177766e-01 -9.34030970e-01 3.19231741e-03 1.73848011e+02] [-9.33983487e-01 3.57191824e-01 9.42583496e-03 1.90268905e+02] [-9.94429145e-03 3.85126927e-04 -9.99950480e-01 6.65400026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.79, Y:190.17, Z:6.65 [[-2.84805545e-01 -9.58582046e-01 2.50271118e-03 1.73785929e+02] [-9.58532337e-01 2.84816282e-01 9.76955911e-03 1.90170651e+02] [-1.00777369e-02 3.83495007e-04 -9.99949145e-01 6.65448786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.650385723 meters Centerline goodness [0,1] 0.999830827465161 Centerline is valid? [True, True] Translation: X:173.73, Y:190.06, Z:6.66 [[-2.10603242e-01 -9.77569854e-01 1.85901860e-03 1.73732875e+02] [-9.77514004e-01 2.10611095e-01 1.04565147e-02 1.90064210e+02] [-1.06135035e-02 3.84959193e-04 -9.99943601e-01 6.65871739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.69, Y:189.95, Z:6.66 [[-1.35592957e-01 -9.90764201e-01 9.21142359e-04 1.73685027e+02] [-9.90718758e-01 1.35595567e-01 9.49653485e-03 1.89950713e+02] [-9.53372958e-03 3.75070226e-04 -9.99954483e-01 6.65610813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.65, Y:189.84, Z:6.66 [[-6.06287041e-02 -9.98160378e-01 1.42173362e-04 1.73647356e+02] [-9.98124213e-01 6.06277189e-02 8.50498297e-03 1.89840207e+02] [-8.49795666e-03 3.73739421e-04 -9.99963822e-01 6.65669099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.62, Y:189.73, Z:6.66 [[ 1.49034453e-02 -9.99888818e-01 -4.88822493e-04 1.73618643e+02] [-9.99858179e-01 -1.49068197e-02 7.83633847e-03 1.89730058e+02] [-7.84275400e-03 3.71964726e-04 -9.99969176e-01 6.65740084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.60, Y:189.61, Z:6.66 [[ 8.97563141e-02 -9.95963229e-01 -1.02510802e-03 1.73598810e+02] [-9.95937354e-01 -8.97613816e-02 7.18900700e-03 1.89611084e+02] [-7.25200174e-03 3.75684597e-04 -9.99973633e-01 6.65721791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.59, Y:189.49, Z:6.66 [[ 1.62980013e-01 -9.86628370e-01 -1.40506870e-03 1.73588837e+02] [-9.86609103e-01 -1.62985628e-01 6.17766664e-03 1.89489459e+02] [-6.32406718e-03 3.79417377e-04 -9.99979931e-01 6.65541248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.830385723 meters Centerline goodness [0,1] 0.9998517451711284 Centerline is valid? [True, True] Translation: X:173.59, Y:189.37, Z:6.66 [[ 2.36223749e-01 -9.71696404e-01 -2.10682562e-03 1.73586791e+02] [-9.71671646e-01 -2.36232796e-01 6.94833538e-03 1.89371239e+02] [-7.24937381e-03 4.05780885e-04 -9.99973641e-01 6.65832442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.59, Y:189.25, Z:6.66 [[ 3.07823901e-01 -9.51440281e-01 -2.41632797e-03 1.73593861e+02] [-9.51420506e-01 -3.07833116e-01 6.14763336e-03 1.89251349e+02] [-6.59293178e-03 4.06555499e-04 -9.99978184e-01 6.65606761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.61, Y:189.13, Z:6.66 [[ 3.78630739e-01 -9.25543656e-01 -2.77574542e-03 1.73608592e+02] [-9.25526104e-01 -3.78640696e-01 5.71431313e-03 1.89134390e+02] [-6.33985645e-03 4.05410246e-04 -9.99979821e-01 6.65665899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.63, Y:189.02, Z:6.66 [[ 4.47678330e-01 -8.94189350e-01 -3.08524610e-03 1.73631609e+02] [-8.94173943e-01 -4.47688781e-01 5.26453408e-03 1.89019388e+02] [-6.08872037e-03 4.01928839e-04 -9.99981383e-01 6.65701980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.66, Y:188.90, Z:6.66 [[ 5.14514281e-01 -8.57475625e-01 -3.25680516e-03 1.73663913e+02] [-8.57463018e-01 -5.14524440e-01 4.66624004e-03 1.88904678e+02] [-5.67689294e-03 3.91742838e-04 -9.99983810e-01 6.65745135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.70, Y:188.80, Z:6.66 [[ 5.78889508e-01 -8.15398261e-01 -3.55152245e-03 1.73698826e+02] [-8.15386807e-01 -5.78900275e-01 4.33907592e-03 1.88801390e+02] [-5.59405228e-03 3.84019028e-04 -9.99984279e-01 6.65816568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.74, Y:188.70, Z:6.66 [[ 6.40077124e-01 -7.68299636e-01 -4.11634111e-03 1.73741834e+02] [-7.68287447e-01 -6.40090246e-01 4.34454173e-03 1.88698944e+02] [-5.97273963e-03 3.81691425e-04 -9.99982090e-01 6.65880574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.79, Y:188.60, Z:6.66 [[ 6.98191836e-01 -7.15896950e-01 -4.44042849e-03 1.73794437e+02] [-7.15885698e-01 -6.98205860e-01 4.03034855e-03 1.88600285e+02] [-5.98564742e-03 3.64882798e-04 -9.99982019e-01 6.66058032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.070385723 meters Centerline goodness [0,1] 0.9999572512557444 Centerline is valid? [True, True] Translation: X:173.79, Y:188.59, Z:6.66 [[ 7.52883973e-01 -6.58134809e-01 -4.92918418e-03 1.73791800e+02] [-6.58123832e-01 -7.52900018e-01 3.81889052e-03 1.88586766e+02] [-6.22452764e-03 3.68832119e-04 -9.99980559e-01 6.66158118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.79, Y:188.58, Z:6.66 [[ 8.03006454e-01 -5.95948945e-01 -5.04872343e-03 1.73789862e+02] [-5.95939889e-01 -8.03022247e-01 3.30456563e-03 1.88575058e+02] [-6.02358963e-03 3.55148150e-04 -9.99981795e-01 6.66055363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.79, Y:188.56, Z:6.66 [[ 8.48387738e-01 -5.29347717e-01 -5.40738408e-03 1.73787325e+02] [-5.29339487e-01 -8.48404902e-01 2.97143948e-03 1.88559630e+02] [-6.16057587e-03 3.41409094e-04 -9.99980965e-01 6.66034457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.79, Y:188.54, Z:6.66 [[ 8.87439588e-01 -4.60891263e-01 -5.49733540e-03 1.73787216e+02] [-4.60884730e-01 -8.87456552e-01 2.47678724e-03 1.88544894e+02] [-6.02017592e-03 3.35638897e-04 -9.99981822e-01 6.66094593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.79, Y:188.53, Z:6.66 [[ 9.20808106e-01 -3.89977018e-01 -5.50984051e-03 1.73787778e+02] [-3.89972172e-01 -9.20824530e-01 1.97235256e-03 1.88529610e+02] [-5.84276847e-03 3.32526245e-04 -9.99982876e-01 6.66067828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.79, Y:188.51, Z:6.66 [[ 9.48459641e-01 -3.16847455e-01 -5.65689943e-03 1.73788969e+02] [-3.16843884e-01 -9.48476452e-01 1.54024762e-03 1.88514186e+02] [-5.85345944e-03 3.31491286e-04 -9.99982813e-01 6.66079005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.79, Y:188.50, Z:6.66 [[ 9.70143371e-01 -2.42492068e-01 -4.40869222e-03 1.73792573e+02] [-2.42491051e-01 -9.70153336e-01 7.71838993e-04 1.88502148e+02] [-4.46427230e-03 3.20273927e-04 -9.99989984e-01 6.65972287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.80, Y:188.49, Z:6.66 [[ 9.85977308e-01 -1.66833251e-01 -3.92607294e-03 1.73795741e+02] [-1.66833203e-01 -9.85985074e-01 3.42189419e-04 1.88491013e+02] [-3.92813789e-03 3.17608319e-04 -9.99992234e-01 6.65959276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.80, Y:188.48, Z:6.66 [[ 9.95874625e-01 -9.06927678e-02 -2.92454994e-03 1.73796965e+02] [-9.06932849e-02 -9.95878871e-01 -4.44329913e-05 1.88480343e+02] [-2.90846775e-03 3.09486730e-04 -9.99995723e-01 6.65861955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.80, Y:188.47, Z:6.66 [[ 9.99875896e-01 -1.56736079e-02 -1.59104871e-03 1.73799694e+02] [-1.56740590e-02 -9.99877118e-01 -2.71478173e-04 1.88470770e+02] [-1.58659815e-03 2.96382673e-04 -9.99998697e-01 6.65687915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37038572299997 meters Centerline goodness [0,1] 0.9999360681939264 Centerline is valid? [True, True] Translation: X:173.80, Y:188.46, Z:6.66 [[ 9.98111746e-01 6.14026758e-02 -1.62892454e-03 1.73801958e+02] [ 6.14021029e-02 -9.98113031e-01 -3.99473536e-04 1.88459435e+02] [-1.65037955e-03 2.98699836e-04 -9.99998594e-01 6.65690619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.400385723 meters Centerline goodness [0,1] 0.999978578467075 Centerline is valid? [True, True] Translation: X:173.80, Y:188.45, Z:6.66 [[ 9.90417169e-01 1.38088077e-01 -2.34845812e-03 1.73803748e+02] [ 1.38086929e-01 -9.90419903e-01 -6.44884460e-04 1.88452418e+02] [-2.41501052e-03 3.14413271e-04 -9.99997034e-01 6.65935070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.430385723 meters Centerline goodness [0,1] 0.9999571862824849 Centerline is valid? [True, True] Translation: X:173.81, Y:188.44, Z:6.66 [[ 9.76939830e-01 2.13492261e-01 -3.10203252e-03 1.73808399e+02] [ 2.13490083e-01 -9.76944698e-01 -1.02104135e-03 1.88439076e+02] [-3.24849865e-03 3.35242788e-04 -9.99994667e-01 6.65922460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.81, Y:188.43, Z:6.66 [[ 9.57536261e-01 2.88287960e-01 -3.78959207e-03 1.73814588e+02] [ 2.88284212e-01 -9.57543694e-01 -1.51231234e-03 1.88425014e+02] [-4.06468143e-03 3.55614341e-04 -9.99991676e-01 6.65905131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.82, Y:188.41, Z:6.66 [[ 9.32463059e-01 3.61241589e-01 -4.14219595e-03 1.73820047e+02] [ 3.61236225e-01 -9.32472185e-01 -2.00336864e-03 1.88413835e+02] [-4.58618258e-03 3.71756025e-04 -9.99989414e-01 6.66003747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.83, Y:188.40, Z:6.66 [[ 9.01484249e-01 4.32788298e-01 -4.52073952e-03 1.73827388e+02] [ 4.32780664e-01 -9.01495502e-01 -2.59963792e-03 1.88403234e+02] [-5.20051921e-03 3.87043985e-04 -9.99986402e-01 6.66043585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.83, Y:188.39, Z:6.66 [[ 8.64816078e-01 5.02068248e-01 -4.54157671e-03 1.73834903e+02] [ 5.02058890e-01 -8.64827914e-01 -3.09041991e-03 1.88393807e+02] [-5.47928402e-03 3.92505870e-04 -9.99984912e-01 6.66102254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.84, Y:188.38, Z:6.66 [[ 8.22808041e-01 5.68298130e-01 -4.91553495e-03 1.73843411e+02] [ 5.68284945e-01 -8.22822622e-01 -3.89279436e-03 1.88383962e+02] [-6.25688111e-03 4.09597989e-04 -9.99980342e-01 6.66115062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.85, Y:188.38, Z:6.66 [[ 7.75376026e-01 6.31479148e-01 -5.10919283e-03 1.73850647e+02] [ 6.31461781e-01 -7.75392745e-01 -4.70209613e-03 1.88376426e+02] [-6.93090671e-03 4.19632605e-04 -9.99975893e-01 6.66187041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.86, Y:188.37, Z:6.66 [[ 7.23423204e-01 6.90385186e-01 -5.21176595e-03 1.73858496e+02] [ 6.90362837e-01 -7.23441848e-01 -5.57192070e-03 1.88369735e+02] [-7.61718110e-03 4.32847208e-04 -9.99970895e-01 6.66253476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.670385723 meters Centerline goodness [0,1] 0.9999572055204878 Centerline is valid? [True, True] Translation: X:173.87, Y:188.36, Z:6.66 [[ 6.67370593e-01 7.44708451e-01 -5.08091421e-03 1.73867499e+02] [ 7.44681624e-01 -6.67389785e-01 -6.33666351e-03 1.88363620e+02] [-8.10991711e-03 4.45239434e-04 -9.99967015e-01 6.66300401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.87, Y:188.36, Z:6.66 [[ 6.07822969e-01 7.94054989e-01 -5.28325854e-03 1.73874647e+02] [ 7.94017865e-01 -6.07845739e-01 -7.69331778e-03 1.88358437e+02] [-9.32032356e-03 4.81173588e-04 -9.99956449e-01 6.66372072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.88, Y:188.35, Z:6.66 [[ 5.44711766e-01 8.38608563e-01 -4.97688116e-03 1.73884325e+02] [ 8.38564717e-01 -5.44734267e-01 -8.59033610e-03 1.88352599e+02] [-9.91500713e-03 5.05820206e-04 -9.99950717e-01 6.66309058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.89, Y:188.35, Z:6.66 [[ 4.78613322e-01 8.78015162e-01 -4.32005845e-03 1.73894126e+02] [ 8.77969056e-01 -4.78632535e-01 -9.01294092e-03 1.88348291e+02] [-9.98121932e-03 5.20835953e-04 -9.99950051e-01 6.66172787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.90, Y:188.34, Z:6.66 [[ 4.11325319e-01 9.11482354e-01 -3.37652428e-03 1.73900654e+02] [ 9.11440202e-01 -4.11338830e-01 -8.78209417e-03 1.88344220e+02] [-9.39361941e-03 5.34797716e-04 -9.99955736e-01 6.66061993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.820385723 meters Centerline goodness [0,1] 0.9999785006342313 Centerline is valid? [True, True] Translation: X:173.91, Y:188.34, Z:6.66 [[ 3.39586778e-01 9.40570858e-01 -2.69843625e-03 1.73914619e+02] [ 9.40527205e-01 -3.39597062e-01 -9.07809284e-03 1.88339273e+02] [-9.45497059e-03 5.44847590e-04 -9.99955152e-01 6.65933485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.93, Y:188.34, Z:6.66 [[ 2.65664896e-01 9.64063409e-01 -1.97676213e-03 1.73925832e+02] [ 9.64019216e-01 -2.65671678e-01 -9.24723267e-03 1.88335280e+02] [-9.44008836e-03 5.51028429e-04 -9.99955290e-01 6.65933078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.880385723 meters Centerline goodness [0,1] 0.9999355019026939 Centerline is valid? [True, True] Translation: X:173.94, Y:188.33, Z:6.66 [[ 1.89959997e-01 9.81791017e-01 -1.26446254e-03 1.73939008e+02] [ 9.81745407e-01 -1.89963382e-01 -9.47990029e-03 1.88333039e+02] [-9.54748252e-03 5.59421542e-04 -9.99954265e-01 6.65903552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.95, Y:188.33, Z:6.66 [[ 1.13200450e-01 9.93572016e-01 -5.54543740e-04 1.73950433e+02] [ 9.93522008e-01 -1.13200325e-01 -9.98531728e-03 1.88330393e+02] [-9.98390635e-03 5.79390997e-04 -9.99949992e-01 6.65874339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.96, Y:188.33, Z:6.66 [[ 3.50426144e-02 9.99385793e-01 2.29390196e-04 1.73961457e+02] [ 9.99339969e-01 -3.50388071e-02 -9.58691187e-03 1.88329020e+02] [-9.57298596e-03 5.65189247e-04 -9.99954018e-01 6.65811426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.98, Y:188.33, Z:6.66 [[-4.33284423e-02 9.99060412e-01 9.69459758e-04 1.73978628e+02] [ 9.99016219e-01 4.33356603e-02 -9.41349488e-03 1.88329439e+02] [-9.44666224e-03 5.60633953e-04 -9.99955222e-01 6.65633314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.99, Y:188.33, Z:6.66 [[-1.21507765e-01 9.92589156e-01 1.62217069e-03 1.73989429e+02] [ 9.92550363e-01 1.21517385e-01 -8.79218899e-03 1.88329238e+02] [-8.92415339e-03 5.41766873e-04 -9.99960032e-01 6.65724765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.030385723 meters Centerline goodness [0,1] 0.9999785080272519 Centerline is valid? [True, True] Translation: X:174.00, Y:188.33, Z:6.66 [[-1.99221365e-01 9.79951360e-01 2.48605330e-03 1.74001062e+02] [ 9.79906424e-01 1.99236080e-01 -9.40134036e-03 1.88331400e+02] [-9.70816778e-03 5.63151744e-04 -9.99952716e-01 6.65676838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.02, Y:188.34, Z:6.66 [[-2.75401280e-01 9.61322852e-01 3.53678799e-03 1.74017590e+02] [ 9.61269103e-01 2.75423346e-01 -1.01829036e-02 1.88336195e+02] [-1.07631719e-02 5.95420322e-04 -9.99941898e-01 6.65583057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.03, Y:188.34, Z:6.66 [[-3.49833245e-01 9.36801433e-01 4.44708442e-03 1.74031729e+02] [ 9.36746325e-01 3.49860986e-01 -1.01790337e-02 1.88342191e+02] [-1.10915947e-02 6.04825593e-04 -9.99938303e-01 6.65559518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.04, Y:188.35, Z:6.66 [[-4.22267114e-01 9.06456010e-01 5.29027360e-03 1.74044010e+02] [ 9.06401949e-01 4.22299815e-01 -9.91828037e-03 1.88346674e+02] [-1.12245664e-02 6.06950677e-04 -9.99936818e-01 6.65637662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.150385723 meters Centerline goodness [0,1] 0.9999785135686814 Centerline is valid? [True, True] Translation: X:174.06, Y:188.35, Z:6.66 [[-4.91809957e-01 8.70680362e-01 6.21883348e-03 1.74056534e+02] [ 8.70625959e-01 4.91848886e-01 -9.75260401e-03 1.88354632e+02] [-1.15501271e-02 6.17850105e-04 -9.99933104e-01 6.65622272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.07, Y:188.36, Z:6.66 [[-5.58472332e-01 8.29494028e-01 6.95074932e-03 1.74069856e+02] [ 8.29443019e-01 5.58515245e-01 -9.21951513e-03 1.88364251e+02] [-1.15296322e-02 6.16406390e-04 -9.99933342e-01 6.65605424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.08, Y:188.37, Z:6.66 [[-6.20675026e-01 7.84026208e-01 8.08814869e-03 1.74078800e+02] [ 7.83972923e-01 6.20727379e-01 -9.16394116e-03 1.88371263e+02] [-1.22053054e-02 6.53060154e-04 -9.99925299e-01 6.65664348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.09, Y:188.38, Z:6.66 [[-6.79492960e-01 7.33627897e-01 8.91211950e-03 1.74086222e+02] [ 7.33577387e-01 6.79551071e-01 -8.63474030e-03 1.88378911e+02] [-1.23909267e-02 6.70484091e-04 -9.99923005e-01 6.65601572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.09, Y:188.39, Z:6.66 [[-7.33344029e-01 6.79800475e-01 8.82321898e-03 1.74092897e+02] [ 6.79761853e-01 7.33396807e-01 -7.27641368e-03 1.88386980e+02] [-1.14174301e-02 6.61573161e-04 -9.99934600e-01 6.65542523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.11, Y:188.41, Z:6.65 [[-7.77111986e-01 6.29308754e-01 8.21293849e-03 1.74112959e+02] [ 6.29281960e-01 7.77155130e-01 -5.84114497e-03 1.88407370e+02] [-1.00586109e-02 6.29030263e-04 -9.99949213e-01 6.65399052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.50, Y:188.93, Z:5.68 [[-7.86696315e-01 -6.17223154e-01 1.20202575e-02 1.74502251e+02] [ 6.17140772e-01 -7.86787965e-01 -1.00978138e-02 1.88931283e+02] [ 1.56899984e-02 -5.25721897e-04 9.99876766e-01 5.67872258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.49, Y:188.90, Z:5.68 [[-7.44361995e-01 -6.67690128e-01 1.07290984e-02 1.74486777e+02] [ 6.67610834e-01 -7.44439143e-01 -1.03022867e-02 1.88901030e+02] [ 1.48658960e-02 -5.05768337e-04 9.99889369e-01 5.67932131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.03, Y:188.44, Z:6.65 [[-7.33659499e-01 6.79488127e-01 6.29473346e-03 1.74029859e+02] [ 6.79469558e-01 7.33686283e-01 -5.05550049e-03 1.88436913e+02] [-8.05351215e-03 5.68063803e-04 -9.99967409e-01 6.65253589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.04, Y:188.46, Z:6.65 [[-7.80549264e-01 6.25064564e-01 6.09405306e-03 1.74041073e+02] [ 6.25050679e-01 7.80572872e-01 -4.20002001e-03 1.88461219e+02] [-7.38213618e-03 5.30769473e-04 -9.99972611e-01 6.65419957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.06, Y:188.49, Z:6.65 [[-8.24596779e-01 5.65692012e-01 5.71847614e-03 1.74059261e+02] [ 5.65682329e-01 8.24616469e-01 -3.34400895e-03 1.88494031e+02] [-6.60722875e-03 4.77381893e-04 -9.99978058e-01 6.65435010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.40, Y:189.03, Z:5.68 [[-8.29550004e-01 -5.58341495e-01 1.00779861e-02 1.74399475e+02] [ 5.58295290e-01 -8.29611150e-01 -7.19093085e-03 1.89033111e+02] [ 1.23758047e-02 -3.38744568e-04 9.99923359e-01 5.67814572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.02, Y:188.52, Z:6.65 [[-8.28733753e-01 5.59620463e-01 5.03029715e-03 1.74024219e+02] [ 5.59613182e-01 8.28748911e-01 -2.88586091e-03 1.88524830e+02] [-5.78384011e-03 4.23410252e-04 -9.99983184e-01 6.65458737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.04, Y:188.55, Z:6.66 [[-8.66994488e-01 4.98292559e-01 5.00836001e-03 1.74036428e+02] [ 4.98286901e-01 8.67008858e-01 -2.40905765e-03 1.88554687e+02] [-5.54270799e-03 4.06960491e-04 -9.99984556e-01 6.65529485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.04, Y:188.59, Z:6.66 [[-9.01478754e-01 4.32795034e-01 4.95126593e-03 1.74044057e+02] [ 4.32790793e-01 9.01492270e-01 -1.95350112e-03 1.88588061e+02] [-5.30899355e-03 3.81822557e-04 -9.99985834e-01 6.65697815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.600385723 meters Centerline goodness [0,1] 0.9999575371549894 Centerline is valid? [True, True] Translation: X:174.29, Y:189.15, Z:5.68 [[-8.98563943e-01 -4.38729090e-01 9.98126721e-03 1.74289970e+02] [ 4.38699666e-01 -8.98619357e-01 -5.08463633e-03 1.89145553e+02] [ 1.12001378e-02 -1.90092274e-04 9.99937258e-01 5.67525954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.00, Y:188.61, Z:6.66 [[-9.04198703e-01 4.27093641e-01 3.96580408e-03 1.74002229e+02] [ 4.27091138e-01 9.04207337e-01 -1.50046777e-03 1.88610927e+02] [-4.22674939e-03 3.37038768e-04 -9.99991010e-01 6.65741234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.01, Y:188.64, Z:6.66 [[-9.32393441e-01 3.61425633e-01 3.73947319e-03 1.74005796e+02] [ 3.61424099e-01 9.32400883e-01 -1.10167422e-03 1.88640249e+02] [-3.88486141e-03 3.24341915e-04 -9.99992401e-01 6.65797873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.01, Y:188.67, Z:6.66 [[-9.55786031e-01 2.94035728e-01 4.00669115e-03 1.74011002e+02] [ 2.94034567e-01 9.55794373e-01 -8.89086410e-04 1.88670162e+02] [-4.09099602e-03 3.28329326e-04 -9.99991578e-01 6.65802296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.01, Y:188.71, Z:6.66 [[-9.74608140e-01 2.23874815e-01 4.36359275e-03 1.74011593e+02] [ 2.23874070e-01 9.74617853e-01 -6.64674613e-04 1.88705036e+02] [-4.40163930e-03 3.29097981e-04 -9.99990259e-01 6.65914401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.01, Y:188.73, Z:6.66 [[-9.88222096e-01 1.52962826e-01 4.41160922e-03 1.74006772e+02] [ 1.52962757e-01 9.88231890e-01 -3.55114715e-04 1.88733930e+02] [-4.41401227e-03 3.23879700e-04 -9.99990206e-01 6.66056466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.08, Y:189.32, Z:5.67 [[-9.84996390e-01 -1.72246444e-01 1.06430346e-02 1.74080341e+02] [ 1.72235759e-01 -9.85053887e-01 -1.91941397e-03 1.89321121e+02] [ 1.08145748e-02 -5.75047000e-05 9.99941519e-01 5.67427581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.95, Y:188.75, Z:6.66 [[-9.89406912e-01 1.45100767e-01 4.44184644e-03 1.73950091e+02] [ 1.45100692e-01 9.89416835e-01 -3.40780406e-04 1.88748692e+02] [-4.44428514e-03 3.07344502e-04 -9.99990077e-01 6.66010329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.02, Y:189.33, Z:5.67 [[-9.85013235e-01 -1.72184018e-01 1.00792283e-02 1.74018097e+02] [ 1.72174552e-01 -9.85064801e-01 -1.80591211e-03 1.89325180e+02] [ 1.02396422e-02 -4.34607133e-05 9.99947573e-01 5.67464303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.89, Y:188.76, Z:6.66 [[-9.90371456e-01 1.38377268e-01 4.01377478e-03 1.73891668e+02] [ 1.38377296e-01 9.90379549e-01 -2.72000493e-04 1.88755950e+02] [-4.01279914e-03 2.86033775e-04 -9.99991908e-01 6.66032478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.95, Y:189.33, Z:5.67 [[-9.85320004e-01 -1.70430131e-01 9.90256177e-03 1.73954450e+02] [ 1.70421541e-01 -9.85369763e-01 -1.71109356e-03 1.89332469e+02] [ 1.00493068e-02 1.63512621e-06 9.99949504e-01 5.67478489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.84, Y:188.76, Z:6.66 [[-9.91004604e-01 1.33782527e-01 3.47989641e-03 1.73836362e+02] [ 1.33782667e-01 9.91010676e-01 -1.93494595e-04 1.88762045e+02] [-3.47450069e-03 2.73795790e-04 -9.99993926e-01 6.66104559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.83, Y:188.79, Z:6.66 [[-9.98006444e-01 6.29727558e-02 4.19152593e-03 1.73830620e+02] [ 6.29733937e-02 9.98015206e-01 2.02537491e-05 1.88790936e+02] [-4.18193118e-03 2.84167985e-04 -9.99991215e-01 6.66226542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.82, Y:188.82, Z:6.66 [[-9.99957509e-01 -7.55102593e-03 5.28799796e-03 1.73821154e+02] [-7.54930153e-03 9.99971444e-01 3.45982747e-04 1.88820628e+02] [-5.29045948e-03 3.06047355e-04 -9.99985959e-01 6.66213240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.81, Y:188.85, Z:6.66 [[-9.96886728e-01 -7.86101973e-02 6.10642899e-03 1.73807646e+02] [-7.86067397e-02 9.96905378e-01 8.04554567e-04 1.88848080e+02] [-6.15077810e-03 3.22043296e-04 -9.99981032e-01 6.66247011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.79, Y:188.87, Z:6.66 [[-9.88929380e-01 -1.48237737e-01 6.65237452e-03 1.73791686e+02] [-1.48232044e-01 9.88951696e-01 1.34351947e-03 1.88873347e+02] [-6.77803735e-03 3.42550806e-04 -9.99976970e-01 6.66330085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.76, Y:188.90, Z:6.66 [[-9.75726528e-01 -2.18894708e-01 6.54592827e-03 1.73762015e+02] [-2.18887408e-01 9.75748425e-01 1.82044201e-03 1.88897252e+02] [-6.78566432e-03 3.43432297e-04 -9.99976918e-01 6.66344113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.59, Y:189.46, Z:5.67 [[-9.81428317e-01 1.91421100e-01 1.25068337e-02 1.73590212e+02] [-1.91406434e-01 -9.81508002e-01 2.37045486e-03 1.89461064e+02] [ 1.27293125e-02 -6.74569197e-05 9.99918977e-01 5.67341931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.63, Y:188.86, Z:6.66 [[-9.75258349e-01 -2.20999989e-01 5.49165116e-03 1.73625992e+02] [-2.20994436e-01 9.75273747e-01 1.60570814e-03 1.88861441e+02] [-5.71072468e-03 3.52355915e-04 -9.99983632e-01 6.66348069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.58, Y:188.88, Z:6.66 [[-9.57122531e-01 -2.89625941e-01 5.76845453e-03 1.73582436e+02] [-2.89618353e-01 9.57139844e-01 2.12815129e-03 1.88876246e+02] [-6.13758549e-03 3.66251248e-04 -9.99981098e-01 6.66432369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.52, Y:188.88, Z:6.66 [[-9.33816515e-01 -3.57707133e-01 5.68535900e-03 1.73518241e+02] [-3.57697990e-01 9.33833744e-01 2.58581138e-03 1.88881531e+02] [-6.23414325e-03 3.81031888e-04 -9.99980495e-01 6.66474681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.45, Y:188.88, Z:6.67 [[-9.05458474e-01 -4.24396341e-01 5.71822955e-03 1.73448177e+02] [-4.24385069e-01 9.05476443e-01 3.11849334e-03 1.88878759e+02] [-6.50119931e-03 3.96934974e-04 -9.99978788e-01 6.66516514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.37, Y:188.87, Z:6.67 [[-8.72687212e-01 -4.88243418e-01 5.94939211e-03 1.73368816e+02] [-4.88228654e-01 8.72707385e-01 3.82124696e-03 1.88865541e+02] [-7.05777711e-03 4.30089649e-04 -9.99975001e-01 6.66542494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.29, Y:188.85, Z:6.67 [[-8.34495697e-01 -5.50983538e-01 5.83724061e-03 1.73287756e+02] [-5.50966241e-01 8.34515993e-01 4.38848727e-03 1.88846077e+02] [-7.28925488e-03 4.46051218e-04 -9.99973334e-01 6.66600242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.20, Y:188.81, Z:6.67 [[-7.91852998e-01 -6.10684606e-01 5.75689832e-03 1.73198693e+02] [-6.10664050e-01 7.91873785e-01 5.03253235e-03 1.88810621e+02] [-7.63202690e-03 4.69494985e-04 -9.99970765e-01 6.66645901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.11, Y:188.77, Z:6.67 [[-7.43816269e-01 -6.68363632e-01 5.23585579e-03 1.73111075e+02] [-6.68342531e-01 7.43834550e-01 5.33135613e-03 1.88770385e+02] [-7.45789499e-03 4.66204316e-04 -9.99972081e-01 6.66613549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.02, Y:188.72, Z:6.67 [[-6.91399141e-01 -7.22456606e-01 4.86622568e-03 1.73018991e+02] [-7.22433773e-01 6.91416106e-01 5.76296382e-03 1.88719079e+02] [-7.52807809e-03 4.68982457e-04 -9.99971554e-01 6.66507739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.93, Y:188.66, Z:6.66 [[-6.33988858e-01 -7.73332317e-01 3.90581468e-03 1.72931843e+02] [-7.73313236e-01 6.34000740e-01 5.44984889e-03 1.88656774e+02] [-6.69083367e-03 4.34725289e-04 -9.99977522e-01 6.66386317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.85, Y:188.59, Z:6.66 [[-5.72781165e-01 -8.19701972e-01 3.22727474e-03 1.72846689e+02] [-8.19684669e-01 5.72790106e-01 5.34201879e-03 1.88586880e+02] [-6.22741437e-03 4.14460117e-04 -9.99980524e-01 6.66346078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.76, Y:188.50, Z:6.66 [[-5.06691837e-01 -8.62123489e-01 2.54398924e-03 1.72763119e+02] [-8.62108591e-01 5.06698079e-01 5.08277316e-03 1.88503394e+02] [-5.67101259e-03 3.82204685e-04 -9.99983847e-01 6.66360216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.500385723 meters Centerline goodness [0,1] 0.9998075319176236 Centerline is valid? [True, True] Translation: X:172.69, Y:188.42, Z:6.66 [[-4.38248246e-01 -8.98851678e-01 2.03393889e-03 1.72687366e+02] [-8.98837800e-01 4.38252812e-01 5.00824800e-03 1.88416140e+02] [-5.39305156e-03 3.66674743e-04 -9.99985390e-01 6.66366066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.530385723 meters Centerline goodness [0,1] 0.9998294170327093 Centerline is valid? [True, True] Translation: X:172.62, Y:188.32, Z:6.66 [[-3.67554929e-01 -9.30000215e-01 1.72478206e-03 1.72617095e+02] [-9.29984815e-01 3.67558792e-01 5.36466228e-03 1.88318802e+02] [-5.62309588e-03 3.67786934e-04 -9.99984123e-01 6.66337127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.560385723 meters Centerline goodness [0,1] 0.9998710148977793 Centerline is valid? [True, True] Translation: X:172.55, Y:188.21, Z:6.66 [[-2.95061798e-01 -9.55477310e-01 1.28253436e-03 1.72554624e+02] [-9.55462218e-01 2.95064363e-01 5.38261113e-03 1.88213109e+02] [-5.52139299e-03 3.62789793e-04 -9.99984691e-01 6.66289600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.590385723 meters Centerline goodness [0,1] 0.9998926301322797 Centerline is valid? [True, True] Translation: X:172.50, Y:188.11, Z:6.66 [[-2.21631073e-01 -9.75130216e-01 8.54017994e-04 1.72497742e+02] [-9.75115334e-01 2.21632419e-01 5.39963851e-03 1.88105551e+02] [-5.45462874e-03 3.63961633e-04 -9.99985057e-01 6.66233428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.62038572299997 meters Centerline goodness [0,1] 0.9998498369658486 Centerline is valid? [True, True] Translation: X:172.45, Y:187.99, Z:6.66 [[-1.48599231e-01 -9.88897412e-01 4.20852075e-04 1.72451913e+02] [-9.88883259e-01 1.48599362e-01 5.30373668e-03 1.87992248e+02] [-5.30738983e-03 3.71957621e-04 -9.99985847e-01 6.66137951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.650385723 meters Centerline goodness [0,1] 0.9997857984363285 Centerline is valid? [True, True] Translation: X:172.42, Y:187.88, Z:6.66 [[-7.28517049e-02 -9.97342784e-01 1.14981397e-05 1.72417683e+02] [-9.97328917e-01 7.28507527e-02 5.27242776e-03 1.87876497e+02] [-5.25925543e-03 3.72637924e-04 -9.99986101e-01 6.66196925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.680385723 meters Centerline goodness [0,1] 0.999699409554482 Centerline is valid? [True, True] Translation: X:172.38, Y:187.75, Z:6.66 [[ 4.08143111e-03 -9.99991600e-01 -3.77221117e-04 1.72383976e+02] [-9.99980058e-01 -4.08320141e-03 4.81783807e-03 1.87753107e+02] [-4.81933787e-03 3.57549920e-04 -9.99988323e-01 6.66057320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.36, Y:187.63, Z:6.66 [[ 8.14978263e-02 -9.96673270e-01 -7.05479039e-04 1.72363322e+02] [-9.96663527e-01 -8.15001584e-02 4.42021506e-03 1.87629458e+02] [-4.46300685e-03 3.42887308e-04 -9.99989982e-01 6.66066006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.35, Y:187.51, Z:6.66 [[ 1.59963040e-01 -9.87122261e-01 -1.21131800e-03 1.72350818e+02] [-9.87108364e-01 -1.59967230e-01 5.24997103e-03 1.87506251e+02] [-5.37613446e-03 3.55900808e-04 -9.99985485e-01 6.66211023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.35, Y:187.38, Z:6.66 [[ 2.36328383e-01 -9.71671370e-01 -1.90918660e-03 1.72348495e+02] [-9.71651328e-01 -2.36335793e-01 6.25220737e-03 1.87379473e+02] [-6.52630003e-03 3.77489639e-04 -9.99978632e-01 6.66331052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.800385723 meters Centerline goodness [0,1] 0.9998281565493835 Centerline is valid? [True, True] Translation: X:172.35, Y:187.26, Z:6.67 [[ 3.11821703e-01 -9.50136448e-01 -2.82052607e-03 1.72353917e+02] [-9.50108268e-01 -3.11834210e-01 7.32833581e-03 1.87256985e+02] [-7.84245547e-03 3.94670981e-04 -9.99969170e-01 6.66523539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.37, Y:187.14, Z:6.67 [[ 3.83748623e-01 -9.23431696e-01 -3.30108105e-03 1.72370412e+02] [-9.23405757e-01 -3.83762624e-01 6.93227989e-03 1.87135542e+02] [-7.66831850e-03 3.87984382e-04 -9.99970523e-01 6.66567821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.860385723 meters Centerline goodness [0,1] 0.9998929290333634 Centerline is valid? [True, True] Translation: X:172.40, Y:187.02, Z:6.67 [[ 4.53423670e-01 -8.91286818e-01 -3.84497863e-03 1.72395632e+02] [-8.91261674e-01 -4.53439807e-01 6.70595638e-03 1.87019070e+02] [-7.72039689e-03 3.86242739e-04 -9.99970123e-01 6.66604150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.43, Y:186.90, Z:6.67 [[ 5.20246330e-01 -8.54003941e-01 -4.58530747e-03 1.72429790e+02] [-8.53977198e-01 -5.20266388e-01 6.76986290e-03 1.86904860e+02] [-8.16707095e-03 3.93751702e-04 -9.99966571e-01 6.66610235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.920385723 meters Centerline goodness [0,1] 0.9999571670271775 Centerline is valid? [True, True] Translation: X:172.47, Y:186.80, Z:6.67 [[ 5.83989807e-01 -8.11744650e-01 -5.15065412e-03 1.72468510e+02] [-8.11718825e-01 -5.84012388e-01 6.48690810e-03 1.86796953e+02] [-8.27375876e-03 3.92594698e-04 -9.99965695e-01 6.66649016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.51, Y:186.69, Z:6.67 [[ 6.44672167e-01 -7.64437068e-01 -5.81089357e-03 1.72512006e+02] [-7.64411333e-01 -6.44698237e-01 6.28465918e-03 1.86692727e+02] [-8.55049927e-03 3.90368056e-04 -9.99963368e-01 6.66618352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.56, Y:186.59, Z:6.67 [[ 7.01348846e-01 -7.12788209e-01 -6.53960107e-03 1.72562424e+02] [-7.12762286e-01 -7.01379226e-01 6.09142691e-03 1.86594774e+02] [-8.92863761e-03 3.88965779e-04 -9.99960063e-01 6.66661530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.010385723 meters Centerline goodness [0,1] 0.9999143358889793 Centerline is valid? [True, True] Translation: X:172.56, Y:186.58, Z:6.67 [[ 7.55966716e-01 -6.54569918e-01 -7.24887473e-03 1.72558694e+02] [-6.54544648e-01 -7.56001371e-01 5.76466420e-03 1.86583149e+02] [-9.25353501e-03 3.86817887e-04 -9.99957110e-01 6.66707584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.56, Y:186.57, Z:6.67 [[ 8.04886070e-01 -5.93381586e-01 -7.53039382e-03 1.72556924e+02] [-5.93359989e-01 -8.04921206e-01 5.07698924e-03 1.86572336e+02] [-9.07396560e-03 3.81836473e-04 -9.99958758e-01 6.66671572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.070385723 meters Centerline goodness [0,1] 0.9999361240045991 Centerline is valid? [True, True] Translation: X:172.56, Y:186.56, Z:6.67 [[ 8.49210682e-01 -5.28009488e-01 -6.87002457e-03 1.72556627e+02] [-5.27995522e-01 -8.49238398e-01 3.85646647e-03 1.86562812e+02] [-7.87053954e-03 3.52389690e-04 -9.99968965e-01 6.66628716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.55, Y:186.55, Z:6.67 [[ 8.88201668e-01 -4.59398261e-01 -7.14389299e-03 1.72553639e+02] [-4.59386503e-01 -8.88230329e-01 3.30496147e-03 1.86546176e+02] [-7.86371597e-03 3.46335731e-04 -9.99969021e-01 6.66551850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.130385723 meters Centerline goodness [0,1] 0.9998937007037013 Centerline is valid? [True, True] Translation: X:172.55, Y:186.53, Z:6.67 [[ 9.21723209e-01 -3.87773931e-01 -7.59640316e-03 1.72552932e+02] [-3.87763802e-01 -9.21754447e-01 2.82357282e-03 1.86533836e+02] [-8.09692633e-03 3.43057568e-04 -9.99967161e-01 6.66768818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.55, Y:186.53, Z:6.67 [[ 9.49657260e-01 -3.13182442e-01 -8.23688392e-03 1.72554814e+02] [-3.13173723e-01 -9.49692921e-01 2.36116711e-03 1.86526119e+02] [-8.56198643e-03 3.37276111e-04 -9.99963289e-01 6.66913562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.190385723 meters Centerline goodness [0,1] 0.999872201750836 Centerline is valid? [True, True] Translation: X:172.56, Y:186.51, Z:6.67 [[ 9.71265452e-01 -2.37731147e-01 -1.12837521e-02 1.72556436e+02] [-2.37719608e-01 -9.71330921e-01 2.37252946e-03 1.86510873e+02] [-1.15242815e-02 3.78013230e-04 -9.99933522e-01 6.66822026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.56, Y:186.50, Z:6.67 [[ 9.86992283e-01 -1.60525023e-01 -8.82897527e-03 1.72558598e+02] [-1.60521625e-01 -9.87031714e-01 1.09679395e-03 1.86501771e+02] [-8.89054147e-03 3.34714290e-04 -9.99960422e-01 6.67009914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.250385723 meters Centerline goodness [0,1] 0.9998726493186738 Centerline is valid? [True, True] Translation: X:172.56, Y:186.49, Z:6.67 [[ 9.96443189e-01 -8.37747030e-02 -9.09786638e-03 1.72559545e+02] [-8.37743807e-02 -9.96484661e-01 4.17175787e-04 1.86486281e+02] [-9.10083307e-03 3.46476151e-04 -9.99958527e-01 6.66817709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.56, Y:186.47, Z:6.67 [[ 9.99928468e-01 -6.70732412e-03 -9.90302831e-03 1.72561440e+02] [-6.71065944e-03 -9.99977437e-01 -3.03607320e-04 1.86473433e+02] [-9.90076848e-03 3.70041453e-04 -9.99950918e-01 6.66827723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.310385723 meters Centerline goodness [0,1] 0.9998088522640387 Centerline is valid? [True, True] Translation: X:172.56, Y:186.46, Z:6.67 [[ 9.97466490e-01 7.03329870e-02 -1.06711090e-02 1.72564563e+02] [ 7.03247058e-02 -9.97523490e-01 -1.14976684e-03 1.86461933e+02] [-1.07255484e-02 3.96411291e-04 -9.99942401e-01 6.66868181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.340385723 meters Centerline goodness [0,1] 0.9999149786383829 Centerline is valid? [True, True] Translation: X:172.57, Y:186.45, Z:6.67 [[ 9.89326563e-01 1.45231363e-01 -1.18660651e-02 1.72567758e+02] [ 1.45215376e-01 -9.89397616e-01 -2.20250973e-03 1.86450654e+02] [-1.20601301e-02 4.55866260e-04 -9.99927170e-01 6.66897360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37038572299997 meters Centerline goodness [0,1] 0.9999146830475215 Centerline is valid? [True, True] Translation: X:172.57, Y:186.44, Z:6.67 [[ 9.75253974e-01 2.20773379e-01 -1.17814295e-02 1.72570563e+02] [ 2.20751342e-01 -9.75325017e-01 -3.15547413e-03 1.86440004e+02] [-1.21873676e-02 4.76622307e-04 -9.99925618e-01 6.67002151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.58, Y:186.43, Z:6.67 [[ 9.55410987e-01 2.95048187e-01 -1.16796001e-02 1.72575719e+02] [ 2.95019726e-01 -9.55482244e-01 -4.12821563e-03 1.86427540e+02] [-1.23776730e-02 4.98430155e-04 -9.99923269e-01 6.66974793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.430385723 meters Centerline goodness [0,1] 0.9999571963616908 Centerline is valid? [True, True] Translation: X:172.58, Y:186.42, Z:6.67 [[ 9.30395611e-01 3.66404803e-01 -1.05606569e-02 1.72579854e+02] [ 3.66374930e-01 -9.30455405e-01 -4.70636419e-03 1.86419716e+02] [-1.15506547e-02 5.09620662e-04 -9.99933159e-01 6.67028668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.460385723 meters Centerline goodness [0,1] 0.9999142201539748 Centerline is valid? [True, True] Translation: X:172.59, Y:186.41, Z:6.67 [[ 8.99356473e-01 4.37095679e-01 -1.02616856e-02 1.72586901e+02] [ 4.37060488e-01 -8.99414860e-01 -5.57125591e-03 1.86408587e+02] [-1.16646844e-02 5.25567738e-04 -9.99931827e-01 6.66892308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.490385723 meters Centerline goodness [0,1] 0.999850936967632 Centerline is valid? [True, True] Translation: X:172.59, Y:186.40, Z:6.67 [[ 8.63702223e-01 5.03930695e-01 -8.50439496e-03 1.72591822e+02] [ 5.03900380e-01 -8.63743941e-01 -5.55084760e-03 1.86401176e+02] [-1.01428621e-02 5.08911560e-04 -9.99948430e-01 6.66785916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.520385723 meters Centerline goodness [0,1] 0.9998289611528018 Centerline is valid? [True, True] Translation: X:172.60, Y:186.39, Z:6.67 [[ 8.22138121e-01 5.69234966e-01 -7.77581805e-03 1.72599323e+02] [ 5.69203565e-01 -8.22174736e-01 -6.00041778e-03 1.86393451e+02] [-9.80872877e-03 5.07148846e-04 -9.99951765e-01 6.66740028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.550385723 meters Centerline goodness [0,1] 0.999828785446763 Centerline is valid? [True, True] Translation: X:172.61, Y:186.38, Z:6.67 [[ 7.75258990e-01 6.31602953e-01 -7.15598814e-03 1.72609059e+02] [ 6.31569913e-01 -7.75291852e-01 -6.47991645e-03 1.86383784e+02] [-9.64071366e-03 5.04106679e-04 -9.99953400e-01 6.66703918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.580385723 meters Centerline goodness [0,1] 0.9998926301322797 Centerline is valid? [True, True] Translation: X:172.62, Y:186.38, Z:6.67 [[ 7.23728458e-01 6.90050537e-01 -6.88297345e-03 1.72615748e+02] [ 6.90012332e-01 -7.23761001e-01 -7.27984666e-03 1.86376548e+02] [-1.00050899e-02 5.19295641e-04 -9.99949813e-01 6.66778746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.610385723 meters Centerline goodness [0,1] 0.9997851403033818 Centerline is valid? [True, True] Translation: X:172.62, Y:186.37, Z:6.67 [[ 6.67872976e-01 7.44243780e-01 -6.84715322e-03 1.72624536e+02] [ 7.44195951e-01 -6.67907847e-01 -8.45548354e-03 1.86369444e+02] [-1.08662084e-02 5.51565256e-04 -9.99940809e-01 6.66740438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.640385723 meters Centerline goodness [0,1] 0.9998062766369624 Centerline is valid? [True, True] Translation: X:172.63, Y:186.36, Z:6.67 [[ 6.08499734e-01 7.93527246e-01 -6.52562675e-03 1.72631252e+02] [ 7.93470947e-01 -6.08534443e-01 -9.47041382e-03 1.86364527e+02] [-1.14861000e-02 5.84849056e-04 -9.99933862e-01 6.66731745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.670385723 meters Centerline goodness [0,1] 0.9999142697929615 Centerline is valid? [True, True] Translation: X:172.64, Y:186.36, Z:6.67 [[ 5.45141765e-01 8.38322323e-01 -6.01157935e-03 1.72640527e+02] [ 8.38258502e-01 -5.45174569e-01 -1.03620602e-02 1.86359462e+02] [-1.19641065e-02 6.09534259e-04 -9.99928242e-01 6.66734609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.700385723 meters Centerline goodness [0,1] 0.999956938314135 Centerline is valid? [True, True] Translation: X:172.65, Y:186.35, Z:6.67 [[ 4.79009455e-01 8.77794219e-01 -5.22019078e-03 1.72650612e+02] [ 8.77727062e-01 -4.79037487e-01 -1.08761511e-02 1.86354384e+02] [-1.20476896e-02 6.27876489e-04 -9.99927227e-01 6.66719052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.66, Y:186.35, Z:6.67 [[ 4.10141785e-01 9.12010512e-01 -4.53240881e-03 1.72657533e+02] [ 9.11935780e-01 -4.10166292e-01 -1.16938520e-02 1.86350203e+02] [-1.25239573e-02 6.62871587e-04 -9.99921352e-01 6.66810973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.67, Y:186.35, Z:6.67 [[ 3.38008094e-01 9.41135566e-01 -3.79147749e-03 1.72667682e+02] [ 9.41051379e-01 -3.38028647e-01 -1.26070150e-02 1.86345908e+02] [-1.31465382e-02 6.93297999e-04 -9.99913340e-01 6.66821447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.67, Y:186.34, Z:6.67 [[ 2.64803064e-01 9.64297488e-01 -3.11321004e-03 1.72674051e+02] [ 9.64192660e-01 -2.64820247e-01 -1.42390488e-02 1.86343025e+02] [-1.45551200e-02 7.68809476e-04 -9.99893773e-01 6.67021083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.69, Y:186.34, Z:6.67 [[ 1.89290069e-01 9.81919096e-01 -2.03935229e-03 1.72687491e+02] [ 9.81808353e-01 -1.89299392e-01 -1.47681390e-02 1.86339970e+02] [-1.48871658e-02 7.93208931e-04 -9.99888865e-01 6.66927849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.70, Y:186.34, Z:6.67 [[ 1.12140628e-01 9.93691963e-01 -8.72845555e-04 1.72700122e+02] [ 9.93581579e-01 -1.12141200e-01 -1.48323311e-02 1.86338134e+02] [-1.48366502e-02 7.96063667e-04 -9.99889614e-01 6.66909032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.71, Y:186.34, Z:6.67 [[ 3.41996920e-02 9.99414977e-01 2.90659424e-04 1.72705877e+02] [ 9.99306169e-01 -3.41916735e-02 -1.47685566e-02 1.86336137e+02] [-1.47499786e-02 7.95537844e-04 -9.99890897e-01 6.67129623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.72, Y:186.34, Z:6.67 [[-4.44046461e-02 9.99012586e-01 1.44226847e-03 1.72722796e+02] [ 9.98905330e-01 4.44210431e-02 -1.46599156e-02 1.86335927e+02] [-1.47095072e-02 7.89721295e-04 -9.99891498e-01 6.66948365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.73, Y:186.34, Z:6.67 [[-1.23567164e-01 9.92332943e-01 2.54679342e-03 1.72733273e+02] [ 9.92230643e-01 1.23591046e-01 -1.42690034e-02 1.86335565e+02] [-1.44743630e-02 7.63826200e-04 -9.99894949e-01 6.67010705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.74, Y:186.34, Z:6.67 [[-2.01729061e-01 9.79434953e-01 3.54387611e-03 1.72742736e+02] [ 9.79341201e-01 2.01758856e-01 -1.35711760e-02 1.86335693e+02] [-1.40070925e-02 7.32963292e-04 -9.99901627e-01 6.67042190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.75, Y:186.34, Z:6.67 [[-2.78806501e-01 9.60338243e-01 4.17055895e-03 1.72753829e+02] [ 9.60263851e-01 2.78836895e-01 -1.19717522e-02 1.86338502e+02] [-1.26598372e-02 6.67034652e-04 -9.99919639e-01 6.66983281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.76, Y:186.34, Z:6.67 [[-3.53154004e-01 9.35551315e-01 5.09772662e-03 1.72763880e+02] [ 9.35479443e-01 3.53190165e-01 -1.16154840e-02 1.86340951e+02] [-1.26673482e-02 6.66763781e-04 -9.99919544e-01 6.66989766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.060385723 meters Centerline goodness [0,1] 0.9999783788458628 Centerline is valid? [True, True] Translation: X:172.78, Y:186.35, Z:6.67 [[-4.26738139e-01 9.04360954e-01 5.08199712e-03 1.72775942e+02] [ 9.04312071e-01 4.26768010e-01 -9.42038663e-03 1.86346606e+02] [-1.06882636e-02 5.75673089e-04 -9.99942713e-01 6.66910399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.78, Y:186.35, Z:6.67 [[-4.96418764e-01 8.68069567e-01 4.86194363e-03 1.72783765e+02] [ 8.68037525e-01 4.96442311e-01 -7.47577357e-03 1.86349509e+02] [-8.90316606e-03 5.09235243e-04 -9.99960236e-01 6.66962749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.80, Y:186.36, Z:6.67 [[-5.62670643e-01 8.26669950e-01 4.30599592e-03 1.72797356e+02] [ 8.26651508e-01 5.62686945e-01 -5.53948603e-03 1.86357953e+02] [-7.00225433e-03 4.42651860e-04 -9.99975386e-01 6.66830547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.81, Y:186.36, Z:6.67 [[-6.25311126e-01 7.80362482e-01 4.51589590e-03 1.72806169e+02] [ 7.80346953e-01 6.25327282e-01 -4.94207296e-03 1.86363088e+02] [-6.68052123e-03 4.33632403e-04 -9.99977591e-01 6.66910195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.82, Y:186.37, Z:6.67 [[-6.84331912e-01 7.29153344e-01 5.02347592e-03 1.72816439e+02] [ 7.29138282e-01 6.84350208e-01 -4.70737912e-03 1.86372172e+02] [-6.87021802e-03 4.41398846e-04 -9.99976302e-01 6.66878290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.84, Y:186.40, Z:6.67 [[-7.33751322e-01 6.79398811e-01 5.12383678e-03 1.72835379e+02] [ 6.79386112e-01 7.33769093e-01 -4.17489137e-03 1.86396312e+02] [-6.59612930e-03 4.17731490e-04 -9.99978158e-01 6.66834265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.27, Y:186.89, Z:5.70 [[-7.39186414e-01 -6.73454359e-01 7.91653618e-03 1.73265166e+02] [ 6.73411049e-01 -7.39228736e-01 -7.64429629e-03 1.86892680e+02] [ 1.10002157e-02 -3.19477028e-04 9.99939445e-01 5.69519693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.80, Y:186.43, Z:6.67 [[-7.34973824e-01 6.78076899e-01 5.01964648e-03 1.72803196e+02] [ 6.78064904e-01 7.34990844e-01 -4.05534065e-03 1.86428594e+02] [-6.43922701e-03 4.23076878e-04 -9.99979178e-01 6.66869730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.82, Y:186.45, Z:6.67 [[-7.80686781e-01 6.24898216e-01 5.51098466e-03 1.72821349e+02] [ 6.24886510e-01 7.80706109e-01 -3.84987637e-03 1.86449776e+02] [-6.70824026e-03 4.38192380e-04 -9.99977404e-01 6.66950283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.84, Y:186.47, Z:6.67 [[-8.22658550e-01 5.68502202e-01 6.17706848e-03 1.72838078e+02] [ 5.68490296e-01 8.22681611e-01 -3.70808675e-03 1.86474145e+02] [-7.18981613e-03 4.61114219e-04 -9.99974047e-01 6.67071851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.18, Y:187.02, Z:5.69 [[-8.30487301e-01 -5.56948198e-01 9.97730825e-03 1.73181619e+02] [ 5.56902801e-01 -8.30547155e-01 -7.11990663e-03 1.87019058e+02] [ 1.22520442e-02 -3.56601132e-04 9.99924877e-01 5.69235281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.80, Y:186.50, Z:6.67 [[-8.24800840e-01 5.65380416e-01 6.96854033e-03 1.72802718e+02] [ 5.65365221e-01 8.24830127e-01 -4.17463718e-03 1.86504398e+02] [-8.10812012e-03 4.96526094e-04 -9.99967005e-01 6.67290735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.81, Y:186.54, Z:6.67 [[-8.63705588e-01 5.03937885e-01 7.69842087e-03 1.72812005e+02] [ 5.03922960e-01 8.63739750e-01 -3.91075518e-03 1.86536992e+02] [-8.62020981e-03 5.01669930e-04 -9.99962719e-01 6.67353649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.11, Y:187.09, Z:5.69 [[-8.67877062e-01 -4.96651023e-01 1.12768093e-02 1.73107226e+02] [ 4.96603254e-01 -8.67950236e-01 -6.89902017e-03 1.87091101e+02] [ 1.32141147e-02 -3.87401155e-04 9.99912615e-01 5.69068816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.77, Y:186.56, Z:6.67 [[-8.67374319e-01 4.97600530e-01 7.45008072e-03 1.72771071e+02] [ 4.97586656e-01 8.67406192e-01 -3.74410920e-03 1.86563209e+02] [-8.32531687e-03 4.59516587e-04 -9.99965238e-01 6.67416276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.05, Y:187.11, Z:5.69 [[-8.66361544e-01 -4.99299390e-01 1.08533338e-02 1.73052885e+02] [ 4.99255534e-01 -8.66429464e-01 -6.62544805e-03 1.87110727e+02] [ 1.27117303e-02 -3.21446454e-04 9.99919151e-01 5.69195228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.73, Y:186.59, Z:6.67 [[-8.72464820e-01 4.88629922e-01 6.77770990e-03 1.72727343e+02] [ 4.88618525e-01 8.72491063e-01 -3.35893841e-03 1.86594012e+02] [-7.55476913e-03 3.81159020e-04 -9.99971390e-01 6.67212962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.73, Y:186.63, Z:6.67 [[-9.06418275e-01 4.22354926e-01 4.71460736e-03 1.72729191e+02] [ 4.22350868e-01 9.06430489e-01 -1.87435470e-03 1.86629835e+02] [-5.06510679e-03 2.92269155e-04 -9.99987130e-01 6.67104576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.97, Y:187.17, Z:5.69 [[-8.98131536e-01 -4.39660142e-01 7.66186690e-03 1.72969560e+02] [ 4.39642683e-01 -8.98164204e-01 -3.92105420e-03 1.87174458e+02] [ 8.60554582e-03 -1.53138707e-04 9.99962960e-01 5.69426807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.69, Y:186.65, Z:6.67 [[-9.09691225e-01 4.15278205e-01 2.42656739e-03 1.72691706e+02] [ 4.15277359e-01 9.09694435e-01 -8.66378741e-04 1.86650370e+02] [-2.56722306e-03 2.19561359e-04 -9.99996681e-01 6.67175741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.70, Y:186.68, Z:6.67 [[-9.37082973e-01 3.49098502e-01 2.39529558e-03 1.72696232e+02] [ 3.49097939e-01 9.37086010e-01 -6.62908821e-04 1.86681369e+02] [-2.47601845e-03 2.14992180e-04 -9.99996912e-01 6.67178644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.70, Y:186.71, Z:6.67 [[-9.59569680e-01 2.81458876e-01 2.63242892e-03 1.72698158e+02] [ 2.81458432e-01 9.59573267e-01 -5.45094619e-04 1.86711437e+02] [-2.67943014e-03 2.17863048e-04 -9.99996387e-01 6.67171278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.85, Y:187.28, Z:5.69 [[-9.51407395e-01 -3.07853766e-01 7.07307500e-03 1.72850782e+02] [ 3.07845180e-01 -9.51433686e-01 -2.29917963e-03 1.87276653e+02] [ 7.43737292e-03 -1.00444509e-05 9.99972342e-01 5.69459679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.65, Y:186.72, Z:6.67 [[-9.60322176e-01 2.78887098e-01 1.81788523e-03 1.72649564e+02] [ 2.78886992e-01 9.60323875e-01 -3.16396800e-04 1.86724374e+02] [-1.83399758e-03 2.03141682e-04 -9.99998298e-01 6.67113477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.65, Y:186.75, Z:6.67 [[-9.77530796e-01 2.10792335e-01 3.67646372e-04 1.72653440e+02] [ 2.10792382e-01 9.77530850e-01 9.60532038e-05 1.86754850e+02] [-3.39138391e-04 1.71392019e-04 -9.99999928e-01 6.67063889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.76, Y:187.33, Z:5.70 [[-9.72199058e-01 -2.34109724e-01 4.65068800e-03 1.72760253e+02] [ 2.34107129e-01 -9.72210181e-01 -1.10238595e-03 1.87327361e+02] [ 4.77952549e-03 1.70206345e-05 9.99988578e-01 5.69575356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.60, Y:186.76, Z:6.67 [[-9.78314019e-01 2.07126491e-01 5.44231631e-04 1.72595960e+02] [ 2.07126555e-01 9.78314155e-01 6.39522346e-05 1.86764800e+02] [-5.19183306e-04 1.75290190e-04 -9.99999850e-01 6.67096645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.59, Y:186.80, Z:6.67 [[-9.90696994e-01 1.36069461e-01 2.13734731e-03 1.72593084e+02] [ 1.36069592e-01 9.90699278e-01 -8.45367029e-05 1.86795393e+02] [-2.12897130e-03 2.07077720e-04 -9.99997712e-01 6.67277549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.59, Y:186.82, Z:6.67 [[-9.97887796e-01 6.49026320e-02 2.75598385e-03 1.72591167e+02] [ 6.49029874e-02 9.97891578e-01 3.96505108e-05 1.86824726e+02] [-2.74759965e-03 2.18438346e-04 -9.99996202e-01 6.67397447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.58, Y:186.85, Z:6.68 [[-9.99972609e-01 -6.80995014e-03 2.89913397e-03 1.72582592e+02] [-6.80928611e-03 9.99976788e-01 2.38853670e-04 1.86854400e+02] [-2.90069326e-03 2.19106095e-04 -9.99995769e-01 6.67509030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.56, Y:187.44, Z:5.69 [[-9.99744458e-01 -2.15430819e-02 6.84941647e-03 1.72562717e+02] [ 2.15423399e-02 -9.99767920e-01 -1.82098617e-04 1.87436139e+02] [ 6.85174983e-03 -3.44996256e-05 9.99976526e-01 5.69222633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.51, Y:186.85, Z:6.67 [[-9.99933715e-01 -1.13753556e-02 1.77986099e-03 1.72510821e+02] [-1.13749819e-02 9.99935279e-01 2.19902278e-04 1.86851226e+02] [-1.78224726e-03 1.99641815e-04 -9.99998392e-01 6.67488602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.49, Y:187.44, Z:5.69 [[-9.99872648e-01 -1.52483438e-02 4.70917168e-03 1.72489214e+02] [ 1.52478587e-02 -9.99883735e-01 -1.38914409e-04 1.87438179e+02] [ 4.71074238e-03 -6.70919339e-05 9.99988902e-01 5.69416396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.44, Y:186.84, Z:6.67 [[-9.99894192e-01 -1.45131234e-02 -9.86818864e-04 1.72438514e+02] [-1.45132575e-02 9.99894669e-01 1.28802513e-04 1.86843859e+02] [ 9.84845594e-04 1.43110841e-04 -9.99999505e-01 6.67244495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.42, Y:186.87, Z:6.67 [[-9.96426181e-01 -8.44452865e-02 -1.96466308e-03 1.72422828e+02] [-8.44453531e-02 9.96428111e-01 -4.91964686e-05 1.86873270e+02] [ 1.96179993e-03 1.16886018e-04 -9.99998069e-01 6.67146727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.36, Y:187.47, Z:5.70 [[-9.98031369e-01 6.26590943e-02 2.68794271e-03 1.72356282e+02] [-6.26586299e-02 -9.98034985e-01 2.56720531e-04 1.87465938e+02] [ 2.69874674e-03 8.77923352e-05 9.99996355e-01 5.69602193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.33, Y:186.86, Z:6.67 [[-9.95911174e-01 -9.03231935e-02 -1.62940802e-03 1.72333166e+02] [-9.03232826e-02 9.95912498e-01 -1.90134354e-05 1.86863335e+02] [ 1.62446516e-03 1.28237788e-04 -9.99998672e-01 6.67298759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.26, Y:187.45, Z:5.69 [[-9.97718204e-01 6.74340433e-02 3.32197322e-03 1.72258115e+02] [-6.74333542e-02 -9.97723730e-01 3.19119191e-04 1.87449988e+02] [ 3.33593101e-03 9.43792296e-05 9.99994431e-01 5.69459213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.24, Y:186.85, Z:6.68 [[-9.95041157e-01 -9.94626074e-02 -5.35359428e-04 1.72236151e+02] [-9.94626752e-02 9.95041289e-01 1.01362882e-04 1.86852058e+02] [ 5.22622918e-04 1.54108520e-04 -9.99999852e-01 6.67549447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.230385723 meters Centerline goodness [0,1] 0.9999575290395192 Centerline is valid? [True, True] Translation: X:172.22, Y:186.88, Z:6.68 [[-9.85170860e-01 -1.71573291e-01 -9.90906891e-04 1.72216509e+02] [-1.71573348e-01 9.85171348e-01 -2.80017967e-05 1.86883103e+02] [ 9.81017438e-04 1.42426659e-04 -9.99999509e-01 6.67533673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.19, Y:186.91, Z:6.68 [[-9.69716335e-01 -2.44228386e-01 -1.65106307e-03 1.72186493e+02] [-2.44228266e-01 9.69717731e-01 -2.77067363e-04 1.86907529e+02] [ 1.66873285e-03 1.34559524e-04 -9.99998599e-01 6.67536274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.15, Y:186.93, Z:6.68 [[-9.49180357e-01 -3.14730166e-01 -1.25401602e-03 1.72146098e+02] [-3.14730086e-01 9.49181175e-01 -2.65473485e-04 1.86926648e+02] [ 1.27384092e-03 1.42694353e-04 -9.99999179e-01 6.67635794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.09, Y:186.94, Z:6.68 [[-9.23245135e-01 -3.84210033e-01 -1.03529624e-03 1.72086045e+02] [-3.84209966e-01 9.23245703e-01 -2.70067410e-04 1.86935681e+02] [ 1.05959542e-03 1.48432713e-04 -9.99999428e-01 6.67721810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.02, Y:186.93, Z:6.68 [[-8.91738367e-01 -4.52550227e-01 -9.88398654e-04 1.72015090e+02] [-4.52550131e-01 8.91738902e-01 -3.31839394e-04 1.86934259e+02] [ 1.03156752e-03 1.51386021e-04 -9.99999456e-01 6.67805696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.94, Y:186.92, Z:6.68 [[-8.55601206e-01 -5.17634688e-01 -9.51845101e-04 1.71938336e+02] [-5.17634557e-01 8.55601722e-01 -3.97860040e-04 1.86923580e+02] [ 1.02034647e-03 1.52298387e-04 -9.99999468e-01 6.67875354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.86, Y:186.90, Z:6.68 [[-8.15401080e-01 -5.78895954e-01 -7.43315611e-04 1.71857614e+02] [-5.78895876e-01 8.15401404e-01 -3.38596001e-04 1.86903224e+02] [ 8.02112448e-04 1.54210797e-04 -9.99999666e-01 6.67880607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.77, Y:186.87, Z:6.68 [[-7.70719016e-01 -6.37174916e-01 -5.69569270e-04 1.71774994e+02] [-6.37174879e-01 7.70719211e-01 -2.68167507e-04 1.86872445e+02] [ 6.09847588e-04 1.56233434e-04 -9.99999802e-01 6.67884092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.69, Y:186.83, Z:6.68 [[-7.23579665e-01 -6.90239252e-01 -1.49793931e-03 1.71694856e+02] [-6.90238136e-01 7.23581204e-01 -1.24816441e-03 1.86832134e+02] [ 1.94541280e-03 1.30788451e-04 -9.99998099e-01 6.67855273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.500385723 meters Centerline goodness [0,1] 0.9999146156637565 Centerline is valid? [True, True] Translation: X:171.61, Y:186.78, Z:6.68 [[-6.71257753e-01 -7.41220902e-01 -2.14566041e-03 1.71608948e+02] [-7.41217601e-01 6.71261174e-01 -2.21458603e-03 1.86780902e+02] [ 3.08179598e-03 1.03843216e-04 -9.99995246e-01 6.67832509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.53, Y:186.72, Z:6.68 [[-6.17706370e-01 -7.86404422e-01 -2.63186764e-03 1.71526778e+02] [-7.86397686e-01 6.17711974e-01 -3.25524995e-03 1.86717363e+02] [ 4.18567911e-03 5.89059960e-05 -9.99991238e-01 6.67733737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.45, Y:186.65, Z:6.68 [[-5.58471452e-01 -8.29518801e-01 -2.86284929e-03 1.71445533e+02] [-8.29508111e-01 5.58478790e-01 -4.21125290e-03 1.86647209e+02] [ 5.09215406e-03 2.28921841e-05 -9.99987035e-01 6.67691878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.590385723 meters Centerline goodness [0,1] 0.9998714735556841 Centerline is valid? [True, True] Translation: X:171.37, Y:186.57, Z:6.68 [[-4.96143836e-01 -8.68236639e-01 -2.53623959e-03 1.71368360e+02] [-8.68225388e-01 4.96150318e-01 -4.42015957e-03 1.86566301e+02] [ 5.09610057e-03 8.99267555e-06 -9.99987015e-01 6.67767947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.30, Y:186.48, Z:6.68 [[-4.31877122e-01 -9.01929473e-01 -2.31892566e-03 1.71295448e+02] [-9.01916213e-01 4.31883347e-01 -4.89065068e-03 1.86478675e+02] [ 5.41252737e-03 -2.06834903e-05 -9.99985352e-01 6.67680571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.23, Y:186.38, Z:6.68 [[-3.62205213e-01 -9.32096325e-01 -1.95578544e-03 1.71227012e+02] [-9.32082363e-01 3.62210493e-01 -5.10179445e-03 1.86382532e+02] [ 5.46376986e-03 -2.49434370e-05 -9.99985073e-01 6.67722780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.16, Y:186.28, Z:6.68 [[-2.90359251e-01 -9.56916455e-01 -1.55057370e-03 1.71160144e+02] [-9.56902328e-01 2.90363390e-01 -5.19972654e-03 1.86281333e+02] [ 5.42593372e-03 -2.60411261e-05 -9.99985279e-01 6.67811211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.710385723 meters Centerline goodness [0,1] 0.9999358659170104 Centerline is valid? [True, True] Translation: X:171.11, Y:186.17, Z:6.68 [[-2.16267482e-01 -9.76333557e-01 -1.07758610e-03 1.71107056e+02] [-9.76321155e-01 2.16270166e-01 -4.92117693e-03 1.86172086e+02] [ 5.03775990e-03 -1.22204388e-05 -9.99987310e-01 6.67865537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.740385723 meters Centerline goodness [0,1] 0.9999145463479245 Centerline is valid? [True, True] Translation: X:171.06, Y:186.05, Z:6.68 [[-1.41095956e-01 -9.89995688e-01 -6.84435369e-04 1.71060450e+02] [-9.89983737e-01 1.41097616e-01 -4.86455302e-03 1.86054733e+02] [ 4.91245871e-03 -8.78887505e-06 -9.99987934e-01 6.67924561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.02, Y:185.94, Z:6.68 [[-6.43362630e-02 -9.97928238e-01 -2.77967267e-04 1.71019088e+02] [-9.97920872e-01 6.43368562e-02 -3.83431217e-03 1.85941155e+02] [ 3.84425193e-03 3.07040213e-05 -9.99992610e-01 6.68080444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.99, Y:185.82, Z:6.68 [[ 1.24778022e-02 -9.99922149e-01 1.62161033e-05 1.70989576e+02] [-9.99914781e-01 -1.24777726e-02 -3.83873714e-03 1.85816655e+02] [ 3.83864064e-03 3.16842816e-05 -9.99992632e-01 6.68137758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.97, Y:185.70, Z:6.68 [[ 9.00772653e-02 -9.95934737e-01 2.92886035e-04 1.70969170e+02] [-9.95927914e-01 -9.00777324e-02 -3.68671939e-03 1.85696846e+02] [ 3.69811442e-03 4.03962228e-05 -9.99993161e-01 6.68126615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.96, Y:185.57, Z:6.68 [[ 1.68202795e-01 -9.85752198e-01 6.51451416e-04 1.70956964e+02] [-9.85743943e-01 -1.68204053e-01 -4.03430307e-03 1.85569313e+02] [ 4.08639989e-03 3.64167666e-05 -9.99991650e-01 6.68063914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.96, Y:185.45, Z:6.68 [[ 2.43069546e-01 -9.70008392e-01 9.56699723e-04 1.70956177e+02] [-9.70000282e-01 -2.43071426e-01 -3.96664899e-03 1.85446590e+02] [ 4.08022917e-03 3.61725659e-05 -9.99991675e-01 6.68094412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.96, Y:185.32, Z:6.68 [[ 3.17516353e-01 -9.48252285e-01 9.85270931e-04 1.70963621e+02] [-9.48247080e-01 -3.17517875e-01 -3.14229579e-03 1.85323412e+02] [ 3.29253029e-03 6.34500127e-05 -9.99994578e-01 6.68145180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.98, Y:185.21, Z:6.68 [[ 3.90133263e-01 -9.20757501e-01 1.28902212e-03 1.70977183e+02] [-9.20751931e-01 -3.90135387e-01 -3.20332193e-03 1.85206451e+02] [ 3.45237584e-03 6.28528291e-05 -9.99994039e-01 6.68152171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.00, Y:185.09, Z:6.68 [[ 4.59332674e-01 -8.88262456e-01 1.81766654e-03 1.70999680e+02] [-8.88255096e-01 -4.59336268e-01 -3.61637367e-03 1.85090468e+02] [ 4.04720912e-03 4.65670252e-05 -9.99991809e-01 6.68202873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.03, Y:184.98, Z:6.68 [[ 5.25638488e-01 -8.50705020e-01 2.26886195e-03 1.71032204e+02] [-8.50696787e-01 -5.25643384e-01 -3.74289508e-03 1.84979467e+02] [ 4.37671191e-03 3.72961369e-05 -9.99990421e-01 6.68195532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.07, Y:184.87, Z:6.68 [[ 5.88155553e-01 -8.08744581e-01 2.29104364e-03 1.71074686e+02] [-8.08738142e-01 -5.88160013e-01 -3.22758396e-03 1.84869527e+02] [ 3.95779130e-03 4.54670497e-05 -9.99992167e-01 6.68202396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.12, Y:184.77, Z:6.68 [[ 6.47238520e-01 -7.62283605e-01 2.45040730e-03 1.71116595e+02] [-7.62277875e-01 -6.47243157e-01 -2.95598820e-03 1.84769521e+02] [ 3.83931070e-03 4.53381577e-05 -9.99992629e-01 6.68318174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.16, Y:184.67, Z:6.68 [[ 7.01496190e-01 -7.12669078e-01 2.42500472e-03 1.71164307e+02] [-7.12664588e-01 -7.01500380e-01 -2.53024315e-03 1.84674401e+02] [ 3.50436779e-03 4.67409443e-05 -9.99993859e-01 6.68451677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.16, Y:184.66, Z:6.68 [[ 7.54081733e-01 -6.56774760e-01 2.76677870e-03 1.71161283e+02] [-6.56770143e-01 -7.54086808e-01 -2.46276274e-03 1.84661411e+02] [ 3.70387172e-03 3.99867502e-05 -9.99993140e-01 6.68427322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.160385723 meters Centerline goodness [0,1] 0.9998937797416724 Centerline is valid? [True, True] Translation: X:171.16, Y:184.64, Z:6.69 [[ 8.02540942e-01 -5.96589128e-01 3.07391144e-03 1.71157287e+02] [-5.96584603e-01 -8.02546828e-01 -2.32364974e-03 1.84643386e+02] [ 3.85322205e-03 3.09758175e-05 -9.99992576e-01 6.68513960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.190385723 meters Centerline goodness [0,1] 0.999915196743555 Centerline is valid? [True, True] Translation: X:171.16, Y:184.63, Z:6.68 [[ 8.45606333e-01 -5.33782973e-01 5.06625867e-03 1.71155522e+02] [-5.33773764e-01 -8.45621508e-01 -3.13579904e-03 1.84626018e+02] [ 5.95797343e-03 -5.25844321e-05 -9.99982250e-01 6.68474701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.15, Y:184.61, Z:6.68 [[ 8.84533287e-01 -4.66448052e-01 5.20370797e-03 1.71154649e+02] [-4.66440326e-01 -8.84548592e-01 -2.68527927e-03 1.84607816e+02] [ 5.85547584e-03 -5.20003385e-05 -9.99982855e-01 6.68443489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.15, Y:184.59, Z:6.69 [[ 9.18462431e-01 -3.95477860e-01 4.90144071e-03 1.71153973e+02] [-3.95472409e-01 -9.18475509e-01 -2.07672146e-03 1.84589579e+02] [ 5.32315061e-03 -3.09939292e-05 -9.99985831e-01 6.68641661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.16, Y:184.57, Z:6.69 [[ 9.46711836e-01 -3.22046429e-01 4.77468946e-03 1.71155999e+02] [-3.22042434e-01 -9.46723876e-01 -1.60406379e-03 1.84574780e+02] [ 5.03689553e-03 -1.90664400e-05 -9.99987315e-01 6.68731405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.16, Y:184.56, Z:6.69 [[ 9.69174940e-01 -2.46326148e-01 4.83366825e-03 1.71159633e+02] [-2.46323155e-01 -9.69186994e-01 -1.21422016e-03 1.84555895e+02] [ 4.98382257e-03 -1.38526663e-05 -9.99987581e-01 6.68776921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.16, Y:184.54, Z:6.69 [[ 9.85577818e-01 -1.69127082e-01 5.69167561e-03 1.71164823e+02] [-1.69124480e-01 -9.85594252e-01 -9.38863709e-04 1.84539859e+02] [ 5.76847004e-03 -3.72784339e-05 -9.99983362e-01 6.68776351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.37038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.17, Y:184.53, Z:6.69 [[ 9.95795293e-01 -9.13894579e-02 6.30085032e-03 1.71168500e+02] [-9.13879832e-02 -9.95815226e-01 -5.22183373e-04 1.84525422e+02] [ 6.32220474e-03 -5.58342572e-05 -9.99980013e-01 6.68758771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.17, Y:184.51, Z:6.69 [[ 9.99893146e-01 -1.28835928e-02 6.90719864e-03 1.71173657e+02] [-1.28837982e-02 -9.99917000e-01 -1.47628749e-05 1.84511005e+02] [ 6.90681554e-03 -7.42296562e-05 -9.99976145e-01 6.68768461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.18, Y:184.50, Z:6.69 [[ 9.97832785e-01 6.54118519e-02 7.14307408e-03 1.71180117e+02] [ 6.54095756e-02 -9.97858348e-01 5.52071897e-04 1.84496335e+02] [ 7.16388814e-03 -8.36499941e-05 -9.99974336e-01 6.68798555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.460385723 meters Centerline goodness [0,1] 0.9999581204455985 Centerline is valid? [True, True] Translation: X:171.19, Y:184.48, Z:6.69 [[ 9.89595419e-01 1.43717724e-01 6.79141361e-03 1.71188042e+02] [ 1.43713842e-01 -9.89618720e-01 1.05868244e-03 1.84482709e+02] [ 6.87306148e-03 -7.16471467e-05 -9.99976378e-01 6.68881796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.490385723 meters Centerline goodness [0,1] 0.9999582193068584 Centerline is valid? [True, True] Translation: X:171.20, Y:184.47, Z:6.69 [[ 9.75123959e-01 2.21540552e-01 7.28342285e-03 1.71195459e+02] [ 2.21533710e-01 -9.75151156e-01 1.74322006e-03 1.84468905e+02] [ 7.48863215e-03 -8.63319584e-05 -9.99971956e-01 6.68829744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.21, Y:184.46, Z:6.69 [[ 9.54976463e-01 2.96601348e-01 6.89894866e-03 1.71205420e+02] [ 2.96592975e-01 -9.55001379e-01 2.23029841e-03 1.84456624e+02] [ 7.25001500e-03 -8.37027869e-05 -9.99973715e-01 6.68827156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.550385723 meters Centerline goodness [0,1] 0.999958375824679 Centerline is valid? [True, True] Translation: X:171.21, Y:184.45, Z:6.69 [[ 9.29383191e-01 3.69061785e-01 6.34694995e-03 1.71214986e+02] [ 3.69052579e-01 -9.29404859e-01 2.60796858e-03 1.84447817e+02] [ 6.86138767e-03 -8.14439074e-05 -9.99976457e-01 6.68903288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.23, Y:184.44, Z:6.69 [[ 8.98601207e-01 4.38730610e-01 5.59657596e-03 1.71227801e+02] [ 4.38721580e-01 -8.98618632e-01 2.81595846e-03 1.84437110e+02] [ 6.26463461e-03 -7.50850223e-05 -9.99980374e-01 6.68981592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.24, Y:184.43, Z:6.69 [[ 8.64247801e-01 5.03045009e-01 4.63215947e-03 1.71240961e+02] [ 5.03037326e-01 -8.64260212e-01 2.78109710e-03 1.84427188e+02] [ 5.40240814e-03 -7.34079398e-05 -9.99985404e-01 6.69058695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.25, Y:184.42, Z:6.69 [[ 8.24297633e-01 5.66142192e-01 4.05353828e-03 1.71254469e+02] [ 5.66134904e-01 -8.24307596e-01 2.87361957e-03 1.84419041e+02] [ 4.96823967e-03 -7.38683034e-05 -9.99987656e-01 6.69085757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.27, Y:184.41, Z:6.69 [[ 7.82513234e-01 6.22623039e-01 3.68640857e-03 1.71266868e+02] [ 6.22615491e-01 -7.82521910e-01 3.06756416e-03 1.84411824e+02] [ 4.79463160e-03 -1.05194467e-04 -9.99988500e-01 6.69062028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.28, Y:184.41, Z:6.69 [[ 7.34217824e-01 6.78906571e-01 3.17100830e-03 1.71280157e+02] [ 6.78899622e-01 -7.34224664e-01 3.07341127e-03 1.84406967e+02] [ 4.41479161e-03 -1.03757001e-04 -9.99990249e-01 6.69059579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.29, Y:184.40, Z:6.69 [[ 6.81678360e-01 7.31647008e-01 2.69609738e-03 1.71292308e+02] [ 7.31640699e-01 -6.81683684e-01 3.04007119e-03 1.84403140e+02] [ 4.06214459e-03 -9.97761675e-05 -9.99991744e-01 6.69080793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.760385723 meters Centerline goodness [0,1] 0.9999376091839282 Centerline is valid? [True, True] Translation: X:171.31, Y:184.40, Z:6.69 [[ 6.27578139e-01 7.78551475e-01 1.81120629e-03 1.71306120e+02] [ 7.78547994e-01 -6.27580750e-01 2.32865864e-03 1.84400122e+02] [ 2.94965882e-03 -5.13042303e-05 -9.99995648e-01 6.69122176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.790385723 meters Centerline goodness [0,1] 0.9999374687343672 Centerline is valid? [True, True] Translation: X:171.32, Y:184.40, Z:6.69 [[ 5.66304189e-01 8.24194988e-01 1.47899454e-03 1.71320844e+02] [ 8.24192003e-01 -5.66306119e-01 2.21860957e-03 1.84398085e+02] [ 2.66613054e-03 -3.74324226e-05 -9.99996445e-01 6.69151272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.34, Y:184.39, Z:6.69 [[ 5.00584905e-01 8.65686547e-01 1.24725321e-03 1.71342478e+02] [ 8.65683704e-01 -5.00586458e-01 2.21877373e-03 1.84394200e+02] [ 2.54512063e-03 -3.09578572e-05 -9.99996761e-01 6.69144181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.36, Y:184.39, Z:6.69 [[ 4.29772493e-01 9.02935296e-01 1.85882576e-03 1.71362072e+02] [ 9.02924993e-01 -4.29776476e-01 4.31717253e-03 1.84392406e+02] [ 4.69700704e-03 -1.77021763e-04 -9.99988953e-01 6.68996684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.39, Y:184.39, Z:6.69 [[ 3.55719890e-01 9.34590807e-01 1.83942148e-03 1.71388839e+02] [ 9.34574577e-01 -3.55724563e-01 5.51313217e-03 1.84392182e+02] [ 5.80685004e-03 -2.42054215e-04 -9.99983111e-01 6.68936265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.41, Y:184.39, Z:6.69 [[ 2.75909432e-01 9.61182185e-01 1.67129360e-03 1.71410570e+02] [ 9.61157768e-01 -2.75914346e-01 6.85697007e-03 1.84394711e+02] [ 7.05193135e-03 -2.85525887e-04 -9.99975094e-01 6.68806915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.44, Y:184.40, Z:6.69 [[ 1.96301231e-01 9.80542954e-01 1.15892606e-03 1.71436197e+02] [ 9.80516694e-01 -1.96304461e-01 7.18133137e-03 1.84400342e+02] [ 7.26910623e-03 -2.73357841e-04 -9.99973542e-01 6.68834591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.45, Y:184.41, Z:6.69 [[ 1.15366040e-01 9.93322851e-01 6.24697370e-04 1.71454069e+02] [ 9.93292478e-01 -1.15367400e-01 7.77278222e-03 1.84408083e+02] [ 7.79295191e-03 -2.76207904e-04 -9.99969596e-01 6.68838287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.48, Y:184.42, Z:6.69 [[ 3.36296967e-02 9.99434362e-01 1.54804193e-05 1.71475448e+02] [ 9.99404852e-01 -3.36288228e-02 7.68407394e-03 1.84418431e+02] [ 7.68024812e-03 -2.42941870e-04 -9.99970477e-01 6.68851475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.49, Y:184.43, Z:6.69 [[-5.16204676e-02 9.98666615e-01 -5.64555970e-04 1.71494487e+02] [ 9.98639004e-01 5.16232397e-02 7.42842203e-03 1.84430122e+02] [ 7.44766130e-03 -1.80328993e-04 -9.99972250e-01 6.68874981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.51, Y:184.45, Z:6.69 [[-1.35631675e-01 9.90758930e-01 -8.89995935e-04 1.71514636e+02] [ 9.90741305e-01 1.35634571e-01 5.91006098e-03 1.84445244e+02] [ 5.97615991e-03 -8.01642654e-05 -9.99982139e-01 6.69011830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.090385723 meters Centerline goodness [0,1] 0.9998749322549715 Centerline is valid? [True, True] Translation: X:171.53, Y:184.46, Z:6.69 [[-2.15294492e-01 9.76548487e-01 -1.15488613e-03 1.71527121e+02] [ 9.76535360e-01 2.15297587e-01 5.06361279e-03 1.84461466e+02] [ 5.19350760e-03 -3.76191925e-05 -9.99986513e-01 6.69372504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.12038572299997 meters Centerline goodness [0,1] 0.999958572405079 Centerline is valid? [True, True] Translation: X:171.53, Y:184.48, Z:6.69 [[-2.93791930e-01 9.55867961e-01 -1.65619058e-03 1.71534823e+02] [ 9.55853424e-01 2.93796596e-01 5.27191113e-03 1.84476517e+02] [ 5.52583410e-03 -3.42304925e-05 -9.99984732e-01 6.69179621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.150385723 meters Centerline goodness [0,1] 0.9999584993359893 Centerline is valid? [True, True] Translation: X:171.54, Y:184.49, Z:6.69 [[-3.70044638e-01 9.29011191e-01 -2.27418198e-03 1.71539744e+02] [ 9.28994254e-01 3.70051625e-01 5.60996734e-03 1.84493104e+02] [ 6.05328718e-03 -3.67636564e-05 -9.99981678e-01 6.69142381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.55, Y:184.51, Z:6.69 [[-4.46228235e-01 8.94915411e-01 -2.60173615e-03 1.71549749e+02] [ 8.94900210e-01 4.46235820e-01 5.21613598e-03 1.84513383e+02] [ 5.82898834e-03 -7.07077639e-07 -9.99983011e-01 6.68981065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.55, Y:184.53, Z:6.69 [[-5.19057683e-01 8.54734818e-01 -2.74115428e-03 1.71554770e+02] [ 8.54722524e-01 5.19064919e-01 4.58433417e-03 1.84533892e+02] [ 5.34122705e-03 3.66075663e-05 -9.99985735e-01 6.69046911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.56, Y:184.56, Z:6.69 [[-5.86494225e-01 8.09949128e-01 -2.63314345e-03 1.71560808e+02] [ 8.09940476e-01 5.86500133e-01 3.74439705e-03 1.84558292e+02] [ 4.57711011e-03 6.33777845e-05 -9.99989523e-01 6.69209397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.56, Y:184.58, Z:6.69 [[-6.50051676e-01 7.59886664e-01 -2.25311621e-03 1.71562025e+02] [ 7.59881613e-01 6.50055575e-01 2.77183330e-03 1.84581479e+02] [ 3.57092991e-03 8.97332985e-05 -9.99993620e-01 6.69305364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.300385723 meters Centerline goodness [0,1] 0.9998951496214902 Centerline is valid? [True, True] Translation: X:171.56, Y:184.60, Z:6.70 [[-7.08899824e-01 7.05307242e-01 -1.65356810e-03 1.71560101e+02] [ 7.05304949e-01 7.08901744e-01 1.80157345e-03 1.84603150e+02] [ 2.44288011e-03 1.10865332e-04 -9.99997010e-01 6.69677816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.56, Y:184.64, Z:6.70 [[-7.59806732e-01 6.50148215e-01 -1.01433004e-03 1.71564287e+02] [ 6.50147424e-01 7.59807400e-01 1.02068044e-03 1.84644663e+02] [ 1.43428903e-03 1.16055808e-04 -9.99998965e-01 6.69515268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.56, Y:184.68, Z:6.70 [[-8.04559652e-01 5.93871111e-01 -9.32662954e-04 1.71564125e+02] [ 5.93870534e-01 8.04560184e-01 8.35844796e-04 1.84682909e+02] [ 1.24676756e-03 1.18605952e-04 -9.99999216e-01 6.69536220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.57, Y:184.72, Z:6.70 [[-8.45049517e-01 5.34687675e-01 -6.35428997e-04 1.71565589e+02] [ 5.34687410e-01 8.45049747e-01 5.46732839e-04 1.84718695e+02] [ 8.29300424e-04 1.22260437e-04 -9.99999649e-01 6.69594604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.67, Y:184.91, Z:5.69 [[-8.15955228e-01 -5.78108714e-01 2.71668550e-03 1.71671908e+02] [ 5.78105946e-01 -8.15959744e-01 -1.79223928e-03 1.84907267e+02] [ 3.25281515e-03 1.08145033e-04 9.99994704e-01 5.69330947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.53, Y:184.74, Z:6.70 [[-8.46679899e-01 5.32102427e-01 -3.93868211e-04 1.71531598e+02] [ 5.32102296e-01 8.46679982e-01 3.93289926e-04 1.84738317e+02] [ 5.42750854e-04 1.23412496e-04 -9.99999845e-01 6.69563104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.53, Y:184.77, Z:6.69 [[-8.81746454e-01 4.71720909e-01 -1.60461853e-03 1.71527059e+02] [ 4.71719897e-01 8.81747907e-01 9.83350613e-04 1.84772373e+02] [ 1.87873608e-03 1.10135427e-04 -9.99998229e-01 6.69419327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.52, Y:184.81, Z:6.69 [[-9.12562788e-01 4.08931093e-01 -2.12577579e-03 1.71521409e+02] [ 4.08929719e-01 9.12565258e-01 1.06505879e-03 1.84806199e+02] [ 2.37544479e-03 1.02640118e-04 -9.99997173e-01 6.69410987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.51, Y:184.84, Z:6.69 [[-9.38749141e-01 3.44594373e-01 -2.18371504e-03 1.71512937e+02] [ 3.44593194e-01 9.38751676e-01 9.06726224e-04 1.84839083e+02] [ 2.36241891e-03 9.86951214e-05 -9.99997205e-01 6.69388174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.51, Y:184.87, Z:6.69 [[-9.59402997e-01 2.82033275e-01 -1.76690196e-03 1.71508198e+02] [ 2.82032614e-01 9.59404619e-01 6.18019303e-04 1.84866166e+02] [ 1.86947591e-03 9.46055932e-05 -9.99998248e-01 6.69399911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.56, Y:185.10, Z:5.70 [[-9.50435875e-01 -3.10917056e-01 1.49427765e-03 1.71560039e+02] [ 3.10916768e-01 -9.50437047e-01 -4.27068633e-04 1.85099502e+02] [ 1.55299976e-03 5.86946268e-05 9.99998792e-01 5.69609009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.46, Y:184.87, Z:6.69 [[-9.58821491e-01 2.83999117e-01 -2.41875820e-03 1.71460879e+02] [ 2.83998034e-01 9.58824539e-01 7.87440386e-04 1.84874195e+02] [ 2.54279709e-03 6.80921926e-05 -9.99996765e-01 6.69349097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.46, Y:184.90, Z:6.69 [[-9.75646501e-01 2.19327298e-01 -3.07276470e-03 1.71455727e+02] [ 2.19326080e-01 9.75651339e-01 7.31905138e-04 1.84901839e+02] [ 3.15847377e-03 4.01432488e-05 -9.99995011e-01 6.69279798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.44, Y:184.93, Z:6.69 [[-9.88630179e-01 1.50338176e-01 -2.96689662e-03 1.71441357e+02] [ 1.50337374e-01 9.88634630e-01 4.92759274e-04 1.84933744e+02] [ 3.00725728e-03 4.11212423e-05 -9.99995477e-01 6.69250953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.46, Y:185.19, Z:5.70 [[-9.86899140e-01 -1.61336946e-01 6.91001460e-04 1.71455022e+02] [ 1.61336974e-01 -9.86899377e-01 -1.59139016e-05 1.85186259e+02] [ 6.84516411e-04 9.57786687e-05 9.99999761e-01 5.69811718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.39, Y:184.94, Z:6.69 [[-9.89533263e-01 1.44277772e-01 -2.80111606e-03 1.71385848e+02] [ 1.44277045e-01 9.89537226e-01 4.61046463e-04 1.84940839e+02] [ 2.83832737e-03 5.20840637e-05 -9.99995971e-01 6.69196685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.36, Y:184.97, Z:6.69 [[-9.97470325e-01 7.10364366e-02 -2.60313565e-03 1.71363299e+02] [ 7.10360269e-02 9.97473719e-01 2.49647066e-04 1.84970691e+02] [ 2.61429344e-03 6.40991253e-05 -9.99996581e-01 6.69181781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.34, Y:185.00, Z:6.69 [[-9.99978308e-01 -6.32280929e-03 -1.84564571e-03 1.71338017e+02] [-6.32297043e-03 9.99980007e-01 8.14849258e-05 1.85004035e+02] [ 1.84509359e-03 9.31531214e-05 -9.99998293e-01 6.69275668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.32, Y:185.25, Z:5.70 [[-9.99629099e-01 -2.71836691e-02 1.64700527e-03 1.71317181e+02] [ 2.71837602e-02 -9.99630453e-01 3.29837387e-05 1.85249609e+02] [ 1.64550001e-03 7.77433016e-05 9.99998643e-01 5.69785442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.28, Y:185.01, Z:6.69 [[-9.99906325e-01 -1.36251493e-02 -1.30264548e-03 1.71282264e+02] [-1.36252764e-02 9.99907168e-01 8.87459476e-05 1.85005484e+02] [ 1.30131537e-03 1.06486539e-04 -9.99999148e-01 6.69323928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.25, Y:185.03, Z:6.69 [[-9.96132806e-01 -8.78582993e-02 -5.94105035e-04 1.71247990e+02] [-8.78583534e-02 9.96132976e-01 6.55679383e-05 1.85034303e+02] [ 5.86046930e-04 1.17511464e-04 -9.99999821e-01 6.69392901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.22, Y:185.06, Z:6.69 [[-9.86802449e-01 -1.61928763e-01 5.16881975e-05 1.71224036e+02] [-1.61928755e-01 9.86802443e-01 1.34023768e-04 1.85061696e+02] [-7.27083422e-05 1.23885177e-04 -9.99999990e-01 6.69443188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.17, Y:185.29, Z:5.70 [[-9.94778701e-01 1.02003703e-01 3.25286906e-03 1.71165491e+02] [-1.02002865e-01 -9.94784015e-01 4.22759472e-04 1.85287448e+02] [ 3.27902518e-03 8.87501537e-05 9.99994620e-01 5.69704903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.990385723 meters Centerline goodness [0,1] 0.9998955439028976 Centerline is valid? [True, True] Translation: X:171.16, Y:185.05, Z:6.70 [[-9.84545886e-01 -1.75126804e-01 -1.82376608e-05 1.71163263e+02] [-1.75126805e-01 9.84545879e-01 1.21778245e-04 1.85051930e+02] [-3.37082091e-06 1.23090174e-04 -9.99999992e-01 6.69719231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.10, Y:185.28, Z:5.70 [[-9.95346454e-01 9.62717773e-02 4.14507339e-03 1.71101783e+02] [-9.62701270e-02 -9.95355066e-01 5.96290442e-04 1.85275765e+02] [ 4.18322574e-03 1.94468835e-04 9.99991231e-01 5.69770713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.10, Y:185.04, Z:6.69 [[-9.81971431e-01 -1.89022352e-01 1.63079642e-03 1.71101412e+02] [-1.89021919e-01 9.81972780e-01 4.16613415e-04 1.85040510e+02] [-1.68014694e-03 1.00846203e-04 -9.99998583e-01 6.69429913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.07, Y:185.06, Z:6.70 [[-9.64567853e-01 -2.63821489e-01 2.66075225e-03 1.71070464e+02] [-2.63820281e-01 9.64571520e-01 8.01389973e-04 1.85062668e+02] [-2.77790974e-03 7.10345979e-05 -9.99996139e-01 6.69556656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.110385723 meters Centerline goodness [0,1] 0.9999582951038452 Centerline is valid? [True, True] Translation: X:171.00, Y:185.29, Z:5.69 [[-9.87063484e-01 1.60231249e-01 5.62355892e-03 1.70995454e+02] [-1.60227573e-01 -9.87079486e-01 1.10131022e-03 1.85285689e+02] [ 5.72736397e-03 1.86013908e-04 9.99983581e-01 5.69438080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.01, Y:185.04, Z:6.70 [[-9.62323267e-01 -2.71904172e-01 1.43197860e-03 1.71013075e+02] [-2.71903734e-01 9.62324329e-01 4.95564518e-04 1.85044222e+02] [-1.51277390e-03 8.75329375e-05 -9.99998852e-01 6.69523948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.98, Y:185.06, Z:6.69 [[-9.39828229e-01 -3.41645823e-01 1.01550716e-03 1.70977126e+02] [-3.41645514e-01 9.39828773e-01 4.68995159e-04 1.85058918e+02] [-1.11463308e-03 9.38314246e-05 -9.99999374e-01 6.69441334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.95, Y:185.07, Z:6.69 [[-9.11553626e-01 -4.11178778e-01 1.41416415e-03 1.70945656e+02] [-4.11178151e-01 9.11554720e-01 7.21926616e-04 1.85071426e+02] [-1.58592891e-03 7.66014248e-05 -9.99998739e-01 6.69448386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.230385723 meters Centerline goodness [0,1] 0.9999165623696287 Centerline is valid? [True, True] Translation: X:170.91, Y:185.08, Z:6.70 [[-8.78935030e-01 -4.76939180e-01 1.49381294e-03 1.70906706e+02] [-4.76938355e-01 8.78936297e-01 8.89456404e-04 1.85081902e+02] [-1.73718302e-03 6.93177066e-05 -9.99998489e-01 6.69513644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.86, Y:185.08, Z:6.70 [[-8.40625503e-01 -5.41609992e-01 2.71674543e-03 1.70863349e+02] [-5.41607110e-01 8.40629893e-01 1.76697262e-03 1.85081344e+02] [-3.24078744e-03 1.39536068e-05 -9.99994749e-01 6.69584890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.82, Y:185.08, Z:6.70 [[-7.98377883e-01 -6.02149339e-01 2.98825851e-03 1.70815351e+02] [-6.02145159e-01 7.98383475e-01 2.24347088e-03 1.85076647e+02] [-3.73668072e-03 -8.22786537e-06 -9.99993019e-01 6.69562310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.76, Y:185.07, Z:6.70 [[-7.51895143e-01 -6.59276736e-01 2.80694422e-03 1.70757384e+02] [-6.59272203e-01 7.51900383e-01 2.44489590e-03 1.85068183e+02] [-3.72240542e-03 -1.22349455e-05 -9.99993072e-01 6.69581061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.350385723 meters Centerline goodness [0,1] 0.9999790654831686 Centerline is valid? [True, True] Translation: X:170.70, Y:185.03, Z:6.69 [[-7.00126613e-01 -7.14013924e-01 2.61564761e-03 1.70696980e+02] [-7.14009034e-01 7.00131499e-01 2.64264180e-03 1.85033721e+02] [-3.71818032e-03 -1.74121668e-05 -9.99993087e-01 6.69365159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.63, Y:185.00, Z:6.69 [[-6.44955435e-01 -7.64216260e-01 2.44833562e-03 1.70628164e+02] [-7.64210890e-01 6.44960082e-01 2.86518333e-03 1.85000298e+02] [-3.76869843e-03 -2.31291860e-05 -9.99992898e-01 6.69381340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.410385723 meters Centerline goodness [0,1] 0.9999790549597856 Centerline is valid? [True, True] Translation: X:170.56, Y:184.96, Z:6.69 [[-5.86568362e-01 -8.09896258e-01 2.36793497e-03 1.70563420e+02] [-8.09889882e-01 5.86573141e-01 3.21404350e-03 1.84955659e+02] [-3.99200886e-03 -3.25103395e-05 -9.99992031e-01 6.69352958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.50, Y:184.90, Z:6.69 [[-5.23997498e-01 -8.51717126e-01 2.13554636e-03 1.70501848e+02] [-8.51710338e-01 5.24001848e-01 3.40043302e-03 1.84903397e+02] [-4.01523728e-03 -3.70485176e-05 -9.99991938e-01 6.69357894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.470385723 meters Centerline goodness [0,1] 0.9999372922806797 Centerline is valid? [True, True] Translation: X:170.44, Y:184.84, Z:6.69 [[-4.58618636e-01 -8.88631514e-01 1.72612609e-03 1.70436789e+02] [-8.88625440e-01 4.58621883e-01 3.28573838e-03 1.84840489e+02] [-3.71144986e-03 -2.69786990e-05 -9.99993112e-01 6.69376774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.38, Y:184.77, Z:6.69 [[-3.90220247e-01 -9.20718947e-01 2.18629363e-03 1.70379890e+02] [-9.20705871e-01 3.90226360e-01 4.90790495e-03 1.84766509e+02] [-5.37195048e-03 -9.77694946e-05 -9.99985566e-01 6.69498361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.530385723 meters Centerline goodness [0,1] 0.9999791031052786 Centerline is valid? [True, True] Translation: X:170.32, Y:184.69, Z:6.70 [[-3.19898095e-01 -9.47449180e-01 2.29358289e-03 1.70323172e+02] [-9.47428170e-01 3.19906280e-01 6.31150022e-03 1.84685824e+02] [-6.71355728e-03 -1.53968142e-04 -9.99977452e-01 6.69577222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.27, Y:184.60, Z:6.70 [[-2.47604992e-01 -9.68858601e-01 2.18600148e-03 1.70269705e+02] [-9.68827913e-01 2.47614554e-01 7.71409971e-03 1.84598887e+02] [-8.01515764e-03 -2.07809656e-04 -9.99967857e-01 6.69691374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.23, Y:184.50, Z:6.70 [[-1.74085577e-01 -9.84728741e-01 1.87599718e-03 1.70229903e+02] [-9.84686499e-01 1.74095493e-01 9.12463679e-03 1.84503253e+02] [-9.31189475e-03 -2.58801430e-04 -9.99956610e-01 6.69653419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.19, Y:184.40, Z:6.70 [[-9.94063129e-02 -9.95046167e-01 1.22945050e-03 1.70188149e+02] [-9.94999993e-01 9.94135487e-02 9.58963240e-03 1.84398800e+02] [-9.66435100e-03 -2.70033236e-04 -9.99953263e-01 6.69659118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.16, Y:184.30, Z:6.70 [[-2.41845028e-02 -9.99707356e-01 5.58802441e-04 1.70155854e+02] [-9.99651380e-01 2.41890644e-02 1.05833967e-02 1.84295586e+02] [-1.05938165e-02 -3.02653443e-04 -9.99943838e-01 6.69568645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.14, Y:184.19, Z:6.69 [[ 5.09422713e-02 -9.98701568e-01 -2.51537664e-04 1.70138253e+02] [-9.98642286e-01 -5.09419892e-02 1.08856732e-02 1.84185321e+02] [-1.08843528e-02 -3.03344771e-04 -9.99940718e-01 6.69407207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.12, Y:184.08, Z:6.69 [[ 1.26042496e-01 -9.92024236e-01 -1.09729072e-03 1.70120701e+02] [-9.91962916e-01 -1.26046910e-01 1.10340062e-02 1.84075880e+02] [-1.10843117e-02 -3.02281977e-04 -9.99938521e-01 6.69407711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.12, Y:183.97, Z:6.69 [[ 1.99171562e-01 -9.79962682e-01 -1.95736070e-03 1.70117440e+02] [-9.79899334e-01 -1.99180951e-01 1.11465036e-02 1.83971770e+02] [-1.13130265e-02 -3.02050083e-04 -9.99935960e-01 6.69277492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.770385723 meters Centerline goodness [0,1] 0.9997211018621814 Centerline is valid? [True, True] Translation: X:170.12, Y:183.86, Z:6.69 [[ 2.73795262e-01 -9.61784018e-01 -2.76727875e-03 1.70118290e+02] [-9.61723269e-01 -2.73809082e-01 1.08138802e-02 1.83855352e+02] [-1.11583232e-02 -2.99432786e-04 -9.99937699e-01 6.69219209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.800385723 meters Centerline goodness [0,1] 0.9996788696210661 Centerline is valid? [True, True] Translation: X:170.13, Y:183.74, Z:6.69 [[ 3.46638087e-01 -9.37991895e-01 -3.63886771e-03 1.70127863e+02] [-9.37930473e-01 -3.46657048e-01 1.07386744e-02 1.83739498e+02] [-1.13342287e-02 -3.09428653e-04 -9.99935718e-01 6.69161474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.830385723 meters Centerline goodness [0,1] 0.9996554694229113 Centerline is valid? [True, True] Translation: X:170.15, Y:183.62, Z:6.69 [[ 4.17847348e-01 -9.08504363e-01 -4.83907487e-03 1.70150366e+02] [-9.08433230e-01 -4.17875216e-01 1.13741643e-02 1.83622894e+02] [-1.23556073e-02 -3.56687982e-04 -9.99923603e-01 6.69376624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.860385723 meters Centerline goodness [0,1] 0.9996981001876092 Centerline is valid? [True, True] Translation: X:170.17, Y:183.51, Z:6.69 [[ 4.86833811e-01 -8.73479759e-01 -5.09419492e-03 1.70173974e+02] [-8.73424968e-01 -4.86860360e-01 9.78855536e-03 1.83512988e+02] [-1.10302666e-02 -3.16002679e-04 -9.99939115e-01 6.69091016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.890385723 meters Centerline goodness [0,1] 0.9998058252427184 Centerline is valid? [True, True] Translation: X:170.21, Y:183.40, Z:6.69 [[ 5.52163690e-01 -8.33716232e-01 -5.70123928e-03 1.70208308e+02] [-8.33665882e-01 -5.52193036e-01 9.16773755e-03 1.83403039e+02] [-1.07914762e-02 -3.09163117e-04 -9.99941723e-01 6.69036976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.920385723 meters Centerline goodness [0,1] 0.9995227558679335 Centerline is valid? [True, True] Translation: X:170.26, Y:183.30, Z:6.69 [[ 6.13687896e-01 -7.89513731e-01 -7.43207012e-03 1.70255342e+02] [-7.89448325e-01 -6.13732784e-01 1.01692042e-02 1.83299723e+02] [-1.25900314e-02 -3.73482224e-04 -9.99920673e-01 6.69064192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.950385723 meters Centerline goodness [0,1] 0.9997174650091281 Centerline is valid? [True, True] Translation: X:170.30, Y:183.20, Z:6.69 [[ 6.71489291e-01 -7.40962197e-01 -8.78379504e-03 1.70301884e+02] [-7.40890877e-01 -6.71546620e-01 1.02881172e-02 1.83201525e+02] [-1.35218338e-02 -4.00526904e-04 -9.99908496e-01 6.69112849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.980385723 meters Centerline goodness [0,1] 0.9998908916335705 Centerline is valid? [True, True] Translation: X:170.36, Y:183.11, Z:6.69 [[ 7.23984801e-01 -6.89745142e-01 -9.88160295e-03 1.70362538e+02] [-6.89673659e-01 -7.24052135e-01 9.93729026e-03 1.83110039e+02] [-1.40089934e-02 -3.79365855e-04 -9.99901797e-01 6.69025904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.43, Y:183.02, Z:6.69 [[ 7.73476617e-01 -6.33738726e-01 -1.04474929e-02 1.70430329e+02] [-6.33674687e-01 -7.73547091e-01 9.01603930e-03 1.83016038e+02] [-1.37954410e-02 -3.53383810e-04 -9.99904776e-01 6.68933508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.040385723 meters Centerline goodness [0,1] 0.9997588512550696 Centerline is valid? [True, True] Translation: X:170.43, Y:183.01, Z:6.69 [[ 8.19899369e-01 -5.72408549e-01 -1.06526034e-02 1.70430249e+02] [-5.72355244e-01 -8.19968508e-01 7.81793675e-03 1.83010522e+02] [-1.32098532e-02 -3.12847969e-04 -9.99912697e-01 6.68844356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.070385723 meters Centerline goodness [0,1] 0.9998895930399453 Centerline is valid? [True, True] Translation: X:170.43, Y:183.01, Z:6.69 [[ 8.60925529e-01 -5.08600257e-01 -1.15331094e-02 1.70431337e+02] [-5.08550037e-01 -8.61002725e-01 7.15311791e-03 1.83007686e+02] [-1.35681162e-02 -2.93138604e-04 -9.99907906e-01 6.68997795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.100385723 meters Centerline goodness [0,1] 0.9999558469655827 Centerline is valid? [True, True] Translation: X:170.43, Y:183.01, Z:6.69 [[ 8.97649668e-01 -4.40556225e-01 -1.16312422e-02 1.70433651e+02] [-4.40515370e-01 -8.97724981e-01 6.00559219e-03 1.83005670e+02] [-1.30874577e-02 -2.67176883e-04 -9.99914320e-01 6.68902196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.130385723 meters Centerline goodness [0,1] 0.9999777891300002 Centerline is valid? [True, True] Translation: X:170.44, Y:183.01, Z:6.69 [[ 9.28569686e-01 -3.70950002e-01 -1.24271841e-02 1.70436082e+02] [-3.70913147e-01 -9.28652805e-01 5.23496253e-03 1.83007202e+02] [-1.34824487e-02 -2.51621549e-04 -9.99909076e-01 6.68896356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.160385723 meters Centerline goodness [0,1] 0.9999777772839397 Centerline is valid? [True, True] Translation: X:170.44, Y:183.00, Z:6.69 [[ 9.54070642e-01 -2.99321976e-01 -1.24725777e-02 1.70435855e+02] [-2.99293463e-01 -9.54152141e-01 4.13691476e-03 1.83003395e+02] [-1.31390063e-02 -2.13947936e-04 -9.99913657e-01 6.68828543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.190385723 meters Centerline goodness [0,1] 0.9999110518123193 Centerline is valid? [True, True] Translation: X:170.44, Y:183.00, Z:6.69 [[ 9.73897503e-01 -2.26617234e-01 -1.29723798e-02 1.70435736e+02] [-2.26594649e-01 -9.73983879e-01 3.20445580e-03 1.82998547e+02] [-1.33610737e-02 -1.81339644e-04 -9.99910720e-01 6.68770126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.220385723 meters Centerline goodness [0,1] 0.9999776750831603 Centerline is valid? [True, True] Translation: X:170.43, Y:183.00, Z:6.69 [[ 9.87557268e-01 -1.56635608e-01 -1.39974937e-02 1.70432506e+02] [-1.56618445e-01 -9.87656457e-01 2.32080757e-03 1.82995096e+02] [-1.41882361e-02 -9.96646870e-05 -9.99899337e-01 6.68833600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.43, Y:182.99, Z:6.69 [[ 9.96593255e-01 -8.13053759e-02 -1.38318557e-02 1.70426342e+02] [-8.12966961e-02 -9.96689236e-01 1.18957119e-03 1.82985224e+02] [-1.38827802e-02 -6.10344598e-05 -9.99903628e-01 6.68920531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.280385723 meters Centerline goodness [0,1] 0.9999554228146035 Centerline is valid? [True, True] Translation: X:170.42, Y:182.98, Z:6.69 [[ 9.99898069e-01 -5.50665264e-03 -1.31730400e-02 1.70422081e+02] [-5.50592688e-03 -9.99984838e-01 9.13605868e-05 1.82976129e+02] [-1.31733434e-02 -1.88214793e-05 -9.99913228e-01 6.69013499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.42, Y:182.97, Z:6.69 [[ 9.97568713e-01 6.84349857e-02 -1.31649033e-02 1.70417185e+02] [ 6.84285117e-02 -9.97655578e-01 -9.42114661e-04 1.82967785e+02] [-1.31985128e-02 3.89693704e-05 -9.99912895e-01 6.69175808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.340385723 meters Centerline goodness [0,1] 0.9999555920687435 Centerline is valid? [True, True] Translation: X:170.41, Y:182.96, Z:6.69 [[ 9.89348977e-01 1.44940966e-01 -1.34431335e-02 1.70414678e+02] [ 1.44926822e-01 -9.89440303e-01 -2.02559686e-03 1.82955292e+02] [-1.35947700e-02 5.57515661e-05 -9.99907585e-01 6.69043589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.37038572299997 meters Centerline goodness [0,1] 0.9996890547263682 Centerline is valid? [True, True] Translation: X:170.41, Y:182.94, Z:6.69 [[ 9.75591832e-01 2.19157701e-01 -1.38013945e-02 1.70413524e+02] [ 2.19134423e-01 -9.75689445e-01 -3.19554450e-03 1.82944177e+02] [-1.41662031e-02 9.31865106e-05 -9.99899650e-01 6.69123739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.41, Y:182.93, Z:6.69 [[ 9.55522719e-01 2.94644118e-01 -1.26955434e-02 1.70411667e+02] [ 2.94616762e-01 -9.55607050e-01 -4.01612364e-03 1.82932977e+02] [-1.33152779e-02 9.71774970e-05 -9.99911343e-01 6.68900298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.430385723 meters Centerline goodness [0,1] 0.9999556688462817 Centerline is valid? [True, True] Translation: X:170.41, Y:182.92, Z:6.69 [[ 9.29725515e-01 3.68032628e-01 -1.27456205e-02 1.70411791e+02] [ 3.67996521e-01 -9.29812870e-01 -5.15625323e-03 1.82920666e+02] [-1.37487114e-02 1.03556180e-04 -9.99905477e-01 6.68932503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.41, Y:182.91, Z:6.69 [[ 8.98454257e-01 4.38880197e-01 -1.28109294e-02 1.70413183e+02] [ 4.38833754e-01 -8.98545580e-01 -6.38574306e-03 1.82908004e+02] [-1.43137802e-02 1.15429798e-04 -9.99897546e-01 6.69070113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.42, Y:182.89, Z:6.69 [[ 8.62515679e-01 5.05843587e-01 -1.37466143e-02 1.70415529e+02] [ 5.05776521e-01 -8.62625204e-01 -8.23823854e-03 1.82894981e+02] [-1.60254361e-02 1.52895181e-04 -9.99871573e-01 6.69493210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.42, Y:182.88, Z:6.70 [[ 8.21061023e-01 5.70670636e-01 -1.39220135e-02 1.70418863e+02] [ 5.70584922e-01 -8.21179026e-01 -9.89207708e-03 1.82883703e+02] [-1.70775834e-02 1.78307959e-04 -9.99854152e-01 6.69586648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.42, Y:182.87, Z:6.70 [[ 7.75532097e-01 6.31171718e-01 -1.31236383e-02 1.70421166e+02] [ 6.31076478e-01 -7.75643096e-01 -1.09666002e-02 1.82874063e+02] [-1.71010673e-02 2.22931017e-04 -9.99853741e-01 6.69653612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.42, Y:182.87, Z:6.69 [[ 7.24461674e-01 6.89211261e-01 -1.19633035e-02 1.70424744e+02] [ 6.89111868e-01 -7.24560405e-01 -1.17069558e-02 1.82865067e+02] [-1.67367019e-02 2.37186384e-04 -9.99859903e-01 6.69462764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.610385723 meters Centerline goodness [0,1] 0.9999777960343718 Centerline is valid? [True, True] Translation: X:170.43, Y:182.86, Z:6.69 [[ 6.68737465e-01 7.43431190e-01 -1.00134133e-02 1.70428548e+02] [ 7.43342565e-01 -6.68812388e-01 -1.14812857e-02 1.82856629e+02] [-1.52326407e-02 2.34569607e-04 -9.99883949e-01 6.69242644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.43, Y:182.85, Z:6.69 [[ 6.08418730e-01 7.93582108e-01 -7.35436790e-03 1.70434384e+02] [ 7.93519913e-01 -6.08463140e-01 -9.93750612e-03 1.82846582e+02] [-1.23610888e-02 2.10327469e-04 -9.99923577e-01 6.68941342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.670385723 meters Centerline goodness [0,1] 0.9999554744200543 Centerline is valid? [True, True] Translation: X:170.44, Y:182.84, Z:6.69 [[ 5.43892288e-01 8.39133071e-01 -6.07192371e-03 1.70440001e+02] [ 8.39076714e-01 -5.43926145e-01 -9.72717452e-03 1.82835983e+02] [-1.14650719e-02 1.95725417e-04 -9.99934255e-01 6.68968018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.700385723 meters Centerline goodness [0,1] 0.9999332354119375 Centerline is valid? [True, True] Translation: X:170.45, Y:182.83, Z:6.69 [[ 4.74474134e-01 8.80253888e-01 -5.23349394e-03 1.70447721e+02] [ 8.80196383e-01 -4.74502966e-01 -1.00629768e-02 1.82826292e+02] [-1.13412829e-02 1.68119785e-04 -9.99935671e-01 6.69108505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.730385723 meters Centerline goodness [0,1] 0.9999332354119375 Centerline is valid? [True, True] Translation: X:170.45, Y:182.82, Z:6.69 [[ 4.04080117e-01 9.14712863e-01 -4.43138600e-03 1.70454277e+02] [ 9.14653231e-01 -4.04104380e-01 -1.04459373e-02 1.82817944e+02] [-1.13457757e-02 1.67814039e-04 -9.99935621e-01 6.69112445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.46, Y:182.81, Z:6.69 [[ 3.29906859e-01 9.44006732e-01 -3.57126225e-03 1.70461131e+02] [ 9.43946350e-01 -3.29926153e-01 -1.06781179e-02 1.82809644e+02] [-1.12584680e-02 1.51704388e-04 -9.99936610e-01 6.69244073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.790385723 meters Centerline goodness [0,1] 0.9999777238199193 Centerline is valid? [True, True] Translation: X:170.47, Y:182.80, Z:6.69 [[ 2.52289972e-01 9.67647014e-01 -3.00429014e-03 1.70466470e+02] [ 9.67572605e-01 -2.52307831e-01 -1.20005256e-02 1.82802626e+02] [-1.23702787e-02 1.20743423e-04 -9.99923478e-01 6.69307053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.47, Y:182.80, Z:6.69 [[ 1.74678287e-01 9.84623333e-01 -2.09488022e-03 1.70471907e+02] [ 9.84545003e-01 -1.74690815e-01 -1.24199956e-02 1.82796535e+02] [-1.25949738e-02 1.06999707e-04 -9.99920674e-01 6.69326853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.48, Y:182.79, Z:6.69 [[ 9.59897981e-02 9.95381693e-01 -1.11524753e-03 1.70476957e+02] [ 9.95302737e-01 -9.59962311e-02 -1.25373294e-02 1.82791380e+02] [-1.25864877e-02 9.34467919e-05 -9.99920783e-01 6.69322471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.880385723 meters Centerline goodness [0,1] 0.9999777391923779 Centerline is valid? [True, True] Translation: X:170.48, Y:182.78, Z:6.69 [[ 1.65367710e-02 9.99863249e-01 -1.37653085e-04 1.70480700e+02] [ 9.99779205e-01 -1.65371657e-02 -1.29639215e-02 1.82784982e+02] [-1.29644251e-02 7.67587094e-05 -9.99915955e-01 6.69320390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.48, Y:182.78, Z:6.69 [[-6.21070177e-02 9.98069112e-01 8.74800965e-04 1.70484403e+02] [ 9.97986103e-01 6.21131348e-02 -1.28723207e-02 1.82779705e+02] [-1.29018024e-02 7.35777539e-05 -9.99916766e-01 6.69348737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.940385723 meters Centerline goodness [0,1] 0.9999777178635888 Centerline is valid? [True, True] Translation: X:170.49, Y:182.77, Z:6.70 [[-1.40037704e-01 9.90144285e-01 1.93299499e-03 1.70488202e+02] [ 9.90057016e-01 1.40051026e-01 -1.31459355e-02 1.82773572e+02] [-1.32870908e-02 7.28486225e-05 -9.99911720e-01 6.69524822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.970385723 meters Centerline goodness [0,1] 0.9999330102940848 Centerline is valid? [True, True] Translation: X:170.49, Y:182.77, Z:6.69 [[-2.16633326e-01 9.76248470e-01 2.98794261e-03 1.70494849e+02] [ 9.76160598e-01 2.16653917e-01 -1.30983826e-02 1.82770051e+02] [-1.34346255e-02 7.91656529e-05 -9.99909748e-01 6.69442561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.000385723 meters Centerline goodness [0,1] 0.9999776531319136 Centerline is valid? [True, True] Translation: X:170.50, Y:182.77, Z:6.69 [[-2.91534324e-01 9.56551573e-01 4.10201415e-03 1.70501329e+02] [ 9.56461251e-01 2.91563167e-01 -1.31451572e-02 1.82765116e+02] [-1.37700171e-02 9.11530588e-05 -9.99905185e-01 6.69492095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.030385723 meters Centerline goodness [0,1] 0.9999106903634902 Centerline is valid? [True, True] Translation: X:170.51, Y:182.76, Z:6.69 [[-3.64173224e-01 9.31316555e-01 5.22845035e-03 1.70511844e+02] [ 9.31224912e-01 3.64210738e-01 -1.30652706e-02 1.82763406e+02] [-1.40721606e-02 1.10841479e-04 -9.99900976e-01 6.69491230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.52, Y:182.76, Z:6.69 [[-4.33733827e-01 9.01021436e-01 5.94462620e-03 1.70522127e+02] [ 9.00941350e-01 4.33774539e-01 -1.20138917e-02 1.82761712e+02] [-1.34034015e-02 1.44928323e-04 -9.99910160e-01 6.69314010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.53, Y:182.76, Z:6.69 [[-5.01210049e-01 8.65300057e-01 6.65578582e-03 1.70533141e+02] [ 8.65228222e-01 5.01254210e-01 -1.11508224e-02 1.82760459e+02] [-1.29850479e-02 1.69869491e-04 -9.99915676e-01 6.69334573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.54, Y:182.76, Z:6.69 [[-5.66739117e-01 8.23863945e-01 7.41437738e-03 1.70543992e+02] [ 8.23797550e-01 5.66787586e-01 -1.04608231e-02 1.82760380e+02] [-1.28206720e-02 1.79388304e-04 -9.99917796e-01 6.69299916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.150385723 meters Centerline goodness [0,1] 0.9999776915183153 Centerline is valid? [True, True] Translation: X:170.55, Y:182.76, Z:6.69 [[-6.28964019e-01 7.77396417e-01 7.68597973e-03 1.70554395e+02] [ 7.77341910e-01 6.29010952e-01 -9.20745118e-03 1.82761966e+02] [-1.19924050e-02 1.83478661e-04 -9.99928072e-01 6.69292781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.57, Y:182.77, Z:6.69 [[-6.87423321e-01 7.26215044e-01 7.80312398e-03 1.70566583e+02] [ 7.26171294e-01 6.87467582e-01 -7.97339327e-03 1.82765719e+02] [-1.11547929e-02 1.85308160e-04 -9.99937766e-01 6.69227403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.58, Y:182.77, Z:6.69 [[-7.41713617e-01 6.70664416e-01 8.37566314e-03 1.70579517e+02] [ 6.70624569e-01 7.41760881e-01 -7.31325393e-03 1.82770035e+02] [-1.11174784e-02 1.92585461e-04 -9.99938180e-01 6.69324671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.60, Y:182.79, Z:6.69 [[-7.87359138e-01 6.16425884e-01 9.20423381e-03 1.70600697e+02] [ 6.16386488e-01 7.87412913e-01 -6.97149971e-03 1.82791267e+02] [-1.15449454e-02 1.84291349e-04 -9.99933338e-01 6.69383629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.08, Y:183.41, Z:5.71 [[-7.54059882e-01 -6.56715138e-01 1.09051442e-02 1.71083371e+02] [ 6.56645860e-01 -7.54138732e-01 -9.53871264e-03 1.83405736e+02] [ 1.44882086e-02 -3.19427570e-05 9.99895040e-01 5.71083518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.56, Y:182.82, Z:6.69 [[-7.89377438e-01 6.13830720e-01 9.75238267e-03 1.70563457e+02] [ 6.13786868e-01 7.89437655e-01 -7.33960019e-03 1.82821537e+02] [-1.22041702e-02 1.92169619e-04 -9.99925508e-01 6.69419563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.59, Y:182.84, Z:6.70 [[-8.30674922e-01 5.56660899e-01 1.03835183e-02 1.70588812e+02] [ 5.56620364e-01 8.30739794e-01 -6.72050651e-03 1.82840076e+02] [-1.23670450e-02 1.97121486e-04 -9.99923506e-01 6.69537439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.360385723 meters Centerline goodness [0,1] 0.9999778540582438 Centerline is valid? [True, True] Translation: X:170.61, Y:182.86, Z:6.69 [[-8.67479489e-01 4.97364571e-01 1.03836443e-02 1.70609481e+02] [ 4.97331751e-01 8.67541608e-01 -5.71730218e-03 1.82864155e+02] [-1.18518270e-02 2.04473620e-04 -9.99929744e-01 6.69497679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.62, Y:182.89, Z:6.69 [[-9.00289494e-01 4.35164766e-01 1.05096611e-02 1.70624339e+02] [ 4.35137808e-01 9.00350811e-01 -4.84816652e-03 1.82889600e+02] [-1.15721332e-02 2.08397519e-04 -9.99933019e-01 6.69494429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.64, Y:182.92, Z:6.69 [[-9.28625910e-01 3.70861691e-01 1.07483292e-02 1.70638843e+02] [ 3.70839514e-01 9.28688086e-01 -4.06129857e-03 1.82915525e+02] [-1.14880253e-02 2.14478107e-04 -9.99933987e-01 6.69458312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.92, Y:183.63, Z:5.71 [[-9.10605410e-01 -4.13093374e-01 1.23147174e-02 1.70923254e+02] [ 4.13054027e-01 -9.10688670e-01 -5.70241296e-03 1.83631720e+02] [ 1.35705026e-02 -1.06004483e-04 9.99907911e-01 5.71094975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.480385723 meters Centerline goodness [0,1] 0.9999778058903167 Centerline is valid? [True, True] Translation: X:170.60, Y:182.93, Z:6.70 [[-9.29395756e-01 3.68940359e-01 1.03218574e-02 1.70595113e+02] [ 3.68920323e-01 9.29453043e-01 -3.85176269e-03 1.82932431e+02] [-1.10147525e-02 2.28131073e-04 -9.99939310e-01 6.69526876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.59, Y:182.97, Z:6.69 [[-9.52703738e-01 3.03719421e-01 1.04929017e-02 1.70591577e+02] [ 3.03703820e-01 9.52761488e-01 -3.08811444e-03 1.82965166e+02] [-1.09351529e-02 2.44676150e-04 -9.99940180e-01 6.69458541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.83, Y:183.69, Z:5.71 [[-9.39963490e-01 -3.41035175e-01 1.27924566e-02 1.70834931e+02] [ 3.41001968e-01 -9.40050529e-01 -4.76030385e-03 1.83693569e+02] [ 1.36489866e-02 -1.12258950e-04 9.99906842e-01 5.71091112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.55, Y:182.98, Z:6.70 [[-9.53345036e-01 3.01712625e-01 1.01357645e-02 1.70553177e+02] [ 3.01698434e-01 9.53398881e-01 -2.93756463e-03 1.82975620e+02] [-1.05497269e-02 2.57431611e-04 -9.99944317e-01 6.69527550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.56, Y:183.00, Z:6.69 [[-9.72037746e-01 2.34679903e-01 8.24393983e-03 1.70562842e+02] [ 2.34673516e-01 9.72072676e-01 -1.74741858e-03 1.83003618e+02] [-8.42379267e-03 2.36077533e-04 -9.99964491e-01 6.69372583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.72, Y:183.76, Z:5.71 [[-9.63529666e-01 -2.67418962e-01 9.88340786e-03 1.70723912e+02] [ 2.67403303e-01 -9.63580342e-01 -2.89782329e-03 1.83755296e+02] [ 1.02983904e-02 -1.49282802e-04 9.99946959e-01 5.71281289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.51, Y:183.02, Z:6.69 [[-9.72997939e-01 2.30748303e-01 5.49827091e-03 1.70514985e+02] [ 2.30745720e-01 9.73013456e-01 -1.10827778e-03 1.83015682e+02] [-5.60562480e-03 1.90350487e-04 -9.99984270e-01 6.69217038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.52, Y:183.05, Z:6.69 [[-9.87021250e-01 1.60500934e-01 5.33870400e-03 1.70518178e+02] [ 1.60499583e-01 9.87035672e-01 -6.83307870e-04 1.83045747e+02] [-5.37916284e-03 1.82420378e-04 -9.99985516e-01 6.69196842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.52, Y:183.08, Z:6.69 [[-9.96031041e-01 8.88821757e-02 4.70360697e-03 1.70516585e+02] [ 8.88819710e-02 9.96042133e-01 -2.52943827e-04 1.83076166e+02] [-4.70747292e-03 1.66125955e-04 -9.99988906e-01 6.69202627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.52, Y:183.11, Z:6.69 [[-9.99866820e-01 1.57476426e-02 4.28405472e-03 1.70516890e+02] [ 1.57481425e-02 9.99875987e-01 8.29816373e-05 1.83107978e+02] [-4.28221668e-03 1.50436490e-04 -9.99990820e-01 6.69158991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.51, Y:183.14, Z:6.69 [[-9.98395936e-01 -5.64572182e-02 4.25878631e-03 1.70510050e+02] [-5.64560804e-02 9.98405009e-01 3.86995411e-04 1.83137964e+02] [-4.27384227e-03 1.45940264e-04 -9.99990856e-01 6.69202871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.50, Y:183.17, Z:6.69 [[-9.91596776e-01 -1.29272243e-01 4.95189754e-03 1.70503386e+02] [-1.29269895e-01 9.91609130e-01 7.92692932e-04 1.83169499e+02] [-5.01282000e-03 1.45900479e-04 -9.99987425e-01 6.69297716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.840385723 meters Centerline goodness [0,1] 0.9999779653174096 Centerline is valid? [True, True] Translation: X:170.48, Y:183.20, Z:6.69 [[-9.79725046e-01 -2.00284541e-01 4.99365959e-03 1.70477497e+02] [-2.00281183e-01 9.79737762e-01 1.16882832e-03 1.83196189e+02] [-5.12657511e-03 1.44994331e-04 -9.99986849e-01 6.69321504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.44, Y:183.22, Z:6.69 [[-9.62555795e-01 -2.71039754e-01 4.87793591e-03 1.70442887e+02] [-2.71035512e-01 9.62568144e-01 1.52326528e-03 1.83218384e+02] [-5.10821116e-03 1.44133971e-04 -9.99986943e-01 6.69297541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.38, Y:183.23, Z:6.69 [[-9.40441679e-01 -3.39937985e-01 3.40797523e-03 1.70380330e+02] [-3.39935230e-01 9.40447845e-01 1.37498568e-03 1.83229580e+02] [-3.67243282e-03 1.34602993e-04 -9.99993248e-01 6.69284424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.32, Y:183.23, Z:6.69 [[-9.13198114e-01 -4.07503598e-01 3.16591785e-03 1.70317062e+02] [-4.07500620e-01 9.13203591e-01 1.56397154e-03 1.83234834e+02] [-3.52845157e-03 1.38102371e-04 -9.99993765e-01 6.69337358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.960385723 meters Centerline goodness [0,1] 0.9999559384018858 Centerline is valid? [True, True] Translation: X:170.24, Y:183.22, Z:6.69 [[-8.81805235e-01 -4.71597018e-01 3.97245772e-03 1.70235155e+02] [-4.71591388e-01 8.81814167e-01 2.31023104e-03 1.83224807e+02] [-4.59246756e-03 1.63796973e-04 -9.99989441e-01 6.69430542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.15, Y:183.21, Z:6.69 [[-8.44768371e-01 -5.35117927e-01 3.89927631e-03 1.70150604e+02] [-5.35111270e-01 8.44777352e-01 2.67474259e-03 1.83206745e+02] [-4.72532303e-03 1.72991235e-04 -9.99988821e-01 6.69455503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.07, Y:183.18, Z:6.69 [[-8.02886848e-01 -5.96121869e-01 3.38042768e-03 1.70066360e+02] [-5.96115662e-01 8.02893945e-01 2.72579594e-03 1.83183154e+02] [-4.33903149e-03 1.73379827e-04 -9.99990571e-01 6.69467599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.050385723 meters Centerline goodness [0,1] 0.9999341238471673 Centerline is valid? [True, True] Translation: X:169.97, Y:183.14, Z:6.70 [[-7.56963308e-01 -6.53452561e-01 2.51010021e-03 1.69974120e+02] [-6.53448227e-01 7.56967452e-01 2.38574508e-03 1.83144493e+02] [-3.45903539e-03 1.65700956e-04 -9.99994004e-01 6.69545806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.88, Y:183.09, Z:6.69 [[-7.05568769e-01 -7.08639010e-01 1.86184310e-03 1.69878445e+02] [-7.08635951e-01 7.05571209e-01 2.08772663e-03 1.83093090e+02] [-2.79310742e-03 1.53665754e-04 -9.99996087e-01 6.69465136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.79, Y:183.04, Z:6.69 [[-6.49521681e-01 -7.60341688e-01 1.45016061e-03 1.69789310e+02] [-7.60339273e-01 6.49523283e-01 1.92216063e-03 1.83036878e+02] [-2.40341194e-03 1.45870943e-04 -9.99997101e-01 6.69433883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.70, Y:182.97, Z:6.69 [[-5.89364417e-01 -8.07866880e-01 8.29732671e-04 1.69699422e+02] [-8.07865751e-01 5.89364987e-01 1.35629332e-03 1.82967295e+02] [-1.58471984e-03 1.29038414e-04 -9.99998736e-01 6.69395617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.61, Y:182.89, Z:6.69 [[-5.25489716e-01 -8.50799804e-01 5.03260744e-04 1.69612297e+02] [-8.50799172e-01 5.25489943e-01 1.04323245e-03 1.82889092e+02] [-1.15204043e-03 1.20034101e-04 -9.99999329e-01 6.69342321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.53, Y:182.80, Z:6.69 [[-4.58238239e-01 -8.88829331e-01 3.68532716e-04 1.69531441e+02] [-8.88828810e-01 4.58238373e-01 9.70261039e-04 1.82801454e+02] [-1.03127230e-03 1.17048215e-04 -9.99999461e-01 6.69311052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.45, Y:182.70, Z:6.69 [[-3.87675258e-01 -9.21795991e-01 2.13342097e-04 1.69449935e+02] [-9.21795654e-01 3.87675300e-01 7.96023352e-04 1.82698879e+02] [-8.16478596e-04 1.11940740e-04 -9.99999660e-01 6.69326375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.39, Y:182.61, Z:6.69 [[-3.15347120e-01 -9.48976374e-01 1.89070960e-04 1.69385032e+02] [-9.48975926e-01 3.15347157e-01 9.28658308e-04 1.82607949e+02] [-9.40897784e-04 1.13425933e-04 -9.99999551e-01 6.69333032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.290385723 meters Centerline goodness [0,1] 0.9998904589768869 Centerline is valid? [True, True] Translation: X:169.32, Y:182.50, Z:6.69 [[-2.42081473e-01 -9.70255906e-01 1.92601735e-04 1.69323993e+02] [-9.70255088e-01 2.42081520e-01 1.26525656e-03 1.82497942e+02] [-1.27424797e-03 1.19422359e-04 -9.99999181e-01 6.69490458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.27, Y:182.39, Z:6.69 [[-1.66359987e-01 -9.86065086e-01 1.77802883e-05 1.69272884e+02] [-9.86064793e-01 1.66359952e-01 7.68058012e-04 1.82386521e+02] [-7.60313117e-04 1.10241605e-04 -9.99999705e-01 6.69322772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.23, Y:182.27, Z:6.69 [[-8.98310084e-02 -9.95957021e-01 -5.04652699e-05 1.69227573e+02] [-9.95956821e-01 8.98309578e-02 6.40896962e-04 1.82267052e+02] [-6.33772485e-04 1.07833650e-04 -9.99999793e-01 6.69341038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.19, Y:182.15, Z:6.69 [[-1.23925603e-02 -9.99923205e-01 -9.77504281e-05 1.69189920e+02] [-9.99923196e-01 1.23925439e-02 1.65747341e-04 1.82146377e+02] [-1.64523236e-04 9.97969544e-05 -9.99999982e-01 6.69427711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.16, Y:182.02, Z:6.69 [[ 6.48147357e-02 -9.97897310e-01 -9.55495310e-05 1.69164158e+02] [-9.97897314e-01 -6.48147341e-02 -1.98443185e-05 1.82021530e+02] [ 1.36095749e-05 9.66348246e-05 -9.99999995e-01 6.69424676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.440385723 meters Centerline goodness [0,1] 0.9999782825869782 Centerline is valid? [True, True] Translation: X:169.15, Y:181.90, Z:6.69 [[ 1.41312479e-01 -9.89965037e-01 -9.40687811e-05 1.69148996e+02] [-9.89965041e-01 -1.41312478e-01 -2.30574569e-05 1.81895759e+02] [ 9.53298390e-06 9.63831112e-05 -9.99999995e-01 6.69407238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.470385723 meters Centerline goodness [0,1] 0.9999782943717306 Centerline is valid? [True, True] Translation: X:169.14, Y:181.77, Z:6.69 [[ 2.15903153e-01 -9.76414774e-01 -1.30253929e-04 1.69141615e+02] [-9.76414771e-01 -2.15903169e-01 1.31078031e-04 1.81772014e+02] [-1.56108762e-04 9.88817002e-05 -9.99999983e-01 6.69419265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.500385723 meters Centerline goodness [0,1] 0.9999130737134909 Centerline is valid? [True, True] Translation: X:169.15, Y:181.65, Z:6.69 [[ 2.89368881e-01 -9.57217652e-01 -1.35064152e-04 1.69145465e+02] [-9.57217651e-01 -2.89368896e-01 1.06584472e-04 1.81647415e+02] [-1.41107902e-04 9.84435613e-05 -9.99999985e-01 6.69475029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.16, Y:181.52, Z:6.69 [[ 3.59754166e-01 -9.33047114e-01 -1.49958460e-04 1.69159609e+02] [-9.33047112e-01 -3.59754184e-01 1.14327867e-04 1.81519455e+02] [-1.60621470e-04 9.87883814e-05 -9.99999982e-01 6.69452761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.560385723 meters Centerline goodness [0,1] 0.9999566921461207 Centerline is valid? [True, True] Translation: X:169.18, Y:181.41, Z:6.70 [[ 4.29317988e-01 -9.03153279e-01 -4.68595585e-04 1.69178999e+02] [-9.03152998e-01 -4.29318229e-01 7.21931209e-04 1.81405425e+02] [-8.53191165e-04 1.13275453e-04 -9.99999630e-01 6.69536412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.21, Y:181.29, Z:6.69 [[ 4.96258494e-01 -8.68174722e-01 -3.98789279e-04 1.69209309e+02] [-8.68174597e-01 -4.96258642e-01 4.79222472e-04 1.81288561e+02] [-6.13951463e-04 1.08400499e-04 -9.99999806e-01 6.69482665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.25, Y:181.18, Z:6.70 [[ 5.61168626e-01 -8.27701385e-01 -4.35989769e-04 1.69247892e+02] [-8.27701270e-01 -5.61168785e-01 4.50531336e-04 1.81175819e+02] [-6.17569259e-04 1.08045234e-04 -9.99999803e-01 6.69500529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.30, Y:181.06, Z:6.70 [[ 6.22164662e-01 -7.82886124e-01 -6.71150726e-04 1.69301579e+02] [-7.82885855e-01 -6.22165014e-01 6.59174701e-04 1.81059273e+02] [-9.33625227e-04 1.15319205e-04 -9.99999558e-01 6.69573719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.34, Y:180.97, Z:6.70 [[ 6.79101954e-01 -7.34043733e-01 -5.78961671e-04 1.69341699e+02] [-7.34043596e-01 -6.79102191e-01 4.62189857e-04 1.80967737e+02] [-7.32441707e-04 1.11109072e-04 -9.99999726e-01 6.69580362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.40, Y:180.87, Z:6.70 [[ 7.32797737e-01 -6.80446025e-01 -8.27636858e-04 1.69397490e+02] [-6.80445763e-01 -7.32798194e-01 6.07995162e-04 1.80872117e+02] [-1.02019869e-03 1.17624515e-04 -9.99999473e-01 6.69621971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.39, Y:180.86, Z:6.70 [[ 7.84175986e-01 -6.20536582e-01 -1.54059895e-03 1.69393272e+02] [-6.20535723e-01 -7.84177487e-01 1.04193184e-03 1.80863699e+02] [-1.85465984e-03 1.38938751e-04 -9.99998270e-01 6.69730121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.39, Y:180.86, Z:6.70 [[ 8.30715790e-01 -5.56692735e-01 -2.11547104e-03 1.69392183e+02] [-5.56691383e-01 -8.30718470e-01 1.23623058e-03 1.80855529e+02] [-2.44556145e-03 1.50708231e-04 -9.99996998e-01 6.69766279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.39, Y:180.85, Z:6.70 [[ 8.72079583e-01 -4.89357679e-01 -2.50267195e-03 1.69391330e+02] [-4.89356168e-01 -8.72083160e-01 1.22579416e-03 1.80848641e+02] [-2.78238985e-03 1.55707895e-04 -9.99996117e-01 6.69785592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.39, Y:180.84, Z:6.70 [[ 9.08504573e-01 -4.17865152e-01 -2.85574850e-03 1.69390347e+02] [-4.17863620e-01 -9.08509048e-01 1.14211858e-03 1.80841142e+02] [-3.07172490e-03 1.55693455e-04 -9.99995270e-01 6.69889364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.39, Y:180.84, Z:6.70 [[ 9.38696273e-01 -3.44728567e-01 -3.39429995e-03 1.69392712e+02] [-3.44726932e-01 -9.38702396e-01 1.07413326e-03 1.80835459e+02] [-3.55652191e-03 1.61821721e-04 -9.99993662e-01 6.69903467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.39, Y:180.82, Z:6.70 [[ 9.63396492e-01 -2.68052488e-01 -3.88102524e-03 1.69391175e+02] [-2.68050981e-01 -9.63404296e-01 9.13225278e-04 1.80817396e+02] [-3.98378870e-03 1.60514593e-04 -9.99992052e-01 6.69794470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.920385723 meters Centerline goodness [0,1] 0.9999354783207157 Centerline is valid? [True, True] Translation: X:169.39, Y:180.81, Z:6.70 [[ 9.81536453e-01 -1.91232693e-01 -4.03099605e-03 1.69392406e+02] [-1.91231743e-01 -9.81544717e-01 6.23299266e-04 1.80808112e+02] [-4.07579808e-03 1.59063451e-04 -9.99991681e-01 6.69883249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.39, Y:180.81, Z:6.70 [[ 9.93562525e-01 -1.13208764e-01 -4.15759836e-03 1.69392977e+02] [-1.13208436e-01 -9.93571211e-01 3.14964158e-04 1.80806559e+02] [-4.16652674e-03 1.57738624e-04 -9.99991308e-01 6.69861085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.980385723 meters Centerline goodness [0,1] 0.9999353963434331 Centerline is valid? [True, True] Translation: X:169.39, Y:180.79, Z:6.70 [[ 9.99389382e-01 -3.47409085e-02 -3.73256149e-03 1.69391915e+02] [-3.47412241e-02 -9.99396341e-01 -1.97460243e-05 1.80788622e+02] [-3.72962230e-03 1.49407722e-04 -9.99993034e-01 6.69739926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.010385723 meters Centerline goodness [0,1] 0.9999352960207053 Centerline is valid? [True, True] Translation: X:169.39, Y:180.78, Z:6.70 [[ 9.99042922e-01 4.35543873e-02 -4.03183395e-03 1.69393258e+02] [ 4.35534095e-02 -9.99051046e-01 -3.30053372e-04 1.80775909e+02] [-4.04238320e-03 1.54137371e-04 -9.99991818e-01 6.69782517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.40, Y:180.76, Z:6.70 [[ 9.92619840e-01 1.21197250e-01 -4.13283037e-03 1.69395289e+02] [ 1.21195536e-01 -9.92628431e-01 -6.63628871e-04 1.80763867e+02] [-4.18279492e-03 1.57850593e-04 -9.99991240e-01 6.69841699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.070385723 meters Centerline goodness [0,1] 0.999891908251724 Centerline is valid? [True, True] Translation: X:169.40, Y:180.75, Z:6.70 [[ 9.80322796e-01 1.97357668e-01 -4.14334871e-03 1.69397857e+02] [ 1.97355196e-01 -9.80331538e-01 -1.00142449e-03 1.80749969e+02] [-4.25949421e-03 1.64007860e-04 -9.99990915e-01 6.69838473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.40, Y:180.74, Z:6.70 [[ 9.62172608e-01 2.72413670e-01 -3.82946202e-03 1.69400656e+02] [ 2.72410829e-01 -9.62180215e-01 -1.25481055e-03 1.80738767e+02] [-4.02646014e-03 1.64157418e-04 -9.99991880e-01 6.69863101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.130385723 meters Centerline goodness [0,1] 0.9999567642353755 Centerline is valid? [True, True] Translation: X:169.41, Y:180.73, Z:6.70 [[ 9.38489384e-01 3.45293746e-01 -3.14722363e-03 1.69405419e+02] [ 3.45291233e-01 -9.38494648e-01 -1.32711329e-03 1.80727230e+02] [-3.41189645e-03 1.58773006e-04 -9.99994167e-01 6.69788224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.41, Y:180.72, Z:6.70 [[ 9.08924831e-01 4.16950801e-01 -2.77143458e-03 1.69409814e+02] [ 4.16948335e-01 -9.08929043e-01 -1.44225236e-03 1.80716354e+02] [-3.12038566e-03 1.55353950e-04 -9.99995120e-01 6.69785090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.42, Y:180.71, Z:6.70 [[ 8.73787532e-01 4.86302164e-01 -2.35686780e-03 1.69415650e+02] [ 4.86299926e-01 -8.73790697e-01 -1.48302945e-03 1.80705974e+02] [-2.78060959e-03 1.49708008e-04 -9.99996123e-01 6.69785880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.42, Y:180.70, Z:6.70 [[ 8.33205165e-01 5.52960098e-01 -2.06942811e-03 1.69421778e+02] [ 5.52957948e-01 -8.33207722e-01 -1.54873679e-03 1.80696932e+02] [-2.58065313e-03 1.46108775e-04 -9.99996659e-01 6.69788334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.43, Y:180.69, Z:6.70 [[ 7.87370416e-01 6.16476866e-01 -2.02530737e-03 1.69429665e+02] [ 6.16474331e-01 -7.87373007e-01 -1.77390994e-03 1.80687093e+02] [-2.68824680e-03 1.48174199e-04 -9.99996376e-01 6.69818957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.44, Y:180.68, Z:6.70 [[ 7.36451056e-01 6.76488240e-01 -1.87144037e-03 1.69438149e+02] [ 6.76485537e-01 -7.36453420e-01 -1.91823273e-03 1.80677724e+02] [-2.67589054e-03 1.46682176e-04 -9.99996409e-01 6.69855504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.310385723 meters Centerline goodness [0,1] 0.9999783554468518 Centerline is valid? [True, True] Translation: X:169.45, Y:180.67, Z:6.70 [[ 6.80390185e-01 7.32846109e-01 -2.40333986e-03 1.69447773e+02] [ 7.32840665e-01 -6.80394410e-01 -2.82943358e-03 1.80668415e+02] [-3.70875840e-03 1.63853655e-04 -9.99993109e-01 6.69991826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.340385723 meters Centerline goodness [0,1] 0.9999567314973066 Centerline is valid? [True, True] Translation: X:169.46, Y:180.66, Z:6.70 [[ 6.20266690e-01 7.84386849e-01 -2.55021951e-03 1.69458406e+02] [ 7.84379045e-01 -6.20271909e-01 -3.50315238e-03 1.80659299e+02] [-4.32965618e-03 1.72549989e-04 -9.99990612e-01 6.70064662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.37038572299997 meters Centerline goodness [0,1] 0.9999351028619637 Centerline is valid? [True, True] Translation: X:169.47, Y:180.65, Z:6.70 [[ 5.56135080e-01 8.31088383e-01 -2.42336936e-03 1.69467598e+02] [ 8.31079095e-01 -5.56140333e-01 -3.93298850e-03 1.80650758e+02] [-4.61639449e-03 1.73261260e-04 -9.99989329e-01 6.70158857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.48, Y:180.64, Z:6.70 [[ 4.87503901e-01 8.73118617e-01 -1.95647382e-03 1.69476219e+02] [ 8.73110237e-01 -4.87507801e-01 -3.82846494e-03 1.80643250e+02] [-4.29650027e-03 1.58174272e-04 -9.99990758e-01 6.70144294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.49, Y:180.64, Z:6.70 [[ 4.16731296e-01 9.09028107e-01 -1.71113269e-03 1.69487610e+02] [ 9.09018844e-01 -4.16734780e-01 -4.10663424e-03 1.80637042e+02] [-4.44613445e-03 1.55911147e-04 -9.99990104e-01 6.70171218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.50, Y:180.63, Z:6.70 [[ 3.41983056e-01 9.39705166e-01 -1.33791618e-03 1.69496859e+02] [ 9.39696256e-01 -3.41985643e-01 -4.09465380e-03 1.80631876e+02] [-4.30531546e-03 1.43067394e-04 -9.99990722e-01 6.70177539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.51, Y:180.63, Z:6.70 [[ 2.66623927e-01 9.63800180e-01 -9.46018956e-04 1.69510327e+02] [ 9.63792173e-01 -2.66625570e-01 -3.93096179e-03 1.80627454e+02] [-4.04089452e-03 1.36322802e-04 -9.99991826e-01 6.70161672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.52, Y:180.62, Z:6.70 [[ 1.89639759e-01 9.81853532e-01 -6.35325145e-04 1.69522526e+02] [ 9.81845427e-01 -1.89640777e-01 -3.99167061e-03 1.80624163e+02] [-4.03971944e-03 1.33188365e-04 -9.99991831e-01 6.70132097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.550385723 meters Centerline goodness [0,1] 0.9998477731384829 Centerline is valid? [True, True] Translation: X:169.53, Y:180.62, Z:6.70 [[ 1.12594751e-01 9.93640916e-01 -3.90938667e-04 1.69532107e+02] [ 9.93629727e-01 -1.12595339e-01 -4.71747448e-03 1.80621173e+02] [-4.73149353e-03 1.42714584e-04 -9.99988796e-01 6.70372069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.54, Y:180.62, Z:6.70 [[ 3.49261020e-02 9.99389898e-01 1.65684121e-06 1.69542145e+02] [ 9.99382827e-01 -3.49258486e-02 -3.76171211e-03 1.80619518e+02] [-3.75935921e-03 1.33037759e-04 -9.99992925e-01 6.70171318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.55, Y:180.62, Z:6.70 [[-4.18273879e-02 9.99124806e-01 3.02577002e-04 1.69550553e+02] [ 9.99117323e-01 4.18282465e-02 -3.86953861e-03 1.80617688e+02] [-3.87880828e-03 1.40457231e-04 -9.99992468e-01 6.70199852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.56, Y:180.62, Z:6.70 [[-1.19394728e-01 9.92846704e-01 5.67396600e-04 1.69560695e+02] [ 9.92840339e-01 1.19395995e-01 -3.55775043e-03 1.80617292e+02] [-3.60004567e-03 1.38557589e-04 -9.99993510e-01 6.70231227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.57, Y:180.62, Z:6.70 [[-1.96155776e-01 9.80572452e-01 7.59711942e-04 1.69571675e+02] [ 9.80567525e-01 1.96157201e-01 -3.11147952e-03 1.80616876e+02] [-3.20005407e-03 1.34614178e-04 -9.99994871e-01 6.70206227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.58, Y:180.62, Z:6.70 [[-2.71902936e-01 9.62324278e-01 8.81671577e-04 1.69581128e+02] [ 9.62320653e-01 2.71904335e-01 -2.64468048e-03 1.80616245e+02] [-2.78477056e-03 1.29354380e-04 -9.99996114e-01 6.70230164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.59, Y:180.62, Z:6.70 [[-3.45908427e-01 9.38267642e-01 1.09168487e-03 1.69589556e+02] [ 9.38264098e-01 3.45910125e-01 -2.58218912e-03 1.80617122e+02] [-2.80040934e-03 1.31087748e-04 -9.99996070e-01 6.70260028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.760385723 meters Centerline goodness [0,1] 0.9999565189034068 Centerline is valid? [True, True] Translation: X:169.60, Y:180.62, Z:6.70 [[-4.18298509e-01 9.08308713e-01 1.28014440e-03 1.69598350e+02] [ 9.08305371e-01 4.18300447e-01 -2.46751678e-03 1.80618548e+02] [-2.77675196e-03 1.30603445e-04 -9.99996136e-01 6.70309526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.790385723 meters Centerline goodness [0,1] 0.9996958042717772 Centerline is valid? [True, True] Translation: X:169.61, Y:180.62, Z:6.71 [[-4.87766030e-01 8.72971714e-01 2.16496610e-03 1.69605965e+02] [ 8.72964477e-01 4.87770810e-01 -3.55807266e-03 1.80620387e+02] [-4.16210405e-03 1.54431525e-04 -9.99991327e-01 6.70721546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.820385723 meters Centerline goodness [0,1] 0.9998469845017159 Centerline is valid? [True, True] Translation: X:169.61, Y:180.62, Z:6.71 [[-5.54555480e-01 8.32142385e-01 2.69641587e-03 1.69614467e+02] [ 8.32133935e-01 5.54562011e-01 -3.75369953e-03 1.80623301e+02] [-4.61894229e-03 1.62144503e-04 -9.99989320e-01 6.70775413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.62, Y:180.63, Z:6.71 [[-6.17762800e-01 7.86360116e-01 2.62510317e-03 1.69623177e+02] [ 7.86354051e-01 6.17768358e-01 -3.09236451e-03 1.80626419e+02] [-4.05341779e-03 1.53912758e-04 -9.99991773e-01 6.70619017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.880385723 meters Centerline goodness [0,1] 0.9997809899255365 Centerline is valid? [True, True] Translation: X:169.63, Y:180.63, Z:6.71 [[-6.76954478e-01 7.36019720e-01 2.75809208e-03 1.69630708e+02] [ 7.36014517e-01 6.76960079e-01 -2.77152820e-03 1.80628669e+02] [-3.90701764e-03 1.53797385e-04 -9.99992356e-01 6.70891264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.64, Y:180.63, Z:6.71 [[-7.32639207e-01 6.80612900e-01 2.42342895e-03 1.69637481e+02] [ 6.80609797e-01 7.32643201e-01 -2.06016212e-03 1.80631890e+02] [-3.17768165e-03 1.40053945e-04 -9.99994941e-01 6.70613914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.940385723 meters Centerline goodness [0,1] 0.9999340195302191 Centerline is valid? [True, True] Translation: X:169.65, Y:180.65, Z:6.70 [[-7.79201171e-01 6.26771189e-01 1.84713900e-03 1.69654915e+02] [ 6.26769771e-01 7.79203352e-01 -1.33820652e-03 1.80653129e+02] [-2.27804619e-03 1.14998803e-04 -9.99997399e-01 6.70493740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.11, Y:181.23, Z:5.71 [[-7.57448302e-01 -6.52890341e-01 2.50452209e-03 1.70109860e+02] [ 6.52886473e-01 -7.57452439e-01 -2.24844490e-03 1.81228228e+02] [ 3.36504432e-03 -6.79121800e-05 9.99994336e-01 5.71467334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.000385723 meters Centerline goodness [0,1] 0.9999779716274562 Centerline is valid? [True, True] Translation: X:169.61, Y:180.68, Z:6.71 [[-7.82516962e-01 6.22629261e-01 -8.57629905e-05 1.69607921e+02] [ 6.22629244e-01 7.82516963e-01 1.62631548e-04 1.80683754e+02] [ 1.68370155e-04 7.38633986e-05 -9.99999983e-01 6.70512700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.64, Y:180.70, Z:6.70 [[-8.24989009e-01 5.65148750e-01 -1.56654319e-04 1.69636347e+02] [ 5.65148721e-01 8.24989021e-01 1.95362690e-04 1.80697809e+02] [ 2.39647074e-04 7.26390845e-05 -9.99999969e-01 6.70493256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.060385723 meters Centerline goodness [0,1] 0.9999115631218218 Centerline is valid? [True, True] Translation: X:169.65, Y:180.72, Z:6.71 [[-8.62903503e-01 5.05368715e-01 8.24073104e-05 1.69650215e+02] [ 5.05368720e-01 8.62903503e-01 4.07131947e-05 1.80721061e+02] [-5.05343817e-05 7.67776352e-05 -9.99999996e-01 6.70682788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.090385723 meters Centerline goodness [0,1] 0.9999335901182096 Centerline is valid? [True, True] Translation: X:169.67, Y:180.74, Z:6.71 [[-8.96813588e-01 4.42408575e-01 2.01992560e-04 1.69666649e+02] [ 4.42408581e-01 8.96813608e-01 -1.21369659e-05 1.80743255e+02] [-1.86519174e-04 7.84786459e-05 -9.99999980e-01 6.70692206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.67, Y:180.77, Z:6.71 [[-9.26237395e-01 3.76940687e-01 7.71922370e-05 1.69671475e+02] [ 3.76940691e-01 9.26237396e-01 5.10326597e-05 1.80770834e+02] [-5.22620505e-05 7.63652530e-05 -9.99999996e-01 6.70588490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.96, Y:181.47, Z:5.71 [[-9.09709223e-01 -4.15241946e-01 1.80418708e-03 1.69956709e+02] [ 4.15241171e-01 -9.09711012e-01 -8.02818967e-04 1.81470978e+02] [ 1.97465297e-03 1.88409364e-05 9.99998050e-01 5.71352947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.61, Y:180.79, Z:6.71 [[-9.28024109e-01 3.72519943e-01 -3.80780294e-04 1.69613502e+02] [ 3.72519880e-01 9.28024184e-01 2.28580671e-04 1.80789666e+02] [ 4.38524181e-04 7.02801438e-05 -9.99999901e-01 6.70647040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.64, Y:180.81, Z:6.71 [[-9.52119495e-01 3.05725851e-01 -4.13916865e-04 1.69636994e+02] [ 3.05725789e-01 9.52119583e-01 2.06220356e-04 1.80810941e+02] [ 4.57145247e-04 6.98013607e-05 -9.99999893e-01 6.70694219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.87, Y:181.54, Z:5.71 [[-9.37937147e-01 -3.46800776e-01 1.76927873e-03 1.69872628e+02] [ 3.46800256e-01 -9.37938814e-01 -6.02525345e-04 1.81536799e+02] [ 1.86843145e-03 4.84554125e-05 9.99998253e-01 5.71265714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.59, Y:180.82, Z:6.71 [[-9.52981836e-01 3.03027422e-01 3.54748531e-05 1.69591774e+02] [ 3.03027424e-01 9.52981834e-01 6.77977984e-05 1.80818885e+02] [-1.32622982e-05 7.53599237e-05 -9.99999997e-01 6.70829984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.60, Y:180.84, Z:6.71 [[-9.71868056e-01 2.35525731e-01 3.33272089e-04 1.69603945e+02] [ 2.35525744e-01 9.71868110e-01 8.00211411e-07 1.80844542e+02] [-3.23708045e-04 7.92718568e-05 -9.99999944e-01 6.70868603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.330385723 meters Centerline goodness [0,1] 0.9998437430242422 Centerline is valid? [True, True] Translation: X:169.61, Y:180.87, Z:6.71 [[-9.85535217e-01 1.69450595e-01 2.61374249e-03 1.69609884e+02] [ 1.69450321e-01 9.85538676e-01 -3.27224834e-04 1.80866026e+02] [-2.63139275e-03 1.20407906e-04 -9.99996531e-01 6.71265824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.61, Y:180.90, Z:6.71 [[-9.94995597e-01 9.98997193e-02 1.95146044e-03 1.69607182e+02] [ 9.98997434e-02 9.94997505e-01 -8.53361299e-05 1.80895461e+02] [-1.95022332e-03 1.10041323e-04 -9.99998092e-01 6.71071809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.68, Y:181.68, Z:5.71 [[-9.91549332e-01 -1.29661175e-01 4.23117354e-03 1.69677055e+02] [ 1.29659979e-01 -9.91558359e-01 -5.57109129e-04 1.81683599e+02] [ 4.26769091e-03 -3.78731496e-06 9.99990893e-01 5.70910498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.54, Y:180.90, Z:6.71 [[-9.95237621e-01 9.74700135e-02 1.29377408e-03 1.69536755e+02] [ 9.74700648e-02 9.95238457e-01 -2.35492938e-05 1.80895370e+02] [-1.28990907e-03 1.02667100e-04 -9.99999163e-01 6.71074330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.54, Y:180.92, Z:6.71 [[-9.99639561e-01 2.68412100e-02 5.46192594e-04 1.69539045e+02] [ 2.68412527e-02 9.99639706e-01 7.09887760e-05 1.80924325e+02] [-5.44090380e-04 8.56236823e-05 -9.99999848e-01 6.71028499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.480385723 meters Centerline goodness [0,1] 0.9999098002074596 Centerline is valid? [True, True] Translation: X:169.53, Y:180.95, Z:6.71 [[-9.99042432e-01 -4.37300429e-02 1.37894819e-03 1.69531648e+02] [-4.37298569e-02 9.99043379e-01 1.64792726e-04 1.80950998e+02] [-1.38483545e-03 1.04333719e-04 -9.99999036e-01 6.71205824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.52, Y:180.98, Z:6.71 [[-9.93289722e-01 -1.15652422e-01 2.13401995e-04 1.69519747e+02] [-1.15652402e-01 9.93289742e-01 1.03978139e-04 1.80976509e+02] [-2.23995336e-04 7.85999632e-05 -9.99999972e-01 6.71075559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.50, Y:181.00, Z:6.71 [[-9.82394085e-01 -1.86820286e-01 2.07887425e-04 1.69495466e+02] [-1.86820264e-01 9.82394104e-01 1.20085524e-04 1.81001887e+02] [-2.26661792e-04 7.91337252e-05 -9.99999971e-01 6.71080798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.45, Y:181.02, Z:6.71 [[-9.65966719e-01 -2.58665904e-01 4.97398792e-04 1.69452394e+02] [-2.58665823e-01 9.65966844e-01 2.22294906e-04 1.81020940e+02] [-5.37970853e-04 8.60694131e-05 -9.99999852e-01 6.71059561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.600385723 meters Centerline goodness [0,1] 0.9999775104014393 Centerline is valid? [True, True] Translation: X:169.39, Y:181.03, Z:6.71 [[-9.43547224e-01 -3.31237976e-01 1.99736668e-04 1.69390810e+02] [-3.31237950e-01 9.43547241e-01 1.54811935e-04 1.81032457e+02] [-2.39740574e-04 7.99120067e-05 -9.99999968e-01 6.71007366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.31, Y:181.03, Z:6.71 [[-9.15733210e-01 -4.01786867e-01 5.12681959e-05 1.69314895e+02] [-4.01786860e-01 9.15733208e-01 1.06755148e-04 1.81033233e+02] [-8.98408058e-05 7.71603469e-05 -9.99999993e-01 6.70983667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.660385723 meters Centerline goodness [0,1] 0.9998875393612235 Centerline is valid? [True, True] Translation: X:169.24, Y:181.03, Z:6.71 [[-8.81662369e-01 -4.71880319e-01 6.56275350e-04 1.69238137e+02] [-4.71880113e-01 8.81662609e-01 4.49283219e-04 1.81030030e+02] [-7.90621346e-04 8.64328208e-05 -9.99999684e-01 6.71115640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.15, Y:181.01, Z:6.71 [[-8.42386994e-01 -5.38872967e-01 -2.78747472e-04 1.69151734e+02] [-5.38872964e-01 8.42387037e-01 -9.10633483e-05 1.81014901e+02] [ 2.83884834e-04 7.34988964e-05 -9.99999957e-01 6.71006298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.05, Y:180.98, Z:6.71 [[-7.98501665e-01 -6.01992582e-01 -1.49144539e-04 1.69052580e+02] [-6.01992587e-01 7.98501675e-01 -1.83109479e-05 1.80983271e+02] [ 1.30115219e-04 7.51625843e-05 -9.99999989e-01 6.71100959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.750385723 meters Centerline goodness [0,1] 0.9999775452463286 Centerline is valid? [True, True] Translation: X:168.96, Y:180.95, Z:6.71 [[-7.49634507e-01 -6.61851978e-01 2.55911549e-04 1.68957997e+02] [-6.61851899e-01 7.49634547e-01 3.32000866e-04 1.80945532e+02] [-4.11575567e-04 7.95037607e-05 -9.99999912e-01 6.71197057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.87, Y:180.90, Z:6.71 [[-6.96324824e-01 -7.17726428e-01 7.17003222e-04 1.68870472e+02] [-7.17725919e-01 6.96325189e-01 8.58571892e-04 1.80903900e+02] [-1.11548714e-03 8.32331255e-05 -9.99999374e-01 6.71297190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.78, Y:180.85, Z:6.71 [[-6.39922815e-01 -7.68438946e-01 6.14230488e-04 1.68780896e+02] [-7.68438461e-01 6.39923104e-01 8.67582005e-04 1.80846037e+02] [-1.05974408e-03 8.31871880e-05 -9.99999435e-01 6.71281347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.69, Y:180.77, Z:6.71 [[-5.81152002e-01 -8.13794809e-01 5.99899359e-04 1.68692106e+02] [-8.13794213e-01 5.81152305e-01 9.88761122e-04 1.80774878e+02] [-1.15328156e-03 8.64258786e-05 -9.99999331e-01 6.71278979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.61, Y:180.69, Z:6.71 [[-5.18368348e-01 -8.55157112e-01 7.54339885e-04 1.68605977e+02] [-8.55155933e-01 5.18368889e-01 1.42286308e-03 1.80694406e+02] [-1.60779781e-03 9.24889589e-05 -9.99998703e-01 6.71320594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.53, Y:180.61, Z:6.71 [[-4.52495845e-01 -8.91766261e-01 6.68042167e-04 1.68526087e+02] [-8.91764957e-01 4.52496328e-01 1.52778163e-03 1.80607964e+02] [-1.66471074e-03 9.55782477e-05 -9.99998610e-01 6.71376110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.930385723 meters Centerline goodness [0,1] 0.9999108257535224 Centerline is valid? [True, True] Translation: X:168.45, Y:180.51, Z:6.72 [[-3.85878624e-01 -9.22549212e-01 7.99040937e-04 1.68451421e+02] [-9.22546597e-01 3.85879435e-01 2.19933982e-03 1.80512706e+02] [-2.33733269e-03 1.11525727e-04 -9.99997262e-01 6.71634551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.38, Y:180.41, Z:6.72 [[-3.14813591e-01 -9.49153443e-01 3.79569264e-04 1.68382972e+02] [-9.49152319e-01 3.14813804e-01 1.46446706e-03 1.80409893e+02] [-1.50949760e-03 1.00765087e-04 -9.99998856e-01 6.71540368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.32, Y:180.30, Z:6.72 [[-2.43194307e-01 -9.69977558e-01 2.57618755e-04 1.68323587e+02] [-9.69976473e-01 2.43194422e-01 1.45413663e-03 1.80300256e+02] [-1.47313134e-03 1.03753618e-04 -9.99998910e-01 6.71549543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.020385723 meters Centerline goodness [0,1] 0.9998885918003565 Centerline is valid? [True, True] Translation: X:168.27, Y:180.18, Z:6.72 [[-1.68708181e-01 -9.85665977e-01 3.61439923e-04 1.68272031e+02] [-9.85661705e-01 1.68708515e-01 2.90503402e-03 1.80180733e+02] [-2.92437119e-03 1.33845516e-04 -9.99995715e-01 6.71746595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.23, Y:180.07, Z:6.72 [[-9.26252111e-02 -9.95701038e-01 1.12743243e-04 1.68229947e+02] [-9.95697655e-01 9.26251907e-02 2.59886359e-03 1.80066329e+02] [-2.59813404e-03 1.28462106e-04 -9.99996617e-01 6.71665947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.080385723 meters Centerline goodness [0,1] 0.9998220086325813 Centerline is valid? [True, True] Translation: X:168.20, Y:179.94, Z:6.72 [[-1.65630136e-02 -9.99862819e-01 -1.01295012e-04 1.68195530e+02] [-9.99848343e-01 1.65622284e-02 5.38373307e-03 1.79943745e+02] [-5.38131685e-03 1.90450494e-04 -9.99985502e-01 6.72029841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.17, Y:179.82, Z:6.72 [[ 6.11270988e-02 -9.98129905e-01 -4.12254030e-04 1.68168650e+02] [-9.98121519e-01 -6.11282764e-02 4.09472627e-03 1.79818165e+02] [-4.11226913e-03 1.61180881e-04 -9.99991532e-01 6.71859464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.140385723 meters Centerline goodness [0,1] 0.9999777614695221 Centerline is valid? [True, True] Translation: X:168.15, Y:179.69, Z:6.72 [[ 1.39267387e-01 -9.90254558e-01 -7.11213138e-04 1.68154285e+02] [-9.90246677e-01 -1.39269118e-01 3.95372029e-03 1.79689080e+02] [-4.01423956e-03 1.53652154e-04 -9.99991931e-01 6.71830697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.15, Y:179.55, Z:6.72 [[ 2.15818595e-01 -9.76433009e-01 -9.55633476e-04 1.68151669e+02] [-9.76426213e-01 -2.15820661e-01 3.64581664e-03 1.79553216e+02] [-3.76614116e-03 1.46270551e-04 -9.99992897e-01 6.71811242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.16, Y:179.43, Z:6.72 [[ 2.92191285e-01 -9.56359286e-01 -1.08089187e-03 1.68156337e+02] [-9.56354304e-01 -2.92193255e-01 3.08972486e-03 1.79430739e+02] [-3.27071638e-03 1.30924915e-04 -9.99994643e-01 6.71771928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.230385723 meters Centerline goodness [0,1] 0.9998444513577175 Centerline is valid? [True, True] Translation: X:168.17, Y:179.30, Z:6.72 [[ 3.65626926e-01 -9.30760269e-01 -1.50727632e-03 1.68171428e+02] [-9.30753839e-01 -3.65630008e-01 3.46251806e-03 1.79303515e+02] [-3.77387970e-03 1.36913382e-04 -9.99992870e-01 6.71888392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.260385723 meters Centerline goodness [0,1] 0.9998440771595314 Centerline is valid? [True, True] Translation: X:168.20, Y:179.18, Z:6.72 [[ 4.37532156e-01 -8.99200883e-01 -1.84002368e-03 1.68197455e+02] [-8.99194170e-01 -4.37536004e-01 3.47694674e-03 1.79177913e+02] [-3.93155018e-03 1.33262564e-04 -9.99992263e-01 6.71938251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.22, Y:179.07, Z:6.72 [[ 5.08097029e-01 -8.61298960e-01 -1.22908896e-03 1.68224291e+02] [-8.61296902e-01 -5.08098506e-01 1.88533788e-03 1.79066196e+02] [-2.24833782e-03 1.00675939e-04 -9.99997467e-01 6.71721014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.320385723 meters Centerline goodness [0,1] 0.9999778731690048 Centerline is valid? [True, True] Translation: X:168.26, Y:178.95, Z:6.72 [[ 5.73769795e-01 -8.19015956e-01 -1.04241003e-03 1.68264637e+02] [-8.19014884e-01 -5.73770734e-01 1.32859425e-03 1.78950952e+02] [-1.68624426e-03 9.14420853e-05 -9.99998574e-01 6.71738348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.31, Y:178.84, Z:6.72 [[ 6.36139324e-01 -7.71573026e-01 -1.35124734e-03 1.68310140e+02] [-7.71571582e-01 -6.36140753e-01 1.49550001e-03 1.78841367e+02] [-2.01347097e-03 9.12376834e-05 -9.99997969e-01 6.71756267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.380385723 meters Centerline goodness [0,1] 0.9999331863432885 Centerline is valid? [True, True] Translation: X:168.37, Y:178.73, Z:6.72 [[ 6.93426503e-01 -7.20526036e-01 -1.38442565e-03 1.68368949e+02] [-7.20524851e-01 -6.93427879e-01 1.30965350e-03 1.78733224e+02] [-1.90363879e-03 8.93646399e-05 -9.99998184e-01 6.71787746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.42, Y:178.64, Z:6.72 [[ 7.45818685e-01 -6.66147248e-01 -1.52760033e-03 1.68421575e+02] [-6.66146096e-01 -7.45820244e-01 1.24215969e-03 1.78643222e+02] [-1.96677651e-03 9.11790928e-05 -9.99998062e-01 6.71866171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.440385723 meters Centerline goodness [0,1] 0.9998662505572894 Centerline is valid? [True, True] Translation: X:168.41, Y:178.63, Z:6.72 [[ 7.95028610e-01 -6.06566602e-01 -2.54280220e-03 1.68414738e+02] [-6.06563922e-01 -7.95032670e-01 1.80627900e-03 1.78632747e+02] [-3.11723934e-03 1.06328587e-04 -9.99995136e-01 6.72054677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.470385723 meters Centerline goodness [0,1] 0.9999331774139659 Centerline is valid? [True, True] Translation: X:168.41, Y:178.62, Z:6.72 [[ 8.39772604e-01 -5.42933994e-01 -2.15678979e-03 1.68408163e+02] [-5.42932508e-01 -8.39775368e-01 1.27418636e-03 1.78623442e+02] [-2.50301803e-03 1.00964496e-04 -9.99996862e-01 6.72007848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.500385723 meters Centerline goodness [0,1] 0.9999333392587325 Centerline is valid? [True, True] Translation: X:168.40, Y:178.61, Z:6.72 [[ 8.78949904e-01 -4.76911131e-01 -1.68531423e-03 1.68401366e+02] [-4.76910461e-01 -8.78951514e-01 8.04670296e-04 1.78612921e+02] [-1.86506572e-03 9.64791098e-05 -9.99998256e-01 6.71896072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.40, Y:178.60, Z:6.72 [[ 9.13293212e-01 -4.07298842e-01 -1.77833505e-03 1.68396363e+02] [-4.07298276e-01 -9.13294938e-01 6.85859186e-04 1.78601341e+02] [-1.90349405e-03 9.79222620e-05 -9.99998184e-01 6.71902307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.39, Y:178.59, Z:6.72 [[ 9.42152370e-01 -3.35179487e-01 -1.90347834e-03 1.68391361e+02] [-3.35179015e-01 -9.42154288e-01 5.71126277e-04 1.78590747e+02] [-1.98480009e-03 9.99180190e-05 -9.99998025e-01 6.71951311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.39, Y:178.58, Z:6.72 [[ 9.65294387e-01 -2.61150768e-01 -2.65021958e-03 1.68387703e+02] [-2.61150099e-01 -9.65298018e-01 6.01550792e-04 1.78578179e+02] [-2.71534716e-03 1.11431504e-04 -9.99996307e-01 6.72062998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.38, Y:178.57, Z:6.72 [[ 9.82693758e-01 -1.85217000e-01 -2.76407478e-03 1.68381418e+02] [-1.85216592e-01 -9.82697639e-01 4.05200645e-04 1.78568047e+02] [-2.79129981e-03 1.13764367e-04 -9.99996098e-01 6.72107911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.38, Y:178.56, Z:6.72 [[ 9.94135731e-01 -1.08106624e-01 -2.66567725e-03 1.68376193e+02] [-1.08106538e-01 -9.94139299e-01 1.76558315e-04 1.78555637e+02] [-2.66914164e-03 1.12654211e-04 -9.99996432e-01 6.72106550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.37, Y:178.54, Z:6.72 [[ 9.99533590e-01 -3.04206964e-02 -2.68029441e-03 1.68371478e+02] [-3.04208923e-02 -9.99537177e-01 -3.23632167e-05 1.78541914e+02] [-2.67806940e-03 1.13885070e-04 -9.99996408e-01 6.72078541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.37, Y:178.53, Z:6.72 [[ 9.98866044e-01 4.75497183e-02 -2.37715934e-03 1.68367728e+02] [ 4.75493212e-02 -9.98868866e-01 -2.23327015e-04 1.78529488e+02] [-2.38508959e-03 1.10041459e-04 -9.99997150e-01 6.72030157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.37, Y:178.52, Z:6.72 [[ 9.92111935e-01 1.25342755e-01 -1.76154383e-03 1.68366193e+02] [ 1.25342377e-01 -9.92113493e-01 -3.24122298e-04 1.78516346e+02] [-1.78827778e-03 1.00769510e-04 -9.99998396e-01 6.71996921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.770385723 meters Centerline goodness [0,1] 0.9999333910610804 Centerline is valid? [True, True] Translation: X:168.36, Y:178.50, Z:6.72 [[ 9.79217690e-01 2.02803854e-01 -1.81993888e-03 1.68364723e+02] [ 2.02803309e-01 -9.79219376e-01 -4.80839721e-04 1.78502290e+02] [-1.87963556e-03 1.01757132e-04 -9.99998228e-01 6.71943412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.36, Y:178.49, Z:6.72 [[ 9.59983599e-01 2.80050072e-01 -1.85672498e-03 1.68363529e+02] [ 2.80049345e-01 -9.59985389e-01 -6.46157510e-04 1.78489277e+02] [-1.96338531e-03 1.00325998e-04 -9.99998068e-01 6.72010557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.36, Y:178.48, Z:6.72 [[ 9.34783361e-01 3.55215920e-01 -1.31099011e-03 1.68364609e+02] [ 3.55215432e-01 -9.34784276e-01 -5.95534452e-04 1.78476162e+02] [-1.43703626e-03 9.10117765e-05 -9.99998963e-01 6.72018261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.37, Y:178.46, Z:6.72 [[ 9.03599981e-01 4.28376058e-01 -1.01392717e-03 1.68365291e+02] [ 4.28375680e-01 -9.03600545e-01 -5.75477392e-04 1.78464464e+02] [-1.16270588e-03 8.56596208e-05 -9.99999320e-01 6.72014749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.37, Y:178.45, Z:6.72 [[ 8.66659323e-01 4.98898833e-01 -1.25409892e-03 1.68368058e+02] [ 4.98898161e-01 -8.66660226e-01 -8.23257102e-04 1.78452920e+02] [-1.49759966e-03 8.78157989e-05 -9.99998875e-01 6.72030518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.37, Y:178.44, Z:6.72 [[ 8.23531153e-01 5.67269243e-01 -1.43069276e-03 1.68372241e+02] [ 5.67268201e-01 -8.23532391e-01 -1.09061133e-03 1.78441627e+02] [-1.79689209e-03 8.65658938e-05 -9.99998382e-01 6.72015149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.38, Y:178.43, Z:6.72 [[ 7.75556090e-01 6.31277591e-01 -1.16370570e-03 1.68375684e+02] [ 6.31276719e-01 -7.75556959e-01 -1.05246458e-03 1.78432580e+02] [-1.56691736e-03 8.16250002e-05 -9.99998769e-01 6.71943015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.38, Y:178.42, Z:6.72 [[ 7.22476614e-01 6.91393974e-01 -1.38376403e-03 1.68384734e+02] [ 6.91392487e-01 -7.22477935e-01 -1.43603026e-03 1.78417578e+02] [-1.99260164e-03 8.07742228e-05 -9.99998012e-01 6.71854042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.39, Y:178.40, Z:6.72 [[ 6.65516965e-01 7.46382070e-01 -9.87116428e-04 1.68392464e+02] [ 7.46381072e-01 -6.65517693e-01 -1.22287825e-03 1.78404949e+02] [-1.56967785e-03 7.70812028e-05 -9.99998765e-01 6.71934619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.40, Y:178.39, Z:6.72 [[ 6.04964576e-01 7.96251476e-01 -1.20352315e-03 1.68402365e+02] [ 7.96249634e-01 -6.04965768e-01 -1.71465909e-03 1.78392967e+02] [-2.09339014e-03 7.90031426e-05 -9.99997806e-01 6.71919258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.41, Y:178.38, Z:6.72 [[ 5.41032473e-01 8.41000822e-01 -1.21701078e-03 1.68410126e+02] [ 8.40998349e-01 -5.41033835e-01 -2.04124296e-03 1.78382363e+02] [-2.37513102e-03 8.08746658e-05 -9.99997176e-01 6.71958369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.42, Y:178.37, Z:6.72 [[ 4.73834592e-01 8.80612849e-01 -1.33785377e-03 1.68419247e+02] [ 8.80608821e-01 -4.73836473e-01 -2.66473792e-03 1.78374092e+02] [-2.98052636e-03 8.45191769e-05 -9.99995555e-01 6.71968741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.43, Y:178.37, Z:6.72 [[ 4.03978124e-01 9.14768065e-01 -1.03062718e-03 1.68427744e+02] [ 9.14764532e-01 -4.03979430e-01 -2.54386558e-03 1.78366346e+02] [-2.74339917e-03 8.48848520e-05 -9.99996233e-01 6.71972623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.44, Y:178.36, Z:6.72 [[ 3.32056261e-01 9.43259276e-01 -7.60349858e-04 1.68435192e+02] [ 9.43256177e-01 -3.32057121e-01 -2.41928742e-03 1.78358430e+02] [-2.53449488e-03 8.61348349e-05 -9.99996784e-01 6.71836071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.190385723 meters Centerline goodness [0,1] 0.9999781702285577 Centerline is valid? [True, True] Translation: X:168.44, Y:178.35, Z:6.72 [[ 2.58732476e-01 9.65948749e-01 -7.21894787e-04 1.68441803e+02] [ 9.65943897e-01 -2.58733465e-01 -3.06308986e-03 1.78351454e+02] [-3.14556616e-03 9.52109599e-05 -9.99995048e-01 6.71821396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.45, Y:178.35, Z:6.72 [[ 1.83430996e-01 9.83032418e-01 -5.78724083e-04 1.68448873e+02] [ 9.83025575e-01 -1.83431879e-01 -3.66930471e-03 1.78346034e+02] [-3.71320193e-03 1.04163641e-04 -9.99993101e-01 6.71808610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.45, Y:178.34, Z:6.72 [[ 1.06712884e-01 9.94289823e-01 -3.30431748e-04 1.68454582e+02] [ 9.94281273e-01 -1.06713337e-01 -4.12473849e-03 1.78340478e+02] [-4.13644697e-03 1.11620639e-04 -9.99991439e-01 6.71833051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.46, Y:178.34, Z:6.72 [[ 3.06949744e-02 9.99528798e-01 -2.46311800e-05 1.68460425e+02] [ 9.99515585e-01 -3.06946953e-02 -5.14113850e-03 1.78335473e+02] [-5.13947203e-03 1.33187866e-04 -9.99986784e-01 6.71842367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.47, Y:178.33, Z:6.72 [[-4.72245469e-02 9.98884224e-01 3.85350927e-04 1.68467015e+02] [ 9.98870456e-01 4.72259199e-02 -5.24633589e-03 1.78331222e+02] [-5.25868071e-03 1.37159821e-04 -9.99986164e-01 6.71795048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.48, Y:178.33, Z:6.72 [[-1.24029228e-01 9.92278258e-01 7.80607652e-04 1.68482559e+02] [ 9.92265179e-01 1.24031603e-01 -5.09674103e-03 1.78328569e+02] [-5.15420533e-03 1.42424936e-04 -9.99986707e-01 6.71677982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.37038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.50, Y:178.33, Z:6.72 [[-2.01058339e-01 9.79578494e-01 1.23249960e-03 1.68497094e+02] [ 9.79564331e-01 2.01062062e-01 -5.26956277e-03 1.78327193e+02] [-5.40975927e-03 1.47823106e-04 -9.99985356e-01 6.71646825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.400385723 meters Centerline goodness [0,1] 0.9999563261562651 Centerline is valid? [True, True] Translation: X:168.51, Y:178.32, Z:6.72 [[-2.77023487e-01 9.60861486e-01 1.78669509e-03 1.68508130e+02] [ 9.60844978e-01 2.77029205e-01 -5.63445116e-03 1.78324856e+02] [-5.90889383e-03 1.55861703e-04 -9.99982530e-01 6.71742786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.430385723 meters Centerline goodness [0,1] 0.9999563261562651 Centerline is valid? [True, True] Translation: X:168.51, Y:178.32, Z:6.72 [[-3.51444859e-01 9.36205943e-01 2.22338909e-03 1.68513013e+02] [ 9.36189919e-01 3.51451857e-01 -5.47968231e-03 1.78321252e+02] [-5.91152537e-03 1.55708274e-04 -9.99982515e-01 6.71744971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.460385723 meters Centerline goodness [0,1] 0.999956377595533 Centerline is valid? [True, True] Translation: X:168.53, Y:178.32, Z:6.71 [[-4.23487778e-01 9.05897319e-01 2.85459051e-03 1.68529441e+02] [ 9.05879287e-01 4.23497367e-01 -5.71819340e-03 1.78324089e+02] [-6.38900763e-03 1.64329397e-04 -9.99979577e-01 6.71461716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.490385723 meters Centerline goodness [0,1] 0.9999347925315712 Centerline is valid? [True, True] Translation: X:168.54, Y:178.32, Z:6.71 [[-4.92914333e-01 8.70072104e-01 3.16144593e-03 1.68539890e+02] [ 8.70056269e-01 4.92924445e-01 -5.25165227e-03 1.78324581e+02] [-6.12767012e-03 1.62021174e-04 -9.99981213e-01 6.71483499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.520385723 meters Centerline goodness [0,1] 0.9998266409517412 Centerline is valid? [True, True] Translation: X:168.55, Y:178.32, Z:6.71 [[-5.58982877e-01 8.29172565e-01 3.31666069e-03 1.68545906e+02] [ 8.29159626e-01 5.58992694e-01 -4.63491806e-03 1.78322849e+02] [-5.69713599e-03 1.59201302e-04 -9.99983759e-01 6.71318407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.550385723 meters Centerline goodness [0,1] 0.9998051399744516 Centerline is valid? [True, True] Translation: X:168.56, Y:178.33, Z:6.71 [[-6.22080147e-01 7.82944619e-01 3.74358387e-03 1.68558479e+02] [ 7.82931980e-01 6.22091390e-01 -4.45164646e-03 1.78328953e+02] [-5.81424394e-03 1.61690643e-04 -9.99983084e-01 6.71179856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.580385723 meters Centerline goodness [0,1] 0.9999132979299881 Centerline is valid? [True, True] Translation: X:168.57, Y:178.33, Z:6.71 [[-6.81237724e-01 7.32044463e-01 5.10564285e-03 1.68568856e+02] [ 7.32025942e-01 6.81256831e-01 -5.21064082e-03 1.78333015e+02] [-7.29267483e-03 1.87777918e-04 -9.99973390e-01 6.71139898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.610385723 meters Centerline goodness [0,1] 0.9997826606681011 Centerline is valid? [True, True] Translation: X:168.58, Y:178.34, Z:6.71 [[-7.36323562e-01 6.76600672e-01 6.25637057e-03 1.68577793e+02] [ 6.76578602e-01 7.36350112e-01 -5.46878476e-03 1.78338349e+02] [-8.30706262e-03 2.06131373e-04 -9.99965475e-01 6.71104521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.640385723 meters Centerline goodness [0,1] 0.9998915471878186 Centerline is valid? [True, True] Translation: X:169.06, Y:178.87, Z:5.72 [[-7.13284165e-01 -7.00833479e-01 7.62461374e-03 1.69059278e+02] [ 7.00791922e-01 -7.13324908e-01 -7.63265700e-03 1.78873951e+02] [ 1.07880485e-02 -1.00985661e-04 9.99941802e-01 5.72008115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.670385723 meters Centerline goodness [0,1] 0.9998919969759154 Centerline is valid? [True, True] Translation: X:169.04, Y:178.89, Z:5.72 [[-7.13428550e-01 -7.00672477e-01 8.81957818e-03 1.69039892e+02] [ 7.00615220e-01 -7.13483031e-01 -8.95978479e-03 1.78892478e+02] [ 1.25704940e-02 -2.13035554e-04 9.99920966e-01 5.71898861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.700385723 meters Centerline goodness [0,1] 0.9995679319060684 Centerline is valid? [True, True] Translation: X:169.02, Y:178.91, Z:5.72 [[-7.13645188e-01 -7.00444549e-01 9.37972820e-03 1.69018968e+02] [ 7.00379847e-01 -7.13706790e-01 -9.52300018e-03 1.78910438e+02] [ 1.33647093e-02 -2.26670655e-04 9.99910663e-01 5.72022561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.730385723 meters Centerline goodness [0,1] 0.9996769956286742 Centerline is valid? [True, True] Translation: X:169.00, Y:178.93, Z:5.72 [[-7.13927323e-01 -7.00152764e-01 9.68945322e-03 1.68999394e+02] [ 7.00083774e-01 -7.13993034e-01 -9.83145167e-03 1.78929237e+02] [ 1.38017202e-02 -2.35512990e-04 9.99904724e-01 5.72052118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.760385723 meters Centerline goodness [0,1] 0.9998272660534612 Centerline is valid? [True, True] Translation: X:168.98, Y:178.95, Z:5.72 [[-7.13877619e-01 -7.00184895e-01 1.09479411e-02 1.68977739e+02] [ 7.00096919e-01 -7.13961515e-01 -1.11022307e-02 1.78947835e+02] [ 1.55900228e-02 -2.61014224e-04 9.99878434e-01 5.72162669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.790385723 meters Centerline goodness [0,1] 0.9998491379310345 Centerline is valid? [True, True] Translation: X:168.96, Y:178.97, Z:5.72 [[-7.13805725e-01 -7.00256498e-01 1.10555475e-02 1.68957743e+02] [ 7.00166900e-01 -7.13891288e-01 -1.12044967e-02 1.78965922e+02] [ 1.57384807e-02 -2.57105464e-04 9.99876109e-01 5.72189245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.820385723 meters Centerline goodness [0,1] 0.9999784710112166 Centerline is valid? [True, True] Translation: X:168.94, Y:178.98, Z:5.72 [[-7.13351052e-01 -7.00691142e-01 1.27357846e-02 1.68937679e+02] [ 7.00572443e-01 -7.13464678e-01 -1.28998692e-02 1.78983810e+02] [ 1.81253565e-02 -2.79795556e-04 9.99835683e-01 5.72202382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.92, Y:179.00, Z:5.72 [[-7.13313070e-01 -7.00725367e-01 1.29778565e-02 1.68918591e+02] [ 7.00602234e-01 -7.13431063e-01 -1.31388105e-02 1.79002248e+02] [ 1.84655037e-02 -2.79770029e-04 9.99829459e-01 5.72241803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.880385723 meters Centerline goodness [0,1] 0.9998921902626245 Centerline is valid? [True, True] Translation: X:168.90, Y:179.02, Z:5.72 [[-7.13337068e-01 -7.00693502e-01 1.33732695e-02 1.68898209e+02] [ 7.00562885e-01 -7.13462358e-01 -1.35317191e-02 1.79020985e+02] [ 1.90229120e-02 -2.83860525e-04 9.99819008e-01 5.72385085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.910385723 meters Centerline goodness [0,1] 0.9999353963434331 Centerline is valid? [True, True] Translation: X:168.88, Y:179.04, Z:5.72 [[-7.13286985e-01 -7.00729505e-01 1.41364236e-02 1.68879188e+02] [ 7.00583671e-01 -7.13426993e-01 -1.42984637e-02 1.79039504e+02] [ 2.01046616e-02 -2.95160577e-04 9.99797837e-01 5.72499821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.86, Y:179.06, Z:5.73 [[-7.13766707e-01 -7.00230807e-01 1.46254880e-02 1.68860024e+02] [ 7.00074776e-01 -7.13916465e-01 -1.47847897e-02 1.79058918e+02] [ 2.07941419e-02 -3.13955438e-04 9.99783729e-01 5.72516674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.970385723 meters Centerline goodness [0,1] 0.9999140727374277 Centerline is valid? [True, True] Translation: X:168.84, Y:179.08, Z:5.73 [[-7.14659235e-01 -6.99307888e-01 1.51873482e-02 1.68839049e+02] [ 6.99139612e-01 -7.14820507e-01 -1.53442709e-02 1.79077918e+02] [ 2.15865976e-02 -3.47848229e-04 9.99766922e-01 5.72743288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.82, Y:179.10, Z:5.73 [[-7.15427448e-01 -6.98523276e-01 1.51261652e-02 1.68821062e+02] [ 6.98356368e-01 -7.15587242e-01 -1.52735876e-02 1.79098558e+02] [ 2.14930472e-02 -3.63690011e-04 9.99768932e-01 5.72571889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.030385723 meters Centerline goodness [0,1] 0.999957003117274 Centerline is valid? [True, True] Translation: X:168.80, Y:179.12, Z:5.73 [[-7.16082347e-01 -6.97840969e-01 1.56222337e-02 1.68801871e+02] [ 6.97662954e-01 -7.16252629e-01 -1.57662360e-02 1.79118509e+02] [ 2.21917914e-02 -3.90869555e-04 9.99753655e-01 5.72600015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.060385723 meters Centerline goodness [0,1] 0.9999570206730563 Centerline is valid? [True, True] Translation: X:168.78, Y:179.14, Z:5.73 [[-7.16849007e-01 -6.97037604e-01 1.63119393e-02 1.68780996e+02] [ 6.96843520e-01 -7.17034445e-01 -1.64533836e-02 1.79136801e+02] [ 2.31648494e-02 -4.27722468e-04 9.99731567e-01 5.72774292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.76, Y:179.16, Z:5.72 [[-7.17481363e-01 -6.96380065e-01 1.65921553e-02 1.68763403e+02] [ 6.96179303e-01 -7.17673047e-01 -1.67264863e-02 1.79156941e+02] [ 2.35557343e-02 -4.49827052e-04 9.99722424e-01 5.72497575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.74, Y:179.17, Z:5.73 [[-7.18105780e-01 -6.95728186e-01 1.69227940e-02 1.68741534e+02] [ 6.95519377e-01 -7.18304996e-01 -1.70507763e-02 1.79174754e+02] [ 2.40184331e-02 -4.74129861e-04 9.99711403e-01 5.72807443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.72, Y:179.19, Z:5.73 [[-7.18451745e-01 -6.95363829e-01 1.72115075e-02 1.68722804e+02] [ 6.95147977e-01 -7.18657713e-01 -1.73315591e-02 1.79194499e+02] [ 2.44209219e-02 -4.87344278e-04 9.99701646e-01 5.72728836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.71, Y:179.21, Z:5.72 [[-7.18474070e-01 -6.95339662e-01 1.72559003e-02 1.68706178e+02] [ 6.95122960e-01 -7.18681100e-01 -1.73651297e-02 1.79214626e+02] [ 2.44761528e-02 -4.81422976e-04 9.99700298e-01 5.72408804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.69, Y:179.23, Z:5.73 [[-7.18552795e-01 -6.95253451e-01 1.74505207e-02 1.68685456e+02] [ 6.95032073e-01 -7.18764500e-01 -1.75502227e-02 1.79232649e+02] [ 2.47446677e-02 -4.82089922e-04 9.99693688e-01 5.72718726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.67, Y:179.25, Z:5.73 [[-7.18528324e-01 -6.95279983e-01 1.74009331e-02 1.68666796e+02] [ 6.95060146e-01 -7.18738842e-01 -1.74891684e-02 1.79251198e+02] [ 2.46665952e-02 -4.71767791e-04 9.99695622e-01 5.72662639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.65, Y:179.27, Z:5.73 [[-7.17578918e-01 -6.96256503e-01 1.75322418e-02 1.68646931e+02] [ 6.96033890e-01 -7.17792933e-01 -1.76105039e-02 1.79269316e+02] [ 2.48459471e-02 -4.33891888e-04 9.99691198e-01 5.72534141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.300385723 meters Centerline goodness [0,1] 0.9999784779614325 Centerline is valid? [True, True] Translation: X:168.63, Y:179.29, Z:5.73 [[-7.17234612e-01 -6.96598697e-01 1.80212968e-02 1.68626207e+02] [ 6.96363851e-01 -7.17460852e-01 -1.80917973e-02 1.79288829e+02] [ 2.55322974e-02 -4.26683602e-04 9.99673907e-01 5.72564994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.330385723 meters Centerline goodness [0,1] 0.9999570197494252 Centerline is valid? [True, True] Translation: X:168.61, Y:179.31, Z:5.72 [[-7.17093862e-01 -6.96729450e-01 1.85598215e-02 1.68606564e+02] [ 6.96480668e-01 -7.17333877e-01 -1.86222444e-02 1.79308906e+02] [ 2.62882548e-02 -4.27340238e-04 9.99654313e-01 5.72490361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.59, Y:179.33, Z:5.72 [[-7.16888614e-01 -6.96921957e-01 1.92484259e-02 1.68589331e+02] [ 6.96654775e-01 -7.17146850e-01 -1.93007849e-02 1.79329146e+02] [ 2.72550888e-02 -4.27005070e-04 9.99628420e-01 5.72408488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.390385723 meters Centerline goodness [0,1] 0.9999567604963895 Centerline is valid? [True, True] Translation: X:168.57, Y:179.35, Z:5.72 [[-7.17294479e-01 -6.96504180e-01 1.92499032e-02 1.68570442e+02] [ 6.96237126e-01 -7.17552604e-01 -1.92905664e-02 1.79349487e+02] [ 2.72487782e-02 -4.34519486e-04 9.99628589e-01 5.72367687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.55, Y:179.37, Z:5.72 [[-7.17713137e-01 -6.96076012e-01 1.91321548e-02 1.68552927e+02] [ 6.95812308e-01 -7.17967960e-01 -1.91635336e-02 1.79369652e+02] [ 2.70755502e-02 -4.41530981e-04 9.99633293e-01 5.72276446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.450385723 meters Centerline goodness [0,1] 0.9999349508879204 Centerline is valid? [True, True] Translation: X:168.53, Y:179.39, Z:5.72 [[-7.17979557e-01 -6.95807061e-01 1.89179675e-02 1.68534046e+02] [ 6.95549436e-01 -7.18228614e-01 -1.89378204e-02 1.79389646e+02] [ 2.67644947e-02 -4.38586270e-04 9.99641671e-01 5.72235940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.480385723 meters Centerline goodness [0,1] 0.999978379780771 Centerline is valid? [True, True] Translation: X:168.51, Y:179.41, Z:5.72 [[-7.17923482e-01 -6.95871217e-01 1.86848604e-02 1.68514923e+02] [ 6.95620218e-01 -7.18166464e-01 -1.86933603e-02 1.79409376e+02] [ 2.64270115e-02 -4.22835638e-04 9.99650656e-01 5.72248156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.510385723 meters Centerline goodness [0,1] 0.9999566188751274 Centerline is valid? [True, True] Translation: X:168.50, Y:179.43, Z:5.72 [[-7.17293883e-01 -6.96549128e-01 1.75726589e-02 1.68495044e+02] [ 6.96327568e-01 -7.17509009e-01 -1.75709980e-02 1.79428940e+02] [ 2.48476044e-02 -3.67242591e-04 9.99691183e-01 5.72477038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.99, Y:178.93, Z:6.71 [[-7.46995742e-01 6.64618897e-01 1.67057658e-02 1.67993323e+02] [ 6.64462768e-01 7.47182447e-01 -1.44090744e-02 1.78932979e+02] [-2.20587981e-02 3.36842143e-04 -9.99756618e-01 6.70578679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.570385723 meters Centerline goodness [0,1] 0.9999782887166461 Centerline is valid? [True, True] Translation: X:168.01, Y:178.96, Z:6.71 [[-7.92817184e-01 6.09226956e-01 1.68353397e-02 1.68006388e+02] [ 6.09097673e-01 7.92995855e-01 -1.25538276e-02 1.78957995e+02] [-2.09984848e-02 3.01475982e-04 -9.99779462e-01 6.70835020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.03, Y:178.98, Z:6.71 [[-8.34254468e-01 5.51116696e-01 1.70255528e-02 1.68028134e+02] [ 5.51008798e-01 8.34428133e-01 -1.09085120e-02 1.78979626e+02] [-2.02184634e-02 2.80754504e-04 -9.99795547e-01 6.70646531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.41, Y:179.57, Z:5.73 [[-8.07789448e-01 -5.89238947e-01 1.65430112e-02 1.68408526e+02] [ 5.89108846e-01 -8.07958784e-01 -1.23842919e-02 1.79572265e+02] [ 2.06633783e-02 -2.58266062e-04 9.99786456e-01 5.72648100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.660385723 meters Centerline goodness [0,1] 0.9999781792790434 Centerline is valid? [True, True] Translation: X:167.99, Y:179.00, Z:6.71 [[-8.37069086e-01 5.46875600e-01 1.55699674e-02 1.67987033e+02] [ 5.46786236e-01 8.37213845e-01 -9.88886048e-03 1.79002574e+02] [-1.84433688e-02 2.35784444e-04 -9.99829879e-01 6.70612832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.01, Y:179.02, Z:6.71 [[-8.73473280e-01 4.86620031e-01 1.56644502e-02 1.68007410e+02] [ 4.86546514e-01 8.73613698e-01 -8.46153614e-03 1.79020740e+02] [-1.78022313e-02 2.30557913e-04 -9.99841501e-01 6.70753530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.02, Y:179.05, Z:6.71 [[-9.05763177e-01 4.23510312e-01 1.52342592e-02 1.68021036e+02] [ 4.23454489e-01 9.05891256e-01 -6.87957205e-03 1.79046899e+02] [-1.67141519e-02 2.19752406e-04 -9.99860285e-01 6.70579534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.03, Y:179.07, Z:6.71 [[-9.33606975e-01 3.58024430e-01 1.40186859e-02 1.68029464e+02] [ 3.57987272e-01 9.33712197e-01 -5.16195636e-03 1.79073546e+02] [-1.49375245e-02 1.99272670e-04 -9.99888409e-01 6.70631584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.780385723 meters Centerline goodness [0,1] 0.9999562707713836 Centerline is valid? [True, True] Translation: X:168.28, Y:179.74, Z:5.73 [[-9.15131118e-01 -4.02889163e-01 1.46751241e-02 1.68284663e+02] [ 4.02834949e-01 -9.15248766e-01 -6.61062861e-03 1.79742576e+02] [ 1.60947398e-02 -1.37939083e-04 9.99870462e-01 5.72672982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.810385723 meters Centerline goodness [0,1] 0.9999781554458473 Centerline is valid? [True, True] Translation: X:167.98, Y:179.09, Z:6.70 [[-9.35324975e-01 3.53563668e-01 1.26460800e-02 1.67984176e+02] [ 3.53533828e-01 9.35410446e-01 -4.59666806e-03 1.79086479e+02] [-1.34544902e-02 1.71438636e-04 -9.99909470e-01 6.70493246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.840385723 meters Centerline goodness [0,1] 0.9998688811188812 Centerline is valid? [True, True] Translation: X:168.24, Y:179.76, Z:5.73 [[-9.16002873e-01 -4.00941858e-01 1.35780519e-02 1.68238310e+02] [ 4.00896284e-01 -9.16103497e-01 -6.04580170e-03 1.79761859e+02] [ 1.48629158e-02 -9.45811820e-05 9.99889536e-01 5.72781329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.87038572299997 meters Centerline goodness [0,1] 0.999714793444637 Centerline is valid? [True, True] Translation: X:167.94, Y:179.10, Z:6.71 [[-9.36739773e-01 3.49827648e-01 1.17989383e-02 1.67936901e+02] [ 3.49802056e-01 9.36814064e-01 -4.23443638e-03 1.79102076e+02] [-1.25347342e-02 1.60727884e-04 -9.99921424e-01 6.70602417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.900385723 meters Centerline goodness [0,1] 0.9998908987758842 Centerline is valid? [True, True] Translation: X:167.95, Y:179.13, Z:6.71 [[-9.59186411e-01 2.82568041e-01 1.08042322e-02 1.67947770e+02] [ 2.82551875e-01 9.59247247e-01 -3.02622994e-03 1.79127216e+02] [-1.12190459e-02 1.50037435e-04 -9.99937053e-01 6.70543945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.14, Y:179.83, Z:5.73 [[-9.43769217e-01 -3.30403930e-01 1.15285902e-02 1.68139890e+02] [ 3.30378054e-01 -9.43839623e-01 -4.13607199e-03 1.79829441e+02] [ 1.22477147e-02 -9.47042236e-05 9.99924989e-01 5.72733940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.90, Y:179.14, Z:6.70 [[-9.59539299e-01 2.81444338e-01 8.56839653e-03 1.67899104e+02] [ 2.81434559e-01 9.59577543e-01 -2.35134991e-03 1.79136235e+02] [-8.88381501e-03 1.55230256e-04 -9.99960526e-01 6.70491107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.90, Y:179.16, Z:6.70 [[-9.76884169e-01 2.13610069e-01 8.24983766e-03 1.67903635e+02] [ 2.13603814e-01 9.76918990e-01 -1.64226072e-03 1.79162633e+02] [-8.41022651e-03 1.57898289e-04 -9.99964621e-01 6.70485852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.06, Y:179.89, Z:5.73 [[-9.66948283e-01 -2.54800948e-01 9.35384662e-03 1.68057532e+02] [ 2.54788099e-01 -9.66993520e-01 -2.56056861e-03 1.79887873e+02] [ 9.69754438e-03 -9.26886206e-05 9.99952973e-01 5.72775069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.050385723 meters Centerline goodness [0,1] 0.9999341050365717 Centerline is valid? [True, True] Translation: X:167.85, Y:179.17, Z:6.71 [[-9.76820441e-01 2.13943796e-01 7.06251404e-03 1.67852307e+02] [ 2.13939495e-01 9.76845956e-01 -1.36780520e-03 1.79166651e+02] [-7.19162172e-03 1.74850610e-04 -9.99974125e-01 6.70662889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.00, Y:179.90, Z:5.73 [[-9.68903972e-01 -2.47296679e-01 8.33338646e-03 1.68004316e+02] [ 2.47286577e-01 -9.68939803e-01 -2.23780215e-03 1.79903064e+02] [ 8.62795087e-03 -1.07480779e-04 9.99962773e-01 5.72636696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.110385723 meters Centerline goodness [0,1] 0.9999779337128735 Centerline is valid? [True, True] Translation: X:167.80, Y:179.17, Z:6.71 [[-9.77279193e-01 2.11862630e-01 6.29334125e-03 1.67796745e+02] [ 2.11859381e-01 9.77299440e-01 -1.18605017e-03 1.79172330e+02] [-6.40175859e-03 1.74201232e-04 -9.99979493e-01 6.70694577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.95, Y:179.92, Z:5.73 [[-9.70254567e-01 -2.41962792e-01 7.75125900e-03 1.67949113e+02] [ 2.41954239e-01 -9.70285524e-01 -2.03687498e-03 1.79918470e+02] [ 8.01378236e-03 -1.00837277e-04 9.99967884e-01 5.72576561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.74, Y:179.18, Z:6.71 [[-9.78234632e-01 2.07435451e-01 5.24775619e-03 1.67743782e+02] [ 2.07433296e-01 9.78248696e-01 -9.57511194e-04 1.79179295e+02] [-5.33223242e-03 1.51888755e-04 -9.99985772e-01 6.70667883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.74, Y:179.21, Z:6.71 [[-9.90796172e-01 1.35268359e-01 5.04142320e-03 1.67743757e+02] [ 1.35267303e-01 9.90808989e-01 -5.51487208e-04 1.79209429e+02] [-5.06968619e-03 1.35528304e-04 -9.99987140e-01 6.70690156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.230385723 meters Centerline goodness [0,1] 0.9999778746376972 Centerline is valid? [True, True] Translation: X:167.84, Y:179.97, Z:5.73 [[-9.84997199e-01 -1.72451933e-01 6.39131799e-03 1.67841845e+02] [ 1.72447884e-01 -9.85017932e-01 -1.18347374e-03 1.79966984e+02] [ 6.49965517e-03 -6.35490564e-05 9.99978875e-01 5.72533244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.260385723 meters Centerline goodness [0,1] 0.9999778981102885 Centerline is valid? [True, True] Translation: X:167.68, Y:179.22, Z:6.71 [[-9.91873200e-01 1.27095702e-01 5.85121735e-03 1.67679625e+02] [ 1.27094241e-01 9.91890451e-01 -6.22493053e-04 1.79216475e+02] [-5.88288280e-03 1.26221849e-04 -9.99982688e-01 6.70956538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.67, Y:179.24, Z:6.71 [[-9.98436526e-01 5.55700262e-02 6.03955286e-03 1.67673281e+02] [ 5.55697532e-02 9.98454785e-01 -2.13120675e-04 1.79244977e+02] [-6.04206357e-03 1.22828996e-04 -9.99981739e-01 6.71022852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.71, Y:180.01, Z:5.72 [[-9.94752248e-01 -1.02077798e-01 6.93455353e-03 1.67705676e+02] [ 1.02074820e-01 -9.94776416e-01 -7.82949780e-04 1.80014127e+02] [ 6.97825210e-03 -7.09977478e-05 9.99975649e-01 5.72284378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.59, Y:179.25, Z:6.71 [[-9.98763513e-01 4.94224765e-02 5.37250781e-03 1.67588213e+02] [ 4.94223610e-02 9.98777957e-01 -1.54344915e-04 1.79247072e+02] [-5.37357048e-03 1.11367952e-04 -9.99985556e-01 6.71037252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.63, Y:180.02, Z:5.72 [[-9.95265182e-01 -9.69560965e-02 6.83616651e-03 1.67632190e+02] [ 9.69536190e-02 -9.95288659e-01 -6.93659420e-04 1.80017854e+02] [ 6.87121351e-03 -2.75839853e-05 9.99976393e-01 5.72342890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.410385723 meters Centerline goodness [0,1] 0.9999556354118143 Centerline is valid? [True, True] Translation: X:167.52, Y:179.25, Z:6.71 [[-9.99000129e-01 4.44834798e-02 4.46786479e-03 1.67517251e+02] [ 4.44834995e-02 9.99010115e-01 -9.50187577e-05 1.79247521e+02] [-4.46766889e-03 1.03822510e-04 -9.99990015e-01 6.70952077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.440385723 meters Centerline goodness [0,1] 0.9999777822213335 Centerline is valid? [True, True] Translation: X:167.50, Y:179.27, Z:6.71 [[-9.99671998e-01 -2.55051306e-02 2.32062016e-03 1.67501075e+02] [-2.55048686e-02 9.99674688e-01 1.42416627e-04 1.79272518e+02] [-2.32349759e-03 8.31828016e-05 -9.99997297e-01 6.70935868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.51, Y:179.30, Z:6.71 [[-9.95415560e-01 -9.56373153e-02 1.16875544e-03 1.67510352e+02] [-9.56371647e-02 9.95416244e-01 1.84190789e-04 1.79300464e+02] [-1.18101366e-03 7.15699213e-05 -9.99999300e-01 6.70878027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.500385723 meters Centerline goodness [0,1] 0.9999777500889997 Centerline is valid? [True, True] Translation: X:167.50, Y:179.32, Z:6.71 [[-9.86309395e-01 -1.64905178e-01 -2.45267198e-04 1.67498726e+02] [-1.64905186e-01 9.86309424e-01 1.31705492e-05 1.79324042e+02] [ 2.39737457e-04 5.34360692e-05 -9.99999970e-01 6.70731685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.47, Y:179.35, Z:6.71 [[-9.71999587e-01 -2.34981854e-01 -5.76277460e-04 1.67470102e+02] [-2.34981842e-01 9.71999756e-01 -8.95111087e-05 1.79349355e+02] [ 5.81175037e-04 4.84099782e-05 -9.99999830e-01 6.70714504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.42, Y:179.36, Z:6.71 [[-9.52311969e-01 -3.05123983e-01 -1.12629601e-03 1.67415264e+02] [-3.05123819e-01 9.52312634e-01 -3.18857054e-04 1.79360912e+02] [ 1.16987685e-03 4.00083503e-05 -9.99999315e-01 6.70716854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.35, Y:179.36, Z:6.71 [[-9.27332746e-01 -3.74236768e-01 -9.05459268e-04 1.67349421e+02] [-3.74236634e-01 9.27333187e-01 -3.18885256e-04 1.79364821e+02] [ 9.59001016e-04 4.31432885e-05 -9.99999539e-01 6.70725184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.62038572299997 meters Centerline goodness [0,1] 0.9999555041381152 Centerline is valid? [True, True] Translation: X:167.27, Y:179.36, Z:6.71 [[-8.97039101e-01 -4.41948547e-01 -1.52717856e-03 1.67272285e+02] [-4.41947967e-01 8.97040401e-01 -7.16996286e-04 1.79363035e+02] [ 1.68681634e-03 3.17597564e-05 -9.99998577e-01 6.70712680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.650385723 meters Centerline goodness [0,1] 0.9999777158774373 Centerline is valid? [True, True] Translation: X:167.19, Y:179.35, Z:6.71 [[-8.61396914e-01 -5.07929113e-01 -1.83677407e-03 1.67188705e+02] [-5.07928020e-01 8.61398872e-01 -1.05355609e-03 1.79350265e+02] [ 2.11732692e-03 2.54190568e-05 -9.99997758e-01 6.70765066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.680385723 meters Centerline goodness [0,1] 0.9999776695993926 Centerline is valid? [True, True] Translation: X:167.10, Y:179.33, Z:6.71 [[-8.20720191e-01 -5.71326011e-01 -2.22671566e-03 1.67100496e+02] [-5.71323962e-01 8.20723211e-01 -1.52998203e-03 1.79327283e+02] [ 2.70163576e-03 1.64888712e-05 -9.99996350e-01 6.70767140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.710385723 meters Centerline goodness [0,1] 0.9999111012334704 Centerline is valid? [True, True] Translation: X:167.01, Y:179.29, Z:6.71 [[-7.74557039e-01 -6.32501475e-01 -1.81048287e-03 1.67005057e+02] [-6.32499823e-01 7.74559154e-01 -1.44603358e-03 1.79287178e+02] [ 2.31694445e-03 2.50946075e-05 -9.99997316e-01 6.70943236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.91, Y:179.25, Z:6.71 [[-7.23977517e-01 -6.89821665e-01 -1.62067680e-03 1.66913306e+02] [-6.89820022e-01 7.23979330e-01 -1.50570182e-03 1.79246737e+02] [ 2.21200225e-03 2.78810414e-05 -9.99997553e-01 6.70873728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.82, Y:179.19, Z:6.71 [[-6.68606457e-01 -7.43615003e-01 -1.46067481e-03 1.66816824e+02] [-7.43613329e-01 6.68608052e-01 -1.57814698e-03 1.79186953e+02] [ 2.15015271e-03 3.10179974e-05 -9.99997688e-01 6.70914268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.73, Y:179.12, Z:6.71 [[-6.08259353e-01 -7.93737008e-01 -1.45644041e-03 1.66725708e+02] [-7.93734862e-01 6.08261096e-01 -1.84589254e-03 1.79122815e+02] [ 2.35104926e-03 3.32461255e-05 -9.99997236e-01 6.70957928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.63, Y:179.04, Z:6.71 [[-5.44111141e-01 -8.39011724e-01 -1.54695666e-03 1.66634132e+02] [-8.39008509e-01 5.44113339e-01 -2.32298390e-03 1.79044411e+02] [ 2.79073048e-03 3.39483868e-05 -9.99996105e-01 6.70928156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.55, Y:178.96, Z:6.71 [[-4.77469328e-01 -8.78647115e-01 -1.51278366e-03 1.66547883e+02] [-8.78642926e-01 4.77471723e-01 -2.71346260e-03 1.78955016e+02] [ 3.10648751e-03 3.36014974e-05 -9.99995174e-01 6.70928311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.47, Y:178.87, Z:6.71 [[-4.07496985e-01 -9.13205691e-01 -1.25404899e-03 1.66473647e+02] [-9.13201649e-01 4.07498913e-01 -2.71743171e-03 1.78871596e+02] [ 2.99259770e-03 3.78543765e-05 -9.99995521e-01 6.70954816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.40, Y:178.77, Z:6.71 [[-3.35074853e-01 -9.42191012e-01 -9.69568140e-04 1.66399913e+02] [-9.42187425e-01 3.35076253e-01 -2.60027964e-03 1.78767793e+02] [ 2.77483937e-03 4.22265906e-05 -9.99996149e-01 6.71039496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.950385723 meters Centerline goodness [0,1] 0.9998659397622666 Centerline is valid? [True, True] Translation: X:166.33, Y:178.65, Z:6.71 [[-2.60147032e-01 -9.65568777e-01 -6.76895949e-04 1.66333382e+02] [-9.65565971e-01 2.60147908e-01 -2.32852176e-03 1.78653663e+02] [ 2.42444097e-03 4.78296687e-05 -9.99997060e-01 6.71308903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.28, Y:178.56, Z:6.71 [[-1.84509779e-01 -9.82830479e-01 -6.25569325e-04 1.66280491e+02] [-9.82825641e-01 1.84510834e-01 -3.08420515e-03 1.78555789e+02] [ 3.14667515e-03 4.57595618e-05 -9.99995048e-01 6.71062141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.23, Y:178.44, Z:6.71 [[-1.08430680e-01 -9.94103941e-01 -3.76022672e-04 1.66233133e+02] [-9.94099325e-01 1.08431322e-01 -3.02996911e-03 1.78436506e+02] [ 3.05287687e-03 4.52622742e-05 -9.99995339e-01 6.71052780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.19, Y:178.31, Z:6.71 [[-3.15635503e-02 -9.99501738e-01 -1.35197109e-04 1.66194965e+02] [-9.99497716e-01 3.15638069e-02 -2.83588091e-03 1.78314502e+02] [ 2.83873524e-03 4.56187317e-05 -9.99995970e-01 6.71101021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.41, Y:178.22, Z:5.73 [[-9.00939915e-02 9.95933253e-01 -1.67996167e-04 1.65414619e+02] [-9.95932463e-01 -9.00941318e-02 -1.25531887e-03 1.78220413e+02] [-1.26534927e-03 5.42161486e-05 9.99999198e-01 5.72539757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.18, Y:178.01, Z:6.71 [[-2.29008699e-02 -9.99737737e-01 -9.10726400e-05 1.66181594e+02] [-9.99735917e-01 2.29010021e-02 -1.90782881e-03 1.78014627e+02] [ 1.90941411e-03 4.73576498e-05 -9.99998176e-01 6.71251515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.15, Y:177.89, Z:6.71 [[ 5.27815150e-02 -9.98606083e-01 4.89399330e-05 1.66154925e+02] [-9.98604505e-01 -5.27815186e-02 -1.77622065e-03 1.77886306e+02] [ 1.77632787e-03 4.48799794e-05 -9.99998421e-01 6.71242528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.14, Y:177.76, Z:6.71 [[ 1.28999842e-01 -9.91644606e-01 1.26702068e-04 1.66137204e+02] [-9.91643705e-01 -1.28999896e-01 -1.33786190e-03 1.77763672e+02] [ 1.34302809e-03 4.69406666e-05 -9.99999097e-01 6.71325665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.190385723 meters Centerline goodness [0,1] 0.999977856019841 Centerline is valid? [True, True] Translation: X:166.13, Y:177.64, Z:6.71 [[ 2.04247741e-01 -9.78919228e-01 7.03252440e-05 1.66129141e+02] [-9.78919050e-01 -2.04247746e-01 -5.92378225e-04 1.77638502e+02] [ 5.94254208e-04 5.21491931e-05 -9.99999822e-01 6.71404253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.13, Y:177.51, Z:6.71 [[ 2.78524042e-01 -9.60429240e-01 -1.84105891e-04 1.66130955e+02] [-9.60429152e-01 -2.78524096e-01 4.14397611e-04 1.77511927e+02] [-4.49277509e-04 6.14009669e-05 -9.99999897e-01 6.71493219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.14, Y:177.38, Z:6.72 [[ 3.50682840e-01 -9.36494033e-01 -6.86521004e-04 1.66141638e+02] [-9.36492638e-01 -3.50683504e-01 1.61827301e-03 1.77384880e+02] [-1.75625461e-03 7.54212905e-05 -9.99998455e-01 6.71645208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.280385723 meters Centerline goodness [0,1] 0.9998672918694153 Centerline is valid? [True, True] Translation: X:166.16, Y:177.26, Z:6.72 [[ 4.19753301e-01 -9.07636982e-01 -1.50841917e-03 1.66163777e+02] [-9.07631948e-01 -4.19755999e-01 3.02455332e-03 1.77259490e+02] [-3.37836444e-03 9.95231937e-05 -9.99994288e-01 6.71908317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.19, Y:177.14, Z:6.72 [[ 4.87656055e-01 -8.73034448e-01 -1.55708297e-03 1.66190817e+02] [-8.73030614e-01 -4.87658531e-01 2.58915630e-03 1.77144345e+02] [-3.01974744e-03 9.67633583e-05 -9.99995436e-01 6.71727337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.23, Y:177.03, Z:6.72 [[ 5.52015822e-01 -8.33832110e-01 -1.59533940e-03 1.66227371e+02] [-8.33829121e-01 -5.52018119e-01 2.23461796e-03 1.77029585e+02] [-2.74395246e-03 9.66959732e-05 -9.99996231e-01 6.71685935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.37038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.28, Y:176.91, Z:6.72 [[ 6.11704109e-01 -7.91083969e-01 -2.05855024e-03 1.66280789e+02] [-7.91080102e-01 -6.11707562e-01 2.47613276e-03 1.76910649e+02] [-3.21805968e-03 1.13817552e-04 -9.99994816e-01 6.71717146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.33, Y:176.81, Z:6.72 [[ 6.69170878e-01 -7.43106021e-01 -1.94367116e-03 1.66325396e+02] [-7.43103354e-01 -6.69173692e-01 1.99374720e-03 1.76811315e+02] [-2.78221916e-03 1.10190995e-04 -9.99996124e-01 6.71683478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.37, Y:176.72, Z:6.72 [[ 7.21926872e-01 -6.91966637e-01 -1.94024715e-03 1.66372541e+02] [-6.91964551e-01 -7.21929471e-01 1.70295693e-03 1.76720196e+02] [-2.57911098e-03 1.13171872e-04 -9.99996668e-01 6.71678032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.37, Y:176.71, Z:6.72 [[ 7.73164095e-01 -6.34204129e-01 -1.55089106e-03 1.66367054e+02] [-6.34203112e-01 -7.73165643e-01 1.14069669e-03 1.76712828e+02] [-1.92253024e-03 1.01634210e-04 -9.99998147e-01 6.71658081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.36, Y:176.70, Z:6.72 [[ 8.19892392e-01 -5.72516192e-01 -1.29463594e-03 1.66361713e+02] [-5.72515654e-01 -8.19893408e-01 7.90431148e-04 1.76703797e+02] [-1.51399811e-03 9.31308607e-05 -9.99998850e-01 6.71597172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.36, Y:176.69, Z:6.72 [[ 8.61929393e-01 -5.07028236e-01 -2.97257696e-04 1.66356113e+02] [-5.07028230e-01 -8.61929442e-01 1.00762843e-04 1.76694118e+02] [-3.07304766e-04 6.38675872e-05 -9.99999951e-01 6.71574562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.35, Y:176.69, Z:6.72 [[ 8.98982274e-01 -4.37984836e-01 -3.92835574e-04 1.66351935e+02] [-4.37984825e-01 -8.98982357e-01 1.17900881e-04 1.76685756e+02] [-4.04791048e-04 6.60652186e-05 -9.99999916e-01 6.71517303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.35, Y:176.68, Z:6.72 [[ 9.30639335e-01 -3.65937062e-01 -7.02962066e-04 1.66349963e+02] [-3.65937017e-01 -9.30639598e-01 1.97462205e-04 1.76678748e+02] [-7.26463073e-04 7.34737463e-05 -9.99999733e-01 6.71540340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.35, Y:176.66, Z:6.72 [[ 9.56661072e-01 -2.91203015e-01 -6.30043574e-04 1.66347357e+02] [-2.91202999e-01 -9.56661277e-01 1.18089711e-04 1.76663669e+02] [-6.37126370e-04 7.04987490e-05 -9.99999795e-01 6.71550701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.35, Y:176.65, Z:6.72 [[ 9.76738915e-01 -2.14430630e-01 -7.72976451e-04 1.66345493e+02] [-2.14430621e-01 -9.76739218e-01 9.52594698e-05 1.76651781e+02] [-7.75422962e-04 7.27061890e-05 -9.99999697e-01 6.71630852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.34, Y:176.64, Z:6.72 [[ 9.90917832e-01 -1.34455271e-01 -1.90557474e-03 1.66341205e+02] [-1.34455200e-01 -9.90919660e-01 1.65563412e-04 1.76635184e+02] [-1.91053234e-03 9.21546959e-05 -9.99998171e-01 6.71802235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.34, Y:176.62, Z:6.72 [[ 9.98555789e-01 -5.36684257e-02 -2.45681743e-03 1.66337823e+02] [-5.36684985e-02 -9.98558807e-01 3.63268857e-05 1.76621593e+02] [-2.45522629e-03 9.55792808e-05 -9.99996981e-01 6.71977179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.34, Y:176.61, Z:6.72 [[ 9.99662274e-01 2.57664955e-02 -3.38029438e-03 1.66337397e+02] [ 2.57659864e-02 -9.99667983e-01 -1.94051244e-04 1.76609685e+02] [-3.38417209e-03 1.06889088e-04 -9.99994268e-01 6.72025017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.760385723 meters Centerline goodness [0,1] 0.9999136125089088 Centerline is valid? [True, True] Translation: X:166.34, Y:176.60, Z:6.72 [[ 9.94457548e-01 1.05069846e-01 -3.80962274e-03 1.66337906e+02] [ 1.05068653e-01 -9.94464839e-01 -5.12488204e-04 1.76599120e+02] [-3.84238292e-03 1.09375833e-04 -9.99992612e-01 6.72065927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.790385723 meters Centerline goodness [0,1] 0.999892038952346 Centerline is valid? [True, True] Translation: X:166.34, Y:176.58, Z:6.72 [[ 9.82775673e-01 1.84724052e-01 -5.38532347e-03 1.66341312e+02] [ 1.84720604e-01 -9.82790420e-01 -1.13510549e-03 1.76579950e+02] [-5.50232560e-03 1.20773858e-04 -9.99984855e-01 6.72142187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.34, Y:176.57, Z:6.72 [[ 9.64900170e-01 2.62583523e-01 -4.19002840e-03 1.66343757e+02] [ 2.62580595e-01 -9.64909262e-01 -1.24413960e-03 1.76566454e+02] [-4.36968777e-03 1.00250366e-04 -9.99990448e-01 6.72055400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.35, Y:176.56, Z:6.72 [[ 9.40676596e-01 3.39282978e-01 -3.82121910e-03 1.66346151e+02] [ 3.39279795e-01 -9.40684354e-01 -1.47243182e-03 1.76556087e+02] [-4.09413207e-03 8.86197194e-05 -9.99991615e-01 6.72026688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.880385723 meters Centerline goodness [0,1] 0.9999784021943371 Centerline is valid? [True, True] Translation: X:166.35, Y:176.55, Z:6.72 [[ 9.10911006e-01 4.12585506e-01 -3.78689168e-03 1.66348335e+02] [ 4.12581546e-01 -9.10918873e-01 -1.80971425e-03 1.76549562e+02] [-4.19621297e-03 8.60870087e-05 -9.99991192e-01 6.72053647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.910385723 meters Centerline goodness [0,1] 0.9998490989048892 Centerline is valid? [True, True] Translation: X:166.36, Y:176.53, Z:6.72 [[ 8.75156185e-01 4.83824525e-01 -3.93463641e-03 1.66356990e+02] [ 4.83819209e-01 -8.75165026e-01 -2.26946124e-03 1.76533451e+02] [-4.54147718e-03 8.24803636e-05 -9.99989684e-01 6.71922382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.940385723 meters Centerline goodness [0,1] 0.9996124948870854 Centerline is valid? [True, True] Translation: X:166.36, Y:176.52, Z:6.72 [[ 8.34726680e-01 5.50653094e-01 -3.54124605e-03 1.66364238e+02] [ 5.50647721e-01 -8.34734187e-01 -2.43383627e-03 1.76521360e+02] [-4.29619861e-03 8.16089996e-05 -9.99990768e-01 6.71926842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.970385723 meters Centerline goodness [0,1] 0.9997196584145606 Centerline is valid? [True, True] Translation: X:166.37, Y:176.51, Z:6.72 [[ 7.89243710e-01 6.14069157e-01 -3.66549167e-03 1.66374380e+02] [ 6.14062027e-01 -7.89252217e-01 -2.96045319e-03 1.76510405e+02] [-4.71092042e-03 8.56798130e-05 -9.99988900e-01 6.71923414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.000385723 meters Centerline goodness [0,1] 0.9997417799965571 Centerline is valid? [True, True] Translation: X:166.38, Y:176.50, Z:6.72 [[ 7.39543420e-01 6.73095691e-01 -4.20951872e-03 1.66383780e+02] [ 6.73084017e-01 -7.39555394e-01 -3.96558487e-03 1.76499635e+02] [-5.78239037e-03 9.93624264e-05 -9.99983277e-01 6.71967019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.030385723 meters Centerline goodness [0,1] 0.9997838211768775 Centerline is valid? [True, True] Translation: X:166.40, Y:176.49, Z:6.72 [[ 6.85132474e-01 7.28406987e-01 -4.09317692e-03 1.66396636e+02] [ 7.28393050e-01 -6.85144693e-01 -4.50715362e-03 1.76489232e+02] [-6.08746063e-03 1.06555689e-04 -9.99981466e-01 6.71903149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.060385723 meters Centerline goodness [0,1] 0.9997001370801919 Centerline is valid? [True, True] Translation: X:166.41, Y:176.48, Z:6.72 [[ 6.27041861e-01 7.78977564e-01 -3.52989530e-03 1.66408694e+02] [ 7.78964207e-01 -6.27051787e-01 -4.56299150e-03 1.76479663e+02] [-5.76789515e-03 1.11524589e-04 -9.99983359e-01 6.71954711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.090385723 meters Centerline goodness [0,1] 0.9994848016486347 Centerline is valid? [True, True] Translation: X:166.42, Y:176.47, Z:6.72 [[ 5.65005058e-01 8.25082378e-01 -2.89023642e-03 1.66421495e+02] [ 8.25070551e-01 -5.65012439e-01 -4.41917030e-03 1.76471689e+02] [-5.27919907e-03 1.12204618e-04 -9.99986059e-01 6.71882944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.12038572299997 meters Centerline goodness [0,1] 0.9995712019210153 Centerline is valid? [True, True] Translation: X:166.43, Y:176.47, Z:6.72 [[ 4.98882223e-01 8.66664932e-01 -2.90238903e-03 1.66431891e+02] [ 8.66648816e-01 -4.98890651e-01 -5.28658274e-03 1.76465351e+02] [-6.02967062e-03 1.22030130e-04 -9.99981814e-01 6.71889752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.150385723 meters Centerline goodness [0,1] 0.9995710179743469 Centerline is valid? [True, True] Translation: X:166.44, Y:176.46, Z:6.72 [[ 4.29839993e-01 9.02901142e-01 -2.66621203e-03 1.66443365e+02] [ 9.02881866e-01 -4.29848242e-01 -5.90130358e-03 1.76460394e+02] [-6.47436030e-03 1.29341796e-04 -9.99979033e-01 6.71930390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.180385723 meters Centerline goodness [0,1] 0.9993347211193854 Centerline is valid? [True, True] Translation: X:166.46, Y:176.46, Z:6.72 [[ 3.58132390e-01 9.33666476e-01 -2.84669991e-03 1.66456800e+02] [ 9.33633467e-01 -3.58143670e-01 -7.85241125e-03 1.76456323e+02] [-8.35106069e-03 1.54428505e-04 -9.99965117e-01 6.72150575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.210385723 meters Centerline goodness [0,1] 0.9992292540892352 Centerline is valid? [True, True] Translation: X:166.47, Y:176.45, Z:6.72 [[ 2.82749780e-01 9.59191541e-01 -2.03692574e-03 1.66468754e+02] [ 9.59163060e-01 -2.82757084e-01 -7.39298800e-03 1.76452570e+02] [-7.66724673e-03 1.36621807e-04 -9.99970597e-01 6.72056901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.240385723 meters Centerline goodness [0,1] 0.9992292540892352 Centerline is valid? [True, True] Translation: X:166.48, Y:176.45, Z:6.72 [[ 2.06765023e-01 9.78389552e-01 -1.45225478e-03 1.66479770e+02] [ 9.78360571e-01 -2.06770078e-01 -7.53178441e-03 1.76450496e+02] [-7.66930201e-03 1.36480755e-04 -9.99970581e-01 6.72058711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.270385723 meters Centerline goodness [0,1] 0.9992705428019738 Centerline is valid? [True, True] Translation: X:166.49, Y:176.45, Z:6.72 [[ 1.28768566e-01 9.91674267e-01 -8.97349993e-04 1.66490541e+02] [ 9.91642399e-01 -1.28771623e-01 -7.95117894e-03 1.76449638e+02] [-8.00053276e-03 1.34011611e-04 -9.99967986e-01 6.72050561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.300385723 meters Centerline goodness [0,1] 0.9992055823939882 Centerline is valid? [True, True] Translation: X:166.50, Y:176.45, Z:6.72 [[ 4.92152384e-02 9.98788160e-01 -2.68968707e-04 1.66500161e+02] [ 9.98756782e-01 -4.92158245e-02 -7.91788907e-03 1.76448213e+02] [-7.92153137e-03 1.21046478e-04 -9.99968617e-01 6.72145896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.330385723 meters Centerline goodness [0,1] 0.9990326949119752 Centerline is valid? [True, True] Translation: X:166.51, Y:176.45, Z:6.72 [[-3.01459779e-02 9.99545443e-01 3.56839155e-04 1.66510878e+02] [ 9.99513090e-01 3.01478735e-02 -8.04297737e-03 1.76449197e+02] [-8.05007932e-03 1.14201988e-04 -9.99967591e-01 6.72144000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.360385723 meters Centerline goodness [0,1] 0.9990768966553605 Centerline is valid? [True, True] Translation: X:166.52, Y:176.45, Z:6.72 [[-1.09760394e-01 9.93957678e-01 8.89132096e-04 1.66522146e+02] [ 9.93931861e-01 1.09763952e-01 -7.16450749e-03 1.76450916e+02] [-7.21881188e-03 9.73575523e-05 -9.99973939e-01 6.72037982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.390385723 meters Centerline goodness [0,1] 0.9990739145416954 Centerline is valid? [True, True] Translation: X:166.53, Y:176.45, Z:6.72 [[-1.90285557e-01 9.81727927e-01 1.29748120e-03 1.66531947e+02] [ 9.81707638e-01 1.90289966e-01 -6.31210252e-03 1.76452404e+02] [-6.44366498e-03 7.26452586e-05 -9.99979237e-01 6.72017690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.420385723 meters Centerline goodness [0,1] 0.9990783212586274 Centerline is valid? [True, True] Translation: X:166.54, Y:176.46, Z:6.72 [[-2.67730433e-01 9.63492316e-01 1.72437448e-03 1.66541250e+02] [ 9.63473857e-01 2.67735978e-01 -5.96436754e-03 1.76456084e+02] [-6.20829938e-03 6.45470252e-05 -9.99980726e-01 6.71935162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.450385723 meters Centerline goodness [0,1] 0.9989903980409426 Centerline is valid? [True, True] Translation: X:166.55, Y:176.46, Z:6.72 [[-3.43889213e-01 9.39007788e-01 2.14073476e-03 1.66552306e+02] [ 9.38990560e-01 3.43895872e-01 -5.68837700e-03 1.76460601e+02] [-6.07762015e-03 5.39582389e-05 -9.99981530e-01 6.71950482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.480385723 meters Centerline goodness [0,1] 0.9988807094580051 Centerline is valid? [True, True] Translation: X:166.56, Y:176.47, Z:6.72 [[-4.16472434e-01 9.09144446e-01 2.66253367e-03 1.66561987e+02] [ 9.09126675e-01 4.16480941e-01 -5.68452835e-03 1.76465104e+02] [-6.27695191e-03 5.31310256e-05 -9.99980298e-01 6.72130308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.510385723 meters Centerline goodness [0,1] 0.9990519284636932 Centerline is valid? [True, True] Translation: X:166.57, Y:176.47, Z:6.72 [[-4.86366426e-01 8.73749407e-01 3.11021678e-03 1.66566517e+02] [ 8.73732235e-01 4.86376367e-01 -5.47829713e-03 1.76468458e+02] [-6.29939481e-03 5.30368646e-05 -9.99980157e-01 6.72115105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.540385723 meters Centerline goodness [0,1] 0.9991150824484157 Centerline is valid? [True, True] Translation: X:166.57, Y:176.47, Z:6.72 [[-5.53031612e-01 8.33153482e-01 3.36337291e-03 1.66570913e+02] [ 8.33138674e-01 5.53041836e-01 -4.96763345e-03 1.76472535e+02] [-5.99888703e-03 5.48977113e-05 -9.99982005e-01 6.72119025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.570385723 meters Centerline goodness [0,1] 0.9990498812351544 Centerline is valid? [True, True] Translation: X:166.57, Y:176.48, Z:6.72 [[-6.15362131e-01 7.88232706e-01 4.31832944e-03 1.66574850e+02] [ 7.88214047e-01 6.15377280e-01 -5.42407211e-03 1.76476146e+02] [-6.93283286e-03 6.59993491e-05 -9.99975965e-01 6.72272651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.600385723 meters Centerline goodness [0,1] 0.9991596276504051 Centerline is valid? [True, True] Translation: X:166.58, Y:176.48, Z:6.72 [[-6.74740048e-01 7.38043654e-01 4.17526913e-03 1.66579233e+02] [ 7.38030145e-01 6.74752962e-01 -4.46605326e-03 1.76481090e+02] [-6.11341748e-03 6.80494919e-05 -9.99981311e-01 6.72109370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.630385723 meters Centerline goodness [0,1] 0.9992448433589367 Centerline is valid? [True, True] Translation: X:166.58, Y:176.48, Z:6.72 [[-7.29127354e-01 6.84363901e-01 4.39910298e-03 1.66582960e+02] [ 6.84352096e-01 7.29140621e-01 -4.02047139e-03 1.76483463e+02] [-5.95903016e-03 7.90996756e-05 -9.99982242e-01 6.72080123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.660385723 meters Centerline goodness [0,1] 0.9992652620205295 Centerline is valid? [True, True] Translation: X:167.03, Y:176.95, Z:5.72 [[-6.89167303e-01 -7.24584002e-01 5.14323036e-03 1.67026116e+02] [ 7.24563847e-01 -6.89186494e-01 -5.40443615e-03 1.76950509e+02] [ 7.46061288e-03 2.03808963e-06 9.99972169e-01 5.71998924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.690385723 meters Centerline goodness [0,1] 0.9992650396662416 Centerline is valid? [True, True] Translation: X:167.01, Y:176.97, Z:5.72 [[-6.89845872e-01 -7.23937511e-01 5.21082352e-03 1.67008283e+02] [ 7.23916317e-01 -6.89865551e-01 -5.53966887e-03 1.76970535e+02] [ 7.60514172e-03 -4.93175336e-05 9.99971079e-01 5.71990765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.720385723 meters Centerline goodness [0,1] 0.9993108201240524 Centerline is valid? [True, True] Translation: X:166.99, Y:176.99, Z:5.72 [[-6.91161848e-01 -7.22680648e-01 5.28978176e-03 1.66992121e+02] [ 7.22658797e-01 -6.91182087e-01 -5.62016574e-03 1.76991512e+02] [ 7.71778742e-03 -6.17368195e-05 9.99970216e-01 5.71918371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.750385723 meters Centerline goodness [0,1] 0.9992448433589367 Centerline is valid? [True, True] Translation: X:166.98, Y:177.01, Z:5.72 [[-6.92001370e-01 -7.21873945e-01 5.66680536e-03 1.66975332e+02] [ 7.21848864e-01 -6.92024568e-01 -6.01793604e-03 1.77012095e+02] [ 8.26575976e-03 -7.38429771e-05 9.99965835e-01 5.71721410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.780385723 meters Centerline goodness [0,1] 0.9994817981603835 Centerline is valid? [True, True] Translation: X:166.96, Y:177.03, Z:5.72 [[-6.92813218e-01 -7.21093878e-01 5.78477213e-03 1.66958429e+02] [ 7.21067745e-01 -6.92837364e-01 -6.13956019e-03 1.77032951e+02] [ 8.43510554e-03 -8.23558554e-05 9.99964420e-01 5.71797285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.810385723 meters Centerline goodness [0,1] 0.9995030572780502 Centerline is valid? [True, True] Translation: X:166.94, Y:177.05, Z:5.72 [[-6.93604680e-01 -7.20333202e-01 5.71193612e-03 1.66939094e+02] [ 7.20307725e-01 -6.93628193e-01 -6.05888910e-03 1.77052759e+02] [ 8.32637892e-03 -8.81221205e-05 9.99965331e-01 5.71926833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.840385723 meters Centerline goodness [0,1] 0.9995039575560204 Centerline is valid? [True, True] Translation: X:166.92, Y:177.08, Z:5.72 [[-6.94846328e-01 -7.19139013e-01 5.25928309e-03 1.66923208e+02] [ 7.19117405e-01 -6.94866226e-01 -5.57553148e-03 1.77075529e+02] [ 7.66408040e-03 -9.20955702e-05 9.99970626e-01 5.71915729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.87038572299997 meters Centerline goodness [0,1] 0.9995021213957919 Centerline is valid? [True, True] Translation: X:166.90, Y:177.10, Z:5.72 [[-6.95215137e-01 -7.18783306e-01 5.14522278e-03 1.66904935e+02] [ 7.18762640e-01 -6.95234170e-01 -5.45131127e-03 1.77095688e+02] [ 7.49544622e-03 -9.16402059e-05 9.99971905e-01 5.71960582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.900385723 meters Centerline goodness [0,1] 0.9995020459416745 Centerline is valid? [True, True] Translation: X:166.89, Y:177.12, Z:5.72 [[-6.95462891e-01 -7.18543126e-01 5.20994875e-03 1.66886543e+02] [ 7.18521953e-01 -6.95482400e-01 -5.51678819e-03 1.77116863e+02] [ 7.58747789e-03 -9.32589131e-05 9.99971210e-01 5.71978965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.930385723 meters Centerline goodness [0,1] 0.9994152173442205 Centerline is valid? [True, True] Translation: X:166.87, Y:177.14, Z:5.72 [[-6.95257218e-01 -7.18739075e-01 5.61635921e-03 1.66869543e+02] [ 7.18714497e-01 -6.95279896e-01 -5.94462984e-03 1.77138615e+02] [ 8.17757940e-03 -9.64880189e-05 9.99966558e-01 5.71930654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.960385723 meters Centerline goodness [0,1] 0.9992208635429066 Centerline is valid? [True, True] Translation: X:166.85, Y:177.16, Z:5.72 [[-6.95226051e-01 -7.18768394e-01 5.72139807e-03 1.66850460e+02] [ 7.18742917e-01 -6.95249586e-01 -6.05246700e-03 1.77159554e+02] [ 8.32812163e-03 -9.56183973e-05 9.99965316e-01 5.71950290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.990385723 meters Centerline goodness [0,1] 0.9994362165795694 Centerline is valid? [True, True] Translation: X:166.83, Y:177.18, Z:5.72 [[-6.95164533e-01 -7.18832072e-01 5.16963131e-03 1.66831683e+02] [ 7.18811297e-01 -6.95183750e-01 -5.46573670e-03 1.77180299e+02] [ 7.52279052e-03 -8.35969152e-05 9.99971700e-01 5.72002623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.020385723 meters Centerline goodness [0,1] 0.9995014739032426 Centerline is valid? [True, True] Translation: X:166.81, Y:177.20, Z:5.72 [[-6.94532465e-01 -7.19446160e-01 4.67749506e-03 1.66813171e+02] [ 7.19429184e-01 -6.94548212e-01 -4.94267779e-03 1.77201802e+02] [ 6.80473638e-03 -6.77237348e-05 9.99976845e-01 5.72100241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.050385723 meters Centerline goodness [0,1] 0.9993722943722944 Centerline is valid? [True, True] Translation: X:166.79, Y:177.22, Z:5.72 [[-6.94159874e-01 -7.19808671e-01 4.18875468e-03 1.66794225e+02] [ 7.19795079e-01 -6.94172510e-01 -4.42378634e-03 1.77222242e+02] [ 6.09199812e-03 -5.57699610e-05 9.99981442e-01 5.72150005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.080385723 meters Centerline goodness [0,1] 0.9993959528843249 Centerline is valid? [True, True] Translation: X:166.78, Y:177.24, Z:5.72 [[-6.92560277e-01 -7.21349086e-01 3.96964822e-03 1.66775279e+02] [ 7.21336918e-01 -6.92571653e-01 -4.19006619e-03 1.77242556e+02] [ 5.77176625e-03 -3.84195911e-05 9.99983343e-01 5.72160006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.110385723 meters Centerline goodness [0,1] 0.9995242831812481 Centerline is valid? [True, True] Translation: X:166.76, Y:177.26, Z:5.72 [[-6.91865707e-01 -7.22015076e-01 4.00920066e-03 1.66757059e+02] [ 7.22002689e-01 -6.91877322e-01 -4.22934483e-03 1.77262144e+02] [ 5.82752575e-03 -3.14849870e-05 9.99983019e-01 5.72102852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.140385723 meters Centerline goodness [0,1] 0.9994151793450009 Centerline is valid? [True, True] Translation: X:166.74, Y:177.28, Z:5.72 [[-6.90258620e-01 -7.23547098e-01 4.75758872e-03 1.66737458e+02] [ 7.23529711e-01 -6.90275016e-01 -5.01599453e-03 1.77281788e+02] [ 6.91335291e-03 -2.00766703e-05 9.99976102e-01 5.72087410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.170385723 meters Centerline goodness [0,1] 0.9993510286196379 Centerline is valid? [True, True] Translation: X:166.72, Y:177.30, Z:5.72 [[-6.89730814e-01 -7.24048802e-01 4.97358340e-03 1.66719355e+02] [ 7.24029838e-01 -6.89748746e-01 -5.24034859e-03 1.77301285e+02] [ 7.22479103e-03 -1.34071139e-05 9.99973901e-01 5.72070522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.200385723 meters Centerline goodness [0,1] 0.9993715053530406 Centerline is valid? [True, True] Translation: X:166.70, Y:177.32, Z:5.72 [[-6.89324658e-01 -7.24432214e-01 5.42993744e-03 1.66701297e+02] [ 7.24409647e-01 -6.89346044e-01 -5.71795231e-03 1.77322323e+02] [ 7.88537474e-03 -8.02645001e-06 9.99968910e-01 5.72063363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.230385723 meters Centerline goodness [0,1] 0.9993927827897293 Centerline is valid? [True, True] Translation: X:166.68, Y:177.34, Z:5.72 [[-6.89940733e-01 -7.23843151e-01 5.73383993e-03 1.66682819e+02] [ 7.23817996e-01 -6.89964559e-01 -6.03461567e-03 1.77342841e+02] [ 8.32426156e-03 -1.32706288e-05 9.99965353e-01 5.71996641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.260385723 meters Centerline goodness [0,1] 0.9994142658799028 Centerline is valid? [True, True] Translation: X:166.67, Y:177.36, Z:5.72 [[-6.91483911e-01 -7.22364880e-01 6.24341453e-03 1.66665940e+02] [ 7.22335029e-01 -6.91512096e-01 -6.56707106e-03 1.77364164e+02] [ 9.06121816e-03 -3.11869661e-05 9.99958946e-01 5.71861920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.290385723 meters Centerline goodness [0,1] 0.9993479961749109 Centerline is valid? [True, True] Translation: X:166.65, Y:177.39, Z:5.72 [[-6.92554363e-01 -7.21340010e-01 6.08642451e-03 1.66647948e+02] [ 7.21311633e-01 -6.92581106e-01 -6.39840201e-03 1.77385381e+02] [ 8.83076599e-03 -4.10324322e-05 9.99961007e-01 5.71909021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.320385723 meters Centerline goodness [0,1] 0.9994998260264439 Centerline is valid? [True, True] Translation: X:166.63, Y:177.41, Z:5.72 [[-6.94291218e-01 -7.19666073e-01 6.35985569e-03 1.66633212e+02] [ 7.19635054e-01 -6.94320344e-01 -6.68196355e-03 1.77408163e+02] [ 9.22455965e-03 -6.24535239e-05 9.99957451e-01 5.71946906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.350385723 meters Centerline goodness [0,1] 0.9994565571810534 Centerline is valid? [True, True] Translation: X:166.62, Y:177.43, Z:5.72 [[-6.95056132e-01 -7.18924422e-01 6.68199781e-03 1.66615875e+02] [ 7.18890189e-01 -6.95088247e-01 -7.01613170e-03 1.77429528e+02] [ 9.68864657e-03 -7.29826951e-05 9.99953061e-01 5.71962214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.380385723 meters Centerline goodness [0,1] 0.9994537787585484 Centerline is valid? [True, True] Translation: X:166.60, Y:177.45, Z:5.72 [[-6.95926110e-01 -7.18081658e-01 6.75143685e-03 1.66600143e+02] [ 7.18046715e-01 -6.95958853e-01 -7.08451674e-03 1.77450733e+02] [ 9.78598378e-03 -8.24531258e-05 9.99952113e-01 5.71913449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.410385723 meters Centerline goodness [0,1] 0.9994994232485255 Centerline is valid? [True, True] Translation: X:166.58, Y:177.47, Z:5.72 [[-6.96183295e-01 -7.17832573e-01 6.72435185e-03 1.66582148e+02] [ 7.17797939e-01 -6.96215764e-01 -7.05184696e-03 1.77471453e+02] [ 9.74364521e-03 -8.26521535e-05 9.99952526e-01 5.71902730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.440385723 meters Centerline goodness [0,1] 0.9994734994734995 Centerline is valid? [True, True] Translation: X:166.57, Y:177.49, Z:5.72 [[-6.96463619e-01 -7.17564691e-01 6.27230309e-03 1.66566146e+02] [ 7.17534582e-01 -6.96491858e-01 -6.57387517e-03 1.77493278e+02] [ 9.08578874e-03 -7.78705088e-05 9.99958720e-01 5.71806734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.470385723 meters Centerline goodness [0,1] 0.9994733261647173 Centerline is valid? [True, True] Translation: X:166.55, Y:177.51, Z:5.72 [[-6.96472080e-01 -7.17556219e-01 6.30194593e-03 1.66548205e+02] [ 7.17525860e-01 -6.96500587e-01 -6.60095469e-03 1.77514098e+02] [ 9.12586513e-03 -7.55714727e-05 9.99958356e-01 5.71911738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.500385723 meters Centerline goodness [0,1] 0.9995620374020059 Centerline is valid? [True, True] Translation: X:166.53, Y:177.54, Z:5.72 [[-6.96265879e-01 -7.17758381e-01 6.06063520e-03 1.66531639e+02] [ 7.17730345e-01 -6.96292253e-01 -6.34438051e-03 1.77535792e+02] [ 8.77370562e-03 -6.74738837e-05 9.99961508e-01 5.72152015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.530385723 meters Centerline goodness [0,1] 0.9995389985291858 Centerline is valid? [True, True] Translation: X:166.51, Y:177.56, Z:5.72 [[-6.95230282e-01 -7.18762501e-01 5.94315874e-03 1.66513934e+02] [ 7.18735610e-01 -6.95255682e-01 -6.21765150e-03 1.77556512e+02] [ 8.60102963e-03 -5.11397810e-05 9.99963009e-01 5.72220322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.560385723 meters Centerline goodness [0,1] 0.9994939048541126 Centerline is valid? [True, True] Translation: X:166.49, Y:177.58, Z:5.72 [[-6.94583334e-01 -7.19386867e-01 6.04383772e-03 1.66494638e+02] [ 7.19359110e-01 -6.94609627e-01 -6.31947475e-03 1.77577378e+02] [ 8.74425500e-03 -4.17121162e-05 9.99961767e-01 5.72266203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.590385723 meters Centerline goodness [0,1] 0.9995575417016946 Centerline is valid? [True, True] Translation: X:166.48, Y:177.60, Z:5.72 [[-6.94120716e-01 -7.19833814e-01 5.97593422e-03 1.66476503e+02] [ 7.19806728e-01 -6.94146439e-01 -6.24466633e-03 1.77597565e+02] [ 8.64329544e-03 -3.30346111e-05 9.99962645e-01 5.72269521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.62038572299997 meters Centerline goodness [0,1] 0.9995569339831635 Centerline is valid? [True, True] Translation: X:166.46, Y:177.62, Z:5.72 [[-6.93188032e-01 -7.20730949e-01 6.10338665e-03 1.66459544e+02] [ 7.20702764e-01 -6.93214901e-01 -6.37393892e-03 1.77618443e+02] [ 8.82485361e-03 -1.96105497e-05 9.99961060e-01 5.72332767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.650385723 meters Centerline goodness [0,1] 0.9996024383779486 Centerline is valid? [True, True] Translation: X:166.44, Y:177.64, Z:5.72 [[-6.92968016e-01 -7.20942619e-01 6.08843254e-03 1.66441402e+02] [ 7.20914614e-01 -6.92994762e-01 -6.35445020e-03 1.77638593e+02] [ 8.80044582e-03 -1.41907492e-05 9.99961275e-01 5.72413548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.680385723 meters Centerline goodness [0,1] 0.9996024647187438 Centerline is valid? [True, True] Translation: X:166.42, Y:177.66, Z:5.72 [[-6.92614246e-01 -7.21284161e-01 5.88766856e-03 1.66423068e+02] [ 7.21258017e-01 -6.92639270e-01 -6.14119874e-03 1.77658452e+02] [ 8.50757984e-03 -6.95358221e-06 9.99963810e-01 5.72400292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.710385723 meters Centerline goodness [0,1] 0.9996009046162033 Centerline is valid? [True, True] Translation: X:166.40, Y:177.68, Z:5.72 [[-6.91963606e-01 -7.21900316e-01 6.80453331e-03 1.66404785e+02] [ 7.21865468e-01 -6.91997062e-01 -7.09313221e-03 1.77679268e+02] [ 9.82925144e-03 3.76827759e-06 9.99951692e-01 5.72312592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.740385723 meters Centerline goodness [0,1] 0.9995794320118645 Centerline is valid? [True, True] Translation: X:166.39, Y:177.70, Z:5.72 [[-6.92168125e-01 -7.21697227e-01 7.50993425e-03 1.66388363e+02] [ 7.21654822e-01 -6.92208865e-01 -7.82338507e-03 1.77699649e+02] [ 1.08445584e-02 4.48248577e-06 9.99941196e-01 5.72196333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.770385723 meters Centerline goodness [0,1] 0.999489592117527 Centerline is valid? [True, True] Translation: X:166.37, Y:177.72, Z:5.72 [[-6.92883556e-01 -7.21003941e-01 8.10528114e-03 1.66371364e+02] [ 7.20954559e-01 -6.92930962e-01 -8.43838283e-03 1.77720892e+02] [ 1.17005075e-02 -3.27730672e-06 9.99931547e-01 5.71983077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.800385723 meters Centerline goodness [0,1] 0.9996435414160317 Centerline is valid? [True, True] Translation: X:166.35, Y:177.74, Z:5.72 [[-6.93180544e-01 -7.20719155e-01 8.03948054e-03 1.66354065e+02] [ 7.20670614e-01 -6.93227164e-01 -8.36453128e-03 1.77740301e+02] [ 1.16016642e-02 -4.31296803e-06 9.99932698e-01 5.72231962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.830385723 meters Centerline goodness [0,1] 0.9996427614539609 Centerline is valid? [True, True] Translation: X:166.34, Y:177.76, Z:5.72 [[-6.94137216e-01 -7.19801770e-01 7.67710200e-03 1.66337232e+02] [ 7.19757504e-01 -6.94179669e-01 -7.98269947e-03 1.77761326e+02] [ 1.10752493e-02 -1.54370196e-05 9.99938667e-01 5.72267623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.860385723 meters Centerline goodness [0,1] 0.9997543820475606 Centerline is valid? [True, True] Translation: X:166.32, Y:177.78, Z:5.72 [[-6.94900913e-01 -7.19074549e-01 6.67181669e-03 1.66320278e+02] [ 7.19041124e-01 -6.94932941e-01 -6.93325500e-03 1.77783042e+02] [ 9.62199241e-03 -2.06146678e-05 9.99953707e-01 5.72487633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.890385723 meters Centerline goodness [0,1] 0.999731909474766 Centerline is valid? [True, True] Translation: X:166.30, Y:177.80, Z:5.73 [[-6.95523954e-01 -7.18473933e-01 6.45268030e-03 1.66301827e+02] [ 7.18442680e-01 -6.95553885e-01 -6.70139930e-03 1.77803773e+02] [ 9.30296756e-03 -2.51028083e-05 9.99956726e-01 5.72625053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.920385723 meters Centerline goodness [0,1] 0.9997990802339599 Centerline is valid? [True, True] Translation: X:166.28, Y:177.82, Z:5.73 [[-6.96189921e-01 -7.17833826e-01 5.84731967e-03 1.66284264e+02] [ 7.17808173e-01 -6.96214476e-01 -6.06882235e-03 1.77823797e+02] [ 8.42739457e-03 -2.77991070e-05 9.99964489e-01 5.72583438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.950385723 meters Centerline goodness [0,1] 0.9997540470440927 Centerline is valid? [True, True] Translation: X:166.27, Y:177.84, Z:5.73 [[-6.96584578e-01 -7.17456022e-01 5.17517777e-03 1.66265982e+02] [ 7.17435940e-01 -6.96603801e-01 -5.36804797e-03 1.77844184e+02] [ 7.45638685e-03 -2.64408992e-05 9.99972200e-01 5.72640705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.980385723 meters Centerline goodness [0,1] 0.9997323818019626 Centerline is valid? [True, True] Translation: X:166.25, Y:177.86, Z:5.73 [[-6.96618218e-01 -7.17424860e-01 4.96281871e-03 1.66246368e+02] [ 7.17406412e-01 -6.96635895e-01 -5.14492165e-03 1.77864843e+02] [ 7.14837234e-03 -2.36881886e-05 9.99974450e-01 5.72727378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.010385723 meters Centerline goodness [0,1] 0.9996878553432477 Centerline is valid? [True, True] Translation: X:166.23, Y:177.89, Z:5.73 [[-6.96559528e-01 -7.17482402e-01 4.88133686e-03 1.66227127e+02] [ 7.17464575e-01 -6.96576631e-01 -5.05765389e-03 1.77885944e+02] [ 7.02900285e-03 -2.07707273e-05 9.99975296e-01 5.72693949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.040385723 meters Centerline goodness [0,1] 0.9997547489521091 Centerline is valid? [True, True] Translation: X:166.21, Y:177.91, Z:5.73 [[-6.96284361e-01 -7.17747840e-01 5.11138588e-03 1.66206891e+02] [ 7.17728323e-01 -6.96303122e-01 -5.29306031e-03 1.77905968e+02] [ 7.35815655e-03 -1.68887029e-05 9.99972928e-01 5.72807858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.070385723 meters Centerline goodness [0,1] 0.9997778222133351 Centerline is valid? [True, True] Translation: X:166.19, Y:177.92, Z:5.73 [[-6.96134943e-01 -7.17889541e-01 5.54504583e-03 1.66187605e+02] [ 7.17866603e-01 -6.96157027e-01 -5.73875665e-03 1.77924398e+02] [ 7.98001600e-03 -1.43458207e-05 9.99968159e-01 5.72775778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.100385723 meters Centerline goodness [0,1] 0.9998002751764236 Centerline is valid? [True, True] Translation: X:166.17, Y:177.94, Z:5.73 [[-6.96403362e-01 -7.17625892e-01 5.95282639e-03 1.66167413e+02] [ 7.17599481e-01 -6.96428804e-01 -6.15679822e-03 1.77941499e+02] [ 8.56399757e-03 -1.58698515e-05 9.99963328e-01 5.72674107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.130385723 meters Centerline goodness [0,1] 0.9998449131513648 Centerline is valid? [True, True] Translation: X:166.15, Y:177.96, Z:5.73 [[-6.97015319e-01 -7.17031814e-01 5.91805823e-03 1.66147359e+02] [ 7.17005721e-01 -6.97040442e-01 -6.11705691e-03 1.77960323e+02] [ 8.51125033e-03 -2.04007633e-05 9.99963778e-01 5.72661311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.160385723 meters Centerline goodness [0,1] 0.9998449131513648 Centerline is valid? [True, True] Translation: X:166.13, Y:177.98, Z:5.73 [[-6.97236030e-01 -7.16817183e-01 5.91994114e-03 1.66128673e+02] [ 7.16791098e-01 -6.97261161e-01 -6.11523465e-03 1.77979499e+02] [ 8.51125030e-03 -2.04008138e-05 9.99963778e-01 5.72663014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.190385723 meters Centerline goodness [0,1] 0.9998234424311977 Centerline is valid? [True, True] Translation: X:166.11, Y:178.00, Z:5.73 [[-6.98132285e-01 -7.15947466e-01 5.52613397e-03 1.66109383e+02] [ 7.15924737e-01 -6.98154156e-01 -5.70493426e-03 1.77998675e+02] [ 7.94252663e-03 -2.65027875e-05 9.99968457e-01 5.72705062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.220385723 meters Centerline goodness [0,1] 0.9999334841027006 Centerline is valid? [True, True] Translation: X:166.09, Y:178.02, Z:5.73 [[-7.00364990e-01 -7.13763796e-01 5.48865214e-03 1.66091544e+02] [ 7.13741335e-01 -7.00386494e-01 -5.66260241e-03 1.78018622e+02] [ 7.88593842e-03 -4.84105724e-05 9.99968904e-01 5.72784512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.250385723 meters Centerline goodness [0,1] 0.9998673124129238 Centerline is valid? [True, True] Translation: X:166.07, Y:178.04, Z:5.73 [[-7.03222742e-01 -7.10944221e-01 6.00745253e-03 1.66072225e+02] [ 7.10917240e-01 -7.03248396e-01 -6.19437718e-03 1.78038806e+02] [ 8.62858802e-03 -8.52253317e-05 9.99962769e-01 5.72813139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.280385723 meters Centerline goodness [0,1] 0.9998448581560284 Centerline is valid? [True, True] Translation: X:166.05, Y:178.06, Z:5.73 [[-7.04418212e-01 -7.09757894e-01 6.22209752e-03 1.66053756e+02] [ 7.09728937e-01 -7.04445684e-01 -6.41202155e-03 1.78058206e+02] [ 8.93411266e-03 -1.00742106e-04 9.99960085e-01 5.72746498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.310385723 meters Centerline goodness [0,1] 0.9998890294515835 Centerline is valid? [True, True] Translation: X:166.03, Y:178.08, Z:5.73 [[-7.05291573e-01 -7.08884965e-01 6.77516238e-03 1.66033173e+02] [ 7.08850628e-01 -7.05324104e-01 -6.97818393e-03 1.78077701e+02] [ 9.72541501e-03 -1.19076216e-04 9.99952700e-01 5.72692425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.340385723 meters Centerline goodness [0,1] 0.9998449715412043 Centerline is valid? [True, True] Translation: X:166.01, Y:178.10, Z:5.73 [[-7.05626202e-01 -7.08551517e-01 6.81257736e-03 1.66013525e+02] [ 7.08516826e-01 -7.05659077e-01 -7.01249356e-03 1.78096321e+02] [ 9.77607000e-03 -1.21373508e-04 9.99952206e-01 5.72694741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.37038572299997 meters Centerline goodness [0,1] 0.9998893168636827 Centerline is valid? [True, True] Translation: X:165.99, Y:178.11, Z:5.73 [[-7.05593679e-01 -7.08585782e-01 6.61433254e-03 1.65993661e+02] [ 7.08553121e-01 -7.05624671e-01 -6.80431620e-03 1.78114776e+02] [ 9.48867794e-03 -1.14476528e-04 9.99954975e-01 5.72731793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.400385723 meters Centerline goodness [0,1] 0.9999118768037717 Centerline is valid? [True, True] Translation: X:165.97, Y:178.13, Z:5.73 [[-7.05528609e-01 -7.08653175e-01 6.32918917e-03 1.65972737e+02] [ 7.08623308e-01 -7.05556990e-01 -6.50704373e-03 1.78133053e+02] [ 9.07684086e-03 -1.05894547e-04 9.99958799e-01 5.72768752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.430385723 meters Centerline goodness [0,1] 0.9999119291910696 Centerline is valid? [True, True] Translation: X:165.95, Y:178.15, Z:5.73 [[-7.05100833e-01 -7.09073063e-01 6.94306993e-03 1.65951875e+02] [ 7.09037184e-01 -7.05135008e-01 -7.13382736e-03 1.78150481e+02] [ 9.95420650e-03 -1.07172864e-04 9.99950450e-01 5.72783599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.460385723 meters Centerline goodness [0,1] 0.9999337368025798 Centerline is valid? [True, True] Translation: X:165.93, Y:178.17, Z:5.73 [[-7.05007147e-01 -7.09163813e-01 7.18400544e-03 1.65932018e+02] [ 7.09125451e-01 -7.05043740e-01 -7.37691123e-03 1.78168952e+02] [ 1.02964766e-02 -1.06414040e-04 9.99946984e-01 5.72712702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.91, Y:178.19, Z:5.73 [[-7.04674793e-01 -7.09489405e-01 7.63030124e-03 1.65911860e+02] [ 7.09446200e-01 -7.04716095e-01 -7.83043491e-03 1.78187741e+02] [ 1.09328067e-02 -1.04621881e-04 9.99940230e-01 5.72663027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.520385723 meters Centerline goodness [0,1] 0.999911758217516 Centerline is valid? [True, True] Translation: X:165.89, Y:178.21, Z:5.73 [[-7.04462569e-01 -7.09691058e-01 8.43152424e-03 1.65891768e+02] [ 7.09638382e-01 -7.04513016e-01 -8.64736553e-03 1.78205824e+02] [ 1.20770766e-02 -1.08412115e-04 9.99927064e-01 5.72661007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.87, Y:178.22, Z:5.73 [[-7.04503024e-01 -7.09652456e-01 8.29948403e-03 1.65871492e+02] [ 7.09601476e-01 -7.04551901e-01 -8.50673927e-03 1.78224473e+02] [ 1.18842457e-02 -1.03697427e-04 9.99929375e-01 5.72666780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.580385723 meters Centerline goodness [0,1] 0.9998678966952157 Centerline is valid? [True, True] Translation: X:165.85, Y:178.24, Z:5.72 [[-7.05431031e-01 -7.08728195e-01 8.45019281e-03 1.65850842e+02] [ 7.08675345e-01 -7.05481631e-01 -8.65587780e-03 1.78242310e+02] [ 1.20961205e-02 -1.17681498e-04 9.99926832e-01 5.72448986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.83, Y:178.26, Z:5.73 [[-7.05010516e-01 -7.09147255e-01 8.38702625e-03 1.65831200e+02] [ 7.09095285e-01 -7.05060394e-01 -8.58592523e-03 1.78260975e+02] [ 1.20020453e-02 -1.05966812e-04 9.99927967e-01 5.72725319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.81, Y:178.28, Z:5.73 [[-7.05319861e-01 -7.08849095e-01 7.54010983e-03 1.65813137e+02] [ 7.08807127e-01 -7.05360157e-01 -7.71402627e-03 1.78279975e+02] [ 1.07865736e-02 -9.63723570e-05 9.99941819e-01 5.72906392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.79, Y:178.30, Z:5.73 [[-7.05612342e-01 -7.08561688e-01 7.18037220e-03 1.65793901e+02] [ 7.08523660e-01 -7.05648869e-01 -7.34153546e-03 1.78299809e+02] [ 1.02687523e-02 -9.28144409e-05 9.99947271e-01 5.72997237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.700385723 meters Centerline goodness [0,1] 0.9999342681858019 Centerline is valid? [True, True] Translation: X:165.77, Y:178.32, Z:5.73 [[-7.05782049e-01 -7.08397183e-01 6.71791194e-03 1.65774799e+02] [ 7.08363930e-01 -7.05814015e-01 -6.86437724e-03 1.78318001e+02] [ 9.60430189e-03 -8.60277290e-05 9.99953874e-01 5.72999960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.730385723 meters Centerline goodness [0,1] 0.9998688266544238 Centerline is valid? [True, True] Translation: X:165.75, Y:178.34, Z:5.73 [[-7.05600557e-01 -7.08577672e-01 6.74805870e-03 1.65754979e+02] [ 7.08544168e-01 -7.05632819e-01 -6.89103656e-03 1.78336732e+02] [ 9.64448633e-03 -8.10215990e-05 9.99953488e-01 5.72954340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.73, Y:178.35, Z:5.73 [[-7.05068872e-01 -7.09105495e-01 6.87617449e-03 1.65734336e+02] [ 7.09070773e-01 -7.05102398e-01 -7.01767806e-03 1.78354523e+02] [ 9.82468119e-03 -7.22519949e-05 9.99951734e-01 5.72899797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.71, Y:178.37, Z:5.73 [[-7.04873018e-01 -7.09297948e-01 7.10284763e-03 1.65714482e+02] [ 7.09260952e-01 -7.04908801e-01 -7.24470069e-03 1.78373106e+02] [ 1.01455111e-02 -6.88215740e-05 9.99948531e-01 5.72882104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.820385723 meters Centerline goodness [0,1] 0.9999564251165628 Centerline is valid? [True, True] Translation: X:165.69, Y:178.39, Z:5.73 [[-7.04763765e-01 -7.09405658e-01 7.18665658e-03 1.65694839e+02] [ 7.09367834e-01 -7.04800403e-01 -7.32583990e-03 1.78392055e+02] [ 1.02621507e-02 -6.50034978e-05 9.99947341e-01 5.72883642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.850385723 meters Centerline goodness [0,1] 0.9999780749835563 Centerline is valid? [True, True] Translation: X:165.68, Y:178.41, Z:5.73 [[-7.05473240e-01 -7.08697860e-01 7.40610587e-03 1.65675489e+02] [ 7.08657699e-01 -7.05512110e-01 -7.54508377e-03 1.78411806e+02] [ 1.05722821e-02 -7.44607509e-05 9.99944109e-01 5.72878721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.66, Y:178.43, Z:5.73 [[-7.07282140e-01 -7.06883066e-01 8.26475260e-03 1.65657086e+02] [ 7.06832967e-01 -7.07330417e-01 -8.41651682e-03 1.78432099e+02] [ 1.17954041e-02 -1.11052419e-04 9.99930426e-01 5.72808255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.64, Y:178.45, Z:5.73 [[-7.08294561e-01 -7.05865359e-01 8.53874823e-03 1.65638542e+02] [ 7.05811870e-01 -7.08346016e-01 -8.69058668e-03 1.78451650e+02] [ 1.21827724e-02 -1.28745425e-04 9.99925779e-01 5.72820016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.940385723 meters Centerline goodness [0,1] 0.9999564327103211 Centerline is valid? [True, True] Translation: X:165.62, Y:178.47, Z:5.73 [[-7.10546050e-01 -7.03594394e-01 8.90166198e-03 1.65620615e+02] [ 7.03536145e-01 -7.10601787e-01 -9.05500174e-03 1.78472284e+02] [ 1.26965854e-02 -1.71354765e-04 9.99919380e-01 5.72754193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.60, Y:178.49, Z:5.73 [[-7.11706245e-01 -7.02416559e-01 9.23028414e-03 1.65602885e+02] [ 7.02353905e-01 -7.11766071e-01 -9.38366008e-03 1.78491365e+02] [ 1.31610413e-02 -1.95483373e-04 9.99913371e-01 5.72687634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.58, Y:178.51, Z:5.73 [[-7.13588568e-01 -7.00487362e-01 1.04312500e-02 1.65584672e+02] [ 7.00407225e-01 -7.13664760e-01 -1.05985414e-02 1.78511928e+02] [ 1.48685598e-02 -2.56875083e-04 9.99889424e-01 5.72543273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.56, Y:178.53, Z:5.73 [[-7.14290951e-01 -6.99761693e-01 1.10458477e-02 1.65563101e+02] [ 6.99671843e-01 -7.14376296e-01 -1.12169133e-02 1.78530471e+02] [ 1.57400580e-02 -2.83671026e-04 9.99876077e-01 5.72677709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.54, Y:178.55, Z:5.73 [[-7.14670513e-01 -6.99375016e-01 1.09838064e-02 1.65543374e+02] [ 6.99286234e-01 -7.14754857e-01 -1.11470978e-02 1.78548841e+02] [ 1.56467307e-02 -2.85677521e-04 9.99877542e-01 5.72728126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.52, Y:178.57, Z:5.73 [[-7.14296795e-01 -6.99763585e-01 1.05363068e-02 1.65523639e+02] [ 6.99682002e-01 -7.14374451e-01 -1.06883188e-02 1.78568264e+02] [ 1.50061646e-02 -2.62567635e-04 9.99887367e-01 5.72810555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.12038572299997 meters Centerline goodness [0,1] 0.999912424740011 Centerline is valid? [True, True] Translation: X:165.50, Y:178.59, Z:5.73 [[-7.13016346e-01 -7.01073437e-01 1.01846470e-02 1.65502593e+02] [ 7.00997424e-01 -7.13089046e-01 -1.03259557e-02 1.78587089e+02] [ 1.45018134e-02 -2.23163849e-04 9.99894818e-01 5.73044041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.48, Y:178.61, Z:5.73 [[-7.12182658e-01 -7.01918655e-01 1.02986752e-02 1.65482925e+02] [ 7.01841105e-01 -7.12257088e-01 -1.04356554e-02 1.78606264e+02] [ 1.46602856e-02 -2.04059262e-04 9.99892511e-01 5.72979612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.46, Y:178.62, Z:5.73 [[-7.09818820e-01 -7.04303360e-01 1.06779503e-02 1.65460478e+02] [ 7.04220350e-01 -7.09899114e-01 -1.08141738e-02 1.78623622e+02] [ 1.51967264e-02 -1.56474182e-04 9.99884511e-01 5.72991025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.210385723 meters Centerline goodness [0,1] 0.9998905189402233 Centerline is valid? [True, True] Translation: X:165.44, Y:178.64, Z:5.73 [[-7.08565169e-01 -7.05565782e-01 1.05985356e-02 1.65438691e+02] [ 7.05484232e-01 -7.08644418e-01 -1.07278583e-02 1.78641896e+02] [ 1.50798028e-02 -1.24287008e-04 9.99886286e-01 5.73099694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.42, Y:178.66, Z:5.73 [[-7.05636834e-01 -7.08490906e-01 1.08302925e-02 1.65416563e+02] [ 7.08406201e-01 -7.05719940e-01 -1.09553795e-02 1.78657263e+02] [ 1.54049401e-02 -5.82729671e-05 9.99881335e-01 5.72944890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.40, Y:178.68, Z:5.73 [[-7.04252746e-01 -7.09872014e-01 1.04782465e-02 1.65395207e+02] [ 7.09792977e-01 -7.04330692e-01 -1.05927490e-02 1.78675031e+02] [ 1.48996467e-02 -2.25868244e-05 9.99888994e-01 5.73037704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.300385723 meters Centerline goodness [0,1] 0.9999783108489134 Centerline is valid? [True, True] Translation: X:165.37, Y:178.69, Z:5.73 [[-7.01449860e-01 -7.12636299e-01 1.08443131e-02 1.65374847e+02] [ 7.12552059e-01 -7.01533679e-01 -1.09571774e-02 1.78691115e+02] [ 1.54161332e-02 4.12270405e-05 9.99881164e-01 5.72902924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.35, Y:178.71, Z:5.73 [[-7.00599864e-01 -7.13460038e-01 1.16018852e-02 1.65354301e+02] [ 7.13363828e-01 -7.00695918e-01 -1.17166260e-02 1.78709711e+02] [ 1.64887381e-02 6.76987019e-05 9.99864049e-01 5.72926756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.360385723 meters Centerline goodness [0,1] 0.9999781926029309 Centerline is valid? [True, True] Translation: X:165.33, Y:178.73, Z:5.73 [[-6.99869517e-01 -7.14175435e-01 1.16665001e-02 1.65333610e+02] [ 7.14078358e-01 -6.99966743e-01 -1.17753342e-02 1.78729070e+02] [ 1.65758165e-02 8.95977505e-05 9.99862608e-01 5.73078682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.390385723 meters Centerline goodness [0,1] 0.9999564895792542 Centerline is valid? [True, True] Translation: X:165.31, Y:178.75, Z:5.73 [[-6.99833121e-01 -7.14216913e-01 1.13050080e-02 1.65313667e+02] [ 7.14125867e-01 -6.99924419e-01 -1.14041386e-02 1.78748299e+02] [ 1.60576799e-02 9.22047240e-05 9.99871063e-01 5.73172988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.420385723 meters Centerline goodness [0,1] 0.9999782556698341 Centerline is valid? [True, True] Translation: X:165.29, Y:178.77, Z:5.73 [[-7.00025963e-01 -7.14027399e-01 1.13369109e-02 1.65294070e+02] [ 7.13935888e-01 -7.00117751e-01 -1.14316172e-02 1.78767264e+02] [ 1.60996605e-02 9.13987296e-05 9.99870388e-01 5.73109921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.27, Y:178.79, Z:5.73 [[-7.01120130e-01 -7.12960208e-01 1.08768352e-02 1.65274839e+02] [ 7.12875939e-01 -7.01204490e-01 -1.09617143e-02 1.78787606e+02] [ 1.54421518e-02 6.83555192e-05 9.99880761e-01 5.73316628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.26, Y:178.81, Z:5.73 [[-7.01846964e-01 -7.12240543e-01 1.11466310e-02 1.65256109e+02] [ 7.12152054e-01 -7.01935471e-01 -1.12270737e-02 1.78806646e+02] [ 1.58205927e-02 5.84085487e-05 9.99874845e-01 5.73259389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.510385723 meters Centerline goodness [0,1] 0.9999129488574537 Centerline is valid? [True, True] Translation: X:165.24, Y:178.83, Z:5.73 [[-7.03873786e-01 -7.10231459e-01 1.15311980e-02 1.65239651e+02] [ 7.10136609e-01 -7.03968234e-01 -1.16069951e-02 1.78826740e+02] [ 1.63612501e-02 1.88662446e-05 9.99866146e-01 5.73256001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.540385723 meters Centerline goodness [0,1] 0.9999782130329636 Centerline is valid? [True, True] Translation: X:165.22, Y:178.85, Z:5.73 [[-7.05312661e-01 -7.08798762e-01 1.17628838e-02 1.65221992e+02] [ 7.08699981e-01 -7.05410742e-01 -1.18330856e-02 1.78846948e+02] [ 1.66849410e-02 -9.66958844e-06 9.99860797e-01 5.73278541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.570385723 meters Centerline goodness [0,1] 0.9999781859430217 Centerline is valid? [True, True] Translation: X:165.20, Y:178.87, Z:5.73 [[-7.08501288e-01 -7.05620570e-01 1.12043436e-02 1.65204981e+02] [ 7.05530660e-01 -7.08589872e-01 -1.12641637e-02 1.78866865e+02] [ 1.58875100e-02 -7.56665601e-05 9.99873783e-01 5.73225808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.600385723 meters Centerline goodness [0,1] 0.9999129867304763 Centerline is valid? [True, True] Translation: X:165.19, Y:178.89, Z:5.73 [[-7.10453193e-01 -7.03653596e-01 1.13083108e-02 1.65186393e+02] [ 7.03561869e-01 -7.10543175e-01 -1.13619267e-02 1.78886614e+02] [ 1.60299036e-02 -1.16020874e-04 9.99871506e-01 5.73052308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.17, Y:178.91, Z:5.73 [[-7.11566510e-01 -7.02536225e-01 1.07681894e-02 1.65167778e+02] [ 7.02453021e-01 -7.11647972e-01 -1.08128868e-02 1.78906012e+02] [ 1.52596048e-02 -1.29940957e-04 9.99883557e-01 5.73196553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.15, Y:178.93, Z:5.73 [[-7.13844633e-01 -7.00225717e-01 1.04778667e-02 1.65149425e+02] [ 7.00146771e-01 -7.13921506e-01 -1.05158369e-02 1.78927013e+02] [ 1.48438338e-02 -1.70629172e-04 9.99889810e-01 5.73227009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.13, Y:178.95, Z:5.73 [[-7.14583027e-01 -6.99471172e-01 1.05440388e-02 1.65129047e+02] [ 6.99391230e-01 -7.14660791e-01 -1.05764650e-02 1.78946421e+02] [ 1.49333434e-02 -1.83354097e-04 9.99888475e-01 5.73407307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.720385723 meters Centerline goodness [0,1] 0.9999781764218061 Centerline is valid? [True, True] Translation: X:165.11, Y:178.97, Z:5.73 [[-7.15181810e-01 -6.98865670e-01 1.00873563e-02 1.65110524e+02] [ 6.98792512e-01 -7.15252921e-01 -1.01135495e-02 1.78965379e+02] [ 1.42830236e-02 -1.84057572e-04 9.99897975e-01 5.73421761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.09, Y:178.98, Z:5.73 [[-7.15515956e-01 -6.98521271e-01 1.02445528e-02 1.65092504e+02] [ 6.98445874e-01 -7.15589266e-01 -1.02646787e-02 1.78984979e+02] [ 1.45009885e-02 -1.89275775e-04 9.99894837e-01 5.73200842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.07, Y:179.00, Z:5.73 [[-7.15749242e-01 -6.98270326e-01 1.10261346e-02 1.65071335e+02] [ 6.98183058e-01 -7.15834136e-01 -1.10411427e-02 1.79002340e+02] [ 1.56025858e-02 -2.04429150e-04 9.99878251e-01 5.73167159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.810385723 meters Centerline goodness [0,1] 0.9999564156206415 Centerline is valid? [True, True] Translation: X:165.05, Y:179.02, Z:5.73 [[-7.15997981e-01 -6.98001239e-01 1.18811620e-02 1.65051150e+02] [ 6.97899981e-01 -7.16096517e-01 -1.18909871e-02 1.79021986e+02] [ 1.68079825e-02 -2.22060061e-04 9.99858711e-01 5.72969944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.840385723 meters Centerline goodness [0,1] 0.9999781992587748 Centerline is valid? [True, True] Translation: X:165.03, Y:179.04, Z:5.73 [[-7.15718247e-01 -6.98273944e-01 1.26842498e-02 1.65032596e+02] [ 6.98158682e-01 -7.15830600e-01 -1.26888506e-02 1.79040131e+02] [ 1.79400679e-02 -2.26022837e-04 9.99839039e-01 5.72950593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.01, Y:179.06, Z:5.73 [[-7.15721355e-01 -6.98273212e-01 1.25484604e-02 1.65013496e+02] [ 6.98160535e-01 -7.15831317e-01 -1.25456850e-02 1.79059161e+02] [ 1.77428967e-02 -2.18374826e-04 9.99842559e-01 5.72949708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.51, Y:178.56, Z:6.72 [[-7.47544450e-01 6.64095395e-01 1.24339046e-02 1.64508562e+02] [ 6.64008866e-01 7.47647811e-01 -1.07227103e-02 1.78556516e+02] [-1.64170841e-02 2.40520308e-04 -9.99865202e-01 6.71653686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.930385723 meters Centerline goodness [0,1] 0.9999781997340368 Centerline is valid? [True, True] Translation: X:164.53, Y:178.58, Z:6.72 [[-7.92670576e-01 6.09505734e-01 1.32709206e-02 1.64530690e+02] [ 6.09425403e-01 7.92781623e-01 -9.89832859e-03 1.78578472e+02] [-1.65540300e-02 2.41522286e-04 -9.99862944e-01 6.71518409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.960385723 meters Centerline goodness [0,1] 0.999869109947644 Centerline is valid? [True, True] Translation: X:164.54, Y:178.60, Z:6.72 [[-8.33012083e-01 5.53085905e-01 1.36693552e-02 1.64542864e+02] [ 5.53016584e-01 8.33124188e-01 -8.76039117e-03 1.78604939e+02] [-1.62335194e-02 2.61868447e-04 -9.99868193e-01 6.71792862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.56, Y:178.63, Z:6.72 [[-8.70126062e-01 4.92651397e-01 1.32377171e-02 1.64559801e+02] [ 4.92598663e-01 8.70226718e-01 -7.21217538e-03 1.78627742e+02] [-1.50729034e-02 2.45379974e-04 -9.99886367e-01 6.71541629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.59, Y:178.65, Z:6.71 [[-9.02225845e-01 4.31077031e-01 1.26931796e-02 1.64585293e+02] [ 4.31038149e-01 9.02315097e-01 -5.79483207e-03 1.78647801e+02] [-1.39512666e-02 2.42997363e-04 -9.99902647e-01 6.71315528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.60, Y:178.67, Z:6.71 [[-9.30502232e-01 3.66052839e-01 1.30734736e-02 1.64596022e+02] [ 3.66020375e-01 9.30594036e-01 -4.88113249e-03 1.78674992e+02] [-1.39528490e-02 2.43253041e-04 -9.99902625e-01 6.71317275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.080385723 meters Centerline goodness [0,1] 0.9999781835634968 Centerline is valid? [True, True] Translation: X:164.60, Y:178.70, Z:6.71 [[-9.54076256e-01 2.99290610e-01 1.27917189e-02 1.64599935e+02] [ 2.99267020e-01 9.54161975e-01 -3.76507554e-03 1.78704242e+02] [-1.33322235e-02 2.35970423e-04 -9.99911094e-01 6.71291123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.110385723 meters Centerline goodness [0,1] 0.9999131963282046 Centerline is valid? [True, True] Translation: X:164.61, Y:178.73, Z:6.71 [[-9.72933914e-01 2.30690601e-01 1.34701795e-02 1.64610420e+02] [ 2.30671904e-01 9.73027127e-01 -2.94683269e-03 1.78732507e+02] [-1.37866566e-02 2.40118475e-04 -9.99904931e-01 6.71436251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.76, Y:179.42, Z:5.73 [[-9.62879102e-01 -2.69569738e-01 1.39997115e-02 1.64762493e+02] [ 2.69538236e-01 -9.62980850e-01 -4.12585403e-03 1.79421522e+02] [ 1.45936595e-02 -1.99241070e-04 9.99893487e-01 5.73193700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.170385723 meters Centerline goodness [0,1] 0.9998908559079697 Centerline is valid? [True, True] Translation: X:164.56, Y:178.75, Z:6.72 [[-9.74155978e-01 2.25450242e-01 1.38678937e-02 1.64557435e+02] [ 2.25430699e-01 9.74254657e-01 -2.97700463e-03 1.78745885e+02] [-1.41820265e-02 2.26182124e-04 -9.99899404e-01 6.71540028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.55, Y:178.78, Z:6.71 [[-9.88082975e-01 1.53370640e-01 1.30184830e-02 1.64553757e+02] [ 1.53359738e-01 9.88168717e-01 -1.83756133e-03 1.78776076e+02] [-1.31462856e-02 1.80848077e-04 -9.99913568e-01 6.71414874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.230385723 meters Centerline goodness [0,1] 0.9999344233627699 Centerline is valid? [True, True] Translation: X:164.66, Y:179.47, Z:5.73 [[-9.79673310e-01 -2.00069068e-01 1.45798953e-02 1.64659463e+02] [ 2.00045633e-01 -9.79781792e-01 -3.06331496e-03 1.79469654e+02] [ 1.48979905e-02 -8.44035137e-05 9.99889015e-01 5.72980722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.50, Y:178.78, Z:6.72 [[-9.89010171e-01 1.47310661e-01 1.25877484e-02 1.64498266e+02] [ 1.47300686e-01 9.89090262e-01 -1.72104141e-03 1.78784870e+02] [-1.27039471e-02 1.52056512e-04 -9.99919290e-01 6.71524208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.50, Y:178.81, Z:6.72 [[-9.97038850e-01 7.57193228e-02 1.34207242e-02 1.64499295e+02] [ 7.57144220e-02 9.97129161e-01 -8.73617537e-04 1.78813071e+02] [-1.34483452e-02 1.45111751e-04 -9.99909556e-01 6.71719725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.320385723 meters Centerline goodness [0,1] 0.9998905596778077 Centerline is valid? [True, True] Translation: X:164.49, Y:178.84, Z:6.72 [[-9.99901059e-01 4.35713549e-03 1.33748991e-02 1.64494399e+02] [ 4.35862861e-03 9.99990498e-01 8.24888283e-05 1.78841847e+02] [-1.33744125e-02 1.40776884e-04 -9.99910549e-01 6.71645419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.350385723 meters Centerline goodness [0,1] 0.9999781301257518 Centerline is valid? [True, True] Translation: X:164.49, Y:178.87, Z:6.72 [[-9.97668058e-01 -6.69290806e-02 1.33770368e-02 1.64487977e+02] [-6.69211799e-02 9.97757725e-01 1.03787562e-03 1.78869276e+02] [-1.34165059e-02 1.40248261e-04 -9.99909985e-01 6.71631860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.380385723 meters Centerline goodness [0,1] 0.9998904229673461 Centerline is valid? [True, True] Translation: X:164.47, Y:178.90, Z:6.72 [[-9.90439155e-01 -1.37254604e-01 1.38366936e-02 1.64472086e+02] [-1.37239043e-01 9.90535789e-01 2.07244663e-03 1.78896144e+02] [-1.39901931e-02 1.53697698e-04 -9.99902121e-01 6.71735309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.45, Y:178.92, Z:6.72 [[-9.78052699e-01 -2.08005455e-01 1.21098923e-02 1.64447427e+02] [-2.07987723e-01 9.78127656e-01 2.71968834e-03 1.78918551e+02] [-1.24107306e-02 1.41289598e-04 -9.99922974e-01 6.71559928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.41, Y:178.94, Z:6.72 [[-9.60509561e-01 -2.78019095e-01 1.12590290e-02 1.64407220e+02] [-2.77998291e-01 9.60575538e-01 3.40389685e-03 1.78936901e+02] [-1.17614962e-02 1.39484642e-04 -9.99930822e-01 6.71574694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.35, Y:178.95, Z:6.72 [[-9.37581187e-01 -3.47619823e-01 1.00983903e-02 1.64352994e+02] [-3.47598096e-01 9.37635559e-01 3.88887018e-03 1.78947430e+02] [-1.08204582e-02 1.35950290e-04 -9.99941448e-01 6.71627916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.28, Y:178.95, Z:6.72 [[-9.09276084e-01 -4.16081748e-01 9.64276141e-03 1.64283477e+02] [-4.16056799e-01 9.09327203e-01 4.55834201e-03 1.78948485e+02] [-1.06650682e-02 1.32854927e-04 -9.99943118e-01 6.71630009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.21, Y:178.94, Z:6.71 [[-8.75509266e-01 -4.83125729e-01 8.54719750e-03 1.64206062e+02] [-4.83101376e-01 8.75550978e-01 4.85228759e-03 1.78939758e+02] [-9.82777211e-03 1.19059876e-04 -9.99951699e-01 6.71472157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.560385723 meters Centerline goodness [0,1] 0.9999561528511609 Centerline is valid? [True, True] Translation: X:164.12, Y:178.92, Z:6.72 [[-8.36523584e-01 -5.47874755e-01 7.84517927e-03 1.64122667e+02] [-5.47849428e-01 8.36560363e-01 5.26908502e-03 1.78920757e+02] [-9.44976468e-03 1.09736906e-04 -9.99955344e-01 6.71581418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.03, Y:178.89, Z:6.72 [[-7.92042180e-01 -6.10421614e-01 7.39180020e-03 1.64029688e+02] [-6.10393923e-01 7.92076666e-01 5.81501612e-03 1.78889132e+02] [-9.40448398e-03 9.38281150e-05 -9.99955772e-01 6.71573265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.94, Y:178.85, Z:6.72 [[-7.42991167e-01 -6.69265283e-01 6.93588949e-03 1.63941766e+02] [-6.69235060e-01 7.43023535e-01 6.36080195e-03 1.78853082e+02] [-9.41059305e-03 8.42792394e-05 -9.99955716e-01 6.71642042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.85, Y:178.80, Z:6.72 [[-6.88440637e-01 -7.25262564e-01 6.61080290e-03 1.63848481e+02] [-7.25228263e-01 6.88472374e-01 7.05387528e-03 1.78800960e+02] [-9.66726684e-03 6.18332810e-05 -9.99953269e-01 6.71757020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.680385723 meters Centerline goodness [0,1] 0.9997793468667255 Centerline is valid? [True, True] Translation: X:163.76, Y:178.74, Z:6.72 [[-6.30821748e-01 -7.75894647e-01 7.17077046e-03 1.63756177e+02] [-7.75843495e-01 6.30862500e-01 8.90939539e-03 1.78738586e+02] [-1.14365224e-02 5.68447552e-05 -9.99934599e-01 6.72138818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.67, Y:178.67, Z:6.72 [[-5.67400084e-01 -8.23422112e-01 5.75944425e-03 1.63671792e+02] [-8.23379244e-01 5.67429313e-01 8.40212224e-03 1.78670746e+02] [-1.01865707e-02 2.51580074e-05 -9.99948115e-01 6.71722740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.57, Y:178.57, Z:6.72 [[-5.02288314e-01 -8.64685999e-01 4.95716610e-03 1.63573179e+02] [-8.64643558e-01 5.02312775e-01 8.56701414e-03 1.78567950e+02] [-9.89782503e-03 1.69293493e-05 -9.99951015e-01 6.71707943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.50, Y:178.50, Z:6.72 [[-4.33689517e-01 -9.01053148e-01 4.07767196e-03 1.63503411e+02] [-9.01013098e-01 4.33708687e-01 8.49543553e-03 1.78495433e+02] [-9.42336068e-03 1.03454896e-05 -9.99955599e-01 6.71717125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.800385723 meters Centerline goodness [0,1] 0.9999114711285217 Centerline is valid? [True, True] Translation: X:163.44, Y:178.41, Z:6.72 [[-3.63370807e-01 -9.31637787e-01 3.56251990e-03 1.63437119e+02] [-9.31592713e-01 3.63388270e-01 9.16416766e-03 1.78408929e+02] [-9.83226281e-03 1.11734093e-05 -9.99951662e-01 6.71772935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.830385723 meters Centerline goodness [0,1] 0.99995575808521 Centerline is valid? [True, True] Translation: X:163.37, Y:178.31, Z:6.72 [[-2.90159432e-01 -9.56974769e-01 2.60670197e-03 1.63374473e+02] [-9.56935900e-01 2.90171141e-01 8.62515736e-03 1.78311813e+02] [-9.01044766e-03 8.22407233e-06 -9.99959405e-01 6.71700232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.32, Y:178.20, Z:6.72 [[-2.16567257e-01 -9.76266359e-01 1.61878468e-03 1.63318444e+02] [-9.76238425e-01 2.16573306e-01 7.38519525e-03 1.78200972e+02] [-7.56050323e-03 1.90716711e-05 -9.99971419e-01 6.71614024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.27, Y:178.09, Z:6.72 [[-1.41058306e-01 -9.90000897e-01 8.82713386e-04 1.63270172e+02] [-9.89980364e-01 1.41061065e-01 6.37611993e-03 1.78092262e+02] [-6.43688094e-03 2.55357547e-05 -9.99979283e-01 6.71602900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.920385723 meters Centerline goodness [0,1] 0.9999112629500633 Centerline is valid? [True, True] Translation: X:163.23, Y:177.97, Z:6.72 [[-6.50256481e-02 -9.97883524e-01 3.70263777e-04 1.63229471e+02] [-9.97864565e-01 6.50266951e-02 6.15133982e-03 1.77971009e+02] [-6.16239769e-03 3.05217556e-05 -9.99981012e-01 6.71594860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.20, Y:177.84, Z:6.71 [[ 1.20453983e-02 -9.99927447e-01 -9.44161105e-05 1.63199593e+02] [-9.99914636e-01 -1.20457219e-02 5.06177958e-03 1.77835744e+02] [-5.06254964e-03 3.34368998e-05 -9.99987185e-01 6.71493188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.18, Y:177.71, Z:6.72 [[ 8.89358370e-02 -9.96037250e-01 -4.63143250e-04 1.63178102e+02] [-9.96025738e-01 -8.89370359e-02 4.78883917e-03 1.77712008e+02] [-4.81105278e-03 3.54031779e-05 -9.99988426e-01 6.71517666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.010385723 meters Centerline goodness [0,1] 0.9999329024177496 Centerline is valid? [True, True] Translation: X:163.17, Y:177.60, Z:6.72 [[ 1.64557516e-01 -9.86367036e-01 -9.46062083e-04 1.63166613e+02] [-9.86352089e-01 -1.64560230e-01 5.43020814e-03 1.77598611e+02] [-5.51186250e-03 3.95687515e-05 -9.99984809e-01 6.71555603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.17, Y:177.48, Z:6.72 [[ 2.37879236e-01 -9.71293599e-01 -1.48789648e-03 1.63166021e+02] [-9.71275968e-01 -2.37883883e-01 5.85249798e-03 1.77477641e+02] [-6.03844042e-03 5.29703452e-05 -9.99981767e-01 6.71500198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.070385723 meters Centerline goodness [0,1] 0.9998654527514912 Centerline is valid? [True, True] Translation: X:163.17, Y:177.35, Z:6.72 [[ 3.10220798e-01 -9.50661924e-01 -2.22769450e-03 1.63173437e+02] [-9.50638968e-01 -3.10228789e-01 6.60687510e-03 1.77351737e+02] [-6.97199956e-03 6.81431358e-05 -9.99975693e-01 6.71702623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.20, Y:177.20, Z:6.72 [[ 3.80365953e-01 -9.24832897e-01 -2.41945637e-03 1.63200914e+02] [-9.24815502e-01 -3.80373640e-01 5.67294130e-03 1.77202867e+02] [-6.16682017e-03 7.97570314e-05 -9.99980982e-01 6.71635450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.130385723 meters Centerline goodness [0,1] 0.9999100618324902 Centerline is valid? [True, True] Translation: X:163.23, Y:177.08, Z:6.72 [[ 4.49229341e-01 -8.93411635e-01 -2.94085401e-03 1.63227599e+02] [-8.93393784e-01 -4.49238958e-01 5.64846833e-03 1.77080407e+02] [-6.36755352e-03 8.98829835e-05 -9.99979723e-01 6.71747106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.25, Y:176.98, Z:6.72 [[ 5.15564685e-01 -8.56844600e-01 -3.22304417e-03 1.63250503e+02] [-8.56829007e-01 -5.15574750e-01 5.17004141e-03 1.76984239e+02] [-6.09164225e-03 9.61069679e-05 -9.99981441e-01 6.71663306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.190385723 meters Centerline goodness [0,1] 0.9999550096729203 Centerline is valid? [True, True] Translation: X:163.29, Y:176.88, Z:6.72 [[ 5.79272110e-01 -8.15125325e-01 -3.81139668e-03 1.63287142e+02] [-8.15108848e-01 -5.79284640e-01 5.18382463e-03 1.76877582e+02] [-6.43335028e-03 1.03858122e-04 -9.99979300e-01 6.71773062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.33, Y:176.78, Z:6.72 [[ 6.39737165e-01 -7.68583160e-01 -4.03544119e-03 1.63326560e+02] [-7.68568889e-01 -6.39749885e-01 4.68494665e-03 1.76781338e+02] [-6.18244414e-03 1.04380057e-04 -9.99980883e-01 6.71733913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.38, Y:176.68, Z:6.72 [[ 6.96454211e-01 -7.17588545e-01 -4.26761160e-03 1.63382561e+02] [-7.17575984e-01 -6.96467278e-01 4.24702606e-03 1.76676255e+02] [-6.01986908e-03 1.04476416e-04 -9.99981875e-01 6.71630767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.280385723 meters Centerline goodness [0,1] 0.9999551388452739 Centerline is valid? [True, True] Translation: X:163.44, Y:176.58, Z:6.72 [[ 7.48743649e-01 -6.62848778e-01 -3.80069194e-03 1.63437242e+02] [-6.62840891e-01 -7.48753289e-01 3.23495021e-03 1.76584942e+02] [-4.99006338e-03 9.71056093e-05 -9.99987545e-01 6.71584638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.310385723 meters Centerline goodness [0,1] 0.9999550975505714 Centerline is valid? [True, True] Translation: X:163.43, Y:176.57, Z:6.72 [[ 7.98127743e-01 -6.02476430e-01 -3.77589661e-03 1.63430070e+02] [-6.02470249e-01 -7.98136669e-01 2.73080729e-03 1.76574591e+02] [-4.65892857e-03 9.53323110e-05 -9.99989143e-01 6.71639183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.42, Y:176.56, Z:6.72 [[ 8.42914122e-01 -5.38033678e-01 -3.94252059e-03 1.63422796e+02] [-5.38028310e-01 -8.42923337e-01 2.40539374e-03 1.76564234e+02] [-4.61742545e-03 9.36473348e-05 -9.99989335e-01 6.71753996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.37038572299997 meters Centerline goodness [0,1] 0.9999553421904656 Centerline is valid? [True, True] Translation: X:163.42, Y:176.56, Z:6.72 [[ 8.82271213e-01 -4.70718343e-01 -4.66350634e-03 1.63416231e+02] [-4.70712372e-01 -8.82283532e-01 2.37307264e-03 1.76556276e+02] [-5.23158367e-03 1.01476459e-04 -9.99986310e-01 6.71888750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.41, Y:176.55, Z:6.72 [[ 9.16425291e-01 -4.00170936e-01 -5.28283198e-03 1.63411188e+02] [-4.00164951e-01 -9.16440511e-01 2.19121379e-03 1.76546894e+02] [-5.71826132e-03 1.05920467e-04 -9.99983645e-01 6.71924327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.430385723 meters Centerline goodness [0,1] 0.9999552562697152 Centerline is valid? [True, True] Translation: X:163.41, Y:176.54, Z:6.72 [[ 9.44634038e-01 -3.28077705e-01 -5.61731986e-03 1.63407287e+02] [-3.28072612e-01 -9.44650733e-01 1.83151439e-03 1.76538082e+02] [-5.90728436e-03 1.12777963e-04 -9.99982546e-01 6.72048541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.460385723 meters Centerline goodness [0,1] 0.9999552642762878 Centerline is valid? [True, True] Translation: X:163.40, Y:176.53, Z:6.72 [[ 9.67260734e-01 -2.53730113e-01 -5.26325887e-03 1.63403546e+02] [-2.53726972e-01 -9.67275048e-01 1.26714890e-03 1.76531266e+02] [-5.41253281e-03 1.09767369e-04 -9.99985346e-01 6.71962250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.490385723 meters Centerline goodness [0,1] 0.9999776446391845 Centerline is valid? [True, True] Translation: X:163.40, Y:176.52, Z:6.72 [[ 9.84021962e-01 -1.77979855e-01 -4.89389518e-03 1.63398527e+02] [-1.77978198e-01 -9.84034125e-01 7.75389178e-04 1.76524762e+02] [-4.95376351e-03 1.08006666e-04 -9.99987724e-01 6.71928358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.39, Y:176.51, Z:6.72 [[ 9.94754227e-01 -1.02189622e-01 -4.61623878e-03 1.63392585e+02] [-1.02189043e-01 -9.94764931e-01 3.61678362e-04 1.76511142e+02] [-4.62903223e-03 1.11947945e-04 -9.99989280e-01 6.71807825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.550385723 meters Centerline goodness [0,1] 0.9999777233236801 Centerline is valid? [True, True] Translation: X:163.39, Y:176.50, Z:6.72 [[ 9.99688029e-01 -2.45219113e-02 -4.74567722e-03 1.63387030e+02] [-2.45221864e-02 -9.99699286e-01 2.03328637e-07 1.76499458e+02] [-4.74425511e-03 1.16171116e-04 -9.99988739e-01 6.71880268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.38, Y:176.49, Z:6.72 [[ 9.98573574e-01 5.31311563e-02 -5.28174995e-03 1.63382687e+02] [ 5.31297339e-02 -9.98587534e-01 -4.09351850e-04 1.76489960e+02] [-5.29603900e-03 1.28149971e-04 -9.99985968e-01 6.72001696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.38, Y:176.48, Z:6.72 [[ 9.91400684e-01 1.30750328e-01 -5.38840693e-03 1.63380820e+02] [ 1.30747669e-01 -9.91415319e-01 -8.44317514e-04 1.76476574e+02] [-5.45254397e-03 1.32535317e-04 -9.99985126e-01 6.71969560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.38, Y:176.46, Z:6.72 [[ 9.78194271e-01 2.07632657e-01 -4.96476318e-03 1.63379638e+02] [ 2.07629315e-01 -9.78206861e-01 -1.18511487e-03 1.76463993e+02] [-5.10263395e-03 1.28442198e-04 -9.99986973e-01 6.71980697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.670385723 meters Centerline goodness [0,1] 0.9998663339868116 Centerline is valid? [True, True] Translation: X:163.38, Y:176.45, Z:6.72 [[ 9.59069342e-01 2.83138391e-01 -4.31847115e-03 1.63378260e+02] [ 2.83134952e-01 -9.59079057e-01 -1.40084150e-03 1.76452148e+02] [-4.53838724e-03 1.20794017e-04 -9.99989694e-01 6.72060579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.700385723 meters Centerline goodness [0,1] 0.9999109528049867 Centerline is valid? [True, True] Translation: X:163.38, Y:176.44, Z:6.72 [[ 9.33910790e-01 3.57483334e-01 -4.03760336e-03 1.63377925e+02] [ 3.57479447e-01 -9.33919511e-01 -1.67114416e-03 1.76441318e+02] [-4.36820274e-03 1.17339350e-04 -9.99990452e-01 6.72068552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.38, Y:176.43, Z:6.72 [[ 9.02884450e-01 4.29871460e-01 -3.19347736e-03 1.63378334e+02] [ 4.29868367e-01 -9.02890092e-01 -1.63377956e-03 1.76431178e+02] [-3.58567427e-03 1.02339258e-04 -9.99993566e-01 6.71903244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.760385723 meters Centerline goodness [0,1] 0.99995561375086 Centerline is valid? [True, True] Translation: X:163.38, Y:176.42, Z:6.72 [[ 8.65840074e-01 5.00314474e-01 -2.52836108e-03 1.63382639e+02] [ 5.00312041e-01 -8.65843761e-01 -1.56296382e-03 1.76416400e+02] [-2.97113909e-03 8.83072166e-05 -9.99995582e-01 6.71777678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.790385723 meters Centerline goodness [0,1] 0.9999778403173266 Centerline is valid? [True, True] Translation: X:163.39, Y:176.40, Z:6.72 [[ 8.23215702e-01 5.67723975e-01 -2.32275958e-03 1.63386137e+02] [ 5.67721429e-01 -8.23218975e-01 -1.70237470e-03 1.76402887e+02] [-2.87861869e-03 8.27411992e-05 -9.99995853e-01 6.71756791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.820385723 meters Centerline goodness [0,1] 0.9999337368025798 Centerline is valid? [True, True] Translation: X:163.39, Y:176.39, Z:6.72 [[ 7.75997401e-01 6.30732702e-01 -2.07157273e-03 1.63391761e+02] [ 6.30730178e-01 -7.76000162e-01 -1.78613107e-03 1.76390880e+02] [-2.73411205e-03 7.94296355e-05 -9.99996259e-01 6.71809895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.850385723 meters Centerline goodness [0,1] 0.9998236525956133 Centerline is valid? [True, True] Translation: X:163.40, Y:176.38, Z:6.72 [[ 7.23199944e-01 6.90635084e-01 -2.24095787e-03 1.63398782e+02] [ 6.90631420e-01 -7.23203411e-01 -2.25135654e-03 1.76377360e+02] [-3.17553419e-03 8.05050054e-05 -9.99994955e-01 6.71938331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.880385723 meters Centerline goodness [0,1] 0.9999779526864652 Centerline is valid? [True, True] Translation: X:163.40, Y:176.37, Z:6.72 [[ 6.65993630e-01 7.45953663e-01 -2.37008464e-03 1.63403892e+02] [ 7.45948497e-01 -6.65997842e-01 -2.77747637e-03 1.76367053e+02] [-3.65033993e-03 8.18204922e-05 -9.99993334e-01 6.71771404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.910385723 meters Centerline goodness [0,1] 0.9996259872835677 Centerline is valid? [True, True] Translation: X:163.41, Y:176.36, Z:6.72 [[ 6.05352394e-01 7.95954077e-01 -2.36347425e-03 1.63410424e+02] [ 7.95947456e-01 -6.05357002e-01 -3.24763918e-03 1.76358170e+02] [-4.01571733e-03 8.47648339e-05 -9.99991933e-01 6.72030430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.42, Y:176.35, Z:6.72 [[ 5.40345289e-01 8.41439383e-01 -2.59469575e-03 1.63417697e+02] [ 8.41428873e-01 -5.40351512e-01 -4.20661926e-03 1.76348895e+02] [-4.94166288e-03 8.97749771e-05 -9.99987786e-01 6.71780565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.42, Y:176.34, Z:6.72 [[ 4.72816224e-01 8.81158169e-01 -2.25829013e-03 1.63421282e+02] [ 8.81147197e-01 -4.72821608e-01 -4.39820249e-03 1.76342869e+02] [-4.94328042e-03 8.96554746e-05 -9.99987778e-01 6.71781976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.44, Y:176.33, Z:6.72 [[ 4.01888356e-01 9.15686750e-01 -1.87749526e-03 1.63438537e+02] [ 9.15675732e-01 -4.01892732e-01 -4.49282620e-03 1.76332504e+02] [-4.86857312e-03 8.64376846e-05 -9.99988145e-01 6.71671455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.030385723 meters Centerline goodness [0,1] 0.9999123133919372 Centerline is valid? [True, True] Translation: X:163.45, Y:176.32, Z:6.72 [[ 3.28936612e-01 9.44350669e-01 -1.58751579e-03 1.63451644e+02] [ 9.44338343e-01 -3.28940431e-01 -4.82557622e-03 1.76324661e+02] [-5.07923426e-03 8.81566561e-05 -9.99987097e-01 6.71800743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.060385723 meters Centerline goodness [0,1] 0.99991265231253 Centerline is valid? [True, True] Translation: X:163.47, Y:176.32, Z:6.72 [[ 2.53974367e-01 9.67210262e-01 -1.15344164e-03 1.63465262e+02] [ 9.67198692e-01 -2.53976972e-01 -4.73169686e-03 1.76317330e+02] [-4.86949337e-03 8.61224719e-05 -9.99988140e-01 6.71519703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.090385723 meters Centerline goodness [0,1] 0.9998469778117827 Centerline is valid? [True, True] Translation: X:163.48, Y:176.31, Z:6.72 [[ 1.78217443e-01 9.83990884e-01 -6.95385698e-04 1.63478868e+02] [ 9.83981422e-01 -1.78218779e-01 -4.31608223e-03 1.76311996e+02] [-4.37091636e-03 8.49545304e-05 -9.99990444e-01 6.71678090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.12038572299997 meters Centerline goodness [0,1] 0.9999125128496752 Centerline is valid? [True, True] Translation: X:163.49, Y:176.31, Z:6.72 [[ 1.01066599e-01 9.94879600e-01 -3.52716476e-04 1.63492961e+02] [ 9.94870189e-01 -1.01067178e-01 -4.32821737e-03 1.76307561e+02] [-4.34170322e-03 8.65311043e-05 -9.99990571e-01 6.71594846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.150385723 meters Centerline goodness [0,1] 0.9999564289137728 Centerline is valid? [True, True] Translation: X:163.51, Y:176.30, Z:6.71 [[ 2.42979442e-02 9.99704761e-01 -1.50545672e-05 1.63507382e+02] [ 9.99694531e-01 -2.42977637e-02 -4.52362059e-03 1.76303687e+02] [-4.52265083e-03 9.48647121e-05 -9.99989768e-01 6.71418996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.180385723 meters Centerline goodness [0,1] 0.9998910485487666 Centerline is valid? [True, True] Translation: X:163.52, Y:176.30, Z:6.72 [[-5.29761423e-02 9.98595731e-01 3.08377587e-04 1.63519614e+02] [ 9.98587542e-01 5.29769571e-02 -4.04523914e-03 1.76302483e+02] [-4.05589544e-03 9.36408518e-05 -9.99991770e-01 6.71615526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.210385723 meters Centerline goodness [0,1] 0.9999782234707433 Centerline is valid? [True, True] Translation: X:163.54, Y:176.30, Z:6.71 [[-1.30716135e-01 9.91419643e-01 6.19520448e-04 1.63535231e+02] [ 9.91411666e-01 1.30717569e-01 -3.97810867e-03 1.76302349e+02] [-4.02495729e-03 9.41968095e-05 -9.99991895e-01 6.71417516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.240385723 meters Centerline goodness [0,1] 0.9999782717336984 Centerline is valid? [True, True] Translation: X:163.55, Y:176.30, Z:6.71 [[-2.07982266e-01 9.78132171e-01 9.13335947e-04 1.63547680e+02] [ 9.78124604e-01 2.07984250e-01 -3.84840364e-03 1.76302178e+02] [-3.95420690e-03 9.29566526e-05 -9.99992178e-01 6.71458468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.270385723 meters Centerline goodness [0,1] 0.999891709261024 Centerline is valid? [True, True] Translation: X:163.56, Y:176.31, Z:6.71 [[-2.84478040e-01 9.58681554e-01 1.38688402e-03 1.63562612e+02] [ 9.58671790e-01 2.84481404e-01 -4.32780441e-03 1.76305252e+02] [-4.54352896e-03 9.84012675e-05 -9.99989673e-01 6.71456241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.300385723 meters Centerline goodness [0,1] 0.9997403047091413 Centerline is valid? [True, True] Translation: X:163.57, Y:176.31, Z:6.72 [[-3.58573536e-01 9.33499923e-01 1.70706775e-03 1.63574498e+02] [ 9.33490615e-01 3.58577585e-01 -4.16980703e-03 1.76306945e+02] [-4.50463077e-03 9.83492774e-05 -9.99989849e-01 6.71716542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.330385723 meters Centerline goodness [0,1] 0.9998704019698901 Centerline is valid? [True, True] Translation: X:163.59, Y:176.31, Z:6.72 [[-4.29745526e-01 9.02946554e-01 2.51045106e-03 1.63586419e+02] [ 9.02932714e-01 4.29752843e-01 -5.00084077e-03 1.76309882e+02] [-5.59436542e-03 1.17679439e-04 -9.99984345e-01 6.71779105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.360385723 meters Centerline goodness [0,1] 0.9999568062544544 Centerline is valid? [True, True] Translation: X:163.60, Y:176.31, Z:6.72 [[-4.98407646e-01 8.66936725e-01 3.24560176e-03 1.63595311e+02] [ 8.66920043e-01 4.98418196e-01 -5.37969349e-03 1.76313806e+02] [-6.28152083e-03 1.32396851e-04 -9.99980262e-01 6.71694719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.390385723 meters Centerline goodness [0,1] 0.9999569494371139 Centerline is valid? [True, True] Translation: X:163.61, Y:176.32, Z:6.72 [[-5.63373630e-01 8.26194734e-01 3.52343330e-03 1.63608365e+02] [ 8.26180095e-01 5.63384631e-01 -4.92009499e-03 1.76322273e+02] [-6.05000474e-03 1.39138679e-04 -9.99981689e-01 6.71687896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.420385723 meters Centerline goodness [0,1] 0.9998074825129949 Centerline is valid? [True, True] Translation: X:163.62, Y:176.33, Z:6.72 [[-6.25727202e-01 7.80032884e-01 3.76401377e-03 1.63618312e+02] [ 7.80020098e-01 6.25738508e-01 -4.46836569e-03 1.76329841e+02] [-5.84076054e-03 1.40028427e-04 -9.99982933e-01 6.71784707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.450385723 meters Centerline goodness [0,1] 0.9997640193933153 Centerline is valid? [True, True] Translation: X:163.63, Y:176.34, Z:6.72 [[-6.84298071e-01 7.29190467e-01 4.17292015e-03 1.63629332e+02] [ 7.29178197e-01 6.84310779e-01 -4.23258562e-03 1.76339667e+02] [-5.94193532e-03 1.46452218e-04 -9.99982336e-01 6.71683730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.480385723 meters Centerline goodness [0,1] 0.999892779791135 Centerline is valid? [True, True] Translation: X:163.64, Y:176.35, Z:6.71 [[-7.39308603e-01 6.73351142e-01 4.58575658e-03 1.63641391e+02] [ 6.73339422e-01 7.39322810e-01 -3.97557150e-03 1.76353953e+02] [-6.06731005e-03 1.48596483e-04 -9.99981583e-01 6.71483681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.510385723 meters Centerline goodness [0,1] 0.999957193613287 Centerline is valid? [True, True] Translation: X:163.66, Y:176.38, Z:6.71 [[-7.85078403e-01 6.19375686e-01 5.06558029e-03 1.63660340e+02] [ 6.19364016e-01 7.85094731e-01 -3.80520153e-03 1.76380706e+02] [-6.33380971e-03 1.50056611e-04 -9.99979930e-01 6.71369225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.68, Y:176.41, Z:6.71 [[-8.26967496e-01 5.62226087e-01 5.15638834e-03 1.63676242e+02] [ 5.62216252e-01 8.26983559e-01 -3.32867140e-03 1.76406227e+02] [-6.13571428e-03 1.46302275e-04 -9.99981166e-01 6.71398972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.69, Y:176.44, Z:6.71 [[-8.65151622e-01 5.01489540e-01 4.57298080e-03 1.63688947e+02] [ 5.01483291e-01 8.65163699e-01 -2.50653534e-03 1.76440398e+02] [-5.21337823e-03 1.24740349e-04 -9.99986402e-01 6.71274280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.70, Y:176.47, Z:6.71 [[-8.98843379e-01 4.38250334e-01 4.15033535e-03 1.63700490e+02] [ 4.38246225e-01 8.98852954e-01 -1.90091477e-03 1.76470377e+02] [-4.56361773e-03 1.10244144e-04 -9.99989581e-01 6.71248572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.71, Y:176.50, Z:6.71 [[-9.28213027e-01 3.72021978e-01 4.49723276e-03 1.63709914e+02] [ 3.72018167e-01 9.28223915e-01 -1.68740143e-03 1.76501956e+02] [-4.80218942e-03 1.06784301e-04 -9.99988464e-01 6.71219472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.660385723 meters Centerline goodness [0,1] 0.9999786939384255 Centerline is valid? [True, True] Translation: X:163.71, Y:176.53, Z:6.71 [[-9.52417141e-01 3.04756977e-01 4.97733007e-03 1.63710263e+02] [ 3.04753416e-01 9.52430141e-01 -1.47734321e-03 1.76534888e+02] [-5.19078983e-03 1.09811341e-04 -9.99986522e-01 6.71240030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.89, Y:177.11, Z:5.74 [[-9.39770101e-01 -3.41757445e-01 5.83150552e-03 1.63886320e+02] [ 3.41750479e-01 -9.39788192e-01 -2.18285581e-03 1.77107513e+02] [ 6.22638725e-03 -5.84628174e-05 9.99980614e-01 5.73954768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.67, Y:176.55, Z:6.71 [[-9.54136125e-01 2.99335500e-01 4.74476385e-03 1.63665217e+02] [ 2.99332301e-01 9.54147918e-01 -1.38724219e-03 1.76553576e+02] [-4.94245738e-03 9.66431898e-05 -9.99987781e-01 6.71242998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.83, Y:177.12, Z:5.74 [[-9.40344657e-01 -3.40180788e-01 5.38124770e-03 1.63834516e+02] [ 3.40174881e-01 -9.40360053e-01 -2.00547920e-03 1.77115354e+02] [ 5.74253586e-03 -5.52763550e-05 9.99983510e-01 5.73910782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.780385723 meters Centerline goodness [0,1] 0.9999789260726629 Centerline is valid? [True, True] Translation: X:163.62, Y:176.57, Z:6.71 [[-9.55473776e-01 2.95035527e-01 4.88899838e-03 1.63622819e+02] [ 2.95032170e-01 9.55486279e-01 -1.41050824e-03 1.76570446e+02] [-5.08752091e-03 9.47081655e-05 -9.99987054e-01 6.71347438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.78, Y:177.13, Z:5.74 [[-9.41618378e-01 -3.36620493e-01 6.43998968e-03 1.63782587e+02] [ 3.36612590e-01 -9.41640400e-01 -2.30666298e-03 1.77128139e+02] [ 6.84062449e-03 -4.21464632e-06 9.99976603e-01 5.73754947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.840385723 meters Centerline goodness [0,1] 0.9999789557861066 Centerline is valid? [True, True] Translation: X:163.58, Y:176.59, Z:6.71 [[-9.56375291e-01 2.92076822e-01 6.11820281e-03 1.63575861e+02] [ 2.92071604e-01 9.56394854e-01 -1.74959350e-03 1.76586487e+02] [-6.36243339e-03 1.13685314e-04 -9.99979753e-01 6.71417072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.87038572299997 meters Centerline goodness [0,1] 0.9999580052493439 Centerline is valid? [True, True] Translation: X:163.73, Y:177.14, Z:5.74 [[-9.43188808e-01 -3.32183115e-01 7.01789799e-03 1.63733267e+02] [ 3.32173463e-01 -9.43214915e-01 -2.53292377e-03 1.77137632e+02] [ 7.46078056e-03 -5.78658719e-05 9.99972166e-01 5.73769557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.53, Y:176.60, Z:6.71 [[-9.57338727e-01 2.88895183e-01 6.49108131e-03 1.63525238e+02] [ 2.88889398e-01 9.57360725e-01 -1.83223820e-03 1.76603098e+02] [-6.74363110e-03 1.21131991e-04 -9.99977254e-01 6.71479979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.930385723 meters Centerline goodness [0,1] 0.9999789442654707 Centerline is valid? [True, True] Translation: X:163.53, Y:176.63, Z:6.71 [[-9.75509587e-01 2.19870508e-01 6.16489665e-03 1.63528259e+02] [ 2.19866848e-01 9.75529060e-01 -1.27377645e-03 1.76633612e+02] [-6.29410171e-03 1.12875253e-04 -9.99980186e-01 6.71443868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.64, Y:177.19, Z:5.74 [[-9.65232653e-01 -2.61301612e-01 6.88427021e-03 1.63643145e+02] [ 2.61294461e-01 -9.65257200e-01 -1.93442576e-03 1.77187534e+02] [ 7.15055996e-03 -6.83492318e-05 9.99974432e-01 5.73776443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.47, Y:176.65, Z:6.71 [[-9.76586620e-01 2.15054457e-01 5.49126011e-03 1.63474406e+02] [ 2.15051621e-01 9.76602053e-01 -1.10891713e-03 1.76647882e+02] [-5.60125347e-03 9.79507575e-05 -9.99984308e-01 6.71361343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.48, Y:176.68, Z:6.71 [[-9.89459305e-01 1.44722567e-01 5.06574746e-03 1.63475581e+02] [ 1.44721135e-01 9.89472269e-01 -6.50086379e-04 1.76678641e+02] [-5.10649880e-03 8.98867043e-05 -9.99986958e-01 6.71305317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.050385723 meters Centerline goodness [0,1] 0.9999580105393546 Centerline is valid? [True, True] Translation: X:163.47, Y:176.71, Z:6.71 [[-9.97352202e-01 7.25767010e-02 4.60524149e-03 1.63469281e+02] [ 7.25762865e-02 9.97362831e-01 -2.57275728e-04 1.76709632e+02] [-4.61176891e-03 7.76368116e-05 -9.99989363e-01 6.71289503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.46, Y:176.74, Z:6.71 [[-9.99989943e-01 5.92373499e-04 4.44559912e-03 1.63458545e+02] [ 5.92687466e-04 9.99999822e-01 6.93078003e-05 1.76739464e+02] [-4.44555727e-03 7.19419541e-05 -9.99990116e-01 6.71326185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.45, Y:177.29, Z:5.74 [[-9.98580999e-01 -5.29872958e-02 5.32312926e-03 1.63449096e+02] [ 5.29864403e-02 -9.98595186e-01 -3.01698345e-04 1.77292332e+02] [ 5.33163744e-03 -1.92165635e-05 9.99985787e-01 5.73917534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.39, Y:176.74, Z:6.71 [[-9.99961075e-01 -7.65029678e-03 4.39552681e-03 1.63388309e+02] [-7.64997763e-03 9.99970735e-01 8.94183816e-05 1.76741124e+02] [-4.39608225e-03 5.57892192e-05 -9.99990336e-01 6.71340209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.37, Y:177.29, Z:5.74 [[-9.98607473e-01 -5.24632303e-02 5.54294327e-03 1.63372649e+02] [ 5.24625192e-02 -9.98622856e-01 -2.73716615e-04 1.77289663e+02] [ 5.54966990e-03 1.74613099e-05 9.99984600e-01 5.73874678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.31, Y:176.74, Z:6.71 [[-9.99865196e-01 -1.55046852e-02 5.40326833e-03 1.63313109e+02] [-1.55042264e-02 9.99879794e-01 1.26781311e-04 1.76741465e+02] [-5.40458453e-03 4.29907248e-05 -9.99985394e-01 6.71418257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.230385723 meters Centerline goodness [0,1] 0.9999577479666208 Centerline is valid? [True, True] Translation: X:163.30, Y:177.29, Z:5.74 [[-9.98740239e-01 -4.96173364e-02 7.48693449e-03 1.63301761e+02] [ 4.96166461e-02 -9.98768297e-01 -2.78026329e-04 1.77289271e+02] [ 7.49150773e-03 9.38004968e-05 9.99971934e-01 5.73806733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.24, Y:176.74, Z:6.71 [[-9.99747581e-01 -2.12950013e-02 7.16219674e-03 1.63242332e+02] [-2.12941941e-02 9.99773235e-01 1.88953561e-04 1.76738529e+02] [-7.16459637e-03 3.63926582e-05 -9.99974333e-01 6.71493083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.23, Y:176.77, Z:6.72 [[-9.95690019e-01 -9.24259590e-02 7.66992904e-03 1.63231656e+02] [-9.24229384e-02 9.95719559e-01 7.48105315e-04 1.76766300e+02] [-7.70624271e-03 3.60036168e-05 -9.99970306e-01 6.71521074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.320385723 meters Centerline goodness [0,1] 0.9999787252148753 Centerline is valid? [True, True] Translation: X:163.22, Y:176.79, Z:6.72 [[-9.86527582e-01 -1.63376137e-01 8.45980202e-03 1.63215302e+02] [-1.63369827e-01 9.86563853e-01 1.43638441e-03 1.76792064e+02] [-8.58080581e-03 3.49564462e-05 -9.99963184e-01 6.71629026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.350385723 meters Centerline goodness [0,1] 0.9999574766653201 Centerline is valid? [True, True] Translation: X:163.19, Y:176.81, Z:6.72 [[-9.72394103e-01 -2.33199984e-01 8.21434924e-03 1.63190981e+02] [-2.33191329e-01 9.72428798e-01 2.00945399e-03 1.76814850e+02] [-8.45647439e-03 3.84661978e-05 -9.99964243e-01 6.71614696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.16, Y:176.83, Z:6.71 [[-9.53125550e-01 -3.02493599e-01 7.02194006e-03 1.63156261e+02] [-3.02485092e-01 9.53151416e-01 2.26901178e-03 1.76834727e+02] [-7.37933365e-03 3.86209223e-05 -9.99972772e-01 6.71493239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.11, Y:176.85, Z:6.71 [[-9.28927192e-01 -3.70204046e-01 6.57537114e-03 1.63105004e+02] [-3.70194443e-01 9.28950463e-01 2.66684819e-03 1.76846268e+02] [-7.09547205e-03 4.31419429e-05 -9.99974826e-01 6.71443248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.04, Y:176.85, Z:6.71 [[-9.00312803e-01 -4.35198894e-01 6.22728441e-03 1.63041987e+02] [-4.35188009e-01 9.00334338e-01 3.07853367e-03 1.76845907e+02] [-6.94641243e-03 6.16037738e-05 -9.99975872e-01 6.71447925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.470385723 meters Centerline goodness [0,1] 0.9999145828439642 Centerline is valid? [True, True] Translation: X:162.97, Y:176.84, Z:6.71 [[-8.66582255e-01 -4.98996960e-01 6.10157982e-03 1.62969517e+02] [-4.98983985e-01 8.66603732e-01 3.59924749e-03 1.76837783e+02] [-7.08366540e-03 7.44533926e-05 -9.99974908e-01 6.71471479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.500385723 meters Centerline goodness [0,1] 0.9999355891446239 Centerline is valid? [True, True] Translation: X:162.89, Y:176.82, Z:6.72 [[-8.28867740e-01 -5.59409671e-01 6.25222872e-03 1.62890778e+02] [-5.59392836e-01 8.28891314e-01 4.34111970e-03 1.76816900e+02] [-7.61088242e-03 1.00762118e-04 -9.99971032e-01 6.71511355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.530385723 meters Centerline goodness [0,1] 0.9999571266265086 Centerline is valid? [True, True] Translation: X:162.81, Y:176.79, Z:6.72 [[-7.85478386e-01 -6.18860238e-01 5.97586043e-03 1.62809759e+02] [-6.18841256e-01 7.85501110e-01 4.84826204e-03 1.76790746e+02] [-7.69444160e-03 1.10096065e-04 -9.99970391e-01 6.71512321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.560385723 meters Centerline goodness [0,1] 0.999957033599725 Centerline is valid? [True, True] Translation: X:162.72, Y:176.75, Z:6.71 [[-7.37754325e-01 -6.75052461e-01 4.76775684e-03 1.62723615e+02] [-6.75037424e-01 7.37769723e-01 4.50690031e-03 1.76752582e+02] [-6.55990079e-03 1.06570896e-04 -9.99978478e-01 6.71419418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.590385723 meters Centerline goodness [0,1] 0.9999141630901287 Centerline is valid? [True, True] Translation: X:162.64, Y:176.70, Z:6.72 [[-6.84584205e-01 -7.28924219e-01 3.73488999e-03 1.62640199e+02] [-7.28912622e-01 6.84594387e-01 4.11291166e-03 1.76704284e+02] [-5.55488564e-03 9.32259069e-05 -9.99984567e-01 6.71651222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.62038572299997 meters Centerline goodness [0,1] 0.9999785412330208 Centerline is valid? [True, True] Translation: X:162.55, Y:176.65, Z:6.72 [[-6.27224690e-01 -7.78831774e-01 3.20260054e-03 1.62551706e+02] [-7.78820909e-01 6.27232860e-01 4.11467218e-03 1.76649440e+02] [-5.21341372e-03 8.65717178e-05 -9.99986406e-01 6.71543607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.650385723 meters Centerline goodness [0,1] 0.9998075812969021 Centerline is valid? [True, True] Translation: X:162.47, Y:176.58, Z:6.72 [[-5.65770492e-01 -8.24554350e-01 3.72487637e-03 1.62467147e+02] [-8.24535356e-01 5.65782746e-01 5.59739717e-03 1.76582104e+02] [-6.72282896e-03 9.55498818e-05 -9.99977397e-01 6.71758378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.680385723 meters Centerline goodness [0,1] 0.9998710370768404 Centerline is valid? [True, True] Translation: X:162.39, Y:176.50, Z:6.72 [[-4.99625517e-01 -8.66234801e-01 3.40776515e-03 1.62385067e+02] [-8.66213527e-01 4.99637132e-01 6.07143266e-03 1.76503800e+02] [-6.96193227e-03 8.15904120e-05 -9.99975762e-01 6.71845435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.31, Y:176.42, Z:6.72 [[-4.31084172e-01 -9.02307154e-01 2.86991843e-03 1.62309108e+02] [-9.02286054e-01 4.31093719e-01 6.17103985e-03 1.76420573e+02] [-6.80537721e-03 7.07502249e-05 -9.99976841e-01 6.71812788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.24, Y:176.33, Z:6.72 [[-3.59560395e-01 -9.33118332e-01 2.54976479e-03 1.62237528e+02] [-9.33093664e-01 3.59569430e-01 6.78523950e-03 1.76328018e+02] [-7.24824884e-03 6.05340193e-05 -9.99973729e-01 6.71945246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.770385723 meters Centerline goodness [0,1] 0.9998927038626609 Centerline is valid? [True, True] Translation: X:162.17, Y:176.23, Z:6.72 [[-2.87055493e-01 -9.57911322e-01 2.24574846e-03 1.62173688e+02] [-9.57880339e-01 2.87064271e-01 7.70459955e-03 1.76228969e+02] [-8.02499729e-03 6.04893264e-05 -9.99967797e-01 6.72130660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.12, Y:176.13, Z:6.72 [[-2.12174100e-01 -9.77230904e-01 1.38227053e-03 1.62116699e+02] [-9.77208624e-01 2.12178597e-01 6.59917103e-03 1.76125397e+02] [-6.74220210e-03 4.94064946e-05 -9.99977270e-01 6.71943367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.830385723 meters Centerline goodness [0,1] 0.9999785633132543 Centerline is valid? [True, True] Translation: X:162.07, Y:176.01, Z:6.72 [[-1.34947736e-01 -9.90852534e-01 6.03174703e-04 1.62067283e+02] [-9.90841450e-01 1.34949080e-01 4.68697754e-03 1.76012999e+02] [-4.72550144e-03 3.48465115e-05 -9.99988834e-01 6.71842183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.860385723 meters Centerline goodness [0,1] 0.9999785633132543 Centerline is valid? [True, True] Translation: X:162.03, Y:175.90, Z:6.72 [[-5.88661876e-02 -9.98265853e-01 2.43522611e-04 1.62027041e+02] [-9.98254692e-01 5.88666811e-02 4.72063756e-03 1.75899690e+02] [-4.72678664e-03 3.47883471e-05 -9.99988828e-01 6.71848414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.890385723 meters Centerline goodness [0,1] 0.9999785370879121 Centerline is valid? [True, True] Translation: X:162.00, Y:175.78, Z:6.72 [[ 1.96557881e-02 -9.99806800e-01 -1.09753011e-04 1.61996506e+02] [-9.99797672e-01 -1.96560777e-02 4.27240865e-03 1.75783777e+02] [-4.27374054e-03 2.57532458e-05 -9.99990867e-01 6.71799002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.920385723 meters Centerline goodness [0,1] 0.999978653460274 Centerline is valid? [True, True] Translation: X:161.97, Y:175.66, Z:6.72 [[ 9.72205680e-02 -9.95262759e-01 -4.48411619e-04 1.61974094e+02] [-9.95253102e-01 -9.72216001e-02 4.38452848e-03 1.75664404e+02] [-4.40735321e-03 2.00167059e-05 -9.99990287e-01 6.71885482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.950385723 meters Centerline goodness [0,1] 0.9999358302496203 Centerline is valid? [True, True] Translation: X:161.96, Y:175.54, Z:6.72 [[ 1.74144297e-01 -9.84719859e-01 -7.50845276e-04 1.61960482e+02] [-9.84711081e-01 -1.74145915e-01 4.15792253e-03 1.75544710e+02] [-4.22514552e-03 1.52871690e-05 -9.99991074e-01 6.71901396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.980385723 meters Centerline goodness [0,1] 0.9997861465751374 Centerline is valid? [True, True] Translation: X:161.96, Y:175.42, Z:6.72 [[ 2.51153996e-01 -9.67946060e-01 -1.44773136e-03 1.61955990e+02] [-9.67929849e-01 -2.51158169e-01 5.60198162e-03 1.75424810e+02] [-5.78602559e-03 -5.65768086e-06 -9.99983261e-01 6.72225067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.010385723 meters Centerline goodness [0,1] 0.9997859680664355 Centerline is valid? [True, True] Translation: X:161.96, Y:175.30, Z:6.72 [[ 3.25588255e-01 -9.45510207e-01 -1.65458120e-03 1.61961703e+02] [-9.45497874e-01 -3.25592459e-01 4.82916335e-03 1.75302376e+02] [-5.10474240e-03 -7.91585779e-06 -9.99986971e-01 6.72198834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.040385723 meters Centerline goodness [0,1] 0.9998928647953718 Centerline is valid? [True, True] Translation: X:161.98, Y:175.18, Z:6.72 [[ 3.99014425e-01 -9.16942986e-01 -1.74618385e-03 1.61976204e+02] [-9.16934061e-01 -3.99018246e-01 4.04565485e-03 1.75184084e+02] [-4.40639405e-03 -1.31391908e-05 -9.99990292e-01 6.72042140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.070385723 meters Centerline goodness [0,1] 0.9998926900459286 Centerline is valid? [True, True] Translation: X:162.00, Y:175.07, Z:6.72 [[ 4.68605262e-01 -8.83405007e-01 -2.16850463e-03 1.61997751e+02] [-8.83395345e-01 -4.68610279e-01 4.13162528e-03 1.75067729e+02] [-4.66608202e-03 -2.04544508e-05 -9.99989114e-01 6.72128241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.100385723 meters Centerline goodness [0,1] 0.9998499206723553 Centerline is valid? [True, True] Translation: X:162.03, Y:174.96, Z:6.72 [[ 5.35729913e-01 -8.44384013e-01 -3.01657055e-03 1.62030112e+02] [-8.44370204e-01 -5.35738404e-01 4.82926346e-03 1.74956068e+02] [-5.69384555e-03 -4.00786037e-05 -9.99983789e-01 6.72224447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.07, Y:174.85, Z:6.72 [[ 5.98515501e-01 -8.01105574e-01 -3.00905409e-03 1.62069525e+02] [-8.01095172e-01 -5.98523064e-01 4.08254294e-03 1.74850430e+02] [-5.07153618e-03 -3.29265313e-05 -9.99987139e-01 6.72076330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.160385723 meters Centerline goodness [0,1] 0.9997848860971884 Centerline is valid? [True, True] Translation: X:162.12, Y:174.75, Z:6.72 [[ 6.57507078e-01 -7.53435370e-01 -4.42550534e-03 1.62115261e+02] [-7.53417748e-01 -6.57521969e-01 5.15334280e-03 1.74748011e+02] [-6.79257773e-03 -5.41050955e-05 -9.99976929e-01 6.72373926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.190385723 meters Centerline goodness [0,1] 0.9999784890724488 Centerline is valid? [True, True] Translation: X:162.17, Y:174.65, Z:6.72 [[ 7.12263360e-01 -7.01899419e-01 -4.25585782e-03 1.62168892e+02] [-7.01886553e-01 -7.12276073e-01 4.24997935e-03 1.74652161e+02] [-6.01440373e-03 -3.99752001e-05 -9.99981913e-01 6.72275754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.23, Y:174.56, Z:6.72 [[ 7.61832175e-01 -6.47755527e-01 -4.95127945e-03 1.62228399e+02] [-6.47741579e-01 -7.61848263e-01 4.25091753e-03 1.74563713e+02] [-6.52567898e-03 -3.13361707e-05 -9.99978707e-01 6.72353262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.250385723 meters Centerline goodness [0,1] 0.9997843247207006 Centerline is valid? [True, True] Translation: X:162.23, Y:174.56, Z:6.72 [[ 8.09410337e-01 -5.87213139e-01 -5.96953865e-03 1.62231327e+02] [-5.87196900e-01 -8.09432349e-01 4.36718491e-03 1.74557973e+02] [-7.39640605e-03 -2.95500213e-05 -9.99972646e-01 6.72430858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.23, Y:174.55, Z:6.72 [[ 8.52524748e-01 -5.22662813e-01 -5.01376525e-03 1.62233700e+02] [-5.22653682e-01 -8.52539491e-01 3.08940965e-03 1.74551464e+02] [-5.88915241e-03 -1.33353129e-05 -9.99982659e-01 6.72207213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.24, Y:174.55, Z:6.72 [[ 8.90166005e-01 -4.55621162e-01 -3.72025947e-03 1.62237211e+02] [-4.55617209e-01 -8.90173779e-01 1.89776883e-03 1.74548482e+02] [-4.17634107e-03 5.68494136e-06 -9.99991279e-01 6.72094965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.24, Y:174.54, Z:6.72 [[ 9.22947446e-01 -3.84907405e-01 -3.78184061e-03 1.62239593e+02] [-3.84904205e-01 -9.22955194e-01 1.56944389e-03 1.74542168e+02] [-4.09456000e-03 7.13212471e-06 -9.99991617e-01 6.72050817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.37038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.24, Y:174.54, Z:6.72 [[ 9.50025044e-01 -3.12157885e-01 -3.14167893e-03 1.62242851e+02] [-3.12156227e-01 -9.50030239e-01 1.01757904e-03 1.74538511e+02] [-3.30233531e-03 1.39690691e-05 -9.99994547e-01 6.72054458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.400385723 meters Centerline goodness [0,1] 0.9999782807002302 Centerline is valid? [True, True] Translation: X:162.25, Y:174.54, Z:6.72 [[ 9.71413176e-01 -2.37371130e-01 -3.37457431e-03 1.62247058e+02] [-2.37369750e-01 -9.71419038e-01 8.09646852e-04 1.74536009e+02] [-3.47031252e-03 1.45202399e-05 -9.99993978e-01 6.72097817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.430385723 meters Centerline goodness [0,1] 0.9999782357934142 Centerline is valid? [True, True] Translation: X:162.25, Y:174.54, Z:6.72 [[ 9.86920517e-01 -1.61119659e-01 -5.32437142e-03 1.62250777e+02] [-1.61117350e-01 -9.86934879e-01 8.62528760e-04 1.74536708e+02] [-5.39377821e-03 6.60128539e-06 -9.99985453e-01 6.72292355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.460385723 meters Centerline goodness [0,1] 0.9997829060200161 Centerline is valid? [True, True] Translation: X:162.25, Y:174.53, Z:6.72 [[ 9.96455503e-01 -8.38967249e-02 -6.14571026e-03 1.62250261e+02] [-8.38951675e-02 -9.96474455e-01 5.11237548e-04 1.74530385e+02] [-6.16693443e-03 6.16992294e-06 -9.99980984e-01 6.72461761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.25, Y:174.52, Z:6.72 [[ 9.99967308e-01 -6.08519969e-03 -5.32476938e-03 1.62249466e+02] [-6.08517840e-03 -9.99981485e-01 2.01992325e-05 1.74520263e+02] [-5.32479370e-03 1.22035994e-05 -9.99985823e-01 6.72216381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.25, Y:174.51, Z:6.72 [[ 9.97510892e-01 7.03929284e-02 -4.10554372e-03 1.62249082e+02] [ 7.03922319e-02 -9.97519341e-01 -3.14073396e-04 1.74513786e+02] [-4.11746781e-03 2.42932482e-05 -9.99991523e-01 6.72090894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.550385723 meters Centerline goodness [0,1] 0.9999346462181945 Centerline is valid? [True, True] Translation: X:162.25, Y:174.51, Z:6.72 [[ 9.89246192e-01 1.46215172e-01 -3.61863729e-03 1.62250051e+02] [ 1.46214073e-01 -9.89252810e-01 -5.67812263e-04 1.74505518e+02] [-3.66276988e-03 3.26104229e-05 -9.99993292e-01 6.72080964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.580385723 meters Centerline goodness [0,1] 0.9999781788028891 Centerline is valid? [True, True] Translation: X:162.25, Y:174.50, Z:6.72 [[ 9.74976953e-01 2.22272839e-01 -3.83747263e-03 1.62249734e+02] [ 2.22270970e-01 -9.74984504e-01 -9.12152639e-04 1.74495176e+02] [-3.94422311e-03 3.63690346e-05 -9.99992221e-01 6.72125848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.610385723 meters Centerline goodness [0,1] 0.9999781740402034 Centerline is valid? [True, True] Translation: X:162.25, Y:174.49, Z:6.72 [[ 9.55015930e-01 2.96515740e-01 -4.79477210e-03 1.62250695e+02] [ 2.96511766e-01 -9.55027965e-01 -1.53576051e-03 1.74488233e+02] [-5.03451861e-03 4.49694126e-05 -9.99987326e-01 6.72156611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.25, Y:174.48, Z:6.72 [[ 9.29015506e-01 3.70007070e-01 -4.99578064e-03 1.62251148e+02] [ 3.70001442e-01 -9.29028937e-01 -2.04129357e-03 1.74479605e+02] [-5.39651783e-03 4.79473349e-05 -9.99985438e-01 6.72346691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.25, Y:174.47, Z:6.72 [[ 8.97367287e-01 4.41257933e-01 -4.83618725e-03 1.62253838e+02] [ 4.41251225e-01 -8.97380317e-01 -2.43365826e-03 1.74469183e+02] [-5.41377026e-03 4.99117615e-05 -9.99985344e-01 6.72216170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.700385723 meters Centerline goodness [0,1] 0.999934207640686 Centerline is valid? [True, True] Translation: X:162.26, Y:174.46, Z:6.72 [[ 8.60315484e-01 5.09738650e-01 -4.87619740e-03 1.62256014e+02] [ 5.09730107e-01 -8.60329301e-01 -2.95155063e-03 1.74460317e+02] [-5.69965493e-03 5.37200854e-05 -9.99983755e-01 6.72215492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.26, Y:174.45, Z:6.72 [[ 8.17975294e-01 5.75234857e-01 -4.61278251e-03 1.62257215e+02] [ 5.75225327e-01 -8.17988299e-01 -3.31164913e-03 1.74452711e+02] [-5.67817813e-03 5.54578416e-05 -9.99983877e-01 6.72244050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.760385723 meters Centerline goodness [0,1] 0.9998237652553201 Centerline is valid? [True, True] Translation: X:162.26, Y:174.44, Z:6.72 [[ 7.70799181e-01 6.37061270e-01 -4.64335078e-03 1.62261872e+02] [ 6.37049236e-01 -7.70813164e-01 -3.91615601e-03 1.74442857e+02] [-6.07398723e-03 6.05267770e-05 -9.99981551e-01 6.72412568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.790385723 meters Centerline goodness [0,1] 0.9999779029941442 Centerline is valid? [True, True] Translation: X:162.27, Y:174.43, Z:6.72 [[ 7.18272908e-01 6.95749553e-01 -4.07289788e-03 1.62267117e+02] [ 6.95737920e-01 -7.18284453e-01 -4.02380934e-03 1.74433422e+02] [-5.72506278e-03 5.65237389e-05 -9.99983610e-01 6.72253368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.27, Y:174.43, Z:6.72 [[ 6.61508776e-01 7.49926439e-01 -4.05909043e-03 1.62269777e+02] [ 7.49911780e-01 -6.61521227e-01 -4.68919420e-03 1.74425584e+02] [-6.20172518e-03 5.79833858e-05 -9.99980767e-01 6.72263325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.27, Y:174.42, Z:6.72 [[ 6.00577425e-01 7.99557535e-01 -3.80854161e-03 1.62274559e+02] [ 7.99540848e-01 -6.00589498e-01 -5.16588528e-03 1.74416623e+02] [-6.41779260e-03 5.74294945e-05 -9.99979404e-01 6.72255976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.28, Y:174.41, Z:6.72 [[ 5.35668351e-01 8.44420439e-01 -3.67976129e-03 1.62279433e+02] [ 8.44399796e-01 -5.35680987e-01 -5.90460531e-03 1.74409122e+02] [-6.95714756e-03 5.57205051e-05 -9.99975797e-01 6.72234143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.910385723 meters Centerline goodness [0,1] 0.9998889456500011 Centerline is valid? [True, True] Translation: X:162.28, Y:174.40, Z:6.72 [[ 4.67931604e-01 8.83758786e-01 -3.22848964e-03 1.62284229e+02] [ 8.83736921e-01 -4.67942738e-01 -6.21678106e-03 1.74400718e+02] [-7.00488316e-03 5.58928416e-05 -9.99975464e-01 6.72413787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.940385723 meters Centerline goodness [0,1] 0.9998884998773498 Centerline is valid? [True, True] Translation: X:162.29, Y:174.39, Z:6.72 [[ 3.96915847e-01 9.17850854e-01 -2.76062198e-03 1.62289672e+02] [ 9.17827712e-01 -3.96925444e-01 -6.51792589e-03 1.74393360e+02] [-7.07824495e-03 5.32927177e-05 -9.99974948e-01 6.72295891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.30, Y:174.38, Z:6.72 [[ 3.23210240e-01 9.46324459e-01 -2.27137988e-03 1.62297812e+02] [ 9.46300015e-01 -3.23218218e-01 -6.80186326e-03 1.74384435e+02] [-7.17092093e-03 4.90250419e-05 -9.99974287e-01 6.72134183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.30, Y:174.38, Z:6.72 [[ 2.47468459e-01 9.68894216e-01 -1.83294417e-03 1.62304871e+02] [ 9.68866278e-01 -2.47475243e-01 -7.35791206e-03 1.74377124e+02] [-7.58264674e-03 4.49733590e-05 -9.99971250e-01 6.72144254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.030385723 meters Centerline goodness [0,1] 0.9999776206248322 Centerline is valid? [True, True] Translation: X:162.31, Y:174.37, Z:6.72 [[ 1.70075035e-01 9.85430082e-01 -1.42679612e-03 1.62310852e+02] [ 9.85393389e-01 -1.70081015e-01 -8.50398979e-03 1.74369761e+02] [-8.62275829e-03 4.03608958e-05 -9.99962823e-01 6.72212396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.32, Y:174.36, Z:6.72 [[ 9.20105254e-02 9.95757730e-01 -7.79357155e-04 1.62318602e+02] [ 9.95718467e-01 -9.20138184e-02 -8.84265868e-03 1.74363240e+02] [-8.87685736e-03 3.75973603e-05 -9.99960599e-01 6.72222607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.32, Y:174.36, Z:6.72 [[ 1.40322063e-02 9.99901539e-01 -9.51165929e-05 1.62324134e+02] [ 9.99854360e-01 -1.40324682e-02 -9.71333901e-03 1.74355693e+02] [-9.71371735e-03 4.11968364e-05 -9.99952820e-01 6.72359641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.33, Y:174.35, Z:6.72 [[-6.42327645e-02 9.97934722e-01 6.64940515e-04 1.62331980e+02] [ 9.97887817e-01 6.42361924e-02 -9.67555227e-03 1.74349428e+02] [-9.69828281e-03 4.20485687e-05 -9.99952970e-01 6.72321895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.34, Y:174.34, Z:6.72 [[-1.42657422e-01 9.89771148e-01 1.39052300e-03 1.62342042e+02] [ 9.89726677e-01 1.42664194e-01 -9.38258378e-03 1.74343478e+02] [-9.48498857e-03 3.77424873e-05 -9.99955016e-01 6.72134545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.35, Y:174.34, Z:6.72 [[-2.20165505e-01 9.75460413e-01 2.03300849e-03 1.62354002e+02] [ 9.75420238e-01 2.20174889e-01 -8.85312037e-03 1.74339081e+02] [-9.08348587e-03 3.38859009e-05 -9.99958744e-01 6.72071989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.36, Y:174.33, Z:6.72 [[-2.95855582e-01 9.55229190e-01 2.58256206e-03 1.62364141e+02] [ 9.55193784e-01 2.95866851e-01 -8.22440544e-03 1.74334419e+02] [-8.62028665e-03 3.36109733e-05 -9.99962844e-01 6.72060321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.37, Y:174.33, Z:6.72 [[-3.69017947e-01 9.29417631e-01 2.93624799e-03 1.62373228e+02] [ 9.29389064e-01 3.69029626e-01 -7.28717306e-03 1.74329718e+02] [-7.85638962e-03 3.98191274e-05 -9.99969137e-01 6.72015571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.38, Y:174.33, Z:6.72 [[-4.40249114e-01 8.97869058e-01 3.44555912e-03 1.62384377e+02] [ 8.97842329e-01 4.40262595e-01 -6.92816970e-03 1.74327747e+02] [-7.73754001e-03 4.34482525e-05 -9.99970064e-01 6.71950738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.39, Y:174.32, Z:6.72 [[-5.09172427e-01 8.60655103e-01 4.02915879e-03 1.62394660e+02] [ 8.60628841e-01 5.09188366e-01 -6.72357484e-03 1.74324708e+02] [-7.83827978e-03 4.41513353e-05 -9.99969279e-01 6.72006092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.330385723 meters Centerline goodness [0,1] 0.9999775149525566 Centerline is valid? [True, True] Translation: X:162.41, Y:174.32, Z:6.72 [[-5.75028797e-01 8.18118443e-01 4.90865685e-03 1.62405998e+02] [ 8.18089309e-01 5.75049746e-01 -6.90445859e-03 1.74324050e+02] [-8.47138679e-03 4.54571702e-05 -9.99964116e-01 6.72018351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.42, Y:174.32, Z:6.72 [[-6.37618926e-01 7.70329768e-01 5.84414471e-03 1.62417935e+02] [ 7.70298036e-01 6.37645706e-01 -6.99210447e-03 1.74324112e+02] [-9.11271999e-03 4.34350485e-05 -9.99958477e-01 6.72031959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.43, Y:174.32, Z:6.72 [[-6.96387352e-01 7.17631619e-01 7.03667195e-03 1.62428959e+02] [ 7.17595554e-01 6.96422901e-01 -7.19471502e-03 1.74324580e+02] [-1.00636545e-02 3.91759615e-05 -9.99949359e-01 6.72115366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.420385723 meters Centerline goodness [0,1] 0.9998879953406061 Centerline is valid? [True, True] Translation: X:162.44, Y:174.33, Z:6.72 [[-7.49886680e-01 6.61520297e-01 7.80156533e-03 1.62441385e+02] [ 6.61485162e-01 7.49927259e-01 -6.81804671e-03 1.74329128e+02] [-1.03608828e-02 4.78573003e-05 -9.99946323e-01 6.72160060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.48, Y:174.34, Z:6.72 [[-7.94965756e-01 6.06600746e-01 8.06112127e-03 1.62476317e+02] [ 6.06570095e-01 7.95006625e-01 -6.09809600e-03 1.74338569e+02] [-1.01077544e-02 4.18575918e-05 -9.99948914e-01 6.71945086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.49, Y:174.36, Z:6.72 [[-8.35639988e-01 5.49216948e-01 8.15811432e-03 1.62490663e+02] [ 5.49191311e-01 8.35679809e-01 -5.30673084e-03 1.74364139e+02] [-9.73211793e-03 4.58490048e-05 -9.99952641e-01 6.71876270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.94, Y:175.03, Z:5.74 [[-8.00039880e-01 -5.99894168e-01 7.94851655e-03 1.62944888e+02] [ 5.99864165e-01 -8.00079363e-01 -5.99975094e-03 1.75025326e+02] [ 9.95865965e-03 -3.20097812e-05 9.99950411e-01 5.73884771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.46, Y:174.38, Z:6.72 [[-8.35319713e-01 5.49722369e-01 6.80395544e-03 1.62458855e+02] [ 5.49704882e-01 8.35347419e-01 -4.38541574e-03 1.74381614e+02] [-8.09442775e-03 7.69433106e-05 -9.99967237e-01 6.71690136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.48, Y:174.40, Z:6.72 [[-8.71444979e-01 4.90446821e-01 6.75012661e-03 1.62480356e+02] [ 4.90432864e-01 8.71471118e-01 -3.70096466e-03 1.74401938e+02] [-7.69766673e-03 8.52968586e-05 -9.99970369e-01 6.71677602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.600385723 meters Centerline goodness [0,1] 0.9999776461383704 Centerline is valid? [True, True] Translation: X:162.49, Y:174.43, Z:6.72 [[-9.03579244e-01 4.28359388e-01 7.26527332e-03 1.62494889e+02] [ 4.28346385e-01 9.03608447e-01 -3.33897702e-03 1.74426979e+02] [-7.99524449e-03 9.50232244e-05 -9.99968033e-01 6.71676775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.51, Y:174.45, Z:6.72 [[-9.31472404e-01 3.63718293e-01 8.25621675e-03 1.62514160e+02] [ 3.63705008e-01 9.31508987e-01 -3.11034519e-03 1.74451036e+02] [-8.82202954e-03 1.05626673e-04 -9.99961080e-01 6.71804028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.81, Y:175.20, Z:5.74 [[-9.12318657e-01 -4.09389554e-01 8.65227133e-03 1.62805195e+02] [ 4.09370426e-01 -9.12359682e-01 -3.95796756e-03 1.75200211e+02] [ 9.51433409e-03 -6.89436452e-05 9.99954735e-01 5.73977560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.46, Y:174.47, Z:6.72 [[-9.33152486e-01 3.59395943e-01 7.80988748e-03 1.62463365e+02] [ 3.59384192e-01 9.33185163e-01 -2.90775575e-03 1.74472924e+02] [-8.33310674e-03 9.33705948e-05 -9.99965275e-01 6.71706666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.48, Y:174.50, Z:6.72 [[-9.56249017e-01 2.92453679e-01 7.65916219e-03 1.62475141e+02] [ 2.92445035e-01 9.56279686e-01 -2.25021300e-03 1.74498878e+02] [-7.98238428e-03 8.81199867e-05 -9.99968136e-01 6.71695408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.49, Y:174.53, Z:6.71 [[-9.74706594e-01 2.23384046e-01 6.82817302e-03 1.62485906e+02] [ 2.23379115e-01 9.74730507e-01 -1.48619070e-03 1.74526755e+02] [-6.98761984e-03 7.66713722e-05 -9.99975583e-01 6.71428488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.49, Y:174.55, Z:6.71 [[-9.88092601e-01 1.53704795e-01 6.91727278e-03 1.62492803e+02] [ 1.53701571e-01 9.88116810e-01 -9.98471049e-04 1.74554839e+02] [-6.98854330e-03 7.66138400e-05 -9.99975577e-01 6.71429547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.61, Y:175.35, Z:5.74 [[-9.78544753e-01 -2.05893901e-01 7.60714330e-03 1.62605489e+02] [ 2.05887428e-01 -9.78574320e-01 -1.63290172e-03 1.75346667e+02] [ 7.78035959e-03 -3.16522367e-05 9.99969732e-01 5.74231236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.42, Y:174.56, Z:6.72 [[-9.88705469e-01 1.49685364e-01 7.46906475e-03 1.62423407e+02] [ 1.49681736e-01 9.88733677e-01 -1.04551288e-03 1.74564493e+02] [-7.54141383e-03 8.42782705e-05 -9.99971560e-01 6.71509058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.55, Y:175.36, Z:5.74 [[-9.79693511e-01 -2.00326076e-01 8.37183683e-03 1.62546185e+02] [ 2.00318521e-01 -9.79729280e-01 -1.74002833e-03 1.75356073e+02] [ 8.55070672e-03 -2.76604909e-05 9.99963442e-01 5.74198538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.37, Y:174.57, Z:6.71 [[-9.89072254e-01 1.47207111e-01 8.13279952e-03 1.62368858e+02] [ 1.47203020e-01 9.89105685e-01 -1.10258662e-03 1.74569380e+02] [-8.20650683e-03 1.06634820e-04 -9.99966320e-01 6.71455432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.37, Y:174.60, Z:6.71 [[-9.96987881e-01 7.70983044e-02 8.42715406e-03 1.62373702e+02] [ 7.70965055e-02 9.97023490e-01 -5.38600414e-04 1.74597219e+02] [-8.44359572e-03 1.12726044e-04 -9.99964346e-01 6.71438037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.960385723 meters Centerline goodness [0,1] 0.9999552472588946 Centerline is valid? [True, True] Translation: X:162.38, Y:174.63, Z:6.72 [[-9.99935100e-01 7.87427255e-03 8.23360628e-03 1.62379972e+02] [ 7.87504320e-03 9.99968990e-01 6.11820153e-05 1.74625725e+02] [-8.23286919e-03 1.26018050e-04 -9.99966101e-01 6.71558303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.38, Y:175.43, Z:5.74 [[-9.98679554e-01 -5.06887041e-02 8.35484657e-03 1.62375138e+02] [ 5.06859366e-02 -9.98714494e-01 -5.42783867e-04 1.75432904e+02] [ 8.37161938e-03 -1.18593926e-04 9.99964950e-01 5.74219719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.28, Y:174.63, Z:6.71 [[-9.99969740e-01 2.70915687e-03 7.29248750e-03 1.62276959e+02] [ 2.70998379e-03 9.99996323e-01 1.03514134e-04 1.74626164e+02] [-7.29218025e-03 1.23273524e-04 -9.99973404e-01 6.71447154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.050385723 meters Centerline goodness [0,1] 0.9998880855921392 Centerline is valid? [True, True] Translation: X:162.27, Y:175.44, Z:5.74 [[-9.99092932e-01 -4.18692476e-02 7.76398070e-03 1.62268870e+02] [ 4.18672163e-02 -9.99123094e-01 -4.24044273e-04 1.75435600e+02] [ 7.77492683e-03 -9.86033770e-05 9.99969770e-01 5.74012839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.17, Y:174.62, Z:6.72 [[-9.99971658e-01 -2.13460672e-03 7.21983776e-03 1.62168414e+02] [-2.13359759e-03 9.99997713e-01 1.47471066e-04 1.74624073e+02] [-7.22013604e-03 1.32062658e-04 -9.99973926e-01 6.71544498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.16, Y:174.65, Z:6.72 [[-9.97273023e-01 -7.34343207e-02 7.34293834e-03 1.62161634e+02] [-7.34313509e-02 9.97300047e-01 6.73597695e-04 1.74653015e+02] [-7.37257793e-03 1.32558928e-04 -9.99972813e-01 6.71616218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.08, Y:175.46, Z:5.74 [[-9.99357393e-01 3.48238324e-02 8.49128221e-03 1.62079423e+02] [-3.48232023e-02 -9.99393464e-01 2.22086313e-04 1.75459968e+02] [ 8.49386583e-03 -7.37500398e-05 9.99963924e-01 5.74072084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.05, Y:174.65, Z:6.72 [[-9.96647180e-01 -8.14669165e-02 7.58553610e-03 1.62045188e+02] [-8.14635751e-02 9.96676038e-01 7.48940185e-04 1.74646701e+02] [-7.62133592e-03 1.28484233e-04 -9.99970949e-01 6.71647347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.98, Y:175.45, Z:5.74 [[-9.99167834e-01 4.00641312e-02 7.64880461e-03 1.61975430e+02] [-4.00639296e-02 -9.99197102e-01 1.79649894e-04 1.75447161e+02] [ 7.64986092e-03 -1.26940774e-04 9.99970731e-01 5.74124350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.94, Y:174.64, Z:6.72 [[-9.95979437e-01 -8.92719454e-02 7.44849443e-03 1.61936087e+02] [-8.92685657e-02 9.96007282e-01 7.85644629e-04 1.74638836e+02] [-7.48889072e-03 1.17569481e-04 -9.99971951e-01 6.71706673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.92, Y:174.67, Z:6.72 [[-9.86975550e-01 -1.60697804e-01 7.44845801e-03 1.61920934e+02] [-1.60692352e-01 9.87003649e-01 1.32855685e-03 1.74667989e+02] [-7.56515140e-03 1.14342889e-04 -9.99971377e-01 6.71654358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.89, Y:174.69, Z:6.72 [[-9.72708062e-01 -2.31896132e-01 7.95049093e-03 1.61893051e+02] [-2.31887392e-01 9.72740546e-01 2.01677287e-03 1.74691681e+02] [-8.20144671e-03 1.18112623e-04 -9.99966361e-01 6.71902731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.320385723 meters Centerline goodness [0,1] 0.999933257692051 Centerline is valid? [True, True] Translation: X:161.84, Y:174.71, Z:6.72 [[-9.53206793e-01 -3.02206900e-01 8.23406592e-03 1.61837764e+02] [-3.02194476e-01 9.53242348e-01 2.74323997e-03 1.74708005e+02] [-8.67808638e-03 1.26585738e-04 -9.99962337e-01 6.72046461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.77, Y:174.72, Z:6.72 [[-9.27974978e-01 -3.72547674e-01 8.40653028e-03 1.61770763e+02] [-3.72531184e-01 9.28013047e-01 3.50741761e-03 1.74715437e+02] [-9.10805005e-03 1.23101105e-04 -9.99958513e-01 6.71932114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.69, Y:174.71, Z:6.72 [[-8.97605216e-01 -4.40736288e-01 7.51000702e-03 1.61694799e+02] [-4.40719801e-01 8.97636625e-01 3.81386132e-03 1.74713147e+02] [-8.42216444e-03 1.13533014e-04 -9.99964527e-01 6.71915325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.61, Y:174.70, Z:6.72 [[-8.61631885e-01 -5.07496030e-01 6.18658634e-03 1.61607402e+02] [-5.07482171e-01 8.61654090e-01 3.75173274e-03 1.74699785e+02] [-7.23468689e-03 9.30302873e-05 -9.99973825e-01 6.71812762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.440385723 meters Centerline goodness [0,1] 0.9998886513450918 Centerline is valid? [True, True] Translation: X:161.52, Y:174.68, Z:6.72 [[-8.20997174e-01 -5.70903737e-01 5.70646302e-03 1.61520999e+02] [-5.70889173e-01 8.21017000e-01 4.07897011e-03 1.74679158e+02] [-7.01380243e-03 9.10649824e-05 -9.99975399e-01 6.72068999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.43, Y:174.65, Z:6.72 [[-7.74857254e-01 -6.32117250e-01 4.90085908e-03 1.61428763e+02] [-6.32103966e-01 7.74872748e-01 4.09882888e-03 1.74647088e+02] [-6.38848258e-03 7.81548268e-05 -9.99979590e-01 6.71834918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.33, Y:174.61, Z:6.72 [[-7.23542769e-01 -6.90260460e-01 5.13407873e-03 1.61334278e+02] [-6.90242373e-01 7.23560980e-01 4.99738775e-03 1.74605269e+02] [-7.16431821e-03 7.20650778e-05 -9.99974333e-01 6.71801812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.24, Y:174.55, Z:6.72 [[-6.68439847e-01 -7.43751063e-01 4.74627374e-03 1.61240610e+02] [-7.43731599e-01 6.68456694e-01 5.38117373e-03 1.74550257e+02] [-7.17493214e-03 6.70371855e-05 -9.99974258e-01 6.71889829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.14, Y:174.48, Z:6.72 [[-6.09544422e-01 -7.92739697e-01 4.40133983e-03 1.61144640e+02] [-7.92718254e-01 6.09560308e-01 5.83100350e-03 1.74481783e+02] [-7.30535001e-03 6.52332334e-05 -9.99973313e-01 6.71883592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.590385723 meters Centerline goodness [0,1] 0.9999556550852531 Centerline is valid? [True, True] Translation: X:161.06, Y:174.41, Z:6.72 [[-5.47347835e-01 -8.36896301e-01 3.86392005e-03 1.61059593e+02] [-8.36874581e-01 5.47361469e-01 6.02972110e-03 1.74412415e+02] [-7.16121224e-03 6.67383163e-05 -9.99974356e-01 6.71985695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.62038572299997 meters Centerline goodness [0,1] 0.9999778570005093 Centerline is valid? [True, True] Translation: X:160.98, Y:174.33, Z:6.72 [[-4.82231728e-01 -8.76036431e-01 3.56824168e-03 1.60975033e+02] [-8.76011300e-01 4.82244923e-01 6.63591431e-03 1.74330120e+02] [-7.53406912e-03 7.42283894e-05 -9.99971616e-01 6.72006196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.89, Y:174.23, Z:6.72 [[-4.14317111e-01 -9.10127344e-01 3.09016026e-03 1.60894451e+02] [-9.10100559e-01 4.14328627e-01 6.98296318e-03 1.74234817e+02] [-7.63572759e-03 8.08045463e-05 -9.99970844e-01 6.71910308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.83, Y:174.14, Z:6.72 [[-3.45547818e-01 -9.38397872e-01 2.47782581e-03 1.60826984e+02] [-9.38371647e-01 3.45556687e-01 7.01623714e-03 1.74142836e+02] [-7.44025128e-03 9.93239426e-05 -9.99972316e-01 6.71908408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.710385723 meters Centerline goodness [0,1] 0.9999778946903046 Centerline is valid? [True, True] Translation: X:160.76, Y:174.04, Z:6.72 [[-2.74063702e-01 -9.61709384e-01 2.03667335e-03 1.60764152e+02] [-9.61679537e-01 2.74071244e-01 7.57770643e-03 1.74036844e+02] [-7.84574498e-03 1.18147192e-04 -9.99969215e-01 6.71971307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.71, Y:173.92, Z:6.72 [[-2.02010523e-01 -9.79382238e-01 1.47648911e-03 1.60705892e+02] [-9.79350638e-01 2.02015868e-01 7.86880007e-03 1.73923071e+02] [-8.00483725e-03 1.43579871e-04 -9.99967950e-01 6.71879615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.66, Y:173.81, Z:6.72 [[-1.26933688e-01 -9.91910782e-01 9.16703817e-04 1.60658486e+02] [-9.91875077e-01 1.26936898e-01 8.41754352e-03 1.73808607e+02] [-8.46581571e-03 1.59214172e-04 -9.99964152e-01 6.71909915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.800385723 meters Centerline goodness [0,1] 0.9999336209757717 Centerline is valid? [True, True] Translation: X:160.62, Y:173.69, Z:6.72 [[-5.28408026e-02 -9.98602912e-01 2.70968392e-04 1.60619577e+02] [-9.98565570e-01 5.28411706e-02 8.63786713e-03 1.73690670e+02] [-8.64011755e-03 1.85852125e-04 -9.99962656e-01 6.72070185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.59, Y:173.57, Z:6.72 [[ 2.35857812e-02 -9.99721736e-01 -4.01815773e-04 1.60590062e+02] [-9.99683262e-01 -2.35883996e-02 8.77284022e-03 1.73565580e+02] [-8.77987724e-03 1.94774213e-04 -9.99961437e-01 6.71913359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.57, Y:173.44, Z:6.72 [[ 9.89508830e-02 -9.95091754e-01 -1.05974456e-03 1.60570315e+02] [-9.95054839e-01 -9.89563430e-02 8.57381763e-03 1.73440713e+02] [-8.63660367e-03 2.06117130e-04 -9.99962683e-01 6.71955125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.56, Y:173.31, Z:6.72 [[ 1.73051527e-01 -9.84911170e-01 -1.77679716e-03 1.60560353e+02] [-9.84872224e-01 -1.73060491e-01 8.76178865e-03 1.73313685e+02] [-8.93707689e-03 2.33677267e-04 -9.99960036e-01 6.71977907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.920385723 meters Centerline goodness [0,1] 0.9999560255931048 Centerline is valid? [True, True] Translation: X:160.56, Y:173.19, Z:6.72 [[ 2.46304533e-01 -9.69190229e-01 -2.09202765e-03 1.60557281e+02] [-9.69162459e-01 -2.46313320e-01 7.34003495e-03 1.73188741e+02] [-7.62918443e-03 2.19630785e-04 -9.99970873e-01 6.71779604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.57, Y:173.06, Z:6.72 [[ 3.19405314e-01 -9.47614620e-01 -2.60318620e-03 1.60568038e+02] [-9.47588578e-01 -3.19415845e-01 7.02882173e-03 1.73057356e+02] [-7.49211316e-03 2.21706498e-04 -9.99971909e-01 6.71737749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.58, Y:172.94, Z:6.72 [[ 3.90922059e-01 -9.20418353e-01 -3.16227525e-03 1.60584359e+02] [-9.20392783e-01 -3.90934783e-01 6.86449109e-03 1.72939916e+02] [-7.55444697e-03 2.27054326e-04 -9.99971439e-01 6.71742675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.61, Y:172.81, Z:6.72 [[ 4.60576445e-01 -8.87610995e-01 -4.00752561e-03 1.60610534e+02] [-8.87581879e-01 -4.60593815e-01 7.19346459e-03 1.72813344e+02] [-8.23083977e-03 2.43866768e-04 -9.99966096e-01 6.71817352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.64, Y:172.70, Z:6.72 [[ 5.27536691e-01 -8.49519671e-01 -4.62258156e-03 1.60641508e+02] [-8.49491026e-01 -5.27556887e-01 6.98056122e-03 1.72699934e+02] [-8.36879881e-03 2.44339383e-04 -9.99964951e-01 6.71814018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.68, Y:172.59, Z:6.72 [[ 5.92451840e-01 -8.05590706e-01 -4.94289668e-03 1.60682310e+02] [-8.05565726e-01 -5.92472418e-01 6.34780156e-03 1.72585483e+02] [-8.04225989e-03 2.21061440e-04 -9.99967636e-01 6.71807685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.73, Y:172.48, Z:6.72 [[ 6.53419877e-01 -7.56976670e-01 -5.36520761e-03 1.60727924e+02] [-7.56953713e-01 -6.53441871e-01 5.89895394e-03 1.72481384e+02] [-7.97122180e-03 2.06720060e-04 -9.99968208e-01 6.71747760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.130385723 meters Centerline goodness [0,1] 0.9999348208660134 Centerline is valid? [True, True] Translation: X:160.79, Y:172.38, Z:6.72 [[ 7.12120185e-01 -7.02034848e-01 -5.64929374e-03 1.60785518e+02] [-7.02014619e-01 -7.12142573e-01 5.33205457e-03 1.72375147e+02] [-7.76639069e-03 1.68823102e-04 -9.99969827e-01 6.71781501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.78, Y:172.36, Z:6.72 [[ 7.66261420e-01 -6.42494203e-01 -6.68097318e-03 1.60775856e+02] [-6.42471641e-01 -7.66290527e-01 5.38688260e-03 1.72359407e+02] [-8.58060730e-03 1.64575496e-04 -9.99963172e-01 6.71719160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.190385723 meters Centerline goodness [0,1] 0.999913028352757 Centerline is valid? [True, True] Translation: X:160.77, Y:172.35, Z:6.72 [[ 8.15620471e-01 -5.78536180e-01 -7.68999439e-03 1.60768549e+02] [-5.78512224e-01 -8.15656708e-01 5.26709871e-03 1.72346183e+02] [-9.31960268e-03 1.52802223e-04 -9.99956560e-01 6.71808365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.76, Y:172.33, Z:6.72 [[ 8.60724420e-01 -5.09009901e-01 -7.89897625e-03 1.60762135e+02] [-5.08989608e-01 -8.60760657e-01 4.54639800e-03 1.72330457e+02] [-9.11328959e-03 1.07301047e-04 -9.99958467e-01 6.71841031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.250385723 meters Centerline goodness [0,1] 0.9998053759487923 Centerline is valid? [True, True] Translation: X:160.76, Y:172.32, Z:6.72 [[ 8.99726302e-01 -4.36376591e-01 -8.24934863e-03 1.60758177e+02] [-4.36358954e-01 -8.99764117e-01 3.92391920e-03 1.72318404e+02] [-9.13477436e-03 6.92238300e-05 -9.99958275e-01 6.71840286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.280385723 meters Centerline goodness [0,1] 0.999760812368175 Centerline is valid? [True, True] Translation: X:160.76, Y:172.30, Z:6.72 [[ 9.31486807e-01 -3.63665740e-01 -8.91955971e-03 1.60756024e+02] [-3.63649692e-01 -9.31529509e-01 3.41696632e-03 1.72303981e+02] [-9.55146666e-03 6.07360929e-05 -9.99954382e-01 6.71767836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.310385723 meters Centerline goodness [0,1] 0.9996953740371644 Centerline is valid? [True, True] Translation: X:160.75, Y:172.29, Z:6.72 [[ 9.57292648e-01 -2.88972784e-01 -9.24755518e-03 1.60754942e+02] [-2.88959839e-01 -9.57337311e-01 2.73569792e-03 1.72290675e+02] [-9.64357186e-03 5.33085506e-05 -9.99953498e-01 6.71758231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.340385723 meters Centerline goodness [0,1] 0.9999132509217089 Centerline is valid? [True, True] Translation: X:160.76, Y:172.28, Z:6.72 [[ 9.76837128e-01 -2.13742298e-01 -1.01712921e-02 1.60755046e+02] [-2.13731358e-01 -9.76890079e-01 2.16337992e-03 1.72277156e+02] [-1.03986401e-02 6.06542434e-05 -9.99945931e-01 6.71939932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.37038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.75, Y:172.26, Z:6.72 [[ 9.90586534e-01 -1.36546601e-01 -9.66145405e-03 1.60752521e+02] [-1.36540676e-01 -9.90633647e-01 1.27329988e-03 1.72263035e+02] [-9.74482623e-03 5.78677547e-05 -9.99952516e-01 6.71741420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.75, Y:172.25, Z:6.72 [[ 9.98118322e-01 -6.04514616e-02 -1.02681940e-02 1.60750873e+02] [-6.04490718e-02 -9.98171135e-01 5.43225295e-04 1.72251753e+02] [-1.02822537e-02 7.84996791e-05 -9.99947133e-01 6.71787522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.430385723 meters Centerline goodness [0,1] 0.9999131718329426 Centerline is valid? [True, True] Translation: X:160.75, Y:172.24, Z:6.72 [[ 9.99817426e-01 1.55449554e-02 -1.11116963e-02 1.60750501e+02] [ 1.55427889e-02 -9.99879164e-01 -2.81314241e-04 1.72241181e+02] [-1.11147266e-02 1.08556131e-04 -9.99938224e-01 6.71891871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.460385723 meters Centerline goodness [0,1] 0.9999566818280269 Centerline is valid? [True, True] Translation: X:160.75, Y:172.23, Z:6.72 [[ 9.95812516e-01 9.07506257e-02 -1.10343437e-02 1.60750070e+02] [ 9.07434730e-02 -9.95873639e-01 -1.14819672e-03 1.72232228e+02] [-1.10930116e-02 1.42093994e-04 -9.99938461e-01 6.71682374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.490385723 meters Centerline goodness [0,1] 0.9997391417764445 Centerline is valid? [True, True] Translation: X:160.75, Y:172.22, Z:6.72 [[ 9.86075582e-01 1.65843848e-01 -1.22786150e-02 1.60750595e+02] [ 1.65828598e-01 -9.86152008e-01 -2.25696052e-03 1.72222192e+02] [-1.24828839e-02 1.89388151e-04 -9.99922068e-01 6.71974400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.75, Y:172.21, Z:6.72 [[ 9.70258311e-01 2.41845955e-01 -1.04567287e-02 1.60751971e+02] [ 2.41829964e-01 -9.70314642e-01 -2.78658836e-03 1.72211476e+02] [-1.08202421e-02 1.74960179e-04 -9.99941444e-01 6.71600722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.550385723 meters Centerline goodness [0,1] 0.999913511643495 Centerline is valid? [True, True] Translation: X:160.75, Y:172.20, Z:6.72 [[ 9.48689069e-01 3.16025978e-01 -1.07996610e-02 1.60752849e+02] [ 3.16003140e-01 -9.48750517e-01 -3.80432197e-03 1.72202504e+02] [-1.14484485e-02 1.96391891e-04 -9.99934445e-01 6.71672210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.580385723 meters Centerline goodness [0,1] 0.999956566117228 Centerline is valid? [True, True] Translation: X:160.76, Y:172.19, Z:6.72 [[ 9.21152368e-01 3.89048510e-01 -1.09348409e-02 1.60755488e+02] [ 3.89018421e-01 -9.21217246e-01 -4.84297782e-03 1.72194216e+02] [-1.19575173e-02 2.07265950e-04 -9.99928485e-01 6.71711899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.76, Y:172.19, Z:6.72 [[ 8.87457057e-01 4.60784817e-01 -9.86531614e-03 1.60759018e+02] [ 4.60754019e-01 -8.87511869e-01 -5.33061521e-03 1.72186019e+02] [-1.12118517e-02 1.85208017e-04 -9.99937128e-01 6.71632497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.76, Y:172.18, Z:6.72 [[ 8.48120521e-01 5.29709855e-01 -9.95249616e-03 1.60764051e+02] [ 5.29670856e-01 -8.48178894e-01 -6.43024080e-03 1.72176037e+02] [-1.18476591e-02 1.82072013e-04 -9.99929797e-01 6.71585012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.77, Y:172.17, Z:6.72 [[ 8.04050090e-01 5.94486946e-01 -9.41933285e-03 1.60769332e+02] [ 5.94443491e-01 -8.04105240e-01 -7.19019464e-03 1.72166640e+02] [-1.18486118e-02 1.82015550e-04 -9.99929786e-01 6.71585881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.700385723 meters Centerline goodness [0,1] 0.9999782769257506 Centerline is valid? [True, True] Translation: X:160.77, Y:172.16, Z:6.72 [[ 7.54590684e-01 6.56134129e-01 -8.99464740e-03 1.60774060e+02] [ 6.56084712e-01 -7.54644270e-01 -8.05462384e-03 1.72157648e+02] [-1.20726727e-02 1.76693469e-04 -9.99927107e-01 6.71673627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.78, Y:172.15, Z:6.72 [[ 6.98789449e-01 7.15278602e-01 -8.35630337e-03 1.60784530e+02] [ 7.15225033e-01 -6.98839396e-01 -8.75502099e-03 1.72145870e+02] [-1.21019932e-02 1.41278937e-04 -9.99926758e-01 6.71544001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.760385723 meters Centerline goodness [0,1] 0.9998262493755837 Centerline is valid? [True, True] Translation: X:160.79, Y:172.14, Z:6.72 [[ 6.40342209e-01 7.68044953e-01 -8.29498564e-03 1.60792984e+02] [ 7.67977538e-01 -6.40395916e-01 -1.01770510e-02 1.72136633e+02] [-1.31285076e-02 1.46432674e-04 -9.99913807e-01 6.71777114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.790385723 meters Centerline goodness [0,1] 0.9999567071454857 Centerline is valid? [True, True] Translation: X:160.80, Y:172.13, Z:6.71 [[ 5.74242392e-01 8.18657325e-01 -6.77191154e-03 1.60802018e+02] [ 8.18598824e-01 -5.74282315e-01 -9.78711556e-03 1.72127628e+02] [-1.19012829e-02 7.66978308e-05 -9.99929174e-01 6.71497488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.820385723 meters Centerline goodness [0,1] 0.9999783037903278 Centerline is valid? [True, True] Translation: X:160.81, Y:172.12, Z:6.71 [[ 5.06894949e-01 8.61986697e-01 -6.03702930e-03 1.60813185e+02] [ 8.61924250e-01 -5.06930894e-01 -1.03757354e-02 1.72119321e+02] [-1.20041026e-02 5.59459185e-05 -9.99927947e-01 6.71419073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.82, Y:172.11, Z:6.71 [[ 4.36636688e-01 8.99622715e-01 -5.23186594e-03 1.60823516e+02] [ 8.99557057e-01 -4.36668030e-01 -1.08689121e-02 1.72112174e+02] [-1.20625088e-02 3.94038675e-05 -9.99927245e-01 6.71439554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.83, Y:172.11, Z:6.71 [[ 3.62811282e-01 9.31852435e-01 -4.36027649e-03 1.60834336e+02] [ 9.31784733e-01 -3.62837482e-01 -1.12326966e-02 1.72106680e+02] [-1.20492874e-02 1.25099804e-05 -9.99927405e-01 6.71443796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.910385723 meters Centerline goodness [0,1] 0.9999566066391842 Centerline is valid? [True, True] Translation: X:160.84, Y:172.10, Z:6.72 [[ 2.88753845e-01 9.57397055e-01 -3.47794625e-03 1.60844991e+02] [ 9.57327094e-01 -2.88774789e-01 -1.15739898e-02 1.72102367e+02] [-1.20852469e-02 1.25018727e-05 -9.99926971e-01 6.71537859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.86, Y:172.10, Z:6.71 [[ 2.12030166e-01 9.77260412e-01 -2.30125251e-03 1.60855861e+02] [ 9.77202639e-01 -2.12042654e-01 -1.06261546e-02 1.72097967e+02] [-1.08724839e-02 4.27530386e-06 -9.99940893e-01 6.71447393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.970385723 meters Centerline goodness [0,1] 0.9999783591940964 Centerline is valid? [True, True] Translation: X:160.87, Y:172.09, Z:6.71 [[ 1.34952444e-01 9.90851021e-01 -1.44624106e-03 1.60866062e+02] [ 9.90793683e-01 -1.34960193e-01 -1.06594834e-02 1.72094780e+02] [-1.07571449e-02 5.59682100e-06 -9.99942140e-01 6.71403754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.000385723 meters Centerline goodness [0,1] 0.9999784068579819 Centerline is valid? [True, True] Translation: X:160.88, Y:172.09, Z:6.71 [[ 5.71965191e-02 9.98362764e-01 -5.90968641e-04 1.60875307e+02] [ 9.98307881e-01 -5.71995714e-02 -1.04682685e-02 1.72091510e+02] [-1.04849326e-02 8.77986841e-06 -9.99945032e-01 6.71467792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.89, Y:172.09, Z:6.71 [[-2.11228798e-02 9.99776860e-01 2.31273694e-04 1.60886201e+02] [ 9.99721670e-01 2.11241438e-02 -1.05048678e-02 1.72090214e+02] [-1.05074092e-02 9.31626532e-06 -9.99944796e-01 6.71385915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.90, Y:172.09, Z:6.71 [[-9.85866578e-02 9.95127891e-01 1.07282968e-03 1.60895688e+02] [ 9.95070869e-01 9.85924934e-02 -1.06530117e-02 1.72088411e+02] [-1.07068821e-02 1.72967391e-05 -9.99942680e-01 6.71487355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.090385723 meters Centerline goodness [0,1] 0.9999567567567568 Centerline is valid? [True, True] Translation: X:160.91, Y:172.09, Z:6.71 [[-1.75928279e-01 9.84401095e-01 1.93012855e-03 1.60907273e+02] [ 9.84343119e-01 1.75938866e-01 -1.06836270e-02 1.72088799e+02] [-1.08565587e-02 2.03566468e-05 -9.99941066e-01 6.71443265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.92, Y:172.09, Z:6.72 [[-2.51978047e-01 9.67729388e-01 2.62582642e-03 1.60918064e+02] [ 9.67677920e-01 2.51991727e-01 -9.98062010e-03 1.72087874e+02] [-1.03202259e-02 2.60570797e-05 -9.99946745e-01 6.71539016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.150385723 meters Centerline goodness [0,1] 0.9998047425856421 Centerline is valid? [True, True] Translation: X:160.93, Y:172.09, Z:6.72 [[-3.26238776e-01 9.45280261e-01 3.67270841e-03 1.60926443e+02] [ 9.45221577e-01 3.26259446e-01 -1.05330001e-02 1.72088630e+02] [-1.11548929e-02 3.52501784e-05 -9.99937782e-01 6.71667058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.180385723 meters Centerline goodness [0,1] 0.9998484257935992 Centerline is valid? [True, True] Translation: X:160.94, Y:172.09, Z:6.72 [[-3.99672597e-01 9.16647780e-01 4.31998518e-03 1.60936212e+02] [ 9.16595050e-01 3.99695942e-01 -9.83205525e-03 1.72089913e+02] [-1.07392122e-02 3.00739818e-05 -9.99942333e-01 6.71520641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.95, Y:172.09, Z:6.72 [[-4.70317298e-01 8.82482876e-01 5.06085547e-03 1.60946377e+02] [ 8.82432454e-01 4.70344525e-01 -9.43359465e-03 1.72092832e+02] [-1.07053314e-02 2.90803673e-05 -9.99942696e-01 6.71527428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.240385723 meters Centerline goodness [0,1] 0.9998693891767164 Centerline is valid? [True, True] Translation: X:160.96, Y:172.10, Z:6.72 [[-5.37872737e-01 8.43006512e-01 5.73932888e-03 1.60955334e+02] [ 8.42959133e-01 5.37903356e-01 -8.93752949e-03 1.72095920e+02] [-1.06215998e-02 3.07662521e-05 -9.99943589e-01 6.71743255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.97, Y:172.10, Z:6.72 [[-6.02574761e-01 7.98038432e-01 6.19021919e-03 1.60965106e+02] [ 7.97996773e-01 6.02606555e-01 -8.15416710e-03 1.72098377e+02] [-1.02376054e-02 2.62796437e-05 -9.99947594e-01 6.71633617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.97, Y:172.10, Z:6.72 [[-6.62917363e-01 7.48666645e-01 6.23096533e-03 1.60972474e+02] [ 7.48633998e-01 6.62946645e-01 -6.99164828e-03 1.72099418e+02] [-9.36521142e-03 2.98274407e-05 -9.99956145e-01 6.71633701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.330385723 meters Centerline goodness [0,1] 0.99989068648885 Centerline is valid? [True, True] Translation: X:160.98, Y:172.11, Z:6.72 [[-7.19402060e-01 6.94566926e-01 6.12055276e-03 1.60981877e+02] [ 6.94542151e-01 7.19428095e-01 -5.86656281e-03 1.72105943e+02] [-8.47801811e-03 3.05645060e-05 -9.99964061e-01 6.71538361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.360385723 meters Centerline goodness [0,1] 0.9999344233627699 Centerline is valid? [True, True] Translation: X:161.00, Y:172.12, Z:6.72 [[-7.66732893e-01 6.41940942e-01 5.70070930e-03 1.61002686e+02] [ 6.41923468e-01 7.66754085e-01 -4.73649721e-03 1.72123137e+02] [-7.41159362e-03 2.77908791e-05 -9.99972533e-01 6.71529820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.01, Y:172.15, Z:6.72 [[-8.10238502e-01 5.86069866e-01 5.97351121e-03 1.61012371e+02] [ 5.86054189e-01 8.10260521e-01 -4.28667800e-03 1.72150921e+02] [-7.35239310e-03 2.75697033e-05 -9.99972970e-01 6.71532363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.03, Y:172.17, Z:6.72 [[-8.49617539e-01 5.27367564e-01 5.78698853e-03 1.61031500e+02] [ 5.27355555e-01 8.49637247e-01 -3.55905053e-03 1.72169677e+02] [-6.79376881e-03 2.79687921e-05 -9.99976922e-01 6.71551198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.450385723 meters Centerline goodness [0,1] 0.9999780668085013 Centerline is valid? [True, True] Translation: X:161.05, Y:172.19, Z:6.72 [[-8.84826111e-01 4.65881958e-01 6.06252504e-03 1.61051487e+02] [ 4.65871238e-01 8.84846880e-01 -3.16061457e-03 1.72190236e+02] [-6.83687967e-03 2.77617482e-05 -9.99976628e-01 6.71566876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.07, Y:172.21, Z:6.72 [[-9.15577797e-01 4.02076648e-01 7.18794375e-03 1.61065859e+02] [ 4.02064505e-01 9.15606012e-01 -3.12498819e-03 1.72212924e+02] [-7.83780928e-03 2.88472379e-05 -9.99969284e-01 6.71672855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.510385723 meters Centerline goodness [0,1] 0.9998239862709292 Centerline is valid? [True, True] Translation: X:161.08, Y:172.24, Z:6.72 [[-9.41564081e-01 3.36695372e-01 9.65962650e-03 1.61075068e+02] [ 3.36678057e-01 9.41613628e-01 -3.41474178e-03 1.72236602e+02] [-1.02453637e-02 3.69860776e-05 -9.99947514e-01 6.72029929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.33, Y:172.94, Z:5.74 [[-9.18151275e-01 -3.96076884e-01 1.10153608e-02 1.61326602e+02] [ 3.96049255e-01 -9.18217348e-01 -4.67869606e-03 1.72939591e+02] [ 1.19676187e-02 6.68746784e-05 9.99928383e-01 5.74203088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.02, Y:172.25, Z:6.72 [[-9.42481671e-01 3.34071496e-01 1.11595668e-02 1.61024474e+02] [ 3.34048717e-01 9.42547735e-01 -3.90150103e-03 1.72249776e+02] [-1.18218047e-02 5.07457589e-05 -9.99930119e-01 6.71932107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.600385723 meters Centerline goodness [0,1] 0.9999778216416421 Centerline is valid? [True, True] Translation: X:161.03, Y:172.27, Z:6.72 [[-9.63226751e-01 2.68452042e-01 1.13016285e-02 1.61031724e+02] [ 2.68434484e-01 9.63293048e-01 -3.07122497e-03 1.72272253e+02] [-1.17112568e-02 7.54607701e-05 -9.99931418e-01 6.71873253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.630385723 meters Centerline goodness [0,1] 0.9999555031481523 Centerline is valid? [True, True] Translation: X:161.05, Y:172.29, Z:6.72 [[-9.79253857e-01 2.02349691e-01 1.07928446e-02 1.61045313e+02] [ 2.02338579e-01 9.79313327e-01 -2.12318321e-03 1.72292509e+02] [-1.09992020e-02 1.04673476e-04 -9.99939501e-01 6.71786700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.660385723 meters Centerline goodness [0,1] 0.9999552492616128 Centerline is valid? [True, True] Translation: X:161.05, Y:172.32, Z:6.72 [[-9.90888767e-01 1.34317391e-01 9.91408691e-03 1.61051805e+02] [ 1.34311847e-01 9.90938356e-01 -1.22593843e-03 1.72317167e+02] [-9.98891383e-03 1.16810702e-04 -9.99950103e-01 6.71764303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.690385723 meters Centerline goodness [0,1] 0.9999551609721101 Centerline is valid? [True, True] Translation: X:161.05, Y:172.34, Z:6.72 [[-9.97834416e-01 6.50578392e-02 9.69307864e-03 1.61049035e+02] [ 6.50560187e-02 9.97881487e-01 -5.03332084e-04 1.72344240e+02] [-9.70528942e-03 1.28351030e-04 -9.99952894e-01 6.71611253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.720385723 meters Centerline goodness [0,1] 0.999798508966351 Centerline is valid? [True, True] Translation: X:161.09, Y:173.14, Z:5.74 [[-9.94098271e-01 -1.07976184e-01 1.04771944e-02 1.61093305e+02] [ 1.07969293e-01 -9.94153477e-01 -1.22278194e-03 1.73136718e+02] [ 1.05479706e-02 -8.43501430e-05 9.99944365e-01 5.74492399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.750385723 meters Centerline goodness [0,1] 0.9998875039373621 Centerline is valid? [True, True] Translation: X:160.96, Y:172.34, Z:6.72 [[-9.97983164e-01 6.26294159e-02 1.03518569e-02 1.60957907e+02] [ 6.26277213e-02 9.98036838e-01 -4.88101318e-04 1.72341438e+02] [-1.03621041e-02 1.61196313e-04 -9.99946299e-01 6.71600341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.780385723 meters Centerline goodness [0,1] 0.9998870822041553 Centerline is valid? [True, True] Translation: X:160.98, Y:172.37, Z:6.72 [[-9.99899672e-01 -8.82410460e-03 1.10806736e-02 1.60977851e+02] [-8.82170001e-03 9.99961053e-01 2.65866723e-04 1.72365580e+02] [-1.10825880e-02 1.68089671e-04 -9.99938572e-01 6.71671338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.810385723 meters Centerline goodness [0,1] 0.9999098774333093 Centerline is valid? [True, True] Translation: X:160.95, Y:173.18, Z:5.74 [[-9.99420986e-01 -3.18478345e-02 1.19753211e-02 1.60950041e+02] [ 3.18441027e-02 -9.99492722e-01 -5.02220664e-04 1.73178792e+02] [ 1.19852409e-02 -1.20586517e-04 9.99928167e-01 5.74394050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.840385723 meters Centerline goodness [0,1] 0.9998643331976665 Centerline is valid? [True, True] Translation: X:160.87, Y:172.36, Z:6.72 [[-9.99778456e-01 -1.71866084e-02 1.21515442e-02 1.60870339e+02] [-1.71834032e-02 9.99852287e-01 3.68134843e-04 1.72362582e+02] [-1.21560762e-02 1.59248402e-04 -9.99926100e-01 6.71638630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.87038572299997 meters Centerline goodness [0,1] 0.9999547255234862 Centerline is valid? [True, True] Translation: X:160.87, Y:172.39, Z:6.72 [[-9.95944231e-01 -8.91471645e-02 1.21602790e-02 1.60865752e+02] [-8.91386860e-02 9.96018454e-01 1.23852888e-03 1.72390433e+02] [-1.22222737e-02 1.49554402e-04 -9.99925294e-01 6.71605814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.900385723 meters Centerline goodness [0,1] 0.9999546731937268 Centerline is valid? [True, True] Translation: X:160.85, Y:172.42, Z:6.72 [[-9.86699968e-01 -1.62069251e-01 1.25192158e-02 1.60851202e+02] [-1.62054532e-01 9.86779378e-01 2.18804231e-03 1.72415986e+02] [-1.27083184e-02 1.30145614e-04 -9.99919238e-01 6.71571942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.82, Y:172.44, Z:6.72 [[-9.72146889e-01 -2.34050249e-01 1.22844273e-02 1.60822707e+02] [-2.34030082e-01 9.72224495e-01 3.07452201e-03 1.72440248e+02] [-1.26628137e-02 1.13961485e-04 -9.99919817e-01 6.71610380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.77, Y:172.46, Z:6.72 [[-9.51846800e-01 -3.06323003e-01 1.24051466e-02 1.60765707e+02] [-3.06295777e-01 9.51927629e-01 4.08499079e-03 1.72456104e+02] [-1.30601284e-02 8.86413916e-05 -9.99914709e-01 6.71706658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.990385723 meters Centerline goodness [0,1] 0.9999097676517031 Centerline is valid? [True, True] Translation: X:160.70, Y:172.47, Z:6.72 [[-9.26433108e-01 -3.76262757e-01 1.21669317e-02 1.60703793e+02] [-3.76229133e-01 9.26512995e-01 5.03079417e-03 1.72465252e+02] [-1.31657208e-02 8.31401067e-05 -9.99913325e-01 6.71909386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.62, Y:172.46, Z:6.72 [[-8.95068251e-01 -4.45778006e-01 1.16101049e-02 1.60620399e+02] [-4.45739715e-01 8.95143545e-01 5.84296121e-03 1.72460514e+02] [-1.29973741e-02 5.47642072e-05 -9.99915529e-01 6.71723067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.53, Y:172.45, Z:6.72 [[-8.58083427e-01 -5.13392209e-01 1.10123433e-02 1.60530702e+02] [-5.13349580e-01 8.58154088e-01 6.61584364e-03 1.72446352e+02] [-1.28468100e-02 2.37639620e-05 -9.99917476e-01 6.71672819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.46, Y:172.43, Z:6.72 [[-8.16069947e-01 -5.77859744e-01 1.03903122e-02 1.60455614e+02] [-5.77812823e-01 8.16136089e-01 7.36380034e-03 1.72434947e+02] [-1.27351525e-02 5.72052464e-06 -9.99918905e-01 6.71779160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.36, Y:172.40, Z:6.72 [[-7.70029359e-01 -6.37939026e-01 9.41195455e-03 1.60364212e+02] [-6.37891291e-01 7.70086878e-01 7.80396423e-03 1.72403254e+02] [-1.22264760e-02 5.47773482e-06 -9.99925254e-01 6.71817458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.140385723 meters Centerline goodness [0,1] 0.9999097717224578 Centerline is valid? [True, True] Translation: X:160.26, Y:172.35, Z:6.72 [[-7.20001853e-01 -6.93922834e-01 8.27238368e-03 1.60260368e+02] [-6.93876817e-01 7.20049374e-01 7.99137489e-03 1.72351515e+02] [-1.15019222e-02 1.37894726e-05 -9.99933851e-01 6.71912660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.170385723 meters Centerline goodness [0,1] 0.999842153922475 Centerline is valid? [True, True] Translation: X:160.18, Y:172.31, Z:6.72 [[-6.65431775e-01 -7.46422834e-01 7.31475017e-03 1.60178187e+02] [-7.46377398e-01 6.65471978e-01 8.23571586e-03 1.72308322e+02] [-1.10150876e-02 2.07428295e-05 -9.99939332e-01 6.71815679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.09, Y:172.24, Z:6.72 [[-6.07711338e-01 -7.94128847e-01 6.80479510e-03 1.60087813e+02] [-7.94078367e-01 6.07749433e-01 8.95394269e-03 1.72243236e+02] [-1.12461945e-02 3.78719066e-05 -9.99936759e-01 6.71839696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.00, Y:172.17, Z:6.72 [[-5.46073868e-01 -8.37716214e-01 5.90554150e-03 1.60002243e+02] [-8.37666238e-01 5.46105797e-01 9.15050866e-03 1.72171241e+02] [-1.08905799e-02 4.99809247e-05 -9.99940695e-01 6.71757099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.260385723 meters Centerline goodness [0,1] 0.9999774871113712 Centerline is valid? [True, True] Translation: X:159.91, Y:172.08, Z:6.72 [[-4.82612752e-01 -8.75818563e-01 5.17456568e-03 1.59914944e+02] [-8.75766444e-01 4.82640486e-01 9.55492862e-03 1.72079612e+02] [-1.08658387e-02 7.96194069e-05 -9.99940962e-01 6.71727598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.290385723 meters Centerline goodness [0,1] 0.9998198441652029 Centerline is valid? [True, True] Translation: X:159.84, Y:171.99, Z:6.72 [[-4.14889836e-01 -9.09860797e-01 4.44456098e-03 1.59836737e+02] [-9.09806183e-01 4.14913632e-01 9.96935012e-03 1.71986790e+02] [-1.09148298e-02 9.24929749e-05 -9.99940427e-01 6.71748932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.320385723 meters Centerline goodness [0,1] 0.9999548990867065 Centerline is valid? [True, True] Translation: X:159.77, Y:171.90, Z:6.72 [[-3.45686628e-01 -9.38344478e-01 3.22426890e-03 1.59769770e+02] [-9.38300770e-01 3.45701648e-01 9.05731584e-03 1.71898576e+02] [-9.61351738e-03 1.05658980e-04 -9.99953784e-01 6.71689239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.350385723 meters Centerline goodness [0,1] 0.9999548185966656 Centerline is valid? [True, True] Translation: X:159.71, Y:171.79, Z:6.72 [[-2.72909092e-01 -9.62036486e-01 2.53535757e-03 1.59706254e+02] [-9.61991083e-01 2.72920846e-01 9.34709857e-03 1.71792198e+02] [-9.68420180e-03 1.11916804e-04 -9.99953101e-01 6.71666352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.65, Y:171.68, Z:6.72 [[-1.98241241e-01 -9.80151657e-01 1.77181200e-03 1.59650567e+02] [-9.80107228e-01 1.98249126e-01 9.33304463e-03 1.71678178e+02] [-9.49905934e-03 1.13628597e-04 -9.99954876e-01 6.71658274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.60, Y:171.56, Z:6.72 [[-1.22757146e-01 -9.92436334e-01 8.98036453e-04 1.59602083e+02] [-9.92403033e-01 1.22760384e-01 8.13073520e-03 1.71561935e+02] [-8.17948034e-03 1.06891751e-04 -9.99966542e-01 6.71597743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.56, Y:171.44, Z:6.72 [[-4.63777326e-02 -9.98923941e-01 2.55523159e-04 1.59563348e+02] [-9.98893144e-01 4.63783094e-02 7.84473615e-03 1.71440984e+02] [-7.84814549e-03 1.08580744e-04 -9.99969197e-01 6.71635944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.470385723 meters Centerline goodness [0,1] 0.9999774815348585 Centerline is valid? [True, True] Translation: X:159.53, Y:171.31, Z:6.72 [[ 3.08608323e-02 -9.99523634e-01 -3.38212768e-04 1.59534842e+02] [-9.99495294e-01 -3.08625044e-02 7.52749846e-03 1.71313787e+02] [-7.53435071e-03 1.05737203e-04 -9.99971611e-01 6.71645110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.52, Y:171.18, Z:6.72 [[ 1.08708774e-01 -9.94073266e-01 -8.62336286e-04 1.59516709e+02] [-9.94048562e-01 -1.08712152e-01 7.00888295e-03 1.71180545e+02] [-7.06108960e-03 9.52770751e-05 -9.99975066e-01 6.71668134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.51, Y:171.06, Z:6.72 [[ 1.85203694e-01 -9.82699107e-01 -1.43428507e-03 1.59506690e+02] [-9.82673551e-01 -1.85209222e-01 7.08780158e-03 1.71059262e+02] [-7.23081911e-03 9.67469695e-05 -9.99973853e-01 6.71663120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.51, Y:170.92, Z:6.72 [[ 2.59990837e-01 -9.65609210e-01 -1.90207407e-03 1.59510623e+02] [-9.65586047e-01 -2.59997776e-01 6.68896719e-03 1.70924468e+02] [-6.95346335e-03 9.75460098e-05 -9.99975820e-01 6.71729197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.52, Y:170.81, Z:6.72 [[ 3.33297364e-01 -9.42818679e-01 -2.40968027e-03 1.59518201e+02] [-9.42796111e-01 -3.33306061e-01 6.52409956e-03 1.70806576e+02] [-6.95420396e-03 9.73720038e-05 -9.99975815e-01 6.71732904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.53, Y:170.69, Z:6.72 [[ 4.04935776e-01 -9.14339888e-01 -3.09613812e-03 1.59533205e+02] [-9.14315081e-01 -4.04947599e-01 6.73604829e-03 1.70692409e+02] [-7.41281134e-03 1.03178833e-04 -9.99972519e-01 6.71692366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.56, Y:170.57, Z:6.72 [[ 4.74795741e-01 -8.80088490e-01 -3.64058667e-03 1.59562184e+02] [-8.80064186e-01 -4.74809688e-01 6.54132988e-03 1.70570827e+02] [-7.48553496e-03 9.81543755e-05 -9.99971978e-01 6.71684374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.680385723 meters Centerline goodness [0,1] 0.9999549021376387 Centerline is valid? [True, True] Translation: X:159.60, Y:170.45, Z:6.72 [[ 5.41740584e-01 -8.40536493e-01 -3.94258648e-03 1.59600428e+02] [-8.40515419e-01 -5.41754922e-01 5.95270180e-03 1.70452113e+02] [-7.13937873e-03 8.89845816e-05 -9.99974510e-01 6.71693804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.64, Y:170.34, Z:6.72 [[ 6.06205253e-01 -7.95296907e-01 -4.24504170e-03 1.59642109e+02] [-7.95278250e-01 -6.06220112e-01 5.44802873e-03 1.70339857e+02] [-6.90623005e-03 7.33656946e-05 -9.99976149e-01 6.71593018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.70, Y:170.22, Z:6.72 [[ 6.66116664e-01 -7.45832707e-01 -4.70776321e-03 1.59700538e+02] [-7.45814783e-01 -6.66133297e-01 5.17105439e-03 1.70224457e+02] [-6.99273932e-03 6.65938925e-05 -9.99975548e-01 6.71710973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.74, Y:170.14, Z:6.72 [[ 7.21770221e-01 -6.92115920e-01 -4.82716525e-03 1.59744697e+02] [-6.92100984e-01 -7.21786360e-01 4.54735311e-03 1.70135145e+02] [-6.63147752e-03 5.87417646e-05 -9.99978010e-01 6.71631214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.74, Y:170.13, Z:6.72 [[ 7.74060250e-01 -6.33091640e-01 -5.06994017e-03 1.59737208e+02] [-6.33078516e-01 -7.74076852e-01 4.07678589e-03 1.70125757e+02] [-6.50550239e-03 5.39922972e-05 -9.99978838e-01 6.71611030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.73, Y:170.12, Z:6.72 [[ 8.21228118e-01 -5.70575512e-01 -5.28803410e-03 1.59730966e+02] [-5.70564095e-01 -8.21245142e-01 3.60982589e-03 1.70117200e+02] [-6.40245057e-03 5.26718734e-05 -9.99979503e-01 6.71575118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.72, Y:170.11, Z:6.71 [[ 8.63007832e-01 -5.05164661e-01 -5.11340516e-03 1.59724966e+02] [-5.05156161e-01 -8.63022979e-01 2.93097350e-03 1.70109136e+02] [-5.89361038e-03 5.36150316e-05 -9.99982631e-01 6.71483631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.72, Y:170.10, Z:6.72 [[ 8.99487319e-01 -4.36912168e-01 -5.50644123e-03 1.59719689e+02] [-4.36904386e-01 -8.99504171e-01 2.60839230e-03 1.70100291e+02] [-6.09270519e-03 5.95725319e-05 -9.99981438e-01 6.71544617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.920385723 meters Centerline goodness [0,1] 0.9998880329630957 Centerline is valid? [True, True] Translation: X:159.71, Y:170.09, Z:6.72 [[ 9.30706833e-01 -3.65696923e-01 -7.10991729e-03 1.59714422e+02] [-3.65686853e-01 -9.30733987e-01 2.71482880e-03 1.70092043e+02] [-7.61024621e-03 7.32935600e-05 -9.99971039e-01 6.71730468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.71, Y:170.08, Z:6.72 [[ 9.56346227e-01 -2.92127545e-01 -7.96190321e-03 1.59710609e+02] [-2.92118123e-01 -9.56379366e-01 2.34763188e-03 1.70081578e+02] [-8.30040788e-03 8.06673348e-05 -9.99965548e-01 6.71725340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.71, Y:170.07, Z:6.72 [[ 9.76182373e-01 -2.16786078e-01 -8.47183087e-03 1.59707688e+02] [-2.16778679e-01 -9.76219130e-01 1.79307319e-03 1.70072059e+02] [-8.65907666e-03 8.61458680e-05 -9.99962506e-01 6.71798864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.70, Y:170.06, Z:6.72 [[ 9.90042235e-01 -1.40495336e-01 -8.79962027e-03 1.59700333e+02] [-1.40490641e-01 -9.90081336e-01 1.15248358e-03 1.70064779e+02] [-8.87425836e-03 9.52568720e-05 -9.99960618e-01 6.71809048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.70, Y:170.06, Z:6.72 [[ 9.97939413e-01 -6.35186019e-02 -9.07276464e-03 1.59695076e+02] [-6.35169406e-02 -9.97980649e-01 4.71423698e-04 1.70057336e+02] [-9.08438772e-03 1.05821965e-04 -9.99958731e-01 6.71834898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.69, Y:170.05, Z:6.72 [[ 9.99855158e-01 1.43878366e-02 -9.09133005e-03 1.59689457e+02] [ 1.43862462e-02 -9.99896484e-01 -2.40315683e-04 1.70050737e+02] [-9.09384657e-03 1.09490763e-04 -9.99958644e-01 6.71850567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.69, Y:170.04, Z:6.72 [[ 9.95734623e-01 9.18218041e-02 -9.01762182e-03 1.59685487e+02] [ 9.18169818e-02 -9.95775448e-01 -9.48193534e-04 1.70041779e+02] [-9.06659125e-03 1.16178312e-04 -9.99958891e-01 6.71770786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.68, Y:170.03, Z:6.72 [[ 9.85621026e-01 1.68792389e-01 -7.76681241e-03 1.59682441e+02] [ 1.68786273e-01 -9.85651621e-01 -1.44102734e-03 1.70029799e+02] [-7.89860569e-03 1.09375528e-04 -9.99968800e-01 6.71579387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.68, Y:170.02, Z:6.72 [[ 9.69612096e-01 2.44536220e-01 -7.37705381e-03 1.59678760e+02] [ 2.44528253e-01 -9.69640152e-01 -1.97712445e-03 1.70019346e+02] [-7.63656611e-03 1.13145703e-04 -9.99970835e-01 6.71605273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.68, Y:170.01, Z:6.72 [[ 9.47755551e-01 3.18918168e-01 -7.11460969e-03 1.59677380e+02] [ 3.18908242e-01 -9.47782247e-01 -2.51886949e-03 1.70008505e+02] [-7.54641401e-03 1.18364875e-04 -9.99971518e-01 6.71599820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.220385723 meters Centerline goodness [0,1] 0.9999553581393272 Centerline is valid? [True, True] Translation: X:159.68, Y:170.00, Z:6.72 [[ 9.20289195e-01 3.91172531e-01 -7.20058218e-03 1.59675999e+02] [ 3.91159439e-01 -9.20317355e-01 -3.20295687e-03 1.69997438e+02] [-7.87972949e-03 1.31070912e-04 -9.99968946e-01 6.71706845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.68, Y:169.99, Z:6.72 [[ 8.86969523e-01 4.61774066e-01 -7.05532665e-03 1.59677348e+02] [ 4.61758239e-01 -8.86997573e-01 -3.82552411e-03 1.69985920e+02] [-8.02458544e-03 1.35268085e-04 -9.99967793e-01 6.71673804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.68, Y:169.97, Z:6.72 [[ 8.48244852e-01 5.29560631e-01 -6.79767735e-03 1.59679701e+02] [ 5.29542312e-01 -8.48272078e-01 -4.40695904e-03 1.69974401e+02] [-8.10003191e-03 1.38522538e-04 -9.99967185e-01 6.71665434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.68, Y:169.96, Z:6.72 [[ 8.04288668e-01 5.94206080e-01 -6.23477577e-03 1.59680978e+02] [ 5.94186907e-01 -8.04312822e-01 -4.77527913e-03 1.69963970e+02] [-7.85220999e-03 1.36080754e-04 -9.99969162e-01 6.71648561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.68, Y:169.95, Z:6.72 [[ 7.55495998e-01 6.55127852e-01 -5.77014288e-03 1.59683289e+02] [ 6.55107349e-01 -7.55518021e-01 -5.18471381e-03 1.69954413e+02] [-7.75609735e-03 1.36967526e-04 -9.99969912e-01 6.71582174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.37038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.69, Y:169.94, Z:6.72 [[ 7.02038565e-01 7.12122981e-01 -4.76584784e-03 1.59685841e+02] [ 7.12105346e-01 -7.02054730e-01 -5.01316850e-03 1.69944611e+02] [-6.91587851e-03 1.25651892e-04 -9.99976077e-01 6.71592686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.69, Y:169.94, Z:6.72 [[ 6.44119787e-01 7.64913930e-01 -4.04727151e-03 1.59688125e+02] [ 7.64897668e-01 -6.44132492e-01 -4.98905577e-03 1.69937143e+02] [-6.42317734e-03 1.17800997e-04 -9.99979364e-01 6.71540870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.69, Y:169.93, Z:6.72 [[ 5.81363967e-01 8.13635232e-01 -3.69408121e-03 1.59693932e+02] [ 8.13617567e-01 -5.81375693e-01 -5.36266270e-03 1.69928077e+02] [-6.51090034e-03 1.12089491e-04 -9.99978798e-01 6.71505581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.70, Y:169.92, Z:6.72 [[ 5.15088607e-01 8.57129383e-01 -3.59832225e-03 1.59699055e+02] [ 8.57106887e-01 -5.15101163e-01 -6.21102885e-03 1.69919993e+02] [-7.17715530e-03 1.15083419e-04 -9.99974237e-01 6.71553868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.71, Y:169.91, Z:6.72 [[ 4.45559160e-01 8.95246786e-01 -3.19791223e-03 1.59706755e+02] [ 8.95221908e-01 -4.45570622e-01 -6.67506312e-03 1.69911960e+02] [-7.40072455e-03 1.11294431e-04 -9.99972608e-01 6.71582053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.72, Y:169.90, Z:6.72 [[ 3.72689095e-01 9.27951971e-01 -2.82450390e-03 1.59715136e+02] [ 9.27923146e-01 -3.72699783e-01 -7.31479282e-03 1.69903670e+02] [-7.84046841e-03 1.05220969e-04 -9.99969258e-01 6.71621148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.73, Y:169.90, Z:6.72 [[ 2.97283332e-01 9.54787171e-01 -2.01944070e-03 1.59725633e+02] [ 9.54763166e-01 -2.97290179e-01 -6.77103042e-03 1.69896876e+02] [-7.06525287e-03 8.48268898e-05 -9.99975037e-01 6.71500323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.580385723 meters Centerline goodness [0,1] 0.9999782990820512 Centerline is valid? [True, True] Translation: X:159.74, Y:169.89, Z:6.71 [[ 2.20648752e-01 9.75352291e-01 -1.42727383e-03 1.59736982e+02] [ 9.75329611e-01 -2.20653355e-01 -6.65189388e-03 1.69891319e+02] [-6.80287270e-03 7.56696505e-05 -9.99976857e-01 6.71436297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.75, Y:169.89, Z:6.71 [[ 1.41425493e-01 9.89948556e-01 -8.28460477e-04 1.59750101e+02] [ 9.89929120e-01 -1.41427908e-01 -6.20358656e-03 1.69885540e+02] [-6.25839899e-03 5.72281382e-05 -9.99980414e-01 6.71463844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.76, Y:169.88, Z:6.71 [[ 6.25489366e-02 9.98041833e-01 -3.59770612e-04 1.59762554e+02] [ 9.98020050e-01 -6.25499485e-02 -6.59427709e-03 1.69882451e+02] [-6.60386803e-03 5.34067361e-05 -9.99978193e-01 6.71417973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.670385723 meters Centerline goodness [0,1] 0.9999566216978267 Centerline is valid? [True, True] Translation: X:159.78, Y:169.88, Z:6.71 [[-1.67382152e-02 9.99859892e-01 1.67036634e-04 1.59777205e+02] [ 9.99835131e-01 1.67389762e-02 -7.03692093e-03 1.69880572e+02] [-7.03873102e-03 4.92235981e-05 -9.99975227e-01 6.71434505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.700385723 meters Centerline goodness [0,1] 0.9999784496692025 Centerline is valid? [True, True] Translation: X:159.79, Y:169.88, Z:6.72 [[-9.57347930e-02 9.95406559e-01 7.95255659e-04 1.59794256e+02] [ 9.95376168e-01 9.57380845e-02 -7.77836016e-03 1.69879408e+02] [-7.81876697e-03 4.69188301e-05 -9.99969432e-01 6.71538773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.81, Y:169.88, Z:6.72 [[-1.73306822e-01 9.84866939e-01 1.36315584e-03 1.59806953e+02] [ 9.84838569e-01 1.73312176e-01 -7.47547106e-03 1.69880163e+02] [-7.59859581e-03 4.69383164e-05 -9.99971129e-01 6.71566261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.82, Y:169.88, Z:6.72 [[-2.48610577e-01 9.68601879e-01 1.78345261e-03 1.59820056e+02] [ 9.68578491e-01 2.48616968e-01 -6.73121497e-03 1.69880762e+02] [-6.96326405e-03 5.39626004e-05 -9.99975755e-01 6.71501063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.83, Y:169.88, Z:6.71 [[-3.21467888e-01 9.46918371e-01 1.99893018e-03 1.59832525e+02] [ 9.46901270e-01 3.21474097e-01 -5.69122554e-03 1.69883595e+02] [-6.03173030e-03 6.32432724e-05 -9.99981807e-01 6.71363700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.820385723 meters Centerline goodness [0,1] 0.9999786306521925 Centerline is valid? [True, True] Translation: X:159.85, Y:169.89, Z:6.71 [[-3.94199905e-01 9.19021690e-01 2.35959518e-03 1.59845254e+02] [ 9.19006194e-01 3.94206962e-01 -5.33732310e-03 1.69888054e+02] [-5.83528455e-03 6.45103269e-05 -9.99982973e-01 6.71366344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.86, Y:169.89, Z:6.71 [[-4.63854608e-01 8.85905645e-01 3.17652412e-03 1.59859025e+02] [ 8.85886037e-01 4.63865478e-01 -5.89467209e-03 1.69893432e+02] [-6.69560316e-03 7.97675445e-05 -9.99977581e-01 6.71494866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.880385723 meters Centerline goodness [0,1] 0.9999786634804131 Centerline is valid? [True, True] Translation: X:159.87, Y:169.90, Z:6.72 [[-5.30986646e-01 8.47371590e-01 3.81713998e-03 1.59867602e+02] [ 8.47350899e-01 5.31000359e-01 -5.92220384e-03 1.69899460e+02] [-7.04520998e-03 8.98458421e-05 -9.99975178e-01 6.71526439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.88, Y:169.90, Z:6.72 [[-5.93675140e-01 8.04691526e-01 4.62347021e-03 1.59876743e+02] [ 8.04668623e-01 5.93693132e-01 -6.07217465e-03 1.69904866e+02] [-7.63115000e-03 1.15462270e-04 -9.99970876e-01 6.71565383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.88, Y:169.91, Z:6.72 [[-6.53564535e-01 7.56853612e-01 5.09990709e-03 1.59882311e+02] [ 7.56832092e-01 6.53584420e-01 -5.70890415e-03 1.69909989e+02] [-7.65402454e-03 1.28636062e-04 -9.99970699e-01 6.71568498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.970385723 meters Centerline goodness [0,1] 0.9999575407608695 Centerline is valid? [True, True] Translation: X:159.89, Y:169.92, Z:6.72 [[-7.09500940e-01 7.04681192e-01 5.73000567e-03 1.59886682e+02] [ 7.04659874e-01 7.09524063e-01 -5.48329627e-03 1.69915961e+02] [-7.92955265e-03 1.47301216e-04 -9.99968550e-01 6.71655773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.91, Y:169.94, Z:6.72 [[-7.55838598e-01 6.54725230e-01 6.54886296e-03 1.59906179e+02] [ 6.54702679e-01 7.55866947e-01 -5.43694990e-03 1.69941725e+02] [-8.50977732e-03 1.78101537e-04 -9.99963775e-01 6.71616175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.92, Y:169.97, Z:6.72 [[-7.99755052e-01 6.00281636e-01 7.33587649e-03 1.59922882e+02] [ 6.00258614e-01 7.99788672e-01 -5.26091723e-03 1.69968531e+02] [-9.02518292e-03 1.95977920e-04 -9.99959253e-01 6.71693774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.94, Y:170.00, Z:6.72 [[-8.40045832e-01 5.42458867e-01 7.83442461e-03 1.59941106e+02] [ 5.42437519e-01 8.40082339e-01 -4.81681222e-03 1.69997101e+02] [-9.19448425e-03 2.03342820e-04 -9.99957709e-01 6.71691440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.95, Y:170.03, Z:6.72 [[-8.76505094e-01 4.81326166e-01 7.99642291e-03 1.59951328e+02] [ 4.81308176e-01 8.76541547e-01 -4.16610547e-03 1.70027442e+02] [-9.01445248e-03 1.97131061e-04 -9.99959350e-01 6.71659612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.23, Y:170.55, Z:5.75 [[-8.62945084e-01 -5.05241429e-01 7.54189774e-03 1.60227501e+02] [ 5.05220057e-01 -8.62978016e-01 -4.65157284e-03 1.70552120e+02] [ 8.85865926e-03 -2.03733909e-04 9.99960741e-01 5.74733679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.91, Y:170.06, Z:6.72 [[-8.78790806e-01 4.77150656e-01 7.34655007e-03 1.59914908e+02] [ 4.77135620e-01 8.78821496e-01 -3.79191800e-03 1.70056959e+02] [-8.26562228e-03 1.72998044e-04 -9.99965824e-01 6.71505894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.18, Y:170.57, Z:5.75 [[-8.63663656e-01 -5.04006640e-01 7.89914443e-03 1.60176391e+02] [ 5.03984176e-01 -8.63699768e-01 -4.76035134e-03 1.70565246e+02] [ 9.22173790e-03 -1.30298651e-04 9.99957470e-01 5.74930265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.87, Y:170.08, Z:6.72 [[-8.81715804e-01 4.71695625e-01 8.97098997e-03 1.59872381e+02] [ 4.71673295e-01 8.81761422e-01 -4.59326126e-03 1.70080937e+02] [-1.00768941e-02 1.81425354e-04 -9.99949210e-01 6.71785069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.13, Y:170.58, Z:5.75 [[-8.63754085e-01 -5.03815038e-01 9.96434786e-03 1.60126657e+02] [ 5.03780069e-01 -8.63811551e-01 -5.93689343e-03 1.70583720e+02] [ 1.15984150e-02 -1.08176102e-04 9.99932730e-01 5.74805742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.270385723 meters Centerline goodness [0,1] 0.9999162057985588 Centerline is valid? [True, True] Translation: X:159.83, Y:170.11, Z:6.72 [[-8.84908429e-01 4.65661350e-01 9.82747940e-03 1.59833158e+02] [ 4.65634665e-01 8.84962983e-01 -4.98773701e-03 1.70113232e+02] [-1.10195518e-02 1.62324557e-04 -9.99939270e-01 6.71687287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.84, Y:170.15, Z:6.71 [[-9.16673717e-01 3.99543539e-01 8.61726479e-03 1.59839984e+02] [ 3.99527088e-01 9.16714212e-01 -3.62764090e-03 1.70146533e+02] [-9.34896958e-03 1.17467643e-04 -9.99956291e-01 6.71392319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.84, Y:170.18, Z:6.71 [[-9.43354827e-01 3.31693704e-01 7.80757375e-03 1.59843765e+02] [ 3.31683126e-01 9.43387131e-01 -2.65042423e-03 1.70180545e+02] [-8.24469363e-03 8.93499792e-05 -9.99966008e-01 6.71261766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.84, Y:170.21, Z:6.71 [[-9.64601442e-01 2.63593403e-01 7.91052333e-03 1.59844716e+02] [ 2.63585269e-01 9.64633874e-01 -2.07251473e-03 1.70212571e+02] [-8.17705997e-03 8.59467183e-05 -9.99966564e-01 6.71217533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.97, Y:170.73, Z:5.75 [[-9.50418050e-01 -3.10851373e-01 8.77236330e-03 1.59972677e+02] [ 3.10837860e-01 -9.50458533e-01 -2.89863578e-03 1.70726590e+02] [ 9.23881246e-03 -2.81331364e-05 9.99957321e-01 5.75104167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.80, Y:170.23, Z:6.71 [[-9.65253151e-01 2.61170673e-01 8.73117415e-03 1.59795478e+02] [ 2.61160971e-01 9.65292634e-01 -2.25351968e-03 1.70225483e+02] [-9.01669134e-03 1.05024952e-04 -9.99959343e-01 6.71321060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.450385723 meters Centerline goodness [0,1] 0.9999582193068584 Centerline is valid? [True, True] Translation: X:159.93, Y:170.73, Z:5.75 [[-9.52843735e-01 -3.03335333e-01 8.74600531e-03 1.59929506e+02] [ 3.03321636e-01 -9.52883869e-01 -2.88413819e-03 1.70734627e+02] [ 9.20878839e-03 -9.52803706e-05 9.99957594e-01 5.75109773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.480385723 meters Centerline goodness [0,1] 0.9999582193068584 Centerline is valid? [True, True] Translation: X:159.75, Y:170.24, Z:6.71 [[-9.65355710e-01 2.60797959e-01 8.53099829e-03 1.59751206e+02] [ 2.60788989e-01 9.65393395e-01 -2.16707782e-03 1.70237696e+02] [-8.80093888e-03 1.32789472e-04 -9.99961262e-01 6.71281985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.88, Y:170.75, Z:5.75 [[-9.54611919e-01 -2.97730618e-01 8.51837453e-03 1.59877082e+02] [ 2.97717594e-01 -9.54649917e-01 -2.78756831e-03 1.70747430e+02] [ 8.96200997e-03 -1.24975962e-04 9.99959833e-01 5.75172066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.70, Y:170.25, Z:6.71 [[-9.65302178e-01 2.61006192e-01 8.21422469e-03 1.59703108e+02] [ 2.60998173e-01 9.65337113e-01 -2.05247428e-03 1.70248849e+02] [-8.46520445e-03 1.62639741e-04 -9.99964156e-01 6.71189709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.70, Y:170.28, Z:6.71 [[-9.80759296e-01 1.95065595e-01 7.78573636e-03 1.59702194e+02] [ 1.95060897e-01 9.80790182e-01 -1.36566719e-03 1.70278077e+02] [-7.90256847e-03 1.79301929e-04 -9.99968758e-01 6.71149840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.70, Y:170.31, Z:6.71 [[-9.91765930e-01 1.27864026e-01 7.15054260e-03 1.59699342e+02] [ 1.27862053e-01 9.91791690e-01 -7.34283362e-04 1.70307315e+02] [-7.18573715e-03 1.86045832e-04 -9.99974165e-01 6.71086595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.75, Y:170.83, Z:5.75 [[-9.89201795e-01 -1.46345640e-01 7.92228560e-03 1.59749820e+02] [ 1.46339715e-01 -9.89233507e-01 -1.32559460e-03 1.70833922e+02] [ 8.03098536e-03 -1.51935545e-04 9.99967740e-01 5.75287953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.64, Y:170.31, Z:6.71 [[-9.92016007e-01 1.25829383e-01 8.43846722e-03 1.59643541e+02] [ 1.25826836e-01 9.92051869e-01 -8.34138265e-04 1.70312042e+02] [-8.47635628e-03 2.34307119e-04 -9.99964048e-01 6.71223777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.63, Y:170.34, Z:6.71 [[-9.98460161e-01 5.48111857e-02 8.54637757e-03 1.59632865e+02] [ 5.48111887e-02 9.98496710e-01 -2.34048286e-04 1.70343238e+02] [-8.54635834e-03 2.34749224e-04 -9.99963452e-01 6.71175370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.64, Y:170.87, Z:5.75 [[-9.97342904e-01 -7.22513671e-02 9.32054272e-03 1.59642492e+02] [ 7.22463287e-02 -9.97386435e-01 -8.76578412e-04 1.70868781e+02] [ 9.35951686e-03 -2.00874265e-04 9.99956179e-01 5.75222090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.57, Y:170.35, Z:6.71 [[-9.98863588e-01 4.68435122e-02 8.78738390e-03 1.59566306e+02] [ 4.68435298e-02 9.98902219e-01 -2.03929921e-04 1.70350262e+02] [-8.78729006e-03 2.07933906e-04 -9.99961369e-01 6.71158452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.57, Y:170.86, Z:5.75 [[-9.97104839e-01 -7.55661148e-02 8.46773905e-03 1.59573138e+02] [ 7.55615008e-02 -9.97140769e-01 -8.63958506e-04 1.70861742e+02] [ 8.50881382e-03 -2.21622136e-04 9.99963775e-01 5.75272984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.50, Y:170.36, Z:6.71 [[-9.99406627e-01 3.33314475e-02 8.68381664e-03 1.59502188e+02] [ 3.33312777e-02 9.99444345e-01 -1.64314848e-04 1.70358534e+02] [-8.68446828e-03 1.25225356e-04 -9.99962281e-01 6.71235496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.50, Y:170.85, Z:5.75 [[-9.96438592e-01 -8.37112431e-02 1.01271679e-02 1.59498146e+02] [ 8.37065691e-02 -9.96490053e-01 -8.85270479e-04 1.70854837e+02] [ 1.01657292e-02 -3.44071880e-05 9.99948327e-01 5.75173479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.43, Y:170.37, Z:6.71 [[-9.99819835e-01 1.62590451e-02 9.79490540e-03 1.59433185e+02] [ 1.62583861e-02 9.99867813e-01 -1.46900416e-04 1.70369228e+02] [-9.79599910e-03 1.23754049e-05 -9.99952018e-01 6.71215829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.43, Y:170.85, Z:5.75 [[-9.95792390e-01 -9.12356168e-02 8.57778603e-03 1.59431561e+02] [ 9.12313828e-02 -9.95829329e-01 -8.84412296e-04 1.70848743e+02] [ 8.62270081e-03 -9.81277530e-05 9.99962819e-01 5.75332490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.930385723 meters Centerline goodness [0,1] 0.9999792578457198 Centerline is valid? [True, True] Translation: X:159.37, Y:170.38, Z:6.71 [[-9.99970198e-01 2.10834860e-03 7.42685439e-03 1.59370071e+02] [ 2.10783149e-03 9.99997776e-01 -7.74539411e-05 1.70378134e+02] [-7.42700117e-03 -6.17970753e-05 -9.99972418e-01 6.71195901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.35, Y:170.41, Z:6.71 [[-9.97323173e-01 -7.27989045e-02 6.84166679e-03 1.59352729e+02] [-7.27977565e-02 9.97346636e-01 4.17003925e-04 1.70406694e+02] [-6.85387078e-03 -8.21703150e-05 -9.99976509e-01 6.71006268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.32, Y:170.87, Z:5.75 [[-9.99681933e-01 -2.42549552e-02 6.90866845e-03 1.59318515e+02] [ 2.42549749e-02 -9.99705802e-01 -8.09494266e-05 1.70872651e+02] [ 6.90859936e-03 8.66459008e-05 9.99976132e-01 5.75448338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.29, Y:170.40, Z:6.71 [[-9.96794674e-01 -7.97716405e-02 6.07157482e-03 1.59289838e+02] [-7.97706937e-02 9.96813161e-01 3.98332163e-04 1.70400949e+02] [-6.08400130e-03 -8.72783569e-05 -9.99981489e-01 6.70876125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.050385723 meters Centerline goodness [0,1] 0.9999164543214002 Centerline is valid? [True, True] Translation: X:159.26, Y:170.87, Z:5.75 [[-9.99748010e-01 -2.13119546e-02 7.05109386e-03 1.59255351e+02] [ 2.13126070e-02 -9.99772861e-01 1.73919741e-05 1.70872008e+02] [ 7.04912162e-03 1.67664784e-04 9.99975141e-01 5.75356237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.080385723 meters Centerline goodness [0,1] 0.9999790886848874 Centerline is valid? [True, True] Translation: X:159.23, Y:170.40, Z:6.71 [[-9.96399213e-01 -8.46104638e-02 5.44774179e-03 1.59228859e+02] [-8.46096375e-02 9.96414102e-01 3.82378472e-04 1.70395260e+02] [-5.46055997e-03 -7.99298503e-05 -9.99985088e-01 6.70870882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.21, Y:170.42, Z:6.71 [[-9.87816059e-01 -1.55525987e-01 5.57679589e-03 1.59210319e+02] [-1.55523988e-01 9.87831798e-01 7.92959731e-04 1.70420142e+02] [-5.63226215e-03 -8.40271803e-05 -9.99984135e-01 6.70897540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.19, Y:170.44, Z:6.71 [[-9.74417457e-01 -2.24636563e-01 7.00245602e-03 1.59185203e+02] [-2.24631528e-01 9.74442612e-01 1.50752600e-03 1.70440703e+02] [-7.16213699e-03 -1.04012751e-04 -9.99974346e-01 6.70989892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.16, Y:170.46, Z:6.71 [[-9.56031990e-01 -2.93164712e-01 7.56875805e-03 1.59158436e+02] [-2.93156429e-01 9.56061944e-01 2.20643942e-03 1.70461141e+02] [-7.88305171e-03 -1.09403409e-04 -9.99968922e-01 6.71041583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.12, Y:170.47, Z:6.71 [[-9.33186484e-01 -3.59290624e-01 8.55766827e-03 1.59123763e+02] [-3.59276588e-01 9.33225715e-01 3.17771274e-03 1.70472164e+02] [-9.12795848e-03 -1.09171279e-04 -9.99958333e-01 6.70980463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.07, Y:170.48, Z:6.71 [[-9.05113710e-01 -4.25086603e-01 8.39959096e-03 1.59069948e+02] [-4.25069316e-01 9.05152678e-01 3.83487771e-03 1.70478214e+02] [-9.23306739e-03 -9.94079950e-05 -9.99957369e-01 6.71016687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.01, Y:170.47, Z:6.71 [[-8.72975123e-01 -4.87698077e-01 8.06351932e-03 1.59010005e+02] [-4.87678031e-01 8.73012360e-01 4.42237131e-03 1.70473680e+02] [-9.19633401e-03 -7.17810886e-05 -9.99957710e-01 6.71035796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.94, Y:170.46, Z:6.71 [[-8.35417189e-01 -5.49566319e-01 7.41493932e-03 1.58938410e+02] [-5.49545263e-01 8.35450093e-01 4.81102282e-03 1.70461301e+02] [-8.83878784e-03 -5.56336168e-05 -9.99960936e-01 6.71061819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.86, Y:170.44, Z:6.71 [[-7.93921582e-01 -6.07983529e-01 6.67465365e-03 1.58863703e+02] [-6.07962359e-01 7.93949638e-01 5.07370745e-03 1.70435549e+02] [-8.38406941e-03 -2.98123368e-05 -9.99964853e-01 6.70984625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.78, Y:170.40, Z:6.71 [[-7.46993702e-01 -6.64798984e-01 6.53608020e-03 1.58784812e+02] [-6.64773814e-01 7.47022296e-01 5.78489784e-03 1.70403765e+02] [-8.72839184e-03 -2.37327081e-05 -9.99961907e-01 6.70936296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.70, Y:170.36, Z:6.71 [[-6.95751914e-01 -7.18254344e-01 6.32233895e-03 1.58703196e+02] [-7.18224908e-01 6.95780639e-01 6.50266204e-03 1.70358094e+02] [-9.06952629e-03 -1.66217456e-05 -9.99958871e-01 6.70993795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.62, Y:170.31, Z:6.71 [[-6.39897871e-01 -7.68436081e-01 6.05846656e-03 1.58619824e+02] [-7.68401883e-01 6.39926550e-01 7.24954161e-03 1.70306373e+02] [-9.44778294e-03 -1.63708765e-05 -9.99955369e-01 6.71095812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.54, Y:170.24, Z:6.71 [[-5.79977240e-01 -8.14611485e-01 5.87617766e-03 1.58538174e+02] [-8.14570029e-01 5.80007006e-01 8.21834089e-03 1.70240569e+02] [-1.01029791e-02 -2.01075403e-05 -9.99948963e-01 6.71020530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.470385723 meters Centerline goodness [0,1] 0.9999788332909999 Centerline is valid? [True, True] Translation: X:158.46, Y:170.17, Z:6.71 [[-5.16497738e-01 -8.56273758e-01 5.03378276e-03 1.58458055e+02] [-8.56233481e-01 5.16522266e-01 8.30513060e-03 1.70168386e+02] [-9.71152627e-03 -2.05121668e-05 -9.99952842e-01 6.71063492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.39, Y:170.09, Z:6.71 [[-4.50533775e-01 -8.92749785e-01 4.13994155e-03 1.58385040e+02] [-8.92712359e-01 4.50552795e-01 8.17457049e-03 1.70087034e+02] [-9.16310828e-03 -1.28568850e-05 -9.99958018e-01 6.70940389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.530385723 meters Centerline goodness [0,1] 0.9999575326467778 Centerline is valid? [True, True] Translation: X:158.31, Y:170.00, Z:6.71 [[-3.81933529e-01 -9.24183208e-01 3.48957288e-03 1.58314767e+02] [-9.24144800e-01 3.81949470e-01 8.42564318e-03 1.69998298e+02] [-9.11967846e-03 -6.83500058e-06 -9.99958415e-01 6.70977174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.25, Y:169.90, Z:6.71 [[-3.11697526e-01 -9.50178025e-01 2.52451385e-03 1.58253056e+02] [-9.50146694e-01 3.11707749e-01 7.71615081e-03 1.69901741e+02] [-8.11862746e-03 6.44662603e-06 -9.99967043e-01 6.70950537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.20, Y:169.80, Z:6.71 [[-2.38861997e-01 -9.71051739e-01 1.86167560e-03 1.58196069e+02] [-9.71021867e-01 2.38869252e-01 7.61673743e-03 1.69799781e+02] [-7.84094319e-03 1.16214022e-05 -9.99969259e-01 6.70899897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.62038572299997 meters Centerline goodness [0,1] 0.9999571908645305 Centerline is valid? [True, True] Translation: X:158.15, Y:169.69, Z:6.71 [[-1.65134710e-01 -9.86270194e-01 1.27779245e-03 1.58149094e+02] [-9.86239661e-01 1.65139653e-01 7.76060057e-03 1.69690928e+02] [-7.86506323e-03 2.13349310e-05 -9.99969070e-01 6.70871741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.11, Y:169.57, Z:6.71 [[-8.97491371e-02 -9.95964198e-01 6.39324763e-04 1.58106848e+02] [-9.95936899e-01 8.97514107e-02 7.37412512e-03 1.69572792e+02] [-7.40174491e-03 2.50942445e-05 -9.99972606e-01 6.70710028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.08, Y:169.46, Z:6.71 [[-1.27231419e-02 -9.99919056e-01 5.39240611e-05 1.58075022e+02] [-9.99902169e-01 1.27232404e-02 5.81131965e-03 1.69458583e+02] [-5.81153535e-03 2.00194586e-05 -9.99983113e-01 6.70676529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.710385723 meters Centerline goodness [0,1] 0.999914262442663 Centerline is valid? [True, True] Translation: X:158.05, Y:169.34, Z:6.71 [[ 6.44775094e-02 -9.97919092e-01 -3.70379942e-04 1.58049774e+02] [-9.97904004e-01 -6.44785713e-02 5.48747699e-03 1.69341019e+02] [-5.49993962e-03 1.57847776e-05 -9.99984875e-01 6.70509144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.04, Y:169.22, Z:6.71 [[ 1.42550473e-01 -9.89787268e-01 -7.25477033e-04 1.58035740e+02] [-9.89774689e-01 -1.42552319e-01 4.99023718e-03 1.69216597e+02] [-5.04269166e-03 6.69813589e-06 -9.99987286e-01 6.70604653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.03, Y:169.09, Z:6.71 [[ 2.18656396e-01 -9.75801390e-01 -1.01356022e-03 1.58030361e+02] [-9.75790991e-01 -2.18658745e-01 4.50509708e-03 1.69089923e+02] [-4.61770380e-03 3.95463761e-06 -9.99989338e-01 6.70580776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.03, Y:168.98, Z:6.70 [[ 2.93995216e-01 -9.55805717e-01 -1.49801124e-03 1.58032546e+02] [-9.55793210e-01 -2.93999032e-01 4.88962686e-03 1.68977553e+02] [-5.11394716e-03 -5.73792909e-06 -9.99986924e-01 6.70474117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.830385723 meters Centerline goodness [0,1] 0.999892364325232 Centerline is valid? [True, True] Translation: X:158.04, Y:168.86, Z:6.71 [[ 3.66916920e-01 -9.30251999e-01 -1.78675950e-03 1.58043999e+02] [-9.30240868e-01 -3.66921270e-01 4.55063916e-03 1.68859507e+02] [-4.88884124e-03 -7.58979521e-06 -9.99988050e-01 6.70533731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.860385723 meters Centerline goodness [0,1] 0.9999785412330208 Centerline is valid? [True, True] Translation: X:158.07, Y:168.74, Z:6.71 [[ 4.36904142e-01 -8.99505126e-01 -2.30188444e-03 1.58067434e+02] [-8.99492536e-01 -4.36910205e-01 4.75929111e-03 1.68736757e+02] [-5.28672356e-03 -8.82612719e-06 -9.99986025e-01 6.70556183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.890385723 meters Centerline goodness [0,1] 0.9999136218363998 Centerline is valid? [True, True] Translation: X:158.10, Y:168.63, Z:6.71 [[ 5.03643727e-01 -8.63906492e-01 -2.92744311e-03 1.58098051e+02] [-8.63891828e-01 -5.03652235e-01 5.03338667e-03 1.68626142e+02] [-5.82278868e-03 -6.03944826e-06 -9.99983047e-01 6.70580435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.14, Y:168.52, Z:6.71 [[ 5.66919644e-01 -8.23764383e-01 -3.78929430e-03 1.58137391e+02] [-8.23745994e-01 -5.66932308e-01 5.50416042e-03 1.68517854e+02] [-6.68240467e-03 9.99339582e-07 -9.99977673e-01 6.70587108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.18, Y:168.41, Z:6.71 [[ 6.27540634e-01 -7.78568463e-01 -4.88893349e-03 1.58183809e+02] [-7.78544890e-01 -6.27559677e-01 6.05851851e-03 1.68411710e+02] [-7.78506896e-03 4.28764084e-06 -9.99969696e-01 6.70667569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.980385723 meters Centerline goodness [0,1] 0.9999566705663157 Centerline is valid? [True, True] Translation: X:158.23, Y:168.31, Z:6.71 [[ 6.84837595e-01 -7.28676851e-01 -5.24555749e-03 1.58234850e+02] [-7.28655543e-01 -6.84857684e-01 5.57246927e-03 1.68309653e+02] [-7.65298971e-03 5.96808853e-06 -9.99970715e-01 6.70698242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.010385723 meters Centerline goodness [0,1] 0.9999566949592933 Centerline is valid? [True, True] Translation: X:158.29, Y:168.22, Z:6.71 [[ 7.38235677e-01 -6.74520502e-01 -5.49347919e-03 1.58288156e+02] [-6.74501887e-01 -7.38256116e-01 5.01113689e-03 1.68216837e+02] [-7.43570918e-03 5.96204259e-06 -9.99972355e-01 6.70708541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.28, Y:168.21, Z:6.71 [[ 7.89025354e-01 -6.14334279e-01 -5.69070239e-03 1.58284419e+02] [-6.14318327e-01 -7.89045876e-01 4.42712068e-03 1.68205726e+02] [-7.20995724e-03 2.79230835e-06 -9.99974008e-01 6.70667525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.070385723 meters Centerline goodness [0,1] 0.9999566583595189 Centerline is valid? [True, True] Translation: X:158.28, Y:168.20, Z:6.71 [[ 8.34891142e-01 -5.50378295e-01 -6.36494812e-03 1.58280844e+02] [-5.50362286e-01 -8.34915404e-01 4.19784015e-03 1.68196645e+02] [-7.62459334e-03 -1.71215622e-06 -9.99970932e-01 6.70681750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.28, Y:168.19, Z:6.71 [[ 8.75320057e-01 -4.83496043e-01 -6.80990834e-03 1.58278975e+02] [-4.83481399e-01 -8.75346547e-01 3.76304465e-03 1.68186125e+02] [-7.78044694e-03 -1.40444679e-06 -9.99969732e-01 6.70603398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.130385723 meters Centerline goodness [0,1] 0.9999565217391304 Centerline is valid? [True, True] Translation: X:158.28, Y:168.18, Z:6.71 [[ 9.09846909e-01 -4.14883469e-01 -7.09283454e-03 1.58278076e+02] [-4.14870945e-01 -9.09874556e-01 3.22370003e-03 1.68177780e+02] [-7.79104953e-03 9.53746385e-06 -9.99969649e-01 6.70544605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.28, Y:168.17, Z:6.71 [[ 9.39210871e-01 -3.43257393e-01 -7.56984432e-03 1.58277088e+02] [-3.43246381e-01 -9.39241376e-01 2.74945554e-03 1.68167995e+02] [-8.05368193e-03 1.60031333e-05 -9.99967568e-01 6.70529998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.28, Y:168.16, Z:6.71 [[ 9.62536326e-01 -2.71036636e-01 -7.93495083e-03 1.58277119e+02] [-2.71027727e-01 -9.62569032e-01 2.19779540e-03 1.68159299e+02] [-8.23362101e-03 3.51337792e-05 -9.99966103e-01 6.70530954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.28, Y:168.15, Z:6.70 [[ 9.80568954e-01 -1.96028796e-01 -7.56559310e-03 1.58276969e+02] [-1.96023296e-01 -9.80598139e-01 1.46899702e-03 1.68147461e+02] [-7.70677223e-03 4.25796246e-05 -9.99970302e-01 6.70450000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.27, Y:168.14, Z:6.70 [[ 9.92839391e-01 -1.19243787e-01 -7.13178440e-03 1.58274006e+02] [-1.19241035e-01 -9.92865005e-01 8.11395618e-04 1.68136951e+02] [-7.17765304e-03 4.48158210e-05 -9.99974239e-01 6.70430210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.27, Y:168.13, Z:6.70 [[ 9.99114560e-01 -4.14553752e-02 -7.17962450e-03 1.58272542e+02] [-4.14546426e-02 -9.99140355e-01 2.50899613e-04 1.68126320e+02] [-7.18385371e-03 4.69513109e-05 -9.99974195e-01 6.70412796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.27, Y:168.12, Z:6.70 [[ 9.99291958e-01 3.69980350e-02 -6.83586768e-03 1.58271031e+02] [ 3.69968639e-02 -9.99315337e-01 -2.97746120e-04 1.68115250e+02] [-6.84220344e-03 4.46296372e-05 -9.99976591e-01 6.70368084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.340385723 meters Centerline goodness [0,1] 0.9999566602379353 Centerline is valid? [True, True] Translation: X:158.27, Y:168.10, Z:6.70 [[ 9.93332320e-01 1.15093323e-01 -6.66551672e-03 1.58269540e+02] [ 1.15090433e-01 -9.93354682e-01 -8.16901248e-04 1.68103670e+02] [-6.71524213e-03 4.43172071e-05 -9.99977452e-01 6.70411334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.37038572299997 meters Centerline goodness [0,1] 0.9999566602379353 Centerline is valid? [True, True] Translation: X:158.27, Y:168.09, Z:6.70 [[ 9.81267208e-01 1.92539212e-01 -6.58162815e-03 1.58269506e+02] [ 1.92534578e-01 -9.81289279e-01 -1.33650535e-03 1.68092200e+02] [-6.71581084e-03 4.42778702e-05 -9.99977448e-01 6.70411851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.27, Y:168.08, Z:6.70 [[ 9.63079422e-01 2.69125247e-01 -7.04477590e-03 1.58271165e+02] [ 2.69117709e-01 -9.63105186e-01 -2.01471623e-03 1.68079915e+02] [-7.32707121e-03 4.44577916e-05 -9.99973156e-01 6.70406818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.27, Y:168.07, Z:6.70 [[ 9.38901811e-01 3.44115255e-01 -6.93406531e-03 1.58273948e+02] [ 3.44105547e-01 -9.38927414e-01 -2.58520858e-03 1.68066636e+02] [-7.40019372e-03 4.12066792e-05 -9.99972617e-01 6.70418316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.28, Y:168.05, Z:6.70 [[ 9.08875241e-01 4.17011108e-01 -6.89437005e-03 1.58277062e+02] [ 4.16998794e-01 -9.08901389e-01 -3.20489980e-03 1.68054200e+02] [-7.60278133e-03 3.79100822e-05 -9.99971098e-01 6.70435000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.28, Y:168.04, Z:6.71 [[ 8.72704340e-01 4.88189718e-01 -7.61150454e-03 1.58281601e+02] [ 4.88170865e-01 -8.72737531e-01 -4.29043811e-03 1.68042839e+02] [-8.73739346e-03 2.85691994e-05 -9.99961828e-01 6.70526498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.520385723 meters Centerline goodness [0,1] 0.99997820828521 Centerline is valid? [True, True] Translation: X:158.29, Y:168.03, Z:6.71 [[ 8.31620749e-01 5.55289953e-01 -7.74589532e-03 1.58285583e+02] [ 5.55265569e-01 -8.31656821e-01 -5.20390696e-03 1.68032840e+02] [-9.33160393e-03 2.66480316e-05 -9.99956459e-01 6.70599255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.29, Y:168.02, Z:6.71 [[ 7.85682077e-01 6.18585887e-01 -7.42788250e-03 1.58288717e+02] [ 6.18557906e-01 -7.85717188e-01 -5.88373044e-03 1.68024976e+02] [-9.47580756e-03 2.81661101e-05 -9.99955103e-01 6.70699009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.580385723 meters Centerline goodness [0,1] 0.9999347641724835 Centerline is valid? [True, True] Translation: X:158.29, Y:168.02, Z:6.71 [[ 7.34861568e-01 6.78182170e-01 -6.88623859e-03 1.58294545e+02] [ 6.78152034e-01 -7.34893831e-01 -6.39342039e-03 1.68015818e+02] [-9.39655798e-03 2.83622281e-05 -9.99955851e-01 6.70570745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.30, Y:168.01, Z:6.71 [[ 6.79304192e-01 7.33828458e-01 -6.45054324e-03 1.58300044e+02] [ 7.33795014e-01 -6.79334817e-01 -7.00591584e-03 1.68006737e+02] [-9.52321903e-03 2.57715290e-05 -9.99954653e-01 6.70658870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.31, Y:168.00, Z:6.71 [[ 6.18839246e-01 7.85493999e-01 -6.09628424e-03 1.58307367e+02] [ 7.85455652e-01 -6.18869273e-01 -7.76157826e-03 1.67998143e+02] [-9.86947614e-03 1.48083305e-05 -9.99951295e-01 6.70719861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.670385723 meters Centerline goodness [0,1] 0.9999781987834921 Centerline is valid? [True, True] Translation: X:158.31, Y:167.99, Z:6.71 [[ 5.55200639e-01 8.31697520e-01 -5.61118939e-03 1.58313452e+02] [ 8.31654827e-01 -5.55228993e-01 -8.42694970e-03 1.67989836e+02] [-1.01241682e-02 1.20751185e-05 -9.99948749e-01 6.70776823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.700385723 meters Centerline goodness [0,1] 0.9999565009352299 Centerline is valid? [True, True] Translation: X:158.32, Y:167.98, Z:6.71 [[ 4.87625591e-01 8.73039612e-01 -4.80818561e-03 1.58320178e+02] [ 8.72997098e-01 -4.87649295e-01 -8.61578121e-03 1.67982931e+02] [-9.86662662e-03 3.74331602e-06 -9.99951324e-01 6.70646022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.33, Y:167.98, Z:6.71 [[ 4.17427043e-01 9.08701399e-01 -4.05371323e-03 1.58327968e+02] [ 9.08658542e-01 -4.17446725e-01 -8.82524236e-03 1.67976182e+02] [-9.71171938e-03 4.53658589e-07 -9.99952840e-01 6.70578938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.33, Y:167.97, Z:6.71 [[ 3.44346377e-01 9.38836715e-01 -3.34585332e-03 1.58334394e+02] [ 9.38792573e-01 -3.44362632e-01 -9.10396586e-03 1.67968808e+02] [-9.69932425e-03 -6.14459461e-06 -9.99952960e-01 6.70551296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.34, Y:167.96, Z:6.71 [[ 2.69511350e-01 9.62993400e-01 -2.71002720e-03 1.58342298e+02] [ 9.62945063e-01 -2.69524975e-01 -9.64855854e-03 1.67962948e+02] [-1.00219182e-02 -9.21127201e-06 -9.99949779e-01 6.70573429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.35, Y:167.96, Z:6.71 [[ 1.92752726e-01 9.81245269e-01 -2.02714116e-03 1.58348818e+02] [ 9.81191872e-01 -1.92763384e-01 -1.02366100e-02 1.67957342e+02] [-1.04353837e-02 -1.58799472e-05 -9.99945550e-01 6.70680608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.850385723 meters Centerline goodness [0,1] 0.9999562363238512 Centerline is valid? [True, True] Translation: X:158.36, Y:167.95, Z:6.71 [[ 1.15337636e-01 9.93325495e-01 -1.30006421e-03 1.58356353e+02] [ 9.93264134e-01 -1.15344962e-01 -1.10408446e-02 1.67952612e+02] [-1.11171083e-02 -1.78822334e-05 -9.99938203e-01 6.70721914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.880385723 meters Centerline goodness [0,1] 0.9999342955386671 Centerline is valid? [True, True] Translation: X:158.36, Y:167.95, Z:6.71 [[ 3.75770264e-02 9.99293635e-01 -4.46346155e-04 1.58361077e+02] [ 9.99227691e-01 -3.75796744e-02 -1.14799415e-02 1.67947029e+02] [-1.14886060e-02 -1.46193744e-05 -9.99934004e-01 6.70786094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.37, Y:167.94, Z:6.71 [[-3.97607533e-02 9.99209128e-01 4.47795523e-04 1.58368408e+02] [ 9.99145003e-01 3.97632747e-02 -1.13201342e-02 1.67942830e+02] [-1.13289872e-02 -2.68440320e-06 -9.99935825e-01 6.70719947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.37, Y:167.94, Z:6.71 [[-1.15973254e-01 9.93251635e-01 1.18111556e-03 1.58373682e+02] [ 9.93201776e-01 1.15979267e-01 -9.95194917e-03 1.67937615e+02] [-1.00217747e-02 1.89261459e-05 -9.99949781e-01 6.70669469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.970385723 meters Centerline goodness [0,1] 0.9999779934420457 Centerline is valid? [True, True] Translation: X:158.39, Y:167.93, Z:6.70 [[-1.92539589e-01 9.81287517e-01 1.82072326e-03 1.58385093e+02] [ 9.81244941e-01 1.92548196e-01 -9.14104977e-03 1.67934675e+02] [-9.32057501e-03 2.65615197e-05 -9.99956562e-01 6.70445226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.39, Y:167.93, Z:6.70 [[-2.67144120e-01 9.63654142e-01 2.17132584e-03 1.58394102e+02] [ 9.63623472e-01 2.67152941e-01 -7.68829957e-03 1.67932434e+02] [-7.98893781e-03 3.84565199e-05 -9.99968087e-01 6.70298442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.40, Y:167.93, Z:6.70 [[-3.41534571e-01 9.39865420e-01 2.67016727e-03 1.58404542e+02] [ 9.39837596e-01 3.41545007e-01 -7.23204052e-03 1.67930772e+02] [-7.70912710e-03 3.95317291e-05 -9.99970283e-01 6.70196481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.42, Y:167.93, Z:6.70 [[-4.14174775e-01 9.10191346e-01 3.31211894e-03 1.58415338e+02] [ 9.10163007e-01 4.14188016e-01 -7.18248686e-03 1.67928102e+02] [-7.90927735e-03 3.97632575e-05 -9.99968720e-01 6.70250035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.43, Y:167.93, Z:6.70 [[-4.84279715e-01 8.74904292e-01 3.95450117e-03 1.58426660e+02] [ 8.74875787e-01 4.84295859e-01 -7.06241586e-03 1.67928253e+02] [-8.09408648e-03 3.95125878e-05 -9.99967242e-01 6.70306729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.44, Y:167.93, Z:6.70 [[-5.52192803e-01 8.33702099e-01 4.89072204e-03 1.58437490e+02] [ 8.33669924e-01 5.52214460e-01 -7.32453800e-03 1.67928057e+02] [-8.80721013e-03 3.26907015e-05 -9.99961215e-01 6.70418334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.150385723 meters Centerline goodness [0,1] 0.999977847189916 Centerline is valid? [True, True] Translation: X:158.45, Y:167.93, Z:6.70 [[-6.16174202e-01 7.87588694e-01 5.77942073e-03 1.58447580e+02] [ 7.87554498e-01 6.16201305e-01 -7.33920743e-03 1.67928970e+02] [-9.34156339e-03 2.93785111e-05 -9.99956366e-01 6.70441215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.46, Y:167.93, Z:6.71 [[-6.76671944e-01 7.36253487e-01 6.77363469e-03 1.58456614e+02] [ 7.36216906e-01 6.76705846e-01 -7.33927352e-03 1.67927971e+02] [-9.98732391e-03 2.05838946e-05 -9.99950125e-01 6.70526936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.47, Y:167.93, Z:6.70 [[-7.32501007e-01 6.80724489e-01 7.51296758e-03 1.58466041e+02] [ 6.80688924e-01 7.32539535e-01 -6.95841363e-03 1.67930240e+02] [-1.02403083e-02 1.69488194e-05 -9.99947567e-01 6.70489653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.03, Y:168.49, Z:5.76 [[-6.85195065e-01 -7.28326097e-01 6.98708730e-03 1.59027269e+02] [ 7.28287960e-01 -6.85230688e-01 -7.45332624e-03 1.68488077e+02] [ 1.02162186e-02 -1.83707957e-05 9.99947813e-01 5.76148971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.01, Y:168.51, Z:5.76 [[-6.85289358e-01 -7.28240051e-01 6.70251887e-03 1.59010548e+02] [ 7.28205271e-01 -6.85322135e-01 -7.11727272e-03 1.68508215e+02] [ 9.77646759e-03 3.41830636e-06 9.99952209e-01 5.76116368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.99, Y:168.53, Z:5.76 [[-6.85307551e-01 -7.28222615e-01 6.73677590e-03 1.58992679e+02] [ 7.28187520e-01 -6.85340663e-01 -7.14928462e-03 1.68528840e+02] [ 9.82325720e-03 6.17739539e-06 9.99951751e-01 5.76161298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.98, Y:168.55, Z:5.76 [[-6.85132949e-01 -7.28387160e-01 6.70730485e-03 1.58975733e+02] [ 7.28352423e-01 -6.85165780e-01 -7.11347693e-03 1.68548548e+02] [ 9.77698101e-03 1.16043116e-05 9.99952204e-01 5.76199066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.96, Y:168.57, Z:5.76 [[-6.84552253e-01 -7.28939672e-01 5.93023711e-03 1.58958794e+02] [ 7.28912565e-01 -6.84577939e-01 -6.28640851e-03 1.68569307e+02] [ 8.64212205e-03 1.92492339e-05 9.99962656e-01 5.76307035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.94, Y:168.59, Z:5.76 [[-6.84457697e-01 -7.29031388e-01 5.55843099e-03 1.58940686e+02] [ 7.29007605e-01 -6.84480266e-01 -5.88875408e-03 1.68589065e+02] [ 8.09772288e-03 2.15354089e-05 9.99967213e-01 5.76353208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.92, Y:168.61, Z:5.76 [[-6.83768828e-01 -7.29678985e-01 5.36361244e-03 1.58922301e+02] [ 7.29656887e-01 -6.83789864e-01 -5.67883470e-03 1.68609406e+02] [ 7.81131015e-03 3.05866110e-05 9.99969491e-01 5.76329156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.90, Y:168.63, Z:5.76 [[-6.83629390e-01 -7.29810355e-01 5.26338834e-03 1.58904539e+02] [ 7.29789107e-01 -6.83649651e-01 -5.56909973e-03 1.68628105e+02] [ 7.66270025e-03 3.39632248e-05 9.99970641e-01 5.76228350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.89, Y:168.65, Z:5.76 [[-6.83029440e-01 -7.30369145e-01 5.62990088e-03 1.58886466e+02] [ 7.30344883e-01 -6.83052641e-01 -5.95329329e-03 1.68648557e+02] [ 8.19362040e-03 4.54947194e-05 9.99966431e-01 5.76205888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.87, Y:168.67, Z:5.76 [[-6.82869966e-01 -7.30512399e-01 6.34390022e-03 1.58868983e+02] [ 7.30481638e-01 -6.82899430e-01 -6.70414234e-03 1.68669815e+02] [ 9.22970495e-03 5.60451741e-05 9.99957404e-01 5.76146025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.85, Y:168.69, Z:5.76 [[-6.83024309e-01 -7.30362176e-01 6.99186362e-03 1.58850107e+02] [ 7.30324843e-01 -6.83060091e-01 -7.38477600e-03 1.68691240e+02] [ 1.01694241e-02 6.23501818e-05 9.99948288e-01 5.76076910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.83, Y:168.71, Z:5.76 [[-6.83208873e-01 -7.30180356e-01 7.89197418e-03 1.58831113e+02] [ 7.30132834e-01 -6.83254449e-01 -8.33082696e-03 1.68712139e+02] [ 1.14752327e-02 7.04945693e-05 9.99934155e-01 5.76010725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.81, Y:168.73, Z:5.76 [[-6.83971148e-01 -7.29456121e-01 8.78847348e-03 1.58814267e+02] [ 7.29397205e-01 -6.84027604e-01 -9.27110339e-03 1.68731799e+02] [ 1.27744216e-02 6.91207719e-05 9.99918401e-01 5.75823954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.80, Y:168.75, Z:5.76 [[-6.84377885e-01 -7.29071918e-01 9.00275500e-03 1.58795823e+02] [ 7.29010138e-01 -6.84437093e-01 -9.49127781e-03 1.68752552e+02] [ 1.30816436e-02 6.74790393e-05 9.99914429e-01 5.75804832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.78, Y:168.77, Z:5.76 [[-6.84643804e-01 -7.28820318e-01 9.15456009e-03 1.58778706e+02] [ 7.28756476e-01 -6.84705002e-01 -9.64670458e-03 1.68773054e+02] [ 1.32988874e-02 6.68884258e-05 9.99911564e-01 5.75745908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.76, Y:168.79, Z:5.76 [[-6.85574924e-01 -7.27951629e-01 8.57032484e-03 1.58761691e+02] [ 7.27895672e-01 -6.85628488e-01 -9.02585708e-03 1.68794387e+02] [ 1.24464462e-02 5.04010861e-05 9.99922539e-01 5.75953061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.74, Y:168.81, Z:5.76 [[-6.86166996e-01 -7.27398230e-01 8.16515294e-03 1.58743368e+02] [ 7.27347465e-01 -6.86215574e-01 -8.59372003e-03 1.68814769e+02] [ 1.18541118e-02 4.21762359e-05 9.99929737e-01 5.76061456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.73, Y:168.83, Z:5.76 [[-6.86718633e-01 -7.26884472e-01 7.51549691e-03 1.58725446e+02] [ 7.26841491e-01 -6.86759756e-01 -7.90470700e-03 1.68833829e+02] [ 1.09071496e-02 3.42653949e-05 9.99940515e-01 5.76143450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.71, Y:168.85, Z:5.76 [[-6.87288061e-01 -7.26349602e-01 7.16778354e-03 1.58706683e+02] [ 7.26310524e-01 -6.87325436e-01 -7.53439528e-03 1.68853740e+02] [ 1.03992050e-02 2.77366951e-05 9.99945926e-01 5.76200683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.69, Y:168.87, Z:5.76 [[-6.88331339e-01 -7.25366656e-01 6.57140081e-03 1.58688311e+02] [ 7.25333806e-01 -6.88362706e-01 -6.90325277e-03 1.68874026e+02] [ 9.53089662e-03 1.47339375e-05 9.99954580e-01 5.76362558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.67, Y:168.89, Z:5.76 [[-6.88804135e-01 -7.24918981e-01 6.42925204e-03 1.58668657e+02] [ 7.24887553e-01 -6.88834139e-01 -6.75013405e-03 1.68894477e+02] [ 9.32198859e-03 1.09645376e-05 9.99956549e-01 5.76372187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.65, Y:168.91, Z:5.76 [[-6.90427797e-01 -7.23370052e-01 6.72498470e-03 1.58649999e+02] [ 7.23335636e-01 -6.90460548e-01 -7.05620404e-03 1.68914014e+02] [ 9.74758330e-03 -7.37833097e-06 9.99952491e-01 5.76348392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.63, Y:168.93, Z:5.76 [[-6.91120661e-01 -7.22705579e-01 6.99130697e-03 1.58631523e+02] [ 7.22668395e-01 -6.91156022e-01 -7.33104267e-03 1.68933866e+02] [ 1.01302693e-02 -1.42384629e-05 9.99948687e-01 5.76348163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.61, Y:168.95, Z:5.76 [[-6.91922899e-01 -7.21929178e-01 7.80799390e-03 1.58613303e+02] [ 7.21882810e-01 -6.91966951e-01 -8.18207836e-03 1.68952968e+02] [ 1.13097548e-02 -2.49107980e-05 9.99936042e-01 5.76331671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.960385723 meters Centerline goodness [0,1] 0.9999773622492869 Centerline is valid? [True, True] Translation: X:158.59, Y:168.97, Z:5.76 [[-6.92303079e-01 -7.21562857e-01 7.96801693e-03 1.58593802e+02] [ 7.21514605e-01 -6.92348931e-01 -8.34464591e-03 1.68972521e+02] [ 1.15378345e-02 -2.79834756e-05 9.99933437e-01 5.76231131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.57, Y:168.99, Z:5.76 [[-6.92925920e-01 -7.20957967e-01 8.56033403e-03 1.58574280e+02] [ 7.20902299e-01 -6.92978793e-01 -8.95920244e-03 1.68990670e+02] [ 1.23913383e-02 -3.68991026e-05 9.99923224e-01 5.76060664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.55, Y:169.01, Z:5.76 [[-6.93166942e-01 -7.20727247e-01 8.47501235e-03 1.58554464e+02] [ 7.20672728e-01 -6.93218749e-01 -8.86477775e-03 1.69010151e+02] [ 1.22641243e-02 -3.70606170e-05 9.99924792e-01 5.76059166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.53, Y:169.03, Z:5.76 [[-6.93579435e-01 -7.20326038e-01 8.82989578e-03 1.58534633e+02] [ 7.20266890e-01 -6.93635638e-01 -9.23087886e-03 1.69030173e+02] [ 1.27739728e-02 -4.24661716e-05 9.99918409e-01 5.76129607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.52, Y:169.05, Z:5.76 [[-6.93921975e-01 -7.19993967e-01 8.99892276e-03 1.58516045e+02] [ 7.19932584e-01 -6.93980321e-01 -9.40147716e-03 1.69049237e+02] [ 1.30140821e-02 -4.52738860e-05 9.99915312e-01 5.76115090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.50, Y:169.07, Z:5.76 [[-6.94435908e-01 -7.19500500e-01 8.82042296e-03 1.58496917e+02] [ 7.19441564e-01 -6.94491921e-01 -9.20908466e-03 1.69067983e+02] [ 1.27516535e-02 -4.93401781e-05 9.99918693e-01 5.76087395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.48, Y:169.09, Z:5.76 [[-6.94735131e-01 -7.19212786e-01 8.72160150e-03 1.58477609e+02] [ 7.19155209e-01 -6.94789872e-01 -9.10046721e-03 1.69086622e+02] [ 1.26048528e-02 -5.02291316e-05 9.99920554e-01 5.76108564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.46, Y:169.10, Z:5.76 [[-6.94993057e-01 -7.18965697e-01 8.54266662e-03 1.58459083e+02] [ 7.18910509e-01 -6.95045555e-01 -8.90818203e-03 1.69104897e+02] [ 1.23422198e-02 -4.97118521e-05 9.99923831e-01 5.76084486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.200385723 meters Centerline goodness [0,1] 0.9999775210178483 Centerline is valid? [True, True] Translation: X:158.44, Y:169.12, Z:5.76 [[-6.95380195e-01 -7.18593079e-01 8.38875241e-03 1.58438353e+02] [ 7.18539894e-01 -6.95430790e-01 -8.74282217e-03 1.69124421e+02] [ 1.21163282e-02 -5.19321130e-05 9.99926593e-01 5.76198525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.230385723 meters Centerline goodness [0,1] 0.999977536671384 Centerline is valid? [True, True] Translation: X:158.42, Y:169.14, Z:5.76 [[-6.96370307e-01 -7.17634079e-01 8.35007578e-03 1.58419945e+02] [ 7.17581365e-01 -6.96420365e-01 -8.69831261e-03 1.69142543e+02] [ 1.20573684e-02 -6.53878467e-05 9.99927305e-01 5.76203965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.40, Y:169.16, Z:5.76 [[-6.96962886e-01 -7.17061393e-01 8.10524937e-03 1.58400925e+02] [ 7.17011746e-01 -6.97010010e-01 -8.43815081e-03 1.69162220e+02] [ 1.17001121e-02 -6.95189324e-05 9.99931549e-01 5.76187337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.38, Y:169.18, Z:5.76 [[-6.97180751e-01 -7.16849540e-01 8.10781338e-03 1.58382302e+02] [ 7.16799907e-01 -6.97227891e-01 -8.43568719e-03 1.69181466e+02] [ 1.17001121e-02 -6.95188509e-05 9.99931549e-01 5.76187793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.36, Y:169.20, Z:5.76 [[-6.98693463e-01 -7.15381952e-01 7.49053865e-03 1.58364286e+02] [ 7.15339556e-01 -6.98733609e-01 -7.78871100e-03 1.69201710e+02] [ 1.08057944e-02 -8.36428693e-05 9.99941612e-01 5.76287216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.35, Y:169.22, Z:5.76 [[-6.99532659e-01 -7.14559530e-01 7.66406367e-03 1.58345597e+02] [ 7.14515151e-01 -6.99574635e-01 -7.96421578e-03 1.69221688e+02] [ 1.10524908e-02 -9.51394298e-05 9.99938915e-01 5.76404220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.33, Y:169.24, Z:5.76 [[-7.00312316e-01 -7.13800459e-01 7.18090729e-03 1.58327004e+02] [ 7.13761508e-01 -7.00349124e-01 -7.45752613e-03 1.69241448e+02] [ 1.03523277e-02 -9.71421848e-05 9.99946409e-01 5.76459688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.31, Y:169.26, Z:5.76 [[-7.01036051e-01 -7.13089642e-01 7.18447640e-03 1.58308464e+02] [ 7.13050665e-01 -7.01072857e-01 -7.45638149e-03 1.69260018e+02] [ 1.03539098e-02 -1.04296564e-04 9.99946391e-01 5.76423272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.440385723 meters Centerline goodness [0,1] 0.9999775789780498 Centerline is valid? [True, True] Translation: X:158.29, Y:169.28, Z:5.76 [[-7.01106947e-01 -7.13016504e-01 7.51750633e-03 1.58288644e+02] [ 7.12973878e-01 -7.01147241e-01 -7.79721513e-03 1.69278817e+02] [ 1.08304219e-02 -1.06896063e-04 9.99941344e-01 5.76362231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.27, Y:169.30, Z:5.76 [[-7.00860495e-01 -7.13256611e-01 7.71838076e-03 1.58270134e+02] [ 7.13211733e-01 -7.00902986e-01 -8.00174882e-03 1.69297711e+02] [ 1.11171364e-02 -1.03269918e-04 9.99938197e-01 5.76291130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.500385723 meters Centerline goodness [0,1] 0.9999551338134015 Centerline is valid? [True, True] Translation: X:158.25, Y:169.32, Z:5.76 [[-6.99872206e-01 -7.14218649e-01 8.40337093e-03 1.58250272e+02] [ 7.14165585e-01 -6.99922648e-01 -8.70656110e-03 1.69316814e+02] [ 1.21000979e-02 -9.20818130e-05 9.99926787e-01 5.76215740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.23, Y:169.34, Z:5.76 [[-6.99349288e-01 -7.14736274e-01 7.91406784e-03 1.58230695e+02] [ 7.14689300e-01 -6.99394062e-01 -8.19457665e-03 1.69335808e+02] [ 1.13920132e-02 -7.47717410e-05 9.99935106e-01 5.76293938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.21, Y:169.35, Z:5.76 [[-6.97993775e-01 -7.16057979e-01 8.10312144e-03 1.58209463e+02] [ 7.16008883e-01 -6.98040807e-01 -8.38522106e-03 1.69353833e+02] [ 1.16606139e-02 -5.09251749e-05 9.99932011e-01 5.76209452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.590385723 meters Centerline goodness [0,1] 0.9999105205467195 Centerline is valid? [True, True] Translation: X:158.19, Y:169.37, Z:5.76 [[-6.97524301e-01 -7.16506662e-01 8.83470767e-03 1.58188769e+02] [ 7.16448402e-01 -6.97580247e-01 -9.13707787e-03 1.69373410e+02] [ 1.27096947e-02 -4.37216657e-05 9.99919228e-01 5.76137187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.17, Y:169.39, Z:5.76 [[-6.96554232e-01 -7.17457450e-01 8.18587502e-03 1.58169692e+02] [ 7.17407558e-01 -6.96602330e-01 -8.46104311e-03 1.69392146e+02] [ 1.17727380e-02 -2.09667844e-05 9.99930699e-01 5.76311504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.15, Y:169.41, Z:5.76 [[-6.96103946e-01 -7.17897529e-01 7.90160414e-03 1.58150666e+02] [ 7.17851125e-01 -6.96148790e-01 -8.16238768e-03 1.69411309e+02] [ 1.13604501e-02 -9.69484660e-06 9.99935468e-01 5.76267936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.13, Y:169.43, Z:5.76 [[-6.95725905e-01 -7.18270028e-01 7.32337760e-03 1.58130869e+02] [ 7.18230237e-01 -6.95764448e-01 -7.56039893e-03 1.69430604e+02] [ 1.05257537e-02 -9.41576886e-08 9.99944603e-01 5.76394660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.11, Y:169.45, Z:5.76 [[-6.95836901e-01 -7.18165277e-01 7.04572589e-03 1.58112057e+02] [ 7.18128488e-01 -6.95872571e-01 -7.26904158e-03 1.69449398e+02] [ 1.01233006e-02 1.66911216e-06 9.99948758e-01 5.76389903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.09, Y:169.47, Z:5.76 [[-6.96446259e-01 -7.17579489e-01 6.50274862e-03 1.58092541e+02] [ 7.17548165e-01 -6.96476616e-01 -6.70472600e-03 1.69468532e+02] [ 9.34018621e-03 -3.44599385e-06 9.99956380e-01 5.76404585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.07, Y:169.49, Z:5.76 [[-6.96936311e-01 -7.17105920e-01 6.23520632e-03 1.58073269e+02] [ 7.17077138e-01 -6.96964202e-01 -6.42489633e-03 1.69487529e+02] [ 8.95304679e-03 -6.61964155e-06 9.99959921e-01 5.76414582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.05, Y:169.51, Z:5.76 [[-6.97513442e-01 -7.16545767e-01 6.09596790e-03 1.58053106e+02] [ 7.16518265e-01 -6.97540080e-01 -6.27791612e-03 1.69507522e+02] [ 8.75059616e-03 -1.10585385e-05 9.99961713e-01 5.76419120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.03, Y:169.53, Z:5.76 [[-6.98658516e-01 -7.15431223e-01 5.86892647e-03 1.58034360e+02] [ 7.15405725e-01 -6.98683165e-01 -6.04012919e-03 1.69525861e+02] [ 8.42181713e-03 -2.13240911e-05 9.99964536e-01 5.76314118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.01, Y:169.55, Z:5.76 [[-6.99357619e-01 -7.14750529e-01 5.53194307e-03 1.58014453e+02] [ 7.14727879e-01 -6.99379497e-01 -5.69015799e-03 1.69545293e+02] [ 7.93597099e-03 -2.56214015e-05 9.99968509e-01 5.76375330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.890385723 meters Centerline goodness [0,1] 0.9999776191222219 Centerline is valid? [True, True] Translation: X:157.99, Y:169.56, Z:5.76 [[-7.00724420e-01 -7.13413154e-01 5.19220783e-03 1.57993597e+02] [ 7.13393186e-01 -7.00743655e-01 -5.33776211e-03 1.69564611e+02] [ 7.44643639e-03 -3.62145693e-05 9.99972274e-01 5.76293859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.97, Y:169.58, Z:5.76 [[-7.01612055e-01 -7.12538292e-01 5.45034086e-03 1.57973484e+02] [ 7.12516288e-01 -7.01633223e-01 -5.60002163e-03 1.69584034e+02] [ 7.81437007e-03 -4.55860472e-05 9.99969466e-01 5.76294229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.950385723 meters Centerline goodness [0,1] 0.9999776421400943 Centerline is valid? [True, True] Translation: X:157.95, Y:169.60, Z:5.76 [[-7.02928648e-01 -7.11234057e-01 6.11821783e-03 1.57954160e+02] [ 7.11206311e-01 -7.02955270e-01 -6.28256716e-03 1.69603537e+02] [ 8.76920920e-03 -6.48813003e-05 9.99961548e-01 5.76138821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.980385723 meters Centerline goodness [0,1] 0.9999777486037249 Centerline is valid? [True, True] Translation: X:157.93, Y:169.62, Z:5.76 [[-7.03978907e-01 -7.10192418e-01 6.35834719e-03 1.57933985e+02] [ 7.10162442e-01 -7.04007616e-01 -6.52554761e-03 1.69623594e+02] [ 9.11071928e-03 -7.83885133e-05 9.99958493e-01 5.76187443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.91, Y:169.64, Z:5.76 [[-7.06247472e-01 -7.07931854e-01 6.85559861e-03 1.57914698e+02] [ 7.07896939e-01 -7.06280736e-01 -7.03174368e-03 1.69643431e+02] [ 9.81997257e-03 -1.13093920e-04 9.99951777e-01 5.76121350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.90, Y:169.66, Z:5.76 [[-7.07280744e-01 -7.06898921e-01 6.91846913e-03 1.57895755e+02] [ 7.06863357e-01 -7.07314570e-01 -7.09185620e-03 1.69662925e+02] [ 9.90675951e-03 -1.25521014e-04 9.99950919e-01 5.76103081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.070385723 meters Centerline goodness [0,1] 0.9999777565228997 Centerline is valid? [True, True] Translation: X:157.88, Y:169.68, Z:5.76 [[-7.08950399e-01 -7.05229229e-01 6.40826979e-03 1.57875149e+02] [ 7.05198682e-01 -7.08979348e-01 -6.56525760e-03 1.69681941e+02] [ 9.17334249e-03 -1.35338589e-04 9.99957915e-01 5.76080890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.86, Y:169.70, Z:5.76 [[-7.09249135e-01 -7.04932528e-01 5.98299309e-03 1.57856354e+02] [ 7.04905915e-01 -7.09274358e-01 -6.12663799e-03 1.69700034e+02] [ 8.56244999e-03 -1.27865465e-04 9.99963333e-01 5.76124768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.84, Y:169.72, Z:5.76 [[-7.09755629e-01 -7.04425962e-01 5.56879253e-03 1.57836806e+02] [ 7.04402919e-01 -7.09777464e-01 -5.69904981e-03 1.69718887e+02] [ 7.96716209e-03 -1.22258963e-04 9.99968254e-01 5.76121925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.82, Y:169.74, Z:5.76 [[-7.10332207e-01 -7.03851262e-01 4.64301030e-03 1.57817767e+02] [ 7.03835251e-01 -7.10347373e-01 -4.74860549e-03 1.69736350e+02] [ 6.64046214e-03 -1.05173097e-04 9.99977946e-01 5.76211613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.80, Y:169.75, Z:5.76 [[-7.10208360e-01 -7.03982479e-01 3.57138708e-03 1.57796502e+02] [ 7.03973018e-01 -7.10217335e-01 -3.65054396e-03 1.69754355e+02] [ 5.10638000e-03 -7.84866910e-05 9.99986959e-01 5.76324095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.78, Y:169.77, Z:5.76 [[-7.10036472e-01 -7.04157983e-01 3.12148645e-03 1.57776140e+02] [ 7.04150765e-01 -7.10043331e-01 -3.18877216e-03 1.69772930e+02] [ 4.46179001e-03 -6.61474671e-05 9.99990044e-01 5.76368006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.250385723 meters Centerline goodness [0,1] 0.9999340021119324 Centerline is valid? [True, True] Translation: X:157.75, Y:169.79, Z:5.76 [[-7.09143654e-01 -7.05055345e-01 3.49835924e-03 1.57754947e+02] [ 7.05046302e-01 -7.09152280e-01 -3.57151989e-03 1.69789559e+02] [ 4.99898862e-03 -6.62154201e-05 9.99987503e-01 5.76260540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.73, Y:169.81, Z:5.76 [[-7.08377943e-01 -7.05826170e-01 3.17916151e-03 1.57734006e+02] [ 7.05818719e-01 -7.08385075e-01 -3.24374321e-03 1.69806833e+02] [ 4.54158941e-03 -5.38844447e-05 9.99989685e-01 5.76353147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.71, Y:169.82, Z:5.76 [[-7.06432346e-01 -7.07771803e-01 3.52351331e-03 1.57710849e+02] [ 7.07762685e-01 -7.06441132e-01 -3.59296500e-03 1.69821993e+02] [ 5.03215405e-03 -4.43754552e-05 9.99987338e-01 5.76257215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.340385723 meters Centerline goodness [0,1] 0.9999779847213967 Centerline is valid? [True, True] Translation: X:157.69, Y:169.84, Z:5.76 [[-7.05452444e-01 -7.08747556e-01 3.70831057e-03 1.57688623e+02] [ 7.08737478e-01 -7.05462190e-01 -3.77976249e-03 1.69839058e+02] [ 5.29497032e-03 -3.82240029e-05 9.99985981e-01 5.76220025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.37038572299997 meters Centerline goodness [0,1] 0.9998684585534826 Centerline is valid? [True, True] Translation: X:157.67, Y:169.85, Z:5.76 [[-7.04479372e-01 -7.09710245e-01 4.49251547e-03 1.57665391e+02] [ 7.09695491e-01 -7.04493696e-01 -4.57627806e-03 1.69854585e+02] [ 6.41278025e-03 -3.55755261e-05 9.99979437e-01 5.75941330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.64, Y:169.87, Z:5.76 [[-7.03749007e-01 -7.10436667e-01 4.13238763e-03 1.57644284e+02] [ 7.10424212e-01 -7.03761140e-01 -4.20686671e-03 1.69872545e+02] [ 5.89692619e-03 -2.48300455e-05 9.99982613e-01 5.76004052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.430385723 meters Centerline goodness [0,1] 0.9999562812862045 Centerline is valid? [True, True] Translation: X:157.62, Y:169.89, Z:5.76 [[-7.03466527e-01 -7.10715671e-01 4.25209168e-03 1.57622214e+02] [ 7.10702504e-01 -7.03479377e-01 -4.32631440e-03 1.69890303e+02] [ 6.06603825e-03 -2.14451671e-05 9.99981601e-01 5.76110559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.460385723 meters Centerline goodness [0,1] 0.9998911126113373 Centerline is valid? [True, True] Translation: X:157.60, Y:169.91, Z:5.76 [[-7.03867516e-01 -7.10314914e-01 4.82103238e-03 1.57602105e+02] [ 7.10297997e-01 -7.03884026e-01 -4.90231673e-03 1.69909068e+02] [ 6.87563636e-03 -2.62118546e-05 9.99976362e-01 5.75961333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.490385723 meters Centerline goodness [0,1] 0.9998910556705524 Centerline is valid? [True, True] Translation: X:157.58, Y:169.93, Z:5.76 [[-7.03590873e-01 -7.10596381e-01 3.55902745e-03 1.57579322e+02] [ 7.10587175e-01 -7.03599875e-01 -3.61703887e-03 1.69926355e+02] [ 5.07438600e-03 -1.59162742e-05 9.99987125e-01 5.76278087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.520385723 meters Centerline goodness [0,1] 0.9999782618147037 Centerline is valid? [True, True] Translation: X:157.56, Y:169.94, Z:5.76 [[-7.03841544e-01 -7.10349432e-01 3.28113035e-03 1.57559235e+02] [ 7.10341615e-01 -7.03849191e-01 -3.33266652e-03 1.69944637e+02] [ 4.67677871e-03 -1.49457199e-05 9.99989064e-01 5.76263068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.54, Y:169.96, Z:5.76 [[-7.04352767e-01 -7.09841653e-01 3.46498661e-03 1.57536382e+02] [ 7.09832939e-01 -7.04361290e-01 -3.51747199e-03 1.69962136e+02] [ 4.93745057e-03 -1.79795040e-05 9.99987811e-01 5.76286105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.52, Y:169.98, Z:5.76 [[-7.04700137e-01 -7.09494405e-01 3.92507462e-03 1.57515263e+02] [ 7.09483229e-01 -7.04711068e-01 -3.98230996e-03 1.69981170e+02] [ 5.59147016e-03 -2.15597603e-05 9.99984367e-01 5.76191127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.50, Y:170.00, Z:5.76 [[-7.06346348e-01 -7.07850374e-01 4.76286655e-03 1.57495009e+02] [ 7.07833900e-01 -7.06362405e-01 -4.82948275e-03 1.69999081e+02] [ 6.78286104e-03 -3.99690965e-05 9.99976995e-01 5.76124554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.47, Y:170.02, Z:5.76 [[-7.07326922e-01 -7.06872329e-01 4.48738541e-03 1.57474309e+02] [ 7.06857702e-01 -7.07341154e-01 -4.54761643e-03 1.70018769e+02] [ 6.38869659e-03 -4.47085881e-05 9.99979591e-01 5.76170862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.670385723 meters Centerline goodness [0,1] 0.9999351575671119 Centerline is valid? [True, True] Translation: X:157.45, Y:170.04, Z:5.76 [[-7.09534165e-01 -7.04657419e-01 4.38072436e-03 1.57453655e+02] [ 7.04643451e-01 -7.09547686e-01 -4.43715624e-03 1.70038540e+02] [ 6.23500789e-03 -6.14652127e-05 9.99980560e-01 5.76184311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.700385723 meters Centerline goodness [0,1] 0.9998490142789354 Centerline is valid? [True, True] Translation: X:157.44, Y:170.06, Z:5.76 [[-7.10454606e-01 -7.03727570e-01 4.66488396e-03 1.57435078e+02] [ 7.03711730e-01 -7.10469917e-01 -4.72218765e-03 1.70057746e+02] [ 6.63739336e-03 -7.21664087e-05 9.99977970e-01 5.76084093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.730385723 meters Centerline goodness [0,1] 0.9999568956227505 Centerline is valid? [True, True] Translation: X:157.41, Y:170.08, Z:5.76 [[-7.10549550e-01 -7.03633791e-01 4.33884837e-03 1.57412332e+02] [ 7.03620101e-01 -7.10562794e-01 -4.38968656e-03 1.70075223e+02] [ 6.17175601e-03 -6.61888771e-05 9.99980952e-01 5.76312642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.39, Y:170.09, Z:5.76 [[-7.10326411e-01 -7.03858312e-01 4.45720022e-03 1.57391157e+02] [ 7.03843885e-01 -7.10340392e-01 -4.50689486e-03 1.70093363e+02] [ 6.33834475e-03 -6.41933309e-05 9.99979910e-01 5.76411866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.37, Y:170.11, Z:5.76 [[-7.09313398e-01 -7.04875229e-01 5.04135093e-03 1.57368435e+02] [ 7.04856820e-01 -7.09331311e-01 -5.09468350e-03 1.70110059e+02] [ 7.16710426e-03 -6.02966820e-05 9.99974314e-01 5.76374438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.35, Y:170.13, Z:5.76 [[-7.08471117e-01 -7.05719979e-01 5.29032225e-03 1.57348397e+02] [ 7.05699754e-01 -7.08490867e-01 -5.34313072e-03 1.70127755e+02] [ 7.51889910e-03 -5.20746883e-05 9.99971731e-01 5.76355913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.33, Y:170.14, Z:5.76 [[-7.06597097e-01 -7.07595101e-01 5.45121826e-03 1.57325205e+02] [ 7.07573706e-01 -7.06618124e-01 -5.50258813e-03 1.70144387e+02] [ 7.74553402e-03 -3.09740939e-05 9.99970002e-01 5.76444316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.30, Y:170.16, Z:5.76 [[-7.05512400e-01 -7.08677258e-01 5.36633204e-03 1.57302290e+02] [ 7.08656570e-01 -7.05532808e-01 -5.41500173e-03 1.70161870e+02] [ 7.62361189e-03 -1.74644111e-05 9.99970940e-01 5.76495449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.910385723 meters Centerline goodness [0,1] 0.9998931030059435 Centerline is valid? [True, True] Translation: X:157.28, Y:170.18, Z:5.76 [[-7.05941053e-01 -7.08250612e-01 5.31980112e-03 1.57282770e+02] [ 7.08230293e-01 -7.05961097e-01 -5.36493029e-03 1.70180708e+02] [ 7.55528779e-03 -1.96802352e-05 9.99971458e-01 5.76379722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.26, Y:170.20, Z:5.77 [[-7.06044098e-01 -7.08146798e-01 5.46301931e-03 1.57262459e+02] [ 7.08125392e-01 -7.06065232e-01 -5.50611808e-03 1.70199411e+02] [ 7.75638789e-03 -1.90594896e-05 9.99969919e-01 5.76576557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.24, Y:170.22, Z:5.77 [[-7.06576546e-01 -7.07617739e-01 5.16915466e-03 1.57242193e+02] [ 7.07598582e-01 -7.06595454e-01 -5.20689753e-03 1.70217937e+02] [ 7.33699424e-03 -2.13851642e-05 9.99973084e-01 5.76682506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.000385723 meters Centerline goodness [0,1] 0.9997866074858094 Centerline is valid? [True, True] Translation: X:157.22, Y:170.24, Z:5.77 [[-7.06621309e-01 -7.07573983e-01 5.03826638e-03 1.57221924e+02] [ 7.07555802e-01 -7.06639271e-01 -5.07225556e-03 1.70236779e+02] [ 7.14923294e-03 -1.93092540e-05 9.99974444e-01 5.76733479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.030385723 meters Centerline goodness [0,1] 0.9998931007205012 Centerline is valid? [True, True] Translation: X:157.20, Y:170.25, Z:5.77 [[-7.05790308e-01 -7.08401469e-01 5.23461600e-03 1.57199891e+02] [ 7.08381888e-01 -7.05809719e-01 -5.26700903e-03 1.70253849e+02] [ 7.42579978e-03 -9.29675527e-06 9.99972428e-01 5.76753975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.060385723 meters Centerline goodness [0,1] 0.9997865254888566 Centerline is valid? [True, True] Translation: X:157.18, Y:170.27, Z:5.77 [[-7.05150354e-01 -7.09035854e-01 5.58002270e-03 1.57178884e+02] [ 7.09013648e-01 -7.05172432e-01 -5.61141397e-03 1.70272049e+02] [ 7.91357187e-03 -5.78293777e-07 9.99968687e-01 5.76737125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.090385723 meters Centerline goodness [0,1] 0.9997223942428837 Centerline is valid? [True, True] Translation: X:157.16, Y:170.29, Z:5.77 [[-7.03520712e-01 -7.10644977e-01 6.50581895e-03 1.57157664e+02] [ 7.10614883e-01 -7.03550792e-01 -6.53993383e-03 1.70288385e+02] [ 9.22474520e-03 2.21528749e-05 9.99957451e-01 5.76656091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.12038572299997 meters Centerline goodness [0,1] 0.9998931692412879 Centerline is valid? [True, True] Translation: X:157.14, Y:170.31, Z:5.77 [[-7.02333032e-01 -7.11818249e-01 6.56444383e-03 1.57137393e+02] [ 7.11787698e-01 -7.02363708e-01 -6.59502973e-03 1.70306945e+02] [ 9.30508963e-03 4.05831299e-05 9.99956706e-01 5.76761549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.150385723 meters Centerline goodness [0,1] 0.9996594440423993 Centerline is valid? [True, True] Translation: X:157.12, Y:170.33, Z:5.77 [[-7.02261096e-01 -7.11889009e-01 6.58725019e-03 1.57117182e+02] [ 7.11858282e-01 -7.02291988e-01 -6.61430970e-03 1.70326443e+02] [ 9.33482741e-03 4.42162256e-05 9.99956429e-01 5.76796598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.180385723 meters Centerline goodness [0,1] 0.9996594440423993 Centerline is valid? [True, True] Translation: X:157.10, Y:170.35, Z:5.77 [[-7.02456382e-01 -7.11696295e-01 6.58906467e-03 1.57097677e+02] [ 7.11665577e-01 -7.02487282e-01 -6.61250213e-03 1.70345935e+02] [ 9.33482740e-03 4.42161919e-05 9.99956429e-01 5.76797068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.210385723 meters Centerline goodness [0,1] 0.9997862836870338 Centerline is valid? [True, True] Translation: X:157.08, Y:170.36, Z:5.77 [[-7.02257287e-01 -7.11891662e-01 6.70553861e-03 1.57077825e+02] [ 7.11859896e-01 -7.02289298e-01 -6.72526452e-03 1.70364338e+02] [ 9.49688775e-03 5.05380034e-05 9.99954902e-01 5.76817399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.06, Y:170.38, Z:5.77 [[-7.01423970e-01 -7.12713368e-01 6.63840248e-03 1.57056532e+02] [ 7.12682310e-01 -7.01455380e-01 -6.65386892e-03 1.70382244e+02] [ 9.39884447e-03 6.38888653e-05 9.99955828e-01 5.76844745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.270385723 meters Centerline goodness [0,1] 0.9998716797125625 Centerline is valid? [True, True] Translation: X:157.04, Y:170.40, Z:5.77 [[-7.01371597e-01 -7.12763073e-01 6.83253575e-03 1.57037028e+02] [ 7.12730215e-01 -7.01404873e-01 -6.84425141e-03 1.70400886e+02] [ 9.67070354e-03 6.93911314e-05 9.99953235e-01 5.76839752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.300385723 meters Centerline goodness [0,1] 0.9996383055679666 Centerline is valid? [True, True] Translation: X:157.02, Y:170.42, Z:5.77 [[-7.01409957e-01 -7.12720396e-01 7.32867760e-03 1.57017994e+02] [ 7.12682637e-01 -7.01448238e-01 -7.33675221e-03 1.70420413e+02] [ 1.03697409e-02 7.69502325e-05 9.99946230e-01 5.76852018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.330385723 meters Centerline goodness [0,1] 0.9997436828502467 Centerline is valid? [True, True] Translation: X:157.00, Y:170.44, Z:5.77 [[-7.01941495e-01 -7.12197315e-01 7.28851122e-03 1.56999168e+02] [ 7.12159986e-01 -7.01979330e-01 -7.29208552e-03 1.70439666e+02] [ 1.03097879e-02 7.19686369e-05 9.99946850e-01 5.76901221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.360385723 meters Centerline goodness [0,1] 0.9998718058285616 Centerline is valid? [True, True] Translation: X:156.98, Y:170.46, Z:5.77 [[-7.03013433e-01 -7.11142358e-01 6.97573085e-03 1.56981198e+02] [ 7.11108156e-01 -7.03048038e-01 -6.97469481e-03 1.70458819e+02] [ 9.86427480e-03 5.71949637e-05 9.99951345e-01 5.76947737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.54, Y:170.02, Z:6.70 [[-7.59057401e-01 6.50981953e-01 7.37292904e-03 1.56539223e+02] [ 6.50950711e-01 7.59093206e-01 -6.37775354e-03 1.70021592e+02] [-9.74854279e-03 -4.16676189e-05 -9.99952481e-01 6.69703644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.420385723 meters Centerline goodness [0,1] 0.9996790894698558 Centerline is valid? [True, True] Translation: X:156.95, Y:170.49, Z:5.77 [[-7.06041026e-01 -7.08130879e-01 7.53183745e-03 1.56948767e+02] [ 7.08092024e-01 -7.06081192e-01 -7.41866240e-03 1.70488723e+02] [ 1.05714727e-02 9.53540154e-05 9.99944116e-01 5.77130333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.450385723 meters Centerline goodness [0,1] 0.9996151625938041 Centerline is valid? [True, True] Translation: X:156.51, Y:170.05, Z:6.70 [[-7.60955392e-01 6.48755413e-01 7.95652446e-03 1.56505736e+02] [ 6.48719411e-01 7.60996986e-01 -6.83467514e-03 1.70046159e+02] [-1.04889236e-02 -3.93310383e-05 -9.99944989e-01 6.69516903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.480385723 meters Centerline goodness [0,1] 0.9997863795607964 Centerline is valid? [True, True] Translation: X:156.52, Y:170.07, Z:6.70 [[-8.04504989e-01 5.93881533e-01 8.74341709e-03 1.56521179e+02] [ 5.93846017e-01 8.04552499e-01 -6.49494858e-03 1.70069093e+02] [-1.08917681e-02 -3.29751236e-05 -9.99940682e-01 6.69502901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.510385723 meters Centerline goodness [0,1] 0.9996366512065318 Centerline is valid? [True, True] Translation: X:156.54, Y:170.09, Z:6.70 [[-8.44585729e-01 5.35335806e-01 9.51428462e-03 1.56535238e+02] [ 5.35301360e-01 8.44639316e-01 -6.07290474e-03 1.70094012e+02] [-1.12871822e-02 -3.60791790e-05 -9.99936297e-01 6.69518543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.540385723 meters Centerline goodness [0,1] 0.9997008866574084 Centerline is valid? [True, True] Translation: X:156.55, Y:170.12, Z:6.69 [[-8.81046406e-01 4.72906167e-01 1.08161254e-02 1.56547411e+02] [ 4.72869729e-01 8.81112793e-01 -5.87075346e-03 1.70120026e+02] [-1.23065420e-02 -5.77879460e-05 -9.99924270e-01 6.69472871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.570385723 meters Centerline goodness [0,1] 0.9996375498368975 Centerline is valid? [True, True] Translation: X:156.85, Y:170.67, Z:5.77 [[-8.40139475e-01 -5.42253907e-01 1.12411185e-02 1.56845171e+02] [ 5.42207379e-01 -8.40214666e-01 -7.10449566e-03 1.70673027e+02] [ 1.32973932e-02 1.26250151e-04 9.99911578e-01 5.77188617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.600385723 meters Centerline goodness [0,1] 0.9996592264440279 Centerline is valid? [True, True] Translation: X:156.51, Y:170.14, Z:6.70 [[-8.84059304e-01 4.67235309e-01 1.14154759e-02 1.56506517e+02] [ 4.67194925e-01 8.84132997e-01 -6.14376943e-03 1.70142058e+02] [-1.29633849e-02 -9.82041280e-05 -9.99915967e-01 6.69551265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.630385723 meters Centerline goodness [0,1] 0.999614981497722 Centerline is valid? [True, True] Translation: X:156.80, Y:170.70, Z:5.77 [[-8.41049318e-01 -5.40831179e-01 1.17337325e-02 1.56804282e+02] [ 5.40781210e-01 -8.41131149e-01 -7.35337553e-03 1.70695294e+02] [ 1.38465426e-02 1.60830572e-04 9.99904119e-01 5.77169216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.660385723 meters Centerline goodness [0,1] 0.9997008547008547 Centerline is valid? [True, True] Translation: X:156.47, Y:170.16, Z:6.69 [[-8.86239681e-01 4.63076095e-01 1.18219221e-02 1.56466396e+02] [ 4.63033080e-01 8.86318518e-01 -6.31272744e-03 1.70160118e+02] [-1.34012616e-02 -1.20648569e-04 -9.99910192e-01 6.69467132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.690385723 meters Centerline goodness [0,1] 0.9997216631696142 Centerline is valid? [True, True] Translation: X:156.48, Y:170.18, Z:6.69 [[-9.17194563e-01 3.98251624e-01 1.22383871e-02 1.56479127e+02] [ 3.98214238e-01 9.17276200e-01 -5.45836602e-03 1.70184206e+02] [-1.33997843e-02 -1.32883656e-04 -9.99910210e-01 6.69428884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.720385723 meters Centerline goodness [0,1] 0.9996151872755259 Centerline is valid? [True, True] Translation: X:156.49, Y:170.21, Z:6.69 [[-9.43266170e-01 3.31828362e-01 1.17843558e-02 1.56485609e+02] [ 3.31800753e-01 9.43339770e-01 -4.28237369e-03 1.70212837e+02] [-1.25376646e-02 -1.29360083e-04 -9.99921392e-01 6.69472614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.750385723 meters Centerline goodness [0,1] 0.9999144201968335 Centerline is valid? [True, True] Translation: X:156.49, Y:170.24, Z:6.70 [[-9.64594551e-01 2.63490990e-01 1.13951993e-02 1.56490370e+02] [ 2.63471028e-01 9.64661848e-01 -3.24587730e-03 1.70242507e+02] [-1.18477735e-02 -1.28650676e-04 -9.99929804e-01 6.69603565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.780385723 meters Centerline goodness [0,1] 0.9999572950697158 Centerline is valid? [True, True] Translation: X:156.67, Y:170.85, Z:5.77 [[-9.36409484e-01 -3.50725394e-01 1.13567536e-02 1.56668173e+02] [ 3.50701485e-01 -9.36478338e-01 -4.09771487e-03 1.70852017e+02] [ 1.20725264e-02 1.45691285e-04 9.99927114e-01 5.77255866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.810385723 meters Centerline goodness [0,1] 0.9998503538063578 Centerline is valid? [True, True] Translation: X:156.44, Y:170.25, Z:6.70 [[-9.66132260e-01 2.57792047e-01 1.14768235e-02 1.56442937e+02] [ 2.57771955e-01 9.66200412e-01 -3.22219792e-03 1.70253010e+02] [-1.19195686e-02 -1.54666132e-04 -9.99928947e-01 6.69615242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.840385723 meters Centerline goodness [0,1] 0.9996998091643974 Centerline is valid? [True, True] Translation: X:156.44, Y:170.28, Z:6.70 [[-9.82082443e-01 1.88054247e-01 1.22342076e-02 1.56443102e+02] [ 1.88037502e-01 9.82158629e-01 -2.51525469e-03 1.70279902e+02] [-1.24889369e-02 -1.69697635e-04 -9.99921996e-01 6.69533352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.87038572299997 meters Centerline goodness [0,1] 0.9998075319176236 Centerline is valid? [True, True] Translation: X:156.44, Y:170.31, Z:6.70 [[-9.93150390e-01 1.16205486e-01 1.21896925e-02 1.56443807e+02] [ 1.16194421e-01 9.93225176e-01 -1.61444380e-03 1.70307573e+02] [-1.22947167e-02 -1.87011231e-04 -9.99924400e-01 6.69630991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.900385723 meters Centerline goodness [0,1] 0.9998708761056233 Centerline is valid? [True, True] Translation: X:156.44, Y:170.34, Z:6.70 [[-9.98920561e-01 4.48122634e-02 1.22300743e-02 1.56439643e+02] [ 4.48065331e-02 9.98995407e-01 -7.42288411e-04 1.70335507e+02] [-1.22510517e-02 -1.93499925e-04 -9.99924934e-01 6.69618089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.930385723 meters Centerline goodness [0,1] 0.9998278459221003 Centerline is valid? [True, True] Translation: X:156.43, Y:170.36, Z:6.70 [[-9.99545014e-01 -2.77958703e-02 1.17113087e-02 1.56434469e+02] [-2.77963275e-02 9.99613600e-01 1.23754752e-04 1.70363625e+02] [-1.17102233e-02 -2.01832926e-04 -9.99931413e-01 6.69755397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.960385723 meters Centerline goodness [0,1] 0.9997845895353596 Centerline is valid? [True, True] Translation: X:156.43, Y:170.39, Z:6.70 [[-9.94946394e-01 -9.98746097e-02 1.03312519e-02 1.56426313e+02] [-9.98711815e-02 9.95000014e-01 8.48506114e-04 1.70389881e+02] [-1.03643400e-02 -1.87576237e-04 -9.99946271e-01 6.69777624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.990385723 meters Centerline goodness [0,1] 0.9999137986768097 Centerline is valid? [True, True] Translation: X:156.42, Y:170.42, Z:6.70 [[-9.85231089e-01 -1.70953405e-01 9.72807916e-03 1.56415447e+02] [-1.70946889e-01 9.85279098e-01 1.50356544e-03 1.70415772e+02] [-9.84191269e-03 -1.81625457e-04 -9.99951551e-01 6.69785963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.020385723 meters Centerline goodness [0,1] 0.9999568602920558 Centerline is valid? [True, True] Translation: X:156.40, Y:170.44, Z:6.70 [[-9.70531648e-01 -2.40806754e-01 8.96812413e-03 1.56395049e+02] [-2.40798064e-01 9.70573067e-01 2.05264957e-03 1.70439608e+02] [-9.19851162e-03 -1.67345557e-04 -9.99957679e-01 6.69835570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.050385723 meters Centerline goodness [0,1] 0.9998919643050064 Centerline is valid? [True, True] Translation: X:156.37, Y:170.46, Z:6.70 [[-9.51009470e-01 -3.09063605e-01 7.78950398e-03 1.56366009e+02] [-3.09054430e-01 9.51041360e-01 2.38551618e-03 1.70457824e+02] [-8.14541669e-03 -1.38732236e-04 -9.99966816e-01 6.69902760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.080385723 meters Centerline goodness [0,1] 0.9999350860110354 Centerline is valid? [True, True] Translation: X:156.31, Y:170.47, Z:6.70 [[-9.26460923e-01 -3.76326555e-01 6.96300795e-03 1.56312890e+02] [-3.76316877e-01 9.26487081e-01 2.70145206e-03 1.70467063e+02] [-7.46776506e-03 -1.17507642e-04 -9.99972109e-01 6.69914175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.110385723 meters Centerline goodness [0,1] 0.999869966624767 Centerline is valid? [True, True] Translation: X:156.25, Y:170.47, Z:6.70 [[-8.97594885e-01 -4.40779440e-01 6.07521808e-03 1.56254338e+02] [-4.40769971e-01 8.97615440e-01 2.89037361e-03 1.70466622e+02] [-6.72722681e-03 -8.33891342e-05 -9.99977368e-01 6.69915433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.140385723 meters Centerline goodness [0,1] 0.9999782877738455 Centerline is valid? [True, True] Translation: X:156.18, Y:170.46, Z:6.70 [[-8.63147064e-01 -5.04921147e-01 5.63750340e-03 1.56183420e+02] [-5.04910909e-01 8.63165471e-01 3.21616764e-03 1.70458311e+02] [-6.49000933e-03 -7.04113111e-05 -9.99978937e-01 6.69918084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.170385723 meters Centerline goodness [0,1] 0.9999344777879702 Centerline is valid? [True, True] Translation: X:156.11, Y:170.44, Z:6.70 [[-8.24626954e-01 -5.65649431e-01 5.57746494e-03 1.56105267e+02] [-5.65636939e-01 8.24645814e-01 3.75976669e-03 1.70438024e+02] [-6.72614300e-03 -5.44152399e-05 -9.99977378e-01 6.70046427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.200385723 meters Centerline goodness [0,1] 0.9999125759496438 Centerline is valid? [True, True] Translation: X:156.02, Y:170.40, Z:6.70 [[-7.81012197e-01 -6.24487558e-01 5.93609514e-03 1.56021429e+02] [-6.24469988e-01 7.81034754e-01 4.68474188e-03 1.70404851e+02] [-7.56185963e-03 -4.80727067e-05 -9.99971408e-01 6.70132723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.230385723 meters Centerline goodness [0,1] 0.9999123882950762 Centerline is valid? [True, True] Translation: X:155.93, Y:170.36, Z:6.70 [[-7.32152892e-01 -6.81116284e-01 5.72272428e-03 1.55932407e+02] [-6.81095949e-01 7.32175256e-01 5.26337863e-03 1.70364178e+02] [-7.77501001e-03 -4.41264346e-05 -9.99969773e-01 6.70190435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.260385723 meters Centerline goodness [0,1] 0.9999343257443082 Centerline is valid? [True, True] Translation: X:155.84, Y:170.31, Z:6.70 [[-6.79314188e-01 -7.33828733e-01 5.25592076e-03 1.55835925e+02] [-7.33807175e-01 6.79334520e-01 5.62491458e-03 1.70307245e+02] [-7.69825234e-03 -3.57480867e-05 -9.99970367e-01 6.70327678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.75, Y:170.24, Z:6.71 [[-6.23528963e-01 -7.81784483e-01 4.96535835e-03 1.55746214e+02] [-7.81759920e-01 6.23548733e-01 6.19717939e-03 1.70239793e+02] [-7.94100159e-03 -1.75973092e-05 -9.99968470e-01 6.70506984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.66, Y:170.16, Z:6.70 [[-5.65491828e-01 -8.24740699e-01 4.66597112e-03 1.55661988e+02] [-8.24712403e-01 5.65511077e-01 6.83185994e-03 1.70161023e+02] [-8.27317130e-03 1.52767074e-05 -9.99965777e-01 6.70460791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.350385723 meters Centerline goodness [0,1] 0.9998678122934567 Centerline is valid? [True, True] Translation: X:155.60, Y:170.11, Z:6.70 [[-5.02397543e-01 -8.64627013e-01 4.10343996e-03 1.55597411e+02] [-8.64597632e-01 5.02414299e-01 7.12792364e-03 1.70105464e+02] [-8.22462223e-03 3.32268505e-05 -9.99966177e-01 6.70445115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.380385723 meters Centerline goodness [0,1] 0.999977922995408 Centerline is valid? [True, True] Translation: X:155.52, Y:170.01, Z:6.70 [[-4.36241926e-01 -8.99822544e-01 3.51724531e-03 1.55520266e+02] [-8.99792411e-01 4.36256103e-01 7.36414006e-03 1.70014661e+02] [-8.16083898e-03 4.77560143e-05 -9.99966699e-01 6.70454038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.45, Y:169.91, Z:6.71 [[-3.68748451e-01 -9.29524563e-01 2.94389268e-03 1.55451510e+02] [-9.29493339e-01 3.68760195e-01 7.61920973e-03 1.69914422e+02] [-8.16783304e-03 7.32431479e-05 -9.99966640e-01 6.70522376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.39, Y:169.81, Z:6.71 [[-2.96897839e-01 -9.54906071e-01 2.46370763e-03 1.55388386e+02] [-9.54870821e-01 2.96908049e-01 8.20527063e-03 1.69812425e+02] [-8.56675736e-03 8.36045924e-05 -9.99963301e-01 6.70563681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.33, Y:169.70, Z:6.71 [[-2.24308486e-01 -9.74516494e-01 1.81842698e-03 1.55334120e+02] [-9.74480784e-01 2.24315835e-01 8.34313030e-03 1.69703521e+02] [-8.53842006e-03 9.94127771e-05 -9.99963542e-01 6.70634536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.29, Y:169.59, Z:6.71 [[-1.50016699e-01 -9.88682840e-01 1.10992898e-03 1.55288825e+02] [-9.88650219e-01 1.50020766e-01 8.03201271e-03 1.69586100e+02] [-8.10762553e-03 1.07604503e-04 -9.99967127e-01 6.70623296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.25, Y:169.47, Z:6.71 [[-7.41574906e-02 -9.97246436e-01 4.61531232e-04 1.55250177e+02] [-9.97216746e-01 7.41588445e-02 7.69598539e-03 1.69465991e+02] [-7.70902062e-03 1.10468291e-04 -9.99970279e-01 6.70571439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.22, Y:169.34, Z:6.70 [[ 1.32926831e-03 -9.99999109e-01 -1.20534322e-04 1.55222283e+02] [-9.99974625e-01 -1.33007933e-03 6.99860680e-03 1.69341773e+02] [-6.99876088e-03 1.11228237e-04 -9.99975502e-01 6.70462336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.20, Y:169.22, Z:6.70 [[ 7.81728538e-02 -9.96939625e-01 -6.23057025e-04 1.55202345e+02] [-9.96918045e-01 -7.81752618e-02 6.56048674e-03 1.69217445e+02] [-6.58911684e-03 1.08284820e-04 -9.99978286e-01 6.70477038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.19, Y:169.10, Z:6.70 [[ 1.54638205e-01 -9.87970540e-01 -1.11252396e-03 1.55190406e+02] [-9.87949817e-01 -1.54642168e-01 6.39989346e-03 1.69095160e+02] [-6.49494932e-03 1.09449809e-04 -9.99978902e-01 6.70416127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.18, Y:168.98, Z:6.70 [[ 2.20888582e-01 -9.75297772e-01 -1.57838318e-03 1.55182042e+02] [-9.75275940e-01 -2.20894200e-01 6.52639828e-03 1.68975349e+02] [-6.71383739e-03 9.77522777e-05 -9.99977457e-01 6.70437773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.19, Y:168.84, Z:6.70 [[ 2.95591528e-01 -9.55312233e-01 -2.04608067e-03 1.55190391e+02] [-9.55291906e-01 -2.95598588e-01 6.23292066e-03 1.68839935e+02] [-6.55920391e-03 1.12205762e-04 -9.99978482e-01 6.70466584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.21, Y:168.72, Z:6.70 [[ 3.68808538e-01 -9.29502747e-01 -2.21510323e-03 1.55205772e+02] [-9.29487541e-01 -3.68815177e-01 5.31763130e-03 1.68719909e+02] [-5.75971659e-03 9.77230266e-05 -9.99983408e-01 6.70475875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.23, Y:168.60, Z:6.70 [[ 4.40093229e-01 -8.97948173e-01 -2.65099042e-03 1.55231475e+02] [-8.97933160e-01 -4.40101203e-01 5.19331997e-03 1.68600847e+02] [-5.83003625e-03 9.48672475e-05 -9.99983001e-01 6.70493958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.27, Y:168.48, Z:6.71 [[ 5.08346272e-01 -8.61147459e-01 -3.02024449e-03 1.55266097e+02] [-8.61133319e-01 -5.08355235e-01 4.93573459e-03 1.68479879e+02] [-5.78575240e-03 9.17708891e-05 -9.99983258e-01 6.70504499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.800385723 meters Centerline goodness [0,1] 0.9999774169508368 Centerline is valid? [True, True] Translation: X:155.31, Y:168.37, Z:6.71 [[ 5.73927283e-01 -8.18898865e-01 -3.48171986e-03 1.55305627e+02] [-8.18884715e-01 -5.73937837e-01 4.81480373e-03 1.68366049e+02] [-5.94112808e-03 8.77799514e-05 -9.99982348e-01 6.70506017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.36, Y:168.25, Z:6.71 [[ 6.37211818e-01 -7.70677805e-01 -4.10116278e-03 1.55357868e+02] [-7.70662603e-01 -6.37225012e-01 4.84119959e-03 1.68248986e+02] [-6.34436857e-03 7.57431867e-05 -9.99979871e-01 6.70535367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.860385723 meters Centerline goodness [0,1] 0.9999321941958231 Centerline is valid? [True, True] Translation: X:155.41, Y:168.15, Z:6.71 [[ 6.95435113e-01 -7.18573848e-01 -4.65074952e-03 1.55409290e+02] [-7.18558438e-01 -6.95450660e-01 4.70646850e-03 1.68147905e+02] [-6.61631200e-03 6.87918608e-05 -9.99978110e-01 6.70646728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.49, Y:168.03, Z:6.71 [[ 7.51209706e-01 -6.60042280e-01 -5.30716394e-03 1.55489644e+02] [-6.60026198e-01 -7.51228452e-01 4.60777692e-03 1.68027749e+02] [-7.02822013e-03 4.14604927e-05 -9.99975301e-01 6.70682385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.48, Y:168.02, Z:6.71 [[ 8.01758994e-01 -5.97624808e-01 -5.20616375e-03 1.55482209e+02] [-5.97612415e-01 -8.01775896e-01 3.84885537e-03 1.68020533e+02] [-6.47434806e-03 2.54136797e-05 -9.99979041e-01 6.70740766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.48, Y:168.01, Z:6.71 [[ 8.45874861e-01 -5.33353472e-01 -5.45823684e-03 1.55476646e+02] [-5.33342574e-01 -8.45892471e-01 3.40976065e-03 1.68013393e+02] [-6.43568913e-03 2.68792651e-05 -9.99979290e-01 6.70648623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.47, Y:168.01, Z:6.71 [[ 8.84330666e-01 -4.66825611e-01 -5.75521441e-03 1.55470392e+02] [-4.66815991e-01 -8.84349392e-01 2.99715107e-03 1.68007857e+02] [-6.48876725e-03 3.61535155e-05 -9.99978947e-01 6.70616888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.47, Y:168.00, Z:6.71 [[ 9.17681375e-01 -3.97280917e-01 -5.36353478e-03 1.55465187e+02] [-3.97274386e-01 -9.17697048e-01 2.27846351e-03 1.67999984e+02] [-5.82729011e-03 3.98914563e-05 -9.99983020e-01 6.70519697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.46, Y:167.99, Z:6.70 [[ 9.45477526e-01 -3.25647400e-01 -5.10081157e-03 1.55459583e+02] [-3.25642918e-01 -9.45491285e-01 1.70899508e-03 1.67993536e+02] [-5.37930268e-03 4.52267224e-05 -9.99985530e-01 6.70484002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.46, Y:167.99, Z:6.70 [[ 9.67274655e-01 -2.53677433e-01 -5.24420331e-03 1.55455553e+02] [-2.53674050e-01 -9.67288869e-01 1.31155745e-03 1.67986676e+02] [-5.40537202e-03 6.16820104e-05 -9.99985389e-01 6.70483122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.45, Y:167.98, Z:6.70 [[ 9.84168383e-01 -1.77155783e-01 -5.33123645e-03 1.55447631e+02] [-1.77153523e-01 -9.84182821e-01 8.96975137e-04 1.67979451e+02] [-5.40581566e-03 6.16727468e-05 -9.99985387e-01 6.70483523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.44, Y:167.97, Z:6.71 [[ 9.94790417e-01 -1.01792417e-01 -5.50731210e-03 1.55439990e+02] [-1.01791274e-01 -9.94805659e-01 4.88208541e-04 1.67973524e+02] [-5.52840117e-03 7.49311368e-05 -9.99984715e-01 6.70638876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.43, Y:167.97, Z:6.71 [[ 9.99682714e-01 -2.45208477e-02 -5.76192891e-03 1.55433570e+02] [-2.45209182e-02 -9.99699315e-01 5.84167806e-05 1.67969516e+02] [-5.76162882e-03 8.28895419e-05 -9.99983398e-01 6.70659456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.43, Y:167.97, Z:6.71 [[ 9.98621268e-01 5.20893662e-02 -6.50090696e-03 1.55426515e+02] [ 5.20875866e-02 -9.98642422e-01 -4.42876129e-04 1.67967135e+02] [-6.51515061e-03 1.03648967e-04 -9.99978771e-01 6.70691879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.42, Y:167.96, Z:6.71 [[ 9.91535176e-01 1.29633581e-01 -7.28896849e-03 1.55421046e+02] [ 1.29629195e-01 -9.91561960e-01 -1.07308869e-03 1.67963323e+02] [-7.36657221e-03 1.19142067e-04 -9.99972859e-01 6.70704149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.42, Y:167.95, Z:6.71 [[ 9.78424187e-01 2.06474581e-01 -7.37283431e-03 1.55417534e+02] [ 2.06467757e-01 -9.78451957e-01 -1.68326784e-03 1.67951289e+02] [-7.56151618e-03 1.24697404e-04 -9.99971404e-01 6.70666199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.41, Y:167.94, Z:6.71 [[ 9.59424600e-01 2.81860406e-01 -7.69083359e-03 1.55414754e+02] [ 2.81850205e-01 -9.59455415e-01 -2.40190958e-03 1.67939815e+02] [-8.05601514e-03 1.36788112e-04 -9.99967540e-01 6.70698260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.41, Y:167.93, Z:6.71 [[ 9.34729851e-01 3.55273094e-01 -7.81885985e-03 1.55411364e+02] [ 3.55259320e-01 -9.34762540e-01 -3.13197062e-03 1.67928578e+02] [-8.42148219e-03 1.49823600e-04 -9.99964527e-01 6.70788188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.41, Y:167.92, Z:6.71 [[ 9.04149979e-01 4.27147735e-01 -7.59135375e-03 1.55410312e+02] [ 4.27131257e-01 -9.04181834e-01 -3.75501110e-03 1.67917781e+02] [-8.46790864e-03 1.52588740e-04 -9.99964135e-01 6.70835461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.37038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.41, Y:167.91, Z:6.71 [[ 8.68295333e-01 4.95989557e-01 -7.58771514e-03 1.55407908e+02] [ 4.95968951e-01 -8.68328470e-01 -4.52404179e-03 1.67908204e+02] [-8.83250656e-03 1.64933256e-04 -9.99960979e-01 6.70764469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.41, Y:167.90, Z:6.71 [[ 8.27000146e-01 5.62157138e-01 -7.07887910e-03 1.55407100e+02] [ 5.62134828e-01 -8.27030426e-01 -5.01092642e-03 1.67898619e+02] [-8.67137645e-03 1.64752393e-04 -9.99962389e-01 6.70687102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.41, Y:167.89, Z:6.71 [[ 7.80346797e-01 6.25315024e-01 -6.32431731e-03 1.55407497e+02] [ 6.25292860e-01 -7.80372409e-01 -5.26714989e-03 1.67888830e+02] [-8.22895069e-03 1.55653085e-04 -9.99966130e-01 6.70697999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.41, Y:167.88, Z:6.71 [[ 7.28302401e-01 6.85231596e-01 -5.76825875e-03 1.55407757e+02] [ 6.85208520e-01 -7.28325229e-01 -5.62542478e-03 1.67877912e+02] [-8.05588717e-03 1.44550333e-04 -9.99967540e-01 6.70739815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.41, Y:167.87, Z:6.71 [[ 6.71516611e-01 7.40968848e-01 -5.53244804e-03 1.55407719e+02] [ 7.40941971e-01 -6.71539386e-01 -6.31261253e-03 1.67869847e+02] [-8.39270599e-03 1.39801210e-04 -9.99964771e-01 6.70761555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.520385723 meters Centerline goodness [0,1] 0.9999776351396685 Centerline is valid? [True, True] Translation: X:155.41, Y:167.86, Z:6.71 [[ 6.09188368e-01 7.93005648e-01 -5.61916129e-03 1.55408072e+02] [ 7.92969947e-01 -6.09214270e-01 -7.52572796e-03 1.67861018e+02] [-9.39121801e-03 1.28759904e-04 -9.99955893e-01 6.70758181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.41, Y:167.85, Z:6.71 [[ 5.42127461e-01 8.40277845e-01 -5.56420946e-03 1.55409431e+02] [ 8.40231623e-01 -5.42156005e-01 -8.81399586e-03 1.67851903e+02] [-1.04228750e-02 1.03084451e-04 -9.99945675e-01 6.70795554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.42, Y:167.84, Z:6.71 [[ 4.72697727e-01 8.81211237e-01 -4.85952804e-03 1.55418242e+02] [ 8.81162920e-01 -4.72722699e-01 -9.22812230e-03 1.67840500e+02] [-1.04291343e-02 8.00765194e-05 -9.99945612e-01 6.70663678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.42, Y:167.83, Z:6.71 [[ 4.00494138e-01 9.16289798e-01 -4.17748202e-03 1.55424972e+02] [ 9.16238357e-01 -4.00515920e-01 -9.70929500e-03 1.67830252e+02] [-1.05696760e-02 6.09464619e-05 -9.99944138e-01 6.70693107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.44, Y:167.82, Z:6.71 [[ 3.23931894e-01 9.46073352e-01 -3.65261154e-03 1.55436891e+02] [ 9.46012460e-01 -3.23952486e-01 -1.07336790e-02 1.67819505e+02] [-1.13381203e-02 2.15649446e-05 -9.99935721e-01 6.70611214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.45, Y:167.81, Z:6.71 [[ 2.45659293e-01 9.69351996e-01 -2.86715651e-03 1.55447768e+02] [ 9.69286772e-01 -2.45676023e-01 -1.12447770e-02 1.67809823e+02] [-1.16045386e-02 -1.67129131e-05 -9.99932665e-01 6.70680351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.700385723 meters Centerline goodness [0,1] 0.9999329249206278 Centerline is valid? [True, True] Translation: X:155.45, Y:167.80, Z:6.71 [[ 1.67500660e-01 9.85869932e-01 -2.00166158e-03 1.55453972e+02] [ 9.85801984e-01 -1.67512616e-01 -1.15746458e-02 1.67802412e+02] [-1.17463988e-02 -3.44811546e-05 -9.99931008e-01 6.70650893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.46, Y:167.80, Z:6.71 [[ 8.71721259e-02 9.96192746e-01 -1.01667442e-03 1.55464931e+02] [ 9.96132778e-01 -8.71780337e-02 -1.09306471e-02 1.67795361e+02] [-1.09776630e-02 -5.98949670e-05 -9.99939742e-01 6.70552001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.760385723 meters Centerline goodness [0,1] 0.9999776301366798 Centerline is valid? [True, True] Translation: X:155.48, Y:167.79, Z:6.71 [[ 7.55419374e-03 9.99971455e-01 -1.53064780e-04 1.55475433e+02] [ 9.99914043e-01 -7.55540025e-03 -1.07155456e-02 1.67789083e+02] [-1.07163962e-02 -7.21043153e-05 -9.99942575e-01 6.70514385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.49, Y:167.78, Z:6.71 [[-7.26056171e-02 9.97360507e-01 6.65806276e-04 1.55487137e+02] [ 9.97306661e-01 7.26086159e-02 -1.03640477e-02 1.67782474e+02] [-1.03850351e-02 -8.84750433e-05 -9.99946070e-01 6.70537819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.820385723 meters Centerline goodness [0,1] 0.9999105105373842 Centerline is valid? [True, True] Translation: X:155.50, Y:167.78, Z:6.70 [[-1.50834787e-01 9.88557890e-01 1.47175289e-03 1.55496735e+02] [ 9.88504727e-01 1.50841939e-01 -1.02525311e-02 1.67777979e+02] [-1.03572226e-02 -9.16036594e-05 -9.99946358e-01 6.70497571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.51, Y:167.77, Z:6.71 [[-2.27848052e-01 9.73693904e-01 2.33380762e-03 1.55507041e+02] [ 9.73638487e-01 2.27859984e-01 -1.03887073e-02 1.67772814e+02] [-1.06472023e-02 -9.47618072e-05 -9.99943312e-01 6.70657981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.52, Y:167.77, Z:6.71 [[-3.03062628e-01 9.52965290e-01 3.19365267e-03 1.55515054e+02] [ 9.52909109e-01 3.03079441e-01 -1.03480282e-02 1.67768246e+02] [-1.08292422e-02 -9.28399149e-05 -9.99941358e-01 6.70553125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.53, Y:167.77, Z:6.70 [[-3.75912674e-01 9.26645503e-01 4.21588914e-03 1.55525181e+02] [ 9.26584579e-01 3.75936304e-01 -1.06261074e-02 1.67765704e+02] [-1.14315405e-02 -8.81106031e-05 -9.99934654e-01 6.70484397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.54, Y:167.76, Z:6.71 [[-4.46584191e-01 8.94727822e-01 4.96832751e-03 1.55537800e+02] [ 8.94670529e-01 4.46611820e-01 -1.01255146e-02 1.67762937e+02] [-1.12784934e-02 -7.68785200e-05 -9.99936393e-01 6.70567487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.55, Y:167.76, Z:6.71 [[-5.14638297e-01 8.57385461e-01 6.13149168e-03 1.55545956e+02] [ 8.57322899e-01 5.14674816e-01 -1.03576660e-02 1.67759326e+02] [-1.20362366e-02 -7.37833478e-05 -9.99927559e-01 6.70647943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.56, Y:167.76, Z:6.71 [[-5.79560848e-01 8.14897856e-01 7.12093628e-03 1.55555048e+02] [ 8.14834948e-01 5.79604590e-01 -1.01255748e-02 1.67757198e+02] [-1.23786365e-02 -6.59989623e-05 -9.99923380e-01 6.70727369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.56, Y:167.76, Z:6.71 [[-6.40614602e-01 7.67816330e-01 8.42706889e-03 1.55563526e+02] [ 7.67748784e-01 6.40670025e-01 -1.01844813e-02 1.67755832e+02] [-1.32187815e-02 -5.44555359e-05 -9.99912627e-01 6.70866175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.57, Y:167.76, Z:6.71 [[-6.98406727e-01 7.15640723e-01 9.29510882e-03 1.55573396e+02] [ 7.15576431e-01 6.98468577e-01 -9.59259310e-03 1.67756439e+02] [-1.33571917e-02 -4.81707519e-05 -9.99910788e-01 6.70876854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.58, Y:167.76, Z:6.71 [[-7.51058222e-01 6.60160082e-01 1.00106500e-02 1.55582434e+02] [ 6.60101039e-01 7.51124934e-01 -8.82910680e-03 1.67755152e+02] [-1.33478727e-02 -2.31327741e-05 -9.99910913e-01 6.70936813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.61, Y:167.77, Z:6.71 [[-7.95365191e-01 6.06056122e-01 9.49687169e-03 1.55613460e+02] [ 6.06012768e-01 7.95421886e-01 -7.24901413e-03 1.67765233e+02] [-1.19473290e-02 -1.03880033e-05 -9.99928628e-01 6.70728812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.66, Y:167.77, Z:6.71 [[-8.36060557e-01 5.48557968e-01 9.32204832e-03 1.55659628e+02] [ 5.48523809e-01 8.36112526e-01 -6.12174546e-03 1.67767747e+02] [-1.11524136e-02 -4.78446839e-06 -9.99937810e-01 6.70704036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.68, Y:167.79, Z:6.71 [[-8.72678025e-01 4.88206002e-01 9.37894430e-03 1.55678036e+02] [ 4.88177781e-01 8.72728423e-01 -5.24923736e-03 1.67790732e+02] [-1.07479804e-02 -2.30188011e-06 -9.99942239e-01 6.70645599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.09, Y:168.51, Z:5.76 [[-8.37109354e-01 -5.46965512e-01 8.75545555e-03 1.56086978e+02] [ 5.46935414e-01 -8.37155140e-01 -5.73794138e-03 1.68505886e+02] [ 1.04681307e-02 -1.46156897e-05 9.99945208e-01 5.76206101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.64, Y:167.81, Z:6.71 [[-8.74120459e-01 4.85629179e-01 8.81612157e-03 1.55639795e+02] [ 4.85604542e-01 8.74164916e-01 -4.89164321e-03 1.67813555e+02] [-1.00822688e-02 5.26327774e-06 -9.99949173e-01 6.70625988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.65, Y:167.84, Z:6.71 [[-9.06198997e-01 4.22736391e-01 9.86513119e-03 1.55652466e+02] [ 4.22711433e-01 9.06252693e-01 -4.59355458e-03 1.67840327e+02] [-1.08821644e-02 7.42919273e-06 -9.99940787e-01 6.70583073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.300385723 meters Centerline goodness [0,1] 0.9999774678353349 Centerline is valid? [True, True] Translation: X:156.02, Y:168.57, Z:5.76 [[-8.75965122e-01 -4.82267817e-01 1.01419128e-02 1.56016206e+02] [ 4.82235939e-01 -8.76023831e-01 -5.54503101e-03 1.68572111e+02] [ 1.15587473e-02 3.35410858e-05 9.99933195e-01 5.76204923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.62, Y:167.86, Z:6.71 [[-9.06992586e-01 4.21028526e-01 9.97143482e-03 1.55619638e+02] [ 4.21003413e-01 9.07047397e-01 -4.59851514e-03 1.67857163e+02] [-1.09806700e-02 2.71889552e-05 -9.99939710e-01 6.70742760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.64, Y:167.88, Z:6.71 [[-9.34242693e-01 3.56492287e-01 1.01902306e-02 1.55637387e+02] [ 3.56471502e-01 9.34298265e-01 -3.84964435e-03 1.67881544e+02] [-1.08930833e-02 3.60246995e-05 -9.99940668e-01 6.70689173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.65, Y:167.91, Z:6.71 [[-9.56419873e-01 2.91769785e-01 1.14638193e-02 1.55654680e+02] [ 2.91749688e-01 9.56488572e-01 -3.42516908e-03 1.67905447e+02] [-1.19643730e-02 6.86659291e-05 -9.99928422e-01 6.70711939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.420385723 meters Centerline goodness [0,1] 0.9999776331387417 Centerline is valid? [True, True] Translation: X:155.67, Y:167.93, Z:6.71 [[-9.74252083e-01 2.25148241e-01 1.18806158e-02 1.55665616e+02] [ 2.25132679e-01 9.74324515e-01 -2.64881584e-03 1.67931742e+02] [-1.21719514e-02 9.41005038e-05 -9.99925915e-01 6.70752773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.85, Y:168.73, Z:5.76 [[-9.61864040e-01 -2.73274496e-01 1.17736561e-02 1.55852397e+02] [ 2.73252890e-01 -9.61936091e-01 -3.43747072e-03 1.68727842e+02] [ 1.22648778e-02 -8.91939265e-05 9.99924780e-01 5.76109865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.62, Y:167.94, Z:6.71 [[-9.73937098e-01 2.26533074e-01 1.13708616e-02 1.55615113e+02] [ 2.26519481e-01 9.74003461e-01 -2.48640058e-03 1.67940858e+02] [-1.16385106e-02 1.54123912e-04 -9.99932258e-01 6.70712838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.80, Y:168.74, Z:5.76 [[-9.64328140e-01 -2.64528599e-01 9.79077760e-03 1.55800889e+02] [ 2.64512618e-01 -9.64377815e-01 -2.91614770e-03 1.68739285e+02] [ 1.02134132e-02 -2.22339067e-04 9.99947817e-01 5.76278832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.56, Y:167.95, Z:6.71 [[-9.73776187e-01 2.27346949e-01 8.56168626e-03 1.55561834e+02] [ 2.27339608e-01 9.73813811e-01 -1.83400607e-03 1.67951670e+02] [-8.75444401e-03 1.60498959e-04 -9.99961666e-01 6.70512949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.57, Y:167.98, Z:6.70 [[-9.87111382e-01 1.59900023e-01 6.56517998e-03 1.55570341e+02] [ 1.59897419e-01 9.87133205e-01 -9.23087272e-04 1.67980042e+02] [-6.62830883e-03 1.38565380e-04 -9.99978023e-01 6.70415861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.57, Y:168.01, Z:6.70 [[-9.95897609e-01 9.03155129e-02 5.57312175e-03 1.55569656e+02] [ 9.03147902e-02 9.95913196e-01 -3.81707504e-04 1.68010184e+02] [-5.58481960e-03 1.23193731e-04 -9.99984397e-01 6.70384411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.62, Y:168.82, Z:5.76 [[-9.93216428e-01 -1.16178567e-01 4.86495624e-03 1.55623232e+02] [ 1.16176419e-01 -9.93228331e-01 -7.22684894e-04 1.68823181e+02] [ 4.91597287e-03 -1.52589311e-04 9.99987905e-01 5.76446748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.48, Y:168.02, Z:6.70 [[-9.96358702e-01 8.51536329e-02 4.26567204e-03 1.55481771e+02] [ 8.51532671e-02 9.96367828e-01 -2.67619331e-04 1.68021337e+02] [-4.27296714e-03 9.65910616e-05 -9.99990866e-01 6.70410612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.50, Y:168.05, Z:6.70 [[-9.99924987e-01 1.18423716e-02 3.12720506e-03 1.55500625e+02] [ 1.18425203e-02 9.99929875e-01 2.90359160e-05 1.68053043e+02] [-3.12664191e-03 6.60677272e-05 -9.99995110e-01 6.70371916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.720385723 meters Centerline goodness [0,1] 0.9999553102585301 Centerline is valid? [True, True] Translation: X:155.50, Y:168.85, Z:5.76 [[-9.99020870e-01 -4.41049388e-02 3.47227776e-03 1.55500855e+02] [ 4.41045026e-02 -9.99026903e-01 -2.02148794e-04 1.68850249e+02] [ 3.47781466e-03 -4.88077807e-05 9.99993951e-01 5.76460227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.40, Y:168.06, Z:6.70 [[-9.99992065e-01 2.62636111e-03 2.99527533e-03 1.55403027e+02] [ 2.62651052e-03 9.99996550e-01 4.59525198e-05 1.68060548e+02] [-2.99514430e-03 5.38192773e-05 -9.99995513e-01 6.70423336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.40, Y:168.84, Z:5.76 [[-9.98982718e-01 -4.48301881e-02 4.87685000e-03 1.55397620e+02] [ 4.48299037e-02 -9.98994620e-01 -1.67680590e-04 1.68840643e+02] [ 4.87946406e-03 5.11187043e-05 9.99988094e-01 5.76135384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.31, Y:168.07, Z:6.71 [[-9.99935806e-01 -9.80111109e-03 5.68517781e-03 1.55306917e+02] [-9.80063468e-03 9.99951966e-01 1.11654227e-04 1.68069285e+02] [-5.68599906e-03 5.59287090e-05 -9.99983833e-01 6.70878234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.30, Y:168.83, Z:5.76 [[-9.98989790e-01 -4.44322178e-02 6.72139617e-03 1.55295374e+02] [ 4.44312648e-02 -9.99012401e-01 -2.91112079e-04 1.68832060e+02] [ 6.72769289e-03 7.82213862e-06 9.99977369e-01 5.75919621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.21, Y:168.07, Z:6.71 [[-9.99779541e-01 -1.99053867e-02 6.68176300e-03 1.55209655e+02] [-1.99047185e-02 9.99801868e-01 1.66503369e-04 1.68074992e+02] [-6.68375344e-03 3.34680506e-05 -9.99977663e-01 6.70930301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.900385723 meters Centerline goodness [0,1] 0.9999779721126947 Centerline is valid? [True, True] Translation: X:155.20, Y:168.11, Z:6.71 [[-9.95720057e-01 -9.21579766e-02 6.96237197e-03 1.55204401e+02] [-9.21555378e-02 9.95744398e-01 6.70972403e-04 1.68107061e+02] [-6.99457834e-03 2.64795465e-05 -9.99975537e-01 6.70905009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.19, Y:168.13, Z:6.71 [[-9.86609759e-01 -1.62962692e-01 6.65917874e-03 1.55186208e+02] [-1.62958804e-01 9.86632232e-01 1.12598800e-03 1.68134801e+02] [-6.75365441e-03 2.57389507e-05 -9.99977194e-01 6.71022440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.05, Y:168.87, Z:5.76 [[-9.94823227e-01 1.01383926e-01 6.93157454e-03 1.55048066e+02] [-1.01381550e-01 -9.94847375e-01 6.94155583e-04 1.68866137e+02] [ 6.96623496e-03 -1.21716745e-05 9.99975735e-01 5.75975637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.05, Y:168.12, Z:6.71 [[-9.85559611e-01 -1.69199067e-01 6.62792209e-03 1.55053061e+02] [-1.69195047e-01 9.85581897e-01 1.16668915e-03 1.68115531e+02] [-6.72976274e-03 2.84301185e-05 -9.99977355e-01 6.70920137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.020385723 meters Centerline goodness [0,1] 0.9999560342932513 Centerline is valid? [True, True] Translation: X:155.03, Y:168.14, Z:6.71 [[-9.71071582e-01 -2.38715032e-01 5.92581499e-03 1.55031441e+02] [-2.38710358e-01 9.71089662e-01 1.49426119e-03 1.68142160e+02] [-6.11120028e-03 3.64811608e-05 -9.99981326e-01 6.70948035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.99, Y:168.16, Z:6.71 [[-9.51599537e-01 -3.07303595e-01 4.77719562e-03 1.54985173e+02] [-3.07299519e-01 9.51611527e-01 1.58332516e-03 1.68159839e+02] [-5.03259594e-03 3.86615760e-05 -9.99987336e-01 6.70752117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.080385723 meters Centerline goodness [0,1] 0.9999781195982759 Centerline is valid? [True, True] Translation: X:154.92, Y:168.17, Z:6.71 [[-9.26709505e-01 -3.75751941e-01 4.46909324e-03 1.54922754e+02] [-3.75747354e-01 9.26720280e-01 1.85701767e-03 1.68168265e+02] [-4.83937733e-03 4.16659639e-05 -9.99988289e-01 6.70706272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.85, Y:168.17, Z:6.71 [[-8.97394289e-01 -4.41201306e-01 4.98977005e-03 1.54849068e+02] [-4.41194109e-01 8.97408159e-01 2.52068732e-03 1.68168557e+02] [-5.58999089e-03 6.05932476e-05 -9.99984374e-01 6.70737483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.140385723 meters Centerline goodness [0,1] 0.9999780845934693 Centerline is valid? [True, True] Translation: X:154.77, Y:168.16, Z:6.71 [[-8.62663165e-01 -5.05751318e-01 5.27908685e-03 1.54765254e+02] [-5.05741324e-01 8.62679314e-01 3.18035722e-03 1.68157145e+02] [-6.16262888e-03 7.37246529e-05 -9.99981008e-01 6.70802208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.170385723 meters Centerline goodness [0,1] 0.9999780956344599 Centerline is valid? [True, True] Translation: X:154.68, Y:168.14, Z:6.71 [[-8.24024039e-01 -5.66526478e-01 5.66854483e-03 1.54679430e+02] [-5.66512208e-01 8.24043530e-01 4.02240010e-03 1.68138220e+02] [-6.94992385e-03 1.03254528e-04 -9.99975844e-01 6.70910915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.59, Y:168.11, Z:6.71 [[-7.79778997e-01 -6.26035659e-01 4.90608224e-03 1.54590400e+02] [-6.26022431e-01 7.79794424e-01 4.07098090e-03 1.68107927e+02] [-6.37431478e-03 1.03147878e-04 -9.99979679e-01 6.70859438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.50, Y:168.07, Z:6.71 [[-7.31697874e-01 -6.81614337e-01 4.48516567e-03 1.54498194e+02] [-6.81600564e-01 7.31711611e-01 4.33467571e-03 1.68065936e+02] [-6.23642490e-03 1.14581550e-04 -9.99980547e-01 6.70799161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.41, Y:168.01, Z:6.71 [[-6.78520341e-01 -7.34568605e-01 4.37153274e-03 1.54405121e+02] [-7.34552149e-01 6.78534412e-01 4.91849718e-03 1.68012846e+02] [-6.57920901e-03 1.26181615e-04 -9.99978349e-01 6.70820277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.290385723 meters Centerline goodness [0,1] 0.9998252817332052 Centerline is valid? [True, True] Translation: X:154.31, Y:167.94, Z:6.71 [[-6.21809045e-01 -7.83154574e-01 4.73546821e-03 1.54307136e+02] [-7.83129895e-01 6.21827057e-01 6.21931410e-03 1.67941469e+02] [-7.81532654e-03 1.58739038e-04 -9.99969447e-01 6.71027382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.22, Y:167.88, Z:6.71 [[-5.60387187e-01 -8.28220112e-01 4.20073623e-03 1.54223519e+02] [-8.28194692e-01 5.60402909e-01 6.49092082e-03 1.67879090e+02] [-7.73001597e-03 1.58401411e-04 -9.99970110e-01 6.70974850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:167.80, Z:6.71 [[-4.96044782e-01 -8.68288421e-01 3.84606980e-03 1.54139154e+02] [-8.68259618e-01 4.96059663e-01 7.07442001e-03 1.67798522e+02] [-8.05051707e-03 1.69842034e-04 -9.99967580e-01 6.71018444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:167.71, Z:6.71 [[-4.28368995e-01 -9.03597668e-01 3.35537214e-03 1.54058088e+02] [-9.03566685e-01 4.28382100e-01 7.48476299e-03 1.67708144e+02] [-8.20059575e-03 1.74437917e-04 -9.99966359e-01 6.70931329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.410385723 meters Centerline goodness [0,1] 0.9998260869565218 Centerline is valid? [True, True] Translation: X:153.99, Y:167.61, Z:6.71 [[-3.58236991e-01 -9.33625403e-01 3.14080399e-03 1.53986490e+02] [-9.33584507e-01 3.58250704e-01 8.74073994e-03 1.67611212e+02] [-9.28577209e-03 1.99050435e-04 -9.99956866e-01 6.71030353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.440385723 meters Centerline goodness [0,1] 0.9999565576263088 Centerline is valid? [True, True] Translation: X:153.92, Y:167.51, Z:6.71 [[-2.85458167e-01 -9.58388439e-01 2.28787074e-03 1.53921449e+02] [-9.58352284e-01 2.85467276e-01 8.32669988e-03 1.67510214e+02] [-8.63332513e-03 1.84338338e-04 -9.99962715e-01 6.70915388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.86, Y:167.40, Z:6.71 [[-2.11202331e-01 -9.77441055e-01 1.59971201e-03 1.53862943e+02] [-9.77406184e-01 2.11208312e-01 8.25832127e-03 1.67400097e+02] [-8.40989473e-03 1.80608291e-04 -9.99964620e-01 6.70809913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.500385723 meters Centerline goodness [0,1] 0.9998915048280351 Centerline is valid? [True, True] Translation: X:153.81, Y:167.29, Z:6.71 [[-1.35868534e-01 -9.90726379e-01 9.92036140e-04 1.53814244e+02] [-9.90688824e-01 1.35872024e-01 8.62832410e-03 1.67285747e+02] [-8.68309825e-03 1.89518631e-04 -9.99962283e-01 6.70908092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.530385723 meters Centerline goodness [0,1] 0.9998917350540242 Centerline is valid? [True, True] Translation: X:153.78, Y:167.16, Z:6.71 [[-5.93923355e-02 -9.98234660e-01 3.36592374e-04 1.53775105e+02] [-9.98194700e-01 5.93929704e-02 8.93398389e-03 1.67164494e+02] [-8.93820360e-03 1.94625444e-04 -9.99960035e-01 6.70880893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.74, Y:167.04, Z:6.71 [[ 1.82519006e-02 -9.99833371e-01 -3.14936357e-04 1.53743779e+02] [-9.99801399e-01 -1.82538361e-02 7.99748256e-03 1.67040547e+02] [-8.00189874e-03 1.68904554e-04 -9.99967970e-01 6.70641411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.590385723 meters Centerline goodness [0,1] 0.9998481924052829 Centerline is valid? [True, True] Translation: X:153.72, Y:166.92, Z:6.71 [[ 9.51885535e-02 -9.95458734e-01 -1.02371693e-03 1.53720983e+02] [-9.95420075e-01 -9.51938808e-02 8.77491361e-03 1.66920331e+02] [-8.83251598e-03 1.83757054e-04 -9.99960976e-01 6.70713027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.62038572299997 meters Centerline goodness [0,1] 0.9999132396321361 Centerline is valid? [True, True] Translation: X:153.71, Y:166.80, Z:6.71 [[ 1.71792720e-01 -9.85131753e-01 -1.64041567e-03 1.53708159e+02] [-9.85095974e-01 -1.71800464e-01 8.39774875e-03 1.66796921e+02] [-8.55471312e-03 1.73294777e-04 -9.99963393e-01 6.70648419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.650385723 meters Centerline goodness [0,1] 0.9999349283126912 Centerline is valid? [True, True] Translation: X:153.70, Y:166.67, Z:6.71 [[ 2.48182800e-01 -9.68711148e-01 -2.00237733e-03 1.53703694e+02] [-9.68684096e-01 -2.48190836e-01 7.24093232e-03 1.66670389e+02] [-7.51134356e-03 1.42596219e-04 -9.99971779e-01 6.70638554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.680385723 meters Centerline goodness [0,1] 0.9999349339579673 Centerline is valid? [True, True] Translation: X:153.71, Y:166.55, Z:6.71 [[ 3.23561267e-01 -9.46203346e-01 -2.70820795e-03 1.53710109e+02] [-9.46173615e-01 -3.23572573e-01 7.50198918e-03 1.66546067e+02] [-7.97470908e-03 1.35081779e-04 -9.99968192e-01 6.70649998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.710385723 meters Centerline goodness [0,1] 0.9999783446662913 Centerline is valid? [True, True] Translation: X:153.73, Y:166.42, Z:6.71 [[ 3.95798933e-01 -9.18330994e-01 -3.37483942e-03 1.53727480e+02] [-9.18300416e-01 -3.95813298e-01 7.49526543e-03 1.66421894e+02] [-8.21894087e-03 1.32498385e-04 -9.99966215e-01 6.70663340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.740385723 meters Centerline goodness [0,1] 0.9998916458987973 Centerline is valid? [True, True] Translation: X:153.75, Y:166.30, Z:6.71 [[ 4.65274429e-01 -8.85155069e-01 -4.49553518e-03 1.53752587e+02] [-8.85116717e-01 -4.65296124e-01 8.24097053e-03 1.66303215e+02] [-9.38629193e-03 1.44760482e-04 -9.99955937e-01 6.70837851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.770385723 meters Centerline goodness [0,1] 0.9999350789872322 Centerline is valid? [True, True] Translation: X:153.78, Y:166.19, Z:6.71 [[ 5.32576589e-01 -8.46368895e-01 -4.67655989e-03 1.53783404e+02] [-8.46338259e-01 -5.32597107e-01 7.20224431e-03 1.66188867e+02] [-8.58647782e-03 1.22204849e-04 -9.99963128e-01 6.70734857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.800385723 meters Centerline goodness [0,1] 0.9998487434905681 Centerline is valid? [True, True] Translation: X:153.82, Y:166.08, Z:6.71 [[ 5.96247132e-01 -8.02786239e-01 -4.85926475e-03 1.53820670e+02] [-8.02761035e-01 -5.96266923e-01 6.36216577e-03 1.66081873e+02] [-8.00487797e-03 1.07405310e-04 -9.99967955e-01 6.70737764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.830385723 meters Centerline goodness [0,1] 0.9999568919064554 Centerline is valid? [True, True] Translation: X:153.87, Y:165.98, Z:6.71 [[ 6.55667884e-01 -7.55032054e-01 -5.12100909e-03 1.53865414e+02] [-7.55010228e-01 -6.55687874e-01 5.74178843e-03 1.65980651e+02] [-7.69301787e-03 1.01707965e-04 -9.99970403e-01 6.70713105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.860385723 meters Centerline goodness [0,1] 0.9999784366576819 Centerline is valid? [True, True] Translation: X:153.92, Y:165.88, Z:6.71 [[ 7.11670153e-01 -7.02494335e-01 -5.22517314e-03 1.53918277e+02] [-7.02476324e-01 -7.11689329e-01 5.03131809e-03 1.65883402e+02] [-7.25317242e-03 8.99215061e-05 -9.99973691e-01 6.70704575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.890385723 meters Centerline goodness [0,1] 0.999978483981324 Centerline is valid? [True, True] Translation: X:153.91, Y:165.87, Z:6.71 [[ 7.64680256e-01 -6.44387330e-01 -5.39207715e-03 1.53914235e+02] [-6.44372081e-01 -7.64699263e-01 4.43390128e-03 1.65872253e+02] [-6.98046723e-03 8.39872033e-05 -9.99975633e-01 6.70702085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.920385723 meters Centerline goodness [0,1] 0.9999354449991392 Centerline is valid? [True, True] Translation: X:153.91, Y:165.86, Z:6.71 [[ 8.13305568e-01 -5.81811987e-01 -5.37265630e-03 1.53911071e+02] [-5.81799882e-01 -8.13323310e-01 3.75370502e-03 1.65859773e+02] [-6.55365717e-03 7.29016095e-05 -9.99978522e-01 6.70696245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.950385723 meters Centerline goodness [0,1] 0.9998712998712999 Centerline is valid? [True, True] Translation: X:153.91, Y:165.85, Z:6.71 [[ 8.57416800e-01 -5.14595925e-01 -5.24078125e-03 1.53908379e+02] [-5.14586704e-01 -8.57432814e-01 3.08103357e-03 1.65847161e+02] [-6.07910513e-03 5.51064051e-05 -9.99981521e-01 6.70713320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.980385723 meters Centerline goodness [0,1] 0.9999355379359247 Centerline is valid? [True, True] Translation: X:153.91, Y:165.84, Z:6.71 [[ 8.95714815e-01 -4.44594888e-01 -5.50958193e-03 1.53907669e+02] [-4.44586792e-01 -8.95731759e-01 2.68354139e-03 1.65835550e+02] [-6.12819629e-03 4.57995752e-05 -9.99981221e-01 6.70728227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.91, Y:165.82, Z:6.71 [[ 9.28926572e-01 -3.70220761e-01 -5.65788101e-03 1.53906630e+02] [-3.70214062e-01 -9.28943802e-01 2.22716586e-03 1.65820646e+02] [-6.08039654e-03 2.57535640e-05 -9.99981514e-01 6.70728092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.040385723 meters Centerline goodness [0,1] 0.9998281343989001 Centerline is valid? [True, True] Translation: X:153.91, Y:165.81, Z:6.71 [[ 9.55536142e-01 -2.94818986e-01 -5.69631927e-03 1.53906951e+02] [-2.94813842e-01 -9.55553120e-01 1.74157115e-03 1.65807824e+02] [-5.95658389e-03 1.52195915e-05 -9.99982259e-01 6.70710868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.070385723 meters Centerline goodness [0,1] 0.9998707899043845 Centerline is valid? [True, True] Translation: X:153.91, Y:165.79, Z:6.71 [[ 9.76509915e-01 -2.15403796e-01 -5.43978464e-03 1.53909332e+02] [-2.15400414e-01 -9.76525066e-01 1.20705068e-03 1.65794796e+02] [-5.57208935e-03 -6.96509572e-06 -9.99984476e-01 6.70710954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.100385723 meters Centerline goodness [0,1] 0.9997406975236613 Centerline is valid? [True, True] Translation: X:153.91, Y:165.78, Z:6.71 [[ 9.90863020e-01 -1.34757443e-01 -5.55934383e-03 1.53912468e+02] [-1.34755164e-01 -9.90878616e-01 7.84205945e-04 1.65783742e+02] [-5.61431251e-03 -2.78903810e-05 -9.99984239e-01 6.70759784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.130385723 meters Centerline goodness [0,1] 0.9998707648566567 Centerline is valid? [True, True] Translation: X:153.91, Y:165.77, Z:6.71 [[ 9.98477804e-01 -5.48668791e-02 -5.63026797e-03 1.53913540e+02] [-5.48657870e-02 -9.98493678e-01 3.48361250e-04 1.65773164e+02] [-5.64090046e-03 -3.89218924e-05 -9.99984089e-01 6.70816166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.160385723 meters Centerline goodness [0,1] 0.9997408487204406 Centerline is valid? [True, True] Translation: X:153.92, Y:165.76, Z:6.71 [[ 9.99668736e-01 2.50979808e-02 -5.70170477e-03 1.53915032e+02] [ 2.50978507e-02 -9.99684995e-01 -9.43780479e-05 1.65763250e+02] [-5.70227740e-03 -4.87537511e-05 -9.99983741e-01 6.70904189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.190385723 meters Centerline goodness [0,1] 0.9998056575253725 Centerline is valid? [True, True] Translation: X:153.92, Y:165.75, Z:6.71 [[ 9.94343375e-01 1.06070989e-01 -5.49517772e-03 1.53917846e+02] [ 1.06069716e-01 -9.94358558e-01 -5.23543580e-04 1.65754188e+02] [-5.51970977e-03 -6.22898470e-05 -9.99984764e-01 6.70992914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.220385723 meters Centerline goodness [0,1] 0.9996975327312795 Centerline is valid? [True, True] Translation: X:153.92, Y:165.75, Z:6.71 [[ 9.82517556e-01 1.86105011e-01 -4.91703556e-03 1.53920332e+02] [ 1.86103028e-01 -9.82529857e-01 -8.61704528e-04 1.65746403e+02] [-4.99150178e-03 -6.84353828e-05 -9.99987540e-01 6.70989176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.250385723 meters Centerline goodness [0,1] 0.9998706255255838 Centerline is valid? [True, True] Translation: X:153.92, Y:165.74, Z:6.71 [[ 9.64670573e-01 2.63416895e-01 -4.71433671e-03 1.53924071e+02] [ 2.63414110e-01 -9.64682090e-01 -1.21332924e-03 1.65738053e+02] [-4.86744761e-03 -7.13597967e-05 -9.99988151e-01 6.71010016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.280385723 meters Centerline goodness [0,1] 0.9998054979253111 Centerline is valid? [True, True] Translation: X:153.93, Y:165.73, Z:6.71 [[ 9.40424582e-01 3.39971656e-01 -4.56936372e-03 1.53927451e+02] [ 3.39968056e-01 -9.40435679e-01 -1.56658113e-03 1.65731890e+02] [-4.82978586e-03 -8.01862988e-05 -9.99988333e-01 6.71080869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.310385723 meters Centerline goodness [0,1] 0.9998486944492478 Centerline is valid? [True, True] Translation: X:153.93, Y:165.72, Z:6.71 [[ 9.10712691e-01 4.13019290e-01 -4.17859238e-03 1.53931827e+02] [ 4.13015331e-01 -9.10722274e-01 -1.80998457e-03 1.65724393e+02] [-4.55309569e-03 -7.74467971e-05 -9.99989632e-01 6.71108317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.340385723 meters Centerline goodness [0,1] 0.9997175939000282 Centerline is valid? [True, True] Translation: X:153.94, Y:165.72, Z:6.71 [[ 8.75483915e-01 4.83233927e-01 -3.58986066e-03 1.53936256e+02] [ 4.83230187e-01 -8.75491272e-01 -1.90248927e-03 1.65717285e+02] [-4.06223904e-03 -6.91302842e-05 -9.99991747e-01 6.71093452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.37038572299997 meters Centerline goodness [0,1] 0.9999564829521965 Centerline is valid? [True, True] Translation: X:153.94, Y:165.71, Z:6.71 [[ 8.35487258e-01 5.49501521e-01 -3.02016688e-03 1.53937480e+02] [ 5.49498174e-01 -8.35492714e-01 -1.91877098e-03 1.65713844e+02] [-3.57769500e-03 -5.64674765e-05 -9.99993598e-01 6.70994662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.400385723 meters Centerline goodness [0,1] 0.9999127780200611 Centerline is valid? [True, True] Translation: X:153.94, Y:165.71, Z:6.71 [[ 7.91026556e-01 6.11778657e-01 -1.96526507e-03 1.53937986e+02] [ 6.11776868e-01 -7.91028997e-01 -1.47963591e-03 1.65711568e+02] [-2.45979132e-03 -3.18724139e-05 -9.99996974e-01 6.70944819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.430385723 meters Centerline goodness [0,1] 0.9999343257443082 Centerline is valid? [True, True] Translation: X:153.94, Y:165.71, Z:6.71 [[ 7.41430414e-01 6.71028252e-01 -1.42366295e-03 1.53941286e+02] [ 6.71027069e-01 -7.41431780e-01 -1.26040853e-03 1.65706583e+02] [-1.90131869e-03 -2.08111639e-05 -9.99998192e-01 6.70944725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.460385723 meters Centerline goodness [0,1] 0.9999780586273477 Centerline is valid? [True, True] Translation: X:153.94, Y:165.70, Z:6.71 [[ 6.87655347e-01 7.26036729e-01 -8.89549729e-04 1.53944568e+02] [ 7.26036140e-01 -6.87655922e-01 -9.25217947e-04 1.65702454e+02] [-1.28344635e-03 -9.61418317e-06 -9.99999176e-01 6.70983326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:165.70, Z:6.71 [[ 6.30947874e-01 7.75824649e-01 -9.45073416e-04 1.53945443e+02] [ 7.75823798e-01 -6.30948582e-01 -1.14924466e-03 1.65699120e+02] [-1.48790507e-03 -8.09697138e-06 -9.99998893e-01 6.71017955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.520385723 meters Centerline goodness [0,1] 0.9999337104472336 Centerline is valid? [True, True] Translation: X:153.95, Y:165.69, Z:6.71 [[ 5.69741274e-01 8.21823375e-01 -1.10498911e-03 1.53950159e+02] [ 8.21821862e-01 -5.69742345e-01 -1.57727376e-03 1.65693493e+02] [-1.92579954e-03 -9.46624847e-06 -9.99998146e-01 6.71036026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.550385723 meters Centerline goodness [0,1] 0.9999336503372774 Centerline is valid? [True, True] Translation: X:153.95, Y:165.69, Z:6.71 [[ 5.07329372e-01 8.61751739e-01 -9.21777464e-04 1.53950598e+02] [ 8.61750319e-01 -5.07330209e-01 -1.56431895e-03 1.65690000e+02] [-1.81570012e-03 -7.17075646e-07 -9.99998352e-01 6.71100402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:165.68, Z:6.71 [[ 4.39981071e-01 8.98006887e-01 -5.37211160e-04 1.53954667e+02] [ 8.98006205e-01 -4.39981399e-01 -1.10637541e-03 1.65683043e+02] [-1.22989565e-03 4.36528156e-06 -9.99999244e-01 6.71143197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.610385723 meters Centerline goodness [0,1] 0.9998886042107609 Centerline is valid? [True, True] Translation: X:153.96, Y:165.68, Z:6.71 [[ 3.71416522e-01 9.28466347e-01 -9.99719534e-05 1.53955522e+02] [ 9.28466307e-01 -3.71416536e-01 -2.71519464e-04 1.65677891e+02] [-2.89227922e-04 8.02622480e-06 -9.99999958e-01 6.71159602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:165.67, Z:6.71 [[ 2.99131891e-01 9.54211773e-01 -6.64724808e-05 1.53962308e+02] [ 9.54211743e-01 -2.99131898e-01 -2.40111962e-04 1.65670829e+02] [-2.49001700e-04 8.39632333e-06 -9.99999969e-01 6.71201866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:165.66, Z:6.71 [[ 2.25839577e-01 9.74164494e-01 -1.55389011e-04 1.53966113e+02] [ 9.74164228e-01 -2.25839630e-01 -7.19838456e-04 1.65664197e+02] [-7.36334062e-04 1.11935960e-05 -9.99999729e-01 6.71289231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.700385723 meters Centerline goodness [0,1] 0.9998651776284745 Centerline is valid? [True, True] Translation: X:153.97, Y:165.66, Z:6.71 [[ 1.50451013e-01 9.88617444e-01 -2.05814572e-04 1.53973025e+02] [ 9.88616359e-01 -1.50451153e-01 -1.46489940e-03 1.65657129e+02] [-1.47919014e-03 1.69239467e-05 -9.99998906e-01 6.71430938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.730385723 meters Centerline goodness [0,1] 0.9997071940177485 Centerline is valid? [True, True] Translation: X:153.98, Y:165.65, Z:6.72 [[ 7.40668263e-02 9.97253278e-01 -7.59660852e-05 1.53976450e+02] [ 9.97252483e-01 -7.40668632e-02 -1.25925917e-03 1.65649789e+02] [-1.26142690e-03 1.75119629e-05 -9.99999204e-01 6.71514316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.760385723 meters Centerline goodness [0,1] 0.9999548746643803 Centerline is valid? [True, True] Translation: X:153.98, Y:165.64, Z:6.71 [[-4.65106526e-03 9.99989184e-01 1.73030980e-05 1.53983758e+02] [ 9.99988865e-01 4.65107759e-03 -7.97767270e-04 1.65643407e+02] [-7.97839118e-04 1.35924377e-05 -9.99999682e-01 6.71336895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:165.64, Z:6.71 [[-8.36333024e-02 9.96496587e-01 1.52649273e-04 1.53988611e+02] [ 9.96495305e-01 8.36334397e-02 -1.59861057e-03 1.65635589e+02] [-1.60577656e-03 1.84172024e-05 -9.99998711e-01 6.71314493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:165.63, Z:6.71 [[-1.63105750e-01 9.86608554e-01 2.76186597e-04 1.53998659e+02] [ 9.86607297e-01 1.63105983e-01 -1.57469160e-03 1.65630036e+02] [-1.59865189e-03 1.56464569e-05 -9.99998722e-01 6.71308861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.850385723 meters Centerline goodness [0,1] 0.9997967158313193 Centerline is valid? [True, True] Translation: X:154.01, Y:165.62, Z:6.71 [[-2.43012965e-01 9.70022716e-01 7.93574025e-04 1.54009639e+02] [ 9.70017722e-01 2.43014260e-01 -3.11277358e-03 1.65623998e+02] [-3.21231089e-03 1.33365310e-05 -9.99994840e-01 6.71401154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.880385723 meters Centerline goodness [0,1] 0.9999099646611295 Centerline is valid? [True, True] Translation: X:154.02, Y:165.62, Z:6.71 [[-3.20635364e-01 9.47202223e-01 9.55579939e-04 1.54018414e+02] [ 9.47198066e-01 3.20636788e-01 -2.80603149e-03 1.65619482e+02] [-2.96427335e-03 5.41054236e-06 -9.99995607e-01 6.71286518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.910385723 meters Centerline goodness [0,1] 0.9999099646611295 Centerline is valid? [True, True] Translation: X:154.03, Y:165.61, Z:6.71 [[-3.93847256e-01 9.19175154e-01 1.17254598e-03 1.54025435e+02] [ 9.19171121e-01 3.93849002e-01 -2.72284101e-03 1.65614334e+02] [-2.96457387e-03 5.38693942e-06 -9.99995606e-01 6.71286770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.940385723 meters Centerline goodness [0,1] 0.9999550783882125 Centerline is valid? [True, True] Translation: X:154.04, Y:165.61, Z:6.71 [[-4.68214581e-01 8.83613323e-01 1.61283679e-03 1.54035299e+02] [ 8.83608016e-01 4.68217359e-01 -3.06261878e-03 1.65609929e+02] [-3.46132893e-03 -8.84725456e-06 -9.99994010e-01 6.71272106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.970385723 meters Centerline goodness [0,1] 0.99984232813767 Centerline is valid? [True, True] Translation: X:154.05, Y:165.61, Z:6.71 [[-5.37113486e-01 8.43506908e-01 2.28014619e-03 1.54047407e+02] [ 8.43499163e-01 5.37118325e-01 -3.61481340e-03 1.65610315e+02] [-4.27382838e-03 -1.82636212e-05 -9.99990867e-01 6.71305730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.000385723 meters Centerline goodness [0,1] 0.9999775159636658 Centerline is valid? [True, True] Translation: X:154.06, Y:165.61, Z:6.71 [[-6.04145389e-01 7.96871014e-01 2.22154321e-03 1.54061114e+02] [ 7.96865461e-01 6.04149473e-01 -2.97500697e-03 1.65611796e+02] [-3.71284098e-03 -2.70656925e-05 -9.99993107e-01 6.71248268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.030385723 meters Centerline goodness [0,1] 0.9999550440568243 Centerline is valid? [True, True] Translation: X:154.07, Y:165.62, Z:6.71 [[-6.65351437e-01 7.46526811e-01 2.27739768e-03 1.54073734e+02] [ 7.46522295e-01 6.65355334e-01 -2.59676222e-03 1.65615699e+02] [-3.45383131e-03 -2.76313315e-05 -9.99994035e-01 6.71188071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.09, Y:165.62, Z:6.71 [[-7.21335692e-01 6.92581035e-01 2.51578531e-03 1.54086409e+02] [ 6.92576697e-01 7.21340079e-01 -2.45142469e-03 1.65619760e+02] [-3.51254702e-03 -2.59258479e-05 -9.99993831e-01 6.71216996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.64, Y:166.17, Z:5.76 [[-6.59661997e-01 -7.51558412e-01 2.45005220e-03 1.54644186e+02] [ 7.51553433e-01 -6.59666546e-01 -2.73584637e-03 1.66173198e+02] [ 3.67236583e-03 3.66112597e-05 9.99993256e-01 5.75847337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.63, Y:166.19, Z:5.76 [[-6.62270317e-01 -7.49261397e-01 2.32066551e-03 1.54626225e+02] [ 7.49256894e-01 -6.62274383e-01 -2.59768053e-03 1.66194108e+02] [ 3.48325906e-03 1.84079271e-05 9.99993933e-01 5.75877061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.150385723 meters Centerline goodness [0,1] 0.9998434039506946 Centerline is valid? [True, True] Translation: X:154.61, Y:166.22, Z:5.76 [[-6.66578226e-01 -7.45427786e-01 3.29918438e-03 1.54608897e+02] [ 7.45418648e-01 -6.66586390e-01 -3.69092027e-03 1.66216670e+02] [ 4.95050593e-03 -1.01351886e-06 9.99987746e-01 5.75855466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.180385723 meters Centerline goodness [0,1] 0.999865627519484 Centerline is valid? [True, True] Translation: X:154.59, Y:166.24, Z:5.76 [[-6.68759895e-01 -7.43472382e-01 3.00325211e-03 1.54591057e+02] [ 7.43464799e-01 -6.68766639e-01 -3.35797894e-03 1.66237993e+02] [ 4.50503942e-03 -1.28694155e-05 9.99989852e-01 5.75867006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.210385723 meters Centerline goodness [0,1] 0.9997759103641457 Centerline is valid? [True, True] Translation: X:154.57, Y:166.26, Z:5.76 [[-6.73380654e-01 -7.39284410e-01 4.12990472e-03 1.54574162e+02] [ 7.39270008e-01 -6.73393316e-01 -4.61497496e-03 1.66258990e+02] [ 6.19282928e-03 -5.45201583e-05 9.99980823e-01 5.75622104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.240385723 meters Centerline goodness [0,1] 0.9998428696491504 Centerline is valid? [True, True] Translation: X:154.56, Y:166.28, Z:5.76 [[-6.75273323e-01 -7.37556267e-01 4.08549260e-03 1.54556326e+02] [ 7.37542157e-01 -6.75285679e-01 -4.56284558e-03 1.66280417e+02] [ 6.12423000e-03 -6.79448709e-05 9.99981244e-01 5.75648520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.270385723 meters Centerline goodness [0,1] 0.999955083432524 Centerline is valid? [True, True] Translation: X:154.54, Y:166.30, Z:5.76 [[-6.78913142e-01 -7.34202278e-01 4.89497139e-03 1.54538842e+02] [ 7.34181955e-01 -6.78930779e-01 -5.46390631e-03 1.66302568e+02] [ 7.33495919e-03 -1.15718134e-04 9.99973092e-01 5.75572088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.300385723 meters Centerline goodness [0,1] 0.9998205594060516 Centerline is valid? [True, True] Translation: X:154.52, Y:166.32, Z:5.75 [[-6.81033553e-01 -7.32227931e-01 5.96296069e-03 1.54519999e+02] [ 7.32197731e-01 -6.81059637e-01 -6.65233437e-03 1.66323701e+02] [ 8.93215688e-03 -1.64396626e-04 9.99960094e-01 5.75448808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.330385723 meters Centerline goodness [0,1] 0.9999325600215808 Centerline is valid? [True, True] Translation: X:154.50, Y:166.34, Z:5.75 [[-6.82236943e-01 -7.31106768e-01 5.97062007e-03 1.54503642e+02] [ 7.31076470e-01 -6.82263045e-01 -6.65826330e-03 1.66344784e+02] [ 8.94143479e-03 -1.77533351e-04 9.99960009e-01 5.75448869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.49, Y:166.37, Z:5.75 [[-6.83623489e-01 -7.29810991e-01 5.90276460e-03 1.54486632e+02] [ 7.29781363e-01 -6.83648946e-01 -6.57889104e-03 1.66365591e+02] [ 8.83676579e-03 -1.89756856e-04 9.99960937e-01 5.75483676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.47, Y:166.38, Z:5.76 [[-6.83723946e-01 -7.29716629e-01 5.93350670e-03 1.54467190e+02] [ 7.29686723e-01 -6.83749666e-01 -6.60913841e-03 1.66384335e+02] [ 8.87983142e-03 -1.89225138e-04 9.99960556e-01 5.75533797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.420385723 meters Centerline goodness [0,1] 0.9998652018602143 Centerline is valid? [True, True] Translation: X:154.45, Y:166.40, Z:5.75 [[-6.83603630e-01 -7.29824588e-01 6.49212330e-03 1.54447706e+02] [ 7.29788834e-01 -6.83634427e-01 -7.22697799e-03 1.66403901e+02] [ 9.71266523e-03 -2.02509293e-04 9.99952810e-01 5.75415099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.43, Y:166.42, Z:5.76 [[-6.81592804e-01 -7.31710393e-01 5.58122620e-03 1.54425444e+02] [ 7.31684060e-01 -6.81615638e-01 -6.20952388e-03 1.66421888e+02] [ 8.34782422e-03 -1.48672541e-04 9.99965145e-01 5.75564337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.480385723 meters Centerline goodness [0,1] 0.9999552432529204 Centerline is valid? [True, True] Translation: X:154.41, Y:166.44, Z:5.76 [[-6.80828812e-01 -7.32419855e-01 5.76918305e-03 1.54406991e+02] [ 7.32391771e-01 -6.80853240e-01 -6.41554267e-03 1.66440244e+02] [ 8.62683781e-03 -1.42584106e-04 9.99962778e-01 5.75519273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.39, Y:166.46, Z:5.76 [[-6.79721617e-01 -7.33450004e-01 5.44195754e-03 1.54386778e+02] [ 7.33425075e-01 -6.79743390e-01 -6.04834783e-03 1.66460208e+02] [ 8.13529541e-03 -1.19924641e-04 9.99966901e-01 5.75591021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.37, Y:166.48, Z:5.76 [[-6.78089478e-01 -7.34962170e-01 5.02680235e-03 1.54366851e+02] [ 7.34940964e-01 -6.78108104e-01 -5.58385704e-03 1.66480220e+02] [ 7.51263910e-03 -9.19517407e-05 9.99971776e-01 5.75749283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.35, Y:166.50, Z:5.76 [[-6.77402687e-01 -7.35601483e-01 4.00724010e-03 1.54348207e+02] [ 7.35588035e-01 -6.77414536e-01 -4.44842908e-03 1.66499257e+02] [ 5.98683372e-03 -6.56999336e-05 9.99982077e-01 5.75949849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.33, Y:166.52, Z:5.76 [[-6.77569664e-01 -7.35450558e-01 3.43915196e-03 1.54330214e+02] [ 7.35440663e-01 -6.77578389e-01 -3.81537422e-03 1.66517901e+02] [ 5.13631414e-03 -5.58896269e-05 9.99986808e-01 5.75972660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.31, Y:166.53, Z:5.76 [[-6.77567547e-01 -7.35454687e-01 2.93633559e-03 1.54309080e+02] [ 7.35447483e-01 -6.77573908e-01 -3.25554075e-03 1.66534970e+02] [ 4.38388708e-03 -4.63281394e-05 9.99990390e-01 5.75974270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.29, Y:166.55, Z:5.76 [[-6.77541232e-01 -7.35478291e-01 3.09228733e-03 1.54288887e+02] [ 7.35470310e-01 -6.77548287e-01 -3.42653120e-03 1.66554918e+02] [ 4.61531329e-03 -4.73306431e-05 9.99989348e-01 5.75910881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.27, Y:166.58, Z:5.76 [[-6.77514711e-01 -7.35501118e-01 3.45299002e-03 1.54269451e+02] [ 7.35491178e-01 -6.77523508e-01 -3.82410164e-03 1.66575335e+02] [ 5.15211294e-03 -5.12414205e-05 9.99986726e-01 5.75856190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.25, Y:166.59, Z:5.76 [[-6.77364991e-01 -7.35636215e-01 4.00360151e-03 1.54250011e+02] [ 7.35622871e-01 -6.77376820e-01 -4.43114744e-03 1.66594556e+02] [ 5.97165939e-03 -5.63633071e-05 9.99982168e-01 5.75800773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.23, Y:166.61, Z:5.76 [[-6.77629408e-01 -7.35392439e-01 4.04307247e-03 1.54230754e+02] [ 7.35378843e-01 -6.77641467e-01 -4.47208500e-03 1.66614106e+02] [ 6.02849105e-03 -5.72263600e-05 9.99981827e-01 5.75777413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.21, Y:166.63, Z:5.76 [[-6.78252399e-01 -7.34819532e-01 3.73340954e-03 1.54211302e+02] [ 7.34807945e-01 -6.78262672e-01 -4.12691451e-03 1.66631727e+02] [ 5.56476972e-03 -5.57506708e-05 9.99984515e-01 5.75714268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.81038572299997 meters Centerline goodness [0,1] 0.9998892482168963 Centerline is valid? [True, True] Translation: X:154.19, Y:166.65, Z:5.76 [[-6.78539946e-01 -7.34548938e-01 4.62596751e-03 1.54191926e+02] [ 7.34531164e-01 -6.78555711e-01 -5.11043760e-03 1.66651069e+02] [ 6.89284319e-03 -6.97187597e-05 9.99976242e-01 5.75577707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.840385723 meters Centerline goodness [0,1] 0.9999779546306299 Centerline is valid? [True, True] Translation: X:154.17, Y:166.67, Z:5.76 [[-6.79016554e-01 -7.34113081e-01 3.80830440e-03 1.54173336e+02] [ 7.34101043e-01 -6.79027231e-01 -4.20461379e-03 1.66671192e+02] [ 5.67260437e-03 -5.93221352e-05 9.99983909e-01 5.75634642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.87038572299997 meters Centerline goodness [0,1] 0.9998894270107698 Centerline is valid? [True, True] Translation: X:154.15, Y:166.69, Z:5.75 [[-6.79551686e-01 -7.33611130e-01 4.92099252e-03 1.54154986e+02] [ 7.33591040e-01 -6.79569499e-01 -5.42982617e-03 1.66691452e+02] [ 7.32753734e-03 -7.98515106e-05 9.99973150e-01 5.75490716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:166.71, Z:5.75 [[-6.81334774e-01 -7.31957853e-01 4.54176138e-03 1.54137430e+02] [ 7.31940722e-01 -6.81349906e-01 -5.00856730e-03 1.66711839e+02] [ 6.76058886e-03 -8.82109675e-05 9.99977143e-01 5.75494131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.12, Y:166.73, Z:5.75 [[-6.83538738e-01 -7.29896382e-01 5.10535065e-03 1.54117281e+02] [ 7.29874701e-01 -6.83557793e-01 -5.62704431e-03 1.66732005e+02] [ 7.59696151e-03 -1.20036485e-04 9.99971135e-01 5.75452894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.10, Y:166.75, Z:5.75 [[-6.84552437e-01 -7.28946396e-01 5.01118536e-03 1.54098216e+02] [ 7.28925507e-01 -6.84570768e-01 -5.51986563e-03 1.66751656e+02] [ 7.45419716e-03 -1.25856642e-04 9.99972209e-01 5.75467988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.08, Y:166.77, Z:5.75 [[-6.85355399e-01 -7.28191649e-01 4.98995529e-03 1.54080745e+02] [ 7.28170943e-01 -6.85373551e-01 -5.49294291e-03 1.66771213e+02] [ 7.41989853e-03 -1.31077627e-04 9.99972464e-01 5.75456489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:166.79, Z:5.75 [[-6.86007504e-01 -7.27579044e-01 4.73691426e-03 1.54060817e+02] [ 7.27560393e-01 -6.86023846e-01 -5.21120998e-03 1.66790181e+02] [ 7.04120332e-03 -1.28537955e-04 9.99975202e-01 5.75458021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.050385723 meters Centerline goodness [0,1] 0.9999781296474499 Centerline is valid? [True, True] Translation: X:154.04, Y:166.81, Z:5.75 [[-6.86263295e-01 -7.27339806e-01 4.41554594e-03 1.54041599e+02] [ 7.27323614e-01 -6.86277489e-01 -4.85469123e-03 1.66809272e+02] [ 6.56129996e-03 -1.20065568e-04 9.99978467e-01 5.75478497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:166.83, Z:5.75 [[-6.85984348e-01 -7.27602538e-01 4.47450619e-03 1.54023099e+02] [ 7.27585937e-01 -6.85998931e-01 -4.91636130e-03 1.66827883e+02] [ 6.64666342e-03 -1.16959116e-04 9.99977904e-01 5.75479214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:166.85, Z:5.75 [[-6.85795367e-01 -7.27780476e-01 4.50470538e-03 1.54003000e+02] [ 7.27763675e-01 -6.85810153e-01 -4.94654006e-03 1.66845998e+02] [ 6.68936797e-03 -1.13953314e-04 9.99977619e-01 5.75491080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.140385723 meters Centerline goodness [0,1] 0.9998907629118238 Centerline is valid? [True, True] Translation: X:153.98, Y:166.86, Z:5.75 [[-6.85124933e-01 -7.28406536e-01 5.26732200e-03 1.53980350e+02] [ 7.28383608e-01 -6.85145170e-01 -5.78070040e-03 1.66863390e+02] [ 7.81958017e-03 -1.23870972e-04 9.99969419e-01 5.75377642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.170385723 meters Centerline goodness [0,1] 0.9998907581385187 Centerline is valid? [True, True] Translation: X:153.96, Y:166.88, Z:5.75 [[-6.85021834e-01 -7.28500207e-01 5.70399523e-03 1.53961122e+02] [ 7.28473355e-01 -6.85045569e-01 -6.25622468e-03 1.66882118e+02] [ 8.46515764e-03 -1.30441959e-04 9.99964161e-01 5.75326288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.200385723 meters Centerline goodness [0,1] 0.9998909201972163 Centerline is valid? [True, True] Translation: X:153.94, Y:166.90, Z:5.75 [[-6.84496168e-01 -7.28985841e-01 6.68134127e-03 1.53939659e+02] [ 7.28949061e-01 -6.84528760e-01 -7.32414465e-03 1.66901196e+02] [ 9.91276800e-03 -1.42991502e-04 9.99950857e-01 5.75209732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:166.92, Z:5.75 [[-6.84561075e-01 -7.28932527e-01 5.78843982e-03 1.53920083e+02] [ 7.28904953e-01 -6.84585536e-01 -6.34144118e-03 1.66920786e+02] [ 8.58516493e-03 -1.21881336e-04 9.99963139e-01 5.75245566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.90, Y:166.94, Z:5.75 [[-6.85087275e-01 -7.28432929e-01 6.39486006e-03 1.53900497e+02] [ 7.28399293e-01 -6.85117106e-01 -7.00149587e-03 1.66940282e+02] [ 9.48134816e-03 -1.38624176e-04 9.99955041e-01 5.75231324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.290385723 meters Centerline goodness [0,1] 0.9999782173041736 Centerline is valid? [True, True] Translation: X:153.88, Y:166.96, Z:5.75 [[-6.85697051e-01 -7.27859057e-01 6.38339468e-03 1.53882866e+02] [ 7.27825559e-01 -6.85726748e-01 -6.98445348e-03 1.66959667e+02] [ 9.46096220e-03 -1.43221350e-04 9.99955234e-01 5.75191598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.320385723 meters Centerline goodness [0,1] 0.9998475377344107 Centerline is valid? [True, True] Translation: X:153.86, Y:166.98, Z:5.75 [[-6.86957109e-01 -7.26670010e-01 6.37398360e-03 1.53864473e+02] [ 7.26636597e-01 -6.86986661e-01 -6.97017495e-03 1.66979544e+02] [ 9.44385881e-03 -1.56641470e-04 9.99955394e-01 5.75140931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.350385723 meters Centerline goodness [0,1] 0.9999127418686329 Centerline is valid? [True, True] Translation: X:153.85, Y:167.00, Z:5.75 [[-6.88058066e-01 -7.25630039e-01 6.09470177e-03 1.53845813e+02] [ 7.25599483e-01 -6.88085039e-01 -6.66100022e-03 1.66999726e+02] [ 9.02709495e-03 -1.60842471e-04 9.99959242e-01 5.75094048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.380385723 meters Centerline goodness [0,1] 0.9998696643857934 Centerline is valid? [True, True] Translation: X:153.83, Y:167.02, Z:5.75 [[-6.88516267e-01 -7.25198964e-01 5.64035028e-03 1.53827249e+02] [ 7.25172810e-01 -6.88539353e-01 -6.16077307e-03 1.67019973e+02] [ 8.35138938e-03 -1.51563808e-04 9.99965115e-01 5.75069557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.410385723 meters Centerline goodness [0,1] 0.9998034591194969 Centerline is valid? [True, True] Translation: X:153.81, Y:167.04, Z:5.75 [[-6.88992282e-01 -7.24746733e-01 5.63986626e-03 1.53807196e+02] [ 7.24720598e-01 -6.89015348e-01 -6.15682468e-03 1.67039110e+02] [ 8.34809299e-03 -1.54677446e-04 9.99965142e-01 5.75109723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.440385723 meters Centerline goodness [0,1] 0.9998691898491323 Centerline is valid? [True, True] Translation: X:153.79, Y:167.06, Z:5.75 [[-6.89150634e-01 -7.24596657e-01 5.57562630e-03 1.53788100e+02] [ 7.24571137e-01 -6.89173172e-01 -6.08334118e-03 1.67059743e+02] [ 8.25054075e-03 -1.52400545e-04 9.99965952e-01 5.75085160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.470385723 meters Centerline goodness [0,1] 0.9998252435667788 Centerline is valid? [True, True] Translation: X:153.77, Y:167.08, Z:5.75 [[-6.89067928e-01 -7.24679402e-01 5.01544778e-03 1.53768722e+02] [ 7.24658777e-01 -6.89086167e-01 -5.46914607e-03 1.67080606e+02] [ 7.41945320e-03 -1.34124895e-04 9.99972467e-01 5.75049613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.500385723 meters Centerline goodness [0,1] 0.99978184991274 Centerline is valid? [True, True] Translation: X:153.75, Y:167.10, Z:5.75 [[-6.89259263e-01 -7.24498789e-01 4.81388743e-03 1.53749157e+02] [ 7.24479804e-01 -6.89276062e-01 -5.24639163e-03 1.67100894e+02] [ 7.11910175e-03 -1.28559806e-04 9.99974651e-01 5.75111541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.530385723 meters Centerline goodness [0,1] 0.999761698440208 Centerline is valid? [True, True] Translation: X:153.73, Y:167.12, Z:5.75 [[-6.88983052e-01 -7.24762854e-01 4.60003964e-03 1.53731424e+02] [ 7.24745544e-01 -6.88998398e-01 -5.01040355e-03 1.67121747e+02] [ 6.80077431e-03 -1.18224897e-04 9.99976868e-01 5.75078059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.56038572299997 meters Centerline goodness [0,1] 0.9997605780950722 Centerline is valid? [True, True] Translation: X:153.71, Y:167.14, Z:5.75 [[-6.87656400e-01 -7.26021353e-01 4.65520722e-03 1.53712917e+02] [ 7.26003673e-01 -6.87672149e-01 -5.06773955e-03 1.67141964e+02] [ 6.88054347e-03 -1.05165994e-04 9.99976323e-01 5.74885782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.590385723 meters Centerline goodness [0,1] 0.9995667432086998 Centerline is valid? [True, True] Translation: X:153.69, Y:167.16, Z:5.75 [[-6.86370528e-01 -7.27236116e-01 4.80929512e-03 1.53691170e+02] [ 7.27217298e-01 -6.86387371e-01 -5.23245203e-03 1.67159713e+02] [ 7.10626752e-03 -9.39982589e-05 9.99974746e-01 5.74887298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.62038572299997 meters Centerline goodness [0,1] 0.9997824762899156 Centerline is valid? [True, True] Translation: X:153.67, Y:167.18, Z:5.75 [[-6.85729517e-01 -7.27842426e-01 4.52032825e-03 1.53672246e+02] [ 7.27825834e-01 -6.85744411e-01 -4.91503864e-03 1.67179034e+02] [ 6.67716348e-03 -8.03753910e-05 9.99977704e-01 5.74881904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.650385723 meters Centerline goodness [0,1] 0.9997818308752945 Centerline is valid? [True, True] Translation: X:153.65, Y:167.20, Z:5.75 [[-6.84583158e-01 -7.28922118e-01 4.29487876e-03 1.53654059e+02] [ 7.28907176e-01 -6.84596627e-01 -4.66767511e-03 1.67197649e+02] [ 6.34263114e-03 -6.48438210e-05 9.99979883e-01 5.74833853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.680385723 meters Centerline goodness [0,1] 0.9998474712919182 Centerline is valid? [True, True] Translation: X:153.64, Y:167.22, Z:5.75 [[-6.84448600e-01 -7.29048594e-01 4.27339035e-03 1.53636347e+02] [ 7.29033822e-01 -6.84461937e-01 -4.64137829e-03 1.67216772e+02] [ 6.30876335e-03 -6.13387702e-05 9.99980098e-01 5.74813007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.710385723 meters Centerline goodness [0,1] 0.9999565255195201 Centerline is valid? [True, True] Translation: X:153.62, Y:167.24, Z:5.75 [[-6.84145606e-01 -7.29331942e-01 4.43950599e-03 1.53616293e+02] [ 7.29316023e-01 -6.84160007e-01 -4.81912113e-03 1.67236885e+02] [ 6.55207142e-03 -5.91776958e-05 9.99978533e-01 5.74814184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.60, Y:167.26, Z:5.75 [[-6.84174919e-01 -7.29303786e-01 4.54617669e-03 1.53597006e+02] [ 7.29287110e-01 -6.84190021e-01 -4.93219849e-03 1.67257610e+02] [ 6.70751976e-03 -5.90184477e-05 9.99977503e-01 5.74755459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.770385723 meters Centerline goodness [0,1] 0.9999345464065977 Centerline is valid? [True, True] Translation: X:153.58, Y:167.28, Z:5.75 [[-6.84166415e-01 -7.29311792e-01 4.54152121e-03 1.53578693e+02] [ 7.29295171e-01 -6.84181486e-01 -4.92412366e-03 1.67278443e+02] [ 6.69844618e-03 -5.68105424e-05 9.99977564e-01 5.74761581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.800385723 meters Centerline goodness [0,1] 0.9999345464065977 Centerline is valid? [True, True] Translation: X:153.56, Y:167.30, Z:5.75 [[-6.84389919e-01 -7.29102050e-01 4.54303028e-03 1.53560480e+02] [ 7.29085434e-01 -6.84404995e-01 -4.92273141e-03 1.67298053e+02] [ 6.69844618e-03 -5.68105499e-05 9.99977564e-01 5.74761836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.54, Y:167.32, Z:5.75 [[-6.84379443e-01 -7.29111827e-01 4.55219057e-03 1.53542667e+02] [ 7.29095164e-01 -6.84394580e-01 -4.92964015e-03 1.67318796e+02] [ 6.70975348e-03 -5.47642502e-05 9.99977488e-01 5.74790505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.860385723 meters Centerline goodness [0,1] 0.9999126332343177 Centerline is valid? [True, True] Translation: X:153.52, Y:167.34, Z:5.75 [[-6.84306971e-01 -7.29175629e-01 5.18375775e-03 1.53524903e+02] [ 7.29154050e-01 -6.84326602e-01 -5.61015272e-03 1.67339945e+02] [ 7.63816997e-03 -5.93086614e-05 9.99970827e-01 5.74753213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.51, Y:167.36, Z:5.75 [[-6.84340218e-01 -7.29139321e-01 5.85802997e-03 1.53506313e+02] [ 7.29111794e-01 -6.84365288e-01 -6.33604074e-03 1.67360437e+02] [ 8.62888880e-03 -6.48487616e-05 9.99962768e-01 5.74686387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.49, Y:167.38, Z:5.75 [[-6.84910468e-01 -7.28604293e-01 5.78229165e-03 1.53488820e+02] [ 7.28577487e-01 -6.84934872e-01 -6.25027103e-03 1.67381475e+02] [ 8.51446750e-03 -6.80285403e-05 9.99963749e-01 5.74707457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.47, Y:167.40, Z:5.75 [[-6.85614134e-01 -7.27942070e-01 5.79665525e-03 1.53471257e+02] [ 7.27915137e-01 -6.85638634e-01 -6.26233293e-03 1.67403200e+02] [ 8.53302639e-03 -7.40708732e-05 9.99963590e-01 5.74783236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.980385723 meters Centerline goodness [0,1] 0.9998464508203914 Centerline is valid? [True, True] Translation: X:153.45, Y:167.43, Z:5.75 [[-6.87465478e-01 -7.26197073e-01 5.38775323e-03 1.53454298e+02] [ 7.26173777e-01 -6.87486585e-01 -5.81729130e-03 1.67426362e+02] [ 7.92850798e-03 -8.67418319e-05 9.99968565e-01 5.74857502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.010385723 meters Centerline goodness [0,1] 0.9995842541738693 Centerline is valid? [True, True] Translation: X:153.44, Y:167.45, Z:5.75 [[-6.88225014e-01 -7.25478206e-01 5.26334981e-03 1.53438633e+02] [ 7.25455971e-01 -6.88245134e-01 -5.68061365e-03 1.67448450e+02] [ 7.74363629e-03 -9.12118636e-05 9.99970013e-01 5.74746088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.42, Y:167.47, Z:5.75 [[-6.89968554e-01 -7.23822986e-01 4.86625170e-03 1.53421225e+02] [ 7.23803959e-01 -6.89985707e-01 -5.24915398e-03 1.67470360e+02] [ 7.15710242e-03 -9.95389314e-05 9.99974383e-01 5.74918382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.070385723 meters Centerline goodness [0,1] 0.9998250295262674 Centerline is valid? [True, True] Translation: X:153.40, Y:167.49, Z:5.75 [[-6.90847259e-01 -7.22984821e-01 4.79726769e-03 1.53403616e+02] [ 7.22966330e-01 -6.90863907e-01 -5.17189857e-03 1.67491824e+02] [ 7.05346326e-03 -1.04728936e-04 9.99975119e-01 5.74985294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.100385723 meters Centerline goodness [0,1] 0.9999780999518199 Centerline is valid? [True, True] Translation: X:153.39, Y:167.51, Z:5.75 [[-6.91852079e-01 -7.22025572e-01 4.44672207e-03 1.53386942e+02] [ 7.22009684e-01 -6.91866361e-01 -4.79103315e-03 1.67513140e+02] [ 6.53578587e-03 -1.04109845e-04 9.99978636e-01 5.74999029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.130385723 meters Centerline goodness [0,1] 0.9999340325879016 Centerline is valid? [True, True] Translation: X:153.37, Y:167.53, Z:5.75 [[-6.91860103e-01 -7.22020051e-01 4.07963623e-03 1.53369047e+02] [ 7.22006693e-01 -6.91872124e-01 -4.39311236e-03 1.67534450e+02] [ 5.99450180e-03 -9.38945046e-05 9.99982028e-01 5.75068078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.160385723 meters Centerline goodness [0,1] 0.9998463733128498 Centerline is valid? [True, True] Translation: X:153.35, Y:167.56, Z:5.75 [[-6.91865476e-01 -7.22015673e-01 3.94091789e-03 1.53349987e+02] [ 7.22003221e-01 -6.91876694e-01 -4.24140316e-03 1.67555140e+02] [ 5.78898880e-03 -8.91250042e-05 9.99983240e-01 5.75059983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.190385723 meters Centerline goodness [0,1] 0.9999340180790464 Centerline is valid? [True, True] Translation: X:153.33, Y:167.58, Z:5.75 [[-6.90538470e-01 -7.23285933e-01 3.75240562e-03 1.53330519e+02] [ 7.23274675e-01 -6.90548661e-01 -4.03632700e-03 1.67576188e+02] [ 5.51063722e-03 -7.32191097e-05 9.99984814e-01 5.75079967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.31, Y:167.60, Z:5.75 [[-6.90179511e-01 -7.23625881e-01 4.22207621e-03 1.53312563e+02] [ 7.23611651e-01 -6.90192421e-01 -4.53884390e-03 1.67597052e+02] [ 6.19846992e-03 -7.74735341e-05 9.99980786e-01 5.74955657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.29, Y:167.62, Z:5.75 [[-6.89811375e-01 -7.23976293e-01 4.31216349e-03 1.53294136e+02] [ 7.23961473e-01 -6.89824849e-01 -4.63287786e-03 1.67617358e+02] [ 6.32873126e-03 -7.39716106e-05 9.99979971e-01 5.74912812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.280385723 meters Centerline goodness [0,1] 0.999845831956833 Centerline is valid? [True, True] Translation: X:153.28, Y:167.64, Z:5.75 [[-6.89017415e-01 -7.24732989e-01 4.13480578e-03 1.53277672e+02] [ 7.24719394e-01 -6.89029818e-01 -4.43950725e-03 1.67637407e+02] [ 6.06646184e-03 -6.23238660e-05 9.99981597e-01 5.74887474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.31038572299997 meters Centerline goodness [0,1] 0.9999780711372308 Centerline is valid? [True, True] Translation: X:153.26, Y:167.66, Z:5.75 [[-6.88316748e-01 -7.25400332e-01 3.79642108e-03 1.53259059e+02] [ 7.25388894e-01 -6.88327215e-01 -4.07394696e-03 1.67658355e+02] [ 5.56842243e-03 -5.02842299e-05 9.99984495e-01 5.74973671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.340385723 meters Centerline goodness [0,1] 0.9999780108626338 Centerline is valid? [True, True] Translation: X:153.24, Y:167.68, Z:5.75 [[-6.88017044e-01 -7.25684969e-01 3.72473044e-03 1.53240655e+02] [ 7.25673976e-01 -6.88027125e-01 -3.99455277e-03 1.67678448e+02] [ 5.46150247e-03 -4.53804420e-05 9.99985085e-01 5.74952792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.37038572299997 meters Centerline goodness [0,1] 0.9999340992465348 Centerline is valid? [True, True] Translation: X:153.22, Y:167.70, Z:5.75 [[-6.87541116e-01 -7.26134591e-01 3.97116581e-03 1.53223025e+02] [ 7.26122119e-01 -6.87552583e-01 -4.25608554e-03 1.67697475e+02] [ 5.82087624e-03 -4.26824707e-05 9.99983058e-01 5.74780321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.400385723 meters Centerline goodness [0,1] 0.9999780547752809 Centerline is valid? [True, True] Translation: X:153.20, Y:167.72, Z:5.75 [[-6.87836473e-01 -7.25854028e-01 4.11298059e-03 1.53204253e+02] [ 7.25840660e-01 -6.87848769e-01 -4.40536410e-03 1.67717450e+02] [ 6.02675991e-03 -4.48015655e-05 9.99981838e-01 5.74726676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.430385723 meters Centerline goodness [0,1] 0.9999120801828733 Centerline is valid? [True, True] Translation: X:153.19, Y:167.74, Z:5.75 [[-6.88290557e-01 -7.25422436e-01 4.28937545e-03 1.53185596e+02] [ 7.25407905e-01 -6.88303920e-01 -4.59174561e-03 1.67738405e+02] [ 6.28334922e-03 -4.89082801e-05 9.99980258e-01 5.74683271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.17, Y:167.76, Z:5.75 [[-6.89569674e-01 -7.24210032e-01 3.67357974e-03 1.53170342e+02] [ 7.24199369e-01 -6.89579457e-01 -3.93024856e-03 1.67760786e+02] [ 5.37955056e-03 -4.97760908e-05 9.99985529e-01 5.74695252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.15, Y:167.78, Z:5.75 [[-6.90813898e-01 -7.23025096e-01 3.29662407e-03 1.53152747e+02] [ 7.23016506e-01 -6.90821762e-01 -3.52479924e-03 1.67781822e+02] [ 4.82589796e-03 -5.14666831e-05 9.99988354e-01 5.74734725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.13, Y:167.80, Z:5.75 [[-6.93035300e-01 -7.20899466e-01 2.45639452e-03 1.53134957e+02] [ 7.20894688e-01 -6.93039651e-01 -2.62497252e-03 1.67803800e+02] [ 3.59472009e-03 -4.83968521e-05 9.99993538e-01 5.74765655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.12, Y:167.83, Z:5.75 [[-6.94955042e-01 -7.19049711e-01 2.23672371e-03 1.53118874e+02] [ 7.19045744e-01 -6.94958639e-01 -2.38925846e-03 1.67825124e+02] [ 3.27242607e-03 -5.21205464e-05 9.99994644e-01 5.74722562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.580385723 meters Centerline goodness [0,1] 0.9998674970186829 Centerline is valid? [True, True] Translation: X:153.10, Y:167.85, Z:5.75 [[-6.96102218e-01 -7.17939409e-01 2.16977499e-03 1.53100371e+02] [ 7.17935674e-01 -6.96105597e-01 -2.31647875e-03 1.67846097e+02] [ 3.17348390e-03 -5.47471227e-05 9.99994963e-01 5.74710848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.610385723 meters Centerline goodness [0,1] 0.9998891843971631 Centerline is valid? [True, True] Translation: X:153.08, Y:167.87, Z:5.75 [[-6.97705489e-01 -7.16381559e-01 2.12417825e-03 1.53084279e+02] [ 7.16377976e-01 -6.97708720e-01 -2.26648659e-03 1.67868443e+02] [ 3.10572688e-03 -5.96256224e-05 9.99995175e-01 5.74694429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.640385723 meters Centerline goodness [0,1] 0.9999778658226167 Centerline is valid? [True, True] Translation: X:153.07, Y:167.89, Z:5.75 [[-6.98495462e-01 -7.15612340e-01 1.75143844e-03 1.53067155e+02] [ 7.15609904e-01 -6.98497656e-01 -1.86789431e-03 1.67888912e+02] [ 2.56006387e-03 -5.13690063e-05 9.99996722e-01 5.74690811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.05, Y:167.91, Z:5.75 [[-6.99228456e-01 -7.14895475e-01 2.00652428e-03 1.53050244e+02] [ 7.14892279e-01 -6.99231332e-01 -2.13859336e-03 1.67908945e+02] [ 2.93189536e-03 -6.09166151e-05 9.99995700e-01 5.74625569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.03, Y:167.93, Z:5.75 [[-6.99746620e-01 -7.14387218e-01 2.36029370e-03 1.53031755e+02] [ 7.14382797e-01 -6.99750597e-01 -2.51412305e-03 1.67928342e+02] [ 3.44767429e-03 -7.30958967e-05 9.99994054e-01 5.74524162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.01, Y:167.95, Z:5.74 [[-7.00067309e-01 -7.14073248e-01 2.27163625e-03 1.53014538e+02] [ 7.14069157e-01 -7.00070991e-01 -2.41816404e-03 1.67947945e+02] [ 3.31705289e-03 -7.07722119e-05 9.99994496e-01 5.74438430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.00, Y:167.97, Z:5.74 [[-7.00048946e-01 -7.14092543e-01 1.82035704e-03 1.52996356e+02] [ 7.14089919e-01 -7.00051310e-01 -1.93662750e-03 1.67968070e+02] [ 2.65727459e-03 -5.58354271e-05 9.99996468e-01 5.74488268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.98, Y:167.99, Z:5.75 [[-6.99540296e-01 -7.14591989e-01 1.28974561e-03 1.52977199e+02] [ 7.14590675e-01 -6.99541484e-01 -1.37130850e-03 1.67988029e+02] [ 1.88215663e-03 -3.76453722e-05 9.99998228e-01 5.74591401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.96, Y:168.01, Z:5.75 [[-6.99302773e-01 -7.14824828e-01 1.04750555e-03 1.52960253e+02] [ 7.14823962e-01 -6.99303557e-01 -1.11305464e-03 1.68008175e+02] [ 1.52816345e-03 -2.95801348e-05 9.99998832e-01 5.74594241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.94, Y:168.03, Z:5.75 [[-6.98658699e-01 -7.15455051e-01 3.03566726e-04 1.52940588e+02] [ 7.15454979e-01 -6.98658765e-01 -3.22398204e-04 1.68026150e+02] [ 4.42750977e-04 -8.05798407e-06 9.99999902e-01 5.74554805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.880385723 meters Centerline goodness [0,1] 0.9999777510790727 Centerline is valid? [True, True] Translation: X:152.92, Y:168.04, Z:5.74 [[-6.98669514e-01 -7.15444522e-01 2.14648669e-04 1.52919808e+02] [ 7.15444485e-01 -6.98669547e-01 -2.27840182e-04 1.68043633e+02] [ 3.12975498e-04 -5.61578256e-06 9.99999951e-01 5.74491167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.90, Y:168.06, Z:5.74 [[-6.98315252e-01 -7.15790294e-01 -2.51432754e-04 1.52900423e+02] [ 7.15790245e-01 -6.98315298e-01 2.66636761e-04 1.68063200e+02] [-3.66435344e-04 6.22340492e-06 9.99999933e-01 5.74443544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.88, Y:168.08, Z:5.75 [[-6.98253442e-01 -7.15850587e-01 -2.59239554e-04 1.52882734e+02] [ 7.15850534e-01 -6.98253491e-01 2.74744324e-04 1.68082479e+02] [-3.77690809e-04 6.26439722e-06 9.99999929e-01 5.74501340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.86, Y:168.10, Z:5.75 [[-6.97822032e-01 -7.16271133e-01 -2.75403518e-04 1.52862612e+02] [ 7.16271073e-01 -6.97822087e-01 2.91702928e-04 1.68100336e+02] [-4.01121045e-04 6.29315696e-06 9.99999920e-01 5.74506946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.84, Y:168.12, Z:5.74 [[-6.97651724e-01 -7.16437032e-01 -2.29103384e-04 1.52842424e+02] [ 7.16436990e-01 -6.97651761e-01 2.42518269e-04 1.68119460e+02] [-3.33583448e-04 5.05514910e-06 9.99999944e-01 5.74472721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.82, Y:168.14, Z:5.74 [[-6.96677877e-01 -7.17384029e-01 3.00690819e-04 1.52822392e+02] [ 7.17383958e-01 -6.96677942e-01 -3.18191706e-04 1.68136932e+02] [ 4.37750309e-04 -5.96635215e-06 9.99999904e-01 5.74328321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.06038572299997 meters Centerline goodness [0,1] 0.9999777243161365 Centerline is valid? [True, True] Translation: X:152.80, Y:168.16, Z:5.74 [[-6.96044498e-01 -7.17998300e-01 7.05823205e-04 1.52802160e+02] [ 7.17997912e-01 -6.96044856e-01 -7.46392260e-04 1.68155747e+02] [ 1.02719298e-03 -1.27426388e-05 9.99999472e-01 5.74224044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.090385723 meters Centerline goodness [0,1] 0.9999778009634381 Centerline is valid? [True, True] Translation: X:152.78, Y:168.17, Z:5.74 [[-6.94214346e-01 -7.19767835e-01 8.39984024e-04 1.52780771e+02] [ 7.19767288e-01 -6.94214854e-01 -8.87750102e-04 1.68173728e+02] [ 1.22210336e-03 -1.16958333e-05 9.99999253e-01 5.74111181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.12038572299997 meters Centerline goodness [0,1] 0.9999778285258187 Centerline is valid? [True, True] Translation: X:152.76, Y:168.19, Z:5.74 [[-6.93436287e-01 -7.20517526e-01 7.81647298e-04 1.52761042e+02] [ 7.20517053e-01 -6.93436728e-01 -8.25606312e-04 1.68193031e+02] [ 1.13688676e-03 -9.31516782e-06 9.99999354e-01 5.74088713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.74, Y:168.21, Z:5.74 [[-6.92093027e-01 -7.21806845e-01 1.45616103e-03 1.52741844e+02] [ 7.21805209e-01 -6.92094558e-01 -1.53710765e-03 1.68211379e+02] [ 2.11729595e-03 -1.27568695e-05 9.99997758e-01 5.74065768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.72, Y:168.23, Z:5.74 [[-6.91783700e-01 -7.22102388e-01 1.85834617e-03 1.52722734e+02] [ 7.22099727e-01 -6.91786196e-01 -1.96047950e-03 1.68230201e+02] [ 2.70124516e-03 -1.43164995e-05 9.99996352e-01 5.74015251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.70, Y:168.25, Z:5.74 [[-6.91454725e-01 -7.22415486e-01 2.49561490e-03 1.52702792e+02] [ 7.22410695e-01 -6.91459229e-01 -2.63120669e-03 1.68249040e+02] [ 3.62644041e-03 -1.65014001e-05 9.99993424e-01 5.73922812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.68, Y:168.27, Z:5.74 [[-6.91297265e-01 -7.22565111e-01 2.78402081e-03 1.52683929e+02] [ 7.22559156e-01 -6.91302871e-01 -2.93356942e-03 1.68268303e+02] [ 4.04429649e-03 -1.63487911e-05 9.99991822e-01 5.73928006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.270385723 meters Centerline goodness [0,1] 0.9999555456768171 Centerline is valid? [True, True] Translation: X:152.67, Y:168.29, Z:5.74 [[-6.91330213e-01 -7.22531160e-01 3.35546838e-03 1.52666066e+02] [ 7.22522520e-01 -6.91338356e-01 -3.53355694e-03 1.68286907e+02] [ 4.87286898e-03 -1.84532005e-05 9.99988127e-01 5.73818958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.65, Y:168.31, Z:5.74 [[-6.91618921e-01 -7.22252656e-01 3.79070879e-03 1.52648219e+02] [ 7.22241638e-01 -6.91629309e-01 -3.98948773e-03 1.68305679e+02] [ 5.50318341e-03 -2.13974717e-05 9.99984857e-01 5.73737686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.63, Y:168.33, Z:5.74 [[-6.92803829e-01 -7.21108923e-01 4.97752170e-03 1.52630179e+02] [ 7.21089917e-01 -6.92821709e-01 -5.23554941e-03 1.68326668e+02] [ 7.22393649e-03 -3.79679671e-05 9.99973906e-01 5.73561784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.61, Y:168.35, Z:5.74 [[-6.93771694e-01 -7.20175337e-01 5.32169203e-03 1.52612165e+02] [ 7.20153610e-01 -6.93792102e-01 -5.59437850e-03 1.68347577e+02] [ 7.72108132e-03 -4.87857197e-05 9.99970191e-01 5.73510816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.60, Y:168.37, Z:5.74 [[-6.96109384e-01 -7.17917612e-01 5.10183079e-03 1.52596979e+02] [ 7.17897599e-01 -6.96128076e-01 -5.36089973e-03 1.68368791e+02] [ 7.40021198e-03 -6.91805352e-05 9.99972616e-01 5.73578902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.58, Y:168.39, Z:5.74 [[-6.97348253e-01 -7.16715587e-01 4.91743703e-03 1.52579535e+02] [ 7.16696988e-01 -6.97365586e-01 -5.16395299e-03 1.68389034e+02] [ 7.13033695e-03 -7.67612901e-05 9.99974576e-01 5.73646401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.56, Y:168.41, Z:5.74 [[-6.98649649e-01 -7.15450943e-01 4.31480492e-03 1.52563655e+02] [ 7.15436612e-01 -6.98662968e-01 -4.52887458e-03 1.68409283e+02] [ 6.25478200e-03 -7.71272211e-05 9.99980436e-01 5.73890361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.55, Y:168.43, Z:5.74 [[-6.99376186e-01 -7.14744959e-01 3.54892094e-03 1.52546607e+02] [ 7.14735267e-01 -6.99385187e-01 -3.72263115e-03 1.68428735e+02] [ 5.14279458e-03 -6.69806133e-05 9.99986774e-01 5.74055313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.53, Y:168.45, Z:5.74 [[-6.99768462e-01 -7.14361815e-01 3.36100716e-03 1.52525558e+02] [ 7.14353129e-01 -6.99776531e-01 -3.52339400e-03 1.68446978e+02] [ 4.86893207e-03 -6.46140234e-05 9.99988145e-01 5.74182765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.51, Y:168.47, Z:5.74 [[-6.99653823e-01 -7.14473432e-01 3.49892353e-03 1.52506884e+02] [ 7.14464031e-01 -6.99662569e-01 -3.66576860e-03 1.68466238e+02] [ 5.06716010e-03 -6.49140079e-05 9.99987160e-01 5.74206943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.49, Y:168.48, Z:5.74 [[-6.98990937e-01 -7.15122746e-01 3.33589754e-03 1.52488412e+02] [ 7.15114218e-01 -6.98998895e-01 -3.49277187e-03 1.68484381e+02] [ 4.82954930e-03 -5.58681267e-05 9.99988336e-01 5.74204325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.47, Y:168.50, Z:5.74 [[-6.98078663e-01 -7.16011219e-01 3.75706284e-03 1.52468930e+02] [ 7.16000427e-01 -6.98088771e-01 -3.93140812e-03 1.68503082e+02] [ 5.43769570e-03 -5.43735299e-05 9.99985214e-01 5.74195071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.45, Y:168.52, Z:5.74 [[-6.97783994e-01 -7.16297384e-01 3.94417385e-03 1.52450714e+02] [ 7.16285510e-01 -6.97795139e-01 -4.12464506e-03 1.68521771e+02] [ 5.70669780e-03 -5.29567286e-05 9.99983715e-01 5.74173801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.43, Y:168.54, Z:5.74 [[-6.97675105e-01 -7.16403048e-01 4.01520063e-03 1.52430663e+02] [ 7.16390758e-01 -6.97686657e-01 -4.19658085e-03 1.68541241e+02] [ 5.80779522e-03 -5.13973609e-05 9.99983133e-01 5.74304408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.41, Y:168.56, Z:5.74 [[-6.98072796e-01 -7.16015582e-01 4.00731712e-03 1.52412312e+02] [ 7.16003348e-01 -6.98084296e-01 -4.18588372e-03 1.68560637e+02] [ 5.79460312e-03 -5.27990763e-05 9.99983210e-01 5.74311790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.39, Y:168.58, Z:5.74 [[-6.98270514e-01 -7.15822759e-01 4.00847421e-03 1.52393184e+02] [ 7.15810528e-01 -6.98282017e-01 -4.18477568e-03 1.68580528e+02] [ 5.79460313e-03 -5.27974210e-05 9.99983210e-01 5.74312053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.37, Y:168.60, Z:5.74 [[-6.99110486e-01 -7.15004322e-01 3.65351725e-03 1.52373770e+02] [ 7.14994162e-01 -6.99120030e-01 -3.81208063e-03 1.68600849e+02] [ 5.27990122e-03 -5.28220394e-05 9.99986060e-01 5.74435952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.36, Y:168.62, Z:5.74 [[-6.99749098e-01 -7.14380475e-01 3.42598244e-03 1.52355172e+02] [ 7.14371540e-01 -6.99757483e-01 -3.57320142e-03 1.68620836e+02] [ 4.94998217e-03 -5.29201182e-05 9.99987747e-01 5.74454505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.81038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.33, Y:168.64, Z:5.75 [[-7.00789352e-01 -7.13362311e-01 2.91522232e-03 1.52334753e+02] [ 7.13355840e-01 -7.00795413e-01 -3.03883523e-03 1.68639841e+02] [ 4.21076495e-03 -4.99925045e-05 9.99991133e-01 5.74550477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.32, Y:168.66, Z:5.75 [[-7.01429655e-01 -7.12733305e-01 2.77030051e-03 1.52316137e+02] [ 7.12727464e-01 -7.01435124e-01 -2.88590739e-03 1.68658923e+02] [ 4.00006839e-03 -4.97917636e-05 9.99991998e-01 5.74565782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.30, Y:168.68, Z:5.75 [[-7.02546519e-01 -7.11634962e-01 2.01736422e-03 1.52298691e+02] [ 7.11631864e-01 -7.02549414e-01 -2.10021595e-03 1.68678513e+02] [ 2.91188515e-03 -3.98787447e-05 9.99995760e-01 5.74630292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.28, Y:168.70, Z:5.75 [[-7.03321333e-01 -7.10870177e-01 1.64116071e-03 1.52279433e+02] [ 7.10868127e-01 -7.03323247e-01 -1.70752805e-03 1.68697397e+02] [ 2.36809724e-03 -3.42920633e-05 9.99997195e-01 5.74679776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.26, Y:168.72, Z:5.75 [[-7.04428141e-01 -7.09774468e-01 1.09498289e-03 1.52258601e+02] [ 7.09773555e-01 -7.04428992e-01 -1.13864494e-03 1.68716165e+02] [ 1.57951880e-03 -2.49036418e-05 9.99998752e-01 5.74693219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.24, Y:168.73, Z:5.75 [[-7.05148766e-01 -7.09058346e-01 1.21649533e-03 1.52240283e+02] [ 7.09057220e-01 -7.05149815e-01 -1.26418412e-03 1.68734923e+02] [ 1.75419175e-03 -2.88730738e-05 9.99998461e-01 5.74642208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.22, Y:168.75, Z:5.75 [[-7.05383902e-01 -7.08822673e-01 1.99227452e-03 1.52219057e+02] [ 7.08819654e-01 -7.05386714e-01 -2.06920143e-03 1.68752838e+02] [ 2.87202087e-03 -4.74180463e-05 9.99995875e-01 5.74519480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.20, Y:168.77, Z:5.74 [[-7.05567254e-01 -7.08638364e-01 2.55330937e-03 1.52199919e+02] [ 7.08633410e-01 -7.05571872e-01 -2.65025883e-03 1.68771590e+02] [ 3.67961835e-03 -6.05755141e-05 9.99993228e-01 5.74479199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.18, Y:168.79, Z:5.74 [[-7.06180484e-01 -7.08024664e-01 3.19362086e-03 1.52179754e+02] [ 7.08016918e-01 -7.06187701e-01 -3.31284703e-03 1.68790670e+02] [ 4.60087318e-03 -7.83303219e-05 9.99989413e-01 5.74426629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.16, Y:168.81, Z:5.74 [[-7.06498991e-01 -7.07705166e-01 3.54607253e-03 1.52159387e+02] [ 7.07695622e-01 -7.06507885e-01 -3.67640263e-03 1.68810043e+02] [ 5.10713733e-03 -8.78347452e-05 9.99986955e-01 5.74440904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.14, Y:168.83, Z:5.74 [[-7.07684204e-01 -7.06515973e-01 4.27180306e-03 1.52138550e+02] [ 7.06502116e-01 -7.07697087e-01 -4.42633758e-03 1.68829108e+02] [ 6.15042078e-03 -1.14411287e-04 9.99981079e-01 5.74373939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.12, Y:168.85, Z:5.74 [[-7.08408088e-01 -7.05789519e-01 4.37437428e-03 1.52118180e+02] [ 7.05774991e-01 -7.08421583e-01 -4.53011496e-03 1.68848812e+02] [ 6.29620881e-03 -1.21846104e-04 9.99980171e-01 5.74384946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.170385723 meters Centerline goodness [0,1] 0.9999781286907834 Centerline is valid? [True, True] Translation: X:152.10, Y:168.87, Z:5.75 [[-7.09290575e-01 -7.04907683e-01 3.46956620e-03 1.52097801e+02] [ 7.04898544e-01 -7.09299054e-01 -3.59101284e-03 1.68867529e+02] [ 4.99229257e-03 -1.01379402e-04 9.99987533e-01 5.74513170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.200385723 meters Centerline goodness [0,1] 0.9999781778505182 Centerline is valid? [True, True] Translation: X:152.08, Y:168.89, Z:5.75 [[-7.09308818e-01 -7.04891699e-01 2.94841233e-03 1.52077848e+02] [ 7.04885106e-01 -7.09314941e-01 -3.04974903e-03 1.68886527e+02] [ 4.24109569e-03 -8.49219458e-05 9.99991003e-01 5.74611375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.06, Y:168.90, Z:5.75 [[-7.08731546e-01 -7.05475504e-01 1.97737614e-03 1.52056991e+02] [ 7.05472544e-01 -7.08734302e-01 -2.04403740e-03 1.68902472e+02] [ 2.84345262e-03 -5.36892053e-05 9.99995956e-01 5.74737008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.04, Y:168.92, Z:5.75 [[-7.08472363e-01 -7.05736424e-01 1.73494229e-03 1.52036270e+02] [ 7.05734150e-01 -7.08474486e-01 -1.79234302e-03 1.68920201e+02] [ 2.49408410e-03 -4.54174689e-05 9.99996889e-01 5.74725863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.290385723 meters Centerline goodness [0,1] 0.999978184991274 Centerline is valid? [True, True] Translation: X:152.01, Y:168.94, Z:5.75 [[-7.07380600e-01 -7.06831525e-01 1.37158664e-03 1.52013280e+02] [ 7.06830107e-01 -7.07381929e-01 -1.41620846e-03 1.68936763e+02] [ 1.97125639e-03 -3.23196594e-05 9.99998057e-01 5.74774459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.320385723 meters Centerline goodness [0,1] 0.9998691499105857 Centerline is valid? [True, True] Translation: X:151.99, Y:168.96, Z:5.75 [[-7.07163963e-01 -7.07048849e-01 1.02679675e-03 1.51991883e+02] [ 7.07048055e-01 -7.07164708e-01 -1.05962935e-03 1.68955085e+02] [ 1.47532414e-03 -2.33370424e-05 9.99998911e-01 5.74824597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.350385723 meters Centerline goodness [0,1] 0.9999346960099262 Centerline is valid? [True, True] Translation: X:151.97, Y:168.97, Z:5.75 [[-7.06965626e-01 -7.07247047e-01 1.10376734e-03 1.51971599e+02] [ 7.07246131e-01 -7.06966487e-01 -1.13850921e-03 1.68972500e+02] [ 1.58553380e-03 -2.42516908e-05 9.99998743e-01 5.74854197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.380385723 meters Centerline goodness [0,1] 0.999956507556812 Centerline is valid? [True, True] Translation: X:151.95, Y:168.99, Z:5.75 [[-7.07652485e-01 -7.06557289e-01 2.18151156e-03 1.51949265e+02] [ 7.06553712e-01 -7.07655845e-01 -2.24876788e-03 1.68988830e+02] [ 3.13264274e-03 -4.99910824e-05 9.99995092e-01 5.74744321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.410385723 meters Centerline goodness [0,1] 0.9999566311041721 Centerline is valid? [True, True] Translation: X:151.93, Y:169.01, Z:5.75 [[-7.07794432e-01 -7.06414102e-01 2.48166374e-03 1.51928655e+02] [ 7.06409477e-01 -7.07798781e-01 -2.55660647e-03 1.69007019e+02] [ 3.56254143e-03 -5.64810414e-05 9.99993653e-01 5.74771331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.440385723 meters Centerline goodness [0,1] 0.9999782929582357 Centerline is valid? [True, True] Translation: X:151.91, Y:169.02, Z:5.75 [[-7.08379064e-01 -7.05826997e-01 2.71158876e-03 1.51909191e+02] [ 7.05821477e-01 -7.08384251e-01 -2.79214582e-03 1.69024430e+02] [ 3.89161867e-03 -6.40000526e-05 9.99992426e-01 5.74716300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.470385723 meters Centerline goodness [0,1] 0.9999134330296275 Centerline is valid? [True, True] Translation: X:151.89, Y:169.04, Z:5.75 [[-7.10178710e-01 -7.04013284e-01 3.39037558e-03 1.51887045e+02] [ 7.04004644e-01 -7.10186797e-01 -3.48917017e-03 1.69042212e+02] [ 4.86422212e-03 -9.10942172e-05 9.99988165e-01 5.74719376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.500385723 meters Centerline goodness [0,1] 0.9998920599283277 Centerline is valid? [True, True] Translation: X:151.87, Y:169.06, Z:5.75 [[-7.11219945e-01 -7.02961178e-01 3.43115412e-03 1.51866620e+02] [ 7.02952325e-01 -7.11228215e-01 -3.52926890e-03 1.69061884e+02] [ 4.92127264e-03 -9.81486666e-05 9.99987886e-01 5.74738758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.85, Y:169.08, Z:5.75 [[-7.13961098e-01 -7.00175323e-01 3.75081780e-03 1.51846834e+02] [ 7.00164717e-01 -7.13970939e-01 -3.85581256e-03 1.69080725e+02] [ 5.37771971e-03 -1.26709878e-04 9.99985532e-01 5.74753912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.56038572299997 meters Centerline goodness [0,1] 0.9997617139267378 Centerline is valid? [True, True] Translation: X:151.83, Y:169.10, Z:5.75 [[-7.16812329e-01 -6.97254929e-01 3.95589694e-03 1.51825933e+02] [ 6.97243101e-01 -7.16823228e-01 -4.06424488e-03 1.69098946e+02] [ 5.66949359e-03 -1.55078989e-04 9.99983916e-01 5.74620265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.81, Y:169.12, Z:5.75 [[-7.17663929e-01 -6.96382002e-01 3.25460799e-03 1.51806719e+02] [ 6.96373996e-01 -7.17671297e-01 -3.34181554e-03 1.69117509e+02] [ 4.66291894e-03 -1.31876098e-04 9.99989120e-01 5.74714746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.62038572299997 meters Centerline goodness [0,1] 0.9998271354177921 Centerline is valid? [True, True] Translation: X:151.79, Y:169.13, Z:5.75 [[-7.18935168e-01 -6.95071699e-01 2.74891589e-03 1.51785030e+02] [ 6.95065985e-01 -7.18940414e-01 -2.82093230e-03 1.69134959e+02] [ 3.93705693e-03 -1.17389511e-04 9.99992243e-01 5.74836862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.76, Y:169.15, Z:5.75 [[-7.19199132e-01 -6.94799537e-01 2.49218252e-03 1.51764194e+02] [ 6.94794844e-01 -7.19203442e-01 -2.55606650e-03 1.69154257e+02] [ 3.56834007e-03 -1.06765247e-04 9.99993628e-01 5.74882490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.74, Y:169.17, Z:5.75 [[-7.18839236e-01 -6.95170886e-01 2.75533847e-03 1.51743602e+02] [ 6.95165158e-01 -7.18844508e-01 -2.82437697e-03 1.69171502e+02] [ 3.94408457e-03 -1.14857682e-04 9.99992215e-01 5.74877176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.72, Y:169.19, Z:5.75 [[-7.18218224e-01 -6.95810791e-01 3.15047556e-03 1.51721771e+02] [ 6.95803316e-01 -7.18225123e-01 -3.22765417e-03 1.69189146e+02] [ 4.50858730e-03 -1.26048700e-04 9.99989828e-01 5.74866032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.70, Y:169.20, Z:5.75 [[-7.16995847e-01 -6.97069231e-01 3.38276618e-03 1.51699602e+02] [ 6.97060636e-01 -7.17003816e-01 -3.46381119e-03 1.69204844e+02] [ 4.83997247e-03 -1.25545093e-04 9.99988279e-01 5.74765125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.68, Y:169.22, Z:5.75 [[-7.16191293e-01 -6.97895577e-01 3.43462634e-03 1.51677728e+02] [ 6.97886735e-01 -7.16199518e-01 -3.51499647e-03 1.69222515e+02] [ 4.91297822e-03 -1.20429706e-04 9.99987924e-01 5.74778549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.66, Y:169.24, Z:5.75 [[-7.14084483e-01 -7.00049310e-01 3.78352820e-03 1.51655441e+02] [ 7.00038622e-01 -7.14094497e-01 -3.87005401e-03 1.69238836e+02] [ 5.41102531e-03 -1.14929656e-04 9.99985354e-01 5.74761706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.63, Y:169.26, Z:5.75 [[-7.13009340e-01 -7.01142258e-01 4.14900151e-03 1.51633771e+02] [ 7.01129438e-01 -7.13021402e-01 -4.24160139e-03 1.69256680e+02] [ 5.93229285e-03 -1.15314309e-04 9.99982397e-01 5.74731260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.61, Y:169.27, Z:5.75 [[-7.11075307e-01 -7.03098901e-01 4.88305984e-03 1.51611264e+02] [ 7.03081206e-01 -7.11092064e-01 -4.98941544e-03 1.69272209e+02] [ 6.98035761e-03 -1.14662511e-04 9.99975630e-01 5.74607114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.59, Y:169.29, Z:5.75 [[-7.10500348e-01 -7.03678339e-01 5.10391593e-03 1.51590411e+02] [ 7.03659046e-01 -7.10518671e-01 -5.21196333e-03 1.69289608e+02] [ 7.29397327e-03 -1.11685149e-04 9.99973392e-01 5.74562218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.57, Y:169.31, Z:5.75 [[-7.09362777e-01 -7.04824791e-01 5.14438111e-03 1.51569017e+02] [ 7.04805244e-01 -7.09381423e-01 -5.25014947e-03 1.69307338e+02] [ 7.34976390e-03 -9.84738223e-05 9.99972985e-01 5.74565671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.950385723 meters Centerline goodness [0,1] 0.9998719726875067 Centerline is valid? [True, True] Translation: X:151.55, Y:169.33, Z:5.74 [[-7.09983079e-01 -7.04192299e-01 6.10198609e-03 1.51549478e+02] [ 7.04164803e-01 -7.10009290e-01 -6.22413260e-03 1.69327044e+02] [ 8.71545306e-03 -1.22224995e-04 9.99962012e-01 5.74444080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.53, Y:169.35, Z:5.75 [[-7.10007778e-01 -7.04171758e-01 5.57580094e-03 1.51528918e+02] [ 7.04148824e-01 -7.10029663e-01 -5.68428215e-03 1.69345645e+02] [ 7.96169502e-03 -1.09690866e-04 9.99968299e-01 5.74679614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.51, Y:169.36, Z:5.75 [[-7.10277787e-01 -7.03898872e-01 5.64309084e-03 1.51510098e+02] [ 7.03875399e-01 -7.10300195e-01 -5.74953511e-03 1.69364614e+02] [ 8.05537979e-03 -1.11734255e-04 9.99967549e-01 5.74645546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.49, Y:169.38, Z:5.75 [[-7.10424274e-01 -7.03755285e-01 5.08433896e-03 1.51490303e+02] [ 7.03736249e-01 -7.10442460e-01 -5.17709076e-03 1.69383024e+02] [ 7.25553526e-03 -9.98973193e-05 9.99973673e-01 5.74653151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.47, Y:169.40, Z:5.75 [[-7.10395469e-01 -7.03786868e-01 4.72461216e-03 1.51469609e+02] [ 7.03770450e-01 -7.10411174e-01 -4.80807143e-03 1.69401660e+02] [ 6.74027481e-03 -9.05897388e-05 9.99977280e-01 5.74755118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.45, Y:169.42, Z:5.75 [[-7.10226062e-01 -7.03960231e-01 4.35121158e-03 1.51452528e+02] [ 7.03946325e-01 -7.10239387e-01 -4.42545519e-03 1.69422535e+02] [ 6.20574630e-03 -8.00542102e-05 9.99980741e-01 5.74694973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.43, Y:169.44, Z:5.75 [[-7.09994808e-01 -7.04194540e-01 4.17395169e-03 1.51431217e+02] [ 7.04181762e-01 -7.10007074e-01 -4.24279887e-03 1.69440615e+02] [ 5.95129102e-03 -7.31445132e-05 9.99982288e-01 5.74810403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.41, Y:169.46, Z:5.75 [[-7.08545413e-01 -7.05649904e-01 4.64876867e-03 1.51412910e+02] [ 7.05634098e-01 -7.08560660e-01 -4.72350307e-03 1.69460069e+02] [ 6.62707408e-03 -6.64867456e-05 9.99978039e-01 5.74637525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.39, Y:169.48, Z:5.75 [[-7.07540749e-01 -7.06655960e-01 4.84183478e-03 1.51391061e+02] [ 7.06638856e-01 -7.07557313e-01 -4.91694689e-03 1.69477614e+02] [ 6.90046542e-03 -5.75116965e-05 9.99976190e-01 5.74706023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.37, Y:169.50, Z:5.75 [[-7.06422485e-01 -7.07770333e-01 5.33186285e-03 1.51370767e+02] [ 7.07749646e-01 -7.06442605e-01 -5.41147771e-03 1.69496659e+02] [ 7.59673846e-03 -4.91654859e-05 9.99971143e-01 5.74700221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.35, Y:169.52, Z:5.75 [[-7.04794810e-01 -7.09385556e-01 6.03388713e-03 1.51351754e+02] [ 7.09359155e-01 -7.04820638e-01 -6.12028773e-03 1.69515669e+02] [ 8.59445189e-03 -3.33539583e-05 9.99963066e-01 5.74651378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.33, Y:169.54, Z:5.75 [[-7.04797625e-01 -7.09382759e-01 6.03402164e-03 1.51332786e+02] [ 7.09356386e-01 -7.04823454e-01 -6.11698693e-03 1.69536408e+02] [ 8.59220504e-03 -3.09660780e-05 9.99963086e-01 5.74706169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.31038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.31, Y:169.56, Z:5.75 [[-7.05186039e-01 -7.08993472e-01 6.39588720e-03 1.51314373e+02] [ 7.08963849e-01 -7.05215042e-01 -6.48115985e-03 1.69556703e+02] [ 9.10557588e-03 -3.59706312e-05 9.99958543e-01 5.74698795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.30, Y:169.58, Z:5.75 [[-7.05987913e-01 -7.08187799e-01 7.14904818e-03 1.51296347e+02] [ 7.08150787e-01 -7.06024107e-01 -7.24037516e-03 1.69578133e+02] [ 1.01749457e-02 -4.90132496e-05 9.99948233e-01 5.74691124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.37038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.28, Y:169.60, Z:5.75 [[-7.06476939e-01 -7.07703171e-01 6.82323703e-03 1.51277275e+02] [ 7.07669471e-01 -7.06509886e-01 -6.90659148e-03 1.69598344e+02] [ 9.70850111e-03 -5.07510713e-05 9.99952870e-01 5.74726552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.26, Y:169.62, Z:5.75 [[-7.06853483e-01 -7.07328746e-01 6.64817270e-03 1.51258803e+02] [ 7.07296773e-01 -7.06884745e-01 -6.72548008e-03 1.69618268e+02] [ 9.45661725e-03 -5.16979238e-05 9.99955284e-01 5.74781262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.24, Y:169.64, Z:5.75 [[-7.07577212e-01 -7.06608598e-01 6.22718857e-03 1.51240230e+02] [ 7.06580550e-01 -7.07604611e-01 -6.29611482e-03 1.69639623e+02] [ 8.85527621e-03 -5.49770500e-05 9.99960790e-01 5.74931206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.460385723 meters Centerline goodness [0,1] 0.999935608499678 Centerline is valid? [True, True] Translation: X:151.22, Y:169.66, Z:5.75 [[-7.08403678e-01 -7.05779298e-01 6.30966683e-03 1.51222463e+02] [ 7.05750502e-01 -7.08431774e-01 -6.37578496e-03 1.69659757e+02] [ 8.96986550e-03 -6.35789837e-05 9.99959768e-01 5.74926559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.20, Y:169.68, Z:5.75 [[-7.09596612e-01 -7.04577554e-01 6.56648713e-03 1.51204693e+02] [ 7.04546349e-01 -7.09626989e-01 -6.63160530e-03 1.69681221e+02] [ 9.33223673e-03 -7.93701217e-05 9.99956451e-01 5.74968493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.19, Y:169.70, Z:5.75 [[-7.10529725e-01 -7.03632191e-01 7.01773684e-03 1.51187055e+02] [ 7.03596543e-01 -7.10564374e-01 -7.08338945e-03 1.69703139e+02] [ 9.97065463e-03 -9.53033830e-05 9.99950287e-01 5.74991394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.17, Y:169.72, Z:5.75 [[-7.10682723e-01 -7.03476651e-01 7.11817484e-03 1.51167968e+02] [ 7.03440008e-01 -7.10718364e-01 -7.18073748e-03 1.69723771e+02] [ 1.01104987e-02 -9.60171024e-05 9.99948883e-01 5.75029868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.15, Y:169.74, Z:5.75 [[-7.10633955e-01 -7.03523705e-01 7.33332906e-03 1.51148427e+02] [ 7.03484859e-01 -7.10671786e-01 -7.39363921e-03 1.69744410e+02] [ 1.04131905e-02 -9.52851151e-05 9.99945777e-01 5.75070443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.13, Y:169.76, Z:5.75 [[-7.10830929e-01 -7.03324663e-01 7.33539926e-03 1.51128969e+02] [ 7.03285828e-01 -7.10868771e-01 -7.39158531e-03 1.69763951e+02] [ 1.04131905e-02 -9.52851151e-05 9.99945777e-01 5.75070707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.11, Y:169.78, Z:5.75 [[-7.10910663e-01 -7.03246930e-01 7.05584143e-03 1.51109879e+02] [ 7.03211035e-01 -7.10945671e-01 -7.10587372e-03 1.69784623e+02] [ 1.00135038e-02 -8.98958434e-05 9.99949860e-01 5.75133563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.09, Y:169.80, Z:5.75 [[-7.11151596e-01 -7.03002352e-01 7.14845375e-03 1.51091735e+02] [ 7.02965539e-01 -7.11187517e-01 -7.19485716e-03 1.69804511e+02] [ 1.01418926e-02 -9.15175102e-05 9.99948566e-01 5.75104434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.07, Y:169.83, Z:5.75 [[-7.12173210e-01 -7.01969372e-01 6.95123922e-03 1.51073604e+02] [ 7.01934554e-01 -7.12207126e-01 -6.99224727e-03 1.69825398e+02] [ 9.85906553e-03 -1.00376175e-04 9.99951393e-01 5.75129075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.05, Y:169.85, Z:5.75 [[-7.12924506e-01 -7.01207169e-01 6.86692739e-03 1.51054621e+02] [ 7.01173192e-01 -7.12957569e-01 -6.90360446e-03 1.69846092e+02] [ 9.73668480e-03 -1.06843402e-04 9.99952592e-01 5.75118688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.04, Y:169.87, Z:5.75 [[-7.14051771e-01 -7.00047121e-01 8.00605561e-03 1.51036714e+02] [ 7.00000912e-01 -7.14096638e-01 -8.04458986e-03 1.69868035e+02] [ 1.13486894e-02 -1.40007406e-04 9.99935592e-01 5.75090663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.02, Y:169.89, Z:5.75 [[-7.14607844e-01 -6.99475849e-01 8.31659271e-03 1.51018696e+02] [ 6.99426004e-01 -7.14656221e-01 -8.35172789e-03 1.69888406e+02] [ 1.17853367e-02 -1.51369061e-04 9.99930539e-01 5.75032850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.00, Y:169.91, Z:5.75 [[-7.15291896e-01 -6.98773941e-01 8.51363046e-03 1.50999704e+02] [ 6.98721713e-01 -7.15342542e-01 -8.54491156e-03 1.69908734e+02] [ 1.20611236e-02 -1.63447532e-04 9.99927249e-01 5.75034673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.850385723 meters Centerline goodness [0,1] 0.9999784408416695 Centerline is valid? [True, True] Translation: X:150.98, Y:169.93, Z:5.75 [[-7.16268553e-01 -6.97773744e-01 8.43577540e-03 1.50980722e+02] [ 6.97722453e-01 -7.16318205e-01 -8.46212937e-03 1.69930073e+02] [ 1.19473512e-02 -1.75327249e-04 9.99928613e-01 5.75017451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.96, Y:169.95, Z:5.75 [[-7.16892988e-01 -6.97130192e-01 8.59874139e-03 1.50962443e+02] [ 6.97076911e-01 -7.16944531e-01 -8.62089137e-03 1.69950893e+02] [ 1.21747043e-02 -1.86272484e-04 9.99925868e-01 5.75065630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.910385723 meters Centerline goodness [0,1] 0.999956979995698 Centerline is valid? [True, True] Translation: X:150.94, Y:169.97, Z:5.75 [[-7.16950456e-01 -6.97068475e-01 8.80824208e-03 1.50944810e+02] [ 6.97012614e-01 -7.17004537e-01 -8.82673639e-03 1.69970446e+02] [ 1.24683892e-02 -1.88876845e-04 9.99922249e-01 5.75026144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.940385723 meters Centerline goodness [0,1] 0.9998271988940729 Centerline is valid? [True, True] Translation: X:150.93, Y:169.99, Z:5.75 [[-7.17079164e-01 -6.96932035e-01 9.12207796e-03 1.50925431e+02] [ 6.96872182e-01 -7.17137157e-01 -9.13566763e-03 1.69990106e+02] [ 1.29087205e-02 -1.94074528e-04 9.99916660e-01 5.74921252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.970385723 meters Centerline goodness [0,1] 0.9999783704280493 Centerline is valid? [True, True] Translation: X:150.91, Y:170.01, Z:5.75 [[-7.16060375e-01 -6.97992311e-01 8.01708039e-03 1.50905640e+02] [ 6.97946197e-01 -7.16105237e-01 -8.02467210e-03 1.70009444e+02] [ 1.13422327e-02 -1.50658943e-04 9.99935663e-01 5.75146416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.88, Y:170.03, Z:5.75 [[-7.14753423e-01 -6.99335943e-01 7.53546018e-03 1.50884692e+02] [ 6.99295322e-01 -7.14793134e-01 -7.53848745e-03 1.70028320e+02] [ 1.06582304e-02 -1.18647656e-04 9.99943192e-01 5.75193594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.86, Y:170.05, Z:5.75 [[-7.13980590e-01 -7.00127374e-01 7.30598444e-03 1.50864234e+02] [ 7.00089272e-01 -7.14017962e-01 -7.30487559e-03 1.70047710e+02] [ 1.03309475e-02 -1.00698053e-04 9.99946629e-01 5.75206842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.06038572299997 meters Centerline goodness [0,1] 0.9999568481919392 Centerline is valid? [True, True] Translation: X:150.40, Y:169.59, Z:6.72 [[-7.49838194e-01 6.61573315e-01 7.96438198e-03 1.50399059e+02] [ 6.61537357e-01 7.49880484e-01 -6.89821576e-03 1.69593434e+02] [-1.05360101e-02 9.61905576e-05 -9.99944490e-01 6.71875975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.42, Y:169.62, Z:6.72 [[-7.96855426e-01 6.04117901e-01 7.93675885e-03 1.50419161e+02] [ 6.04088652e-01 7.96894949e-01 -5.94489433e-03 1.69615972e+02] [-9.91618012e-03 5.72846453e-05 -9.99950832e-01 6.71813204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.43, Y:169.64, Z:6.72 [[-8.38554820e-01 5.44752928e-01 8.37024089e-03 1.50433038e+02] [ 5.44726279e-01 8.38596593e-01 -5.38842021e-03 1.69643534e+02] [-9.95461318e-03 4.10044385e-05 -9.99950451e-01 6.71774787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.45, Y:169.67, Z:6.72 [[-8.76842050e-01 4.80692229e-01 9.11043478e-03 1.50448072e+02] [ 4.80666322e-01 8.76889378e-01 -4.99054899e-03 1.69671526e+02] [-1.03877616e-02 3.15596786e-06 -9.99946046e-01 6.71851621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.180385723 meters Centerline goodness [0,1] 0.9999355490149742 Centerline is valid? [True, True] Translation: X:150.46, Y:169.70, Z:6.72 [[-9.09470941e-01 4.15657493e-01 9.56330698e-03 1.50457728e+02] [ 4.15634321e-01 9.09521219e-01 -4.38895162e-03 1.69700356e+02] [-1.05223312e-02 -1.67853543e-05 -9.99944639e-01 6.71939233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.210385723 meters Centerline goodness [0,1] 0.9998707899043845 Centerline is valid? [True, True] Translation: X:150.46, Y:169.73, Z:6.72 [[-9.37398618e-01 3.48100756e-01 1.04735228e-02 1.50464925e+02] [ 3.48078515e-01 9.37457125e-01 -3.93519795e-03 1.69729080e+02] [-1.11883239e-02 -4.32408687e-05 -9.99937408e-01 6.71927606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.240385723 meters Centerline goodness [0,1] 0.9999784231648902 Centerline is valid? [True, True] Translation: X:150.47, Y:169.76, Z:6.72 [[-9.59847267e-01 2.80318640e-01 1.07090750e-02 1.50470219e+02] [ 2.80300634e-01 9.59907005e-01 -3.17756681e-03 1.69758077e+02] [-1.11704473e-02 -4.82183044e-05 -9.99937607e-01 6.72016134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.270385723 meters Centerline goodness [0,1] 0.9998490403277982 Centerline is valid? [True, True] Translation: X:150.47, Y:169.79, Z:6.72 [[-9.77336357e-01 2.11394858e-01 1.12186877e-02 1.50471554e+02] [ 2.11380325e-01 9.77400742e-01 -2.47934261e-03 1.69787004e+02] [-1.14892740e-02 -5.17418242e-05 -9.99933995e-01 6.72085671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.300385723 meters Centerline goodness [0,1] 0.9999139081399854 Centerline is valid? [True, True] Translation: X:150.47, Y:169.82, Z:6.72 [[-9.89913041e-01 1.41311069e-01 1.01662727e-02 1.50473971e+02] [ 1.41303122e-01 9.89965242e-01 -1.49940247e-03 1.69815099e+02] [-1.02761388e-02 -4.77519874e-05 -9.99947198e-01 6.71938561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.330385723 meters Centerline goodness [0,1] 0.9999135415540905 Centerline is valid? [True, True] Translation: X:150.47, Y:169.84, Z:6.72 [[-9.97374803e-01 7.15867473e-02 1.09013418e-02 1.50470718e+02] [ 7.15820272e-02 9.97434377e-01 -8.23052378e-04 1.69842487e+02] [-1.09322927e-02 -4.05515598e-05 -9.99940240e-01 6.71975544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.47, Y:169.87, Z:6.72 [[-9.99934549e-01 1.14938094e-03 1.13831892e-02 1.50465904e+02] [ 1.14890964e-03 9.99999339e-01 -4.79421298e-05 1.69870243e+02] [-1.13832368e-02 -3.48607361e-05 -9.99935208e-01 6.71997413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.390385723 meters Centerline goodness [0,1] 0.9999567726457302 Centerline is valid? [True, True] Translation: X:150.47, Y:170.51, Z:5.75 [[-9.97102787e-01 -7.52005962e-02 1.14413032e-02 1.50471425e+02] [ 7.51961166e-02 -9.97168425e-01 -8.21822947e-04 1.70514416e+02] [ 1.14707079e-02 4.08996201e-05 9.99934208e-01 5.75129891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.39, Y:169.87, Z:6.72 [[-9.99938615e-01 -1.78902510e-03 1.09345660e-02 1.50394582e+02] [-1.78906250e-03 9.99998400e-01 6.36225228e-06 1.69866908e+02] [-1.09345599e-02 -1.32007603e-05 -9.99940216e-01 6.72181514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.450385723 meters Centerline goodness [0,1] 0.9999568118508282 Centerline is valid? [True, True] Translation: X:150.39, Y:169.89, Z:6.72 [[-9.97309094e-01 -7.24769667e-02 1.10299349e-02 1.50385013e+02] [-7.24726278e-02 9.97370086e-01 7.93089843e-04 1.69893775e+02] [-1.10584079e-02 -8.41265212e-06 -9.99938854e-01 6.72035161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.480385723 meters Centerline goodness [0,1] 0.9999567445984817 Centerline is valid? [True, True] Translation: X:150.38, Y:169.92, Z:6.72 [[-9.89752682e-01 -1.42387414e-01 1.07449128e-02 1.50376428e+02] [-1.42378988e-01 9.89811004e-01 1.54906430e-03 1.69918235e+02] [-1.08560002e-02 3.34073505e-06 -9.99941072e-01 6.72021818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.510385723 meters Centerline goodness [0,1] 0.9998920342899095 Centerline is valid? [True, True] Translation: X:150.36, Y:169.94, Z:6.72 [[-9.76895853e-01 -2.13472248e-01 1.02025399e-02 1.50355366e+02] [-2.13460633e-01 9.76949128e-01 2.22686300e-03 1.69940817e+02] [-1.04427359e-02 -2.42738282e-06 -9.99945473e-01 6.71999231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.32, Y:169.96, Z:6.72 [[-9.58909676e-01 -2.83580985e-01 8.60567326e-03 1.50323778e+02] [-2.83569606e-01 9.58948291e-01 2.54044434e-03 1.69961198e+02] [-8.97281737e-03 -4.25071544e-06 -9.99959743e-01 6.71857466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.570385723 meters Centerline goodness [0,1] 0.9999347896967721 Centerline is valid? [True, True] Translation: X:150.27, Y:169.97, Z:6.72 [[-9.35568143e-01 -3.53059336e-01 7.83294087e-03 1.50271504e+02] [-3.53047039e-01 9.35600933e-01 2.94671448e-03 1.69973198e+02] [-8.36887184e-03 -8.54438656e-06 -9.99964980e-01 6.71794156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.600385723 meters Centerline goodness [0,1] 0.9999782495214895 Centerline is valid? [True, True] Translation: X:150.21, Y:169.98, Z:6.72 [[-9.06152142e-01 -4.22884466e-01 7.55144883e-03 1.50210093e+02] [-4.22870021e-01 9.06183606e-01 3.49534928e-03 1.69977367e+02] [-8.32112805e-03 -2.59630920e-05 -9.99965379e-01 6.71773050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.630385723 meters Centerline goodness [0,1] 0.9999346661439958 Centerline is valid? [True, True] Translation: X:150.13, Y:169.97, Z:6.72 [[-8.71759276e-01 -4.89877354e-01 7.47943053e-03 1.50134401e+02] [-4.89859694e-01 8.71791361e-01 4.15982105e-03 1.69970698e+02] [-8.55830505e-03 -3.75089579e-05 -9.99963376e-01 6.71838874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.05, Y:169.95, Z:6.72 [[-8.31452245e-01 -5.55536685e-01 8.13364558e-03 1.50053478e+02] [-5.55510903e-01 8.31492024e-01 5.35257871e-03 1.69952287e+02] [-9.73661526e-03 -6.79152205e-05 -9.99952596e-01 6.71904071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.690385723 meters Centerline goodness [0,1] 0.9999781702285577 Centerline is valid? [True, True] Translation: X:149.97, Y:169.93, Z:6.72 [[-7.86955247e-01 -6.16960102e-01 7.85311045e-03 1.49969611e+02] [-6.16930369e-01 7.86994426e-01 6.05753557e-03 1.69925570e+02] [-9.91761191e-03 -7.78129321e-05 -9.99950816e-01 6.71859093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.88, Y:169.89, Z:6.72 [[-7.37163193e-01 -6.75679395e-01 6.91247394e-03 1.49880763e+02] [-6.75650815e-01 7.37195596e-01 6.21528038e-03 1.69886405e+02] [-9.29538224e-03 -8.87427258e-05 -9.99956793e-01 6.71875003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.750385723 meters Centerline goodness [0,1] 0.9999344104593454 Centerline is valid? [True, True] Translation: X:149.79, Y:169.84, Z:6.72 [[-6.83599053e-01 -7.29828545e-01 6.52906266e-03 1.49790040e+02] [-7.29796585e-01 6.83630226e-01 6.83072633e-03 1.69839702e+02] [-9.44872364e-03 -9.54095822e-05 -9.99955355e-01 6.72038551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.780385723 meters Centerline goodness [0,1] 0.9999563070738847 Centerline is valid? [True, True] Translation: X:149.70, Y:169.78, Z:6.72 [[-6.25710357e-01 -7.80025318e-01 6.85942447e-03 1.49699762e+02] [-7.79980512e-01 6.25747944e-01 8.36129680e-03 1.69775612e+02] [-1.08142940e-02 -1.18467403e-04 -9.99941517e-01 6.72127314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.81038572299997 meters Centerline goodness [0,1] 0.9999561759098977 Centerline is valid? [True, True] Translation: X:149.62, Y:169.71, Z:6.72 [[-5.64505689e-01 -8.25402187e-01 6.67507092e-03 1.49617965e+02] [-8.25347140e-01 5.64545139e-01 9.53339259e-03 1.69711926e+02] [-1.16372619e-02 -1.27596329e-04 -9.99932277e-01 6.72161351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.840385723 meters Centerline goodness [0,1] 0.9998463126001712 Centerline is valid? [True, True] Translation: X:149.54, Y:169.63, Z:6.72 [[-5.01440296e-01 -8.65169973e-01 6.20863874e-03 1.49537975e+02] [-8.65106396e-01 5.01478719e-01 1.04889809e-02 1.69630850e+02] [-1.21882515e-02 -1.11535398e-04 -9.99925714e-01 6.72346681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.87038572299997 meters Centerline goodness [0,1] 0.9999342768260089 Centerline is valid? [True, True] Translation: X:149.46, Y:169.55, Z:6.72 [[-4.34581335e-01 -9.00619793e-01 4.80121698e-03 1.49462652e+02] [-9.00567085e-01 4.34607847e-01 9.74394518e-03 1.69545637e+02] [-1.08622365e-02 -8.92812740e-05 -9.99941000e-01 6.72030677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.900385723 meters Centerline goodness [0,1] 0.9999779910203362 Centerline is valid? [True, True] Translation: X:149.40, Y:169.45, Z:6.72 [[-3.66867275e-01 -9.30265233e-01 3.87288154e-03 1.49395548e+02] [-9.30214996e-01 3.66887712e-01 9.66790005e-03 1.69452987e+02] [-1.04146239e-02 -5.57763392e-05 -9.99945765e-01 6.71967357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.930385723 meters Centerline goodness [0,1] 0.9999780055426033 Centerline is valid? [True, True] Translation: X:149.33, Y:169.35, Z:6.72 [[-2.95185615e-01 -9.55435039e-01 3.05587696e-03 1.49331328e+02] [-9.55385414e-01 2.95201429e-01 9.73788398e-03 1.69352787e+02] [-1.02060148e-02 -4.50570087e-05 -9.99947916e-01 6.71950046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.960385723 meters Centerline goodness [0,1] 0.9999779220205767 Centerline is valid? [True, True] Translation: X:149.27, Y:169.24, Z:6.72 [[-2.22599748e-01 -9.74907395e-01 2.21888548e-03 1.49273626e+02] [-9.74860127e-01 2.22610806e-01 9.60015062e-03 1.69235279e+02] [-9.85320571e-03 -2.61118683e-05 -9.99951456e-01 6.72052165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.990385723 meters Centerline goodness [0,1] 0.9998896149770399 Centerline is valid? [True, True] Translation: X:149.23, Y:169.12, Z:6.72 [[-1.47444173e-01 -9.89069234e-01 1.50575657e-03 1.49225274e+02] [-9.89019129e-01 1.47451860e-01 9.95546115e-03 1.69121952e+02] [-1.00686669e-02 -2.13473231e-05 -9.99949309e-01 6.71984777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.020385723 meters Centerline goodness [0,1] 0.9999335651172576 Centerline is valid? [True, True] Translation: X:149.19, Y:169.01, Z:6.72 [[-7.17533335e-02 -9.97422118e-01 7.59592799e-04 1.49187932e+02] [-9.97367945e-01 7.17573530e-02 1.03953861e-02 1.69010556e+02] [-1.04230944e-02 -1.16899027e-05 -9.99945678e-01 6.72050438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.050385723 meters Centerline goodness [0,1] 0.9999778452267541 Centerline is valid? [True, True] Translation: X:149.16, Y:168.89, Z:6.72 [[ 5.74400957e-03 -9.99983502e-01 -4.65214978e-05 1.49157143e+02] [-9.99922365e-01 -5.74417281e-03 1.10575417e-02 1.68887287e+02] [-1.10576265e-02 -1.69967390e-05 -9.99938862e-01 6.72185182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.13, Y:168.76, Z:6.72 [[ 8.31944873e-02 -9.96532861e-01 -9.66766782e-04 1.49134572e+02] [-9.96462372e-01 -8.32001012e-02 1.18525923e-02 1.68757985e+02] [-1.18919328e-02 -2.27236176e-05 -9.99929288e-01 6.72277340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.13, Y:168.62, Z:6.72 [[ 1.60612135e-01 -9.87015251e-01 -2.15315510e-03 1.49125296e+02] [-9.86923313e-01 -1.60626562e-01 1.34715410e-02 1.68616004e+02] [-1.36424703e-02 -3.86939990e-05 -9.99906936e-01 6.72467936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.12, Y:168.51, Z:6.73 [[ 2.36783367e-01 -9.71556597e-01 -3.37865956e-03 1.49117843e+02] [-9.71454785e-01 -2.36807466e-01 1.40650173e-02 1.68512793e+02] [-1.44650522e-02 -4.81471608e-05 -9.99895375e-01 6.72668606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.13, Y:168.39, Z:6.73 [[ 3.11186824e-01 -9.50337216e-01 -4.68358106e-03 1.49125114e+02] [-9.50227000e-01 -3.11222063e-01 1.44733044e-02 1.68386689e+02] [-1.52121536e-02 -5.34364500e-05 -9.99884287e-01 6.72619776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.200385723 meters Centerline goodness [0,1] 0.99995523523882 Centerline is valid? [True, True] Translation: X:149.14, Y:168.26, Z:6.73 [[ 3.82607640e-01 -9.23890504e-01 -6.14258818e-03 1.49144953e+02] [-9.23769727e-01 -3.82656942e-01 1.49383795e-02 1.68258769e+02] [-1.61519310e-02 -4.12011121e-05 -9.99869548e-01 6.72920699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.17, Y:168.14, Z:6.73 [[ 4.52324339e-01 -8.91824930e-01 -7.14044349e-03 1.49167806e+02] [-8.91712610e-01 -4.52380694e-01 1.41537261e-02 1.68144690e+02] [-1.58528445e-02 -3.48512793e-05 -9.99874335e-01 6.72840532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.21, Y:168.03, Z:6.73 [[ 5.18937136e-01 -8.54773170e-01 -8.19009935e-03 1.49205467e+02] [-8.54666080e-01 -5.19001761e-01 1.35300801e-02 1.68027195e+02] [-1.58158254e-02 -2.14608832e-05 -9.99874922e-01 6.72527663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.25, Y:167.92, Z:6.73 [[ 5.82968085e-01 -8.12452621e-01 -8.30367944e-03 1.49246455e+02] [-8.12369823e-01 -5.83027220e-01 1.15988062e-02 1.67918834e+02] [-1.42647516e-02 -1.60752578e-05 -9.99898253e-01 6.72559327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.30, Y:167.81, Z:6.72 [[ 6.43582084e-01 -7.65328030e-01 -8.66649097e-03 1.49296456e+02] [-7.65258338e-01 -6.43640433e-01 1.03280683e-02 1.67809328e+02] [-1.34824641e-02 -1.48552249e-05 -9.99909107e-01 6.72255847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.35, Y:167.71, Z:6.72 [[ 6.99672729e-01 -7.14406800e-01 -8.99979231e-03 1.49353508e+02] [-7.14347661e-01 -6.99730608e-01 9.19216583e-03 1.67707451e+02] [-1.28643759e-02 -2.52716787e-06 -9.99917251e-01 6.72450412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.42, Y:167.61, Z:6.72 [[ 7.52065628e-01 -6.59022100e-01 -9.33609280e-03 1.49420623e+02] [-6.58971335e-01 -7.52123575e-01 8.17968209e-03 1.67607317e+02] [-1.24124868e-02 5.59785604e-07 -9.99922962e-01 6.72112444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.410385723 meters Centerline goodness [0,1] 0.9999772985244041 Centerline is valid? [True, True] Translation: X:149.42, Y:167.60, Z:6.72 [[ 8.01195543e-01 -5.98321721e-01 -9.83973248e-03 1.49416463e+02] [-5.98276641e-01 -8.01255963e-01 7.34453130e-03 1.67604358e+02] [-1.22785369e-02 2.47634931e-06 -9.99924616e-01 6.72003592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.41, Y:167.60, Z:6.72 [[ 8.46071414e-01 -5.32975491e-01 -1.00144020e-02 1.49410584e+02] [-5.32938023e-01 -8.46130679e-01 6.31964414e-03 1.67600666e+02] [-1.18417082e-02 -9.81467373e-06 -9.99929884e-01 6.72134396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.41, Y:167.60, Z:6.72 [[ 8.86092858e-01 -4.63390640e-01 -1.04193242e-02 1.49406166e+02] [-4.63358165e-01 -8.86154114e-01 5.48614018e-03 1.67596237e+02] [-1.17753530e-02 -3.33506714e-05 -9.99930668e-01 6.72125182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.500385723 meters Centerline goodness [0,1] 0.9998186105568656 Centerline is valid? [True, True] Translation: X:149.40, Y:167.59, Z:6.73 [[ 9.19708300e-01 -3.92409232e-01 -1.23141351e-02 1.49402497e+02] [-3.92373437e-01 -9.19790733e-01 5.30025372e-03 1.67593605e+02] [-1.34062958e-02 -4.29478167e-05 -9.99910131e-01 6.72571587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.530385723 meters Centerline goodness [0,1] 0.9998186105568656 Centerline is valid? [True, True] Translation: X:149.40, Y:167.60, Z:6.73 [[ 9.47559833e-01 -3.19326327e-01 -1.26909283e-02 1.49401889e+02] [-3.19297083e-01 -9.47644815e-01 4.32178325e-03 1.67596930e+02] [-1.34065516e-02 -4.29718208e-05 -9.99910127e-01 6.72571849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.56038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.40, Y:167.59, Z:6.72 [[ 9.69883067e-01 -2.43261921e-01 -1.22667965e-02 1.49398738e+02] [-2.43241766e-01 -9.69960636e-01 3.13178524e-03 1.67589218e+02] [-1.26601538e-02 -5.36682297e-05 -9.99919856e-01 6.72129916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.590385723 meters Centerline goodness [0,1] 0.9999773909111462 Centerline is valid? [True, True] Translation: X:149.39, Y:167.58, Z:6.72 [[ 9.85885543e-01 -1.66941985e-01 -1.26518543e-02 1.49393116e+02] [-1.66927588e-01 -9.85966719e-01 2.19298680e-03 1.67582270e+02] [-1.28404088e-02 -5.00904714e-05 -9.99917557e-01 6.72431910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.39, Y:167.58, Z:6.72 [[ 9.95837448e-01 -9.02373236e-02 -1.28453019e-02 1.49387997e+02] [-9.02293248e-02 -9.95920290e-01 1.20206699e-03 1.67578554e+02] [-1.29013681e-02 -3.80404062e-05 -9.99916773e-01 6.72146255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.650385723 meters Centerline goodness [0,1] 0.9999099666876744 Centerline is valid? [True, True] Translation: X:149.38, Y:167.58, Z:6.72 [[ 9.99801366e-01 -1.50634354e-02 -1.30507122e-02 1.49381330e+02] [-1.50621660e-02 -9.99886540e-01 1.95561279e-04 1.67575536e+02] [-1.30521773e-02 1.04955944e-06 -9.99914817e-01 6.72201851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.38, Y:167.57, Z:6.72 [[ 9.97980536e-01 6.22614777e-02 -1.25840658e-02 1.49376485e+02] [ 6.22563560e-02 -9.98059872e-01 -7.98709231e-04 1.67571524e+02] [-1.26093799e-02 1.36581897e-05 -9.99920499e-01 6.72083701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.37, Y:167.56, Z:6.72 [[ 9.90413392e-01 1.37461654e-01 -1.36237658e-02 1.49371920e+02] [ 1.37447922e-01 -9.90507088e-01 -1.94365202e-03 1.67561665e+02] [-1.37616142e-02 5.24606897e-05 -9.99905303e-01 6.71974133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.740385723 meters Centerline goodness [0,1] 0.9999324567723343 Centerline is valid? [True, True] Translation: X:149.37, Y:167.55, Z:6.72 [[ 9.76966523e-01 2.12953357e-01 -1.36850564e-02 1.49368408e+02] [ 2.12931362e-01 -9.77062363e-01 -3.06159430e-03 1.67549904e+02] [-1.40231303e-02 7.70974367e-05 -9.99901668e-01 6.72073591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.37, Y:167.54, Z:6.72 [[ 9.57788984e-01 2.87090088e-01 -1.48169983e-02 1.49366333e+02] [ 2.87053934e-01 -9.57903580e-01 -4.55738791e-03 1.67537576e+02] [-1.55016366e-02 1.11738287e-04 -9.99879836e-01 6.72132133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.800385723 meters Centerline goodness [0,1] 0.9998876480237288 Centerline is valid? [True, True] Translation: X:149.36, Y:167.53, Z:6.72 [[ 9.32957125e-01 3.59638153e-01 -1.58556408e-02 1.49363647e+02] [ 3.59583468e-01 -9.33091837e-01 -6.27320044e-03 1.67526484e+02] [-1.70508512e-02 1.51200736e-04 -9.99854612e-01 6.72382889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.36, Y:167.52, Z:6.72 [[ 9.02476411e-01 4.30480560e-01 -1.49269676e-02 1.49362589e+02] [ 4.30418604e-01 -9.02599834e-01 -7.30519338e-03 1.67515159e+02] [-1.66178222e-02 1.67920164e-04 -9.99861900e-01 6.72160780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.36, Y:167.50, Z:6.72 [[ 8.66352130e-01 4.99236317e-01 -1.40387554e-02 1.49362866e+02] [ 4.99167500e-01 -8.66465850e-01 -8.29083766e-03 1.67503721e+02] [-1.63031894e-02 1.75094448e-04 -9.99867079e-01 6.72081407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.36, Y:167.49, Z:6.72 [[ 8.24822534e-01 5.65238282e-01 -1.31708366e-02 1.49364477e+02] [ 5.65162759e-01 -8.24927665e-01 -9.24141864e-03 1.67490939e+02] [-1.60885911e-02 1.78863998e-04 -9.99870554e-01 6.71950442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.920385723 meters Centerline goodness [0,1] 0.9999104283762904 Centerline is valid? [True, True] Translation: X:149.37, Y:167.48, Z:6.72 [[ 7.78330914e-01 6.27728858e-01 -1.25486931e-02 1.49367906e+02] [ 6.27643383e-01 -7.78432043e-01 -1.03603999e-02 1.67477636e+02] [-1.62718268e-02 1.87715323e-04 -9.99867587e-01 6.71963324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.37, Y:167.46, Z:6.72 [[ 7.26074894e-01 6.87521337e-01 -1.13868361e-02 1.49371303e+02] [ 6.87433203e-01 -7.26164158e-01 -1.10094113e-02 1.67464930e+02] [-1.58379174e-02 1.65967909e-04 -9.99874559e-01 6.71869971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.38, Y:167.45, Z:6.72 [[ 6.69201793e-01 7.43010159e-01 -1.02402815e-02 1.49377439e+02] [ 7.42919839e-01 -6.69280123e-01 -1.15858022e-02 1.67451927e+02] [-1.54619856e-02 1.45531336e-04 -9.99880446e-01 6.71794489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.010385723 meters Centerline goodness [0,1] 0.9998883380231364 Centerline is valid? [True, True] Translation: X:149.38, Y:167.44, Z:6.72 [[ 6.08148161e-01 7.93764648e-01 -9.66944992e-03 1.49384279e+02] [ 7.93660784e-01 -6.08225012e-01 -1.28411460e-02 1.67439307e+02] [-1.60740490e-02 1.35056113e-04 -9.99870795e-01 6.71890016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.040385723 meters Centerline goodness [0,1] 0.9999329578975596 Centerline is valid? [True, True] Translation: X:149.39, Y:167.43, Z:6.72 [[ 5.43019400e-01 8.39674908e-01 -8.71672196e-03 1.49392475e+02] [ 8.39563329e-01 -5.43089345e-01 -1.36886886e-02 1.67427940e+02] [-1.62280072e-02 1.14983361e-04 -9.99868311e-01 6.71843843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.070385723 meters Centerline goodness [0,1] 0.9999106803921131 Centerline is valid? [True, True] Translation: X:149.40, Y:167.42, Z:6.72 [[ 4.74771029e-01 8.80075806e-01 -7.68415040e-03 1.49399834e+02] [ 8.79957107e-01 -4.74833198e-01 -1.44541713e-02 1.67416507e+02] [-1.63694562e-02 1.00699022e-04 -9.99866006e-01 6.71976561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.100385723 meters Centerline goodness [0,1] 0.9998886612630267 Centerline is valid? [True, True] Translation: X:149.41, Y:167.41, Z:6.72 [[ 4.02415897e-01 9.15432733e-01 -6.66008932e-03 1.49407254e+02] [ 9.15304618e-01 -4.02471000e-01 -1.53150548e-02 1.67407291e+02] [-1.67003953e-02 6.70109872e-05 -9.99860536e-01 6.71995415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.41, Y:167.40, Z:6.72 [[ 3.27903086e-01 9.44697517e-01 -5.11539352e-03 1.49413752e+02] [ 9.44580823e-01 -3.27942982e-01 -1.48481947e-02 1.67399078e+02] [-1.57046101e-02 3.68662503e-05 -9.99876674e-01 6.71733369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.42, Y:167.39, Z:6.72 [[ 2.51947565e-01 9.67732668e-01 -3.98854875e-03 1.49422594e+02] [ 9.67610098e-01 -2.51979133e-01 -1.54017473e-02 1.67390908e+02] [-1.59098051e-02 2.10726858e-05 -9.99873431e-01 6.71596427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.190385723 meters Centerline goodness [0,1] 0.9998440632657607 Centerline is valid? [True, True] Translation: X:149.43, Y:167.38, Z:6.72 [[ 1.76149173e-01 9.84358712e-01 -3.06508203e-03 1.49430944e+02] [ 9.84206172e-01 -1.76175834e-01 -1.73287921e-02 1.67383531e+02] [-1.75977408e-02 3.57797367e-05 -9.99845147e-01 6.71804805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.220385723 meters Centerline goodness [0,1] 0.999866470823875 Centerline is valid? [True, True] Translation: X:149.44, Y:167.38, Z:6.72 [[ 9.87019811e-02 9.95115566e-01 -1.71129660e-03 1.49442200e+02] [ 9.94958930e-01 -9.87168072e-02 -1.76555594e-02 1.67376734e+02] [-1.77382557e-02 3.99688596e-05 -9.99842664e-01 6.71695859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.250385723 meters Centerline goodness [0,1] 0.9999109369433559 Centerline is valid? [True, True] Translation: X:149.45, Y:167.37, Z:6.72 [[ 2.22637549e-02 9.99752082e-01 -3.15323111e-04 1.49453279e+02] [ 9.99602716e-01 -2.22658791e-02 -1.72812552e-02 1.67370032e+02] [-1.72839918e-02 6.95477915e-05 -9.99850618e-01 6.71648545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.280385723 meters Centerline goodness [0,1] 0.9998225377107365 Centerline is valid? [True, True] Translation: X:149.46, Y:167.36, Z:6.72 [[-5.24583339e-02 9.98622557e-01 1.05404374e-03 1.49461440e+02] [ 9.98469337e-01 5.24687492e-02 -1.74932622e-02 1.67364566e+02] [-1.75244706e-02 1.34762964e-04 -9.99846426e-01 6.71636109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.31038572299997 meters Centerline goodness [0,1] 0.9997778024663926 Centerline is valid? [True, True] Translation: X:149.47, Y:167.36, Z:6.71 [[-1.28977139e-01 9.91644955e-01 2.27594535e-03 1.49471983e+02] [ 9.91510843e-01 1.28997128e-01 -1.63092069e-02 1.67360119e+02] [-1.64665331e-02 1.53109643e-04 -9.99864406e-01 6.71421564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.340385723 meters Centerline goodness [0,1] 0.999955564442667 Centerline is valid? [True, True] Translation: X:149.48, Y:167.36, Z:6.71 [[-2.04716083e-01 9.78815696e-01 3.34055472e-03 1.49482432e+02] [ 9.78698488e-01 2.04743268e-01 -1.51480776e-02 1.67355874e+02] [-1.55111322e-02 1.68340742e-04 -9.99879681e-01 6.71217328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.37038572299997 meters Centerline goodness [0,1] 0.9999555338165326 Centerline is valid? [True, True] Translation: X:149.49, Y:167.35, Z:6.71 [[-2.76739011e-01 9.60935949e-01 4.19774021e-03 1.49493051e+02] [ 9.60837029e-01 2.76770761e-01 -1.37894851e-02 1.67352700e+02] [-1.44126237e-02 2.17255748e-04 -9.99896109e-01 6.71201332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.400385723 meters Centerline goodness [0,1] 0.9999556275375502 Centerline is valid? [True, True] Translation: X:149.50, Y:167.35, Z:6.71 [[-3.49855823e-01 9.36789807e-01 5.07560057e-03 1.49504034e+02] [ 9.36700524e-01 3.49892564e-01 -1.29353058e-02 1.67348804e+02] [-1.38935775e-02 2.28825657e-04 -9.99903453e-01 6.71193710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.52, Y:167.35, Z:6.71 [[-4.21037665e-01 9.07023279e-01 6.00470871e-03 1.49515468e+02] [ 9.06939139e-01 4.21080411e-01 -1.23566180e-02 1.67347719e+02] [-1.37362054e-02 2.43303745e-04 -9.99905624e-01 6.71079981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.460385723 meters Centerline goodness [0,1] 0.9999556255685474 Centerline is valid? [True, True] Translation: X:149.53, Y:167.35, Z:6.71 [[-4.90258399e-01 8.71545645e-01 7.40881839e-03 1.49526062e+02] [ 8.71454266e-01 4.90314304e-01 -1.26231984e-02 1.67345527e+02] [-1.46343432e-02 2.67817362e-04 -9.99892876e-01 6.71182657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.490385723 meters Centerline goodness [0,1] 0.9999778167217551 Centerline is valid? [True, True] Translation: X:149.54, Y:167.35, Z:6.71 [[-5.57774704e-01 8.29952125e-01 8.17618229e-03 1.49539313e+02] [ 8.29869420e-01 5.57834571e-01 -1.17191213e-02 1.67347754e+02] [-1.42872668e-02 2.48534226e-04 -9.99897901e-01 6.70992981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.55, Y:167.35, Z:6.71 [[-6.23153719e-01 7.82041479e-01 9.51671543e-03 1.49553994e+02] [ 7.81955658e-01 6.23226344e-01 -1.15876476e-02 1.67352867e+02] [-1.49930888e-02 2.20763795e-04 -9.99887573e-01 6.70941102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.57, Y:167.36, Z:6.71 [[-6.83725983e-01 7.29657557e-01 1.08917478e-02 1.49566961e+02] [ 7.29569710e-01 6.83812700e-01 -1.13238871e-02 1.67357005e+02] [-1.57104753e-02 2.03853503e-04 -9.99876562e-01 6.71016197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.580385723 meters Centerline goodness [0,1] 0.9999557932894213 Centerline is valid? [True, True] Translation: X:149.58, Y:167.36, Z:6.71 [[-7.41503341e-01 6.70826172e-01 1.28468585e-02 1.49579381e+02] [ 6.70729052e-01 7.41614606e-01 -1.14155859e-02 1.67362026e+02] [-1.71852917e-02 1.52066179e-04 -9.99852310e-01 6.71154653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.09, Y:167.93, Z:5.76 [[-7.04725801e-01 -7.09374461e-01 1.22237613e-02 1.50090901e+02] [ 7.09264404e-01 -7.04831793e-01 -1.24959504e-02 1.67931390e+02] [ 1.74800037e-02 -1.36339928e-04 9.99847204e-01 5.76398807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.640385723 meters Centerline goodness [0,1] 0.9998896101028834 Centerline is valid? [True, True] Translation: X:150.07, Y:167.95, Z:5.76 [[-7.02578821e-01 -7.11490292e-01 1.28282813e-02 1.50069655e+02] [ 7.11370666e-01 -7.02695925e-01 -1.30465663e-02 1.67948627e+02] [ 1.82968862e-02 -4.05781672e-05 9.99832597e-01 5.76096182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.670385723 meters Centerline goodness [0,1] 0.9996469705661709 Centerline is valid? [True, True] Translation: X:150.05, Y:167.97, Z:5.76 [[-7.01341964e-01 -7.12710671e-01 1.27651565e-02 1.50049384e+02] [ 7.12592567e-01 -7.01458124e-01 -1.29744007e-02 1.67965482e+02] [ 1.82012165e-02 -3.13602485e-06 9.99834344e-01 5.76092918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.700385723 meters Centerline goodness [0,1] 0.999669945210905 Centerline is valid? [True, True] Translation: X:150.03, Y:167.98, Z:5.76 [[-7.00697569e-01 -7.13346110e-01 1.26587722e-02 1.50027830e+02] [ 7.13230191e-01 -7.00811906e-01 -1.28595592e-02 1.67984374e+02] [ 1.80447348e-02 1.79566840e-05 9.99837180e-01 5.76253138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.730385723 meters Centerline goodness [0,1] 0.9998899526796523 Centerline is valid? [True, True] Translation: X:150.01, Y:168.00, Z:5.76 [[-6.99063665e-01 -7.14953536e-01 1.23058138e-02 1.50007290e+02] [ 7.14844329e-01 -6.99171965e-01 -1.24959229e-02 1.68002543e+02] [ 1.75378843e-02 6.12955149e-05 9.99846198e-01 5.76358256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.760385723 meters Centerline goodness [0,1] 0.9997379168759691 Centerline is valid? [True, True] Translation: X:149.99, Y:168.02, Z:5.76 [[-6.99473678e-01 -7.14548053e-01 1.25559971e-02 1.49988295e+02] [ 7.14434442e-01 -6.99586361e-01 -1.27417590e-02 1.68021363e+02] [ 1.78886034e-02 5.79117713e-05 9.99839984e-01 5.76090351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.790385723 meters Centerline goodness [0,1] 0.9997803115182671 Centerline is valid? [True, True] Translation: X:149.97, Y:168.04, Z:5.77 [[-6.99794295e-01 -7.14251325e-01 1.15321513e-02 1.49969483e+02] [ 7.14155546e-01 -6.99889307e-01 -1.16967159e-02 1.68042966e+02] [ 1.64256242e-02 5.04547537e-05 9.99865089e-01 5.76653798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.820385723 meters Centerline goodness [0,1] 0.9997806921356199 Centerline is valid? [True, True] Translation: X:149.95, Y:168.06, Z:5.77 [[-7.00850715e-01 -7.13221077e-01 1.11342150e-02 1.49950021e+02] [ 7.13131764e-01 -7.00939152e-01 -1.12867776e-02 1.68063856e+02] [ 1.58543749e-02 2.98162247e-05 9.99874311e-01 5.76739703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.850385723 meters Centerline goodness [0,1] 0.9997801714662563 Centerline is valid? [True, True] Translation: X:149.93, Y:168.08, Z:5.77 [[-7.01767201e-01 -7.12324628e-01 1.07898390e-02 1.49931269e+02] [ 7.12240747e-01 -7.01850144e-01 -1.09313052e-02 1.68083883e+02] [ 1.53594880e-02 1.37315252e-05 9.99882036e-01 5.76736856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.880385723 meters Centerline goodness [0,1] 0.9996926049534516 Centerline is valid? [True, True] Translation: X:149.91, Y:168.10, Z:5.77 [[-7.02550326e-01 -7.11553522e-01 1.07063186e-02 1.49912665e+02] [ 7.11470948e-01 -7.02631899e-01 -1.08399691e-02 1.68103849e+02] [ 1.52358191e-02 1.61082236e-06 9.99883928e-01 5.76849637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.910385723 meters Centerline goodness [0,1] 0.9997802052882607 Centerline is valid? [True, True] Translation: X:149.89, Y:168.12, Z:5.77 [[-7.02758512e-01 -7.11350968e-01 1.05011199e-02 1.49893492e+02] [ 7.11271604e-01 -7.02836966e-01 -1.06256759e-02 1.68122861e+02] [ 1.49391601e-02 1.86414667e-06 9.99888405e-01 5.76811079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.940385723 meters Centerline goodness [0,1] 0.9998022673345637 Centerline is valid? [True, True] Translation: X:149.87, Y:168.14, Z:5.77 [[-7.02794634e-01 -7.11310615e-01 1.08125351e-02 1.49874252e+02] [ 7.11226572e-01 -7.02877805e-01 -1.09340906e-02 1.68142390e+02] [ 1.53774256e-02 5.74204674e-06 9.99881760e-01 5.76703621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.970385723 meters Centerline goodness [0,1] 0.9998469242712502 Centerline is valid? [True, True] Translation: X:149.85, Y:168.16, Z:5.77 [[-7.03264963e-01 -7.10837865e-01 1.13102748e-02 1.49854826e+02] [ 7.10745956e-01 -7.03355906e-01 -1.14304689e-02 1.68162192e+02] [ 1.60803587e-02 8.37978219e-08 9.99870703e-01 5.76598972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.84, Y:168.18, Z:5.77 [[-7.03668977e-01 -7.10431145e-01 1.17285600e-02 1.49835010e+02] [ 7.10332365e-01 -7.03766715e-01 -1.18466280e-02 1.68182729e+02] [ 1.66703836e-02 -4.92886857e-06 9.99861040e-01 5.76563713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.030385723 meters Centerline goodness [0,1] 0.9997362695325377 Centerline is valid? [True, True] Translation: X:149.82, Y:168.20, Z:5.76 [[-7.04344773e-01 -7.09757835e-01 1.19271120e-02 1.49815829e+02] [ 7.09655699e-01 -7.04445750e-01 -1.20405373e-02 1.68203003e+02] [ 1.69478690e-02 -1.65464937e-05 9.99856374e-01 5.76484889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.06038572299997 meters Centerline goodness [0,1] 0.9998898654155378 Centerline is valid? [True, True] Translation: X:149.80, Y:168.22, Z:5.77 [[-7.05226824e-01 -7.08890970e-01 1.13454098e-02 1.49798527e+02] [ 7.08798555e-01 -7.05318078e-01 -1.14462486e-02 1.68223671e+02] [ 1.61162649e-02 -3.05915346e-05 9.99870124e-01 5.76544510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.090385723 meters Centerline goodness [0,1] 0.999845764018949 Centerline is valid? [True, True] Translation: X:149.78, Y:168.24, Z:5.77 [[-7.06026211e-01 -7.08108430e-01 1.04614408e-02 1.49779365e+02] [ 7.08029857e-01 -7.06103711e-01 -1.05485538e-02 1.68244033e+02] [ 1.48563820e-02 -4.05430384e-05 9.99889637e-01 5.76637534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.12038572299997 meters Centerline goodness [0,1] 0.9998899454129249 Centerline is valid? [True, True] Translation: X:149.76, Y:168.26, Z:5.77 [[-7.06940032e-01 -7.07220897e-01 8.62519816e-03 1.49761128e+02] [ 7.07167464e-01 -7.06992646e-01 -8.69347979e-03 1.68264175e+02] [ 1.22461622e-02 -4.63093751e-05 9.99925012e-01 5.76641026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.150385723 meters Centerline goodness [0,1] 0.9997575543849595 Centerline is valid? [True, True] Translation: X:149.74, Y:168.28, Z:5.77 [[-7.07563208e-01 -7.06603664e-01 8.09738667e-03 1.49741608e+02] [ 7.06556583e-01 -7.07609539e-01 -8.15691709e-03 1.68284312e+02] [ 1.14934956e-02 -5.02725663e-05 9.99933946e-01 5.76707864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.180385723 meters Centerline goodness [0,1] 0.9998020194020986 Centerline is valid? [True, True] Translation: X:149.72, Y:168.30, Z:5.77 [[-7.08424402e-01 -7.05741503e-01 7.98728277e-03 1.49723406e+02] [ 7.05695694e-01 -7.08469426e-01 -8.04122329e-03 1.68303950e+02] [ 1.13337706e-02 -6.00077496e-05 9.99935769e-01 5.76550185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.210385723 meters Centerline goodness [0,1] 0.9998243495444066 Centerline is valid? [True, True] Translation: X:149.71, Y:168.32, Z:5.76 [[-7.09762201e-01 -7.04400795e-01 7.55899468e-03 1.49705585e+02] [ 7.04359742e-01 -7.09802448e-01 -7.60520095e-03 1.68323508e+02] [ 1.07225025e-02 -7.36326175e-05 9.99942510e-01 5.76438672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.240385723 meters Centerline goodness [0,1] 0.9997356245869135 Centerline is valid? [True, True] Translation: X:149.69, Y:168.34, Z:5.76 [[-7.10707375e-01 -7.03451413e-01 7.15101856e-03 1.49687906e+02] [ 7.03414669e-01 -7.10743346e-01 -7.19022914e-03 1.68342633e+02] [ 1.01405157e-02 -8.00175186e-05 9.99948580e-01 5.76371672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.270385723 meters Centerline goodness [0,1] 0.9998464238701185 Centerline is valid? [True, True] Translation: X:149.67, Y:168.36, Z:5.76 [[-7.11110016e-01 -7.03047146e-01 6.87430224e-03 1.49668114e+02] [ 7.03013213e-01 -7.11143238e-01 -6.90777440e-03 1.68361418e+02] [ 9.74510463e-03 -7.94622556e-05 9.99952512e-01 5.76372591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.300385723 meters Centerline goodness [0,1] 0.9997798665991591 Centerline is valid? [True, True] Translation: X:149.65, Y:168.38, Z:5.76 [[-7.11244486e-01 -7.02912940e-01 6.68437805e-03 1.49649926e+02] [ 7.02880891e-01 -7.11275891e-01 -6.71262874e-03 1.68380163e+02] [ 9.47283056e-03 -7.59985760e-05 9.99955129e-01 5.76217720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.330385723 meters Centerline goodness [0,1] 0.9998457912012866 Centerline is valid? [True, True] Translation: X:149.63, Y:168.40, Z:5.76 [[-7.11615953e-01 -7.02541648e-01 6.16189451e-03 1.49629985e+02] [ 7.02514432e-01 -7.11642627e-01 -6.18417422e-03 1.68398292e+02] [ 8.72970674e-03 -7.19372097e-05 9.99961893e-01 5.76247782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.360385723 meters Centerline goodness [0,1] 0.9996040126715945 Centerline is valid? [True, True] Translation: X:149.61, Y:168.42, Z:5.76 [[-7.11526865e-01 -7.02638680e-01 5.32968541e-03 1.49609198e+02] [ 7.02618345e-01 -7.11546824e-01 -5.34601083e-03 1.68417209e+02] [ 7.54863472e-03 -5.90955853e-05 9.99971507e-01 5.76242471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.390385723 meters Centerline goodness [0,1] 0.9998459066194114 Centerline is valid? [True, True] Translation: X:149.59, Y:168.44, Z:5.76 [[-7.11401496e-01 -7.02773206e-01 4.21103085e-03 1.49590599e+02] [ 7.02760530e-01 -7.11413957e-01 -4.22119697e-03 1.68435375e+02] [ 5.96233025e-03 -4.36195637e-05 9.99982224e-01 5.76251972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.420385723 meters Centerline goodness [0,1] 0.9998459066194114 Centerline is valid? [True, True] Translation: X:149.57, Y:168.45, Z:5.76 [[-7.11616196e-01 -7.02555795e-01 4.21232154e-03 1.49571625e+02] [ 7.02543123e-01 -7.11628662e-01 -4.21990899e-03 1.68454261e+02] [ 5.96233026e-03 -4.36180532e-05 9.99982224e-01 5.76252179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.450385723 meters Centerline goodness [0,1] 0.9998901243792028 Centerline is valid? [True, True] Translation: X:149.55, Y:168.47, Z:5.76 [[-7.11727548e-01 -7.02447258e-01 3.42733643e-03 1.49552262e+02] [ 7.02438878e-01 -7.11735799e-01 -3.43141966e-03 1.68473551e+02] [ 4.84974937e-03 -3.47415434e-05 9.99988239e-01 5.76284193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.480385723 meters Centerline goodness [0,1] 0.9997809707376906 Centerline is valid? [True, True] Translation: X:149.53, Y:168.49, Z:5.76 [[-7.11974512e-01 -7.02198212e-01 3.15684413e-03 1.49533347e+02] [ 7.02191108e-01 -7.11981510e-01 -3.15858794e-03 1.68491819e+02] [ 4.46556945e-03 -3.21262295e-05 9.99990029e-01 5.76308870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.510385723 meters Centerline goodness [0,1] 0.9997362811243214 Centerline is valid? [True, True] Translation: X:149.51, Y:168.51, Z:5.76 [[-7.12449114e-01 -7.01720621e-01 2.10464459e-03 1.49514235e+02] [ 7.01717465e-01 -7.12452223e-01 -2.10454655e-03 1.68510668e+02] [ 2.97626243e-03 -2.25164633e-05 9.99995571e-01 5.76295540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.540385723 meters Centerline goodness [0,1] 0.9998681521524161 Centerline is valid? [True, True] Translation: X:148.97, Y:167.97, Z:6.71 [[-7.49752782e-01 6.61716229e-01 1.54870744e-03 1.48972510e+02] [ 6.61714880e-01 7.49754381e-01 -1.33609993e-03 1.67966955e+02] [-2.04526920e-03 2.30581202e-05 -9.99997908e-01 6.70893406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.570385723 meters Centerline goodness [0,1] 0.9998248264687206 Centerline is valid? [True, True] Translation: X:148.99, Y:167.99, Z:6.71 [[-7.93103954e-01 6.09085975e-01 6.26804966e-04 1.48994501e+02] [ 6.09085799e-01 7.93104201e-01 -4.63431065e-04 1.67985533e+02] [-7.79391014e-04 1.42289938e-05 -9.99999696e-01 6.70866347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.600385723 meters Centerline goodness [0,1] 0.9999340760762081 Centerline is valid? [True, True] Translation: X:149.46, Y:168.60, Z:5.76 [[-7.65613739e-01 -6.43300554e-01 -1.26213376e-05 1.49458024e+02] [ 6.43300553e-01 -7.65613738e-01 -5.43915611e-05 1.68598981e+02] [ 2.53270517e-05 -4.97622399e-05 9.99999998e-01 5.76368404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.630385723 meters Centerline goodness [0,1] 0.9999344262295082 Centerline is valid? [True, True] Translation: X:148.96, Y:168.01, Z:6.71 [[-7.93878768e-01 6.08076061e-01 -7.38804286e-05 1.48958570e+02] [ 6.08076058e-01 7.93878771e-01 6.21631793e-05 1.68009431e+02] [ 9.64520453e-05 4.42510834e-06 -9.99999995e-01 6.70895816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.660385723 meters Centerline goodness [0,1] 0.9999560468540536 Centerline is valid? [True, True] Translation: X:148.98, Y:168.03, Z:6.71 [[-8.33760148e-01 5.52126054e-01 -9.14938644e-04 1.48980318e+02] [ 5.52125736e-01 8.33760650e-01 5.92290394e-04 1.68030571e+02] [ 1.08985880e-03 -1.13330457e-05 -9.99999406e-01 6.70970986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.690385723 meters Centerline goodness [0,1] 0.9998246805899498 Centerline is valid? [True, True] Translation: X:149.00, Y:168.05, Z:6.71 [[-8.70331024e-01 4.92465458e-01 -1.29649993e-03 1.48997862e+02] [ 4.92464943e-01 8.70331990e-01 7.12146923e-04 1.68052628e+02] [ 1.47909312e-03 -1.86772039e-05 -9.99998906e-01 6.70978571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.720385723 meters Centerline goodness [0,1] 0.999802488643097 Centerline is valid? [True, True] Translation: X:149.37, Y:168.73, Z:5.76 [[-8.53935063e-01 -5.20373456e-01 -2.52472255e-03 1.49372699e+02] [ 5.20371329e-01 -8.53938794e-01 1.48861424e-03 1.68725153e+02] [-2.93059387e-03 -4.26133329e-05 9.99995705e-01 5.76183034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.750385723 meters Centerline goodness [0,1] 0.9999123268455199 Centerline is valid? [True, True] Translation: X:148.96, Y:168.07, Z:6.71 [[-8.70419567e-01 4.92299941e-01 -3.24742282e-03 1.48959904e+02] [ 4.92296802e-01 8.70425622e-01 1.75935831e-03 1.68074648e+02] [ 3.69277203e-03 -6.73159658e-05 -9.99993179e-01 6.71074597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.33, Y:168.75, Z:5.76 [[-8.57122047e-01 -5.15102446e-01 -3.35670647e-03 1.49331732e+02] [ 5.15098234e-01 -8.57128618e-01 2.08384598e-03 1.68746742e+02] [-3.95052333e-03 5.70767559e-05 9.99992195e-01 5.76118737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.81038572299997 meters Centerline goodness [0,1] 0.9998466358477751 Centerline is valid? [True, True] Translation: X:148.92, Y:168.09, Z:6.71 [[-8.70803095e-01 4.91615520e-01 -4.01874691e-03 1.48922117e+02] [ 4.91610800e-01 8.70812362e-01 2.15649688e-03 1.68094534e+02] [ 4.55974183e-03 -9.77752258e-05 -9.99989600e-01 6.71181661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.840385723 meters Centerline goodness [0,1] 0.999714618137115 Centerline is valid? [True, True] Translation: X:149.29, Y:168.77, Z:5.76 [[-8.60234553e-01 -5.09882632e-01 -4.02676711e-03 1.49289694e+02] [ 5.09876547e-01 -8.60243973e-01 2.49277057e-03 1.68765506e+02] [-4.73502255e-03 9.12132675e-05 9.99988786e-01 5.75956107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.87038572299997 meters Centerline goodness [0,1] 0.9998682361208714 Centerline is valid? [True, True] Translation: X:148.88, Y:168.12, Z:6.71 [[-8.72200794e-01 4.89133973e-01 -3.70568480e-03 1.48882025e+02] [ 4.89130007e-01 8.72208661e-01 1.97187691e-03 1.68117032e+02] [ 4.19664236e-03 -9.26890245e-05 -9.99991190e-01 6.71322089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.900385723 meters Centerline goodness [0,1] 0.9998251060294696 Centerline is valid? [True, True] Translation: X:149.24, Y:168.79, Z:5.76 [[-8.61893277e-01 -5.07076321e-01 -3.68558407e-03 1.49242457e+02] [ 5.07071247e-01 -8.61901153e-01 2.27010822e-03 1.68786220e+02] [-4.32772729e-03 8.77373009e-05 9.99990632e-01 5.75729602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.930385723 meters Centerline goodness [0,1] 0.9998904709748083 Centerline is valid? [True, True] Translation: X:148.84, Y:168.14, Z:6.72 [[-8.74237362e-01 4.85477521e-01 -4.53998574e-03 1.48844764e+02] [ 4.85471636e-01 8.74249143e-01 2.39302241e-03 1.68141427e+02] [ 5.13083723e-03 -1.11964704e-04 -9.99986831e-01 6.71583231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.960385723 meters Centerline goodness [0,1] 0.9998907485906569 Centerline is valid? [True, True] Translation: X:149.20, Y:168.80, Z:5.76 [[-8.63610666e-01 -5.04132127e-01 -5.23593033e-03 1.49197778e+02] [ 5.04122336e-01 -8.63626535e-01 3.14298540e-03 1.68802411e+02] [-6.10636828e-03 7.47662872e-05 9.99981353e-01 5.75572997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.990385723 meters Centerline goodness [0,1] 0.9999782514136581 Centerline is valid? [True, True] Translation: X:148.81, Y:168.17, Z:6.72 [[-8.76123342e-01 4.82054120e-01 -5.63169745e-03 1.48806744e+02] [ 4.82045169e-01 8.76141431e-01 2.94074836e-03 1.68167423e+02] [ 6.35176332e-03 -1.38274267e-04 -9.99979818e-01 6.71693219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.15, Y:168.82, Z:5.75 [[-8.65027930e-01 -5.01675349e-01 -6.96593716e-03 1.49148522e+02] [ 5.01658426e-01 -8.65055975e-01 4.12125860e-03 1.68820393e+02] [-8.09345940e-03 7.04827268e-05 9.99967245e-01 5.75482680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.77, Y:168.19, Z:6.72 [[-8.78667910e-01 4.77371357e-01 -7.70014934e-03 1.48766744e+02] [ 4.77354771e-01 8.78701631e-01 3.98325831e-03 1.68191980e+02] [ 8.66762721e-03 -1.75741772e-04 -9.99962420e-01 6.71729747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.78, Y:168.22, Z:6.72 [[-9.10761642e-01 4.12856232e-01 -7.93496114e-03 1.48780158e+02] [ 4.12842136e-01 9.10796193e-01 3.41560013e-03 1.68221542e+02] [ 8.63728420e-03 -1.65088721e-04 -9.99962684e-01 6.71808076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.110385723 meters Centerline goodness [0,1] 0.9999566405064388 Centerline is valid? [True, True] Translation: X:148.79, Y:168.25, Z:6.72 [[-9.38480406e-01 3.45214370e-01 -9.03141341e-03 1.48791788e+02] [ 3.45200044e-01 9.38523848e-01 3.14919404e-03 1.68252201e+02] [ 9.56334390e-03 -1.62187398e-04 -9.99954257e-01 6.71816851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.140385723 meters Centerline goodness [0,1] 0.9999782755099824 Centerline is valid? [True, True] Translation: X:148.80, Y:168.28, Z:6.72 [[-9.60927109e-01 2.76629548e-01 -9.75630660e-03 1.48797371e+02] [ 2.76616974e-01 9.60976622e-01 2.64236282e-03 1.68283406e+02] [ 1.01065382e-02 -1.59641936e-04 -9.99948915e-01 6.71838179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.98, Y:168.97, Z:5.75 [[-9.50327430e-01 -3.11097371e-01 -9.80824847e-03 1.48983506e+02] [ 3.11079203e-01 -9.50378032e-01 3.36533250e-03 1.68967784e+02] [-1.03684900e-02 1.47025675e-04 9.99946235e-01 5.75236262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.200385723 meters Centerline goodness [0,1] 0.9999565727189821 Centerline is valid? [True, True] Translation: X:148.75, Y:168.30, Z:6.72 [[-9.62571516e-01 2.70825316e-01 -1.04749953e-02 1.48750051e+02] [ 2.70810942e-01 9.62628499e-01 2.79408432e-03 1.68302193e+02] [ 1.08402378e-02 -1.47237383e-04 -9.99941232e-01 6.72007132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.230385723 meters Centerline goodness [0,1] 0.9999782957850415 Centerline is valid? [True, True] Translation: X:148.75, Y:168.33, Z:6.72 [[-9.79426614e-01 2.01513100e-01 -1.07693291e-02 1.48753803e+02] [ 2.01502549e-01 9.79485809e-01 2.06718539e-03 1.68332620e+02] [ 1.09649700e-02 -1.45390884e-04 -9.99939872e-01 6.72020845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.76, Y:168.36, Z:6.72 [[-9.91231463e-01 1.31628286e-01 -1.15836925e-02 1.48758075e+02] [ 1.31621148e-01 9.91299132e-01 1.37974158e-03 1.68363093e+02] [ 1.16645173e-02 -1.57015633e-04 -9.99931955e-01 6.71964850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.290385723 meters Centerline goodness [0,1] 0.9999783554468518 Centerline is valid? [True, True] Translation: X:148.76, Y:168.39, Z:6.72 [[-9.98069708e-01 6.10249357e-02 -1.15245334e-02 1.48757091e+02] [ 6.10226775e-02 9.98136230e-01 5.47812617e-04 1.68392890e+02] [ 1.15364846e-02 -1.56502709e-04 -9.99933440e-01 6.71942067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.79, Y:169.08, Z:5.75 [[-9.94987192e-01 -9.93259236e-02 -1.16124168e-02 1.48790204e+02] [ 9.93174110e-02 -9.95054943e-01 1.30888804e-03 1.69084333e+02] [-1.16849993e-02 1.49011663e-04 9.99931717e-01 5.75220245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.69, Y:168.40, Z:6.72 [[-9.98292229e-01 5.71167487e-02 -1.22597595e-02 1.48687879e+02] [ 5.71145972e-02 9.98367491e-01 5.25819602e-04 1.68399483e+02] [ 1.22697785e-02 -1.75289605e-04 -9.99924708e-01 6.72030853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.72, Y:169.08, Z:5.75 [[-9.95483354e-01 -9.41576651e-02 -1.21337164e-02 1.48720507e+02] [ 9.41484843e-02 -9.95557282e-01 1.32690751e-03 1.69083288e+02] [-1.22047482e-02 1.78543331e-04 9.99925503e-01 5.75016333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.62, Y:168.40, Z:6.72 [[-9.98502051e-01 5.34291453e-02 -1.17890466e-02 1.48618750e+02] [ 5.34275342e-02 9.98571627e-01 4.51785598e-04 1.68404272e+02] [ 1.17963460e-02 -1.78750844e-04 -9.99930405e-01 6.72185981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.440385723 meters Centerline goodness [0,1] 0.9999785968066436 Centerline is valid? [True, True] Translation: X:148.61, Y:168.43, Z:6.72 [[-9.99778587e-01 -1.76685997e-02 -1.14279020e-02 1.48614920e+02] [-1.76654601e-02 9.99843883e-01 -3.75621120e-04 1.68433284e+02] [ 1.14327546e-02 -1.73658807e-04 -9.99934629e-01 6.72201942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.470385723 meters Centerline goodness [0,1] 0.9999785209528105 Centerline is valid? [True, True] Translation: X:148.60, Y:168.46, Z:6.72 [[-9.96019599e-01 -8.83341949e-02 -1.19175960e-02 1.48600998e+02] [-8.83256174e-02 9.96090877e-01 -1.24518345e-03 1.68462430e+02] [ 1.19810009e-02 -1.87598101e-04 -9.99928208e-01 6.72277711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.500385723 meters Centerline goodness [0,1] 0.9999786297388554 Centerline is valid? [True, True] Translation: X:148.59, Y:168.49, Z:6.72 [[-9.87386096e-01 -1.57960721e-01 -1.08216493e-02 1.48590284e+02] [-1.57949169e-01 9.87445379e-01 -1.91939195e-03 1.68490538e+02] [ 1.09889762e-02 -1.85910409e-04 -9.99939602e-01 6.72407583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.56, Y:168.52, Z:6.73 [[-9.73695140e-01 -2.27630223e-01 -1.01121573e-02 1.48561432e+02] [-2.27615958e-01 9.73747630e-01 -2.55516476e-03 1.68515083e+02] [ 1.04283220e-02 -1.86263126e-04 -9.99945606e-01 6.72562710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.56038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.52, Y:168.53, Z:6.73 [[-9.54774676e-01 -2.97175287e-01 -9.60038199e-03 1.48518584e+02] [-2.97158328e-01 9.54822924e-01 -3.18006992e-03 1.68532941e+02] [ 1.01117030e-02 -1.83416766e-04 -9.99948859e-01 6.72548634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.45, Y:168.54, Z:6.73 [[-9.30442000e-01 -3.66322289e-01 -9.25557328e-03 1.48454418e+02] [-3.66302189e-01 9.30488016e-01 -3.84174547e-03 1.68539949e+02] [ 1.00195170e-02 -1.84184585e-04 -9.99949786e-01 6.72517374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.62038572299997 meters Centerline goodness [0,1] 0.9999785688262146 Centerline is valid? [True, True] Translation: X:148.39, Y:168.54, Z:6.72 [[-9.00838638e-01 -4.34054370e-01 -9.30334159e-03 1.48386924e+02] [-4.34029031e-01 9.00886656e-01 -4.69393412e-03 1.68542287e+02] [ 1.04186789e-02 -1.90556888e-04 -9.99945706e-01 6.72471155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.31, Y:168.53, Z:6.73 [[-8.65945282e-01 -5.00058524e-01 -8.95769313e-03 1.48307039e+02] [-5.00029524e-01 8.65991592e-01 -5.38865225e-03 1.68534041e+02] [ 1.04519284e-02 -1.87166952e-04 -9.99945360e-01 6.72505579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.22, Y:168.51, Z:6.73 [[-8.25971532e-01 -5.63649124e-01 -8.40796773e-03 1.48222065e+02] [-5.63617690e-01 8.26014305e-01 -5.95546506e-03 1.68514271e+02] [ 1.03018943e-02 -1.80165255e-04 -9.99946918e-01 6.72522840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.710385723 meters Centerline goodness [0,1] 0.999957312387945 Centerline is valid? [True, True] Translation: X:148.13, Y:168.48, Z:6.73 [[-7.80571152e-01 -6.25029009e-01 -6.88591519e-03 1.48133608e+02] [-6.25003053e-01 7.80601510e-01 -5.69791948e-03 1.68484764e+02] [ 8.93652076e-03 -1.43913551e-04 -9.99960058e-01 6.72610131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.04, Y:168.44, Z:6.73 [[-7.30902199e-01 -6.82458762e-01 -5.65802739e-03 1.48041668e+02] [-6.82437026e-01 7.30924089e-01 -5.44813851e-03 1.68444224e+02] [ 7.85371837e-03 -1.20809031e-04 -9.99969152e-01 6.72744469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.95, Y:168.39, Z:6.73 [[-6.76597513e-01 -7.36337766e-01 -4.74342762e-03 1.47946323e+02] [-7.36318606e-01 6.76614133e-01 -5.31288310e-03 1.68389073e+02] [ 7.12154664e-03 -1.02009486e-04 -9.99974636e-01 6.72836281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.86, Y:168.33, Z:6.73 [[-6.17593294e-01 -7.86488605e-01 -3.76792908e-03 1.47860654e+02] [-7.86473195e-01 6.17604783e-01 -4.92405924e-03 1.68332708e+02] [ 6.19980751e-03 -7.76907446e-05 -9.99980778e-01 6.72883301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.78, Y:168.26, Z:6.73 [[-5.55688027e-01 -8.31385041e-01 -3.11934483e-03 1.47775850e+02] [-8.31371247e-01 5.55696778e-01 -4.78971862e-03 1.68263704e+02] [ 5.71551029e-03 -6.82556876e-05 -9.99983664e-01 6.72895267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.69, Y:168.18, Z:6.73 [[-4.90603777e-01 -8.71378193e-01 -2.82472931e-03 1.47694430e+02] [-8.71362937e-01 4.90611904e-01 -5.15672826e-03 1.68182128e+02] [ 5.87930638e-03 -6.85459361e-05 -9.99982714e-01 6.72846417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.62, Y:168.09, Z:6.73 [[-4.22575411e-01 -9.06324813e-01 -2.31442195e-03 1.47619022e+02] [-9.06310375e-01 4.22581744e-01 -5.11611512e-03 1.68093971e+02] [ 5.61489454e-03 -6.43598245e-05 -9.99984234e-01 6.72787919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.55, Y:168.00, Z:6.73 [[-3.51300347e-01 -9.36261017e-01 -1.83688700e-03 1.47549204e+02] [-9.36247359e-01 3.51305144e-01 -5.05758999e-03 1.67995296e+02] [ 5.38053220e-03 -5.69525183e-05 -9.99985523e-01 6.72748810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.49, Y:167.89, Z:6.73 [[-2.77889496e-01 -9.60612043e-01 -1.38941786e-03 1.47485041e+02] [-9.60599111e-01 2.77892965e-01 -4.98487024e-03 1.67889077e+02] [ 5.17463583e-03 -5.05695173e-05 -9.99986610e-01 6.72728089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.980385723 meters Centerline goodness [0,1] 0.999978584889498 Centerline is valid? [True, True] Translation: X:147.43, Y:167.78, Z:6.73 [[-2.02129297e-01 -9.79358534e-01 -7.80740627e-04 1.47431359e+02] [-9.79350596e-01 2.02130802e-01 -3.94316271e-03 1.67784315e+02] [ 4.01958178e-03 -3.24099073e-05 -9.99991921e-01 6.72748764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.010385723 meters Centerline goodness [0,1] 0.9998497983005751 Centerline is valid? [True, True] Translation: X:147.38, Y:167.67, Z:6.73 [[-1.25826065e-01 -9.92052253e-01 -3.58586938e-04 1.47384448e+02] [-9.92047743e-01 1.25826574e-01 -2.99148755e-03 1.67670348e+02] [ 3.01283173e-03 -2.06717433e-05 -9.99995461e-01 6.72805712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.040385723 meters Centerline goodness [0,1] 0.9999570787818959 Centerline is valid? [True, True] Translation: X:147.35, Y:167.55, Z:6.73 [[-4.93147748e-02 -9.98783282e-01 -9.14349504e-05 1.47346099e+02] [-9.98781077e-01 4.93148581e-02 -2.09891385e-03 1.67549837e+02] [ 2.10086917e-03 -1.21839657e-05 -9.99997793e-01 6.72820955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.070385723 meters Centerline goodness [0,1] 0.9999570797029915 Centerline is valid? [True, True] Translation: X:146.66, Y:167.46, Z:5.74 [[-9.73153582e-02 9.95253581e-01 -1.76890899e-04 1.46662537e+02] [-9.95252978e-01 -9.73154943e-02 -1.09754579e-03 1.67464193e+02] [-1.10955060e-03 6.92431325e-05 9.99999382e-01 5.74461052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.100385723 meters Centerline goodness [0,1] 0.9999784719381714 Centerline is valid? [True, True] Translation: X:147.33, Y:167.26, Z:6.73 [[-4.17080142e-02 -9.99129841e-01 -4.59705506e-05 1.47334234e+02] [-9.99129033e-01 4.17080389e-02 -1.27086243e-03 1.67262728e+02] [ 1.27167392e-03 -7.07463672e-06 -9.99999191e-01 6.72814515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.31, Y:167.14, Z:6.73 [[ 3.43526013e-02 -9.99409774e-01 5.73458036e-05 1.47308004e+02] [-9.99408808e-01 -3.43526479e-02 -1.38912372e-03 1.67138455e+02] [ 1.39027381e-03 -9.59188785e-06 -9.99999034e-01 6.72755528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.29, Y:167.02, Z:6.73 [[ 1.09858665e-01 -9.93947207e-01 1.55474759e-04 1.47290743e+02] [-9.93946340e-01 -1.09858774e-01 -1.31266795e-03 1.67017664e+02] [ 1.32180291e-03 -1.03256194e-05 -9.99999126e-01 6.72668945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.190385723 meters Centerline goodness [0,1] 0.9999352611135088 Centerline is valid? [True, True] Translation: X:146.62, Y:166.82, Z:5.74 [[ 6.96216568e-02 9.97573468e-01 2.82080131e-05 1.46619314e+02] [-9.97573074e-01 6.96216544e-02 -8.87437741e-04 1.66819653e+02] [-8.87248234e-04 3.36453315e-05 9.99999606e-01 5.74448356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.33, Y:166.73, Z:6.73 [[ 1.17488373e-01 -9.93074255e-01 8.57536617e-05 1.47325854e+02] [-9.93074011e-01 -1.17488404e-01 -6.95540583e-04 1.66729976e+02] [ 7.00798507e-04 -3.44180139e-06 -9.99999754e-01 6.72715910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.32, Y:166.60, Z:6.73 [[ 1.93170284e-01 -9.81165239e-01 1.19557796e-04 1.47318754e+02] [-9.81165059e-01 -1.93170321e-01 -5.95580978e-04 1.66602587e+02] [ 6.07458371e-04 -2.25738489e-06 -9.99999816e-01 6.72715552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.32, Y:166.48, Z:6.73 [[ 2.68218751e-01 -9.63358034e-01 2.86321837e-05 1.47320270e+02] [-9.63358026e-01 -2.68218752e-01 -1.21898114e-04 1.66478339e+02] [ 1.25111216e-04 5.11231579e-06 -9.99999992e-01 6.72676923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.31038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.34, Y:166.35, Z:6.73 [[ 3.43107461e-01 -9.39296153e-01 -8.36726584e-05 1.47335493e+02] [-9.39296132e-01 -3.43107471e-01 2.00461128e-04 1.66348138e+02] [-2.17001081e-04 9.81369553e-06 -9.99999976e-01 6.72661470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.36, Y:166.23, Z:6.73 [[ 4.14191964e-01 -9.10189545e-01 -9.89099314e-05 1.47355105e+02] [-9.10189524e-01 -4.14191976e-01 1.93696379e-04 1.66227379e+02] [-2.17268118e-04 9.79929982e-06 -9.99999976e-01 6.72662809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.37038572299997 meters Centerline goodness [0,1] 0.9999783666846944 Centerline is valid? [True, True] Translation: X:147.38, Y:166.11, Z:6.73 [[ 4.84219178e-01 -8.74946722e-01 -1.48352673e-04 1.47379816e+02] [-8.74946687e-01 -4.84219200e-01 2.46972875e-04 1.66113153e+02] [-2.87923320e-04 1.02116771e-05 -9.99999959e-01 6.72614851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.41, Y:166.00, Z:6.73 [[ 5.53230959e-01 -8.33027860e-01 -2.99387660e-04 1.47414025e+02] [-8.33027749e-01 -5.53231040e-01 4.31456678e-04 1.65998491e+02] [-5.25045979e-04 1.07030371e-05 -9.99999862e-01 6.72633758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.46, Y:165.89, Z:6.73 [[ 6.17053345e-01 -7.86921231e-01 -3.80433116e-04 1.47457851e+02] [-7.86921092e-01 -6.17053463e-01 4.69231056e-04 1.65888174e+02] [-6.03995452e-04 9.83024965e-06 -9.99999818e-01 6.72609521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.460385723 meters Centerline goodness [0,1] 0.9999568165133653 Centerline is valid? [True, True] Translation: X:147.51, Y:165.78, Z:6.73 [[ 6.77012893e-01 -7.35970833e-01 -6.90008812e-04 1.47508140e+02] [-7.35970465e-01 -6.77013245e-01 7.36228137e-04 1.65784281e+02] [-1.00898754e-03 9.39016518e-06 -9.99999491e-01 6.72606769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.57, Y:165.69, Z:6.73 [[ 7.33154360e-01 -6.80060799e-01 -1.41225724e-03 1.47565612e+02] [-6.80059552e-01 -7.33155720e-01 1.30210722e-03 1.65686281e+02] [-1.92091655e-03 5.77344023e-06 -9.99998155e-01 6.72576735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.520385723 meters Centerline goodness [0,1] 0.9999784096552022 Centerline is valid? [True, True] Translation: X:147.56, Y:165.68, Z:6.73 [[ 7.84680143e-01 -6.19897809e-01 -1.94428268e-03 1.47562835e+02] [-6.19895916e-01 -7.84682552e-01 1.53194250e-03 1.65677653e+02] [-2.47529249e-03 3.16803603e-06 -9.99996936e-01 6.72563592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.56, Y:165.67, Z:6.73 [[ 8.30975302e-01 -5.56301687e-01 -2.91232114e-03 1.47560374e+02] [-5.56298270e-01 -8.30980405e-01 1.94977982e-03 1.65670787e+02] [-3.50474761e-03 -9.96653629e-08 -9.99993858e-01 6.72630972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.580385723 meters Centerline goodness [0,1] 0.999956577433292 Centerline is valid? [True, True] Translation: X:147.56, Y:165.66, Z:6.73 [[ 8.71888348e-01 -4.89690890e-01 -3.67990188e-03 1.47559996e+02] [-4.89686522e-01 -8.71896113e-01 2.06829790e-03 1.65663985e+02] [-4.22131879e-03 -1.32648222e-06 -9.99991090e-01 6.72646086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.56, Y:165.66, Z:6.73 [[ 9.07486450e-01 -4.20064788e-01 -3.73048732e-03 1.47560635e+02] [-4.20061234e-01 -9.07494118e-01 1.72797064e-03 1.65657508e+02] [-4.11125492e-03 -1.07683396e-06 -9.99991549e-01 6.72660863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.56, Y:165.65, Z:6.73 [[ 9.37511478e-01 -3.47936235e-01 -3.55028506e-03 1.47562153e+02] [-3.47933740e-01 -9.37518201e-01 1.31763217e-03 1.65651896e+02] [-3.78690884e-03 -3.13280348e-08 -9.99992830e-01 6.72597059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.670385723 meters Centerline goodness [0,1] 0.9999567137044412 Centerline is valid? [True, True] Translation: X:147.56, Y:165.65, Z:6.73 [[ 9.61797344e-01 -2.73749406e-01 -2.67049898e-03 1.47563679e+02] [-2.73748357e-01 -9.61801052e-01 7.57719233e-04 1.65647961e+02] [-2.77591392e-03 2.27236410e-06 -9.99996147e-01 6.72526965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.56, Y:165.64, Z:6.73 [[ 9.80098032e-01 -1.98495950e-01 -2.68417675e-03 1.47564204e+02] [-1.98495218e-01 -9.80101708e-01 5.39058959e-04 1.65639593e+02] [-2.73776724e-03 4.46562455e-06 -9.99996252e-01 6.72538434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.56, Y:165.63, Z:6.73 [[ 9.92551459e-01 -1.21782965e-01 -3.24208956e-03 1.47561592e+02] [-1.21782335e-01 -9.92556754e-01 3.91609656e-04 1.65631823e+02] [-3.26564927e-03 6.13650094e-06 -9.99994668e-01 6.72609873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.56, Y:165.62, Z:6.73 [[ 9.99022566e-01 -4.40205175e-02 -4.01324581e-03 1.47560195e+02] [-4.40201909e-02 -9.99030627e-01 1.69705646e-04 1.65623853e+02] [-4.01682601e-03 7.12407670e-06 -9.99991933e-01 6.72594721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.790385723 meters Centerline goodness [0,1] 0.9999346433706592 Centerline is valid? [True, True] Translation: X:147.56, Y:165.62, Z:6.73 [[ 9.99406377e-01 3.42045505e-02 -4.11618401e-03 1.47558474e+02] [ 3.42042285e-02 -9.99414853e-01 -1.48629855e-04 1.65615901e+02] [-4.11885926e-03 7.75072639e-06 -9.99991517e-01 6.72599135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.820385723 meters Centerline goodness [0,1] 0.9999345149742426 Centerline is valid? [True, True] Translation: X:147.56, Y:165.61, Z:6.73 [[ 9.93669057e-01 1.12248223e-01 -4.70546949e-03 1.47557876e+02] [ 1.12246925e-01 -9.93680198e-01 -5.39947469e-04 1.65608152e+02] [-4.73633999e-03 8.35461290e-06 -9.99988783e-01 6.72678873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.56, Y:165.60, Z:6.73 [[ 9.81796782e-01 1.89854544e-01 -5.50739972e-03 1.47556658e+02] [ 1.89851512e-01 -9.81812229e-01 -1.07307106e-03 1.65599875e+02] [-5.61095981e-03 7.94955550e-06 -9.99984258e-01 6.72769645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.880385723 meters Centerline goodness [0,1] 0.9999125185897997 Centerline is valid? [True, True] Translation: X:147.56, Y:165.59, Z:6.73 [[ 9.63950301e-01 2.65995900e-01 -6.78220635e-03 1.47557336e+02] [ 2.65989249e-01 -9.63974160e-01 -1.88100274e-03 1.65592581e+02] [-7.03821069e-03 9.19918531e-06 -9.99975231e-01 6.73031042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.56, Y:165.58, Z:6.73 [[ 9.40315769e-01 3.40232306e-01 -6.94501390e-03 1.47558298e+02] [ 3.40222926e-01 -9.40341416e-01 -2.52643361e-03 1.65584820e+02] [-7.39025853e-03 1.27924128e-05 -9.99972692e-01 6.72941911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.56, Y:165.58, Z:6.73 [[ 9.11469687e-01 4.11289739e-01 -7.98503968e-03 1.47557470e+02] [ 4.11273684e-01 -9.11504663e-01 -3.63417755e-03 1.65579681e+02] [-8.77310084e-03 2.84059909e-05 -9.99961515e-01 6.72962623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.56, Y:165.57, Z:6.73 [[ 8.77004106e-01 4.80424545e-01 -7.48694611e-03 1.47557660e+02] [ 4.80406675e-01 -8.77036063e-01 -4.14383259e-03 1.65573255e+02] [-8.55712063e-03 3.73793061e-05 -9.99963386e-01 6.72973603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.56, Y:165.57, Z:6.73 [[ 8.37367837e-01 5.46596137e-01 -6.91146757e-03 1.47559060e+02] [ 5.46577060e-01 -8.37396358e-01 -4.56690338e-03 1.65567381e+02] [-8.28388952e-03 4.65283812e-05 -9.99965687e-01 6.72960189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.030385723 meters Centerline goodness [0,1] 0.9999779283554417 Centerline is valid? [True, True] Translation: X:147.56, Y:165.56, Z:6.73 [[ 7.93193751e-01 6.08930737e-01 -6.85790913e-03 1.47559454e+02] [ 6.08907267e-01 -7.93223394e-01 -5.34667382e-03 1.65561507e+02] [-8.69560799e-03 6.51175561e-05 -9.99962190e-01 6.73029158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.06038572299997 meters Centerline goodness [0,1] 0.9999779239701532 Centerline is valid? [True, True] Translation: X:147.56, Y:165.55, Z:6.73 [[ 7.43119323e-01 6.69125831e-01 -6.65537603e-03 1.47559683e+02] [ 6.69098175e-01 -7.43149122e-01 -6.08387948e-03 1.65554467e+02] [-9.01681777e-03 6.79484426e-05 -9.99959345e-01 6.73064326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.56, Y:165.55, Z:6.73 [[ 6.88023578e-01 7.25668981e-01 -5.29964182e-03 1.47559673e+02] [ 7.25646839e-01 -6.88043986e-01 -5.66901643e-03 1.65550013e+02] [-7.76021606e-03 5.47486294e-05 -9.99969888e-01 6.72948846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.12038572299997 meters Centerline goodness [0,1] 0.9999556058689041 Centerline is valid? [True, True] Translation: X:147.57, Y:165.54, Z:6.73 [[ 6.28685869e-01 7.77647474e-01 -4.29938725e-03 1.47565075e+02] [ 7.77628791e-01 -6.28700568e-01 -5.39062058e-03 1.65541012e+02] [-6.89502969e-03 4.56796730e-05 -9.99976228e-01 6.72763206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.150385723 meters Centerline goodness [0,1] 0.9999778383529464 Centerline is valid? [True, True] Translation: X:147.57, Y:165.53, Z:6.73 [[ 5.65242685e-01 8.24916556e-01 -3.65825118e-03 1.47569454e+02] [ 8.24898834e-01 -5.65254522e-01 -5.40728168e-03 1.65532457e+02] [-6.52839921e-03 3.87392838e-05 -9.99978689e-01 6.72697159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.58, Y:165.52, Z:6.73 [[ 4.97867765e-01 8.67246356e-01 -3.38333492e-03 1.47575035e+02] [ 8.67225890e-01 -4.97879260e-01 -5.95802726e-03 1.65524772e+02] [-6.85156971e-03 3.21940837e-05 -9.99976527e-01 6.72656817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.58, Y:165.52, Z:6.73 [[ 4.27816442e-01 9.03860667e-01 -2.99769625e-03 1.47580033e+02] [ 9.03838014e-01 -4.27826943e-01 -6.39936315e-03 1.65516064e+02] [-7.06662787e-03 2.83209538e-05 -9.99975031e-01 6.72697448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.58, Y:165.51, Z:6.73 [[ 3.54625709e-01 9.35004764e-01 -2.58815526e-03 1.47583780e+02] [ 9.34979439e-01 -3.54635153e-01 -6.88168125e-03 1.65508459e+02] [-7.35225559e-03 2.05491415e-05 -9.99972972e-01 6.72790160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.270385723 meters Centerline goodness [0,1] 0.9999777585018127 Centerline is valid? [True, True] Translation: X:147.59, Y:165.50, Z:6.73 [[ 2.79766317e-01 9.60065743e-01 -2.13955232e-03 1.47588363e+02] [ 9.60037201e-01 -2.79774497e-01 -7.40290481e-03 1.65502170e+02] [-7.70586748e-03 1.70335872e-05 -9.99970309e-01 6.72813709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.300385723 meters Centerline goodness [0,1] 0.9998666725923292 Centerline is valid? [True, True] Translation: X:147.59, Y:165.50, Z:6.73 [[ 2.03753262e-01 9.79020993e-01 -1.58246610e-03 1.47591945e+02] [ 9.78990806e-01 -2.03759407e-01 -7.68799831e-03 1.65496459e+02] [-7.84915409e-03 1.72349767e-05 -9.99969195e-01 6.72798100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.59, Y:165.49, Z:6.73 [[ 1.27025952e-01 9.91898931e-01 -9.57801605e-04 1.47594370e+02] [ 9.91869453e-01 -1.27029561e-01 -7.64717061e-03 1.65489708e+02] [-7.70688947e-03 2.13749716e-05 -9.99970301e-01 6.72819347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.360385723 meters Centerline goodness [0,1] 0.9999553929877777 Centerline is valid? [True, True] Translation: X:147.60, Y:165.48, Z:6.73 [[ 4.92929737e-02 9.98784290e-01 -3.81421955e-04 1.47598205e+02] [ 9.98750314e-01 -4.92944430e-02 -8.23818132e-03 1.65484445e+02] [-8.24696806e-03 2.51391573e-05 -9.99965993e-01 6.72877744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.390385723 meters Centerline goodness [0,1] 0.9999330207635633 Centerline is valid? [True, True] Translation: X:147.61, Y:165.48, Z:6.73 [[-2.84088263e-02 9.99596356e-01 2.53988262e-04 1.47606435e+02] [ 9.99565246e-01 2.84099460e-02 -7.88627656e-03 1.65479209e+02] [-7.89030910e-03 2.98379785e-05 -9.99968871e-01 6.72791787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.62, Y:165.47, Z:6.73 [[-1.06625788e-01 9.94298869e-01 8.37156299e-04 1.47615044e+02] [ 9.94270283e-01 1.06629071e-01 -7.53956000e-03 1.65473068e+02] [-7.58584118e-03 2.84481018e-05 -9.99971227e-01 6.72843513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.62, Y:165.47, Z:6.73 [[-1.84310330e-01 9.82867107e-01 1.39732801e-03 1.47616798e+02] [ 9.82839964e-01 1.84315624e-01 -7.30456727e-03 1.65466724e+02] [-7.43696828e-03 2.70426132e-05 -9.99972345e-01 6.72783723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.62, Y:165.46, Z:6.73 [[-2.61301917e-01 9.65255426e-01 1.80880757e-03 1.47619263e+02] [ 9.65232862e-01 2.61308177e-01 -6.59991798e-03 1.65459147e+02] [-6.84326284e-03 2.13492839e-05 -9.99976584e-01 6.72743497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.63, Y:165.45, Z:6.73 [[-3.36667884e-01 9.41620544e-01 2.34243162e-03 1.47627996e+02] [ 9.41598112e-01 3.36676032e-01 -6.49966343e-03 1.65454948e+02] [-6.90885720e-03 1.74012549e-05 -9.99976133e-01 6.72677530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.64, Y:165.45, Z:6.73 [[-4.10739284e-01 9.11748135e-01 2.92896007e-03 1.47638790e+02] [ 9.11725084e-01 4.10749726e-01 -6.48333016e-03 1.65451489e+02] [-7.11423373e-03 7.44797810e-06 -9.99974694e-01 6.72880508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.64, Y:165.45, Z:6.73 [[-4.81447063e-01 8.76468194e-01 3.49714091e-03 1.47642889e+02] [ 8.76445121e-01 4.81459765e-01 -6.35965280e-03 1.65445806e+02] [-7.25776605e-03 3.21591760e-06 -9.99973662e-01 6.72944975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.65, Y:165.44, Z:6.73 [[-5.48942671e-01 8.35849743e-01 4.14147522e-03 1.47647283e+02] [ 8.35825961e-01 5.48958293e-01 -6.30513649e-03 1.65440705e+02] [-7.54364387e-03 3.94039881e-07 -9.99971546e-01 6.73019269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.630385723 meters Centerline goodness [0,1] 0.999955176046079 Centerline is valid? [True, True] Translation: X:147.65, Y:165.44, Z:6.73 [[-6.12791416e-01 7.90231585e-01 4.55226669e-03 1.47651293e+02] [ 7.90209780e-01 6.12808324e-01 -5.87038942e-03 1.65435137e+02] [-7.42863406e-03 -7.85800941e-08 -9.99972407e-01 6.73068748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.66, Y:165.44, Z:6.73 [[-6.71890752e-01 7.40636805e-01 4.46559780e-03 1.47662436e+02] [ 7.40620533e-01 6.71905591e-01 -4.90943010e-03 1.65437482e+02] [-6.63656475e-03 8.71274216e-06 -9.99977978e-01 6.72834004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.67, Y:165.44, Z:6.73 [[-7.27333136e-01 6.86269924e-01 4.48334768e-03 1.47672310e+02] [ 6.86256999e-01 7.27346953e-01 -4.21200408e-03 1.65438872e+02] [-6.15152100e-03 1.31985891e-05 -9.99981079e-01 6.72945133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.720385723 meters Centerline goodness [0,1] 0.9999552812807441 Centerline is valid? [True, True] Translation: X:147.69, Y:165.47, Z:6.73 [[-7.72862393e-01 6.34555607e-01 4.78565911e-03 1.47687147e+02] [ 6.34543637e-01 7.72877209e-01 -3.89768535e-03 1.65465923e+02] [-6.17202495e-03 2.43351112e-05 -9.99980953e-01 6.72830408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.71, Y:165.49, Z:6.73 [[-8.15458908e-01 5.78793234e-01 5.01622742e-03 1.47709067e+02] [ 5.78782496e-01 8.15474335e-01 -3.52578109e-03 1.65486486e+02] [-6.13130296e-03 2.81750268e-05 -9.99981203e-01 6.72910986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.73, Y:165.51, Z:6.73 [[-8.54176258e-01 5.19955434e-01 5.40986521e-03 1.47728892e+02] [ 5.19945238e-01 8.54193389e-01 -3.25646421e-03 1.65508845e+02] [-6.31428735e-03 3.12392402e-05 -9.99980064e-01 6.72952963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.81038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.76, Y:165.53, Z:6.73 [[-8.88598285e-01 4.58651510e-01 5.64629741e-03 1.47757753e+02] [ 4.58642499e-01 8.88616223e-01 -2.87511008e-03 1.65527288e+02] [-6.33606506e-03 3.48140743e-05 -9.99979926e-01 6.72818757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.77, Y:165.55, Z:6.73 [[-9.18913294e-01 3.94411667e-01 6.14775063e-03 1.47774601e+02] [ 3.94403098e-01 9.18933858e-01 -2.60012124e-03 1.65551729e+02] [-6.67489436e-03 3.54059185e-05 -9.99977722e-01 6.72893121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.78, Y:165.58, Z:6.73 [[-9.44547725e-01 3.28299191e-01 7.01690677e-03 1.47781519e+02] [ 3.28290436e-01 9.44573787e-01 -2.39790700e-03 1.65582650e+02] [-7.41521713e-03 3.86457762e-05 -9.99972506e-01 6.72839900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.02, Y:166.32, Z:5.75 [[-9.23772053e-01 -3.82881839e-01 6.83315856e-03 1.48024177e+02] [ 3.82871054e-01 -9.23797324e-01 -2.87408321e-03 1.66318393e+02] [ 7.41288786e-03 -3.87791225e-05 9.99972523e-01 5.74510854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.74, Y:165.60, Z:6.73 [[-9.45797018e-01 3.24663057e-01 7.86764460e-03 1.47738984e+02] [ 3.24652203e-01 9.45829740e-01 -2.65517167e-03 1.65597182e+02] [-8.30348840e-03 4.29946996e-05 -9.99965525e-01 6.72840349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.75, Y:165.62, Z:6.73 [[-9.66253368e-01 2.57464210e-01 8.16141616e-03 1.47750888e+02] [ 2.57455456e-01 9.66287834e-01 -2.12367989e-03 1.65623929e+02] [-8.43304871e-03 4.91882716e-05 -9.99964440e-01 6.72872844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.95, Y:166.37, Z:5.74 [[-9.50124393e-01 -3.11754957e-01 8.51385995e-03 1.47946703e+02] [ 3.11742266e-01 -9.50162537e-01 -2.81301658e-03 1.66372186e+02] [ 8.96652263e-03 -1.85856768e-05 9.99959800e-01 5.74435722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.70, Y:165.64, Z:6.73 [[-9.66978570e-01 2.54706970e-01 8.76385116e-03 1.47698961e+02] [ 2.54697087e-01 9.67018281e-01 -2.24458221e-03 1.65636175e+02] [-9.04651502e-03 6.16644664e-05 -9.99959078e-01 6.72872813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.050385723 meters Centerline goodness [0,1] 0.9999552782808971 Centerline is valid? [True, True] Translation: X:147.68, Y:165.67, Z:6.73 [[-9.82638541e-01 1.85321698e-01 8.79586306e-03 1.47681811e+02] [ 1.85314814e-01 9.82677905e-01 -1.59841661e-03 1.65669734e+02] [-8.93972156e-03 5.93379595e-05 -9.99960038e-01 6.72776481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.84, Y:166.43, Z:5.75 [[-9.71009455e-01 -2.38894813e-01 8.36104516e-03 1.47838772e+02] [ 2.38885271e-01 -9.71045448e-01 -2.13650711e-03 1.66427838e+02] [ 8.62935531e-03 -7.72380611e-05 9.99962763e-01 5.74595419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.110385723 meters Centerline goodness [0,1] 0.9999776276343461 Centerline is valid? [True, True] Translation: X:147.64, Y:165.67, Z:6.73 [[-9.83167605e-01 1.82507249e-01 8.51845237e-03 1.47642072e+02] [ 1.82501012e-01 9.83204505e-01 -1.51046895e-03 1.65673304e+02] [-8.65105228e-03 6.95820368e-05 -9.99962577e-01 6.72645952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.64, Y:165.70, Z:6.73 [[-9.93581881e-01 1.12745959e-01 9.13207054e-03 1.47643907e+02] [ 1.12741914e-01 9.93623844e-01 -9.58221490e-04 1.65701194e+02] [-9.18187863e-03 7.74955994e-05 -9.99957843e-01 6.72603651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.170385723 meters Centerline goodness [0,1] 0.9999553142525192 Centerline is valid? [True, True] Translation: X:147.75, Y:166.48, Z:5.75 [[-9.86518344e-01 -1.63330393e-01 1.02342390e-02 1.47748109e+02] [ 1.63321502e-01 -9.86571428e-01 -1.70414883e-03 1.66475874e+02] [ 1.03751471e-02 -9.70278235e-06 9.99946177e-01 5.74846483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.59, Y:165.70, Z:6.73 [[-9.94012298e-01 1.08715068e-01 1.09811370e-02 1.47587312e+02] [ 1.08709525e-01 9.94072947e-01 -1.10216055e-03 1.65703421e+02] [-1.10358727e-02 9.81930477e-05 -9.99939098e-01 6.72618180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.67, Y:166.49, Z:5.75 [[-9.87247714e-01 -1.58809530e-01 1.10220195e-02 1.47671749e+02] [ 1.58798614e-01 -9.87309235e-01 -1.86421408e-03 1.66485786e+02] [ 1.11781966e-02 -9.01596792e-05 9.99937518e-01 5.74724375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.260385723 meters Centerline goodness [0,1] 0.9999329099203864 Centerline is valid? [True, True] Translation: X:147.51, Y:165.71, Z:6.73 [[-9.94488328e-01 1.04161501e-01 1.19728008e-02 1.47514475e+02] [ 1.04155247e-01 9.94560391e-01 -1.14640662e-03 1.65711028e+02] [-1.20270849e-02 1.06942030e-04 -9.99927666e-01 6.72515930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.290385723 meters Centerline goodness [0,1] 0.999977649635689 Centerline is valid? [True, True] Translation: X:147.60, Y:166.49, Z:5.75 [[-9.88014065e-01 -1.53871096e-01 1.23244643e-02 1.47604391e+02] [ 1.53858102e-01 -9.88090927e-01 -2.00128456e-03 1.66492467e+02] [ 1.24856312e-02 -8.10786093e-05 9.99922048e-01 5.74840140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.320385723 meters Centerline goodness [0,1] 0.9999552131852383 Centerline is valid? [True, True] Translation: X:147.45, Y:165.71, Z:6.73 [[-9.94788885e-01 1.01073723e-01 1.33856652e-02 1.47454270e+02] [ 1.01066461e-01 9.94878929e-01 -1.21961306e-03 1.65714255e+02] [-1.34403871e-02 1.39584296e-04 -9.99909664e-01 6.72526685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.350385723 meters Centerline goodness [0,1] 0.9999776361399978 Centerline is valid? [True, True] Translation: X:147.46, Y:165.74, Z:6.72 [[-9.99423876e-01 3.09654423e-02 1.38945313e-02 1.47456984e+02] [ 3.09646238e-02 9.99520444e-01 -2.74087008e-04 1.65743072e+02] [-1.38963553e-02 1.56309834e-04 -9.99903429e-01 6.72484181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.47, Y:166.53, Z:5.75 [[-9.97102376e-01 -7.46196173e-02 1.47906620e-02 1.47473300e+02] [ 7.46098277e-02 -9.97212064e-01 -1.21333984e-03 1.66534688e+02] [ 1.48399656e-02 -1.06295297e-04 9.99889876e-01 5.74831457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.36, Y:165.75, Z:6.72 [[-9.99510838e-01 2.76199270e-02 1.46705190e-02 1.47359793e+02] [ 2.76199354e-02 9.99618476e-01 -2.02079596e-04 1.65745107e+02] [-1.46705033e-02 2.03218040e-04 -9.99892362e-01 6.72411286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.35, Y:165.77, Z:6.72 [[-9.98946693e-01 -4.34121602e-02 1.48623484e-02 1.47353633e+02] [-4.34042577e-02 9.99057226e-01 8.54016510e-04 1.65773684e+02] [-1.48854113e-02 2.08027768e-04 -9.99889185e-01 6.72446072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.470385723 meters Centerline goodness [0,1] 0.999932801720276 Centerline is valid? [True, True] Translation: X:147.34, Y:165.80, Z:6.72 [[-9.93238931e-01 -1.15131292e-01 1.48731761e-02 1.47344944e+02] [-1.15115347e-01 9.93350263e-01 1.92664396e-03 1.65803703e+02] [-1.49960904e-02 2.01486968e-04 -9.99887532e-01 6.72313862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.32, Y:165.83, Z:6.72 [[-9.82259560e-01 -1.86974136e-01 1.43815949e-02 1.47322506e+02] [-1.86951309e-01 9.82364819e-01 2.92753306e-03 1.65830564e+02] [-1.46753458e-02 1.86939354e-04 -9.99892294e-01 6.72302527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.28, Y:165.85, Z:6.72 [[-9.66031634e-01 -2.58052584e-01 1.38472559e-02 1.47280897e+02] [-2.58023490e-01 9.66130857e-01 3.87877309e-03 1.65852730e+02] [-1.43791887e-02 1.74100196e-04 -9.99896599e-01 6.72390631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.56038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.23, Y:165.87, Z:6.72 [[-9.44338068e-01 -3.28695770e-01 1.35905601e-02 1.47225865e+02] [-3.28659132e-01 9.44435843e-01 4.91050552e-03 1.65867446e+02] [-1.44494745e-02 1.70515614e-04 -9.99895586e-01 6.72347054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.590385723 meters Centerline goodness [0,1] 0.9999108913096749 Centerline is valid? [True, True] Translation: X:147.15, Y:165.87, Z:6.72 [[-9.17267301e-01 -3.98042567e-01 1.35208356e-02 1.47152661e+02] [-3.97996640e-01 9.17366931e-01 6.04881143e-03 1.65870815e+02] [-1.48112519e-02 1.67129799e-04 -9.99890293e-01 6.72378772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.62038572299997 meters Centerline goodness [0,1] 0.9998661491098916 Centerline is valid? [True, True] Translation: X:147.08, Y:165.87, Z:6.73 [[-8.85187667e-01 -4.65028300e-01 1.38374447e-02 1.47076536e+02] [-4.64968233e-01 8.85295796e-01 7.47635535e-03 1.65865795e+02] [-1.57269485e-02 1.84005314e-04 -9.99876307e-01 6.72500684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.650385723 meters Centerline goodness [0,1] 0.9999777228274187 Centerline is valid? [True, True] Translation: X:146.99, Y:165.85, Z:6.72 [[-8.47889708e-01 -5.30016599e-01 1.28626684e-02 1.46989995e+02] [-5.29952387e-01 8.47987248e-01 8.25194258e-03 1.65848921e+02] [-1.52810453e-02 1.80135370e-04 -9.99883222e-01 6.72426250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.680385723 meters Centerline goodness [0,1] 0.9997551311161569 Centerline is valid? [True, True] Translation: X:146.90, Y:165.82, Z:6.72 [[-8.06666089e-01 -5.90865065e-01 1.29728926e-02 1.46899649e+02] [-5.90784200e-01 8.06770367e-01 9.77773082e-03 1.65820691e+02] [-1.62434649e-02 2.23183916e-04 -9.99868041e-01 6.72486193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.710385723 meters Centerline goodness [0,1] 0.9998666162772603 Centerline is valid? [True, True] Translation: X:146.81, Y:165.78, Z:6.72 [[-7.60157536e-01 -6.49636126e-01 1.15509043e-02 1.46807148e+02] [-6.49556672e-01 7.60245259e-01 1.01624527e-02 1.65782975e+02] [-1.53834166e-02 2.22098035e-04 -9.99881644e-01 6.72447858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.740385723 meters Centerline goodness [0,1] 0.9998667969096883 Centerline is valid? [True, True] Translation: X:146.71, Y:165.74, Z:6.72 [[-7.10242891e-01 -7.03877014e-01 1.05917481e-02 1.46714022e+02] [-7.03793385e-01 7.10321818e-01 1.08529025e-02 1.65736957e+02] [-1.51626583e-02 2.53794567e-04 -9.99885008e-01 6.72386868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.770385723 meters Centerline goodness [0,1] 0.9998890737659456 Centerline is valid? [True, True] Translation: X:146.62, Y:165.68, Z:6.72 [[-6.55398820e-01 -7.55237968e-01 8.24617125e-03 1.46619566e+02] [-7.55173747e-01 6.55450654e-01 9.85146658e-03 1.65677639e+02] [-1.28451599e-02 2.29347522e-04 -9.99917471e-01 6.72219488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.53, Y:165.61, Z:6.72 [[-5.97804490e-01 -8.01617465e-01 6.26359640e-03 1.46532697e+02] [-8.01569549e-01 5.97837262e-01 8.76736692e-03 1.65607835e+02] [-1.07726858e-02 2.20463167e-04 -9.99941949e-01 6.72153547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.830385723 meters Centerline goodness [0,1] 0.999822891299535 Centerline is valid? [True, True] Translation: X:146.44, Y:165.53, Z:6.72 [[-5.35887905e-01 -8.44265619e-01 6.30213492e-03 1.46442511e+02] [-8.44201299e-01 5.35924895e-01 1.04246554e-02 1.65528424e+02] [-1.21786491e-02 2.66176237e-04 -9.99925802e-01 6.72053791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.36, Y:165.44, Z:6.72 [[-4.69614774e-01 -8.82857701e-01 4.92380739e-03 1.46362712e+02] [-8.82803688e-01 4.69640524e-01 9.76867599e-03 1.65441513e+02] [-1.09367703e-02 2.40759245e-04 -9.99940163e-01 6.72059798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.28, Y:165.35, Z:6.72 [[-4.00563002e-01 -9.16260122e-01 4.08283376e-03 1.46284244e+02] [-9.16206313e-01 4.00583738e-01 9.93277411e-03 1.65345990e+02] [-1.07365216e-02 2.37983748e-04 -9.99942334e-01 6.72105348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.21, Y:165.24, Z:6.72 [[-3.28656173e-01 -9.44443977e-01 3.27017200e-03 1.46212681e+02] [-9.44389978e-01 3.28672360e-01 1.01019620e-02 1.65241599e+02] [-1.06155523e-02 2.31754492e-04 -9.99943627e-01 6.72108439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.950385723 meters Centerline goodness [0,1] 0.9999338434736587 Centerline is valid? [True, True] Translation: X:146.15, Y:165.13, Z:6.72 [[-2.53512431e-01 -9.67328471e-01 2.66039751e-03 1.46147637e+02] [-9.67265270e-01 2.53526285e-01 1.10598928e-02 1.65128915e+02] [-1.13730299e-02 2.30510201e-04 -9.99935298e-01 6.72243501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.980385723 meters Centerline goodness [0,1] 0.9999340833186852 Centerline is valid? [True, True] Translation: X:146.10, Y:165.02, Z:6.72 [[-1.77440522e-01 -9.84129873e-01 1.80420115e-03 1.46095422e+02] [-9.84065511e-01 1.77449556e-01 1.12572254e-02 1.65020192e+02] [-1.13987265e-02 2.22035823e-04 -9.99935008e-01 6.72271313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.010385723 meters Centerline goodness [0,1] 0.9999779293297137 Centerline is valid? [True, True] Translation: X:146.05, Y:164.90, Z:6.72 [[-1.00749236e-01 -9.94911407e-01 9.39596011e-04 1.46050995e+02] [-9.94845311e-01 1.00753375e-01 1.14701825e-02 1.64899155e+02] [-1.15064829e-02 2.20859440e-04 -9.99933774e-01 6.72230322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.02, Y:164.78, Z:6.72 [[-2.31073245e-02 -9.99732989e-01 5.24075630e-05 1.46015940e+02] [-9.99666147e-01 2.31063857e-02 1.15623775e-02 1.64780300e+02] [-1.15605012e-02 2.14785544e-04 -9.99933152e-01 6.72173792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.070385723 meters Centerline goodness [0,1] 0.9999119640813452 Centerline is valid? [True, True] Translation: X:145.99, Y:164.65, Z:6.72 [[ 5.40737698e-02 -9.98536623e-01 -7.99919931e-04 1.45990028e+02] [-9.98475582e-01 -5.40793105e-02 1.10426660e-02 1.64653955e+02] [-1.10697656e-02 2.01581937e-04 -9.99938708e-01 6.72170029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.97, Y:164.53, Z:6.72 [[ 1.31666970e-01 -9.91292901e-01 -1.48111951e-03 1.45969188e+02] [-9.91244166e-01 -1.31675185e-01 9.83099946e-03 1.64532558e+02] [-9.94042666e-03 1.73733165e-04 -9.99950578e-01 6.72078856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.130385723 meters Centerline goodness [0,1] 0.9999560429899558 Centerline is valid? [True, True] Translation: X:145.96, Y:164.41, Z:6.72 [[ 2.08131757e-01 -9.78098198e-01 -2.25534736e-03 1.45963769e+02] [-9.78049303e-01 -2.08143907e-01 9.78131731e-03 1.64405914e+02] [-1.00365256e-02 1.70038155e-04 -9.99949618e-01 6.72218463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.160385723 meters Centerline goodness [0,1] 0.9999120008799912 Centerline is valid? [True, True] Translation: X:145.97, Y:164.28, Z:6.72 [[ 2.83137466e-01 -9.59074692e-01 -2.98515614e-03 1.45965958e+02] [-9.59027388e-01 -2.83153154e-01 9.52680812e-03 1.64276168e+02] [-9.98217693e-03 1.65450182e-04 -9.99950163e-01 6.72199948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.190385723 meters Centerline goodness [0,1] 0.9999780074774577 Centerline is valid? [True, True] Translation: X:145.98, Y:164.15, Z:6.72 [[ 3.57180447e-01 -9.34026959e-01 -3.97083097e-03 1.45976787e+02] [-9.33974239e-01 -3.57202481e-01 9.92511876e-03 1.64149883e+02] [-1.06887192e-02 1.63595472e-04 -9.99942861e-01 6.72228384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.00, Y:164.03, Z:6.72 [[ 4.28251657e-01 -9.03647832e-01 -4.59514474e-03 1.45997062e+02] [-9.03599649e-01 -4.28276281e-01 9.33282517e-03 1.64031149e+02] [-1.04015787e-02 1.55373335e-04 -9.99945890e-01 6.72298755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.250385723 meters Centerline goodness [0,1] 0.9999347599164927 Centerline is valid? [True, True] Translation: X:146.02, Y:163.91, Z:6.72 [[ 4.96778295e-01 -8.67864640e-01 -4.72145660e-03 1.46024035e+02] [-8.67827968e-01 -4.96800714e-01 7.97928284e-03 1.63911810e+02] [-9.27056044e-03 1.33477555e-04 -9.99957019e-01 6.72349843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.06, Y:163.80, Z:6.72 [[ 5.61892535e-01 -8.27196398e-01 -4.78521377e-03 1.46061187e+02] [-8.27168193e-01 -5.61912898e-01 6.83196801e-03 1.63796777e+02] [-8.34025267e-03 1.19344805e-04 -9.99965212e-01 6.72386685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.31038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.10, Y:163.69, Z:6.72 [[ 6.23287756e-01 -7.81977803e-01 -4.80523323e-03 1.46102259e+02] [-7.81955922e-01 -6.23306268e-01 5.85081899e-03 1.63689215e+02] [-7.57034257e-03 1.10736745e-04 -9.99971338e-01 6.72366068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.15, Y:163.59, Z:6.72 [[ 6.80804325e-01 -7.32449027e-01 -4.88814147e-03 1.46152861e+02] [-7.32431264e-01 -6.80821864e-01 5.10215571e-03 1.63585417e+02] [-7.06502258e-03 1.06657965e-04 -9.99975037e-01 6.72366074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.37038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.21, Y:163.49, Z:6.72 [[ 7.34148625e-01 -6.78973942e-01 -4.49246921e-03 1.46206245e+02] [-6.78962016e-01 -7.34162364e-01 4.02541427e-03 1.63489869e+02] [-6.03135321e-03 9.49635990e-05 -9.99981807e-01 6.72356148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.400385723 meters Centerline goodness [0,1] 0.9999563185253134 Centerline is valid? [True, True] Translation: X:146.20, Y:163.48, Z:6.72 [[ 7.84529679e-01 -6.20081170e-01 -3.53926124e-03 1.46198157e+02] [-6.20075286e-01 -7.84537658e-01 2.70226718e-03 1.63477575e+02] [-4.45230871e-03 7.45996242e-05 -9.99990086e-01 6.72383215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.430385723 meters Centerline goodness [0,1] 0.9999562984813722 Centerline is valid? [True, True] Translation: X:146.19, Y:163.46, Z:6.72 [[ 8.30078543e-01 -5.57639245e-01 -2.84349534e-03 1.46191099e+02] [-5.57636223e-01 -8.30083411e-01 1.83682241e-03 1.63462644e+02] [-3.38462257e-03 6.09291258e-05 -9.99994270e-01 6.72404253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.460385723 meters Centerline goodness [0,1] 0.9999345521183298 Centerline is valid? [True, True] Translation: X:146.18, Y:163.45, Z:6.73 [[ 8.70511810e-01 -4.92136946e-01 -3.22731604e-03 1.46184826e+02] [-4.92133861e-01 -8.70517790e-01 1.74374705e-03 1.63446471e+02] [-3.66759838e-03 7.03191077e-05 -9.99993272e-01 6.72517712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.18, Y:163.43, Z:6.73 [[ 9.06327914e-01 -4.22564106e-01 -3.04768408e-03 1.46180338e+02] [-4.22561954e-01 -9.06333036e-01 1.35004539e-03 1.63433133e+02] [-3.33269749e-03 6.42515111e-05 -9.99994445e-01 6.72599603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.18, Y:163.42, Z:6.73 [[ 9.36730726e-01 -3.50038298e-01 -2.95593535e-03 1.46177281e+02] [-3.50036755e-01 -9.36735388e-01 1.04118092e-03 1.63416232e+02] [-3.13338244e-03 5.93798611e-05 -9.99995089e-01 6.72693627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.550385723 meters Centerline goodness [0,1] 0.999826147426982 Centerline is valid? [True, True] Translation: X:146.18, Y:163.40, Z:6.73 [[ 9.61202807e-01 -2.75824745e-01 -3.14224854e-03 1.46177173e+02] [-2.75823480e-01 -9.61207941e-01 8.37620719e-04 1.63403195e+02] [-3.25139077e-03 6.15825389e-05 -9.99994712e-01 6.72795006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.580385723 meters Centerline goodness [0,1] 0.9999783080260304 Centerline is valid? [True, True] Translation: X:146.18, Y:163.39, Z:6.73 [[ 9.79989500e-01 -1.99032264e-01 -2.59562519e-03 1.46176778e+02] [-1.99031697e-01 -9.79992937e-01 4.77577080e-04 1.63390877e+02] [-2.63874759e-03 4.85911610e-05 -9.99996517e-01 6.72751783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.610385723 meters Centerline goodness [0,1] 0.9999567445984817 Centerline is valid? [True, True] Translation: X:146.17, Y:163.37, Z:6.73 [[ 9.92605675e-01 -1.21371582e-01 -1.70682396e-03 1.46174463e+02] [-1.21371459e-01 -9.92607142e-01 1.75893950e-04 1.63374975e+02] [-1.71555418e-03 3.25663821e-05 -9.99998528e-01 6.72808570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.640385723 meters Centerline goodness [0,1] 0.9999352806661777 Centerline is valid? [True, True] Translation: X:146.17, Y:163.36, Z:6.73 [[ 9.99069338e-01 -4.30878794e-02 -1.97278814e-03 1.46173755e+02] [-4.30878671e-02 -9.99071285e-01 4.87275729e-05 1.63357183e+02] [-1.97305555e-03 3.63210093e-05 -9.99998053e-01 6.72881238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.17, Y:163.34, Z:6.73 [[ 9.99323121e-01 3.67493362e-02 -1.66933457e-03 1.46173613e+02] [ 3.67492364e-02 -9.99324515e-01 -9.03868474e-05 1.63339071e+02] [-1.67152861e-03 2.89788956e-05 -9.99998603e-01 6.72885625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.18, Y:163.32, Z:6.73 [[ 9.93287474e-01 1.15659669e-01 -1.68351225e-03 1.46176285e+02] [ 1.15659455e-01 -9.93288901e-01 -2.24226639e-04 1.63324210e+02] [-1.69814801e-03 2.80074023e-05 -9.99998558e-01 6.72931157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.18, Y:163.31, Z:6.73 [[ 9.81132611e-01 1.93323477e-01 -2.19826163e-03 1.46180361e+02] [ 1.93322912e-01 -9.81135073e-01 -4.68809035e-04 1.63310373e+02] [-2.24742338e-03 3.49894941e-05 -9.99997474e-01 6.72996331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.760385723 meters Centerline goodness [0,1] 0.9999785554983702 Centerline is valid? [True, True] Translation: X:146.19, Y:163.29, Z:6.73 [[ 9.62819273e-01 2.70133230e-01 -2.66175166e-03 1.46186490e+02] [ 2.70132081e-01 -9.62822952e-01 -7.88824683e-04 1.63294208e+02] [-2.77588335e-03 4.04710923e-05 -9.99996146e-01 6.73077216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.790385723 meters Centerline goodness [0,1] 0.9999571312213315 Centerline is valid? [True, True] Translation: X:146.19, Y:163.28, Z:6.73 [[ 9.38792147e-01 3.44475998e-01 -2.36483019e-03 1.46192363e+02] [ 3.44474803e-01 -9.38795124e-01 -9.07988404e-04 1.63282036e+02] [-2.53287126e-03 3.77879701e-05 -9.99996792e-01 6.73158510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.20, Y:163.27, Z:6.73 [[ 9.08931401e-01 4.16940437e-01 -2.09279534e-03 1.46201350e+02] [ 4.16939243e-01 -9.08933810e-01 -9.98402427e-04 1.63267692e+02] [-2.31848679e-03 3.49108124e-05 -9.99997312e-01 6.73216658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.21, Y:163.26, Z:6.73 [[ 8.73681886e-01 4.86495711e-01 -1.37304697e-03 1.46208062e+02] [ 4.86495063e-01 -8.73682965e-01 -7.94145717e-04 1.63257989e+02] [-1.58595623e-03 2.58501548e-05 -9.99998742e-01 6.73242686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.22, Y:163.25, Z:6.73 [[ 8.33741743e-01 5.52152687e-01 -1.45468962e-03 1.46216558e+02] [ 5.52151781e-01 -8.33743012e-01 -1.00041467e-03 1.63249301e+02] [-1.76521895e-03 3.08780041e-05 -9.99998442e-01 6.73229132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.22, Y:163.24, Z:6.73 [[ 7.88552227e-01 6.14966293e-01 -1.35792010e-03 1.46224462e+02] [ 6.14965311e-01 -7.88553395e-01 -1.09990541e-03 1.63242736e+02] [-1.74719726e-03 3.22591009e-05 -9.99998473e-01 6.73231220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.940385723 meters Centerline goodness [0,1] 0.999936121284388 Centerline is valid? [True, True] Translation: X:146.23, Y:163.24, Z:6.73 [[ 7.39364233e-01 6.73305015e-01 -9.42807615e-04 1.46231773e+02] [ 6.73304419e-01 -7.39364833e-01 -8.96119932e-04 1.63236877e+02] [-1.30044084e-03 2.77624925e-05 -9.99999154e-01 6.73271991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.24, Y:163.23, Z:6.73 [[ 6.84948450e-01 7.28591230e-01 -6.63778682e-04 1.46241022e+02] [ 7.28590855e-01 -6.84948771e-01 -7.39680430e-04 1.63231402e+02] [-9.93579067e-04 2.30198869e-05 -9.99999506e-01 6.73155951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.25, Y:163.23, Z:6.73 [[ 6.26309702e-01 7.79574011e-01 -7.20284636e-04 1.46250425e+02] [ 7.79573444e-01 -6.26310116e-01 -9.40237350e-04 1.63226753e+02] [-1.18410616e-03 2.73650001e-05 -9.99999299e-01 6.73139946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.26, Y:163.22, Z:6.73 [[ 5.63305808e-01 8.26248341e-01 -4.95222301e-04 1.46259154e+02] [ 8.26247987e-01 -5.63306025e-01 -7.65407773e-04 1.63222806e+02] [-9.11378608e-04 2.19822151e-05 -9.99999584e-01 6.73148820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.06038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.27, Y:163.22, Z:6.73 [[ 4.96561633e-01 8.68001446e-01 -1.87189482e-04 1.46273588e+02] [ 8.68001375e-01 -4.96561668e-01 -3.51006028e-04 1.63217683e+02] [-3.97624861e-04 1.18153986e-05 -9.99999921e-01 6.73100969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.29, Y:163.21, Z:6.73 [[ 4.25689362e-01 9.04869255e-01 -4.45740929e-04 1.46288483e+02] [ 9.04868700e-01 -4.25689595e-01 -1.00264097e-03 1.63213527e+02] [-1.09700627e-03 2.34765819e-05 -9.99999398e-01 6.73151343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.30, Y:163.21, Z:6.73 [[ 3.52843442e-01 9.35682170e-01 -6.17512819e-04 1.46301458e+02] [ 9.35680558e-01 -3.52843981e-01 -1.73746266e-03 1.63211696e+02] [-1.84359851e-03 3.52575656e-05 -9.99998300e-01 6.73236009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.31, Y:163.21, Z:6.73 [[ 2.78514753e-01 9.60431831e-01 -4.79664648e-04 1.46313538e+02] [ 9.60430181e-01 -2.78515164e-01 -1.78062433e-03 1.63210480e+02] [-1.84376217e-03 3.52457411e-05 -9.99998300e-01 6.73236155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.33, Y:163.21, Z:6.73 [[ 2.01966155e-01 9.79392404e-01 -4.38037604e-04 1.46326320e+02] [ 9.79389615e-01 -2.01966626e-01 -2.33746189e-03 1.63210368e+02] [-2.37776140e-03 4.30787103e-05 -9.99997172e-01 6.73332882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.34, Y:163.21, Z:6.73 [[ 1.22997544e-01 9.92406940e-01 -2.63612251e-04 1.46342804e+02] [ 9.92403902e-01 -1.22997820e-01 -2.45583761e-03 1.63211394e+02] [-2.46961402e-03 4.04521675e-05 -9.99996950e-01 6.73376378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.36, Y:163.21, Z:6.73 [[ 4.42240077e-02 9.99021638e-01 -5.99814268e-05 1.46355211e+02] [ 9.99019385e-01 -4.42240353e-02 -2.12193504e-03 1.63212150e+02] [-2.12251164e-03 3.39178632e-05 -9.99997747e-01 6.73370126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.37, Y:163.21, Z:6.73 [[-3.58277547e-02 9.99357977e-01 7.56311294e-05 1.46369122e+02] [ 9.99356877e-01 3.58278275e-02 -1.48315773e-03 1.63214825e+02] [-1.48491521e-03 2.24442779e-05 -9.99998897e-01 6.73236411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.38, Y:163.22, Z:6.73 [[-1.15040466e-01 9.93360775e-01 2.48837183e-04 1.46380544e+02] [ 9.93358914e-01 1.15040732e-01 -1.92315429e-03 1.63217795e+02] [-1.93901244e-03 2.59440690e-05 -9.99998120e-01 6.73215605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.39, Y:163.22, Z:6.73 [[-1.93841170e-01 9.81032833e-01 4.25139198e-04 1.46393145e+02] [ 9.81030744e-01 1.93841635e-01 -2.02473934e-03 1.63222366e+02] [-2.06874545e-03 2.45967810e-05 -9.99997860e-01 6.73208331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.40, Y:163.23, Z:6.73 [[-2.71988353e-01 9.62300346e-01 6.16420224e-04 1.46403668e+02] [ 9.62298051e-01 2.71989051e-01 -2.10194144e-03 1.63227891e+02] [-2.19035852e-03 2.14763902e-05 -9.99997601e-01 6.73196530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.41, Y:163.23, Z:6.73 [[-3.47230779e-01 9.37779591e-01 4.75316355e-04 1.46413382e+02] [ 9.37778765e-01 3.47231104e-01 -1.24432936e-03 1.63233523e+02] [-1.33195130e-03 1.36721312e-05 -9.99999113e-01 6.73163421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.42, Y:163.24, Z:6.73 [[-4.19981335e-01 9.07532693e-01 3.00549551e-04 1.46422100e+02] [ 9.07532475e-01 4.19981442e-01 -6.28546770e-04 1.63240020e+02] [-6.96651977e-04 8.78056616e-06 -9.99999757e-01 6.73165140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.43, Y:163.25, Z:6.73 [[-4.90750322e-01 8.71300096e-01 5.14603895e-04 1.46428201e+02] [ 8.71299638e-01 4.90750592e-01 -8.93502276e-04 1.63245152e+02] [-1.03105078e-03 9.88765740e-06 -9.99999468e-01 6.73202864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.43, Y:163.25, Z:6.73 [[-5.57736853e-01 8.30017438e-01 8.10431731e-04 1.46429595e+02] [ 8.30016592e-01 5.57737441e-01 -1.18499418e-03 1.63248021e+02] [-1.43557396e-03 1.17568565e-05 -9.99998970e-01 6.73276407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.44, Y:163.26, Z:6.73 [[-6.21026871e-01 7.83787813e-01 1.51326858e-03 1.46437006e+02] [ 7.83785552e-01 6.21028715e-01 -1.88245641e-03 1.63256407e+02] [-2.41522964e-03 1.70220336e-05 -9.99997083e-01 6.73276827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.44, Y:163.27, Z:6.73 [[-6.80340363e-01 7.32893643e-01 1.97458676e-03 1.46444133e+02] [ 7.32890642e-01 6.80343228e-01 -2.09741882e-03 1.63266254e+02] [-2.88058165e-03 2.01974762e-05 -9.99995851e-01 6.73322249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.45, Y:163.27, Z:6.73 [[-7.35675749e-01 6.77330252e-01 2.21857761e-03 1.46449779e+02] [ 6.77327257e-01 7.35679094e-01 -2.01436448e-03 1.63273226e+02] [-2.99655117e-03 2.07839841e-05 -9.99995510e-01 6.73399305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.47, Y:163.29, Z:6.73 [[-7.81830461e-01 6.23485113e-01 2.72851654e-03 1.46468865e+02] [ 6.23481417e-01 7.81835222e-01 -2.14691771e-03 1.63292512e+02] [-3.47182157e-03 2.26537008e-05 -9.99993973e-01 6.73399233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.49, Y:163.31, Z:6.73 [[-8.23391669e-01 5.67457378e-01 4.27582088e-03 1.46485834e+02] [ 5.67449933e-01 8.23402771e-01 -2.90702100e-03 1.63310362e+02] [-5.17033327e-03 3.26973929e-05 -9.99986633e-01 6.73461388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.50, Y:163.33, Z:6.74 [[-8.61275393e-01 5.08114162e-01 4.96939462e-03 1.46497131e+02] [ 5.08105964e-01 8.61289729e-01 -2.88672499e-03 1.63334374e+02] [-5.74687439e-03 3.87138383e-05 -9.99983486e-01 6.73549044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.690385723 meters Centerline goodness [0,1] 0.9999566958969363 Centerline is valid? [True, True] Translation: X:146.82, Y:163.89, Z:5.74 [[-8.33099060e-01 -5.53098351e-01 5.30760808e-03 1.46821798e+02] [ 5.53087085e-01 -8.33115967e-01 -3.53012262e-03 1.63885249e+02] [ 6.37435804e-03 -5.37235282e-06 9.99979684e-01 5.73802672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.720385723 meters Centerline goodness [0,1] 0.9999783146116147 Centerline is valid? [True, True] Translation: X:146.45, Y:163.35, Z:6.74 [[-8.61578989e-01 5.07590754e-01 5.76812895e-03 1.46454732e+02] [ 5.07579875e-01 8.61598295e-01 -3.32391207e-03 1.63346550e+02] [-6.65699710e-03 6.39733665e-05 -9.99977840e-01 6.73656639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.750385723 meters Centerline goodness [0,1] 0.9998916576381365 Centerline is valid? [True, True] Translation: X:146.46, Y:163.37, Z:6.74 [[-8.94944671e-01 4.46130680e-01 6.43835970e-03 1.46463490e+02] [ 4.46119737e-01 8.94967827e-01 -3.12562986e-03 1.63370952e+02] [-7.15656416e-03 7.50135508e-05 -9.99974389e-01 6.73691453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.780385723 meters Centerline goodness [0,1] 0.9999782924870297 Centerline is valid? [True, True] Translation: X:146.76, Y:163.97, Z:5.74 [[-8.73364481e-01 -4.87023427e-01 6.53182797e-03 1.46760224e+02] [ 4.87009318e-01 -8.73388904e-01 -3.70765553e-03 1.63967317e+02] [ 7.51054117e-03 -5.70735672e-05 9.99971794e-01 5.73709827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.81038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.42, Y:163.38, Z:6.74 [[-8.95778694e-01 4.44452328e-01 6.53145572e-03 1.46419508e+02] [ 4.44441233e-01 8.95802501e-01 -3.14154866e-03 1.63381125e+02] [-7.24716298e-03 8.87158787e-05 -9.99973735e-01 6.73595301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.43, Y:163.40, Z:6.74 [[-9.24515447e-01 3.81089274e-01 6.49249859e-03 1.46426774e+02] [ 3.81080597e-01 9.24538239e-01 -2.57339825e-03 1.63402709e+02] [-6.98325769e-03 9.50188043e-05 -9.99975612e-01 6.73527064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.44, Y:163.43, Z:6.73 [[-9.49102025e-01 3.14900736e-01 6.54774505e-03 1.46437428e+02] [ 3.14893935e-01 9.49124606e-01 -2.07181163e-03 1.63426940e+02] [-6.86704094e-03 9.54845932e-05 -9.99976417e-01 6.73495531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.64, Y:164.09, Z:5.74 [[-9.35455171e-01 -3.53383029e-01 6.63756949e-03 1.46644163e+02] [ 3.53373506e-01 -9.35478716e-01 -2.59570776e-03 1.64094195e+02] [ 7.12658405e-03 -8.26270467e-05 9.99974602e-01 5.73921964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.39, Y:163.44, Z:6.74 [[-9.51153586e-01 3.08642325e-01 6.83893000e-03 1.46385677e+02] [ 3.08634949e-01 9.51178169e-01 -2.13520690e-03 1.63436251e+02] [-7.16405614e-03 7.98231081e-05 -9.99974335e-01 6.73527655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.60, Y:164.12, Z:5.74 [[-9.34969486e-01 -3.54667307e-01 6.56980530e-03 1.46599792e+02] [ 3.54657907e-01 -9.34992564e-01 -2.58362813e-03 1.64115811e+02] [ 7.05904753e-03 -8.55800751e-05 9.99975081e-01 5.73947142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.33, Y:163.44, Z:6.73 [[-9.53595177e-01 3.01024471e-01 6.36446949e-03 1.46334835e+02] [ 3.01018094e-01 9.53616414e-01 -1.95999315e-03 1.63444854e+02] [-6.65926847e-03 4.67804567e-05 -9.99977826e-01 6.73476576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.55, Y:164.13, Z:5.74 [[-9.35429020e-01 -3.53457077e-01 6.37525208e-03 1.46550738e+02] [ 3.53448598e-01 -9.35450744e-01 -2.44845802e-03 1.64134575e+02] [ 6.82915911e-03 -3.70347747e-05 9.99976680e-01 5.73924918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.27, Y:163.46, Z:6.74 [[-9.55832162e-01 2.93816277e-01 7.54147720e-03 1.46271846e+02] [ 2.93807339e-01 9.55861912e-01 -2.29188569e-03 1.63457779e+02] [-7.88200413e-03 2.50832970e-05 -9.99968936e-01 6.73578242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.26, Y:163.49, Z:6.74 [[-9.74490158e-01 2.24274546e-01 8.35816989e-03 1.46258282e+02] [ 2.24266450e-01 9.74526002e-01 -1.90569832e-03 1.63488701e+02] [-8.57265351e-03 1.73728341e-05 -9.99963254e-01 6.73766242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.45, Y:164.20, Z:5.74 [[-9.57369941e-01 -2.88737296e-01 8.57729903e-03 1.46451716e+02] [ 2.88725780e-01 -9.57408363e-01 -2.57882359e-03 1.64204182e+02] [ 8.95658038e-03 7.59916134e-06 9.99959889e-01 5.73748925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.22, Y:163.49, Z:6.74 [[-9.76096491e-01 2.17178619e-01 8.31190094e-03 1.46222567e+02] [ 2.17170643e-01 9.76131880e-01 -1.86128703e-03 1.63488136e+02] [-8.51774324e-03 -1.16948677e-05 -9.99963723e-01 6.73603760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.24, Y:163.51, Z:6.74 [[-9.89181681e-01 1.46499936e-01 7.57435376e-03 1.46237860e+02] [ 1.46495509e-01 9.89210680e-01 -1.13907612e-03 1.63511956e+02] [-7.65950621e-03 -1.71444234e-05 -9.99970665e-01 6.73536824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.24, Y:163.54, Z:6.74 [[-9.97117816e-01 7.55158110e-02 7.30917692e-03 1.46239854e+02] [ 7.55136429e-02 9.97144604e-01 -5.72549815e-04 1.63536442e+02] [-7.33154289e-03 -1.89570448e-05 -9.99973124e-01 6.73532348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.21, Y:163.56, Z:6.74 [[-9.99962602e-01 4.67115674e-03 7.27844849e-03 1.46214657e+02] [ 4.67090221e-03 9.99989090e-01 -5.19686339e-05 1.63563593e+02] [-7.27861183e-03 -1.79697692e-05 -9.99973510e-01 6.73570150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.20, Y:163.59, Z:6.74 [[-9.97809767e-01 -6.56472125e-02 8.13092769e-03 1.46197283e+02] [-6.56451466e-02 9.97842895e-01 5.20990000e-04 1.63585727e+02] [-8.14758997e-03 -1.39070305e-05 -9.99966808e-01 6.73660079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.21, Y:163.61, Z:6.74 [[-9.90608911e-01 -1.36489329e-01 8.04041371e-03 1.46210568e+02] [-1.36484899e-01 9.90641541e-01 1.09977991e-03 1.63612423e+02] [-8.11527605e-03 -7.94327348e-06 -9.99967071e-01 6.73607395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.10, Y:164.39, Z:5.74 [[-9.97737570e-01 6.67865189e-02 7.70075573e-03 1.46100678e+02] [-6.67846774e-02 -9.97767288e-01 4.96317350e-04 1.64393529e+02] [ 7.71670947e-03 -1.90980208e-05 9.99970226e-01 5.73855135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.09, Y:163.60, Z:6.73 [[-9.89779888e-01 -1.42484842e-01 5.81755820e-03 1.46093361e+02] [-1.42482383e-01 9.89796984e-01 8.37082421e-04 1.63595493e+02] [-5.87747312e-03 -3.72213904e-07 -9.99982728e-01 6.73466944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.07, Y:163.62, Z:6.73 [[-9.77137654e-01 -2.12526218e-01 5.88319136e-03 1.46070454e+02] [-2.12522350e-01 9.77155365e-01 1.28223644e-03 1.63620647e+02] [-6.02130086e-03 2.61185205e-06 -9.99981872e-01 6.73462941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.03, Y:163.64, Z:6.73 [[-9.59631240e-01 -2.81214915e-01 5.10445462e-03 1.46031468e+02] [-2.81210873e-01 9.59644815e-01 1.50778131e-03 1.63641243e+02] [-5.32247400e-03 1.14859124e-05 -9.99985835e-01 6.73465036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.96, Y:163.65, Z:6.73 [[-9.36889670e-01 -3.49586971e-01 5.16683220e-03 1.45963662e+02] [-3.49581557e-01 9.36903917e-01 1.94573966e-03 1.63647883e+02] [-5.52103056e-03 1.67141471e-05 -9.99984759e-01 6.73477361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.91, Y:163.66, Z:6.73 [[-9.08489632e-01 -4.17872566e-01 5.39518524e-03 1.45909605e+02] [-4.17865057e-01 9.08505651e-01 2.50504300e-03 1.63655235e+02] [-5.94834503e-03 2.13461984e-05 -9.99982308e-01 6.73420471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.82, Y:163.64, Z:6.73 [[-8.76027352e-01 -4.82234785e-01 5.06866457e-03 1.45824928e+02] [-4.82226488e-01 8.76042015e-01 2.82892966e-03 1.63643157e+02] [-5.80457141e-03 3.39754432e-05 -9.99983153e-01 6.73489789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.74, Y:163.62, Z:6.74 [[-8.37997243e-01 -5.45651460e-01 5.01054922e-03 1.45737282e+02] [-5.45641409e-01 8.38012221e-01 3.31220856e-03 1.63623954e+02] [-6.00621292e-03 4.16585075e-05 -9.99981962e-01 6.73549959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.56038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.63, Y:163.59, Z:6.74 [[-7.95861216e-01 -6.05452615e-01 5.66173699e-03 1.45634901e+02] [-6.05436721e-01 7.95881352e-01 4.38753054e-03 1.63585798e+02] [-7.16251273e-03 6.40419155e-05 -9.99974347e-01 6.73691447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.57, Y:163.57, Z:6.74 [[-7.48134613e-01 -6.63524737e-01 5.43363988e-03 1.45568872e+02] [-6.63506520e-01 7.48154341e-01 4.91726927e-03 1.63568125e+02] [-7.32793106e-03 7.35238572e-05 -9.99973148e-01 6.73689338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.47, Y:163.51, Z:6.74 [[-6.96153719e-01 -7.17872546e-01 5.38591806e-03 1.45466213e+02] [-7.17850123e-01 6.96174548e-01 5.67454220e-03 1.63508670e+02] [-7.82313712e-03 8.40717173e-05 -9.99969395e-01 6.73727745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.38, Y:163.45, Z:6.74 [[-6.40357624e-01 -7.68060105e-01 5.07829838e-03 1.45377950e+02] [-7.68034734e-01 6.40377752e-01 6.24353011e-03 1.63453494e+02] [-8.04743569e-03 9.77825599e-05 -9.99967614e-01 6.73740216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.29, Y:163.39, Z:6.74 [[-5.79866445e-01 -8.14698435e-01 4.62242596e-03 1.45292293e+02] [-8.14671164e-01 5.79884860e-01 6.66669145e-03 1.63390039e+02] [-8.11181792e-03 1.00033532e-04 -9.99967094e-01 6.73713009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.20, Y:163.31, Z:6.74 [[-5.16049322e-01 -8.56552292e-01 3.35695124e-03 1.45203301e+02] [-8.56533090e-01 5.16060234e-01 5.73589661e-03 1.63309348e+02] [-6.64548443e-03 8.46657400e-05 -9.99977915e-01 6.73707956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.12, Y:163.22, Z:6.74 [[-4.48780775e-01 -8.93637225e-01 2.88552517e-03 1.45121895e+02] [-8.93617536e-01 4.48790043e-01 5.93260343e-03 1.63221538e+02] [-6.59659023e-03 8.38824699e-05 -9.99978239e-01 6.73732022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.05, Y:163.13, Z:6.74 [[-3.79283990e-01 -9.25277871e-01 2.12492247e-03 1.45046726e+02] [-9.25262185e-01 3.79289935e-01 5.38838481e-03 1.63127259e+02] [-5.79171493e-03 7.76176908e-05 -9.99983225e-01 6.73740431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.98, Y:163.02, Z:6.74 [[-3.06946791e-01 -9.51725365e-01 1.58026702e-03 1.44977372e+02] [-9.51711517e-01 3.06950850e-01 5.13457825e-03 1.63019821e+02] [-5.37177266e-03 7.20839904e-05 -9.99985569e-01 6.73686911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.92, Y:162.91, Z:6.74 [[-2.33031840e-01 -9.72468469e-01 1.11299590e-03 1.44918155e+02] [-9.72455907e-01 2.33034487e-01 4.94329353e-03 1.62913936e+02] [-5.06656352e-03 6.96053424e-05 -9.99987162e-01 6.73624405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.87, Y:162.80, Z:6.74 [[-1.57848791e-01 -9.87463076e-01 6.58182577e-04 1.44866114e+02] [-9.87452682e-01 1.57850150e-01 4.53116049e-03 1.62800476e+02] [-4.57824789e-03 6.53140562e-05 -9.99989518e-01 6.73578906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.890385723 meters Centerline goodness [0,1] 0.9999778319663046 Centerline is valid? [True, True] Translation: X:144.82, Y:162.69, Z:6.73 [[-8.26419165e-02 -9.96579259e-01 3.07088448e-04 1.44820157e+02] [-9.96569199e-01 8.26424622e-02 4.47828075e-03 1.62687967e+02] [-4.48834026e-03 6.40588147e-05 -9.99989925e-01 6.73487506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.920385723 meters Centerline goodness [0,1] 0.9999556393478984 Centerline is valid? [True, True] Translation: X:144.79, Y:162.56, Z:6.74 [[-5.30022903e-03 -9.99985953e-01 -3.85940032e-05 1.44788211e+02] [-9.99976372e-01 5.30000929e-03 4.37776927e-03 1.62556743e+02] [-4.37750323e-03 6.17962711e-05 -9.99990417e-01 6.73567930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.76, Y:162.44, Z:6.74 [[ 7.17798476e-02 -9.97420425e-01 -3.86070731e-04 1.44760377e+02] [-9.97410380e-01 -7.17808575e-02 4.47690348e-03 1.62444080e+02] [-4.49306746e-03 6.37195048e-05 -9.99989904e-01 6.73519400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.980385723 meters Centerline goodness [0,1] 0.9999778216416421 Centerline is valid? [True, True] Translation: X:144.74, Y:162.32, Z:6.74 [[ 1.48467238e-01 -9.88917073e-01 -7.09144156e-04 1.44744676e+02] [-9.88907698e-01 -1.48468918e-01 4.30646799e-03 1.62316273e+02] [-4.36402559e-03 6.19087079e-05 -9.99990476e-01 6.73590805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.010385723 meters Centerline goodness [0,1] 0.9999778648427297 Centerline is valid? [True, True] Translation: X:144.74, Y:162.18, Z:6.74 [[ 2.24040671e-01 -9.74579239e-01 -1.04129706e-03 1.44740567e+02] [-9.74569980e-01 -2.24043082e-01 4.24878852e-03 1.62184971e+02] [-4.37407648e-03 6.29154218e-05 -9.99990432e-01 6.73543129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.040385723 meters Centerline goodness [0,1] 0.9999778648427297 Centerline is valid? [True, True] Translation: X:144.75, Y:162.06, Z:6.74 [[ 2.98449701e-01 -9.54424387e-01 -1.36553314e-03 1.44745975e+02] [-9.54415341e-01 -2.98452818e-01 4.15607822e-03 1.62059575e+02] [-4.37420963e-03 6.29054707e-05 -9.99990431e-01 6.73543817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.070385723 meters Centerline goodness [0,1] 0.9999335577604536 Centerline is valid? [True, True] Translation: X:144.76, Y:161.94, Z:6.74 [[ 3.70901336e-01 -9.28670714e-01 -1.70402829e-03 1.44759201e+02] [-9.28661694e-01 -3.70905245e-01 4.09362632e-03 1.61937853e+02] [-4.43366391e-03 6.41343302e-05 -9.99990169e-01 6.73558928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.78, Y:161.82, Z:6.74 [[ 4.40317652e-01 -8.97838614e-01 -2.48752357e-03 1.44782260e+02] [-8.97825348e-01 -4.40324671e-01 4.88147647e-03 1.61815297e+02] [-5.47809606e-03 8.39614510e-05 -9.99984992e-01 6.73609803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.130385723 meters Centerline goodness [0,1] 0.9999778599419931 Centerline is valid? [True, True] Translation: X:144.81, Y:161.70, Z:6.74 [[ 5.07524400e-01 -8.61632340e-01 -2.94858496e-03 1.44813129e+02] [-8.61618808e-01 -5.07532958e-01 4.82969039e-03 1.61699583e+02] [-5.65792148e-03 8.93705448e-05 -9.99983990e-01 6.73620447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.85, Y:161.59, Z:6.74 [[ 5.71450010e-01 -8.20629685e-01 -3.43587867e-03 1.44852793e+02] [-8.20615864e-01 -5.71460331e-01 4.76380675e-03 1.61586138e+02] [-5.87278960e-03 9.72591300e-05 -9.99982750e-01 6.73610719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.190385723 meters Centerline goodness [0,1] 0.9999779740534349 Centerline is valid? [True, True] Translation: X:144.90, Y:161.48, Z:6.74 [[ 6.31438833e-01 -7.75417079e-01 -3.65416575e-03 1.44899499e+02] [-7.75405018e-01 -6.31449398e-01 4.32611665e-03 1.61477065e+02] [-5.66196550e-03 1.01780414e-04 -9.99983966e-01 6.73579581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.220385723 meters Centerline goodness [0,1] 0.9999779161697805 Centerline is valid? [True, True] Translation: X:144.95, Y:161.38, Z:6.74 [[ 6.88798914e-01 -7.24942363e-01 -3.82439316e-03 1.44949346e+02] [-7.24931971e-01 -6.88809524e-01 3.88283308e-03 1.61378614e+02] [-5.44910862e-03 9.79336634e-05 -9.99985149e-01 6.73600855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.01, Y:161.28, Z:6.74 [[ 7.42232359e-01 -6.70129767e-01 -4.14981299e-03 1.45010273e+02] [-6.70120017e-01 -7.42243953e-01 3.61627453e-03 1.61280498e+02] [-5.50354680e-03 9.67567753e-05 -9.99984851e-01 6.73606288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.00, Y:161.27, Z:6.74 [[ 7.92628006e-01 -6.09688965e-01 -4.49569250e-03 1.45003625e+02] [-6.09679838e-01 -7.92640749e-01 3.33729569e-03 1.61269316e+02] [-5.59818142e-03 9.56990458e-05 -9.99984326e-01 6.73535508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.31038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.00, Y:161.26, Z:6.73 [[ 8.38704383e-01 -5.44566415e-01 -4.73049029e-03 1.44996866e+02] [-5.44558334e-01 -8.38717719e-01 2.96792146e-03 1.61256552e+02] [-5.58377637e-03 8.68191717e-05 -9.99984407e-01 6.73485229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.99, Y:161.24, Z:6.73 [[ 8.79083791e-01 -4.76641357e-01 -4.97049758e-03 1.44992261e+02] [-4.76634266e-01 -8.79097839e-01 2.60109656e-03 1.61244644e+02] [-5.60934387e-03 8.25276486e-05 -9.99984264e-01 6.73495957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.37038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.99, Y:161.23, Z:6.73 [[ 9.14502948e-01 -4.04542224e-01 -5.47250102e-03 1.44987458e+02] [-4.04535468e-01 -9.14519318e-01 2.33903233e-03 1.61232328e+02] [-5.95094524e-03 7.47687982e-05 -9.99982290e-01 6.73496052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.98, Y:161.22, Z:6.73 [[ 9.43641955e-01 -3.30918210e-01 -5.74451647e-03 1.44984377e+02] [-3.30912532e-01 -9.43659437e-01 1.93988173e-03 1.61219302e+02] [-6.06280937e-03 7.03786985e-05 -9.99981619e-01 6.73449287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.98, Y:161.21, Z:6.73 [[ 9.66764753e-01 -2.55599003e-01 -5.92135079e-03 1.44982837e+02] [-2.55594636e-01 -9.66782884e-01 1.49572449e-03 1.61206740e+02] [-6.10696628e-03 6.74517803e-05 -9.99981350e-01 6.73417518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.98, Y:161.19, Z:6.73 [[ 9.83845412e-01 -1.78918185e-01 -6.04061922e-03 1.44981040e+02] [-1.78915226e-01 -9.83863953e-01 1.03116114e-03 1.61193467e+02] [-6.12764098e-03 6.62555995e-05 -9.99981224e-01 6.73392574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.98, Y:161.18, Z:6.73 [[ 9.94777812e-01 -1.01869072e-01 -6.30854751e-03 1.44978428e+02] [-1.01867480e-01 -9.94797812e-01 5.73977423e-04 1.61180516e+02] [-6.33419981e-03 7.16558336e-05 -9.99979936e-01 6.73414575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.97, Y:161.17, Z:6.73 [[ 9.99645030e-01 -2.56767936e-02 -7.10751857e-03 1.44974901e+02] [-2.56768156e-02 -9.99670292e-01 8.81732920e-05 1.61169600e+02] [-7.10743918e-03 9.43564507e-05 -9.99974737e-01 6.73409393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.550385723 meters Centerline goodness [0,1] 0.9999341267401519 Centerline is valid? [True, True] Translation: X:144.97, Y:161.16, Z:6.73 [[ 9.98643931e-01 5.15309321e-02 -7.40683606e-03 1.44973390e+02] [ 5.15287196e-02 -9.98671393e-01 -4.89354415e-04 1.61158738e+02] [-7.42221217e-03 1.07026039e-04 -9.99972449e-01 6.73404693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.580385723 meters Centerline goodness [0,1] 0.9999561759098977 Centerline is valid? [True, True] Translation: X:144.97, Y:161.15, Z:6.73 [[ 9.91696166e-01 1.28332376e-01 -8.33757492e-03 1.44972408e+02] [ 1.28326727e-01 -9.91731206e-01 -1.21129596e-03 1.61148620e+02] [-8.42408172e-03 1.31303862e-04 -9.99964508e-01 6.73498356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.97, Y:161.14, Z:6.73 [[ 9.78869158e-01 2.04321930e-01 -8.22918580e-03 1.44973083e+02] [ 2.04313486e-01 -9.78903738e-01 -1.86299234e-03 1.61138388e+02] [-8.43623094e-03 1.42292102e-04 -9.99964404e-01 6.73401614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.640385723 meters Centerline goodness [0,1] 0.9999124745629199 Centerline is valid? [True, True] Translation: X:144.97, Y:161.13, Z:6.74 [[ 9.60131399e-01 2.79410568e-01 -8.79954455e-03 1.44974143e+02] [ 2.79397269e-01 -9.60171707e-01 -2.73104379e-03 1.61127132e+02] [-9.21215621e-03 1.63592183e-04 -9.99957554e-01 6.73527439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.670385723 meters Centerline goodness [0,1] 0.9999342782658225 Centerline is valid? [True, True] Translation: X:144.98, Y:161.12, Z:6.74 [[ 9.35454511e-01 3.53340254e-01 -8.69034244e-03 1.44976507e+02] [ 3.53323313e-01 -9.35494862e-01 -3.46412955e-03 1.61117299e+02] [-9.35378711e-03 1.70035035e-04 -9.99956238e-01 6.73528241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.700385723 meters Centerline goodness [0,1] 0.9999780908353965 Centerline is valid? [True, True] Translation: X:144.98, Y:161.11, Z:6.73 [[ 9.05260572e-01 4.24775520e-01 -8.30992401e-03 1.44977868e+02] [ 4.24755838e-01 -9.05298695e-01 -4.09288237e-03 1.61107664e+02] [-9.26151960e-03 1.75436300e-04 -9.99957096e-01 6.73447983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.98, Y:161.10, Z:6.73 [[ 8.69389801e-01 4.94061333e-01 -8.04815766e-03 1.44980096e+02] [ 4.94038233e-01 -8.69427034e-01 -4.78102322e-03 1.61099828e+02] [-9.35940455e-03 1.80475239e-04 -9.99956184e-01 6.73427163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.98, Y:161.09, Z:6.73 [[ 8.28668584e-01 5.59690389e-01 -7.41928626e-03 1.44981640e+02] [ 5.59665943e-01 -8.28701776e-01 -5.23439324e-03 1.61092909e+02] [-9.07801529e-03 1.85255392e-04 -9.99958777e-01 6.73369306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.98, Y:161.09, Z:6.73 [[ 7.82725642e-01 6.22330849e-01 -6.69945369e-03 1.44984456e+02] [ 6.22306029e-01 -7.82754291e-01 -5.56108532e-03 1.61086580e+02] [-8.70486107e-03 1.83693655e-04 -9.99962095e-01 6.73370988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.99, Y:161.08, Z:6.73 [[ 7.32007246e-01 6.81267463e-01 -6.32730544e-03 1.44986190e+02] [ 6.81239730e-01 -7.32034567e-01 -6.15005029e-03 1.61080376e+02] [-8.82163546e-03 1.91469528e-04 -9.99961070e-01 6.73355650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.00, Y:161.07, Z:6.73 [[ 6.76998130e-01 7.35958685e-01 -6.19250501e-03 1.44998883e+02] [ 7.35925016e-01 -6.77026418e-01 -7.04279921e-03 1.61066275e+02] [-9.37569873e-03 2.10742551e-04 -9.99956025e-01 6.73186982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.880385723 meters Centerline goodness [0,1] 0.999934282584885 Centerline is valid? [True, True] Translation: X:145.01, Y:161.06, Z:6.73 [[ 6.17532472e-01 7.86526253e-01 -5.48625159e-03 1.45007882e+02] [ 7.86492171e-01 -6.17556807e-01 -7.32498928e-03 1.61055787e+02] [-9.14936839e-03 2.08524811e-04 -9.99958122e-01 6.73220925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.910385723 meters Centerline goodness [0,1] 0.9999782215737091 Centerline is valid? [True, True] Translation: X:145.02, Y:161.05, Z:6.73 [[ 5.53824188e-01 8.32623133e-01 -4.18170514e-03 1.45017403e+02] [ 8.32596956e-01 -5.53839947e-01 -6.60471231e-03 1.61046751e+02] [-7.81523161e-03 1.76174465e-04 -9.99969445e-01 6.73151651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.940385723 meters Centerline goodness [0,1] 0.99989068648885 Centerline is valid? [True, True] Translation: X:145.03, Y:161.04, Z:6.73 [[ 4.86405333e-01 8.73726879e-01 -3.34550050e-03 1.45028716e+02] [ 8.73703943e-01 -4.86416813e-01 -6.33274725e-03 1.61038032e+02] [-7.16039918e-03 1.57305059e-04 -9.99974352e-01 6.73155214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.04, Y:161.03, Z:6.73 [[ 4.15983269e-01 9.09368171e-01 -2.72934826e-03 1.45040103e+02] [ 9.09346218e-01 -4.15992196e-01 -6.32042658e-03 1.61030236e+02] [-6.88298234e-03 1.47269188e-04 -9.99976301e-01 6.73163486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.000385723 meters Centerline goodness [0,1] 0.9999781649853705 Centerline is valid? [True, True] Translation: X:145.05, Y:161.02, Z:6.73 [[ 3.42123087e-01 9.39652416e-01 -2.26496301e-03 1.45054597e+02] [ 9.39629042e-01 -3.42130555e-01 -6.62919519e-03 1.61022415e+02] [-7.00405233e-03 1.39775691e-04 -9.99975462e-01 6.73250693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.030385723 meters Centerline goodness [0,1] 0.9998261776464453 Centerline is valid? [True, True] Translation: X:145.07, Y:161.02, Z:6.73 [[ 2.67004539e-01 9.63693536e-01 -1.82870925e-03 1.45065864e+02] [ 9.63667121e-01 -2.67010763e-01 -7.13666034e-03 1.61016812e+02] [-7.36583849e-03 1.43253729e-04 -9.99972862e-01 6.73307348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.06038572299997 meters Centerline goodness [0,1] 0.9999125778603432 Centerline is valid? [True, True] Translation: X:145.08, Y:161.01, Z:6.73 [[ 1.90559093e-01 9.81674933e-01 -1.24868523e-03 1.45077801e+02] [ 9.81648756e-01 -1.90563132e-01 -7.17029805e-03 1.61012283e+02] [-7.27685522e-03 1.40595192e-04 -9.99973513e-01 6.73242364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.09, Y:161.01, Z:6.73 [[ 1.13004912e-01 9.93594215e-01 -6.52869880e-04 1.45089337e+02] [ 9.93570083e-01 -1.13006719e-01 -6.92622844e-03 1.61007979e+02] [-6.95563919e-03 1.34025859e-04 -9.99975800e-01 6.73222736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.10, Y:161.01, Z:6.73 [[ 3.49542420e-02 9.99388908e-01 -1.05317728e-04 1.45100502e+02] [ 9.99366038e-01 -3.49541548e-02 -6.76232238e-03 1.61005067e+02] [-6.76187127e-03 1.31120892e-04 -9.99977130e-01 6.73220817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.150385723 meters Centerline goodness [0,1] 0.9999346419467986 Centerline is valid? [True, True] Translation: X:145.11, Y:161.00, Z:6.73 [[-4.29646867e-02 9.99076499e-01 4.30411024e-04 1.45111361e+02] [ 9.99053099e-01 4.29666268e-02 -6.83913848e-03 1.61003681e+02] [-6.85131584e-03 1.36162025e-04 -9.99976520e-01 6.73288177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.180385723 meters Centerline goodness [0,1] 0.9998696615545032 Centerline is valid? [True, True] Translation: X:145.12, Y:161.00, Z:6.73 [[-1.20513257e-01 9.92711251e-01 9.62910579e-04 1.45121295e+02] [ 9.92688155e-01 1.20517023e-01 -6.77303452e-03 1.61003025e+02] [-6.83971468e-03 1.39629479e-04 -9.99976599e-01 6.73311832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.210385723 meters Centerline goodness [0,1] 0.999869172735598 Centerline is valid? [True, True] Translation: X:145.13, Y:161.00, Z:6.73 [[-1.97566620e-01 9.80288314e-01 1.50078236e-03 1.45133287e+02] [ 9.80265271e-01 1.97572268e-01 -6.72284062e-03 1.61003459e+02] [-6.88683507e-03 1.42955931e-04 -9.99976275e-01 6.73314108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.14, Y:161.00, Z:6.73 [[-2.72950808e-01 9.62026164e-01 1.87513406e-03 1.45143212e+02] [ 9.62006814e-01 2.72957214e-01 -6.10321256e-03 1.61002445e+02] [-6.38328154e-03 1.38014942e-04 -9.99979617e-01 6.73299114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.270385723 meters Centerline goodness [0,1] 0.9999127456754575 Centerline is valid? [True, True] Translation: X:145.15, Y:161.00, Z:6.73 [[-3.47326672e-01 9.37741462e-01 2.26564604e-03 1.45153846e+02] [ 9.37723965e-01 3.47334035e-01 -5.72998998e-03 1.61004221e+02] [-6.16018516e-03 1.34372242e-04 -9.99981017e-01 6.73306541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.300385723 meters Centerline goodness [0,1] 0.9999128274419213 Centerline is valid? [True, True] Translation: X:145.17, Y:161.01, Z:6.73 [[-4.20284924e-01 9.07387892e-01 2.79203114e-03 1.45169483e+02] [ 9.07369951e-01 4.20294177e-01 -5.70757934e-03 1.61008916e+02] [-6.35246281e-03 1.34595610e-04 -9.99979814e-01 6.73307497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.330385723 meters Centerline goodness [0,1] 0.9999346248556299 Centerline is valid? [True, True] Translation: X:145.18, Y:161.01, Z:6.73 [[-4.90305976e-01 8.71544145e-01 3.29445651e-03 1.45182129e+02] [ 8.71526295e-01 4.90317025e-01 -5.57965398e-03 1.61012528e+02] [-6.47824287e-03 1.35467793e-04 -9.99979007e-01 6.73393142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.19, Y:161.02, Z:6.73 [[-5.57546570e-01 8.30139224e-01 3.26972550e-03 1.45192428e+02] [ 8.30126150e-01 5.57556146e-01 -4.66046884e-03 1.61015680e+02] [-5.69189353e-03 1.15856226e-04 -9.99983794e-01 6.73289945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.390385723 meters Centerline goodness [0,1] 0.9998475974831813 Centerline is valid? [True, True] Translation: X:145.20, Y:161.02, Z:6.73 [[-6.21053404e-01 7.83761671e-01 3.21132022e-03 1.45201584e+02] [ 7.83752028e-01 6.21061698e-01 -3.88907560e-03 1.61018188e+02] [-5.04253638e-03 1.01555090e-04 -9.99987281e-01 6.73383710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.420385723 meters Centerline goodness [0,1] 0.9999348675640469 Centerline is valid? [True, True] Translation: X:145.21, Y:161.03, Z:6.73 [[-6.81124952e-01 7.32161773e-01 2.81742266e-03 1.45212737e+02] [ 7.32155983e-01 6.81130775e-01 -2.91284963e-03 1.61025278e+02] [-4.05171043e-03 7.87782860e-05 -9.99991789e-01 6.73258882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.450385723 meters Centerline goodness [0,1] 0.9997822204799861 Centerline is valid? [True, True] Translation: X:145.22, Y:161.03, Z:6.73 [[-7.36576129e-01 6.76349376e-01 2.66995773e-03 1.45222431e+02] [ 6.76345266e-01 7.36580965e-01 -2.35864329e-03 1.61032500e+02] [-3.56190696e-03 6.84929302e-05 -9.99993654e-01 6.73302309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.480385723 meters Centerline goodness [0,1] 0.99958696550075 Centerline is valid? [True, True] Translation: X:145.24, Y:161.05, Z:6.73 [[-7.83379004e-01 6.21539332e-01 2.48895012e-03 1.45241282e+02] [ 6.21536422e-01 7.83382956e-01 -1.90290768e-03 1.61054904e+02] [-3.13253307e-03 5.62752288e-05 -9.99995092e-01 6.73248282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.510385723 meters Centerline goodness [0,1] 0.9997388124673515 Centerline is valid? [True, True] Translation: X:145.67, Y:161.60, Z:5.74 [[-7.61721971e-01 -6.47901008e-01 1.98082542e-03 1.45674317e+02] [ 6.47898552e-01 -7.61724542e-01 -1.78562377e-03 1.61604730e+02] [ 2.66575078e-03 -7.67749346e-05 9.99996444e-01 5.74326405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.540385723 meters Centerline goodness [0,1] 0.999869172735598 Centerline is valid? [True, True] Translation: X:145.20, Y:161.08, Z:6.73 [[-7.86669441e-01 6.17371776e-01 1.81141068e-03 1.45203901e+02] [ 6.17370249e-01 7.86671526e-01 -1.37342047e-03 1.61081516e+02] [-2.27289624e-03 3.78831500e-05 -9.99997416e-01 6.73114350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.570385723 meters Centerline goodness [0,1] 0.9999563918627216 Centerline is valid? [True, True] Translation: X:145.63, Y:161.64, Z:5.74 [[-7.63479330e-01 -6.45829153e-01 2.00448546e-03 1.45631364e+02] [ 6.45826853e-01 -7.63481961e-01 -1.72353210e-03 1.61638621e+02] [ 2.64349577e-03 -2.13305976e-05 9.99996506e-01 5.74370587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.600385723 meters Centerline goodness [0,1] 0.9999346590290332 Centerline is valid? [True, True] Translation: X:145.17, Y:161.10, Z:6.73 [[-7.88745405e-01 6.14717351e-01 1.80674822e-03 1.45170668e+02] [ 6.14715848e-01 7.88747474e-01 -1.35974472e-03 1.61103867e+02] [-2.26092677e-03 3.81443656e-05 -9.99997443e-01 6.73099301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.630385723 meters Centerline goodness [0,1] 0.999912798936147 Centerline is valid? [True, True] Translation: X:145.19, Y:161.13, Z:6.73 [[-8.30034844e-01 5.57710361e-01 1.14555227e-03 1.45185461e+02] [ 5.57709870e-01 8.30035634e-01 -7.39961567e-04 1.61127785e+02] [-1.36353344e-03 2.46919260e-05 -9.99999070e-01 6.73078237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.660385723 meters Centerline goodness [0,1] 0.999978283058614 Centerline is valid? [True, True] Translation: X:145.58, Y:161.72, Z:5.74 [[-8.09730468e-01 -5.86800051e-01 1.50663725e-03 1.45576088e+02] [ 5.86799030e-01 -8.09731870e-01 -1.09477257e-03 1.61716095e+02] [ 1.86238480e-03 -2.37742976e-06 9.99998266e-01 5.74382372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.690385723 meters Centerline goodness [0,1] 0.9998910200523103 Centerline is valid? [True, True] Translation: X:145.15, Y:161.15, Z:6.73 [[-8.32259885e-01 5.54383993e-01 1.36849899e-03 1.45147706e+02] [ 5.54383299e-01 8.32261009e-01 -8.77713065e-04 1.61149568e+02] [-1.62553842e-03 2.81876105e-05 -9.99998678e-01 6.73108462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.720385723 meters Centerline goodness [0,1] 0.9999128862948363 Centerline is valid? [True, True] Translation: X:145.16, Y:161.17, Z:6.73 [[-8.69474092e-01 4.93974825e-01 1.91712280e-03 1.45163676e+02] [ 4.93973717e-01 8.69476205e-01 -1.04686406e-03 1.61173175e+02] [-2.18401714e-03 3.67870928e-05 -9.99997614e-01 6.73119772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.750385723 meters Centerline goodness [0,1] 0.9998696643857934 Centerline is valid? [True, True] Translation: X:145.18, Y:161.20, Z:6.73 [[-9.01854447e-01 4.32031958e-01 2.63517504e-03 1.45177523e+02] [ 4.32030278e-01 9.01858295e-01 -1.20605642e-03 1.61197544e+02] [-2.89760938e-03 5.07880596e-05 -9.99995801e-01 6.73320435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.780385723 meters Centerline goodness [0,1] 0.9996301131418625 Centerline is valid? [True, True] Translation: X:145.19, Y:161.22, Z:6.73 [[-9.29575667e-01 3.68619934e-01 2.90226621e-03 1.45189682e+02] [ 3.68618336e-01 9.29580196e-01 -1.08696843e-03 1.61222263e+02] [-3.09856743e-03 5.94091351e-05 -9.99995198e-01 6.73412616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.81038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.44, Y:161.89, Z:5.74 [[-9.18053566e-01 -3.96447926e-01 2.58686387e-03 1.45444702e+02] [ 3.96446135e-01 -9.18057208e-01 -1.19362226e-03 1.61892751e+02] [ 2.84809809e-03 -7.02569868e-05 9.99995942e-01 5.74264254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.840385723 meters Centerline goodness [0,1] 0.9999345635388038 Centerline is valid? [True, True] Translation: X:145.14, Y:161.24, Z:6.73 [[-9.30197443e-01 3.67044721e-01 3.29999118e-03 1.45142891e+02] [ 3.67042694e-01 9.30203294e-01 -1.22198081e-03 1.61236551e+02] [-3.51818426e-03 7.45542289e-05 -9.99993808e-01 6.73248576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.87038572299997 meters Centerline goodness [0,1] 0.9998031754362945 Centerline is valid? [True, True] Translation: X:145.15, Y:161.26, Z:6.73 [[-9.52857791e-01 3.03384149e-01 4.48199039e-03 1.45150149e+02] [ 3.03381352e-01 9.52868325e-01 -1.30763138e-03 1.61261020e+02] [-4.66746131e-03 1.13765556e-04 -9.99989101e-01 6.73348375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.900385723 meters Centerline goodness [0,1] 0.9998034934497817 Centerline is valid? [True, True] Translation: X:145.16, Y:161.28, Z:6.73 [[-9.71637529e-01 2.36423876e-01 4.92572802e-03 1.45159675e+02] [ 2.36421514e-01 9.71650006e-01 -1.06477178e-03 1.61284749e+02] [-5.03782113e-03 1.29975858e-04 -9.99987302e-01 6.73429142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.32, Y:162.00, Z:5.74 [[-9.68099339e-01 -2.50536115e-01 3.91480939e-03 1.45321141e+02] [ 2.50533376e-01 -9.68107240e-01 -1.18298362e-03 1.62003081e+02] [ 4.08633543e-03 -1.64455250e-04 9.99991637e-01 5.74321268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.11, Y:161.29, Z:6.73 [[-9.72031396e-01 2.34818242e-01 3.91889293e-03 1.45107706e+02] [ 2.34816803e-01 9.72039290e-01 -8.29989991e-04 1.61294423e+02] [-4.00421469e-03 1.13445579e-04 -9.99991977e-01 6.73145262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.990385723 meters Centerline goodness [0,1] 0.999934322868777 Centerline is valid? [True, True] Translation: X:145.11, Y:161.32, Z:6.73 [[-9.86108874e-01 1.66057489e-01 3.76805570e-03 1.45111426e+02] [ 1.66056706e-01 9.86116067e-01 -5.21958519e-04 1.61322200e+02] [-3.80241539e-03 1.11002990e-04 -9.99992765e-01 6.73123483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.020385723 meters Centerline goodness [0,1] 0.9999342940996101 Centerline is valid? [True, True] Translation: X:145.22, Y:162.05, Z:5.74 [[-9.84478699e-01 -1.75469717e-01 3.47418045e-03 1.45218778e+02] [ 1.75468194e-01 -9.84484822e-01 -7.40985665e-04 1.62054628e+02] [ 3.55029847e-03 -1.19876435e-04 9.99993691e-01 5.74238418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.050385723 meters Centerline goodness [0,1] 0.9998250639609892 Centerline is valid? [True, True] Translation: X:145.04, Y:161.33, Z:6.73 [[-9.86541175e-01 1.63456046e-01 4.31643570e-03 1.45044250e+02] [ 1.63455073e-01 9.86550609e-01 -5.79635681e-04 1.61329880e+02] [-4.35312722e-03 1.33708845e-04 -9.99990516e-01 6.73388888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.080385723 meters Centerline goodness [0,1] 0.9998683517640864 Centerline is valid? [True, True] Translation: X:145.16, Y:162.06, Z:5.74 [[-9.85433847e-01 -1.69971415e-01 5.46371754e-03 1.45155475e+02] [ 1.69968281e-01 -9.85448989e-01 -1.03623227e-03 1.62062942e+02] [ 5.56034479e-03 -9.24796711e-05 9.99984537e-01 5.74028107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.99, Y:161.34, Z:6.73 [[-9.87136735e-01 1.59772241e-01 5.82220079e-03 1.44986219e+02] [ 1.59770551e-01 9.87153888e-01 -7.57291679e-04 1.61336681e+02] [-5.86840233e-03 1.82665791e-04 -9.99982764e-01 6.73316331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.140385723 meters Centerline goodness [0,1] 0.9998022282286242 Centerline is valid? [True, True] Translation: X:144.99, Y:161.36, Z:6.73 [[-9.95857769e-01 9.07055060e-02 6.30986756e-03 1.44987662e+02] [ 9.07049926e-02 9.95877738e-01 -3.68081302e-04 1.61364690e+02] [-6.31724364e-03 2.05779867e-04 -9.99980025e-01 6.73493813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.170385723 meters Centerline goodness [0,1] 0.9998900446418754 Centerline is valid? [True, True] Translation: X:144.99, Y:161.39, Z:6.73 [[-9.99793279e-01 1.92243381e-02 6.61993482e-03 1.44985689e+02] [ 1.92253225e-02 9.99815173e-01 8.51056515e-05 1.61392912e+02] [-6.61707517e-03 2.12358441e-04 -9.99978084e-01 6.73364097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.97, Y:161.42, Z:6.73 [[-9.98541932e-01 -5.34934884e-02 7.24272393e-03 1.44965379e+02] [-5.34904645e-02 9.98568174e-01 6.10712170e-04 1.61420485e+02] [-7.26502273e-03 2.22405043e-04 -9.99973585e-01 6.73318348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.230385723 meters Centerline goodness [0,1] 0.9998678268531777 Centerline is valid? [True, True] Translation: X:144.96, Y:161.45, Z:6.74 [[-9.92041292e-01 -1.25703306e-01 7.26323855e-03 1.44957730e+02] [-1.25698311e-01 9.92067856e-01 1.14186675e-03 1.61450554e+02] [-7.34916192e-03 2.19802147e-04 -9.99972970e-01 6.73504100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.260385723 meters Centerline goodness [0,1] 0.9998677948175568 Centerline is valid? [True, True] Translation: X:144.93, Y:161.48, Z:6.74 [[-9.79623783e-01 -2.00684314e-01 7.94036832e-03 1.44926685e+02] [-2.00675976e-01 9.79655941e-01 1.84149487e-03 1.61475058e+02] [-8.14838813e-03 2.10531015e-04 -9.99966779e-01 6.73553114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.88, Y:161.49, Z:6.73 [[-9.61654443e-01 -2.74150394e-01 7.89270721e-03 1.44879552e+02] [-2.74139537e-01 9.61686813e-01 2.44712221e-03 1.61493252e+02] [-8.26119195e-03 1.89582837e-04 -9.99965858e-01 6.73362825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.81, Y:161.50, Z:6.73 [[-9.38034056e-01 -3.46446093e-01 8.19844103e-03 1.44810090e+02] [-3.46431171e-01 9.38069865e-01 3.22045762e-03 1.61500421e+02] [-8.80642543e-03 1.80703391e-04 -9.99961206e-01 6.73370689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.350385723 meters Centerline goodness [0,1] 0.9999116295510782 Centerline is valid? [True, True] Translation: X:144.74, Y:161.50, Z:6.74 [[-9.08147388e-01 -4.18565129e-01 8.45901752e-03 1.44737356e+02] [-4.18545374e-01 9.08186770e-01 4.06955347e-03 1.61501765e+02] [-9.38574097e-03 1.55271704e-04 -9.99955941e-01 6.73511315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.380385723 meters Centerline goodness [0,1] 0.9999337163057888 Centerline is valid? [True, True] Translation: X:144.65, Y:161.49, Z:6.73 [[-8.73622402e-01 -4.86536872e-01 8.10990797e-03 1.44653159e+02] [-4.86514435e-01 8.73660033e-01 4.67454745e-03 1.61490611e+02] [-9.35964216e-03 1.38202078e-04 -9.99956188e-01 6.73467704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.56, Y:161.47, Z:6.73 [[-8.33190790e-01 -5.52945643e-01 6.65009111e-03 1.44564105e+02] [-5.52927110e-01 8.33217323e-01 4.52814023e-03 1.61468373e+02] [-8.04478652e-03 9.57890745e-05 -9.99967636e-01 6.73279179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.440385723 meters Centerline goodness [0,1] 0.9998674003845389 Centerline is valid? [True, True] Translation: X:144.48, Y:161.44, Z:6.73 [[-7.88504315e-01 -6.15001894e-01 5.79791104e-03 1.44478322e+02] [-6.14984515e-01 7.88525627e-01 4.62410799e-03 1.61443065e+02] [-7.41563661e-03 8.05035972e-05 -9.99972501e-01 6.73042980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.470385723 meters Centerline goodness [0,1] 0.9998895344983761 Centerline is valid? [True, True] Translation: X:144.38, Y:161.40, Z:6.73 [[-7.39261086e-01 -6.73399812e-01 5.07359711e-03 1.44383490e+02] [-6.73383306e-01 7.39278492e-01 4.71526859e-03 1.61396764e+02] [-6.92606220e-03 6.93389757e-05 -9.99976012e-01 6.73120475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.30, Y:161.35, Z:6.73 [[-6.85459267e-01 -7.28096796e-01 4.54405859e-03 1.44295388e+02] [-7.28080195e-01 6.85474326e-01 4.91721265e-03 1.61348568e+02] [-6.69504228e-03 6.21099191e-05 -9.99977586e-01 6.72936634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.530385723 meters Centerline goodness [0,1] 0.9998892972590001 Centerline is valid? [True, True] Translation: X:144.20, Y:161.29, Z:6.73 [[-6.27848323e-01 -7.78324173e-01 4.23854802e-03 1.44203947e+02] [-7.78305773e-01 6.27862627e-01 5.35207271e-03 1.61285850e+02] [-6.82687345e-03 6.14034870e-05 -9.99976695e-01 6.72902114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.56038572299997 meters Centerline goodness [0,1] 0.9999556698288855 Centerline is valid? [True, True] Translation: X:144.12, Y:161.21, Z:6.73 [[-5.66369837e-01 -8.24143590e-01 3.54263517e-03 1.44117066e+02] [-8.24126854e-01 5.66380914e-01 5.25255998e-03 1.61214553e+02] [-6.33534458e-03 5.53107591e-05 -9.99979930e-01 6.72949250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.03, Y:161.13, Z:6.73 [[-5.01914468e-01 -8.64911218e-01 3.23308421e-03 1.44032130e+02] [-8.64892515e-01 5.01924877e-01 5.68820597e-03 1.61130549e+02] [-6.54255855e-03 5.87225391e-05 -9.99978596e-01 6.72993975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.62038572299997 meters Centerline goodness [0,1] 0.9999333881031152 Centerline is valid? [True, True] Translation: X:143.96, Y:161.04, Z:6.73 [[-4.34854286e-01 -9.00495165e-01 3.19498186e-03 1.43955714e+02] [-9.00469622e-01 4.34866017e-01 6.78283437e-03 1.61041688e+02] [-7.49729858e-03 7.25604894e-05 -9.99971892e-01 6.73146287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.650385723 meters Centerline goodness [0,1] 0.9999332324401318 Centerline is valid? [True, True] Translation: X:143.88, Y:160.94, Z:6.73 [[-3.64907170e-01 -9.31039641e-01 2.81871233e-03 1.43884628e+02] [-9.31010127e-01 3.64918047e-01 7.41371660e-03 1.60944561e+02] [-7.93106303e-03 8.10686188e-05 -9.99968545e-01 6.73209212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.82, Y:160.84, Z:6.73 [[-2.92980554e-01 -9.56115869e-01 2.20004416e-03 1.43820215e+02] [-9.56086657e-01 2.92988802e-01 7.47432229e-03 1.60841730e+02] [-7.79090645e-03 8.63982202e-05 -9.99969647e-01 6.73215919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.710385723 meters Centerline goodness [0,1] 0.9999777327484468 Centerline is valid? [True, True] Translation: X:143.76, Y:160.72, Z:6.73 [[-2.19080809e-01 -9.75705208e-01 1.71655203e-03 1.43762133e+02] [-9.75671720e-01 2.19087512e-01 8.08437304e-03 1.60724344e+02] [-8.26403999e-03 9.63397107e-05 -9.99965848e-01 6.73242625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.740385723 meters Centerline goodness [0,1] 0.9999555170036254 Centerline is valid? [True, True] Translation: X:143.72, Y:160.61, Z:6.73 [[-1.45002107e-01 -9.89430732e-01 1.10245070e-03 1.43716765e+02] [-9.89395923e-01 1.45006254e-01 8.30019377e-03 1.60612419e+02] [-8.37232905e-03 1.12785358e-04 -9.99964945e-01 6.73355084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.770385723 meters Centerline goodness [0,1] 0.9999334796780417 Centerline is valid? [True, True] Translation: X:143.68, Y:160.49, Z:6.73 [[-6.90890589e-02 -9.97610390e-01 4.60956737e-04 1.43677682e+02] [-9.97575037e-01 6.90904916e-02 8.39934297e-03 1.60490514e+02] [-8.41111954e-03 1.20463768e-04 -9.99964619e-01 6.73358291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.65, Y:160.37, Z:6.73 [[ 5.59874290e-03 -9.99984307e-01 -2.01483647e-04 1.43649677e+02] [-9.99943989e-01 -5.60032668e-03 8.98082026e-03 1.60366986e+02] [-8.98180769e-03 1.51191058e-04 -9.99959651e-01 6.73387135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.63, Y:160.24, Z:6.73 [[ 8.17539059e-02 -9.96652128e-01 -9.13597857e-04 1.43630039e+02] [-9.96610338e-01 -8.17588455e-02 9.12827190e-03 1.60244141e+02] [-9.17240632e-03 1.64229187e-04 -9.99957919e-01 6.73426695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.85, Y:160.04, Z:5.74 [[ 5.01910080e-02 9.98739577e-01 -3.47352020e-04 1.42854537e+02] [-9.98692691e-01 5.01920179e-02 9.67836449e-03 1.60044594e+02] [ 9.68359995e-03 -1.38868946e-04 9.99953103e-01 5.74043868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.890385723 meters Centerline goodness [0,1] 0.9999554079061782 Centerline is valid? [True, True] Translation: X:143.66, Y:159.94, Z:6.73 [[ 8.90809078e-02 -9.96023823e-01 -1.06616307e-03 1.43661880e+02] [-9.95976740e-01 -8.90870655e-02 9.68646414e-03 1.59942332e+02] [-9.74293038e-03 1.98994598e-04 -9.99952517e-01 6.73443576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.65, Y:159.81, Z:6.73 [[ 1.65156509e-01 -9.86265523e-01 -1.90964467e-03 1.43651923e+02] [-9.86213868e-01 -1.65167408e-01 1.00962134e-02 1.59812380e+02] [-1.02729583e-02 2.15862698e-04 -9.99947208e-01 6.73384768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.65, Y:159.68, Z:6.73 [[ 2.40659519e-01 -9.70605804e-01 -2.71475436e-03 1.43652034e+02] [-9.70553946e-01 -2.40674730e-01 1.00355434e-02 1.59684813e+02] [-1.03939294e-02 2.19666515e-04 -9.99945958e-01 6.73402824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.980385723 meters Centerline goodness [0,1] 0.9999552642762878 Centerline is valid? [True, True] Translation: X:143.66, Y:159.56, Z:6.73 [[ 3.16376864e-01 -9.48627045e-01 -3.52261255e-03 1.43658007e+02] [-9.48575236e-01 -3.16396409e-01 9.91637934e-03 1.59559501e+02] [-1.05214876e-02 2.04150032e-04 -9.99944627e-01 6.73474124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.68, Y:159.43, Z:6.74 [[ 3.89488022e-01 -9.21020751e-01 -4.45607237e-03 1.43676197e+02] [-9.20966258e-01 -3.89513460e-01 1.00207774e-02 1.59433559e+02] [-1.09650441e-02 2.00919518e-04 -9.99939862e-01 6.73560099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.71, Y:159.30, Z:6.74 [[ 4.60367493e-01 -8.87711765e-01 -5.44003211e-03 1.43705286e+02] [-8.87654709e-01 -4.60399592e-01 1.00663948e-02 1.59304510e+02] [-1.14406457e-02 1.94629172e-04 -9.99934535e-01 6.73573021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.74, Y:159.19, Z:6.74 [[ 5.29335181e-01 -8.48389097e-01 -6.34084120e-03 1.43738040e+02] [-8.48332046e-01 -5.29373130e-01 9.84014203e-03 1.59188172e+02] [-1.17049402e-02 1.70405426e-04 -9.99931480e-01 6.73696810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.100385723 meters Centerline goodness [0,1] 0.9999777024616482 Centerline is valid? [True, True] Translation: X:143.78, Y:159.08, Z:6.74 [[ 5.93695067e-01 -8.04661078e-01 -6.83501571e-03 1.43777328e+02] [-8.04610697e-01 -5.93734390e-01 9.00556543e-03 1.59077683e+02] [-1.13046119e-02 1.52966991e-04 -9.99936089e-01 6.73658701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.82, Y:158.97, Z:6.74 [[ 6.54863105e-01 -7.55714808e-01 -7.03152132e-03 1.43823433e+02] [-7.55673284e-01 -6.54900843e-01 7.92299906e-03 1.58970454e+02] [-1.05924770e-02 1.25053043e-04 -9.99943890e-01 6.73689504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.88, Y:158.87, Z:6.74 [[ 7.11242310e-01 -7.02905180e-01 -7.66056896e-03 1.43876027e+02] [-7.02866162e-01 -7.11283554e-01 7.40706380e-03 1.58872255e+02] [-1.06553002e-02 1.16137536e-04 -9.99943224e-01 6.73778799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.87, Y:158.87, Z:6.74 [[ 7.64249882e-01 -6.44871415e-01 -7.93568427e-03 1.43871290e+02] [-6.44838118e-01 -7.64291074e-01 6.55405309e-03 1.58867526e+02] [-1.02916941e-02 1.08297403e-04 -9.99947033e-01 6.73842047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.87, Y:158.86, Z:6.74 [[ 8.12446505e-01 -5.82981215e-01 -7.97368136e-03 1.43866393e+02] [-5.82954347e-01 -8.12485626e-01 5.59786978e-03 1.58861273e+02] [-9.74195442e-03 1.00322473e-04 -9.99952541e-01 6.73837763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.86, Y:158.85, Z:6.74 [[ 8.55500046e-01 -5.17747142e-01 -7.58745034e-03 1.43860762e+02] [-5.17727726e-01 -8.55533687e-01 4.48467972e-03 1.58851613e+02] [-8.81324946e-03 9.15897096e-05 -9.99961158e-01 6.73744274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.86, Y:158.84, Z:6.74 [[ 8.93190215e-01 -4.49634248e-01 -6.34695145e-03 1.43855702e+02] [-4.49623505e-01 -8.93212761e-01 3.10910555e-03 1.58843393e+02] [-7.06713837e-03 7.67159086e-05 -9.99975025e-01 6.73724813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.31038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.85, Y:158.83, Z:6.74 [[ 9.25412899e-01 -3.78903311e-01 -6.57621163e-03 1.43850441e+02] [-3.78894359e-01 -9.25436262e-01 2.60579340e-03 1.58831489e+02] [-7.07320846e-03 8.02546600e-05 -9.99974981e-01 6.73698933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.85, Y:158.82, Z:6.74 [[ 9.52089976e-01 -3.05757068e-01 -6.10674133e-03 1.43845926e+02] [-3.05751284e-01 -9.52109558e-01 1.88219564e-03 1.58821384e+02] [-6.38978141e-03 7.51243952e-05 -9.99979582e-01 6.73755684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.37038572299997 meters Centerline goodness [0,1] 0.9999777999778 Centerline is valid? [True, True] Translation: X:143.84, Y:158.81, Z:6.74 [[ 9.72880210e-01 -2.31245289e-01 -5.45107670e-03 1.43843493e+02] [-2.31242066e-01 -9.72895478e-01 1.22286734e-03 1.58811020e+02] [-5.58611018e-03 7.08147998e-05 -9.99984395e-01 6.73762936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.84, Y:158.80, Z:6.74 [[ 9.87971660e-01 -1.54562017e-01 -4.75205937e-03 1.43837767e+02] [-1.54560531e-01 -9.87983086e-01 6.80583385e-04 1.58803138e+02] [-4.80014662e-03 6.20837253e-05 -9.99988477e-01 6.73758113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.83, Y:158.79, Z:6.74 [[ 9.97039587e-01 -7.68099090e-02 -3.50718879e-03 1.43832930e+02] [-7.68095969e-02 -9.97045754e-01 2.23798246e-04 1.58794498e+02] [-3.51401762e-03 4.62500464e-05 -9.99993825e-01 6.73682558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.83, Y:158.79, Z:6.74 [[ 9.99995033e-01 1.42701515e-03 -2.81030178e-03 1.43829093e+02] [ 1.42690379e-03 -9.99998981e-01 -4.16320808e-05 1.58786157e+02] [-2.81035833e-03 3.76218437e-05 -9.99996050e-01 6.73660112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.83, Y:158.78, Z:6.74 [[ 9.96824365e-01 7.95934304e-02 -2.46381922e-03 1.43826203e+02] [ 7.95931037e-02 -9.96827410e-01 -2.30525361e-04 1.58777790e+02] [-2.47435083e-03 3.36902786e-05 -9.99996938e-01 6.73632724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.82, Y:158.77, Z:6.74 [[ 9.87615004e-01 1.56876117e-01 -2.54700222e-03 1.43822776e+02] [ 1.56875500e-01 -9.87618288e-01 -4.41356637e-04 1.58770156e+02] [-2.58470428e-03 3.63281904e-05 -9.99996659e-01 6.73653873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.82, Y:158.76, Z:6.74 [[ 9.72640068e-01 2.32295070e-01 -3.20922134e-03 1.43819669e+02] [ 2.32293634e-01 -9.72645361e-01 -8.18413799e-04 1.58763402e+02] [-3.31154773e-03 5.05403662e-05 -9.99994516e-01 6.73794411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.82, Y:158.76, Z:6.74 [[ 9.52139645e-01 3.05639327e-01 -3.83394482e-03 1.43816347e+02] [ 3.05636551e-01 -9.52147361e-01 -1.30443472e-03 1.58757898e+02] [-4.04916699e-03 7.02103353e-05 -9.99991800e-01 6.73918100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.81, Y:158.75, Z:6.74 [[ 9.25702665e-01 3.78231507e-01 -3.93744594e-03 1.43814890e+02] [ 3.78227722e-01 -9.25711035e-01 -1.69398872e-03 1.58752610e+02] [-4.28565707e-03 7.88786584e-05 -9.99990813e-01 6.73956325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.81, Y:158.75, Z:6.74 [[ 8.93842504e-01 4.48366478e-01 -3.61667015e-03 1.43813354e+02] [ 4.48362441e-01 -8.93849817e-01 -1.90423432e-03 1.58747603e+02] [-4.08655479e-03 8.05065190e-05 -9.99991647e-01 6.74016315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.81, Y:158.74, Z:6.74 [[ 8.56756208e-01 5.15708096e-01 -3.73627194e-03 1.43810212e+02] [ 5.15702714e-01 -8.56764350e-01 -2.35791485e-03 1.58742760e+02] [-4.41710037e-03 9.33526059e-05 -9.99990240e-01 6.74075709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.81, Y:158.74, Z:6.74 [[ 8.15269333e-01 5.79071580e-01 -3.46686006e-03 1.43806276e+02] [ 5.79065804e-01 -8.15276698e-01 -2.58834705e-03 1.58739344e+02] [-4.32528844e-03 1.02659860e-04 -9.99990641e-01 6.74169597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.80, Y:158.74, Z:6.74 [[ 7.68060306e-01 6.40369476e-01 -3.20941238e-03 1.43802981e+02] [ 6.40363306e-01 -7.68067004e-01 -2.81321403e-03 1.58735572e+02] [-4.26654015e-03 1.05528109e-04 -9.99990893e-01 6.74185700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.80, Y:158.73, Z:6.74 [[ 7.16599079e-01 6.97480322e-01 -2.63821096e-03 1.43798400e+02] [ 6.97475078e-01 -7.16603929e-01 -2.70643790e-03 1.58732193e+02] [-3.77823952e-03 9.93445168e-05 -9.99992858e-01 6.74112382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.79, Y:158.73, Z:6.74 [[ 6.59999800e-01 7.51262971e-01 -2.05271353e-03 1.43794721e+02] [ 7.51258927e-01 -6.60002986e-01 -2.46628311e-03 1.58728921e+02] [-3.20762423e-03 8.56269931e-05 -9.99994852e-01 6.74034433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.79, Y:158.72, Z:6.74 [[ 5.99060415e-01 8.00702012e-01 -1.70489514e-03 1.43792040e+02] [ 8.00698389e-01 -5.99062836e-01 -2.41000119e-03 1.58724603e+02] [-2.95103212e-03 7.86295182e-05 -9.99995643e-01 6.74012075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.79, Y:158.72, Z:6.74 [[ 5.34527022e-01 8.45150034e-01 -1.51101125e-03 1.43788751e+02] [ 8.45146232e-01 -5.34529152e-01 -2.53616771e-03 1.58719541e+02] [-2.95112179e-03 7.86247129e-05 -9.99995642e-01 6.74012152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.79, Y:158.71, Z:6.74 [[ 4.65146375e-01 8.85232989e-01 -1.18560028e-03 1.43787530e+02] [ 8.85229738e-01 -4.65147881e-01 -2.40009100e-03 1.58714257e+02] [-2.67611919e-03 6.68650030e-05 -9.99996417e-01 6.73995007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.79, Y:158.71, Z:6.74 [[ 3.93236933e-01 9.19436669e-01 -9.62125872e-04 1.43790794e+02] [ 9.19433523e-01 -3.93238105e-01 -2.40611173e-03 1.58706972e+02] [-2.59061191e-03 6.15612184e-05 -9.99996642e-01 6.73935197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.79, Y:158.70, Z:6.74 [[ 3.17165629e-01 9.48369985e-01 -5.80015669e-04 1.43792816e+02] [ 9.48368154e-01 -3.17166156e-01 -1.86381091e-03 1.58700054e+02] [-1.95154367e-03 4.10683702e-05 -9.99998095e-01 6.73855867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.80, Y:158.69, Z:6.74 [[ 2.40259424e-01 9.70708576e-01 -5.19218447e-04 1.43801535e+02] [ 9.70705889e-01 -2.40259981e-01 -2.28442596e-03 1.58692556e+02] [-2.34225929e-03 4.48464620e-05 -9.99997256e-01 6.73909045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.81, Y:158.69, Z:6.74 [[ 1.61755778e-01 9.86830721e-01 -4.43108991e-04 1.43807901e+02] [ 9.86826078e-01 -1.61756376e-01 -3.02754579e-03 1.58686562e+02] [-3.05935090e-03 5.24515165e-05 -9.99995319e-01 6.73995543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.82, Y:158.68, Z:6.74 [[ 8.05374739e-02 9.96751544e-01 -2.74649662e-04 1.43823967e+02] [ 9.96743164e-01 -8.05379231e-02 -4.08750852e-03 1.58680481e+02] [-4.09635014e-03 5.54424375e-05 -9.99991608e-01 6.74071891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.06038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.83, Y:158.68, Z:6.74 [[ 4.96964347e-04 9.99999876e-01 4.57601438e-05 1.43832911e+02] [ 9.99991673e-01 -4.96774920e-04 -4.05055659e-03 1.58675392e+02] [-4.05053335e-03 4.77727449e-05 -9.99991795e-01 6.74175848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.84, Y:158.67, Z:6.74 [[-8.06198461e-02 9.96744897e-01 2.23532708e-04 1.43840696e+02] [ 9.96741824e-01 8.06201526e-02 -2.47519658e-03 1.58670928e+02] [-2.48516080e-03 2.32544320e-05 -9.99996912e-01 6.74017215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.85, Y:158.67, Z:6.74 [[-1.59493871e-01 9.87198888e-01 2.47838390e-04 1.43851762e+02] [ 9.87197820e-01 1.59494063e-01 -1.45175995e-03 1.58667819e+02] [-1.47270456e-03 1.31187034e-05 -9.99998916e-01 6.73901113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.86, Y:158.67, Z:6.74 [[-2.37103926e-01 9.71484261e-01 2.42043981e-04 1.43861161e+02] [ 9.71483792e-01 2.37104049e-01 -9.54859457e-04 1.58665307e+02] [-9.85020542e-04 8.74087857e-06 -9.99999515e-01 6.73836278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.87, Y:158.66, Z:6.74 [[-3.12925141e-01 9.49777732e-01 3.41742205e-04 1.43869615e+02] [ 9.49777195e-01 3.12925328e-01 -1.00927450e-03 1.58663078e+02] [-1.06552624e-03 8.75158713e-06 -9.99999432e-01 6.73791757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.88, Y:158.66, Z:6.74 [[-3.86661297e-01 9.22221730e-01 3.50146300e-04 1.43878086e+02] [ 9.22221369e-01 3.86661455e-01 -8.16048499e-04 1.58660414e+02] [-8.87965736e-04 7.37802956e-06 -9.99999606e-01 6.73754063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.240385723 meters Centerline goodness [0,1] 0.9999779541446208 Centerline is valid? [True, True] Translation: X:143.88, Y:158.66, Z:6.74 [[-4.56773375e-01 8.89583008e-01 3.93638713e-04 1.43884403e+02] [ 8.89582693e-01 4.56773545e-01 -7.49111299e-04 1.58658608e+02] [-8.46200432e-04 8.00008957e-06 -9.99999642e-01 6.73788433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.89, Y:158.66, Z:6.74 [[-5.24431549e-01 8.51452491e-01 4.54289049e-04 1.43891601e+02] [ 8.51452185e-01 5.24431746e-01 -7.21054872e-04 1.58657667e+02] [-8.52187565e-04 8.66147987e-06 -9.99999637e-01 6.73732781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.90, Y:158.66, Z:6.74 [[-5.88824648e-01 8.08260658e-01 4.92946548e-04 1.43898343e+02] [ 8.08260387e-01 5.88824855e-01 -6.61107324e-04 1.58657292e+02] [-8.24606220e-04 9.15288068e-06 -9.99999660e-01 6.73732105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.91, Y:158.66, Z:6.74 [[-6.49463727e-01 7.60392312e-01 6.32539437e-04 1.43905415e+02] [ 7.60391968e-01 6.49464035e-01 -7.22991910e-04 1.58655937e+02] [-9.60569104e-04 1.14208873e-05 -9.99999539e-01 6.73758564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.92, Y:158.66, Z:6.74 [[-7.05709745e-01 7.08500483e-01 9.06797232e-04 1.43917414e+02] [ 7.08499928e-01 7.05710327e-01 -8.86698748e-04 1.58662791e+02] [-1.26816266e-03 1.67138261e-05 -9.99999196e-01 6.73773564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.390385723 meters Centerline goodness [0,1] 0.9999780408001933 Centerline is valid? [True, True] Translation: X:143.94, Y:158.67, Z:6.74 [[-7.53474085e-01 6.57476148e-01 1.38479844e-03 1.43944954e+02] [ 6.57475096e-01 7.53475357e-01 -1.17653140e-03 1.58674573e+02] [-1.81695283e-03 2.39845644e-05 -9.99998349e-01 6.73836901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.97, Y:158.70, Z:6.74 [[-7.97834913e-01 6.02873276e-01 1.80710663e-03 1.43969679e+02] [ 6.02871814e-01 7.97836959e-01 -1.32764216e-03 1.58696042e+02] [-2.24217644e-03 3.02143864e-05 -9.99997486e-01 6.73840853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.450385723 meters Centerline goodness [0,1] 0.9999780190794391 Centerline is valid? [True, True] Translation: X:144.41, Y:159.28, Z:5.74 [[-7.71963791e-01 -6.35664520e-01 1.58824780e-03 1.44414660e+02] [ 6.35663074e-01 -7.71965424e-01 -1.35631449e-03 1.59284668e+02] [ 2.08823339e-03 -3.74351986e-05 9.99997819e-01 5.73700149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.480385723 meters Centerline goodness [0,1] 0.9999780234270268 Centerline is valid? [True, True] Translation: X:143.94, Y:158.72, Z:6.74 [[-7.99315722e-01 6.00908632e-01 1.78673904e-03 1.43936340e+02] [ 6.00907221e-01 7.99317718e-01 -1.30270445e-03 1.58719010e+02] [-2.21097852e-03 3.23922435e-05 -9.99997555e-01 6.73799264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.95, Y:158.74, Z:6.74 [[-8.39015932e-01 5.44097981e-01 3.10704449e-03 1.43954942e+02] [ 5.44094504e-01 8.39021683e-01 -1.94589230e-03 1.58741765e+02] [-3.66563377e-03 5.78911950e-05 -9.99993280e-01 6.73835219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.97, Y:158.77, Z:6.74 [[-8.75021664e-01 4.84073185e-01 3.19981793e-03 1.43971997e+02] [ 4.84070199e-01 8.75027513e-01 -1.70125136e-03 1.58766820e+02] [-3.62345889e-03 6.03047037e-05 -9.99993433e-01 6.73843901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.570385723 meters Centerline goodness [0,1] 0.9999780619967971 Centerline is valid? [True, True] Translation: X:143.99, Y:158.79, Z:6.74 [[-9.06820508e-01 4.21501112e-01 3.65773062e-03 1.43986180e+02] [ 4.21497990e-01 9.06827882e-01 -1.62388016e-03 1.58792505e+02] [-4.00139941e-03 6.91582758e-05 -9.99991992e-01 6.73878980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.00, Y:158.82, Z:6.74 [[-9.34236111e-01 3.56640399e-01 3.24251541e-03 1.43999031e+02] [ 3.56638479e-01 9.34241736e-01 -1.17185105e-03 1.58821741e+02] [-3.44722266e-03 6.16201954e-05 -9.99994056e-01 6.73818820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.630385723 meters Centerline goodness [0,1] 0.9999562946613929 Centerline is valid? [True, True] Translation: X:144.25, Y:159.51, Z:5.74 [[-9.22056425e-01 -3.87048086e-01 2.39326667e-03 1.44251026e+02] [ 3.87046504e-01 -9.22059526e-01 -1.11100128e-03 1.59505789e+02] [ 2.63674524e-03 -9.81003703e-05 9.99996519e-01 5.73745519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.95, Y:158.84, Z:6.74 [[-9.35923046e-01 3.52203732e-01 7.63696242e-04 1.43953549e+02] [ 3.52203628e-01 9.35923357e-01 -2.70932272e-04 1.58843034e+02] [-8.10184508e-04 1.54048306e-05 -9.99999672e-01 6.73598093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.20, Y:159.52, Z:5.74 [[-9.22767798e-01 -3.85355628e-01 7.94224608e-04 1.44197601e+02] [ 3.85355474e-01 -9.22768140e-01 -3.45469260e-04 1.59518257e+02] [ 8.66013688e-04 -1.27291083e-05 9.99999625e-01 5.73966212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.720385723 meters Centerline goodness [0,1] 0.9998469744665968 Centerline is valid? [True, True] Translation: X:143.90, Y:158.87, Z:6.74 [[-9.37656920e-01 3.47559820e-01 1.29317304e-03 1.43901704e+02] [ 3.47559523e-01 9.37657811e-01 -4.54904861e-04 1.58865075e+02] [-1.37066046e-03 2.29099148e-05 -9.99999060e-01 6.73784806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.750385723 meters Centerline goodness [0,1] 0.9999129772653106 Centerline is valid? [True, True] Translation: X:144.15, Y:159.53, Z:5.74 [[-9.23280532e-01 -3.84121310e-01 1.96970915e-03 1.44145246e+02] [ 3.84120469e-01 -9.23282632e-01 -8.03633739e-04 1.59528095e+02] [ 2.12729109e-03 1.46262161e-05 9.99997737e-01 5.73766384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.87, Y:158.89, Z:6.74 [[-9.39982621e-01 3.41215614e-01 2.13959759e-03 1.43866514e+02] [ 3.41214801e-01 9.39985055e-01 -7.45302996e-04 1.58885004e+02] [-2.26549878e-03 2.94905018e-05 -9.99997433e-01 6.73649492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.81038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.87, Y:158.92, Z:6.74 [[-9.61914493e-01 2.73338153e-01 2.60035910e-03 1.43870852e+02] [ 2.73337248e-01 9.61918008e-01 -7.04048309e-04 1.58916430e+02] [-2.69377550e-03 3.35407260e-05 -9.99996371e-01 6.73682020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.840385723 meters Centerline goodness [0,1] 0.9999566339252802 Centerline is valid? [True, True] Translation: X:143.88, Y:158.95, Z:6.74 [[-9.78820955e-01 2.04687321e-01 3.55522118e-03 1.43876095e+02] [ 2.04686139e-01 9.78827410e-01 -6.97136147e-04 1.58950593e+02] [-3.62264287e-03 4.53330280e-05 -9.99993437e-01 6.73796736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.88, Y:158.98, Z:6.74 [[-9.90830516e-01 1.35046819e-01 4.15267616e-03 1.43877903e+02] [ 1.35045859e-01 9.90839217e-01 -5.12030568e-04 1.58982193e+02] [-4.18378249e-03 5.34662075e-05 -9.99991247e-01 6.73852884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.900385723 meters Centerline goodness [0,1] 0.999978466838932 Centerline is valid? [True, True] Translation: X:143.88, Y:159.01, Z:6.74 [[-9.97853174e-01 6.52592753e-02 5.50177241e-03 1.43880501e+02] [ 6.52586961e-02 9.97868339e-01 -2.84920118e-04 1.59014437e+02] [-5.50863818e-03 7.47300491e-05 -9.99984825e-01 6.73866080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.92, Y:159.68, Z:5.74 [[-9.94433774e-01 -1.05189964e-01 6.04482405e-03 1.43916258e+02] [ 1.05187744e-01 -9.94452145e-01 -6.84861486e-04 1.59681843e+02] [ 6.08332880e-03 -4.52079873e-05 9.99981495e-01 5.73658178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.81, Y:159.02, Z:6.74 [[-9.98011522e-01 6.27277448e-02 6.18322822e-03 1.43811494e+02] [ 6.27271387e-02 9.98030671e-01 -2.92097891e-04 1.59020125e+02] [-6.18937405e-03 9.63391531e-05 -9.99980841e-01 6.73882782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.990385723 meters Centerline goodness [0,1] 0.9999139877432535 Centerline is valid? [True, True] Translation: X:143.84, Y:159.68, Z:5.73 [[-9.95360391e-01 -9.59607554e-02 7.01612538e-03 1.43841263e+02] [ 9.59579754e-02 -9.95385117e-01 -7.32573515e-04 1.59681530e+02] [ 7.05404509e-03 -5.59214731e-05 9.99975118e-01 5.73438743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.74, Y:159.03, Z:6.74 [[-9.97965799e-01 6.34261303e-02 6.43345366e-03 1.43743018e+02] [ 6.34256769e-02 9.97986527e-01 -2.74682908e-04 1.59028852e+02] [-6.43792215e-03 1.33922005e-04 -9.99979267e-01 6.73906771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.74, Y:159.06, Z:6.74 [[-9.99962079e-01 -4.48052974e-03 7.46767265e-03 1.43741740e+02] [-4.47906378e-03 9.99989946e-01 2.13020445e-04 1.59057727e+02] [-7.46855202e-03 1.79564184e-04 -9.99972094e-01 6.73984744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.080385723 meters Centerline goodness [0,1] 0.9999785306367813 Centerline is valid? [True, True] Translation: X:143.72, Y:159.71, Z:5.74 [[-9.99871110e-01 -1.38728107e-02 8.08142347e-03 1.43724821e+02] [ 1.38711115e-02 -9.99903756e-01 -2.66273852e-04 1.59708008e+02] [ 8.08433965e-03 -1.54141205e-04 9.99967309e-01 5.73564992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.66, Y:159.06, Z:6.74 [[-9.99939956e-01 -7.20445727e-03 8.25717723e-03 1.43656708e+02] [-7.20239444e-03 9.99974023e-01 2.79531960e-04 1.59060426e+02] [-8.25897661e-03 2.20043728e-04 -9.99965870e-01 6.73908478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.65, Y:159.09, Z:6.74 [[-9.97052932e-01 -7.62701963e-02 8.26484201e-03 1.43645839e+02] [-7.62655823e-02 9.97087158e-01 8.72469203e-04 1.59093110e+02] [-8.30731122e-03 2.39574988e-04 -9.99965465e-01 6.73840517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.63, Y:159.12, Z:6.74 [[-9.89153622e-01 -1.46682845e-01 7.69770401e-03 1.43626515e+02] [-1.46676583e-01 9.89183547e-01 1.37495991e-03 1.59119930e+02] [-7.81612518e-03 2.30973656e-04 -9.99969427e-01 6.73889762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.200385723 meters Centerline goodness [0,1] 0.9999359959037378 Centerline is valid? [True, True] Translation: X:143.60, Y:159.15, Z:6.74 [[-9.76302222e-01 -2.16298606e-01 6.99174215e-03 1.43595875e+02] [-2.16291425e-01 9.76327232e-01 1.77656644e-03 1.59147153e+02] [-7.21049710e-03 2.22211891e-04 -9.99973979e-01 6.73902442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.230385723 meters Centerline goodness [0,1] 0.9998718988855203 Centerline is valid? [True, True] Translation: X:143.56, Y:159.17, Z:6.74 [[-9.58182355e-01 -2.86075012e-01 6.90372253e-03 1.43555968e+02] [-2.86065887e-01 9.58207199e-01 2.29595697e-03 1.59169443e+02] [-7.27201254e-03 2.25025946e-04 -9.99973533e-01 6.73901253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.49, Y:159.18, Z:6.74 [[-9.34298008e-01 -3.56442296e-01 6.01012112e-03 1.43487511e+02] [-3.56433574e-01 9.34317318e-01 2.50119090e-03 1.59176045e+02] [-6.50689048e-03 1.94648729e-04 -9.99978811e-01 6.73741215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.42, Y:159.18, Z:6.74 [[-9.04887824e-01 -4.25606907e-01 6.06513301e-03 1.43415917e+02] [-4.25595898e-01 9.04908130e-01 3.06734786e-03 1.59177004e+02] [-6.79387260e-03 1.94310008e-04 -9.99976903e-01 6.73795643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.33, Y:159.17, Z:6.74 [[-8.69016300e-01 -4.94733680e-01 7.01834026e-03 1.43332436e+02] [-4.94715644e-01 8.69044616e-01 4.22932653e-03 1.59173331e+02] [-8.19164109e-03 2.03270977e-04 -9.99966427e-01 6.73954541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.25, Y:159.15, Z:6.74 [[-8.28602237e-01 -5.59792482e-01 7.12105819e-03 1.43246556e+02] [-5.59769740e-01 8.28632812e-01 5.04978092e-03 1.59154927e+02] [-8.72757187e-03 1.98106870e-04 -9.99961894e-01 6.74077824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.380385723 meters Centerline goodness [0,1] 0.9999788131104472 Centerline is valid? [True, True] Translation: X:143.15, Y:159.13, Z:6.74 [[-7.81900434e-01 -6.23356393e-01 7.64977262e-03 1.43154415e+02] [-6.23324247e-01 7.81937832e-01 6.33325981e-03 1.59131152e+02] [-9.92952461e-03 1.83689835e-04 -9.99950684e-01 6.74128545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.410385723 meters Centerline goodness [0,1] 0.9998940139053756 Centerline is valid? [True, True] Translation: X:143.06, Y:159.09, Z:6.74 [[-7.31753420e-01 -6.81527313e-01 7.57987567e-03 1.43063617e+02] [-6.81488249e-01 7.31792656e-01 7.29897255e-03 1.59092710e+02] [-1.05213465e-02 1.75451924e-04 -9.99944634e-01 6.74212676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.98, Y:159.05, Z:6.74 [[-6.77212168e-01 -7.35759705e-01 6.42933282e-03 1.42975111e+02] [-7.35724502e-01 6.77242672e-01 7.19867732e-03 1.59046410e+02] [-9.65071523e-03 1.44814192e-04 -9.99953420e-01 6.74005394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.470385723 meters Centerline goodness [0,1] 0.9999578521453258 Centerline is valid? [True, True] Translation: X:142.89, Y:158.99, Z:6.74 [[-6.18402808e-01 -7.85837794e-01 6.07691782e-03 1.42885689e+02] [-7.85797746e-01 6.18432651e-01 7.93462503e-03 1.58985463e+02] [-9.99349263e-03 1.31566072e-04 -9.99950055e-01 6.74134820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.80, Y:158.92, Z:6.74 [[-5.56919092e-01 -8.30548466e-01 5.51097254e-03 1.42799954e+02] [-8.30505493e-01 5.56946343e-01 8.44965902e-03 1.58918653e+02] [-1.00871673e-02 1.28883456e-04 -9.99949115e-01 6.74069821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.72, Y:158.85, Z:6.74 [[-4.91815408e-01 -8.70684900e-01 5.04073241e-03 1.42719896e+02] [-8.70636509e-01 4.91841223e-01 9.18044029e-03 1.58846211e+02] [-1.04725107e-02 1.26436317e-04 -9.99945154e-01 6.74108938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.56038572299997 meters Centerline goodness [0,1] 0.9999156207151144 Centerline is valid? [True, True] Translation: X:142.65, Y:158.76, Z:6.74 [[-4.24258328e-01 -9.05529000e-01 4.70107723e-03 1.42645276e+02] [-9.05469805e-01 4.24284351e-01 1.03547454e-02 1.58762509e+02] [-1.13711158e-02 1.36403494e-04 -9.99935337e-01 6.74292858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.57, Y:158.67, Z:6.74 [[-3.53679404e-01 -9.35359722e-01 3.61524567e-03 1.42574509e+02] [-9.35307331e-01 3.53697860e-01 9.90049534e-03 1.58671515e+02] [-1.05392292e-02 1.20235512e-04 -9.99944454e-01 6.74102375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.51, Y:158.57, Z:6.74 [[-2.81046115e-01 -9.59689647e-01 2.97707768e-03 1.42510829e+02] [-9.59631178e-01 2.81061857e-01 1.05940818e-02 1.58572389e+02] [-1.10037736e-02 1.20528971e-04 -9.99939449e-01 6.74088153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.45, Y:158.46, Z:6.74 [[-2.06792816e-01 -9.78382233e-01 2.22194977e-03 1.42453361e+02] [-9.78319391e-01 2.06804719e-01 1.10895583e-02 1.58461514e+02] [-1.13093365e-02 1.19464450e-04 -9.99936040e-01 6.74081101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.41, Y:158.36, Z:6.74 [[-1.31492412e-01 -9.91316294e-01 1.32318452e-03 1.42407893e+02] [-9.91257023e-01 1.31499020e-01 1.08407684e-02 1.58357846e+02] [-1.09206278e-02 1.13862836e-04 -9.99940362e-01 6.73990395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.37, Y:158.25, Z:6.74 [[-5.57413071e-02 -9.98445130e-01 4.77888888e-04 1.42372220e+02] [-9.98388939e-01 5.57432403e-02 1.05933242e-02 1.58246192e+02] [-1.06034920e-02 1.13366758e-04 -9.99943775e-01 6.74228563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.740385723 meters Centerline goodness [0,1] 0.9999788690727749 Centerline is valid? [True, True] Translation: X:142.34, Y:158.13, Z:6.74 [[ 2.01936446e-02 -9.99796037e-01 -3.19393774e-04 1.42340705e+02] [-9.99743802e-01 -2.01958546e-02 1.02204911e-02 1.58130504e+02] [-1.02248569e-02 1.12922980e-04 -9.99947718e-01 6.74044522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.770385723 meters Centerline goodness [0,1] 0.9999788690727749 Centerline is valid? [True, True] Translation: X:142.32, Y:158.01, Z:6.74 [[ 9.63565768e-02 -9.95346274e-01 -1.09768847e-03 1.42319532e+02] [-9.95294359e-01 -9.63627628e-02 1.01664387e-02 1.58012480e+02] [-1.02249032e-02 1.12919905e-04 -9.99947718e-01 6.74044744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.31, Y:157.89, Z:6.74 [[ 1.71460264e-01 -9.85189326e-01 -1.83567124e-03 1.42308439e+02] [-9.85139898e-01 -1.71470051e-01 9.86930070e-03 1.57892046e+02] [-1.00378923e-02 1.16200069e-04 -9.99949612e-01 6.74044558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.31, Y:157.77, Z:6.74 [[ 2.44682488e-01 -9.69599134e-01 -2.82843466e-03 1.42307048e+02] [-9.69540951e-01 -2.44698793e-01 1.06228633e-02 1.57772823e+02] [-1.09920336e-02 1.43054613e-04 -9.99939576e-01 6.74085257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.31, Y:157.66, Z:6.74 [[ 3.17245931e-01 -9.48335899e-01 -3.74716842e-03 1.42313234e+02] [-9.48275430e-01 -3.17268022e-01 1.07103659e-02 1.57655723e+02] [-1.13458812e-02 1.55527726e-04 -9.99935621e-01 6.74103298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.33, Y:157.53, Z:6.74 [[ 3.87615771e-01 -9.21808912e-01 -4.72682963e-03 1.42333129e+02] [-9.21745753e-01 -3.87644552e-01 1.07920548e-02 1.57534341e+02] [-1.17805420e-02 1.73764499e-04 -9.99930592e-01 6.74181307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.35, Y:157.42, Z:6.74 [[ 4.56288618e-01 -8.89814250e-01 -5.59434153e-03 1.42354912e+02] [-8.89752173e-01 -4.56322876e-01 1.05120487e-02 1.57424291e+02] [-1.19065967e-02 1.81049368e-04 -9.99929098e-01 6.74105128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.39, Y:157.32, Z:6.74 [[ 5.22056938e-01 -8.52886386e-01 -6.43167672e-03 1.42385679e+02] [-8.52826101e-01 -5.22096521e-01 1.01422063e-02 1.57316164e+02] [-1.20081057e-02 1.90292639e-04 -9.99927882e-01 6.74100624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.43, Y:157.21, Z:6.74 [[ 5.84938300e-01 -8.11049868e-01 -6.73027391e-03 1.42425345e+02] [-8.10999759e-01 -5.84976989e-01 9.01739933e-03 1.57211300e+02] [-1.12506159e-02 1.83628287e-04 -9.99936693e-01 6.74099669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.47, Y:157.11, Z:6.74 [[ 6.44736555e-01 -7.64367248e-01 -7.58184294e-03 1.42469829e+02] [-7.64317789e-01 -6.44781106e-01 8.69728616e-03 1.57110392e+02] [-1.15365498e-02 1.87479109e-04 -9.99933434e-01 6.74033939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.52, Y:157.02, Z:6.74 [[ 7.00893725e-01 -7.13222991e-01 -7.80713895e-03 1.42520193e+02] [-7.13181496e-01 -7.00937183e-01 7.69535648e-03 1.57016166e+02] [-1.09608192e-02 1.74279973e-04 -9.99939913e-01 6.74002423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.52, Y:157.01, Z:6.74 [[ 7.55123737e-01 -6.55535803e-01 -7.80720280e-03 1.42520046e+02] [-6.55502851e-01 -7.55164080e-01 6.57459144e-03 1.57006539e+02] [-1.02055992e-02 1.53013637e-04 -9.99947910e-01 6.73917756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.52, Y:157.00, Z:6.74 [[ 8.04442870e-01 -5.93975323e-01 -8.06134587e-03 1.42521263e+02] [-5.93947259e-01 -8.04483248e-01 5.77561037e-03 1.56995897e+02] [-9.91578774e-03 1.41865708e-04 -9.99950827e-01 6.73863515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.52, Y:156.98, Z:6.74 [[ 8.49038057e-01 -5.28257401e-01 -8.85981382e-03 1.42520789e+02] [-5.28230301e-01 -8.49084271e-01 5.35251362e-03 1.56982466e+02] [-1.03502335e-02 1.35534352e-04 -9.99946426e-01 6.73772733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.160385723 meters Centerline goodness [0,1] 0.9999785757134287 Centerline is valid? [True, True] Translation: X:142.52, Y:156.97, Z:6.74 [[ 8.87973153e-01 -4.59795214e-01 -9.59382622e-03 1.42520926e+02] [-4.59770016e-01 -8.88024968e-01 4.81552931e-03 1.56968953e+02] [-1.07337145e-02 1.34892887e-04 -9.99942383e-01 6.73796902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.52, Y:156.96, Z:6.74 [[ 9.21456237e-01 -3.88345879e-01 -1.02898516e-02 1.42522339e+02] [-3.88323265e-01 -9.21513679e-01 4.19302573e-03 1.56955773e+02] [-1.11105833e-02 1.32099070e-04 -9.99938267e-01 6.73838801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.53, Y:156.94, Z:6.74 [[ 9.49589452e-01 -3.13297429e-01 -1.11621300e-02 1.42525211e+02] [-3.13277232e-01 -9.49655047e-01 3.55931914e-03 1.56943924e+02] [-1.17152986e-02 1.16949263e-04 -9.99931367e-01 6.73811959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.250385723 meters Centerline goodness [0,1] 0.9998712584486643 Centerline is valid? [True, True] Translation: X:142.53, Y:156.93, Z:6.74 [[ 9.71430861e-01 -2.37075851e-01 -1.08223052e-02 1.42528397e+02] [-2.37062278e-01 -9.71491138e-01 2.53883386e-03 1.56931764e+02] [-1.11156698e-02 9.92587556e-05 -9.99938214e-01 6.73762835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.280385723 meters Centerline goodness [0,1] 0.999785747953893 Centerline is valid? [True, True] Translation: X:142.53, Y:156.92, Z:6.74 [[ 9.87195441e-01 -1.59167399e-01 -1.05309573e-02 1.42532546e+02] [-1.59159229e-01 -9.87251605e-01 1.61475151e-03 1.56920358e+02] [-1.06537203e-02 8.20237098e-05 -9.99943244e-01 6.73713972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.31038572299997 meters Centerline goodness [0,1] 0.9998501359481042 Centerline is valid? [True, True] Translation: X:142.53, Y:156.91, Z:6.74 [[ 9.96798265e-01 -7.93197372e-02 -1.00795737e-02 1.42533853e+02] [-7.93162586e-02 -9.96849224e-01 7.45019725e-04 1.56908636e+02] [-1.01069099e-02 5.68397016e-05 -9.99948922e-01 6.73601185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.340385723 meters Centerline goodness [0,1] 0.9999785343236165 Centerline is valid? [True, True] Translation: X:142.54, Y:156.90, Z:6.74 [[ 9.99949456e-01 3.30846795e-04 -1.00486400e-02 1.42535357e+02] [ 3.30400784e-04 -9.99999944e-01 -4.60456226e-05 1.56897380e+02] [-1.00486547e-02 4.27232167e-05 -9.99949510e-01 6.73685200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.37038572299997 meters Centerline goodness [0,1] 0.9999784784246207 Centerline is valid? [True, True] Translation: X:142.54, Y:156.89, Z:6.74 [[ 9.96597865e-01 8.15297611e-02 -1.20662064e-02 1.42536693e+02] [ 8.15235955e-02 -9.96670908e-01 -1.00277916e-03 1.56891307e+02] [-1.21077932e-02 1.56870402e-05 -9.99926698e-01 6.73830548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.54, Y:156.88, Z:6.74 [[ 9.86958383e-01 1.60483229e-01 -1.25810996e-02 1.42539191e+02] [ 1.60470179e-01 -9.87038567e-01 -2.04658743e-03 1.56884244e+02] [-1.27464734e-02 1.00531604e-06 -9.99918760e-01 6.73881933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.54, Y:156.88, Z:6.74 [[ 9.71106084e-01 2.38294089e-01 -1.29961827e-02 1.42542397e+02] [ 2.38272934e-01 -9.71193043e-01 -3.17518220e-03 1.56876751e+02] [-1.33784294e-02 -1.31998447e-05 -9.99910505e-01 6.73866727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.460385723 meters Centerline goodness [0,1] 0.9998272511336644 Centerline is valid? [True, True] Translation: X:142.55, Y:156.87, Z:6.74 [[ 9.49274030e-01 3.14130548e-01 -1.41708941e-02 1.42545820e+02] [ 3.14095920e-01 -9.49379797e-01 -4.66417497e-03 1.56870850e+02] [-1.49187204e-02 -2.34398639e-05 -9.99888709e-01 6.74135795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.490385723 meters Centerline goodness [0,1] 0.9997629259251277 Centerline is valid? [True, True] Translation: X:142.55, Y:156.87, Z:6.74 [[ 9.21018897e-01 3.89328093e-01 -1.21584442e-02 1.42548373e+02] [ 3.89294847e-01 -9.21099144e-01 -5.08807774e-03 1.56867358e+02] [-1.31800641e-02 -4.70039205e-05 -9.99913138e-01 6.73811556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.520385723 meters Centerline goodness [0,1] 0.9998699440759526 Centerline is valid? [True, True] Translation: X:142.55, Y:156.86, Z:6.74 [[ 8.87484163e-01 4.60691092e-01 -1.16438194e-02 1.42552156e+02] [ 4.60652231e-01 -8.87560542e-01 -5.98391449e-03 1.56860378e+02] [-1.30913308e-02 -5.31220438e-05 -9.99914303e-01 6.73696090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.550385723 meters Centerline goodness [0,1] 0.9999349028968211 Centerline is valid? [True, True] Translation: X:142.55, Y:156.86, Z:6.74 [[ 8.48453170e-01 5.29169240e-01 -1.03505871e-02 1.42553663e+02] [ 5.29130658e-01 -8.48516301e-01 -6.39014227e-03 1.56856525e+02] [-1.21641086e-02 -5.50765186e-05 -9.99926013e-01 6.73749541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.580385723 meters Centerline goodness [0,1] 0.9998259999565 Centerline is valid? [True, True] Translation: X:142.56, Y:156.85, Z:6.74 [[ 8.04529242e-01 5.93841520e-01 -9.21667933e-03 1.42558588e+02] [ 5.93803267e-01 -8.04582032e-01 -6.74047396e-03 1.56850543e+02] [-1.14183479e-02 -4.99858843e-05 -9.99934807e-01 6.73527881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.610385723 meters Centerline goodness [0,1] 0.9999565576263088 Centerline is valid? [True, True] Translation: X:142.56, Y:156.84, Z:6.74 [[ 7.55763867e-01 6.54793302e-01 -8.16758634e-03 1.42562606e+02] [ 6.54755694e-01 -7.55807998e-01 -7.01793943e-03 1.56844011e+02] [-1.07684268e-02 -4.38686197e-05 -9.99942018e-01 6.73625183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.640385723 meters Centerline goodness [0,1] 0.999934926901219 Centerline is valid? [True, True] Translation: X:142.56, Y:156.84, Z:6.73 [[ 7.02993681e-01 7.11165186e-01 -6.63041773e-03 1.42563714e+02] [ 7.11133925e-01 -7.03024948e-01 -6.66809492e-03 1.56841259e+02] [-9.40346605e-03 -2.74863895e-05 -9.99955786e-01 6.73405583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.670385723 meters Centerline goodness [0,1] 0.999978230107761 Centerline is valid? [True, True] Translation: X:142.57, Y:156.83, Z:6.74 [[ 6.45354274e-01 7.63858323e-01 -6.19061862e-03 1.42567074e+02] [ 7.63823558e-01 -6.45383965e-01 -7.28766696e-03 1.56834524e+02] [-9.56207105e-03 -2.54133248e-05 -9.99954282e-01 6.73559060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.700385723 meters Centerline goodness [0,1] 0.999934466337542 Centerline is valid? [True, True] Translation: X:142.57, Y:156.83, Z:6.73 [[ 5.84275134e-01 8.11536457e-01 -5.58101841e-03 1.42568126e+02] [ 8.11499715e-01 -5.84301788e-01 -7.72227181e-03 1.56831001e+02] [-9.52790414e-03 -1.70634539e-05 -9.99954608e-01 6.73312806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.730385723 meters Centerline goodness [0,1] 0.9999781028291145 Centerline is valid? [True, True] Translation: X:142.57, Y:156.82, Z:6.73 [[ 5.19064698e-01 8.54721862e-01 -4.73062261e-03 1.42574098e+02] [ 8.54686629e-01 -5.19086254e-01 -7.76067039e-03 1.56824252e+02] [-9.08881581e-03 -1.49098561e-05 -9.99958696e-01 6.73250567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.58, Y:156.82, Z:6.73 [[ 4.50744212e-01 8.92644428e-01 -3.94733249e-03 1.42579373e+02] [ 8.92610434e-01 -4.50761496e-01 -7.79022811e-03 1.56816212e+02] [-8.73320921e-03 -1.20299377e-05 -9.99961865e-01 6.73301887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.58, Y:156.81, Z:6.73 [[ 3.79917761e-01 9.25014891e-01 -3.15375480e-03 1.42582287e+02] [ 9.24983174e-01 -3.79930850e-01 -7.66006905e-03 1.56810420e+02] [-8.28388668e-03 -6.97384652e-06 -9.99965688e-01 6.73218685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.820385723 meters Centerline goodness [0,1] 0.9998234580161095 Centerline is valid? [True, True] Translation: X:142.59, Y:156.80, Z:6.73 [[ 3.06913206e-01 9.51734122e-01 -2.53873669e-03 1.42588094e+02] [ 9.51701606e-01 -3.06923706e-01 -7.86710639e-03 1.56804198e+02] [-8.26659206e-03 -1.60094138e-06 -9.99965831e-01 6.73240798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.850385723 meters Centerline goodness [0,1] 0.9999335017954515 Centerline is valid? [True, True] Translation: X:142.59, Y:156.80, Z:6.73 [[ 2.32898981e-01 9.72499509e-01 -1.66414384e-03 1.42590746e+02] [ 9.72474382e-01 -2.32904926e-01 -6.99076935e-03 1.56798533e+02] [-7.18610706e-03 9.80580973e-06 -9.99974180e-01 6.73200603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.880385723 meters Centerline goodness [0,1] 0.9999333895821306 Centerline is valid? [True, True] Translation: X:142.60, Y:156.79, Z:6.73 [[ 1.56812980e-01 9.87627723e-01 -1.08135213e-03 1.42596827e+02] [ 9.87603560e-01 -1.56816707e-01 -6.90855255e-03 1.56792339e+02] [-6.99265211e-03 1.54034940e-05 -9.99975551e-01 6.73145979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.910385723 meters Centerline goodness [0,1] 0.9999109071875626 Centerline is valid? [True, True] Translation: X:142.60, Y:156.79, Z:6.73 [[ 7.88063116e-02 9.96889811e-01 -5.18888583e-04 1.42603686e+02] [ 9.96867023e-01 -7.88080186e-02 -6.74056237e-03 1.56785366e+02] [-6.76049053e-03 1.39359409e-05 -9.99977148e-01 6.73123308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.940385723 meters Centerline goodness [0,1] 0.9999777168705573 Centerline is valid? [True, True] Translation: X:142.61, Y:156.78, Z:6.73 [[-5.38066754e-04 9.99999855e-01 8.92072320e-06 1.42611336e+02] [ 9.99984284e-01 5.38108154e-04 -5.58050418e-03 1.56779377e+02] [-5.58050818e-03 5.91789923e-06 -9.99984429e-01 6.73074146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.970385723 meters Centerline goodness [0,1] 0.999955616705872 Centerline is valid? [True, True] Translation: X:142.62, Y:156.77, Z:6.73 [[-8.01985147e-02 9.96778802e-01 4.66955914e-04 1.42619129e+02] [ 9.96761789e-01 8.01998741e-02 -5.82368564e-03 1.56773408e+02] [-5.84237620e-03 -1.60712630e-06 -9.99982933e-01 6.73129562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.000385723 meters Centerline goodness [0,1] 0.9996878970952137 Centerline is valid? [True, True] Translation: X:142.63, Y:156.77, Z:6.73 [[-1.58007279e-01 9.87437329e-01 1.10517455e-03 1.42628940e+02] [ 9.87413078e-01 1.58011144e-01 -6.92045175e-03 1.56768742e+02] [-7.00814228e-03 -2.21794223e-06 -9.99975443e-01 6.73243697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.030385723 meters Centerline goodness [0,1] 0.9999332903426653 Centerline is valid? [True, True] Translation: X:142.64, Y:156.76, Z:6.73 [[-2.34781961e-01 9.72046652e-01 1.65460990e-03 1.42641595e+02] [ 9.72022460e-01 2.34787791e-01 -6.85784031e-03 1.56764435e+02] [-7.05462291e-03 -1.77920473e-06 -9.99975116e-01 6.73267892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.06038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.65, Y:156.76, Z:6.73 [[-3.09052558e-01 9.51042410e-01 2.20228796e-03 1.42651529e+02] [ 9.51018421e-01 3.09060404e-01 -6.75499177e-03 1.56761711e+02] [-7.10492366e-03 6.76893380e-06 -9.99974760e-01 6.73349596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.090385723 meters Centerline goodness [0,1] 0.9998436627582357 Centerline is valid? [True, True] Translation: X:142.66, Y:156.76, Z:6.73 [[-3.81879246e-01 9.24208042e-01 2.78135433e-03 1.42662683e+02] [ 9.24183767e-01 3.81889375e-01 -6.69848140e-03 1.56759629e+02] [-7.25296005e-03 1.24714982e-05 -9.99973697e-01 6.73364529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.12038572299997 meters Centerline goodness [0,1] 0.9997993624183517 Centerline is valid? [True, True] Translation: X:142.67, Y:156.76, Z:6.73 [[-4.50891976e-01 8.92572082e-01 3.39182337e-03 1.42673173e+02] [ 8.92547347e-01 4.50904733e-01 -6.64500061e-03 1.56756931e+02] [-7.46053124e-03 3.11854911e-05 -9.99972169e-01 6.73453400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.150385723 meters Centerline goodness [0,1] 0.9998663697104677 Centerline is valid? [True, True] Translation: X:142.68, Y:156.76, Z:6.73 [[-5.18262391e-01 8.55213120e-01 3.82261806e-03 1.42683780e+02] [ 8.55190431e-01 5.18276487e-01 -6.22978197e-03 1.56756989e+02] [-7.30896434e-03 4.04046849e-05 -9.99973288e-01 6.73494665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.180385723 meters Centerline goodness [0,1] 0.9999554476398387 Centerline is valid? [True, True] Translation: X:142.69, Y:156.76, Z:6.73 [[-5.81640633e-01 8.13434612e-01 4.27859574e-03 1.42693791e+02] [ 8.13413335e-01 5.81656367e-01 -5.88370355e-03 1.56756924e+02] [-7.27468056e-03 5.80657718e-05 -9.99973538e-01 6.73441116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.70, Y:156.76, Z:6.73 [[-6.42903586e-01 7.65933330e-01 4.59484627e-03 1.42703681e+02] [ 7.65914464e-01 6.42920002e-01 -5.37634820e-03 1.56758697e+02] [-7.07204286e-03 6.27856827e-05 -9.99974991e-01 6.73370383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.240385723 meters Centerline goodness [0,1] 0.999933064102278 Centerline is valid? [True, True] Translation: X:142.71, Y:156.76, Z:6.73 [[-7.00490831e-01 7.13644576e-01 4.90045434e-03 1.42713867e+02] [ 7.13627767e-01 7.00507969e-01 -4.89856130e-03 1.56759169e+02] [-6.92863902e-03 6.57030115e-05 -9.99975995e-01 6.73390561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.270385723 meters Centerline goodness [0,1] 0.9999776351396685 Centerline is valid? [True, True] Translation: X:142.74, Y:156.78, Z:6.73 [[-7.48390978e-01 6.63241963e-01 4.58719097e-03 1.42740116e+02] [ 6.63230036e-01 7.48405034e-01 -3.97810801e-03 1.56776546e+02] [-6.07152498e-03 6.51826864e-05 -9.99981566e-01 6.73266660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.25, Y:157.37, Z:5.74 [[-7.17032373e-01 -6.97027995e-01 4.06819354e-03 1.43248552e+02] [ 6.97016135e-01 -7.17043909e-01 -4.06692741e-03 1.57368484e+02] [ 5.75183566e-03 -8.05220716e-05 9.99983455e-01 5.74281907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.330385723 meters Centerline goodness [0,1] 0.9999332041947766 Centerline is valid? [True, True] Translation: X:143.24, Y:157.33, Z:5.74 [[-6.68401239e-01 -7.43793029e-01 3.42248658e-03 1.43237868e+02] [ 7.43782864e-01 -6.68409999e-01 -3.88894575e-03 1.57333196e+02] [ 5.18019499e-03 -5.37892876e-05 9.99986581e-01 5.74256381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.22, Y:157.35, Z:5.74 [[-6.68139377e-01 -7.44030347e-01 2.93536258e-03 1.43217739e+02] [ 7.44022877e-01 -6.68145823e-01 -3.33436139e-03 1.57351905e+02] [ 4.44211631e-03 -4.38412257e-05 9.99990133e-01 5.74202049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.390385723 meters Centerline goodness [0,1] 0.9999777352273234 Centerline is valid? [True, True] Translation: X:143.20, Y:157.37, Z:5.74 [[-6.68008791e-01 -7.44147110e-01 3.05517996e-03 1.43199896e+02] [ 7.44139026e-01 -6.68015776e-01 -3.46881440e-03 1.57370513e+02] [ 4.62221662e-03 -4.37198705e-05 9.99989317e-01 5.74136004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.18, Y:157.39, Z:5.74 [[-6.68470289e-01 -7.43732781e-01 3.00390701e-03 1.43183512e+02] [ 7.43724972e-01 -6.68477037e-01 -3.40842300e-03 1.57390519e+02] [ 4.54299878e-03 -4.43488479e-05 9.99989680e-01 5.74062165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.17, Y:157.41, Z:5.74 [[-6.69177395e-01 -7.43095543e-01 3.26000980e-03 1.43165042e+02] [ 7.43086350e-01 -6.69185334e-01 -3.69678207e-03 1.57410756e+02] [ 4.92861302e-03 -5.13342127e-05 9.99987853e-01 5.74104075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.480385723 meters Centerline goodness [0,1] 0.9999554148646841 Centerline is valid? [True, True] Translation: X:143.15, Y:157.43, Z:5.74 [[-6.71030213e-01 -7.41420992e-01 3.65585381e-03 1.43147477e+02] [ 7.41409419e-01 -6.71040168e-01 -4.14319215e-03 1.57432014e+02] [ 5.52507439e-03 -6.97226599e-05 9.99984734e-01 5.74140505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.13, Y:157.45, Z:5.74 [[-6.72200591e-01 -7.40360829e-01 3.49409540e-03 1.43130587e+02] [ 7.40350255e-01 -6.72209668e-01 -3.95752458e-03 1.57453635e+02] [ 5.27876088e-03 -7.33959446e-05 9.99986065e-01 5.74126461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.540385723 meters Centerline goodness [0,1] 0.9999553730810424 Centerline is valid? [True, True] Translation: X:143.11, Y:157.48, Z:5.74 [[-6.73454072e-01 -7.39220054e-01 3.65030877e-03 1.43113367e+02] [ 7.39208511e-01 -6.73463959e-01 -4.13204005e-03 1.57475228e+02] [ 5.51283827e-03 -8.43998830e-05 9.99984801e-01 5.74064476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.10, Y:157.50, Z:5.74 [[-6.74501385e-01 -7.38265743e-01 3.40203592e-03 1.43096117e+02] [ 7.38255714e-01 -6.74509959e-01 -3.84915135e-03 1.57495317e+02] [ 5.13640370e-03 -8.46854624e-05 9.99986805e-01 5.74025190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.08, Y:157.52, Z:5.74 [[-6.75070001e-01 -7.37744703e-01 3.63958416e-03 1.43078088e+02] [ 7.37733230e-01 -6.75079806e-01 -4.11538456e-03 1.57515457e+02] [ 5.49311293e-03 -9.31304779e-05 9.99984908e-01 5.74000318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.06, Y:157.54, Z:5.74 [[-6.75391263e-01 -7.37450216e-01 3.71766827e-03 1.43059976e+02] [ 7.37438256e-01 -6.75401488e-01 -4.20109300e-03 1.57536170e+02] [ 5.60901562e-03 -9.58307023e-05 9.99984265e-01 5.73940443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.04, Y:157.56, Z:5.74 [[-6.75616270e-01 -7.37244075e-01 3.71895011e-03 1.43042160e+02] [ 7.37232118e-01 -6.75626498e-01 -4.19995831e-03 1.57556160e+02] [ 5.60901562e-03 -9.58307035e-05 9.99984265e-01 5.73940483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.02, Y:157.58, Z:5.74 [[-6.75633721e-01 -7.37223731e-01 4.49957947e-03 1.43023506e+02] [ 7.37206246e-01 -6.75648694e-01 -5.07872596e-03 1.57577656e+02] [ 6.78429229e-03 -1.14240431e-04 9.99976980e-01 5.73895127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.720385723 meters Centerline goodness [0,1] 0.9999777109105094 Centerline is valid? [True, True] Translation: X:143.01, Y:157.60, Z:5.74 [[-6.75521217e-01 -7.37323354e-01 5.03568677e-03 1.43005011e+02] [ 7.37301481e-01 -6.75539974e-01 -5.68067553e-03 1.57599244e+02] [ 7.59030245e-03 -1.24597533e-04 9.99971186e-01 5.73834432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.99, Y:157.62, Z:5.74 [[-6.75183358e-01 -7.37631466e-01 5.22056587e-03 1.42987717e+02] [ 7.37607997e-01 -6.75203529e-01 -5.88536814e-03 1.57619397e+02] [ 7.86617723e-03 -1.22971489e-04 9.99969054e-01 5.73804111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.97, Y:157.64, Z:5.74 [[-6.73995871e-01 -7.38718976e-01 4.88260114e-03 1.42968316e+02] [ 7.38698498e-01 -6.74013549e-01 -5.50134524e-03 1.57640059e+02] [ 7.35488745e-03 -1.01113850e-04 9.99972947e-01 5.73845537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.81038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.95, Y:157.66, Z:5.74 [[-6.73378240e-01 -7.39284195e-01 4.54145020e-03 1.42950261e+02] [ 7.39266514e-01 -6.73393549e-01 -5.11365426e-03 1.57659463e+02] [ 6.83862704e-03 -8.60814530e-05 9.99976613e-01 5.73872226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.840385723 meters Centerline goodness [0,1] 0.9999554922556525 Centerline is valid? [True, True] Translation: X:142.93, Y:157.68, Z:5.74 [[-6.72021058e-01 -7.40524663e-01 3.30458760e-03 1.42929335e+02] [ 7.40515327e-01 -6.72029181e-01 -3.71892565e-03 1.57678582e+02] [ 4.97473546e-03 -5.20985862e-05 9.99987625e-01 5.73970569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.91, Y:157.70, Z:5.74 [[-6.71450164e-01 -7.41043897e-01 2.93593182e-03 1.42911247e+02] [ 7.41036539e-01 -6.71456581e-01 -3.30267845e-03 1.57698570e+02] [ 4.41878046e-03 -4.19512333e-05 9.99990236e-01 5.74018622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.89, Y:157.72, Z:5.74 [[-6.71114605e-01 -7.41348381e-01 2.78647695e-03 1.42892544e+02] [ 7.41341763e-01 -6.71120389e-01 -3.13265258e-03 1.57718867e+02] [ 4.19244842e-03 -3.66371664e-05 9.99991211e-01 5.74051174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.87, Y:157.74, Z:5.74 [[-6.70672994e-01 -7.41747945e-01 2.77885270e-03 1.42873332e+02] [ 7.41741374e-01 -6.70678750e-01 -3.12216458e-03 1.57738434e+02] [ 4.17957662e-03 -3.27614454e-05 9.99991265e-01 5.74020166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.85, Y:157.76, Z:5.74 [[-6.70849079e-01 -7.41589239e-01 2.62922272e-03 1.42854419e+02] [ 7.41583363e-01 -6.70854231e-01 -2.95240651e-03 1.57758558e+02] [ 3.95329808e-03 -3.08313600e-05 9.99992185e-01 5.74055945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.84, Y:157.78, Z:5.74 [[-6.71226253e-01 -7.41249545e-01 2.10474336e-03 1.42837128e+02] [ 7.41245782e-01 -6.71229552e-01 -2.36191458e-03 1.57777914e+02] [ 3.16353405e-03 -2.52469346e-05 9.99994996e-01 5.74093649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.82, Y:157.80, Z:5.74 [[-6.71879621e-01 -7.40657906e-01 1.90828415e-03 1.42818688e+02] [ 7.40654814e-01 -6.71882330e-01 -2.14012756e-03 1.57798509e+02] [ 2.86724480e-03 -2.45282503e-05 9.99995889e-01 5.74056884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.80, Y:157.82, Z:5.74 [[-6.72814783e-01 -7.39807963e-01 2.10855233e-03 1.42800559e+02] [ 7.39804189e-01 -6.72818086e-01 -2.36327357e-03 1.57819242e+02] [ 3.16704075e-03 -3.01295454e-05 9.99994984e-01 5.74014541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.78, Y:157.84, Z:5.74 [[-6.74762239e-01 -7.38031942e-01 2.18508496e-03 1.42783246e+02] [ 7.38027884e-01 -6.74765775e-01 -2.44763501e-03 1.57840793e+02] [ 3.28085337e-03 -3.89180473e-05 9.99994617e-01 5.74038292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.77, Y:157.86, Z:5.74 [[-6.75841309e-01 -7.37043790e-01 2.23092094e-03 1.42765653e+02] [ 7.37039560e-01 -6.75844990e-01 -2.49745599e-03 1.57861955e+02] [ 3.34849116e-03 -4.36069368e-05 9.99994393e-01 5.74069906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.140385723 meters Centerline goodness [0,1] 0.9999777822213335 Centerline is valid? [True, True] Translation: X:142.75, Y:157.88, Z:5.74 [[-6.76766821e-01 -7.36193687e-01 2.35081964e-03 1.42748356e+02] [ 7.36188991e-01 -6.76770902e-01 -2.62999935e-03 1.57882235e+02] [ 3.52715524e-03 -4.92487659e-05 9.99993778e-01 5.74017511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.73, Y:157.90, Z:5.74 [[-6.77679117e-01 -7.35353193e-01 2.58760782e-03 1.42729681e+02] [ 7.35347504e-01 -6.77684055e-01 -2.89313713e-03 1.57901856e+02] [ 3.88105819e-03 -5.78276596e-05 9.99992467e-01 5.73928580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.71, Y:157.92, Z:5.74 [[-6.77760672e-01 -7.35276943e-01 2.87911872e-03 1.42712463e+02] [ 7.35269908e-01 -6.77766784e-01 -3.21700492e-03 1.57921464e+02] [ 4.31676058e-03 -6.34300638e-05 9.99990681e-01 5.73894450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.230385723 meters Centerline goodness [0,1] 0.9999778746376972 Centerline is valid? [True, True] Translation: X:142.69, Y:157.94, Z:5.74 [[-6.78078933e-01 -7.34981784e-01 3.27685590e-03 1.42694648e+02] [ 7.34972679e-01 -6.78086847e-01 -3.65919870e-03 1.57941478e+02] [ 4.91143727e-03 -7.28259907e-05 9.99987936e-01 5.73850653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.260385723 meters Centerline goodness [0,1] 0.9999556147359077 Centerline is valid? [True, True] Translation: X:142.68, Y:157.96, Z:5.74 [[-6.78950567e-01 -7.34176192e-01 3.38341136e-03 1.42676023e+02] [ 7.34166486e-01 -6.78958992e-01 -3.77589789e-03 1.57961113e+02] [ 5.06937190e-03 -7.96607814e-05 9.99987148e-01 5.73746235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.66, Y:157.98, Z:5.74 [[-6.79635276e-01 -7.33541744e-01 3.52165098e-03 1.42657248e+02] [ 7.33531233e-01 -6.79644395e-01 -3.92781247e-03 1.57981522e+02] [ 5.27468476e-03 -8.62389238e-05 9.99986085e-01 5.73716927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.64, Y:158.00, Z:5.74 [[-6.80756510e-01 -7.32502579e-01 3.24747107e-03 1.42638084e+02] [ 7.32493639e-01 -6.80764251e-01 -3.61999753e-03 1.58001769e+02] [ 4.86241974e-03 -8.55849819e-05 9.99988175e-01 5.73783404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.62, Y:158.02, Z:5.74 [[-6.81375365e-01 -7.31928401e-01 2.90323227e-03 1.42621570e+02] [ 7.31921258e-01 -6.81381545e-01 -3.23437572e-03 1.58024001e+02] [ 4.34554033e-03 -7.88865213e-05 9.99990555e-01 5.73767447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.60, Y:158.04, Z:5.74 [[-6.82050716e-01 -7.31300629e-01 2.49204716e-03 1.42602192e+02] [ 7.31295369e-01 -6.82055265e-01 -2.77457449e-03 1.58043723e+02] [ 3.72876196e-03 -6.99779679e-05 9.99993046e-01 5.73888642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.410385723 meters Centerline goodness [0,1] 0.9998886265425224 Centerline is valid? [True, True] Translation: X:142.59, Y:158.06, Z:5.74 [[-6.83657396e-01 -7.29799765e-01 2.20635453e-03 1.42585415e+02] [ 7.29795637e-01 -6.83660953e-01 -2.45548984e-03 1.58064350e+02] [ 3.30041435e-03 -6.85258837e-05 9.99994551e-01 5.73791603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.57, Y:158.08, Z:5.74 [[-6.83353923e-01 -7.30084927e-01 1.84810449e-03 1.42566094e+02] [ 7.30082035e-01 -6.83356420e-01 -2.05554929e-03 1.58083243e+02] [ 2.76363963e-03 -5.53997834e-05 9.99996180e-01 5.73948374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.55, Y:158.10, Z:5.74 [[-6.83468060e-01 -7.29977711e-01 1.98812776e-03 1.42546575e+02] [ 7.29974368e-01 -6.83470949e-01 -2.20993716e-03 1.58102495e+02] [ 2.97203244e-03 -5.91391593e-05 9.99995582e-01 5.73880127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.53, Y:158.12, Z:5.74 [[-6.83318149e-01 -7.30117671e-01 2.11989960e-03 1.42526434e+02] [ 7.30113875e-01 -6.83321435e-01 -2.35510877e-03 1.58122492e+02] [ 3.16807936e-03 -6.15204594e-05 9.99994980e-01 5.73855207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.51, Y:158.14, Z:5.74 [[-6.82807350e-01 -7.30594929e-01 2.27440152e-03 1.42508521e+02] [ 7.30590568e-01 -6.82811135e-01 -2.52510816e-03 1.58141137e+02] [ 3.39781790e-03 -6.25061098e-05 9.99994225e-01 5.73884574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.56038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.49, Y:158.16, Z:5.74 [[-6.82863468e-01 -7.30543328e-01 1.98222517e-03 1.42489709e+02] [ 7.30540020e-01 -6.82866343e-01 -2.19937612e-03 1.58161118e+02] [ 2.96033440e-03 -5.37787899e-05 9.99995617e-01 5.73875092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.47, Y:158.18, Z:5.74 [[-6.83085277e-01 -7.30335737e-01 2.05340211e-03 1.42471551e+02] [ 7.30332188e-01 -6.83088361e-01 -2.27727030e-03 1.58179858e+02] [ 3.06582697e-03 -5.59041594e-05 9.99995299e-01 5.73818793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.45, Y:158.20, Z:5.74 [[-6.83311257e-01 -7.30124399e-01 2.02167383e-03 1.42454983e+02] [ 7.30120963e-01 -6.83314246e-01 -2.24065969e-03 1.58199816e+02] [ 3.01739884e-03 -5.50015456e-05 9.99995446e-01 5.73715887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.650385723 meters Centerline goodness [0,1] 0.9999778053977273 Centerline is valid? [True, True] Translation: X:142.44, Y:158.22, Z:5.74 [[-6.83463534e-01 -7.29981419e-01 2.17369446e-03 1.42435474e+02] [ 7.29977451e-01 -6.83466988e-01 -2.40770541e-03 1.58218994e+02] [ 3.24322862e-03 -5.88309073e-05 9.99994739e-01 5.73706448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.42, Y:158.24, Z:5.74 [[-6.83648292e-01 -7.29808623e-01 2.09434078e-03 1.42416652e+02] [ 7.29804943e-01 -6.83651498e-01 -2.31842015e-03 1.58238194e+02] [ 3.12380223e-03 -5.65237203e-05 9.99995119e-01 5.73697334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.710385723 meters Centerline goodness [0,1] 0.9999779385810096 Centerline is valid? [True, True] Translation: X:142.40, Y:158.26, Z:5.74 [[-6.83545810e-01 -7.29904829e-01 2.01652482e-03 1.42398007e+02] [ 7.29901422e-01 -6.83548782e-01 -2.23095058e-03 1.58257793e+02] [ 3.00677469e-03 -5.30925895e-05 9.99995478e-01 5.73649070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.38, Y:158.28, Z:5.74 [[-6.82687060e-01 -7.30706851e-01 2.42390632e-03 1.42379975e+02] [ 7.30701939e-01 -6.82691361e-01 -2.67997709e-03 1.58276338e+02] [ 3.61305752e-03 -5.84326309e-05 9.99993471e-01 5.73600193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.36, Y:158.30, Z:5.74 [[-6.82222387e-01 -7.31139932e-01 2.64844112e-03 1.42360564e+02] [ 7.31134078e-01 -6.82227525e-01 -2.92642791e-03 1.58295293e+02] [ 3.94646774e-03 -6.01090783e-05 9.99992211e-01 5.73636325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.34, Y:158.31, Z:5.74 [[-6.81794710e-01 -7.31537856e-01 2.88780493e-03 1.42342464e+02] [ 7.31530908e-01 -6.81800823e-01 -3.18885522e-03 1.58314793e+02] [ 4.30167609e-03 -6.16260509e-05 9.99990746e-01 5.73598140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.830385723 meters Centerline goodness [0,1] 0.999889522294401 Centerline is valid? [True, True] Translation: X:142.32, Y:158.33, Z:5.74 [[-6.80838937e-01 -7.32426948e-01 3.01793673e-03 1.42321822e+02] [ 7.32419378e-01 -6.80845623e-01 -3.33050388e-03 1.58332715e+02] [ 4.49409980e-03 -5.71413745e-05 9.99989900e-01 5.73554187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.30, Y:158.35, Z:5.74 [[-6.80887666e-01 -7.32381617e-01 3.02549633e-03 1.42303060e+02] [ 7.32374017e-01 -6.80894386e-01 -3.33680522e-03 1.58352121e+02] [ 4.50385827e-03 -5.61946215e-05 9.99989856e-01 5.73534144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.29, Y:158.37, Z:5.74 [[-6.81292306e-01 -7.32005933e-01 2.84730656e-03 1.42285044e+02] [ 7.31999208e-01 -6.81298254e-01 -3.13827056e-03 1.58371887e+02] [ 4.23709766e-03 -5.38534386e-05 9.99991022e-01 5.73537018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.27, Y:158.39, Z:5.74 [[-6.82261754e-01 -7.31102296e-01 2.88648050e-03 1.42266589e+02] [ 7.31095384e-01 -6.82267858e-01 -3.17953017e-03 1.58392602e+02] [ 4.29391467e-03 -5.89792582e-05 9.99990779e-01 5.73555346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.25, Y:158.41, Z:5.74 [[-6.83679826e-01 -7.29775745e-01 3.04277168e-03 1.42247683e+02] [ 7.29768060e-01 -6.83686593e-01 -3.34989446e-03 1.58413447e+02] [ 4.52497393e-03 -6.97376748e-05 9.99989760e-01 5.73525075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.23, Y:158.43, Z:5.73 [[-6.86265709e-01 -7.27342911e-01 3.41564219e-03 1.42229777e+02] [ 7.27333207e-01 -6.86274202e-01 -3.75828911e-03 1.58433602e+02] [ 5.07763206e-03 -9.48749464e-05 9.99987104e-01 5.73462884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.010385723 meters Centerline goodness [0,1] 0.9999779570603535 Centerline is valid? [True, True] Translation: X:142.21, Y:158.45, Z:5.73 [[-6.87700184e-01 -7.25986728e-01 3.42463410e-03 1.42210388e+02] [ 7.25976966e-01 -6.87708703e-01 -3.76620451e-03 1.58454401e+02] [ 5.08936517e-03 -1.03814060e-04 9.99987044e-01 5.73424095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.19, Y:158.47, Z:5.73 [[-6.90026085e-01 -7.23778113e-01 3.04038812e-03 1.42192095e+02] [ 7.23770404e-01 -6.90032776e-01 -3.34219507e-03 1.58473749e+02] [ 4.51697509e-03 -1.05658843e-04 9.99989793e-01 5.73353267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.17, Y:158.49, Z:5.73 [[-6.91276568e-01 -7.22583519e-01 3.12495602e-03 1.42171212e+02] [ 7.22575372e-01 -6.91283621e-01 -3.43327294e-03 1.58492213e+02] [ 4.64105735e-03 -1.15324878e-04 9.99989224e-01 5.73386072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.16, Y:158.51, Z:5.73 [[-6.92378845e-01 -7.21527526e-01 3.09268728e-03 1.42155303e+02] [ 7.21519545e-01 -6.92385741e-01 -3.39585531e-03 1.58513836e+02] [ 4.59153566e-03 -1.19784058e-04 9.99989452e-01 5.73337895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.13, Y:158.53, Z:5.73 [[-6.93385836e-01 -7.20561346e-01 2.72556271e-03 1.42132088e+02] [ 7.20555146e-01 -6.93391185e-01 -2.99109009e-03 1.58530976e+02] [ 4.04514506e-03 -1.10061272e-04 9.99991812e-01 5.73389755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.160385723 meters Centerline goodness [0,1] 0.9999560449220897 Centerline is valid? [True, True] Translation: X:142.11, Y:158.55, Z:5.73 [[-6.93769417e-01 -7.20190985e-01 2.99015290e-03 1.42111386e+02] [ 7.20183528e-01 -6.93775851e-01 -3.27962499e-03 1.58550653e+02] [ 4.43645222e-03 -1.21844653e-04 9.99990152e-01 5.73352700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.09, Y:158.57, Z:5.73 [[-6.93542600e-01 -7.20408457e-01 3.21197874e-03 1.42091904e+02] [ 7.20399865e-01 -6.93550026e-01 -3.52088678e-03 1.58569913e+02] [ 4.76414455e-03 -1.27975920e-04 9.99988643e-01 5.73209811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.08, Y:158.59, Z:5.73 [[-6.93267607e-01 -7.20672978e-01 3.23776968e-03 1.42075150e+02] [ 7.20664261e-01 -6.93275156e-01 -3.54693298e-03 1.58589988e+02] [ 4.80084403e-03 -1.25628849e-04 9.99988468e-01 5.73111538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.05, Y:158.61, Z:5.73 [[-6.92888571e-01 -7.21036189e-01 3.49892802e-03 1.42052910e+02] [ 7.21026025e-01 -6.92897393e-01 -3.83075279e-03 1.58606328e+02] [ 5.18650949e-03 -1.31466661e-04 9.99986541e-01 5.73106699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.280385723 meters Centerline goodness [0,1] 0.9999563585580867 Centerline is valid? [True, True] Translation: X:142.03, Y:158.62, Z:5.73 [[-6.91715104e-01 -7.22160335e-01 3.82955027e-03 1.42029662e+02] [ 7.22148189e-01 -6.91725692e-01 -4.19045270e-03 1.58622593e+02] [ 5.67517703e-03 -1.33096633e-04 9.99983887e-01 5.73083675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.31038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.01, Y:158.64, Z:5.73 [[-6.91327545e-01 -7.22532009e-01 3.70443473e-03 1.42011048e+02] [ 7.22520663e-01 -6.91337458e-01 -4.05094843e-03 1.58641256e+02] [ 5.48795439e-03 -1.24001598e-04 9.99984933e-01 5.73091575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.99, Y:158.66, Z:5.73 [[-6.90511741e-01 -7.23313538e-01 3.32603457e-03 1.41988698e+02] [ 7.23304410e-01 -6.90519743e-01 -3.63522269e-03 1.58658827e+02] [ 4.92609832e-03 -1.04428471e-04 9.99987861e-01 5.73114690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.37038572299997 meters Centerline goodness [0,1] 0.9999564412501362 Centerline is valid? [True, True] Translation: X:141.97, Y:158.68, Z:5.73 [[-6.90391294e-01 -7.23428621e-01 3.30027386e-03 1.41968123e+02] [ 7.23419646e-01 -6.90399175e-01 -3.60490185e-03 1.58677219e+02] [ 4.88639552e-03 -1.01309908e-04 9.99988056e-01 5.73091666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.95, Y:158.70, Z:5.73 [[-6.90417901e-01 -7.23404740e-01 2.95031762e-03 1.41946967e+02] [ 7.23397575e-01 -6.90424199e-01 -3.22087711e-03 1.58695442e+02] [ 4.36696844e-03 -8.94986004e-05 9.99990461e-01 5.73088535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.93, Y:158.71, Z:5.73 [[-6.90460012e-01 -7.23365555e-01 2.69189530e-03 1.41925431e+02] [ 7.23359596e-01 -6.90465255e-01 -2.93713411e-03 1.58713213e+02] [ 3.98328182e-03 -8.07653530e-05 9.99992063e-01 5.73132468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.91, Y:158.73, Z:5.73 [[-6.90714334e-01 -7.23123088e-01 2.58994041e-03 1.41905887e+02] [ 7.23117577e-01 -6.90719186e-01 -2.82424535e-03 1.58732057e+02] [ 3.83119855e-03 -7.79153150e-05 9.99992658e-01 5.73176077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.490385723 meters Centerline goodness [0,1] 0.999978354978355 Centerline is valid? [True, True] Translation: X:141.88, Y:158.75, Z:5.73 [[-6.90157403e-01 -7.23657001e-01 1.81760295e-03 1.41883845e+02] [ 7.23654292e-01 -6.90159795e-01 -1.98082566e-03 1.58749016e+02] [ 2.68787484e-03 -5.17653178e-05 9.99996386e-01 5.73190195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.520385723 meters Centerline goodness [0,1] 0.9999784445594068 Centerline is valid? [True, True] Translation: X:141.86, Y:158.77, Z:5.73 [[-6.89666634e-01 -7.24124816e-01 1.78457216e-03 1.41863196e+02] [ 7.24122210e-01 -6.89668941e-01 -1.94364211e-03 1.58767280e+02] [ 2.63820348e-03 -4.82167745e-05 9.99996519e-01 5.73169617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.550385723 meters Centerline goodness [0,1] 0.9999570769395858 Centerline is valid? [True, True] Translation: X:141.84, Y:158.78, Z:5.73 [[-6.88182394e-01 -7.25533755e-01 2.40060213e-03 1.41841060e+02] [ 7.25529051e-01 -6.88186579e-01 -2.61317111e-03 1.58783822e+02] [ 3.54800602e-03 -5.66317649e-05 9.99993704e-01 5.73019421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.580385723 meters Centerline goodness [0,1] 0.9999570769395858 Centerline is valid? [True, True] Translation: X:141.82, Y:158.80, Z:5.73 [[-6.88400155e-01 -7.25327140e-01 2.40138611e-03 1.41822886e+02] [ 7.25322437e-01 -6.88404341e-01 -2.61245069e-03 1.58803457e+02] [ 3.54800601e-03 -5.66322385e-05 9.99993704e-01 5.73019461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.610385723 meters Centerline goodness [0,1] 0.9999785605557104 Centerline is valid? [True, True] Translation: X:141.80, Y:158.82, Z:5.73 [[-6.87496408e-01 -7.26182332e-01 2.81230709e-03 1.41800835e+02] [ 7.26175897e-01 -6.87502157e-01 -3.05790179e-03 1.58822000e+02] [ 4.15406144e-03 -6.00668715e-05 9.99991370e-01 5.73044846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.78, Y:158.84, Z:5.73 [[-6.87252083e-01 -7.26412172e-01 3.15144897e-03 1.41782009e+02] [ 7.26404102e-01 -6.87259305e-01 -3.42466649e-03 1.58840853e+02] [ 4.65358205e-03 -6.43837266e-05 9.99989170e-01 5.72939459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.76, Y:158.86, Z:5.73 [[-6.87384596e-01 -7.26285073e-01 3.52273729e-03 1.41759727e+02] [ 7.26274999e-01 -6.87393619e-01 -3.82605247e-03 1.58858501e+02] [ 5.20031193e-03 -7.14935136e-05 9.99986476e-01 5.72870260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.700385723 meters Centerline goodness [0,1] 0.9999570317535341 Centerline is valid? [True, True] Translation: X:141.74, Y:158.88, Z:5.73 [[-6.88806488e-01 -7.24934177e-01 4.00749549e-03 1.41740934e+02] [ 7.24921132e-01 -6.88818140e-01 -4.35004209e-03 1.58878049e+02] [ 5.91392977e-03 -9.12190461e-05 9.99982508e-01 5.72602116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.72, Y:158.90, Z:5.73 [[-6.89685320e-01 -7.24096362e-01 4.31483628e-03 1.41721671e+02] [ 7.24081239e-01 -6.89698810e-01 -4.68087641e-03 1.58897359e+02] [ 6.36534302e-03 -1.04039744e-04 9.99979736e-01 5.72637580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.760385723 meters Centerline goodness [0,1] 0.9999571045576408 Centerline is valid? [True, True] Translation: X:141.70, Y:158.92, Z:5.73 [[-6.90962302e-01 -7.22876833e-01 4.49234944e-03 1.41701779e+02] [ 7.22860433e-01 -6.90976896e-01 -4.87075974e-03 1.58917327e+02] [ 6.62506905e-03 -1.18169702e-04 9.99978047e-01 5.72718162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.68, Y:158.94, Z:5.73 [[-6.93328414e-01 -7.20606886e-01 4.62884878e-03 1.41682935e+02] [ 7.20589441e-01 -6.93343851e-01 -5.01608950e-03 1.58938826e+02] [ 6.82401247e-03 -1.42297821e-04 9.99976706e-01 5.72805076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.67, Y:158.96, Z:5.73 [[-6.94491304e-01 -7.19486913e-01 4.51781159e-03 1.41665836e+02] [ 7.19470288e-01 -6.94505983e-01 -4.89327890e-03 1.58959884e+02] [ 6.65829731e-03 -1.47908441e-04 9.99977822e-01 5.72812042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.65, Y:158.98, Z:5.73 [[-6.95334008e-01 -7.18676645e-01 3.80751242e-03 1.41647475e+02] [ 7.18664834e-01 -6.95344421e-01 -4.12227723e-03 1.58979962e+02] [ 5.61011688e-03 -1.30034269e-04 9.99984255e-01 5.72805372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.880385723 meters Centerline goodness [0,1] 0.9999357285172569 Centerline is valid? [True, True] Translation: X:141.63, Y:159.00, Z:5.73 [[-6.95255261e-01 -7.18751932e-01 3.97271367e-03 1.41628251e+02] [ 7.18739091e-01 -6.95266598e-01 -4.29850993e-03 1.58999295e+02] [ 5.85165744e-03 -1.33217032e-04 9.99982870e-01 5.72745683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.61, Y:159.02, Z:5.73 [[-6.94445101e-01 -7.19532583e-01 4.34326450e-03 1.41607060e+02] [ 7.19517266e-01 -6.94458669e-01 -4.69683605e-03 1.59018093e+02] [ 6.39574426e-03 -1.36640981e-04 9.99979538e-01 5.72651115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.59, Y:159.04, Z:5.73 [[-6.93914212e-01 -7.20044471e-01 4.36204526e-03 1.41587572e+02] [ 7.20029048e-01 -6.93927909e-01 -4.71452131e-03 1.59038896e+02] [ 6.42160995e-03 -1.30674042e-04 9.99979373e-01 5.72685974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.57, Y:159.06, Z:5.73 [[-6.93361724e-01 -7.20577855e-01 4.13224639e-03 1.41569777e+02] [ 7.20564039e-01 -6.93374027e-01 -4.46361728e-03 1.59059143e+02] [ 6.08157608e-03 -1.17353221e-04 9.99981500e-01 5.72718897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.55, Y:159.08, Z:5.73 [[-6.92335911e-01 -7.21563757e-01 4.09037162e-03 1.41550273e+02] [ 7.21550251e-01 -6.92347986e-01 -4.41610449e-03 1.59079945e+02] [ 6.01846150e-03 -1.06019061e-04 9.99981883e-01 5.72708309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.53, Y:159.10, Z:5.73 [[-6.92163897e-01 -7.21727870e-01 4.24511014e-03 1.41531112e+02] [ 7.21713342e-01 -6.92176907e-01 -4.58066309e-03 1.59099795e+02] [ 6.24435942e-03 -1.06816993e-04 9.99980498e-01 5.72620323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.06038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.51, Y:159.12, Z:5.73 [[-6.91761804e-01 -7.22112487e-01 4.37741473e-03 1.41511950e+02] [ 7.22097063e-01 -6.91775646e-01 -4.72085858e-03 1.59120124e+02] [ 6.43717984e-03 -1.04791326e-04 9.99979276e-01 5.72546485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.49, Y:159.14, Z:5.73 [[-6.91032086e-01 -7.22806989e-01 4.97116877e-03 1.41494003e+02] [ 7.22787136e-01 -6.91049958e-01 -5.35826650e-03 1.59141648e+02] [ 7.30831845e-03 -1.09637242e-04 9.99973288e-01 5.72576534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.48, Y:159.16, Z:5.73 [[-6.90701789e-01 -7.23123088e-01 4.90292078e-03 1.41477046e+02] [ 7.23103802e-01 -6.90719183e-01 -5.28218929e-03 1.59161612e+02] [ 7.20621446e-03 -1.03096937e-04 9.99974030e-01 5.72614221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.46, Y:159.18, Z:5.73 [[-6.89267238e-01 -7.24490896e-01 4.85969474e-03 1.41458765e+02] [ 7.24472003e-01 -6.89284364e-01 -5.23278273e-03 1.59183072e+02] [ 7.14081505e-03 -8.60729150e-05 9.99974500e-01 5.72675158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.44, Y:159.20, Z:5.73 [[-6.88421126e-01 -7.25295100e-01 4.83426088e-03 1.41439314e+02] [ 7.25276445e-01 -6.88438096e-01 -5.20249513e-03 1.59203128e+02] [ 7.10143358e-03 -7.53320136e-05 9.99974782e-01 5.72705926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.210385723 meters Centerline goodness [0,1] 0.9999785232593101 Centerline is valid? [True, True] Translation: X:141.42, Y:159.22, Z:5.73 [[-6.86412531e-01 -7.27195836e-01 4.90443703e-03 1.41420666e+02] [ 7.27176705e-01 -6.86430050e-01 -5.27509431e-03 1.59224445e+02] [ 7.20257957e-03 -5.44984771e-05 9.99974060e-01 5.72679111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.40, Y:159.25, Z:5.73 [[-6.85883947e-01 -7.27694711e-01 4.85998158e-03 1.41401895e+02] [ 7.27675958e-01 -6.85901163e-01 -5.22434113e-03 1.59245810e+02] [ 7.13519242e-03 -4.67999603e-05 9.99974543e-01 5.72720376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.270385723 meters Centerline goodness [0,1] 0.9999784226993204 Centerline is valid? [True, True] Translation: X:141.38, Y:159.27, Z:5.73 [[-6.86025592e-01 -7.27560846e-01 4.90940444e-03 1.41384429e+02] [ 7.27541729e-01 -6.86043157e-01 -5.27434121e-03 1.59266952e+02] [ 7.20546748e-03 -4.65364518e-05 9.99974039e-01 5.72717714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.37, Y:159.29, Z:5.73 [[-6.86424993e-01 -7.27185781e-01 4.64437422e-03 1.41368944e+02] [ 7.27168684e-01 -6.86440703e-01 -4.98668011e-03 1.59289464e+02] [ 6.81433037e-03 -4.57383714e-05 9.99976781e-01 5.72763680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.330385723 meters Centerline goodness [0,1] 0.9998918614962043 Centerline is valid? [True, True] Translation: X:141.35, Y:159.31, Z:5.73 [[-6.87121118e-01 -7.26526733e-01 4.84520918e-03 1.41352758e+02] [ 7.26508129e-01 -6.87138199e-01 -5.19944355e-03 1.59312303e+02] [ 7.10686304e-03 -5.25636121e-05 9.99974745e-01 5.72671835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.34, Y:159.33, Z:5.73 [[-6.86991604e-01 -7.26649571e-01 4.78926205e-03 1.41335305e+02] [ 7.26631412e-01 -6.87008296e-01 -5.13733246e-03 1.59333330e+02] [ 7.02330319e-03 -4.92760240e-05 9.99975335e-01 5.72778839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.390385723 meters Centerline goodness [0,1] 0.9999783746377752 Centerline is valid? [True, True] Translation: X:141.32, Y:159.35, Z:5.73 [[-6.86912105e-01 -7.26722992e-01 5.04520479e-03 1.41317911e+02] [ 7.26702866e-01 -6.86930631e-01 -5.40856588e-03 1.59354538e+02] [ 7.39623489e-03 -4.88445921e-05 9.99972646e-01 5.72788348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.30, Y:159.38, Z:5.73 [[-6.86737860e-01 -7.26886553e-01 5.20093162e-03 1.41301904e+02] [ 7.26865195e-01 -6.86757553e-01 -5.57242534e-03 1.59377667e+02] [ 7.62230012e-03 -4.64192775e-05 9.99970949e-01 5.72843402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.450385723 meters Centerline goodness [0,1] 0.9999783835195953 Centerline is valid? [True, True] Translation: X:141.29, Y:159.40, Z:5.73 [[-6.86973056e-01 -7.26661066e-01 5.63177899e-03 1.41285675e+02] [ 7.26636043e-01 -6.86996138e-01 -6.03053018e-03 1.59399646e+02] [ 8.25116190e-03 -5.05581436e-05 9.99965957e-01 5.72786229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.27, Y:159.42, Z:5.73 [[-6.87645498e-01 -7.26021527e-01 6.03426456e-03 1.41269704e+02] [ 7.25992807e-01 -6.87671971e-01 -6.45788536e-03 1.59423521e+02] [ 8.83815839e-03 -5.99031221e-05 9.99960941e-01 5.72893418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.25, Y:159.45, Z:5.73 [[-6.88071190e-01 -7.25616317e-01 6.24483929e-03 1.41253282e+02] [ 7.25585578e-01 -6.88099525e-01 -6.67929836e-03 1.59445716e+02] [ 9.14367883e-03 -6.46674450e-05 9.99958194e-01 5.72865049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.24, Y:159.47, Z:5.73 [[-6.88423131e-01 -7.25279675e-01 6.55635110e-03 1.41236312e+02] [ 7.25245815e-01 -6.88454347e-01 -7.00863284e-03 1.59467806e+02] [ 9.59696737e-03 -6.99387685e-05 9.99953946e-01 5.72836613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.570385723 meters Centerline goodness [0,1] 0.99997813490762 Centerline is valid? [True, True] Translation: X:141.22, Y:159.49, Z:5.73 [[-6.88670790e-01 -7.25034250e-01 7.60778607e-03 1.41220631e+02] [ 7.24988693e-01 -6.88712806e-01 -8.12807045e-03 1.59491819e+02] [ 1.11327092e-02 -8.20058200e-05 9.99938026e-01 5.72890964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.21, Y:159.51, Z:5.73 [[-6.88275243e-01 -7.25404377e-01 8.10434904e-03 1.41205255e+02] [ 7.25352764e-01 -6.88322951e-01 -8.65350806e-03 1.59514625e+02] [ 1.18557021e-02 -7.74833900e-05 9.99929716e-01 5.72825128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.19, Y:159.54, Z:5.73 [[-6.88223637e-01 -7.25455112e-01 7.94395454e-03 1.41187082e+02] [ 7.25405580e-01 -6.88269479e-01 -8.47755597e-03 1.59536582e+02] [ 1.16176678e-02 -7.18654400e-05 9.99932510e-01 5.72900075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.17, Y:159.56, Z:5.73 [[-6.88116839e-01 -7.25557992e-01 7.79846831e-03 1.41169841e+02] [ 7.25510317e-01 -6.88161025e-01 -8.31771361e-03 1.59558257e+02] [ 1.14015855e-02 -6.56895910e-05 9.99934998e-01 5.72967582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.16, Y:159.58, Z:5.73 [[-6.88139146e-01 -7.25541764e-01 7.32558345e-03 1.41155562e+02] [ 7.25499746e-01 -6.88178135e-01 -7.80853814e-03 1.59581756e+02] [ 1.07067269e-02 -5.86518335e-05 9.99942680e-01 5.73107092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.14, Y:159.60, Z:5.73 [[-6.88453099e-01 -7.25245247e-01 7.18757468e-03 1.41138430e+02] [ 7.25204826e-01 -6.88490616e-01 -7.65721228e-03 1.59603641e+02] [ 1.05019345e-02 -5.91676859e-05 9.99944851e-01 5.73186769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.12, Y:159.63, Z:5.73 [[-6.88790827e-01 -7.24923446e-01 7.29340049e-03 1.41123505e+02] [ 7.24881859e-01 -6.88829437e-01 -7.76516738e-03 1.59627479e+02] [ 1.06530608e-02 -6.17223641e-05 9.99943253e-01 5.73220334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.11, Y:159.65, Z:5.73 [[-6.88790810e-01 -7.24916844e-01 7.92391332e-03 1.41106702e+02] [ 7.24867814e-01 -6.88836385e-01 -8.43129832e-03 1.59649299e+02] [ 1.15702700e-02 -6.36110709e-05 9.99933060e-01 5.73231669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.81038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.09, Y:159.67, Z:5.73 [[-6.88693717e-01 -7.25007768e-01 8.04360774e-03 1.41090398e+02] [ 7.24957317e-01 -6.88740686e-01 -8.55317298e-03 1.59670120e+02] [ 1.17410768e-02 -5.92442104e-05 9.99931069e-01 5.73206485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.07, Y:159.69, Z:5.73 [[-6.88064170e-01 -7.25596314e-01 8.81404867e-03 1.41073306e+02] [ 7.25535849e-01 -6.88120620e-01 -9.36721116e-03 1.59692977e+02] [ 1.28619425e-02 -5.03340846e-05 9.99917281e-01 5.73241494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.06, Y:159.71, Z:5.73 [[-6.87598817e-01 -7.26031203e-01 9.30374373e-03 1.41056608e+02] [ 7.25963951e-01 -6.87661756e-01 -9.88184538e-03 1.59713828e+02] [ 1.35723568e-02 -4.05626281e-05 9.99907891e-01 5.73146345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.04, Y:159.74, Z:5.73 [[-6.86205097e-01 -7.27330219e-01 1.06450566e-02 1.41039002e+02] [ 7.27242427e-01 -6.86287660e-01 -1.13004623e-02 1.59736167e+02] [ 1.55247387e-02 -1.28979940e-05 9.99879484e-01 5.73297201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.930385723 meters Centerline goodness [0,1] 0.9999776785714286 Centerline is valid? [True, True] Translation: X:141.02, Y:159.76, Z:5.73 [[-6.85415647e-01 -7.28071393e-01 1.08368385e-02 1.41020842e+02] [ 7.27980609e-01 -6.85501310e-01 -1.14972224e-02 1.59755658e+02] [ 1.57994657e-02 8.63217846e-06 9.99875181e-01 5.73246289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.00, Y:159.78, Z:5.73 [[-6.84337580e-01 -7.29087910e-01 1.06252369e-02 1.41000919e+02] [ 7.29000856e-01 -6.84420060e-01 -1.12664616e-02 1.59775405e+02] [ 1.54863662e-02 3.57437170e-05 9.99880078e-01 5.73262361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.98, Y:159.79, Z:5.73 [[-6.82655997e-01 -7.30658357e-01 1.09157876e-02 1.40980795e+02] [ 7.30566780e-01 -6.82743260e-01 -1.15681219e-02 1.59794755e+02] [ 1.59050253e-02 7.76639527e-05 9.99873504e-01 5.73315297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.96, Y:159.81, Z:5.73 [[-6.82564146e-01 -7.30738297e-01 1.13016896e-02 1.40962069e+02] [ 7.30640263e-01 -6.82657699e-01 -1.19696548e-02 1.59813311e+02] [ 1.64618706e-02 8.74122289e-05 9.99864490e-01 5.73261974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.050385723 meters Centerline goodness [0,1] 0.9999555229390442 Centerline is valid? [True, True] Translation: X:140.94, Y:159.83, Z:5.73 [[-6.82618220e-01 -7.30688339e-01 1.12657197e-02 1.40942924e+02] [ 7.30591043e-01 -6.82711171e-01 -1.19241522e-02 1.59832251e+02] [ 1.64040717e-02 9.09903732e-05 9.99865440e-01 5.73304793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.080385723 meters Centerline goodness [0,1] 0.9999777589964859 Centerline is valid? [True, True] Translation: X:140.92, Y:159.85, Z:5.73 [[-6.82915821e-01 -7.30412567e-01 1.11114201e-02 1.40923668e+02] [ 7.30317963e-01 -6.83006204e-01 -1.17557661e-02 1.59851706e+02] [ 1.61757281e-02 8.66710336e-05 9.99869161e-01 5.73308021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.90, Y:159.87, Z:5.73 [[-6.83406685e-01 -7.29955697e-01 1.09536659e-02 1.40904916e+02] [ 7.29863817e-01 -6.83494458e-01 -1.15816514e-02 1.59871459e+02] [ 1.59408624e-02 7.97063896e-05 9.99872933e-01 5.73421274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.140385723 meters Centerline goodness [0,1] 0.999977788143311 Centerline is valid? [True, True] Translation: X:140.89, Y:159.89, Z:5.74 [[-6.85186041e-01 -7.28304176e-01 9.64970841e-03 1.40886406e+02] [ 7.28232774e-01 -6.85253986e-01 -1.01980942e-02 1.59889951e+02] [ 1.40398158e-02 3.96421337e-05 9.99901436e-01 5.73512318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.87, Y:159.91, Z:5.74 [[-6.86372347e-01 -7.27190813e-01 9.30177207e-03 1.40867198e+02] [ 7.27124445e-01 -6.86435373e-01 -9.82445035e-03 1.59909925e+02] [ 1.35293154e-02 2.03148057e-05 9.99908474e-01 5.73555458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.200385723 meters Centerline goodness [0,1] 0.9999555318392032 Centerline is valid? [True, True] Translation: X:140.85, Y:159.93, Z:5.74 [[-6.88982437e-01 -7.24723203e-01 8.91522446e-03 1.40849634e+02] [ 7.24662102e-01 -6.89040114e-01 -9.41054700e-03 1.59930182e+02] [ 1.29629890e-02 -2.31762997e-05 9.99915977e-01 5.73580365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.83, Y:159.95, Z:5.74 [[-6.90352088e-01 -7.23418802e-01 8.90127564e-03 1.40832179e+02] [ 7.23357860e-01 -6.90409470e-01 -9.38992691e-03 1.59949885e+02] [ 1.29383747e-02 -4.35479451e-05 9.99916295e-01 5.73508111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.81, Y:159.97, Z:5.74 [[-6.91431126e-01 -7.22382424e-01 9.30760091e-03 1.40814734e+02] [ 7.22315777e-01 -6.91493767e-01 -9.81268171e-03 1.59970277e+02] [ 1.35246568e-02 -6.17665875e-05 9.99908536e-01 5.73588670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.290385723 meters Centerline goodness [0,1] 0.9999553501663206 Centerline is valid? [True, True] Translation: X:140.80, Y:159.99, Z:5.74 [[-6.93449382e-01 -7.20437664e-01 9.87552724e-03 1.40797997e+02] [ 7.20362521e-01 -6.93519691e-01 -1.04056501e-02 1.59992889e+02] [ 1.43454948e-02 -1.01831936e-04 9.99897093e-01 5.73799333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.78, Y:160.01, Z:5.74 [[-6.94617623e-01 -7.19309435e-01 1.00146976e-02 1.40780735e+02] [ 7.19232141e-01 -6.94689802e-01 -1.05454084e-02 1.60013047e+02] [ 1.45425200e-02 -1.22134151e-04 9.99894245e-01 5.73800487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.76, Y:160.03, Z:5.74 [[-6.95981906e-01 -7.17985628e-01 1.02870965e-02 1.40762025e+02] [ 7.17904022e-01 -6.96057911e-01 -1.08258611e-02 1.60033313e+02] [ 1.49332276e-02 -1.49455502e-04 9.99888482e-01 5.73775249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.74, Y:160.05, Z:5.74 [[-6.96814342e-01 -7.17178111e-01 1.02630339e-02 1.40743711e+02] [ 7.17096864e-01 -6.96889899e-01 -1.07961693e-02 1.60053450e+02] [ 1.48949810e-02 -1.63336229e-04 9.99889050e-01 5.73587468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.410385723 meters Centerline goodness [0,1] 0.9999556019268764 Centerline is valid? [True, True] Translation: X:140.73, Y:160.07, Z:5.74 [[-6.97692953e-01 -7.16321959e-01 1.03631858e-02 1.40725760e+02] [ 7.16239126e-01 -6.97769890e-01 -1.08947286e-02 1.60072309e+02] [ 1.50352523e-02 -1.78656284e-04 9.99886948e-01 5.73531096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.71, Y:160.09, Z:5.74 [[-6.99279068e-01 -7.14772442e-01 1.04470901e-02 1.40706334e+02] [ 7.14688181e-01 -6.99357071e-01 -1.09768981e-02 1.60093152e+02] [ 1.51522306e-02 -2.09503276e-04 9.99885176e-01 5.73736066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.69, Y:160.11, Z:5.74 [[-6.99475177e-01 -7.14580487e-01 1.04501021e-02 1.40687261e+02] [ 7.14496247e-01 -6.99553203e-01 -1.09740307e-02 1.60113104e+02] [ 1.51522306e-02 -2.09503273e-04 9.99885176e-01 5.73736107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.67, Y:160.13, Z:5.74 [[-7.00578817e-01 -7.13498403e-01 1.04570089e-02 1.40668530e+02] [ 7.13414029e-01 -7.00656818e-01 -1.09748573e-02 1.60133394e+02] [ 1.51573177e-02 -2.28575756e-04 9.99885095e-01 5.73798942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.530385723 meters Centerline goodness [0,1] 0.9999331610373406 Centerline is valid? [True, True] Translation: X:140.65, Y:160.15, Z:5.74 [[-7.02391808e-01 -7.11718807e-01 1.01038818e-02 1.40651200e+02] [ 7.11639919e-01 -7.02464430e-01 -1.05995311e-02 1.60153657e+02] [ 1.46415032e-02 -2.54698153e-04 9.99892775e-01 5.73873375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.56038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.63, Y:160.17, Z:5.74 [[-7.03368241e-01 -7.10759486e-01 9.69902729e-03 1.40632577e+02] [ 7.10686789e-01 -7.03435062e-01 -1.01686384e-02 1.60173510e+02] [ 1.40500921e-02 -2.59326778e-04 9.99901259e-01 5.73916635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.61, Y:160.19, Z:5.74 [[-7.04315048e-01 -7.09826834e-01 9.28327136e-03 1.40613907e+02] [ 7.09760235e-01 -7.04376176e-01 -9.72685513e-03 1.60192964e+02] [ 1.34432980e-02 -2.61873564e-04 9.99909601e-01 5.73922285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.59, Y:160.21, Z:5.74 [[-7.04922136e-01 -7.09229876e-01 8.81841743e-03 1.40594220e+02] [ 7.09169789e-01 -7.04977246e-01 -9.23546673e-03 1.60210500e+02] [ 1.27668526e-02 -2.56529717e-04 9.99918468e-01 5.73910798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.57, Y:160.23, Z:5.74 [[-7.04686817e-01 -7.09465864e-01 8.64162476e-03 1.40574134e+02] [ 7.09408249e-01 -7.04739760e-01 -9.04477552e-03 1.60229084e+02] [ 1.25070560e-02 -2.43294179e-04 9.99921754e-01 5.73935953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.56, Y:160.25, Z:5.74 [[-7.04294295e-01 -7.09863093e-01 7.99602799e-03 1.40555891e+02] [ 7.09813853e-01 -7.04339651e-01 -8.36368508e-03 1.60247674e+02] [ 1.15689909e-02 -2.14804249e-04 9.99933054e-01 5.73997923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.54, Y:160.27, Z:5.74 [[-7.04153330e-01 -7.10003529e-01 7.94212368e-03 1.40536487e+02] [ 7.09955017e-01 -7.04198087e-01 -8.30231603e-03 1.60266563e+02] [ 1.14875020e-02 -2.07552927e-04 9.99933995e-01 5.74042125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.52, Y:160.29, Z:5.74 [[-7.04110812e-01 -7.10047472e-01 7.78155830e-03 1.40518073e+02] [ 7.10000962e-01 -7.04153782e-01 -8.12934332e-03 1.60285849e+02] [ 1.12516334e-02 -1.99044646e-04 9.99936679e-01 5.74048977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.770385723 meters Centerline goodness [0,1] 0.9999778304919413 Centerline is valid? [True, True] Translation: X:140.50, Y:160.30, Z:5.74 [[-7.03585257e-01 -7.10569147e-01 7.69887145e-03 1.40497888e+02] [ 7.10523704e-01 -7.03627353e-01 -8.03822993e-03 1.60304570e+02] [ 1.11288547e-02 -1.85349411e-04 9.99938055e-01 5.74029039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.48, Y:160.32, Z:5.74 [[-7.03277109e-01 -7.10866721e-01 8.35542691e-03 1.40478643e+02] [ 7.10813282e-01 -7.03326716e-01 -8.71834837e-03 1.60322608e+02] [ 1.20741787e-02 -1.92266418e-04 9.99927086e-01 5.73841892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.830385723 meters Centerline goodness [0,1] 0.9999778034271508 Centerline is valid? [True, True] Translation: X:140.46, Y:160.34, Z:5.74 [[-7.03286202e-01 -7.10854540e-01 8.62212528e-03 1.40460165e+02] [ 7.10797703e-01 -7.03339026e-01 -8.99114121e-03 1.60341400e+02] [ 1.24556707e-02 -1.94758716e-04 9.99922406e-01 5.73794380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.860385723 meters Centerline goodness [0,1] 0.9999778147531891 Centerline is valid? [True, True] Translation: X:140.44, Y:160.36, Z:5.74 [[-7.03251549e-01 -7.10886578e-01 8.80525574e-03 1.40439023e+02] [ 7.10827368e-01 -7.03306644e-01 -9.17699471e-03 1.60359586e+02] [ 1.27165972e-02 -1.94718985e-04 9.99919122e-01 5.74004721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.42, Y:160.38, Z:5.74 [[-7.03411904e-01 -7.10732624e-01 8.41614651e-03 1.40420271e+02] [ 7.10678583e-01 -7.03462226e-01 -8.76633179e-03 1.60379326e+02] [ 1.21509592e-02 -1.85167061e-04 9.99926157e-01 5.73985695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.40, Y:160.40, Z:5.74 [[-7.03717671e-01 -7.10437596e-01 7.73704263e-03 1.40400542e+02] [ 7.10391957e-01 -7.03760181e-01 -8.05451070e-03 1.60399249e+02] [ 1.11672497e-02 -1.71768648e-04 9.99937630e-01 5.74017758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.38, Y:160.42, Z:5.74 [[-7.03860790e-01 -7.10299707e-01 7.36987286e-03 1.40383838e+02] [ 7.10258337e-01 -7.03899353e-01 -7.66780790e-03 1.60420174e+02] [ 1.06340904e-02 -1.62555679e-04 9.99943443e-01 5.73921391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.36, Y:160.44, Z:5.74 [[-7.04212391e-01 -7.09954386e-01 7.04825162e-03 1.40362545e+02] [ 7.09916571e-01 -7.04247645e-01 -7.32915771e-03 1.60439132e+02] [ 1.01670823e-02 -1.57613056e-04 9.99948301e-01 5.74104626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.35, Y:160.46, Z:5.74 [[-7.05036299e-01 -7.09140977e-01 6.54920251e-03 1.40345030e+02] [ 7.09108324e-01 -7.05066700e-01 -6.80696863e-03 1.60458469e+02] [ 9.44472498e-03 -1.55065962e-04 9.99955386e-01 5.74106171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.040385723 meters Centerline goodness [0,1] 0.9999778721897681 Centerline is valid? [True, True] Translation: X:140.33, Y:160.48, Z:5.74 [[-7.05654245e-01 -7.08525062e-01 6.65753166e-03 1.40326410e+02] [ 7.08491332e-01 -7.05685631e-01 -6.91536495e-03 1.60478236e+02] [ 9.59783381e-03 -1.63053165e-04 9.99953926e-01 5.74081789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.31, Y:160.50, Z:5.74 [[-7.06603394e-01 -7.07583627e-01 6.08725108e-03 1.40308480e+02] [ 7.07555429e-01 -7.06629596e-01 -6.31897944e-03 1.60497519e+02] [ 8.77263816e-03 -1.57944772e-04 9.99961507e-01 5.74057523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.29, Y:160.52, Z:5.74 [[-7.07175527e-01 -7.07011252e-01 6.15332951e-03 1.40289900e+02] [ 7.06982450e-01 -7.07202278e-01 -6.38376751e-03 1.60517091e+02] [ 8.86504411e-03 -1.64148183e-04 9.99960691e-01 5.74036607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.27, Y:160.54, Z:5.74 [[-7.07373362e-01 -7.06812838e-01 6.20797560e-03 1.40269407e+02] [ 7.06783550e-01 -7.07400583e-01 -6.43650755e-03 1.60535518e+02] [ 8.94093173e-03 -1.65318953e-04 9.99960015e-01 5.74058273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.25, Y:160.55, Z:5.74 [[-7.07714375e-01 -7.06472677e-01 6.05965957e-03 1.40249912e+02] [ 7.06444795e-01 -7.07740299e-01 -6.27870302e-03 1.60553142e+02] [ 8.72439740e-03 -1.62713423e-04 9.99961929e-01 5.73969642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.190385723 meters Centerline goodness [0,1] 0.9999779434469981 Centerline is valid? [True, True] Translation: X:140.23, Y:160.57, Z:5.74 [[-7.07777753e-01 -7.06408510e-01 6.13755146e-03 1.40232157e+02] [ 7.06379939e-01 -7.07804345e-01 -6.35537280e-03 1.60571835e+02] [ 8.83367502e-03 -1.62748252e-04 9.99960969e-01 5.73884772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.21, Y:160.59, Z:5.74 [[-7.08369110e-01 -7.05815854e-01 6.09793267e-03 1.40208760e+02] [ 7.05787660e-01 -7.08395337e-01 -6.31082023e-03 1.60588692e+02] [ 8.77402403e-03 -1.66544476e-04 9.99961494e-01 5.73940262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.250385723 meters Centerline goodness [0,1] 0.9999779458791875 Centerline is valid? [True, True] Translation: X:140.19, Y:160.61, Z:5.74 [[-7.08811141e-01 -7.05369352e-01 6.39093629e-03 1.40189753e+02] [ 7.05338401e-01 -7.08839929e-01 -6.61015998e-03 1.60608394e+02] [ 9.19275509e-03 -1.77582247e-04 9.99957730e-01 5.73841622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.280385723 meters Centerline goodness [0,1] 0.9999779298168174 Centerline is valid? [True, True] Translation: X:140.17, Y:160.63, Z:5.74 [[-7.09435866e-01 -7.04737112e-01 6.80842918e-03 1.40170639e+02] [ 7.04701998e-01 -7.09468509e-01 -7.03766133e-03 1.60627623e+02] [ 9.79006722e-03 -1.94855712e-04 9.99952057e-01 5.73794609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.31038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.15, Y:160.65, Z:5.74 [[-7.10558277e-01 -7.03605898e-01 6.75830924e-03 1.40150028e+02] [ 7.03571285e-01 -7.10590387e-01 -6.98200973e-03 1.60647268e+02] [ 9.71497280e-03 -2.06172485e-04 9.99952787e-01 5.73812410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.13, Y:160.67, Z:5.74 [[-7.11531749e-01 -7.02624303e-01 6.45439179e-03 1.40129366e+02] [ 7.02592729e-01 -7.11560992e-01 -6.66416887e-03 1.60665463e+02] [ 9.27510044e-03 -2.06958983e-04 9.99956964e-01 5.73771783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.37038572299997 meters Centerline goodness [0,1] 0.9999781181619256 Centerline is valid? [True, True] Translation: X:140.11, Y:160.68, Z:5.74 [[-7.12027652e-01 -7.02123425e-01 6.27048813e-03 1.40109767e+02] [ 7.02093640e-01 -7.12055233e-01 -6.47036178e-03 1.60683792e+02] [ 9.00792646e-03 -2.04606665e-04 9.99959407e-01 5.73733105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.09, Y:160.70, Z:5.74 [[-7.12560005e-01 -7.01583504e-01 6.23098994e-03 1.40090347e+02] [ 7.01554108e-01 -7.12587218e-01 -6.42570001e-03 1.60702745e+02] [ 8.94828891e-03 -2.07320240e-04 9.99959942e-01 5.73771358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.07, Y:160.72, Z:5.74 [[-7.13328869e-01 -7.00801754e-01 6.23101879e-03 1.40071333e+02] [ 7.00772351e-01 -7.13356051e-01 -6.42319929e-03 1.60722630e+02] [ 8.94632428e-03 -2.15327804e-04 9.99959958e-01 5.73804085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.05, Y:160.74, Z:5.74 [[-7.14989393e-01 -6.99108539e-01 6.11707098e-03 1.40049948e+02] [ 6.99080169e-01 -7.15015523e-01 -6.30226973e-03 1.60741323e+02] [ 8.77977128e-03 -2.29732994e-04 9.99961431e-01 5.73873823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.03, Y:160.76, Z:5.74 [[-7.16510910e-01 -6.97552299e-01 5.73638804e-03 1.40030934e+02] [ 6.97527330e-01 -7.16533835e-01 -5.90663452e-03 1.60760844e+02] [ 8.23050261e-03 -2.30880639e-04 9.99966102e-01 5.73865310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.01, Y:160.78, Z:5.74 [[-7.17232167e-01 -6.96813631e-01 5.36496207e-03 1.40011491e+02] [ 6.96791794e-01 -7.17252198e-01 -5.52091224e-03 1.60779472e+02] [ 7.69507774e-03 -2.21514303e-04 9.99970368e-01 5.73913542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.99, Y:160.80, Z:5.74 [[-7.17739245e-01 -6.96296118e-01 4.70012585e-03 1.39990152e+02] [ 6.96279367e-01 -7.17754608e-01 -4.83382481e-03 1.60796706e+02] [ 6.73931044e-03 -1.96825121e-04 9.99977271e-01 5.73945325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.97, Y:160.81, Z:5.74 [[-7.17825129e-01 -6.96212268e-01 3.94483536e-03 1.39966859e+02] [ 6.96200480e-01 -7.17835950e-01 -4.05484126e-03 1.60812875e+02] [ 5.65477487e-03 -1.64270684e-04 9.99983998e-01 5.73973136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.95, Y:160.83, Z:5.74 [[-7.17907493e-01 -6.96128277e-01 3.77535908e-03 1.39946360e+02] [ 6.96117490e-01 -7.17917403e-01 -3.87852839e-03 1.60831507e+02] [ 5.41034927e-03 -1.56331108e-04 9.99985352e-01 5.73966078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.93, Y:160.85, Z:5.74 [[-7.17967827e-01 -6.96066340e-01 3.72148958e-03 1.39926171e+02] [ 6.96055867e-01 -7.17977456e-01 -3.82137638e-03 1.60848457e+02] [ 5.33187709e-03 -1.53260643e-04 9.99985774e-01 5.73934407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.91, Y:160.87, Z:5.74 [[-7.18143712e-01 -6.95883971e-01 3.88687143e-03 1.39905342e+02] [ 6.95872557e-01 -7.18154213e-01 -3.98880021e-03 1.60866695e+02] [ 5.56711522e-03 -1.59764634e-04 9.99984491e-01 5.73895387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.88, Y:160.89, Z:5.74 [[-7.18342972e-01 -6.95679527e-01 3.65646030e-03 1.39884755e+02] [ 6.95669436e-01 -7.18352262e-01 -3.75010689e-03 1.60885276e+02] [ 5.23549912e-03 -1.50175255e-04 9.99986283e-01 5.73845479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.730385723 meters Centerline goodness [0,1] 0.9999783821176877 Centerline is valid? [True, True] Translation: X:139.86, Y:160.90, Z:5.74 [[-7.18391205e-01 -6.95630510e-01 3.50291667e-03 1.39864498e+02] [ 6.95621259e-01 -7.18399731e-01 -3.59038437e-03 1.60902104e+02] [ 5.01407531e-03 -1.42597250e-04 9.99987419e-01 5.73870453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.84, Y:160.92, Z:5.74 [[-7.18393326e-01 -6.95628838e-01 3.39833805e-03 1.39844398e+02] [ 6.95620141e-01 -7.18401351e-01 -3.48113969e-03 1.60920245e+02] [ 4.86295180e-03 -1.36875127e-04 9.99988166e-01 5.73886938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.82, Y:160.94, Z:5.74 [[-7.18039929e-01 -6.95993206e-01 3.48106502e-03 1.39822904e+02] [ 6.95984096e-01 -7.18048354e-01 -3.56367721e-03 1.60936184e+02] [ 4.97986813e-03 -1.36096644e-04 9.99987591e-01 5.73852121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.80, Y:160.95, Z:5.74 [[-7.17868987e-01 -6.96169707e-01 3.44325698e-03 1.39798944e+02] [ 6.96160805e-01 -7.17877233e-01 -3.52302800e-03 1.60952274e+02] [ 4.92446116e-03 -1.32011984e-04 9.99987866e-01 5.73877916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.78, Y:160.97, Z:5.74 [[-7.17627076e-01 -6.96418679e-01 3.52175738e-03 1.39777640e+02] [ 6.96409380e-01 -7.17635706e-01 -3.60136563e-03 1.60971052e+02] [ 5.03539714e-03 -1.31852618e-04 9.99987314e-01 5.73889184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.76, Y:160.99, Z:5.74 [[-7.16629686e-01 -6.97443648e-01 3.77517986e-03 1.39756437e+02] [ 6.97432984e-01 -7.16639617e-01 -3.85896022e-03 1.60988657e+02] [ 5.39685074e-03 -1.32510492e-04 9.99985428e-01 5.73834818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.73, Y:161.01, Z:5.74 [[-7.16135603e-01 -6.97950988e-01 3.77045202e-03 1.39733856e+02] [ 6.97940369e-01 -7.16145518e-01 -3.85211941e-03 1.61006539e+02] [ 5.38878286e-03 -1.27089181e-04 9.99985472e-01 5.73860315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.71, Y:161.02, Z:5.74 [[-7.14853792e-01 -6.99263008e-01 3.91181922e-03 1.39712771e+02] [ 6.99251610e-01 -7.14864485e-01 -3.99436895e-03 1.61024126e+02] [ 5.58953507e-03 -1.20043902e-04 9.99984371e-01 5.73789677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.69, Y:161.04, Z:5.74 [[-7.14049503e-01 -7.00083345e-01 4.07651102e-03 1.39690597e+02] [ 7.00070993e-01 -7.14061130e-01 -4.16026521e-03 1.61042210e+02] [ 5.82341044e-03 -1.16788185e-04 9.99983037e-01 5.73812941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.000385723 meters Centerline goodness [0,1] 0.999957337883959 Centerline is valid? [True, True] Translation: X:139.67, Y:161.06, Z:5.74 [[-7.13072593e-01 -7.01076095e-01 4.44812488e-03 1.39671862e+02] [ 7.01061427e-01 -7.13086457e-01 -4.53659345e-03 1.61061010e+02] [ 6.35239483e-03 -1.16511675e-04 9.99979817e-01 5.73655460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.65, Y:161.08, Z:5.74 [[-7.12516791e-01 -7.01642550e-01 4.18990956e-03 1.39649632e+02] [ 7.01629560e-01 -7.12529102e-01 -4.27064955e-03 1.61077918e+02] [ 5.98190194e-03 -1.03145107e-04 9.99982103e-01 5.73871090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.06038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.63, Y:161.10, Z:5.74 [[-7.11859590e-01 -7.02309293e-01 4.19295904e-03 1.39630674e+02] [ 7.02296312e-01 -7.11871932e-01 -4.27103896e-03 1.61096082e+02] [ 5.98444021e-03 -9.56803771e-05 9.99982089e-01 5.73863254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.090385723 meters Centerline goodness [0,1] 0.9999786343047603 Centerline is valid? [True, True] Translation: X:139.61, Y:161.11, Z:5.74 [[-7.10355435e-01 -7.03829060e-01 4.45091031e-03 1.39608782e+02] [ 7.03814479e-01 -7.10369373e-01 -4.53135263e-03 1.61114280e+02] [ 6.35108802e-03 -8.62558476e-05 9.99979828e-01 5.73905398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.59, Y:161.13, Z:5.74 [[-7.09563556e-01 -7.04627728e-01 4.39603613e-03 1.39587527e+02] [ 7.04613535e-01 -7.09577169e-01 -4.47299371e-03 1.61132701e+02] [ 6.27112227e-03 -7.63667640e-05 9.99980333e-01 5.73916247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.57, Y:161.15, Z:5.74 [[-7.07868648e-01 -7.06330836e-01 4.32752195e-03 1.39567112e+02] [ 7.06317129e-01 -7.07881873e-01 -4.40080486e-03 1.61150131e+02] [ 6.17179852e-03 -5.85889100e-05 9.99980953e-01 5.73908192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.55, Y:161.17, Z:5.74 [[-7.07266800e-01 -7.06932709e-01 4.45191375e-03 1.39546731e+02] [ 7.06918229e-01 -7.07280809e-01 -4.52482155e-03 1.61169674e+02] [ 6.34749751e-03 -5.31170678e-05 9.99979853e-01 5.73910247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.53, Y:161.19, Z:5.74 [[-7.06566746e-01 -7.07630650e-01 4.72199346e-03 1.39526785e+02] [ 7.07614394e-01 -7.06582522e-01 -4.79668042e-03 1.61189196e+02] [ 6.73075614e-03 -4.78243309e-05 9.99977347e-01 5.73900574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.51, Y:161.21, Z:5.74 [[-7.06570434e-01 -7.07626845e-01 4.74028659e-03 1.39508501e+02] [ 7.07610482e-01 -7.06586334e-01 -4.81246281e-03 1.61208644e+02] [ 6.75484959e-03 -4.60674609e-05 9.99977185e-01 5.73874071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.49, Y:161.23, Z:5.74 [[-7.06616071e-01 -7.07573270e-01 5.81335116e-03 1.39491133e+02] [ 7.07548685e-01 -7.06639982e-01 -5.89864382e-03 1.61230648e+02] [ 8.28166906e-03 -5.48475496e-05 9.99965705e-01 5.73877734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.300385723 meters Centerline goodness [0,1] 0.999935572545314 Centerline is valid? [True, True] Translation: X:139.47, Y:161.25, Z:5.74 [[-7.06950264e-01 -7.07235297e-01 6.28960405e-03 1.39472147e+02] [ 7.07206536e-01 -7.06978240e-01 -6.37840597e-03 1.61251701e+02] [ 8.95764704e-03 -6.11666954e-05 9.99959878e-01 5.73716452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.330385723 meters Centerline goodness [0,1] 0.9999570824660415 Centerline is valid? [True, True] Translation: X:139.45, Y:161.27, Z:5.74 [[-7.07258873e-01 -7.06923191e-01 6.66996674e-03 1.39454625e+02] [ 7.06890863e-01 -7.07290320e-01 -6.76093266e-03 1.61271263e+02] [ 9.49706300e-03 -6.67910653e-05 9.99954900e-01 5.73691125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.360385723 meters Centerline goodness [0,1] 0.9999356043531458 Centerline is valid? [True, True] Translation: X:139.44, Y:161.29, Z:5.74 [[-7.07947994e-01 -7.06234450e-01 6.52220749e-03 1.39437307e+02] [ 7.06203546e-01 -7.07978034e-01 -6.60720149e-03 1.61292528e+02] [ 9.28381294e-03 -7.15489839e-05 9.99956902e-01 5.73780138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.390385723 meters Centerline goodness [0,1] 0.9999356043531458 Centerline is valid? [True, True] Translation: X:139.42, Y:161.31, Z:5.74 [[-7.08159362e-01 -7.06022488e-01 6.52418504e-03 1.39418439e+02] [ 7.05991593e-01 -7.08189411e-01 -6.60524879e-03 1.61311494e+02] [ 9.28381294e-03 -7.15489827e-05 9.99956902e-01 5.73780178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.40, Y:161.33, Z:5.74 [[-7.08813202e-01 -7.05364241e-01 6.71806972e-03 1.39400649e+02] [ 7.05331491e-01 -7.08845034e-01 -6.79745465e-03 1.61332361e+02] [ 9.55675179e-03 -7.96594616e-05 9.99954330e-01 5.73810875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.38, Y:161.36, Z:5.74 [[-7.09836661e-01 -7.04334403e-01 6.70545359e-03 1.39384024e+02] [ 7.04301767e-01 -7.09868326e-01 -6.78092415e-03 1.61355586e+02] [ 9.53602728e-03 -9.06857488e-05 9.99954527e-01 5.73937774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.37, Y:161.38, Z:5.74 [[-7.10489932e-01 -7.03672574e-01 6.99752038e-03 1.39366718e+02] [ 7.03637029e-01 -7.10524383e-01 -7.07341504e-03 1.61376873e+02] [ 9.94927701e-03 -1.01875720e-04 9.99950500e-01 5.73957112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.510385723 meters Centerline goodness [0,1] 0.9999782910732893 Centerline is valid? [True, True] Translation: X:139.35, Y:161.40, Z:5.74 [[-7.11551640e-01 -7.02595945e-01 7.29399194e-03 1.39350656e+02] [ 7.02557309e-01 -7.11589013e-01 -7.36908237e-03 1.61400489e+02] [ 1.03678119e-02 -1.19035292e-04 9.99946246e-01 5.73914035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.33, Y:161.42, Z:5.74 [[-7.11738921e-01 -7.02408312e-01 7.09033065e-03 1.39332573e+02] [ 7.02371834e-01 -7.11774227e-01 -7.15936459e-03 1.61421686e+02] [ 1.00755118e-02 -1.15549881e-04 9.99949234e-01 5.74060134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.570385723 meters Centerline goodness [0,1] 0.9999563918627216 Centerline is valid? [True, True] Translation: X:139.32, Y:161.44, Z:5.74 [[-7.12158570e-01 -7.01985180e-01 6.85407742e-03 1.39315196e+02] [ 7.01951101e-01 -7.12191543e-01 -6.91801544e-03 1.61443067e+02] [ 9.73776029e-03 -1.15496791e-04 9.99952580e-01 5.74049074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.600385723 meters Centerline goodness [0,1] 0.9998470513688903 Centerline is valid? [True, True] Translation: X:139.30, Y:161.47, Z:5.74 [[-7.12738278e-01 -7.01389775e-01 7.51868137e-03 1.39299971e+02] [ 7.01348782e-01 -7.12777922e-01 -7.58418813e-03 1.61465828e+02] [ 1.06786221e-02 -1.32323167e-04 9.99942973e-01 5.73893720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.28, Y:161.49, Z:5.74 [[-7.13135411e-01 -7.00991652e-01 6.97060011e-03 1.39282585e+02] [ 7.00956441e-01 -7.13169467e-01 -7.02704638e-03 1.61487045e+02] [ 9.89712001e-03 -1.25148563e-04 9.99951015e-01 5.74165429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.660385723 meters Centerline goodness [0,1] 0.999956490525812 Centerline is valid? [True, True] Translation: X:139.27, Y:161.51, Z:5.74 [[-7.13745044e-01 -7.00369424e-01 7.11907005e-03 1.39265944e+02] [ 7.00332713e-01 -7.13780535e-01 -7.17213923e-03 1.61508023e+02] [ 1.01046007e-02 -1.33361190e-04 9.99948938e-01 5.74152247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.25, Y:161.53, Z:5.74 [[-7.14516177e-01 -6.99585371e-01 6.85141463e-03 1.39248760e+02] [ 6.99551373e-01 -7.14549012e-01 -6.89830514e-03 1.61528818e+02] [ 9.72162492e-03 -1.36034107e-04 9.99952735e-01 5.74174112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.23, Y:161.55, Z:5.74 [[-7.15867483e-01 -6.98203565e-01 6.74754625e-03 1.39232237e+02] [ 6.98170563e-01 -7.15899267e-01 -6.79005034e-03 1.61551432e+02] [ 9.57140076e-03 -1.49838075e-04 9.99954182e-01 5.74274920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.22, Y:161.57, Z:5.74 [[-7.16565802e-01 -6.97485571e-01 6.87966608e-03 1.39215319e+02] [ 6.97451273e-01 -7.16598809e-01 -6.91873820e-03 1.61573277e+02] [ 9.75568058e-03 -1.59499320e-04 9.99952400e-01 5.74323205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.20, Y:161.59, Z:5.74 [[-7.16808043e-01 -6.97233175e-01 7.22002758e-03 1.39197523e+02] [ 6.97195432e-01 -7.16844384e-01 -7.25658140e-03 1.61594707e+02] [ 1.02351655e-02 -1.67805662e-04 9.99947605e-01 5.74317799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.81038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.18, Y:161.61, Z:5.74 [[-7.16960272e-01 -6.97071101e-01 7.73625773e-03 1.39180383e+02] [ 6.97027799e-01 -7.17001986e-01 -7.77172002e-03 1.61614981e+02] [ 1.09643536e-02 -1.79627796e-04 9.99939874e-01 5.74280253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.840385723 meters Centerline goodness [0,1] 0.9999559306348192 Centerline is valid? [True, True] Translation: X:139.16, Y:161.63, Z:5.74 [[-7.16999267e-01 -6.97026780e-01 8.10674866e-03 1.39160859e+02] [ 6.96979281e-01 -7.17045071e-01 -8.13930236e-03 1.61634742e+02] [ 1.14862159e-02 -1.85637967e-04 9.99934014e-01 5.74414563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.14, Y:161.66, Z:5.74 [[-7.16693588e-01 -6.97330348e-01 8.98261049e-03 1.39142390e+02] [ 6.97272119e-01 -7.16749850e-01 -9.01358196e-03 1.61656117e+02] [ 1.27237290e-02 -1.96652543e-04 9.99919031e-01 5.74302021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.13, Y:161.68, Z:5.74 [[-7.16947042e-01 -6.97060514e-01 9.67360542e-03 1.39126891e+02] [ 6.96993012e-01 -7.17012269e-01 -9.70295528e-03 1.61679133e+02] [ 1.36996408e-02 -2.14069711e-04 9.99906133e-01 5.74009330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.11, Y:161.70, Z:5.74 [[-7.17348499e-01 -6.96643675e-01 9.93587047e-03 1.39108975e+02] [ 6.96572508e-01 -7.17417271e-01 -9.95998735e-03 1.61699320e+02] [ 1.40667273e-02 -2.23727772e-04 9.99901034e-01 5.74081884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.09, Y:161.72, Z:5.74 [[-7.17885582e-01 -6.96086213e-01 1.02115495e-02 1.39090206e+02] [ 6.96011067e-01 -7.17958166e-01 -1.02306297e-02 1.61720090e+02] [ 1.44528656e-02 -2.37070046e-04 9.99895524e-01 5.74181550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.07, Y:161.74, Z:5.74 [[-7.18576303e-01 -6.95369289e-01 1.04713214e-02 1.39074823e+02] [ 6.95290287e-01 -7.18652550e-01 -1.04847141e-02 1.61742521e+02] [ 1.48159901e-02 -2.53459039e-04 9.99890205e-01 5.74195758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.06, Y:161.76, Z:5.74 [[-7.18840742e-01 -6.95098900e-01 1.02716456e-02 1.39056036e+02] [ 6.95022937e-01 -7.18914082e-01 -1.02791034e-02 1.61762994e+02] [ 1.45294241e-02 -2.50008990e-04 9.99894411e-01 5.74370737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.04, Y:161.78, Z:5.74 [[-7.18264503e-01 -6.95700275e-01 9.86058478e-03 1.39039437e+02] [ 6.95630394e-01 -7.18332149e-01 -9.86300695e-03 1.61783703e+02] [ 1.39448717e-02 -2.24925314e-04 9.99902740e-01 5.74381771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.02, Y:161.80, Z:5.74 [[-7.17732898e-01 -6.96251094e-01 9.69027684e-03 1.39019901e+02] [ 6.96183738e-01 -7.17798280e-01 -9.68669240e-03 1.61803284e+02] [ 1.37000342e-02 -2.06244653e-04 9.99906129e-01 5.74433960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.47, Y:161.25, Z:6.73 [[-7.46383363e-01 6.65437752e-01 1.02212039e-02 1.38466961e+02] [ 6.65378781e-01 7.46453323e-01 -8.86084310e-03 1.61249096e+02] [-1.35259911e-02 1.87386319e-04 -9.99908502e-01 6.73082000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.49, Y:161.27, Z:6.73 [[-7.93611718e-01 6.08320480e-01 1.12532509e-02 1.38485802e+02] [ 6.08261969e-01 7.93691484e-01 -8.43834860e-03 1.61268850e+02] [-1.40648297e-02 1.48152202e-04 -9.99901074e-01 6.73044162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.51, Y:161.29, Z:6.73 [[-8.35668479e-01 5.49096049e-01 1.23175640e-02 1.38505578e+02] [ 5.49038642e-01 8.35759244e-01 -7.94076680e-03 1.61289845e+02] [-1.46547616e-02 1.26970098e-04 -9.99892605e-01 6.73073114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.52, Y:161.31, Z:6.73 [[-8.74189526e-01 4.85404995e-01 1.32160406e-02 1.38523914e+02] [ 4.85350850e-01 8.74289417e-01 -7.25036351e-03 1.61313310e+02] [-1.50740071e-02 7.62246766e-05 -9.99886378e-01 6.73175285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.230385723 meters Centerline goodness [0,1] 0.9999329384151112 Centerline is valid? [True, True] Translation: X:138.90, Y:162.00, Z:5.74 [[-8.43996992e-01 -5.36193946e-01 1.28502800e-02 1.38903902e+02] [ 5.36130629e-01 -8.44094810e-01 -8.24020072e-03 1.61999041e+02] [ 1.52652004e-02 -6.52759361e-05 9.99883478e-01 5.74233378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.89, Y:161.97, Z:5.74 [[-8.04905708e-01 -5.93261850e-01 1.29297588e-02 1.38891412e+02] [ 5.93184877e-01 -8.05009551e-01 -9.55637000e-03 1.61968619e+02] [ 1.60780091e-02 -2.22393709e-05 9.99870740e-01 5.74187274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.290385723 meters Centerline goodness [0,1] 0.9999776421400943 Centerline is valid? [True, True] Translation: X:138.42, Y:161.34, Z:6.74 [[-8.45344334e-01 5.34054369e-01 1.33748848e-02 1.38421363e+02] [ 5.33986890e-01 8.45450135e-01 -8.48950617e-03 1.61343406e+02] [-1.58416560e-02 -3.45427865e-05 -9.99874513e-01 6.73614166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.320385723 meters Centerline goodness [0,1] 0.9999776895274642 Centerline is valid? [True, True] Translation: X:138.85, Y:161.99, Z:5.74 [[-8.03888912e-01 -5.94641689e-01 1.28015052e-02 1.38847946e+02] [ 5.94567057e-01 -8.03990833e-01 -9.42099331e-03 1.61991192e+02] [ 1.58944082e-02 3.79212227e-05 9.99873675e-01 5.74108554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.38, Y:161.37, Z:6.74 [[-8.48845976e-01 5.28459624e-01 1.38179514e-02 1.38384023e+02] [ 5.28387981e-01 8.48958432e-01 -8.70191268e-03 1.61368644e+02] [-1.63294758e-02 -8.53441350e-05 -9.99866662e-01 6.73530329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.40, Y:161.39, Z:6.74 [[-8.83895065e-01 4.67446573e-01 1.49403914e-02 1.38402766e+02] [ 4.67378253e-01 8.84021321e-01 -7.99210667e-03 1.61391295e+02] [-1.69435074e-02 -8.13696092e-05 -9.99856445e-01 6.73574410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.76, Y:162.07, Z:5.74 [[-8.45497742e-01 -5.33774987e-01 1.47590959e-02 1.38762150e+02] [ 5.33695946e-01 -8.45626544e-01 -9.18620752e-03 1.62074807e+02] [ 1.73840510e-02 1.09951914e-04 9.99848880e-01 5.73887199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.440385723 meters Centerline goodness [0,1] 0.999933210143153 Centerline is valid? [True, True] Translation: X:138.74, Y:162.06, Z:5.74 [[-8.08733894e-01 -5.88031291e-01 1.29880408e-02 1.38735506e+02] [ 5.87956348e-01 -8.08838179e-01 -9.38798246e-03 1.62057731e+02] [ 1.60256507e-02 4.40214224e-05 9.99871580e-01 5.74010912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.31, Y:161.40, Z:6.73 [[-8.49918246e-01 5.26748085e-01 1.32450100e-02 1.38313910e+02] [ 5.26684126e-01 8.50021444e-01 -8.20835598e-03 1.61402224e+02] [-1.55822783e-02 -4.95017003e-07 -9.99878589e-01 6.73434076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.33, Y:161.42, Z:6.73 [[-8.84477091e-01 4.66386949e-01 1.35458436e-02 1.38332599e+02] [ 4.66332599e-01 8.84580812e-01 -7.11995190e-03 1.61424061e+02] [-1.53030460e-02 1.94341095e-05 -9.99882901e-01 6.73408860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.70, Y:162.11, Z:5.74 [[-8.53011178e-01 -5.21722698e-01 1.33175438e-02 1.38698831e+02] [ 5.21659099e-01 -8.53115131e-01 -8.14607553e-03 1.62113976e+02] [ 1.56113906e-02 -1.47557549e-06 9.99878135e-01 5.74085328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.56038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.29, Y:161.45, Z:6.73 [[-8.84860510e-01 4.65655768e-01 1.36595869e-02 1.38285530e+02] [ 4.65601397e-01 8.84965933e-01 -7.11599446e-03 1.61446073e+02] [-1.54018729e-02 6.32602464e-05 -9.99881382e-01 6.73439487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.31, Y:161.47, Z:6.73 [[-9.14192712e-01 4.05049377e-01 1.36633603e-02 1.38308290e+02] [ 4.05006009e-01 9.14294804e-01 -5.92818307e-03 1.61466177e+02] [-1.48935461e-02 1.14241251e-04 -9.99889078e-01 6.73261815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.32, Y:161.49, Z:6.73 [[-9.39884522e-01 3.41220990e-01 1.36132813e-02 1.38323634e+02] [ 3.41187363e-01 9.39983094e-01 -4.79237660e-03 1.61490621e+02] [-1.44315138e-02 1.40398960e-04 -9.99895850e-01 6.73270015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.60, Y:162.23, Z:5.74 [[-9.24242251e-01 -3.81572118e-01 1.33783410e-02 1.38596375e+02] [ 3.81530021e-01 -9.24339061e-01 -5.66943733e-03 1.62230196e+02] [ 1.45294224e-02 -1.35694774e-04 9.99894433e-01 5.74225893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.28, Y:161.50, Z:6.73 [[-9.38713653e-01 3.44405760e-01 1.41897898e-02 1.38282653e+02] [ 3.44370489e-01 9.38820861e-01 -4.93536022e-03 1.61501444e+02] [-1.50214372e-02 2.53654836e-04 -9.99887140e-01 6.73304193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.710385723 meters Centerline goodness [0,1] 0.9999552362407395 Centerline is valid? [True, True] Translation: X:138.29, Y:161.53, Z:6.73 [[-9.60167840e-01 2.79041751e-01 1.46089115e-02 1.38293763e+02] [ 2.79014008e-01 9.60278927e-01 -3.94526148e-03 1.61527910e+02] [-1.51295225e-02 2.87977749e-04 -9.99885501e-01 6.73391797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.30, Y:161.56, Z:6.73 [[-9.76630386e-01 2.14350550e-01 1.57140131e-02 1.38302917e+02] [ 2.14328940e-01 9.76756726e-01 -3.06645174e-03 1.61555137e+02] [-1.60060636e-02 3.73177825e-04 -9.99871825e-01 6.73457967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.30, Y:161.59, Z:6.73 [[-9.89078542e-01 1.46552438e-01 1.56850210e-02 1.38300390e+02] [ 1.46540430e-01 9.89202822e-01 -1.91845307e-03 1.61585600e+02] [-1.57968210e-02 4.00988951e-04 -9.99875142e-01 6.73376580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.800385723 meters Centerline goodness [0,1] 0.999955595026643 Centerline is valid? [True, True] Translation: X:138.31, Y:161.61, Z:6.73 [[-9.96785710e-01 7.86009105e-02 1.54966261e-02 1.38314379e+02] [ 7.85982047e-02 9.96906067e-01 -7.84515591e-04 1.61613931e+02] [-1.55103442e-02 4.36013059e-04 -9.99879612e-01 6.73379439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.31, Y:161.64, Z:6.73 [[-9.99852629e-01 8.03830150e-03 1.51692612e-02 1.38311278e+02] [ 8.04397123e-03 9.99967598e-01 3.12786091e-04 1.61644909e+02] [-1.51662554e-02 4.34761096e-04 -9.99884891e-01 6.73358425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.860385723 meters Centerline goodness [0,1] 0.9999778201659052 Centerline is valid? [True, True] Translation: X:138.31, Y:161.68, Z:6.73 [[-9.97883899e-01 -6.35198204e-02 1.38908987e-02 1.38305695e+02] [-6.35081334e-02 9.97980499e-01 1.28129041e-03 1.61677297e+02] [-1.39442334e-02 3.96394020e-04 -9.99902696e-01 6.73171412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.23, Y:162.46, Z:5.74 [[-9.98568262e-01 5.18869531e-02 1.30065555e-02 1.38234204e+02] [-5.18881986e-02 -9.98652871e-01 2.41904847e-04 1.62456345e+02] [ 1.30015857e-02 -4.33328234e-04 9.99915382e-01 5.74375295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.920385723 meters Centerline goodness [0,1] 0.999977893712972 Centerline is valid? [True, True] Translation: X:138.19, Y:161.67, Z:6.73 [[-9.97315943e-01 -7.20982467e-02 1.27574483e-02 1.38187320e+02] [-7.20880308e-02 9.97397478e-01 1.25942382e-03 1.61670355e+02] [-1.28150490e-02 3.36384126e-04 -9.99917827e-01 6.73116120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.17, Y:161.70, Z:6.73 [[-9.89437328e-01 -1.44409477e-01 1.26362969e-02 1.38168482e+02] [-1.44393542e-01 9.89517963e-01 2.16930902e-03 1.61699498e+02] [-1.28171116e-02 3.21795656e-04 -9.99917806e-01 6.73102871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.980385723 meters Centerline goodness [0,1] 0.9999778785532574 Centerline is valid? [True, True] Translation: X:138.13, Y:161.73, Z:6.73 [[-9.75645174e-01 -2.19008518e-01 1.23192389e-02 1.38126300e+02] [-2.18987587e-01 9.75722910e-01 3.03964409e-03 1.61725411e+02] [-1.26858716e-02 2.67853673e-04 -9.99919495e-01 6.73164046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.010385723 meters Centerline goodness [0,1] 0.9999779813281663 Centerline is valid? [True, True] Translation: X:138.08, Y:161.74, Z:6.73 [[-9.56387755e-01 -2.91842868e-01 1.22557161e-02 1.38077918e+02] [-2.91815545e-01 9.56466245e-01 4.00120711e-03 1.61744311e+02] [-1.28899025e-02 2.50297024e-04 -9.99916890e-01 6.73175749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.01, Y:161.76, Z:6.73 [[-9.31397109e-01 -3.63855664e-01 1.04154903e-02 1.38012306e+02] [-3.63830625e-01 9.31455324e-01 4.27277135e-03 1.61755587e+02] [-1.12562359e-02 1.90172534e-04 -9.99936629e-01 6.73131833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.070385723 meters Centerline goodness [0,1] 0.999955900511554 Centerline is valid? [True, True] Translation: X:137.94, Y:161.76, Z:6.73 [[-9.01417257e-01 -4.32855313e-01 9.12175896e-03 1.37937057e+02] [-4.32831325e-01 9.01463395e-01 4.55977434e-03 1.61757114e+02] [-1.01966543e-02 1.62076258e-04 -9.99948000e-01 6.72956241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.100385723 meters Centerline goodness [0,1] 0.9999780166633692 Centerline is valid? [True, True] Translation: X:137.85, Y:161.75, Z:6.73 [[-8.65977711e-01 -5.00014537e-01 8.25032815e-03 1.37852774e+02] [-4.99990294e-01 8.66017000e-01 4.92571411e-03 1.61745610e+02] [-9.60785309e-03 1.40474627e-04 -9.99953834e-01 6.72890804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.130385723 meters Centerline goodness [0,1] 0.9999124707324012 Centerline is valid? [True, True] Translation: X:137.76, Y:161.73, Z:6.73 [[-8.25010681e-01 -5.65073838e-01 6.99522902e-03 1.37764585e+02] [-5.65052402e-01 8.25040330e-01 4.92318071e-03 1.61725672e+02] [-8.55330667e-03 1.09005715e-04 -9.99963414e-01 6.72736665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.160385723 meters Centerline goodness [0,1] 0.9999560690594386 Centerline is valid? [True, True] Translation: X:137.67, Y:161.69, Z:6.73 [[-7.79659916e-01 -6.26173986e-01 6.04605202e-03 1.37669844e+02] [-6.26154227e-01 7.79683353e-01 4.97528385e-03 1.61692817e+02] [-7.82939943e-03 9.32683639e-05 -9.99969345e-01 6.72633654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.58, Y:161.66, Z:6.73 [[-7.28261506e-01 -6.85281192e-01 4.98661639e-03 1.37576135e+02] [-6.85264526e-01 7.28278576e-01 4.77977607e-03 1.61655284e+02] [-6.90713652e-03 6.37755997e-05 -9.99976143e-01 6.72627505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.220385723 meters Centerline goodness [0,1] 0.999956296571466 Centerline is valid? [True, True] Translation: X:137.48, Y:161.60, Z:6.73 [[-6.73289776e-01 -7.39363154e-01 4.79631056e-03 1.37476002e+02] [-7.39343795e-01 6.73306857e-01 5.35060717e-03 1.61596381e+02] [-7.18543058e-03 5.63866493e-05 -9.99974183e-01 6.72682486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.250385723 meters Centerline goodness [0,1] 0.999978224893302 Centerline is valid? [True, True] Translation: X:137.39, Y:161.54, Z:6.73 [[-6.14102221e-01 -7.89215074e-01 4.24607220e-03 1.37390193e+02] [-7.89195689e-01 6.14116899e-01 5.53170721e-03 1.61541768e+02] [-6.97329140e-03 4.60518127e-05 -9.99975685e-01 6.72711158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.280385723 meters Centerline goodness [0,1] 0.999978224893302 Centerline is valid? [True, True] Translation: X:137.30, Y:161.47, Z:6.73 [[-5.52182264e-01 -8.33714708e-01 3.81224677e-03 1.37303436e+02] [-8.33694260e-01 5.52195422e-01 5.83919330e-03 1.61469750e+02] [-6.97332655e-03 4.60507275e-05 -9.99975685e-01 6.72711326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.31038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.22, Y:161.39, Z:6.73 [[-4.84754373e-01 -8.74642077e-01 3.79931157e-03 1.37217978e+02] [-8.74614687e-01 4.84769261e-01 6.92187988e-03 1.61390886e+02] [-7.89595685e-03 3.24778442e-05 -9.99968826e-01 6.72840433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.14, Y:161.30, Z:6.73 [[-4.15857685e-01 -9.09423276e-01 3.41936061e-03 1.37139723e+02] [-9.09391957e-01 4.15871741e-01 7.54745957e-03 1.61303735e+02] [-8.28585085e-03 2.91300267e-05 -9.99965671e-01 6.72857209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.37038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.07, Y:161.21, Z:6.73 [[-3.44673804e-01 -9.38718692e-01 2.68055954e-03 1.37065299e+02] [-9.38689746e-01 3.44684226e-01 7.37186699e-03 1.61205025e+02] [-7.84405594e-03 2.46756803e-05 -9.99969235e-01 6.72835975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.00, Y:161.10, Z:6.73 [[-2.71978416e-01 -9.62301206e-01 2.03239261e-03 1.37000755e+02] [-9.62273627e-01 2.71986008e-01 7.28554103e-03 1.61100471e+02] [-7.56366727e-03 2.57920946e-05 -9.99971395e-01 6.72808532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.95, Y:160.99, Z:6.73 [[-1.98550367e-01 -9.80089795e-01 1.32116480e-03 1.36945292e+02] [-9.80067005e-01 1.98554759e-01 6.68387465e-03 1.60994072e+02] [-6.81312090e-03 3.22557321e-05 -9.99976790e-01 6.72806955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.90, Y:160.86, Z:6.73 [[-1.25180043e-01 -9.92133675e-01 8.53330749e-04 1.36895449e+02] [-9.92107717e-01 1.25182941e-01 7.17700030e-03 1.60861477e+02] [-7.22736614e-03 5.18211845e-05 -9.99973881e-01 6.72855123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.86, Y:160.75, Z:6.73 [[-4.97152681e-02 -9.98763386e-01 3.01498356e-04 1.36857919e+02] [-9.98736786e-01 4.97161445e-02 7.28958748e-03 1.60752936e+02] [-7.29556241e-03 6.12862970e-05 -9.99973385e-01 6.72824425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.83, Y:160.64, Z:6.73 [[ 2.49000618e-02 -9.99689913e-01 -2.54717514e-04 1.36829827e+02] [-9.99664426e-01 -2.49012459e-02 7.13888726e-03 1.60644762e+02] [-7.14301636e-03 7.68733043e-05 -9.99974485e-01 6.72864306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.81, Y:160.52, Z:6.73 [[ 1.00649328e-01 -9.94921633e-01 -8.10296654e-04 1.36810513e+02] [-9.94895850e-01 -1.00652554e-01 7.16322334e-03 1.60516135e+02] [-7.20840429e-03 8.51871628e-05 -9.99974016e-01 6.72886031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.80, Y:160.40, Z:6.73 [[ 1.75784893e-01 -9.84427711e-01 -1.32393494e-03 1.36799209e+02] [-9.84403550e-01 -1.75789855e-01 6.89761725e-03 1.60397575e+02] [-7.02293990e-03 9.07893438e-05 -9.99975335e-01 6.72876319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.610385723 meters Centerline goodness [0,1] 0.9999129980859579 Centerline is valid? [True, True] Translation: X:136.80, Y:160.28, Z:6.73 [[ 2.49148958e-01 -9.68463182e-01 -1.96514203e-03 1.36798011e+02] [-9.68436448e-01 -2.49156684e-01 7.19670858e-03 1.60276460e+02] [-7.45937556e-03 1.10062727e-04 -9.99972172e-01 6.72884800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.81, Y:160.15, Z:6.73 [[ 3.21986757e-01 -9.46740808e-01 -2.52394839e-03 1.36806874e+02] [-9.46714509e-01 -3.21996628e-01 7.05768449e-03 1.60151475e+02] [-7.49450079e-03 1.16977623e-04 -9.99971909e-01 6.72903034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.82, Y:160.03, Z:6.73 [[ 3.92547351e-01 -9.19726405e-01 -3.14910220e-03 1.36822617e+02] [-9.19699423e-01 -3.92559960e-01 7.04622155e-03 1.60030601e+02] [-7.71680745e-03 1.30251873e-04 -9.99970217e-01 6.72892794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.85, Y:159.91, Z:6.73 [[ 4.61566452e-01 -8.87098359e-01 -3.59324083e-03 1.36847979e+02] [-8.87073635e-01 -4.61580420e-01 6.62439765e-03 1.59912135e+02] [-7.53506189e-03 1.29869480e-04 -9.99971603e-01 6.72929837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.88, Y:159.80, Z:6.73 [[ 5.27903020e-01 -8.49294654e-01 -4.12217018e-03 1.36880647e+02] [-8.49270693e-01 -5.27919098e-01 6.38088670e-03 1.59796403e+02] [-7.59542532e-03 1.32348970e-04 -9.99971146e-01 6.72881132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.92, Y:159.69, Z:6.73 [[ 5.91477729e-01 -8.06306162e-01 -4.94662796e-03 1.36924292e+02] [-8.06279923e-01 -5.91498397e-01 6.50632263e-03 1.59685445e+02] [-8.17201054e-03 1.40021869e-04 -9.99966599e-01 6.73019266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.97, Y:159.58, Z:6.73 [[ 6.51449033e-01 -7.58673167e-01 -5.40218794e-03 1.36971545e+02] [-7.58648806e-01 -6.51471418e-01 6.08126668e-03 1.59578426e+02] [-8.13306488e-03 1.36728134e-04 -9.99966917e-01 6.72970490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.02, Y:159.48, Z:6.73 [[ 7.07523314e-01 -7.06665366e-01 -5.90097305e-03 1.37020452e+02] [-7.06642361e-01 -7.07547909e-01 5.70356073e-03 1.59481255e+02] [-8.20572997e-03 1.34475337e-04 -9.99966323e-01 6.72861870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.01, Y:159.47, Z:6.73 [[ 7.60807507e-01 -6.48949441e-01 -6.04655599e-03 1.37013313e+02] [-6.48930255e-01 -7.60831524e-01 4.99168059e-03 1.59467974e+02] [-7.83975873e-03 1.26085056e-04 -9.99969261e-01 6.72853788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.01, Y:159.46, Z:6.73 [[ 8.09376323e-01 -5.87259719e-01 -5.99927178e-03 1.37006775e+02] [-5.87244640e-01 -8.09398548e-01 4.20982160e-03 1.59456225e+02] [-7.32806051e-03 1.15710275e-04 -9.99973143e-01 6.72865911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.910385723 meters Centerline goodness [0,1] 0.9999565179580833 Centerline is valid? [True, True] Translation: X:137.00, Y:159.44, Z:6.73 [[ 8.53003059e-01 -5.21869613e-01 -6.15533492e-03 1.37002999e+02] [-5.21856955e-01 -8.53025261e-01 3.63636814e-03 1.59443073e+02] [-7.14836621e-03 1.10371192e-04 -9.99974444e-01 6.72851431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.00, Y:159.43, Z:6.73 [[ 8.91073712e-01 -4.53813964e-01 -6.36597170e-03 1.37000252e+02] [-4.53803270e-01 -8.91096445e-01 3.11740933e-03 1.59431376e+02] [-7.08741864e-03 1.11057273e-04 -9.99974878e-01 6.72878621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.00, Y:159.42, Z:6.73 [[ 9.23659469e-01 -3.83161404e-01 -6.36583789e-03 1.36998089e+02] [-3.83153122e-01 -9.23681399e-01 2.52162147e-03 1.59420304e+02] [-6.84619407e-03 1.09971119e-04 -9.99976559e-01 6.72952460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.000385723 meters Centerline goodness [0,1] 0.9999783404448873 Centerline is valid? [True, True] Translation: X:137.00, Y:159.41, Z:6.73 [[ 9.50711372e-01 -3.10008074e-01 -6.54832199e-03 1.36998138e+02] [-3.10001528e-01 -9.50733917e-01 2.01776732e-03 1.59410776e+02] [-6.85123598e-03 1.11675486e-04 -9.99976524e-01 6.72968450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.00, Y:159.40, Z:6.73 [[ 9.71975168e-01 -2.34999638e-01 -6.28030142e-03 1.36999790e+02] [-2.34995442e-01 -9.71995452e-01 1.40851302e-03 1.59400847e+02] [-6.43542447e-03 1.06802527e-04 -9.99979287e-01 6.72956846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.06038572299997 meters Centerline goodness [0,1] 0.9999784408416695 Centerline is valid? [True, True] Translation: X:137.00, Y:159.39, Z:6.73 [[ 9.87374554e-01 -1.58296426e-01 -5.80787047e-03 1.36999625e+02] [-1.58294272e-01 -9.87391631e-01 8.31613169e-04 1.59391097e+02] [-5.86628409e-03 9.82389440e-05 -9.99982788e-01 6.72936291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.090385723 meters Centerline goodness [0,1] 0.9999565500760373 Centerline is valid? [True, True] Translation: X:137.00, Y:159.38, Z:6.73 [[ 9.96699634e-01 -8.09849825e-02 -5.59218857e-03 1.36999221e+02] [-8.09842504e-02 -9.96715317e-01 3.57603980e-04 1.59382675e+02] [-5.60278055e-03 9.64554433e-05 -9.99984300e-01 6.72957935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.12038572299997 meters Centerline goodness [0,1] 0.9999350761772853 Centerline is valid? [True, True] Translation: X:137.00, Y:159.38, Z:6.73 [[ 9.99978616e-01 -3.54944438e-03 -5.49268618e-03 1.36998233e+02] [-3.54993477e-03 -9.99993696e-01 -7.95337146e-05 1.59375812e+02] [-5.49236925e-03 9.90306915e-05 -9.99984912e-01 6.72922981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.00, Y:159.37, Z:6.73 [[ 9.97213177e-01 7.43854124e-02 -5.71749616e-03 1.36999137e+02] [ 7.43835841e-02 -9.97229562e-01 -5.32058258e-04 1.59365412e+02] [-5.74123356e-03 1.05287650e-04 -9.99983513e-01 6.72917870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.00, Y:159.36, Z:6.73 [[ 9.88387520e-01 1.51855041e-01 -5.49148577e-03 1.36999206e+02] [ 1.51852110e-01 -9.88402770e-01 -9.49330528e-04 1.59357615e+02] [-5.57196038e-03 1.04412747e-04 -9.99984471e-01 6.72943901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.00, Y:159.35, Z:6.73 [[ 9.73416134e-01 2.28994508e-01 -4.74814020e-03 1.36998915e+02] [ 2.28991328e-01 -9.73427710e-01 -1.21008670e-03 1.59352306e+02] [-4.89907445e-03 9.06349894e-05 -9.99987995e-01 6.72883745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.240385723 meters Centerline goodness [0,1] 0.9999350354057039 Centerline is valid? [True, True] Translation: X:137.00, Y:159.35, Z:6.73 [[ 9.52356636e-01 3.04953467e-01 -4.49674246e-03 1.37000060e+02] [ 3.04949644e-01 -9.52367248e-01 -1.52953468e-03 1.59347995e+02] [-4.74898715e-03 8.53824880e-05 -9.99988720e-01 6.72849688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.270385723 meters Centerline goodness [0,1] 0.9998490012511325 Centerline is valid? [True, True] Translation: X:137.01, Y:159.33, Z:6.73 [[ 9.24918433e-01 3.80149766e-01 -3.47106178e-03 1.37006364e+02] [ 3.80146838e-01 -9.24924944e-01 -1.49323164e-03 1.59333570e+02] [-3.77812328e-03 6.16043089e-05 -9.99992861e-01 6.72766426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.300385723 meters Centerline goodness [0,1] 0.9998916552904722 Centerline is valid? [True, True] Translation: X:137.01, Y:159.33, Z:6.73 [[ 8.91890195e-01 4.52240473e-01 -3.23036129e-03 1.37009950e+02] [ 4.52237277e-01 -8.91896043e-01 -1.70089388e-03 1.59325360e+02] [-3.65035951e-03 5.61207812e-05 -9.99993336e-01 6.72827492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.330385723 meters Centerline goodness [0,1] 0.9999565783760312 Centerline is valid? [True, True] Translation: X:137.02, Y:159.31, Z:6.73 [[ 8.53211978e-01 5.21554836e-01 -3.14205080e-03 1.37017873e+02] [ 5.21551069e-01 -8.53217762e-01 -1.98318746e-03 1.59312466e+02] [-3.71519456e-03 5.33393464e-05 -9.99993097e-01 6.72790525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.360385723 meters Centerline goodness [0,1] 0.9999350536889504 Centerline is valid? [True, True] Translation: X:137.02, Y:159.31, Z:6.73 [[ 8.08491632e-01 5.88499147e-01 -3.16761757e-03 1.37022650e+02] [ 5.88494397e-01 -8.08497836e-01 -2.36509882e-03 1.59305166e+02] [-3.95287059e-03 4.80374136e-05 -9.99992186e-01 6.72843189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.390385723 meters Centerline goodness [0,1] 0.9998265996185192 Centerline is valid? [True, True] Translation: X:137.02, Y:159.30, Z:6.73 [[ 7.59228046e-01 6.50819390e-01 -2.62599078e-03 1.37021751e+02] [ 6.50815321e-01 -7.59232586e-01 -2.30186794e-03 1.59304073e+02] [-3.49183806e-03 3.86076701e-05 -9.99993903e-01 6.72827156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.420385723 meters Centerline goodness [0,1] 0.9997835872576177 Centerline is valid? [True, True] Translation: X:137.03, Y:159.29, Z:6.73 [[ 7.03986593e-01 7.10208003e-01 -2.73310663e-03 1.37032434e+02] [ 7.10202472e-01 -7.03991897e-01 -2.80312127e-03 1.59293308e+02] [-3.91488408e-03 3.23007041e-05 -9.99992336e-01 6.72732737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.450385723 meters Centerline goodness [0,1] 0.9996764661475745 Centerline is valid? [True, True] Translation: X:137.04, Y:159.29, Z:6.73 [[ 6.44861366e-01 7.64294315e-01 -2.83190355e-03 1.37041849e+02] [ 7.64286750e-01 -6.44867583e-01 -3.40051853e-03 1.59285728e+02] [-4.42519977e-03 2.84766654e-05 -9.99990208e-01 6.72745553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.480385723 meters Centerline goodness [0,1] 0.9999134105422665 Centerline is valid? [True, True] Translation: X:137.05, Y:159.28, Z:6.73 [[ 5.81682378e-01 8.13410649e-01 -2.95423208e-03 1.37050635e+02] [ 8.13399945e-01 -5.81689880e-01 -4.17290823e-03 1.59278465e+02] [-5.11273490e-03 2.43349725e-05 -9.99986930e-01 6.72772575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.510385723 meters Centerline goodness [0,1] 0.999675885911841 Centerline is valid? [True, True] Translation: X:137.06, Y:159.27, Z:6.73 [[ 5.13039877e-01 8.58360298e-01 -2.77207460e-03 1.37061484e+02] [ 8.58347707e-01 -5.13047366e-01 -4.64906934e-03 1.59272012e+02] [-5.41278212e-03 5.75408305e-06 -9.99985351e-01 6.72779577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.540385723 meters Centerline goodness [0,1] 0.9996536421690659 Centerline is valid? [True, True] Translation: X:137.07, Y:159.27, Z:6.73 [[ 4.43584998e-01 8.96228453e-01 -2.62862593e-03 1.37070533e+02] [ 8.96212695e-01 -4.43592786e-01 -5.31461481e-03 1.59266447e+02] [-5.92914851e-03 1.67546884e-06 -9.99982422e-01 6.72945198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.570385723 meters Centerline goodness [0,1] 0.9997833950657395 Centerline is valid? [True, True] Translation: X:137.08, Y:159.26, Z:6.73 [[ 3.68782294e-01 9.29513006e-01 -2.27847848e-03 1.37077894e+02] [ 9.29495597e-01 -3.68789332e-01 -5.68900156e-03 1.59262670e+02] [-6.12827949e-03 -1.98326724e-05 -9.99981222e-01 6.72729232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.600385723 meters Centerline goodness [0,1] 0.999869746439736 Centerline is valid? [True, True] Translation: X:137.09, Y:159.26, Z:6.73 [[ 2.93860664e-01 9.55846419e-01 -1.87972179e-03 1.37088158e+02] [ 9.55827451e-01 -2.93866675e-01 -6.02173541e-03 1.59258509e+02] [-6.30824182e-03 -2.71385224e-05 -9.99980103e-01 6.72697817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.630385723 meters Centerline goodness [0,1] 0.999696332125892 Centerline is valid? [True, True] Translation: X:137.10, Y:159.25, Z:6.73 [[ 2.16916033e-01 9.76189218e-01 -1.42995349e-03 1.37097853e+02] [ 9.76169075e-01 -2.16920743e-01 -6.27117747e-03 1.59254890e+02] [-6.43204241e-03 -3.55574408e-05 -9.99979314e-01 6.72713587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.660385723 meters Centerline goodness [0,1] 0.9995880490872036 Centerline is valid? [True, True] Translation: X:137.11, Y:159.25, Z:6.73 [[ 1.38269669e-01 9.90394116e-01 -9.96475167e-04 1.37105555e+02] [ 9.90370859e-01 -1.38273251e-01 -6.78744857e-03 1.59252902e+02] [-6.86003499e-03 -4.83817009e-05 -9.99976469e-01 6.72734109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.690385723 meters Centerline goodness [0,1] 0.9998255217988703 Centerline is valid? [True, True] Translation: X:137.11, Y:159.25, Z:6.73 [[ 5.99234266e-02 9.98202882e-01 -4.34512239e-04 1.37113876e+02] [ 9.98182108e-01 -5.99249829e-02 -6.44009716e-03 1.59250870e+02] [-6.45456168e-03 -4.78096530e-05 -9.99979168e-01 6.72724423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.720385723 meters Centerline goodness [0,1] 0.9998473981382573 Centerline is valid? [True, True] Translation: X:137.12, Y:159.25, Z:6.73 [[-1.86651933e-02 9.99825788e-01 7.27092715e-05 1.37122698e+02] [ 9.99803958e-01 1.86652662e-02 -6.60705075e-03 1.59249666e+02] [-6.60725685e-03 -5.06268618e-05 -9.99978171e-01 6.72707116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.750385723 meters Centerline goodness [0,1] 0.9998696247365333 Centerline is valid? [True, True] Translation: X:137.13, Y:159.25, Z:6.73 [[-9.68985257e-02 9.95294141e-01 4.98150636e-04 1.37129085e+02] [ 9.95278630e-01 9.68997968e-02 -5.55682578e-03 1.59246791e+02] [-5.57894683e-03 -4.26495433e-05 -9.99984437e-01 6.72700022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.780385723 meters Centerline goodness [0,1] 0.9998467902558603 Centerline is valid? [True, True] Translation: X:137.14, Y:159.25, Z:6.73 [[-1.74209674e-01 9.84708094e-01 9.79559578e-04 1.37136615e+02] [ 9.84691123e-01 1.74212423e-01 -5.78134265e-03 1.59245134e+02] [-5.86358634e-03 -4.26021971e-05 -9.99982808e-01 6.72589616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.81038572299997 meters Centerline goodness [0,1] 0.9998903604946935 Centerline is valid? [True, True] Translation: X:137.14, Y:159.24, Z:6.73 [[-2.49696951e-01 9.68322551e-01 1.69416346e-03 1.37141350e+02] [ 9.68299089e-01 2.49702694e-01 -6.74077735e-03 1.59243869e+02] [-6.95028390e-03 -4.26946172e-05 -9.99975846e-01 6.72652990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.840385723 meters Centerline goodness [0,1] 0.9999341614361585 Centerline is valid? [True, True] Translation: X:137.15, Y:159.24, Z:6.73 [[-3.24116219e-01 9.46014286e-01 2.37646625e-03 1.37149881e+02] [ 9.45987929e-01 3.24124928e-01 -7.06176318e-03 1.59243355e+02] [-7.45080081e-03 -4.07235903e-05 -9.99972242e-01 6.72696041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.87038572299997 meters Centerline goodness [0,1] 0.9997136122309607 Centerline is valid? [True, True] Translation: X:137.16, Y:159.24, Z:6.73 [[-3.96766662e-01 9.17914196e-01 3.12176785e-03 1.37158062e+02] [ 9.17884998e-01 3.96778941e-01 -7.32135117e-03 1.59242276e+02] [-7.95902391e-03 -3.94441857e-05 -9.99968326e-01 6.72780428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.900385723 meters Centerline goodness [0,1] 0.9996913171936324 Centerline is valid? [True, True] Translation: X:137.16, Y:159.24, Z:6.73 [[-4.66158551e-01 8.84693407e-01 3.71213650e-03 1.37162399e+02] [ 8.84664878e-01 4.66173331e-01 -7.10488358e-03 1.59240028e+02] [-8.01614270e-03 -2.80054498e-05 -9.99967870e-01 6.72709840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.930385723 meters Centerline goodness [0,1] 0.9998454780247676 Centerline is valid? [True, True] Translation: X:137.17, Y:159.24, Z:6.73 [[-5.31606759e-01 8.46978273e-01 4.69675915e-03 1.37167223e+02] [ 8.46945125e-01 5.31627506e-01 -7.49338434e-03 1.59236892e+02] [-8.84366008e-03 -5.63649307e-06 -9.99960894e-01 6.72809123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.960385723 meters Centerline goodness [0,1] 0.9997998843776404 Centerline is valid? [True, True] Translation: X:137.17, Y:159.24, Z:6.73 [[-5.94847305e-01 8.03819352e-01 5.57966245e-03 1.37174771e+02] [ 8.03784165e-01 5.94873473e-01 -7.52106089e-03 1.59236337e+02] [-9.36476748e-03 1.09615221e-05 -9.99956150e-01 6.72834537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.990385723 meters Centerline goodness [0,1] 0.9997555229586167 Centerline is valid? [True, True] Translation: X:137.18, Y:159.23, Z:6.73 [[-6.54533744e-01 7.56006920e-01 6.25424098e-03 1.37182102e+02] [ 7.55972835e-01 6.54563623e-01 -7.17890613e-03 1.59234602e+02] [-9.52110135e-03 2.91999786e-05 -9.99954673e-01 6.72857652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.020385723 meters Centerline goodness [0,1] 0.9999107501450311 Centerline is valid? [True, True] Translation: X:137.19, Y:159.24, Z:6.73 [[-7.10549272e-01 7.03612451e-01 7.01782320e-03 1.37190872e+02] [ 7.03578780e-01 7.10583926e-01 -6.88355970e-03 1.59237003e+02] [-9.83011068e-03 4.64831530e-05 -9.99951682e-01 6.72730856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.050385723 meters Centerline goodness [0,1] 0.9999775724410155 Centerline is valid? [True, True] Translation: X:137.21, Y:159.25, Z:6.73 [[-7.56045693e-01 6.54479079e-01 7.21431086e-03 1.37210757e+02] [ 6.54450296e-01 7.56080108e-01 -6.13845289e-03 1.59246752e+02] [-9.47208592e-03 8.04570182e-05 -9.99955136e-01 6.72727061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.080385723 meters Centerline goodness [0,1] 0.999910118418983 Centerline is valid? [True, True] Translation: X:137.23, Y:159.27, Z:6.73 [[-7.99230408e-01 6.00964802e-01 8.48894488e-03 1.37226985e+02] [ 6.00932377e-01 7.99275481e-01 -6.24368885e-03 1.59265146e+02] [-1.05372427e-02 1.11135848e-04 -9.99944476e-01 6.72705701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.110385723 meters Centerline goodness [0,1] 0.9998425905104565 Centerline is valid? [True, True] Translation: X:137.25, Y:159.29, Z:6.73 [[-8.39586094e-01 5.43147071e-01 9.29786464e-03 1.37245129e+02] [ 5.43115340e-01 8.39637567e-01 -5.87218701e-03 1.59286402e+02] [-1.09962976e-02 1.19606363e-04 -9.99939532e-01 6.72725205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.140385723 meters Centerline goodness [0,1] 0.9999325281694892 Centerline is valid? [True, True] Translation: X:137.25, Y:159.32, Z:6.73 [[-8.76345991e-01 4.81589863e-01 9.42909148e-03 1.37254759e+02] [ 4.81563299e-01 8.76396710e-01 -5.05929899e-03 1.59315034e+02] [-1.07001318e-02 1.07008010e-04 -9.99942746e-01 6.72780486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.170385723 meters Centerline goodness [0,1] 0.9999775819938574 Centerline is valid? [True, True] Translation: X:137.28, Y:159.34, Z:6.73 [[-9.08744041e-01 4.17243536e-01 9.59687065e-03 1.37280679e+02] [ 4.17221346e-01 9.08794709e-01 -4.30414469e-03 1.59336205e+02] [-1.05174618e-02 9.26534549e-05 -9.99944686e-01 6.72815076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.200385723 meters Centerline goodness [0,1] 0.9998883105859226 Centerline is valid? [True, True] Translation: X:137.30, Y:159.36, Z:6.73 [[-9.36911272e-01 3.49428909e-01 9.83396014e-03 1.37301086e+02] [ 3.49410374e-01 9.36962877e-01 -3.59953233e-03 1.59361632e+02] [-1.04718362e-02 6.36452837e-05 -9.99945167e-01 6.72827885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.230385723 meters Centerline goodness [0,1] 0.9998883105859226 Centerline is valid? [True, True] Translation: X:137.31, Y:159.39, Z:6.73 [[-9.59313972e-01 2.82162034e-01 1.00643131e-02 1.37312642e+02] [ 2.82147203e-01 9.59366761e-01 -2.89370553e-03 1.59388408e+02] [-1.04718613e-02 6.36456316e-05 -9.99945167e-01 6.72827913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.260385723 meters Centerline goodness [0,1] 0.9998662744049212 Centerline is valid? [True, True] Translation: X:137.54, Y:160.16, Z:5.75 [[-9.41941368e-01 -3.35624034e-01 1.01472689e-02 1.37535730e+02] [ 3.35604040e-01 -9.41996022e-01 -3.66363394e-03 1.60156085e+02] [ 1.07882906e-02 -4.54639191e-05 9.99941804e-01 5.74757637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.290385723 meters Centerline goodness [0,1] 0.9999111762485289 Centerline is valid? [True, True] Translation: X:137.26, Y:159.40, Z:6.73 [[-9.60976762e-01 2.76452159e-01 9.89277027e-03 1.37264501e+02] [ 2.76437953e-01 9.61027680e-01 -2.80288836e-03 1.59404319e+02] [-1.02820906e-02 4.12265853e-05 -9.99947137e-01 6.72665933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.320385723 meters Centerline goodness [0,1] 0.9997551420176298 Centerline is valid? [True, True] Translation: X:137.27, Y:159.43, Z:6.73 [[-9.78080726e-01 2.07999746e-01 9.70558772e-03 1.37270591e+02] [ 2.07989945e-01 9.78128879e-01 -2.01956908e-03 1.59433046e+02] [-9.91338550e-03 4.33630691e-05 -9.99950860e-01 6.72590008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.350385723 meters Centerline goodness [0,1] 0.9999111466524502 Centerline is valid? [True, True] Translation: X:137.28, Y:159.46, Z:6.73 [[-9.90328588e-01 1.38419247e-01 9.45512945e-03 1.37278884e+02] [ 1.38413371e-01 9.90373722e-01 -1.27618577e-03 1.59460868e+02] [-9.54076042e-03 4.48730939e-05 -9.99954485e-01 6.72595634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.380385723 meters Centerline goodness [0,1] 0.9999114064230343 Centerline is valid? [True, True] Translation: X:137.28, Y:159.49, Z:6.73 [[-9.97529444e-01 6.97776593e-02 8.12939658e-03 1.37283060e+02] [ 6.97757919e-02 9.97562567e-01 -5.13448208e-04 1.59491130e+02] [-8.14540894e-03 5.50553792e-05 -9.99966824e-01 6.72520371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.410385723 meters Centerline goodness [0,1] 0.9997550111358574 Centerline is valid? [True, True] Translation: X:137.28, Y:159.52, Z:6.73 [[-9.99971113e-01 2.78205147e-04 7.59580249e-03 1.37282979e+02] [ 2.78679416e-04 9.99999959e-01 6.13804196e-05 1.59520459e+02] [-7.59578510e-03 6.34954403e-05 -9.99971150e-01 6.72546206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.440385723 meters Centerline goodness [0,1] 0.9999777500889997 Centerline is valid? [True, True] Translation: X:137.28, Y:159.55, Z:6.72 [[-9.97754256e-01 -6.66074065e-02 7.06390392e-03 1.37279934e+02] [-6.66050970e-02 9.97779257e-01 5.61950820e-04 1.59547679e+02] [-7.08564689e-03 9.01968164e-05 -9.99974892e-01 6.72493962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.470385723 meters Centerline goodness [0,1] 0.999955558518321 Centerline is valid? [True, True] Translation: X:137.27, Y:159.57, Z:6.73 [[-9.90757468e-01 -1.35455693e-01 7.16896557e-03 1.37272359e+02] [-1.35451349e-01 9.90783399e-01 1.09031529e-03 1.59574171e+02] [-7.25058148e-03 1.09191956e-04 -9.99973708e-01 6.72563394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.500385723 meters Centerline goodness [0,1] 0.9999112018825201 Centerline is valid? [True, True] Translation: X:137.25, Y:159.60, Z:6.73 [[-9.78928317e-01 -2.04067397e-01 7.47314900e-03 1.37249447e+02] [-2.04060406e-01 9.78956833e-01 1.69435128e-03 1.59598425e+02] [-7.66165213e-03 1.33674626e-04 -9.99970640e-01 6.72610727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.530385723 meters Centerline goodness [0,1] 0.9999333807070527 Centerline is valid? [True, True] Translation: X:137.20, Y:159.61, Z:6.73 [[-9.62503358e-01 -2.71176327e-01 7.11934424e-03 1.37198580e+02] [-2.71167670e-01 9.62529674e-01 2.17284488e-03 1.59614032e+02] [-7.44180419e-03 1.60834509e-04 -9.99972296e-01 6.72642470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.56038572299997 meters Centerline goodness [0,1] 0.9999109983757204 Centerline is valid? [True, True] Translation: X:137.13, Y:159.62, Z:6.73 [[-9.40511424e-01 -3.39699260e-01 6.53250234e-03 1.37134384e+02] [-3.39689850e-01 9.40534096e-01 2.53375784e-03 1.59622219e+02] [-7.00475684e-03 1.64003451e-04 -9.99975453e-01 6.72624786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.590385723 meters Centerline goodness [0,1] 0.9999777258046553 Centerline is valid? [True, True] Translation: X:137.06, Y:159.62, Z:6.73 [[-9.13916421e-01 -4.05859964e-01 5.87067027e-03 1.37060460e+02] [-4.05850370e-01 9.13935260e-01 2.79585405e-03 1.59620910e+02] [-6.50013779e-03 1.72563221e-04 -9.99978859e-01 6.72622471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.98, Y:159.61, Z:6.73 [[-8.81470122e-01 -4.72209124e-01 5.38210932e-03 1.36976205e+02] [-4.72199131e-01 8.81486536e-01 3.07684265e-03 1.59612870e+02] [-6.19717007e-03 1.70717529e-04 -9.99980783e-01 6.72579972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.650385723 meters Centerline goodness [0,1] 0.9999777054443305 Centerline is valid? [True, True] Translation: X:136.89, Y:159.59, Z:6.73 [[-8.43626955e-01 -5.36905871e-01 5.06423882e-03 1.36886616e+02] [-5.36894976e-01 8.43642138e-01 3.42457422e-03 1.59591046e+02] [-6.11107927e-03 1.70098738e-04 -9.99981313e-01 6.72580144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.79, Y:159.56, Z:6.73 [[-8.00537180e-01 -5.99268593e-01 4.16854759e-03 1.36791921e+02] [-5.99259504e-01 8.00548020e-01 3.30364765e-03 1.59555293e+02] [-5.31689480e-03 1.46651015e-04 -9.99985854e-01 6.72550223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.70, Y:159.52, Z:6.73 [[-7.52217400e-01 -6.58902846e-01 4.00285970e-03 1.36697376e+02] [-6.58892477e-01 7.52228036e-01 3.69932333e-03 1.59516616e+02] [-5.44855796e-03 1.45241231e-04 -9.99985146e-01 6.72529379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.60, Y:159.46, Z:6.73 [[-6.99094496e-01 -7.15020723e-01 3.50029354e-03 1.36600934e+02] [-7.15010807e-01 6.99103246e-01 3.76791392e-03 1.59463086e+02] [-5.14120311e-03 1.31380175e-04 -9.99986775e-01 6.72595154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.51, Y:159.40, Z:6.73 [[-6.40420841e-01 -7.68016707e-01 3.38869364e-03 1.36507331e+02] [-7.68004917e-01 6.40429795e-01 4.25742739e-03 1.59401571e+02] [-5.43999574e-03 1.24011856e-04 -9.99985195e-01 6.72660903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.41, Y:159.32, Z:6.73 [[-5.77029327e-01 -8.16716570e-01 3.34665811e-03 1.36409779e+02] [-8.16701663e-01 5.77039020e-01 4.93586548e-03 1.59320884e+02] [-5.96235544e-03 1.14917890e-04 -9.99982218e-01 6.72663554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.32, Y:159.24, Z:6.73 [[-5.11503282e-01 -8.59275100e-01 3.27032359e-03 1.36323956e+02] [-8.59256050e-01 5.11513723e-01 5.72291122e-03 1.59236725e+02] [-6.59037050e-03 1.17242540e-04 -9.99978276e-01 6.72778701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.24, Y:159.14, Z:6.73 [[-4.42849380e-01 -8.96591497e-01 2.84846769e-03 1.36240711e+02] [-8.96571330e-01 4.42858527e-01 6.01458053e-03 1.59140519e+02] [-6.65408997e-03 1.09698789e-04 -9.99977855e-01 6.72810137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.890385723 meters Centerline goodness [0,1] 0.9999777827149522 Centerline is valid? [True, True] Translation: X:136.17, Y:159.04, Z:6.73 [[-3.70907192e-01 -9.28667671e-01 2.05240068e-03 1.36166686e+02] [-9.28652165e-01 3.70912860e-01 5.36718251e-03 1.59040115e+02] [-5.74559069e-03 8.47602589e-05 -9.99983490e-01 6.72756324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.10, Y:158.92, Z:6.73 [[-2.98117802e-01 -9.54527890e-01 1.51105074e-03 1.36097323e+02] [-9.54514279e-01 2.98121622e-01 5.09795070e-03 1.58922990e+02] [-5.31661302e-03 7.74703469e-05 -9.99985864e-01 6.72732310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.950385723 meters Centerline goodness [0,1] 0.9999330581278589 Centerline is valid? [True, True] Translation: X:136.05, Y:158.84, Z:6.73 [[-2.24257351e-01 -9.74529286e-01 1.14499382e-03 1.36047716e+02] [-9.74514597e-01 2.24260258e-01 5.35136796e-03 1.58842683e+02] [-5.47184141e-03 8.42704102e-05 -9.99985026e-01 6.72735468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.00, Y:158.73, Z:6.73 [[-1.49261727e-01 -9.88797484e-01 6.87706644e-04 1.35999227e+02] [-9.88784237e-01 1.49263288e-01 5.11897929e-03 1.58726783e+02] [-5.16428319e-03 8.40741994e-05 -9.99986661e-01 6.72750209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.96, Y:158.60, Z:6.73 [[-7.35086979e-02 -9.97294536e-01 2.82052420e-04 1.35959243e+02] [-9.97281970e-01 7.35091878e-02 5.00717684e-03 1.58599431e+02] [-5.01436354e-03 8.67852565e-05 -9.99987424e-01 6.72742396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.040385723 meters Centerline goodness [0,1] 0.9999325736632729 Centerline is valid? [True, True] Translation: X:135.93, Y:158.48, Z:6.73 [[ 2.04260393e-03 -9.99997909e-01 -9.88391619e-05 1.35930728e+02] [-9.99987027e-01 -2.04304289e-03 4.66612028e-03 1.58484747e+02] [-4.66631246e-03 8.93068440e-05 -9.99989109e-01 6.72667064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.12, Y:158.35, Z:5.75 [[-2.72304550e-02 9.99629157e-01 2.27810637e-04 1.35123240e+02] [-9.99620643e-01 -2.72311637e-02 4.12722939e-03 1.58352423e+02] [ 4.13190238e-03 -1.15337881e-04 9.99991457e-01 5.74918467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.93, Y:158.18, Z:6.73 [[ 1.04619371e-02 -9.99945268e-01 -9.07525270e-05 1.35934684e+02] [-9.99941090e-01 -1.04621558e-02 2.89144331e-03 1.58180053e+02] [-2.89223453e-03 6.04970827e-05 -9.99995816e-01 6.72649045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.91, Y:158.06, Z:6.73 [[ 8.73066340e-02 -9.96181430e-01 -3.32245954e-04 1.35913744e+02] [-9.96176762e-01 -8.73072422e-02 3.05023375e-03 1.58059713e+02] [-3.06759370e-03 6.46700574e-05 -9.99995293e-01 6.72642217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.90, Y:157.93, Z:6.73 [[ 1.64163881e-01 -9.86432910e-01 -5.78222164e-04 1.35901996e+02] [-9.86428117e-01 -1.64164887e-01 3.07565197e-03 1.57928273e+02] [-3.12884810e-03 6.54636358e-05 -9.99995103e-01 6.72639900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.90, Y:157.79, Z:6.73 [[ 2.40988192e-01 -9.70527710e-01 -8.10011553e-04 1.35902957e+02] [-9.70523053e-01 -2.40989545e-01 3.00704585e-03 1.57793912e+02] [-3.11362564e-03 6.14723438e-05 -9.99995151e-01 6.72679458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.91, Y:157.68, Z:6.73 [[ 3.16090560e-01 -9.48728461e-01 -1.03187186e-03 1.35908453e+02] [-9.48723990e-01 -3.16092239e-01 2.91347404e-03 1.57675025e+02] [-3.09026243e-03 5.80399532e-05 -9.99995223e-01 6.72687760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.92, Y:157.55, Z:6.73 [[ 3.89454001e-01 -9.21044849e-01 -1.40254481e-03 1.35924730e+02] [-9.21039415e-01 -3.89456522e-01 3.16442199e-03 1.57551469e+02] [-3.46080480e-03 5.94022437e-05 -9.99994010e-01 6.72756757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.95, Y:157.43, Z:6.73 [[ 4.59861672e-01 -8.87989089e-01 -1.61870034e-03 1.35948726e+02] [-8.87984012e-01 -4.59864517e-01 3.00337749e-03 1.57431792e+02] [-3.41134929e-03 5.62418263e-05 -9.99994180e-01 6.72754682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.31038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.98, Y:157.31, Z:6.73 [[ 5.26946636e-01 -8.49896248e-01 -1.90031651e-03 1.35984175e+02] [-8.49891108e-01 -5.26950059e-01 2.95625796e-03 1.57313296e+02] [-3.51388444e-03 5.72719202e-05 -9.99993825e-01 6.72752480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.03, Y:157.20, Z:6.73 [[ 5.90741492e-01 -8.06858213e-01 -2.07711997e-03 1.36028063e+02] [-8.06853553e-01 -5.90745141e-01 2.74259743e-03 1.57199872e+02] [-3.43993579e-03 5.57655286e-05 -9.99994082e-01 6.72702293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.37038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.08, Y:157.10, Z:6.73 [[ 6.50850431e-01 -7.59202943e-01 -2.14653585e-03 1.36077696e+02] [-7.59199078e-01 -6.50853969e-01 2.42321630e-03 1.57095530e+02] [-3.23679432e-03 5.24966625e-05 -9.99994760e-01 6.72634871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.14, Y:156.99, Z:6.73 [[ 7.07067772e-01 -7.07142345e-01 -2.20675785e-03 1.36136395e+02] [-7.07139118e-01 -7.07071214e-01 2.13692538e-03 1.56991472e+02] [-3.07144538e-03 4.95337312e-05 -9.99995282e-01 6.72596766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.13, Y:156.98, Z:6.73 [[ 7.60491591e-01 -6.49341476e-01 -2.86149722e-03 1.36127740e+02] [-6.49337163e-01 -7.60496972e-01 2.36724124e-03 1.56981305e+02] [-3.71330789e-03 5.78094301e-05 -9.99993104e-01 6.72675417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.12, Y:156.97, Z:6.73 [[ 8.09402730e-01 -5.87242977e-01 -3.59246317e-03 1.36120923e+02] [-5.87237545e-01 -8.09410700e-01 2.52673902e-03 1.56974038e+02] [-4.39158787e-03 6.44797954e-05 -9.99990355e-01 6.72705323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.11, Y:156.97, Z:6.73 [[ 8.53438094e-01 -5.21177159e-01 -4.21765370e-03 1.36114356e+02] [-5.21171176e-01 -8.53448513e-01 2.49798571e-03 1.56967959e+02] [-4.90144337e-03 6.62433760e-05 -9.99987986e-01 6.72765369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.11, Y:156.96, Z:6.73 [[ 8.91851142e-01 -4.52305432e-01 -4.61920396e-03 1.36110743e+02] [-4.52299748e-01 -8.91863102e-01 2.26853385e-03 1.56961726e+02] [-5.14576775e-03 6.60702812e-05 -9.99986758e-01 6.72731826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.11, Y:156.96, Z:6.73 [[ 9.24775795e-01 -3.80479514e-01 -5.00675578e-03 1.36107068e+02] [-3.80474317e-01 -9.24789346e-01 1.98975482e-03 1.56956028e+02] [-5.38725535e-03 6.48648919e-05 -9.99985487e-01 6.72700160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.10, Y:156.94, Z:6.73 [[ 9.52182800e-01 -3.05478999e-01 -5.52237295e-03 1.36101615e+02] [-3.05474228e-01 -9.52198812e-01 1.70846530e-03 1.56942832e+02] [-5.78029723e-03 6.01713367e-05 -9.99983292e-01 6.72580197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.10, Y:156.93, Z:6.73 [[ 9.73449701e-01 -2.28823318e-01 -5.96406142e-03 1.36096591e+02] [-2.28819372e-01 -9.73467969e-01 1.34494185e-03 1.56931511e+02] [-6.11357681e-03 5.54595503e-05 -9.99981310e-01 6.72557647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.09, Y:156.92, Z:6.73 [[ 9.88899284e-01 -1.48440915e-01 -6.59553334e-03 1.36089256e+02] [-1.48437863e-01 -9.88921278e-01 9.52594785e-04 1.56919298e+02] [-6.66386730e-03 3.70065747e-05 -9.99977796e-01 6.72561345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.08, Y:156.91, Z:6.73 [[ 9.97615046e-01 -6.86414371e-02 -7.25078546e-03 1.36084404e+02] [-6.86398153e-02 -9.97641395e-01 4.72572861e-04 1.56907508e+02] [-7.26612180e-03 2.62467784e-05 -9.99973601e-01 6.72533711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.08, Y:156.90, Z:6.73 [[ 9.99906811e-01 1.13368685e-02 -7.60563893e-03 1.36079165e+02] [ 1.13364274e-02 -9.99935736e-01 -1.01113148e-04 1.56896847e+02] [-7.60629646e-03 1.48829523e-05 -9.99971072e-01 6.72669969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.08, Y:156.88, Z:6.73 [[ 9.95690716e-01 9.23241116e-02 -8.73255293e-03 1.36076545e+02] [ 9.23206237e-02 -9.95729009e-01 -8.02543732e-04 1.56883662e+02] [-8.76935041e-03 -7.10939076e-06 -9.99961549e-01 6.72592072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.07, Y:156.87, Z:6.73 [[ 9.85186058e-01 1.71246418e-01 -9.11564093e-03 1.36074081e+02] [ 1.71239271e-01 -9.85228229e-01 -1.56467710e-03 1.56872002e+02] [-9.24893212e-03 -1.94576410e-05 -9.99957228e-01 6.72605221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.790385723 meters Centerline goodness [0,1] 0.999910885354008 Centerline is valid? [True, True] Translation: X:136.07, Y:156.86, Z:6.72 [[ 9.68183617e-01 2.50082160e-01 -8.91047651e-03 1.36073404e+02] [ 2.50071958e-01 -9.68224618e-01 -2.25922732e-03 1.56860147e+02] [-9.19233517e-03 -4.09134289e-05 -9.99957749e-01 6.72490657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.07, Y:156.85, Z:6.73 [[ 9.45401208e-01 3.25803926e-01 -8.26787955e-03 1.36072047e+02] [ 3.25791886e-01 -9.45437359e-01 -2.80125513e-03 1.56848673e+02] [-8.72942212e-03 -4.52980823e-05 -9.99961897e-01 6.72500342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.07, Y:156.84, Z:6.72 [[ 9.16902690e-01 3.99040740e-01 -7.47960725e-03 1.36072637e+02] [ 3.99027858e-01 -9.16933196e-01 -3.20668450e-03 1.56839142e+02] [-8.13789793e-03 -4.43540119e-05 -9.99966886e-01 6.72400336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.07, Y:156.83, Z:6.72 [[ 8.82958562e-01 4.69410052e-01 -6.19529127e-03 1.36072028e+02] [ 4.69398788e-01 -8.82980295e-01 -3.25206169e-03 1.56832820e+02] [-6.99687057e-03 -3.66264995e-05 -9.99975521e-01 6.72189947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.07, Y:156.82, Z:6.72 [[ 8.43741963e-01 5.36718624e-01 -5.71120796e-03 1.36072877e+02] [ 5.36706588e-01 -8.43761292e-01 -3.59463415e-03 1.56824807e+02] [-6.74820330e-03 -3.22992655e-05 -9.99977230e-01 6.72141000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.07, Y:156.82, Z:6.72 [[ 8.00244742e-01 5.99657813e-01 -4.34289445e-03 1.36071957e+02] [ 5.99649088e-01 -8.00256526e-01 -3.23482519e-03 1.56818133e+02] [-5.41521782e-03 -1.55608475e-05 -9.99985338e-01 6.72006735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.07, Y:156.81, Z:6.72 [[ 7.51548697e-01 6.59666216e-01 -3.87804147e-03 1.36071508e+02] [ 6.59657498e-01 -7.51558702e-01 -3.39156471e-03 1.56811564e+02] [-5.15187647e-03 -9.25308981e-06 -9.99986729e-01 6.71946163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.07, Y:156.80, Z:6.72 [[ 6.98438141e-01 7.15661300e-01 -3.61482514e-03 1.36071394e+02] [ 7.15651739e-01 -6.98447495e-01 -3.69922853e-03 1.56804572e+02] [-5.17216026e-03 -3.27360697e-06 -9.99986624e-01 6.71924810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.07, Y:156.80, Z:6.72 [[ 6.41841669e-01 7.66828616e-01 -3.62564448e-03 1.36070774e+02] [ 7.66816310e-01 -6.41851909e-01 -4.34438984e-03 1.56797650e+02] [-5.65852928e-03 8.20710506e-06 -9.99983990e-01 6.72017726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.06038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.08, Y:156.79, Z:6.72 [[ 5.80406460e-01 8.14318521e-01 -3.69965156e-03 1.36076846e+02] [ 8.14301827e-01 -5.80418251e-01 -5.21433933e-03 1.56786970e+02] [-6.39347838e-03 1.38032067e-05 -9.99979561e-01 6.72043012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.08, Y:156.78, Z:6.72 [[ 5.14869677e-01 8.57262187e-01 -3.28006017e-03 1.36083443e+02] [ 8.57244620e-01 -5.14880125e-01 -5.48801907e-03 1.56776057e+02] [-6.39350901e-03 1.38006717e-05 -9.99979561e-01 6.72043039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.09, Y:156.77, Z:6.72 [[ 4.47138907e-01 8.94456995e-01 -3.67171050e-03 1.36089808e+02] [ 8.94426349e-01 -4.47153981e-01 -7.40428756e-03 1.56766430e+02] [-8.26463677e-03 2.66704302e-05 -9.99965847e-01 6.72219178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.10, Y:156.76, Z:6.72 [[ 3.76256033e-01 9.26509249e-01 -3.46560249e-03 1.36098381e+02] [ 9.26469078e-01 -3.76271991e-01 -8.62760097e-03 1.56756565e+02] [-9.29756124e-03 3.54133602e-05 -9.99956776e-01 6.72255634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.11, Y:156.75, Z:6.72 [[ 3.03845057e-01 9.52716467e-01 -3.08454935e-03 1.36106386e+02] [ 9.52665576e-01 -3.03860709e-01 -9.84728147e-03 1.56746383e+02] [-1.03189406e-02 5.35038191e-05 -9.99946757e-01 6.72372507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.11, Y:156.74, Z:6.72 [[ 2.29163664e-01 9.73385240e-01 -2.27798210e-03 1.36114415e+02] [ 9.73334424e-01 -2.29174978e-01 -9.94632722e-03 1.56737988e+02] [-1.02036646e-02 6.20983971e-05 -9.99947939e-01 6.72349892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.12, Y:156.73, Z:6.72 [[ 1.53029929e-01 9.88220458e-01 -1.47250508e-03 1.36123654e+02] [ 9.88170206e-01 -1.53036997e-01 -9.96603090e-03 1.56730244e+02] [-1.00739834e-02 7.00153490e-05 -9.99949254e-01 6.72283202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.13, Y:156.72, Z:6.72 [[ 7.65064031e-02 9.97068870e-01 -6.62760921e-04 1.36134254e+02] [ 9.97021783e-01 -7.65092313e-02 -9.69033978e-03 1.56722895e+02] [-9.71264346e-03 8.05859665e-05 -9.99952828e-01 6.72251288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.300385723 meters Centerline goodness [0,1] 0.9998878747785527 Centerline is valid? [True, True] Translation: X:136.15, Y:156.72, Z:6.73 [[ 7.67140595e-04 9.99999701e-01 9.60348252e-05 1.36145173e+02] [ 9.99954524e-01 -7.66193044e-04 -9.50589561e-03 1.56716775e+02] [-9.50581918e-03 1.03322816e-04 -9.99954813e-01 6.72525930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.15, Y:156.71, Z:6.72 [[-7.77410565e-02 9.96973302e-01 7.50890843e-04 1.36154796e+02] [ 9.96937398e-01 7.77446298e-02 -8.46146565e-03 1.56710472e+02] [-8.49423308e-03 9.07878835e-05 -9.99963919e-01 6.72205406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.360385723 meters Centerline goodness [0,1] 0.9999776316378115 Centerline is valid? [True, True] Translation: X:136.17, Y:156.71, Z:6.72 [[-1.55773630e-01 9.87791880e-01 1.33332548e-03 1.36165216e+02] [ 9.87760186e-01 1.55779314e-01 -7.91325988e-03 1.56705847e+02] [-8.02435838e-03 8.43286050e-05 -9.99967801e-01 6.72090554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.18, Y:156.70, Z:6.72 [[-2.33451844e-01 9.72366452e-01 1.92859366e-03 1.36175973e+02] [ 9.72335944e-01 2.33459797e-01 -7.70287308e-03 1.56701388e+02] [-7.94026445e-03 7.69910155e-05 -9.99968473e-01 6.72057568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.19, Y:156.70, Z:6.72 [[-3.09507544e-01 9.50893605e-01 2.53639542e-03 1.36187529e+02] [ 9.50863564e-01 3.09517928e-01 -7.55879295e-03 1.56697888e+02] [-7.97266772e-03 7.22625495e-05 -9.99968215e-01 6.72060865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.20, Y:156.70, Z:6.72 [[-3.84859659e-01 9.22970761e-01 2.83155297e-03 1.36201381e+02] [ 9.22946759e-01 3.84870072e-01 -6.65636602e-03 1.56696166e+02] [-7.23341121e-03 5.16058758e-05 -9.99973837e-01 6.72137250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.21, Y:156.70, Z:6.72 [[-4.58121914e-01 8.88883947e-01 3.10502129e-03 1.36214427e+02] [ 8.88863999e-01 4.58132435e-01 -5.95511039e-03 1.56695988e+02] [-6.71591299e-03 3.17750665e-05 -9.99977448e-01 6.72044674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.22, Y:156.69, Z:6.72 [[-5.27617545e-01 8.49475003e-01 3.45620224e-03 1.36224683e+02] [ 8.49457039e-01 5.27628864e-01 -5.52452914e-03 1.56694187e+02] [-6.51654147e-03 2.10568178e-05 -9.99978767e-01 6.72013806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.23, Y:156.69, Z:6.72 [[-5.93211682e-01 8.05036883e-01 3.93921750e-03 1.36233938e+02] [ 8.05019313e-01 5.93224760e-01 -5.31877557e-03 1.56693252e+02] [-6.61865186e-03 1.59863689e-05 -9.99978096e-01 6.72019518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.25, Y:156.70, Z:6.72 [[-6.54922440e-01 7.55683854e-01 4.30235724e-03 1.36245551e+02] [ 7.55667665e-01 6.54936572e-01 -4.94649019e-03 1.56696103e+02] [-6.55575387e-03 1.15848159e-05 -9.99978511e-01 6.71944808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.26, Y:156.70, Z:6.72 [[-7.12201718e-01 7.01961551e-01 4.32358765e-03 1.36257554e+02] [ 7.01948702e-01 7.12214842e-01 -4.24720504e-03 1.56699549e+02] [-6.06069794e-03 1.00700117e-05 -9.99981634e-01 6.71999847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.28, Y:156.72, Z:6.72 [[-7.58857256e-01 6.51239341e-01 4.79437161e-03 1.36278815e+02] [ 6.51226527e-01 7.58872401e-01 -4.08529760e-03 1.56720425e+02] [-6.29882282e-03 2.20642448e-05 -9.99980162e-01 6.72050892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.660385723 meters Centerline goodness [0,1] 0.9998664529914529 Centerline is valid? [True, True] Translation: X:136.30, Y:156.74, Z:6.72 [[-8.01733365e-01 5.97656015e-01 5.55875720e-03 1.36295195e+02] [ 5.97641988e-01 8.01752634e-01 -4.09477887e-03 1.56743412e+02] [-6.90401745e-03 3.92258613e-05 -9.99976166e-01 6.72340504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.32, Y:156.76, Z:6.72 [[-8.41105174e-01 5.40841884e-01 5.66945371e-03 1.36324569e+02] [ 5.40829994e-01 8.41124280e-01 -3.58659196e-03 1.56757079e+02] [-6.70849432e-03 4.95095651e-05 -9.99977497e-01 6.72042002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.34, Y:156.78, Z:6.72 [[-8.76102445e-01 4.82089682e-01 5.83470749e-03 1.36342793e+02] [ 4.82079484e-01 8.76121872e-01 -3.13629555e-03 1.56779315e+02] [-6.62389057e-03 6.50765726e-05 -9.99978060e-01 6.71966413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.36, Y:156.80, Z:6.72 [[-9.05923383e-01 4.23411800e-01 5.02711359e-03 1.36359796e+02] [ 4.23405781e-01 9.05937327e-01 -2.25913643e-03 1.56800786e+02] [-5.51079487e-03 8.19044342e-05 -9.99984812e-01 6.71961647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.69, Y:157.51, Z:5.76 [[-8.90167392e-01 -4.55609927e-01 4.64864533e-03 1.36687666e+02] [ 4.55603168e-01 -8.90179525e-01 -2.48339704e-03 1.57505838e+02] [ 5.26958924e-03 -9.27015250e-05 9.99986111e-01 5.75692965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.81038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.31, Y:156.82, Z:6.72 [[-9.05227448e-01 4.24907858e-01 4.07186746e-03 1.36312153e+02] [ 4.24904005e-01 9.05236601e-01 -1.81168754e-03 1.56819127e+02] [-4.45580373e-03 9.01635055e-05 -9.99990069e-01 6.71750040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.64, Y:157.53, Z:5.76 [[-8.93885957e-01 -4.48276762e-01 3.98006089e-03 1.36639285e+02] [ 4.48271875e-01 -8.93894813e-01 -2.09496344e-03 1.57526860e+02] [ 4.49687921e-03 -8.85090383e-05 9.99989885e-01 5.75851072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.28, Y:156.84, Z:6.72 [[-9.05902329e-01 4.23464425e-01 4.34183848e-03 1.36279426e+02] [ 4.23460119e-01 9.05912728e-01 -1.91253253e-03 1.56835714e+02] [-4.74321623e-03 1.06027766e-04 -9.99988745e-01 6.71737677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.29, Y:156.86, Z:6.72 [[-9.33393089e-01 3.58807161e-01 5.89601352e-03 1.36290044e+02] [ 3.58800972e-01 9.33411699e-01 -2.11232477e-03 1.56864744e+02] [-6.26132525e-03 1.43866045e-04 -9.99980387e-01 6.71909733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.30, Y:156.89, Z:6.72 [[-9.56457095e-01 2.91793645e-01 6.80400481e-03 1.36301449e+02] [ 2.91787467e-01 9.56481282e-01 -1.90564494e-03 1.56893385e+02] [-7.06395832e-03 1.62655706e-04 -9.99975037e-01 6.71938680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.51, Y:157.63, Z:5.76 [[-9.49771661e-01 -3.12859392e-01 7.26594849e-03 1.36514558e+02] [ 3.12849131e-01 -9.49799443e-01 -2.53751744e-03 1.57626946e+02] [ 7.69507999e-03 -1.36916481e-04 9.99970383e-01 5.75615543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.990385723 meters Centerline goodness [0,1] 0.9999559296637434 Centerline is valid? [True, True] Translation: X:136.25, Y:156.91, Z:6.72 [[-9.57769782e-01 2.87435232e-01 7.61794015e-03 1.36254870e+02] [ 2.87427598e-01 9.57800061e-01 -2.10223140e-03 1.56911506e+02] [-7.90071891e-03 1.76152534e-04 -9.99968773e-01 6.72065328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.26, Y:156.94, Z:6.72 [[-9.75811565e-01 2.18482630e-01 7.55850837e-03 1.36262110e+02] [ 2.18477420e-01 9.75840823e-01 -1.51837283e-03 1.56941555e+02] [-7.70763912e-03 1.69717641e-04 -9.99970281e-01 6.71984868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.41, Y:157.68, Z:5.76 [[-9.70224896e-01 -2.42091931e-01 7.42623180e-03 1.36413963e+02] [ 2.42083493e-01 -9.70253301e-01 -2.02836144e-03 1.57677240e+02] [ 7.69637586e-03 -1.70198627e-04 9.99970368e-01 5.75621723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.080385723 meters Centerline goodness [0,1] 0.9999780268072951 Centerline is valid? [True, True] Translation: X:136.21, Y:156.96, Z:6.72 [[-9.76874135e-01 2.13687181e-01 7.39687901e-03 1.36208337e+02] [ 2.13682288e-01 9.76902126e-01 -1.45475485e-03 1.56955674e+02] [-7.53688929e-03 1.59469648e-04 -9.99971585e-01 6.71950537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.21, Y:156.99, Z:6.72 [[-9.89546910e-01 1.44008341e-01 7.64917897e-03 1.36208981e+02] [ 1.44005321e-01 9.89576460e-01 -9.46966529e-04 1.56987170e+02] [-7.70581853e-03 1.64454673e-04 -9.99970296e-01 6.72038574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.31, Y:157.72, Z:5.75 [[-9.85705324e-01 -1.68281870e-01 8.13796159e-03 1.36306090e+02] [ 1.68274964e-01 -9.85738907e-01 -1.53093627e-03 1.57722219e+02] [ 8.27953418e-03 -1.39636841e-04 9.99965714e-01 5.75477191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.15, Y:157.00, Z:6.72 [[-9.90122616e-01 1.39926697e-01 8.81614689e-03 1.36145258e+02] [ 1.39922875e-01 9.90161847e-01 -1.05180191e-03 1.56997765e+02] [-8.87658745e-03 1.92167761e-04 -9.99960584e-01 6.72122321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.200385723 meters Centerline goodness [0,1] 0.9999344692005242 Centerline is valid? [True, True] Translation: X:136.24, Y:157.73, Z:5.75 [[-9.86440928e-01 -1.63890968e-01 8.60502910e-03 1.36236685e+02] [ 1.63882984e-01 -9.86478440e-01 -1.62971367e-03 1.57726530e+02] [ 8.75577103e-03 -1.97398426e-04 9.99961648e-01 5.75407164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.08, Y:157.01, Z:6.72 [[-9.90727893e-01 1.35586154e-01 8.63931996e-03 1.36080835e+02] [ 1.35582660e-01 9.90765542e-01 -9.91500814e-04 1.57011297e+02] [-8.69397431e-03 1.89034470e-04 -9.99962189e-01 6.72075524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.16, Y:157.73, Z:5.75 [[-9.87107087e-01 -1.59820232e-01 8.78018942e-03 1.36163369e+02] [ 1.59812294e-01 -9.87146120e-01 -1.60287844e-03 1.57726762e+02] [ 8.92350232e-03 -1.79030456e-04 9.99960169e-01 5.75436177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.01, Y:157.02, Z:6.72 [[-9.91461716e-01 1.30091641e-01 8.93478437e-03 1.36013595e+02] [ 1.30088050e-01 9.91501957e-01 -9.84374004e-04 1.57023967e+02] [-8.98691502e-03 1.86339538e-04 -9.99959600e-01 6.72123069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.320385723 meters Centerline goodness [0,1] 0.9999783230729212 Centerline is valid? [True, True] Translation: X:136.01, Y:157.06, Z:6.72 [[-9.98250791e-01 5.86536197e-02 7.42370988e-03 1.36012046e+02] [ 5.86531084e-02 9.98278383e-01 -2.86745987e-04 1.57056367e+02] [-7.42774779e-03 1.49179252e-04 -9.99972403e-01 6.72004455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.04, Y:157.76, Z:5.76 [[-9.96304406e-01 -8.56260173e-02 6.76129990e-03 1.36041802e+02] [ 8.56228348e-02 -9.96327333e-01 -7.59297086e-04 1.57761574e+02] [ 6.80148348e-03 -1.77569368e-04 9.99976854e-01 5.75624942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.93, Y:157.06, Z:6.72 [[-9.98493176e-01 5.44802230e-02 6.57904215e-03 1.35934560e+02] [ 5.44799337e-02 9.98514841e-01 -2.23317644e-04 1.57062296e+02] [-6.58143762e-03 1.35444637e-04 -9.99978333e-01 6.71948406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.97, Y:157.76, Z:5.76 [[-9.96787995e-01 -7.97940423e-02 6.82663872e-03 1.35968852e+02] [ 7.97913244e-02 -9.96811364e-01 -6.69995081e-04 1.57760254e+02] [ 6.85833267e-03 -1.23136509e-04 9.99976474e-01 5.75570213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.440385723 meters Centerline goodness [0,1] 0.99997843898232 Centerline is valid? [True, True] Translation: X:135.87, Y:157.07, Z:6.72 [[-9.98653819e-01 5.13680183e-02 7.20253263e-03 1.35865547e+02] [ 5.13678353e-02 9.98679779e-01 -2.10524953e-04 1.57068986e+02] [-7.20383795e-03 1.59736961e-04 -9.99974039e-01 6.71944843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.470385723 meters Centerline goodness [0,1] 0.999742018703644 Centerline is valid? [True, True] Translation: X:135.86, Y:157.10, Z:6.72 [[-9.99784169e-01 -1.97782030e-02 6.35915464e-03 1.35864856e+02] [-1.97769009e-02 9.99804382e-01 2.67587434e-04 1.57099186e+02] [-6.36320307e-03 1.41765309e-04 -9.99979745e-01 6.71915969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.500385723 meters Centerline goodness [0,1] 0.9998066927273508 Centerline is valid? [True, True] Translation: X:135.85, Y:157.13, Z:6.72 [[-9.95815104e-01 -9.11941405e-02 5.99225824e-03 1.35853999e+02] [-9.11916834e-02 9.95833124e-01 6.82569154e-04 1.57132208e+02] [-6.02953555e-03 1.33268557e-04 -9.99981813e-01 6.71778731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.530385723 meters Centerline goodness [0,1] 0.9995282816587332 Centerline is valid? [True, True] Translation: X:135.84, Y:157.16, Z:6.72 [[-9.86715513e-01 -1.62337362e-01 6.25116481e-03 1.35835610e+02] [-1.62333204e-01 9.86735305e-01 1.17026250e-03 1.57160967e+02] [-6.35822234e-03 1.39944555e-04 -9.99979777e-01 6.71758474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.56038572299997 meters Centerline goodness [0,1] 0.9997426770167689 Centerline is valid? [True, True] Translation: X:135.80, Y:157.19, Z:6.72 [[-9.72296309e-01 -2.33658755e-01 6.59346338e-03 1.35803261e+02] [-2.33652369e-01 9.72318654e-01 1.73346532e-03 1.57186936e+02] [-6.81598679e-03 1.44863594e-04 -9.99976760e-01 6.71732533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.590385723 meters Centerline goodness [0,1] 0.9999357725491875 Centerline is valid? [True, True] Translation: X:135.75, Y:157.21, Z:6.72 [[-9.52579083e-01 -3.04210390e-01 7.00916293e-03 1.35750759e+02] [-3.04200963e-01 9.52604858e-01 2.39992195e-03 1.57205438e+02] [-7.40704385e-03 1.53921339e-04 -9.99972556e-01 6.71721684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.62038572299997 meters Centerline goodness [0,1] 0.9997859497409992 Centerline is valid? [True, True] Translation: X:135.68, Y:157.21, Z:6.72 [[-9.27541864e-01 -3.73661568e-01 6.56682962e-03 1.35684613e+02] [-3.73651080e-01 9.27565098e-01 2.80343672e-03 1.57212670e+02] [-7.13869852e-03 1.46601940e-04 -9.99974508e-01 6.71680125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.650385723 meters Centerline goodness [0,1] 0.9996571820363387 Centerline is valid? [True, True] Translation: X:135.61, Y:157.21, Z:6.72 [[-8.97319109e-01 -4.41336859e-01 6.33985548e-03 1.35610802e+02] [-4.41324691e-01 8.97341494e-01 3.28046686e-03 1.57211476e+02] [-7.13680632e-03 1.45690843e-04 -9.99974522e-01 6.71653747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.680385723 meters Centerline goodness [0,1] 0.9997867803837953 Centerline is valid? [True, True] Translation: X:135.53, Y:157.20, Z:6.72 [[-8.62214034e-01 -5.06500738e-01 6.63035690e-03 1.35529043e+02] [-5.06484308e-01 8.62239512e-01 4.08286522e-03 1.57200302e+02] [-7.78492994e-03 1.62131966e-04 -9.99969684e-01 6.71630295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.710385723 meters Centerline goodness [0,1] 0.9997226903304252 Centerline is valid? [True, True] Translation: X:135.44, Y:157.18, Z:6.72 [[-8.22538751e-01 -5.68658224e-01 7.60442765e-03 1.35441754e+02] [-5.68631600e-01 8.22573877e-01 5.50644776e-03 1.57180225e+02] [-9.38649033e-03 2.05148801e-04 -9.99955925e-01 6.71678091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.740385723 meters Centerline goodness [0,1] 0.9996374184191443 Centerline is valid? [True, True] Translation: X:135.35, Y:157.15, Z:6.72 [[-7.77685611e-01 -6.28604394e-01 7.84903937e-03 1.35350383e+02] [-6.28569409e-01 7.77725186e-01 6.63577369e-03 1.57148160e+02] [-1.02756721e-02 2.26879676e-04 -9.99947178e-01 6.71669383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.770385723 meters Centerline goodness [0,1] 0.999744 Centerline is valid? [True, True] Translation: X:135.26, Y:157.11, Z:6.72 [[-7.28938073e-01 -6.84529686e-01 8.27015256e-03 1.35260272e+02] [-6.84481378e-01 7.28984935e-01 8.13680991e-03 1.57105642e+02] [-1.15987046e-02 2.70465113e-04 -9.99932696e-01 6.71762575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.800385723 meters Centerline goodness [0,1] 0.9996592482163774 Centerline is valid? [True, True] Translation: X:135.17, Y:157.05, Z:6.72 [[-6.75622187e-01 -7.37208451e-01 7.63936264e-03 1.35167968e+02] [-7.37156606e-01 6.75665318e-01 8.74735176e-03 1.57053792e+02] [-1.16102740e-02 2.78498286e-04 -9.99932560e-01 6.71618273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.830385723 meters Centerline goodness [0,1] 0.9996576734632748 Centerline is valid? [True, True] Translation: X:135.08, Y:156.99, Z:6.72 [[-6.18200949e-01 -7.85987964e-01 7.10682500e-03 1.35079757e+02] [-7.85930548e-01 6.18241729e-01 9.50462005e-03 1.56993378e+02] [-1.18642527e-02 2.90294263e-04 -9.99929575e-01 6.71510519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.860385723 meters Centerline goodness [0,1] 0.9999571321401779 Centerline is valid? [True, True] Translation: X:134.99, Y:156.92, Z:6.72 [[-5.57399759e-01 -8.30213626e-01 7.13053872e-03 1.34992449e+02] [-8.30137839e-01 5.57445265e-01 1.12225235e-02 1.56919296e+02] [-1.32919770e-02 3.36101881e-04 -9.99911601e-01 6.71500814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.890385723 meters Centerline goodness [0,1] 0.9997875188577013 Centerline is valid? [True, True] Translation: X:134.91, Y:156.84, Z:6.71 [[-4.92500580e-01 -8.70290622e-01 6.11653800e-03 1.34910930e+02] [-8.70215080e-01 4.92538452e-01 1.14712219e-02 1.56839465e+02] [-1.29959270e-02 3.26879840e-04 -9.99915496e-01 6.71477972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.920385723 meters Centerline goodness [0,1] 0.999829187573396 Centerline is valid? [True, True] Translation: X:134.83, Y:156.75, Z:6.72 [[-4.23698795e-01 -9.05785162e-01 5.70721230e-03 1.34831919e+02] [-9.05691879e-01 4.23737094e-01 1.30036601e-02 1.56751480e+02] [-1.41968799e-02 3.40659282e-04 -9.99899161e-01 6.71607557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.950385723 meters Centerline goodness [0,1] 0.9997879379082195 Centerline is valid? [True, True] Translation: X:134.76, Y:156.65, Z:6.72 [[-3.52694738e-01 -9.35727251e-01 4.57539216e-03 1.34759989e+02] [-9.35636298e-01 3.52724267e-01 1.30502496e-02 1.56652761e+02] [-1.38253261e-02 3.21851392e-04 -9.99904374e-01 6.71595843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.980385723 meters Centerline goodness [0,1] 0.999914562775001 Centerline is valid? [True, True] Translation: X:134.70, Y:156.55, Z:6.71 [[-2.79020239e-01 -9.60279214e-01 3.39668020e-03 1.34696789e+02] [-9.60194884e-01 2.79040762e-01 1.27294153e-02 1.56550864e+02] [-1.31716051e-02 2.90289548e-04 -9.99913209e-01 6.71499922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.010385723 meters Centerline goodness [0,1] 0.9997236100776018 Centerline is valid? [True, True] Translation: X:134.64, Y:156.44, Z:6.72 [[-2.04256347e-01 -9.78914071e-01 2.56640442e-03 1.34640387e+02] [-9.78817246e-01 2.04272248e-01 1.37712396e-02 1.56440071e+02] [-1.40051054e-02 3.00822190e-04 -9.99901878e-01 6.71620894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.040385723 meters Centerline goodness [0,1] 0.9997236100776018 Centerline is valid? [True, True] Translation: X:134.59, Y:156.33, Z:6.72 [[-1.28790175e-01 -9.91670724e-01 1.50555367e-03 1.34594044e+02] [-9.91572966e-01 1.28798624e-01 1.39272108e-02 1.56326621e+02] [-1.40051204e-02 3.00821597e-04 -9.99901878e-01 6.71620968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.070385723 meters Centerline goodness [0,1] 0.9998300439761212 Centerline is valid? [True, True] Translation: X:134.56, Y:156.21, Z:6.72 [[-5.17388981e-02 -9.98660553e-01 4.31907033e-04 1.34555148e+02] [-9.98563766e-01 5.17398980e-02 1.39064219e-02 1.56211218e+02] [-1.39101418e-02 2.88216232e-04 -9.99903208e-01 6.71615396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.53, Y:156.09, Z:6.71 [[ 2.58186738e-02 -9.99666509e-01 -5.16729959e-04 1.34525665e+02] [-9.99602221e-01 -2.58228747e-02 1.13392368e-02 1.56092719e+02] [-1.13487987e-02 2.23760360e-04 -9.99935575e-01 6.71380165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.51, Y:155.97, Z:6.71 [[ 1.02393014e-01 -9.94743232e-01 -1.25432959e-03 1.34505733e+02] [-9.94690796e-01 -1.02400498e-01 1.02156117e-02 1.55970868e+02] [-1.02903546e-02 2.01662828e-04 -9.99947033e-01 6.71354181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.160385723 meters Centerline goodness [0,1] 0.9998102186702655 Centerline is valid? [True, True] Translation: X:133.90, Y:155.78, Z:5.76 [[ 7.37690336e-02 9.97275292e-01 -3.48601467e-04 1.33903105e+02] [-9.97238526e-01 7.37693090e-02 8.56806851e-03 1.55783724e+02] [ 8.57043911e-03 -2.84419321e-04 9.99963233e-01 5.76310255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.190385723 meters Centerline goodness [0,1] 0.9998517797022889 Centerline is valid? [True, True] Translation: X:134.53, Y:155.69, Z:6.71 [[ 1.11715354e-01 -9.93739689e-01 -1.05383854e-03 1.34533105e+02] [-9.93707665e-01 -1.11720216e-01 7.97939945e-03 1.55694336e+02] [-8.04718099e-03 1.55785999e-04 -9.99967609e-01 6.71196356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.220385723 meters Centerline goodness [0,1] 0.9995134231737502 Centerline is valid? [True, True] Translation: X:134.52, Y:155.57, Z:6.71 [[ 1.88917297e-01 -9.81991553e-01 -1.68679351e-03 1.34523767e+02] [-9.81958977e-01 -1.88924771e-01 7.99988630e-03 1.55570626e+02] [-8.17449785e-03 1.45045139e-04 -9.99966578e-01 6.71279727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.250385723 meters Centerline goodness [0,1] 0.9992807581655102 Centerline is valid? [True, True] Translation: X:134.52, Y:155.45, Z:6.71 [[ 2.63180388e-01 -9.64742056e-01 -2.97487442e-03 1.34522602e+02] [-9.64688358e-01 -2.63197132e-01 1.01804803e-02 1.55448856e+02] [-1.06045159e-02 1.90523974e-04 -9.99943752e-01 6.71449107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.280385723 meters Centerline goodness [0,1] 0.9993686470105436 Centerline is valid? [True, True] Translation: X:134.53, Y:155.33, Z:6.71 [[ 3.38253887e-01 -9.41051502e-01 -2.52560491e-03 1.34531588e+02] [-9.41027702e-01 -3.38263297e-01 6.69378925e-03 1.55327178e+02] [-7.15351987e-03 1.12463954e-04 -9.99974407e-01 6.71352714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.31038572299997 meters Centerline goodness [0,1] 0.9994749553712066 Centerline is valid? [True, True] Translation: X:134.55, Y:155.21, Z:6.71 [[ 4.10089658e-01 -9.12039759e-01 -3.15434693e-03 1.34547369e+02] [-9.12014779e-01 -4.10101775e-01 6.75116256e-03 1.55207937e+02] [-7.45093195e-03 1.08229076e-04 -9.99972236e-01 6.71456906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.340385723 meters Centerline goodness [0,1] 0.9995591476855253 Centerline is valid? [True, True] Translation: X:134.57, Y:155.09, Z:6.72 [[ 4.78759667e-01 -8.77938038e-01 -3.73929785e-03 1.34573808e+02] [-8.77912996e-01 -4.78774257e-01 6.63185955e-03 1.55090745e+02] [-7.61264131e-03 1.07711310e-04 -9.99971018e-01 6.71524920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.37038572299997 meters Centerline goodness [0,1] 0.9997677708109021 Centerline is valid? [True, True] Translation: X:134.61, Y:154.98, Z:6.71 [[ 5.45434697e-01 -8.38151066e-01 -1.94501283e-03 1.34607361e+02] [-8.38146026e-01 -5.45438163e-01 2.90681591e-03 1.54978471e+02] [-3.49723508e-03 4.47265195e-05 -9.99993884e-01 6.71380970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.400385723 meters Centerline goodness [0,1] 0.999873633663992 Centerline is valid? [True, True] Translation: X:134.65, Y:154.87, Z:6.71 [[ 6.07583722e-01 -7.94253960e-01 -1.63340197e-03 1.34645838e+02] [-7.94251238e-01 -6.07585917e-01 2.07945242e-03 1.54873974e+02] [-2.64404535e-03 3.38900893e-05 -9.99996504e-01 6.71361226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.69, Y:154.77, Z:6.71 [[ 6.66240342e-01 -7.45735602e-01 -1.48954302e-03 1.34694239e+02] [-7.45733831e-01 -6.66242007e-01 1.62542012e-03 1.54773348e+02] [-2.20452978e-03 2.78821619e-05 -9.99997570e-01 6.71421263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.460385723 meters Centerline goodness [0,1] 0.9999365763937338 Centerline is valid? [True, True] Translation: X:134.74, Y:154.68, Z:6.72 [[ 7.19922861e-01 -6.94047891e-01 -2.93248193e-03 1.34744392e+02] [-6.94042441e-01 -7.19928831e-01 2.75097249e-03 1.54682519e+02] [-4.02048494e-03 5.47789366e-05 -9.99991916e-01 6.71677075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.490385723 meters Centerline goodness [0,1] 0.9999575740862519 Centerline is valid? [True, True] Translation: X:134.74, Y:154.67, Z:6.72 [[ 7.71676296e-01 -6.36010349e-01 -2.55553597e-03 1.34739952e+02] [-6.36007059e-01 -7.71680526e-01 2.04619464e-03 1.54667083e+02] [-3.27345830e-03 4.63390163e-05 -9.99994641e-01 6.71727133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.520385723 meters Centerline goodness [0,1] 0.9999363543788188 Centerline is valid? [True, True] Translation: X:134.74, Y:154.65, Z:6.72 [[ 8.18161284e-01 -5.74983803e-01 -2.39575305e-03 1.34737801e+02] [-5.74981499e-01 -8.18164790e-01 1.62818180e-03 1.54654520e+02] [-2.89629896e-03 4.53983672e-05 -9.99995805e-01 6.71892584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.550385723 meters Centerline goodness [0,1] 0.9998729136660172 Centerline is valid? [True, True] Translation: X:134.74, Y:154.64, Z:6.72 [[ 8.59589063e-01 -5.10975945e-01 -3.19782877e-03 1.34737707e+02] [-5.10972688e-01 -8.59595009e-01 1.82554953e-03 1.54643447e+02] [-3.68164955e-03 6.47807470e-05 -9.99993221e-01 6.72078594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.74, Y:154.63, Z:6.72 [[ 8.97048224e-01 -4.41929972e-01 -1.54359794e-03 1.34738373e+02] [-4.41929375e-01 -8.97049552e-01 7.27027874e-04 1.54630115e+02] [-1.70597925e-03 2.99822095e-05 -9.99998544e-01 6.71900205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.610385723 meters Centerline goodness [0,1] 0.9998506379891606 Centerline is valid? [True, True] Translation: X:134.74, Y:154.62, Z:6.72 [[ 9.28760025e-01 -3.70681123e-01 5.66185528e-04 1.34738938e+02] [-3.70681060e-01 -9.28760198e-01 -2.15788622e-04 1.54616090e+02] [ 6.05839352e-04 -9.45840569e-06 -9.99999816e-01 6.71878279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.74, Y:154.60, Z:6.72 [[ 9.54893497e-01 -2.96946764e-01 1.01445081e-03 1.34741262e+02] [-2.96946615e-01 -9.54894036e-01 -2.97441989e-04 1.54602675e+02] [ 1.05701746e-03 -1.72123136e-05 -9.99999441e-01 6.71851953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.670385723 meters Centerline goodness [0,1] 0.9999786684869558 Centerline is valid? [True, True] Translation: X:134.74, Y:154.59, Z:6.72 [[ 9.75189430e-01 -2.21365283e-01 1.72858204e-03 1.34744319e+02] [-2.21364989e-01 -9.75190961e-01 -3.62229035e-04 1.54589298e+02] [ 1.76588252e-03 -2.94056179e-05 -9.99998440e-01 6.71949091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.700385723 meters Centerline goodness [0,1] 0.9999786233433091 Centerline is valid? [True, True] Translation: X:134.75, Y:154.58, Z:6.72 [[ 9.89573352e-01 -1.44016094e-01 1.98632572e-03 1.34746293e+02] [-1.44015871e-01 -9.89575345e-01 -2.55962362e-04 1.54576992e+02] [ 2.00248166e-03 -3.27688954e-05 -9.99997995e-01 6.71997187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.75, Y:154.56, Z:6.72 [[ 9.97845132e-01 -6.55711898e-02 2.34766084e-03 1.34747853e+02] [-6.55710965e-02 -9.97847893e-01 -1.16800878e-04 1.54564987e+02] [ 2.35026719e-03 -3.73895073e-05 -9.99997237e-01 6.72067550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.75, Y:154.55, Z:6.72 [[ 9.99900446e-01 1.39284168e-02 2.25775613e-03 1.34750335e+02] [ 1.39283062e-02 -9.99902994e-01 6.46796894e-05 1.54553470e+02] [ 2.25843800e-03 -3.32265315e-05 -9.99997449e-01 6.72230845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.790385723 meters Centerline goodness [0,1] 0.9999571679444896 Centerline is valid? [True, True] Translation: X:134.75, Y:154.54, Z:6.72 [[ 9.95702689e-01 9.25763770e-02 2.40184916e-03 1.34752398e+02] [ 9.25760238e-02 -9.95705586e-01 2.58066306e-04 1.54544226e+02] [ 2.41542547e-03 -3.46036698e-05 -9.99997082e-01 6.72272925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.820385723 meters Centerline goodness [0,1] 0.9998929817426853 Centerline is valid? [True, True] Translation: X:134.76, Y:154.54, Z:6.72 [[ 9.85243675e-01 1.71133016e-01 2.89685991e-03 1.34755286e+02] [ 1.71132158e-01 -9.85247933e-01 5.43543143e-04 1.54536008e+02] [ 2.94714341e-03 -3.97765567e-05 -9.99995656e-01 6.72289113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.850385723 meters Centerline goodness [0,1] 0.9998715588474547 Centerline is valid? [True, True] Translation: X:134.76, Y:154.53, Z:6.72 [[ 9.68729627e-01 2.48094469e-01 3.47045126e-03 1.34758070e+02] [ 2.48092701e-01 -9.68735842e-01 9.37689208e-04 1.54527253e+02] [ 3.59458603e-03 -4.73736878e-05 -9.99993538e-01 6.72288338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.76, Y:154.51, Z:6.72 [[ 9.46291348e-01 3.23285961e-01 4.34411701e-03 1.34763730e+02] [ 3.23282261e-01 -9.46301318e-01 1.54802379e-03 1.54514550e+02] [ 4.61129801e-03 -6.05055548e-05 -9.99989366e-01 6.72388247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.77, Y:154.51, Z:6.72 [[ 9.17683738e-01 3.97283369e-01 4.74150401e-03 1.34768433e+02] [ 3.97277709e-01 -9.17695985e-01 2.12153026e-03 1.54505397e+02] [ 5.19410789e-03 -6.31999693e-05 -9.99986509e-01 6.72411713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.940385723 meters Centerline goodness [0,1] 0.999957138571 Centerline is valid? [True, True] Translation: X:134.78, Y:154.49, Z:6.72 [[ 8.83640206e-01 4.68143689e-01 4.63391330e-03 1.34775584e+02] [ 4.68136878e-01 -8.83652354e-01 2.52611104e-03 1.54494404e+02] [ 5.27735134e-03 -6.28675775e-05 -9.99986073e-01 6.72496544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.78, Y:154.49, Z:6.73 [[ 8.43985977e-01 5.36342449e-01 4.94455229e-03 1.34780835e+02] [ 5.36332776e-01 -8.44000458e-01 3.22179528e-03 1.54487017e+02] [ 5.90118997e-03 -6.72245744e-05 -9.99982586e-01 6.72505981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.000385723 meters Centerline goodness [0,1] 0.9999569095531521 Centerline is valid? [True, True] Translation: X:134.79, Y:154.48, Z:6.73 [[ 7.99513959e-01 6.00628151e-01 4.82220255e-03 1.34787203e+02] [ 6.00616693e-01 -7.99528498e-01 3.71060869e-03 1.54479708e+02] [ 6.08418440e-03 -7.03881013e-05 -9.99981489e-01 6.72526121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.030385723 meters Centerline goodness [0,1] 0.999892122807396 Centerline is valid? [True, True] Translation: X:134.79, Y:154.47, Z:6.73 [[ 7.50541169e-01 6.60810733e-01 4.13877613e-03 1.34794245e+02] [ 6.60800180e-01 -7.50552577e-01 3.73519196e-03 1.54472919e+02] [ 5.57462403e-03 -6.85113289e-05 -9.99984459e-01 6.72647388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.06038572299997 meters Centerline goodness [0,1] 0.9998921274621907 Centerline is valid? [True, True] Translation: X:134.80, Y:154.47, Z:6.73 [[ 6.96978913e-01 7.17082629e-01 3.59151356e-03 1.34801332e+02] [ 7.17072606e-01 -6.96988163e-01 3.79200242e-03 1.54465877e+02] [ 5.22242150e-03 -6.75697310e-05 -9.99986361e-01 6.72674583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.090385723 meters Centerline goodness [0,1] 0.9999351154944199 Centerline is valid? [True, True] Translation: X:134.81, Y:154.46, Z:6.73 [[ 6.39406740e-01 7.68861222e-01 3.38250075e-03 1.34811847e+02] [ 7.68849841e-01 -6.39415683e-01 4.18402832e-03 1.54457403e+02] [ 5.37976115e-03 -7.46607403e-05 -9.99985526e-01 6.72807010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.82, Y:154.45, Z:6.73 [[ 5.78439416e-01 8.15721563e-01 2.48473092e-03 1.34819150e+02] [ 8.15713532e-01 -5.78444748e-01 3.62035722e-03 1.54451677e+02] [ 4.39048301e-03 -6.73286808e-05 -9.99990360e-01 6.72920057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.150385723 meters Centerline goodness [0,1] 0.9999570621954099 Centerline is valid? [True, True] Translation: X:134.83, Y:154.45, Z:6.73 [[ 5.13217068e-01 8.58256371e-01 2.05982934e-03 1.34826499e+02] [ 8.58248942e-01 -5.13221197e-01 3.57172692e-03 1.54447320e+02] [ 4.12260546e-03 -6.52248627e-05 -9.99991500e-01 6.72971954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.84, Y:154.44, Z:6.73 [[ 4.44601092e-01 8.95725901e-01 2.23164214e-03 1.34836494e+02] [ 8.95713659e-01 -4.44606685e-01 4.68367011e-03 1.54441639e+02] [ 5.18748764e-03 -8.34525017e-05 -9.99986541e-01 6.72962208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.85, Y:154.44, Z:6.73 [[ 3.72743200e-01 9.27932503e-01 1.94353110e-03 1.34846102e+02] [ 9.27918670e-01 -3.72748257e-01 5.06746438e-03 1.54436180e+02] [ 5.42671274e-03 -8.54240964e-05 -9.99985272e-01 6.72908216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.240385723 meters Centerline goodness [0,1] 0.9999783512296502 Centerline is valid? [True, True] Translation: X:134.86, Y:154.43, Z:6.73 [[ 2.98443676e-01 9.54426106e-01 1.47692342e-03 1.34855313e+02] [ 9.54413068e-01 -2.98447320e-01 4.98922034e-03 1.54432189e+02] [ 5.20262598e-03 -7.94062386e-05 -9.99986463e-01 6.72950645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.270385723 meters Centerline goodness [0,1] 0.999956566117228 Centerline is valid? [True, True] Translation: X:134.87, Y:154.43, Z:6.73 [[ 2.21224329e-01 9.75222403e-01 1.02989824e-03 1.34866075e+02] [ 9.75210361e-01 -2.21226715e-01 4.84692122e-03 1.54428696e+02] [ 4.95466717e-03 -6.78894550e-05 -9.99987723e-01 6.73045663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.88, Y:154.43, Z:6.73 [[ 1.43000109e-01 9.89722448e-01 6.67202147e-04 1.34879397e+02] [ 9.89709485e-01 -1.43001651e-01 5.06579731e-03 1.54425431e+02] [ 5.10914432e-03 -6.40732726e-05 -9.99986946e-01 6.73079229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.330385723 meters Centerline goodness [0,1] 0.9999346063301072 Centerline is valid? [True, True] Translation: X:134.89, Y:154.42, Z:6.73 [[ 6.36111417e-02 9.97974714e-01 3.05786348e-04 1.34889490e+02] [ 9.97957766e-01 -6.36118436e-02 5.81633617e-03 1.54422232e+02] [ 5.82400806e-03 -6.48219227e-05 -9.99983038e-01 6.72998661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.360385723 meters Centerline goodness [0,1] 0.999978391927224 Centerline is valid? [True, True] Translation: X:134.90, Y:154.42, Z:6.73 [[-1.56687410e-02 9.99877226e-01 -1.52719802e-04 1.34898347e+02] [ 9.99859844e-01 1.56693691e-02 5.89610478e-03 1.54420468e+02] [ 5.89777391e-03 -6.03138591e-05 -9.99982606e-01 6.72967204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.91, Y:154.42, Z:6.73 [[-9.46062139e-02 9.95514522e-01 -7.08183983e-04 1.34906298e+02] [ 9.95491552e-01 9.46088420e-02 6.76295366e-03 1.54418952e+02] [ 6.79961904e-03 -6.51737324e-05 -9.99976880e-01 6.72896066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.420385723 meters Centerline goodness [0,1] 0.9999129696916952 Centerline is valid? [True, True] Translation: X:134.92, Y:154.42, Z:6.73 [[-1.73084556e-01 9.84906164e-01 -1.25857246e-03 1.34918004e+02] [ 9.84882616e-01 1.73089121e-01 6.81090307e-03 1.54418450e+02] [ 6.92594562e-03 -6.06840054e-05 -9.99976014e-01 6.72915853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.93, Y:154.42, Z:6.73 [[-2.50884788e-01 9.68015397e-01 -1.73619342e-03 1.34928148e+02] [ 9.67993598e-01 2.50890790e-01 6.49654896e-03 1.54417217e+02] [ 6.72435436e-03 -5.07388106e-05 -9.99977390e-01 6.72977586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.480385723 meters Centerline goodness [0,1] 0.9999782990820512 Centerline is valid? [True, True] Translation: X:134.94, Y:154.42, Z:6.73 [[-3.27003937e-01 9.45020507e-01 -2.16024537e-03 1.34936647e+02] [ 9.45000719e-01 3.27011070e-01 6.11564057e-03 1.54415859e+02] [ 6.48582991e-03 -4.15948870e-05 -9.99978966e-01 6.73051663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.510385723 meters Centerline goodness [0,1] 0.9999347102222029 Centerline is valid? [True, True] Translation: X:134.94, Y:154.42, Z:6.73 [[-4.00566083e-01 9.16264627e-01 -2.43851453e-03 1.34944993e+02] [ 9.16248175e-01 4.00573503e-01 5.49085581e-03 1.54415995e+02] [ 6.00788126e-03 -3.48338827e-05 -9.99981952e-01 6.73103153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.95, Y:154.42, Z:6.73 [[-4.71516001e-01 8.81853811e-01 -2.55295795e-03 1.34952898e+02] [ 8.81841210e-01 4.71522912e-01 4.71434845e-03 1.54415257e+02] [ 5.36114431e-03 -2.84127966e-05 -9.99985629e-01 6.73138794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.96, Y:154.42, Z:6.73 [[-5.39793210e-01 8.41793084e-01 -2.77384652e-03 1.34963079e+02] [ 8.41782188e-01 5.39800336e-01 4.28300181e-03 1.54418454e+02] [ 5.10272459e-03 -2.30393022e-05 -9.99986981e-01 6.73257305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.97, Y:154.42, Z:6.73 [[-6.05681855e-01 7.95702086e-01 -2.77145039e-03 1.34972161e+02] [ 7.95693841e-01 6.05688195e-01 3.62227813e-03 1.54420267e+02] [ 4.56088905e-03 -1.12778697e-05 -9.99989599e-01 6.73277822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.98, Y:154.42, Z:6.73 [[-6.66699350e-01 7.45320503e-01 -3.05359069e-03 1.34980046e+02] [ 7.45312739e-01 6.66706343e-01 3.40187235e-03 1.54422095e+02] [ 4.57133350e-03 -7.85395463e-06 -9.99989551e-01 6.73262799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.99, Y:154.43, Z:6.73 [[-7.24079828e-01 6.89709265e-01 -3.08753025e-03 1.34988920e+02] [ 6.89703000e-01 7.24086410e-01 2.93985085e-03 1.54426775e+02] [ 4.26328106e-03 -7.92179177e-07 -9.99990912e-01 6.73257096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.690385723 meters Centerline goodness [0,1] 0.9999781368197818 Centerline is valid? [True, True] Translation: X:135.01, Y:154.45, Z:6.73 [[-7.71629275e-01 6.36063355e-01 -3.41632480e-03 1.35008076e+02] [ 6.36057103e-01 7.71636838e-01 2.82011905e-03 1.54446723e+02] [ 4.42993645e-03 3.10876244e-06 -9.99990188e-01 6.73256267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.720385723 meters Centerline goodness [0,1] 0.9999561691869384 Centerline is valid? [True, True] Translation: X:135.03, Y:154.47, Z:6.73 [[-8.15186612e-01 5.79185955e-01 -3.79709807e-03 1.35026085e+02] [ 5.79179632e-01 8.15195455e-01 2.70637231e-03 1.54467121e+02] [ 4.66286992e-03 6.99661136e-06 -9.99989129e-01 6.73262258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.04, Y:154.49, Z:6.73 [[-8.54348611e-01 5.19685838e-01 -3.88333526e-03 1.35035525e+02] [ 5.19680424e-01 8.54357437e-01 2.37214403e-03 1.54489362e+02] [ 4.55052601e-03 8.54464366e-06 -9.99989646e-01 6.73204286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.05, Y:154.51, Z:6.73 [[-8.88757340e-01 4.58360354e-01 -4.02210047e-03 1.35048018e+02] [ 4.58355629e-01 8.88766441e-01 2.08109932e-03 1.54512275e+02] [ 4.52860134e-03 6.03990212e-06 -9.99989746e-01 6.73163522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.81038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.07, Y:154.53, Z:6.73 [[-9.18678043e-01 3.94987857e-01 -3.90465474e-03 1.35069161e+02] [ 3.94984279e-01 9.18686341e-01 1.68139656e-03 1.54528908e+02] [ 4.25128420e-03 2.38487054e-06 -9.99990963e-01 6.73268737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.840385723 meters Centerline goodness [0,1] 0.9999558333149305 Centerline is valid? [True, True] Translation: X:135.08, Y:154.55, Z:6.73 [[-9.44217076e-01 3.29303605e-01 -3.64001259e-03 1.35075390e+02] [ 3.29301155e-01 9.44224092e-01 1.27019680e-03 1.54554887e+02] [ 3.85526797e-03 6.81152521e-07 -9.99992568e-01 6.73280130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.08, Y:154.58, Z:6.73 [[-9.64951210e-01 2.62413845e-01 -2.85245298e-03 1.35081221e+02] [ 2.62412705e-01 9.64955426e-01 7.73660455e-04 1.54578236e+02] [ 2.95550919e-03 -1.97530996e-06 -9.99995633e-01 6.73314704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.09, Y:154.61, Z:6.73 [[-9.81132178e-01 1.93316422e-01 -2.90011280e-03 1.35089030e+02] [ 1.93315583e-01 9.81136464e-01 5.69403499e-04 1.54606010e+02] [ 2.95548146e-03 -1.97690073e-06 -9.99995633e-01 6.73314735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.23, Y:155.37, Z:5.74 [[-9.66473474e-01 -2.56753687e-01 -2.56302349e-03 1.35230815e+02] [ 2.56752728e-01 -9.66476872e-01 7.02008079e-04 1.55367375e+02] [-2.65734609e-03 2.04089122e-05 9.99996469e-01 5.74212866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.960385723 meters Centerline goodness [0,1] 0.9999555693784156 Centerline is valid? [True, True] Translation: X:135.03, Y:154.61, Z:6.73 [[-9.81708403e-01 1.90370781e-01 -2.75283787e-03 1.35031493e+02] [ 1.90370047e-01 9.81712262e-01 5.28600636e-04 1.54611941e+02] [ 2.80312481e-03 -5.12618936e-06 -9.99996071e-01 6.73364793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.20, Y:155.38, Z:5.74 [[-9.68012509e-01 -2.50894397e-01 -1.94533474e-03 1.35197528e+02] [ 2.50893781e-01 -9.68014462e-01 5.58382521e-04 1.55381218e+02] [-2.02320721e-03 5.24488767e-05 9.99997952e-01 5.74276477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.020385723 meters Centerline goodness [0,1] 0.9999776181203698 Centerline is valid? [True, True] Translation: X:134.99, Y:154.61, Z:6.73 [[-9.82188386e-01 1.87896724e-01 -8.91575727e-04 1.34986706e+02] [ 1.87896649e-01 9.82188791e-01 1.67731681e-04 1.54610704e+02] [ 9.07211919e-04 -2.77998180e-06 -9.99999589e-01 6.73301334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.99, Y:154.64, Z:6.73 [[-9.92909395e-01 1.18869475e-01 9.90518239e-04 1.34991159e+02] [ 1.18869421e-01 9.92909889e-01 -1.13301212e-04 1.54635055e+02] [-9.96963410e-04 5.24449204e-06 -9.99999503e-01 6.73414278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.09, Y:155.44, Z:5.74 [[-9.84279143e-01 -1.76615221e-01 1.27750381e-03 1.35089564e+02] [ 1.76615089e-01 -9.84279972e-01 -2.16278027e-04 1.55435732e+02] [ 1.29561941e-03 1.27484984e-05 9.99999161e-01 5.74136851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.92, Y:154.64, Z:6.73 [[-9.93603863e-01 1.12913320e-01 1.39474045e-03 1.34924734e+02] [ 1.12913216e-01 9.93604842e-01 -1.53396577e-04 1.54644082e+02] [-1.40314138e-03 5.06919850e-06 -9.99999016e-01 6.73427773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.140385723 meters Centerline goodness [0,1] 0.9999776616181923 Centerline is valid? [True, True] Translation: X:134.98, Y:155.45, Z:5.74 [[-9.84822643e-01 -1.73558912e-01 1.29100590e-03 1.34981548e+02] [ 1.73558749e-01 -9.84823489e-01 -2.38226279e-04 1.55447224e+02] [ 1.31275923e-03 -1.05452645e-05 9.99999138e-01 5.74103585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.84, Y:154.66, Z:6.73 [[-9.94325108e-01 1.06357798e-01 2.36605933e-03 1.34840271e+02] [ 1.06357512e-01 9.94327923e-01 -2.46744532e-04 1.54656571e+02] [-2.37888206e-03 6.30390039e-06 -9.99997170e-01 6.73482251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.93, Y:155.45, Z:5.74 [[-9.85888891e-01 -1.67360634e-01 3.67597193e-03 1.34927762e+02] [ 1.67359756e-01 -9.85895741e-01 -5.47283047e-04 1.55449575e+02] [ 3.71571871e-03 7.56494897e-05 9.99993094e-01 5.74033857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.77, Y:154.66, Z:6.74 [[-9.94600535e-01 1.03663080e-01 4.87263289e-03 1.34772124e+02] [ 1.03661942e-01 9.94612470e-01 -4.86314836e-04 1.54663031e+02] [-4.89679433e-03 2.14175909e-05 -9.99988010e-01 6.73539551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.76, Y:154.69, Z:6.74 [[-9.99402868e-01 3.41415315e-02 5.31632851e-03 1.34764270e+02] [ 3.41412114e-02 9.99417008e-01 -1.50978755e-04 1.54691116e+02] [-5.31838378e-03 3.06172948e-05 -9.99985857e-01 6.73542480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.76, Y:154.72, Z:6.74 [[-9.99357092e-01 -3.53564734e-02 5.94327247e-03 1.34762057e+02] [-3.53555839e-02 9.99374764e-01 2.54694250e-04 1.54719132e+02] [-5.94856161e-03 4.44026373e-05 -9.99982306e-01 6.73521882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.76, Y:154.75, Z:6.74 [[-9.94600684e-01 -1.03565607e-01 6.60640628e-03 1.34758678e+02] [-1.03562860e-01 9.94622622e-01 7.57560724e-04 1.54747358e+02] [-6.64933837e-03 6.92920864e-05 -9.99977891e-01 6.73665300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.74, Y:154.77, Z:6.74 [[-9.84948404e-01 -1.72689974e-01 7.40373943e-03 1.34742391e+02] [-1.72684373e-01 9.84976225e-01 1.39401719e-03 1.54774774e+02] [-7.53324010e-03 9.45249021e-05 -9.99971620e-01 6.73716637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.56, Y:155.56, Z:5.74 [[-9.91332147e-01 1.31145925e-01 7.83075478e-03 1.34562771e+02] [-1.31142435e-01 -9.91363072e-01 9.59836411e-04 1.55558476e+02] [ 7.88899975e-03 -7.54275567e-05 9.99968879e-01 5.73849538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.410385723 meters Centerline goodness [0,1] 0.9998669062354428 Centerline is valid? [True, True] Translation: X:134.60, Y:154.75, Z:6.74 [[-9.83804114e-01 -1.79071966e-01 7.91808922e-03 1.34595520e+02] [-1.79065261e-01 9.83835972e-01 1.55350626e-03 1.54751505e+02] [-8.06829042e-03 1.10491136e-04 -9.99967445e-01 6.73968395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.56, Y:154.78, Z:6.74 [[-9.68143810e-01 -2.50233414e-01 8.98900158e-03 1.34560506e+02] [-2.50221445e-01 9.68185531e-01 2.45061691e-03 1.54775173e+02] [-9.31624751e-03 1.23308633e-04 -9.99956595e-01 6.73646323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.50, Y:154.79, Z:6.74 [[-9.47002766e-01 -3.21105543e-01 8.77444195e-03 1.34498270e+02] [-3.21090584e-01 9.47043408e-01 3.10169023e-03 1.54786379e+02] [-9.30574733e-03 1.19918539e-04 -9.99956693e-01 6.73626129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.43, Y:154.79, Z:6.74 [[-9.20452073e-01 -3.90760211e-01 8.62777343e-03 1.34426729e+02] [-3.90741874e-01 9.20492501e-01 3.78733976e-03 1.54791537e+02] [-9.42174243e-03 1.14832374e-04 -9.99955608e-01 6.73549073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.34, Y:154.79, Z:6.74 [[-8.88535457e-01 -4.58736452e-01 8.09993826e-03 1.34344381e+02] [-4.58716311e-01 8.88572370e-01 4.29998361e-03 1.54785720e+02] [-9.16994055e-03 1.05114106e-04 -9.99957950e-01 6.73520930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.56038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.26, Y:154.77, Z:6.73 [[-8.51299510e-01 -5.24628155e-01 7.37849574e-03 1.34262784e+02] [-5.24607487e-01 8.51331481e-01 4.65780929e-03 1.54773088e+02] [-8.72516360e-03 9.43766666e-05 -9.99961931e-01 6.73488135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.17, Y:154.75, Z:6.73 [[-8.08824418e-01 -5.88010675e-01 6.81963947e-03 1.34171895e+02] [-5.87988902e-01 8.08853163e-01 5.06085149e-03 1.54746806e+02] [-8.49192165e-03 8.34679333e-05 -9.99963940e-01 6.73361154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.08, Y:154.71, Z:6.73 [[-7.61820802e-01 -6.47756195e-01 6.40144179e-03 1.34082277e+02] [-6.47732432e-01 7.61847692e-01 5.54893548e-03 1.54712547e+02] [-8.47128098e-03 8.08730109e-05 -9.99964115e-01 6.73340999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.99, Y:154.67, Z:6.73 [[-7.10232368e-01 -7.03936081e-01 6.63149958e-03 1.33989047e+02] [-7.03904248e-01 7.10263322e-01 6.69497681e-03 1.54665266e+02] [-9.42294665e-03 8.70485066e-05 -9.99955599e-01 6.73330952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.90, Y:154.61, Z:6.73 [[-6.54057908e-01 -7.56417856e-01 6.34674545e-03 1.33895978e+02] [-7.56380996e-01 6.54088695e-01 7.46781147e-03 1.54606950e+02] [-9.80012038e-03 8.38235001e-05 -9.99951974e-01 6.73206492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.81, Y:154.54, Z:6.73 [[-5.94273658e-01 -8.04238967e-01 6.20521911e-03 1.33805009e+02] [-8.04193562e-01 5.94306047e-01 8.54621538e-03 1.54535034e+02] [-1.05609987e-02 8.85934173e-05 -9.99944227e-01 6.73414063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.72, Y:154.45, Z:6.73 [[-5.30839901e-01 -8.47450438e-01 6.06259636e-03 1.33715728e+02] [-8.47393108e-01 5.30874512e-01 9.85766946e-03 1.54454638e+02] [-1.15723642e-02 9.54419122e-05 -9.99933033e-01 6.73483406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.64, Y:154.37, Z:6.73 [[-4.64074759e-01 -8.85779216e-01 5.45879731e-03 1.33636262e+02] [-8.85715477e-01 4.64106853e-01 1.06265575e-02 1.54373403e+02] [-1.19462490e-02 9.65758361e-05 -9.99928636e-01 6.73469011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.56, Y:154.28, Z:6.74 [[-3.94652968e-01 -9.18818309e-01 4.68505720e-03 1.33561217e+02] [-9.18750580e-01 3.94680763e-01 1.11564355e-02 1.54279290e+02] [-1.20998392e-02 9.85213612e-05 -9.99926789e-01 6.73567041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.49, Y:154.18, Z:6.73 [[-3.23294123e-01 -9.46290143e-01 3.98431670e-03 1.33492235e+02] [-9.46214043e-01 3.23318655e-01 1.20013347e-02 1.54176873e+02] [-1.26449487e-02 1.09944570e-04 -9.99920043e-01 6.73474387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.43, Y:154.07, Z:6.73 [[-2.50000696e-01 -9.68241079e-01 2.97758871e-03 1.33431376e+02] [-9.68166833e-01 2.50018401e-01 1.19909253e-02 1.54068260e+02] [-1.23545585e-02 1.14937042e-04 -9.99923673e-01 6.73454469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.38, Y:153.94, Z:6.73 [[-1.75537797e-01 -9.84471048e-01 1.79940637e-03 1.33377936e+02] [-9.84412634e-01 1.75546984e-01 1.07248743e-02 1.53944786e+02] [-1.08742086e-02 1.11262436e-04 -9.99940868e-01 6.73256352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.34, Y:153.83, Z:6.73 [[-9.88919246e-02 -9.95097756e-01 9.18080745e-04 1.33335786e+02] [-9.95044498e-01 9.88961307e-02 1.02957340e-02 1.53829955e+02] [-1.03360565e-02 1.04633760e-04 -9.99946576e-01 6.73294003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.30, Y:153.71, Z:6.73 [[-2.13458624e-02 -9.99772144e-01 1.18335755e-04 1.33299326e+02] [-9.99720294e-01 2.13459606e-02 1.01825547e-02 1.53711626e+02] [-1.01827605e-02 9.90527565e-05 -9.99948149e-01 6.73116613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.27, Y:153.58, Z:6.73 [[ 5.65207859e-02 -9.98401207e-01 -6.57012043e-04 1.33273493e+02] [-9.98351213e-01 -5.65245308e-02 9.99162032e-03 1.53584677e+02] [-1.00127831e-02 9.11945372e-05 -9.99949867e-01 6.73157363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.26, Y:153.46, Z:6.73 [[ 1.34523793e-01 -9.90909293e-01 -1.45676478e-03 1.33256226e+02] [-9.90857626e-01 -1.34531655e-01 1.01192737e-02 1.53458198e+02] [-1.02232633e-02 8.21634134e-05 -9.99947738e-01 6.73260171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.25, Y:153.33, Z:6.73 [[ 2.10972374e-01 -9.77489341e-01 -2.29040310e-03 1.33250110e+02] [-9.77435797e-01 -2.10984791e-01 1.02313751e-02 1.53327808e+02] [-1.04843003e-02 8.01844812e-05 -9.99945035e-01 6.73326833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.25, Y:153.19, Z:6.73 [[ 2.86481324e-01 -9.58080414e-01 -3.22036798e-03 1.33254660e+02] [-9.58022815e-01 -2.86499414e-01 1.05057602e-02 1.53194263e+02] [-1.09879967e-02 7.54818985e-05 -9.99939627e-01 6.73423802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.26, Y:153.08, Z:6.73 [[ 3.59442705e-01 -9.33158286e-01 -4.06880264e-03 1.33264825e+02] [-9.33100919e-01 -3.59465725e-01 1.03473297e-02 1.53076336e+02] [-1.11182915e-02 7.73313196e-05 -9.99938187e-01 6.73466000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.29, Y:152.95, Z:6.73 [[ 4.29988915e-01 -9.02820884e-01 -4.89741125e-03 1.33287387e+02] [-9.02764472e-01 -4.30016796e-01 1.00927567e-02 1.52951502e+02] [-1.12179206e-02 8.14353755e-05 -9.99937074e-01 6.73402431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.32, Y:152.84, Z:6.73 [[ 4.97141987e-01 -8.67651116e-01 -5.60229038e-03 1.33315542e+02] [-8.67598120e-01 -4.97173544e-01 9.59004184e-03 1.52836200e+02] [-1.11061211e-02 9.29241407e-05 -9.99938321e-01 6.73391982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.35, Y:152.72, Z:6.73 [[ 5.61914356e-01 -8.27170525e-01 -6.41710285e-03 1.33351740e+02] [-8.27118608e-01 -5.61950987e-01 9.26797324e-03 1.52724762e+02] [-1.12722916e-02 9.98979679e-05 -9.99936461e-01 6.73359497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.40, Y:152.62, Z:6.73 [[ 6.22538611e-01 -7.82558426e-01 -6.92727570e-03 1.33395454e+02] [-7.82512006e-01 -6.22577141e-01 8.52425638e-03 1.52618313e+02] [-1.09834922e-02 1.13997672e-04 -9.99939673e-01 6.73396062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.250385723 meters Centerline goodness [0,1] 0.9999329578975596 Centerline is valid? [True, True] Translation: X:133.45, Y:152.52, Z:6.73 [[ 6.79687038e-01 -7.33468480e-01 -7.03694441e-03 1.33445348e+02] [-7.33430958e-01 -6.79723455e-01 7.41992380e-03 1.52516425e+02] [-1.02254564e-02 1.17886851e-04 -9.99947712e-01 6.73278470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.51, Y:152.42, Z:6.73 [[ 7.33089666e-01 -6.80095408e-01 -7.05531863e-03 1.33505022e+02] [-6.80065455e-01 -7.33123607e-01 6.38394752e-03 1.52418180e+02] [-9.51411403e-03 1.18072516e-04 -9.99954733e-01 6.73238532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.31038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.50, Y:152.41, Z:6.73 [[ 7.82601210e-01 -6.22487959e-01 -6.63981257e-03 1.33498460e+02] [-6.22466880e-01 -7.82629367e-01 5.12416687e-03 1.52409798e+02] [-8.38624449e-03 1.22884221e-04 -9.99964827e-01 6.73174685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.49, Y:152.40, Z:6.73 [[ 8.28196461e-01 -5.60395178e-01 -6.91853663e-03 1.33493097e+02] [-5.60376942e-01 -8.28225348e-01 4.52282853e-03 1.52403636e+02] [-8.26467871e-03 1.31197813e-04 -9.99965838e-01 6.73218180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.37038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.49, Y:152.39, Z:6.73 [[ 8.68472968e-01 -4.95682263e-01 -7.33467107e-03 1.33486632e+02] [-4.95666036e-01 -8.68503927e-01 4.01364053e-03 1.52394177e+02] [-8.35968105e-03 1.49809030e-04 -9.99965046e-01 6.73105827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.48, Y:152.39, Z:6.73 [[ 9.04059180e-01 -4.27337469e-01 -7.72567979e-03 1.33481660e+02] [-4.27323386e-01 -9.04092176e-01 3.47306847e-03 1.52386809e+02] [-8.46889894e-03 1.61504213e-04 -9.99964125e-01 6.73134898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.430385723 meters Centerline goodness [0,1] 0.9999777029588174 Centerline is valid? [True, True] Translation: X:133.47, Y:152.37, Z:6.73 [[ 9.34039640e-01 -3.57086594e-01 -7.68869761e-03 1.33474947e+02] [-3.57075998e-01 -9.34071269e-01 2.75618396e-03 1.52372364e+02] [-8.16598788e-03 1.71064299e-04 -9.99966643e-01 6.73142903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.47, Y:152.36, Z:6.73 [[ 9.58948733e-01 -2.83462422e-01 -8.14761782e-03 1.33470595e+02] [-2.83453789e-01 -9.58983328e-01 2.21964540e-03 1.52359539e+02] [-8.44261571e-03 1.80946996e-04 -9.99964344e-01 6.73094663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.46, Y:152.35, Z:6.73 [[ 9.78097750e-01 -2.07972611e-01 -8.49614137e-03 1.33463733e+02] [-2.07966448e-01 -9.78134631e-01 1.61225449e-03 1.52348333e+02] [-8.64567488e-03 1.89969854e-04 -9.99962607e-01 6.73151734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.46, Y:152.34, Z:6.73 [[ 9.91310063e-01 -1.31167793e-01 -9.96843854e-03 1.33456774e+02] [-1.31163436e-01 -9.91360156e-01 1.09239909e-03 1.52337589e+02] [-1.00256004e-02 2.24588435e-04 -9.99949717e-01 6.73209442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.45, Y:152.32, Z:6.73 [[ 9.98527925e-01 -5.32764444e-02 -1.01785443e-02 1.33451972e+02] [-5.32760148e-02 -9.98579776e-01 3.13543490e-04 1.52324741e+02] [-1.01807929e-02 2.29190344e-04 -9.99948148e-01 6.73194816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.45, Y:152.31, Z:6.73 [[ 9.99632294e-01 2.50719221e-02 -1.03284044e-02 1.33447971e+02] [ 2.50681776e-02 -9.99685623e-01 -4.91862612e-04 1.52311163e+02] [-1.03374894e-02 2.32767474e-04 -9.99946540e-01 6.73216081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.44, Y:152.30, Z:6.73 [[ 9.94605008e-01 1.03244461e-01 -1.00726973e-02 1.33444059e+02] [ 1.03236836e-01 -9.94655985e-01 -1.27544271e-03 1.52299366e+02] [-1.01505510e-02 2.28688316e-04 -9.99948456e-01 6.73307342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.44, Y:152.29, Z:6.73 [[ 9.83408034e-01 1.81172561e-01 -9.22720988e-03 1.33442942e+02] [ 1.81162594e-01 -9.83451300e-01 -1.91176125e-03 1.52285523e+02] [-9.42087024e-03 2.08416096e-04 -9.99955601e-01 6.73325638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.44, Y:152.27, Z:6.73 [[ 9.65799297e-01 2.59145054e-01 -8.69245561e-03 1.33441373e+02] [ 2.59132827e-01 -9.65838396e-01 -2.52416301e-03 1.52272740e+02] [-9.04963174e-03 1.85334261e-04 -9.99959034e-01 6.73378100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.44, Y:152.26, Z:6.73 [[ 9.42170611e-01 3.35015350e-01 -8.90255944e-03 1.33439845e+02] [ 3.34998542e-01 -9.42212652e-01 -3.36082633e-03 1.52263841e+02] [-9.51403255e-03 1.84127363e-04 -9.99954724e-01 6.73369718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.44, Y:152.26, Z:6.73 [[ 9.12799497e-01 4.08322230e-01 -8.36872706e-03 1.33439876e+02] [ 4.08303324e-01 -9.12837843e-01 -3.93309885e-03 1.52256176e+02] [-9.24526244e-03 1.73151573e-04 -9.99957247e-01 6.73346155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.760385723 meters Centerline goodness [0,1] 0.9999778971332581 Centerline is valid? [True, True] Translation: X:133.44, Y:152.25, Z:6.73 [[ 8.77516492e-01 4.79485721e-01 -7.63212695e-03 1.33440476e+02] [ 4.79466046e-01 -8.77549668e-01 -4.34647993e-03 1.52247891e+02] [-8.78164553e-03 1.54762094e-04 -9.99961429e-01 6.73235654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.44, Y:152.24, Z:6.73 [[ 8.36982037e-01 5.47188343e-01 -6.78134738e-03 1.33441383e+02] [ 5.47169022e-01 -8.37009497e-01 -4.60043721e-03 1.52240157e+02] [-8.19335778e-03 1.39940096e-04 -9.99966424e-01 6.73168921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.44, Y:152.23, Z:6.73 [[ 7.90628484e-01 6.12268636e-01 -5.80669122e-03 1.33444621e+02] [ 6.12251047e-01 -7.90649799e-01 -4.64236144e-03 1.52230013e+02] [-7.43343155e-03 1.15230407e-04 -9.99972365e-01 6.73119819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.45, Y:152.22, Z:6.73 [[ 7.40276786e-01 6.72280332e-01 -5.42547587e-03 1.33446125e+02] [ 6.72261128e-01 -7.40296659e-01 -5.08264921e-03 1.52222461e+02] [-7.43342675e-03 1.15230696e-04 -9.99972365e-01 6.73119814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.45, Y:152.21, Z:6.73 [[ 6.84764310e-01 7.28747313e-01 -5.01932392e-03 1.33447373e+02] [ 7.28726556e-01 -6.84782697e-01 -5.50128463e-03 1.52214240e+02] [-7.44619256e-03 1.09368740e-04 -9.99972271e-01 6.73135734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.46, Y:152.20, Z:6.73 [[ 6.25103399e-01 7.80528130e-01 -4.64521077e-03 1.33455348e+02] [ 7.80505307e-01 -6.25120649e-01 -5.96993726e-03 1.52202947e+02] [-7.56352114e-03 1.06216421e-04 -9.99971391e-01 6.73063147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.47, Y:152.19, Z:6.73 [[ 5.60961977e-01 8.27829462e-01 -4.47681461e-03 1.33465155e+02] [ 8.27801612e-01 -5.60979831e-01 -6.79120513e-03 1.52191550e+02] [-8.13336239e-03 1.03693502e-04 -9.99966918e-01 6.73065378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.47, Y:152.18, Z:6.73 [[ 4.94069342e-01 8.69412989e-01 -4.06702184e-03 1.33474565e+02] [ 8.69381779e-01 -4.94086070e-01 -7.36738826e-03 1.52182170e+02] [-8.41476188e-03 1.04205992e-04 -9.99964590e-01 6.73116589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.48, Y:152.17, Z:6.73 [[ 4.24898052e-01 9.05232725e-01 -3.91910682e-03 1.33484095e+02] [ 9.05191539e-01 -4.24916109e-01 -8.63587631e-03 1.52172392e+02] [-9.48276947e-03 1.21824689e-04 -9.99955030e-01 6.73330552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.49, Y:152.16, Z:6.73 [[ 3.52996536e-01 9.35618199e-01 -3.46852837e-03 1.33490722e+02] [ 9.35569239e-01 -3.53013551e-01 -9.57242061e-03 1.52164873e+02] [-1.01805685e-02 1.33982873e-04 -9.99948168e-01 6.73479778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.06038572299997 meters Centerline goodness [0,1] 0.9999123249238323 Centerline is valid? [True, True] Translation: X:133.50, Y:152.16, Z:6.74 [[ 2.78917178e-01 9.60310886e-01 -2.86531892e-03 1.33496716e+02] [ 9.60254760e-01 -2.78931858e-01 -1.03834063e-02 1.52158208e+02] [-1.07705268e-02 1.44674256e-04 -9.99941986e-01 6.73588770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.50, Y:152.15, Z:6.74 [[ 2.04420924e-01 9.78880990e-01 -2.02307724e-03 1.33501182e+02] [ 9.78824983e-01 -2.04430872e-01 -1.04724269e-02 1.52152306e+02] [-1.06648390e-02 1.60544639e-04 -9.99943116e-01 6.73589431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.51, Y:152.15, Z:6.73 [[ 1.28219444e-01 9.91745143e-01 -1.16040822e-03 1.33510514e+02] [ 9.91691918e-01 -1.28224586e-01 -1.02759120e-02 1.52147804e+02] [-1.03398787e-02 1.66804273e-04 -9.99946528e-01 6.73446864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.52, Y:152.14, Z:6.73 [[ 5.14108172e-02 9.98677527e-01 -3.53337954e-04 1.33518324e+02] [ 9.98623539e-01 -5.14117125e-02 -1.03857650e-02 1.52144079e+02] [-1.03901958e-02 1.81089067e-04 -9.99946004e-01 6.73419982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.53, Y:152.14, Z:6.73 [[-2.51588195e-02 9.99683364e-01 4.53669540e-04 1.33530040e+02] [ 9.99631140e-01 2.51621432e-02 -1.02201132e-02 1.52141105e+02] [-1.02282925e-02 1.96376215e-04 -9.99947670e-01 6.73395236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.210385723 meters Centerline goodness [0,1] 0.9999123575810692 Centerline is valid? [True, True] Translation: X:133.54, Y:152.14, Z:6.73 [[-1.02979666e-01 9.94682659e-01 1.26339674e-03 1.33542659e+02] [ 9.94629980e-01 1.02987218e-01 -1.02389851e-02 1.52138300e+02] [-1.03146546e-02 2.02205011e-04 -9.99946782e-01 6.73393836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.55, Y:152.14, Z:6.73 [[-1.79958716e-01 9.83672338e-01 1.89521481e-03 1.33554984e+02] [ 9.83628465e-01 1.79968593e-01 -9.29240335e-03 1.52135825e+02] [-9.48175927e-03 1.91938268e-04 -9.99955029e-01 6.73349706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.57, Y:152.14, Z:6.73 [[-2.57003338e-01 9.66407517e-01 2.40725424e-03 1.33567152e+02] [ 9.66371165e-01 2.57014554e-01 -8.38390562e-03 1.52135814e+02] [-8.72096879e-03 1.71609358e-04 -9.99961957e-01 6.73311839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.58, Y:152.14, Z:6.73 [[-3.32600937e-01 9.43063172e-01 2.91043462e-03 1.33579197e+02] [ 9.43031105e-01 3.32613634e-01 -7.77859217e-03 1.52136204e+02] [-8.30375403e-03 1.57463330e-04 -9.99965511e-01 6.73310254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.60, Y:152.14, Z:6.73 [[-4.07270229e-01 9.13302490e-01 3.08575818e-03 1.33595044e+02] [ 9.13278534e-01 4.07281900e-01 -6.61623533e-03 1.52139883e+02] [-7.29939766e-03 1.23561029e-04 -9.99973351e-01 6.73231823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.61, Y:152.14, Z:6.73 [[-4.78352471e-01 8.78159745e-01 3.79158599e-03 1.33606832e+02] [ 8.78134176e-01 4.78367481e-01 -6.70231010e-03 1.52142010e+02] [-7.69947037e-03 1.23454644e-04 -9.99970351e-01 6.73323615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.62, Y:152.14, Z:6.73 [[-5.47148208e-01 8.37020182e-01 5.10421924e-03 1.33615867e+02] [ 8.36985960e-01 5.47172000e-01 -7.57005269e-03 1.52142926e+02] [-9.12917273e-03 1.30219082e-04 -9.99958320e-01 6.73427696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.420385723 meters Centerline goodness [0,1] 0.9999781258202818 Centerline is valid? [True, True] Translation: X:133.62, Y:152.14, Z:6.73 [[-6.11686577e-01 7.91075629e-01 6.23547329e-03 1.33623671e+02] [ 7.91036749e-01 6.11718343e-01 -7.84411918e-03 1.52144859e+02] [-1.00196449e-02 1.34346106e-04 -9.99949793e-01 6.73488753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.63, Y:152.15, Z:6.74 [[-6.72291848e-01 7.40250075e-01 7.31426481e-03 1.33632674e+02] [ 7.40208452e-01 6.72331621e-01 -7.85100469e-03 1.52149804e+02] [-1.07293183e-02 1.35914186e-04 -9.99942430e-01 6.73510977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.64, Y:152.16, Z:6.74 [[-7.29505287e-01 6.83928697e-01 7.97333906e-03 1.33642840e+02] [ 6.83889589e-01 7.29548850e-01 -7.31481076e-03 1.52156529e+02] [-1.08197493e-02 1.16690446e-04 -9.99941458e-01 6.73527248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.66, Y:152.18, Z:6.74 [[-7.76522457e-01 6.30030268e-01 8.64500309e-03 1.33662342e+02] [ 6.29992813e-01 7.76570569e-01 -6.87066982e-03 1.52178539e+02] [-1.10421849e-02 1.11060407e-04 -9.99939027e-01 6.73595034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.68, Y:152.20, Z:6.74 [[-8.19766219e-01 5.72624334e-01 9.20422600e-03 1.33680683e+02] [ 5.72589615e-01 8.19817883e-01 -6.30642864e-03 1.52202976e+02] [-1.11570036e-02 1.00447060e-04 -9.99937754e-01 6.73599361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.09, Y:152.78, Z:5.74 [[-7.90340512e-01 -6.12607850e-01 8.57301963e-03 1.34086696e+02] [ 6.12570269e-01 -7.90387000e-01 -6.78642479e-03 1.52781722e+02] [ 1.09334204e-02 -1.12009503e-04 9.99940222e-01 5.73999688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.65, Y:152.22, Z:6.74 [[-8.21908554e-01 5.69551015e-01 8.83005738e-03 1.33646522e+02] [ 5.69519358e-01 8.21955980e-01 -6.00567972e-03 1.52224262e+02] [-1.06784594e-02 9.27690697e-05 -9.99942979e-01 6.73525657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.630385723 meters Centerline goodness [0,1] 0.9999781382536838 Centerline is valid? [True, True] Translation: X:133.66, Y:152.25, Z:6.73 [[-8.59899616e-01 5.10398509e-01 8.12479839e-03 1.33664736e+02] [ 5.10376681e-01 8.59937995e-01 -4.72107199e-03 1.52247187e+02] [-9.39645094e-03 8.70596436e-05 -9.99955849e-01 6.73412655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.68, Y:152.27, Z:6.73 [[-8.93440774e-01 4.49106677e-01 8.17171650e-03 1.33679386e+02] [ 4.49088849e-01 8.93478139e-01 -4.00272096e-03 1.52271829e+02] [-9.09889875e-03 9.36326424e-05 -9.99958600e-01 6.73348851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.99, Y:152.91, Z:5.74 [[-8.71866952e-01 -4.89679966e-01 7.84531587e-03 1.33994684e+02] [ 4.89659149e-01 -8.71902243e-01 -4.51620766e-03 1.52907789e+02] [ 9.05184492e-03 -9.60015090e-05 9.99959027e-01 5.74213386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.64, Y:152.29, Z:6.73 [[-8.94371972e-01 4.47243997e-01 8.46071730e-03 1.33638128e+02] [ 4.47225164e-01 8.94411983e-01 -4.10580375e-03 1.52290132e+02] [-9.40366301e-03 1.11729885e-04 -9.99955778e-01 6.73399266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.65, Y:152.32, Z:6.73 [[-9.23304364e-01 3.83961659e-01 9.08278036e-03 1.33648063e+02] [ 3.83944454e-01 9.23349028e-01 -3.63702773e-03 1.52316306e+02] [-9.78305562e-03 1.29199574e-04 -9.99952136e-01 6.73358743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.92, Y:152.98, Z:5.74 [[-9.07094474e-01 -4.20830545e-01 9.01481056e-03 1.33917782e+02] [ 4.20808457e-01 -9.07139261e-01 -4.31330934e-03 1.52978040e+02] [ 9.99286091e-03 -1.19070546e-04 9.99950063e-01 5.74241973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.81038572299997 meters Centerline goodness [0,1] 0.999978206385529 Centerline is valid? [True, True] Translation: X:133.60, Y:152.33, Z:6.73 [[-9.24066525e-01 3.82093059e-01 1.02933403e-02 1.33603417e+02] [ 3.82071338e-01 9.24123838e-01 -4.07740337e-03 1.52329581e+02] [-1.10702687e-02 1.64998357e-04 -9.99938709e-01 6.73352042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.87, Y:153.00, Z:5.74 [[-9.09222578e-01 -4.16176002e-01 1.05754064e-02 1.33873224e+02] [ 4.16146112e-01 -9.09284068e-01 -4.98964729e-03 1.52997824e+02] [ 1.16926201e-02 -1.35785692e-04 9.99931630e-01 5.74225073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.56, Y:152.34, Z:6.73 [[-9.25376129e-01 3.78889880e-01 1.10217201e-02 1.33560098e+02] [ 3.78865317e-01 9.25441747e-01 -4.31797055e-03 1.52344036e+02] [-1.18359953e-02 1.80000616e-04 -9.99929936e-01 6.73378689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.57, Y:152.37, Z:6.73 [[-9.49962721e-01 3.12142590e-01 1.17402220e-02 1.33567685e+02] [ 3.12121147e-01 9.50035247e-01 -3.66333952e-03 1.52372187e+02] [-1.22971090e-02 1.84335580e-04 -9.99924371e-01 6.73317872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.79, Y:153.06, Z:5.74 [[-9.37715578e-01 -3.47230879e-01 1.09641261e-02 1.33785289e+02] [ 3.47204526e-01 -9.37779651e-01 -4.28305027e-03 1.53062857e+02] [ 1.17691417e-02 -2.09488757e-04 9.99930719e-01 5.74268816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.52, Y:152.38, Z:6.73 [[-9.51062881e-01 3.08817643e-01 1.05384700e-02 1.33519493e+02] [ 3.08800649e-01 9.51121251e-01 -3.24410897e-03 1.52383253e+02] [-1.10252009e-02 1.68934769e-04 -9.99939206e-01 6.73258749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.990385723 meters Centerline goodness [0,1] 0.9999562889301715 Centerline is valid? [True, True] Translation: X:133.74, Y:153.08, Z:5.74 [[-9.39138449e-01 -3.43388898e-01 1.01507940e-02 1.33738699e+02] [ 3.43366808e-01 -9.39193289e-01 -3.89892560e-03 1.53079022e+02] [ 1.08724054e-02 -1.76185185e-04 9.99940878e-01 5.74454140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.47, Y:152.40, Z:6.73 [[-9.52187923e-01 3.05337829e-01 1.03425800e-02 1.33469189e+02] [ 3.05321722e-01 9.52244077e-01 -3.14073975e-03 1.52396384e+02] [-1.08076472e-02 1.67239887e-04 -9.99941582e-01 6.73005141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.69, Y:153.10, Z:5.75 [[-9.40532472e-01 -3.39568316e-01 9.59315791e-03 1.33689977e+02] [ 3.39548557e-01 -9.40581374e-01 -3.66821115e-03 1.53095557e+02] [ 1.02687539e-02 -1.92728773e-04 9.99947256e-01 5.74702984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.42, Y:152.41, Z:6.73 [[-9.53516120e-01 3.01181454e-01 9.83565604e-03 1.33423371e+02] [ 3.01167091e-01 9.53566835e-01 -2.94530631e-03 1.52406581e+02] [-1.02660270e-02 1.53778878e-04 -9.99947291e-01 6.72963861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.43, Y:152.44, Z:6.73 [[-9.72992666e-01 2.30653962e-01 9.16637825e-03 1.33434242e+02] [ 2.30644857e-01 9.73035835e-01 -2.05278172e-03 1.52437647e+02] [-9.39269675e-03 1.16836443e-04 -9.99955881e-01 6.72811043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.44, Y:152.47, Z:6.73 [[-9.87147509e-01 1.59562751e-01 8.91757100e-03 1.33437687e+02] [ 1.59557144e-01 9.87187783e-01 -1.34127088e-03 1.52467273e+02] [-9.01733401e-03 9.88299540e-05 -9.99959338e-01 6.72815056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.55, Y:153.19, Z:5.75 [[-9.78600922e-01 -2.05586639e-01 8.62382400e-03 1.33545998e+02] [ 2.05577676e-01 -9.78638913e-01 -1.92280988e-03 1.53188051e+02] [ 8.83491377e-03 -1.08797829e-04 9.99960965e-01 5.74738029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.200385723 meters Centerline goodness [0,1] 0.9999562583382543 Centerline is valid? [True, True] Translation: X:133.38, Y:152.48, Z:6.73 [[-9.88443946e-01 1.51303868e-01 9.25776090e-03 1.33376748e+02] [ 1.51297838e-01 9.88487297e-01 -1.35227612e-03 1.52477446e+02] [-9.35578365e-03 6.40300705e-05 -9.99956232e-01 6.72795651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.230385723 meters Centerline goodness [0,1] 0.9999780826721606 Centerline is valid? [True, True] Translation: X:133.49, Y:153.20, Z:5.75 [[-9.78594919e-01 -2.05576295e-01 9.50640460e-03 1.33485328e+02] [ 2.05566175e-01 -9.78641091e-01 -2.04024855e-03 1.53195670e+02] [ 9.72278491e-03 -4.23816287e-05 9.99952732e-01 5.74791589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.260385723 meters Centerline goodness [0,1] 0.9999564222682209 Centerline is valid? [True, True] Translation: X:133.32, Y:152.49, Z:6.73 [[-9.89557046e-01 1.43748295e-01 1.06433022e-02 1.33316716e+02] [ 1.43740370e-01 9.89614282e-01 -1.50984823e-03 1.52486956e+02] [-1.07498020e-02 3.57912471e-05 -9.99942219e-01 6.72809560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.290385723 meters Centerline goodness [0,1] 0.9999781191195134 Centerline is valid? [True, True] Translation: X:133.42, Y:153.20, Z:5.75 [[-9.78818516e-01 -2.04415311e-01 1.13443084e-02 1.33422156e+02] [ 2.04401774e-01 -9.78884253e-01 -2.35257440e-03 1.53202340e+02] [ 1.15856670e-02 1.60533706e-05 9.99932884e-01 5.74748966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.25, Y:152.50, Z:6.73 [[-9.90506605e-01 1.37004184e-01 1.12480939e-02 1.33254926e+02] [ 1.36995424e-01 9.90570469e-01 -1.54924960e-03 1.52498098e+02] [-1.13542833e-02 6.39543850e-06 -9.99935538e-01 6.72832218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.350385723 meters Centerline goodness [0,1] 0.9999781368197818 Centerline is valid? [True, True] Translation: X:133.26, Y:152.53, Z:6.73 [[-9.97782238e-01 6.56203194e-02 1.11615020e-02 1.33259098e+02] [ 6.56162011e-02 9.97844664e-01 -7.35167861e-04 1.52527022e+02] [-1.11856871e-02 -1.16207528e-06 -9.99937438e-01 6.72742104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.380385723 meters Centerline goodness [0,1] 0.9999781018701003 Centerline is valid? [True, True] Translation: X:133.31, Y:153.24, Z:5.75 [[-9.91010241e-01 -1.33338566e-01 1.09329683e-02 1.33309199e+02] [ 1.33330353e-01 -9.91070546e-01 -1.47990923e-03 1.53243034e+02] [ 1.10326719e-02 -8.90867070e-06 9.99939138e-01 5.74836561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.19, Y:152.53, Z:6.73 [[-9.98170011e-01 5.95375842e-02 1.05785016e-02 1.33189109e+02] [ 5.95340571e-02 9.98226065e-01 -6.48286876e-04 1.52531410e+02] [-1.05983334e-02 -1.73194017e-05 -9.99943836e-01 6.72630450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.18, Y:152.56, Z:6.73 [[-9.99874216e-01 -1.21758635e-02 1.01636898e-02 1.33175711e+02] [-1.21754694e-02 9.99925871e-01 1.00649787e-04 1.52560551e+02] [-1.01641619e-02 -2.31105684e-05 -9.99948343e-01 6.72581083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.18, Y:153.28, Z:5.75 [[-9.98136216e-01 -6.01657954e-02 1.02064199e-02 1.33180943e+02] [ 6.01629288e-02 -9.98188397e-01 -5.87950359e-04 1.53278149e+02] [ 1.02233044e-02 2.71935634e-05 9.99947740e-01 5.74995598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.10, Y:152.56, Z:6.73 [[-9.99746439e-01 -1.92954441e-02 1.16079157e-02 1.33097352e+02] [-1.92947091e-02 9.99813824e-01 1.75315839e-04 1.52560691e+02] [-1.16091374e-02 -4.86999706e-05 -9.99932611e-01 6.72722466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.09, Y:153.28, Z:5.75 [[-9.98299740e-01 -5.70534306e-02 1.19387821e-02 1.33088443e+02] [ 5.70502272e-02 -9.98371124e-01 -6.08996536e-04 1.53277342e+02] [ 1.19540807e-02 7.31491497e-05 9.99928545e-01 5.74828019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.56038572299997 meters Centerline goodness [0,1] 0.9999344620425997 Centerline is valid? [True, True] Translation: X:133.01, Y:152.56, Z:6.73 [[-9.99564024e-01 -2.69467677e-02 1.20678444e-02 1.33010347e+02] [-2.69456902e-02 9.99636867e-01 2.51905135e-04 1.52558615e+02] [-1.20702502e-02 -7.33810862e-05 -9.99927149e-01 6.72679028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.590385723 meters Centerline goodness [0,1] 0.9999561480442027 Centerline is valid? [True, True] Translation: X:133.00, Y:152.59, Z:6.73 [[-9.95075223e-01 -9.83056771e-02 1.27002143e-02 1.33004561e+02] [-9.82987068e-02 9.95156263e-01 1.17341659e-03 1.52586867e+02] [-1.27540513e-02 -8.07768695e-05 -9.99918661e-01 6.72662331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.62038572299997 meters Centerline goodness [0,1] 0.9999780917953773 Centerline is valid? [True, True] Translation: X:132.99, Y:152.61, Z:6.73 [[-9.85625227e-01 -1.68386417e-01 1.37450447e-02 1.32986988e+02] [-1.68371160e-01 9.85721060e-01 2.26801845e-03 1.52612630e+02] [-1.39306835e-02 -7.88529218e-05 -9.99902960e-01 6.72779264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.650385723 meters Centerline goodness [0,1] 0.9999560777423959 Centerline is valid? [True, True] Translation: X:132.96, Y:152.64, Z:6.73 [[-9.71054896e-01 -2.38429977e-01 1.42665463e-02 1.32962825e+02] [-2.38405407e-01 9.71159688e-01 3.42375587e-03 1.52635632e+02] [-1.46714207e-02 -7.65668647e-05 -9.99892366e-01 6.72803338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.92, Y:152.65, Z:6.73 [[-9.51440702e-01 -3.07469622e-01 1.49339355e-02 1.32916426e+02] [-3.07432878e-01 9.51557895e-01 4.75379407e-03 1.52651197e+02] [-1.56721515e-02 -6.82295959e-05 -9.99877182e-01 6.72913089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.85, Y:152.66, Z:6.73 [[-9.26233457e-01 -3.76669707e-01 1.45435525e-02 1.32853749e+02] [-3.76624438e-01 9.26347628e-01 5.84002434e-03 1.52659281e+02] [-1.56721456e-02 -6.82313496e-05 -9.99877182e-01 6.72913071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.79, Y:152.66, Z:6.73 [[-8.96680181e-01 -4.42458281e-01 1.39757730e-02 1.32788051e+02] [-4.42405138e-01 8.96789088e-01 6.85749116e-03 1.52658907e+02] [-1.55674745e-02 -3.39773563e-05 -9.99878819e-01 6.72964924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.71, Y:152.65, Z:6.73 [[-8.62572636e-01 -5.05776515e-01 1.25922820e-02 1.32709102e+02] [-5.05722579e-01 8.62664545e-01 7.38620608e-03 1.52645997e+02] [-1.45986848e-02 2.93793258e-06 -9.99893434e-01 6.72924015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.63, Y:152.63, Z:6.73 [[-8.22777338e-01 -5.68242024e-01 1.17666868e-02 1.32626298e+02] [-5.68183630e-01 8.22861472e-01 8.14618780e-03 1.52625451e+02] [-1.43113595e-02 1.68598935e-05 -9.99897587e-01 6.72769016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.54, Y:152.60, Z:6.73 [[-7.78334083e-01 -6.27755252e-01 1.09270145e-02 1.32540556e+02] [-6.27692861e-01 7.78410780e-01 8.85037429e-03 1.52595016e+02] [-1.40615748e-02 2.97389701e-05 -9.99901131e-01 6.72762424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.45, Y:152.55, Z:6.73 [[-7.29225995e-01 -6.84204036e-01 9.71007827e-03 1.32452500e+02] [-6.84142642e-01 7.29290639e-01 9.16568155e-03 1.52551675e+02] [-1.33526655e-02 4.07746498e-05 -9.99910848e-01 6.72661580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.36, Y:152.50, Z:6.73 [[-6.75241730e-01 -7.37544727e-01 8.73962453e-03 1.32359027e+02] [-7.37482180e-01 6.75298285e-01 9.60524149e-03 1.52496010e+02] [-1.29861487e-02 4.05425410e-05 -9.99915676e-01 6.72619075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.920385723 meters Centerline goodness [0,1] 0.9999558849479442 Centerline is valid? [True, True] Translation: X:132.27, Y:152.43, Z:6.73 [[-6.16760805e-01 -7.87114570e-01 7.53413829e-03 1.32271193e+02] [-7.87055192e-01 6.16806819e-01 9.66812635e-03 1.52434519e+02] [-1.22570310e-02 3.31387310e-05 -9.99924879e-01 6.72702776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.18, Y:152.36, Z:6.73 [[-5.54562331e-01 -8.32112968e-01 6.97351082e-03 1.32179165e+02] [-8.32046529e-01 5.54606174e-01 1.05150012e-02 1.52355631e+02] [-1.26172210e-02 2.89381024e-05 -9.99920399e-01 6.72778209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.09, Y:152.25, Z:6.73 [[-4.88915383e-01 -8.72307262e-01 6.46442327e-03 1.32085836e+02] [-8.72230393e-01 4.88958117e-01 1.15802068e-02 1.52254004e+02] [-1.32623307e-02 2.32747969e-05 -9.99912051e-01 6.72964940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.02, Y:152.17, Z:6.73 [[-4.20205607e-01 -9.07409899e-01 5.87562740e-03 1.32015196e+02] [-9.07320500e-01 4.20246683e-01 1.27372050e-02 1.52174586e+02] [-1.40270788e-02 2.11677631e-05 -9.99901615e-01 6.72983246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.040385723 meters Centerline goodness [0,1] 0.9998663786383983 Centerline is valid? [True, True] Translation: X:131.95, Y:152.10, Z:6.73 [[-3.48957279e-01 -9.37122399e-01 5.51599376e-03 1.31954750e+02] [-9.37004366e-01 3.49000871e-01 1.48731190e-02 1.52096322e+02] [-1.58630196e-02 2.15728854e-05 -9.99874174e-01 6.73249142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.89, Y:151.99, Z:6.73 [[-2.75024678e-01 -9.61428448e-01 4.09452534e-03 1.31889375e+02] [-9.61321501e-01 2.75055156e-01 1.43399327e-02 1.51988515e+02] [-1.49130395e-02 7.68011837e-06 -9.99888794e-01 6.73166097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.100385723 meters Centerline goodness [0,1] 0.9999553222383558 Centerline is valid? [True, True] Translation: X:131.84, Y:151.88, Z:6.73 [[-2.00215310e-01 -9.79747352e-01 2.99282742e-03 1.31837042e+02] [-9.79637632e-01 2.00237677e-01 1.46623090e-02 1.51882931e+02] [-1.49646352e-02 3.73237329e-06 -9.99888024e-01 6.73163595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.79, Y:151.76, Z:6.73 [[-1.24107165e-01 -9.92267121e-01 1.83613658e-03 1.31789690e+02] [-9.92158049e-01 1.24120747e-01 1.47121425e-02 1.51763309e+02] [-1.48262779e-02 4.14460003e-06 -9.99890085e-01 6.73174383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.160385723 meters Centerline goodness [0,1] 0.9999775935469415 Centerline is valid? [True, True] Translation: X:131.75, Y:151.65, Z:6.73 [[-4.75375841e-02 -9.98869236e-01 6.54395709e-04 1.31752243e+02] [-9.98771661e-01 4.75420869e-02 1.39613598e-02 1.51648147e+02] [-1.39766841e-02 1.00974257e-05 -9.99902321e-01 6.73094686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.73, Y:151.52, Z:6.73 [[ 2.96211380e-02 -9.99561128e-01 -3.72688565e-04 1.31725428e+02] [-9.99486156e-01 -2.96234808e-02 1.22423211e-02 1.51524755e+02] [-1.22479886e-02 9.86557925e-06 -9.99924991e-01 6.72914527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.71, Y:151.39, Z:6.73 [[ 1.06845037e-01 -9.94274913e-01 -1.23917693e-03 1.31707263e+02] [-9.94208923e-01 -1.06852222e-01 1.14551497e-02 1.51388719e+02] [-1.15219768e-02 8.07486652e-06 -9.99933620e-01 6.72961122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.70, Y:151.25, Z:6.73 [[ 1.83676360e-01 -9.82984768e-01 -1.98496607e-03 1.31699716e+02] [-9.82927595e-01 -1.83687086e-01 1.06017697e-02 1.51253359e+02] [-1.07859908e-02 3.78344950e-06 -9.99941830e-01 6.73006500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.70, Y:151.14, Z:6.73 [[ 2.59608953e-01 -9.65709635e-01 -2.84463590e-03 1.31695714e+02] [-9.65651603e-01 -2.59624537e-01 1.05868723e-02 1.51141431e+02] [-1.09623818e-02 -1.51961122e-06 -9.99939911e-01 6.72843244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.31038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.70, Y:151.02, Z:6.73 [[ 3.34060213e-01 -9.42545134e-01 -3.52775659e-03 1.31702157e+02] [-9.42492290e-01 -3.34078839e-01 9.98063918e-03 1.51021104e+02] [-1.05857517e-02 -9.25106359e-06 -9.99943969e-01 6.72879074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.340385723 meters Centerline goodness [0,1] 0.999910514541387 Centerline is valid? [True, True] Translation: X:131.72, Y:150.90, Z:6.73 [[ 4.06222191e-01 -9.13763291e-01 -4.49217344e-03 1.31719440e+02] [-9.13707005e-01 -4.06247028e-01 1.01420710e-02 1.50895684e+02] [-1.10923843e-02 -1.54039668e-05 -9.99938478e-01 6.73025151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.37038572299997 meters Centerline goodness [0,1] 0.9998877741117321 Centerline is valid? [True, True] Translation: X:131.75, Y:150.78, Z:6.73 [[ 4.75624475e-01 -8.79630777e-01 -5.57279699e-03 1.31745359e+02] [-8.79569928e-01 -4.75657121e-01 1.03462593e-02 1.50775470e+02] [-1.17516287e-02 -1.92694858e-05 -9.99930947e-01 6.73119180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.78, Y:150.65, Z:6.73 [[ 5.42331815e-01 -8.40145193e-01 -5.67954399e-03 1.31781720e+02] [-8.40098681e-01 -5.42361554e-01 8.84033578e-03 1.50654232e+02] [-1.05075319e-02 -2.30179436e-05 -9.99944794e-01 6.72915386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.82, Y:150.55, Z:6.73 [[ 6.05035415e-01 -7.96173165e-01 -6.35914544e-03 1.31822200e+02] [-7.96128832e-01 -6.05068832e-01 8.40185630e-03 1.50545357e+02] [-1.05370532e-02 -2.07215849e-05 -9.99944484e-01 6.72922201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.460385723 meters Centerline goodness [0,1] 0.9999775734469613 Centerline is valid? [True, True] Translation: X:131.87, Y:150.44, Z:6.73 [[ 6.63770826e-01 -7.47903322e-01 -6.99374667e-03 1.31873421e+02] [-7.47861596e-01 -6.63807669e-01 7.90016851e-03 1.50437322e+02] [-1.05510649e-02 -1.35468323e-05 -9.99944336e-01 6.72932449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.93, Y:150.34, Z:6.73 [[ 7.17450388e-01 -6.96561833e-01 -8.15809171e-03 1.31926099e+02] [-6.96516980e-01 -7.17496769e-01 7.90465893e-03 1.50340210e+02] [-1.13594882e-02 1.10487843e-05 -9.99935479e-01 6.73011978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.92, Y:150.33, Z:6.73 [[ 7.69041295e-01 -6.39142426e-01 -8.51148308e-03 1.31920034e+02] [-6.39103596e-01 -7.69088395e-01 7.04522943e-03 1.50331751e+02] [-1.10489879e-02 2.16470750e-05 -9.99938958e-01 6.72978442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.91, Y:150.32, Z:6.73 [[ 8.15052286e-01 -5.79324839e-01 -8.51478601e-03 1.31913903e+02] [-5.79293856e-01 -8.15096760e-01 5.99164727e-03 1.50323670e+02] [-1.04114846e-02 4.90574092e-05 -9.99945798e-01 6.72867522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.580385723 meters Centerline goodness [0,1] 0.999977587018401 Centerline is valid? [True, True] Translation: X:131.91, Y:150.32, Z:6.73 [[ 8.57063557e-01 -5.15137893e-01 -8.66086518e-03 1.31907214e+02] [-5.15112330e-01 -8.57107314e-01 5.13228150e-03 1.50316173e+02] [-1.00671236e-02 6.26270059e-05 -9.99949323e-01 6.72879077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.90, Y:150.31, Z:6.73 [[ 8.94041138e-01 -4.47893540e-01 -9.04543079e-03 1.31901358e+02] [-4.47871500e-01 -8.94086892e-01 4.44399556e-03 1.50307506e+02] [-1.00778380e-02 7.80758071e-05 -9.99949214e-01 6.72774430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.90, Y:150.30, Z:6.73 [[ 9.25046449e-01 -3.79733820e-01 -9.55472801e-03 1.31895220e+02] [-3.79714837e-01 -9.25095786e-01 3.79866231e-03 1.50296093e+02] [-1.02815192e-02 1.14132907e-04 -9.99947137e-01 6.72757108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.89, Y:150.29, Z:6.73 [[ 9.50960717e-01 -3.09165442e-01 -9.51019070e-03 1.31890715e+02] [-3.09151463e-01 -9.51008259e-01 2.94336661e-03 1.50287044e+02] [-9.95425714e-03 1.41063341e-04 -9.99950445e-01 6.72732531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.89, Y:150.27, Z:6.73 [[ 9.71842200e-01 -2.35455385e-01 -9.13784259e-03 1.31886184e+02] [-2.35446408e-01 -9.71885148e-01 2.06133505e-03 1.50273625e+02] [-9.36628593e-03 1.48179824e-04 -9.99956124e-01 6.72715992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.88, Y:150.26, Z:6.73 [[ 9.86993318e-01 -1.60483705e-01 -9.44301845e-03 1.31878680e+02] [-1.60477995e-01 -9.87038475e-01 1.36432990e-03 1.50263911e+02] [-9.53957526e-03 1.68812165e-04 -9.99954483e-01 6.72727225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.760385723 meters Centerline goodness [0,1] 0.9999777168705573 Centerline is valid? [True, True] Translation: X:131.87, Y:150.26, Z:6.73 [[ 9.96266976e-01 -8.57791695e-02 -9.69775281e-03 1.31872244e+02] [-8.57770752e-02 -9.96314154e-01 6.32452833e-04 1.50255445e+02] [-9.71625966e-03 2.01753001e-04 -9.99952776e-01 6.72866299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.87, Y:150.24, Z:6.73 [[ 9.99913418e-01 -8.66484391e-03 -9.90337863e-03 1.31867795e+02] [-8.66656640e-03 -9.99962436e-01 -1.31027378e-04 1.50240829e+02] [-9.90187128e-03 2.16844322e-04 -9.99950952e-01 6.72786865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.86, Y:150.23, Z:6.73 [[ 9.97630461e-01 6.80469479e-02 -1.01526387e-02 1.31863519e+02] [ 6.80409820e-02 -9.97682092e-01 -9.32273186e-04 1.50227167e+02] [-1.01925442e-02 2.39268618e-04 -9.99948026e-01 6.72885067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.86, Y:150.22, Z:6.73 [[ 9.89268301e-01 1.45755007e-01 -1.01836859e-02 1.31861538e+02] [ 1.45744742e-01 -9.89320685e-01 -1.74693795e-03 1.50215125e+02] [-1.03295561e-02 2.43971665e-04 -9.99946619e-01 6.72898420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.86, Y:150.20, Z:6.73 [[ 9.74766380e-01 2.23012490e-01 -9.79454257e-03 1.31859370e+02] [ 2.22998792e-01 -9.74815559e-01 -2.48297991e-03 1.50202834e+02] [-1.01016080e-02 2.36154180e-04 -9.99948950e-01 6.72817875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.86, Y:150.19, Z:6.73 [[ 9.54112843e-01 2.99300733e-01 -9.36774940e-03 1.31858994e+02] [ 2.99283987e-01 -9.54158803e-01 -3.17399314e-03 1.50191194e+02] [-9.88829902e-03 2.24730222e-04 -9.99951084e-01 6.72758685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.86, Y:150.18, Z:6.73 [[ 9.27522086e-01 3.73655877e-01 -9.16873477e-03 1.31858223e+02] [ 3.73635262e-01 -9.27567376e-01 -3.93112681e-03 1.50179771e+02] [-9.97350789e-03 2.20444320e-04 -9.99950239e-01 6.72703863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.86, Y:150.17, Z:6.73 [[ 8.94578387e-01 4.46837030e-01 -8.13499927e-03 1.31859794e+02] [ 4.46816660e-01 -8.94615356e-01 -4.27053695e-03 1.50165875e+02] [-9.18592931e-03 1.85476846e-04 -9.99957791e-01 6.72700280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.87, Y:150.15, Z:6.73 [[ 8.56432162e-01 5.16196880e-01 -8.04572616e-03 1.31866251e+02] [ 5.16172071e-01 -8.56469934e-01 -5.06421104e-03 1.50149823e+02] [-9.50505249e-03 1.84174073e-04 -9.99954809e-01 6.72597371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.87, Y:150.14, Z:6.73 [[ 8.12431020e-01 5.83004327e-01 -7.86087260e-03 1.31871673e+02] [ 5.82974953e-01 -8.12469030e-01 -5.85482675e-03 1.50135462e+02] [-9.80010487e-03 1.73951026e-04 -9.99951963e-01 6.72626812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.06038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.88, Y:150.12, Z:6.73 [[ 7.63942347e-01 6.45247739e-01 -6.88817286e-03 1.31879008e+02] [ 6.45219640e-01 -7.63973384e-01 -6.02374287e-03 1.50121646e+02] [-9.14918719e-03 1.57407849e-04 -9.99958133e-01 6.72507545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.090385723 meters Centerline goodness [0,1] 0.9999780965940204 Centerline is valid? [True, True] Translation: X:131.89, Y:150.11, Z:6.72 [[ 7.09719265e-01 7.04457604e-01 -6.16834228e-03 1.31888734e+02] [ 7.04429334e-01 -7.09746057e-01 -6.31247335e-03 1.50108598e+02] [-8.82482647e-03 1.34922706e-04 -9.99961051e-01 6.72328716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.90, Y:150.10, Z:6.72 [[ 6.51783713e-01 7.58385642e-01 -5.40463819e-03 1.31897691e+02] [ 7.58358005e-01 -6.51806109e-01 -6.47554087e-03 1.50097912e+02] [-8.43373341e-03 1.22001430e-04 -9.99964428e-01 6.72270826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.150385723 meters Centerline goodness [0,1] 0.9999563480804068 Centerline is valid? [True, True] Translation: X:131.91, Y:150.09, Z:6.72 [[ 5.88807503e-01 8.08259143e-01 -4.78354681e-03 1.31909104e+02] [ 8.08231034e-01 -5.88826925e-01 -6.74153324e-03 1.50086252e+02] [-8.26558703e-03 1.03254366e-04 -9.99965834e-01 6.72219477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.92, Y:150.08, Z:6.72 [[ 5.22781527e-01 8.52455255e-01 -4.41743825e-03 1.31918071e+02] [ 8.52423219e-01 -5.22800181e-01 -7.39100201e-03 1.50076552e+02] [-8.60993601e-03 9.83523842e-05 -9.99962929e-01 6.72276790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.93, Y:150.07, Z:6.72 [[ 4.53691548e-01 8.91149571e-01 -4.05227185e-03 1.31928356e+02] [ 8.91112109e-01 -4.53709635e-01 -8.17175136e-03 1.50068852e+02] [-9.12080750e-03 9.64260094e-05 -9.99958400e-01 6.72314580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.94, Y:150.06, Z:6.72 [[ 3.80755414e-01 9.24667334e-01 -3.95421468e-03 1.31941793e+02] [ 9.24614939e-01 -3.80775935e-01 -9.84388135e-03 1.50060653e+02] [-1.06079853e-02 9.19851474e-05 -9.99943730e-01 6.72364514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.270385723 meters Centerline goodness [0,1] 0.9998912452419794 Centerline is valid? [True, True] Translation: X:131.95, Y:150.05, Z:6.73 [[ 3.07054732e-01 9.51684824e-01 -3.65888170e-03 1.31951177e+02] [ 9.51613170e-01 -3.07076513e-01 -1.16786348e-02 1.50054396e+02] [-1.22379362e-02 1.04140078e-04 -9.99925108e-01 6.72571557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.300385723 meters Centerline goodness [0,1] 0.9999565113396682 Centerline is valid? [True, True] Translation: X:131.97, Y:150.05, Z:6.72 [[ 2.31598798e-01 9.72807352e-01 -2.80222004e-03 1.31965654e+02] [ 9.72730455e-01 -2.31615725e-01 -1.22318255e-02 1.50049230e+02] [-1.25482480e-02 1.07071300e-04 -9.99921262e-01 6.72413960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.330385723 meters Centerline goodness [0,1] 0.9999782310555761 Centerline is valid? [True, True] Translation: X:131.98, Y:150.05, Z:6.72 [[ 1.55625482e-01 9.87814355e-01 -1.87329228e-03 1.31977985e+02] [ 9.87733161e-01 -1.55636709e-01 -1.26656161e-02 1.50045102e+02] [-1.28028304e-02 1.20779708e-04 -9.99918033e-01 6.72423450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.360385723 meters Centerline goodness [0,1] 0.9999564715868283 Centerline is valid? [True, True] Translation: X:131.99, Y:150.04, Z:6.72 [[ 7.87416579e-02 9.96894650e-01 -8.98754302e-04 1.31989534e+02] [ 9.96808371e-01 -7.87466680e-02 -1.31161337e-02 1.50042337e+02] [-1.31461774e-02 1.36900299e-04 -9.99913576e-01 6.72443881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.390385723 meters Centerline goodness [0,1] 0.9999782651220414 Centerline is valid? [True, True] Translation: X:132.00, Y:150.04, Z:6.72 [[ 3.10301308e-03 9.99995178e-01 1.27090807e-04 1.32001011e+02] [ 9.99914517e-01 -3.10114848e-03 -1.27020118e-02 1.50040919e+02] [-1.27015564e-02 1.66494451e-04 -9.99919318e-01 6.72335723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.01, Y:150.04, Z:6.72 [[-7.20103857e-02 9.97403327e-01 1.05291911e-03 1.32010859e+02] [ 9.97332575e-01 7.20178204e-02 -1.18814462e-02 1.50038817e+02] [-1.19264229e-02 1.94522998e-04 -9.99928859e-01 6.72252307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.02, Y:150.04, Z:6.72 [[-1.48413527e-01 9.88923472e-01 1.94748022e-03 1.32020050e+02] [ 9.88855832e-01 1.48426156e-01 -1.15680556e-02 1.50037665e+02] [-1.17289787e-02 2.08921242e-04 -9.99931191e-01 6.72237276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.03, Y:150.04, Z:6.72 [[-2.24199597e-01 9.74538964e-01 2.88940839e-03 1.32029334e+02] [ 9.74470580e-01 2.24218101e-01 -1.15469245e-02 1.50038226e+02] [-1.19007855e-02 2.26827659e-04 -9.99929157e-01 6.72267149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.04, Y:150.04, Z:6.72 [[-2.98570498e-01 9.54378390e-01 4.18891424e-03 1.32039091e+02] [ 9.54296722e-01 2.98599761e-01 -1.24879463e-02 1.50039111e+02] [-1.31690349e-02 2.68934765e-04 -9.99913248e-01 6.72431244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.540385723 meters Centerline goodness [0,1] 0.9998915354245304 Centerline is valid? [True, True] Translation: X:132.05, Y:150.04, Z:6.73 [[-3.72048172e-01 9.28197858e-01 5.37521901e-03 1.32047103e+02] [ 9.28111821e-01 3.72086890e-01 -1.26409904e-02 1.50039041e+02] [-1.37333887e-02 2.85746936e-04 -9.99905652e-01 6.72526758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.570385723 meters Centerline goodness [0,1] 0.9999567062083298 Centerline is valid? [True, True] Translation: X:132.06, Y:150.04, Z:6.73 [[-4.44087235e-01 8.95955309e-01 7.11419296e-03 1.32055964e+02] [ 8.95851394e-01 4.44144106e-01 -1.36489421e-02 1.50040082e+02] [-1.53885690e-02 3.11938710e-04 -9.99881540e-01 6.72632816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.06, Y:150.04, Z:6.73 [[-5.13263161e-01 8.58189634e-01 8.45454994e-03 1.32062559e+02] [ 8.58083224e-01 5.13332691e-01 -1.35177593e-02 1.50041968e+02] [-1.59407978e-02 3.16539606e-04 -9.99872887e-01 6.72692274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.07, Y:150.05, Z:6.73 [[-5.79937249e-01 8.14596453e-01 1.02667725e-02 1.32070209e+02] [ 8.14478483e-01 5.80028031e-01 -1.38666582e-02 1.50045814e+02] [-1.72507465e-02 3.20273702e-04 -9.99851144e-01 6.72819278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.07, Y:150.05, Z:6.73 [[-6.41969860e-01 7.66646280e-01 1.13216779e-02 1.32074658e+02] [ 7.66535786e-01 6.42069606e-01 -1.30196102e-02 1.50047485e+02] [-1.72507410e-02 3.20273987e-04 -9.99851144e-01 6.72819274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.08, Y:150.05, Z:6.73 [[-7.00821112e-01 7.13226181e-01 1.25771360e-02 1.32079255e+02] [ 7.13119179e-01 7.00933892e-01 -1.23578358e-02 1.50051057e+02] [-1.76296729e-02 3.08364636e-04 -9.99844538e-01 6.72854417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.720385723 meters Centerline goodness [0,1] 0.9998708538711553 Centerline is valid? [True, True] Translation: X:132.10, Y:150.08, Z:6.73 [[-7.50279944e-01 6.60982088e-01 1.35160776e-02 1.32100535e+02] [ 6.60881779e-01 7.50401622e-01 -1.15186744e-02 1.50076715e+02] [-1.77561240e-02 2.90299016e-04 -9.99842305e-01 6.72692684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.750385723 meters Centerline goodness [0,1] 0.9999785715816316 Centerline is valid? [True, True] Translation: X:132.52, Y:150.57, Z:5.75 [[-7.25641093e-01 -6.87966032e-01 1.21549361e-02 1.32523047e+02] [ 6.87862030e-01 -7.25742816e-01 -1.19663398e-02 1.50570552e+02] [ 1.70537929e-02 -3.22348881e-04 9.99854522e-01 5.74937936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.780385723 meters Centerline goodness [0,1] 0.9999570695687638 Centerline is valid? [True, True] Translation: X:132.07, Y:150.11, Z:6.73 [[-7.54573893e-01 6.56093701e-01 1.26212698e-02 1.32069325e+02] [ 6.56006833e-01 7.54679407e-01 -1.06784018e-02 1.50107591e+02] [-1.65310446e-02 2.21995985e-04 -9.99863328e-01 6.72564294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.81038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.09, Y:150.13, Z:6.73 [[-7.99995980e-01 5.99870452e-01 1.27229086e-02 1.32086339e+02] [ 5.99798352e-01 8.00097122e-01 -9.30229491e-03 1.50132887e+02] [-1.57597344e-02 1.89381052e-04 -9.99875790e-01 6.72532799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.10, Y:150.16, Z:6.73 [[-8.40600823e-01 5.41495814e-01 1.31354821e-02 1.32100292e+02] [ 5.41433038e-01 8.40703427e-01 -8.24701882e-03 1.50158926e+02] [-1.55087710e-02 1.79533196e-04 -9.99879716e-01 6.72539675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.44, Y:150.70, Z:5.75 [[-8.15686707e-01 -5.78355510e-01 1.26530760e-02 1.32442530e+02] [ 5.78282630e-01 -8.15784821e-01 -9.18291824e-03 1.50699800e+02] [ 1.56331787e-02 -1.73330270e-04 9.99877779e-01 5.75189325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.07, Y:150.18, Z:6.72 [[-8.42835457e-01 5.38007052e-01 1.32967960e-02 1.32065878e+02] [ 5.37943340e-01 8.42940320e-01 -8.28135457e-03 1.50181012e+02] [-1.56638326e-02 1.73103569e-04 -9.99877300e-01 6.72413313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.930385723 meters Centerline goodness [0,1] 0.9999784992474736 Centerline is valid? [True, True] Translation: X:132.08, Y:150.21, Z:6.72 [[-8.78766904e-01 4.77058260e-01 1.35700231e-02 1.32077360e+02] [ 4.77004396e-01 8.78871656e-01 -7.17069900e-03 1.50207029e+02] [-1.53471498e-02 1.71587694e-04 -9.99882211e-01 6.72334570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.960385723 meters Centerline goodness [0,1] 0.9999569420224332 Centerline is valid? [True, True] Translation: X:132.09, Y:150.23, Z:6.72 [[-9.10232354e-01 4.13856305e-01 1.41428754e-02 1.32088550e+02] [ 4.13809379e-01 9.10342204e-01 -6.23461002e-03 1.50233653e+02] [-1.54550890e-02 1.77510718e-04 -9.99880547e-01 6.72231079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.990385723 meters Centerline goodness [0,1] 0.9999142017545741 Centerline is valid? [True, True] Translation: X:132.35, Y:150.82, Z:5.75 [[-8.91019526e-01 -4.53752866e-01 1.38759480e-02 1.32346707e+02] [ 4.53694921e-01 -8.91127549e-01 -7.25323571e-03 1.50821372e+02] [ 1.56564160e-02 -1.67327487e-04 9.99877417e-01 5.75285270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.04, Y:150.25, Z:6.72 [[-9.11568131e-01 4.10916468e-01 1.38275100e-02 1.32042257e+02] [ 4.10872186e-01 9.11672981e-01 -6.03508321e-03 1.50252172e+02] [-1.50860824e-02 1.79949756e-04 -9.99886182e-01 6.72301695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.30, Y:150.84, Z:5.75 [[-8.93037509e-01 -4.49798537e-01 1.28562588e-02 1.32304425e+02] [ 4.49748549e-01 -8.93130020e-01 -6.70894861e-03 1.50839282e+02] [ 1.44999860e-02 -2.09258997e-04 9.99894848e-01 5.75194450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.00, Y:150.27, Z:6.72 [[-9.12792829e-01 4.08223178e-01 1.27706473e-02 1.32001293e+02] [ 4.08185929e-01 9.12882143e-01 -5.51739467e-03 1.50268047e+02] [-1.39104243e-02 1.76560252e-04 -9.99903230e-01 6.72377861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.110385723 meters Centerline goodness [0,1] 0.9999785393909479 Centerline is valid? [True, True] Translation: X:132.01, Y:150.29, Z:6.72 [[-9.39107897e-01 3.43387981e-01 1.26906491e-02 1.32007820e+02] [ 3.43359258e-01 9.39193623e-01 -4.44508529e-03 1.50294260e+02] [-1.34453656e-02 1.83037172e-04 -9.99909590e-01 6.72406110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.140385723 meters Centerline goodness [0,1] 0.9999354561101549 Centerline is valid? [True, True] Translation: X:132.01, Y:150.32, Z:6.72 [[-9.60955164e-01 2.76403450e-01 1.28959245e-02 1.32013186e+02] [ 2.76381190e-01 9.61041673e-01 -3.51295972e-03 1.50322413e+02] [-1.33645150e-02 1.88394170e-04 -9.99910673e-01 6.72336571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.18, Y:150.95, Z:5.75 [[-9.49502346e-01 -3.13519832e-01 1.22723342e-02 1.32182966e+02] [ 3.13490828e-01 -9.49581630e-01 -4.26948335e-03 1.50951807e+02] [ 1.29921508e-02 -2.06620265e-04 9.99915577e-01 5.75196921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.96, Y:150.33, Z:6.72 [[-9.61844766e-01 2.73299180e-01 1.27359917e-02 1.31964936e+02] [ 2.73277891e-01 9.61929062e-01 -3.41667355e-03 1.50331857e+02] [-1.31848946e-02 1.94155377e-04 -9.99913057e-01 6.72491907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.96, Y:150.36, Z:6.73 [[-9.78862321e-01 2.04091205e-01 1.32414874e-02 1.31957875e+02] [ 2.04075218e-01 9.78951859e-01 -2.56188291e-03 1.50361568e+02] [-1.34856365e-02 1.94528767e-04 -9.99909046e-01 6.72609886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.09, Y:151.01, Z:5.75 [[-9.70231347e-01 -2.41828052e-01 1.30509513e-02 1.32091683e+02] [ 2.41803485e-01 -9.70319100e-01 -3.45242479e-03 1.51008654e+02] [ 1.34984805e-02 -1.93885241e-04 9.99908873e-01 5.74894128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.91, Y:150.37, Z:6.73 [[-9.79619454e-01 2.00405559e-01 1.35402329e-02 1.31912503e+02] [ 2.00389256e-01 9.79713005e-01 -2.56412043e-03 1.50367641e+02] [-1.37794063e-02 2.01454948e-04 -9.99905039e-01 6.72611144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.91, Y:150.39, Z:6.73 [[-9.91352985e-01 1.30499781e-01 1.37501258e-02 1.31907077e+02] [ 1.30490087e-01 9.91448317e-01 -1.60366759e-03 1.50393465e+02] [-1.38418174e-02 2.04454467e-04 -9.99904177e-01 6.72773118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.99, Y:151.06, Z:5.75 [[-9.85677981e-01 -1.68116931e-01 1.32519614e-02 1.31989748e+02] [ 1.68098699e-01 -9.85767035e-01 -2.48585928e-03 1.51061440e+02] [ 1.34812617e-02 -2.22619284e-04 9.99909099e-01 5.74757556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.85, Y:150.40, Z:6.73 [[-9.91916574e-01 1.26237213e-01 1.28715261e-02 1.31846854e+02] [ 1.26229087e-01 9.92000065e-01 -1.44508305e-03 1.50397153e+02] [-1.29509779e-02 1.91359149e-04 -9.99916114e-01 6.72841708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.84, Y:150.43, Z:6.73 [[-9.98393004e-01 5.52408139e-02 1.26436952e-02 1.31844293e+02] [ 5.52387192e-02 9.98473044e-01 -5.15106012e-04 1.50425123e+02] [-1.26528437e-02 1.84143289e-04 -9.99919933e-01 6.72883718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.87, Y:151.11, Z:5.75 [[-9.95521644e-01 -9.37081918e-02 1.24671783e-02 1.31873984e+02] [ 9.36984539e-02 -9.95599688e-01 -1.36419477e-03 1.51105428e+02] [ 1.25401550e-02 -1.89930093e-04 9.99921351e-01 5.74751544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.470385723 meters Centerline goodness [0,1] 0.9998917280207882 Centerline is valid? [True, True] Translation: X:131.77, Y:150.42, Z:6.73 [[-9.98625983e-01 5.07396824e-02 1.31008091e-02 1.31771030e+02] [ 5.07378813e-02 9.98711894e-01 -4.70027319e-04 1.50424904e+02] [-1.31077829e-02 1.95325801e-04 -9.99914070e-01 6.72877243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.500385723 meters Centerline goodness [0,1] 0.9999782769257506 Centerline is valid? [True, True] Translation: X:131.77, Y:150.45, Z:6.73 [[-9.99737692e-01 -1.89200350e-02 1.29065740e-02 1.31767605e+02] [-1.89157214e-02 9.99820978e-01 4.56217233e-04 1.50450561e+02] [-1.29128950e-02 2.11960407e-04 -9.99916603e-01 6.72839854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.76, Y:150.48, Z:6.73 [[-9.95930590e-01 -8.92387374e-02 1.25979237e-02 1.31757095e+02] [-8.92288118e-02 9.96010241e-01 1.34888765e-03 1.50477573e+02] [-1.26680340e-02 2.19300715e-04 -9.99919733e-01 6.72858779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.56038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.73, Y:150.50, Z:6.73 [[-9.87192980e-01 -1.59080059e-01 1.19814446e-02 1.31734094e+02] [-1.59065582e-01 9.87265661e-01 2.15778643e-03 1.50502015e+02] [-1.21721296e-02 2.24316149e-04 -9.99925892e-01 6.72944386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.590385723 meters Centerline goodness [0,1] 0.9999565491320689 Centerline is valid? [True, True] Translation: X:131.70, Y:150.52, Z:6.73 [[-9.73663090e-01 -2.27714275e-01 1.12426470e-02 1.31704026e+02] [-2.27696200e-01 9.73727965e-01 2.87937181e-03 1.50522670e+02] [-1.16029538e-02 2.43630066e-04 -9.99932654e-01 6.72853375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.65, Y:150.53, Z:6.73 [[-9.54719832e-01 -2.97315265e-01 1.06618981e-02 1.31648068e+02] [-2.97293812e-01 9.54779331e-01 3.58016272e-03 1.50534835e+02] [-1.12441970e-02 2.48336009e-04 -9.99936751e-01 6.72777763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.58, Y:150.54, Z:6.73 [[-9.30492946e-01 -3.66181227e-01 9.70500111e-03 1.31583874e+02] [-3.66158622e-01 9.30543525e-01 4.07578378e-03 1.50538608e+02] [-1.05234014e-02 2.38918222e-04 -9.99944599e-01 6.72759816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.680385723 meters Centerline goodness [0,1] 0.9999783066143133 Centerline is valid? [True, True] Translation: X:131.51, Y:150.54, Z:6.73 [[-9.00600230e-01 -4.34553577e-01 9.07820675e-03 1.31508728e+02] [-4.34528946e-01 9.00645956e-01 4.63226911e-03 1.50535145e+02] [-1.01892193e-02 2.27079017e-04 -9.99948063e-01 6.72810386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.42, Y:150.52, Z:6.73 [[-8.64883311e-01 -5.01895311e-01 8.82919356e-03 1.31421786e+02] [-5.01866639e-01 8.64928350e-01 5.36890715e-03 1.50518410e+02] [-1.03312492e-02 2.12400493e-04 -9.99946609e-01 6.72940750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.34, Y:150.50, Z:6.73 [[-8.24067514e-01 -5.66427417e-01 8.52722976e-03 1.31335587e+02] [-5.66394536e-01 8.24111607e-01 6.10646595e-03 1.50498530e+02] [-1.04862588e-02 2.02363867e-04 -9.99944997e-01 6.72884749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.24, Y:150.46, Z:6.73 [[-7.78389279e-01 -6.27726313e-01 8.35501039e-03 1.31239118e+02] [-6.27687415e-01 7.78434093e-01 6.99087605e-03 1.50459885e+02] [-1.08921818e-02 1.97288099e-04 -9.99940659e-01 6.72939781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.15, Y:150.42, Z:6.73 [[-7.27162070e-01 -6.86423993e-01 7.57799783e-03 1.31149562e+02] [-6.86384296e-01 7.27201536e-01 7.38405188e-03 1.50419588e+02] [-1.05793220e-02 1.67983739e-04 -9.99944023e-01 6.72890641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.06, Y:150.36, Z:6.73 [[-6.72118196e-01 -7.40416041e-01 6.41996418e-03 1.31055577e+02] [-7.40380241e-01 6.72148842e-01 7.28239689e-03 1.50361293e+02] [-9.70717497e-03 1.41416841e-04 -9.99952874e-01 6.72779831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.97, Y:150.30, Z:6.73 [[-6.13365862e-01 -7.89778475e-01 5.68145839e-03 1.30969083e+02] [-7.89742591e-01 6.13392161e-01 7.52974209e-03 1.50301177e+02] [-9.43179027e-03 1.31597085e-04 -9.99955511e-01 6.72774429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.88, Y:150.23, Z:6.73 [[-5.51153032e-01 -8.34389790e-01 4.90046560e-03 1.30880158e+02] [-8.34354785e-01 5.51174803e-01 7.64388606e-03 1.50226279e+02] [-9.07899364e-03 1.24224057e-04 -9.99958777e-01 6.72738478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.79, Y:150.13, Z:6.73 [[-4.85342861e-01 -8.74313537e-01 4.26000079e-03 1.30792378e+02] [-8.74277701e-01 4.85361542e-01 7.91677426e-03 1.50133356e+02] [-8.98938345e-03 1.17926167e-04 -9.99959588e-01 6.72785087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.950385723 meters Centerline goodness [0,1] 0.9999781482857331 Centerline is valid? [True, True] Translation: X:130.72, Y:150.05, Z:6.73 [[-4.16959889e-01 -9.08918863e-01 3.30928517e-03 1.30721593e+02] [-9.08888150e-01 4.16973007e-01 7.47279640e-03 1.50053116e+02] [-8.17204819e-03 1.08086283e-04 -9.99966602e-01 6.72731114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.65, Y:149.95, Z:6.73 [[-3.45215384e-01 -9.38520290e-01 2.45039208e-03 1.30652281e+02] [-9.38494748e-01 3.45224068e-01 6.92467208e-03 1.49954748e+02] [-7.34487957e-03 9.08232297e-05 -9.99973022e-01 6.72610162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.59, Y:149.85, Z:6.73 [[-2.71395056e-01 -9.62466306e-01 1.82566440e-03 1.30587752e+02] [-9.62442474e-01 2.71401185e-01 6.77354485e-03 1.49847910e+02] [-7.01479617e-03 8.12096205e-05 -9.99975393e-01 6.72565299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.040385723 meters Centerline goodness [0,1] 0.9999563928135357 Centerline is valid? [True, True] Translation: X:130.53, Y:149.74, Z:6.73 [[-1.95928431e-01 -9.80617410e-01 1.24338995e-03 1.30533377e+02] [-9.80595222e-01 1.95932363e-01 6.59694312e-03 1.49738314e+02] [-6.71269760e-03 7.32664745e-05 -9.99977467e-01 6.72612264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.49, Y:149.62, Z:6.73 [[-1.18051308e-01 -9.93007154e-01 8.24748260e-04 1.30486010e+02] [-9.92978740e-01 1.18054170e-01 7.51230449e-03 1.49617376e+02] [-7.55713707e-03 6.78798834e-05 -9.99971442e-01 6.72711797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.45, Y:149.50, Z:6.73 [[-4.03574114e-02 -9.99185272e-01 2.67434834e-04 1.30447551e+02] [-9.99150948e-01 4.03582418e-02 8.28228934e-03 1.49499196e+02] [-8.28633473e-03 6.70439901e-05 -9.99965666e-01 6.72691032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.130385723 meters Centerline goodness [0,1] 0.9999780557384244 Centerline is valid? [True, True] Translation: X:130.42, Y:149.38, Z:6.73 [[ 3.78672240e-02 -9.99282695e-01 -4.11530204e-04 1.30420106e+02] [-9.99240486e-01 -3.78694070e-02 9.18469692e-03 1.49376015e+02] [-9.19369309e-03 6.34186659e-05 -9.99957735e-01 6.72719947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.40, Y:149.25, Z:6.73 [[ 1.14761204e-01 -9.93392387e-01 -1.19675785e-03 1.30402453e+02] [-9.93344290e-01 -1.14767424e-01 9.77549326e-03 1.49248086e+02] [-9.84824940e-03 6.69452051e-05 -9.99951503e-01 6.72689808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.190385723 meters Centerline goodness [0,1] 0.9999780783479844 Centerline is valid? [True, True] Translation: X:130.39, Y:149.12, Z:6.73 [[ 1.90387182e-01 -9.81707198e-01 -1.92333630e-03 1.30393941e+02] [-9.81660809e-01 -1.90396884e-01 9.54369965e-03 1.49122502e+02] [-9.73531587e-03 7.10657805e-05 -9.99952608e-01 6.72676331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.39, Y:149.00, Z:6.73 [[ 2.64147121e-01 -9.64479074e-01 -2.53248695e-03 1.30394423e+02] [-9.64437595e-01 -2.64159249e-01 8.94520518e-03 1.49001233e+02] [-9.29644306e-03 7.95754227e-05 -9.99956784e-01 6.72592442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.41, Y:148.88, Z:6.73 [[ 3.36315296e-01 -9.41744121e-01 -3.16734392e-03 1.30405631e+02] [-9.41704830e-01 -3.36330198e-01 8.60294650e-03 1.48878228e+02] [-9.16704770e-03 8.94005697e-05 -9.99957978e-01 6.72586745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.43, Y:148.75, Z:6.72 [[ 4.05503490e-01 -9.14087783e-01 -3.23198905e-03 1.30429116e+02] [-9.14060587e-01 -4.05516358e-01 7.05168113e-03 1.48751509e+02] [-7.75648000e-03 9.47525024e-05 -9.99969914e-01 6.72412372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.31038572299997 meters Centerline goodness [0,1] 0.9999343717185859 Centerline is valid? [True, True] Translation: X:130.46, Y:148.64, Z:6.72 [[ 4.73431508e-01 -8.80823812e-01 -3.46681888e-03 1.30455335e+02] [-8.80801665e-01 -4.73444191e-01 6.24702204e-03 1.48637760e+02] [-7.14387103e-03 9.60427792e-05 -9.99974478e-01 6.72394688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.49, Y:148.53, Z:6.72 [[ 5.38884462e-01 -8.42373638e-01 -3.19216044e-03 1.30489174e+02] [-8.42359762e-01 -5.38893911e-01 4.83581927e-03 1.48527871e+02] [-5.79380250e-03 8.29996417e-05 -9.99983212e-01 6.72218320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.37038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.53, Y:148.42, Z:6.72 [[ 6.01319828e-01 -7.99001420e-01 -3.34595695e-03 1.30534318e+02] [-7.98989797e-01 -6.01329131e-01 4.31057454e-03 1.48415853e+02] [-5.45617656e-03 8.13515214e-05 -9.99985112e-01 6.72200315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.59, Y:148.31, Z:6.72 [[ 6.60715430e-01 -7.50626715e-01 -3.82827257e-03 1.30586729e+02] [-7.50614845e-01 -6.60726516e-01 4.22202491e-03 1.48309248e+02] [-5.69860588e-03 8.40012134e-05 -9.99983759e-01 6.72166843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.65, Y:148.21, Z:6.72 [[ 7.16191885e-01 -6.97890379e-01 -4.26643540e-03 1.30646559e+02] [-6.97878700e-01 -7.16204587e-01 4.03838812e-03 1.48205517e+02] [-5.87399282e-03 8.51935885e-05 -9.99982744e-01 6.72117114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.64, Y:148.20, Z:6.72 [[ 7.69450256e-01 -6.38688671e-01 -4.80470926e-03 1.30640506e+02] [-6.38676869e-01 -7.69465253e-01 3.88352548e-03 1.48195652e+02] [-6.17742055e-03 8.04769987e-05 -9.99980916e-01 6.72116322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.63, Y:148.19, Z:6.72 [[ 8.17548154e-01 -5.75837125e-01 -5.15963556e-03 1.30634548e+02] [-5.75826237e-01 -8.17564432e-01 3.54187955e-03 1.48186515e+02] [-6.25788025e-03 7.53964382e-05 -9.99980416e-01 6.72123199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.63, Y:148.18, Z:6.72 [[ 8.60053545e-01 -5.10174985e-01 -5.42070149e-03 1.30630293e+02] [-5.10165403e-01 -8.60070624e-01 3.12778081e-03 1.48178692e+02] [-6.25790164e-03 7.53953848e-05 -9.99980416e-01 6.72123221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.63, Y:148.17, Z:6.72 [[ 8.97796810e-01 -4.40362276e-01 -6.47724020e-03 1.30625822e+02] [-4.40351442e-01 -8.97820171e-01 3.08989847e-03 1.48168024e+02] [-7.17607163e-03 7.81610759e-05 -9.99974249e-01 6.72134133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.580385723 meters Centerline goodness [0,1] 0.9999781291691271 Centerline is valid? [True, True] Translation: X:130.62, Y:148.16, Z:6.72 [[ 9.29606222e-01 -3.68495885e-01 -6.56159969e-03 1.30622980e+02] [-3.68487267e-01 -9.29629377e-01 2.52118679e-03 1.48156616e+02] [-7.02890278e-03 7.41550082e-05 -9.99975294e-01 6.72153337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.62, Y:148.15, Z:6.72 [[ 9.55650033e-01 -2.94411936e-01 -7.39098681e-03 1.30620587e+02] [-2.94403769e-01 -9.55678610e-01 2.19433338e-03 1.48145111e+02] [-7.70944594e-03 7.89196048e-05 -9.99970279e-01 6.72131027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.62, Y:148.13, Z:6.72 [[ 9.75682563e-01 -2.19043267e-01 -7.97399065e-03 1.30619289e+02] [-2.19036666e-01 -9.75715143e-01 1.70257967e-03 1.48134654e+02] [-8.15328204e-03 8.54190347e-05 -9.99966758e-01 6.72110414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.670385723 meters Centerline goodness [0,1] 0.9999347925315712 Centerline is valid? [True, True] Translation: X:130.61, Y:148.13, Z:6.72 [[ 9.89651434e-01 -1.43322978e-01 -6.96871755e-03 1.30614384e+02] [-1.43320017e-01 -9.89675966e-01 9.24995961e-04 1.48126725e+02] [-7.02934545e-03 8.33331387e-05 -9.99975290e-01 6.72009104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.61, Y:148.12, Z:6.72 [[ 9.97785321e-01 -6.62017978e-02 -6.46339525e-03 1.30610950e+02] [-6.62009408e-02 -9.97806251e-01 3.46677267e-04 1.48116705e+02] [-6.47216684e-03 8.19733580e-05 -9.99979052e-01 6.71953160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.61, Y:148.11, Z:6.72 [[ 9.99921638e-01 1.11192525e-02 -5.75147888e-03 1.30607656e+02] [ 1.11186178e-02 -9.99938176e-01 -1.42307055e-04 1.48108076e+02] [-5.75270565e-03 7.83474078e-05 -9.99983450e-01 6.71950221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.760385723 meters Centerline goodness [0,1] 0.9999780533304071 Centerline is valid? [True, True] Translation: X:130.61, Y:148.10, Z:6.72 [[ 9.96098394e-01 8.81042571e-02 -5.06251035e-03 1.30605675e+02] [ 8.81027318e-02 -9.96111256e-01 -5.23969940e-04 1.48100999e+02] [-5.08898753e-03 7.59046247e-05 -9.99987048e-01 6.71863598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.60, Y:148.09, Z:6.72 [[ 9.86064085e-01 1.66300279e-01 -4.67307686e-03 1.30603998e+02] [ 1.66298081e-01 -9.86075156e-01 -8.57786038e-04 1.48093531e+02] [-4.75065505e-03 6.87082897e-05 -9.99988713e-01 6.71741459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.60, Y:148.08, Z:6.72 [[ 9.69711382e-01 2.44210790e-01 -4.57441667e-03 1.30603692e+02] [ 2.44207768e-01 -9.69722170e-01 -1.21649934e-03 1.48084206e+02] [-4.73299552e-03 6.25451696e-05 -9.99988797e-01 6.71748168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.60, Y:148.08, Z:6.72 [[ 9.47190818e-01 3.20630379e-01 -5.07104773e-03 1.30603095e+02] [ 3.20625423e-01 -9.47204390e-01 -1.78383642e-03 1.48075139e+02] [-5.37527082e-03 6.37266563e-05 -9.99985551e-01 6.71830783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.880385723 meters Centerline goodness [0,1] 0.999956124956125 Centerline is valid? [True, True] Translation: X:130.61, Y:148.06, Z:6.72 [[ 9.17865894e-01 3.96856503e-01 -5.20741951e-03 1.30606979e+02] [ 3.96849816e-01 -9.17880664e-01 -2.30433208e-03 1.48059749e+02] [-5.69427885e-03 4.85043580e-05 -9.99983786e-01 6.71882238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.910385723 meters Centerline goodness [0,1] 0.9999561085873548 Centerline is valid? [True, True] Translation: X:130.61, Y:148.05, Z:6.72 [[ 8.83152536e-01 4.69060184e-01 -4.91345336e-03 1.30611113e+02] [ 4.69052688e-01 -8.83166203e-01 -2.65213231e-03 1.48046990e+02] [-5.58340562e-03 3.75688689e-05 -9.99984412e-01 6.71944074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.61, Y:148.03, Z:6.72 [[ 8.41989778e-01 5.39465928e-01 -5.45216143e-03 1.30614560e+02] [ 5.39454443e-01 -8.42007430e-01 -3.52013470e-03 1.48034694e+02] [-6.48975316e-03 2.27247262e-05 -9.99978941e-01 6.72074326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.970385723 meters Centerline goodness [0,1] 0.9999781492406861 Centerline is valid? [True, True] Translation: X:130.62, Y:148.03, Z:6.72 [[ 7.96267100e-01 6.04920440e-01 -5.47421284e-03 1.30616245e+02] [ 6.04906025e-01 -7.96285917e-01 -4.17606216e-03 1.48028133e+02] [-6.88522395e-03 1.38765720e-05 -9.99976296e-01 6.72090956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.000385723 meters Centerline goodness [0,1] 0.9999125415427672 Centerline is valid? [True, True] Translation: X:130.62, Y:148.02, Z:6.72 [[ 7.44727679e-01 6.67345757e-01 -5.50674439e-03 1.30621325e+02] [ 6.67327557e-01 -7.44748038e-01 -4.92860784e-03 1.48018342e+02] [-7.39022261e-03 -4.33160612e-06 -9.99972692e-01 6.72056703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.030385723 meters Centerline goodness [0,1] 0.9999563108916947 Centerline is valid? [True, True] Translation: X:130.63, Y:148.01, Z:6.72 [[ 6.89643825e-01 7.24133108e-01 -4.75773752e-03 1.30626161e+02] [ 7.24115971e-01 -6.89660236e-01 -4.98183041e-03 1.48010848e+02] [-6.88873072e-03 -9.46514642e-06 -9.99976272e-01 6.72088705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.06038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.63, Y:148.00, Z:6.72 [[ 6.30364937e-01 7.76288867e-01 -3.95480106e-03 1.30630603e+02] [ 7.76273713e-01 -6.30377343e-01 -4.85050089e-03 1.48004229e+02] [-6.25840682e-03 -1.24224117e-05 -9.99980416e-01 6.71997007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.63, Y:148.00, Z:6.72 [[ 5.67864955e-01 8.23114145e-01 -3.53508176e-03 1.30633515e+02] [ 8.23098314e-01 -5.67875959e-01 -5.10498466e-03 1.47997221e+02] [-6.20947302e-03 -1.07779535e-05 -9.99980721e-01 6.71981939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.64, Y:147.99, Z:6.72 [[ 5.01774806e-01 8.64992676e-01 -3.11676350e-03 1.30635799e+02] [ 8.64976115e-01 -5.01784485e-01 -5.35272264e-03 1.47991073e+02] [-6.19400945e-03 -1.00646200e-05 -9.99980817e-01 6.72016310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.64, Y:147.99, Z:6.72 [[ 4.32449666e-01 9.01654625e-01 -2.49471099e-03 1.30639509e+02] [ 9.01639751e-01 -4.32456861e-01 -5.17910358e-03 1.47985724e+02] [-5.74861758e-03 -9.62897861e-06 -9.99983477e-01 6.71885275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.64, Y:147.98, Z:6.72 [[ 3.60836987e-01 9.32625677e-01 -2.45285801e-03 1.30643845e+02] [ 9.32604302e-01 -3.60845324e-01 -6.31407490e-03 1.47980149e+02] [-6.77377071e-03 -9.19416833e-06 -9.99977058e-01 6.71958304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.65, Y:147.97, Z:6.72 [[ 2.87181181e-01 9.57874166e-01 -2.01288550e-03 1.30648004e+02] [ 9.57850780e-01 -2.87188236e-01 -6.69334030e-03 1.47973248e+02] [-6.98945479e-03 -5.84257105e-06 -9.99975573e-01 6.72017646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.65, Y:147.97, Z:6.72 [[ 2.13075591e-01 9.77034714e-01 -1.40025543e-03 1.30650455e+02] [ 9.77013410e-01 -2.13080192e-01 -6.45206111e-03 1.47967416e+02] [-6.60225437e-03 6.70839672e-06 -9.99978205e-01 6.72019403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.65, Y:147.96, Z:6.72 [[ 1.36973724e-01 9.90574311e-01 -8.56046611e-04 1.30654717e+02] [ 9.90554357e-01 -1.36976398e-01 -6.28743953e-03 1.47962742e+02] [-6.34543427e-03 1.32533073e-05 -9.99979867e-01 6.71953546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.66, Y:147.96, Z:6.72 [[ 6.03819817e-02 9.98175287e-01 -3.36588672e-04 1.30658840e+02] [ 9.98157821e-01 -6.03829163e-02 -5.90493186e-03 1.47958048e+02] [-5.91448126e-03 2.05828714e-05 -9.99982509e-01 6.71908599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.67, Y:147.95, Z:6.72 [[-1.55575431e-02 9.99878965e-01 1.33209610e-04 1.30665179e+02] [ 9.99859766e-01 1.55580699e-02 -6.19637068e-03 1.47953087e+02] [-6.19769319e-03 3.67906252e-05 -9.99980793e-01 6.71834135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.68, Y:147.95, Z:6.72 [[-9.18363826e-02 9.95773858e-01 7.08980631e-04 1.30675657e+02] [ 9.95748756e-01 9.18391017e-02 -7.07062668e-03 1.47948821e+02] [-7.10585736e-03 5.66258039e-05 -9.99974752e-01 6.71967970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.69, Y:147.94, Z:6.72 [[-1.69090314e-01 9.85599585e-01 1.38693727e-03 1.30686367e+02] [ 9.85569549e-01 1.69095989e-01 -7.69488460e-03 1.47944843e+02] [-7.81860060e-03 6.57926837e-05 -9.99969432e-01 6.72059537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.70, Y:147.94, Z:6.72 [[-2.44630370e-01 9.69614056e-01 2.13634002e-03 1.30700815e+02] [ 9.69579903e-01 2.44639685e-01 -8.13853975e-03 1.47942930e+02] [-8.41387609e-03 8.04183549e-05 -9.99964600e-01 6.72069690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.71, Y:147.94, Z:6.72 [[-3.19516813e-01 9.47576814e-01 2.68086132e-03 1.30712639e+02] [ 9.47545547e-01 3.19528049e-01 -7.69814357e-03 1.47940459e+02] [-8.15119275e-03 8.05519094e-05 -9.99966775e-01 6.72216990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.73, Y:147.94, Z:6.72 [[-3.91680606e-01 9.20096021e-01 3.10073435e-03 1.30726621e+02] [ 9.20068890e-01 3.91692870e-01 -7.06634874e-03 1.47940353e+02] [-7.71625490e-03 8.51374551e-05 -9.99970226e-01 6.72012679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.74, Y:147.94, Z:6.72 [[-4.61927896e-01 8.86910737e-01 3.45896247e-03 1.30738770e+02] [ 8.86887251e-01 4.61940838e-01 -6.45491241e-03 1.47941355e+02] [-7.32276714e-03 8.60056143e-05 -9.99973185e-01 6.72023588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.75, Y:147.94, Z:6.72 [[-5.28945368e-01 8.48648026e-01 3.65058705e-03 1.30751089e+02] [ 8.48628946e-01 5.28957958e-01 -5.69128140e-03 1.47941930e+02] [-6.76090180e-03 8.76169135e-05 -9.99977141e-01 6.71995148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.570385723 meters Centerline goodness [0,1] 0.9999336474022958 Centerline is valid? [True, True] Translation: X:130.76, Y:147.94, Z:6.72 [[-5.93519856e-01 8.04807479e-01 4.37072135e-03 1.30763425e+02] [ 8.04786840e-01 5.93535941e-01 -5.76453895e-03 1.47944552e+02] [-7.23352427e-03 9.61307032e-05 -9.99973833e-01 6.72107329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.600385723 meters Centerline goodness [0,1] 0.9999115631218218 Centerline is valid? [True, True] Translation: X:130.78, Y:147.95, Z:6.72 [[-6.54793098e-01 7.55794877e-01 4.48363010e-03 1.30775099e+02] [ 7.55778082e-01 6.54808442e-01 -5.03938803e-03 1.47949057e+02] [-6.74466250e-03 8.88728500e-05 -9.99977251e-01 6.71956969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.79, Y:147.95, Z:6.72 [[-7.12222075e-01 7.01938655e-01 4.67341959e-03 1.30786666e+02] [ 7.01924305e-01 7.12237403e-01 -4.48913595e-03 1.47952869e+02] [-6.47968228e-03 8.31250820e-05 -9.99979003e-01 6.71936942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.33, Y:148.49, Z:5.76 [[-6.81934983e-01 -7.31402285e-01 3.92114873e-03 1.31327356e+02] [ 7.31389244e-01 -6.81946248e-01 -4.36907863e-03 1.48490653e+02] [ 5.86956676e-03 -1.11541557e-04 9.99982768e-01 5.75666179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.31, Y:148.51, Z:5.76 [[-6.82061775e-01 -7.31284575e-01 3.82171167e-03 1.31308181e+02] [ 7.31272526e-01 -6.82072478e-01 -4.19859380e-03 1.48509671e+02] [ 5.67705124e-03 -6.89875926e-05 9.99983883e-01 5.75685790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.720385723 meters Centerline goodness [0,1] 0.9999338536843497 Centerline is valid? [True, True] Translation: X:131.29, Y:148.53, Z:5.75 [[-6.81233445e-01 -7.32053331e-01 4.34911167e-03 1.31288178e+02] [ 7.32037760e-01 -6.81247324e-01 -4.77507147e-03 1.48527690e+02] [ 6.45842766e-03 -6.92244235e-05 9.99979142e-01 5.75477944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.27, Y:148.55, Z:5.76 [[-6.80675836e-01 -7.32571687e-01 4.37381839e-03 1.31269434e+02] [ 7.32555970e-01 -6.80689885e-01 -4.79910958e-03 1.48546256e+02] [ 6.49290573e-03 -6.25711504e-05 9.99978919e-01 5.75566089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.25, Y:148.56, Z:5.76 [[-6.80016543e-01 -7.33185184e-01 4.12163319e-03 1.31249044e+02] [ 7.33171255e-01 -6.80029031e-01 -4.51967290e-03 1.48564710e+02] [ 6.11658743e-03 -5.15893578e-05 9.99981292e-01 5.75521390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.81038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.23, Y:148.58, Z:5.76 [[-6.80068221e-01 -7.33137146e-01 4.14007683e-03 1.31229522e+02] [ 7.33123108e-01 -6.80080821e-01 -4.53715021e-03 1.48583693e+02] [ 6.14194021e-03 -5.03856748e-05 9.99981137e-01 5.75501127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.840385723 meters Centerline goodness [0,1] 0.9999780595901532 Centerline is valid? [True, True] Translation: X:131.21, Y:148.60, Z:5.75 [[-6.80428287e-01 -7.32802615e-01 4.20405393e-03 1.31210034e+02] [ 7.32788152e-01 -6.80441272e-01 -4.60435317e-03 1.48601683e+02] [ 6.23469385e-03 -5.22512259e-05 9.99980563e-01 5.75353819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.87038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.19, Y:148.62, Z:5.75 [[-6.80517886e-01 -7.32718198e-01 4.41021593e-03 1.31191104e+02] [ 7.32702298e-01 -6.80532174e-01 -4.82729003e-03 1.48621339e+02] [ 6.53833708e-03 -5.36818592e-05 9.99978623e-01 5.75402790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.17, Y:148.64, Z:5.76 [[-6.80693907e-01 -7.32554324e-01 4.46862634e-03 1.31170931e+02] [ 7.32538014e-01 -6.80708572e-01 -4.88849974e-03 1.48640361e+02] [ 6.62292387e-03 -5.41333138e-05 9.99978067e-01 5.75526001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.930385723 meters Centerline goodness [0,1] 0.9999781687988473 Centerline is valid? [True, True] Translation: X:131.15, Y:148.66, Z:5.76 [[-6.80845144e-01 -7.32415585e-01 4.15946175e-03 1.31150707e+02] [ 7.32401468e-01 -6.80857847e-01 -4.54773504e-03 1.48659493e+02] [ 6.16283419e-03 -4.99074313e-05 9.99981008e-01 5.75603174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.13, Y:148.68, Z:5.76 [[-6.81448002e-01 -7.31853976e-01 4.28687583e-03 1.31132207e+02] [ 7.31838987e-01 -6.81461484e-01 -4.68427044e-03 1.48678912e+02] [ 6.34954271e-03 -5.47838643e-05 9.99979840e-01 5.75561406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.990385723 meters Centerline goodness [0,1] 0.9999781578315096 Centerline is valid? [True, True] Translation: X:131.11, Y:148.70, Z:5.75 [[-6.82478299e-01 -7.30890524e-01 4.73431505e-03 1.31111975e+02] [ 7.30872240e-01 -6.82494716e-01 -5.17027433e-03 1.48698580e+02] [ 7.01004952e-03 -6.84205804e-05 9.99975427e-01 5.75476434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.020385723 meters Centerline goodness [0,1] 0.9998908606727348 Centerline is valid? [True, True] Translation: X:131.09, Y:148.72, Z:5.75 [[-6.83262530e-01 -7.30151249e-01 5.60972483e-03 1.31093833e+02] [ 7.30125583e-01 -6.83285553e-01 -6.12265962e-03 1.48718214e+02] [ 8.30351150e-03 -8.75802862e-05 9.99965521e-01 5.75211233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.08, Y:148.74, Z:5.75 [[-6.83499219e-01 -7.29932039e-01 5.29498536e-03 1.31075170e+02] [ 7.29909192e-01 -6.83519723e-01 -5.77575940e-03 1.48738002e+02] [ 7.83513877e-03 -8.28685538e-05 9.99969301e-01 5.75381372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.06, Y:148.76, Z:5.75 [[-6.83575289e-01 -7.29862597e-01 5.04125542e-03 1.31055276e+02] [ 7.29841908e-01 -6.83593873e-01 -5.49595132e-03 1.48757367e+02] [ 7.45746062e-03 -7.75770326e-05 9.99972190e-01 5.75415704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.04, Y:148.78, Z:5.75 [[-6.83667552e-01 -7.29778885e-01 4.63211895e-03 1.31035935e+02] [ 7.29761439e-01 -6.83683241e-01 -5.04662035e-03 1.48775082e+02] [ 6.84981907e-03 -6.98687962e-05 9.99976537e-01 5.75483737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.02, Y:148.79, Z:5.75 [[-6.84170298e-01 -7.29309325e-01 4.34877042e-03 1.31017111e+02] [ 7.29293957e-01 -6.84184116e-01 -4.73501307e-03 1.48794323e+02] [ 6.42864883e-03 -6.80233199e-05 9.99979334e-01 5.75462294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.170385723 meters Centerline goodness [0,1] 0.999978252359619 Centerline is valid? [True, True] Translation: X:131.00, Y:148.81, Z:5.75 [[-6.84673379e-01 -7.28836387e-01 4.45923714e-03 1.30998611e+02] [ 7.28820238e-01 -6.84687896e-01 -4.85232940e-03 1.48814189e+02] [ 6.58973992e-03 -7.22784924e-05 9.99978285e-01 5.75435417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.98, Y:148.83, Z:5.75 [[-6.85581611e-01 -7.27981997e-01 4.47950068e-03 1.30981329e+02] [ 7.27965703e-01 -6.85596241e-01 -4.87126450e-03 1.48833467e+02] [ 6.61732169e-03 -7.87265045e-05 9.99978102e-01 5.75451965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.230385723 meters Centerline goodness [0,1] 0.9999349353691334 Centerline is valid? [True, True] Translation: X:130.96, Y:148.85, Z:5.75 [[-6.86405784e-01 -7.27202714e-01 4.82838355e-03 1.30963105e+02] [ 7.27183786e-01 -6.86422760e-01 -5.24750550e-03 1.48853292e+02] [ 7.13031260e-03 -9.07958955e-05 9.99974575e-01 5.75336386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.94, Y:148.87, Z:5.75 [[-6.87021966e-01 -7.26618286e-01 5.16565475e-03 1.30943851e+02] [ 7.26596631e-01 -6.87041379e-01 -5.61067523e-03 1.48872609e+02] [ 7.62583778e-03 -1.01309789e-04 9.99970918e-01 5.75353693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.290385723 meters Centerline goodness [0,1] 0.9999782187275381 Centerline is valid? [True, True] Translation: X:130.92, Y:148.89, Z:5.75 [[-6.87185820e-01 -7.26462700e-01 5.25315390e-03 1.30923496e+02] [ 7.26440325e-01 -6.87205890e-01 -5.70251001e-03 1.48891594e+02] [ 7.75265912e-03 -1.02581191e-04 9.99969942e-01 5.75409374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.90, Y:148.91, Z:5.75 [[-6.86192495e-01 -7.27402551e-01 5.03872686e-03 1.30903228e+02] [ 7.27382015e-01 -6.86210989e-01 -5.46660691e-03 1.48910224e+02] [ 7.43405355e-03 -8.60653343e-05 9.99972363e-01 5.75396939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.350385723 meters Centerline goodness [0,1] 0.9999565094483224 Centerline is valid? [True, True] Translation: X:130.88, Y:148.93, Z:5.75 [[-6.84814021e-01 -7.28700748e-01 4.99764689e-03 1.30882672e+02] [ 7.28680601e-01 -6.84832253e-01 -5.41904415e-03 1.48928880e+02] [ 7.37141131e-03 -6.93490755e-05 9.99972828e-01 5.75356376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.86, Y:148.95, Z:5.75 [[-6.84279409e-01 -7.29205387e-01 4.60373853e-03 1.30862928e+02] [ 7.29188321e-01 -6.84294893e-01 -4.98917826e-03 1.48948828e+02] [ 6.78845043e-03 -5.69995834e-05 9.99976957e-01 5.75403052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.84, Y:148.97, Z:5.75 [[-6.83859367e-01 -7.29599723e-01 4.53983842e-03 1.30844574e+02] [ 7.29583157e-01 -6.83874434e-01 -4.91674025e-03 1.48967259e+02] [ 6.69193175e-03 -5.01692255e-05 9.99977608e-01 5.75406804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.82, Y:148.99, Z:5.75 [[-6.83322473e-01 -7.30101864e-01 4.65471535e-03 1.30824721e+02] [ 7.30084483e-01 -6.83338325e-01 -5.03807172e-03 1.48985936e+02] [ 6.85905094e-03 -4.42921790e-05 9.99976475e-01 5.75383312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.81, Y:149.01, Z:5.75 [[-6.83545117e-01 -7.29893412e-01 4.65625174e-03 1.30806491e+02] [ 7.29876035e-01 -6.83560974e-01 -5.03665180e-03 1.49005527e+02] [ 6.85905094e-03 -4.42921804e-05 9.99976475e-01 5.75383335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.500385723 meters Centerline goodness [0,1] 0.9999131265745809 Centerline is valid? [True, True] Translation: X:130.79, Y:149.02, Z:5.75 [[-6.83642845e-01 -7.29802293e-01 4.59060466e-03 1.30787334e+02] [ 7.29785421e-01 -6.83658257e-01 -4.96258683e-03 1.49024861e+02] [ 6.76011203e-03 -4.24806275e-05 9.99977149e-01 5.75378096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.77, Y:149.04, Z:5.75 [[-6.83268652e-01 -7.30154926e-01 4.21120526e-03 1.30768320e+02] [ 7.30140752e-01 -6.83281628e-01 -4.54950932e-03 1.49043389e+02] [ 6.19928582e-03 -3.37645220e-05 9.99980784e-01 5.75424887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.56038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.75, Y:149.06, Z:5.75 [[-6.82881134e-01 -7.30519411e-01 3.84021274e-03 1.30749753e+02] [ 7.30507646e-01 -6.82891931e-01 -4.14606611e-03 1.49061853e+02] [ 5.65123206e-03 -2.59655576e-05 9.99984031e-01 5.75487496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.590385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.73, Y:149.08, Z:5.75 [[-6.82566935e-01 -7.30814037e-01 3.63635887e-03 1.30730505e+02] [ 7.30803504e-01 -6.82576621e-01 -3.92363748e-03 1.49081141e+02] [ 5.34954290e-03 -2.06814073e-05 9.99985691e-01 5.75466019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.62038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.71, Y:149.10, Z:5.75 [[-6.82032449e-01 -7.31309217e-01 4.30912618e-03 1.30709960e+02] [ 7.31294453e-01 -6.82046061e-01 -4.64699281e-03 1.49099951e+02] [ 6.33741121e-03 -1.81598174e-05 9.99979918e-01 5.75369201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.650385723 meters Centerline goodness [0,1] 0.9998918310834198 Centerline is valid? [True, True] Translation: X:130.69, Y:149.12, Z:5.75 [[-6.81782547e-01 -7.31543103e-01 4.15293666e-03 1.30691539e+02] [ 7.31529412e-01 -6.81795195e-01 -4.47565239e-03 1.49118933e+02] [ 6.10558490e-03 -1.34263728e-05 9.99981361e-01 5.75304430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.680385723 meters Centerline goodness [0,1] 0.999978366216684 Centerline is valid? [True, True] Translation: X:130.67, Y:149.14, Z:5.75 [[-6.82007757e-01 -7.31331492e-01 4.43478649e-03 1.30673316e+02] [ 7.31315895e-01 -6.82022176e-01 -4.77634332e-03 1.49138233e+02] [ 6.51771302e-03 -1.42733495e-05 9.99978759e-01 5.75223572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.66, Y:149.16, Z:5.75 [[-6.82365578e-01 -7.30997949e-01 4.38380798e-03 1.30656064e+02] [ 7.30982720e-01 -6.82379659e-01 -4.71844607e-03 1.49157403e+02] [ 6.44059579e-03 -1.52173017e-05 9.99979259e-01 5.75147226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.740385723 meters Centerline goodness [0,1] 0.9999348576639958 Centerline is valid? [True, True] Translation: X:130.64, Y:149.18, Z:5.75 [[-6.83573646e-01 -7.29868808e-01 4.31197717e-03 1.30638774e+02] [ 7.29854069e-01 -6.83587246e-01 -4.63847794e-03 1.49178643e+02] [ 6.33309296e-03 -2.36272000e-05 9.99979946e-01 5.75170951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.62, Y:149.20, Z:5.75 [[-6.84060058e-01 -7.29412404e-01 4.40252206e-03 1.30621534e+02] [ 7.29397048e-01 -6.84074224e-01 -4.73304195e-03 1.49198207e+02] [ 6.46399137e-03 -2.64983511e-05 9.99979108e-01 5.75155899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.800385723 meters Centerline goodness [0,1] 0.9999782844733984 Centerline is valid? [True, True] Translation: X:130.60, Y:149.22, Z:5.75 [[-6.84814644e-01 -7.28702032e-01 4.71717618e-03 1.30603134e+02] [ 7.28684406e-01 -6.84830890e-01 -5.06849869e-03 1.49219665e+02] [ 6.92389326e-03 -3.36494043e-05 9.99976029e-01 5.75258497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.58, Y:149.24, Z:5.75 [[-6.85443385e-01 -7.28109596e-01 4.87678698e-03 1.30584294e+02] [ 7.28090762e-01 -6.85460732e-01 -5.23706950e-03 1.49240978e+02] [ 7.15600653e-03 -3.89710942e-05 9.99974395e-01 5.75235866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.57, Y:149.26, Z:5.75 [[-6.86182551e-01 -7.27410610e-01 5.22602278e-03 1.30567745e+02] [ 7.27388988e-01 -6.86202450e-01 -5.60880907e-03 1.49262034e+02] [ 7.66601687e-03 -4.73154957e-05 9.99970615e-01 5.75047141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.55, Y:149.28, Z:5.75 [[-6.86728573e-01 -7.26891874e-01 5.66299257e-03 1.30548647e+02] [ 7.26866495e-01 -6.86751920e-01 -6.07444381e-03 1.49282871e+02] [ 8.30453486e-03 -5.52545729e-05 9.99965515e-01 5.75091664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.53, Y:149.30, Z:5.75 [[-6.87455022e-01 -7.26198873e-01 6.38672563e-03 1.30533110e+02] [ 7.26166592e-01 -6.87484686e-01 -6.84748033e-03 1.49304336e+02] [ 9.36340855e-03 -6.95079566e-05 9.99956160e-01 5.74817542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.51, Y:149.32, Z:5.75 [[-6.87783304e-01 -7.25887757e-01 6.41020945e-03 1.30513709e+02] [ 7.25855265e-01 -6.87813171e-01 -6.86844931e-03 1.49323004e+02] [ 9.39474976e-03 -7.11204814e-05 9.99955866e-01 5.74975198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.50, Y:149.34, Z:5.75 [[-6.88013411e-01 -7.25668482e-01 6.54215708e-03 1.30496709e+02] [ 7.25634672e-01 -6.88044511e-01 -7.00532984e-03 1.49342918e+02] [ 9.58484234e-03 -7.25448718e-05 9.99954062e-01 5.74969871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.010385723 meters Centerline goodness [0,1] 0.9999782229965157 Centerline is valid? [True, True] Translation: X:130.48, Y:149.36, Z:5.75 [[-6.88198243e-01 -7.25492054e-01 6.66768255e-03 1.30478326e+02] [ 7.25456967e-01 -6.88230539e-01 -7.13544466e-03 1.49363385e+02] [ 9.76561116e-03 -7.34837162e-05 9.99952313e-01 5.74956159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.46, Y:149.38, Z:5.75 [[-6.88230362e-01 -7.25468690e-01 5.84368968e-03 1.30459801e+02] [ 7.25441771e-01 -6.88255168e-01 -6.24989289e-03 1.49383811e+02] [ 8.55605123e-03 -6.21094477e-05 9.99963394e-01 5.75053662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.44, Y:149.40, Z:5.75 [[-6.88591965e-01 -7.25126702e-01 5.68966561e-03 1.30439749e+02] [ 7.25101200e-01 -6.88615468e-01 -6.08178186e-03 1.49404186e+02] [ 8.32805417e-03 -6.22827618e-05 9.99965319e-01 5.75121930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.42, Y:149.42, Z:5.75 [[-6.88855051e-01 -7.24876080e-01 5.77821014e-03 1.30420300e+02] [ 7.24849798e-01 -6.88879282e-01 -6.17299602e-03 1.49424719e+02] [ 8.45514641e-03 -6.39650389e-05 9.99964253e-01 5.75081327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.40, Y:149.45, Z:5.75 [[-6.89123675e-01 -7.24617759e-01 6.13716562e-03 1.30402615e+02] [ 7.24588134e-01 -6.89150999e-01 -6.55263558e-03 1.49445399e+02] [ 8.97758993e-03 -6.86589221e-05 9.99959698e-01 5.74987685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.39, Y:149.47, Z:5.75 [[-6.89209271e-01 -7.24531783e-01 6.65396586e-03 1.30385048e+02] [ 7.24496993e-01 -6.89241387e-01 -7.10052069e-03 1.49467257e+02] [ 9.73074158e-03 -7.29664368e-05 9.99952653e-01 5.75035470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.37, Y:149.49, Z:5.75 [[-6.89631227e-01 -7.24130927e-01 6.57050176e-03 1.30367823e+02] [ 7.24097029e-01 -6.89662523e-01 -7.00692263e-03 1.49486683e+02] [ 9.60535819e-03 -7.45118501e-05 9.99953865e-01 5.75025233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.35, Y:149.51, Z:5.75 [[-6.89968487e-01 -7.23813945e-01 6.07128534e-03 1.30349916e+02] [ 7.23785025e-01 -6.89995195e-01 -6.47059137e-03 1.49506682e+02] [ 8.87266197e-03 -7.01987252e-05 9.99960635e-01 5.75022107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.33, Y:149.53, Z:5.75 [[-6.89987038e-01 -7.23793058e-01 6.44180509e-03 1.30332137e+02] [ 7.23760530e-01 -6.90017105e-01 -6.86224041e-03 1.49525908e+02] [ 9.41179767e-03 -7.25326664e-05 9.99955705e-01 5.74957161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.280385723 meters Centerline goodness [0,1] 0.9999781930784831 Centerline is valid? [True, True] Translation: X:130.31, Y:149.55, Z:5.75 [[-6.89278349e-01 -7.24462334e-01 7.04870172e-03 1.30314448e+02] [ 7.24423473e-01 -6.89314385e-01 -7.50402953e-03 1.49545634e+02] [ 1.02951582e-02 -6.61201059e-05 9.99947001e-01 5.74817211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.31038572299997 meters Centerline goodness [0,1] 0.9999342897820611 Centerline is valid? [True, True] Translation: X:130.30, Y:149.57, Z:5.75 [[-6.88975729e-01 -7.24746243e-01 7.43831609e-03 1.30296568e+02] [ 7.24703035e-01 -6.89015878e-01 -7.91399073e-03 1.49565778e+02] [ 1.08607529e-02 -6.19772916e-05 9.99941018e-01 5.74887476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.340385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.28, Y:149.59, Z:5.75 [[-6.88408433e-01 -7.25284543e-01 7.49406677e-03 1.30278563e+02] [ 7.25240766e-01 -6.88449220e-01 -7.96888438e-03 1.49587205e+02] [ 1.09389931e-02 -5.08444897e-05 9.99940166e-01 5.74937508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.37038572299997 meters Centerline goodness [0,1] 0.9999780826721606 Centerline is valid? [True, True] Translation: X:130.26, Y:149.61, Z:5.75 [[-6.88316245e-01 -7.25366838e-01 7.98106564e-03 1.30259505e+02] [ 7.25317246e-01 -6.88362512e-01 -8.48203748e-03 1.49607683e+02] [ 1.16464551e-02 -4.95196354e-05 9.99932177e-01 5.74906265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.24, Y:149.63, Z:5.75 [[-6.88018526e-01 -7.25649024e-01 8.00009681e-03 1.30241426e+02] [ 7.25599269e-01 -6.88065035e-01 -8.49757536e-03 1.49628715e+02] [ 1.16708442e-02 -4.16248727e-05 9.99931893e-01 5.74803753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.22, Y:149.65, Z:5.75 [[-6.88200013e-01 -7.25474121e-01 8.24873123e-03 1.30223410e+02] [ 7.25421271e-01 -6.88249444e-01 -8.75685155e-03 1.49650110e+02] [ 1.20300539e-02 -4.26602607e-05 9.99927635e-01 5.74835451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.21, Y:149.67, Z:5.75 [[-6.88886822e-01 -7.24823506e-01 8.11366686e-03 1.30206226e+02] [ 7.24772383e-01 -6.88934600e-01 -8.60868708e-03 1.49672627e+02] [ 1.18295646e-02 -4.98494166e-05 9.99930027e-01 5.74890600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.490385723 meters Centerline goodness [0,1] 0.999956124956125 Centerline is valid? [True, True] Translation: X:130.19, Y:149.69, Z:5.75 [[-6.88966259e-01 -7.24747945e-01 8.11848983e-03 1.30187277e+02] [ 7.24696813e-01 -6.89014088e-01 -8.60901305e-03 1.49694037e+02] [ 1.18331184e-02 -4.78758051e-05 9.99929985e-01 5.74903040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.520385723 meters Centerline goodness [0,1] 0.9999780321170448 Centerline is valid? [True, True] Translation: X:130.17, Y:149.72, Z:5.75 [[-6.89039064e-01 -7.24684442e-01 7.59128242e-03 1.30168954e+02] [ 7.24639782e-01 -6.89080879e-01 -8.04544666e-03 1.49715585e+02] [ 1.10614176e-02 -4.26818015e-05 9.99938820e-01 5.74965813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.15, Y:149.74, Z:5.75 [[-6.89358036e-01 -7.24383196e-01 7.38126974e-03 1.30150347e+02] [ 7.24341003e-01 -6.89397551e-01 -7.81850702e-03 1.49736927e+02] [ 1.07522244e-02 -4.31943204e-05 9.99942192e-01 5.74950547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.13, Y:149.76, Z:5.75 [[-6.90373235e-01 -7.23420152e-01 6.93401699e-03 1.30133491e+02] [ 7.23382909e-01 -6.90408054e-01 -7.34065825e-03 1.49759001e+02] [ 1.00976813e-02 -5.18446038e-05 9.99949016e-01 5.74918768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.12, Y:149.78, Z:5.75 [[-6.90851174e-01 -7.22965078e-01 6.79349845e-03 1.30116001e+02] [ 7.22929349e-01 -6.90884573e-01 -7.18766074e-03 1.49780399e+02] [ 9.88995099e-03 -5.43844506e-05 9.99951092e-01 5.74902647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.10, Y:149.80, Z:5.75 [[-6.90364580e-01 -7.23428607e-01 6.91349574e-03 1.30098231e+02] [ 7.23391670e-01 -6.90399195e-01 -7.31050954e-03 1.49802386e+02] [ 1.00617036e-02 -4.57516217e-05 9.99949379e-01 5.74996820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.08, Y:149.82, Z:5.75 [[-6.89933505e-01 -7.23842805e-01 6.58429023e-03 1.30079895e+02] [ 7.23809360e-01 -6.89964922e-01 -6.95828832e-03 1.49822165e+02] [ 9.57963623e-03 -3.49853511e-05 9.99954114e-01 5.74994420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.06, Y:149.84, Z:5.75 [[-6.88021610e-01 -7.25656036e-01 7.04143267e-03 1.30060221e+02] [ 7.25617922e-01 -6.88057642e-01 -7.43725400e-03 1.49842249e+02] [ 1.02417998e-02 -7.60173224e-06 9.99947551e-01 5.74878787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.04, Y:149.86, Z:5.75 [[-6.85711175e-01 -7.27834729e-01 7.53596313e-03 1.30041254e+02] [ 7.27791241e-01 -6.85752584e-01 -7.95633006e-03 1.49862233e+02] [ 1.09586995e-02 2.88635241e-05 9.99939951e-01 5.74735665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.02, Y:149.88, Z:5.75 [[-6.84850415e-01 -7.28639752e-01 8.00131221e-03 1.30022447e+02] [ 7.28590840e-01 -6.84897153e-01 -8.44268093e-03 1.49881789e+02] [ 1.16317489e-02 4.77092447e-05 9.99932348e-01 5.74649676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.00, Y:149.90, Z:5.75 [[-6.84056242e-01 -7.29383171e-01 8.20047603e-03 1.30003883e+02] [ 7.29331911e-01 -6.84105390e-01 -8.64746643e-03 1.49901578e+02] [ 1.19173063e-02 6.55154674e-05 9.99928984e-01 5.74616011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.820385723 meters Centerline goodness [0,1] 0.9999778829566064 Centerline is valid? [True, True] Translation: X:129.99, Y:149.92, Z:5.75 [[-6.82929689e-01 -7.30428931e-01 8.97866611e-03 1.29985420e+02] [ 7.30367638e-01 -6.82988703e-01 -9.46283068e-03 1.49923319e+02] [ 1.30442528e-02 9.52791467e-05 9.99914916e-01 5.74551876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.97, Y:149.94, Z:5.75 [[-6.82950592e-01 -7.30408650e-01 9.03846211e-03 1.29967112e+02] [ 7.30346614e-01 -6.83010391e-01 -9.51992574e-03 1.49943757e+02] [ 1.31267996e-02 9.95712819e-05 9.99913835e-01 5.74540257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.95, Y:149.97, Z:5.75 [[-6.83531246e-01 -7.29868062e-01 8.81177193e-03 1.29949109e+02] [ 7.29809120e-01 -6.83588036e-01 -9.27601745e-03 1.49966024e+02] [ 1.27938908e-02 9.04637476e-05 9.99918151e-01 5.74600219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.910385723 meters Centerline goodness [0,1] 0.9999777436513766 Centerline is valid? [True, True] Translation: X:129.93, Y:149.99, Z:5.75 [[-6.85326352e-01 -7.28184838e-01 8.63902598e-03 1.29933254e+02] [ 7.28128114e-01 -6.85380798e-01 -9.08910638e-03 1.49989968e+02] [ 1.25395720e-02 6.13135645e-05 9.99921375e-01 5.74732712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.92, Y:150.01, Z:5.75 [[-6.86750782e-01 -7.26839026e-01 8.85403452e-03 1.29916863e+02] [ 7.26779401e-01 -6.86807854e-01 -9.30984700e-03 1.50011569e+02] [ 1.28477806e-02 4.13852045e-05 9.99917463e-01 5.74795954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.90, Y:150.03, Z:5.75 [[-6.88142551e-01 -7.25523162e-01 8.71609502e-03 1.29900791e+02] [ 7.25465351e-01 -6.88197748e-01 -9.15885374e-03 1.50032162e+02] [ 1.26433575e-02 2.06279485e-05 9.99920069e-01 5.74812686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.88, Y:150.05, Z:5.75 [[-6.90773506e-01 -7.23021827e-01 8.44990605e-03 1.29884052e+02] [ 7.22967372e-01 -6.90825185e-01 -8.87369624e-03 1.50054411e+02] [ 1.22532840e-02 -2.07078873e-05 9.99924926e-01 5.74847837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.87, Y:150.08, Z:5.75 [[-6.92344594e-01 -7.21514027e-01 8.74482570e-03 1.29866108e+02] [ 7.21455655e-01 -6.92399817e-01 -9.17776951e-03 1.50075213e+02] [ 1.26768051e-02 -4.51751501e-05 9.99919645e-01 5.74842588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.06038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.85, Y:150.10, Z:5.75 [[-6.94715415e-01 -7.19225696e-01 9.21362913e-03 1.29849370e+02] [ 7.19160765e-01 -6.94776504e-01 -9.66451389e-03 1.50097968e+02] [ 1.33523798e-02 -8.80061978e-05 9.99910849e-01 5.74748644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.090385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.83, Y:150.12, Z:5.75 [[-6.96039044e-01 -7.17941907e-01 9.43757615e-03 1.29832163e+02] [ 7.17873745e-01 -6.96103014e-01 -9.89342957e-03 1.50118895e+02] [ 1.36724329e-02 -1.11225130e-04 9.99906522e-01 5.74720459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.12038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.82, Y:150.14, Z:5.75 [[-6.97650518e-01 -7.16377054e-01 9.36329047e-03 1.29815918e+02] [ 7.16309900e-01 -6.97713335e-01 -9.80964762e-03 1.50140530e+02] [ 1.35602991e-02 -1.36688080e-04 9.99908046e-01 5.74726674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.80, Y:150.16, Z:5.75 [[-6.98270142e-01 -7.15774061e-01 9.28991604e-03 1.29798682e+02] [ 7.15707985e-01 -6.98331922e-01 -9.72662951e-03 1.50160189e+02] [ 1.34495140e-02 -1.42947879e-04 9.99909541e-01 5.74743734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.78, Y:150.18, Z:5.75 [[-6.98900649e-01 -7.15163072e-01 8.92543603e-03 1.29780000e+02] [ 7.15102103e-01 -6.98957624e-01 -9.33924975e-03 1.50179563e+02] [ 1.29175881e-02 -1.44609640e-04 9.99916554e-01 5.74879580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.76, Y:150.20, Z:5.75 [[-6.99150480e-01 -7.14921413e-01 8.71667381e-03 1.29762532e+02] [ 7.14863319e-01 -6.99204801e-01 -9.11491504e-03 1.50198685e+02] [ 1.26111881e-02 -1.41466851e-04 9.99920466e-01 5.74765610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.74, Y:150.22, Z:5.75 [[-6.98550064e-01 -7.15511344e-01 8.44539517e-03 1.29742404e+02] [ 7.15456917e-01 -6.98601103e-01 -8.82602694e-03 1.50217745e+02] [ 1.22150848e-02 -1.23105298e-04 9.99925386e-01 5.74807615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.72, Y:150.24, Z:5.75 [[-6.97284995e-01 -7.16743923e-01 8.47259287e-03 1.29721601e+02] [ 7.16689301e-01 -6.97336460e-01 -8.84912429e-03 1.50236060e+02] [ 1.22508040e-02 -9.81449155e-05 9.99924951e-01 5.74847186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.70, Y:150.25, Z:5.75 [[-6.96929208e-01 -7.17087221e-01 8.69465199e-03 1.29701360e+02] [ 7.17029795e-01 -6.96983435e-01 -9.07542900e-03 1.50254577e+02] [ 1.25679026e-02 -9.06070083e-05 9.99921017e-01 5.74879266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.68, Y:150.27, Z:5.75 [[-6.97126170e-01 -7.16895713e-01 8.69714516e-03 1.29682221e+02] [ 7.16838302e-01 -6.97180414e-01 -9.07303977e-03 1.50274465e+02] [ 1.25679026e-02 -9.06067002e-05 9.99921017e-01 5.74879290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.360385723 meters Centerline goodness [0,1] 0.9999775950529877 Centerline is valid? [True, True] Translation: X:129.66, Y:150.29, Z:5.75 [[-6.96676299e-01 -7.17325993e-01 9.24949413e-03 1.29661849e+02] [ 7.17261169e-01 -6.96737693e-01 -9.64384982e-03 1.50293549e+02] [ 1.33622554e-02 -8.43386355e-05 9.99910718e-01 5.74852343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.64, Y:150.31, Z:5.75 [[-6.95996598e-01 -7.17984781e-01 9.30537877e-03 1.29642159e+02] [ 7.17919283e-01 -6.96058798e-01 -9.69814465e-03 1.50312053e+02] [ 1.34402110e-02 -6.93648333e-05 9.99909674e-01 5.74634302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.420385723 meters Centerline goodness [0,1] 0.9999776291358136 Centerline is valid? [True, True] Translation: X:129.62, Y:150.33, Z:5.75 [[-6.95947815e-01 -7.18032945e-01 9.23733762e-03 1.29621744e+02] [ 7.17968476e-01 -6.96009114e-01 -9.62190612e-03 1.50331235e+02] [ 1.33381168e-02 -6.42273283e-05 9.99911041e-01 5.74821557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.450385723 meters Centerline goodness [0,1] 0.9999776705966417 Centerline is valid? [True, True] Translation: X:129.60, Y:150.35, Z:5.75 [[-6.96099780e-01 -7.17890600e-01 8.84207645e-03 1.29602543e+02] [ 7.17831596e-01 -6.96155933e-01 -9.20418215e-03 1.50349151e+02] [ 1.27630598e-02 -5.99073253e-05 9.99918547e-01 5.74819444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.58, Y:150.37, Z:5.75 [[-6.96519532e-01 -7.17485740e-01 8.64606541e-03 1.29582404e+02] [ 7.17429354e-01 -6.96573190e-01 -8.99512691e-03 1.50368893e+02] [ 1.24764927e-02 -6.23404653e-05 9.99922164e-01 5.74889826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.510385723 meters Centerline goodness [0,1] 0.9999553511631022 Centerline is valid? [True, True] Translation: X:129.56, Y:150.39, Z:5.75 [[-6.97088445e-01 -7.16939363e-01 8.10249305e-03 1.29562720e+02] [ 7.16889862e-01 -6.97135529e-01 -8.42494156e-03 1.50388423e+02] [ 1.16887080e-02 -6.43342907e-05 9.99931683e-01 5.74947742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.54, Y:150.41, Z:5.75 [[-6.97741282e-01 -7.16302024e-01 8.27729377e-03 1.29542946e+02] [ 7.16250377e-01 -6.97790373e-01 -8.60193098e-03 1.50408746e+02] [ 1.19373965e-02 -7.33075666e-05 9.99928744e-01 5.74959734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.52, Y:150.43, Z:5.75 [[-6.99343010e-01 -7.14735776e-01 8.49263044e-03 1.29523506e+02] [ 7.14681350e-01 -6.99394567e-01 -8.82083830e-03 1.50428893e+02] [ 1.22442683e-02 -9.92670242e-05 9.99925031e-01 5.74970352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.50, Y:150.45, Z:5.75 [[-6.99961139e-01 -7.14131939e-01 8.36527211e-03 1.29503572e+02] [ 7.14079148e-01 -7.00011117e-01 -8.68374014e-03 1.50448824e+02] [ 1.20571197e-02 -1.04814263e-04 9.99927305e-01 5.74974524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.48, Y:150.47, Z:5.75 [[-7.00701787e-01 -7.13397423e-01 9.00680255e-03 1.29483430e+02] [ 7.13336213e-01 -7.00759661e-01 -9.34590479e-03 1.50467313e+02] [ 1.29789483e-02 -1.23813770e-04 9.99915762e-01 5.74918767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.660385723 meters Centerline goodness [0,1] 0.9999777925827227 Centerline is valid? [True, True] Translation: X:129.46, Y:150.49, Z:5.75 [[-7.00850381e-01 -7.13251847e-01 8.97477194e-03 1.29462565e+02] [ 7.13191127e-01 -7.00907831e-01 -9.30742079e-03 1.50486733e+02] [ 1.29290230e-02 -1.22381688e-04 9.99916409e-01 5.74964622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.44, Y:150.51, Z:5.75 [[-7.00852823e-01 -7.13248973e-01 9.01240641e-03 1.29443563e+02] [ 7.13187792e-01 -7.00910757e-01 -9.34260407e-03 1.50505647e+02] [ 1.29804953e-02 -1.20252211e-04 9.99915743e-01 5.74874353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.42, Y:150.52, Z:5.75 [[-7.00503427e-01 -7.13591851e-01 9.03432103e-03 1.29422590e+02] [ 7.13530476e-01 -7.00561674e-01 -9.35955284e-03 1.50522861e+02] [ 1.30079997e-02 -1.10135460e-04 9.99915386e-01 5.74899726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.40, Y:150.54, Z:5.75 [[-7.00625784e-01 -7.13472401e-01 8.98023812e-03 1.29401855e+02] [ 7.13411815e-01 -7.00683325e-01 -9.29841562e-03 1.50542408e+02] [ 1.29264660e-02 -1.08101758e-04 9.99916444e-01 5.74922113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.38, Y:150.56, Z:5.75 [[-7.01148081e-01 -7.12963359e-01 8.63814996e-03 1.29382255e+02] [ 7.12907335e-01 -7.01201281e-01 -8.93841998e-03 1.50560345e+02] [ 1.24298478e-02 -1.08955547e-04 9.99922741e-01 5.74979543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.81038572299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.36, Y:150.58, Z:5.75 [[-7.01630238e-01 -7.12492421e-01 8.34024583e-03 1.29362805e+02] [ 7.12440225e-01 -7.01679797e-01 -8.62487672e-03 1.50579477e+02] [ 1.19973413e-02 -1.09547686e-04 9.99928023e-01 5.75045036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.840385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.34, Y:150.60, Z:5.75 [[-7.02118846e-01 -7.12011389e-01 8.30108396e-03 1.29342694e+02] [ 7.11959711e-01 -7.02167906e-01 -8.57910921e-03 1.50597289e+02] [ 1.19371782e-02 -1.13516910e-04 9.99928743e-01 5.75126289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.87038572299997 meters Centerline goodness [0,1] 0.9999778863802216 Centerline is valid? [True, True] Translation: X:129.32, Y:150.62, Z:5.75 [[-7.02362797e-01 -7.11773761e-01 8.03833248e-03 1.29322312e+02] [ 7.11725346e-01 -7.02408785e-01 -8.30244514e-03 1.50616073e+02] [ 1.15556579e-02 -1.10243627e-04 9.99933225e-01 5.75146712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.30, Y:150.63, Z:5.75 [[-7.02335946e-01 -7.11801060e-01 7.96678758e-03 1.29300954e+02] [ 7.11753563e-01 -7.02381122e-01 -8.22351989e-03 1.50633668e+02] [ 1.14492314e-02 -1.05284181e-04 9.99934450e-01 5.75154611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.28, Y:150.65, Z:5.75 [[-7.02371403e-01 -7.11769368e-01 7.66680746e-03 1.29281027e+02] [ 7.11725431e-01 -7.02413239e-01 -7.90902320e-03 1.50652196e+02] [ 1.10146675e-02 -9.84098741e-05 9.99939332e-01 5.75131961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.960385723 meters Centerline goodness [0,1] 0.9999779502557771 Centerline is valid? [True, True] Translation: X:129.26, Y:150.67, Z:5.75 [[-7.01953510e-01 -7.12175504e-01 8.20497661e-03 1.29260056e+02] [ 7.12125272e-01 -7.02001455e-01 -8.45900742e-03 1.50669946e+02] [ 1.17842034e-02 -9.48587465e-05 9.99930559e-01 5.75135744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.990385723 meters Centerline goodness [0,1] 0.9999779599753151 Centerline is valid? [True, True] Translation: X:129.24, Y:150.69, Z:5.75 [[-7.02068464e-01 -7.12060443e-01 8.35449286e-03 1.29239410e+02] [ 7.12008412e-01 -7.02118164e-01 -8.60844243e-03 1.50688912e+02] [ 1.19955725e-02 -9.52467573e-05 9.99928046e-01 5.75139155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.22, Y:150.71, Z:5.75 [[-7.02173688e-01 -7.11951283e-01 8.80237794e-03 1.29219737e+02] [ 7.11893589e-01 -7.02228852e-01 -9.06409679e-03 1.50705942e+02] [ 1.26344791e-02 -9.82138558e-05 9.99920177e-01 5.75095940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.050385723 meters Centerline goodness [0,1] 0.9999780658463293 Centerline is valid? [True, True] Translation: X:129.20, Y:150.73, Z:5.75 [[-7.02325315e-01 -7.11807523e-01 8.31878467e-03 1.29199765e+02] [ 7.11756045e-01 -7.02374574e-01 -8.56093392e-03 1.50725066e+02] [ 1.19366400e-02 -9.16153340e-05 9.99928752e-01 5.75173965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.18, Y:150.74, Z:5.75 [[-7.03610900e-01 -7.10542357e-01 7.82687584e-03 1.29180355e+02] [ 7.10496767e-01 -7.03654424e-01 -8.04958600e-03 1.50743262e+02] [ 1.12269876e-02 -1.02806468e-04 9.99936970e-01 5.75338625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.16, Y:150.76, Z:5.75 [[-7.04590004e-01 -7.09572562e-01 7.72687202e-03 1.29159965e+02] [ 7.09528120e-01 -7.04632362e-01 -7.94233464e-03 1.50762740e+02] [ 1.10802668e-02 -1.13656615e-04 9.99938606e-01 5.75421596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.14, Y:150.78, Z:5.75 [[-7.06296718e-01 -7.07868420e-01 8.20039038e-03 1.29140282e+02] [ 7.07818306e-01 -7.06344306e-01 -8.42413162e-03 1.50781885e+02] [ 1.17554758e-02 -1.45550086e-04 9.99930891e-01 5.75396779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.170385723 meters Centerline goodness [0,1] 0.9998691584708986 Centerline is valid? [True, True] Translation: X:129.12, Y:150.80, Z:5.75 [[-7.07097817e-01 -7.07065142e-01 8.45941955e-03 1.29120551e+02] [ 7.07011820e-01 -7.07148400e-01 -8.68489801e-03 1.50800842e+02] [ 1.21228536e-02 -1.60162817e-04 9.99926503e-01 5.75395279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.200385723 meters Centerline goodness [0,1] 0.9996947896228472 Centerline is valid? [True, True] Translation: X:129.10, Y:150.82, Z:5.75 [[-7.07923784e-01 -7.06236731e-01 8.57881362e-03 1.29101131e+02] [ 7.06181902e-01 -7.07975741e-01 -8.80181354e-03 1.50818345e+02] [ 1.22897560e-02 -1.72810223e-04 9.99924463e-01 5.75327846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.230385723 meters Centerline goodness [0,1] 0.9995861468089741 Centerline is valid? [True, True] Translation: X:129.08, Y:150.84, Z:5.75 [[-7.08407032e-01 -7.05753696e-01 8.43786677e-03 1.29080511e+02] [ 7.05700676e-01 -7.08457261e-01 -8.65244764e-03 1.50836948e+02] [ 1.20843649e-02 -1.74846468e-04 9.99926966e-01 5.75441125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.260385723 meters Centerline goodness [0,1] 0.9999565680036483 Centerline is valid? [True, True] Translation: X:129.06, Y:150.85, Z:5.76 [[-7.09409715e-01 -7.04758144e-01 7.33583872e-03 1.29059026e+02] [ 7.04718060e-01 -7.09447624e-01 -7.51824255e-03 1.50854700e+02] [ 1.05029360e-02 -1.63816270e-04 9.99944829e-01 5.75608199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.04, Y:150.87, Z:5.76 [[-7.10091875e-01 -7.04071149e-01 7.30378454e-03 1.29038362e+02] [ 7.04031422e-01 -7.10129416e-01 -7.48128571e-03 1.50873851e+02] [ 1.04539897e-02 -1.70306386e-04 9.99945341e-01 5.75608814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.320385723 meters Centerline goodness [0,1] 0.9998262305052348 Centerline is valid? [True, True] Translation: X:129.02, Y:150.89, Z:5.76 [[-7.10507154e-01 -7.03647209e-01 7.75817117e-03 1.29017325e+02] [ 7.03602408e-01 -7.10549485e-01 -7.94232289e-03 1.50893181e+02] [ 1.11011579e-02 -1.84409314e-04 9.99938363e-01 5.75568291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.350385723 meters Centerline goodness [0,1] 0.9995447154471545 Centerline is valid? [True, True] Translation: X:129.00, Y:150.91, Z:5.75 [[-7.11024079e-01 -7.03110253e-01 8.98511173e-03 1.28997345e+02] [ 7.03050165e-01 -7.11080814e-01 -9.19468346e-03 1.50911083e+02] [ 1.28540168e-02 -2.20657051e-04 9.99917359e-01 5.75488508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.380385723 meters Centerline goodness [0,1] 0.9996540989277066 Centerline is valid? [True, True] Translation: X:128.98, Y:150.93, Z:5.75 [[-7.11697943e-01 -7.02414003e-01 1.00302543e-02 1.28976830e+02] [ 7.02339133e-01 -7.11768574e-01 -1.02586254e-02 1.50929761e+02] [ 1.43450219e-02 -2.56402497e-04 9.99897072e-01 5.75452282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.410385723 meters Centerline goodness [0,1] 0.9996745144841055 Centerline is valid? [True, True] Translation: X:128.96, Y:150.95, Z:5.75 [[-7.12049281e-01 -7.02052754e-01 1.03804053e-02 1.28957512e+02] [ 7.01972601e-01 -7.12124890e-01 -1.06117361e-02 1.50947919e+02] [ 1.48421436e-02 -2.69318954e-04 9.99889813e-01 5.75456157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.440385723 meters Centerline goodness [0,1] 0.9997180532662445 Centerline is valid? [True, True] Translation: X:128.94, Y:150.97, Z:5.76 [[-7.12562331e-01 -7.01537488e-01 1.00039335e-02 1.28937595e+02] [ 7.01463082e-01 -7.12632502e-01 -1.02206552e-02 1.50966101e+02] [ 1.42993010e-02 -2.65463862e-04 9.99897725e-01 5.75534523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.470385723 meters Centerline goodness [0,1] 0.9996986071343997 Centerline is valid? [True, True] Translation: X:128.92, Y:150.98, Z:5.76 [[-7.13456959e-01 -7.00634663e-01 9.49936707e-03 1.28916848e+02] [ 7.00567573e-01 -7.13520146e-01 -9.69926143e-03 1.50984085e+02] [ 1.35736285e-02 -2.65057023e-04 9.99907839e-01 5.75647175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.500385723 meters Centerline goodness [0,1] 0.9998920342899095 Centerline is valid? [True, True] Translation: X:128.90, Y:151.00, Z:5.76 [[-7.14146391e-01 -6.99936978e-01 9.11916563e-03 1.28897255e+02] [ 6.99875168e-01 -7.14204563e-01 -9.30544716e-03 1.51003285e+02] [ 1.30261763e-02 -2.63173919e-04 9.99915121e-01 5.75682624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.530385723 meters Centerline goodness [0,1] 0.9997411450019414 Centerline is valid? [True, True] Translation: X:128.88, Y:151.02, Z:5.76 [[-7.15034865e-01 -6.99019611e-01 9.83489899e-03 1.28875813e+02] [ 6.98947713e-01 -7.15102437e-01 -1.00299066e-02 1.51020979e+02] [ 1.40440616e-02 -2.97652757e-04 9.99901333e-01 5.75781152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.560385723 meters Centerline goodness [0,1] 0.9998283961474935 Centerline is valid? [True, True] Translation: X:128.86, Y:151.04, Z:5.76 [[-7.14809825e-01 -6.99265622e-01 8.63158735e-03 1.28856618e+02] [ 6.99210320e-01 -7.14861893e-01 -8.79790469e-03 1.51040693e+02] [ 1.23224652e-02 -2.53533758e-04 9.99924043e-01 5.75672905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5903857229999 meters Centerline goodness [0,1] 0.9998494137893944 Centerline is valid? [True, True] Translation: X:128.83, Y:151.06, Z:5.76 [[-7.13952935e-01 -7.00138747e-01 8.77161795e-03 1.28832157e+02] [ 7.00081765e-01 -7.14006777e-01 -8.93562965e-03 1.51055624e+02] [ 1.25191752e-02 -2.38769244e-04 9.99921604e-01 5.75773125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.620385723 meters Centerline goodness [0,1] 0.9999570769395858 Centerline is valid? [True, True] Translation: X:128.81, Y:151.07, Z:5.76 [[-7.13437818e-01 -7.00663743e-01 8.76347935e-03 1.28812376e+02] [ 7.00606970e-01 -7.13491603e-01 -8.92219504e-03 1.51074176e+02] [ 1.25041275e-02 -2.25676644e-04 9.99921795e-01 5.75702610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.79, Y:151.09, Z:5.76 [[-7.12456700e-01 -7.01672629e-01 7.80850284e-03 1.28789222e+02] [ 7.01627665e-01 -7.12499466e-01 -7.94554515e-03 1.51091342e+02] [ 1.11387257e-02 -1.82195267e-04 9.99937946e-01 5.75807740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.680385723 meters Centerline goodness [0,1] 0.9999148483235764 Centerline is valid? [True, True] Translation: X:128.77, Y:151.11, Z:5.76 [[-7.12167415e-01 -7.01968762e-01 7.57823152e-03 1.28771089e+02] [ 7.01926475e-01 -7.12207715e-01 -7.70683345e-03 1.51111607e+02] [ 1.08072313e-02 -1.69194318e-04 9.99941586e-01 5.75604524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.710385723 meters Centerline goodness [0,1] 0.9997443436021987 Centerline is valid? [True, True] Translation: X:128.75, Y:151.13, Z:5.76 [[-7.11859440e-01 -7.02272589e-01 8.32759607e-03 1.28747706e+02] [ 7.02221601e-01 -7.11908126e-01 -8.46425537e-03 1.51127596e+02] [ 1.18726978e-02 -1.77542241e-04 9.99929501e-01 5.75824939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.740385723 meters Centerline goodness [0,1] 0.9998507430862066 Centerline is valid? [True, True] Translation: X:128.73, Y:151.15, Z:5.76 [[-7.11989152e-01 -7.02141460e-01 8.29561398e-03 1.28726851e+02] [ 7.02090910e-01 -7.12037456e-01 -8.42706603e-03 1.51146695e+02] [ 1.18237803e-02 -1.75704429e-04 9.99930081e-01 5.75861205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.770385723 meters Centerline goodness [0,1] 0.9998935264054515 Centerline is valid? [True, True] Translation: X:128.71, Y:151.17, Z:5.76 [[-7.12079993e-01 -7.02047933e-01 8.41328755e-03 1.28705850e+02] [ 7.01995988e-01 -7.12129671e-01 -8.54188643e-03 1.51165646e+02] [ 1.19881654e-02 -1.76412320e-04 9.99928124e-01 5.75864137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.800385723 meters Centerline goodness [0,1] 0.9998301738595113 Centerline is valid? [True, True] Translation: X:128.68, Y:151.18, Z:5.76 [[-7.11387698e-01 -7.02755122e-01 7.92346525e-03 1.28683522e+02] [ 7.02709143e-01 -7.11431807e-01 -8.04016475e-03 1.51182420e+02] [ 1.12872722e-02 -1.51782820e-04 9.99936285e-01 5.75814212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.830385723 meters Centerline goodness [0,1] 0.9999575344501773 Centerline is valid? [True, True] Translation: X:128.66, Y:151.20, Z:5.76 [[-7.10380335e-01 -7.03779115e-01 7.39842135e-03 1.28659909e+02] [ 7.03739129e-01 -7.10418850e-01 -7.50312204e-03 1.51198887e+02] [ 1.05365186e-02 -1.23511753e-04 9.99944482e-01 5.75877005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.64, Y:151.22, Z:5.76 [[-7.10020517e-01 -7.04148110e-01 6.80475459e-03 1.28640307e+02] [ 7.04114329e-01 -7.10053116e-01 -6.89818618e-03 1.51218203e+02] [ 9.68908196e-03 -1.06528510e-04 9.99953054e-01 5.75766172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.62, Y:151.24, Z:5.76 [[-7.09873938e-01 -7.04297403e-01 6.64535449e-03 1.28618741e+02] [ 7.04265228e-01 -7.09905035e-01 -6.73282849e-03 1.51237017e+02] [ 9.45948423e-03 -9.93673778e-05 9.99955253e-01 5.75901232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.60, Y:151.26, Z:5.76 [[-7.09924604e-01 -7.04248896e-01 6.36781811e-03 1.28596657e+02] [ 7.04219371e-01 -7.09953156e-01 -6.44939984e-03 1.51255327e+02] [ 9.06283528e-03 -9.42467672e-05 9.99958927e-01 5.75843472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.58, Y:151.27, Z:5.76 [[-7.10516082e-01 -7.03655710e-01 5.96138657e-03 1.28576123e+02] [ 7.03629841e-01 -7.10541084e-01 -6.03437279e-03 1.51273944e+02] [ 8.48193095e-03 -9.29094329e-05 9.99964023e-01 5.75835361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.980385723 meters Centerline goodness [0,1] 0.9999787802911344 Centerline is valid? [True, True] Translation: X:128.56, Y:151.29, Z:5.76 [[-7.11889891e-01 -7.02273006e-01 5.04065391e-03 1.28555492e+02] [ 7.02254496e-01 -7.11907731e-01 -5.09952399e-03 1.51292797e+02] [ 7.16973853e-03 -9.04777062e-05 9.99974293e-01 5.75858435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.010385723 meters Centerline goodness [0,1] 0.9998734711092366 Centerline is valid? [True, True] Translation: X:128.54, Y:151.31, Z:5.76 [[-7.12597882e-01 -7.01556489e-01 4.76983216e-03 1.28536420e+02] [ 7.01539918e-01 -7.12613840e-01 -4.82270454e-03 1.51312061e+02] [ 6.78244808e-03 -9.04213761e-05 9.99976995e-01 5.75860176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.51, Y:151.33, Z:5.76 [[-7.13565420e-01 -7.00581530e-01 3.14828870e-03 1.28514842e+02] [ 7.00574309e-01 -7.13572362e-01 -3.18139051e-03 1.51330030e+02] [ 4.47535523e-03 -6.45200799e-05 9.99989983e-01 5.75994488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.070385723 meters Centerline goodness [0,1] 0.9999577443958505 Centerline is valid? [True, True] Translation: X:128.50, Y:151.35, Z:5.76 [[-7.13689947e-01 -7.00456058e-01 2.82326560e-03 1.28495467e+02] [ 7.00450257e-01 -7.13695529e-01 -2.85125202e-03 1.51349125e+02] [ 4.01212879e-03 -5.73527896e-05 9.99991950e-01 5.75976851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.100385723 meters Centerline goodness [0,1] 0.9998515250498452 Centerline is valid? [True, True] Translation: X:128.47, Y:151.37, Z:5.76 [[-7.13183504e-01 -7.00973005e-01 2.47714184e-03 1.28473562e+02] [ 7.00968547e-01 -7.13187804e-01 -2.50031855e-03 1.51366950e+02] [ 3.51932316e-03 -4.67874208e-05 9.99993806e-01 5.75937757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.130385723 meters Centerline goodness [0,1] 0.999936402950903 Centerline is valid? [True, True] Translation: X:128.45, Y:151.39, Z:5.76 [[-7.13136369e-01 -7.01020621e-01 2.57055468e-03 1.28452449e+02] [ 7.01015826e-01 -7.13141001e-01 -2.59316070e-03 1.51385669e+02] [ 3.65102706e-03 -4.72776891e-05 9.99993334e-01 5.75825659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.43, Y:151.40, Z:5.76 [[-7.12369120e-01 -7.01800146e-01 2.60629749e-03 1.28432471e+02] [ 7.01795226e-01 -7.12373886e-01 -2.62814724e-03 1.51404173e+02] [ 3.70109238e-03 -4.31238030e-05 9.99993150e-01 5.75754007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.190385723 meters Centerline goodness [0,1] 0.9999578903042425 Centerline is valid? [True, True] Translation: X:128.41, Y:151.42, Z:5.76 [[-7.11159965e-01 -7.03026360e-01 2.33277993e-03 1.28412156e+02] [ 7.03022430e-01 -7.11163790e-01 -2.35085369e-03 1.51421599e+02] [ 3.31170073e-03 -3.18364152e-05 9.99994516e-01 5.75699283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.39, Y:151.44, Z:5.76 [[-7.10375681e-01 -7.03821401e-01 1.35211725e-03 1.28389933e+02] [ 7.03820083e-01 -7.10376968e-01 -1.36184789e-03 1.51439475e+02] [ 1.91901064e-03 -1.57763474e-05 9.99998159e-01 5.75791385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.37, Y:151.46, Z:5.76 [[-7.10568761e-01 -7.03626469e-01 1.35249085e-03 1.28370464e+02] [ 7.03625152e-01 -7.10570048e-01 -1.36147687e-03 1.51458996e+02] [ 1.91901064e-03 -1.57763512e-05 9.99998159e-01 5.75791409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.280385723 meters Centerline goodness [0,1] 0.9999789082932591 Centerline is valid? [True, True] Translation: X:128.35, Y:151.48, Z:5.76 [[-7.10546114e-01 -7.03649647e-01 1.18058385e-03 1.28349993e+02] [ 7.03648645e-01 -7.10547095e-01 -1.18776947e-03 1.51477824e+02] [ 1.67463399e-03 -1.32487565e-05 9.99998598e-01 5.75759647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.33, Y:151.50, Z:5.76 [[-7.10416191e-01 -7.03780520e-01 1.34756567e-03 1.28330617e+02] [ 7.03779215e-01 -7.10417469e-01 -1.35497583e-03 1.51496751e+02] [ 1.91093978e-03 -1.42080590e-05 9.99998174e-01 5.75697228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.31, Y:151.52, Z:5.76 [[-7.11039951e-01 -7.03149312e-01 1.79803706e-03 1.28310716e+02] [ 7.03146990e-01 -7.11042224e-01 -1.80692323e-03 1.51516301e+02] [ 2.54901710e-03 -2.05102594e-05 9.99996751e-01 5.75625394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.370385723 meters Centerline goodness [0,1] 0.9999581729964865 Centerline is valid? [True, True] Translation: X:128.29, Y:151.53, Z:5.76 [[-7.10851177e-01 -7.03338941e-01 2.22215464e-03 1.28291432e+02] [ 7.03335400e-01 -7.10854650e-01 -2.23183426e-03 1.51534807e+02] [ 3.14936490e-03 -2.35819877e-05 9.99995040e-01 5.75554604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.27, Y:151.55, Z:5.76 [[-7.10744070e-01 -7.03448318e-01 1.82518480e-03 1.28271006e+02] [ 7.03445932e-01 -7.10746413e-01 -1.83213111e-03 1.51554379e+02] [ 2.58605310e-03 -1.82574917e-05 9.99996656e-01 5.75541589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.25, Y:151.57, Z:5.76 [[-7.10686970e-01 -7.03506576e-01 1.59000008e-03 1.28250389e+02] [ 7.03504768e-01 -7.10688748e-01 -1.59515250e-03 1.51573943e+02] [ 2.25219544e-03 -1.50814621e-05 9.99997464e-01 5.75575332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.23, Y:151.59, Z:5.76 [[-7.10347768e-01 -7.03849387e-01 1.44509414e-03 1.28231120e+02] [ 7.03847896e-01 -7.10349238e-01 -1.44891597e-03 1.51592867e+02] [ 2.04634014e-03 -1.21077589e-05 9.99997906e-01 5.75587057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.21, Y:151.61, Z:5.76 [[-7.10622027e-01 -7.03572944e-01 1.20293381e-03 1.28210679e+02] [ 7.03571912e-01 -7.10623045e-01 -1.20544176e-03 1.51612788e+02] [ 1.70294869e-03 -1.02630204e-05 9.99998550e-01 5.75597746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.520385723 meters Centerline goodness [0,1] 0.999978984532616 Centerline is valid? [True, True] Translation: X:128.19, Y:151.63, Z:5.76 [[-7.10853650e-01 -7.03339444e-01 8.45441099e-04 1.28192562e+02] [ 7.03338935e-01 -7.10854153e-01 -8.46706164e-04 1.51633500e+02] [ 1.19650716e-03 -7.25252530e-06 9.99999284e-01 5.75548211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.17, Y:151.65, Z:5.76 [[-7.11574788e-01 -7.02609751e-01 9.26170085e-04 1.28172332e+02] [ 7.02609140e-01 -7.11575391e-01 -9.27028360e-04 1.51653503e+02] [ 1.31037901e-03 -8.91444243e-06 9.99999141e-01 5.75549095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.16, Y:151.68, Z:5.75 [[-7.12758312e-01 -7.01408596e-01 1.25287079e-03 1.28155947e+02] [ 7.01407477e-01 -7.12759413e-01 -1.25327933e-03 1.51675245e+02] [ 1.77205635e-03 -1.45123209e-05 9.99998430e-01 5.75471332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.14, Y:151.69, Z:5.75 [[-7.13471060e-01 -7.00683129e-01 1.48320460e-03 1.28135578e+02] [ 7.00681560e-01 -7.13472601e-01 -1.48285596e-03 1.51694463e+02] [ 2.09723800e-03 -1.87206995e-05 9.99997801e-01 5.75492208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.11, Y:151.67, Z:5.75 [[-6.65495135e-01 -7.46399359e-01 2.05473384e-03 1.28114659e+02] [ 7.46395658e-01 -6.65498307e-01 -2.35073263e-03 1.51673977e+02] [ 3.12200722e-03 -3.07567103e-05 9.99995126e-01 5.75474480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.10, Y:151.70, Z:5.75 [[-6.65842691e-01 -7.46088446e-01 2.35430516e-03 1.28097007e+02] [ 7.46083587e-01 -6.65846852e-01 -2.69286601e-03 1.51695659e+02] [ 3.57672289e-03 -3.65167165e-05 9.99993603e-01 5.75412993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.700385723 meters Centerline goodness [0,1] 0.9999153743626632 Centerline is valid? [True, True] Translation: X:128.08, Y:151.72, Z:5.75 [[-6.66216456e-01 -7.45754427e-01 2.44304958e-03 1.28078852e+02] [ 7.45749198e-01 -6.66220934e-01 -2.79282174e-03 1.51717636e+02] [ 3.71036995e-03 -3.87215321e-05 9.99993116e-01 5.75396502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.06, Y:151.74, Z:5.75 [[-6.66200527e-01 -7.45769085e-01 2.30855336e-03 1.28062626e+02] [ 7.45764422e-01 -6.66204526e-01 -2.63752618e-03 1.51739165e+02] [ 3.50495418e-03 -3.54843644e-05 9.99993857e-01 5.75410873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.04, Y:151.76, Z:5.75 [[-6.66531124e-01 -7.45474321e-01 2.07305789e-03 1.28044968e+02] [ 7.45470564e-01 -6.66534347e-01 -2.36715909e-03 1.51760647e+02] [ 3.14642060e-03 -3.23815718e-05 9.99995050e-01 5.75434888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.03, Y:151.78, Z:5.75 [[-6.66963868e-01 -7.45087094e-01 2.10275594e-03 1.28029868e+02] [ 7.45083230e-01 -6.66967182e-01 -2.39966641e-03 1.51783124e+02] [ 3.19042968e-03 -3.37626028e-05 9.99994910e-01 5.75460690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.01, Y:151.81, Z:5.75 [[-6.67505624e-01 -7.44602012e-01 2.02147311e-03 1.28013240e+02] [ 7.44598443e-01 -6.67508684e-01 -2.30549246e-03 1.51805103e+02] [ 3.06602518e-03 -3.37434545e-05 9.99995299e-01 5.75474000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.850385723 meters Centerline goodness [0,1] 0.9999361335235135 Centerline is valid? [True, True] Translation: X:128.00, Y:151.83, Z:5.75 [[-6.68094005e-01 -7.44073839e-01 2.12669248e-03 1.27999232e+02] [ 7.44069891e-01 -6.68097389e-01 -2.42412981e-03 1.51827064e+02] [ 3.22456927e-03 -3.71387499e-05 9.99994800e-01 5.75369611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.98, Y:151.85, Z:5.75 [[-6.68187213e-01 -7.43988561e-01 2.62099378e-03 1.27981971e+02] [ 7.43982571e-01 -6.68192352e-01 -2.98575560e-03 1.51847655e+02] [ 3.97269601e-03 -4.50700178e-05 9.99992108e-01 5.75383519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.97, Y:151.87, Z:5.75 [[-6.68171444e-01 -7.44001896e-01 2.84616335e-03 1.27966633e+02] [ 7.43994842e-01 -6.68177504e-01 -3.24020596e-03 1.51869375e+02] [ 4.31246170e-03 -4.74822435e-05 9.99990700e-01 5.75340369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.95, Y:151.89, Z:5.75 [[-6.68322558e-01 -7.43865303e-01 3.06105377e-03 1.27949566e+02] [ 7.43857151e-01 -6.68329566e-01 -3.48272857e-03 1.51891154e+02] [ 4.63647368e-03 -5.05993283e-05 9.99989250e-01 5.75397727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.93, Y:151.91, Z:5.75 [[-6.67646974e-01 -7.44473535e-01 2.58317012e-03 1.27934987e+02] [ 7.44467742e-01 -6.67651971e-01 -2.93714329e-03 1.51912916e+02] [ 3.91128407e-03 -3.78879976e-05 9.99992350e-01 5.75420729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.92, Y:151.93, Z:5.75 [[-6.67383532e-01 -7.44709544e-01 2.62989485e-03 1.27919021e+02] [ 7.44703547e-01 -6.67388713e-01 -2.98888229e-03 1.51933252e+02] [ 3.98101130e-03 -3.62387988e-05 9.99992075e-01 5.75443484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.90, Y:151.95, Z:5.75 [[-6.66116845e-01 -7.45842115e-01 2.80864226e-03 1.27903122e+02] [ 7.45835294e-01 -6.66122765e-01 -3.19005369e-03 1.51954531e+02] [ 4.25017694e-03 -3.01639704e-05 9.99990968e-01 5.75399740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.89, Y:151.98, Z:5.75 [[-6.65264896e-01 -7.46601716e-01 2.91481675e-03 1.27886457e+02] [ 7.46594385e-01 -6.65271281e-01 -3.30870450e-03 1.51976693e+02] [ 4.40942833e-03 -2.49791326e-05 9.99990278e-01 5.75333601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0903857229999 meters Centerline goodness [0,1] 0.9998715313463515 Centerline is valid? [True, True] Translation: X:127.87, Y:152.00, Z:5.75 [[-6.65027349e-01 -7.46813539e-01 2.85705942e-03 1.27870309e+02] [ 7.46806504e-01 -6.65033486e-01 -3.24167048e-03 1.51997219e+02] [ 4.32096359e-03 -2.21289698e-05 9.99990664e-01 5.75337176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.120385723 meters Centerline goodness [0,1] 0.9999354866457356 Centerline is valid? [True, True] Translation: X:127.85, Y:152.02, Z:5.75 [[-6.65259741e-01 -7.46607303e-01 2.64817445e-03 1.27854009e+02] [ 7.46601264e-01 -6.65265012e-01 -3.00292257e-03 1.52018712e+02] [ 4.00374173e-03 -2.05931012e-05 9.99991985e-01 5.75364178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.150385723 meters Centerline goodness [0,1] 0.9998926647060087 Centerline is valid? [True, True] Translation: X:127.84, Y:152.04, Z:5.75 [[-6.65709139e-01 -7.46207196e-01 2.48238011e-03 1.27838557e+02] [ 7.46201893e-01 -6.65713767e-01 -2.81334535e-03 1.52041917e+02] [ 3.75189316e-03 -2.05129753e-05 9.99992961e-01 5.75484894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.82, Y:152.06, Z:5.76 [[-6.66095698e-01 -7.45862141e-01 2.48771312e-03 1.27821457e+02] [ 7.45856818e-01 -6.66100343e-01 -2.81782202e-03 1.52064345e+02] [ 3.75877332e-03 -2.14613337e-05 9.99992936e-01 5.75509038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.210385723 meters Centerline goodness [0,1] 0.9999352694946705 Centerline is valid? [True, True] Translation: X:127.81, Y:152.09, Z:5.76 [[-6.66305159e-01 -7.45676324e-01 2.06276966e-03 1.27806494e+02] [ 7.45672668e-01 -6.66308352e-01 -2.33512060e-03 1.52086614e+02] [ 3.11568479e-03 -1.77519491e-05 9.99995146e-01 5.75547272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.79, Y:152.11, Z:5.76 [[-6.66211323e-01 -7.45760132e-01 2.07355013e-03 1.27789302e+02] [ 7.45756442e-01 -6.66214549e-01 -2.34587170e-03 1.52108218e+02] [ 3.13088685e-03 -1.64829160e-05 9.99995099e-01 5.75567705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.77, Y:152.13, Z:5.76 [[-6.65459511e-01 -7.46430764e-01 2.18040388e-03 1.27773068e+02] [ 7.46426693e-01 -6.65463083e-01 -2.46523844e-03 1.52129817e+02] [ 3.29110810e-03 -1.30047078e-05 9.99994584e-01 5.75519252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.300385723 meters Centerline goodness [0,1] 0.9998917608347404 Centerline is valid? [True, True] Translation: X:127.76, Y:152.15, Z:5.76 [[-6.65117718e-01 -7.46734335e-01 2.50068519e-03 1.27755160e+02] [ 7.46728989e-01 -6.65122419e-01 -2.82577187e-03 1.52150856e+02] [ 3.77336266e-03 -1.21368155e-05 9.99992881e-01 5.75520818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.74, Y:152.17, Z:5.75 [[-6.64875554e-01 -7.46947856e-01 3.06563113e-03 1.27738629e+02] [ 7.46939833e-01 -6.64882621e-01 -3.46210930e-03 1.52172743e+02] [ 4.62429998e-03 -1.20298362e-05 9.99989308e-01 5.75406404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.72, Y:152.19, Z:5.75 [[-6.65202475e-01 -7.46655713e-01 3.30356445e-03 1.27721701e+02] [ 7.46646403e-01 -6.65210678e-01 -3.72873642e-03 1.52194762e+02] [ 4.98164870e-03 -1.37701821e-05 9.99987591e-01 5.75413641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.390385723 meters Centerline goodness [0,1] 0.9999566733822924 Centerline is valid? [True, True] Translation: X:127.70, Y:152.22, Z:5.75 [[-6.65646235e-01 -7.46258113e-01 3.73079869e-03 1.27704449e+02] [ 7.46246245e-01 -6.65656690e-01 -4.20859586e-03 1.52217476e+02] [ 5.62412991e-03 -1.73414752e-05 9.99984184e-01 5.75422155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.69, Y:152.24, Z:5.75 [[-6.66828823e-01 -7.45197667e-01 4.44496055e-03 1.27688675e+02] [ 7.45180817e-01 -6.66843637e-01 -5.01140198e-03 1.52241494e+02] [ 6.69857872e-03 -2.94479427e-05 9.99977564e-01 5.75410677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.450385723 meters Centerline goodness [0,1] 0.9999563814010294 Centerline is valid? [True, True] Translation: X:127.67, Y:152.26, Z:5.75 [[-6.69211962e-01 -7.43058746e-01 4.36468986e-03 1.27674939e+02] [ 7.43042472e-01 -6.69226194e-01 -4.91799133e-03 1.52264940e+02] [ 6.57532125e-03 -4.80286827e-05 9.99978381e-01 5.75446958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.66, Y:152.29, Z:5.75 [[-6.70809096e-01 -7.41617482e-01 4.32061523e-03 1.27658651e+02] [ 7.41601523e-01 -6.70823007e-01 -4.86563542e-03 1.52287546e+02] [ 6.50680840e-03 -5.97376635e-05 9.99978829e-01 5.75465454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.64, Y:152.31, Z:5.75 [[-6.72511712e-01 -7.40073096e-01 4.45082734e-03 1.27642263e+02] [ 7.40056145e-01 -6.72526436e-01 -5.00951047e-03 1.52310199e+02] [ 6.70070297e-03 -7.50923365e-05 9.99977547e-01 5.75471918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.63, Y:152.33, Z:5.75 [[-6.74917013e-01 -7.37880977e-01 4.32309422e-03 1.27627433e+02] [ 7.37864957e-01 -6.74930853e-01 -4.86307418e-03 1.52334794e+02] [ 6.50615959e-03 -9.23117732e-05 9.99978830e-01 5.75469666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.570385723 meters Centerline goodness [0,1] 0.999934230718639 Centerline is valid? [True, True] Translation: X:127.61, Y:152.36, Z:5.75 [[-6.75707420e-01 -7.37155676e-01 4.58182358e-03 1.27610711e+02] [ 7.37137686e-01 -6.75722946e-01 -5.15092361e-03 1.52356584e+02] [ 6.89307590e-03 -1.03082468e-04 9.99976237e-01 5.75470870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.59, Y:152.38, Z:5.75 [[-6.76116830e-01 -7.36777627e-01 4.97595523e-03 1.27594144e+02] [ 7.36756423e-01 -6.76135131e-01 -5.59091834e-03 1.52379550e+02] [ 7.48368169e-03 -1.14047010e-04 9.99971990e-01 5.75464300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.58, Y:152.40, Z:5.75 [[-6.76255496e-01 -7.36648081e-01 5.30173973e-03 1.27578209e+02] [ 7.36624028e-01 -6.76276267e-01 -5.95410482e-03 1.52400553e+02] [ 7.97152064e-03 -1.21107229e-04 9.99968220e-01 5.75476033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.56, Y:152.42, Z:5.75 [[-6.76404355e-01 -7.36511529e-01 5.28362947e-03 1.27560858e+02] [ 7.36487665e-01 -6.76424980e-01 -5.93014767e-03 1.52421299e+02] [ 7.94160108e-03 -1.19849781e-04 9.99968458e-01 5.75442019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.54, Y:152.44, Z:5.75 [[-6.76362433e-01 -7.36549605e-01 5.34210599e-03 1.27543416e+02] [ 7.36525240e-01 -6.76383519e-01 -5.99211409e-03 1.52441957e+02] [ 8.02680172e-03 -1.18244972e-04 9.99967778e-01 5.75482380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.52, Y:152.46, Z:5.76 [[-6.75009368e-01 -7.37791204e-01 5.14712403e-03 1.27524741e+02] [ 7.37768644e-01 -6.75028985e-01 -5.77041902e-03 1.52463671e+02] [ 7.73182230e-03 -9.77001832e-05 9.99970104e-01 5.75534982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.750385723 meters Centerline goodness [0,1] 0.9999779604610671 Centerline is valid? [True, True] Translation: X:127.51, Y:152.48, Z:5.75 [[-6.73249734e-01 -7.39396754e-01 5.21884268e-03 1.27507196e+02] [ 7.39373638e-01 -6.73269956e-01 -5.84720861e-03 1.52484051e+02] [ 7.83709705e-03 -7.79569427e-05 9.99969286e-01 5.75488273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.49, Y:152.50, Z:5.75 [[-6.72419401e-01 -7.40152267e-01 5.17407615e-03 1.27488458e+02] [ 7.40129593e-01 -6.72439304e-01 -5.79383073e-03 1.52504717e+02] [ 7.76756911e-03 -6.63973203e-05 9.99969830e-01 5.75482763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.47, Y:152.53, Z:5.75 [[-6.71179670e-01 -7.41277239e-01 5.08984534e-03 1.27471042e+02] [ 7.41255354e-01 -6.71198967e-01 -5.69623158e-03 1.52525064e+02] [ 7.63878575e-03 -5.03197161e-05 9.99970823e-01 5.75452839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.45, Y:152.55, Z:5.75 [[-6.70939341e-01 -7.41496605e-01 4.81521326e-03 1.27452298e+02] [ 7.41477046e-01 -6.70956618e-01 -5.38589104e-03 1.52546620e+02] [ 7.22441913e-03 -4.32360795e-05 9.99973903e-01 5.75494803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.44, Y:152.57, Z:5.76 [[-6.71019435e-01 -7.41425961e-01 4.52343902e-03 1.27435076e+02] [ 7.41408721e-01 -6.71034681e-01 -5.05623075e-03 1.52567048e+02] [ 6.78420520e-03 -3.91119679e-05 9.99976986e-01 5.75513229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.900385723 meters Centerline goodness [0,1] 0.9999780026396833 Centerline is valid? [True, True] Translation: X:127.42, Y:152.59, Z:5.76 [[-6.70758917e-01 -7.41663716e-01 4.17231214e-03 1.27418431e+02] [ 7.41649071e-01 -6.70771892e-01 -4.66090339e-03 1.52588865e+02] [ 6.25549264e-03 -3.19510869e-05 9.99980434e-01 5.75601568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.40, Y:152.61, Z:5.76 [[-6.70894829e-01 -7.41541079e-01 4.11796675e-03 1.27400681e+02] [ 7.41526828e-01 -6.70907466e-01 -4.59740553e-03 1.52610118e+02] [ 6.17193969e-03 -3.07927721e-05 9.99980953e-01 5.75596199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:152.63, Z:5.76 [[-6.71413223e-01 -7.41071087e-01 4.23428424e-03 1.27383532e+02] [ 7.41056027e-01 -6.71426573e-01 -4.72462774e-03 1.52632607e+02] [ 6.34429597e-03 -3.43356776e-05 9.99979874e-01 5.75560105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.37, Y:152.65, Z:5.75 [[-6.72050478e-01 -7.40491486e-01 4.52922918e-03 1.27366380e+02] [ 7.40474262e-01 -6.72065739e-01 -5.05075859e-03 1.52654056e+02] [ 6.78398349e-03 -4.05870908e-05 9.99976988e-01 5.75486903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.35, Y:152.68, Z:5.75 [[-6.72880757e-01 -7.39731663e-01 5.34356608e-03 1.27350771e+02] [ 7.39707696e-01 -6.72901972e-01 -5.95498763e-03 1.52675806e+02] [ 8.00078906e-03 -5.43196289e-05 9.99967992e-01 5.75345595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.34, Y:152.70, Z:5.75 [[-6.73252379e-01 -7.39392588e-01 5.46223053e-03 1.27335215e+02] [ 7.39367564e-01 -6.73274534e-01 -6.08330377e-03 1.52696575e+02] [ 8.17553043e-03 -5.70026484e-05 9.99966578e-01 5.75220217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.32, Y:152.72, Z:5.75 [[-6.74305619e-01 -7.38431796e-01 5.51496352e-03 1.27318313e+02] [ 7.38406284e-01 -6.74328168e-01 -6.13862326e-03 1.52719193e+02] [ 8.25184985e-03 -6.70244426e-05 9.99965951e-01 5.75291112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.30, Y:152.74, Z:5.75 [[-6.74997681e-01 -7.37799248e-01 5.51365356e-03 1.27301585e+02] [ 7.37773758e-01 -6.75020196e-01 -6.13336232e-03 1.52741286e+02] [ 8.24701761e-03 -7.21764396e-05 9.99965990e-01 5.75279273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.28, Y:152.76, Z:5.75 [[-6.75224908e-01 -7.37591284e-01 5.51554258e-03 1.27283614e+02] [ 7.37565801e-01 -6.75247430e-01 -6.13166364e-03 1.52761140e+02] [ 8.24701761e-03 -7.21764382e-05 9.99965990e-01 5.75279297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.27, Y:152.79, Z:5.75 [[-6.77107214e-01 -7.35862876e-01 5.62570480e-03 1.27269051e+02] [ 7.35836334e-01 -6.77130578e-01 -6.25069455e-03 1.52785662e+02] [ 8.40899081e-03 -9.27923800e-05 9.99964640e-01 5.75288470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.25, Y:152.81, Z:5.75 [[-6.78156837e-01 -7.34893256e-01 5.93353678e-03 1.27252511e+02] [ 7.34863725e-01 -6.78182786e-01 -6.58890537e-03 1.52807881e+02] [ 8.86616463e-03 -1.07970287e-04 9.99960689e-01 5.75264694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.24, Y:152.83, Z:5.75 [[-6.78626055e-01 -7.34458215e-01 6.14877783e-03 1.27235761e+02] [ 7.34426524e-01 -6.78653901e-01 -6.82374126e-03 1.52829331e+02] [ 9.18464488e-03 -1.14943083e-04 9.99957814e-01 5.75255117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.22, Y:152.85, Z:5.75 [[-6.78394637e-01 -7.34668039e-01 6.60214368e-03 1.27218540e+02] [ 7.34631558e-01 -6.78426752e-01 -7.32231790e-03 1.52850813e+02] [ 9.85854383e-03 -1.17278105e-04 9.99951397e-01 5.75206945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.20, Y:152.87, Z:5.75 [[-6.76274799e-01 -7.36621143e-01 6.45660199e-03 1.27199060e+02] [ 7.36586379e-01 -6.76305614e-01 -7.15694413e-03 1.52869691e+02] [ 9.63859254e-03 -8.42158719e-05 9.99953544e-01 5.75186108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.18, Y:152.89, Z:5.75 [[-6.75184875e-01 -7.37621726e-01 6.29071449e-03 1.27179136e+02] [ 7.37588807e-01 -6.75214177e-01 -6.96898161e-03 1.52889154e+02] [ 9.38805186e-03 -6.53903789e-05 9.99955929e-01 5.75181668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.350385723 meters Centerline goodness [0,1] 0.9999549853702453 Centerline is valid? [True, True] Translation: X:127.16, Y:152.91, Z:5.75 [[-6.73674005e-01 -7.39001504e-01 6.33335274e-03 1.27158561e+02] [ 7.38968235e-01 -6.73703774e-01 -7.01232331e-03 1.52908253e+02] [ 9.44892112e-03 -4.38734317e-05 9.99955357e-01 5.75088981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.14, Y:152.93, Z:5.75 [[-6.73355046e-01 -7.39292731e-01 6.26418778e-03 1.27140928e+02] [ 7.39260240e-01 -6.73384182e-01 -6.93120251e-03 1.52927507e+02] [ 9.34239260e-03 -3.62952175e-05 9.99956358e-01 5.75195491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.410385723 meters Centerline goodness [0,1] 0.999909897733928 Centerline is valid? [True, True] Translation: X:127.12, Y:152.95, Z:5.75 [[-6.73774167e-01 -7.38911192e-01 6.21473744e-03 1.27122080e+02] [ 7.38879234e-01 -6.73802827e-01 -6.87226946e-03 1.52947670e+02] [ 9.26550447e-03 -3.84171866e-05 9.99957074e-01 5.75062136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.440385723 meters Centerline goodness [0,1] 0.9999775195018321 Centerline is valid? [True, True] Translation: X:127.10, Y:152.97, Z:5.75 [[-6.73857087e-01 -7.38840590e-01 5.58655708e-03 1.27104698e+02] [ 7.38814797e-01 -6.73880243e-01 -6.17366116e-03 1.52966761e+02] [ 8.32602190e-03 -3.27342921e-05 9.99965338e-01 5.75309606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.09, Y:152.99, Z:5.75 [[-6.74472433e-01 -7.38278972e-01 5.57642736e-03 1.27086720e+02] [ 7.38253286e-01 -6.74495484e-01 -6.15857700e-03 1.52986045e+02] [ 8.30802296e-03 -3.69745923e-05 9.99965487e-01 5.75313246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.07, Y:153.01, Z:5.75 [[-6.75284663e-01 -7.37538518e-01 5.24967665e-03 1.27066882e+02] [ 7.37515759e-01 -6.75305067e-01 -5.79416249e-03 1.53005157e+02] [ 7.81855125e-03 -4.09898097e-05 9.99969434e-01 5.75341764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.05, Y:153.02, Z:5.75 [[-6.75792671e-01 -7.37072914e-01 5.27118252e-03 1.27048334e+02] [ 7.37049981e-01 -6.75813227e-01 -5.81436043e-03 1.53024539e+02] [ 7.84794245e-03 -4.41771829e-05 9.99969203e-01 5.75324891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.03, Y:153.04, Z:5.75 [[-6.77229567e-01 -7.35755880e-01 4.83712378e-03 1.27030360e+02] [ 7.35736559e-01 -6.77246840e-01 -5.33233295e-03 1.53044434e+02] [ 7.19922212e-03 -5.23647307e-05 9.99974084e-01 5.75362237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.01, Y:153.07, Z:5.75 [[-6.77982415e-01 -7.35063392e-01 4.65347894e-03 1.27011022e+02] [ 7.35045513e-01 -6.77998383e-01 -5.12702884e-03 1.53065280e+02] [ 6.92374241e-03 -5.55165842e-05 9.99976029e-01 5.75425577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.99, Y:153.09, Z:5.75 [[-6.79889770e-01 -7.33298976e-01 4.74473172e-03 1.26993684e+02] [ 7.33280368e-01 -6.79906322e-01 -5.22450986e-03 1.53085994e+02] [ 7.05710082e-03 -7.28721811e-05 9.99975096e-01 5.75322467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.98, Y:153.11, Z:5.75 [[-6.81289880e-01 -7.31999962e-01 4.48931027e-03 1.26975757e+02] [ 7.31983291e-01 -6.81304667e-01 -4.94094017e-03 1.53105877e+02] [ 6.67535606e-03 -8.01124286e-05 9.99977716e-01 5.75285846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.96, Y:153.13, Z:5.75 [[-6.83906501e-01 -7.29556350e-01 4.40805624e-03 1.26957529e+02] [ 7.29540243e-01 -6.83920699e-01 -4.84887675e-03 1.53127314e+02] [ 6.55228972e-03 -1.00323916e-04 9.99978529e-01 5.75290376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.94, Y:153.15, Z:5.75 [[-6.85186451e-01 -7.28353450e-01 4.55838009e-03 1.26940433e+02] [ 7.28336213e-01 -6.85201604e-01 -5.01224910e-03 1.53148223e+02] [ 6.77409828e-03 -1.14291878e-04 9.99977049e-01 5.75252001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.92, Y:153.17, Z:5.75 [[-6.87734365e-01 -7.25948753e-01 4.45537152e-03 1.26921852e+02] [ 7.25932253e-01 -6.87748784e-01 -4.89636966e-03 1.53169616e+02] [ 6.61868980e-03 -1.33103795e-04 9.99978087e-01 5.75217101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.90, Y:153.19, Z:5.75 [[-6.89195289e-01 -7.24561869e-01 4.46671503e-03 1.26904125e+02] [ 7.24545274e-01 -6.89209748e-01 -4.90607437e-03 1.53190854e+02] [ 6.63325795e-03 -1.44906082e-04 9.99977989e-01 5.75220685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.89, Y:153.21, Z:5.75 [[-6.90366631e-01 -7.23446938e-01 4.29449390e-03 1.26885966e+02] [ 7.23431592e-01 -6.90379972e-01 -4.71442792e-03 1.53212523e+02] [ 6.37547102e-03 -1.47911158e-04 9.99979666e-01 5.75247741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.87, Y:153.23, Z:5.75 [[-6.92122199e-01 -7.21769865e-01 3.88884335e-03 1.26868101e+02] [ 7.21757269e-01 -6.92133109e-01 -4.26674043e-03 1.53232901e+02] [ 5.77120190e-03 -1.46304820e-04 9.99983336e-01 5.75224020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.85, Y:153.25, Z:5.75 [[-6.92664132e-01 -7.21252083e-01 3.43983476e-03 1.26848299e+02] [ 7.21242233e-01 -6.92672661e-01 -3.77189063e-03 1.53252069e+02] [ 5.10316347e-03 -1.31699249e-04 9.99986970e-01 5.75146420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.83, Y:153.27, Z:5.75 [[-6.92603240e-01 -7.21311053e-01 3.33422816e-03 1.26827855e+02] [ 7.21301809e-01 -6.92611254e-01 -3.65390288e-03 1.53270862e+02] [ 4.94492449e-03 -1.25720170e-04 9.99987766e-01 5.75118325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.81, Y:153.29, Z:5.75 [[-6.91682734e-01 -7.22196950e-01 2.56145180e-03 1.26806929e+02] [ 7.22191507e-01 -6.91687471e-01 -2.80553209e-03 1.53290180e+02] [ 3.79787084e-03 -9.06793720e-05 9.99992784e-01 5.75156044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.79, Y:153.31, Z:5.75 [[-6.91016336e-01 -7.22834585e-01 2.56659788e-03 1.26787769e+02] [ 7.22829130e-01 -6.91021097e-01 -2.80947782e-03 1.53309511e+02] [ 3.80436101e-03 -8.61833609e-05 9.99992760e-01 5.75174366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.77, Y:153.33, Z:5.75 [[-6.89358794e-01 -7.24416730e-01 2.20343787e-03 1.26767938e+02] [ 7.24412721e-01 -6.89362312e-01 -2.41071431e-03 1.53327726e+02] [ 3.26532880e-03 -6.56486871e-05 9.99994667e-01 5.75171878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.75, Y:153.35, Z:5.75 [[-6.88413513e-01 -7.25314954e-01 2.24785562e-03 1.26747551e+02] [ 7.25310792e-01 -6.88417180e-01 -2.45793349e-03 1.53346755e+02] [ 3.33023834e-03 -6.16806902e-05 9.99994453e-01 5.75142512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.73, Y:153.37, Z:5.75 [[-6.87535085e-01 -7.26147436e-01 2.32553080e-03 1.26728466e+02] [ 7.26142991e-01 -6.87539016e-01 -2.54128712e-03 1.53365135e+02] [ 3.44424228e-03 -5.85561626e-05 9.99994067e-01 5.75130994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.71, Y:153.38, Z:5.75 [[-6.85969806e-01 -7.27627176e-01 2.02952403e-03 1.26705715e+02] [ 7.27623801e-01 -6.85972806e-01 -2.21661583e-03 1.53382605e+02] [ 3.00506821e-03 -4.38015462e-05 9.99995484e-01 5.75088193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.69, Y:153.40, Z:5.75 [[-6.84712594e-01 -7.28810817e-01 1.85909728e-03 1.26686526e+02] [ 7.28807992e-01 -6.84715117e-01 -2.02952102e-03 1.53400882e+02] [ 2.75208888e-03 -3.47136421e-05 9.99996212e-01 5.75033211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.67, Y:153.42, Z:5.75 [[-6.84039240e-01 -7.29442526e-01 1.97984894e-03 1.26667064e+02] [ 7.29439328e-01 -6.84042104e-01 -2.16008582e-03 1.53419664e+02] [ 2.92995849e-03 -3.34037837e-05 9.99995707e-01 5.75086777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.65, Y:153.44, Z:5.75 [[-6.82774776e-01 -7.30627790e-01 1.27974417e-03 1.26645069e+02] [ 7.30626457e-01 -6.82775975e-01 -1.39547380e-03 1.53438068e+02] [ 1.89335051e-03 -1.77793626e-05 9.99998207e-01 5.75184969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.63, Y:153.46, Z:5.75 [[-6.82504751e-01 -7.30879986e-01 1.30791716e-03 1.26627545e+02] [ 7.30878596e-01 -6.82506004e-01 -1.42550684e-03 1.53457358e+02] [ 1.93453573e-03 -1.69865312e-05 9.99998129e-01 5.75162329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.61, Y:153.48, Z:5.75 [[-6.81359346e-01 -7.31948644e-01 7.90211670e-04 1.26605431e+02] [ 7.31948137e-01 -6.81359805e-01 -8.60775473e-04 1.53475717e+02] [ 1.16846191e-03 -8.10345338e-06 9.99999317e-01 5.75254570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.250385723 meters Centerline goodness [0,1] 0.9997782901738205 Centerline is valid? [True, True] Translation: X:126.59, Y:153.49, Z:5.75 [[-6.81583375e-01 -7.31739435e-01 1.22548821e-03 1.26587027e+02] [ 7.31738219e-01 -6.81584477e-01 -1.33431424e-03 1.53494901e+02] [ 1.81164409e-03 -1.27098465e-05 9.99998359e-01 5.74939295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.57, Y:153.51, Z:5.75 [[-6.81154783e-01 -7.32138631e-01 1.08933340e-03 1.26566140e+02] [ 7.32137671e-01 -6.81155654e-01 -1.18541470e-03 1.53514283e+02] [ 1.60989350e-03 -9.90887131e-06 9.99998704e-01 5.75208468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.55, Y:153.53, Z:5.75 [[-6.82008406e-01 -7.31343267e-01 1.24880394e-03 1.26547107e+02] [ 7.31342006e-01 -6.82009549e-01 -1.35819706e-03 1.53534638e+02] [ 1.84500449e-03 -1.29990374e-05 9.99998298e-01 5.75160665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.53, Y:153.56, Z:5.75 [[-6.84457767e-01 -7.29051455e-01 1.24148504e-03 1.26530404e+02] [ 7.29050206e-01 -6.84458893e-01 -1.34944833e-03 1.53555696e+02] [ 1.83356274e-03 -1.85354622e-05 9.99998319e-01 5.75144526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.51, Y:153.58, Z:5.75 [[-6.86400447e-01 -7.27222793e-01 1.19827071e-03 1.26512403e+02] [ 7.27221628e-01 -6.86401493e-01 -1.30177311e-03 1.53576751e+02] [ 1.76917388e-03 -2.21292662e-05 9.99998435e-01 5.75185788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.400385723 meters Centerline goodness [0,1] 0.9999779351735398 Centerline is valid? [True, True] Translation: X:126.49, Y:153.60, Z:5.75 [[-6.90445219e-01 -7.23383169e-01 1.48014838e-03 1.26494756e+02] [ 7.23381385e-01 -6.90446804e-01 -1.60713668e-03 1.53598342e+02] [ 2.18453935e-03 -3.89280521e-05 9.99997613e-01 5.75150266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.48, Y:153.62, Z:5.75 [[-6.94446502e-01 -7.19540987e-01 2.19609825e-03 1.26476402e+02] [ 7.19537045e-01 -6.94449971e-01 -2.38320242e-03 1.53619844e+02] [ 3.23989219e-03 -7.48325401e-05 9.99994749e-01 5.75062664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.46, Y:153.64, Z:5.75 [[-6.96293003e-01 -7.17753323e-01 2.49401152e-03 1.26457426e+02] [ 7.17748232e-01 -6.96297464e-01 -2.70500445e-03 1.53640675e+02] [ 3.67809983e-03 -9.34033192e-05 9.99993231e-01 5.75082679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.44, Y:153.66, Z:5.75 [[-6.99067286e-01 -7.15053890e-01 1.69253671e-03 1.26442352e+02] [ 7.15051540e-01 -6.99069331e-01 -1.83482934e-03 1.53662913e+02] [ 2.49520236e-03 -7.24181838e-05 9.99996884e-01 5.75145817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.42, Y:153.68, Z:5.75 [[-7.00001654e-01 -7.14139498e-01 1.56937182e-03 1.26422027e+02] [ 7.14137477e-01 -7.00003410e-01 -1.70040126e-03 1.53681858e+02] [ 2.31288933e-03 -6.95364631e-05 9.99997323e-01 5.75141407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.550385723 meters Centerline goodness [0,1] 0.9999779298168174 Centerline is valid? [True, True] Translation: X:126.40, Y:153.70, Z:5.75 [[-7.00428627e-01 -7.13719994e-01 1.87301355e-03 1.26401108e+02] [ 7.13717117e-01 -7.00431127e-01 -2.02828409e-03 1.53700297e+02] [ 2.75954390e-03 -8.38664119e-05 9.99996189e-01 5.75123768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.38, Y:153.72, Z:5.75 [[-7.00336394e-01 -7.13808946e-01 2.39223816e-03 1.26381249e+02] [ 7.13804259e-01 -7.00340472e-01 -2.58888125e-03 1.53717972e+02] [ 3.52334780e-03 -1.05497970e-04 9.99993787e-01 5.75082231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.36, Y:153.74, Z:5.75 [[-7.00272851e-01 -7.13871252e-01 2.40209506e-03 1.26361435e+02] [ 7.13866532e-01 -7.00276963e-01 -2.59797588e-03 1.53737097e+02] [ 3.53675213e-03 -1.04516702e-04 9.99993740e-01 5.75069409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.34, Y:153.75, Z:5.75 [[-6.99511846e-01 -7.14617391e-01 2.27203847e-03 1.26339449e+02] [ 7.14613177e-01 -6.99515530e-01 -2.45598602e-03 1.53754679e+02] [ 3.34441651e-03 -9.43626844e-05 9.99994403e-01 5.75095662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.32, Y:153.77, Z:5.75 [[-6.98246754e-01 -7.15852864e-01 2.47953498e-03 1.26317231e+02] [ 7.15847858e-01 -6.98251150e-01 -2.67880986e-03 1.53772150e+02] [ 3.64897186e-03 -9.55004842e-05 9.99993338e-01 5.75169972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.30, Y:153.79, Z:5.75 [[-6.97715127e-01 -7.16370465e-01 2.63798890e-03 1.26299713e+02] [ 7.16364809e-01 -6.97720107e-01 -2.84815212e-03 1.53791894e+02] [ 3.88090995e-03 -9.74364020e-05 9.99992465e-01 5.75119162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.28, Y:153.81, Z:5.75 [[-6.96993114e-01 -7.17073873e-01 2.37886733e-03 1.26276238e+02] [ 7.17069283e-01 -6.96997169e-01 -2.56698173e-03 1.53808270e+02] [ 3.49877933e-03 -8.33558985e-05 9.99993876e-01 5.75121085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.26, Y:153.83, Z:5.75 [[-6.96559144e-01 -7.17494668e-01 2.60020797e-03 1.26257177e+02] [ 7.17489194e-01 -6.96563992e-01 -2.80401487e-03 1.53826514e+02] [ 3.82307696e-03 -8.75410753e-05 9.99992688e-01 5.75150748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.23, Y:153.84, Z:5.75 [[-6.95073465e-01 -7.18933296e-01 2.79202717e-03 1.26234662e+02] [ 7.18927003e-01 -6.95079067e-01 -3.00921567e-03 1.53844137e+02] [ 4.10410497e-03 -8.43622375e-05 9.99991575e-01 5.75177918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.22, Y:153.86, Z:5.75 [[-6.94651175e-01 -7.19341358e-01 2.78507942e-03 1.26215504e+02] [ 7.19335105e-01 -6.94656753e-01 -3.00029341e-03 1.53862471e+02] [ 4.09290936e-03 -8.07519397e-05 9.99991621e-01 5.75168955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.850385723 meters Centerline goodness [0,1] 0.9999564080209241 Centerline is valid? [True, True] Translation: X:126.19, Y:153.88, Z:5.75 [[-6.94140504e-01 -7.19834172e-01 2.77957367e-03 1.26194981e+02] [ 7.19827955e-01 -6.94146065e-01 -2.99254614e-03 1.53880153e+02] [ 4.08356710e-03 -7.64326486e-05 9.99991659e-01 5.75151343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.880385723 meters Centerline goodness [0,1] 0.9999565245744843 Centerline is valid? [True, True] Translation: X:126.18, Y:153.90, Z:5.75 [[-6.94574361e-01 -7.19417073e-01 2.35221153e-03 1.26175520e+02] [ 7.19412624e-01 -6.94578341e-01 -2.53090881e-03 1.53899828e+02] [ 3.45457419e-03 -6.56937016e-05 9.99994031e-01 5.75167008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.15, Y:153.92, Z:5.75 [[-6.95746924e-01 -7.18283341e-01 2.29337421e-03 1.26154832e+02] [ 7.18279110e-01 -6.95750701e-01 -2.46624649e-03 1.53919184e+02] [ 3.36708048e-03 -6.86006236e-05 9.99994329e-01 5.75273605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.14, Y:153.94, Z:5.75 [[-6.96543995e-01 -7.17510809e-01 2.16856576e-03 1.26137614e+02] [ 7.17507027e-01 -6.96547367e-01 -2.33052157e-03 1.53939084e+02] [ 3.18268319e-03 -6.73496323e-05 9.99994933e-01 5.75234972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.970385723 meters Centerline goodness [0,1] 0.999913079380256 Centerline is valid? [True, True] Translation: X:126.12, Y:153.96, Z:5.75 [[-6.98150431e-01 -7.15946189e-01 2.65128097e-03 1.26115169e+02] [ 7.15940531e-01 -6.98155460e-01 -2.84777273e-03 1.53957234e+02] [ 3.88985832e-03 -9.00142574e-05 9.99992430e-01 5.75034522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.10, Y:153.98, Z:5.75 [[-6.98888284e-01 -7.15226268e-01 2.55973390e-03 1.26096573e+02] [ 7.15220994e-01 -6.98892966e-01 -2.74806221e-03 1.53977819e+02] [ 3.75446629e-03 -8.98130511e-05 9.99992948e-01 5.75186965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.08, Y:154.00, Z:5.75 [[-7.00411558e-01 -7.13734811e-01 2.50390140e-03 1.26075789e+02] [ 7.13729760e-01 -7.00416027e-01 -2.68671002e-03 1.53996870e+02] [ 3.67137114e-03 -9.46938074e-05 9.99993256e-01 5.75113344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.06, Y:154.02, Z:5.75 [[-7.00610798e-01 -7.13539233e-01 2.50465130e-03 1.26056937e+02] [ 7.13534184e-01 -7.00615268e-01 -2.68601096e-03 1.54017022e+02] [ 3.67137114e-03 -9.46939592e-05 9.99993256e-01 5.75113368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.04, Y:154.04, Z:5.75 [[-7.01352906e-01 -7.12809989e-01 2.45367889e-03 1.26038802e+02] [ 7.12805142e-01 -7.01357191e-01 -2.63042821e-03 1.54037734e+02] [ 3.59590084e-03 -9.58635352e-05 9.99993530e-01 5.75076499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.120385723 meters Centerline goodness [0,1] 0.9999565962803012 Centerline is valid? [True, True] Translation: X:126.02, Y:154.06, Z:5.75 [[-7.02651398e-01 -7.11529900e-01 2.49297390e-03 1.26018110e+02] [ 7.11524894e-01 -7.02655813e-01 -2.67107417e-03 1.54056635e+02] [ 3.65225174e-03 -1.03021012e-04 9.99993325e-01 5.75133583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.00, Y:154.08, Z:5.75 [[-7.03731824e-01 -7.10463556e-01 1.74811262e-03 1.25997547e+02] [ 7.10461093e-01 -7.03733991e-01 -1.87201635e-03 1.54076853e+02] [ 2.56020566e-03 -7.54314779e-05 9.99996720e-01 5.75185912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.98, Y:154.10, Z:5.75 [[-7.04065039e-01 -7.10133536e-01 1.66802097e-03 1.25977094e+02] [ 7.10131296e-01 -7.04067011e-01 -1.78525174e-03 1.54096833e+02] [ 2.44216566e-03 -7.24194408e-05 9.99997015e-01 5.75177326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.96, Y:154.12, Z:5.75 [[-7.03499235e-01 -7.10694497e-01 1.46892106e-03 1.25957028e+02] [ 7.10692763e-01 -7.03500766e-01 -1.57127888e-03 1.54115631e+02] [ 2.15008634e-03 -6.14419255e-05 9.99997687e-01 5.75091164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.240385723 meters Centerline goodness [0,1] 0.9999352373550936 Centerline is valid? [True, True] Translation: X:125.94, Y:154.14, Z:5.75 [[-7.02918117e-01 -7.11269634e-01 1.27615253e-03 1.25936758e+02] [ 7.11268328e-01 -7.02919273e-01 -1.36433965e-03 1.54135448e+02] [ 1.86744557e-03 -5.13321826e-05 9.99998255e-01 5.75043701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.270385723 meters Centerline goodness [0,1] 0.9998483765460178 Centerline is valid? [True, True] Translation: X:125.91, Y:154.15, Z:5.75 [[-7.01984872e-01 -7.12188570e-01 2.16314317e-03 1.25914932e+02] [ 7.12184824e-01 -7.01988200e-01 -2.31144204e-03 1.54154207e+02] [ 3.16468358e-03 -8.20396054e-05 9.99994989e-01 5.74753325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.90, Y:154.17, Z:5.75 [[-7.01727380e-01 -7.12444191e-01 1.39966103e-03 1.25895870e+02] [ 7.12442625e-01 -7.01728774e-01 -1.49470766e-03 1.54173242e+02] [ 2.04707820e-03 -5.16991130e-05 9.99997903e-01 5.74993545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.330385723 meters Centerline goodness [0,1] 0.9998920739077879 Centerline is valid? [True, True] Translation: X:125.88, Y:154.19, Z:5.75 [[-7.00693147e-01 -7.13460841e-01 1.65583785e-03 1.25875659e+02] [ 7.13458654e-01 -7.00695102e-01 -1.76733423e-03 1.54191523e+02] [ 2.42116124e-03 -5.69871391e-05 9.99997067e-01 5.74802871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.86, Y:154.21, Z:5.75 [[-7.00647069e-01 -7.13507097e-01 1.14372807e-03 1.25855821e+02] [ 7.13506055e-01 -7.00648001e-01 -1.22000228e-03 1.54210288e+02] [ 1.67183107e-03 -3.87341158e-05 9.99998602e-01 5.75011460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.83, Y:154.23, Z:5.75 [[-6.99791120e-01 -7.14346213e-01 1.36961932e-03 1.25832804e+02] [ 7.14344722e-01 -6.99792459e-01 -1.46017106e-03 1.54227583e+02] [ 2.00151693e-03 -4.34344083e-05 9.99997996e-01 5.74904603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.81, Y:154.25, Z:5.75 [[-6.99416445e-01 -7.14712540e-01 1.61902448e-03 1.25812875e+02] [ 7.14710460e-01 -6.99418317e-01 -1.72510844e-03 1.54247371e+02] [ 2.36533201e-03 -4.94354836e-05 9.99997201e-01 5.74836940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.450385723 meters Centerline goodness [0,1] 0.9998708010335917 Centerline is valid? [True, True] Translation: X:125.79, Y:154.27, Z:5.75 [[-6.98894172e-01 -7.15222153e-01 2.05156698e-03 1.25793353e+02] [ 7.15218818e-01 -6.98897181e-01 -2.18474570e-03 1.54265580e+02] [ 2.99641290e-03 -5.95867240e-05 9.99995509e-01 5.74615870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.77, Y:154.29, Z:5.75 [[-6.98844230e-01 -7.15272869e-01 1.21055147e-03 1.25773193e+02] [ 7.15271709e-01 -6.98845278e-01 -1.28843254e-03 1.54285662e+02] [ 1.76756901e-03 -3.45404284e-05 9.99998437e-01 5.74831990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.75, Y:154.30, Z:5.75 [[-6.99146906e-01 -7.14977818e-01 5.69639172e-04 1.25752691e+02] [ 7.14977561e-01 -6.99147137e-01 -6.05918877e-04 1.54304465e+02] [ 8.31480153e-04 -1.63470823e-05 9.99999654e-01 5.74887561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.73, Y:154.32, Z:5.75 [[-7.00109913e-01 -7.14034193e-01 1.13226792e-03 1.25733277e+02] [ 7.14033179e-01 -7.00110827e-01 -1.20368710e-03 1.54322934e+02] [ 1.65218678e-03 -3.42364017e-05 9.99998635e-01 5.74786380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:154.34, Z:5.75 [[-7.00865421e-01 -7.13292226e-01 1.36424858e-03 1.25714593e+02] [ 7.13290755e-01 -7.00866748e-01 -1.44938051e-03 1.54341905e+02] [ 1.98998832e-03 -4.27147817e-05 9.99998019e-01 5.74731929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.70, Y:154.36, Z:5.75 [[-7.01581142e-01 -7.12587862e-01 1.56221278e-03 1.25695227e+02] [ 7.12585934e-01 -7.01582879e-01 -1.65869910e-03 1.54361250e+02] [ 2.27799058e-03 -5.05011517e-05 9.99997404e-01 5.74718272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.68, Y:154.38, Z:5.75 [[-7.03496923e-01 -7.10697998e-01 6.59160328e-04 1.25675728e+02] [ 7.10697654e-01 -7.03497232e-01 -6.99465351e-04 1.54380719e+02] [ 9.60826090e-04 -2.36080239e-05 9.99999538e-01 5.74752902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.66, Y:154.40, Z:5.75 [[-7.04774833e-01 -7.09430978e-01 3.50366149e-04 1.25657762e+02] [ 7.09430880e-01 -7.04774920e-01 -3.71641335e-04 1.54400624e+02] [ 5.10583150e-04 -1.33628940e-05 9.99999870e-01 5.74785985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.64, Y:154.42, Z:5.75 [[-7.07010304e-01 -7.07203188e-01 -2.83608553e-04 1.25639010e+02] [ 7.07203125e-01 -7.07010361e-01 3.00651574e-04 1.54420397e+02] [-4.13135937e-04 1.19949059e-05 9.99999915e-01 5.74788748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.62, Y:154.44, Z:5.75 [[-7.08724592e-01 -7.05485144e-01 4.05609010e-04 1.25619543e+02] [ 7.05485013e-01 -7.08724708e-01 -4.29761543e-04 1.54440263e+02] [ 5.90655511e-04 -1.84314966e-05 9.99999825e-01 5.74698394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:154.46, Z:5.75 [[-7.09098991e-01 -7.05108805e-01 4.40340138e-04 1.25600556e+02] [ 7.05108651e-01 -7.09099127e-01 -4.66281539e-04 1.54459950e+02] [ 6.41024026e-04 -2.01521280e-05 9.99999794e-01 5.74672941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.780385723 meters Centerline goodness [0,1] 0.9999362109291942 Centerline is valid? [True, True] Translation: X:125.58, Y:154.48, Z:5.75 [[-7.08753932e-01 -7.05455717e-01 3.09027171e-04 1.25580706e+02] [ 7.05455641e-01 -7.08753999e-01 -3.27028426e-04 1.54476926e+02] [ 4.49728316e-04 -1.37777219e-05 9.99999899e-01 5.74667876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.56, Y:154.50, Z:5.75 [[-7.08729085e-01 -7.05480617e-01 4.28950674e-04 1.25560838e+02] [ 7.05480471e-01 -7.08729214e-01 -4.53666730e-04 1.54495669e+02] [ 6.24062958e-04 -1.89104828e-05 9.99999805e-01 5.74648768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.54, Y:154.51, Z:5.75 [[-7.08612062e-01 -7.05598024e-01 6.11375493e-04 1.25541560e+02] [ 7.05597729e-01 -7.08612325e-01 -6.46220732e-04 1.54514697e+02] [ 8.89200281e-04 -2.65346465e-05 9.99999604e-01 5.74631862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.870385723 meters Centerline goodness [0,1] 0.9999361878629315 Centerline is valid? [True, True] Translation: X:125.52, Y:154.53, Z:5.74 [[-7.08179183e-01 -7.06031797e-01 1.16081694e-03 1.25521794e+02] [ 7.06030733e-01 -7.08180132e-01 -1.22621735e-03 1.54532567e+02] [ 1.68781593e-03 -4.88091677e-05 9.99998574e-01 5.74448205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.50, Y:154.55, Z:5.74 [[-7.07868196e-01 -7.06342678e-01 1.62451220e-03 1.25499162e+02] [ 7.06340599e-01 -7.07870057e-01 -1.71499266e-03 1.54548235e+02] [ 2.36131605e-03 -6.65298463e-05 9.99997210e-01 5.74487581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.48, Y:154.57, Z:5.74 [[-7.07934367e-01 -7.06275593e-01 1.92824387e-03 1.25477719e+02] [ 7.06272667e-01 -7.07936989e-01 -2.03449977e-03 1.54565912e+02] [ 2.80199269e-03 -7.84263611e-05 9.99996071e-01 5.74499681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.46, Y:154.58, Z:5.74 [[-7.07807925e-01 -7.06402369e-01 1.90611633e-03 1.25458533e+02] [ 7.06399514e-01 -7.07810488e-01 -2.00998141e-03 1.54584374e+02] [ 2.76902477e-03 -7.62011220e-05 9.99996163e-01 5.74402029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.44, Y:154.60, Z:5.74 [[-7.08162402e-01 -7.06046605e-01 2.05050066e-03 1.25437283e+02] [ 7.06043302e-01 -7.08165366e-01 -2.16105505e-03 1.54602660e+02] [ 2.97789912e-03 -8.26356765e-05 9.99995563e-01 5.74377901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.42, Y:154.62, Z:5.74 [[-7.08862500e-01 -7.05343549e-01 2.10582502e-03 1.25415277e+02] [ 7.05340067e-01 -7.08865622e-01 -2.21819960e-03 1.54621345e+02] [ 3.05733974e-03 -8.70757542e-05 9.99995323e-01 5.74356080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.40, Y:154.64, Z:5.74 [[-7.09483627e-01 -7.04719541e-01 1.83056769e-03 1.25395438e+02] [ 7.04716910e-01 -7.09485985e-01 -1.92719289e-03 1.54641344e+02] [ 2.65689261e-03 -7.72797967e-05 9.99996468e-01 5.74378483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.38, Y:154.66, Z:5.74 [[-7.10104978e-01 -7.04094324e-01 1.45031380e-03 1.25375957e+02] [ 7.04092673e-01 -7.10106456e-01 -1.52602979e-03 1.54661039e+02] [ 2.10434610e-03 -6.24860264e-05 9.99997784e-01 5.74428982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.35, Y:154.68, Z:5.74 [[-7.10947223e-01 -7.03244292e-01 1.22935758e-03 1.25354177e+02] [ 7.03243106e-01 -7.10948284e-01 -1.29285945e-03 1.54679397e+02] [ 1.78320570e-03 -5.46175943e-05 9.99998409e-01 5.74463555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.33, Y:154.70, Z:5.74 [[-7.10926675e-01 -7.03264832e-01 1.35587434e-03 1.25333632e+02] [ 7.03263390e-01 -7.10927966e-01 -1.42533310e-03 1.54697715e+02] [ 1.96631562e-03 -5.97705363e-05 9.99998065e-01 5.74435737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.31, Y:154.72, Z:5.74 [[-7.10786517e-01 -7.03405425e-01 1.82625273e-03 1.25312728e+02] [ 7.03402813e-01 -7.10788859e-01 -1.91876376e-03 1.54717016e+02] [ 2.64774893e-03 -7.92401023e-05 9.99996492e-01 5.74403173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.29, Y:154.74, Z:5.74 [[-7.09916024e-01 -7.04280261e-01 2.92465208e-03 1.25292069e+02] [ 7.04273573e-01 -7.09922038e-01 -3.07157779e-03 1.54735072e+02] [ 4.23952657e-03 -1.20807123e-04 9.99991006e-01 5.74298446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.27, Y:154.75, Z:5.74 [[-7.09503345e-01 -7.04695821e-01 2.96719109e-03 1.25271151e+02] [ 7.04688948e-01 -7.09509539e-01 -3.11456669e-03 1.54753411e+02] [ 4.30007251e-03 -1.18848715e-04 9.99990748e-01 5.74297480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.25, Y:154.77, Z:5.74 [[-7.08331204e-01 -7.05873372e-01 3.11268460e-03 1.25250648e+02] [ 7.05865828e-01 -7.08338033e-01 -3.26556684e-03 1.54771507e+02] [ 4.50990956e-03 -1.15965201e-04 9.99989824e-01 5.74307804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.290385723 meters Centerline goodness [0,1] 0.9999371016437437 Centerline is valid? [True, True] Translation: X:125.23, Y:154.79, Z:5.74 [[-7.06382131e-01 -7.07821659e-01 3.57554464e-03 1.25229150e+02] [ 7.07811739e-01 -7.06391170e-01 -3.74917315e-03 1.54788930e+02] [ 5.17947912e-03 -1.17536447e-04 9.99986580e-01 5.74159820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.21, Y:154.81, Z:5.74 [[-7.05284382e-01 -7.08915673e-01 3.53693550e-03 1.25206178e+02] [ 7.08905990e-01 -7.05293242e-01 -3.70668176e-03 1.54805568e+02] [ 5.12230150e-03 -1.06909988e-04 9.99986875e-01 5.74346415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.18, Y:154.82, Z:5.74 [[-7.03436401e-01 -7.10744524e-01 4.41042240e-03 1.25184118e+02] [ 7.10729519e-01 -7.03450218e-01 -4.61976704e-03 1.54824321e+02] [ 6.38598673e-03 -1.15094909e-04 9.99979603e-01 5.74238185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.16, Y:154.84, Z:5.74 [[-7.02821918e-01 -7.11349515e-01 4.81864066e-03 1.25164179e+02] [ 7.11331638e-01 -7.02838427e-01 -5.04452100e-03 1.54843935e+02] [ 6.97514339e-03 -1.17748367e-04 9.99975666e-01 5.74233165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.15, Y:154.86, Z:5.74 [[-7.02479643e-01 -7.11688829e-01 4.62189046e-03 1.25145178e+02] [ 7.11672408e-01 -7.02494840e-01 -4.83572298e-03 1.54863603e+02] [ 6.68838422e-03 -1.07725040e-04 9.99977627e-01 5.74235105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.440385723 meters Centerline goodness [0,1] 0.9999583411443688 Centerline is valid? [True, True] Translation: X:125.13, Y:154.88, Z:5.74 [[-7.02443736e-01 -7.11722665e-01 4.86269571e-03 1.25125754e+02] [ 7.11704509e-01 -7.02460558e-01 -5.08485714e-03 1.54883191e+02] [ 7.03486001e-03 -1.11023580e-04 9.99975249e-01 5.74155169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.11, Y:154.90, Z:5.74 [[-7.02690384e-01 -7.11480548e-01 4.65327964e-03 1.25105639e+02] [ 7.11463936e-01 -7.02705783e-01 -4.86314884e-03 1.54902878e+02] [ 6.72992232e-03 -1.06647277e-04 9.99977348e-01 5.74271494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.09, Y:154.92, Z:5.74 [[-7.02560154e-01 -7.11612315e-01 4.14051945e-03 1.25087027e+02] [ 7.11599179e-01 -7.02572349e-01 -4.32474051e-03 1.54922359e+02] [ 5.98655308e-03 -9.20001167e-05 9.99982076e-01 5.74244835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.07, Y:154.94, Z:5.74 [[-7.01816045e-01 -7.12345654e-01 4.23189554e-03 1.25068160e+02] [ 7.12331961e-01 -7.01828799e-01 -4.41750356e-03 1.54941774e+02] [ 6.11685562e-03 -8.57604327e-05 9.99981288e-01 5.74246677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.05, Y:154.96, Z:5.74 [[-7.01468644e-01 -7.12686497e-01 4.43815737e-03 1.25049315e+02] [ 7.12671463e-01 -7.01482679e-01 -4.63001078e-03 1.54961815e+02] [ 6.41303669e-03 -8.48592826e-05 9.99979433e-01 5.74292531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.03, Y:154.98, Z:5.74 [[-7.01136963e-01 -7.13015722e-01 3.94206808e-03 1.25029682e+02] [ 7.13003878e-01 -7.01148041e-01 -4.11022334e-03 1.54981461e+02] [ 5.69462717e-03 -7.11196765e-05 9.99983783e-01 5.74355318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.01, Y:155.00, Z:5.74 [[-6.99410207e-01 -7.14711820e-01 3.51798377e-03 1.25010334e+02] [ 7.14702420e-01 -6.99419053e-01 -3.66603671e-03 1.55000304e+02] [ 5.08070465e-03 -4.97519854e-05 9.99987092e-01 5.74368698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.99, Y:155.02, Z:5.74 [[-6.98507120e-01 -7.15593047e-01 3.79410699e-03 1.24990208e+02] [ 7.15582139e-01 -6.98517422e-01 -3.95137681e-03 1.55019266e+02] [ 5.47782760e-03 -4.50696430e-05 9.99984996e-01 5.74311052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.97, Y:155.04, Z:5.74 [[-6.96358159e-01 -7.17680067e-01 4.54280667e-03 1.24971904e+02] [ 7.17664493e-01 -6.96372976e-01 -4.72809751e-03 1.55037873e+02] [ 6.55674913e-03 -3.22382290e-05 9.99978504e-01 5.74228814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.95, Y:155.06, Z:5.74 [[-6.95745569e-01 -7.18273647e-01 4.59031611e-03 1.24953159e+02] [ 7.18257778e-01 -6.95760711e-01 -4.77467845e-03 1.55057799e+02] [ 6.62328731e-03 -2.49311237e-05 9.99978066e-01 5.74253859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.740385723 meters Centerline goodness [0,1] 0.9999161829725709 Centerline is valid? [True, True] Translation: X:124.93, Y:155.08, Z:5.74 [[-6.95808515e-01 -7.18211671e-01 4.74411907e-03 1.24934521e+02] [ 7.18194738e-01 -6.95824687e-01 -4.93188302e-03 1.55078990e+02] [ 6.84321111e-03 -2.44448476e-05 9.99976585e-01 5.74179407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:155.10, Z:5.74 [[-6.96894030e-01 -7.17163743e-01 3.85709314e-03 1.24916947e+02] [ 7.17152547e-01 -6.96904703e-01 -4.00737280e-03 1.55099742e+02] [ 5.56196883e-03 -2.65900105e-05 9.99984532e-01 5.74337138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.90, Y:155.12, Z:5.74 [[-6.99469358e-01 -7.14654687e-01 3.36091357e-03 1.24898863e+02] [ 7.14646167e-01 -6.99477432e-01 -3.48989242e-03 1.55121118e+02] [ 4.84495116e-03 -3.92088119e-05 9.99988262e-01 5.74447659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.88, Y:155.14, Z:5.74 [[-7.01199380e-01 -7.12957649e-01 3.28939502e-03 1.24879946e+02] [ 7.12949477e-01 -7.01207094e-01 -3.41380347e-03 1.55142506e+02] [ 4.74044442e-03 -4.85844165e-05 9.99988763e-01 5.74390688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.87, Y:155.17, Z:5.74 [[-7.05162535e-01 -7.09037459e-01 3.41783072e-03 1.24865452e+02] [ 7.09028600e-01 -7.05170813e-01 -3.54515563e-03 1.55166997e+02] [ 4.92380261e-03 -7.65711965e-05 9.99987875e-01 5.74280087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.85, Y:155.19, Z:5.74 [[-7.07144801e-01 -7.07060519e-01 3.41354034e-03 1.24847825e+02] [ 7.07051669e-01 -7.07153034e-01 -3.53890214e-03 1.55189293e+02] [ 4.91611339e-03 -8.89668551e-05 9.99987912e-01 5.74308293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.83, Y:155.21, Z:5.74 [[-7.09245477e-01 -7.04955438e-01 2.94696990e-03 1.24827035e+02] [ 7.04948830e-01 -7.09251594e-01 -3.05361139e-03 1.55209124e+02] [ 4.24280305e-03 -8.82970880e-05 9.99990995e-01 5.74447459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.81, Y:155.23, Z:5.74 [[-7.09440188e-01 -7.04759484e-01 2.94781322e-03 1.24807848e+02] [ 7.04752877e-01 -7.09446307e-01 -3.05279729e-03 1.55228925e+02] [ 4.24280305e-03 -8.82972368e-05 9.99990995e-01 5.74447483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.79, Y:155.25, Z:5.74 [[-7.13162268e-01 -7.00994353e-01 2.54902116e-03 1.24790921e+02] [ 7.00989392e-01 -7.13166817e-01 -2.63872972e-03 1.55250334e+02] [ 3.66761194e-03 -9.50056783e-05 9.99993270e-01 5.74443730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.77, Y:155.27, Z:5.74 [[-7.15037988e-01 -6.99080911e-01 2.56042496e-03 1.24771664e+02] [ 6.99075900e-01 -7.15042564e-01 -2.64910248e-03 1.55271248e+02] [ 3.68274980e-03 -1.04277524e-04 9.99993213e-01 5.74394125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.75, Y:155.29, Z:5.74 [[-7.17606221e-01 -6.96441147e-01 3.32270278e-03 1.24752917e+02] [ 6.96432688e-01 -7.17613898e-01 -3.43589518e-03 1.55291780e+02] [ 4.77731647e-03 -1.51580924e-04 9.99988577e-01 5.74366819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.73, Y:155.31, Z:5.74 [[-7.18399206e-01 -6.95623508e-01 3.24271304e-03 1.24733640e+02] [ 6.95615452e-01 -7.18406509e-01 -3.35135392e-03 1.55312014e+02] [ 4.66086672e-03 -1.51928702e-04 9.99989127e-01 5.74407923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.71, Y:155.33, Z:5.74 [[-7.18116093e-01 -6.95915565e-01 3.28681769e-03 1.24713637e+02] [ 6.95907300e-01 -7.18123599e-01 -3.39509382e-03 1.55331819e+02] [ 4.72303998e-03 -1.50751092e-04 9.99988835e-01 5.74400931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.70, Y:155.35, Z:5.74 [[-7.17553757e-01 -6.96495467e-01 3.26656422e-03 1.24695294e+02] [ 6.96487317e-01 -7.17561177e-01 -3.37258144e-03 1.55350529e+02] [ 4.69294735e-03 -1.44887928e-04 9.99988978e-01 5.74348371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.160385723 meters Centerline goodness [0,1] 0.9999370673379484 Centerline is valid? [True, True] Translation: X:124.67, Y:155.37, Z:5.74 [[-7.15375728e-01 -6.98730623e-01 3.61722634e-03 1.24670454e+02] [ 6.98720668e-01 -7.15384859e-01 -3.73254764e-03 1.55365527e+02] [ 5.19575429e-03 -1.42743179e-04 9.99986492e-01 5.74144168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.65, Y:155.38, Z:5.74 [[-7.14281044e-01 -6.99847704e-01 3.97259292e-03 1.24650188e+02] [ 6.99835723e-01 -7.14292076e-01 -4.09778731e-03 1.55384487e+02] [ 5.70541869e-03 -1.46809357e-04 9.99983713e-01 5.74217340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.63, Y:155.40, Z:5.74 [[-7.13099181e-01 -7.01050633e-01 4.19140289e-03 1.24628621e+02] [ 7.01037330e-01 -7.13111485e-01 -4.32119795e-03 1.55402767e+02] [ 6.01831609e-03 -1.43112833e-04 9.99981880e-01 5.74159466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.61, Y:155.42, Z:5.74 [[-7.12969120e-01 -7.01187063e-01 3.42594379e-03 1.24609310e+02] [ 7.01178187e-01 -7.12977341e-01 -3.53001922e-03 1.55421542e+02] [ 4.91782410e-03 -1.14597642e-04 9.99987901e-01 5.74330865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.59, Y:155.44, Z:5.74 [[-7.12816493e-01 -7.01344758e-01 2.85982530e-03 1.24588020e+02] [ 7.01338580e-01 -7.12822223e-01 -2.94516824e-03 1.55440637e+02] [ 4.10412534e-03 -9.36586793e-05 9.99991574e-01 5.74432381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.57, Y:155.46, Z:5.74 [[-7.12929144e-01 -7.01231889e-01 2.42360063e-03 1.24567146e+02] [ 7.01227456e-01 -7.12933259e-01 -2.49452958e-03 1.55459691e+02] [ 3.47710919e-03 -7.89275329e-05 9.99993952e-01 5.74476894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.55, Y:155.48, Z:5.74 [[-7.12726967e-01 -7.01437388e-01 2.42081451e-03 1.24546794e+02] [ 7.01432972e-01 -7.12731075e-01 -2.49021270e-03 1.55477230e+02] [ 3.47211802e-03 -7.68026255e-05 9.99993969e-01 5.74480794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.53, Y:155.50, Z:5.74 [[-7.13045247e-01 -7.01114546e-01 2.20667454e-03 1.24527217e+02] [ 7.01110879e-01 -7.13048658e-01 -2.26861614e-03 1.55495336e+02] [ 3.16402609e-03 -7.05024279e-05 9.99994992e-01 5.74496888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.400385723 meters Centerline goodness [0,1] 0.9999581668723462 Centerline is valid? [True, True] Translation: X:124.51, Y:155.51, Z:5.74 [[-7.13889541e-01 -7.00254854e-01 2.20532822e-03 1.24506622e+02] [ 7.00251191e-01 -7.13892943e-01 -2.26603016e-03 1.55514349e+02] [ 3.16116687e-03 -7.34115145e-05 9.99995001e-01 5.74450251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.430385723 meters Centerline goodness [0,1] 0.999979154072252 Centerline is valid? [True, True] Translation: X:124.49, Y:155.53, Z:5.75 [[-7.14524294e-01 -6.99608014e-01 1.91296432e-03 1.24486601e+02] [ 6.99605259e-01 -7.14526852e-01 -1.96451628e-03 1.55533563e+02] [ 2.74125570e-03 -6.53747107e-05 9.99996241e-01 5.74590602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.47, Y:155.55, Z:5.75 [[-7.15393828e-01 -6.98718456e-01 2.04709166e-03 1.24465403e+02] [ 6.98715301e-01 -7.15396753e-01 -2.10113395e-03 1.55552184e+02] [ 2.93258380e-03 -7.28039945e-05 9.99995697e-01 5.74604734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.44, Y:155.57, Z:5.75 [[-7.15360717e-01 -6.98750522e-01 2.59868632e-03 1.24444764e+02] [ 6.98745443e-01 -7.15365431e-01 -2.66579738e-03 1.55571331e+02] [ 3.72173767e-03 -9.11864956e-05 9.99993070e-01 5.74554281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.42, Y:155.59, Z:5.74 [[-7.14537248e-01 -6.99589727e-01 3.27654288e-03 1.24423343e+02] [ 6.99581670e-01 -7.14544752e-01 -3.35935672e-03 1.55590499e+02] [ 4.69140797e-03 -1.08176163e-04 9.99988989e-01 5.74492171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.40, Y:155.61, Z:5.75 [[-7.14896343e-01 -6.99222851e-01 3.25932106e-03 1.24403110e+02] [ 6.99214883e-01 -7.14903765e-01 -3.33982677e-03 1.55609941e+02] [ 4.66538410e-03 -1.08664150e-04 9.99989111e-01 5.74503999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.38, Y:155.63, Z:5.74 [[-7.15551550e-01 -6.98550938e-01 3.54488178e-03 1.24384990e+02] [ 6.98541511e-01 -7.15560321e-01 -3.63116390e-03 1.55630818e+02] [ 5.07312969e-03 -1.22037889e-04 9.99987124e-01 5.74436653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.36, Y:155.65, Z:5.74 [[-7.15898456e-01 -6.98194469e-01 3.72617707e-03 1.24363919e+02] [ 6.98184060e-01 -7.15908141e-01 -3.81474183e-03 1.55649271e+02] [ 5.33103215e-03 -1.29410353e-04 9.99985782e-01 5.74445624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.34, Y:155.67, Z:5.74 [[-7.16447221e-01 -6.97617677e-01 5.74078728e-03 1.24343498e+02] [ 6.97592976e-01 -7.16470191e-01 -5.87411578e-03 1.55669204e+02] [ 8.21098997e-03 -2.03761036e-04 9.99966269e-01 5.74278629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.32, Y:155.69, Z:5.74 [[-7.17116976e-01 -6.96926319e-01 6.07860485e-03 1.24323668e+02] [ 6.96898628e-01 -7.17142704e-01 -6.21646184e-03 1.55689999e+02] [ 8.69164298e-03 -2.21758934e-04 9.99962202e-01 5.74227552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.30, Y:155.71, Z:5.74 [[-7.17557373e-01 -6.96469075e-01 6.49946782e-03 1.24303892e+02] [ 6.96437434e-01 -7.17586768e-01 -6.64310670e-03 1.55709877e+02] [ 9.29065048e-03 -2.40337502e-04 9.99956812e-01 5.74245883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.29, Y:155.73, Z:5.74 [[-7.18887436e-01 -6.95097752e-01 6.32224719e-03 1.24285832e+02] [ 6.95067790e-01 -7.18915193e-01 -6.45862491e-03 1.55730682e+02] [ 9.03453521e-03 -2.48633919e-04 9.99959157e-01 5.74301677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.27, Y:155.75, Z:5.74 [[-7.20942247e-01 -6.92971539e-01 5.72033262e-03 1.24266982e+02] [ 6.92946969e-01 -7.20964899e-01 -5.84070924e-03 1.55752022e+02] [ 8.17160429e-03 -2.46926895e-04 9.99966581e-01 5.74401469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.25, Y:155.77, Z:5.74 [[-7.21831002e-01 -6.92046000e-01 5.68676993e-03 1.24247554e+02] [ 6.92021712e-01 -7.21853358e-01 -5.80341077e-03 1.55772378e+02] [ 8.12124117e-03 -2.53713540e-04 9.99966990e-01 5.74437796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.23, Y:155.79, Z:5.74 [[-7.23052858e-01 -6.90765593e-01 6.12046584e-03 1.24229326e+02] [ 6.90737442e-01 -7.23078705e-01 -6.24275369e-03 1.55792776e+02] [ 8.73785797e-03 -2.86205980e-04 9.99961783e-01 5.74386608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.21, Y:155.81, Z:5.74 [[-7.23654875e-01 -6.90129298e-01 6.72116429e-03 1.24210728e+02] [ 6.90095361e-01 -7.23686016e-01 -6.85150830e-03 1.55812997e+02] [ 9.59243922e-03 -3.19883089e-04 9.99953940e-01 5.74360381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.19, Y:155.83, Z:5.74 [[-7.24132586e-01 -6.89625176e-01 7.00818727e-03 1.24190202e+02] [ 6.89588290e-01 -7.24166419e-01 -7.14058260e-03 1.55831863e+02] [ 9.99941941e-03 -3.37964670e-04 9.99949947e-01 5.74384037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.17, Y:155.85, Z:5.74 [[-7.24051906e-01 -6.89709017e-01 7.09290191e-03 1.24171732e+02] [ 6.89671280e-01 -7.24086568e-01 -7.22276018e-03 1.55851806e+02] [ 1.01174778e-02 -3.37882535e-04 9.99948760e-01 5.74380622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.15, Y:155.87, Z:5.75 [[-7.22354252e-01 -6.91487143e-01 7.06159566e-03 1.24146891e+02] [ 6.91449863e-01 -7.22388702e-01 -7.18681532e-03 1.55867034e+02] [ 1.00708073e-02 -3.08687250e-04 9.99949241e-01 5.74529270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.970385723 meters Centerline goodness [0,1] 0.9999581265833386 Centerline is valid? [True, True] Translation: X:124.13, Y:155.89, Z:5.74 [[-7.21130384e-01 -6.92759020e-01 7.47725939e-03 1.24127068e+02] [ 6.92717320e-01 -7.21169083e-01 -7.60709455e-03 1.55885399e+02] [ 1.06622517e-02 -3.06079929e-04 9.99943110e-01 5.74447332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.11, Y:155.90, Z:5.75 [[-7.16900506e-01 -6.97143243e-01 6.70548342e-03 1.24105282e+02] [ 6.97109936e-01 -7.16931833e-01 -6.81787823e-03 1.55902900e+02] [ 9.56041226e-03 -2.13281234e-04 9.99954276e-01 5.74654614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.08, Y:155.92, Z:5.75 [[-7.14897802e-01 -6.99198600e-01 6.51543309e-03 1.24083618e+02] [ 6.99167273e-01 -7.14927469e-01 -6.62107633e-03 1.55921423e+02] [ 9.28750939e-03 -1.78015327e-04 9.99956854e-01 5.74697919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.06, Y:155.94, Z:5.75 [[-7.13230042e-01 -7.00902387e-01 6.22499862e-03 1.24061996e+02] [ 7.00873884e-01 -7.13257192e-01 -6.32273398e-03 1.55940526e+02] [ 8.87164437e-03 -1.46624870e-04 9.99960635e-01 5.74708222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.04, Y:155.96, Z:5.75 [[-7.11589792e-01 -7.02576852e-01 5.07299648e-03 1.24042405e+02] [ 7.02557978e-01 -7.11607868e-01 -5.15078106e-03 1.55959496e+02] [ 7.22880375e-03 -1.01169070e-04 9.99973867e-01 5.74820317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.02, Y:155.98, Z:5.75 [[-7.11502615e-01 -7.02665252e-01 5.05688575e-03 1.24024034e+02] [ 7.02646522e-01 -7.11520578e-01 -5.13140400e-03 1.55979534e+02] [ 7.20373756e-03 -9.78041733e-05 9.99974048e-01 5.74819358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.00, Y:156.00, Z:5.75 [[-7.12023499e-01 -7.02138003e-01 4.97606229e-03 1.24004257e+02] [ 7.02119874e-01 -7.12040880e-01 -5.04659273e-03 1.55999472e+02] [ 7.08656431e-03 -9.95003863e-05 9.99974885e-01 5.74847995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.98, Y:156.02, Z:5.75 [[-7.12716024e-01 -7.01435065e-01 4.97177102e-03 1.23984928e+02] [ 7.01416970e-01 -7.12733357e-01 -5.03942331e-03 1.56019672e+02] [ 7.07837527e-03 -1.04393182e-04 9.99974943e-01 5.74845746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.97, Y:156.04, Z:5.75 [[-7.12916001e-01 -7.01231174e-01 5.06122550e-03 1.23965310e+02] [ 7.01212438e-01 -7.12933958e-01 -5.12722088e-03 1.56039806e+02] [ 7.20368665e-03 -1.06283537e-04 9.99974047e-01 5.74831897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.95, Y:156.06, Z:5.75 [[-7.12980126e-01 -7.01164544e-01 5.25556886e-03 1.23946454e+02] [ 7.01144362e-01 -7.12999488e-01 -5.32113205e-03 1.56060094e+02] [ 7.47820703e-03 -1.08948925e-04 9.99972032e-01 5.74826251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.93, Y:156.08, Z:5.75 [[-7.12244145e-01 -7.01912249e-01 5.24148829e-03 1.23927449e+02] [ 7.01892217e-01 -7.12263424e-01 -5.30391644e-03 1.56081066e+02] [ 7.45620431e-03 -9.87235947e-05 9.99972197e-01 5.74938512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.91, Y:156.10, Z:5.75 [[-7.09797958e-01 -7.04384100e-01 5.46794948e-03 1.23906707e+02] [ 7.04362395e-01 -7.09819015e-01 -5.53012260e-03 1.56100758e+02] [ 7.77658495e-03 -7.38517328e-05 9.99969759e-01 5.74969645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.89, Y:156.12, Z:5.75 [[-7.08125460e-01 -7.06063381e-01 5.73020395e-03 1.23886396e+02] [ 7.06039625e-01 -7.08148642e-01 -5.79214592e-03 1.56120363e+02] [ 8.14745828e-03 -5.58149472e-05 9.99966807e-01 5.74940146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.87, Y:156.14, Z:5.75 [[-7.04537263e-01 -7.09638090e-01 6.40518369e-03 1.23867187e+02] [ 7.09608589e-01 -7.04566378e-01 -6.47069492e-03 1.56138994e+02] [ 9.10472866e-03 -1.36723291e-05 9.99958551e-01 5.74825536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.85, Y:156.16, Z:5.75 [[-7.03193456e-01 -7.10960330e-01 7.37380204e-03 1.23847664e+02] [ 7.10921346e-01 -7.03232116e-01 -7.44515590e-03 1.56158831e+02] [ 1.04787049e-02 6.80837135e-06 9.99945097e-01 5.74734443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.83, Y:156.18, Z:5.75 [[-7.01929832e-01 -7.12209698e-01 7.20115010e-03 1.23831088e+02] [ 7.12172632e-01 -7.01966770e-01 -7.26616198e-03 1.56178993e+02] [ 1.02299991e-02 2.81261539e-05 9.99947672e-01 5.74685670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.81, Y:156.20, Z:5.75 [[-7.02167410e-01 -7.11979823e-01 6.75725301e-03 1.23813161e+02] [ 7.11947215e-01 -7.02199923e-01 -6.81410908e-03 1.56199856e+02] [ 9.59645071e-03 2.61621364e-05 9.99953953e-01 5.74763522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.80, Y:156.22, Z:5.75 [[-7.02661352e-01 -7.11493892e-01 6.59290118e-03 1.23796061e+02] [ 7.11462869e-01 -7.02692280e-01 -6.64413989e-03 1.56220050e+02] [ 9.36004571e-03 2.20240776e-05 9.99956194e-01 5.74747609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.78, Y:156.24, Z:5.75 [[-7.03663456e-01 -7.10500427e-01 6.84716399e-03 1.23779310e+02] [ 7.10466956e-01 -7.03696769e-01 -6.89654138e-03 1.56242584e+02] [ 9.71832277e-03 1.18396183e-05 9.99952776e-01 5.74802606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.76, Y:156.26, Z:5.75 [[-7.03856189e-01 -7.10303803e-01 7.41437174e-03 1.23762595e+02] [ 7.10264591e-01 -7.03895239e-01 -7.46346463e-03 1.56264386e+02] [ 1.05202683e-02 1.29599365e-05 9.99944660e-01 5.74610018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.74, Y:156.28, Z:5.75 [[-7.03496792e-01 -7.10656995e-01 7.67465899e-03 1.23744286e+02] [ 7.10615052e-01 -7.03538653e-01 -7.72090022e-03 1.56284591e+02] [ 1.08863310e-02 2.20996722e-05 9.99940742e-01 5.74610129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.73, Y:156.30, Z:5.75 [[-7.02175819e-01 -7.11967068e-01 7.21200395e-03 1.23727231e+02] [ 7.11930145e-01 -7.02212854e-01 -7.25095877e-03 1.56304867e+02] [ 1.02268057e-02 4.29951080e-05 9.99947704e-01 5.74624298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.71, Y:156.33, Z:5.75 [[-7.01260478e-01 -7.12869814e-01 7.09717634e-03 1.23708828e+02] [ 7.12834144e-01 -7.01296389e-01 -7.13150063e-03 1.56325908e+02] [ 1.00610557e-02 5.80700816e-05 9.99949385e-01 5.74815964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.69, Y:156.34, Z:5.75 [[-6.99108607e-01 -7.14988058e-01 6.26367436e-03 1.23690307e+02] [ 7.14960380e-01 -6.99136661e-01 -6.29160832e-03 1.56344957e+02] [ 8.87758919e-03 7.97614732e-05 9.99960590e-01 5.74690679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.67, Y:156.37, Z:5.75 [[-6.98173498e-01 -7.15898242e-01 6.59350305e-03 1.23672249e+02] [ 7.15867647e-01 -6.98204624e-01 -6.61925435e-03 1.56366408e+02] [ 9.34232688e-03 9.86875542e-05 9.99956355e-01 5.74809422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.65, Y:156.39, Z:5.75 [[-6.96441116e-01 -7.17579404e-01 7.04069265e-03 1.23654379e+02] [ 7.17544640e-01 -6.96476692e-01 -7.06448135e-03 1.56389086e+02] [ 9.97300463e-03 1.32015999e-04 9.99950260e-01 5.74768708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.64, Y:156.41, Z:5.75 [[-6.95995303e-01 -7.18009395e-01 7.28333785e-03 1.23636220e+02] [ 7.17972261e-01 -6.96033395e-01 -7.30380176e-03 1.56410393e+02] [ 1.03136447e-02 1.45822826e-04 9.99946802e-01 5.74765259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.62, Y:156.43, Z:5.75 [[-6.95287667e-01 -7.18690298e-01 7.70172531e-03 1.23619561e+02] [ 7.18648859e-01 -6.95330301e-01 -7.71946311e-03 1.56431936e+02] [ 1.09031462e-02 1.67588607e-04 9.99940545e-01 5.74704264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.60, Y:156.45, Z:5.75 [[-6.95051961e-01 -7.18917609e-01 7.76168726e-03 1.23601693e+02] [ 7.18875586e-01 -6.95095275e-01 -7.77497507e-03 1.56452469e+02] [ 1.09846786e-02 1.75675812e-04 9.99939651e-01 5.74681371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.59, Y:156.48, Z:5.75 [[-6.95221411e-01 -7.18757255e-01 7.42955399e-03 1.23585693e+02] [ 7.18718775e-01 -6.95261088e-01 -7.43925587e-03 1.56475334e+02] [ 1.05124989e-02 1.67829977e-04 9.99944728e-01 5.74735941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.57, Y:156.49, Z:5.75 [[-6.95418484e-01 -7.18566561e-01 7.43159339e-03 1.23566163e+02] [ 7.18528092e-01 -6.95458172e-01 -7.43721858e-03 1.56494795e+02] [ 1.05124989e-02 1.67829342e-04 9.99944728e-01 5.74735965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.55, Y:156.51, Z:5.75 [[-6.95882746e-01 -7.18118826e-01 7.24945432e-03 1.23549031e+02] [ 7.18082244e-01 -6.95920488e-01 -7.25025534e-03 1.56514983e+02] [ 1.02515886e-02 1.60376823e-04 9.99947438e-01 5.74745558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.53, Y:156.54, Z:5.75 [[-6.97543733e-01 -7.16507014e-01 7.10206372e-03 1.23534303e+02] [ 7.16471866e-01 -6.97579873e-01 -7.09829406e-03 1.56537012e+02] [ 1.00402342e-02 1.37058309e-04 9.99949586e-01 5.74704123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.11, Y:156.12, Z:6.73 [[-7.63462615e-01 6.45807262e-01 7.60370123e-03 1.23109420e+02] [ 6.45773636e-01 7.63500469e-01 -6.59129334e-03 1.56118243e+02] [-1.00621346e-02 -1.21936250e-04 -9.99949368e-01 6.72759679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.990385723 meters Centerline goodness [0,1] 0.9999786707618804 Centerline is valid? [True, True] Translation: X:123.12, Y:156.14, Z:6.73 [[-8.05308387e-01 5.92807913e-01 7.56183387e-03 1.23121073e+02] [ 5.92780803e-01 8.05343884e-01 -5.66986989e-03 1.56137085e+02] [-9.45102040e-03 -8.34838188e-05 -9.99955335e-01 6.72736964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.020385723 meters Centerline goodness [0,1] 0.9999361090405707 Centerline is valid? [True, True] Translation: X:123.14, Y:156.16, Z:6.73 [[-8.44249762e-01 5.35889078e-01 8.07679947e-03 1.23140216e+02] [ 5.35863783e-01 8.44288393e-01 -5.20721276e-03 1.56156737e+02] [-9.60963649e-03 -6.81238149e-05 -9.99953824e-01 6.72924266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.050385723 meters Centerline goodness [0,1] 0.9999786957540638 Centerline is valid? [True, True] Translation: X:123.15, Y:156.18, Z:6.73 [[-8.78566362e-01 4.77551840e-01 8.08626308e-03 1.23151769e+02] [ 4.77531238e-01 8.78603573e-01 -4.43600947e-03 1.56175662e+02] [-9.22304412e-03 -3.58854807e-05 -9.99957466e-01 6.72829932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.080385723 meters Centerline goodness [0,1] 0.9999570142068046 Centerline is valid? [True, True] Translation: X:123.16, Y:156.20, Z:6.73 [[-9.09680564e-01 4.15230640e-01 8.04912082e-03 1.23162201e+02] [ 4.15214159e-01 9.09716173e-01 -3.69958856e-03 1.56198653e+02] [-8.85859791e-03 -2.33348727e-05 -9.99960762e-01 6.72675060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.110385723 meters Centerline goodness [0,1] 0.9999570465186204 Centerline is valid? [True, True] Translation: X:123.17, Y:156.22, Z:6.73 [[-9.35924419e-01 3.52101002e-01 8.38848188e-03 1.23170253e+02] [ 3.52086858e-01 9.35962010e-01 -3.15602451e-03 1.56219795e+02] [-8.96253976e-03 -3.26179964e-07 -9.99959836e-01 6.72646026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.140385723 meters Centerline goodness [0,1] 0.9999567511460946 Centerline is valid? [True, True] Translation: X:123.40, Y:156.83, Z:5.75 [[-9.11207677e-01 -4.11852111e-01 8.85488125e-03 1.23404278e+02] [ 4.11833137e-01 -9.11250699e-01 -3.95355875e-03 1.56832682e+02] [ 9.69729825e-03 4.42204421e-05 9.99952979e-01 5.74848805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.12, Y:156.23, Z:6.73 [[-9.35841444e-01 3.52301208e-01 9.20061202e-03 1.23124927e+02] [ 3.52284580e-01 9.35886669e-01 -3.42303077e-03 1.56225891e+02] [-9.81666801e-03 3.78196892e-05 -9.99951815e-01 6.72664770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.13, Y:156.25, Z:6.73 [[-9.58246525e-01 2.85790385e-01 9.35160043e-03 1.23131185e+02] [ 2.85777234e-01 9.58292155e-01 -2.74205268e-03 1.56251278e+02] [-9.74521762e-03 4.49120537e-05 -9.99952513e-01 6.72753022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.230385723 meters Centerline goodness [0,1] 0.9999134873258932 Centerline is valid? [True, True] Translation: X:123.13, Y:156.28, Z:6.73 [[-9.76074202e-01 2.17203134e-01 1.00971119e-02 1.23134056e+02] [ 2.17192032e-01 9.76126424e-01 -2.19655591e-03 1.56276206e+02] [-1.03331565e-02 4.90106879e-05 -9.99946610e-01 6.72735532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.28, Y:156.94, Z:5.75 [[-9.61785699e-01 -2.73628956e-01 9.77050424e-03 1.23282215e+02] [ 2.73614221e-01 -9.61835324e-01 -2.84029512e-03 1.56944342e+02] [ 1.01748031e-02 -5.84063225e-05 9.99948234e-01 5.74828076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.08, Y:156.28, Z:6.73 [[-9.77045520e-01 2.12842382e-01 8.95394372e-03 1.23081764e+02] [ 2.12833808e-01 9.77086546e-01 -1.91085905e-03 1.56280993e+02] [-9.15548974e-03 3.87056668e-05 -9.99958087e-01 6.72709028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.320385723 meters Centerline goodness [0,1] 0.9999349028968211 Centerline is valid? [True, True] Translation: X:123.09, Y:156.31, Z:6.73 [[-9.89706001e-01 1.42858529e-01 8.57158198e-03 1.23085006e+02] [ 1.42853483e-01 9.89743118e-01 -1.20122720e-03 1.56307942e+02] [-8.65526983e-03 3.56185676e-05 -9.99962542e-01 6.72693159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.350385723 meters Centerline goodness [0,1] 0.9999783132007547 Centerline is valid? [True, True] Translation: X:123.08, Y:156.33, Z:6.73 [[-9.97351313e-01 7.23400657e-02 7.56797401e-03 1.23084374e+02] [ 7.23382275e-02 9.97380025e-01 -5.16699754e-04 1.56332597e+02] [-7.58552420e-03 3.21226486e-05 -9.99971229e-01 6.72729268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.380385723 meters Centerline goodness [0,1] 0.9999782707894223 Centerline is valid? [True, True] Translation: X:123.13, Y:157.04, Z:5.75 [[-9.91315781e-01 -1.31309001e-01 7.13920179e-03 1.23131415e+02] [ 1.31305195e-01 -9.91341487e-01 -1.00126492e-03 1.57041901e+02] [ 7.20886202e-03 -5.51554388e-05 9.99974014e-01 5.75078786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.01, Y:156.33, Z:6.73 [[-9.97696507e-01 6.74890391e-02 6.84907162e-03 1.23014348e+02] [ 6.74876380e-02 9.97720015e-01 -4.35740909e-04 1.56331358e+02] [-6.86286357e-03 2.74904830e-05 -9.99976450e-01 6.72534443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.00, Y:156.36, Z:6.72 [[-9.99978436e-01 -3.14240754e-03 5.76654177e-03 1.23003675e+02] [-3.14220715e-03 9.99995062e-01 4.38102474e-05 1.56358761e+02] [-5.76665097e-03 2.56896339e-05 -9.99983372e-01 6.72493192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.00, Y:156.38, Z:6.72 [[-9.97255428e-01 -7.38691226e-02 4.99635655e-03 1.23002318e+02] [-7.38680722e-02 9.97267944e-01 3.94693115e-04 1.56383068e+02] [-5.01186185e-03 2.45386255e-05 -9.99987440e-01 6.72429744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.00, Y:156.41, Z:6.73 [[-9.89424100e-01 -1.44953847e-01 5.32275342e-03 1.22995648e+02] [-1.44951610e-01 9.89438417e-01 8.05706375e-04 1.56407700e+02] [-5.38332695e-03 2.56436263e-05 -9.99985509e-01 6.72515173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.530385723 meters Centerline goodness [0,1] 0.9999780345297192 Centerline is valid? [True, True] Translation: X:122.97, Y:156.43, Z:6.73 [[-9.76327586e-01 -2.16217560e-01 5.86616883e-03 1.22972021e+02] [-2.16213503e-01 9.76345209e-01 1.32468527e-03 1.56431066e+02] [-6.01382604e-03 2.49818591e-05 -9.99981917e-01 6.72551750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.560385723 meters Centerline goodness [0,1] 0.9999560072148168 Centerline is valid? [True, True] Translation: X:122.93, Y:156.45, Z:6.73 [[-9.57961461e-01 -2.86807309e-01 7.16982177e-03 1.22931008e+02] [-2.86799062e-01 9.57988292e-01 2.17518090e-03 1.56447034e+02] [-7.49246309e-03 2.74413209e-05 -9.99971931e-01 6.72682458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.87, Y:156.46, Z:6.73 [[-9.34391592e-01 -3.56174449e-01 7.21908948e-03 1.22871538e+02] [-3.56163564e-01 9.34419478e-01 2.78474068e-03 1.56455893e+02] [-7.73751130e-03 3.08616386e-05 -9.99970065e-01 6.72703648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:156.45, Z:6.73 [[-9.06282074e-01 -4.22612188e-01 7.19318149e-03 1.22802045e+02] [-4.22598465e-01 9.06310618e-01 3.40600049e-03 1.56453846e+02] [-7.95867408e-03 4.69697327e-05 -9.99968328e-01 6.72796165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.72, Y:156.44, Z:6.73 [[-8.73007538e-01 -4.87655167e-01 7.09067875e-03 1.22723221e+02] [-4.87638517e-01 8.73036331e-01 4.03007986e-03 1.56442461e+02] [-8.15570942e-03 6.06020210e-05 -9.99966740e-01 6.72804429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.680385723 meters Centerline goodness [0,1] 0.9999777109105094 Centerline is valid? [True, True] Translation: X:122.64, Y:156.42, Z:6.73 [[-8.36286233e-01 -5.48250221e-01 6.85803945e-03 1.22641321e+02] [-5.48230833e-01 8.36314347e-01 4.61161641e-03 1.56418062e+02] [-8.26379650e-03 9.68426282e-05 -9.99965850e-01 6.72743961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.55, Y:156.38, Z:6.73 [[-7.94198032e-01 -6.07622303e-01 6.68005323e-03 1.22549674e+02] [-6.07599505e-01 7.94226115e-01 5.26495422e-03 1.56383494e+02] [-8.50457633e-03 1.22619243e-04 -9.99963828e-01 6.72750750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.46, Y:156.34, Z:6.73 [[-7.49170143e-01 -6.62344727e-01 6.59993538e-03 1.22460942e+02] [-6.62316962e-01 7.49199194e-01 6.06707664e-03 1.56341653e+02] [-8.96316249e-03 1.74023526e-04 -9.99959815e-01 6.72853221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.770385723 meters Centerline goodness [0,1] 0.9999328964144317 Centerline is valid? [True, True] Translation: X:122.37, Y:156.29, Z:6.73 [[-6.98052269e-01 -7.16021005e-01 6.07870238e-03 1.22367119e+02] [-7.15991456e-01 6.98078709e-01 6.50778119e-03 1.56286826e+02] [-8.90312074e-03 1.90472460e-04 -9.99960348e-01 6.73048841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.800385723 meters Centerline goodness [0,1] 0.999932771602725 Centerline is valid? [True, True] Translation: X:122.28, Y:156.22, Z:6.73 [[-6.43282423e-01 -7.65612586e-01 5.00912722e-03 1.22279134e+02] [-7.65587017e-01 6.43301897e-01 6.26005514e-03 1.56224730e+02] [-8.01515805e-03 1.92060670e-04 -9.99967860e-01 6.73013003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.19, Y:156.15, Z:6.73 [[-5.82989442e-01 -8.12466710e-01 4.59948218e-03 1.22190491e+02] [-8.12438712e-01 5.83007552e-01 6.74785536e-03 1.56151029e+02] [-8.16394070e-03 1.97131049e-04 -9.99966655e-01 6.72879523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.10, Y:156.06, Z:6.73 [[-5.17965173e-01 -8.55392549e-01 3.95812799e-03 1.22103437e+02] [-8.55364825e-01 5.17980264e-01 6.88923910e-03 1.56064918e+02] [-7.94323597e-03 1.82742463e-04 -9.99968435e-01 6.72809072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.02, Y:155.97, Z:6.73 [[-4.49236557e-01 -8.93406980e-01 3.23781661e-03 1.22022754e+02] [-8.93381137e-01 4.49248196e-01 6.79720819e-03 1.55973317e+02] [-7.52725652e-03 1.60950123e-04 -9.99971657e-01 6.72844842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.95, Y:155.87, Z:6.73 [[-3.75296171e-01 -9.26901089e-01 2.67487804e-03 1.21945354e+02] [-9.26875066e-01 3.75305682e-01 6.94675252e-03 1.55874221e+02] [-7.44284940e-03 1.27811865e-04 -9.99972293e-01 6.72874972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.88, Y:155.76, Z:6.73 [[-3.00745244e-01 -9.53701972e-01 2.20162857e-03 1.21876480e+02] [-9.53673537e-01 3.00753280e-01 7.36535782e-03 1.55764826e+02] [-7.68650329e-03 1.15461426e-04 -9.99970452e-01 6.72815760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.82, Y:155.65, Z:6.73 [[-2.23190462e-01 -9.74773573e-01 1.58098730e-03 1.21816928e+02] [-9.74746245e-01 2.23196044e-01 7.29958484e-03 1.55654389e+02] [-7.46831251e-03 8.81362757e-05 -9.99972108e-01 6.72579432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.77, Y:155.54, Z:6.73 [[-1.46257753e-01 -9.89246059e-01 9.51414053e-04 1.21767006e+02] [-9.89221640e-01 1.46260828e-01 6.95100088e-03 1.55540636e+02] [-7.01540483e-03 7.54783998e-05 -9.99975389e-01 6.72556679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.040385723 meters Centerline goodness [0,1] 0.9999551961289456 Centerline is valid? [True, True] Translation: X:121.72, Y:155.42, Z:6.73 [[-6.84995341e-02 -9.97651080e-01 3.70762734e-04 1.21724714e+02] [-9.97631151e-01 6.85005093e-02 6.30615341e-03 1.55415829e+02] [-6.31673819e-03 6.20841175e-05 -9.99980047e-01 6.72554139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.69, Y:155.31, Z:6.73 [[ 7.76732495e-03 -9.99969828e-01 -1.11612048e-04 1.21693970e+02] [-9.99950190e-01 -7.76787192e-03 6.26716561e-03 1.55305745e+02] [-6.26784350e-03 6.29273767e-05 -9.99980355e-01 6.72559157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.67, Y:155.18, Z:6.73 [[ 8.33703947e-02 -9.96518384e-01 -6.98148104e-04 1.21673967e+02] [-9.96491514e-01 -8.33732739e-02 7.31841696e-03 1.55176600e+02] [-7.35114394e-03 8.55593505e-05 -9.99972976e-01 6.72573841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.66, Y:155.05, Z:6.72 [[ 1.57212414e-01 -9.87563756e-01 -1.44390440e-03 1.21662553e+02] [-9.87528983e-01 -1.57218997e-01 8.28828314e-03 1.55051145e+02] [-8.41221723e-03 1.22876445e-04 -9.99964609e-01 6.72475870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.66, Y:154.93, Z:6.72 [[ 2.31167768e-01 -9.72911564e-01 -2.13340342e-03 1.21658524e+02] [-9.72875491e-01 -2.31177571e-01 8.37908396e-03 1.54931727e+02] [-8.64530271e-03 1.38561761e-04 -9.99962619e-01 6.72398759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.67, Y:154.81, Z:6.72 [[ 3.03081301e-01 -9.52960668e-01 -2.77298585e-03 1.21666384e+02] [-9.52925524e-01 -3.03093943e-01 8.18582518e-03 1.54807377e+02] [-8.64124465e-03 1.61478446e-04 -9.99962651e-01 6.72470349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.68, Y:154.68, Z:6.72 [[ 3.74638466e-01 -9.27164849e-01 -3.37082196e-03 1.21681897e+02] [-9.27131300e-01 -3.74653591e-01 7.88923351e-03 1.54684992e+02] [-8.57751055e-03 1.69584208e-04 -9.99963198e-01 6.72450745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.71, Y:154.56, Z:6.72 [[ 4.43917290e-01 -8.96059424e-01 -3.86627243e-03 1.21707740e+02] [-8.96028805e-01 -4.43934092e-01 7.40962010e-03 1.54563384e+02] [-8.35583006e-03 1.75032994e-04 -9.99965074e-01 6.72390612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.74, Y:154.44, Z:6.72 [[ 5.11188315e-01 -8.59456580e-01 -4.57094686e-03 1.21740645e+02] [-8.59425389e-01 -5.11208717e-01 7.32449188e-03 1.54444978e+02] [-8.63179062e-03 1.84193120e-04 -9.99962728e-01 6.72323223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.310385723 meters Centerline goodness [0,1] 0.9999553072625699 Centerline is valid? [True, True] Translation: X:121.78, Y:154.33, Z:6.72 [[ 5.75126529e-01 -8.18045491e-01 -5.57231368e-03 1.21784381e+02] [-8.18010532e-01 -5.75153485e-01 7.56561784e-03 1.54329585e+02] [-9.39395520e-03 2.07023755e-04 -9.99955854e-01 6.72355349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.83, Y:154.22, Z:6.72 [[ 6.35845386e-01 -7.71793902e-01 -5.90070000e-03 1.21831232e+02] [-7.71763585e-01 -6.35872733e-01 6.84373704e-03 1.54222261e+02] [-9.03404874e-03 2.02386761e-04 -9.99959172e-01 6.72300361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.370385723 meters Centerline goodness [0,1] 0.9998882756463254 Centerline is valid? [True, True] Translation: X:121.89, Y:154.11, Z:6.72 [[ 6.92487221e-01 -7.21406730e-01 -5.81183692e-03 1.21891239e+02] [-7.21383596e-01 -6.92511584e-01 5.78053471e-03 1.54114661e+02] [-8.19488103e-03 1.89617391e-04 -9.99966403e-01 6.72270018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.400385723 meters Centerline goodness [0,1] 0.9999776476373553 Centerline is valid? [True, True] Translation: X:121.88, Y:154.11, Z:6.72 [[ 7.45864646e-01 -6.66067867e-01 -6.28705615e-03 1.21884970e+02] [-6.66046457e-01 -7.45891116e-01 5.34420270e-03 1.54109714e+02] [-8.24906102e-03 2.01419625e-04 -9.99965956e-01 6.72370568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.430385723 meters Centerline goodness [0,1] 0.9999776466380543 Centerline is valid? [True, True] Translation: X:121.88, Y:154.10, Z:6.72 [[ 7.94127942e-01 -6.07720186e-01 -6.08170564e-03 1.21877485e+02] [-6.07704292e-01 -7.94151204e-01 4.39986463e-03 1.54101182e+02] [-7.50368041e-03 2.01823177e-04 -9.99971827e-01 6.72246287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.460385723 meters Centerline goodness [0,1] 0.9999330282397589 Centerline is valid? [True, True] Translation: X:121.87, Y:154.09, Z:6.72 [[ 8.38571827e-01 -5.44759271e-01 -5.88460712e-03 1.21870963e+02] [-5.44747462e-01 -8.38592452e-01 3.59207938e-03 1.54092876e+02] [-6.89160565e-03 1.93408231e-04 -9.99976234e-01 6.72173476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.490385723 meters Centerline goodness [0,1] 0.9998886885282398 Centerline is valid? [True, True] Translation: X:121.86, Y:154.09, Z:6.72 [[ 8.77498905e-01 -4.79548435e-01 -5.38230337e-03 1.21864575e+02] [-4.79540684e-01 -8.77515393e-01 2.73277957e-03 1.54085660e+02] [-6.03355423e-03 1.83022354e-04 -9.99981781e-01 6.72153704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.520385723 meters Centerline goodness [0,1] 0.9998664292074799 Centerline is valid? [True, True] Translation: X:121.86, Y:154.08, Z:6.72 [[ 9.11865711e-01 -4.10455310e-01 -5.23108088e-03 1.21859123e+02] [-4.10449665e-01 -9.11880698e-01 2.15995302e-03 1.54076987e+02] [-5.65668587e-03 1.77508301e-04 -9.99983985e-01 6.72175036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.550385723 meters Centerline goodness [0,1] 0.999933569530558 Centerline is valid? [True, True] Translation: X:121.85, Y:154.07, Z:6.72 [[ 9.40803501e-01 -3.38894016e-01 -6.29439445e-03 1.21853999e+02] [-3.38887947e-01 -9.40824532e-01 2.03935382e-03 1.54068304e+02] [-6.61304552e-03 2.14463204e-04 -9.99978111e-01 6.72247126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.580385723 meters Centerline goodness [0,1] 0.9998007130045836 Centerline is valid? [True, True] Translation: X:121.85, Y:154.06, Z:6.72 [[ 9.64248629e-01 -2.64916205e-01 -6.63218009e-03 1.21850331e+02] [-2.64911540e-01 -9.64271411e-01 1.58823030e-03 1.54062020e+02] [-6.81596959e-03 2.25492153e-04 -9.99976746e-01 6.72289595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.610385723 meters Centerline goodness [0,1] 0.9999558927311221 Centerline is valid? [True, True] Translation: X:121.84, Y:154.06, Z:6.72 [[ 9.82064730e-01 -1.88370851e-01 -8.08011272e-03 1.21843306e+02] [-1.88366717e-01 -9.82097933e-01 1.27647673e-03 1.54055207e+02] [-8.17591301e-03 2.68441530e-04 -9.99966541e-01 6.72307228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.640385723 meters Centerline goodness [0,1] 0.9998676548438327 Centerline is valid? [True, True] Translation: X:121.84, Y:154.04, Z:6.72 [[ 9.93795037e-01 -1.10913509e-01 -8.34378839e-03 1.21837262e+02] [-1.10911915e-01 -9.93830025e-01 6.54963381e-04 1.54040234e+02] [-8.36495171e-03 2.74526194e-04 -9.99964976e-01 6.72190675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.670385723 meters Centerline goodness [0,1] 0.9997805188534304 Centerline is valid? [True, True] Translation: X:121.83, Y:154.02, Z:6.72 [[ 9.99431628e-01 -3.28402844e-02 -7.61160920e-03 1.21833283e+02] [-3.28412384e-02 -9.99460581e-01 -3.38098592e-07 1.54024316e+02] [-7.60749225e-03 2.50312579e-04 -9.99971031e-01 6.72162974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.700385723 meters Centerline goodness [0,1] 0.9997361651606095 Centerline is valid? [True, True] Translation: X:121.83, Y:154.01, Z:6.72 [[ 9.98943366e-01 4.54937817e-02 -6.51674548e-03 1.21830133e+02] [ 4.54914077e-02 -9.98964599e-01 -5.12129718e-04 1.54010736e+02] [-6.53329675e-03 2.15132659e-04 -9.99978635e-01 6.72126162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.730385723 meters Centerline goodness [0,1] 0.9998908106219427 Centerline is valid? [True, True] Translation: X:121.83, Y:153.99, Z:6.72 [[ 9.92290908e-01 1.23832294e-01 -4.93119229e-03 1.21829300e+02] [ 1.23829946e-01 -9.92303148e-01 -7.79735299e-04 1.53991990e+02] [-4.98979404e-03 1.63094972e-04 -9.99987538e-01 6.71887885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.760385723 meters Centerline goodness [0,1] 0.9998908106219427 Centerline is valid? [True, True] Translation: X:121.83, Y:153.98, Z:6.72 [[ 9.79549206e-01 2.01146172e-01 -4.85502089e-03 1.21828515e+02] [ 2.01142873e-01 -9.79561224e-01 -1.16344028e-03 1.53978688e+02] [-4.98981176e-03 1.63094154e-04 -9.99987538e-01 6.71887902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.790385723 meters Centerline goodness [0,1] 0.9997160890170128 Centerline is valid? [True, True] Translation: X:121.83, Y:153.97, Z:6.72 [[ 9.60670209e-01 2.77656430e-01 -4.43351097e-03 1.21828337e+02] [ 2.77652748e-01 -9.60680428e-01 -1.43778162e-03 1.53965817e+02] [-4.65839653e-03 1.50257467e-04 -9.99989138e-01 6.71831330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.820385723 meters Centerline goodness [0,1] 0.9998912523380747 Centerline is valid? [True, True] Translation: X:121.83, Y:153.95, Z:6.72 [[ 9.35572413e-01 3.53118441e-01 -3.40980113e-03 1.21831319e+02] [ 3.53115646e-01 -9.35578620e-01 -1.40959451e-03 1.53949349e+02] [-3.68789085e-03 1.14723604e-04 -9.99993193e-01 6.71713860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.850385723 meters Centerline goodness [0,1] 0.9998699243393241 Centerline is valid? [True, True] Translation: X:121.83, Y:153.94, Z:6.72 [[ 9.04791804e-01 4.25843906e-01 -2.95965391e-03 1.21833003e+02] [ 4.25841259e-01 -9.04796639e-01 -1.50485818e-03 1.53936588e+02] [-3.31871959e-03 1.01240598e-04 -9.99994488e-01 6.71760549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.84, Y:153.92, Z:6.72 [[ 8.68762486e-01 4.95217921e-01 -3.30952794e-03 1.21838990e+02] [ 4.95213802e-01 -8.68768782e-01 -2.02332075e-03 1.53920529e+02] [-3.87719925e-03 1.18861248e-04 -9.99992477e-01 6.71771526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.910385723 meters Centerline goodness [0,1] 0.9999352988116549 Centerline is valid? [True, True] Translation: X:121.84, Y:153.91, Z:6.72 [[ 8.27709499e-01 5.61142896e-01 -3.95414757e-03 1.21843694e+02] [ 5.61135601e-01 -8.27718930e-01 -2.86547476e-03 1.53907804e+02] [-4.88086360e-03 1.52967704e-04 -9.99988077e-01 6.71911887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.940385723 meters Centerline goodness [0,1] 0.9999783872571268 Centerline is valid? [True, True] Translation: X:121.85, Y:153.90, Z:6.72 [[ 7.81647678e-01 6.23707516e-01 -3.98027483e-03 1.21849104e+02] [ 6.23698327e-01 -7.81657794e-01 -3.38971885e-03 1.53897287e+02] [-5.22540597e-03 1.67075119e-04 -9.99986334e-01 6.71914604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.970385723 meters Centerline goodness [0,1] 0.9999353085780825 Centerline is valid? [True, True] Translation: X:121.86, Y:153.89, Z:6.72 [[ 7.31511140e-01 6.81818471e-01 -3.87625493e-03 1.21856473e+02] [ 6.81807547e-01 -7.31521387e-01 -3.86381139e-03 1.53886210e+02] [-5.46998136e-03 1.83561205e-04 -9.99985023e-01 6.71883549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.86, Y:153.88, Z:6.72 [[ 6.76483107e-01 7.36449633e-01 -3.54164996e-03 1.21862966e+02] [ 7.36438065e-01 -6.76492352e-01 -4.13205379e-03 1.53878440e+02] [-5.43894861e-03 1.87058739e-04 -9.99985191e-01 6.71892617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.030385723 meters Centerline goodness [0,1] 0.9999570981166073 Centerline is valid? [True, True] Translation: X:121.87, Y:153.87, Z:6.72 [[ 6.17654238e-01 7.86439775e-01 -3.96515122e-03 1.21870455e+02] [ 7.86421029e-01 -6.17666919e-01 -5.43526991e-03 1.53868533e+02] [-6.72365519e-03 2.38839188e-04 -9.99977367e-01 6.71980661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.88, Y:153.86, Z:6.72 [[ 5.54341067e-01 8.32281428e-01 -3.68849808e-03 1.21879694e+02] [ 8.32259908e-01 -5.54353282e-01 -5.99039952e-03 1.53860155e+02] [-7.03042929e-03 2.50935389e-04 -9.99975255e-01 6.72032269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.89, Y:153.85, Z:6.72 [[ 4.87444167e-01 8.73145302e-01 -3.93261501e-03 1.21889856e+02] [ 8.73111631e-01 -4.87459934e-01 -7.67421138e-03 1.53852455e+02] [-8.61769387e-03 3.07137674e-04 -9.99962820e-01 6.72167640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.120385723 meters Centerline goodness [0,1] 0.9999573515300139 Centerline is valid? [True, True] Translation: X:121.90, Y:153.84, Z:6.72 [[ 4.17615873e-01 9.08616644e-01 -3.57454889e-03 1.21904453e+02] [ 9.08576285e-01 -4.17631039e-01 -8.57021463e-03 1.53844594e+02] [-9.27988222e-03 3.31307317e-04 -9.99956886e-01 6.72147355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.150385723 meters Centerline goodness [0,1] 0.999978735619963 Centerline is valid? [True, True] Translation: X:121.91, Y:153.84, Z:6.72 [[ 3.44817402e-01 9.38665455e-01 -2.85004055e-03 1.21914739e+02] [ 9.38625240e-01 -3.44829029e-01 -8.69482839e-03 1.53838574e+02] [-9.14431176e-03 3.23008142e-04 -9.99958138e-01 6.72150172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.94, Y:153.83, Z:6.72 [[ 2.68659148e-01 9.63233575e-01 -1.82804869e-03 1.21937100e+02] [ 9.63204227e-01 -2.68665241e-01 -7.52365215e-03 1.53832269e+02] [-7.73816750e-03 2.60513756e-04 -9.99970026e-01 6.71967760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.96, Y:153.83, Z:6.72 [[ 1.91039981e-01 9.81581532e-01 -1.19252577e-03 1.21955461e+02] [ 9.81553722e-01 -1.91043550e-01 -7.39280154e-03 1.53828901e+02] [-7.48446182e-03 2.41792566e-04 -9.99971962e-01 6.71940148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.240385723 meters Centerline goodness [0,1] 0.9999788207387327 Centerline is valid? [True, True] Translation: X:121.98, Y:153.83, Z:6.72 [[ 1.08999046e-01 9.94041633e-01 -6.63919543e-04 1.21976151e+02] [ 9.94008479e-01 -1.09000835e-01 -8.12164023e-03 1.53827724e+02] [-8.14561630e-03 2.25309381e-04 -9.99966799e-01 6.71970642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.99, Y:153.83, Z:6.72 [[ 2.74553912e-02 9.99623029e-01 -2.73752201e-05 1.21992661e+02] [ 9.99585413e-01 -2.74545956e-02 -8.67448377e-03 1.53826856e+02] [-8.67196532e-03 2.10797475e-04 -9.99962376e-01 6.72015828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.01, Y:153.83, Z:6.72 [[-5.90833322e-02 9.98252828e-01 6.71712043e-04 1.22014465e+02] [ 9.98213103e-01 5.90869743e-02 -8.90678722e-03 1.53829530e+02] [-8.93091496e-03 1.44269095e-04 -9.99960108e-01 6.72052497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.03, Y:153.83, Z:6.72 [[-1.40685742e-01 9.90053389e-01 1.34485906e-03 1.22030476e+02] [ 9.90015332e-01 1.40692127e-01 -8.68142273e-03 1.53833518e+02] [-8.78428307e-03 1.10078693e-04 -9.99961411e-01 6.72035079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.05, Y:153.84, Z:6.72 [[-2.23614276e-01 9.74675579e-01 2.04247121e-03 1.22046960e+02] [ 9.74637267e-01 2.23623596e-01 -8.64210523e-03 1.53839613e+02] [-8.87999367e-03 5.81704480e-05 -9.99960570e-01 6.71995312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.390385723 meters Centerline goodness [0,1] 0.9999579390115668 Centerline is valid? [True, True] Translation: X:122.06, Y:153.85, Z:6.72 [[-3.01341804e-01 9.53512285e-01 2.72769266e-03 1.22059107e+02] [ 9.53474390e-01 3.01354146e-01 -8.50100412e-03 1.53845284e+02] [-8.92781335e-03 3.90771790e-05 -9.99960146e-01 6.72001934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.07, Y:153.85, Z:6.72 [[-3.76590611e-01 9.26373614e-01 3.38220245e-03 1.22070369e+02] [ 9.26336838e-01 3.76605798e-01 -8.25437533e-03 1.53852068e+02] [-8.92039256e-03 2.45384772e-05 -9.99960212e-01 6.71934582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.450385723 meters Centerline goodness [0,1] 0.999958014946679 Centerline is valid? [True, True] Translation: X:122.08, Y:153.86, Z:6.72 [[-4.49137201e-01 8.93452782e-01 4.23100685e-03 1.22080260e+02] [ 8.93413423e-01 4.49157129e-01 -8.38623668e-03 1.53858072e+02] [-9.39309338e-03 1.34674428e-05 -9.99955884e-01 6.71926492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.09, Y:153.87, Z:6.72 [[-5.17788401e-01 8.55493185e-01 5.15581517e-03 1.22088634e+02] [ 8.55451031e-01 5.17814069e-01 -8.49251845e-03 1.53865648e+02] [-9.93504529e-03 1.32198613e-05 -9.99950646e-01 6.71972943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.10, Y:153.87, Z:6.72 [[-5.82666620e-01 8.12689256e-01 5.98190136e-03 1.22095435e+02] [ 8.12646785e-01 5.82697325e-01 -8.30848579e-03 1.53872575e+02] [-1.02378551e-02 2.00955749e-05 -9.99947592e-01 6.72019397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.540385723 meters Centerline goodness [0,1] 0.9999156474061578 Centerline is valid? [True, True] Translation: X:122.10, Y:153.88, Z:6.72 [[-6.43673866e-01 7.65271282e-01 6.61955368e-03 1.22099231e+02] [ 7.65231315e-01 6.43707902e-01 -7.82115998e-03 1.53879484e+02] [-1.02463681e-02 3.12134878e-05 -9.99947504e-01 6.72047489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.10, Y:153.89, Z:6.72 [[-7.01185385e-01 7.12943936e-01 7.07112050e-03 1.22103673e+02] [ 7.12908216e-01 7.01221037e-01 -7.13674180e-03 1.53887625e+02] [-1.00465152e-02 3.68808589e-05 -9.99949532e-01 6.71962978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.600385723 meters Centerline goodness [0,1] 0.9999788301543282 Centerline is valid? [True, True] Translation: X:122.11, Y:153.90, Z:6.72 [[-7.54457846e-01 6.56304374e-01 7.61098529e-03 1.22107591e+02] [ 6.56271555e-01 7.54496234e-01 -6.56346312e-03 1.53895744e+02] [-1.00500893e-02 4.30169011e-05 -9.99949496e-01 6.71876061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.12, Y:153.92, Z:6.72 [[-7.98778312e-01 6.01569850e-01 8.18070666e-03 1.22122428e+02] [ 6.01538920e-01 7.98820201e-01 -6.10036023e-03 1.53919370e+02] [-1.02047065e-02 4.81779999e-05 -9.99947930e-01 6.71871301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.13, Y:153.95, Z:6.72 [[-8.39470652e-01 5.43333029e-01 8.84557293e-03 1.22133833e+02] [ 5.43303470e-01 8.39517253e-01 -5.66764860e-03 1.53945902e+02] [-1.05054318e-02 4.80057963e-05 -9.99944815e-01 6.71899747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.15, Y:153.97, Z:6.72 [[-8.75710449e-01 4.82742311e-01 9.54307242e-03 1.22145487e+02] [ 4.82714300e-01 8.75762444e-01 -5.20063581e-03 1.53971694e+02] [-1.08680314e-02 5.23264058e-05 -9.99940940e-01 6.71976392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.43, Y:154.49, Z:5.76 [[-8.46727516e-01 -5.31959828e-01 8.44120921e-03 1.22431754e+02] [ 5.31932221e-01 -8.46769586e-01 -5.42043377e-03 1.54494608e+02] [ 1.00312122e-02 -9.94792590e-05 9.99949681e-01 5.75589217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.10, Y:153.99, Z:6.72 [[-8.77018526e-01 4.80376214e-01 8.78627817e-03 1.22103409e+02] [ 4.80352767e-01 8.77062535e-01 -4.74645794e-03 1.53990202e+02] [-9.98620089e-03 5.77814905e-05 -9.99950135e-01 6.72003236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.780385723 meters Centerline goodness [0,1] 0.9999571541806809 Centerline is valid? [True, True] Translation: X:122.39, Y:154.52, Z:5.76 [[-8.48593528e-01 -5.28976733e-01 8.52287960e-03 1.22390582e+02] [ 5.28949431e-01 -8.48636326e-01 -5.37464731e-03 1.54519474e+02] [ 1.00758886e-02 -5.27186137e-05 9.99949236e-01 5.75646615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.810385723 meters Centerline goodness [0,1] 0.9998501744397594 Centerline is valid? [True, True] Translation: X:122.06, Y:154.01, Z:6.72 [[-8.79288942e-01 4.76196595e-01 9.36803157e-03 1.22059441e+02] [ 4.76170166e-01 8.79338843e-01 -5.01719057e-03 1.54009476e+02] [-1.06268431e-02 4.92169582e-05 -9.99943532e-01 6.71991941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.07, Y:154.04, Z:6.72 [[-9.11300810e-01 4.11618218e-01 1.00635882e-02 1.22068932e+02] [ 4.11593572e-01 9.11356374e-01 -4.50448697e-03 1.54035263e+02] [-1.10256441e-02 3.71655810e-05 -9.99939215e-01 6.72046529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.870385723 meters Centerline goodness [0,1] 0.9999785637727759 Centerline is valid? [True, True] Translation: X:122.32, Y:154.59, Z:5.75 [[-8.83702532e-01 -4.67948768e-01 9.68434099e-03 1.22318608e+02] [ 4.67920175e-01 -8.83755594e-01 -5.17310390e-03 1.54593238e+02] [ 1.09793381e-02 -3.99864848e-05 9.99939724e-01 5.75498531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.900385723 meters Centerline goodness [0,1] 0.9999572457726758 Centerline is valid? [True, True] Translation: X:122.02, Y:154.05, Z:6.72 [[-9.14123117e-01 4.05330241e-01 9.29098033e-03 1.22022645e+02] [ 4.05309329e-01 9.14170332e-01 -4.11733795e-03 1.54052148e+02] [-1.01624202e-02 1.96720436e-06 -9.99948361e-01 6.72089985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.930385723 meters Centerline goodness [0,1] 0.9998706366831246 Centerline is valid? [True, True] Translation: X:122.03, Y:154.08, Z:6.72 [[-9.41046540e-01 3.38177421e-01 8.21234205e-03 1.22029071e+02] [ 3.38164448e-01 9.41082373e-01 -2.96211257e-03 1.54077704e+02] [-8.73020993e-03 -1.03636666e-05 -9.99961891e-01 6.71976319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.24, Y:154.66, Z:5.76 [[-9.15000449e-01 -4.03372431e-01 8.05361145e-03 1.22240182e+02] [ 4.03356947e-01 -9.15035891e-01 -3.53436927e-03 1.54662745e+02] [ 8.79501065e-03 1.45306566e-05 9.99961323e-01 5.75593294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.98, Y:154.09, Z:6.72 [[-9.42498997e-01 3.34127605e-01 7.37461024e-03 1.21981613e+02] [ 3.34117260e-01 9.42527847e-01 -2.62934239e-03 1.54089794e+02] [-7.82931139e-03 -1.41679942e-05 -9.99969350e-01 6.72009041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.98, Y:154.12, Z:6.72 [[-9.63766061e-01 2.66642742e-01 7.52516311e-03 1.21981060e+02] [ 2.66634511e-01 9.63795439e-01 -2.09518498e-03 1.54118506e+02] [-7.81138375e-03 -1.27999917e-05 -9.99969491e-01 6.72012368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.050385723 meters Centerline goodness [0,1] 0.9998924106470424 Centerline is valid? [True, True] Translation: X:122.16, Y:154.73, Z:5.76 [[-9.42611427e-01 -3.33840565e-01 5.84598079e-03 1.22156080e+02] [ 3.33833556e-01 -9.42629550e-01 -2.16519519e-03 1.54729308e+02] [ 6.23342423e-03 -8.93531774e-05 9.99980568e-01 5.75593372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.94, Y:154.12, Z:6.72 [[-9.64626784e-01 2.63575013e-01 4.83520588e-03 1.21937817e+02] [ 2.63571679e-01 9.64638903e-01 -1.32570972e-03 1.54123892e+02] [-5.01365165e-03 -4.39177265e-06 -9.99987432e-01 6.71955244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.94, Y:154.15, Z:6.72 [[-9.80825540e-01 1.94848647e-01 3.90708385e-03 1.21940222e+02] [ 1.94847094e-01 9.80833322e-01 -7.77909542e-04 1.54147538e+02] [-3.98377265e-03 -1.70961328e-06 -9.99992065e-01 6.71917473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.140385723 meters Centerline goodness [0,1] 0.9999784119856655 Centerline is valid? [True, True] Translation: X:122.07, Y:154.79, Z:5.76 [[-9.65207230e-01 -2.61462755e-01 3.49734738e-03 1.22071058e+02] [ 2.61460960e-01 -9.65213566e-01 -9.69227006e-04 1.54790378e+02] [ 3.62910389e-03 -2.10851111e-05 9.99993415e-01 5.75692390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.89, Y:154.15, Z:6.72 [[-9.81356757e-01 1.92180200e-01 2.38478045e-03 1.21888043e+02] [ 1.92179638e-01 9.81359654e-01 -4.64567519e-04 1.54150813e+02] [-2.42960799e-03 2.39977007e-06 -9.99997049e-01 6.72020355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.200385723 meters Centerline goodness [0,1] 0.999956562343896 Centerline is valid? [True, True] Translation: X:121.89, Y:154.18, Z:6.72 [[-9.92502314e-01 1.22199816e-01 2.52208895e-03 1.21890145e+02] [ 1.22199428e-01 9.92505519e-01 -3.07754097e-04 1.54178057e+02] [-2.54079470e-03 2.75117526e-06 -9.99996772e-01 6.71987641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.97, Y:154.85, Z:5.76 [[-9.82276907e-01 -1.87410842e-01 3.04208623e-03 1.21971733e+02] [ 1.87410045e-01 -9.82281617e-01 -5.47510816e-04 1.54847997e+02] [ 3.09079484e-03 3.23102854e-05 9.99995223e-01 5.75523984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.260385723 meters Centerline goodness [0,1] 0.9999782717336984 Centerline is valid? [True, True] Translation: X:121.83, Y:154.18, Z:6.72 [[-9.92882382e-01 1.19044580e-01 3.60037511e-03 1.21830243e+02] [ 1.19043823e-01 9.92888910e-01 -4.24460978e-04 1.54175364e+02] [-3.62530230e-03 7.16259215e-06 -9.99993429e-01 6.72156435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.91, Y:154.86, Z:5.75 [[-9.83266346e-01 -1.82129768e-01 4.00515509e-03 1.21911617e+02] [ 1.82128343e-01 -9.83274503e-01 -7.20833066e-04 1.54861530e+02] [ 4.06945204e-03 2.06813643e-05 9.99991720e-01 5.75399952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.320385723 meters Centerline goodness [0,1] 0.9999561586181196 Centerline is valid? [True, True] Translation: X:121.77, Y:154.18, Z:6.72 [[-9.93180352e-01 1.16522531e-01 3.91011874e-03 1.21767311e+02] [ 1.16521684e-01 9.93188049e-01 -4.44403943e-04 1.54175467e+02] [-3.93526627e-03 1.42403574e-05 -9.99992257e-01 6.72339939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.350385723 meters Centerline goodness [0,1] 0.9999781749929069 Centerline is valid? [True, True] Translation: X:121.85, Y:154.87, Z:5.75 [[-9.84488427e-01 -1.75409786e-01 3.73404585e-03 1.21852006e+02] [ 1.75408438e-01 -9.84495509e-01 -6.88239275e-04 1.54874547e+02] [ 3.79687527e-03 -2.25804519e-05 9.99992792e-01 5.75268344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.70, Y:154.17, Z:6.72 [[-9.93237639e-01 1.16062104e-01 2.92914144e-03 1.21704190e+02] [ 1.16061665e-01 9.93241958e-01 -3.19901433e-04 1.54174790e+02] [-2.94647461e-03 2.22228893e-05 -9.99995659e-01 6.72472804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.71, Y:154.20, Z:6.72 [[-9.98908909e-01 4.65937748e-02 3.16408598e-03 1.21706964e+02] [ 4.65936308e-02 9.98913920e-01 -1.19223615e-04 1.54202120e+02] [-3.16620461e-03 2.83327223e-05 -9.99994987e-01 6.72434529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.74, Y:154.93, Z:5.75 [[-9.95556132e-01 -9.41367048e-02 2.50375908e-03 1.21737694e+02] [ 9.41362466e-02 -9.95559278e-01 -3.00481757e-04 1.54926617e+02] [ 2.52092694e-03 -6.34519741e-05 9.99996820e-01 5.75132889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.63, Y:154.20, Z:6.73 [[-9.98993256e-01 4.48265696e-02 1.74714059e-03 1.21632199e+02] [ 4.48265398e-02 9.98994784e-01 -5.62592198e-05 1.54196663e+02] [-1.74790624e-03 2.21156858e-05 -9.99998472e-01 6.72544474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.63, Y:154.22, Z:6.73 [[-9.99651030e-01 -2.63723851e-02 1.52189821e-03 1.21630020e+02] [-2.63723251e-02 9.99652188e-01 5.94871523e-05 1.54224761e+02] [-1.52293769e-03 1.93303986e-05 -9.99998840e-01 6.72601032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.62, Y:154.25, Z:6.73 [[-9.95152963e-01 -9.83210837e-02 1.88256360e-03 1.21624529e+02] [-9.83208665e-02 9.95154744e-01 2.07817306e-04 1.54251440e+02] [-1.89387492e-03 2.17147242e-05 -9.99998206e-01 6.72714257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.560385723 meters Centerline goodness [0,1] 0.9999779900515032 Centerline is valid? [True, True] Translation: X:121.61, Y:154.28, Z:6.73 [[-9.85448212e-01 -1.69969476e-01 1.48246568e-03 1.21605751e+02] [-1.69969259e-01 9.85449327e-01 2.72191209e-04 1.54277786e+02] [-1.50715901e-03 1.62567468e-05 -9.99998864e-01 6.72741932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5903857229999 meters Centerline goodness [0,1] 0.9999558810553252 Centerline is valid? [True, True] Translation: X:121.58, Y:154.30, Z:6.73 [[-9.70189785e-01 -2.42345863e-01 5.14379948e-04 1.21582481e+02] [-2.42345826e-01 9.70189921e-01 1.34150160e-04 1.54301009e+02] [-5.31556977e-04 5.49328171e-06 -9.99999859e-01 6.72736582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.53, Y:154.32, Z:6.73 [[-9.49733711e-01 -3.13058632e-01 4.13668773e-04 1.21532209e+02] [-3.13058601e-01 9.49733801e-01 1.40867156e-04 1.54316949e+02] [-4.36974895e-04 4.28372013e-06 -9.99999905e-01 6.72736308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.47, Y:154.32, Z:6.73 [[-9.23236778e-01 -3.84229062e-01 1.37064036e-03 1.21469227e+02] [-3.84228626e-01 9.23237796e-01 5.79453245e-04 1.54321942e+02] [-1.48806976e-03 8.33328467e-06 -9.99998893e-01 6.72897798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.40, Y:154.32, Z:6.73 [[-8.92211052e-01 -4.51616746e-01 1.32394671e-03 1.21395877e+02] [-4.51616235e-01 8.92212034e-01 6.79497577e-04 1.54319789e+02] [-1.48811367e-03 8.33941929e-06 -9.99998893e-01 6.72897953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.32, Y:154.31, Z:6.73 [[-8.55415223e-01 -5.17940712e-01 1.48816956e-03 1.21318282e+02] [-5.17939913e-01 8.55416518e-01 9.09763152e-04 1.54309241e+02] [-1.74420820e-03 7.44283542e-06 -9.99998479e-01 6.72915939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.23, Y:154.28, Z:6.73 [[-8.12841522e-01 -5.82478348e-01 2.76299484e-03 1.21232487e+02] [-5.82474960e-01 8.12846218e-01 1.98684016e-03 1.54284517e+02] [-3.40318128e-03 5.61087489e-06 -9.99994209e-01 6.73063221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.770385723 meters Centerline goodness [0,1] 0.9999556491850538 Centerline is valid? [True, True] Translation: X:121.14, Y:154.25, Z:6.73 [[-7.66377129e-01 -6.42385402e-01 2.66286191e-03 1.21141901e+02] [-6.42381507e-01 7.66381755e-01 2.23713119e-03 1.54249173e+02] [-3.47786920e-03 3.91293104e-06 -9.99993952e-01 6.73128918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.05, Y:154.20, Z:6.73 [[-7.15903764e-01 -6.98194892e-01 2.38605332e-03 1.21049767e+02] [-6.98190989e-01 7.15907740e-01 2.33466835e-03 1.54199075e+02] [-3.33824755e-03 5.47693074e-06 -9.99994428e-01 6.73154568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.97, Y:154.15, Z:6.73 [[-6.62265279e-01 -7.49267127e-01 1.86348818e-03 1.20968806e+02] [-7.49264115e-01 6.62267901e-01 2.12450865e-03 1.54147065e+02] [-2.82595290e-03 1.07434908e-05 -9.99996007e-01 6.73032661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.88, Y:154.08, Z:6.73 [[-6.04150651e-01 -7.96868264e-01 1.72056104e-03 1.20877082e+02] [-7.96864965e-01 6.04153101e-01 2.29295479e-03 1.54075950e+02] [-2.86666519e-03 1.42353181e-05 -9.99995891e-01 6.73010506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.80, Y:154.01, Z:6.73 [[-5.43781627e-01 -8.39225808e-01 1.25907364e-03 1.20798652e+02] [-8.39223478e-01 5.43783085e-01 1.97766442e-03 1.54005238e+02] [-2.34436997e-03 1.87734222e-05 -9.99997252e-01 6.73015571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.71, Y:153.91, Z:6.73 [[-4.79043559e-01 -8.77790607e-01 9.58746200e-04 1.20714694e+02] [-8.77788768e-01 4.79044518e-01 1.79710993e-03 1.53913325e+02] [-2.03676833e-03 1.93172904e-05 -9.99997926e-01 6.72995674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.64, Y:153.82, Z:6.73 [[-4.13589523e-01 -9.10463317e-01 5.04724929e-04 1.20644400e+02] [-9.10462587e-01 4.13589831e-01 1.15288328e-03 1.53824171e+02] [-1.25840703e-03 1.72872794e-05 -9.99999208e-01 6.72992198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.57, Y:153.72, Z:6.73 [[-3.44011269e-01 -9.38965432e-01 4.06167130e-04 1.20574937e+02] [-9.38964709e-01 3.44011509e-01 1.16477170e-03 1.53721129e+02] [-1.23340653e-03 1.93179898e-05 -9.99999239e-01 6.73012139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.52, Y:153.61, Z:6.73 [[-2.73424855e-01 -9.61893361e-01 1.02509166e-04 1.20515557e+02] [-9.61893282e-01 2.73424874e-01 3.91173105e-04 1.53613325e+02] [-4.04295369e-04 8.35357120e-06 -9.99999918e-01 6.73099087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.46, Y:153.50, Z:6.73 [[-1.99036951e-01 -9.79991985e-01 4.88411489e-05 1.20461612e+02] [-9.79991947e-01 1.99036957e-01 2.72042699e-04 1.53501260e+02] [-2.76320858e-04 6.28261685e-06 -9.99999962e-01 6.73098005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.41, Y:153.38, Z:6.73 [[-1.21568027e-01 -9.92583100e-01 -6.64578070e-05 1.20411316e+02] [-9.92582906e-01 1.21568045e-01 -6.21411855e-04 1.53379737e+02] [ 6.24882051e-04 -9.57893010e-06 -9.99999805e-01 6.73040749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.37, Y:153.26, Z:6.73 [[-4.25969658e-02 -9.99092337e-01 -3.44989621e-05 1.20372684e+02] [-9.99091591e-01 4.25969762e-02 -1.22088577e-03 1.53260311e+02] [ 1.22124717e-03 -1.75384064e-05 -9.99999254e-01 6.73074916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.34, Y:153.13, Z:6.73 [[ 3.91621938e-02 -9.99232867e-01 2.86298357e-05 1.20339739e+02] [-9.99232689e-01 -3.91622039e-02 -5.95598771e-04 1.53132869e+02] [ 5.96263075e-04 -5.28291325e-06 -9.99999822e-01 6.73213285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.32, Y:153.01, Z:6.73 [[ 1.18428009e-01 -9.92962641e-01 3.44545299e-05 1.20320272e+02] [-9.92962602e-01 -1.18428014e-01 -2.78338770e-04 1.53005324e+02] [ 2.80460382e-04 -1.24895334e-06 -9.99999961e-01 6.73264546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.31, Y:152.88, Z:6.73 [[ 1.98144332e-01 -9.80172848e-01 1.10003918e-04 1.20308917e+02] [-9.80172701e-01 -1.98144363e-01 -5.35808819e-04 1.52875519e+02] [ 5.46981913e-04 -1.65535707e-06 -9.99999850e-01 6.73277333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.31, Y:152.75, Z:6.73 [[ 2.74141476e-01 -9.61689356e-01 1.84449742e-04 1.20309611e+02] [-9.61689142e-01 -2.74141538e-01 -6.41407322e-04 1.52747480e+02] [ 6.67399930e-04 -1.54696407e-06 -9.99999777e-01 6.73282159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.32, Y:152.62, Z:6.73 [[ 3.48822650e-01 -9.37188752e-01 -5.47393635e-05 1.20320262e+02] [-9.37188741e-01 -3.48822654e-01 1.42555161e-04 1.52617288e+02] [-1.52695423e-04 1.57464626e-06 -9.99999988e-01 6.73341440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.34, Y:152.49, Z:6.73 [[ 4.20268129e-01 -9.07399964e-01 -7.59394624e-05 1.20339528e+02] [-9.07399950e-01 -4.20268136e-01 1.60182385e-04 1.52494336e+02] [-1.77264427e-04 1.58791294e-06 -9.99999984e-01 6.73423290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.37, Y:152.37, Z:6.73 [[ 4.88639937e-01 -8.72485421e-01 -4.49476639e-04 1.20367784e+02] [-8.72485059e-01 -4.88640143e-01 7.95167368e-04 1.52374238e+02] [-9.13404265e-04 3.61111968e-06 -9.99999583e-01 6.73473098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.40, Y:152.26, Z:6.73 [[ 5.53428916e-01 -8.32896020e-01 -8.09374266e-04 1.20403382e+02] [-8.32895146e-01 -5.53429508e-01 1.20636888e-03 1.52262288e+02] [-1.45271144e-03 6.48447608e-06 -9.99998945e-01 6.73474015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.46, Y:152.14, Z:6.74 [[ 6.12627768e-01 -7.90370730e-01 -1.15223298e-03 1.20461358e+02] [-7.90369379e-01 -6.12628851e-01 1.46157504e-03 1.52139279e+02] [-1.86107730e-03 1.52882164e-05 -9.99998268e-01 6.73519467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.52, Y:152.03, Z:6.74 [[ 6.69654090e-01 -7.42672007e-01 -1.29963303e-03 1.20522243e+02] [-7.42670667e-01 -6.69655351e-01 1.41124343e-03 1.52026031e+02] [-1.91839721e-03 2.01543909e-05 -9.99998160e-01 6.73540347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.56, Y:151.95, Z:6.73 [[ 7.20855115e-01 -6.93085311e-01 -8.09492589e-04 1.20563662e+02] [-6.93084902e-01 -7.20855569e-01 7.53322037e-04 1.51948946e+02] [-1.10564368e-03 1.80110478e-05 -9.99999389e-01 6.73454881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.56, Y:151.94, Z:6.73 [[ 7.71392895e-01 -6.36359051e-01 -3.99536434e-04 1.20558163e+02] [-6.36358973e-01 -7.71392998e-01 3.16541898e-04 1.51941391e+02] [-5.09633909e-04 1.00704234e-05 -9.99999870e-01 6.73420061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.55, Y:151.93, Z:6.73 [[ 8.17101323e-01 -5.76493893e-01 -4.67752337e-04 1.20551645e+02] [-5.76493807e-01 -8.17101457e-01 3.14566815e-04 1.51931271e+02] [-5.63546964e-04 1.26233645e-05 -9.99999841e-01 6.73405608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.54, Y:151.92, Z:6.73 [[ 8.59320090e-01 -5.11437786e-01 -6.11678572e-04 1.20543832e+02] [-5.11437670e-01 -8.59320308e-01 3.45503766e-04 1.51923534e+02] [-7.02331500e-04 1.59371360e-05 -9.99999753e-01 6.73406870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.54, Y:151.91, Z:6.73 [[ 8.96904147e-01 -4.42224063e-01 -9.11105924e-04 1.20536185e+02] [-4.42223859e-01 -8.96904609e-01 4.24956148e-04 1.51912453e+02] [-1.00510094e-03 2.17678473e-05 -9.99999495e-01 6.73417245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.53, Y:151.90, Z:6.73 [[ 9.28997438e-01 -3.70083875e-01 -1.29807072e-03 1.20530167e+02] [-3.70083557e-01 -9.28998345e-01 4.86377399e-04 1.51902519e+02] [-1.38590598e-03 2.85512695e-05 -9.99999039e-01 6.73434135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.53, Y:151.89, Z:6.73 [[ 9.55776689e-01 -2.94090637e-01 -1.27232035e-03 1.20525209e+02] [-2.94090410e-01 -9.55777535e-01 3.66199115e-04 1.51892901e+02] [-1.32375094e-03 2.41726367e-05 -9.99999124e-01 6.73465571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.52, Y:151.88, Z:6.73 [[ 9.76293450e-01 -2.16445019e-01 -1.62882449e-03 1.20521414e+02] [-2.16444764e-01 -9.76294808e-01 3.33795605e-04 1.51879827e+02] [-1.66246129e-03 2.66680694e-05 -9.99998618e-01 6.73497018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.52, Y:151.87, Z:6.74 [[ 9.90371812e-01 -1.38419527e-01 -1.92603132e-03 1.20515830e+02] [-1.38419322e-01 -9.90373684e-01 2.39789407e-04 1.51869363e+02] [-1.94068227e-03 2.91192796e-05 -9.99998116e-01 6.73537981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.51, Y:151.86, Z:6.74 [[ 9.98303214e-01 -5.81505159e-02 -3.03482807e-03 1.20509408e+02] [-5.81503624e-02 -9.98307826e-01 1.38852886e-04 1.51858293e+02] [-3.03776698e-03 3.78590698e-05 -9.99995385e-01 6.73605127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.50, Y:151.85, Z:6.74 [[ 9.99766198e-01 2.13729713e-02 -3.27799178e-03 1.20504177e+02] [ 2.13727356e-02 -9.99771571e-01 -1.06911732e-04 1.51849118e+02] [-3.27952801e-03 3.68270842e-05 -9.99994622e-01 6.73610879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.760385723 meters Centerline goodness [0,1] 0.9999556963427331 Centerline is valid? [True, True] Translation: X:120.50, Y:151.84, Z:6.74 [[ 9.94768666e-01 1.02120733e-01 -2.58028227e-03 1.20501592e+02] [ 1.02120330e-01 -9.94772012e-01 -2.87836483e-04 1.51835139e+02] [-2.59618666e-03 2.28314367e-05 -9.99996630e-01 6.73524635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.50, Y:151.82, Z:6.73 [[ 9.83555261e-01 1.80598538e-01 -1.79336843e-03 1.20498149e+02] [ 1.80598210e-01 -9.83556896e-01 -3.44248039e-04 1.51824531e+02] [-1.82605058e-03 1.47078410e-05 -9.99998333e-01 6.73485468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.820385723 meters Centerline goodness [0,1] 0.9999336062852716 Centerline is valid? [True, True] Translation: X:120.50, Y:151.81, Z:6.73 [[ 9.66306535e-01 2.57384735e-01 -2.18620181e-03 1.20498011e+02] [ 2.57384036e-01 -9.66309008e-01 -6.00100096e-04 1.51810452e+02] [-2.26700310e-03 1.71871999e-05 -9.99997430e-01 6.73404243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.50, Y:151.80, Z:6.73 [[ 9.43257031e-01 3.32052929e-01 -2.65083219e-03 1.20497953e+02] [ 3.32051553e-01 -9.43260755e-01 -9.56109581e-04 1.51798466e+02] [-2.81790496e-03 2.16441393e-05 -9.99996029e-01 6.73423216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.50, Y:151.78, Z:6.73 [[ 9.14628534e-01 4.04288447e-01 -2.34457489e-03 1.20499530e+02] [ 4.04287059e-01 -9.14631538e-01 -1.05975695e-03 1.51784780e+02] [-2.57286963e-03 2.14026556e-05 -9.99996690e-01 6.73419256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.50, Y:151.77, Z:6.73 [[ 8.80255465e-01 4.74497461e-01 -1.57368278e-03 1.20500677e+02] [ 4.74496671e-01 -8.80256871e-01 -8.66067858e-04 1.51773125e+02] [-1.79619208e-03 1.56537247e-05 -9.99998387e-01 6.73366952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.940385723 meters Centerline goodness [0,1] 0.9999778132765353 Centerline is valid? [True, True] Translation: X:120.50, Y:151.76, Z:6.73 [[ 8.40273402e-01 5.42159750e-01 -1.84804696e-03 1.20503043e+02] [ 5.42158390e-01 -8.40275434e-01 -1.21438858e-03 1.51762661e+02] [-2.21126107e-03 1.84842575e-05 -9.99997555e-01 6.73348997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.51, Y:151.75, Z:6.73 [[ 7.95097185e-01 6.06479990e-01 -1.57766774e-03 1.20506362e+02] [ 6.06478755e-01 -7.95098750e-01 -1.22387501e-03 1.51752136e+02] [-1.99665736e-03 1.62776082e-05 -9.99998007e-01 6.73319499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.51, Y:151.74, Z:6.73 [[ 7.44171981e-01 6.67986559e-01 -1.42103650e-03 1.20512048e+02] [ 6.67985308e-01 -7.44173338e-01 -1.29280948e-03 1.51740030e+02] [-1.92107683e-03 1.28410886e-05 -9.99998155e-01 6.73267119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.52, Y:151.73, Z:6.73 [[ 6.88961817e-01 7.24796916e-01 -1.02255756e-03 1.20516059e+02] [ 7.24796098e-01 -6.88962575e-01 -1.08876050e-03 1.51728762e+02] [-1.49363414e-03 8.96867925e-06 -9.99998885e-01 6.73267784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.52, Y:151.72, Z:6.73 [[ 6.29057855e-01 7.77358237e-01 -6.21520535e-04 1.20523574e+02] [ 7.77357850e-01 -6.29058162e-01 -7.75987412e-04 1.51717535e+02] [-9.94192772e-04 4.99711043e-06 -9.99999506e-01 6.73196283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.53, Y:151.71, Z:6.73 [[ 5.65475832e-01 8.24764744e-01 -4.47566212e-04 1.20528989e+02] [ 8.24764481e-01 -5.65476009e-01 -6.58941089e-04 1.51707733e+02] [-7.96559334e-04 3.47854616e-06 -9.99999683e-01 6.73204190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.120385723 meters Centerline goodness [0,1] 0.9999112944359435 Centerline is valid? [True, True] Translation: X:120.54, Y:151.70, Z:6.73 [[ 4.98696192e-01 8.66776074e-01 -1.15954907e-03 1.20537163e+02] [ 8.66773699e-01 -4.98697540e-01 -2.02912891e-03 1.51698099e+02] [-2.33706466e-03 6.85222165e-06 -9.99997269e-01 6.73173344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.55, Y:151.69, Z:6.73 [[ 4.29790177e-01 9.02927755e-01 -1.36877843e-03 1.20546196e+02] [ 9.02923095e-01 -4.29792356e-01 -2.90088388e-03 1.51688383e+02] [-3.20757908e-03 1.08697350e-05 -9.99994856e-01 6.73230386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.55, Y:151.68, Z:6.73 [[ 3.58249215e-01 9.33624356e-01 -1.75000206e-03 1.20554911e+02] [ 9.33612959e-01 -3.58253489e-01 -4.61319048e-03 1.51679065e+02] [-4.93393133e-03 1.88472686e-05 -9.99987828e-01 6.73422403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.56, Y:151.67, Z:6.74 [[ 2.85004549e-01 9.58524701e-01 -1.67461096e-03 1.20561666e+02] [ 9.58507562e-01 -2.85009467e-01 -5.73218283e-03 1.51671745e+02] [-5.97171881e-03 2.85709137e-05 -9.99982169e-01 6.73509821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.57, Y:151.66, Z:6.74 [[ 2.10012742e-01 9.77697883e-01 -1.22358662e-03 1.20568162e+02] [ 9.77680324e-01 -2.10016304e-01 -5.85968844e-03 1.51663577e+02] [-5.98597813e-03 3.43326737e-05 -9.99982083e-01 6.73515866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.58, Y:151.66, Z:6.73 [[ 1.33856209e-01 9.91000483e-01 -7.47223182e-04 1.20576575e+02] [ 9.90983330e-01 -1.33858288e-01 -5.83076541e-03 1.51656527e+02] [-5.87831336e-03 3.99984348e-05 -9.99982722e-01 6.73444668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.58, Y:151.65, Z:6.73 [[ 5.83380676e-02 9.98296856e-01 -2.37939480e-04 1.20582692e+02] [ 9.98285086e-01 -5.83385353e-02 -4.84783355e-03 1.51649833e+02] [-4.85345803e-03 4.52818072e-05 -9.99988221e-01 6.73346489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.59, Y:151.64, Z:6.73 [[-1.73331804e-02 9.99849758e-01 1.49843697e-04 1.20588175e+02] [ 9.99836710e-01 1.73337197e-02 -5.10835663e-03 1.51643365e+02] [-5.11018649e-03 6.12751619e-05 -9.99986941e-01 6.73243864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.60, Y:151.64, Z:6.73 [[-9.41661577e-02 9.95556343e-01 5.50910325e-04 1.20600437e+02] [ 9.95543324e-01 9.41677439e-02 -5.09169320e-03 1.51638078e+02] [-5.12094545e-03 6.89899112e-05 -9.99986886e-01 6.73211128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.61, Y:151.63, Z:6.73 [[-1.69418422e-01 9.85543751e-01 9.55890022e-04 1.20610624e+02] [ 9.85530685e-01 1.69421099e-01 -5.07552664e-03 1.51632655e+02] [-5.16410150e-03 8.21712312e-05 -9.99986663e-01 6.73270820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.62, Y:151.63, Z:6.73 [[-2.45579470e-01 9.69375351e-01 1.46692396e-03 1.20622863e+02] [ 9.69360236e-01 2.45583834e-01 -5.41417437e-03 1.51629282e+02] [-5.60861999e-03 9.23676817e-05 -9.99984267e-01 6.73275901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.64, Y:151.63, Z:6.73 [[-3.20929398e-01 9.47100237e-01 2.33703965e-03 1.20635585e+02] [ 9.47077627e-01 3.20937888e-01 -6.54530840e-03 1.51626524e+02] [-6.94910770e-03 1.12776083e-04 -9.99975848e-01 6.73349086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.480385723 meters Centerline goodness [0,1] 0.9999777322526053 Centerline is valid? [True, True] Translation: X:120.65, Y:151.63, Z:6.73 [[-3.94566423e-01 9.18862780e-01 2.92060744e-03 1.20652326e+02] [ 9.18839679e-01 3.94577216e-01 -6.51651380e-03 1.51627190e+02] [-7.14018713e-03 1.12372463e-04 -9.99974502e-01 6.73327345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.510385723 meters Centerline goodness [0,1] 0.9999335607033707 Centerline is valid? [True, True] Translation: X:120.67, Y:151.63, Z:6.73 [[-4.66099969e-01 8.84725952e-01 3.28756181e-03 1.20667081e+02] [ 8.84705465e-01 4.66111552e-01 -6.02167086e-03 1.51627419e+02] [-6.85989903e-03 1.01823295e-04 -9.99976465e-01 6.73436917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.68, Y:151.63, Z:6.73 [[-5.34149605e-01 8.45380919e-01 3.91182292e-03 1.20676469e+02] [ 8.45359669e-01 5.34163918e-01 -5.99483643e-03 1.51625429e+02] [-7.15747499e-03 1.04757818e-04 -9.99974379e-01 6.73446900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.68, Y:151.62, Z:6.73 [[-5.98719456e-01 8.00946891e-01 4.36935889e-03 1.20684786e+02] [ 8.00926828e-01 5.98735390e-01 -5.67007106e-03 1.51623465e+02] [-7.15751559e-03 1.04754893e-04 -9.99974379e-01 6.73446935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.70, Y:151.63, Z:6.73 [[-6.60360276e-01 7.50933880e-01 4.75544656e-03 1.20700664e+02] [ 7.50915455e-01 6.60377391e-01 -5.26125430e-03 1.51630585e+02] [-7.09124350e-03 9.66149730e-05 -9.99974852e-01 6.73310873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.71, Y:151.63, Z:6.73 [[-7.17766385e-01 6.96266015e-01 5.00535728e-03 1.20713185e+02] [ 6.96249932e-01 7.17783832e-01 -4.73311507e-03 1.51634812e+02] [-6.88827170e-03 8.77087727e-05 -9.99976272e-01 6.73279920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.74, Y:151.66, Z:6.73 [[-7.65812900e-01 6.43037716e-01 5.75303352e-03 1.20735346e+02] [ 6.43020428e-01 7.65834504e-01 -4.71602217e-03 1.51658062e+02] [-7.43845170e-03 8.77274640e-05 -9.99972331e-01 6.73192358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.76, Y:151.68, Z:6.73 [[-8.09546984e-01 5.87021667e-01 6.26449666e-03 1.20757453e+02] [ 5.87004936e-01 8.09571217e-01 -4.43288585e-03 1.51678736e+02] [-7.67375623e-03 8.86610898e-05 -9.99970552e-01 6.73214711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.79, Y:151.69, Z:6.73 [[-8.48866973e-01 5.28553217e-01 7.50724285e-03 1.20790359e+02] [ 5.28533632e-01 8.48900163e-01 -4.55126705e-03 1.51694730e+02] [-8.77848652e-03 1.04410050e-04 -9.99961463e-01 6.73197107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.81, Y:151.72, Z:6.73 [[-8.83821621e-01 4.67765293e-01 7.41445077e-03 1.20810041e+02] [ 4.67749829e-01 8.83852714e-01 -3.80487742e-03 1.51718660e+02] [-8.33307204e-03 1.05275154e-04 -9.99965274e-01 6.73130470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.16, Y:152.39, Z:5.75 [[-8.64161612e-01 -5.03175842e-01 6.22734963e-03 1.21163472e+02] [ 5.03161487e-01 -8.64184036e-01 -3.80386919e-03 1.52391632e+02] [ 7.29559122e-03 -1.53795231e-04 9.99973375e-01 5.74681353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.77, Y:151.74, Z:6.73 [[-8.84249195e-01 4.66976513e-01 6.02469368e-03 1.20771513e+02] [ 4.66966476e-01 8.84269713e-01 -3.06347576e-03 1.51739635e+02] [-6.75802538e-03 1.04454004e-04 -9.99977159e-01 6.72907751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.78, Y:151.77, Z:6.73 [[-9.14149812e-01 4.05326953e-01 6.33892574e-03 1.20782156e+02] [ 4.05318137e-01 9.14171782e-01 -2.67614120e-03 1.51767985e+02] [-6.87957920e-03 1.22887595e-04 -9.99976328e-01 6.72818294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.79, Y:151.80, Z:6.73 [[-9.40308866e-01 3.40251501e-01 6.93921360e-03 1.20793079e+02] [ 3.40243306e-01 9.40334460e-01 -2.36545035e-03 1.51798091e+02] [-7.33002971e-03 1.36767040e-04 -9.99973126e-01 6.72755925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.04, Y:152.51, Z:5.75 [[-9.29441584e-01 -3.68906402e-01 6.81238202e-03 1.21035899e+02] [ 3.68895429e-01 -9.29466540e-01 -2.84848188e-03 1.52506021e+02] [ 7.38270435e-03 -1.34440929e-04 9.99972738e-01 5.74942180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.930385723 meters Centerline goodness [0,1] 0.9999562353662006 Centerline is valid? [True, True] Translation: X:120.74, Y:151.82, Z:6.73 [[-9.42419424e-01 3.34347842e-01 7.55973510e-03 1.20739406e+02] [ 3.34338179e-01 9.42449736e-01 -2.54517355e-03 1.51823023e+02] [-7.97564363e-03 1.28887075e-04 -9.99968186e-01 6.72574366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.75, Y:151.85, Z:6.73 [[-9.64204301e-01 2.65048042e-01 7.72024441e-03 1.20748925e+02] [ 2.65040503e-01 9.64235201e-01 -2.00244468e-03 1.51852869e+02] [-7.97487546e-03 1.15411682e-04 -9.99968194e-01 6.72577801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.990385723 meters Centerline goodness [0,1] 0.9999350199272223 Centerline is valid? [True, True] Translation: X:120.95, Y:152.55, Z:5.75 [[-9.52262287e-01 -3.05175307e-01 8.03548322e-03 1.20947081e+02] [ 3.05163647e-01 -9.52296185e-01 -2.66919194e-03 1.52552443e+02] [ 8.46673149e-03 -8.96334505e-05 9.99964153e-01 5.74995119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.020385723 meters Centerline goodness [0,1] 0.9999565915700829 Centerline is valid? [True, True] Translation: X:120.71, Y:151.87, Z:6.73 [[-9.66344686e-01 2.57094267e-01 8.97135884e-03 1.20709183e+02] [ 2.57084084e-01 9.66386325e-01 -2.29013005e-03 1.51869827e+02] [-9.25857780e-03 9.33385659e-05 -9.99957134e-01 6.72556101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.050385723 meters Centerline goodness [0,1] 0.9999348661499381 Centerline is valid? [True, True] Translation: X:120.72, Y:151.90, Z:6.73 [[-9.82546120e-01 1.85789893e-01 9.23245990e-03 1.20717083e+02] [ 1.85782405e-01 9.82589492e-01 -1.66968936e-03 1.51902170e+02] [-9.38192949e-03 7.46818015e-05 -9.99955986e-01 6.72559197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.080385723 meters Centerline goodness [0,1] 0.9999130604881653 Centerline is valid? [True, True] Translation: X:120.85, Y:152.60, Z:5.75 [[-9.71424976e-01 -2.37165170e-01 9.28433449e-03 1.20845372e+02] [ 2.37153711e-01 -9.71469340e-01 -2.33224928e-03 1.52597603e+02] [ 9.57257459e-03 -6.37908282e-05 9.99954180e-01 5.75074639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.66, Y:151.92, Z:6.73 [[-9.83675350e-01 1.79687555e-01 9.75641422e-03 1.20660302e+02] [ 1.79679289e-01 9.83723731e-01 -1.72448523e-03 1.51916499e+02] [-9.90748473e-03 5.66919557e-05 -9.99950918e-01 6.72564779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.140385723 meters Centerline goodness [0,1] 0.9999782986111111 Centerline is valid? [True, True] Translation: X:120.66, Y:151.95, Z:6.73 [[-9.94028384e-01 1.08640780e-01 1.02349252e-02 1.20663149e+02] [ 1.08635553e-01 9.94081072e-01 -1.06696412e-03 1.51946916e+02] [-1.02902612e-02 5.12841360e-05 -9.99947053e-01 6.72589076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.170385723 meters Centerline goodness [0,1] 0.9999138636461519 Centerline is valid? [True, True] Translation: X:120.74, Y:152.64, Z:5.75 [[-9.86010270e-01 -1.66308890e-01 1.11848183e-02 1.20738401e+02] [ 1.66298333e-01 -9.86073706e-01 -1.87381671e-03 1.52637340e+02] [ 1.13406876e-02 1.24141206e-05 9.99935692e-01 5.74903919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.200385723 meters Centerline goodness [0,1] 0.9999783905264068 Centerline is valid? [True, True] Translation: X:120.60, Y:151.96, Z:6.73 [[-9.94524358e-01 1.03832017e-01 1.18411523e-02 1.20600276e+02] [ 1.03825302e-01 9.94594847e-01 -1.18207074e-03 1.51955396e+02] [-1.18998859e-02 5.38130694e-05 -9.99929192e-01 6.72762587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.230385723 meters Centerline goodness [0,1] 0.9999565821465787 Centerline is valid? [True, True] Translation: X:120.60, Y:151.99, Z:6.73 [[-9.99366687e-01 3.33493262e-02 1.24115634e-02 1.20597165e+02] [ 3.33475200e-02 9.99443755e-01 -3.52515724e-04 1.51985381e+02] [-1.24164156e-02 6.16023857e-05 -9.99922911e-01 6.72695231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.260385723 meters Centerline goodness [0,1] 0.9998702955100629 Centerline is valid? [True, True] Translation: X:120.62, Y:152.68, Z:5.75 [[-9.95704682e-01 -9.16380202e-02 1.32159131e-02 1.20618146e+02] [ 9.16298315e-02 -9.95792385e-01 -1.22507102e-03 1.52675245e+02] [ 1.32725687e-02 -8.83705580e-06 9.99911916e-01 5.74934364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.52, Y:151.99, Z:6.73 [[-9.99552356e-01 2.67146699e-02 1.34689853e-02 1.20522567e+02] [ 2.67128135e-02 9.99643099e-01 -3.17748678e-04 1.51988310e+02] [-1.34726668e-02 4.21880523e-05 -9.99909239e-01 6.72765736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.320385723 meters Centerline goodness [0,1] 0.9999350916289838 Centerline is valid? [True, True] Translation: X:120.54, Y:152.68, Z:5.75 [[-9.95905749e-01 -8.94228866e-02 1.32396048e-02 1.20541367e+02] [ 8.94142724e-02 -9.95993747e-01 -1.24233257e-03 1.52676218e+02] [ 1.32976566e-02 -5.34365181e-05 9.99911581e-01 5.74977199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.350385723 meters Centerline goodness [0,1] 0.9999783867900061 Centerline is valid? [True, True] Translation: X:120.45, Y:151.99, Z:6.73 [[-9.99767719e-01 1.73952478e-02 1.27244974e-02 1.20449555e+02] [ 1.73935870e-02 9.99848691e-01 -2.41179635e-04 1.51991968e+02] [-1.27267674e-02 -1.97989610e-05 -9.99919011e-01 6.72829514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.380385723 meters Centerline goodness [0,1] 0.9999567343053692 Centerline is valid? [True, True] Translation: X:120.44, Y:152.02, Z:6.73 [[-9.98327887e-01 -5.64504362e-02 1.24409979e-02 1.20441877e+02] [-5.64467099e-02 9.98405401e-01 6.50730236e-04 1.52020935e+02] [-1.24578935e-02 -5.26112588e-05 -9.99922396e-01 6.72585281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.410385723 meters Centerline goodness [0,1] 0.9999350058494736 Centerline is valid? [True, True] Translation: X:120.43, Y:152.05, Z:6.73 [[-9.91576390e-01 -1.28932122e-01 1.23600881e-02 1.20430893e+02] [-1.28923005e-01 9.91653419e-01 1.53485662e-03 1.52049533e+02] [-1.24548160e-02 -7.15721230e-05 -9.99922433e-01 6.72606711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.440385723 meters Centerline goodness [0,1] 0.999956783854448 Centerline is valid? [True, True] Translation: X:120.35, Y:152.73, Z:5.75 [[-9.98743801e-01 4.88050783e-02 1.13527485e-02 1.20347591e+02] [-4.88020279e-02 -9.98808322e-01 5.45729541e-04 1.52727691e+02] [ 1.13658540e-02 -8.99315090e-06 9.99935407e-01 5.75081384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.32, Y:152.04, Z:6.72 [[-9.90298892e-01 -1.38651924e-01 9.15137678e-03 1.20320961e+02] [-1.38646807e-01 9.90341172e-01 1.19424135e-03 1.52037634e+02] [-9.22856907e-03 -8.61532881e-05 -9.99957412e-01 6.72475327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.500385723 meters Centerline goodness [0,1] 0.9999137019697525 Centerline is valid? [True, True] Translation: X:120.31, Y:152.06, Z:6.72 [[-9.77679762e-01 -2.09927032e-01 8.53960356e-03 1.20308448e+02] [-2.09919803e-01 9.77717052e-01 1.74434910e-03 1.52062793e+02] [-8.71550204e-03 -8.72170874e-05 -9.99962016e-01 6.72331581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.530385723 meters Centerline goodness [0,1] 0.9999348435158438 Centerline is valid? [True, True] Translation: X:120.28, Y:152.08, Z:6.72 [[-9.60129132e-01 -2.79446425e-01 7.85782721e-03 1.20280646e+02] [-2.79437743e-01 9.60161283e-01 2.20416334e-03 1.52082181e+02] [-8.16072702e-03 -7.94920711e-05 -9.99966698e-01 6.72306097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.23, Y:152.10, Z:6.72 [[-9.37520149e-01 -3.47844075e-01 7.77624596e-03 1.20230664e+02] [-3.47832763e-01 9.37552396e-01 2.80613580e-03 1.52095319e+02] [-8.26673574e-03 -7.40242734e-05 -9.99965827e-01 6.72398116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5903857229999 meters Centerline goodness [0,1] 0.9999346220062327 Centerline is valid? [True, True] Translation: X:120.17, Y:152.10, Z:6.72 [[-9.10063910e-01 -4.14404028e-01 7.27880179e-03 1.20170597e+02] [-4.14391283e-01 9.10093016e-01 3.25059337e-03 1.52096627e+02] [-7.97144566e-03 -5.80242972e-05 -9.99968226e-01 6.72340676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.10, Y:152.09, Z:6.72 [[-8.77516440e-01 -4.79502876e-01 6.47224068e-03 1.20096781e+02] [-4.79490201e-01 8.77540307e-01 3.48678211e-03 1.52088851e+02] [-7.35157412e-03 -4.36673570e-05 -9.99972976e-01 6.72440700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.650385723 meters Centerline goodness [0,1] 0.9999782957850415 Centerline is valid? [True, True] Translation: X:120.01, Y:152.07, Z:6.73 [[-8.39682742e-01 -5.43047409e-01 5.69254500e-03 1.20011759e+02] [-5.43035222e-01 8.39702037e-01 3.63821960e-03 1.52070464e+02] [-6.75576736e-03 -3.63022309e-05 -9.99977179e-01 6.72507931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.93, Y:152.04, Z:6.73 [[-7.97055630e-01 -6.03878166e-01 5.78651746e-03 1.19932463e+02] [-6.03862545e-01 7.97076634e-01 4.34362376e-03 1.52044775e+02] [-7.23531740e-03 -3.21513843e-05 -9.99973824e-01 6.72613795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.85, Y:152.01, Z:6.73 [[-7.49659713e-01 -6.61799782e-01 5.60020275e-03 1.19845835e+02] [-6.61781602e-01 7.49680630e-01 4.90554244e-03 1.52008550e+02] [-7.44485045e-03 -2.86236072e-05 -9.99972286e-01 6.72645323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.740385723 meters Centerline goodness [0,1] 0.9999561461211244 Centerline is valid? [True, True] Translation: X:119.76, Y:151.96, Z:6.73 [[-6.98156581e-01 -7.15928792e-01 4.83248695e-03 1.19757929e+02] [-7.15911834e-01 6.98173305e-01 4.92771632e-03 1.51959540e+02] [-6.90180738e-03 -1.93170151e-05 -9.99976182e-01 6.72666866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.770385723 meters Centerline goodness [0,1] 0.9999559364603758 Centerline is valid? [True, True] Translation: X:119.67, Y:151.90, Z:6.73 [[-6.42059240e-01 -7.66642684e-01 4.35055015e-03 1.19667827e+02] [-7.66625260e-01 6.42073979e-01 5.16887487e-03 1.51901102e+02] [-6.75605515e-03 -1.65177702e-05 -9.99977177e-01 6.72714898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.58, Y:151.83, Z:6.73 [[-5.82496242e-01 -8.12826558e-01 3.33385918e-03 1.19580959e+02] [-8.12813329e-01 5.82505783e-01 4.63743019e-03 1.51830216e+02] [-5.71141867e-03 -8.51952073e-06 -9.99983690e-01 6.72695047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.50, Y:151.75, Z:6.73 [[-5.19083602e-01 -8.54718718e-01 2.85082139e-03 1.19496489e+02] [-8.54705886e-01 5.19091431e-01 4.68345408e-03 1.51751468e+02] [-5.48287282e-03 -5.50960577e-06 -9.99984969e-01 6.72693069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.42, Y:151.67, Z:6.73 [[-4.53025049e-01 -8.91495118e-01 2.18163314e-03 1.19421374e+02] [-8.91484775e-01 4.53030302e-01 4.29432092e-03 1.51668722e+02] [-4.81671205e-03 5.42212129e-07 -9.99988400e-01 6.72697670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.35, Y:151.57, Z:6.73 [[-3.84674993e-01 -9.23050958e-01 1.44220452e-03 1.19346777e+02] [-9.23044410e-01 3.84677696e-01 3.47675152e-03 1.51567520e+02] [-3.76400273e-03 6.20054265e-06 -9.99992916e-01 6.72692121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.28, Y:151.47, Z:6.73 [[-3.13489216e-01 -9.49591127e-01 1.09669988e-03 1.19281626e+02] [-9.49585210e-01 3.13491134e-01 3.35237408e-03 1.51470298e+02] [-3.52719037e-03 9.52313284e-06 -9.99993779e-01 6.72721830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.22, Y:151.36, Z:6.73 [[-2.41128694e-01 -9.70492935e-01 6.45254884e-04 1.19223138e+02] [-9.70489321e-01 2.41129557e-01 2.64864385e-03 1.51360504e+02] [-2.72608016e-03 1.24510583e-05 -9.99996284e-01 6.72745946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.17, Y:151.25, Z:6.73 [[-1.66260353e-01 -9.86081789e-01 4.48523972e-04 1.19172483e+02] [-9.86077960e-01 1.66260958e-01 2.74778951e-03 1.51248428e+02] [-2.78411722e-03 1.45688509e-05 -9.99996124e-01 6.72754389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.13, Y:151.13, Z:6.73 [[-9.05150486e-02 -9.95895068e-01 2.01306479e-04 1.19132194e+02] [-9.95892228e-01 9.05152713e-02 2.37822282e-03 1.51132912e+02] [-2.38668168e-03 1.47853964e-05 -9.99997152e-01 6.72820154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.10, Y:151.02, Z:6.73 [[-1.35709464e-02 -9.99907910e-01 1.97413983e-05 1.19098475e+02] [-9.99904549e-01 1.35709520e-02 2.59254166e-03 1.51015338e+02] [-2.59257082e-03 1.54437300e-05 -9.99996639e-01 6.72828192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.08, Y:150.87, Z:6.73 [[ 6.54543773e-02 -9.97855550e-01 -1.58612132e-04 1.19075405e+02] [-9.97852966e-01 -6.54545688e-02 2.27089066e-03 1.50866121e+02] [-2.27640274e-03 9.63185266e-06 -9.99997409e-01 6.72915164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.06, Y:150.73, Z:6.73 [[ 1.43754431e-01 -9.89613321e-01 -3.73535995e-04 1.19061476e+02] [-9.89610105e-01 -1.43754916e-01 2.52296183e-03 1.50730720e+02] [-2.55045427e-03 6.96805367e-06 -9.99996748e-01 6.72939768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.05, Y:150.63, Z:6.73 [[ 2.22149782e-01 -9.75012422e-01 -5.02085789e-04 1.19050294e+02] [-9.75009942e-01 -2.22150349e-01 2.19881723e-03 1.50632781e+02] [-2.25541264e-03 1.07186945e-06 -9.99997457e-01 6.73065246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.05, Y:150.51, Z:6.73 [[ 2.97644665e-01 -9.54676447e-01 -7.31339675e-04 1.19054375e+02] [-9.54673555e-01 -2.97645563e-01 2.35002688e-03 1.50505623e+02] [-2.46119532e-03 -1.28231428e-06 -9.99996971e-01 6.73093354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.07, Y:150.38, Z:6.73 [[ 3.70950383e-01 -9.28652513e-01 -5.68690938e-04 1.19068960e+02] [-9.28651417e-01 -3.70950819e-01 1.42689045e-03 1.50379706e+02] [-1.53604177e-03 -1.18991556e-06 -9.99998820e-01 6.73079875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.09, Y:150.26, Z:6.73 [[ 4.41643506e-01 -8.97190506e-01 -4.58609807e-04 1.19091728e+02] [-8.97190020e-01 -4.41643744e-01 9.33265088e-04 1.50258749e+02] [-1.03985873e-03 -7.10323908e-07 -9.99999459e-01 6.73056583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.13, Y:150.14, Z:6.73 [[ 5.08731597e-01 -8.60925172e-01 -1.05414574e-04 1.19125825e+02] [-8.60925154e-01 -5.08731608e-01 1.76485379e-04 1.50136893e+02] [-2.05568431e-04 9.70369421e-07 -9.99999979e-01 6.72982015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.16, Y:150.03, Z:6.73 [[ 5.72120630e-01 -8.20169485e-01 -1.98167430e-05 1.19159755e+02] [-8.20169485e-01 -5.72120631e-01 2.63048298e-05 1.50032986e+02] [-3.29119861e-05 1.20355210e-06 -9.99999999e-01 6.72971221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.20, Y:149.93, Z:6.73 [[ 6.32359289e-01 -7.74675230e-01 -1.30953656e-04 1.19204281e+02] [-7.74675214e-01 -6.32359303e-01 1.57961210e-04 1.49926452e+02] [-2.05178400e-04 1.55831298e-06 -9.99999979e-01 6.73031051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3403857229999 meters Centerline goodness [0,1] 0.9999775296047457 Centerline is valid? [True, True] Translation: X:119.26, Y:149.82, Z:6.73 [[ 6.86822933e-01 -7.26824540e-01 -5.88772196e-04 1.19259452e+02] [-7.26824281e-01 -6.86823185e-01 6.13914778e-04 1.49820987e+02] [-8.50590721e-04 6.28317969e-06 -9.99999638e-01 6.73248598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.32, Y:149.72, Z:6.73 [[ 7.38808474e-01 -6.73914760e-01 -9.66832357e-04 1.19319857e+02] [-6.73914204e-01 -7.38809107e-01 8.65727200e-04 1.49723228e+02] [-1.29773089e-03 1.19554669e-05 -9.99999158e-01 6.73314061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.400385723 meters Centerline goodness [0,1] 0.9999552332348465 Centerline is valid? [True, True] Translation: X:119.32, Y:149.72, Z:6.73 [[ 7.86367149e-01 -6.17757853e-01 -1.39384583e-03 1.19315915e+02] [-6.17756936e-01 -7.86368384e-01 1.06462031e-03 1.49717676e+02] [-1.75375385e-03 2.38754936e-05 -9.99998462e-01 6.73332508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.31, Y:149.71, Z:6.73 [[ 8.31180676e-01 -5.56001121e-01 -1.19881078e-03 1.19310315e+02] [-5.56000582e-01 -8.31181540e-01 7.74977783e-04 1.49711301e+02] [-1.42731790e-03 2.23929308e-05 -9.99998981e-01 6.73341273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.30, Y:149.71, Z:6.73 [[ 8.71303413e-01 -4.90742924e-01 -1.32071641e-03 1.19304304e+02] [-4.90742405e-01 -8.71304414e-01 7.14140178e-04 1.49706139e+02] [-1.50120528e-03 2.58987740e-05 -9.99998873e-01 6.73346034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.30, Y:149.70, Z:6.73 [[ 9.06983305e-01 -4.21164340e-01 -1.37251791e-03 1.19299271e+02] [-4.21163901e-01 -9.06984343e-01 6.08786669e-04 1.49699757e+02] [-1.50125149e-03 2.58956521e-05 -9.99998873e-01 6.73346082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.29, Y:149.69, Z:6.73 [[ 9.36400791e-01 -3.50930998e-01 -9.96658220e-04 1.19291873e+02] [-3.50930823e-01 -9.36401321e-01 3.51278711e-04 1.49685085e+02] [-1.05654666e-03 2.08204268e-05 -9.99999442e-01 6.73361508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.29, Y:149.67, Z:6.73 [[ 9.60840815e-01 -2.77099747e-01 -8.11965702e-04 1.19286195e+02] [-2.77099663e-01 -9.60841158e-01 2.16277643e-04 1.49672580e+02] [-8.40100545e-04 1.71870358e-05 -9.99999647e-01 6.73393537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.28, Y:149.66, Z:6.73 [[ 9.79560994e-01 -2.01147167e-01 -2.77232913e-04 1.19279630e+02] [-2.01147161e-01 -9.79561033e-01 5.02206803e-05 1.49660088e+02] [-2.81668306e-04 6.57039385e-06 -9.99999960e-01 6.73383886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.27, Y:149.65, Z:6.73 [[ 9.92415427e-01 -1.22929327e-01 -9.40529279e-06 1.19272511e+02] [-1.22929327e-01 -9.92415428e-01 -1.83634434e-07 1.49647546e+02] [-9.31138348e-06 1.33842793e-06 -1.00000000e+00 6.73363049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.27, Y:149.64, Z:6.73 [[ 9.99007465e-01 -4.45429345e-02 -1.11648656e-04 1.19267154e+02] [-4.45429346e-02 -9.99007471e-01 1.80455924e-06 1.49636725e+02] [-1.11618222e-04 3.17039061e-06 -9.99999994e-01 6.73385947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.26, Y:149.62, Z:6.73 [[ 9.99415581e-01 3.41803666e-02 -4.46422053e-04 1.19263154e+02] [ 3.41803591e-02 -9.99415681e-01 -2.42958245e-05 1.49620186e+02] [-4.46991640e-04 9.02275944e-06 -9.99999900e-01 6.73479572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.26, Y:149.61, Z:6.74 [[ 9.93661617e-01 1.12410827e-01 -6.29696804e-04 1.19260587e+02] [ 1.12410797e-01 -9.93661817e-01 -8.35802073e-05 1.49606377e+02] [-6.35100991e-04 1.22657245e-05 -9.99999798e-01 6.73512347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.26, Y:149.59, Z:6.74 [[ 9.81809253e-01 1.89866878e-01 -1.07655660e-03 1.19258537e+02] [ 1.89866741e-01 -9.81809843e-01 -2.28977598e-04 1.49592061e+02] [-1.10044913e-03 2.04100315e-05 -9.99999394e-01 6.73546841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.26, Y:149.58, Z:6.74 [[ 9.63897486e-01 2.66269647e-01 -1.45329018e-03 1.19258550e+02] [ 2.66269301e-01 -9.63898581e-01 -4.29969413e-04 1.49579316e+02] [-1.51531214e-03 2.74798755e-05 -9.99998852e-01 6.73611423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.26, Y:149.57, Z:6.74 [[ 9.40147626e-01 3.40760031e-01 -2.24553473e-03 1.19258608e+02] [ 3.40758949e-01 -9.40150307e-01 -8.59944206e-04 1.49566998e+02] [-2.40417478e-03 4.32884496e-05 -9.99997109e-01 6.73622741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.820385723 meters Centerline goodness [0,1] 0.9999779701716124 Centerline is valid? [True, True] Translation: X:119.26, Y:149.56, Z:6.74 [[ 9.10636709e-01 4.13201392e-01 -2.32225743e-03 1.19258433e+02] [ 4.13199918e-01 -9.10639669e-01 -1.10493195e-03 1.49556467e+02] [-2.57129916e-03 4.66350144e-05 -9.99996693e-01 6.73626596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.26, Y:149.55, Z:6.74 [[ 8.75508234e-01 4.83201801e-01 -1.16269497e-03 1.19258984e+02] [ 4.83201337e-01 -8.75509006e-01 -6.70224714e-04 1.49546147e+02] [-1.34180371e-03 2.49714901e-05 -9.99999100e-01 6.73534273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.26, Y:149.53, Z:6.73 [[ 8.34517077e-01 5.50982074e-01 -4.50719087e-05 1.19262765e+02] [ 5.50982073e-01 -8.34517078e-01 -3.22402812e-05 1.49534530e+02] [-5.53770944e-05 2.07125151e-06 -9.99999998e-01 6.73379840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.26, Y:149.53, Z:6.73 [[ 7.88196842e-01 6.15423010e-01 5.06794958e-04 1.19264284e+02] [ 6.15422876e-01 -7.88197005e-01 4.07392806e-04 1.49525221e+02] [ 6.50173175e-04 -9.21251226e-06 -9.99999789e-01 6.73344068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.940385723 meters Centerline goodness [0,1] 0.9999558674257469 Centerline is valid? [True, True] Translation: X:119.27, Y:149.51, Z:6.73 [[ 7.36295096e-01 6.76659457e-01 1.22920806e-03 1.19273615e+02] [ 6.76658462e-01 -7.36296122e-01 1.16023866e-03 1.49510277e+02] [ 1.69014759e-03 -2.25239983e-05 -9.99998571e-01 6.73322458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.28, Y:149.50, Z:6.73 [[ 6.80043062e-01 7.33171437e-01 1.03805946e-03 1.19280642e+02] [ 7.33170541e-01 -6.80043854e-01 1.14624495e-03 1.49499006e+02] [ 1.54632001e-03 -1.84213093e-05 -9.99998804e-01 6.73302752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.29, Y:149.49, Z:6.73 [[ 6.19465973e-01 7.85023119e-01 7.81295611e-04 1.19287525e+02] [ 7.85022467e-01 -6.19466466e-01 1.01150106e-03 1.49488380e+02] [ 1.27803815e-03 -1.32558811e-05 -9.99999183e-01 6.73326485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.30, Y:149.48, Z:6.73 [[ 5.53356384e-01 8.32944564e-01 2.57342597e-04 1.19295542e+02] [ 8.32944472e-01 -5.53356444e-01 3.92116344e-04 1.49477883e+02] [ 4.69013361e-04 -2.62798820e-06 -9.99999890e-01 6.73427452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.060385723 meters Centerline goodness [0,1] 0.9998905548867243 Centerline is valid? [True, True] Translation: X:119.30, Y:149.47, Z:6.73 [[ 4.85378769e-01 8.74303977e-01 7.58596682e-05 1.19303297e+02] [ 8.74303967e-01 -4.85378775e-01 1.36529504e-04 1.49470064e+02] [ 1.56188961e-04 5.58860793e-08 -9.99999988e-01 6.73491235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.31, Y:149.46, Z:6.73 [[ 4.13773838e-01 9.10379683e-01 -2.11038975e-04 1.19310686e+02] [ 9.10379560e-01 -4.13773892e-01 -4.73175178e-04 1.49462586e+02] [-5.18091487e-04 3.66194006e-06 -9.99999866e-01 6.73478999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.32, Y:149.46, Z:6.73 [[ 3.40931064e-01 9.40088224e-01 -3.74958675e-04 1.19317174e+02] [ 9.40087635e-01 -3.40931270e-01 -1.05226939e-03 1.49456371e+02] [-1.11706120e-03 6.25730872e-06 -9.99999376e-01 6.73465393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.33, Y:149.45, Z:6.73 [[ 2.66278958e-01 9.63895907e-01 -4.44489133e-04 1.19327429e+02] [ 9.63894507e-01 -2.66279329e-01 -1.64281688e-03 1.49449962e+02] [-1.70186274e-03 9.00693455e-06 -9.99998552e-01 6.73471265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.34, Y:149.44, Z:6.74 [[ 1.90697845e-01 9.81648693e-01 -4.19213540e-04 1.19336115e+02] [ 9.81646164e-01 -1.90698306e-01 -2.22811023e-03 1.49443228e+02] [-2.26716481e-03 1.33764561e-05 -9.99997430e-01 6.73507674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.210385723 meters Centerline goodness [0,1] 0.999978007961118 Centerline is valid? [True, True] Translation: X:119.35, Y:149.44, Z:6.74 [[ 1.14054736e-01 9.93474435e-01 -2.52983870e-04 1.19345518e+02] [ 9.93471674e-01 -1.14055015e-01 -2.34240867e-03 1.49438563e+02] [-2.35597721e-03 1.58304929e-05 -9.99997225e-01 6.73569573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.240385723 meters Centerline goodness [0,1] 0.9999780011879359 Centerline is valid? [True, True] Translation: X:119.35, Y:149.43, Z:6.74 [[ 3.86448522e-02 9.99253006e-01 -7.28692647e-05 1.19354540e+02] [ 9.99249893e-01 -3.86449138e-02 -2.49455280e-03 1.49434412e+02] [-2.49550541e-03 2.35870195e-05 -9.99996886e-01 6.73625886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.270385723 meters Centerline goodness [0,1] 0.9999780422467173 Centerline is valid? [True, True] Translation: X:119.36, Y:149.43, Z:6.74 [[-3.80391212e-02 9.99276245e-01 1.06243808e-04 1.19362882e+02] [ 9.99273920e-01 3.80392619e-02 -2.15572682e-03 1.49429683e+02] [-2.15820804e-03 2.41647126e-05 -9.99997671e-01 6.73573104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.37, Y:149.43, Z:6.74 [[-1.14431730e-01 9.93431074e-01 2.84901410e-04 1.19368624e+02] [ 9.93428593e-01 1.14432081e-01 -2.22039112e-03 1.49425276e+02] [-2.23840739e-03 2.89460108e-05 -9.99997494e-01 6.73539267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.38, Y:149.42, Z:6.73 [[-1.88438265e-01 9.82084942e-01 4.32334618e-04 1.19376444e+02] [ 9.82082764e-01 1.88438758e-01 -2.06853392e-03 1.49422434e+02] [-2.11294461e-03 3.47974345e-05 -9.99997767e-01 6.73493323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.39, Y:149.42, Z:6.73 [[-2.62297957e-01 9.64986917e-01 1.77857686e-04 1.19385528e+02] [ 9.64986727e-01 2.62298016e-01 -6.05565124e-04 1.49420291e+02] [-6.31014140e-04 1.27918116e-05 -9.99999801e-01 6.73423811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.40, Y:149.42, Z:6.73 [[-3.36579143e-01 9.41655181e-01 -2.28837294e-05 1.19395557e+02] [ 9.41655179e-01 3.36579144e-01 6.34002543e-05 1.49418560e+02] [ 6.74033641e-05 -2.09379067e-07 -9.99999998e-01 6.73391082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.420385723 meters Centerline goodness [0,1] 0.9999780161800914 Centerline is valid? [True, True] Translation: X:119.40, Y:149.42, Z:6.73 [[-4.09114017e-01 9.12483248e-01 -2.07185470e-04 1.19404999e+02] [ 9.12483141e-01 4.09114069e-01 4.41670033e-04 1.49416649e+02] [ 4.87778997e-04 -8.35984749e-06 -9.99999881e-01 6.73401246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.42, Y:149.42, Z:6.73 [[-4.79576617e-01 8.77499923e-01 3.92294745e-04 1.19417317e+02] [ 8.77499656e-01 4.79576777e-01 -6.84277315e-04 1.49418446e+02] [-7.88588741e-04 1.60751048e-05 -9.99999689e-01 6.73426618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.43, Y:149.42, Z:6.74 [[-5.47155466e-01 8.37030274e-01 1.10306375e-03 1.19428765e+02] [ 8.37028710e-01 5.47156576e-01 -1.61871892e-03 1.49420850e+02] [-1.95846533e-03 3.76051212e-05 -9.99998082e-01 6.73554015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.44, Y:149.42, Z:6.74 [[-6.11718756e-01 7.91070220e-01 2.84082999e-03 1.19440455e+02] [ 7.91062304e-01 6.11725347e-01 -3.54002639e-03 1.49422712e+02] [-4.53821717e-03 8.17729775e-05 -9.99989699e-01 6.73841635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.45, Y:149.43, Z:6.74 [[-6.71556774e-01 7.40940102e-01 4.38928483e-03 1.19449240e+02] [ 7.40925404e-01 6.71571107e-01 -4.66827869e-03 1.49425236e+02] [-6.40663176e-03 1.17118459e-04 -9.99979471e-01 6.74065640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.570385723 meters Centerline goodness [0,1] 0.9999559461662151 Centerline is valid? [True, True] Translation: X:119.46, Y:149.43, Z:6.74 [[-7.27339913e-01 6.86259257e-01 4.98831262e-03 1.19457354e+02] [ 6.86244285e-01 7.27357008e-01 -4.53482633e-03 1.49426879e+02] [-6.74035069e-03 1.24840840e-04 -9.99977276e-01 6.74118870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.600385723 meters Centerline goodness [0,1] 0.99997799779978 Centerline is valid? [True, True] Translation: X:119.48, Y:149.44, Z:6.74 [[-7.73358627e-01 6.33949220e-01 4.98195533e-03 1.19480690e+02] [ 6.33937097e-01 7.73374664e-01 -3.92261795e-03 1.49444823e+02] [-6.33965862e-03 1.24655863e-04 -9.99979896e-01 6.74059890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.50, Y:149.47, Z:6.74 [[-8.15843073e-01 5.78249289e-01 5.27627623e-03 1.19499198e+02] [ 5.78238221e-01 8.15860124e-01 -3.58015377e-03 1.49466915e+02] [-6.37492476e-03 1.30100930e-04 -9.99979672e-01 6.74040125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.51, Y:149.49, Z:6.74 [[-8.54579822e-01 5.19291167e-01 5.47828339e-03 1.19514514e+02] [ 5.19281473e-01 8.54597371e-01 -3.17569103e-03 1.49491879e+02] [-6.33083488e-03 1.30889588e-04 -9.99979952e-01 6.74048319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.90, Y:150.14, Z:5.74 [[-8.40653005e-01 -5.41552322e-01 4.85880451e-03 1.19897767e+02] [ 5.41542242e-01 -8.40667033e-01 -3.30746888e-03 1.50135323e+02] [ 5.87580422e-03 -1.49185766e-04 9.99982726e-01 5.73602046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.48, Y:149.52, Z:6.74 [[-8.57324716e-01 5.14757975e-01 4.30785022e-03 1.19477467e+02] [ 5.14752028e-01 8.57335534e-01 -2.47619024e-03 1.49520340e+02] [-4.96791174e-03 9.45755438e-05 -9.99987655e-01 6.74056639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.85, Y:150.16, Z:5.74 [[-8.41000657e-01 -5.41021643e-01 3.67105304e-03 1.19852063e+02] [ 5.41015874e-01 -8.41008661e-01 -2.50113234e-03 1.50155494e+02] [ 4.44055413e-03 -1.17355977e-04 9.99990134e-01 5.73595065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.44, Y:149.55, Z:6.74 [[-8.60941850e-01 5.08692421e-01 3.33948229e-03 1.19440350e+02] [ 5.08688864e-01 8.60948325e-01 -1.90303526e-03 1.49545360e+02] [-3.84318130e-03 6.03547537e-05 -9.99992613e-01 6.74023160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.46, Y:149.57, Z:6.74 [[-8.95225106e-01 4.45602415e-01 3.23985512e-03 1.19456680e+02] [ 4.45599711e-01 8.95230967e-01 -1.55339563e-03 1.49572091e+02] [-3.59261548e-03 5.30397405e-05 -9.99993545e-01 6.73953949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.46, Y:149.60, Z:6.74 [[-9.25611569e-01 3.78464520e-01 2.79827310e-03 1.19459501e+02] [ 3.78462908e-01 9.25615798e-01 -1.10522496e-03 1.49604446e+02] [-3.00841422e-03 3.60335719e-05 -9.99995474e-01 6.73971520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.48, Y:149.63, Z:6.74 [[-9.50652902e-01 3.10243938e-01 2.78562109e-03 1.19476510e+02] [ 3.10242698e-01 9.50656982e-01 -8.77513003e-04 1.49631917e+02] [-2.92041323e-03 3.00083204e-05 -9.99995735e-01 6.73975284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.69, Y:150.31, Z:5.74 [[-9.33435280e-01 -3.58729353e-01 3.43949229e-03 1.19691335e+02] [ 3.58726968e-01 -9.33441617e-01 -1.30798494e-03 1.50313863e+02] [ 3.67977784e-03 1.29193535e-05 9.99993230e-01 5.73568385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.930385723 meters Centerline goodness [0,1] 0.9999564592676449 Centerline is valid? [True, True] Translation: X:119.43, Y:149.65, Z:6.74 [[-9.53551440e-01 3.01208076e-01 3.65332414e-03 1.19427047e+02] [ 3.01205933e-01 9.53558438e-01 -1.13625346e-03 1.49652546e+02] [-3.82590678e-03 1.69267854e-05 -9.99992681e-01 6.74107080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.63, Y:150.33, Z:5.73 [[-9.33044759e-01 -3.59736968e-01 4.09773935e-03 1.19634575e+02] [ 3.59733581e-01 -9.33053757e-01 -1.56122412e-03 1.50326022e+02] [ 4.38504113e-03 1.74024613e-05 9.99990386e-01 5.73404756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.38, Y:149.67, Z:6.74 [[-9.56246891e-01 2.92518959e-01 4.95393386e-03 1.19378921e+02] [ 2.92515005e-01 9.56259723e-01 -1.52099880e-03 1.49670848e+02] [-5.18216841e-03 -5.35038692e-06 -9.99986572e-01 6.74269909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.58, Y:150.34, Z:5.73 [[-9.33265590e-01 -3.59156933e-01 4.65142063e-03 1.19577475e+02] [ 3.59152433e-01 -9.33277182e-01 -1.79777841e-03 1.50341370e+02] [ 4.98674931e-03 -7.23568756e-06 9.99987566e-01 5.73312838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.050385723 meters Centerline goodness [0,1] 0.9999563642710652 Centerline is valid? [True, True] Translation: X:119.33, Y:149.69, Z:6.74 [[-9.57788999e-01 2.87428694e-01 4.99797778e-03 1.19331087e+02] [ 2.87424710e-01 9.57802039e-01 -1.51339822e-03 1.49685452e+02] [-5.22206738e-03 -1.29738490e-05 -9.99986365e-01 6.74321134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.080385723 meters Centerline goodness [0,1] 0.9999563461748335 Centerline is valid? [True, True] Translation: X:119.33, Y:149.72, Z:6.74 [[-9.75723000e-01 2.18929463e-01 5.87517682e-03 1.19328855e+02] [ 2.18925406e-01 9.75740688e-01 -1.33282536e-03 1.49715057e+02] [-6.02444381e-03 -1.42428897e-05 -9.99981853e-01 6.74488741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.110385723 meters Centerline goodness [0,1] 0.9999344419920894 Centerline is valid? [True, True] Translation: X:119.34, Y:149.74, Z:6.75 [[-9.88540334e-01 1.50819150e-01 6.44925377e-03 1.19341542e+02] [ 1.50815911e-01 9.88561371e-01 -9.88399329e-04 1.49739933e+02] [-6.52455269e-03 -4.42252034e-06 -9.99978715e-01 6.74560356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.45, Y:150.44, Z:5.73 [[-9.76080431e-01 -2.17315719e-01 6.39292226e-03 1.19451104e+02] [ 2.17311098e-01 -9.76101367e-01 -1.41722792e-03 1.50436862e+02] [ 6.54812606e-03 5.92451242e-06 9.99978561e-01 5.73099866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.29, Y:149.74, Z:6.75 [[-9.88455559e-01 1.51359281e-01 6.78054529e-03 1.19285608e+02] [ 1.51355915e-01 9.88478815e-01 -1.00987422e-03 1.49741833e+02] [-6.85527921e-03 2.80598455e-05 -9.99976502e-01 6.74537281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.29, Y:149.77, Z:6.75 [[-9.96565699e-01 8.25121199e-02 6.96832649e-03 1.19287215e+02] [ 8.25103895e-02 9.96590060e-01 -5.35925757e-04 1.49769201e+02] [-6.98878529e-03 4.08741071e-05 -9.99975577e-01 6.74583974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.35, Y:150.49, Z:5.73 [[-9.90814720e-01 -1.35011110e-01 7.62825997e-03 1.19346907e+02] [ 1.35007102e-01 -9.90844085e-01 -1.04028101e-03 1.50487941e+02] [ 7.69886576e-03 -8.56465457e-07 9.99970363e-01 5.73082234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.22, Y:149.77, Z:6.75 [[-9.96580715e-01 8.22627187e-02 7.72814228e-03 1.19216550e+02] [ 8.22608593e-02 9.96610676e-01 -5.58709259e-04 1.49770805e+02] [-7.74791004e-03 7.89247519e-05 -9.99969981e-01 6.74611546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.290385723 meters Centerline goodness [0,1] 0.9999561124399289 Centerline is valid? [True, True] Translation: X:119.22, Y:149.80, Z:6.75 [[-9.99871467e-01 1.35938625e-02 8.50041250e-03 1.19219724e+02] [ 1.35942825e-02 9.99907594e-01 -8.36620189e-06 1.49796814e+02] [-8.49974074e-03 1.07191883e-04 -9.99963871e-01 6.74659272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.22, Y:150.53, Z:5.73 [[-9.98457404e-01 -5.48321358e-02 8.73205242e-03 1.19220330e+02] [ 5.48292149e-02 -9.98495582e-01 -5.73724325e-04 1.50530051e+02] [ 8.75037429e-03 -9.40677223e-05 9.99961710e-01 5.72933373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.350385723 meters Centerline goodness [0,1] 0.9999340340384362 Centerline is valid? [True, True] Translation: X:119.13, Y:149.80, Z:6.75 [[-9.99899844e-01 1.06897032e-02 9.27538625e-03 1.19125166e+02] [ 1.06905641e-02 9.99942853e-01 4.32372017e-05 1.49795079e+02] [-9.27439400e-03 1.42391982e-04 -9.99956982e-01 6.74789330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.380385723 meters Centerline goodness [0,1] 0.9999340340384362 Centerline is valid? [True, True] Translation: X:119.12, Y:149.82, Z:6.75 [[-9.98123993e-01 -6.05223511e-02 9.24879646e-03 1.19119010e+02] [-6.05184307e-02 9.98166832e-01 7.03418541e-04 1.49823929e+02] [-9.27441441e-03 1.42376274e-04 -9.99956982e-01 6.74789357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.11, Y:149.85, Z:6.75 [[-9.91327005e-01 -1.31125478e-01 8.76803543e-03 1.19107466e+02] [-1.31119095e-01 9.91365770e-01 1.30140704e-03 1.49851808e+02] [-8.86297782e-03 1.40463072e-04 -9.99960713e-01 6.74778161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.08, Y:149.88, Z:6.75 [[-9.79295691e-01 -2.02242924e-01 8.81759041e-03 1.19081128e+02] [-2.02233419e-01 9.79335377e-01 1.96583354e-03 1.49876086e+02] [-9.03295415e-03 1.41920862e-04 -9.99959192e-01 6.74738246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.04, Y:149.90, Z:6.75 [[-9.61925280e-01 -2.73180740e-01 8.48753114e-03 1.19037799e+02] [-2.73168841e-01 9.61962715e-01 2.55341944e-03 1.49895293e+02] [-8.86223350e-03 1.37669662e-04 -9.99960720e-01 6.74729247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.500385723 meters Centerline goodness [0,1] 0.9999780869946313 Centerline is valid? [True, True] Translation: X:118.97, Y:149.90, Z:6.75 [[-9.38698324e-01 -3.44645523e-01 8.05736679e-03 1.18971593e+02] [-3.44631719e-01 9.38732896e-01 3.08689665e-03 1.49903773e+02] [-8.62760037e-03 1.20840545e-04 -9.99962774e-01 6.74681216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.530385723 meters Centerline goodness [0,1] 0.9999781009110021 Centerline is valid? [True, True] Translation: X:118.90, Y:149.91, Z:6.75 [[-9.10358390e-01 -4.13751914e-01 7.54691608e-03 1.18900725e+02] [-4.13736681e-01 9.10389665e-01 3.55208660e-03 1.49906568e+02] [-8.34031703e-03 1.11235819e-04 -9.99965213e-01 6.74609341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.82, Y:149.90, Z:6.75 [[-8.76351743e-01 -4.81636193e-01 5.84801391e-03 1.18821334e+02] [-4.81624861e-01 8.76371252e-01 3.30493871e-03 1.49898992e+02] [-6.71680937e-03 7.97399149e-05 -9.99977439e-01 6.74597224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.73, Y:149.88, Z:6.74 [[-8.37182790e-01 -5.46900466e-01 4.98555278e-03 1.18733935e+02] [-5.46890316e-01 8.37197633e-01 3.33255417e-03 1.49882098e+02] [-5.99646841e-03 6.34064580e-05 -9.99982019e-01 6.74465630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.620385723 meters Centerline goodness [0,1] 0.9999562171628722 Centerline is valid? [True, True] Translation: X:118.64, Y:149.85, Z:6.74 [[-7.93704032e-01 -6.08287805e-01 4.45601016e-03 1.18640801e+02] [-6.08277795e-01 7.93716538e-01 3.49017370e-03 1.49851842e+02] [-5.65983905e-03 5.96728975e-05 -9.99983981e-01 6.74466690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.55, Y:149.82, Z:6.74 [[-7.45534406e-01 -6.66454858e-01 4.04620621e-03 1.18553080e+02] [-6.66444617e-01 7.45545383e-01 3.69515381e-03 1.49816029e+02] [-5.47928357e-03 5.82919530e-05 -9.99984987e-01 6.74469471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.46, Y:149.77, Z:6.74 [[-6.93269713e-01 -7.20667899e-01 3.85799156e-03 1.18458803e+02] [-7.20656235e-01 6.93280445e-01 4.10062882e-03 1.49765073e+02] [-5.62986166e-03 6.25560872e-05 -9.99984150e-01 6.74378046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.710385723 meters Centerline goodness [0,1] 0.9999564431474182 Centerline is valid? [True, True] Translation: X:118.37, Y:149.71, Z:6.74 [[-6.36932019e-01 -7.70912625e-01 3.36569008e-03 1.18368143e+02] [-7.70901339e-01 6.36940909e-01 4.17194991e-03 1.49705228e+02] [-5.35995456e-03 6.26334925e-05 -9.99985633e-01 6.74380614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.740385723 meters Centerline goodness [0,1] 0.99997810330859 Centerline is valid? [True, True] Translation: X:118.28, Y:149.64, Z:6.74 [[-5.77427924e-01 -8.16437715e-01 2.53956505e-03 1.18281528e+02] [-8.16429369e-01 5.77433506e-01 3.69226822e-03 1.49637718e+02] [-4.48093698e-03 5.86432813e-05 -9.99989959e-01 6.74354441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.770385723 meters Centerline goodness [0,1] 0.99997814876322 Centerline is valid? [True, True] Translation: X:118.20, Y:149.56, Z:6.74 [[-5.14376441e-01 -8.57561170e-01 2.39090697e-03 1.18197699e+02] [-8.57551287e-01 5.14381993e-01 4.11763440e-03 1.49557290e+02] [-4.76096287e-03 6.76887746e-05 -9.99988664e-01 6.74303952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.12, Y:149.47, Z:6.74 [[-4.47854213e-01 -8.94104319e-01 2.01749066e-03 1.18117417e+02] [-8.94094541e-01 4.47858752e-01 4.18202463e-03 1.49469197e+02] [-4.64271713e-03 6.91099647e-05 -9.99989220e-01 6.74295347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.04, Y:149.38, Z:6.74 [[-3.78745477e-01 -9.25499868e-01 1.36275367e-03 1.18043437e+02] [-9.25493306e-01 3.78747924e-01 3.48567132e-03 1.49376259e+02] [-3.74212847e-03 5.89628455e-05 -9.99992997e-01 6.74297411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.98, Y:149.27, Z:6.74 [[-3.06589405e-01 -9.51841344e-01 9.96122309e-04 1.17976852e+02] [-9.51835737e-01 3.06591018e-01 3.26770435e-03 1.49271453e+02] [-3.41573825e-03 5.36987201e-05 -9.99994165e-01 6.74292168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.890385723 meters Centerline goodness [0,1] 0.9999565056651372 Centerline is valid? [True, True] Translation: X:117.92, Y:149.16, Z:6.74 [[-2.32133679e-01 -9.72683618e-01 7.31138477e-04 1.17916420e+02] [-9.72678070e-01 2.32134825e-01 3.28561016e-03 1.49158502e+02] [-3.36558188e-03 5.15384121e-05 -9.99994335e-01 6.74256382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.920385723 meters Centerline goodness [0,1] 0.9999344434246755 Centerline is valid? [True, True] Translation: X:117.87, Y:149.05, Z:6.74 [[-1.56252662e-01 -9.87716984e-01 5.15520602e-04 1.17865460e+02] [-9.87710405e-01 1.56253503e-01 3.60543900e-03 1.49047189e+02] [-3.64170524e-03 5.41743807e-05 -9.99993368e-01 6.74321844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.82, Y:148.93, Z:6.74 [[-7.85652757e-02 -9.96908936e-01 2.64620741e-04 1.17822217e+02] [-9.96900648e-01 7.85657017e-02 4.06564886e-03 1.48931292e+02] [-4.07387179e-03 5.56182350e-05 -9.99991700e-01 6.74477191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.79, Y:148.81, Z:6.74 [[-8.97298441e-04 -9.99999596e-01 -5.05846834e-05 1.17788323e+02] [-9.99990771e-01 8.97077986e-04 4.20165590e-03 1.48806619e+02] [-4.20160883e-03 5.43543559e-05 -9.99991172e-01 6.74477697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.76, Y:148.68, Z:6.75 [[ 7.81461203e-02 -9.96941812e-01 -4.56064034e-04 1.17763566e+02] [-9.96928719e-01 -7.81474315e-02 5.10964951e-03 1.48679550e+02] [-5.12966347e-03 5.53640476e-05 -9.99986842e-01 6.74523836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.75, Y:148.56, Z:6.75 [[ 1.55818543e-01 -9.87785259e-01 -9.28979135e-04 1.17749045e+02] [-9.87769701e-01 -1.55821303e-01 5.54423698e-03 1.48556931e+02] [-5.62127030e-03 5.37225142e-05 -9.99984199e-01 6.74579387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.070385723 meters Centerline goodness [0,1] 0.9999132885324085 Centerline is valid? [True, True] Translation: X:117.74, Y:148.43, Z:6.75 [[ 2.33705832e-01 -9.72306163e-01 -1.51940324e-03 1.17743401e+02] [-9.72286845e-01 -2.33710767e-01 6.12923936e-03 1.48429442e+02] [-6.31459810e-03 4.48567969e-05 -9.99980062e-01 6.74617821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.75, Y:148.30, Z:6.75 [[ 3.08367297e-01 -9.51265361e-01 -1.95544174e-03 1.17747859e+02] [-9.51247050e-01 -3.08373494e-01 5.90237710e-03 1.48304308e+02] [-6.21773329e-03 4.00081167e-05 -9.99980669e-01 6.74587264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.130385723 meters Centerline goodness [0,1] 0.9999346504890322 Centerline is valid? [True, True] Translation: X:117.76, Y:148.18, Z:6.75 [[ 3.82482675e-01 -9.23959569e-01 -2.39136172e-03 1.17760963e+02] [-9.23941942e-01 -3.82490149e-01 5.70732665e-03 1.48179538e+02] [-6.18801138e-03 2.65258271e-05 -9.99980854e-01 6.74566101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.160385723 meters Centerline goodness [0,1] 0.9999131567520625 Centerline is valid? [True, True] Translation: X:117.79, Y:148.06, Z:6.75 [[ 4.54028994e-01 -8.90981567e-01 -3.08528268e-03 1.17785623e+02] [-8.90961219e-01 -4.54039477e-01 6.02157873e-03 1.48055134e+02] [-6.76595579e-03 1.48958836e-05 -9.99977111e-01 6.74563387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.190385723 meters Centerline goodness [0,1] 0.9998908511427885 Centerline is valid? [True, True] Translation: X:117.82, Y:147.94, Z:6.74 [[ 5.21629725e-01 -8.53164004e-01 -3.68948183e-03 1.17816648e+02] [-8.53142791e-01 -5.21642772e-01 6.01639152e-03 1.47939267e+02] [-7.05756020e-03 9.32616896e-06 -9.99975095e-01 6.74465189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.220385723 meters Centerline goodness [0,1] 0.9999782400557055 Centerline is valid? [True, True] Translation: X:117.85, Y:147.83, Z:6.74 [[ 5.86186651e-01 -8.10164914e-01 -4.24529681e-03 1.17853997e+02] [-8.10143696e-01 -5.86202024e-01 5.86341178e-03 1.47829604e+02] [-7.23893208e-03 2.24673090e-06 -9.99973799e-01 6.74427011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.250385723 meters Centerline goodness [0,1] 0.999869218361742 Centerline is valid? [True, True] Translation: X:117.90, Y:147.72, Z:6.74 [[ 6.46331878e-01 -7.63039614e-01 -5.06481169e-03 1.17899140e+02] [-7.63016207e-01 -6.46351722e-01 5.97656377e-03 1.47724394e+02] [-7.83400467e-03 1.68972594e-06 -9.99969314e-01 6.74410326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.280385723 meters Centerline goodness [0,1] 0.999956519848689 Centerline is valid? [True, True] Translation: X:117.95, Y:147.62, Z:6.74 [[ 7.02366254e-01 -7.11794207e-01 -5.53633371e-03 1.17951880e+02] [-7.11772142e-01 -7.02388074e-01 5.60463703e-03 1.47623855e+02] [-7.87800294e-03 4.10018637e-06 -9.99968968e-01 6.74364231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.310385723 meters Centerline goodness [0,1] 0.9999347982004303 Centerline is valid? [True, True] Translation: X:118.01, Y:147.53, Z:6.74 [[ 7.52888846e-01 -6.58120778e-01 -5.95208831e-03 1.18007803e+02] [-6.58100445e-01 -7.52912373e-01 5.17323068e-03 1.47533375e+02] [-7.88601153e-03 2.22042935e-05 -9.99968905e-01 6.74267271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3403857229999 meters Centerline goodness [0,1] 0.9999346034790949 Centerline is valid? [True, True] Translation: X:118.00, Y:147.52, Z:6.74 [[ 8.00882887e-01 -5.98790078e-01 -6.08640086e-03 1.18002444e+02] [-5.98773130e-01 -8.00906013e-01 4.50537328e-03 1.47522350e+02] [-7.57240786e-03 3.60969275e-05 -9.99971328e-01 6.74161544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.370385723 meters Centerline goodness [0,1] 0.9999782990820512 Centerline is valid? [True, True] Translation: X:118.00, Y:147.51, Z:6.74 [[ 8.42539694e-01 -5.38595847e-01 -6.43261998e-03 1.17999264e+02] [-5.38580824e-01 -8.42564246e-01 4.02336770e-03 1.47514085e+02] [-7.58686473e-03 7.46387848e-05 -9.99971217e-01 6.74202170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:147.50, Z:6.74 [[ 8.80761514e-01 -4.73507898e-01 -7.03037948e-03 1.17996723e+02] [-4.73493714e-01 -8.80789567e-01 3.66635392e-03 1.47503657e+02] [-7.92833243e-03 9.96570594e-05 -9.99968565e-01 6.74128017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:147.50, Z:6.74 [[ 9.13240657e-01 -4.07339122e-01 -8.14504040e-03 1.17994961e+02] [-4.07324394e-01 -9.13276966e-01 3.46716928e-03 1.47496713e+02] [-8.85099147e-03 1.51313693e-04 -9.99960818e-01 6.74208585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:147.48, Z:6.74 [[ 9.41564280e-01 -3.36707114e-01 -9.22091944e-03 1.17991296e+02] [-3.36692904e-01 -9.41609412e-01 3.09903252e-03 1.47480657e+02] [-9.72597083e-03 1.86679811e-04 -9.99952684e-01 6.74151002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:147.47, Z:6.74 [[ 9.64788017e-01 -2.62830465e-01 -1.02092598e-02 1.17988820e+02] [-2.62818051e-01 -9.64842009e-01 2.56309577e-03 1.47467748e+02] [-1.05239824e-02 2.10333672e-04 -9.99944599e-01 6.74272602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:147.46, Z:6.75 [[ 9.82307648e-01 -1.86919996e-01 -1.15151843e-02 1.17986652e+02] [-1.86909996e-01 -9.82375111e-01 1.94815999e-03 1.47458223e+02] [-1.16763806e-02 2.38610602e-04 -9.99931800e-01 6.74585581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.98, Y:147.44, Z:6.74 [[ 9.93895430e-01 -1.09720824e-01 -1.15418828e-02 1.17984203e+02] [-1.09716224e-01 -9.93962416e-01 1.03287321e-03 1.47444154e+02] [-1.15855254e-02 2.39763828e-04 -9.99932857e-01 6.74415903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.580385723 meters Centerline goodness [0,1] 0.99995667432087 Centerline is valid? [True, True] Translation: X:117.98, Y:147.43, Z:6.74 [[ 9.99418778e-01 -3.22482775e-02 -1.10523597e-02 1.17981628e+02] [-3.22489193e-02 -9.99479861e-01 1.20184022e-04 1.47434198e+02] [-1.10504867e-02 2.36312488e-04 -9.99938914e-01 6.74311281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.98, Y:147.43, Z:6.74 [[ 9.98862866e-01 4.64865052e-02 -1.05820166e-02 1.17980179e+02] [ 4.64815324e-02 -9.98918893e-01 -7.15516902e-04 1.47426573e+02] [-1.06038382e-02 2.22834915e-04 -9.99943753e-01 6.74331966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.98, Y:147.41, Z:6.74 [[ 9.91968991e-01 1.26030645e-01 -1.06675684e-02 1.17981330e+02] [ 1.26021071e-01 -9.92026326e-01 -1.56767675e-03 1.47409532e+02] [-1.07800840e-02 2.10748341e-04 -9.99941871e-01 6.74212051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.670385723 meters Centerline goodness [0,1] 0.9999566085220862 Centerline is valid? [True, True] Translation: X:117.98, Y:147.40, Z:6.74 [[ 9.78775835e-01 2.04626542e-01 -1.12179708e-02 1.17981872e+02] [ 2.04610651e-01 -9.78840097e-01 -2.55872871e-03 1.47397236e+02] [-1.15041834e-02 2.09105531e-04 -9.99933803e-01 6.74263752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:147.38, Z:6.74 [[ 9.59250262e-01 2.82341310e-01 -1.10597749e-02 1.17985555e+02] [ 2.82320257e-01 -9.59313999e-01 -3.45310904e-03 1.47381638e+02] [-1.15847522e-02 1.89997256e-04 -9.99932876e-01 6.74259441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.730385723 meters Centerline goodness [0,1] 0.9999139618420769 Centerline is valid? [True, True] Translation: X:117.99, Y:147.37, Z:6.74 [[ 9.34013790e-01 3.57094847e-01 -1.00752135e-02 1.17988087e+02] [ 3.57072082e-01 -9.34068114e-01 -4.03574805e-03 1.47370959e+02] [-1.08520805e-02 1.71866852e-04 -9.99941100e-01 6.74304816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:147.36, Z:6.74 [[ 9.02929580e-01 4.29698038e-01 -8.81868066e-03 1.17993450e+02] [ 4.29675923e-01 -9.02972632e-01 -4.36209971e-03 1.47359350e+02] [-9.83741297e-03 1.49494108e-04 -9.99951600e-01 6.74125373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:147.35, Z:6.74 [[ 8.66473257e-01 4.99160278e-01 -7.94435059e-03 1.18000501e+02] [ 4.99137812e-01 -8.66509664e-01 -4.73783247e-03 1.47347492e+02] [-9.24879433e-03 1.39879359e-04 -9.99957219e-01 6.74141069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.01, Y:147.34, Z:6.74 [[ 8.24410607e-01 5.65939356e-01 -7.73278110e-03 1.18008444e+02] [ 5.65912890e-01 -8.24446861e-01 -5.47494789e-03 1.47335972e+02] [-9.47375559e-03 1.37524614e-04 -9.99955114e-01 6.74222322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.01, Y:147.33, Z:6.74 [[ 7.77534446e-01 6.28796410e-01 -7.43370481e-03 1.18014644e+02] [ 6.28765950e-01 -7.77569968e-01 -6.19072953e-03 1.47327223e+02] [-9.67293412e-03 1.39444984e-04 -9.99953206e-01 6.74271739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.02, Y:147.32, Z:6.74 [[ 7.25812694e-01 6.87865779e-01 -6.05003638e-03 1.18024526e+02] [ 6.87840489e-01 -7.25837899e-01 -5.89967227e-03 1.47317372e+02] [-8.44952836e-03 1.20597039e-04 -9.99964295e-01 6.74119563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.03, Y:147.31, Z:6.74 [[ 6.69789891e-01 7.42530967e-01 -5.40978044e-03 1.18034289e+02] [ 7.42505321e-01 -6.69811727e-01 -6.17244960e-03 1.47309339e+02] [-8.20676935e-03 1.17453580e-04 -9.99966317e-01 6.74095053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.04, Y:147.30, Z:6.74 [[ 6.09319795e-01 7.92904000e-01 -5.71256184e-03 1.18043081e+02] [ 7.92867088e-01 -6.09346559e-01 -7.65189860e-03 1.47301675e+02] [-9.54815091e-03 1.33151013e-04 -9.99954407e-01 6.74129137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.05, Y:147.30, Z:6.74 [[ 5.44991212e-01 8.38424237e-01 -5.42011357e-03 1.18052901e+02] [ 8.38380255e-01 -5.45018147e-01 -8.58878692e-03 1.47295686e+02] [-1.01551074e-02 1.36697204e-04 -9.99948426e-01 6.74211033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.06, Y:147.29, Z:6.74 [[ 4.76864024e-01 8.78960102e-01 -5.46270095e-03 1.18063590e+02] [ 8.78898859e-01 -4.76895289e-01 -1.03768525e-02 1.47289967e+02] [-1.17259757e-02 1.47186013e-04 -9.99931238e-01 6.74420674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.07, Y:147.29, Z:6.75 [[ 4.06214850e-01 9.13766315e-01 -4.54067148e-03 1.18072640e+02] [ 9.13705328e-01 -4.06240203e-01 -1.05580226e-02 1.47285449e+02] [-1.14921687e-02 1.39989844e-04 -9.99933953e-01 6.74502418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.08, Y:147.28, Z:6.74 [[ 3.32890848e-01 9.42958409e-01 -3.62238755e-03 1.18080443e+02] [ 9.42898238e-01 -3.32910530e-01 -1.06532834e-02 1.47281354e+02] [-1.12515341e-02 1.30837712e-04 -9.99936691e-01 6.74488211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.09, Y:147.28, Z:6.74 [[ 2.57766599e-01 9.66203163e-01 -2.79792526e-03 1.18090099e+02] [ 9.66140701e-01 -2.57781751e-01 -1.09870262e-02 1.47278409e+02] [-1.13369535e-02 1.28898897e-04 -9.99935726e-01 6.74417385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:147.28, Z:6.74 [[ 1.81754111e-01 9.83341869e-01 -2.05219594e-03 1.18099949e+02] [ 9.83270017e-01 -1.81765640e-01 -1.18880189e-02 1.47276349e+02] [-1.20630055e-02 1.42833569e-04 -9.99927229e-01 6.74349070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:147.27, Z:6.74 [[ 1.04814360e-01 9.94491197e-01 -1.09931342e-03 1.18109054e+02] [ 9.94420669e-01 -1.04820019e-01 -1.18446906e-02 1.47274265e+02] [-1.18946706e-02 1.48313674e-04 -9.99929245e-01 6.74408496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.180385723 meters Centerline goodness [0,1] 0.9999785370879121 Centerline is valid? [True, True] Translation: X:118.12, Y:147.27, Z:6.74 [[ 2.88016301e-02 9.99585135e-01 -1.57312989e-04 1.18120581e+02] [ 9.99523366e-01 -2.88015994e-02 -1.11134151e-02 1.47273165e+02] [-1.11133354e-02 1.62846463e-04 -9.99938232e-01 6.74276898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.13, Y:147.27, Z:6.74 [[-4.69946518e-02 9.98894945e-01 6.26604093e-04 1.18131077e+02] [ 9.98847424e-01 4.69985290e-02 -9.74483914e-03 1.47273402e+02] [-9.76352003e-03 1.67926562e-04 -9.99952322e-01 6.74084064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.14, Y:147.27, Z:6.74 [[-1.24089806e-01 9.92270140e-01 1.29963602e-03 1.18141578e+02] [ 9.92228864e-01 1.24096500e-01 -9.05213674e-03 1.47272951e+02] [-9.14344527e-03 1.66258483e-04 -9.99958184e-01 6.74022150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.15, Y:147.27, Z:6.74 [[-2.00728088e-01 9.79645011e-01 1.97145824e-03 1.18152947e+02] [ 9.79605725e-01 2.00737697e-01 -8.77503628e-03 1.47274603e+02] [-8.99216651e-03 1.69855529e-04 -9.99959555e-01 6.73983257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.16, Y:147.28, Z:6.74 [[-2.76843849e-01 9.60911258e-01 2.65275388e-03 1.18164307e+02] [ 9.60872845e-01 2.76856506e-01 -8.59367032e-03 1.47276452e+02] [-8.99218673e-03 1.69854401e-04 -9.99959555e-01 6.73983274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.330385723 meters Centerline goodness [0,1] 0.999956870525317 Centerline is valid? [True, True] Translation: X:118.18, Y:147.28, Z:6.74 [[-3.50571448e-01 9.36530827e-01 3.10950651e-03 1.18177848e+02] [ 9.36498062e-01 3.50585200e-01 -7.83565137e-03 1.47280561e+02] [-8.42847602e-03 1.65091175e-04 -9.99964466e-01 6.73900981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.19, Y:147.28, Z:6.74 [[-4.22591198e-01 9.06313389e-01 3.56644115e-03 1.18189823e+02] [ 9.06284265e-01 4.22606217e-01 -7.26755202e-03 1.47284757e+02] [-8.09387991e-03 1.61005975e-04 -9.99967231e-01 6.73886618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.20, Y:147.29, Z:6.74 [[-4.92090275e-01 8.70534036e-01 4.20160541e-03 1.18203196e+02] [ 8.70505129e-01 4.92108184e-01 -7.09615915e-03 1.47291540e+02] [-8.24509248e-03 1.65568153e-04 -9.99965995e-01 6.73893303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.22, Y:147.30, Z:6.74 [[-5.59641466e-01 8.28719527e-01 5.03745150e-03 1.18215282e+02] [ 8.28688597e-01 5.59664112e-01 -7.16181267e-03 1.47297797e+02] [-8.75441483e-03 1.66431271e-04 -9.99961666e-01 6.74007094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.22, Y:147.30, Z:6.74 [[-6.23936703e-01 7.81453662e-01 5.75880025e-03 1.18224581e+02] [ 7.81422702e-01 6.23963259e-01 -6.95784684e-03 1.47303427e+02] [-9.03051467e-03 1.58801236e-04 -9.99959211e-01 6.74053979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.24, Y:147.31, Z:6.74 [[-6.85646205e-01 7.27902648e-01 6.85695869e-03 1.18236098e+02] [ 7.27868282e-01 6.85680477e-01 -7.07446615e-03 1.47314358e+02] [-9.85120534e-03 1.40381878e-04 -9.99951466e-01 6.74006247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.510385723 meters Centerline goodness [0,1] 0.9999785227980499 Centerline is valid? [True, True] Translation: X:118.25, Y:147.32, Z:6.74 [[-7.41683608e-01 6.70709790e-01 7.33500031e-03 1.18245657e+02] [ 6.70678624e-01 7.41719868e-01 -6.46694742e-03 1.47324328e+02] [-9.77796041e-03 1.22999014e-04 -9.99952187e-01 6.73990802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.540385723 meters Centerline goodness [0,1] 0.9999784659115379 Centerline is valid? [True, True] Translation: X:118.26, Y:147.35, Z:6.74 [[-7.88369985e-01 6.15153218e-01 7.69969922e-03 1.18261856e+02] [ 6.15125178e-01 7.88407577e-01 -5.87439035e-03 1.47350042e+02] [-9.68415133e-03 1.05085815e-04 -9.99953102e-01 6.73927832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.27, Y:147.38, Z:6.74 [[-8.31598686e-01 5.55318617e-01 8.05352295e-03 1.18274422e+02] [ 5.55293459e-01 8.31637678e-01 -5.28642336e-03 1.47378515e+02] [-9.63326244e-03 7.58859017e-05 -9.99953596e-01 6.74000931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.29, Y:147.40, Z:6.74 [[-8.69235498e-01 4.94324448e-01 8.54333705e-03 1.18290115e+02] [ 4.94301354e-01 8.69277479e-01 -4.77872719e-03 1.47403196e+02] [-9.78877218e-03 6.91437674e-05 -9.99952086e-01 6.74058684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.30, Y:147.43, Z:6.74 [[-9.02342690e-01 4.30934116e-01 8.57076312e-03 1.18301612e+02] [ 4.30915317e-01 9.02383391e-01 -4.02556420e-03 1.47429552e+02] [-9.46886724e-03 6.08346791e-05 -9.99955167e-01 6.74029172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.30, Y:147.46, Z:6.74 [[-9.30484401e-01 3.66236659e-01 8.33607600e-03 1.18303532e+02] [ 3.66222549e-01 9.30521739e-01 -3.21535172e-03 1.47459100e+02] [-8.93447961e-03 6.10243856e-05 -9.99960085e-01 6.73987180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.690385723 meters Centerline goodness [0,1] 0.9999356154093787 Centerline is valid? [True, True] Translation: X:118.31, Y:147.48, Z:6.74 [[-9.53702625e-01 3.00668389e-01 7.05858607e-03 1.18313911e+02] [ 3.00660625e-01 9.53728744e-01 -2.16165479e-03 1.47483380e+02] [-7.38191769e-03 6.06630516e-05 -9.99972751e-01 6.73880153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.51, Y:148.11, Z:5.74 [[-9.37543237e-01 -3.47811219e-01 6.32732589e-03 1.18510208e+02] [ 3.47802628e-01 -9.37564583e-01 -2.44631114e-03 1.48108512e+02] [ 6.78313112e-03 -9.28618965e-05 9.99976990e-01 5.73825866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.27, Y:147.49, Z:6.74 [[-9.53550908e-01 3.01167327e-01 6.23757308e-03 1.18267524e+02] [ 3.01161443e-01 9.53571305e-01 -1.88442021e-03 1.47490448e+02] [-6.51549650e-03 8.16259013e-05 -9.99978771e-01 6.73743647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.27, Y:147.52, Z:6.74 [[-9.72149267e-01 2.34276083e-01 6.36548821e-03 1.18272586e+02] [ 2.34271680e-01 9.72170103e-01 -1.43928142e-03 1.47518308e+02] [-6.52552654e-03 9.20572361e-05 -9.99978704e-01 6.73776888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.28, Y:147.54, Z:6.74 [[-9.85859121e-01 1.67452000e-01 6.45153662e-03 1.18276611e+02] [ 1.67449145e-01 9.85880224e-01 -9.83977387e-04 1.47543594e+02] [-6.52521135e-03 1.10241211e-04 -9.99978705e-01 6.73888510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.38, Y:148.21, Z:5.74 [[-9.79849907e-01 -1.99614239e-01 6.95097925e-03 1.18383921e+02] [ 1.99608616e-01 -9.79874558e-01 -1.50059061e-03 1.48210731e+02] [ 7.11062697e-03 -8.28782254e-05 9.99974716e-01 5.73750196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.22, Y:147.55, Z:6.74 [[-9.86100477e-01 1.65941293e-01 8.32680887e-03 1.18220412e+02] [ 1.65936782e-01 9.86135620e-01 -1.23461138e-03 1.47545733e+02] [-8.41623584e-03 1.64272997e-04 -9.99964569e-01 6.74065418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.32, Y:148.22, Z:5.73 [[-9.81094570e-01 -1.93317368e-01 9.04651441e-03 1.18324745e+02] [ 1.93307952e-01 -9.81136269e-01 -1.91224813e-03 1.48223639e+02] [ 9.24553418e-03 -1.27333086e-04 9.99957251e-01 5.73492382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.930385723 meters Centerline goodness [0,1] 0.999956758626654 Centerline is valid? [True, True] Translation: X:118.16, Y:147.55, Z:6.74 [[-9.86835942e-01 1.61422150e-01 9.88495186e-03 1.18161751e+02] [ 1.61415982e-01 9.86885431e-01 -1.42395382e-03 1.47551532e+02] [-9.98517266e-03 1.90380395e-04 -9.99950129e-01 6.74300903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.16, Y:147.58, Z:6.74 [[-9.95855521e-01 9.03867821e-02 1.01000213e-02 1.18157156e+02] [ 9.03840445e-02 9.95906720e-01 -7.28104655e-04 1.47580877e+02] [-1.01244902e-02 1.87793737e-04 -9.99948728e-01 6.74322091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.21, Y:148.27, Z:5.73 [[-9.92327186e-01 -1.23206042e-01 1.03453969e-02 1.18209268e+02] [ 1.23197540e-01 -9.92381097e-01 -1.45759699e-03 1.48272744e+02] [ 1.04461611e-02 -1.71885674e-04 9.99945423e-01 5.73386296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.09, Y:147.58, Z:6.74 [[-9.96589601e-01 8.19046513e-02 1.00397146e-02 1.18089942e+02] [ 8.19019876e-02 9.96640159e-01 -6.76864625e-04 1.47580731e+02] [-1.00614211e-02 1.47716332e-04 -9.99949372e-01 6.74293245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.050385723 meters Centerline goodness [0,1] 0.9999347528219404 Centerline is valid? [True, True] Translation: X:118.08, Y:147.61, Z:6.74 [[-9.99916277e-01 8.09276092e-03 1.00968859e-02 1.18083139e+02] [ 8.09356121e-03 9.99967246e-01 3.84021693e-05 1.47608306e+02] [-1.00962444e-02 1.20118718e-04 -9.99949024e-01 6.74340122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.08, Y:147.64, Z:6.74 [[-9.97863086e-01 -6.45821953e-02 9.91979032e-03 1.18079129e+02] [-6.45779843e-02 9.97912386e-01 7.44561126e-04 1.47637080e+02] [-9.94716702e-03 1.02369999e-04 -9.99950521e-01 6.74315742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.02, Y:148.34, Z:5.73 [[-9.99856613e-01 1.47691886e-02 8.28395923e-03 1.18022364e+02] [-1.47703482e-02 -9.99890909e-01 -7.88152409e-05 1.48341257e+02] [ 8.28189149e-03 -2.01160902e-04 9.99965684e-01 5.73448392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.97, Y:147.63, Z:6.74 [[-9.97100786e-01 -7.58394551e-02 6.19671868e-03 1.17973110e+02] [-7.58377854e-02 9.97120041e-01 5.04311611e-04 1.47625494e+02] [-6.21711910e-03 3.29040823e-05 -9.99980673e-01 6.74004640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.170385723 meters Centerline goodness [0,1] 0.9999563261562651 Centerline is valid? [True, True] Translation: X:117.91, Y:148.34, Z:5.74 [[-9.99824615e-01 1.78313294e-02 5.72572515e-03 1.17912136e+02] [-1.78314014e-02 -9.99841007e-01 3.84719081e-05 1.48338866e+02] [ 5.72550080e-03 -6.36325428e-05 9.99983607e-01 5.73714604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.200385723 meters Centerline goodness [0,1] 0.9999781162464986 Centerline is valid? [True, True] Translation: X:117.86, Y:147.61, Z:6.74 [[-9.96447151e-01 -8.41147800e-02 4.21664493e-03 1.17863042e+02] [-8.41139668e-02 9.96456072e-01 3.70134361e-04 1.47611741e+02] [-4.23283522e-03 1.41405975e-05 -9.99991041e-01 6.73779153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.230385723 meters Centerline goodness [0,1] 0.9999780571829812 Centerline is valid? [True, True] Translation: X:117.80, Y:148.34, Z:5.74 [[-9.99731579e-01 2.28695883e-02 3.70831134e-03 1.17800495e+02] [-2.28696074e-02 -9.99738456e-01 3.72506107e-05 1.48336487e+02] [ 3.70819336e-03 -4.75670128e-05 9.99993124e-01 5.73879835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.260385723 meters Centerline goodness [0,1] 0.9999781090606598 Centerline is valid? [True, True] Translation: X:117.75, Y:147.60, Z:6.74 [[-9.95897327e-01 -9.04278522e-02 3.36413594e-03 1.17751269e+02] [-9.04272980e-02 9.95903009e-01 3.16809275e-04 1.47599289e+02] [-3.37900149e-03 1.12997869e-05 -9.99994291e-01 6.73778750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.75, Y:147.62, Z:6.74 [[-9.86864146e-01 -1.61513865e-01 3.52547156e-03 1.17747815e+02] [-1.61512792e-01 9.86870443e-01 5.88864963e-04 1.47624972e+02] [-3.57429354e-03 1.17209618e-05 -9.99993612e-01 6.73828536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.72, Y:147.65, Z:6.74 [[-9.72774019e-01 -2.31725053e-01 3.76933106e-03 1.17722146e+02] [-2.31723257e-01 9.72781322e-01 9.12346644e-04 1.47647428e+02] [-3.87814843e-03 1.40654394e-05 -9.99992480e-01 6.73854255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.68, Y:147.66, Z:6.74 [[-9.53735499e-01 -3.00613273e-01 4.50087587e-03 1.17676824e+02] [-3.00609817e-01 9.53746119e-01 1.44157896e-03 1.47659338e+02] [-4.72605067e-03 2.18775559e-05 -9.99988832e-01 6.73860933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.380385723 meters Centerline goodness [0,1] 0.9999336239130916 Centerline is valid? [True, True] Translation: X:117.62, Y:147.67, Z:6.74 [[-9.29601114e-01 -3.68532442e-01 5.06054011e-03 1.17618441e+02] [-3.68526784e-01 9.29614887e-01 2.04237981e-03 1.47665129e+02] [-5.45703664e-03 3.36539720e-05 -9.99985110e-01 6.73937549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.55, Y:147.66, Z:6.74 [[-9.00046064e-01 -4.35758133e-01 5.65090222e-03 1.17547694e+02] [-4.35749239e-01 9.00063802e-01 2.78452283e-03 1.47664319e+02] [-6.29955101e-03 4.38224704e-05 -9.99980157e-01 6.73980311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.47, Y:147.65, Z:6.74 [[-8.65987599e-01 -5.00037686e-01 5.27178049e-03 1.17468108e+02] [-5.00028036e-01 8.66003643e-01 3.10700751e-03 1.47651690e+02] [-6.11900196e-03 5.45919298e-05 -9.99981277e-01 6.74084233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.38, Y:147.63, Z:6.74 [[-8.26365824e-01 -5.63110188e-01 5.14209956e-03 1.17380488e+02] [-5.63098837e-01 8.26381820e-01 3.57595586e-03 1.47628302e+02] [-6.26299477e-03 5.95374316e-05 -9.99980386e-01 6.74098967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.29, Y:147.59, Z:6.74 [[-7.81964100e-01 -6.23305484e-01 4.73490361e-03 1.17288417e+02] [-6.23293573e-01 7.81978433e-01 3.85389752e-03 1.47594051e+02] [-6.10474796e-03 6.23745190e-05 -9.99981364e-01 6.74111869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.20, Y:147.55, Z:6.74 [[-7.33319064e-01 -6.79869508e-01 4.53889713e-03 1.17196997e+02] [-6.79855880e-01 7.33333108e-01 4.30528303e-03 1.47549381e+02] [-6.25555419e-03 7.13502249e-05 -9.99980431e-01 6.74096631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.10, Y:147.49, Z:6.74 [[-6.79120122e-01 -7.34018199e-01 3.62547615e-03 1.17098304e+02] [-7.34007280e-01 6.79129797e-01 4.00398994e-03 1.47488922e+02] [-5.40117036e-03 5.80642499e-05 -9.99985412e-01 6.73956431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.01, Y:147.43, Z:6.74 [[-6.21080604e-01 -7.83741708e-01 2.79602781e-03 1.17012802e+02] [-7.83733411e-01 6.21086896e-01 3.60679858e-03 1.47434106e+02] [-4.56337471e-03 4.87722358e-05 -9.99989587e-01 6.73872832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.92, Y:147.36, Z:6.74 [[-5.58146533e-01 -8.29739770e-01 2.08847035e-03 1.16923724e+02] [-8.29733723e-01 5.58150440e-01 3.16785560e-03 1.47364380e+02] [-3.79417642e-03 3.52533356e-05 -9.99992802e-01 6.73798730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.84, Y:147.28, Z:6.74 [[-4.92101292e-01 -8.70536443e-01 1.61868662e-03 1.16837389e+02] [-8.70531546e-01 4.92103954e-01 2.92005125e-03 1.47283084e+02] [-3.33857311e-03 2.78432268e-05 -9.99994427e-01 6.73764408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.75, Y:147.19, Z:6.74 [[-4.22824593e-01 -9.06210899e-01 1.08174714e-03 1.16754587e+02] [-9.06207818e-01 4.22825977e-01 2.36301792e-03 1.47192339e+02] [-2.59878338e-03 1.88543747e-05 -9.99996623e-01 6.73737781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.710385723 meters Centerline goodness [0,1] 0.9999779029941442 Centerline is valid? [True, True] Translation: X:116.68, Y:147.10, Z:6.74 [[-3.52270246e-01 -9.35897995e-01 7.85049738e-04 1.16681943e+02] [-9.35895561e-01 3.52271120e-01 2.13485546e-03 1.47095224e+02] [-2.27455730e-03 1.73214946e-05 -9.99997413e-01 6.73713092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.62, Y:146.99, Z:6.74 [[-2.81241447e-01 -9.59636849e-01 6.05173086e-04 1.16616658e+02] [-9.59634459e-01 2.81242097e-01 2.14188687e-03 1.46991226e+02] [-2.22563371e-03 2.16424144e-05 -9.99997523e-01 6.73747187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.56, Y:146.88, Z:6.74 [[-2.08473506e-01 -9.78027936e-01 3.93026961e-04 1.16559349e+02] [-9.78025979e-01 2.08473875e-01 1.95650632e-03 1.46879044e+02] [-1.99545369e-03 2.34891532e-05 -9.99998009e-01 6.73788336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.51, Y:146.76, Z:6.74 [[-1.36446949e-01 -9.90647352e-01 2.31121249e-04 1.16510089e+02] [-9.90645532e-01 1.36447141e-01 1.89941392e-03 1.46762781e+02] [-1.91318521e-03 3.02100017e-05 -9.99998169e-01 6.73864488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.47, Y:146.65, Z:6.74 [[-6.10372189e-02 -9.98135486e-01 1.02739797e-04 1.16472091e+02] [-9.98132762e-01 6.10372924e-02 2.33217646e-03 1.46648575e+02] [-2.33409904e-03 3.98016072e-05 -9.99997275e-01 6.73909239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.44, Y:146.52, Z:6.74 [[ 1.50314273e-02 -9.99887018e-01 -8.24211464e-05 1.16441925e+02] [-9.99883914e-01 -1.50315860e-02 2.49192901e-03 1.46524541e+02] [-2.49288639e-03 4.49543289e-05 -9.99996892e-01 6.73935805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.42, Y:146.40, Z:6.74 [[ 9.07682715e-02 -9.95871990e-01 -3.17035042e-04 1.16420403e+02] [-9.95867870e-01 -9.07688081e-02 2.86520456e-03 1.46400659e+02] [-2.88215386e-03 5.56553465e-05 -9.99995845e-01 6.73960993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.41, Y:146.27, Z:6.74 [[ 1.68024261e-01 -9.85782660e-01 -6.28813131e-04 1.16407858e+02] [-9.85777073e-01 -1.68025426e-01 3.31939678e-03 1.46267253e+02] [-3.37786039e-03 6.21303760e-05 -9.99994293e-01 6.74020297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.40, Y:146.15, Z:6.74 [[ 2.44539424e-01 -9.69638845e-01 -9.90052744e-04 1.16402917e+02] [-9.69631926e-01 -2.44541420e-01 3.66374527e-03 1.46150235e+02] [-3.79461863e-03 6.40565916e-05 -9.99992798e-01 6.74088798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.41, Y:146.02, Z:6.74 [[ 3.21826118e-01 -9.46797883e-01 -1.31123460e-03 1.16407505e+02] [-9.46790671e-01 -3.21828785e-01 3.69581934e-03 1.46023180e+02] [-3.92118696e-03 5.20534981e-05 -9.99992311e-01 6.74089887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.42, Y:145.90, Z:6.74 [[ 3.95598271e-01 -9.18422412e-01 -1.51044125e-03 1.16424339e+02] [-9.18416112e-01 -3.95601153e-01 3.40207164e-03 1.45898017e+02] [-3.72207114e-03 4.13599221e-05 -9.99993072e-01 6.74026444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.45, Y:145.77, Z:6.74 [[ 4.69138005e-01 -8.83123898e-01 -1.30914245e-03 1.16448268e+02] [-8.83120565e-01 -4.69139831e-01 2.42628590e-03 1.45774933e+02] [-2.75688192e-03 1.78676909e-05 -9.99996200e-01 6.73902590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.070385723 meters Centerline goodness [0,1] 0.9999779822977674 Centerline is valid? [True, True] Translation: X:116.48, Y:145.66, Z:6.74 [[ 5.36948438e-01 -8.43613631e-01 -1.55461499e-03 1.16481998e+02] [-8.43610167e-01 -5.36950689e-01 2.41748267e-03 1.45657879e+02] [-2.87417292e-03 1.34254708e-05 -9.99995870e-01 6.73876740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.52, Y:145.54, Z:6.74 [[ 6.01733943e-01 -7.98695698e-01 -1.20151113e-03 1.16524935e+02] [-7.98694123e-01 -6.01735142e-01 1.58629626e-03 1.45542395e+02] [-1.98995947e-03 5.11157458e-06 -9.99998020e-01 6.73786666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.57, Y:145.44, Z:6.74 [[ 6.61139663e-01 -7.50262015e-01 -1.12021907e-03 1.16570002e+02] [-7.50260948e-01 -6.61140613e-01 1.26499552e-03 1.45440381e+02] [-1.68970041e-03 4.11791015e-06 -9.99998572e-01 6.73747887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.160385723 meters Centerline goodness [0,1] 0.9999563718860434 Centerline is valid? [True, True] Translation: X:116.62, Y:145.34, Z:6.74 [[ 7.15513675e-01 -6.98598290e-01 -7.81288577e-04 1.16623572e+02] [-6.98597881e-01 -7.15514101e-01 7.56676947e-04 1.45341069e+02] [-1.08763622e-03 4.39384132e-06 -9.99999409e-01 6.73805099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.190385723 meters Centerline goodness [0,1] 0.9999563718860434 Centerline is valid? [True, True] Translation: X:116.62, Y:145.33, Z:6.74 [[ 7.67931847e-01 -6.40531011e-01 -8.38097456e-04 1.16619927e+02] [-6.40530636e-01 -7.67932304e-01 6.93299434e-04 1.45334422e+02] [-1.08768190e-03 4.42038158e-06 -9.99999409e-01 6.73805145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.220385723 meters Centerline goodness [0,1] 0.9999780340472268 Centerline is valid? [True, True] Translation: X:116.62, Y:145.32, Z:6.74 [[ 8.13821217e-01 -5.81113697e-01 -1.37735723e-03 1.16615862e+02] [-5.81112889e-01 -8.13822383e-01 9.69298494e-04 1.45324909e+02] [-1.68419678e-03 1.15643595e-05 -9.99998582e-01 6.73862951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.61, Y:145.32, Z:6.74 [[ 8.55823602e-01 -5.17263891e-01 -2.00737192e-03 1.16611822e+02] [-5.17262522e-01 -8.55825956e-01 1.19012944e-03 1.45317118e+02] [-2.33357198e-03 1.97973951e-05 -9.99997277e-01 6.73915920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.61, Y:145.31, Z:6.74 [[ 8.92813214e-01 -4.50418817e-01 -2.73024109e-03 1.16608336e+02] [-4.50416816e-01 -8.92817388e-01 1.34273909e-03 1.45305539e+02] [-3.04240168e-03 3.09312952e-05 -9.99995371e-01 6.73966879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.61, Y:145.30, Z:6.74 [[ 9.24036622e-01 -3.82278633e-01 -4.40091722e-03 1.16605450e+02] [-3.82274620e-01 -9.24047100e-01 1.75264386e-03 1.45295935e+02] [-4.73665309e-03 6.28518471e-05 -9.99988780e-01 6.74134110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.60, Y:145.28, Z:6.74 [[ 9.50267874e-01 -3.11387662e-01 -5.35640070e-03 1.16602967e+02] [-3.11383242e-01 -9.50282966e-01 1.66136840e-03 1.45283459e+02] [-5.60742597e-03 8.91483972e-05 -9.99984274e-01 6.74167300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.60, Y:145.27, Z:6.74 [[ 9.71451953e-01 -2.37168794e-01 -5.66280122e-03 1.16600933e+02] [-2.37165353e-01 -9.71468452e-01 1.28122268e-03 1.45272427e+02] [-5.80509877e-03 9.83739746e-05 -9.99983145e-01 6.74167177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.60, Y:145.26, Z:6.74 [[ 9.86697751e-01 -1.62436027e-01 -6.48731536e-03 1.16597550e+02] [-1.62433345e-01 -9.86719069e-01 9.41823387e-04 1.45261286e+02] [-6.55414382e-03 1.24461312e-04 -9.99978514e-01 6.74208852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.59, Y:145.25, Z:6.74 [[ 9.96314473e-01 -8.54860396e-02 -7.04325240e-03 1.16594054e+02] [-8.54848932e-02 -9.96339359e-01 4.64207967e-04 1.45248844e+02] [-7.05715288e-03 1.39594563e-04 -9.99975088e-01 6.74169542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.59, Y:145.24, Z:6.74 [[ 9.99938056e-01 -8.29038557e-03 -7.42654127e-03 1.16591238e+02] [-8.29130434e-03 -9.99965622e-01 -9.29343617e-05 1.45236687e+02] [-7.42551550e-03 1.54504319e-04 -9.99972419e-01 6.74205751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.59, Y:145.22, Z:6.74 [[ 9.97519508e-01 6.99758166e-02 -7.63001600e-03 1.16590639e+02] [ 6.99725448e-02 -9.97548675e-01 -6.95245386e-04 1.45222956e+02] [-7.65996272e-03 1.59629198e-04 -9.99970649e-01 6.74255269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.59, Y:145.21, Z:6.74 [[ 9.88980885e-01 1.47839082e-01 -7.77268167e-03 1.16590880e+02] [ 1.47833207e-01 -9.89011415e-01 -1.32826521e-03 1.45208985e+02] [-7.88364040e-03 1.64568444e-04 -9.99968910e-01 6.74297413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.550385723 meters Centerline goodness [0,1] 0.9999781076229257 Centerline is valid? [True, True] Translation: X:116.59, Y:145.19, Z:6.74 [[ 9.74300022e-01 2.25162320e-01 -6.43406741e-03 1.16592719e+02] [ 2.25156485e-01 -9.74321257e-01 -1.62667748e-03 1.45193615e+02] [-6.63511512e-03 1.36199896e-04 -9.99977978e-01 6.74276065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.59, Y:145.18, Z:6.74 [[ 9.53446256e-01 3.01525504e-01 -4.75472803e-03 1.16594575e+02] [ 3.01521235e-01 -9.53458106e-01 -1.60768351e-03 1.45180335e+02] [-5.01819157e-03 9.91883612e-05 -9.99987404e-01 6.74141587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.60, Y:145.17, Z:6.74 [[ 9.26635045e-01 3.75935471e-01 -4.47389546e-03 1.16597934e+02] [ 3.75930606e-01 -9.26645840e-01 -1.91474666e-03 1.45168082e+02] [-4.86553780e-03 9.23971227e-05 -9.99988159e-01 6.74104546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.60, Y:145.16, Z:6.74 [[ 8.93590642e-01 4.48855422e-01 -4.95730234e-03 1.16600921e+02] [ 4.48847913e-01 -8.93604387e-01 -2.59800292e-03 1.45156054e+02] [-5.59599482e-03 9.64762886e-05 -9.99984338e-01 6.74158788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.61, Y:145.15, Z:6.74 [[ 8.55435899e-01 5.17886374e-01 -4.80904200e-03 1.16605197e+02] [ 5.17877564e-01 -8.55449411e-01 -3.02219897e-03 1.45147058e+02] [-5.67904782e-03 9.48025344e-05 -9.99983870e-01 6.74130770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.61, Y:145.14, Z:6.74 [[ 8.12107530e-01 5.83489544e-01 -4.61645770e-03 1.16608376e+02] [ 5.83479452e-01 -8.12120645e-01 -3.43306993e-03 1.45138666e+02] [-5.75228101e-03 9.44137304e-05 -9.99983451e-01 6.74102495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.62, Y:145.13, Z:6.74 [[ 7.63803321e-01 6.45436458e-01 -4.03311738e-03 1.16616318e+02] [ 6.45426855e-01 -7.63813964e-01 -3.52187507e-03 1.45127542e+02] [-5.35369794e-03 8.69376046e-05 -9.99985665e-01 6.73990341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.760385723 meters Centerline goodness [0,1] 0.9999131228009209 Centerline is valid? [True, True] Translation: X:116.62, Y:145.12, Z:6.74 [[ 7.10415505e-01 7.03777053e-01 -2.76960847e-03 1.16624623e+02] [ 7.03771364e-01 -7.10420901e-01 -2.83044686e-03 1.45116444e+02] [-3.95959129e-03 6.16222031e-05 -9.99992159e-01 6.73985681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.63, Y:145.11, Z:6.74 [[ 6.52596549e-01 7.57702465e-01 -2.17213244e-03 1.16634425e+02] [ 7.57698008e-01 -6.52600162e-01 -2.59934118e-03 1.45107116e+02] [-3.38706120e-03 5.05006587e-05 -9.99994263e-01 6.73957261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.820385723 meters Centerline goodness [0,1] 0.9999782924870297 Centerline is valid? [True, True] Translation: X:116.64, Y:145.10, Z:6.74 [[ 5.90733809e-01 8.06864281e-01 -1.89706887e-03 1.16644057e+02] [ 8.06859864e-01 -5.90736853e-01 -2.67020731e-03 1.45098542e+02] [-3.27516339e-03 4.67130056e-05 -9.99994636e-01 6.73951051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.65, Y:145.09, Z:6.74 [[ 5.25068678e-01 8.51057811e-01 -1.86689255e-03 1.16654477e+02] [ 8.51052097e-01 -5.25071995e-01 -3.11915301e-03 1.45090638e+02] [-3.63483253e-03 4.89467297e-05 -9.99993393e-01 6.73997806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.880385723 meters Centerline goodness [0,1] 0.9999134349030471 Centerline is valid? [True, True] Translation: X:116.67, Y:145.08, Z:6.74 [[ 4.56449995e-01 8.89746875e-01 -1.97504026e-03 1.16665517e+02] [ 8.89737993e-01 -4.56454264e-01 -3.97600161e-03 1.45083654e+02] [-4.43915055e-03 5.75775515e-05 -9.99990145e-01 6.74139377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.910385723 meters Centerline goodness [0,1] 0.9999783643444397 Centerline is valid? [True, True] Translation: X:116.67, Y:145.08, Z:6.74 [[ 3.85201171e-01 9.22830894e-01 -1.78866102e-03 1.16674724e+02] [ 9.22820194e-01 -3.85205319e-01 -4.44429543e-03 1.45078092e+02] [-4.79033486e-03 6.13352899e-05 -9.99988524e-01 6.74163399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.940385723 meters Centerline goodness [0,1] 0.9999567642353755 Centerline is valid? [True, True] Translation: X:116.68, Y:145.07, Z:6.74 [[ 3.11753842e-01 9.50161752e-01 -1.47888861e-03 1.16684613e+02] [ 9.50150081e-01 -3.11757344e-01 -4.70985115e-03 1.45073834e+02] [-4.93617480e-03 6.31480556e-05 -9.99987815e-01 6.74206824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.970385723 meters Centerline goodness [0,1] 0.9999133917938725 Centerline is valid? [True, True] Translation: X:116.70, Y:145.07, Z:6.74 [[ 2.35743604e-01 9.71814633e-01 -1.12763538e-03 1.16699388e+02] [ 9.71802240e-01 -2.35746293e-01 -4.90826566e-03 1.45068781e+02] [-5.03576025e-03 6.12536490e-05 -9.99987319e-01 6.74177182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.71, Y:145.07, Z:6.74 [[ 1.58544428e-01 9.87351494e-01 -8.31523407e-04 1.16712773e+02] [ 9.87335621e-01 -1.58546594e-01 -5.59895781e-03 1.45065993e+02] [-5.65997456e-03 6.66908814e-05 -9.99983980e-01 6.74214452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.030385723 meters Centerline goodness [0,1] 0.9999350719619089 Centerline is valid? [True, True] Translation: X:116.72, Y:145.06, Z:6.74 [[ 8.06085361e-02 9.96745741e-01 -4.38861361e-04 1.16724936e+02] [ 9.96725546e-01 -8.06096968e-02 -6.34532273e-03 1.45063169e+02] [-6.36004988e-03 7.40628466e-05 -9.99979772e-01 6.74246131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.060385723 meters Centerline goodness [0,1] 0.999913477969328 Centerline is valid? [True, True] Translation: X:116.73, Y:145.06, Z:6.74 [[ 2.33862165e-03 9.99997264e-01 6.06049209e-05 1.16734835e+02] [ 9.99976263e-01 -2.33817975e-03 -6.48118065e-03 1.45061117e+02] [-6.48102121e-03 7.57605117e-05 -9.99978995e-01 6.74310612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.74, Y:145.06, Z:6.74 [[-7.54680556e-02 9.97148043e-01 5.94424225e-04 1.16744512e+02] [ 9.97125141e-01 7.54703512e-02 -6.75866245e-03 1.45060243e+02] [-6.78424844e-03 8.26522257e-05 -9.99976983e-01 6.74300348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.76, Y:145.06, Z:6.74 [[-1.50824025e-01 9.88560048e-01 1.07034296e-03 1.16757345e+02] [ 9.88539449e-01 1.50827793e-01 -6.38237060e-03 1.45060726e+02] [-6.47079405e-03 9.54614184e-05 -9.99979060e-01 6.74281672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.150385723 meters Centerline goodness [0,1] 0.9999137112779359 Centerline is valid? [True, True] Translation: X:116.77, Y:145.06, Z:6.74 [[-2.24878612e-01 9.74385214e-01 1.75051939e-03 1.16767637e+02] [ 9.74359974e-01 2.24885388e-01 -7.01449942e-03 1.45061163e+02] [-7.22849075e-03 1.28225140e-04 -9.99973866e-01 6.74399722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.180385723 meters Centerline goodness [0,1] 0.9999568444674607 Centerline is valid? [True, True] Translation: X:116.78, Y:145.06, Z:6.74 [[-2.98797995e-01 9.54313362e-01 2.40134694e-03 1.16778066e+02] [ 9.54286405e-01 2.98807607e-01 -7.17434102e-03 1.45063500e+02] [-7.56411023e-03 1.47894026e-04 -9.99971381e-01 6.74413155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.79, Y:145.07, Z:6.74 [[-3.71171221e-01 9.28560310e-01 2.77065254e-03 1.16787626e+02] [ 9.28537377e-01 3.71181531e-01 -6.52763332e-03 1.45065965e+02] [-7.08971626e-03 1.49784810e-04 -9.99974856e-01 6.74349688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.80, Y:145.07, Z:6.74 [[-4.41204510e-01 8.97402747e-01 2.62482108e-03 1.16797336e+02] [ 8.97388585e-01 4.41212298e-01 -5.04326620e-03 1.45068325e+02] [-5.68394429e-03 1.30372686e-04 -9.99983838e-01 6.74275227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.81, Y:145.08, Z:6.74 [[-5.10445417e-01 8.59906467e-01 2.51881222e-03 1.16813181e+02] [ 8.59897017e-01 5.10451620e-01 -4.03274361e-03 1.45076343e+02] [-4.75351409e-03 1.07423622e-04 -9.99988696e-01 6.74217991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.83, Y:145.08, Z:6.74 [[-5.77089669e-01 8.16675295e-01 2.99605889e-03 1.16825567e+02] [ 8.16665251e-01 5.77097436e-01 -4.05191593e-03 1.45084434e+02] [-5.03811754e-03 1.08458363e-04 -9.99987303e-01 6.74242863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.84, Y:145.09, Z:6.74 [[-6.40491294e-01 7.67958507e-01 3.26109936e-03 1.16836927e+02] [ 7.67949332e-01 6.40499588e-01 -3.75509187e-03 1.45094037e+02] [-4.97248754e-03 9.92554242e-05 -9.99987632e-01 6.74299154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.85, Y:145.10, Z:6.74 [[-7.00809274e-01 7.13336245e-01 4.21465665e-03 1.16847378e+02] [ 7.13324196e-01 7.00821940e-01 -4.14737671e-03 1.45102977e+02] [-5.91219798e-03 9.98965084e-05 -9.99982518e-01 6.74319451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.390385723 meters Centerline goodness [0,1] 0.9999570225201995 Centerline is valid? [True, True] Translation: X:116.87, Y:145.13, Z:6.74 [[-7.50547532e-01 6.60803701e-01 4.10744926e-03 1.16867549e+02] [ 6.60794405e-01 7.50558767e-01 -3.50594772e-03 1.45126021e+02] [-5.39962528e-03 8.27990775e-05 -9.99985419e-01 6.74307249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.88, Y:145.16, Z:6.74 [[-7.97571359e-01 6.03206570e-01 4.66495427e-03 1.16878316e+02] [ 6.03196750e-01 7.97584998e-01 -3.44253554e-03 1.45160471e+02] [-5.79725760e-03 6.82175007e-05 -9.99983193e-01 6.74342624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.90, Y:145.18, Z:6.74 [[-8.39182046e-01 5.43821037e-01 5.67218402e-03 1.16901331e+02] [ 5.43809157e-01 8.39201213e-01 -3.59518670e-03 1.45181845e+02] [-6.71524186e-03 6.75694803e-05 -9.99977450e-01 6.74391105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.24, Y:145.72, Z:5.73 [[-8.10880209e-01 -5.85177503e-01 6.36998697e-03 1.17238780e+02] [ 5.85159387e-01 -8.10905229e-01 -4.60454495e-03 1.45722359e+02] [ 7.85993186e-03 -6.27669501e-06 9.99969110e-01 5.73177842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.86, Y:145.21, Z:6.74 [[-8.42771120e-01 5.38226184e-01 7.02960618e-03 1.16861399e+02] [ 5.38208030e-01 8.42800434e-01 -4.42086235e-03 1.45207826e+02] [-8.30397901e-03 5.76153840e-05 -9.99965520e-01 6.74481470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.87, Y:145.23, Z:6.74 [[-8.78166875e-01 4.78308475e-01 6.62885368e-03 1.16874556e+02] [ 4.78295377e-01 8.78191892e-01 -3.54029890e-03 1.45232295e+02] [-7.51476052e-03 6.15768464e-05 -9.99971762e-01 6.74467034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.18, Y:145.80, Z:5.73 [[-8.53302345e-01 -5.21381910e-01 6.00108686e-03 1.17177231e+02] [ 5.21368321e-01 -8.53323442e-01 -3.76512139e-03 1.45795235e+02] [ 7.08393428e-03 -8.40103315e-05 9.99974905e-01 5.73270747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.600385723 meters Centerline goodness [0,1] 0.999978557337679 Centerline is valid? [True, True] Translation: X:116.84, Y:145.25, Z:6.74 [[-8.77340718e-01 4.79839080e-01 5.26507559e-03 1.16835206e+02] [ 4.79830994e-01 8.77356513e-01 -2.78690473e-03 1.45248019e+02] [-5.95661416e-03 8.12814609e-05 -9.99982256e-01 6.74407545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.85, Y:145.27, Z:6.74 [[-9.08439880e-01 4.17980670e-01 5.39859934e-03 1.16847236e+02] [ 4.17973877e-01 9.08455916e-01 -2.38463161e-03 1.45273574e+02] [-5.90111943e-03 9.01790457e-05 -9.99982584e-01 6.74353832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.660385723 meters Centerline goodness [0,1] 0.999935365722288 Centerline is valid? [True, True] Translation: X:116.85, Y:145.30, Z:6.74 [[-9.35061650e-01 3.54429774e-01 6.26467709e-03 1.16854807e+02] [ 3.54422644e-01 9.35082628e-01 -2.25120614e-03 1.45299774e+02] [-6.65588520e-03 1.15326884e-04 -9.99977843e-01 6.74455010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.86, Y:145.33, Z:6.74 [[-9.57842406e-01 2.87245101e-01 5.30831265e-03 1.16861665e+02] [ 2.87241241e-01 9.57857110e-01 -1.49205273e-03 1.45326998e+02] [-5.51318985e-03 9.56149427e-05 -9.99984798e-01 6.74274371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.86, Y:145.36, Z:6.74 [[-9.75804461e-01 2.18575735e-01 5.50472302e-03 1.16860633e+02] [ 2.18572818e-01 9.75819983e-01 -1.13334518e-03 1.45357301e+02] [-5.61934048e-03 9.72595404e-05 -9.99984207e-01 6.74284061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.750385723 meters Centerline goodness [0,1] 0.9999784431654056 Centerline is valid? [True, True] Translation: X:116.86, Y:145.39, Z:6.74 [[-9.88971562e-01 1.48004308e-01 5.47484904e-03 1.16863961e+02] [ 1.48002551e-01 9.88986712e-01 -7.26984407e-04 1.45387126e+02] [-5.52214978e-03 9.13247189e-05 -9.99984749e-01 6.74367710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.95, Y:146.03, Z:5.73 [[-9.83112051e-01 -1.82922178e-01 5.49295141e-03 1.16949000e+02] [ 1.82918826e-01 -9.83127392e-01 -1.11085951e-03 1.46032788e+02] [ 5.60347184e-03 -8.73351500e-05 9.99984297e-01 5.73281344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.80, Y:145.40, Z:6.75 [[-9.89961672e-01 1.41169170e-01 6.86689820e-03 1.16802101e+02] [ 1.41166437e-01 9.89985483e-01 -8.83472914e-04 1.45395248e+02] [-6.92284867e-03 9.47712322e-05 -9.99976032e-01 6.74636929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8403857229999 meters Centerline goodness [0,1] 0.9999354672173464 Centerline is valid? [True, True] Translation: X:116.80, Y:145.43, Z:6.75 [[-9.97548750e-01 6.95331230e-02 7.85088379e-03 1.16801828e+02] [ 6.95317579e-02 9.97579638e-01 -4.47027622e-04 1.45427477e+02] [-7.86296504e-03 9.99539051e-05 -9.99969081e-01 6.74544943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.79, Y:145.46, Z:6.75 [[-9.99963586e-01 -2.25058093e-03 8.23172681e-03 1.16794232e+02] [-2.24969036e-03 9.99997463e-01 1.17445648e-04 1.45455923e+02] [-8.23197024e-03 9.89225346e-05 -9.99966112e-01 6.74537267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.79, Y:145.48, Z:6.75 [[-9.97205035e-01 -7.42008576e-02 8.73788838e-03 1.16785992e+02] [-7.41971425e-02 9.97243312e-01 7.49023946e-04 1.45484641e+02] [-8.76937896e-03 9.86041011e-05 -9.99961543e-01 6.74569688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.77, Y:145.51, Z:6.75 [[-9.89301289e-01 -1.45588845e-01 9.31921742e-03 1.16770232e+02] [-1.45581417e-01 9.89345176e-01 1.47415432e-03 1.45513160e+02] [-9.43454323e-03 1.01677894e-04 -9.99955489e-01 6.74587639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.66, Y:146.15, Z:5.73 [[-9.94961649e-01 9.97957972e-02 9.59771166e-03 1.16658344e+02] [-9.97920301e-02 -9.95007935e-01 8.71806040e-04 1.46149017e+02] [ 9.63680184e-03 -9.03615560e-05 9.99953561e-01 5.73050107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.990385723 meters Centerline goodness [0,1] 0.999978466838932 Centerline is valid? [True, True] Translation: X:116.65, Y:145.50, Z:6.75 [[-9.88353373e-01 -1.51853265e-01 9.90937238e-03 1.16652670e+02] [-1.51844561e-01 9.88403043e-01 1.62935806e-03 1.45495645e+02] [-1.00418772e-02 1.05697239e-04 -9.99949574e-01 6.74605743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.53, Y:146.13, Z:5.73 [[-9.94378768e-01 1.05409300e-01 9.98727513e-03 1.16534176e+02] [-1.05405057e-01 -9.94428916e-01 9.51803289e-04 1.46132123e+02] [ 1.00319641e-02 -1.06256318e-04 9.99949673e-01 5.73026756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.53, Y:145.47, Z:6.75 [[-9.87442666e-01 -1.57646612e-01 1.02238824e-02 1.16527401e+02] [-1.57636993e-01 9.87495587e-01 1.74499153e-03 1.45473816e+02] [-1.03711308e-02 1.11417008e-04 -9.99946212e-01 6.74671078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.080385723 meters Centerline goodness [0,1] 0.9999784133837021 Centerline is valid? [True, True] Translation: X:116.50, Y:145.50, Z:6.75 [[-9.73803597e-01 -2.27161936e-01 1.01984845e-02 1.16504420e+02] [-2.27148133e-01 9.73856991e-01 2.50728967e-03 1.45496342e+02] [-1.05014262e-02 1.25040999e-04 -9.99944851e-01 6.74692720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.110385723 meters Centerline goodness [0,1] 0.9999784133837021 Centerline is valid? [True, True] Translation: X:116.46, Y:145.51, Z:6.75 [[-9.54780734e-01 -2.97142978e-01 9.98997881e-03 1.16460394e+02] [-2.97125342e-01 9.54832988e-01 3.23982278e-03 1.45514238e+02] [-1.05014519e-02 1.25044505e-04 -9.99944850e-01 6.74692782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.140385723 meters Centerline goodness [0,1] 0.9999567165148138 Centerline is valid? [True, True] Translation: X:116.39, Y:145.52, Z:6.75 [[-9.30698593e-01 -3.65660926e-01 9.60296408e-03 1.16393550e+02] [-3.65639998e-01 9.30748124e-01 3.91437739e-03 1.45520040e+02] [-1.03692757e-02 1.31877768e-04 -9.99946229e-01 6.74681993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.33, Y:145.52, Z:6.75 [[-9.01435729e-01 -4.32839461e-01 7.97664969e-03 1.16325329e+02] [-4.32821349e-01 9.01471013e-01 3.96150517e-03 1.45519688e+02] [-8.90541424e-03 1.18578029e-04 -9.99960339e-01 6.74637581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.25, Y:145.51, Z:6.74 [[-8.66745177e-01 -4.98701651e-01 7.03285999e-03 1.16249138e+02] [-4.98684220e-01 8.66773703e-01 4.17106133e-03 1.45511732e+02] [-8.17601327e-03 1.08070990e-04 -9.99966570e-01 6.74481629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.17, Y:145.49, Z:6.74 [[-8.26345518e-01 -5.63133459e-01 5.81316845e-03 1.16165357e+02] [-5.63118818e-01 8.26365961e-01 4.06147669e-03 1.45491950e+02] [-7.09095794e-03 8.26785072e-05 -9.99974855e-01 6.74362572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.08, Y:145.46, Z:6.74 [[-7.81114840e-01 -6.24362038e-01 5.62611116e-03 1.16077585e+02] [-6.24345145e-01 7.81135097e-01 4.59343055e-03 1.45462791e+02] [-7.26271655e-03 7.53615788e-05 -9.99973623e-01 6.74345023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.99, Y:145.43, Z:6.74 [[-7.30455751e-01 -6.82942782e-01 4.85299935e-03 1.15989842e+02] [-6.82927203e-01 7.30471870e-01 4.61330751e-03 1.45425222e+02] [-6.69560458e-03 5.55717327e-05 -9.99977583e-01 6.74394442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.90, Y:145.37, Z:6.74 [[-6.76230570e-01 -7.36675946e-01 4.55710835e-03 1.15898825e+02] [-7.36658710e-01 6.76245923e-01 5.03959521e-03 1.45374056e+02] [-6.79427451e-03 5.08947815e-05 -9.99976917e-01 6.74389030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.81, Y:145.31, Z:6.74 [[-6.18145755e-01 -7.86051773e-01 4.29371172e-03 1.15810100e+02] [-7.86032252e-01 6.18160665e-01 5.53997091e-03 1.45312931e+02] [-7.00890764e-03 4.95136049e-05 -9.99975436e-01 6.74434416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.72, Y:145.24, Z:6.75 [[-5.56193192e-01 -8.31041578e-01 4.36213206e-03 1.15724626e+02] [-8.31015299e-01 5.56210295e-01 6.60905953e-03 1.45241321e+02] [-7.91866602e-03 5.09154397e-05 -9.99968646e-01 6.74516269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.64, Y:145.16, Z:6.75 [[-4.91405802e-01 -8.70920541e-01 4.21298300e-03 1.15644224e+02] [-8.70887535e-01 4.91423858e-01 7.58241074e-03 1.45160984e+02] [-8.67403762e-03 5.70062421e-05 -9.99962378e-01 6.74545998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.57, Y:145.08, Z:6.75 [[-4.23543965e-01 -9.05867941e-01 3.71260894e-03 1.15568932e+02] [-9.05831913e-01 4.23560232e-01 8.07933925e-03 1.45075064e+02] [-8.89132792e-03 5.89557203e-05 -9.99960470e-01 6.74599130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.50, Y:144.98, Z:6.75 [[-3.52931227e-01 -9.35644488e-01 2.99007694e-03 1.15498155e+02] [-9.35609559e-01 3.52943889e-01 8.08490202e-03 1.44979236e+02] [-8.61992340e-03 5.58698208e-05 -9.99962846e-01 6.74600501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.43, Y:144.87, Z:6.75 [[-2.78723630e-01 -9.60368663e-01 2.27377113e-03 1.15433252e+02] [-9.60335519e-01 2.78732901e-01 7.97874692e-03 1.44872985e+02] [-8.29631333e-03 4.02821269e-05 -9.99965584e-01 6.74579723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.38, Y:144.77, Z:6.75 [[-2.03372866e-01 -9.79099967e-01 1.65276900e-03 1.15377640e+02] [-9.79066341e-01 2.03379579e-01 8.11458693e-03 1.44767290e+02] [-8.28113126e-03 3.21163051e-05 -9.99965710e-01 6.74571803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.33, Y:144.65, Z:6.75 [[-1.25462738e-01 -9.92097685e-01 1.13336097e-03 1.15329452e+02] [-9.92056110e-01 1.25467856e-01 9.08253993e-03 1.44652148e+02] [-9.15296721e-03 1.51626465e-05 -9.99958111e-01 6.74730403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.29, Y:144.54, Z:6.75 [[-4.81379808e-02 -9.98840603e-01 4.30979003e-04 1.15290817e+02] [-9.98799104e-01 4.81399094e-02 9.10484698e-03 1.44536148e+02] [-9.11503813e-03 7.82750676e-06 -9.99958457e-01 6.74603585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.26, Y:144.41, Z:6.74 [[ 2.91608540e-02 -9.99574704e-01 -2.34733785e-04 1.15263565e+02] [-9.99543163e-01 -2.91617985e-02 7.94074283e-03 1.44413486e+02] [-7.94421093e-03 3.06770841e-06 -9.99968444e-01 6.74473380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.25, Y:144.29, Z:6.74 [[ 1.04983931e-01 -9.94473625e-01 -7.63582402e-04 1.15245033e+02] [-9.94447954e-01 -1.04986707e-01 7.14548872e-03 1.44292239e+02] [-7.18616607e-03 9.18146356e-06 -9.99974179e-01 6.74376846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.24, Y:144.17, Z:6.74 [[ 1.80212273e-01 -9.83626846e-01 -1.32866173e-03 1.15235181e+02] [-9.83600739e-01 -1.80217170e-01 7.16644378e-03 1.44168489e+02] [-7.28855415e-03 1.53915367e-05 -9.99973438e-01 6.74330697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.24, Y:144.04, Z:6.74 [[ 2.54184236e-01 -9.67154076e-01 -1.83528378e-03 1.15235780e+02] [-9.67129509e-01 -2.54190861e-01 6.89337269e-03 1.44042282e+02] [-7.13346586e-03 2.27704295e-05 -9.99974556e-01 6.74292570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.25, Y:143.92, Z:6.74 [[ 3.25653063e-01 -9.45486117e-01 -2.46687452e-03 1.15248776e+02] [-9.45459922e-01 -3.25662404e-01 7.03811127e-03 1.43915995e+02] [-7.45780478e-03 4.03484955e-05 -9.99972189e-01 6.74254403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.26, Y:143.80, Z:6.74 [[ 3.96304278e-01 -9.18114139e-01 -3.05719689e-03 1.15263725e+02] [-9.18087779e-01 -3.96316067e-01 6.95744082e-03 1.43803729e+02] [-7.59934103e-03 4.95115446e-05 -9.99971123e-01 6.74235320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.29, Y:143.69, Z:6.74 [[ 4.63398016e-01 -8.86145395e-01 -2.93572549e-03 1.15292774e+02] [-8.86128373e-01 -4.63407311e-01 5.49277035e-03 1.43685227e+02] [-6.22782981e-03 5.60907672e-05 -9.99980605e-01 6.74174219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.830385723 meters Centerline goodness [0,1] 0.9999121612719047 Centerline is valid? [True, True] Translation: X:115.33, Y:143.57, Z:6.74 [[ 5.28842513e-01 -8.48713559e-01 -3.30011759e-03 1.15326456e+02] [-8.48697774e-01 -5.28852806e-01 5.17663429e-03 1.43572267e+02] [-6.13875616e-03 6.31781719e-05 -9.99981156e-01 6.74170001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.37, Y:143.47, Z:6.74 [[ 5.90591268e-01 -8.06963489e-01 -3.44692640e-03 1.15367440e+02] [-8.06950437e-01 -5.90601323e-01 4.59015448e-03 1.43466021e+02] [-5.73984636e-03 7.05936129e-05 -9.99983524e-01 6.74293267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.42, Y:143.36, Z:6.74 [[ 6.49968450e-01 -7.59951506e-01 -3.83696941e-03 1.15415334e+02] [-7.59938942e-01 -6.49979771e-01 4.37056895e-03 1.43361267e+02] [-5.81537295e-03 7.51305413e-05 -9.99983088e-01 6.74299312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.48, Y:143.25, Z:6.74 [[ 7.05712976e-01 -7.08483529e-01 -4.50379923e-03 1.15478960e+02] [-7.08469853e-01 -7.05727343e-01 4.40288575e-03 1.43254115e+02] [-6.29782630e-03 8.36323682e-05 -9.99980165e-01 6.74366704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.48, Y:143.25, Z:6.74 [[ 7.58652675e-01 -6.51478144e-01 -4.72729016e-03 1.15476399e+02] [-6.51466186e-01 -7.58667398e-01 3.94808415e-03 1.43249216e+02] [-6.15853147e-03 8.44450887e-05 -9.99981033e-01 6.74461939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.47, Y:143.24, Z:6.74 [[ 8.07708824e-01 -5.89563234e-01 -4.65277177e-03 1.15473375e+02] [-5.89553977e-01 -8.07722222e-01 3.30471240e-03 1.43241205e+02] [-5.70648408e-03 7.38147369e-05 -9.99983715e-01 6.74474493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.47, Y:143.23, Z:6.75 [[ 8.51623740e-01 -5.24130922e-01 -4.87663104e-03 1.15469669e+02] [-5.24122801e-01 -8.51637700e-01 2.91858071e-03 1.43231309e+02] [-5.68284124e-03 7.04209053e-05 -9.99983850e-01 6.74534526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.47, Y:143.22, Z:6.75 [[ 8.90404628e-01 -4.55140904e-01 -5.13382527e-03 1.15466754e+02] [-4.55133763e-01 -8.90419426e-01 2.55031948e-03 1.43222171e+02] [-5.73201246e-03 6.57609483e-05 -9.99983570e-01 6.74601237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.46, Y:143.21, Z:6.75 [[ 9.24023937e-01 -3.82300739e-01 -5.09001158e-03 1.15464238e+02] [-3.82295248e-01 -9.24037955e-01 2.04963285e-03 1.43212556e+02] [-5.48694005e-03 5.19774191e-05 -9.99984945e-01 6.74631667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.46, Y:143.20, Z:6.75 [[ 9.51784478e-01 -3.06730724e-01 -4.75089831e-03 1.15462701e+02] [-3.06727091e-01 -9.51796334e-01 1.49328303e-03 1.43202382e+02] [-4.97992338e-03 3.59456121e-05 -9.99987599e-01 6.74557562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.46, Y:143.19, Z:6.75 [[ 9.73200504e-01 -2.29913186e-01 -4.55033938e-03 1.15460749e+02] [-2.29910801e-01 -9.73211142e-01 1.04752122e-03 1.43191911e+02] [-4.66927992e-03 2.67239975e-05 -9.99989099e-01 6.74569691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.46, Y:143.18, Z:6.75 [[ 9.88709288e-01 -1.49768295e-01 -4.83753320e-03 1.15458025e+02] [-1.49766561e-01 -9.88721122e-01 7.20776357e-04 1.43180422e+02] [-4.89092070e-03 1.18624350e-05 -9.99988039e-01 6.74632570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.46, Y:143.17, Z:6.75 [[ 9.97524218e-01 -7.01676860e-02 -4.68293504e-03 1.15455183e+02] [-7.01669287e-02 -9.97535210e-01 3.26033714e-04 1.43169408e+02] [-4.69426962e-03 3.36064356e-06 -9.99988982e-01 6.74661379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.45, Y:143.16, Z:6.75 [[ 9.99942271e-01 9.71570245e-03 -4.58911724e-03 1.15453015e+02] [ 9.71561821e-03 -9.99952802e-01 -4.06495841e-05 1.43158994e+02] [-4.58929558e-03 -3.93887368e-06 -9.99989469e-01 6.74689075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.250385723 meters Centerline goodness [0,1] 0.9998676198040773 Centerline is valid? [True, True] Translation: X:115.45, Y:143.15, Z:6.75 [[ 9.95899565e-01 9.03724920e-02 -4.10724698e-03 1.15451637e+02] [ 9.03717796e-02 -9.95908034e-01 -3.59102906e-04 1.43148190e+02] [-4.12289329e-03 -1.35487910e-05 -9.99991501e-01 6.74760688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.45, Y:143.14, Z:6.75 [[ 9.85636733e-01 1.68826657e-01 -4.21775911e-03 1.15449945e+02] [ 1.68825187e-01 -9.85645758e-01 -7.04792526e-04 1.43136982e+02] [-4.27620414e-03 -1.73945677e-05 -9.99990857e-01 6.74813184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.45, Y:143.13, Z:6.75 [[ 9.69326598e-01 2.45733844e-01 -4.56328740e-03 1.15449930e+02] [ 2.45731221e-01 -9.69337339e-01 -1.13566810e-03 1.43128005e+02] [-4.70243695e-03 -2.05088939e-05 -9.99988943e-01 6.74841737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.45, Y:143.12, Z:6.75 [[ 9.47348174e-01 3.20173726e-01 -4.49698554e-03 1.15450728e+02] [ 3.20170205e-01 -9.47358847e-01 -1.50157335e-03 1.43118301e+02] [-4.74102337e-03 -1.72880146e-05 -9.99988761e-01 6.74895064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.370385723 meters Centerline goodness [0,1] 0.9999779380942926 Centerline is valid? [True, True] Translation: X:115.45, Y:143.11, Z:6.75 [[ 9.19884409e-01 3.92166583e-01 -4.24787481e-03 1.15450438e+02] [ 3.92162456e-01 -9.19894217e-01 -1.79916820e-03 1.43110362e+02] [-4.61316912e-03 -1.08302439e-05 -9.99989359e-01 6.74908687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.400385723 meters Centerline goodness [0,1] 0.9997569490476822 Centerline is valid? [True, True] Translation: X:115.45, Y:143.10, Z:6.75 [[ 8.86691768e-01 4.62341865e-01 -4.20824877e-03 1.15452056e+02] [ 4.62336701e-01 -8.86701754e-01 -2.18526849e-03 1.43101563e+02] [-4.74180268e-03 -7.96827289e-06 -9.99988758e-01 6.74902764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.430385723 meters Centerline goodness [0,1] 0.9999778063828842 Centerline is valid? [True, True] Translation: X:115.45, Y:143.09, Z:6.75 [[ 8.48345162e-01 5.29428109e-01 -4.04522814e-03 1.15452794e+02] [ 5.29422106e-01 -8.48354807e-01 -2.52101530e-03 1.43092758e+02] [-4.76648509e-03 -2.94207103e-06 -9.99988640e-01 6.74962720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.460385723 meters Centerline goodness [0,1] 0.9999335415697481 Centerline is valid? [True, True] Translation: X:115.46, Y:143.08, Z:6.75 [[ 8.04412083e-01 5.94059094e-01 -3.87224644e-03 1.15457049e+02] [ 5.94052222e-01 -8.04421403e-01 -2.85727349e-03 1.43082271e+02] [-4.81230722e-03 -1.89128675e-06 -9.99988421e-01 6.74981715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.490385723 meters Centerline goodness [0,1] 0.9999556383639429 Centerline is valid? [True, True] Translation: X:115.46, Y:143.07, Z:6.75 [[ 7.54908314e-01 6.55815571e-01 -4.40173947e-03 1.15462584e+02] [ 6.55804476e-01 -7.54921147e-01 -3.81471121e-03 1.43071224e+02] [-5.82471321e-03 -6.92324058e-06 -9.99983036e-01 6.75047124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.47, Y:143.06, Z:6.75 [[ 7.01306681e-01 7.12846143e-01 -4.39496886e-03 1.15467362e+02] [ 7.12832207e-01 -7.01320453e-01 -4.45724510e-03 1.43060155e+02] [-6.25961153e-03 -6.97958950e-06 -9.99980408e-01 6.75142130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.550385723 meters Centerline goodness [0,1] 0.9999558401413116 Centerline is valid? [True, True] Translation: X:115.47, Y:143.05, Z:6.75 [[ 6.43695722e-01 7.65269561e-01 -4.27987304e-03 1.15474685e+02] [ 7.65252688e-01 -6.43709950e-01 -5.08170707e-03 1.43050369e+02] [-6.64387259e-03 -4.11124677e-06 -9.99977929e-01 6.75201820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.580385723 meters Centerline goodness [0,1] 0.9999556314750316 Centerline is valid? [True, True] Translation: X:115.48, Y:143.04, Z:6.75 [[ 5.82489465e-01 8.12828203e-01 -4.04186265e-03 1.15481745e+02] [ 8.12808617e-01 -5.82503488e-01 -5.64260472e-03 1.43041922e+02] [-6.94086734e-03 1.49700938e-06 -9.99975912e-01 6.75213691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.49, Y:143.03, Z:6.75 [[ 5.18150481e-01 8.55281528e-01 -3.68609967e-03 1.15487692e+02] [ 8.55259741e-01 -5.18163592e-01 -6.10476423e-03 1.43033906e+02] [-7.13129472e-03 1.06138789e-05 -9.99974572e-01 6.75210116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.49, Y:143.03, Z:6.75 [[ 4.52428584e-01 8.91795501e-01 -3.02668121e-03 1.15491594e+02] [ 8.91775075e-01 -4.52438707e-01 -6.03594011e-03 1.43028461e+02] [-6.75221197e-03 3.17129786e-05 -9.99977203e-01 6.75146421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.49, Y:143.02, Z:6.75 [[ 3.84886508e-01 9.22959940e-01 -2.70637683e-03 1.15494719e+02] [ 9.22935976e-01 -3.84896018e-01 -6.65130135e-03 1.43021652e+02] [-7.18055836e-03 6.21836156e-05 -9.99974218e-01 6.75187530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.700385723 meters Centerline goodness [0,1] 0.9999334973731462 Centerline is valid? [True, True] Translation: X:115.51, Y:143.01, Z:6.75 [[ 3.13088573e-01 9.49720988e-01 -2.36444810e-03 1.15507080e+02] [ 9.49691911e-01 -3.13097490e-01 -7.43211213e-03 1.43013499e+02] [-7.79873564e-03 8.14121455e-05 -9.99969586e-01 6.75143862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.52, Y:143.01, Z:6.75 [[ 2.39346442e-01 9.70932302e-01 -1.93528227e-03 1.15516852e+02] [ 9.70897005e-01 -2.39354244e-01 -8.27960426e-03 1.43005757e+02] [-8.50215325e-03 1.02734062e-04 -9.99963851e-01 6.75355446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.52, Y:143.00, Z:6.76 [[ 1.65482537e-01 9.86211641e-01 -1.45883762e-03 1.15521294e+02] [ 9.86165178e-01 -1.65488903e-01 -9.57421252e-03 1.42999421e+02] [-9.68362128e-03 1.45710123e-04 -9.99953102e-01 6.75536643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.54, Y:142.99, Z:6.75 [[ 8.89996712e-02 9.96031411e-01 -6.98442513e-04 1.15537289e+02] [ 9.95985417e-01 -8.90022744e-02 -9.57311876e-03 1.42993971e+02] [-9.59728995e-03 1.56365863e-04 -9.99953933e-01 6.75365425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.55, Y:142.99, Z:6.75 [[ 1.17652549e-02 9.99930786e-01 4.99540887e-05 1.15549883e+02] [ 9.99890782e-01 -1.17643373e-02 -8.94567041e-03 1.42989321e+02] [-8.94446357e-03 1.55196725e-04 -9.99959985e-01 6.75283202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.56, Y:142.98, Z:6.75 [[-6.71692346e-02 9.97741354e-01 6.95754235e-04 1.15563150e+02] [ 9.97707142e-01 6.71726939e-02 -8.26370617e-03 1.42984949e+02] [-8.29177707e-03 1.39092150e-04 -9.99965613e-01 6.75210224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.880385723 meters Centerline goodness [0,1] 0.9999559897896312 Centerline is valid? [True, True] Translation: X:115.58, Y:142.98, Z:6.75 [[-1.45922145e-01 9.89295282e-01 1.25392659e-03 1.15575018e+02] [ 9.89265697e-01 1.45927480e-01 -7.65192270e-03 1.42982696e+02] [-7.75299337e-03 1.23881587e-04 -9.99969937e-01 6.75218413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.910385723 meters Centerline goodness [0,1] 0.9999779405276625 Centerline is valid? [True, True] Translation: X:115.59, Y:142.98, Z:6.75 [[-2.23991879e-01 9.74589365e-01 1.79133302e-03 1.15586842e+02] [ 9.74562084e-01 2.23999014e-01 -7.29289537e-03 1.42981868e+02] [-7.50883509e-03 1.12215901e-04 -9.99971802e-01 6.75191703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.60, Y:142.98, Z:6.75 [[-3.02358171e-01 9.53192127e-01 2.07507701e-03 1.15599741e+02] [ 9.53171460e-01 3.02365281e-01 -6.27726275e-03 1.42982134e+02] [-6.61086868e-03 7.99225045e-05 -9.99978145e-01 6.75097533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.970385723 meters Centerline goodness [0,1] 0.9999780176298608 Centerline is valid? [True, True] Translation: X:115.61, Y:142.98, Z:6.75 [[-3.77462143e-01 9.26021976e-01 2.37292727e-03 1.15613943e+02] [ 9.26004743e-01 3.77469596e-01 -5.64970921e-03 1.42984371e+02] [-6.12746278e-03 6.47905619e-05 -9.99981225e-01 6.75017148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.000385723 meters Centerline goodness [0,1] 0.9999780176298608 Centerline is valid? [True, True] Translation: X:115.63, Y:142.99, Z:6.75 [[-4.48803977e-01 8.93625820e-01 2.80799064e-03 1.15626208e+02] [ 8.93609224e-01 4.48812756e-01 -5.44660372e-03 1.42986321e+02] [-6.12748774e-03 6.47889284e-05 -9.99981225e-01 6.75017170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.64, Y:142.99, Z:6.75 [[-5.20584105e-01 8.53806495e-01 2.58031915e-03 1.15640769e+02] [ 8.53796330e-01 5.20590499e-01 -4.16653490e-03 1.42991032e+02] [-4.90070419e-03 3.40351771e-05 -9.99987991e-01 6.74909357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.65, Y:143.00, Z:6.75 [[-5.87322297e-01 8.09347910e-01 2.91193171e-03 1.15652422e+02] [ 8.09338175e-01 5.87329515e-01 -3.96971027e-03 1.42995963e+02] [-4.92314015e-03 2.52381429e-05 -9.99987881e-01 6.74930847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0903857229999 meters Centerline goodness [0,1] 0.9999562803305208 Centerline is valid? [True, True] Translation: X:115.67, Y:143.00, Z:6.75 [[-6.51050685e-01 7.59026378e-01 3.45874757e-03 1.15665849e+02] [ 7.59015767e-01 6.51059872e-01 -4.01364638e-03 1.43003711e+02] [-5.29831523e-03 1.21567130e-05 -9.99985964e-01 6.75016839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.120385723 meters Centerline goodness [0,1] 0.9999564118211142 Centerline is valid? [True, True] Translation: X:115.68, Y:143.01, Z:6.75 [[-7.08799068e-01 7.05402462e-01 3.35372063e-03 1.15676998e+02] [ 7.05394626e-01 7.08807002e-01 -3.32493376e-03 1.43011384e+02] [-4.72255713e-03 8.98655832e-06 -9.99988849e-01 6.75050101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.70, Y:143.03, Z:6.75 [[-7.56848329e-01 6.53580878e-01 3.55573920e-03 1.15699512e+02] [ 6.53573723e-01 7.56856682e-01 -3.05811802e-03 1.43031822e+02] [-4.68991243e-03 9.40619590e-06 -9.99989002e-01 6.75096430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.180385723 meters Centerline goodness [0,1] 0.999956531188872 Centerline is valid? [True, True] Translation: X:115.72, Y:143.06, Z:6.75 [[-8.00347501e-01 5.99518184e-01 4.67165438e-03 1.15715926e+02] [ 5.99508115e-01 8.00361135e-01 -3.47464180e-03 1.43056006e+02] [-5.82212155e-03 1.97738301e-05 -9.99983051e-01 6.75164509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.73, Y:143.08, Z:6.75 [[-8.39903762e-01 5.42704376e-01 5.79922622e-03 1.15734240e+02] [ 5.42691721e-01 8.39923782e-01 -3.70629457e-03 1.43078025e+02] [-6.88233030e-03 3.42613099e-05 -9.99976316e-01 6.75266605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.240385723 meters Centerline goodness [0,1] 0.9999782040104621 Centerline is valid? [True, True] Translation: X:115.75, Y:143.10, Z:6.75 [[-8.74209823e-01 4.85499491e-01 6.88692285e-03 1.15752679e+02] [ 4.85485067e-01 8.74236947e-01 -3.74317049e-03 1.43098916e+02] [-7.83810977e-03 7.11817909e-05 -9.99969279e-01 6.75372021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.76, Y:143.12, Z:6.75 [[-9.05379249e-01 4.24546682e-01 6.96634752e-03 1.15764463e+02] [ 4.24534860e-01 9.05406046e-01 -3.16935337e-03 1.43124380e+02] [-7.65291162e-03 8.79905969e-05 -9.99970712e-01 6.75391310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.78, Y:143.15, Z:6.75 [[-9.31292180e-01 3.64207426e-01 6.91570442e-03 1.15780749e+02] [ 3.64198366e-01 9.31317849e-01 -2.57189482e-03 1.43150163e+02] [-7.37742216e-03 1.23502716e-04 -9.99972779e-01 6.75407376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.79, Y:143.18, Z:6.75 [[-9.54055714e-01 2.99553152e-01 6.75313564e-03 1.15791027e+02] [ 2.99546645e-01 9.54079604e-01 -1.97893972e-03 1.43178216e+02] [-7.03582661e-03 1.34860377e-04 -9.99975239e-01 6.75432174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.99, Y:143.85, Z:5.72 [[-9.45940251e-01 -3.24286354e-01 5.94996577e-03 1.15991018e+02] [ 3.24278850e-01 -9.45958949e-01 -2.21209432e-03 1.43852777e+02] [ 6.34577537e-03 -1.63060996e-04 9.99979852e-01 5.72262373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.74, Y:143.19, Z:6.75 [[-9.54105560e-01 2.99421670e-01 5.40772004e-03 1.15741292e+02] [ 2.99417624e-01 9.54120877e-01 -1.56191753e-03 1.43192192e+02] [-5.62729054e-03 1.28932486e-04 -9.99984158e-01 6.75335091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.75, Y:143.22, Z:6.75 [[-9.72996474e-01 2.30797834e-01 3.19727997e-03 1.15751745e+02] [ 2.30796839e-01 9.73001724e-01 -6.81696365e-04 1.43222310e+02] [-3.26829297e-03 7.46339523e-05 -9.99994656e-01 6.75145828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.75, Y:143.26, Z:6.75 [[-9.87097081e-01 1.60098128e-01 2.81819081e-03 1.15751264e+02] [ 1.60097654e-01 9.87101102e-01 -3.94309743e-04 1.43255525e+02] [-2.84496750e-03 6.19637408e-05 -9.99995951e-01 6.75097047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.75, Y:143.29, Z:6.75 [[-9.96260672e-01 8.63706230e-02 2.18851060e-03 1.15750120e+02] [ 8.63705045e-02 9.96263075e-01 -1.48776778e-04 1.43291661e+02] [-2.19318224e-03 4.08023112e-05 -9.99997594e-01 6.75136548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.75, Y:143.32, Z:6.75 [[-9.99908611e-01 1.34544822e-02 1.32149824e-03 1.15745782e+02] [ 1.34545000e-02 9.99909484e-01 4.57583669e-06 1.43324250e+02] [-1.32131706e-03 2.23555166e-05 -9.99999127e-01 6.75129607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.73, Y:143.36, Z:6.75 [[-9.98089845e-01 -6.17659533e-02 1.27626947e-03 1.15729579e+02] [-6.17658816e-02 9.98090661e-01 9.55745592e-05 1.43358442e+02] [-1.27973590e-03 1.65620878e-05 -9.99999181e-01 6.75140086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.72, Y:143.39, Z:6.75 [[-9.90841696e-01 -1.35013146e-01 2.04556311e-03 1.15719284e+02] [-1.35012812e-01 9.90843807e-01 3.00677642e-04 1.43389680e+02] [-2.06742897e-03 2.17467169e-05 -9.99997863e-01 6.75166311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.62, Y:144.03, Z:5.72 [[-9.96418577e-01 8.45011463e-02 3.09451090e-03 1.15619385e+02] [-8.45006109e-02 -9.96423381e-01 3.03592158e-04 1.44030587e+02] [ 3.10909690e-03 4.10168043e-05 9.99995166e-01 5.72418048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.61, Y:143.38, Z:6.75 [[-9.89198580e-01 -1.46537085e-01 3.61282918e-03 1.15609435e+02] [-1.46536040e-01 9.89205177e-01 5.53549373e-04 1.43383185e+02] [-3.65494484e-03 1.81605710e-05 -9.99993321e-01 6.75339424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.58, Y:143.41, Z:6.75 [[-9.75759647e-01 -2.18796975e-01 4.58208600e-03 1.15583714e+02] [-2.18794494e-01 9.75770405e-01 1.04197357e-03 1.43413217e+02] [-4.69904457e-03 1.41805700e-05 -9.99988959e-01 6.75422575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.55, Y:143.44, Z:6.75 [[-9.57354094e-01 -2.88875879e-01 4.88525553e-03 1.15551207e+02] [-2.88872047e-01 9.57366558e-01 1.48797232e-03 1.43437060e+02] [-5.10681958e-03 1.33026211e-05 -9.99986960e-01 6.75443188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.50, Y:143.45, Z:6.75 [[-9.33889610e-01 -3.57524232e-01 5.15948873e-03 1.15499372e+02] [-3.57518692e-01 9.33903862e-01 1.99041047e-03 1.43454878e+02] [-5.53008642e-03 1.42100013e-05 -9.99984709e-01 6.75407466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.43, Y:143.46, Z:6.75 [[-9.05159878e-01 -4.25044228e-01 4.79569434e-03 1.15433865e+02] [-4.25038175e-01 9.05172583e-01 2.26843320e-03 1.43460540e+02] [-5.30511547e-03 1.49415459e-05 -9.99985928e-01 6.75418469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.36, Y:143.46, Z:6.75 [[-8.72289863e-01 -4.88966508e-01 4.70626985e-03 1.15361051e+02] [-4.88959228e-01 8.72302558e-01 2.66847406e-03 1.43458618e+02] [-5.41008567e-03 2.65087982e-05 -9.99985365e-01 6.75380649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.28, Y:143.44, Z:6.75 [[-8.34598698e-01 -5.50838087e-01 4.73455225e-03 1.15281237e+02] [-5.50828961e-01 8.34612126e-01 3.17096651e-03 1.43444562e+02] [-5.69820384e-03 3.85560263e-05 -9.99983764e-01 6.75391688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.20, Y:143.42, Z:6.75 [[-7.92471143e-01 -6.09896036e-01 4.03884255e-03 1.15197933e+02] [-6.09887821e-01 7.92481434e-01 3.16587505e-03 1.43420759e+02] [-5.13156238e-03 4.56237352e-05 -9.99986832e-01 6.75376407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.11, Y:143.39, Z:6.75 [[-7.47215709e-01 -6.64575632e-01 2.81321203e-03 1.15111288e+02] [-6.64570673e-01 7.47221003e-01 2.56773182e-03 1.43386331e+02] [-3.80854311e-03 4.90713355e-05 -9.99992746e-01 6.75193760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.02, Y:143.34, Z:6.75 [[-6.97054381e-01 -7.17014979e-01 2.17023604e-03 1.15023980e+02] [-7.17011282e-01 6.97057757e-01 2.30322843e-03 1.43342920e+02] [-3.16422915e-03 4.93917381e-05 -9.99994993e-01 6.75130254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.93, Y:143.29, Z:6.75 [[-6.41635590e-01 -7.67007319e-01 1.88226769e-03 1.14934929e+02] [-7.67003792e-01 6.41638349e-01 2.32667280e-03 1.43288697e+02] [-2.99231020e-03 4.91696207e-05 -9.99995522e-01 6.75163351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.85, Y:143.23, Z:6.75 [[-5.81483439e-01 -8.13555323e-01 2.17874129e-03 1.14846843e+02] [-8.13549215e-01 5.81487518e-01 3.15303386e-03 1.43226220e+02] [-3.83207834e-03 6.09237101e-05 -9.99992656e-01 6.75217003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.76, Y:143.15, Z:6.75 [[-5.17908136e-01 -8.55433594e-01 2.12821879e-03 1.14764778e+02] [-8.55425844e-01 5.17912504e-01 3.64182789e-03 1.43153253e+02] [-4.21757304e-03 6.55989396e-05 -9.99991104e-01 6.75245110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.68, Y:143.07, Z:6.75 [[-4.50643061e-01 -8.92701897e-01 2.03838214e-03 1.14684372e+02] [-8.92692072e-01 4.50647666e-01 4.18865291e-03 1.43069942e+02] [-4.65781055e-03 6.79397903e-05 -9.99989150e-01 6.75232134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.61, Y:142.98, Z:6.75 [[-3.79803407e-01 -9.25064241e-01 2.34994757e-03 1.14610238e+02] [-9.25045194e-01 3.79810669e-01 5.93681807e-03 1.42982767e+02] [-6.38447326e-03 8.10160248e-05 -9.99979616e-01 6.75363383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.54, Y:142.89, Z:6.75 [[-3.07371410e-01 -9.51586487e-01 2.44424121e-03 1.14542691e+02] [-9.51553880e-01 3.07381113e-01 7.87808469e-03 1.42886290e+02] [-8.24799251e-03 9.56707891e-05 -9.99965980e-01 6.75473101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.48, Y:142.78, Z:6.75 [[-2.34099004e-01 -9.72210820e-01 1.94357963e-03 1.14484438e+02] [-9.72173619e-01 2.34107050e-01 8.50554942e-03 1.42784726e+02] [-8.72419287e-03 1.01643806e-04 -9.99961938e-01 6.75477948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.43, Y:142.68, Z:6.75 [[-1.60043895e-01 -9.87108879e-01 1.41899248e-03 1.14433853e+02] [-9.87063241e-01 1.60050141e-01 9.49270303e-03 1.42676983e+02] [-9.59744139e-03 1.18613851e-04 -9.99953937e-01 6.75479308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.39, Y:142.56, Z:6.75 [[-8.51543942e-02 -9.96367512e-01 7.14275313e-04 1.14391817e+02] [-9.96318397e-01 8.51572893e-02 9.89383785e-03 1.42563943e+02] [-9.91872435e-03 1.30858134e-04 -9.99950800e-01 6.75476116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.36, Y:142.45, Z:6.75 [[-1.06395650e-02 -9.99943397e-01 -4.06677630e-05 1.14358605e+02] [-9.99899390e-01 1.06387152e-02 9.38234961e-03 1.42451278e+02] [-9.38138589e-03 1.40487790e-04 -9.99955984e-01 6.75338222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.34, Y:142.33, Z:6.75 [[ 6.47127576e-02 -9.97903665e-01 -7.31410122e-04 1.14335533e+02] [-9.97862684e-01 -6.47167295e-02 9.04487770e-03 1.42332343e+02] [-9.07325107e-03 1.44527889e-04 -9.99958827e-01 6.75343615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.32, Y:142.21, Z:6.75 [[ 1.39900165e-01 -9.90164664e-01 -1.37193757e-03 1.14320205e+02] [-9.90126786e-01 -1.39906815e-01 8.66206370e-03 1.42214519e+02] [-8.76881281e-03 1.46567996e-04 -9.99961543e-01 6.75267002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.32, Y:142.09, Z:6.75 [[ 2.15122743e-01 -9.76585034e-01 -1.96882957e-03 1.14316585e+02] [-9.76549949e-01 -2.15131706e-01 8.27931335e-03 1.42092071e+02] [-8.50901118e-03 1.41591809e-04 -9.99963788e-01 6.75309038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.32, Y:141.97, Z:6.75 [[ 2.89603961e-01 -9.57142875e-01 -2.65753460e-03 1.14320210e+02] [-9.57106885e-01 -2.89616120e-01 8.30145196e-03 1.41974078e+02] [-8.71534046e-03 1.39411295e-04 -9.99962011e-01 6.75348334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.33, Y:141.85, Z:6.75 [[ 3.63535195e-01 -9.31574702e-01 -3.27661046e-03 1.14330045e+02] [-9.31539830e-01 -3.63549941e-01 8.06143803e-03 1.41851613e+02] [-8.70104327e-03 1.21676702e-04 -9.99962138e-01 6.75329010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.35, Y:141.74, Z:6.75 [[ 4.34283298e-01 -9.00768732e-01 -3.70259116e-03 1.14349197e+02] [-9.00738073e-01 -4.34299068e-01 7.43261859e-03 1.41736308e+02] [-8.30310231e-03 1.07202710e-04 -9.99965523e-01 6.75297771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.38, Y:141.62, Z:6.75 [[ 5.04077965e-01 -8.63645682e-01 -4.64125986e-03 1.14377080e+02] [-8.63610700e-01 -5.04099323e-01 7.77372004e-03 1.41624837e+02] [-9.05339570e-03 8.96807013e-05 -9.99959013e-01 6.75309374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.41, Y:141.52, Z:6.75 [[ 5.69312601e-01 -8.22101184e-01 -5.72762326e-03 1.14413161e+02] [-8.22061063e-01 -5.69341405e-01 8.12240407e-03 1.41515243e+02] [-9.93841108e-03 8.42690840e-05 -9.99950609e-01 6.75333070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.45, Y:141.41, Z:6.75 [[ 6.30620459e-01 -7.76061737e-01 -6.78361352e-03 1.14454592e+02] [-7.76018218e-01 -6.30656938e-01 8.21901075e-03 1.41413621e+02] [-1.06565927e-02 8.11313418e-05 -9.99943214e-01 6.75459436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.50, Y:141.32, Z:6.75 [[ 6.88010120e-01 -7.25657659e-01 -7.93955394e-03 1.14503179e+02] [-7.25610665e-01 -6.88055925e-01 8.25879917e-03 1.41316593e+02] [-1.14559180e-02 7.88876094e-05 -9.99934376e-01 6.75408474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.56, Y:141.23, Z:6.75 [[ 7.40597303e-01 -6.71889116e-01 -8.98058180e-03 1.14556335e+02] [-6.71841134e-01 -7.40651746e-01 8.03012259e-03 1.41227167e+02] [-1.20468356e-02 8.64371221e-05 -9.99927431e-01 6.75439482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.56, Y:141.22, Z:6.76 [[ 7.90043820e-01 -6.12960732e-01 -1.04834828e-02 1.14557834e+02] [-6.12908652e-01 -7.90113365e-01 7.99095877e-03 1.41219006e+02] [-1.31812838e-02 1.12209690e-04 -9.99913117e-01 6.75534841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5903857229999 meters Centerline goodness [0,1] 0.9999360518406412 Centerline is valid? [True, True] Translation: X:114.56, Y:141.21, Z:6.76 [[ 8.35007792e-01 -5.50110212e-01 -1.18634680e-02 1.14560365e+02] [-5.50056972e-01 -8.35092053e-01 7.65445704e-03 1.41209817e+02] [-1.41178828e-02 1.34052015e-04 -9.99900329e-01 6.75743084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.56, Y:141.20, Z:6.76 [[ 8.74229911e-01 -4.85347123e-01 -1.26582899e-02 1.14564294e+02] [-4.85299097e-01 -8.74321532e-01 6.82976481e-03 1.41204717e+02] [-1.43822221e-02 1.72271960e-04 -9.99896556e-01 6.75720224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.57, Y:141.19, Z:6.76 [[ 9.09074810e-01 -4.16433714e-01 -1.28822150e-02 1.14567400e+02] [-4.16394743e-01 -9.09166062e-01 5.69999472e-03 1.41194031e+02] [-1.40857427e-02 1.82364987e-04 -9.99900774e-01 6.75558371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.57, Y:141.19, Z:6.76 [[ 9.38450264e-01 -3.45193700e-01 -1.23454773e-02 1.14571305e+02] [-3.45166420e-01 -9.38531446e-01 4.34362037e-03 1.41188061e+02] [-1.30860091e-02 1.84972525e-04 -9.99914357e-01 6.75580571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.58, Y:141.18, Z:6.76 [[ 9.62449160e-01 -2.71182797e-01 -1.23087664e-02 1.14576900e+02] [-2.71163080e-01 -9.62527847e-01 3.27530853e-03 1.41182135e+02] [-1.27357378e-02 1.85365086e-04 -9.99918880e-01 6.75532380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.58, Y:141.17, Z:6.75 [[ 9.80796457e-01 -1.94680806e-01 -1.17343272e-02 1.14581798e+02] [-1.94668928e-01 -9.80866635e-01 2.15715474e-03 1.41171650e+02] [-1.19297666e-02 1.68579165e-04 -9.99928824e-01 6.75244561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.58, Y:141.16, Z:6.75 [[ 9.93117657e-01 -1.16598334e-01 -1.10520494e-02 1.14582495e+02] [-1.16592786e-01 -9.93179141e-01 1.14713100e-03 1.41161893e+02] [-1.11104185e-02 1.49353183e-04 -9.99938266e-01 6.75123979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.58, Y:141.15, Z:6.75 [[ 9.99312596e-01 -3.57485210e-02 -9.81730381e-03 1.14583775e+02] [-3.57478277e-02 -9.99360812e-01 2.46144884e-04 1.41152553e+02] [-9.81982802e-03 1.04971601e-04 -9.99951779e-01 6.75051978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.59, Y:141.14, Z:6.75 [[ 9.98963700e-01 4.44458033e-02 -9.80291137e-03 1.14586625e+02] [ 4.44428100e-02 -9.99011793e-01 -5.23088436e-04 1.41142314e+02] [-9.81647315e-03 8.68774320e-05 -9.99951814e-01 6.75062582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.860385723 meters Centerline goodness [0,1] 0.9999784932361228 Centerline is valid? [True, True] Translation: X:114.59, Y:141.13, Z:6.75 [[ 9.91824686e-01 1.27158049e-01 -1.07062369e-02 1.14590453e+02] [ 1.27150148e-01 -9.91882467e-01 -1.41827135e-03 1.41132205e+02] [-1.07996733e-02 4.53769357e-05 -9.99941681e-01 6.75077631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.59, Y:141.12, Z:6.75 [[ 9.78342225e-01 2.06715817e-01 -1.07266877e-02 1.14594340e+02] [ 2.06703164e-01 -9.78401027e-01 -2.28724427e-03 1.41122970e+02] [-1.09678118e-02 2.04673611e-05 -9.99939852e-01 6.75104566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.60, Y:141.11, Z:6.75 [[ 9.59157282e-01 2.82677820e-01 -1.05147169e-02 1.14598733e+02] [ 2.82660602e-01 -9.59214913e-01 -3.11999140e-03 1.41113190e+02] [-1.09678257e-02 2.04662488e-05 -9.99939851e-01 6.75104579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.60, Y:141.10, Z:6.75 [[ 9.33186603e-01 3.59239021e-01 -1.04923193e-02 1.14604175e+02] [ 3.59216405e-01 -9.33245587e-01 -4.03099838e-03 1.41104779e+02] [-1.12400026e-02 -7.33954953e-06 -9.99936829e-01 6.75105650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.980385723 meters Centerline goodness [0,1] 0.9999784640565104 Centerline is valid? [True, True] Translation: X:114.61, Y:141.10, Z:6.75 [[ 9.00500146e-01 4.34736490e-01 -1.01819394e-02 1.14610446e+02] [ 4.34709353e-01 -9.00557706e-01 -4.85764717e-03 1.41096143e+02] [-1.12812205e-02 -5.18723041e-05 -9.99936364e-01 6.75082946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.62, Y:141.09, Z:6.75 [[ 8.63101065e-01 5.04938012e-01 -9.70342495e-03 1.14616547e+02] [ 5.04906949e-01 -8.63155606e-01 -5.60117958e-03 1.41087198e+02] [-1.12038141e-02 -6.49426300e-05 -9.99937233e-01 6.75196315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.040385723 meters Centerline goodness [0,1] 0.999956741791755 Centerline is valid? [True, True] Translation: X:114.62, Y:141.08, Z:6.75 [[ 8.20164316e-01 5.72053511e-01 -9.23452033e-03 1.14620002e+02] [ 5.72018346e-01 -8.20216297e-01 -6.34324307e-03 1.41084681e+02] [-1.12029785e-02 -7.98134356e-05 -9.99937242e-01 6.75154046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.070385723 meters Centerline goodness [0,1] 0.9999353531870879 Centerline is valid? [True, True] Translation: X:114.63, Y:141.08, Z:6.75 [[ 7.72906074e-01 6.34457645e-01 -8.92731783e-03 1.14625459e+02] [ 6.34416543e-01 -7.72957625e-01 -7.22220535e-03 1.41080978e+02] [-1.14826218e-02 -8.15517311e-05 -9.99934069e-01 6.75063753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.100385723 meters Centerline goodness [0,1] 0.9999565849740595 Centerline is valid? [True, True] Translation: X:114.63, Y:141.08, Z:6.75 [[ 7.21195741e-01 6.92683523e-01 -8.13882464e-03 1.14628681e+02] [ 6.92640584e-01 -7.21241659e-01 -7.71298284e-03 1.41078375e+02] [-1.12127155e-02 -7.47098844e-05 -9.99937133e-01 6.74858335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.130385723 meters Centerline goodness [0,1] 0.999978269845064 Centerline is valid? [True, True] Translation: X:114.63, Y:141.07, Z:6.75 [[ 6.65274818e-01 7.46562573e-01 -7.33077253e-03 1.14633743e+02] [ 7.46518332e-01 -6.65315203e-01 -8.12775144e-03 1.41072614e+02] [-1.09451495e-02 -6.53677200e-05 -9.99940098e-01 6.74825846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.160385723 meters Centerline goodness [0,1] 0.9999782953139583 Centerline is valid? [True, True] Translation: X:114.64, Y:141.07, Z:6.75 [[ 6.05642854e-01 7.95706619e-01 -6.90730162e-03 1.14639063e+02] [ 7.95655919e-01 -6.05682238e-01 -8.98250001e-03 1.41068349e+02] [-1.13310646e-02 -5.56484747e-05 -9.99935800e-01 6.74757364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.190385723 meters Centerline goodness [0,1] 0.9999563871080291 Centerline is valid? [True, True] Translation: X:114.64, Y:141.07, Z:6.75 [[ 5.43018791e-01 8.39696229e-01 -6.39020557e-03 1.14642353e+02] [ 8.39638866e-01 -5.43056389e-01 -9.81499038e-03 1.41065132e+02] [-1.17118524e-02 -3.57407454e-05 -9.99931413e-01 6.74895333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.65, Y:141.06, Z:6.75 [[ 4.76686441e-01 8.79056266e-01 -5.48810841e-03 1.14649070e+02] [ 8.78998518e-01 -4.76718032e-01 -1.00759412e-02 1.41060305e+02] [-1.14735995e-02 -2.09745991e-05 -9.99934176e-01 6.74769857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.65, Y:141.06, Z:6.75 [[ 4.08347153e-01 9.12815388e-01 -4.54650340e-03 1.14652797e+02] [ 9.12758736e-01 -4.08372462e-01 -1.01696953e-02 1.41056176e+02] [-1.11397211e-02 2.90541179e-06 -9.99937951e-01 6.74812277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.66, Y:141.05, Z:6.75 [[ 3.36891491e-01 9.41536364e-01 -3.66054738e-03 1.14659129e+02] [ 9.41480220e-01 -3.36911377e-01 -1.02820451e-02 1.41052158e+02] [-1.09141994e-02 1.76005468e-05 -9.99940438e-01 6.74681786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.66, Y:141.05, Z:6.75 [[ 2.64327197e-01 9.64428440e-01 -2.98617786e-03 1.14661996e+02] [ 9.64364963e-01 -2.64344061e-01 -1.10650332e-02 1.41047751e+02] [-1.14608111e-02 4.50239124e-05 -9.99934322e-01 6.74753329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.67, Y:141.04, Z:6.75 [[ 1.88525936e-01 9.82065417e-01 -2.34268845e-03 1.14665443e+02] [ 9.81985807e-01 -1.88540483e-01 -1.25044316e-02 1.41044343e+02] [-1.27218614e-02 5.69228631e-05 -9.99919072e-01 6.74791240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.370385723 meters Centerline goodness [0,1] 0.9999561759098977 Centerline is valid? [True, True] Translation: X:114.67, Y:141.04, Z:6.75 [[ 1.11219681e-01 9.93794848e-01 -1.40784632e-03 1.14674234e+02] [ 9.93708047e-01 -1.11228574e-01 -1.31347542e-02 1.41040239e+02] [-1.32098438e-02 6.18549574e-05 -9.99912744e-01 6.74700012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.68, Y:141.04, Z:6.75 [[ 3.24108914e-02 9.99474554e-01 -3.88314974e-04 1.14682164e+02] [ 9.99380939e-01 -3.24131704e-02 -1.36793752e-02 1.41037038e+02] [-1.36847740e-02 5.52861620e-05 -9.99906358e-01 6.74647070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.69, Y:141.03, Z:6.75 [[-4.70317502e-02 9.98893135e-01 7.20718903e-04 1.14688912e+02] [ 9.98789369e-01 4.70372527e-02 -1.43976676e-02 1.41033382e+02] [-1.44156319e-02 4.26988743e-05 -9.99896089e-01 6.74817850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.69, Y:141.03, Z:6.75 [[-1.25645986e-01 9.92073273e-01 1.92555118e-03 1.14693216e+02] [ 9.91961178e-01 1.25660735e-01 -1.49131471e-02 1.41029817e+02] [-1.50369009e-02 3.62949403e-05 -9.99886939e-01 6.74798915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.490385723 meters Centerline goodness [0,1] 0.9999780562199645 Centerline is valid? [True, True] Translation: X:114.70, Y:141.03, Z:6.75 [[-2.03408302e-01 9.79089158e-01 3.07969653e-03 1.14701817e+02] [ 9.78979149e-01 2.03431612e-01 -1.46766674e-02 1.41028328e+02] [-1.49962736e-02 2.96026942e-05 -9.99887549e-01 6.74661281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.71, Y:141.03, Z:6.75 [[-2.79630937e-01 9.60098161e-01 4.24973981e-03 1.14710026e+02] [ 9.59988763e-01 2.79663227e-01 -1.44932807e-02 1.41026201e+02] [-1.51034681e-02 2.69327821e-05 -9.99885936e-01 6.74646248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.72, Y:141.02, Z:6.75 [[-3.54202270e-01 9.35153464e-01 5.36198743e-03 1.14716600e+02] [ 9.35047331e-01 3.54242853e-01 -1.40886724e-02 1.41024332e+02] [-1.50745165e-02 2.34722956e-05 -9.99886373e-01 6.74607995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.580385723 meters Centerline goodness [0,1] 0.9999778697412973 Centerline is valid? [True, True] Translation: X:114.72, Y:141.02, Z:6.75 [[-4.26392197e-01 9.04516192e-01 6.33666211e-03 1.14723156e+02] [ 9.04417107e-01 4.26439279e-01 -1.33879620e-02 1.41021956e+02] [-1.48118300e-02 2.24630896e-05 -9.99890299e-01 6.74733928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.610385723 meters Centerline goodness [0,1] 0.999977909339931 Centerline is valid? [True, True] Translation: X:114.73, Y:141.02, Z:6.75 [[-4.95687817e-01 8.68469770e-01 7.33805286e-03 1.14726363e+02] [ 8.68375415e-01 4.95742129e-01 -1.28015802e-02 1.41016958e+02] [-1.47555673e-02 2.65973769e-05 -9.99891130e-01 6.74812561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.73, Y:141.02, Z:6.75 [[-5.61726270e-01 8.27281966e-01 8.25507232e-03 1.14732432e+02] [ 8.27193551e-01 5.61786923e-01 -1.20947006e-02 1.41015411e+02] [-1.46433194e-02 3.46315203e-05 -9.99892780e-01 6.74589866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.670385723 meters Centerline goodness [0,1] 0.9999779122675266 Centerline is valid? [True, True] Translation: X:114.74, Y:141.02, Z:6.74 [[-6.24500749e-01 7.80974117e-01 8.84552302e-03 1.14741775e+02] [ 7.80896660e-01 6.24563389e-01 -1.09990754e-02 1.41017758e+02] [-1.41145830e-02 3.85085575e-05 -9.99900384e-01 6.74385849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.75, Y:141.02, Z:6.74 [[-6.84155587e-01 7.29274151e-01 9.50510119e-03 1.14752083e+02] [ 7.29204393e-01 6.84221611e-01 -1.00866480e-02 1.41021525e+02] [-1.38595273e-02 3.03249609e-05 -9.99903952e-01 6.74328481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.730385723 meters Centerline goodness [0,1] 0.9999778574908108 Centerline is valid? [True, True] Translation: X:114.76, Y:141.03, Z:6.74 [[-7.40162270e-01 6.72348872e-01 1.03347953e-02 1.14762732e+02] [ 6.72283523e-01 7.40234418e-01 -9.37395604e-03 1.41026159e+02] [-1.39527400e-02 9.66402340e-06 -9.99902656e-01 6.74231415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.760385723 meters Centerline goodness [0,1] 0.9999556933983164 Centerline is valid? [True, True] Translation: X:114.78, Y:141.05, Z:6.74 [[-7.86403257e-01 6.17614564e-01 1.10529951e-02 1.14782754e+02] [ 6.17553513e-01 7.86480929e-01 -8.68372579e-03 1.41047986e+02] [-1.40561654e-02 -3.09428717e-06 -9.99901207e-01 6.74213231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.790385723 meters Centerline goodness [0,1] 0.9999334708269576 Centerline is valid? [True, True] Translation: X:114.80, Y:141.07, Z:6.74 [[-8.28678690e-01 5.59609052e-01 1.13726762e-02 1.14803743e+02] [ 5.59556080e-01 8.28756725e-01 -7.69959748e-03 1.41069604e+02] [-1.37339463e-02 -1.68422401e-05 -9.99905685e-01 6.74259729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.23, Y:141.69, Z:5.73 [[-7.87043393e-01 -6.16802657e-01 1.08249872e-02 1.15232286e+02] [ 6.16744624e-01 -7.87117833e-01 -8.46087645e-03 1.41691571e+02] [ 1.37392316e-02 1.71757653e-05 9.99905612e-01 5.73481192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.77, Y:141.09, Z:6.74 [[-8.31049524e-01 5.56075883e-01 1.16748369e-02 1.14769805e+02] [ 5.56020494e-01 8.31131525e-01 -7.84846926e-03 1.41091425e+02] [-1.40676694e-02 -3.10180677e-05 -9.99901045e-01 6.74240812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.880385723 meters Centerline goodness [0,1] 0.9998890737659456 Centerline is valid? [True, True] Translation: X:115.20, Y:141.71, Z:5.74 [[-7.89390092e-01 -6.13794507e-01 1.09355275e-02 1.15198847e+02] [ 6.13735915e-01 -7.89465834e-01 -8.48077385e-03 1.41713453e+02] [ 1.38386777e-02 1.68870980e-05 9.99904241e-01 5.73559851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.73, Y:141.11, Z:6.74 [[-8.32449811e-01 5.53970404e-01 1.20043573e-02 1.14733947e+02] [ 5.53912517e-01 8.32536360e-01 -8.00828585e-03 1.41113853e+02] [-1.44304173e-02 -1.71322600e-05 -9.99895876e-01 6.74132934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.75, Y:141.14, Z:6.74 [[-8.69356835e-01 4.94026284e-01 1.25189932e-02 1.14746674e+02] [ 4.93974888e-01 8.69446969e-01 -7.12596319e-03 1.41139514e+02] [-1.44050138e-02 -1.09365228e-05 -9.99896242e-01 6.74057282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.970385723 meters Centerline goodness [0,1] 0.9999337280197932 Centerline is valid? [True, True] Translation: X:114.76, Y:141.17, Z:6.74 [[-9.01761219e-01 4.32024150e-01 1.34847050e-02 1.14759396e+02] [ 4.31975881e-01 9.01862037e-01 -6.45791495e-03 1.41165822e+02] [-1.49513187e-02 1.57004629e-06 -9.99888223e-01 6.74246841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.000385723 meters Centerline goodness [0,1] 0.9999779181203904 Centerline is valid? [True, True] Translation: X:115.08, Y:141.85, Z:5.73 [[-8.71359040e-01 -4.90468637e-01 1.31886355e-02 1.15084715e+02] [ 4.90412622e-01 -8.71458844e-01 -7.41237982e-03 1.41848934e+02] [ 1.51288929e-02 9.02916341e-06 9.99885552e-01 5.73351936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.72, Y:141.18, Z:6.74 [[-9.02585784e-01 4.30293503e-01 1.36529742e-02 1.14720914e+02] [ 4.30244769e-01 9.02689039e-01 -6.47597766e-03 1.41183225e+02] [-1.51109612e-02 2.89953522e-05 -9.99885823e-01 6.74321870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.060385723 meters Centerline goodness [0,1] 0.9999778304919413 Centerline is valid? [True, True] Translation: X:115.05, Y:141.86, Z:5.73 [[-8.73601055e-01 -4.86460636e-01 1.33133857e-02 1.15054192e+02] [ 4.86403794e-01 -8.73702495e-01 -7.43643753e-03 1.41862337e+02] [ 1.52494724e-02 -2.07983621e-05 9.99883720e-01 5.73419624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.68, Y:141.20, Z:6.74 [[-9.03440377e-01 4.28511489e-01 1.31677527e-02 1.14681186e+02] [ 4.28466824e-01 9.03536331e-01 -6.18704659e-03 1.41201374e+02] [-1.45487635e-02 5.23174729e-05 -9.99894160e-01 6.74119062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.01, Y:141.88, Z:5.74 [[-8.76307929e-01 -4.81587177e-01 1.25779480e-02 1.15008633e+02] [ 4.81536566e-01 -8.76398190e-01 -6.98200937e-03 1.41881825e+02] [ 1.43857370e-02 -6.16483037e-05 9.99896518e-01 5.73647081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.64, Y:141.22, Z:6.74 [[-9.04031260e-01 4.27292783e-01 1.21802650e-02 1.14636532e+02] [ 4.27255200e-01 9.04113307e-01 -5.66770757e-03 1.41221071e+02] [-1.34341102e-02 8.02967408e-05 -9.99909755e-01 6.73908467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.66, Y:141.24, Z:6.74 [[-9.31560623e-01 3.63377014e-01 1.23268341e-02 1.14660554e+02] [ 3.63346562e-01 9.31642172e-01 -4.70525742e-03 1.41241721e+02] [-1.31939809e-02 9.56802721e-05 -9.99912951e-01 6.73795569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.210385723 meters Centerline goodness [0,1] 0.9999558059882886 Centerline is valid? [True, True] Translation: X:114.67, Y:141.27, Z:6.74 [[-9.54397997e-01 2.98273098e-01 1.25547599e-02 1.14667287e+02] [ 2.98248950e-01 9.54480563e-01 -3.79725784e-03 1.41269173e+02] [-1.31158942e-02 1.20348686e-04 -9.99913976e-01 6.73846423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.89, Y:141.99, Z:5.74 [[-9.38893220e-01 -3.43998514e-01 1.20226847e-02 1.14893401e+02] [ 3.43968480e-01 -9.38970183e-01 -4.54755252e-03 1.41993806e+02] [ 1.28532937e-02 -1.34241654e-04 9.99917384e-01 5.73787847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.62, Y:141.28, Z:6.74 [[-9.55218244e-01 2.95661371e-01 1.19356723e-02 1.14623018e+02] [ 2.95639958e-01 9.55292802e-01 -3.56055926e-03 1.41281878e+02] [-1.24547816e-02 1.27550484e-04 -9.99922428e-01 6.73788496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.63, Y:141.31, Z:6.74 [[-9.73706935e-01 2.27505240e-01 1.16691667e-02 1.14632415e+02] [ 2.27490460e-01 9.73776848e-01 -2.59635992e-03 1.41310035e+02] [-1.19538499e-02 1.26530444e-04 -9.99928542e-01 6.73757057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.330385723 meters Centerline goodness [0,1] 0.9999117465360515 Centerline is valid? [True, True] Translation: X:114.80, Y:142.05, Z:5.74 [[-9.62321969e-01 -2.71659377e-01 1.17307445e-02 1.14801201e+02] [ 2.71637768e-01 -9.62393459e-01 -3.42822042e-03 1.42047574e+02] [ 1.22209000e-02 -1.12538587e-04 9.99925316e-01 5.73718184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.58, Y:141.32, Z:6.74 [[-9.74650365e-01 2.23483690e-01 1.05691170e-02 1.14581961e+02] [ 2.23471810e-01 9.74707663e-01 -2.30704414e-03 1.41323044e+02] [-1.08173860e-02 1.13338281e-04 -9.99941484e-01 6.73778727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.58, Y:141.35, Z:6.74 [[-9.88051089e-01 1.53809587e-01 9.88215389e-03 1.14584945e+02] [ 1.53802963e-01 9.88100501e-01 -1.43136003e-03 1.41352366e+02] [-9.98471810e-03 1.05647717e-04 -9.99950146e-01 6.73749695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.69, Y:142.10, Z:5.74 [[-9.79903576e-01 -1.99276227e-01 8.82993699e-03 1.14685952e+02] [ 1.99266700e-01 -9.79943346e-01 -1.95481406e-03 1.42095959e+02] [ 9.04238596e-03 -1.56016882e-04 9.99959105e-01 5.74013951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.52, Y:141.36, Z:6.74 [[-9.88768121e-01 1.49168673e-01 9.29037290e-03 1.14518763e+02] [ 1.49163013e-01 9.88811761e-01 -1.30306616e-03 1.41364538e+02] [-9.38080664e-03 9.73497334e-05 -9.99955995e-01 6.73786217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.63, Y:142.10, Z:5.74 [[-9.80438952e-01 -1.96586620e-01 9.65203083e-03 1.14628562e+02] [ 1.96576383e-01 -9.80486459e-01 -2.00741411e-03 1.42098707e+02] [ 9.85831628e-03 -7.07856749e-05 9.99951403e-01 5.73996222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.510385723 meters Centerline goodness [0,1] 0.9999780325996221 Centerline is valid? [True, True] Translation: X:114.46, Y:141.38, Z:6.74 [[-9.89665729e-01 1.43046803e-01 9.96782439e-03 1.14458755e+02] [ 1.43040400e-01 9.89715921e-01 -1.35602586e-03 1.41377760e+02] [-1.00592897e-02 8.37892723e-05 -9.99949401e-01 6.73749028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.45, Y:141.41, Z:6.74 [[-9.97397255e-01 7.14479404e-02 9.69064189e-03 1.14450383e+02] [ 7.14452617e-02 9.97444328e-01 -6.22766430e-04 1.41409497e+02] [-9.71037116e-03 7.12049186e-05 -9.99952851e-01 6.73748053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.51, Y:142.14, Z:5.74 [[-9.92095390e-01 -1.25101949e-01 9.81015025e-03 1.14512953e+02] [ 1.25095233e-01 -9.92143890e-01 -1.29766516e-03 1.42135931e+02] [ 9.89542107e-03 -6.02045972e-05 9.99951037e-01 5.73940325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.38, Y:141.42, Z:6.74 [[-9.97815082e-01 6.53386247e-02 9.79421371e-03 1.14384491e+02] [ 6.53360366e-02 9.97863147e-01 -5.84329037e-04 1.41417753e+02] [-9.81146417e-03 5.68627793e-05 -9.99951865e-01 6.73793666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.39, Y:141.45, Z:6.74 [[-9.99932662e-01 -6.46358941e-03 9.63808260e-03 1.14392060e+02] [-6.46280943e-03 9.99979110e-01 1.12070464e-04 1.41450475e+02] [-9.63860563e-03 4.97738263e-05 -9.99953546e-01 6.73869181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.660385723 meters Centerline goodness [0,1] 0.9999782509406469 Centerline is valid? [True, True] Translation: X:114.38, Y:142.16, Z:5.74 [[-9.98651137e-01 -5.09806723e-02 9.84260738e-03 1.14382119e+02] [ 5.09778372e-02 -9.98699639e-01 -5.38867333e-04 1.42164725e+02] [ 9.85728026e-03 -3.63856378e-05 9.99951415e-01 5.73819682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.30, Y:141.45, Z:6.74 [[-9.99870284e-01 -1.24635869e-02 1.02016873e-02 1.14301071e+02] [-1.24624334e-02 9.99922325e-01 1.76632132e-04 1.41452821e+02] [-1.02030964e-02 4.94713705e-05 -9.99947946e-01 6.73875667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.29, Y:141.48, Z:6.74 [[-9.96430700e-01 -8.37815148e-02 1.03207834e-02 1.14291995e+02] [-8.37765178e-02 9.96484147e-01 9.16316556e-04 1.41482325e+02] [-1.03612674e-02 4.84066569e-05 -9.99946319e-01 6.73880391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.28, Y:141.51, Z:6.74 [[-9.87914681e-01 -1.54639962e-01 1.05388012e-02 1.14279035e+02] [-1.54630618e-01 9.87970890e-01 1.70070761e-03 1.41511512e+02] [-1.06750262e-02 5.05326703e-05 -9.99943019e-01 6.73871167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.25, Y:141.54, Z:6.74 [[-9.74294666e-01 -2.25044833e-01 1.02335880e-02 1.14250704e+02] [-2.25031857e-01 9.74348408e-01 2.41720343e-03 1.41537579e+02] [-1.05150593e-02 5.21851001e-05 -9.99944714e-01 6.73932039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.21, Y:141.56, Z:6.74 [[-9.55450969e-01 -2.94979337e-01 1.00317928e-02 1.14210774e+02] [-2.94962505e-01 9.55503631e-01 3.15158914e-03 1.41556808e+02] [-1.05150681e-02 5.21861607e-05 -9.99944714e-01 6.73932060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.15, Y:141.57, Z:6.74 [[-9.31631497e-01 -3.63298205e-01 8.78456688e-03 1.14148330e+02] [-3.63281471e-01 9.31672910e-01 3.48737711e-03 1.41566446e+02] [-9.45130083e-03 5.76799818e-05 -9.99955334e-01 6.73669520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.08, Y:141.57, Z:6.74 [[-9.02511905e-01 -4.30596476e-01 7.67706188e-03 1.14077926e+02] [-4.30580363e-01 9.02544554e-01 3.72540519e-03 1.41567575e+02] [-8.53303674e-03 5.66304355e-05 -9.99963591e-01 6.73600145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.00, Y:141.56, Z:6.74 [[-8.68220397e-01 -4.96127969e-01 7.09797754e-03 1.13999480e+02] [-4.96110851e-01 8.68249409e-01 4.12165242e-03 1.41559602e+02] [-8.20768185e-03 5.71190223e-05 -9.99966315e-01 6.73559438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.930385723 meters Centerline goodness [0,1] 0.9999782651220414 Centerline is valid? [True, True] Translation: X:113.92, Y:141.54, Z:6.74 [[-8.28902843e-01 -5.59348868e-01 6.99430125e-03 1.13916578e+02] [-5.59328321e-01 8.28932349e-01 4.79480964e-03 1.41543888e+02] [-8.47977391e-03 6.23205725e-05 -9.99964044e-01 6.73574730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.83, Y:141.51, Z:6.74 [[-7.84524587e-01 -6.20060705e-01 6.77463963e-03 1.13826314e+02] [-6.20036887e-01 7.84553834e-01 5.43510454e-03 1.41514290e+02] [-8.68516425e-03 6.34466808e-05 -9.99962281e-01 6.73594314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.74, Y:141.48, Z:6.74 [[-7.35860035e-01 -6.77103464e-01 6.39598829e-03 1.13736678e+02] [-6.77077083e-01 7.35887828e-01 5.97731034e-03 1.41477281e+02] [-8.75398747e-03 6.78867026e-05 -9.99961681e-01 6.73642906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.020385723 meters Centerline goodness [0,1] 0.9999565160673132 Centerline is valid? [True, True] Translation: X:113.64, Y:141.42, Z:6.74 [[-6.82562238e-01 -7.30802825e-01 6.00184842e-03 1.13641655e+02] [-7.30773688e-01 6.82588622e-01 6.52614406e-03 1.41424337e+02] [-8.86611796e-03 6.85065912e-05 -9.99960693e-01 6.73565956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.55, Y:141.37, Z:6.74 [[-6.24948928e-01 -7.80644895e-01 5.69081823e-03 1.13554156e+02] [-7.80611519e-01 6.24974834e-01 7.21890230e-03 1.41368902e+02] [-9.19201741e-03 6.91269972e-05 -9.99957750e-01 6.73529130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.080385723 meters Centerline goodness [0,1] 0.9999565830891132 Centerline is valid? [True, True] Translation: X:113.47, Y:141.30, Z:6.74 [[-5.63816965e-01 -8.25883326e-01 5.21165652e-03 1.13465862e+02] [-8.25846883e-01 5.63841047e-01 7.75878745e-03 1.41299030e+02] [-9.34639905e-03 7.05056987e-05 -9.99956319e-01 6.73519299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.38, Y:141.22, Z:6.73 [[-4.98945609e-01 -8.66622593e-01 4.30819088e-03 1.13382251e+02] [-8.66589190e-01 4.98964204e-01 7.60908926e-03 1.41222817e+02] [-8.74384170e-03 6.30900254e-05 -9.99961770e-01 6.73456980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.30, Y:141.13, Z:6.73 [[-4.31578821e-01 -9.02068005e-01 3.61037218e-03 1.13302701e+02] [-9.02035202e-01 4.31593918e-01 7.69318786e-03 1.41134633e+02] [-8.49799331e-03 6.35341529e-05 -9.99963889e-01 6.73450036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.23, Y:141.04, Z:6.73 [[-3.62636717e-01 -9.31925686e-01 3.02112352e-03 1.13229198e+02] [-9.31891598e-01 3.62649293e-01 7.97116956e-03 1.41040519e+02] [-8.52414597e-03 7.52791350e-05 -9.99963666e-01 6.73490219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.16, Y:140.94, Z:6.74 [[-2.90863924e-01 -9.56761281e-01 2.45532766e-03 1.13163692e+02] [-9.56724748e-01 2.90874275e-01 8.36132520e-03 1.40940796e+02] [-8.71398387e-03 8.29351169e-05 -9.99962029e-01 6.73539528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.11, Y:140.83, Z:6.74 [[-2.16847706e-01 -9.76203689e-01 1.85197896e-03 1.13105429e+02] [-9.76164596e-01 2.16855596e-01 8.73682502e-03 1.40834413e+02] [-8.93053282e-03 8.67241670e-05 -9.99960118e-01 6.73592772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.05, Y:140.72, Z:6.74 [[-1.42230381e-01 -9.89832766e-01 1.27014776e-03 1.13053801e+02] [-9.89786654e-01 1.42236016e-01 9.55489594e-03 1.40717639e+02] [-9.63840984e-03 1.01821191e-04 -9.99953544e-01 6.73616817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.290385723 meters Centerline goodness [0,1] 0.9999567913236977 Centerline is valid? [True, True] Translation: X:113.01, Y:140.60, Z:6.74 [[-6.69607575e-02 -9.97755444e-01 5.74606660e-04 1.13011269e+02] [-9.97701688e-01 6.69631148e-02 1.03578029e-02 1.40598739e+02] [-1.03730317e-02 1.20280294e-04 -9.99946191e-01 6.73684813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.35, Y:140.53, Z:5.74 [[-1.10591312e-01 9.93865176e-01 1.25466578e-03 1.12347460e+02] [-9.93814085e-01 -1.10598349e-01 1.00781810e-02 1.40528326e+02] [ 1.01551171e-02 -1.32345265e-04 9.99948427e-01 5.74053030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.99, Y:140.32, Z:6.74 [[-5.92325793e-02 -9.98244099e-01 4.68745644e-04 1.12991152e+02] [-9.98192224e-01 5.92342803e-02 1.01776213e-02 1.40320006e+02] [-1.01875162e-02 1.34948503e-04 -9.99948097e-01 6.73674701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.96, Y:140.20, Z:6.74 [[ 1.59488832e-02 -9.99872761e-01 -3.09431279e-04 1.12958780e+02] [-9.99822337e-01 -1.59511868e-02 1.00426049e-02 1.40203422e+02] [-1.00462628e-02 1.49207972e-04 -9.99949524e-01 6.73586821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.94, Y:140.08, Z:6.73 [[ 9.21807736e-02 -9.95741706e-01 -1.07696371e-03 1.12935154e+02] [-9.95691728e-01 -9.21869382e-02 9.97755811e-03 1.40078376e+02] [-1.00343527e-02 1.52584835e-04 -9.99949643e-01 6.73489280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.440385723 meters Centerline goodness [0,1] 0.9999786050492084 Centerline is valid? [True, True] Translation: X:112.92, Y:139.95, Z:6.73 [[ 1.68710346e-01 -9.85663970e-01 -1.83235623e-03 1.12919779e+02] [-9.85614928e-01 -1.68720232e-01 9.83342868e-03 1.39952999e+02] [-1.00016119e-02 1.46996501e-04 -9.99949972e-01 6.73467425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.470385723 meters Centerline goodness [0,1] 0.9999785862652305 Centerline is valid? [True, True] Translation: X:112.92, Y:139.83, Z:6.74 [[ 2.44155297e-01 -9.69732488e-01 -2.66337122e-03 1.12915730e+02] [-9.69681184e-01 -2.44169779e-01 9.97599787e-03 1.39833370e+02] [-1.03243640e-02 1.46928236e-04 -9.99946692e-01 6.73521509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.92, Y:139.71, Z:6.74 [[ 3.19184421e-01 -9.47685959e-01 -3.55367245e-03 1.12919699e+02] [-9.47631839e-01 -3.19204174e-01 1.01288672e-02 1.39708661e+02] [-1.07333323e-02 1.34596560e-04 -9.99942387e-01 6.73544755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.530385723 meters Centerline goodness [0,1] 0.9999569725915408 Centerline is valid? [True, True] Translation: X:112.93, Y:139.59, Z:6.74 [[ 3.91405994e-01 -9.20207091e-01 -4.50087952e-03 1.12932731e+02] [-9.20150060e-01 -3.91431850e-01 1.02457117e-02 1.39590721e+02] [-1.11899642e-02 1.31251584e-04 -9.99937382e-01 6.73557797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.96, Y:139.47, Z:6.74 [[ 4.61465138e-01 -8.87139212e-01 -5.82628668e-03 1.12956454e+02] [-8.87072068e-01 -4.61501898e-01 1.09153245e-02 1.39470494e+02] [-1.23722548e-02 1.31294427e-04 -9.99923452e-01 6.73584419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5903857229999 meters Centerline goodness [0,1] 0.9999785642322779 Centerline is valid? [True, True] Translation: X:112.99, Y:139.36, Z:6.74 [[ 5.28008918e-01 -8.49210935e-01 -6.88256700e-03 1.12987131e+02] [-8.49142018e-01 -5.28053757e-01 1.08195823e-02 1.39357788e+02] [-1.28224730e-02 1.31440874e-04 -9.99917780e-01 6.73618679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.620385723 meters Centerline goodness [0,1] 0.999957206436152 Centerline is valid? [True, True] Translation: X:113.03, Y:139.25, Z:6.74 [[ 5.91154586e-01 -8.06523088e-01 -7.53421753e-03 1.13025853e+02] [-8.06460317e-01 -5.91202582e-01 1.00630542e-02 1.39248494e+02] [-1.25703344e-02 1.27226826e-04 -9.99920982e-01 6.73664857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.650385723 meters Centerline goodness [0,1] 0.9999785743363401 Centerline is valid? [True, True] Translation: X:113.07, Y:139.15, Z:6.74 [[ 6.50018800e-01 -7.59871373e-01 -8.42947152e-03 1.13069041e+02] [-7.59810274e-01 -6.50073440e-01 9.63690266e-03 1.39149294e+02] [-1.28025820e-02 1.40631163e-04 -9.99918034e-01 6.73696286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.12, Y:139.06, Z:6.73 [[ 7.04332635e-01 -7.09816208e-01 -8.74584718e-03 1.13120068e+02] [-7.09764270e-01 -7.04386915e-01 8.58811338e-03 1.39056545e+02] [-1.22564424e-02 1.58601305e-04 -9.99924874e-01 6.73437363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.710385723 meters Centerline goodness [0,1] 0.9999786930304903 Centerline is valid? [True, True] Translation: X:113.12, Y:139.04, Z:6.73 [[ 7.57181716e-01 -6.53145074e-01 -8.79554442e-03 1.13117011e+02] [-6.53103403e-01 -7.57232783e-01 7.37950451e-03 1.39043911e+02] [-1.14801616e-02 1.56774106e-04 -9.99934089e-01 6.73388092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.740385723 meters Centerline goodness [0,1] 0.9999355587060188 Centerline is valid? [True, True] Translation: X:113.11, Y:139.03, Z:6.73 [[ 8.05773875e-01 -5.92150606e-01 -9.28024642e-03 1.13112201e+02] [-5.92113591e-01 -8.05827298e-01 6.62276418e-03 1.39028186e+02] [-1.13999497e-02 1.58509676e-04 -9.99935006e-01 6.73389783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.770385723 meters Centerline goodness [0,1] 0.9999573005401482 Centerline is valid? [True, True] Translation: X:113.11, Y:139.01, Z:6.74 [[ 8.50179506e-01 -5.26403411e-01 -9.70856069e-03 1.13108971e+02] [-5.26371030e-01 -8.50234925e-01 5.84043680e-03 1.39013685e+02] [-1.13289832e-02 1.44885421e-04 -9.99935815e-01 6.73526403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.11, Y:139.00, Z:6.74 [[ 8.89358033e-01 -4.57080881e-01 -1.09250675e-02 1.13108650e+02] [-4.57048317e-01 -8.89425123e-01 5.45779717e-03 1.39001211e+02] [-1.22116842e-02 1.39347951e-04 -9.99925425e-01 6.73618260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.11, Y:138.99, Z:6.74 [[ 9.22478770e-01 -3.85874605e-01 -1.15632188e-02 1.13109699e+02] [-3.85846175e-01 -9.22551229e-01 4.68602143e-03 1.38991808e+02] [-1.24758783e-02 1.38868451e-04 -9.99922164e-01 6.73783695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.860385723 meters Centerline goodness [0,1] 0.9999785821375027 Centerline is valid? [True, True] Translation: X:113.11, Y:138.98, Z:6.74 [[ 9.49803225e-01 -3.12626307e-01 -1.17739436e-02 1.13111312e+02] [-3.12604085e-01 -9.49876188e-01 3.72994873e-03 1.38979088e+02] [-1.23498688e-02 1.37865550e-04 -9.99923728e-01 6.73583334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.11, Y:138.97, Z:6.74 [[ 9.71234924e-01 -2.37801958e-01 -1.23673790e-02 1.13114758e+02] [-2.37784598e-01 -9.71313650e-01 2.87713939e-03 1.38968901e+02] [-1.26967934e-02 1.46393981e-04 -9.99919382e-01 6.73502084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.12, Y:138.96, Z:6.74 [[ 9.86813935e-01 -1.61345803e-01 -1.28759162e-02 1.13118230e+02] [-1.61334091e-01 -9.86897922e-01 1.95008639e-03 1.38957162e+02] [-1.30218532e-02 1.52951801e-04 -9.99915200e-01 6.73550943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.12, Y:138.95, Z:6.74 [[ 9.96387228e-01 -8.39552631e-02 -1.28064710e-02 1.13119397e+02] [-8.39503349e-02 -9.96469513e-01 9.22863435e-04 1.38947670e+02] [-1.28387371e-02 1.55578188e-04 -9.99917568e-01 6.73637002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.12, Y:138.94, Z:6.74 [[ 9.99902049e-01 -6.50000825e-03 -1.23952801e-02 1.13120490e+02] [-6.50149299e-03 -9.99978862e-01 -7.94913941e-05 1.38938367e+02] [-1.23945014e-02 1.60071434e-04 -9.99923172e-01 6.73600835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.010385723 meters Centerline goodness [0,1] 0.9999568946937368 Centerline is valid? [True, True] Translation: X:113.12, Y:138.93, Z:6.74 [[ 9.97441466e-01 7.04508022e-02 -1.21328365e-02 1.13122677e+02] [ 7.04434714e-02 -9.97515240e-01 -1.03104288e-03 1.38931533e+02] [-1.21753271e-02 1.73725803e-04 -9.99925863e-01 6.73539329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.040385723 meters Centerline goodness [0,1] 0.9999352694946705 Centerline is valid? [True, True] Translation: X:113.13, Y:138.92, Z:6.74 [[ 9.88976909e-01 1.47529739e-01 -1.26352193e-02 1.13125892e+02] [ 1.47515203e-01 -9.89057601e-01 -2.07996851e-03 1.38919796e+02] [-1.28038169e-02 1.93153887e-04 -9.99918009e-01 6.73533355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.070385723 meters Centerline goodness [0,1] 0.9999568686650852 Centerline is valid? [True, True] Translation: X:113.13, Y:138.91, Z:6.74 [[ 9.74745847e-01 2.22905324e-01 -1.35554869e-02 1.13130278e+02] [ 2.22880427e-01 -9.74840070e-01 -3.33968736e-03 1.38907572e+02] [-1.39588659e-02 2.34093676e-04 -9.99902543e-01 6.73635295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.100385723 meters Centerline goodness [0,1] 0.9999353949521923 Centerline is valid? [True, True] Translation: X:113.13, Y:138.90, Z:6.74 [[ 9.54565801e-01 2.97684625e-01 -1.37111716e-02 1.13133927e+02] [ 2.97650080e-01 -9.54664234e-01 -4.54205690e-03 1.38896556e+02] [-1.44416657e-02 2.54560843e-04 -9.99895681e-01 6.73738919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.14, Y:138.89, Z:6.74 [[ 9.28615119e-01 3.70793770e-01 -1.36360581e-02 1.13138574e+02] [ 3.70749485e-01 -9.28715191e-01 -5.73697466e-03 1.38887820e+02] [-1.47912487e-02 2.71879891e-04 -9.99890567e-01 6.73763317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.14, Y:138.88, Z:6.74 [[ 8.96985997e-01 4.41869461e-01 -1.29422237e-02 1.13141229e+02] [ 4.41819026e-01 -8.97079319e-01 -6.68166960e-03 1.38881723e+02] [-1.45626270e-02 2.75243397e-04 -9.99893921e-01 6.73802658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.14, Y:138.88, Z:6.74 [[ 8.58996076e-01 5.11857724e-01 -1.12876877e-02 1.13144968e+02] [ 5.11809945e-01 -8.59070204e-01 -6.99746105e-03 1.38875604e+02] [-1.32786207e-02 2.33640744e-04 -9.99911808e-01 6.73635749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.220385723 meters Centerline goodness [0,1] 0.9999568472608799 Centerline is valid? [True, True] Translation: X:113.15, Y:138.87, Z:6.74 [[ 8.15611089e-01 5.78495720e-01 -1.10115436e-02 1.13152496e+02] [ 5.78439267e-01 -8.15685388e-01 -8.08472429e-03 1.38866032e+02] [-1.36589336e-02 2.24481568e-04 -9.99906687e-01 6.73605404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.16, Y:138.86, Z:6.74 [[ 7.67085359e-01 6.41455863e-01 -1.06971404e-02 1.13159621e+02] [ 6.41389562e-01 -7.67159911e-01 -9.22493937e-03 1.38858191e+02] [-1.41238087e-02 2.15281726e-04 -9.99900231e-01 6.73709354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.17, Y:138.85, Z:6.74 [[ 7.12980962e-01 7.01104816e-01 -1.04969292e-02 1.13168639e+02] [ 7.01024790e-01 -7.13058202e-01 -1.05945596e-02 1.38849239e+02] [-1.49128182e-02 1.95111674e-04 -9.99888779e-01 6.73744964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.17, Y:138.84, Z:6.74 [[ 6.55062742e-01 7.55512973e-01 -9.64113238e-03 1.13174983e+02] [ 7.55427112e-01 -6.55133663e-01 -1.13913530e-02 1.38843081e+02] [-1.49225453e-02 1.78878157e-04 -9.99888637e-01 6.73786612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3403857229999 meters Centerline goodness [0,1] 0.9999565387457082 Centerline is valid? [True, True] Translation: X:113.18, Y:138.84, Z:6.74 [[ 5.93867002e-01 8.04520810e-01 -8.26138600e-03 1.13183122e+02] [ 8.04438980e-01 -5.93924438e-01 -1.14756034e-02 1.38836827e+02] [-1.41390007e-02 1.69201235e-04 -9.99900025e-01 6.73757184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.370385723 meters Centerline goodness [0,1] 0.9999131793714187 Centerline is valid? [True, True] Translation: X:113.19, Y:138.83, Z:6.74 [[ 5.28934575e-01 8.48632575e-01 -7.13919181e-03 1.13190885e+02] [ 8.48551089e-01 -5.28982728e-01 -1.17610988e-02 1.38830850e+02] [-1.37573607e-02 1.62882821e-04 -9.99905350e-01 6.73764333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.20, Y:138.83, Z:6.74 [[ 4.60919304e-01 8.87423937e-01 -5.67013954e-03 1.13196408e+02] [ 8.87352764e-01 -4.60954155e-01 -1.12400947e-02 1.38826169e+02] [-1.25884035e-02 1.49362650e-04 -9.99920752e-01 6.73765773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.430385723 meters Centerline goodness [0,1] 0.9999564801114109 Centerline is valid? [True, True] Translation: X:113.21, Y:138.82, Z:6.74 [[ 3.89590499e-01 9.20976093e-01 -4.72014392e-03 1.13206800e+02] [ 9.20904043e-01 -3.89619066e-01 -1.15207435e-02 1.38820350e+02] [-1.24493874e-02 1.41572595e-04 -9.99922493e-01 6.73662475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.21, Y:138.82, Z:6.74 [[ 3.15522219e-01 9.48912978e-01 -3.14480072e-03 1.13214465e+02] [ 9.48862362e-01 -3.15537872e-01 -9.80153493e-03 1.38815413e+02] [-1.02931074e-02 1.08619018e-04 -9.99947019e-01 6.73695220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.490385723 meters Centerline goodness [0,1] 0.9999783066143133 Centerline is valid? [True, True] Translation: X:113.22, Y:138.81, Z:6.74 [[ 2.39930383e-01 9.70787740e-01 -2.13903246e-03 1.13224595e+02] [ 9.70745545e-01 -2.39939899e-01 -9.05163363e-03 1.38811401e+02] [-9.30045419e-03 9.53056923e-05 -9.99956745e-01 6.73581391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.23, Y:138.81, Z:6.74 [[ 1.62450288e-01 9.86715924e-01 -1.26043901e-03 1.13230166e+02] [ 9.86682348e-01 -1.62455159e-01 -8.14033032e-03 1.38807898e+02] [-8.23695837e-03 7.87460824e-05 -9.99966073e-01 6.73684895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.24, Y:138.80, Z:6.74 [[ 8.43960422e-02 9.96432094e-01 -6.24103558e-04 1.13241696e+02] [ 9.96397678e-01 -8.43983146e-02 -8.28197907e-03 1.38804550e+02] [-8.30510304e-03 7.71109193e-05 -9.99965509e-01 6.73623714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.25, Y:138.80, Z:6.74 [[ 5.44701249e-03 9.99985165e-01 2.68474366e-05 1.13251691e+02] [ 9.99949747e-01 -5.44659361e-03 -8.41656770e-03 1.38801633e+02] [-8.41629661e-03 7.26912368e-05 -9.99964580e-01 6.73689193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.610385723 meters Centerline goodness [0,1] 0.9999782589790417 Centerline is valid? [True, True] Translation: X:113.26, Y:138.80, Z:6.74 [[-7.47921597e-02 9.97198862e-01 7.50615092e-04 1.13260907e+02] [ 9.97156634e-01 7.47959005e-02 -9.17715852e-03 1.38799305e+02] [-9.20759496e-03 6.21013132e-05 -9.99957607e-01 6.73850312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.640385723 meters Centerline goodness [0,1] 0.9999126751953893 Centerline is valid? [True, True] Translation: X:113.27, Y:138.80, Z:6.74 [[-1.53728050e-01 9.88112033e-01 1.51555820e-03 1.13270475e+02] [ 9.88067407e-01 1.53735511e-01 -9.39102628e-03 1.38797670e+02] [-9.51238119e-03 5.38095008e-05 -9.99954755e-01 6.73945961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.670385723 meters Centerline goodness [0,1] 0.9999781219917738 Centerline is valid? [True, True] Translation: X:113.28, Y:138.80, Z:6.74 [[-2.32263229e-01 9.72650557e-01 2.16493115e-03 1.13277906e+02] [ 9.72609762e-01 2.32273315e-01 -8.90835076e-03 1.38796264e+02] [-9.16756806e-03 3.65508555e-05 -9.99957976e-01 6.73972285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.700385723 meters Centerline goodness [0,1] 0.9999559907580592 Centerline is valid? [True, True] Translation: X:113.29, Y:138.80, Z:6.74 [[-3.08438952e-01 9.51240895e-01 2.48442683e-03 1.13286677e+02] [ 9.51210703e-01 3.08448956e-01 -7.57886172e-03 1.38795309e+02] [-7.97564207e-03 2.55972291e-05 -9.99968194e-01 6.73931414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.30, Y:138.80, Z:6.74 [[-3.82645228e-01 9.23889973e-01 3.15383025e-03 1.13295599e+02] [ 9.23859040e-01 3.82658224e-01 -7.56022694e-03 1.38795838e+02] [-8.19165696e-03 2.08098294e-05 -9.99966448e-01 6.73920168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.31, Y:138.80, Z:6.74 [[-4.53840926e-01 8.91074886e-01 3.73638135e-03 1.13306810e+02] [ 8.91045066e-01 4.53856306e-01 -7.28994450e-03 1.38797097e+02] [-8.19166670e-03 2.08090079e-05 -9.99966448e-01 6.73920176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.32, Y:138.80, Z:6.74 [[-5.23490866e-01 8.52018462e-01 4.67487376e-03 1.13315624e+02] [ 8.51984654e-01 5.23511739e-01 -7.59001431e-03 1.38798421e+02] [-8.91418361e-03 9.61754106e-06 -9.99960268e-01 6.73977632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.33, Y:138.80, Z:6.74 [[-5.89469864e-01 8.07772485e-01 5.37518421e-03 1.13325294e+02] [ 8.07738905e-01 5.89494371e-01 -7.36530860e-03 1.38799865e+02] [-9.11813446e-03 1.17951931e-07 -9.99958429e-01 6.74052488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.33, Y:138.80, Z:6.74 [[-6.52861885e-01 7.57454319e-01 5.85774003e-03 1.13333763e+02] [ 7.57423520e-01 6.52888163e-01 -6.83062272e-03 1.38801901e+02] [-8.99833381e-03 -2.26631539e-05 -9.99959514e-01 6.74046354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.880385723 meters Centerline goodness [0,1] 0.9999778108150088 Centerline is valid? [True, True] Translation: X:113.34, Y:138.80, Z:6.74 [[-7.11321245e-01 7.02838993e-01 6.27979692e-03 1.13341662e+02] [ 7.02811151e-01 7.11348964e-01 -6.25598826e-03 1.38804393e+02] [-8.86407952e-03 -3.65060560e-05 -9.99960713e-01 6.74046923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.87, Y:139.33, Z:5.74 [[-6.55423782e-01 -7.55240673e-01 5.58493068e-03 1.13869282e+02] [ 7.55213433e-01 -6.55447577e-01 -6.41446628e-03 1.39328111e+02] [ 8.50509511e-03 1.36209194e-05 9.99963831e-01 5.73628962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.85, Y:139.35, Z:5.74 [[-6.54838219e-01 -7.55750204e-01 5.34199321e-03 1.13853571e+02] [ 7.55725687e-01 -6.54860006e-01 -6.08759002e-03 1.39351244e+02] [ 8.09895510e-03 5.06948775e-05 9.99967202e-01 5.73618151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.84, Y:139.37, Z:5.74 [[-6.55051291e-01 -7.55567164e-01 5.10556155e-03 1.13837217e+02] [ 7.55544792e-01 -6.55071186e-01 -5.81457067e-03 1.39373090e+02] [ 7.73780493e-03 4.86384074e-05 9.99970062e-01 5.73639824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.000385723 meters Centerline goodness [0,1] 0.9999330685823926 Centerline is valid? [True, True] Translation: X:113.82, Y:139.40, Z:5.74 [[-6.55523940e-01 -7.55155694e-01 5.31433961e-03 1.13820662e+02] [ 7.55131471e-01 -6.55545480e-01 -6.04862643e-03 1.39395471e+02] [ 8.05144599e-03 4.80056565e-05 9.99967585e-01 5.73627786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.81, Y:139.42, Z:5.74 [[-6.56893486e-01 -7.53965060e-01 5.25712690e-03 1.13806175e+02] [ 7.53941347e-01 -6.56914521e-01 -5.97982263e-03 1.39419496e+02] [ 7.96206032e-03 3.54588049e-05 9.99968302e-01 5.73576877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.79, Y:139.44, Z:5.74 [[-6.57491625e-01 -7.53444520e-01 5.11061703e-03 1.13790070e+02] [ 7.53422122e-01 -6.57511486e-01 -5.80961996e-03 1.39441009e+02] [ 7.73751571e-03 3.06754613e-05 9.99970065e-01 5.73563545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0903857229999 meters Centerline goodness [0,1] 0.9999775618731348 Centerline is valid? [True, True] Translation: X:113.77, Y:139.46, Z:5.74 [[-6.57350559e-01 -7.53568462e-01 4.98153953e-03 1.13774197e+02] [ 7.53547211e-01 -6.57369433e-01 -5.65942076e-03 1.39463845e+02] [ 7.53947281e-03 3.36018233e-05 9.99971577e-01 5.73588574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.120385723 meters Centerline goodness [0,1] 0.9998878622050776 Centerline is valid? [True, True] Translation: X:113.76, Y:139.48, Z:5.74 [[-6.56896433e-01 -7.53963409e-01 5.12398082e-03 1.13756972e+02] [ 7.53940966e-01 -6.56916415e-01 -5.81751604e-03 1.39483886e+02] [ 7.75222133e-03 4.16735146e-05 9.99969950e-01 5.73523065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.74, Y:139.50, Z:5.74 [[-6.56329260e-01 -7.54455081e-01 5.42521772e-03 1.13739191e+02] [ 7.54429970e-01 -6.56351680e-01 -6.15578261e-03 1.39504075e+02] [ 8.20511223e-03 5.27265942e-05 9.99966336e-01 5.73551328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.72, Y:139.52, Z:5.74 [[-6.54256088e-01 -7.56247114e-01 6.26685435e-03 1.13719244e+02] [ 7.56213725e-01 -6.54286095e-01 -7.10686308e-03 1.39523515e+02] [ 9.47486036e-03 8.93728338e-05 9.99955109e-01 5.73503862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.210385723 meters Centerline goodness [0,1] 0.999977658124623 Centerline is valid? [True, True] Translation: X:113.70, Y:139.54, Z:5.73 [[-6.53572631e-01 -7.56833729e-01 6.74711814e-03 1.13699216e+02] [ 7.56795100e-01 -6.53607448e-01 -7.64732090e-03 1.39543126e+02] [ 1.01977171e-02 1.08106308e-04 9.99947996e-01 5.73404634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.68, Y:139.56, Z:5.73 [[-6.52999567e-01 -7.57327087e-01 6.87379972e-03 1.13677862e+02] [ 7.57287073e-01 -6.53035734e-01 -7.78588563e-03 1.39559799e+02] [ 1.03852989e-02 1.21259722e-04 9.99946064e-01 5.73192908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.270385723 meters Centerline goodness [0,1] 0.9999777396879104 Centerline is valid? [True, True] Translation: X:113.66, Y:139.58, Z:5.73 [[-6.53457063e-01 -7.56931959e-01 6.91921090e-03 1.13660056e+02] [ 7.56891439e-01 -6.53493684e-01 -7.83292126e-03 1.39581743e+02] [ 1.04506491e-02 1.18613764e-04 9.99945383e-01 5.73371826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.64, Y:139.60, Z:5.73 [[-6.54626224e-01 -7.55920902e-01 6.93523733e-03 1.13641509e+02] [ 7.55880165e-01 -6.54662951e-01 -7.84833738e-03 1.39603440e+02] [ 1.04729652e-02 1.04480879e-04 9.99945152e-01 5.73444565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.62, Y:139.63, Z:5.74 [[-6.57814704e-01 -7.53150215e-01 6.67598435e-03 1.13624892e+02] [ 7.53112366e-01 -6.57848577e-01 -7.55074612e-03 1.39626588e+02] [ 1.00786329e-02 6.07745417e-05 9.99949207e-01 5.73585696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.61, Y:139.65, Z:5.74 [[-6.59886535e-01 -7.51340509e-01 6.09925644e-03 1.13607343e+02] [ 7.51308876e-01 -6.59914721e-01 -6.89458044e-03 1.39648785e+02] [ 9.20516669e-03 3.27847056e-05 9.99957631e-01 5.73676305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.59, Y:139.67, Z:5.74 [[-6.63843232e-01 -7.47849551e-01 5.76307768e-03 1.13590741e+02] [ 7.47821207e-01 -6.63868247e-01 -6.51092738e-03 1.39671624e+02] [ 8.69511839e-03 -1.24833644e-05 9.99962197e-01 5.73682831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.57, Y:139.69, Z:5.74 [[-6.65785514e-01 -7.46121046e-01 5.74746444e-03 1.13574341e+02] [ 7.46092824e-01 -6.65810321e-01 -6.48954757e-03 1.39691514e+02] [ 8.66870916e-03 -3.25047913e-05 9.99962426e-01 5.73668363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.56, Y:139.71, Z:5.74 [[-6.69410115e-01 -7.42874244e-01 5.28733966e-03 1.13557137e+02] [ 7.42850286e-01 -6.69430992e-01 -5.96653777e-03 1.39713066e+02] [ 7.97189627e-03 -6.63589615e-05 9.99968222e-01 5.73617196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.480385723 meters Centerline goodness [0,1] 0.9999776451389355 Centerline is valid? [True, True] Translation: X:113.54, Y:139.73, Z:5.74 [[-6.71066151e-01 -7.41377506e-01 5.44200177e-03 1.13538646e+02] [ 7.41352104e-01 -6.71088211e-01 -6.13770618e-03 1.39734808e+02] [ 8.20242053e-03 -8.43673996e-05 9.99966356e-01 5.73608570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.52, Y:139.76, Z:5.74 [[-6.72491214e-01 -7.40081791e-01 5.87450388e-03 1.13520576e+02] [ 7.40052173e-01 -6.72516864e-01 -6.62185645e-03 1.39756407e+02] [ 8.85141830e-03 -1.05700925e-04 9.99960820e-01 5.73605971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.50, Y:139.78, Z:5.74 [[-6.74691564e-01 -7.38079368e-01 5.49001556e-03 1.13503120e+02] [ 7.38053462e-01 -6.74713890e-01 -6.18502033e-03 1.39777935e+02] [ 8.26922565e-03 -1.21056053e-04 9.99965802e-01 5.73681217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.49, Y:139.80, Z:5.74 [[-6.75435048e-01 -7.37398882e-01 5.51220050e-03 1.13485776e+02] [ 7.37372778e-01 -6.75457529e-01 -6.20596223e-03 1.39798013e+02] [ 8.29952693e-03 -1.27177807e-04 9.99965550e-01 5.73710251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.47, Y:139.82, Z:5.74 [[-6.76086937e-01 -7.36801432e-01 5.48668747e-03 1.13467177e+02] [ 7.36775582e-01 -6.76109187e-01 -6.17327201e-03 1.39817090e+02] [ 8.25807546e-03 -1.31211213e-04 9.99965893e-01 5.73676997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.45, Y:139.84, Z:5.74 [[-6.76274357e-01 -7.36627451e-01 5.74398651e-03 1.13447719e+02] [ 7.36599147e-01 -6.76298736e-01 -6.45884355e-03 1.39836788e+02] [ 8.64241227e-03 -1.36934703e-04 9.99962644e-01 5.73621202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.43, Y:139.86, Z:5.74 [[-6.76458924e-01 -7.36455419e-01 6.06143124e-03 1.13428573e+02] [ 7.36423930e-01 -6.76486065e-01 -6.81168997e-03 1.39856681e+02] [ 9.11697975e-03 -1.44045448e-04 9.99958429e-01 5.73575733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.41, Y:139.88, Z:5.74 [[-6.76636692e-01 -7.36289398e-01 6.38040849e-03 1.13410752e+02] [ 7.36254533e-01 -6.76666757e-01 -7.16681415e-03 1.39875603e+02] [ 9.59425960e-03 -1.51724749e-04 9.99953963e-01 5.73587232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.39, Y:139.89, Z:5.74 [[-6.77175812e-01 -7.35793508e-01 6.39004113e-03 1.13391760e+02] [ 7.35758557e-01 -6.77205943e-01 -7.17335113e-03 1.39894741e+02] [ 9.60547902e-03 -1.56092438e-04 9.99953854e-01 5.73691404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.37, Y:139.91, Z:5.74 [[-6.77500205e-01 -7.35498349e-01 5.97085132e-03 1.13372414e+02] [ 7.35467858e-01 -6.77526500e-01 -6.69870871e-03 1.39914129e+02] [ 8.97229919e-03 -1.47007299e-04 9.99959737e-01 5.73799954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.35, Y:139.93, Z:5.74 [[-6.77595723e-01 -7.35417091e-01 5.07323245e-03 1.13354108e+02] [ 7.35395104e-01 -6.77614704e-01 -5.68805133e-03 1.39932486e+02] [ 7.62078707e-03 -1.23368943e-04 9.99970954e-01 5.73804678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.33, Y:139.95, Z:5.74 [[-6.77627582e-01 -7.35390531e-01 4.65056374e-03 1.13333775e+02] [ 7.35372076e-01 -6.77643531e-01 -5.21101092e-03 1.39950796e+02] [ 6.98355252e-03 -1.11230018e-04 9.99975609e-01 5.73897814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.31, Y:139.97, Z:5.74 [[-6.77746954e-01 -7.35281137e-01 4.55146645e-03 1.13314422e+02] [ 7.35263479e-01 -6.77762228e-01 -5.09690006e-03 1.39970687e+02] [ 6.83246651e-03 -1.07881428e-04 9.99976653e-01 5.73914548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.30, Y:139.99, Z:5.74 [[-6.77697321e-01 -7.35327422e-01 4.46361219e-03 1.13295082e+02] [ 7.35310460e-01 -6.77712012e-01 -4.99552669e-03 1.39990498e+02] [ 6.69839137e-03 -1.03314320e-04 9.99977560e-01 5.73916448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.28, Y:140.01, Z:5.74 [[-6.77789210e-01 -7.35243346e-01 4.35991424e-03 1.13275453e+02] [ 7.35227182e-01 -6.77803225e-01 -4.87641064e-03 1.40008070e+02] [ 6.54051241e-03 -9.96510554e-05 9.99978606e-01 5.73881277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.26, Y:140.03, Z:5.74 [[-6.78009770e-01 -7.35037734e-01 4.72030659e-03 1.13256023e+02] [ 7.35018804e-01 -6.78026192e-01 -5.27637559e-03 1.40027517e+02] [ 7.07882666e-03 -1.07920088e-04 9.99974939e-01 5.73860490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.24, Y:140.05, Z:5.74 [[-6.78531500e-01 -7.34554793e-01 4.92543462e-03 1.13237298e+02] [ 7.34534188e-01 -6.78549367e-01 -5.50315047e-03 1.40046027e+02] [ 7.38451609e-03 -1.16160831e-04 9.99972727e-01 5.73769768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.22, Y:140.07, Z:5.74 [[-6.78980187e-01 -7.34137514e-01 5.29304496e-03 1.13218426e+02] [ 7.34113732e-01 -6.79000806e-01 -5.91045110e-03 1.40066040e+02] [ 7.93306567e-03 -1.27382206e-04 9.99968525e-01 5.73731409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.20, Y:140.08, Z:5.74 [[-6.80112104e-01 -7.33083843e-01 5.96700576e-03 1.13197650e+02] [ 7.33053612e-01 -6.80138262e-01 -6.65934024e-03 1.40084898e+02] [ 8.94024366e-03 -1.54962782e-04 9.99960023e-01 5.73803394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.18, Y:140.11, Z:5.74 [[-6.80960917e-01 -7.32294199e-01 6.11848407e-03 1.13178419e+02] [ 7.32262416e-01 -6.80988384e-01 -6.82458348e-03 1.40105812e+02] [ 9.16421947e-03 -1.66938705e-04 9.99957994e-01 5.73837132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.16, Y:140.13, Z:5.74 [[-6.81840672e-01 -7.31476073e-01 6.00448065e-03 1.13159266e+02] [ 7.31445465e-01 -6.81867088e-01 -6.69369126e-03 1.40126801e+02] [ 8.99053273e-03 -1.72080799e-04 9.99959570e-01 5.73871562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.14, Y:140.15, Z:5.74 [[-6.83212128e-01 -7.30198185e-01 5.63906520e-03 1.13139403e+02] [ 7.30171175e-01 -6.83235377e-01 -6.28298060e-03 1.40146941e+02] [ 8.44062987e-03 -1.75125691e-04 9.99964362e-01 5.73957773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.12, Y:140.17, Z:5.74 [[-6.83835105e-01 -7.29617155e-01 5.32503705e-03 1.13121338e+02] [ 7.29593080e-01 -6.83855817e-01 -5.92957083e-03 1.40167738e+02] [ 7.96787416e-03 -1.69738512e-04 9.99968242e-01 5.73925334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.10, Y:140.19, Z:5.74 [[-6.84114124e-01 -7.29355393e-01 5.34565668e-03 1.13101686e+02] [ 7.29331152e-01 -6.84134988e-01 -5.94886637e-03 1.40186951e+02] [ 7.99598854e-03 -1.70949558e-04 9.99968017e-01 5.73904258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.08, Y:140.21, Z:5.74 [[-6.84113538e-01 -7.29356222e-01 5.30736589e-03 1.13081557e+02] [ 7.29332353e-01 -6.84134105e-01 -5.90299333e-03 1.40206622e+02] [ 7.93633492e-03 -1.67483998e-04 9.99968493e-01 5.73918658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.06, Y:140.23, Z:5.74 [[-6.84124227e-01 -7.29347450e-01 5.13220490e-03 1.13061778e+02] [ 7.29325154e-01 -6.84143459e-01 -5.70503648e-03 1.40226881e+02] [ 7.67211822e-03 -1.59907547e-04 9.99970556e-01 5.73901866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.04, Y:140.25, Z:5.74 [[-6.83913920e-01 -7.29547041e-01 4.78187264e-03 1.13042098e+02] [ 7.29527708e-01 -6.83930621e-01 -5.31306584e-03 1.40245008e+02] [ 7.14660059e-03 -1.45171099e-04 9.99974452e-01 5.73884554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.02, Y:140.26, Z:5.74 [[-6.83611466e-01 -7.29833053e-01 4.36796723e-03 1.13022773e+02] [ 7.29816947e-01 -6.83625408e-01 -4.85023409e-03 1.40264445e+02] [ 6.52591454e-03 -1.27859129e-04 9.99978698e-01 5.73910315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.320385723 meters Centerline goodness [0,1] 0.9999563089828731 Centerline is valid? [True, True] Translation: X:113.00, Y:140.28, Z:5.74 [[-6.82827902e-01 -7.30568507e-01 3.96394957e-03 1.13001390e+02] [ 7.30555270e-01 -6.82839399e-01 -4.39918308e-03 1.40283551e+02] [ 5.92064556e-03 -1.08000702e-04 9.99982467e-01 5.73871095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.98, Y:140.30, Z:5.74 [[-6.82052266e-01 -7.31295117e-01 3.48680330e-03 1.12982787e+02] [ 7.31284894e-01 -6.82061173e-01 -3.86779417e-03 1.40302280e+02] [ 5.20671214e-03 -8.81911931e-05 9.99986441e-01 5.74018277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.96, Y:140.32, Z:5.74 [[-6.81722201e-01 -7.31603699e-01 3.29685586e-03 1.12963584e+02] [ 7.31594574e-01 -6.81730168e-01 -3.65484805e-03 1.40321175e+02] [ 4.92146645e-03 -7.96291918e-05 9.99987886e-01 5.73997165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.94, Y:140.34, Z:5.74 [[-6.80379256e-01 -7.32848690e-01 4.10683333e-03 1.12941830e+02] [ 7.32834568e-01 -6.80391645e-01 -4.55026549e-03 1.40339616e+02] [ 6.12891119e-03 -8.62768136e-05 9.99981214e-01 5.73903546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.92, Y:140.36, Z:5.74 [[-6.79980299e-01 -7.33216771e-01 4.46762337e-03 1.12922961e+02] [ 7.33200089e-01 -6.79994970e-01 -4.94679208e-03 1.40358090e+02] [ 6.66503233e-03 -8.80593066e-05 9.99977785e-01 5.73790422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.470385723 meters Centerline goodness [0,1] 0.9999781840394433 Centerline is valid? [True, True] Translation: X:112.90, Y:140.38, Z:5.74 [[-6.78952981e-01 -7.34166579e-01 4.72056035e-03 1.12902517e+02] [ 7.34147998e-01 -6.78969386e-01 -5.22398674e-03 1.40377644e+02] [ 7.04039244e-03 -8.12514387e-05 9.99975213e-01 5.73727488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.88, Y:140.39, Z:5.74 [[-6.77535183e-01 -7.35467297e-01 5.82505315e-03 1.12882954e+02] [ 7.35439087e-01 -6.77560217e-01 -6.44209682e-03 1.40394933e+02] [ 8.68477581e-03 -8.07754707e-05 9.99962283e-01 5.73545211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.86, Y:140.41, Z:5.73 [[-6.77110234e-01 -7.35857393e-01 5.96894917e-03 1.12864345e+02] [ 7.35827825e-01 -6.77136538e-01 -6.59703554e-03 1.40413568e+02] [ 8.89627095e-03 -7.48013941e-05 9.99960425e-01 5.73477145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.84, Y:140.43, Z:5.73 [[-6.77093804e-01 -7.35870301e-01 6.23543773e-03 1.12844924e+02] [ 7.35838072e-01 -6.77122510e-01 -6.88746072e-03 1.40433336e+02] [ 9.29043304e-03 -7.51844959e-05 9.99956840e-01 5.73415410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.83, Y:140.45, Z:5.74 [[-6.77726214e-01 -7.35289412e-01 6.05479712e-03 1.12825938e+02] [ 7.35259037e-01 -6.77753255e-01 -6.68385059e-03 1.40453234e+02] [ 9.01822302e-03 -7.79764571e-05 9.99959332e-01 5.73504792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.81, Y:140.47, Z:5.74 [[-6.77949744e-01 -7.35083301e-01 6.05682911e-03 1.12807898e+02] [ 7.35052935e-01 -6.77976795e-01 -6.68200927e-03 1.40473002e+02] [ 9.01822302e-03 -7.79764591e-05 9.99959332e-01 5.73504806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.79, Y:140.49, Z:5.73 [[-6.78738080e-01 -7.34359333e-01 5.56672084e-03 1.12791759e+02] [ 7.34333690e-01 -6.78760904e-01 -6.13738237e-03 1.40493158e+02] [ 8.28551649e-03 -7.78444719e-05 9.99965672e-01 5.73499983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.77, Y:140.51, Z:5.74 [[-6.81146126e-01 -7.32133427e-01 4.53863032e-03 1.12773338e+02] [ 7.32116350e-01 -6.81161242e-01 -5.00122365e-03 1.40514223e+02] [ 6.75310208e-03 -8.37586462e-05 9.99977194e-01 5.73764030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.75, Y:140.53, Z:5.74 [[-6.82290670e-01 -7.31069694e-01 4.06759030e-03 1.12753827e+02] [ 7.31055973e-01 -6.82302789e-01 -4.47967251e-03 1.40534646e+02] [ 6.05028101e-03 -8.28025683e-05 9.99981693e-01 5.73924428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.74, Y:140.56, Z:5.74 [[-6.83359329e-01 -7.30071912e-01 3.87698196e-03 1.12735331e+02] [ 7.30059445e-01 -6.83370322e-01 -4.26736498e-03 1.40555295e+02] [ 5.76489772e-03 -8.57163737e-05 9.99983379e-01 5.73992085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.72, Y:140.58, Z:5.74 [[-6.85490662e-01 -7.28072440e-01 3.61590872e-03 1.12717448e+02] [ 7.28061580e-01 -6.85500193e-01 -3.97765439e-03 1.40576035e+02] [ 5.37472666e-03 -9.40407226e-05 9.99985552e-01 5.74003167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.800385723 meters Centerline goodness [0,1] 0.999934979084939 Centerline is valid? [True, True] Translation: X:112.70, Y:140.60, Z:5.74 [[-6.86399766e-01 -7.27217311e-01 3.21618093e-03 1.12698549e+02] [ 7.27208720e-01 -6.86407295e-01 -3.53597010e-03 1.40596440e+02] [ 4.77902872e-03 -8.82542249e-05 9.99988577e-01 5.73984690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.68, Y:140.62, Z:5.74 [[-6.87004095e-01 -7.26646186e-01 3.27024115e-03 1.12680433e+02] [ 7.26637304e-01 -6.87011872e-01 -3.59394851e-03 1.40616619e+02] [ 4.85822348e-03 -9.27781293e-05 9.99988194e-01 5.73940514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.66, Y:140.64, Z:5.74 [[-6.87610057e-01 -7.26071495e-01 3.54882579e-03 1.12660639e+02] [ 7.26061039e-01 -6.87619207e-01 -3.89797318e-03 1.40636734e+02] [ 5.27044799e-03 -1.03621418e-04 9.99986106e-01 5.73813503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.64, Y:140.66, Z:5.74 [[-6.87624413e-01 -7.26056345e-01 3.85365916e-03 1.12642740e+02] [ 7.26044031e-01 -6.87635203e-01 -4.23006792e-03 1.40655716e+02] [ 5.72117935e-03 -1.10771740e-04 9.99983628e-01 5.73752090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.62, Y:140.68, Z:5.74 [[-6.87576500e-01 -7.26099678e-01 4.22067037e-03 1.12623535e+02] [ 7.26084926e-01 -6.87589444e-01 -4.63011700e-03 1.40675605e+02] [ 6.26401486e-03 -1.18994507e-04 9.99980374e-01 5.73657295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.60, Y:140.69, Z:5.74 [[-6.86235733e-01 -7.27356876e-01 5.70024248e-03 1.12604363e+02] [ 7.27330042e-01 -6.86259393e-01 -6.24944359e-03 1.40694601e+02] [ 8.45742071e-03 -1.42633901e-04 9.99964225e-01 5.73506739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.59, Y:140.71, Z:5.73 [[-6.85509097e-01 -7.28038330e-01 6.12104270e-03 1.12585181e+02] [ 7.28007452e-01 -6.85536410e-01 -6.70671588e-03 1.40713788e+02] [ 9.07894387e-03 -1.41350053e-04 9.99958776e-01 5.73492531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.57, Y:140.73, Z:5.73 [[-6.84927262e-01 -7.28585857e-01 6.10693566e-03 1.12565874e+02] [ 7.28555179e-01 -6.84954474e-01 -6.68719115e-03 1.40732566e+02] [ 9.05516580e-03 -1.30999919e-04 9.99958993e-01 5.73488295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.55, Y:140.75, Z:5.73 [[-6.84407375e-01 -7.29077967e-01 5.64471019e-03 1.12547770e+02] [ 7.29051799e-01 -6.84430643e-01 -6.17814352e-03 1.40751524e+02] [ 8.36776094e-03 -1.13080870e-04 9.99964983e-01 5.73485708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.070385723 meters Centerline goodness [0,1] 0.9998702337954452 Centerline is valid? [True, True] Translation: X:112.53, Y:140.77, Z:5.73 [[-6.84533279e-01 -7.28964936e-01 4.93069387e-03 1.12527260e+02] [ 7.28944990e-01 -6.84551030e-01 -5.39336676e-03 1.40769995e+02] [ 7.30688682e-03 -9.77344449e-05 9.99973300e-01 5.73382862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.51, Y:140.79, Z:5.74 [[-6.84459280e-01 -7.29035073e-01 4.83289476e-03 1.12509506e+02] [ 7.29015936e-01 -6.84476336e-01 -5.28301887e-03 1.40789005e+02] [ 7.15950814e-03 -9.27539933e-05 9.99974366e-01 5.73696558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.49, Y:140.81, Z:5.74 [[-6.85584537e-01 -7.27977515e-01 4.75189327e-03 1.12491424e+02] [ 7.27959011e-01 -6.85600998e-01 -5.19136208e-03 1.40809513e+02] [ 7.03709764e-03 -9.99340433e-05 9.99975234e-01 5.73671076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.47, Y:140.83, Z:5.74 [[-6.86078027e-01 -7.27515875e-01 4.19436405e-03 1.12472004e+02] [ 7.27501465e-01 -6.86090842e-01 -4.57974808e-03 1.40829578e+02] [ 6.20955419e-03 -9.06585365e-05 9.99980716e-01 5.73749438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.190385723 meters Centerline goodness [0,1] 0.9999352708913198 Centerline is valid? [True, True] Translation: X:112.45, Y:140.85, Z:5.74 [[-6.86600416e-01 -7.27023403e-01 4.10361074e-03 1.12454764e+02] [ 7.27009615e-01 -6.86612673e-01 -4.47850824e-03 1.40849300e+02] [ 6.07357144e-03 -9.15811567e-05 9.99981552e-01 5.73761080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.44, Y:140.87, Z:5.74 [[-6.87704178e-01 -7.25981900e-01 3.63920114e-03 1.12438065e+02] [ 7.25971055e-01 -6.87713802e-01 -3.96913520e-03 1.40869528e+02] [ 5.38424917e-03 -8.76361719e-05 9.99985501e-01 5.73792099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.42, Y:140.89, Z:5.74 [[-6.88270498e-01 -7.25447325e-01 3.14663246e-03 1.12418968e+02] [ 7.25439221e-01 -6.88277686e-01 -3.42983660e-03 1.40888584e+02] [ 4.65392270e-03 -7.79647413e-05 9.99989167e-01 5.73867811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.40, Y:140.91, Z:5.74 [[-6.88683441e-01 -7.25055485e-01 3.10832334e-03 1.12399529e+02] [ 7.25047582e-01 -6.88690451e-01 -3.38621676e-03 1.40908228e+02] [ 4.59586763e-03 -7.83490864e-05 9.99989436e-01 5.73927783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.38, Y:140.93, Z:5.74 [[-6.88721961e-01 -7.25018614e-01 3.17319326e-03 1.12379610e+02] [ 7.25010387e-01 -6.88729267e-01 -3.45496114e-03 1.40927659e+02] [ 4.69038221e-03 -7.89095407e-05 9.99988997e-01 5.73989508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.36, Y:140.95, Z:5.74 [[-6.88689102e-01 -7.25050164e-01 3.09521685e-03 1.12359951e+02] [ 7.25042345e-01 -6.88696053e-01 -3.36819601e-03 1.40947867e+02] [ 4.57377469e-03 -7.54766007e-05 9.99989537e-01 5.73974407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.34, Y:140.97, Z:5.74 [[-6.88488178e-01 -7.25238108e-01 3.70341335e-03 1.12340130e+02] [ 7.25226929e-01 -6.88498133e-01 -4.02768024e-03 1.40967052e+02] [ 5.47082038e-03 -8.71951382e-05 9.99985031e-01 5.73899213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.400385723 meters Centerline goodness [0,1] 0.9999141299214289 Centerline is valid? [True, True] Translation: X:112.32, Y:140.99, Z:5.74 [[-6.88322824e-01 -7.25393772e-01 3.94534558e-03 1.12319533e+02] [ 7.25381101e-01 -6.88334125e-01 -4.28843088e-03 1.40986842e+02] [ 5.82651705e-03 -8.99457339e-05 9.99983022e-01 5.73853892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.30, Y:141.01, Z:5.74 [[-6.88170054e-01 -7.25537732e-01 4.12013714e-03 1.12299475e+02] [ 7.25523932e-01 -6.88182382e-01 -4.47593465e-03 1.41006889e+02] [ 6.08286527e-03 -9.09460925e-05 9.99981495e-01 5.73831743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.28, Y:141.03, Z:5.74 [[-6.88121219e-01 -7.25584272e-01 4.08073674e-03 1.12280464e+02] [ 7.25570750e-01 -6.88133313e-01 -4.43065530e-03 1.41026948e+02] [ 6.02290469e-03 -8.79647122e-05 9.99981858e-01 5.73881479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.490385723 meters Centerline goodness [0,1] 0.9999785366272456 Centerline is valid? [True, True] Translation: X:112.26, Y:141.05, Z:5.74 [[-6.88125580e-01 -7.25578334e-01 4.38945904e-03 1.12261682e+02] [ 7.25562706e-01 -6.88139573e-01 -4.76319194e-03 1.41047512e+02] [ 6.47662934e-03 -9.28464388e-05 9.99979022e-01 5.73898819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.24, Y:141.07, Z:5.74 [[-6.88082651e-01 -7.25618307e-01 4.50983818e-03 1.12243420e+02] [ 7.25601829e-01 -6.88097424e-01 -4.89094289e-03 1.41067911e+02] [ 6.65216573e-03 -9.30261138e-05 9.99977870e-01 5.73913559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.550385723 meters Centerline goodness [0,1] 0.9999355407060442 Centerline is valid? [True, True] Translation: X:112.22, Y:141.09, Z:5.74 [[-6.87647273e-01 -7.26027806e-01 4.98530953e-03 1.12223470e+02] [ 7.26007703e-01 -6.87665337e-01 -5.40364361e-03 1.41087780e+02] [ 7.35142007e-03 -9.64276744e-05 9.99972973e-01 5.73674204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.20, Y:141.11, Z:5.74 [[-6.87279000e-01 -7.26374884e-01 5.20617240e-03 1.12204139e+02] [ 7.26352994e-01 -6.87298712e-01 -5.63996011e-03 1.41107794e+02] [ 7.67492096e-03 -9.47072360e-05 9.99970543e-01 5.73816515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.610385723 meters Centerline goodness [0,1] 0.9998494073101994 Centerline is valid? [True, True] Translation: X:112.19, Y:141.13, Z:5.74 [[-6.87150378e-01 -7.26495212e-01 5.39117876e-03 1.12185665e+02] [ 7.26471768e-01 -6.87171520e-01 -5.83718219e-03 1.41128661e+02] [ 7.94534941e-03 -9.44827826e-05 9.99968431e-01 5.73543514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.17, Y:141.15, Z:5.74 [[-6.87029781e-01 -7.26610886e-01 5.16718639e-03 1.12168674e+02] [ 7.26589380e-01 -6.87049207e-01 -5.59103970e-03 1.41148475e+02] [ 7.61262162e-03 -8.67880278e-05 9.99971020e-01 5.73906320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.15, Y:141.17, Z:5.74 [[-6.87196940e-01 -7.26452820e-01 5.16392756e-03 1.12150650e+02] [ 7.26431363e-01 -6.87216336e-01 -5.58409731e-03 1.41169446e+02] [ 7.60531862e-03 -8.61356435e-05 9.99971075e-01 5.73963824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.13, Y:141.19, Z:5.74 [[-6.87114093e-01 -7.26531996e-01 5.04796146e-03 1.12133269e+02] [ 7.26511518e-01 -6.87132631e-01 -5.45536953e-03 1.41190539e+02] [ 7.43211955e-03 -8.10591464e-05 9.99972378e-01 5.74045125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.12, Y:141.21, Z:5.74 [[-6.87058926e-01 -7.26584083e-01 5.05992112e-03 1.12115752e+02] [ 7.26563529e-01 -6.87077553e-01 -5.46572184e-03 1.41210481e+02] [ 7.44786472e-03 -7.89188310e-05 9.99972261e-01 5.74087748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.10, Y:141.23, Z:5.74 [[-6.87053951e-01 -7.26589413e-01 4.96921338e-03 1.12097212e+02] [ 7.26569613e-01 -6.87071917e-01 -5.36451129e-03 1.41230938e+02] [ 7.31200407e-03 -7.52292289e-05 9.99973264e-01 5.74116798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.08, Y:141.25, Z:5.74 [[-6.85797914e-01 -7.27774413e-01 5.06202320e-03 1.12079013e+02] [ 7.27753918e-01 -6.85816593e-01 -5.46216261e-03 1.41250184e+02] [ 7.44684170e-03 -6.20325091e-05 9.99972270e-01 5.74115870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.06, Y:141.27, Z:5.74 [[-6.85075064e-01 -7.28453457e-01 5.26479029e-03 1.12058533e+02] [ 7.28431332e-01 -6.85095291e-01 -5.67776162e-03 1.41269982e+02] [ 7.74286812e-03 -5.46546973e-05 9.99970022e-01 5.74161222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.850385723 meters Centerline goodness [0,1] 0.9999784440947598 Centerline is valid? [True, True] Translation: X:112.04, Y:141.29, Z:5.74 [[-6.83182236e-01 -7.30219908e-01 6.39686035e-03 1.12039784e+02] [ 7.30187360e-01 -6.83212182e-01 -6.89453540e-03 1.41289709e+02] [ 9.40493992e-03 -3.93175422e-05 9.99955772e-01 5.73903086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.880385723 meters Centerline goodness [0,1] 0.9999784194397686 Centerline is valid? [True, True] Translation: X:112.02, Y:141.31, Z:5.74 [[-6.82359565e-01 -7.30986617e-01 6.63249500e-03 1.12019876e+02] [ 7.30951702e-01 -6.82391797e-01 -7.14457761e-03 1.41309813e+02] [ 9.74855080e-03 -2.71373631e-05 9.99952481e-01 5.73967517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.00, Y:141.33, Z:5.74 [[-6.81623389e-01 -7.31667949e-01 7.18107490e-03 1.12000872e+02] [ 7.31627102e-01 -6.81661215e-01 -7.73120362e-03 1.41329821e+02] [ 1.05517341e-02 -1.59001849e-05 9.99944329e-01 5.73970912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.98, Y:141.35, Z:5.74 [[-6.80538677e-01 -7.32678416e-01 7.03185754e-03 1.11981694e+02] [ 7.32639347e-01 -6.80575006e-01 -7.56629797e-03 1.41350648e+02] [ 1.03293697e-02 2.65710718e-06 9.99946651e-01 5.74031608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.970385723 meters Centerline goodness [0,1] 0.9999784830554062 Centerline is valid? [True, True] Translation: X:111.96, Y:141.37, Z:5.74 [[-6.80218438e-01 -7.32976435e-01 6.95856158e-03 1.11963748e+02] [ 7.32938223e-01 -6.80254030e-01 -7.48435631e-03 1.41370714e+02] [ 1.02194464e-02 9.19859740e-06 9.99947780e-01 5.74056568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.000385723 meters Centerline goodness [0,1] 0.9999354255456542 Centerline is valid? [True, True] Translation: X:111.95, Y:141.39, Z:5.74 [[-6.80116105e-01 -7.33071360e-01 6.96171707e-03 1.11945053e+02] [ 7.33033160e-01 -6.80151734e-01 -7.48361701e-03 1.41391800e+02] [ 1.02210492e-02 1.34410088e-05 9.99947764e-01 5.74098253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.030385723 meters Centerline goodness [0,1] 0.9998277013202387 Centerline is valid? [True, True] Translation: X:111.93, Y:141.41, Z:5.74 [[-6.80704357e-01 -7.32528624e-01 6.58735599e-03 1.11927727e+02] [ 7.32494435e-01 -6.80736230e-01 -7.07730163e-03 1.41413594e+02] [ 9.66857791e-03 7.65154306e-06 9.99953258e-01 5.74218435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.060385723 meters Centerline goodness [0,1] 0.9999783634081959 Centerline is valid? [True, True] Translation: X:111.91, Y:141.43, Z:5.74 [[-6.81413466e-01 -7.31872818e-01 6.15358407e-03 1.11909607e+02] [ 7.31842990e-01 -6.81441251e-01 -6.60756515e-03 1.41434908e+02] [ 9.02920335e-03 9.73494211e-07 9.99959236e-01 5.74311216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0903857229999 meters Centerline goodness [0,1] 0.9999567314973066 Centerline is valid? [True, True] Translation: X:111.89, Y:141.46, Z:5.74 [[-6.83315161e-01 -7.30102651e-01 5.52355535e-03 1.11892690e+02] [ 7.30078588e-01 -6.83337486e-01 -5.92755391e-03 1.41456163e+02] [ 8.10217525e-03 -1.77579633e-05 9.99967177e-01 5.74344811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.120385723 meters Centerline goodness [0,1] 0.9999783615354655 Centerline is valid? [True, True] Translation: X:111.87, Y:141.48, Z:5.74 [[-6.84221547e-01 -7.29255136e-01 5.27467587e-03 1.11874303e+02] [ 7.29233192e-01 -6.84241877e-01 -5.65735480e-03 1.41477198e+02] [ 7.73480916e-03 -2.44153299e-05 9.99970086e-01 5.74303321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.150385723 meters Centerline goodness [0,1] 0.9998051948051948 Centerline is valid? [True, True] Translation: X:111.86, Y:141.50, Z:5.74 [[-6.85550182e-01 -7.28003330e-01 5.66558706e-03 1.11855997e+02] [ 7.27977998e-01 -6.85573592e-01 -6.07328646e-03 1.41498611e+02] [ 8.30554964e-03 -3.91199112e-05 9.99965508e-01 5.73962021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.180385723 meters Centerline goodness [0,1] 0.999848146300193 Centerline is valid? [True, True] Translation: X:111.84, Y:141.52, Z:5.74 [[-6.86918562e-01 -7.26711974e-01 5.70923876e-03 1.11840617e+02] [ 7.26686239e-01 -6.86942286e-01 -6.11611746e-03 1.41520169e+02] [ 8.36657332e-03 -5.24493758e-05 9.99964998e-01 5.74220114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.82, Y:141.54, Z:5.74 [[-6.88374660e-01 -7.25331894e-01 5.82840229e-03 1.11823111e+02] [ 7.25305056e-01 -6.88399331e-01 -6.23996850e-03 1.41541651e+02] [ 8.53831641e-03 -6.80665454e-05 9.99963546e-01 5.74240708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.240385723 meters Centerline goodness [0,1] 0.9998697266430727 Centerline is valid? [True, True] Translation: X:111.81, Y:141.56, Z:5.74 [[-6.89851063e-01 -7.23922972e-01 6.40629392e-03 1.11805325e+02] [ 7.23890522e-01 -6.89880803e-01 -6.85497382e-03 1.41564079e+02] [ 9.38205221e-03 -9.14555250e-05 9.99955983e-01 5.74040062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.79, Y:141.59, Z:5.74 [[-6.92071286e-01 -7.21802477e-01 6.20642932e-03 1.11788912e+02] [ 7.21771967e-01 -6.92099105e-01 -6.63753724e-03 1.41586716e+02] [ 9.08645500e-03 -1.14022236e-04 9.99958711e-01 5.74256419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.300385723 meters Centerline goodness [0,1] 0.9997389033942559 Centerline is valid? [True, True] Translation: X:111.77, Y:141.61, Z:5.74 [[-6.93178307e-01 -7.20737569e-01 6.41805471e-03 1.11771328e+02] [ 7.20704933e-01 -6.93208007e-01 -6.85997498e-03 1.41607883e+02] [ 9.39328860e-03 -1.29662157e-04 9.99955874e-01 5.74186892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.330385723 meters Centerline goodness [0,1] 0.9998034161897689 Centerline is valid? [True, True] Translation: X:111.75, Y:141.63, Z:5.74 [[-6.94761416e-01 -7.19208247e-01 6.78768480e-03 1.11752678e+02] [ 7.19171710e-01 -6.94794555e-01 -7.25108900e-03 1.41629143e+02] [ 9.93108945e-03 -1.56265969e-04 9.99950673e-01 5.74265926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.360385723 meters Centerline goodness [0,1] 0.9999565585699082 Centerline is valid? [True, True] Translation: X:111.74, Y:141.65, Z:5.74 [[-6.95321438e-01 -7.18665301e-01 6.94862670e-03 1.11736563e+02] [ 7.18627020e-01 -6.95356137e-01 -7.41949362e-03 1.41650548e+02] [ 1.01639028e-02 -1.65462074e-04 9.99948333e-01 5.74166631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.390385723 meters Centerline goodness [0,1] 0.9997156667614444 Centerline is valid? [True, True] Translation: X:111.72, Y:141.67, Z:5.74 [[-6.96641223e-01 -7.17381407e-01 7.41095165e-03 1.11717037e+02] [ 7.17337840e-01 -6.96680615e-01 -7.90854975e-03 1.41670108e+02] [ 1.08365129e-02 -1.93265731e-04 9.99941265e-01 5.73980551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.420385723 meters Centerline goodness [0,1] 0.9999125205030072 Centerline is valid? [True, True] Translation: X:111.70, Y:141.69, Z:5.74 [[-6.97022559e-01 -7.17015779e-01 6.92277898e-03 1.11700402e+02] [ 7.16977792e-01 -6.97056912e-01 -7.38284183e-03 1.41690164e+02] [ 1.01191850e-02 -1.82528511e-04 9.99948783e-01 5.74248512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.68, Y:141.71, Z:5.74 [[-6.97947138e-01 -7.16112913e-01 7.21721244e-03 1.11680596e+02] [ 7.16071622e-01 -6.97984423e-01 -7.69265215e-03 1.41710701e+02] [ 1.05463094e-02 -2.01023537e-04 9.99944366e-01 5.74301783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.480385723 meters Centerline goodness [0,1] 0.9997163306275639 Centerline is valid? [True, True] Translation: X:111.66, Y:141.73, Z:5.74 [[-6.98316925e-01 -7.15754820e-01 6.96494512e-03 1.11662030e+02] [ 7.15716393e-01 -6.98351630e-01 -7.41922472e-03 1.41731308e+02] [ 1.01743266e-02 -1.96044794e-04 9.99948221e-01 5.74259941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.510385723 meters Centerline goodness [0,1] 0.9998028261583963 Centerline is valid? [True, True] Translation: X:111.64, Y:141.75, Z:5.74 [[-6.98659078e-01 -7.15421670e-01 6.87942091e-03 1.11643110e+02] [ 7.15384206e-01 -6.98692919e-01 -7.32408442e-03 1.41751736e+02] [ 1.00464114e-02 -1.95609005e-04 9.99949514e-01 5.74449327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.540385723 meters Centerline goodness [0,1] 0.9998028261583963 Centerline is valid? [True, True] Translation: X:111.62, Y:141.77, Z:5.74 [[-6.98855494e-01 -7.15229784e-01 6.88143182e-03 1.11624176e+02] [ 7.15192329e-01 -6.98889346e-01 -7.32219508e-03 1.41771808e+02] [ 1.00464114e-02 -1.95609003e-04 9.99949514e-01 5.74449341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.570385723 meters Centerline goodness [0,1] 0.9998469811568225 Centerline is valid? [True, True] Translation: X:111.60, Y:141.79, Z:5.75 [[-6.98905951e-01 -7.15183729e-01 6.53497322e-03 1.11604858e+02] [ 7.15149985e-01 -6.98936478e-01 -6.94970262e-03 1.41792052e+02] [ 9.53784540e-03 -1.83702517e-04 9.99954497e-01 5.74521621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.600385723 meters Centerline goodness [0,1] 0.9998687520507492 Centerline is valid? [True, True] Translation: X:111.59, Y:141.81, Z:5.75 [[-6.98693614e-01 -7.15391935e-01 6.45084507e-03 1.11585388e+02] [ 7.15359099e-01 -6.98723370e-01 -6.85645602e-03 1.41812617e+02] [ 9.41240955e-03 -1.75891314e-04 9.99955687e-01 5.74537148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.630385723 meters Centerline goodness [0,1] 0.9999343314946152 Centerline is valid? [True, True] Translation: X:111.57, Y:141.83, Z:5.75 [[-6.98062564e-01 -7.16003228e-01 6.93060701e-03 1.11566754e+02] [ 7.15965399e-01 -6.98096946e-01 -7.36216234e-03 1.41831659e+02] [ 1.01095676e-02 -1.77175112e-04 9.99948881e-01 5.74502112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.660385723 meters Centerline goodness [0,1] 0.9999781606936163 Centerline is valid? [True, True] Translation: X:111.55, Y:141.85, Z:5.74 [[-6.97904645e-01 -7.16153285e-01 7.31982179e-03 1.11547707e+02] [ 7.16111146e-01 -6.97943006e-01 -7.77088939e-03 1.41851379e+02] [ 1.06739664e-02 -1.81533826e-04 9.99943015e-01 5.74456962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.690385723 meters Centerline goodness [0,1] 0.9999561979851073 Centerline is valid? [True, True] Translation: X:111.53, Y:141.87, Z:5.74 [[-6.97764868e-01 -7.16280929e-01 8.11295317e-03 1.11529901e+02] [ 7.16229237e-01 -6.97812004e-01 -8.60741399e-03 1.41870602e+02] [ 1.18266426e-02 -1.95216823e-04 9.99930044e-01 5.74377825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.720385723 meters Centerline goodness [0,1] 0.9999342263927561 Centerline is valid? [True, True] Translation: X:111.51, Y:141.89, Z:5.74 [[-6.97768841e-01 -7.16267750e-01 8.89688634e-03 1.11510852e+02] [ 7.16205658e-01 -6.97825527e-01 -9.43341093e-03 1.41890648e+02] [ 1.29653224e-02 -2.10339881e-04 9.99915925e-01 5.74310007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.750385723 meters Centerline goodness [0,1] 0.9998690356659536 Centerline is valid? [True, True] Translation: X:111.49, Y:141.91, Z:5.74 [[-6.97768498e-01 -7.16260835e-01 9.46251916e-03 1.11491505e+02] [ 7.16190671e-01 -6.97832622e-01 -1.00276645e-02 1.41910661e+02] [ 1.37856779e-02 -2.20020469e-04 9.99904949e-01 5.74308992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.780385723 meters Centerline goodness [0,1] 0.9998904829701019 Centerline is valid? [True, True] Translation: X:111.47, Y:141.93, Z:5.74 [[-6.98155500e-01 -7.15875556e-01 1.00542030e-02 1.11471899e+02] [ 7.15796389e-01 -6.98227851e-01 -1.06488531e-02 1.41930837e+02] [ 1.46433782e-02 -2.37793145e-04 9.99892752e-01 5.74254072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.810385723 meters Centerline goodness [0,1] 0.9999124189875634 Centerline is valid? [True, True] Translation: X:111.45, Y:141.95, Z:5.74 [[-6.98791328e-01 -7.15255886e-01 9.98491304e-03 1.11453088e+02] [ 7.15177837e-01 -6.98862618e-01 -1.05689906e-02 1.41950978e+02] [ 1.45376152e-02 -2.44530431e-04 9.99894293e-01 5.74194842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.44, Y:141.97, Z:5.74 [[-6.99380436e-01 -7.14683548e-01 9.71759577e-03 1.11435968e+02] [ 7.14609661e-01 -6.99447901e-01 -1.02794406e-02 1.41970709e+02] [ 1.41434990e-02 -2.44951824e-04 9.99899946e-01 5.74183868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.870385723 meters Centerline goodness [0,1] 0.9999780436930509 Centerline is valid? [True, True] Translation: X:111.42, Y:141.99, Z:5.74 [[-7.01017274e-01 -7.13094009e-01 8.46853013e-03 1.11419109e+02] [ 7.13037847e-01 -7.01068383e-01 -8.95267776e-03 1.41992703e+02] [ 1.23211196e-02 -2.37599261e-04 9.99924064e-01 5.74455097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.900385723 meters Centerline goodness [0,1] 0.9998682216511827 Centerline is valid? [True, True] Translation: X:111.40, Y:142.01, Z:5.74 [[-7.02041426e-01 -7.12086682e-01 8.39009164e-03 1.11400351e+02] [ 7.12031543e-01 -7.02091515e-01 -8.86487621e-03 1.42014044e+02] [ 1.22031724e-02 -2.49500440e-04 9.99925507e-01 5.74421902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.930385723 meters Centerline goodness [0,1] 0.9998904589768869 Centerline is valid? [True, True] Translation: X:111.38, Y:142.03, Z:5.75 [[-7.02126438e-01 -7.12011427e-01 7.62844083e-03 1.11383201e+02] [ 7.11965896e-01 -7.02167841e-01 -8.05518965e-03 1.42034635e+02] [ 1.10918329e-02 -2.24571904e-04 9.99938459e-01 5.74600865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.36, Y:142.05, Z:5.75 [[-7.02443048e-01 -7.11697824e-01 7.74411854e-03 1.11363862e+02] [ 7.11650939e-01 -7.02485697e-01 -8.17231860e-03 1.42053674e+02] [ 1.12563539e-02 -2.29479165e-04 9.99936619e-01 5.74647912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.34, Y:142.07, Z:5.75 [[-7.02526413e-01 -7.11618738e-01 7.44383844e-03 1.11344578e+02] [ 7.11575460e-01 -7.02565815e-01 -7.85112952e-03 1.42073727e+02] [ 1.08167973e-02 -2.18773097e-04 9.99941473e-01 5.74659278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.020385723 meters Centerline goodness [0,1] 0.9999342379271795 Centerline is valid? [True, True] Translation: X:111.32, Y:142.09, Z:5.75 [[-7.02699165e-01 -7.11454988e-01 6.75898423e-03 1.11324453e+02] [ 7.11419339e-01 -7.02731643e-01 -7.12482195e-03 1.42093955e+02] [ 9.81874221e-03 -1.98134346e-04 9.99951775e-01 5.74613033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.050385723 meters Centerline goodness [0,1] 0.9999782011596983 Centerline is valid? [True, True] Translation: X:111.31, Y:142.12, Z:5.75 [[-7.02381116e-01 -7.11774538e-01 6.14608388e-03 1.11307865e+02] [ 7.11745107e-01 -7.02407984e-01 -6.47505708e-03 1.42115446e+02] [ 8.92583915e-03 -1.73512689e-04 9.99960149e-01 5.74705416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.29, Y:142.13, Z:5.75 [[-7.02183272e-01 -7.11970702e-01 6.03094186e-03 1.11286861e+02] [ 7.11942402e-01 -7.02209151e-01 -6.35020605e-03 1.42134139e+02] [ 8.75614322e-03 -1.65325224e-04 9.99961651e-01 5.74855025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.110385723 meters Centerline goodness [0,1] 0.999978167845603 Centerline is valid? [True, True] Translation: X:111.27, Y:142.15, Z:5.75 [[-7.01557877e-01 -7.12580520e-01 6.74895447e-03 1.11268046e+02] [ 7.12545148e-01 -7.01590317e-01 -7.10208782e-03 1.42153552e+02] [ 9.79581053e-03 -1.73590890e-04 9.99952005e-01 5.74793784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.140385723 meters Centerline goodness [0,1] 0.9999123825378398 Centerline is valid? [True, True] Translation: X:111.25, Y:142.17, Z:5.75 [[-7.01342405e-01 -7.12791593e-01 6.85392769e-03 1.11248450e+02] [ 7.12755162e-01 -7.01375873e-01 -7.20859505e-03 1.42173726e+02] [ 9.94540546e-03 -1.70521046e-04 9.99950529e-01 5.74715025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.23, Y:142.19, Z:5.75 [[-7.01146822e-01 -7.12984138e-01 6.83760077e-03 1.11228391e+02] [ 7.12947928e-01 -7.01180142e-01 -7.18748775e-03 1.42193965e+02] [ 9.91895464e-03 -1.64630892e-04 9.99950792e-01 5.74658263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.21, Y:142.21, Z:5.75 [[-7.01274420e-01 -7.12856919e-01 7.01431564e-03 1.11209804e+02] [ 7.12818853e-01 -7.01309479e-01 -7.36872370e-03 1.42213991e+02] [ 1.01720517e-02 -1.67561010e-04 9.99948249e-01 5.74665851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.230385723 meters Centerline goodness [0,1] 0.9999780841131737 Centerline is valid? [True, True] Translation: X:111.19, Y:142.23, Z:5.75 [[-7.01487815e-01 -7.12645780e-01 7.13005641e-03 1.11191524e+02] [ 7.12606484e-01 -7.01524029e-01 -7.48571778e-03 1.42233720e+02] [ 1.03365711e-02 -1.70215375e-04 9.99946562e-01 5.74688092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.260385723 meters Centerline goodness [0,1] 0.9999561855105483 Centerline is valid? [True, True] Translation: X:111.17, Y:142.25, Z:5.75 [[-7.02066459e-01 -7.12073709e-01 7.32945328e-03 1.11174068e+02] [ 7.12032205e-01 -7.02104694e-01 -7.69011338e-03 1.42253454e+02] [ 1.06219711e-02 -1.80163888e-04 9.99943569e-01 5.74628939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.290385723 meters Centerline goodness [0,1] 0.99997813729777 Centerline is valid? [True, True] Translation: X:111.16, Y:142.27, Z:5.75 [[-7.02561658e-01 -7.11580872e-01 7.73171275e-03 1.11156234e+02] [ 7.11534715e-01 -7.02604174e-01 -8.10702802e-03 1.42272709e+02] [ 1.12011397e-02 -1.94305021e-04 9.99937246e-01 5.74542899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.320385723 meters Centerline goodness [0,1] 0.9998683748683749 Centerline is valid? [True, True] Translation: X:111.14, Y:142.29, Z:5.74 [[-7.03065767e-01 -7.11076664e-01 8.27681592e-03 1.11135936e+02] [ 7.11023792e-01 -7.03114452e-01 -8.67379246e-03 1.42291889e+02] [ 1.19872803e-02 -2.13233504e-04 9.99928127e-01 5.74367862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.12, Y:142.31, Z:5.75 [[-7.02102197e-01 -7.12032276e-01 7.90843369e-03 1.11117488e+02] [ 7.11984118e-01 -7.02146711e-01 -8.28319523e-03 1.42312321e+02] [ 1.14507831e-02 -1.84970384e-04 9.99934421e-01 5.74544414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.10, Y:142.33, Z:5.75 [[-7.02026718e-01 -7.12107074e-01 7.87417507e-03 1.11098485e+02] [ 7.12059393e-01 -7.02070853e-01 -8.24242665e-03 1.42331973e+02] [ 1.13977191e-02 -1.79523398e-04 9.99935028e-01 5.74549217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.08, Y:142.35, Z:5.75 [[-7.01926926e-01 -7.12201982e-01 8.18089014e-03 1.11079274e+02] [ 7.12150582e-01 -7.01974575e-01 -8.55827853e-03 1.42351436e+02] [ 1.18379998e-02 -1.81260468e-04 9.99929912e-01 5.74613790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.06, Y:142.37, Z:5.75 [[-7.02200693e-01 -7.11934722e-01 7.94598282e-03 1.11059816e+02] [ 7.11886268e-01 -7.02245626e-01 -8.30796724e-03 1.42371923e+02] [ 1.14947620e-02 -1.77224295e-04 9.99933917e-01 5.74710181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.04, Y:142.39, Z:5.75 [[-7.02543460e-01 -7.11600782e-01 7.55074495e-03 1.11042143e+02] [ 7.11557064e-01 -7.02584015e-01 -7.88961121e-03 1.42391303e+02] [ 1.09192862e-02 -1.70008852e-04 9.99940368e-01 5.74737149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.02, Y:142.41, Z:5.75 [[-7.03013365e-01 -7.11141773e-01 7.04175696e-03 1.11022586e+02] [ 7.11103774e-01 -7.03048613e-01 -7.35329642e-03 1.42410874e+02] [ 1.01799337e-02 -1.62045713e-04 9.99948170e-01 5.74722687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.00, Y:142.43, Z:5.75 [[-7.03576793e-01 -7.10588057e-01 6.65659637e-03 1.11004377e+02] [ 7.10554119e-01 -7.03608263e-01 -6.94665983e-03 1.42429687e+02] [ 9.61984972e-03 -1.57636674e-04 9.99953716e-01 5.74665697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.99, Y:142.45, Z:5.75 [[-7.04303749e-01 -7.09866889e-01 6.72525120e-03 1.10985941e+02] [ 7.09832256e-01 -7.04335838e-01 -7.01400351e-03 1.42449368e+02] [ 9.71584429e-03 -1.66188742e-04 9.99952786e-01 5.74722381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5903857229999 meters Centerline goodness [0,1] 0.9999563023006839 Centerline is valid? [True, True] Translation: X:110.97, Y:142.47, Z:5.75 [[-7.05249477e-01 -7.08925379e-01 6.92686375e-03 1.10967244e+02] [ 7.08888633e-01 -7.05283471e-01 -7.22030973e-03 1.42470159e+02] [ 1.00040633e-02 -1.81744696e-04 9.99949942e-01 5.74751356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.95, Y:142.49, Z:5.75 [[-7.06251562e-01 -7.07931591e-01 6.44933312e-03 1.10950113e+02] [ 7.07899735e-01 -7.06280985e-01 -6.71820638e-03 1.42489498e+02] [ 9.31107188e-03 -1.79262537e-04 9.99956635e-01 5.74794788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.93, Y:142.51, Z:5.75 [[-7.07339601e-01 -7.06847615e-01 6.09414903e-03 1.10930432e+02] [ 7.06819162e-01 -7.07365830e-01 -6.34474796e-03 1.42509749e+02] [ 8.79556274e-03 -1.80430184e-04 9.99961302e-01 5.74818904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.91, Y:142.53, Z:5.75 [[-7.07890697e-01 -7.06294460e-01 6.23679440e-03 1.10913089e+02] [ 7.06264665e-01 -7.07918145e-01 -6.49017978e-03 1.42529366e+02] [ 8.99911795e-03 -1.89510373e-04 9.99959489e-01 5.74764946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.89, Y:142.55, Z:5.75 [[-7.08065946e-01 -7.06117916e-01 6.33287262e-03 1.10892845e+02] [ 7.06087226e-01 -7.08094239e-01 -6.58611803e-03 1.42548130e+02] [ 9.13484655e-03 -1.91845428e-04 9.99958258e-01 5.74864779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.88, Y:142.57, Z:5.75 [[-7.08305015e-01 -7.05877301e-01 6.42192284e-03 1.10875181e+02] [ 7.05845772e-01 -7.08334101e-01 -6.67443479e-03 1.42567271e+02] [ 9.26019896e-03 -1.94648557e-04 9.99957105e-01 5.74840574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.86, Y:142.59, Z:5.75 [[-7.08402386e-01 -7.05778021e-01 6.59124573e-03 1.10855669e+02] [ 7.05744843e-01 -7.08433021e-01 -6.84628921e-03 1.42586626e+02] [ 9.50141658e-03 -1.98189928e-04 9.99954841e-01 5.74809299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.84, Y:142.61, Z:5.75 [[-7.08911516e-01 -7.05260918e-01 7.17636268e-03 1.10836484e+02] [ 7.05221602e-01 -7.08947804e-01 -7.45008902e-03 1.42607754e+02] [ 1.03419232e-02 -2.20527918e-04 9.99946497e-01 5.74757841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.82, Y:142.63, Z:5.75 [[-7.09778761e-01 -7.04374493e-01 8.40731610e-03 1.10817272e+02] [ 7.04320526e-01 -7.09828501e-01 -8.72334980e-03 1.42627872e+02] [ 1.21122577e-02 -2.70203124e-04 9.99926607e-01 5.74646649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.80, Y:142.65, Z:5.75 [[-7.10481654e-01 -7.03663782e-01 8.54996961e-03 1.10797239e+02] [ 7.03607982e-01 -7.10533041e-01 -8.86596916e-03 1.42647034e+02] [ 1.23136973e-02 -2.83281573e-04 9.99924143e-01 5.74613020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.890385723 meters Centerline goodness [0,1] 0.9998680912808336 Centerline is valid? [True, True] Translation: X:110.78, Y:142.67, Z:5.74 [[-7.11131836e-01 -7.03007212e-01 8.50716662e-03 1.10780346e+02] [ 7.02951991e-01 -7.11182661e-01 -8.81596332e-03 1.42667823e+02] [ 1.22478352e-02 -2.89182467e-04 9.99924951e-01 5.74181212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.76, Y:142.69, Z:5.75 [[-7.11224104e-01 -7.02926399e-01 7.39949069e-03 1.10761079e+02] [ 7.02884666e-01 -7.11262551e-01 -7.66353574e-03 1.42686899e+02] [ 1.06498822e-02 -2.49502793e-04 9.99943257e-01 5.74786049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.74, Y:142.71, Z:5.75 [[-7.11037707e-01 -7.03115495e-01 7.34714364e-03 1.10741317e+02] [ 7.03074410e-01 -7.11075624e-01 -7.60470397e-03 1.42705293e+02] [ 1.05713599e-02 -2.41642595e-04 9.99944092e-01 5.74881336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.72, Y:142.72, Z:5.75 [[-7.09862396e-01 -7.04300332e-01 7.51145443e-03 1.10720187e+02] [ 7.04257500e-01 -7.09902100e-01 -7.77055566e-03 1.42723889e+02] [ 1.08052022e-02 -2.26027142e-04 9.99941597e-01 5.74932096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.70, Y:142.74, Z:5.75 [[-7.08975002e-01 -7.05193762e-01 7.49690909e-03 1.10701056e+02] [ 7.05151200e-01 -7.09014608e-01 -7.75054222e-03 1.42742414e+02] [ 1.07810521e-02 -2.08486242e-04 9.99941861e-01 5.74847672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.68, Y:142.76, Z:5.75 [[-7.08145582e-01 -7.06024732e-01 7.67553081e-03 1.10681148e+02] [ 7.05980219e-01 -7.08187150e-01 -7.93036264e-03 1.42760548e+02] [ 1.10347444e-02 -1.97078344e-04 9.99939096e-01 5.74860022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.66, Y:142.78, Z:5.75 [[-7.06025581e-01 -7.08142425e-01 7.88573019e-03 1.10659544e+02] [ 7.08095624e-01 -7.06069599e-01 -8.14307702e-03 1.42778826e+02] [ 1.13343327e-02 -1.65369644e-04 9.99935751e-01 5.74827292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.64, Y:142.80, Z:5.75 [[-7.05015345e-01 -7.09147226e-01 7.97336292e-03 1.10640806e+02] [ 7.09099504e-01 -7.05060416e-01 -8.22825353e-03 1.42796762e+02] [ 1.14567457e-02 -1.47137308e-04 9.99934359e-01 5.74848198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.130385723 meters Centerline goodness [0,1] 0.9999341946522188 Centerline is valid? [True, True] Translation: X:110.62, Y:142.82, Z:5.75 [[-7.03279446e-01 -7.10869995e-01 7.86578441e-03 1.10619871e+02] [ 7.10823709e-01 -7.03323423e-01 -8.11284839e-03 1.42815506e+02] [ 1.12993709e-02 -1.14413479e-04 9.99936154e-01 5.74854654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.60, Y:142.83, Z:5.75 [[-7.02730708e-01 -7.11408888e-01 8.18207420e-03 1.10600187e+02] [ 7.11358901e-01 -7.02778331e-01 -8.43396129e-03 1.42834984e+02] [ 1.17501795e-02 -1.06412280e-04 9.99930959e-01 5.74866041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.58, Y:142.85, Z:5.75 [[-7.02285062e-01 -7.11846205e-01 8.40667196e-03 1.10579566e+02] [ 7.11793526e-01 -7.02335369e-01 -8.66063073e-03 1.42853867e+02] [ 1.20693402e-02 -9.84169144e-05 9.99927158e-01 5.74964776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.56, Y:142.87, Z:5.75 [[-7.01184142e-01 -7.12923664e-01 8.98045737e-03 1.10558336e+02] [ 7.12863702e-01 -7.01241644e-01 -9.24659651e-03 1.42872773e+02] [ 1.28895882e-02 -8.17247531e-05 9.99916923e-01 5.74900622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.250385723 meters Centerline goodness [0,1] 0.9999781592626568 Centerline is valid? [True, True] Translation: X:110.54, Y:142.89, Z:5.75 [[-7.00894621e-01 -7.13208481e-01 8.96621987e-03 1.10539596e+02] [ 7.13148802e-01 -7.00951965e-01 -9.22650989e-03 1.42891679e+02] [ 1.28653145e-02 -7.25621960e-05 9.99917236e-01 5.74892805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.52, Y:142.91, Z:5.75 [[-7.01033665e-01 -7.13064270e-01 9.54710505e-03 1.10520002e+02] [ 7.12996668e-01 -7.01098667e-01 -9.81885473e-03 1.42911988e+02] [ 1.36949371e-02 -7.62936314e-05 9.99906217e-01 5.74964086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.50, Y:142.93, Z:5.75 [[-7.01514151e-01 -7.12592064e-01 9.51032126e-03 1.10502782e+02] [ 7.12525003e-01 -7.01578608e-01 -9.77635135e-03 1.42931235e+02] [ 1.36387883e-02 -8.19071389e-05 9.99906984e-01 5.74798704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3403857229999 meters Centerline goodness [0,1] 0.9999782025851734 Centerline is valid? [True, True] Translation: X:110.48, Y:142.95, Z:5.75 [[-7.02083508e-01 -7.12029354e-01 9.64086744e-03 1.10483607e+02] [ 7.11960470e-01 -7.02149693e-01 -9.90445816e-03 1.42951261e+02] [ 1.38215971e-02 -8.98402168e-05 9.99904473e-01 5.74936251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.370385723 meters Centerline goodness [0,1] 0.9999564241671569 Centerline is valid? [True, True] Translation: X:110.47, Y:142.97, Z:5.75 [[-7.03432853e-01 -7.10694119e-01 9.80254105e-03 1.10465377e+02] [ 7.10622862e-01 -7.03501141e-01 -1.00643927e-02 1.42971251e+02] [ 1.40488035e-02 -1.13714723e-04 9.99901304e-01 5.74994045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.45, Y:142.99, Z:5.75 [[-7.03925618e-01 -7.10209521e-01 9.54784257e-03 1.10446673e+02] [ 7.10141956e-01 -7.03990357e-01 -9.79689516e-03 1.42991111e+02] [ 1.36794373e-02 -1.15961878e-04 9.99906425e-01 5.75031579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.43, Y:143.01, Z:5.75 [[-7.04142685e-01 -7.09994268e-01 9.55083717e-03 1.10427924e+02] [ 7.09926723e-01 -7.04207445e-01 -9.79397579e-03 1.43010214e+02] [ 1.36794373e-02 -1.15961878e-04 9.99906425e-01 5.75031593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.460385723 meters Centerline goodness [0,1] 0.9999561826307949 Centerline is valid? [True, True] Translation: X:110.41, Y:143.03, Z:5.75 [[-7.05366446e-01 -7.08776744e-01 9.68006865e-03 1.10409499e+02] [ 7.08707320e-01 -7.05432852e-01 -9.92104121e-03 1.43031569e+02] [ 1.38604417e-02 -1.37634070e-04 9.99903930e-01 5.75129176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.490385723 meters Centerline goodness [0,1] 0.9999780701754386 Centerline is valid? [True, True] Translation: X:110.39, Y:143.05, Z:5.75 [[-7.06351231e-01 -7.07796349e-01 9.60553593e-03 1.10390609e+02] [ 7.07727973e-01 -7.06416524e-01 -9.83925792e-03 1.43052830e+02] [ 1.37497001e-02 -1.51865468e-04 9.99905457e-01 5.75130977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.520385723 meters Centerline goodness [0,1] 0.9999561874301737 Centerline is valid? [True, True] Translation: X:110.37, Y:143.07, Z:5.75 [[-7.07647009e-01 -7.06499394e-01 9.71166780e-03 1.10372916e+02] [ 7.06429456e-01 -7.07713625e-01 -9.94221888e-03 1.43073028e+02] [ 1.38972512e-02 -1.74973256e-04 9.99903413e-01 5.75135896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.550385723 meters Centerline goodness [0,1] 0.9999561855105483 Centerline is valid? [True, True] Translation: X:110.35, Y:143.10, Z:5.75 [[-7.10056573e-01 -7.04078269e-01 9.66717794e-03 1.10354863e+02] [ 7.04008819e-01 -7.10122345e-01 -9.89134110e-03 1.43095166e+02] [ 1.38291574e-02 -2.17633247e-04 9.99904349e-01 5.75101792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.580385723 meters Centerline goodness [0,1] 0.9999562075760894 Centerline is valid? [True, True] Translation: X:110.34, Y:143.12, Z:5.75 [[-7.11119746e-01 -7.03000705e-01 9.93558341e-03 1.10335511e+02] [ 7.02927320e-01 -7.11189110e-01 -1.01603465e-02 1.43115351e+02] [ 1.42088095e-02 -2.41229984e-04 9.99899021e-01 5.75163739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.32, Y:143.14, Z:5.75 [[-7.12252430e-01 -7.01852475e-01 9.97897411e-03 1.10318766e+02] [ 7.01778420e-01 -7.12322283e-01 -1.01987679e-02 1.43137108e+02] [ 1.42662761e-02 -2.61068517e-04 9.99898197e-01 5.75133664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.30, Y:143.16, Z:5.75 [[-7.12604892e-01 -7.01499793e-01 9.60775397e-03 1.10298982e+02] [ 7.01431187e-01 -7.12669612e-01 -9.81397172e-03 1.43157367e+02] [ 1.37316534e-02 -2.54305991e-04 9.99905684e-01 5.75271965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.28, Y:143.18, Z:5.75 [[-7.12433444e-01 -7.01675225e-01 9.51141786e-03 1.10280919e+02] [ 7.01608067e-01 -7.12496890e-01 -9.71093340e-03 1.43177056e+02] [ 1.35907770e-02 -2.45106224e-04 9.99907611e-01 5.75269721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.26, Y:143.20, Z:5.75 [[-7.11390664e-01 -7.02723852e-01 1.01247628e-02 1.10262106e+02] [ 7.02647954e-01 -7.11462671e-01 -1.03305641e-02 1.43195828e+02] [ 1.44629246e-02 -2.34922964e-04 9.99895379e-01 5.75157244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.24, Y:143.21, Z:5.75 [[-7.10912843e-01 -7.03202654e-01 1.04382828e-02 1.10240836e+02] [ 7.03122121e-01 -7.10989434e-01 -1.06445931e-02 1.43213654e+02] [ 1.49068150e-02 -2.27990392e-04 9.99888861e-01 5.75272241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.22, Y:143.23, Z:5.75 [[-7.09617501e-01 -7.04503983e-01 1.08231089e-02 1.10220474e+02] [ 7.04417648e-01 -7.09700004e-01 -1.10309199e-02 1.43233448e+02] [ 1.54524874e-02 -2.03744879e-04 9.99880582e-01 5.75239466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.20, Y:143.25, Z:5.75 [[-7.09077863e-01 -7.05047238e-01 1.08155814e-02 1.10201046e+02] [ 7.04961179e-01 -7.09160319e-01 -1.10171743e-02 1.43253530e+02] [ 1.54376094e-02 -1.87469400e-04 9.99880815e-01 5.75236189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.820385723 meters Centerline goodness [0,1] 0.999934378896253 Centerline is valid? [True, True] Translation: X:110.18, Y:143.27, Z:5.75 [[-7.08638913e-01 -7.05488184e-01 1.08311573e-02 1.10181620e+02] [ 7.05402022e-01 -7.08721661e-01 -1.10269920e-02 1.43273576e+02] [ 1.54556883e-02 -1.73835383e-04 9.99880539e-01 5.75239203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.16, Y:143.29, Z:5.75 [[-7.08039082e-01 -7.06085183e-01 1.11522659e-02 1.10161588e+02] [ 7.05994011e-01 -7.08126887e-01 -1.13476291e-02 1.43293629e+02] [ 1.59096121e-02 -1.61131918e-04 9.99873421e-01 5.75294263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.14, Y:143.31, Z:5.75 [[-7.08102414e-01 -7.06023390e-01 1.10427934e-02 1.10141555e+02] [ 7.05934089e-01 -7.08188498e-01 -1.12300480e-02 1.43313820e+02] [ 1.57490558e-02 -1.56539857e-04 9.99875964e-01 5.75293899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.12, Y:143.33, Z:5.75 [[-7.08305845e-01 -7.05821191e-01 1.09213566e-02 1.10123136e+02] [ 7.05733902e-01 -7.08390021e-01 -1.11012338e-02 1.43332397e+02] [ 1.55720661e-02 -1.55497154e-04 9.99878736e-01 5.75272889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.10, Y:143.35, Z:5.75 [[-7.08681469e-01 -7.05446266e-01 1.07768838e-02 1.10104701e+02] [ 7.05361337e-01 -7.08763389e-01 -1.09473153e-02 1.43351807e+02] [ 1.53610034e-02 -1.56562276e-04 9.99882001e-01 5.75212204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.970385723 meters Centerline goodness [0,1] 0.9998465787051243 Centerline is valid? [True, True] Translation: X:110.09, Y:143.37, Z:5.75 [[-7.09362265e-01 -7.04770523e-01 1.01826832e-02 1.10086807e+02] [ 7.04694722e-01 -7.09435328e-01 -1.03374848e-02 1.43371798e+02] [ 1.45095098e-02 -1.57338575e-04 9.99894719e-01 5.75364094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.07, Y:143.39, Z:5.75 [[-7.09651155e-01 -7.04484614e-01 9.83193141e-03 1.10067999e+02] [ 7.04414003e-01 -7.09719244e-01 -9.97532130e-03 1.43391945e+02] [ 1.40053713e-02 -1.53248123e-04 9.99901908e-01 5.75480778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.05, Y:143.41, Z:5.75 [[-7.10344427e-01 -7.03783836e-01 9.95531051e-03 1.10049941e+02] [ 7.03711464e-01 -7.10414165e-01 -1.00940575e-02 1.43411530e+02] [ 1.41764281e-02 -1.64591368e-04 9.99899496e-01 5.75451228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.03, Y:143.43, Z:5.75 [[-7.10872283e-01 -7.03244442e-01 1.03852032e-02 1.10031779e+02] [ 7.03165725e-01 -7.10948116e-01 -1.05232783e-02 1.43430873e+02] [ 1.47837777e-02 -1.78187938e-04 9.99890698e-01 5.75377709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.01, Y:143.45, Z:5.75 [[-7.11182710e-01 -7.02917953e-01 1.12028576e-02 1.10011453e+02] [ 7.02826409e-01 -7.11270914e-01 -1.13457755e-02 1.43450802e+02] [ 1.59434161e-02 -1.95255156e-04 9.99872877e-01 5.75209580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.99, Y:143.47, Z:5.75 [[-7.11341435e-01 -7.02752388e-01 1.15084463e-02 1.09992161e+02] [ 7.02655875e-01 -7.11434496e-01 -1.16481160e-02 1.43469598e+02] [ 1.63732471e-02 -1.99310119e-04 9.99865930e-01 5.75250585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.97, Y:143.49, Z:5.75 [[-7.11239738e-01 -7.02848011e-01 1.19460488e-02 1.09973180e+02] [ 7.02744146e-01 -7.11340026e-01 -1.20843829e-02 1.43490506e+02] [ 1.69911871e-02 -1.99877487e-04 9.99855619e-01 5.75384753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.180385723 meters Centerline goodness [0,1] 0.9999780065100731 Centerline is valid? [True, True] Translation: X:109.96, Y:143.51, Z:5.75 [[-7.11306770e-01 -7.02778684e-01 1.20333247e-02 1.09955149e+02] [ 7.02673420e-01 -7.11408520e-01 -1.21647929e-02 1.43510241e+02] [ 1.71097668e-02 -1.97402168e-04 9.99853598e-01 5.75336064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.94, Y:143.53, Z:5.75 [[-7.11706631e-01 -7.02377207e-01 1.18292832e-02 1.09935672e+02] [ 7.02275551e-01 -7.11804903e-01 -1.19511664e-02 1.43529783e+02] [ 1.68143687e-02 -1.98307984e-04 9.99858609e-01 5.75434384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.92, Y:143.55, Z:5.76 [[-7.11872084e-01 -7.02211849e-01 1.16899673e-02 1.09915820e+02] [ 7.02112659e-01 -7.11968034e-01 -1.18039385e-02 1.43549879e+02] [ 1.66117485e-02 -1.95220319e-04 9.99861996e-01 5.75539466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.270385723 meters Centerline goodness [0,1] 0.999977983752009 Centerline is valid? [True, True] Translation: X:109.90, Y:143.57, Z:5.75 [[-7.12036828e-01 -7.02053474e-01 1.11568627e-02 1.09898095e+02] [ 7.01963221e-01 -7.12124206e-01 -1.12583679e-02 1.43568759e+02] [ 1.58490483e-02 -1.84665316e-04 9.99874379e-01 5.75487485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.88, Y:143.59, Z:5.76 [[-7.12130973e-01 -7.01963346e-01 1.08138547e-02 1.09878602e+02] [ 7.01878648e-01 -7.12213051e-01 -1.09056136e-02 1.43588480e+02] [ 1.53571095e-02 -1.76211495e-04 9.99882057e-01 5.75567100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.86, Y:143.61, Z:5.76 [[-7.12253966e-01 -7.01842077e-01 1.05823481e-02 1.09860791e+02] [ 7.01761057e-01 -7.12332555e-01 -1.06653537e-02 1.43608470e+02] [ 1.50235451e-02 -1.70160669e-04 9.99887126e-01 5.75585400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.84, Y:143.63, Z:5.76 [[-7.12597615e-01 -7.01493554e-01 1.05561378e-02 1.09841281e+02] [ 7.01412993e-01 -7.12675777e-01 -1.06324947e-02 1.43628053e+02] [ 1.49817302e-02 -1.72478151e-04 9.99887753e-01 5.75628310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.82, Y:143.65, Z:5.75 [[-7.13756402e-01 -7.00309858e-01 1.08582434e-02 1.09824070e+02] [ 7.00224578e-01 -7.13838962e-01 -1.09305746e-02 1.43648656e+02] [ 1.54058264e-02 -1.98558746e-04 9.99881304e-01 5.75475870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.81, Y:143.67, Z:5.75 [[-7.14679110e-01 -6.99367311e-01 1.09148570e-02 1.09805461e+02] [ 6.99281128e-01 -7.14762421e-01 -1.09811600e-02 1.43668898e+02] [ 1.54813940e-02 -2.15452116e-04 9.99880133e-01 5.75462776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.450385723 meters Centerline goodness [0,1] 0.9999779025058558 Centerline is valid? [True, True] Translation: X:109.79, Y:143.69, Z:5.76 [[-7.15713923e-01 -6.98312528e-01 1.06392692e-02 1.09786406e+02] [ 6.98230623e-01 -7.15792960e-01 -1.06974705e-02 1.43688267e+02] [ 1.50856916e-02 -2.27665037e-04 9.99886179e-01 5.75530803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.77, Y:143.71, Z:5.76 [[-7.17155096e-01 -6.96844336e-01 9.82541651e-03 1.09767337e+02] [ 6.96774422e-01 -7.17222361e-01 -9.87369264e-03 1.43709401e+02] [ 1.39274352e-02 -2.34870091e-04 9.99902981e-01 5.75865931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.75, Y:143.73, Z:5.76 [[-7.17864558e-01 -6.96117557e-01 9.53010961e-03 1.09749342e+02] [ 6.96051793e-01 -7.17927775e-01 -9.57134403e-03 1.43729228e+02] [ 1.35047110e-02 -2.37478776e-04 9.99908779e-01 5.75930815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.540385723 meters Centerline goodness [0,1] 0.9999557071355805 Centerline is valid? [True, True] Translation: X:109.73, Y:143.75, Z:5.76 [[-7.18972500e-01 -6.94973330e-01 9.51916394e-03 1.09729338e+02] [ 6.94907689e-01 -7.19035469e-01 -9.55504618e-03 1.43749439e+02] [ 1.34851188e-02 -2.54875235e-04 9.99909039e-01 5.75950372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.71, Y:143.77, Z:5.76 [[-7.19729195e-01 -6.94188992e-01 9.56711717e-03 1.09710519e+02] [ 6.94122694e-01 -7.19792729e-01 -9.59756072e-03 1.43769379e+02] [ 1.35488624e-02 -2.66891514e-04 9.99908174e-01 5.75912379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.69, Y:143.79, Z:5.76 [[-7.20059444e-01 -6.93844732e-01 9.68942913e-03 1.09692815e+02] [ 6.93776760e-01 -7.20124582e-01 -9.71564401e-03 1.43788130e+02] [ 1.37187445e-02 -2.73540471e-04 9.99905856e-01 5.75852902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.67, Y:143.81, Z:5.76 [[-7.20397351e-01 -6.93485085e-01 1.03001673e-02 1.09673313e+02] [ 6.93408329e-01 -7.20470923e-01 -1.03217497e-02 1.43807286e+02] [ 1.45789505e-02 -2.93539319e-04 9.99893678e-01 5.75825324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.65, Y:143.83, Z:5.76 [[-7.20446785e-01 -6.93427129e-01 1.07352955e-02 1.09654105e+02] [ 6.93343843e-01 -7.20526700e-01 -1.07512478e-02 1.43826413e+02] [ 1.51902739e-02 -3.02450900e-04 9.99884575e-01 5.75775406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.64, Y:143.85, Z:5.76 [[-7.20232543e-01 -6.93643234e-01 1.11422122e-02 1.09635067e+02] [ 6.93553652e-01 -7.20318660e-01 -1.11516598e-02 1.43845106e+02] [ 1.57612167e-02 -3.04066380e-04 9.99875738e-01 5.75715208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.720385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.61, Y:143.86, Z:5.76 [[-7.20353796e-01 -6.93516912e-01 1.11669738e-02 1.09614979e+02] [ 6.93427025e-01 -7.20440283e-01 -1.11695860e-02 1.43863449e+02] [ 1.57914346e-02 -3.02572219e-04 9.99875262e-01 5.75846186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.60, Y:143.88, Z:5.76 [[-7.20641469e-01 -6.93222541e-01 1.08803627e-02 1.09596992e+02] [ 6.93137283e-01 -7.20723540e-01 -1.08759116e-02 1.43882767e+02] [ 1.53811606e-02 -2.96047907e-04 9.99881659e-01 5.75734705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.780385723 meters Centerline goodness [0,1] 0.9999779434469981 Centerline is valid? [True, True] Translation: X:109.05, Y:143.34, Z:6.72 [[-7.41872951e-01 6.70446077e-01 1.12508696e-02 1.09052198e+02] [ 6.70375185e-01 7.41958196e-01 -9.75433501e-03 1.43338476e+02] [-1.48874305e-02 3.05826478e-04 -9.99889129e-01 6.71828341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.07, Y:143.36, Z:6.72 [[-7.87078796e-01 6.16752087e-01 1.11279764e-02 1.09069728e+02] [ 6.16695690e-01 7.87157403e-01 -8.34562597e-03 1.43362166e+02] [-1.39066513e-02 2.93909855e-04 -9.99903255e-01 6.71663390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.10, Y:143.38, Z:6.72 [[-8.28795750e-01 5.59429842e-01 1.16557913e-02 1.09096158e+02] [ 5.59379445e-01 8.28877655e-01 -7.51463786e-03 1.43380029e+02] [-1.38651376e-02 2.91910153e-04 -9.99903832e-01 6.71657504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.11, Y:143.41, Z:6.72 [[-8.66621158e-01 4.98818790e-01 1.21483616e-02 1.09111519e+02] [ 4.98774348e-01 8.66706256e-01 -6.66453648e-03 1.43405650e+02] [-1.38534570e-02 2.83662792e-04 -9.99903996e-01 6.71669169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.12, Y:143.44, Z:6.72 [[-9.00237291e-01 4.35197743e-01 1.32568609e-02 1.09118923e+02] [ 4.35155158e-01 9.00334852e-01 -6.09455980e-03 1.43436866e+02] [-1.45879526e-02 2.82241400e-04 -9.99893550e-01 6.71720641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.13, Y:143.46, Z:6.72 [[-9.29162617e-01 3.69407835e-01 1.39528712e-02 1.09130105e+02] [ 3.69370598e-01 9.29267333e-01 -5.25209805e-03 1.43464285e+02] [-1.49061136e-02 2.73727217e-04 -9.99888860e-01 6.71791946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.41, Y:144.17, Z:5.76 [[-9.16864145e-01 -3.98969590e-01 1.35427219e-02 1.09408769e+02] [ 3.98921635e-01 -9.16964117e-01 -6.19176954e-03 1.44165665e+02] [ 1.48885178e-02 -2.74526709e-04 9.99889122e-01 5.75989958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.09, Y:143.48, Z:6.72 [[-9.31281025e-01 3.64039697e-01 1.38112738e-02 1.09094951e+02] [ 3.64003501e-01 9.31383402e-01 -5.13912708e-03 1.43479904e+02] [-1.47344374e-02 2.41380472e-04 -9.99891413e-01 6.71676382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.020385723 meters Centerline goodness [0,1] 0.999955956837701 Centerline is valid? [True, True] Translation: X:109.10, Y:143.51, Z:6.72 [[-9.54849200e-01 2.96764836e-01 1.39153712e-02 1.09102476e+02] [ 2.96736860e-01 9.54950563e-01 -4.08142181e-03 1.43508591e+02] [-1.44997141e-02 2.32061205e-04 -9.99894847e-01 6.71764675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.32, Y:144.22, Z:5.76 [[-9.43394871e-01 -3.31434564e-01 1.25398249e-02 1.09320686e+02] [ 3.31401252e-01 -9.43478165e-01 -4.70763606e-03 1.44224719e+02] [ 1.33913243e-02 -2.85446044e-04 9.99910291e-01 5.76225334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.05, Y:143.52, Z:6.71 [[-9.56324360e-01 2.92039330e-01 1.25199131e-02 1.09052839e+02] [ 2.92016968e-01 9.56406290e-01 -3.61917441e-03 1.43524432e+02] [-1.30310650e-02 1.94922426e-04 -9.99915073e-01 6.71456855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.06, Y:143.55, Z:6.71 [[-9.74505211e-01 2.23972668e-01 1.32604059e-02 1.09058034e+02] [ 2.23954859e-01 9.74595403e-01 -2.83217793e-03 1.43554386e+02] [-1.35578611e-02 2.09760199e-04 -9.99908066e-01 6.71478057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.07, Y:143.58, Z:6.71 [[-9.87911192e-01 1.54390008e-01 1.39714570e-02 1.09066022e+02] [ 1.54377731e-01 9.88009958e-01 -1.95950539e-03 1.43583367e+02] [-1.41064667e-02 2.21064523e-04 -9.99900474e-01 6.71436952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.07, Y:143.61, Z:6.71 [[-9.96343542e-01 8.42209863e-02 1.43656245e-02 1.09070367e+02] [ 8.42155777e-02 9.96447074e-01 -9.82089994e-04 1.43611813e+02] [-1.43972971e-02 2.31310343e-04 -9.99896327e-01 6.71455260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.200385723 meters Centerline goodness [0,1] 0.9997801182963566 Centerline is valid? [True, True] Translation: X:109.07, Y:143.64, Z:6.71 [[-9.99788584e-01 1.49429285e-02 1.41242955e-02 1.09070186e+02] [ 1.49450022e-02 9.99888316e-01 4.12777394e-05 1.43643042e+02] [-1.41221012e-02 2.52356640e-04 -9.99900246e-01 6.71187166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.230385723 meters Centerline goodness [0,1] 0.9999127570939388 Centerline is valid? [True, True] Translation: X:109.07, Y:144.38, Z:5.76 [[-9.98875886e-01 -4.53546502e-02 1.37811667e-02 1.09073015e+02] [ 4.53466430e-02 -9.98970913e-01 -8.93113003e-04 1.44382119e+02] [ 1.38074915e-02 -2.67179393e-04 9.99904636e-01 5.76470636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.260385723 meters Centerline goodness [0,1] 0.9999562152458514 Centerline is valid? [True, True] Translation: X:108.98, Y:143.64, Z:6.71 [[-9.99807633e-01 1.37178944e-02 1.40184168e-02 1.08976230e+02] [ 1.37209746e-02 9.99905855e-01 1.23566978e-04 1.43644129e+02] [-1.40154020e-02 3.15889549e-04 -9.99901730e-01 6.71068492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.290385723 meters Centerline goodness [0,1] 0.9997378309883772 Centerline is valid? [True, True] Translation: X:108.97, Y:143.67, Z:6.71 [[-9.98347211e-01 -5.56993924e-02 1.41571095e-02 1.08971730e+02] [-5.56888665e-02 9.98447524e-01 1.13694715e-03 1.43669648e+02] [-1.41984582e-02 3.46674633e-04 -9.99899137e-01 6.71291052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.320385723 meters Centerline goodness [0,1] 0.9997599092020255 Centerline is valid? [True, True] Translation: X:108.96, Y:143.70, Z:6.71 [[-9.92063542e-01 -1.24928134e-01 1.42439354e-02 1.08956932e+02] [-1.24909725e-01 9.92165720e-01 2.17830658e-03 1.43700249e+02] [-1.44044762e-02 3.81812484e-04 -9.99896177e-01 6.71141710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.350385723 meters Centerline goodness [0,1] 0.9999781411209233 Centerline is valid? [True, True] Translation: X:108.93, Y:143.73, Z:6.71 [[-9.81291511e-01 -1.91870864e-01 1.58915612e-02 1.08927290e+02] [-1.91837393e-01 9.81420052e-01 3.61876210e-03 1.43726036e+02] [-1.62906318e-02 5.02464865e-04 -9.99867173e-01 6.71154555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.380385723 meters Centerline goodness [0,1] 0.9999781411209233 Centerline is valid? [True, True] Translation: X:108.73, Y:144.44, Z:5.77 [[-9.82433556e-01 1.85914837e-01 1.61239129e-02 1.08731394e+02] [-1.85898156e-01 -9.82565734e-01 2.54044694e-03 1.44435825e+02] [ 1.63151111e-02 -5.01585354e-04 9.99866774e-01 5.76541402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.76, Y:143.69, Z:6.71 [[-9.80251423e-01 -1.97055168e-01 1.66255289e-02 1.08762274e+02] [-1.97017112e-01 9.80392242e-01 3.91287728e-03 1.43690312e+02] [-1.70705923e-02 5.60089826e-04 -9.99854130e-01 6.71149141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.71, Y:143.70, Z:6.71 [[-9.64202701e-01 -2.64635038e-01 1.67764297e-02 1.08707809e+02] [-2.64583288e-01 9.64348423e-01 5.27290876e-03 1.43704272e+02] [-1.75737199e-02 6.45389943e-04 -9.99845362e-01 6.71130521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.470385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.64, Y:143.71, Z:6.71 [[-9.42573073e-01 -3.33607042e-01 1.61970507e-02 1.08640086e+02] [-3.33545584e-01 9.42711991e-01 6.43773466e-03 1.43711365e+02] [-1.74168276e-02 6.65580586e-04 -9.99848094e-01 6.71114909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.56, Y:143.71, Z:6.71 [[-9.15552452e-01 -4.01893776e-01 1.56557133e-02 1.08563068e+02] [-4.01822197e-01 9.15686043e-01 7.61531245e-03 1.43710220e+02] [-1.73962648e-02 6.81404873e-04 -9.99848441e-01 6.71101222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.48, Y:143.70, Z:6.71 [[-8.83092334e-01 -4.68962365e-01 1.49073836e-02 1.08476045e+02] [-4.68882442e-01 8.83217889e-01 8.68427914e-03 1.43699825e+02] [-1.72390679e-02 6.79209909e-04 -9.99851166e-01 6.71098708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.38, Y:143.68, Z:6.71 [[-8.44895283e-01 -5.34742197e-01 1.42387890e-02 1.08384175e+02] [-5.34652865e-01 8.45014995e-01 9.79659621e-03 1.43679552e+02] [-1.72706436e-02 6.64288596e-04 -9.99850631e-01 6.71052223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.29, Y:143.65, Z:6.71 [[-8.01691045e-01 -5.97594387e-01 1.31307623e-02 1.08287862e+02] [-5.97501144e-01 8.01798322e-01 1.05751412e-02 1.43647177e+02] [-1.68478681e-02 6.32350487e-04 -9.99857865e-01 6.71031281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.19, Y:143.61, Z:6.71 [[-7.52004322e-01 -6.59055332e-01 1.16434446e-02 1.08189811e+02] [-6.58964967e-01 7.52094258e-01 1.09269983e-02 1.43608608e+02] [-1.59584643e-02 5.44527845e-04 -9.99872507e-01 6.70987768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.09, Y:143.56, Z:6.71 [[-6.98360889e-01 -7.15664435e-01 1.07928071e-02 1.08091681e+02] [-7.15567507e-01 6.98444096e-01 1.17892686e-02 1.43557491e+02] [-1.59753327e-02 5.10181995e-04 -9.99872256e-01 6.70914336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.99, Y:143.50, Z:6.71 [[-6.38619482e-01 -7.69470987e-01 8.91952675e-03 1.07994423e+02] [-7.69387116e-01 6.38681645e-01 1.13676262e-02 1.43497493e+02] [-1.44437965e-02 3.97018564e-04 -9.99895604e-01 6.70919448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.90, Y:143.43, Z:6.71 [[-5.76812042e-01 -8.16841492e-01 7.60559075e-03 1.07903404e+02] [-8.16762299e-01 5.76862075e-01 1.13795349e-02 1.43428380e+02] [-1.36826531e-02 3.51892960e-04 -9.99906326e-01 6.70850159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.82, Y:143.35, Z:6.71 [[-5.11443829e-01 -8.59294831e-01 6.13216426e-03 1.07816642e+02] [-8.59225880e-01 5.11480502e-01 1.08895802e-02 1.43348534e+02] [-1.24938425e-02 3.00494380e-04 -9.99921904e-01 6.70840928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.73, Y:143.26, Z:6.71 [[-4.42499461e-01 -8.96755048e-01 4.96094811e-03 1.07733435e+02] [-8.96692005e-01 4.42527194e-01 1.06362749e-02 1.43262467e+02] [-1.17334876e-02 2.58103382e-04 -9.99931127e-01 6.70870764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.800385723 meters Centerline goodness [0,1] 0.9999357670484958 Centerline is valid? [True, True] Translation: X:107.66, Y:143.17, Z:6.71 [[-3.72460694e-01 -9.28040249e-01 3.78531056e-03 1.07657938e+02] [-9.27985750e-01 3.72479854e-01 1.00601359e-02 1.43168855e+02] [-1.07461629e-02 2.34290922e-04 -9.99942231e-01 6.70805085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.830385723 meters Centerline goodness [0,1] 0.999978601844521 Centerline is valid? [True, True] Translation: X:107.59, Y:143.07, Z:6.71 [[-3.00868424e-01 -9.53660484e-01 3.14200473e-03 1.07588786e+02] [-9.53599451e-01 3.00884726e-01 1.07920533e-02 1.43068494e+02] [-1.12373360e-02 2.50774073e-04 -9.99936828e-01 6.70816848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.53, Y:142.96, Z:6.71 [[-2.27919368e-01 -9.73677238e-01 2.32349649e-03 1.07530833e+02] [-9.73614268e-01 2.27931060e-01 1.10765017e-02 1.42963206e+02] [-1.13145346e-02 2.62359924e-04 -9.99935954e-01 6.70914214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.48, Y:142.85, Z:6.71 [[-1.53753831e-01 -9.88108027e-01 1.51229229e-03 1.07480064e+02] [-9.88040514e-01 1.53761009e-01 1.15539801e-02 1.42849885e+02] [-1.16491121e-02 2.82262651e-04 -9.99932107e-01 6.71000107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.920385723 meters Centerline goodness [0,1] 0.9999786971155894 Centerline is valid? [True, True] Translation: X:107.44, Y:142.74, Z:6.71 [[-7.96098494e-02 -9.96825905e-01 6.21974903e-04 1.07437092e+02] [-9.96758177e-01 7.96116932e-02 1.16238630e-02 1.42736211e+02] [-1.16364843e-02 3.05415414e-04 -9.99932247e-01 6.71122124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.40, Y:142.62, Z:6.71 [[-4.27616260e-03 -9.99990819e-01 -2.75106984e-04 1.07404399e+02] [-9.99920180e-01 4.27258940e-03 1.18903087e-02 1.42615231e+02] [-1.18890241e-02 3.25929918e-04 -9.99929270e-01 6.71193500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.38, Y:142.49, Z:6.71 [[ 7.07461539e-02 -9.97493618e-01 -1.21002519e-03 1.07379550e+02] [-9.97420474e-01 -7.07556257e-02 1.20846993e-02 1.42494458e+02] [-1.21400265e-02 3.51957900e-04 -9.99926245e-01 6.71307778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.36, Y:142.37, Z:6.71 [[ 1.46326521e-01 -9.89234160e-01 -2.08004301e-03 1.07363500e+02] [-9.89165411e-01 -1.46340885e-01 1.16677136e-02 1.42372882e+02] [-1.18464962e-02 3.50210660e-04 -9.99929767e-01 6.71271679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.36, Y:142.25, Z:6.71 [[ 2.20815870e-01 -9.75311630e-01 -2.75241092e-03 1.07359068e+02] [-9.75253569e-01 -2.20832772e-01 1.06472339e-02 1.42248251e+02] [-1.09921936e-02 3.33220341e-04 -9.99939529e-01 6.71269012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.36, Y:142.12, Z:6.71 [[ 2.94131876e-01 -9.55758856e-01 -3.38356064e-03 1.07363330e+02] [-9.55707683e-01 -2.94151159e-01 9.89549676e-03 1.42123628e+02] [-1.04529869e-02 3.23113881e-04 -9.99945314e-01 6.71278916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.38, Y:142.01, Z:6.71 [[ 3.66597136e-01 -9.30370040e-01 -4.25774198e-03 1.07378222e+02] [-9.30317361e-01 -3.66621712e-01 9.90598010e-03 1.42008215e+02] [-1.07772078e-02 3.29547347e-04 -9.99941870e-01 6.71433880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.40, Y:141.89, Z:6.71 [[ 4.38046757e-01 -8.98938939e-01 -4.88083356e-03 1.07395453e+02] [-8.98890616e-01 -4.38073843e-01 9.32568834e-03 1.41887891e+02] [-1.05213899e-02 3.02247958e-04 -9.99944603e-01 6.71423135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.42, Y:141.77, Z:6.71 [[ 5.06669284e-01 -8.62124660e-01 -5.22565131e-03 1.07423575e+02] [-8.62084107e-01 -5.06696161e-01 8.36614997e-03 1.41774661e+02] [-9.86048166e-03 2.66079732e-04 -9.99951349e-01 6.71441696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.46, Y:141.66, Z:6.71 [[ 5.72692982e-01 -8.19752720e-01 -5.31291341e-03 1.07459838e+02] [-8.19720951e-01 -5.72717584e-01 7.22031150e-03 1.41663419e+02] [-8.96166892e-03 2.20084707e-04 -9.99959819e-01 6.71449723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.220385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.50, Y:141.56, Z:6.71 [[ 6.37531885e-01 -7.70413654e-01 -3.98725580e-03 1.07500386e+02] [-7.70399709e-01 -6.37544343e-01 4.63674168e-03 1.41555874e+02] [-6.11426147e-03 1.15710043e-04 -9.99981301e-01 6.71407361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.55, Y:141.46, Z:6.71 [[ 6.95749789e-01 -7.18274809e-01 -3.67817052e-03 1.07549289e+02] [-7.18265416e-01 -6.95759507e-01 3.67441603e-03 1.41457022e+02] [-5.19836258e-03 8.54285019e-05 -9.99986485e-01 6.71345499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.54, Y:141.44, Z:6.71 [[ 7.52102317e-01 -6.59038606e-01 -3.19679832e-03 1.07540594e+02] [-6.59032958e-01 -7.52109109e-01 2.72901107e-03 1.41436670e+02] [-4.20286479e-03 5.42999062e-05 -9.99991166e-01 6.71252746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.54, Y:141.42, Z:6.71 [[ 8.02061996e-01 -5.97229083e-01 -3.73870757e-03 1.07536242e+02] [-5.97222905e-01 -8.02070708e-01 2.71686700e-03 1.41419237e+02] [-4.62129981e-03 5.37460336e-05 -9.99989320e-01 6.71317527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.53, Y:141.40, Z:6.71 [[ 8.46818571e-01 -5.31867826e-01 -3.86312404e-03 1.07534801e+02] [-5.31862550e-01 -8.46827381e-01 2.36954462e-03 1.41401488e+02] [-4.53168376e-03 4.80766133e-05 -9.99989731e-01 6.71363000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.53, Y:141.38, Z:6.71 [[ 8.85657117e-01 -4.64329070e-01 -3.16005228e-03 1.07533349e+02] [-4.64326271e-01 -8.85662754e-01 1.61278987e-03 1.41384349e+02] [-3.54760582e-03 3.89164589e-05 -9.99993707e-01 6.71412905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.53, Y:141.37, Z:6.71 [[ 9.18913948e-01 -3.94447952e-01 -2.82312613e-03 1.07534100e+02] [-3.94446211e-01 -9.18918284e-01 1.17238269e-03 1.41366433e+02] [-3.05666617e-03 3.62526044e-05 -9.99995328e-01 6.71369709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.54, Y:141.35, Z:6.71 [[ 9.46472992e-01 -3.22772082e-01 -2.65693968e-03 1.07536232e+02] [-3.22770921e-01 -9.46476720e-01 8.66682178e-04 1.41351613e+02] [-2.79447236e-03 3.72915917e-05 -9.99996095e-01 6.71347235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.54, Y:141.34, Z:6.71 [[ 9.67896303e-01 -2.51337498e-01 -2.49188682e-03 1.07541382e+02] [-2.51336781e-01 -9.67899509e-01 6.01921624e-04 1.41338522e+02] [-2.56318150e-03 4.37050973e-05 -9.99996714e-01 6.71297587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.55, Y:141.33, Z:6.71 [[ 9.84254759e-01 -1.76727680e-01 -3.14578793e-03 1.07547341e+02] [-1.76726971e-01 -9.84259785e-01 5.03891794e-04 1.41325032e+02] [-3.18532418e-03 5.99876772e-05 -9.99994925e-01 6.71364017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.55, Y:141.31, Z:6.71 [[ 9.94893034e-01 -1.00883181e-01 -3.23039265e-03 1.07550687e+02] [-1.00882866e-01 -9.94898276e-01 2.60498949e-04 1.41313058e+02] [-3.24019204e-03 6.67226801e-05 -9.99994748e-01 6.71395684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.55, Y:141.30, Z:6.72 [[ 9.99667816e-01 -2.55010288e-02 -3.73557774e-03 1.07554815e+02] [-2.55011771e-02 -9.99674792e-01 7.94420995e-06 1.41301292e+02] [-3.73456549e-03 8.73200584e-05 -9.99993023e-01 6.71553812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.56, Y:141.29, Z:6.72 [[ 9.98663610e-01 5.15530233e-02 -3.64420544e-03 1.07559312e+02] [ 5.15523506e-02 -9.98670255e-01 -2.78328129e-04 1.41290599e+02] [-3.65370824e-03 9.00888174e-05 -9.99993321e-01 6.71601437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.57, Y:141.28, Z:6.72 [[ 9.91844316e-01 1.27407918e-01 -3.47506078e-03 1.07565005e+02] [ 1.27406802e-01 -9.91850399e-01 -5.41464642e-04 1.41280719e+02] [-3.51572730e-03 9.43022465e-05 -9.99993815e-01 6.71676561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.57, Y:141.27, Z:6.72 [[ 9.79027189e-01 2.03691576e-01 -3.93761531e-03 1.07570307e+02] [ 2.03689466e-01 -9.79035101e-01 -9.34060779e-04 1.41272787e+02] [-4.04532392e-03 1.12420140e-04 -9.99991811e-01 6.71691044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.58, Y:141.27, Z:6.72 [[ 9.60379220e-01 2.78670342e-01 -3.82025630e-03 1.07576561e+02] [ 2.78667655e-01 -9.60386811e-01 -1.22915160e-03 1.41265584e+02] [-4.01145187e-03 1.15869787e-04 -9.99991947e-01 6.71722287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.58, Y:141.26, Z:6.72 [[ 9.36079496e-01 3.51771749e-01 -3.43704718e-03 1.07582200e+02] [ 3.51768935e-01 -9.36085800e-01 -1.41143672e-03 1.41259630e+02] [-3.71387462e-03 1.12170545e-04 -9.99993097e-01 6.71700063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.59, Y:141.25, Z:6.72 [[ 9.06849279e-01 4.21445468e-01 -2.84671649e-03 1.07593408e+02] [ 4.21443024e-01 -9.06853741e-01 -1.43909867e-03 1.41248023e+02] [-3.18805711e-03 1.05316782e-04 -9.99994913e-01 6.71703230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.60, Y:141.24, Z:6.72 [[ 8.71711845e-01 4.90011742e-01 -2.63650304e-03 1.07604437e+02] [ 4.90009130e-01 -8.71715826e-01 -1.60351779e-03 1.41238647e+02] [-3.08402397e-03 1.05894886e-04 -9.99995239e-01 6.71700162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.790385723 meters Centerline goodness [0,1] 0.9999791623254844 Centerline is valid? [True, True] Translation: X:107.61, Y:141.23, Z:6.72 [[ 8.31542970e-01 5.55454908e-01 -2.47691791e-03 1.07613865e+02] [ 5.55452047e-01 -8.31546652e-01 -1.78608980e-03 1.41231570e+02] [-3.05176514e-03 1.09401289e-04 -9.99995337e-01 6.71747291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.62, Y:141.23, Z:6.72 [[ 7.87119309e-01 6.16797612e-01 -1.97439639e-03 1.07624814e+02] [ 6.16795350e-01 -7.87121779e-01 -1.67366693e-03 1.41225198e+02] [-2.58640417e-03 9.95770423e-05 -9.99996650e-01 6.71677385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.64, Y:141.22, Z:6.72 [[ 7.36965137e-01 6.75928567e-01 -1.72008313e-03 1.07635804e+02] [ 6.75926419e-01 -7.36967138e-01 -1.70693616e-03 1.41220225e+02] [-2.42141165e-03 9.53028075e-05 -9.99997064e-01 6.71630702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.65, Y:141.22, Z:6.72 [[ 6.81859743e-01 7.31481130e-01 -1.62682550e-03 1.07647769e+02] [ 7.31478697e-01 -6.81861677e-01 -1.88936358e-03 1.41215315e+02] [-2.49130377e-03 9.82927691e-05 -9.99996892e-01 6.71601664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.66, Y:141.21, Z:6.72 [[ 6.22170880e-01 7.82880631e-01 -1.14633798e-03 1.07662304e+02] [ 7.82879071e-01 -6.22171932e-01 -1.56430851e-03 1.41209649e+02] [-1.93788615e-03 7.58231879e-05 -9.99998119e-01 6.71564633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.67, Y:141.21, Z:6.72 [[ 5.57992474e-01 8.29845229e-01 -1.13800466e-03 1.07674765e+02] [ 8.29843195e-01 -5.57993628e-01 -1.83928111e-03 1.41206428e+02] [-2.16131800e-03 8.19395885e-05 -9.99997661e-01 6.71579442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.970385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.70, Y:141.20, Z:6.72 [[ 4.88443009e-01 8.72595185e-01 -1.03479150e-03 1.07695165e+02] [ 8.72592876e-01 -4.88444099e-01 -2.00868486e-03 1.41201525e+02] [-2.25820654e-03 7.81763814e-05 -9.99997447e-01 6.71598671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.71, Y:141.20, Z:6.72 [[ 4.16939841e-01 9.08933722e-01 -8.11074347e-04 1.07711653e+02] [ 9.08931669e-01 -4.16940624e-01 -1.93311199e-03 1.41200412e+02] [-2.09524052e-03 6.87802455e-05 -9.99997803e-01 6.71606001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.72, Y:141.20, Z:6.72 [[ 3.42535022e-01 9.39504838e-01 -6.45864485e-04 1.07723901e+02] [ 9.39502803e-01 -3.42535626e-01 -1.95646655e-03 1.41200545e+02] [-2.05934139e-03 6.33668195e-05 -9.99997878e-01 6.71623432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.74, Y:141.20, Z:6.72 [[ 2.66362824e-01 9.63872700e-01 -5.13233500e-04 1.07735323e+02] [ 9.63870430e-01 -2.66363311e-01 -2.09313608e-03 1.41202724e+02] [-2.15422330e-03 6.28430442e-05 -9.99997678e-01 6.71603249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.75, Y:141.21, Z:6.72 [[ 1.88355864e-01 9.82100805e-01 -2.79425272e-04 1.07752226e+02] [ 9.82099317e-01 -1.88356065e-01 -1.71006184e-03 1.41205794e+02] [-1.73208455e-03 4.76768057e-05 -9.99998499e-01 6.71514545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.76, Y:141.21, Z:6.71 [[ 1.10946521e-01 9.93826371e-01 -1.16967651e-04 1.07763889e+02] [ 9.93825388e-01 -1.10946576e-01 -1.39813023e-03 1.41210248e+02] [-1.40247586e-03 3.88722638e-05 -9.99999016e-01 6.71491886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.78, Y:141.22, Z:6.71 [[ 3.50693794e-02 9.99384880e-01 -4.75148236e-06 1.07781290e+02] [ 9.99384401e-01 -3.50693672e-02 -9.79286538e-04 1.41216076e+02] [-9.78850791e-04 2.95944138e-05 -9.99999521e-01 6.71417740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.79, Y:141.22, Z:6.71 [[-4.17378678e-02 9.99128593e-01 6.87263866e-05 1.07794770e+02] [ 9.99128158e-01 4.17379138e-02 -9.32648546e-04 1.41222801e+02] [-9.34704325e-04 2.97397063e-05 -9.99999563e-01 6.71412604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.210385723 meters Centerline goodness [0,1] 0.9998957681884512 Centerline is valid? [True, True] Translation: X:107.80, Y:141.23, Z:6.72 [[-1.17722799e-01 9.93046469e-01 2.32140878e-04 1.07800116e+02] [ 9.93045307e-01 1.17723017e-01 -1.51958943e-03 1.41228236e+02] [-1.53635124e-03 5.16360871e-05 -9.99998819e-01 6.71675565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.240385723 meters Centerline goodness [0,1] 0.9998957681884512 Centerline is valid? [True, True] Translation: X:107.80, Y:141.23, Z:6.72 [[-1.95140866e-01 9.80775163e-01 3.50453742e-04 1.07801793e+02] [ 9.80774022e-01 1.95141174e-01 -1.49676977e-03 1.41233184e+02] [-1.53638257e-03 5.16349761e-05 -9.99998818e-01 6.71675591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.82, Y:141.24, Z:6.71 [[-2.69662028e-01 9.62955018e-01 1.55758777e-04 1.07818124e+02] [ 9.62954895e-01 2.69662072e-01 -4.87201802e-04 1.41243687e+02] [-5.11155655e-04 1.86088509e-05 -9.99999869e-01 6.71410438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.83, Y:141.25, Z:6.71 [[-3.43932306e-01 9.38994376e-01 3.60145838e-04 1.07827683e+02] [ 9.38993962e-01 3.43932493e-01 -8.83376380e-04 1.41254171e+02] [-9.53351309e-04 3.43530908e-05 -9.99999545e-01 6.71443037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.84, Y:141.27, Z:6.71 [[-4.16232771e-01 9.09258020e-01 3.64939868e-04 1.07837334e+02] [ 9.09257730e-01 4.16232930e-01 -7.26220119e-04 1.41265686e+02] [-8.12221458e-04 2.95477832e-05 -9.99999670e-01 6.71466859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.85, Y:141.28, Z:6.72 [[-4.85927348e-01 8.73998960e-01 6.56663025e-04 1.07852717e+02] [ 8.73998286e-01 4.85927789e-01 -1.08639549e-03 1.41282750e+02] [-1.26859934e-03 4.60130773e-05 -9.99999194e-01 6.71583860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.86, Y:141.30, Z:6.72 [[-5.52705671e-01 8.33375812e-01 1.09447927e-03 1.07862585e+02] [ 8.33374416e-01 5.52706750e-01 -1.52695641e-03 1.41297881e+02] [-1.87745462e-03 6.81535571e-05 -9.99998235e-01 6.71609392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.420385723 meters Centerline goodness [0,1] 0.9999374387421016 Centerline is valid? [True, True] Translation: X:107.87, Y:141.31, Z:6.72 [[-6.15769743e-01 7.87923996e-01 1.84405691e-03 1.07870271e+02] [ 7.87920963e-01 6.15772495e-01 -2.18873462e-03 1.41313062e+02] [-2.86007606e-03 1.05214542e-04 -9.99995904e-01 6.71823050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.88, Y:141.33, Z:6.72 [[-6.74723098e-01 7.38067079e-01 2.39326735e-03 1.07877524e+02] [ 7.38063101e-01 6.74727330e-01 -2.42668499e-03 1.41329751e+02] [-3.40585919e-03 1.29041911e-04 -9.99994192e-01 6.71714356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.88, Y:141.34, Z:6.72 [[-7.29460688e-01 6.84017367e-01 2.71050811e-03 1.07882342e+02] [ 6.84013350e-01 7.29465710e-01 -2.34858750e-03 1.41344456e+02] [-3.58369736e-03 1.40821481e-04 -9.99993569e-01 6.71698309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.89, Y:141.37, Z:6.72 [[-7.74693059e-01 6.32329198e-01 3.23247072e-03 1.07893504e+02] [ 6.32324581e-01 7.74699785e-01 -2.42223946e-03 1.41373410e+02] [-4.03584711e-03 1.67478597e-04 -9.99991842e-01 6.71676467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.91, Y:141.40, Z:6.72 [[-8.17127334e-01 5.76445138e-01 3.73143017e-03 1.07905728e+02] [ 5.76440158e-01 8.17135832e-01 -2.40335446e-03 1.41403728e+02] [-4.43448729e-03 1.87099573e-04 -9.99990150e-01 6.71666298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.91, Y:141.44, Z:6.72 [[-8.55972443e-01 5.17004474e-01 4.18942136e-03 1.07912368e+02] [ 5.16999417e-01 8.55982671e-01 -2.29545000e-03 1.41435236e+02] [-4.77283001e-03 2.01086453e-04 -9.99988590e-01 6.71677102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.92, Y:141.47, Z:6.72 [[-8.90896321e-01 4.54187240e-01 4.20683020e-03 1.07916007e+02] [ 4.54183176e-01 8.90906233e-01 -1.93082668e-03 1.41469814e+02] [-4.62484808e-03 1.90505114e-04 -9.99989287e-01 6.71586876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.92, Y:141.50, Z:6.72 [[-9.21256027e-01 3.88937263e-01 3.89089142e-03 1.07919891e+02] [ 3.88934553e-01 9.21264228e-01 -1.46135623e-03 1.41502624e+02] [-4.15291497e-03 1.67018878e-04 -9.99991363e-01 6.71542625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.07, Y:141.93, Z:5.76 [[-9.25583418e-01 -3.78525290e-01 3.73370871e-03 1.08070659e+02] [ 3.78521471e-01 -9.25590934e-01 -1.70871995e-03 1.41927553e+02] [ 4.10268065e-03 -1.68273940e-04 9.99991570e-01 5.76142105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.87, Y:141.53, Z:6.72 [[-9.24456500e-01 3.81253405e-01 5.10100606e-03 1.07869713e+02] [ 3.81248749e-01 9.24470553e-01 -1.89430522e-03 1.41528774e+02] [-5.43794021e-03 1.93549401e-04 -9.99985196e-01 6.71622897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7203857229999 meters Centerline goodness [0,1] 0.9999583359373373 Centerline is valid? [True, True] Translation: X:107.87, Y:141.56, Z:6.72 [[-9.49553210e-01 3.13558507e-01 5.45569583e-03 1.07867580e+02] [ 3.13554507e-01 9.49568862e-01 -1.59580266e-03 1.41561981e+02] [-5.68093638e-03 1.95358484e-04 -9.99983844e-01 6.71733385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.86, Y:141.60, Z:6.71 [[-9.70017571e-01 2.42993716e-01 4.46828830e-03 1.07861094e+02] [ 2.42991830e-01 9.70027852e-01 -9.68581014e-04 1.41600806e+02] [-4.56972320e-03 1.46216947e-04 -9.99989548e-01 6.71497310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.780385723 meters Centerline goodness [0,1] 0.9999374765537077 Centerline is valid? [True, True] Translation: X:107.94, Y:142.02, Z:5.76 [[-9.68930256e-01 -2.47271750e-01 5.55342331e-03 1.07942285e+02] [ 2.47267058e-01 -9.68946165e-01 -1.52707546e-03 1.42016325e+02] [ 5.75857084e-03 -1.06450972e-04 9.99983414e-01 5.76046240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.810385723 meters Centerline goodness [0,1] 0.9999582602888388 Centerline is valid? [True, True] Translation: X:107.81, Y:141.61, Z:6.72 [[-9.71231726e-01 2.38056707e-01 6.15943481e-03 1.07810089e+02] [ 2.38053173e-01 9.71251238e-01 -1.31131691e-03 1.41613277e+02] [-6.29452646e-03 1.92680420e-04 -9.99980171e-01 6.71654910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.80, Y:141.65, Z:6.72 [[-9.85765593e-01 1.68009389e-01 6.24832779e-03 1.07802904e+02] [ 1.68007234e-01 9.85785377e-01 -8.72028294e-04 1.41646506e+02] [-6.30601910e-03 1.90148780e-04 -9.99980099e-01 6.71596481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.85, Y:142.06, Z:5.76 [[-9.84594342e-01 -1.74733371e-01 6.49848643e-03 1.07849514e+02] [ 1.74728363e-01 -9.84615771e-01 -1.33492213e-03 1.42056906e+02] [ 6.63176767e-03 -1.78886882e-04 9.99977994e-01 5.76067443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.75, Y:141.66, Z:6.72 [[-9.86283895e-01 1.64938186e-01 6.28273697e-03 1.07750598e+02] [ 1.64936100e-01 9.86303887e-01 -8.52286579e-04 1.41655811e+02] [-6.33726249e-03 1.95653608e-04 -9.99979900e-01 6.71634663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.80, Y:142.06, Z:5.76 [[-9.85549851e-01 -1.69313460e-01 4.94393752e-03 1.07795283e+02] [ 1.69310114e-01 -9.85562223e-01 -1.09064907e-03 1.42061541e+02] [ 5.05721962e-03 -2.37830406e-04 9.99987184e-01 5.76200823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.70, Y:141.66, Z:6.72 [[-9.86606691e-01 1.63044508e-01 4.87092208e-03 1.07700012e+02] [ 1.63043328e-01 9.86618702e-01 -6.40975918e-04 1.41664449e+02] [-4.91025042e-03 1.61780216e-04 -9.99987932e-01 6.71515942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.69, Y:141.70, Z:6.72 [[-9.95641351e-01 9.31458169e-02 4.70713325e-03 1.07685955e+02] [ 9.31455261e-02 9.95652465e-01 -2.81441589e-04 1.41696510e+02] [-4.71288393e-03 1.58233518e-04 -9.99988882e-01 6.71535016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.67, Y:141.73, Z:6.72 [[-9.99719603e-01 2.31604692e-02 4.93026598e-03 1.07672159e+02] [ 2.31610288e-02 9.99731746e-01 5.64348948e-05 1.41726691e+02] [-4.92763635e-03 1.70609103e-04 -9.99987845e-01 6.71591152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.66, Y:142.13, Z:5.76 [[-9.99753208e-01 -2.16673501e-02 4.90395222e-03 1.07658118e+02] [ 2.16662492e-02 -9.99765221e-01 -2.77523781e-04 1.42127787e+02] [ 4.90881408e-03 -1.71205039e-04 9.99987937e-01 5.76075962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.61, Y:141.73, Z:6.72 [[-9.99812415e-01 1.85613435e-02 5.53279689e-03 1.07610786e+02] [ 1.85620993e-02 9.99827706e-01 8.52762619e-05 1.41729442e+02] [-5.53026078e-03 1.87960591e-04 -9.99984690e-01 6.71618785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.60, Y:142.12, Z:5.76 [[-9.99782723e-01 -2.01191592e-02 5.45211374e-03 1.07595808e+02] [ 2.01178209e-02 -9.99797571e-01 -3.00209596e-04 1.42121620e+02] [ 5.45705004e-03 -1.90459720e-04 9.99985092e-01 5.76063851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.55, Y:141.73, Z:6.72 [[-9.99922154e-01 1.10287897e-02 5.83535765e-03 1.07553562e+02] [ 1.10296390e-02 9.99939165e-01 1.13374937e-04 1.41730480e+02] [-5.83375227e-03 1.77728000e-04 -9.99982968e-01 6.71661858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.53, Y:142.12, Z:5.76 [[-9.99788930e-01 -1.97132000e-02 5.78657892e-03 1.07534768e+02] [ 1.97118314e-02 -9.99805660e-01 -2.93455742e-04 1.42117793e+02] [ 5.79123931e-03 -1.79329735e-04 9.99983215e-01 5.76002697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.49, Y:141.73, Z:6.72 [[-9.99982358e-01 4.48366705e-04 5.92307037e-03 1.07487581e+02] [ 4.49195091e-04 9.99999890e-01 1.38528404e-04 1.41734908e+02] [-5.92300761e-03 1.41186574e-04 -9.99982449e-01 6.71663093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.47, Y:142.11, Z:5.76 [[-9.99728472e-01 -2.26638796e-02 5.41579674e-03 1.07472402e+02] [ 2.26626601e-02 -9.99743128e-01 -2.86439636e-04 1.42110298e+02] [ 5.42089741e-03 -1.63625498e-04 9.99985293e-01 5.76029972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.43, Y:141.74, Z:6.72 [[-9.99922444e-01 -1.13018252e-02 5.23208586e-03 1.07429451e+02] [-1.13012286e-02 9.99936129e-01 1.43594314e-04 1.41738535e+02] [-5.23337456e-03 8.44541793e-05 -9.99986302e-01 6.71723319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.40, Y:141.77, Z:6.72 [[-9.96350925e-01 -8.51875463e-02 5.28368134e-03 1.07404565e+02] [-8.51859692e-02 9.96364932e-01 5.23218759e-04 1.41769311e+02] [-5.30904652e-03 7.12139784e-05 -9.99985904e-01 6.71724877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.38, Y:141.80, Z:6.72 [[-9.87346942e-01 -1.58456662e-01 6.12383663e-03 1.07379260e+02] [-1.58453191e-01 9.87365931e-01 1.05099209e-03 1.41797475e+02] [-6.21300436e-03 6.73523678e-05 -9.99980697e-01 6.71818853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.35, Y:141.82, Z:6.72 [[-9.73046129e-01 -2.30513016e-01 6.70678409e-03 1.07349373e+02] [-2.30507109e-01 9.73069240e-01 1.65136886e-03 1.41822725e+02] [-6.90682731e-03 6.08966643e-05 -9.99976146e-01 6.71922796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.32, Y:141.84, Z:6.72 [[-9.53356115e-01 -3.01763761e-01 7.12398049e-03 1.07316818e+02] [-3.01754957e-01 9.53382730e-01 2.30556825e-03 1.41844604e+02] [-7.48761692e-03 4.83311624e-05 -9.99971966e-01 6.71989513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.27, Y:141.86, Z:6.72 [[-9.29164980e-01 -3.69595838e-01 7.16632464e-03 1.07274296e+02] [-3.69584439e-01 9.29192614e-01 2.90308481e-03 1.41858856e+02] [-7.73186399e-03 4.88826630e-05 -9.99970108e-01 6.71955964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.11, Y:142.18, Z:5.76 [[-9.47698498e-01 3.19105088e-01 6.28484132e-03 1.07108980e+02] [-3.19098882e-01 -9.47719331e-01 1.99351361e-03 1.42175395e+02] [ 6.59240594e-03 -1.16235983e-04 9.99978263e-01 5.75879103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.17, Y:141.81, Z:6.72 [[-9.28167923e-01 -3.72126534e-01 5.11364270e-03 1.07172152e+02] [-3.72120590e-01 9.28182008e-01 2.10386408e-03 1.41812193e+02] [-5.52929480e-03 4.98474175e-05 -9.99984712e-01 6.71734442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.12, Y:141.82, Z:6.72 [[-8.99396117e-01 -4.37112032e-01 4.43797502e-03 1.07124964e+02] [-4.37106434e-01 8.99407065e-01 2.21274424e-03 1.41820317e+02] [-4.95876322e-03 5.02661448e-05 -9.99987704e-01 6.71662173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.07, Y:141.82, Z:6.72 [[-8.66158177e-01 -4.99756448e-01 3.67509367e-03 1.07065656e+02] [-4.99751696e-01 8.66165972e-01 2.17980506e-03 1.41817814e+02] [-4.27261272e-03 5.14216775e-05 -9.99990871e-01 6.71515970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.00, Y:141.81, Z:6.72 [[-8.27743722e-01 -5.61096812e-01 3.27085907e-03 1.06997942e+02] [-5.61092183e-01 8.27750183e-01 2.27957121e-03 1.41805630e+02] [-3.98651434e-03 5.16473040e-05 -9.99992053e-01 6.71557805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.93, Y:141.79, Z:6.72 [[-7.85335018e-01 -6.19062752e-01 3.19661404e-03 1.06934922e+02] [-6.19057319e-01 7.85341522e-01 2.59431778e-03 1.41792808e+02] [-4.11647924e-03 5.85212843e-05 -9.99991526e-01 6.71500189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.86, Y:141.76, Z:6.72 [[-7.37706396e-01 -6.75116205e-01 2.71708288e-03 1.06860045e+02] [-6.75111354e-01 7.37711398e-01 2.55993654e-03 1.41763983e+02] [-3.73267765e-03 5.41480528e-05 -9.99993032e-01 6.71542800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.78, Y:141.73, Z:6.72 [[-6.85883168e-01 -7.27707248e-01 2.53777718e-03 1.06783965e+02] [-7.27701965e-01 6.85887861e-01 2.77354569e-03 1.41728755e+02] [-3.75895986e-03 5.55828655e-05 -9.99992934e-01 6.71525930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.71, Y:141.68, Z:6.72 [[-6.30034403e-01 -7.76564152e-01 2.18386666e-03 1.06708747e+02] [-7.76559195e-01 6.30038186e-01 2.77504137e-03 1.41680943e+02] [-3.53091703e-03 5.24697972e-05 -9.99993765e-01 6.71590609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.64, Y:141.63, Z:6.72 [[-5.70636685e-01 -8.21199543e-01 2.25463123e-03 1.06635009e+02] [-8.21192706e-01 5.70641136e-01 3.35158234e-03 1.41626204e+02] [-4.03890322e-03 6.10491212e-05 -9.99991842e-01 6.71521333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.56, Y:141.56, Z:6.71 [[-5.07614365e-01 -8.61582250e-01 1.91910909e-03 1.06561749e+02] [-8.61575654e-01 5.07617990e-01 3.37182215e-03 1.41563264e+02] [-3.87927641e-03 5.81276957e-05 -9.99992474e-01 6.71499109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.49, Y:141.49, Z:6.72 [[-4.41125339e-01 -8.97442764e-01 2.21814598e-03 1.06492436e+02] [-8.97430564e-01 4.41130910e-01 4.68007305e-03 1.41490746e+02] [-5.17859045e-03 7.38668178e-05 -9.99986588e-01 6.71623596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.800385723 meters Centerline goodness [0,1] 0.9999166788176724 Centerline is valid? [True, True] Translation: X:106.43, Y:141.41, Z:6.72 [[-3.72331512e-01 -9.28097726e-01 1.96396161e-03 1.06427261e+02] [-9.28083718e-01 3.72336684e-01 5.09957617e-03 1.41412909e+02] [-5.46416000e-03 7.60121094e-05 -9.99985069e-01 6.71903830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.37, Y:141.33, Z:6.72 [[-3.00994089e-01 -9.53624604e-01 1.63507183e-03 1.06367998e+02] [-9.53609143e-01 3.00998521e-01 5.43073632e-03 1.41327488e+02] [-5.67103798e-03 7.54000869e-05 -9.99983917e-01 6.71705142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.31, Y:141.23, Z:6.72 [[-2.27857904e-01 -9.73693810e-01 1.06722581e-03 1.06312836e+02] [-9.73681807e-01 2.27860395e-01 4.83515786e-03 1.41234734e+02] [-4.95114178e-03 6.25905844e-05 -9.99987741e-01 6.71608056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.27, Y:141.14, Z:6.72 [[-1.53668361e-01 -9.88122234e-01 6.97368815e-04 1.06267450e+02] [-9.88110187e-01 1.53669932e-01 4.87959213e-03 1.41138517e+02] [-4.92879810e-03 6.07616961e-05 -9.99987852e-01 6.71659909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.23, Y:141.04, Z:6.72 [[-7.81949627e-02 -9.96938034e-01 3.22580456e-04 1.06231107e+02] [-9.96926277e-01 7.81956072e-02 4.84196380e-03 1.41037741e+02] [-4.85236225e-03 5.70282457e-05 -9.99988226e-01 6.71552889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.20, Y:140.93, Z:6.71 [[-2.27272611e-03 -9.99997417e-01 -3.83683451e-05 1.06200350e+02] [-9.99988270e-01 2.27254121e-03 4.27733342e-03 1.40932812e+02] [-4.27723518e-03 4.80891024e-05 -9.99990851e-01 6.71478801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.18, Y:140.82, Z:6.71 [[ 7.38844712e-02 -9.97266752e-01 -3.33730445e-04 1.06176338e+02] [-9.97258964e-01 -7.38852132e-02 3.94137727e-03 1.40824641e+02] [-3.95526225e-03 4.16091024e-05 -9.99992177e-01 6.71408881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.010385723 meters Centerline goodness [0,1] 0.9999792853443812 Centerline is valid? [True, True] Translation: X:106.16, Y:140.71, Z:6.71 [[ 1.50683238e-01 -9.88581811e-01 -7.52062094e-04 1.06162202e+02] [-9.88570816e-01 -1.50685109e-01 4.66258207e-03 1.40713936e+02] [-4.72266839e-03 4.08936754e-05 -9.99988847e-01 6.71485610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.040385723 meters Centerline goodness [0,1] 0.9999791262237251 Centerline is valid? [True, True] Translation: X:106.15, Y:140.60, Z:6.72 [[ 2.26123999e-01 -9.74097766e-01 -1.21617753e-03 1.06154724e+02] [-9.74084572e-01 -2.26127266e-01 5.07015821e-03 1.40603913e+02] [-5.21384069e-03 3.81753194e-05 -9.99986407e-01 6.71508492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.16, Y:140.49, Z:6.71 [[ 3.00062228e-01 -9.53918082e-01 -1.71820014e-03 1.06155617e+02] [-9.53903086e-01 -3.00067146e-01 5.34893903e-03 1.40492877e+02] [-5.61802507e-03 3.39818496e-05 -9.99984218e-01 6.71479743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.16, Y:140.38, Z:6.71 [[ 3.72451628e-01 -9.28049331e-01 -2.05527671e-03 1.06164726e+02] [-9.28035572e-01 -3.72457298e-01 5.05344875e-03 1.40383952e+02] [-5.45535254e-03 2.52046795e-05 -9.99985119e-01 6.71431449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.18, Y:140.28, Z:6.71 [[ 4.44203700e-01 -8.95923959e-01 -1.82549330e-03 1.06182192e+02] [-8.95916447e-01 -4.44207451e-01 3.66883898e-03 1.40276310e+02] [-4.09789847e-03 5.77762107e-06 -9.99991604e-01 6.71279502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.21, Y:140.17, Z:6.71 [[ 5.10331480e-01 -8.59975224e-01 -2.09629390e-03 1.06205068e+02] [-8.59968015e-01 -5.10335785e-01 3.52118742e-03 1.40173394e+02] [-4.09794774e-03 5.77291968e-06 -9.99991603e-01 6.71279710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.24, Y:140.07, Z:6.71 [[ 5.74746365e-01 -8.18330203e-01 -1.51497548e-03 1.06235072e+02] [-8.18327361e-01 -5.74748362e-01 2.15677592e-03 1.40074168e+02] [-2.63568455e-03 1.46766330e-07 -9.99996527e-01 6.71244332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.27, Y:139.98, Z:6.71 [[ 6.36947609e-01 -7.70905594e-01 -1.51905789e-03 1.06274139e+02] [-7.70903375e-01 -6.36949421e-01 1.85007104e-03 1.39975804e+02] [-2.39379316e-03 -7.35147079e-06 -9.99997135e-01 6.71191100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.31, Y:139.89, Z:6.71 [[ 6.93871954e-01 -7.20095086e-01 -2.18579134e-03 1.06314463e+02] [-7.20091448e-01 -6.93875397e-01 2.28915789e-03 1.39886459e+02] [-3.16507818e-03 -1.44128111e-05 -9.99994991e-01 6.71263283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.36, Y:139.80, Z:6.71 [[ 7.46765284e-01 -6.65082653e-01 -2.58366454e-03 1.06361126e+02] [-6.65078574e-01 -7.46769753e-01 2.32938899e-03 1.39800259e+02] [-3.47863874e-03 -2.11669031e-05 -9.99993949e-01 6.71341698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.37, Y:139.78, Z:6.71 [[ 7.97973658e-01 -6.02682677e-01 -3.41059274e-03 1.06365561e+02] [-6.02676973e-01 -7.97980946e-01 2.62235565e-03 1.39784555e+02] [-4.30203634e-03 -3.70850268e-05 -9.99990746e-01 6.71360917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.37, Y:139.77, Z:6.71 [[ 8.42853841e-01 -5.38127357e-01 -4.04364581e-03 1.06370554e+02] [-5.38120915e-01 -8.42863540e-01 2.63342303e-03 1.39769187e+02] [-4.82535859e-03 -4.36203331e-05 -9.99988357e-01 6.71407921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.38, Y:139.76, Z:6.71 [[ 8.82257985e-01 -4.70740868e-01 -4.88706098e-03 1.06378178e+02] [-4.70733334e-01 -8.82271519e-01 2.66372088e-03 1.39757095e+02] [-5.56563699e-03 -4.95865069e-05 -9.99984511e-01 6.71464039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.39, Y:139.75, Z:6.71 [[ 9.15732570e-01 -4.01756855e-01 -5.02883905e-03 1.06387549e+02] [-4.01750554e-01 -9.15746378e-01 2.25038684e-03 1.39746742e+02] [-5.50924948e-03 -4.04136471e-05 -9.99984823e-01 6.71459453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.40, Y:139.74, Z:6.71 [[ 9.43923323e-01 -3.30132885e-01 -4.58677643e-03 1.06396249e+02] [-3.30128835e-01 -9.43934467e-01 1.63552208e-03 1.39736370e+02] [-4.86955598e-03 -2.95802806e-05 -9.99988143e-01 6.71402833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.41, Y:139.73, Z:6.71 [[ 9.65950936e-01 -2.58699252e-01 -3.67243505e-03 1.06405922e+02] [-2.58697344e-01 -9.65957917e-01 9.93576435e-04 1.39727043e+02] [-3.80445519e-03 -9.69689226e-06 -9.99992763e-01 6.71198280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.41, Y:139.72, Z:6.71 [[ 9.82857160e-01 -1.84338034e-01 -3.36045162e-03 1.06414738e+02] [-1.84336951e-01 -9.82862905e-01 6.32003861e-04 1.39715824e+02] [-3.41936559e-03 -1.71411387e-06 -9.99994154e-01 6.71167502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.43, Y:139.71, Z:6.71 [[ 9.94008828e-01 -1.09241794e-01 -3.56107072e-03 1.06425472e+02] [-1.09241116e-01 -9.94015206e-01 3.84821891e-04 1.39709869e+02] [-3.58179708e-03 6.49898373e-06 -9.99993585e-01 6.71169020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.43, Y:139.70, Z:6.71 [[ 9.99333703e-01 -3.60911519e-02 -5.43866153e-03 1.06432436e+02] [-3.60908171e-02 -9.99348502e-01 1.59721654e-04 1.39699790e+02] [-5.44088279e-03 3.66705064e-05 -9.99985198e-01 6.71257578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.580385723 meters Centerline goodness [0,1] 0.9999580827028273 Centerline is valid? [True, True] Translation: X:106.44, Y:139.69, Z:6.72 [[ 9.99312492e-01 3.63278419e-02 -7.40477550e-03 1.06439581e+02] [ 3.63261491e-02 -9.99339922e-01 -3.63021509e-04 1.39691071e+02] [-7.41307556e-03 9.37849496e-05 -9.99972518e-01 6.71528161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.45, Y:139.68, Z:6.71 [[ 9.93725043e-01 1.11589493e-01 -7.63703562e-03 1.06446962e+02] [ 1.11585274e-01 -9.93754382e-01 -9.77698818e-04 1.39680660e+02] [-7.69843852e-03 1.19383091e-04 -9.99970359e-01 6.71406479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.640385723 meters Centerline goodness [0,1] 0.9999375312343828 Centerline is valid? [True, True] Translation: X:106.46, Y:139.67, Z:6.71 [[ 9.82458994e-01 1.86316620e-01 -7.77450496e-03 1.06455049e+02] [ 1.86309616e-01 -9.82489744e-01 -1.62202365e-03 1.39671009e+02] [-7.94058135e-03 1.45106693e-04 -9.99968463e-01 6.71403185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.46, Y:139.66, Z:6.71 [[ 9.65417268e-01 2.60589900e-01 -7.89961045e-03 1.06461993e+02] [ 2.60579746e-01 -9.65449572e-01 -2.30651184e-03 1.39663123e+02] [-8.22772922e-03 1.68267874e-04 -9.99966138e-01 6.71404657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.47, Y:139.65, Z:6.71 [[ 9.42604830e-01 3.33817289e-01 -7.88368803e-03 1.06471196e+02] [ 3.33803956e-01 -9.42637779e-01 -2.98936841e-03 1.39654341e+02] [-8.42936503e-03 1.86186852e-04 -9.99964455e-01 6.71337210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.48, Y:139.65, Z:6.71 [[ 9.13483025e-01 4.06808059e-01 -7.48100128e-03 1.06480203e+02] [ 4.06792790e-01 -9.13513640e-01 -3.52925079e-03 1.39645918e+02] [-8.26972437e-03 1.80693305e-04 -9.99965789e-01 6.71312090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.49, Y:139.64, Z:6.71 [[ 8.78637615e-01 4.77437994e-01 -6.99302861e-03 1.06491685e+02] [ 4.77421299e-01 -8.78665427e-01 -3.99648450e-03 1.39635777e+02] [-8.05260601e-03 1.72840805e-04 -9.99967562e-01 6.71220239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.50, Y:139.63, Z:6.71 [[ 8.37364233e-01 5.46613872e-01 -5.86654718e-03 1.06503928e+02] [ 5.46599309e-01 -8.37384772e-01 -3.99248711e-03 1.39627597e+02] [-7.09490611e-03 1.36515272e-04 -9.99974822e-01 6.71112454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.52, Y:139.62, Z:6.71 [[ 7.91410840e-01 6.11261542e-01 -5.31137586e-03 1.06516560e+02] [ 6.11246713e-01 -7.91428653e-01 -4.25949770e-03 1.39621009e+02] [-6.80724217e-03 1.24451613e-04 -9.99976823e-01 6.71084121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.53, Y:139.61, Z:6.71 [[ 7.40104855e-01 6.72472376e-01 -5.07031997e-03 1.06531395e+02] [ 6.72455509e-01 -7.40122213e-01 -4.76418843e-03 1.39613366e+02] [-6.95644155e-03 1.16434391e-04 -9.99975797e-01 6.71076081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.55, Y:139.61, Z:6.71 [[ 6.84918744e-01 7.28605362e-01 -4.53228240e-03 1.06545857e+02] [ 7.28588334e-01 -6.84933730e-01 -4.98251617e-03 1.39607282e+02] [-6.73460109e-03 1.10450635e-04 -9.99977316e-01 6.71116422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.56, Y:139.60, Z:6.71 [[ 6.25919654e-01 7.79878503e-01 -3.75588161e-03 1.06559955e+02] [ 7.79863479e-01 -6.25930915e-01 -4.84200109e-03 1.39602676e+02] [-6.12709497e-03 1.01628749e-04 -9.99981224e-01 6.71115356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.57, Y:139.60, Z:6.71 [[ 5.63477947e-01 8.26125133e-01 -3.14133613e-03 1.06574118e+02] [ 8.26111306e-01 -5.63486694e-01 -4.78075591e-03 1.39599834e+02] [-5.71960373e-03 9.87572355e-05 -9.99983638e-01 6.71104331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.59, Y:139.60, Z:6.71 [[ 4.97701700e-01 8.67344227e-01 -2.64751530e-03 1.06590137e+02] [ 8.67330881e-01 -4.97708732e-01 -4.81250531e-03 1.39597092e+02] [-5.49179018e-03 9.89203005e-05 -9.99984915e-01 6.71061136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.60, Y:139.60, Z:6.71 [[ 4.29144500e-01 9.03233626e-01 -2.00373362e-03 1.06604250e+02] [ 9.03222753e-01 -4.29149167e-01 -4.43300153e-03 1.39595288e+02] [-4.86393666e-03 9.25804266e-05 -9.99988167e-01 6.70992580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.62, Y:139.59, Z:6.71 [[ 3.57670543e-01 9.33846764e-01 -1.41611839e-03 1.06618008e+02] [ 9.33838511e-01 -3.57673336e-01 -3.92691601e-03 1.39594167e+02] [-4.17364560e-03 8.21162892e-05 -9.99991287e-01 6.70939141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.63, Y:139.60, Z:6.71 [[ 2.84910204e-01 9.58553611e-01 -1.07309200e-03 1.06631475e+02] [ 9.58545629e-01 -2.84912212e-01 -3.91274013e-03 1.39595364e+02] [-4.05630819e-03 8.61719423e-05 -9.99991769e-01 6.70933846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0903857229999 meters Centerline goodness [0,1] 0.9999791362403505 Centerline is valid? [True, True] Translation: X:106.64, Y:139.60, Z:6.71 [[ 2.09882267e-01 9.77726266e-01 -8.84390252e-04 1.06644405e+02] [ 9.77715380e-01 -2.09884104e-01 -4.61498689e-03 1.39597940e+02] [-4.69781336e-03 1.03921957e-04 -9.99988960e-01 6.71026217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.66, Y:139.60, Z:6.71 [[ 1.33309743e-01 9.91074286e-01 -5.22699892e-04 1.06655598e+02] [ 9.91063181e-01 -1.33310724e-01 -4.69273429e-03 1.39600835e+02] [-4.72052978e-03 1.07558582e-04 -9.99988852e-01 6.71058053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.67, Y:139.60, Z:6.71 [[ 5.61482907e-02 9.98422429e-01 -1.53043040e-04 1.06667901e+02] [ 9.98411349e-01 -5.61483889e-02 -4.70505347e-03 1.39604981e+02] [-4.70622404e-03 1.11380803e-04 -9.99988920e-01 6.71089918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.68, Y:139.61, Z:6.71 [[-2.13411482e-02 9.99772233e-01 1.96627239e-04 1.06679471e+02] [ 9.99763080e-01 2.13417945e-02 -4.27932835e-03 1.39609962e+02] [-4.28255004e-03 1.05254873e-04 -9.99990824e-01 6.71051363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.69, Y:139.62, Z:6.71 [[-9.92360033e-02 9.95063808e-01 4.84487289e-04 1.06689680e+02] [ 9.95056264e-01 9.92371381e-02 -3.87571055e-03 1.39615039e+02] [-3.90465843e-03 9.74820871e-05 -9.99992372e-01 6.71025137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.70, Y:139.62, Z:6.71 [[-1.76736320e-01 9.84257987e-01 6.98487631e-04 1.06702675e+02] [ 9.84252129e-01 1.76737679e-01 -3.39700991e-03 1.39621733e+02] [-3.46698322e-03 8.71129065e-05 -9.99993986e-01 6.71066250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.71, Y:139.63, Z:6.71 [[-2.53639437e-01 9.67298281e-01 1.03541557e-03 1.06712615e+02] [ 9.67291640e-01 2.53641533e-01 -3.58542742e-03 1.39627878e+02] [-3.73080218e-03 9.21430340e-05 -9.99993036e-01 6.71113858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.72, Y:139.64, Z:6.71 [[-3.29244706e-01 9.44243868e-01 1.20038000e-03 1.06721566e+02] [ 9.44238473e-01 3.29246884e-01 -3.19319723e-03 1.39636324e+02] [-3.41037827e-03 8.21016923e-05 -9.99994181e-01 6.71101663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.330385723 meters Centerline goodness [0,1] 0.9999790974268933 Centerline is valid? [True, True] Translation: X:106.73, Y:139.65, Z:6.71 [[-4.04025661e-01 9.14746927e-01 1.15116517e-03 1.06732584e+02] [ 9.14743627e-01 4.04027296e-01 -2.45774381e-03 1.39646638e+02] [-2.71331575e-03 6.00294370e-05 -9.99996317e-01 6.71069400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.360385723 meters Centerline goodness [0,1] 0.9999790505719194 Centerline is valid? [True, True] Translation: X:106.74, Y:139.66, Z:6.71 [[-4.75732306e-01 8.79589461e-01 1.07394763e-03 1.06742174e+02] [ 8.79587429e-01 4.75733516e-01 -1.89093859e-03 1.39657347e+02] [-2.17416254e-03 4.50502624e-05 -9.99997636e-01 6.70967294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.75, Y:139.67, Z:6.71 [[-5.44512043e-01 8.38752345e-01 1.06697964e-03 1.06750397e+02] [ 8.38750864e-01 5.44513087e-01 -1.57657700e-03 1.39669518e+02] [-1.90334203e-03 3.64649358e-05 -9.99998188e-01 6.70905150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.76, Y:139.69, Z:6.71 [[-6.10753443e-01 7.91819960e-01 1.17605682e-03 1.06762042e+02] [ 7.91818588e-01 6.10754575e-01 -1.47422043e-03 1.39685906e+02] [-1.88559924e-03 3.08384475e-05 -9.99998222e-01 6.70927581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.77, Y:139.70, Z:6.71 [[-6.72194005e-01 7.40374402e-01 9.82177335e-04 1.06770122e+02] [ 7.40373658e-01 6.72194722e-01 -1.05016232e-03 1.39699740e+02] [-1.43772772e-03 2.12654072e-05 -9.99998966e-01 6.70924092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.78, Y:139.71, Z:6.71 [[-7.29530688e-01 6.83948005e-01 3.18923169e-04 1.06775219e+02] [ 6.83947944e-01 7.29530758e-01 -2.90343261e-04 1.39713710e+02] [-4.31243955e-04 6.31252700e-06 -9.99999907e-01 6.70831440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.79, Y:139.74, Z:6.71 [[-7.76385492e-01 6.30258303e-01 1.99302311e-04 1.06792304e+02] [ 6.30258283e-01 7.76385518e-01 -1.56649585e-04 1.39738889e+02] [-2.53465129e-04 3.99146733e-06 -9.99999968e-01 6.70826657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.540385723 meters Centerline goodness [0,1] 0.9999791788123594 Centerline is valid? [True, True] Translation: X:106.80, Y:139.77, Z:6.71 [[-8.19303604e-01 5.73359750e-01 4.48552306e-04 1.06802117e+02] [ 5.73359669e-01 8.19303727e-01 -3.05230613e-04 1.39766174e+02] [-5.42507524e-04 7.10526056e-06 -9.99999853e-01 6.70934754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.81, Y:139.79, Z:6.71 [[-8.57831924e-01 5.13928954e-01 1.19204354e-03 1.06811674e+02] [ 5.13928484e-01 8.57832752e-01 -6.94919028e-04 1.39794470e+02] [-1.37971300e-03 1.65014012e-05 -9.99999048e-01 6.70998079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.82, Y:139.83, Z:6.71 [[-8.92022200e-01 4.51987157e-01 2.00124103e-03 1.06818891e+02] [ 4.51986085e-01 8.92024445e-01 -9.84483917e-04 1.39825365e+02] [-2.23013000e-03 2.63515891e-05 -9.99997513e-01 6.71023782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.04, Y:140.28, Z:5.77 [[-8.70521549e-01 -4.92124805e-01 2.32588979e-03 1.07036599e+02] [ 4.92123038e-01 -8.70524656e-01 -1.31863533e-03 1.40278820e+02] [ 2.67367756e-03 -3.27652223e-06 9.99996426e-01 5.76600177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.78, Y:139.85, Z:6.71 [[-8.94357359e-01 4.47346689e-01 2.41958292e-03 1.06775196e+02] [ 4.47345135e-01 8.94360631e-01 -1.17976568e-03 1.39847006e+02] [-2.69174398e-03 2.72565295e-05 -9.99996377e-01 6.71136143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.78, Y:139.88, Z:6.71 [[-9.24218140e-01 3.81858817e-01 2.16172982e-03 1.06777117e+02] [ 3.81857826e-01 9.24220668e-01 -8.70126325e-04 1.39878296e+02] [-2.33018079e-03 2.12869165e-05 -9.99997285e-01 6.71098655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.78, Y:139.91, Z:6.71 [[-9.49181690e-01 3.14722033e-01 2.03992755e-03 1.06780586e+02] [ 3.14721347e-01 9.49183882e-01 -6.57153725e-04 1.39907818e+02] [-2.14308711e-03 1.82504628e-05 -9.99997703e-01 6.71047531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.78, Y:139.94, Z:6.71 [[-9.69531827e-01 2.44962465e-01 1.19501425e-03 1.06777915e+02] [ 2.44962290e-01 9.69532563e-01 -2.92847214e-04 1.39939201e+02] [-1.23034181e-03 8.80873388e-06 -9.99999243e-01 6.71024200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.89, Y:140.43, Z:5.77 [[-9.54493929e-01 -2.98227941e-01 1.19800466e-03 1.06893525e+02] [ 2.98227696e-01 -9.54494681e-01 -3.81887520e-04 1.40427503e+02] [ 1.25737860e-03 -7.23115073e-06 9.99999210e-01 5.76663850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.72, Y:139.95, Z:6.71 [[-9.71034186e-01 2.38934637e-01 1.68798312e-03 1.06724591e+02] [ 2.38934290e-01 9.71035653e-01 -4.07208083e-04 1.39949612e+02] [-1.73638791e-03 7.90408030e-06 -9.99998492e-01 6.71116926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.72, Y:139.98, Z:6.71 [[-9.85716354e-01 1.68393462e-01 2.62885337e-03 1.06721571e+02] [ 1.68392888e-01 9.85719860e-01 -4.40030081e-04 1.39978047e+02] [-2.66541117e-03 8.93536325e-06 -9.99996448e-01 6.71150439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.71, Y:140.01, Z:6.71 [[-9.95333365e-01 9.64349754e-02 3.43340318e-03 1.06714165e+02] [ 9.64344224e-02 9.95339287e-01 -3.26647228e-04 1.40006428e+02] [-3.44890129e-03 5.97536782e-06 -9.99994053e-01 6.71209438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.900385723 meters Centerline goodness [0,1] 0.9999791405924072 Centerline is valid? [True, True] Translation: X:106.76, Y:140.52, Z:5.77 [[-9.86896968e-01 -1.61312420e-01 3.56050862e-03 1.06758844e+02] [ 1.61311386e-01 -9.86903391e-01 -5.77680877e-04 1.40518316e+02] [ 3.60706513e-03 4.23907444e-06 9.99993495e-01 5.76537475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.66, Y:140.01, Z:6.71 [[-9.95799895e-01 9.14909100e-02 3.46146251e-03 1.06658873e+02] [ 9.14903660e-02 9.95805912e-01 -3.15495928e-04 1.40008412e+02] [-3.47580984e-03 2.51965913e-06 -9.99993959e-01 6.71177980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.70, Y:140.53, Z:5.77 [[-9.87402140e-01 -1.58200139e-01 3.11915338e-03 1.06699102e+02] [ 1.58199276e-01 -9.87407067e-01 -5.23011941e-04 1.40526189e+02] [ 3.16261465e-03 -2.29753020e-05 9.99994999e-01 5.76615511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.60, Y:140.01, Z:6.71 [[-9.96292078e-01 8.60021148e-02 2.39429539e-03 1.06602206e+02] [ 8.60018631e-02 9.96294955e-01 -2.08095081e-04 1.40008703e+02] [-2.40332104e-03 -1.40961584e-06 -9.99997112e-01 6.70998178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.59, Y:140.04, Z:6.71 [[-9.99890851e-01 1.46095290e-02 2.20167409e-03 1.06592778e+02] [ 1.46094892e-02 9.99893275e-01 -3.41861888e-05 1.40037319e+02] [-2.20193856e-03 -2.01712366e-06 -9.99997576e-01 6.70978163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.58, Y:140.07, Z:6.71 [[-9.98396470e-01 -5.65654875e-02 2.19856346e-03 1.06581036e+02] [-5.65653548e-02 9.98398891e-01 1.22540302e-04 1.40066072e+02] [-2.20197487e-03 -2.01871680e-06 -9.99997576e-01 6.70978209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.55, Y:140.59, Z:5.77 [[-9.99906222e-01 -1.36232340e-02 1.39822042e-03 1.06549727e+02] [ 1.36231474e-02 -9.99907198e-01 -7.14397004e-05 1.40594228e+02] [ 1.39906391e-03 -5.23848380e-05 9.99999020e-01 5.76831303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.51, Y:140.06, Z:6.71 [[-9.98108631e-01 -6.14555374e-02 1.54175502e-03 1.06512402e+02] [-6.14554661e-02 9.98109822e-01 9.36358808e-05 1.40059296e+02] [-1.54459528e-03 -1.29049276e-06 -9.99998807e-01 6.70911552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.47, Y:140.59, Z:5.77 [[-9.99952353e-01 -9.53832119e-03 2.07678315e-03 1.06474812e+02] [ 9.53837866e-03 -9.99954509e-01 1.77701963e-05 1.40592504e+02] [ 2.07651917e-03 3.75784937e-05 9.99997843e-01 5.76758498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.44, Y:140.05, Z:6.71 [[-9.97789602e-01 -6.63715740e-02 3.27489085e-03 1.06436897e+02] [-6.63712346e-02 9.97794976e-01 2.12342717e-04 1.40050599e+02] [-3.28176316e-03 -5.48519385e-06 -9.99994615e-01 6.71044796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.40, Y:140.59, Z:5.77 [[-9.99981986e-01 -4.63651706e-03 3.81178229e-03 1.06400775e+02] [ 4.63664192e-03 -9.99989251e-01 2.39171490e-05 1.40592887e+02] [ 3.81163043e-03 4.15905877e-05 9.99992735e-01 5.76635210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.37, Y:140.04, Z:6.71 [[-9.97512163e-01 -7.03651466e-02 4.26987754e-03 1.06368635e+02] [-7.03645211e-02 9.97521301e-01 2.96713504e-04 1.40042330e+02] [-4.28017209e-03 -4.47255972e-06 -9.99990840e-01 6.71097223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.35, Y:140.07, Z:6.71 [[-9.90100081e-01 -1.40309758e-01 3.87317471e-03 1.06349292e+02] [-1.40308686e-01 9.90107657e-01 5.48610756e-04 1.40065998e+02] [-3.91183538e-03 -2.60499771e-07 -9.99992349e-01 6.71112897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.33, Y:140.09, Z:6.71 [[-9.77581270e-01 -2.10520267e-01 4.00960856e-03 1.06330925e+02] [-2.10518495e-01 9.77589493e-01 8.63867458e-04 1.40090488e+02] [-4.10161281e-03 4.03889773e-07 -9.99991588e-01 6.71146741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.30, Y:140.11, Z:6.71 [[-9.59850182e-01 -2.80478843e-01 4.38720753e-03 1.06302142e+02] [-2.80475915e-01 9.59860208e-01 1.28151716e-03 1.40110887e+02] [-4.57054438e-03 -4.41569679e-07 -9.99989555e-01 6.71177632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.26, Y:140.12, Z:6.71 [[-9.36875200e-01 -3.49630213e-01 4.85525633e-03 1.06258515e+02] [-3.49625536e-01 9.36887781e-01 1.80830165e-03 1.40124886e+02] [-5.18106722e-03 -3.36862678e-06 -9.99986578e-01 6.71192232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.20, Y:140.13, Z:6.71 [[-9.07968543e-01 -4.19011088e-01 4.77837727e-03 1.06197210e+02] [-4.19005367e-01 9.07981116e-01 2.18975141e-03 1.40127235e+02] [-5.25620646e-03 -1.39403220e-05 -9.99986186e-01 6.71166117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.13, Y:140.12, Z:6.71 [[-8.73999752e-01 -4.85909445e-01 4.05515671e-03 1.06127150e+02] [-4.85904314e-01 8.74009159e-01 2.23308413e-03 1.40122826e+02] [-4.62932077e-03 -1.87031656e-05 -9.99989285e-01 6.71050776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.05, Y:140.11, Z:6.71 [[-8.34585065e-01 -5.50868913e-01 3.34831579e-03 1.06053344e+02] [-5.50864594e-01 8.34591781e-01 2.18141054e-03 1.40109057e+02] [-3.99614809e-03 -2.38959572e-05 -9.99992015e-01 6.70932005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.97, Y:140.09, Z:6.71 [[-7.90792942e-01 -6.12077422e-01 2.78431892e-03 1.05973148e+02] [-6.12073733e-01 7.90797843e-01 2.12522039e-03 1.40087328e+02] [-3.50263281e-03 -2.35991925e-05 -9.99993866e-01 6.70974540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.89, Y:140.05, Z:6.71 [[-7.42786358e-01 -6.69522982e-01 2.72075287e-03 1.05889877e+02] [-6.69518612e-01 7.42791341e-01 2.41913373e-03 1.40051434e+02] [-3.64061730e-03 -2.46951496e-05 -9.99993373e-01 6.70990041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.81, Y:140.01, Z:6.71 [[-6.90805660e-01 -7.23035238e-01 2.75384080e-03 1.05807162e+02] [-7.23029635e-01 6.90811149e-01 2.84655750e-03 1.40005994e+02] [-3.96054531e-03 -2.46904768e-05 -9.99992157e-01 6.70848173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.72, Y:139.95, Z:6.71 [[-6.34971809e-01 -7.72531213e-01 2.51526947e-03 1.05721593e+02] [-7.72525285e-01 6.34976791e-01 3.02646990e-03 1.39949117e+02] [-3.93518020e-03 -2.13862003e-05 -9.99992257e-01 6.70796636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.64, Y:139.89, Z:6.71 [[-5.75495313e-01 -8.17801665e-01 2.36231943e-03 1.05639289e+02] [-8.17794905e-01 5.75500162e-01 3.32526749e-03 1.39885401e+02] [-4.07892450e-03 -1.82169336e-05 -9.99991681e-01 6.70765111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.56, Y:139.81, Z:6.71 [[-5.14411089e-01 -8.57541498e-01 1.95237956e-03 1.05562337e+02] [-8.57535360e-01 5.14414794e-01 3.24454097e-03 1.39813194e+02] [-3.78666145e-03 -5.20665779e-06 -9.99992831e-01 6.70798187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.49, Y:139.73, Z:6.71 [[-4.49316664e-01 -8.93370624e-01 1.86093230e-03 1.05485516e+02] [-8.93362946e-01 4.49320518e-01 3.70384532e-03 1.39729167e+02] [-4.14506167e-03 1.71146038e-06 -9.99991409e-01 6.70890389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.42, Y:139.64, Z:6.71 [[-3.83603741e-01 -9.23496416e-01 1.59370431e-03 1.05418244e+02] [-9.23488244e-01 3.83607051e-01 3.88512083e-03 1.39640164e+02] [-4.19925137e-03 1.85796902e-05 -9.99991183e-01 6.70808316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.710385723 meters Centerline goodness [0,1] 0.9998931692412879 Centerline is valid? [True, True] Translation: X:105.35, Y:139.54, Z:6.71 [[-3.13729241e-01 -9.49511623e-01 1.28145389e-03 1.05354545e+02] [-9.49503356e-01 3.13731857e-01 3.96217774e-03 1.39541160e+02] [-4.16416672e-03 2.63062494e-05 -9.99991330e-01 6.70835873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.30, Y:139.43, Z:6.71 [[-2.42309533e-01 -9.70198543e-01 9.36809611e-04 1.05298087e+02] [-9.70190738e-01 2.42311342e-01 3.89175409e-03 1.39434114e+02] [-4.00277374e-03 3.41251089e-05 -9.99991988e-01 6.70780975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.25, Y:139.33, Z:6.71 [[-1.71156794e-01 -9.85243591e-01 6.46236483e-04 1.05252205e+02] [-9.85235396e-01 1.71158006e-01 4.01892517e-03 1.39328992e+02] [-4.07022881e-03 5.11712884e-05 -9.99991715e-01 6.70707282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.21, Y:139.21, Z:6.71 [[-9.71531914e-02 -9.95269382e-01 3.38323542e-04 1.05211035e+02] [-9.95261008e-01 9.71537620e-02 4.08315261e-03 1.39211373e+02] [-4.09670618e-03 5.99710778e-05 -9.99991607e-01 6.70795943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.830385723 meters Centerline goodness [0,1] 0.9999785287928887 Centerline is valid? [True, True] Translation: X:105.18, Y:139.09, Z:6.71 [[-2.27528885e-02 -9.99741119e-01 2.50397304e-05 1.05178030e+02] [-9.99731931e-01 2.27527867e-02 4.28674201e-03 1.39091155e+02] [-4.28620198e-03 7.25027447e-05 -9.99990812e-01 6.70853646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.16, Y:138.97, Z:6.71 [[ 4.95797751e-02 -9.98770099e-01 -3.67378883e-04 1.05158061e+02] [-9.98756768e-01 -4.95810119e-02 5.16154771e-03 1.38974456e+02] [-5.17341453e-03 1.11013771e-04 -9.99986612e-01 6.70958916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.15, Y:138.84, Z:6.71 [[ 1.24017897e-01 -9.92279664e-01 -7.94082111e-04 1.05146356e+02] [-9.92265364e-01 -1.24020374e-01 5.32867030e-03 1.38843972e+02] [-5.38601353e-03 1.27089693e-04 -9.99985487e-01 6.70958868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.15, Y:138.72, Z:6.71 [[ 1.95918049e-01 -9.80619581e-01 -1.16406182e-03 1.05145750e+02] [-9.80606389e-01 -1.95921454e-01 5.08860404e-03 1.38724354e+02] [-5.21804944e-03 1.44537084e-04 -9.99986375e-01 6.70941822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.15, Y:138.60, Z:6.71 [[ 2.69073402e-01 -9.63118407e-01 -1.56171218e-03 1.05148720e+02] [-9.63105353e-01 -2.69077890e-01 5.01688796e-03 1.38604823e+02] [-5.25207936e-03 1.54182247e-04 -9.99986196e-01 6.70870495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.16, Y:138.48, Z:6.71 [[ 3.41353796e-01 -9.39932937e-01 -1.91311840e-03 1.05161290e+02] [-9.39920645e-01 -3.41359121e-01 4.80955309e-03 1.38480560e+02] [-5.17371777e-03 1.56420271e-04 -9.99986604e-01 6.70795974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.010385723 meters Centerline goodness [0,1] 0.9999568584309412 Centerline is valid? [True, True] Translation: X:105.18, Y:138.36, Z:6.71 [[ 4.12004445e-01 -9.11180083e-01 -1.78699788e-03 1.05183134e+02] [-9.11172784e-01 -4.12008302e-01 3.64914089e-03 1.38358432e+02] [-4.06128246e-03 1.24801565e-04 -9.99991745e-01 6.70772320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.040385723 meters Centerline goodness [0,1] 0.9999567997235183 Centerline is valid? [True, True] Translation: X:105.21, Y:138.24, Z:6.71 [[ 4.80548036e-01 -8.76966184e-01 -1.97402229e-03 1.05213666e+02] [-8.76959780e-01 -4.80552075e-01 3.35379384e-03 1.38239695e+02] [-3.88978429e-03 1.19479112e-04 -9.99992428e-01 6.70771057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.25, Y:138.13, Z:6.71 [[ 5.46595972e-01 -8.37393820e-01 -2.10569572e-03 1.05250642e+02] [-8.37388373e-01 -5.46600017e-01 3.02247222e-03 1.38127991e+02] [-3.68197287e-03 1.11213970e-04 -9.99993215e-01 6.70771498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.29, Y:138.02, Z:6.71 [[ 6.09376882e-01 -7.92877477e-01 -2.26337755e-03 1.05294208e+02] [-7.92872641e-01 -6.09381076e-01 2.77122815e-03 1.38021002e+02] [-3.57650382e-03 1.05847764e-04 -9.99993599e-01 6.70769823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.34, Y:137.92, Z:6.71 [[ 6.68298573e-01 -7.43888027e-01 -2.76046204e-03 1.05344033e+02] [-7.43882389e-01 -6.68304264e-01 2.89851210e-03 1.37918115e+02] [-4.00099700e-03 1.16387598e-04 -9.99991989e-01 6.70816786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.40, Y:137.82, Z:6.71 [[ 7.22852522e-01 -6.90994459e-01 -3.29992492e-03 1.05400771e+02] [-6.90988064e-01 -7.22860043e-01 2.97557390e-03 1.37821607e+02] [-4.44148895e-03 1.29307639e-04 -9.99990128e-01 6.70863352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.40, Y:137.81, Z:6.71 [[ 7.74938237e-01 -6.32028980e-01 -3.17763388e-03 1.05395223e+02] [-6.32024268e-01 -7.74944743e-01 2.44325645e-03 1.37810980e+02] [-4.00669955e-03 1.14968888e-04 -9.99991967e-01 6.70805506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2203857229999 meters Centerline goodness [0,1] 0.9999356333676622 Centerline is valid? [True, True] Translation: X:105.39, Y:137.80, Z:6.71 [[ 8.22444117e-01 -5.68834986e-01 -3.52599952e-03 1.05389990e+02] [-5.68830363e-01 -8.22451667e-01 2.29624935e-03 1.37798655e+02] [-4.20615115e-03 1.17158818e-04 -9.99991147e-01 6.70800698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.39, Y:137.79, Z:6.71 [[ 8.65734525e-01 -5.00488788e-01 -3.83476756e-03 1.05385236e+02] [-5.00484437e-01 -8.65743011e-01 2.08983251e-03 1.37786950e+02] [-4.36586095e-03 1.10001333e-04 -9.99990464e-01 6.70750682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.38, Y:137.77, Z:6.71 [[ 9.02957349e-01 -4.29712786e-01 -3.86610685e-03 1.05383232e+02] [-4.29709315e-01 -9.02965620e-01 1.73003752e-03 1.37774459e+02] [-4.23438082e-03 9.91520349e-05 -9.99991030e-01 6.70772751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.38, Y:137.76, Z:6.71 [[ 9.34548679e-01 -3.55812205e-01 -4.05474124e-03 1.05381796e+02] [-3.55809280e-01 -9.34557471e-01 1.44579518e-03 1.37762856e+02] [-4.30382029e-03 9.15485847e-05 -9.99990734e-01 6.70779106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.38, Y:137.75, Z:6.71 [[ 9.60212846e-01 -2.79241273e-01 -3.95002916e-03 1.05381430e+02] [-2.79239238e-01 -9.60220967e-01 1.06870914e-03 1.37753499e+02] [-4.09132852e-03 7.68148896e-05 -9.99991628e-01 6.70824445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.38, Y:137.74, Z:6.71 [[ 9.79596292e-01 -2.00930280e-01 -4.25750333e-03 1.05382686e+02] [-2.00928696e-01 -9.79605542e-01 8.01006644e-04 1.37740589e+02] [-4.33162034e-03 7.07914538e-05 -9.99990616e-01 6.70834725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.38, Y:137.73, Z:6.71 [[ 9.92942649e-01 -1.18494378e-01 -4.89668440e-03 1.05380744e+02] [-1.18493210e-01 -9.92954722e-01 5.29124006e-04 1.37726389e+02] [-4.92488411e-03 5.48340591e-05 -9.99987871e-01 6.70805413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.38, Y:137.72, Z:6.71 [[ 9.99262012e-01 -3.80328547e-02 -5.37892265e-03 1.05379252e+02] [-3.80325583e-02 -9.99276488e-01 1.57412309e-04 1.37715827e+02] [-5.38101778e-03 4.72780493e-05 -9.99985521e-01 6.70814035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.460385723 meters Centerline goodness [0,1] 0.9999357587956915 Centerline is valid? [True, True] Translation: X:105.38, Y:137.70, Z:6.71 [[ 9.99093318e-01 4.21900238e-02 -5.70465428e-03 1.05379470e+02] [ 4.21891112e-02 -9.99109604e-01 -2.80259672e-04 1.37704822e+02] [-5.71139904e-03 3.93312717e-05 -9.99983689e-01 6.70829252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.38, Y:137.69, Z:6.71 [[ 9.92429000e-01 1.22687682e-01 -5.69313999e-03 1.05381444e+02] [ 1.22685514e-01 -9.92445330e-01 -7.29746201e-04 1.37693349e+02] [-5.73966107e-03 2.57554853e-05 -9.99983528e-01 6.70812436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.38, Y:137.68, Z:6.71 [[ 9.79673872e-01 2.00522786e-01 -5.45136114e-03 1.05383647e+02] [ 2.00519557e-01 -9.79689038e-01 -1.13834974e-03 1.37683578e+02] [-5.56890381e-03 2.21069785e-05 -9.99984493e-01 6.70824782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.550385723 meters Centerline goodness [0,1] 0.9999570492859444 Centerline is valid? [True, True] Translation: X:105.39, Y:137.68, Z:6.71 [[ 9.60939864e-01 2.76696303e-01 -5.80810219e-03 1.05386080e+02] [ 2.76691101e-01 -9.60957416e-01 -1.69680875e-03 1.37675106e+02] [-6.05083958e-03 2.34809811e-05 -9.99981693e-01 6.70819793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.39, Y:137.67, Z:6.71 [[ 9.36657006e-01 3.50209098e-01 -5.21918643e-03 1.05388207e+02] [ 3.50203502e-01 -9.36671547e-01 -1.98009506e-03 1.37668613e+02] [-5.58211073e-03 2.68925449e-05 -9.99984420e-01 6.70698517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.610385723 meters Centerline goodness [0,1] 0.9999786798567286 Centerline is valid? [True, True] Translation: X:105.39, Y:137.66, Z:6.71 [[ 9.06901200e-01 4.21316708e-01 -4.73755564e-03 1.05391350e+02] [ 4.21310776e-01 -9.06913574e-01 -2.23601382e-03 1.37660699e+02] [-5.23862350e-03 3.18603703e-05 -9.99986278e-01 6.70605622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.40, Y:137.65, Z:6.71 [[ 8.72445571e-01 4.88694419e-01 -4.06092227e-03 1.05396157e+02] [ 4.88688905e-01 -8.72455021e-01 -2.32186016e-03 1.37652128e+02] [-4.67765213e-03 4.11689510e-05 -9.99989059e-01 6.70510297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.40, Y:137.64, Z:6.71 [[ 8.32525056e-01 5.53972882e-01 -4.00967393e-03 1.05400618e+02] [ 5.53966159e-01 -8.32534710e-01 -2.72980537e-03 1.37642393e+02] [-4.85043087e-03 5.14077063e-05 -9.99988235e-01 6.70590524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.41, Y:137.63, Z:6.71 [[ 7.87527951e-01 6.16264918e-01 -4.15657840e-03 1.05406192e+02] [ 6.16255902e-01 -7.87538918e-01 -3.33414586e-03 1.37634719e+02] [-5.32818438e-03 6.42170866e-05 -9.99985803e-01 6.70626169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.730385723 meters Centerline goodness [0,1] 0.9999783839868575 Centerline is valid? [True, True] Translation: X:105.41, Y:137.63, Z:6.71 [[ 7.37926507e-01 6.74866054e-01 -4.50327053e-03 1.05411239e+02] [ 6.74852788e-01 -7.37940243e-01 -4.23234602e-03 1.37627459e+02] [-6.17941121e-03 8.41156455e-05 -9.99980904e-01 6.70702596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.42, Y:137.62, Z:6.71 [[ 6.82812783e-01 7.30580376e-01 -4.36094786e-03 1.05416781e+02] [ 7.30564646e-01 -6.82826703e-01 -4.79486939e-03 1.37619808e+02] [-6.48080913e-03 8.80437823e-05 -9.99978996e-01 6.70713319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.42, Y:137.61, Z:6.71 [[ 6.23416162e-01 7.81876554e-01 -4.61982271e-03 1.05420708e+02] [ 7.81853875e-01 -6.23433272e-01 -5.95602309e-03 1.37612888e+02] [-7.53702599e-03 1.01054771e-04 -9.99971591e-01 6.70719571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.43, Y:137.61, Z:6.71 [[ 5.60331528e-01 8.28257480e-01 -4.25734915e-03 1.05426756e+02] [ 8.28232140e-01 -5.60347691e-01 -6.47975469e-03 1.37606826e+02] [-7.75250106e-03 1.04737454e-04 -9.99969943e-01 6.70712541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.850385723 meters Centerline goodness [0,1] 0.9999567801188547 Centerline is valid? [True, True] Translation: X:105.43, Y:137.60, Z:6.71 [[ 4.93724034e-01 8.69609189e-01 -4.05423541e-03 1.05432248e+02] [ 8.69577961e-01 -4.93740666e-01 -7.37046128e-03 1.37601499e+02] [-8.41116175e-03 1.13500108e-04 -9.99964619e-01 6.70729046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.880385723 meters Centerline goodness [0,1] 0.9999347485644684 Centerline is valid? [True, True] Translation: X:105.44, Y:137.60, Z:6.71 [[ 4.23979654e-01 9.05664601e-01 -3.58930608e-03 1.05435107e+02] [ 9.05629794e-01 -4.23994831e-01 -7.94104169e-03 1.37596793e+02] [-8.71376758e-03 1.16257582e-04 -9.99962028e-01 6.70722315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.44, Y:137.59, Z:6.71 [[ 3.51884692e-01 9.36039002e-01 -2.85496238e-03 1.05438477e+02] [ 9.36005535e-01 -3.51896255e-01 -7.91600896e-03 1.37592113e+02] [-8.41434370e-03 1.13261780e-04 -9.99964592e-01 6.70656595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.44, Y:137.59, Z:6.71 [[ 2.77256260e-01 9.60793824e-01 -2.04793767e-03 1.05442060e+02] [ 9.60764823e-01 -2.77263804e-01 -7.46575404e-03 1.37588149e+02] [-7.74086937e-03 1.02340565e-04 -9.99970034e-01 6.70602849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.45, Y:137.58, Z:6.71 [[ 2.01199260e-01 9.79549251e-01 -1.45726288e-03 1.05447559e+02] [ 9.79519748e-01 -2.01204511e-01 -7.60318689e-03 1.37583248e+02] [-7.74090388e-03 1.02337802e-04 -9.99970034e-01 6.70602879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.45, Y:137.58, Z:6.71 [[ 1.23188152e-01 9.92382944e-01 -8.78483040e-04 1.05453556e+02] [ 9.92351614e-01 -1.23191244e-01 -7.88621508e-03 1.37578811e+02] [-7.93436676e-03 9.97241986e-05 -9.99968517e-01 6.70532572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.46, Y:137.57, Z:6.71 [[ 4.43787718e-02 9.99014743e-01 -2.60554786e-04 1.05460094e+02] [ 9.98982685e-01 -4.43794352e-02 -8.00382196e-03 1.37574259e+02] [-8.00749941e-03 9.49100688e-05 -9.99967935e-01 6.70568111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.47, Y:137.57, Z:6.71 [[-3.49075047e-02 9.99390472e-01 3.87075960e-04 1.05465025e+02] [ 9.99354829e-01 3.49095290e-02 -8.44099411e-03 1.37569747e+02] [-8.44936173e-03 9.21721887e-05 -9.99964299e-01 6.70644923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.47, Y:137.57, Z:6.71 [[-1.14188288e-01 9.93458581e-01 1.04034040e-03 1.05471831e+02] [ 9.93423643e-01 1.14192998e-01 -8.33216394e-03 1.37566528e+02] [-8.39645935e-03 8.20632128e-05 -9.99964746e-01 6.70621275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.48, Y:137.56, Z:6.71 [[-1.93055306e-01 9.81186105e-01 1.86461096e-03 1.05476294e+02] [ 9.81144137e-01 1.93064295e-01 -9.07526446e-03 1.37562179e+02] [-9.26451319e-03 7.74241535e-05 -9.99957081e-01 6.70631435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.48, Y:137.56, Z:6.71 [[-2.69617032e-01 9.62964266e-01 2.54519729e-03 1.05484321e+02] [ 9.62923909e-01 2.69629035e-01 -8.81637734e-03 1.37559953e+02] [-9.17611542e-03 7.37858269e-05 -9.99957896e-01 6.70543014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.49, Y:137.56, Z:6.70 [[-3.44761281e-01 9.38684861e-01 3.22367208e-03 1.05490729e+02] [ 9.38645662e-01 3.44776345e-01 -8.57862317e-03 1.37557660e+02] [-9.16406957e-03 6.83087021e-05 -9.99958007e-01 6.70409934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.50, Y:137.56, Z:6.70 [[-4.17791566e-01 9.08534471e-01 3.91451693e-03 1.05502900e+02] [ 9.08495995e-01 4.17809899e-01 -8.36149087e-03 1.37558586e+02] [-9.23222660e-03 6.29625898e-05 -9.99957380e-01 6.70341564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.51, Y:137.56, Z:6.70 [[-4.87965177e-01 8.72849922e-01 4.79575950e-03 1.05514736e+02] [ 8.72809029e-01 4.87988739e-01 -8.44921290e-03 1.37560398e+02] [-9.71517146e-03 6.28605187e-05 -9.99952805e-01 6.70422064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.270385723 meters Centerline goodness [0,1] 0.9999560555457901 Centerline is valid? [True, True] Translation: X:105.52, Y:137.56, Z:6.71 [[-5.56239028e-01 8.30999875e-01 6.11169099e-03 1.05524941e+02] [ 8.30950745e-01 5.56272600e-01 -9.03618747e-03 1.37561239e+02] [-1.09088369e-02 5.22340531e-05 -9.99940496e-01 6.70507521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.53, Y:137.56, Z:6.71 [[-6.20100862e-01 7.84492225e-01 6.84616483e-03 1.05534663e+02] [ 7.84445231e-01 6.20138652e-01 -8.58671980e-03 1.37561927e+02] [-1.09817863e-02 4.58090025e-05 -9.99939697e-01 6.70553282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.330385723 meters Centerline goodness [0,1] 0.9999561037706861 Centerline is valid? [True, True] Translation: X:105.54, Y:137.56, Z:6.71 [[-6.80012106e-01 7.33160670e-01 7.67904074e-03 1.05543847e+02] [ 7.33114608e-01 6.80055461e-01 -8.21841034e-03 1.37564483e+02] [-1.12475888e-02 4.09984224e-05 -9.99936743e-01 6.70561308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.55, Y:137.57, Z:6.71 [[-7.36379098e-01 6.76516096e-01 8.47326974e-03 1.05554125e+02] [ 6.76471697e-01 7.36427845e-01 -7.75065623e-03 1.37569713e+02] [-1.14833955e-02 2.45059201e-05 -9.99934063e-01 6.70574819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.390385723 meters Centerline goodness [0,1] 0.9999561105137265 Centerline is valid? [True, True] Translation: X:105.57, Y:137.59, Z:6.71 [[-7.82818372e-01 6.22185689e-01 8.96468152e-03 1.05573959e+02] [ 6.22145141e-01 7.82869701e-01 -7.10314466e-03 1.37589893e+02] [-1.14376525e-02 1.68609145e-05 -9.99934588e-01 6.70565737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.59, Y:137.61, Z:6.70 [[-8.25251468e-01 5.64688430e-01 9.32694980e-03 1.05590454e+02] [ 5.64652498e-01 8.25304172e-01 -6.37027306e-03 1.37611677e+02] [-1.12947901e-02 9.40831303e-06 -9.99936212e-01 6.70457769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.61, Y:137.63, Z:6.70 [[-8.63239245e-01 5.04703479e-01 9.61272195e-03 1.05607965e+02] [ 5.04672290e-01 8.63292765e-01 -5.61084509e-03 1.37633813e+02] [-1.11304064e-02 7.77272733e-06 -9.99938055e-01 6.70449025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.99, Y:138.29, Z:5.77 [[-8.28009555e-01 -5.60641969e-01 8.98663872e-03 1.05991776e+02] [ 5.60608644e-01 -8.28058321e-01 -6.11274169e-03 1.38288987e+02] [ 1.08685205e-02 -2.34211793e-05 9.99940936e-01 5.77311217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.57, Y:137.65, Z:6.70 [[-8.64662503e-01 5.02269960e-01 9.14568059e-03 1.05565900e+02] [ 5.02242019e-01 8.64710869e-01 -5.29785404e-03 1.37652354e+02] [-1.05693224e-02 1.24893500e-05 -9.99944143e-01 6.70328241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.96, Y:138.31, Z:5.77 [[-8.30362890e-01 -5.57150212e-01 9.00622695e-03 1.05960766e+02] [ 5.57117492e-01 -8.30411730e-01 -6.03815548e-03 1.38311410e+02] [ 1.08430361e-02 3.66634000e-06 9.99941213e-01 5.77407798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.53, Y:137.67, Z:6.70 [[-8.66081289e-01 4.99808611e-01 9.72389341e-03 1.05525631e+02] [ 4.99777396e-01 8.66135874e-01 -5.58595825e-03 1.37670707e+02] [-1.12141229e-02 2.18882025e-05 -9.99937120e-01 6.70369222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.92, Y:138.34, Z:5.77 [[-8.32742470e-01 -5.53576806e-01 9.62799300e-03 1.05919155e+02] [ 5.53539788e-01 -8.32798126e-01 -6.40183617e-03 1.38337708e+02] [ 1.15620826e-02 -1.60365456e-06 9.99933157e-01 5.77395479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.630385723 meters Centerline goodness [0,1] 0.9999333422210372 Centerline is valid? [True, True] Translation: X:105.91, Y:138.31, Z:5.77 [[-7.93434471e-01 -6.08570394e-01 1.01890424e-02 1.05911891e+02] [ 6.08519825e-01 -7.93499890e-01 -7.84521964e-03 1.38307132e+02] [ 1.28593724e-02 -2.44334202e-05 9.99917315e-01 5.77161116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.43, Y:137.69, Z:6.70 [[-8.32605498e-01 5.53762471e-01 1.07336191e-02 1.05432020e+02] [ 5.53716784e-01 8.32674681e-01 -7.11326274e-03 1.37687613e+02] [-1.28766708e-02 2.08433673e-05 -9.99917092e-01 6.70404544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.690385723 meters Centerline goodness [0,1] 0.9999778117996849 Centerline is valid? [True, True] Translation: X:105.87, Y:138.34, Z:5.77 [[-7.95255417e-01 -6.06186708e-01 1.03197525e-02 1.05870457e+02] [ 6.06135440e-01 -7.95322372e-01 -7.88374594e-03 1.38337026e+02] [ 1.29865521e-02 -1.44239037e-05 9.99915671e-01 5.77313195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.40, Y:137.71, Z:6.70 [[-8.34636047e-01 5.50687254e-01 1.12346851e-02 1.05396572e+02] [ 5.50637703e-01 8.34711656e-01 -7.38725925e-03 1.37706544e+02] [-1.34457921e-02 2.05683357e-05 -9.99909601e-01 6.70420132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.84, Y:138.36, Z:5.77 [[-7.98156051e-01 -6.02366395e-01 1.00819042e-02 1.05835545e+02] [ 6.02317324e-01 -7.98219721e-01 -7.68889712e-03 1.38363245e+02] [ 1.26791080e-02 -6.44342179e-05 9.99919615e-01 5.77300851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.36, Y:137.73, Z:6.70 [[-8.35834162e-01 5.48880522e-01 1.05558820e-02 1.05358025e+02] [ 5.48837336e-01 8.35900815e-01 -6.88525971e-03 1.37725803e+02] [-1.26028553e-02 3.85268844e-05 -9.99920580e-01 6.70343587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.810385723 meters Centerline goodness [0,1] 0.9999777411743757 Centerline is valid? [True, True] Translation: X:105.36, Y:137.76, Z:6.70 [[-8.72102092e-01 4.89201680e-01 1.09388532e-02 1.05359362e+02] [ 4.89163920e-01 8.72170691e-01 -6.07826419e-03 1.37756336e+02] [-1.25140442e-02 5.00253850e-05 -9.99921695e-01 6.70327650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.37, Y:137.78, Z:6.70 [[-9.03964554e-01 4.27459365e-01 1.12505973e-02 1.05372025e+02] [ 4.27427177e-01 9.04034561e-01 -5.24604678e-03 1.37779879e+02] [-1.24134006e-02 6.65706998e-05 -9.99922949e-01 6.70222921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.870385723 meters Centerline goodness [0,1] 0.9999776969913241 Centerline is valid? [True, True] Translation: X:105.41, Y:137.79, Z:6.70 [[-9.31204951e-01 3.64334096e-01 1.08630409e-02 1.05407710e+02] [ 3.64310403e-01 9.31268306e-01 -4.15596950e-03 1.37792103e+02] [-1.16305671e-02 8.74594192e-05 -9.99932359e-01 6.70108438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.900385723 meters Centerline goodness [0,1] 0.9999552001433596 Centerline is valid? [True, True] Translation: X:105.70, Y:138.55, Z:5.78 [[-9.11230001e-01 -4.11768859e-01 1.03098620e-02 1.05703605e+02] [ 4.11741238e-01 -9.11288317e-01 -4.77037373e-03 1.38547803e+02] [ 1.13595481e-02 -1.01912334e-04 9.99935473e-01 5.77633194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.36, Y:137.81, Z:6.70 [[-9.31774003e-01 3.62888363e-01 1.04519612e-02 1.05360569e+02] [ 3.62866837e-01 9.31832616e-01 -3.95405747e-03 1.37805944e+02] [-1.11743598e-02 1.08382154e-04 -9.99937559e-01 6.70172086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.37, Y:137.83, Z:6.70 [[-9.55103440e-01 2.96075847e-01 1.07940499e-02 1.05371212e+02] [ 2.96058246e-01 9.55164426e-01 -3.23015588e-03 1.37831767e+02] [-1.12664636e-02 1.10534493e-04 -9.99936525e-01 6.70218579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.62, Y:138.61, Z:5.77 [[-9.39876448e-01 -3.41354557e-01 1.04560798e-02 1.05615877e+02] [ 3.41332061e-01 -9.39934601e-01 -3.92053159e-03 1.38614122e+02] [ 1.11663225e-02 -1.15820035e-04 9.99937648e-01 5.77481242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.33, Y:137.84, Z:6.70 [[-9.56549578e-01 2.91334155e-01 1.17181584e-02 1.05328224e+02] [ 2.91313656e-01 9.56621346e-01 -3.45763928e-03 1.37841942e+02] [-1.22171689e-02 1.06256169e-04 -9.99925362e-01 6.70312534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.56, Y:138.63, Z:5.77 [[-9.40413066e-01 -3.39848536e-01 1.12355935e-02 1.05562493e+02] [ 3.39822772e-01 -9.40480175e-01 -4.18629361e-03 1.38630243e+02] [ 1.19895587e-02 -1.18734676e-04 9.99928116e-01 5.77341476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.27, Y:137.86, Z:6.70 [[-9.58180898e-01 2.85903138e-01 1.21968504e-02 1.05272164e+02] [ 2.85881134e-01 9.58258518e-01 -3.54812962e-03 1.37857833e+02] [-1.27021571e-02 8.70993889e-05 -9.99919321e-01 6.70410374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.51, Y:138.64, Z:5.77 [[-9.41061901e-01 -3.38006720e-01 1.24078544e-02 1.05513285e+02] [ 3.37976524e-01 -9.41143695e-01 -4.51832057e-03 1.38643618e+02] [ 1.32047967e-02 -5.84558275e-05 9.99912811e-01 5.77297527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.140385723 meters Centerline goodness [0,1] 0.9999547961305488 Centerline is valid? [True, True] Translation: X:105.21, Y:137.87, Z:6.71 [[-9.60072170e-01 2.79430408e-01 1.34192149e-02 1.05211281e+02] [ 2.79403906e-01 9.60165946e-01 -3.84880123e-03 1.37874856e+02] [-1.39601453e-02 5.42541200e-05 -9.99902551e-01 6.70505442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.46, Y:138.66, Z:5.77 [[-9.41519467e-01 -3.36691687e-01 1.34090208e-02 1.05463931e+02] [ 3.36656991e-01 -9.41614946e-01 -4.83361819e-03 1.38657457e+02] [ 1.42535735e-02 -3.67050084e-05 9.99898412e-01 5.77222808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.200385723 meters Centerline goodness [0,1] 0.999932181933267 Centerline is valid? [True, True] Translation: X:105.18, Y:137.88, Z:6.70 [[-9.61573688e-01 2.74239276e-01 1.29946721e-02 1.05182656e+02] [ 2.74214682e-01 9.61661489e-01 -3.67284978e-03 1.37881829e+02] [-1.35037154e-02 3.16141707e-05 -9.99908820e-01 6.70415232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.230385723 meters Centerline goodness [0,1] 0.999977431221648 Centerline is valid? [True, True] Translation: X:105.18, Y:137.91, Z:6.70 [[-9.78603368e-01 2.05353248e-01 1.28643916e-02 1.05184944e+02] [ 2.05335916e-01 9.78687919e-01 -2.66815681e-03 1.37911068e+02] [-1.31381394e-02 3.04543976e-05 -9.99913690e-01 6.70248574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.260385723 meters Centerline goodness [0,1] 0.9999095983908514 Centerline is valid? [True, True] Translation: X:105.36, Y:138.71, Z:5.78 [[-9.63817938e-01 -2.66273972e-01 1.23755475e-02 1.05364744e+02] [ 2.66251386e-01 -9.63897385e-01 -3.46845468e-03 1.38713642e+02] [ 1.28523171e-02 -4.79521679e-05 9.99917404e-01 5.77572712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.290385723 meters Centerline goodness [0,1] 0.9999326206091097 Centerline is valid? [True, True] Translation: X:105.13, Y:137.92, Z:6.70 [[-9.79046969e-01 2.03248129e-01 1.25391716e-02 1.05130549e+02] [ 2.03232156e-01 9.79127262e-01 -2.54865216e-03 1.37919029e+02] [-1.27954535e-02 5.31126953e-05 -9.99918133e-01 6.70161430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.320385723 meters Centerline goodness [0,1] 0.9998193274464193 Centerline is valid? [True, True] Translation: X:105.31, Y:138.73, Z:5.78 [[-9.65493596e-01 -2.60136719e-01 1.22883171e-02 1.05305065e+02] [ 2.60114910e-01 -9.65571791e-01 -3.36890036e-03 1.38728997e+02] [ 1.27416271e-02 -5.62772291e-05 9.99918821e-01 5.77706988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.350385723 meters Centerline goodness [0,1] 0.9998419329344022 Centerline is valid? [True, True] Translation: X:105.08, Y:137.92, Z:6.70 [[-9.79382998e-01 2.01602719e-01 1.28563956e-02 1.05083460e+02] [ 2.01586529e-01 9.79467374e-01 -2.55640280e-03 1.37924374e+02] [-1.31077978e-02 8.79787314e-05 -9.99914085e-01 6.70091457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.09, Y:137.95, Z:6.70 [[-9.91126332e-01 1.32248558e-01 1.33758666e-02 1.05090229e+02] [ 1.32237863e-01 9.91216580e-01 -1.68477251e-03 1.37951207e+02] [-1.34811895e-02 9.89736234e-05 -9.99909120e-01 6.70276339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.410385723 meters Centerline goodness [0,1] 0.9998869468876478 Centerline is valid? [True, True] Translation: X:105.09, Y:137.98, Z:6.70 [[-9.97948429e-01 6.25045355e-02 1.38605661e-02 1.05094066e+02] [ 6.25001118e-02 9.98044673e-01 -7.52510411e-04 1.37980795e+02] [-1.38804995e-02 1.15320347e-04 -9.99903655e-01 6.70026226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.09, Y:138.01, Z:6.70 [[-9.99855467e-01 -6.95171063e-03 1.55150968e-02 1.05092354e+02] [-6.94846458e-03 9.99975825e-01 2.63116634e-04 1.38008075e+02] [-1.55165508e-02 1.55272504e-04 -9.99879599e-01 6.70013026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4703857229999 meters Centerline goodness [0,1] 0.9998420506340538 Centerline is valid? [True, True] Translation: X:105.08, Y:138.85, Z:5.78 [[-9.99081234e-01 -3.96550787e-02 1.62530663e-02 1.05081732e+02] [ 3.96479853e-02 -9.99213422e-01 -7.58553936e-04 1.38848786e+02] [ 1.62703625e-02 -1.13455668e-04 9.99867622e-01 5.77582596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.500385723 meters Centerline goodness [0,1] 0.9999096983926314 Centerline is valid? [True, True] Translation: X:104.99, Y:138.00, Z:6.70 [[-9.99787750e-01 -1.10230719e-02 1.74053961e-02 1.04990585e+02] [-1.10176424e-02 9.99939221e-01 4.07809531e-04 1.38004929e+02] [-1.74088335e-02 2.15956544e-04 -9.99848431e-01 6.70053291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.530385723 meters Centerline goodness [0,1] 0.9998418329303839 Centerline is valid? [True, True] Translation: X:104.99, Y:138.03, Z:6.70 [[-9.96498165e-01 -8.17500714e-02 1.75594185e-02 1.04986133e+02] [-8.17333506e-02 9.96652835e-01 1.66899173e-03 1.38034817e+02] [-1.76370844e-02 2.27957089e-04 -9.99844429e-01 6.69908324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.560385723 meters Centerline goodness [0,1] 0.9999099038223304 Centerline is valid? [True, True] Translation: X:104.91, Y:138.87, Z:5.78 [[-9.99008701e-01 4.06923386e-02 1.80485048e-02 1.04905136e+02] [-4.06894168e-02 -9.99171703e-01 5.29231280e-04 1.38873104e+02] [ 1.80550909e-02 -2.05676482e-04 9.99836972e-01 5.77792982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5903857229999 meters Centerline goodness [0,1] 0.9999098896147781 Centerline is valid? [True, True] Translation: X:104.87, Y:138.03, Z:6.70 [[-9.96033283e-01 -8.69146747e-02 1.90666786e-02 1.04865610e+02] [-8.68933096e-02 9.96215719e-01 1.94773167e-03 1.38025254e+02] [-1.91638114e-02 2.83238768e-04 -9.99816317e-01 6.69978827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.620385723 meters Centerline goodness [0,1] 0.9999101729171345 Centerline is valid? [True, True] Translation: X:104.85, Y:138.05, Z:6.70 [[-9.87332219e-01 -1.57488819e-01 1.92966459e-02 1.04847158e+02] [-1.57452759e-01 9.87520724e-01 3.38354592e-03 1.38051796e+02] [-1.95887084e-02 3.02373768e-04 -9.99808077e-01 6.70077398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.650385723 meters Centerline goodness [0,1] 0.9999550046120272 Centerline is valid? [True, True] Translation: X:104.81, Y:138.07, Z:6.70 [[-9.73658491e-01 -2.27173213e-01 1.95313533e-02 1.04808409e+02] [-2.27120438e-01 9.73854308e-01 4.90850076e-03 1.38072937e+02] [-2.01357725e-02 3.43233922e-04 -9.99797196e-01 6.70119953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.75, Y:138.09, Z:6.70 [[-9.54656504e-01 -2.97117862e-01 1.87599413e-02 1.04750815e+02] [-2.97053087e-01 9.54840744e-01 6.21421125e-03 1.38087949e+02] [-1.97591095e-02 3.59738702e-04 -9.99804705e-01 6.69977878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.67, Y:138.09, Z:6.70 [[-9.30618276e-01 -3.65572613e-01 1.75011343e-02 1.04667714e+02] [-3.65500593e-01 9.30782752e-01 7.26531460e-03 1.38087558e+02] [-1.89457540e-02 3.64559558e-04 -9.99820447e-01 6.70026473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.740385723 meters Centerline goodness [0,1] 0.9999549092548754 Centerline is valid? [True, True] Translation: X:104.61, Y:138.09, Z:6.70 [[-9.00831814e-01 -4.33868437e-01 1.61314420e-02 1.04607284e+02] [-4.33791718e-01 9.00976166e-01 8.16670254e-03 1.38093395e+02] [-1.80773192e-02 3.59139542e-04 -9.99836527e-01 6.69894857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.770385723 meters Centerline goodness [0,1] 0.9999775179856115 Centerline is valid? [True, True] Translation: X:104.52, Y:138.08, Z:6.70 [[-8.66479186e-01 -4.99015851e-01 1.40356862e-02 1.04517590e+02] [-4.98943846e-01 8.66592788e-01 8.48405176e-03 1.38078292e+02] [-1.63969007e-02 3.48235004e-04 -9.99865501e-01 6.69832276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.800385723 meters Centerline goodness [0,1] 0.9999775457505333 Centerline is valid? [True, True] Translation: X:104.43, Y:138.05, Z:6.70 [[-8.26629863e-01 -5.62602274e-01 1.27181591e-02 1.04425760e+02] [-5.62529347e-01 8.26727625e-01 9.06458357e-03 1.38054946e+02] [-1.56142088e-02 3.38717737e-04 -9.99878033e-01 6.69709081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.33, Y:138.02, Z:6.70 [[-7.81740493e-01 -6.23497953e-01 1.14936660e-02 1.04332591e+02] [-6.23424364e-01 7.81824914e-01 9.58471926e-03 1.38021853e+02] [-1.49620873e-02 3.27331756e-04 -9.99888008e-01 6.69638113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.24, Y:137.98, Z:6.70 [[-7.32068401e-01 -6.81146601e-01 1.07315231e-02 1.04236804e+02] [-6.81066805e-01 7.32146981e-01 1.04310150e-02 1.37975118e+02] [-1.49621027e-02 3.27332291e-04 -9.99888008e-01 6.69638185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.890385723 meters Centerline goodness [0,1] 0.9998877161464181 Centerline is valid? [True, True] Translation: X:104.14, Y:137.92, Z:6.70 [[-6.78380803e-01 -7.34648677e-01 9.52931879e-03 1.04140240e+02] [-7.34569435e-01 6.78447653e-01 1.07948295e-02 1.37917908e+02] [-1.43955512e-02 3.23058807e-04 -9.99896327e-01 6.69710152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.05, Y:137.85, Z:6.70 [[-6.20139903e-01 -7.84441581e-01 8.82650888e-03 1.04049211e+02] [-7.84354522e-01 6.20202627e-01 1.16912077e-02 1.37851446e+02] [-1.46452934e-02 3.27072241e-04 -9.99892698e-01 6.69838183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.950385723 meters Centerline goodness [0,1] 0.9997534572024116 Centerline is valid? [True, True] Translation: X:103.95, Y:137.78, Z:6.70 [[-5.57352548e-01 -8.30238852e-01 7.84766491e-03 1.03954797e+02] [-8.30148596e-01 5.57407707e-01 1.22456652e-02 1.37776037e+02] [-1.45411759e-02 3.10424663e-04 -9.99894223e-01 6.69778068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.980385723 meters Centerline goodness [0,1] 0.9999554873027531 Centerline is valid? [True, True] Translation: X:103.87, Y:137.69, Z:6.70 [[-4.91571736e-01 -8.70811022e-01 6.73739602e-03 1.03870072e+02] [-8.70720835e-01 4.91617816e-01 1.25359882e-02 1.37691697e+02] [-1.42287006e-02 2.95946392e-04 -9.99898723e-01 6.69898224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.79, Y:137.60, Z:6.70 [[-4.22664065e-01 -9.06269480e-01 5.54235009e-03 1.03786944e+02] [-9.06182754e-01 4.22700310e-01 1.25404962e-02 1.37595321e+02] [-1.37078220e-02 2.78035019e-04 -9.99906005e-01 6.69841654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.040385723 meters Centerline goodness [0,1] 0.9999330207635633 Centerline is valid? [True, True] Translation: X:103.72, Y:137.50, Z:6.70 [[-3.50542518e-01 -9.36535703e-01 4.56286343e-03 1.03717391e+02] [-9.36446358e-01 3.50572115e-01 1.29387025e-02 1.37500887e+02] [-1.37171696e-02 2.62688526e-04 -9.99905881e-01 6.70138758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.65, Y:137.39, Z:6.70 [[-2.76513097e-01 -9.61003466e-01 3.58400529e-03 1.03649344e+02] [-9.60910517e-01 2.76536208e-01 1.33680250e-02 1.37387239e+02] [-1.38378256e-02 2.52525620e-04 -9.99904221e-01 6.70027926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.59, Y:137.28, Z:6.70 [[-2.00088747e-01 -9.79774432e-01 2.56059295e-03 1.03594082e+02] [-9.79678542e-01 2.00104993e-01 1.37093557e-02 1.37277505e+02] [-1.39444637e-02 2.34529844e-04 -9.99902744e-01 6.69976021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.55, Y:137.16, Z:6.70 [[-1.23371248e-01 -9.92359562e-01 1.42660089e-03 1.03548906e+02] [-9.92271291e-01 1.23379304e-01 1.32375115e-02 1.37159069e+02] [-1.33123841e-02 2.17553209e-04 -9.99911363e-01 6.70127755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.73, Y:137.13, Z:5.78 [[-1.58800245e-01 9.87308282e-01 2.19987554e-03 1.02733594e+02] [-9.87236516e-01 -1.58815234e-01 1.19072480e-02 1.37128805e+02] [ 1.21054983e-02 -2.80923566e-04 9.99926686e-01 5.77761597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.51, Y:136.85, Z:6.70 [[-1.11736054e-01 -9.93737425e-01 9.91761430e-04 1.03510279e+02] [-9.93685381e-01 1.11740354e-01 1.01714298e-02 1.36852929e+02] [-1.02185502e-02 1.51016598e-04 -9.99947778e-01 6.70001130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.47, Y:136.73, Z:6.70 [[-3.42065805e-02 -9.99414765e-01 1.94119816e-04 1.03471409e+02] [-9.99367911e-01 3.42068567e-02 9.67825336e-03 1.36733662e+02] [-9.67922953e-03 1.37062838e-04 -9.99953146e-01 6.69924127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.44, Y:136.61, Z:6.70 [[ 4.34901031e-02 -9.99053735e-01 -4.96507192e-04 1.03444262e+02] [-9.99016248e-01 -4.34927728e-02 8.65537490e-03 1.36607914e+02] [-8.66877909e-03 1.19595605e-04 -9.99962418e-01 6.69891926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.43, Y:136.48, Z:6.70 [[ 1.20563926e-01 -9.92704968e-01 -1.08880111e-03 1.03427776e+02] [-9.92672413e-01 -1.20568791e-01 8.04032123e-03 1.36480196e+02] [-8.11294226e-03 1.11450134e-04 -9.99967083e-01 6.69909675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.65, Y:136.25, Z:5.78 [[ 7.98914436e-02 9.96803486e-01 -4.10388519e-04 1.02651499e+02] [-9.96777770e-01 7.98923312e-02 7.16185731e-03 1.36249497e+02] [ 7.17175122e-03 -1.63104966e-04 9.99974269e-01 5.77863210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.46, Y:136.17, Z:6.70 [[ 1.30991440e-01 -9.91383162e-01 -8.18073529e-04 1.03463535e+02] [-9.91367245e-01 -1.30993973e-01 5.61822707e-03 1.36174502e+02] [-5.67697842e-03 7.50716450e-05 -9.99983883e-01 6.69910150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.370385723 meters Centerline goodness [0,1] 0.99997780687543 Centerline is valid? [True, True] Translation: X:103.46, Y:136.04, Z:6.70 [[ 2.07531664e-01 -9.78227615e-01 -1.15827471e-03 1.03457660e+02] [-9.78214145e-01 -2.07534885e-01 5.13400479e-03 1.36040832e+02] [-5.26260767e-03 6.75721545e-05 -9.99986150e-01 6.69913849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.46, Y:135.91, Z:6.70 [[ 2.82316958e-01 -9.59319942e-01 -1.54383709e-03 1.03462686e+02] [-9.59306870e-01 -2.82321171e-01 5.00846423e-03 1.35906850e+02] [-5.24057751e-03 6.70391420e-05 -9.99986266e-01 6.69968894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.47, Y:135.80, Z:6.70 [[ 3.55451723e-01 -9.34692478e-01 -2.01130735e-03 1.03469122e+02] [-9.34678613e-01 -3.55457406e-01 5.09145213e-03 1.35799985e+02] [-5.47387610e-03 7.01605333e-05 -9.99985016e-01 6.70120631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.49, Y:135.68, Z:6.70 [[ 4.25473226e-01 -9.04966476e-01 -2.86565073e-03 1.03493310e+02] [-9.04947362e-01 -4.25482866e-01 5.88231614e-03 1.35678839e+02] [-6.54258419e-03 9.04950465e-05 -9.99978593e-01 6.70185173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.52, Y:135.56, Z:6.70 [[ 4.93003839e-01 -8.70020671e-01 -3.35371086e-03 1.03522284e+02] [-8.70001876e-01 -4.93015236e-01 5.71955053e-03 1.35563600e+02] [-6.62955774e-03 9.79743721e-05 -9.99978019e-01 6.70206840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.56, Y:135.44, Z:6.70 [[ 5.57745154e-01 -8.30002215e-01 -4.08246464e-03 1.03564290e+02] [-8.29981422e-01 -5.57760084e-01 5.87612114e-03 1.35444407e+02] [-7.15422938e-03 1.10991715e-04 -9.99974402e-01 6.70284747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.62, Y:135.33, Z:6.70 [[ 6.18411740e-01 -7.85838752e-01 -4.93719816e-03 1.03616505e+02] [-7.85815429e-01 -6.18431434e-01 6.05578559e-03 1.35330075e+02] [-7.81218952e-03 1.34757588e-04 -9.99969475e-01 6.70457294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.66, Y:135.23, Z:6.70 [[ 6.76219846e-01 -7.36683764e-01 -4.87362294e-03 1.03664947e+02] [-7.36665978e-01 -6.76237396e-01 5.12065225e-03 1.35232103e+02] [-7.06802746e-03 1.27545533e-04 -9.99975013e-01 6.70415157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.72, Y:135.14, Z:6.70 [[ 7.29791571e-01 -6.83658461e-01 -3.92077012e-03 1.03721007e+02] [-6.83649333e-01 -7.29802096e-01 3.53416459e-03 1.35140078e+02] [-5.27754777e-03 1.01228353e-04 -9.99986069e-01 6.70256035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.71, Y:135.13, Z:6.70 [[ 7.80804131e-01 -6.24763128e-01 -3.99299625e-03 1.03714973e+02] [-6.24755596e-01 -7.80814334e-01 3.06928946e-03 1.35132188e+02] [-5.03536759e-03 9.81328699e-05 -9.99987318e-01 6.70184892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.670385723 meters Centerline goodness [0,1] 0.9999553671055568 Centerline is valid? [True, True] Translation: X:103.71, Y:135.13, Z:6.70 [[ 8.27469979e-01 -5.61500140e-01 -3.32060759e-03 1.03708394e+02] [-5.61495985e-01 -8.27476638e-01 2.16146280e-03 1.35125501e+02] [-3.96138687e-03 7.59622551e-05 -9.99992151e-01 6.70182101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.70, Y:135.12, Z:6.70 [[ 8.69920718e-01 -4.93185123e-01 -2.52543175e-03 1.03701665e+02] [-4.93183208e-01 -8.69924383e-01 1.37525200e-03 1.35116230e+02] [-2.87518848e-03 4.91403199e-05 -9.99995865e-01 6.70115896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.70, Y:135.11, Z:6.70 [[ 9.06472983e-01 -4.22259227e-01 -1.96888788e-03 1.03695788e+02] [-4.22258312e-01 -9.06475120e-01 8.79937791e-04 1.35109506e+02] [-2.15630973e-03 3.37394392e-05 -9.99997675e-01 6.70060748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.69, Y:135.10, Z:6.70 [[ 9.37335071e-01 -3.48426990e-01 -1.26407072e-03 1.03689907e+02] [-3.48426701e-01 -9.37335923e-01 4.49584755e-04 1.35097282e+02] [-1.34150636e-03 1.90244327e-05 -9.99999100e-01 6.69956658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.68, Y:135.08, Z:6.70 [[ 9.62669696e-01 -2.70678853e-01 -1.23141503e-04 1.03684888e+02] [-2.70678851e-01 -9.62669704e-01 3.21122203e-05 1.35082786e+02] [-1.27236693e-04 2.41833907e-06 -9.99999992e-01 6.69829305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.68, Y:135.07, Z:6.70 [[ 9.81213529e-01 -1.92924669e-01 2.86599637e-04 1.03680869e+02] [-1.92924661e-01 -9.81213571e-01 -5.51641792e-05 1.35070431e+02] [ 2.91857985e-04 -1.16429903e-06 -9.99999957e-01 6.69822973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.67, Y:135.06, Z:6.70 [[ 9.93477353e-01 -1.14029231e-01 -2.87860499e-04 1.03674909e+02] [-1.14029227e-01 -9.93477395e-01 2.99468760e-05 1.35058845e+02] [-2.89397718e-04 3.07296707e-06 -9.99999958e-01 6.69897239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.67, Y:135.05, Z:6.70 [[ 9.99445131e-01 -3.32709205e-02 -1.57347995e-03 1.03669299e+02] [-3.32708909e-02 -9.99446370e-01 4.49989106e-05 1.35046348e+02] [-1.57410597e-03 7.37713740e-06 -9.99998761e-01 6.70106452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.67, Y:135.03, Z:6.70 [[ 9.98930424e-01 4.61953872e-02 -1.99854188e-03 1.03665702e+02] [ 4.61952810e-02 -9.98932423e-01 -9.92748002e-05 1.35033880e+02] [-2.00099432e-03 6.84541433e-06 -9.99997998e-01 6.70189230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.66, Y:135.02, Z:6.70 [[ 9.92170454e-01 1.24866870e-01 -2.46064062e-03 1.03662647e+02] [ 1.24866469e-01 -9.92173505e-01 -3.16463254e-04 1.35022726e+02] [-2.48089820e-03 6.73398377e-06 -9.99996923e-01 6.70277546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.66, Y:135.01, Z:6.70 [[ 9.79293171e-01 2.02436850e-01 -2.05123298e-03 1.03661286e+02] [ 2.02436395e-01 -9.79295319e-01 -4.29388757e-04 1.35009951e+02] [-2.09568697e-03 5.25326723e-06 -9.99997804e-01 6.70296764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.66, Y:135.00, Z:6.70 [[ 9.60440606e-01 2.78476406e-01 -2.17552684e-03 1.03660911e+02] [ 2.78475678e-01 -9.60443070e-01 -6.36531647e-04 1.34997216e+02] [-2.26672872e-03 5.51952912e-06 -9.99997431e-01 6.70259890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.66, Y:134.98, Z:6.70 [[ 9.35671749e-01 3.52866681e-01 -1.86634573e-03 1.03660591e+02] [ 3.52865969e-01 -9.35673610e-01 -7.09123822e-04 1.34984678e+02] [-1.99651662e-03 4.93723131e-06 -9.99998007e-01 6.70270085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.66, Y:134.97, Z:6.70 [[ 9.05134553e-01 4.25122450e-01 -1.53117608e-03 1.03660493e+02] [ 4.25121833e-01 -9.05135848e-01 -7.23806923e-04 1.34974416e+02] [-1.69362894e-03 4.20627129e-06 -9.99998566e-01 6.70278535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.66, Y:134.96, Z:6.70 [[ 8.68988270e-01 4.94831328e-01 -1.15898734e-03 1.03663895e+02] [ 4.94830883e-01 -8.68989043e-01 -6.63771829e-04 1.34961971e+02] [-1.33560240e-03 3.30720360e-06 -9.99999108e-01 6.70287323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.67, Y:134.95, Z:6.70 [[ 8.27602150e-01 5.61314648e-01 -7.39884624e-04 1.03667652e+02] [ 5.61314420e-01 -8.27602481e-01 -5.04996610e-04 1.34949901e+02] [-8.95792344e-04 2.62837134e-06 -9.99999599e-01 6.70319571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.67, Y:134.94, Z:6.70 [[ 7.81283999e-01 6.24175200e-01 -7.95372613e-04 1.03671902e+02] [ 6.24174872e-01 -7.81284404e-01 -6.39396681e-04 1.34938373e+02] [-1.02050777e-03 3.09879726e-06 -9.99999479e-01 6.70323552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.180385723 meters Centerline goodness [0,1] 0.9999558722944201 Centerline is valid? [True, True] Translation: X:103.68, Y:134.93, Z:6.70 [[ 7.30886888e-01 6.82498321e-01 -6.31569273e-04 1.03675945e+02] [ 6.82498061e-01 -7.30887161e-01 -5.95071463e-04 1.34926868e+02] [-8.67741147e-04 3.88512514e-06 -9.99999624e-01 6.70380845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.68, Y:134.92, Z:6.70 [[ 6.76083932e-01 7.36824564e-01 -2.80468927e-04 1.03680844e+02] [ 7.36824499e-01 -6.76083991e-01 -3.10034728e-04 1.34917331e+02] [-4.18061755e-04 2.95312160e-06 -9.99999913e-01 6.70410383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.69, Y:134.91, Z:6.70 [[ 6.17178529e-01 7.86823089e-01 -3.01734806e-04 1.03685970e+02] [ 7.86822992e-01 -6.17178602e-01 -3.90856002e-04 1.34908692e+02] [-4.93758792e-04 3.81604888e-06 -9.99999878e-01 6.70398303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.69, Y:134.90, Z:6.70 [[ 5.55702237e-01 8.31381394e-01 4.04854186e-05 1.03689685e+02] [ 8.31381392e-01 -5.55702238e-01 5.95624427e-05 1.34900708e+02] [ 7.20169444e-05 5.59840977e-07 -9.99999997e-01 6.70348411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.300385723 meters Centerline goodness [0,1] 0.99993380844163 Centerline is valid? [True, True] Translation: X:103.69, Y:134.89, Z:6.70 [[ 4.89727966e-01 8.71875286e-01 -7.30594307e-05 1.03693707e+02] [ 8.71875276e-01 -4.89727971e-01 -1.35131513e-04 1.34891867e+02] [-1.53597074e-04 2.47896981e-06 -9.99999988e-01 6.70341824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.70, Y:134.88, Z:6.70 [[ 4.21916661e-01 9.06634602e-01 -1.74884494e-04 1.03699325e+02] [ 9.06634518e-01 -4.21916697e-01 -3.89596518e-04 1.34883741e+02] [-4.27008372e-04 5.82094330e-06 -9.99999909e-01 6.70384842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.71, Y:134.88, Z:6.70 [[ 3.50550522e-01 9.36543803e-01 -1.93219629e-04 1.03706499e+02] [ 9.36543648e-01 -3.50550575e-01 -5.38987421e-04 1.34876287e+02] [-5.72518581e-04 7.98370595e-06 -9.99999836e-01 6.70438437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.71, Y:134.87, Z:6.71 [[ 2.76706354e-01 9.60954486e-01 -2.63157427e-04 1.03712387e+02] [ 9.60954003e-01 -2.76706479e-01 -9.63416619e-04 1.34868769e+02] [-9.98616887e-04 1.37013172e-05 -9.99999501e-01 6.70514439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.72, Y:134.86, Z:6.71 [[ 2.01847130e-01 9.79416945e-01 -4.30151545e-04 1.03717488e+02] [ 9.79414359e-01 -2.01847586e-01 -2.25054257e-03 1.34862000e+02] [-2.29104458e-03 3.29689598e-05 -9.99997375e-01 6.70643947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.72, Y:134.86, Z:6.71 [[ 1.25900577e-01 9.92042802e-01 -3.51850533e-04 1.03721652e+02] [ 9.92037740e-01 -1.25901059e-01 -3.16963930e-03 1.34855124e+02] [-3.18871620e-03 5.00104100e-05 -9.99994915e-01 6.70734464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.73, Y:134.85, Z:6.71 [[ 4.84321329e-02 9.98826470e-01 -1.07983498e-04 1.03727977e+02] [ 9.98820845e-01 -4.84322226e-02 -3.35244657e-03 1.34849136e+02] [-3.35374226e-03 5.45099692e-05 -9.99994375e-01 6.70747380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.73, Y:134.84, Z:6.71 [[-3.00254973e-02 9.99549123e-01 1.40534065e-04 1.03733967e+02] [ 9.99544511e-01 3.00257857e-02 -3.03682960e-03 1.34843282e+02] [-3.03968001e-03 4.92877341e-05 -9.99995379e-01 6.70703653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.75, Y:134.84, Z:6.71 [[-1.07996577e-01 9.94151195e-01 3.75037875e-04 1.03749442e+02] [ 9.94146690e-01 1.07997217e-01 -2.99340272e-03 1.34839334e+02] [-3.01639794e-03 4.95654148e-05 -9.99995449e-01 6.70620386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.76, Y:134.84, Z:6.71 [[-1.86286499e-01 9.82495325e-01 5.27176950e-04 1.03763255e+02] [ 9.82491991e-01 1.86287240e-01 -2.55957316e-03 1.34836123e+02] [-2.61297500e-03 4.11332099e-05 -9.99996585e-01 6.70585207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.78, Y:134.83, Z:6.71 [[-2.63283221e-01 9.64718325e-01 7.07037600e-04 1.03776146e+02] [ 9.64715228e-01 2.63284168e-01 -2.44466527e-03 1.34832611e+02] [-2.54456519e-03 3.84505912e-05 -9.99996762e-01 6.70598114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.79, Y:134.83, Z:6.71 [[-3.39562756e-01 9.40582628e-01 1.20581983e-03 1.03788949e+02] [ 9.40577169e-01 3.39564894e-01 -3.20506342e-03 1.34831741e+02] [-3.42408106e-03 4.58464370e-05 -9.99994137e-01 6.70594763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.80, Y:134.83, Z:6.71 [[-4.13084764e-01 9.10691007e-01 1.69353650e-03 1.03800824e+02] [ 9.10683837e-01 4.13088233e-01 -3.61397364e-03 1.34829647e+02] [-3.99079329e-03 4.93988742e-05 -9.99992036e-01 6.70638902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.81, Y:134.83, Z:6.71 [[-4.84650766e-01 8.74704411e-01 2.41403667e-03 1.03814006e+02] [ 8.74694090e-01 4.84656775e-01 -4.24962348e-03 1.34830521e+02] [-4.88714363e-03 5.19603324e-05 -9.99988057e-01 6.70715974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7203857229999 meters Centerline goodness [0,1] 0.9999778692515381 Centerline is valid? [True, True] Translation: X:103.83, Y:134.83, Z:6.71 [[-5.52354680e-01 8.33604395e-01 2.83188521e-03 1.03825572e+02] [ 8.33593895e-01 5.52361938e-01 -4.18425232e-03 1.34831055e+02] [-5.05223672e-03 4.94508661e-05 -9.99987236e-01 6.70782020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.84, Y:134.83, Z:6.71 [[-6.16642668e-01 7.87236405e-01 3.26550059e-03 1.03836268e+02] [ 7.87225764e-01 6.16651312e-01 -4.09337296e-03 1.34831290e+02] [-5.23612743e-03 4.65377761e-05 -9.99986290e-01 6.70799379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.85, Y:134.83, Z:6.71 [[-6.76440075e-01 7.36488992e-01 3.57627684e-03 1.03845039e+02] [ 7.36479061e-01 6.76449527e-01 -3.82490264e-03 1.34831382e+02] [-5.23616947e-03 4.65355840e-05 -9.99986290e-01 6.70799415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.86, Y:134.84, Z:6.71 [[-7.33634801e-01 6.79533357e-01 3.79425958e-03 1.03856913e+02] [ 6.79524505e-01 7.33644612e-01 -3.46846604e-03 1.34836344e+02] [-5.14057646e-03 3.37049731e-05 -9.99986787e-01 6.70763549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.88, Y:134.85, Z:6.71 [[-7.80318227e-01 6.25368367e-01 4.22730582e-03 1.03884785e+02] [ 6.25359407e-01 7.80329677e-01 -3.34779854e-03 1.34850296e+02] [-5.39229949e-03 3.12372333e-05 -9.99985461e-01 6.70817868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.90, Y:134.87, Z:6.71 [[-8.23153749e-01 5.67803711e-01 4.10506284e-03 1.03898112e+02] [ 5.67796795e-01 8.23163984e-01 -2.80261832e-03 1.34874573e+02] [-4.97047697e-03 2.38557444e-05 -9.99987647e-01 6.70737329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.34, Y:135.52, Z:5.77 [[-7.88590497e-01 -6.14908642e-01 3.51999214e-03 1.04337782e+02] [ 6.14902234e-01 -7.88598351e-01 -2.80772242e-03 1.35518350e+02] [ 4.50235277e-03 -4.96921852e-05 9.99989863e-01 5.76978646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.86, Y:134.89, Z:6.71 [[-8.25363382e-01 5.64591194e-01 3.47430250e-03 1.03864971e+02] [ 5.64586289e-01 8.25370695e-01 -2.35359175e-03 1.34894202e+02] [-4.19640465e-03 1.89751094e-05 -9.99991195e-01 6.70620255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.87, Y:134.92, Z:6.71 [[-8.63266096e-01 5.04739209e-01 3.15879142e-03 1.03874960e+02] [ 5.04735900e-01 8.63271875e-01 -1.82780846e-03 1.34919462e+02] [-3.64946239e-03 1.64703567e-05 -9.99993341e-01 6.70609562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.89, Y:134.94, Z:6.71 [[-8.96748411e-01 4.42530518e-01 3.00469418e-03 1.03889086e+02] [ 4.42528092e-01 8.96753445e-01 -1.46514786e-03 1.34942674e+02] [-3.34284250e-03 1.57925698e-05 -9.99994413e-01 6.70532375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.25, Y:135.65, Z:5.77 [[-8.69205256e-01 -4.94442773e-01 2.92710364e-03 1.04250051e+02] [ 4.94439915e-01 -8.69210184e-01 -1.68109144e-03 1.35646667e+02] [ 3.37547181e-03 -1.39366382e-05 9.99994303e-01 5.77270751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.85, Y:134.95, Z:6.71 [[-8.98575885e-01 4.38805774e-01 3.29731931e-03 1.03853602e+02] [ 4.38802882e-01 8.98581934e-01 -1.59314941e-03 1.34954364e+02] [-3.66199472e-03 1.53075744e-05 -9.99993295e-01 6.70504295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.87, Y:134.98, Z:6.71 [[-9.27594355e-01 3.73568866e-01 3.87478272e-03 1.03871469e+02] [ 3.73565675e-01 9.27602448e-01 -1.54418103e-03 1.34977411e+02] [-4.17111589e-03 1.51122129e-05 -9.99991301e-01 6.70608449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.88, Y:135.00, Z:6.71 [[-9.52002894e-01 3.06046169e-01 5.12180699e-03 1.03878881e+02] [ 3.06041821e-01 9.52016671e-01 -1.63146879e-03 1.35004561e+02] [-5.37535041e-03 1.43241316e-05 -9.99985553e-01 6.70790531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.89, Y:135.03, Z:6.71 [[-9.71341136e-01 2.37630624e-01 5.29949187e-03 1.03892672e+02] [ 2.37627165e-01 9.71355592e-01 -1.28220543e-03 1.35030066e+02] [-5.45238234e-03 1.38443501e-05 -9.99985136e-01 6.70818748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.170385723 meters Centerline goodness [0,1] 0.9999774546274377 Centerline is valid? [True, True] Translation: X:103.88, Y:135.06, Z:6.71 [[-9.85649085e-01 1.68684766e-01 6.42899612e-03 1.03877110e+02] [ 1.68681309e-01 9.85670051e-01 -1.08002703e-03 1.35059001e+02] [-6.51905304e-03 1.99238251e-05 -9.99978751e-01 6.70918962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.89, Y:135.08, Z:6.71 [[-9.95071877e-01 9.89196371e-02 6.84583478e-03 1.03886633e+02] [ 9.89174719e-02 9.95095425e-01 -6.54994119e-04 1.35084089e+02] [-6.87705065e-03 2.54064420e-05 -9.99976353e-01 6.70893390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.90, Y:135.11, Z:6.71 [[-9.99565897e-01 2.86950633e-02 6.67919881e-03 1.03899696e+02] [ 2.86946219e-02 9.99588212e-01 -1.61925192e-04 1.35109849e+02] [-6.68109485e-03 2.98021850e-05 -9.99977681e-01 6.70867826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.260385723 meters Centerline goodness [0,1] 0.9999547244985738 Centerline is valid? [True, True] Translation: X:103.90, Y:135.14, Z:6.71 [[-9.99163363e-01 -4.03830219e-02 6.46421685e-03 1.03896384e+02] [-4.03818999e-02 9.99184272e-01 3.04052063e-04 1.35135427e+02] [-6.47122235e-03 4.27603241e-05 -9.99979061e-01 6.70851455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.90, Y:135.16, Z:6.71 [[-9.93834835e-01 -1.10676551e-01 6.55904280e-03 1.03899919e+02] [-1.10673811e-01 9.93856478e-01 7.80373940e-04 1.35163424e+02] [-6.60511627e-03 4.96485442e-05 -9.99978185e-01 6.70878620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.320385723 meters Centerline goodness [0,1] 0.9999773124305193 Centerline is valid? [True, True] Translation: X:103.88, Y:135.19, Z:6.71 [[-9.83574402e-01 -1.80389891e-01 6.39398334e-03 1.03883936e+02] [-1.80385696e-01 9.83595183e-01 1.23171744e-03 1.35187517e+02] [-6.51128059e-03 5.81026168e-05 -9.99978800e-01 6.70931344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.85, Y:135.21, Z:6.71 [[-9.68237585e-01 -2.49961482e-01 5.93605731e-03 1.03849388e+02] [-2.49956384e-01 9.68255779e-01 1.59760872e-03 1.35206595e+02] [-6.14696244e-03 6.31093915e-05 -9.99981105e-01 6.70877190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.380385723 meters Centerline goodness [0,1] 0.999977260323813 Centerline is valid? [True, True] Translation: X:103.79, Y:135.22, Z:6.71 [[-9.47377732e-01 -3.20072505e-01 5.38747378e-03 1.03789029e+02] [-3.20066960e-01 9.47393048e-01 1.88517536e-03 1.35218625e+02] [-5.70744800e-03 6.16208039e-05 -9.99983711e-01 6.70779395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.72, Y:135.22, Z:6.71 [[-9.21133524e-01 -3.89211238e-01 5.25768226e-03 1.03721404e+02] [-3.89204508e-01 9.21148527e-01 2.28968798e-03 1.35221600e+02] [-5.73427856e-03 6.27947189e-05 -9.99983557e-01 6.70854123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.64, Y:135.22, Z:6.71 [[-8.89560140e-01 -4.56791293e-01 4.94689001e-03 1.03642817e+02] [-4.56783847e-01 8.89573893e-01 2.60893492e-03 1.35216091e+02] [-5.59236296e-03 6.11450601e-05 -9.99984361e-01 6.70868610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.55, Y:135.20, Z:6.71 [[-8.52668410e-01 -5.22429209e-01 4.92998241e-03 1.03552862e+02] [-5.22420054e-01 8.52682659e-01 3.09352396e-03 1.35199331e+02] [-5.81985779e-03 6.22284776e-05 -9.99983063e-01 6.70898259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.46, Y:135.17, Z:6.71 [[-8.10449222e-01 -5.85788977e-01 4.83053045e-03 1.03462062e+02] [-5.85778127e-01 8.10463615e-01 3.56581080e-03 1.35173618e+02] [-6.00378183e-03 6.02895064e-05 -9.99981975e-01 6.70881341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.37, Y:135.13, Z:6.71 [[-7.63395491e-01 -6.45911775e-01 5.03029376e-03 1.03368945e+02] [-6.45897204e-01 7.63412061e-01 4.33895593e-03 1.35134713e+02] [-6.64276965e-03 6.32867135e-05 -9.99977935e-01 6.70939018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.28, Y:135.09, Z:6.71 [[-7.11985815e-01 -7.02177278e-01 4.82395661e-03 1.03275064e+02] [-7.02160544e-01 7.12002154e-01 4.84811977e-03 1.35086395e+02] [-6.83890704e-03 6.46005116e-05 -9.99976612e-01 6.70957120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.18, Y:135.02, Z:6.71 [[-6.56085500e-01 -7.54673643e-01 4.41697318e-03 1.03177149e+02] [-7.54655903e-01 6.56100365e-01 5.17479716e-03 1.35023724e+02] [-6.80326074e-03 6.18144977e-05 -9.99976856e-01 6.70918577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.09, Y:134.96, Z:6.71 [[-5.95752390e-01 -8.03155897e-01 4.43797476e-03 1.03089476e+02] [-8.03132823e-01 5.95768917e-01 6.08818467e-03 1.34960985e+02] [-7.53376883e-03 6.27673673e-05 -9.99971619e-01 6.70883485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.00, Y:134.88, Z:6.71 [[-5.30905428e-01 -8.47420796e-01 4.17393432e-03 1.02998863e+02] [-8.47393833e-01 5.30921832e-01 6.76015558e-03 1.34879212e+02] [-7.94472928e-03 5.20370870e-05 -9.99968439e-01 6.70973314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.92, Y:134.80, Z:6.71 [[-4.63380939e-01 -8.86152038e-01 3.55952982e-03 1.02916901e+02] [-8.86125161e-01 4.63394609e-01 6.90186905e-03 1.34795386e+02] [-7.76557226e-03 4.40056311e-05 -9.99969847e-01 6.70856094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.84, Y:134.70, Z:6.71 [[-3.93346920e-01 -9.19385119e-01 3.03368849e-03 1.02840221e+02] [-9.19356978e-01 3.93358616e-01 7.19351216e-03 1.34699883e+02] [-7.80693554e-03 4.05031678e-05 -9.99969525e-01 6.70951908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.77, Y:134.60, Z:6.71 [[-3.21111087e-01 -9.47038003e-01 2.58683556e-03 1.02769207e+02] [-9.47006243e-01 3.21121504e-01 7.75599506e-03 1.34597195e+02] [-8.17591060e-03 4.07865732e-05 -9.99966576e-01 6.70974411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.71, Y:134.48, Z:6.71 [[-2.47049968e-01 -9.69001035e-01 1.81860998e-03 1.02705530e+02] [-9.68973653e-01 2.47056659e-01 7.28469043e-03 1.34483258e+02] [-7.50817227e-03 3.74973814e-05 -9.99971813e-01 6.70915870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.65, Y:134.37, Z:6.71 [[-1.71757369e-01 -9.85138644e-01 1.12174230e-03 1.02653611e+02] [-9.85116241e-01 1.71761028e-01 6.64386791e-03 1.34373619e+02] [-6.73780263e-03 3.60867138e-05 -9.99977300e-01 6.70922980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.61, Y:134.25, Z:6.71 [[-9.55499233e-02 -9.95424478e-01 5.66541379e-04 1.02608694e+02] [-9.95404621e-01 9.55515958e-02 6.28746000e-03 1.34252407e+02] [-6.31282552e-03 3.68284148e-05 -9.99980073e-01 6.70801461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.57, Y:134.13, Z:6.71 [[-1.82638213e-02 -9.99833200e-01 7.57134521e-05 1.02573058e+02] [-9.99814551e-01 1.82639431e-02 6.10676962e-03 1.34126786e+02] [-6.10713384e-03 3.58335382e-05 -9.99981351e-01 6.70816057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.55, Y:134.00, Z:6.71 [[ 5.98599181e-02 -9.98206706e-01 -4.03907144e-04 1.02546463e+02] [-9.98187444e-01 -5.98612722e-02 6.20126395e-03 1.34001139e+02] [-6.21432165e-03 3.19678879e-05 -9.99980690e-01 6.70767741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.53, Y:133.87, Z:6.71 [[ 1.37373562e-01 -9.90518909e-01 -8.91863049e-04 1.02530371e+02] [-9.90499394e-01 -1.37376454e-01 6.21767561e-03 1.33874574e+02] [-6.28124625e-03 2.92455625e-05 -9.99980272e-01 6.70785767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.52, Y:133.75, Z:6.71 [[ 2.14303245e-01 -9.76766114e-01 -1.44171440e-03 1.02523294e+02] [-9.76744817e-01 -2.14308093e-01 6.45007457e-03 1.33748763e+02] [-6.60918534e-03 2.59151615e-05 -9.99978159e-01 6.70765763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.53, Y:133.62, Z:6.71 [[ 2.89820111e-01 -9.57079306e-01 -1.87244742e-03 1.02527201e+02] [-9.57059790e-01 -2.89826158e-01 6.11195267e-03 1.33616514e+02] [-6.39230766e-03 2.06773344e-05 -9.99979569e-01 6.70768757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.54, Y:133.49, Z:6.71 [[ 3.63704383e-01 -9.31510467e-01 -2.71528615e-03 1.02538702e+02] [-9.31484859e-01 -3.63714518e-01 6.90697911e-03 1.33490453e+02] [-7.42151232e-03 1.71493610e-05 -9.99972460e-01 6.70942148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.56, Y:133.37, Z:6.71 [[ 4.33937944e-01 -9.00934242e-01 -3.91805825e-03 1.02559088e+02] [-9.00898068e-01 -4.33955632e-01 8.07351979e-03 1.33372755e+02] [-8.97397388e-03 2.63645253e-05 -9.99959733e-01 6.71079515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.59, Y:133.25, Z:6.71 [[ 5.01725228e-01 -8.65014168e-01 -4.72066746e-03 1.02593364e+02] [-8.64976479e-01 -5.01747435e-01 8.07486267e-03 1.33248903e+02] [-9.35345340e-03 3.19040041e-05 -9.99956255e-01 6.71051376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.63, Y:133.14, Z:6.71 [[ 5.66143415e-01 -8.24288873e-01 -5.43029970e-03 1.02630238e+02] [-8.24251641e-01 -5.66169456e-01 7.83452591e-03 1.33138885e+02] [-9.53238236e-03 4.04681843e-05 -9.99954565e-01 6.71056946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.68, Y:133.02, Z:6.71 [[ 6.26894579e-01 -7.79079889e-01 -6.14113769e-03 1.02681268e+02] [-7.79043328e-01 -6.26924656e-01 7.54774715e-03 1.33024534e+02] [-9.73032865e-03 5.25705699e-05 -9.99952658e-01 6.71042293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.73, Y:132.93, Z:6.71 [[ 6.82787108e-01 -7.30588331e-01 -6.51579000e-03 1.02731181e+02] [-7.30556147e-01 -6.82818193e-01 6.85790500e-03 1.32927146e+02] [-9.45940533e-03 7.76613143e-05 -9.99955256e-01 6.70984170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.79, Y:132.83, Z:6.71 [[ 7.35116911e-01 -6.77899105e-01 -7.47866603e-03 1.02788350e+02] [-6.77865492e-01 -7.35154944e-01 6.75147162e-03 1.32833326e+02] [-1.00747949e-02 1.06408665e-04 -9.99949242e-01 6.71058073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.78, Y:132.83, Z:6.71 [[ 7.85448169e-01 -6.18873543e-01 -8.16770179e-03 1.02782236e+02] [-6.18841606e-01 -7.85490627e-01 6.28824492e-03 1.32828741e+02] [-1.03072816e-02 1.15423234e-04 -9.99946872e-01 6.71080965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.78, Y:132.83, Z:6.71 [[ 8.31362101e-01 -5.55667110e-01 -8.43323855e-03 1.02776560e+02] [-5.55639906e-01 -8.31404865e-01 5.49952118e-03 1.32825033e+02] [-1.00673386e-02 1.13750398e-04 -9.99949317e-01 6.71083251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.77, Y:132.82, Z:6.71 [[ 8.72669176e-01 -4.88236844e-01 -8.56120280e-03 1.02770309e+02] [-4.88214494e-01 -8.72711163e-01 4.67261868e-03 1.32822103e+02] [-9.75280185e-03 1.02053002e-04 -9.99952435e-01 6.71021145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.76, Y:132.82, Z:6.71 [[ 9.08326487e-01 -4.18178676e-01 -8.34196819e-03 1.02763583e+02] [-4.18161972e-01 -9.08364787e-01 3.73881873e-03 1.32815229e+02] [-9.14104443e-03 9.22257902e-05 -9.99958216e-01 6.70904621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.76, Y:132.81, Z:6.71 [[ 9.38259641e-01 -3.45852115e-01 -7.42696769e-03 1.02757083e+02] [-3.45841950e-01 -9.38289032e-01 2.65283229e-03 1.32809173e+02] [-7.88612999e-03 7.95115147e-05 -9.99968901e-01 6.70887907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.75, Y:132.80, Z:6.71 [[ 9.62479168e-01 -2.71259926e-01 -7.20441870e-03 1.02752411e+02] [-2.71252902e-01 -9.62506128e-01 1.95352399e-03 1.32803004e+02] [-7.46420992e-03 7.39933355e-05 -9.99972140e-01 6.70827941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.75, Y:132.80, Z:6.71 [[ 9.80817091e-01 -1.94805037e-01 -6.98789724e-03 1.02745897e+02] [-1.94800588e-01 -9.80841982e-01 1.31838227e-03 1.32798390e+02] [-7.11085048e-03 6.81546311e-05 -9.99974715e-01 6.70801946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.74, Y:132.79, Z:6.71 [[ 9.93209074e-01 -1.16155728e-01 -6.60172339e-03 1.02738666e+02] [-1.16153531e-01 -9.93231012e-01 7.16564243e-04 1.32792093e+02] [-6.64026944e-03 5.51153716e-05 -9.99977952e-01 6.70763083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.460385723 meters Centerline goodness [0,1] 0.9999774128701466 Centerline is valid? [True, True] Translation: X:102.73, Y:132.79, Z:6.71 [[ 9.99284202e-01 -3.71307671e-02 -7.23807402e-03 1.02732439e+02] [-3.71301789e-02 -9.99310414e-01 2.15675132e-04 1.32786080e+02] [-7.24109092e-03 5.32302309e-05 -9.99973782e-01 6.70807897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.73, Y:132.77, Z:6.71 [[ 9.99015509e-01 4.35721470e-02 -8.33547308e-03 1.02726677e+02] [ 4.35702838e-02 -9.99050282e-01 -4.05074000e-04 1.32771142e+02] [-8.34520668e-03 4.14962807e-05 -9.99965177e-01 6.70793452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.72, Y:132.76, Z:6.71 [[ 9.92449280e-01 1.22388401e-01 -8.09355855e-03 1.02722232e+02] [ 1.22384047e-01 -9.92482281e-01 -1.03296697e-03 1.32758919e+02] [-8.15913663e-03 3.46448811e-05 -9.99966713e-01 6.70866026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.72, Y:132.75, Z:6.71 [[ 9.79696850e-01 2.00333930e-01 -7.77164859e-03 1.02719312e+02] [ 2.00327393e-01 -9.79727674e-01 -1.61860635e-03 1.32745472e+02] [-7.93836097e-03 2.88694386e-05 -9.99968490e-01 6.70866896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.580385723 meters Centerline goodness [0,1] 0.9999549732090594 Centerline is valid? [True, True] Translation: X:102.72, Y:132.73, Z:6.71 [[ 9.60808815e-01 2.77111287e-01 -7.46700759e-03 1.02715940e+02] [ 2.77102736e-01 -9.60837829e-01 -2.17697423e-03 1.32732568e+02] [-7.77784749e-03 2.25277931e-05 -9.99969752e-01 6.70834544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.71, Y:132.72, Z:6.71 [[ 9.36199381e-01 3.51393012e-01 -7.32596865e-03 1.02713077e+02] [ 3.51382057e-01 -9.36228044e-01 -2.77483594e-03 1.32721728e+02] [-7.83383526e-03 2.35857538e-05 -9.99969315e-01 6.70876204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.71, Y:132.71, Z:6.71 [[ 9.05987840e-01 4.23241170e-01 -7.27644378e-03 1.02709384e+02] [ 4.23227280e-01 -9.06017059e-01 -3.42906548e-03 1.32713227e+02] [-8.04390388e-03 2.71021227e-05 -9.99967647e-01 6.70965256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.70, Y:132.71, Z:6.71 [[ 8.70059798e-01 4.92896692e-01 -6.98558131e-03 1.02703443e+02] [ 4.92880556e-01 -8.70087840e-01 -3.98841233e-03 1.32711559e+02] [-8.04394460e-03 2.71000230e-05 -9.99967647e-01 6.70965293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.70, Y:132.70, Z:6.71 [[ 8.29577211e-01 5.58356331e-01 -6.31332811e-03 1.02702553e+02] [ 5.58339829e-01 -8.29601234e-01 -4.29282038e-03 1.32702957e+02] [-7.63446822e-03 3.62434216e-05 -9.99970856e-01 6.70752764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.70, Y:132.69, Z:6.71 [[ 7.83875174e-01 6.20894966e-01 -5.39941524e-03 1.02700273e+02] [ 6.20879894e-01 -7.83893768e-01 -4.32634483e-03 1.32694527e+02] [-6.91877368e-03 3.89259457e-05 -9.99976064e-01 6.70884413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.70, Y:132.68, Z:6.71 [[ 7.33780067e-01 6.79369041e-01 -4.95175660e-03 1.02703224e+02] [ 6.79353136e-01 -7.33796773e-01 -4.64896454e-03 1.32681559e+02] [-6.79194560e-03 4.73261378e-05 -9.99976933e-01 6.70654634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.70, Y:132.67, Z:6.71 [[ 6.78926739e-01 7.34193401e-01 -4.30496890e-03 1.02704695e+02] [ 7.34178175e-01 -6.78940386e-01 -4.72867519e-03 1.32670826e+02] [-6.39457936e-03 4.98098190e-05 -9.99979553e-01 6.70635991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.71, Y:132.66, Z:6.71 [[ 6.19746660e-01 7.84792732e-01 -3.80067265e-03 1.02709642e+02] [ 7.84777464e-01 -6.19758312e-01 -4.89553301e-03 1.32659141e+02] [-6.19747719e-03 5.13079845e-05 -9.99980794e-01 6.70597368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.71, Y:132.65, Z:6.71 [[ 5.56625980e-01 8.30755376e-01 -3.60878273e-03 1.02714208e+02] [ 8.30737259e-01 -5.56637675e-01 -5.48680695e-03 1.32646626e+02] [-6.56697880e-03 5.61490203e-05 -9.99978436e-01 6.70629175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.72, Y:132.64, Z:6.71 [[ 4.89752770e-01 8.71854885e-01 -3.35904924e-03 1.02721145e+02] [ 8.71833554e-01 -4.89764286e-01 -6.09903137e-03 1.32635115e+02] [-6.96261265e-03 5.84856684e-05 -9.99975759e-01 6.70680734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.73, Y:132.62, Z:6.71 [[ 4.19743846e-01 9.07638048e-01 -2.87707250e-03 1.02728720e+02] [ 9.07615786e-01 -4.19753702e-01 -6.35722043e-03 1.32624582e+02] [-6.97771697e-03 5.71277374e-05 -9.99975654e-01 6.70699284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.74, Y:132.61, Z:6.71 [[ 3.47063571e-01 9.37838213e-01 -2.52264714e-03 1.02736248e+02] [ 9.37812203e-01 -3.47072734e-01 -6.98494560e-03 1.32614717e+02] [-7.42629094e-03 5.84508918e-05 -9.99972423e-01 6.70720961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9703857229999 meters Centerline goodness [0,1] 0.9998879903223639 Centerline is valid? [True, True] Translation: X:102.75, Y:132.61, Z:6.71 [[ 2.72564552e-01 9.62135390e-01 -2.01389693e-03 1.02745376e+02] [ 9.62107484e-01 -2.72571985e-01 -7.32817609e-03 1.32605553e+02] [-7.59962944e-03 5.98157212e-05 -9.99971121e-01 6.70959769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.75, Y:132.60, Z:6.71 [[ 1.94761487e-01 9.80849770e-01 -1.30110357e-03 1.02753115e+02] [ 9.80826380e-01 -1.94765828e-01 -6.77383810e-03 1.32595770e+02] [-6.89752805e-03 4.31260726e-05 -9.99976211e-01 6.70717076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.76, Y:132.59, Z:6.71 [[ 1.15206818e-01 9.93341265e-01 -7.20996936e-04 1.02762057e+02] [ 9.93320342e-01 -1.15209071e-01 -6.44730676e-03 1.32587120e+02] [-6.48744125e-03 2.65927761e-05 -9.99978956e-01 6.70701735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.77, Y:132.58, Z:6.71 [[ 3.57905215e-02 9.99359291e-01 -2.16838156e-04 1.02769295e+02] [ 9.99337671e-01 -3.57911735e-02 -6.57353994e-03 1.32579980e+02] [-6.57708911e-03 1.85758852e-05 -9.99978371e-01 6.70678033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.78, Y:132.57, Z:6.71 [[-4.39266867e-02 9.99034714e-01 2.94182420e-04 1.02775743e+02] [ 9.99013798e-01 4.39276706e-02 -6.46464874e-03 1.32572538e+02] [-6.47133125e-03 9.92169765e-06 -9.99979061e-01 6.70628943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.78, Y:132.57, Z:6.71 [[-1.24561083e-01 9.92211684e-01 7.14428468e-04 1.02783975e+02] [ 9.92195101e-01 1.24563131e-01 -5.73652632e-03 1.32566634e+02] [-5.78083988e-03 -5.69550166e-06 -9.99983291e-01 6.70566831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.79, Y:132.56, Z:6.71 [[-2.02958090e-01 9.79186793e-01 1.11274915e-03 1.02791544e+02] [ 9.79171763e-01 2.02961140e-01 -5.42538482e-03 1.32561519e+02] [-5.53831000e-03 -1.15531920e-05 -9.99984663e-01 6.70589875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.180385723 meters Centerline goodness [0,1] 0.9999776964938888 Centerline is valid? [True, True] Translation: X:102.81, Y:132.56, Z:6.71 [[-2.80940846e-01 9.59723719e-01 1.61968803e-03 1.02805099e+02] [ 9.59707282e-01 2.80945514e-01 -5.61700844e-03 1.32558762e+02] [-5.84582032e-03 -2.36207042e-05 -9.99982913e-01 6.70619752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.82, Y:132.56, Z:6.71 [[-3.55770702e-01 9.34571083e-01 2.02451193e-03 1.02816131e+02] [ 9.34555525e-01 3.55776461e-01 -5.39268216e-03 1.32556758e+02] [-5.76011850e-03 -2.65395066e-05 -9.99983410e-01 6.70565752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.240385723 meters Centerline goodness [0,1] 0.999977788143311 Centerline is valid? [True, True] Translation: X:102.83, Y:132.55, Z:6.71 [[-4.27883615e-01 9.03830770e-01 2.35604829e-03 1.02825899e+02] [ 9.03816738e-01 4.27890101e-01 -5.03643550e-03 1.32553845e+02] [-5.56021511e-03 -2.55723506e-05 -9.99984542e-01 6.70544782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.84, Y:132.55, Z:6.71 [[-4.97045990e-01 8.67719952e-01 2.71461993e-03 1.02836124e+02] [ 8.67706755e-01 4.97053403e-01 -4.78560286e-03 1.32553052e+02] [-5.50187415e-03 -2.31706635e-05 -9.99984864e-01 6.70517671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.85, Y:132.55, Z:6.70 [[-5.62015644e-01 8.27122049e-01 2.74442449e-03 1.02846095e+02] [ 8.27112086e-01 5.62022345e-01 -4.05972101e-03 1.32551164e+02] [-4.90031265e-03 -1.16800530e-05 -9.99987993e-01 6.70467755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.85, Y:132.55, Z:6.70 [[-6.24233071e-01 7.81233600e-01 2.67131593e-03 1.02853348e+02] [ 7.81226410e-01 6.24238786e-01 -3.35168595e-03 1.32547234e+02] [-4.28598870e-03 -5.33065921e-06 -9.99990815e-01 6.70432539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.86, Y:132.55, Z:6.70 [[-6.81184267e-01 7.32106460e-01 2.85062736e-03 1.02861068e+02] [ 7.32100099e-01 6.81190231e-01 -3.05186777e-03 1.32545505e+02] [-4.17611162e-03 8.06026153e-06 -9.99991280e-01 6.70329956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.87, Y:132.54, Z:6.70 [[-7.35462343e-01 6.77558358e-01 3.13268398e-03 1.02867934e+02] [ 6.77552295e-01 7.35469014e-01 -2.86659978e-03 1.32544169e+02] [-4.24628064e-03 1.42810256e-05 -9.99990984e-01 6.70310160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.420385723 meters Centerline goodness [0,1] 0.999933187831277 Centerline is valid? [True, True] Translation: X:102.89, Y:132.56, Z:6.70 [[-7.80473841e-01 6.25178824e-01 3.46720948e-03 1.02889173e+02] [ 6.25172777e-01 7.80481542e-01 -2.74985369e-03 1.32563695e+02] [-4.42524330e-03 2.14161092e-05 -9.99990208e-01 6.70252996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.91, Y:132.59, Z:6.70 [[-8.21077794e-01 5.70799677e-01 4.35720220e-03 1.02905729e+02] [ 5.70791897e-01 8.21089354e-01 -2.98051228e-03 1.32585614e+02] [-5.27892778e-03 3.98232604e-05 -9.99986066e-01 6.70370840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.92, Y:132.61, Z:6.70 [[-8.58798431e-01 5.12291931e-01 4.71501111e-03 1.02924388e+02] [ 5.12284514e-01 8.58811373e-01 -2.75720946e-03 1.32609206e+02] [-5.46180132e-03 4.75400141e-05 -9.99985083e-01 6.70356709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.510385723 meters Centerline goodness [0,1] 0.9998444859148672 Centerline is valid? [True, True] Translation: X:102.96, Y:132.62, Z:6.71 [[-8.91632827e-01 4.52726189e-01 5.46799590e-03 1.02956529e+02] [ 4.52718160e-01 8.91649591e-01 -2.69715074e-03 1.32624992e+02] [-6.09660709e-03 7.05928998e-05 -9.99981413e-01 6.70692270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.97, Y:132.65, Z:6.70 [[-9.21454136e-01 3.88448692e-01 5.46708327e-03 1.02967055e+02] [ 3.88442295e-01 9.21470352e-01 -2.23038743e-03 1.32651864e+02] [-5.90414622e-03 6.84466487e-05 -9.99982568e-01 6.70406093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.98, Y:132.68, Z:6.70 [[-9.46452589e-01 3.22792278e-01 5.71336690e-03 1.02978443e+02] [ 3.22786865e-01 9.46469830e-01 -1.87085321e-03 1.32677191e+02] [-6.01142637e-03 7.35259264e-05 -9.99981929e-01 6.70489826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.00, Y:132.70, Z:6.70 [[-9.66628495e-01 2.56097509e-01 6.58922075e-03 1.02995572e+02] [ 2.56092203e-01 9.66650949e-01 -1.65103443e-03 1.32703864e+02] [-6.79230230e-03 9.15111287e-05 -9.99976928e-01 6.70437803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.20, Y:133.48, Z:5.77 [[-9.55531712e-01 -2.94820607e-01 6.32108490e-03 1.03195564e+02] [ 2.94813471e-01 -9.55552615e-01 -2.05361086e-03 1.33479723e+02] [ 6.64557600e-03 -9.87493161e-05 9.99977913e-01 5.77357753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.660385723 meters Centerline goodness [0,1] 0.999955536782197 Centerline is valid? [True, True] Translation: X:102.94, Y:132.72, Z:6.71 [[-9.67404712e-01 2.53138968e-01 6.98470714e-03 1.02937207e+02] [ 2.53133137e-01 9.67429921e-01 -1.72121273e-03 1.32719200e+02] [-7.19292069e-03 1.02951524e-04 -9.99974125e-01 6.70538188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.95, Y:132.75, Z:6.70 [[-9.83077060e-01 1.83050877e-01 7.20217137e-03 1.02953556e+02] [ 1.83046696e-01 9.83103437e-01 -1.24099918e-03 1.32746824e+02] [-7.30764542e-03 9.83358518e-05 -9.99973294e-01 6.70402085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.96, Y:132.78, Z:6.70 [[-9.93683868e-01 1.12007612e-01 6.83126441e-03 1.02956440e+02] [ 1.12005569e-01 9.93707345e-01 -6.82252349e-04 1.32777828e+02] [-6.86469507e-03 8.71965005e-05 -9.99976434e-01 6.70412099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.04, Y:133.56, Z:5.77 [[-9.88037249e-01 -1.54091088e-01 6.19119374e-03 1.03038282e+02] [ 1.54087316e-01 -9.88056640e-01 -1.08454913e-03 1.33564502e+02] [ 6.28436944e-03 -1.17590511e-04 9.99980246e-01 5.77421192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.88, Y:132.79, Z:6.70 [[-9.94199114e-01 1.07414430e-01 5.50108538e-03 1.02882711e+02] [ 1.07413178e-01 9.94214331e-01 -5.23346717e-04 1.32786617e+02] [-5.52547290e-03 7.05782195e-05 -9.99984732e-01 6.70317749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.810385723 meters Centerline goodness [0,1] 0.9999779813281663 Centerline is valid? [True, True] Translation: X:102.97, Y:133.57, Z:5.78 [[-9.88757914e-01 -1.49435341e-01 5.18337112e-03 1.02966927e+02] [ 1.49432838e-01 -9.88771496e-01 -8.69115406e-04 1.33569887e+02] [ 5.25504618e-03 -8.47788800e-05 9.99986189e-01 5.77504595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8403857229999 meters Centerline goodness [0,1] 0.9999779039706564 Centerline is valid? [True, True] Translation: X:102.81, Y:132.80, Z:6.70 [[-9.94686311e-01 1.02807602e-01 5.45344331e-03 1.02809895e+02] [ 1.02806440e-01 9.94701258e-01 -4.93574759e-04 1.32795068e+02] [-5.47529016e-03 6.96970393e-05 -9.99985008e-01 6.70302039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.89, Y:133.57, Z:5.77 [[-9.89284589e-01 -1.45883686e-01 5.82677634e-03 1.02890489e+02] [ 1.45880875e-01 -9.89301748e-01 -9.06863334e-04 1.33574149e+02] [ 5.89673659e-03 -4.71306881e-05 9.99982613e-01 5.77401575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.900385723 meters Centerline goodness [0,1] 0.9999779522003704 Centerline is valid? [True, True] Translation: X:102.75, Y:132.80, Z:6.70 [[-9.95335964e-01 9.62902626e-02 5.87394817e-03 1.02746125e+02] [ 9.62889623e-02 9.95353295e-01 -5.04439185e-04 1.32804895e+02] [-5.89522625e-03 6.35099117e-05 -9.99982621e-01 6.70374479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.82, Y:133.58, Z:5.77 [[-9.89639268e-01 -1.43449170e-01 6.03782451e-03 1.02817180e+02] [ 1.43446181e-01 -9.89657685e-01 -9.27360786e-04 1.33575943e+02] [ 6.10840856e-03 -5.16497797e-05 9.99981342e-01 5.77423598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.68, Y:132.82, Z:6.70 [[-9.96120846e-01 8.77095569e-02 7.09176807e-03 1.02682362e+02] [ 8.77076792e-02 9.96146089e-01 -5.75952327e-04 1.32816906e+02] [-7.11495356e-03 4.82843990e-05 -9.99974687e-01 6.70409585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.990385723 meters Centerline goodness [0,1] 0.9999780002199978 Centerline is valid? [True, True] Translation: X:102.67, Y:132.85, Z:6.70 [[-9.99854993e-01 1.53764767e-02 7.31826496e-03 1.02670293e+02] [ 1.53763536e-02 9.99881774e-01 -7.30846712e-05 1.32847726e+02] [-7.31852354e-03 3.94541565e-05 -9.99973219e-01 6.70484763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.69, Y:133.61, Z:5.77 [[-9.97211213e-01 -7.41410434e-02 8.53832688e-03 1.02689053e+02] [ 7.41386552e-02 -9.97247765e-01 -5.96311677e-04 1.33605292e+02] [ 8.55903857e-03 3.83713825e-05 9.99963370e-01 5.77292883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.59, Y:132.85, Z:6.71 [[-9.99927395e-01 7.81838018e-03 9.16936612e-03 1.02588325e+02] [ 7.81829141e-03 9.99969436e-01 -4.55262335e-05 1.32853005e+02] [-9.16944181e-03 2.61658483e-05 -9.99957959e-01 6.70523294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.60, Y:132.88, Z:6.71 [[-9.97928656e-01 -6.36111275e-02 9.59279819e-03 1.02597055e+02] [-6.36079425e-02 9.97974761e-01 6.37062119e-04 1.32883251e+02] [-9.61389473e-03 2.55643885e-05 -9.99953785e-01 6.70545460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.110385723 meters Centerline goodness [0,1] 0.9999561999036398 Centerline is valid? [True, True] Translation: X:102.59, Y:132.91, Z:6.71 [[-9.90863956e-01 -1.34497810e-01 9.94781848e-03 1.02587965e+02] [-1.34490752e-01 9.90913891e-01 1.37816653e-03 1.32912098e+02] [-1.00427919e-02 2.76859508e-05 -9.99949570e-01 6.70518149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.140385723 meters Centerline goodness [0,1] 0.9999123518197953 Centerline is valid? [True, True] Translation: X:102.56, Y:132.94, Z:6.70 [[-9.78912142e-01 -2.04064301e-01 9.42231618e-03 1.02564765e+02] [-2.04054484e-01 9.78957486e-01 2.00200861e-03 1.32937713e+02] [-9.63258545e-03 3.71246643e-05 -9.99953605e-01 6.70454901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.170385723 meters Centerline goodness [0,1] 0.9998252435667788 Centerline is valid? [True, True] Translation: X:102.53, Y:132.96, Z:6.71 [[-9.61922243e-01 -2.73132368e-01 1.02131724e-02 1.02525931e+02] [-2.73116358e-01 9.61976458e-01 2.95780676e-03 1.32957854e+02] [-1.06327042e-02 5.57956663e-05 -9.99943470e-01 6.70694808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.200385723 meters Centerline goodness [0,1] 0.9998690242305174 Centerline is valid? [True, True] Translation: X:102.47, Y:132.97, Z:6.70 [[-9.39634906e-01 -3.42080859e-01 8.18100312e-03 1.02466772e+02] [-3.42067376e-01 9.39670518e-01 3.03773299e-03 1.32968874e+02] [-8.72659775e-03 5.59056832e-05 -9.99961921e-01 6.70351914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.230385723 meters Centerline goodness [0,1] 0.9999562870194304 Centerline is valid? [True, True] Translation: X:102.40, Y:132.97, Z:6.70 [[-9.12043285e-01 -4.10016572e-01 7.96594614e-03 1.02399176e+02] [-4.10000362e-01 9.12078071e-01 3.64640986e-03 1.32972644e+02] [-8.76065326e-03 5.96428314e-05 -9.99961623e-01 6.70344199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.260385723 meters Centerline goodness [0,1] 0.9999563147088375 Centerline is valid? [True, True] Translation: X:102.32, Y:132.97, Z:6.70 [[-8.79210665e-01 -4.76374979e-01 7.44892977e-03 1.02322062e+02] [-4.76357291e-01 8.79242217e-01 4.10561158e-03 1.32966713e+02] [-8.50522415e-03 6.13454885e-05 -9.99963828e-01 6.70353729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.24, Y:132.95, Z:6.70 [[-8.41218272e-01 -5.40649883e-01 7.03726823e-03 1.02236090e+02] [-5.40630345e-01 8.41247705e-01 4.59668429e-03 1.32949166e+02] [-8.40528257e-03 6.22540673e-05 -9.99964673e-01 6.70376934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.320385723 meters Centerline goodness [0,1] 0.9999125683060109 Centerline is valid? [True, True] Translation: X:102.15, Y:132.92, Z:6.70 [[-7.98588377e-01 -6.01839404e-01 6.77764524e-03 1.02146080e+02] [-6.01816996e-01 7.98617134e-01 5.19382490e-03 1.32921170e+02] [-8.53859210e-03 6.88260888e-05 -9.99963543e-01 6.70473938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.350385723 meters Centerline goodness [0,1] 0.9999781315605318 Centerline is valid? [True, True] Translation: X:102.06, Y:132.88, Z:6.70 [[-7.51170086e-01 -6.60078279e-01 6.33780314e-03 1.02056463e+02] [-6.60053963e-01 7.51196819e-01 5.66608220e-03 1.32884751e+02] [-8.50099534e-03 7.28993745e-05 -9.99963863e-01 6.70463864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.380385723 meters Centerline goodness [0,1] 0.9999781310822927 Centerline is valid? [True, True] Translation: X:101.96, Y:132.84, Z:6.71 [[-6.99063343e-01 -7.15034020e-01 6.06570060e-03 1.01963656e+02] [-7.15006155e-01 6.99089654e-01 6.31303511e-03 1.32835680e+02] [-8.75450341e-03 7.61981715e-05 -9.99961676e-01 6.70515572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.410385723 meters Centerline goodness [0,1] 0.9999344763568855 Centerline is valid? [True, True] Translation: X:101.87, Y:132.78, Z:6.71 [[-6.42889843e-01 -7.65938038e-01 5.61884106e-03 1.01872568e+02] [-7.65907696e-01 6.42914392e-01 6.81810488e-03 1.32776896e+02] [-8.83467966e-03 7.97767681e-05 -9.99960970e-01 6.70562920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.440385723 meters Centerline goodness [0,1] 0.9999563299707411 Centerline is valid? [True, True] Translation: X:101.78, Y:132.71, Z:6.71 [[-5.82894714e-01 -8.12532271e-01 5.00609636e-03 1.01782579e+02] [-8.12501097e-01 5.82916205e-01 7.11798989e-03 1.32705359e+02] [-8.70173118e-03 8.15798966e-05 -9.99962136e-01 6.70635076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4703857229999 meters Centerline goodness [0,1] 0.9999563366444711 Centerline is valid? [True, True] Translation: X:101.69, Y:132.62, Z:6.71 [[-5.18642870e-01 -8.54978187e-01 4.67702642e-03 1.01693259e+02] [-8.54942007e-01 5.18663951e-01 7.86574834e-03 1.32619840e+02] [-9.15084825e-03 8.09279363e-05 -9.99958127e-01 6.70654081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.500385723 meters Centerline goodness [0,1] 0.9999343932468782 Centerline is valid? [True, True] Translation: X:101.62, Y:132.54, Z:6.71 [[-4.50847906e-01 -8.92590928e-01 4.19542885e-03 1.01618107e+02] [-8.92550696e-01 4.50867420e-01 8.47497598e-03 1.32541363e+02] [-9.45626885e-03 7.62922342e-05 -9.99955286e-01 6.70705507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.530385723 meters Centerline goodness [0,1] 0.9999781291691271 Centerline is valid? [True, True] Translation: X:101.54, Y:132.45, Z:6.71 [[-3.80626232e-01 -9.24721920e-01 3.61154525e-03 1.01542915e+02] [-9.24678449e-01 3.80643358e-01 8.96662964e-03 1.32445941e+02] [-9.66634968e-03 7.34163874e-05 -9.99953277e-01 6.70691395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.560385723 meters Centerline goodness [0,1] 0.9999563509384548 Centerline is valid? [True, True] Translation: X:101.47, Y:132.34, Z:6.71 [[-3.07631272e-01 -9.51501237e-01 2.89786541e-03 1.01473370e+02] [-9.51457031e-01 3.07644913e-01 9.17202264e-03 1.32339892e+02] [-9.61870444e-03 6.44065664e-05 -9.99953737e-01 6.70647276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5903857229999 meters Centerline goodness [0,1] 0.9999563509384548 Centerline is valid? [True, True] Translation: X:101.41, Y:132.24, Z:6.71 [[-2.33827835e-01 -9.72275559e-01 2.18661144e-03 1.01414861e+02] [-9.72230438e-01 2.33838050e-01 9.36711821e-03 1.32236657e+02] [-9.61873304e-03 6.44027778e-05 -9.99953737e-01 6.70647419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.620385723 meters Centerline goodness [0,1] 0.9998905476993126 Centerline is valid? [True, True] Translation: X:101.36, Y:132.13, Z:6.71 [[-1.56145320e-01 -9.87733308e-01 1.24551639e-03 1.01363525e+02] [-9.87699945e-01 1.56150283e-01 8.11836982e-03 1.32125276e+02] [-8.21327201e-03 3.74489806e-05 -9.99966270e-01 6.70610547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.650385723 meters Centerline goodness [0,1] 0.9999343199929941 Centerline is valid? [True, True] Translation: X:101.32, Y:132.01, Z:6.71 [[-7.81992695e-02 -9.96937586e-01 5.69773486e-04 1.01320393e+02] [-9.96908912e-01 7.82013417e-02 7.56115041e-03 1.32006973e+02] [-7.58255209e-03 2.32641726e-05 -9.99971252e-01 6.70528053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.29, Y:131.88, Z:6.70 [[ 2.10173144e-03 -9.99997791e-01 -1.24135657e-05 1.01286352e+02] [-9.99977351e-01 -2.10176785e-03 6.39372483e-03 1.31883403e+02] [-6.39373680e-03 -1.02460793e-06 -9.99979560e-01 6.70478314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.710385723 meters Centerline goodness [0,1] 0.9999127532881105 Centerline is valid? [True, True] Translation: X:100.54, Y:131.77, Z:5.77 [[-6.77081919e-02 9.97705074e-01 4.31723805e-04 1.00536258e+02] [-9.97684125e-01 -6.77095679e-02 6.46534267e-03 1.31765794e+02] [ 6.47973701e-03 7.03267558e-06 9.99979006e-01 5.77278592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.28, Y:131.58, Z:6.71 [[ 1.48517485e-02 -9.99889704e-01 -7.55370088e-05 1.01282973e+02] [-9.99868959e-01 -1.48519269e-02 6.44097332e-03 1.31577072e+02] [-6.44138477e-03 -2.01326054e-05 -9.99979254e-01 6.70509134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.770385723 meters Centerline goodness [0,1] 0.9999781320387501 Centerline is valid? [True, True] Translation: X:101.26, Y:131.44, Z:6.71 [[ 9.32164252e-02 -9.95645713e-01 -5.58129240e-04 1.01260550e+02] [-9.95626006e-01 -9.32180918e-02 6.26452756e-03 1.31443302e+02] [-6.28927775e-03 -2.82688786e-05 -9.99980222e-01 6.70562870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.800385723 meters Centerline goodness [0,1] 0.9998902473824001 Centerline is valid? [True, True] Translation: X:101.25, Y:131.33, Z:6.71 [[ 1.71574138e-01 -9.85170766e-01 -9.36146797e-04 1.01246576e+02] [-9.85154946e-01 -1.71576688e-01 5.58324384e-03 1.31332044e+02] [-5.66106958e-03 -3.56905985e-05 -9.99983975e-01 6.70560448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.830385723 meters Centerline goodness [0,1] 0.9999560950980176 Centerline is valid? [True, True] Translation: X:101.24, Y:131.21, Z:6.71 [[ 2.47298890e-01 -9.68938455e-01 -1.23642396e-03 1.01244168e+02] [-9.68925652e-01 -2.47301979e-01 4.98122304e-03 1.31205851e+02] [-5.13226865e-03 -3.38480427e-05 -9.99986829e-01 6.70525403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.860385723 meters Centerline goodness [0,1] 0.9998459507042253 Centerline is valid? [True, True] Translation: X:101.25, Y:131.08, Z:6.71 [[ 3.21728312e-01 -9.46830955e-01 -1.42673023e-03 1.01251189e+02] [-9.46821198e-01 -3.21731474e-01 4.29865997e-03 1.31083191e+02] [-4.52912835e-03 -3.21421919e-05 -9.99989743e-01 6.70574368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.890385723 meters Centerline goodness [0,1] 0.9998242955349103 Centerline is valid? [True, True] Translation: X:101.27, Y:130.96, Z:6.71 [[ 3.93622915e-01 -9.19270248e-01 -1.79208530e-03 1.01267011e+02] [-9.19260339e-01 -3.93626993e-01 4.26846927e-03 1.30960489e+02] [-4.62928995e-03 -3.27743750e-05 -9.99989284e-01 6.70624192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.29, Y:130.84, Z:6.71 [[ 4.63108987e-01 -8.86298992e-01 -2.04041945e-03 1.01294306e+02] [-8.86290092e-01 -4.63113481e-01 3.97193775e-03 1.30835436e+02] [-4.46527018e-03 -3.10365303e-05 -9.99990030e-01 6.70669377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.33, Y:130.72, Z:6.71 [[ 5.29380946e-01 -8.48380320e-01 -2.57825064e-03 1.01328865e+02] [-8.48369968e-01 -5.29387223e-01 4.19114004e-03 1.30721144e+02] [-4.92057368e-03 -3.13992603e-05 -9.99987893e-01 6.70758635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.38, Y:130.60, Z:6.71 [[ 5.92349230e-01 -8.05676151e-01 -2.88622030e-03 1.01376928e+02] [-8.05666358e-01 -5.92356260e-01 3.97238939e-03 1.30600091e+02] [-4.91013006e-03 -2.77111985e-05 -9.99987945e-01 6.70800492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.010385723 meters Centerline goodness [0,1] 0.9998229265809336 Centerline is valid? [True, True] Translation: X:101.43, Y:130.49, Z:6.71 [[ 6.51023460e-01 -7.59053108e-01 -2.61408531e-03 1.01433595e+02] [-7.59046894e-01 -6.51028708e-01 3.07158763e-03 1.30487901e+02] [-4.03334272e-03 -1.54622730e-05 -9.99991866e-01 6.70784092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.040385723 meters Centerline goodness [0,1] 0.9998010302212986 Centerline is valid? [True, True] Translation: X:101.50, Y:130.37, Z:6.71 [[ 7.06272258e-01 -7.07934899e-01 -2.77054809e-03 1.01504352e+02] [-7.07929397e-01 -7.06277693e-01 2.79111204e-03 1.30372331e+02] [-3.93270193e-03 -9.93257021e-06 -9.99992267e-01 6.70743644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.070385723 meters Centerline goodness [0,1] 0.9998453995317814 Centerline is valid? [True, True] Translation: X:101.53, Y:130.32, Z:6.71 [[ 7.57295485e-01 -6.53066537e-01 -2.76521574e-03 1.01525390e+02] [-6.53062167e-01 -7.57300534e-01 2.38914941e-03 1.30316995e+02] [-3.65437289e-03 -3.43427687e-06 -9.99993323e-01 6.70730538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.100385723 meters Centerline goodness [0,1] 0.9996884665880416 Centerline is valid? [True, True] Translation: X:101.52, Y:130.31, Z:6.71 [[ 8.04122504e-01 -5.94458575e-01 -2.44973121e-03 1.01522208e+02] [-5.94455843e-01 -8.04126236e-01 1.80230281e-03 1.30313324e+02] [-3.04128750e-03 6.98477649e-06 -9.99995375e-01 6.70772570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.130385723 meters Centerline goodness [0,1] 0.9998661670235546 Centerline is valid? [True, True] Translation: X:101.52, Y:130.31, Z:6.71 [[ 8.47453861e-01 -5.30863530e-01 -2.42189758e-03 1.01518109e+02] [-5.30861396e-01 -8.47457322e-01 1.50520638e-03 1.30307745e+02] [-2.85151401e-03 1.00989682e-05 -9.99995934e-01 6.70776446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.160385723 meters Centerline goodness [0,1] 0.9998658378426725 Centerline is valid? [True, True] Translation: X:101.51, Y:130.30, Z:6.71 [[ 8.85716474e-01 -4.64220239e-01 -2.42849838e-03 1.01514077e+02] [-4.64218536e-01 -8.85719803e-01 1.25747814e-03 1.30302706e+02] [-2.73471591e-03 1.35848585e-05 -9.99996261e-01 6.70790800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.190385723 meters Centerline goodness [0,1] 0.9998207282913165 Centerline is valid? [True, True] Translation: X:101.51, Y:130.30, Z:6.71 [[ 9.18513252e-01 -3.95380856e-01 -2.71746740e-03 1.01509569e+02] [-3.95379192e-01 -9.18517272e-01 1.14756904e-03 1.30295901e+02] [-2.94976757e-03 2.03726935e-05 -9.99995649e-01 6.70831503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2203857229999 meters Centerline goodness [0,1] 0.9997320292088162 Centerline is valid? [True, True] Translation: X:101.50, Y:130.29, Z:6.71 [[ 9.46324265e-01 -3.23202097e-01 -3.28484932e-03 1.01504013e+02] [-3.23200249e-01 -9.46329966e-01 1.09354929e-03 1.30288733e+02] [-3.46198877e-03 2.68118918e-05 -9.99994007e-01 6.70925973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.250385723 meters Centerline goodness [0,1] 0.9997304461116852 Centerline is valid? [True, True] Translation: X:101.50, Y:130.28, Z:6.71 [[ 9.68576043e-01 -2.48685267e-01 -4.01077690e-03 1.01500407e+02] [-2.48683279e-01 -9.68584347e-01 9.94904264e-04 1.30282625e+02] [-4.13219375e-03 3.37727132e-05 -9.99991462e-01 6.71003003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.280385723 meters Centerline goodness [0,1] 0.9997751040143933 Centerline is valid? [True, True] Translation: X:101.49, Y:130.27, Z:6.71 [[ 9.85116241e-01 -1.71832140e-01 -4.43936893e-03 1.01492752e+02] [-1.71830558e-01 -9.85126243e-01 7.38222938e-04 1.30273723e+02] [-4.50018926e-03 3.55838362e-05 -9.99989874e-01 6.71006499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.310385723 meters Centerline goodness [0,1] 0.999776075955036 Centerline is valid? [True, True] Translation: X:101.49, Y:130.26, Z:6.71 [[ 9.95589532e-01 -9.36811450e-02 -5.03268313e-03 1.01485196e+02] [-9.36801378e-02 -9.95602251e-01 4.36020508e-04 1.30264381e+02] [-5.05139755e-03 3.73649961e-05 -9.99987241e-01 6.71071751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3403857229999 meters Centerline goodness [0,1] 0.9996853861884537 Centerline is valid? [True, True] Translation: X:101.48, Y:130.26, Z:6.71 [[ 9.99876844e-01 -1.45805749e-02 -5.80547525e-03 1.01479660e+02] [-1.45805484e-02 -9.99893697e-01 4.68886081e-05 1.30256424e+02] [-5.80554177e-03 3.77641793e-05 -9.99983147e-01 6.71146413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.370385723 meters Centerline goodness [0,1] 0.9996852730256502 Centerline is valid? [True, True] Translation: X:101.47, Y:130.25, Z:6.71 [[ 9.97896426e-01 6.45505277e-02 -5.99608702e-03 1.01473922e+02] [ 6.45491575e-02 -9.97914439e-01 -4.21967996e-04 1.30246898e+02] [-6.01082007e-03 3.40379895e-05 -9.99981934e-01 6.71174999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.400385723 meters Centerline goodness [0,1] 0.9999324795750715 Centerline is valid? [True, True] Translation: X:101.47, Y:130.24, Z:6.71 [[ 9.89706593e-01 1.42980609e-01 -6.11602537e-03 1.01469064e+02] [ 1.42977680e-01 -9.89725490e-01 -9.15697936e-04 1.30237925e+02] [-6.18411325e-03 3.18171678e-05 -9.99980878e-01 6.71178903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.430385723 meters Centerline goodness [0,1] 0.9997741899062889 Centerline is valid? [True, True] Translation: X:101.46, Y:130.23, Z:6.71 [[ 9.75324532e-01 2.20710464e-01 -5.38042537e-03 1.01462748e+02] [ 2.20706967e-01 -9.75339372e-01 -1.24282276e-03 1.30230682e+02] [-5.52204469e-03 2.46581677e-05 -9.99984753e-01 6.71059584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.460385723 meters Centerline goodness [0,1] 0.9997064601350283 Centerline is valid? [True, True] Translation: X:101.46, Y:130.22, Z:6.71 [[ 9.54902745e-01 2.96882323e-01 -4.65128396e-03 1.01458960e+02] [ 2.96878703e-01 -9.54914072e-01 -1.46623114e-03 1.30221454e+02] [-4.87687461e-03 1.92409866e-05 -9.99988108e-01 6.71013184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.490385723 meters Centerline goodness [0,1] 0.9996605029083584 Centerline is valid? [True, True] Translation: X:101.46, Y:130.21, Z:6.71 [[ 9.28307969e-01 3.71785817e-01 -4.42950406e-03 1.01456758e+02] [ 3.71781515e-01 -9.28318537e-01 -1.78858738e-03 1.30209912e+02] [-4.77696215e-03 1.35521911e-05 -9.99988590e-01 6.70911601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.520385723 meters Centerline goodness [0,1] 0.9997072533609566 Centerline is valid? [True, True] Translation: X:101.45, Y:130.20, Z:6.71 [[ 8.96016496e-01 4.44004820e-01 -3.76276867e-03 1.01454349e+02] [ 4.44000864e-01 -8.96024397e-01 -1.87434007e-03 1.30197193e+02] [-4.20374856e-03 8.76708458e-06 -9.99991164e-01 6.70923667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.550385723 meters Centerline goodness [0,1] 0.999751721024715 Centerline is valid? [True, True] Translation: X:101.45, Y:130.19, Z:6.71 [[ 8.58012690e-01 5.13616674e-01 -3.48366169e-03 1.01453616e+02] [ 5.13612418e-01 -8.58019762e-01 -2.09068248e-03 1.30185366e+02] [-4.06285996e-03 4.58019645e-06 -9.99991747e-01 6.70804644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.580385723 meters Centerline goodness [0,1] 0.9996399315870015 Centerline is valid? [True, True] Translation: X:101.45, Y:130.17, Z:6.71 [[ 8.14394710e-01 5.80301297e-01 -3.41486441e-03 1.01451945e+02] [ 5.80296200e-01 -8.14401870e-01 -2.43218230e-03 1.30173715e+02] [-4.19247051e-03 -8.76439336e-07 -9.99991212e-01 6.70793475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.610385723 meters Centerline goodness [0,1] 0.9990729225551159 Centerline is valid? [True, True] Translation: X:101.45, Y:130.16, Z:6.71 [[ 7.64295153e-01 6.44856676e-01 -3.57586342e-03 1.01453180e+02] [ 6.44849721e-01 -7.64303518e-01 -2.99502743e-03 1.30161449e+02] [-4.66440843e-03 -1.68095813e-05 -9.99989121e-01 6.70726189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.640385723 meters Centerline goodness [0,1] 0.9986682918020946 Centerline is valid? [True, True] Translation: X:101.45, Y:130.15, Z:6.71 [[ 7.08768212e-01 7.05432969e-01 -3.45671660e-03 1.01454473e+02] [ 7.05424826e-01 -7.08776640e-01 -3.38967445e-03 1.30147336e+02] [-4.84122809e-03 -3.59602102e-05 -9.99988281e-01 6.70797639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.670385723 meters Centerline goodness [0,1] 0.999346714424095 Centerline is valid? [True, True] Translation: X:101.46, Y:130.13, Z:6.71 [[ 6.50243557e-01 7.59717660e-01 -3.52043451e-03 1.01457039e+02] [ 7.59706920e-01 -6.50253085e-01 -4.03981842e-03 1.30134670e+02] [-5.35829480e-03 -4.76325597e-05 -9.99985643e-01 6.70864132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.700385723 meters Centerline goodness [0,1] 0.9985954419826922 Centerline is valid? [True, True] Translation: X:101.46, Y:130.12, Z:6.71 [[ 5.87261787e-01 8.09387909e-01 -3.84794922e-03 1.01459824e+02] [ 8.09371303e-01 -5.87274389e-01 -5.18515249e-03 1.30123433e+02] [-6.45660176e-03 -6.93777548e-05 -9.99979154e-01 6.70946386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.730385723 meters Centerline goodness [0,1] 0.9986663652802893 Centerline is valid? [True, True] Translation: X:101.46, Y:130.11, Z:6.71 [[ 5.21195081e-01 8.53428352e-01 -3.96691356e-03 1.01462421e+02] [ 8.53404904e-01 -5.21210170e-01 -6.32688194e-03 1.30112483e+02] [-7.46713612e-03 -8.78437466e-05 -9.99972117e-01 6.71019110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.760385723 meters Centerline goodness [0,1] 0.9991176869824895 Centerline is valid? [True, True] Translation: X:101.47, Y:130.10, Z:6.71 [[ 4.52204637e-01 8.91908062e-01 -3.31283549e-03 1.01465661e+02] [ 8.91885545e-01 -4.52216763e-01 -6.33831906e-03 1.30102373e+02] [-7.15131761e-03 -8.84528117e-05 -9.99974425e-01 6.70993816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.790385723 meters Centerline goodness [0,1] 0.9991398044186889 Centerline is valid? [True, True] Translation: X:101.47, Y:130.09, Z:6.71 [[ 3.80567118e-01 9.24748519e-01 -2.97427079e-03 1.01468168e+02] [ 9.24722245e-01 -3.80578728e-01 -6.97146933e-03 1.30092042e+02] [-7.57880013e-03 -9.72623706e-05 -9.99971276e-01 6.70989832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.820385723 meters Centerline goodness [0,1] 0.9991877256317689 Centerline is valid? [True, True] Translation: X:101.47, Y:130.08, Z:6.71 [[ 3.06415455e-01 9.51894721e-01 -2.45124814e-03 1.01474631e+02] [ 9.51866895e-01 -3.06425242e-01 -7.27909260e-03 1.30081447e+02] [-7.68005412e-03 -1.02835481e-04 -9.99970503e-01 6.70972132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.850385723 meters Centerline goodness [0,1] 0.9994359460313162 Centerline is valid? [True, True] Translation: X:101.48, Y:130.07, Z:6.71 [[ 2.30780632e-01 9.73004067e-01 -1.83975964e-03 1.01483876e+02] [ 9.72976589e-01 -2.30787943e-01 -7.31319240e-03 1.30069647e+02] [-7.54036030e-03 -1.02299891e-04 -9.99971566e-01 6.71112478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.880385723 meters Centerline goodness [0,1] 0.9991909021441093 Centerline is valid? [True, True] Translation: X:101.49, Y:130.06, Z:6.71 [[ 1.53324339e-01 9.88175087e-01 -1.28250313e-03 1.01490509e+02] [ 9.88146171e-01 -1.53329665e-01 -7.56038175e-03 1.30060100e+02] [-7.66762666e-03 -1.08110023e-04 -9.99970598e-01 6.71156456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.910385723 meters Centerline goodness [0,1] 0.9994387571839081 Centerline is valid? [True, True] Translation: X:101.50, Y:130.05, Z:6.71 [[ 7.53363241e-02 9.97157918e-01 -7.24582455e-04 1.01495317e+02] [ 9.97125325e-01 -7.53397206e-02 -8.06303651e-03 1.30051656e+02] [-8.09471053e-03 -1.15059984e-04 -9.99967231e-01 6.71186851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.940385723 meters Centerline goodness [0,1] 0.9992585435998832 Centerline is valid? [True, True] Translation: X:101.51, Y:130.04, Z:6.71 [[-3.06708424e-03 9.99995292e-01 -9.11002053e-05 1.01505453e+02] [ 9.99962370e-01 3.06624395e-03 -8.11527805e-03 1.30044052e+02] [-8.11496051e-03 -1.15987019e-04 -9.99967066e-01 6.71122949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9703857229999 meters Centerline goodness [0,1] 0.999619243863107 Centerline is valid? [True, True] Translation: X:101.52, Y:130.04, Z:6.71 [[-8.13045347e-02 9.96689160e-01 5.39625709e-04 1.01518961e+02] [ 9.96656880e-01 8.13062450e-02 -8.02235119e-03 1.30036369e+02] [-8.03966541e-03 -1.14431856e-04 -9.99967675e-01 6.71258542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.000385723 meters Centerline goodness [0,1] 0.9994193317848847 Centerline is valid? [True, True] Translation: X:101.53, Y:130.03, Z:6.71 [[-1.58658399e-01 9.87332927e-01 1.09727322e-03 1.01529469e+02] [ 9.87304565e-01 1.58662159e-01 -7.48440250e-03 1.30030580e+02] [-7.56369276e-03 -1.04120460e-04 -9.99971389e-01 6.71181907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.030385723 meters Centerline goodness [0,1] 0.9990358528218122 Centerline is valid? [True, True] Translation: X:101.54, Y:130.02, Z:6.71 [[-2.33866344e-01 9.72267286e-01 1.69056215e-03 1.01542415e+02] [ 9.72238978e-01 2.33872436e-01 -7.41978903e-03 1.30024718e+02] [-7.60939403e-03 -9.16085093e-05 -9.99971044e-01 6.71332578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.060385723 meters Centerline goodness [0,1] 0.9990331864376293 Centerline is valid? [True, True] Translation: X:101.55, Y:130.02, Z:6.71 [[-3.07631111e-01 9.51502971e-01 2.27934306e-03 1.01551953e+02] [ 9.51474929e-01 3.07639545e-01 -7.30543444e-03 1.30018252e+02] [-7.65235863e-03 -7.86411408e-05 -9.99970717e-01 6.71399465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0903857229999 meters Centerline goodness [0,1] 0.999166554038834 Centerline is valid? [True, True] Translation: X:101.56, Y:130.01, Z:6.71 [[-3.79512112e-01 9.25182917e-01 2.66969975e-03 1.01561505e+02] [ 9.25158892e-01 3.79521497e-01 -6.66769044e-03 1.30013076e+02] [-7.18204173e-03 -6.05728111e-05 -9.99974207e-01 6.71410772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.120385723 meters Centerline goodness [0,1] 0.9993251147304958 Centerline is valid? [True, True] Translation: X:101.57, Y:130.01, Z:6.71 [[-4.47264442e-01 8.94395733e-01 3.28522391e-03 1.01569740e+02] [ 8.94371059e-01 4.47276505e-01 -6.64357677e-03 1.30008223e+02] [-7.41139018e-03 -3.32264687e-05 -9.99972535e-01 6.71463474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.150385723 meters Centerline goodness [0,1] 0.9995716282635163 Centerline is valid? [True, True] Translation: X:101.58, Y:130.01, Z:6.71 [[-5.14300263e-01 8.57602958e-01 3.52233538e-03 1.01582537e+02] [ 8.57582613e-01 5.14312324e-01 -5.90714159e-03 1.30006310e+02] [-6.87756260e-03 -1.73508933e-05 -9.99976349e-01 6.71433814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.180385723 meters Centerline goodness [0,1] 0.9993686156899001 Centerline is valid? [True, True] Translation: X:101.59, Y:130.00, Z:6.71 [[-5.78476110e-01 8.15692279e-01 3.39059428e-03 1.01594098e+02] [ 8.15678223e-01 5.78486046e-01 -4.78866381e-03 1.30003879e+02] [-5.86748758e-03 -4.49369764e-06 -9.99982786e-01 6.71385983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.210385723 meters Centerline goodness [0,1] 0.9998431407699547 Centerline is valid? [True, True] Translation: X:101.61, Y:130.00, Z:6.71 [[-6.38002860e-01 7.70028694e-01 2.85659898e-03 1.01605253e+02] [ 7.70021058e-01 6.38009255e-01 -3.42926523e-03 1.30002108e+02] [-4.46316922e-03 1.17603493e-05 -9.99990040e-01 6.71249181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.240385723 meters Centerline goodness [0,1] 0.999617030862807 Centerline is valid? [True, True] Translation: X:101.62, Y:130.00, Z:6.71 [[-6.94831945e-01 7.19167126e-01 2.68555951e-03 1.01615300e+02] [ 7.19161857e-01 6.94837135e-01 -2.75311079e-03 1.30000383e+02] [-3.84597325e-03 1.84026376e-05 -9.99992604e-01 6.71180149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.270385723 meters Centerline goodness [0,1] 0.9999326069864091 Centerline is valid? [True, True] Translation: X:101.63, Y:130.00, Z:6.71 [[-7.46922094e-01 6.64906731e-01 2.53490814e-03 1.01626009e+02] [ 6.64903023e-01 7.46926395e-01 -2.22066940e-03 1.29998361e+02] [-3.36992783e-03 2.68010519e-05 -9.99994321e-01 6.71166086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.300385723 meters Centerline goodness [0,1] 0.9996862604486476 Centerline is valid? [True, True] Translation: X:101.64, Y:130.02, Z:6.71 [[-7.91372175e-01 6.11329649e-01 2.47794580e-03 1.01640158e+02] [ 6.11326764e-01 7.91376054e-01 -1.87846862e-03 1.30023600e+02] [-3.10935054e-03 2.82667912e-05 -9.99995166e-01 6.71178810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.330385723 meters Centerline goodness [0,1] 0.999864934831056 Centerline is valid? [True, True] Translation: X:102.17, Y:130.69, Z:5.77 [[-7.60938614e-01 -6.48820577e-01 2.06998147e-03 1.02165370e+02] [ 6.48818013e-01 -7.60941428e-01 -1.82455257e-03 1.30693129e+02] [ 2.75894191e-03 -4.53312395e-05 9.99996193e-01 5.76660423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.360385723 meters Centerline goodness [0,1] 0.9997971693860993 Centerline is valid? [True, True] Translation: X:101.62, Y:130.04, Z:6.71 [[-7.92252640e-01 6.10191663e-01 1.37427354e-03 1.01622465e+02] [ 6.10190788e-01 7.92253832e-01 -1.03363170e-03 1.30035954e+02] [-1.71948692e-03 1.96716091e-05 -9.99998522e-01 6.71083233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.390385723 meters Centerline goodness [0,1] 0.9998874152799982 Centerline is valid? [True, True] Translation: X:101.63, Y:130.06, Z:6.71 [[-8.33295209e-01 5.52825959e-01 1.59827216e-03 1.01631609e+02] [ 5.52824993e-01 8.33296741e-01 -1.03372613e-03 1.30063986e+02] [-1.90330562e-03 2.21657684e-05 -9.99998189e-01 6.71098857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.420385723 meters Centerline goodness [0,1] 0.9997972059486255 Centerline is valid? [True, True] Translation: X:101.66, Y:130.08, Z:6.71 [[-8.70568683e-01 4.92043940e-01 1.71178764e-03 1.01664145e+02] [ 4.92043038e-01 8.70570365e-01 -9.42450380e-04 1.30081768e+02] [-1.95395859e-03 2.18054048e-05 -9.99998091e-01 6.71187885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.450385723 meters Centerline goodness [0,1] 0.9998651564185544 Centerline is valid? [True, True] Translation: X:102.08, Y:130.81, Z:5.77 [[-8.46839475e-01 -5.31845423e-01 1.83029805e-03 1.02084380e+02] [ 5.31844153e-01 -8.46841452e-01 -1.16255476e-03 1.30812770e+02] [ 2.16827169e-03 -1.10639490e-05 9.99997649e-01 5.76569176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.480385723 meters Centerline goodness [0,1] 0.999887478620938 Centerline is valid? [True, True] Translation: X:101.64, Y:130.10, Z:6.71 [[-8.72940923e-01 4.87819937e-01 2.41930796e-03 1.01637257e+02] [ 4.87818145e-01 8.72944276e-01 -1.32253139e-03 1.30098134e+02] [-2.75707821e-03 2.56905493e-05 -9.99996199e-01 6.71251337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.510385723 meters Centerline goodness [0,1] 0.999887478620938 Centerline is valid? [True, True] Translation: X:101.65, Y:130.12, Z:6.71 [[-9.05297191e-01 4.24771364e-01 2.50691840e-03 1.01654861e+02] [ 4.24769814e-01 9.05300662e-01 -1.14787748e-03 1.30121900e+02] [-2.75710037e-03 2.56930068e-05 -9.99996199e-01 6.71251361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.540385723 meters Centerline goodness [0,1] 0.9997301915639896 Centerline is valid? [True, True] Translation: X:101.65, Y:130.16, Z:6.71 [[-9.33667762e-01 3.58127065e-01 3.08479391e-03 1.01649291e+02] [ 3.58125199e-01 9.33672858e-01 -1.15609899e-03 1.30156515e+02] [-3.29421869e-03 2.53300816e-05 -9.99994574e-01 6.71298562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.570385723 meters Centerline goodness [0,1] 0.9996863447966842 Centerline is valid? [True, True] Translation: X:101.67, Y:130.18, Z:6.71 [[-9.57621231e-01 2.88003765e-01 3.92543054e-03 1.01666130e+02] [ 2.88001423e-01 9.57629277e-01 -1.16152668e-03 1.30184534e+02] [-4.09363127e-03 1.82269719e-05 -9.99991621e-01 6.71374343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.600385723 meters Centerline goodness [0,1] 0.999910654456109 Centerline is valid? [True, True] Translation: X:101.69, Y:130.21, Z:6.71 [[-9.76350060e-01 2.16149399e-01 4.47179857e-03 1.01691509e+02] [ 2.16147156e-01 9.76360301e-01 -9.84681086e-04 1.30210540e+02] [-4.57892482e-03 5.17310377e-06 -9.99989517e-01 6.71375660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.630385723 meters Centerline goodness [0,1] 0.9997972242249459 Centerline is valid? [True, True] Translation: X:101.69, Y:130.24, Z:6.71 [[-9.89411307e-01 1.45075362e-01 4.29013167e-03 1.01693079e+02] [ 1.45073995e-01 9.89420608e-01 -6.29703037e-04 1.30240994e+02] [-4.33609908e-03 -6.48763814e-07 -9.99990599e-01 6.71353567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.660385723 meters Centerline goodness [0,1] 0.9996197378427951 Centerline is valid? [True, True] Translation: X:101.70, Y:130.27, Z:6.71 [[-9.97320513e-01 7.30027946e-02 4.73134987e-03 1.01696891e+02] [ 7.30019357e-02 9.97331736e-01 -3.54196914e-04 1.30270457e+02] [-4.74458274e-03 -7.85014925e-06 -9.99988744e-01 6.71337921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.690385723 meters Centerline goodness [0,1] 0.9997076549428803 Centerline is valid? [True, True] Translation: X:101.69, Y:130.30, Z:6.71 [[-9.99990725e-01 7.69274383e-04 4.23763272e-03 1.01691739e+02] [ 7.69216190e-04 9.99999704e-01 -1.53612196e-05 1.30300070e+02] [-4.23764329e-03 -1.21014215e-05 -9.99991021e-01 6.71306666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7203857229999 meters Centerline goodness [0,1] 0.9996847911741529 Centerline is valid? [True, True] Translation: X:101.68, Y:130.33, Z:6.71 [[-9.97493680e-01 -7.06815002e-02 3.23795854e-03 1.01682679e+02] [-7.06811627e-02 9.97498935e-01 2.18663352e-04 1.30327801e+02] [-3.24531565e-03 -1.07473626e-05 -9.99994734e-01 6.71129744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.750385723 meters Centerline goodness [0,1] 0.9997989949748743 Centerline is valid? [True, True] Translation: X:101.69, Y:130.36, Z:6.71 [[-9.89857522e-01 -1.42041251e-01 2.52366662e-03 1.01691464e+02] [-1.42040813e-01 9.89860739e-01 3.53057921e-04 1.30357243e+02] [-2.54822730e-03 -8.98661974e-06 -9.99996753e-01 6.71018283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.780385723 meters Centerline goodness [0,1] 0.9997756690670077 Centerline is valid? [True, True] Translation: X:101.67, Y:130.38, Z:6.71 [[-9.77002840e-01 -2.13220790e-01 1.53160837e-03 1.01670397e+02] [-2.13220538e-01 9.77004040e-01 3.27584376e-04 1.30383057e+02] [-1.56623537e-03 -6.51949601e-06 -9.99998773e-01 6.70925434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.810385723 meters Centerline goodness [0,1] 0.9998198360508063 Centerline is valid? [True, True] Translation: X:101.64, Y:130.40, Z:6.71 [[-9.58806350e-01 -2.84057030e-01 1.40942100e-03 1.01636026e+02] [-2.84056733e-01 9.58807386e-01 4.10920577e-04 1.30404843e+02] [-1.46808814e-03 -6.36226571e-06 -9.99998922e-01 6.70954062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8403857229999 meters Centerline goodness [0,1] 0.999865032054887 Centerline is valid? [True, True] Translation: X:101.58, Y:130.42, Z:6.71 [[-9.35267465e-01 -3.53937798e-01 1.67476343e-03 1.01578754e+02] [-3.53937247e-01 9.35268964e-01 6.24941129e-04 1.30417062e+02] [-1.78754455e-03 -8.27405183e-06 -9.99998402e-01 6.71087627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.870385723 meters Centerline goodness [0,1] 0.9996858380270628 Centerline is valid? [True, True] Translation: X:101.51, Y:130.42, Z:6.71 [[-9.06604933e-01 -4.21975172e-01 2.10939551e-03 1.01509831e+02] [-4.21974057e-01 9.06607387e-01 9.70236056e-04 1.30420228e+02] [-2.32180908e-03 -1.04893864e-05 -9.99997305e-01 6.71149307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.900385723 meters Centerline goodness [0,1] 0.9995735033334081 Centerline is valid? [True, True] Translation: X:101.43, Y:130.41, Z:6.71 [[-8.72760101e-01 -4.88144122e-01 2.26311724e-03 1.01428350e+02] [-4.88142515e-01 8.72763035e-01 1.25281431e-03 1.30410730e+02] [-2.58671901e-03 -1.13173925e-05 -9.99996654e-01 6.71127763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.930385723 meters Centerline goodness [0,1] 0.9994828206511963 Centerline is valid? [True, True] Translation: X:101.33, Y:130.39, Z:6.71 [[-8.34584212e-01 -5.50875450e-01 2.33068894e-03 1.01334201e+02] [-5.50873329e-01 8.34587466e-01 1.52849309e-03 1.30386700e+02] [-2.78717309e-03 -8.25817689e-06 -9.99996116e-01 6.71197768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.960385723 meters Centerline goodness [0,1] 0.9996183634526883 Centerline is valid? [True, True] Translation: X:101.25, Y:130.36, Z:6.71 [[-7.91543147e-01 -6.11109317e-01 2.20227319e-03 1.01248267e+02] [-6.11106966e-01 7.91546210e-01 1.69522658e-03 1.30360222e+02] [-2.77916975e-03 -3.97950409e-06 -9.99996138e-01 6.71277212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.990385723 meters Centerline goodness [0,1] 0.9996188682629361 Centerline is valid? [True, True] Translation: X:101.16, Y:130.33, Z:6.71 [[-7.43551486e-01 -6.68676028e-01 1.88621751e-03 1.01164269e+02] [-6.68673879e-01 7.43553878e-01 1.69506695e-03 1.30326390e+02] [-2.53595498e-03 -8.94831161e-07 -9.99996785e-01 6.71257450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.020385723 meters Centerline goodness [0,1] 0.9995510158266921 Centerline is valid? [True, True] Translation: X:101.05, Y:130.25, Z:6.71 [[-6.92833590e-01 -7.21094724e-01 2.00393817e-03 1.01047841e+02] [-7.21091677e-01 6.92836488e-01 2.09607419e-03 1.30251326e+02] [-2.89986953e-03 7.20746943e-06 -9.99995795e-01 6.71354202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.050385723 meters Centerline goodness [0,1] 0.9997536504523874 Centerline is valid? [True, True] Translation: X:100.98, Y:130.21, Z:6.71 [[-6.36778581e-01 -7.71044714e-01 1.75722877e-03 1.00976611e+02] [-7.71041728e-01 6.36781006e-01 2.14591132e-03 1.30212155e+02] [-2.77356348e-03 1.15736576e-05 -9.99996154e-01 6.71449620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.080385723 meters Centerline goodness [0,1] 0.9996627773656168 Centerline is valid? [True, True] Translation: X:100.89, Y:130.14, Z:6.71 [[-5.77938447e-01 -8.16077896e-01 2.00462894e-03 1.00890736e+02] [-8.16072845e-01 5.77941923e-01 2.87126910e-03 1.30143956e+02] [-3.50173835e-03 2.34935674e-05 -9.99993869e-01 6.71481365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.110385723 meters Centerline goodness [0,1] 0.9997527200791295 Centerline is valid? [True, True] Translation: X:100.81, Y:130.06, Z:6.72 [[-5.14460263e-01 -8.57512365e-01 1.78371931e-03 1.00806534e+02] [-8.57507028e-01 5.14463355e-01 3.02552976e-03 1.30063982e+02] [-3.51208740e-03 2.69629890e-05 -9.99993832e-01 6.71520306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.140385723 meters Centerline goodness [0,1] 0.9996173670350447 Centerline is valid? [True, True] Translation: X:100.73, Y:129.98, Z:6.72 [[-4.47720438e-01 -8.94172366e-01 1.47966581e-03 1.00728809e+02] [-8.94167269e-01 4.47722882e-01 3.01926235e-03 1.29981009e+02] [-3.36222120e-03 2.87167289e-05 -9.99994347e-01 6.71505960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.170385723 meters Centerline goodness [0,1] 0.999887521652082 Centerline is valid? [True, True] Translation: X:100.65, Y:129.88, Z:6.71 [[-3.78654690e-01 -9.25537782e-01 6.64113494e-04 1.00654723e+02] [-9.25536274e-01 3.78655272e-01 1.67085111e-03 1.29883432e+02] [-1.79790590e-03 1.80144785e-05 -9.99998384e-01 6.71377962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.200385723 meters Centerline goodness [0,1] 0.9999775159636658 Centerline is valid? [True, True] Translation: X:100.59, Y:129.79, Z:6.71 [[-3.06644404e-01 -9.51824036e-01 4.63369895e-04 1.00591706e+02] [-9.51822866e-01 3.06644754e-01 1.49220366e-03 1.29789759e+02] [-1.56240526e-03 1.65298424e-05 -9.99998779e-01 6.71300115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.230385723 meters Centerline goodness [0,1] 0.9999098368046163 Centerline is valid? [True, True] Translation: X:100.53, Y:129.67, Z:6.71 [[-2.33001466e-01 -9.72476373e-01 1.47481804e-04 1.00529377e+02] [-9.72476156e-01 2.33001512e-01 6.49600057e-04 1.29669260e+02] [-6.66084190e-04 7.93522786e-06 -9.99999778e-01 6.71249131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.260385723 meters Centerline goodness [0,1] 0.999954943792381 Centerline is valid? [True, True] Translation: X:100.48, Y:129.56, Z:6.71 [[-1.57120300e-01 -9.87579466e-01 1.00748587e-04 1.00479637e+02] [-9.87579228e-01 1.57120333e-01 6.85777406e-04 1.29563794e+02] [-6.93089336e-04 8.25234079e-06 -9.99999760e-01 6.71220652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.44, Y:129.44, Z:6.71 [[-7.99797281e-02 -9.96796488e-01 6.33561391e-05 1.00436303e+02] [-9.96796063e-01 7.99797525e-02 9.20915590e-04 1.29442273e+02] [-9.23032635e-04 1.05014284e-05 -9.99999574e-01 6.71238398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.40, Y:129.31, Z:6.71 [[-1.71141450e-03 -9.99998536e-01 -7.72133458e-06 1.00400355e+02] [-9.99998142e-01 1.71140698e-03 8.86759157e-04 1.29314395e+02] [-8.86744644e-04 9.23893269e-06 -9.99999607e-01 6.71282226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.38, Y:129.19, Z:6.71 [[ 7.60238754e-02 -9.97105997e-01 -4.22444121e-05 1.00376066e+02] [-9.97105878e-01 -7.60238870e-02 4.85783953e-04 1.29188441e+02] [-4.87589677e-04 5.19097290e-06 -9.99999881e-01 6.71278143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.36, Y:129.06, Z:6.71 [[ 1.53666908e-01 -9.88122702e-01 -8.43237422e-05 1.00360149e+02] [-9.88122571e-01 -1.53666931e-01 5.09342251e-04 1.29062801e+02] [-5.16250412e-04 5.05314382e-06 -9.99999867e-01 6.71235358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.36, Y:128.93, Z:6.71 [[ 2.30219666e-01 -9.73138672e-01 -1.73571536e-04 1.00356177e+02] [-9.73138416e-01 -2.30219731e-01 7.05906473e-04 1.28929214e+02] [-7.26904480e-04 6.39557793e-06 -9.99999736e-01 6.71274290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.36, Y:128.80, Z:6.71 [[ 3.05040087e-01 -9.52339483e-01 -2.35598337e-04 1.00362080e+02] [-9.52339214e-01 -3.05040178e-01 7.14796450e-04 1.28797782e+02] [-7.52595839e-04 6.32796443e-06 -9.99999717e-01 6.71293512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.37, Y:128.67, Z:6.71 [[ 3.78615625e-01 -9.25553918e-01 -3.90814826e-04 1.00373749e+02] [-9.25553445e-01 -3.78615827e-01 9.36258825e-04 1.28674587e+02] [-1.01452670e-03 7.23778785e-06 -9.99999485e-01 6.71301906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.40, Y:128.54, Z:6.71 [[ 4.49182208e-01 -8.93440056e-01 -4.58199808e-04 1.00400676e+02] [-8.93439607e-01 -4.49182442e-01 8.96182099e-04 1.28544813e+02] [-1.00650029e-03 6.82480180e-06 -9.99999493e-01 6.71288305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.44, Y:128.42, Z:6.71 [[ 5.16628539e-01 -8.56209447e-01 -5.78855450e-04 1.00435836e+02] [-8.56208926e-01 -5.16628864e-01 9.44795101e-04 1.28420120e+02] [-1.10799592e-03 7.51309003e-06 -9.99999386e-01 6.71297687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.47, Y:128.32, Z:6.71 [[ 5.80602201e-01 -8.14187025e-01 -7.56906427e-04 1.00465095e+02] [-8.14186354e-01 -5.80602694e-01 1.04548972e-03 1.28320316e+02] [-1.29068607e-03 9.24925256e-06 -9.99999167e-01 6.71332897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.52, Y:128.20, Z:6.71 [[ 6.41019983e-01 -7.67524079e-01 -4.11605516e-04 1.00523047e+02] [-7.67523926e-01 -6.41020116e-01 4.84785120e-04 1.28198011e+02] [-6.35931668e-04 5.16013236e-06 -9.99999798e-01 6.71346012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.57, Y:128.10, Z:6.71 [[ 6.96732930e-01 -7.17330582e-01 -2.46187047e-04 1.00569763e+02] [-7.17330539e-01 -6.96732974e-01 2.48155279e-04 1.28102524e+02] [-3.49536004e-04 3.69953236e-06 -9.99999939e-01 6.71318755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.62, Y:128.02, Z:6.71 [[ 7.48970485e-01 -6.62603321e-01 -2.27121841e-04 1.00619560e+02] [-6.62603292e-01 -7.48970520e-01 1.96273205e-04 1.28016462e+02] [-3.00158841e-04 3.48884205e-06 -9.99999955e-01 6.71311051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.61, Y:128.01, Z:6.71 [[ 7.98022169e-01 -6.02627994e-01 -3.45104266e-04 1.00613349e+02] [-6.02627941e-01 -7.98022243e-01 2.54279683e-04 1.28007829e+02] [-4.28636936e-04 5.04864893e-06 -9.99999908e-01 6.71310914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.61, Y:128.00, Z:6.71 [[ 8.42459313e-01 -5.38759750e-01 -4.87260354e-04 1.00608051e+02] [-5.38759665e-01 -8.42459454e-01 3.03532330e-04 1.28000111e+02] [-5.74028093e-04 6.80258657e-06 -9.99999835e-01 6.71316180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.60, Y:127.99, Z:6.71 [[ 8.81824723e-01 -4.71576422e-01 -9.14902787e-04 1.00601227e+02] [-4.71576182e-01 -8.81825197e-01 4.75519127e-04 1.27992816e+02] [-1.03102794e-03 1.21218413e-05 -9.99999468e-01 6.71266827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.59, Y:127.98, Z:6.71 [[ 9.15976942e-01 -4.01229876e-01 -9.10284858e-04 1.00594994e+02] [-4.01229690e-01 -9.15977394e-01 3.85957318e-04 1.27980994e+02] [-9.88657959e-04 1.17053077e-05 -9.99999511e-01 6.71292719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.59, Y:127.97, Z:6.71 [[ 9.44611394e-01 -3.28187673e-01 -1.47147023e-03 1.00588984e+02] [-3.28187304e-01 -9.44612540e-01 4.92512122e-04 1.27968516e+02] [-1.55160564e-03 1.76852861e-05 -9.99998796e-01 6.71431597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.59, Y:127.96, Z:6.72 [[ 9.67536646e-01 -2.52719498e-01 -2.38630506e-03 1.00585764e+02] [-2.52718796e-01 -9.67539588e-01 5.96275766e-04 1.27960051e+02] [-2.45953512e-03 2.61454865e-05 -9.99996975e-01 6.71530719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.58, Y:127.95, Z:6.72 [[ 9.84406345e-01 -1.75881625e-01 -3.13072067e-03 1.00581046e+02] [-1.75880841e-01 -9.84411323e-01 5.26437327e-04 1.27949682e+02] [-3.17450753e-03 3.24055372e-05 -9.99994961e-01 6.71537749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.890385723 meters Centerline goodness [0,1] 0.9999779861753181 Centerline is valid? [True, True] Translation: X:100.58, Y:127.94, Z:6.72 [[ 9.95283577e-01 -9.69577175e-02 -3.13104204e-03 1.00576374e+02] [-9.69573260e-02 -9.95288501e-01 2.76943247e-04 1.27936945e+02] [-3.14314192e-03 2.79403976e-05 -9.99995060e-01 6.71547414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.57, Y:127.92, Z:6.72 [[ 9.99830047e-01 -1.81215066e-02 -3.38947674e-03 1.00572548e+02] [-1.81214976e-02 -9.99835792e-01 3.33741799e-05 1.27922979e+02] [-3.38952495e-03 2.80538867e-05 -9.99994255e-01 6.71529899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.57, Y:127.91, Z:6.72 [[ 9.98080191e-01 6.17802428e-02 -4.37425793e-03 1.00569314e+02] [ 6.17795217e-02 -9.98089776e-01 -2.99895486e-04 1.27908582e+02] [-4.38442974e-03 2.90801809e-05 -9.99990388e-01 6.71597286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.980385723 meters Centerline goodness [0,1] 0.9999342321604735 Centerline is valid? [True, True] Translation: X:100.57, Y:127.90, Z:6.72 [[ 9.90080770e-01 1.40427278e-01 -4.49984583e-03 1.00568143e+02] [ 1.40425704e-01 -9.90090995e-01 -6.65404251e-04 1.27896867e+02] [-4.54869774e-03 2.69099360e-05 -9.99989654e-01 6.71645708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.010385723 meters Centerline goodness [0,1] 0.9999780706563453 Centerline is valid? [True, True] Translation: X:100.57, Y:127.89, Z:6.72 [[ 9.75894670e-01 2.18192742e-01 -4.63896207e-03 1.00567706e+02] [ 2.18190156e-01 -9.75905696e-01 -1.06263684e-03 1.27885951e+02] [-4.75904915e-03 2.48457692e-05 -9.99988675e-01 6.71689234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.57, Y:127.87, Z:6.72 [[ 9.55631505e-01 2.94530785e-01 -4.47704248e-03 1.00569559e+02] [ 2.94527446e-01 -9.55641992e-01 -1.40247531e-03 1.27869459e+02] [-4.69152194e-03 2.16377052e-05 -9.99988995e-01 6.71661465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.57, Y:127.86, Z:6.72 [[ 9.29611307e-01 3.68519714e-01 -4.00490091e-03 1.00570723e+02] [ 3.68516203e-01 -9.29619933e-01 -1.60871376e-03 1.27857216e+02] [-4.31587846e-03 1.96076248e-05 -9.99990686e-01 6.71699144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.100385723 meters Centerline goodness [0,1] 0.9999563680788865 Centerline is valid? [True, True] Translation: X:100.58, Y:127.84, Z:6.72 [[ 8.97805490e-01 4.40380115e-01 -3.26431831e-03 1.00575695e+02] [ 4.40377140e-01 -8.97811425e-01 -1.61874601e-03 1.27842623e+02] [-3.64360583e-03 1.57878900e-05 -9.99993362e-01 6.71509940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.130385723 meters Centerline goodness [0,1] 0.9999782215737091 Centerline is valid? [True, True] Translation: X:100.58, Y:127.83, Z:6.71 [[ 8.60520250e-01 5.09408761e-01 -2.75934577e-03 1.00580586e+02] [ 5.09406091e-01 -8.60524674e-01 -1.64939038e-03 1.27828201e+02] [-3.21469903e-03 1.37062827e-05 -9.99994833e-01 6.71476290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.160385723 meters Centerline goodness [0,1] 0.9999782731499587 Centerline is valid? [True, True] Translation: X:100.59, Y:127.82, Z:6.72 [[ 8.17844407e-01 5.75431848e-01 -2.95196657e-03 1.00586275e+02] [ 5.75428036e-01 -8.17849735e-01 -2.09461444e-03 1.27816387e+02] [-3.61957293e-03 1.44243831e-05 -9.99993449e-01 6.71517341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.190385723 meters Centerline goodness [0,1] 0.9999564820053092 Centerline is valid? [True, True] Translation: X:100.59, Y:127.80, Z:6.72 [[ 7.70179631e-01 6.37819017e-01 -3.19967664e-03 1.00593300e+02] [ 6.37813428e-01 -7.70186277e-01 -2.67016419e-03 1.27804589e+02] [-4.16742854e-03 1.57093475e-05 -9.99991316e-01 6.71587889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.60, Y:127.79, Z:6.72 [[ 7.18068157e-01 6.95965950e-01 -3.08535027e-03 1.00598532e+02] [ 6.95959421e-01 -7.18074785e-01 -3.01460528e-03 1.27794183e+02] [-4.31357485e-03 1.74134704e-05 -9.99990696e-01 6.71613999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.250385723 meters Centerline goodness [0,1] 0.9999565425231411 Centerline is valid? [True, True] Translation: X:100.61, Y:127.79, Z:6.72 [[ 6.61544058e-01 7.49900143e-01 -3.03882425e-03 1.00605136e+02] [ 7.49892095e-01 -6.61551038e-01 -3.47434476e-03 1.27786042e+02] [-4.61574897e-03 1.96418533e-05 -9.99989347e-01 6.71599036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.280385723 meters Centerline goodness [0,1] 0.9999347939488784 Centerline is valid? [True, True] Translation: X:100.61, Y:127.78, Z:6.72 [[ 6.01667916e-01 7.98742537e-01 -2.46561629e-03 1.00612891e+02] [ 7.98735678e-01 -6.01672967e-01 -3.31028430e-03 1.27777548e+02] [-4.12755955e-03 2.23161585e-05 -9.99991481e-01 6.71532729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.62, Y:127.77, Z:6.72 [[ 5.38041447e-01 8.42915830e-01 -2.07484201e-03 1.00619421e+02] [ 8.42909385e-01 -5.38045447e-01 -3.29620523e-03 1.27769138e+02] [-3.89478287e-03 2.45912306e-05 -9.99992415e-01 6.71515625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.63, Y:127.76, Z:6.72 [[ 4.72061470e-01 8.81563717e-01 -1.83876899e-03 1.00628282e+02] [ 8.81556758e-01 -4.72065050e-01 -3.50299762e-03 1.27761475e+02] [-3.95613418e-03 3.26509820e-05 -9.99992174e-01 6.71523012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.370385723 meters Centerline goodness [0,1] 0.9999783296493737 Centerline is valid? [True, True] Translation: X:100.64, Y:127.75, Z:6.72 [[ 4.02119036e-01 9.15586102e-01 -1.53945026e-03 1.00635421e+02] [ 9.15579061e-01 -4.02121982e-01 -3.59093575e-03 1.27754551e+02] [-3.90685766e-03 3.44951965e-05 -9.99992368e-01 6.71567973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.400385723 meters Centerline goodness [0,1] 0.9999783296493737 Centerline is valid? [True, True] Translation: X:100.64, Y:127.75, Z:6.72 [[ 3.29192664e-01 9.44261944e-01 -1.25355481e-03 1.00641289e+02] [ 9.44254693e-01 -3.29195049e-01 -3.70047339e-03 1.27749010e+02] [-3.90688023e-03 3.44936869e-05 -9.99992368e-01 6.71567993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.430385723 meters Centerline goodness [0,1] 0.9998701748312273 Centerline is valid? [True, True] Translation: X:100.65, Y:127.74, Z:6.72 [[ 2.54501637e-01 9.67071768e-01 -1.05461542e-03 1.00650242e+02] [ 9.67062816e-01 -2.54503819e-01 -4.16119304e-03 1.27744208e+02] [-4.29257597e-03 3.91510838e-05 -9.99990786e-01 6.71560205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.66, Y:127.74, Z:6.72 [[ 1.77746378e-01 9.84076024e-01 -7.77369244e-04 1.00662532e+02] [ 9.84065581e-01 -1.77748073e-01 -4.53377654e-03 1.27739509e+02] [-4.59975668e-03 4.08800417e-05 -9.99989420e-01 6.71532824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.490385723 meters Centerline goodness [0,1] 0.9999783825850105 Centerline is valid? [True, True] Translation: X:100.67, Y:127.73, Z:6.72 [[ 9.93894612e-02 9.95048528e-01 -4.02610252e-04 1.00673180e+02] [ 9.95038835e-01 -9.93902701e-02 -4.39223574e-03 1.27734600e+02] [-4.41050325e-03 3.59291072e-05 -9.99990273e-01 6.71570924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.68, Y:127.73, Z:6.72 [[ 2.00111844e-02 9.99799754e-01 -6.54960953e-05 1.00684342e+02] [ 9.99787118e-01 -2.00112608e-02 -5.02674622e-03 1.27731373e+02] [-5.02705030e-03 3.51089935e-05 -9.99987364e-01 6.71577676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.70, Y:127.73, Z:6.72 [[-6.16097881e-02 9.98100243e-01 3.73922979e-04 1.00698352e+02] [ 9.98083905e-01 6.16109191e-02 -5.71075915e-03 1.27729295e+02] [-5.72294783e-03 2.13678458e-05 -9.99983624e-01 6.71701376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.580385723 meters Centerline goodness [0,1] 0.9999784119856655 Centerline is valid? [True, True] Translation: X:100.71, Y:127.73, Z:6.72 [[-1.41281800e-01 9.89968977e-01 9.36586819e-04 1.00709776e+02] [ 9.89947837e-01 1.41284903e-01 -6.46956912e-03 1.27726812e+02] [-6.53699830e-03 1.31397290e-05 -9.99978634e-01 6.71864221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.610385723 meters Centerline goodness [0,1] 0.9999783004947487 Centerline is valid? [True, True] Translation: X:100.72, Y:127.73, Z:6.72 [[-2.21715756e-01 9.75109785e-01 1.74096046e-03 1.00719388e+02] [ 9.75079324e-01 2.21722591e-01 -7.70745681e-03 1.27726180e+02] [-7.90162681e-03 -1.12900646e-05 -9.99968782e-01 6.71958496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.73, Y:127.73, Z:6.72 [[-2.98698711e-01 9.54343828e-01 2.63409308e-03 1.00727960e+02] [ 9.54305976e-01 2.98710325e-01 -8.49972584e-03 1.27726309e+02] [-8.89849169e-03 -2.51263906e-05 -9.99960407e-01 6.71976243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.670385723 meters Centerline goodness [0,1] 0.9999782981401506 Centerline is valid? [True, True] Translation: X:100.74, Y:127.73, Z:6.72 [[-3.73679279e-01 9.27551360e-01 3.50293545e-03 1.00736204e+02] [ 9.27509635e-01 3.73695695e-01 -8.79801234e-03 1.27726216e+02] [-9.46964021e-03 -3.86285318e-05 -9.99955161e-01 6.72117836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.700385723 meters Centerline goodness [0,1] 0.9999350593124946 Centerline is valid? [True, True] Translation: X:100.74, Y:127.73, Z:6.72 [[-4.46395400e-01 8.94825552e-01 4.28698969e-03 1.00741815e+02] [ 8.94783152e-01 4.46415982e-01 -8.71102433e-03 1.27726148e+02] [-9.70862786e-03 -5.26350434e-05 -9.99952869e-01 6.72043598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.730385723 meters Centerline goodness [0,1] 0.9999782603969651 Centerline is valid? [True, True] Translation: X:100.75, Y:127.73, Z:6.72 [[-5.15609032e-01 8.56810097e-01 4.87693724e-03 1.00747834e+02] [ 8.56770714e-01 5.15632093e-01 -8.21512130e-03 1.27725212e+02] [-9.55350423e-03 -5.73737426e-05 -9.99954363e-01 6.72023286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.760385723 meters Centerline goodness [0,1] 0.9999348972461535 Centerline is valid? [True, True] Translation: X:100.75, Y:127.73, Z:6.72 [[-5.82621236e-01 8.12725705e-01 5.42436920e-03 1.00751949e+02] [ 8.12689300e-01 5.82646482e-01 -7.69276707e-03 1.27725307e+02] [-9.41259918e-03 -7.36426534e-05 -9.99955698e-01 6.71948001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.76, Y:127.73, Z:6.72 [[-6.44996432e-01 7.64162591e-01 5.92767488e-03 1.00756156e+02] [ 7.64129190e-01 6.45023665e-01 -7.14513824e-03 1.27725166e+02] [-9.28353793e-03 -7.90792705e-05 -9.99956904e-01 6.71918201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.820385723 meters Centerline goodness [0,1] 0.9998694005485177 Centerline is valid? [True, True] Translation: X:100.76, Y:127.72, Z:6.72 [[-7.03577490e-01 7.10588802e-01 6.50149558e-03 1.00759720e+02] [ 7.10557293e-01 7.03607523e-01 -6.69236071e-03 1.27724766e+02] [-9.33001778e-03 -8.89092587e-05 -9.99956471e-01 6.71891053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.76, Y:127.72, Z:6.72 [[-7.57498119e-01 6.52808784e-01 6.10667998e-03 1.00762905e+02] [ 6.52786691e-01 7.57522729e-01 -5.37140409e-03 1.27722893e+02] [-8.13244866e-03 -8.24690745e-05 -9.99966928e-01 6.71855875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.880385723 meters Centerline goodness [0,1] 0.9999565529076967 Centerline is valid? [True, True] Translation: X:100.78, Y:127.74, Z:6.72 [[-8.01649648e-01 5.97762903e-01 6.11178022e-03 1.00783361e+02] [ 5.97744798e-01 8.01672942e-01 -4.65303972e-03 1.27741684e+02] [-7.68106336e-03 -7.68228218e-05 -9.99970497e-01 6.71842036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.80, Y:127.76, Z:6.72 [[-8.41394087e-01 5.40392352e-01 5.66533744e-03 1.00801348e+02] [ 5.40379616e-01 8.41413158e-01 -3.71066495e-03 1.27757894e+02] [-6.77210442e-03 -6.06986774e-05 -9.99977067e-01 6.71682283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.81, Y:127.78, Z:6.72 [[-8.77345966e-01 4.79826031e-01 5.57100124e-03 1.00807711e+02] [ 4.79815962e-01 8.77363652e-01 -3.10890636e-03 1.27784555e+02] [-6.37952819e-03 -5.45311372e-05 -9.99979649e-01 6.71593407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9703857229999 meters Centerline goodness [0,1] 0.9999123729407641 Centerline is valid? [True, True] Translation: X:100.80, Y:127.82, Z:6.72 [[-9.08936304e-01 4.16901755e-01 5.26521271e-03 1.00802030e+02] [ 4.16894458e-01 9.08951552e-01 -2.46707038e-03 1.27817119e+02] [-5.81434924e-03 -4.73718303e-05 -9.99983095e-01 6.71525872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.83, Y:127.83, Z:6.71 [[-9.36208694e-01 3.51403200e-01 5.39182173e-03 1.00831866e+02] [ 3.51397081e-01 9.36224220e-01 -2.07420423e-03 1.27830531e+02] [-5.77683610e-03 -4.72176164e-05 -9.99983313e-01 6.71439859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.030385723 meters Centerline goodness [0,1] 0.9999341758820431 Centerline is valid? [True, True] Translation: X:100.85, Y:127.85, Z:6.71 [[-9.58806888e-01 2.84001657e-01 5.69297545e-03 1.00851659e+02] [ 2.83996339e-01 9.58823788e-01 -1.73878412e-03 1.27852091e+02] [-5.95237785e-03 -5.03740067e-05 -9.99982283e-01 6.71421502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.060385723 meters Centerline goodness [0,1] 0.9999559481068699 Centerline is valid? [True, True] Translation: X:100.86, Y:127.88, Z:6.71 [[-9.76673857e-01 2.14641562e-01 6.09735150e-03 1.00856815e+02] [ 2.14637015e-01 9.76692888e-01 -1.39825479e-03 1.27878717e+02] [-6.25536343e-03 -5.69215687e-05 -9.99980433e-01 6.71427074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0903857229999 meters Centerline goodness [0,1] 0.9999779327389884 Centerline is valid? [True, True] Translation: X:101.03, Y:128.61, Z:5.76 [[-9.54580964e-01 -2.97889530e-01 6.08360206e-03 1.01030071e+02] [ 2.97883908e-01 -9.54600348e-01 -1.83135041e-03 1.28609216e+02] [ 6.35294875e-03 6.40349172e-05 9.99979818e-01 5.76329700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.81, Y:127.88, Z:6.72 [[-9.77530982e-01 2.10676794e-01 6.96189520e-03 1.00806740e+02] [ 2.10670968e-01 9.77555770e-01 -1.56812046e-03 1.27884462e+02] [-7.13600742e-03 -6.62171324e-05 -9.99974536e-01 6.71546455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.81, Y:127.91, Z:6.72 [[-9.89833469e-01 1.42017748e-01 7.78864905e-03 1.00810569e+02] [ 1.42012846e-01 9.89864110e-01 -1.18169572e-03 1.27908771e+02] [-7.87752592e-03 -6.35937541e-05 -9.99968970e-01 6.71705824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.180385723 meters Centerline goodness [0,1] 0.9999556698288855 Centerline is valid? [True, True] Translation: X:100.81, Y:127.93, Z:6.72 [[-9.97361082e-01 7.21383922e-02 8.18075067e-03 1.00812814e+02] [ 7.21354723e-02 9.97394630e-01 -6.51815057e-04 1.27934415e+02] [-8.20645769e-03 -5.99726570e-05 -9.99966325e-01 6.71629628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.82, Y:127.96, Z:6.72 [[-9.99966613e-01 1.71333952e-03 7.98983254e-03 1.00819627e+02] [ 1.71286067e-03 9.99998531e-01 -6.67746548e-05 1.27960743e+02] [-7.98993521e-03 -5.30869555e-05 -9.99968079e-01 6.71610450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.81, Y:127.99, Z:6.72 [[-9.97656028e-01 -6.80019576e-02 7.62786227e-03 1.00811920e+02] [-6.80002712e-02 9.97685187e-01 4.80518346e-04 1.27985313e+02] [-7.64288138e-03 -3.93046786e-05 -9.99970792e-01 6.71631972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.81, Y:128.01, Z:6.72 [[-9.90371235e-01 -1.38254515e-01 7.10671329e-03 1.00809435e+02] [-1.38251184e-01 9.90396733e-01 9.60127316e-04 1.28011677e+02] [-7.17120756e-03 -3.16290521e-05 -9.99974286e-01 6.71571178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.79, Y:128.03, Z:6.71 [[-9.78317066e-01 -2.07036829e-01 5.60978225e-03 1.00788438e+02] [-2.07033516e-01 9.78333149e-01 1.17147648e-03 1.28032681e+02] [-5.73077471e-03 -1.53375091e-05 -9.99983579e-01 6.71406030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.75, Y:128.05, Z:6.71 [[-9.60845691e-01 -2.77036782e-01 5.11658488e-03 1.00754330e+02] [-2.77032924e-01 9.60859314e-01 1.46216568e-03 1.28052290e+02] [-5.32139191e-03 -1.25468790e-05 -9.99985841e-01 6.71387068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.360385723 meters Centerline goodness [0,1] 0.9999776456386641 Centerline is valid? [True, True] Translation: X:100.69, Y:128.06, Z:6.71 [[-9.38217311e-01 -3.46016899e-01 4.53695607e-03 1.00692307e+02] [-3.46012899e-01 9.38228280e-01 1.66370609e-03 1.28059181e+02] [-4.83237091e-03 -8.92746487e-06 -9.99988324e-01 6.71359929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.62, Y:128.06, Z:6.71 [[-9.10185999e-01 -4.14177959e-01 4.25030039e-03 1.00616930e+02] [-4.14173487e-01 9.10195923e-01 1.92472223e-03 1.28057536e+02] [-4.66578361e-03 -8.50651019e-06 -9.99989115e-01 6.71374311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.420385723 meters Centerline goodness [0,1] 0.9999552081700298 Centerline is valid? [True, True] Translation: X:100.56, Y:128.06, Z:6.71 [[-8.76282589e-01 -4.81779607e-01 4.15148592e-03 1.00562673e+02] [-4.81774260e-01 8.76292423e-01 2.26998639e-03 1.28061278e+02] [-4.73154881e-03 -1.09295076e-05 -9.99988806e-01 6.71388035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.46, Y:128.03, Z:6.71 [[-8.36849909e-01 -5.47418790e-01 3.85974165e-03 1.00462688e+02] [-5.47413075e-01 8.36858810e-01 2.50151198e-03 1.28033852e+02] [-4.59943347e-03 -1.94829733e-05 -9.99989422e-01 6.71365840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.36, Y:128.00, Z:6.71 [[-7.92579888e-01 -6.09754822e-01 4.02208522e-03 1.00359270e+02] [-6.09747151e-01 7.92590093e-01 3.05876559e-03 1.27995157e+02] [-5.05296197e-03 -2.81389107e-05 -9.99987233e-01 6.71388167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.30, Y:127.98, Z:6.71 [[-7.41663124e-01 -6.70758644e-01 4.31877874e-03 1.00302081e+02] [-6.70747667e-01 7.41675697e-01 3.83778198e-03 1.27984383e+02] [-5.77735867e-03 -5.04693885e-05 -9.99983310e-01 6.71473209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.20, Y:127.93, Z:6.72 [[-6.87284858e-01 -7.26374642e-01 4.40489949e-03 1.00202919e+02] [-7.26360350e-01 6.87298970e-01 4.55716812e-03 1.27929872e+02] [-6.33769424e-03 -6.74716952e-05 -9.99979914e-01 6.71529887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.11, Y:127.87, Z:6.72 [[-6.28911795e-01 -7.77463355e-01 4.54815081e-03 1.00109285e+02] [-7.77443996e-01 6.28928235e-01 5.48714554e-03 1.27868784e+02] [-7.12651504e-03 -8.50019874e-05 -9.99974602e-01 6.71608220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.03, Y:127.81, Z:6.72 [[-5.65517947e-01 -8.24724079e-01 4.43218370e-03 1.00025177e+02] [-8.24700270e-01 5.65535305e-01 6.26771137e-03 1.27807561e+02] [-7.67568885e-03 -1.10719825e-04 -9.99970535e-01 6.71683543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.630385723 meters Centerline goodness [0,1] 0.9999322951929587 Centerline is valid? [True, True] Translation: X:99.94, Y:127.73, Z:6.72 [[-5.00776542e-01 -8.65567128e-01 4.05006203e-03 9.99375665e+01] [-8.65540629e-01 5.00792906e-01 6.77376326e-03 1.27725720e+02] [-7.89138915e-03 -1.13351501e-04 -9.99968856e-01 6.71731477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.85, Y:127.63, Z:6.72 [[-4.33614944e-01 -9.01090900e-01 3.64286462e-03 9.98500482e+01] [-9.01061212e-01 4.33630232e-01 7.31539238e-03 1.27626216e+02] [-8.17148973e-03 -1.10380553e-04 -9.99966607e-01 6.71814443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.77, Y:127.52, Z:6.72 [[-3.63879424e-01 -9.31441049e-01 3.05581626e-03 9.97696312e+01] [-9.31410529e-01 3.63892240e-01 7.54084475e-03 1.27517241e+02] [-8.13584016e-03 -1.02261200e-04 -9.99966898e-01 6.71826881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.71, Y:127.44, Z:6.72 [[-2.91753910e-01 -9.56490835e-01 2.22223895e-03 9.97122631e+01] [-9.56465275e-01 2.91762361e-01 6.99306532e-03 1.27440159e+02] [-7.33716856e-03 -8.52402374e-05 -9.99973079e-01 6.71779410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.66, Y:127.34, Z:6.72 [[-2.18359447e-01 -9.75867047e-01 1.63029982e-03 9.96552833e+01] [-9.75842335e-01 2.18365520e-01 6.94525972e-03 1.27340596e+02] [-7.13365136e-03 -7.43525097e-05 -9.99974552e-01 6.71733539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.60, Y:127.22, Z:6.72 [[-1.44369797e-01 -9.89523356e-01 9.43671551e-04 9.96020782e+01] [-9.89504494e-01 1.44372872e-01 6.10987731e-03 1.27217833e+02] [-6.18210687e-03 -5.16854913e-05 -9.99980889e-01 6.71759031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.56, Y:127.11, Z:6.72 [[-6.82588245e-02 -9.97667564e-01 4.06405216e-04 9.95634524e+01] [-9.97653218e-01 6.82600225e-02 5.35040182e-03 1.27111799e+02] [-5.36566358e-03 -4.02393326e-05 -9.99985604e-01 6.71564012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.53, Y:126.99, Z:6.72 [[ 8.65303409e-03 -9.99962562e-01 -8.24704108e-06 9.95305471e+01] [-9.99948921e-01 -8.65295912e-03 5.22326868e-03 1.26994585e+02] [-5.22314450e-03 -3.69505022e-05 -9.99986359e-01 6.71554099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.51, Y:126.87, Z:6.72 [[ 8.58330203e-02 -9.96309449e-01 -4.18467213e-04 9.95063928e+01] [-9.96295430e-01 -8.58340325e-02 5.28546035e-03 1.26871585e+02] [-5.30187281e-03 -3.67500530e-05 -9.99985944e-01 6.71575954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.49, Y:126.74, Z:6.72 [[ 1.61888007e-01 -9.86808723e-01 -9.03711809e-04 9.94924914e+01] [-9.86792084e-01 -1.61890525e-01 5.73076704e-03 1.26741393e+02] [-5.80147328e-03 -3.59667938e-05 -9.99983171e-01 6.71657899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.49, Y:126.60, Z:6.72 [[ 2.37333920e-01 -9.71427075e-01 -1.43114347e-03 9.94916881e+01] [-9.71408485e-01 -2.37338232e-01 6.00984904e-03 1.26596365e+02] [-6.17779514e-03 -3.61161258e-05 -9.99980917e-01 6.71714956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.49, Y:126.49, Z:6.72 [[ 3.10274381e-01 -9.50644574e-01 -2.16867293e-03 9.94929312e+01] [-9.50620654e-01 -3.10281959e-01 6.74370005e-03 1.26487711e+02] [-7.08376195e-03 -3.08120782e-05 -9.99974909e-01 6.71757699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.990385723 meters Centerline goodness [0,1] 0.9999551197181519 Centerline is valid? [True, True] Translation: X:99.51, Y:126.37, Z:6.72 [[ 3.81679181e-01 -9.24290553e-01 -2.82410211e-03 9.95075356e+01] [-9.24264788e-01 -3.81689628e-01 6.90138827e-03 1.26365071e+02] [-7.45681847e-03 -2.38980884e-05 -9.99972197e-01 6.71781798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.53, Y:126.25, Z:6.72 [[ 4.50908547e-01 -8.92562594e-01 -3.67399971e-03 9.95292054e+01] [-8.92532654e-01 -4.50923514e-01 7.31065097e-03 1.26248706e+02] [-8.18190645e-03 -1.72702990e-05 -9.99966528e-01 6.71783420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.57, Y:126.12, Z:6.72 [[ 5.17226052e-01 -8.55837909e-01 -4.32250931e-03 9.95663725e+01] [-8.55807919e-01 -5.17244114e-01 7.16467758e-03 1.26122906e+02] [-8.36759518e-03 -6.52020015e-06 -9.99964991e-01 6.71820638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.60, Y:126.02, Z:6.72 [[ 5.79482817e-01 -8.14970779e-01 -4.72170244e-03 9.96028888e+01] [-8.14943931e-01 -5.79502053e-01 6.61521466e-03 1.26018763e+02] [-8.12744290e-03 1.45195227e-05 -9.99966972e-01 6.71732231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.65, Y:125.91, Z:6.72 [[ 6.39257863e-01 -7.68975844e-01 -5.05333310e-03 9.96517914e+01] [-7.68952131e-01 -6.39277835e-01 6.03899436e-03 1.25909398e+02] [-7.87432463e-03 2.52966267e-05 -9.99968997e-01 6.71700320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.71, Y:125.81, Z:6.72 [[ 6.94883823e-01 -7.19105125e-01 -4.92861891e-03 9.97059525e+01] [-7.19087413e-01 -6.94901300e-01 5.04728388e-03 1.25807086e+02] [-7.05443140e-03 3.68319036e-05 -9.99975117e-01 6.71630390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.76, Y:125.71, Z:6.72 [[ 7.47240483e-01 -6.64536303e-01 -4.81268552e-03 9.97619001e+01] [-6.64522858e-01 -7.47255980e-01 4.22738956e-03 1.25713861e+02] [-6.40556187e-03 3.92629197e-05 -9.99979483e-01 6.71655584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.76, Y:125.71, Z:6.72 [[ 7.96123308e-01 -6.05113701e-01 -5.00866771e-03 9.97559944e+01] [-6.05102090e-01 -7.96139062e-01 3.74884836e-03 1.25709738e+02] [-6.25607551e-03 4.62097439e-05 -9.99980430e-01 6.71653337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.75, Y:125.71, Z:6.72 [[ 8.40789802e-01 -5.41337398e-01 -5.13135449e-03 9.97512630e+01] [-5.41327658e-01 -8.40805459e-01 3.24767111e-03 1.25707645e+02] [-6.07255670e-03 4.71353607e-05 -9.99981561e-01 6.71621189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.75, Y:125.70, Z:6.72 [[ 8.80468214e-01 -4.74079093e-01 -4.97365124e-03 9.97469314e+01] [-4.74071815e-01 -8.80482261e-01 2.62736297e-03 1.25704011e+02] [-5.62478954e-03 4.45582850e-05 -9.99984180e-01 6.71536348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.74, Y:125.70, Z:6.72 [[ 9.14842669e-01 -4.03777445e-01 -5.16388707e-03 9.97429657e+01] [-4.03771287e-01 -9.14857242e-01 2.23040783e-03 1.25701623e+02] [-5.62480786e-03 4.45570696e-05 -9.99984180e-01 6.71536367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.320385723 meters Centerline goodness [0,1] 0.9999774896452368 Centerline is valid? [True, True] Translation: X:99.74, Y:125.70, Z:6.71 [[ 9.43707723e-01 -3.30756917e-01 -3.94920467e-03 9.97386600e+01] [-3.30754163e-01 -9.43715985e-01 1.35009387e-03 1.25696812e+02] [-4.17348046e-03 3.21218744e-05 -9.99991291e-01 6.71413351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.73, Y:125.69, Z:6.71 [[ 9.66734996e-01 -2.55753311e-01 -3.70023413e-03 9.97329250e+01] [-2.55751551e-01 -9.66742077e-01 9.49401045e-04 1.25689195e+02] [-3.81998449e-03 2.85214010e-05 -9.99992703e-01 6.71437387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.73, Y:125.68, Z:6.71 [[ 9.84104930e-01 -1.77556731e-01 -3.33077672e-03 9.97261317e+01] [-1.77555781e-01 -9.84110566e-01 5.81199374e-04 1.25678715e+02] [-3.38104842e-03 1.94374908e-05 -9.99994284e-01 6.71454894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.72, Y:125.67, Z:6.71 [[ 9.95124060e-01 -9.85704070e-02 -3.46126655e-03 9.97187147e+01] [-9.85698636e-02 -9.95130079e-01 3.27634063e-04 1.25670513e+02] [-3.47670548e-03 1.51400334e-05 -9.99993956e-01 6.71473777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.71, Y:125.66, Z:6.71 [[ 9.99813708e-01 -1.89861181e-02 -3.47521812e-03 9.97126520e+01] [-1.89860394e-02 -9.99819747e-01 5.56567878e-05 1.25660448e+02] [-3.47564841e-03 1.03342086e-05 -9.99993960e-01 6.71468080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.71, Y:125.65, Z:6.71 [[ 9.98163434e-01 6.04701121e-02 -3.62273918e-03 9.97071645e+01] [ 6.04696894e-02 -9.98170008e-01 -2.26199395e-04 1.25651683e+02] [-3.62978790e-03 6.71805226e-06 -9.99993412e-01 6.71493788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.70, Y:125.64, Z:6.71 [[ 9.90186336e-01 1.39683639e-01 -4.41607293e-03 9.97026717e+01] [ 1.39682238e-01 -9.90196183e-01 -6.25473305e-04 1.25642521e+02] [-4.46014695e-03 2.48816839e-06 -9.99990054e-01 6.71487456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.70, Y:125.64, Z:6.72 [[ 9.76180163e-01 2.16917685e-01 -4.35967462e-03 9.96984172e+01] [ 2.16915513e-01 -9.76189899e-01 -9.70722673e-04 1.25635289e+02] [-4.46643724e-03 1.91916426e-06 -9.99990025e-01 6.71524748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.69, Y:125.63, Z:6.72 [[ 9.56548844e-01 2.91530688e-01 -4.91597819e-03 9.96944686e+01] [ 2.91526795e-01 -9.56561476e-01 -1.50674909e-03 1.25628366e+02] [-5.14169895e-03 8.13973788e-06 -9.99986781e-01 6.71571544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.69, Y:125.62, Z:6.72 [[ 9.31157307e-01 3.64589289e-01 -4.55189015e-03 9.96909284e+01] [ 3.64584866e-01 -9.31168433e-01 -1.79583827e-03 1.25623068e+02] [-4.89331982e-03 1.26576670e-05 -9.99988028e-01 6.71608494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.69, Y:125.62, Z:6.72 [[ 9.00064800e-01 4.35732854e-01 -4.49849841e-03 9.96859863e+01] [ 4.35727319e-01 -9.00076041e-01 -2.19620584e-03 1.25618661e+02] [-5.00594968e-03 1.66089138e-05 -9.99987470e-01 6.71590098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.650385723 meters Centerline goodness [0,1] 0.9999776501352167 Centerline is valid? [True, True] Translation: X:99.69, Y:125.61, Z:6.72 [[ 8.63799214e-01 5.03820340e-01 -3.99779670e-03 9.96854646e+01] [ 5.03814831e-01 -8.63808465e-01 -2.35609987e-03 1.25608365e+02] [-4.64038167e-03 2.10479429e-05 -9.99989233e-01 6.71565842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.68, Y:125.60, Z:6.72 [[ 8.22082849e-01 5.69355220e-01 -3.79769971e-03 9.96845700e+01] [ 5.69349010e-01 -8.22091621e-01 -2.65937938e-03 1.25598444e+02] [-4.63618864e-03 2.40136063e-05 -9.99989253e-01 6.71592671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.68, Y:125.59, Z:6.72 [[ 7.75920930e-01 6.30818293e-01 -3.87194590e-03 9.96834993e+01] [ 6.30810224e-01 -7.75930590e-01 -3.19076731e-03 1.25591232e+02] [-5.01715565e-03 3.33200813e-05 -9.99987413e-01 6.71660441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.69, Y:125.58, Z:6.72 [[ 7.24660350e-01 6.89097402e-01 -3.48544496e-03 9.96855777e+01] [ 6.89089193e-01 -7.24668731e-01 -3.36374652e-03 1.25581087e+02] [-4.84374196e-03 3.57912742e-05 -9.99988268e-01 6.71610026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.69, Y:125.57, Z:6.72 [[ 6.69065865e-01 7.43196816e-01 -3.05956974e-03 9.96895188e+01] [ 7.43188786e-01 -6.69072859e-01 -3.45502256e-03 1.25569017e+02] [-4.61483684e-03 3.77997347e-05 -9.99989351e-01 6.71612006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.69, Y:125.56, Z:6.72 [[ 6.10115065e-01 7.92306961e-01 -3.04755459e-03 9.96915112e+01] [ 7.92296667e-01 -6.10122674e-01 -4.03909164e-03 1.25558541e+02] [-5.05958257e-03 4.97433116e-05 -9.99987199e-01 6.71702867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.69, Y:125.55, Z:6.72 [[ 5.46736342e-01 8.37299433e-01 -3.00537195e-03 9.96904303e+01] [ 8.37286191e-01 -5.46744599e-01 -4.70942729e-03 1.25551357e+02] [-5.58637168e-03 5.84586188e-05 -9.99984394e-01 6.71751947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.70, Y:125.54, Z:6.72 [[ 4.80286772e-01 8.77106672e-01 -2.91601200e-03 9.96951315e+01] [ 8.77089603e-01 -4.80295619e-01 -5.47233061e-03 1.25540957e+02] [-6.20036547e-03 7.06841970e-05 -9.99980775e-01 6.71736559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.70, Y:125.53, Z:6.72 [[ 4.10143148e-01 9.12017714e-01 -2.50737550e-03 9.97006443e+01] [ 9.11999586e-01 -4.10150806e-01 -5.75074415e-03 1.25530266e+02] [-6.27318262e-03 7.19028961e-05 -9.99980321e-01 6.71713815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.71, Y:125.52, Z:6.72 [[ 3.37284793e-01 9.41400347e-01 -2.08673240e-03 9.97083643e+01] [ 9.41380989e-01 -3.37291240e-01 -6.03769529e-03 1.25520388e+02] [-6.38772500e-03 7.20125942e-05 -9.99979596e-01 6.71710537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.72, Y:125.51, Z:6.72 [[ 2.61795471e-01 9.65121914e-01 -1.68004089e-03 9.97175980e+01] [ 9.65100282e-01 -2.61800852e-01 -6.46221914e-03 1.25509956e+02] [-6.67666544e-03 7.03717688e-05 -9.99977708e-01 6.71663743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.73, Y:125.50, Z:6.72 [[ 1.84804758e-01 9.82774536e-01 -1.18848206e-03 9.97252069e+01] [ 9.82751803e-01 -1.84808567e-01 -6.68481081e-03 1.25500583e+02] [-6.78930351e-03 6.74019542e-05 -9.99976950e-01 6.71688589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.73, Y:125.49, Z:6.72 [[ 1.06396876e-01 9.94323532e-01 -6.47145269e-04 9.97326223e+01] [ 9.94301528e-01 -1.06398827e-01 -6.61527203e-03 1.25491531e+02] [-6.64657615e-03 6.03867454e-05 -9.99977909e-01 6.71705315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.74, Y:125.48, Z:6.72 [[ 2.65238590e-02 9.99648174e-01 -1.11038257e-04 9.97403884e+01] [ 9.99631248e-01 -2.65240560e-02 -5.81751866e-03 1.25482506e+02] [-5.81841710e-03 4.33057328e-05 -9.99983072e-01 6.71658176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.75, Y:125.48, Z:6.72 [[-5.39612287e-02 9.98542980e-01 3.21195565e-04 9.97492974e+01] [ 9.98528323e-01 5.39621769e-02 -5.41029310e-03 1.25475427e+02] [-5.41974261e-03 2.87768054e-05 -9.99985313e-01 6.71652900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.76, Y:125.47, Z:6.72 [[-1.32785900e-01 9.91144482e-01 7.21710058e-04 9.97620491e+01] [ 9.91130810e-01 1.32787859e-01 -5.20594639e-03 1.25469548e+02] [-5.25567937e-03 2.40327961e-05 -9.99986189e-01 6.71602513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.78, Y:125.47, Z:6.72 [[-2.10870055e-01 9.77513475e-01 1.10723639e-03 9.97750418e+01] [ 9.77500465e-01 2.10872961e-01 -5.04330067e-03 1.25465138e+02] [-5.16338057e-03 1.88429921e-05 -9.99986670e-01 6.71613453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.79, Y:125.46, Z:6.72 [[-2.87264648e-01 9.57849941e-01 1.58505255e-03 9.97875332e+01] [ 9.57835689e-01 2.87269020e-01 -5.22524725e-03 1.25460300e+02] [-5.46033927e-03 1.71910930e-05 -9.99985092e-01 6.71631294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.190385723 meters Centerline goodness [0,1] 0.9999775179856115 Centerline is valid? [True, True] Translation: X:99.80, Y:125.46, Z:6.72 [[-3.62701858e-01 9.31902829e-01 2.11644534e-03 9.98002953e+01] [ 9.31887131e-01 3.62708033e-01 -5.40908277e-03 1.25456984e+02] [-5.80839126e-03 1.04038018e-05 -9.99983131e-01 6.71692866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.81, Y:125.45, Z:6.72 [[-4.34864911e-01 9.00491972e-01 2.59192939e-03 9.98114405e+01] [ 9.00476097e-01 4.34872636e-01 -5.34690417e-03 1.25454265e+02] [-5.94200344e-03 8.78945139e-06 -9.99982346e-01 6.71746752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.250385723 meters Centerline goodness [0,1] 0.9999550844412505 Centerline is valid? [True, True] Translation: X:99.82, Y:125.45, Z:6.72 [[-5.04384412e-01 8.63473971e-01 3.01094914e-03 9.98238706e+01] [ 8.63458666e-01 5.04393399e-01 -5.14121976e-03 1.25452798e+02] [-5.95801231e-03 6.67902207e-06 -9.99982251e-01 6.71813198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.84, Y:125.45, Z:6.72 [[-5.70438051e-01 8.21332492e-01 3.65619688e-03 9.98354460e+01] [ 8.21315706e-01 5.70449768e-01 -5.25101470e-03 1.25450398e+02] [-6.39850565e-03 7.51332507e-06 -9.99979529e-01 6.71904576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.310385723 meters Centerline goodness [0,1] 0.9999322799097066 Centerline is valid? [True, True] Translation: X:99.85, Y:125.45, Z:6.72 [[-6.32670531e-01 7.74409618e-01 4.21215467e-03 9.98454863e+01] [ 7.74392568e-01 6.32684553e-01 -5.13883513e-03 1.25449510e+02] [-6.64452855e-03 1.06717196e-05 -9.99977925e-01 6.71805647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3403857229999 meters Centerline goodness [0,1] 0.9998647155644743 Centerline is valid? [True, True] Translation: X:99.86, Y:125.45, Z:6.72 [[-6.89982424e-01 7.23809697e-01 4.87609320e-03 9.98556388e+01] [ 7.23791875e-01 6.89999653e-01 -5.07942994e-03 1.25448560e+02] [-7.04104326e-03 2.45592552e-05 -9.99975211e-01 6.72173652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.87, Y:125.45, Z:6.72 [[-7.44713301e-01 6.67363955e-01 5.23942333e-03 9.98672713e+01] [ 6.67347653e-01 7.44731731e-01 -4.66469969e-03 1.25451613e+02] [-7.01501724e-03 2.26529578e-05 -9.99975394e-01 6.71842300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.90, Y:125.46, Z:6.72 [[-7.89406513e-01 6.13846318e-01 5.48224189e-03 9.99014385e+01] [ 6.13831771e-01 7.89425549e-01 -4.22602124e-03 1.25459955e+02] [-6.92194939e-03 2.91255551e-05 -9.99976043e-01 6.71856466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.92, Y:125.48, Z:6.72 [[-8.30458309e-01 5.57049126e-01 5.93876081e-03 9.99240546e+01] [ 5.57035184e-01 8.30479542e-01 -3.94121603e-03 1.25479245e+02] [-7.12747031e-03 3.50831219e-05 -9.99974599e-01 6.71799903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.460385723 meters Centerline goodness [0,1] 0.9999774886317591 Centerline is valid? [True, True] Translation: X:99.95, Y:125.50, Z:6.72 [[-8.67654957e-01 4.97129782e-01 6.07086576e-03 9.99459695e+01] [ 4.97117907e-01 8.67676195e-01 -3.43617084e-03 1.25499578e+02] [-6.97576856e-03 3.65254147e-05 -9.99975668e-01 6.71828897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.96, Y:125.53, Z:6.72 [[-9.00297525e-01 4.35228667e-01 6.35401711e-03 9.99583227e+01] [ 4.35218163e-01 9.00319946e-01 -3.02416129e-03 1.25526495e+02] [-7.03685003e-03 4.27387207e-05 -9.99975240e-01 6.71789056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.97, Y:125.55, Z:6.72 [[-9.28641651e-01 3.70916221e-01 6.77057282e-03 9.99725182e+01] [ 3.70906743e-01 9.28666331e-01 -2.65197930e-03 1.25551909e+02] [-7.27126516e-03 4.85126741e-05 -9.99973563e-01 6.71844261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.99, Y:125.58, Z:6.72 [[-9.52521037e-01 3.04384062e-01 7.34966294e-03 9.99948502e+01] [ 3.04375428e-01 9.52549390e-01 -2.29320980e-03 1.25575301e+02] [-7.69893346e-03 5.27262214e-05 -9.99970361e-01 6.71856406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.580385723 meters Centerline goodness [0,1] 0.9999775088839908 Centerline is valid? [True, True] Translation: X:99.99, Y:125.61, Z:6.72 [[-9.71768790e-01 2.35820480e-01 7.35660260e-03 9.99866791e+01] [ 2.35814106e-01 9.71796635e-01 -1.73451268e-03 1.25607727e+02] [-7.55815526e-03 4.92453824e-05 -9.99971436e-01 6.71821368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.99, Y:125.64, Z:6.72 [[-9.86051606e-01 1.66312720e-01 6.50460473e-03 9.99939970e+01] [ 1.66309389e-01 9.86073059e-01 -1.05344537e-03 1.25635546e+02] [-6.58921685e-03 4.30253386e-05 -9.99978290e-01 6.71816452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.01, Y:125.66, Z:6.72 [[-9.95428595e-01 9.53305325e-02 5.83117587e-03 1.00011464e+02] [ 9.53291021e-02 9.95445673e-01 -5.23394670e-04 1.25662737e+02] [-5.85451428e-03 3.48787386e-05 -9.99982862e-01 6.71784099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.01, Y:125.69, Z:6.72 [[-9.99694357e-01 2.40402318e-02 5.76707435e-03 1.00012241e+02] [ 2.40400200e-02 9.99710991e-01 -1.06052278e-04 1.25692380e+02] [-5.76795714e-03 3.26207189e-05 -9.99983365e-01 6.71777284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:125.72, Z:6.72 [[-9.98856276e-01 -4.75126787e-02 5.35584827e-03 1.00020907e+02] [-4.75118431e-02 9.98870635e-01 2.83219861e-04 1.25722150e+02] [-5.36325610e-03 2.84297132e-05 -9.99985617e-01 6.71876573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.01, Y:125.75, Z:6.72 [[-9.92884050e-01 -1.18956257e-01 5.53826874e-03 1.00011953e+02] [-1.18954252e-01 9.92899496e-01 6.91126164e-04 1.25750614e+02] [-5.58115802e-03 2.74075292e-05 -9.99984425e-01 6.71885799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.90, Y:126.56, Z:5.76 [[-9.98125408e-01 6.09743026e-02 5.27304050e-03 9.99012226e+01] [-6.09736962e-02 -9.98139335e-01 2.75847798e-04 1.26557864e+02] [ 5.28004877e-03 -4.61860734e-05 9.99986059e-01 5.75903203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.88, Y:125.73, Z:6.72 [[-9.91919289e-01 -1.26782736e-01 4.71831704e-03 9.98768971e+01] [-1.26781216e-01 9.91930511e-01 6.20974634e-04 1.25734411e+02] [-4.75897150e-03 1.77627443e-05 -9.99988676e-01 6.71850714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.87, Y:125.76, Z:6.72 [[-9.80152095e-01 -1.98203231e-01 4.16545050e-03 9.98718632e+01] [-1.98201376e-01 9.80160946e-01 8.57582306e-04 1.25762342e+02] [-4.25278748e-03 1.49630726e-05 -9.99990957e-01 6.71797174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.84, Y:125.78, Z:6.72 [[-9.63145012e-01 -2.68959311e-01 3.54622151e-03 9.98358511e+01] [-2.68957440e-01 9.63151540e-01 1.00344966e-03 1.25783221e+02] [-3.68543583e-03 1.26848788e-05 -9.99993209e-01 6.71767279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.77, Y:125.79, Z:6.72 [[-9.41034920e-01 -3.38297735e-01 2.81439710e-03 9.97741520e+01] [-3.38296193e-01 9.41039129e-01 1.02170893e-03 1.25793776e+02] [-2.99409961e-03 9.36395490e-06 -9.99995518e-01 6.71639370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.72, Y:125.80, Z:6.72 [[-9.13182456e-01 -4.07544502e-01 2.29786979e-03 9.97182237e+01] [-4.07543191e-01 9.13185347e-01 1.03374823e-03 1.25802237e+02] [-2.51967943e-03 7.51955730e-06 -9.99996826e-01 6.71649546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.61, Y:125.78, Z:6.72 [[-8.80717454e-01 -4.73640215e-01 1.30928154e-03 9.96128975e+01] [-4.73639683e-01 8.80718427e-01 7.09324598e-04 1.25781575e+02] [-1.48907303e-03 4.58686038e-06 -9.99998891e-01 6.71610001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.56, Y:125.78, Z:6.72 [[-8.42290890e-01 -5.39022347e-01 9.82904848e-04 9.95566954e+01] [-5.39021975e-01 8.42291464e-01 6.33098922e-04 1.25781166e+02] [-1.16914683e-03 3.44614222e-06 -9.99999317e-01 6.71590270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.47, Y:125.76, Z:6.72 [[-7.99038193e-01 -6.01279600e-01 8.99644813e-04 9.94724306e+01] [-6.01279215e-01 7.99038699e-01 6.80712354e-04 1.25757517e+02] [-1.12814947e-03 2.97744251e-06 -9.99999364e-01 6.71596517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.37, Y:125.71, Z:6.72 [[-7.50929567e-01 -6.60380827e-01 1.39590106e-03 9.93743523e+01] [-6.60379678e-01 7.50930864e-01 1.23235299e-03 1.25714503e+02] [-1.86204748e-03 3.58560367e-06 -9.99998266e-01 6.71697405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.29, Y:125.68, Z:6.72 [[-6.98458641e-01 -7.15648539e-01 1.64173809e-03 9.92915755e+01] [-7.15646548e-01 6.98460571e-01 1.68828719e-03 1.25675541e+02] [-2.35490959e-03 4.29458254e-06 -9.99997227e-01 6.71753302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.20, Y:125.62, Z:6.72 [[-6.41815214e-01 -7.66855633e-01 2.38111256e-03 9.92005137e+01] [-7.66850319e-01 6.41819630e-01 2.85501217e-03 1.25616435e+02] [-3.71762695e-03 6.43332341e-06 -9.99993090e-01 6.71898057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.11, Y:125.55, Z:6.72 [[-5.81157996e-01 -8.13787394e-01 2.33684437e-03 9.91110997e+01] [-8.13780770e-01 5.81162695e-01 3.28356356e-03 1.25547595e+02] [-4.03020940e-03 6.59021347e-06 -9.99991879e-01 6.71903714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.02, Y:125.47, Z:6.72 [[-5.17308860e-01 -8.55796311e-01 2.05354034e-03 9.90249630e+01] [-8.55789508e-01 5.17312936e-01 3.41234452e-03 1.25467600e+02] [-3.98259483e-03 7.83777528e-06 -9.99992069e-01 6.71948429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.94, Y:125.38, Z:6.72 [[-4.50537577e-01 -8.92755915e-01 1.66367889e-03 9.89441830e+01] [-8.92749750e-01 4.50540649e-01 3.31791139e-03 1.25378793e+02] [-3.71163998e-03 9.59484595e-06 -9.99993112e-01 6.71850899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.87, Y:125.28, Z:6.72 [[-3.80486762e-01 -9.24785302e-01 1.40337443e-03 9.88685788e+01] [-9.24778918e-01 3.80489350e-01 3.43613834e-03 1.25282805e+02] [-3.71165926e-03 9.59406017e-06 -9.99993112e-01 6.71850998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.80, Y:125.17, Z:6.72 [[-3.08389773e-01 -9.51259328e-01 1.19926998e-03 9.87971850e+01] [-9.51251992e-01 3.08392105e-01 3.73596988e-03 1.25170987e+02] [-3.92372159e-03 1.13269492e-05 -9.99992302e-01 6.71824415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.74, Y:125.07, Z:6.72 [[-2.33863306e-01 -9.72269063e-01 9.07303331e-04 9.87392263e+01] [-9.72261566e-01 2.33865066e-01 3.81821861e-03 1.25066507e+02] [-3.92452238e-03 1.08050700e-05 -9.99992299e-01 6.71949401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.68, Y:124.91, Z:6.72 [[-1.57948226e-01 -9.87447224e-01 5.81354519e-04 9.86793533e+01] [-9.87440312e-01 1.57949295e-01 3.69457381e-03 1.24907736e+02] [-3.74002119e-03 9.49849067e-06 -9.99993006e-01 6.71826452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.64, Y:124.82, Z:6.72 [[-8.04044054e-02 -9.96762282e-01 2.92132686e-04 9.86409447e+01] [-9.96755354e-01 8.04049358e-02 3.71625611e-03 1.24821963e+02] [-3.72771282e-03 7.61854330e-06 -9.99993052e-01 6.71802530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.61, Y:124.66, Z:6.72 [[-2.16789032e-03 -9.99997650e-01 3.89002748e-06 9.86060507e+01] [-9.99991732e-01 2.16789088e-03 3.44026327e-03 1.24656383e+02] [-3.44026362e-03 3.56811810e-06 -9.99994082e-01 6.71797141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.58, Y:124.54, Z:6.72 [[ 7.60367145e-02 -9.97104984e-01 -2.64054587e-04 9.85826277e+01] [-9.97099020e-01 -7.60371730e-02 3.44844705e-03 1.24543228e+02] [-3.45854171e-03 1.07998594e-06 -9.99994019e-01 6.71800363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.57, Y:124.38, Z:6.72 [[ 1.53501485e-01 -9.88148254e-01 -5.67868281e-04 9.85732219e+01] [-9.88141467e-01 -1.53502535e-01 3.66230158e-03 1.24382624e+02] [-3.70606613e-03 -1.03453442e-06 -9.99993133e-01 6.71853620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.57, Y:124.24, Z:6.72 [[ 2.30486778e-01 -9.73074955e-01 -9.88464707e-04 9.85733401e+01] [-9.73065913e-01 -2.30488897e-01 4.19483465e-03 1.24239808e+02] [-4.30971868e-03 -5.01261051e-06 -9.99990713e-01 6.71952532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.55, Y:124.22, Z:6.72 [[ 3.06079600e-01 -9.52004980e-01 -1.34060409e-03 9.85486225e+01] [-9.51995733e-01 -3.06082535e-01 4.19601830e-03 1.24224883e+02] [-4.40496581e-03 -8.06623257e-06 -9.99990298e-01 6.71928435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.57, Y:124.09, Z:6.72 [[ 3.78909003e-01 -9.25432716e-01 -1.50179811e-03 9.85676699e+01] [-9.25425364e-01 -3.78911979e-01 3.68892467e-03 1.24088022e+02] [-3.98290086e-03 -7.96470820e-06 -9.99992068e-01 6.71907580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.60, Y:123.95, Z:6.72 [[ 4.50106169e-01 -8.92973882e-01 -1.44353799e-03 9.85993097e+01] [-8.92969222e-01 -4.50108483e-01 2.88474560e-03 1.23949272e+02] [-3.22575117e-03 -9.40679655e-06 -9.99994797e-01 6.71848233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.65, Y:123.80, Z:6.72 [[ 5.18177165e-01 -8.55271526e-01 -1.74423696e-03 9.86507529e+01] [-8.55266604e-01 -5.18180100e-01 2.90174808e-03 1.23798563e+02] [-3.38561139e-03 -1.18319689e-05 -9.99994269e-01 6.71805576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.68, Y:123.71, Z:6.72 [[ 5.83194861e-01 -8.12329806e-01 -2.00976676e-03 9.86754430e+01] [-8.12324897e-01 -5.83198324e-01 2.82433180e-03 1.23709325e+02] [-3.46638151e-03 -1.45522190e-05 -9.99993992e-01 6.71893124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.71, Y:123.62, Z:6.72 [[ 6.44142857e-01 -7.64901997e-01 -2.21685302e-03 9.87050998e+01] [-7.64897386e-01 -6.44146671e-01 2.65609741e-03 1.23624608e+02] [-3.45963271e-03 -1.52410888e-05 -9.99994015e-01 6.71895784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.74, Y:123.55, Z:6.72 [[ 7.00940960e-01 -7.13215552e-01 -2.31236908e-03 9.87379851e+01] [-7.13211602e-01 -7.00944774e-01 2.37374797e-03 1.23545227e+02] [-3.31383699e-03 -1.46487265e-05 -9.99994509e-01 6.71892874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.79, Y:123.46, Z:6.72 [[ 7.53202220e-01 -6.57784488e-01 -2.44599524e-03 9.87910260e+01] [-6.57780962e-01 -7.53206192e-01 2.15376033e-03 1.23456040e+02] [-3.25904890e-03 -1.32879662e-05 -9.99994689e-01 6.71842650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.79, Y:123.45, Z:6.72 [[ 8.01890619e-01 -5.97466345e-01 -2.32414460e-03 9.87853395e+01] [-5.97463799e-01 -8.01893987e-01 1.74403857e-03 1.23449186e+02] [-2.90572193e-03 -9.93590297e-06 -9.99995778e-01 6.71825579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.78, Y:123.44, Z:6.72 [[ 8.45722858e-01 -5.33617086e-01 -2.37745228e-03 9.87787304e+01] [-5.33614953e-01 -8.45726200e-01 1.50889296e-03 1.23439609e+02] [-2.81584474e-03 -7.46118205e-06 -9.99996036e-01 6.71806141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.77, Y:123.43, Z:6.72 [[ 8.83675232e-01 -4.68094887e-01 -2.29392106e-03 9.87707080e+01] [-4.68093309e-01 -8.83678209e-01 1.21555339e-03 1.23430594e+02] [-2.59608238e-03 -3.85321382e-07 -9.99996630e-01 6.71829218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.76, Y:123.42, Z:6.72 [[ 9.17033916e-01 -3.98800646e-01 -2.61555238e-03 9.87625247e+01] [-3.98799034e-01 -9.17037646e-01 1.13389704e-03 1.23420742e+02] [-2.85075887e-03 3.25772182e-06 -9.99995937e-01 6.71852510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.76, Y:123.41, Z:6.72 [[ 9.44398592e-01 -3.28792086e-01 -2.65797689e-03 9.87574368e+01] [-3.28790819e-01 -9.44402332e-01 9.12835576e-04 1.23412447e+02] [-2.81033269e-03 1.18377653e-05 -9.99996051e-01 6.71833718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.75, Y:123.40, Z:6.72 [[ 9.66869110e-01 -2.55256964e-01 -2.82966919e-03 9.87513666e+01] [-2.55255919e-01 -9.66873250e-01 7.30395098e-04 1.23404181e+02] [-2.92236988e-03 1.60933520e-05 -9.99995730e-01 6.71803401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.74, Y:123.40, Z:6.72 [[ 9.83695052e-01 -1.79817360e-01 -3.12424042e-03 9.87427889e+01] [-1.79816521e-01 -9.83700014e-01 5.49956338e-04 1.23397751e+02] [-3.17220704e-03 2.08007130e-05 -9.99994968e-01 6.71790581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.73, Y:123.39, Z:6.72 [[ 9.94533138e-01 -1.04339674e-01 -4.13157509e-03 9.87349991e+01] [-1.04338922e-01 -9.94541719e-01 3.97563411e-04 1.23389270e+02] [-4.15050543e-03 3.56941059e-05 -9.99991386e-01 6.71805216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.73, Y:123.38, Z:6.72 [[ 9.99624298e-01 -2.70577099e-02 -4.37541418e-03 9.87280008e+01] [-2.70576330e-02 -9.99633872e-01 7.67999085e-05 1.23380378e+02] [-4.37589025e-03 4.16172963e-05 -9.99990425e-01 6.71846996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.72, Y:123.37, Z:6.72 [[ 9.98723414e-01 5.02824153e-02 -4.81891998e-03 9.87219789e+01] [ 5.02815850e-02 -9.98735038e-01 -2.93378125e-04 1.23368818e+02] [-4.82757599e-03 5.07006684e-05 -9.99988346e-01 6.71911783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.72, Y:123.36, Z:6.72 [[ 9.91788949e-01 1.27792218e-01 -4.88152538e-03 9.87160079e+01] [ 1.27790400e-01 -9.91800961e-01 -6.83745936e-04 1.23358442e+02] [-4.92887897e-03 5.43195828e-05 -9.99987852e-01 6.71958926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.71, Y:123.35, Z:6.72 [[ 9.78833152e-01 2.04597902e-01 -5.03576823e-03 9.87115311e+01] [ 2.04594882e-01 -9.78846104e-01 -1.11321569e-03 1.23349038e+02] [-5.15700371e-03 5.93600145e-05 -9.99986701e-01 6.71956643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.71, Y:123.34, Z:6.72 [[ 9.59916937e-01 2.80235353e-01 -5.25566136e-03 9.87077543e+01] [ 2.80230779e-01 -9.59931322e-01 -1.60232110e-03 1.23339440e+02] [-5.49410098e-03 6.52970848e-05 -9.99984905e-01 6.71943677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.71, Y:123.32, Z:6.72 [[ 9.35230112e-01 3.54001296e-01 -5.26505937e-03 9.87071174e+01] [ 3.53995262e-01 -9.35244929e-01 -2.06809393e-03 1.23324748e+02] [-5.65622801e-03 7.03376520e-05 -9.99984001e-01 6.71739437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.71, Y:123.31, Z:6.72 [[ 9.04778781e-01 4.25854528e-01 -4.82484491e-03 9.87052594e+01] [ 4.25848068e-01 -9.04791642e-01 -2.34662399e-03 1.23310540e+02] [-5.36479980e-03 6.85247031e-05 -9.99985607e-01 6.71670474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.71, Y:123.30, Z:6.72 [[ 8.68611696e-01 4.95484037e-01 -3.04794115e-03 9.87052083e+01] [ 4.95480805e-01 -8.68617043e-01 -1.79036546e-03 1.23296832e+02] [-3.53459113e-03 4.49360467e-05 -9.99993752e-01 6.71558855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.200385723 meters Centerline goodness [0,1] 0.9999774429306144 Centerline is valid? [True, True] Translation: X:98.71, Y:123.28, Z:6.72 [[ 8.26972060e-01 5.62236280e-01 -2.75289247e-03 9.87076759e+01] [ 5.62232997e-01 -8.26976641e-01 -1.92176379e-03 1.23282161e+02] [-3.35706309e-03 4.14779800e-05 -9.99994364e-01 6.71528463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.230385723 meters Centerline goodness [0,1] 0.9999550561797753 Centerline is valid? [True, True] Translation: X:98.71, Y:123.27, Z:6.72 [[ 7.79933296e-01 6.25855960e-01 -2.89340146e-03 9.87101250e+01] [ 6.25851446e-01 -7.79938661e-01 -2.37731143e-03 1.23268313e+02] [-3.74453019e-03 4.33048474e-05 -9.99992988e-01 6.71554655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.71, Y:123.26, Z:6.72 [[ 7.28054299e-01 6.85513727e-01 -2.80508243e-03 9.87126389e+01] [ 6.85508414e-01 -7.28059701e-01 -2.69922615e-03 1.23257179e+02] [-3.89262405e-03 4.22755929e-05 -9.99992423e-01 6.71545374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.290385723 meters Centerline goodness [0,1] 0.9999550672867381 Centerline is valid? [True, True] Translation: X:98.71, Y:123.25, Z:6.72 [[ 6.71715537e-01 7.40803704e-01 -2.84773631e-03 9.87142629e+01] [ 7.40796767e-01 -6.71721572e-01 -3.20636128e-03 1.23245622e+02] [-4.28817022e-03 4.41688392e-05 -9.99990805e-01 6.71554906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.72, Y:123.23, Z:6.72 [[ 6.10709597e-01 7.91850710e-01 -2.49836777e-03 9.87221479e+01] [ 7.91843829e-01 -6.10714706e-01 -3.30131952e-03 1.23231196e+02] [-4.13994214e-03 3.78304113e-05 -9.99991430e-01 6.71521687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.350385723 meters Centerline goodness [0,1] 0.9999774901519415 Centerline is valid? [True, True] Translation: X:98.73, Y:123.22, Z:6.72 [[ 5.46331858e-01 8.37565793e-01 -2.24580032e-03 9.87294611e+01] [ 8.37558446e-01 -5.46336473e-01 -3.50833764e-03 1.23218857e+02] [-4.16542622e-03 3.57275984e-05 -9.99991324e-01 6.71517655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.74, Y:123.21, Z:6.72 [[ 4.78586098e-01 8.78038656e-01 -1.86132723e-03 9.87364925e+01] [ 8.78031755e-01 -4.78589717e-01 -3.48144260e-03 1.23207270e+02] [-3.94765326e-03 3.18656205e-05 -9.99992208e-01 6.71521337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.410385723 meters Centerline goodness [0,1] 0.999955229226361 Centerline is valid? [True, True] Translation: X:98.75, Y:123.20, Z:6.71 [[ 4.08684476e-01 9.12674925e-01 -1.21650250e-03 9.87470005e+01] [ 9.12670692e-01 -4.08686286e-01 -2.77973559e-03 1.23195691e+02] [-3.03416286e-03 2.57686077e-05 -9.99995397e-01 6.71454256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.440385723 meters Centerline goodness [0,1] 0.999932735426009 Centerline is valid? [True, True] Translation: X:98.76, Y:123.19, Z:6.71 [[ 3.36525610e-01 9.41673753e-01 -1.02821295e-03 9.87562550e+01] [ 9.41669094e-01 -3.36527180e-01 -2.96231854e-03 1.23186069e+02] [-3.13555922e-03 2.86596943e-05 -9.99995084e-01 6.71461265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4703857229999 meters Centerline goodness [0,1] 0.9999109746055063 Centerline is valid? [True, True] Translation: X:98.76, Y:123.18, Z:6.71 [[ 2.64167452e-01 9.64476501e-01 -7.97913976e-04 9.87633403e+01] [ 9.64471670e-01 -2.64168654e-01 -3.05298442e-03 1.23176951e+02] [-3.15531559e-03 3.69336881e-05 -9.99995021e-01 6.71430836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.77, Y:123.17, Z:6.71 [[ 1.89041473e-01 9.81968959e-01 -5.34101316e-04 9.87729241e+01] [ 9.81964434e-01 -1.89042224e-01 -2.98137968e-03 1.23168427e+02] [-3.02859000e-03 3.91359109e-05 -9.99995413e-01 6.71358250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.530385723 meters Centerline goodness [0,1] 0.9999553032673312 Centerline is valid? [True, True] Translation: X:98.79, Y:123.16, Z:6.71 [[ 1.12821025e-01 9.93615278e-01 -3.08687070e-04 9.87850524e+01] [ 9.93610409e-01 -1.12821438e-01 -3.11097941e-03 1.23161034e+02] [-3.12594319e-03 4.42691987e-05 -9.99995113e-01 6.71333219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.80, Y:123.15, Z:6.71 [[ 3.55602392e-02 9.99367532e-01 -6.72943934e-05 9.87990069e+01] [ 9.99362137e-01 -3.55602684e-02 -3.28415660e-03 1.23154389e+02] [-3.28447249e-03 4.95339254e-05 -9.99994605e-01 6.71278415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5903857229999 meters Centerline goodness [0,1] 0.9999553770638108 Centerline is valid? [True, True] Translation: X:98.81, Y:123.15, Z:6.71 [[-4.10322831e-02 9.99157797e-01 2.18271814e-04 9.88125898e+01] [ 9.99150715e-01 4.10328142e-02 -3.76249024e-03 1.23148024e+02] [-3.76827777e-03 6.37028741e-05 -9.99992898e-01 6.71213518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.620385723 meters Centerline goodness [0,1] 0.9996879527471303 Centerline is valid? [True, True] Translation: X:98.83, Y:123.14, Z:6.71 [[-1.18341439e-01 9.92972778e-01 6.05187772e-04 9.88256453e+01] [ 9.92962981e-01 1.18342960e-01 -4.41166436e-03 1.23142042e+02] [-4.45228232e-03 7.88463441e-05 -9.99990085e-01 6.71213911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.650385723 meters Centerline goodness [0,1] 0.9996440568619163 Centerline is valid? [True, True] Translation: X:98.84, Y:123.14, Z:6.71 [[-1.94734606e-01 9.80855434e-01 1.02498128e-03 9.88391384e+01] [ 9.80844184e-01 1.94737282e-01 -4.69877124e-03 1.23137585e+02] [-4.80841737e-03 9.03335606e-05 -9.99988435e-01 6.71218669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.680385723 meters Centerline goodness [0,1] 0.9996672655886072 Centerline is valid? [True, True] Translation: X:98.85, Y:123.13, Z:6.71 [[-2.70801563e-01 9.62633996e-01 1.51797613e-03 9.88529698e+01] [ 9.62620867e-01 2.70805799e-01 -5.02855021e-03 1.23134823e+02] [-5.25173012e-03 9.94962421e-05 -9.99986205e-01 6.71225280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.710385723 meters Centerline goodness [0,1] 0.9997339718010109 Centerline is valid? [True, True] Translation: X:98.87, Y:123.13, Z:6.71 [[-3.45697416e-01 9.38343717e-01 2.08920564e-03 9.88664174e+01] [ 9.38328407e-01 3.45703713e-01 -5.36132512e-03 1.23131751e+02] [-5.75301189e-03 1.06964755e-04 -9.99983446e-01 6.71256159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.740385723 meters Centerline goodness [0,1] 0.999712051742087 Centerline is valid? [True, True] Translation: X:98.88, Y:123.13, Z:6.71 [[-4.18716045e-01 9.08112320e-01 2.98134313e-03 9.88814301e+01] [ 9.08091352e-01 4.18726641e-01 -6.17224694e-03 1.23132163e+02] [-6.85346128e-03 1.22913083e-04 -9.99976507e-01 6.71234910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.770385723 meters Centerline goodness [0,1] 0.999801069802396 Centerline is valid? [True, True] Translation: X:98.89, Y:123.13, Z:6.71 [[-4.89113807e-01 8.72212024e-01 3.72423611e-03 9.88939505e+01] [ 8.72188699e-01 4.89127969e-01 -6.37998034e-03 1.23131769e+02] [-7.38632360e-03 1.27700174e-04 -9.99972713e-01 6.71203730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.800385723 meters Centerline goodness [0,1] 0.9995815530987094 Centerline is valid? [True, True] Translation: X:98.91, Y:123.13, Z:6.71 [[-5.56137177e-01 8.31078845e-01 4.40387081e-03 9.89059942e+01] [ 8.31054638e-01 5.56154598e-01 -6.34450607e-03 1.23131178e+02] [-7.72201778e-03 1.31441564e-04 -9.99970176e-01 6.71223617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.830385723 meters Centerline goodness [0,1] 0.9994045912629281 Centerline is valid? [True, True] Translation: X:98.92, Y:123.13, Z:6.71 [[-6.19684309e-01 7.84832098e-01 5.47129544e-03 9.89189200e+01] [ 7.84803560e-01 6.19708445e-01 -6.69439283e-03 1.23134900e+02] [-8.64458236e-03 1.45481948e-04 -9.99962624e-01 6.71208081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.860385723 meters Centerline goodness [0,1] 0.9998010741993236 Centerline is valid? [True, True] Translation: X:98.93, Y:123.14, Z:6.71 [[-6.78761726e-01 7.34332960e-01 6.13382789e-03 9.89347079e+01] [ 7.34305025e-01 6.78789422e-01 -6.40710563e-03 1.23142978e+02] [-8.86852633e-03 1.55202561e-04 -9.99960662e-01 6.71059919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.890385723 meters Centerline goodness [0,1] 0.9996713265261405 Centerline is valid? [True, True] Translation: X:98.95, Y:123.15, Z:6.71 [[-7.33212620e-01 6.79963922e-01 6.95119445e-03 9.89486812e+01] [ 6.79935626e-01 7.33245548e-01 -6.20571390e-03 1.23150152e+02] [-9.31659394e-03 1.76257005e-04 -9.99956584e-01 6.71097390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.920385723 meters Centerline goodness [0,1] 0.9996051852339277 Centerline is valid? [True, True] Translation: X:98.97, Y:123.17, Z:6.71 [[-7.78904316e-01 6.27095464e-01 7.70361367e-03 9.89718214e+01] [ 6.27067230e-01 7.78942386e-01 -5.95382211e-03 1.23172059e+02] [-9.73428606e-03 1.93225940e-04 -9.99952602e-01 6.71052757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.950385723 meters Centerline goodness [0,1] 0.9997802390998594 Centerline is valid? [True, True] Translation: X:98.99, Y:123.20, Z:6.71 [[-8.20467361e-01 5.71636281e-01 8.07913860e-03 9.89916515e+01] [ 5.71611041e-01 8.20507111e-01 -5.37570528e-03 1.23195473e+02] [-9.70193884e-03 2.07534100e-04 -9.99952914e-01 6.71049419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.980385723 meters Centerline goodness [0,1] 0.9998251710046111 Centerline is valid? [True, True] Translation: X:99.01, Y:123.22, Z:6.71 [[-8.57691395e-01 5.14105550e-01 7.80734383e-03 9.90121638e+01] [ 5.14086494e-01 8.57726902e-01 -4.43158675e-03 1.23220624e+02] [-8.97487218e-03 2.12716198e-04 -9.99959702e-01 6.71009779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.010385723 meters Centerline goodness [0,1] 0.9999127856270713 Centerline is valid? [True, True] Translation: X:99.39, Y:123.87, Z:5.77 [[-8.47762851e-01 -5.30324511e-01 7.35261504e-03 9.93905944e+01] [ 5.30302312e-01 -8.47794707e-01 -4.85727775e-03 1.23869323e+02] [ 8.80944156e-03 -2.18710882e-04 9.99961172e-01 5.76765285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.040385723 meters Centerline goodness [0,1] 0.9998473748473748 Centerline is valid? [True, True] Translation: X:98.98, Y:123.24, Z:6.71 [[-8.58711115e-01 5.12400113e-01 7.83230158e-03 9.89765360e+01] [ 5.12381205e-01 8.58746803e-01 -4.40779572e-03 1.23243476e+02] [-8.98451897e-03 2.28100942e-04 -9.99959612e-01 6.71141720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.070385723 meters Centerline goodness [0,1] 0.9998915801114556 Centerline is valid? [True, True] Translation: X:98.99, Y:123.27, Z:6.71 [[-8.92563709e-01 4.50847345e-01 8.16679732e-03 9.89898664e+01] [ 4.50830864e-01 8.92601040e-01 -3.86203348e-03 1.23274895e+02] [-9.03087932e-03 2.34733368e-04 -9.99959193e-01 6.71136250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.100385723 meters Centerline goodness [0,1] 0.9998052285318559 Centerline is valid? [True, True] Translation: X:99.00, Y:123.30, Z:6.71 [[-9.22403902e-01 3.86134124e-01 8.45455336e-03 9.90044406e+01] [ 3.86120201e-01 9.22442619e-01 -3.28721290e-03 1.23302314e+02] [-9.06814541e-03 2.32335831e-04 -9.99958857e-01 6.71141846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.130385723 meters Centerline goodness [0,1] 0.9998052285318559 Centerline is valid? [True, True] Translation: X:99.01, Y:123.33, Z:6.71 [[-9.47447886e-01 3.19792744e-01 8.66626400e-03 9.90139771e+01] [ 3.19781600e-01 9.47487492e-01 -2.67980592e-03 1.23330052e+02] [-9.06815922e-03 2.32335312e-04 -9.99958856e-01 6.71141862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.160385723 meters Centerline goodness [0,1] 0.9999567941240008 Centerline is valid? [True, True] Translation: X:99.02, Y:123.36, Z:6.71 [[-9.68023603e-01 2.50705024e-01 8.79174624e-03 9.90228289e+01] [ 2.50696754e-01 9.68063501e-01 -2.04831249e-03 1.23364618e+02] [-9.02449087e-03 2.21247410e-04 -9.99959254e-01 6.71078721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.190385723 meters Centerline goodness [0,1] 0.9999784761084805 Centerline is valid? [True, True] Translation: X:99.19, Y:124.06, Z:5.77 [[-9.62923440e-01 -2.69644646e-01 8.37930502e-03 9.91889568e+01] [ 2.69632336e-01 -9.62959870e-01 -2.58690452e-03 1.24063416e+02] [ 8.76647942e-03 -2.31659409e-04 9.99961547e-01 5.76724529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.97, Y:123.38, Z:6.71 [[-9.69509232e-01 2.44932692e-01 7.73471508e-03 9.89685621e+01] [ 2.44926362e-01 9.69540069e-01 -1.76989407e-03 1.23380529e+02] [-7.93262111e-03 1.78506984e-04 -9.99968520e-01 6.71164267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.97, Y:123.42, Z:6.71 [[-9.84948745e-01 1.72696118e-01 7.21246025e-03 9.89711504e+01] [ 1.72692552e-01 9.84975142e-01 -1.11901074e-03 1.23415264e+02] [-7.29734287e-03 1.43369949e-04 -9.99973364e-01 6.71246569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.280385723 meters Centerline goodness [0,1] 0.9999571569341502 Centerline is valid? [True, True] Translation: X:99.08, Y:124.11, Z:5.76 [[-9.79411677e-01 -2.01742902e-01 7.25045265e-03 9.90821060e+01] [ 2.01736335e-01 -9.79438504e-01 -1.63351046e-03 1.24106616e+02] [ 7.43092163e-03 -1.37199473e-04 9.99972381e-01 5.76490671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.310385723 meters Centerline goodness [0,1] 0.9998925124148161 Centerline is valid? [True, True] Translation: X:98.91, Y:123.43, Z:6.71 [[-9.86348029e-01 1.64534847e-01 6.77128753e-03 9.89112475e+01] [ 1.64531706e-01 9.86371265e-01 -1.02221654e-03 1.23430883e+02] [-6.84719369e-03 1.05830219e-04 -9.99976552e-01 6.71384357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3403857229999 meters Centerline goodness [0,1] 0.9999785209528105 Centerline is valid? [True, True] Translation: X:99.02, Y:124.11, Z:5.76 [[-9.79488540e-01 -2.01407571e-01 6.09847095e-03 9.90205052e+01] [ 2.01402804e-01 -9.79507515e-01 -1.39231582e-03 1.24110001e+02] [ 6.25392107e-03 -1.35508241e-04 9.99980435e-01 5.76361518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.370385723 meters Centerline goodness [0,1] 0.9999570916736392 Centerline is valid? [True, True] Translation: X:98.86, Y:123.44, Z:6.71 [[-9.87324949e-01 1.58580778e-01 6.44837455e-03 9.88572058e+01] [ 1.58577982e-01 9.87346003e-01 -9.45920123e-04 1.23440769e+02] [-6.51678159e-03 8.86396872e-05 -9.99978762e-01 6.71472170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.400385723 meters Centerline goodness [0,1] 0.9999571954455954 Centerline is valid? [True, True] Translation: X:98.86, Y:123.47, Z:6.71 [[-9.96182170e-01 8.71081265e-02 5.76709913e-03 9.88557923e+01] [ 8.71070925e-02 9.96198860e-01 -4.30703632e-04 1.23471740e+02] [-5.78269536e-03 7.32959585e-05 -9.99983277e-01 6.71489018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.91, Y:124.15, Z:5.76 [[-9.91512413e-01 -1.29920105e-01 4.88884576e-03 9.89092099e+01] [ 1.29917938e-01 -9.91524459e-01 -7.59578866e-04 1.24151209e+02] [ 4.94609471e-03 -1.17983114e-04 9.99987761e-01 5.76079513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.460385723 meters Centerline goodness [0,1] 0.99995718903183 Centerline is valid? [True, True] Translation: X:98.79, Y:123.48, Z:6.72 [[-9.96660616e-01 8.15476815e-02 4.19431521e-03 9.87887271e+01] [ 8.15471680e-02 9.96669440e-01 -2.93599138e-04 1.23479414e+02] [-4.20428812e-03 4.94158292e-05 -9.99991161e-01 6.71632832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.84, Y:124.15, Z:5.76 [[-9.92072440e-01 -1.25641561e-01 2.54401210e-03 9.88392261e+01] [ 1.25640793e-01 -9.92075693e-01 -4.59830843e-04 1.24152354e+02] [ 2.58162643e-03 -1.36553808e-04 9.99996658e-01 5.76178697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.520385723 meters Centerline goodness [0,1] 0.9999571780323306 Centerline is valid? [True, True] Translation: X:98.72, Y:123.48, Z:6.72 [[-9.96999094e-01 7.73889738e-02 1.93724235e-03 9.87216402e+01] [ 7.73888756e-02 9.97000976e-01 -1.25730795e-04 1.23483739e+02] [-1.94116269e-03 2.45675177e-05 -9.99998116e-01 6.71647266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.72, Y:123.51, Z:6.72 [[-9.99972922e-01 7.25227632e-03 1.24863706e-03 9.87200969e+01] [ 7.25229255e-03 9.99973702e-01 8.47508090e-06 1.23513746e+02] [-1.24854276e-03 1.75303327e-05 -9.99999220e-01 6.71717327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.72, Y:124.19, Z:5.76 [[-9.98814703e-01 -4.86616452e-02 1.11067489e-03 9.87169707e+01] [ 4.86615876e-02 -9.98815320e-01 -7.88189467e-05 1.24187408e+02] [ 1.11319456e-03 -2.46783192e-05 9.99999380e-01 5.76003947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.64, Y:123.51, Z:6.72 [[-9.99995037e-01 2.66842271e-03 1.67527788e-03 9.86403207e+01] [ 2.66845911e-03 9.99996440e-01 1.94927347e-05 1.23513081e+02] [-1.67521990e-03 2.39630485e-05 -9.99998597e-01 6.71878302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.63, Y:124.19, Z:5.76 [[-9.99080537e-01 -4.28456970e-02 1.52533324e-03 9.86337627e+01] [ 4.28455987e-02 -9.99081701e-01 -9.70802607e-05 1.24188742e+02] [ 1.52809200e-03 -3.16371831e-05 9.99998832e-01 5.75781446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.56, Y:123.51, Z:6.72 [[-9.99998107e-01 -1.22907352e-03 1.50822748e-03 9.85578624e+01] [-1.22903618e-03 9.99999244e-01 2.56884630e-05 1.23510410e+02] [-1.50825791e-03 2.38347482e-05 -9.99998862e-01 6.72040209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.55, Y:124.19, Z:5.76 [[-9.99349258e-01 -3.60539018e-02 1.08486248e-03 9.85479782e+01] [ 3.60538314e-02 -9.99349846e-01 -8.43380601e-05 1.24189872e+02] [ 1.08719786e-03 -4.51697290e-05 9.99999408e-01 5.75763478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.730385723 meters Centerline goodness [0,1] 0.9999785140303382 Centerline is valid? [True, True] Translation: X:98.47, Y:123.51, Z:6.72 [[-9.99986619e-01 -5.14879755e-03 5.01227321e-04 9.84741016e+01] [-5.14879195e-03 9.99986745e-01 1.24637252e-05 1.23506699e+02] [-5.01284850e-04 9.88284317e-06 -9.99999874e-01 6.72049494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.47, Y:123.53, Z:6.72 [[-9.97127185e-01 -7.57435682e-02 5.36946610e-04 9.84665998e+01] [-7.57435514e-02 9.97127330e-01 5.16165892e-05 1.23534457e+02] [-5.39313764e-04 1.07980612e-05 -9.99999855e-01 6.72072276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.45, Y:123.56, Z:6.72 [[-9.89195263e-01 -1.46600148e-01 1.06195841e-03 9.84513808e+01] [-1.46600042e-01 9.89195833e-01 1.77539692e-04 1.23561811e+02] [-1.07651218e-03 1.99382747e-05 -9.99999420e-01 6.72101839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.42, Y:123.59, Z:6.72 [[-9.76218072e-01 -2.16790599e-01 3.34385790e-04 9.84241949e+01] [-2.16790583e-01 9.76218130e-01 8.22381209e-05 1.23585798e+02] [-3.44261922e-04 7.79064939e-06 -9.99999941e-01 6.72183162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.850385723 meters Centerline goodness [0,1] 0.9999785181843569 Centerline is valid? [True, True] Translation: X:98.38, Y:123.60, Z:6.72 [[-9.58022061e-01 -2.86694215e-01 3.97746751e-04 9.83814439e+01] [-2.86694187e-01 9.58022143e-01 1.28545155e-04 1.23602258e+02] [-4.17903347e-04 9.11741260e-06 -9.99999913e-01 6.72176566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.880385723 meters Centerline goodness [0,1] 0.9999569132664052 Centerline is valid? [True, True] Translation: X:98.32, Y:123.61, Z:6.72 [[-9.34570011e-01 -3.55779276e-01 4.86029508e-05 9.83179836e+01] [-3.55779275e-01 9.34570012e-01 2.14650896e-05 1.23610179e+02] [-5.30596943e-05 2.76870633e-06 -9.99999999e-01 6.72181235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.910385723 meters Centerline goodness [0,1] 0.9997424561102288 Centerline is valid? [True, True] Translation: X:98.25, Y:123.61, Z:6.72 [[-9.06337330e-01 -4.22554713e-01 -3.98395589e-04 9.82461315e+01] [-4.22554669e-01 9.06337418e-01 -1.93265061e-04 1.23607243e+02] [ 4.42745891e-04 -6.81942296e-06 -9.99999902e-01 6.72237195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.17, Y:123.60, Z:6.72 [[-8.72543492e-01 -4.88536191e-01 -4.93603892e-04 9.81719984e+01] [-4.88536107e-01 8.72543632e-01 -2.87287161e-04 1.23598628e+02] [ 5.71041108e-04 -9.52721877e-06 -9.99999837e-01 6.72201694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.09, Y:123.58, Z:6.72 [[-8.33803493e-01 -5.52060315e-01 -1.06969415e-03 9.80865713e+01] [-5.52059822e-01 8.33804179e-01 -7.37599741e-04 1.23579721e+02] [ 1.29911500e-03 -2.44780795e-05 -9.99999156e-01 6.72215461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.00, Y:123.55, Z:6.72 [[-7.90295873e-01 -6.12721739e-01 -2.12248993e-03 9.80013403e+01] [-6.12719340e-01 7.90298721e-01 -1.71523179e-03 1.23548998e+02] [ 2.72836088e-03 -5.50499711e-05 -9.99996277e-01 6.72141418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.91, Y:123.51, Z:6.72 [[-7.42194163e-01 -6.70180212e-01 -2.51145712e-03 9.79092307e+01] [-6.70176044e-01 7.42198409e-01 -2.36460110e-03 1.23506070e+02] [ 3.44870835e-03 -7.18747370e-05 -9.99994051e-01 6.72092023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.82, Y:123.45, Z:6.72 [[-6.90256315e-01 -7.23559053e-01 -2.91832769e-03 9.78209387e+01] [-7.23551988e-01 6.90262478e-01 -3.19875779e-03 1.23454130e+02] [ 4.32890226e-03 -9.64009580e-05 -9.99990626e-01 6.72063366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.73, Y:123.39, Z:6.72 [[-6.33906151e-01 -7.73404795e-01 -2.83111868e-03 9.77282326e+01] [-7.73396327e-01 6.33912465e-01 -3.62058753e-03 1.23392327e+02] [ 4.59486118e-03 -1.05535920e-04 -9.99989438e-01 6.72137291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.64, Y:123.32, Z:6.72 [[-5.73508617e-01 -8.19196774e-01 -2.12389481e-03 9.76443981e+01] [-8.19190570e-01 5.73512543e-01 -3.18963183e-03 1.23319268e+02] [ 3.83101642e-03 -8.94067387e-05 -9.99992658e-01 6.72097805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.56, Y:123.24, Z:6.72 [[-5.09347754e-01 -8.60559150e-01 -1.67760377e-03 9.75576879e+01] [-8.60553955e-01 5.09350510e-01 -2.99120526e-03 1.23237879e+02] [ 3.42859739e-03 -7.98951238e-05 -9.99994119e-01 6.72286034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.48, Y:123.15, Z:6.72 [[-4.41872506e-01 -8.97076821e-01 -1.36582509e-03 9.74801329e+01] [-8.97072000e-01 4.41874610e-01 -2.94208451e-03 1.23148997e+02] [ 3.24279925e-03 -7.47828130e-05 -9.99994739e-01 6.72349972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.41, Y:123.05, Z:6.72 [[-3.71159279e-01 -9.28568454e-01 -1.18974592e-03 9.74071135e+01] [-9.28563010e-01 3.71161179e-01 -3.18068290e-03 1.23051636e+02] [ 3.39506931e-03 -7.57859216e-05 -9.99994234e-01 6.72375263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.240385723 meters Centerline goodness [0,1] 0.9999566940216097 Centerline is valid? [True, True] Translation: X:97.34, Y:122.95, Z:6.72 [[-2.97068044e-01 -9.54855675e-01 -1.10302786e-03 9.73411016e+01] [-9.54848038e-01 2.97070081e-01 -3.81989862e-03 1.22946334e+02] [ 3.97512845e-03 -8.15458214e-05 -9.99992096e-01 6.72373732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.28, Y:122.84, Z:6.72 [[-2.22348193e-01 -9.74967013e-01 -7.77546946e-04 9.72842238e+01] [-9.74959790e-01 2.22349540e-01 -3.75376402e-03 1.22836839e+02] [ 3.83268330e-03 -7.65656417e-05 -9.99992652e-01 6.72387288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.23, Y:122.71, Z:6.72 [[-1.46303072e-01 -9.89239679e-01 -5.19074027e-04 9.72349759e+01] [-9.89231369e-01 1.46303971e-01 -4.05546173e-03 1.22712123e+02] [ 4.08776625e-03 -7.98421994e-05 -9.99991642e-01 6.72397233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.19, Y:122.59, Z:6.72 [[-6.97657040e-02 -9.97563384e-01 -2.05777492e-04 9.71943557e+01] [-9.97555014e-01 6.97659618e-02 -4.08712055e-03 1.22589588e+02] [ 4.09151807e-03 -7.98664738e-05 -9.99991627e-01 6.72454743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.16, Y:122.48, Z:6.72 [[ 7.21278913e-03 -9.99973982e-01 1.04369433e-04 9.71648957e+01] [-9.99966318e-01 -7.21314256e-03 -3.91590321e-03 1.22482329e+02] [ 3.91655416e-03 -7.61213339e-05 -9.99992327e-01 6.72460322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.14, Y:122.36, Z:6.73 [[ 8.42001776e-02 -9.96448805e-01 3.30174760e-04 9.71438146e+01] [-9.96443712e-01 -8.42008031e-02 -3.18655046e-03 1.22355605e+02] [ 3.20303538e-03 -6.06924488e-05 -9.99994868e-01 6.72535463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.13, Y:122.24, Z:6.73 [[ 1.60504080e-01 -9.87035063e-01 4.74320056e-04 9.71312010e+01] [-9.87031607e-01 -1.60504773e-01 -2.61235106e-03 1.22242083e+02] [ 2.65461273e-03 -4.88758834e-05 -9.99996475e-01 6.72543117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.13, Y:122.12, Z:6.73 [[ 2.36150689e-01 -9.71716127e-01 7.87477066e-04 9.71294252e+01] [-9.71711497e-01 -2.36151996e-01 -3.00014673e-03 1.22119261e+02] [ 3.10125524e-03 -5.67138019e-05 -9.99995190e-01 6.72560129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.14, Y:121.99, Z:6.73 [[ 3.10772836e-01 -9.50483624e-01 1.06078125e-03 9.71382440e+01] [-9.50478700e-01 -3.10774641e-01 -3.06012181e-03 1.21990865e+02] [ 3.23825958e-03 -5.72472540e-05 -9.99994755e-01 6.72573649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.15, Y:121.87, Z:6.73 [[ 3.83172970e-01 -9.23675647e-01 1.33230049e-03 9.71539332e+01] [-9.23670579e-01 -3.83175282e-01 -3.06030288e-03 1.21870239e+02] [ 3.33723186e-03 -5.79814210e-05 -9.99994430e-01 6.72591007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.540385723 meters Centerline goodness [0,1] 0.9999566996471021 Centerline is valid? [True, True] Translation: X:97.18, Y:121.75, Z:6.73 [[ 4.53157197e-01 -8.91429005e-01 1.69799189e-03 9.71808117e+01] [-8.91423254e-01 -4.53160374e-01 -3.20285124e-03 1.21748770e+02] [ 3.62457714e-03 -6.22343649e-05 -9.99993429e-01 6.72596121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.22, Y:121.63, Z:6.73 [[ 5.20074137e-01 -8.54118355e-01 2.17417294e-03 9.72163264e+01] [-8.54111452e-01 -5.20078677e-01 -3.43481420e-03 1.21634029e+02] [ 4.06447885e-03 -7.06279770e-05 -9.99991738e-01 6.72515765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.26, Y:121.52, Z:6.73 [[ 5.83528251e-01 -8.12089508e-01 2.32648651e-03 9.72582739e+01] [-8.12083521e-01 -5.83532884e-01 -3.11889011e-03 1.21523890e+02] [ 3.89039931e-03 -6.93408653e-05 -9.99992430e-01 6.72515852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.31, Y:121.42, Z:6.72 [[ 6.42786091e-01 -7.66042187e-01 2.32585067e-03 9.73125337e+01] [-7.66037552e-01 -6.42790295e-01 -2.66577825e-03 1.21415924e+02] [ 3.53713284e-03 -6.81637770e-05 -9.99993742e-01 6.72457976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.37, Y:121.32, Z:6.72 [[ 6.98725053e-01 -7.15386143e-01 2.44261421e-03 9.73657659e+01] [-7.15382113e-01 -6.98729319e-01 -2.40233440e-03 1.21319236e+02] [ 3.42532291e-03 -6.88312798e-05 -9.99994131e-01 6.72461221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.36, Y:121.31, Z:6.72 [[ 7.52111275e-01 -6.59030984e-01 2.60625600e-03 9.73604582e+01] [-6.59027348e-01 -7.52115787e-01 -2.19035324e-03 1.21308845e+02] [ 3.40371694e-03 -7.02046105e-05 -9.99994205e-01 6.72462116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.36, Y:121.30, Z:6.72 [[ 8.00950447e-01 -5.98726630e-01 2.19183632e-03 9.73569393e+01] [-5.98724581e-01 -8.00953444e-01 -1.56752878e-03 1.21302329e+02] [ 2.69408007e-03 -5.67934109e-05 -9.99996369e-01 6.72454691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.35, Y:121.29, Z:6.73 [[ 8.45416307e-01 -5.34102526e-01 2.39975371e-03 9.73508120e+01] [-5.34100570e-01 -8.45419711e-01 -1.44677720e-03 1.21291193e+02] [ 2.80152645e-03 -5.85807836e-05 -9.99996074e-01 6.72524944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.35, Y:121.28, Z:6.73 [[ 8.84735377e-01 -4.66087126e-01 2.47063495e-03 9.73462985e+01] [-4.66085488e-01 -8.84738825e-01 -1.23721775e-03 1.21281898e+02] [ 2.76251793e-03 -5.69167861e-05 -9.99996183e-01 6.72522170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.34, Y:121.27, Z:6.73 [[ 9.18891699e-01 -3.94501177e-01 2.62063747e-03 9.73426592e+01] [-3.94499743e-01 -9.18895434e-01 -1.06485107e-03 1.21273435e+02] [ 2.82817680e-03 -5.53579988e-05 -9.99995999e-01 6.72523357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.34, Y:121.26, Z:6.73 [[ 9.47111344e-01 -3.20890672e-01 3.04602378e-03 9.73397356e+01] [-3.20889218e-01 -9.47116241e-01 -9.67732200e-04 1.21264778e+02] [ 3.19547482e-03 -6.08860426e-05 -9.99994893e-01 6.72515187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.34, Y:121.26, Z:6.73 [[ 9.69472893e-01 -2.45180716e-01 2.95402838e-03 9.73376338e+01] [-2.45179753e-01 -9.69477392e-01 -6.89712983e-04 1.21255897e+02] [ 3.03296805e-03 -5.56099062e-05 -9.99995399e-01 6.72521504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.33, Y:121.24, Z:6.73 [[ 9.85804267e-01 -1.67883748e-01 2.23471580e-03 9.73329856e+01] [-1.67883407e-01 -9.85806799e-01 -3.40505686e-04 1.21244983e+02] [ 2.26016340e-03 -3.94997432e-05 -9.99997445e-01 6.72564226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.33, Y:121.24, Z:6.73 [[ 9.95939959e-01 -9.00053548e-02 1.62286078e-03 9.73281542e+01] [-9.00052805e-02 -9.95941281e-01 -1.18929607e-04 1.21236257e+02] [ 1.62697834e-03 -2.76192919e-05 -9.99998676e-01 6.72548008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.32, Y:121.23, Z:6.73 [[ 9.99926623e-01 -1.20883130e-02 7.88448621e-04 9.73234561e+01] [-1.20883193e-02 -9.99926934e-01 3.21028957e-06 1.21230938e+02] [ 7.88352205e-04 -1.27410727e-05 -9.99999689e-01 6.72615564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.32, Y:121.23, Z:6.73 [[ 9.97837373e-01 6.57301315e-02 3.57563543e-04 9.73192335e+01] [ 6.57301255e-02 -9.97837437e-01 2.86056963e-05 1.21225729e+02] [ 3.58670545e-04 -5.04113636e-06 -9.99999936e-01 6.72652767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.32, Y:121.22, Z:6.73 [[ 9.89625981e-01 1.43667298e-01 3.54158311e-04 9.73159145e+01] [ 1.43667287e-01 -9.89626044e-01 5.65119079e-05 1.21218365e+02] [ 3.58603201e-04 -5.04468867e-06 -9.99999936e-01 6.72652828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.31, Y:121.21, Z:6.73 [[ 9.75540343e-01 2.19820006e-01 4.51756541e-04 9.73128149e+01] [ 2.19819979e-01 -9.75540448e-01 1.09458827e-04 1.21212984e+02] [ 4.64768018e-04 -7.47638819e-06 -9.99999892e-01 6.72637821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.31, Y:121.21, Z:6.73 [[ 9.55449693e-01 2.95153892e-01 2.52821452e-04 9.73087114e+01] [ 2.95153881e-01 -9.55449727e-01 8.19205300e-05 1.21207809e+02] [ 2.65737351e-04 -3.64971258e-06 -9.99999965e-01 6.72649885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.31, Y:121.20, Z:6.73 [[ 9.29778041e-01 3.68120423e-01 -3.84689548e-04 9.73053302e+01] [ 3.68120387e-01 -9.29778121e-01 -1.63642762e-04 1.21204118e+02] [-4.17916168e-04 1.05393814e-05 -9.99999913e-01 6.72697149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.30, Y:121.20, Z:6.73 [[ 8.98386796e-01 4.39204847e-01 -5.16407870e-04 9.73017570e+01] [ 4.39204765e-01 -8.98386945e-01 -2.68447760e-04 1.21199687e+02] [-5.81837646e-04 1.43611258e-05 -9.99999831e-01 6.72725939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.30, Y:121.20, Z:6.73 [[ 8.61564078e-01 5.07648419e-01 -6.50677359e-04 9.72967176e+01] [ 5.07648257e-01 -8.61564323e-01 -4.05275391e-04 1.21197351e+02] [-7.66337809e-04 1.88554908e-05 -9.99999706e-01 6.72759304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.30, Y:121.18, Z:6.73 [[ 8.19319486e-01 5.73336955e-01 -5.62227608e-04 9.73011104e+01] [ 5.73336805e-01 -8.19319679e-01 -4.14802617e-04 1.21182631e+02] [-6.98465812e-04 1.75100866e-05 -9.99999756e-01 6.72724224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.30, Y:121.17, Z:6.73 [[ 7.71976606e-01 6.35650432e-01 -8.04911878e-04 9.73037051e+01] [ 6.35650051e-01 -7.71977026e-01 -6.96368403e-04 1.21171633e+02] [-1.06402035e-03 2.59378398e-05 -9.99999434e-01 6.72746547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.31, Y:121.16, Z:6.73 [[ 7.19434621e-01 6.94559307e-01 -1.09351940e-03 9.73058367e+01] [ 6.94558427e-01 -7.19435451e-01 -1.10617282e-03 1.21160904e+02] [-1.55501925e-03 3.63059081e-05 -9.99998790e-01 6.72746890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.31, Y:121.15, Z:6.73 [[ 6.62325543e-01 7.49215700e-01 -8.42590071e-04 9.73100560e+01] [ 7.49215036e-01 -6.62326078e-01 -9.98260126e-04 1.21150101e+02] [-1.30598154e-03 2.98920290e-05 -9.99999147e-01 6.72751403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.31, Y:121.14, Z:6.73 [[ 5.99873177e-01 8.00094548e-01 -9.41022101e-04 9.73136320e+01] [ 8.00093476e-01 -5.99873915e-01 -1.31001295e-03 1.21139078e+02] [-1.61262883e-03 3.29359868e-05 -9.99998699e-01 6.72759627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.31, Y:121.13, Z:6.73 [[ 5.34125867e-01 8.45404542e-01 -8.47854882e-04 9.73145865e+01] [ 8.45403383e-01 -5.34126539e-01 -1.40000450e-03 1.21129658e+02] [-1.63643195e-03 3.09992295e-05 -9.99998661e-01 6.72796770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.33, Y:121.12, Z:6.73 [[ 4.63699155e-01 8.85992428e-01 -7.14597909e-04 9.73260544e+01] [ 8.85991290e-01 -4.63699705e-01 -1.42038851e-03 1.21116192e+02] [-1.58981230e-03 2.55054280e-05 -9.99998736e-01 6.72737845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.33, Y:121.11, Z:6.73 [[ 3.91962386e-01 9.19981052e-01 -5.93686436e-04 9.73325061e+01] [ 9.19979903e-01 -3.91962835e-01 -1.45361307e-03 1.21105352e+02] [-1.56999950e-03 2.35820580e-05 -9.99998767e-01 6.72747876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.34, Y:121.10, Z:6.73 [[ 3.17924691e-01 9.48115832e-01 -5.10467326e-04 9.73444642e+01] [ 9.48114487e-01 -3.17925100e-01 -1.59688372e-03 1.21095068e+02] [-1.67632112e-03 2.37072978e-05 -9.99998595e-01 6.72762160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.36, Y:121.08, Z:6.73 [[ 2.41739604e-01 9.70341033e-01 -4.94216028e-04 9.73556065e+01] [ 9.70338763e-01 -2.41740108e-01 -2.09904826e-03 1.21084412e+02] [-2.15626449e-03 2.78661266e-05 -9.99997675e-01 6.72857280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.37, Y:121.08, Z:6.73 [[ 1.64839047e-01 9.86320407e-01 -3.79227957e-04 9.73659616e+01] [ 9.86317340e-01 -1.64839480e-01 -2.45986025e-03 1.21075948e+02] [-2.48872210e-03 3.14419095e-05 -9.99996903e-01 6.72912345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.38, Y:121.07, Z:6.73 [[ 8.72772539e-02 9.96184040e-01 -1.98669629e-04 9.73757859e+01] [ 9.96180494e-01 -8.72774734e-02 -2.65832433e-03 1.21068056e+02] [-2.66551965e-03 3.41004387e-05 -9.99996447e-01 6.72960110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.38, Y:121.06, Z:6.73 [[ 1.05798303e-02 9.99944032e-01 1.14405021e-05 9.73841080e+01] [ 9.99939414e-01 -1.05797467e-02 -3.03922656e-03 1.21060605e+02] [-3.03893542e-03 4.35943101e-05 -9.99995382e-01 6.73014478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.39, Y:121.05, Z:6.73 [[-6.65399193e-02 9.97783738e-01 2.26458252e-04 9.73924888e+01] [ 9.97779957e-01 6.65402907e-02 -2.74709198e-03 1.21054629e+02] [-2.75607230e-03 4.31642268e-05 -9.99996201e-01 6.72985027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.40, Y:121.05, Z:6.73 [[-1.42294977e-01 9.89824233e-01 3.57251146e-04 9.74037557e+01] [ 9.89821782e-01 1.42295420e-01 -2.20302139e-03 1.21049705e+02] [-2.23143916e-03 4.01360872e-05 -9.99997510e-01 6.72853686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.42, Y:121.05, Z:6.73 [[-2.18355763e-01 9.75869082e-01 5.43612315e-04 9.74162242e+01] [ 9.75866536e-01 2.18356435e-01 -2.22947946e-03 1.21045970e+02] [-2.29438133e-03 4.36733791e-05 -9.99997367e-01 6.72877292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.680385723 meters Centerline goodness [0,1] 0.9999332710529828 Centerline is valid? [True, True] Translation: X:97.43, Y:121.04, Z:6.73 [[-2.93688282e-01 9.55900886e-01 8.29890584e-04 9.74282510e+01] [ 9.55897552e-01 2.93689450e-01 -2.52516148e-03 1.21043246e+02] [-2.65753420e-03 5.16800428e-05 -9.99996467e-01 6.72950407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.44, Y:121.04, Z:6.73 [[-3.66402250e-01 9.30455753e-01 1.21812672e-03 9.74429009e+01] [ 9.30451189e-01 3.66404269e-01 -2.91503314e-03 1.21042404e+02] [-3.15863619e-03 6.53327516e-05 -9.99995009e-01 6.73061371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.46, Y:121.04, Z:6.73 [[-4.37602853e-01 8.99167094e-01 1.50987807e-03 9.74551797e+01] [ 8.99162285e-01 4.37605452e-01 -2.94173570e-03 1.21042269e+02] [-3.30584281e-03 7.03134853e-05 -9.99994533e-01 6.73076111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.47, Y:121.04, Z:6.73 [[-5.05362931e-01 8.62904624e-01 1.97944922e-03 9.74672903e+01] [ 8.62898656e-01 5.05366801e-01 -3.21038437e-03 1.21043024e+02] [-3.77060343e-03 8.56548139e-05 -9.99992888e-01 6.73096551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.48, Y:121.04, Z:6.73 [[-5.70674148e-01 8.21173546e-01 2.24144829e-03 9.74780770e+01] [ 8.21167819e-01 5.70678543e-01 -3.06836681e-03 1.21042823e+02] [-3.79880810e-03 8.95675929e-05 -9.99992781e-01 6.73155082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.49, Y:121.05, Z:6.73 [[-6.32563742e-01 7.74503785e-01 2.64559139e-03 9.74909128e+01] [ 7.74497658e-01 6.32569266e-01 -3.08231944e-03 1.21045891e+02] [-4.06078788e-03 9.92408149e-05 -9.99991750e-01 6.73161210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.50, Y:121.05, Z:6.73 [[-6.91002599e-01 7.22846392e-01 2.91575594e-03 9.75014234e+01] [ 7.22840572e-01 6.91008743e-01 -2.90243295e-03 1.21049096e+02] [-4.11282603e-03 1.02037976e-04 -9.99991537e-01 6.73148077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.53, Y:121.07, Z:6.73 [[-7.40422583e-01 6.72132337e-01 3.53833689e-03 9.75256385e+01] [ 6.72125396e-01 7.40431029e-01 -3.05673120e-03 1.21067455e+02] [-4.67442231e-03 1.14933272e-04 -9.99989068e-01 6.73128344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.55, Y:121.09, Z:6.73 [[-7.86589306e-01 6.17467149e-01 3.40342327e-03 9.75459369e+01] [ 6.17461921e-01 7.86596663e-01 -2.54288748e-03 1.21089090e+02] [-4.24727087e-03 1.01276167e-04 -9.99990975e-01 6.73147192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.57, Y:121.11, Z:6.73 [[-8.28909167e-01 5.59372694e-01 3.43251211e-03 9.75666004e+01] [ 5.59368360e-01 8.28916269e-01 -2.20400226e-03 1.21113737e+02] [-4.07812381e-03 9.31209917e-05 -9.99991680e-01 6.73065836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.58, Y:121.14, Z:6.73 [[-8.67652615e-01 4.97160138e-01 3.27676972e-03 9.75810976e+01] [ 4.97156923e-01 8.67658799e-01 -1.78969450e-03 1.21140510e+02] [-3.73288284e-03 7.62356395e-05 -9.99993030e-01 6.72970952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.010385723 meters Centerline goodness [0,1] 0.9999780716180953 Centerline is valid? [True, True] Translation: X:97.60, Y:121.17, Z:6.73 [[-9.01170528e-01 4.33450901e-01 3.46348578e-03 9.75987780e+01] [ 4.33448011e-01 9.01177181e-01 -1.58453817e-03 1.21165184e+02] [-3.80803385e-03 7.33019251e-05 -9.99992747e-01 6.72977375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.60, Y:121.20, Z:6.73 [[-9.30397656e-01 3.66521958e-01 4.67511840e-03 9.76001702e+01] [ 3.66517787e-01 9.30409398e-01 -1.75060076e-03 1.21197141e+02] [-4.99140771e-03 8.47592083e-05 -9.99987539e-01 6.73042714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.87, Y:121.92, Z:5.75 [[-9.17064750e-01 -3.98711398e-01 4.63318473e-03 9.78711740e+01] [ 3.98705865e-01 -9.17076450e-01 -2.10196341e-03 1.21920315e+02] [ 5.08706137e-03 -8.03586234e-05 9.99987058e-01 5.74746411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.100385723 meters Centerline goodness [0,1] 0.9999779098279176 Centerline is valid? [True, True] Translation: X:97.56, Y:121.21, Z:6.73 [[-9.32465291e-01 3.61223913e-01 5.07600971e-03 9.75601758e+01] [ 3.61219035e-01 9.32479103e-01 -1.87894384e-03 1.21211820e+02] [-5.41199243e-03 8.15014200e-05 -9.99985352e-01 6.73008464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.84, Y:121.93, Z:5.75 [[-9.17559650e-01 -3.97566408e-01 5.02405530e-03 9.78374948e+01] [ 3.97559989e-01 -9.17573401e-01 -2.26049484e-03 1.21930473e+02] [ 5.50863632e-03 -7.67754818e-05 9.99984824e-01 5.74875784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.51, Y:121.23, Z:6.73 [[-9.34563410e-01 3.55757442e-01 5.27970428e-03 9.75055391e+01] [ 3.55752203e-01 9.34578321e-01 -1.93203071e-03 1.21231337e+02] [-5.62163146e-03 7.26612198e-05 -9.99984196e-01 6.72904493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.52, Y:121.26, Z:6.73 [[-9.57576492e-01 2.88131728e-01 5.23163420e-03 9.75161359e+01] [ 2.88127812e-01 9.57590780e-01 -1.50369763e-03 1.21257881e+02] [-5.44302768e-03 6.74738189e-05 -9.99985184e-01 6.72920355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2203857229999 meters Centerline goodness [0,1] 0.999911651021535 Centerline is valid? [True, True] Translation: X:97.75, Y:121.99, Z:5.75 [[-9.43953706e-01 -3.30028378e-01 5.71582987e-03 9.77486612e+01] [ 3.30022103e-01 -9.43971010e-01 -2.03542484e-03 1.21992478e+02] [ 6.06732565e-03 -3.49966321e-05 9.99981593e-01 5.74920143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.250385723 meters Centerline goodness [0,1] 0.9999335945281891 Centerline is valid? [True, True] Translation: X:97.48, Y:121.27, Z:6.73 [[-9.58985116e-01 2.83388266e-01 6.21602312e-03 9.74789971e+01] [ 2.83382801e-01 9.59005258e-01 -1.76138727e-03 1.21267555e+02] [-6.46035534e-03 7.23698735e-05 -9.99979129e-01 6.72898627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.280385723 meters Centerline goodness [0,1] 0.9999555772733331 Centerline is valid? [True, True] Translation: X:97.47, Y:121.30, Z:6.73 [[-9.76396190e-01 2.15869587e-01 7.12748632e-03 9.74702231e+01] [ 2.15864508e-01 9.76422200e-01 -1.48348408e-03 1.21297233e+02] [-7.27967497e-03 9.01031302e-05 -9.99973499e-01 6.72901581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.310385723 meters Centerline goodness [0,1] 0.9999111604664076 Centerline is valid? [True, True] Translation: X:97.65, Y:122.05, Z:5.75 [[-9.66458429e-01 -2.56720104e-01 7.27275936e-03 9.76537600e+01] [ 2.56712239e-01 -9.66485790e-01 -2.01099092e-03 1.22051811e+02] [ 7.54528037e-03 -7.65327886e-05 9.99971531e-01 5.74930634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3403857229999 meters Centerline goodness [0,1] 0.9998445860438268 Centerline is valid? [True, True] Translation: X:97.44, Y:121.30, Z:6.73 [[-9.76832211e-01 2.13864492e-01 7.79815423e-03 9.74370787e+01] [ 2.13858608e-01 9.76863330e-01 -1.59059568e-03 1.21300822e+02] [-7.95790285e-03 1.13957308e-04 -9.99968329e-01 6.72843391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.370385723 meters Centerline goodness [0,1] 0.9999556845627174 Centerline is valid? [True, True] Translation: X:97.44, Y:121.33, Z:6.73 [[-9.89298789e-01 1.45698679e-01 7.73317962e-03 9.74428686e+01] [ 1.45695215e-01 9.89329005e-01 -1.01238904e-03 1.21327280e+02] [-7.79816264e-03 1.25132013e-04 -9.99969586e-01 6.72850208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.400385723 meters Centerline goodness [0,1] 0.9999555752998667 Centerline is valid? [True, True] Translation: X:97.55, Y:122.10, Z:5.75 [[-9.83625900e-01 -1.80064121e-01 7.54988173e-03 9.75491120e+01] [ 1.80057802e-01 -9.83654866e-01 -1.51407719e-03 1.22102928e+02] [ 7.69910888e-03 -1.29870434e-04 9.99970353e-01 5.75061523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.430385723 meters Centerline goodness [0,1] 0.9998224195338513 Centerline is valid? [True, True] Translation: X:97.38, Y:121.34, Z:6.73 [[-9.89702240e-01 1.42964423e-01 7.11694936e-03 9.73771579e+01] [ 1.42961656e-01 9.89727820e-01 -8.98629147e-04 1.21335520e+02] [-7.17231477e-03 1.28075584e-04 -9.99974270e-01 6.72702108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.38, Y:121.36, Z:6.73 [[-9.97327661e-01 7.26714574e-02 7.50978300e-03 9.73791647e+01] [ 7.26704305e-02 9.97355925e-01 -4.09883883e-04 1.21364417e+02] [-7.51971343e-03 1.36950629e-04 -9.99971717e-01 6.72653458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.490385723 meters Centerline goodness [0,1] 0.9999777500889997 Centerline is valid? [True, True] Translation: X:97.38, Y:121.39, Z:6.73 [[-9.99966368e-01 2.49377474e-03 7.81305435e-03 9.73766018e+01] [ 2.49485972e-03 9.99996880e-01 1.29124063e-04 1.21392872e+02] [-7.81270796e-03 1.48612195e-04 -9.99969469e-01 6.72649638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.37, Y:122.18, Z:5.75 [[-9.99482457e-01 -3.09296057e-02 8.84180301e-03 9.73725263e+01] [ 3.09275055e-02 -9.99521560e-01 -3.74189742e-04 1.22180497e+02] [ 8.84914629e-03 -1.00541171e-04 9.99960841e-01 5.75205299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.28, Y:121.39, Z:6.73 [[-9.99956019e-01 -1.78495875e-03 9.20730149e-03 9.72755499e+01] [-1.78311107e-03 9.99998389e-01 2.08881691e-04 1.21389851e+02] [-9.20765949e-03 1.92454862e-04 -9.99957590e-01 6.72641738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.27, Y:121.42, Z:6.73 [[-9.97395061e-01 -7.15049662e-02 9.49381710e-03 9.72655995e+01] [-7.14996892e-02 9.97440221e-01 8.94530910e-04 1.21418437e+02] [-9.53347842e-03 2.13395740e-04 -9.99954533e-01 6.72626100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.19, Y:122.21, Z:5.75 [[-9.98747879e-01 4.91210920e-02 9.47587200e-03 9.71941128e+01] [-4.91209307e-02 -9.98792807e-01 2.49892086e-04 1.22205330e+02] [ 9.47670777e-03 -2.15884461e-04 9.99955072e-01 5.75215959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.15, Y:121.41, Z:6.73 [[-9.96991388e-01 -7.69426081e-02 9.38126623e-03 9.71481601e+01] [-7.69371251e-02 9.97035499e-01 9.44497490e-04 1.21410674e+02] [-9.42612756e-03 2.19888210e-04 -9.99955549e-01 6.72524688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:122.19, Z:5.75 [[-9.98366526e-01 5.63739420e-02 9.28757100e-03 9.70686928e+01] [-5.63736047e-02 -9.98409699e-01 2.98310577e-04 1.22192109e+02] [ 9.28961791e-03 -2.25750562e-04 9.99956825e-01 5.75238623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.03, Y:121.40, Z:6.73 [[-9.96498911e-01 -8.30345109e-02 9.75658062e-03 9.70310101e+01] [-8.30282446e-02 9.96546645e-01 1.04626885e-03 1.21401666e+02] [-9.80976411e-03 2.32534011e-04 -9.99951856e-01 6.72615376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.95, Y:122.18, Z:5.75 [[-9.98021387e-01 6.21551640e-02 9.48929734e-03 9.69457594e+01] [-6.21546999e-02 -9.98066468e-01 3.44094742e-04 1.22175958e+02] [ 9.49233675e-03 -2.46390517e-04 9.99954916e-01 5.75282585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:121.39, Z:6.73 [[-9.95862919e-01 -9.03977028e-02 9.23590902e-03 9.69085565e+01] [-9.03918504e-02 9.95905724e-01 1.04999752e-03 1.21394730e+02] [-9.29301203e-03 2.10802692e-04 -9.99956797e-01 6.72573132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.89, Y:121.42, Z:6.73 [[-9.86738085e-01 -1.62091124e-01 8.62671616e-03 9.68895051e+01] [-1.62083199e-01 9.86775775e-01 1.61464768e-03 1.21423437e+02] [-8.77435458e-03 1.94988604e-04 -9.99961486e-01 6.72617470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.85, Y:121.45, Z:6.73 [[-9.72412500e-01 -2.33117785e-01 8.36832842e-03 9.68535621e+01] [-2.33107461e-01 9.72448488e-01 2.20223716e-03 1.21450316e+02] [-8.65114897e-03 1.90763154e-04 -9.99962560e-01 6.72727061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.80, Y:121.46, Z:6.73 [[-9.52721821e-01 -3.03737636e-01 8.03622082e-03 9.68026992e+01] [-3.03725182e-01 9.52755695e-01 2.75677659e-03 1.21464927e+02] [-8.49389196e-03 1.85638585e-04 -9.99963909e-01 6.72796794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.73, Y:121.47, Z:6.73 [[-9.27748419e-01 -3.73120175e-01 8.01283633e-03 9.67347642e+01] [-3.73104469e-01 9.27783002e-01 3.42881946e-03 1.21472104e+02] [-8.71353506e-03 1.91456787e-04 -9.99962018e-01 6.72834890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.66, Y:121.47, Z:6.73 [[-8.97439505e-01 -4.41069715e-01 7.73574838e-03 9.66568939e+01] [-4.41051481e-01 8.97472824e-01 4.01511773e-03 1.21467857e+02] [-8.71357078e-03 1.91461992e-04 -9.99962018e-01 6.72835023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.57, Y:121.46, Z:6.73 [[-8.61832167e-01 -5.07141123e-01 7.29368488e-03 9.65709995e+01] [-5.07121118e-01 8.61863009e-01 4.50825980e-03 1.21456393e+02] [-8.57248114e-03 1.86581677e-04 -9.99963238e-01 6.72884010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.48, Y:121.43, Z:6.73 [[-8.21347450e-01 -5.70389679e-01 6.63172490e-03 9.64804752e+01] [-5.70369310e-01 8.21374203e-01 4.82383267e-03 1.21431643e+02] [-8.19859213e-03 1.79510308e-04 -9.99966375e-01 6.72934753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.39, Y:121.40, Z:6.73 [[-7.76224537e-01 -6.30430070e-01 5.77881793e-03 9.63874294e+01] [-6.30410962e-01 7.76246030e-01 4.91129825e-03 1.21395532e+02] [-7.58201457e-03 1.69240045e-04 -9.99971242e-01 6.72972849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.29, Y:121.35, Z:6.73 [[-7.26401832e-01 -6.87250836e-01 5.16403714e-03 9.62925782e+01] [-6.87231847e-01 7.26420169e-01 5.11144808e-03 1.21350451e+02] [-7.26410770e-03 1.64074467e-04 -9.99973603e-01 6.73004710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.20, Y:121.29, Z:6.73 [[-6.72400410e-01 -7.40172183e-01 4.77781479e-03 9.61981376e+01] [-7.40151703e-01 6.72417364e-01 5.50874882e-03 1.21292123e+02] [-7.29010827e-03 1.67777217e-04 -9.99973413e-01 6.73079151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0903857229999 meters Centerline goodness [0,1] 0.9999561970257781 Centerline is valid? [True, True] Translation: X:96.11, Y:121.23, Z:6.73 [[-6.14639770e-01 -7.88795321e-01 4.46036535e-03 9.61097541e+01] [-7.88772414e-01 6.14655928e-01 6.01414094e-03 1.21226453e+02] [-7.48551624e-03 1.78317057e-04 -9.99971967e-01 6.73177538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.120385723 meters Centerline goodness [0,1] 0.9999338566011112 Centerline is valid? [True, True] Translation: X:96.02, Y:121.15, Z:6.73 [[-5.52723160e-01 -8.33356044e-01 3.84864182e-03 9.60210577e+01] [-8.33333616e-01 5.52736532e-01 6.11647438e-03 1.21149537e+02] [-7.22448582e-03 1.73514445e-04 -9.99973888e-01 6.73195994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.150385723 meters Centerline goodness [0,1] 0.999934223508518 Centerline is valid? [True, True] Translation: X:95.94, Y:121.06, Z:6.73 [[-4.87357858e-01 -8.73197942e-01 2.76987699e-03 9.59374247e+01] [-8.73182131e-01 4.87365708e-01 5.25664699e-03 1.21063416e+02] [-5.94003639e-03 1.43261121e-04 -9.99982348e-01 6.73215534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.86, Y:120.97, Z:6.73 [[-4.18716355e-01 -9.08114540e-01 2.14390911e-03 9.58594140e+01] [-9.08101020e-01 4.18721824e-01 4.95691766e-03 1.20969726e+02] [-5.39915054e-03 1.28656441e-04 -9.99985416e-01 6.73200656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.79, Y:120.87, Z:6.73 [[-3.47455540e-01 -9.37695149e-01 1.56699670e-03 9.57885617e+01] [-9.37684087e-01 3.47459055e-01 4.55620406e-03 1.20872789e+02] [-4.81679764e-03 1.13730469e-04 -9.99988393e-01 6.73146108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.240385723 meters Centerline goodness [0,1] 0.9998681115776054 Centerline is valid? [True, True] Translation: X:95.73, Y:120.76, Z:6.73 [[-2.73536419e-01 -9.61861033e-01 1.08666785e-03 9.57252090e+01] [-9.61851955e-01 2.73538560e-01 4.17999740e-03 1.20764860e+02] [-4.31782218e-03 9.81679302e-05 -9.99990673e-01 6.73242470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.270385723 meters Centerline goodness [0,1] 0.9999339265262972 Centerline is valid? [True, True] Translation: X:95.67, Y:120.65, Z:6.73 [[-1.98300987e-01 -9.80140877e-01 7.61795037e-04 9.56705197e+01] [-9.80131661e-01 1.98302427e-01 4.25134803e-03 1.20650333e+02] [-4.31798579e-03 9.63870762e-05 -9.99990673e-01 6.73307231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.300385723 meters Centerline goodness [0,1] 0.9998018406799066 Centerline is valid? [True, True] Translation: X:95.62, Y:120.53, Z:6.73 [[-1.21787635e-01 -9.92556073e-01 4.61851035e-04 9.56224791e+01] [-9.92545459e-01 1.21788469e-01 4.59139443e-03 1.20528668e+02] [-4.61346456e-03 1.00766923e-04 -9.99989353e-01 6.73365416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.330385723 meters Centerline goodness [0,1] 0.9996257155438133 Centerline is valid? [True, True] Translation: X:95.59, Y:120.41, Z:6.73 [[-4.45376551e-02 -9.99007700e-01 1.15949830e-04 9.55860659e+01] [-9.98995156e-01 4.45376771e-02 5.00742747e-03 1.20411270e+02] [-5.00762274e-03 1.07185760e-04 -9.99987456e-01 6.73485500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.360385723 meters Centerline goodness [0,1] 0.9998235981566007 Centerline is valid? [True, True] Translation: X:95.56, Y:120.29, Z:6.73 [[ 3.30044993e-02 -9.99455170e-01 -2.55714420e-04 9.55570682e+01] [-9.99443942e-01 -3.30053409e-02 4.73863779e-03 1.20286650e+02] [-4.74449598e-03 9.91758605e-05 -9.99988740e-01 6.73468580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.390385723 meters Centerline goodness [0,1] 0.9996907990635628 Centerline is valid? [True, True] Translation: X:95.54, Y:120.16, Z:6.73 [[ 1.10061621e-01 -9.93924553e-01 -6.50689978e-04 9.55394780e+01] [-9.93912289e-01 -1.10063496e-01 4.93848157e-03 1.20162093e+02] [-4.98009530e-03 1.03191480e-04 -9.99987594e-01 6.73488903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.420385723 meters Centerline goodness [0,1] 0.9998898411509397 Centerline is valid? [True, True] Translation: X:95.53, Y:120.03, Z:6.74 [[ 1.86627426e-01 -9.82430223e-01 -1.02963915e-03 9.55327639e+01] [-9.82418132e-01 -1.86630238e-01 4.87528176e-03 1.20034722e+02] [-4.98178595e-03 1.01674888e-04 -9.99987586e-01 6.73545837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.450385723 meters Centerline goodness [0,1] 0.9997129672561877 Centerline is valid? [True, True] Translation: X:95.54, Y:119.91, Z:6.74 [[ 2.61736871e-01 -9.65138034e-01 -1.54476140e-03 9.55350788e+01] [-9.65123652e-01 -2.61741406e-01 5.26992998e-03 1.19906647e+02] [-5.49053788e-03 1.11550776e-04 -9.99984921e-01 6.73570669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.480385723 meters Centerline goodness [0,1] 0.999822891299535 Centerline is valid? [True, True] Translation: X:95.55, Y:119.78, Z:6.74 [[ 3.34311908e-01 -9.42460977e-01 -1.68995874e-03 9.55458677e+01] [-9.42450427e-01 -3.34316164e-01 4.46052319e-03 1.19783825e+02] [-4.76884956e-03 1.01496324e-04 -9.99988624e-01 6.73614570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.510385723 meters Centerline goodness [0,1] 0.9998008012217525 Centerline is valid? [True, True] Translation: X:95.57, Y:119.66, Z:6.74 [[ 4.03724697e-01 -9.14878140e-01 -2.08769947e-03 9.55662813e+01] [-9.14867347e-01 -4.03730078e-01 4.44546841e-03 1.19659452e+02] [-4.90992894e-03 1.15222684e-04 -9.99987940e-01 6.73648520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.59, Y:119.54, Z:6.74 [[ 4.72228244e-01 -8.81473198e-01 -2.34228437e-03 9.55933983e+01] [-8.81463532e-01 -4.72234040e-01 4.12971014e-03 1.19542967e+02] [-4.74633522e-03 1.14472486e-04 -9.99988730e-01 6.73660930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.63, Y:119.43, Z:6.74 [[ 5.37820635e-01 -8.43055126e-01 -2.64923442e-03 9.56330928e+01] [-8.43045957e-01 -5.37827147e-01 3.93367773e-03 1.19425468e+02] [-4.74113737e-03 1.17813311e-04 -9.99988754e-01 6.73691544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.600385723 meters Centerline goodness [0,1] 0.9999779303038997 Centerline is valid? [True, True] Translation: X:95.68, Y:119.32, Z:6.74 [[ 6.00475029e-01 -7.99638804e-01 -2.74286457e-03 9.56765284e+01] [-7.99631297e-01 -6.00481283e-01 3.46667171e-03 1.19318258e+02] [-4.41912406e-03 1.11630562e-04 -9.99990229e-01 6.73688045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.73, Y:119.22, Z:6.74 [[ 6.59369735e-01 -7.51813861e-01 -2.73334568e-03 9.57267852e+01] [-7.51808046e-01 -6.59375392e-01 2.95891441e-03 1.19215812e+02] [-4.02685374e-03 1.03932664e-04 -9.99991887e-01 6.73668608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.660385723 meters Centerline goodness [0,1] 0.9999779317650175 Centerline is valid? [True, True] Translation: X:95.78, Y:119.12, Z:6.74 [[ 7.14864584e-01 -6.99257670e-01 -2.70881107e-03 9.57813591e+01] [-6.99253147e-01 -7.14869709e-01 2.51696741e-03 1.19116832e+02] [-3.69645575e-03 9.48537999e-05 -9.99993164e-01 6.73662425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.77, Y:119.11, Z:6.74 [[ 7.68248790e-01 -6.40145460e-01 -2.75445137e-03 9.57748476e+01] [-6.40141740e-01 -7.68253723e-01 2.18424442e-03 1.19106604e+02] [-3.51435167e-03 8.51961568e-05 -9.99993821e-01 6.73699494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.77, Y:119.10, Z:6.74 [[ 8.16618613e-01 -5.77171642e-01 -2.63361450e-03 9.57695591e+01] [-5.77168927e-01 -8.16622857e-01 1.77173990e-03 1.19096708e+02] [-3.17326783e-03 7.32046791e-05 -9.99994963e-01 6.73695216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.750385723 meters Centerline goodness [0,1] 0.9999341252936914 Centerline is valid? [True, True] Translation: X:95.76, Y:119.09, Z:6.74 [[ 8.59931458e-01 -5.10405605e-01 -2.00139757e-03 9.57645081e+01] [-5.10404357e-01 -8.59933786e-01 1.12961896e-03 1.19086232e+02] [-2.29763323e-03 5.01271602e-05 -9.99997359e-01 6.73665371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.76, Y:119.08, Z:6.74 [[ 8.98549028e-01 -4.38872284e-01 -8.73493586e-04 9.57594313e+01] [-4.38872097e-01 -8.98549452e-01 4.05892298e-04 1.19076125e+02] [-9.63012063e-04 1.86378320e-05 -9.99999536e-01 6.73590169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.75, Y:119.06, Z:6.74 [[ 9.31102067e-01 -3.64758232e-01 -6.11521144e-04 9.57542482e+01] [-3.64758161e-01 -9.31102267e-01 2.27607544e-04 1.19058980e+02] [-6.52410449e-04 1.11314738e-05 -9.99999787e-01 6.73683623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8403857229999 meters Centerline goodness [0,1] 0.99997810330859 Centerline is valid? [True, True] Translation: X:95.75, Y:119.05, Z:6.74 [[ 9.57193428e-01 -2.89446231e-01 -1.27297584e-03 9.57508854e+01] [-2.89446002e-01 -9.57194274e-01 3.64395095e-04 1.19046335e+02] [-1.32395797e-03 1.96611769e-05 -9.99999123e-01 6.73767001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.75, Y:119.03, Z:6.74 [[ 9.77085908e-01 -2.12838587e-01 -1.69239725e-03 9.57498748e+01] [-2.12838309e-01 -9.77087374e-01 3.44322843e-04 1.19033966e+02] [-1.72690517e-03 2.37739714e-05 -9.99998509e-01 6.73791862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.900385723 meters Centerline goodness [0,1] 0.9999780518853431 Centerline is valid? [True, True] Translation: X:95.75, Y:119.02, Z:6.74 [[ 9.90868756e-01 -1.34823174e-01 -1.34926445e-03 9.57457687e+01] [-1.34823073e-01 -9.90869674e-01 1.65677073e-04 1.19022248e+02] [-1.35928233e-03 1.77477441e-05 -9.99999076e-01 6.73761735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.930385723 meters Centerline goodness [0,1] 0.9999781306040327 Centerline is valid? [True, True] Translation: X:95.74, Y:119.01, Z:6.74 [[ 9.98409024e-01 -5.63814475e-02 -7.44081986e-04 9.57419068e+01] [-5.63814391e-02 -9.98409301e-01 3.22307645e-05 1.19011082e+02] [-7.44715592e-04 9.77292705e-06 -9.99999723e-01 6.73711691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.74, Y:119.00, Z:6.74 [[ 9.99762075e-01 2.18109721e-02 -2.72305767e-04 9.57401738e+01] [ 2.18109701e-02 -9.99762113e-01 -1.01352832e-05 1.18998385e+02] [-2.72462049e-04 4.19361882e-06 -9.99999963e-01 6.73665258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.990385723 meters Centerline goodness [0,1] 0.9999780181130749 Centerline is valid? [True, True] Translation: X:95.74, Y:118.99, Z:6.74 [[ 9.95043046e-01 9.94450291e-02 1.52715564e-04 9.57386173e+01] [ 9.94450277e-02 -9.95043058e-01 1.62979117e-05 1.18987917e+02] [ 1.53579308e-04 -1.03032016e-06 -9.99999988e-01 6.73532971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.74, Y:118.98, Z:6.74 [[ 9.84302438e-01 1.76489418e-01 4.41918630e-04 9.57384835e+01] [ 1.76489398e-01 -9.84302538e-01 8.43488248e-05 1.18976533e+02] [ 4.49868304e-04 -5.03080104e-06 -9.99999899e-01 6.73521797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.74, Y:118.96, Z:6.74 [[ 9.67509377e-01 2.52835123e-01 7.05328655e-05 9.57392975e+01] [ 2.52835123e-01 -9.67509380e-01 1.85019963e-05 1.18964814e+02] [ 7.29191635e-05 -6.76692741e-08 -9.99999997e-01 6.73512823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.74, Y:118.95, Z:6.74 [[ 9.44656795e-01 3.28060086e-01 3.45392590e-04 9.57401070e+01] [ 3.28060062e-01 -9.44656859e-01 1.24068921e-04 1.18952677e+02] [ 3.66979540e-04 -3.89303431e-06 -9.99999933e-01 6.73540520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.74, Y:118.94, Z:6.74 [[ 9.15744099e-01 4.01761740e-01 4.99373477e-04 9.57438295e+01] [ 4.01761677e-01 -9.15744235e-01 2.25411582e-04 1.18939444e+02] [ 5.47860132e-04 -5.79020033e-06 -9.99999850e-01 6.73547586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.75, Y:118.93, Z:6.74 [[ 8.81267469e-01 4.72617535e-01 5.60943580e-04 9.57471221e+01] [ 4.72617434e-01 -8.81267647e-01 3.08330951e-04 1.18927008e+02] [ 6.40064043e-04 -6.61032153e-06 -9.99999795e-01 6.73549083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.75, Y:118.92, Z:6.74 [[ 8.41489223e-01 5.40273600e-01 5.69700069e-04 9.57501764e+01] [ 5.40273470e-01 -8.41489416e-01 3.74086117e-04 1.18917539e+02] [ 6.81505431e-04 -6.99560291e-06 -9.99999768e-01 6.73539473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.200385723 meters Centerline goodness [0,1] 0.9999564459930314 Centerline is valid? [True, True] Translation: X:95.76, Y:118.91, Z:6.74 [[ 7.96334749e-01 6.04856140e-01 1.32847615e-04 9.57566909e+01] [ 6.04856132e-01 -7.96334760e-01 1.02130585e-04 1.18906360e+02] [ 1.67565485e-04 -9.76439075e-07 -9.99999986e-01 6.73637497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.230385723 meters Centerline goodness [0,1] 0.9999349663993063 Centerline is valid? [True, True] Translation: X:95.76, Y:118.90, Z:6.74 [[ 7.46311515e-01 6.65596794e-01 1.74597237e-04 9.57610079e+01] [ 6.65596775e-01 -7.46311536e-01 1.57930438e-04 1.18896838e+02] [ 2.35421925e-04 -1.65394680e-06 -9.99999972e-01 6.73695745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.260385723 meters Centerline goodness [0,1] 0.9999782783413341 Centerline is valid? [True, True] Translation: X:95.77, Y:118.89, Z:6.74 [[ 6.91924035e-01 7.21970293e-01 1.59058007e-04 9.57679780e+01] [ 7.21970273e-01 -6.91924054e-01 1.68298075e-04 1.18888098e+02] [ 2.31562272e-04 -1.61433026e-06 -9.99999973e-01 6.73723012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.290385723 meters Centerline goodness [0,1] 0.9999782580336566 Centerline is valid? [True, True] Translation: X:95.77, Y:118.88, Z:6.74 [[ 6.33455800e-01 7.73777952e-01 1.19602472e-03 9.57746826e+01] [ 7.73776512e-01 -6.33456929e-01 1.49278781e-03 1.18879422e+02] [ 1.91271644e-03 -2.01592625e-05 -9.99998171e-01 6.73640058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.78, Y:118.87, Z:6.74 [[ 5.71006531e-01 8.20944013e-01 1.57144524e-03 9.57809010e+01] [ 8.20940757e-01 -5.71008693e-01 2.31215096e-03 1.18873180e+02] [ 2.79545538e-03 -3.01898515e-05 -9.99996092e-01 6.73591603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.79, Y:118.86, Z:6.74 [[ 5.06271471e-01 8.62372787e-01 1.54067227e-03 9.57933297e+01] [ 8.62368561e-01 -5.06273814e-01 2.70019451e-03 1.18863948e+02] [ 3.10857629e-03 -3.84041208e-05 -9.99995168e-01 6.73611902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.80, Y:118.86, Z:6.74 [[ 4.37584905e-01 8.99176413e-01 1.10913099e-03 9.58047039e+01] [ 8.99173330e-01 -4.37586309e-01 2.35481516e-03 1.18855841e+02] [ 2.60273478e-03 -3.31305667e-05 -9.99996612e-01 6.73658902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.82, Y:118.85, Z:6.74 [[ 3.66027951e-01 9.30603473e-01 8.45116215e-04 9.58156426e+01] [ 9.30600795e-01 -3.66028926e-01 2.23286185e-03 1.18848070e+02] [ 2.38724597e-03 -3.08240261e-05 -9.99997150e-01 6.73761842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.83, Y:118.84, Z:6.74 [[ 2.92069767e-01 9.56396872e-01 5.23677235e-04 9.58266466e+01] [ 9.56395184e-01 -2.92070236e-01 1.79723099e-03 1.18842207e+02] [ 1.87181663e-03 -2.40744523e-05 -9.99998248e-01 6.73875023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4703857229999 meters Centerline goodness [0,1] 0.9999567679737149 Centerline is valid? [True, True] Translation: X:95.84, Y:118.84, Z:6.74 [[ 2.16055855e-01 9.76380919e-01 4.10287641e-04 9.58395339e+01] [ 9.76378928e-01 -2.16056243e-01 1.97217933e-03 1.18837203e+02] [ 2.01424347e-03 -2.55046841e-05 -9.99997971e-01 6.73964811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.85, Y:118.83, Z:6.74 [[ 1.38529154e-01 9.90358268e-01 4.18224726e-04 9.58546241e+01] [ 9.90352812e-01 -1.38529780e-01 3.28763042e-03 1.18833242e+02] [ 3.31386855e-03 -4.12426287e-05 -9.99994508e-01 6.73933797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.530385723 meters Centerline goodness [0,1] 0.9998918965666349 Centerline is valid? [True, True] Translation: X:95.87, Y:118.83, Z:6.74 [[ 5.98755921e-02 9.98205833e-01 1.71165961e-04 9.58669484e+01] [ 9.98199510e-01 -5.98758221e-02 3.55308494e-03 1.18830096e+02] [ 3.55695881e-03 -4.18852860e-05 -9.99993673e-01 6.73968502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.560385723 meters Centerline goodness [0,1] 0.9999784301460279 Centerline is valid? [True, True] Translation: X:95.88, Y:118.83, Z:6.74 [[-1.87661945e-02 9.99823894e-01 -1.08873285e-04 9.58786125e+01] [ 9.99817430e-01 1.87664647e-02 3.59546032e-03 1.18828622e+02] [ 3.59687030e-03 -4.13803008e-05 -9.99993530e-01 6.73999761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.89, Y:118.83, Z:6.74 [[-9.75043523e-02 9.95235023e-01 -3.86788530e-04 9.58923358e+01] [ 9.95228714e-01 9.75051115e-02 3.54399693e-03 1.18828583e+02] [ 3.56482373e-03 -3.93879258e-05 -9.99993645e-01 6.74077526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.91, Y:118.83, Z:6.74 [[-1.76038459e-01 9.84383158e-01 -5.10095131e-04 9.59070338e+01] [ 9.84379467e-01 1.76039196e-01 2.69560974e-03 1.18829955e+02] [ 2.74330956e-03 -2.75961884e-05 -9.99996237e-01 6.74194549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.650385723 meters Centerline goodness [0,1] 0.9998926992574788 Centerline is valid? [True, True] Translation: X:95.92, Y:118.83, Z:6.74 [[-2.51812798e-01 9.67775954e-01 -1.35998647e-04 9.59216989e+01] [ 9.67775823e-01 2.51812835e-01 5.02976662e-04 1.18832619e+02] [ 5.21014923e-04 -4.96024167e-06 -9.99999864e-01 6.74363496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.93, Y:118.84, Z:6.74 [[-3.26394939e-01 9.45233393e-01 -4.21254984e-04 9.59337501e+01] [ 9.45232659e-01 3.26395210e-01 1.17792480e-03 1.18835954e+02] [ 1.25090947e-03 -1.37152746e-05 -9.99999218e-01 6.74373293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.95, Y:118.84, Z:6.74 [[-3.98854019e-01 9.17014395e-01 -2.66098876e-04 9.59457304e+01] [ 9.17014203e-01 3.98854107e-01 5.93954591e-04 1.18841093e+02] [ 6.50799540e-04 -7.11527283e-06 -9.99999788e-01 6.74361068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.96, Y:118.85, Z:6.74 [[-4.67924746e-01 8.83768203e-01 -4.42585111e-04 9.59580538e+01] [ 8.83767831e-01 4.67924956e-01 8.10158078e-04 1.18845785e+02] [ 9.23088566e-04 -1.20494704e-05 -9.99999574e-01 6.74404172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.97, Y:118.85, Z:6.74 [[-5.35149967e-01 8.44756932e-01 -4.88422228e-04 9.59693594e+01] [ 8.44756601e-01 5.35150189e-01 7.48207597e-04 1.18853346e+02] [ 8.93432802e-04 -1.21946301e-05 -9.99999601e-01 6.74458969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.98, Y:118.86, Z:6.75 [[-5.98395476e-01 8.01200836e-01 -2.72750808e-04 9.59804429e+01] [ 8.01200758e-01 5.98395538e-01 3.54492451e-04 1.18860755e+02] [ 4.47232514e-04 -6.40147494e-06 -9.99999900e-01 6.74530678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.99, Y:118.87, Z:6.75 [[-6.59334268e-01 7.51849874e-01 -2.99668372e-04 9.59887302e+01] [ 7.51849801e-01 6.59334336e-01 3.32005141e-04 1.18867686e+02] [ 4.47199670e-04 -6.40323879e-06 -9.99999900e-01 6.74530706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.00, Y:118.88, Z:6.75 [[-7.15446662e-01 6.98667279e-01 -3.27248455e-04 9.59960975e+01] [ 6.98667210e-01 7.15446737e-01 3.09850078e-04 1.18876144e+02] [ 4.50610950e-04 -6.95656090e-06 -9.99999898e-01 6.74581182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.02, Y:118.90, Z:6.75 [[-7.62232243e-01 6.47303611e-01 -2.05790764e-04 9.60167275e+01] [ 6.47303589e-01 7.62232271e-01 1.69231324e-04 1.18898085e+02] [ 2.66404409e-04 -4.21552808e-06 -9.99999965e-01 6.74620805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.03, Y:118.92, Z:6.75 [[-8.04600563e-01 5.93816372e-01 2.26381870e-04 9.60340237e+01] [ 5.93816351e-01 8.04600595e-01 -1.58845005e-04 1.18921207e+02] [-2.76471751e-04 6.62247568e-06 -9.99999962e-01 6.74633442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.05, Y:118.95, Z:6.75 [[-8.43696530e-01 5.36820327e-01 3.20501385e-04 9.60474191e+01] [ 5.36820292e-01 8.43696590e-01 -1.92848490e-04 1.18947838e+02] [-3.73930915e-04 9.34604562e-06 -9.99999930e-01 6.74690699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.06, Y:118.98, Z:6.75 [[-8.79551151e-01 4.75804327e-01 -1.23811354e-04 9.60558738e+01] [ 4.75804323e-01 8.79551160e-01 6.41634749e-05 1.18977204e+02] [ 1.39427679e-04 -2.47491938e-06 -9.99999990e-01 6.74679853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.07, Y:119.00, Z:6.75 [[-9.11103765e-01 4.12177058e-01 -4.31793761e-05 9.60734279e+01] [ 4.12177058e-01 9.11103766e-01 1.91587811e-05 1.19004651e+02] [ 4.72377022e-05 -3.41910629e-07 -9.99999999e-01 6.74739795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.08, Y:119.04, Z:6.75 [[-9.38599352e-01 3.45008587e-01 -5.76473762e-04 9.60784646e+01] [ 3.45008530e-01 9.38599529e-01 1.98813189e-04 1.19035381e+02] [ 6.09670258e-04 -1.22824349e-05 -9.99999814e-01 6.74812229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.08, Y:119.07, Z:6.75 [[-9.61093667e-01 2.76222467e-01 -3.35211855e-04 9.60817715e+01] [ 2.76222453e-01 9.61093725e-01 8.99111405e-05 1.19066317e+02] [ 3.47005488e-04 -6.18001326e-06 -9.99999940e-01 6.74870443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.08, Y:119.10, Z:6.75 [[-9.78870560e-01 2.04480598e-01 -3.33473796e-04 9.60809806e+01] [ 2.04480588e-01 9.78870617e-01 6.45054293e-05 1.19098625e+02] [ 3.39617809e-04 -5.04645232e-06 -9.99999942e-01 6.74917416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.08, Y:119.13, Z:6.75 [[-9.91131375e-01 1.32883883e-01 -6.85735608e-04 9.60760518e+01] [ 1.32883858e-01 9.91131613e-01 8.19172237e-05 1.19131740e+02] [ 6.90539717e-04 -9.93246285e-06 -9.99999762e-01 6.74893602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.160385723 meters Centerline goodness [0,1] 0.9998935173353778 Centerline is valid? [True, True] Translation: X:96.08, Y:119.16, Z:6.75 [[-9.98148751e-01 6.08126943e-02 -9.41864536e-04 9.60756123e+01] [ 6.08126792e-02 9.98149195e-01 4.47473088e-05 1.19160872e+02] [ 9.42842533e-04 -1.26128355e-05 -9.99999555e-01 6.74957688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.190385723 meters Centerline goodness [0,1] 0.9999786013866302 Centerline is valid? [True, True] Translation: X:96.06, Y:119.19, Z:6.75 [[-9.99934532e-01 -1.12827470e-02 -1.90568907e-03 9.60627053e+01] [-1.12826801e-02 9.99936348e-01 -4.58560270e-05 1.19190636e+02] [ 1.90608515e-03 -2.43517447e-05 -9.99998183e-01 6.74907888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2203857229999 meters Centerline goodness [0,1] 0.9999358672880414 Centerline is valid? [True, True] Translation: X:96.05, Y:119.81, Z:5.73 [[-9.99551459e-01 -2.99003754e-02 -1.68786697e-03 9.60479113e+01] [ 2.99002722e-02 -9.99552883e-01 8.63465521e-05 1.19808532e+02] [-1.68969409e-03 3.58401405e-05 9.99998572e-01 5.72858527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.99, Y:119.18, Z:6.75 [[-9.99873469e-01 -1.58062258e-02 -1.79140598e-03 9.59897328e+01] [-1.58061574e-02 9.99875074e-01 -5.23521656e-05 1.19183461e+02] [ 1.79200968e-03 -2.40302966e-05 -9.99998394e-01 6.74886041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.97, Y:119.81, Z:5.73 [[-9.99723818e-01 -2.34276204e-02 -1.85328535e-03 9.59685254e+01] [ 2.34275416e-02 -9.99725535e-01 6.42441362e-05 1.19810338e+02] [-1.85428177e-03 2.08084737e-05 9.99998281e-01 5.72928971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.310385723 meters Centerline goodness [0,1] 0.9998712087062914 Centerline is valid? [True, True] Translation: X:95.91, Y:119.18, Z:6.75 [[-9.99804696e-01 -1.95735760e-02 -2.72874293e-03 9.59108133e+01] [-1.95733926e-02 9.99808418e-01 -9.39218529e-05 1.19179243e+02] [ 2.73005854e-03 -4.04927529e-05 -9.99996273e-01 6.75038576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3403857229999 meters Centerline goodness [0,1] 0.9999785121835919 Centerline is valid? [True, True] Translation: X:95.90, Y:119.21, Z:6.75 [[-9.95866576e-01 -9.07629471e-02 -3.44249335e-03 9.58994384e+01] [-9.07622263e-02 9.95872524e-01 -3.65343748e-04 1.19207658e+02] [ 3.46144421e-03 -5.13852674e-05 -9.99994008e-01 6.74931433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.370385723 meters Centerline goodness [0,1] 0.9999356361295859 Centerline is valid? [True, True] Translation: X:95.83, Y:119.84, Z:5.73 [[-9.98591684e-01 5.28340141e-02 -4.81833438e-03 9.58320175e+01] [-5.28333022e-02 -9.98603308e-01 -2.74993862e-04 1.19839827e+02] [-4.82613369e-03 -2.00380670e-05 9.99988354e-01 5.72934353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.80, Y:119.19, Z:6.75 [[-9.95181269e-01 -9.79065999e-02 -5.34229563e-03 9.58027493e+01] [-9.79047995e-02 9.95195605e-01 -5.98113226e-04 1.19194762e+02] [ 5.37518836e-03 -7.21946967e-05 -9.99985551e-01 6.74853880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.79, Y:119.22, Z:6.75 [[-9.85401829e-01 -1.70164712e-01 -5.21589550e-03 9.57880692e+01] [-1.70161987e-01 9.85415632e-01 -9.65160636e-04 1.19217773e+02] [ 5.30406124e-03 -6.35239136e-05 -9.99985931e-01 6.74819548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.76, Y:119.24, Z:6.75 [[-9.70421430e-01 -2.41374283e-01 -4.55012276e-03 9.57586124e+01] [-2.41371377e-01 9.70432096e-01 -1.18563455e-03 1.19239292e+02] [ 4.70176685e-03 -5.22957824e-05 -9.99988945e-01 6.74873349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.490385723 meters Centerline goodness [0,1] 0.9999353448275862 Centerline is valid? [True, True] Translation: X:95.72, Y:119.26, Z:6.75 [[-9.50286307e-01 -3.11350839e-01 -4.07315720e-03 9.57172351e+01] [-3.11347773e-01 9.50295035e-01 -1.38239271e-03 1.19256310e+02] [ 4.30111019e-03 -4.55004412e-05 -9.99990749e-01 6.75078745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.520385723 meters Centerline goodness [0,1] 0.9998919899766698 Centerline is valid? [True, True] Translation: X:95.65, Y:119.26, Z:6.75 [[-9.24446285e-01 -3.81295974e-01 -3.52797043e-03 9.56533120e+01] [-3.81293048e-01 9.24453016e-01 -1.49440514e-03 1.19259751e+02] [ 3.83125357e-03 -3.63066855e-05 -9.99992660e-01 6.74938526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.58, Y:119.26, Z:6.75 [[-8.93691588e-01 -4.48666793e-01 -3.66809874e-03 9.55846793e+01] [-4.48662838e-01 8.93699115e-01 -1.88430815e-03 1.19258865e+02] [ 4.12360309e-03 -3.82507496e-05 -9.99991497e-01 6.74993028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.51, Y:119.24, Z:6.75 [[-8.57808625e-01 -5.13960847e-01 -2.93420032e-03 9.55054564e+01] [-5.13957718e-01 8.57813643e-01 -1.79388623e-03 1.19244803e+02] [ 3.43898435e-03 -3.07561793e-05 -9.99994086e-01 6.75126539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.42, Y:119.22, Z:6.75 [[-8.17270397e-01 -5.76249939e-01 -2.25972177e-03 9.54231993e+01] [-5.76247648e-01 8.17273520e-01 -1.62517235e-03 1.19222224e+02] [ 2.78331623e-03 -2.60458946e-05 -9.99996126e-01 6.75140200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.34, Y:119.19, Z:6.75 [[-7.72758071e-01 -6.34698157e-01 -1.79267358e-03 9.53373095e+01] [-6.34696372e-01 7.72760150e-01 -1.50556920e-03 1.19186242e+02] [ 2.34088870e-03 -2.56373292e-05 -9.99997260e-01 6.75140035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.25, Y:119.14, Z:6.75 [[-7.23166117e-01 -6.90672142e-01 -1.66146777e-03 9.52502784e+01] [-6.90670232e-01 7.23168025e-01 -1.62433129e-03 1.19143716e+02] [ 2.32340074e-03 -2.71350182e-05 -9.99997301e-01 6.75157231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.700385723 meters Centerline goodness [0,1] 0.9999782244191364 Centerline is valid? [True, True] Translation: X:95.16, Y:119.09, Z:6.75 [[-6.69170996e-01 -7.43106710e-01 -1.61100641e-03 9.51602480e+01] [-7.43104449e-01 6.69172935e-01 -1.83344698e-03 1.19087487e+02] [ 2.44048864e-03 -2.97435160e-05 -9.99997022e-01 6.75123342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.07, Y:119.02, Z:6.75 [[-6.10938706e-01 -7.91676983e-01 -1.20501947e-03 9.50702426e+01] [-7.91675364e-01 6.10939894e-01 -1.60145502e-03 1.19018967e+02] [ 2.00402955e-03 -2.44066334e-05 -9.99997992e-01 6.75178857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.99, Y:118.95, Z:6.75 [[-5.48635921e-01 -8.36060943e-01 -8.51765408e-04 9.49880495e+01] [-8.36059882e-01 5.48636582e-01 -1.33194466e-03 1.18947462e+02] [ 1.58089657e-03 -1.86257971e-05 -9.99998750e-01 6.75205253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.790385723 meters Centerline goodness [0,1] 0.9999780663274259 Centerline is valid? [True, True] Translation: X:94.91, Y:118.86, Z:6.75 [[-4.83231154e-01 -8.75492709e-01 -4.09184869e-04 9.49072444e+01] [-8.75492378e-01 4.83231328e-01 -7.61310346e-04 1.18861458e+02] [ 8.64252605e-04 -9.65064347e-06 -9.99999627e-01 6.75232648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.84, Y:118.77, Z:6.75 [[-4.15081520e-01 -9.09784183e-01 -2.67169776e-04 9.48356516e+01] [-9.09783984e-01 4.15081606e-01 -6.03159653e-04 1.18773767e+02] [ 6.59642372e-04 -7.29364302e-06 -9.99999782e-01 6.75210994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.850385723 meters Centerline goodness [0,1] 0.9999779881135813 Centerline is valid? [True, True] Translation: X:94.77, Y:118.67, Z:6.75 [[-3.44432107e-01 -9.38811224e-01 -1.01787777e-04 9.47654421e+01] [-9.38811180e-01 3.44432122e-01 -2.85651402e-04 1.18672154e+02] [ 3.03231723e-04 -2.82801098e-06 -9.99999954e-01 6.75251338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.880385723 meters Centerline goodness [0,1] 0.9998464878615759 Centerline is valid? [True, True] Translation: X:94.71, Y:118.57, Z:6.76 [[-2.72705402e-01 -9.62097546e-01 2.76457251e-04 9.47095771e+01] [-9.62096987e-01 2.72705541e-01 1.03703304e-03 1.18568683e+02] [-1.07311837e-03 1.68258233e-05 -9.99999424e-01 6.75596192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.66, Y:118.46, Z:6.75 [[-1.97410899e-01 -9.80320774e-01 3.41889227e-04 9.46551832e+01] [-9.80319055e-01 1.97411193e-01 1.83589212e-03 1.18457740e+02] [-1.86725594e-03 2.72645894e-05 -9.99998256e-01 6.75322498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.940385723 meters Centerline goodness [0,1] 0.9999557659132127 Centerline is valid? [True, True] Translation: X:94.61, Y:118.34, Z:6.75 [[-1.20313388e-01 -9.92735929e-01 2.52354171e-04 9.46112865e+01] [-9.92733159e-01 1.20313649e-01 2.34557994e-03 1.18336968e+02] [-2.35890313e-03 3.16843168e-05 -9.99997217e-01 6.75365170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.57, Y:118.21, Z:6.75 [[-4.24304208e-02 -9.99099422e-01 6.78850998e-05 9.45742804e+01] [-9.99096872e-01 4.24304659e-02 2.25738982e-03 1.18210660e+02] [-2.25823726e-03 2.79582089e-05 -9.99997450e-01 6.75284231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.55, Y:118.09, Z:6.75 [[ 3.56983833e-02 -9.99362603e-01 -1.15747141e-04 9.45474335e+01] [-9.99359574e-01 -3.56985601e-02 2.46053501e-03 1.18092209e+02] [-2.46309868e-03 2.78358916e-05 -9.99996966e-01 6.75297122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.53, Y:117.96, Z:6.75 [[ 1.13992125e-01 -9.93481540e-01 -4.73717008e-04 9.45330049e+01] [-9.93474269e-01 -1.13993104e-01 3.80123541e-03 1.17963362e+02] [-3.83045768e-03 3.73147549e-05 -9.99992663e-01 6.75387164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.53, Y:117.84, Z:6.75 [[ 1.90316071e-01 -9.81722438e-01 -9.20699172e-04 9.45255033e+01] [-9.81712035e-01 -1.90318293e-01 4.51971383e-03 1.17840052e+02] [-4.61233038e-03 4.36872781e-05 -9.99989362e-01 6.75404377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.53, Y:117.71, Z:6.75 [[ 2.65490080e-01 -9.64112593e-01 -1.38789935e-03 9.45283068e+01] [-9.64100339e-01 -2.65493703e-01 4.86106569e-03 1.17713483e+02] [-5.05509318e-03 4.75095148e-05 -9.99987222e-01 6.75388039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.54, Y:117.59, Z:6.75 [[ 3.38416852e-01 -9.40994677e-01 -1.74699839e-03 9.45421645e+01] [-9.40982895e-01 -3.38421358e-01 4.70918471e-03 1.17592921e+02] [-5.02253931e-03 5.02281419e-05 -9.99987386e-01 6.75392533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.57, Y:117.47, Z:6.75 [[ 4.09796943e-01 -9.12174171e-01 -2.17881661e-03 9.45659018e+01] [-9.12161950e-01 -4.09802731e-01 4.72218520e-03 1.17465463e+02] [-5.20034037e-03 5.22965449e-05 -9.99986477e-01 6.75343828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.59, Y:117.35, Z:6.75 [[ 4.79689206e-01 -8.77435820e-01 -2.15576191e-03 9.45936659e+01] [-8.77427330e-01 -4.79694049e-01 3.86011746e-03 1.17348199e+02] [-4.42111149e-03 3.98677344e-05 -9.99990226e-01 6.75169367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.63, Y:117.23, Z:6.75 [[ 5.46079036e-01 -8.37730586e-01 -2.26952425e-03 9.46283877e+01] [-8.37723616e-01 -5.46083751e-01 3.41749652e-03 1.17233788e+02] [-4.10229168e-03 3.50108492e-05 -9.99991585e-01 6.75135372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.67, Y:117.12, Z:6.75 [[ 6.09182985e-01 -7.93025860e-01 -2.46507021e-03 9.46714598e+01] [-7.93019576e-01 -6.09187972e-01 3.15701461e-03 1.17119897e+02] [-4.00528535e-03 3.16493481e-05 -9.99991978e-01 6.75095377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.270385723 meters Centerline goodness [0,1] 0.9999107979126711 Centerline is valid? [True, True] Translation: X:94.72, Y:117.01, Z:6.75 [[ 6.67807865e-01 -7.44326980e-01 -3.16261462e-03 9.47217515e+01] [-7.44318905e-01 -6.67815353e-01 3.46717842e-03 1.17014761e+02] [-4.69275704e-03 3.85848282e-05 -9.99988988e-01 6.75450382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.78, Y:116.91, Z:6.75 [[ 7.22997670e-01 -6.90841708e-01 -3.47906076e-03 9.47788875e+01] [-6.90833956e-01 -7.23006039e-01 3.27307777e-03 1.16912231e+02] [-4.77656058e-03 3.70257066e-05 -9.99988592e-01 6.75236207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.330385723 meters Centerline goodness [0,1] 0.9999778373706256 Centerline is valid? [True, True] Translation: X:94.77, Y:116.90, Z:6.75 [[ 7.73384934e-01 -6.33925231e-01 -3.81376238e-03 9.47718001e+01] [-6.33917833e-01 -7.73394336e-01 3.06304897e-03 1.16902128e+02] [-4.89128625e-03 4.86960568e-05 -9.99988036e-01 6.75179743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.77, Y:116.90, Z:6.75 [[ 8.19592877e-01 -5.72931276e-01 -4.15546087e-03 9.47679759e+01] [-5.72924274e-01 -8.19603410e-01 2.83317079e-03 1.16896999e+02] [-5.02904205e-03 5.87178076e-05 -9.99987353e-01 6.75205530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.77, Y:116.90, Z:6.75 [[ 8.60886730e-01 -5.08780222e-01 -4.08938836e-03 9.47707312e+01] [-5.08774835e-01 -8.60896441e-01 2.34212507e-03 1.16900663e+02] [-4.71216679e-03 6.42734960e-05 -9.99988896e-01 6.75215837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.77, Y:116.91, Z:6.75 [[ 8.96349596e-01 -4.43319833e-01 -4.99279508e-03 9.47728877e+01] [-4.43313548e-01 -8.96363496e-01 2.36250215e-03 1.16905677e+02] [-5.52270331e-03 9.57458569e-05 -9.99984745e-01 6.75264229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.77, Y:116.89, Z:6.75 [[ 9.27759360e-01 -3.73139324e-01 -5.44188992e-03 9.47671777e+01] [-3.73133589e-01 -9.27775314e-01 2.07166971e-03 1.16890675e+02] [-5.82187256e-03 1.08540954e-04 -9.99983047e-01 6.75152941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.76, Y:116.88, Z:6.75 [[ 9.53723934e-01 -3.00630912e-01 -5.63145285e-03 9.47640047e+01] [-3.00626390e-01 -9.53740553e-01 1.65297936e-03 1.16877498e+02] [-5.86788164e-03 1.16477363e-04 -9.99982777e-01 6.75237929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.510385723 meters Centerline goodness [0,1] 0.9999113494825026 Centerline is valid? [True, True] Translation: X:94.76, Y:116.87, Z:6.75 [[ 9.74286210e-01 -2.25234467e-01 -5.98465076e-03 9.47613003e+01] [-2.25230982e-01 -9.74304583e-01 1.25876230e-03 1.16867450e+02] [-6.11438932e-03 1.21534017e-04 -9.99981300e-01 6.75294609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.76, Y:116.86, Z:6.75 [[ 9.88976317e-01 -1.47957923e-01 -5.85650341e-03 9.47567048e+01] [-1.47956019e-01 -9.88993650e-01 7.59382732e-04 1.16855497e+02] [-5.90440138e-03 1.15493392e-04 -9.99982562e-01 6.75296987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.75, Y:116.84, Z:6.75 [[ 9.97654966e-01 -6.81136965e-02 -6.71519132e-03 9.47525179e+01] [-6.81129478e-02 -9.97677558e-01 3.40393040e-04 1.16843031e+02] [-6.72278111e-03 1.17796669e-04 -9.99977395e-01 6.75373753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.600385723 meters Centerline goodness [0,1] 0.9999336884684247 Centerline is valid? [True, True] Translation: X:94.75, Y:116.83, Z:6.75 [[ 9.99909106e-01 1.12785674e-02 -7.38737136e-03 9.47482491e+01] [ 1.12773621e-02 -9.99936388e-01 -2.04799299e-04 1.16832581e+02] [-7.38921127e-03 1.21470623e-04 -9.99972692e-01 6.75455053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.75, Y:116.82, Z:6.75 [[ 9.95766859e-01 9.15554550e-02 -8.12161358e-03 9.47456372e+01] [ 9.15514463e-02 -9.95799972e-01 -8.64780129e-04 1.16821607e+02] [-8.16667791e-03 1.17573924e-04 -9.99966645e-01 6.75499864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.75, Y:116.81, Z:6.75 [[ 9.85345006e-01 1.70410188e-01 -7.45571931e-03 9.47450315e+01] [ 1.70404540e-01 -9.85373207e-01 -1.39109949e-03 1.16808709e+02] [-7.58372358e-03 1.00224516e-04 -9.99971238e-01 6.75405291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.74, Y:116.80, Z:6.75 [[ 9.68698912e-01 2.48147393e-01 -6.72972953e-03 9.47441106e+01] [ 2.48140800e-01 -9.68722284e-01 -1.81086331e-03 1.16797028e+02] [-6.96859997e-03 8.42608562e-05 -9.99975716e-01 6.75387413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.74, Y:116.79, Z:6.75 [[ 9.46310433e-01 3.23192563e-01 -6.56742736e-03 9.47444388e+01] [ 3.23184161e-01 -9.46333219e-01 -2.33194703e-03 1.16786052e+02] [-6.96864261e-03 8.42573034e-05 -9.99975715e-01 6.75387453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.750385723 meters Centerline goodness [0,1] 0.999955853787745 Centerline is valid? [True, True] Translation: X:94.75, Y:116.77, Z:6.75 [[ 9.17924838e-01 3.96705669e-01 -6.21314106e-03 9.47456625e+01] [ 3.96695997e-01 -9.17945862e-01 -2.77136712e-03 1.16774822e+02] [-6.80274417e-03 7.91785321e-05 -9.99976858e-01 6.75489635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.75, Y:116.76, Z:6.75 [[ 8.83997495e-01 4.67453866e-01 -5.94240510e-03 9.47472871e+01] [ 4.67442710e-01 -8.84017464e-01 -3.23046123e-03 1.16764732e+02] [-6.76328148e-03 7.79856901e-05 -9.99977126e-01 6.75331008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.75, Y:116.76, Z:6.75 [[ 8.45433421e-01 5.34044834e-01 -6.20048406e-03 9.47478312e+01] [ 5.34029639e-01 -8.45456153e-01 -4.02974836e-03 1.16756867e+02] [-7.39430369e-03 9.56416796e-05 -9.99972657e-01 6.75353713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.75, Y:116.75, Z:6.75 [[ 8.01593549e-01 5.97831895e-01 -6.69384857e-03 9.47505048e+01] [ 5.97809824e-01 -8.01621489e-01 -5.13832325e-03 1.16747728e+02] [-8.43778639e-03 1.17198333e-04 -9.99964394e-01 6.75353231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.75, Y:116.74, Z:6.75 [[ 7.52923519e-01 6.58075367e-01 -6.55635347e-03 9.47549490e+01] [ 6.58048897e-01 -7.52952053e-01 -5.90387663e-03 1.16738501e+02] [-8.82181558e-03 1.30766398e-04 -9.99961079e-01 6.75398493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.900385723 meters Centerline goodness [0,1] 0.9999334944246159 Centerline is valid? [True, True] Translation: X:94.76, Y:116.73, Z:6.75 [[ 7.00518140e-01 7.13600384e-01 -6.98762384e-03 9.47598576e+01] [ 7.13562439e-01 -7.00552969e-01 -7.36093866e-03 1.16729082e+02] [-1.01479693e-02 1.70365159e-04 -9.99948494e-01 6.75482636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.930385723 meters Centerline goodness [0,1] 0.9999556737588653 Centerline is valid? [True, True] Translation: X:94.76, Y:116.72, Z:6.76 [[ 6.43048356e-01 7.65796031e-01 -6.72690221e-03 9.47637488e+01] [ 7.65751054e-01 -6.43083513e-01 -8.30175833e-03 1.16720405e+02] [-1.06834135e-02 1.87299590e-04 -9.99942913e-01 6.75569473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.77, Y:116.71, Z:6.76 [[ 5.82475164e-01 8.12824024e-01 -6.30782625e-03 9.47651993e+01] [ 8.12772339e-01 -5.82509279e-01 -9.16871559e-03 1.16712815e+02] [-1.11269196e-02 2.13722425e-04 -9.99938071e-01 6.75665572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.77, Y:116.70, Z:6.76 [[ 5.17840361e-01 8.55457347e-01 -5.83844947e-03 9.47719590e+01] [ 8.55397788e-01 -5.17873220e-01 -1.00971739e-02 1.16704173e+02] [-1.16612782e-02 2.34527431e-04 -9.99931978e-01 6.75640874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.78, Y:116.70, Z:6.76 [[ 4.49625064e-01 8.93202031e-01 -5.23775350e-03 9.47767068e+01] [ 8.93134838e-01 -4.49655502e-01 -1.09585773e-02 1.16696120e+02] [-1.21434082e-02 2.49230899e-04 -9.99926235e-01 6.75780805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.78, Y:116.69, Z:6.76 [[ 3.78373756e-01 9.25641483e-01 -4.59855314e-03 9.47833434e+01] [ 9.25564431e-01 -3.78401607e-01 -1.19460080e-02 1.16688445e+02] [-1.27978205e-02 2.63798690e-04 -9.99918070e-01 6.75726720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.79, Y:116.68, Z:6.76 [[ 3.04310436e-01 9.52566451e-01 -3.50933624e-03 9.47893427e+01] [ 9.52493384e-01 -3.04330569e-01 -1.18007817e-02 1.16682284e+02] [-1.23090270e-02 2.48481474e-04 -9.99924210e-01 6.75635152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.80, Y:116.68, Z:6.76 [[ 2.27781816e-01 9.73708782e-01 -2.57915275e-03 9.47970302e+01] [ 9.73634098e-01 -2.27796295e-01 -1.20619606e-02 1.16675395e+02] [-1.23323584e-02 2.36344235e-04 -9.99923926e-01 6.75523870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.81, Y:116.67, Z:6.76 [[ 1.49987535e-01 9.88686427e-01 -1.69945408e-03 9.48077526e+01] [ 9.88603962e-01 -1.49996978e-01 -1.27715939e-02 1.16668890e+02] [-1.28820145e-02 2.35492853e-04 -9.99916996e-01 6.75519027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.82, Y:116.66, Z:6.75 [[ 6.95398829e-02 9.97578909e-01 -7.25331525e-04 9.48238469e+01] [ 9.97488249e-01 -6.95433429e-02 -1.34505301e-02 1.16663121e+02] [-1.34684071e-02 2.11838613e-04 -9.99909274e-01 6.75436017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.84, Y:116.66, Z:6.75 [[-1.03682812e-02 9.99946194e-01 3.28524983e-04 9.48360124e+01] [ 9.99856554e-01 1.03717510e-02 -1.33901948e-02 1.16658040e+02] [-1.33928817e-02 1.89644554e-04 -9.99910293e-01 6.75485740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.85, Y:116.65, Z:6.75 [[-9.11431706e-02 9.95836912e-01 1.32931502e-03 9.48505341e+01] [ 9.95753828e-01 9.11527387e-02 -1.28643757e-02 1.16654838e+02] [-1.29319909e-02 1.51170529e-04 -9.99916367e-01 6.75326975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.86, Y:116.65, Z:6.75 [[-1.69580466e-01 9.85513797e-01 2.24103210e-03 9.48622518e+01] [ 9.85438046e-01 1.69595219e-01 -1.22196012e-02 1.16652585e+02] [-1.24226539e-02 1.36192616e-04 -9.99922827e-01 6.75267113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.87, Y:116.65, Z:6.75 [[-2.46748497e-01 9.69074957e-01 2.98447924e-03 9.48725721e+01] [ 9.69009916e-01 2.46766515e-01 -1.12280753e-02 1.16650117e+02] [-1.16173162e-02 1.21479264e-04 -9.99932509e-01 6.75287665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.89, Y:116.65, Z:6.75 [[-3.22770262e-01 9.46470133e-01 3.69398182e-03 9.48852221e+01] [ 9.46411881e-01 3.22791382e-01 -1.05011668e-02 1.16650209e+02] [-1.11314262e-02 1.06563919e-04 -9.99938038e-01 6.75078277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.90, Y:116.65, Z:6.75 [[-3.96256929e-01 9.18128787e-01 4.46955531e-03 9.48950145e+01] [ 9.18073252e-01 3.96282122e-01 -1.00987013e-02 1.16649327e+02] [-1.10431133e-02 1.01698801e-04 -9.99939018e-01 6.75139564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.380385723 meters Centerline goodness [0,1] 0.9999780619967971 Centerline is valid? [True, True] Translation: X:94.91, Y:116.65, Z:6.75 [[-4.67392148e-01 8.84033845e-01 5.36108088e-03 9.49052319e+01] [ 8.83978097e-01 4.67422883e-01 -9.92837498e-03 1.16650263e+02] [-1.12829114e-02 9.86335710e-05 -9.99936341e-01 6.75041904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.410385723 meters Centerline goodness [0,1] 0.9999779502557771 Centerline is valid? [True, True] Translation: X:94.92, Y:116.65, Z:6.75 [[-5.35611142e-01 8.44443588e-01 5.97764732e-03 9.49154269e+01] [ 8.44392884e-01 5.35644489e-01 -9.25409130e-03 1.16651908e+02] [-1.10164519e-02 9.08884577e-05 -9.99939313e-01 6.74969890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.93, Y:116.65, Z:6.75 [[-6.00832207e-01 7.99349865e-01 6.36022378e-03 9.49260179e+01] [ 7.99306434e-01 6.00865865e-01 -8.33286039e-03 1.16654587e+02] [-1.04825122e-02 7.71168866e-05 -9.99945054e-01 6.74880364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.93, Y:116.66, Z:6.75 [[-6.61972840e-01 7.49495892e-01 6.91856986e-03 9.49349206e+01] [ 7.49456082e-01 6.62008990e-01 -7.72515717e-03 1.16656708e+02] [-1.03701290e-02 7.13200337e-05 -9.99946226e-01 6.74899725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.94, Y:116.66, Z:6.75 [[-7.18576077e-01 6.95405541e-01 7.71720180e-03 9.49419622e+01] [ 6.95366549e-01 7.18617512e-01 -7.36435073e-03 1.16659978e+02] [-1.06669267e-02 7.44377233e-05 -9.99943104e-01 6.74925058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.97, Y:116.68, Z:6.75 [[-7.63492137e-01 6.45766066e-01 8.12060787e-03 9.49704854e+01] [ 6.45730650e-01 7.63535318e-01 -6.76359404e-03 1.16679175e+02] [-1.05680704e-02 7.97745287e-05 -9.99944153e-01 6.74895647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.99, Y:116.70, Z:6.75 [[-8.07381444e-01 5.89973608e-01 8.14528870e-03 9.49919242e+01] [ 5.89944482e-01 8.07422527e-01 -5.86267915e-03 1.16700107e+02] [-1.00355156e-02 7.18497591e-05 -9.99949640e-01 6.74910137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.01, Y:116.72, Z:6.75 [[-8.47547733e-01 5.30648568e-01 8.65670221e-03 9.50108758e+01] [ 5.30621667e-01 8.47591938e-01 -5.34354023e-03 1.16724455e+02] [-1.01728930e-02 6.45283424e-05 -9.99948253e-01 6.74873114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.02, Y:116.75, Z:6.75 [[-8.83262386e-01 4.68796155e-01 8.81602678e-03 9.50215591e+01] [ 4.68773455e-01 8.83306381e-01 -4.61372217e-03 1.16753341e+02] [-9.95014792e-03 5.75920787e-05 -9.99950494e-01 6.74781918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.36, Y:117.38, Z:5.73 [[-8.55462189e-01 -5.17792616e-01 8.67463399e-03 9.53568688e+01] [ 5.17765458e-01 -8.55506169e-01 -5.30341394e-03 1.17380397e+02] [ 1.01672715e-02 -4.54442579e-05 9.99948311e-01 5.73018804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.99, Y:116.78, Z:6.75 [[-8.85513495e-01 4.64527387e-01 8.95304076e-03 9.49862701e+01] [ 4.64504179e-01 8.85558753e-01 -4.64362996e-03 1.16775506e+02] [-1.00855369e-02 4.67278504e-05 -9.99949139e-01 6.74706705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.00, Y:116.81, Z:6.75 [[-9.16260373e-01 4.00497783e-01 8.27378146e-03 9.49983410e+01] [ 4.00481853e-01 9.16297727e-01 -3.57225390e-03 1.16805019e+02] [-9.01192691e-03 4.03846404e-05 -9.99959391e-01 6.74726937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.28, Y:117.44, Z:5.73 [[-8.91313660e-01 -4.53326009e-01 7.44907022e-03 9.52796484e+01] [ 4.53309466e-01 -8.91344784e-01 -3.87351782e-03 1.17441612e+02] [ 8.39565626e-03 -7.57852949e-05 9.99964753e-01 5.73175502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.96, Y:116.83, Z:6.75 [[-9.17565237e-01 3.97515886e-01 7.42677604e-03 9.49573525e+01] [ 3.97503218e-01 9.17595292e-01 -3.17380471e-03 1.16825210e+02] [-8.07641252e-03 3.99945049e-05 -9.99967384e-01 6.74679832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.23, Y:117.46, Z:5.73 [[-8.93794566e-01 -4.48418199e-01 7.23830446e-03 9.52340885e+01] [ 4.48403152e-01 -8.93823874e-01 -3.67356081e-03 1.17457687e+02] [ 8.11706085e-03 -3.77301471e-05 9.99967055e-01 5.73270570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.830385723 meters Centerline goodness [0,1] 0.9998698340383989 Centerline is valid? [True, True] Translation: X:94.92, Y:116.84, Z:6.75 [[-9.17660003e-01 3.97283987e-01 8.09644811e-03 9.49171442e+01] [ 3.97269229e-01 9.17695717e-01 -3.42512706e-03 1.16842979e+02] [-8.79082388e-03 7.33675913e-05 -9.99961357e-01 6.74686326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.860385723 meters Centerline goodness [0,1] 0.9999350452518079 Centerline is valid? [True, True] Translation: X:94.93, Y:116.87, Z:6.75 [[-9.42889582e-01 3.33025947e-01 7.27701664e-03 9.49274336e+01] [ 3.33016675e-01 9.42917659e-01 -2.48631726e-03 1.16873127e+02] [-7.68963566e-03 7.90452470e-05 -9.99970431e-01 6.74524689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.890385723 meters Centerline goodness [0,1] 0.9999783512296502 Centerline is valid? [True, True] Translation: X:94.94, Y:116.90, Z:6.75 [[-9.63852917e-01 2.66324893e-01 7.65548765e-03 9.49356898e+01] [ 2.66317229e-01 9.63883314e-01 -2.02241528e-03 1.16901922e+02] [-7.91761634e-03 8.94773896e-05 -9.99968651e-01 6.74569159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.94, Y:116.93, Z:6.75 [[-9.80017786e-01 1.98726958e-01 8.52844364e-03 9.49421922e+01] [ 1.98720421e-01 9.80054888e-01 -1.61570651e-03 1.16933865e+02] [-8.67942732e-03 1.11354797e-04 -9.99962327e-01 6.74643932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.94, Y:116.97, Z:6.75 [[-9.91618753e-01 1.28870260e-01 9.20352056e-03 9.49403667e+01] [ 1.28865837e-01 9.91661455e-01 -1.07445384e-03 1.16966240e+02] [-9.26524174e-03 1.20570798e-04 -9.99957070e-01 6.74681019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.94, Y:117.00, Z:6.75 [[-9.98269811e-01 5.80764468e-02 9.19302444e-03 9.49386799e+01] [ 5.80750878e-02 9.98312132e-01 -4.14941597e-04 1.17000601e+02] [-9.20160616e-03 1.19662032e-04 -9.99957657e-01 6.74726393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.010385723 meters Centerline goodness [0,1] 0.9999783989285869 Centerline is valid? [True, True] Translation: X:94.93, Y:117.03, Z:6.75 [[-9.99873337e-01 -1.29713141e-02 9.22257089e-03 9.49329179e+01] [-1.29696466e-02 9.99915862e-01 2.40603363e-04 1.17032274e+02] [-9.22491586e-03 1.20959402e-04 -9.99957442e-01 6.74741965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.92, Y:117.07, Z:6.75 [[-9.96413507e-01 -8.41104938e-02 9.24917056e-03 9.49220419e+01] [-8.41057347e-02 9.96456427e-01 9.03000361e-04 1.17065295e+02] [-9.29234725e-03 1.21853471e-04 -9.99956818e-01 6.74703582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.91, Y:117.09, Z:6.75 [[-9.87892246e-01 -1.54896065e-01 8.72463415e-03 9.49064448e+01] [-1.54888970e-01 9.87930764e-01 1.48721073e-03 1.17094009e+02] [-8.84969757e-03 1.17854357e-04 -9.99960834e-01 6.74712601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.87, Y:117.12, Z:6.75 [[-9.74281170e-01 -2.25169345e-01 8.65838706e-03 9.48746255e+01] [-2.25159342e-01 9.74319635e-01 2.12591428e-03 1.17118764e+02] [-8.91472725e-03 1.21721524e-04 -9.99960256e-01 6.74674901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.83, Y:117.14, Z:6.75 [[-9.55731079e-01 -2.94140965e-01 7.69401374e-03 9.48308170e+01] [-2.94130429e-01 9.55762041e-01 2.49243432e-03 1.17141830e+02] [-8.08677331e-03 1.19053376e-04 -9.99967294e-01 6.74582506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.77, Y:117.15, Z:6.75 [[-9.32043193e-01 -3.62269966e-01 7.48055549e-03 9.47701738e+01] [-3.62257206e-01 9.32073203e-01 3.04323832e-03 1.17153630e+02] [-8.07489916e-03 1.26544426e-04 -9.99967390e-01 6.74608225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.70, Y:117.16, Z:6.75 [[-9.03719504e-01 -4.28054040e-01 7.79719259e-03 9.47008850e+01] [-4.28036618e-01 9.03753127e-01 3.86509121e-03 1.17159526e+02] [-8.70120510e-03 1.55474367e-04 -9.99962132e-01 6.74646661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.62, Y:117.15, Z:6.75 [[-8.71457037e-01 -4.90408124e-01 7.90604109e-03 9.46237815e+01] [-4.90385835e-01 8.71492875e-01 4.67989596e-03 1.17154417e+02] [-9.18511747e-03 2.01317709e-04 -9.99957796e-01 6.74746877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.54, Y:117.14, Z:6.75 [[-8.33388649e-01 -5.52636406e-01 7.50753613e-03 9.45408492e+01] [-5.52611646e-01 8.33422436e-01 5.23567742e-03 1.17138046e+02] [-9.15037500e-03 2.14602228e-04 -9.99958111e-01 6.74751273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.280385723 meters Centerline goodness [0,1] 0.9999574486192077 Centerline is valid? [True, True] Translation: X:94.45, Y:117.11, Z:6.75 [[-7.90657838e-01 -6.12216518e-01 7.14975348e-03 9.44525598e+01] [-6.12188829e-01 7.90690131e-01 5.82707375e-03 1.17110653e+02] [-9.22067031e-03 2.30222322e-04 -9.99957462e-01 6.74871117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.36, Y:117.08, Z:6.75 [[-7.43065816e-01 -6.69188252e-01 6.34637400e-03 9.43608141e+01] [-6.69161221e-01 7.43092883e-01 6.01896227e-03 1.17075232e+02] [-8.74376419e-03 2.25737735e-04 -9.99961747e-01 6.74720486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.27, Y:117.03, Z:6.75 [[-6.91224567e-01 -7.22613683e-01 6.16943578e-03 9.42674652e+01] [-7.22581698e-01 6.91252056e-01 6.80335529e-03 1.17030020e+02] [-9.18083279e-03 2.44724935e-04 -9.99957825e-01 6.74623412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.370385723 meters Centerline goodness [0,1] 0.9999575803851701 Centerline is valid? [True, True] Translation: X:94.18, Y:116.98, Z:6.75 [[-6.35389288e-01 -7.72172298e-01 5.51322567e-03 9.41791344e+01] [-7.72139799e-01 6.35413158e-01 7.08868380e-03 1.16976445e+02] [-8.97686139e-03 2.47092792e-04 -9.99959677e-01 6.74684188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.09, Y:116.91, Z:6.75 [[-5.75250699e-01 -8.17961957e-01 4.98697516e-03 9.40934713e+01] [-8.17927391e-01 5.75272262e-01 7.52381218e-03 1.16909100e+02] [-9.02306061e-03 2.49094631e-04 -9.99959260e-01 6.74627469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.01, Y:116.84, Z:6.74 [[-5.12345129e-01 -8.58770974e-01 3.85789376e-03 9.40082194e+01] [-8.58743251e-01 5.12359604e-01 6.90390863e-03 1.16837708e+02] [-7.90550525e-03 2.24243728e-04 -9.99968726e-01 6.74444650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.93, Y:116.75, Z:6.74 [[-4.46222765e-01 -8.94916448e-01 3.12987286e-03 9.39331499e+01] [-8.94890950e-01 4.46233690e-01 6.75884238e-03 1.16754754e+02] [-7.44525392e-03 2.15054439e-04 -9.99972261e-01 6.74482011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.490385723 meters Centerline goodness [0,1] 0.9998949535694777 Centerline is valid? [True, True] Translation: X:93.86, Y:116.67, Z:6.75 [[-3.77139459e-01 -9.26151839e-01 2.93258406e-03 9.38583042e+01] [-9.26118642e-01 3.77150782e-01 7.84528098e-03 1.16665109e+02] [-8.37194778e-03 2.42844256e-04 -9.99964925e-01 6.74693288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.79, Y:116.57, Z:6.74 [[-3.04277420e-01 -9.52580706e-01 2.29116310e-03 9.37854972e+01] [-9.52547864e-01 3.04285963e-01 7.91326154e-03 1.16569458e+02] [-8.23518903e-03 2.25384290e-04 -9.99966065e-01 6.74335164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.73, Y:116.47, Z:6.74 [[-2.30304654e-01 -9.73117145e-01 1.66989037e-03 9.37319497e+01] [-9.73084284e-01 2.30310605e-01 8.00013943e-03 1.16468261e+02] [-8.16966631e-03 2.17525262e-04 -9.99966604e-01 6.74488680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.68, Y:116.36, Z:6.75 [[-1.54865958e-01 -9.87934908e-01 1.07319938e-03 9.36806428e+01] [-9.87900654e-01 1.54869529e-01 8.22960208e-03 1.16359406e+02] [-8.29651706e-03 2.14270844e-04 -9.99965560e-01 6.74563597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.63, Y:116.25, Z:6.74 [[-7.63487356e-02 -9.97081068e-01 4.63676115e-04 9.36323153e+01] [-9.97043691e-01 7.63498894e-02 8.63550645e-03 1.16249239e+02] [-8.64570161e-03 1.97004653e-04 -9.99962606e-01 6.74476361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.60, Y:116.14, Z:6.74 [[-3.24372581e-04 -9.99999929e-01 -1.94206318e-04 9.36010163e+01] [-9.99962572e-01 3.22681398e-04 8.64580131e-03 1.16135257e+02] [-8.64573803e-03 1.97003510e-04 -9.99962606e-01 6.74476532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.58, Y:116.02, Z:6.74 [[ 7.70569085e-02 -9.97026324e-01 -8.61138162e-04 9.35754375e+01] [-9.96988239e-01 -7.70614935e-02 8.71653185e-03 1.16017653e+02] [-8.75697231e-03 1.86875622e-04 -9.99961640e-01 6.74425377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.56, Y:115.90, Z:6.74 [[ 1.56333303e-01 -9.87703209e-01 -1.50661468e-03 9.35582803e+01] [-9.87666235e-01 -1.56340489e-01 8.54754417e-03 1.15899503e+02] [-8.67798168e-03 1.51766639e-04 -9.99962334e-01 6.74387879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.55, Y:115.78, Z:6.74 [[ 2.32391632e-01 -9.72619973e-01 -2.12559426e-03 9.35543026e+01] [-9.72584476e-01 -2.32401313e-01 8.31067191e-03 1.15779396e+02] [-8.57711639e-03 1.35989370e-04 -9.99963207e-01 6.74447549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.55, Y:115.67, Z:6.74 [[ 3.08202612e-01 -9.51317225e-01 -2.58604962e-03 9.35524284e+01] [-9.51286539e-01 -3.08213443e-01 7.64165249e-03 1.15665604e+02] [-8.06669090e-03 1.04896933e-04 -9.99967458e-01 6.74302901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.790385723 meters Centerline goodness [0,1] 0.9998950726097541 Centerline is valid? [True, True] Translation: X:93.56, Y:115.55, Z:6.74 [[ 3.79487714e-01 -9.25191547e-01 -3.11069567e-03 9.35621097e+01] [-9.25162640e-01 -3.79500450e-01 7.31426832e-03 1.15550955e+02] [-7.94760963e-03 1.02224451e-04 -9.99968412e-01 6.74406047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.58, Y:115.44, Z:6.74 [[ 4.49182039e-01 -8.93435363e-01 -2.95774765e-03 9.35821636e+01] [-8.93417117e-01 -4.49191770e-01 5.71043369e-03 1.15441233e+02] [-6.43049930e-03 7.74781351e-05 -9.99979321e-01 6.74178783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.61, Y:115.33, Z:6.74 [[ 5.14870847e-01 -8.57261868e-01 -3.17817833e-03 9.36105273e+01] [-8.57246450e-01 -5.14880650e-01 5.14208134e-03 1.15333142e+02] [-6.04449278e-03 7.69743096e-05 -9.99981729e-01 6.74139152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.64, Y:115.23, Z:6.74 [[ 5.77238196e-01 -8.16568820e-01 -3.38038834e-03 9.36426679e+01] [-8.16555617e-01 -5.77248088e-01 4.64421668e-03 1.15231073e+02] [-5.74364524e-03 7.94558290e-05 -9.99983502e-01 6.74061257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.68, Y:115.14, Z:6.74 [[ 6.34453421e-01 -7.72950330e-01 -4.07977336e-03 9.36819223e+01] [-7.72935438e-01 -6.34466529e-01 4.79931664e-03 1.15135035e+02] [-6.29811302e-03 1.08458553e-04 -9.99980161e-01 6.74072229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.940385723 meters Centerline goodness [0,1] 0.9999791209938407 Centerline is valid? [True, True] Translation: X:93.72, Y:115.05, Z:6.74 [[ 6.88034514e-01 -7.25666031e-01 -4.16170634e-03 9.37237635e+01] [-7.25653837e-01 -6.88047089e-01 4.20868222e-03 1.15047034e+02] [-5.91754765e-03 1.24239547e-04 -9.99982483e-01 6.74159877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9703857229999 meters Centerline goodness [0,1] 0.9999374413512668 Centerline is valid? [True, True] Translation: X:93.77, Y:114.96, Z:6.74 [[ 7.39605716e-01 -6.73024937e-01 -4.56289397e-03 9.37723700e+01] [-6.73013243e-01 -7.39619778e-01 3.96959800e-03 1.14961034e+02] [-6.04644507e-03 1.34950702e-04 -9.99981711e-01 6.74259909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.77, Y:114.94, Z:6.74 [[ 7.89187612e-01 -6.14137918e-01 -4.18711782e-03 9.37724921e+01] [-6.14130092e-01 -7.89198710e-01 3.10270337e-03 1.14943495e+02] [-5.20995576e-03 1.22819992e-04 -9.99986421e-01 6.74153727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.77, Y:114.93, Z:6.74 [[ 8.34905265e-01 -5.50371045e-01 -4.99115469e-03 9.37746740e+01] [-5.50362188e-01 -8.34920172e-01 3.12545474e-03 1.14926956e+02] [-5.88737552e-03 1.37484198e-04 -9.99982660e-01 6.74171848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.78, Y:114.91, Z:6.74 [[ 8.75857947e-01 -4.82538258e-01 -5.44855306e-03 9.37780511e+01] [-4.82529889e-01 -8.75874883e-01 2.84520361e-03 1.14910083e+02] [-6.14517037e-03 1.37095514e-04 -9.99981109e-01 6.74241605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.78, Y:114.89, Z:6.74 [[ 9.12052324e-01 -4.10019161e-01 -6.69670176e-03 9.37821697e+01] [-4.10009245e-01 -9.12076898e-01 2.85514145e-03 1.14893407e+02] [-7.27856967e-03 1.41671238e-04 -9.99973501e-01 6.74377270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.79, Y:114.88, Z:6.75 [[ 9.42291598e-01 -3.34701682e-01 -7.83118966e-03 9.37875891e+01] [-3.34691324e-01 -9.42324130e-01 2.63677312e-03 1.14878638e+02] [-8.26205138e-03 1.36422074e-04 -9.99965859e-01 6.74531482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.79, Y:114.86, Z:6.75 [[ 9.65855154e-01 -2.58945248e-01 -8.43679720e-03 9.37949481e+01] [-2.58936578e-01 -9.65891992e-01 2.12316921e-03 1.14862870e+02] [-8.69881944e-03 1.33921475e-04 -9.99962156e-01 6.74507304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.180385723 meters Centerline goodness [0,1] 0.9999579434339186 Centerline is valid? [True, True] Translation: X:93.80, Y:114.85, Z:6.75 [[ 9.83148630e-01 -1.82617116e-01 -8.35228432e-03 9.38031528e+01] [-1.82611650e-01 -9.83184099e-01 1.41883577e-03 1.14846278e+02] [-8.47093682e-03 1.30297985e-04 -9.99964113e-01 6.74569063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.210385723 meters Centerline goodness [0,1] 0.9999790934938954 Centerline is valid? [True, True] Translation: X:93.81, Y:114.84, Z:6.75 [[ 9.94440306e-01 -1.04986440e-01 -8.14408979e-03 9.38110988e+01] [-1.04983942e-01 -9.94473646e-01 7.34812169e-04 1.14835022e+02] [-8.17622797e-03 1.24271811e-04 -9.99966566e-01 6.74537461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.82, Y:114.82, Z:6.74 [[ 9.99601282e-01 -2.72046350e-02 -7.56204998e-03 9.38181814e+01] [-2.72047493e-02 -9.99629879e-01 8.77615226e-05 1.14818749e+02] [-7.56163862e-03 1.17997144e-04 -9.99971403e-01 6.74339226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.83, Y:114.81, Z:6.74 [[ 9.98730978e-01 4.99343908e-02 -6.55674076e-03 9.38253802e+01] [ 4.99325864e-02 -9.98752494e-01 -4.38717119e-04 1.14806625e+02] [-6.57046826e-03 1.10765353e-04 -9.99978408e-01 6.74366344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.300385723 meters Centerline goodness [0,1] 0.9998950571938293 Centerline is valid? [True, True] Translation: X:93.83, Y:114.79, Z:6.75 [[ 9.91922100e-01 1.26715222e-01 -5.81373603e-03 9.38342203e+01] [ 1.26712416e-01 -9.91939132e-01 -8.49978798e-04 1.14794766e+02] [-5.87457752e-03 1.06440218e-04 -9.99982739e-01 6.74513711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.84, Y:114.79, Z:6.74 [[ 9.78971326e-01 2.03936715e-01 -4.99597591e-03 9.38425231e+01] [ 2.03933573e-01 -9.78984069e-01 -1.13581424e-03 1.14787118e+02] [-5.12261505e-03 9.30823584e-05 -9.99986875e-01 6.74351256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.85, Y:114.78, Z:6.74 [[ 9.59988335e-01 2.80003184e-01 -4.54020984e-03 9.38538871e+01] [ 2.79999626e-01 -9.59999068e-01 -1.41417128e-03 1.14775114e+02] [-4.75456968e-03 8.63308766e-05 -9.99988693e-01 6.74262259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.86, Y:114.77, Z:6.74 [[ 9.34835588e-01 3.55062024e-01 -3.65810409e-03 9.38649459e+01] [ 3.55059018e-01 -9.34842743e-01 -1.46255421e-03 1.14766671e+02] [-3.93904953e-03 6.84048780e-05 -9.99992240e-01 6.74184065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.88, Y:114.75, Z:6.74 [[ 9.03841210e-01 4.27854405e-01 -3.41704012e-03 9.38787716e+01] [ 4.27851082e-01 -9.03847667e-01 -1.68743633e-03 1.14754682e+02] [-3.81046080e-03 6.31901840e-05 -9.99992738e-01 6.74103336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.450385723 meters Centerline goodness [0,1] 0.9999371003249816 Centerline is valid? [True, True] Translation: X:93.89, Y:114.74, Z:6.74 [[ 8.66447531e-01 4.99254975e-01 -3.62561806e-03 9.38920913e+01] [ 4.99250313e-01 -8.66455115e-01 -2.15851770e-03 1.14743780e+02] [-4.21908602e-03 6.01513776e-05 -9.99991098e-01 6.74300406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.480385723 meters Centerline goodness [0,1] 0.9999161671626776 Centerline is valid? [True, True] Translation: X:93.90, Y:114.74, Z:6.74 [[ 8.23984021e-01 5.66599809e-01 -3.87171179e-03 9.39044828e+01] [ 5.66593202e-01 -8.23993115e-01 -2.73684744e-03 1.14737788e+02] [-4.74096110e-03 6.14329737e-05 -9.99988760e-01 6.74425729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.92, Y:114.73, Z:6.74 [[ 7.76451362e-01 6.30165190e-01 -3.88795077e-03 9.39192592e+01] [ 6.30156898e-01 -7.76461094e-01 -3.23316586e-03 1.14731787e+02] [-5.05627108e-03 6.03770366e-05 -9.99987215e-01 6.74240647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.93, Y:114.73, Z:6.74 [[ 7.24861452e-01 6.88885710e-01 -3.51497274e-03 9.39333455e+01] [ 6.88877210e-01 -7.24869972e-01 -3.42254420e-03 1.14728302e+02] [-4.90563998e-03 5.94857429e-05 -9.99987966e-01 6.74244257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.570385723 meters Centerline goodness [0,1] 0.9998741505159828 Centerline is valid? [True, True] Translation: X:93.94, Y:114.73, Z:6.75 [[ 6.69540924e-01 7.42767027e-01 -3.47777643e-03 9.39445794e+01] [ 7.42756462e-01 -6.69549953e-01 -3.96215168e-03 1.14726908e+02] [-5.27150067e-03 6.96817829e-05 -9.99986103e-01 6.74533684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.96, Y:114.73, Z:6.74 [[ 6.09643425e-01 7.92669295e-01 -3.20674350e-03 9.39570631e+01] [ 7.92657695e-01 -6.09651855e-01 -4.28894386e-03 1.14727192e+02] [-5.35471122e-03 7.28765187e-05 -9.99985661e-01 6.74286169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.97, Y:114.73, Z:6.74 [[ 5.46388537e-01 8.37523255e-01 -3.78990032e-03 9.39719640e+01] [ 8.37501802e-01 -5.46401671e-01 -5.99549076e-03 1.14725956e+02] [-7.09217081e-03 1.01819080e-04 -9.99974845e-01 6.74430906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.98, Y:114.73, Z:6.75 [[ 4.79602440e-01 8.77478866e-01 -3.51264524e-03 9.39846096e+01] [ 8.77453596e-01 -4.79615290e-01 -6.66030471e-03 1.14725848e+02] [-7.52899499e-03 1.12115189e-04 -9.99971650e-01 6.74529411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.690385723 meters Centerline goodness [0,1] 0.9999161372832673 Centerline is valid? [True, True] Translation: X:93.99, Y:114.73, Z:6.75 [[ 4.09683942e-01 9.12222887e-01 -2.91091535e-03 9.39942431e+01] [ 9.12197894e-01 -4.09694268e-01 -6.75342255e-03 1.14729544e+02] [-7.35321194e-03 1.11437911e-04 -9.99972959e-01 6.74689714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7203857229999 meters Centerline goodness [0,1] 0.9999370765778048 Centerline is valid? [True, True] Translation: X:94.01, Y:114.73, Z:6.75 [[ 3.37005911e-01 9.41499312e-01 -2.46188626e-03 9.40092079e+01] [ 9.41471630e-01 -3.37014883e-01 -7.22076300e-03 1.14731599e+02] [-7.62803571e-03 1.15643739e-04 -9.99970899e-01 6.74538079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.02, Y:114.73, Z:6.74 [[ 2.62264574e-01 9.64994267e-01 -1.83253287e-03 9.40214279e+01] [ 9.64967626e-01 -2.62270953e-01 -7.17133781e-03 1.14734491e+02] [-7.40092001e-03 1.12452965e-04 -9.99972607e-01 6.74360003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.780385723 meters Centerline goodness [0,1] 0.9999582585465626 Centerline is valid? [True, True] Translation: X:94.03, Y:114.74, Z:6.75 [[ 1.85700025e-01 9.82605678e-01 -1.25825037e-03 9.40323338e+01] [ 9.82578924e-01 -1.85704255e-01 -7.25171595e-03 1.14737763e+02] [-7.35923971e-03 1.10313538e-04 -9.99972914e-01 6.74518597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.05, Y:114.74, Z:6.74 [[ 1.07994433e-01 9.94151273e-01 -6.69637418e-04 9.40510804e+01] [ 9.94125572e-01 -1.07996457e-01 -7.14932214e-03 1.14742119e+02] [-7.17982618e-03 1.06383309e-04 -9.99974219e-01 6.74227439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.06, Y:114.75, Z:6.74 [[ 2.97903317e-02 9.99556167e-01 -7.66522074e-05 9.40629955e+01] [ 9.99542985e-01 -2.97903325e-02 -5.13386400e-03 1.14747027e+02] [-5.13386892e-03 7.63223351e-05 -9.99986819e-01 6.74154204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.07, Y:114.75, Z:6.74 [[-4.86749469e-02 9.98814638e-01 2.63457137e-04 9.40722094e+01] [ 9.98806047e-01 4.86756210e-02 -4.14305325e-03 1.14753397e+02] [-4.15096617e-03 6.14796850e-05 -9.99991383e-01 6.74091380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.08, Y:114.76, Z:6.74 [[-1.26666530e-01 9.91945178e-01 5.95897349e-04 9.40815540e+01] [ 9.91936409e-01 1.26667916e-01 -4.17138536e-03 1.14759811e+02] [-4.21326666e-03 6.27173687e-05 -9.99991122e-01 6.74111521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.930385723 meters Centerline goodness [0,1] 0.999832232358184 Centerline is valid? [True, True] Translation: X:94.09, Y:114.77, Z:6.74 [[-2.03719967e-01 9.79028560e-01 1.12017098e-03 9.40914511e+01] [ 9.79015778e-01 2.03723032e-01 -5.00336784e-03 1.14767078e+02] [-5.12664464e-03 7.73791363e-05 -9.99986856e-01 6.74499722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.10, Y:114.78, Z:6.74 [[-2.80888300e-01 9.59738785e-01 1.79642904e-03 9.41023195e+01] [ 9.59721043e-01 2.80894032e-01 -5.83632757e-03 1.14775852e+02] [-6.10595612e-03 8.47146194e-05 -9.99981355e-01 6.74314871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.11, Y:114.78, Z:6.74 [[-3.56604355e-01 9.34252088e-01 2.52399564e-03 9.41082864e+01] [ 9.34230343e-01 3.56613277e-01 -6.37471207e-03 1.14782983e+02] [-6.85567842e-03 8.47432286e-05 -9.99976496e-01 6.74412369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.12, Y:114.79, Z:6.74 [[-4.29324753e-01 9.03145694e-01 2.84827037e-03 9.41173225e+01] [ 9.03126972e-01 4.29334194e-01 -5.81564204e-03 1.14792393e+02] [-6.47523193e-03 7.55507170e-05 -9.99979033e-01 6.74204979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.050385723 meters Centerline goodness [0,1] 0.9998522427440634 Centerline is valid? [True, True] Translation: X:94.12, Y:114.80, Z:6.74 [[-4.99078393e-01 8.66549746e-01 3.50660734e-03 9.41233153e+01] [ 8.66529440e-01 4.99090706e-01 -5.93274322e-03 1.14800071e+02] [-6.89113226e-03 7.76745416e-05 -9.99976253e-01 6.74476637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.13, Y:114.81, Z:6.74 [[-5.66349496e-01 8.24157251e-01 3.61589772e-03 9.41269043e+01] [ 8.24141169e-01 5.66361035e-01 -5.14890610e-03 1.14808387e+02] [-6.29141187e-03 6.39298035e-05 -9.99980207e-01 6.74024087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.13, Y:114.82, Z:6.74 [[-6.29383288e-01 7.77084007e-01 4.13800706e-03 9.41347013e+01] [ 7.77067879e-01 6.29396888e-01 -5.00691930e-03 1.14820015e+02] [-6.49524568e-03 6.42410295e-05 -9.99978904e-01 6.74005015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.14, Y:114.83, Z:6.74 [[-6.88312695e-01 7.25392719e-01 5.57111288e-03 9.41391334e+01] [ 7.25369878e-01 6.88335236e-01 -5.75696047e-03 1.14828529e+02] [-8.01085051e-03 7.85284909e-05 -9.99967910e-01 6.74123927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.14, Y:114.84, Z:6.74 [[-7.42843783e-01 6.69439373e-01 5.83443418e-03 9.41413104e+01] [ 6.69419549e-01 7.42866691e-01 -5.15235423e-03 1.14835905e+02] [-7.78339559e-03 7.82899949e-05 -9.99969706e-01 6.74161879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.15, Y:114.86, Z:6.74 [[-7.88212546e-01 6.15374924e-01 5.88945225e-03 9.41512486e+01] [ 6.15358472e-01 7.88234544e-01 -4.50039464e-03 1.14864384e+02] [-7.41169972e-03 7.68568224e-05 -9.99972530e-01 6.74086740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.17, Y:114.88, Z:6.74 [[-8.29162138e-01 5.58973121e-01 6.26091593e-03 9.41680951e+01] [ 5.58957963e-01 8.29185771e-01 -4.11740149e-03 1.14883184e+02] [-7.49297917e-03 8.55953927e-05 -9.99971924e-01 6.74078948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.260385723 meters Centerline goodness [0,1] 0.9999154620001691 Centerline is valid? [True, True] Translation: X:94.18, Y:114.91, Z:6.74 [[-8.66342486e-01 4.99404245e-01 6.78949202e-03 9.41784716e+01] [ 4.99389757e-01 8.66369085e-01 -3.80520721e-03 1.14908554e+02] [-7.78254262e-03 9.39900914e-05 -9.99969711e-01 6.74307793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.19, Y:114.93, Z:6.74 [[-8.98773962e-01 4.38355047e-01 7.08651342e-03 9.41851802e+01] [ 4.38342373e-01 8.98801892e-01 -3.33516319e-03 1.14934054e+02] [-7.83135729e-03 1.08761273e-04 -9.99969329e-01 6.74042460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.320385723 meters Centerline goodness [0,1] 0.9998308131542772 Centerline is valid? [True, True] Translation: X:94.19, Y:114.96, Z:6.74 [[-9.27077050e-01 3.74781112e-01 8.20128823e-03 9.41900339e+01] [ 3.74767725e-01 9.27113316e-01 -3.17052078e-03 1.14960137e+02] [-8.79177483e-03 1.34261076e-04 -9.99961343e-01 6.74447338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.19, Y:114.99, Z:6.74 [[-9.51268899e-01 3.08247389e-01 8.42783198e-03 9.41908146e+01] [ 3.08236556e-01 9.51306222e-01 -2.58786730e-03 1.14986251e+02] [-8.81515235e-03 1.36008226e-04 -9.99961137e-01 6.73994037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.380385723 meters Centerline goodness [0,1] 0.9998092492899835 Centerline is valid? [True, True] Translation: X:94.20, Y:115.01, Z:6.74 [[-9.70884460e-01 2.39360762e-01 9.47582870e-03 9.41960468e+01] [ 2.39350808e-01 9.70930690e-01 -2.18760439e-03 1.15014473e+02] [-9.72399955e-03 1.44136155e-04 -9.99952710e-01 6.74294039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.19, Y:115.04, Z:6.74 [[-9.85717289e-01 1.68170835e-01 8.94407458e-03 9.41935316e+01] [ 1.68165005e-01 9.85757859e-01 -1.40537672e-03 1.15044183e+02] [-9.05303518e-03 1.18776210e-04 -9.99959013e-01 6.73954349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.19, Y:115.07, Z:6.74 [[-9.95479672e-01 9.44655094e-02 9.82291997e-03 9.41875920e+01] [ 9.44618742e-02 9.95528130e-01 -8.34413822e-04 1.15073417e+02] [-9.85781648e-03 9.72494329e-05 -9.99951406e-01 6.73971249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.17, Y:115.10, Z:6.74 [[-9.99714423e-01 2.16247383e-02 1.01707358e-02 9.41737204e+01] [ 2.16244490e-02 9.99766155e-01 -1.38431698e-04 1.15100363e+02] [-1.01713509e-02 8.15443921e-05 -9.99948267e-01 6.74111542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.500385723 meters Centerline goodness [0,1] 0.9999787667742484 Centerline is valid? [True, True] Translation: X:94.17, Y:115.13, Z:6.74 [[-9.98700002e-01 -4.99835017e-02 9.99774706e-03 9.41670755e+01] [-4.99802331e-02 9.98750041e-01 5.76680895e-04 1.15129039e+02] [-1.00140748e-02 7.62414834e-05 -9.99949855e-01 6.73994488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.530385723 meters Centerline goodness [0,1] 0.9999787667742484 Centerline is valid? [True, True] Translation: X:94.13, Y:115.72, Z:5.74 [[-9.99946868e-01 -2.35920422e-03 1.00347491e-02 9.41314515e+01] [ 2.35833274e-03 -9.99997214e-01 -9.86788203e-05 1.15723325e+02] [ 1.00349540e-02 -7.50082998e-05 9.99949646e-01 5.73877942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.09, Y:115.12, Z:6.74 [[-9.98407749e-01 -5.55138851e-02 1.00087362e-02 9.40859696e+01] [-5.55103626e-02 9.98457913e-01 6.29618871e-04 1.15122947e+02] [-1.00282544e-02 7.30277854e-05 -9.99949713e-01 6.73971941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5903857229999 meters Centerline goodness [0,1] 0.9999147830162551 Centerline is valid? [True, True] Translation: X:94.07, Y:115.15, Z:6.74 [[-9.91875438e-01 -1.26744149e-01 1.09103977e-02 9.40732011e+01] [-1.26735616e-01 9.91935439e-01 1.47278612e-03 1.15147420e+02] [-1.10090772e-02 7.80844054e-05 -9.99939395e-01 6.73955647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.620385723 meters Centerline goodness [0,1] 0.9998714790617972 Centerline is valid? [True, True] Translation: X:94.05, Y:115.17, Z:6.74 [[-9.80326897e-01 -1.97049894e-01 1.14243016e-02 9.40500848e+01] [-1.97035484e-01 9.80393458e-01 2.38455474e-03 1.15170998e+02] [-1.16701868e-02 8.66503638e-05 -9.99931897e-01 6.73939643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.650385723 meters Centerline goodness [0,1] 0.9998287524616833 Centerline is valid? [True, True] Translation: X:94.02, Y:115.19, Z:6.74 [[-9.63768182e-01 -2.66504063e-01 1.12461072e-02 9.40199940e+01] [-2.66484778e-01 9.63833790e-01 3.20746545e-03 1.15188074e+02] [-1.16941807e-02 9.43367688e-05 -9.99931616e-01 6.74032887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.680385723 meters Centerline goodness [0,1] 0.9997852510415325 Centerline is valid? [True, True] Translation: X:93.97, Y:115.20, Z:6.74 [[-9.41722134e-01 -3.36178036e-01 1.19895870e-02 9.39666718e+01] [-3.36149436e-01 9.41798449e-01 4.38618935e-03 1.15200269e+02] [-1.27663150e-02 1.00278691e-04 -9.99918502e-01 6.74099210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.710385723 meters Centerline goodness [0,1] 0.9999135621056271 Centerline is valid? [True, True] Translation: X:93.90, Y:115.20, Z:6.74 [[-9.13473178e-01 -4.06755596e-01 1.07998862e-02 9.38977101e+01] [-4.06726328e-01 9.13537017e-01 4.87990698e-03 1.15199532e+02] [-1.18510253e-02 6.50660668e-05 -9.99929772e-01 6.74035307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.82, Y:115.19, Z:6.74 [[-8.80251339e-01 -4.74400249e-01 1.00987171e-02 9.38246332e+01] [-4.74368433e-01 8.80309265e-01 5.49434691e-03 1.15193958e+02] [-1.14965138e-02 4.58936100e-05 -9.99933912e-01 6.73872912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.770385723 meters Centerline goodness [0,1] 0.9997628850423573 Centerline is valid? [True, True] Translation: X:93.75, Y:115.18, Z:6.74 [[-8.41461524e-01 -5.40236905e-01 9.30535567e-03 9.37458206e+01] [-5.40203586e-01 8.41512974e-01 5.99999917e-03 1.15176649e+02] [-1.10719985e-02 2.19819508e-05 -9.99938703e-01 6.73813055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.800385723 meters Centerline goodness [0,1] 0.9998050766698432 Centerline is valid? [True, True] Translation: X:93.66, Y:115.15, Z:6.74 [[-7.98241387e-01 -6.02280546e-01 8.29652245e-03 9.36606922e+01] [-6.02247869e-01 7.98284501e-01 6.27381821e-03 1.15149853e+02] [-1.04015839e-02 1.14583849e-05 -9.99945902e-01 6.73816649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.830385723 meters Centerline goodness [0,1] 0.9998484586075511 Centerline is valid? [True, True] Translation: X:93.58, Y:115.11, Z:6.74 [[-7.50087697e-01 -6.61294354e-01 7.63049341e-03 9.35752913e+01] [-6.61260122e-01 7.50126508e-01 6.72851863e-03 1.15112446e+02] [-1.01733668e-02 1.23803655e-06 -9.99948250e-01 6.73793179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.860385723 meters Centerline goodness [0,1] 0.9996752051620726 Centerline is valid? [True, True] Translation: X:93.49, Y:115.07, Z:6.74 [[-6.97966991e-01 -7.16094614e-01 7.11227543e-03 9.34878534e+01] [-7.16057446e-01 6.98003227e-01 7.29585347e-03 1.15066757e+02] [-1.01889126e-02 -5.32890740e-07 -9.99948092e-01 6.73781956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.890385723 meters Centerline goodness [0,1] 0.9996096968645648 Centerline is valid? [True, True] Translation: X:93.40, Y:115.00, Z:6.74 [[-6.42195733e-01 -7.66515731e-01 6.18667382e-03 9.33995534e+01] [-7.66480099e-01 6.42225533e-01 7.39073689e-03 1.15004642e+02] [-9.63835597e-03 4.33733210e-06 -9.99953550e-01 6.73723481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.920385723 meters Centerline goodness [0,1] 0.9998046875 Centerline is valid? [True, True] Translation: X:93.32, Y:114.94, Z:6.74 [[-5.82336014e-01 -8.12931059e-01 5.27837946e-03 9.33167644e+01] [-8.12897567e-01 5.82359935e-01 7.37914142e-03 1.14940333e+02] [-9.07264997e-03 6.35797736e-06 -9.99958843e-01 6.73641931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.950385723 meters Centerline goodness [0,1] 0.9996317716117573 Centerline is valid? [True, True] Translation: X:93.24, Y:114.86, Z:6.74 [[-5.18974274e-01 -8.54778697e-01 4.36825834e-03 9.32352642e+01] [-8.54748283e-01 5.18992658e-01 7.21071499e-03 1.14864769e+02] [-8.43065957e-03 8.41426434e-06 -9.99964461e-01 6.73570027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.980385723 meters Centerline goodness [0,1] 0.9996951816934834 Centerline is valid? [True, True] Translation: X:93.16, Y:114.78, Z:6.74 [[-4.52650412e-01 -8.91679894e-01 3.81716035e-03 9.31604231e+01] [-8.91647954e-01 4.52666507e-01 7.54720902e-03 1.14778308e+02] [-8.45759518e-03 1.26840633e-05 -9.99964234e-01 6.73687527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.010385723 meters Centerline goodness [0,1] 0.9997603172527999 Centerline is valid? [True, True] Translation: X:93.09, Y:114.68, Z:6.73 [[-3.83970492e-01 -9.23340593e-01 2.96835854e-03 9.30868965e+01] [-9.23312627e-01 3.83981965e-01 7.18640457e-03 1.14682110e+02] [-7.77529520e-03 1.86443783e-05 -9.99969772e-01 6.73457713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.040385723 meters Centerline goodness [0,1] 0.999650616879572 Centerline is valid? [True, True] Translation: X:93.03, Y:114.59, Z:6.73 [[-3.14034028e-01 -9.49409128e-01 2.22177046e-03 9.30275638e+01] [-9.49384644e-01 3.14041886e-01 6.81856695e-03 1.14587184e+02] [-7.17133869e-03 3.19472880e-05 -9.99974285e-01 6.73379121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.97, Y:114.48, Z:6.73 [[-2.41262168e-01 -9.70458429e-01 1.73310584e-03 9.29696350e+01] [-9.70432166e-01 2.41268389e-01 7.13972767e-03 1.14479363e+02] [-7.34695256e-03 4.06845207e-05 -9.99973010e-01 6.73367345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.100385723 meters Centerline goodness [0,1] 0.9999562219546897 Centerline is valid? [True, True] Translation: X:92.92, Y:114.37, Z:6.73 [[-1.66829961e-01 -9.85984952e-01 1.19955211e-03 9.29199896e+01] [-9.85957356e-01 1.66834266e-01 7.37698133e-03 1.14366460e+02] [-7.47371898e-03 4.79942828e-05 -9.99972070e-01 6.73385636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.130385723 meters Centerline goodness [0,1] 0.9999560738837275 Centerline is valid? [True, True] Translation: X:92.88, Y:114.25, Z:6.74 [[-9.22843511e-02 -9.95732456e-01 6.88912719e-04 9.28835275e+01] [-9.95698958e-01 9.22868976e-02 8.16784875e-03 1.14248311e+02] [-8.19656971e-03 6.78149454e-05 -9.99966405e-01 6.73629472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.160385723 meters Centerline goodness [0,1] 0.9999120415164042 Centerline is valid? [True, True] Translation: X:92.85, Y:114.12, Z:6.74 [[-1.61030753e-02 -9.99870335e-01 6.30701691e-05 9.28493439e+01] [-9.99831224e-01 1.61030033e-02 8.84407767e-03 1.14122968e+02] [-8.84394652e-03 7.93573247e-05 -9.99960888e-01 6.73529589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.190385723 meters Centerline goodness [0,1] 0.9999337236275267 Centerline is valid? [True, True] Translation: X:92.83, Y:113.99, Z:6.74 [[ 5.99900845e-02 -9.98198703e-01 -7.34485256e-04 9.28293395e+01] [-9.98143697e-01 -5.99944897e-02 1.04795839e-02 1.13993222e+02] [-1.05047721e-02 1.04450703e-04 -9.99944818e-01 6.73669021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.81, Y:113.87, Z:6.74 [[ 1.36723791e-01 -9.90607891e-01 -1.61580660e-03 9.28147417e+01] [-9.90547900e-01 -1.36733294e-01 1.09024684e-02 1.13873994e+02] [-1.10210057e-02 1.09907032e-04 -9.99939261e-01 6.73603559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.81, Y:113.75, Z:6.74 [[ 2.13239595e-01 -9.76996371e-01 -2.63929303e-03 9.28132925e+01] [-9.76927878e-01 -2.13255899e-01 1.15690453e-02 1.13749158e+02] [-1.18657601e-02 1.11420398e-04 -9.99929593e-01 6.73590151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.82, Y:113.62, Z:6.74 [[ 2.88433466e-01 -9.57493331e-01 -3.55764899e-03 9.28206794e+01] [-9.57424949e-01 -2.88455387e-01 1.14436345e-02 1.13619174e+02] [-1.19834267e-02 1.05454739e-04 -9.99928191e-01 6.73734688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.83, Y:113.50, Z:6.74 [[ 3.62768023e-01 -9.31867868e-01 -4.65174554e-03 9.28345150e+01] [-9.31794455e-01 -3.62797835e-01 1.16972268e-02 1.13501816e+02] [-1.25879130e-02 9.10908513e-05 -9.99920765e-01 6.73668393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3403857229999 meters Centerline goodness [0,1] 0.999910885354008 Centerline is valid? [True, True] Translation: X:92.86, Y:113.38, Z:6.74 [[ 4.33919885e-01 -9.00934827e-01 -5.47466031e-03 9.28598571e+01] [-9.00865518e-01 -4.33954412e-01 1.11752937e-02 1.13378599e+02] [-1.24439643e-02 8.27505252e-05 -9.99922568e-01 6.73650413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.89, Y:113.26, Z:6.74 [[ 5.02307625e-01 -8.64666621e-01 -6.21974473e-03 9.28917788e+01] [-8.64602194e-01 -5.02346125e-01 1.05554509e-02 1.13262069e+02] [-1.22514107e-02 7.55214755e-05 -9.99924946e-01 6.73610291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.400385723 meters Centerline goodness [0,1] 0.9999554178462362 Centerline is valid? [True, True] Translation: X:92.94, Y:113.15, Z:6.74 [[ 5.68704360e-01 -8.22514518e-01 -6.72451173e-03 9.29368392e+01] [-8.22458078e-01 -5.68744112e-01 9.63562462e-03 1.13145554e+02] [-1.17499676e-02 5.08072565e-05 -9.99930966e-01 6.73548207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.430385723 meters Centerline goodness [0,1] 0.9999776641129302 Centerline is valid? [True, True] Translation: X:92.98, Y:113.04, Z:6.73 [[ 6.30892956e-01 -7.75839584e-01 -6.85702467e-03 9.29826334e+01] [-7.75794386e-01 -6.30930217e-01 8.37442794e-03 1.13039064e+02] [-1.08235168e-02 3.62736459e-05 -9.99941423e-01 6.73451194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.460385723 meters Centerline goodness [0,1] 0.9997769201597252 Centerline is valid? [True, True] Translation: X:93.05, Y:112.92, Z:6.73 [[ 6.90917178e-01 -7.22903803e-01 -6.59886266e-03 9.30516796e+01] [-7.22870811e-01 -6.90948689e-01 6.90643569e-03 1.12915694e+02] [-9.55216413e-03 -1.64984861e-06 -9.99954377e-01 6.73340503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.490385723 meters Centerline goodness [0,1] 0.9998883953483181 Centerline is valid? [True, True] Translation: X:93.09, Y:112.84, Z:6.73 [[ 7.45120073e-01 -6.66891946e-01 -7.15614309e-03 9.30885575e+01] [-6.66860985e-01 -7.45154436e-01 6.42602895e-03 1.12837915e+02] [-9.61789871e-03 -1.60105264e-05 -9.99953747e-01 6.73405513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.520385723 meters Centerline goodness [0,1] 0.9999109428921296 Centerline is valid? [True, True] Translation: X:93.08, Y:112.83, Z:6.73 [[ 7.95709636e-01 -6.05629775e-01 -7.66487929e-03 9.30826510e+01] [-6.05601341e-01 -7.95746552e-01 5.86869836e-03 1.12830442e+02] [-9.65355973e-03 -2.79186617e-05 -9.99953403e-01 6.73435735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.08, Y:112.82, Z:6.73 [[ 8.40326977e-01 -5.42021279e-01 -7.96899545e-03 9.30767554e+01] [-5.41996654e-01 -8.40364761e-01 5.16668364e-03 1.12821841e+02] [-9.49731544e-03 -2.25347706e-05 -9.99954899e-01 6.73388522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.07, Y:112.81, Z:6.73 [[ 8.79412500e-01 -4.75996515e-01 -7.80849480e-03 9.30713220e+01] [-4.75977672e-01 -8.79447166e-01 4.23533092e-03 1.12813562e+02] [-8.88316138e-03 -7.93377698e-06 -9.99960544e-01 6.73323141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.610385723 meters Centerline goodness [0,1] 0.9999553421904656 Centerline is valid? [True, True] Translation: X:93.07, Y:112.80, Z:6.73 [[ 9.13484300e-01 -4.06789548e-01 -8.28843958e-03 9.30668463e+01] [-4.06772823e-01 -9.13521901e-01 3.68873723e-03 1.12804801e+02] [-9.07221083e-03 1.90842117e-06 -9.99958847e-01 6.73286161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.06, Y:112.79, Z:6.73 [[ 9.41518464e-01 -3.36825479e-01 -9.56969094e-03 9.30628175e+01] [-3.36808416e-01 -9.41567096e-01 3.39039396e-03 1.12794721e+02] [-1.01524772e-02 3.10339326e-05 -9.99948462e-01 6.73335433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.06, Y:112.79, Z:6.73 [[ 9.64479080e-01 -2.63941604e-01 -1.07206970e-02 9.30585374e+01] [-2.63925919e-01 -9.64538660e-01 2.87789042e-03 1.12785412e+02] [-1.11001218e-02 5.38047080e-05 -9.99938390e-01 6.73468006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.05, Y:112.77, Z:6.73 [[ 9.81838330e-01 -1.89390931e-01 -1.11610567e-02 9.30526045e+01] [-1.89379569e-01 -9.81901762e-01 2.07584195e-03 1.12774747e+02] [-1.13522069e-02 7.55349238e-05 -9.99935559e-01 6.73489384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.05, Y:112.77, Z:6.74 [[ 9.93267351e-01 -1.15211858e-01 -1.20912016e-02 9.30465725e+01] [-1.15204800e-01 -9.93340935e-01 1.28091900e-03 1.12765342e+02] [-1.21582625e-02 1.20669441e-04 -9.99926078e-01 6.73546069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.760385723 meters Centerline goodness [0,1] 0.9999776910206358 Centerline is valid? [True, True] Translation: X:93.04, Y:112.76, Z:6.74 [[ 9.99205292e-01 -3.77616117e-02 -1.27610683e-02 9.30406812e+01] [-3.77602573e-02 -9.99286767e-01 3.47143021e-04 1.12755997e+02] [-1.27650753e-02 1.34994078e-04 -9.99918514e-01 6.73550031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.04, Y:112.75, Z:6.74 [[ 9.99127401e-01 3.97542543e-02 -1.28076650e-02 9.30366546e+01] [ 3.97491178e-02 -9.99209477e-01 -6.55457521e-04 1.12745285e+02] [-1.28235974e-02 1.45792186e-04 -9.99917764e-01 6.73539665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.03, Y:112.73, Z:6.73 [[ 9.93005780e-01 1.17399679e-01 -1.25233985e-02 9.30338310e+01] [ 1.17388440e-01 -9.93084736e-01 -1.63131080e-03 1.12732085e+02] [-1.26283112e-02 1.49798843e-04 -9.99920249e-01 6.73479703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.03, Y:112.72, Z:6.74 [[ 9.80766884e-01 1.94809723e-01 -1.20619810e-02 9.30304355e+01] [ 1.94793160e-01 -9.80841042e-01 -2.54444439e-03 1.12719280e+02] [-1.23265685e-02 1.45915403e-04 -9.99924014e-01 6.73643429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.03, Y:112.70, Z:6.74 [[ 9.62498563e-01 2.71030083e-01 -1.17987668e-02 9.30303238e+01] [ 2.71007875e-01 -9.62570867e-01 -3.47258221e-03 1.12704071e+02] [-1.22983234e-02 1.44796669e-04 -9.99924362e-01 6.73590406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.03, Y:112.69, Z:6.74 [[ 9.38261409e-01 3.45737300e-01 -1.14563250e-02 9.30298387e+01] [ 3.45709682e-01 -9.38331338e-01 -4.37226010e-03 1.12691855e+02] [-1.22614821e-02 1.41760460e-04 -9.99924815e-01 6.73741928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.03, Y:112.68, Z:6.74 [[ 9.07929618e-01 4.19006371e-01 -9.87265755e-03 9.30284137e+01] [ 4.18980205e-01 -9.07983286e-01 -4.68401942e-03 1.12683790e+02] [-1.09268420e-02 1.16311878e-04 -9.99940294e-01 6.73625657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.03, Y:112.67, Z:6.73 [[ 8.71651990e-01 4.90060038e-01 -7.99792761e-03 9.30307179e+01] [ 4.90038509e-01 -8.71688678e-01 -4.59431025e-03 1.12671664e+02] [-9.22319080e-03 8.53471518e-05 -9.99957462e-01 6.73361094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.000385723 meters Centerline goodness [0,1] 0.9999555871380352 Centerline is valid? [True, True] Translation: X:93.03, Y:112.66, Z:6.73 [[ 8.30054510e-01 5.57642932e-01 -6.62345280e-03 9.30335324e+01] [ 5.57624542e-01 -8.30080933e-01 -4.52920996e-03 1.12660430e+02] [-8.02368380e-03 6.60913231e-05 -9.99967808e-01 6.73351218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.04, Y:112.65, Z:6.73 [[ 7.83098021e-01 6.21869232e-01 -6.01225863e-03 9.30389083e+01] [ 6.21850372e-01 -7.83121099e-01 -4.84359417e-03 1.12647544e+02] [-7.72040877e-03 5.42837464e-05 -9.99970196e-01 6.73321023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.060385723 meters Centerline goodness [0,1] 0.9999556098102319 Centerline is valid? [True, True] Translation: X:93.05, Y:112.64, Z:6.73 [[ 7.29557748e-01 6.83898535e-01 -5.31848324e-03 9.30450443e+01] [ 6.83880112e-01 -7.29577133e-01 -5.01992053e-03 1.12635557e+02] [-7.31336005e-03 2.51170020e-05 -9.99973257e-01 6.73385224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0903857229999 meters Centerline goodness [0,1] 0.9999555031481523 Centerline is valid? [True, True] Translation: X:93.05, Y:112.62, Z:6.73 [[ 6.72291071e-01 7.40268274e-01 -5.25345611e-03 9.30494705e+01] [ 7.40245544e-01 -6.72311596e-01 -5.80107607e-03 1.12624273e+02] [-7.82631203e-03 1.11641700e-05 -9.99969374e-01 6.73429137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.120385723 meters Centerline goodness [0,1] 0.999955721844628 Centerline is valid? [True, True] Translation: X:93.06, Y:112.61, Z:6.74 [[ 6.09668095e-01 7.92637798e-01 -5.48957169e-03 9.30554570e+01] [ 7.92605916e-01 -6.09692809e-01 -7.10922592e-03 1.12614662e+02] [-8.98199356e-03 -1.67987676e-05 -9.99959661e-01 6.73592711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.150385723 meters Centerline goodness [0,1] 0.9999334988473133 Centerline is valid? [True, True] Translation: X:93.06, Y:112.60, Z:6.74 [[ 5.44478429e-01 8.38759701e-01 -5.04022031e-03 9.30605757e+01] [ 8.38724296e-01 -5.44501756e-01 -7.70668971e-03 1.12604445e+02] [-9.20846957e-03 -3.12289172e-05 -9.99957601e-01 6.73670855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.180385723 meters Centerline goodness [0,1] 0.9998891155859132 Centerline is valid? [True, True] Translation: X:93.07, Y:112.60, Z:6.74 [[ 4.76206940e-01 8.79322554e-01 -4.33553235e-03 9.30673276e+01] [ 8.79286884e-01 -4.76226674e-01 -7.92021497e-03 1.12595839e+02] [-9.02911981e-03 -4.05153952e-05 -9.99959236e-01 6.73705123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.210385723 meters Centerline goodness [0,1] 0.9998666696295638 Centerline is valid? [True, True] Translation: X:93.07, Y:112.59, Z:6.74 [[ 4.05302195e-01 9.14174628e-01 -3.85741518e-03 9.30725664e+01] [ 9.14134349e-01 -4.05320548e-01 -8.58162923e-03 1.12587145e+02] [-9.40859735e-03 -4.80425532e-05 -9.99955737e-01 6.73854060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.240385723 meters Centerline goodness [0,1] 0.99993320568197 Centerline is valid? [True, True] Translation: X:93.08, Y:112.58, Z:6.74 [[ 3.32586690e-01 9.43067903e-01 -3.00390704e-03 9.30766263e+01] [ 9.43030640e-01 -3.32600253e-01 -8.38350814e-03 1.12580377e+02] [-8.90531768e-03 -4.45331534e-05 -9.99960346e-01 6.73724003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.08, Y:112.57, Z:6.74 [[ 2.58333331e-01 9.66053518e-01 -2.11907569e-03 9.30827374e+01] [ 9.66022125e-01 -2.58342019e-01 -7.78811748e-03 1.12573896e+02] [-8.07118458e-03 -3.51436752e-05 -9.99967427e-01 6.73581214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.09, Y:112.57, Z:6.74 [[ 1.82348223e-01 9.83233052e-01 -1.37497122e-03 9.30890333e+01] [ 9.83206259e-01 -1.82353404e-01 -7.25871512e-03 1.12566266e+02] [-7.38773931e-03 -2.82665043e-05 -9.99972710e-01 6.73559245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.330385723 meters Centerline goodness [0,1] 0.9999551820728292 Centerline is valid? [True, True] Translation: X:93.09, Y:112.56, Z:6.74 [[ 1.05572245e-01 9.94411413e-01 -6.64852800e-04 9.30939799e+01] [ 9.94392784e-01 -1.05574337e-01 -6.08695879e-03 1.12558846e+02] [-6.12313269e-03 -1.85109231e-05 -9.99981253e-01 6.73518394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.10, Y:112.55, Z:6.73 [[ 2.77848873e-02 9.99613911e-01 -1.72494346e-04 9.31019095e+01] [ 9.99597791e-01 -2.77854189e-02 -5.67681160e-03 1.12552581e+02] [-5.67941267e-03 -1.46953968e-05 -9.99983872e-01 6.73483509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.11, Y:112.55, Z:6.73 [[-5.00840582e-02 9.98744986e-01 2.02983446e-04 9.31093992e+01] [ 9.98736069e-01 5.00844688e-02 -4.22022564e-03 1.12546210e+02] [-4.22509551e-03 -8.63913731e-06 -9.99991074e-01 6.73470854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.12, Y:112.54, Z:6.73 [[-1.27951419e-01 9.91780345e-01 4.27219558e-04 9.31215110e+01] [ 9.91774657e-01 1.27952132e-01 -3.35874262e-03 1.12541818e+02] [-3.38579857e-03 -6.05035371e-06 -9.99994268e-01 6.73384594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.13, Y:112.54, Z:6.73 [[-2.05252790e-01 9.78708750e-01 6.89030400e-04 9.31342274e+01] [ 9.78703136e-01 2.05253947e-01 -3.31497898e-03 1.12537727e+02] [-3.38582514e-03 -6.05247274e-06 -9.99994268e-01 6.73384617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.15, Y:112.53, Z:6.73 [[-2.80814587e-01 9.59761821e-01 6.43921712e-04 9.31459077e+01] [ 9.59759275e-01 2.80815325e-01 -2.21054318e-03 1.12533621e+02] [-2.30241803e-03 -2.74293285e-06 -9.99997349e-01 6.73290550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.16, Y:112.53, Z:6.73 [[-3.54844140e-01 9.34925134e-01 7.93783754e-04 9.31551173e+01] [ 9.34922783e-01 3.54845028e-01 -2.09664207e-03 1.12530800e+02] [-2.24187358e-03 -1.85463389e-06 -9.99997487e-01 6.73220387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.17, Y:112.53, Z:6.73 [[-4.26575164e-01 9.04451709e-01 8.58164178e-04 9.31650936e+01] [ 9.04449875e-01 4.26576027e-01 -1.82122088e-03 1.12526994e+02] [-2.01327861e-03 -7.21113186e-07 -9.99997973e-01 6.73212918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.18, Y:112.53, Z:6.73 [[-4.95496534e-01 8.68609736e-01 5.58411228e-04 9.31772727e+01] [ 8.68609185e-01 4.95496849e-01 -9.77622002e-04 1.12527129e+02] [-1.12586299e-03 6.32807772e-07 -9.99999366e-01 6.73165720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.19, Y:112.53, Z:6.73 [[-5.61343114e-01 8.27583116e-01 3.07387053e-04 9.31902620e+01] [ 8.27582993e-01 5.61343198e-01 -4.51263631e-04 1.12528671e+02] [-5.46007793e-04 1.07456539e-06 -9.99999851e-01 6.73076541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.20, Y:112.53, Z:6.73 [[-6.23893796e-01 7.81508959e-01 5.28588618e-04 9.32031202e+01] [ 7.81508681e-01 6.23894020e-01 -6.59099685e-04 1.12531158e+02] [-8.44875586e-04 1.88838871e-06 -9.99999643e-01 6.73039650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.660385723 meters Centerline goodness [0,1] 0.9999554664885326 Centerline is valid? [True, True] Translation: X:93.22, Y:112.53, Z:6.73 [[-6.81854215e-01 7.31487437e-01 9.79234358e-04 9.32152183e+01] [ 7.31486694e-01 6.81854918e-01 -1.04265468e-03 1.12534565e+02] [-1.43038456e-03 5.35841448e-06 -9.99998977e-01 6.72990546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.23, Y:112.54, Z:6.73 [[-7.36121336e-01 6.76848823e-01 1.02435677e-03 9.32267631e+01] [ 6.76848181e-01 7.36122049e-01 -9.32173763e-04 1.12537878e+02] [-1.38499232e-03 7.14101828e-06 -9.99999041e-01 6.72974325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.25, Y:112.56, Z:6.73 [[-7.81230218e-01 6.24242095e-01 1.07372292e-03 9.32496407e+01] [ 6.24241521e-01 7.81230956e-01 -8.46392656e-04 1.12555641e+02] [-1.36717951e-03 9.03491085e-06 -9.99999065e-01 6.72958150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.27, Y:112.57, Z:6.73 [[-8.21643436e-01 5.70000298e-01 1.31285371e-03 9.32735525e+01] [ 5.69999600e-01 8.21644485e-01 -8.91970428e-04 1.12573288e+02] [-1.58712242e-03 1.54444424e-05 -9.99998740e-01 6.72843011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.780385723 meters Centerline goodness [0,1] 0.9999777713561696 Centerline is valid? [True, True] Translation: X:93.29, Y:112.60, Z:6.73 [[-8.58044460e-01 5.13574236e-01 1.09948743e-03 9.32884408e+01] [ 5.13573840e-01 8.58045164e-01 -6.38084053e-04 1.12598945e+02] [-1.27111340e-03 1.71634935e-05 -9.99999192e-01 6.72733413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.31, Y:112.62, Z:6.73 [[-8.91291070e-01 4.53430012e-01 1.20585189e-03 9.33090834e+01] [ 4.53429628e-01 8.91291885e-01 -5.89915899e-04 1.12620316e+02] [-1.34225157e-03 2.09821999e-05 -9.99999099e-01 6.72720307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.33, Y:112.65, Z:6.73 [[-9.20378007e-01 3.91026211e-01 1.68118415e-03 9.33267349e+01] [ 3.91025621e-01 9.20379542e-01 -6.79763970e-04 1.12645284e+02] [-1.81313303e-03 3.17462681e-05 -9.99998356e-01 6.72728865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.34, Y:112.67, Z:6.73 [[-9.44409468e-01 3.28765661e-01 1.97412925e-03 9.33426822e+01] [ 3.28765042e-01 9.44411530e-01 -6.39791468e-04 1.12668969e+02] [-2.07473189e-03 4.47995674e-05 -9.99997847e-01 6.72697834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.900385723 meters Centerline goodness [0,1] 0.9999778063828842 Centerline is valid? [True, True] Translation: X:93.36, Y:112.70, Z:6.73 [[-9.64843237e-01 2.62815028e-01 2.40614214e-03 9.33552372e+01] [ 2.62814361e-01 9.64846235e-01 -5.95152421e-04 1.12696556e+02] [-2.47797219e-03 5.81399199e-05 -9.99996928e-01 6.72644768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.36, Y:112.73, Z:6.73 [[-9.80477442e-01 1.96614748e-01 2.57432461e-03 9.33626924e+01] [ 1.96614254e-01 9.80480819e-01 -4.45902094e-04 1.12726463e+02] [-2.61174683e-03 6.89519679e-05 -9.99996587e-01 6.72585903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.50, Y:113.50, Z:5.75 [[-9.77568734e-01 -2.10603513e-01 2.35168031e-03 9.35044120e+01] [ 2.10602716e-01 -9.77571560e-01 -5.84385647e-04 1.13502374e+02] [ 2.42200946e-03 -7.60068755e-05 9.99997064e-01 5.75273773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.31, Y:112.74, Z:6.73 [[-9.80971193e-01 1.94127753e-01 3.15169564e-03 9.33061494e+01] [ 1.94127044e-01 9.80976252e-01 -5.32317698e-04 1.12741957e+02] [-3.19507622e-03 8.96410301e-05 -9.99994892e-01 6.72600765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.44, Y:113.51, Z:5.75 [[-9.78608199e-01 -2.05703667e-01 3.46330403e-03 9.34414429e+01] [ 2.05702102e-01 -9.78614324e-01 -8.06172388e-04 1.13506890e+02] [ 3.55507155e-03 -7.65179911e-05 9.99993678e-01 5.75245421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.25, Y:112.76, Z:6.73 [[-9.81869614e-01 1.89516788e-01 3.93052167e-03 9.32480322e+01] [ 1.89515715e-01 9.81877475e-01 -6.47042517e-04 1.12755250e+02] [-3.98191611e-03 1.09584237e-04 -9.99992066e-01 6.72622796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.25, Y:112.79, Z:6.73 [[-9.92914955e-01 1.18744586e-01 4.42890040e-03 9.32489503e+01] [ 1.18743943e-01 9.92924825e-01 -4.08954394e-04 1.12786056e+02] [-4.44612628e-03 1.19848161e-04 -9.99990109e-01 6.72605101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.25, Y:112.82, Z:6.73 [[-9.98914594e-01 4.62903399e-02 5.18055504e-03 9.32472754e+01] [ 4.62903990e-02 9.98928019e-01 -1.08550305e-04 1.12821114e+02] [-5.18002641e-03 1.31377476e-04 -9.99986575e-01 6.72561422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.24, Y:112.85, Z:6.73 [[-9.99638534e-01 -2.63247794e-02 5.45954749e-03 9.32422787e+01] [-2.63236732e-02 9.99653434e-01 2.74394734e-04 1.12852612e+02] [-5.46487878e-03 1.30580206e-04 -9.99985059e-01 6.72575230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.23, Y:112.89, Z:6.73 [[-9.94937972e-01 -1.00326083e-01 5.75397143e-03 9.32261445e+01] [-1.00323695e-01 9.94954603e-01 7.02804390e-04 1.12885193e+02] [-5.79544997e-03 1.21987098e-04 -9.99983199e-01 6.72645873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.13, Y:113.62, Z:5.75 [[-9.97298822e-01 7.31518990e-02 6.62257674e-03 9.31330477e+01] [-7.31508341e-02 -9.97320807e-01 4.03210648e-04 1.13617881e+02] [ 6.63432921e-03 -8.23255077e-05 9.99977989e-01 5.75188908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.11, Y:112.88, Z:6.73 [[-9.93910318e-01 -1.09954181e-01 7.23595173e-03 9.31075176e+01] [-1.09950330e-01 9.93936649e-01 9.28978227e-04 1.12879937e+02] [-7.29422266e-03 1.27725761e-04 -9.99973389e-01 6.72808832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.09, Y:112.91, Z:6.73 [[-9.83362774e-01 -1.81519622e-01 6.94857079e-03 9.30865146e+01] [-1.81514222e-01 9.83387316e-01 1.40527190e-03 1.12909243e+02] [-7.08822080e-03 1.20627651e-04 -9.99974871e-01 6.72802408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.290385723 meters Centerline goodness [0,1] 0.9998476969604665 Centerline is valid? [True, True] Translation: X:93.05, Y:112.93, Z:6.73 [[-9.67866104e-01 -2.51369355e-01 6.97504299e-03 9.30501653e+01] [-2.51361866e-01 9.67891229e-01 1.94469349e-03 1.12929869e+02] [-7.23991928e-03 1.28943093e-04 -9.99973783e-01 6.73216469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.320385723 meters Centerline goodness [0,1] 0.9999131661782265 Centerline is valid? [True, True] Translation: X:92.99, Y:112.95, Z:6.73 [[-9.46955728e-01 -3.21295037e-01 6.65941290e-03 9.29890296e+01] [-3.21286156e-01 9.46979136e-01 2.39218479e-03 1.12947869e+02] [-7.07492217e-03 1.25715916e-04 -9.99974965e-01 6.72921603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.350385723 meters Centerline goodness [0,1] 0.9999566367460214 Centerline is valid? [True, True] Translation: X:92.93, Y:112.96, Z:6.73 [[-9.20827469e-01 -3.89907570e-01 6.98998411e-03 9.29260569e+01] [-3.89895184e-01 9.20853988e-01 3.11101712e-03 1.12956276e+02] [-7.64976387e-03 1.39348886e-04 -9.99970730e-01 6.72975749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.380385723 meters Centerline goodness [0,1] 0.9998701130016885 Centerline is valid? [True, True] Translation: X:92.85, Y:112.95, Z:6.73 [[-8.89440910e-01 -4.56988532e-01 7.50666405e-03 9.28487528e+01] [-4.56970764e-01 8.89472573e-01 4.03282297e-03 1.12952197e+02] [-8.51992563e-03 1.56631722e-04 -9.99963693e-01 6.73095385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.76, Y:112.94, Z:6.73 [[-8.52750299e-01 -5.22262949e-01 7.63801487e-03 9.27640849e+01] [-5.22240265e-01 8.52784489e-01 4.87041769e-03 1.12938251e+02] [-9.05721931e-03 1.64371241e-04 -9.99958969e-01 6.73051386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.440385723 meters Centerline goodness [0,1] 0.9999568006566301 Centerline is valid? [True, True] Translation: X:92.67, Y:112.92, Z:6.73 [[-8.10982198e-01 -5.85019464e-01 7.75251257e-03 9.26725626e+01] [-5.84990695e-01 8.11019234e-01 5.80428157e-03 1.12915245e+02] [-9.68305449e-03 1.72021304e-04 -9.99953103e-01 6.73150055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4703857229999 meters Centerline goodness [0,1] 0.9999567492755503 Centerline is valid? [True, True] Translation: X:92.58, Y:112.88, Z:6.73 [[-7.63767980e-01 -6.45445971e-01 7.61392033e-03 9.25800450e+01] [-6.45411732e-01 7.63805912e-01 6.65018148e-03 1.12882769e+02] [-1.01078902e-02 1.65082159e-04 -9.99948900e-01 6.73199453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.49, Y:112.84, Z:6.73 [[-7.12441994e-01 -7.01696835e-01 6.92511342e-03 9.24869944e+01] [-7.01661552e-01 7.12475634e-01 7.03831452e-03 1.12838177e+02] [-9.87273760e-03 1.55305002e-04 -9.99951251e-01 6.73179612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.39, Y:112.78, Z:6.73 [[-6.56613992e-01 -7.54200582e-01 6.28864084e-03 9.23949860e+01] [-7.54163868e-01 6.56644090e-01 7.44303892e-03 1.12782971e+02] [-9.74294313e-03 1.44537801e-04 -9.99952526e-01 6.73168645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.30, Y:112.72, Z:6.73 [[-5.96040592e-01 -8.02936155e-01 5.39841257e-03 9.23020884e+01] [-8.02901395e-01 5.96065027e-01 7.47215223e-03 1.12717935e+02] [-9.21746612e-03 1.19313059e-04 -9.99957511e-01 6.73091535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5903857229999 meters Centerline goodness [0,1] 0.9999567343053692 Centerline is valid? [True, True] Translation: X:92.22, Y:112.65, Z:6.73 [[-5.32607590e-01 -8.46348627e-01 4.81206996e-03 9.22171341e+01] [-8.46312151e-01 5.32629316e-01 7.85846773e-03 1.12645151e+02] [-9.21405291e-03 1.12966284e-04 -9.99957543e-01 6.73150960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.620385723 meters Centerline goodness [0,1] 0.9999783844540994 Centerline is valid? [True, True] Translation: X:92.13, Y:112.56, Z:6.73 [[-4.65187835e-01 -8.85201784e-01 4.25210689e-03 9.21338293e+01] [-8.85162828e-01 4.65207258e-01 8.30518576e-03 1.12561977e+02] [-9.32987623e-03 9.96644308e-05 -9.99956471e-01 6.73097235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.650385723 meters Centerline goodness [0,1] 0.9998704467428152 Centerline is valid? [True, True] Translation: X:92.06, Y:112.47, Z:6.73 [[-3.96414910e-01 -9.18063808e-01 3.75023622e-03 9.20573645e+01] [-9.18020176e-01 3.96432635e-01 8.95115063e-03 1.12471575e+02] [-9.70444346e-03 1.05577063e-04 -9.99952905e-01 6.73322479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.99, Y:112.37, Z:6.73 [[-3.24288767e-01 -9.45954327e-01 2.68455635e-03 9.19884771e+01] [-9.45919702e-01 3.24299868e-01 8.09399837e-03 1.12373875e+02] [-8.52715405e-03 8.54180131e-05 -9.99963640e-01 6.73112317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.93, Y:112.26, Z:6.73 [[-2.51045771e-01 -9.67973126e-01 2.01186690e-03 9.19259639e+01] [-9.67939310e-01 2.51053819e-01 8.09151321e-03 1.12264345e+02] [-8.33745420e-03 8.39751157e-05 -9.99965239e-01 6.73041577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.740385723 meters Centerline goodness [0,1] 0.9998705780845557 Centerline is valid? [True, True] Translation: X:91.88, Y:112.16, Z:6.73 [[-1.77016655e-01 -9.84206922e-01 1.35621190e-03 9.18751638e+01] [-9.84174037e-01 1.77021828e-01 8.04598173e-03 1.12158646e+02] [-8.15899002e-03 8.95242368e-05 -9.99966711e-01 6.73154465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.770385723 meters Centerline goodness [0,1] 0.9999354491662183 Centerline is valid? [True, True] Translation: X:91.83, Y:112.04, Z:6.73 [[-1.00069859e-01 -9.94980226e-01 6.11436467e-04 9.18303854e+01] [-9.94957285e-01 1.00071704e-01 6.75687755e-03 1.12044736e+02] [-6.78414704e-03 6.78066199e-05 -9.99976985e-01 6.72789622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.79, Y:111.92, Z:6.73 [[-2.32230691e-02 -9.99730306e-01 7.19104257e-05 9.17949904e+01] [-9.99716186e-01 2.32231233e-02 5.31353723e-03 1.11924180e+02] [-5.31377418e-03 5.15066253e-05 -9.99985881e-01 6.72763291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.14, Y:111.82, Z:5.75 [[-7.21644987e-02 9.97392658e-01 4.14622878e-04 9.11351084e+01] [-9.97385354e-01 -7.21655580e-02 3.81947051e-03 1.11817678e+02] [ 3.83943334e-03 -1.37908611e-04 9.99992620e-01 5.75237617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.79, Y:111.63, Z:6.73 [[-1.29093286e-02 -9.99916671e-01 1.55062659e-05 9.17894842e+01] [-9.99909042e-01 1.29092907e-02 3.90611512e-03 1.11633874e+02] [-3.90598980e-03 3.49204683e-05 -9.99992371e-01 6.72587045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.77, Y:111.52, Z:6.73 [[ 6.44493753e-02 -9.97920944e-01 -2.58541586e-04 9.17653854e+01] [-9.97914662e-01 -6.44498870e-02 3.54113309e-03 1.11518395e+02] [-3.55043385e-03 2.97786241e-05 -9.99993697e-01 6.72549789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.920385723 meters Centerline goodness [0,1] 0.999956961480525 Centerline is valid? [True, True] Translation: X:91.75, Y:111.39, Z:6.72 [[ 1.41854507e-01 -9.89887397e-01 -4.90313159e-04 9.17513171e+01] [-9.89882060e-01 -1.41855352e-01 3.25069146e-03 1.11394123e+02] [-3.28737206e-03 2.42269657e-05 -9.99994596e-01 6.72429239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.950385723 meters Centerline goodness [0,1] 0.9999783937946979 Centerline is valid? [True, True] Translation: X:91.75, Y:111.27, Z:6.72 [[ 2.18118168e-01 -9.75922162e-01 -6.30702174e-04 9.17461563e+01] [-9.75918327e-01 -2.18119079e-01 2.73600952e-03 1.11268941e+02] [-2.80770050e-03 1.87404256e-05 -9.99996058e-01 6.72398317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.75, Y:111.15, Z:6.72 [[ 2.93102199e-01 -9.56081038e-01 -3.87480415e-04 9.17510838e+01] [-9.56080239e-01 -2.93102455e-01 1.23631726e-03 1.11146036e+02] [-1.29559095e-03 8.09506035e-06 -9.99999161e-01 6.72350999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.010385723 meters Centerline goodness [0,1] 0.9999783937946979 Centerline is valid? [True, True] Translation: X:91.77, Y:111.03, Z:6.72 [[ 3.66934679e-01 -9.30246699e-01 -1.41014988e-04 9.17658542e+01] [-9.30246633e-01 -3.66934706e-01 3.50961340e-04 1.11025092e+02] [-3.78223921e-04 2.39883114e-06 -9.99999929e-01 6.72238076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.040385723 meters Centerline goodness [0,1] 0.9999568761050498 Centerline is valid? [True, True] Translation: X:91.79, Y:110.90, Z:6.72 [[ 4.37624734e-01 -8.99157698e-01 -1.65118357e-04 9.17890212e+01] [-8.99157635e-01 -4.37624765e-01 3.34325184e-04 1.10904503e+02] [-3.72870945e-04 2.15846199e-06 -9.99999931e-01 6.72190951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.82, Y:110.79, Z:6.72 [[ 5.05606287e-01 -8.62764296e-01 2.29012504e-04 9.18217488e+01] [-8.62764208e-01 -5.05606339e-01 -3.89702372e-04 1.10790768e+02] [ 4.52011466e-04 -5.47821775e-07 -9.99999898e-01 6.72140998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.86, Y:110.68, Z:6.72 [[ 5.69863802e-01 -8.21738912e-01 6.39105707e-04 9.18614409e+01] [-8.21738401e-01 -5.69864160e-01 -9.16463992e-04 1.10679654e+02] [ 1.11729756e-03 -2.91804638e-06 -9.99999376e-01 6.72125985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.91, Y:110.57, Z:6.72 [[ 6.30521532e-01 -7.76171391e-01 7.54470530e-04 9.19101518e+01] [-7.76170843e-01 -6.30521983e-01 -9.22631929e-04 1.10570833e+02] [ 1.19183076e-03 -3.85872982e-06 -9.99999290e-01 6.72130279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.160385723 meters Centerline goodness [0,1] 0.9999783127304273 Centerline is valid? [True, True] Translation: X:91.96, Y:110.48, Z:6.72 [[ 6.86846048e-01 -7.26802796e-01 4.50294011e-04 9.19629979e+01] [-7.26802642e-01 -6.86846196e-01 -4.72590930e-04 1.10475596e+02] [ 6.52763137e-04 -2.67766483e-06 -9.99999787e-01 6.72204024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.02, Y:110.38, Z:6.72 [[ 7.39402923e-01 -6.73262972e-01 5.36942600e-04 9.20238797e+01] [-6.73262798e-01 -7.39403118e-01 -4.83693472e-04 1.10380411e+02] [ 7.22669937e-04 -3.85911049e-06 -9.99999739e-01 6.72218798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.02, Y:110.38, Z:6.72 [[ 7.88147734e-01 -6.15485505e-01 8.61495598e-04 9.20238059e+01] [-6.15485150e-01 -7.88148205e-01 -6.61328526e-04 1.10376447e+02] [ 1.08602433e-03 -9.01316814e-06 -9.99999410e-01 6.72224128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.02, Y:110.37, Z:6.72 [[ 8.32346947e-01 -5.54254674e-01 5.62742681e-04 9.20226276e+01] [-5.54254553e-01 -8.32347137e-01 -3.66242653e-04 1.10374108e+02] [ 6.71388962e-04 -7.06173877e-06 -9.99999775e-01 6.72341998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.02, Y:110.37, Z:6.72 [[ 8.72479172e-01 -4.88651266e-01 1.89497436e-04 9.20186537e+01] [-4.88651255e-01 -8.72479192e-01 -1.03842757e-04 1.10365551e+02] [ 2.16075465e-04 -1.99751700e-06 -9.99999977e-01 6.72433868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.310385723 meters Centerline goodness [0,1] 0.9999558956491058 Centerline is valid? [True, True] Translation: X:92.02, Y:110.36, Z:6.73 [[ 9.06969708e-01 -4.21195229e-01 -7.26858992e-04 9.20168354e+01] [-4.21195105e-01 -9.06969999e-01 3.23025383e-04 1.10362641e+02] [-7.95296049e-04 1.31752123e-05 -9.99999684e-01 6.72565982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3403857229999 meters Centerline goodness [0,1] 0.9999558956491058 Centerline is valid? [True, True] Translation: X:92.01, Y:110.36, Z:6.73 [[ 9.37106030e-01 -3.49044017e-01 -7.49905190e-04 9.20141604e+01] [-3.49043917e-01 -9.37106330e-01 2.65260031e-04 1.10355846e+02] [-7.95328327e-04 1.31730702e-05 -9.99999684e-01 6.72566016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.01, Y:110.35, Z:6.73 [[ 9.61225135e-01 -2.75761542e-01 -1.34581413e-03 9.20132432e+01] [-2.75761307e-01 -9.61226077e-01 3.61135766e-04 1.10352129e+02] [-1.39321899e-03 2.39906869e-05 -9.99999029e-01 6.72667203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.01, Y:110.35, Z:6.73 [[ 9.79642566e-01 -2.00741646e-01 -1.79848947e-03 9.20130154e+01] [-2.00741370e-01 -9.79644216e-01 3.34750549e-04 1.10348796e+02] [-1.82907818e-03 3.30953515e-05 -9.99998327e-01 6.72699690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.01, Y:110.34, Z:6.73 [[ 9.92207279e-01 -1.24583967e-01 -1.88426607e-03 9.20082397e+01] [-1.24583812e-01 -9.92209068e-01 1.99869865e-04 1.10344257e+02] [-1.89448646e-03 3.64367145e-05 -9.99998205e-01 6.72771205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.00, Y:110.34, Z:6.73 [[ 9.98944407e-01 -4.58163799e-02 -3.30617815e-03 9.20032316e+01] [-4.58163300e-02 -9.98949877e-01 9.08740211e-05 1.10340682e+02] [-3.30686977e-03 6.06988539e-05 -9.99994530e-01 6.73016662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.00, Y:110.34, Z:6.73 [[ 9.99441541e-01 3.31289231e-02 -4.36811003e-03 9.19992721e+01] [ 3.31282688e-02 -9.99451084e-01 -2.22063791e-04 1.10337723e+02] [-4.37306903e-03 7.72318546e-05 -9.99990435e-01 6.73147052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.00, Y:110.33, Z:6.73 [[ 9.93625125e-01 1.12615415e-01 -5.18452853e-03 9.19961612e+01] [ 1.12613434e-01 -9.93638647e-01 -6.73348018e-04 1.10327878e+02] [-5.22737728e-03 8.52079470e-05 -9.99986334e-01 6.73208828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.99, Y:110.32, Z:6.73 [[ 9.80918810e-01 1.94326161e-01 -5.96917554e-03 9.19927867e+01] [ 1.94322111e-01 -9.80936969e-01 -1.25672051e-03 1.10315353e+02] [-6.09959863e-03 7.27980003e-05 -9.99981395e-01 6.73457736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.99, Y:110.31, Z:6.74 [[ 9.62173776e-01 2.72346876e-01 -6.98591551e-03 9.19891731e+01] [ 2.72339148e-01 -9.62199134e-01 -2.05304087e-03 1.10308029e+02] [-7.28098112e-03 7.28438086e-05 -9.99973491e-01 6.73666158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.99, Y:110.30, Z:6.74 [[ 9.37261948e-01 3.48529160e-01 -8.21378488e-03 9.19878523e+01] [ 3.48515105e-01 -9.37297935e-01 -3.13086099e-03 1.10299896e+02] [-8.78995996e-03 7.18087705e-05 -9.99961365e-01 6.73784944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.640385723 meters Centerline goodness [0,1] 0.9999553421904656 Centerline is valid? [True, True] Translation: X:91.99, Y:110.29, Z:6.74 [[ 9.07102070e-01 4.20815312e-01 -8.96148434e-03 9.19866120e+01] [ 4.20793890e-01 -9.07146332e-01 -4.24683589e-03 1.10293512e+02] [-9.91651121e-03 8.13757736e-05 -9.99950827e-01 6.73917584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.99, Y:110.28, Z:6.74 [[ 8.71360024e-01 4.90567219e-01 -8.68974354e-03 9.19892949e+01] [ 4.90541884e-01 -8.71403349e-01 -4.98627556e-03 1.10281766e+02] [-1.00183750e-02 8.21580206e-05 -9.99949811e-01 6.73811473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.99, Y:110.27, Z:6.74 [[ 8.30404944e-01 5.57093820e-01 -8.60842312e-03 9.19899542e+01] [ 5.57062791e-01 -8.30449558e-01 -5.88037883e-03 1.10272087e+02] [-1.04247839e-02 8.76634410e-05 -9.99945657e-01 6.74087875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.00, Y:110.26, Z:6.74 [[ 7.84325212e-01 6.20290490e-01 -8.58316844e-03 9.19970655e+01] [ 6.20252031e-01 -7.84372169e-01 -6.90782881e-03 1.10257675e+02] [-1.10172590e-02 9.42566346e-05 -9.99939304e-01 6.73989565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.00, Y:110.25, Z:6.74 [[ 7.33590484e-01 6.79540652e-01 -8.33694750e-03 9.20007243e+01] [ 6.79495191e-01 -7.33637848e-01 -7.86087262e-03 1.10247408e+02] [-1.14580827e-02 1.01745618e-04 -9.99934349e-01 6.74102568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.01, Y:110.24, Z:6.74 [[ 6.79382055e-01 7.33735918e-01 -8.46322159e-03 9.20059235e+01] [ 7.33676537e-01 -6.79434754e-01 -9.33563393e-03 1.10237764e+02] [-1.26000968e-02 1.33195053e-04 -9.99920607e-01 6.74148988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.01, Y:110.23, Z:6.74 [[ 6.20959795e-01 7.83791656e-01 -8.92036350e-03 9.20108757e+01] [ 7.83706724e-01 -6.21023840e-01 -1.15395394e-02 1.10228706e+02] [-1.45843531e-02 1.74641165e-04 -9.99893627e-01 6.74239950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.02, Y:110.22, Z:6.74 [[ 5.58154338e-01 8.29694255e-01 -8.43674350e-03 9.20174548e+01] [ 8.29594207e-01 -5.58218063e-01 -1.28858822e-02 1.10219350e+02] [-1.54008850e-02 1.93237491e-04 -9.99881381e-01 6.74328036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.880385723 meters Centerline goodness [0,1] 0.9999779132432194 Centerline is valid? [True, True] Translation: X:92.02, Y:110.21, Z:6.74 [[ 4.91794570e-01 8.70677277e-01 -7.69284414e-03 9.20244292e+01] [ 8.70564107e-01 -4.91854690e-01 -1.40392367e-02 1.10211007e+02] [-1.60074058e-02 2.07306377e-04 -9.99871852e-01 6.74436398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.03, Y:110.20, Z:6.75 [[ 4.23081278e-01 9.06065897e-01 -6.84275375e-03 9.20316601e+01] [ 9.05938354e-01 -4.23136546e-01 -1.52040246e-02 1.10202203e+02] [-1.66712674e-02 2.33425097e-04 -9.99860998e-01 6.74614263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.04, Y:110.19, Z:6.75 [[ 3.51481389e-01 9.36177161e-01 -5.75812403e-03 9.20416499e+01] [ 9.36039635e-01 -3.51528463e-01 -1.60481268e-02 1.10194512e+02] [-1.70480342e-02 2.50785579e-04 -9.99854640e-01 6.74541061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.05, Y:110.19, Z:6.75 [[ 2.77750862e-01 9.60643058e-01 -4.40158671e-03 9.20510218e+01] [ 9.60507341e-01 -2.77785617e-01 -1.61492424e-02 1.10188017e+02] [-1.67363551e-02 2.57709664e-04 -9.99859904e-01 6.74530960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.06, Y:110.18, Z:6.75 [[ 2.01604485e-01 9.79461934e-01 -3.15476252e-03 9.20602651e+01] [ 9.79321088e-01 -2.01628999e-01 -1.66118559e-02 1.10182128e+02] [-1.69067721e-02 2.59499182e-04 -9.99857037e-01 6.74543616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.07, Y:110.18, Z:6.75 [[ 1.24181308e-01 9.92257765e-01 -1.87908972e-03 9.20714793e+01] [ 9.92109914e-01 -1.24195246e-01 -1.71306630e-02 1.10177578e+02] [-1.72314074e-02 2.63044610e-04 -9.99851494e-01 6.74536642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.08, Y:110.17, Z:6.74 [[ 4.47929217e-02 9.98996144e-01 -5.46831162e-04 9.20830142e+01] [ 9.98839056e-01 -4.47955762e-02 -1.77171346e-02 1.10173328e+02] [-1.77238447e-02 2.47405899e-04 -9.99842890e-01 6.74476575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.09, Y:110.17, Z:6.75 [[-3.49579701e-02 9.99388420e-01 8.52745562e-04 9.20940279e+01] [ 9.99227649e-01 3.49676428e-02 -1.79267827e-02 1.10170270e+02] [-1.79456376e-02 2.25403008e-04 -9.99838939e-01 6.74520236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.11, Y:110.17, Z:6.75 [[-1.14622189e-01 9.93406489e-01 2.30269134e-03 9.21067854e+01] [ 9.93239891e-01 1.14645140e-01 -1.81937102e-02 1.10168450e+02] [-1.83377421e-02 2.01721999e-04 -9.99831829e-01 6.74506422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.150385723 meters Centerline goodness [0,1] 0.9999561922285013 Centerline is valid? [True, True] Translation: X:92.12, Y:110.17, Z:6.75 [[-1.94497551e-01 9.80895897e-01 3.73389378e-03 9.21190644e+01] [ 9.80730351e-01 1.94533325e-01 -1.80212314e-02 1.10166519e+02] [-1.84033187e-02 1.56857597e-04 -9.99830632e-01 6.74585088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.13, Y:110.17, Z:6.75 [[-2.72597710e-01 9.62112646e-01 5.45384396e-03 9.21314278e+01] [ 9.61929467e-01 2.72652232e-01 -1.87739633e-02 1.10166766e+02] [-1.95496702e-02 1.28473809e-04 -9.99808879e-01 6.74538513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.14, Y:110.17, Z:6.75 [[-3.47691486e-01 9.37581088e-01 7.23427382e-03 9.21416306e+01] [ 9.37385398e-01 3.47766717e-01 -1.91552922e-02 1.10166183e+02] [-2.04754793e-02 1.21170645e-04 -9.99790348e-01 6.74681598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.15, Y:110.17, Z:6.75 [[-4.20390975e-01 9.07298642e-01 8.97790228e-03 9.21514118e+01] [ 9.07097699e-01 4.20486814e-01 -1.90946090e-02 1.10166947e+02] [-2.10996023e-02 1.16633199e-04 -9.99777372e-01 6.74661744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.270385723 meters Centerline goodness [0,1] 0.9999340847669896 Centerline is valid? [True, True] Translation: X:92.16, Y:110.17, Z:6.75 [[-4.91156962e-01 8.71005907e-01 1.06559494e-02 9.21604249e+01] [ 8.70805136e-01 4.91272533e-01 -1.87006470e-02 1.10168581e+02] [-2.15233492e-02 9.43024777e-05 -9.99768341e-01 6.74549717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.300385723 meters Centerline goodness [0,1] 0.9999559849468518 Centerline is valid? [True, True] Translation: X:92.17, Y:110.17, Z:6.74 [[-5.58750645e-01 8.29255472e-01 1.15359617e-02 9.21714504e+01] [ 8.29081289e-01 5.58869714e-01 -1.69958501e-02 1.10171858e+02] [-2.05410013e-02 6.78078321e-05 -9.99789009e-01 6.74353880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.18, Y:110.17, Z:6.74 [[-6.22109195e-01 7.82833259e-01 1.23384644e-02 9.21819752e+01] [ 7.82681305e-01 6.22231536e-01 -1.54236891e-02 1.10174611e+02] [-1.97515584e-02 6.18665760e-05 -9.99804917e-01 6.74292127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.19, Y:110.18, Z:6.74 [[-6.81675017e-01 7.31536075e-01 1.31963066e-02 9.21916363e+01] [ 7.31400624e-01 6.81802734e-01 -1.40769208e-02 1.10179099e+02] [-1.92950533e-02 5.59016770e-05 -9.99813832e-01 6.74128594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.390385723 meters Centerline goodness [0,1] 0.9999780127965524 Centerline is valid? [True, True] Translation: X:92.20, Y:110.18, Z:6.74 [[-7.37232274e-01 6.75499202e-01 1.37623378e-02 9.21992382e+01] [ 6.75382636e-01 7.37360716e-01 -1.25486551e-02 1.10183764e+02] [-1.86244138e-02 4.35704617e-05 -9.99826550e-01 6.73983788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.22, Y:110.20, Z:6.74 [[-7.83557268e-01 6.21159407e-01 1.41067087e-02 9.22220061e+01] [ 6.21059462e-01 7.83684241e-01 -1.11424846e-02 1.10202657e+02] [-1.79764644e-02 3.03301686e-05 -9.99838410e-01 6.73926947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.450385723 meters Centerline goodness [0,1] 0.9999116744319562 Centerline is valid? [True, True] Translation: X:92.24, Y:110.23, Z:6.74 [[-8.26497059e-01 5.62761499e-01 1.42164380e-02 9.22355592e+01] [ 5.62678277e-01 8.26619317e-01 -9.67784103e-03 1.10227688e+02] [-1.71978986e-02 5.73698466e-07 -9.99852105e-01 6.73783255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.480385723 meters Centerline goodness [0,1] 0.9999117971334068 Centerline is valid? [True, True] Translation: X:92.22, Y:110.27, Z:6.74 [[-8.64496852e-01 5.02416904e-01 1.49146900e-02 9.22217148e+01] [ 5.02341986e-01 8.64625500e-01 -8.67609985e-03 1.10269260e+02] [-1.72546405e-02 -8.18600420e-06 -9.99851128e-01 6.73779591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.510385723 meters Centerline goodness [0,1] 0.9998011796673073 Centerline is valid? [True, True] Translation: X:92.27, Y:110.28, Z:6.74 [[-8.98401669e-01 4.38917537e-01 1.50278965e-02 9.22679812e+01] [ 4.38855666e-01 8.98527348e-01 -7.36946597e-03 1.10277017e+02] [-1.67375638e-02 -2.56630033e-05 -9.99859917e-01 6.73760901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.540385723 meters Centerline goodness [0,1] 0.9998676694382568 Centerline is valid? [True, True] Translation: X:92.28, Y:110.30, Z:6.74 [[-9.27304364e-01 3.73996246e-01 1.52782589e-02 9.22792360e+01] [ 3.73944996e-01 9.27430217e-01 -6.19135423e-03 1.10303775e+02] [-1.64850622e-02 -2.80413139e-05 -9.99864112e-01 6.73946049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.570385723 meters Centerline goodness [0,1] 0.9999338332598148 Centerline is valid? [True, True] Translation: X:92.56, Y:110.97, Z:5.74 [[-8.98922311e-01 -4.37849989e-01 1.50354765e-02 9.25605184e+01] [ 4.37789531e-01 -8.99048044e-01 -7.27604071e-03 1.10973921e+02] [ 1.67034301e-02 4.17788632e-05 9.99860487e-01 5.74130432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.600385723 meters Centerline goodness [0,1] 0.9999558030584283 Centerline is valid? [True, True] Translation: X:92.24, Y:110.31, Z:6.74 [[-9.28146439e-01 3.71900054e-01 1.53146116e-02 9.22381439e+01] [ 3.71849366e-01 9.28272778e-01 -6.13996716e-03 1.10314343e+02] [-1.64995912e-02 -4.06003067e-06 -9.99863873e-01 6.73695808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.630385723 meters Centerline goodness [0,1] 0.9998890885295357 Centerline is valid? [True, True] Translation: X:92.51, Y:111.00, Z:5.74 [[-9.01359185e-01 -4.32876706e-01 1.30144718e-02 9.25098957e+01] [ 4.32829701e-01 -9.01453129e-01 -6.38018258e-03 1.10998636e+02] [ 1.44937688e-02 -1.17786235e-04 9.99894953e-01 5.74395863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.660385723 meters Centerline goodness [0,1] 0.9996673688879033 Centerline is valid? [True, True] Translation: X:92.18, Y:110.33, Z:6.73 [[-9.28818293e-01 3.70318196e-01 1.26890709e-02 9.21836757e+01] [ 3.70284006e-01 9.28904964e-01 -5.03213758e-03 1.10330969e+02] [-1.36504330e-02 2.46185614e-05 -9.99906828e-01 6.73428310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.690385723 meters Centerline goodness [0,1] 0.9999334708269576 Centerline is valid? [True, True] Translation: X:92.20, Y:110.35, Z:6.73 [[-9.52467686e-01 3.04404649e-01 1.19631239e-02 9.22029050e+01] [ 3.04381093e-01 9.52542812e-01 -3.78704468e-03 1.10353364e+02] [-1.25481817e-02 3.43110342e-05 -9.99921268e-01 6.73367750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7203857229999 meters Centerline goodness [0,1] 0.9997776245858258 Centerline is valid? [True, True] Translation: X:92.21, Y:110.38, Z:6.73 [[-9.71332383e-01 2.37404722e-01 1.23449950e-02 9.22091371e+01] [ 2.37386223e-01 9.71410827e-01 -2.96412929e-03 1.10378797e+02] [-1.26957601e-02 5.13769610e-05 -9.99919404e-01 6.73339353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.750385723 meters Centerline goodness [0,1] 0.9997781868997183 Centerline is valid? [True, True] Translation: X:92.40, Y:111.11, Z:5.75 [[-9.55876902e-01 -2.93534655e-01 1.16942151e-02 9.23954571e+01] [ 2.93511705e-01 -9.55948430e-01 -3.67138620e-03 1.11107164e+02] [ 1.22567456e-02 -7.70042585e-05 9.99924880e-01 5.74560711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.780385723 meters Centerline goodness [0,1] 0.9997550984059133 Centerline is valid? [True, True] Translation: X:92.16, Y:110.39, Z:6.73 [[-9.71896733e-01 2.35148539e-01 1.10410425e-02 9.21625619e+01] [ 2.35134115e-01 9.71959444e-01 -2.60531585e-03 1.10385565e+02] [-1.13440818e-02 6.40277962e-05 -9.99935652e-01 6.73367781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.810385723 meters Centerline goodness [0,1] 0.9997780933783064 Centerline is valid? [True, True] Translation: X:92.17, Y:110.41, Z:6.73 [[-9.86116336e-01 1.65716140e-01 1.06175708e-02 9.21683942e+01] [ 1.65707213e-01 9.86173492e-01 -1.72121800e-03 1.10414025e+02] [-1.07560004e-02 6.20868707e-05 -9.99942151e-01 6.73143574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8403857229999 meters Centerline goodness [0,1] 0.9997553870444084 Centerline is valid? [True, True] Translation: X:92.16, Y:110.44, Z:6.73 [[-9.95463589e-01 9.45611335e-02 1.05087961e-02 9.21641517e+01] [ 9.45564326e-02 9.95519055e-01 -9.44397614e-04 1.10442673e+02] [-1.05510101e-02 5.35608351e-05 -9.99944335e-01 6.73251921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.870385723 meters Centerline goodness [0,1] 0.9998439172315376 Centerline is valid? [True, True] Translation: X:92.13, Y:110.47, Z:6.73 [[-9.99692054e-01 2.25157839e-02 1.04324780e-02 9.21348058e+01] [ 2.25149852e-02 9.99746487e-01 -1.94020945e-04 1.10472403e+02] [-1.04342018e-02 4.09258908e-05 -9.99945561e-01 6.73183978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.900385723 meters Centerline goodness [0,1] 0.9999330297347977 Centerline is valid? [True, True] Translation: X:92.14, Y:110.50, Z:6.73 [[-9.98743133e-01 -4.90815794e-02 1.01563962e-02 9.21400864e+01] [-4.90786733e-02 9.98794772e-01 5.35329486e-04 1.10500513e+02] [-1.01704303e-02 3.61941959e-05 -9.99948279e-01 6.73158937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.930385723 meters Centerline goodness [0,1] 0.9998442540883302 Centerline is valid? [True, True] Translation: X:92.15, Y:110.53, Z:6.73 [[-9.92620288e-01 -1.20900759e-01 9.37924327e-03 9.21523981e+01] [-1.20895083e-01 9.92664599e-01 1.17194625e-03 1.10530086e+02] [-9.45213195e-03 2.93932310e-05 -9.99955327e-01 6.73228224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.960385723 meters Centerline goodness [0,1] 0.9999553900028997 Centerline is valid? [True, True] Translation: X:92.13, Y:110.56, Z:6.73 [[-9.81423382e-01 -1.91635472e-01 9.16463275e-03 9.21332622e+01] [-1.91626835e-01 9.81466171e-01 1.81960260e-03 1.10556273e+02] [-9.34347742e-03 2.96109665e-05 -9.99956348e-01 6.73149627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.10, Y:110.58, Z:6.73 [[-9.65107829e-01 -2.61703719e-01 8.83410025e-03 9.21010616e+01] [-2.61692448e-01 9.65148259e-01 2.42902421e-03 1.10578225e+02] [-9.16190114e-03 3.24529641e-05 -9.99958028e-01 6.73118059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.04, Y:110.59, Z:6.73 [[-9.43481960e-01 -3.31322934e-01 8.17947027e-03 9.20432227e+01] [-3.31310155e-01 9.43517415e-01 2.91026304e-03 1.10590163e+02] [-8.68170954e-03 3.58391227e-05 -9.99962313e-01 6.73154467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.97, Y:110.59, Z:6.73 [[-9.16407686e-01 -4.00176609e-01 7.45890344e-03 9.19729819e+01] [-4.00163075e-01 9.16438040e-01 3.29133675e-03 1.10593346e+02] [-8.15273883e-03 3.14285578e-05 -9.99966765e-01 6.73142309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.080385723 meters Centerline goodness [0,1] 0.9999554228146035 Centerline is valid? [True, True] Translation: X:91.90, Y:110.59, Z:6.73 [[-8.83823882e-01 -4.67768048e-01 6.95692898e-03 9.19016381e+01] [-4.67753332e-01 8.83851262e-01 3.71051007e-03 1.10591099e+02] [-7.88454851e-03 2.53107049e-05 -9.99968916e-01 6.73115813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.82, Y:110.58, Z:6.73 [[-8.45956822e-01 -5.33216797e-01 6.07479405e-03 9.18177799e+01] [-5.33202900e-01 8.45978633e-01 3.84960528e-03 1.10576927e+02] [-7.19182016e-03 1.75020402e-05 -9.99974138e-01 6.73132504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.140385723 meters Centerline goodness [0,1] 0.9999553919928628 Centerline is valid? [True, True] Translation: X:91.72, Y:110.55, Z:6.73 [[-8.02757305e-01 -5.96272971e-01 6.26526568e-03 9.17237327e+01] [-5.96254732e-01 8.02781754e-01 4.66380191e-03 1.10550150e+02] [-7.81053999e-03 8.20673758e-06 -9.99969497e-01 6.73229973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.170385723 meters Centerline goodness [0,1] 0.9998668648900526 Centerline is valid? [True, True] Translation: X:91.63, Y:110.52, Z:6.73 [[-7.55406090e-01 -6.55221221e-01 6.84032391e-03 9.16328124e+01] [-6.55194255e-01 7.55437060e-01 5.94452324e-03 1.10515341e+02] [-9.06241196e-03 8.78813502e-06 -9.99958936e-01 6.73449178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.200385723 meters Centerline goodness [0,1] 0.999933250266999 Centerline is valid? [True, True] Translation: X:91.54, Y:110.47, Z:6.73 [[-7.02581650e-01 -7.11580911e-01 5.62430987e-03 9.15369468e+01] [-7.11558160e-01 7.02604162e-01 5.69009138e-03 1.10465560e+02] [-8.00062392e-03 -4.26979304e-06 -9.99967995e-01 6.73327667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.45, Y:110.41, Z:6.73 [[-6.46356785e-01 -7.63018916e-01 5.00416427e-03 9.14503441e+01] [-7.62996097e-01 6.46376156e-01 5.90091640e-03 1.10414043e+02] [-7.73708329e-03 -4.06045963e-06 -9.99970068e-01 6.73266472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.36, Y:110.35, Z:6.73 [[-5.86266361e-01 -8.10105640e-01 4.53944298e-03 9.13610840e+01] [-8.10081410e-01 5.86283935e-01 6.26550800e-03 1.10347318e+02] [-7.73712587e-03 -4.06179614e-06 -9.99970068e-01 6.73266675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.290385723 meters Centerline goodness [0,1] 0.9999556786703601 Centerline is valid? [True, True] Translation: X:91.28, Y:110.27, Z:6.73 [[-5.23283886e-01 -8.52151158e-01 3.51829156e-03 9.12764661e+01] [-8.52131877e-01 5.23295713e-01 5.73238411e-03 1.10274385e+02] [-6.72596465e-03 1.61583858e-06 -9.99977380e-01 6.73162063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.19, Y:110.19, Z:6.73 [[-4.57236553e-01 -8.89340628e-01 2.82517860e-03 9.11933335e+01] [-8.89323566e-01 4.57245281e-01 5.50890974e-03 1.10186926e+02] [-6.19109684e-03 6.37699055e-06 -9.99980835e-01 6.73157579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.350385723 meters Centerline goodness [0,1] 0.99993352095198 Centerline is valid? [True, True] Translation: X:91.12, Y:110.10, Z:6.73 [[-3.89362675e-01 -9.21081050e-01 2.53113323e-03 9.11186936e+01] [-9.21061268e-01 3.89370902e-01 6.03674430e-03 1.10098142e+02] [-6.54588040e-03 1.91541308e-05 -9.99978575e-01 6.73341111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.380385723 meters Centerline goodness [0,1] 0.9999779000640898 Centerline is valid? [True, True] Translation: X:91.05, Y:109.99, Z:6.73 [[-3.17622419e-01 -9.48215096e-01 2.03245599e-03 9.10484954e+01] [-9.48195277e-01 3.17628921e-01 6.13063641e-03 1.09993837e+02] [-6.45872879e-03 2.00623984e-05 -9.99979142e-01 6.73298035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.410385723 meters Centerline goodness [0,1] 0.9999778717001173 Centerline is valid? [True, True] Translation: X:90.99, Y:109.89, Z:6.73 [[-2.44505059e-01 -9.69646814e-01 1.52740612e-03 9.09882228e+01] [-9.69627255e-01 2.44509828e-01 6.15870222e-03 1.09890754e+02] [-6.34523179e-03 2.48192407e-05 -9.99979869e-01 6.73322993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.440385723 meters Centerline goodness [0,1] 0.9999778741481548 Centerline is valid? [True, True] Translation: X:90.94, Y:109.78, Z:6.73 [[-1.69619799e-01 -9.85509082e-01 9.86969933e-04 9.09350969e+01] [-9.85491488e-01 1.69622669e-01 5.88880338e-03 1.09778853e+02] [-5.97088168e-03 2.62071781e-05 -9.99982174e-01 6.73344446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.89, Y:109.66, Z:6.73 [[-9.35862887e-02 -9.95611059e-01 4.76005693e-04 9.08904954e+01] [-9.95596776e-01 9.35874959e-02 5.33291860e-03 1.09662956e+02] [-5.35406092e-03 2.51783268e-05 -9.99985667e-01 6.73237113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.500385723 meters Centerline goodness [0,1] 0.9999558011049724 Centerline is valid? [True, True] Translation: X:90.85, Y:109.53, Z:6.73 [[-1.68880058e-02 -9.99857387e-01 4.05119416e-05 9.08525573e+01] [-9.99851559e-01 1.68880457e-02 3.41379922e-03 1.09525211e+02] [-3.41399653e-03 1.71463331e-05 -9.99994172e-01 6.73081809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.83, Y:109.41, Z:6.73 [[ 6.02168498e-02 -9.98185302e-01 -1.86100612e-04 9.08255091e+01] [-9.98181257e-01 -6.02171356e-02 2.84158276e-03 1.09411742e+02] [-2.84763259e-03 1.46509801e-05 -9.99995945e-01 6.73034633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.81, Y:109.29, Z:6.73 [[ 1.36910674e-01 -9.90583350e-01 -3.07032199e-04 9.08069024e+01] [-9.90581042e-01 -1.36911018e-01 2.13845880e-03 1.09291338e+02] [-2.16035777e-03 1.13624405e-05 -9.99997666e-01 6.72967686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.80, Y:109.17, Z:6.73 [[ 2.13224399e-01 -9.77003153e-01 -4.41661855e-04 9.07986385e+01] [-9.77001152e-01 -2.13224856e-01 1.97724709e-03 1.09168871e+02] [-2.02594992e-03 9.90681947e-06 -9.99997948e-01 6.72959621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.620385723 meters Centerline goodness [0,1] 0.9999780103791011 Centerline is valid? [True, True] Translation: X:90.81, Y:109.01, Z:6.73 [[ 2.88644185e-01 -9.57436301e-01 -5.14653232e-04 9.08091684e+01] [-9.57434822e-01 -2.88644644e-01 1.68284365e-03 1.09009147e+02] [-1.75976750e-03 7.00389128e-06 -9.99998452e-01 6.73000339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.650385723 meters Centerline goodness [0,1] 0.9999780011879359 Centerline is valid? [True, True] Translation: X:90.82, Y:108.89, Z:6.73 [[ 3.61788554e-01 -9.32260037e-01 -5.15283578e-04 9.08176329e+01] [-9.32259113e-01 -3.61788920e-01 1.31281462e-03 1.08894873e+02] [-1.41030850e-03 5.41650939e-06 -9.99999006e-01 6.72980499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.83, Y:108.78, Z:6.73 [[ 4.32808137e-01 -9.01485733e-01 -7.68141108e-04 9.08333127e+01] [-9.01484336e-01 -4.32808819e-01 1.58668785e-03 1.08780123e+02] [-1.76283471e-03 5.73576205e-06 -9.99998446e-01 6.73029653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.85, Y:108.68, Z:6.73 [[ 5.00674761e-01 -8.65634995e-01 -9.15927763e-04 9.08544351e+01] [-8.65633568e-01 -5.00675599e-01 1.57151536e-03 1.08675403e+02] [-1.81894137e-03 6.03974218e-06 -9.99998346e-01 6.73088026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.740385723 meters Centerline goodness [0,1] 0.9999781540141999 Centerline is valid? [True, True] Translation: X:90.89, Y:108.57, Z:6.73 [[ 5.65453232e-01 -8.24779726e-01 -1.02262758e-03 9.08868883e+01] [-8.24778397e-01 -5.65454157e-01 1.48064755e-03 1.08567212e+02] [-1.79945710e-03 6.20419328e-06 -9.99998381e-01 6.73124622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.93, Y:108.46, Z:6.73 [[ 6.26573674e-01 -7.79361868e-01 -7.13539178e-04 9.09295827e+01] [-7.79361372e-01 -6.26574080e-01 8.80001283e-04 1.08456894e+02] [-1.13292460e-03 4.71923567e-06 -9.99999358e-01 6.73115256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.98, Y:108.36, Z:6.73 [[ 6.84471384e-01 -7.29039490e-01 -5.88663359e-04 9.09760820e+01] [-7.29039224e-01 -6.84471638e-01 6.21846856e-04 1.08356585e+02] [-8.56274288e-04 3.52230003e-06 -9.99999633e-01 6.73107286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.03, Y:108.26, Z:6.73 [[ 7.38415021e-01 -6.74346515e-01 -1.86189747e-04 9.10298774e+01] [-6.74346494e-01 -7.38415045e-01 1.67888978e-04 1.08257313e+02] [-2.50700658e-04 1.58465986e-06 -9.99999969e-01 6.73053085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.860385723 meters Centerline goodness [0,1] 0.9999782139822662 Centerline is valid? [True, True] Translation: X:91.02, Y:108.25, Z:6.73 [[ 7.89137279e-01 -6.14216858e-01 8.40361897e-05 9.10247239e+01] [-6.14216854e-01 -7.89137283e-01 -6.65477204e-05 1.08248387e+02] [ 1.07190822e-04 8.98842883e-07 -9.99999994e-01 6.73023640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.890385723 meters Centerline goodness [0,1] 0.9999565925122084 Centerline is valid? [True, True] Translation: X:91.02, Y:108.23, Z:6.73 [[ 8.34944905e-01 -5.50333534e-01 8.54943956e-05 9.10174068e+01] [-5.50333531e-01 -8.34944909e-01 -5.74788632e-05 1.08232302e+02] [ 1.03015656e-04 9.41251290e-07 -9.99999995e-01 6.73100010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.01, Y:108.22, Z:6.73 [[ 8.75387571e-01 -4.83421745e-01 1.27414695e-04 9.10126508e+01] [-4.83421740e-01 -8.75387581e-01 -7.13608762e-05 1.08219809e+02] [ 1.46034641e-04 8.73390540e-07 -9.99999989e-01 6.73106215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.950385723 meters Centerline goodness [0,1] 0.9999783872571268 Centerline is valid? [True, True] Translation: X:91.01, Y:108.20, Z:6.73 [[ 9.10017137e-01 -4.14570412e-01 -4.29253994e-04 9.10086678e+01] [-4.14570367e-01 -9.10017238e-01 1.93093003e-04 1.08202743e+02] [-4.70679180e-04 2.23804390e-06 -9.99999889e-01 6.73199655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.01, Y:108.19, Z:6.73 [[ 9.39179310e-01 -3.43426834e-01 -4.82107508e-04 9.10072232e+01] [-3.43426791e-01 -9.39179434e-01 1.73053312e-04 1.08190418e+02] [-5.12216607e-04 3.04054374e-06 -9.99999869e-01 6.73236058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.01, Y:108.18, Z:6.73 [[ 9.62685059e-01 -2.70623404e-01 -6.70844886e-04 9.10072683e+01] [-2.70623341e-01 -9.62685293e-01 1.83462946e-04 1.08176014e+02] [-6.95461873e-04 4.92924706e-06 -9.99999758e-01 6.73189721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.01, Y:108.16, Z:6.73 [[ 9.79918630e-01 -1.99394951e-01 1.06402031e-03 9.10076596e+01] [-1.99394845e-01 -9.79919208e-01 -2.05977275e-04 1.08162593e+02] [ 1.08372477e-03 -1.03191967e-05 -9.99999413e-01 6.73042437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.01, Y:108.15, Z:6.73 [[ 9.91858013e-01 -1.27330052e-01 2.17729303e-03 9.10056133e+01] [-1.27329820e-01 -9.91860402e-01 -2.45630559e-04 1.08145221e+02] [ 2.19084689e-03 -3.36036906e-05 -9.99997600e-01 6.72980954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.00, Y:108.13, Z:6.73 [[ 9.98661876e-01 -5.16738738e-02 2.06588099e-03 9.10041801e+01] [-5.16738390e-02 -9.98664012e-01 -7.02719573e-05 1.08130627e+02] [ 2.06675222e-03 -3.65740768e-05 -9.99997864e-01 6.72972405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.00, Y:108.12, Z:6.73 [[ 9.99692397e-01 2.47148068e-02 2.07125727e-03 9.10043389e+01] [ 2.47146694e-02 -9.99694542e-01 9.19239393e-05 1.08119963e+02] [ 2.07289647e-03 -4.07052246e-05 -9.99997851e-01 6.72949753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.01, Y:108.10, Z:6.73 [[ 9.94884457e-01 1.01009284e-01 1.42903171e-03 9.10067068e+01] [ 1.01009135e-01 -9.94885483e-01 1.75952950e-04 1.08103918e+02] [ 1.43949579e-03 -3.07075979e-05 -9.99998964e-01 6.72978819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.01, Y:108.09, Z:6.73 [[ 9.84018846e-01 1.78061585e-01 9.91604079e-04 9.10109088e+01] [ 1.78061472e-01 -9.84019345e-01 2.01572194e-04 1.08087438e+02] [ 1.01164986e-03 -2.17843560e-05 -9.99999488e-01 6.72997000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.02, Y:108.07, Z:6.73 [[ 9.66952490e-01 2.54956615e-01 -8.62006073e-05 9.10186671e+01] [ 2.54956614e-01 -9.66952493e-01 -2.58623645e-05 1.08066258e+02] [-8.99456731e-05 3.03026277e-06 -9.99999996e-01 6.73130159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.03, Y:108.05, Z:6.73 [[ 9.44134412e-01 3.29559915e-01 -6.88662860e-04 9.10272145e+01] [ 3.29559814e-01 -9.44134663e-01 -2.58972968e-04 1.08049585e+02] [-7.35537587e-04 1.75496873e-05 -9.99999729e-01 6.73170455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.04, Y:108.03, Z:6.73 [[ 9.16125073e-01 4.00888725e-01 -1.75536991e-03 9.10372641e+01] [ 4.00887889e-01 -9.16126753e-01 -8.20416901e-04 1.08031381e+02] [-1.93703723e-03 4.78979543e-05 -9.99998123e-01 6.73323660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.310385723 meters Centerline goodness [0,1] 0.9999576459626014 Centerline is valid? [True, True] Translation: X:91.05, Y:108.02, Z:6.73 [[ 8.82594875e-01 4.70130166e-01 -1.97852952e-03 9.10489882e+01] [ 4.70128833e-01 -8.82597090e-01 -1.12100721e-03 1.08016526e+02] [-2.27326370e-03 5.92314452e-05 -9.99997414e-01 6.73378949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.06, Y:108.00, Z:6.73 [[ 8.44737691e-01 5.35173056e-01 -2.83440154e-03 9.10619689e+01] [ 5.35169646e-01 -8.44742440e-01 -1.91305885e-03 1.08002286e+02] [-3.41815683e-03 9.91472455e-05 -9.99994153e-01 6.73471179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.08, Y:107.99, Z:6.73 [[ 8.00971931e-01 5.98693633e-01 -3.14644788e-03 9.10755661e+01] [ 5.98688412e-01 -8.00978102e-01 -2.50321516e-03 1.07990898e+02] [-4.01889483e-03 1.21263201e-04 -9.99991917e-01 6.73495124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.09, Y:107.98, Z:6.73 [[ 7.52332337e-01 6.58775468e-01 -3.30725039e-03 9.10924495e+01] [ 6.58768267e-01 -7.52339593e-01 -3.08346036e-03 1.07979683e+02] [-4.51948345e-03 1.41075327e-04 -9.99989777e-01 6.73490637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.11, Y:107.97, Z:6.73 [[ 6.98333919e-01 7.15764134e-01 -3.38269082e-03 9.11122282e+01] [ 7.15754643e-01 -6.98342094e-01 -3.68924182e-03 1.07967533e+02] [-5.00290236e-03 1.55146035e-04 -9.99987473e-01 6.73499351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.13, Y:107.96, Z:6.74 [[ 6.39789263e-01 7.68542176e-01 -3.55282187e-03 9.11287827e+01] [ 7.68528771e-01 -6.39799103e-01 -4.54266334e-03 1.07959646e+02] [-5.76432061e-03 1.75901401e-04 -9.99983371e-01 6.73596222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.15, Y:107.95, Z:6.74 [[ 5.76141695e-01 8.17342203e-01 -3.53134363e-03 9.11541268e+01] [ 8.17324863e-01 -5.76152488e-01 -5.32714498e-03 1.07949404e+02] [-6.38869284e-03 1.82935388e-04 -9.99979575e-01 6.73666135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.17, Y:107.94, Z:6.74 [[ 5.09109380e-01 8.60695680e-01 -3.25356508e-03 9.11739648e+01] [ 8.60675763e-01 -5.09119744e-01 -5.85806910e-03 1.07944943e+02] [-6.69846898e-03 1.82133317e-04 -9.99977548e-01 6.73697167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.20, Y:107.94, Z:6.74 [[ 4.36750062e-01 8.99576854e-01 -3.29654522e-03 9.11970922e+01] [ 8.99547947e-01 -4.36762464e-01 -7.21392429e-03 1.07939908e+02] [-7.92928653e-03 1.85281390e-04 -9.99968546e-01 6.73840228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.22, Y:107.94, Z:6.74 [[ 3.62677408e-01 9.31910165e-01 -2.92266322e-03 9.12177551e+01] [ 9.31875844e-01 -3.62689141e-01 -7.99994890e-03 1.07939283e+02] [-8.51525191e-03 1.77841472e-04 -9.99963729e-01 6.73913257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.24, Y:107.94, Z:6.74 [[ 2.86202559e-01 9.58166278e-01 -2.34078210e-03 9.12365826e+01] [ 9.58129510e-01 -2.86212087e-01 -8.39549453e-03 1.07940223e+02] [-8.71423987e-03 1.60039615e-04 -9.99962018e-01 6.74002317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.26, Y:107.94, Z:6.74 [[ 2.05679174e-01 9.78617960e-01 -1.72223529e-03 9.12571483e+01] [ 9.78578494e-01 -2.05686348e-01 -8.78960325e-03 1.07942901e+02] [-8.95590389e-03 1.22495917e-04 -9.99959888e-01 6.74099002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.28, Y:107.95, Z:6.74 [[ 1.26365217e-01 9.91983207e-01 -1.07156089e-03 9.12764691e+01] [ 9.91939906e-01 -1.26369714e-01 -9.26918399e-03 1.07948656e+02] [-9.33028771e-03 1.08378440e-04 -9.99956466e-01 6.74077976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.30, Y:107.96, Z:6.74 [[ 4.52669181e-02 9.98974875e-01 -3.24733639e-04 9.12950345e+01] [ 9.98935756e-01 -4.52680194e-02 -8.84091214e-03 1.07955127e+02] [-8.84654914e-03 7.58128032e-05 -9.99960866e-01 6.74142535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.31, Y:107.96, Z:6.74 [[-3.41305388e-02 9.99417313e-01 3.74534547e-04 9.13114053e+01] [ 9.99376992e-01 3.41325262e-02 -8.97763711e-03 1.07964531e+02] [-8.98518977e-03 6.78896177e-05 -9.99959630e-01 6.74068784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.33, Y:107.98, Z:6.74 [[-1.14385583e-01 9.93435891e-01 1.03412604e-03 9.13282292e+01] [ 9.93398933e-01 1.14390247e-01 -8.56918295e-03 1.07975379e+02] [-8.63122783e-03 4.71087243e-05 -9.99962749e-01 6.74002855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.34, Y:107.99, Z:6.74 [[-1.93157769e-01 9.81166536e-01 1.51821588e-03 9.13423664e+01] [ 9.81137514e-01 1.93163733e-01 -7.54655442e-03 1.07986299e+02] [-7.69769091e-03 3.19029405e-05 -9.99970372e-01 6.74007355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.35, Y:108.00, Z:6.74 [[-2.71974689e-01 9.62302811e-01 1.75194519e-03 9.13548979e+01] [ 9.62283076e-01 2.71980331e-01 -6.16292950e-03 1.07999198e+02] [-6.40709902e-03 9.70636642e-06 -9.99979474e-01 6.73955496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.36, Y:108.01, Z:6.74 [[-3.47204755e-01 9.37787265e-01 1.97596122e-03 9.13621737e+01] [ 9.37772153e-01 3.47210378e-01 -5.32386263e-03 1.08011717e+02] [-5.67872481e-03 4.53099075e-06 -9.99983876e-01 6.73954107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.37, Y:108.03, Z:6.74 [[-4.20658168e-01 9.07216841e-01 2.07601295e-03 9.13678801e+01] [ 9.07205772e-01 4.20663291e-01 -4.48149167e-03 1.08025534e+02] [-4.93898715e-03 -1.80514289e-06 -9.99987803e-01 6.73832151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.910385723 meters Centerline goodness [0,1] 0.9999791536376902 Centerline is valid? [True, True] Translation: X:91.37, Y:108.04, Z:6.74 [[-4.90925066e-01 8.71198903e-01 2.24752984e-03 9.13738018e+01] [ 8.71189732e-01 4.90930211e-01 -3.99724123e-03 1.08039838e+02] [-4.58577247e-03 -4.32099540e-06 -9.99989485e-01 6.73838033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.38, Y:108.05, Z:6.74 [[-5.58321789e-01 8.29620335e-01 2.62296265e-03 9.13791710e+01] [ 8.29611110e-01 5.58327950e-01 -3.91219364e-03 1.08054781e+02] [-4.71010876e-03 -8.22399156e-06 -9.99988907e-01 6.73854800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.38, Y:108.07, Z:6.74 [[-6.23177984e-01 7.82073110e-01 3.29423099e-03 9.13830642e+01] [ 7.82062009e-01 6.23186690e-01 -4.16687191e-03 1.08071217e+02] [-5.31171938e-03 -2.04099314e-05 -9.99985893e-01 6.73846032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:108.09, Z:6.74 [[-6.83185362e-01 7.30236485e-01 3.52649701e-03 9.13864576e+01] [ 7.30226569e-01 6.83194463e-01 -3.80567282e-03 1.08086620e+02] [-5.18832438e-03 -2.48381500e-05 -9.99986540e-01 6.73878008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:108.10, Z:6.74 [[-7.39471838e-01 6.73178407e-01 3.49762758e-03 9.13856700e+01] [ 6.73170677e-01 7.39480109e-01 -3.22622619e-03 1.08100311e+02] [-4.75825183e-03 -3.12030824e-05 -9.99988679e-01 6.73787782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.65, Y:108.40, Z:5.74 [[-6.81965143e-01 -7.31378896e-01 2.90772514e-03 9.16505329e+01] [ 7.31372230e-01 -6.81971341e-01 -3.12271613e-03 1.08397960e+02] [ 4.26687389e-03 -2.95413443e-06 9.99990897e-01 5.74162753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.63, Y:108.42, Z:5.74 [[-6.81069192e-01 -7.32213806e-01 2.77440438e-03 9.16332064e+01] [ 7.32207953e-01 -6.81074842e-01 -2.92799661e-03 1.08420397e+02] [ 4.03349657e-03 3.72726646e-05 9.99991865e-01 5.74293951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.62, Y:108.44, Z:5.74 [[-6.80784308e-01 -7.32478437e-01 2.83988875e-03 9.16153448e+01] [ 7.32472313e-01 -6.80790230e-01 -2.99545131e-03 1.08441480e+02] [ 4.12747200e-03 4.08836327e-05 9.99991481e-01 5.74369476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.60, Y:108.46, Z:5.74 [[-6.80986309e-01 -7.32290637e-01 2.84071483e-03 9.15963472e+01] [ 7.32284515e-01 -6.80992233e-01 -2.99466791e-03 1.08461426e+02] [ 4.12747200e-03 4.08836317e-05 9.99991481e-01 5.74369516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.58, Y:108.48, Z:5.74 [[-6.80349707e-01 -7.32879792e-01 3.38924832e-03 9.15784403e+01] [ 7.32871094e-01 -6.80358147e-01 -3.57096327e-03 1.08483024e+02] [ 4.92298952e-03 5.43783155e-05 9.99987881e-01 5.74290597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.56, Y:108.50, Z:5.74 [[-6.80182895e-01 -7.33030695e-01 4.15099061e-03 9.15602872e+01] [ 7.33017661e-01 -6.80195557e-01 -4.37177741e-03 1.08503763e+02] [ 6.02813240e-03 6.91412160e-05 9.99981828e-01 5.74228070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.54, Y:108.53, Z:5.74 [[-6.80726203e-01 -7.32517751e-01 5.43888301e-03 9.15433503e+01] [ 7.32495384e-01 -6.80747925e-01 -5.72502433e-03 1.08526524e+02] [ 7.89619027e-03 8.67826281e-05 9.99968821e-01 5.74185709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.53, Y:108.55, Z:5.74 [[-6.81642739e-01 -7.31661554e-01 5.87769253e-03 9.15256797e+01] [ 7.31635429e-01 -6.81668074e-01 -6.18351716e-03 1.08548855e+02] [ 8.53087712e-03 8.53785169e-05 9.99963608e-01 5.74213442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.51, Y:108.57, Z:5.74 [[-6.83060307e-01 -7.30339030e-01 5.78949450e-03 9.15084300e+01] [ 7.30313664e-01 -6.83084839e-01 -6.08738385e-03 1.08571307e+02] [ 8.40056993e-03 7.00966583e-05 9.99964712e-01 5.74219963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.49, Y:108.60, Z:5.74 [[-6.85873410e-01 -7.27701361e-01 5.32856883e-03 9.14947655e+01] [ 7.27679811e-01 -6.85894108e-01 -5.60049089e-03 1.08595177e+02] [ 7.73031880e-03 3.62641722e-05 9.99970120e-01 5.74316457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.48, Y:108.62, Z:5.74 [[-6.88585579e-01 -7.25142317e-01 4.30358011e-03 9.14798926e+01] [ 7.25128227e-01 -6.88599027e-01 -4.52044800e-03 1.08618331e+02] [ 6.24140921e-03 7.93211089e-06 9.99980522e-01 5.74374611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.46, Y:108.64, Z:5.74 [[-6.89804373e-01 -7.23984073e-01 4.12187809e-03 9.14635201e+01] [ 7.23971143e-01 -6.89816688e-01 -4.32683341e-03 1.08638792e+02] [ 5.97589877e-03 -5.47814606e-07 9.99982144e-01 5.74363683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.45, Y:108.66, Z:5.74 [[-6.90819933e-01 -7.23015190e-01 4.10552772e-03 9.14462641e+01] [ 7.23002360e-01 -6.90832132e-01 -4.30725661e-03 1.08660516e+02] [ 5.95044243e-03 -7.23248509e-06 9.99982296e-01 5.74417377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.43, Y:108.68, Z:5.74 [[-6.92804666e-01 -7.21114879e-01 3.87642814e-03 9.14312667e+01] [ 7.21103424e-01 -6.92815510e-01 -4.06463217e-03 1.08684576e+02] [ 5.61671628e-03 -2.06905284e-05 9.99984226e-01 5.74414539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.41, Y:108.71, Z:5.74 [[-6.93890899e-01 -7.20071535e-01 3.52207098e-03 9.14133061e+01] [ 7.20062075e-01 -6.93899838e-01 -3.69099733e-03 1.08706791e+02] [ 5.10174659e-03 -2.50397215e-05 9.99986986e-01 5.74432957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:108.73, Z:5.74 [[-6.95164895e-01 -7.18846198e-01 2.43159995e-03 9.13963702e+01] [ 7.18841687e-01 -6.95169147e-01 -2.54679230e-03 1.08729620e+02] [ 3.52112522e-03 -2.25051893e-05 9.99993801e-01 5.74421398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.38, Y:108.75, Z:5.74 [[-6.95534704e-01 -7.18490209e-01 1.81551726e-03 9.13790127e+01] [ 7.18487696e-01 -6.95537073e-01 -1.90039819e-03 1.08749929e+02] [ 2.62817705e-03 -1.73660779e-05 9.99996546e-01 5.74407498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.36, Y:108.77, Z:5.74 [[-6.95247561e-01 -7.18768782e-01 1.50589950e-03 9.13616361e+01] [ 7.18767055e-01 -6.95249191e-01 -1.57542726e-03 1.08772347e+02] [ 2.17934334e-03 -1.29210148e-05 9.99997625e-01 5.74417881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.34, Y:108.79, Z:5.74 [[-6.95006278e-01 -7.19001599e-01 1.72461844e-03 9.13436618e+01] [ 7.18999337e-01 -6.95008418e-01 -1.80323707e-03 1.08793634e+02] [ 2.49515467e-03 -1.32615681e-05 9.99996887e-01 5.74427689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.33, Y:108.82, Z:5.74 [[-6.95113277e-01 -7.18898587e-01 1.53393851e-03 9.13264112e+01] [ 7.18896800e-01 -6.95114970e-01 -1.60297578e-03 1.08815938e+02] [ 2.21864064e-03 -1.15062644e-05 9.99997539e-01 5.74354553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.31, Y:108.84, Z:5.74 [[-6.95720529e-01 -7.18310635e-01 1.66672749e-03 9.13084959e+01] [ 7.18308526e-01 -6.95722525e-01 -1.74077915e-03 1.08836998e+02] [ 2.41000004e-03 -1.38712280e-05 9.99997096e-01 5.74286805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.29, Y:108.86, Z:5.74 [[-6.96458076e-01 -7.17594952e-01 1.90639735e-03 9.12916967e+01] [ 7.17592193e-01 -6.96460685e-01 -1.98993734e-03 1.08858366e+02] [ 2.75569979e-03 -1.78920760e-05 9.99996203e-01 5.74244558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.28, Y:108.88, Z:5.74 [[-6.98192942e-01 -7.15907402e-01 1.79114443e-03 9.12751045e+01] [ 7.15904964e-01 -6.98195239e-01 -1.86857824e-03 1.08881945e+02] [ 2.58829751e-03 -2.23389509e-05 9.99996650e-01 5.74276898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.26, Y:108.90, Z:5.74 [[-6.98914326e-01 -7.15203879e-01 1.47536605e-03 9.12590065e+01] [ 7.15202225e-01 -6.98915883e-01 -1.53823422e-03 1.08904169e+02] [ 2.13130785e-03 -1.99088512e-05 9.99997729e-01 5.74257707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.24, Y:108.92, Z:5.74 [[-6.99032173e-01 -7.15088461e-01 1.58568440e-03 9.12403479e+01] [ 7.15086552e-01 -6.99033972e-01 -1.65234121e-03 1.08924881e+02] [ 2.29001740e-03 -2.11380722e-05 9.99997378e-01 5.74245247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.22, Y:108.94, Z:5.74 [[-6.98770259e-01 -7.15345222e-01 1.15737418e-03 9.12222479e+01] [ 7.15344206e-01 -6.98771217e-01 -1.20532966e-03 1.08944504e+02] [ 1.67096658e-03 -1.43276004e-05 9.99998604e-01 5.74146971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.20, Y:108.96, Z:5.74 [[-6.98917818e-01 -7.15201415e-01 9.05709744e-04 9.12029961e+01] [ 7.15200793e-01 -6.98918405e-01 -9.42717715e-04 1.08964712e+02] [ 1.30725025e-03 -1.11178806e-05 9.99999146e-01 5.74119602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.19, Y:108.99, Z:5.74 [[-6.99028573e-01 -7.15092303e-01 1.43297764e-03 9.11851708e+01] [ 7.15090749e-01 -6.99030041e-01 -1.49070485e-03 1.08986738e+02] [ 2.06768598e-03 -1.73362305e-05 9.99997862e-01 5.74099685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.17, Y:109.01, Z:5.74 [[-6.99047117e-01 -7.15074705e-01 1.13778652e-03 9.11666617e+01] [ 7.15073727e-01 -6.99048042e-01 -1.18297013e-03 1.09007614e+02] [ 1.64127946e-03 -1.33506171e-05 9.99998653e-01 5.74145499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.15, Y:109.03, Z:5.74 [[-6.99223286e-01 -7.14903086e-01 6.11645339e-04 9.11471044e+01] [ 7.14902804e-01 -6.99223553e-01 -6.35574585e-04 1.09027678e+02] [ 8.82051060e-04 -7.14158235e-06 9.99999611e-01 5.74181339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.13, Y:109.05, Z:5.74 [[-6.99623509e-01 -7.14511297e-01 7.43285733e-04 9.11290464e+01] [ 7.14510880e-01 -6.99623903e-01 -7.71898891e-04 1.09047449e+02] [ 1.07155094e-03 -8.95286683e-06 9.99999426e-01 5.74164314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.11, Y:109.07, Z:5.74 [[-7.00711195e-01 -7.13444751e-01 6.39015478e-04 9.11103967e+01] [ 7.13444442e-01 -7.00711487e-01 -6.63237857e-04 1.09067875e+02] [ 9.20949053e-04 -8.83614993e-06 9.99999576e-01 5.74132455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.09, Y:109.09, Z:5.74 [[-7.02951314e-01 -7.11237961e-01 1.17275325e-04 9.10930527e+01] [ 7.11237951e-01 -7.02951323e-01 -1.21662874e-04 1.09089514e+02] [ 1.68970100e-04 -2.11241529e-06 9.99999986e-01 5.74129993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.07, Y:109.11, Z:5.74 [[-7.03954906e-01 -7.10244665e-01 8.05580860e-05 9.10741182e+01] [ 7.10244660e-01 -7.03954911e-01 -8.35274840e-05 1.09110204e+02] [ 1.16034210e-04 -1.58363177e-06 9.99999993e-01 5.74139839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.06, Y:109.13, Z:5.74 [[-7.05469115e-01 -7.08740656e-01 -1.08180460e-04 9.10560774e+01] [ 7.08740647e-01 -7.05469123e-01 1.12095552e-04 1.09132136e+02] [-1.55764650e-04 2.40806093e-06 9.99999988e-01 5.74172859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.04, Y:109.15, Z:5.74 [[-7.05733849e-01 -7.08477027e-01 1.90956589e-04 9.10377242e+01] [ 7.08476999e-01 -7.05733875e-01 -1.97767295e-04 1.09152053e+02] [ 2.74878118e-04 -4.28272361e-06 9.99999962e-01 5.74131658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.02, Y:109.17, Z:5.74 [[-7.05678991e-01 -7.08531262e-01 7.83380318e-04 9.10178693e+01] [ 7.08530798e-01 -7.05679425e-01 -8.10858275e-04 1.09171700e+02] [ 1.12733381e-03 -1.71565672e-05 9.99999364e-01 5.74011654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.170385723 meters Centerline goodness [0,1] 0.9999579805449923 Centerline is valid? [True, True] Translation: X:91.00, Y:109.19, Z:5.74 [[-7.05651437e-01 -7.08558165e-01 1.17321619e-03 9.09982036e+01] [ 7.08557126e-01 -7.05652412e-01 -1.21368830e-03 1.09191584e+02] [ 1.68785159e-03 -2.51502010e-05 9.99998575e-01 5.74007710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.98, Y:109.21, Z:5.74 [[-7.05916238e-01 -7.08293314e-01 1.68683184e-03 9.09807520e+01] [ 7.08291167e-01 -7.05918253e-01 -1.74430745e-03 1.09211750e+02] [ 2.42624669e-03 -3.65668628e-05 9.99997056e-01 5.74010761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.96, Y:109.23, Z:5.74 [[-7.06487597e-01 -7.07723520e-01 1.64139091e-03 9.09615448e+01] [ 7.07721488e-01 -7.06489503e-01 -1.69639301e-03 1.09232001e+02] [ 2.36020268e-03 -3.68329971e-05 9.99997214e-01 5.74033680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.94, Y:109.25, Z:5.74 [[-7.07816738e-01 -7.06393987e-01 1.73219872e-03 9.09426050e+01] [ 7.06391722e-01 -7.07818857e-01 -1.78926337e-03 1.09253249e+02] [ 2.49000781e-03 -4.28597233e-05 9.99996899e-01 5.74153409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.290385723 meters Centerline goodness [0,1] 0.9999583298608218 Centerline is valid? [True, True] Translation: X:90.92, Y:109.27, Z:5.74 [[-7.08220782e-01 -7.05989019e-01 1.68207347e-03 9.09243338e+01] [ 7.05986884e-01 -7.08222778e-01 -1.73648430e-03 1.09273110e+02] [ 2.41722159e-03 -4.22924603e-05 9.99997078e-01 5.74183661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.90, Y:109.29, Z:5.74 [[-7.08796320e-01 -7.05411889e-01 1.35804686e-03 9.09044865e+01] [ 7.05410498e-01 -7.08797620e-01 -1.40121689e-03 1.09293373e+02] [ 1.95101543e-03 -3.51968584e-05 9.99998096e-01 5.74240806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.89, Y:109.31, Z:5.74 [[-7.08947799e-01 -7.05260653e-01 6.55702128e-04 9.08862625e+01] [ 7.05260329e-01 -7.08948102e-01 -6.76228945e-04 1.09312129e+02] [ 9.41776446e-04 -1.69703245e-05 9.99999556e-01 5.74317278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.87, Y:109.33, Z:5.74 [[-7.08704326e-01 -7.05505331e-01 6.38410621e-04 9.08666084e+01] [ 7.05505024e-01 -7.08704613e-01 -6.58002267e-04 1.09330607e+02] [ 9.16668659e-04 -1.59271526e-05 9.99999580e-01 5.74282780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.85, Y:109.35, Z:5.74 [[-7.08622493e-01 -7.05587053e-01 1.03562921e-03 9.08457746e+01] [ 7.05586247e-01 -7.08623250e-01 -1.06682411e-03 1.09349868e+02] [ 1.48660822e-03 -2.52498304e-05 9.99998895e-01 5.74248561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.83, Y:109.37, Z:5.74 [[-7.08600190e-01 -7.05608513e-01 1.54822002e-03 9.08251261e+01] [ 7.05606713e-01 -7.08601881e-01 -1.59395332e-03 1.09368480e+02] [ 2.22177865e-03 -3.70411813e-05 9.99997531e-01 5.74187003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.81, Y:109.39, Z:5.74 [[-7.08171953e-01 -7.06036444e-01 2.24148605e-03 9.08060439e+01] [ 7.06032679e-01 -7.08175499e-01 -2.30633934e-03 1.09387318e+02] [ 3.21572513e-03 -5.07224345e-05 9.99994828e-01 5.74119012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.79, Y:109.41, Z:5.74 [[-7.07800357e-01 -7.06408906e-01 2.26089034e-03 9.07876232e+01] [ 7.06405081e-01 -7.07803966e-01 -2.32535622e-03 1.09407005e+02] [ 3.24291950e-03 -4.87835442e-05 9.99994741e-01 5.74134127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.77, Y:109.43, Z:5.74 [[-7.07231871e-01 -7.06979116e-01 1.90029493e-03 9.07690472e+01] [ 7.06976418e-01 -7.07234423e-01 -1.95337881e-03 1.09426038e+02] [ 2.72495201e-03 -3.80280535e-05 9.99996287e-01 5.74152378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.75, Y:109.44, Z:5.74 [[-7.06791316e-01 -7.07419187e-01 2.03202938e-03 9.07482752e+01] [ 7.07416108e-01 -7.06794236e-01 -2.08762137e-03 1.09444513e+02] [ 2.91305007e-03 -3.80223364e-05 9.99995756e-01 5.74179494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.73, Y:109.46, Z:5.74 [[-7.05175032e-01 -7.09032083e-01 1.29599321e-03 9.07279474e+01] [ 7.09030835e-01 -7.05176222e-01 -1.33073218e-03 1.09464530e+02] [ 1.85743541e-03 -1.94999589e-05 9.99998275e-01 5.74262078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.71, Y:109.48, Z:5.74 [[-7.04304337e-01 -7.09897679e-01 8.27884063e-04 9.07086086e+01] [ 7.09897171e-01 -7.04304824e-01 -8.49585621e-04 1.09483768e+02] [ 1.18620160e-03 -1.06542829e-05 9.99999296e-01 5.74315391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.69, Y:109.50, Z:5.74 [[-7.02625387e-01 -7.11558989e-01 1.17051752e-03 9.06883858e+01] [ 7.11557977e-01 -7.02626362e-01 -1.20053901e-03 1.09502646e+02] [ 1.67669079e-03 -1.06381098e-05 9.99998594e-01 5.74255157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.67, Y:109.52, Z:5.74 [[-7.02455280e-01 -7.11726258e-01 1.52074490e-03 9.06694390e+01] [ 7.11724551e-01 -7.02456926e-01 -1.55884553e-03 1.09522505e+02] [ 2.17772908e-03 -1.26677934e-05 9.99997629e-01 5.74208117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.65, Y:109.54, Z:5.74 [[-7.03125628e-01 -7.11062469e-01 2.12532278e-03 9.06509594e+01] [ 7.11059136e-01 -7.03128839e-01 -2.17737196e-03 1.09543782e+02] [ 3.04262322e-03 -1.97358503e-05 9.99995371e-01 5.74163914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.63, Y:109.56, Z:5.74 [[-7.03899244e-01 -7.10296267e-01 2.25123364e-03 9.06329413e+01] [ 7.10292527e-01 -7.03902844e-01 -2.30503107e-03 1.09564453e+02] [ 3.22190472e-03 -2.34751946e-05 9.99994809e-01 5.74077113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.61, Y:109.59, Z:5.74 [[-7.05226706e-01 -7.08975549e-01 2.99388909e-03 9.06148983e+01] [ 7.08968931e-01 -7.05233060e-01 -3.06368022e-03 1.09585492e+02] [ 4.28346393e-03 -3.80147679e-05 9.99990825e-01 5.74079945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.800385723 meters Centerline goodness [0,1] 0.9999373276510404 Centerline is valid? [True, True] Translation: X:90.60, Y:109.61, Z:5.74 [[-7.05698214e-01 -7.08504936e-01 3.28422249e-03 9.05976158e+01] [ 7.08496976e-01 -7.05705855e-01 -3.35875565e-03 1.09606804e+02] [ 4.69738999e-03 -4.34061603e-05 9.99988966e-01 5.74001627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.58, Y:109.63, Z:5.74 [[-7.05934326e-01 -7.08269960e-01 3.22346154e-03 9.05781567e+01] [ 7.08262298e-01 -7.05941684e-01 -3.29476332e-03 1.09626543e+02] [ 4.60915775e-03 -4.28302415e-05 9.99989377e-01 5.74069958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.56, Y:109.65, Z:5.74 [[-7.06026188e-01 -7.08177920e-01 3.32500592e-03 9.05590251e+01] [ 7.08169776e-01 -7.06034016e-01 -3.39662716e-03 1.09647179e+02] [ 4.75298364e-03 -4.34390253e-05 9.99988704e-01 5.74063166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.54, Y:109.67, Z:5.74 [[-7.06002233e-01 -7.08202929e-01 3.07565208e-03 9.05404204e+01] [ 7.08195969e-01 -7.06008931e-01 -3.14002544e-03 1.09667345e+02] [ 4.39521305e-03 -3.87005633e-05 9.99990340e-01 5.74045521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.52, Y:109.69, Z:5.74 [[-7.05901331e-01 -7.08304751e-01 2.77333548e-03 9.05223184e+01] [ 7.08299099e-01 -7.05906778e-01 -2.82980012e-03 1.09689508e+02] [ 3.96207718e-03 -3.32086458e-05 9.99992150e-01 5.74101472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.50, Y:109.71, Z:5.74 [[-7.05863401e-01 -7.08342676e-01 2.74087920e-03 9.05048791e+01] [ 7.08337162e-01 -7.05868722e-01 -2.79503655e-03 1.09710774e+02] [ 3.91454456e-03 -3.14474128e-05 9.99992338e-01 5.74098657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.49, Y:109.73, Z:5.74 [[-7.05957089e-01 -7.08248068e-01 3.04348920e-03 9.04856969e+01] [ 7.08241276e-01 -7.05963648e-01 -3.10191960e-03 1.09731494e+02] [ 4.34552130e-03 -3.42974577e-05 9.99990558e-01 5.74051547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.47, Y:109.75, Z:5.74 [[-7.06320650e-01 -7.07884465e-01 3.27473665e-03 9.04666032e+01] [ 7.07876606e-01 -7.06328241e-01 -3.33577057e-03 1.09752436e+02] [ 4.67437914e-03 -3.80141731e-05 9.99989074e-01 5.74012188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.45, Y:109.77, Z:5.74 [[-7.06461481e-01 -7.07744353e-01 3.17898069e-03 9.04489117e+01] [ 7.07736954e-01 -7.06468633e-01 -3.23646069e-03 1.09774393e+02] [ 4.53643693e-03 -3.65527037e-05 9.99989710e-01 5.73988217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.43, Y:109.79, Z:5.74 [[-7.06654670e-01 -7.07551458e-01 3.17986414e-03 9.04295477e+01] [ 7.07544061e-01 -7.06661824e-01 -3.23559270e-03 1.09794017e+02] [ 4.53643692e-03 -3.65527004e-05 9.99989710e-01 5.73988258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.41, Y:109.81, Z:5.74 [[-7.06718151e-01 -7.07488566e-01 3.06332449e-03 9.04104483e+01] [ 7.07481708e-01 -7.06724790e-01 -3.11529661e-03 1.09814178e+02] [ 4.36896409e-03 -3.43906147e-05 9.99990455e-01 5.73982780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.39, Y:109.84, Z:5.74 [[-7.06101464e-01 -7.08100332e-01 3.82659179e-03 9.03914267e+01] [ 7.08089651e-01 -7.06111831e-01 -3.88937839e-03 1.09835008e+02] [ 5.45607187e-03 -3.67257294e-05 9.99985115e-01 5.73907365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.37, Y:109.86, Z:5.74 [[-7.05921099e-01 -7.08280141e-01 3.82672616e-03 9.03728711e+01] [ 7.08269475e-01 -7.05931470e-01 -3.88726503e-03 1.09855371e+02] [ 5.45467905e-03 -3.37490713e-05 9.99985123e-01 5.73862640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.35, Y:109.88, Z:5.74 [[-7.05069388e-01 -7.09126251e-01 4.13750066e-03 9.03546736e+01] [ 7.09113811e-01 -7.05081527e-01 -4.20040566e-03 1.09875602e+02] [ 5.89589321e-03 -2.76185847e-05 9.99982619e-01 5.73856798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.34, Y:109.90, Z:5.74 [[-7.04886289e-01 -7.09306335e-01 4.45445591e-03 9.03364573e+01] [ 7.09291938e-01 -7.04900363e-01 -4.51944254e-03 1.09895427e+02] [ 6.34561682e-03 -2.61834149e-05 9.99979866e-01 5.73844027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.250385723 meters Centerline goodness [0,1] 0.9999576208335982 Centerline is valid? [True, True] Translation: X:90.32, Y:109.92, Z:5.74 [[-7.04908125e-01 -7.09282709e-01 4.75125754e-03 9.03202458e+01] [ 7.09266343e-01 -7.04924136e-01 -4.81831731e-03 1.09916275e+02] [ 6.76682527e-03 -2.65639578e-05 9.99977104e-01 5.73780841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.30, Y:109.94, Z:5.74 [[-7.05343745e-01 -7.08846882e-01 5.12829098e-03 9.03022584e+01] [ 7.08827827e-01 -7.05362387e-01 -5.19757679e-03 1.09937086e+02] [ 7.30158966e-03 -3.10029218e-05 9.99973343e-01 5.73781780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.29, Y:109.96, Z:5.74 [[-7.06363288e-01 -7.07828621e-01 5.43593088e-03 9.02859702e+01] [ 7.07807207e-01 -7.06384203e-01 -5.50593743e-03 1.09957891e+02] [ 7.73711579e-03 -4.16010073e-05 9.99970067e-01 5.73743905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.27, Y:109.98, Z:5.74 [[-7.07625722e-01 -7.06566301e-01 5.46811195e-03 9.02682353e+01] [ 7.06544619e-01 -7.07646847e-01 -5.53545659e-03 1.09979658e+02] [ 7.78065927e-03 -5.35663945e-05 9.99969729e-01 5.73794137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.25, Y:110.00, Z:5.74 [[-7.07946826e-01 -7.06245917e-01 5.29117242e-03 9.02495539e+01] [ 7.06225629e-01 -7.07966597e-01 -5.35338218e-03 1.10001174e+02] [ 7.52677764e-03 -5.31483555e-05 9.99971672e-01 5.73804202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.23, Y:110.02, Z:5.74 [[-7.08111781e-01 -7.06083535e-01 4.87316765e-03 9.02328548e+01] [ 7.06066342e-01 -7.08128548e-01 -4.92759404e-03 1.10022131e+02] [ 6.93012215e-03 -4.85077385e-05 9.99975985e-01 5.73797603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.21, Y:110.04, Z:5.74 [[-7.08786677e-01 -7.05408945e-01 4.43461210e-03 9.02147316e+01] [ 7.05394710e-01 -7.08800549e-01 -4.48167087e-03 1.10043744e+02] [ 6.30466621e-03 -4.83966915e-05 9.99980124e-01 5.73983967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.20, Y:110.06, Z:5.74 [[-7.08952426e-01 -7.05242239e-01 4.45450921e-03 9.01958132e+01] [ 7.05227888e-01 -7.08966418e-01 -4.49930551e-03 1.10064171e+02] [ 6.33119773e-03 -4.83494306e-05 9.99979957e-01 5.73983038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.490385723 meters Centerline goodness [0,1] 0.9999785167998625 Centerline is valid? [True, True] Translation: X:90.18, Y:110.09, Z:5.74 [[-7.08922742e-01 -7.05269997e-01 4.77252154e-03 9.01764604e+01] [ 7.05253543e-01 -7.08938805e-01 -4.81783940e-03 1.10085041e+02] [ 6.78130329e-03 -4.96381929e-05 9.99977006e-01 5.73874480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.16, Y:110.11, Z:5.74 [[-7.08600312e-01 -7.05587705e-01 5.62038003e-03 9.01578419e+01] [ 7.05564920e-01 -7.08622599e-01 -5.67058275e-03 1.10105937e+02] [ 7.98382178e-03 -5.26337227e-05 9.99968127e-01 5.73754868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.14, Y:110.13, Z:5.74 [[-7.08772714e-01 -7.05412276e-01 5.89576433e-03 9.01399403e+01] [ 7.05387227e-01 -7.08797233e-01 -5.94492200e-03 1.10126727e+02] [ 8.37252240e-03 -5.48016446e-05 9.99964948e-01 5.73709867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.12, Y:110.15, Z:5.74 [[-7.09066169e-01 -7.05117004e-01 5.93125366e-03 9.01220804e+01] [ 7.05091669e-01 -7.09090973e-01 -5.97743584e-03 1.10148526e+02] [ 8.42059008e-03 -5.63199848e-05 9.99964545e-01 5.73783056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.11, Y:110.17, Z:5.74 [[-7.09618624e-01 -7.04560540e-01 5.98779300e-03 9.01061904e+01] [ 7.04534734e-01 -7.09643884e-01 -6.03052787e-03 1.10169159e+02] [ 8.49807265e-03 -6.07667436e-05 9.99963889e-01 5.73725725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.640385723 meters Centerline goodness [0,1] 0.999935583612471 Centerline is valid? [True, True] Translation: X:90.09, Y:110.19, Z:5.74 [[-7.09652735e-01 -7.04524056e-01 6.23301810e-03 9.00874297e+01] [ 7.04496125e-01 -7.09680105e-01 -6.27366040e-03 1.10188931e+02] [ 8.84339361e-03 -6.09831574e-05 9.99960895e-01 5.73664670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.07, Y:110.21, Z:5.73 [[-7.08915076e-01 -7.05264766e-01 6.40513069e-03 9.00714516e+01] [ 7.05235339e-01 -7.08944009e-01 -6.44276361e-03 1.10209724e+02] [ 9.08473320e-03 -5.02477374e-05 9.99958732e-01 5.73384831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.05, Y:110.23, Z:5.74 [[-7.08545312e-01 -7.05643009e-01 5.61114445e-03 9.00516227e+01] [ 7.05620462e-01 -7.08567529e-01 -5.64095666e-03 1.10229604e+02] [ 7.95637639e-03 -3.75350568e-05 9.99968347e-01 5.73694278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.730385723 meters Centerline goodness [0,1] 0.9999567043338962 Centerline is valid? [True, True] Translation: X:90.03, Y:110.25, Z:5.74 [[-7.07625625e-01 -7.06567079e-01 5.37926596e-03 9.00341192e+01] [ 7.06546408e-01 -7.07646071e-01 -5.40478693e-03 1.10252067e+02] [ 7.62546094e-03 -2.38646902e-05 9.99970926e-01 5.73668896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.02, Y:110.27, Z:5.74 [[-7.07290171e-01 -7.06902572e-01 5.41917343e-03 9.00153257e+01] [ 7.06881626e-01 -7.07310931e-01 -5.44181293e-03 1.10273133e+02] [ 7.67987216e-03 -1.82266716e-05 9.99970509e-01 5.73746883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.790385723 meters Centerline goodness [0,1] 0.9999138042494505 Centerline is valid? [True, True] Translation: X:90.00, Y:110.29, Z:5.74 [[-7.06332771e-01 -7.07854294e-01 6.02620359e-03 8.99980174e+01] [ 7.07828449e-01 -7.06358477e-01 -6.04888890e-03 1.10294347e+02] [ 8.53839197e-03 -7.01011660e-06 9.99963547e-01 5.73610375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.820385723 meters Centerline goodness [0,1] 0.9999568416736799 Centerline is valid? [True, True] Translation: X:89.98, Y:110.31, Z:5.73 [[-7.06332131e-01 -7.07854261e-01 6.10455942e-03 8.99800387e+01] [ 7.07827770e-01 -7.06358511e-01 -6.12396982e-03 1.10314369e+02] [ 8.64688564e-03 -4.57997692e-06 9.99962615e-01 5.73402106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.96, Y:110.34, Z:5.74 [[-7.05801628e-01 -7.08384291e-01 5.97988308e-03 8.99627789e+01] [ 7.08358918e-01 -7.05826960e-01 -5.99557191e-03 1.10336533e+02] [ 8.46793165e-03 4.21909665e-06 9.99964146e-01 5.73658900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.880385723 meters Centerline goodness [0,1] 0.9999782740940297 Centerline is valid? [True, True] Translation: X:89.95, Y:110.36, Z:5.74 [[-7.05669413e-01 -7.08520216e-01 5.45738499e-03 8.99463544e+01] [ 7.08499111e-01 -7.05690515e-01 -5.46866598e-03 1.10359363e+02] [ 7.72588522e-03 7.48210214e-06 9.99970155e-01 5.73875131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.93, Y:110.38, Z:5.74 [[-7.06003370e-01 -7.08187608e-01 5.43640173e-03 8.99275854e+01] [ 7.08166678e-01 -7.06024300e-01 -5.44461848e-03 1.10380980e+02] [ 7.69404306e-03 5.95956386e-06 9.99970400e-01 5.73920955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.940385723 meters Centerline goodness [0,1] 0.9999130434782608 Centerline is valid? [True, True] Translation: X:89.91, Y:110.40, Z:5.74 [[-7.06403597e-01 -7.07790876e-01 5.10224134e-03 8.99089404e+01] [ 7.07772451e-01 -7.06422024e-01 -5.10711806e-03 1.10402149e+02] [ 7.21910722e-03 3.53928821e-06 9.99973942e-01 5.73904969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9703857229999 meters Centerline goodness [0,1] 0.9999781568773072 Centerline is valid? [True, True] Translation: X:89.89, Y:110.42, Z:5.74 [[-7.07100647e-01 -7.07094352e-01 5.12371333e-03 8.98929140e+01] [ 7.07075775e-01 -7.07119210e-01 -5.12561367e-03 1.10424026e+02] [ 7.24736860e-03 -1.47117105e-06 9.99973738e-01 5.73866878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.88, Y:110.44, Z:5.74 [[-7.07422625e-01 -7.06765976e-01 5.92332202e-03 8.98751499e+01] [ 7.06741166e-01 -7.07447423e-01 -5.92187843e-03 1.10444662e+02] [ 8.37582108e-03 -3.01526613e-06 9.99964922e-01 5.73777061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.030385723 meters Centerline goodness [0,1] 0.9999781109773449 Centerline is valid? [True, True] Translation: X:89.36, Y:109.93, Z:6.74 [[-7.54738871e-01 6.55987293e-01 7.06453283e-03 8.93639633e+01] [ 6.55958692e-01 7.54771933e-01 -6.12558564e-03 1.09928435e+02] [-9.35041745e-03 1.08241262e-05 -9.99956284e-01 6.74252845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.060385723 meters Centerline goodness [0,1] 0.9999562190797251 Centerline is valid? [True, True] Translation: X:89.38, Y:109.95, Z:6.74 [[-7.98857990e-01 6.01478460e-01 7.04083201e-03 8.93768991e+01] [ 6.01455277e-01 7.98889017e-01 -5.28091770e-03 1.09949795e+02] [-8.80120162e-03 1.60422701e-05 -9.99961269e-01 6.74237154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0903857229999 meters Centerline goodness [0,1] 0.9999780258416102 Centerline is valid? [True, True] Translation: X:89.40, Y:109.97, Z:6.74 [[-8.39200910e-01 5.43765084e-01 7.83362369e-03 8.93989428e+01] [ 5.43741624e-01 8.39237471e-01 -5.05102667e-03 1.09966959e+02] [-9.32084247e-03 2.06410898e-05 -9.99956560e-01 6.74260902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.40, Y:110.00, Z:6.74 [[-8.75322776e-01 4.83466273e-01 8.39048892e-03 8.94038706e+01] [ 4.83444352e-01 8.75362989e-01 -4.60393911e-03 1.09995120e+02] [-9.57057274e-03 2.64017122e-05 -9.99954201e-01 6.74308781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.43, Y:110.01, Z:6.74 [[-9.06949524e-01 4.21138955e-01 9.19471076e-03 8.94282668e+01] [ 4.21117736e-01 9.06996130e-01 -4.22760144e-03 1.10010808e+02] [-1.01199747e-02 3.78346717e-05 -9.99948791e-01 6.74235742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.43, Y:110.04, Z:6.74 [[-9.34385349e-01 3.56134572e-01 9.60136921e-03 8.94319212e+01] [ 3.56116230e-01 9.34434677e-01 -3.61462767e-03 1.10038104e+02] [-1.02591462e-02 4.17482724e-05 -9.99947373e-01 6.74197060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.45, Y:110.06, Z:6.74 [[-9.57228113e-01 2.89141416e-01 1.05632409e-02 8.94505676e+01] [ 2.89124345e-01 9.57286394e-01 -3.14225309e-03 1.10057920e+02] [-1.10206023e-02 4.62371083e-05 -9.99939270e-01 6.74205206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.46, Y:110.08, Z:6.74 [[-9.75352500e-01 2.20373816e-01 1.10852353e-02 8.94557938e+01] [ 2.20360110e-01 9.75415491e-01 -2.45815551e-03 1.10084945e+02] [-1.13544234e-02 4.51755555e-05 -9.99935535e-01 6.74252811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.46, Y:110.11, Z:6.74 [[-9.88642968e-01 1.49905881e-01 1.06446876e-02 8.94611577e+01] [ 1.49897578e-01 9.88700271e-01 -1.57813710e-03 1.10110846e+02] [-1.07609775e-02 3.53987451e-05 -9.99942098e-01 6.74279445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.46, Y:110.14, Z:6.74 [[-9.96817958e-01 7.90690058e-02 1.01020716e-02 8.94634631e+01] [ 7.90652626e-02 9.96869145e-01 -7.70002683e-04 1.10136545e+02] [-1.01313268e-02 3.11704421e-05 -9.99948676e-01 6.74094277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.47, Y:110.16, Z:6.74 [[-9.99919273e-01 8.09746297e-03 9.79176864e-03 8.94658214e+01] [ 8.09737817e-03 9.99967215e-01 -4.83053589e-05 1.10163792e+02] [-9.79183876e-03 3.09861943e-05 -9.99952058e-01 6.74084018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.48, Y:110.95, Z:5.74 [[-9.97562968e-01 -6.91677465e-02 9.16226036e-03 8.94758237e+01] [ 6.91641957e-02 -9.97605041e-01 -7.04212596e-04 1.10949067e+02] [ 9.18902592e-03 -6.87960396e-05 9.99957778e-01 5.73909632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.37, Y:110.16, Z:6.74 [[-9.99961720e-01 2.72878781e-03 8.31340819e-03 8.93731956e+01] [ 2.72894243e-03 9.99996276e-01 7.25522267e-06 1.10160701e+02] [-8.31335744e-03 2.99417573e-05 -9.99965443e-01 6.73879331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.37, Y:110.19, Z:6.74 [[-9.97603678e-01 -6.86929968e-02 8.25678545e-03 8.93692821e+01] [-6.86904148e-02 9.97637846e-01 5.96236464e-04 1.10188259e+02] [-8.27823892e-03 2.76456724e-05 -9.99965734e-01 6.73826096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.36, Y:110.22, Z:6.74 [[-9.90064218e-01 -1.40364466e-01 8.40599720e-03 8.93615136e+01] [-1.40359216e-01 9.90099902e-01 1.21424099e-03 1.10215422e+02] [-8.49321330e-03 2.23173797e-05 -9.99963932e-01 6.73788745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.34, Y:110.24, Z:6.74 [[-9.77167047e-01 -2.12298764e-01 8.59051688e-03 8.93373540e+01] [-2.12290457e-01 9.77204807e-01 1.87809733e-03 1.10241687e+02] [-8.79341213e-03 1.15300697e-05 -9.99961337e-01 6.73747960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.30, Y:110.26, Z:6.74 [[-9.58970329e-01 -2.83370564e-01 8.77673130e-03 8.92973176e+01] [-2.83358643e-01 9.59010492e-01 2.59930013e-03 1.10262446e+02] [-9.15354254e-03 5.68902908e-06 -9.99958105e-01 6.73793931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.23, Y:110.27, Z:6.74 [[-9.35468712e-01 -3.53290531e-01 9.17002302e-03 8.92288255e+01] [-3.53273538e-01 9.35513656e-01 3.46505867e-03 1.10271504e+02] [-9.80285418e-03 1.92749331e-06 -9.99951951e-01 6.73823902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.16, Y:110.28, Z:6.74 [[-9.07085415e-01 -4.20847579e-01 9.13051457e-03 8.91619191e+01] [-4.20826129e-01 9.07131366e-01 4.24894132e-03 1.10276726e+02] [-1.00707328e-02 1.17935930e-05 -9.99949289e-01 6.73913470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.08, Y:110.27, Z:6.74 [[-8.74226294e-01 -4.85429487e-01 9.30594184e-03 8.90786065e+01] [-4.85401558e-01 8.74275822e-01 5.20718768e-03 1.10266294e+02] [-1.06636824e-02 3.51417146e-05 -9.99943141e-01 6.73814115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.630385723 meters Centerline goodness [0,1] 0.9999777515740761 Centerline is valid? [True, True] Translation: X:88.99, Y:110.25, Z:6.74 [[-8.35982352e-01 -5.48684188e-01 8.89771912e-03 8.89933660e+01] [-5.48652500e-01 8.36029700e-01 5.89707375e-03 1.10247878e+02] [-1.06743886e-02 4.80937496e-05 -9.99943026e-01 6.73766516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.89, Y:110.21, Z:6.74 [[-7.93854046e-01 -6.08044959e-01 8.77962060e-03 8.88942011e+01] [-6.08006682e-01 7.93902590e-01 6.82292577e-03 1.10211829e+02] [-1.11188092e-02 7.83392367e-05 -9.99938181e-01 6.73806802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.81, Y:110.18, Z:6.74 [[-7.46260745e-01 -6.65598814e-01 8.55098973e-03 8.88140799e+01] [-6.65553624e-01 7.46309728e-01 7.75652321e-03 1.10182465e+02] [-1.15444195e-02 9.72465847e-05 -9.99933356e-01 6.73721459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.73, Y:110.14, Z:6.74 [[-6.95887505e-01 -7.18098893e-01 8.63483020e-03 8.87285982e+01] [-7.18040935e-01 6.95941059e-01 9.12455543e-03 1.10137613e+02] [-1.25616660e-02 1.49502555e-04 -9.99921088e-01 6.73861176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.64, Y:110.08, Z:6.74 [[-6.40539621e-01 -7.67883927e-01 7.95419887e-03 8.86363444e+01] [-7.67821315e-01 6.40588983e-01 9.80731118e-03 1.10077567e+02] [-1.26262488e-02 1.74567942e-04 -9.99920271e-01 6.73801874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.54, Y:110.00, Z:6.74 [[-5.82392259e-01 -8.12877836e-01 6.99151061e-03 8.85428214e+01] [-8.12814973e-01 5.82434187e-01 1.01112381e-02 1.10000157e+02] [-1.22912961e-02 2.05902283e-04 -9.99924438e-01 6.73744639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.46, Y:109.93, Z:6.74 [[-5.19079691e-01 -8.54701916e-01 6.39604542e-03 8.84609483e+01] [-8.54631638e-01 5.19119047e-01 1.09625961e-02 1.09925195e+02] [-1.26900609e-02 2.24198241e-04 -9.99919453e-01 6.73676225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.38, Y:109.84, Z:6.74 [[-4.52305514e-01 -8.91846685e-01 5.40482420e-03 8.83814713e+01] [-8.91776971e-01 4.52337750e-01 1.11532158e-02 1.09837072e+02] [-1.23917645e-02 2.24763253e-04 -9.99923194e-01 6.73623803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.870385723 meters Centerline goodness [0,1] 0.9999555960125219 Centerline is valid? [True, True] Translation: X:88.30, Y:109.74, Z:6.74 [[-3.82320933e-01 -9.24019460e-01 4.32908750e-03 8.83044149e+01] [-9.23953747e-01 3.82345382e-01 1.10218887e-02 1.09738012e+02] [-1.18396462e-02 2.14022147e-04 -9.99929886e-01 6.73570438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.24, Y:109.64, Z:6.74 [[-3.09406052e-01 -9.50923769e-01 3.44693840e-03 8.82369918e+01] [-9.50857166e-01 3.09425183e-01 1.12563484e-02 1.09636954e+02] [-1.17704988e-02 2.05236224e-04 -9.99930704e-01 6.73513916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.18, Y:109.52, Z:6.73 [[-2.34832103e-01 -9.72032713e-01 2.50761915e-03 8.81753376e+01] [-9.71968087e-01 2.34845410e-01 1.12103198e-02 1.09520139e+02] [-1.14857005e-02 1.95217199e-04 -9.99934018e-01 6.73487623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.12, Y:109.40, Z:6.73 [[-1.59173632e-01 -9.87249249e-01 1.63560923e-03 8.81243652e+01] [-9.87183789e-01 1.59181915e-01 1.13703695e-02 1.09404351e+02] [-1.14857482e-02 1.95216097e-04 -9.99934018e-01 6.73487873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.08, Y:109.28, Z:6.73 [[-8.28233859e-02 -9.96563955e-01 7.54973623e-04 8.80798756e+01] [-9.96497819e-01 8.28265885e-02 1.14827102e-02 1.09276275e+02] [-1.15057869e-02 1.98707366e-04 -9.99933787e-01 6.73471540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.05, Y:109.17, Z:6.73 [[-6.17254663e-03 -9.99980942e-01 -1.27644670e-04 8.80479975e+01] [-9.99921114e-01 6.17078086e-03 1.09401675e-02 1.09166100e+02] [-1.09391713e-02 1.95163295e-04 -9.99940146e-01 6.73445176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.02, Y:109.04, Z:6.73 [[ 7.07738771e-02 -9.97491939e-01 -9.43224770e-04 8.80235322e+01] [-9.97435862e-01 -7.07799014e-02 1.05785920e-02 1.09040852e+02] [-1.06188217e-02 1.92118239e-04 -9.99943600e-01 6.73194524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.01, Y:108.91, Z:6.73 [[ 1.47603267e-01 -9.89045175e-01 -1.70827815e-03 8.80128687e+01] [-9.88992728e-01 -1.47613035e-01 1.01870431e-02 1.08909107e+02] [-1.03276099e-02 1.85833825e-04 -9.99946652e-01 6.73326258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.110385723 meters Centerline goodness [0,1] 0.9999779337128735 Centerline is valid? [True, True] Translation: X:88.01, Y:108.78, Z:6.73 [[ 2.24455966e-01 -9.74480505e-01 -2.69530191e-03 8.80055371e+01] [-9.74420047e-01 -2.24472068e-01 1.08564588e-02 1.08780416e+02] [-1.11844275e-02 1.89559263e-04 -9.99937434e-01 6.73254773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.01, Y:108.66, Z:6.73 [[ 2.99620047e-01 -9.54051894e-01 -3.57918572e-03 8.80073041e+01] [-9.53990891e-01 -2.99641370e-01 1.07902367e-02 1.08660823e+02] [-1.13669179e-02 1.81539339e-04 -9.99935378e-01 6.73314571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.02, Y:108.53, Z:6.73 [[ 3.74364079e-01 -9.27270318e-01 -4.61451071e-03 8.80198273e+01] [-9.27205145e-01 -3.74392482e-01 1.09949302e-02 1.08534077e+02] [-1.19229106e-02 1.62491144e-04 -9.99928906e-01 6.73454681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.04, Y:108.41, Z:6.74 [[ 4.45639656e-01 -8.95196054e-01 -5.41489261e-03 8.80427157e+01] [-8.95133936e-01 -4.45672529e-01 1.05467089e-02 1.08413283e+02] [-1.18546411e-02 1.47022392e-04 -9.99929721e-01 6.73520785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.230385723 meters Centerline goodness [0,1] 0.9999780499582949 Centerline is valid? [True, True] Translation: X:88.07, Y:108.29, Z:6.73 [[ 5.14593744e-01 -8.57413296e-01 -5.97657310e-03 8.80743298e+01] [-8.57358170e-01 -5.14628435e-01 9.72329235e-03 1.08293919e+02] [-1.14125946e-02 1.20518365e-04 -9.99934867e-01 6.73333671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.12, Y:108.18, Z:6.73 [[ 5.79339513e-01 -8.15059918e-01 -6.56200144e-03 8.81152489e+01] [-8.15009792e-01 -5.79376664e-01 9.03993168e-03 1.08180404e+02] [-1.11699565e-02 1.10905818e-04 -9.99937608e-01 6.73187462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.16, Y:108.07, Z:6.73 [[ 6.40267567e-01 -7.68122842e-01 -6.68902911e-03 8.81601313e+01] [-7.68082535e-01 -6.40302499e-01 7.86955662e-03 1.08074352e+02] [-1.03277883e-02 9.91045694e-05 -9.99946662e-01 6.73013850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.320385723 meters Centerline goodness [0,1] 0.9999116900320124 Centerline is valid? [True, True] Translation: X:88.21, Y:107.97, Z:6.73 [[ 6.97250504e-01 -7.16795936e-01 -6.73214829e-03 8.82121446e+01] [-7.16763757e-01 -6.97282998e-01 6.79255411e-03 1.07972867e+02] [-9.56308772e-03 8.92481204e-05 -9.99954269e-01 6.73014692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.27, Y:107.88, Z:6.73 [[ 7.49848738e-01 -6.61571240e-01 -7.09680665e-03 8.82688057e+01] [-6.61542708e-01 -7.49882315e-01 6.14477748e-03 1.07877956e+02] [-9.38697786e-03 8.71870541e-05 -9.99955938e-01 6.73154874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.26, Y:107.87, Z:6.73 [[ 7.99144061e-01 -6.01094537e-01 -7.35722210e-03 8.82620479e+01] [-6.01070065e-01 -7.99177922e-01 5.42463640e-03 1.07867483e+02] [-9.14044877e-03 8.71400086e-05 -9.99958221e-01 6.73061564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.26, Y:107.86, Z:6.73 [[ 8.43571661e-01 -5.36974782e-01 -6.70348097e-03 8.82565657e+01] [-5.36958554e-01 -8.43598292e-01 4.17533246e-03 1.07857665e+02] [-7.89709334e-03 7.72993133e-05 -9.99968815e-01 6.72905700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.25, Y:107.85, Z:6.73 [[ 8.82918182e-01 -4.69474599e-01 -7.00601552e-03 8.82520687e+01] [-4.69460521e-01 -8.82945975e-01 3.63659880e-03 1.07848809e+02] [-7.89322397e-03 7.82284968e-05 -9.99968845e-01 6.72878741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.25, Y:107.84, Z:6.73 [[ 9.16907072e-01 -3.99021996e-01 -7.92897367e-03 8.82484878e+01] [-3.99007881e-01 -9.16941350e-01 3.35732631e-03 1.07839234e+02] [-8.61005087e-03 8.53667539e-05 -9.99962929e-01 6.72917038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.25, Y:107.83, Z:6.73 [[ 9.45208120e-01 -3.26377874e-01 -7.68724499e-03 8.82451351e+01] [-3.26367790e-01 -9.45239375e-01 2.56687544e-03 1.07826667e+02] [-8.10405800e-03 8.26376521e-05 -9.99967158e-01 6.72906233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.24, Y:107.81, Z:6.73 [[ 9.67571904e-01 -2.52517134e-01 -6.30133060e-03 8.82426416e+01] [-2.52512272e-01 -9.67592420e-01 1.56870876e-03 1.07812930e+02] [-6.49324557e-03 7.33247832e-05 -9.99978916e-01 6.72864621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.24, Y:107.80, Z:6.73 [[ 9.84220601e-01 -1.76837665e-01 -6.18453729e-03 8.82393349e+01] [-1.76834664e-01 -9.84240029e-01 1.03312588e-03 1.07801797e+02] [-6.26976473e-03 7.68167961e-05 -9.99980342e-01 6.72893280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.24, Y:107.79, Z:6.73 [[ 9.94940379e-01 -1.00270447e-01 -6.28325878e-03 8.82363497e+01] [-1.00268978e-01 -9.94960216e-01 5.49160558e-04 1.07791911e+02] [-6.30665709e-03 8.36339197e-05 -9.99980109e-01 6.72873424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.620385723 meters Centerline goodness [0,1] 0.9998905716536811 Centerline is valid? [True, True] Translation: X:88.23, Y:107.78, Z:6.73 [[ 9.99674786e-01 -2.42084263e-02 -8.01715277e-03 8.82330495e+01] [-2.42086360e-02 -9.99706926e-01 7.08984249e-05 1.07783623e+02] [-8.01651949e-03 1.23208965e-04 -9.99967860e-01 6.72850258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.23, Y:107.77, Z:6.73 [[ 9.98550359e-01 5.30060323e-02 -9.35629224e-03 8.82314479e+01] [ 5.30022539e-02 -9.98594180e-01 -6.51499459e-04 1.07771908e+02] [-9.37767238e-03 1.54650442e-04 -9.99956017e-01 6.73054243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.680385723 meters Centerline goodness [0,1] 0.9999781306040327 Centerline is valid? [True, True] Translation: X:88.23, Y:107.76, Z:6.73 [[ 9.91337778e-01 1.30949485e-01 -1.00818241e-02 8.82310325e+01] [ 1.30940978e-01 -9.91389028e-01 -1.50209189e-03 1.07760489e+02] [-1.01917079e-02 1.68956522e-04 -9.99948049e-01 6.73240435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.710385723 meters Centerline goodness [0,1] 0.9999782101845598 Centerline is valid? [True, True] Translation: X:88.23, Y:107.75, Z:6.73 [[ 9.78095448e-01 2.07924656e-01 -9.83020448e-03 8.82300501e+01] [ 2.07912410e-01 -9.78144830e-01 -2.26290052e-03 1.07748140e+02] [-1.00858765e-02 1.69511189e-04 -9.99949122e-01 6.73306543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.23, Y:107.74, Z:6.73 [[ 9.58856223e-01 2.83739924e-01 -9.29515805e-03 8.82305613e+01] [ 2.83724922e-01 -9.58901261e-01 -2.92235872e-03 1.07739594e+02] [-9.74232862e-03 1.64853852e-04 -9.99952529e-01 6.73292506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.23, Y:107.73, Z:6.73 [[ 9.33794147e-01 3.57699874e-01 -8.90458040e-03 8.82315586e+01] [ 3.57681924e-01 -9.33836588e-01 -3.58729588e-03 1.07732028e+02] [-9.59859826e-03 1.64788450e-04 -9.99953919e-01 6.73271707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.800385723 meters Centerline goodness [0,1] 0.9998912688920301 Centerline is valid? [True, True] Translation: X:88.24, Y:107.72, Z:6.73 [[ 9.03116034e-01 4.29306245e-01 -8.80775268e-03 8.82371277e+01] [ 4.29283950e-01 -9.03158966e-01 -4.37863393e-03 1.07715812e+02] [-9.83457570e-03 1.73387641e-04 -9.99951624e-01 6.73134264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.24, Y:107.70, Z:6.73 [[ 8.66666988e-01 4.98823749e-01 -7.94976320e-03 8.82432310e+01] [ 4.98801042e-01 -8.66703433e-01 -4.76233340e-03 1.07701171e+02] [-9.26565206e-03 1.62006982e-04 -9.99957060e-01 6.73154663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.25, Y:107.69, Z:6.73 [[ 8.24807895e-01 5.65370343e-01 -6.95059545e-03 8.82506825e+01] [ 5.65348762e-01 -8.24837168e-01 -4.94209735e-03 1.07688332e+02] [-8.52722474e-03 1.46770383e-04 -9.99963632e-01 6.73143890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.26, Y:107.68, Z:6.73 [[ 7.77177702e-01 6.29248531e-01 -6.41133889e-03 8.82584169e+01] [ 6.29225701e-01 -7.77204136e-01 -5.36178916e-03 1.07675364e+02] [-8.35681705e-03 1.32883777e-04 -9.99965072e-01 6.73096861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.27, Y:107.67, Z:6.73 [[ 7.25149450e-01 6.88563394e-01 -6.22320106e-03 8.82652622e+01] [ 6.88536444e-01 -7.25176141e-01 -6.09347707e-03 1.07665881e+02] [-8.70866218e-03 1.33780816e-04 -9.99962070e-01 6.73078030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.28, Y:107.65, Z:6.73 [[ 6.68571320e-01 7.43628368e-01 -5.40744805e-03 8.82779319e+01] [ 7.43602566e-01 -6.68593176e-01 -6.19591256e-03 1.07653459e+02] [-8.22283921e-03 1.21417194e-04 -9.99966185e-01 6.72952335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.29, Y:107.64, Z:6.73 [[ 6.08137564e-01 7.93817842e-01 -4.68383214e-03 8.82876497e+01] [ 7.93792837e-01 -6.08155590e-01 -6.30160715e-03 1.07643303e+02] [-7.85082688e-03 1.14251618e-04 -9.99969175e-01 6.72921223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.010385723 meters Centerline goodness [0,1] 0.9999567773167358 Centerline is valid? [True, True] Translation: X:88.30, Y:107.63, Z:6.73 [[ 5.44630007e-01 8.38666722e-01 -4.03543529e-03 8.83031500e+01] [ 8.38642115e-01 -5.44644945e-01 -6.42550865e-03 1.07632659e+02] [-7.58673971e-03 1.15238840e-04 -9.99971214e-01 6.72871269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.32, Y:107.63, Z:6.73 [[ 4.77811205e-01 8.78455463e-01 -3.52884026e-03 8.83162462e+01] [ 8.78429620e-01 -4.77824221e-01 -6.73917913e-03 1.07625323e+02] [-7.60623407e-03 1.20217489e-04 -9.99971065e-01 6.72887301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.33, Y:107.62, Z:6.73 [[ 4.08944086e-01 9.12554406e-01 -3.03151729e-03 8.83282078e+01] [ 9.12526868e-01 -4.08955300e-01 -7.09067210e-03 1.07618620e+02] [-7.71037914e-03 1.33347439e-04 -9.99970266e-01 6.72930240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.34, Y:107.61, Z:6.73 [[ 3.36740932e-01 9.41594690e-01 -2.23252799e-03 8.83404591e+01] [ 9.41571484e-01 -3.36748310e-01 -6.61181118e-03 1.07613646e+02] [-6.97744633e-03 1.24382771e-04 -9.99975650e-01 6.72866422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.35, Y:107.61, Z:6.73 [[ 2.62784089e-01 9.64853754e-01 -1.32510632e-03 8.83524921e+01] [ 9.64839467e-01 -2.62787410e-01 -5.25168134e-03 1.07608957e+02] [-5.41532571e-03 1.01543423e-04 -9.99985332e-01 6.72722521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.37, Y:107.61, Z:6.73 [[ 1.86463323e-01 9.82461651e-01 -7.30916007e-04 8.83651722e+01] [ 9.82452286e-01 -1.86464737e-01 -4.29035216e-03 1.07605468e+02] [-4.35139653e-03 8.19032179e-05 -9.99990529e-01 6.72673540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.38, Y:107.60, Z:6.73 [[ 1.07330245e-01 9.94223344e-01 -4.00581922e-04 8.83822546e+01] [ 9.94213523e-01 -1.07330966e-01 -4.41990864e-03 1.07602769e+02] [-4.43737119e-03 7.61259134e-05 -9.99990152e-01 6.72705541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.40, Y:107.60, Z:6.73 [[ 2.78659405e-02 9.99611668e-01 -5.48851255e-05 8.83973987e+01] [ 9.99601258e-01 -2.78659008e-02 -4.56245676e-03 1.07602223e+02] [-4.56221444e-03 7.22739083e-05 -9.99989590e-01 6.72773131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.41, Y:107.60, Z:6.73 [[-5.16910135e-02 9.98663076e-01 3.16170062e-04 8.84127708e+01] [ 9.98651755e-01 5.16919332e-02 -4.75573297e-03 1.07601632e+02] [-4.76571836e-03 6.99151293e-05 -9.99988642e-01 6.72893753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.43, Y:107.60, Z:6.73 [[-1.29653975e-01 9.91559066e-01 6.83108446e-04 8.84268642e+01] [ 9.91547993e-01 1.29655755e-01 -4.68647294e-03 1.07603675e+02] [-4.73548367e-03 6.97149649e-05 -9.99988785e-01 6.72863460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.44, Y:107.61, Z:6.73 [[-2.06236390e-01 9.78501735e-01 9.51715879e-04 8.84397782e+01] [ 9.78492751e-01 2.06238575e-01 -4.19353657e-03 1.07606031e+02] [-4.29966333e-03 6.63872472e-05 -9.99990754e-01 6.72778983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.45, Y:107.61, Z:6.73 [[-2.81934463e-01 9.59432815e-01 1.27774481e-03 8.84536290e+01] [ 9.59424024e-01 2.81937350e-01 -4.10753814e-03 1.07610713e+02] [-4.30115087e-03 6.78425022e-05 -9.99990748e-01 6.72738504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.47, Y:107.62, Z:6.73 [[-3.55931045e-01 9.34511405e-01 1.23532438e-03 8.84693365e+01] [ 9.34506290e-01 3.55933185e-01 -3.09224690e-03 1.07617303e+02] [-3.32943293e-03 5.37917315e-05 -9.99994456e-01 6.72738683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.48, Y:107.62, Z:6.73 [[-4.28037267e-01 9.03760296e-01 1.19413195e-03 8.84827717e+01] [ 9.03757060e-01 4.28038930e-01 -2.41891562e-03 1.07624473e+02] [-2.69725486e-03 4.38191459e-05 -9.99996361e-01 6.72748968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.50, Y:107.63, Z:6.73 [[-4.97600854e-01 8.67405584e-01 9.71180069e-04 8.84962348e+01] [ 8.67404052e-01 4.97601801e-01 -1.63081071e-03 1.07633634e+02] [-1.89783527e-03 3.09127236e-05 -9.99998199e-01 6.72716762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.460385723 meters Centerline goodness [0,1] 0.999936625966454 Centerline is valid? [True, True] Translation: X:88.51, Y:107.64, Z:6.73 [[-5.63744026e-01 8.25949329e-01 6.15377550e-04 8.85061532e+01] [ 8.25948872e-01 5.63744362e-01 -8.69337744e-04 1.07641939e+02] [-1.06494455e-03 1.81864331e-05 -9.99999433e-01 6.72713828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.52, Y:107.65, Z:6.73 [[-6.26546625e-01 7.79383760e-01 5.30430763e-04 8.85155272e+01] [ 7.79383500e-01 6.26546850e-01 -6.36646708e-04 1.07651442e+02] [-8.28531828e-04 1.45201385e-05 -9.99999657e-01 6.72722034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.52, Y:107.66, Z:6.73 [[-6.85685790e-01 7.27897194e-01 8.20067513e-04 8.85248560e+01] [ 7.27896708e-01 6.85686280e-01 -8.41250244e-04 1.07662736e+02] [-1.17465273e-03 2.00911054e-05 -9.99999310e-01 6.72811774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.53, Y:107.68, Z:6.73 [[-7.40909092e-01 6.71603290e-01 1.65490993e-03 8.85341378e+01] [ 6.71601721e-01 7.40910939e-01 -1.45205536e-03 1.07676481e+02] [-2.20134603e-03 3.55993432e-05 -9.99997576e-01 6.73021614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.55, Y:107.70, Z:6.73 [[-7.86845261e-01 6.17145062e-01 2.55097548e-03 8.85504512e+01] [ 6.17142023e-01 7.86849395e-01 -1.93732358e-03 1.07702292e+02] [-3.20284319e-03 4.99402890e-05 -9.99994870e-01 6.73110222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.56, Y:107.73, Z:6.73 [[-8.28646284e-01 5.59763215e-01 3.23721682e-03 8.85616868e+01] [ 5.59759223e-01 8.28652605e-01 -2.11505008e-03 1.07730057e+02] [-3.86645538e-03 5.94335835e-05 -9.99992524e-01 6.73176069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.58, Y:107.76, Z:6.73 [[-8.66162242e-01 4.99753937e-01 2.99539881e-03 8.85753799e+01] [ 4.99751160e-01 8.66167420e-01 -1.66685509e-03 1.07757424e+02] [-3.42753425e-03 5.31870843e-05 -9.99994125e-01 6.73186023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.58, Y:107.79, Z:6.73 [[-8.99288167e-01 4.37348518e-01 2.65816095e-03 8.85828402e+01] [ 4.37346759e-01 8.99292095e-01 -1.24123140e-03 1.07786661e+02] [-2.93331384e-03 4.63133707e-05 -9.99995697e-01 6.73161864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.59, Y:107.82, Z:6.73 [[-9.27938082e-01 3.72728709e-01 2.05581230e-03 8.85904663e+01] [ 3.72727879e-01 9.27940358e-01 -7.87530960e-04 1.07816541e+02] [-2.20120660e-03 3.54785904e-05 -9.99997577e-01 6.73124690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.730385723 meters Centerline goodness [0,1] 0.9999578477037536 Centerline is valid? [True, True] Translation: X:88.59, Y:107.85, Z:6.73 [[-9.52084179e-01 3.05831082e-01 1.75089982e-03 8.85931705e+01] [ 3.05830622e-01 9.52085788e-01 -5.31626458e-04 1.07846308e+02] [-1.82959473e-03 2.93256422e-05 -9.99998326e-01 6.73115202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.60, Y:107.88, Z:6.73 [[-9.71449186e-01 2.37241780e-01 1.67827340e-03 8.85965405e+01] [ 2.37241474e-01 9.71450636e-01 -3.81915112e-04 1.07875358e+02] [-1.72096598e-03 2.71449304e-05 -9.99998519e-01 6.73109447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.59, Y:107.91, Z:6.73 [[-9.85899784e-01 1.67323383e-01 2.12173789e-03 8.85940624e+01] [ 1.67323067e-01 9.85902066e-01 -3.26741078e-04 1.07905995e+02] [-2.14649719e-03 3.28817328e-05 -9.99997696e-01 6.73115259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.59, Y:107.94, Z:6.73 [[-9.95307018e-01 9.67571644e-02 1.41085422e-03 8.85913919e+01] [ 9.67570984e-02 9.95308018e-01 -1.15172396e-04 1.07935119e+02] [-1.41537827e-03 2.18782672e-05 -9.99998998e-01 6.73108517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.58, Y:107.97, Z:6.73 [[-9.99659414e-01 2.60733742e-02 1.11164834e-03 8.85829945e+01] [ 2.60733778e-02 9.99660032e-01 -1.12492007e-05 1.07965273e+02] [-1.11156372e-03 1.77390577e-05 -9.99999382e-01 6.73106125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.57, Y:107.99, Z:6.73 [[-9.98980043e-01 -4.51402542e-02 1.10966354e-03 8.85724058e+01] [-4.51402067e-02 9.98980659e-01 6.78979211e-05 1.07994244e+02] [-1.11159734e-03 1.77382266e-05 -9.99999382e-01 6.73106169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.56, Y:108.02, Z:6.73 [[-9.93327939e-01 -1.15315154e-01 1.42135695e-03 8.85594594e+01] [-1.15315002e-01 9.93328956e-01 1.89113352e-04 1.08020480e+02] [-1.43368265e-03 2.39477964e-05 -9.99998972e-01 6.73086950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.54, Y:108.05, Z:6.73 [[-9.82613859e-01 -1.85660754e-01 2.97916021e-04 8.85399014e+01] [-1.85660743e-01 9.82613904e-01 6.23167250e-05 1.08045191e+02] [-3.04306195e-04 5.92196763e-06 -9.99999954e-01 6.73091645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.50, Y:108.07, Z:6.73 [[-9.66575329e-01 -2.56382089e-01 5.97308120e-04 8.85040452e+01] [-2.56382034e-01 9.66575514e-01 1.69596211e-04 1.08066621e+02] [-6.20824834e-04 1.07884429e-05 -9.99999807e-01 6.73072686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.46, Y:108.08, Z:6.73 [[-9.45233998e-01 -3.26391054e-01 1.25293521e-03 8.84574892e+01] [-3.26390737e-01 9.45234828e-01 4.55132882e-04 1.08081486e+02] [-1.33286929e-03 2.12606282e-05 -9.99999112e-01 6.73126261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.39, Y:108.09, Z:6.73 [[-9.18246725e-01 -3.95999819e-01 2.66373259e-03 8.83916855e+01] [-3.95998021e-01 9.18250588e-01 1.19397782e-03 1.08085667e+02] [-2.91878901e-03 4.15333866e-05 -9.99995740e-01 6.73240839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.32, Y:108.08, Z:6.73 [[-8.86525055e-01 -4.62670040e-01 3.12443965e-03 8.83207707e+01] [-4.62666967e-01 8.86530559e-01 1.68683440e-03 1.08083036e+02] [-3.55035897e-03 4.98459402e-05 -9.99993696e-01 6.73298260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.24, Y:108.07, Z:6.73 [[-8.49753430e-01 -5.27166454e-01 3.82610001e-03 8.82433368e+01] [-5.27160774e-01 8.49762041e-01 2.44794642e-03 1.08069242e+02] [-4.54174979e-03 6.31810279e-05 -9.99989684e-01 6.73413786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.16, Y:108.04, Z:6.73 [[-8.08217968e-01 -5.88872979e-01 3.51163552e-03 8.81588491e+01] [-5.88867087e-01 8.08225594e-01 2.63499944e-03 1.08044997e+02] [-4.38987367e-03 6.17673164e-05 -9.99990363e-01 6.73409477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.07, Y:108.01, Z:6.73 [[-7.61975735e-01 -6.47600624e-01 2.53200624e-03 8.80744380e+01] [-6.47596837e-01 7.61979941e-01 2.21524789e-03 1.08011975e+02] [-3.36393388e-03 4.82459121e-05 -9.99994341e-01 6.73372551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.99, Y:107.97, Z:6.73 [[-7.11307985e-01 -7.02875402e-01 2.66814972e-03 8.79853210e+01] [-7.02870164e-01 7.11312987e-01 2.71425214e-03 1.07965219e+02] [-3.80567061e-03 5.53063966e-05 -9.99992757e-01 6.73360534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.90, Y:107.91, Z:6.73 [[-6.56422515e-01 -7.54388421e-01 2.75530479e-03 8.79014028e+01] [-7.54381370e-01 6.56428294e-01 3.26236602e-03 1.07911146e+02] [-4.26975117e-03 6.29399020e-05 -9.99990883e-01 6.73390489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.82, Y:107.85, Z:6.73 [[-5.97373410e-01 -8.01959805e-01 2.34103208e-03 8.78161213e+01] [-8.01953258e-01 5.97377995e-01 3.24098305e-03 1.07847481e+02] [-3.99761918e-03 5.86787926e-05 -9.99992008e-01 6.73393842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.73, Y:107.77, Z:6.73 [[-5.35071662e-01 -8.44804526e-01 1.90491007e-03 8.77324428e+01] [-8.44798805e-01 5.35075050e-01 3.10969765e-03 1.07774002e+02] [-3.64635650e-03 5.46453422e-05 -9.99993351e-01 6.73436481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.65, Y:107.69, Z:6.73 [[-4.69591451e-01 -8.82882384e-01 1.60179303e-03 8.76543930e+01] [-8.82876851e-01 4.69594179e-01 3.12600216e-03 1.07690895e+02] [-3.51208492e-03 5.37579027e-05 -9.99993831e-01 6.73420152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.58, Y:107.60, Z:6.73 [[-4.01295811e-01 -9.15947695e-01 1.22125495e-03 8.75830755e+01] [-9.15943069e-01 4.01297667e-01 2.91143842e-03 1.07597166e+02] [-3.15681207e-03 4.97480352e-05 -9.99995016e-01 6.73294019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.360385723 meters Centerline goodness [0,1] 0.9999785646917603 Centerline is valid? [True, True] Translation: X:87.52, Y:107.50, Z:6.73 [[-3.30141021e-01 -9.43931082e-01 1.00968068e-03 8.75188344e+01] [-9.43926190e-01 3.30142561e-01 3.03938351e-03 1.07501194e+02] [-3.20230713e-03 5.03611380e-05 -9.99994871e-01 6.73234318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.390385723 meters Centerline goodness [0,1] 0.9999784913858 Centerline is valid? [True, True] Translation: X:87.46, Y:107.40, Z:6.73 [[-2.57116643e-01 -9.66380122e-01 7.00783515e-04 8.74609079e+01] [-9.66376031e-01 2.57117594e-01 2.81245598e-03 1.07396448e+02] [-2.89808533e-03 4.59088498e-05 -9.99995800e-01 6.73216653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.41, Y:107.29, Z:6.73 [[-1.82819322e-01 -9.83146440e-01 4.15295206e-04 8.74090942e+01] [-9.83143375e-01 1.82819789e-01 2.45546016e-03 1.07285178e+02] [-2.49000110e-03 4.06108327e-05 -9.99996899e-01 6.73266621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.450385723 meters Centerline goodness [0,1] 0.9999355670103093 Centerline is valid? [True, True] Translation: X:87.37, Y:107.17, Z:6.73 [[-1.07424577e-01 -9.94213184e-01 3.22853732e-04 8.73676927e+01] [-9.94206899e-01 1.07425046e-01 3.53563302e-03 1.07171385e+02] [-3.54985554e-03 5.88304734e-05 -9.99993698e-01 6.73378057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.34, Y:107.05, Z:6.73 [[-3.13819528e-02 -9.99507464e-01 5.25343275e-05 8.73352579e+01] [-9.99500685e-01 3.13819335e-02 3.68165229e-03 1.07052803e+02] [-3.68148758e-03 6.30293423e-05 -9.99993221e-01 6.73384261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.510385723 meters Centerline goodness [0,1] 0.9999352918338295 Centerline is valid? [True, True] Translation: X:87.31, Y:106.93, Z:6.73 [[ 4.42267867e-02 -9.99021477e-01 -2.84264789e-04 8.73133960e+01] [-9.99011143e-01 -4.42276224e-02 4.54465197e-03 1.06931654e+02] [-4.55277728e-03 8.29883385e-05 -9.99989633e-01 6.73380909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.30, Y:106.81, Z:6.73 [[ 1.20133806e-01 -9.92757497e-01 -6.48335036e-04 8.73001546e+01] [-9.92746721e-01 -1.20135524e-01 4.62637301e-03 1.06805436e+02] [-4.67075456e-03 8.78486815e-05 -9.99989088e-01 6.73400710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.570385723 meters Centerline goodness [0,1] 0.9999350663405554 Centerline is valid? [True, True] Translation: X:87.29, Y:106.69, Z:6.73 [[ 1.95744062e-01 -9.80654748e-01 -7.25649630e-04 8.72921096e+01] [-9.80649181e-01 -1.95745397e-01 3.30519011e-03 1.06685649e+02] [-3.38329295e-03 6.46363772e-05 -9.99994275e-01 6.73338908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.30, Y:106.56, Z:6.73 [[ 2.70501830e-01 -9.62719086e-01 -8.49511581e-04 8.72961744e+01] [-9.62714967e-01 -2.70503158e-01 2.81680653e-03 1.06556548e+02] [-2.94158897e-03 5.58861924e-05 -9.99995672e-01 6.73354361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.31, Y:106.44, Z:6.73 [[ 3.44836762e-01 -9.38662112e-01 -1.02339879e-03 8.73053749e+01] [-9.38658394e-01 -3.44838278e-01 2.64230452e-03 1.06440189e+02] [-2.83313821e-03 4.94581337e-05 -9.99995985e-01 6.73376606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.33, Y:106.32, Z:6.73 [[ 4.16494908e-01 -9.09137097e-01 -1.31553058e-03 8.73283377e+01] [-9.09132938e-01 -4.16496983e-01 2.75024917e-03 1.06315421e+02] [-3.04826806e-03 5.05274046e-05 -9.99995353e-01 6.73385699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.36, Y:106.20, Z:6.73 [[ 4.86021889e-01 -8.73944714e-01 -1.83340445e-03 8.73576336e+01] [-8.73938922e-01 -4.86025343e-01 3.18218586e-03 1.06202404e+02] [-3.67213553e-03 5.56715270e-05 -9.99993256e-01 6.73448290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.40, Y:106.09, Z:6.73 [[ 5.51372973e-01 -8.34256005e-01 -2.18254377e-03 8.73951503e+01] [-8.34249886e-01 -5.51377289e-01 3.19572025e-03 1.06090274e+02] [-3.86945387e-03 5.87531211e-05 -9.99992512e-01 6.73462116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.44, Y:105.98, Z:6.73 [[ 6.13074865e-01 -7.90021351e-01 -2.34011459e-03 8.74401486e+01] [-7.90015956e-01 -6.13079328e-01 2.92015380e-03 1.05983015e+02] [-3.74165973e-03 5.84549698e-05 -9.99992998e-01 6.73478813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.49, Y:105.88, Z:6.74 [[ 6.71751745e-01 -7.40771247e-01 -2.74832836e-03 8.74903346e+01] [-7.40765417e-01 -6.71757364e-01 2.93955848e-03 1.05879964e+02] [-4.02375022e-03 6.12130622e-05 -9.99991903e-01 6.73510255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.55, Y:105.78, Z:6.74 [[ 7.26578024e-01 -6.87077800e-01 -2.91061255e-03 8.75452046e+01] [-6.87072602e-01 -7.26583851e-01 2.67340036e-03 1.05784553e+02] [-3.95163811e-03 5.73681871e-05 -9.99992191e-01 6.73546381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.54, Y:105.78, Z:6.73 [[ 7.78801406e-01 -6.27262999e-01 -3.08236465e-03 8.75431154e+01] [-6.27258350e-01 -7.78807504e-01 2.41546082e-03 1.05776732e+02] [-3.91569791e-03 5.22746834e-05 -9.99992332e-01 6.73487676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.870385723 meters Centerline goodness [0,1] 0.9999127589967285 Centerline is valid? [True, True] Translation: X:87.54, Y:105.77, Z:6.73 [[ 8.25669392e-01 -5.64144280e-01 -3.35951933e-03 8.75399892e+01] [-5.64139867e-01 -8.25676225e-01 2.23211116e-03 1.05767404e+02] [-4.03310798e-03 5.22529282e-05 -9.99991866e-01 6.73412297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.54, Y:105.76, Z:6.73 [[ 8.67018353e-01 -4.98267176e-01 -2.99953670e-03 8.75371632e+01] [-4.98264378e-01 -8.67023540e-01 1.67054151e-03 1.05756797e+02] [-3.43304493e-03 4.61721416e-05 -9.99994106e-01 6.73418757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.930385723 meters Centerline goodness [0,1] 0.9999565264645147 Centerline is valid? [True, True] Translation: X:87.53, Y:105.75, Z:6.73 [[ 9.03230284e-01 -4.29147559e-01 -2.72507267e-03 8.75348225e+01] [-4.29145743e-01 -9.03234394e-01 1.24928446e-03 1.05746442e+02] [-2.99750674e-03 4.10617816e-05 -9.99995507e-01 6.73411906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.53, Y:105.74, Z:6.73 [[ 9.33561049e-01 -3.58406757e-01 -2.89196934e-03 8.75338445e+01] [-3.58405190e-01 -9.33565528e-01 1.06109642e-03 1.05740006e+02] [-3.08014701e-03 4.58985376e-05 -9.99995255e-01 6.73417052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.53, Y:105.73, Z:6.73 [[ 9.58453733e-01 -2.85222888e-01 -3.78770802e-03 8.75327004e+01] [-2.85220915e-01 -9.58461215e-01 1.06264055e-03 1.05727531e+02] [-3.93346064e-03 6.18417476e-05 -9.99992262e-01 6.73399087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.53, Y:105.72, Z:6.73 [[ 9.77478083e-01 -2.10995364e-01 -4.18977979e-03 8.75319899e+01] [-2.10993749e-01 -9.77487059e-01 8.28857395e-04 1.05719878e+02] [-4.27034059e-03 7.38274062e-05 -9.99990879e-01 6.73382632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.53, Y:105.71, Z:6.73 [[ 9.90935484e-01 -1.34291399e-01 -3.56186965e-03 8.75297999e+01] [-1.34290763e-01 -9.90941883e-01 4.18300886e-04 1.05712518e+02] [-3.58578003e-03 6.38170017e-05 -9.99993569e-01 6.73328879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.53, Y:105.70, Z:6.73 [[ 9.98379959e-01 -5.67301578e-02 -4.37577548e-03 8.75268491e+01] [-5.67299627e-02 -9.98389545e-01 1.68792925e-04 1.05702646e+02] [-4.37830414e-03 7.97181068e-05 -9.99990412e-01 6.73351039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.110385723 meters Centerline goodness [0,1] 0.9999340644849337 Centerline is valid? [True, True] Translation: X:87.52, Y:105.69, Z:6.73 [[ 9.99753633e-01 2.17355302e-02 -4.49887615e-03 8.75249024e+01] [ 2.17349445e-02 -9.99763752e-01 -1.79038428e-04 1.05690694e+02] [-4.50170479e-03 8.12114950e-05 -9.99989864e-01 6.73365290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.52, Y:105.68, Z:6.73 [[ 9.94957739e-01 1.00182078e-01 -4.75916857e-03 8.75236919e+01] [ 1.00180522e-01 -9.94969117e-01 -5.64858555e-04 1.05679408e+02] [-4.79181446e-03 8.52343989e-05 -9.99988516e-01 6.73440333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.52, Y:105.67, Z:6.73 [[ 9.84046997e-01 1.77855586e-01 -4.34712996e-03 8.75222832e+01] [ 1.77853498e-01 -9.84056596e-01 -8.65358766e-04 1.05668670e+02] [-4.43173080e-03 7.84014236e-05 -9.99990177e-01 6.73451277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.200385723 meters Centerline goodness [0,1] 0.9999338128226625 Centerline is valid? [True, True] Translation: X:87.52, Y:105.66, Z:6.74 [[ 9.67209601e-01 2.53933769e-01 -4.81954149e-03 8.75229812e+01] [ 2.53930149e-01 -9.67221605e-01 -1.35891568e-03 1.05659574e+02] [-5.00663924e-03 9.05293993e-05 -9.99987463e-01 6.73616509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.52, Y:105.65, Z:6.73 [[ 9.44329345e-01 3.28967272e-01 -4.75636476e-03 8.75238406e+01] [ 3.28962612e-01 -9.44341319e-01 -1.75326831e-03 1.05649909e+02] [-5.06839966e-03 9.09965383e-05 -9.99987151e-01 6.73482967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.260385723 meters Centerline goodness [0,1] 0.9998895735329844 Centerline is valid? [True, True] Translation: X:87.53, Y:105.64, Z:6.74 [[ 9.15756369e-01 4.01693144e-01 -5.73501123e-03 8.75256332e+01] [ 4.01684480e-01 -9.15774320e-01 -2.64078797e-03 1.05640138e+02] [-6.31276243e-03 1.14653394e-04 -9.99980068e-01 6.73541356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.290385723 meters Centerline goodness [0,1] 0.9999340673831344 Centerline is valid? [True, True] Translation: X:87.53, Y:105.63, Z:6.74 [[ 8.81480302e-01 4.72190473e-01 -5.35109561e-03 8.75264293e+01] [ 4.72181004e-01 -8.81496537e-01 -2.99250581e-03 1.05630455e+02] [-6.13000498e-03 1.11149228e-04 -9.99981205e-01 6.73576827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.53, Y:105.62, Z:6.74 [[ 8.41666119e-01 5.39976050e-01 -4.90006459e-03 8.75312715e+01] [ 5.39966167e-01 -8.41680376e-01 -3.26866380e-03 1.05617969e+02] [-5.88928837e-03 1.05254484e-04 -9.99982653e-01 6.73527979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.54, Y:105.61, Z:6.73 [[ 7.96761202e-01 6.04276149e-01 -4.68218072e-03 8.75362998e+01] [ 6.04264928e-01 -7.96774953e-01 -3.68395493e-03 1.05607784e+02] [-5.95677042e-03 1.05954760e-04 -9.99982253e-01 6.73479216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.54, Y:105.60, Z:6.73 [[ 7.47164523e-01 6.64626340e-01 -4.12354734e-03 8.75385078e+01] [ 6.64615466e-01 -7.47175895e-01 -3.80328565e-03 1.05599177e+02] [-5.60877900e-03 1.01106771e-04 -9.99984266e-01 6.73453365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.54, Y:105.59, Z:6.73 [[ 6.93232160e-01 7.20704968e-01 -3.67725989e-03 8.75449015e+01] [ 7.20694051e-01 -6.93241906e-01 -3.96797233e-03 1.05589247e+02] [-5.40896802e-03 1.00546703e-04 -9.99985366e-01 6.73429756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.55, Y:105.58, Z:6.73 [[ 6.35756843e-01 7.71881803e-01 -3.42335762e-03 8.75488288e+01] [ 7.71869668e-01 -6.35766050e-01 -4.32961261e-03 1.05580930e+02] [-5.51840374e-03 1.10194941e-04 -9.99984767e-01 6.73474826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4703857229999 meters Centerline goodness [0,1] 0.9999559131489033 Centerline is valid? [True, True] Translation: X:87.55, Y:105.57, Z:6.74 [[ 5.74172652e-01 8.18727275e-01 -3.37863356e-03 8.75540038e+01] [ 8.18711777e-01 -5.74182579e-01 -5.03905896e-03 1.05573141e+02] [-6.06556754e-03 1.27162760e-04 -9.99981596e-01 6.73627840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.56, Y:105.57, Z:6.74 [[ 5.08897637e-01 8.60821813e-01 -3.00040682e-03 8.75589294e+01] [ 8.60805285e-01 -5.08906464e-01 -5.33599140e-03 1.05565413e+02] [-6.12026421e-03 1.32707369e-04 -9.99981262e-01 6.73532552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.56, Y:105.56, Z:6.73 [[ 4.41395410e-01 8.97308947e-01 -2.59706803e-03 8.75607133e+01] [ 8.97291445e-01 -4.41403027e-01 -5.60624864e-03 1.05558858e+02] [-6.17689076e-03 1.44245492e-04 -9.99980912e-01 6.73482362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.56, Y:105.55, Z:6.73 [[ 3.70031199e-01 9.29016637e-01 -2.23628295e-03 8.75644316e+01] [ 9.28997115e-01 -3.70037925e-01 -6.02449381e-03 1.05552391e+02] [-6.42436448e-03 1.51750262e-04 -9.99979352e-01 6.73430919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.57, Y:105.55, Z:6.73 [[ 2.95778744e-01 9.55254313e-01 -2.03280996e-03 8.75693061e+01] [ 9.55227581e-01 -2.95785679e-01 -7.14852780e-03 1.05545499e+02] [-7.42993808e-03 1.72586432e-04 -9.99972383e-01 6.73481859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.57, Y:105.54, Z:6.74 [[ 2.20038675e-01 9.75490071e-01 -1.45034183e-03 8.75736051e+01] [ 9.75463474e-01 -2.20043388e-01 -7.20540950e-03 1.05538116e+02] [-7.34794355e-03 1.70713279e-04 -9.99972989e-01 6.73511775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.58, Y:105.53, Z:6.74 [[ 1.43919522e-01 9.89589046e-01 -8.31807106e-04 8.75767921e+01] [ 9.89565102e-01 -1.43921828e-01 -6.88593742e-03 1.05532693e+02] [-6.93396344e-03 1.67893539e-04 -9.99975946e-01 6.73574008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.59, Y:105.53, Z:6.74 [[ 6.64436472e-02 9.97790140e-01 -2.80010160e-04 8.75858880e+01] [ 9.97767709e-01 -6.64440316e-02 -6.69253362e-03 1.05526971e+02] [-6.69634906e-03 1.65291247e-04 -9.99977566e-01 6.73521168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.59, Y:105.52, Z:6.73 [[-1.08246218e-02 9.99941387e-01 2.25875029e-04 8.75947066e+01] [ 9.99922353e-01 1.08258099e-02 -6.17173723e-03 1.05522422e+02] [-6.17382076e-03 1.59050769e-04 -9.99980929e-01 6.73469150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.61, Y:105.52, Z:6.73 [[-8.91739330e-02 9.96015807e-01 7.22576329e-04 8.76070275e+01] [ 9.95996167e-01 8.91767138e-02 -6.25690297e-03 1.05518166e+02] [-6.29641124e-03 1.61730608e-04 -9.99980164e-01 6.73494202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.62, Y:105.51, Z:6.73 [[-1.66901875e-01 9.85972768e-01 1.21037270e-03 8.76195698e+01] [ 9.85953406e-01 1.66906186e-01 -6.18113056e-03 1.05514486e+02] [-6.29644509e-03 1.61728808e-04 -9.99980164e-01 6.73494231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.63, Y:105.51, Z:6.74 [[-2.44809097e-01 9.69569394e-01 1.92253595e-03 8.76299104e+01] [ 9.69544866e-01 2.44816583e-01 -6.89884550e-03 1.05510486e+02] [-7.15957813e-03 1.75084722e-04 -9.99974355e-01 6.73625515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.65, Y:105.51, Z:6.74 [[-3.20675966e-01 9.47186078e-01 2.33647302e-03 8.76452421e+01] [ 9.47164494e-01 3.20684436e-01 -6.39644185e-03 1.05509796e+02] [-6.80789120e-03 1.61839115e-04 -9.99976813e-01 6.73566257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.66, Y:105.51, Z:6.73 [[-3.95424058e-01 9.18495596e-01 2.37778664e-03 8.76587365e+01] [ 9.18480869e-01 3.95431187e-01 -5.20278976e-03 1.05509458e+02] [-5.71899047e-03 1.26643297e-04 -9.99983638e-01 6.73498277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.67, Y:105.51, Z:6.74 [[-4.67126550e-01 8.84186302e-01 2.71473464e-03 8.76711716e+01] [ 8.84172806e-01 4.67134424e-01 -4.88659853e-03 1.05509509e+02] [-5.58880948e-03 1.17634631e-04 -9.99984376e-01 6.73529720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.68, Y:105.51, Z:6.74 [[-5.37621557e-01 8.43180745e-01 3.04844172e-03 8.76843325e+01] [ 8.43168216e-01 5.37630191e-01 -4.59754462e-03 1.05510548e+02] [-5.51549540e-03 9.86100725e-05 -9.99984785e-01 6.73625722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.70, Y:105.51, Z:6.74 [[-6.03560491e-01 7.97309431e-01 3.52211335e-03 8.76960181e+01] [ 7.97296728e-01 6.03570761e-01 -4.50169443e-03 1.05511680e+02] [-5.71508806e-03 9.11245499e-05 -9.99983665e-01 6.73732816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.71, Y:105.52, Z:6.74 [[-6.65379797e-01 7.46494669e-01 3.92877886e-03 8.77085743e+01] [ 7.46482389e-01 6.65391391e-01 -4.28250619e-03 1.05516370e+02] [-5.81104366e-03 8.32711288e-05 -9.99983112e-01 6.73741598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.72, Y:105.52, Z:6.74 [[-7.24266197e-01 6.89505799e-01 4.49770501e-03 8.77207568e+01] [ 6.89493068e-01 7.24280159e-01 -4.19048221e-03 1.05522013e+02] [-6.14696028e-03 6.61118150e-05 -9.99981105e-01 6.73807962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.74, Y:105.54, Z:6.74 [[-7.72259753e-01 6.35288357e-01 4.85569526e-03 8.77415358e+01] [ 6.35276262e-01 7.72275016e-01 -3.92053533e-03 1.05542578e+02] [-6.24060258e-03 5.70362878e-05 -9.99980526e-01 6.73832222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.75, Y:105.57, Z:6.74 [[-8.16534565e-01 5.77271400e-01 5.38849185e-03 8.77512388e+01] [ 5.77259197e-01 8.16552343e-01 -3.75377552e-03 1.05572175e+02] [-6.56693290e-03 4.54690149e-05 -9.99978436e-01 6.73793815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.78, Y:105.59, Z:6.74 [[-8.55576055e-01 5.17649791e-01 5.32055182e-03 8.77771100e+01] [ 5.17640062e-01 8.55592597e-01 -3.17400297e-03 1.05589613e+02] [-6.19524673e-03 3.85298354e-05 -9.99980809e-01 6.73815053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.79, Y:105.62, Z:6.74 [[-8.90013236e-01 4.55908627e-01 4.87487860e-03 8.77854206e+01] [ 4.55902003e-01 8.90026586e-01 -2.45787040e-03 1.05617463e+02] [-5.45933588e-03 3.49297271e-05 -9.99985097e-01 6.73759402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.80, Y:105.64, Z:6.74 [[-9.19830443e-01 3.92289977e-01 4.53101236e-03 8.78026375e+01] [ 3.92285402e-01 9.19841602e-01 -1.89491123e-03 1.05640407e+02] [-4.91116835e-03 3.44529692e-05 -9.99987940e-01 6.73706976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.83, Y:105.66, Z:6.74 [[-9.44702432e-01 3.27893724e-01 4.79791300e-03 8.78253447e+01] [ 3.27889737e-01 9.44714615e-01 -1.61757635e-03 1.05660605e+02] [-5.06305167e-03 4.50581177e-05 -9.99987182e-01 6.73720234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.83, Y:105.69, Z:6.74 [[-9.65246218e-01 2.61290159e-01 5.21458793e-03 8.78348373e+01] [ 2.61286651e-01 9.65260302e-01 -1.35498691e-03 1.05686764e+02] [-5.38747946e-03 5.46062270e-05 -9.99985486e-01 6.73746516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.84, Y:105.71, Z:6.74 [[-9.80655927e-01 1.95656532e-01 5.69872733e-03 8.78374519e+01] [ 1.95653697e-01 9.80672481e-01 -1.05615630e-03 1.05712099e+02] [-5.79522895e-03 7.92511364e-05 -9.99983204e-01 6.73833748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.280385723 meters Centerline goodness [0,1] 0.9999776671058802 Centerline is valid? [True, True] Translation: X:87.85, Y:105.74, Z:6.74 [[-9.91809607e-01 1.27583402e-01 6.01493090e-03 8.78453741e+01] [ 1.27581637e-01 9.91827841e-01 -6.77827177e-04 1.05738834e+02] [-6.05225543e-03 9.51192243e-05 -9.99981680e-01 6.73852602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.94, Y:106.52, Z:5.74 [[-9.87150765e-01 -1.59687579e-01 5.76586628e-03 8.79420498e+01] [ 1.59684239e-01 -9.87167598e-01 -1.03803033e-03 1.06516155e+02] [ 5.85763691e-03 -1.03974461e-04 9.99982839e-01 5.74091563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.78, Y:105.74, Z:6.74 [[-9.91777812e-01 1.27817372e-01 6.28422094e-03 8.77813409e+01] [ 1.27815635e-01 9.91797713e-01 -6.78872886e-04 1.05742177e+02] [-6.31944770e-03 1.29930623e-04 -9.99980024e-01 6.73862227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.87, Y:106.52, Z:5.74 [[-9.88142371e-01 -1.53375312e-01 7.11821652e-03 8.78733220e+01] [ 1.53370672e-01 -9.88168005e-01 -1.19652262e-03 1.06524014e+02] [ 7.21751085e-03 -9.06090470e-05 9.99973949e-01 5.73933608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.71, Y:105.75, Z:6.74 [[-9.92339653e-01 1.23325649e-01 7.26615475e-03 8.77112394e+01] [ 1.23323453e-01 9.92366244e-01 -7.51260020e-04 1.05750592e+02] [-7.30333632e-03 1.50582186e-04 -9.99973319e-01 6.73990260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.430385723 meters Centerline goodness [0,1] 0.9998890639213686 Centerline is valid? [True, True] Translation: X:87.71, Y:105.78, Z:6.74 [[-9.98691096e-01 5.06456012e-02 7.14971619e-03 8.77135851e+01] [ 5.06452626e-02 9.98716679e-01 -2.28510701e-04 1.05778976e+02] [-7.15211387e-03 1.33887652e-04 -9.99974414e-01 6.74112584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.71, Y:105.81, Z:6.74 [[-9.99745831e-01 -2.14939284e-02 6.80334032e-03 8.77118955e+01] [-2.14926094e-02 9.99768972e-01 2.66930008e-04 1.05810757e+02] [-6.80750593e-03 1.20640626e-04 -9.99976821e-01 6.74022719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.70, Y:105.84, Z:6.74 [[-9.95528938e-01 -9.42151668e-02 6.75549196e-03 8.77033644e+01] [-9.42122481e-02 9.95551852e-01 7.49687547e-04 1.05840557e+02] [-6.79607447e-03 1.09885562e-04 -9.99976900e-01 6.73995788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.62, Y:106.61, Z:5.74 [[-9.98258424e-01 5.85747817e-02 7.00807717e-03 8.76166433e+01] [-5.85740323e-02 -9.98283019e-01 3.12302917e-04 1.06614262e+02] [ 7.01433751e-03 -9.87323206e-05 9.99975394e-01 5.73995027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.59, Y:105.83, Z:6.74 [[-9.94711971e-01 -1.02428503e-01 7.51644271e-03 8.75889213e+01] [-1.02424740e-01 9.94740363e-01 8.84904894e-04 1.05831588e+02] [-7.56754843e-03 1.10355805e-04 -9.99971360e-01 6.74047668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.57, Y:105.86, Z:6.74 [[-9.84770269e-01 -1.73710389e-01 7.22617284e-03 8.75707889e+01] [-1.73704927e-01 9.84796776e-01 1.38155120e-03 1.05859411e+02] [-7.35630151e-03 1.05288717e-04 -9.99972937e-01 6.74028034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.52, Y:105.88, Z:6.74 [[-9.69966564e-01 -2.43147369e-01 6.64992331e-03 8.75178406e+01] [-2.43140930e-01 9.69989354e-01 1.77247115e-03 1.05876671e+02] [-6.88132651e-03 1.02369212e-04 -9.99976318e-01 6.73969514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.47, Y:105.89, Z:6.74 [[-9.49463120e-01 -3.13800089e-01 7.02054670e-03 8.74718028e+01] [-3.13790644e-01 9.49489069e-01 2.43720816e-03 1.05892446e+02] [-7.43072849e-03 1.11057393e-04 -9.99972386e-01 6.73952500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.42, Y:105.90, Z:6.74 [[-9.23626134e-01 -3.83240189e-01 6.45927287e-03 8.74159293e+01] [-3.83230009e-01 9.23648714e-01 2.79530414e-03 1.05902047e+02] [-7.03737197e-03 1.06428754e-04 -9.99975232e-01 6.73964113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.34, Y:105.90, Z:6.74 [[-8.92324501e-01 -4.51355012e-01 5.96975062e-03 8.73370236e+01] [-4.51344175e-01 8.92344465e-01 3.12918088e-03 1.05899812e+02] [-6.73944540e-03 9.78326004e-05 -9.99977285e-01 6.73941547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.26, Y:105.89, Z:6.74 [[-8.55877398e-01 -5.17152481e-01 5.21442294e-03 8.72563811e+01] [-5.17142259e-01 8.55893278e-01 3.25272573e-03 1.05889408e+02] [-6.14514472e-03 8.73359745e-05 -9.99981115e-01 6.73961421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.17, Y:105.87, Z:6.74 [[-8.14035059e-01 -5.80791163e-01 5.34295674e-03 8.71655026e+01] [-5.80777943e-01 8.14052589e-01 3.91961818e-03 1.05866133e+02] [-6.62592737e-03 8.76351900e-05 -9.99978045e-01 6.73946241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.07, Y:105.83, Z:6.74 [[-7.67545682e-01 -6.40973173e-01 5.19786493e-03 8.70728952e+01] [-6.40957704e-01 7.67563277e-01 4.45395641e-03 1.05830270e+02] [-6.84455681e-03 8.70034387e-05 -9.99976572e-01 6.73904989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.820385723 meters Centerline goodness [0,1] 0.9999779400410316 Centerline is valid? [True, True] Translation: X:86.98, Y:105.78, Z:6.74 [[-7.16657364e-01 -6.97408544e-01 4.85240023e-03 8.69813413e+01] [-6.97391742e-01 7.16673786e-01 4.84178197e-03 1.05783595e+02] [-6.85428816e-03 8.58748583e-05 -9.99976505e-01 6.73891720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.89, Y:105.73, Z:6.74 [[-6.61303979e-01 -7.50103475e-01 4.67159606e-03 8.68870691e+01] [-7.50083822e-01 6.61320474e-01 5.43058699e-03 1.05725974e+02] [-7.16292430e-03 8.71801601e-05 -9.99974342e-01 6.73852563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.80, Y:105.66, Z:6.74 [[-6.00929920e-01 -7.99291516e-01 4.03782265e-03 8.67955429e+01] [-7.99272661e-01 6.00943481e-01 5.49050508e-03 1.05661601e+02] [-6.81501733e-03 7.20875221e-05 -9.99976775e-01 6.73848014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.70, Y:105.58, Z:6.74 [[-5.37287687e-01 -8.43391212e-01 3.63396732e-03 8.67035353e+01] [-8.43371095e-01 5.37299972e-01 5.82552486e-03 1.05580619e+02] [-6.86572701e-03 6.51997750e-05 -9.99976429e-01 6.73826323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.61, Y:105.47, Z:6.74 [[-4.69238924e-01 -8.83064805e-01 3.37390652e-03 8.66091791e+01] [-8.83041175e-01 4.69251050e-01 6.46030543e-03 1.05473429e+02] [-7.28807753e-03 5.21283909e-05 -9.99973440e-01 6.73832745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.53, Y:105.38, Z:6.74 [[-3.99466780e-01 -9.16743275e-01 2.83883720e-03 8.65332737e+01] [-9.16719287e-01 3.99476865e-01 6.63206502e-03 1.05380022e+02] [-7.21395079e-03 4.68728464e-05 -9.99973978e-01 6.73788216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.47, Y:105.31, Z:6.74 [[-3.27311961e-01 -9.44914553e-01 1.83515636e-03 8.64742045e+01] [-9.44899102e-01 3.27317104e-01 5.40379866e-03 1.05308042e+02] [-5.70680606e-03 3.46903413e-05 -9.99983715e-01 6.73649089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.41, Y:105.21, Z:6.74 [[-2.53565484e-01 -9.67317408e-01 1.25619179e-03 8.64133471e+01] [-9.67304935e-01 2.53568594e-01 4.91228155e-03 1.05206700e+02] [-5.07026624e-03 3.04645309e-05 -9.99987146e-01 6.73573283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.36, Y:105.09, Z:6.73 [[-1.77991001e-01 -9.84031818e-01 7.65099327e-04 8.63585966e+01] [-9.84022111e-01 1.77992643e-01 4.37088353e-03 1.05093907e+02] [-4.43727052e-03 2.51032797e-05 -9.99990155e-01 6.73458507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.31, Y:104.98, Z:6.73 [[-1.01715493e-01 -9.94813453e-01 3.91432434e-04 8.63129496e+01] [-9.94805175e-01 1.01716243e-01 4.05838556e-03 1.04976186e+02] [-4.07715159e-03 2.34016765e-05 -9.99991688e-01 6.73393192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.28, Y:104.85, Z:6.73 [[-2.58764592e-02 -9.99665144e-01 9.45277514e-05 8.62776526e+01] [-9.99652788e-01 2.58766094e-02 4.97034293e-03 1.04849993e+02] [-4.97112463e-03 3.41199457e-05 -9.99987643e-01 6.73424190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.25, Y:104.73, Z:6.73 [[ 4.95067138e-02 -9.98773740e-01 -3.18451543e-04 8.62510871e+01] [-9.98758766e-01 -4.95077154e-02 5.46924456e-03 1.04728464e+02] [-5.47830365e-03 4.72919449e-05 -9.99984993e-01 6.73468697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.23, Y:104.61, Z:6.74 [[ 1.25378704e-01 -9.92108650e-01 -7.79299096e-04 8.62340094e+01] [-9.92092084e-01 -1.25381114e-01 5.73353509e-03 1.04605870e+02] [-5.78599915e-03 5.42732644e-05 -9.99983260e-01 6.73528250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.210385723 meters Centerline goodness [0,1] 0.9999778530773149 Centerline is valid? [True, True] Translation: X:86.23, Y:104.49, Z:6.74 [[ 2.00605136e-01 -9.79671486e-01 -1.16535066e-03 8.62255752e+01] [-9.79656562e-01 -2.00608513e-01 5.40790997e-03 1.04486200e+02] [-5.53175446e-03 5.67889057e-05 -9.99984698e-01 6.73560137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.240385723 meters Centerline goodness [0,1] 0.9999780113461454 Centerline is valid? [True, True] Translation: X:86.23, Y:104.36, Z:6.74 [[ 2.74493950e-01 -9.61587435e-01 -1.63581999e-03 8.62283823e+01] [-9.61571740e-01 -2.74498816e-01 5.49435698e-03 1.04355559e+02] [-5.73233529e-03 6.47905311e-05 -9.99983568e-01 6.73577463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.24, Y:104.23, Z:6.74 [[ 3.47394179e-01 -9.37716976e-01 -2.03899596e-03 8.62413619e+01] [-9.37701929e-01 -3.47400156e-01 5.31252739e-03 1.04231258e+02] [-5.68999464e-03 6.64293531e-05 -9.99983810e-01 6.73615556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.26, Y:104.12, Z:6.73 [[ 4.17724441e-01 -9.08571313e-01 -2.11181626e-03 8.62563206e+01] [-9.08560436e-01 -4.17729775e-01 4.44635832e-03 1.04115687e+02] [-4.92200214e-03 6.13601557e-05 -9.99987885e-01 6.73429237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.29, Y:104.00, Z:6.73 [[ 4.86004195e-01 -8.73954648e-01 -1.78763248e-03 8.62855805e+01] [-8.73949081e-01 -4.86007480e-01 3.11969141e-03 1.03996517e+02] [-3.59527157e-03 4.61166511e-05 -9.99993536e-01 6.73319285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.360385723 meters Centerline goodness [0,1] 0.9999339498018494 Centerline is valid? [True, True] Translation: X:86.32, Y:103.88, Z:6.73 [[ 5.51341956e-01 -8.34277292e-01 -1.85677270e-03 8.63203681e+01] [-8.34272824e-01 -5.51345081e-01 2.73078393e-03 1.03882572e+02] [-3.30195352e-03 4.34592464e-05 -9.99994548e-01 6.73302430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.36, Y:103.77, Z:6.73 [[ 6.13498189e-01 -7.89693732e-01 -1.94487691e-03 8.63622284e+01] [-7.89689975e-01 -6.13501270e-01 2.43596412e-03 1.03773445e+02] [-3.11685006e-03 4.13902250e-05 -9.99995142e-01 6.73314472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.41, Y:103.67, Z:6.73 [[ 6.71929216e-01 -7.40612890e-01 -1.91710833e-03 8.64114937e+01] [-7.40610034e-01 -6.71931950e-01 2.05725837e-03 1.03666053e+02] [-2.81179841e-03 3.74976564e-05 -9.99996046e-01 6.73398903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.46, Y:103.57, Z:6.73 [[ 7.26598595e-01 -6.87057472e-01 -2.55161905e-03 8.64639817e+01] [-6.87053452e-01 -7.26603074e-01 2.35072443e-03 1.03570226e+02] [-3.46909703e-03 4.50656075e-05 -9.99993982e-01 6.73402008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.480385723 meters Centerline goodness [0,1] 0.9999564659019177 Centerline is valid? [True, True] Translation: X:86.46, Y:103.56, Z:6.73 [[ 7.78520431e-01 -6.27613114e-01 -2.77822560e-03 8.64552482e+01] [-6.27609315e-01 -7.78525387e-01 2.18416158e-03 1.03557804e+02] [-3.53372761e-03 4.32258493e-05 -9.99993755e-01 6.73446143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.45, Y:103.54, Z:6.73 [[ 8.25276483e-01 -5.64723224e-01 -2.53131749e-03 8.64480728e+01] [-5.64720703e-01 -8.25280364e-01 1.68750497e-03 1.03542822e+02] [-3.04201986e-03 3.68292275e-05 -9.99995372e-01 6.73459474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.44, Y:103.53, Z:6.73 [[ 8.67048128e-01 -4.98220275e-01 -2.02514428e-03 8.64409504e+01] [-4.98218990e-01 -8.67050493e-01 1.13198794e-03 1.03529209e+02] [-2.31988168e-03 2.74773142e-05 -9.99997309e-01 6.73473218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.44, Y:103.52, Z:6.73 [[ 9.03305887e-01 -4.28992545e-01 -1.96745064e-03 8.64380267e+01] [-4.28991590e-01 -9.03308029e-01 9.05662101e-04 1.03517382e+02] [-2.16573625e-03 2.59298720e-05 -9.99997655e-01 6.73452267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.43, Y:103.50, Z:6.73 [[ 9.34123877e-01 -3.56947601e-01 -9.96763575e-04 8.64339220e+01] [-3.56947412e-01 -9.34124408e-01 3.67226741e-04 1.03500817e+02] [-1.06218189e-03 1.27569120e-05 -9.99999436e-01 6.73451198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.43, Y:103.49, Z:6.73 [[ 9.59157090e-01 -2.82873480e-01 -5.20046040e-04 8.64321929e+01] [-2.82873442e-01 -9.59157231e-01 1.46398867e-04 1.03487647e+02] [-5.40218277e-04 6.68770234e-06 -9.99999854e-01 6.73436660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.43, Y:103.47, Z:6.73 [[ 9.78363579e-01 -2.06891906e-01 6.68221933e-04 8.64318778e+01] [-2.06891863e-01 -9.78363807e-01 -1.33554133e-04 1.03474713e+02] [ 6.81395423e-04 -7.58518092e-06 -9.99999768e-01 6.73381631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.43, Y:103.46, Z:6.73 [[ 9.91559677e-01 -1.29649330e-01 6.76614520e-04 8.64291472e+01] [-1.29649305e-01 -9.91559908e-01 -8.08190842e-05 1.03463601e+02] [ 6.81381971e-04 -7.58565751e-06 -9.99999768e-01 6.73381644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.43, Y:103.45, Z:6.73 [[ 9.98611897e-01 -5.26255594e-02 2.19755942e-03 8.64274675e+01] [-5.26254925e-02 -9.98614315e-01 -8.83139931e-05 1.03448668e+02] [ 2.19916187e-03 -2.74562427e-05 -9.99997582e-01 6.73235077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.43, Y:103.43, Z:6.73 [[ 9.99714664e-01 2.37154478e-02 2.85815314e-03 8.64271014e+01] [ 2.37152319e-02 -9.99718748e-01 1.09424800e-04 1.03434440e+02] [ 2.85994433e-03 -4.16118127e-05 -9.99995910e-01 6.73102707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.43, Y:103.42, Z:6.73 [[ 9.94889345e-01 1.00918438e-01 3.26486054e-03 8.64272786e+01] [ 1.00917726e-01 -9.94894701e-01 3.82534552e-04 1.03422455e+02] [ 3.28679724e-03 -5.10972487e-05 -9.99994597e-01 6.73063914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.43, Y:103.41, Z:6.73 [[ 9.84146173e-01 1.77326806e-01 3.39312965e-03 8.64278387e+01] [ 1.77325549e-01 -9.84152021e-01 6.70283445e-04 1.03410228e+02] [ 3.45821462e-03 -5.79683118e-05 -9.99994019e-01 6.72998240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.43, Y:103.40, Z:6.73 [[ 9.67269765e-01 2.53727999e-01 3.36214555e-03 8.64319089e+01] [ 2.53726255e-01 -9.67275607e-01 9.42706767e-04 1.03395775e+02] [ 3.49131247e-03 -5.87871556e-05 -9.99993904e-01 6.73058672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.44, Y:103.38, Z:6.73 [[ 9.44449179e-01 3.28639219e-01 3.46575693e-03 8.64387926e+01] [ 3.28636764e-01 -9.44455536e-01 1.27179863e-03 1.03376576e+02] [ 3.69121623e-03 -6.21740353e-05 -9.99993186e-01 6.73239224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.44, Y:103.36, Z:6.73 [[ 9.16723637e-01 3.99509592e-01 3.13986600e-03 8.64447239e+01] [ 3.99507001e-01 -9.16729012e-01 1.44023949e-03 1.03362809e+02] [ 3.45379575e-03 -6.59031374e-05 -9.99994034e-01 6.73186670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.45, Y:103.35, Z:6.73 [[ 8.83399763e-01 4.68607208e-01 3.48474414e-03 8.64515709e+01] [ 4.68603191e-01 -8.83406632e-01 1.94208943e-03 1.03352700e+02] [ 3.98852319e-03 -8.26791182e-05 -9.99992042e-01 6.73119708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.46, Y:103.34, Z:6.73 [[ 8.45984401e-01 5.33197949e-01 3.21572093e-03 8.64602791e+01] [ 5.33193670e-01 -8.45990507e-01 2.13818800e-03 1.03340165e+02] [ 3.86054684e-03 -9.42716493e-05 -9.99992544e-01 6.73169656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.47, Y:103.33, Z:6.73 [[ 8.02340475e-01 5.96861577e-01 2.45351799e-03 8.64707382e+01] [ 5.96858480e-01 -8.02344223e-01 1.92445663e-03 1.03329015e+02] [ 3.11720020e-03 -7.96664282e-05 -9.99995138e-01 6.73283825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.48, Y:103.32, Z:6.73 [[ 7.53596369e-01 6.57336311e-01 1.21955052e-03 8.64822351e+01] [ 6.57335356e-01 -7.53597355e-01 1.12127455e-03 1.03318044e+02] [ 1.65610452e-03 -4.33347504e-05 -9.99998628e-01 6.73454147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.50, Y:103.31, Z:6.74 [[ 6.99775393e-01 7.14362821e-01 4.00191420e-04 8.64966785e+01] [ 7.14362691e-01 -6.99775507e-01 4.30168246e-04 1.03307291e+02] [ 5.87340355e-04 -1.51393337e-05 -9.99999827e-01 6.73637925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.51, Y:103.30, Z:6.74 [[ 6.41611026e-01 7.67030097e-01 3.48654889e-04 8.65067893e+01] [ 7.67029972e-01 -6.41611121e-01 4.39169805e-04 1.03301087e+02] [ 5.60557313e-04 -1.43474394e-05 -9.99999843e-01 6.73625859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.53, Y:103.29, Z:6.74 [[ 5.79755792e-01 8.14790189e-01 4.12263043e-04 8.65274728e+01] [ 8.14789959e-01 -5.79755939e-01 6.12383426e-04 1.03289166e+02] [ 7.37975955e-04 -1.91250508e-05 -9.99999728e-01 6.73648093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.54, Y:103.28, Z:6.74 [[ 5.14097773e-01 8.57731514e-01 3.60779358e-04 8.65438839e+01] [ 8.57731276e-01 -5.14097899e-01 6.38754588e-04 1.03283254e+02] [ 7.33355850e-04 -1.89305715e-05 -9.99999731e-01 6.73682626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.56, Y:103.28, Z:6.74 [[ 4.44817118e-01 8.95621377e-01 -2.83682291e-04 8.65628627e+01] [ 8.95621169e-01 -4.44817209e-01 -6.10681975e-04 1.03276650e+02] [-6.73126596e-04 1.75699319e-05 -9.99999773e-01 6.73843080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.58, Y:103.27, Z:6.74 [[ 3.72586305e-01 9.27997460e-01 -3.98761735e-04 8.65787480e+01] [ 9.27996844e-01 -3.72586518e-01 -1.07017237e-03 1.03273978e+02] [-1.14169049e-03 2.86819383e-05 -9.99999348e-01 6.73898237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.59, Y:103.27, Z:6.74 [[ 2.96691212e-01 9.54973417e-01 -3.13258370e-04 8.65935390e+01] [ 9.54972788e-01 -2.96691376e-01 -1.09655394e-03 1.03272284e+02] [-1.14012092e-03 2.61846977e-05 -9.99999350e-01 6.73884683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.61, Y:103.27, Z:6.74 [[ 2.19995506e-01 9.75500860e-01 -2.21221246e-04 8.66111879e+01] [ 9.75500249e-01 -2.19995616e-01 -1.09206500e-03 1.03272325e+02] [-1.11397805e-03 2.44480118e-05 -9.99999379e-01 6.73835154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.63, Y:103.27, Z:6.74 [[ 1.41932663e-01 9.89876312e-01 -7.64772725e-05 8.66275659e+01] [ 9.89876113e-01 -1.41932683e-01 -6.27807265e-04 1.03273381e+02] [-6.32306165e-04 1.34033318e-05 -9.99999800e-01 6.73862552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.65, Y:103.28, Z:6.74 [[ 6.41144017e-02 9.97942554e-01 -4.55378203e-05 8.66495080e+01] [ 9.97941995e-01 -6.41144140e-02 -1.05708890e-03 1.03277306e+02] [-1.05783362e-03 2.23305189e-05 -9.99999440e-01 6.73905212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.66, Y:103.28, Z:6.74 [[-1.44294489e-02 9.99895889e-01 4.45557199e-05 8.66646322e+01] [ 9.99895094e-01 1.44294937e-02 -1.26134756e-03 1.03281332e+02] [-1.26185916e-03 2.63504955e-05 -9.99999204e-01 6.73947243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.68, Y:103.29, Z:6.74 [[-9.29027177e-02 9.95675179e-01 1.52081883e-04 8.66803720e+01] [ 9.95674288e-01 9.29028380e-02 -1.33222573e-03 1.03287665e+02] [-1.34059293e-03 2.76566292e-05 -9.99999101e-01 6.73948011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.70, Y:103.30, Z:6.74 [[-1.72214485e-01 9.85059462e-01 1.67471980e-04 8.66969891e+01] [ 9.85059086e-01 1.72214566e-01 -8.60704903e-04 1.03296204e+02] [-8.76686622e-04 1.67439436e-05 -9.99999616e-01 6.73910051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.71, Y:103.30, Z:6.74 [[-2.50191542e-01 9.68196354e-01 1.10347818e-04 8.67101443e+01] [ 9.68196273e-01 2.50191566e-01 -3.97236358e-04 1.03304078e+02] [-4.12210887e-04 7.45316902e-06 -9.99999915e-01 6.73922524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.73, Y:103.32, Z:6.74 [[-3.27895789e-01 9.44713890e-01 1.34476883e-04 8.67280383e+01] [ 9.44713818e-01 3.27895817e-01 -3.69121373e-04 1.03316818e+02] [-3.92808496e-04 6.00882538e-06 -9.99999923e-01 6.73958991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.74, Y:103.33, Z:6.74 [[-4.02425100e-01 9.15452905e-01 1.29780002e-04 8.67415333e+01] [ 9.15452861e-01 4.02425121e-01 -2.84487697e-04 1.03329914e+02] [-3.12661822e-04 4.32248430e-06 -9.99999951e-01 6.73938061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.75, Y:103.34, Z:6.74 [[-4.73476593e-01 8.80806376e-01 -2.09955951e-04 8.67526320e+01] [ 8.80806294e-01 4.73476639e-01 3.80093435e-04 1.03341778e+02] [ 4.34197959e-04 -4.96517895e-06 -9.99999906e-01 6.73902921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.76, Y:103.35, Z:6.74 [[-5.42251779e-01 8.40215496e-01 -9.63384030e-04 8.67627778e+01] [ 8.40214230e-01 5.42252635e-01 1.45893230e-03 1.03354784e+02] [ 1.74821506e-03 -1.83403344e-05 -9.99998472e-01 6.73802293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.77, Y:103.37, Z:6.74 [[-6.06883509e-01 7.94789791e-01 -1.26268684e-03 8.67687493e+01] [ 7.94788140e-01 6.06884822e-01 1.62013400e-03 1.03367713e+02] [ 2.05397144e-03 -2.03359219e-05 -9.99997890e-01 6.73809434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.78, Y:103.38, Z:6.74 [[-6.67432205e-01 7.44669424e-01 -1.30434583e-03 8.67766950e+01] [ 7.44668056e-01 6.67433479e-01 1.42731224e-03 1.03384140e+02] [ 1.93343985e-03 -1.86705196e-05 -9.99998131e-01 6.73857139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.78, Y:103.40, Z:6.74 [[-7.23223281e-01 6.90613584e-01 -9.81078349e-04 8.67818563e+01] [ 6.90612975e-01 7.23223947e-01 9.17809024e-04 1.03398837e+02] [ 1.34339074e-03 -1.37645826e-05 -9.99999098e-01 6.73902236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.79, Y:103.42, Z:6.74 [[-7.68257621e-01 6.40140695e-01 3.45348476e-04 8.67942493e+01] [ 6.40140634e-01 7.68257698e-01 -2.79468267e-04 1.03422042e+02] [-4.44215636e-04 6.36796665e-06 -9.99999901e-01 6.74084192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.81, Y:103.45, Z:6.74 [[-8.10242740e-01 5.86093404e-01 1.10659396e-03 8.68068759e+01] [ 5.86092895e-01 8.10243495e-01 -7.73219698e-04 1.03448849e+02] [-1.34978952e-03 2.20712108e-05 -9.99999089e-01 6.74136636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.82, Y:103.47, Z:6.74 [[-8.46958186e-01 5.31655985e-01 1.93496575e-03 8.68172338e+01] [ 5.31654727e-01 8.46960395e-01 -1.15744536e-03 1.03473223e+02] [-2.25420211e-03 4.84258649e-05 -9.99997458e-01 6.74137544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.82, Y:103.50, Z:6.74 [[-8.81617892e-01 4.71957733e-01 2.40617344e-03 8.68237854e+01] [ 4.71956169e-01 8.81621174e-01 -1.21669403e-03 1.03498953e+02] [-2.69556161e-03 6.29491691e-05 -9.99996365e-01 6.74166635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.83, Y:103.53, Z:6.74 [[-9.11633875e-01 4.10987601e-01 3.58752079e-03 8.68300179e+01] [ 4.10984858e-01 9.11640928e-01 -1.50495382e-03 1.03528833e+02] [-3.88904814e-03 1.02449839e-04 -9.99992432e-01 6.74188038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.83, Y:103.56, Z:6.74 [[-9.38303347e-01 3.45794461e-01 3.60839430e-03 8.68294531e+01] [ 3.45792321e-01 9.38310280e-01 -1.22067763e-03 1.03558960e+02] [-3.80789702e-03 1.02389134e-04 -9.99992745e-01 6.74215765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.83, Y:103.59, Z:6.74 [[-9.60537731e-01 2.78125408e-01 3.67755418e-03 8.68311530e+01] [ 2.78123772e-01 9.60544766e-01 -9.59397158e-04 1.03589461e+02] [-3.79928814e-03 1.01278071e-04 -9.99992778e-01 6.74193649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.83, Y:103.62, Z:6.74 [[-9.77841605e-01 2.09325056e-01 2.96932345e-03 8.68282152e+01] [ 2.09324341e-01 9.77846110e-01 -5.53052144e-04 1.03619962e+02] [-3.01930905e-03 8.07542763e-05 -9.99995439e-01 6.74139528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.82, Y:103.65, Z:6.74 [[-9.90194956e-01 1.39682607e-01 1.64851828e-03 8.68221274e+01] [ 1.39682489e-01 9.90196328e-01 -1.86981482e-04 1.03652184e+02] [-1.65847480e-03 4.51210163e-05 -9.99998624e-01 6.74069969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.81, Y:103.68, Z:6.74 [[-9.97620195e-01 6.89221222e-02 1.92008463e-03 8.68082385e+01] [ 6.89220950e-02 9.97622042e-01 -8.04431888e-05 1.03683609e+02] [-1.92106307e-03 5.20845057e-05 -9.99998153e-01 6.74083771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.80, Y:103.71, Z:6.74 [[-9.99995258e-01 -2.12070069e-03 2.23321952e-03 8.68006526e+01] [-2.12055953e-03 9.99997750e-01 6.55788627e-05 1.03713729e+02] [-2.23335356e-03 6.08428767e-05 -9.99997504e-01 6.74157764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.79, Y:103.75, Z:6.74 [[-9.97322461e-01 -7.30937638e-02 2.28277757e-03 8.67854794e+01] [-7.30934275e-02 9.97325071e-01 2.30507618e-04 1.03745056e+02] [-2.29351997e-03 6.30343883e-05 -9.99997368e-01 6.74147924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.76, Y:103.77, Z:6.74 [[-9.89705287e-01 -1.43100250e-01 2.40081085e-03 8.67646155e+01] [-1.43099659e-01 9.89708196e-01 4.17168748e-04 1.03769713e+02] [-2.43579913e-03 6.93189017e-05 -9.99997031e-01 6.74136317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.74, Y:103.79, Z:6.74 [[-9.77092892e-01 -2.12800228e-01 2.35460925e-03 8.67352309e+01] [-2.12799435e-01 9.77095726e-01 5.85383192e-04 1.03791971e+02] [-2.42524831e-03 7.09142386e-05 -9.99997057e-01 6.74092889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.59, Y:104.27, Z:5.74 [[-9.78910311e-01 2.04285391e-01 1.44293862e-03 8.65870080e+01] [-2.04285328e-01 -9.78911369e-01 1.91964464e-04 1.04273698e+02] [ 1.45172455e-03 -1.06855196e-04 9.99998941e-01 5.73954805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.61, Y:103.77, Z:6.74 [[-9.75983432e-01 -2.17839848e-01 1.46358963e-03 8.66120988e+01] [-2.17839533e-01 9.75984528e-01 3.73472347e-04 1.03765313e+02] [-1.50979799e-03 4.56751421e-05 -9.99998859e-01 6.74028872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.160385723 meters Centerline goodness [0,1] 0.9999584915841687 Centerline is valid? [True, True] Translation: X:86.57, Y:103.79, Z:6.74 [[-9.57593962e-01 -2.88115869e-01 1.74666200e-03 8.65715032e+01] [-2.88115286e-01 9.57595553e-01 5.82305660e-04 1.03785759e+02] [-1.84036727e-03 5.43723620e-05 -9.99998305e-01 6.74097820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.52, Y:103.80, Z:6.74 [[-9.33556972e-01 -3.58421998e-01 2.24767931e-03 8.65199088e+01] [-3.58420784e-01 9.33559675e-01 9.35061217e-04 1.03800096e+02] [-2.43348927e-03 6.73179380e-05 -9.99997037e-01 6.74202050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.45, Y:103.80, Z:6.74 [[-9.04370824e-01 -4.26743704e-01 1.79554529e-03 8.64537388e+01] [-4.26742745e-01 9.04372605e-01 9.06319870e-04 1.03804792e+02] [-2.01060827e-03 5.34133219e-05 -9.99997977e-01 6.74252894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.38, Y:103.80, Z:6.74 [[-8.70719399e-01 -4.91778359e-01 1.33162573e-03 8.63791421e+01] [-4.91777710e-01 8.70720416e-01 8.00332326e-04 1.03797096e+02] [-1.55305983e-03 4.20010320e-05 -9.99998793e-01 6.74263463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.30, Y:103.78, Z:6.74 [[-8.32620044e-01 -5.53843632e-01 1.04600283e-03 8.63024981e+01] [-5.53843140e-01 8.32620700e-01 7.39115567e-04 1.03784951e+02] [-1.28027806e-03 3.60809436e-05 -9.99999180e-01 6.74227377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.23, Y:103.76, Z:6.74 [[-7.91038264e-01 -6.11766623e-01 2.51739991e-04 8.62251086e+01] [-6.11766588e-01 7.91038304e-01 2.08103353e-04 1.03761197e+02] [-3.26446661e-04 1.06116002e-05 -9.99999947e-01 6.74189057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.14, Y:103.73, Z:6.74 [[-7.44374857e-01 -6.67761851e-01 -4.27552614e-04 8.61424850e+01] [-6.67761727e-01 7.44374979e-01 -4.08364855e-04 1.03727463e+02] [ 5.90949940e-04 -1.84732588e-05 -9.99999825e-01 6.74166102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.06, Y:103.68, Z:6.74 [[-6.94873343e-01 -7.19131627e-01 -8.60483818e-04 8.60603267e+01] [-7.19130994e-01 6.94873874e-01 -9.55642854e-04 1.03684028e+02] [ 1.28516072e-03 -4.52501616e-05 -9.99999173e-01 6.74126704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.98, Y:103.63, Z:6.74 [[-6.41188002e-01 -7.67383449e-01 -7.66763647e-04 8.59762173e+01] [-7.67382810e-01 6.41188459e-01 -9.91706769e-04 1.03630898e+02] [ 1.25265936e-03 -4.74692396e-05 -9.99999214e-01 6.74175754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.90, Y:103.57, Z:6.74 [[-5.86689206e-01 -8.09812165e-01 -1.82835119e-04 8.58959293e+01] [-8.09812118e-01 5.86689234e-01 -2.76457011e-04 1.03566700e+02] [ 3.31145646e-04 -1.41322493e-05 -9.99999945e-01 6.74234985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.82, Y:103.50, Z:6.74 [[-5.29357048e-01 -8.48399074e-01 -3.56147333e-04 8.58215365e+01] [-8.48398833e-01 5.29357167e-01 -6.39967475e-04 1.03502372e+02] [ 7.31476957e-04 -3.66163117e-05 -9.99999732e-01 6.74156974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.74, Y:103.43, Z:6.74 [[-4.66581699e-01 -8.84478052e-01 -3.05814012e-04 8.57442297e+01] [-8.84477805e-01 4.66581797e-01 -6.62702096e-04 1.03425846e+02] [ 7.28832711e-04 -3.87189638e-05 -9.99999734e-01 6.74135289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.520385723 meters Centerline goodness [0,1] 0.999979161022777 Centerline is valid? [True, True] Translation: X:85.67, Y:103.34, Z:6.74 [[-4.00738724e-01 -9.16192340e-01 -2.66550259e-04 8.56741634e+01] [-9.16192062e-01 4.00738810e-01 -7.15118020e-04 1.03336233e+02] [ 7.62002686e-04 -4.23642506e-05 -9.99999709e-01 6.74207772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.61, Y:103.24, Z:6.74 [[-3.32843716e-01 -9.42981976e-01 -2.32954474e-04 8.56078946e+01] [-9.42981632e-01 3.32843794e-01 -8.06791744e-04 1.03241888e+02] [ 8.38327523e-04 -4.88637720e-05 -9.99999647e-01 6.74158166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.55, Y:103.14, Z:6.74 [[-2.60641582e-01 -9.65435620e-01 -1.71322171e-04 8.55523315e+01] [-9.65435271e-01 2.60641633e-01 -8.22065665e-04 1.03142203e+02] [ 8.38305166e-04 -4.88640286e-05 -9.99999647e-01 6.74158267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.610385723 meters Centerline goodness [0,1] 0.9999792000332799 Centerline is valid? [True, True] Translation: X:85.50, Y:103.04, Z:6.74 [[-1.87775910e-01 -9.82211875e-01 -1.99505025e-04 8.55039227e+01] [-9.82210683e-01 1.87775993e-01 -1.53302632e-03 1.03040535e+02] [ 1.54321891e-03 -9.19094452e-05 -9.99998805e-01 6.74110602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.45, Y:102.94, Z:6.74 [[-1.14528407e-01 -9.93419968e-01 -1.08110052e-04 8.54542822e+01] [-9.93417942e-01 1.14528392e-01 -2.01001646e-03 1.02944968e+02] [ 2.00917215e-03 -1.22805517e-04 -9.99997974e-01 6.74190293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.41, Y:102.82, Z:6.74 [[-4.03319299e-02 -9.99186336e-01 4.74384094e-05 8.54148394e+01] [-9.99183956e-01 4.03317301e-02 -2.18502912e-03 1.02821545e+02] [ 2.18133797e-03 -1.35526139e-04 -9.99997612e-01 6.74212014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.38, Y:102.72, Z:6.74 [[ 3.48562301e-02 -9.99392312e-01 2.22600177e-04 8.53826706e+01] [-9.99389719e-01 -3.48566477e-02 -2.28109620e-03 1.02724340e+02] [ 2.28746910e-03 -1.42953914e-04 -9.99997374e-01 6.74202663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.36, Y:102.62, Z:6.74 [[ 1.10140741e-01 -9.93915933e-01 3.68216446e-04 8.53595296e+01] [-9.93913698e-01 -1.10141276e-01 -2.11174821e-03 1.02616653e+02] [ 2.13945602e-03 -1.33385856e-04 -9.99997703e-01 6.74217664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.34, Y:102.50, Z:6.74 [[ 1.85192142e-01 -9.82702240e-01 4.21105644e-04 8.53438726e+01] [-9.82700835e-01 -1.85192591e-01 -1.66511603e-03 1.02500797e+02] [ 1.71429890e-03 -1.05454464e-04 -9.99998525e-01 6.74257063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.34, Y:102.39, Z:6.74 [[ 2.59610151e-01 -9.65713371e-01 5.03732876e-04 8.53440045e+01] [-9.65712202e-01 -2.59610622e-01 -1.50607762e-03 1.02388819e+02] [ 1.58521371e-03 -9.54679446e-05 -9.99998739e-01 6.74260263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.34, Y:102.26, Z:6.74 [[ 3.34273151e-01 -9.42475614e-01 1.08550396e-03 8.53416157e+01] [-9.42472084e-01 -3.34274876e-01 -2.58428826e-03 1.02264716e+02] [ 2.79848536e-03 -1.59198997e-04 -9.99996072e-01 6.74146215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.34, Y:102.18, Z:6.74 [[ 4.07363639e-01 -9.13264546e-01 1.65351228e-03 8.53364183e+01] [-9.13258836e-01 -4.07366950e-01 -3.23531680e-03 1.02179919e+02] [ 3.62828638e-03 -1.92134278e-04 -9.99993399e-01 6.74122556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.35, Y:102.08, Z:6.74 [[ 4.76285261e-01 -8.79288567e-01 1.99154083e-03 8.53499893e+01] [-8.79282501e-01 -4.76289385e-01 -3.27175707e-03 1.02075715e+02] [ 3.82536834e-03 -1.92837332e-04 -9.99992665e-01 6.74158072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.36, Y:101.98, Z:6.74 [[ 5.44764644e-01 -8.38583633e-01 2.99565940e-03 8.53635146e+01] [-8.38573213e-01 -5.44772831e-01 -4.18666626e-03 1.01984271e+02] [ 5.14282365e-03 -2.31331975e-04 -9.99986749e-01 6.74053496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.39, Y:101.90, Z:6.74 [[ 6.07501541e-01 -7.94312533e-01 3.07869192e-03 8.53879243e+01] [-7.94303978e-01 -6.07509308e-01 -3.69197246e-03 1.01895976e+02] [ 4.80291399e-03 -2.02538282e-04 -9.99988445e-01 6.74025880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9703857229999 meters Centerline goodness [0,1] 0.9998527060011784 Centerline is valid? [True, True] Translation: X:85.42, Y:101.81, Z:6.75 [[ 6.68304887e-01 -7.43886098e-01 1.43187123e-03 8.54202845e+01] [-7.43884629e-01 -6.68306417e-01 -1.48049813e-03 1.01807316e+02] [ 2.05825070e-03 -7.57228634e-05 -9.99997879e-01 6.74561407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.45, Y:101.73, Z:6.74 [[ 7.23587033e-01 -6.90229260e-01 2.31833916e-03 8.54471317e+01] [-6.90226170e-01 -7.23590740e-01 -2.06782802e-03 1.01727386e+02] [ 3.10480415e-03 -1.03924813e-04 -9.99995175e-01 6.74177120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.45, Y:101.70, Z:6.74 [[ 7.78456690e-01 -6.27695967e-01 1.71860486e-03 8.54476478e+01] [-6.27694610e-01 -7.78458585e-01 -1.30680885e-03 1.01701671e+02] [ 2.15814136e-03 -6.14649189e-05 -9.99997669e-01 6.74257780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.45, Y:101.68, Z:6.74 [[ 8.26483231e-01 -5.62960868e-01 7.27949771e-04 8.54528090e+01] [-5.62960673e-01 -8.26483551e-01 -4.68823200e-04 1.01680193e+02] [ 8.65567627e-04 -2.23325798e-05 -9.99999625e-01 6.74301161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.46, Y:101.66, Z:6.74 [[ 8.69193184e-01 -4.94472611e-01 -2.13581800e-04 8.54605520e+01] [-4.94472597e-01 -8.69193211e-01 1.14129282e-04 1.01658797e+02] [-2.42077655e-04 6.40995286e-06 -9.99999971e-01 6.74347177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.37, Y:101.42, Z:5.74 [[ 8.89547006e-01 4.56843589e-01 -2.45811600e-04 8.53705203e+01] [-4.56843570e-01 8.89547040e-01 1.32136383e-04 1.01423667e+02] [ 2.79026640e-04 -5.24407517e-06 9.99999961e-01 5.73572289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.40, Y:101.41, Z:5.74 [[ 8.88281029e-01 4.59299507e-01 -8.81326977e-04 8.54000994e+01] [-4.59299263e-01 8.88281466e-01 4.74035045e-04 1.01411222e+02] [ 1.00059048e-03 -1.62835068e-05 9.99999499e-01 5.73561344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.43, Y:101.40, Z:5.74 [[ 8.85301344e-01 4.65017626e-01 -3.71483547e-04 8.54309828e+01] [-4.65017583e-01 8.85301422e-01 1.99924539e-04 1.01400577e+02] [ 4.21843347e-04 -4.24708217e-06 9.99999911e-01 5.73635692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.46, Y:101.39, Z:5.74 [[ 8.81803302e-01 4.71616833e-01 7.06425574e-04 8.54604903e+01] [-4.71616680e-01 8.81803585e-01 -3.80187143e-04 1.01391294e+02] [-8.02231260e-04 2.08819502e-06 9.99999678e-01 5.73714112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.49, Y:101.38, Z:5.74 [[ 8.79923522e-01 4.75115344e-01 -6.95255877e-05 8.54862974e+01] [-4.75115343e-01 8.79923525e-01 3.74133197e-05 1.01379689e+02] [ 7.89528424e-05 1.11813432e-07 9.99999997e-01 5.73667925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.51, Y:101.37, Z:5.74 [[ 8.78159831e-01 4.78366032e-01 -1.11877935e-03 8.55119342e+01] [-4.78365653e-01 8.78160543e-01 6.01934375e-04 1.01367411e+02] [ 1.27041284e-03 6.59102534e-06 9.99999193e-01 5.73585425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.54, Y:101.35, Z:5.74 [[ 8.75074110e-01 4.83985586e-01 -1.80410537e-03 8.55368713e+01] [-4.83984613e-01 8.75075970e-01 9.70458020e-04 1.01354083e+02] [ 2.04841695e-03 2.39365528e-05 9.99997902e-01 5.73543631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.56, Y:101.34, Z:5.74 [[ 8.73695607e-01 4.86468144e-01 -2.17513081e-03 8.55617361e+01] [-4.86466739e-01 8.73698314e-01 1.16984483e-03 1.01339326e+02] [ 2.46950036e-03 3.60405007e-05 9.99996950e-01 5.73548946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.58, Y:101.32, Z:5.74 [[ 8.71521301e-01 4.90349612e-01 -2.80695164e-03 8.55849880e+01] [-4.90347293e-01 8.71525820e-01 1.50924686e-03 1.01323910e+02] [ 3.18638944e-03 6.10403552e-05 9.99994922e-01 5.73597105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.61, Y:101.31, Z:5.74 [[ 8.70020992e-01 4.93011816e-01 -1.67976310e-03 8.56090460e+01] [-4.93010991e-01 8.70022613e-01 9.03030551e-04 1.01308478e+02] [ 1.90663661e-03 4.24861357e-05 9.99998182e-01 5.73693121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.63, Y:101.29, Z:5.74 [[ 8.69295067e-01 4.94291912e-01 -1.26139078e-03 8.56339597e+01] [-4.94291449e-01 8.69295982e-01 6.78005613e-04 1.01293617e+02] [ 1.43165463e-03 3.41077401e-05 9.99998975e-01 5.73703532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.66, Y:101.27, Z:5.74 [[ 8.68260256e-01 4.96107354e-01 -1.27305087e-03 8.56562296e+01] [-4.96106884e-01 8.68261189e-01 6.84160258e-04 1.01274351e+02] [ 1.44475760e-03 3.75401386e-05 9.99998956e-01 5.73713226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.68, Y:101.26, Z:5.74 [[ 8.67906429e-01 4.96725822e-01 -1.37421584e-03 8.56796999e+01] [-4.96725275e-01 8.67907516e-01 7.38406502e-04 1.01256607e+02] [ 1.55947783e-03 4.17399881e-05 9.99998783e-01 5.73756094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.510385723 meters Centerline goodness [0,1] 0.9999585354729029 Centerline is valid? [True, True] Translation: X:85.70, Y:101.24, Z:5.74 [[ 8.67514095e-01 4.97410289e-01 -1.51641881e-03 8.57026712e+01] [-4.97409624e-01 8.67515419e-01 8.14650042e-04 1.01241428e+02] [ 1.72073202e-03 4.75609192e-05 9.99998518e-01 5.73791377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.540385723 meters Centerline goodness [0,1] 0.9999377283294586 Centerline is valid? [True, True] Translation: X:85.72, Y:101.22, Z:5.74 [[ 8.67268379e-01 4.97839421e-01 -1.21275701e-03 8.57226961e+01] [-4.97838996e-01 8.67269226e-01 6.51411912e-04 1.01218468e+02] [ 1.37608536e-03 3.88087789e-05 9.99999052e-01 5.73899304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.570385723 meters Centerline goodness [0,1] 0.9999169952272255 Centerline is valid? [True, True] Translation: X:85.75, Y:101.20, Z:5.74 [[ 8.67144501e-01 4.98052610e-01 -2.00275887e-03 8.57456275e+01] [-4.98051453e-01 8.67146812e-01 1.07574711e-03 1.01195742e+02] [ 2.27246463e-03 6.46487690e-05 9.99997416e-01 5.73594684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.77, Y:101.18, Z:5.74 [[ 8.67095711e-01 4.98140576e-01 -9.97544708e-04 8.57692654e+01] [-4.98140289e-01 8.67096284e-01 5.35792529e-04 1.01178132e+02] [ 1.13186731e-03 3.23338060e-05 9.99999359e-01 5.73940352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.79, Y:101.15, Z:5.74 [[ 8.66981833e-01 4.98334344e-01 -2.32013509e-03 8.57916652e+01] [-4.98332789e-01 8.66984934e-01 1.24701123e-03 1.01150164e+02] [ 2.63295069e-03 7.50633105e-05 9.99996531e-01 5.73892673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.82, Y:101.13, Z:5.74 [[ 8.66631289e-01 4.98939467e-01 -3.10105451e-03 8.58176306e+01] [-4.98936692e-01 8.66636831e-01 1.66727212e-03 1.01133182e+02] [ 3.51935592e-03 1.02319696e-04 9.99993802e-01 5.73812476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.84, Y:101.11, Z:5.74 [[ 8.66178857e-01 4.99717749e-01 -4.04454472e-03 8.58413535e+01] [-4.99713031e-01 8.66188289e-01 2.17581442e-03 1.01109292e+02] [ 4.59063036e-03 1.36467254e-04 9.99989454e-01 5.73794279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.86, Y:101.09, Z:5.74 [[ 8.65497560e-01 5.00872590e-01 -6.37356512e-03 8.58649669e+01] [-5.00860891e-01 8.65520998e-01 3.43059870e-03 1.01087846e+02] [ 7.23474730e-03 2.23094700e-04 9.99973804e-01 5.73549596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.89, Y:101.06, Z:5.73 [[ 8.64913571e-01 5.01864100e-01 -7.54588962e-03 8.58864370e+01] [-5.01847720e-01 8.64946444e-01 4.06392167e-03 1.01060209e+02] [ 8.56632678e-03 2.71946499e-04 9.99963271e-01 5.73413629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.91, Y:101.04, Z:5.73 [[ 8.64841969e-01 5.01980776e-01 -7.97923990e-03 8.59116771e+01] [-5.01962449e-01 8.64878730e-01 4.29904723e-03 1.01039568e+02] [ 9.05911394e-03 2.87282329e-04 9.99958924e-01 5.73368000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.94, Y:101.02, Z:5.73 [[ 8.64657762e-01 5.02284982e-01 -8.76077812e-03 8.59366182e+01] [-5.02262875e-01 8.64702085e-01 4.72317933e-03 1.01017319e+02] [ 9.94784515e-03 3.16279932e-04 9.99950469e-01 5.73387701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.96, Y:100.99, Z:5.74 [[ 8.64769512e-01 5.02084646e-01 -9.20326451e-03 8.59562249e+01] [-5.02060206e-01 8.64818421e-01 4.96471598e-03 1.00986532e+02] [ 1.04518603e-02 3.27257860e-04 9.99945324e-01 5.73542968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.98, Y:100.97, Z:5.73 [[ 8.64751918e-01 5.02103807e-01 -9.79222712e-03 8.59823176e+01] [-5.02076102e-01 8.64807290e-01 5.28581251e-03 1.00967767e+02] [ 1.11224160e-02 3.45526716e-04 9.99938084e-01 5.73438136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.00, Y:100.94, Z:5.73 [[ 8.64859626e-01 5.01895005e-01 -1.09193208e-02 8.60049165e+01] [-5.01860509e-01 8.64928471e-01 5.89662893e-03 1.00941808e+02] [ 1.24039200e-02 3.80219604e-04 9.99922996e-01 5.73332092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.03, Y:100.92, Z:5.73 [[ 8.65076218e-01 5.01511155e-01 -1.13885108e-02 8.60297433e+01] [-5.01473552e-01 8.65151092e-01 6.15350537e-03 1.00919941e+02] [ 1.29388342e-02 3.87785823e-04 9.99916215e-01 5.73352618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.05, Y:100.89, Z:5.73 [[ 8.65633242e-01 5.00536565e-01 -1.19263294e-02 8.60510973e+01] [-5.00495185e-01 8.65715309e-01 6.44776559e-03 1.00892182e+02] [ 1.35521484e-02 3.87670223e-04 9.99908090e-01 5.73390932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.07, Y:100.87, Z:5.74 [[ 8.65732394e-01 5.00364484e-01 -1.19500809e-02 8.60745411e+01] [-5.00322869e-01 8.65814782e-01 6.46448541e-03 1.00867814e+02] [ 1.35811556e-02 3.82384314e-04 9.99907699e-01 5.73630486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.10, Y:100.84, Z:5.74 [[ 8.66366999e-01 4.99281059e-01 -1.12537879e-02 8.60962402e+01] [-4.99244018e-01 8.66440020e-01 6.09118692e-03 1.00842032e+02] [ 1.27919465e-02 3.41182943e-04 9.99918122e-01 5.73736136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.050385723 meters Centerline goodness [0,1] 0.9999787865931269 Centerline is valid? [True, True] Translation: X:86.12, Y:100.82, Z:5.74 [[ 8.66395964e-01 4.99239386e-01 -1.08659333e-02 8.61216395e+01] [-4.99204827e-01 8.66464038e-01 5.88320499e-03 1.00823549e+02] [ 1.23520681e-02 3.27141289e-04 9.99923657e-01 5.73726904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.14, Y:100.80, Z:5.74 [[ 8.66977027e-01 4.98244764e-01 -1.01484144e-02 8.61446208e+01] [-4.98214514e-01 8.67036373e-01 5.49782942e-03 1.00798355e+02] [ 1.15383092e-02 2.89595571e-04 9.99933390e-01 5.73794451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.110385723 meters Centerline goodness [0,1] 0.9998714377544461 Centerline is valid? [True, True] Translation: X:86.17, Y:100.78, Z:5.74 [[ 8.67500477e-01 4.97313132e-01 -1.10711676e-02 8.61689350e+01] [-4.97277011e-01 8.67571069e-01 6.00126406e-03 1.00775338e+02] [ 1.25895322e-02 2.99337707e-04 9.99920704e-01 5.73647289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.140385723 meters Centerline goodness [0,1] 0.9997847703499634 Centerline is valid? [True, True] Translation: X:86.19, Y:100.75, Z:5.74 [[ 8.68435433e-01 4.95670134e-01 -1.14462707e-02 8.61908506e+01] [-4.95631334e-01 8.68510817e-01 6.20824343e-03 1.00748495e+02] [ 1.30184508e-02 2.81671857e-04 9.99915217e-01 5.73808518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.170385723 meters Centerline goodness [0,1] 0.9998279273853566 Centerline is valid? [True, True] Translation: X:86.22, Y:100.73, Z:5.74 [[ 8.68702099e-01 4.95197749e-01 -1.16556187e-02 8.62165377e+01] [-4.95157425e-01 8.68780244e-01 6.32549769e-03 1.00728154e+02] [ 1.32585435e-02 2.76393041e-04 9.99912063e-01 5.73880917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.200385723 meters Centerline goodness [0,1] 0.9998699074174454 Centerline is valid? [True, True] Translation: X:86.24, Y:100.70, Z:5.74 [[ 8.69314571e-01 4.94116319e-01 -1.18844837e-02 8.62398943e+01] [-4.94074243e-01 8.69395764e-01 6.45350545e-03 1.00704681e+02] [ 1.35211022e-02 2.61690979e-04 9.99908552e-01 5.73789806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.230385723 meters Centerline goodness [0,1] 0.9999567277526559 Centerline is valid? [True, True] Translation: X:86.27, Y:100.69, Z:5.74 [[ 8.69189774e-01 4.94351083e-01 -1.12314007e-02 8.62659973e+01] [-4.94313482e-01 8.69262300e-01 6.10218086e-03 1.00687156e+02] [ 1.27796529e-02 2.47879600e-04 9.99918306e-01 5.73931182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.29, Y:100.66, Z:5.74 [[ 8.69491687e-01 4.93830393e-01 -1.07586954e-02 8.62889771e+01] [-4.93795809e-01 8.69558216e-01 5.84873062e-03 1.00663148e+02] [ 1.22435929e-02 2.27176016e-04 9.99925019e-01 5.74077704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.31, Y:100.64, Z:5.74 [[ 8.70034805e-01 4.92868198e-01 -1.09717000e-02 8.63117981e+01] [-4.92832112e-01 8.70103956e-01 5.96795922e-03 1.00638819e+02] [ 1.24879369e-02 2.14873826e-04 9.99922000e-01 5.74118594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.320385723 meters Centerline goodness [0,1] 0.9999779725979118 Centerline is valid? [True, True] Translation: X:86.34, Y:100.62, Z:5.74 [[ 8.70171748e-01 4.92619382e-01 -1.12816147e-02 8.63377640e+01] [-4.92581158e-01 8.70244850e-01 6.14029447e-03 1.00620133e+02] [ 1.28425951e-02 2.14000060e-04 9.99917508e-01 5.74096126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.350385723 meters Centerline goodness [0,1] 0.9999779439334789 Centerline is valid? [True, True] Translation: X:86.36, Y:100.60, Z:5.74 [[ 8.71038371e-01 4.91073186e-01 -1.18018378e-02 8.63618972e+01] [-4.91031165e-01 8.71118297e-01 6.42711771e-03 1.00596649e+02] [ 1.34369820e-02 1.96804034e-04 9.99909700e-01 5.74070458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.39, Y:100.58, Z:5.74 [[ 8.71422192e-01 4.90384844e-01 -1.20858857e-02 8.63882624e+01] [-4.90340657e-01 8.71505978e-01 6.58557630e-03 1.00577537e+02] [ 1.37623884e-02 1.87383787e-04 9.99905276e-01 5.74067530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.42, Y:100.56, Z:5.74 [[ 8.71678595e-01 4.89913841e-01 -1.26828712e-02 8.64152673e+01] [-4.89865066e-01 8.71770838e-01 6.91540673e-03 1.00557918e+02] [ 1.44445107e-02 1.84883512e-04 9.99895656e-01 5.74005173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.440385723 meters Centerline goodness [0,1] 0.9999775915385649 Centerline is valid? [True, True] Translation: X:86.44, Y:100.54, Z:5.74 [[ 8.72288927e-01 4.88796519e-01 -1.37837192e-02 8.64391657e+01] [-4.88738721e-01 8.72397806e-01 7.51870440e-03 1.00535239e+02] [ 1.57000029e-02 1.78154702e-04 9.99876732e-01 5.73937850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.47, Y:100.52, Z:5.74 [[ 8.72391562e-01 4.88609135e-01 -1.39311030e-02 8.64659834e+01] [-4.88549993e-01 8.72502770e-01 7.60397829e-03 1.00515543e+02] [ 1.58702992e-02 1.72393756e-04 9.99874044e-01 5.73908199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.49, Y:100.50, Z:5.74 [[ 8.72259512e-01 4.88844890e-01 -1.39290477e-02 8.64944030e+01] [-4.88785718e-01 8.72370703e-01 7.60774256e-03 1.00499948e+02] [ 1.58702992e-02 1.72393758e-04 9.99874044e-01 5.73908223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.52, Y:100.48, Z:5.74 [[ 8.71779908e-01 4.89690063e-01 -1.42630262e-02 8.65200672e+01] [-4.89628060e-01 8.71896557e-01 7.79462151e-03 1.00479342e+02] [ 1.62528322e-02 1.88383446e-04 9.99867896e-01 5.74061067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.55, Y:100.47, Z:5.74 [[ 8.71222120e-01 4.90704228e-01 -1.34676782e-02 8.65491966e+01] [-4.90649000e-01 8.71326187e-01 7.36445680e-03 1.00465610e+02] [ 1.53485108e-02 1.91825180e-04 9.99882186e-01 5.74016131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5903857229999 meters Centerline goodness [0,1] 0.9999776456386641 Centerline is valid? [True, True] Translation: X:86.58, Y:100.45, Z:5.74 [[ 8.71378072e-01 4.90415241e-01 -1.38977728e-02 8.65790452e+01] [-4.90356311e-01 8.71488873e-01 7.60472926e-03 1.00451333e+02] [ 1.58412295e-02 1.88266298e-04 9.99874502e-01 5.73993340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.620385723 meters Centerline goodness [0,1] 0.999977666607111 Centerline is valid? [True, True] Translation: X:86.61, Y:100.44, Z:5.74 [[ 8.71889406e-01 4.89498266e-01 -1.41531494e-02 8.66077362e+01] [-4.89436962e-01 8.72004254e-01 7.74862445e-03 1.00439303e+02] [ 1.61345447e-02 1.71130896e-04 9.99869815e-01 5.73733596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.64, Y:100.43, Z:5.74 [[ 8.73505822e-01 4.86613062e-01 -1.39752173e-02 8.66370516e+01] [-4.86552850e-01 8.73617603e-01 7.65565414e-03 1.00425984e+02] [ 1.59343371e-02 1.12423328e-04 9.99873034e-01 5.73894229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.66, Y:100.41, Z:5.74 [[ 8.74314146e-01 4.85188681e-01 -1.29119128e-02 8.66649601e+01] [-4.85137067e-01 8.74409480e-01 7.07726583e-03 1.00409974e+02] [ 1.47241082e-02 7.62938755e-05 9.99891592e-01 5.73986119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.710385723 meters Centerline goodness [0,1] 0.9999554476398387 Centerline is valid? [True, True] Translation: X:86.69, Y:100.39, Z:5.74 [[ 8.75891342e-01 4.82374676e-01 -1.13591161e-02 8.66906915e+01] [-4.82334450e-01 8.75964995e-01 6.22947677e-03 1.00393101e+02] [ 1.29551299e-02 2.25482552e-05 9.99916079e-01 5.74133361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.740385723 meters Centerline goodness [0,1] 0.9999333585090077 Centerline is valid? [True, True] Translation: X:86.72, Y:100.38, Z:5.74 [[ 8.76328211e-01 4.81599637e-01 -1.05193101e-02 8.67179818e+01] [-4.81565047e-01 8.76391345e-01 5.77195795e-03 1.00377745e+02] [ 1.19988052e-02 7.60248892e-06 9.99928012e-01 5.74252560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.75, Y:100.36, Z:5.74 [[ 8.77413609e-01 4.79614636e-01 -1.07311937e-02 8.67459170e+01] [-4.79578448e-01 8.77479231e-01 5.89174253e-03 1.00361895e+02] [ 1.22421655e-02 -2.30458824e-05 9.99925062e-01 5.74043080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.800385723 meters Centerline goodness [0,1] 0.9999555150248004 Centerline is valid? [True, True] Translation: X:86.77, Y:100.35, Z:5.74 [[ 8.77943018e-01 4.78637402e-01 -1.10586604e-02 8.67747097e+01] [-4.78598845e-01 8.78012663e-01 6.07539212e-03 1.00345381e+02] [ 1.26175538e-02 -4.11859859e-05 9.99920395e-01 5.73964543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.80, Y:100.33, Z:5.74 [[ 8.79369875e-01 4.75991413e-01 -1.18658165e-02 8.68022403e+01] [-4.75946730e-01 8.79449923e-01 6.52250458e-03 1.00329577e+02] [ 1.35400476e-02 -8.81974585e-05 9.99908326e-01 5.73831415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.83, Y:100.31, Z:5.74 [[ 8.79976897e-01 4.74855367e-01 -1.23709923e-02 8.68302418e+01] [-4.74806632e-01 8.80063843e-01 6.80401530e-03 1.00313377e+02] [ 1.41181862e-02 -1.13547054e-04 9.99900327e-01 5.73760216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.86, Y:100.30, Z:5.74 [[ 8.80804880e-01 4.73322091e-01 -1.22050068e-02 8.68554609e+01] [-4.73274460e-01 8.80889425e-01 6.71619999e-03 1.00295216e+02] [ 1.39301872e-02 -1.39343723e-04 9.99902961e-01 5.73792808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.88, Y:100.28, Z:5.74 [[ 8.81118832e-01 4.72764085e-01 -1.11231072e-02 8.68832913e+01] [-4.72724431e-01 8.81189027e-01 6.12471354e-03 1.00276706e+02] [ 1.26971046e-02 -1.38435922e-04 9.99919379e-01 5.74072929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.91, Y:100.26, Z:5.74 [[ 8.81146273e-01 4.72725093e-01 -1.05939442e-02 8.69123094e+01] [-4.72689074e-01 8.81209946e-01 5.83702518e-03 1.00260538e+02] [ 1.20947973e-02 -1.35631285e-04 9.99926846e-01 5.74152699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.94, Y:100.25, Z:5.74 [[ 8.81187753e-01 4.72662666e-01 -9.90694773e-03 8.69415069e+01] [-4.72631124e-01 8.81243432e-01 5.46206542e-03 1.00245082e+02] [ 1.13121470e-02 -1.30773314e-04 9.99936007e-01 5.74273865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.97, Y:100.23, Z:5.74 [[ 8.81725138e-01 4.71677542e-01 -9.00429364e-03 8.69690769e+01] [-4.71651414e-01 8.81771103e-01 4.96641215e-03 1.00229318e+02] [ 1.02822710e-02 -1.32122616e-04 9.99947127e-01 5.74214871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.00, Y:100.21, Z:5.74 [[ 8.81605973e-01 4.71901515e-01 -8.93689483e-03 8.69970596e+01] [-4.71875758e-01 8.81651259e-01 4.93215263e-03 1.00213748e+02] [ 1.02067149e-02 -1.31111199e-04 9.99947902e-01 5.74162142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.03, Y:100.20, Z:5.74 [[ 8.81249108e-01 4.72582629e-01 -8.10364474e-03 8.70260667e+01] [-4.72561467e-01 8.81286359e-01 4.47367344e-03 1.00198868e+02] [ 9.25581192e-03 -1.12950489e-04 9.99957158e-01 5.74258473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.05, Y:100.18, Z:5.74 [[ 8.80988834e-01 4.73077762e-01 -7.49034388e-03 8.70532160e+01] [-4.73059689e-01 8.81020670e-01 4.13642728e-03 1.00182808e+02] [ 8.55599955e-03 -1.00766502e-04 9.99963392e-01 5.74289802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.08, Y:100.17, Z:5.74 [[ 8.79933391e-01 4.75036228e-01 -7.60327269e-03 8.70826396e+01] [-4.75017658e-01 8.79966235e-01 4.20120842e-03 1.00169190e+02] [ 8.68634945e-03 -8.50947859e-05 9.99962269e-01 5.74373802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.11, Y:100.15, Z:5.74 [[ 8.79386011e-01 4.76050441e-01 -7.49810200e-03 8.71112069e+01] [-4.76032397e-01 8.79417973e-01 4.14549056e-03 1.00154587e+02] [ 8.56742827e-03 -7.61469412e-05 9.99963296e-01 5.74343113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.190385723 meters Centerline goodness [0,1] 0.9999779025058558 Centerline is valid? [True, True] Translation: X:87.14, Y:100.14, Z:5.74 [[ 8.78201898e-01 4.78239506e-01 -6.95704108e-03 8.71389757e+01] [-4.78224025e-01 8.78229453e-01 3.84839912e-03 1.00140960e+02] [ 7.95033487e-03 -5.26472270e-05 9.99968394e-01 5.74302186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2203857229999 meters Centerline goodness [0,1] 0.9999779312779997 Centerline is valid? [True, True] Translation: X:87.17, Y:100.13, Z:5.74 [[ 8.77588210e-01 4.79370080e-01 -6.57728223e-03 8.71672645e+01] [-4.79356259e-01 8.77612856e-01 3.64039081e-03 1.00126431e+02] [ 7.51740187e-03 -4.19026485e-05 9.99971743e-01 5.74297906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.20, Y:100.11, Z:5.74 [[ 8.77021582e-01 4.80403396e-01 -6.76177990e-03 8.71962464e+01] [-4.80388800e-01 8.77047647e-01 3.74494302e-03 1.00110438e+02] [ 7.72948650e-03 -3.61125196e-05 9.99970126e-01 5.74239850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.280385723 meters Centerline goodness [0,1] 0.999977918607989 Centerline is valid? [True, True] Translation: X:87.22, Y:100.09, Z:5.74 [[ 8.77149891e-01 4.80163236e-01 -7.16488304e-03 8.72246700e+01] [-4.80146820e-01 8.77179152e-01 3.97077042e-03 1.00093534e+02] [ 8.19150400e-03 -4.27650382e-05 9.99966448e-01 5.74218769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.25, Y:100.08, Z:5.74 [[ 8.77846714e-01 4.78888394e-01 -7.14510363e-03 8.72514169e+01] [-4.78872006e-01 8.77875790e-01 3.96220148e-03 1.00075535e+02] [ 8.16996580e-03 -5.66154445e-05 9.99966624e-01 5.74279438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3403857229999 meters Centerline goodness [0,1] 0.9999554585541847 Centerline is valid? [True, True] Translation: X:87.28, Y:100.06, Z:5.74 [[ 8.78162157e-01 4.78307782e-01 -7.27265675e-03 8.72792092e+01] [-4.78290763e-01 8.78192269e-01 4.03552853e-03 1.00058066e+02] [ 8.31701563e-03 -6.54039016e-05 9.99965411e-01 5.74374853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.31, Y:100.04, Z:5.74 [[ 8.79521739e-01 4.75815930e-01 -6.38058686e-03 8.73050499e+01] [-4.75802756e-01 8.79544879e-01 3.54160963e-03 1.00040935e+02] [ 7.29716678e-03 -7.90218450e-05 9.99973372e-01 5.74385934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.33, Y:100.03, Z:5.74 [[ 8.80161185e-01 4.74633150e-01 -6.29766164e-03 8.73333278e+01] [-4.74620272e-01 8.80183711e-01 3.49753982e-03 1.00025086e+02] [ 7.20314754e-03 -8.94009131e-05 9.99974053e-01 5.74352834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.36, Y:100.01, Z:5.74 [[ 8.80715142e-01 4.73607983e-01 -6.02634851e-03 8.73601111e+01] [-4.73596155e-01 8.80735754e-01 3.34858873e-03 1.00008790e+02] [ 6.89353896e-03 -9.50973204e-05 9.99976235e-01 5.74296182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.39, Y:99.99, Z:5.74 [[ 8.81899729e-01 4.71409919e-01 -5.05539760e-03 8.73873341e+01] [-4.71401549e-01 8.81914213e-01 2.81069064e-03 9.99922249e+01] [ 5.78341444e-03 -9.56250530e-05 9.99983271e-01 5.74482936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.41, Y:99.97, Z:5.75 [[ 8.83303754e-01 4.68783897e-01 -4.01694025e-03 8.74142215e+01] [-4.68778580e-01 8.83312883e-01 2.23460807e-03 9.99737807e+01] [ 4.59576335e-03 -9.07821468e-05 9.99989435e-01 5.74657423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.44, Y:99.96, Z:5.75 [[ 8.83917732e-01 4.67632712e-01 -3.01493450e-03 8.74411322e+01] [-4.67629708e-01 8.83922871e-01 1.67771517e-03 9.99581332e+01] [ 3.44952405e-03 -7.30892441e-05 9.99994048e-01 5.74686704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.47, Y:99.94, Z:5.75 [[ 8.84559370e-01 4.66421595e-01 -2.37001777e-03 8.74695290e+01] [-4.66419732e-01 8.84562543e-01 1.31958283e-03 9.99427362e+01] [ 2.71191087e-03 -6.18263056e-05 9.99996321e-01 5.74748930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.50, Y:99.93, Z:5.75 [[ 8.84291932e-01 4.66927937e-01 -2.46591669e-03 8.74984547e+01] [-4.66925920e-01 8.84295368e-01 1.37385927e-03 9.99270677e+01] [ 2.82209198e-03 -6.34922479e-05 9.99996016e-01 5.74757735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.53, Y:99.91, Z:5.75 [[ 8.83083936e-01 4.69206481e-01 -2.83542762e-03 8.75281889e+01] [-4.69203824e-01 8.83088486e-01 1.58061171e-03 9.99138028e+01] [ 3.24556674e-03 -6.54193258e-05 9.99994731e-01 5.74725864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.56, Y:99.90, Z:5.75 [[ 8.82085092e-01 4.71081490e-01 -2.84970061e-03 8.75561580e+01] [-4.71078812e-01 8.82089693e-01 1.58938572e-03 9.99003404e+01] [ 3.26242173e-03 -5.95398701e-05 9.99994677e-01 5.74663776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.59, Y:99.89, Z:5.75 [[ 8.81043493e-01 4.73028035e-01 -2.61544012e-03 8.75854036e+01] [-4.73025786e-01 8.81047374e-01 1.45955030e-03 9.98874860e+01] [ 2.99473486e-03 -4.87566805e-05 9.99995515e-01 5.74623270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.62, Y:99.88, Z:5.75 [[ 8.79507704e-01 4.75877282e-01 -2.64789962e-03 8.76158396e+01] [-4.75874987e-01 8.79511689e-01 1.47850111e-03 9.98757416e+01] [ 3.03244376e-03 -4.02839141e-05 9.99995401e-01 5.74507414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.64, Y:99.86, Z:5.74 [[ 8.79142125e-01 4.76552749e-01 -2.56936269e-03 8.76431415e+01] [-4.76550589e-01 8.79145879e-01 1.43510460e-03 9.98611439e+01] [ 2.94274766e-03 -3.72296067e-05 9.99995669e-01 5.74432513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.67, Y:99.85, Z:5.74 [[ 8.79060737e-01 4.76702541e-01 -2.62820128e-03 8.76732616e+01] [-4.76700279e-01 8.79064665e-01 1.46892346e-03 9.98477036e+01] [ 3.01059843e-03 -3.84086507e-05 9.99995467e-01 5.74394537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.70, Y:99.83, Z:5.75 [[ 8.79952486e-01 4.75052785e-01 -2.91089989e-03 8.76995273e+01] [-4.75050000e-01 8.79957299e-01 1.62765444e-03 9.98320329e+01] [ 3.33468938e-03 -4.94355801e-05 9.99994439e-01 5.74526297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.73, Y:99.82, Z:5.75 [[ 8.80335518e-01 4.74344833e-01 -2.52104041e-03 8.77260925e+01] [-4.74342739e-01 8.80339126e-01 1.41038767e-03 9.98163537e+01] [ 2.88838062e-03 -4.57771494e-05 9.99995828e-01 5.74590069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.75, Y:99.80, Z:5.75 [[ 8.81423921e-01 4.72324721e-01 -1.10905453e-03 8.77546342e+01] [-4.72324314e-01 8.81424618e-01 6.20797210e-04 9.98016817e+01] [ 1.27076583e-03 -2.33520914e-05 9.99999192e-01 5.74729389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.78, Y:99.79, Z:5.75 [[ 8.81830315e-01 4.71566710e-01 -3.64577898e-04 8.77834712e+01] [-4.71566666e-01 8.81830391e-01 2.04184496e-04 9.97874377e+01] [ 4.17782481e-04 -8.13329430e-06 9.99999913e-01 5.74731092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.81, Y:99.77, Z:5.75 [[ 8.82018634e-01 4.71214525e-01 3.40792541e-05 8.78115178e+01] [-4.71214525e-01 8.82018634e-01 -1.90979997e-05 9.97736084e+01] [-3.90577920e-05 7.86152056e-07 9.99999999e-01 5.74660591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.84, Y:99.76, Z:5.75 [[ 8.82321254e-01 4.70647441e-01 -4.38278090e-04 8.78406036e+01] [-4.70647377e-01 8.82321362e-01 2.45717873e-04 9.97601829e+01] [ 5.02348610e-04 -1.05276686e-05 9.99999874e-01 5.74506587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.87, Y:99.75, Z:5.74 [[ 8.82368661e-01 4.70558628e-01 -3.52181631e-04 8.78704925e+01] [-4.70558587e-01 8.82368731e-01 1.97575427e-04 9.97468221e+01] [ 4.03724881e-04 -8.61227407e-06 9.99999919e-01 5.74498898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.90, Y:99.73, Z:5.75 [[ 8.82186695e-01 4.70899795e-01 1.34972427e-04 8.79003101e+01] [-4.70899789e-01 8.82186706e-01 -7.57720468e-05 9.97329212e+01] [-1.54751922e-04 3.28660410e-06 9.99999988e-01 5.74525656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.93, Y:99.72, Z:5.75 [[ 8.81870564e-01 4.71491552e-01 1.56013243e-04 8.79301756e+01] [-4.71491543e-01 8.81870578e-01 -8.76405238e-05 9.97189525e+01] [-1.78905256e-04 3.72867342e-06 9.99999984e-01 5.74515173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.060385723 meters Centerline goodness [0,1] 0.9999132151613113 Centerline is valid? [True, True] Translation: X:87.96, Y:99.71, Z:5.74 [[ 8.80886490e-01 4.73327121e-01 -6.54662773e-04 8.79591564e+01] [-4.73326979e-01 8.80886733e-01 3.67937190e-04 9.97076812e+01] [ 7.50838402e-04 -1.42413470e-05 9.99999718e-01 5.74432201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.99, Y:99.69, Z:5.74 [[ 8.80043269e-01 4.74892523e-01 -9.67910922e-04 8.79883686e+01] [-4.74892211e-01 8.80043801e-01 5.44292712e-04 9.96942256e+01] [ 1.11028455e-03 -1.93477797e-05 9.99999383e-01 5.74365701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.02, Y:99.68, Z:5.74 [[ 8.78416056e-01 4.77893839e-01 -1.64672320e-03 8.80191334e+01] [-4.77892941e-01 8.78417599e-01 9.26543317e-04 9.96831470e+01] [ 1.88929999e-03 -2.69331302e-05 9.99998215e-01 5.74299672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.05, Y:99.67, Z:5.74 [[ 8.76918970e-01 4.80634027e-01 -2.01292028e-03 8.80476909e+01] [-4.80632691e-01 8.76921280e-01 1.13318251e-03 9.96710506e+01] [ 2.30981870e-03 -2.62339498e-05 9.99997332e-01 5.74258308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.180385723 meters Centerline goodness [0,1] 0.9999783821176877 Centerline is valid? [True, True] Translation: X:88.08, Y:99.66, Z:5.74 [[ 8.76382185e-01 4.81611152e-01 -2.22794814e-03 8.80775739e+01] [-4.81609518e-01 8.76385017e-01 1.25494495e-03 9.96587004e+01] [ 2.55693585e-03 -2.68103675e-05 9.99996731e-01 5.74200462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.210385723 meters Centerline goodness [0,1] 0.9999133448873484 Centerline is valid? [True, True] Translation: X:88.11, Y:99.65, Z:5.74 [[ 8.75783861e-01 4.82697279e-01 -2.44236042e-03 8.81060031e+01] [-4.82695317e-01 8.75787267e-01 1.37643723e-03 9.96457810e+01] [ 2.80339067e-03 -2.65455760e-05 9.99996070e-01 5.74140738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.14, Y:99.63, Z:5.74 [[ 8.75411807e-01 4.83371269e-01 -2.52683799e-03 8.81369624e+01] [-4.83369169e-01 8.75415453e-01 1.42498877e-03 9.96333481e+01] [ 2.90083165e-03 -2.60564149e-05 9.99995792e-01 5.74093863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.17, Y:99.62, Z:5.74 [[ 8.75494686e-01 4.83220385e-01 -2.66722843e-03 8.81652144e+01] [-4.83218042e-01 8.75498748e-01 1.50508580e-03 9.96180576e+01] [ 3.06244329e-03 -2.88417227e-05 9.99995310e-01 5.74104097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.19, Y:99.60, Z:5.74 [[ 8.76460212e-01 4.81470145e-01 -1.99896523e-03 8.81937397e+01] [-4.81468823e-01 8.76462492e-01 1.12863465e-03 9.96025629e+01] [ 2.29542193e-03 -2.67639303e-05 9.99997365e-01 5.74199407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.22, Y:99.59, Z:5.74 [[ 8.77027894e-01 4.80435787e-01 -1.87813407e-03 8.82220553e+01] [-4.80434616e-01 8.77029905e-01 1.06101447e-03 9.95866870e+01] [ 2.15692907e-03 -2.82186637e-05 9.99997673e-01 5.74219216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.25, Y:99.57, Z:5.74 [[ 8.78839133e-01 4.77115178e-01 -1.69838380e-03 8.82508642e+01] [-4.77114214e-01 8.78840774e-01 9.60014595e-04 9.95720004e+01] [ 1.95064647e-03 -3.33753421e-05 9.99998097e-01 5.74168133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.28, Y:99.56, Z:5.74 [[ 8.78706098e-01 4.77360148e-01 -1.69811625e-03 8.82790650e+01] [-4.77359182e-01 8.78707738e-01 9.60487779e-04 9.95559988e+01] [ 1.95064647e-03 -3.33750843e-05 9.99998097e-01 5.74168157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.31, Y:99.54, Z:5.74 [[ 8.79467895e-01 4.75954866e-01 -1.78547253e-03 8.83059784e+01] [-4.75953795e-01 8.79469706e-01 1.01020775e-03 9.95410981e+01] [ 2.05108229e-03 -3.86428548e-05 9.99997896e-01 5.74111816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.33, Y:99.53, Z:5.74 [[ 8.80487554e-01 4.74063355e-01 -2.36719815e-03 8.83348508e+01] [-4.74061464e-01 8.80490734e-01 1.34007904e-03 9.95262599e+01] [ 2.71957840e-03 -5.77254917e-05 9.99996300e-01 5.74065561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.36, Y:99.51, Z:5.74 [[ 8.80502803e-01 4.74031934e-01 -2.92243735e-03 8.83637060e+01] [-4.74029049e-01 8.80507649e-01 1.65543484e-03 9.95098605e+01] [ 3.35795742e-03 -7.22948244e-05 9.99994359e-01 5.74073888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.39, Y:99.50, Z:5.74 [[ 8.80107027e-01 4.74763910e-01 -3.29405591e-03 8.83932562e+01] [-4.74760246e-01 8.80113188e-01 1.86697408e-03 9.94964078e+01] [ 3.78551396e-03 -7.92502155e-05 9.99992832e-01 5.74164286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.540385723 meters Centerline goodness [0,1] 0.9999357395308985 Centerline is valid? [True, True] Translation: X:88.42, Y:99.48, Z:5.74 [[ 8.79502958e-01 4.75880636e-01 -3.48805298e-03 8.84225597e+01] [-4.75876532e-01 8.79509871e-01 1.97802658e-03 9.94823825e+01] [ 4.00908157e-03 -7.97976701e-05 9.99991960e-01 5.74151151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.45, Y:99.47, Z:5.74 [[ 8.78301205e-01 4.78082421e-01 -4.91863581e-03 8.84524092e+01] [-4.78074285e-01 8.78314972e-01 2.79086812e-03 9.94706691e+01] [ 5.65437646e-03 -9.97495334e-05 9.99984009e-01 5.74042029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.48, Y:99.46, Z:5.74 [[ 8.77893938e-01 4.78823583e-01 -5.49635368e-03 8.84819428e+01] [-4.78813426e-01 8.77911137e-01 3.12071249e-03 9.94564599e+01] [ 6.31958085e-03 -1.07926644e-04 9.99980025e-01 5.73977464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.51, Y:99.44, Z:5.74 [[ 8.77309050e-01 4.79887931e-01 -6.03360112e-03 8.85092845e+01] [-4.79875703e-01 8.77329791e-01 3.42755512e-03 9.94419713e+01] [ 6.93830034e-03 -1.11646546e-04 9.99975924e-01 5.73884492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.54, Y:99.43, Z:5.74 [[ 8.77198747e-01 4.80088673e-01 -6.10125453e-03 8.85364617e+01] [-4.80076160e-01 8.77219957e-01 3.46803603e-03 9.94258877e+01] [ 7.01710705e-03 -1.13090017e-04 9.99975373e-01 5.73875178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.56, Y:99.41, Z:5.74 [[ 8.77377846e-01 4.79760494e-01 -6.16302663e-03 8.85649203e+01] [-4.79747703e-01 8.77399484e-01 3.50534805e-03 9.94089795e+01] [ 7.08916389e-03 -1.18816854e-04 9.99974865e-01 5.73926903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.59, Y:99.39, Z:5.74 [[ 8.77354105e-01 4.79805895e-01 -6.00643372e-03 8.85925319e+01] [-4.79793733e-01 8.77374658e-01 3.41828014e-03 9.93927236e+01] [ 6.91000369e-03 -1.17192860e-04 9.99976119e-01 5.73940061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.62, Y:99.38, Z:5.74 [[ 8.77186173e-01 4.80117076e-01 -5.65785815e-03 8.86214557e+01] [-4.80106277e-01 8.77204413e-01 3.22196110e-03 9.93769511e+01] [ 6.51001668e-03 -1.09886515e-04 9.99978804e-01 5.74030763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.780385723 meters Centerline goodness [0,1] 0.9999784594175426 Centerline is valid? [True, True] Translation: X:88.65, Y:99.36, Z:5.74 [[ 8.76867262e-01 4.80698986e-01 -5.68249072e-03 8.86496720e+01] [-4.80688091e-01 8.76885667e-01 3.23806351e-03 9.93599695e+01] [ 6.53942852e-03 -1.07846266e-04 9.99978612e-01 5.74039263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.68, Y:99.34, Z:5.74 [[ 8.75975951e-01 4.82330109e-01 -4.87852825e-03 8.86760216e+01] [-4.82322096e-01 8.75989532e-01 2.78148652e-03 9.93422923e+01] [ 5.61513437e-03 -8.34933318e-05 9.99984232e-01 5.74210945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.70, Y:99.33, Z:5.74 [[ 8.75612392e-01 4.82995914e-01 -4.22909300e-03 8.87025690e+01] [-4.82989895e-01 8.75622602e-01 2.41244618e-03 9.93257207e+01] [ 4.86829107e-03 -6.97585875e-05 9.99988147e-01 5.74231402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.73, Y:99.31, Z:5.74 [[ 8.74528765e-01 4.84959410e-01 -3.71607902e-03 8.87302897e+01] [-4.84954775e-01 8.74536659e-01 2.12098314e-03 9.93093295e+01] [ 4.27843806e-03 -5.27305038e-05 9.99990846e-01 5.74292131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.76, Y:99.29, Z:5.74 [[ 8.73949756e-01 4.85999361e-01 -4.05528329e-03 8.87579947e+01] [-4.85993846e-01 8.73959163e-01 2.31588387e-03 9.92933467e+01] [ 4.66967007e-03 -5.31234167e-05 9.99989096e-01 5.74279030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.78, Y:99.28, Z:5.74 [[ 8.72729164e-01 4.88186606e-01 -4.20053627e-03 8.87845518e+01] [-4.88180710e-01 8.72739272e-01 2.39959877e-03 9.92773450e+01] [ 4.83742494e-03 -4.35790523e-05 9.99988299e-01 5.74182559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.81, Y:99.26, Z:5.74 [[ 8.72093214e-01 4.89318180e-01 -4.59845992e-03 8.88127638e+01] [-4.89311121e-01 8.72105336e-01 2.62859595e-03 9.92601142e+01] [ 5.29656122e-03 -4.23031086e-05 9.99985972e-01 5.74177019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.84, Y:99.24, Z:5.74 [[ 8.71639923e-01 4.90128561e-01 -4.22351953e-03 8.88392704e+01] [-4.90122608e-01 8.71650155e-01 2.41580700e-03 9.92405794e+01] [ 4.86548746e-03 -3.56714238e-05 9.99988163e-01 5.74272961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.87, Y:99.22, Z:5.74 [[ 8.71607282e-01 4.90190311e-01 -3.76879431e-03 8.88661482e+01] [-4.90185569e-01 8.71615430e-01 2.15656155e-03 9.92232372e+01] [ 4.34206485e-03 -3.22661728e-05 9.99990573e-01 5.74308973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.050385723 meters Centerline goodness [0,1] 0.999978339506574 Centerline is valid? [True, True] Translation: X:88.89, Y:99.21, Z:5.74 [[ 8.71686415e-01 4.90055877e-01 -2.83389114e-03 8.88935400e+01] [-4.90053192e-01 8.71691021e-01 1.62261875e-03 9.92052021e+01] [ 3.26545132e-03 -2.56573187e-05 9.99994668e-01 5.74394214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.92, Y:99.19, Z:5.74 [[ 8.71797366e-01 4.89859693e-01 -2.61432293e-03 8.89216424e+01] [-4.89857404e-01 8.71801285e-01 1.49786611e-03 9.91876406e+01] [ 3.01291432e-03 -2.51902914e-05 9.99995461e-01 5.74409462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.95, Y:99.17, Z:5.74 [[ 8.72469883e-01 4.88657519e-01 -3.18296976e-03 8.89462889e+01] [-4.88654114e-01 8.72475689e-01 1.82461997e-03 9.91682081e+01] [ 3.66867800e-03 -3.65547065e-05 9.99993270e-01 5.74320964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.97, Y:99.15, Z:5.74 [[ 8.72752908e-01 4.88150960e-01 -3.31703553e-03 8.89742420e+01] [-4.88147253e-01 8.72759210e-01 1.90270509e-03 9.91500326e+01] [ 3.82378062e-03 -4.13896134e-05 9.99992689e-01 5.74311674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.00, Y:99.13, Z:5.74 [[ 8.73889255e-01 4.86108271e-01 -4.03976145e-03 8.89982114e+01] [-4.86102746e-01 8.73898590e-01 2.31848238e-03 9.91290328e+01] [ 4.65737530e-03 -6.23577058e-05 9.99989152e-01 5.74286417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.02, Y:99.11, Z:5.74 [[ 8.74448619e-01 4.85097613e-01 -4.46308159e-03 8.90242949e+01] [-4.85090849e-01 8.74460005e-01 2.56285095e-03 9.91098950e+01] [ 5.14601923e-03 -7.60814313e-05 9.99986756e-01 5.74254763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.05, Y:99.09, Z:5.74 [[ 8.75700455e-01 4.82829505e-01 -4.93781936e-03 8.90488110e+01] [-4.82821181e-01 8.75714371e-01 2.83693440e-03 9.90890792e+01] [ 5.69387501e-03 -1.00220969e-04 9.99983785e-01 5.74238371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.07, Y:99.07, Z:5.74 [[ 8.76108618e-01 4.82089950e-01 -4.79267234e-03 8.90739448e+01] [-4.82082089e-01 8.76121721e-01 2.75496170e-03 9.90711256e+01] [ 5.52710368e-03 -1.03184191e-04 9.99984720e-01 5.74193833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.10, Y:99.05, Z:5.74 [[ 8.76167837e-01 4.81983208e-01 -4.70204410e-03 8.90992478e+01] [-4.81975631e-01 8.76180448e-01 2.70444605e-03 9.90508040e+01] [ 5.42333668e-03 -1.03277972e-04 9.99985288e-01 5.74179379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.13, Y:99.03, Z:5.74 [[ 8.75804892e-01 4.82643037e-01 -4.63581844e-03 8.91263045e+01] [-4.82635674e-01 8.75817155e-01 2.66779695e-03 9.90325231e+01] [ 5.34772293e-03 -9.90582623e-05 9.99985696e-01 5.74177447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.15, Y:99.01, Z:5.74 [[ 8.74789983e-01 4.84485237e-01 -4.06720657e-03 8.91530878e+01] [-4.84479583e-01 8.74799434e-01 2.34187058e-03 9.90145760e+01] [ 4.69259172e-03 -7.81663850e-05 9.99988987e-01 5.74253442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.18, Y:99.00, Z:5.74 [[ 8.74302346e-01 4.85368410e-01 -3.59358212e-03 8.91792846e+01] [-4.85363999e-01 8.74309729e-01 2.07029634e-03 9.89967481e+01] [ 4.14676025e-03 -6.58695564e-05 9.99991400e-01 5.74227578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.410385723 meters Centerline goodness [0,1] 0.9999778717001173 Centerline is valid? [True, True] Translation: X:89.21, Y:98.98, Z:5.74 [[ 8.73348751e-01 4.87087333e-01 -2.80890449e-03 8.92065386e+01] [-4.87084644e-01 8.73353267e-01 1.61913916e-03 9.89800859e+01] [ 3.24182809e-03 -4.58989207e-05 9.99994744e-01 5.74219498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.23, Y:98.96, Z:5.74 [[ 8.72893424e-01 4.87899612e-01 -3.32256929e-03 8.92330002e+01] [-4.87895851e-01 8.72899746e-01 1.91637010e-03 9.89621798e+01] [ 3.83526612e-03 -5.17190888e-05 9.99992644e-01 5.74103256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.26, Y:98.95, Z:5.74 [[ 8.72438477e-01 4.88710934e-01 -3.56756211e-03 8.92615681e+01] [-4.88706600e-01 8.72445769e-01 2.05897280e-03 9.89460698e+01] [ 4.11874699e-03 -5.28359416e-05 9.99991517e-01 5.74083011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.29, Y:98.93, Z:5.74 [[ 8.71932212e-01 4.89614112e-01 -3.49855715e-03 8.92874218e+01] [-4.89609946e-01 8.71939229e-01 2.02025073e-03 9.89274859e+01] [ 4.03967249e-03 -4.85933117e-05 9.99991839e-01 5.74069929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.31, Y:98.91, Z:5.74 [[ 8.71872213e-01 4.89726891e-01 -2.53314677e-03 8.93138805e+01] [-4.89724705e-01 8.71875892e-01 1.46362284e-03 9.89087123e+01] [ 2.92536507e-03 -3.55475283e-05 9.99995721e-01 5.74118575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.34, Y:98.89, Z:5.74 [[ 8.71741589e-01 4.89957644e-01 -2.84777530e-03 8.93422763e+01] [-4.89954879e-01 8.71746239e-01 1.64642441e-03 9.88912324e+01] [ 3.28921563e-03 -3.99752275e-05 9.99994590e-01 5.74091646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.37, Y:98.87, Z:5.74 [[ 8.71698939e-01 4.90032359e-01 -3.04102921e-03 8.93701984e+01] [-4.90029203e-01 8.71704242e-01 1.75923331e-03 9.88742675e+01] [ 3.51295931e-03 -4.33286898e-05 9.99993829e-01 5.74031576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.40, Y:98.86, Z:5.74 [[ 8.71642992e-01 4.90128830e-01 -3.49632278e-03 8.93982219e+01] [-4.90124654e-01 8.71650003e-01 2.02385352e-03 9.88575810e+01] [ 4.03951872e-03 -5.04437446e-05 9.99991840e-01 5.73987938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.43, Y:98.84, Z:5.74 [[ 8.71856694e-01 4.89742133e-01 -4.30685282e-03 8.94271888e+01] [-4.89735785e-01 8.71867329e-01 2.49440525e-03 9.88430498e+01] [ 4.97661961e-03 -6.55439718e-05 9.99987614e-01 5.73911766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.45, Y:98.83, Z:5.74 [[ 8.72243721e-01 4.89050482e-01 -4.52968076e-03 8.94549609e+01] [-4.89043446e-01 8.72255479e-01 2.62425055e-03 9.88289961e+01] [ 5.23442986e-03 -7.37753781e-05 9.99986298e-01 5.73811103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.48, Y:98.81, Z:5.74 [[ 8.72323669e-01 4.88904557e-01 -4.87355775e-03 8.94838833e+01] [-4.88896400e-01 8.72337279e-01 2.82526081e-03 9.88139980e+01] [ 5.63266899e-03 -8.18770384e-05 9.99984133e-01 5.73792186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.51, Y:98.80, Z:5.74 [[ 8.72796571e-01 4.88069113e-01 -3.83221482e-03 8.95111356e+01] [-4.88064057e-01 8.72804982e-01 2.22271431e-03 9.87980975e+01] [ 4.42961439e-03 -6.96111135e-05 9.99990187e-01 5.73839947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.770385723 meters Centerline goodness [0,1] 0.999933569530558 Centerline is valid? [True, True] Translation: X:89.54, Y:98.78, Z:5.74 [[ 8.73158725e-01 4.87422286e-01 -3.65458841e-03 8.95393016e+01] [-4.87417677e-01 8.73166370e-01 2.12086592e-03 9.87825673e+01] [ 4.22482101e-03 -7.05415949e-05 9.99991073e-01 5.73872155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.57, Y:98.77, Z:5.74 [[ 8.73835882e-01 4.86206229e-01 -3.78876380e-03 8.95668333e+01] [-4.86201259e-01 8.73844092e-01 2.19995555e-03 9.87669092e+01] [ 4.38042096e-03 -8.02983659e-05 9.99990403e-01 5.73882904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.60, Y:98.75, Z:5.74 [[ 8.74020841e-01 4.85874529e-01 -3.67580195e-03 8.95956907e+01] [-4.85869842e-01 8.74028567e-01 2.13571484e-03 9.87505240e+01] [ 4.25044535e-03 -8.06979686e-05 9.99990964e-01 5.73832163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.860385723 meters Centerline goodness [0,1] 0.9999779439334789 Centerline is valid? [True, True] Translation: X:89.62, Y:98.73, Z:5.74 [[ 8.73948498e-01 4.86005043e-01 -3.62227117e-03 8.96236244e+01] [-4.86000487e-01 8.73956001e-01 2.10585212e-03 9.87344233e+01] [ 4.18916038e-03 -7.99807464e-05 9.99991222e-01 5.73783953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.890385723 meters Centerline goodness [0,1] 0.9999779614325068 Centerline is valid? [True, True] Translation: X:89.65, Y:98.72, Z:5.74 [[ 8.73651777e-01 4.86538659e-01 -3.56466801e-03 8.96527350e+01] [-4.86534246e-01 8.73659045e-01 2.07365998e-03 9.87181053e+01] [ 4.12322020e-03 -7.73236653e-05 9.99991497e-01 5.73779749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.920385723 meters Centerline goodness [0,1] 0.9998902064119456 Centerline is valid? [True, True] Translation: X:89.68, Y:98.70, Z:5.74 [[ 8.73322010e-01 4.87131703e-01 -3.37213560e-03 8.96798276e+01] [-4.87127755e-01 8.73328517e-01 1.96264740e-03 9.87022876e+01] [ 3.90104996e-03 -7.13623304e-05 9.99992388e-01 5.73814549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.950385723 meters Centerline goodness [0,1] 0.9999778878471608 Centerline is valid? [True, True] Translation: X:89.71, Y:98.69, Z:5.74 [[ 8.72478639e-01 4.88647681e-01 -2.11382074e-03 8.97089314e+01] [-4.88646133e-01 8.72481199e-01 1.23097490e-03 9.86886562e+01] [ 2.44578188e-03 -4.10889742e-05 9.99997008e-01 5.73942514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.74, Y:98.67, Z:5.74 [[ 8.71876992e-01 4.89722904e-01 -1.40981808e-03 8.97360565e+01] [-4.89722216e-01 8.71878132e-01 8.21264093e-04 9.86730051e+01] [ 1.63138139e-03 -2.56220334e-05 9.99998669e-01 5.74015485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.010385723 meters Centerline goodness [0,1] 0.9999780069937759 Centerline is valid? [True, True] Translation: X:89.76, Y:98.66, Z:5.74 [[ 8.71570063e-01 4.90269738e-01 -1.09981457e-03 8.97647118e+01] [-4.90269319e-01 8.71570757e-01 6.41087261e-04 9.86572453e+01] [ 1.27287190e-03 -1.95471226e-05 9.99999190e-01 5.74019058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.79, Y:98.64, Z:5.74 [[ 8.71575918e-01 4.90259946e-01 -7.77499157e-04 8.97912485e+01] [-4.90259736e-01 8.71576265e-01 4.53478435e-04 9.86395972e+01] [ 8.99972124e-04 -1.40643521e-05 9.99999595e-01 5.74047161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.070385723 meters Centerline goodness [0,1] 0.9999779453927925 Centerline is valid? [True, True] Translation: X:89.82, Y:98.62, Z:5.74 [[ 8.72434714e-01 4.88730613e-01 -2.39404569e-04 8.98178496e+01] [-4.88730593e-01 8.72434747e-01 1.39707505e-04 9.86209479e+01] [ 2.77144199e-04 -4.88134034e-06 9.99999962e-01 5.74174063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.85, Y:98.60, Z:5.74 [[ 8.73151202e-01 4.87449074e-01 -6.16033750e-04 8.98454709e+01] [-4.87448941e-01 8.73151419e-01 3.59694326e-04 9.86040491e+01] [ 7.13223409e-04 -1.37825341e-05 9.99999746e-01 5.74183965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.87, Y:98.59, Z:5.74 [[ 8.74829080e-01 4.84430638e-01 -1.01849610e-03 8.98734086e+01] [-4.84430274e-01 8.74829673e-01 5.94785066e-04 9.85878523e+01] [ 1.17914272e-03 -2.69449268e-05 9.99999304e-01 5.74078837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.90, Y:98.57, Z:5.74 [[ 8.76048187e-01 4.82222432e-01 -1.04930677e-03 8.99007038e+01] [-4.82222043e-01 8.76048815e-01 6.13116491e-04 9.85709318e+01] [ 1.21490248e-03 -3.11207367e-05 9.99999262e-01 5.74032421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.93, Y:98.55, Z:5.74 [[ 8.75983804e-01 4.82339531e-01 -9.76028503e-04 8.99287767e+01] [-4.82339194e-01 8.75984347e-01 5.70664022e-04 9.85545336e+01] [ 1.13023951e-03 -2.91156389e-05 9.99999361e-01 5.74074480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.96, Y:98.54, Z:5.74 [[ 8.75708518e-01 4.82837800e-01 -1.50006412e-03 8.99560110e+01] [-4.82837005e-01 8.75709802e-01 8.77580353e-04 9.85380155e+01] [ 1.73734982e-03 -4.42181250e-05 9.99998490e-01 5.74094488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.98, Y:98.52, Z:5.74 [[ 8.74280395e-01 4.85417470e-01 -1.91602451e-03 8.99846812e+01] [-4.85416177e-01 8.74282493e-01 1.12154831e-03 9.85240087e+01] [ 2.21956583e-03 -5.04784103e-05 9.99997536e-01 5.73999212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.01, Y:98.51, Z:5.74 [[ 8.73306113e-01 4.87166692e-01 -2.24645850e-03 9.00121362e+01] [-4.87164919e-01 8.73309001e-01 1.31563782e-03 9.85099057e+01] [ 2.60278735e-03 -5.45587805e-05 9.99996611e-01 5.73899659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.04, Y:98.49, Z:5.74 [[ 8.73173550e-01 4.87404254e-01 -2.24610069e-03 9.00400792e+01] [-4.87402480e-01 8.73176437e-01 1.31624859e-03 9.84934688e+01] [ 2.60278736e-03 -5.45584077e-05 9.99996611e-01 5.73899683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.07, Y:98.48, Z:5.74 [[ 8.71013596e-01 4.91255461e-01 -1.84091084e-03 9.00695846e+01] [-4.91254276e-01 8.71015540e-01 1.07939174e-03 9.84800932e+01] [ 2.13371904e-03 -3.58095614e-05 9.99997723e-01 5.73830973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.10, Y:98.46, Z:5.74 [[ 8.69900830e-01 4.93224560e-01 -1.44193267e-03 9.00970830e+01] [-4.93223835e-01 8.69902025e-01 8.45915903e-04 9.84644582e+01] [ 1.67156665e-03 -2.46673850e-05 9.99998603e-01 5.73898949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.12, Y:98.45, Z:5.74 [[ 8.68158229e-01 4.96287261e-01 -4.94551431e-04 9.01247841e+01] [-4.96287176e-01 8.68158370e-01 2.90285807e-04 9.84487829e+01] [ 5.73414112e-04 -6.57447902e-06 9.99999836e-01 5.74018371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.15, Y:98.43, Z:5.74 [[ 8.67665196e-01 4.97148978e-01 3.50529880e-05 9.01525658e+01] [-4.97148978e-01 8.67665197e-01 -2.05881878e-05 9.84321767e+01] [-4.06496542e-05 4.37096855e-07 9.99999999e-01 5.74060234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.460385723 meters Centerline goodness [0,1] 0.9999780127965524 Centerline is valid? [True, True] Translation: X:90.18, Y:98.42, Z:5.74 [[ 8.67180324e-01 4.97994061e-01 4.48098971e-04 9.01801572e+01] [-4.97993991e-01 8.67180440e-01 -2.63315840e-04 9.84159689e+01] [-5.19712387e-04 5.19172040e-06 9.99999865e-01 5.74100662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.21, Y:98.40, Z:5.74 [[ 8.66251480e-01 4.99606424e-01 1.33967258e-03 9.02083084e+01] [-4.99605803e-01 8.66252516e-01 -7.87641623e-04 9.83996828e+01] [-1.55400556e-03 1.29875272e-05 9.99998792e-01 5.74163175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.24, Y:98.38, Z:5.74 [[ 8.65512108e-01 5.00884651e-01 1.83224852e-03 9.02363088e+01] [-5.00883491e-01 8.65514047e-01 -1.07792966e-03 9.83821521e+01] [-2.12575526e-03 1.52181318e-05 9.99997741e-01 5.74242619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.550385723 meters Centerline goodness [0,1] 0.9999779701716124 Centerline is valid? [True, True] Translation: X:90.26, Y:98.36, Z:5.74 [[ 8.65544453e-01 5.00826504e-01 2.36900238e-03 9.02632768e+01] [-5.00824563e-01 8.65547695e-01 -1.39452881e-03 9.83645861e+01] [-2.74890154e-03 2.05720952e-05 9.99996222e-01 5.74305514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.29, Y:98.35, Z:5.74 [[ 8.66631855e-01 4.98945614e-01 1.58164432e-03 9.02899785e+01] [-4.98944745e-01 8.66633298e-01 -9.31318196e-04 9.83481213e+01] [-1.83538277e-03 1.79568918e-05 9.99998316e-01 5.74135935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.32, Y:98.33, Z:5.74 [[ 8.67202460e-01 4.97954331e-01 1.17354488e-03 9.03185727e+01] [-4.97953851e-01 8.67203254e-01 -6.91403254e-04 9.83326773e+01] [-1.36198919e-03 1.52154092e-05 9.99999072e-01 5.73971975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.35, Y:98.32, Z:5.74 [[ 8.67598169e-01 4.97264743e-01 1.09175171e-03 9.03466670e+01] [-4.97264327e-01 8.67598856e-01 -6.43571016e-04 9.83162546e+01] [-1.26722771e-03 1.54718579e-05 9.99999197e-01 5.73903909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.37, Y:98.30, Z:5.74 [[ 8.68464899e-01 4.95749575e-01 1.03817434e-03 9.03726163e+01] [-4.95749197e-01 8.68465520e-01 -6.12170397e-04 9.82987673e+01] [-1.20510183e-03 1.69744054e-05 9.99999274e-01 5.73945331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.40, Y:98.28, Z:5.74 [[ 8.69003249e-01 4.94805559e-01 9.01686971e-04 9.03981042e+01] [-4.94805273e-01 8.69003716e-01 -5.31834402e-04 9.82817112e+01] [-1.04672395e-03 1.60063548e-05 9.99999452e-01 5.73963821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.43, Y:98.27, Z:5.74 [[ 8.69830503e-01 4.93350391e-01 5.36698217e-04 9.04250289e+01] [-4.93350290e-01 8.69830668e-01 -3.16651134e-04 9.82651741e+01] [-6.23056529e-04 1.06525940e-05 9.99999806e-01 5.73911784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.45, Y:98.25, Z:5.74 [[ 8.70061602e-01 4.92942996e-01 1.09707244e-04 9.04515144e+01] [-4.92942991e-01 8.70061609e-01 -6.47616157e-05 9.82494216e+01] [-1.27375846e-04 2.26717782e-06 9.99999992e-01 5.73813391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.48, Y:98.23, Z:5.74 [[ 8.69892790e-01 4.93240845e-01 -3.87942763e-05 9.04812256e+01] [-4.93240845e-01 8.69892791e-01 2.29119299e-05 9.82341599e+01] [ 4.50479609e-05 -7.96000991e-07 9.99999999e-01 5.73714785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.820385723 meters Centerline goodness [0,1] 0.9999778800212352 Centerline is valid? [True, True] Translation: X:90.51, Y:98.22, Z:5.74 [[ 8.69689782e-01 4.93598654e-01 -2.29425990e-04 9.05101696e+01] [-4.93598635e-01 8.69689812e-01 1.35595697e-04 9.82182654e+01] [ 2.66459300e-04 -4.68183647e-06 9.99999965e-01 5.73653593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.54, Y:98.20, Z:5.74 [[ 8.68864428e-01 4.95049740e-01 6.00233694e-04 9.05373464e+01] [-4.95049613e-01 8.68864636e-01 -3.54938739e-04 9.82036554e+01] [-6.97234160e-04 1.12481872e-05 9.99999757e-01 5.73736653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.57, Y:98.19, Z:5.74 [[ 8.68381446e-01 4.95896677e-01 3.86898569e-04 9.05652159e+01] [-4.95896624e-01 8.68381533e-01 -2.28912902e-04 9.81886533e+01] [-4.49492719e-04 6.92202230e-06 9.99999899e-01 5.73732077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.59, Y:98.17, Z:5.74 [[ 8.68242610e-01 4.96139824e-01 2.14037784e-04 9.05928267e+01] [-4.96139808e-01 8.68242636e-01 -1.26713055e-04 9.81722165e+01] [-2.48704122e-04 3.82500909e-06 9.99999969e-01 5.73727009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.62, Y:98.16, Z:5.74 [[ 8.68444629e-01 4.95786092e-01 2.77998499e-04 9.06214105e+01] [-4.95786064e-01 8.68444674e-01 -1.64677944e-04 9.81552594e+01] [-3.23071350e-04 5.18589447e-06 9.99999948e-01 5.73705936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.65, Y:98.14, Z:5.74 [[ 8.69584757e-01 4.93783611e-01 -3.08427675e-04 9.06495664e+01] [-4.93783578e-01 8.69584812e-01 1.82797604e-04 9.81399894e+01] [ 3.58466483e-04 -6.66148963e-06 9.99999936e-01 5.73669426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.68, Y:98.12, Z:5.74 [[ 8.70243547e-01 4.92621649e-01 -2.83404516e-04 9.06771260e+01] [-4.92621620e-01 8.70243593e-01 1.68058183e-04 9.81237158e+01] [ 3.29420063e-04 -6.64035761e-06 9.99999946e-01 5.73686643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.70, Y:98.11, Z:5.74 [[ 8.71222894e-01 4.90887422e-01 -4.56228244e-04 9.07045727e+01] [-4.90887348e-01 8.71223013e-01 2.70690307e-04 9.81076831e+01] [ 5.30355012e-04 -1.18749199e-05 9.99999859e-01 5.73781487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.73, Y:98.09, Z:5.74 [[ 8.71529349e-01 4.90343115e-01 -4.73586781e-04 9.07328022e+01] [-4.90343034e-01 8.71529477e-01 2.81142593e-04 9.80927635e+01] [ 5.50601175e-04 -1.28040413e-05 9.99999848e-01 5.73760223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.76, Y:98.08, Z:5.74 [[ 8.71935768e-01 4.89620186e-01 -2.98737921e-04 9.07632219e+01] [-4.89620154e-01 8.71935819e-01 1.77439452e-04 9.80805533e+01] [ 3.47358231e-04 -8.44769775e-06 9.99999940e-01 5.73646934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.79, Y:98.07, Z:5.74 [[ 8.71788888e-01 4.89881753e-01 -5.90062030e-05 9.07923494e+01] [-4.89881752e-01 8.71788890e-01 3.50659236e-05 9.80665451e+01] [ 6.86191083e-05 -1.66402040e-06 9.99999998e-01 5.73582799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.82, Y:98.05, Z:5.74 [[ 8.71459156e-01 4.90468061e-01 1.43027287e-04 9.08214880e+01] [-4.90468053e-01 8.71459168e-01 -8.50502325e-05 9.80522356e+01] [-1.66356863e-04 3.96748899e-06 9.99999986e-01 5.73577758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.85, Y:98.04, Z:5.74 [[ 8.70987907e-01 4.91304445e-01 -9.52940707e-05 9.08488496e+01] [-4.91304441e-01 8.70987912e-01 5.66906586e-05 9.80379912e+01] [ 1.10852356e-04 -2.55847786e-06 9.99999994e-01 5.73631650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.88, Y:98.02, Z:5.74 [[ 8.70588253e-01 4.92012151e-01 -3.69228039e-04 9.08777562e+01] [-4.92012102e-01 8.70588332e-01 2.19774164e-04 9.80238089e+01] [ 4.29577182e-04 -9.66814194e-06 9.99999908e-01 5.73605216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.91, Y:98.01, Z:5.74 [[ 8.70353771e-01 4.92426950e-01 -1.08715732e-04 9.09058324e+01] [-4.92426946e-01 8.70353778e-01 6.47448185e-05 9.80085081e+01] [ 1.26503242e-04 -2.81634101e-06 9.99999992e-01 5.73636632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.94, Y:98.00, Z:5.74 [[ 8.70136182e-01 4.92811334e-01 1.18876552e-04 9.09366017e+01] [-4.92811329e-01 8.70136190e-01 -7.08444703e-05 9.79954420e+01] [-1.38351748e-04 3.06062529e-06 9.99999990e-01 5.73667635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.97, Y:97.98, Z:5.74 [[ 8.69413261e-01 4.94085584e-01 -1.31663903e-04 9.09658148e+01] [-4.94085578e-01 8.69413271e-01 7.84997017e-05 9.79830570e+01] [ 1.53255915e-04 -3.19544612e-06 9.99999988e-01 5.73568107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.99, Y:97.97, Z:5.74 [[ 8.68963747e-01 4.94875568e-01 -4.23097658e-04 9.09945336e+01] [-4.94875503e-01 8.68963850e-01 2.52395556e-04 9.79683062e+01] [ 4.92560964e-04 -9.94192158e-06 9.99999879e-01 5.73545660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.02, Y:97.95, Z:5.74 [[ 8.68822423e-01 4.95123463e-01 5.94237562e-04 9.10224283e+01] [-4.95123336e-01 8.68822627e-01 -3.54627112e-04 9.79534223e+01] [-6.91871243e-04 1.38871033e-05 9.99999761e-01 5.73644474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.05, Y:97.94, Z:5.74 [[ 8.68782193e-01 4.95193829e-01 7.56591914e-04 9.10519633e+01] [-4.95193623e-01 8.68782522e-01 -4.51800750e-04 9.79390214e+01] [-8.81042775e-04 1.78569550e-05 9.99999612e-01 5.73658744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.420385723 meters Centerline goodness [0,1] 0.9999352792699502 Centerline is valid? [True, True] Translation: X:91.08, Y:97.92, Z:5.74 [[ 8.68872704e-01 4.95034912e-01 8.13052090e-04 9.10805277e+01] [-4.95034674e-01 8.68873084e-01 -4.85704557e-04 9.79236513e+01] [-9.46879790e-04 1.95264556e-05 9.99999552e-01 5.73667769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.11, Y:97.91, Z:5.74 [[ 8.68709236e-01 4.95321356e-01 1.00882045e-03 9.11113637e+01] [-4.95320990e-01 8.68709821e-01 -6.03046363e-04 9.79110972e+01] [-1.17507398e-03 2.41820003e-05 9.99999309e-01 5.73651598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.480385723 meters Centerline goodness [0,1] 0.9999137261668536 Centerline is valid? [True, True] Translation: X:91.14, Y:97.89, Z:5.74 [[ 8.68623688e-01 4.95470840e-01 1.23866963e-03 9.11392472e+01] [-4.95470288e-01 8.68624571e-01 -7.40741813e-04 9.78948442e+01] [-1.44295484e-03 2.97018897e-05 9.99998959e-01 5.73640242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.17, Y:97.88, Z:5.74 [[ 8.68281185e-01 4.96070767e-01 1.25610208e-03 9.11663124e+01] [-4.96070199e-01 8.68282093e-01 -7.51546114e-04 9.78798939e+01] [-1.46347100e-03 2.94385411e-05 9.99998929e-01 5.73675897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.20, Y:97.87, Z:5.74 [[ 8.68033781e-01 4.96499254e-01 2.41775525e-03 9.11983048e+01] [-4.96497148e-01 8.68037146e-01 -1.44750876e-03 9.78695314e+01] [-2.81738839e-03 5.60779141e-05 9.99996030e-01 5.73743857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.23, Y:97.85, Z:5.74 [[ 8.67996037e-01 4.96562916e-01 2.85482980e-03 9.12251797e+01] [-4.96559975e-01 8.68000729e-01 -1.71020392e-03 9.78530918e+01] [-3.32721819e-03 6.68560129e-05 9.99994463e-01 5.73806702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.26, Y:97.84, Z:5.74 [[ 8.68656740e-01 4.95412772e-01 1.28561305e-03 9.12555667e+01] [-4.95412174e-01 8.68657691e-01 -7.70585273e-04 9.78415245e+01] [-1.49851545e-03 3.24657372e-05 9.99998877e-01 5.73690656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.630385723 meters Centerline goodness [0,1] 0.999978606422352 Centerline is valid? [True, True] Translation: X:91.28, Y:97.83, Z:5.74 [[ 8.68995121e-01 4.94819596e-01 1.02291001e-03 9.12845812e+01] [-4.94819217e-01 8.68995723e-01 -6.13464719e-04 9.78267268e+01] [-1.19245879e-03 2.69423161e-05 9.99999289e-01 5.73616591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.31, Y:97.81, Z:5.74 [[ 8.69588262e-01 4.93777136e-01 6.28071962e-04 9.13136627e+01] [-4.93776993e-01 8.69588489e-01 -3.76882821e-04 9.78121493e+01] [-7.32260268e-04 1.76053930e-05 9.99999732e-01 5.73556262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.34, Y:97.80, Z:5.74 [[ 8.70976182e-01 4.91324879e-01 5.94519387e-04 9.13410931e+01] [-4.91324750e-01 8.70976385e-01 -3.56776003e-04 9.77983928e+01] [-6.93105273e-04 1.86413120e-05 9.99999760e-01 5.73551905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.37, Y:97.79, Z:5.73 [[ 8.73015083e-01 4.87692864e-01 -5.79396385e-04 9.13707008e+01] [-4.87692740e-01 8.73015275e-01 3.47736629e-04 9.77858826e+01] [ 6.75410567e-04 -2.10119113e-05 9.99999772e-01 5.73461680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:97.77, Z:5.73 [[ 8.73874225e-01 4.86147138e-01 -2.19075790e-03 9.13983305e+01] [-4.86145365e-01 8.73876967e-01 1.31549833e-03 9.77710773e+01] [ 2.55397862e-03 -8.45532817e-05 9.99996735e-01 5.73358203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.43, Y:97.76, Z:5.73 [[ 8.75536106e-01 4.83136004e-01 -4.01603042e-03 9.14254015e+01] [-4.83130014e-01 8.75545300e-01 2.41199405e-03 9.77583671e+01] [ 4.68153773e-03 -1.71523039e-04 9.99989027e-01 5.73194562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.45, Y:97.74, Z:5.73 [[ 8.76036090e-01 4.82223001e-01 -4.66338189e-03 9.14527032e+01] [-4.82214903e-01 8.76048478e-01 2.80216828e-03 9.77433913e+01] [ 5.43661860e-03 -2.06048301e-04 9.99985200e-01 5.73159392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.48, Y:97.73, Z:5.73 [[ 8.76502076e-01 4.81372042e-01 -5.00688553e-03 9.14820941e+01] [-4.81362684e-01 8.76516346e-01 3.01020274e-03 9.77297916e+01] [ 5.83764445e-03 -2.28321088e-04 9.99982935e-01 5.73151731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.51, Y:97.72, Z:5.73 [[ 8.76352593e-01 4.81633040e-01 -5.97890475e-03 9.15135440e+01] [-4.81619687e-01 8.76372946e-01 3.59681470e-03 9.77182448e+01] [ 6.97209517e-03 -2.72519659e-04 9.99975658e-01 5.73097430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.54, Y:97.71, Z:5.73 [[ 8.75976386e-01 4.82312808e-01 -6.30281472e-03 9.15419614e+01] [-4.82297972e-01 8.75999015e-01 3.79356041e-03 9.77054011e+01] [ 7.35094227e-03 -2.83234580e-04 9.99972941e-01 5.72973753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.57, Y:97.70, Z:5.73 [[ 8.74958337e-01 4.84131475e-01 -8.03882331e-03 9.15746212e+01] [-4.84107393e-01 8.74995198e-01 4.84102513e-03 9.76970399e+01] [ 9.37762443e-03 -3.44041501e-04 9.99955970e-01 5.72740720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.60, Y:97.68, Z:5.73 [[ 8.73709789e-01 4.86366658e-01 -8.87008877e-03 9.16036685e+01] [-4.86337425e-01 8.73754741e-01 5.34425353e-03 9.76846383e+01] [ 1.03495488e-02 -3.55470491e-04 9.99946379e-01 5.72734512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.63, Y:97.67, Z:5.73 [[ 8.72956087e-01 4.87730574e-01 -8.15828592e-03 9.16337895e+01] [-4.87705895e-01 8.72994152e-01 4.91633611e-03 9.76713261e+01] [ 9.51998333e-03 -3.12901393e-04 9.99954635e-01 5.72826198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.020385723 meters Centerline goodness [0,1] 0.9998741637130094 Centerline is valid? [True, True] Translation: X:91.66, Y:97.66, Z:5.73 [[ 8.72291475e-01 4.88909357e-01 -8.67313747e-03 9.16633563e+01] [-4.88881494e-01 8.72334533e-01 5.22946605e-03 9.76588278e+01] [ 1.01226122e-02 -3.21482245e-04 9.99948713e-01 5.72707203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.69, Y:97.65, Z:5.73 [[ 8.69854118e-01 4.93243242e-01 -8.05715935e-03 9.16933570e+01] [-4.93219378e-01 8.69891396e-01 4.85844484e-03 9.76490336e+01] [ 9.40524868e-03 -2.52191128e-04 9.99955738e-01 5.72823701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.72, Y:97.64, Z:5.73 [[ 8.68698463e-01 4.95273397e-01 -8.20015558e-03 9.17231056e+01] [-4.95248743e-01 8.68737133e-01 4.94738932e-03 9.76368967e+01] [ 9.57408996e-03 -2.36672756e-04 9.99954139e-01 5.72796224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.75, Y:97.63, Z:5.73 [[ 8.66809958e-01 4.98573511e-01 -8.05922682e-03 9.17537298e+01] [-4.98549813e-01 8.66847400e-01 4.86507044e-03 9.76258917e+01] [ 9.41171507e-03 -1.99165474e-04 9.99955689e-01 5.72750565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.140385723 meters Centerline goodness [0,1] 0.9998960736629877 Centerline is valid? [True, True] Translation: X:91.78, Y:97.61, Z:5.72 [[ 8.65455298e-01 5.00891938e-01 -9.71565952e-03 9.17812970e+01] [-5.00857623e-01 8.65509805e-01 5.86686298e-03 9.76118328e+01] [ 1.13476629e-02 -2.11345511e-04 9.99935591e-01 5.72460156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.170385723 meters Centerline goodness [0,1] 0.9999580123023954 Centerline is valid? [True, True] Translation: X:91.81, Y:97.60, Z:5.73 [[ 8.64650599e-01 5.02280890e-01 -9.65658416e-03 9.18109409e+01] [-5.02247064e-01 8.64704499e-01 5.83235967e-03 9.75976936e+01] [ 1.12795746e-02 -1.92962234e-04 9.99936365e-01 5.72601271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.200385723 meters Centerline goodness [0,1] 0.9999580123023954 Centerline is valid? [True, True] Translation: X:91.84, Y:97.58, Z:5.73 [[ 8.64508126e-01 5.02526101e-01 -9.65493046e-03 9.18386965e+01] [-5.02492260e-01 8.64562017e-01 5.83509682e-03 9.75808763e+01] [ 1.12795746e-02 -1.92960790e-04 9.99936365e-01 5.72601295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.230385723 meters Centerline goodness [0,1] 0.9999370277078086 Centerline is valid? [True, True] Translation: X:91.87, Y:97.57, Z:5.72 [[ 8.63961658e-01 5.03454935e-01 -1.01677035e-02 9.18683571e+01] [-5.03417421e-01 8.64021464e-01 6.14891405e-03 9.75667826e+01] [ 1.18808152e-02 -1.93826907e-04 9.99929402e-01 5.72478334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.89, Y:97.55, Z:5.73 [[ 8.63870137e-01 5.03632834e-01 -9.07495639e-03 9.18948826e+01] [-5.03602931e-01 8.63917784e-01 5.49089049e-03 9.75504076e+01] [ 1.06054090e-02 -1.73241687e-04 9.99943746e-01 5.72512169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.92, Y:97.54, Z:5.73 [[ 8.64846692e-01 5.01964094e-01 -8.49987455e-03 9.19239886e+01] [-5.01937752e-01 8.64888441e-01 5.14575716e-03 9.75357109e+01] [ 9.93442857e-03 -1.83883133e-04 9.99950635e-01 5.72546813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.95, Y:97.52, Z:5.72 [[ 8.65430834e-01 5.00951872e-01 -8.75749751e-03 9.19500555e+01] [-5.00923829e-01 8.65475118e-01 5.30440104e-03 9.75181198e+01] [ 1.02366458e-02 -2.03753029e-04 9.99947583e-01 5.72461291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.98, Y:97.50, Z:5.72 [[ 8.66378420e-01 4.99310444e-01 -8.80421292e-03 9.19782624e+01] [-4.99281987e-01 8.66423124e-01 5.33559418e-03 9.75021544e+01] [ 1.02922916e-02 -2.26858731e-04 9.99947007e-01 5.72451110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.00, Y:97.48, Z:5.72 [[ 8.66554202e-01 4.99011649e-01 -8.43744908e-03 9.20045325e+01] [-4.98985481e-01 8.66595249e-01 5.11510445e-03 9.74847902e+01] [ 9.86434999e-03 -2.22350661e-04 9.99951321e-01 5.72386042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.410385723 meters Centerline goodness [0,1] 0.999937598801897 Centerline is valid? [True, True] Translation: X:92.03, Y:97.47, Z:5.72 [[ 8.67167958e-01 4.97932459e-01 -9.11038424e-03 9.20295847e+01] [-4.97901863e-01 8.67215775e-01 5.52576950e-03 9.74659590e+01] [ 1.06521289e-02 -2.55692969e-04 9.99943232e-01 5.72150314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.440385723 meters Centerline goodness [0,1] 0.9997701101381429 Centerline is valid? [True, True] Translation: X:92.06, Y:97.45, Z:5.72 [[ 8.67604338e-01 4.97156564e-01 -9.90272201e-03 9.20575828e+01] [-4.97120327e-01 8.67660802e-01 6.00951779e-03 9.74498848e+01] [ 1.15798749e-02 -2.91039304e-04 9.99932909e-01 5.72022385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.09, Y:97.44, Z:5.72 [[ 8.67732731e-01 4.96991434e-01 -6.27878700e-03 9.20860585e+01] [-4.96976846e-01 8.67755426e-01 3.81241990e-03 9.74351762e+01] [ 7.34319152e-03 -1.87749766e-04 9.99973021e-01 5.72324639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.500385723 meters Centerline goodness [0,1] 0.9999583558905593 Centerline is valid? [True, True] Translation: X:92.11, Y:97.42, Z:5.72 [[ 8.67651779e-01 4.97135373e-01 -6.06730705e-03 9.21126141e+01] [-4.97121740e-01 8.67672973e-01 3.68617958e-03 9.74170496e+01] [ 7.09696861e-03 -1.82130028e-04 9.99974800e-01 5.72155848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.14, Y:97.40, Z:5.72 [[ 8.66654258e-01 4.98882295e-01 -5.18193972e-03 9.21408457e+01] [-4.98872372e-01 8.66669738e-01 3.14994783e-03 9.74019320e+01] [ 6.06248355e-03 -1.44789141e-04 9.99981613e-01 5.72057727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.17, Y:97.39, Z:5.72 [[ 8.65881338e-01 5.00221534e-01 -5.28455173e-03 9.21678032e+01] [-5.00211228e-01 8.65897452e-01 3.21389670e-03 9.73861698e+01] [ 6.18354021e-03 -1.39461064e-04 9.99980872e-01 5.71949316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.20, Y:97.37, Z:5.72 [[ 8.64917180e-01 5.01894895e-01 -4.44826883e-03 9.21963361e+01] [-5.01887607e-01 8.64928612e-01 2.70677249e-03 9.73708108e+01] [ 5.20595028e-03 -1.08603023e-04 9.99986443e-01 5.71897113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.22, Y:97.35, Z:5.72 [[ 8.64681225e-01 5.02307166e-01 -3.72680775e-03 9.22233200e+01] [-5.02302050e-01 8.64689252e-01 2.26901509e-03 9.73534855e+01] [ 4.36227314e-03 -8.99915742e-05 9.99990481e-01 5.71924492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.650385723 meters Centerline goodness [0,1] 0.9999579752474207 Centerline is valid? [True, True] Translation: X:92.25, Y:97.34, Z:5.72 [[ 8.64960141e-01 5.01832302e-01 -2.88027721e-03 9.22492513e+01] [-5.01829240e-01 8.64964933e-01 1.75458906e-03 9.73351292e+01] [ 3.37184825e-03 -7.22422782e-05 9.99994313e-01 5.71843639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.680385723 meters Centerline goodness [0,1] 0.9999581239530988 Centerline is valid? [True, True] Translation: X:92.28, Y:97.32, Z:5.72 [[ 8.64972569e-01 5.01813537e-01 -2.37269749e-03 9.22758617e+01] [-5.01811457e-01 8.64975821e-01 1.44595541e-03 9.73181568e+01] [ 2.77792596e-03 -6.00649837e-05 9.99996140e-01 5.71760481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.30, Y:97.30, Z:5.72 [[ 8.64799762e-01 5.02115428e-01 -1.21208488e-03 9.23021552e+01] [-5.02114885e-01 8.64800610e-01 7.39092532e-04 9.72999935e+01] [ 1.41932151e-03 -3.05611845e-05 9.99998992e-01 5.71762200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.33, Y:97.28, Z:5.72 [[ 8.64481854e-01 5.02663880e-01 -3.85234641e-04 9.23300120e+01] [-5.02663825e-01 8.64481940e-01 2.35051115e-04 9.72828589e+01] [ 4.51180095e-04 -9.55390521e-06 9.99999898e-01 5.71768164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.35, Y:97.26, Z:5.72 [[ 8.64044445e-01 5.03415115e-01 6.47597023e-04 9.23547272e+01] [-5.03414960e-01 8.64044687e-01 -3.95338772e-04 9.72640583e+01] [-7.58572280e-04 1.55802404e-05 9.99999712e-01 5.71853552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.38, Y:97.25, Z:5.72 [[ 8.64070773e-01 5.03368134e-01 1.49045152e-03 9.23819930e+01] [-5.03367312e-01 8.64072057e-01 -9.10441308e-04 9.72451788e+01] [-1.74614465e-03 3.64411485e-05 9.99998475e-01 5.71855172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.41, Y:97.23, Z:5.72 [[ 8.64116518e-01 5.03289701e-01 1.45612180e-03 9.24077130e+01] [-5.03288916e-01 8.64117744e-01 -8.89814235e-04 9.72266589e+01] [-1.70609502e-03 3.60532178e-05 9.99998544e-01 5.71827742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.43, Y:97.21, Z:5.72 [[ 8.64532624e-01 5.02574676e-01 1.42719142e-03 9.24327277e+01] [-5.02573920e-01 8.64533801e-01 -8.72603008e-04 9.72066619e+01] [-1.67240340e-03 3.71245837e-05 9.99998601e-01 5.71759338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.46, Y:97.19, Z:5.72 [[ 8.64979176e-01 5.01807035e-01 8.51188201e-04 9.24582061e+01] [-5.01806766e-01 8.64979595e-01 -5.20711249e-04 9.71872943e+01] [-9.97556993e-04 2.32723891e-05 9.99999502e-01 5.71641266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.920385723 meters Centerline goodness [0,1] 0.999979025525935 Centerline is valid? [True, True] Translation: X:92.48, Y:97.17, Z:5.72 [[ 8.65204404e-01 5.01418864e-01 6.80246414e-04 9.24847048e+01] [-5.01418692e-01 8.65204671e-01 -4.16364803e-04 9.71692723e+01] [-7.97325541e-04 1.91523945e-05 9.99999682e-01 5.71582159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.950385723 meters Centerline goodness [0,1] 0.9998949204547842 Centerline is valid? [True, True] Translation: X:92.51, Y:97.15, Z:5.71 [[ 8.65611810e-01 5.00715665e-01 -1.28711546e-04 9.25091479e+01] [-5.00715659e-01 8.65611820e-01 7.88187758e-05 9.71495960e+01] [ 1.50880031e-04 -3.77857667e-06 9.99999989e-01 5.71327277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.54, Y:97.13, Z:5.71 [[ 8.65342737e-01 5.01180504e-01 2.25488392e-04 9.25367012e+01] [-5.01180485e-01 8.65342766e-01 -1.38171336e-04 9.71308434e+01] [-2.64373529e-04 6.55518071e-06 9.99999965e-01 5.71436728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.56, Y:97.11, Z:5.71 [[ 8.65096981e-01 5.01604085e-01 7.45071131e-04 9.25630950e+01] [-5.01603878e-01 8.65097302e-01 -4.56832044e-04 9.71117568e+01] [-8.73707845e-04 2.14734538e-05 9.99999618e-01 5.71492056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.59, Y:97.09, Z:5.72 [[ 8.64808426e-01 5.02101302e-01 8.18401247e-04 9.25880058e+01] [-5.02101051e-01 8.64808813e-01 -5.01945279e-04 9.70921841e+01] [-9.59787989e-04 2.31663803e-05 9.99999539e-01 5.71544845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.61, Y:97.07, Z:5.71 [[ 8.64862312e-01 5.02008887e-01 5.09346533e-04 9.26148551e+01] [-5.02008790e-01 8.64862461e-01 -3.12582726e-04 9.70723917e+01] [-5.97434002e-04 1.46445822e-05 9.99999821e-01 5.71415644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.64, Y:97.06, Z:5.71 [[ 8.64778429e-01 5.02153490e-01 3.76218332e-04 9.26435778e+01] [-5.02153436e-01 8.64778511e-01 -2.31029489e-04 9.70564882e+01] [-4.41357793e-04 1.08699907e-05 9.99999903e-01 5.71341617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.67, Y:97.04, Z:5.71 [[ 8.64767404e-01 5.02172491e-01 -3.56823838e-04 9.26708541e+01] [-5.02172443e-01 8.64767477e-01 2.19253534e-04 9.70375695e+01] [ 4.18672743e-04 -1.04162106e-05 9.99999912e-01 5.71287167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.160385723 meters Centerline goodness [0,1] 0.9999790991744174 Centerline is valid? [True, True] Translation: X:92.69, Y:97.02, Z:5.71 [[ 8.65041832e-01 5.01699076e-01 -8.16638147e-04 9.26941880e+01] [-5.01698825e-01 8.65042217e-01 5.02049474e-04 9.70169457e+01] [ 9.58304230e-04 -2.45873974e-05 9.99999541e-01 5.71267403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.72, Y:97.00, Z:5.71 [[ 8.65019627e-01 5.01737357e-01 -8.18346176e-04 9.27200203e+01] [-5.01737105e-01 8.65020014e-01 5.03388360e-04 9.69982414e+01] [ 9.60454566e-04 -2.48461701e-05 9.99999539e-01 5.71256920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.75, Y:96.98, Z:5.71 [[ 8.64473635e-01 5.02673843e-01 -2.08384549e-03 9.27455835e+01] [-5.02672211e-01 8.64476144e-01 1.28251719e-03 9.69786073e+01] [ 2.44612256e-03 -6.12110747e-05 9.99997006e-01 5.71215540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.77, Y:96.96, Z:5.71 [[ 8.63852904e-01 5.03738491e-01 -2.38580863e-03 9.27718177e+01] [-5.03736353e-01 8.63856196e-01 1.46915109e-03 9.69607921e+01] [ 2.80106352e-03 -6.73118964e-05 9.99996075e-01 5.71213352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.80, Y:96.94, Z:5.71 [[ 8.62541923e-01 5.05976544e-01 -3.02791589e-03 9.27988191e+01] [-5.05973111e-01 8.62547234e-01 1.86559176e-03 9.69433851e+01] [ 3.55566614e-03 -7.71070855e-05 9.99993676e-01 5.71211731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.82, Y:96.93, Z:5.71 [[ 8.61714892e-01 5.07384085e-01 -2.97243236e-03 9.28244139e+01] [-5.07380781e-01 8.61720016e-01 1.83234703e-03 9.69258454e+01] [ 3.49110818e-03 -7.08056726e-05 9.99993904e-01 5.71188203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.85, Y:96.91, Z:5.71 [[ 8.60896731e-01 5.08771438e-01 -2.90560177e-03 9.28497108e+01] [-5.08768286e-01 8.60901632e-01 1.79205645e-03 9.69082090e+01] [ 3.41318444e-03 -6.44975039e-05 9.99994173e-01 5.71276443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.88, Y:96.89, Z:5.71 [[ 8.59550536e-01 5.11044753e-01 -2.47728781e-03 9.28756127e+01] [-5.11042469e-01 8.59554104e-01 1.52872423e-03 9.68891509e+01] [ 2.91060940e-03 -4.80164509e-05 9.99995763e-01 5.71377255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.90, Y:96.87, Z:5.71 [[ 8.58702789e-01 5.12464766e-01 -3.06336857e-03 9.29014859e+01] [-5.12461278e-01 8.58708252e-01 1.89142445e-03 9.68706487e+01] [ 3.59982825e-03 -5.43136788e-05 9.99993519e-01 5.71302483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.93, Y:96.85, Z:5.71 [[ 8.58155237e-01 5.13372418e-01 -4.28370105e-03 9.29269663e+01] [-5.13365605e-01 8.58165925e-01 2.64570798e-03 9.68526154e+01] [ 5.03435978e-03 -7.13233778e-05 9.99987325e-01 5.71226913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.95, Y:96.83, Z:5.71 [[ 8.57351178e-01 5.14709866e-01 -4.76562479e-03 9.29533505e+01] [-5.14701446e-01 8.57364420e-01 2.94494373e-03 9.68339278e+01] [ 5.60166873e-03 -7.19770087e-05 9.99984308e-01 5.71187416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.490385723 meters Centerline goodness [0,1] 0.9999570907530573 Centerline is valid? [True, True] Translation: X:92.98, Y:96.81, Z:5.71 [[ 8.56052986e-01 5.16861110e-01 -5.27993603e-03 9.29775995e+01] [-5.16850809e-01 8.56069266e-01 3.26376586e-03 9.68131093e+01] [ 6.20690461e-03 -6.50172986e-05 9.99980735e-01 5.71147647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.00, Y:96.79, Z:5.71 [[ 8.55468815e-01 5.17822878e-01 -5.70732386e-03 9.30027445e+01] [-5.17810856e-01 8.55487851e-01 3.52900756e-03 9.67948237e+01] [ 6.70994707e-03 -6.36416581e-05 9.99977486e-01 5.71134910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.03, Y:96.78, Z:5.71 [[ 8.54641820e-01 5.19185028e-01 -5.85369392e-03 9.30289502e+01] [-5.19172409e-01 8.54661865e-01 3.62019517e-03 9.67750973e+01] [ 6.88248009e-03 -5.48938194e-05 9.99976314e-01 5.71127179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.06, Y:96.76, Z:5.71 [[ 8.54286478e-01 5.19766922e-01 -6.07949156e-03 9.30556594e+01] [-5.19753309e-01 8.54308108e-01 3.76209247e-03 9.67561696e+01] [ 7.14917016e-03 -5.40688704e-05 9.99974443e-01 5.71097788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.610385723 meters Centerline goodness [0,1] 0.9999568286312518 Centerline is valid? [True, True] Translation: X:93.08, Y:96.73, Z:5.71 [[ 8.54201916e-01 5.19890466e-01 -7.27945466e-03 9.30781939e+01] [-5.19870935e-01 8.54232930e-01 4.50682860e-03 9.67343306e+01] [ 8.56140711e-03 -6.53647232e-05 9.99963348e-01 5.71112320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.10, Y:96.71, Z:5.71 [[ 8.54312318e-01 5.19698293e-01 -8.00922839e-03 9.31038957e+01] [-5.19674613e-01 8.54349857e-01 4.96164344e-03 9.67138855e+01] [ 9.42124076e-03 -7.66004427e-05 9.99955616e-01 5.71185683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.13, Y:96.69, Z:5.71 [[ 8.54557017e-01 5.19282510e-01 -8.83057258e-03 9.31270712e+01] [-5.19253672e-01 8.54602637e-01 5.47336846e-03 9.66908115e+01] [ 1.03888551e-02 -9.19981863e-05 9.99946030e-01 5.71268471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.15, Y:96.67, Z:5.71 [[ 8.54772584e-01 5.18926554e-01 -8.89161116e-03 9.31534881e+01] [-5.18897261e-01 8.54818824e-01 5.51461190e-03 9.66705616e+01] [ 1.04623951e-02 -9.99063892e-05 9.99945263e-01 5.71367618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.18, Y:96.65, Z:5.71 [[ 8.55206178e-01 5.18194028e-01 -9.86624211e-03 9.31756202e+01] [-5.18157877e-01 8.55263079e-01 6.12213078e-03 9.66480036e+01] [ 1.16106842e-02 -1.23413006e-04 9.99932586e-01 5.71344210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.20, Y:96.63, Z:5.71 [[ 8.55599122e-01 5.17542099e-01 -1.00159062e-02 9.32003334e+01] [-5.17504763e-01 8.55657734e-01 6.21797435e-03 9.66280675e+01] [ 1.17882511e-02 -1.36814260e-04 9.99930507e-01 5.71252294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.23, Y:96.61, Z:5.71 [[ 8.56130337e-01 5.16662130e-01 -1.00543441e-02 9.32268566e+01] [-5.16624407e-01 8.56189360e-01 6.24514749e-03 9.66095640e+01] [ 1.18350536e-02 -1.52340669e-04 9.99929952e-01 5.71352180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.820385723 meters Centerline goodness [0,1] 0.9999781559230215 Centerline is valid? [True, True] Translation: X:93.25, Y:96.59, Z:5.71 [[ 8.57180499e-01 5.14924229e-01 -9.72786175e-03 9.32499215e+01] [-5.14888767e-01 8.57235678e-01 6.04556889e-03 9.65865736e+01] [ 1.14520801e-02 -1.73377004e-04 9.99934408e-01 5.71425231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.27, Y:96.57, Z:5.72 [[ 8.57468338e-01 5.14435774e-01 -1.01923677e-02 9.32747595e+01] [-5.14396770e-01 8.57528890e-01 6.33764968e-03 9.65660010e+01] [ 1.20005635e-02 -1.91412917e-04 9.99927972e-01 5.71579353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.880385723 meters Centerline goodness [0,1] 0.9999339236156998 Centerline is valid? [True, True] Translation: X:93.30, Y:96.54, Z:5.72 [[ 8.57524124e-01 5.14336376e-01 -1.05103780e-02 9.32989386e+01] [-5.14294842e-01 8.57588509e-01 6.53947150e-03 9.65429205e+01] [ 1.23770675e-02 -2.02321369e-04 9.99923381e-01 5.71776101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.32, Y:96.52, Z:5.72 [[ 8.57535330e-01 5.14321790e-01 -1.03079452e-02 9.33239324e+01] [-5.14281794e-01 8.57597257e-01 6.41724670e-03 9.65231961e+01] [ 1.21405954e-02 -2.01827203e-04 9.99926280e-01 5.71637715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.35, Y:96.50, Z:5.72 [[ 8.57841115e-01 5.13828043e-01 -9.45323985e-03 9.33508770e+01] [-5.13794334e-01 8.57893178e-01 5.88876827e-03 9.65035713e+01] [ 1.11356843e-02 -1.94606457e-04 9.99937977e-01 5.71787841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.38, Y:96.48, Z:5.72 [[ 8.57790755e-01 5.13921166e-01 -8.94739060e-03 9.33756113e+01] [-5.13890956e-01 8.57837398e-01 5.57533388e-03 9.64841532e+01] [ 1.05406884e-02 -1.84486758e-04 9.99944428e-01 5.71802512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.40, Y:96.46, Z:5.72 [[ 8.57324392e-01 5.14702559e-01 -8.72706426e-03 9.34007696e+01] [-5.14673830e-01 8.57368792e-01 5.44092255e-03 9.64642976e+01] [ 1.02827693e-02 -1.73044036e-04 9.99947116e-01 5.71996528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.43, Y:96.44, Z:5.72 [[ 8.56865535e-01 5.15449234e-01 -9.67171811e-03 9.34277130e+01] [-5.15413954e-01 8.56920097e-01 6.03350068e-03 9.64443729e+01] [ 1.13978529e-02 -1.84960324e-04 9.99935025e-01 5.72053411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.45, Y:96.42, Z:5.72 [[ 8.56356868e-01 5.16279924e-01 -1.03901236e-02 9.34537785e+01] [-5.16239222e-01 8.56419876e-01 6.48556287e-03 9.64238566e+01] [ 1.22466743e-02 -1.90166978e-04 9.99924989e-01 5.72153824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.48, Y:96.41, Z:5.72 [[ 8.55827884e-01 5.17151143e-01 -1.06456032e-02 9.34815747e+01] [-5.17108431e-01 8.55894071e-01 6.64900200e-03 9.64060806e+01] [ 1.25500477e-02 -1.85470144e-04 9.99921228e-01 5.72066745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.51, Y:96.39, Z:5.72 [[ 8.55688882e-01 5.17381142e-01 -1.06438159e-02 9.35090332e+01] [-5.17338413e-01 8.55755058e-01 6.65186272e-03 9.63888469e+01] [ 1.25500477e-02 -1.85470139e-04 9.99921228e-01 5.72066769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.54, Y:96.37, Z:5.72 [[ 8.54783187e-01 5.18858665e-01 -1.14625000e-02 9.35383928e+01] [-5.18809183e-01 8.54860020e-01 7.16787699e-03 9.63729885e+01] [ 1.35179481e-02 -1.80130487e-04 9.99908612e-01 5.71998946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.56, Y:96.36, Z:5.72 [[ 8.54460847e-01 5.19395892e-01 -1.11610543e-02 9.35643587e+01] [-5.19348996e-01 8.54533720e-01 6.98146154e-03 9.63565987e+01] [ 1.31636397e-02 -1.68903173e-04 9.99913341e-01 5.71984029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.59, Y:96.34, Z:5.72 [[ 8.54107779e-01 5.19961732e-01 -1.18194363e-02 9.35919747e+01] [-5.19909133e-01 8.54189538e-01 7.39776469e-03 9.63386097e+01] [ 1.39425934e-02 -1.73455466e-04 9.99902782e-01 5.72073828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.62, Y:96.32, Z:5.72 [[ 8.53892561e-01 5.20306591e-01 -1.21879073e-02 9.36174489e+01] [-5.20250634e-01 8.53979520e-01 7.63268727e-03 9.63195532e+01] [ 1.43795607e-02 -1.76728414e-04 9.99896593e-01 5.72096829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.270385723 meters Centerline goodness [0,1] 0.9999778643527537 Centerline is valid? [True, True] Translation: X:93.65, Y:96.30, Z:5.72 [[ 8.53424016e-01 5.21069952e-01 -1.23916606e-02 9.36470434e+01] [-5.21012121e-01 8.53513958e-01 7.76489217e-03 9.63042458e+01] [ 1.46225073e-02 -1.70540088e-04 9.99893071e-01 5.72221126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.68, Y:96.29, Z:5.72 [[ 8.53138491e-01 5.21546449e-01 -1.20007098e-02 9.36758567e+01] [-5.21492236e-01 8.53222876e-01 7.52135197e-03 9.62887849e+01] [ 1.41620146e-02 -1.58477871e-04 9.99899701e-01 5.72274910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.71, Y:96.27, Z:5.72 [[ 8.52817450e-01 5.22055485e-01 -1.26675821e-02 9.37056504e+01] [-5.21995064e-01 8.52911510e-01 7.94413826e-03 9.62738324e+01] [ 1.49516075e-02 -1.62484423e-04 9.99888205e-01 5.72167599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.73, Y:96.26, Z:5.72 [[ 8.52637315e-01 5.22347918e-01 -1.27382120e-02 9.37347978e+01] [-5.22286779e-01 8.52732447e-01 7.99344326e-03 9.62574307e+01] [ 1.50376451e-02 -1.62508290e-04 9.99886915e-01 5.72221154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.76, Y:96.24, Z:5.72 [[ 8.52353031e-01 5.22820011e-01 -1.23913971e-02 9.37610634e+01] [-5.22762148e-01 8.52443084e-01 7.77973716e-03 9.62415527e+01] [ 1.46303630e-02 -1.53329185e-04 9.99892959e-01 5.72195686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.79, Y:96.22, Z:5.72 [[ 8.51764798e-01 5.23772823e-01 -1.25999615e-02 9.37898954e+01] [-5.23713027e-01 8.51857975e-01 7.91557177e-03 9.62247539e+01] [ 1.48793391e-02 -1.43441404e-04 9.99889286e-01 5.72286610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.82, Y:96.21, Z:5.72 [[ 8.51399163e-01 5.24367859e-01 -1.25624255e-02 9.38174768e+01] [-5.24308438e-01 8.51491827e-01 7.89502265e-03 9.62081789e+01] [ 1.48366987e-02 -1.35229984e-04 9.99889921e-01 5.72258350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.85, Y:96.19, Z:5.72 [[ 8.50770129e-01 5.25389919e-01 -1.24747866e-02 9.38459560e+01] [-5.25331373e-01 8.50861575e-01 7.84409644e-03 9.61930436e+01] [ 1.47355258e-02 -1.20126163e-04 9.99891419e-01 5.72280431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.87, Y:96.18, Z:5.72 [[ 8.50281665e-01 5.26178423e-01 -1.25442167e-02 9.38742560e+01] [-5.26119238e-01 8.50374185e-01 7.89253824e-03 9.61758712e+01] [ 1.48201613e-02 -1.11126845e-04 9.99890169e-01 5.72321214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.90, Y:96.16, Z:5.72 [[ 8.49577152e-01 5.27293947e-01 -1.34073521e-02 9.39020478e+01] [-5.27226400e-01 8.49682931e-01 8.44036118e-03 9.61594192e+01] [ 1.58425496e-02 -1.02028010e-04 9.99874494e-01 5.72294699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.93, Y:96.14, Z:5.72 [[ 8.49226278e-01 5.27864612e-01 -1.31788011e-02 9.39293694e+01] [-5.27799345e-01 8.49328525e-01 8.30110083e-03 9.61427764e+01] [ 1.55749891e-02 -9.37503708e-05 9.99878698e-01 5.72184805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.96, Y:96.13, Z:5.72 [[ 8.48789735e-01 5.28576677e-01 -1.27547087e-02 9.39571055e+01] [-5.28515562e-01 8.48885558e-01 8.03812320e-03 9.61267497e+01] [ 1.50760525e-02 -8.16144153e-05 9.99886347e-01 5.72289736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.98, Y:96.11, Z:5.72 [[ 8.48568676e-01 5.28928894e-01 -1.28618953e-02 9.39839750e+01] [-5.28866742e-01 8.48666141e-01 8.10865246e-03 9.61097519e+01] [ 1.52043556e-02 -7.85198368e-05 9.99884404e-01 5.72278044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.660385723 meters Centerline goodness [0,1] 0.9999781306040327 Centerline is valid? [True, True] Translation: X:94.01, Y:96.09, Z:5.72 [[ 8.49007597e-01 5.28224974e-01 -1.28248703e-02 9.40118725e+01] [-5.28163026e-01 8.49104451e-01 8.09010225e-03 9.60924711e+01] [ 1.51630485e-02 -9.49359829e-05 9.99885030e-01 5.72376942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.04, Y:96.07, Z:5.72 [[ 8.49400047e-01 5.27603500e-01 -1.24140140e-02 9.40396636e+01] [-5.27545323e-01 8.49490751e-01 7.83555042e-03 9.60743473e+01] [ 1.46796539e-02 -1.06561882e-04 9.99892242e-01 5.72472589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.07, Y:96.06, Z:5.73 [[ 8.50618201e-01 5.25663185e-01 -1.12646597e-02 9.40671315e+01] [-5.25615055e-01 8.50692776e-01 7.11440809e-03 9.60556531e+01] [ 1.33225471e-02 -1.30770276e-04 9.99911242e-01 5.72851510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.09, Y:96.04, Z:5.73 [[ 8.51110149e-01 5.24884753e-01 -1.03686769e-02 9.40938419e+01] [-5.24843888e-01 8.51173295e-01 6.55100081e-03 9.60379418e+01] [ 1.22640613e-02 -1.33686571e-04 9.99924785e-01 5.72918514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.12, Y:96.02, Z:5.73 [[ 8.51796669e-01 5.23782739e-01 -9.69935711e-03 9.41228512e+01] [-5.23746865e-01 8.51851878e-01 6.13188403e-03 9.60220295e+01] [ 1.14741906e-02 -1.43110518e-04 9.99934159e-01 5.73032718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.15, Y:96.01, Z:5.73 [[ 8.51859629e-01 5.23667083e-01 -1.03903219e-02 9.41507335e+01] [-5.23625863e-01 8.51922979e-01 6.57223947e-03 9.60060825e+01] [ 1.22934194e-02 -1.57984224e-04 9.99924421e-01 5.72999017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.18, Y:95.99, Z:5.73 [[ 8.51883903e-01 5.23627915e-01 -1.03741662e-02 9.41793729e+01] [-5.23586774e-01 8.51947053e-01 6.56577739e-03 9.59909629e+01] [ 1.22762646e-02 -1.61503876e-04 9.99924631e-01 5.72930532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.21, Y:95.97, Z:5.73 [[ 8.51652799e-01 5.24007464e-01 -1.01826713e-02 9.42081285e+01] [-5.23967808e-01 8.51713657e-01 6.44848651e-03 9.59744499e+01] [ 1.20517753e-02 -1.56479621e-04 9.99927363e-01 5.72938556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.24, Y:95.96, Z:5.73 [[ 8.51457323e-01 5.24327219e-01 -1.00694584e-02 9.42368630e+01] [-5.24288416e-01 8.51516849e-01 6.38064458e-03 9.59584683e+01] [ 1.19198591e-02 -1.53546174e-04 9.99928944e-01 5.72973465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.26, Y:95.94, Z:5.73 [[ 8.51113576e-01 5.24899219e-01 -9.30003797e-03 9.42647582e+01] [-5.24866122e-01 8.51164374e-01 5.89596022e-03 9.59438456e+01] [ 1.10106459e-02 -1.36856916e-04 9.99939372e-01 5.73077493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.29, Y:95.93, Z:5.73 [[ 8.50480269e-01 5.25913900e-01 -9.89352888e-03 9.42946333e+01] [-5.25876469e-01 8.50537801e-01 6.27596278e-03 9.59292150e+01] [ 1.17154364e-02 -1.34808472e-04 9.99931363e-01 5.73162496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.32, Y:95.91, Z:5.73 [[ 8.50101910e-01 5.26529117e-01 -9.68666548e-03 9.43231339e+01] [-5.26493232e-01 8.50157088e-01 6.14840654e-03 9.59133465e+01] [ 1.14725024e-02 -1.26808327e-04 9.99934181e-01 5.73179958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.35, Y:95.90, Z:5.73 [[ 8.48953767e-01 5.28389484e-01 -9.05845166e-03 9.43529977e+01] [-5.28358177e-01 8.49002087e-01 5.75265635e-03 9.59004876e+01] [ 1.07302875e-02 -9.76322705e-05 9.99942424e-01 5.73300289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.050385723 meters Centerline goodness [0,1] 0.9999569392412694 Centerline is valid? [True, True] Translation: X:94.38, Y:95.89, Z:5.73 [[ 8.48093184e-01 5.29778198e-01 -8.54469133e-03 9.43815606e+01] [-5.29750383e-01 8.48136224e-01 5.42925881e-03 9.58857617e+01] [ 1.01233652e-02 -7.79638847e-05 9.99948754e-01 5.73392013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.080385723 meters Centerline goodness [0,1] 0.9999570225201995 Centerline is valid? [True, True] Translation: X:94.41, Y:95.87, Z:5.73 [[ 8.47075321e-01 5.31404708e-01 -8.51105676e-03 9.44087140e+01] [-5.31377167e-01 8.47118075e-01 5.41052687e-03 9.58711982e+01] [ 1.00850495e-02 -6.05425523e-05 9.99949143e-01 5.73395926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.110385723 meters Centerline goodness [0,1] 0.9999353615444282 Centerline is valid? [True, True] Translation: X:94.44, Y:95.86, Z:5.73 [[ 8.45243996e-01 5.34295560e-01 -9.53114181e-03 9.44390319e+01] [-5.34261164e-01 8.45297731e-01 6.06261456e-03 9.58578960e+01] [ 1.12958806e-02 -3.22696429e-05 9.99936199e-01 5.73346200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.47, Y:95.84, Z:5.73 [[ 8.43650488e-01 5.36809902e-01 -9.43309564e-03 9.44702655e+01] [-5.36776324e-01 8.43703224e-01 6.00403172e-03 9.58449296e+01] [ 1.11817569e-02 -1.84188679e-06 9.99937482e-01 5.73447842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.50, Y:95.83, Z:5.73 [[ 8.43017312e-01 5.37812342e-01 -8.92734964e-03 9.44987648e+01] [-5.37782289e-01 8.43064580e-01 5.68546411e-03 9.58299793e+01] [ 1.05840450e-02 8.02585254e-06 9.99943987e-01 5.73334341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.53, Y:95.82, Z:5.74 [[ 8.42425007e-01 5.38759328e-01 -7.64814695e-03 9.45276989e+01] [-5.38737287e-01 8.42459724e-01 4.87338299e-03 9.58163113e+01] [ 9.06883631e-03 1.48822408e-05 9.99958877e-01 5.73535072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.56, Y:95.80, Z:5.74 [[ 8.42197805e-01 5.39117193e-01 -7.45047881e-03 9.45565735e+01] [-5.39096265e-01 8.42230759e-01 4.75033971e-03 9.57999934e+01] [ 8.83601224e-03 1.57996191e-05 9.99960962e-01 5.73627629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.58, Y:95.79, Z:5.74 [[ 8.42914990e-01 5.38002013e-01 -6.93930024e-03 9.45848819e+01] [-5.37983809e-01 8.42943553e-01 4.42574357e-03 9.57857511e+01] [ 8.23049735e-03 2.70558181e-06 9.99966129e-01 5.73595647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.61, Y:95.77, Z:5.74 [[ 8.43368240e-01 5.37292427e-01 -6.84544175e-03 9.46133161e+01] [-5.37274667e-01 8.43396021e-01 4.36856715e-03 9.57690861e+01] [ 8.12061638e-03 -6.42835942e-06 9.99967027e-01 5.73729764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.64, Y:95.75, Z:5.74 [[ 8.44431674e-01 5.35617762e-01 -6.98294253e-03 9.46415389e+01] [-5.35599202e-01 8.44460546e-01 4.45886727e-03 9.57540051e+01] [ 8.28506796e-03 -2.51503019e-05 9.99965678e-01 5.73644056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.350385723 meters Centerline goodness [0,1] 0.9999787811916483 Centerline is valid? [True, True] Translation: X:94.67, Y:95.74, Z:5.74 [[ 8.44843608e-01 5.34964752e-01 -7.21055670e-03 9.46704893e+01] [-5.34944915e-01 8.44874377e-01 4.60701963e-03 9.57383155e+01] [ 8.55660771e-03 -3.49604413e-05 9.99963391e-01 5.73703340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.70, Y:95.72, Z:5.73 [[ 8.45949159e-01 5.33190136e-01 -8.84872756e-03 9.46985208e+01] [-5.33160135e-01 8.45995434e-01 5.65647078e-03 9.57236382e+01] [ 1.05019575e-02 -6.72979172e-05 9.99944851e-01 5.73351613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.73, Y:95.71, Z:5.73 [[ 8.46722100e-01 5.31935948e-01 -1.02875360e-02 9.47268017e+01] [-5.31895263e-01 8.46784587e-01 6.57968025e-03 9.57089115e+01] [ 1.22112954e-02 -9.92690072e-05 9.99925434e-01 5.73369877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.75, Y:95.69, Z:5.73 [[ 8.48683891e-01 5.28755806e-01 -1.23673088e-02 9.47549711e+01] [-5.28696637e-01 8.48773979e-01 7.91195764e-03 9.56942621e+01] [ 1.46805435e-02 -1.76196404e-04 9.99892220e-01 5.73124395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.78, Y:95.68, Z:5.73 [[ 8.49914973e-01 5.26757365e-01 -1.30849899e-02 9.47822283e+01] [-5.26690856e-01 8.50015663e-01 8.37343096e-03 9.56780758e+01] [ 1.55332128e-02 -2.24959801e-04 9.99879327e-01 5.73104475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.81, Y:95.66, Z:5.73 [[ 8.52345219e-01 5.22775407e-01 -1.46117017e-02 9.48096126e+01] [-5.22691845e-01 8.52470388e-01 9.35271245e-03 9.56623189e+01] [ 1.73454111e-02 -3.34322395e-04 9.99849501e-01 5.73083224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.84, Y:95.65, Z:5.73 [[ 8.53287002e-01 5.21239807e-01 -1.45036359e-02 9.48355280e+01] [-5.21157189e-01 8.53410176e-01 9.28737771e-03 9.56460540e+01] [ 1.72185015e-02 -3.66124560e-04 9.99851684e-01 5.73066974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.86, Y:95.63, Z:5.73 [[ 8.54361434e-01 5.19506999e-01 -1.33797500e-02 9.48637906e+01] [-5.19436406e-01 8.54466113e-01 8.57214536e-03 9.56308083e+01] [ 1.58858325e-02 -3.73781131e-04 9.99873742e-01 5.73221654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.89, Y:95.62, Z:5.73 [[ 8.54313587e-01 5.19597627e-01 -1.29073999e-02 9.48927896e+01] [-5.19531864e-01 8.54411010e-01 8.27453816e-03 9.56155020e+01] [ 1.53276549e-02 -3.63244865e-04 9.99882459e-01 5.73324138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.92, Y:95.60, Z:5.73 [[ 8.53146401e-01 5.21496724e-01 -1.35050326e-02 9.49237781e+01] [-5.21424892e-01 8.53253213e-01 8.66234540e-03 9.56042795e+01] [ 1.60405972e-02 -3.48388644e-04 9.99871281e-01 5.73363778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.95, Y:95.58, Z:5.73 [[ 8.52274054e-01 5.22902781e-01 -1.41992533e-02 9.49479659e+01] [-5.22823522e-01 8.52392260e-01 9.11041557e-03 9.55846602e+01] [ 1.68671953e-02 -3.40867184e-04 9.99857681e-01 5.72693917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.98, Y:95.58, Z:5.73 [[ 8.49837659e-01 5.26876605e-01 -1.33039814e-02 9.49801735e+01] [-5.26807502e-01 8.49941752e-01 8.53663568e-03 9.55773634e+01] [ 1.58053629e-02 -2.46117257e-04 9.99875057e-01 5.73127538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.01, Y:95.56, Z:5.73 [[ 8.48334427e-01 5.29318583e-01 -1.22694105e-02 9.50086192e+01] [-5.29260004e-01 8.48423127e-01 7.87692375e-03 9.55624712e+01] [ 1.45790537e-02 -1.88557347e-04 9.99893702e-01 5.73246302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.04, Y:95.55, Z:5.73 [[ 8.45273165e-01 5.34205253e-01 -1.17483755e-02 9.50384787e+01] [-5.34151958e-01 8.45354800e-01 7.54640534e-03 9.55502144e+01] [ 1.39628750e-02 -1.03356149e-04 9.99902509e-01 5.73350840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.07, Y:95.54, Z:5.73 [[ 8.43736250e-01 5.36631735e-01 -1.16413664e-02 9.50674569e+01] [-5.36579583e-01 8.43816554e-01 7.48160442e-03 9.55353184e+01] [ 1.38380441e-02 -6.59812981e-05 9.99904248e-01 5.73325045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.10, Y:95.52, Z:5.73 [[ 8.41738652e-01 5.39743488e-01 -1.23696815e-02 9.50985806e+01] [-5.39684870e-01 8.41829535e-01 7.95450460e-03 9.55222424e+01] [ 1.47065553e-02 -1.98840098e-05 9.99891853e-01 5.73287819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.13, Y:95.51, Z:5.73 [[ 8.41101646e-01 5.40729531e-01 -1.26330691e-02 9.51273284e+01] [-5.40668426e-01 8.41196513e-01 8.12889628e-03 9.55053660e+01] [ 1.50224279e-02 -6.92646518e-06 9.99887157e-01 5.73359173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.15, Y:95.49, Z:5.73 [[ 8.40361920e-01 5.41876470e-01 -1.27174894e-02 9.51542281e+01] [-5.41814606e-01 8.40458144e-01 8.18791782e-03 9.54880159e+01] [ 1.51253576e-02 9.70718189e-06 9.99885605e-01 5.73289515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.18, Y:95.47, Z:5.73 [[ 8.40513049e-01 5.41641119e-01 -1.27558665e-02 9.51806908e+01] [-5.41578784e-01 8.40609837e-01 8.21724374e-03 9.54700849e+01] [ 1.51735040e-02 1.60606891e-06 9.99884876e-01 5.73274865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.21, Y:95.45, Z:5.73 [[ 8.41524746e-01 5.40039269e-01 -1.39172689e-02 9.52059312e+01] [-5.39964774e-01 8.41639820e-01 8.96971566e-03 9.54508208e+01] [ 1.65573264e-02 -3.34027368e-05 9.99862918e-01 5.73290673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.23, Y:95.43, Z:5.73 [[ 8.42008759e-01 5.39261597e-01 -1.47708881e-02 9.52315502e+01] [-5.39177517e-01 8.42138306e-01 9.52254783e-03 9.54325049e+01] [ 1.75742751e-02 -5.39379076e-05 9.99845559e-01 5.73163141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.26, Y:95.41, Z:5.73 [[ 8.43150353e-01 5.37456849e-01 -1.54148535e-02 9.52579266e+01] [-5.37364882e-01 8.43291246e-01 9.94273287e-03 9.54140099e+01] [ 1.83430009e-02 -9.98177801e-05 9.99831748e-01 5.73122432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.29, Y:95.40, Z:5.73 [[ 8.43008491e-01 5.37679410e-01 -1.54122288e-02 9.52851556e+01] [-5.37587406e-01 8.43149359e-01 9.94680094e-03 9.53963552e+01] [ 1.83430009e-02 -9.98175327e-05 9.99831748e-01 5.73122456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.31, Y:95.38, Z:5.73 [[ 8.43397561e-01 5.37074181e-01 -1.52275493e-02 9.53126474e+01] [-5.36984168e-01 8.43535008e-01 9.83328194e-03 9.53783443e+01] [ 1.81261728e-02 -1.16413126e-04 9.99835701e-01 5.73050182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.34, Y:95.36, Z:5.73 [[ 8.44035855e-01 5.36065811e-01 -1.53922574e-02 9.53382310e+01] [-5.35973575e-01 8.44176181e-01 9.94492553e-03 9.53590036e+01] [ 1.83249116e-02 -1.44030510e-04 9.99832074e-01 5.73337458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.100385723 meters Centerline goodness [0,1] 0.9999790202454631 Centerline is valid? [True, True] Translation: X:95.36, Y:95.34, Z:5.73 [[ 8.44128817e-01 5.35929717e-01 -1.50292694e-02 9.53630829e+01] [-5.35841693e-01 8.44262588e-01 9.71406579e-03 9.53390639e+01] [ 1.78947064e-02 -1.46613707e-04 9.99839866e-01 5.73177058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.39, Y:95.32, Z:5.73 [[ 8.44111390e-01 5.35942582e-01 -1.55406123e-02 9.53884502e+01] [-5.35848370e-01 8.44254419e-01 1.00498842e-02 9.53192242e+01] [ 1.85063915e-02 -1.55809983e-04 9.99828730e-01 5.73457650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.41, Y:95.30, Z:5.73 [[ 8.44090417e-01 5.35963282e-01 -1.59602092e-02 9.54147339e+01] [-5.35863807e-01 8.44241277e-01 1.03270422e-02 9.53003596e+01] [ 1.90091828e-02 -1.64458863e-04 9.99819296e-01 5.73370121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.44, Y:95.28, Z:5.73 [[ 8.44345494e-01 5.35557362e-01 -1.60934130e-02 9.54418261e+01] [-5.35456024e-01 8.44498833e-01 1.04195740e-02 9.52810498e+01] [ 1.91711481e-02 -1.80405421e-04 9.99816200e-01 5.73402911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.47, Y:95.26, Z:5.73 [[ 8.44512628e-01 5.35291222e-01 -1.61780198e-02 9.54688840e+01] [-5.35188644e-01 8.44667550e-01 1.04806945e-02 9.52615184e+01] [ 1.92752721e-02 -1.92786336e-04 9.99814196e-01 5.73451601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.49, Y:95.24, Z:5.74 [[ 8.44616541e-01 5.35156884e-01 -1.51660288e-02 9.54948683e+01] [-5.35066621e-01 8.44752671e-01 9.83037754e-03 9.52426479e+01] [ 1.80723376e-02 -1.88063666e-04 9.99836664e-01 5.73583330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.280385723 meters Centerline goodness [0,1] 0.9999149623708491 Centerline is valid? [True, True] Translation: X:95.52, Y:95.22, Z:5.74 [[ 8.44921783e-01 5.34649128e-01 -1.60465043e-02 9.55187190e+01] [-5.34547887e-01 8.45074117e-01 1.04063604e-02 9.52213561e+01] [ 1.91242370e-02 -2.14935623e-04 9.99817092e-01 5.73605731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.54, Y:95.20, Z:5.74 [[ 8.44262763e-01 5.35731867e-01 -1.45517812e-02 9.55423305e+01] [-5.35648688e-01 8.44388143e-01 9.44175753e-03 9.52013251e+01] [ 1.73456019e-02 -1.76681810e-04 9.99849538e-01 5.73800995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.57, Y:95.18, Z:5.74 [[ 8.43855330e-01 5.36379480e-01 -1.43260252e-02 9.55683166e+01] [-5.36298872e-01 8.43976911e-01 9.30021482e-03 9.51831029e+01] [ 1.70792789e-02 -1.65004694e-04 9.99854125e-01 5.73815473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.59, Y:95.16, Z:5.74 [[ 8.42889583e-01 5.37922409e-01 -1.32902978e-02 9.55943293e+01] [-5.37853155e-01 8.42994345e-01 8.63242306e-03 9.51643265e+01] [ 1.58472197e-02 -1.27950872e-04 9.99874417e-01 5.73830354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.62, Y:95.15, Z:5.74 [[ 8.42510137e-01 5.38512645e-01 -1.34462252e-02 9.56201869e+01] [-5.38441752e-01 8.42617420e-01 8.73864539e-03 9.51460151e+01] [ 1.60358946e-02 -1.22388264e-04 9.99871409e-01 5.73759106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.65, Y:95.13, Z:5.74 [[ 8.42266494e-01 5.38885734e-01 -1.37593200e-02 9.56454880e+01] [-5.38811468e-01 8.42378864e-01 8.94714053e-03 9.51272115e+01] [ 1.64120468e-02 -1.22197270e-04 9.99865306e-01 5.73672291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.67, Y:95.11, Z:5.74 [[ 8.42541402e-01 5.38446736e-01 -1.41102199e-02 9.56700272e+01] [-5.38368491e-01 8.42659536e-01 9.18009085e-03 9.51064661e+01] [ 1.68331013e-02 -1.38108820e-04 9.99858304e-01 5.73805292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.69, Y:95.09, Z:5.74 [[ 8.42829002e-01 5.38009843e-01 -1.35898015e-02 9.56940903e+01] [-5.37937127e-01 8.42938544e-01 8.84640592e-03 9.50851468e+01] [ 1.62148210e-02 -1.45548665e-04 9.99868521e-01 5.73808630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.72, Y:95.07, Z:5.74 [[ 8.42540293e-01 5.38450351e-01 -1.40382893e-02 9.57205947e+01] [-5.38372727e-01 8.42657225e-01 9.14376897e-03 9.50660295e+01] [ 1.67529315e-02 -1.46161700e-04 9.99859649e-01 5.73851241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.75, Y:95.05, Z:5.74 [[ 8.41544448e-01 5.39994186e-01 -1.44644753e-02 9.57473946e+01] [-5.39911905e-01 8.41668737e-01 9.42718794e-03 9.50469728e+01] [ 1.72649234e-02 -1.23855249e-04 9.99850942e-01 5.73936806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.77, Y:95.03, Z:5.74 [[ 8.40850939e-01 5.41062315e-01 -1.48751513e-02 9.57739792e+01] [-5.40975362e-01 8.40982497e-01 9.70042037e-03 9.50284515e+01] [ 1.77582738e-02 -1.09517200e-04 9.99842303e-01 5.73869030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.80, Y:95.01, Z:5.74 [[ 8.40365868e-01 5.41820385e-01 -1.46928060e-02 9.57992787e+01] [-5.41735617e-01 8.40494296e-01 9.58436730e-03 9.50105391e+01] [ 1.75422252e-02 -9.47588306e-05 9.99846119e-01 5.73762445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.82, Y:94.99, Z:5.74 [[ 8.39699352e-01 5.42835171e-01 -1.53289308e-02 9.58245165e+01] [-5.42742959e-01 8.39839253e-01 1.00055026e-02 9.49893456e+01] [ 1.83051765e-02 -8.19448130e-05 9.99832443e-01 5.73847685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.85, Y:94.97, Z:5.74 [[ 8.39681299e-01 5.42847191e-01 -1.58821531e-02 9.58466753e+01] [-5.42748107e-01 8.39831483e-01 1.03717666e-02 9.49672232e+01] [ 1.89686165e-02 -8.89699409e-05 9.99820076e-01 5.73661114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.87, Y:94.95, Z:5.74 [[ 8.39581149e-01 5.42985902e-01 -1.64257171e-02 9.58724247e+01] [-5.42879838e-01 8.39741806e-01 1.07322117e-02 9.49471025e+01] [ 1.96208010e-02 -9.33720159e-05 9.99807489e-01 5.73646646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.90, Y:94.93, Z:5.74 [[ 8.39467800e-01 5.43154268e-01 -1.66509537e-02 9.58986861e+01] [-5.43045177e-01 8.39632915e-01 1.08859221e-02 9.49268967e+01] [ 1.98934238e-02 -9.61609884e-05 9.99802102e-01 5.73764807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.760385723 meters Centerline goodness [0,1] 0.9999783802481947 Centerline is valid? [True, True] Translation: X:95.92, Y:94.91, Z:5.74 [[ 8.39204313e-01 5.43586557e-01 -1.58042844e-02 9.59231342e+01] [-5.43488255e-01 8.39353112e-01 1.03377920e-02 9.49052782e+01] [ 1.88848601e-02 -8.60766338e-05 9.99821661e-01 5.73848526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.95, Y:94.89, Z:5.74 [[ 8.38952458e-01 5.44002372e-01 -1.48388607e-02 9.59472918e+01] [-5.43915695e-01 8.39083675e-01 9.71096896e-03 9.48862046e+01] [ 1.77338359e-02 -7.59520582e-05 9.99842740e-01 5.73729462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.97, Y:94.86, Z:5.74 [[ 8.38341653e-01 5.44982791e-01 -1.33052946e-02 9.59722254e+01] [-5.44913158e-01 8.38447228e-01 8.71180537e-03 9.48649485e+01] [ 1.59035714e-02 -5.32392069e-05 9.99873529e-01 5.74053000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.00, Y:94.85, Z:5.74 [[ 8.38011350e-01 5.45507626e-01 -1.25859810e-02 9.59966649e+01] [-5.45445320e-01 8.38105857e-01 8.24470335e-03 9.48463057e+01] [ 1.50459330e-02 -4.41905435e-05 9.99886803e-01 5.73933773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.880385723 meters Centerline goodness [0,1] 0.9999348307772516 Centerline is valid? [True, True] Translation: X:96.02, Y:94.83, Z:5.74 [[ 8.37440076e-01 5.46400203e-01 -1.18717069e-02 9.60218709e+01] [-5.46344800e-01 8.37524219e-01 7.78088417e-03 9.48261197e+01] [ 1.41943187e-02 -2.99789087e-05 9.99899255e-01 5.74250143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.05, Y:94.81, Z:5.74 [[ 8.36890277e-01 5.47232902e-01 -1.22807417e-02 9.60480594e+01] [-5.47173634e-01 8.36980377e-01 8.05379072e-03 9.48067697e+01] [ 1.46860390e-02 -2.04411025e-05 9.99892154e-01 5.74229383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.07, Y:94.79, Z:5.74 [[ 8.36520265e-01 5.47795161e-01 -1.24221140e-02 9.60721971e+01] [-5.47734515e-01 8.36612492e-01 8.15104410e-03 9.47861807e+01] [ 1.48575983e-02 -1.44929721e-05 9.99889620e-01 5.74070878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.10, Y:94.77, Z:5.74 [[ 8.36485252e-01 5.47843992e-01 -1.26247606e-02 9.60986908e+01] [-5.47781281e-01 8.36580516e-01 8.28903345e-03 9.47666462e+01] [ 1.51027259e-02 -1.80466894e-05 9.99885947e-01 5.74227140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.000385723 meters Centerline goodness [0,1] 0.9999348449309357 Centerline is valid? [True, True] Translation: X:96.12, Y:94.75, Z:5.74 [[ 8.36686708e-01 5.47533381e-01 -1.27494866e-02 9.61235656e+01] [-5.47469317e-01 8.36783841e-01 8.37564449e-03 9.47455563e+01] [ 1.52545093e-02 -2.78376925e-05 9.99883643e-01 5.74138633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.030385723 meters Centerline goodness [0,1] 0.9999782551970079 Centerline is valid? [True, True] Translation: X:96.15, Y:94.73, Z:5.74 [[ 8.36810960e-01 5.47351061e-01 -1.24191138e-02 9.61496720e+01] [-5.47290180e-01 8.36903110e-01 8.16356379e-03 9.47256809e+01] [ 1.48619303e-02 -3.45006167e-05 9.99889555e-01 5.74195541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.060385723 meters Centerline goodness [0,1] 0.9999782144568864 Centerline is valid? [True, True] Translation: X:96.17, Y:94.70, Z:5.74 [[ 8.36854024e-01 5.47290398e-01 -1.21886292e-02 9.61739730e+01] [-5.47231683e-01 8.36942781e-01 8.01658559e-03 9.47038456e+01] [ 1.45885856e-02 -3.87078162e-05 9.99893580e-01 5.74225541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.20, Y:94.68, Z:5.74 [[ 8.36901690e-01 5.47221434e-01 -1.20109955e-02 9.62004128e+01] [-5.47164343e-01 8.36987873e-01 7.90452245e-03 9.46840668e+01] [ 1.43785817e-02 -4.33197429e-05 9.99896622e-01 5.74294529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.22, Y:94.66, Z:5.74 [[ 8.37212953e-01 5.46754636e-01 -1.15688790e-02 9.62249706e+01] [-5.46701567e-01 8.37292879e-01 7.61783880e-03 9.46633188e+01] [ 1.38516287e-02 -5.30290600e-05 9.99904060e-01 5.74261616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.25, Y:94.64, Z:5.74 [[ 8.37415775e-01 5.46446031e-01 -1.14697581e-02 9.62511381e+01] [-5.46393777e-01 8.37494317e-01 7.55707638e-03 9.46440527e+01] [ 1.37353916e-02 -6.14105093e-05 9.99905663e-01 5.74274018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.28, Y:94.62, Z:5.74 [[ 8.38086393e-01 5.45396214e-01 -1.24164244e-02 9.62751686e+01] [-5.45334803e-01 8.38178360e-01 8.18474894e-03 9.46231331e+01] [ 1.48711093e-02 -8.84183764e-05 9.99889415e-01 5.74158836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.30, Y:94.60, Z:5.74 [[ 8.38827205e-01 5.44234026e-01 -1.33508718e-02 9.62988739e+01] [-5.44162809e-01 8.38933436e-01 8.80495657e-03 9.46016001e+01] [ 1.59924497e-02 -1.20789202e-04 9.99872105e-01 5.74040579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.32, Y:94.58, Z:5.74 [[ 8.38972432e-01 5.44012702e-01 -1.32453118e-02 9.63240897e+01] [-5.43942502e-01 8.39076971e-01 8.74017254e-03 9.45813123e+01] [ 1.58686010e-02 -1.28075768e-04 9.99874078e-01 5.74000641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.35, Y:94.56, Z:5.74 [[ 8.39011191e-01 5.43953093e-01 -1.32383512e-02 9.63502714e+01] [-5.43882875e-01 8.39115615e-01 8.74087483e-03 9.45610621e+01] [ 1.58631331e-02 -1.33579308e-04 9.99874164e-01 5.74128304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.37, Y:94.54, Z:5.74 [[ 8.39316636e-01 5.43492064e-01 -1.28047270e-02 9.63748097e+01] [-5.43426245e-01 8.39414294e-01 8.45934235e-03 9.45404119e+01] [ 1.53460563e-02 -1.41642086e-04 9.99882232e-01 5.74141252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.330385723 meters Centerline goodness [0,1] 0.9999557453587945 Centerline is valid? [True, True] Translation: X:96.40, Y:94.52, Z:5.74 [[ 8.39373767e-01 5.43412061e-01 -1.24503443e-02 9.64012723e+01] [-5.43349753e-01 8.39466087e-01 8.23009346e-03 9.45211424e+01] [ 1.49239739e-02 -1.43233025e-04 9.99888621e-01 5.74134681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.43, Y:94.50, Z:5.74 [[ 8.39614346e-01 5.43050520e-01 -1.19950968e-02 9.64268487e+01] [-5.42992581e-01 8.39700013e-01 7.93384453e-03 9.45004118e+01] [ 1.43807613e-02 -1.48121125e-04 9.99896581e-01 5.74225202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.45, Y:94.48, Z:5.74 [[ 8.39630001e-01 5.43028186e-01 -1.19101376e-02 9.64522844e+01] [-5.42971001e-01 8.39714456e-01 7.88198121e-03 9.44810979e+01] [ 1.42812527e-02 -1.51088559e-04 9.99898006e-01 5.74244008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.48, Y:94.46, Z:5.74 [[ 8.39903692e-01 5.42622180e-01 -1.10886476e-02 9.64780577e+01] [-5.42572519e-01 8.39976873e-01 7.34261949e-03 9.44599376e+01] [ 1.32984758e-02 -1.50697732e-04 9.99911560e-01 5.74391902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.50, Y:94.44, Z:5.74 [[ 8.39656088e-01 5.43021219e-01 -1.02766108e-02 9.65043693e+01] [-5.42978553e-01 8.39718963e-01 6.80838105e-03 9.44413422e+01] [ 1.23265604e-02 -1.36719319e-04 9.99924016e-01 5.74418934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.53, Y:94.42, Z:5.74 [[ 8.39388647e-01 5.43431567e-01 -1.04321657e-02 9.65320625e+01] [-5.43387581e-01 8.39453461e-01 6.91549775e-03 9.44226675e+01] [ 1.25154174e-02 -1.36081034e-04 9.99921670e-01 5.74389442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.510385723 meters Centerline goodness [0,1] 0.9999777654252362 Centerline is valid? [True, True] Translation: X:96.56, Y:94.40, Z:5.74 [[ 8.38986781e-01 5.44052577e-01 -1.03910515e-02 9.65590702e+01] [-5.44008934e-01 8.39051117e-01 6.89226870e-03 9.44039407e+01] [ 1.24683799e-02 -1.29697480e-04 9.99922258e-01 5.74371668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.59, Y:94.39, Z:5.74 [[ 8.38532779e-01 5.44765934e-01 -9.63613824e-03 9.65858777e+01] [-5.44728411e-01 8.38588138e-01 6.39485980e-03 9.43854972e+01] [ 1.15644530e-02 -1.13221295e-04 9.99933123e-01 5.74492543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.61, Y:94.37, Z:5.74 [[ 8.38192047e-01 5.45294274e-01 -9.39402027e-03 9.66134062e+01] [-5.45258604e-01 8.38244680e-01 6.23786072e-03 9.43673052e+01] [ 1.12759572e-02 -1.06354857e-04 9.99936419e-01 5.74494733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.64, Y:94.35, Z:5.75 [[ 8.37845298e-01 5.45835875e-01 -8.85740773e-03 9.66401255e+01] [-5.45804163e-01 8.37892110e-01 5.88455346e-03 9.43496471e+01] [ 1.06335524e-02 -9.59354383e-05 9.99943458e-01 5.74534161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.67, Y:94.33, Z:5.75 [[ 8.37658778e-01 5.46121765e-01 -8.87631459e-03 9.66677084e+01] [-5.46089896e-01 8.37705801e-01 5.90058274e-03 9.43313986e+01] [ 1.06581769e-02 -9.54092189e-05 9.99943196e-01 5.74576564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.660385723 meters Centerline goodness [0,1] 0.9998443787376893 Centerline is valid? [True, True] Translation: X:96.70, Y:94.31, Z:5.74 [[ 8.37249671e-01 5.46743883e-01 -9.17137437e-03 9.66952038e+01] [-5.46709858e-01 8.37299897e-01 6.10028763e-03 9.43134619e+01] [ 1.10144858e-02 -9.33830348e-05 9.99939334e-01 5.74473536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.72, Y:94.30, Z:5.75 [[ 8.36986709e-01 5.47146946e-01 -9.13609254e-03 9.67227277e+01] [-5.47113166e-01 8.37036565e-01 6.08043006e-03 9.42960449e+01] [ 1.09741322e-02 -9.07626284e-05 9.99939778e-01 5.74506049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.75, Y:94.28, Z:5.74 [[ 8.36585356e-01 5.47756588e-01 -9.36281439e-03 9.67499011e+01] [-5.47721111e-01 8.36637743e-01 6.23475396e-03 9.42789620e+01] [ 1.12484115e-02 -8.76927635e-05 9.99936731e-01 5.74459718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.78, Y:94.26, Z:5.74 [[ 8.36431725e-01 5.47991016e-01 -9.37102281e-03 9.67765309e+01] [-5.47955453e-01 8.36484213e-01 6.24359947e-03 9.42617099e+01] [ 1.12601491e-02 -8.74416217e-05 9.99936599e-01 5.74430013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.780385723 meters Centerline goodness [0,1] 0.9999778707207506 Centerline is valid? [True, True] Translation: X:96.80, Y:94.24, Z:5.74 [[ 8.36578999e-01 5.47766569e-01 -9.34693638e-03 9.68048288e+01] [-5.47731134e-01 8.36631208e-01 6.23122049e-03 9.42441770e+01] [ 1.12331929e-02 -9.33001412e-05 9.99936901e-01 5.74487470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.83, Y:94.23, Z:5.75 [[ 8.36991075e-01 5.47141038e-01 -9.08981379e-03 9.68319244e+01] [-5.47107449e-01 8.37040426e-01 6.06340699e-03 9.42261369e+01] [ 1.09260804e-02 -1.01912705e-04 9.99940303e-01 5.74523051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.86, Y:94.21, Z:5.75 [[ 8.38221045e-01 5.45258383e-01 -8.87556301e-03 9.68565311e+01] [-5.45226236e-01 8.38268024e-01 5.92215348e-03 9.42077184e+01] [ 1.06692045e-02 -1.24883863e-04 9.99943075e-01 5.74619700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.88, Y:94.19, Z:5.75 [[ 8.38655322e-01 5.44592030e-01 -8.76201091e-03 9.68837611e+01] [-5.44560627e-01 8.38701081e-01 5.84981058e-03 9.41885409e+01] [ 1.05344682e-02 -1.34528618e-04 9.99944502e-01 5.74685731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:94.17, Z:5.75 [[ 8.39192833e-01 5.43766871e-01 -8.54276983e-03 9.69103584e+01] [-5.43736947e-01 8.39236302e-01 5.70633979e-03 9.41699061e+01] [ 1.02723211e-02 -1.43699864e-04 9.99947228e-01 5.74666931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.94, Y:94.15, Z:5.75 [[ 8.39046591e-01 5.43992523e-01 -8.54123522e-03 9.69372742e+01] [-5.43962588e-01 8.39090051e-01 5.70863653e-03 9.41518441e+01] [ 1.02723211e-02 -1.43699612e-04 9.99947228e-01 5.74666955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.96, Y:94.13, Z:5.75 [[ 8.39876716e-01 5.42705216e-01 -8.84030093e-03 9.69635160e+01] [-5.42673045e-01 8.39923223e-01 5.91150725e-03 9.41336359e+01] [ 1.06333799e-02 -1.67544268e-04 9.99943450e-01 5.74569245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.99, Y:94.12, Z:5.75 [[ 8.40122557e-01 5.42328943e-01 -8.56776457e-03 9.69919418e+01] [-5.42298670e-01 8.40166227e-01 5.73266891e-03 9.41162182e+01] [ 1.03073387e-02 -1.69857141e-04 9.99946864e-01 5.74614533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.02, Y:94.10, Z:5.75 [[ 8.39973721e-01 5.42557406e-01 -8.69530670e-03 9.70185724e+01] [-5.42526204e-01 8.40018709e-01 5.82122596e-03 9.40979194e+01] [ 1.04625696e-02 -1.72245101e-04 9.99945251e-01 5.74565421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:94.08, Z:5.75 [[ 8.39584292e-01 5.43162445e-01 -8.53082159e-03 9.70457676e+01] [-5.43132413e-01 8.39627615e-01 5.71403423e-03 9.40809461e+01] [ 1.02663622e-02 -1.64047665e-04 9.99947286e-01 5.74556947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:94.07, Z:5.75 [[ 8.39033509e-01 5.44016263e-01 -8.31123850e-03 9.70739394e+01] [-5.43987770e-01 8.39074659e-01 5.56986836e-03 9.40653485e+01] [ 1.00038486e-02 -1.52094099e-04 9.99949949e-01 5.74572129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.10, Y:94.05, Z:5.75 [[ 8.38307627e-01 5.45133380e-01 -8.36179284e-03 9.70995311e+01] [-5.45104568e-01 8.38349317e-01 5.60645236e-03 9.40483429e+01] [ 1.00663676e-02 -1.41880306e-04 9.99949323e-01 5.74656372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.13, Y:94.03, Z:5.75 [[ 8.37702406e-01 5.46063921e-01 -8.29902931e-03 9.71250728e+01] [-5.46035559e-01 8.37743503e-01 5.56699716e-03 9.40308965e+01] [ 9.99239418e-03 -1.31921804e-04 9.99950066e-01 5.74686552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.15, Y:94.01, Z:5.75 [[ 8.37250378e-01 5.46755389e-01 -8.38748958e-03 9.71529765e+01] [-5.46726420e-01 8.37292379e-01 5.62963457e-03 9.40125959e+01] [ 1.01008141e-02 -1.27751513e-04 9.99948977e-01 5.74751149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.18, Y:94.00, Z:5.75 [[ 8.36718782e-01 5.47571319e-01 -8.20556527e-03 9.71812111e+01] [-5.47543604e-01 8.36759008e-01 5.51039619e-03 9.39964811e+01] [ 9.88341556e-03 -1.17747204e-04 9.99951151e-01 5.74729505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.21, Y:93.98, Z:5.75 [[ 8.36451252e-01 5.47983150e-01 -7.98565666e-03 9.72083307e+01] [-5.47956892e-01 8.36489363e-01 5.36569210e-03 9.39802053e+01] [ 9.62022571e-03 -1.12344275e-04 9.99953718e-01 5.74657263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.23, Y:93.96, Z:5.75 [[ 8.36271751e-01 5.48261906e-01 -7.64470699e-03 9.72344368e+01] [-5.48237840e-01 8.36306685e-01 5.13808607e-03 9.39638645e+01] [ 9.21033642e-03 -1.05718583e-04 9.99957578e-01 5.74633474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.26, Y:93.95, Z:5.75 [[ 8.36397056e-01 5.48069152e-01 -7.75691446e-03 9.72614646e+01] [-5.48044336e-01 8.36433017e-01 5.21659427e-03 9.39450495e+01] [ 9.34719376e-03 -1.12011058e-04 9.99956308e-01 5.74743759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.29, Y:93.93, Z:5.75 [[ 8.37110828e-01 5.46981075e-01 -7.56081332e-03 9.72867502e+01] [-5.46957430e-01 8.37144963e-01 5.08737162e-03 9.39259707e+01] [ 9.11219278e-03 -1.23250851e-04 9.99958476e-01 5.74903381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.31, Y:93.91, Z:5.75 [[ 8.37591858e-01 5.46247364e-01 -7.32785639e-03 9.73120640e+01] [-5.46225104e-01 8.37623902e-01 4.93299958e-03 9.39082314e+01] [ 8.83262568e-03 -1.29181158e-04 9.99960983e-01 5.74938183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.34, Y:93.89, Z:5.75 [[ 8.38115833e-01 5.45453213e-01 -6.53020849e-03 9.73393354e+01] [-5.45435491e-01 8.38141263e-01 4.39862409e-03 9.38902797e+01] [ 7.87248083e-03 -1.24749017e-04 9.99969004e-01 5.74981389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.37, Y:93.87, Z:5.75 [[ 8.39392321e-01 5.43488109e-01 -6.41930430e-03 9.73670750e+01] [-5.43470909e-01 8.39416854e-01 4.32618986e-03 9.38745188e+01] [ 7.73970496e-03 -1.42665399e-04 9.99970038e-01 5.74916579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.39, Y:93.86, Z:5.75 [[ 8.39992941e-01 5.42551887e-01 -7.02207564e-03 9.73928912e+01] [-5.42531253e-01 8.40022275e-01 4.73470397e-03 9.38568126e+01] [ 8.46752252e-03 -1.67422412e-04 9.99964136e-01 5.74792582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.42, Y:93.84, Z:5.75 [[ 8.41032846e-01 5.40924617e-01 -8.01942138e-03 9.74191641e+01] [-5.40897604e-01 8.41071052e-01 5.40996625e-03 9.38381076e+01] [ 9.67128710e-03 -2.12273495e-04 9.99953210e-01 5.74758930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.45, Y:93.82, Z:5.75 [[ 8.41520263e-01 5.40162315e-01 -8.26565351e-03 9.74456928e+01] [-5.40133553e-01 8.41560824e-01 5.57897141e-03 9.38197049e+01] [ 9.96960029e-03 -2.30260691e-04 9.99950276e-01 5.74797715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.47, Y:93.80, Z:5.75 [[ 8.42308744e-01 5.38928433e-01 -8.49257731e-03 9.74728999e+01] [-5.38897977e-01 8.42351518e-01 5.73509349e-03 9.38025363e+01] [ 1.02445403e-02 -2.54086664e-04 9.99947491e-01 5.74781650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.50, Y:93.79, Z:5.75 [[ 8.42604503e-01 5.38467397e-01 -8.39723604e-03 9.75004877e+01] [-5.38437568e-01 8.42646305e-01 5.67361179e-03 9.37858074e+01] [ 1.01309549e-02 -2.59223491e-04 9.99948647e-01 5.74668382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.53, Y:93.77, Z:5.75 [[ 8.42433129e-01 5.38727386e-01 -8.90094387e-03 9.75299179e+01] [-5.38693848e-01 8.42480106e-01 6.01744118e-03 9.37698114e+01] [ 1.07406285e-02 -2.74408100e-04 9.99942280e-01 5.74548121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.56, Y:93.75, Z:5.75 [[ 8.41961894e-01 5.39460221e-01 -9.10163560e-03 9.75565637e+01] [-5.39425162e-01 8.42011043e-01 6.15622389e-03 9.37521821e+01] [ 1.09847156e-02 -2.73654666e-04 9.99939629e-01 5.74561200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.58, Y:93.73, Z:5.75 [[ 8.41184480e-01 5.40679291e-01 -8.63571281e-03 9.75824493e+01] [-5.40647765e-01 8.41228770e-01 5.84379749e-03 9.37346341e+01] [ 1.04242303e-02 -2.46832922e-04 9.99945636e-01 5.74762529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.61, Y:93.72, Z:5.75 [[ 8.40778062e-01 5.41318401e-01 -8.16325969e-03 9.76098210e+01] [-5.41290234e-01 8.40817659e-01 5.52686944e-03 9.37183476e+01] [ 9.85560903e-03 -2.28177828e-04 9.99951406e-01 5.74817982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.710385723 meters Centerline goodness [0,1] 0.9999781248632804 Centerline is valid? [True, True] Translation: X:97.64, Y:93.71, Z:5.75 [[ 8.40007466e-01 5.42519732e-01 -7.73288130e-03 9.76378661e+01] [-5.42494485e-01 8.40043034e-01 5.23791393e-03 9.37050120e+01] [ 9.33762473e-03 -2.04841352e-04 9.99956383e-01 5.74660781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.67, Y:93.69, Z:5.75 [[ 8.39438829e-01 5.43399389e-01 -7.71729049e-03 9.76658656e+01] [-5.43374256e-01 8.39474279e-01 5.22993909e-03 9.36895609e+01] [ 9.32041258e-03 -1.96836966e-04 9.99956545e-01 5.74615796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.69, Y:93.67, Z:5.75 [[ 8.38899101e-01 5.44230201e-01 -7.86044321e-03 9.76925045e+01] [-5.44204140e-01 8.38935904e-01 5.32938192e-03 9.36727672e+01] [ 9.49481862e-03 -1.93127959e-04 9.99954905e-01 5.74574412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.72, Y:93.66, Z:5.75 [[ 8.37975974e-01 5.45643230e-01 -8.35063663e-03 9.77200256e+01] [-5.45613860e-01 8.38017559e-01 5.66448795e-03 9.36563991e+01] [ 1.00887696e-02 -1.90481718e-04 9.99949089e-01 5.74681211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.830385723 meters Centerline goodness [0,1] 0.9999781716580809 Centerline is valid? [True, True] Translation: X:97.75, Y:93.64, Z:5.75 [[ 8.37125122e-01 5.46958826e-01 -7.58761467e-03 9.77493283e+01] [-5.46934608e-01 8.37159493e-01 5.14957181e-03 9.36428363e+01] [ 9.16864740e-03 -1.60906875e-04 9.99957954e-01 5.74876593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.78, Y:93.63, Z:5.75 [[ 8.36668079e-01 5.47666627e-01 -6.91306460e-03 9.77773140e+01] [-5.47646527e-01 8.36696627e-01 4.69423093e-03 9.36265699e+01] [ 8.35501145e-03 -1.41597361e-04 9.99965086e-01 5.74940399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.80, Y:93.61, Z:5.75 [[ 8.36304309e-01 5.48225216e-01 -6.64947635e-03 9.78024486e+01] [-5.48206619e-01 8.36330733e-01 4.51742817e-03 9.36089191e+01] [ 8.03772946e-03 -1.32657690e-04 9.99967688e-01 5.74835231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.83, Y:93.59, Z:5.75 [[ 8.36114757e-01 5.48519860e-01 -6.17063238e-03 9.78304740e+01] [-5.48503837e-01 8.36137518e-01 4.19429012e-03 9.35940437e+01] [ 7.46014867e-03 -1.22292326e-04 9.99972165e-01 5.74767989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.86, Y:93.58, Z:5.75 [[ 8.35978784e-01 5.48723004e-01 -6.52202391e-03 9.78598412e+01] [-5.48705091e-01 8.36004215e-01 4.43575138e-03 9.35793097e+01] [ 7.88643830e-03 -1.29526323e-04 9.99968893e-01 5.74852670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.89, Y:93.56, Z:5.75 [[ 8.35589511e-01 5.49307397e-01 -7.18006946e-03 9.78882943e+01] [-5.49285683e-01 8.35620347e-01 4.88615818e-03 9.35631363e+01] [ 8.68381497e-03 -1.38913168e-04 9.99962285e-01 5.74760941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.92, Y:93.54, Z:5.75 [[ 8.35666508e-01 5.49184231e-01 -7.62674926e-03 9.79158612e+01] [-5.49159698e-01 8.35701297e-01 5.19314566e-03 9.35447193e+01] [ 9.22567795e-03 -1.51434577e-04 9.99957431e-01 5.74743697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.94, Y:93.53, Z:5.75 [[ 8.35786154e-01 5.48999146e-01 -7.83853857e-03 9.79413774e+01] [-5.48973209e-01 8.35822895e-01 5.33884788e-03 9.35274749e+01] [ 9.48265293e-03 -1.58987461e-04 9.99955026e-01 5.74755916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.97, Y:93.51, Z:5.75 [[ 8.36296886e-01 5.48220304e-01 -7.87511424e-03 9.79699151e+01] [-5.48194064e-01 8.36333946e-01 5.36646254e-03 9.35120599e+01] [ 9.52822910e-03 -1.70865034e-04 9.99954591e-01 5.74684969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.00, Y:93.50, Z:5.75 [[ 8.36589773e-01 5.47771631e-01 -7.98698435e-03 9.79981414e+01] [-5.47744593e-01 8.36627879e-01 5.44550127e-03 9.34963095e+01] [ 9.66502489e-03 -1.80823184e-04 9.99953276e-01 5.74685226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.03, Y:93.48, Z:5.75 [[ 8.36928990e-01 5.47247737e-01 -8.35341187e-03 9.80261635e+01] [-5.47218105e-01 8.36970654e-01 5.69831697e-03 9.34809573e+01] [ 1.01099517e-02 -1.97948456e-04 9.99948874e-01 5.74669779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.05, Y:93.46, Z:5.74 [[ 8.37116964e-01 5.46954006e-01 -8.74663645e-03 9.80489261e+01] [-5.46921472e-01 8.37162630e-01 5.96943642e-03 9.34590337e+01] [ 1.05873643e-02 -2.13393212e-04 9.99943930e-01 5.74346594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.190385723 meters Centerline goodness [0,1] 0.9999354783207157 Centerline is valid? [True, True] Translation: X:98.08, Y:93.45, Z:5.75 [[ 8.37204209e-01 5.46818711e-01 -8.85492334e-03 9.80790693e+01] [-5.46785320e-01 8.37251007e-01 6.04688805e-03 9.34453272e+01] [ 1.07203450e-02 -2.20738030e-04 9.99942511e-01 5.74626905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.11, Y:93.43, Z:5.75 [[ 8.37719841e-01 5.46024913e-01 -9.06984817e-03 9.81059603e+01] [-5.45989804e-01 8.37768904e-01 6.19658387e-03 9.34300455e+01] [ 1.09819259e-02 -2.38956630e-04 9.99939668e-01 5.74638737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.13, Y:93.41, Z:5.75 [[ 8.37836546e-01 5.45849317e-01 -8.85696245e-03 9.81333735e+01] [-5.45815789e-01 8.37883325e-01 6.05463399e-03 9.34126447e+01] [ 1.07260190e-02 -2.38523681e-04 9.99942446e-01 5.74641712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.16, Y:93.40, Z:5.75 [[ 8.37860746e-01 5.45824833e-01 -8.03884743e-03 9.81618633e+01] [-5.45797181e-01 8.37899280e-01 5.49851644e-03 9.33952303e+01] [ 9.73697129e-03 -2.19410820e-04 9.99952571e-01 5.74799878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.19, Y:93.38, Z:5.75 [[ 8.37611465e-01 5.46208801e-01 -7.93604237e-03 9.81896436e+01] [-5.46181838e-01 8.37649032e-01 5.43133142e-03 9.33782728e+01] [ 9.61425923e-03 -2.14823250e-04 9.99953759e-01 5.74882087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.22, Y:93.36, Z:5.75 [[ 8.37302466e-01 5.46691533e-01 -7.27659706e-03 9.82190327e+01] [-5.46668861e-01 8.37334061e-01 4.98261879e-03 9.33647116e+01] [ 8.81689808e-03 -1.94069976e-04 9.99961112e-01 5.74985383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.25, Y:93.35, Z:5.75 [[ 8.37183116e-01 5.46879016e-01 -6.91173232e-03 9.82468516e+01] [-5.46858544e-01 8.37211626e-01 4.73560501e-03 9.33478590e+01] [ 8.37638567e-03 -1.84828691e-04 9.99964900e-01 5.75003168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.27, Y:93.33, Z:5.75 [[ 8.37183089e-01 5.46877826e-01 -7.00846736e-03 9.82740822e+01] [-5.46856753e-01 8.37212403e-01 4.80455173e-03 9.33310339e+01] [ 8.49507861e-03 -1.89661751e-04 9.99963898e-01 5.74924278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.30, Y:93.31, Z:5.75 [[ 8.37056849e-01 5.47067313e-01 -7.29292349e-03 9.83034295e+01] [-5.47044475e-01 8.37088595e-01 5.00253597e-03 9.33148011e+01] [ 8.84154699e-03 -1.97853488e-04 9.99960893e-01 5.74985791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.460385723 meters Centerline goodness [0,1] 0.9999362014333412 Centerline is valid? [True, True] Translation: X:98.33, Y:93.30, Z:5.75 [[ 8.36675658e-01 5.47642834e-01 -7.82113305e-03 9.83318823e+01] [-5.47616564e-01 8.36712186e-01 5.36807269e-03 9.32972002e+01] [ 9.48382388e-03 -2.08353748e-04 9.99955006e-01 5.74975020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.36, Y:93.28, Z:5.75 [[ 8.36114109e-01 5.48489713e-01 -8.49890162e-03 9.83593339e+01] [-5.48458706e-01 8.36157274e-01 5.83607500e-03 9.32818073e+01] [ 1.03074455e-02 -2.18328067e-04 9.99946853e-01 5.74928303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.39, Y:93.27, Z:5.75 [[ 8.35564666e-01 5.49323008e-01 -8.71329954e-03 9.83856796e+01] [-5.49290433e-01 8.35610069e-01 5.98614572e-03 9.32659330e+01] [ 1.05692484e-02 -2.15679776e-04 9.99944121e-01 5.74906336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.42, Y:93.25, Z:5.75 [[ 8.34009620e-01 5.51678015e-01 -8.90630251e-03 9.84158920e+01] [-5.51644096e-01 8.34057151e-01 6.12046956e-03 9.32524571e+01] [ 1.08048938e-02 -1.91421294e-04 9.99941607e-01 5.74979140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.44, Y:93.24, Z:5.75 [[ 8.33121883e-01 5.53013212e-01 -9.18235851e-03 9.84421418e+01] [-5.52977205e-01 8.33172464e-01 6.31320588e-03 9.32360560e+01] [ 1.11417745e-02 -1.82035021e-04 9.99937912e-01 5.74926675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.47, Y:93.22, Z:5.75 [[ 8.32336000e-01 5.54191899e-01 -9.38728532e-03 9.84702051e+01] [-5.54154304e-01 8.32388917e-01 6.45741855e-03 9.32197959e+01] [ 1.13925213e-02 -1.72737365e-04 9.99935088e-01 5.74932837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.50, Y:93.20, Z:5.75 [[ 8.30820937e-01 5.56463634e-01 -9.20845360e-03 9.84981083e+01] [-5.56427560e-01 8.30871954e-01 6.33763330e-03 9.32046859e+01] [ 1.11777083e-02 -1.41601062e-04 9.99937517e-01 5.74857354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.53, Y:93.19, Z:5.75 [[ 8.30124567e-01 5.57502272e-01 -9.18804588e-03 9.85254991e+01] [-5.57466385e-01 8.30175403e-01 6.32688444e-03 9.31883205e+01] [ 1.11549421e-02 -1.30075483e-04 9.99937773e-01 5.74916154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.55, Y:93.17, Z:5.75 [[ 8.29739555e-01 5.58068963e-01 -9.55530795e-03 9.85520643e+01] [-5.58030159e-01 8.29794562e-01 6.58222173e-03 9.31699874e+01] [ 1.16022762e-02 -1.29379712e-04 9.99932683e-01 5.74806921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.58, Y:93.15, Z:5.75 [[ 8.29231568e-01 5.58812750e-01 -1.01644573e-02 9.85807724e+01] [-5.58768846e-01 8.29293852e-01 7.00592818e-03 9.31528493e+01] [ 1.23443240e-02 -1.29954724e-04 9.99923798e-01 5.74777694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.61, Y:93.13, Z:5.75 [[ 8.29107321e-01 5.58995741e-01 -1.02377566e-02 9.86077882e+01] [-5.58951163e-01 8.29170516e-01 7.06067659e-03 9.31344959e+01] [ 1.24357341e-02 -1.31652691e-04 9.99922665e-01 5.74864023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.63, Y:93.12, Z:5.75 [[ 8.28858370e-01 5.59379027e-01 -9.42903563e-03 9.86332366e+01] [-5.59341200e-01 8.28911992e-01 6.50630454e-03 9.31156979e+01] [ 1.14553310e-02 -1.18756866e-04 9.99934379e-01 5.75006548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.66, Y:93.10, Z:5.75 [[ 8.28703521e-01 5.59608436e-01 -9.42723457e-03 9.86599023e+01] [-5.59570594e-01 8.28757132e-01 6.50891390e-03 9.30972284e+01] [ 1.14553310e-02 -1.18756614e-04 9.99934379e-01 5.75006572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.69, Y:93.08, Z:5.75 [[ 8.28398380e-01 5.60071889e-01 -8.69501155e-03 9.86865947e+01] [-5.60039690e-01 8.28444004e-01 6.00646890e-03 9.30792751e+01] [ 1.05673846e-02 -1.06197535e-04 9.99944158e-01 5.75095662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.71, Y:93.06, Z:5.75 [[ 8.27922338e-01 5.60779828e-01 -8.40165976e-03 9.87137021e+01] [-5.60749770e-01 8.27964960e-01 5.80684327e-03 9.30623150e+01] [ 1.02126405e-02 -9.63864701e-05 9.99947845e-01 5.75151157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.74, Y:93.05, Z:5.75 [[ 8.26861840e-01 5.62344501e-01 -8.25592737e-03 9.87414476e+01] [-5.62315525e-01 8.26903051e-01 5.70910711e-03 9.30459598e+01] [ 1.00373365e-02 -7.82066706e-05 9.99949622e-01 5.75103721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.77, Y:93.03, Z:5.75 [[ 8.26014578e-01 5.63582974e-01 -8.61087751e-03 9.87683671e+01] [-5.63551484e-01 8.26059457e-01 5.95810698e-03 9.30276426e+01] [ 1.04709845e-02 -6.88104294e-05 9.99945175e-01 5.75080747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.79, Y:93.01, Z:5.75 [[ 8.24797039e-01 5.65365856e-01 -8.44358416e-03 9.87944978e+01] [-5.65335641e-01 8.24840255e-01 5.84515320e-03 9.30101295e+01] [ 1.02692582e-02 -4.76059892e-05 9.99947269e-01 5.75121089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.82, Y:92.99, Z:5.75 [[ 8.24291150e-01 5.66107651e-01 -8.13807295e-03 9.88207712e+01] [-5.66079589e-01 8.24331320e-01 5.63675588e-03 9.29916927e+01] [ 9.89947905e-03 -3.95309883e-05 9.99950998e-01 5.75132924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.85, Y:92.97, Z:5.75 [[ 8.23934203e-01 5.66628302e-01 -8.04966599e-03 9.88476203e+01] [-5.66600839e-01 8.23973523e-01 5.57882178e-03 9.29730280e+01] [ 9.79382995e-03 -3.56345816e-05 9.99952039e-01 5.75152255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.87, Y:92.95, Z:5.75 [[ 8.24401024e-01 5.65951568e-01 -7.85969700e-03 9.88743997e+01] [-5.65925324e-01 8.24438488e-01 5.45041633e-03 9.29529962e+01] [ 9.56450838e-03 -4.53272226e-05 9.99954258e-01 5.75148231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.90, Y:92.93, Z:5.75 [[ 8.24713448e-01 5.65493218e-01 -8.07156341e-03 9.89007800e+01] [-5.65465485e-01 8.24752944e-01 5.60066840e-03 9.29331323e+01] [ 9.82418568e-03 -5.47560272e-05 9.99951740e-01 5.75133654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.92, Y:92.91, Z:5.75 [[ 8.26069698e-01 5.63504740e-01 -8.44169775e-03 9.89248450e+01] [-5.63474270e-01 8.26112826e-01 5.86057527e-03 9.29122632e+01] [ 1.02762567e-02 -8.45641663e-05 9.99947194e-01 5.75144106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.95, Y:92.89, Z:5.75 [[ 8.26653907e-01 5.62648676e-01 -8.35377022e-03 9.89490574e+01] [-5.62618761e-01 8.26696110e-01 5.80277578e-03 9.28919618e+01] [ 1.01709535e-02 -9.68994205e-05 9.99948270e-01 5.75095534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.97, Y:92.87, Z:5.75 [[ 8.27290515e-01 5.61703601e-01 -8.91454606e-03 9.89744548e+01] [-5.61669446e-01 8.27338534e-01 6.19543393e-03 9.28718094e+01] [ 1.08553450e-02 -1.18395585e-04 9.99941072e-01 5.75080602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.210385723 meters Centerline goodness [0,1] 0.9999364352911264 Centerline is valid? [True, True] Translation: X:99.00, Y:92.85, Z:5.75 [[ 8.28732856e-01 5.59566669e-01 -9.32721445e-03 9.89996414e+01] [-5.59529104e-01 8.28785327e-01 6.48556709e-03 9.28517604e+01] [ 1.13593657e-02 -1.55954592e-04 9.99935468e-01 5.75072283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.02, Y:92.83, Z:5.75 [[ 8.29279039e-01 5.58757555e-01 -9.28814040e-03 9.90243901e+01] [-5.58720234e-01 8.29331035e-01 6.46021308e-03 9.28328696e+01] [ 1.13126360e-02 -1.67847322e-04 9.99935996e-01 5.75069402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.05, Y:92.81, Z:5.75 [[ 8.30186332e-01 5.57412037e-01 -9.08164161e-03 9.90491644e+01] [-5.57376243e-01 8.30235983e-01 6.31955117e-03 9.28133169e+01] [ 1.10624995e-02 -1.84513723e-04 9.99938792e-01 5.75047920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.08, Y:92.79, Z:5.75 [[ 8.30416659e-01 5.57070485e-01 -8.98034740e-03 9.90762820e+01] [-5.57035426e-01 8.30465194e-01 6.25264433e-03 9.27938287e+01] [ 1.09410296e-02 -1.89928377e-04 9.99940127e-01 5.75041904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.10, Y:92.78, Z:5.75 [[ 8.30656577e-01 5.56712519e-01 -8.99013356e-03 9.91026677e+01] [-5.56677328e-01 8.30705202e-01 6.26261526e-03 9.27753781e+01] [ 1.09546270e-02 -1.97479035e-04 9.99939977e-01 5.75059727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.13, Y:92.75, Z:5.75 [[ 8.30684120e-01 5.56669104e-01 -9.13238935e-03 9.91275094e+01] [-5.56632750e-01 8.30734294e-01 6.36512610e-03 9.27549090e+01] [ 1.11298581e-02 -2.04022175e-04 9.99938040e-01 5.74996675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.15, Y:92.74, Z:5.75 [[ 8.30337573e-01 5.57185407e-01 -9.16169510e-03 9.91540145e+01] [-5.57148810e-01 8.30388091e-01 6.38916335e-03 9.27354731e+01] [ 1.11677111e-02 -2.00734866e-04 9.99937619e-01 5.75010210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.18, Y:92.72, Z:5.75 [[ 8.29910244e-01 5.57827179e-01 -8.82186960e-03 9.91784812e+01] [-5.57793253e-01 8.29957110e-01 6.15498136e-03 9.27164568e+01] [ 1.07551893e-02 -1.87302746e-04 9.99942144e-01 5.74990468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.21, Y:92.70, Z:5.75 [[ 8.29867310e-01 5.57902588e-01 -8.05913090e-03 9.92053913e+01] [-5.57874246e-01 8.29906424e-01 5.62612506e-03 9.26981696e+01] [ 9.82715423e-03 -1.72955699e-04 9.99951697e-01 5.75178740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.23, Y:92.68, Z:5.75 [[ 8.30084265e-01 5.57593361e-01 -7.05390332e-03 9.92302430e+01] [-5.57571612e-01 8.30114221e-01 4.92724378e-03 9.26765891e+01] [ 8.60294388e-03 -1.56971286e-04 9.99962982e-01 5.75357929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.26, Y:92.66, Z:5.75 [[ 8.29808178e-01 5.58008197e-01 -6.72608976e-03 9.92558552e+01] [-5.57988416e-01 8.29835424e-01 4.70081413e-03 9.26566521e+01] [ 8.20464036e-03 -1.47693837e-04 9.99966331e-01 5.75419205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.28, Y:92.64, Z:5.75 [[ 8.29324472e-01 5.58724263e-01 -6.93675730e-03 9.92823929e+01] [-5.58703224e-01 8.29353469e-01 4.85084031e-03 9.26372383e+01] [ 8.46330591e-03 -1.47331915e-04 9.99964175e-01 5.75473291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.31, Y:92.62, Z:5.75 [[ 8.27585871e-01 5.61290790e-01 -7.36718503e-03 9.93085078e+01] [-5.61267138e-01 8.27618651e-01 5.15443119e-03 9.26191031e+01] [ 8.99035449e-03 -1.30775569e-04 9.99959577e-01 5.75386514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.34, Y:92.60, Z:5.75 [[ 8.26561032e-01 5.62801591e-01 -7.15745177e-03 9.93356616e+01] [-5.62779300e-01 8.26592013e-01 5.01032116e-03 9.26018619e+01] [ 8.73610919e-03 -1.13270529e-04 9.99961833e-01 5.75424425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.36, Y:92.58, Z:5.75 [[ 8.25006446e-01 5.65083818e-01 -6.68157476e-03 9.93617488e+01] [-5.65064447e-01 8.25033497e-01 4.67964461e-03 9.25825891e+01] [ 8.15691443e-03 -8.52166174e-05 9.99966728e-01 5.75393517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.39, Y:92.56, Z:5.75 [[ 8.24650469e-01 5.65604026e-01 -6.60981528e-03 9.93872027e+01] [-5.65585065e-01 8.24676954e-01 4.63196172e-03 9.25631892e+01] [ 8.07081853e-03 -8.13365958e-05 9.99967427e-01 5.75405982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.41, Y:92.54, Z:5.75 [[ 8.24491013e-01 5.65838734e-01 -6.41064440e-03 9.94136589e+01] [-5.65820885e-01 8.24515931e-01 4.49505456e-03 9.25431422e+01] [ 7.82915442e-03 -7.88556031e-05 9.99969349e-01 5.75417013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.44, Y:92.52, Z:5.75 [[ 8.25297859e-01 5.64658895e-01 -6.61630584e-03 9.94378835e+01] [-5.64639825e-01 8.25324375e-01 4.64164789e-03 9.25211523e+01] [ 8.08154625e-03 -9.49122997e-05 9.99967339e-01 5.75438915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.46, Y:92.50, Z:5.75 [[ 8.25771478e-01 5.63960163e-01 -7.09940930e-03 9.94631144e+01] [-5.63938158e-01 8.25801987e-01 4.98311034e-03 9.25007287e+01] [ 8.67298203e-03 -1.11282580e-04 9.99962383e-01 5.75428634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.780385723 meters Centerline goodness [0,1] 0.9999358823655132 Centerline is valid? [True, True] Translation: X:99.49, Y:92.48, Z:5.75 [[ 8.27160707e-01 5.61911305e-01 -7.80063295e-03 9.94875583e+01] [-5.61884621e-01 8.27197475e-01 5.47808604e-03 9.24796737e+01] [ 9.53086236e-03 -1.48201829e-04 9.99954569e-01 5.75296143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.51, Y:92.46, Z:5.75 [[ 8.27775794e-01 5.61003043e-01 -7.92591887e-03 9.95130666e+01] [-5.60975426e-01 8.27813722e-01 5.56888309e-03 9.24596461e+01] [ 9.68534476e-03 -1.63540907e-04 9.99953083e-01 5.75242360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.54, Y:92.44, Z:5.75 [[ 8.28934773e-01 5.59300823e-01 -7.05200658e-03 9.95366420e+01] [-5.59278879e-01 8.28964753e-01 4.95716310e-03 9.24381120e+01] [ 8.61841030e-03 -1.65126535e-04 9.99962847e-01 5.75360822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.56, Y:92.42, Z:5.75 [[ 8.29250260e-01 5.58837377e-01 -6.69267091e-03 9.95615767e+01] [-5.58817578e-01 8.29277251e-01 4.70691544e-03 9.24181343e+01] [ 8.18048001e-03 -1.63228705e-04 9.99966526e-01 5.75400193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.59, Y:92.40, Z:5.75 [[ 8.29540912e-01 5.58405968e-01 -6.68214309e-03 9.95869457e+01] [-5.58386198e-01 8.29567807e-01 4.70186219e-03 9.23981113e+01] [ 8.16883869e-03 -1.69170572e-04 9.99966620e-01 5.75423281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.61, Y:92.38, Z:5.75 [[ 8.30192293e-01 5.57425424e-01 -7.59301724e-03 9.96097921e+01] [-5.57399833e-01 8.30226990e-01 5.34525752e-03 9.23762213e+01] [ 9.28351028e-03 -2.05245063e-04 9.99956886e-01 5.75358614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.64, Y:92.36, Z:5.75 [[ 8.30292102e-01 5.57275120e-01 -7.71141513e-03 9.96368093e+01] [-5.57248688e-01 8.30327885e-01 5.43177321e-03 9.23573294e+01] [ 9.42999508e-03 -2.12782435e-04 9.99955514e-01 5.75409425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.66, Y:92.34, Z:5.75 [[ 8.30522563e-01 5.56929868e-01 -7.83545745e-03 9.96596702e+01] [-5.56902539e-01 8.30559494e-01 5.52174267e-03 9.23359784e+01] [ 9.58303699e-03 -2.22345722e-04 9.99954057e-01 5.75343894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.68, Y:92.32, Z:5.75 [[ 8.30648451e-01 5.56742720e-01 -7.79070390e-03 9.96838997e+01] [-5.56715681e-01 8.30684955e-01 5.49152773e-03 9.23171951e+01] [ 9.52898859e-03 -2.24321974e-04 9.99954573e-01 5.75354025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.050385723 meters Centerline goodness [0,1] 0.9999355863786662 Centerline is valid? [True, True] Translation: X:99.71, Y:92.30, Z:5.75 [[ 8.30933419e-01 5.56316267e-01 -7.86539894e-03 9.97103731e+01] [-5.56288661e-01 8.30970611e-01 5.54694208e-03 9.22991120e+01] [ 9.62176948e-03 -2.33707301e-04 9.99953682e-01 5.75414397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.74, Y:92.28, Z:5.76 [[ 8.31105541e-01 5.56064187e-01 -7.49666239e-03 9.97362527e+01] [-5.56039071e-01 8.31139319e-01 5.28996006e-03 9.22790870e+01] [ 9.17232822e-03 -2.28077927e-04 9.99957907e-01 5.75523859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.76, Y:92.26, Z:5.76 [[ 8.30822554e-01 5.56492076e-01 -7.10304013e-03 9.97606236e+01] [-5.56469524e-01 8.30852889e-01 5.01454132e-03 9.22603603e+01] [ 8.69213392e-03 -2.13568668e-04 9.99962200e-01 5.75571157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.79, Y:92.24, Z:5.76 [[ 8.29448514e-01 5.58538465e-01 -7.06727517e-03 9.97870292e+01] [-5.58516191e-01 8.29478599e-01 4.99183376e-03 9.22421961e+01] [ 8.65028467e-03 -1.93281485e-04 9.99962567e-01 5.75657438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.170385723 meters Centerline goodness [0,1] 0.9999785366272456 Centerline is valid? [True, True] Translation: X:99.81, Y:92.22, Z:5.76 [[ 8.28557026e-01 5.59849638e-01 -7.85094092e-03 9.98118583e+01] [-5.59822194e-01 8.28594197e-01 5.54696594e-03 9.22236076e+01] [ 9.61071095e-03 -2.00846640e-04 9.99953796e-01 5.75547639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.84, Y:92.21, Z:5.75 [[ 8.27654111e-01 5.61177205e-01 -8.29561773e-03 9.98391594e+01] [-5.61146620e-01 8.27695660e-01 5.86219390e-03 9.22056109e+01] [ 1.01559764e-02 -1.96811032e-04 9.99948407e-01 5.75482709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.87, Y:92.19, Z:5.75 [[ 8.26081742e-01 5.63469249e-01 -9.55833484e-03 9.98660515e+01] [-5.63428757e-01 8.26137015e-01 6.75789134e-03 9.21876671e+01] [ 1.17043582e-02 -1.97129933e-04 9.99931482e-01 5.75321352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.89, Y:92.17, Z:5.75 [[ 8.25455504e-01 5.64388848e-01 -9.40426565e-03 9.98928033e+01] [-5.64349671e-01 8.25509052e-01 6.65239006e-03 9.21694627e+01] [ 1.15178412e-02 -1.83957766e-04 9.99933651e-01 5.75408403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.92, Y:92.15, Z:5.76 [[ 8.24189440e-01 5.66253229e-01 -8.30942811e-03 9.99169414e+01] [-5.66222710e-01 8.24231315e-01 5.88071830e-03 9.21497371e+01] [ 1.01788666e-02 -1.41839020e-04 9.99948184e-01 5.75590210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.94, Y:92.13, Z:5.76 [[ 8.23853082e-01 5.66746960e-01 -7.99896344e-03 9.99421610e+01] [-5.66718673e-01 8.23891902e-01 5.66385246e-03 9.21303956e+01] [ 9.80025236e-03 -1.33020352e-04 9.99951968e-01 5.75692922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.97, Y:92.11, Z:5.76 [[ 8.23571687e-01 5.67150011e-01 -8.39888360e-03 9.99680644e+01] [-5.67118812e-01 8.23614501e-01 5.95045333e-03 9.21102803e+01] [ 1.02922420e-02 -1.37459997e-04 9.99947024e-01 5.75717152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.00, Y:92.09, Z:5.76 [[ 8.23559274e-01 5.67163224e-01 -8.71776445e-03 9.99951139e+01] [-5.67129572e-01 8.23605401e-01 6.17997732e-03 9.20909210e+01] [ 1.06850537e-02 -1.45475614e-04 9.99942903e-01 5.75723885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:92.07, Z:5.76 [[ 8.23603893e-01 5.67097836e-01 -8.75619859e-03 1.00020747e+02] [-5.67063847e-01 8.23650425e-01 6.21059174e-03 9.20714030e+01] [ 1.07340598e-02 -1.49743884e-04 9.99942377e-01 5.75675175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.05, Y:92.05, Z:5.76 [[ 8.24548807e-01 5.65740463e-01 -7.54945146e-03 1.00045664e+02] [-5.65715114e-01 8.24583354e-01 5.35744010e-03 9.20518021e+01] [ 9.25607265e-03 -1.46632044e-04 9.99957151e-01 5.75912603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4703857229999 meters Centerline goodness [0,1] 0.9999566188751274 Centerline is valid? [True, True] Translation: X:100.07, Y:92.03, Z:5.76 [[ 8.26654246e-01 5.62669117e-01 -6.79870425e-03 1.00068992e+02] [-5.62648444e-01 8.26682187e-01 4.82595149e-03 9.20304688e+01] [ 8.33578155e-03 -1.64112924e-04 9.99965243e-01 5.76043792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.500385723 meters Centerline goodness [0,1] 0.9999566348655681 Centerline is valid? [True, True] Translation: X:100.09, Y:92.01, Z:5.76 [[ 8.27663499e-01 5.61186661e-01 -6.53173703e-03 1.00093057e+02] [-5.61167517e-01 8.27689254e-01 4.63862612e-03 9.20112888e+01] [ 8.00938366e-03 -1.73822875e-04 9.99967909e-01 5.76023243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.12, Y:91.99, Z:5.76 [[ 8.28580645e-01 5.59829784e-01 -6.68789715e-03 1.00118027e+02] [-5.59809651e-01 8.28607613e-01 4.75175426e-03 9.19918093e+01] [ 8.20181606e-03 -1.93262245e-04 9.99966346e-01 5.75992284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.14, Y:91.97, Z:5.76 [[ 8.29714895e-01 5.58141818e-01 -7.13461941e-03 1.00141655e+02] [-5.58118823e-01 8.29745539e-01 5.07151024e-03 9.19712453e+01] [ 8.75054057e-03 -2.25942205e-04 9.99961688e-01 5.75965902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.17, Y:91.95, Z:5.76 [[ 8.29835573e-01 5.57962058e-01 -7.15989903e-03 1.00167751e+02] [-5.57938870e-01 8.29866428e-01 5.09201988e-03 9.19517342e+01] [ 8.78291372e-03 -2.30753253e-04 9.99961403e-01 5.75975480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.19, Y:91.93, Z:5.76 [[ 8.29652216e-01 5.58228881e-01 -7.59719486e-03 1.00194080e+02] [-5.58202756e-01 8.29686963e-01 5.40609118e-03 9.19320670e+01] [ 9.32112976e-03 -2.44400419e-04 9.99956528e-01 5.75960308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.650385723 meters Centerline goodness [0,1] 0.9999565962803012 Centerline is valid? [True, True] Translation: X:100.22, Y:91.91, Z:5.76 [[ 8.29006882e-01 5.59184209e-01 -7.78525968e-03 1.00221169e+02] [-5.59156808e-01 8.29043402e-01 5.54091707e-03 9.19138136e+01] [ 9.55271150e-03 -2.40277434e-04 9.99954343e-01 5.75967539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.680385723 meters Centerline goodness [0,1] 0.9999783732347153 Centerline is valid? [True, True] Translation: X:100.25, Y:91.90, Z:5.76 [[ 8.28345307e-01 5.60158979e-01 -8.12221872e-03 1.00246424e+02] [-5.60129174e-01 8.28385092e-01 5.78342223e-03 9.18956533e+01] [ 9.96796079e-03 -2.41179000e-04 9.99950290e-01 5.75906871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.27, Y:91.88, Z:5.76 [[ 8.26282863e-01 5.63187163e-01 -8.76642121e-03 1.00274526e+02] [-5.63152601e-01 8.26329335e-01 6.24322514e-03 9.18788032e+01] [ 1.07600553e-02 -2.21837035e-04 9.99942084e-01 5.75834388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.30, Y:91.86, Z:5.76 [[ 8.26133217e-01 5.63406680e-01 -8.76476300e-03 1.00300899e+02] [-5.63372106e-01 8.26179680e-01 6.24555286e-03 9.18599342e+01] [ 1.07600553e-02 -2.21835682e-04 9.99942084e-01 5.75834412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.33, Y:91.84, Z:5.76 [[ 8.24713886e-01 5.65478923e-01 -8.97742961e-03 1.00328051e+02] [-5.65442738e-01 8.24762722e-01 6.40024199e-03 9.18420757e+01] [ 1.10234512e-02 -2.02146058e-04 9.99939220e-01 5.75829768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.36, Y:91.82, Z:5.76 [[ 8.22565039e-01 5.68600482e-01 -8.95813086e-03 1.00355208e+02] [-5.68564603e-01 8.22613801e-01 6.38960436e-03 9.18247491e+01] [ 1.10022142e-02 -1.62589047e-04 9.99939461e-01 5.75911043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.38, Y:91.81, Z:5.76 [[ 8.21750682e-01 5.69782432e-01 -8.59051805e-03 1.00382775e+02] [-5.69749469e-01 8.21795571e-01 6.13050901e-03 9.18073916e+01] [ 1.05527060e-02 -1.43306864e-04 9.99944308e-01 5.75985658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.41, Y:91.79, Z:5.76 [[ 8.21253121e-01 5.70499419e-01 -8.58627921e-03 1.00409946e+02] [-5.70466490e-01 8.21297994e-01 6.13106654e-03 9.17894940e+01] [ 1.05496638e-02 -1.36972971e-04 9.99944341e-01 5.75972191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.44, Y:91.77, Z:5.76 [[ 8.20873404e-01 5.71051624e-01 -8.17908614e-03 1.00435497e+02] [-5.71021743e-01 8.20914141e-01 5.84305855e-03 9.17724871e+01] [ 1.00510155e-02 -1.25975340e-04 9.99949479e-01 5.75926618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.46, Y:91.75, Z:5.76 [[ 8.20778577e-01 5.71194675e-01 -7.69229328e-03 1.00462065e+02] [-5.71168222e-01 8.20814613e-01 5.49845662e-03 9.17531257e+01] [ 9.45463588e-03 -1.19421925e-04 9.99955297e-01 5.76009897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.49, Y:91.73, Z:5.76 [[ 8.20747963e-01 5.71242854e-01 -7.37446693e-03 1.00488515e+02] [-5.71218516e-01 8.20781084e-01 5.27433512e-03 9.17335615e+01] [ 9.06574921e-03 -1.16467745e-04 9.99958899e-01 5.76115118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.51, Y:91.71, Z:5.76 [[ 8.20728390e-01 5.71278380e-01 -6.77658058e-03 1.00512976e+02] [-5.71257808e-01 8.20756359e-01 4.84933468e-03 9.17135671e+01] [ 8.33224167e-03 -1.08812079e-04 9.99965280e-01 5.76255848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.54, Y:91.69, Z:5.76 [[ 8.20585045e-01 5.71483506e-01 -6.84004528e-03 1.00539330e+02] [-5.71462530e-01 8.20613545e-01 4.89756493e-03 9.16945697e+01] [ 8.41191138e-03 -1.10038958e-04 9.99964613e-01 5.76268112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.57, Y:91.68, Z:5.76 [[ 8.20015218e-01 5.72297873e-01 -7.08428736e-03 1.00566099e+02] [-5.72275377e-01 8.20045812e-01 5.07538370e-03 9.16757106e+01] [ 8.71407147e-03 -1.07728655e-04 9.99962026e-01 5.76290749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.59, Y:91.66, Z:5.76 [[ 8.19380814e-01 5.73205618e-01 -7.09935102e-03 1.00591300e+02] [-5.73183040e-01 8.19411563e-01 5.08854994e-03 9.16576294e+01] [ 8.73407573e-03 -1.00232596e-04 9.99961852e-01 5.76255417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.62, Y:91.64, Z:5.76 [[ 8.18758501e-01 5.74089378e-01 -7.47683425e-03 1.00618086e+02] [-5.74064344e-01 8.18792633e-01 5.36221522e-03 9.16390180e+01] [ 9.20036760e-03 -9.81753506e-05 9.99957671e-01 5.76229948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.65, Y:91.62, Z:5.76 [[ 8.18116213e-01 5.75000544e-01 -7.76126741e-03 1.00645142e+02] [-5.74973578e-01 8.18153021e-01 5.56941067e-03 9.16195965e+01] [ 9.55231855e-03 -9.39014734e-05 9.99954371e-01 5.76213423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.67, Y:91.60, Z:5.76 [[ 8.17468133e-01 5.75918433e-01 -7.98813149e-03 1.00669644e+02] [-5.75889896e-01 8.17507157e-01 5.73382235e-03 9.16000981e+01] [ 9.83256865e-03 -8.69328415e-05 9.99951655e-01 5.76136146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.70, Y:91.58, Z:5.76 [[ 8.17524400e-01 5.75845194e-01 -7.49456358e-03 1.00696873e+02] [-5.75820043e-01 8.17558748e-01 5.38262751e-03 9.15807834e+01] [ 9.22680620e-03 -8.49094048e-05 9.99957429e-01 5.76282087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.72, Y:91.56, Z:5.76 [[ 8.17759638e-01 5.75515016e-01 -7.18620580e-03 1.00722750e+02] [-5.75491853e-01 8.17791207e-01 5.16411218e-03 9.15603403e+01] [ 8.84884002e-03 -8.73996142e-05 9.99960844e-01 5.76360291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.75, Y:91.54, Z:5.76 [[ 8.17924987e-01 5.75287245e-01 -6.58038854e-03 1.00749430e+02] [-5.75267794e-01 8.17951453e-01 4.73147097e-03 9.15408903e+01] [ 8.10439327e-03 -8.45027347e-05 9.99967155e-01 5.76443590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.78, Y:91.52, Z:5.76 [[ 8.17848966e-01 5.75400802e-01 -6.08162902e-03 1.00775571e+02] [-5.75384172e-01 8.17871573e-01 4.37536267e-03 9.15216472e+01] [ 7.49157868e-03 -7.91127550e-05 9.99971935e-01 5.76497252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.310385723 meters Centerline goodness [0,1] 0.9999565746048289 Centerline is valid? [True, True] Translation: X:100.80, Y:91.50, Z:5.77 [[ 8.17512448e-01 5.75888415e-01 -5.09232877e-03 1.00801419e+02] [-5.75876753e-01 8.17528305e-01 3.66548126e-03 9.15029083e+01] [ 6.27403110e-03 -6.40227985e-05 9.99980316e-01 5.76618793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.83, Y:91.48, Z:5.77 [[ 8.17296888e-01 5.76198989e-01 -4.53011464e-03 1.00826355e+02] [-5.76189760e-01 8.17309441e-01 3.26172250e-03 9.14846541e+01] [ 5.58190667e-03 -5.55899836e-05 9.99984420e-01 5.76568454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.85, Y:91.47, Z:5.77 [[ 8.16688754e-01 5.77060859e-01 -4.49933237e-03 1.00854436e+02] [-5.77051758e-01 8.16701146e-01 3.24143707e-03 9.14666864e+01] [ 5.54511636e-03 -5.08975498e-05 9.99984624e-01 5.76518190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.88, Y:91.45, Z:5.76 [[ 8.16419396e-01 5.77441315e-01 -4.57131265e-03 1.00880178e+02] [-5.77431916e-01 8.16432193e-01 3.29507163e-03 9.14469999e+01] [ 5.63487731e-03 -5.05385710e-05 9.99984123e-01 5.76440223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.91, Y:91.43, Z:5.76 [[ 8.16498829e-01 5.77330290e-01 -4.40438507e-03 1.00906660e+02] [-5.77321553e-01 8.16510706e-01 3.17659052e-03 9.14279428e+01] [ 5.43016949e-03 -5.09360122e-05 9.99985255e-01 5.76438547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.460385723 meters Centerline goodness [0,1] 0.9999782807002302 Centerline is valid? [True, True] Translation: X:100.93, Y:91.41, Z:5.76 [[ 8.16654455e-01 5.77108506e-01 -4.61224712e-03 1.00933274e+02] [-5.77098910e-01 8.16667478e-01 3.32842394e-03 9.14078756e+01] [ 5.68753398e-03 -5.64494520e-05 9.99983824e-01 5.76383289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.96, Y:91.39, Z:5.76 [[ 8.17155254e-01 5.76399806e-01 -4.53366560e-03 1.00959640e+02] [-5.76390513e-01 8.17167829e-01 3.27360491e-03 9.13880780e+01] [ 5.59167091e-03 -6.18816088e-05 9.99984365e-01 5.76356180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.98, Y:91.37, Z:5.76 [[ 8.17769681e-01 5.75519724e-01 -5.45868504e-03 1.00984907e+02] [-5.75506219e-01 8.17787895e-01 3.94350582e-03 9.13675448e+01] [ 6.73361192e-03 -8.33723029e-05 9.99977326e-01 5.76319684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.01, Y:91.35, Z:5.76 [[ 8.17882751e-01 5.75356306e-01 -5.73816894e-03 1.01011263e+02] [-5.75341362e-01 8.17902875e-01 4.14777650e-03 9.13484390e+01] [ 7.07971423e-03 -9.09889226e-05 9.99974934e-01 5.76250407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.580385723 meters Centerline goodness [0,1] 0.9999782481021469 Centerline is valid? [True, True] Translation: X:101.04, Y:91.33, Z:5.76 [[ 8.18205867e-01 5.74891806e-01 -6.21047179e-03 1.01037085e+02] [-5.74874271e-01 8.18229430e-01 4.49140632e-03 9.13301198e+01] [ 7.66366348e-03 -1.04654562e-04 9.99970628e-01 5.76158222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.06, Y:91.31, Z:5.76 [[ 8.19179447e-01 5.73496821e-01 -6.81400517e-03 1.01062717e+02] [-5.73475643e-01 8.19207775e-01 4.93033298e-03 9.13106591e+01] [ 8.40961631e-03 -1.31161451e-04 9.99964630e-01 5.76018018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.09, Y:91.29, Z:5.76 [[ 8.19697189e-01 5.72754501e-01 -6.98570470e-03 1.01088365e+02] [-5.72732193e-01 8.19726943e-01 5.05709737e-03 9.12909397e+01] [ 8.62284564e-03 -1.44350524e-04 9.99962812e-01 5.75990959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.11, Y:91.27, Z:5.76 [[ 8.21257358e-01 5.70510736e-01 -7.33839709e-03 1.01111803e+02] [-5.70486007e-01 8.21290125e-01 5.31486477e-03 9.12705598e+01] [ 9.05914047e-03 -1.78418949e-04 9.99958949e-01 5.75849296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.14, Y:91.25, Z:5.76 [[ 8.21804428e-01 5.69721726e-01 -7.39162110e-03 1.01135225e+02] [-5.69696593e-01 8.21837647e-01 5.35470760e-03 9.12506768e+01] [ 9.12540575e-03 -1.89541063e-04 9.99958345e-01 5.75801502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.16, Y:91.23, Z:5.76 [[ 8.22389590e-01 5.68882291e-01 -6.94986944e-03 1.01161584e+02] [-5.68860021e-01 8.22418934e-01 5.03714158e-03 9.12316121e+01] [ 8.58124486e-03 -1.88989926e-04 9.99963163e-01 5.75899314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.19, Y:91.21, Z:5.76 [[ 8.23196895e-01 5.67722752e-01 -6.14401585e-03 1.01185857e+02] [-5.67705300e-01 8.23219803e-01 4.45507117e-03 9.12125444e+01] [ 7.58712078e-03 -1.79410395e-04 9.99971201e-01 5.75926259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.21, Y:91.20, Z:5.76 [[ 8.23203030e-01 5.67720725e-01 -5.47257122e-03 1.01214181e+02] [-5.67706864e-01 8.23221205e-01 3.97048132e-03 9.11953545e+01] [ 6.75926121e-03 -1.61696010e-04 9.99977143e-01 5.75998633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.24, Y:91.18, Z:5.76 [[ 8.22536971e-01 5.68693466e-01 -4.54683731e-03 1.01240173e+02] [-5.68683903e-01 8.22549528e-01 3.30050852e-03 9.11769906e+01] [ 5.61697651e-03 -1.29077092e-04 9.99984216e-01 5.76065178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.27, Y:91.16, Z:5.76 [[ 8.21868687e-01 5.69663027e-01 -3.98706789e-03 1.01265724e+02] [-5.69655678e-01 8.21878351e-01 2.89563594e-03 9.11580023e+01] [ 4.92642152e-03 -1.08576639e-04 9.99987859e-01 5.76095602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.29, Y:91.14, Z:5.76 [[ 8.21193020e-01 5.70637859e-01 -3.80235990e-03 1.01292010e+02] [-5.70631179e-01 8.21201817e-01 2.76290753e-03 9.11399221e+01] [ 4.69912450e-03 -9.91352633e-05 9.99988954e-01 5.76141338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.32, Y:91.12, Z:5.76 [[ 8.19684627e-01 5.72802071e-01 -3.85998738e-03 1.01318044e+02] [-5.72795204e-01 8.19693711e-01 2.80620856e-03 9.11218872e+01] [ 4.77140945e-03 -8.92237629e-05 9.99988613e-01 5.76087465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.34, Y:91.10, Z:5.76 [[ 8.18692344e-01 5.74217478e-01 -4.13929713e-03 1.01344775e+02] [-5.74209591e-01 8.18702804e-01 3.01078272e-03 9.11044611e+01] [ 5.11769823e-03 -8.80806507e-05 9.99986901e-01 5.76024117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9703857229999 meters Centerline goodness [0,1] 0.9999565491320689 Centerline is valid? [True, True] Translation: X:101.37, Y:91.09, Z:5.76 [[ 8.16262682e-01 5.77662788e-01 -4.57571842e-03 1.01371767e+02] [-5.77653197e-01 8.16275503e-01 3.32976658e-03 9.10885736e+01] [ 5.65852910e-03 -7.47858248e-05 9.99983988e-01 5.75849392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.40, Y:91.07, Z:5.76 [[ 8.14944164e-01 5.79523742e-01 -4.27111807e-03 1.01398458e+02] [-5.79515402e-01 8.14955354e-01 3.10965095e-03 9.10701325e+01] [ 5.28288710e-03 -5.90131914e-05 9.99986044e-01 5.75833165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.42, Y:91.05, Z:5.76 [[ 8.13719558e-01 5.81242986e-01 -4.13189385e-03 1.01424544e+02] [-5.81235196e-01 8.13730047e-01 3.00977005e-03 9.10513689e+01] [ 5.11165391e-03 -4.75066280e-05 9.99986934e-01 5.75888394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.45, Y:91.03, Z:5.76 [[ 8.11789773e-01 5.83937710e-01 -3.75712830e-03 1.01449607e+02] [-5.83931291e-01 8.11798467e-01 2.73802503e-03 9.10323236e+01] [ 4.64886706e-03 -2.87959386e-05 9.99989194e-01 5.75822382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0903857229999 meters Centerline goodness [0,1] 0.9999565500760373 Centerline is valid? [True, True] Translation: X:101.48, Y:91.02, Z:5.76 [[ 8.10657430e-01 5.85508297e-01 -3.81655284e-03 1.01476974e+02] [-5.85501685e-01 8.10666413e-01 2.78271906e-03 9.10158295e+01] [ 4.72325630e-03 -2.12337667e-05 9.99988845e-01 5.75843634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.50, Y:91.00, Z:5.76 [[ 8.09637787e-01 5.86918386e-01 -3.66908690e-03 1.01504430e+02] [-5.86912282e-01 8.09646100e-01 2.67676533e-03 9.09979186e+01] [ 4.54170469e-03 -1.37781864e-05 9.99989686e-01 5.75783320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.53, Y:90.98, Z:5.76 [[ 8.08134316e-01 5.88988170e-01 -3.44430975e-03 1.01531128e+02] [-5.88982804e-01 8.08141656e-01 2.51415015e-03 9.09804115e+01] [ 4.26429488e-03 -3.13179486e-06 9.99990908e-01 5.75611904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.56, Y:90.96, Z:5.76 [[ 8.07642705e-01 5.89661278e-01 -3.58318823e-03 1.01557133e+02] [-5.89655470e-01 8.07650653e-01 2.61705372e-03 9.09607668e+01] [ 4.43713955e-03 -7.97801795e-07 9.99990156e-01 5.75677857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.58, Y:90.94, Z:5.76 [[ 8.07253345e-01 5.90196717e-01 -3.14209751e-03 1.01581584e+02] [-5.90192250e-01 8.07259460e-01 2.29622669e-03 9.09388676e+01] [ 3.89171340e-03 8.04921339e-07 9.99992427e-01 5.75710417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.240385723 meters Centerline goodness [0,1] 0.9999347627538816 Centerline is valid? [True, True] Translation: X:101.61, Y:90.92, Z:5.76 [[ 8.07009729e-01 5.90527749e-01 -3.50359097e-03 1.01607414e+02] [-5.90522192e-01 8.07017334e-01 2.56191014e-03 9.09182289e+01] [ 4.34033767e-03 1.46181207e-06 9.99990581e-01 5.75733723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.63, Y:90.90, Z:5.76 [[ 8.06667287e-01 5.90993718e-01 -3.78335086e-03 1.01632577e+02] [-5.90987236e-01 8.06676159e-01 2.76799325e-03 9.08985708e+01] [ 4.68780556e-03 3.06246284e-06 9.99989012e-01 5.75723795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.66, Y:90.88, Z:5.76 [[ 8.05898261e-01 5.92039819e-01 -4.10424910e-03 1.01658387e+02] [-5.92032196e-01 8.05908712e-01 3.00439662e-03 9.08793287e+01] [ 5.08637254e-03 8.60959836e-06 9.99987064e-01 5.75559675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.69, Y:90.86, Z:5.75 [[ 8.05450241e-01 5.92649915e-01 -3.99856811e-03 1.01685156e+02] [-5.92642678e-01 8.05460166e-01 2.92873053e-03 9.08595710e+01] [ 4.95639923e-03 1.07754066e-05 9.99987717e-01 5.75484687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.71, Y:90.84, Z:5.75 [[ 8.05208392e-01 5.92978988e-01 -3.91979493e-03 1.01710691e+02] [-5.92972029e-01 8.05217933e-01 2.87271451e-03 9.08385027e+01] [ 4.85974852e-03 1.11949277e-05 9.99988191e-01 5.75452104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.74, Y:90.82, Z:5.75 [[ 8.05330554e-01 5.92813287e-01 -3.88669681e-03 1.01735070e+02] [-5.92806436e-01 8.05339933e-01 2.85000499e-03 9.08179942e+01] [ 4.81963297e-03 8.86278695e-06 9.99988386e-01 5.75427080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.76, Y:90.80, Z:5.75 [[ 8.05550930e-01 5.92511171e-01 -4.26747786e-03 1.01758896e+02] [-5.92502899e-01 8.05562234e-01 3.13089443e-03 9.07972973e+01] [ 5.29280893e-03 6.39808271e-06 9.99985993e-01 5.75406188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.78, Y:90.77, Z:5.75 [[ 8.06430178e-01 5.91316803e-01 -3.84793802e-03 1.01783129e+02] [-5.91310056e-01 8.06439358e-01 2.82470038e-03 9.07748484e+01] [ 4.77342146e-03 -2.59918026e-06 9.99988607e-01 5.75448322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.81, Y:90.75, Z:5.75 [[ 8.06593364e-01 5.91097736e-01 -3.25767604e-03 1.01809560e+02] [-5.91092893e-01 8.06599942e-01 2.39276685e-03 9.07544626e+01] [ 4.04200037e-03 -4.40070752e-06 9.99991831e-01 5.75441961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.83, Y:90.73, Z:5.75 [[ 8.06622153e-01 5.91054339e-01 -3.93321760e-03 1.01834309e+02] [-5.91047274e-01 8.06631742e-01 2.88998021e-03 9.07335982e+01] [ 4.88079351e-03 -6.40452263e-06 9.99988089e-01 5.75345823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.86, Y:90.71, Z:5.75 [[ 8.06540786e-01 5.91161662e-01 -4.45529712e-03 1.01859878e+02] [-5.91152588e-01 8.06553092e-01 3.27542157e-03 9.07123291e+01] [ 5.52973732e-03 -8.00066899e-06 9.99984711e-01 5.75308505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.89, Y:90.69, Z:5.75 [[ 8.06425363e-01 5.91311970e-01 -5.31861058e-03 1.01885617e+02] [-5.91299027e-01 8.06442902e-01 3.91237149e-03 9.06912743e+01] [ 6.60258784e-03 -1.01463441e-05 9.99978203e-01 5.75284693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.91, Y:90.67, Z:5.75 [[ 8.06261190e-01 5.91532471e-01 -5.67713676e-03 1.01910392e+02] [-5.91517713e-01 8.06281177e-01 4.17851617e-03 9.06687920e+01] [ 7.04909650e-03 -1.08484712e-05 9.99975155e-01 5.75227430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.94, Y:90.65, Z:5.75 [[ 8.06097515e-01 5.91755507e-01 -5.67598055e-03 1.01936457e+02] [-5.91740743e-01 8.06117498e-01 4.18008659e-03 9.06495289e+01] [ 7.04909650e-03 -1.08484641e-05 9.99975155e-01 5.75227454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.660385723 meters Centerline goodness [0,1] 0.9999120473185427 Centerline is valid? [True, True] Translation: X:101.96, Y:90.63, Z:5.75 [[ 8.06355557e-01 5.91404548e-01 -5.60138634e-03 1.01961549e+02] [-5.91390146e-01 8.06375012e-01 4.12737665e-03 9.06296809e+01] [ 6.95776730e-03 -1.55284092e-05 9.99975794e-01 5.75057072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.99, Y:90.61, Z:5.75 [[ 8.06331356e-01 5.91440913e-01 -5.23362689e-03 1.01986598e+02] [-5.91428326e-01 8.06348341e-01 3.85857904e-03 9.06083191e+01] [ 6.50224787e-03 -1.59780767e-05 9.99978860e-01 5.75150325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7203857229999 meters Centerline goodness [0,1] 0.999977959003747 Centerline is valid? [True, True] Translation: X:102.01, Y:90.59, Z:5.75 [[ 8.06548226e-01 5.91140068e-01 -5.77750284e-03 1.02011565e+02] [-5.91124704e-01 8.06568918e-01 4.26198924e-03 9.05874600e+01] [ 7.17938682e-03 -2.22752029e-05 9.99974228e-01 5.75049900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.04, Y:90.57, Z:5.75 [[ 8.06559679e-01 5.91120360e-01 -6.18095301e-03 1.02036271e+02] [-5.91102755e-01 8.06583362e-01 4.56221107e-03 9.05662559e+01] [ 7.68226971e-03 -2.61171472e-05 9.99970491e-01 5.75083940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.06, Y:90.54, Z:5.75 [[ 8.06220702e-01 5.91576127e-01 -6.77241250e-03 1.02060618e+02] [-5.91554983e-01 8.06249146e-01 5.00162342e-03 9.05439774e+01] [ 8.41909281e-03 -2.61579831e-05 9.99964559e-01 5.75129959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.09, Y:90.52, Z:5.75 [[ 8.05671939e-01 5.92325607e-01 -6.56524150e-03 1.02086069e+02] [-5.92305741e-01 8.05698687e-01 4.85119812e-03 9.05246517e+01] [ 8.16309533e-03 -1.98439623e-05 9.99966681e-01 5.75129399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.11, Y:90.51, Z:5.75 [[ 8.04358361e-01 5.94114381e-01 -5.97749932e-03 1.02112241e+02] [-5.94097946e-01 8.04380571e-01 4.41906099e-03 9.05065851e+01] [ 7.43361200e-03 -3.28858648e-06 9.99972370e-01 5.75063679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.14, Y:90.49, Z:5.75 [[ 8.03816599e-01 5.94846385e-01 -6.05419184e-03 1.02138754e+02] [-5.94829527e-01 8.03839399e-01 4.47825253e-03 9.04871492e+01] [ 7.53047025e-03 1.51835229e-06 9.99971646e-01 5.75010822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.17, Y:90.47, Z:5.75 [[ 8.03565134e-01 5.95189919e-01 -5.66008724e-03 1.02165136e+02] [-5.95175177e-01 8.03585067e-01 4.18905433e-03 9.04672111e+01] [ 7.04164449e-03 2.56542785e-06 9.99975207e-01 5.75002258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.930385723 meters Centerline goodness [0,1] 0.9998445722406022 Centerline is valid? [True, True] Translation: X:102.19, Y:90.45, Z:5.75 [[ 8.03692018e-01 5.95026312e-01 -4.77781041e-03 1.02188905e+02] [-5.95015799e-01 8.03706220e-01 3.53703948e-03 9.04469297e+01] [ 5.94458750e-03 1.82280484e-07 9.99982331e-01 5.74937479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.21, Y:90.43, Z:5.75 [[ 8.03182118e-01 5.95720508e-01 -3.94480305e-03 1.02214474e+02] [-5.95713342e-01 8.03191806e-01 2.92194749e-03 9.04262941e+01] [ 4.90909753e-03 3.11583639e-06 9.99987950e-01 5.75250742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.24, Y:90.41, Z:5.75 [[ 8.02710128e-01 5.96355539e-01 -4.06469349e-03 1.02239401e+02] [-5.96347931e-01 8.02720419e-01 3.01227765e-03 9.04055806e+01] [ 5.05920093e-03 5.98577734e-06 9.99987202e-01 5.75265368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.27, Y:90.39, Z:5.75 [[ 8.02002845e-01 5.97304787e-01 -4.29269769e-03 1.02265817e+02] [-5.97296307e-01 8.02014333e-01 3.18296543e-03 9.03856180e+01] [ 5.34400557e-03 1.12651442e-05 9.99985721e-01 5.75275660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.29, Y:90.37, Z:5.75 [[ 8.01284850e-01 5.98264950e-01 -4.65180178e-03 1.02291429e+02] [-5.98255001e-01 8.01298352e-01 3.45039052e-03 9.03667904e+01] [ 5.79172881e-03 1.82180276e-05 9.99983228e-01 5.75230482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.32, Y:90.35, Z:5.75 [[ 7.99737638e-01 6.00336587e-01 -3.96136688e-03 1.02318407e+02] [-6.00329389e-01 7.99747448e-01 2.93997564e-03 9.03471992e+01] [ 4.93306800e-03 2.69157901e-05 9.99987832e-01 5.75218549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.34, Y:90.33, Z:5.75 [[ 7.98895009e-01 6.01458696e-01 -3.76853444e-03 1.02344586e+02] [-6.01452186e-01 7.98903897e-01 2.79848954e-03 9.03277826e+01] [ 4.69387271e-03 3.08939504e-05 9.99988983e-01 5.75217748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.37, Y:90.31, Z:5.75 [[ 7.97490082e-01 6.03318496e-01 -4.04498527e-03 1.02369836e+02] [-6.03311013e-01 7.97500339e-01 3.00518299e-03 9.03090688e+01] [ 5.03895960e-03 4.37805344e-05 9.99987303e-01 5.75195101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.40, Y:90.29, Z:5.75 [[ 7.96762163e-01 6.04275890e-01 -4.55032549e-03 1.02395754e+02] [-6.04266425e-01 7.96775154e-01 3.38257673e-03 9.02893982e+01] [ 5.66959586e-03 5.44997610e-05 9.99983926e-01 5.75166978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.42, Y:90.27, Z:5.75 [[ 7.96119569e-01 6.05118670e-01 -5.00268839e-03 1.02421022e+02] [-6.05107234e-01 7.96135284e-01 3.72086629e-03 9.02706222e+01] [ 6.23438241e-03 6.49084698e-05 9.99980564e-01 5.75104885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.45, Y:90.25, Z:5.75 [[ 7.95680579e-01 6.05685551e-01 -6.11796908e-03 1.02446691e+02] [-6.05668448e-01 7.95704095e-01 4.55246391e-03 9.02527807e+01] [ 7.62545466e-03 8.31537207e-05 9.99970922e-01 5.74769300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.47, Y:90.23, Z:5.75 [[ 7.95622671e-01 6.05751230e-01 -7.07198724e-03 1.02471669e+02] [-6.05728353e-01 7.95654095e-01 5.26529870e-03 9.02309465e+01] [ 8.81631677e-03 9.45121636e-05 9.99961131e-01 5.74786415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.50, Y:90.21, Z:5.75 [[ 7.95977595e-01 6.05279959e-01 -7.47260441e-03 1.02495940e+02] [-6.05254378e-01 7.96012665e-01 5.56550845e-03 9.02098973e+01] [ 9.31697847e-03 9.28065004e-05 9.99956592e-01 5.74625291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.52, Y:90.19, Z:5.74 [[ 7.96281425e-01 6.04876038e-01 -7.80193728e-03 1.02521552e+02] [-6.04848105e-01 7.96319641e-01 5.81376421e-03 9.01905454e+01] [ 9.72944255e-03 8.95945271e-05 9.99952664e-01 5.74436180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.55, Y:90.17, Z:5.75 [[ 7.96597507e-01 6.04466043e-01 -7.29484849e-03 1.02545019e+02] [-6.04441582e-01 7.96630904e-01 5.43855133e-03 9.01679631e+01] [ 9.09872135e-03 7.69733274e-05 9.99958603e-01 5.74682105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.57, Y:90.15, Z:5.75 [[ 7.97370458e-01 6.03451855e-01 -6.79793452e-03 1.02569603e+02] [-6.03430555e-01 7.97399433e-01 5.07055435e-03 9.01473401e+01] [ 8.48050455e-03 5.89711578e-05 9.99964038e-01 5.74729173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.410385723 meters Centerline goodness [0,1] 0.9999551670029141 Centerline is valid? [True, True] Translation: X:102.60, Y:90.13, Z:5.75 [[ 7.97566731e-01 6.03197929e-01 -6.29040724e-03 1.02595051e+02] [-6.03179664e-01 7.97591535e-01 4.69434789e-03 9.01280754e+01] [ 7.84879649e-03 5.01900306e-05 9.99969197e-01 5.74800547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.62, Y:90.11, Z:5.75 [[ 7.97497347e-01 6.03290081e-01 -6.24972563e-03 1.02622098e+02] [-6.03272034e-01 7.97521834e-01 4.66665427e-03 9.01100378e+01] [ 7.79963888e-03 4.86402871e-05 9.99969581e-01 5.74779351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.65, Y:90.09, Z:5.75 [[ 7.97169228e-01 6.03718212e-01 -6.74851279e-03 1.02649245e+02] [-6.03697160e-01 7.97197791e-01 5.04196142e-03 9.00914978e+01] [ 8.42382342e-03 5.47615122e-05 9.99964518e-01 5.74736779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.500385723 meters Centerline goodness [0,1] 0.9999777128975462 Centerline is valid? [True, True] Translation: X:102.68, Y:90.07, Z:5.75 [[ 7.96905117e-01 6.04054866e-01 -7.74295869e-03 1.02675381e+02] [-6.04027153e-01 7.96942730e-01 5.78650726e-03 9.00749382e+01] [ 9.66606251e-03 6.56600471e-05 9.99953280e-01 5.74640083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.70, Y:90.06, Z:5.75 [[ 7.97117756e-01 6.03772636e-01 -7.86685939e-03 1.02701940e+02] [-6.03743983e-01 7.97156572e-01 5.88241541e-03 9.00552623e+01] [ 9.82276012e-03 6.05912471e-05 9.99951754e-01 5.74609966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.73, Y:90.04, Z:5.75 [[ 7.97766346e-01 6.02917725e-01 -7.68592894e-03 1.02727046e+02] [-6.02890308e-01 7.97803368e-01 5.74995424e-03 9.00358258e+01] [ 9.59860933e-03 4.66520743e-05 9.99953931e-01 5.74636067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.75, Y:90.02, Z:5.75 [[ 8.00192447e-01 5.99702543e-01 -6.99342271e-03 1.02750280e+02] [-5.99679700e-01 8.00223006e-01 5.23425850e-03 9.00157416e+01] [ 8.73529588e-03 5.39951380e-06 9.99961847e-01 5.74636460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.620385723 meters Centerline goodness [0,1] 0.9998651655093372 Centerline is valid? [True, True] Translation: X:102.78, Y:90.00, Z:5.74 [[ 8.01272590e-01 5.98255594e-01 -7.24430959e-03 1.02775838e+02] [-5.98230996e-01 8.01305337e-01 5.42513429e-03 8.99953618e+01] [ 9.05052088e-03 -1.32408683e-05 9.99959043e-01 5.74458374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.80, Y:89.98, Z:5.75 [[ 8.03099373e-01 5.95800004e-01 -7.33160850e-03 1.02801514e+02] [-5.95774678e-01 8.03132837e-01 5.49365857e-03 8.99754525e+01] [ 9.16137733e-03 -4.39670653e-05 9.99958033e-01 5.74640465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.680385723 meters Centerline goodness [0,1] 0.9998658678351069 Centerline is valid? [True, True] Translation: X:102.83, Y:89.96, Z:5.74 [[ 8.03722098e-01 5.94957228e-01 -7.52907603e-03 1.02826528e+02] [-5.94930453e-01 8.03757360e-01 5.64463543e-03 8.99551630e+01] [ 9.40986692e-03 -5.74416143e-05 9.99955725e-01 5.74368930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.85, Y:89.94, Z:5.75 [[ 8.04182996e-01 5.94337975e-01 -7.21670796e-03 1.02852933e+02] [-5.94313323e-01 8.04215374e-01 5.41358924e-03 8.99362133e+01] [ 9.02128915e-03 -6.45307268e-05 9.99959305e-01 5.74678808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.88, Y:89.92, Z:5.75 [[ 8.04855881e-01 5.93429871e-01 -6.92811347e-03 1.02878331e+02] [-5.93407094e-01 8.04885695e-01 5.19990782e-03 8.99173397e+01] [ 8.66212006e-03 -7.39847152e-05 9.99962480e-01 5.74701978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.90, Y:89.90, Z:5.75 [[ 8.04886711e-01 5.93387961e-01 -6.93612113e-03 1.02903657e+02] [-5.93365105e-01 8.04916593e-01 5.20869071e-03 8.98978624e+01] [ 8.67377334e-03 -7.67536920e-05 9.99962379e-01 5.74705776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.93, Y:89.88, Z:5.75 [[ 8.05062713e-01 5.93153380e-01 -6.56475975e-03 1.02930459e+02] [-5.93132875e-01 8.05089474e-01 4.93266650e-03 8.98789233e+01] [ 8.21104678e-03 -7.73310525e-05 9.99966286e-01 5.74796161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.96, Y:89.86, Z:5.75 [[ 8.05219579e-01 5.92940154e-01 -6.58811260e-03 1.02956045e+02] [-5.92919473e-01 8.05246526e-01 4.95288414e-03 8.98594935e+01] [ 8.24181867e-03 -8.19390318e-05 9.99966032e-01 5.74757096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.98, Y:89.84, Z:5.75 [[ 8.05146551e-01 5.93042108e-01 -6.33170496e-03 1.02983313e+02] [-5.93022987e-01 8.05171443e-01 4.76285169e-03 8.98407837e+01] [ 7.92267962e-03 -7.99470189e-05 9.99968612e-01 5.74781764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.01, Y:89.82, Z:5.75 [[ 8.04906083e-01 5.93368857e-01 -6.29261693e-03 1.03008746e+02] [-5.93349968e-01 8.04930676e-01 4.73514535e-03 8.98214737e+01] [ 7.87480818e-03 -7.76232428e-05 9.99968990e-01 5.74814029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.04, Y:89.80, Z:5.75 [[ 8.04736013e-01 5.93601375e-01 -6.11205094e-03 1.03035050e+02] [-5.93583541e-01 8.04759220e-01 4.60189296e-03 8.98019033e+01] [ 7.65041933e-03 -7.52961489e-05 9.99970732e-01 5.74883657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.06, Y:89.78, Z:5.75 [[ 8.04340173e-01 5.94140180e-01 -5.85937923e-03 1.03061908e+02] [-5.94123787e-01 8.04361512e-01 4.41415178e-03 8.97828098e+01] [ 7.33568407e-03 -6.92830367e-05 9.99973091e-01 5.74963316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.09, Y:89.76, Z:5.75 [[ 8.03753368e-01 5.94938555e-01 -5.35157143e-03 1.03088742e+02] [-5.94924893e-01 8.03771182e-01 4.03231256e-03 8.97642302e+01] [ 6.70041710e-03 -5.72017456e-05 9.99977550e-01 5.74974667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.12, Y:89.75, Z:5.75 [[ 8.02443391e-01 5.96709866e-01 -4.68398304e-03 1.03116739e+02] [-5.96699420e-01 8.02457061e-01 3.53103910e-03 8.97473776e+01] [ 5.86570113e-03 -3.85290307e-05 9.99982796e-01 5.75021246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.14, Y:89.73, Z:5.75 [[ 8.01515738e-01 5.97955673e-01 -4.64063353e-03 1.03143809e+02] [-5.97945436e-01 8.01529171e-01 3.49898234e-03 8.97290849e+01] [ 5.81183948e-03 -2.96437701e-05 9.99983111e-01 5.75030923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.17, Y:89.71, Z:5.75 [[ 7.99820592e-01 6.00227077e-01 -3.80489029e-03 1.03170537e+02] [-6.00220215e-01 7.99829642e-01 2.87015038e-03 8.97124106e+01] [ 4.76600601e-03 -1.18333092e-05 9.99988643e-01 5.75093947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.20, Y:89.69, Z:5.75 [[ 7.98869740e-01 6.01491692e-01 -3.85788452e-03 1.03197593e+02] [-6.01484644e-01 7.98879055e-01 2.91174603e-03 8.96930750e+01] [ 4.83337419e-03 -5.64749786e-06 9.99988319e-01 5.75159146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.22, Y:89.67, Z:5.75 [[ 7.97957389e-01 6.02699681e-01 -4.13523323e-03 1.03224101e+02] [-6.02691591e-01 7.97968103e-01 3.12286463e-03 8.96738588e+01] [ 5.18193374e-03 3.57393454e-07 9.99986574e-01 5.75197067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.160385723 meters Centerline goodness [0,1] 0.9999777925827227 Centerline is valid? [True, True] Translation: X:103.25, Y:89.65, Z:5.75 [[ 7.97283833e-01 6.03588943e-01 -4.34479202e-03 1.03250501e+02] [-6.03580015e-01 7.97295671e-01 3.28302328e-03 8.96544564e+01] [ 5.44568042e-03 4.92825036e-06 9.99985172e-01 5.75203860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.190385723 meters Centerline goodness [0,1] 0.9999778191819715 Centerline is valid? [True, True] Translation: X:103.28, Y:89.64, Z:5.75 [[ 7.96663609e-01 6.04399434e-01 -5.33080718e-03 1.03276490e+02] [-6.04385997e-01 7.96681444e-01 4.03025194e-03 8.96361974e+01] [ 6.68283716e-03 1.11101548e-05 9.99977670e-01 5.75118727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.30, Y:89.62, Z:5.75 [[ 7.96738016e-01 6.04301373e-01 -5.32778978e-03 1.03302445e+02] [-6.04287938e-01 7.96755829e-01 4.02958429e-03 8.96162155e+01] [ 6.68003088e-03 8.99610936e-06 9.99977688e-01 5.75199657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.33, Y:89.60, Z:5.75 [[ 7.96978522e-01 6.03987116e-01 -4.97993379e-03 1.03328837e+02] [-6.03975358e-01 7.96994080e-01 3.76868706e-03 8.95958733e+01] [ 6.24521618e-03 4.19465042e-06 9.99980498e-01 5.75261940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.35, Y:89.58, Z:5.75 [[ 7.97618724e-01 6.03143765e-01 -4.68723057e-03 1.03354679e+02] [-6.03133322e-01 7.97632496e-01 3.54920935e-03 8.95760512e+01] [ 5.87937091e-03 -3.89088587e-06 9.99982716e-01 5.75281209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.310385723 meters Centerline goodness [0,1] 0.9999778614124419 Centerline is valid? [True, True] Translation: X:103.38, Y:89.56, Z:5.75 [[ 7.98190791e-01 6.02386706e-01 -4.66035774e-03 1.03380746e+02] [-6.02376357e-01 7.98204395e-01 3.53089362e-03 8.95553261e+01] [ 5.84688141e-03 -1.10374454e-05 9.99982907e-01 5.75324542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3403857229999 meters Centerline goodness [0,1] 0.9999778363882178 Centerline is valid? [True, True] Translation: X:103.40, Y:89.53, Z:5.75 [[ 7.99769036e-01 6.00279315e-01 -5.85082381e-03 1.03403819e+02] [-6.00262940e-01 7.99790437e-01 4.43405882e-03 8.95341850e+01] [ 7.34110672e-03 -3.41902562e-05 9.99973053e-01 5.75339855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.370385723 meters Centerline goodness [0,1] 0.9999335959980521 Centerline is valid? [True, True] Translation: X:103.43, Y:89.51, Z:5.75 [[ 8.01212577e-01 5.98349995e-01 -5.97407665e-03 1.03428098e+02] [-5.98332852e-01 8.01234847e-01 4.52970850e-03 8.95132574e+01] [ 7.49698945e-03 -5.47731050e-05 9.99971896e-01 5.75390200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.45, Y:89.49, Z:5.75 [[ 8.02011468e-01 5.97281744e-01 -5.66786572e-03 1.03453700e+02] [-5.97266269e-01 8.02031492e-01 4.29995944e-03 8.94933232e+01] [ 7.11409408e-03 -6.33917720e-05 9.99974693e-01 5.75455039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.48, Y:89.47, Z:5.75 [[ 8.02831223e-01 5.96180636e-01 -5.53859336e-03 1.03478762e+02] [-5.96165825e-01 8.02850325e-01 4.20302438e-03 8.94741025e+01] [ 6.95242322e-03 -7.23991273e-05 9.99975829e-01 5.75479935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.50, Y:89.46, Z:5.75 [[ 8.03581860e-01 5.95172644e-01 -5.07130509e-03 1.03504034e+02] [-5.95160196e-01 8.03597859e-01 3.85014784e-03 8.94554729e+01] [ 6.36679258e-03 -7.56700345e-05 9.99979729e-01 5.75495962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.490385723 meters Centerline goodness [0,1] 0.9998894416804864 Centerline is valid? [True, True] Translation: X:103.53, Y:89.44, Z:5.76 [[ 8.04851109e-01 5.93457888e-01 -4.73573221e-03 1.03530400e+02] [-5.93446992e-01 8.04865037e-01 3.59713404e-03 8.94371067e+01] [ 5.94637286e-03 -8.47512886e-05 9.99982317e-01 5.75510912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.56, Y:89.42, Z:5.76 [[ 8.05432084e-01 5.92666248e-01 -5.08700071e-03 1.03555723e+02] [-5.92653648e-01 8.05448142e-01 3.86583939e-03 8.94176197e+01] [ 6.38846779e-03 -9.88415501e-05 9.99979589e-01 5.75551797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.58, Y:89.40, Z:5.76 [[ 8.05272371e-01 5.92883244e-01 -5.08595907e-03 1.03581489e+02] [-5.92870640e-01 8.05288426e-01 3.86720968e-03 8.93979546e+01] [ 6.38846780e-03 -9.88413001e-05 9.99979589e-01 5.75551821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.60, Y:89.38, Z:5.76 [[ 8.06147143e-01 5.91681846e-01 -6.27508269e-03 1.03604891e+02] [-5.91662613e-01 8.06171554e-01 4.77254448e-03 8.93781495e+01] [ 7.88262109e-03 -1.34641279e-04 9.99968923e-01 5.75532619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.63, Y:89.36, Z:5.76 [[ 8.06193933e-01 5.91617914e-01 -6.29181629e-03 1.03631644e+02] [-5.91598563e-01 8.06218472e-01 4.78698888e-03 8.93597341e+01] [ 7.90464689e-03 -1.37011911e-04 9.99968748e-01 5.75645014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.66, Y:89.34, Z:5.76 [[ 8.06228718e-01 5.91572043e-01 -6.14596880e-03 1.03658677e+02] [-5.91553556e-01 8.06252132e-01 4.67872597e-03 8.93405586e+01] [ 7.72300393e-03 -1.36453538e-04 9.99970168e-01 5.75702401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.68, Y:89.32, Z:5.76 [[ 8.06151625e-01 5.91681485e-01 -5.70775807e-03 1.03684938e+02] [-5.91665532e-01 8.06171821e-01 4.34669088e-03 8.93221524e+01] [ 7.17329023e-03 -1.27008195e-04 9.99974264e-01 5.75719414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.700385723 meters Centerline goodness [0,1] 0.9999336782066587 Centerline is valid? [True, True] Translation: X:103.71, Y:89.30, Z:5.76 [[ 8.05960834e-01 5.91945944e-01 -5.20898169e-03 1.03712120e+02] [-5.91932648e-01 8.05977659e-01 3.96909297e-03 8.93041076e+01] [ 6.54781135e-03 -1.15567160e-04 9.99978556e-01 5.75733499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.730385723 meters Centerline goodness [0,1] 0.9999558625559993 Centerline is valid? [True, True] Translation: X:103.74, Y:89.29, Z:5.76 [[ 8.05418725e-01 5.92679624e-01 -5.61611383e-03 1.03740180e+02] [-5.92664169e-01 8.05438296e-01 4.28175942e-03 8.92874359e+01] [ 7.06114471e-03 -1.20139775e-04 9.99975063e-01 5.75729129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.77, Y:89.27, Z:5.76 [[ 8.04893733e-01 5.93385270e-01 -6.32463692e-03 1.03767067e+02] [-5.93365669e-01 8.04918570e-01 4.82468179e-03 8.92678829e+01] [ 7.95371281e-03 -1.30533718e-04 9.99968360e-01 5.75712872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.79, Y:89.25, Z:5.76 [[ 8.04394905e-01 5.94057231e-01 -6.69646189e-03 1.03793959e+02] [-5.94035258e-01 8.04422767e-01 5.11122425e-03 8.92488414e+01] [ 8.42314613e-03 -1.33508282e-04 9.99964516e-01 5.75720597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.82, Y:89.23, Z:5.76 [[ 8.03274626e-01 5.95574368e-01 -6.40687159e-03 1.03820360e+02] [-5.95554284e-01 8.03300168e-01 4.89242245e-03 8.92323956e+01] [ 8.06044243e-03 -1.14318985e-04 9.99967508e-01 5.75758688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.85, Y:89.21, Z:5.76 [[ 8.02853549e-01 5.96147522e-01 -5.85756454e-03 1.03847440e+02] [-5.96130734e-01 8.02874910e-01 4.47513739e-03 8.92148698e+01] [ 7.37073367e-03 -1.01005692e-04 9.99972831e-01 5.75813129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.87, Y:89.20, Z:5.76 [[ 8.02393571e-01 5.96768770e-01 -5.62077327e-03 1.03874730e+02] [-5.96753311e-01 8.02413252e-01 4.29637867e-03 8.91982410e+01] [ 7.07412757e-03 -9.31715618e-05 9.99974974e-01 5.75820431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.910385723 meters Centerline goodness [0,1] 0.9999562497265608 Centerline is valid? [True, True] Translation: X:103.90, Y:89.18, Z:5.76 [[ 8.01771709e-01 5.97596365e-01 -6.38051509e-03 1.03903007e+02] [-5.97576450e-01 8.01797091e-01 4.87970981e-03 8.91823033e+01] [ 8.03197529e-03 -9.95677144e-05 9.99967738e-01 5.75658626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.93, Y:89.16, Z:5.76 [[ 8.01342477e-01 5.98164679e-01 -7.01800089e-03 1.03930555e+02] [-5.98140581e-01 8.01373200e-01 5.37027622e-03 8.91644984e+01] [ 8.83634739e-03 -1.05679318e-04 9.99960953e-01 5.75684152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.96, Y:89.15, Z:5.76 [[ 8.01213789e-01 5.98343277e-01 -6.46432525e-03 1.03956548e+02] [-5.98322816e-01 8.01239860e-01 4.94919154e-03 8.91456946e+01] [ 8.14079055e-03 -9.76072195e-05 9.99966859e-01 5.75795083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.98, Y:89.13, Z:5.76 [[ 8.00951767e-01 5.98697413e-01 -6.13790309e-03 1.03984384e+02] [-5.98678956e-01 8.00975280e-01 4.70197372e-03 8.91276857e+01] [ 7.73136815e-03 -9.14207455e-05 9.99970108e-01 5.75946432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.030385723 meters Centerline goodness [0,1] 0.9999784222337303 Centerline is valid? [True, True] Translation: X:104.01, Y:89.11, Z:5.76 [[ 8.00711406e-01 5.99026535e-01 -5.33423851e-03 1.04009852e+02] [-5.99012595e-01 8.00729170e-01 4.08746995e-03 8.91103808e+01] [ 6.71978334e-03 -7.76077625e-05 9.99977419e-01 5.75943648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.04, Y:89.09, Z:5.76 [[ 7.99906564e-01 6.00100549e-01 -5.36836841e-03 1.04038744e+02] [-6.00086440e-01 7.99924575e-01 4.11567262e-03 8.90948999e+01] [ 6.76410722e-03 -7.06684554e-05 9.99977121e-01 5.75940394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.07, Y:89.08, Z:5.76 [[ 7.99317973e-01 6.00878998e-01 -5.93356158e-03 1.04066654e+02] [-6.00861764e-01 7.99339993e-01 4.55156350e-03 8.90764269e+01] [ 7.47787199e-03 -7.28962369e-05 9.99972038e-01 5.75877958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.09, Y:89.06, Z:5.76 [[ 7.97756062e-01 6.02938756e-01 -7.07967679e-03 1.04094443e+02] [-6.02914279e-01 7.97787473e-01 5.43321987e-03 8.90609664e+01] [ 8.92397629e-03 -6.59458621e-05 9.99960178e-01 5.75785256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.12, Y:89.04, Z:5.76 [[ 7.97007269e-01 6.03926542e-01 -7.22114676e-03 1.04121846e+02] [-6.03901090e-01 7.97039979e-01 5.54491520e-03 8.90430043e+01] [ 9.10426412e-03 -5.84793204e-05 9.99958554e-01 5.75801322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.15, Y:89.03, Z:5.76 [[ 7.95910998e-01 6.05367180e-01 -7.50072741e-03 1.04150748e+02] [-6.05339751e-01 7.95946340e-01 5.76282995e-03 8.90268675e+01] [ 9.45880464e-03 -4.62112797e-05 9.99955263e-01 5.75828307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.210385723 meters Centerline goodness [0,1] 0.9999783751054213 Centerline is valid? [True, True] Translation: X:104.18, Y:89.01, Z:5.76 [[ 7.95584534e-01 6.05795283e-01 -7.57135431e-03 1.04177240e+02] [-6.05767325e-01 7.95620559e-01 5.82012698e-03 8.90091348e+01] [ 9.54973062e-03 -4.39239607e-05 9.99954399e-01 5.75832498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.240385723 meters Centerline goodness [0,1] 0.9999784301460279 Centerline is valid? [True, True] Translation: X:104.20, Y:88.99, Z:5.76 [[ 7.95209601e-01 6.06286452e-01 -7.64386539e-03 1.04204371e+02] [-6.06257948e-01 7.95246337e-01 5.87910610e-03 8.89906006e+01] [ 9.64317833e-03 -4.09674704e-05 9.99953503e-01 5.75808328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.270385723 meters Centerline goodness [0,1] 0.9999568034557236 Centerline is valid? [True, True] Translation: X:104.23, Y:88.97, Z:5.76 [[ 7.95299517e-01 6.06152724e-01 -8.80641504e-03 1.04231774e+02] [-6.06114845e-01 7.95348271e-01 6.77663283e-03 8.89737270e+01] [ 1.11118414e-02 -5.17539308e-05 9.99938260e-01 5.75821015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.300385723 meters Centerline goodness [0,1] 0.9999784640565104 Centerline is valid? [True, True] Translation: X:104.26, Y:88.95, Z:5.76 [[ 7.95386131e-01 6.06036809e-01 -8.96041924e-03 1.04258842e+02] [-6.05997541e-01 7.95436599e-01 6.89908149e-03 8.89544079e+01] [ 1.13085427e-02 -5.74417059e-05 9.99936055e-01 5.75812968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.330385723 meters Centerline goodness [0,1] 0.9999785191072541 Centerline is valid? [True, True] Translation: X:104.28, Y:88.94, Z:5.76 [[ 7.96277657e-01 6.04857576e-01 -9.44485316e-03 1.04284475e+02] [-6.04813841e-01 7.96333665e-01 7.27405369e-03 8.89373808e+01] [ 1.19210210e-02 -7.97885101e-05 9.99928939e-01 5.75738422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.31, Y:88.92, Z:5.76 [[ 7.96672438e-01 6.04339145e-01 -9.33944862e-03 1.04311248e+02] [-6.04296296e-01 7.96727174e-01 7.19698124e-03 8.89176730e+01] [ 1.17904100e-02 -8.98423776e-05 9.99930487e-01 5.75791330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.34, Y:88.90, Z:5.76 [[ 7.97174804e-01 6.03678968e-01 -9.16709206e-03 1.04336575e+02] [-6.03637599e-01 7.97227504e-01 7.06791808e-03 8.88982300e+01] [ 1.15750114e-02 -1.00764768e-04 9.99933002e-01 5.75791865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.36, Y:88.88, Z:5.76 [[ 7.97722523e-01 6.02956707e-01 -9.05453113e-03 1.04363386e+02] [-6.02916256e-01 7.97773900e-01 6.98513535e-03 8.88797613e+01] [ 1.14352028e-02 -1.13075792e-04 9.99934610e-01 5.75918934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.39, Y:88.86, Z:5.76 [[ 7.97582178e-01 6.03139907e-01 -9.21533047e-03 1.04390440e+02] [-6.03097974e-01 7.97635405e-01 7.11298287e-03 8.88621288e+01] [ 1.16405977e-02 -1.15441233e-04 9.99932239e-01 5.75802033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.480385723 meters Centerline goodness [0,1] 0.9999572722611519 Centerline is valid? [True, True] Translation: X:104.42, Y:88.84, Z:5.76 [[ 7.97337398e-01 6.03455808e-01 -9.70370375e-03 1.04416245e+02] [-6.03409288e-01 7.97396434e-01 7.49386792e-03 8.88440621e+01] [ 1.22599169e-02 -1.19836172e-04 9.99924837e-01 5.75711172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.44, Y:88.83, Z:5.76 [[ 7.96982071e-01 6.03920663e-01 -9.97054033e-03 1.04443462e+02] [-6.03871530e-01 7.97044427e-01 7.70432858e-03 8.88253144e+01] [ 1.25997668e-02 -1.19286310e-04 9.99920613e-01 5.75706978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.47, Y:88.81, Z:5.76 [[ 7.96687566e-01 6.04305923e-01 -1.01623822e-02 1.04468625e+02] [-6.04254859e-01 7.96752369e-01 7.85673576e-03 8.88063746e+01] [ 1.28447740e-02 -1.18694860e-04 9.99917495e-01 5.75668528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.49, Y:88.79, Z:5.76 [[ 7.96293335e-01 6.04824694e-01 -1.01987681e-02 1.04494468e+02] [-6.04773249e-01 7.96358636e-01 7.88928862e-03 8.87861044e+01] [ 1.28935136e-02 -1.14245822e-04 9.99916869e-01 5.75742021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.600385723 meters Centerline goodness [0,1] 0.9999785903913676 Centerline is valid? [True, True] Translation: X:104.52, Y:88.77, Z:5.76 [[ 7.96013363e-01 6.05193123e-01 -1.01985190e-02 1.04519440e+02] [-6.05141657e-01 7.96078684e-01 7.89321949e-03 8.87666642e+01] [ 1.28957457e-02 -1.11559524e-04 9.99916840e-01 5.75807468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.55, Y:88.75, Z:5.76 [[ 7.95876964e-01 6.05372623e-01 -1.01904496e-02 1.04546052e+02] [-6.05321198e-01 7.95942193e-01 7.89129211e-03 8.87465034e+01] [ 1.28881810e-02 -1.12002423e-04 9.99916938e-01 5.75803318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.660385723 meters Centerline goodness [0,1] 0.9999359042837304 Centerline is valid? [True, True] Translation: X:104.57, Y:88.73, Z:5.76 [[ 7.95534865e-01 6.05822833e-01 -1.01476006e-02 1.04571706e+02] [-6.05771842e-01 7.95599575e-01 7.86078887e-03 8.87269888e+01] [ 1.28356721e-02 -1.06400899e-04 9.99917614e-01 5.75748283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.60, Y:88.71, Z:5.76 [[ 7.94288212e-01 6.07448456e-01 -1.06117808e-02 1.04598518e+02] [-6.07392778e-01 7.94359092e-01 8.22480524e-03 8.87072748e+01] [ 1.34257098e-02 -8.73468569e-05 9.99909867e-01 5.75778819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.62, Y:88.69, Z:5.76 [[ 7.93707203e-01 6.08216197e-01 -1.00962105e-02 1.04623246e+02] [-6.08165817e-01 7.93771411e-01 7.82861593e-03 8.86880449e+01] [ 1.27755743e-02 -7.34587495e-05 9.99918386e-01 5.75817169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.65, Y:88.67, Z:5.76 [[ 7.93037967e-01 6.09100851e-01 -9.32399632e-03 1.04648236e+02] [-6.09057903e-01 7.93092775e-01 7.23327035e-03 8.86674140e+01] [ 1.18005852e-02 -5.74043620e-05 9.99930369e-01 5.75928828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.67, Y:88.65, Z:5.76 [[ 7.92732830e-01 6.09497640e-01 -9.34275377e-03 1.04674530e+02] [-6.09454499e-01 7.92787881e-01 7.25187345e-03 8.86473204e+01] [ 1.18268217e-02 -5.48148524e-05 9.99930059e-01 5.75987794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.810385723 meters Centerline goodness [0,1] 0.9999359330286592 Centerline is valid? [True, True] Translation: X:104.70, Y:88.63, Z:5.76 [[ 7.92412807e-01 6.09915376e-01 -9.22921970e-03 1.04699703e+02] [-6.09873276e-01 7.92466550e-01 7.16623521e-03 8.86280442e+01] [ 1.16846449e-02 -4.99620975e-05 9.99931731e-01 5.75863486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.72, Y:88.61, Z:5.76 [[ 7.91796540e-01 6.10725181e-01 -8.54353911e-03 1.04724414e+02] [-6.10689121e-01 7.91842631e-01 6.63672407e-03 8.86098993e+01] [ 1.08183530e-02 -3.74887721e-05 9.99941479e-01 5.75826848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.75, Y:88.59, Z:5.76 [[ 7.91326057e-01 6.11338017e-01 -8.30060403e-03 1.04749470e+02] [-6.11303979e-01 7.91369590e-01 6.45120202e-03 8.85900166e+01] [ 1.05127107e-02 -3.08119934e-05 9.99944740e-01 5.75824260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.900385723 meters Centerline goodness [0,1] 0.9998927682937291 Centerline is valid? [True, True] Translation: X:104.77, Y:88.57, Z:5.76 [[ 7.90455161e-01 6.12468265e-01 -7.95376068e-03 1.04774683e+02] [-6.12437033e-01 7.90495176e-01 6.18516810e-03 8.85689413e+01] [ 1.00756286e-02 -1.79204470e-05 9.99949239e-01 5.76109322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.930385723 meters Centerline goodness [0,1] 0.9998502513637822 Centerline is valid? [True, True] Translation: X:104.80, Y:88.55, Z:5.76 [[ 7.90111379e-01 6.12916413e-01 -7.58159689e-03 1.04800121e+02] [-6.12888024e-01 7.90147753e-01 5.89910355e-03 8.85483505e+01] [ 9.60623913e-03 -1.42789051e-05 9.99953859e-01 5.76137829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.960385723 meters Centerline goodness [0,1] 0.9999571697789961 Centerline is valid? [True, True] Translation: X:104.83, Y:88.53, Z:5.76 [[ 7.89643012e-01 6.13517733e-01 -7.73982009e-03 1.04825632e+02] [-6.13488142e-01 7.89680943e-01 6.02561294e-03 8.85280972e+01] [ 9.80880882e-03 -9.79530484e-06 9.99951892e-01 5.76146268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.990385723 meters Centerline goodness [0,1] 0.9999570317535341 Centerline is valid? [True, True] Translation: X:104.85, Y:88.51, Z:5.76 [[ 7.88805934e-01 6.14589783e-01 -8.03726113e-03 1.04851239e+02] [-6.14557892e-01 7.88846879e-01 6.26082214e-03 8.85078352e+01] [ 1.01880057e-02 7.88603785e-07 9.99948101e-01 5.76178933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.88, Y:88.49, Z:5.76 [[ 7.88525261e-01 6.14949722e-01 -8.04684919e-03 1.04875707e+02] [-6.14917740e-01 7.88566319e-01 6.27168793e-03 8.84879575e+01] [ 1.02022470e-02 2.76595456e-06 9.99947956e-01 5.75964387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.90, Y:88.47, Z:5.76 [[ 7.88700966e-01 6.14727908e-01 -7.77079623e-03 1.04900422e+02] [-6.14698037e-01 7.88739247e-01 6.06003565e-03 8.84661795e+01] [ 9.85440500e-03 -2.86278040e-06 9.99951444e-01 5.76227299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.92, Y:88.45, Z:5.76 [[ 7.88728886e-01 6.14690980e-01 -7.85768766e-03 1.04924575e+02] [-6.14660402e-01 7.88768026e-01 6.13109119e-03 8.84459222e+01] [ 9.96661924e-03 -5.95926877e-06 9.99950332e-01 5.76148731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.95, Y:88.43, Z:5.76 [[ 7.88602728e-01 6.14848432e-01 -8.19406605e-03 1.04949278e+02] [-6.14815154e-01 7.88645298e-01 6.39692912e-03 8.84256688e+01] [ 1.03953535e-02 -6.79978219e-06 9.99945967e-01 5.75962778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.140385723 meters Centerline goodness [0,1] 0.9999784366576819 Centerline is valid? [True, True] Translation: X:104.97, Y:88.40, Z:5.76 [[ 7.88977236e-01 6.14362663e-01 -8.56964182e-03 1.04974008e+02] [-6.14326194e-01 7.89023775e-01 6.69394621e-03 8.84041109e+01] [ 1.08741618e-02 -1.68157386e-05 9.99940874e-01 5.75956599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.170385723 meters Centerline goodness [0,1] 0.9999569522169608 Centerline is valid? [True, True] Translation: X:105.00, Y:88.38, Z:5.76 [[ 7.89059792e-01 6.14246925e-01 -9.23900048e-03 1.04998815e+02] [-6.14204481e-01 7.89113879e-01 7.22090899e-03 8.83829047e+01] [ 1.17260447e-02 -2.30934582e-05 9.99931247e-01 5.75930637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.02, Y:88.36, Z:5.76 [[ 7.88995156e-01 6.14332970e-01 -9.03581693e-03 1.05022325e+02] [-6.14292331e-01 7.89046895e-01 7.06610693e-03 8.83592839e+01] [ 1.14706257e-02 -2.44910953e-05 9.99934210e-01 5.75927381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.05, Y:88.34, Z:5.76 [[ 7.88873132e-01 6.14493322e-01 -8.78284893e-03 1.05046581e+02] [-6.14454894e-01 7.88922022e-01 6.87220865e-03 8.83374714e+01] [ 1.11519093e-02 -2.46362576e-05 9.99937815e-01 5.76027444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.260385723 meters Centerline goodness [0,1] 0.9999568575003236 Centerline is valid? [True, True] Translation: X:105.07, Y:88.32, Z:5.76 [[ 7.88661613e-01 6.14767740e-01 -8.57241135e-03 1.05070850e+02] [-6.14731105e-01 7.88708201e-01 6.71141011e-03 8.83158141e+01] [ 1.08870896e-02 -2.33036257e-05 9.99940734e-01 5.76052772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.09, Y:88.29, Z:5.76 [[ 7.87698138e-01 6.15996697e-01 -8.92822283e-03 1.05094948e+02] [-6.15957008e-01 7.87748735e-01 6.99248012e-03 8.82944367e+01] [ 1.13405409e-02 -8.56214189e-06 9.99935694e-01 5.75966417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.12, Y:88.27, Z:5.76 [[ 7.86747154e-01 6.17213598e-01 -8.73443455e-03 1.05120003e+02] [-6.17175646e-01 7.86795637e-01 6.84455499e-03 8.82737743e+01] [ 1.10967674e-02 5.74613310e-06 9.99938429e-01 5.75961506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.350385723 meters Centerline goodness [0,1] 0.9999351337326212 Centerline is valid? [True, True] Translation: X:105.14, Y:88.25, Z:5.76 [[ 7.84874630e-01 6.19602003e-01 -8.07299739e-03 1.05144457e+02] [-6.19569670e-01 7.84916146e-01 6.32982368e-03 8.82509328e+01] [ 1.02585974e-02 3.36663089e-05 9.99947379e-01 5.76028124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.17, Y:88.23, Z:5.76 [[ 7.83720178e-01 6.21062059e-01 -8.03746307e-03 1.05169235e+02] [-6.21030051e-01 7.83761390e-01 6.30556172e-03 8.82291118e+01] [ 1.02155984e-02 4.97101402e-05 9.99947818e-01 5.76084763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.410385723 meters Centerline goodness [0,1] 0.99997843898232 Centerline is valid? [True, True] Translation: X:105.19, Y:88.21, Z:5.76 [[ 7.82671094e-01 6.22385901e-01 -7.85801986e-03 1.05193988e+02] [-6.22355339e-01 7.82710538e-01 6.16806068e-03 8.82082147e+01] [ 9.98946895e-03 6.29178093e-05 9.99950102e-01 5.76078580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.440385723 meters Centerline goodness [0,1] 0.99997843898232 Centerline is valid? [True, True] Translation: X:105.22, Y:88.19, Z:5.76 [[ 7.82502889e-01 6.22597387e-01 -7.85635286e-03 1.05219451e+02] [-6.22566815e-01 7.82542325e-01 6.17018382e-03 8.81881399e+01] [ 9.98946895e-03 6.29178999e-05 9.99950102e-01 5.76078604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.24, Y:88.17, Z:5.76 [[ 7.81047574e-01 6.24428236e-01 -7.35293330e-03 1.05244261e+02] [-6.24401507e-01 7.81082180e-01 5.77806994e-03 8.81659185e+01] [ 9.35123519e-03 7.82351301e-05 9.99956273e-01 5.76047113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.500385723 meters Centerline goodness [0,1] 0.9999782225222674 Centerline is valid? [True, True] Translation: X:105.27, Y:88.15, Z:5.76 [[ 7.80399216e-01 6.25238955e-01 -7.30158249e-03 1.05269233e+02] [-6.25212604e-01 7.80433368e-01 5.74094185e-03 8.81451890e+01] [ 9.28785910e-03 8.48148847e-05 9.99956863e-01 5.76006171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.530385723 meters Centerline goodness [0,1] 0.9999782948428546 Centerline is valid? [True, True] Translation: X:105.29, Y:88.12, Z:5.76 [[ 7.80013240e-01 6.25720374e-01 -7.30477348e-03 1.05292778e+02] [-6.25693991e-01 7.80047438e-01 5.74665400e-03 8.81219959e+01] [ 9.29386833e-03 8.80866673e-05 9.99956807e-01 5.75925038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.32, Y:88.10, Z:5.76 [[ 7.79941181e-01 6.25812393e-01 -7.11355377e-03 1.05316940e+02] [-6.25787348e-01 7.79973616e-01 5.59941479e-03 8.80988612e+01] [ 9.05256743e-03 8.43577635e-05 9.99959021e-01 5.76019770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.34, Y:88.08, Z:5.76 [[ 7.80125051e-01 6.25589657e-01 -6.51810239e-03 1.05340515e+02] [-6.25568601e-01 7.80152277e-01 5.13326310e-03 8.80766898e+01] [ 8.29642873e-03 7.29330545e-05 9.99965581e-01 5.76098155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.36, Y:88.05, Z:5.76 [[ 7.80608653e-01 6.24997104e-01 -5.36206958e-03 1.05362116e+02] [-6.24982827e-01 7.80627067e-01 4.22478286e-03 8.80544875e+01] [ 6.82625370e-03 5.32993440e-05 9.99976699e-01 5.76181113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.650385723 meters Centerline goodness [0,1] 0.9999781730874168 Centerline is valid? [True, True] Translation: X:105.39, Y:88.03, Z:5.76 [[ 7.80491623e-01 6.25145696e-01 -5.06807099e-03 1.05387010e+02] [-6.25132930e-01 7.80508076e-01 3.99540298e-03 8.80324578e+01] [ 6.45337931e-03 4.98395064e-05 9.99979176e-01 5.76167248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.680385723 meters Centerline goodness [0,1] 0.9999125549264368 Centerline is valid? [True, True] Translation: X:105.41, Y:88.01, Z:5.76 [[ 7.80210892e-01 6.25490278e-01 -5.73379618e-03 1.05410137e+02] [-6.25473930e-01 7.80231958e-01 4.52260848e-03 8.80097458e+01] [ 7.30253866e-03 5.77516375e-05 9.99973334e-01 5.75979671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.710385723 meters Centerline goodness [0,1] 0.9999125128496752 Centerline is valid? [True, True] Translation: X:105.43, Y:87.99, Z:5.76 [[ 7.80223747e-01 6.25467771e-01 -6.40085584e-03 1.05434629e+02] [-6.25447375e-01 7.80250000e-01 5.05152291e-03 8.79870369e+01] [ 8.15383255e-03 6.20803455e-05 9.99966755e-01 5.75896606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.740385723 meters Centerline goodness [0,1] 0.9999558975942138 Centerline is valid? [True, True] Translation: X:105.46, Y:87.96, Z:5.76 [[ 7.80246853e-01 6.25435067e-01 -6.76948513e-03 1.05458812e+02] [-6.25412226e-01 7.80276216e-01 5.34544430e-03 8.79639491e+01] [ 8.62529656e-03 6.29526683e-05 9.99962800e-01 5.75886351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.770385723 meters Centerline goodness [0,1] 0.9999780456211992 Centerline is valid? [True, True] Translation: X:105.48, Y:87.94, Z:5.76 [[ 7.81503202e-01 6.23870324e-01 -6.20997744e-03 1.05479955e+02] [-6.23851043e-01 7.81527873e-01 4.90500367e-03 8.79399916e+01] [ 7.91335669e-03 4.08248296e-05 9.99968688e-01 5.75896027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.50, Y:87.92, Z:5.76 [[ 7.82229979e-01 6.22960371e-01 -6.05279302e-03 1.05502289e+02] [-6.22942016e-01 7.82253396e-01 4.78215729e-03 8.79186363e+01] [ 7.71391237e-03 2.97922837e-05 9.99970247e-01 5.75877811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.830385723 meters Centerline goodness [0,1] 0.9999779103158825 Centerline is valid? [True, True] Translation: X:105.52, Y:87.89, Z:5.76 [[ 7.83238774e-01 6.21689674e-01 -6.24273470e-03 1.05524359e+02] [-6.21670087e-01 7.83263652e-01 4.93494363e-03 8.78931822e+01] [ 7.95771068e-03 1.56822234e-05 9.99968337e-01 5.75939586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.55, Y:87.87, Z:5.76 [[ 7.83352196e-01 6.21547940e-01 -6.12334556e-03 1.05548796e+02] [-6.21529070e-01 7.83376128e-01 4.84325016e-03 8.78703839e+01] [ 7.80719489e-03 1.18666243e-05 9.99969523e-01 5.75961486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.57, Y:87.85, Z:5.76 [[ 7.83492329e-01 6.21370652e-01 -6.18729175e-03 1.05572549e+02] [-6.21351359e-01 7.83516760e-01 4.89656579e-03 8.78470522e+01] [ 7.89042906e-03 8.06040025e-06 9.99968870e-01 5.75944559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.60, Y:87.83, Z:5.76 [[ 7.83279312e-01 6.21640352e-01 -6.06574060e-03 1.05597350e+02] [-6.21621798e-01 7.83302798e-01 4.80285773e-03 8.78265371e+01] [ 7.73696175e-03 8.61748108e-06 9.99970069e-01 5.75826007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.62, Y:87.81, Z:5.76 [[ 7.83197793e-01 6.21744687e-01 -5.89580463e-03 1.05622104e+02] [-6.21727143e-01 7.83219985e-01 4.67077056e-03 8.78055816e+01] [ 7.52173879e-03 7.44457150e-06 9.99971711e-01 5.75710446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.65, Y:87.78, Z:5.76 [[ 7.83754577e-01 6.21048772e-01 -5.21394235e-03 1.05645260e+02] [-6.21035021e-01 7.83771920e-01 4.13284834e-03 8.77825562e+01] [ 6.65324199e-03 -1.09800971e-06 9.99977867e-01 5.75849270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.67, Y:87.76, Z:5.76 [[ 7.83902805e-01 6.20865791e-01 -4.69714206e-03 1.05670040e+02] [-6.20854615e-01 7.83916877e-01 3.72527769e-03 8.77603316e+01] [ 5.99506641e-03 -4.01330308e-06 9.99982029e-01 5.75899550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.69, Y:87.74, Z:5.76 [[ 7.83893891e-01 6.20881948e-01 -3.99681787e-03 1.05693885e+02] [-6.20873847e-01 7.83904080e-01 3.17163848e-03 8.77374925e+01] [ 5.10233491e-03 -4.70834037e-06 9.99986983e-01 5.76058469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.72, Y:87.72, Z:5.76 [[ 7.83794925e-01 6.21010239e-01 -3.43494932e-03 1.05718472e+02] [-6.21004251e-01 7.83802451e-01 2.72730236e-03 8.77162270e+01] [ 4.38600439e-03 -4.52761881e-06 9.99990381e-01 5.76120531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.74, Y:87.70, Z:5.76 [[ 7.83487212e-01 6.21396847e-01 -3.70772423e-03 1.05743159e+02] [-6.21389867e-01 7.83495985e-01 2.94542096e-03 8.76953794e+01] [ 4.73526235e-03 -3.75738877e-06 9.99988789e-01 5.76125494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.77, Y:87.68, Z:5.76 [[ 7.82914154e-01 6.22118875e-01 -3.67870134e-03 1.05768736e+02] [-6.22112004e-01 7.82922796e-01 2.92399131e-03 8.76754340e+01] [ 4.69920933e-03 -6.69921138e-07 9.99988959e-01 5.76059596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.79, Y:87.66, Z:5.76 [[ 7.82582510e-01 6.22533415e-01 -4.09416523e-03 1.05794181e+02] [-6.22524901e-01 7.82593220e-01 3.25590175e-03 8.76554292e+01] [ 5.23097359e-03 7.08034232e-07 9.99986318e-01 5.75959656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.82, Y:87.63, Z:5.76 [[ 7.82141695e-01 6.23083151e-01 -4.66424697e-03 1.05819297e+02] [-6.23072098e-01 7.82155603e-01 3.71127860e-03 8.76347438e+01] [ 5.96060207e-03 3.41640966e-06 9.99982236e-01 5.75817385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.84, Y:87.61, Z:5.76 [[ 7.82131540e-01 6.23093430e-01 -4.98312157e-03 1.05844268e+02] [-6.23080801e-01 7.82147414e-01 3.96716953e-03 8.76136083e+01] [ 6.36945292e-03 2.03896509e-06 9.99979715e-01 5.75821132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.87, Y:87.59, Z:5.76 [[ 7.82674367e-01 6.22405641e-01 -5.66153291e-03 1.05868455e+02] [-6.22389303e-01 7.82694844e-01 4.50971576e-03 8.75916043e+01] [ 7.23812514e-03 -5.96140855e-06 9.99973804e-01 5.75770849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.89, Y:87.57, Z:5.76 [[ 7.83315888e-01 6.21594930e-01 -5.99687810e-03 1.05893221e+02] [-6.21576555e-01 7.83338843e-01 4.77943002e-03 8.75704960e+01] [ 7.66845702e-03 -1.62846416e-05 9.99970597e-01 5.75749689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.92, Y:87.55, Z:5.76 [[ 7.84840378e-01 6.19667832e-01 -6.11222853e-03 1.05917646e+02] [-6.19648664e-01 7.84864177e-01 4.87411084e-03 8.75480560e+01] [ 7.81759891e-03 -3.79647483e-05 9.99969441e-01 5.75830999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.94, Y:87.53, Z:5.76 [[ 7.85230273e-01 6.19172666e-01 -6.21522288e-03 1.05942104e+02] [-6.19152808e-01 7.85254868e-01 4.95904163e-03 8.75267201e+01] [ 7.95103705e-03 -4.58169157e-05 9.99968389e-01 5.75837836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.97, Y:87.51, Z:5.76 [[ 7.85742820e-01 6.18521399e-01 -6.28488147e-03 1.05966634e+02] [-6.18501052e-01 7.85767953e-01 5.01726137e-03 8.75055610e+01] [ 8.04174197e-03 -5.50712978e-05 9.99967663e-01 5.75771434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.99, Y:87.49, Z:5.76 [[ 7.86530711e-01 6.17517068e-01 -6.48937886e-03 1.05991770e+02] [-6.17495330e-01 7.86557478e-01 5.18182885e-03 8.74863640e+01] [ 8.30413723e-03 -6.85063832e-05 9.99965518e-01 5.75695827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.02, Y:87.47, Z:5.76 [[ 7.86755032e-01 6.17232239e-01 -6.39398744e-03 1.06017990e+02] [-6.17211103e-01 7.86781010e-01 5.10849095e-03 8.74670997e+01] [ 8.18379320e-03 -7.26909261e-05 9.99966510e-01 5.75725309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.04, Y:87.45, Z:5.76 [[ 7.87616008e-01 6.16136611e-01 -6.05803327e-03 1.06043320e+02] [-6.16117587e-01 7.87639302e-01 4.84242866e-03 8.74473449e+01] [ 7.75514268e-03 -8.15134946e-05 9.99969925e-01 5.75703383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.07, Y:87.43, Z:5.76 [[ 7.87886217e-01 6.15791988e-01 -5.96124369e-03 1.06069030e+02] [-6.15773537e-01 7.87908764e-01 4.76774467e-03 8.74273551e+01] [ 7.63285512e-03 -8.56642020e-05 9.99970866e-01 5.75704567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.09, Y:87.41, Z:5.76 [[ 7.88298927e-01 6.15265691e-01 -5.73856964e-03 1.06093505e+02] [-6.15248561e-01 7.88319809e-01 4.59207232e-03 8.74071411e+01] [ 7.34917267e-03 -8.92789703e-05 9.99972991e-01 5.75671617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.12, Y:87.39, Z:5.76 [[ 7.89413662e-01 6.13837719e-01 -5.41521454e-03 1.06118663e+02] [-6.13822417e-01 7.89432230e-01 4.33537167e-03 8.73873313e+01] [ 6.93615955e-03 -9.84215509e-05 9.99975940e-01 5.75769717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.14, Y:87.37, Z:5.76 [[ 7.89842545e-01 6.13287630e-01 -5.19977922e-03 1.06144169e+02] [-6.13273496e-01 7.89859654e-01 4.16488452e-03 8.73671026e+01] [ 6.66136797e-03 -1.00716203e-04 9.99977808e-01 5.75819193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.17, Y:87.35, Z:5.76 [[ 7.90560171e-01 6.12362814e-01 -5.13809920e-03 1.06169740e+02] [-6.12348981e-01 7.90576860e-01 4.11748645e-03 8.73479968e+01] [ 6.58345793e-03 -1.08810986e-04 9.99978323e-01 5.75930925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.19, Y:87.33, Z:5.76 [[ 7.90513231e-01 6.12420492e-01 -5.47483995e-03 1.06194690e+02] [-6.12404772e-01 7.90532180e-01 4.38946511e-03 8.73288913e+01] [ 7.01623554e-03 -1.17112129e-04 9.99975379e-01 5.75862840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.22, Y:87.31, Z:5.76 [[ 7.90117744e-01 6.12926922e-01 -5.87695931e-03 1.06221525e+02] [-6.12908803e-01 7.90139591e-01 4.71448040e-03 8.73093869e+01] [ 7.53325018e-03 -1.22954524e-04 9.99971617e-01 5.75819455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.700385723 meters Centerline goodness [0,1] 0.9999777297730664 Centerline is valid? [True, True] Translation: X:106.25, Y:87.29, Z:5.76 [[ 7.88848156e-01 6.14551815e-01 -6.68237392e-03 1.06248652e+02] [-6.14528425e-01 7.88876449e-01 5.36317437e-03 8.72921917e+01] [ 8.56751595e-03 -1.24221489e-04 9.99963291e-01 5.75698262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.28, Y:87.27, Z:5.76 [[ 7.88095899e-01 6.15513401e-01 -6.93589209e-03 1.06275496e+02] [-6.15488216e-01 7.88126410e-01 5.56934784e-03 8.72737619e+01] [ 8.89436796e-03 -1.20220347e-04 9.99960437e-01 5.75640476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.30, Y:87.26, Z:5.76 [[ 7.87259656e-01 6.16590702e-01 -6.17572375e-03 1.06302799e+02] [-6.16570749e-01 7.87283873e-01 4.96136108e-03 8.72560581e+01] [ 7.92117682e-03 -9.81087979e-05 9.99968622e-01 5.75632662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.33, Y:87.24, Z:5.76 [[ 7.87214787e-01 6.16650455e-01 -5.92409414e-03 1.06327582e+02] [-6.16632078e-01 7.87237072e-01 4.76167605e-03 8.72356329e+01] [ 7.59995623e-03 -9.54753188e-05 9.99971115e-01 5.75709499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.35, Y:87.22, Z:5.76 [[ 7.87711021e-01 6.16022053e-01 -5.30836197e-03 1.06351547e+02] [-6.16007273e-01 7.87728901e-01 4.26821477e-03 8.72150883e+01] [ 6.81086457e-03 -9.21302347e-05 9.99976802e-01 5.75867243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.38, Y:87.19, Z:5.76 [[ 7.87791455e-01 6.15920686e-01 -5.13140081e-03 1.06376981e+02] [-6.15906859e-01 7.87808162e-01 4.12816342e-03 8.71948663e+01] [ 6.58518069e-03 -9.16669085e-05 9.99978313e-01 5.75907778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.40, Y:87.18, Z:5.76 [[ 7.87730035e-01 6.16004919e-01 -4.39680804e-03 1.06402271e+02] [-6.15994759e-01 7.87742301e-01 3.53897628e-03 8.71751004e+01] [ 5.64357848e-03 -7.93471981e-05 9.99984072e-01 5.75939212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.43, Y:87.16, Z:5.76 [[ 7.87240469e-01 6.16635517e-01 -3.61707929e-03 1.06427485e+02] [-6.16628642e-01 7.87248776e-01 2.91263567e-03 8.71561278e+01] [ 4.64357585e-03 -6.25499795e-05 9.99989217e-01 5.75977740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.45, Y:87.14, Z:5.76 [[ 7.86665932e-01 6.17369207e-01 -3.46049935e-03 1.06453258e+02] [-6.17362914e-01 7.86673541e-01 2.78788095e-03 8.71375370e+01] [ 4.44343512e-03 -5.67469986e-05 9.99990126e-01 5.76050225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.48, Y:87.12, Z:5.76 [[ 7.84832470e-01 6.19698228e-01 -3.47847065e-03 1.06478759e+02] [-6.19691888e-01 7.84840178e-01 2.80359420e-03 8.71195869e+01] [ 4.46742588e-03 -4.47717191e-05 9.99990020e-01 5.76003777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.51, Y:87.10, Z:5.76 [[ 7.83637936e-01 6.21205113e-01 -3.97396239e-03 1.06505451e+02] [-6.21196849e-01 7.83648012e-01 3.20452648e-03 8.71015545e+01] [ 5.10485596e-03 -4.25756100e-05 9.99986969e-01 5.75975486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.53, Y:87.08, Z:5.76 [[ 7.82347234e-01 6.22828476e-01 -4.18272646e-03 1.06531772e+02] [-6.22819335e-01 7.82358414e-01 3.37454346e-03 8.70826397e+01] [ 5.37415300e-03 -3.49818295e-05 9.99985559e-01 5.75944500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.060385723 meters Centerline goodness [0,1] 0.9999778672922846 Centerline is valid? [True, True] Translation: X:106.56, Y:87.07, Z:5.76 [[ 7.79981241e-01 6.25789407e-01 -4.10873405e-03 1.06557886e+02] [-6.25780620e-01 7.79992063e-01 3.31636442e-03 8.70652688e+01] [ 5.28012568e-03 -1.55358989e-05 9.99986060e-01 5.75854449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.58, Y:87.05, Z:5.76 [[ 7.78873122e-01 6.27166158e-01 -4.38984919e-03 1.06584528e+02] [-6.27156137e-01 7.78885493e-01 3.54525271e-03 8.70457666e+01] [ 5.64265237e-03 -8.18118641e-06 9.99984080e-01 5.75838786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.120385723 meters Centerline goodness [0,1] 0.9998890713049652 Centerline is valid? [True, True] Translation: X:106.61, Y:87.03, Z:5.76 [[ 7.77367762e-01 6.29026623e-01 -4.98695633e-03 1.06610685e+02] [-6.29013715e-01 7.77383758e-01 4.02974622e-03 8.70264540e+01] [ 6.41159651e-03 4.26912617e-06 9.99979446e-01 5.75746406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.150385723 meters Centerline goodness [0,1] 0.99995561375086 Centerline is valid? [True, True] Translation: X:106.64, Y:87.01, Z:5.76 [[ 7.76634941e-01 6.29929685e-01 -5.17306677e-03 1.06635293e+02] [-6.29915801e-01 7.76652169e-01 4.18232895e-03 8.70068537e+01] [ 6.65224668e-03 1.04536935e-05 9.99977874e-01 5.75710777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.66, Y:86.99, Z:5.76 [[ 7.76113306e-01 6.30572113e-01 -5.19095349e-03 1.06660686e+02] [-6.30558132e-01 7.76130666e-01 4.19910625e-03 8.69863917e+01] [ 6.67669749e-03 1.42156939e-05 9.99977711e-01 5.75738380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.69, Y:86.97, Z:5.76 [[ 7.75780528e-01 6.30979387e-01 -5.43924947e-03 1.06685223e+02] [-6.30964031e-01 7.75799596e-01 4.40222221e-03 8.69660893e+01] [ 6.99747902e-03 1.68125000e-05 9.99975517e-01 5.75661462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.71, Y:86.95, Z:5.76 [[ 7.75409636e-01 6.31434055e-01 -5.56157199e-03 1.06710853e+02] [-6.31417994e-01 7.75429580e-01 4.50366119e-03 8.69454993e+01] [ 7.15637249e-03 1.94943454e-05 9.99974393e-01 5.75636459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.74, Y:86.92, Z:5.76 [[ 7.75134798e-01 6.31771420e-01 -5.56032367e-03 1.06735942e+02] [-6.31755357e-01 7.75154741e-01 4.50519503e-03 8.69235750e+01] [ 7.15636472e-03 2.06308280e-05 9.99974393e-01 5.75663670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.76, Y:86.90, Z:5.76 [[ 7.74908714e-01 6.32049871e-01 -5.42641775e-03 1.06761146e+02] [-6.32034562e-01 7.74927713e-01 4.39919870e-03 8.69022173e+01] [ 6.98559447e-03 2.07061570e-05 9.99975600e-01 5.75681885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.79, Y:86.88, Z:5.76 [[ 7.74728319e-01 6.32274650e-01 -4.97988905e-03 1.06786023e+02] [-6.32261747e-01 7.74744324e-01 4.03933302e-03 8.68815383e+01] [ 6.41210864e-03 1.92076658e-05 9.99979442e-01 5.75688155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.81, Y:86.86, Z:5.76 [[ 7.74555489e-01 6.32486368e-01 -4.97878496e-03 1.06811154e+02] [-6.32473461e-01 7.74571491e-01 4.04069382e-03 8.68610713e+01] [ 6.41210864e-03 1.92077742e-05 9.99979442e-01 5.75688179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.84, Y:86.84, Z:5.76 [[ 7.74521275e-01 6.32532792e-01 -4.36601486e-03 1.06835706e+02] [-6.32522860e-01 7.74533581e-01 3.54461117e-03 8.68410405e+01] [ 5.62370792e-03 1.62274413e-05 9.99984187e-01 5.75721935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.420385723 meters Centerline goodness [0,1] 0.9999333585090077 Centerline is valid? [True, True] Translation: X:106.86, Y:86.82, Z:5.76 [[ 7.74776057e-01 6.32224193e-01 -3.82523859e-03 1.06859636e+02] [-6.32216557e-01 7.74785500e-01 3.10728409e-03 8.68198739e+01] [ 4.92823957e-03 1.09298603e-05 9.99987856e-01 5.75783400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.88, Y:86.80, Z:5.76 [[ 7.75029996e-01 6.31913190e-01 -3.77169070e-03 1.06884684e+02] [-6.31905755e-01 7.75039173e-01 3.06547980e-03 8.67977795e+01] [ 4.86032516e-03 7.51426467e-06 9.99988189e-01 5.75828661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.91, Y:86.78, Z:5.76 [[ 7.75891469e-01 6.30858973e-01 -3.06334129e-03 1.06908555e+02] [-6.30854055e-01 7.75897517e-01 2.49113496e-03 8.67757061e+01] [ 3.94839374e-03 -3.29088072e-07 9.99992205e-01 5.75892570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.93, Y:86.75, Z:5.76 [[ 7.76275215e-01 6.30387990e-01 -2.78808057e-03 1.06933895e+02] [-6.30383908e-01 7.76280221e-01 2.26853141e-03 8.67542941e+01] [ 3.59438676e-03 -3.44358379e-06 9.99993540e-01 5.75927654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.96, Y:86.73, Z:5.76 [[ 7.76350158e-01 6.30297011e-01 -2.47187006e-03 1.06959406e+02] [-6.30293799e-01 7.76354093e-01 2.01236903e-03 8.67334826e+01] [ 3.18743662e-03 -4.29864527e-06 9.99994920e-01 5.75950977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.99, Y:86.71, Z:5.76 [[ 7.76977952e-01 6.29524354e-01 -2.08558022e-03 1.06985705e+02] [-6.29522062e-01 7.76980751e-01 1.69884727e-03 8.67129102e+01] [ 2.68992141e-03 -7.04810778e-06 9.99996382e-01 5.75898934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.01, Y:86.69, Z:5.76 [[ 7.77459554e-01 6.28929325e-01 -2.13213813e-03 1.07010860e+02] [-6.28926925e-01 7.77462477e-01 1.73774534e-03 8.66919904e+01] [ 2.75057639e-03 -1.00676411e-05 9.99996217e-01 5.75873913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.03, Y:86.67, Z:5.76 [[ 7.78865009e-01 6.27187244e-01 -2.33648132e-03 1.07034863e+02] [-6.27184351e-01 7.78868513e-01 1.90524098e-03 8.66710665e+01] [ 3.01475457e-03 -1.85210143e-05 9.99995456e-01 5.75876899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.06, Y:86.65, Z:5.76 [[ 7.79358176e-01 6.26573897e-01 -2.44631910e-03 1.07059757e+02] [-6.26570719e-01 7.79362015e-01 1.99593861e-03 8.66498916e+01] [ 3.15717122e-03 -2.27591556e-05 9.99995016e-01 5.75863488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.690385723 meters Centerline goodness [0,1] 0.9999114083851963 Centerline is valid? [True, True] Translation: X:107.08, Y:86.63, Z:5.76 [[ 7.79902340e-01 6.25893845e-01 -3.03894138e-03 1.07083906e+02] [-6.25888929e-01 7.79908260e-01 2.48077218e-03 8.66285913e+01] [ 3.92279552e-03 -3.27202616e-05 9.99992305e-01 5.75808100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.11, Y:86.61, Z:5.76 [[ 7.81020261e-01 6.24494651e-01 -3.71249675e-03 1.07108292e+02] [-6.24487293e-01 7.81029083e-01 3.03198910e-03 8.66084456e+01] [ 4.79302891e-03 -4.96378707e-05 9.99988512e-01 5.75786922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.13, Y:86.59, Z:5.76 [[ 7.81459158e-01 6.23945606e-01 -3.66943995e-03 1.07134390e+02] [-6.23938403e-01 7.81467772e-01 2.99851456e-03 8.65882489e+01] [ 4.73845905e-03 -5.37121575e-05 9.99988772e-01 5.75743936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.16, Y:86.57, Z:5.76 [[ 7.82426849e-01 6.22728511e-01 -4.17467428e-03 1.07159949e+02] [-6.22719162e-01 7.82437983e-01 3.41303825e-03 8.65692882e+01] [ 5.39181995e-03 -7.08030935e-05 9.99985462e-01 5.75659496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.18, Y:86.55, Z:5.76 [[ 7.82948263e-01 6.22070093e-01 -4.56261347e-03 1.07183788e+02] [-6.22058905e-01 7.82961552e-01 3.73187620e-03 8.65498059e+01] [ 5.89383950e-03 -8.36516466e-05 9.99982628e-01 5.75612648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.21, Y:86.53, Z:5.76 [[ 7.83455324e-01 6.21428640e-01 -4.91940348e-03 1.07207278e+02] [-6.21415609e-01 7.83470763e-01 4.02549214e-03 8.65297074e+01] [ 6.35576490e-03 -9.67991393e-05 9.99979797e-01 5.75644498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.23, Y:86.51, Z:5.76 [[ 7.84286229e-01 6.20381136e-01 -4.72835428e-03 1.07231440e+02] [-6.20369068e-01 7.84300475e-01 3.87100185e-03 8.65088612e+01] [ 6.10994704e-03 -1.02648705e-04 9.99981329e-01 5.75686518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.25, Y:86.49, Z:5.76 [[ 7.86308108e-01 6.17825782e-01 -3.29577177e-03 1.07254193e+02] [-6.17819891e-01 7.86315010e-01 2.69936089e-03 8.64880457e+01] [ 4.25924957e-03 -8.63360026e-05 9.99990926e-01 5.75893572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.28, Y:86.47, Z:5.76 [[ 7.87299612e-01 6.16562975e-01 -3.06916523e-03 1.07279526e+02] [-6.16557852e-01 7.87305589e-01 2.51493848e-03 8.64682685e+01] [ 3.96698890e-03 -8.76921667e-05 9.99992128e-01 5.75921754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.30, Y:86.45, Z:5.76 [[ 7.89000780e-01 6.14381651e-01 -3.59958621e-03 1.07304653e+02] [-6.14374575e-01 7.89008982e-01 2.95084352e-03 8.64500344e+01] [ 4.65304997e-03 -1.16723591e-04 9.99989168e-01 5.75807093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.33, Y:86.43, Z:5.76 [[ 7.89240850e-01 6.14072900e-01 -3.65432236e-03 1.07329493e+02] [-6.14065598e-01 7.89249301e-01 2.99709021e-03 8.64296797e+01] [ 4.72460324e-03 -1.21432379e-04 9.99988832e-01 5.75825169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.35, Y:86.41, Z:5.76 [[ 7.89494519e-01 6.13743639e-01 -4.14126207e-03 1.07353376e+02] [-6.13734249e-01 7.89505368e-01 3.39789118e-03 8.64096138e+01] [ 5.35498273e-03 -1.40982098e-04 9.99985652e-01 5.75900325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.38, Y:86.39, Z:5.76 [[ 7.88881833e-01 6.14531824e-01 -4.01139380e-03 1.07380957e+02] [-6.14523016e-01 7.88892020e-01 3.29281824e-03 8.63925132e+01] [ 5.18809816e-03 -1.32550671e-04 9.99986533e-01 5.75908146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.41, Y:86.38, Z:5.76 [[ 7.87966724e-01 6.15704838e-01 -3.99938931e-03 1.07410303e+02] [-6.15696089e-01 7.87976864e-01 3.28452217e-03 8.63777935e+01] [ 5.17372243e-03 -1.25685815e-04 9.99986608e-01 5.75896112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.43, Y:86.36, Z:5.76 [[ 7.86872813e-01 6.17098915e-01 -4.48387107e-03 1.07434833e+02] [-6.17087932e-01 7.86885578e-01 3.68401697e-03 8.63593136e+01] [ 5.80169635e-03 -1.31910069e-04 9.99983161e-01 5.75743399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.46, Y:86.34, Z:5.76 [[ 7.84636750e-01 6.19933377e-01 -5.27052770e-03 1.07463364e+02] [-6.19918262e-01 7.84654441e-01 4.33103318e-03 8.63427070e+01] [ 6.82049499e-03 -1.30991432e-04 9.99976732e-01 5.75698979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.49, Y:86.33, Z:5.76 [[ 7.83787303e-01 6.21003354e-01 -5.68311970e-03 1.07491320e+02] [-6.20985791e-01 7.83807895e-01 4.67232048e-03 8.63266719e+01] [ 7.35600078e-03 -1.32968886e-04 9.99972935e-01 5.75829701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.200385723 meters Centerline goodness [0,1] 0.9999782731499587 Centerline is valid? [True, True] Translation: X:107.52, Y:86.31, Z:5.76 [[ 7.82860311e-01 6.22167315e-01 -6.12900444e-03 1.07519788e+02] [-6.22146917e-01 7.82884292e-01 5.03978533e-03 8.63098606e+01] [ 7.93389101e-03 -1.32306700e-04 9.99968517e-01 5.75953707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.230385723 meters Centerline goodness [0,1] 0.9999568388795373 Centerline is valid? [True, True] Translation: X:107.54, Y:86.29, Z:5.76 [[ 7.82924634e-01 6.22090704e-01 -5.67209959e-03 1.07542457e+02] [-6.22073215e-01 7.82945171e-01 4.66635382e-03 8.62879468e+01] [ 7.34383831e-03 -1.24942131e-04 9.99973026e-01 5.75863278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.57, Y:86.27, Z:5.76 [[ 7.83288736e-01 6.21633882e-01 -5.48397117e-03 1.07567689e+02] [-6.21617508e-01 7.83307922e-01 4.51352977e-03 8.62687264e+01] [ 7.10140110e-03 -1.26464530e-04 9.99974777e-01 5.75955383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.60, Y:86.25, Z:5.76 [[ 7.83793811e-01 6.20996426e-01 -5.54077186e-03 1.07596769e+02] [-6.20979680e-01 7.83813384e-01 4.56249842e-03 8.62528499e+01] [ 7.17622635e-03 -1.35351292e-04 9.99974241e-01 5.76132865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.62, Y:86.24, Z:5.76 [[ 7.84313510e-01 6.20328735e-01 -6.67669113e-03 1.07624086e+02] [-6.20304372e-01 7.84341909e-01 5.50053129e-03 8.62358527e+01] [ 8.64894629e-03 -1.72560307e-04 9.99962582e-01 5.76036891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.65, Y:86.22, Z:5.76 [[ 7.84184396e-01 6.20486605e-01 -7.15586337e-03 1.07650373e+02] [-6.20458595e-01 7.84217023e-01 5.89858368e-03 8.62165322e+01] [ 9.27174202e-03 -1.85660351e-04 9.99956999e-01 5.76023003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.68, Y:86.20, Z:5.76 [[ 7.84295100e-01 6.20336904e-01 -7.95756972e-03 1.07675030e+02] [-6.20302242e-01 7.84335440e-01 6.56102297e-03 8.61982713e+01] [ 1.03114486e-02 -2.09679823e-04 9.99946814e-01 5.76012393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.70, Y:86.18, Z:5.76 [[ 7.84465780e-01 6.20125475e-01 -7.60494214e-03 1.07701521e+02] [-6.20093773e-01 7.84502615e-01 6.27377312e-03 8.61789443e+01] [ 9.85662353e-03 -2.05783058e-04 9.99951401e-01 5.76025974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.73, Y:86.16, Z:5.76 [[ 7.84766988e-01 6.19740397e-01 -7.91296753e-03 1.07727266e+02] [-6.19706025e-01 7.84806850e-01 6.53081189e-03 8.61617584e+01] [ 1.02575591e-02 -2.21451920e-04 9.99947365e-01 5.75870681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.75, Y:86.14, Z:5.76 [[ 7.84768940e-01 6.19730088e-01 -8.50471437e-03 1.07753602e+02] [-6.19690344e-01 7.84814985e-01 7.02256851e-03 8.61425825e+01] [ 1.10267243e-02 -2.40804261e-04 9.99939175e-01 5.75871456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.78, Y:86.12, Z:5.76 [[ 7.84567917e-01 6.19983489e-01 -8.58232710e-03 1.07779635e+02] [-6.19942990e-01 7.84614819e-01 7.09053321e-03 8.61217048e+01] [ 1.11298345e-02 -2.42451351e-04 9.99938032e-01 5.75877043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.80, Y:86.10, Z:5.76 [[ 7.84358611e-01 6.20254580e-01 -8.11325745e-03 1.07804397e+02] [-6.20218367e-01 7.84400538e-01 6.70618773e-03 8.61015594e+01] [ 1.05235872e-02 -2.28064808e-04 9.99944600e-01 5.75941581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.83, Y:86.08, Z:5.76 [[ 7.83678534e-01 6.21116860e-01 -7.86138899e-03 1.07830008e+02] [-6.21082872e-01 7.83717935e-01 6.50109602e-03 8.60827099e+01] [ 1.01990519e-02 -2.12195343e-04 9.99947966e-01 5.76093141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.86, Y:86.07, Z:5.76 [[ 7.82648337e-01 6.22418749e-01 -7.51536000e-03 1.07857535e+02] [-6.22387719e-01 7.82684397e-01 6.21792916e-03 8.60660022e+01] [ 9.75231070e-03 -1.88984159e-04 9.99952427e-01 5.76130641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.88, Y:86.05, Z:5.76 [[ 7.81463878e-01 6.23902175e-01 -7.76424052e-03 1.07884124e+02] [-6.23869097e-01 7.81502427e-01 6.42693708e-03 8.60478972e+01] [ 1.00775528e-02 -1.78549449e-04 9.99949204e-01 5.76062821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.650385723 meters Centerline goodness [0,1] 0.9999786324786325 Centerline is valid? [True, True] Translation: X:107.91, Y:86.03, Z:5.76 [[ 7.80462632e-01 6.25149777e-01 -8.11400342e-03 1.07909511e+02] [-6.25113687e-01 7.80504790e-01 6.71944388e-03 8.60297471e+01] [ 1.05336774e-02 -1.72100257e-04 9.99944505e-01 5.75955253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.680385723 meters Centerline goodness [0,1] 0.9999572768248136 Centerline is valid? [True, True] Translation: X:107.94, Y:86.01, Z:5.76 [[ 7.79544996e-01 6.26293996e-01 -8.08888320e-03 1.07935480e+02] [-6.26258158e-01 7.79586945e-01 6.70181419e-03 8.60101454e+01] [ 1.05032937e-02 -1.58636621e-04 9.99944826e-01 5.75961795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.96, Y:85.99, Z:5.76 [[ 7.78574429e-01 6.27505876e-01 -7.63105171e-03 1.07961446e+02] [-6.27474008e-01 7.78611814e-01 6.32560069e-03 8.59917727e+01] [ 9.91097862e-03 -1.36664351e-04 9.99950876e-01 5.76155716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.99, Y:85.97, Z:5.76 [[ 7.78616753e-01 6.27455355e-01 -7.46519915e-03 1.07987629e+02] [-6.27424820e-01 7.78652527e-01 6.19164821e-03 8.59712711e+01] [ 9.69777901e-03 -1.37069792e-04 9.99952966e-01 5.76198410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.01, Y:85.95, Z:5.76 [[ 7.80074749e-01 6.25642327e-01 -7.42055667e-03 1.08011936e+02] [-6.25612047e-01 7.80110026e-01 6.15744351e-03 8.59514407e+01] [ 9.64120794e-03 -1.60876555e-04 9.99953510e-01 5.76040656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.04, Y:85.93, Z:5.76 [[ 7.80938714e-01 6.24559722e-01 -7.73819722e-03 1.08037176e+02] [-6.24526709e-01 7.80977029e-01 6.42411618e-03 8.59311362e+01] [ 1.00555985e-02 -1.84130180e-04 9.99949424e-01 5.75991196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.06, Y:85.91, Z:5.76 [[ 7.81656281e-01 6.23662298e-01 -7.66791469e-03 1.08060850e+02] [-6.23629811e-01 7.81693866e-01 6.36860098e-03 8.59111706e+01] [ 9.96581820e-03 -1.96116770e-04 9.99950321e-01 5.75944927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.09, Y:85.89, Z:5.76 [[ 7.82902755e-01 6.22100685e-01 -7.34941404e-03 1.08085430e+02] [-6.22070744e-01 7.82937222e-01 6.10701175e-03 8.58900340e+01] [ 9.55330600e-03 -2.09340857e-04 9.99954344e-01 5.76067527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.890385723 meters Centerline goodness [0,1] 0.9999358027861591 Centerline is valid? [True, True] Translation: X:108.11, Y:85.87, Z:5.76 [[ 7.83011176e-01 6.21965728e-01 -7.22019045e-03 1.08110861e+02] [-6.21936794e-01 7.83044436e-01 6.00297647e-03 8.58695294e+01] [ 9.38737559e-03 -2.09895566e-04 9.99955916e-01 5.76123326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.14, Y:85.85, Z:5.76 [[ 7.82545778e-01 6.22542862e-01 -7.90506636e-03 1.08135804e+02] [-6.22508172e-01 7.82585672e-01 6.57579776e-03 8.58488617e+01] [ 1.02801076e-02 -2.24894366e-04 9.99947133e-01 5.76023500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.950385723 meters Centerline goodness [0,1] 0.9999357078565 Centerline is valid? [True, True] Translation: X:108.16, Y:85.83, Z:5.76 [[ 7.82076174e-01 6.23132641e-01 -7.91013839e-03 1.08162598e+02] [-6.23097925e-01 7.82116145e-01 6.58114739e-03 8.58300534e+01] [ 1.02875747e-02 -2.18167760e-04 9.99947058e-01 5.75993330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.19, Y:85.81, Z:5.76 [[ 7.81115332e-01 6.24334055e-01 -8.11337126e-03 1.08188635e+02] [-6.24297562e-01 7.81157439e-01 6.75351093e-03 8.58111966e+01] [ 1.05542672e-02 -2.10113029e-04 9.99944280e-01 5.75972551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.21, Y:85.79, Z:5.76 [[ 7.79672632e-01 6.26141615e-01 -7.56738919e-03 1.08213682e+02] [-6.26109926e-01 7.79709335e-01 6.30185851e-03 8.57929335e+01] [ 9.84621986e-03 -1.75369118e-04 9.99951509e-01 5.75986836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.24, Y:85.77, Z:5.76 [[ 7.79091197e-01 6.26869452e-01 -7.18317948e-03 1.08240300e+02] [-6.26840902e-01 7.79124294e-01 5.98485568e-03 8.57745170e+01] [ 9.34831284e-03 -1.60037671e-04 9.99956291e-01 5.76096099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.27, Y:85.76, Z:5.76 [[ 7.78277334e-01 6.27885993e-01 -6.60080740e-03 1.08266759e+02] [-6.27861913e-01 7.78305314e-01 5.50061174e-03 8.57553416e+01] [ 8.59120054e-03 -1.36605879e-04 9.99963086e-01 5.76094944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.29, Y:85.73, Z:5.76 [[ 7.77844250e-01 6.28416105e-01 -7.17784187e-03 1.08290773e+02] [-6.28387624e-01 7.77877354e-01 5.98462134e-03 8.57346410e+01] [ 9.34431308e-03 -1.44636297e-04 9.99956331e-01 5.76099886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.31, Y:85.71, Z:5.76 [[ 7.77475348e-01 6.28866856e-01 -7.65246533e-03 1.08314631e+02] [-6.28834473e-01 7.77512993e-01 6.38367808e-03 8.57135541e+01] [ 9.96437478e-03 -1.51018339e-04 9.99950343e-01 5.76078045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.34, Y:85.69, Z:5.76 [[ 7.77438890e-01 6.28912988e-01 -7.56479972e-03 1.08338802e+02] [-6.28881313e-01 7.77475678e-01 6.31379764e-03 8.56934197e+01] [ 9.85227714e-03 -1.51230651e-04 9.99951454e-01 5.76149446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.36, Y:85.67, Z:5.76 [[ 7.77537524e-01 6.28793686e-01 -7.34159977e-03 1.08364836e+02] [-6.28763814e-01 7.77572169e-01 6.13091980e-03 8.56736278e+01] [ 9.56370731e-03 -1.50887925e-04 9.99954255e-01 5.76152862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.39, Y:85.65, Z:5.76 [[ 7.77208627e-01 6.29199256e-01 -7.41935048e-03 1.08391633e+02] [-6.29168733e-01 7.77244025e-01 6.19931538e-03 8.56537898e+01] [ 9.66725045e-03 -1.50138051e-04 9.99953260e-01 5.76124325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.42, Y:85.63, Z:5.76 [[ 7.77035452e-01 6.29413128e-01 -7.41764416e-03 1.08416486e+02] [-6.29382595e-01 7.77070841e-01 6.20135693e-03 8.56329477e+01] [ 9.66725045e-03 -1.50138051e-04 9.99953260e-01 5.76124350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.44, Y:85.61, Z:5.76 [[ 7.76510504e-01 6.30059630e-01 -7.50336355e-03 1.08441146e+02] [-6.30028386e-01 7.76546741e-01 6.27628691e-03 8.56122313e+01] [ 9.78114752e-03 -1.46270687e-04 9.99952153e-01 5.76101853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.47, Y:85.59, Z:5.76 [[ 7.75949870e-01 6.30742776e-01 -8.08394360e-03 1.08465353e+02] [-6.30706510e-01 7.75991963e-01 6.76540554e-03 8.55911009e+01] [ 1.05403059e-02 -1.51019689e-04 9.99944438e-01 5.76070109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.49, Y:85.57, Z:5.76 [[ 7.75452613e-01 6.31352318e-01 -8.21558508e-03 1.08490516e+02] [-6.31314854e-01 7.75496118e-01 6.87937937e-03 8.55699627e+01] [ 1.07144664e-02 -1.48011807e-04 9.99942588e-01 5.76134691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.51, Y:85.55, Z:5.76 [[ 7.75002552e-01 6.31901326e-01 -8.47104264e-03 1.08514434e+02] [-6.31861488e-01 7.75048833e-01 7.09694355e-03 8.55486733e+01] [ 1.10500397e-02 -1.47623751e-04 9.99938936e-01 5.76091064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.54, Y:85.53, Z:5.76 [[ 7.74594510e-01 6.32404135e-01 -8.26767513e-03 1.08540039e+02] [-6.32366175e-01 7.74638619e-01 6.93040210e-03 8.55272157e+01] [ 1.07872754e-02 -1.40053323e-04 9.99941806e-01 5.76264707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.56, Y:85.51, Z:5.76 [[ 7.74257910e-01 6.32820868e-01 -7.90179848e-03 1.08563308e+02] [-6.32786184e-01 7.74298219e-01 6.62666217e-03 8.55070550e+01] [ 1.03118386e-02 -1.30596697e-04 9.99946823e-01 5.76289222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.59, Y:85.49, Z:5.76 [[ 7.73927078e-01 6.33222762e-01 -8.11248017e-03 1.08589122e+02] [-6.33186187e-01 7.73969584e-01 6.80710596e-03 8.54865443e+01] [ 1.05892273e-02 -1.31493235e-04 9.99943924e-01 5.76268981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.61, Y:85.47, Z:5.76 [[ 7.73551459e-01 6.33678937e-01 -8.31543838e-03 1.08614529e+02] [-6.33640492e-01 7.73596140e-01 6.98128641e-03 8.54662084e+01] [ 1.08566852e-02 -1.31385815e-04 9.99941056e-01 5.76217167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.64, Y:85.45, Z:5.76 [[ 7.72518943e-01 6.34937980e-01 -8.26101194e-03 1.08638594e+02] [-6.34900073e-01 7.72563103e-01 6.93896644e-03 8.54451894e+01] [ 1.07879664e-02 -1.15565940e-04 9.99941802e-01 5.76256100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.66, Y:85.42, Z:5.77 [[ 7.72157639e-01 6.35389477e-01 -7.26591990e-03 1.08661232e+02] [-6.35360143e-01 7.72191818e-01 6.10619392e-03 8.54222715e+01] [ 9.49049525e-03 -9.84683718e-05 9.99954959e-01 5.76567371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.68, Y:85.40, Z:5.77 [[ 7.72131826e-01 6.35426629e-01 -6.74111487e-03 1.08684438e+02] [-6.35401355e-01 7.72161246e-01 5.66818965e-03 8.54001481e+01] [ 8.80694630e-03 -9.32761020e-05 9.99961214e-01 5.76579322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.71, Y:85.38, Z:5.77 [[ 7.72059239e-01 6.35518443e-01 -6.39062340e-03 1.08710012e+02] [-6.35495706e-01 7.72085682e-01 5.37657783e-03 8.53796975e+01] [ 8.35102319e-03 -8.98228604e-05 9.99965126e-01 5.76639265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.73, Y:85.36, Z:5.77 [[ 7.71733678e-01 6.35912255e-01 -6.53707381e-03 1.08734987e+02] [-6.35888461e-01 7.71761359e-01 5.50175883e-03 8.53591398e+01] [ 8.54369683e-03 -8.90427760e-05 9.99963498e-01 5.76553039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.76, Y:85.34, Z:5.77 [[ 7.70938600e-01 6.36878675e-01 -6.26330574e-03 1.08757918e+02] [-6.36856844e-01 7.70964038e-01 5.27376504e-03 8.53376313e+01] [ 8.18753197e-03 -7.69199045e-05 9.99966479e-01 5.76509025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.700385723 meters Centerline goodness [0,1] 0.9998513958178538 Centerline is valid? [True, True] Translation: X:108.78, Y:85.31, Z:5.77 [[ 7.70540784e-01 6.37359985e-01 -6.25705035e-03 1.08781733e+02] [-6.37338189e-01 7.70566185e-01 5.27147501e-03 8.53143332e+01] [ 8.18129864e-03 -7.40293526e-05 9.99966530e-01 5.76593869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.730385723 meters Centerline goodness [0,1] 0.9996392572944297 Centerline is valid? [True, True] Translation: X:108.80, Y:85.29, Z:5.77 [[ 7.70638057e-01 6.37243242e-01 -6.16736904e-03 1.08803227e+02] [-6.37222040e-01 7.70662731e-01 5.19865491e-03 8.52897696e+01] [ 8.06576917e-03 -7.62978316e-05 9.99967468e-01 5.76735143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.760385723 meters Centerline goodness [0,1] 0.9997661813157616 Centerline is valid? [True, True] Translation: X:108.83, Y:85.27, Z:5.77 [[ 7.70856770e-01 6.36979214e-01 -6.10902945e-03 1.08828277e+02] [-6.36958381e-01 7.70880973e-01 5.15236014e-03 8.52678191e+01] [ 7.99128088e-03 -8.05341954e-05 9.99968066e-01 5.76740925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.790385723 meters Centerline goodness [0,1] 0.9998508925148042 Centerline is valid? [True, True] Translation: X:108.85, Y:85.25, Z:5.77 [[ 7.71283534e-01 6.36468633e-01 -5.42124863e-03 1.08852623e+02] [-6.36452197e-01 7.71302582e-01 4.57466314e-03 8.52468820e+01] [ 7.09305266e-03 -7.79967570e-05 9.99974841e-01 5.76667394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.820385723 meters Centerline goodness [0,1] 0.9997869756939267 Centerline is valid? [True, True] Translation: X:108.88, Y:85.22, Z:5.77 [[ 7.71224658e-01 6.36536525e-01 -5.81199808e-03 1.08877126e+02] [-6.36517616e-01 7.71246553e-01 4.90709134e-03 8.52246014e+01] [ 7.60602635e-03 -8.50306791e-05 9.99971070e-01 5.76632140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.850385723 meters Centerline goodness [0,1] 0.999871418468594 Centerline is valid? [True, True] Translation: X:108.90, Y:85.20, Z:5.77 [[ 7.71172275e-01 6.36593494e-01 -6.48422979e-03 1.08901380e+02] [-6.36569934e-01 7.71199530e-01 5.47766589e-03 8.52019376e+01] [ 8.48768143e-03 -9.65583407e-05 9.99963974e-01 5.76633669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.880385723 meters Centerline goodness [0,1] 0.9998716934328422 Centerline is valid? [True, True] Translation: X:108.92, Y:85.18, Z:5.77 [[ 7.71419618e-01 6.36287597e-01 -7.06165751e-03 1.08923211e+02] [-6.36259615e-01 7.71451931e-01 5.96831266e-03 8.51783387e+01] [ 9.24529264e-03 -1.11025980e-04 9.99957255e-01 5.76741363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.910385723 meters Centerline goodness [0,1] 0.9998066678123388 Centerline is valid? [True, True] Translation: X:108.95, Y:85.16, Z:5.77 [[ 7.71497297e-01 6.36194632e-01 -6.95064040e-03 1.08947124e+02] [-6.36167490e-01 7.71528598e-01 5.87768604e-03 8.51562468e+01] [ 9.10197015e-03 -1.12847433e-04 9.99958570e-01 5.76735392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.940385723 meters Centerline goodness [0,1] 0.999593461143444 Centerline is valid? [True, True] Translation: X:108.97, Y:85.14, Z:5.77 [[ 7.71655249e-01 6.35997835e-01 -7.41150863e-03 1.08970532e+02] [-6.35966938e-01 7.71690831e-01 6.27016678e-03 8.51351552e+01] [ 9.70720574e-03 -1.24932661e-04 9.99952876e-01 5.76701090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9703857229999 meters Centerline goodness [0,1] 0.9998926370488072 Centerline is valid? [True, True] Translation: X:109.00, Y:85.11, Z:5.77 [[ 7.71296724e-01 6.36436148e-01 -7.09872686e-03 1.08995145e+02] [-6.36407793e-01 7.71329382e-01 6.00875158e-03 8.51136610e+01] [ 9.29964332e-03 -1.16845311e-04 9.99956751e-01 5.76765092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.000385723 meters Centerline goodness [0,1] 0.9995933741385952 Centerline is valid? [True, True] Translation: X:109.02, Y:85.09, Z:5.77 [[ 7.70755916e-01 6.37096337e-01 -6.60110451e-03 1.09019372e+02] [-6.37071820e-01 7.70784176e-01 5.59012704e-03 8.50923690e+01] [ 8.64947636e-03 -1.03245825e-04 9.99962587e-01 5.76821004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.030385723 meters Centerline goodness [0,1] 0.9998075812969021 Centerline is valid? [True, True] Translation: X:109.04, Y:85.07, Z:5.77 [[ 7.69882930e-01 6.38149654e-01 -6.73001947e-03 1.09041764e+02] [-6.38124189e-01 7.69912339e-01 5.70173354e-03 8.50705853e+01] [ 8.82008432e-03 -9.50791134e-05 9.99961098e-01 5.76883103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.060385723 meters Centerline goodness [0,1] 0.9997006436162251 Centerline is valid? [True, True] Translation: X:109.07, Y:85.05, Z:5.77 [[ 7.69382341e-01 6.38752688e-01 -6.76886767e-03 1.09066318e+02] [-6.38726925e-01 7.69412110e-01 5.73762448e-03 8.50484933e+01] [ 8.87297182e-03 -9.09689191e-05 9.99960630e-01 5.76880787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0903857229999 meters Centerline goodness [0,1] 0.9998709038879445 Centerline is valid? [True, True] Translation: X:109.09, Y:85.03, Z:5.77 [[ 7.68705401e-01 6.39569558e-01 -6.54125888e-03 1.09088823e+02] [-6.39545507e-01 7.68733227e-01 5.54701225e-03 8.50265766e+01] [ 8.57618322e-03 -8.05855453e-05 9.99963221e-01 5.76966780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.120385723 meters Centerline goodness [0,1] 0.999526779952678 Centerline is valid? [True, True] Translation: X:109.11, Y:85.01, Z:5.77 [[ 7.68891233e-01 6.39349058e-01 -6.24938295e-03 1.09114166e+02] [-6.39327075e-01 7.68916625e-01 5.30242508e-03 8.50062021e+01] [ 8.19535493e-03 -8.15884337e-05 9.99966414e-01 5.77031875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.150385723 meters Centerline goodness [0,1] 0.999764004205016 Centerline is valid? [True, True] Translation: X:109.14, Y:84.99, Z:5.77 [[ 7.68882104e-01 6.39355740e-01 -6.67438415e-03 1.09138088e+02] [-6.39330649e-01 7.68911068e-01 5.66496756e-03 8.49850132e+01] [ 8.75393737e-03 -8.85538325e-05 9.99961680e-01 5.77014882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.180385723 meters Centerline goodness [0,1] 0.9997209042701647 Centerline is valid? [True, True] Translation: X:109.16, Y:84.96, Z:5.77 [[ 7.69232933e-01 6.38930267e-01 -6.98630420e-03 1.09159151e+02] [-6.38902734e-01 7.69264652e-01 5.93230730e-03 8.49613547e+01] [ 9.16464756e-03 -9.97572914e-05 9.99957999e-01 5.76860987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.210385723 meters Centerline goodness [0,1] 0.9996989117811519 Centerline is valid? [True, True] Translation: X:109.18, Y:84.94, Z:5.77 [[ 7.69322191e-01 6.38824530e-01 -6.82538415e-03 1.09184637e+02] [-6.38798217e-01 7.69352461e-01 5.79894643e-03 8.49397512e+01] [ 8.95563532e-03 -1.01214942e-04 9.99959892e-01 5.77176956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.20, Y:84.91, Z:5.77 [[ 7.69607794e-01 6.38484570e-01 -6.42638887e-03 1.09204225e+02] [-6.38461207e-01 7.69634617e-01 5.46283108e-03 8.49132264e+01] [ 8.43390469e-03 -1.01237380e-04 9.99964429e-01 5.77173208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.270385723 meters Centerline goodness [0,1] 0.9997842269932031 Centerline is valid? [True, True] Translation: X:109.23, Y:84.89, Z:5.77 [[ 7.69527427e-01 6.38581242e-01 -6.44488150e-03 1.09230701e+02] [-6.38557723e-01 7.69554408e-01 5.48162997e-03 8.48933238e+01] [ 8.46015304e-03 -1.02835746e-04 9.99964207e-01 5.77360728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.300385723 meters Centerline goodness [0,1] 0.9996564680622652 Centerline is valid? [True, True] Translation: X:109.25, Y:84.87, Z:5.77 [[ 7.69062776e-01 6.39140365e-01 -6.48395926e-03 1.09254609e+02] [-6.39116554e-01 7.69090102e-01 5.51775488e-03 8.48719840e+01] [ 8.51336875e-03 -9.94941836e-05 9.99963756e-01 5.77263974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.330385723 meters Centerline goodness [0,1] 0.9995919156339268 Centerline is valid? [True, True] Translation: X:109.28, Y:84.85, Z:5.77 [[ 7.68171913e-01 6.40203106e-01 -7.20386915e-03 1.09278224e+02] [-6.40173732e-01 7.68205684e-01 6.13352926e-03 8.48506253e+01] [ 9.46075771e-03 -9.98770989e-05 9.99955241e-01 5.77042271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.360385723 meters Centerline goodness [0,1] 0.9995265864732844 Centerline is valid? [True, True] Translation: X:109.30, Y:84.83, Z:5.77 [[ 7.67521499e-01 6.40979538e-01 -7.48203632e-03 1.09302766e+02] [-6.40947854e-01 7.67557960e-01 6.37389390e-03 8.48289753e+01] [ 9.82843210e-03 -9.65054746e-05 9.99951695e-01 5.76974073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.390385723 meters Centerline goodness [0,1] 0.9998271914286949 Centerline is valid? [True, True] Translation: X:109.33, Y:84.81, Z:5.77 [[ 7.67215302e-01 6.41347566e-01 -7.34709825e-03 1.09325842e+02] [-6.41317000e-01 7.67250475e-01 6.26216585e-03 8.48061368e+01] [ 9.65328944e-03 -9.26104526e-05 9.99953402e-01 5.76932683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.420385723 meters Centerline goodness [0,1] 0.9996977025392987 Centerline is valid? [True, True] Translation: X:109.35, Y:84.78, Z:5.77 [[ 7.67069618e-01 6.41525498e-01 -7.01688321e-03 1.09348841e+02] [-6.41497596e-01 7.67101706e-01 5.98392578e-03 8.47828696e+01] [ 9.22150405e-03 -8.87739535e-05 9.99957477e-01 5.77001737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.450385723 meters Centerline goodness [0,1] 0.9996114157419801 Centerline is valid? [True, True] Translation: X:109.37, Y:84.76, Z:5.77 [[ 7.67995657e-01 6.40426460e-01 -6.05148646e-03 1.09370103e+02] [-6.40405652e-01 7.68019493e-01 5.16322393e-03 8.47579088e+01] [ 7.95432478e-03 -8.99274206e-05 9.99968360e-01 5.77186762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.480385723 meters Centerline goodness [0,1] 0.9999135191230839 Centerline is valid? [True, True] Translation: X:109.39, Y:84.74, Z:5.77 [[ 7.69734391e-01 6.38339622e-01 -5.61201460e-03 1.09391532e+02] [-6.38321657e-01 7.69754841e-01 4.79030853e-03 8.47351869e+01] [ 7.37771915e-03 -1.04994763e-04 9.99972779e-01 5.77029587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.42, Y:84.71, Z:5.77 [[ 7.70693358e-01 6.37180804e-01 -5.68953182e-03 1.09415672e+02] [-6.37162289e-01 7.70714350e-01 4.85882383e-03 8.47135760e+01] [ 7.48095309e-03 -1.19508136e-04 9.99972010e-01 5.77011357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.540385723 meters Centerline goodness [0,1] 0.9997198456996315 Centerline is valid? [True, True] Translation: X:109.44, Y:84.69, Z:5.77 [[ 7.71307299e-01 6.36438153e-01 -5.61501888e-03 1.09438222e+02] [-6.36420084e-01 7.71327726e-01 4.79752596e-03 8.46908388e+01] [ 7.38434831e-03 -1.26856005e-04 9.99972727e-01 5.77032702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.570385723 meters Centerline goodness [0,1] 0.9999566433263241 Centerline is valid? [True, True] Translation: X:109.46, Y:84.67, Z:5.77 [[ 7.72304790e-01 6.35236565e-01 -4.45179418e-03 1.09458653e+02] [-6.35225175e-01 7.72317613e-01 3.80549891e-03 8.46657252e+01] [ 5.85559111e-03 -1.11113297e-04 9.99982850e-01 5.77205696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.600385723 meters Centerline goodness [0,1] 0.9998917866031815 Centerline is valid? [True, True] Translation: X:109.48, Y:84.64, Z:5.77 [[ 7.72261771e-01 6.35292977e-01 -3.81978232e-03 1.09481850e+02] [-6.35284584e-01 7.72271212e-01 3.26692688e-03 8.46437022e+01] [ 5.02536362e-03 -9.62739161e-05 9.99987368e-01 5.77244218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.51, Y:84.62, Z:5.77 [[ 7.71886546e-01 6.35755560e-01 -2.45512750e-03 1.09505644e+02] [-6.35752092e-01 7.71890448e-01 2.10071402e-03 8.46234853e+01] [ 3.23063009e-03 -6.06604437e-05 9.99994780e-01 5.77078821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.53, Y:84.60, Z:5.77 [[ 7.71511979e-01 6.36210063e-01 -2.45420937e-03 1.09531003e+02] [-6.36206596e-01 7.71515880e-01 2.10106087e-03 8.46018242e+01] [ 3.23017756e-03 -5.96094403e-05 9.99994781e-01 5.76937230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.690385723 meters Centerline goodness [0,1] 0.999978265594436 Centerline is valid? [True, True] Translation: X:109.56, Y:84.58, Z:5.77 [[ 7.70908411e-01 6.36939285e-01 -2.92739764e-03 1.09555246e+02] [-6.36934354e-01 7.70913966e-01 2.50735493e-03 8.45805061e+01] [ 3.85380458e-03 -6.83808792e-05 9.99992572e-01 5.76898077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7203857229999 meters Centerline goodness [0,1] 0.9999128654206422 Centerline is valid? [True, True] Translation: X:109.58, Y:84.56, Z:5.77 [[ 7.69873302e-01 6.38186865e-01 -3.55307312e-03 1.09576234e+02] [-6.38179609e-01 7.69881497e-01 3.04407814e-03 8.45572004e+01] [ 4.67813594e-03 -7.60556699e-05 9.99989055e-01 5.76879450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.60, Y:84.54, Z:5.77 [[ 7.69566015e-01 6.38558087e-01 -3.42318916e-03 1.09600417e+02] [-6.38551349e-01 7.69573625e-01 2.93441946e-03 8.45352335e+01] [ 4.50819337e-03 -7.23474294e-05 9.99989835e-01 5.76972430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.780385723 meters Centerline goodness [0,1] 0.9999782660668101 Centerline is valid? [True, True] Translation: X:109.62, Y:84.51, Z:5.77 [[ 7.69440461e-01 6.38714344e-01 -2.31603129e-03 1.09623529e+02] [-6.38711257e-01 7.69443945e-01 1.98636448e-03 8.45128698e+01] [ 3.05077574e-03 -4.91139473e-05 9.99995345e-01 5.76966078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.810385723 meters Centerline goodness [0,1] 0.9999564042200715 Centerline is valid? [True, True] Translation: X:109.65, Y:84.49, Z:5.77 [[ 7.69522911e-01 6.38617475e-01 -1.48657635e-03 1.09648946e+02] [-6.38616202e-01 7.69524346e-01 1.27564646e-03 8.44913653e+01] [ 1.95860681e-03 -3.22874325e-05 9.99998081e-01 5.76914423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.67, Y:84.47, Z:5.77 [[ 7.69245302e-01 6.38951738e-01 -1.53066078e-03 1.09674499e+02] [-6.38950387e-01 7.69246824e-01 1.31419260e-03 8.44708046e+01] [ 2.01716159e-03 -3.29201849e-05 9.99997965e-01 5.76848120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.70, Y:84.45, Z:5.77 [[ 7.68706012e-01 6.39600281e-01 -1.59625862e-03 1.09695615e+02] [-6.39598812e-01 7.68707669e-01 1.37111719e-03 8.44475922e+01] [ 2.10402318e-03 -3.30209083e-05 9.99997786e-01 5.76751470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.72, Y:84.43, Z:5.77 [[ 7.68477239e-01 6.39875422e-01 -1.47569294e-03 1.09718312e+02] [-6.39874167e-01 7.68478655e-01 1.26796495e-03 8.44252363e+01] [ 1.94537814e-03 -3.01444106e-05 9.99998107e-01 5.76766916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.74, Y:84.40, Z:5.77 [[ 7.67772356e-01 6.40721732e-01 -1.12714787e-03 1.09741729e+02] [-6.40721000e-01 7.67773183e-01 9.68926478e-04 8.44033280e+01] [ 1.48620616e-03 -2.17276566e-05 9.99998895e-01 5.76848048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.960385723 meters Centerline goodness [0,1] 0.9999561912689199 Centerline is valid? [True, True] Translation: X:109.77, Y:84.38, Z:5.77 [[ 7.67363688e-01 6.41210793e-01 -1.29991110e-03 1.09765094e+02] [-6.41209819e-01 7.67364789e-01 1.11798460e-03 8.43814167e+01] [ 1.71436980e-03 -2.43850242e-05 9.99998530e-01 5.76818371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.79, Y:84.36, Z:5.77 [[ 7.66940635e-01 6.41717623e-01 -7.44657318e-04 1.09791837e+02] [-6.41717303e-01 7.66940997e-01 6.40797565e-04 8.43617324e+01] [ 9.82319316e-04 -1.35942064e-05 9.99999517e-01 5.76821700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.020385723 meters Centerline goodness [0,1] 0.9998680419626559 Centerline is valid? [True, True] Translation: X:109.81, Y:84.34, Z:5.77 [[ 7.66640058e-01 6.42076926e-01 -4.93192466e-04 1.09813592e+02] [-6.42076786e-01 7.66640216e-01 4.24625830e-04 8.43377124e+01] [ 6.50743626e-04 -8.86773692e-06 9.99999788e-01 5.76825926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.050385723 meters Centerline goodness [0,1] 0.9999558859209917 Centerline is valid? [True, True] Translation: X:109.84, Y:84.32, Z:5.77 [[ 7.66293149e-01 6.42490902e-01 -5.00586932e-04 1.09839810e+02] [-6.42490758e-01 7.66293312e-01 4.31232813e-04 8.43178755e+01] [ 6.60659577e-04 -8.82827345e-06 9.99999782e-01 5.76879295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.080385723 meters Centerline goodness [0,1] 0.9998900156177822 Centerline is valid? [True, True] Translation: X:109.86, Y:84.30, Z:5.77 [[ 7.66004481e-01 6.42835125e-01 -3.70171683e-04 1.09863791e+02] [-6.42835046e-01 7.66004571e-01 3.19062881e-04 8.42957062e+01] [ 4.88658028e-04 -6.44426646e-06 9.99999881e-01 5.76888071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.110385723 meters Centerline goodness [0,1] 0.9999116607773851 Centerline is valid? [True, True] Translation: X:109.89, Y:84.27, Z:5.77 [[ 7.65875344e-01 6.42989075e-01 -8.25343370e-05 1.09887528e+02] [-6.42989071e-01 7.65875349e-01 7.11765222e-05 8.42732878e+01] [ 1.08976740e-04 -1.44366674e-06 9.99999994e-01 5.76921221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.91, Y:84.25, Z:5.77 [[ 7.66088428e-01 6.42735025e-01 -4.56069805e-04 1.09910599e+02] [-6.42734905e-01 7.66088564e-01 3.93524802e-04 8.42506336e+01] [ 6.02322035e-04 -8.34281473e-06 9.99999819e-01 5.76823994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.94, Y:84.23, Z:5.77 [[ 7.65912965e-01 6.42944105e-01 -4.55962456e-04 1.09935097e+02] [-6.42943984e-01 7.65913101e-01 3.93649178e-04 8.42294132e+01] [ 6.02322037e-04 -8.34269106e-06 9.99999819e-01 5.76824018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.200385723 meters Centerline goodness [0,1] 0.9999337499723958 Centerline is valid? [True, True] Translation: X:109.96, Y:84.21, Z:5.77 [[ 7.66483462e-01 6.42262944e-01 -1.18863989e-03 1.09957767e+02] [-6.42262124e-01 7.66484384e-01 1.02647234e-03 8.42080493e+01] [ 1.57033906e-03 -2.33556922e-05 9.99998767e-01 5.76591693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.98, Y:84.19, Z:5.76 [[ 7.66938872e-01 6.41719040e-01 -1.19999552e-03 1.09981248e+02] [-6.41718203e-01 7.66939811e-01 1.03677883e-03 8.41865944e+01] [ 1.58564505e-03 -2.50870236e-05 9.99998743e-01 5.76476650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.00, Y:84.16, Z:5.76 [[ 7.67296391e-01 6.41291163e-01 -1.37588594e-03 1.10004086e+02] [-6.41290061e-01 7.67297624e-01 1.18931936e-03 8.41639726e+01] [ 1.81841401e-03 -3.02184776e-05 9.99998346e-01 5.76434332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.03, Y:84.14, Z:5.76 [[ 7.67446142e-01 6.41112118e-01 -1.29308499e-03 1.10027426e+02] [-6.41111143e-01 7.67447231e-01 1.11836139e-03 8.41402076e+01] [ 1.70936953e-03 -2.92709430e-05 9.99998539e-01 5.76462774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.05, Y:84.12, Z:5.77 [[ 7.67422683e-01 6.41139901e-01 -1.43270490e-03 1.10050404e+02] [-6.41138703e-01 7.67424020e-01 1.23981124e-03 8.41164076e+01] [ 1.89438461e-03 -3.28967096e-05 9.99998205e-01 5.76597861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.07, Y:84.09, Z:5.77 [[ 7.67062853e-01 6.41570296e-01 -1.46114526e-03 1.10073138e+02] [-6.41569050e-01 7.67064244e-01 1.26508275e-03 8.40937028e+01] [ 1.93243180e-03 -3.29724078e-05 9.99998132e-01 5.76597666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.10, Y:84.07, Z:5.77 [[ 7.66654995e-01 6.42057531e-01 -1.49837716e-03 1.10095776e+02] [-6.42056220e-01 7.66656459e-01 1.29798386e-03 8.40707386e+01] [ 1.98212084e-03 -3.30634293e-05 9.99998035e-01 5.76585457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.12, Y:84.05, Z:5.77 [[ 7.65904605e-01 6.42951622e-01 -1.82975332e-03 1.10120297e+02] [-6.42949667e-01 7.65906790e-01 1.58581924e-03 8.40498010e+01] [ 2.42102554e-03 -3.81469729e-05 9.99997069e-01 5.76544478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.14, Y:84.03, Z:5.76 [[ 7.64813103e-01 6.44248444e-01 -2.20449565e-03 1.10143398e+02] [-6.44245610e-01 7.64816279e-01 1.91153202e-03 8.40281934e+01] [ 2.91753569e-03 -4.17280915e-05 9.99995743e-01 5.76464277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.17, Y:84.01, Z:5.76 [[ 7.62631046e-01 6.46828217e-01 -2.67305962e-03 1.10166466e+02] [-6.46824062e-01 7.62635729e-01 2.31894934e-03 8.40059916e+01] [ 3.53853264e-03 -3.95034784e-05 9.99993739e-01 5.76407134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.19, Y:83.98, Z:5.76 [[ 7.61916556e-01 6.47670011e-01 -2.59214938e-03 1.10188849e+02] [-6.47666104e-01 7.61920964e-01 2.24975593e-03 8.39843077e+01] [ 3.43211241e-03 -3.52789992e-05 9.99994110e-01 5.76391542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.21, Y:83.96, Z:5.76 [[ 7.61143575e-01 6.48576642e-01 -2.96611702e-03 1.10214016e+02] [-6.48571528e-01 7.61149354e-01 2.57575744e-03 8.39625305e+01] [ 3.92823416e-03 -3.67821811e-05 9.99992284e-01 5.76433688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.24, Y:83.94, Z:5.76 [[ 7.60817230e-01 6.48961290e-01 -2.52732643e-03 1.10237643e+02] [-6.48957575e-01 7.60821427e-01 2.19594005e-03 8.39399719e+01] [ 3.34792419e-03 -3.05813901e-05 9.99994395e-01 5.76432903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.26, Y:83.92, Z:5.76 [[ 7.61207807e-01 6.48505583e-01 -1.78406796e-03 1.10259719e+02] [-6.48503729e-01 7.61209898e-01 1.55099874e-03 8.39173985e+01] [ 2.36388153e-03 -2.36576239e-05 9.99997206e-01 5.76458225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.620385723 meters Centerline goodness [0,1] 0.9999549772635181 Centerline is valid? [True, True] Translation: X:110.28, Y:83.89, Z:5.77 [[ 7.62520694e-01 6.46962674e-01 -1.22079660e-03 1.10281961e+02] [-6.46961803e-01 7.62521671e-01 1.06182937e-03 8.38934011e+01] [ 1.61784783e-03 -1.98581004e-05 9.99998691e-01 5.76616706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.650385723 meters Centerline goodness [0,1] 0.9999774855907781 Centerline is valid? [True, True] Translation: X:110.30, Y:83.87, Z:5.77 [[ 7.63429934e-01 6.45889304e-01 -1.32038253e-03 1.10304960e+02] [-6.45888283e-01 7.63431075e-01 1.14901101e-03 8.38710237e+01] [ 1.75015498e-03 -2.43697904e-05 9.99998468e-01 5.76682522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.33, Y:83.85, Z:5.77 [[ 7.63848044e-01 6.45393917e-01 -1.69073317e-03 1.10327388e+02] [-6.45392239e-01 7.63849914e-01 1.47196938e-03 8.38487133e+01] [ 2.24146647e-03 -3.31748690e-05 9.99997487e-01 5.76711731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.35, Y:83.83, Z:5.77 [[ 7.65006433e-01 6.44017145e-01 -2.65992086e-03 1.10348436e+02] [-6.44012982e-01 7.65011055e-01 2.31636966e-03 8.38260043e+01] [ 3.52665064e-03 -5.90141243e-05 9.99993780e-01 5.76628877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.37, Y:83.81, Z:5.77 [[ 7.65249868e-01 6.43723108e-01 -3.63323242e-03 1.10372815e+02] [-6.43715330e-01 7.65258488e-01 3.16549997e-03 8.38051490e+01] [ 4.81806743e-03 -8.36310276e-05 9.99988390e-01 5.76530204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.40, Y:83.79, Z:5.76 [[ 7.65117470e-01 6.43874739e-01 -4.53617949e-03 1.10399263e+02] [-6.43862605e-01 7.65130910e-01 3.95437723e-03 8.37850363e+01] [ 6.01689475e-03 -1.04886765e-04 9.99981893e-01 5.76271943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.42, Y:83.76, Z:5.76 [[ 7.64608490e-01 6.44475902e-01 -4.96675612e-03 1.10424856e+02] [-6.44461351e-01 7.64624614e-01 4.33210769e-03 8.37638635e+01] [ 6.58964299e-03 -1.11483961e-04 9.99978282e-01 5.76227994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.830385723 meters Centerline goodness [0,1] 0.9999099849224745 Centerline is valid? [True, True] Translation: X:110.45, Y:83.74, Z:5.76 [[ 7.64130168e-01 6.45039100e-01 -5.44476724e-03 1.10449787e+02] [-6.45021609e-01 7.64149557e-01 4.75163624e-03 8.37421638e+01] [ 7.22560764e-03 -1.18876073e-04 9.99973888e-01 5.76256372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.47, Y:83.72, Z:5.76 [[ 7.64193610e-01 6.44956219e-01 -6.29297045e-03 1.10473543e+02] [-6.44932830e-01 7.64219508e-01 5.49446884e-03 8.37205002e+01] [ 8.35290263e-03 -1.40294738e-04 9.99965104e-01 5.76291767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.50, Y:83.70, Z:5.76 [[ 7.64491316e-01 6.44602364e-01 -6.38904390e-03 1.10498018e+02] [-6.44578221e-01 7.64517998e-01 5.58100171e-03 8.36994092e+01] [ 8.48206595e-03 -1.48388790e-04 9.99964016e-01 5.76276554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.52, Y:83.68, Z:5.76 [[ 7.64749763e-01 6.44299807e-01 -5.96314133e-03 1.10523129e+02] [-6.44278743e-01 7.64772998e-01 5.21178928e-03 8.36777677e+01] [ 7.91840430e-03 -1.43789420e-04 9.99968639e-01 5.76273357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.55, Y:83.66, Z:5.76 [[ 7.65334758e-01 6.43616051e-01 -4.59210658e-03 1.10549110e+02] [-6.43603534e-01 7.65348525e-01 4.01569893e-03 8.36572012e+01] [ 6.09913029e-03 -1.17857940e-04 9.99981393e-01 5.76420503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.57, Y:83.64, Z:5.76 [[ 7.65168055e-01 6.43817336e-01 -4.13363588e-03 1.10572223e+02] [-6.43807186e-01 7.65179213e-01 3.61661501e-03 8.36354737e+01] [ 5.49141169e-03 -1.06053783e-04 9.99984917e-01 5.76491413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.60, Y:83.61, Z:5.77 [[ 7.65128096e-01 6.43868512e-01 -3.51232775e-03 1.10598061e+02] [-6.43861177e-01 7.65136152e-01 3.07470473e-03 8.36148020e+01] [ 4.66711449e-03 -9.10914952e-05 9.99989105e-01 5.76716454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.62, Y:83.59, Z:5.77 [[ 7.64796053e-01 6.44262123e-01 -3.64875723e-03 1.10621823e+02] [-6.44254208e-01 7.64804752e-01 3.19499494e-03 8.35940076e+01] [ 4.84900109e-03 -9.27923165e-05 9.99988239e-01 5.76738334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.65, Y:83.57, Z:5.77 [[ 7.64592552e-01 6.44502423e-01 -3.85443102e-03 1.10646968e+02] [-6.44493583e-01 7.64602261e-01 3.37692024e-03 8.35733421e+01] [ 5.12353995e-03 -9.78120070e-05 9.99986870e-01 5.76718596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.67, Y:83.56, Z:5.77 [[ 7.63301970e-01 6.46026551e-01 -4.44954381e-03 1.10672209e+02] [-6.46014787e-01 7.63314932e-01 3.90000765e-03 8.35553001e+01] [ 5.91591172e-03 -1.02412420e-04 9.99982496e-01 5.76635229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.70, Y:83.54, Z:5.77 [[ 7.62054129e-01 6.47498019e-01 -4.45186801e-03 1.10697872e+02] [-6.47486257e-01 7.62067128e-01 3.90388940e-03 8.35356475e+01] [ 5.92038292e-03 -9.24516846e-05 9.99982470e-01 5.76625426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.72, Y:83.52, Z:5.77 [[ 7.59910267e-01 6.50010276e-01 -4.79873896e-03 1.10723616e+02] [-6.49996648e-01 7.59925414e-01 4.20989895e-03 8.35172396e+01] [ 6.38316126e-03 -7.99811956e-05 9.99979624e-01 5.76552223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.75, Y:83.50, Z:5.77 [[ 7.59101759e-01 6.50951846e-01 -5.11987057e-03 1.10747514e+02] [-6.50936341e-01 7.59119021e-01 4.49353339e-03 8.34971622e+01] [ 6.81166499e-03 -7.83392901e-05 9.99976797e-01 5.76561466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.77, Y:83.48, Z:5.77 [[ 7.58341616e-01 6.51833928e-01 -5.52491004e-03 1.10773307e+02] [-6.51815876e-01 7.58361737e-01 4.85168826e-03 8.34769529e+01] [ 7.35237539e-03 -7.80130329e-05 9.99972968e-01 5.76553679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.80, Y:83.46, Z:5.76 [[ 7.58338064e-01 6.51829495e-01 -6.45687258e-03 1.10797482e+02] [-6.51804827e-01 7.58365546e-01 5.67158538e-03 8.34578668e+01] [ 8.59357634e-03 -9.23583610e-05 9.99963070e-01 5.76415163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.82, Y:83.44, Z:5.76 [[ 7.58621720e-01 6.51500704e-01 -6.31816422e-03 1.10822982e+02] [-6.51477047e-01 7.58648024e-01 5.55280371e-03 8.34365884e+01] [ 8.41091833e-03 -9.63385376e-05 9.99964623e-01 5.76356020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.85, Y:83.41, Z:5.76 [[ 7.58840547e-01 6.51244972e-01 -6.40399788e-03 1.10847749e+02] [-6.51220632e-01 7.58867562e-01 5.63136232e-03 8.34144618e+01] [ 8.52718265e-03 -1.02890511e-04 9.99963638e-01 5.76375005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.87, Y:83.39, Z:5.76 [[ 7.59471776e-01 6.50502011e-01 -7.05366234e-03 1.10869841e+02] [-6.50472422e-01 7.59504521e-01 6.20563527e-03 8.33912693e+01] [ 9.39406666e-03 -1.24792010e-04 9.99955867e-01 5.76496393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.89, Y:83.37, Z:5.77 [[ 7.59729239e-01 6.50199777e-01 -7.19258430e-03 1.10894596e+02] [-6.50168964e-01 7.59763274e-01 6.33139988e-03 8.33691840e+01] [ 9.58133619e-03 -1.33754529e-04 9.99954089e-01 5.76576987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.92, Y:83.35, Z:5.76 [[ 7.59557887e-01 6.50402419e-01 -6.96491067e-03 1.10919370e+02] [-6.50373504e-01 7.59589808e-01 6.13417982e-03 8.33484232e+01] [ 9.28016055e-03 -1.29471303e-04 9.99956930e-01 5.76489624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.94, Y:83.33, Z:5.76 [[ 7.59147031e-01 6.50880662e-01 -7.08153595e-03 1.10944186e+02] [-6.50850760e-01 7.59180049e-01 6.24032770e-03 8.33273404e+01] [ 9.43786943e-03 -1.28303198e-04 9.99955454e-01 5.76376779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.97, Y:83.31, Z:5.76 [[ 7.58505289e-01 6.51625011e-01 -7.38723771e-03 1.10968826e+02] [-6.51592471e-01 7.58541251e-01 6.51332677e-03 8.33062072e+01] [ 9.84777116e-03 -1.26924336e-04 9.99951502e-01 5.76309064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.99, Y:83.28, Z:5.76 [[ 7.57294233e-01 6.53028898e-01 -7.66186312e-03 1.10991306e+02] [-6.52993933e-01 7.57332982e-01 6.75848751e-03 8.32849713e+01] [ 1.02160693e-02 -1.15013479e-04 9.99947808e-01 5.76246572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.02, Y:83.26, Z:5.76 [[ 7.56846001e-01 6.53549927e-01 -7.52485605e-03 1.11015502e+02] [-6.53516192e-01 7.56883400e-01 6.64128193e-03 8.32630227e+01] [ 1.00358480e-02 -1.08812409e-04 9.99949634e-01 5.76337668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.04, Y:83.24, Z:5.76 [[ 7.56531644e-01 6.53915762e-01 -7.35172942e-03 1.11038504e+02] [-6.53883561e-01 7.56567357e-01 6.49022388e-03 8.32417566e+01] [ 9.80613819e-03 -1.02884730e-04 9.99951913e-01 5.76316835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.06, Y:83.22, Z:5.76 [[ 7.56460982e-01 6.53995678e-01 -7.51233626e-03 1.11063592e+02] [-6.53962023e-01 7.56498276e-01 6.63560124e-03 8.32197894e+01] [ 1.00227240e-02 -1.06790809e-04 9.99949766e-01 5.76277792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.09, Y:83.20, Z:5.76 [[ 7.56432347e-01 6.54028155e-01 -7.56814472e-03 1.11087609e+02] [-6.53993965e-01 7.56470198e-01 6.68826928e-03 8.31981254e+01] [ 1.00993924e-02 -1.09702256e-04 9.99948994e-01 5.76252773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.11, Y:83.18, Z:5.76 [[ 7.56354689e-01 6.54114553e-01 -7.85727948e-03 1.11110738e+02] [-6.54077681e-01 7.56395491e-01 6.94610104e-03 8.31754538e+01] [ 1.04867565e-02 -1.14444954e-04 9.99945006e-01 5.76265543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.14, Y:83.15, Z:5.76 [[ 7.56320995e-01 6.54150001e-01 -8.14427445e-03 1.11135131e+02] [-6.54110347e-01 7.56364834e-01 7.20361038e-03 8.31532431e+01] [ 1.08722845e-02 -1.20987589e-04 9.99940888e-01 5.76295077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.16, Y:83.13, Z:5.76 [[ 7.56181643e-01 6.54313863e-01 -7.91775288e-03 1.11159559e+02] [-6.54276355e-01 7.56223085e-01 7.00693044e-03 8.31314438e+01] [ 1.05723192e-02 -1.18113684e-04 9.99944105e-01 5.76299908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.19, Y:83.11, Z:5.76 [[ 7.56259221e-01 6.54229284e-01 -7.48566754e-03 1.11185769e+02] [-6.54195718e-01 7.56296259e-01 6.62807603e-03 8.31106679e+01] [ 9.99766379e-03 -1.15451965e-04 9.99950016e-01 5.76260891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.21, Y:83.09, Z:5.76 [[ 7.56109568e-01 6.54402229e-01 -7.48631037e-03 1.11210121e+02] [-6.54368633e-01 7.56146619e-01 6.63192658e-03 8.30893986e+01] [ 1.00006958e-02 -1.15656456e-04 9.99949985e-01 5.76192994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.23, Y:83.07, Z:5.76 [[ 7.56033458e-01 6.54489794e-01 -7.51794366e-03 1.11233020e+02] [-6.54455897e-01 7.56070827e-01 6.66212524e-03 8.30672693e+01] [ 1.00443909e-02 -1.16627023e-04 9.99949547e-01 5.76116438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.26, Y:83.05, Z:5.76 [[ 7.56010535e-01 6.54515821e-01 -7.55719190e-03 1.11257862e+02] [-6.54481533e-01 7.56048296e-01 6.70052785e-03 8.30460315e+01] [ 1.00992035e-02 -1.19627101e-04 9.99948995e-01 5.76270667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.28, Y:83.02, Z:5.76 [[ 7.56348665e-01 6.54123188e-01 -7.71703724e-03 1.11282124e+02] [-6.54087375e-01 7.56388021e-01 6.84604385e-03 8.30235968e+01] [ 1.03152306e-02 -1.30379494e-04 9.99946788e-01 5.76379328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.31, Y:83.00, Z:5.76 [[ 7.56121617e-01 6.54381136e-01 -8.08882658e-03 1.11305241e+02] [-6.54341763e-01 7.56164870e-01 7.17956726e-03 8.30017005e+01] [ 1.08146599e-02 -1.35768963e-04 9.99941511e-01 5.76285015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.33, Y:82.98, Z:5.76 [[ 7.56074610e-01 6.54425845e-01 -8.83159873e-03 1.11328460e+02] [-6.54378888e-01 7.56126174e-01 7.84089335e-03 8.29809185e+01] [ 1.18090862e-02 -1.49088632e-04 9.99930259e-01 5.76205483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.35, Y:82.96, Z:5.76 [[ 7.56184757e-01 6.54297113e-01 -8.93870920e-03 1.11352949e+02] [-6.54248950e-01 7.56237571e-01 7.94030855e-03 8.29588581e+01] [ 1.19551087e-02 -1.56199190e-04 9.99928523e-01 5.76247628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.38, Y:82.94, Z:5.76 [[ 7.56653349e-01 6.53754430e-01 -8.99199652e-03 1.11376800e+02] [-6.53705605e-01 7.56706758e-01 7.99157170e-03 8.29375366e+01] [ 1.20288299e-02 -1.68730967e-04 9.99927637e-01 5.76346012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.40, Y:82.91, Z:5.76 [[ 7.57650416e-01 6.52603884e-01 -8.60339676e-03 1.11397986e+02] [-6.52559074e-01 7.57699240e-01 7.64966996e-03 8.29148786e+01] [ 1.15109915e-02 -1.81551003e-04 9.99933730e-01 5.76262055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.42, Y:82.89, Z:5.76 [[ 7.57881809e-01 6.52335890e-01 -8.54693061e-03 1.11421011e+02] [-6.52291621e-01 7.57929978e-01 7.60199116e-03 8.28932713e+01] [ 1.14370266e-02 -1.86319592e-04 9.99934578e-01 5.76225010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.45, Y:82.87, Z:5.76 [[ 7.57711875e-01 6.52533293e-01 -8.54495063e-03 1.11445178e+02] [-6.52489011e-01 7.57760033e-01 7.60421667e-03 8.28716692e+01] [ 1.14370266e-02 -1.86318885e-04 9.99934578e-01 5.76225034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.47, Y:82.85, Z:5.76 [[ 7.58164700e-01 6.52009104e-01 -8.39140548e-03 1.11469288e+02] [-6.51966327e-01 7.58211112e-01 7.47110724e-03 8.28508742e+01] [ 1.12336868e-02 -1.93415975e-04 9.99936881e-01 5.76367623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.49, Y:82.83, Z:5.76 [[ 7.58086208e-01 6.52100321e-01 -8.39484000e-03 1.11493566e+02] [-6.52057469e-01 7.58132662e-01 7.47821962e-03 8.28287095e+01] [ 1.12409518e-02 -1.95217030e-04 9.99936800e-01 5.76402211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.52, Y:82.81, Z:5.76 [[ 7.58133836e-01 6.52057269e-01 -7.37597881e-03 1.11516214e+02] [-6.52024168e-01 7.58169696e-01 6.57235904e-03 8.28080251e+01] [ 9.87779810e-03 -1.73411316e-04 9.99951198e-01 5.76460348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.54, Y:82.79, Z:5.76 [[ 7.57822389e-01 6.52422284e-01 -7.09856373e-03 1.11539535e+02] [-6.52391617e-01 7.57855617e-01 6.32788465e-03 8.27869052e+01] [ 9.50813935e-03 -1.64369198e-04 9.99954783e-01 5.76481145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.57, Y:82.77, Z:5.77 [[ 7.57174718e-01 6.53187301e-01 -5.72678922e-03 1.11565353e+02] [-6.53167345e-01 7.57196364e-01 5.10745548e-03 8.27677315e+01] [ 7.67242904e-03 -1.26684450e-04 9.99970559e-01 5.76648629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.59, Y:82.75, Z:5.77 [[ 7.56444515e-01 6.54035540e-01 -5.40450897e-03 1.11589478e+02] [-6.54017771e-01 7.56463813e-01 4.82229825e-03 8.27473625e+01] [ 7.24226990e-03 -1.13156150e-04 9.99973768e-01 5.76648305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.61, Y:82.73, Z:5.77 [[ 7.55668443e-01 6.54929736e-01 -5.67854629e-03 1.11612892e+02] [-6.54910129e-01 7.55689770e-01 5.06899942e-03 8.27273214e+01] [ 7.61105779e-03 -1.11545414e-04 9.99971029e-01 5.76646799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.64, Y:82.71, Z:5.77 [[ 7.54735648e-01 6.56000659e-01 -6.10217759e-03 1.11638098e+02] [-6.55978041e-01 7.54760309e-01 5.44852490e-03 8.27065463e+01] [ 8.17991736e-03 -1.09301469e-04 9.99966538e-01 5.76623554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.66, Y:82.69, Z:5.77 [[ 7.52324915e-01 6.58752352e-01 -7.24995756e-03 1.11663690e+02] [-6.58720523e-01 7.52359841e-01 6.47636612e-03 8.26872886e+01] [ 9.72089833e-03 -9.66357492e-05 9.99952746e-01 5.76504752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.69, Y:82.67, Z:5.76 [[ 7.51079848e-01 6.60165661e-01 -7.76932833e-03 1.11687922e+02] [-6.60129153e-01 7.51120025e-01 6.94329601e-03 8.26676771e+01] [ 1.04194237e-02 -8.62095821e-05 9.99945713e-01 5.76374165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.71, Y:82.65, Z:5.76 [[ 7.48784404e-01 6.62761046e-01 -8.34943488e-03 1.11713665e+02] [-6.62719004e-01 7.48830951e-01 7.46514325e-03 8.26487608e+01] [ 1.11999214e-02 -5.64536745e-05 9.99937277e-01 5.76248450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.74, Y:82.63, Z:5.76 [[ 7.47993830e-01 6.63653974e-01 -8.28445139e-03 1.11739079e+02] [-6.63612596e-01 7.48039705e-01 7.41092089e-03 8.26277492e+01] [ 1.11153857e-02 -4.56568078e-05 9.99938221e-01 5.76190029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.76, Y:82.61, Z:5.76 [[ 7.47782110e-01 6.63893672e-01 -8.19190201e-03 1.11764294e+02] [-6.63853209e-01 7.47826979e-01 7.32988562e-03 8.26070128e+01] [ 1.09923900e-02 -4.29369072e-05 9.99939581e-01 5.76190491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.79, Y:82.58, Z:5.76 [[ 7.47985013e-01 6.63662265e-01 -8.41544149e-03 1.11788228e+02] [-6.63619501e-01 7.48032350e-01 7.53402871e-03 8.25846971e+01] [ 1.12950730e-02 -5.06894761e-05 9.99936207e-01 5.76208012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.81, Y:82.56, Z:5.76 [[ 7.48201417e-01 6.63421074e-01 -8.19258818e-03 1.11811899e+02] [-6.63380487e-01 7.48246267e-01 7.33849029e-03 8.25619229e+01] [ 1.09985826e-02 -5.58656970e-05 9.99939512e-01 5.76289522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.83, Y:82.54, Z:5.76 [[ 7.48842522e-01 6.62703071e-01 -7.71477353e-03 1.11834750e+02] [-6.62667006e-01 7.48882258e-01 6.91395650e-03 8.25391269e+01] [ 1.03593572e-02 -6.51387419e-05 9.99946338e-01 5.76425915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.86, Y:82.52, Z:5.76 [[ 7.49792644e-01 6.61636099e-01 -6.97594302e-03 1.11858699e+02] [-6.61606537e-01 7.49825091e-01 6.25492914e-03 8.25177741e+01] [ 9.36922403e-03 -7.45703525e-05 9.99956105e-01 5.76480437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.88, Y:82.50, Z:5.77 [[ 7.49962743e-01 6.61452020e-01 -6.09172361e-03 1.11883031e+02] [-6.61429447e-01 7.49987480e-01 5.46496482e-03 8.24960623e+01] [ 8.18352846e-03 -6.92746281e-05 9.99966512e-01 5.76533708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.91, Y:82.47, Z:5.77 [[ 7.50099056e-01 6.61299637e-01 -5.84781758e-03 1.11907816e+02] [-6.61278809e-01 7.50121847e-01 5.24889641e-03 8.24738323e+01] [ 7.85766902e-03 -7.01543946e-05 9.99969126e-01 5.76584538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.93, Y:82.45, Z:5.77 [[ 7.50315183e-01 6.61060567e-01 -5.10429154e-03 1.11932865e+02] [-6.61044677e-01 7.50332541e-01 4.58399093e-03 8.24527687e+01] [ 6.86021169e-03 -6.52732377e-05 9.99976466e-01 5.76665357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.96, Y:82.43, Z:5.77 [[ 7.50339468e-01 6.61033368e-01 -5.05660225e-03 1.11958235e+02] [-6.61017756e-01 7.50356503e-01 4.54367512e-03 8.24315412e+01] [ 6.79777525e-03 -6.67948969e-05 9.99976893e-01 5.76770743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.98, Y:82.41, Z:5.77 [[ 7.50161682e-01 6.61232826e-01 -5.34795389e-03 1.11981926e+02] [-6.61215350e-01 7.50180741e-01 4.80794816e-03 8.24105482e+01] [ 7.19110516e-03 -7.05892731e-05 9.99974141e-01 5.76751599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.01, Y:82.39, Z:5.77 [[ 7.49786461e-01 6.61653634e-01 -5.89341442e-03 1.12007688e+02] [-6.61632400e-01 7.49809618e-01 5.30125914e-03 8.23903238e+01] [ 7.92653619e-03 -7.55383952e-05 9.99968582e-01 5.76756343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.03, Y:82.37, Z:5.77 [[ 7.49493655e-01 6.61981473e-01 -6.30792041e-03 1.12033024e+02] [-6.61957133e-01 7.49520195e-01 5.67724061e-03 8.23696127e+01] [ 8.48614184e-03 -7.94828998e-05 9.99963989e-01 5.76682228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.06, Y:82.35, Z:5.76 [[ 7.49171047e-01 6.62341306e-01 -6.83647508e-03 1.12057372e+02] [-6.62312702e-01 7.49202234e-01 6.15610349e-03 8.23494304e+01] [ 9.19934403e-03 -8.40902137e-05 9.99957682e-01 5.76493977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.08, Y:82.33, Z:5.76 [[ 7.49141061e-01 6.62368661e-01 -7.44499507e-03 1.12084522e+02] [-6.62334703e-01 7.49178049e-01 6.70769780e-03 8.23298062e+01] [ 1.00205957e-02 -9.39332567e-05 9.99949788e-01 5.76393142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.11, Y:82.31, Z:5.76 [[ 7.49276776e-01 6.62214195e-01 -7.52809681e-03 1.12108820e+02] [-6.62179432e-01 7.49314587e-01 6.78600835e-03 8.23090274e+01] [ 1.01347038e-02 -9.96475930e-05 9.99948638e-01 5.76363413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.13, Y:82.29, Z:5.76 [[ 7.50461123e-01 6.60872167e-01 -7.48872231e-03 1.12133217e+02] [-6.60837668e-01 7.50498477e-01 6.75372579e-03 8.22879211e+01] [ 1.00836241e-02 -1.19578859e-04 9.99949152e-01 5.76411293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.16, Y:82.27, Z:5.76 [[ 7.51221889e-01 6.60009441e-01 -7.29460760e-03 1.12155740e+02] [-6.59976642e-01 7.51257293e-01 6.58110778e-03 8.22671483e+01] [ 9.82372043e-03 -1.29601582e-04 9.99951738e-01 5.76439500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.18, Y:82.25, Z:5.77 [[ 7.52462356e-01 6.58604313e-01 -6.38447115e-03 1.12179874e+02] [-6.58579114e-01 7.52489430e-01 5.76275327e-03 8.22462340e+01] [ 8.59962122e-03 -1.31575555e-04 9.99963014e-01 5.76644903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.21, Y:82.22, Z:5.77 [[ 7.52855923e-01 6.58160500e-01 -5.71971602e-03 1.12205185e+02] [-6.58140241e-01 7.52877640e-01 5.16556436e-03 8.22245055e+01] [ 7.70601672e-03 -1.24550445e-04 9.99970301e-01 5.76741731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.23, Y:82.20, Z:5.77 [[ 7.53064452e-01 6.57926613e-01 -5.14812176e-03 1.12228978e+02] [-6.57910179e-01 7.53082040e-01 4.65172330e-03 8.22026527e+01] [ 6.93745059e-03 -1.16045750e-04 9.99975929e-01 5.76706006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.26, Y:82.18, Z:5.77 [[ 7.53257054e-01 6.57711604e-01 -4.38819211e-03 1.12256871e+02] [-6.57699647e-01 7.53269829e-01 3.96722019e-03 8.21844747e+01] [ 5.91477948e-03 -1.02224187e-04 9.99982502e-01 5.76790978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.28, Y:82.16, Z:5.77 [[ 7.53007325e-01 6.58000133e-01 -3.97409684e-03 1.12282258e+02] [-6.57990320e-01 7.53017806e-01 3.59483471e-03 8.21642030e+01] [ 5.35796740e-03 -9.20196171e-05 9.99985642e-01 5.76842274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.31, Y:82.14, Z:5.77 [[ 7.52634762e-01 6.58425557e-01 -4.08676398e-03 1.12307524e+02] [-6.58415174e-01 7.52645852e-01 3.69878059e-03 8.21429345e+01] [ 5.51125763e-03 -9.30434313e-05 9.99984809e-01 5.76849381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.33, Y:82.12, Z:5.77 [[ 7.51555591e-01 6.59652333e-01 -4.79517652e-03 1.12332820e+02] [-6.59638051e-01 7.51570882e-01 4.34185869e-03 8.21246763e+01] [ 6.46803226e-03 -1.00067278e-04 9.99979077e-01 5.76826855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.36, Y:82.11, Z:5.77 [[ 7.50771983e-01 6.60541817e-01 -5.09295385e-03 1.12357178e+02] [-6.60525718e-01 7.50789250e-01 4.61272054e-03 8.21052357e+01] [ 6.87062981e-03 -9.90743483e-05 9.99976392e-01 5.76739969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.39, Y:82.09, Z:5.77 [[ 7.49197278e-01 6.62318285e-01 -6.15855469e-03 1.12386372e+02] [-6.62294783e-01 7.49222583e-01 5.58049380e-03 8.20894371e+01] [ 8.31019134e-03 -1.02112126e-04 9.99965465e-01 5.76599137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.41, Y:82.07, Z:5.77 [[ 7.48469921e-01 6.63135356e-01 -6.65415665e-03 1.12412662e+02] [-6.63107921e-01 7.48499492e-01 6.03290691e-03 8.20700369e+01] [ 8.98126674e-03 -1.03025379e-04 9.99959662e-01 5.76592115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.44, Y:82.05, Z:5.77 [[ 7.47779678e-01 6.63907643e-01 -7.22461670e-03 1.12438543e+02] [-6.63875305e-01 7.47814570e-01 6.55348095e-03 8.20516192e+01] [ 9.75357971e-03 -1.04315256e-04 9.99952427e-01 5.76577310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.46, Y:82.03, Z:5.77 [[ 7.47670998e-01 6.64027058e-01 -7.49296543e-03 1.12464322e+02] [-6.63992242e-01 7.47708536e-01 6.80059169e-03 8.20313529e+01] [ 1.01183311e-02 -1.09334267e-04 9.99948802e-01 5.76622099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.320385723 meters Centerline goodness [0,1] 0.9999785163383247 Centerline is valid? [True, True] Translation: X:112.49, Y:82.01, Z:5.77 [[ 7.47818350e-01 6.63864006e-01 -7.23161406e-03 1.12490310e+02] [-6.63831534e-01 7.47853307e-01 6.56700772e-03 8.20111719e+01] [ 9.76778654e-03 -1.10355421e-04 9.99952288e-01 5.76638468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.52, Y:81.99, Z:5.77 [[ 7.48466368e-01 6.63138173e-01 -6.77196180e-03 1.12516342e+02] [-6.63109649e-01 7.48496994e-01 6.15170401e-03 8.19928323e+01] [ 9.14822281e-03 -1.13790347e-04 9.99958148e-01 5.76698350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.380385723 meters Centerline goodness [0,1] 0.9999354838709678 Centerline is valid? [True, True] Translation: X:112.54, Y:81.97, Z:5.77 [[ 7.48771758e-01 6.62796386e-01 -6.46566446e-03 1.12541225e+02] [-6.62770345e-01 7.48799664e-01 5.87644607e-03 8.19726373e+01] [ 8.73637460e-03 -1.14866189e-04 9.99961831e-01 5.76695871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.57, Y:81.95, Z:5.77 [[ 7.49363885e-01 6.62131467e-01 -5.97401800e-03 1.12568854e+02] [-6.62109191e-01 7.49387688e-01 5.43250816e-03 8.19535829e+01] [ 8.07389013e-03 -1.15473192e-04 9.99967399e-01 5.76700214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.59, Y:81.93, Z:5.77 [[ 7.49471224e-01 6.62006252e-01 -6.37237332e-03 1.12594729e+02] [-6.61980875e-01 7.49498303e-01 5.79784471e-03 8.19326408e+01] [ 8.61429243e-03 -1.26928505e-04 9.99962888e-01 5.76690835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.62, Y:81.91, Z:5.77 [[ 7.49198964e-01 6.62313262e-01 -6.48492867e-03 1.12621607e+02] [-6.62286963e-01 7.49227019e-01 5.90358372e-03 8.19129643e+01] [ 8.76870557e-03 -1.28075094e-04 9.99961546e-01 5.76800341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.65, Y:81.89, Z:5.77 [[ 7.48837063e-01 6.62720710e-01 -6.65683145e-03 1.12648030e+02] [-6.62692985e-01 7.48866640e-01 6.06325841e-03 8.18947019e+01] [ 9.00332592e-03 -1.28957113e-04 9.99959461e-01 5.76696526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.67, Y:81.87, Z:5.77 [[ 7.48380091e-01 6.63233545e-01 -6.96455134e-03 1.12673997e+02] [-6.63203187e-01 7.48412485e-01 6.34703804e-03 8.18741968e+01] [ 9.42192572e-03 -1.31084261e-04 9.99955604e-01 5.76710157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.70, Y:81.86, Z:5.77 [[ 7.47490777e-01 6.64237351e-01 -6.80294991e-03 1.12701166e+02] [-6.64208400e-01 7.47521724e-01 6.20273753e-03 8.18559713e+01] [ 9.20544279e-03 -1.17912613e-04 9.99957622e-01 5.76688942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5903857229999 meters Centerline goodness [0,1] 0.9999787446595957 Centerline is valid? [True, True] Translation: X:112.73, Y:81.84, Z:5.77 [[ 7.46957667e-01 6.64835178e-01 -6.95916877e-03 1.12726852e+02] [-6.64804875e-01 7.46990075e-01 6.34864279e-03 8.18353854e+01] [ 9.41923106e-03 -1.15678076e-04 9.99955631e-01 5.76667298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.75, Y:81.82, Z:5.77 [[ 7.46715177e-01 6.65104241e-01 -7.26581712e-03 1.12752962e+02] [-6.65071188e-01 7.46750517e-01 6.63179557e-03 8.18158856e+01] [ 9.83658805e-03 -1.19776780e-04 9.99951612e-01 5.76672638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.78, Y:81.79, Z:5.77 [[ 7.46473166e-01 6.65381366e-01 -6.74169272e-03 1.12778185e+02] [-6.65352890e-01 7.46503601e-01 6.15676563e-03 8.17945109e+01] [ 9.12929501e-03 -1.10255589e-04 9.99958321e-01 5.76704333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.80, Y:81.77, Z:5.77 [[ 7.46112750e-01 6.65785852e-01 -6.70547619e-03 1.12803080e+02] [-6.65757668e-01 7.46142873e-01 6.12703693e-03 8.17735028e+01] [ 9.08253778e-03 -1.07238183e-04 9.99958747e-01 5.76749508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.710385723 meters Centerline goodness [0,1] 0.999978789292835 Centerline is valid? [True, True] Translation: X:112.83, Y:81.75, Z:5.77 [[ 7.45612781e-01 6.66348090e-01 -6.46569673e-03 1.12829112e+02] [-6.66321876e-01 7.45640808e-01 5.91128277e-03 8.17530131e+01] [ 8.76005931e-03 -9.92928003e-05 9.99961625e-01 5.76841645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.85, Y:81.74, Z:5.77 [[ 7.44137409e-01 6.68001380e-01 -5.80283192e-03 1.12854593e+02] [-6.67980297e-01 7.44160031e-01 5.30767255e-03 8.17351402e+01] [ 7.86376817e-03 -7.34603171e-05 9.99969077e-01 5.76829231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.770385723 meters Centerline goodness [0,1] 0.9999575803851701 Centerline is valid? [True, True] Translation: X:112.88, Y:81.72, Z:5.77 [[ 7.42765375e-01 6.69530106e-01 -5.38843440e-03 1.12879739e+02] [-6.69511949e-01 7.42784918e-01 4.93104941e-03 8.17157469e+01] [ 7.30393383e-03 -5.49915443e-05 9.99973324e-01 5.76814890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.91, Y:81.70, Z:5.77 [[ 7.39881003e-01 6.72715066e-01 -5.52643189e-03 1.12905709e+02] [-6.72696040e-01 7.39901641e-01 5.05961743e-03 8.16980031e+01] [ 7.49269690e-03 -2.59059684e-05 9.99971929e-01 5.76749725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.93, Y:81.68, Z:5.77 [[ 7.38155366e-01 6.74609211e-01 -5.39149545e-03 1.12931652e+02] [-6.74591133e-01 7.38175055e-01 4.93879064e-03 8.16769902e+01] [ 7.31162111e-03 -8.53978990e-06 9.99973270e-01 5.76764372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.96, Y:81.66, Z:5.77 [[ 7.36757326e-01 6.76134271e-01 -5.57596410e-03 1.12956899e+02] [-6.76114956e-01 7.36778426e-01 5.11056499e-03 8.16565296e+01] [ 7.56367818e-03 4.74652642e-06 9.99971395e-01 5.76771261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.98, Y:81.64, Z:5.77 [[ 7.34338767e-01 6.78762837e-01 -5.25229329e-03 1.12983151e+02] [-6.78745747e-01 7.34357550e-01 4.81665307e-03 8.16358753e+01] [ 7.12642633e-03 2.79166579e-05 9.99974606e-01 5.76820276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.01, Y:81.61, Z:5.77 [[ 7.33315085e-01 6.79867463e-01 -5.40545992e-03 1.13007958e+02] [-6.79849371e-01 7.33335007e-01 4.95993866e-03 8.16145110e+01] [ 7.33611390e-03 3.77006787e-05 9.99973090e-01 5.76828556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.950385723 meters Centerline goodness [0,1] 0.999978820290162 Centerline is valid? [True, True] Translation: X:113.03, Y:81.60, Z:5.77 [[ 7.31787029e-01 6.81514064e-01 -5.13082327e-03 1.13031975e+02] [-6.81497796e-01 7.31805014e-01 4.70910313e-03 8.15953507e+01] [ 6.96408221e-03 5.05841665e-05 9.99975749e-01 5.76752023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.06, Y:81.57, Z:5.77 [[ 7.30947328e-01 6.82413653e-01 -5.25442242e-03 1.13055924e+02] [-6.82396598e-01 7.30966212e-01 4.82507220e-03 8.15742377e+01] [ 7.13350040e-03 5.87263530e-05 9.99974555e-01 5.76704974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.08, Y:81.55, Z:5.77 [[ 7.30760932e-01 6.82613262e-01 -5.25310451e-03 1.13079770e+02] [-6.82596201e-01 7.30779811e-01 4.82650698e-03 8.15522488e+01] [ 7.13350040e-03 5.87264404e-05 9.99974555e-01 5.76704998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.10, Y:81.53, Z:5.77 [[ 7.29786044e-01 6.83652982e-01 -5.56150465e-03 1.13103046e+02] [-6.83633871e-01 7.29807231e-01 5.11236340e-03 8.15296823e+01] [ 7.55390879e-03 7.11014909e-05 9.99971466e-01 5.76733459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.13, Y:81.51, Z:5.77 [[ 7.28344214e-01 6.85181734e-01 -6.37945701e-03 1.13125456e+02] [-6.85156623e-01 7.28372145e-01 5.86690016e-03 8.15086282e+01] [ 8.66651161e-03 9.78044320e-05 9.99962440e-01 5.76655779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.15, Y:81.49, Z:5.77 [[ 7.27959272e-01 6.85593407e-01 -6.08093886e-03 1.13149026e+02] [-6.85570590e-01 7.27984664e-01 5.59429335e-03 8.14868391e+01] [ 8.26224087e-03 9.64951233e-05 9.99965863e-01 5.76624981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.17, Y:81.46, Z:5.77 [[ 7.27853987e-01 6.85713646e-01 -5.03693051e-03 1.13171000e+02] [-6.85697978e-01 7.27871410e-01 4.63604450e-03 8.14634837e+01] [ 6.84523669e-03 7.94495992e-05 9.99976568e-01 5.76677518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.19, Y:81.44, Z:5.77 [[ 7.28274752e-01 6.85269957e-01 -4.57955287e-03 1.13192953e+02] [-6.85256984e-01 7.28289147e-01 4.21706505e-03 8.14404727e+01] [ 6.22506663e-03 6.69885867e-05 9.99980622e-01 5.76717287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.21, Y:81.42, Z:5.77 [[ 7.28658903e-01 6.84862113e-01 -4.48209079e-03 1.13214001e+02] [-6.84849672e-01 7.28672685e-01 4.12841435e-03 8.14178460e+01] [ 6.09337171e-03 6.13525387e-05 9.99981433e-01 5.76750523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.23, Y:81.39, Z:5.77 [[ 7.30173613e-01 6.83248072e-01 -4.30899464e-03 1.13234211e+02] [-6.83236534e-01 7.30186326e-01 3.97092114e-03 8.13923705e+01] [ 5.85949318e-03 4.46007209e-05 9.99982832e-01 5.76768104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.250385723 meters Centerline goodness [0,1] 0.9998513232233125 Centerline is valid? [True, True] Translation: X:113.26, Y:81.37, Z:5.77 [[ 7.30859225e-01 6.82514051e-01 -4.40038444e-03 1.13256413e+02] [-6.82501993e-01 7.30872471e-01 4.05725910e-03 8.13693216e+01] [ 5.98525619e-03 3.79859051e-05 9.99982088e-01 5.76679803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.280385723 meters Centerline goodness [0,1] 0.9999787338111137 Centerline is valid? [True, True] Translation: X:113.28, Y:81.35, Z:5.77 [[ 7.31627175e-01 6.81692865e-01 -4.06381029e-03 1.13278104e+02] [-6.81682558e-01 7.31638461e-01 3.74876197e-03 8.13456283e+01] [ 5.52874420e-03 2.75324585e-05 9.99984716e-01 5.76746030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.310385723 meters Centerline goodness [0,1] 0.999978584889498 Centerline is valid? [True, True] Translation: X:113.30, Y:81.32, Z:5.77 [[ 7.32980074e-01 6.80236699e-01 -4.27126980e-03 1.13297313e+02] [-6.80225282e-01 7.32992519e-01 3.94121770e-03 8.13205143e+01] [ 5.81176972e-03 1.65916626e-05 9.99983111e-01 5.76798177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3403857229999 meters Centerline goodness [0,1] 0.9998929359114366 Centerline is valid? [True, True] Translation: X:113.32, Y:81.30, Z:5.77 [[ 7.33347348e-01 6.79840273e-01 -4.34403463e-03 1.13320001e+02] [-6.79828443e-01 7.33360214e-01 4.01060694e-03 8.12960126e+01] [ 5.91231428e-03 1.20303400e-05 9.99982522e-01 5.76805161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.34, Y:81.27, Z:5.77 [[ 7.33587267e-01 6.79580688e-01 -4.45089323e-03 1.13341462e+02] [-6.79568255e-01 7.33600769e-01 4.11069675e-03 8.12717587e+01] [ 6.05872882e-03 9.13095377e-06 9.99981646e-01 5.76710887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.400385723 meters Centerline goodness [0,1] 0.9999571908645305 Centerline is valid? [True, True] Translation: X:113.36, Y:81.25, Z:5.77 [[ 7.33366092e-01 6.79821080e-01 -4.18024148e-03 1.13364735e+02] [-6.79810105e-01 7.33378006e-01 3.86290729e-03 8.12480818e+01] [ 5.69178297e-03 8.84517417e-06 9.99983802e-01 5.76721139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.39, Y:81.23, Z:5.77 [[ 7.32653552e-01 6.80589898e-01 -4.02041705e-03 1.13387570e+02] [-6.80579750e-01 7.32664583e-01 3.71651983e-03 8.12251725e+01] [ 5.47504303e-03 1.32929744e-05 9.99985012e-01 5.76727360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.460385723 meters Centerline goodness [0,1] 0.9999146302422367 Centerline is valid? [True, True] Translation: X:113.41, Y:81.20, Z:5.77 [[ 7.31730387e-01 6.81581856e-01 -4.10049626e-03 1.13410475e+02] [-6.81571304e-01 7.31741876e-01 3.79264429e-03 8.12021352e+01] [ 5.58550236e-03 1.95875091e-05 9.99984401e-01 5.76687991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.43, Y:81.18, Z:5.77 [[ 7.29952073e-01 6.83481735e-01 -4.76332139e-03 1.13431482e+02] [-6.83467523e-01 7.29967614e-01 4.40767292e-03 8.11783744e+01] [ 6.48963428e-03 3.81854889e-05 9.99978941e-01 5.76680913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.520385723 meters Centerline goodness [0,1] 0.999956855638968 Centerline is valid? [True, True] Translation: X:113.45, Y:81.15, Z:5.77 [[ 7.28260577e-01 6.85279276e-01 -5.37093972e-03 1.13452308e+02] [-6.85261238e-01 7.28280379e-01 4.97238536e-03 8.11530741e+01] [ 7.31902265e-03 5.93045730e-05 9.99973214e-01 5.76683813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.47, Y:81.13, Z:5.77 [[ 7.27376378e-01 6.86213934e-01 -5.83459365e-03 1.13474011e+02] [-6.86192658e-01 7.27399774e-01 5.40410081e-03 8.11312392e+01] [ 7.95245137e-03 7.28400543e-05 9.99968376e-01 5.76650729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.50, Y:81.11, Z:5.77 [[ 7.26412293e-01 6.87235720e-01 -5.67847702e-03 1.13497070e+02] [-6.87215578e-01 7.26434483e-01 5.26222386e-03 8.11086787e+01] [ 7.74142973e-03 7.97937627e-05 9.99970032e-01 5.76611904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.610385723 meters Centerline goodness [0,1] 0.9999784143156258 Centerline is valid? [True, True] Translation: X:113.52, Y:81.09, Z:5.77 [[ 7.25489909e-01 6.88212677e-01 -5.26332111e-03 1.13520146e+02] [-6.88195379e-01 7.25508997e-01 4.88021282e-03 8.10853865e+01] [ 7.17721114e-03 8.16481077e-05 9.99974240e-01 5.76622251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.640385723 meters Centerline goodness [0,1] 0.9998703991705546 Centerline is valid? [True, True] Translation: X:113.54, Y:81.06, Z:5.77 [[ 7.24087529e-01 6.89691783e-01 -4.74276824e-03 1.13541596e+02] [-6.89677755e-01 7.24103057e-01 4.39967428e-03 8.10618564e+01] [ 6.46867218e-03 8.52324776e-05 9.99979074e-01 5.76670194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.56, Y:81.04, Z:5.77 [[ 7.23328990e-01 6.90489554e-01 -4.39866145e-03 1.13564000e+02] [-6.90477489e-01 7.23342359e-01 4.08273648e-03 8.10382028e+01] [ 6.00082504e-03 8.40150562e-05 9.99981991e-01 5.76758794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.700385723 meters Centerline goodness [0,1] 0.9999567005845421 Centerline is valid? [True, True] Translation: X:113.59, Y:81.01, Z:5.77 [[ 7.22680697e-01 6.91170239e-01 -4.03856179e-03 1.13586563e+02] [-6.91160068e-01 7.22691977e-01 3.75058190e-03 8.10143548e+01] [ 5.51092679e-03 8.08194990e-05 9.99984812e-01 5.76817037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.61, Y:80.99, Z:5.77 [[ 7.21791445e-01 6.92100503e-01 -3.74222656e-03 1.13606478e+02] [-6.92091777e-01 7.21801142e-01 3.47630028e-03 8.09907349e+01] [ 5.10709257e-03 8.08004240e-05 9.99986956e-01 5.76837693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.760385723 meters Centerline goodness [0,1] 0.9999564630589055 Centerline is valid? [True, True] Translation: X:113.63, Y:80.97, Z:5.77 [[ 7.21348810e-01 6.92561166e-01 -3.86357131e-03 1.13629207e+02] [-6.92551861e-01 7.21359151e-01 3.59102184e-03 8.09670346e+01] [ 5.27402479e-03 8.53441741e-05 9.99986089e-01 5.76833506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.65, Y:80.94, Z:5.77 [[ 7.20955967e-01 6.92970626e-01 -3.76906356e-03 1.13651179e+02] [-6.92961767e-01 7.20965814e-01 3.50499758e-03 8.09442138e+01] [ 5.14622634e-03 8.48680276e-05 9.99986755e-01 5.76757039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.820385723 meters Centerline goodness [0,1] 0.9999782324771441 Centerline is valid? [True, True] Translation: X:113.67, Y:80.92, Z:5.77 [[ 7.20873757e-01 6.93058918e-01 -3.21929036e-03 1.13673708e+02] [-6.93052448e-01 7.20880941e-01 2.99540456e-03 8.09195816e+01] [ 4.39671691e-03 7.18285261e-05 9.99990332e-01 5.76787375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.70, Y:80.90, Z:5.77 [[ 7.20947842e-01 6.92981757e-01 -3.23942652e-03 1.13695364e+02] [-6.92975198e-01 7.20955116e-01 3.01583564e-03 8.08952475e+01] [ 4.42540020e-03 7.05820375e-05 9.99990205e-01 5.76857031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.71, Y:80.87, Z:5.77 [[ 7.21595633e-01 6.92306739e-01 -3.33494673e-03 1.13714186e+02] [-6.92299774e-01 7.21603336e-01 3.10616827e-03 8.08705157e+01] [ 4.55692991e-03 6.73854038e-05 9.99989615e-01 5.76921790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.910385723 meters Centerline goodness [0,1] 0.9999560816003865 Centerline is valid? [True, True] Translation: X:113.74, Y:80.85, Z:5.77 [[ 7.21927634e-01 6.91959850e-01 -3.47241720e-03 1.13736048e+02] [-6.91952287e-01 7.21935982e-01 3.23577288e-03 8.08469743e+01] [ 4.74588784e-03 6.67531611e-05 9.99988736e-01 5.76903261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.76, Y:80.82, Z:5.77 [[ 7.22318288e-01 6.91548748e-01 -4.07678146e-03 1.13758534e+02] [-6.91538306e-01 7.22329789e-01 3.80090808e-03 8.08237595e+01] [ 5.57329392e-03 7.37851325e-05 9.99984466e-01 5.76822613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.78, Y:80.80, Z:5.77 [[ 7.22866793e-01 6.90965953e-01 -5.44522789e-03 1.13779769e+02] [-6.90947288e-01 7.22887297e-01 5.07954769e-03 8.07988166e+01] [ 7.44608058e-03 9.05290893e-05 9.99972274e-01 5.76674080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.80, Y:80.77, Z:5.77 [[ 7.23100473e-01 6.90714602e-01 -6.24861481e-03 1.13802155e+02] [-6.90689986e-01 7.23127464e-01 5.83220106e-03 8.07748012e+01] [ 8.54693142e-03 9.85883292e-05 9.99963470e-01 5.76616220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.030385723 meters Centerline goodness [0,1] 0.9999557512334344 Centerline is valid? [True, True] Translation: X:113.82, Y:80.75, Z:5.77 [[ 7.23695765e-01 6.90086152e-01 -6.74847258e-03 1.13824716e+02] [-6.90057381e-01 7.23727223e-01 6.30223108e-03 8.07506870e+01] [ 9.23313572e-03 9.59353715e-05 9.99957369e-01 5.76526179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.060385723 meters Centerline goodness [0,1] 0.9999777925827227 Centerline is valid? [True, True] Translation: X:113.84, Y:80.72, Z:5.77 [[ 7.25629462e-01 6.88050814e-01 -6.92541939e-03 1.13844268e+02] [-6.88020391e-01 7.25662506e-01 6.47057827e-03 8.07249670e+01] [ 9.47760384e-03 6.95875271e-05 9.99955084e-01 5.76509827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0903857229999 meters Centerline goodness [0,1] 0.9999335224251019 Centerline is valid? [True, True] Translation: X:113.86, Y:80.70, Z:5.77 [[ 7.26939371e-01 6.86667407e-01 -6.85739673e-03 1.13864849e+02] [-6.86637501e-01 7.26971712e-01 6.40875657e-03 8.07008617e+01] [ 9.38581769e-03 4.97682884e-05 9.99955951e-01 5.76536687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.88, Y:80.67, Z:5.77 [[ 7.29702402e-01 6.83734291e-01 -6.46712334e-03 1.13883416e+02] [-6.83707551e-01 7.29731059e-01 6.04694652e-03 8.06737666e+01] [ 8.85376545e-03 9.14966538e-06 9.99960805e-01 5.76741359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.91, Y:80.65, Z:5.77 [[ 7.30642620e-01 6.82730703e-01 -6.33634060e-03 1.13905999e+02] [-6.82704968e-01 7.30670094e-01 5.92794571e-03 8.06490626e+01] [ 8.67696513e-03 -5.35857723e-06 9.99962354e-01 5.76758131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.93, Y:80.63, Z:5.77 [[ 7.31696862e-01 6.81599578e-01 -6.45894938e-03 1.13928154e+02] [-6.81572763e-01 7.31725369e-01 6.04598697e-03 8.06250079e+01] [ 8.84711928e-03 -2.15857127e-05 9.99960863e-01 5.76763501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.95, Y:80.60, Z:5.77 [[ 7.33213094e-01 6.79963830e-01 -6.91004282e-03 1.13946602e+02] [-6.79933039e-01 7.33245653e-01 6.47111572e-03 8.05996204e+01] [ 9.46688349e-03 -4.63403678e-05 9.99955187e-01 5.76755624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.97, Y:80.58, Z:5.77 [[ 7.33639565e-01 6.79505661e-01 -6.71164123e-03 1.13969198e+02] [-6.79476563e-01 7.33670263e-01 6.28860734e-03 8.05758495e+01] [ 9.19727587e-03 -5.31682443e-05 9.99957703e-01 5.76769709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.99, Y:80.55, Z:5.77 [[ 7.33976895e-01 6.79133989e-01 -7.41232638e-03 1.13991498e+02] [-6.79098445e-01 7.34014320e-01 6.94844040e-03 8.05522926e+01] [ 1.01596757e-02 -6.62953955e-05 9.99948387e-01 5.76788264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.01, Y:80.53, Z:5.77 [[ 7.33710413e-01 6.79419333e-01 -7.64203348e-03 1.14013227e+02] [-6.79381529e-01 7.33750207e-01 7.16741294e-03 8.05288939e+01] [ 1.04770226e-02 -6.69491145e-05 9.99945112e-01 5.76778143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.04, Y:80.50, Z:5.77 [[ 7.33309152e-01 6.79848479e-01 -7.98334244e-03 1.14035472e+02] [-6.79807204e-01 7.33352604e-01 7.49157795e-03 8.05048941e+01] [ 1.09477428e-02 -6.65089725e-05 9.99940070e-01 5.76826365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.06, Y:80.48, Z:5.77 [[ 7.32939504e-01 6.80243193e-01 -8.29951155e-03 1.14057421e+02] [-6.80198579e-01 7.32986490e-01 7.79091005e-03 8.04810852e+01] [ 1.13831434e-02 -6.49497786e-05 9.99935208e-01 5.76829955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.08, Y:80.46, Z:5.77 [[ 7.32651887e-01 6.80550987e-01 -8.45974300e-03 1.14081461e+02] [-6.80504605e-01 7.32700723e-01 7.94561289e-03 8.04580482e+01] [ 1.16058545e-02 -6.44742070e-05 9.99932648e-01 5.76814940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.420385723 meters Centerline goodness [0,1] 0.9999549051881581 Centerline is valid? [True, True] Translation: X:114.10, Y:80.43, Z:5.77 [[ 7.32370393e-01 6.80856478e-01 -8.25009536e-03 1.14103303e+02] [-6.80812339e-01 7.32416857e-01 7.75286579e-03 8.04339627e+01] [ 1.13210978e-02 -6.12026495e-05 9.99935913e-01 5.76742482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.13, Y:80.41, Z:5.77 [[ 7.32134802e-01 6.81112424e-01 -8.03111213e-03 1.14125161e+02] [-6.81070585e-01 7.32178847e-01 7.54953578e-03 8.04107705e+01] [ 1.10222930e-02 -5.75236493e-05 9.99939251e-01 5.76800079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.15, Y:80.39, Z:5.77 [[ 7.32062106e-01 6.81196186e-01 -7.53854202e-03 1.14147474e+02] [-6.81159314e-01 7.32100917e-01 7.08768825e-03 8.03877258e+01] [ 1.03470797e-02 -5.36798714e-05 9.99946466e-01 5.76969065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.17, Y:80.36, Z:5.77 [[ 7.31721781e-01 6.81567811e-01 -6.96811120e-03 1.14169240e+02] [-6.81536295e-01 7.31754957e-01 6.55457468e-03 8.03644952e+01] [ 9.56633702e-03 -4.71043718e-05 9.99954240e-01 5.77305858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.19, Y:80.34, Z:5.77 [[ 7.31342190e-01 6.81978418e-01 -6.63612959e-03 1.14193001e+02] [-6.81949819e-01 7.31372296e-01 6.24573043e-03 8.03414051e+01] [ 9.11293470e-03 -4.22587997e-05 9.99958476e-01 5.77346213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.22, Y:80.32, Z:5.77 [[ 7.30941578e-01 6.82407943e-01 -6.61880590e-03 1.14215884e+02] [-6.82379481e-01 7.30971544e-01 6.23261368e-03 8.03198482e+01] [ 9.09134385e-03 -3.91391444e-05 9.99958672e-01 5.77273232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.600385723 meters Centerline goodness [0,1] 0.9999774566604297 Centerline is valid? [True, True] Translation: X:114.24, Y:80.30, Z:5.77 [[ 7.30253688e-01 6.83143882e-01 -6.63227554e-03 1.14241472e+02] [-6.83115304e-01 7.30283805e-01 6.24870831e-03 8.02987300e+01] [ 9.11221027e-03 -3.25333655e-05 9.99958482e-01 5.77219305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.630385723 meters Centerline goodness [0,1] 0.9999773740299115 Centerline is valid? [True, True] Translation: X:114.27, Y:80.28, Z:5.77 [[ 7.29658537e-01 6.83779266e-01 -6.65839383e-03 1.14266288e+02] [-6.83750458e-01 7.29688916e-01 6.27673104e-03 8.02768057e+01] [ 9.15045472e-03 -2.71905607e-05 9.99958133e-01 5.77168809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.29, Y:80.25, Z:5.77 [[ 7.29583100e-01 6.83860282e-01 -6.60412075e-03 1.14289693e+02] [-6.83831914e-01 7.29612989e-01 6.22897621e-03 8.02541355e+01] [ 9.07820171e-03 -2.84472459e-05 9.99958792e-01 5.77263711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.690385723 meters Centerline goodness [0,1] 0.9999774057253892 Centerline is valid? [True, True] Translation: X:114.31, Y:80.23, Z:5.77 [[ 7.29780202e-01 6.83651855e-01 -6.40306162e-03 1.14312825e+02] [-6.83625150e-01 7.29808291e-01 6.04264338e-03 8.02311815e+01] [ 8.80407180e-03 -3.25075473e-05 9.99961243e-01 5.77313693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.34, Y:80.21, Z:5.77 [[ 7.30395916e-01 6.82990753e-01 -6.74073398e-03 1.14337503e+02] [-6.82961097e-01 7.30427018e-01 6.36486526e-03 8.02089527e+01] [ 9.27075834e-03 -4.52125180e-05 9.99957025e-01 5.77324640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.36, Y:80.19, Z:5.77 [[ 7.30407982e-01 6.82976595e-01 -6.86665185e-03 1.14362296e+02] [-6.82945785e-01 7.30440257e-01 6.48738102e-03 8.01868380e+01] [ 9.44640834e-03 -4.88839419e-05 9.99955381e-01 5.77262834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.39, Y:80.17, Z:5.77 [[ 7.30447438e-01 6.82932490e-01 -7.05363155e-03 1.14385973e+02] [-6.82899944e-01 7.30481493e-01 6.66749055e-03 8.01659130e+01] [ 9.70599323e-03 -5.33267962e-05 9.99952894e-01 5.77222752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.41, Y:80.15, Z:5.77 [[ 7.30394384e-01 6.82986080e-01 -7.35243076e-03 1.14411399e+02] [-6.82950703e-01 7.30431387e-01 6.95162571e-03 8.01450392e+01] [ 1.01183098e-02 -5.60806170e-05 9.99948807e-01 5.77117048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.44, Y:80.12, Z:5.77 [[ 7.30495450e-01 6.82876575e-01 -7.48212091e-03 1.14436209e+02] [-6.82839893e-01 7.30533764e-01 7.07820004e-03 8.01230639e+01] [ 1.02994790e-02 -6.15022828e-05 9.99946957e-01 5.77066129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.46, Y:80.10, Z:5.77 [[ 7.30306920e-01 6.83078216e-01 -7.48016663e-03 1.14459708e+02] [-6.83041524e-01 7.30345224e-01 7.08026527e-03 8.01007521e+01] [ 1.02994789e-02 -6.15023051e-05 9.99946957e-01 5.77066154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.48, Y:80.08, Z:5.77 [[ 7.30423366e-01 6.82949620e-01 -7.84363806e-03 1.14484245e+02] [-6.82909223e-01 7.30465476e-01 7.42840257e-03 8.00787651e+01] [ 1.08027315e-02 -6.93860308e-05 9.99941646e-01 5.77028122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.51, Y:80.06, Z:5.77 [[ 7.30616052e-01 6.82743207e-01 -7.86752276e-03 1.14508487e+02] [-6.82702507e-01 7.30658407e-01 7.45514279e-03 8.00571233e+01] [ 1.08384197e-02 -7.56694848e-05 9.99941260e-01 5.76983799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.53, Y:80.04, Z:5.77 [[ 7.31098883e-01 6.82215744e-01 -8.72366249e-03 1.14532239e+02] [-6.82165622e-01 7.31150921e-01 8.27008924e-03 8.00365471e+01] [ 1.20202989e-02 -9.52703507e-05 9.99927749e-01 5.76831380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.990385723 meters Centerline goodness [0,1] 0.999932771602725 Centerline is valid? [True, True] Translation: X:114.56, Y:80.01, Z:5.77 [[ 7.31310454e-01 6.81985185e-01 -9.01265305e-03 1.14556299e+02] [-6.81931612e-01 7.31365980e-01 8.54866728e-03 8.00138537e+01] [ 1.24216123e-02 -1.05716729e-04 9.99922843e-01 5.76834813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.58, Y:79.99, Z:5.77 [[ 7.32018023e-01 6.81225665e-01 -9.01152556e-03 1.14579000e+02] [-6.81172002e-01 7.32073479e-01 8.55131202e-03 7.99924441e+01] [ 1.24224721e-02 -1.21315607e-04 9.99922831e-01 5.76843217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.60, Y:79.97, Z:5.77 [[ 7.32254078e-01 6.80974187e-01 -8.83863719e-03 1.14603314e+02] [-6.80922490e-01 7.32307408e-01 8.39179961e-03 7.99705612e+01] [ 1.21871984e-02 -1.26502642e-04 9.99925725e-01 5.76932128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.63, Y:79.95, Z:5.77 [[ 7.33493937e-01 6.79641280e-01 -8.62405234e-03 1.14627298e+02] [-6.79591925e-01 7.33544619e-01 8.19194352e-03 7.99488984e+01] [ 1.18937102e-02 -1.47904580e-04 9.99929256e-01 5.76932469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.65, Y:79.93, Z:5.77 [[ 7.33949597e-01 6.79156918e-01 -7.99187721e-03 1.14651874e+02] [-6.79114459e-01 7.33993092e-01 7.59559077e-03 7.99265802e+01] [ 1.10245807e-02 -1.47381418e-04 9.99939217e-01 5.76950253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.68, Y:79.90, Z:5.77 [[ 7.34345421e-01 6.78731237e-01 -7.79174091e-03 1.14675402e+02] [-6.78690813e-01 7.34386741e-01 7.40914944e-03 7.99046207e+01] [ 1.07509724e-02 -1.52691994e-04 9.99942195e-01 5.76980791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.70, Y:79.88, Z:5.77 [[ 7.34821804e-01 6.78222619e-01 -7.14116490e-03 1.14698339e+02] [-6.78188606e-01 7.34856487e-01 6.79394379e-03 7.98824269e+01] [ 9.85553770e-03 -1.49281360e-04 9.99951422e-01 5.77008587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.72, Y:79.86, Z:5.77 [[ 7.35777812e-01 6.77189633e-01 -6.72405556e-03 1.14722249e+02] [-6.77159406e-01 7.35808519e-01 6.40011615e-03 7.98603456e+01] [ 9.28170968e-03 -1.55805985e-04 9.99956912e-01 5.77158954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.75, Y:79.84, Z:5.77 [[ 7.36284619e-01 6.76640368e-01 -6.54003996e-03 1.14747131e+02] [-6.76611737e-01 7.36313647e-01 6.22661812e-03 7.98405822e+01] [ 9.02870186e-03 -1.59495353e-04 9.99959228e-01 5.77202045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.77, Y:79.82, Z:5.77 [[ 7.36173207e-01 6.76760815e-01 -6.61872166e-03 1.14770351e+02] [-6.76731466e-01 7.36202942e-01 6.30475234e-03 7.98184160e+01] [ 9.13953169e-03 -1.62292539e-04 9.99958220e-01 5.77097110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.290385723 meters Centerline goodness [0,1] 0.9999558177038461 Centerline is valid? [True, True] Translation: X:114.79, Y:79.80, Z:5.77 [[ 7.35988137e-01 6.76956575e-01 -7.15944015e-03 1.14794970e+02] [-6.76922207e-01 7.36022938e-01 6.82352346e-03 7.97967890e+01] [ 9.88874124e-03 -1.75648291e-04 9.99951090e-01 5.77096035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.82, Y:79.78, Z:5.77 [[ 7.35552903e-01 6.77418429e-01 -8.13626798e-03 1.14819193e+02] [-6.77374028e-01 7.35597875e-01 7.75842731e-03 7.97755640e+01] [ 1.12407231e-02 -1.95437116e-04 9.99936802e-01 5.76913799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.85, Y:79.76, Z:5.77 [[ 7.35217584e-01 6.77785967e-01 -7.82859393e-03 1.14845324e+02] [-6.77744836e-01 7.35259239e-01 7.46915006e-03 7.97555307e+01] [ 1.08185311e-02 -1.85661352e-04 9.99941461e-01 5.77012346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.87, Y:79.73, Z:5.77 [[ 7.34741232e-01 6.78309224e-01 -7.20551807e-03 1.14870755e+02] [-6.78274393e-01 7.34776544e-01 6.87585856e-03 7.97348668e+01] [ 9.95840395e-03 -1.64658391e-04 9.99950400e-01 5.77029976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.89, Y:79.71, Z:5.77 [[ 7.34419721e-01 6.78658293e-01 -7.11301786e-03 1.14894192e+02] [-6.78624334e-01 7.34454148e-01 6.79104129e-03 7.97130424e+01] [ 9.83298196e-03 -1.60407638e-04 9.99951642e-01 5.77067768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.92, Y:79.69, Z:5.77 [[ 7.33950963e-01 6.79165163e-01 -7.11787899e-03 1.14918512e+02] [-6.79131145e-01 7.33985461e-01 6.79934566e-03 7.96902321e+01] [ 9.84229840e-03 -1.56412988e-04 9.99951551e-01 5.77144251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.94, Y:79.67, Z:5.77 [[ 7.33793231e-01 6.79339336e-01 -6.74986446e-03 1.14943659e+02] [-6.79308718e-01 7.33824260e-01 6.45138820e-03 7.96685579e+01] [ 9.33589607e-03 -1.48743221e-04 9.99956409e-01 5.77320423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.97, Y:79.65, Z:5.77 [[ 7.33732102e-01 6.79408195e-01 -6.45815459e-03 1.14966555e+02] [-6.79380141e-01 7.33760509e-01 6.17577378e-03 7.96457436e+01] [ 8.93461011e-03 -1.43821503e-04 9.99960075e-01 5.77268840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.99, Y:79.63, Z:5.77 [[ 7.33431731e-01 6.79745717e-01 -4.86376975e-03 1.14991910e+02] [-6.79729798e-01 7.33447850e-01 4.65332490e-03 7.96261018e+01] [ 6.73039914e-03 -1.06846909e-04 9.99977345e-01 5.77410364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.02, Y:79.60, Z:5.77 [[ 7.33199325e-01 6.79998116e-01 -4.61647868e-03 1.15016340e+02] [-6.79983764e-01 7.33213852e-01 4.41913468e-03 7.96042085e+01] [ 6.38986937e-03 -1.00976016e-04 9.99979580e-01 5.77399931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.04, Y:79.58, Z:5.77 [[ 7.33065704e-01 6.80141653e-01 -4.69102450e-03 1.15038965e+02] [-6.80126822e-01 7.33080706e-01 4.49276620e-03 7.95818496e+01] [ 6.49461698e-03 -1.03001236e-04 9.99978905e-01 5.77324773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.06, Y:79.56, Z:5.77 [[ 7.33033657e-01 6.80178763e-01 -4.30209267e-03 1.15063926e+02] [-6.80166277e-01 7.33046275e-01 4.12247927e-03 7.95607717e+01] [ 5.95765586e-03 -9.57777015e-05 9.99982248e-01 5.77351837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.09, Y:79.54, Z:5.77 [[ 7.32822679e-01 6.80407344e-01 -4.09495259e-03 1.15088643e+02] [-6.80396022e-01 7.32834114e-01 3.92611913e-03 7.95383504e+01] [ 5.67228124e-03 -9.09596846e-05 9.99983908e-01 5.77334784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.11, Y:79.52, Z:5.77 [[ 7.32249550e-01 6.81027543e-01 -3.47593470e-03 1.15112418e+02] [-6.81019385e-01 7.32257796e-01 3.33420194e-03 7.95173986e+01] [ 4.81596364e-03 -7.42889570e-05 9.99988400e-01 5.77380365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.14, Y:79.50, Z:5.77 [[ 7.31776343e-01 6.81535070e-01 -3.65137280e-03 1.15135199e+02] [-6.81526065e-01 7.31785449e-01 3.50425395e-03 7.94957119e+01] [ 5.06029344e-03 -7.58244007e-05 9.99987194e-01 5.77350293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.16, Y:79.47, Z:5.77 [[ 7.31364155e-01 6.81977237e-01 -3.67717757e-03 1.15159862e+02] [-6.81968100e-01 7.31373395e-01 3.53093856e-03 7.94741281e+01] [ 5.09740956e-03 -7.46840922e-05 9.99987005e-01 5.77318480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.18, Y:79.45, Z:5.77 [[ 7.31233358e-01 6.82112534e-01 -4.50191883e-03 1.15183225e+02] [-6.82098833e-01 7.31247210e-01 4.32434237e-03 7.94525211e+01] [ 6.24170372e-03 -9.13498190e-05 9.99980516e-01 5.77209284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.21, Y:79.43, Z:5.77 [[ 7.30993310e-01 6.82370560e-01 -4.38181014e-03 1.15207505e+02] [-6.82357570e-01 7.31006437e-01 4.21126437e-03 7.94299787e+01] [ 6.07677425e-03 -8.84447612e-05 9.99981532e-01 5.77213424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.23, Y:79.41, Z:5.77 [[ 7.30637319e-01 6.82752059e-01 -4.32835724e-03 1.15232238e+02] [-6.82739379e-01 7.30650134e-01 4.16200202e-03 7.94092372e+01] [ 6.00413025e-03 -8.57740677e-05 9.99981971e-01 5.77120933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.26, Y:79.39, Z:5.77 [[ 7.30201424e-01 6.83215347e-01 -4.76142136e-03 1.15257095e+02] [-6.83199995e-01 7.30216942e-01 4.58091999e-03 7.93882523e+01] [ 6.60662538e-03 -9.19912457e-05 9.99978172e-01 5.77091061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.890385723 meters Centerline goodness [0,1] 0.999978098512889 Centerline is valid? [True, True] Translation: X:115.28, Y:79.37, Z:5.77 [[ 7.29900148e-01 6.83537417e-01 -4.73009695e-03 1.15281243e+02] [-6.83522257e-01 7.29915469e-01 4.55329148e-03 7.93661363e+01] [ 6.56491603e-03 -9.03215843e-05 9.99978447e-01 5.77034047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.920385723 meters Centerline goodness [0,1] 0.9999562401540346 Centerline is valid? [True, True] Translation: X:115.30, Y:79.34, Z:5.77 [[ 7.29658931e-01 6.83798642e-01 -4.15460274e-03 1.15304726e+02] [-6.83786939e-01 7.29670755e-01 4.00151556e-03 7.93427711e+01] [ 5.76772303e-03 -7.88784803e-05 9.99983363e-01 5.77138109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.33, Y:79.32, Z:5.77 [[ 7.29758276e-01 6.83696892e-01 -3.37910032e-03 1.15328117e+02] [-6.83689141e-01 7.29766096e-01 3.25626004e-03 7.93204633e+01] [ 4.69224772e-03 -6.60285197e-05 9.99988989e-01 5.77121712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.980385723 meters Centerline goodness [0,1] 0.9999781435097153 Centerline is valid? [True, True] Translation: X:115.35, Y:79.30, Z:5.77 [[ 7.29647113e-01 6.83817035e-01 -3.05832233e-03 1.15353258e+02] [-6.83810679e-01 7.29653520e-01 2.94877447e-03 7.92985593e+01] [ 4.24793787e-03 -6.02513034e-05 9.99990976e-01 5.77169027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.38, Y:79.28, Z:5.77 [[ 7.29577406e-01 6.83892325e-01 -2.84546997e-03 1.15377330e+02] [-6.83886819e-01 7.29582952e-01 2.74506562e-03 7.92758279e+01] [ 3.95333569e-03 -5.67584445e-05 9.99992184e-01 5.77163927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.40, Y:79.25, Z:5.77 [[ 7.29290722e-01 6.84198229e-01 -2.79733743e-03 1.15401540e+02] [-6.84192904e-01 7.29296085e-01 2.70012272e-03 7.92529917e+01] [ 3.88750642e-03 -5.52560345e-05 9.99992442e-01 5.77145486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.42, Y:79.23, Z:5.77 [[ 7.27505483e-01 6.86092143e-01 -3.65285038e-03 1.15424460e+02] [-6.86083078e-01 7.27514651e-01 3.52747863e-03 7.92322196e+01] [ 5.07767754e-03 -6.01012152e-05 9.99987107e-01 5.77037768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.100385723 meters Centerline goodness [0,1] 0.9999125090225071 Centerline is valid? [True, True] Translation: X:115.45, Y:79.21, Z:5.77 [[ 7.26309407e-01 6.87353846e-01 -4.39722101e-03 1.15447952e+02] [-6.87340720e-01 7.26322715e-01 4.24832582e-03 7.92109915e+01] [ 6.11390460e-03 -6.32099504e-05 9.99981308e-01 5.76860857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.47, Y:79.19, Z:5.77 [[ 7.23141369e-01 6.90684906e-01 -4.57394887e-03 1.15472125e+02] [-6.90670756e-01 7.23155834e-01 4.42116077e-03 7.91905250e+01] [ 6.36130682e-03 -3.80315261e-05 9.99979766e-01 5.76981967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.50, Y:79.17, Z:5.77 [[ 7.21540757e-01 6.92355400e-01 -4.78918254e-03 1.15497045e+02] [-6.92339908e-01 7.21556650e-01 4.63167035e-03 7.91683031e+01] [ 6.66242849e-03 -2.61967343e-05 9.99977805e-01 5.76996417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.190385723 meters Centerline goodness [0,1] 0.9999565632872904 Centerline is valid? [True, True] Translation: X:115.52, Y:79.15, Z:5.77 [[ 7.20276595e-01 6.93666866e-01 -5.28258238e-03 1.15521481e+02] [-6.93648033e-01 7.20295966e-01 5.11160177e-03 7.91465019e+01] [ 7.35077156e-03 -1.75142430e-05 9.99972983e-01 5.76888269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2203857229999 meters Centerline goodness [0,1] 0.9999564725341691 Centerline is valid? [True, True] Translation: X:115.55, Y:79.12, Z:5.77 [[ 7.18318679e-01 6.95697343e-01 -4.84587512e-03 1.15546688e+02] [-6.95681524e-01 7.18335024e-01 4.69157103e-03 7.91247763e+01] [ 6.74487532e-03 1.14268344e-06 9.99977253e-01 5.77006825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.250385723 meters Centerline goodness [0,1] 0.99997830002387 Centerline is valid? [True, True] Translation: X:115.57, Y:79.10, Z:5.77 [[ 7.17575285e-01 6.96466695e-01 -4.45573604e-03 1.15570293e+02] [-6.96453321e-01 7.17589118e-01 4.31618304e-03 7.91019971e+01] [ 6.20346543e-03 6.02589041e-06 9.99980758e-01 5.77039204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.59, Y:79.08, Z:5.77 [[ 7.17199840e-01 6.96855277e-01 -4.13670843e-03 1.15592521e+02] [-6.96843744e-01 7.17211770e-01 4.00916102e-03 7.90786923e+01] [ 5.76070099e-03 7.26975096e-06 9.99983407e-01 5.77093850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.310385723 meters Centerline goodness [0,1] 0.9999128862948363 Centerline is valid? [True, True] Translation: X:115.62, Y:79.05, Z:5.77 [[ 7.17412798e-01 6.96635055e-01 -4.29854034e-03 1.15615521e+02] [-6.96622584e-01 7.17425676e-01 4.16831591e-03 7.90549211e+01] [ 5.98767819e-03 4.05710118e-06 9.99982074e-01 5.77191118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.64, Y:79.03, Z:5.77 [[ 7.18684714e-01 6.95326481e-01 -3.65606848e-03 1.15637408e+02] [-6.95317433e-01 7.18694013e-01 3.54727042e-03 7.90306236e+01] [ 5.09410559e-03 -7.24087512e-06 9.99987025e-01 5.77319244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.370385723 meters Centerline goodness [0,1] 0.9999782011596983 Centerline is valid? [True, True] Translation: X:115.66, Y:79.01, Z:5.77 [[ 7.19245633e-01 6.94745427e-01 -3.80940107e-03 1.15660392e+02] [-6.94735585e-01 7.19255721e-01 3.69809636e-03 7.90068467e+01] [ 5.30916905e-03 -1.33131803e-05 9.99985906e-01 5.77320508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.400385723 meters Centerline goodness [0,1] 0.9998908249268527 Centerline is valid? [True, True] Translation: X:115.68, Y:78.98, Z:5.77 [[ 7.20305344e-01 6.93644296e-01 -4.21923584e-03 1.15681932e+02] [-6.93632191e-01 7.20317701e-01 4.09793923e-03 7.89839191e+01] [ 5.88170243e-03 -2.51697305e-05 9.99982702e-01 5.77194579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.430385723 meters Centerline goodness [0,1] 0.9999781897491821 Centerline is valid? [True, True] Translation: X:115.70, Y:78.96, Z:5.77 [[ 7.20492722e-01 6.93449543e-01 -4.23895959e-03 1.15704873e+02] [-6.93437308e-01 7.20505191e-01 4.11935782e-03 7.89608555e+01] [ 5.91075919e-03 -2.85146017e-05 9.99982531e-01 5.77164123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.73, Y:78.94, Z:5.77 [[ 7.20843681e-01 6.93085149e-01 -4.16701790e-03 1.15727193e+02] [-6.93073311e-01 7.20855725e-01 4.05082862e-03 7.89376110e+01] [ 5.81138786e-03 -3.19653162e-05 9.99983113e-01 5.77125719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.490385723 meters Centerline goodness [0,1] 0.9999561172546955 Centerline is valid? [True, True] Translation: X:115.75, Y:78.91, Z:5.77 [[ 7.22097725e-01 6.91780801e-01 -3.76828717e-03 1.15748385e+02] [-6.91771092e-01 7.22107556e-01 3.66518639e-03 7.89122729e+01] [ 5.25661421e-03 -3.98306243e-05 9.99986183e-01 5.77186518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.77, Y:78.89, Z:5.77 [[ 7.22767527e-01 6.91080372e-01 -3.87572529e-03 1.15768893e+02] [-6.91070087e-01 7.22777917e-01 3.77066032e-03 7.88889539e+01] [ 5.40711799e-03 -4.69130197e-05 9.99985380e-01 5.77233531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.79, Y:78.86, Z:5.77 [[ 7.23543887e-01 6.90263995e-01 -4.45651430e-03 1.15789818e+02] [-6.90250368e-01 7.23557609e-01 4.33772330e-03 7.88646930e+01] [ 6.21871904e-03 -6.24225459e-05 9.99980662e-01 5.77217387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.81, Y:78.84, Z:5.77 [[ 7.23525755e-01 6.90281509e-01 -4.68186179e-03 1.15812971e+02] [-6.90266454e-01 7.23540900e-01 4.55949599e-03 7.88418376e+01] [ 6.53485426e-03 -6.71806418e-05 9.99978645e-01 5.77179658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.83, Y:78.82, Z:5.77 [[ 7.22791594e-01 6.91051739e-01 -4.45048781e-03 1.15834860e+02] [-6.91038137e-01 7.22805293e-01 4.33617722e-03 7.88186243e+01] [ 6.21335895e-03 -5.86956405e-05 9.99980695e-01 5.77239814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.86, Y:78.80, Z:5.77 [[ 7.22417890e-01 6.91442275e-01 -4.46912044e-03 1.15857042e+02] [-6.91428553e-01 7.22431711e-01 4.35648045e-03 7.87951999e+01] [ 6.24088908e-03 -5.71219323e-05 9.99980524e-01 5.77203997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.88, Y:78.77, Z:5.77 [[ 7.22038975e-01 6.91836359e-01 -4.70864910e-03 1.15880057e+02] [-6.91821119e-01 7.22054326e-01 4.59233680e-03 7.87717837e+01] [ 6.57704602e-03 -5.83032639e-05 9.99978369e-01 5.77161649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.90, Y:78.75, Z:5.77 [[ 7.21566438e-01 6.92322092e-01 -5.65655808e-03 1.15903473e+02] [-6.92300090e-01 7.21588606e-01 5.51982882e-03 7.87487146e+01] [ 7.90320729e-03 -6.68875474e-05 9.99968767e-01 5.77060184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.93, Y:78.73, Z:5.77 [[ 7.21454471e-01 6.92436190e-01 -5.96403215e-03 1.15926058e+02] [-6.92411708e-01 7.21479118e-01 5.82306139e-03 7.87250738e+01] [ 8.33502310e-03 -7.15079781e-05 9.99965261e-01 5.77037340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.760385723 meters Centerline goodness [0,1] 0.9999559655650719 Centerline is valid? [True, True] Translation: X:115.95, Y:78.70, Z:5.77 [[ 7.21582972e-01 6.92299942e-01 -6.22945898e-03 1.15946610e+02] [-6.92273200e-01 7.21609856e-01 6.08532409e-03 7.87006998e+01] [ 8.70810852e-03 -7.85787369e-05 9.99962081e-01 5.77038066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.790385723 meters Centerline goodness [0,1] 0.9999559655650719 Centerline is valid? [True, True] Translation: X:115.97, Y:78.68, Z:5.77 [[ 7.21396313e-01 6.92494458e-01 -6.22781826e-03 1.15969748e+02] [-6.92467710e-01 7.21423190e-01 6.08700322e-03 7.86780003e+01] [ 8.70810852e-03 -7.85786323e-05 9.99962081e-01 5.77038090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.99, Y:78.65, Z:5.77 [[ 7.21422698e-01 6.92467318e-01 -6.18900001e-03 1.15993031e+02] [-6.92440873e-01 7.21449241e-01 6.05236770e-03 7.86543076e+01] [ 8.65611619e-03 -8.07988636e-05 9.99962532e-01 5.77059912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.02, Y:78.63, Z:5.77 [[ 7.21349898e-01 6.92542728e-01 -6.23658300e-03 1.16016338e+02] [-6.92515848e-01 7.21376853e-01 6.10223328e-03 7.86305162e+01] [ 8.72498390e-03 -8.29127961e-05 9.99961933e-01 5.77049925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.04, Y:78.61, Z:5.77 [[ 7.21195468e-01 6.92706967e-01 -5.84419480e-03 1.16039187e+02] [-6.92683343e-01 7.21219143e-01 5.72146563e-03 7.86069730e+01] [ 8.17824427e-03 -7.81186940e-05 9.99966555e-01 5.77124003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.06, Y:78.58, Z:5.77 [[ 7.20604984e-01 6.93320734e-01 -5.90054521e-03 1.16061284e+02] [-6.93296648e-01 7.20629138e-01 5.77961374e-03 7.85832983e+01] [ 8.25923085e-03 -7.39902522e-05 9.99965889e-01 5.77111829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.08, Y:78.56, Z:5.77 [[ 7.19446821e-01 6.94520706e-01 -6.10413645e-03 1.16084180e+02] [-6.94494947e-01 7.19472713e-01 5.98193460e-03 7.85603141e+01] [ 8.54633705e-03 -6.43919138e-05 9.99963477e-01 5.77141788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.11, Y:78.54, Z:5.77 [[ 7.18918752e-01 6.95065343e-01 -6.32430353e-03 1.16106524e+02] [-6.95037685e-01 7.18946566e-01 6.20089624e-03 7.85376713e+01] [ 8.85686438e-03 -6.23112963e-05 9.99960775e-01 5.76969533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.13, Y:78.51, Z:5.77 [[ 7.18433843e-01 6.95564757e-01 -6.51780426e-03 1.16130295e+02] [-6.95535370e-01 7.18463405e-01 6.39412333e-03 7.85148772e+01] [ 9.13033069e-03 -6.03912062e-05 9.99958316e-01 5.76943632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.030385723 meters Centerline goodness [0,1] 0.9999558216076517 Centerline is valid? [True, True] Translation: X:116.15, Y:78.49, Z:5.77 [[ 7.18476228e-01 6.95518963e-01 -6.72923146e-03 1.16151797e+02] [-6.95487604e-01 7.18507737e-01 6.60490975e-03 7.84911640e+01] [ 9.42884485e-03 -6.53735840e-05 9.99955545e-01 5.76811232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.17, Y:78.47, Z:5.77 [[ 7.18549485e-01 6.95440289e-01 -7.03157172e-03 1.16174092e+02] [-6.95406007e-01 7.18583885e-01 6.90546954e-03 7.84669540e+01] [ 9.85511585e-03 -7.21243721e-05 9.99951435e-01 5.76864452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0903857229999 meters Centerline goodness [0,1] 0.999977946365561 Centerline is valid? [True, True] Translation: X:116.19, Y:78.44, Z:5.77 [[ 7.18827992e-01 6.95148850e-01 -7.37521492e-03 1.16194368e+02] [-6.95111082e-01 7.18865821e-01 7.24666717e-03 7.84422209e+01] [ 1.03393023e-02 -8.25135821e-05 9.99946545e-01 5.76826615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.22, Y:78.42, Z:5.77 [[ 7.18777115e-01 6.95198838e-01 -7.61812928e-03 1.16216904e+02] [-6.95158499e-01 7.18817479e-01 7.48950389e-03 7.84186258e+01] [ 1.06827389e-02 -8.74766824e-05 9.99942934e-01 5.76931765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.24, Y:78.39, Z:5.77 [[ 7.18615860e-01 6.95364371e-01 -7.72246679e-03 1.16239334e+02] [-6.95322884e-01 7.18657348e-01 7.59626771e-03 7.83944545e+01] [ 1.08319814e-02 -8.91905730e-05 9.99941328e-01 5.76956024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.26, Y:78.37, Z:5.77 [[ 7.17907866e-01 6.96084211e-01 -8.66413019e-03 1.16261150e+02] [-6.96031985e-01 7.17960140e-01 8.52720502e-03 7.83696813e+01] [ 1.21561529e-02 -9.12358276e-05 9.99926107e-01 5.76876665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.28, Y:78.35, Z:5.77 [[ 7.17276251e-01 6.96731215e-01 -8.96628430e-03 1.16284179e+02] [-6.96675271e-01 7.17332285e-01 8.82947750e-03 7.83461987e+01] [ 1.25835778e-02 -8.65859765e-05 9.99920820e-01 5.76837944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.31, Y:78.32, Z:5.77 [[ 7.16111486e-01 6.97918699e-01 -9.68654391e-03 1.16305954e+02] [-6.97853470e-01 7.16176992e-01 9.54202799e-03 7.83222912e+01] [ 1.35968396e-02 -7.33675616e-05 9.99907556e-01 5.76715796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.33, Y:78.30, Z:5.77 [[ 7.15600909e-01 6.98445121e-01 -9.47376153e-03 1.16328230e+02] [-6.98382704e-01 7.15663614e-01 9.33758718e-03 7.82986953e+01] [ 1.33018186e-02 -6.56746781e-05 9.99911525e-01 5.76806009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.35, Y:78.28, Z:5.77 [[ 7.15059547e-01 6.99006873e-01 -8.90145190e-03 1.16349508e+02] [-6.98951764e-01 7.15114948e-01 8.77741665e-03 7.82754572e+01] [ 1.25010359e-02 -5.46900703e-05 9.99921858e-01 5.76827041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.37, Y:78.25, Z:5.77 [[ 7.14619514e-01 6.99465931e-01 -8.14622551e-03 1.16370483e+02] [-6.99419763e-01 7.14665942e-01 8.03657422e-03 7.82515902e+01] [ 1.14431398e-02 -4.54616486e-05 9.99934524e-01 5.76994007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.39, Y:78.23, Z:5.77 [[ 7.14359405e-01 6.99737152e-01 -7.65238640e-03 1.16391671e+02] [-6.99696391e-01 7.14400390e-01 7.55272266e-03 7.82285639e+01] [ 1.07517885e-02 -4.10113212e-05 9.99942197e-01 5.77044474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.41, Y:78.20, Z:5.77 [[ 7.13935917e-01 7.00174992e-01 -7.10549268e-03 1.16413273e+02] [-7.00139837e-01 7.13971274e-01 7.01627900e-03 7.82043412e+01] [ 9.98574075e-03 -3.43350912e-05 9.99950141e-01 5.77208122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.44, Y:78.18, Z:5.77 [[ 7.13440665e-01 7.00681095e-01 -6.95844519e-03 1.16435803e+02] [-7.00647371e-01 7.13474598e-01 6.87454599e-03 7.81810945e+01] [ 9.78153830e-03 -2.91643394e-05 9.99952159e-01 5.77208738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.46, Y:78.16, Z:5.77 [[ 7.12972996e-01 7.01153222e-01 -7.32576016e-03 1.16458967e+02] [-7.01115828e-01 7.13010630e-01 7.24132079e-03 7.81579146e+01] [ 1.03006203e-02 -2.66597750e-05 9.99946947e-01 5.77203868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.48, Y:78.14, Z:5.77 [[ 7.12177012e-01 7.01951235e-01 -8.26845290e-03 1.16481561e+02] [-7.01903608e-01 7.12225009e-01 8.17697215e-03 7.81354311e+01] [ 1.16288346e-02 -1.97946741e-05 9.99932383e-01 5.77092205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.510385723 meters Centerline goodness [0,1] 0.9999547634126481 Centerline is valid? [True, True] Translation: X:116.50, Y:78.11, Z:5.77 [[ 7.11379968e-01 7.02751139e-01 -8.90935985e-03 1.16503980e+02] [-7.02695876e-01 7.11435757e-01 8.81306200e-03 7.81139590e+01] [ 1.25318265e-02 -8.86534435e-06 9.99921474e-01 5.77012476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.53, Y:78.09, Z:5.77 [[ 7.09742219e-01 7.04393160e-01 -9.81115620e-03 1.16527566e+02] [-7.04326235e-01 7.09810028e-01 9.70970929e-03 7.80922583e+01] [ 1.38035099e-02 1.88640907e-05 9.99904727e-01 5.76993385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.55, Y:78.07, Z:5.77 [[ 7.08843046e-01 7.05293395e-01 -1.01372289e-02 1.16551400e+02] [-7.05221961e-01 7.08915528e-01 1.00379232e-02 7.80692628e+01] [ 1.42661199e-02 3.36843997e-05 9.99898233e-01 5.76997793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.600385723 meters Centerline goodness [0,1] 0.999954953940404 Centerline is valid? [True, True] Translation: X:116.58, Y:78.05, Z:5.77 [[ 7.08230202e-01 7.05911903e-01 -9.91798565e-03 1.16575463e+02] [-7.05843511e-01 7.08299643e-01 9.82620323e-03 7.80472668e+01] [ 1.39613395e-02 4.13319090e-05 9.99902535e-01 5.77050989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.60, Y:78.02, Z:5.77 [[ 7.08242216e-01 7.05908439e-01 -9.28656395e-03 1.16598730e+02] [-7.05848421e-01 7.08303095e-01 9.20500478e-03 7.80246189e+01] [ 1.30755925e-02 3.55335137e-05 9.99914510e-01 5.77094010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.660385723 meters Centerline goodness [0,1] 0.99993247197587 Centerline is valid? [True, True] Translation: X:116.62, Y:78.00, Z:5.77 [[ 7.08208839e-01 7.05946441e-01 -8.93663595e-03 1.16622273e+02] [-7.05890803e-01 7.08265220e-01 8.86297697e-03 7.80016758e+01] [ 1.25862955e-02 3.14505005e-05 9.99920789e-01 5.77114015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.65, Y:77.98, Z:5.77 [[ 7.08828155e-01 7.05320304e-01 -9.26902644e-03 1.16645477e+02] [-7.05260332e-01 7.08888756e-01 9.19758308e-03 7.79786333e+01] [ 1.30579507e-02 1.75708130e-05 9.99914741e-01 5.77129098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7203857229999 meters Centerline goodness [0,1] 0.9999775210178483 Centerline is valid? [True, True] Translation: X:116.67, Y:77.95, Z:5.77 [[ 7.09279688e-01 7.04867620e-01 -9.16312150e-03 1.16667754e+02] [-7.04808910e-01 7.09338874e-01 9.09735185e-03 7.79548064e+01] [ 1.29121870e-02 5.68280331e-06 9.99916634e-01 5.77183874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.69, Y:77.93, Z:5.77 [[ 7.10556735e-01 7.03583236e-01 -8.93067258e-03 1.16689897e+02] [-7.03527305e-01 7.10612855e-01 8.87140945e-03 7.79308631e+01] [ 1.25880257e-02 -2.06677249e-05 9.99920768e-01 5.77397213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.71, Y:77.91, Z:5.77 [[ 7.11259920e-01 7.02876505e-01 -8.59915298e-03 1.16712352e+02] [-7.02824545e-01 7.11311899e-01 8.54641630e-03 7.79084226e+01] [ 1.21237551e-02 -3.50275936e-05 9.99926504e-01 5.77367857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.74, Y:77.89, Z:5.77 [[ 7.12154174e-01 7.01971703e-01 -8.49469536e-03 1.16736084e+02] [-7.01920878e-01 7.12204834e-01 8.44728521e-03 7.78854237e+01] [ 1.19797183e-02 -5.31654077e-05 9.99928239e-01 5.77476027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.76, Y:77.86, Z:5.77 [[ 7.14197657e-01 6.99897996e-01 -8.03129483e-03 1.16757283e+02] [-6.99852386e-01 7.14242808e-01 7.99059295e-03 7.78613772e+01] [ 1.13288946e-02 -8.61419147e-05 9.99935822e-01 5.77413457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.78, Y:77.84, Z:5.78 [[ 7.16109002e-01 6.97943629e-01 -7.91131485e-03 1.16778955e+02] [-6.97899214e-01 7.16152691e-01 7.87466417e-03 7.78383274e+01] [ 1.11617811e-02 -1.17817488e-04 9.99937698e-01 5.77567546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.80, Y:77.82, Z:5.78 [[ 7.16916814e-01 6.97110417e-01 -8.20660435e-03 1.16799756e+02] [-6.97062547e-01 7.16963771e-01 8.17048898e-03 7.78158125e+01] [ 1.15795710e-02 -1.37044400e-04 9.99932945e-01 5.77540593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.82, Y:77.79, Z:5.78 [[ 7.17484061e-01 6.96524782e-01 -8.35764927e-03 1.16822036e+02] [-6.96475050e-01 7.17532720e-01 8.32469630e-03 7.77925759e+01] [ 1.17952441e-02 -1.51942716e-04 9.99930422e-01 5.77577558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.85, Y:77.77, Z:5.78 [[ 7.17978872e-01 6.96018394e-01 -8.04575712e-03 1.16845131e+02] [-6.95972224e-01 7.18023935e-01 8.01831707e-03 7.77694358e+01] [ 1.13579424e-02 -1.57358772e-04 9.99935484e-01 5.77670182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.87, Y:77.75, Z:5.78 [[ 7.18609023e-01 6.95366397e-01 -8.16372746e-03 1.16867639e+02] [-6.95318780e-01 7.18655372e-01 8.13938944e-03 7.77481172e+01] [ 1.15267645e-02 -1.72645671e-04 9.99933550e-01 5.77681516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.89, Y:77.73, Z:5.78 [[ 7.18393284e-01 6.95593524e-01 -7.79347598e-03 1.16891342e+02] [-6.95550100e-01 7.18435538e-01 7.77407383e-03 7.77269125e+01] [ 1.10067055e-02 -1.64089426e-04 9.99939411e-01 5.77670251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.91, Y:77.70, Z:5.78 [[ 7.17633907e-01 6.96380937e-01 -7.42741334e-03 1.16914809e+02] [-6.96341503e-01 7.17672327e-01 7.41229388e-03 7.77049701e+01] [ 1.04922292e-02 -1.47297250e-04 9.99944944e-01 5.77634776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.94, Y:77.68, Z:5.78 [[ 7.16809505e-01 6.97226688e-01 -7.68629010e-03 1.16938323e+02] [-6.97184468e-01 7.16850700e-01 7.67412910e-03 7.76834113e+01] [ 1.08605300e-02 -1.42126609e-04 9.99941013e-01 5.77613108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.110385723 meters Centerline goodness [0,1] 0.9999552071668533 Centerline is valid? [True, True] Translation: X:116.96, Y:77.66, Z:5.78 [[ 7.15368060e-01 6.98707421e-01 -7.51524751e-03 1.16963134e+02] [-6.98667104e-01 7.15407525e-01 7.50676148e-03 7.76628093e+01] [ 1.06214946e-02 -1.19441187e-04 9.99943583e-01 5.77555157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.99, Y:77.64, Z:5.78 [[ 7.13874936e-01 7.00236370e-01 -7.18341116e-03 1.16987958e+02] [-7.00199578e-01 7.13911071e-01 7.17875853e-03 7.76420711e+01] [ 1.01551446e-02 -9.49143277e-05 9.99948431e-01 5.77813309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.170385723 meters Centerline goodness [0,1] 0.9999331744369946 Centerline is valid? [True, True] Translation: X:117.01, Y:77.62, Z:5.78 [[ 7.12219244e-01 7.01923574e-01 -6.85890800e-03 1.17012048e+02] [-7.01890079e-01 7.12252267e-01 6.85751337e-03 7.76227650e+01] [ 9.69872306e-03 -6.98535179e-05 9.99952964e-01 5.77769005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.200385723 meters Centerline goodness [0,1] 0.9999330894816665 Centerline is valid? [True, True] Translation: X:117.04, Y:77.60, Z:5.78 [[ 7.11598100e-01 7.02551873e-01 -7.00071448e-03 1.17036436e+02] [-7.02516971e-01 7.11632533e-01 7.00309087e-03 7.76005395e+01] [ 9.90197079e-03 -6.52654235e-05 9.99950972e-01 5.77643334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.68, Y:78.09, Z:6.70 [[ 7.55742806e-01 -6.54836143e-01 -6.51440403e-03 1.17677782e+02] [-6.54812289e-01 -7.55770881e-01 5.58946288e-03 7.80853758e+01] [-8.58357919e-03 4.15154503e-05 -9.99963160e-01 6.70258964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.67, Y:78.08, Z:6.70 [[ 8.05536768e-01 -5.92511836e-01 -6.34344037e-03 1.17671576e+02] [-5.92493717e-01 -8.05561744e-01 4.63376780e-03 7.80780272e+01] [-7.85559516e-03 2.57782208e-05 -9.99969144e-01 6.70183792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.67, Y:78.07, Z:6.70 [[ 8.49609279e-01 -5.27372456e-01 -6.50896344e-03 1.17667210e+02] [-5.27357179e-01 -8.49634211e-01 4.01412563e-03 7.80715094e+01] [-7.64717731e-03 2.21102154e-05 -9.99970760e-01 6.70178894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.66, Y:78.06, Z:6.70 [[ 8.88125438e-01 -4.59551861e-01 -6.73002004e-03 1.17663739e+02] [-4.59538869e-01 -8.88150937e-01 3.45567944e-03 7.80648659e+01] [-7.56533752e-03 2.36289769e-05 -9.99971382e-01 6.70234747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.66, Y:78.06, Z:6.70 [[ 9.21111122e-01 -3.89245643e-01 -6.49081370e-03 1.17660755e+02] [-3.89236177e-01 -9.21133991e-01 2.71467593e-03 7.80586036e+01] [-7.03558490e-03 2.59413210e-05 -9.99975250e-01 6.70257587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.380385723 meters Centerline goodness [0,1] 0.9998445066417877 Centerline is valid? [True, True] Translation: X:117.66, Y:78.05, Z:6.70 [[ 9.48439714e-01 -3.16877818e-01 -7.11037243e-03 1.17656269e+02] [-3.16869184e-01 -9.48466366e-01 2.33939115e-03 7.80465600e+01] [-7.48525026e-03 3.42864365e-05 -9.99971985e-01 6.70373999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.65, Y:78.04, Z:6.70 [[ 9.70318460e-01 -2.41775028e-01 -5.18867755e-03 1.17652254e+02] [-2.41771707e-01 -9.70332332e-01 1.26751945e-03 7.80368605e+01] [-5.34119614e-03 2.45779050e-05 -9.99985735e-01 6.70118592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.65, Y:78.03, Z:6.70 [[ 9.86165903e-01 -1.65685395e-01 -5.01619017e-03 1.17646161e+02] [-1.65683388e-01 -9.86178660e-01 8.15792580e-04 7.80301059e+01] [-5.08202462e-03 2.65925577e-05 -9.99987086e-01 6.70230081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.64, Y:78.02, Z:6.70 [[ 9.96052510e-01 -8.86649133e-02 -4.23451594e-03 1.17640428e+02] [-8.86642199e-02 -9.96061510e-01 3.51572394e-04 7.80206772e+01] [-4.24901048e-03 2.52654864e-05 -9.99990973e-01 6.70149165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.64, Y:78.01, Z:6.70 [[ 9.99937309e-01 -1.04741874e-02 -3.95860309e-03 1.17636225e+02] [-1.04741994e-02 -9.99945144e-01 1.76906405e-05 7.80064652e+01] [-3.95857123e-03 2.37736666e-05 -9.99992165e-01 6.70185966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.530385723 meters Centerline goodness [0,1] 0.9999555861517622 Centerline is valid? [True, True] Translation: X:117.63, Y:77.99, Z:6.70 [[ 9.97677436e-01 6.79830319e-02 -4.24744959e-03 1.17631894e+02] [ 6.79823090e-02 -9.97686477e-01 -3.14513775e-04 7.79933509e+01] [-4.25900462e-03 2.50318661e-05 -9.99990930e-01 6.70309438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.560385723 meters Centerline goodness [0,1] 0.9999556816167346 Centerline is valid? [True, True] Translation: X:117.63, Y:77.98, Z:6.70 [[ 9.89174869e-01 1.46654602e-01 -5.05029197e-03 1.17628135e+02] [ 1.46652558e-01 -9.89187761e-01 -7.74863956e-04 7.79825111e+01] [-5.10932437e-03 2.58377190e-05 -9.99986947e-01 6.70487195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5903857229999 meters Centerline goodness [0,1] 0.9999778236089859 Centerline is valid? [True, True] Translation: X:117.63, Y:77.97, Z:6.71 [[ 9.74593695e-01 2.23924783e-01 -4.98213732e-03 1.17626851e+02] [ 2.23921729e-01 -9.74606429e-01 -1.16971121e-03 7.79708698e+01] [-5.11755039e-03 2.43843665e-05 -9.99986905e-01 6.70503871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.620385723 meters Centerline goodness [0,1] 0.999933180390672 Centerline is valid? [True, True] Translation: X:117.63, Y:77.96, Z:6.70 [[ 9.54006832e-01 2.99750727e-01 -4.52401622e-03 1.17626405e+02] [ 2.99747249e-01 -9.54017558e-01 -1.44403653e-03 7.79588829e+01] [-4.74884191e-03 2.15593000e-05 -9.99988724e-01 6.70497622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.62, Y:77.95, Z:6.71 [[ 9.27797997e-01 3.73060567e-01 -4.08528950e-03 1.17624928e+02] [ 3.73056846e-01 -9.27806991e-01 -1.66651573e-03 7.79472259e+01] [-4.41207147e-03 2.21447441e-05 -9.99990267e-01 6.70559226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.63, Y:77.94, Z:6.71 [[ 8.95735979e-01 4.44568909e-01 -3.94226472e-03 1.17625148e+02] [ 4.44564494e-01 -8.95744654e-01 -1.98131414e-03 7.79362773e+01] [-4.41209321e-03 2.21434459e-05 -9.99990266e-01 6.70559245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.63, Y:77.92, Z:6.71 [[ 8.58232544e-01 5.13246545e-01 -3.85802741e-03 1.17627262e+02] [ 5.13241238e-01 -8.58241215e-01 -2.33409818e-03 7.79243586e+01] [-4.50908596e-03 2.31002538e-05 -9.99989834e-01 6.70642807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.740385723 meters Centerline goodness [0,1] 0.9999778672922846 Centerline is valid? [True, True] Translation: X:117.63, Y:77.91, Z:6.71 [[ 8.15699815e-01 5.78465348e-01 -3.41368000e-03 1.17629365e+02] [ 5.78460161e-01 -8.15706958e-01 -2.44969302e-03 7.79135633e+01] [-4.20162505e-03 2.35362598e-05 -9.99991173e-01 6.70722311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.770385723 meters Centerline goodness [0,1] 0.9999777446420226 Centerline is valid? [True, True] Translation: X:117.63, Y:77.90, Z:6.71 [[ 7.68150143e-01 6.40261751e-01 -3.20124471e-03 1.17630286e+02] [ 6.40256055e-01 -7.68156814e-01 -2.70080050e-03 7.79037304e+01] [-4.18827719e-03 2.50039823e-05 -9.99991229e-01 6.70704422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.63, Y:77.89, Z:6.71 [[ 7.16564053e-01 6.97515231e-01 -2.90885841e-03 1.17632910e+02] [ 6.97509315e-01 -7.16569956e-01 -2.87280838e-03 7.78942142e+01] [-4.08822814e-03 2.95953755e-05 -9.99991643e-01 6.70660505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.64, Y:77.88, Z:6.71 [[ 6.60458707e-01 7.50857884e-01 -2.59511180e-03 1.17637914e+02] [ 7.50851893e-01 -6.60463805e-01 -2.99954127e-03 7.78834024e+01] [-3.96620662e-03 3.25285400e-05 -9.99992134e-01 6.70729412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.860385723 meters Centerline goodness [0,1] 0.9999776616181923 Centerline is valid? [True, True] Translation: X:117.64, Y:77.87, Z:6.71 [[ 6.00764199e-01 7.99422549e-01 -2.44250425e-03 1.17641990e+02] [ 7.99415671e-01 -6.00769163e-01 -3.31620860e-03 7.78728889e+01] [-4.11843316e-03 3.96832256e-05 -9.99991518e-01 6.70815872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.65, Y:77.86, Z:6.71 [[ 5.36619628e-01 8.43822018e-01 -1.94331213e-03 1.17649472e+02] [ 8.43816234e-01 -5.36623146e-01 -3.12445787e-03 7.78617149e+01] [-3.67931262e-03 3.68470950e-05 -9.99993231e-01 6.70749684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.66, Y:77.85, Z:6.71 [[ 4.69083274e-01 8.83152009e-01 -1.84696809e-03 1.17655571e+02] [ 8.83144816e-01 -4.69086908e-01 -3.56453052e-03 7.78515555e+01] [-4.01441084e-03 4.09213518e-05 -9.99991941e-01 6.70742301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.66, Y:77.84, Z:6.71 [[ 3.98267859e-01 9.17267965e-01 -1.48068520e-03 1.17660545e+02] [ 9.17261268e-01 -3.98270609e-01 -3.50540740e-03 7.78419918e+01] [-3.80511131e-03 3.79159130e-05 -9.99992760e-01 6.70707369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.67, Y:77.83, Z:6.71 [[ 3.25171646e-01 9.45653941e-01 -1.42282070e-03 1.17669400e+02] [ 9.45644279e-01 -3.25174755e-01 -4.27499260e-03 7.78330123e+01] [-4.50532897e-03 4.46241193e-05 -9.99989850e-01 6.70696783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.68, Y:77.83, Z:6.71 [[ 2.50122711e-01 9.68213310e-01 -1.27106051e-03 1.17678137e+02] [ 9.68199725e-01 -2.50125935e-01 -5.12921036e-03 7.78250966e+01] [-5.28409494e-03 5.22915653e-05 -9.99986038e-01 6.70745362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.69, Y:77.82, Z:6.71 [[ 1.73292656e-01 9.84869993e-01 -8.67155591e-04 1.17687928e+02] [ 9.84856143e-01 -1.73294818e-01 -5.22333878e-03 7.78167945e+01] [-5.29458320e-03 5.11427408e-05 -9.99985982e-01 6.70758179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.070385723 meters Centerline goodness [0,1] 0.9999776969913241 Centerline is valid? [True, True] Translation: X:117.70, Y:77.81, Z:6.71 [[ 9.55401010e-02 9.95425486e-01 -4.38050067e-04 1.17698527e+02] [ 9.95412541e-01 -9.55410926e-02 -5.07664929e-03 7.78094220e+01] [-5.09527787e-03 4.89830562e-05 -9.99987018e-01 6.70715308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.71, Y:77.80, Z:6.71 [[ 1.62849443e-02 9.99867391e-01 -3.81764816e-05 1.17709774e+02] [ 9.99854829e-01 -1.62849311e-02 -5.01217092e-03 7.78025491e+01] [-5.01212796e-03 4.34519846e-05 -9.99987438e-01 6.70700920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.72, Y:77.80, Z:6.71 [[-6.24216739e-02 9.98049800e-01 3.61508923e-04 1.17720989e+02] [ 9.98036776e-01 6.24227062e-02 -5.09896598e-03 7.77957459e+01] [-5.11158834e-03 4.25132087e-05 -9.99986935e-01 6.70778751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.73, Y:77.79, Z:6.71 [[-1.40958912e-01 9.90015108e-01 8.18853860e-04 1.17733151e+02] [ 9.90000119e-01 1.40961284e-01 -5.44806472e-03 7.77914840e+01] [-5.50909308e-03 4.27121442e-05 -9.99984824e-01 6.70841959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.74, Y:77.79, Z:6.71 [[-2.18168103e-01 9.75910358e-01 1.28562607e-03 1.17744671e+02] [ 9.75894576e-01 2.18171887e-01 -5.55018900e-03 7.77876050e+01] [-5.69697439e-03 4.37613087e-05 -9.99983771e-01 6.70827923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.76, Y:77.78, Z:6.71 [[-2.94123797e-01 9.55766183e-01 1.48182270e-03 1.17755716e+02] [ 9.55754679e-01 2.94127527e-01 -4.68950738e-03 7.77831185e+01] [-4.91791742e-03 3.69632635e-05 -9.99987906e-01 6.70806677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.77, Y:77.78, Z:6.71 [[-3.67595233e-01 9.29985026e-01 1.26347755e-03 1.17765681e+02] [ 9.29979786e-01 3.67597403e-01 -3.12195255e-03 7.77799567e+01] [-3.36782019e-03 2.73937062e-05 -9.99994329e-01 6.70655963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.78, Y:77.78, Z:6.71 [[-4.38842620e-01 8.98563242e-01 1.11993860e-03 1.17777258e+02] [ 8.98560442e-01 4.38844049e-01 -2.24335752e-03 7.77779457e+01] [-2.50727699e-03 2.18516320e-05 -9.99996857e-01 6.70631324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.79, Y:77.78, Z:6.71 [[-5.06656929e-01 8.62146784e-01 1.29560951e-03 1.17789255e+02] [ 8.62144093e-01 5.06658585e-01 -2.15425157e-03 7.77763367e+01] [-2.51371274e-03 2.55356069e-05 -9.99996840e-01 6.70775036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.80, Y:77.78, Z:6.71 [[-5.72084073e-01 8.20193464e-01 1.57975076e-03 1.17804314e+02] [ 8.20190477e-01 5.72086254e-01 -2.21353715e-03 7.77787312e+01] [-2.71928239e-03 2.93671786e-05 -9.99996302e-01 6.70860538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.82, Y:77.78, Z:6.71 [[-6.34186513e-01 7.73178173e-01 1.72623289e-03 1.17818069e+02] [ 7.73175438e-01 6.34188861e-01 -2.05675903e-03 7.77815755e+01] [-2.68499886e-03 3.03120358e-05 -9.99996395e-01 6.70868885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.83, Y:77.78, Z:6.71 [[-6.91945835e-01 7.21947169e-01 1.80191669e-03 1.17829526e+02] [ 7.21944841e-01 6.91948181e-01 -1.83362186e-03 7.77831771e+01] [-2.57061108e-03 3.21174445e-05 -9.99996696e-01 6.70838463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.84, Y:77.79, Z:6.71 [[-7.45803020e-01 6.66164148e-01 1.78400052e-03 1.17839835e+02] [ 6.66162343e-01 7.45805153e-01 -1.55109444e-03 7.77855738e+01] [-2.36380029e-03 3.16230517e-05 -9.99997206e-01 6.70862258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.90, Y:77.77, Z:6.71 [[-7.90026241e-01 6.13067673e-01 2.56274532e-03 1.17902562e+02] [ 6.13064644e-01 7.90030396e-01 -1.92780988e-03 7.77746258e+01] [-3.20652462e-03 4.81081519e-05 -9.99994858e-01 6.71098869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.93, Y:77.79, Z:6.71 [[-8.30934023e-01 5.56362874e-01 3.00038528e-03 1.17929131e+02] [ 5.56359486e-01 8.30939438e-01 -1.94236016e-03 7.77931904e+01] [-3.57379554e-03 5.53196738e-05 -9.99993612e-01 6.71239441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.95, Y:77.82, Z:6.71 [[-8.68017609e-01 4.96523390e-01 3.15491616e-03 1.17947649e+02] [ 4.96520349e-01 8.68023341e-01 -1.73866739e-03 7.78165948e+01] [-3.60182989e-03 5.72861632e-05 -9.99993512e-01 6.71309577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.96, Y:77.84, Z:6.71 [[-9.00562562e-01 4.34716031e-01 3.00745892e-03 1.17957556e+02] [ 4.34713814e-01 9.00567582e-01 -1.38951403e-03 7.78407954e+01] [-3.31246403e-03 5.60396197e-05 -9.99994512e-01 6.71172028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.31, Y:78.57, Z:5.77 [[-8.85670764e-01 -4.64305265e-01 2.81396149e-03 1.18308782e+02] [ 4.64302703e-01 -8.85675233e-01 -1.54357137e-03 7.85738885e+01] [ 3.20894430e-03 -6.05661086e-05 9.99994850e-01 5.76879944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.92, Y:77.86, Z:6.71 [[-9.01638706e-01 4.32472754e-01 3.86794104e-03 1.17916634e+02] [ 4.32469141e-01 9.01646999e-01 -1.76961957e-03 7.78595201e+01] [-4.25282968e-03 7.72076408e-05 -9.99990954e-01 6.71342048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.93, Y:77.89, Z:6.71 [[-9.30112713e-01 3.67241576e-01 4.89554969e-03 1.17934372e+02] [ 3.67237015e-01 9.30125592e-01 -1.83268532e-03 7.78857474e+01] [-5.22651430e-03 9.32231389e-05 -9.99986337e-01 6.71499904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.94, Y:77.91, Z:6.72 [[-9.53815743e-01 3.00345076e-01 5.32569328e-03 1.17944610e+02] [ 3.00340970e-01 9.53830606e-01 -1.57350598e-03 7.79141261e+01] [-5.55240402e-03 9.86891086e-05 -9.99984580e-01 6.71618773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.96, Y:77.94, Z:6.72 [[-9.72881993e-01 2.31242127e-01 5.26365174e-03 1.17958171e+02] [ 2.31239252e-01 9.72896228e-01 -1.15677243e-03 7.79405040e+01] [-5.38848144e-03 9.17598186e-05 -9.99985478e-01 6.71525393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.95, Y:77.97, Z:6.71 [[-9.86192400e-01 1.65544224e-01 4.43408140e-03 1.17950844e+02] [ 1.65543158e-01 9.86202359e-01 -6.08936948e-04 7.79729288e+01] [-4.47370753e-03 1.33502847e-04 -9.99989984e-01 6.71423484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.97, Y:78.00, Z:6.71 [[-9.95337961e-01 9.64109129e-02 2.69813793e-03 1.17966343e+02] [ 9.64106964e-02 9.95341616e-01 -2.10509983e-04 7.80035445e+01] [-2.70586443e-03 5.06007800e-05 -9.99996338e-01 6.71278137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.790385723 meters Centerline goodness [0,1] 0.9999333259251028 Centerline is valid? [True, True] Translation: X:118.05, Y:78.80, Z:5.77 [[-9.92051037e-01 -1.25810217e-01 2.55520053e-03 1.18046560e+02] [ 1.25809654e-01 -9.92054326e-01 -3.80787925e-04 7.88009609e+01] [ 2.58280475e-03 -5.62921619e-05 9.99996663e-01 5.76649999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.90, Y:78.01, Z:6.71 [[-9.95703065e-01 9.25699577e-02 2.49203986e-03 1.17902900e+02] [ 9.25697901e-02 9.95706182e-01 -1.82752567e-04 7.80081093e+01] [-2.49825690e-03 4.87203160e-05 -9.99996878e-01 6.71431621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.90, Y:78.04, Z:6.72 [[-9.99765403e-01 2.15233401e-02 2.42599910e-03 1.17903337e+02] [ 2.15233914e-02 9.99768345e-01 -4.93862588e-06 7.80404254e+01] [-2.42554340e-03 4.72782609e-05 -9.99997057e-01 6.71508176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.89, Y:78.07, Z:6.71 [[-9.98763892e-01 -4.96454399e-02 2.45320567e-03 1.17891153e+02] [-4.96451721e-02 9.98766904e-01 1.69987446e-04 7.80691757e+01] [-2.45861973e-03 4.79875055e-05 -9.99996976e-01 6.71481059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.89, Y:78.10, Z:6.71 [[-9.92602603e-01 -1.21386202e-01 2.33700771e-03 1.17889182e+02] [-1.21385759e-01 9.92605354e-01 3.31041341e-04 7.80985547e+01] [-2.35991021e-03 4.49130423e-05 -9.99997214e-01 6.71408854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.77, Y:78.88, Z:5.77 [[-9.95805966e-01 9.14556679e-02 2.51759970e-03 1.17766887e+02] [-9.14554694e-02 -9.95809148e-01 1.94082614e-04 7.88798337e+01] [ 2.52479877e-03 -3.69796366e-05 9.99996812e-01 5.76577986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.75, Y:78.09, Z:6.72 [[-9.91675342e-01 -1.28729675e-01 2.94723326e-03 1.17753291e+02] [-1.28728943e-01 9.91679720e-01 4.37377061e-04 7.80856504e+01] [-2.97901486e-03 5.43418241e-05 -9.99995561e-01 6.71523283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.72, Y:78.11, Z:6.72 [[-9.79631540e-01 -2.00766898e-01 3.83385908e-03 1.17723101e+02] [-2.00765095e-01 9.79639040e-01 8.53388899e-04 7.81126958e+01] [-3.92713027e-03 6.63015970e-05 -9.99992287e-01 6.71690610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.68, Y:78.13, Z:6.72 [[-9.62299077e-01 -2.71961488e-01 4.17558795e-03 1.17680407e+02] [-2.71958604e-01 9.62308134e-01 1.25435459e-03 7.81329647e+01] [-4.35933839e-03 7.14771901e-05 -9.99990496e-01 6.71713846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.62, Y:78.14, Z:6.72 [[-9.39757133e-01 -3.41818790e-01 4.05541719e-03 1.17619322e+02] [-3.41815275e-01 9.39765880e-01 1.55169067e-03 7.81435416e+01] [-4.34153974e-03 7.20088342e-05 -9.99990573e-01 6.71735250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.55, Y:78.15, Z:6.72 [[-9.12082648e-01 -4.09994623e-01 3.10688022e-03 1.17552316e+02] [-4.09992022e-01 9.12087938e-01 1.46142464e-03 7.81490422e+01] [-3.43292422e-03 5.91439508e-05 -9.99994106e-01 6.71669099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.47, Y:78.14, Z:6.72 [[-8.79372469e-01 -4.76126188e-01 2.81322241e-03 1.17469130e+02] [-4.76123539e-01 8.79376967e-01 1.58921388e-03 7.81403440e+01] [-3.23054933e-03 5.80695247e-05 -9.99994780e-01 6.71578299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.38, Y:78.12, Z:6.72 [[-8.42010098e-01 -5.39452299e-01 3.19553826e-03 1.17380190e+02] [-5.39448076e-01 8.42016159e-01 2.13592855e-03 7.81211720e+01] [-3.84292642e-03 7.46464389e-05 -9.99992613e-01 6.71635261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.29, Y:78.09, Z:6.72 [[-7.99380479e-01 -6.00815761e-01 3.35739618e-03 1.17290251e+02] [-6.00810007e-01 7.99387525e-01 2.63079826e-03 7.80934028e+01] [-4.26448568e-03 8.58515500e-05 -9.99990903e-01 6.71678931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.20, Y:78.06, Z:6.72 [[-7.52075929e-01 -6.59072167e-01 2.38229083e-03 1.17197884e+02] [-6.59068575e-01 7.52079699e-01 2.17704660e-03 7.80560977e+01] [-3.22650339e-03 6.72113232e-05 -9.99994793e-01 6.71677739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.10, Y:78.01, Z:6.72 [[-6.99942963e-01 -7.14196952e-01 1.60041205e-03 1.17101987e+02] [-7.14194925e-01 6.99944791e-01 1.70261520e-03 7.80076893e+01] [-2.33620267e-03 4.87273685e-05 -9.99997270e-01 6.71580985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.01, Y:77.95, Z:6.72 [[-6.43399193e-01 -7.65529588e-01 1.38855385e-03 1.17007879e+02] [-7.65527651e-01 6.43400689e-01 1.72298440e-03 7.79479796e+01] [-2.21239204e-03 4.55904083e-05 -9.99997552e-01 6.71618014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.92, Y:77.88, Z:6.72 [[-5.82778650e-01 -8.12629122e-01 1.71912366e-03 1.16916735e+02] [-8.12625273e-01 5.82781182e-01 2.50196086e-03 7.78790011e+01] [-3.03503918e-03 6.10860354e-05 -9.99995392e-01 6.71672247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.83, Y:77.80, Z:6.72 [[-5.18864354e-01 -8.54853933e-01 2.12966465e-03 1.16827074e+02] [-8.54846051e-01 5.18868718e-01 3.67187268e-03 7.78006884e+01] [-4.24393117e-03 8.46684345e-05 -9.99990991e-01 6.71703605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.74, Y:77.71, Z:6.72 [[-4.51976239e-01 -8.92028248e-01 1.75629241e-03 1.16743533e+02] [-8.92020802e-01 4.51979644e-01 3.64562812e-03 7.77139868e+01] [-4.04581168e-03 8.10879202e-05 -9.99991812e-01 6.71824474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.67, Y:77.62, Z:6.72 [[-3.82553893e-01 -9.23931757e-01 1.62082709e-03 1.16670689e+02] [-9.23922433e-01 3.82557316e-01 4.15173032e-03 7.76191507e+01] [-4.45597475e-03 9.07420870e-05 -9.99990068e-01 6.71882277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.60, Y:77.52, Z:6.72 [[-3.10904807e-01 -9.50440140e-01 1.31970825e-03 1.16598526e+02] [-9.50430255e-01 3.10907594e-01 4.33571155e-03 7.75175031e+01] [-4.53114161e-03 9.37029176e-05 -9.99989730e-01 6.71794809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.54, Y:77.41, Z:6.72 [[-2.36809105e-01 -9.71555718e-01 9.67024185e-04 1.16537267e+02] [-9.71545972e-01 2.36811062e-01 4.35261912e-03 7.74093452e+01] [-4.45781401e-03 9.12313876e-05 -9.99990060e-01 6.71788799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.48, Y:77.29, Z:6.72 [[-1.61494546e-01 -9.86873439e-01 5.72746362e-04 1.16484606e+02] [-9.86865281e-01 1.61495540e-01 4.01345279e-03 7.72912159e+01] [-4.05326594e-03 8.29272365e-05 -9.99991782e-01 6.71797494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.44, Y:77.18, Z:6.72 [[-8.48058497e-02 -9.96397461e-01 2.58676760e-04 1.16440038e+02] [-9.96389489e-01 8.48062062e-02 3.98659099e-03 7.71758335e+01] [-3.99416654e-03 8.03434315e-05 -9.99992020e-01 6.71755704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.41, Y:77.05, Z:6.72 [[-7.64854432e-03 -9.99970748e-01 -4.95570119e-05 1.16406470e+02] [-9.99962444e-01 7.64827880e-03 4.07610264e-03 7.70516542e+01] [-4.07560438e-03 8.07314024e-05 -9.99991691e-01 6.71802821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.38, Y:76.93, Z:6.72 [[ 7.01170744e-02 -9.97538696e-01 -3.81804650e-04 1.16378624e+02] [-9.97529538e-01 -7.01180670e-02 4.27530472e-03 7.69319104e+01] [-4.29155330e-03 8.10895575e-05 -9.99990788e-01 6.71849633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.36, Y:76.80, Z:6.72 [[ 1.47137192e-01 -9.89115788e-01 -7.77910048e-04 1.16364288e+02] [-9.89104882e-01 -1.47139224e-01 4.64553677e-03 7.68032080e+01] [-4.70943484e-03 8.59033892e-05 -9.99988907e-01 6.71846711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.36, Y:76.68, Z:6.72 [[ 2.22660156e-01 -9.74895468e-01 -1.13236417e-03 1.16360265e+02] [-9.74884750e-01 -2.22663018e-01 4.57208682e-03 7.66782350e+01] [-4.70944234e-03 8.59030000e-05 -9.99988907e-01 6.71846749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.36, Y:76.56, Z:6.72 [[ 2.97235226e-01 -9.54803087e-01 -1.51208294e-03 1.16363424e+02] [-9.54792159e-01 -2.97239059e-01 4.56885514e-03 7.65567138e+01] [-4.81180710e-03 8.57002515e-05 -9.99988420e-01 6.71834979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.38, Y:76.43, Z:6.72 [[ 3.69819161e-01 -9.29102044e-01 -1.78303537e-03 1.16376311e+02] [-9.29092281e-01 -3.69823451e-01 4.26021641e-03 7.64328727e+01] [-4.61758407e-03 8.10947385e-05 -9.99989336e-01 6.71802405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.40, Y:76.31, Z:6.72 [[ 4.41444554e-01 -8.97286237e-01 -2.02837580e-03 1.16396754e+02] [-8.97277485e-01 -4.41449209e-01 3.96364206e-03 7.63105535e+01] [-4.45194636e-03 7.02877375e-05 -9.99990088e-01 6.71794674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.43, Y:76.19, Z:6.72 [[ 5.10154162e-01 -8.60079864e-01 -2.31491246e-03 1.16426940e+02] [-8.60071557e-01 -5.10159410e-01 3.78053218e-03 7.61943322e+01] [-4.43253398e-03 6.23361327e-05 -9.99990174e-01 6.71747236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.780385723 meters Centerline goodness [0,1] 0.9999784338674546 Centerline is valid? [True, True] Translation: X:116.46, Y:76.08, Z:6.72 [[ 5.75224263e-01 -8.17991531e-01 -2.62719795e-03 1.16464106e+02] [-8.17983457e-01 -5.75230260e-01 3.63481139e-03 7.60846674e+01] [-4.48448869e-03 5.81727596e-05 -9.99989943e-01 6.71735818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.810385723 meters Centerline goodness [0,1] 0.9999784895351589 Centerline is valid? [True, True] Translation: X:116.51, Y:75.98, Z:6.72 [[ 6.36826927e-01 -7.71001224e-01 -2.92880785e-03 1.16510770e+02] [-7.70993451e-01 -6.36833660e-01 3.46236150e-03 7.59761132e+01] [-4.53464838e-03 5.31666350e-05 -9.99989717e-01 6.71767130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8403857229999 meters Centerline goodness [0,1] 0.9999355351655672 Centerline is valid? [True, True] Translation: X:116.56, Y:75.87, Z:6.72 [[ 6.95007440e-01 -7.18998307e-01 -2.46839091e-03 1.16559773e+02] [-7.18993947e-01 -6.95011822e-01 2.50428812e-03 7.58745313e+01] [-3.51613979e-03 3.42592509e-05 -9.99993818e-01 6.71802684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.870385723 meters Centerline goodness [0,1] 0.9998708260672996 Centerline is valid? [True, True] Translation: X:116.61, Y:75.78, Z:6.72 [[ 7.48232421e-01 -6.63432033e-01 -2.48656830e-03 1.16613235e+02] [-6.63428496e-01 -7.48236552e-01 2.16647916e-03 7.57830608e+01] [-3.29785296e-03 2.86303160e-05 -9.99994562e-01 6.71817417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.61, Y:75.77, Z:6.72 [[ 7.99131103e-01 -6.01151767e-01 -2.45635825e-03 1.16609581e+02] [-6.01149003e-01 -7.99134878e-01 1.82292859e-03 7.57724136e+01] [-3.05881829e-03 1.98783780e-05 -9.99995322e-01 6.71842190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.61, Y:75.76, Z:6.72 [[ 8.44018768e-01 -5.36305934e-01 -2.87480804e-03 1.16607417e+02] [-5.36302903e-01 -8.44023664e-01 1.80324422e-03 7.57602092e+01] [-3.39349659e-03 1.97959317e-05 -9.99994242e-01 6.71834287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.61, Y:75.75, Z:6.72 [[ 8.83681612e-01 -4.68078705e-01 -3.02234942e-03 1.16605524e+02] [-4.68076035e-01 -8.83686780e-01 1.58099703e-03 7.57494979e+01] [-3.41084127e-03 1.75913322e-05 -9.99994183e-01 6.71817425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.60, Y:75.74, Z:6.72 [[ 9.17791599e-01 -3.97049418e-01 -3.21555507e-03 1.16604743e+02] [-3.97047042e-01 -9.17797232e-01 1.37368426e-03 7.57395704e+01] [-3.49664808e-03 1.59707562e-05 -9.99993887e-01 6.71864591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.020385723 meters Centerline goodness [0,1] 0.9999785020208101 Centerline is valid? [True, True] Translation: X:116.60, Y:75.73, Z:6.72 [[ 9.46063559e-01 -3.23967739e-01 -2.94056014e-03 1.16604689e+02] [-3.23966219e-01 -9.46068129e-01 9.92472660e-04 7.57279776e+01] [-3.10349935e-03 1.36999343e-05 -9.99995184e-01 6.71893825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.61, Y:75.72, Z:6.72 [[ 9.68588791e-01 -2.48641998e-01 -3.59329814e-03 1.16605318e+02] [-2.48640344e-01 -9.68595456e-01 9.07021776e-04 7.57162766e+01] [-3.70597596e-03 1.49077597e-05 -9.99993133e-01 6.71881301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.61, Y:75.71, Z:6.72 [[ 9.85062951e-01 -1.72156805e-01 -3.60799839e-03 1.16605626e+02] [-1.72155705e-01 -9.85069558e-01 6.15627687e-04 7.57054306e+01] [-3.66011388e-03 1.47054795e-05 -9.99993302e-01 6.71865849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.60, Y:75.70, Z:6.72 [[ 9.95512341e-01 -9.45754603e-02 -3.26518798e-03 1.16604086e+02] [-9.45749960e-02 -9.95517696e-01 2.96644295e-04 7.56964001e+01] [-3.27860769e-03 1.34920842e-05 -9.99994625e-01 6.71832329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.140385723 meters Centerline goodness [0,1] 0.999978369024443 Centerline is valid? [True, True] Translation: X:116.60, Y:75.69, Z:6.72 [[ 9.99854874e-01 -1.65514119e-02 -4.03515281e-03 1.16604046e+02] [-1.65513473e-02 -9.99863016e-01 4.93981765e-05 7.56860183e+01] [-4.03541766e-03 1.73962080e-05 -9.99991858e-01 6.71940450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.170385723 meters Centerline goodness [0,1] 0.9999783545098379 Centerline is valid? [True, True] Translation: X:116.60, Y:75.68, Z:6.72 [[ 9.98127829e-01 6.10123748e-02 -4.28093810e-03 1.16603184e+02] [ 6.10117200e-02 -9.98137010e-01 -2.83514302e-04 7.56777257e+01] [-4.29026063e-03 2.17961178e-05 -9.99990797e-01 6.72095725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.60, Y:75.67, Z:6.72 [[ 9.90420444e-01 1.38025090e-01 -4.05205519e-03 1.16603757e+02] [ 1.38023832e-01 -9.90428732e-01 -5.89663870e-04 7.56698112e+01] [-4.09466029e-03 2.47349659e-05 -9.99991617e-01 6.72044446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.60, Y:75.66, Z:6.72 [[ 9.76798464e-01 2.14129279e-01 -3.66228258e-03 1.16604915e+02] [ 2.14127672e-01 -9.76805329e-01 -8.30051429e-04 7.56619994e+01] [-3.75507545e-03 2.65969199e-05 -9.99992949e-01 6.71918747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.60, Y:75.66, Z:6.72 [[ 9.57531393e-01 2.88312961e-01 -3.04427777e-03 1.16604862e+02] [ 2.88311411e-01 -9.57536232e-01 -9.45864917e-04 7.56551982e+01] [-3.18771138e-03 2.79953331e-05 -9.99994919e-01 6.71864177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.61, Y:75.65, Z:6.72 [[ 9.33109019e-01 3.59585760e-01 -2.37507444e-03 1.16606379e+02] [ 3.59584513e-01 -9.33112041e-01 -9.47483711e-04 7.56468461e+01] [-2.55691221e-03 3.00656101e-05 -9.99996731e-01 6.71931263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.320385723 meters Centerline goodness [0,1] 0.9999562296194165 Centerline is valid? [True, True] Translation: X:116.61, Y:75.64, Z:6.72 [[ 9.03073233e-01 4.29472994e-01 -3.41810325e-03 1.16610452e+02] [ 4.29469694e-01 -9.03079700e-01 -1.68456023e-03 7.56350907e+01] [-3.81029278e-03 5.33094921e-05 -9.99992739e-01 6.72238334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.61, Y:75.63, Z:6.72 [[ 8.67079482e-01 4.98158902e-01 -3.29859146e-03 1.16613234e+02] [ 4.98155048e-01 -8.67085754e-01 -1.96040179e-03 7.56252181e+01] [-3.83675327e-03 5.66141811e-05 -9.99992638e-01 6.72173631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.62, Y:75.62, Z:6.72 [[ 8.25801577e-01 5.63949659e-01 -3.54097469e-03 1.16616542e+02] [ 5.63944126e-01 -8.25809166e-01 -2.49901407e-03 7.56179063e+01] [-4.33348749e-03 6.67778871e-05 -9.99990608e-01 6.72110199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.62, Y:75.61, Z:6.72 [[ 7.79634047e-01 6.26225741e-01 -3.47473218e-03 1.16620292e+02] [ 6.26219099e-01 -7.79641787e-01 -2.88513613e-03 7.56096357e+01] [-4.51579292e-03 7.34067006e-05 -9.99989801e-01 6.71997971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.62, Y:75.60, Z:6.72 [[ 7.30005214e-01 6.83435695e-01 -2.83533289e-03 1.16624882e+02] [ 6.83430139e-01 -7.30010716e-01 -2.75670332e-03 7.56007033e+01] [-3.95385284e-03 7.46558443e-05 -9.99992181e-01 6.71990444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.63, Y:75.59, Z:6.72 [[ 6.75092173e-01 7.37728689e-01 -2.63434153e-03 1.16631960e+02] [ 7.37722605e-01 -6.75097308e-01 -2.99717311e-03 7.55900778e+01] [-3.98953747e-03 7.99548095e-05 -9.99992039e-01 6.72082792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.64, Y:75.58, Z:6.72 [[ 6.16246849e-01 7.87545970e-01 -3.34169012e-03 1.16637084e+02] [ 7.87533330e-01 -6.16255897e-01 -4.46350349e-03 7.55810650e+01] [-5.57455043e-03 1.18927604e-04 -9.99984455e-01 6.72283000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.64, Y:75.57, Z:6.72 [[ 5.52864722e-01 8.33264825e-01 -3.21415395e-03 1.16641479e+02] [ 8.33249362e-01 -5.52874050e-01 -5.07804071e-03 7.55729325e+01] [-6.00837502e-03 1.29277841e-04 -9.99981941e-01 6.72296211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.65, Y:75.57, Z:6.72 [[ 4.85703732e-01 8.74119134e-01 -2.76107884e-03 1.16647431e+02] [ 8.74103509e-01 -4.85711564e-01 -5.22801004e-03 7.55654152e+01] [-5.91099153e-03 1.25795280e-04 -9.99982522e-01 6.72246174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.65, Y:75.56, Z:6.72 [[ 4.15308759e-01 9.09677473e-01 -2.35150305e-03 1.16651973e+02] [ 9.09661171e-01 -4.15315397e-01 -5.44742397e-03 7.55578301e+01] [-5.93201430e-03 1.23291870e-04 -9.99982398e-01 6.72157171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.66, Y:75.55, Z:6.72 [[ 3.42204247e-01 9.39623747e-01 -1.86213030e-03 1.16660020e+02] [ 9.39607935e-01 -3.42209294e-01 -5.45237254e-03 7.55497207e+01] [-5.76041701e-03 1.16152638e-04 -9.99983402e-01 6.72187534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.67, Y:75.54, Z:6.72 [[ 2.67039997e-01 9.63684184e-01 -1.55967414e-03 1.16667865e+02] [ 9.63664947e-01 -2.67044524e-01 -6.09035286e-03 7.55426594e+01] [-6.28567917e-03 1.23364513e-04 -9.99980237e-01 6.72376349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.67, Y:75.54, Z:6.72 [[ 1.90606425e-01 9.81665869e-01 -1.14558328e-03 1.16673419e+02] [ 9.81643809e-01 -1.90609823e-01 -6.58241870e-03 7.55358978e+01] [-6.68009520e-03 1.30096561e-04 -9.99977680e-01 6.72390259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.68, Y:75.53, Z:6.72 [[ 1.13411713e-01 9.93547875e-01 -6.35786455e-04 1.16678162e+02] [ 9.93524947e-01 -1.13413416e-01 -6.75102076e-03 7.55298192e+01] [-6.77956904e-03 1.33975124e-04 -9.99977010e-01 6.72347687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.68, Y:75.52, Z:6.72 [[ 3.63164038e-02 9.99340338e-01 -8.47696855e-05 1.16680035e+02] [ 9.99325288e-01 -3.63163222e-02 -5.48568384e-03 7.55233680e+01] [-5.48514366e-03 1.14507819e-04 -9.99984950e-01 6.72189611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.69, Y:75.52, Z:6.72 [[-4.15843359e-02 9.99134955e-01 2.90835833e-04 1.16685123e+02] [ 9.99124312e-01 4.15852356e-02 -4.61276569e-03 7.55168625e+01] [-4.62086992e-03 9.87623534e-05 -9.99989319e-01 6.72123036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.69, Y:75.51, Z:6.72 [[-1.19754127e-01 9.92803429e-01 5.48873861e-04 1.16693590e+02] [ 9.92795944e-01 1.19755356e-01 -3.85598632e-03 7.55114750e+01] [-3.89396703e-03 8.31494659e-05 -9.99992415e-01 6.72159872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.70, Y:75.51, Z:6.72 [[-1.97498332e-01 9.80302813e-01 8.95977209e-04 1.16700774e+02] [ 9.80294612e-01 1.97500346e-01 -4.01081135e-03 7.55057740e+01] [-4.10876546e-03 8.61930774e-05 -9.99991555e-01 6.72170875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.71, Y:75.50, Z:6.72 [[-2.74702634e-01 9.61528578e-01 1.12091565e-03 1.16705174e+02] [ 9.61521665e-01 2.74704910e-01 -3.64689315e-03 7.54998019e+01] [-3.81451301e-03 7.59735281e-05 -9.99992722e-01 6.72131558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.71, Y:75.49, Z:6.72 [[-3.49621027e-01 9.36889997e-01 1.50719525e-03 1.16709292e+02] [ 9.36882248e-01 3.49624267e-01 -3.81133762e-03 7.54938955e+01] [-4.09775612e-03 7.95406964e-05 -9.99991601e-01 6.72079134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.71, Y:75.49, Z:6.72 [[-4.22088266e-01 9.06552426e-01 2.04835450e-03 1.16713260e+02] [ 9.06542760e-01 4.22093227e-01 -4.18709991e-03 7.54889379e+01] [-4.66042214e-03 8.95952033e-05 -9.99989136e-01 6.72067299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.950385723 meters Centerline goodness [0,1] 0.9999777183600713 Centerline is valid? [True, True] Translation: X:116.73, Y:75.49, Z:6.72 [[-4.91801350e-01 8.70701968e-01 3.08466561e-03 1.16729994e+02] [ 8.70686303e-01 4.91811009e-01 -5.22424183e-03 7.54921551e+01] [-6.06583015e-03 1.16486916e-04 -9.99981596e-01 6.72109503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.74, Y:75.49, Z:6.72 [[-5.58686542e-01 8.29370429e-01 3.74697388e-03 1.16744080e+02] [ 8.29353242e-01 5.58699093e-01 -5.34071104e-03 7.54946668e+01] [-6.52285871e-03 1.23781552e-04 -9.99978718e-01 6.72133432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.76, Y:75.50, Z:6.72 [[-6.22479376e-01 7.82620495e-01 4.95850448e-03 1.16757504e+02] [ 7.82597465e-01 6.22499109e-01 -6.00558084e-03 7.54969240e+01] [-7.78675527e-03 1.42162820e-04 -9.99969673e-01 6.72242173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.77, Y:75.50, Z:6.72 [[-6.82300107e-01 7.31049877e-01 5.71322914e-03 1.16769797e+02] [ 7.31026011e-01 6.82324011e-01 -5.90888691e-03 7.55009409e+01] [-8.21796447e-03 1.44884937e-04 -9.99966222e-01 6.72249057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.78, Y:75.50, Z:6.72 [[-7.37823663e-01 6.74962158e-01 6.50598909e-03 1.16780946e+02] [ 6.74937675e-01 7.37852332e-01 -5.75069053e-03 7.55041749e+01] [-8.68195771e-03 1.48141603e-04 -9.99962300e-01 6.72285510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.80, Y:75.53, Z:6.72 [[-7.84273464e-01 6.20373665e-01 7.18674489e-03 1.16797505e+02] [ 6.20349323e-01 7.84306378e-01 -5.49761927e-03 7.55262658e+01] [-9.04718807e-03 1.46655413e-04 -9.99959063e-01 6.72245539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.82, Y:75.54, Z:6.72 [[-8.26344525e-01 5.63114951e-01 7.50189648e-03 1.16820155e+02] [ 5.63093313e-01 8.26378564e-01 -4.93858620e-03 7.55449439e+01] [-8.98039817e-03 1.43294075e-04 -9.99959665e-01 6.72275538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.84, Y:75.57, Z:6.72 [[-8.64281857e-01 5.02953566e-01 7.38805107e-03 1.16838756e+02] [ 5.02936495e-01 8.64313423e-01 -4.14596982e-03 7.55670506e+01] [-8.47082201e-03 1.32434015e-04 -9.99964113e-01 6.72314029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.86, Y:75.59, Z:6.72 [[-8.97861455e-01 4.40216502e-01 7.36472443e-03 1.16857994e+02] [ 4.40202830e-01 8.97891651e-01 -3.47173281e-03 7.55895680e+01] [-8.14103864e-03 1.24837462e-04 -9.99966853e-01 6.72310780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.19, Y:76.31, Z:5.76 [[-8.80998930e-01 -4.73061295e-01 7.34147362e-03 1.17192771e+02] [ 4.73043796e-01 -8.81029510e-01 -4.07053896e-03 7.63147313e+01] [ 8.39366934e-03 -1.13301919e-04 9.99964766e-01 5.75812902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.81, Y:75.61, Z:6.72 [[-8.99646087e-01 4.36551821e-01 7.70882691e-03 1.16813510e+02] [ 4.36537000e-01 8.99679105e-01 -3.59946713e-03 7.56070073e+01] [-8.50682442e-03 1.26941656e-04 -9.99963808e-01 6.72170763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.83, Y:75.63, Z:6.72 [[-9.28520023e-01 3.71195101e-01 8.04761546e-03 1.16827583e+02] [ 3.71182309e-01 9.28554889e-01 -3.08404606e-03 7.56318244e+01] [-8.61743546e-03 1.23533970e-04 -9.99962862e-01 6.72165403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.82, Y:75.66, Z:6.72 [[-9.52495243e-01 3.04447364e-01 8.03827423e-03 1.16823074e+02] [ 3.04437583e-01 9.52529154e-01 -2.44329517e-03 7.56643187e+01] [-8.40054532e-03 1.19925750e-04 -9.99964708e-01 6.72172670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.85, Y:75.69, Z:6.72 [[-9.71747804e-01 2.35865224e-01 8.59073611e-03 1.16849157e+02] [ 2.35857127e-01 9.71785769e-01 -1.95824452e-03 7.56870230e+01] [-8.81023688e-03 1.23266523e-04 -9.99961182e-01 6.72196090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.03, Y:76.47, Z:5.76 [[-9.61719973e-01 -2.73887548e-01 8.96126634e-03 1.17033860e+02] [ 2.73874719e-01 -9.61761718e-01 -2.65269051e-03 7.64686332e+01] [ 9.34514180e-03 -9.68811460e-05 9.99956329e-01 5.75797665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.79, Y:75.70, Z:6.72 [[-9.72680137e-01 2.31954492e-01 9.51130580e-03 1.16794681e+02] [ 2.31944764e-01 9.72726629e-01 -2.12863958e-03 7.56985328e+01] [-9.74564795e-03 1.35612146e-04 -9.99952501e-01 6.72264243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.98, Y:76.48, Z:5.76 [[-9.62889680e-01 -2.69737627e-01 9.22373960e-03 1.16980895e+02] [ 2.69723838e-01 -9.62933846e-01 -2.73107315e-03 7.64813062e+01] [ 9.61852424e-03 -1.41859704e-04 9.99953731e-01 5.75767912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.74, Y:75.71, Z:6.72 [[-9.73426403e-01 2.28832510e-01 8.75907946e-03 1.16740569e+02] [ 2.28824464e-01 9.73465801e-01 -1.92346000e-03 7.57081324e+01] [-8.96681448e-03 1.31944917e-04 -9.99959789e-01 6.72236381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.75, Y:75.74, Z:6.72 [[-9.87211130e-01 1.59171123e-01 8.87349552e-03 1.16747434e+02] [ 1.59165894e-01 9.87251000e-01 -1.29699966e-03 7.57363974e+01] [-8.96681222e-03 1.31945346e-04 -9.99959789e-01 6.72236378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.76, Y:75.76, Z:6.72 [[-9.96009715e-01 8.88317057e-02 8.57767344e-03 1.16758477e+02] [ 8.88295178e-02 9.96046641e-01 -6.36467072e-04 7.57635394e+01] [-8.60030127e-03 1.28023208e-04 -9.99963009e-01 6.72209557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.82, Y:76.57, Z:5.76 [[-9.91996027e-01 -1.26006708e-01 8.13582658e-03 1.16822536e+02] [ 1.26001254e-01 -9.92029379e-01 -1.18162355e-03 7.65704899e+01] [ 8.21987148e-03 -1.47041515e-04 9.99966206e-01 5.75887231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.580385723 meters Centerline goodness [0,1] 0.9999327625621947 Centerline is valid? [True, True] Translation: X:116.68, Y:75.77, Z:6.72 [[-9.96417655e-01 8.41859636e-02 8.03621241e-03 1.16676941e+02] [ 8.41842034e-02 9.96450053e-01 -5.57650116e-04 7.57695655e+01] [-8.05463060e-03 1.20869719e-04 -9.99967554e-01 6.72128826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.68, Y:75.80, Z:6.72 [[-9.99893222e-01 1.28715897e-02 6.91864657e-03 1.16680456e+02] [ 1.28719853e-02 9.99917153e-01 1.26569397e-05 7.57992384e+01] [-6.91791046e-03 1.01712305e-04 -9.99976066e-01 6.72118583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.69, Y:76.61, Z:5.76 [[-9.98679373e-01 -5.10146523e-02 6.08394022e-03 1.16691641e+02] [ 5.10128265e-02 -9.98697895e-01 -4.55017567e-04 7.66066295e+01] [ 6.09923085e-03 -1.44057672e-04 9.99981389e-01 5.75964974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.59, Y:75.80, Z:6.72 [[-9.99967658e-01 6.79630672e-03 4.30046813e-03 1.16588365e+02] [ 6.79651542e-03 9.99976903e-01 3.39187429e-05 7.58004507e+01] [-4.30013828e-03 6.31458438e-05 -9.99990752e-01 6.71949120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.700385723 meters Centerline goodness [0,1] 0.9999777203457803 Centerline is valid? [True, True] Translation: X:116.58, Y:75.83, Z:6.72 [[-9.97908406e-01 -6.45386357e-02 3.68474144e-03 1.16583807e+02] [-6.45379966e-02 9.97915208e-01 2.92213574e-04 7.58299201e+01] [-3.69591858e-03 5.37965519e-05 -9.99993169e-01 6.71962527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.57, Y:75.86, Z:6.72 [[-9.90687377e-01 -1.36112606e-01 3.44666738e-03 1.16574298e+02] [-1.36111610e-01 9.90693371e-01 5.22951133e-04 7.58600420e+01] [-3.48577077e-03 4.89496396e-05 -9.99993924e-01 6.71986339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.44, Y:76.65, Z:5.76 [[-9.95489334e-01 9.48133100e-02 3.37969628e-03 1.16442070e+02] [-9.48129482e-02 -9.95495070e-01 2.67457437e-04 7.66500296e+01] [ 3.38982951e-03 -5.41879429e-05 9.99994253e-01 5.76061945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.44, Y:75.84, Z:6.72 [[-9.89323232e-01 -1.45714662e-01 2.60370440e-03 1.16437299e+02] [-1.45714079e-01 9.89326658e-01 4.13219262e-04 7.58429741e+01] [-2.63612627e-03 2.94110279e-05 -9.99996525e-01 6.71877408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.41, Y:75.87, Z:6.72 [[-9.75699167e-01 -2.19100855e-01 2.43952649e-03 1.16410298e+02] [-2.19100115e-01 9.75702216e-01 5.69671175e-04 7.58716706e+01] [-2.50506685e-03 2.13271549e-05 -9.99996862e-01 6.71913736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.36, Y:75.89, Z:6.72 [[-9.56868469e-01 -2.90512090e-01 2.33648298e-03 1.16364664e+02] [-2.90511178e-01 9.56871321e-01 7.28111062e-04 7.58924559e+01] [-2.44723862e-03 1.79320937e-05 -9.99997005e-01 6.72060972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.29, Y:75.90, Z:6.72 [[-9.32783129e-01 -3.60430156e-01 2.39536250e-03 1.16291851e+02] [-3.60428923e-01 9.32786204e-01 9.42905200e-04 7.58998047e+01] [-2.57421256e-03 1.61681359e-05 -9.99996687e-01 6.72180952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.23, Y:75.91, Z:6.72 [[-9.02393770e-01 -4.30901364e-01 3.08197461e-03 1.16234092e+02] [-4.30898798e-01 9.02399033e-01 1.48699827e-03 7.59073065e+01] [-3.42192049e-03 1.38388186e-05 -9.99994145e-01 6.72177746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.15, Y:75.90, Z:6.72 [[-8.67405959e-01 -4.97592098e-01 3.00114139e-03 1.16154592e+02] [-4.97589074e-01 8.67411150e-01 1.73493489e-03 7.58989999e+01] [-3.46651340e-03 1.15577010e-05 -9.99993992e-01 6.72180844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9703857229999 meters Centerline goodness [0,1] 0.9999778417903833 Centerline is valid? [True, True] Translation: X:116.06, Y:75.88, Z:6.72 [[-8.27204501e-01 -5.61895540e-01 2.47283750e-03 1.16059233e+02] [-5.61893004e-01 8.27208198e-01 1.68823602e-03 7.58754092e+01] [-2.99416374e-03 7.04633805e-06 -9.99995518e-01 6.72214413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.98, Y:75.85, Z:6.72 [[-7.82342467e-01 -6.22845700e-01 1.87030059e-03 1.15976743e+02] [-6.22843904e-01 7.82344703e-01 1.49577089e-03 7.58507819e+01] [-2.39485423e-03 5.29977029e-06 -9.99997132e-01 6.72192378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.89, Y:75.81, Z:6.72 [[-7.32908509e-01 -6.80325208e-01 1.65177535e-03 1.15887738e+02] [-6.80323466e-01 7.32910370e-01 1.53987614e-03 7.58122019e+01] [-2.25821984e-03 4.84679623e-06 -9.99997450e-01 6.72159524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.80, Y:75.76, Z:6.72 [[-6.79653671e-01 -7.33532381e-01 1.06469624e-03 1.15795401e+02] [-7.33531470e-01 6.79654505e-01 1.15581451e-03 7.57601861e+01] [-1.57145296e-03 4.56537249e-06 -9.99998765e-01 6.72167394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.70, Y:75.70, Z:6.72 [[-6.22234050e-01 -7.82831004e-01 6.37866280e-04 1.15704060e+02] [-7.82830586e-01 6.22234377e-01 8.08390947e-04 7.56985601e+01] [-1.02973582e-03 3.66713936e-06 -9.99999470e-01 6.72182996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.62, Y:75.63, Z:6.72 [[-5.62043337e-01 -8.27107782e-01 6.39601665e-05 1.15617425e+02] [-8.27107776e-01 5.62043341e-01 9.58247858e-05 7.56277913e+01] [-1.15205812e-04 9.55731315e-07 -9.99999993e-01 6.72218537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.53, Y:75.55, Z:6.72 [[-4.98080261e-01 -8.67130892e-01 2.64703668e-04 1.15534948e+02] [-8.67130765e-01 4.98080332e-01 4.68258619e-04 7.55472429e+01] [-5.37885205e-04 3.69768129e-06 -9.99999855e-01 6.72274793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.46, Y:75.45, Z:6.72 [[-4.33618210e-01 -9.01096644e-01 2.91723278e-04 1.15457228e+02] [-9.01096429e-01 4.33618308e-01 6.23219121e-04 7.54541611e+01] [-6.88077213e-04 7.36835554e-06 -9.99999763e-01 6.72372174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.39, Y:75.35, Z:6.72 [[-3.64987822e-01 -9.31012212e-01 3.87607321e-04 1.15385016e+02] [-9.31011647e-01 3.64988028e-01 1.02654258e-03 7.53538642e+01] [-1.09719571e-03 1.38086095e-05 -9.99999398e-01 6.72389862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.32, Y:75.25, Z:6.72 [[-2.94144862e-01 -9.55760761e-01 4.09307503e-04 1.15322549e+02] [-9.55759733e-01 2.94145146e-01 1.40213762e-03 7.52549026e+01] [-1.46050393e-03 2.12319464e-05 -9.99998933e-01 6.72447502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.27, Y:75.15, Z:6.73 [[-2.23342078e-01 -9.74740030e-01 4.35719660e-04 1.15267392e+02] [-9.74737821e-01 2.23342500e-01 2.07559067e-03 7.51453597e+01] [-2.12047603e-03 3.88543013e-05 -9.99997751e-01 6.72527209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.22, Y:75.02, Z:6.73 [[-1.49124356e-01 -9.88818397e-01 3.21996984e-04 1.15217496e+02] [-9.88815320e-01 1.49124695e-01 2.46752955e-03 7.50241190e+01] [-2.48795632e-03 4.95732037e-05 -9.99996904e-01 6.72627381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.330385723 meters Centerline goodness [0,1] 0.9999330401982011 Centerline is valid? [True, True] Translation: X:115.18, Y:74.91, Z:6.73 [[-7.52403441e-02 -9.97165413e-01 1.73901278e-04 1.15176357e+02] [-9.97159922e-01 7.52405070e-02 3.31012740e-03 7.49096811e+01] [-3.31382898e-03 7.56477403e-05 -9.99994506e-01 6.72770522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.15, Y:74.78, Z:6.73 [[ 1.90136560e-03 -9.99998189e-01 -8.36593712e-05 1.15145409e+02] [-9.99992495e-01 -1.90163716e-03 3.37541976e-03 7.47834253e+01] [-3.37557273e-03 7.72408364e-05 -9.99994300e-01 6.72623816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.13, Y:74.66, Z:6.73 [[ 7.85273939e-02 -9.96911896e-01 -3.45611266e-04 1.15126721e+02] [-9.96906196e-01 -7.85281140e-02 3.37210410e-03 7.46567436e+01] [-3.38883089e-03 7.97394657e-05 -9.99994255e-01 6.72657376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.11, Y:74.53, Z:6.73 [[ 1.54075878e-01 -9.88058729e-01 -7.56596711e-04 1.15110490e+02] [-9.88049926e-01 -1.54077700e-01 4.17213760e-03 7.45290844e+01] [-4.23889166e-03 1.04729562e-04 -9.99991010e-01 6.72676906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.11, Y:74.40, Z:6.73 [[ 2.29312340e-01 -9.73352247e-01 -1.11993012e-03 1.15107800e+02] [-9.73342896e-01 -2.29315048e-01 4.26795388e-03 7.44029986e+01] [-4.41103933e-03 1.11381537e-04 -9.99990265e-01 6.72694432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.11, Y:74.28, Z:6.73 [[ 3.02111847e-01 -9.53271692e-01 -1.23038793e-03 1.15114719e+02] [-9.53265095e-01 -3.02114335e-01 3.54786485e-03 7.42754387e+01] [-3.75379696e-03 1.01033865e-04 -9.99992949e-01 6.72646759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.13, Y:74.15, Z:6.73 [[ 3.74254502e-01 -9.27325065e-01 -1.33826250e-03 1.15132238e+02] [-9.27319984e-01 -3.74256884e-01 3.07127082e-03 7.41529568e+01] [-3.34892036e-03 9.15606277e-05 -9.99994388e-01 6.72623754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.16, Y:74.03, Z:6.73 [[ 4.44156947e-01 -8.95947965e-01 -1.36010521e-03 1.15157603e+02] [-8.95944304e-01 -4.44159022e-01 2.56251453e-03 7.40301146e+01] [-2.89998268e-03 8.04198814e-05 -9.99995792e-01 6.72592107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.19, Y:73.91, Z:6.72 [[ 5.11661654e-01 -8.59185653e-01 -1.53810423e-03 1.15189066e+02] [-8.59182229e-01 -5.11663959e-01 2.42705338e-03 7.39110085e+01] [-2.87228194e-03 7.96816711e-05 -9.99995872e-01 6.72453464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.23, Y:73.80, Z:6.73 [[ 5.76068793e-01 -8.17398995e-01 -1.90484923e-03 1.15232886e+02] [-8.17395024e-01 -5.76071935e-01 2.54967614e-03 7.37974913e+01] [-3.18143289e-03 8.82254253e-05 -9.99994935e-01 6.72502120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.28, Y:73.69, Z:6.73 [[ 6.37333829e-01 -7.70584604e-01 -2.22698980e-03 1.15275230e+02] [-7.70580396e-01 -6.37337713e-01 2.54831150e-03 7.36886558e+01] [-3.38303419e-03 9.19495541e-05 -9.99994273e-01 6.72563604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.33, Y:73.58, Z:6.73 [[ 6.94739731e-01 -7.19255961e-01 -2.75139986e-03 1.15332362e+02] [-7.19250896e-01 -6.94745171e-01 2.70114738e-03 7.35845261e+01] [-3.85433812e-03 1.02352410e-04 -9.99992567e-01 6.72603938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.32, Y:73.57, Z:6.73 [[ 7.49335036e-01 -6.62182616e-01 -3.34471406e-03 1.15324254e+02] [-6.62176682e-01 -7.49342492e-01 2.80551384e-03 7.35730057e+01] [-4.36409886e-03 1.12521848e-04 -9.99990471e-01 6.72587199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.32, Y:73.56, Z:6.73 [[ 7.99596659e-01 -6.00525084e-01 -3.84783300e-03 1.15316524e+02] [-6.00518818e-01 -7.99605909e-01 2.74564183e-03 7.35628750e+01] [-4.72557679e-03 1.15290090e-04 -9.99988828e-01 6.72567391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.31, Y:73.55, Z:6.73 [[ 8.44388276e-01 -5.35711538e-01 -4.64616494e-03 1.15309692e+02] [-5.35704263e-01 -8.44401049e-01 2.79485581e-03 7.35505548e+01] [-5.42046305e-03 1.29026887e-04 -9.99985301e-01 6.72560860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.30, Y:73.54, Z:6.73 [[ 8.83633800e-01 -4.68148849e-01 -5.28798777e-03 1.15303695e+02] [-4.68141416e-01 -8.83649611e-01 2.64187689e-03 7.35390685e+01] [-5.90951996e-03 1.41074366e-04 -9.99982529e-01 6.72688228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.30, Y:73.53, Z:6.73 [[ 9.17339732e-01 -3.98064471e-01 -5.70036135e-03 1.15300229e+02] [-3.98057794e-01 -9.17357430e-01 2.31040267e-03 7.35307590e+01] [-6.14895805e-03 1.49649098e-04 -9.99981084e-01 6.72753505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.30, Y:73.52, Z:6.73 [[ 9.45483645e-01 -3.25619437e-01 -5.71491851e-03 1.15296833e+02] [-3.25614437e-01 -9.45500905e-01 1.81057537e-03 7.35176296e+01] [-5.99301916e-03 1.48990572e-04 -9.99982031e-01 6.72658393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.870385723 meters Centerline goodness [0,1] 0.999956159579132 Centerline is valid? [True, True] Translation: X:115.29, Y:73.50, Z:6.73 [[ 9.67502883e-01 -2.52831767e-01 -3.77744334e-03 1.15294584e+02] [-2.52830262e-01 -9.67510252e-01 8.78591557e-04 7.35044259e+01] [-3.87685101e-03 1.05012126e-04 -9.99992480e-01 6.72551357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.29, Y:73.49, Z:6.72 [[ 9.84176908e-01 -1.77174149e-01 -2.26607153e-03 1.15289596e+02] [-1.77173829e-01 -9.84179515e-01 3.42732372e-04 7.34918321e+01] [-2.29094450e-03 6.41792843e-05 -9.99997374e-01 6.72274803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.29, Y:73.48, Z:6.72 [[ 9.94912618e-01 -1.00706039e-01 -2.67897388e-03 1.15285978e+02] [-1.00705885e-01 -9.94916222e-01 1.92621713e-04 7.34772612e+01] [-2.68475274e-03 7.81466622e-05 -9.99996393e-01 6.72301954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.28, Y:73.46, Z:6.72 [[ 9.99725998e-01 -2.32545256e-02 -2.67495732e-03 1.15282276e+02] [-2.32546561e-02 -9.99729574e-01 -1.76919085e-05 7.34642401e+01] [-2.67382253e-03 7.98922735e-05 -9.99996422e-01 6.72424234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.28, Y:73.45, Z:6.73 [[ 9.98528231e-01 5.41451829e-02 -3.10979011e-03 1.15281149e+02] [ 5.41446208e-02 -9.98533069e-01 -2.64743875e-04 7.34494891e+01] [-3.11956287e-03 9.59758270e-05 -9.99995130e-01 6.72554856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.28, Y:73.44, Z:6.73 [[ 9.91240847e-01 1.32020702e-01 -3.48095167e-03 1.15280434e+02] [ 1.32019502e-01 -9.91246953e-01 -5.73365165e-04 7.34385640e+01] [-3.52617881e-03 1.08789466e-04 -9.99993777e-01 6.72568786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.28, Y:73.43, Z:6.73 [[ 9.77947239e-01 2.08800737e-01 -4.63142315e-03 1.15279185e+02] [ 2.08797672e-01 -9.77958195e-01 -1.14108626e-03 7.34271613e+01] [-4.76759788e-03 1.48891785e-04 -9.99988624e-01 6.72535336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.28, Y:73.41, Z:6.73 [[ 9.58571146e-01 2.84812044e-01 -4.84339021e-03 1.15282328e+02] [ 2.84807568e-01 -9.58583368e-01 -1.60475045e-03 7.34101891e+01] [-5.09984556e-03 1.58833297e-04 -9.99986983e-01 6.72523063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.28, Y:73.40, Z:6.73 [[ 9.33289408e-01 3.59098176e-01 -4.40230094e-03 1.15284587e+02] [ 3.59093428e-01 -9.33299779e-01 -1.85251714e-03 7.33966306e+01] [-4.77390202e-03 1.48097292e-04 -9.99988594e-01 6.72589467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.29, Y:73.38, Z:6.73 [[ 9.02250757e-01 4.31190448e-01 -4.28597064e-03 1.15290181e+02] [ 4.31184795e-01 -9.02260924e-01 -2.21301822e-03 7.33820374e+01] [-4.82129615e-03 1.48651995e-04 -9.99988366e-01 6.72621450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.30, Y:73.37, Z:6.73 [[ 8.65133321e-01 5.01517987e-01 -4.90359417e-03 1.15297173e+02] [ 5.01508801e-01 -8.65147201e-01 -3.04024504e-03 7.33669080e+01] [-5.76706834e-03 1.71021655e-04 -9.99983356e-01 6.72679978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.200385723 meters Centerline goodness [0,1] 0.999847912049711 Centerline is valid? [True, True] Translation: X:115.31, Y:73.35, Z:6.73 [[ 8.23115528e-01 5.67848976e-01 -5.32622991e-03 1.15307499e+02] [ 5.67835541e-01 -8.23132737e-01 -3.91104210e-03 7.33511564e+01] [-6.60507545e-03 1.94816842e-04 -9.99978167e-01 6.72921036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.31, Y:73.34, Z:6.73 [[ 7.75540924e-01 6.31280565e-01 -4.59608402e-03 1.15314617e+02] [ 6.31268139e-01 -7.75554523e-01 -3.96461928e-03 7.33393331e+01] [-6.06730085e-03 1.73363096e-04 -9.99981579e-01 6.72696754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.260385723 meters Centerline goodness [0,1] 0.9999782570881892 Centerline is valid? [True, True] Translation: X:115.32, Y:73.33, Z:6.73 [[ 7.23990482e-01 6.89798630e-01 -3.95367735e-03 1.15323022e+02] [ 6.89787103e-01 -7.24001259e-01 -3.99120232e-03 7.33288979e+01] [-5.61559327e-03 1.62396852e-04 -9.99984219e-01 6.72654709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.290385723 meters Centerline goodness [0,1] 0.9999782858879986 Centerline is valid? [True, True] Translation: X:115.33, Y:73.32, Z:6.73 [[ 6.68181635e-01 7.43989694e-01 -3.55502993e-03 1.15331422e+02] [ 7.43977851e-01 -6.68191072e-01 -4.20104017e-03 7.33205428e+01] [-5.50096985e-03 1.62194362e-04 -9.99984856e-01 6.72690539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.34, Y:73.31, Z:6.73 [[ 6.06871229e-01 7.94793488e-01 -3.25924572e-03 1.15342162e+02] [ 7.94780606e-01 -6.06879961e-01 -4.52788357e-03 7.33114778e+01] [-5.57670329e-03 1.57456977e-04 -9.99984438e-01 6.72558529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.35, Y:73.30, Z:6.73 [[ 5.41765902e-01 8.40523311e-01 -3.20487186e-03 1.15350939e+02] [ 8.40506741e-01 -5.41775356e-01 -5.28033262e-03 7.33036981e+01] [-6.17456325e-03 1.66987761e-04 -9.99980923e-01 6.72565794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.36, Y:73.30, Z:6.73 [[ 4.71542380e-01 8.81839230e-01 -2.71225986e-03 1.15362193e+02] [ 8.81822846e-01 -4.71550158e-01 -5.37735491e-03 7.32961735e+01] [-6.02092908e-03 1.43918021e-04 -9.99981864e-01 6.72592594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.37, Y:73.29, Z:6.73 [[ 4.01049889e-01 9.16053369e-01 -2.28290391e-03 1.15370446e+02] [ 9.16036427e-01 -4.01056361e-01 -5.57322306e-03 7.32911100e+01] [-6.02094289e-03 1.43917352e-04 -9.99981864e-01 6.72592606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.38, Y:73.29, Z:6.73 [[ 3.27299992e-01 9.44918885e-01 -1.73647097e-03 1.15381143e+02] [ 9.44903383e-01 -3.27304572e-01 -5.41425499e-03 7.32862901e+01] [-5.68438667e-03 1.31288320e-04 -9.99983835e-01 6.72599198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4703857229999 meters Centerline goodness [0,1] 0.9999567455339764 Centerline is valid? [True, True] Translation: X:115.39, Y:73.28, Z:6.73 [[ 2.51784261e-01 9.67782540e-01 -1.28132072e-03 1.15394861e+02] [ 9.67767345e-01 -2.51787490e-01 -5.42457830e-03 7.32823532e+01] [-5.57243269e-03 1.25803084e-04 -9.99984466e-01 6.72579328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.500385723 meters Centerline goodness [0,1] 0.9999351687772832 Centerline is valid? [True, True] Translation: X:115.41, Y:73.28, Z:6.73 [[ 1.75294619e-01 9.84515512e-01 -1.00184907e-03 1.15405018e+02] [ 9.84494248e-01 -1.75297419e-01 -6.47226749e-03 7.32790793e+01] [-6.54766929e-03 1.48239022e-04 -9.99978553e-01 6.72805058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.41, Y:73.28, Z:6.73 [[ 9.74090802e-02 9.95244318e-01 -4.67099827e-04 1.15412004e+02] [ 9.95224992e-01 -9.74101003e-02 -6.20392996e-03 7.32757374e+01] [-6.21992628e-03 1.39449690e-04 -9.99980646e-01 6.72677744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.42, Y:73.27, Z:6.73 [[ 1.91261180e-02 9.99817079e-01 1.78963115e-05 1.15420052e+02] [ 9.99802277e-01 -1.91257374e-02 -5.44188892e-03 7.32739052e+01] [-5.44055121e-03 1.21974982e-04 -9.99985193e-01 6.72659769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.43, Y:73.27, Z:6.73 [[-5.92558525e-02 9.98242723e-01 4.57580419e-04 1.15426057e+02] [ 9.98227082e-01 5.92574862e-02 -5.58952038e-03 7.32724993e+01] [-5.60681311e-03 1.25557372e-04 -9.99984274e-01 6.72645539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.44, Y:73.27, Z:6.73 [[-1.37238192e-01 9.90537724e-01 8.33977168e-04 1.15438962e+02] [ 9.90524269e-01 1.37240676e-01 -5.16431483e-03 7.32732060e+01] [-5.22990425e-03 1.17333392e-04 -9.99986317e-01 6.72595978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.45, Y:73.27, Z:6.73 [[-2.13479239e-01 9.76947010e-01 1.07475341e-03 1.15446703e+02] [ 9.76937014e-01 2.13481918e-01 -4.42056735e-03 7.32733579e+01] [-4.54810048e-03 1.06267039e-04 -9.99989652e-01 6.72638756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.47, Y:73.28, Z:6.73 [[-2.88509753e-01 9.57475980e-01 1.36733442e-03 1.15466316e+02] [ 9.57466908e-01 2.88512974e-01 -4.16941119e-03 7.32788013e+01] [-4.38660478e-03 1.06261670e-04 -9.99990373e-01 6.72546599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.710385723 meters Centerline goodness [0,1] 0.9999568686650852 Centerline is valid? [True, True] Translation: X:115.48, Y:73.28, Z:6.73 [[-3.60858303e-01 9.32618355e-01 2.07087994e-03 1.15477719e+02] [ 9.32605160e-01 3.60864218e-01 -4.96296922e-03 7.32813619e+01] [-5.37586266e-03 1.40384661e-04 -9.99985540e-01 6.72653253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.49, Y:73.29, Z:6.73 [[-4.32567976e-01 9.01597613e-01 2.58675959e-03 1.15489804e+02] [ 9.01583505e-01 4.32575684e-01 -5.04588713e-03 7.32865400e+01] [-5.66832909e-03 1.49490600e-04 -9.99983924e-01 6.72619050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.50, Y:73.29, Z:6.73 [[-5.01802219e-01 8.64975341e-01 3.49180782e-03 1.15500926e+02] [ 8.64956787e-01 5.01814337e-01 -5.66814812e-03 7.32924495e+01] [-6.65504758e-03 1.75973573e-04 -9.99977840e-01 6.72812096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.51, Y:73.30, Z:6.73 [[-5.67578488e-01 8.23308130e-01 4.28758066e-03 1.15510694e+02] [ 8.23287200e-01 5.67594648e-01 -5.87381127e-03 7.32987559e+01] [-7.26956441e-03 1.96061363e-04 -9.99973557e-01 6.72895522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.830385723 meters Centerline goodness [0,1] 0.999870709160256 Centerline is valid? [True, True] Translation: X:115.52, Y:73.31, Z:6.73 [[-6.29568931e-01 7.76924850e-01 5.54422137e-03 1.15521369e+02] [ 7.76897989e-01 6.29593298e-01 -6.46477639e-03 7.33072924e+01] [-8.51325005e-03 2.37272071e-04 -9.99963734e-01 6.73130473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.53, Y:73.31, Z:6.73 [[-6.87271681e-01 7.26380912e-01 5.32974855e-03 1.15527106e+02] [ 7.26361538e-01 6.87292311e-01 -5.30988385e-03 7.33107387e+01] [-7.52009347e-03 2.21991556e-04 -9.99971699e-01 6.72952313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.55, Y:73.33, Z:6.73 [[-7.36302123e-01 6.76629037e-01 5.68597552e-03 1.15546417e+02] [ 6.76611232e-01 7.36324041e-01 -4.91402895e-03 7.33343495e+01] [-7.51169515e-03 2.28984951e-04 -9.99971761e-01 6.72812178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.57, Y:73.36, Z:6.73 [[-7.82122474e-01 6.23095336e-01 6.05291042e-03 1.15565768e+02] [ 6.23078955e-01 7.82145861e-01 -4.52414314e-03 7.33552952e+01] [-7.55323132e-03 2.33007067e-04 -9.99971447e-01 6.72815206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.950385723 meters Centerline goodness [0,1] 0.999978390993366 Centerline is valid? [True, True] Translation: X:115.58, Y:73.38, Z:6.73 [[-8.24493337e-01 5.65827773e-01 7.04763648e-03 1.15580137e+02] [ 5.65809721e-01 8.24523418e-01 -4.52700520e-03 7.33797025e+01] [-8.37244659e-03 2.55135608e-04 -9.99964918e-01 6.72910381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.980385723 meters Centerline goodness [0,1] 0.9999134105422665 Centerline is valid? [True, True] Translation: X:115.59, Y:73.41, Z:6.73 [[-8.62719035e-01 5.05618850e-01 8.08983729e-03 1.15592242e+02] [ 5.05599603e-01 8.62756920e-01 -4.42033536e-03 7.34052718e+01] [-9.21456797e-03 2.76711062e-04 -9.99957507e-01 6.73135940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.60, Y:73.43, Z:6.73 [[-8.97251054e-01 4.41457286e-01 7.48406169e-03 1.15600348e+02] [ 4.41444063e-01 8.97282236e-01 -3.42467183e-03 7.34335378e+01] [-8.22716194e-03 2.31004192e-04 -9.99966130e-01 6.72893526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.61, Y:73.46, Z:6.73 [[-9.26689746e-01 3.75754759e-01 7.38076128e-03 1.15614235e+02] [ 3.75744662e-01 9.26719114e-01 -2.76276228e-03 7.34605141e+01] [-7.87801363e-03 2.13058182e-04 -9.99968945e-01 6.72757135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.62, Y:73.49, Z:6.73 [[-9.51378323e-01 3.07941761e-01 7.15252890e-03 1.15616833e+02] [ 3.07934576e-01 9.51405190e-01 -2.11233894e-03 7.34879520e+01] [-7.45543049e-03 1.92877476e-04 -9.99972189e-01 6.72817802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.62, Y:73.52, Z:6.73 [[-9.71107936e-01 2.38525673e-01 7.40813698e-03 1.15624818e+02] [ 2.38520201e-01 9.71136174e-01 -1.62651018e-03 7.35182647e+01] [-7.58227424e-03 1.87473376e-04 -9.99971237e-01 6.72793484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.77, Y:74.19, Z:5.75 [[-9.66157449e-01 -2.57847545e-01 7.37750661e-03 1.15771826e+02] [ 2.57838575e-01 -9.66185598e-01 -2.15853232e-03 7.41903886e+01] [ 7.68461290e-03 -1.83276287e-04 9.99970456e-01 5.75254537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.57, Y:73.53, Z:6.73 [[-9.72688755e-01 2.32008101e-01 6.98760712e-03 1.15568337e+02] [ 2.32003274e-01 9.72713841e-01 -1.50481334e-03 7.35283623e+01] [-7.14607105e-03 1.57432716e-04 -9.99974454e-01 6.72712177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.72, Y:74.21, Z:5.75 [[-9.66756144e-01 -2.55625002e-01 6.19811850e-03 1.15715244e+02] [ 2.55618506e-01 -9.66775995e-01 -1.83198773e-03 7.42059067e+01] [ 6.46049404e-03 -1.86731601e-04 9.99979113e-01 5.75359324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.52, Y:73.54, Z:6.73 [[-9.73828299e-01 2.27185722e-01 6.71508117e-03 1.15515314e+02] [ 2.27181344e-01 9.73851440e-01 -1.41777415e-03 7.35365749e+01] [-6.86158951e-03 1.44872578e-04 -9.99976449e-01 6.72681080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.66, Y:74.22, Z:5.75 [[-9.67697297e-01 -2.52024493e-01 6.75251624e-03 1.15662323e+02] [ 2.52017358e-01 -9.67720846e-01 -1.90148330e-03 7.42171041e+01] [ 7.01377109e-03 -1.38308947e-04 9.99975394e-01 5.75317193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.46, Y:73.55, Z:6.73 [[-9.74900486e-01 2.22514417e-01 7.50848986e-03 1.15458334e+02] [ 2.22509042e-01 9.74929387e-01 -1.55438775e-03 7.35458373e+01] [-7.66612110e-03 1.55333513e-04 -9.99970603e-01 6.72758432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.60, Y:74.23, Z:5.75 [[-9.68393879e-01 -2.49302206e-01 7.85520774e-03 1.15603926e+02] [ 2.49292880e-01 -9.68425729e-01 -2.16060777e-03 7.42309120e+01] [ 8.14582956e-03 -1.34071978e-04 9.99966813e-01 5.75211870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.40, Y:73.55, Z:6.73 [[-9.76038753e-01 2.17435244e-01 8.38254133e-03 1.15404434e+02] [ 2.17428648e-01 9.76074735e-01 -1.70135993e-03 7.35548005e+01] [-8.55192242e-03 1.62011404e-04 -9.99963419e-01 6.72796799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.41, Y:73.58, Z:6.73 [[-9.88982153e-01 1.47822528e-01 7.92475474e-03 1.15411752e+02] [ 1.47819022e-01 9.89013891e-01 -1.02956164e-03 7.35828156e+01] [-7.98988493e-03 1.53211408e-04 -9.99968069e-01 6.72730113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.41, Y:73.61, Z:6.73 [[-9.96936561e-01 7.78616246e-02 7.42024123e-03 1.15410387e+02] [ 7.78605674e-02 9.96964165e-01 -4.31680685e-04 7.36096016e+01] [-7.43132596e-03 1.47385935e-04 -9.99972377e-01 6.72701110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.45, Y:74.32, Z:5.75 [[-9.94568023e-01 -1.03888293e-01 6.45519596e-03 1.15452114e+02] [ 1.03884878e-01 -9.94588954e-01 -8.63109876e-04 7.43209719e+01] [ 6.50993361e-03 -1.87824241e-04 9.99978793e-01 5.75400808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.34, Y:73.61, Z:6.73 [[-9.97109577e-01 7.56969890e-02 6.51595775e-03 1.15336515e+02] [ 7.56963373e-02 9.97130856e-01 -3.46929808e-04 7.36091153e+01] [-6.52352407e-03 1.47307102e-04 -9.99978711e-01 6.72544923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.38, Y:74.33, Z:5.75 [[-9.95296803e-01 -9.66197460e-02 6.99279237e-03 1.15380667e+02] [ 9.66164723e-02 -9.95321360e-01 -8.05253715e-04 7.43280652e+01] [ 7.03787902e-03 -1.25847518e-04 9.99975226e-01 5.75485003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.26, Y:73.61, Z:6.73 [[-9.97307619e-01 7.29620721e-02 7.35179352e-03 1.15262632e+02] [ 7.29614232e-02 9.97334700e-01 -3.56795854e-04 7.36096687e+01] [-7.35823135e-03 1.80562094e-04 -9.99972912e-01 6.72568397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.30, Y:74.33, Z:5.75 [[-9.95870573e-01 -9.04932499e-02 7.26448702e-03 1.15304604e+02] [ 9.04895044e-02 -9.95897052e-01 -8.43311255e-04 7.43339239e+01] [ 7.31099518e-03 -1.82469033e-04 9.99973258e-01 5.75406208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.19, Y:73.61, Z:6.73 [[-9.97555611e-01 6.95209257e-02 7.04586712e-03 1.15187366e+02] [ 6.95204845e-02 9.97580477e-01 -3.07813504e-04 7.36095489e+01] [-7.05021896e-03 1.82771008e-04 -9.99975130e-01 6.72721329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.22, Y:74.34, Z:5.75 [[-9.96365571e-01 -8.48533578e-02 7.45366188e-03 1.15222469e+02] [ 8.48497420e-02 -9.96393437e-01 -8.00564046e-04 7.43420122e+01] [ 7.49471032e-03 -1.65213165e-04 9.99971901e-01 5.75321370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.11, Y:73.61, Z:6.73 [[-9.97853171e-01 6.50849334e-02 7.28011398e-03 1.15106834e+02] [ 6.50846170e-02 9.97879709e-01 -2.80616346e-04 7.36108290e+01] [-7.28294191e-03 1.93809520e-04 -9.99973460e-01 6.72693966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.14, Y:74.35, Z:5.75 [[-9.96795672e-01 -7.95556839e-02 8.32352713e-03 1.15144270e+02] [ 7.95516436e-02 -9.96830412e-01 -8.15893043e-04 7.43508631e+01] [ 8.36205391e-03 -1.51128390e-04 9.99965026e-01 5.75144068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.03, Y:73.61, Z:6.73 [[-9.98226376e-01 5.87487903e-02 9.62714809e-03 1.15027773e+02] [ 5.87484199e-02 9.98272768e-01 -3.21502966e-04 7.36107056e+01] [-9.62940769e-03 2.44646999e-04 -9.99953606e-01 6.72986716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.05, Y:74.35, Z:5.75 [[-9.97036039e-01 -7.62477995e-02 1.02669150e-02 1.15054129e+02] [ 7.62415206e-02 -9.97088876e-01 -1.00214323e-03 7.43545058e+01] [ 1.03134379e-02 -2.16407710e-04 9.99946792e-01 5.74942964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.94, Y:73.61, Z:6.73 [[-9.98618440e-01 5.13623829e-02 1.10957843e-02 1.14939908e+02] [ 5.13621007e-02 9.98680048e-01 -3.10582883e-04 7.36112282e+01] [-1.10970907e-02 2.59748998e-04 -9.99938392e-01 6.73141757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.93, Y:73.64, Z:6.73 [[-9.99691512e-01 -2.23067839e-02 1.09219314e-02 1.14933590e+02] [-2.23029472e-02 9.99751147e-01 4.72977374e-04 7.36395528e+01] [-1.09297641e-02 2.29240207e-04 -9.99940242e-01 6.73091584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.93, Y:73.67, Z:6.73 [[-9.95455824e-01 -9.46199492e-02 1.07129408e-02 1.14925761e+02] [-9.46121565e-02 9.95513445e-01 1.23303216e-03 7.36676730e+01] [-1.07815460e-02 2.13854617e-04 -9.99941855e-01 6.73027707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.850385723 meters Centerline goodness [0,1] 0.9999778594518001 Centerline is valid? [True, True] Translation: X:114.84, Y:74.42, Z:5.75 [[-9.97786275e-01 6.56899677e-02 1.03623143e-02 1.14836183e+02] [-6.56888554e-02 -9.97840054e-01 4.48023737e-04 7.44167223e+01] [ 1.03693629e-02 -2.33656629e-04 9.99946209e-01 5.75059186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.880385723 meters Centerline goodness [0,1] 0.9999778628826954 Centerline is valid? [True, True] Translation: X:114.80, Y:73.65, Z:6.73 [[-9.94666784e-01 -1.02668963e-01 9.85259774e-03 1.14802521e+02] [-1.02662136e-01 9.94715563e-01 1.19758800e-03 7.36517060e+01] [-9.92348743e-03 1.79712281e-04 -9.99950745e-01 6.72932518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.78, Y:73.68, Z:6.73 [[-9.84716649e-01 -1.73921609e-01 9.18672779e-03 1.14784937e+02] [-1.73912427e-01 9.84759486e-01 1.79515982e-03 7.36773677e+01] [-9.35893442e-03 1.70037638e-04 -9.99956190e-01 6.72962684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.75, Y:73.70, Z:6.73 [[-9.69576073e-01 -2.44632513e-01 8.78478325e-03 1.14747841e+02] [-2.44620911e-01 9.69615855e-01 2.38831013e-03 7.36957818e+01] [-9.10212343e-03 1.66706669e-04 -9.99958561e-01 6.72917430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.69, Y:73.71, Z:6.73 [[-9.49078027e-01 -3.14941301e-01 7.92936200e-03 1.14688248e+02] [-3.14928922e-01 9.49111138e-01 2.79676244e-03 7.37054653e+01] [-8.40666180e-03 1.57160354e-04 -9.99964651e-01 6.72837863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.000385723 meters Centerline goodness [0,1] 0.9999554535937814 Centerline is valid? [True, True] Translation: X:114.62, Y:73.71, Z:6.73 [[-9.23454344e-01 -3.83639939e-01 7.24371639e-03 1.14617845e+02] [-3.83626836e-01 9.23482742e-01 3.17434961e-03 7.37068627e+01] [-7.90725436e-03 1.52482936e-04 -9.99968726e-01 6.72854120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.53, Y:73.70, Z:6.73 [[-8.92733844e-01 -4.50554653e-01 5.17569871e-03 1.14534377e+02] [-4.50546319e-01 8.92748840e-01 2.74294080e-03 7.36968631e+01] [-5.85644376e-03 1.16824083e-04 -9.99982844e-01 6.72687222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.46, Y:73.69, Z:6.73 [[-8.56398814e-01 -5.16295425e-01 4.48394580e-03 1.14457013e+02] [-5.16287697e-01 8.56410546e-01 2.82689897e-03 7.36851730e+01] [-5.29961348e-03 1.05946877e-04 -9.99985951e-01 6.72690621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.37, Y:73.66, Z:6.73 [[-8.15038121e-01 -5.79384250e-01 5.17228226e-03 1.14368350e+02] [-5.79371576e-01 8.15054523e-01 3.83437026e-03 7.36580182e+01] [-6.43726578e-03 1.28484611e-04 -9.99979272e-01 6.72759358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.120385723 meters Centerline goodness [0,1] 0.9999776566270444 Centerline is valid? [True, True] Translation: X:114.27, Y:73.62, Z:6.73 [[-7.69075930e-01 -6.39131643e-01 5.74071565e-03 1.14273952e+02] [-6.39112335e-01 7.69097340e-01 4.97029389e-03 7.36171886e+01] [-7.59184124e-03 1.53571214e-04 -9.99971170e-01 6.72894004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.18, Y:73.57, Z:6.73 [[-7.18764640e-01 -6.95230237e-01 5.68419644e-03 1.14178763e+02] [-6.95206625e-01 7.18787096e-01 5.73224472e-03 7.35694341e+01] [-8.07095691e-03 1.68443787e-04 -9.99967415e-01 6.72760193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.09, Y:73.50, Z:6.73 [[-6.65135900e-01 -7.46700766e-01 5.67462602e-03 1.14086277e+02] [-7.46671002e-01 6.65160076e-01 6.66995977e-03 7.35031155e+01] [-8.75499874e-03 1.99350994e-04 -9.99961654e-01 6.72877821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.98, Y:73.42, Z:6.73 [[-6.06814454e-01 -7.94824229e-01 5.53756201e-03 1.13984017e+02] [-7.94787753e-01 6.06839679e-01 7.61783382e-03 7.34227159e+01] [-9.41525125e-03 2.21425202e-04 -9.99955651e-01 6.72833121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.91, Y:73.36, Z:6.73 [[-5.44622649e-01 -8.38660601e-01 5.87941214e-03 1.13910235e+02] [-8.38606221e-01 5.44654315e-01 9.55424048e-03 7.33631038e+01] [-1.12150123e-02 2.72944154e-04 -9.99937073e-01 6.73010111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.83, Y:73.27, Z:6.73 [[-4.79159350e-01 -8.77711442e-01 5.37984793e-03 1.13825610e+02] [-8.77649093e-01 4.79189461e-01 1.04656552e-02 7.32712862e+01] [-1.17637918e-02 2.93097896e-04 -9.99930761e-01 6.73027998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.75, Y:73.18, Z:6.73 [[-4.10231977e-01 -9.11969814e-01 4.55890224e-03 1.13748791e+02] [-9.11905334e-01 4.10257203e-01 1.08484599e-02 7.31757478e+01] [-1.17637905e-02 2.93097888e-04 -9.99930761e-01 6.73027991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.68, Y:73.08, Z:6.73 [[-3.39744164e-01 -9.40510956e-01 3.61167389e-03 1.13683061e+02] [-9.40448124e-01 3.39763230e-01 1.08753569e-02 7.30783415e+01] [-1.14555063e-02 2.98247117e-04 -9.99934339e-01 6.72985505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.62, Y:72.97, Z:6.73 [[-2.68864332e-01 -9.63175117e-01 2.38026034e-03 1.13624918e+02] [-9.63127483e-01 2.68874718e-01 9.58314766e-03 7.29724489e+01] [-9.87024119e-03 2.84072447e-04 -9.99951248e-01 6.72743806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.57, Y:72.86, Z:6.73 [[-1.95127221e-01 -9.80776786e-01 1.50456514e-03 1.13572165e+02] [-9.80735809e-01 1.95132828e-01 8.96952425e-03 7.28555596e+01] [-9.09069121e-03 2.74617429e-04 -9.99958641e-01 6.72651256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.53, Y:72.74, Z:6.73 [[-1.21383763e-01 -9.92605500e-01 5.50332934e-04 1.13530616e+02] [-9.92586360e-01 1.21384842e-01 6.16755807e-03 7.27387078e+01] [-6.18875414e-03 2.02388444e-04 -9.99980829e-01 6.72529827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.49, Y:72.61, Z:6.73 [[-4.47264643e-02 -9.98999269e-01 6.67576212e-05 1.13491951e+02] [-9.98982893e-01 4.47261136e-02 5.72309110e-03 7.26136074e+01] [-5.72034963e-03 1.89283908e-04 -9.99983621e-01 6.72507837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.46, Y:72.49, Z:6.73 [[ 3.23629209e-02 -9.99476112e-01 -3.77825770e-04 1.13464660e+02] [-9.99459633e-01 -3.23645582e-02 5.74260507e-03 7.24854220e+01] [-5.75182475e-03 1.91774132e-04 -9.99983440e-01 6.72543167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.45, Y:72.36, Z:6.73 [[ 1.10191971e-01 -9.93909903e-01 -9.12986608e-04 1.13447437e+02] [-9.93889717e-01 -1.10195555e-01 6.33798497e-03 7.23591783e+01] [-6.39999310e-03 2.09012943e-04 -9.99979498e-01 6.72584821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.44, Y:72.23, Z:6.73 [[ 1.88099187e-01 -9.82148697e-01 -1.62272670e-03 1.13443601e+02] [-9.82122023e-01 -1.88106044e-01 7.24207561e-03 7.22281925e+01] [-7.41803982e-03 2.31487095e-04 -9.99972459e-01 6.72695304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.44, Y:72.10, Z:6.73 [[ 2.64092171e-01 -9.64494918e-01 -2.20879143e-03 1.13443312e+02] [-9.64468070e-01 -2.64101308e-01 7.20012095e-03 7.21001150e+01] [-7.52782477e-03 2.28813234e-04 -9.99971639e-01 6.72650831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.46, Y:71.97, Z:6.73 [[ 3.39260307e-01 -9.40687175e-01 -3.17527448e-03 1.13455073e+02] [-9.40652587e-01 -3.39275075e-01 8.07056425e-03 7.19726818e+01] [-8.66916777e-03 2.48808045e-04 -9.99962391e-01 6.72867645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.48, Y:71.85, Z:6.73 [[ 4.11490273e-01 -9.11405003e-01 -4.08367228e-03 1.13475304e+02] [-9.11366224e-01 -4.11510453e-01 8.41151136e-03 7.18455685e+01] [-9.34676737e-03 2.60465876e-04 -9.99956284e-01 6.72899091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.50, Y:71.73, Z:6.73 [[ 4.80745752e-01 -8.76845030e-01 -5.12987467e-03 1.13503793e+02] [-8.76801147e-01 -4.80773040e-01 8.77681828e-03 7.17266443e+01] [-1.01622149e-02 2.78461892e-04 -9.99948325e-01 6.72975027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.54, Y:71.61, Z:6.73 [[ 5.47332680e-01 -8.36888454e-01 -6.68234864e-03 1.13541827e+02] [-8.36832911e-01 -5.47373382e-01 9.64680345e-03 7.16111018e+01] [-1.17310382e-02 3.11998478e-04 -9.99931140e-01 6.73036881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.59, Y:71.50, Z:6.73 [[ 6.09364574e-01 -7.92853063e-01 -7.67054243e-03 1.13590458e+02] [-7.92796977e-01 -6.09412759e-01 9.43625622e-03 7.14980090e+01] [-1.21560911e-02 3.31062599e-04 -9.99926057e-01 6.73003496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.64, Y:71.40, Z:6.73 [[ 6.67657195e-01 -7.44426525e-01 -7.93843364e-03 1.13641899e+02] [-7.44379577e-01 -6.67704309e-01 8.36668046e-03 7.13989503e+01] [-1.15289052e-02 3.23133471e-04 -9.99933488e-01 6.73087379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.70, Y:71.30, Z:6.73 [[ 7.21978325e-01 -6.91867257e-01 -8.18516292e-03 1.13696685e+02] [-6.91827707e-01 -7.22024653e-01 7.40443901e-03 7.12995346e+01] [-1.10327783e-02 3.16878013e-04 -9.99939087e-01 6.72926699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.69, Y:71.29, Z:6.73 [[ 7.72876481e-01 -6.34507517e-01 -7.88387381e-03 1.13687729e+02] [-6.34478432e-01 -7.72916632e-01 6.08269917e-03 7.12866141e+01] [-9.95309554e-03 3.00972768e-04 -9.99950421e-01 6.72892911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.68, Y:71.28, Z:6.73 [[ 8.19870487e-01 -5.72493385e-01 -7.98173273e-03 1.13680168e+02] [-5.72469689e-01 -8.19909287e-01 5.21690627e-03 7.12764824e+01] [-9.53094112e-03 2.92112572e-04 -9.99954537e-01 6.72884582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.67, Y:71.27, Z:6.73 [[ 8.62428148e-01 -5.06122076e-01 -7.62455100e-03 1.13673194e+02] [-5.06104948e-01 -8.62461812e-01 4.17198495e-03 7.12652724e+01] [-8.68741775e-03 2.60785727e-04 -9.99962230e-01 6.72722504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.67, Y:71.26, Z:6.73 [[ 8.99689656e-01 -4.36471328e-01 -7.16252385e-03 1.13667093e+02] [-4.36459518e-01 -8.99718137e-01 3.21912034e-03 7.12551515e+01] [-7.84930635e-03 2.29942431e-04 -9.99969167e-01 6.72619057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.66, Y:71.24, Z:6.73 [[ 9.31892447e-01 -3.62688101e-01 -5.81457607e-03 1.13661167e+02] [-3.62682152e-01 -9.31910572e-01 2.08397360e-03 7.12421441e+01] [-6.17449734e-03 1.66803705e-04 -9.99980924e-01 6.72600916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.960385723 meters Centerline goodness [0,1] 0.9999114593709189 Centerline is valid? [True, True] Translation: X:113.66, Y:71.23, Z:6.73 [[ 9.57675425e-01 -2.87783725e-01 -6.18931609e-03 1.13657320e+02] [-2.87778836e-01 -9.57695411e-01 1.68582748e-03 7.12292625e+01] [-6.41263333e-03 1.66678634e-04 -9.99979425e-01 6.72739617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.65, Y:71.22, Z:6.73 [[ 9.78177017e-01 -2.07693083e-01 -5.77125273e-03 1.13653548e+02] [-2.07690235e-01 -9.78194034e-01 1.09508051e-03 7.12156560e+01] [-5.87284563e-03 1.27450251e-04 -9.99982747e-01 6.72609469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.65, Y:71.21, Z:6.73 [[ 9.91663181e-01 -1.28708707e-01 -6.18092673e-03 1.13648487e+02] [-1.28706984e-01 -9.91682436e-01 6.77444912e-04 7.12050775e+01] [-6.21670953e-03 1.23731258e-04 -9.99980668e-01 6.72645640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.050385723 meters Centerline goodness [0,1] 0.9999114770061523 Centerline is valid? [True, True] Translation: X:113.64, Y:71.19, Z:6.73 [[ 9.98735958e-01 -4.96672455e-02 -7.72340958e-03 1.13644701e+02] [-4.96668908e-02 -9.98765810e-01 2.37840612e-04 7.11917751e+01] [-7.72569031e-03 1.46057769e-04 -9.99970146e-01 6.72758669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.64, Y:71.18, Z:6.73 [[ 9.99482802e-01 3.13041805e-02 -7.36048466e-03 1.13641847e+02] [ 3.13024472e-02 -9.99509897e-01 -3.50603943e-04 7.11777595e+01] [-7.36785263e-03 1.20021429e-04 -9.99972850e-01 6.72714813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.64, Y:71.17, Z:6.73 [[ 9.93885829e-01 1.10165594e-01 -7.38249764e-03 1.13639964e+02] [ 1.10161689e-01 -9.93913240e-01 -9.34711590e-04 7.11659321e+01] [-7.44053520e-03 1.15728193e-04 -9.99972312e-01 6.72696957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.64, Y:71.15, Z:6.73 [[ 9.82201694e-01 1.87671583e-01 -7.69483046e-03 1.13639893e+02] [ 1.87664851e-01 -9.82231827e-01 -1.59419140e-03 7.11518982e+01] [-7.85729181e-03 1.21768280e-04 -9.99969124e-01 6.72720462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.64, Y:71.14, Z:6.73 [[ 9.64694958e-01 2.63256530e-01 -7.72247457e-03 1.13639593e+02] [ 2.63247008e-01 -9.64725859e-01 -2.24285875e-03 7.11412270e+01] [-8.04051812e-03 1.30756205e-04 -9.99967666e-01 6.72797555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.200385723 meters Centerline goodness [0,1] 0.9999339846844468 Centerline is valid? [True, True] Translation: X:113.64, Y:71.13, Z:6.73 [[ 9.41410788e-01 3.37170714e-01 -7.85096143e-03 1.13640267e+02] [ 3.37157713e-01 -9.41443513e-01 -2.96441556e-03 7.11321632e+01] [-8.39075083e-03 1.43720590e-04 -9.99964787e-01 6.72798537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.64, Y:71.12, Z:6.73 [[ 9.13025511e-01 4.07842298e-01 -7.00539383e-03 1.13640111e+02] [ 4.07829033e-01 -9.13052374e-01 -3.29276736e-03 7.11241336e+01] [-7.73922127e-03 1.49377613e-04 -9.99970041e-01 6.72779995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.64, Y:71.11, Z:6.73 [[ 8.78794424e-01 4.77158059e-01 -6.36774323e-03 1.13644565e+02] [ 4.77144297e-01 -8.78817481e-01 -3.62705967e-03 7.11113052e+01] [-7.32676481e-03 1.49107447e-04 -9.99973148e-01 6.72687325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.65, Y:71.10, Z:6.73 [[ 8.39586059e-01 5.43205603e-01 -4.78773505e-03 1.13647015e+02] [ 5.43195905e-01 -8.39599701e-01 -3.24835124e-03 7.11016769e+01] [-5.78430351e-03 1.26592345e-04 -9.99983263e-01 6.72595215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.65, Y:71.09, Z:6.73 [[ 7.94714313e-01 6.06971093e-01 -3.90556691e-03 1.13652097e+02] [ 6.06963069e-01 -7.94723902e-01 -3.12289368e-03 7.10911338e+01] [-4.99935357e-03 1.11273430e-04 -9.99987497e-01 6.72511297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.66, Y:71.08, Z:6.72 [[ 7.44648381e-01 6.67447053e-01 -3.63601473e-03 1.13657351e+02] [ 6.67438367e-01 -7.44657250e-01 -3.40686269e-03 7.10806103e+01] [-4.98148519e-03 1.10099050e-04 -9.99987586e-01 6.72471268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.67, Y:71.07, Z:6.72 [[ 6.89732059e-01 7.24055478e-01 -3.65406076e-03 1.13666992e+02] [ 7.24044408e-01 -6.89741728e-01 -4.00552851e-03 7.10680902e+01] [-5.42058304e-03 1.17039171e-04 -9.99985302e-01 6.72475730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.68, Y:71.06, Z:6.73 [[ 6.29745626e-01 7.76793795e-01 -3.44193869e-03 1.13676985e+02] [ 7.76781204e-01 -6.29755022e-01 -4.42419076e-03 7.10556260e+01] [-5.60426211e-03 1.12481504e-04 -9.99984290e-01 6.72536163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.69, Y:71.04, Z:6.72 [[ 5.65661033e-01 8.24631806e-01 -3.15934345e-03 1.13690934e+02] [ 8.24617882e-01 -5.65669846e-01 -4.79323038e-03 7.10436923e+01] [-5.73979554e-03 1.06092544e-04 -9.99983522e-01 6.72466092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.70, Y:71.03, Z:6.73 [[ 4.99273142e-01 8.66440468e-01 -2.69170800e-03 1.13701706e+02] [ 8.66426753e-01 -4.99280388e-01 -4.87611162e-03 7.10333440e+01] [-5.56877744e-03 1.02343747e-04 -9.99984489e-01 6.72515807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.71, Y:71.03, Z:6.73 [[ 4.29959659e-01 9.02844867e-01 -2.41600250e-03 1.13713795e+02] [ 9.02829175e-01 -4.29966433e-01 -5.32422397e-03 7.10257412e+01] [-5.84574826e-03 1.07963976e-04 -9.99982908e-01 6.72564478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.73, Y:71.02, Z:6.73 [[ 3.58222016e-01 9.33634703e-01 -1.79674396e-03 1.13726881e+02] [ 9.33621538e-01 -3.58226508e-01 -4.95904346e-03 7.10170472e+01] [-5.27357639e-03 9.89596822e-05 -9.99986090e-01 6.72614262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.74, Y:71.01, Z:6.73 [[ 2.84254007e-01 9.58748160e-01 -1.27460215e-03 1.13738577e+02] [ 9.58737037e-01 -2.84256850e-01 -4.61923143e-03 7.10114663e+01] [-4.79099403e-03 9.10267480e-05 -9.99988519e-01 6.72647879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.75, Y:71.01, Z:6.73 [[ 2.08201319e-01 9.78085685e-01 -7.76693562e-04 1.13752484e+02] [ 9.78077422e-01 -2.08202753e-01 -4.02113567e-03 7.10064887e+01] [-4.09472497e-03 7.75393122e-05 -9.99991614e-01 6.72604180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.620385723 meters Centerline goodness [0,1] 0.9999351533622982 Centerline is valid? [True, True] Translation: X:113.77, Y:71.00, Z:6.73 [[ 1.30957675e-01 9.91387881e-01 -3.96859933e-04 1.13766175e+02] [ 9.91381650e-01 -1.30958259e-01 -3.51537050e-03 7.10027425e+01] [-3.53706780e-03 6.69250926e-05 -9.99993742e-01 6.72560725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.78, Y:71.00, Z:6.73 [[ 5.32293455e-02 9.98582307e-01 -1.16460485e-04 1.13778572e+02] [ 9.98576432e-01 -5.32294319e-02 -3.42592191e-03 7.09991855e+01] [-3.42726413e-03 6.60648850e-05 -9.99994125e-01 6.72557496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.79, Y:71.00, Z:6.73 [[-2.47556133e-02 9.99693526e-01 1.19478970e-04 1.13794471e+02] [ 9.99689915e-01 2.47558451e-02 -2.68755675e-03 7.09982618e+01] [-2.68969089e-03 5.29098053e-05 -9.99996381e-01 6.72571638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.81, Y:71.00, Z:6.73 [[-1.03231203e-01 9.94657335e-01 3.22522229e-04 1.13809119e+02] [ 9.94653906e-01 1.03231694e-01 -2.61227586e-03 7.09978888e+01] [-2.63161386e-03 5.11296155e-05 -9.99996536e-01 6.72630800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.82, Y:71.00, Z:6.73 [[-1.80904779e-01 9.83500477e-01 5.22746997e-04 1.13822540e+02] [ 9.83497139e-01 1.80905528e-01 -2.56288480e-03 7.09999393e+01] [-2.61516624e-03 5.04820672e-05 -9.99996579e-01 6.72633476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.770385723 meters Centerline goodness [0,1] 0.9999570879910743 Centerline is valid? [True, True] Translation: X:113.83, Y:71.00, Z:6.73 [[-2.56944449e-01 9.66425919e-01 7.01977272e-04 1.13833943e+02] [ 9.66422828e-01 2.56945403e-01 -2.44484292e-03 7.10010830e+01] [-2.54312939e-03 5.02180439e-05 -9.99996765e-01 6.72702841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.85, Y:71.01, Z:6.73 [[-3.31626424e-01 9.43410467e-01 7.78566915e-04 1.13851246e+02] [ 9.43408173e-01 3.31627335e-01 -2.08101386e-03 7.10063192e+01] [-2.22144433e-03 4.43872055e-05 -9.99997532e-01 6.72695580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.86, Y:71.01, Z:6.73 [[-4.04181203e-01 9.14678355e-01 1.03030237e-03 1.13863493e+02] [ 9.14675689e-01 4.04182513e-01 -2.20915609e-03 7.10100766e+01] [-2.43709746e-03 4.94931647e-05 -9.99997029e-01 6.72761654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.860385723 meters Centerline goodness [0,1] 0.9999571679444896 Centerline is valid? [True, True] Translation: X:113.88, Y:71.02, Z:6.73 [[-4.74276672e-01 8.80375118e-01 1.13605472e-03 1.13881605e+02] [ 8.80372828e-01 4.74278030e-01 -2.00824486e-03 7.10202932e+01] [-2.30681460e-03 4.76880130e-05 -9.99997338e-01 6.72747356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.89, Y:71.03, Z:6.73 [[-5.41715603e-01 8.40561244e-01 1.00045255e-03 1.13893496e+02] [ 8.40559935e-01 5.41716526e-01 -1.48393028e-03 7.10271682e+01] [-1.78929596e-03 3.70721434e-05 -9.99998399e-01 6.72719485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.91, Y:71.04, Z:6.73 [[-6.05718392e-01 7.95679096e-01 7.13915588e-05 1.13906242e+02] [ 7.95679091e-01 6.05718396e-01 -8.98607924e-05 7.10382042e+01] [-1.14743535e-04 2.37443591e-06 -9.99999993e-01 6.72628681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.92, Y:71.05, Z:6.73 [[-6.66303808e-01 7.45680300e-01 -3.55111858e-04 1.13917776e+02] [ 7.45680203e-01 6.66303902e-01 3.81133728e-04 7.10503630e+01] [ 5.20816329e-04 -1.08490279e-05 -9.99999864e-01 6.72614978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.980385723 meters Centerline goodness [0,1] 0.9999148845621875 Centerline is valid? [True, True] Translation: X:113.93, Y:71.06, Z:6.73 [[-7.22600992e-01 6.91265338e-01 -1.99862873e-04 1.13928299e+02] [ 6.91265313e-01 7.22601019e-01 1.83339004e-04 7.10629588e+01] [ 2.71157014e-04 -5.67732568e-06 -9.99999963e-01 6.72746918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.95, Y:71.09, Z:6.73 [[-7.70778554e-01 6.37103112e-01 -2.13787177e-04 1.13950285e+02] [ 6.37103089e-01 7.70778583e-01 1.70029750e-04 7.10854697e+01] [ 2.73109060e-04 -5.14918632e-06 -9.99999963e-01 6.72589491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.97, Y:71.11, Z:6.73 [[-8.14244319e-01 5.80521822e-01 -7.77164260e-04 1.13965739e+02] [ 5.80521578e-01 8.14244689e-01 5.32957459e-04 7.11132467e+01] [ 9.42195306e-04 -1.72030399e-05 -9.99999556e-01 6.72598605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.98, Y:71.14, Z:6.73 [[-8.54015351e-01 5.20244556e-01 -1.83898920e-03 1.13980057e+02] [ 5.20243439e-01 8.54017331e-01 1.07828178e-03 7.11426787e+01] [ 2.13149888e-03 -3.58528719e-05 -9.99997728e-01 6.72602679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.99, Y:71.17, Z:6.73 [[-8.88959418e-01 4.57980665e-01 -2.20536150e-03 1.13989971e+02] [ 4.57979367e-01 8.88962153e-01 1.09106774e-03 7.11717801e+01] [ 2.46017084e-03 -4.00951167e-05 -9.99996973e-01 6.72596052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.00, Y:71.20, Z:6.73 [[-9.19406559e-01 3.93306702e-01 -1.19104587e-03 1.13997638e+02] [ 3.93306400e-01 9.19407330e-01 4.87478772e-04 7.12004123e+01] [ 1.28678497e-03 -2.02547821e-05 -9.99999172e-01 6.72676407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.160385723 meters Centerline goodness [0,1] 0.9998732197946161 Centerline is valid? [True, True] Translation: X:114.00, Y:71.23, Z:6.73 [[-9.44783500e-01 3.27695121e-01 -2.13026071e-04 1.14002574e+02] [ 3.27695114e-01 9.44783524e-01 6.99828560e-05 7.12292420e+01] [ 2.24196563e-04 -3.68895499e-06 -9.99999975e-01 6.72914185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.19, Y:71.80, Z:5.75 [[-9.32642347e-01 -3.60800869e-01 -9.93161664e-04 1.14189461e+02] [ 3.60800704e-01 -9.32642875e-01 3.46222262e-04 7.18000791e+01] [-1.05118244e-03 -3.54318848e-05 9.99999447e-01 5.75317576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.96, Y:71.25, Z:6.73 [[-9.46206787e-01 3.23560978e-01 -1.00511398e-03 1.13955367e+02] [ 3.23560814e-01 9.46207320e-01 3.26355242e-04 7.12455928e+01] [ 1.05664203e-03 -1.64159523e-05 -9.99999442e-01 6.72709197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.14, Y:71.81, Z:5.75 [[-9.33780667e-01 -3.57843967e-01 -1.16711217e-03 1.14140767e+02] [ 3.57843678e-01 -9.33781396e-01 4.54764309e-04 7.18130155e+01] [-1.25256230e-03 7.00640762e-06 9.99999216e-01 5.75293016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.91, Y:71.26, Z:6.73 [[-9.47814595e-01 3.18821583e-01 -5.40166132e-04 1.13907273e+02] [ 3.18821536e-01 9.47814749e-01 1.73304954e-04 7.12613172e+01] [ 5.67230786e-04 -7.95563101e-06 -9.99999839e-01 6.72749084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.91, Y:71.29, Z:6.73 [[-9.68318981e-01 2.49713828e-01 -1.16439858e-03 1.13912515e+02] [ 2.49713667e-01 9.68319681e-01 2.83979326e-04 7.12920225e+01] [ 1.19842362e-03 -1.57836667e-05 -9.99999282e-01 6.72756879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.91, Y:71.32, Z:6.73 [[-9.83717044e-01 1.79721297e-01 -1.01668881e-03 1.13909737e+02] [ 1.79721215e-01 9.83717569e-01 1.72659642e-04 7.13213212e+01] [ 1.03116526e-03 -1.28723144e-05 -9.99999468e-01 6.72710368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.91, Y:71.35, Z:6.73 [[-9.93982220e-01 1.09536364e-01 -1.06403928e-03 1.13907244e+02] [ 1.09536316e-01 9.93982789e-01 1.03653716e-04 7.13494066e+01] [ 1.06899059e-03 -1.35209924e-05 -9.99999429e-01 6.72656876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.97, Y:71.95, Z:5.75 [[-9.88640435e-01 -1.50297127e-01 -9.29759214e-04 1.13965643e+02] [ 1.50297042e-01 -9.88640872e-01 1.61581933e-04 7.19453716e+01] [-9.43483260e-04 2.00063731e-05 9.99999555e-01 5.75346115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.85, Y:71.35, Z:6.73 [[-9.94277324e-01 1.06828628e-01 -4.97835438e-04 1.13848728e+02] [ 1.06828618e-01 9.94277448e-01 4.65353487e-05 7.13544854e+01] [ 4.99957856e-04 -6.91402983e-06 -9.99999875e-01 6.72716271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.84, Y:71.38, Z:6.73 [[-9.99261512e-01 3.84241895e-02 -1.09489257e-04 1.13843581e+02] [ 3.84241894e-02 9.99261518e-01 2.60303201e-06 7.13816782e+01] [ 1.09508421e-04 -1.60592629e-06 -9.99999994e-01 6.72746254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.86, Y:71.99, Z:5.75 [[-9.97525131e-01 -7.03108245e-02 -2.57006948e-05 1.13857557e+02] [ 7.03108243e-02 -9.97525132e-01 7.36687483e-06 7.19871954e+01] [-2.61550600e-05 5.54160577e-06 1.00000000e+00 5.75342565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.78, Y:71.38, Z:6.73 [[-9.99301878e-01 3.73598066e-02 -3.31120674e-05 1.13776783e+02] [ 3.73598066e-02 9.99301879e-01 7.83224734e-07 7.13784874e+01] [ 3.31182123e-05 -4.54382509e-07 -1.00000000e+00 6.72623581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.79, Y:71.99, Z:5.75 [[-9.98122771e-01 -6.12448101e-02 -8.82523690e-05 1.13788709e+02] [ 6.12448100e-02 -9.98122775e-01 3.50505192e-06 7.19922039e+01] [-8.83013657e-05 -1.90652742e-06 9.99999996e-01 5.75376622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.71, Y:71.38, Z:6.73 [[-9.99340045e-01 3.63236339e-02 -2.59914897e-04 1.13708097e+02] [ 3.63236343e-02 9.99340079e-01 3.46450340e-06 7.13756391e+01] [ 2.59869217e-04 -5.97883669e-06 -9.99999966e-01 6.72642159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.70, Y:71.41, Z:6.73 [[-9.99403755e-01 -3.45256764e-02 3.34768277e-04 1.13701849e+02] [-3.45256717e-02 9.99403811e-01 1.99574771e-05 7.14057957e+01] [-3.35257737e-04 8.38747795e-06 -9.99999944e-01 6.72733743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.66, Y:72.02, Z:5.75 [[-9.99878298e-01 1.55828410e-02 7.51103417e-04 1.13664623e+02] [-1.55828296e-02 -9.99878580e-01 2.09768229e-05 7.20230701e+01] [ 7.51339097e-04 9.26995343e-06 9.99999718e-01 5.75249899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.61, Y:71.40, Z:6.73 [[-9.99165603e-01 -4.08277356e-02 1.09268569e-03 1.13613712e+02] [-4.08276830e-02 9.99166200e-01 7.03637883e-05 7.13980664e+01] [-1.09464741e-03 2.56932518e-05 -9.99999401e-01 6.72786474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.60, Y:71.43, Z:6.73 [[-9.93621265e-01 -1.12759706e-01 1.42496776e-03 1.13600766e+02] [-1.12759543e-01 9.93622286e-01 1.94423537e-04 7.14255310e+01] [-1.43780286e-03 3.25046475e-05 -9.99998966e-01 6.72730437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.730385723 meters Centerline goodness [0,1] 0.9999788940481216 Centerline is valid? [True, True] Translation: X:113.51, Y:72.04, Z:5.75 [[-9.95937169e-01 9.00400049e-02 1.39750165e-03 1.13513081e+02] [-9.00399643e-02 -9.95938149e-01 9.20219669e-05 7.20442033e+01] [ 1.40011086e-03 -3.41829014e-05 9.99999019e-01 5.75285232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.49, Y:71.41, Z:6.73 [[-9.92672328e-01 -1.20823753e-01 1.80858054e-03 1.13492734e+02] [-1.20823483e-01 9.92673974e-01 2.57927832e-04 7.14115339e+01] [-1.82649464e-03 3.75188210e-05 -9.99998331e-01 6.72806295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.47, Y:71.44, Z:6.73 [[-9.81318126e-01 -1.92374719e-01 2.58925951e-03 1.13468836e+02] [-1.92373908e-01 9.81321540e-01 5.60859449e-04 7.14374475e+01] [-2.64879131e-03 5.22755715e-05 -9.99996491e-01 6.72873367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.44, Y:71.46, Z:6.73 [[-9.64693071e-01 -2.63359133e-01 3.04055396e-03 1.13436120e+02] [-2.63357630e-01 9.64697861e-01 8.91833142e-04 7.14592854e+01] [-3.16808830e-03 5.95921690e-05 -9.99994980e-01 6.72894468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.38, Y:71.47, Z:6.73 [[-9.42862524e-01 -3.33165505e-01 3.31766917e-03 1.13382361e+02] [-3.33163199e-01 9.42868359e-01 1.24141725e-03 7.14704290e+01] [-3.54172269e-03 6.51605340e-05 -9.99993726e-01 6.72875761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.32, Y:71.47, Z:6.73 [[-9.15449963e-01 -4.02424809e-01 2.37444215e-03 1.13317117e+02] [-4.02423324e-01 9.15453042e-01 1.09404194e-03 7.14734087e+01] [-2.61395991e-03 4.60097494e-05 -9.99996583e-01 6.72726994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.24, Y:71.47, Z:6.73 [[-8.82888274e-01 -4.69578668e-01 2.04229022e-03 1.13243232e+02] [-4.69577308e-01 8.82890635e-01 1.13096421e-03 7.14685124e+01] [-2.33419557e-03 3.95018970e-05 -9.99997275e-01 6.72711475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.16, Y:71.45, Z:6.73 [[-8.44920646e-01 -5.34888483e-01 1.84764652e-03 1.13159277e+02] [-5.34887114e-01 8.44922665e-01 1.21052452e-03 7.14533787e+01] [-2.20861405e-03 3.45148457e-05 -9.99997560e-01 6.72761680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9703857229999 meters Centerline goodness [0,1] 0.9998512790005949 Centerline is valid? [True, True] Translation: X:113.08, Y:71.43, Z:6.73 [[-8.02830314e-01 -5.96204454e-01 1.93299501e-03 1.13075437e+02] [-5.96202608e-01 8.02832640e-01 1.48430339e-03 7.14295282e+01] [-2.43681978e-03 3.91870926e-05 -9.99997030e-01 6.73016215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.99, Y:71.39, Z:6.73 [[-7.55647964e-01 -6.54974138e-01 2.24324990e-03 1.12989771e+02] [-6.54971063e-01 7.55651292e-01 2.00758368e-03 7.13903812e+01] [-3.01003008e-03 4.77627495e-05 -9.99995469e-01 6.72720187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.90, Y:71.34, Z:6.73 [[-7.04380457e-01 -7.09820314e-01 1.81485780e-03 1.12900699e+02] [-7.09817801e-01 7.04382794e-01 1.88928235e-03 7.13437530e+01] [-2.61940560e-03 4.25551883e-05 -9.99996569e-01 6.72622463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.81, Y:71.29, Z:6.73 [[-6.49325433e-01 -7.60508581e-01 1.78364304e-03 1.12814112e+02] [-7.60505506e-01 6.49327881e-01 2.16296999e-03 7.12858169e+01] [-2.80312639e-03 4.80010729e-05 -9.99996070e-01 6.72648730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.72, Y:71.22, Z:6.73 [[-5.90144127e-01 -8.07295942e-01 1.78067231e-03 1.12724730e+02] [-8.07291987e-01 5.90146811e-01 2.52775259e-03 7.12190601e+01] [-3.09150249e-03 5.42158566e-05 -9.99995220e-01 6.72730302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.64, Y:71.14, Z:6.73 [[-5.27056409e-01 -8.49827950e-01 1.99946792e-03 1.12640349e+02] [-8.49821336e-01 5.27060197e-01 3.35340573e-03 7.11434513e+01] [-3.90365787e-03 6.82434812e-05 -9.99992378e-01 6.72843831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.56, Y:71.06, Z:6.73 [[-4.60075601e-01 -8.87876705e-01 2.32323542e-03 1.12562137e+02] [-8.87864414e-01 4.60081459e-01 4.67269544e-03 7.10585493e+01] [-5.21765497e-03 8.70751114e-05 -9.99986384e-01 6.73006811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.49, Y:70.96, Z:6.73 [[-3.90220483e-01 -9.20719264e-01 2.00272920e-03 1.12489516e+02] [-9.20706004e-01 3.90225613e-01 4.94212749e-03 7.09639146e+01] [-5.33182822e-03 8.45945744e-05 -9.99985782e-01 6.72972706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.43, Y:70.87, Z:6.73 [[-3.17762081e-01 -9.48169163e-01 1.58082758e-03 1.12425803e+02] [-9.48156187e-01 3.17766004e-01 4.96108332e-03 7.08650945e+01] [-5.20627948e-03 7.75727060e-05 -9.99986444e-01 6.72897699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.37, Y:70.76, Z:6.73 [[-2.43964913e-01 -9.69783261e-01 1.24440667e-03 1.12367005e+02] [-9.69768943e-01 2.43968074e-01 5.27028822e-03 7.07558773e+01] [-5.41463279e-03 7.89784694e-05 -9.99985338e-01 6.72945612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.32, Y:70.65, Z:6.73 [[-1.69060171e-01 -9.85605351e-01 8.66041660e-04 1.12316384e+02] [-9.85589798e-01 1.69062369e-01 5.53767049e-03 7.06467139e+01] [-5.60437273e-03 8.26376981e-05 -9.99984292e-01 6.73002474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.27, Y:70.53, Z:6.73 [[-9.28196061e-02 -9.95682854e-01 4.17935915e-04 1.12274599e+02] [-9.95668623e-01 9.28205142e-02 5.32396405e-03 7.05279091e+01] [-5.33977275e-03 7.80425686e-05 -9.99985740e-01 6.73060644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.24, Y:70.41, Z:6.73 [[-1.58718448e-02 -9.99874034e-01 8.64149469e-06 1.12242271e+02] [-9.99857584e-01 1.58716333e-02 5.73616702e-03 7.04060468e+01] [-5.73558161e-03 8.24032889e-05 -9.99983548e-01 6.73057270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.360385723 meters Centerline goodness [0,1] 0.9999568844719425 Centerline is valid? [True, True] Translation: X:112.22, Y:70.29, Z:6.73 [[ 6.21832079e-02 -9.98064685e-01 -3.65253318e-04 1.12221574e+02] [-9.98052946e-01 -6.21842482e-02 4.84112112e-03 7.02880355e+01] [-4.85446503e-03 6.35057089e-05 -9.99988215e-01 6.72946930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.390385723 meters Centerline goodness [0,1] 0.9999567707770453 Centerline is valid? [True, True] Translation: X:112.21, Y:70.16, Z:6.73 [[ 1.39752195e-01 -9.90186248e-01 -7.19479001e-04 1.12208750e+02] [-9.90175134e-01 -1.39754035e-01 4.69181315e-03 7.01568244e+01] [-4.74631896e-03 5.67190314e-05 -9.99988735e-01 6.72900062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.20, Y:70.04, Z:6.73 [[ 2.16887950e-01 -9.76195886e-01 -1.09955034e-03 1.12201655e+02] [-9.76184488e-01 -2.16890731e-01 4.71765447e-03 7.00398274e+01] [-4.84383716e-03 5.01615780e-05 -9.99988267e-01 6.72901447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.450385723 meters Centerline goodness [0,1] 0.999978349823551 Centerline is valid? [True, True] Translation: X:112.21, Y:69.91, Z:6.73 [[ 2.94337043e-01 -9.55700397e-01 -1.56709948e-03 1.12206657e+02] [-9.55687504e-01 -2.94341213e-01 4.96438496e-03 6.99110306e+01] [-5.20572664e-03 3.64549981e-05 -9.99986450e-01 6.73037261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.480385723 meters Centerline goodness [0,1] 0.9998493651818378 Centerline is valid? [True, True] Translation: X:112.22, Y:69.79, Z:6.73 [[ 3.67573697e-01 -9.29992165e-01 -2.03713521e-03 1.12219753e+02] [-9.29978384e-01 -3.67579340e-01 5.06295331e-03 6.97917746e+01] [-5.45731573e-03 3.34832462e-05 -9.99985108e-01 6.73378423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.25, Y:69.67, Z:6.73 [[ 4.40666646e-01 -8.97667264e-01 -2.52805882e-03 1.12245917e+02] [-8.97652707e-01 -4.40673897e-01 5.11220137e-03 6.96703614e+01] [-5.70310535e-03 1.65422137e-05 -9.99983737e-01 6.72961533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.540385723 meters Centerline goodness [0,1] 0.9999783559153284 Centerline is valid? [True, True] Translation: X:112.28, Y:69.55, Z:6.73 [[ 5.09092899e-01 -8.60706828e-01 -2.85941854e-03 1.12278879e+02] [-8.60693360e-01 -5.09100929e-01 4.81496490e-03 6.95519394e+01] [-5.60000580e-03 9.81811362e-06 -9.99984320e-01 6.72970236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.32, Y:69.44, Z:6.73 [[ 5.74693520e-01 -8.18361086e-01 -3.53438283e-03 1.12320021e+02] [-8.18345624e-01 -5.74704388e-01 5.03059143e-03 6.94402909e+01] [-6.14806559e-03 1.29842972e-06 -9.99981101e-01 6.73080374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.37, Y:69.34, Z:6.73 [[ 6.36132706e-01 -7.71569079e-01 -4.04185324e-03 1.12365118e+02] [-7.71553467e-01 -6.36145546e-01 4.90822934e-03 6.93365369e+01] [-6.35824493e-03 -3.77933107e-06 -9.99979786e-01 6.73093568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.42, Y:69.24, Z:6.73 [[ 6.93609336e-01 -7.20337341e-01 -4.49484976e-03 1.12418088e+02] [-7.20322138e-01 -6.93623900e-01 4.68002004e-03 6.92364470e+01] [-6.48892841e-03 -8.36580207e-06 -9.99978947e-01 6.73130956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.660385723 meters Centerline goodness [0,1] 0.9998472249503481 Centerline is valid? [True, True] Translation: X:112.48, Y:69.14, Z:6.73 [[ 7.46658018e-01 -6.65189774e-01 -4.93646113e-03 1.12479029e+02] [-6.65175139e-01 -7.46674337e-01 4.41243809e-03 6.91446123e+01] [-6.62103754e-03 -1.09710629e-05 -9.99978081e-01 6.73442532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.48, Y:69.14, Z:6.73 [[ 7.96807217e-01 -6.04212419e-01 -5.06092371e-03 1.12476729e+02] [-6.04200110e-01 -7.96823289e-01 3.85673279e-03 6.91390388e+01] [-6.36294772e-03 -1.52618607e-05 -9.99979756e-01 6.73090858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7203857229999 meters Centerline goodness [0,1] 0.9999561422744616 Centerline is valid? [True, True] Translation: X:112.48, Y:69.14, Z:6.73 [[ 8.41152434e-01 -5.40766907e-01 -5.80819866e-03 1.12476466e+02] [-5.40753927e-01 -8.41172487e-01 3.74684771e-03 6.91362763e+01] [-6.91186816e-03 -1.08638434e-05 -9.99976113e-01 6.73081763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.47, Y:69.13, Z:6.73 [[ 8.80570270e-01 -4.73871108e-01 -6.49408854e-03 1.12472931e+02] [-4.73858160e-01 -8.80594216e-01 3.50307618e-03 6.91284619e+01] [-7.37866340e-03 -7.42789609e-06 -9.99972777e-01 6.73084492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.780385723 meters Centerline goodness [0,1] 0.9999779366340129 Centerline is valid? [True, True] Translation: X:112.47, Y:69.12, Z:6.73 [[ 9.14636288e-01 -4.04207671e-01 -7.52458004e-03 1.12470374e+02] [-4.04193967e-01 -9.14667239e-01 3.32847044e-03 6.91209666e+01] [-8.22788014e-03 -2.94999673e-06 -9.99966150e-01 6.73124787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.47, Y:69.12, Z:6.73 [[ 9.42970052e-01 -3.32779957e-01 -8.06106911e-03 1.12468565e+02] [-3.32767880e-01 -9.43004507e-01 2.83511699e-03 6.91166336e+01] [-8.54509461e-03 9.03446493e-06 -9.99963490e-01 6.73239046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.47, Y:69.11, Z:6.73 [[ 9.65830977e-01 -2.59048960e-01 -8.01001551e-03 1.12466916e+02] [-2.59040198e-01 -9.65864191e-01 2.13068595e-03 6.91099253e+01] [-8.28853913e-03 1.70335084e-05 -9.99965649e-01 6.73225669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.870385723 meters Centerline goodness [0,1] 0.9999330461758208 Centerline is valid? [True, True] Translation: X:112.46, Y:69.11, Z:6.73 [[ 9.82638038e-01 -1.85369800e-01 -7.77969607e-03 1.12463863e+02] [-1.85364301e-01 -9.82668833e-01 1.42828491e-03 6.91074488e+01] [-7.90962575e-03 3.85908398e-05 -9.99968718e-01 6.73092803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.46, Y:69.10, Z:6.73 [[ 9.93971436e-01 -1.09367932e-01 -7.70968285e-03 1.12457662e+02] [-1.09365029e-01 -9.94001335e-01 7.98465353e-04 6.91026621e+01] [-7.75076155e-03 4.95179349e-05 -9.99969961e-01 6.73085852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.45, Y:69.10, Z:6.73 [[ 9.99435579e-01 -3.26997789e-02 -7.69726428e-03 1.12452601e+02] [-3.26992765e-02 -9.99465217e-01 1.91150743e-04 6.90970012e+01] [-7.69939851e-03 6.06521194e-05 -9.99970357e-01 6.72982042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.45, Y:69.09, Z:6.73 [[ 9.98955393e-01 4.53248347e-02 -5.81231794e-03 1.12447934e+02] [ 4.53237905e-02 -9.98972301e-01 -3.11315407e-04 6.90887231e+01] [-5.82045494e-03 4.75539243e-05 -9.99983060e-01 6.72846076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.44, Y:69.08, Z:6.73 [[ 9.92182779e-01 1.24688409e-01 -5.11219210e-03 1.12443167e+02] [ 1.24686570e-01 -9.92195948e-01 -6.78178359e-04 6.90770433e+01] [-5.15685727e-03 3.54551916e-05 -9.99986703e-01 6.72885202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.44, Y:69.07, Z:6.73 [[ 9.78932694e-01 2.04118992e-01 -5.12031502e-03 1.12438786e+02] [ 2.04116068e-01 -9.78946085e-01 -1.09285023e-03 6.90654331e+01] [-5.23558383e-03 2.46882541e-05 -9.99986294e-01 6.72989574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.44, Y:69.06, Z:6.73 [[ 9.59730159e-01 2.80870642e-01 -5.45016939e-03 1.12436171e+02] [ 2.80865981e-01 -9.59745634e-01 -1.61825711e-03 6.90561081e+01] [-5.68529719e-03 2.23229839e-05 -9.99983838e-01 6.73012207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.43, Y:69.05, Z:6.73 [[ 9.34669943e-01 3.55474929e-01 -5.44722056e-03 1.12434044e+02] [ 3.55468762e-01 -9.34685816e-01 -2.09402391e-03 6.90471889e+01] [-5.83581280e-03 2.09044525e-05 -9.99982971e-01 6.72966515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.43, Y:69.04, Z:6.73 [[ 9.03973281e-01 4.27556511e-01 -5.26657493e-03 1.12432394e+02] [ 4.27549121e-01 -9.03988622e-01 -2.51403844e-03 6.90374793e+01] [-5.83581732e-03 2.09040964e-05 -9.99982971e-01 6.72966519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.43, Y:69.03, Z:6.73 [[ 8.67790464e-01 4.96909324e-01 -4.56454172e-03 1.12430522e+02] [ 4.96902332e-01 -8.67802468e-01 -2.63610291e-03 6.90279492e+01] [-5.27102468e-03 1.94535428e-05 -9.99986108e-01 6.72934678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.43, Y:69.01, Z:6.73 [[ 8.26335427e-01 5.63162801e-01 -4.17386413e-03 1.12433572e+02] [ 5.63155496e-01 -8.26345968e-01 -2.86855252e-03 6.90146385e+01] [-5.06451787e-03 1.98520548e-05 -9.99987175e-01 6.72882082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.44, Y:69.00, Z:6.73 [[ 7.80464949e-01 6.25181544e-01 -4.74345536e-03 1.12437069e+02] [ 6.25169752e-01 -7.80479363e-01 -3.83994714e-03 6.90005204e+01] [-6.10283310e-03 3.14793316e-05 -9.99981377e-01 6.73098726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.44, Y:68.99, Z:6.73 [[ 7.29231220e-01 6.84250232e-01 -4.84227106e-03 1.12440334e+02] [ 6.84234821e-01 -7.29247296e-01 -4.59245196e-03 6.89895806e+01] [-6.67359940e-03 3.57088760e-05 -9.99977731e-01 6.73157871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.45, Y:68.98, Z:6.73 [[ 6.74990168e-01 7.37811751e-01 -4.70041292e-03 1.12445669e+02] [ 7.37793320e-01 -6.75006531e-01 -5.21540162e-03 6.89780415e+01] [-7.02079403e-03 5.24115609e-05 -9.99975353e-01 6.73106751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.45, Y:68.97, Z:6.73 [[ 6.16429466e-01 7.87398108e-01 -4.35129541e-03 1.12449126e+02] [ 7.87377747e-01 -6.16444820e-01 -5.66285404e-03 6.89671854e+01] [-7.14125407e-03 6.46369154e-05 -9.99974499e-01 6.73151932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.45, Y:68.96, Z:6.73 [[ 5.56152718e-01 8.31069279e-01 -4.24366279e-03 1.12451393e+02] [ 8.31043685e-01 -5.56168899e-01 -6.52299592e-03 6.89593186e+01] [-7.78125477e-03 1.01112748e-04 -9.99969721e-01 6.73261272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.46, Y:68.95, Z:6.73 [[ 4.91056063e-01 8.71119829e-01 -3.76647943e-03 1.12459895e+02] [ 8.71092343e-01 -4.91070494e-01 -6.92093639e-03 6.89478434e+01] [-7.87857184e-03 1.17616381e-04 -9.99968957e-01 6.73281447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.47, Y:68.94, Z:6.73 [[ 4.23765350e-01 9.05767015e-01 -3.00729474e-03 1.12466102e+02] [ 9.05741984e-01 -4.23776000e-01 -6.73494906e-03 6.89382976e+01] [-7.37471404e-03 1.30204940e-04 -9.99972798e-01 6.73263912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.410385723 meters Centerline goodness [0,1] 0.9999553491694946 Centerline is valid? [True, True] Translation: X:112.47, Y:68.93, Z:6.73 [[ 3.52333917e-01 9.35871635e-01 -2.25710519e-03 1.12473079e+02] [ 9.35850105e-01 -3.52341124e-01 -6.34926723e-03 6.89293517e+01] [-6.73737008e-03 1.24750066e-04 -9.99977296e-01 6.73168697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.48, Y:68.92, Z:6.73 [[ 2.79243383e-01 9.60218955e-01 -1.64065084e-03 1.12479369e+02] [ 9.60199656e-01 -2.79248174e-01 -6.08914845e-03 6.89194957e+01] [-6.30506451e-03 1.25002039e-04 -9.99980115e-01 6.73059250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.49, Y:68.91, Z:6.73 [[ 2.03267281e-01 9.79122685e-01 -1.08597457e-03 1.12486622e+02] [ 9.79105452e-01 -2.03270148e-01 -5.81032927e-03 6.89100979e+01] [-5.90977141e-03 1.17766208e-04 -9.99982530e-01 6.73105252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.50, Y:68.90, Z:6.73 [[ 1.24970268e-01 9.92160320e-01 -5.76019644e-04 1.12500116e+02] [ 9.92145646e-01 -1.24971553e-01 -5.39708316e-03 6.89024979e+01] [-5.42675783e-03 1.02979547e-04 -9.99985270e-01 6.73068939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.530385723 meters Centerline goodness [0,1] 0.999955450617009 Centerline is valid? [True, True] Translation: X:112.51, Y:68.90, Z:6.73 [[ 4.38868116e-02 9.99036495e-01 -1.74515118e-04 1.12511866e+02] [ 9.99016947e-01 -4.38870447e-02 -6.25030687e-03 6.88951720e+01] [-6.25194362e-03 9.99624797e-05 -9.99980451e-01 6.73156391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.53, Y:68.89, Z:6.73 [[-3.77552950e-02 9.99286944e-01 3.77365305e-04 1.12525365e+02] [ 9.99259016e-01 3.77570613e-02 -7.47155389e-03 6.88893153e+01] [-7.48047445e-03 9.49949617e-05 -9.99972016e-01 6.73311164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5903857229999 meters Centerline goodness [0,1] 0.9999778231171826 Centerline is valid? [True, True] Translation: X:112.53, Y:68.88, Z:6.73 [[-1.16868549e-01 9.93146902e-01 9.86707526e-04 1.12534946e+02] [ 9.93117731e-01 1.16872679e-01 -7.61245160e-03 6.88835539e+01] [-7.67560188e-03 9.02605653e-05 -9.99970538e-01 6.73425839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.54, Y:68.88, Z:6.73 [[-1.94957838e-01 9.80810171e-01 1.68843292e-03 1.12544378e+02] [ 9.80777333e-01 1.94965128e-01 -8.02635821e-03 6.88787224e+01] [-8.20151930e-03 9.11752926e-05 -9.99966363e-01 6.73406195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.56, Y:68.88, Z:6.73 [[-2.70829021e-01 9.62624885e-01 2.23003393e-03 1.12556079e+02] [ 9.62594967e-01 2.70838187e-01 -7.58984453e-03 6.88752686e+01] [-7.91015156e-03 9.10692668e-05 -9.99968710e-01 6.73388970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.57, Y:68.87, Z:6.73 [[-3.44729744e-01 9.38697694e-01 2.83613617e-03 1.12566249e+02] [ 9.38668209e-01 3.44741397e-01 -7.44061977e-03 6.88713463e+01] [-7.96222616e-03 9.71879026e-05 -9.99968296e-01 6.73468669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.57, Y:68.87, Z:6.73 [[-4.15468144e-01 9.09602072e-01 3.20828807e-03 1.12574601e+02] [ 9.09576885e-01 4.15480517e-01 -6.76984191e-03 6.88685602e+01] [-7.49084341e-03 1.05531016e-04 -9.99971938e-01 6.73333613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.58, Y:68.87, Z:6.73 [[-4.84767346e-01 8.74636141e-01 3.49876595e-03 1.12583638e+02] [ 8.74614895e-01 4.84779960e-01 -6.09714322e-03 6.88654114e+01] [-7.02891344e-03 1.04376879e-04 -9.99975291e-01 6.73271529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.59, Y:68.86, Z:6.73 [[-5.50819252e-01 8.34616928e-01 3.56867134e-03 1.12593001e+02] [ 8.34600589e-01 5.50830803e-01 -5.22329547e-03 6.88620068e+01] [-6.32518492e-03 1.01323498e-04 -9.99979991e-01 6.73282278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.61, Y:68.86, Z:6.73 [[-6.14004407e-01 7.89291847e-01 4.11927617e-03 1.12606481e+02] [ 7.89275266e-01 6.14018215e-01 -5.11718396e-03 6.88641639e+01] [-6.56826218e-03 1.09269295e-04 -9.99978423e-01 6.73258766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.62, Y:68.86, Z:6.73 [[-6.73672725e-01 7.39016496e-01 4.43601053e-03 1.12616309e+02] [ 7.39001539e-01 6.73687321e-01 -4.70294124e-03 6.88639973e+01] [-6.46403521e-03 1.09975370e-04 -9.99979102e-01 6.73375252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.62, Y:68.86, Z:6.73 [[-7.29184620e-01 6.84304607e-01 4.12249759e-03 1.12624450e+02] [ 6.84294418e-01 7.29196267e-01 -3.73541274e-03 6.88632490e+01] [-5.56227000e-03 9.71965669e-05 -9.99984526e-01 6.73278963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.65, Y:68.88, Z:6.73 [[-7.75999787e-01 6.30718459e-01 4.30763954e-03 1.12654184e+02] [ 6.30709408e-01 7.76011737e-01 -3.38038972e-03 6.88789819e+01] [-5.47485304e-03 9.36870844e-05 -9.99985009e-01 6.73198284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.67, Y:68.90, Z:6.73 [[-8.19623592e-01 5.72877314e-01 5.36197070e-03 1.12671235e+02] [ 5.72865850e-01 8.19641125e-01 -3.62556741e-03 6.89013348e+01] [-6.47189702e-03 1.00089322e-04 -9.99979052e-01 6.73263754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.69, Y:68.93, Z:6.73 [[-8.58594561e-01 5.12624745e-01 5.59028175e-03 1.12691323e+02] [ 5.12614587e-01 8.58612755e-01 -3.22850213e-03 6.89254573e+01] [-6.45489729e-03 9.36855982e-05 -9.99979163e-01 6.73190616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.71, Y:68.95, Z:6.73 [[-8.93188630e-01 4.49657726e-01 4.69046080e-03 1.12707944e+02] [ 4.49651940e-01 8.93200943e-01 -2.28220598e-03 6.89522284e+01] [-5.21573556e-03 7.06343624e-05 -9.99986396e-01 6.73097855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.72, Y:68.98, Z:6.73 [[-9.22865614e-01 3.85096392e-01 4.45291862e-03 1.12722513e+02] [ 3.85092244e-01 9.22876354e-01 -1.78852661e-03 6.89765467e+01] [-4.79824844e-03 6.42147149e-05 -9.99988486e-01 6.73128212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.73, Y:69.01, Z:6.73 [[-9.47809919e-01 3.18801864e-01 4.66143211e-03 1.12726804e+02] [ 3.18798343e-01 9.47821379e-01 -1.49981327e-03 6.90058021e+01] [-4.89634828e-03 6.45189424e-05 -9.99988011e-01 6.73120943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.75, Y:69.03, Z:6.73 [[-9.67968435e-01 2.51011232e-01 5.52001348e-03 1.12745790e+02] [ 2.51007598e-01 9.67984171e-01 -1.35282540e-03 6.90325114e+01] [-5.68286005e-03 7.60730389e-05 -9.99983850e-01 6.73148201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.95, Y:69.80, Z:5.75 [[-9.57007698e-01 -2.89980727e-01 6.88797332e-03 1.12948028e+02] [ 2.89973213e-01 -9.57032485e-01 -2.08757396e-03 6.98016918e+01] [ 7.19737043e-03 -4.96596317e-07 9.99974099e-01 5.74845469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.70, Y:69.04, Z:6.73 [[-9.68838470e-01 2.47593026e-01 7.05077421e-03 1.12700832e+02] [ 2.47587218e-01 9.68864120e-01 -1.69882792e-03 6.90418204e+01] [-7.25186010e-03 9.97917295e-05 -9.99973700e-01 6.73162294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.71, Y:69.07, Z:6.73 [[-9.83862258e-01 1.78807481e-01 6.55298920e-03 1.12705918e+02] [ 1.78804159e-01 9.83884076e-01 -1.09416700e-03 6.90703819e+01] [-6.64302697e-03 9.51921049e-05 -9.99977930e-01 6.73127142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.84, Y:69.86, Z:5.75 [[-9.76532844e-01 -2.15290141e-01 5.81038403e-03 1.12841974e+02] [ 2.15285553e-01 -9.76550121e-01 -1.41129352e-03 6.98562508e+01] [ 5.97796881e-03 -1.27282738e-04 9.99982124e-01 5.74945740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.65, Y:69.08, Z:6.73 [[-9.84149266e-01 1.77239211e-01 6.04027268e-03 1.12648631e+02] [ 1.77236526e-01 9.84167796e-01 -9.81181293e-04 6.90791310e+01] [-6.11854565e-03 1.04928099e-04 -9.99981276e-01 6.73120013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.78, Y:69.87, Z:5.75 [[-9.77921466e-01 -2.08879204e-01 6.25181539e-03 1.12778081e+02] [ 2.08874337e-01 -9.77941445e-01 -1.42877761e-03 6.98654510e+01] [ 6.41235130e-03 -9.13884993e-05 9.99979437e-01 5.74905959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.59, Y:69.09, Z:6.73 [[-9.84556302e-01 1.74950278e-01 6.42559302e-03 1.12586862e+02] [ 1.74947379e-01 9.84577262e-01 -1.01493561e-03 6.90897784e+01] [-6.50405605e-03 1.24879406e-04 -9.99978841e-01 6.73193241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.59, Y:69.12, Z:6.73 [[-9.94422775e-01 1.05272503e-01 6.40660964e-03 1.12590133e+02] [ 1.05271147e-01 9.94443404e-01 -5.49426682e-04 6.91183480e+01] [-6.42885022e-03 1.28068738e-04 -9.99979327e-01 6.73180663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.58, Y:69.15, Z:6.73 [[-9.99368534e-01 3.49913357e-02 6.17579300e-03 1.12584265e+02] [ 3.49914518e-02 9.99387608e-01 -8.92841080e-05 6.91472052e+01] [-6.17513516e-03 1.26872235e-04 -9.99980926e-01 6.73113613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.59, Y:69.18, Z:6.73 [[-9.99400314e-01 -3.40869889e-02 6.09010433e-03 1.12589935e+02] [-3.40855086e-02 9.99418860e-01 3.46716046e-04 6.91760369e+01] [-6.09838363e-03 1.38923822e-04 -9.99981395e-01 6.73100200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.58, Y:69.21, Z:6.73 [[-9.94655675e-01 -1.03082296e-01 5.84195667e-03 1.12580914e+02] [-1.03079645e-01 9.94672820e-01 7.53828351e-04 6.92062322e+01] [-5.88854188e-03 1.47612828e-04 -9.99982652e-01 6.73224614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.56, Y:69.24, Z:6.73 [[-9.84777401e-01 -1.73719212e-01 5.92509570e-03 1.12557768e+02] [-1.73715116e-01 9.84795213e-01 1.20309355e-03 6.92359469e+01] [-6.04400634e-03 1.55500656e-04 -9.99981723e-01 6.73162777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.460385723 meters Centerline goodness [0,1] 0.9999778731690048 Centerline is valid? [True, True] Translation: X:112.51, Y:69.26, Z:6.73 [[-9.69818429e-01 -2.43745561e-01 6.34956540e-03 1.12513769e+02] [-2.43739135e-01 9.69839198e-01 1.77887321e-03 6.92565223e+01] [-6.59164986e-03 1.77546443e-04 -9.99978259e-01 6.73149965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.45, Y:69.27, Z:6.73 [[-9.49354020e-01 -3.14144355e-01 6.34576456e-03 1.12452222e+02] [-3.14136037e-01 9.49375211e-01 2.29338009e-03 6.92673607e+01] [-6.74496398e-03 1.83796272e-04 -9.99977236e-01 6.73122934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.38, Y:69.27, Z:6.73 [[-9.23552989e-01 -3.83418943e-01 6.30791466e-03 1.12378738e+02] [-3.83408591e-01 9.23574511e-01 2.82384910e-03 6.92696349e+01] [-6.90854643e-03 1.89465602e-04 -9.99976118e-01 6.73114233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.29, Y:69.27, Z:6.73 [[-8.92525434e-01 -4.50942961e-01 6.98536837e-03 1.12294390e+02] [-4.50927209e-01 8.92552742e-01 3.77547659e-03 6.92651226e+01] [-7.93733429e-03 2.19816222e-04 -9.99968475e-01 6.73186327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.21, Y:69.25, Z:6.73 [[-8.56032314e-01 -5.16874227e-01 7.05060232e-03 1.12208509e+02] [-5.16854471e-01 8.56061319e-01 4.52495363e-03 6.92506607e+01] [-8.37457983e-03 2.29371199e-04 -9.99964906e-01 6.73396400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.11, Y:69.22, Z:6.73 [[-8.14389309e-01 -5.80284303e-01 6.33888028e-03 1.12106412e+02] [-5.80264678e-01 8.14413950e-01 4.77713148e-03 6.92162864e+01] [-7.93456694e-03 2.12216478e-04 -9.99968498e-01 6.73357635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.02, Y:69.19, Z:6.73 [[-7.66881151e-01 -6.41768307e-01 5.17113107e-03 1.12020253e+02] [-6.41752196e-01 7.66898566e-01 4.55064236e-03 6.91852714e+01] [-6.88619105e-03 1.71217127e-04 -9.99976275e-01 6.73191463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.92, Y:69.14, Z:6.73 [[-7.15355910e-01 -6.98745475e-01 4.54802920e-03 1.11924956e+02] [-6.98729948e-01 7.15370350e-01 4.66071917e-03 6.91386781e+01] [-6.51018166e-03 1.56228795e-04 -9.99978796e-01 6.73050034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.83, Y:69.08, Z:6.73 [[-6.58975170e-01 -7.52153843e-01 4.04001801e-03 1.11831258e+02] [-7.52138376e-01 6.58987539e-01 4.82564758e-03 6.90802453e+01] [-6.29195089e-03 1.41329351e-04 -9.99980196e-01 6.73024804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.73, Y:69.01, Z:6.73 [[-5.97227478e-01 -8.02065239e-01 3.26984503e-03 1.11730806e+02] [-8.02052213e-01 5.97236419e-01 4.57244284e-03 6.90059986e+01] [-5.62026800e-03 1.08202062e-04 -9.99984200e-01 6.73054285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.65, Y:68.94, Z:6.73 [[-5.33038105e-01 -8.46087085e-01 2.65029158e-03 1.11647239e+02] [-8.46075757e-01 5.33044686e-01 4.37901486e-03 6.89379052e+01] [-5.11775176e-03 9.18343324e-05 -9.99986900e-01 6.73032568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.56, Y:68.85, Z:6.73 [[-4.65039993e-01 -8.85287552e-01 1.93769301e-03 1.11561755e+02] [-8.85279242e-01 4.65044025e-01 3.83660179e-03 6.88480054e+01] [-4.29760836e-03 6.87738685e-05 -9.99990763e-01 6.72910654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.48, Y:68.75, Z:6.73 [[-3.95223601e-01 -9.18583601e-01 1.57241688e-03 1.11483736e+02] [-9.18575681e-01 3.95226724e-01 3.81507712e-03 6.87536169e+01] [-4.12592845e-03 6.34246162e-05 -9.99991486e-01 6.72859040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.42, Y:68.66, Z:6.73 [[-3.23424066e-01 -9.46253288e-01 1.26052757e-03 1.11415228e+02] [-9.46245331e-01 3.23426517e-01 3.88092066e-03 6.86572051e+01] [-4.08002197e-03 6.24148094e-05 -9.99991675e-01 6.72897093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.35, Y:68.55, Z:6.73 [[-2.49542029e-01 -9.68363379e-01 1.06875157e-03 1.11352405e+02] [-9.68353285e-01 2.49544308e-01 4.42200957e-03 6.85505778e+01] [-4.54881300e-03 6.85481500e-05 -9.99989652e-01 6.72932940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.30, Y:68.44, Z:6.73 [[-1.73415912e-01 -9.84848306e-01 8.58277603e-04 1.11296604e+02] [-9.84833980e-01 1.73418019e-01 5.31256368e-03 6.84371495e+01] [-5.38091014e-03 7.60221260e-05 -9.99985520e-01 6.73124514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.25, Y:68.32, Z:6.73 [[-9.69385578e-02 -9.95290248e-01 4.88686967e-04 1.11250542e+02] [-9.95272996e-01 9.69397551e-02 5.86058779e-03 6.83170293e+01] [-5.88035906e-03 8.17399860e-05 -9.99982707e-01 6.73142587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9703857229999 meters Centerline goodness [0,1] 0.9998687692745128 Centerline is valid? [True, True] Translation: X:111.21, Y:68.20, Z:6.73 [[-2.16164730e-02 -9.99766336e-01 4.77399904e-05 1.11214230e+02] [-9.99736433e-01 2.16161958e-02 7.73337127e-03 6.81972971e+01] [-7.73259621e-03 1.19440804e-04 -9.99970096e-01 6.73449665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.19, Y:68.08, Z:6.73 [[ 5.41726688e-02 -9.98531475e-01 -4.65014930e-04 1.11188170e+02] [-9.98509994e-01 -5.41745540e-02 6.55048157e-03 6.80756477e+01] [-6.56605400e-03 1.09464987e-04 -9.99978437e-01 6.73200476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.17, Y:67.95, Z:6.73 [[ 1.30828790e-01 -9.91404505e-01 -9.67573132e-04 1.11172454e+02] [-9.91383233e-01 -1.30832322e-01 6.49528169e-03 6.79500026e+01] [-6.56604136e-03 1.09465936e-04 -9.99978437e-01 6.73200410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.16, Y:67.83, Z:6.73 [[ 2.04218035e-01 -9.78924007e-01 -1.66813906e-03 1.11164410e+02] [-9.78896857e-01 -2.04224797e-01 7.29212971e-03 6.78250440e+01] [-7.47911620e-03 1.43751680e-04 -9.99972021e-01 6.73366979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.17, Y:67.70, Z:6.73 [[ 2.77687901e-01 -9.60668720e-01 -2.24509573e-03 1.11168868e+02] [-9.60641670e-01 -2.77696933e-01 7.21076978e-03 6.76990934e+01] [-7.55061717e-03 1.54388990e-04 -9.99971482e-01 6.73427492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.120385723 meters Centerline goodness [0,1] 0.9999345049667067 Centerline is valid? [True, True] Translation: X:111.18, Y:67.58, Z:6.73 [[ 3.49129015e-01 -9.37069821e-01 -3.01349939e-03 1.11181555e+02] [-9.37039244e-01 -3.49141974e-01 7.57210522e-03 6.75750777e+01] [-8.14773041e-03 1.80125557e-04 -9.99966791e-01 6.73469670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.20, Y:67.46, Z:6.73 [[ 4.19193207e-01 -9.07891562e-01 -3.15702140e-03 1.11199920e+02] [-9.07868707e-01 -4.19205062e-01 6.44418905e-03 6.74570717e+01] [-7.17406421e-03 1.64800667e-04 -9.99974253e-01 6.73228519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.23, Y:67.34, Z:6.73 [[ 4.87132432e-01 -8.73321954e-01 -3.28002931e-03 1.11228907e+02] [-8.73304204e-01 -4.87143451e-01 5.57010536e-03 6.73375264e+01] [-6.46234010e-03 1.51084409e-04 -9.99979108e-01 6.73288097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.27, Y:67.22, Z:6.73 [[ 5.52193740e-01 -8.33707354e-01 -3.75790385e-03 1.11267053e+02] [-8.33689926e-01 -5.52206505e-01 5.39290100e-03 6.72203181e+01] [-6.57124018e-03 1.55000413e-04 -9.99978397e-01 6.73324282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.240385723 meters Centerline goodness [0,1] 0.9999783465419427 Centerline is valid? [True, True] Translation: X:111.30, Y:67.12, Z:6.73 [[ 6.13571057e-01 -7.89628803e-01 -4.11244797e-03 1.11304284e+02] [-7.89612774e-01 -6.13584818e-01 5.03372607e-03 6.71187404e+01] [-6.49811072e-03 1.58692827e-04 -9.99978875e-01 6.73355149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.270385723 meters Centerline goodness [0,1] 0.9999783413831193 Centerline is valid? [True, True] Translation: X:111.35, Y:67.02, Z:6.73 [[ 6.71704492e-01 -7.40805876e-01 -4.44186891e-03 1.11352664e+02] [-7.40791222e-01 -6.71719160e-01 4.66213920e-03 6.70161710e+01] [-6.43742857e-03 1.58917654e-04 -9.99979267e-01 6.73271734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.41, Y:66.92, Z:6.73 [[ 7.25682012e-01 -6.88016266e-01 -4.38579313e-03 1.11406316e+02] [-6.88004923e-01 -7.25695250e-01 3.95358181e-03 6.69190627e+01] [-5.90287784e-03 1.48404062e-04 -9.99982567e-01 6.73159521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.330385723 meters Centerline goodness [0,1] 0.9999566790131479 Centerline is valid? [True, True] Translation: X:111.40, Y:66.90, Z:6.73 [[ 7.77143833e-01 -6.29306799e-01 -4.51831866e-03 1.11399076e+02] [-6.29297229e-01 -7.77156955e-01 3.47347650e-03 6.69046985e+01] [-5.69732514e-03 1.43974570e-04 -9.99983760e-01 6.73116471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.39, Y:66.89, Z:6.73 [[ 8.23911312e-01 -5.66694321e-01 -5.26266970e-03 1.11392612e+02] [-5.66683983e-01 -8.23928104e-01 3.42674615e-03 6.68910134e+01] [-6.27797906e-03 1.58935709e-04 -9.99980281e-01 6.73148140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.39, Y:66.88, Z:6.73 [[ 8.65801778e-01 -5.00355144e-01 -5.65778605e-03 1.11389043e+02] [-5.00345672e-01 -8.65820249e-01 3.08304950e-03 6.68794857e+01] [-6.44124540e-03 1.61539020e-04 -9.99979242e-01 6.73181660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.39, Y:66.87, Z:6.73 [[ 9.02895766e-01 -4.29817607e-01 -6.00512527e-03 1.11386016e+02] [-4.29809239e-01 -9.02915722e-01 2.68655050e-03 6.68662211e+01] [-6.57684872e-03 1.55383247e-04 -9.99978360e-01 6.73184800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.450385723 meters Centerline goodness [0,1] 0.9998488055639553 Centerline is valid? [True, True] Translation: X:111.38, Y:66.85, Z:6.74 [[ 9.34600454e-01 -3.55615655e-01 -7.71340599e-03 1.11383904e+02] [-3.55605069e-01 -9.34632268e-01 2.74934196e-03 6.68494942e+01] [-8.18690718e-03 1.73390026e-04 -9.99966472e-01 6.73546001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.38, Y:66.84, Z:6.73 [[ 9.60027632e-01 -2.79807137e-01 -7.41032073e-03 1.11384135e+02] [-2.79799999e-01 -9.60056219e-01 2.00420313e-03 6.68357899e+01] [-7.67511484e-03 1.49317345e-04 -9.99970535e-01 6.73316589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.38, Y:66.82, Z:6.73 [[ 9.79140432e-01 -2.03029178e-01 -7.94783009e-03 1.11384818e+02] [-2.03023730e-01 -9.79172677e-01 1.49492228e-03 6.68191203e+01] [-8.08581090e-03 1.49859261e-04 -9.99967298e-01 6.73299279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.38, Y:66.81, Z:6.73 [[ 9.92208150e-01 -1.24397544e-01 -6.94536056e-03 1.11382931e+02] [-1.24395340e-01 -9.92232451e-01 7.50042145e-04 6.68056810e+01] [-6.98471553e-03 1.19772561e-04 -9.99975599e-01 6.73185839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.38, Y:66.79, Z:6.73 [[ 9.98926001e-01 -4.59498192e-02 -5.95465099e-03 1.11382606e+02] [-4.59495981e-02 -9.98943744e-01 1.74003292e-04 6.67940332e+01] [-5.95635677e-03 9.97974071e-05 -9.99982256e-01 6.73002741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.38, Y:66.78, Z:6.73 [[ 9.99455525e-01 3.25496370e-02 -5.40142433e-03 1.11384351e+02] [ 3.25486769e-02 -9.99470116e-01 -2.65596252e-04 6.67772475e+01] [-5.40720727e-03 8.96424263e-05 -9.99985377e-01 6.72951766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.39, Y:66.76, Z:6.73 [[ 9.93848924e-01 1.10644728e-01 -4.69694524e-03 1.11386452e+02] [ 1.10643119e-01 -9.93860019e-01 -6.01958881e-04 6.67618995e+01] [-4.73470967e-03 7.85715162e-05 -9.99988788e-01 6.72973382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.39, Y:66.75, Z:6.73 [[ 9.82159115e-01 1.88004414e-01 -4.22053084e-03 1.11389004e+02] [ 1.88002363e-01 -9.82168181e-01 -8.81142968e-04 6.67494391e+01] [-4.31092986e-03 7.19528264e-05 -9.99990705e-01 6.72985944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.39, Y:66.74, Z:6.73 [[ 9.64334789e-01 2.64655589e-01 -3.97916430e-03 1.11393331e+02] [ 2.64653046e-01 -9.64342996e-01 -1.16227953e-03 6.67382125e+01] [-4.14488300e-03 6.77286354e-05 -9.99991408e-01 6.72935589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7203857229999 meters Centerline goodness [0,1] 0.9998925909217847 Centerline is valid? [True, True] Translation: X:111.40, Y:66.73, Z:6.73 [[ 9.40496660e-01 3.39765923e-01 -5.01505084e-03 1.11398534e+02] [ 3.39760607e-01 -9.40510027e-01 -1.90261318e-03 6.67270184e+01] [-5.36314872e-03 8.54846249e-05 -9.99985615e-01 6.73089964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.40, Y:66.72, Z:6.73 [[ 9.10301333e-01 4.13915623e-01 -5.03390570e-03 1.11404970e+02] [ 4.13908813e-01 -9.10315248e-01 -2.37578452e-03 6.67151857e+01] [-5.56581545e-03 7.91018814e-05 -9.99984508e-01 6.72963142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.780385723 meters Centerline goodness [0,1] 0.9998504177618224 Centerline is valid? [True, True] Translation: X:111.41, Y:66.71, Z:6.73 [[ 8.74955517e-01 4.84167787e-01 -5.86498030e-03 1.11411782e+02] [ 4.84156185e-01 -8.74975169e-01 -3.35306179e-03 6.67056347e+01] [-6.75515663e-03 9.42134202e-05 -9.99977179e-01 6.73261380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.810385723 meters Centerline goodness [0,1] 0.9999140154772141 Centerline is valid? [True, True] Translation: X:111.42, Y:66.70, Z:6.73 [[ 8.33943257e-01 5.51819209e-01 -5.84851950e-03 1.11419051e+02] [ 5.51804851e-01 -8.33963759e-01 -3.98177533e-03 6.66972068e+01] [-7.07467342e-03 9.33332556e-05 -9.99974970e-01 6.73188872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8403857229999 meters Centerline goodness [0,1] 0.9999785591766723 Centerline is valid? [True, True] Translation: X:111.43, Y:66.69, Z:6.73 [[ 7.88240175e-01 6.15339617e-01 -5.88067590e-03 1.11425196e+02] [ 6.15321537e-01 -7.88262105e-01 -4.71805627e-03 6.66914026e+01] [-7.53872090e-03 1.00454963e-04 -9.99971578e-01 6.73196351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.43, Y:66.69, Z:6.73 [[ 7.38258969e-01 6.74500098e-01 -4.82834095e-03 1.11428952e+02] [ 6.74484835e-01 -7.38274752e-01 -4.53852835e-03 6.66866379e+01] [-6.62588003e-03 9.39665049e-05 -9.99978044e-01 6.73140844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.44, Y:66.68, Z:6.73 [[ 6.83278823e-01 7.30145366e-01 -4.21844583e-03 1.11439553e+02] [ 7.30130633e-01 -6.83291839e-01 -4.63911444e-03 6.66778247e+01] [-6.26965752e-03 8.97921324e-05 -9.99980342e-01 6.73035291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.930385723 meters Centerline goodness [0,1] 0.9999357711741029 Centerline is valid? [True, True] Translation: X:111.45, Y:66.67, Z:6.73 [[ 6.23172666e-01 7.82076116e-01 -3.57454569e-03 1.11448764e+02] [ 7.82062531e-01 -6.23182913e-01 -4.61025648e-03 6.66699869e+01] [-5.83316727e-03 7.74675721e-05 -9.99982984e-01 6.73053995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.46, Y:66.66, Z:6.73 [[ 5.59439453e-01 8.28864029e-01 -3.45259951e-03 1.11457642e+02] [ 8.28847360e-01 -5.59450101e-01 -5.25725085e-03 6.66644037e+01] [-6.28910327e-03 7.94355548e-05 -9.99980220e-01 6.73095379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.990385723 meters Centerline goodness [0,1] 0.999892722279437 Centerline is valid? [True, True] Translation: X:111.46, Y:66.66, Z:6.73 [[ 4.92210444e-01 8.70469047e-01 -3.53790607e-03 1.11464132e+02] [ 8.70445269e-01 -4.92223151e-01 -6.43450986e-03 6.66603090e+01] [-7.34248094e-03 8.75793501e-05 -9.99973040e-01 6.73324314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.020385723 meters Centerline goodness [0,1] 0.9997635679742074 Centerline is valid? [True, True] Translation: X:111.47, Y:66.66, Z:6.73 [[ 4.21887633e-01 9.06642977e-01 -3.05578325e-03 1.11469450e+02] [ 9.06617750e-01 -4.21898692e-01 -6.76377659e-03 6.66565990e+01] [-7.42156150e-03 8.31263694e-05 -9.99972456e-01 6.73464314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.48, Y:66.65, Z:6.73 [[ 3.48792259e-01 9.37197433e-01 -2.22079738e-03 1.11481859e+02] [ 9.37177185e-01 -3.48799322e-01 -6.16085604e-03 6.66517419e+01] [-6.54855108e-03 6.75782593e-05 -9.99978556e-01 6.73071198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.49, Y:66.65, Z:6.73 [[ 2.74812118e-01 9.61496568e-01 -1.62754690e-03 1.11490907e+02] [ 9.61478245e-01 -2.74816930e-01 -5.93633830e-03 6.66472618e+01] [-6.15504635e-03 6.65267649e-05 -9.99981055e-01 6.73114644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.50, Y:66.64, Z:6.73 [[ 1.99678452e-01 9.79860835e-01 -1.12234113e-03 1.11500347e+02] [ 9.79843314e-01 -1.99681594e-01 -5.86007565e-03 6.66441569e+01] [-5.96616949e-03 7.04123816e-05 -9.99982200e-01 6.73061386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.51, Y:66.64, Z:6.73 [[ 1.22989777e-01 9.92407656e-01 -7.47228048e-04 1.11510148e+02] [ 9.92384932e-01 -1.22992018e-01 -6.71648654e-03 6.66415663e+01] [-6.75739575e-03 8.45213256e-05 -9.99977165e-01 6.73066933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.170385723 meters Centerline goodness [0,1] 0.9999566066391842 Centerline is valid? [True, True] Translation: X:111.52, Y:66.64, Z:6.73 [[ 4.68741773e-02 9.98900775e-01 -2.31921400e-04 1.11515209e+02] [ 9.98875132e-01 -4.68746359e-02 -7.15820104e-03 6.66387661e+01] [-7.16120379e-03 1.03874265e-04 -9.99974353e-01 6.72972485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.200385723 meters Centerline goodness [0,1] 0.9998693806465658 Centerline is valid? [True, True] Translation: X:111.52, Y:66.64, Z:6.73 [[-3.05595555e-02 9.99532897e-01 3.18311547e-04 1.11523822e+02] [ 9.99508959e-01 3.05610269e-02 -6.91836138e-03 6.66366275e+01] [-6.92485772e-03 1.06733194e-04 -9.99976017e-01 6.72870351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.53, Y:66.64, Z:6.73 [[-1.06930289e-01 9.94266260e-01 7.19561374e-04 1.11531329e+02] [ 9.94249608e-01 1.06932663e-01 -5.75523879e-03 6.66351837e+01] [-5.79918436e-03 1.00014269e-04 -9.99983180e-01 6.72844823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.54, Y:66.63, Z:6.73 [[-1.83909266e-01 9.82942562e-01 1.14069798e-03 1.11540094e+02] [ 9.82926909e-01 1.83912776e-01 -5.54813781e-03 6.66327453e+01] [-5.66328973e-03 1.00868792e-04 -9.99983958e-01 6.72928084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.55, Y:66.63, Z:6.73 [[-2.59304479e-01 9.65793989e-01 1.77692156e-03 1.11551502e+02] [ 9.65774405e-01 2.59310539e-01 -6.15170046e-03 6.66328160e+01] [-6.40204982e-03 1.20941882e-04 -9.99979499e-01 6.72961515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.56, Y:66.63, Z:6.73 [[-3.32560809e-01 9.43078901e-01 2.34424731e-03 1.11558852e+02] [ 9.43058299e-01 3.32569043e-01 -6.23511934e-03 6.66318133e+01] [-6.65983358e-03 1.37205555e-04 -9.99977814e-01 6.72895398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.350385723 meters Centerline goodness [0,1] 0.9998904541769822 Centerline is valid? [True, True] Translation: X:111.57, Y:66.63, Z:6.73 [[-4.04512892e-01 9.14528185e-01 2.74228209e-03 1.11568462e+02] [ 9.14509458e-01 4.04522163e-01 -5.85420216e-03 6.66310286e+01] [-6.46314676e-03 1.39742659e-04 -9.99979104e-01 6.72876770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.58, Y:66.63, Z:6.73 [[-4.74244691e-01 8.80386724e-01 3.34522317e-03 1.11576605e+02] [ 8.80367032e-01 4.74256465e-01 -5.89027152e-03 6.66318060e+01] [-6.77221056e-03 1.51594194e-04 -9.99977057e-01 6.72907582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.59, Y:66.63, Z:6.73 [[-5.42266592e-01 8.40197045e-01 3.98362928e-03 1.11587494e+02] [ 8.40176437e-01 5.42281202e-01 -5.88666823e-03 6.66333167e+01] [-7.10620853e-03 1.54807938e-04 -9.99974739e-01 6.72994610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.60, Y:66.64, Z:6.73 [[-6.08724730e-01 7.93366079e-01 4.94661662e-03 1.11597635e+02] [ 7.93341857e-01 6.08744809e-01 -6.20116687e-03 6.66350843e+01] [-7.93102264e-03 1.49554391e-04 -9.99968538e-01 6.73183542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.61, Y:66.64, Z:6.73 [[-6.70106642e-01 7.42244474e-01 5.49818959e-03 1.11605230e+02] [ 7.42221186e-01 6.70129183e-01 -5.88125895e-03 6.66364384e+01] [-8.04982925e-03 1.39802118e-04 -9.99967590e-01 6.73184988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.62, Y:66.64, Z:6.73 [[-7.27075585e-01 6.86531520e-01 5.96369501e-03 1.11615376e+02] [ 6.86509880e-01 7.27100031e-01 -5.45252066e-03 6.66416801e+01] [-8.07953012e-03 1.29740894e-04 -9.99967352e-01 6.73086826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.530385723 meters Centerline goodness [0,1] 0.9999779492833517 Centerline is valid? [True, True] Translation: X:111.63, Y:66.66, Z:6.73 [[-7.74957409e-01 6.31983549e-01 6.14884686e-03 1.11633307e+02] [ 6.31964797e-01 7.74981794e-01 -4.86976608e-03 6.66609330e+01] [-7.84285642e-03 1.11993452e-04 -9.99969238e-01 6.72984775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.65, Y:66.68, Z:6.73 [[-8.18317856e-01 5.74733684e-01 6.08931140e-03 1.11650956e+02] [ 5.74718656e-01 8.18340506e-01 -4.15739680e-03 6.66811496e+01] [-7.37252615e-03 9.75688269e-05 -9.99972818e-01 6.73060226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.67, Y:66.70, Z:6.73 [[-8.57300130e-01 5.14780879e-01 6.09379878e-03 1.11667492e+02] [ 5.14768605e-01 8.57321783e-01 -3.55586871e-03 6.67033015e+01] [-7.05483965e-03 8.84495936e-05 -9.99975110e-01 6.73106472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.67, Y:66.73, Z:6.73 [[-8.92473018e-01 4.51051271e-01 6.68305119e-03 1.11671532e+02] [ 4.51039284e-01 8.92498036e-01 -3.28929830e-03 6.67296201e+01] [-7.44825224e-03 7.87086410e-05 -9.99972258e-01 6.73072922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.68, Y:66.75, Z:6.73 [[-9.22712016e-01 3.85432457e-01 6.66002131e-03 1.11683520e+02] [ 3.85422931e-01 9.22736049e-01 -2.71067808e-03 6.67533527e+01] [-7.19022507e-03 6.57496920e-05 -9.99974148e-01 6.73104855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.680385723 meters Centerline goodness [0,1] 0.9998439381103135 Centerline is valid? [True, True] Translation: X:111.68, Y:66.78, Z:6.73 [[-9.48593192e-01 3.16417189e-01 7.14971759e-03 1.11684835e+02] [ 3.16408578e-01 9.48620135e-01 -2.33477720e-03 6.67803573e+01] [-7.52112970e-03 4.74782220e-05 -9.99971715e-01 6.73280793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.70, Y:66.80, Z:6.73 [[-9.69195391e-01 2.46205399e-01 6.57227991e-03 1.11702098e+02] [ 2.46199933e-01 9.69217675e-01 -1.64084372e-03 6.68049701e+01] [-6.77395443e-03 2.77966980e-05 -9.99977056e-01 6.72954844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.740385723 meters Centerline goodness [0,1] 0.9999554357271775 Centerline is valid? [True, True] Translation: X:111.90, Y:67.56, Z:5.75 [[-9.52209758e-01 -3.05372978e-01 6.62735577e-03 1.11901984e+02] [ 3.05365465e-01 -9.52232820e-01 -2.14219159e-03 6.75610301e+01] [ 6.96495310e-03 -1.60501598e-05 9.99975744e-01 5.74897839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.66, Y:66.81, Z:6.73 [[-9.70862675e-01 2.39541915e-01 6.73336518e-03 1.11655185e+02] [ 2.39536212e-01 9.70886024e-01 -1.65285005e-03 6.68124080e+01] [-6.93325701e-03 8.19437042e-06 -9.99975965e-01 6.73178048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.800385723 meters Centerline goodness [0,1] 0.9999551116597464 Centerline is valid? [True, True] Translation: X:111.66, Y:66.83, Z:6.73 [[-9.85347701e-01 1.70428778e-01 6.62866628e-03 1.11664687e+02] [ 1.70424992e-01 9.85369997e-01 -1.13612351e-03 6.68336006e+01] [-6.72531702e-03 1.02137126e-05 -9.99977385e-01 6.73164128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.830385723 meters Centerline goodness [0,1] 0.9999549884095155 Centerline is valid? [True, True] Translation: X:111.67, Y:66.86, Z:6.73 [[-9.94912942e-01 1.00503219e-01 6.88051764e-03 1.11670692e+02] [ 1.00500909e-01 9.94936733e-01 -6.81539917e-04 6.68584217e+01] [-6.91417669e-03 1.34253914e-05 -9.99976097e-01 6.73029105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.860385723 meters Centerline goodness [0,1] 0.9999775502873564 Centerline is valid? [True, True] Translation: X:111.67, Y:66.89, Z:6.73 [[-9.99625262e-01 2.67078805e-02 6.00209268e-03 1.11672080e+02] [ 2.67073646e-02 9.99643281e-01 -1.66103392e-04 6.68897528e+01] [-6.00438789e-03 -5.74106900e-06 -9.99981974e-01 6.72945775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.69, Y:67.69, Z:5.75 [[-9.95276833e-01 -9.68769662e-02 6.23538345e-03 1.11688761e+02] [ 9.68752104e-02 -9.95296364e-01 -5.83716144e-04 6.76903743e+01] [ 6.26260313e-03 2.30949281e-05 9.99980390e-01 5.74981746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.58, Y:66.89, Z:6.73 [[-9.99776213e-01 2.02045022e-02 6.26907391e-03 1.11576717e+02] [ 2.02040255e-02 9.99795868e-01 -1.39369163e-04 6.68943268e+01] [-6.27061007e-03 -1.26774450e-05 -9.99980340e-01 6.73040758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.950385723 meters Centerline goodness [0,1] 0.9999101547584286 Centerline is valid? [True, True] Translation: X:111.58, Y:66.92, Z:6.73 [[-9.98641696e-01 -5.16034483e-02 7.20047479e-03 1.11583054e+02] [-5.16022447e-02 9.98667654e-01 3.52958082e-04 6.69249748e+01] [-7.20909512e-03 -1.90820043e-05 -9.99974014e-01 6.73179593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.980385723 meters Centerline goodness [0,1] 0.9999550602193061 Centerline is valid? [True, True] Translation: X:111.57, Y:66.95, Z:6.73 [[-9.92486515e-01 -1.22134713e-01 7.32328060e-03 1.11570495e+02] [-1.22131508e-01 9.92513532e-01 8.85035652e-04 6.69529381e+01] [-7.37654867e-03 -1.60173498e-05 -9.99972793e-01 6.73264741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.010385723 meters Centerline goodness [0,1] 0.9999101910685018 Centerline is valid? [True, True] Translation: X:111.55, Y:66.98, Z:6.73 [[-9.81734917e-01 -1.90097264e-01 7.71899922e-03 1.11552873e+02] [-1.90091343e-01 9.81765262e-01 1.50033611e-03 6.69771580e+01] [-7.86345508e-03 5.61741826e-06 -9.99969083e-01 6.73242702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.040385723 meters Centerline goodness [0,1] 0.9999549792904736 Centerline is valid? [True, True] Translation: X:111.52, Y:67.00, Z:6.73 [[-9.65953184e-01 -2.58614078e-01 7.29416284e-03 1.11521013e+02] [-2.58606532e-01 9.65980723e-01 1.97576539e-03 6.69982019e+01] [-7.55698144e-03 2.21787081e-05 -9.99971445e-01 6.73151906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.070385723 meters Centerline goodness [0,1] 0.9999325342388737 Centerline is valid? [True, True] Translation: X:111.46, Y:67.01, Z:6.73 [[-9.46357500e-01 -3.23067241e-01 5.91952315e-03 1.11457967e+02] [-3.23060562e-01 9.46376011e-01 2.07806526e-03 6.70066152e+01] [-6.27344952e-03 5.42281655e-05 -9.99980320e-01 6.73140718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.38, Y:67.01, Z:6.73 [[-9.21164042e-01 -3.89137839e-01 5.34319146e-03 1.11384608e+02] [-3.89130858e-01 9.21179536e-01 2.33186052e-03 6.70082710e+01] [-5.82945379e-03 6.88253815e-05 -9.99983006e-01 6.73088750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.130385723 meters Centerline goodness [0,1] 0.9999774815348585 Centerline is valid? [True, True] Translation: X:111.33, Y:67.01, Z:6.73 [[-8.91831060e-01 -4.52345474e-01 4.57523291e-03 1.11332154e+02] [-4.52339003e-01 8.91842791e-01 2.42107145e-03 6.70129399e+01] [-5.17554920e-03 8.96304244e-05 -9.99986603e-01 6.73018005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.25, Y:66.99, Z:6.73 [[-8.56430702e-01 -5.16239956e-01 4.77073693e-03 1.11245719e+02] [-5.16231235e-01 8.56443983e-01 3.00265670e-03 6.69946010e+01] [-5.63596030e-03 1.08763968e-04 -9.99984112e-01 6.73018763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.16, Y:66.97, Z:6.73 [[-8.17238540e-01 -5.76282798e-01 4.39391908e-03 1.11155726e+02] [-5.76273630e-01 8.17250342e-01 3.25300398e-03 6.69683511e+01] [-5.46558211e-03 1.26380523e-04 -9.99985056e-01 6.73035426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.06, Y:66.93, Z:6.73 [[-7.72250816e-01 -6.35305061e-01 4.01944169e-03 1.11064240e+02] [-6.35295561e-01 7.72261265e-01 3.47682185e-03 6.69329931e+01] [-5.31290164e-03 1.31445051e-04 -9.99985878e-01 6.73069738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.96, Y:66.88, Z:6.73 [[-7.22492807e-01 -6.91368872e-01 3.63679797e-03 1.10962460e+02] [-6.91359176e-01 7.22501948e-01 3.66392386e-03 6.68779864e+01] [-5.16071652e-03 1.32824987e-04 -9.99986675e-01 6.73080136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.87, Y:66.82, Z:6.73 [[-6.68356507e-01 -7.43831473e-01 3.78407502e-03 1.10873315e+02] [-7.43818206e-01 6.68367201e-01 4.44530269e-03 6.68240223e+01] [-5.83570767e-03 1.56383087e-04 -9.99982960e-01 6.73158631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.78, Y:66.75, Z:6.73 [[-6.09563955e-01 -7.92730188e-01 3.26101222e-03 1.10779174e+02] [-7.92717513e-01 6.09572660e-01 4.48518802e-03 6.67548901e+01] [-5.54336784e-03 1.48947453e-04 -9.99984624e-01 6.73110126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.69, Y:66.68, Z:6.73 [[-5.46489734e-01 -8.37461654e-01 2.63584495e-03 1.10690821e+02] [-8.37450724e-01 5.46496075e-01 4.28073158e-03 6.66792216e+01] [-5.02542748e-03 1.31985601e-04 -9.99987364e-01 6.73038446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.60, Y:66.58, Z:6.73 [[-4.80327988e-01 -8.77086044e-01 2.25731768e-03 1.10601842e+02] [-8.77075076e-01 4.80333275e-01 4.38811371e-03 6.65819118e+01] [-4.93301809e-03 1.27896749e-04 -9.99987824e-01 6.73057338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.53, Y:66.50, Z:6.73 [[-4.10218559e-01 -9.11984868e-01 2.08187428e-03 1.10531014e+02] [-9.11971435e-01 4.10223820e-01 4.95159410e-03 6.65002900e+01] [-5.36981331e-03 1.32625919e-04 -9.99985574e-01 6.73178976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.46, Y:66.40, Z:6.73 [[-3.38251428e-01 -9.41054277e-01 1.67883379e-03 1.10457887e+02] [-9.41040739e-01 3.38255570e-01 5.04946821e-03 6.63972462e+01] [-5.31969854e-03 1.28138845e-04 -9.99985842e-01 6.73108747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.39, Y:66.28, Z:6.73 [[-2.63975029e-01 -9.64528854e-01 1.12911588e-03 1.10393625e+02] [-9.64518182e-01 2.63977421e-01 4.53852172e-03 6.62846023e+01] [-4.67559625e-03 1.09003603e-04 -9.99989063e-01 6.72926818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.34, Y:66.17, Z:6.73 [[-1.88496177e-01 -9.82073668e-01 7.09088774e-04 1.10337808e+02] [-9.82064623e-01 1.88497485e-01 4.21585432e-03 6.61708870e+01] [-4.27394097e-03 9.83014236e-05 -9.99990862e-01 6.72869791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.29, Y:66.05, Z:6.73 [[-1.11595596e-01 -9.93753642e-01 3.49188806e-04 1.10291695e+02] [-9.93746001e-01 1.11596107e-01 3.89808866e-03 6.60538283e+01] [-3.91270792e-03 8.80045458e-05 -9.99992342e-01 6.72895148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.25, Y:65.92, Z:6.73 [[-3.42136444e-02 -9.99414541e-01 4.68774169e-05 1.10253822e+02] [-9.99406996e-01 3.42135683e-02 3.88427419e-03 6.59243897e+01] [-3.88360395e-03 8.60455574e-05 -9.99992455e-01 6.72881047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.580385723 meters Centerline goodness [0,1] 0.9999778009634381 Centerline is valid? [True, True] Translation: X:110.23, Y:65.79, Z:6.73 [[ 4.40618057e-02 -9.99028777e-01 -2.47135045e-04 1.10227034e+02] [-9.99021604e-01 -4.40624260e-02 3.78637628e-03 6.57931752e+01] [-3.79358824e-03 8.00586730e-05 -9.99992801e-01 6.72822402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.21, Y:65.67, Z:6.73 [[ 1.21915952e-01 -9.92540265e-01 -5.68526782e-04 1.10209233e+02] [-9.92532357e-01 -1.21917251e-01 3.96276303e-03 6.56713948e+01] [-4.00251509e-03 8.11571982e-05 -9.99991987e-01 6.72798813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.20, Y:65.54, Z:6.73 [[ 1.99841661e-01 -9.79827886e-01 -7.90713578e-04 1.10202118e+02] [-9.79821490e-01 -1.99843214e-01 3.54087449e-03 6.55397750e+01] [-3.62746631e-03 6.71439159e-05 -9.99993419e-01 6.72782705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.20, Y:65.42, Z:6.73 [[ 2.76176117e-01 -9.61106423e-01 -1.09343361e-03 1.10201620e+02] [-9.61099782e-01 -2.76178274e-01 3.57364763e-03 6.54209739e+01] [-3.73663830e-03 6.39426759e-05 -9.99993017e-01 6.72701834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.700385723 meters Centerline goodness [0,1] 0.9999778280342335 Centerline is valid? [True, True] Translation: X:110.21, Y:65.29, Z:6.73 [[ 3.51995960e-01 -9.36000564e-01 -1.33688924e-03 1.10212038e+02] [-9.35994368e-01 -3.51998495e-01 3.40624018e-03 6.52945767e+01] [-3.65882573e-03 5.23380132e-05 -9.99993305e-01 6.72652044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.23, Y:65.17, Z:6.73 [[ 4.23860085e-01 -9.05726279e-01 -1.59223690e-03 1.10232781e+02] [-9.05720315e-01 -4.23863073e-01 3.28738564e-03 6.51703222e+01] [-3.65236199e-03 4.87297464e-05 -9.99993329e-01 6.72658502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.760385723 meters Centerline goodness [0,1] 0.9999778437541543 Centerline is valid? [True, True] Translation: X:110.26, Y:65.05, Z:6.73 [[ 4.92756984e-01 -8.70164832e-01 -1.92870956e-03 1.10264188e+02] [-8.70158549e-01 -4.92760756e-01 3.30715573e-03 6.50479762e+01] [-3.82816299e-03 4.86590269e-05 -9.99992671e-01 6.72688775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.790385723 meters Centerline goodness [0,1] 0.9999779307909604 Centerline is valid? [True, True] Translation: X:110.30, Y:64.93, Z:6.73 [[ 5.58992902e-01 -8.29169418e-01 -2.23875084e-03 1.10301022e+02] [-8.29163092e-01 -5.58997383e-01 3.23916937e-03 6.49320684e+01] [-3.93727604e-03 4.56168847e-05 -9.99992248e-01 6.72675702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.820385723 meters Centerline goodness [0,1] 0.9999556344276841 Centerline is valid? [True, True] Translation: X:110.35, Y:64.82, Z:6.73 [[ 6.22138368e-01 -7.82901313e-01 -3.06348888e-03 1.10345217e+02] [-7.82892203e-01 -6.22145909e-01 3.77717568e-03 6.48234338e+01] [-4.86309287e-03 4.84556468e-05 -9.99988174e-01 6.72685984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.850385723 meters Centerline goodness [0,1] 0.9999338770112409 Centerline is valid? [True, True] Translation: X:110.40, Y:64.72, Z:6.73 [[ 6.80514848e-01 -7.32725089e-01 -3.67218953e-03 1.10398831e+02] [-7.32714821e-01 -6.80524754e-01 3.87942456e-03 6.47168749e+01] [-5.34156759e-03 5.06616812e-05 -9.99985733e-01 6.72762770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.45, Y:64.62, Z:6.73 [[ 7.34914766e-01 -6.78143805e-01 -4.61162906e-03 1.10451178e+02] [-6.78130912e-01 -7.34929233e-01 4.18191910e-03 6.46221013e+01] [-6.22516354e-03 5.39341246e-05 -9.99980622e-01 6.72905228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.45, Y:64.61, Z:6.73 [[ 7.85519847e-01 -6.18814885e-01 -5.16800570e-03 1.10445130e+02] [-6.18801979e-01 -7.85536845e-01 3.99703026e-03 6.46133453e+01] [-6.53308071e-03 5.82255527e-05 -9.99978658e-01 6.72890521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.44, Y:64.61, Z:6.73 [[ 8.31313498e-01 -5.55781894e-01 -4.93509344e-03 1.10440172e+02] [-5.55772488e-01 -8.31328144e-01 3.23383736e-03 6.46053315e+01] [-5.89999033e-03 5.44565196e-05 -9.99982593e-01 6.72888976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9703857229999 meters Centerline goodness [0,1] 0.9999338974087785 Centerline is valid? [True, True] Translation: X:110.44, Y:64.60, Z:6.73 [[ 8.71220590e-01 -4.90855677e-01 -5.94872936e-03 1.10436389e+02] [-4.90844830e-01 -8.71240896e-01 3.26408025e-03 6.45989778e+01] [-6.78496861e-03 7.61691313e-05 -9.99976979e-01 6.72901027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.43, Y:64.59, Z:6.73 [[ 9.06394316e-01 -4.22381152e-01 -6.59590554e-03 1.10432713e+02] [-4.22370692e-01 -9.06418311e-01 2.97402676e-03 6.45904863e+01] [-7.23482241e-03 9.02762325e-05 -9.99973824e-01 6.72862145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.43, Y:64.58, Z:6.73 [[ 9.35647588e-01 -3.52883076e-01 -6.09315947e-03 1.10429726e+02] [-3.52876282e-01 -9.35667422e-01 2.19209410e-03 6.45834699e+01] [-6.47472372e-03 9.91039024e-05 -9.99979034e-01 6.72785703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.43, Y:64.57, Z:6.73 [[ 9.59996431e-01 -2.79949940e-01 -5.90628287e-03 1.10427631e+02] [-2.79945293e-01 -9.60014594e-01 1.61629424e-03 6.45743560e+01] [-6.12259923e-03 1.01799391e-04 -9.99981252e-01 6.72732487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0903857229999 meters Centerline goodness [0,1] 0.9999335783554001 Centerline is valid? [True, True] Translation: X:110.42, Y:64.57, Z:6.73 [[ 9.78439249e-01 -2.06433766e-01 -6.46031126e-03 1.10424565e+02] [-2.06430111e-01 -9.78460569e-01 1.23475235e-03 6.45654541e+01] [-6.57605441e-03 1.25472613e-04 -9.99978370e-01 6.72842163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.42, Y:64.56, Z:6.73 [[ 9.91485938e-01 -1.30045026e-01 -6.62770661e-03 1.10420422e+02] [-1.30043016e-01 -9.91508080e-01 7.35137643e-04 6.45576413e+01] [-6.66702565e-03 1.33008323e-04 -9.99977766e-01 6.72862272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.150385723 meters Centerline goodness [0,1] 0.9999557443795362 Centerline is valid? [True, True] Translation: X:110.42, Y:64.54, Z:6.73 [[ 9.98553886e-01 -5.32626984e-02 -7.29532118e-03 1.10416268e+02] [-5.32624086e-02 -9.98580523e-01 2.34147374e-04 6.45431873e+01] [-7.29743696e-03 1.54757607e-04 -9.99973361e-01 6.72801900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.41, Y:64.53, Z:6.73 [[ 9.99652571e-01 2.48994468e-02 -8.64611029e-03 1.10411916e+02] [ 2.48969143e-02 -9.99689944e-01 -4.00431962e-04 6.45288244e+01] [-8.65340004e-03 1.85031373e-04 -9.99962542e-01 6.72968693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.41, Y:64.52, Z:6.73 [[ 9.94582759e-01 1.03523701e-01 -9.37973976e-03 1.10408609e+02] [ 1.03517220e-01 -9.94626967e-01 -1.17519863e-03 6.45179890e+01] [-9.45100303e-03 1.97867717e-04 -9.99955319e-01 6.73078456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.240385723 meters Centerline goodness [0,1] 0.9999120685865025 Centerline is valid? [True, True] Translation: X:110.41, Y:64.50, Z:6.73 [[ 9.83383947e-01 1.81278831e-01 -9.69523360e-03 1.10408536e+02] [ 1.81267965e-01 -9.83431718e-01 -1.99536952e-03 6.45033888e+01] [-9.89631848e-03 2.04779090e-04 -9.99951009e-01 6.73008924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.41, Y:64.49, Z:6.73 [[ 9.65904209e-01 2.58692955e-01 -1.03447895e-02 1.10408012e+02] [ 2.58675762e-01 -9.65959580e-01 -2.99005465e-03 6.44916006e+01] [-1.07661546e-02 2.12160070e-04 -9.99942021e-01 6.72910248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.300385723 meters Centerline goodness [0,1] 0.9999779730831075 Centerline is valid? [True, True] Translation: X:110.41, Y:64.48, Z:6.73 [[ 9.42414467e-01 3.34308238e-01 -9.64234660e-03 1.10409620e+02] [ 3.34288621e-01 -9.42463773e-01 -3.62682027e-03 6.44771907e+01] [-1.03000383e-02 1.94641140e-04 -9.99946934e-01 6.72829445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.41, Y:64.46, Z:6.73 [[ 9.12576075e-01 4.08819274e-01 -8.46809724e-03 1.10412068e+02] [ 4.08800056e-01 -9.12615350e-01 -3.96717752e-03 6.44631430e+01] [-9.34997416e-03 1.58592670e-04 -9.99956276e-01 6.72889767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.42, Y:64.45, Z:6.73 [[ 8.77029439e-01 4.80369019e-01 -8.06039729e-03 1.10417299e+02] [ 4.80347232e-01 -8.77066466e-01 -4.57717470e-03 6.44477453e+01] [-9.26823708e-03 1.42527427e-04 -9.99957039e-01 6.72809205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.390385723 meters Centerline goodness [0,1] 0.9998681984930694 Centerline is valid? [True, True] Translation: X:110.42, Y:64.43, Z:6.73 [[ 8.34781557e-01 5.50526888e-01 -7.73936055e-03 1.10422900e+02] [ 5.50501999e-01 -8.34817425e-01 -5.23604187e-03 6.44340652e+01] [-9.34353488e-03 1.10417734e-04 -9.99956342e-01 6.72779493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.420385723 meters Centerline goodness [0,1] 0.9999780701754386 Centerline is valid? [True, True] Translation: X:110.43, Y:64.42, Z:6.73 [[ 7.87708939e-01 6.16012543e-01 -6.57075619e-03 1.10428857e+02] [ 6.15990263e-01 -7.87736340e-01 -5.23976775e-03 6.44231398e+01] [-8.40378608e-03 7.98900568e-05 -9.99964684e-01 6.72607122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.450385723 meters Centerline goodness [0,1] 0.9998470112556005 Centerline is valid? [True, True] Translation: X:110.43, Y:64.41, Z:6.73 [[ 7.36582576e-01 6.76319982e-01 -6.11477420e-03 1.10433265e+02] [ 6.76295845e-01 -7.36607953e-01 -5.71426266e-03 6.44132020e+01] [-8.36886133e-03 7.36299247e-05 -9.99964978e-01 6.72625414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.44, Y:64.40, Z:6.73 [[ 6.80972438e-01 7.32286484e-01 -5.74848937e-03 1.10442193e+02] [ 7.32259520e-01 -6.80996697e-01 -6.28447817e-03 6.44017873e+01] [-8.51674070e-03 7.01703508e-05 -9.99963730e-01 6.72635599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.45, Y:64.39, Z:6.73 [[ 6.21434266e-01 7.83448175e-01 -5.33015711e-03 1.10448219e+02] [ 7.83418384e-01 -6.21457121e-01 -6.83254348e-03 6.43924752e+01] [-8.66540781e-03 7.02335700e-05 -9.99962452e-01 6.72736138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.540385723 meters Centerline goodness [0,1] 0.999956234408508 Centerline is valid? [True, True] Translation: X:110.45, Y:64.39, Z:6.73 [[ 5.58089647e-01 8.29764314e-01 -5.20849023e-03 1.10454551e+02] [ 8.29726913e-01 -5.58113946e-01 -7.87863079e-03 6.43852288e+01] [-9.44433771e-03 7.53577594e-05 -9.99955398e-01 6.72768271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.570385723 meters Centerline goodness [0,1] 0.9999781353856918 Centerline is valid? [True, True] Translation: X:110.46, Y:64.38, Z:6.73 [[ 4.91223065e-01 8.71020796e-01 -4.76172305e-03 1.10459194e+02] [ 8.70978349e-01 -4.91246138e-01 -8.59926114e-03 6.43785892e+01] [-9.82931334e-03 7.67977273e-05 -9.99951688e-01 6.72829903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.600385723 meters Centerline goodness [0,1] 0.9998469175760492 Centerline is valid? [True, True] Translation: X:110.46, Y:64.37, Z:6.73 [[ 4.21227922e-01 9.06946441e-01 -3.89757582e-03 1.10462437e+02] [ 9.06906059e-01 -4.21245948e-01 -8.55872797e-03 6.43725562e+01] [-9.40414589e-03 7.04400654e-05 -9.99955778e-01 6.72773139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.47, Y:64.37, Z:6.73 [[ 3.48871381e-01 9.37165375e-01 -3.13364608e-03 1.10473327e+02] [ 9.37125789e-01 -3.48885448e-01 -8.61396778e-03 6.43654671e+01] [-9.16599586e-03 6.85462807e-05 -9.99957989e-01 6.72613548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.48, Y:64.36, Z:6.73 [[ 2.73978913e-01 9.61732376e-01 -2.52845452e-03 1.10484374e+02] [ 9.61689152e-01 -2.73990572e-01 -9.11823828e-03 6.43593808e+01] [-9.46207766e-03 6.66177255e-05 -9.99955231e-01 6.72659703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.50, Y:64.35, Z:6.73 [[ 1.97352244e-01 9.80330955e-01 -1.81960825e-03 1.10496550e+02] [ 9.80286310e-01 -1.97360623e-01 -9.35598459e-03 6.43541894e+01] [-9.53108032e-03 6.26874922e-05 -9.99954576e-01 6.72695542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7203857229999 meters Centerline goodness [0,1] 0.9999562545112535 Centerline is valid? [True, True] Translation: X:110.51, Y:64.35, Z:6.73 [[ 1.19384356e-01 9.92847376e-01 -1.21006131e-03 1.10506057e+02] [ 9.92790846e-01 -1.19390472e-01 -1.05949003e-02 6.43489483e+01] [-1.06635888e-02 6.35275638e-05 -9.99943140e-01 6.72754293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.52, Y:64.35, Z:6.73 [[ 4.11867514e-02 9.99151391e-01 -3.86872086e-04 1.10516012e+02] [ 9.99091416e-01 -4.11885180e-02 -1.09475812e-02 6.43450421e+01] [-1.09542257e-02 6.43747274e-05 -9.99939999e-01 6.72762415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.53, Y:64.34, Z:6.73 [[-3.70276335e-02 9.99314132e-01 4.69054000e-04 1.10525625e+02] [ 9.99254837e-01 3.70305462e-02 -1.08862227e-02 6.43421576e+01] [-1.08961255e-02 6.56134133e-05 -9.99940633e-01 6.72773609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.810385723 meters Centerline goodness [0,1] 0.9999127037821086 Centerline is valid? [True, True] Translation: X:110.53, Y:64.34, Z:6.73 [[-1.14586761e-01 9.93412441e-01 1.26360448e-03 1.10533507e+02] [ 9.93358502e-01 1.14593707e-01 -1.03522004e-02 6.43386611e+01] [-1.04288058e-02 6.89871385e-05 -9.99945616e-01 6.72826019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8403857229999 meters Centerline goodness [0,1] 0.9999127037821086 Centerline is valid? [True, True] Translation: X:110.54, Y:64.34, Z:6.73 [[-1.92068283e-01 9.81379379e-01 2.07085665e-03 1.10542410e+02] [ 9.81326151e-01 1.92079434e-01 -1.02213546e-02 6.43362982e+01] [-1.04287956e-02 6.89877592e-05 -9.99945616e-01 6.72826011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.55, Y:64.34, Z:6.73 [[-2.66534870e-01 9.63820730e-01 2.96021299e-03 1.10550820e+02] [ 9.63765034e-01 2.66551292e-01 -1.03618350e-02 6.43353239e+01] [-1.07760000e-02 9.11594242e-05 -9.99941933e-01 6.72777134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.900385723 meters Centerline goodness [0,1] 0.9999340108222251 Centerline is valid? [True, True] Translation: X:110.56, Y:64.34, Z:6.73 [[-3.39791736e-01 9.40493443e-01 3.69589468e-03 1.10560891e+02] [ 9.40441158e-01 3.39811819e-01 -9.91741307e-03 6.43352008e+01] [-1.05831707e-02 1.05916469e-04 -9.99943991e-01 6.72765474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.930385723 meters Centerline goodness [0,1] 0.9999781339514137 Centerline is valid? [True, True] Translation: X:110.57, Y:64.34, Z:6.73 [[-4.11515866e-01 9.11392091e-01 4.37585377e-03 1.10570984e+02] [ 9.11343485e-01 4.11539115e-01 -9.41322442e-03 6.43360276e+01] [-1.03799733e-02 1.14214621e-04 -9.99946120e-01 6.72775638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.960385723 meters Centerline goodness [0,1] 0.9999780065100731 Centerline is valid? [True, True] Translation: X:110.58, Y:64.34, Z:6.73 [[-4.79729447e-01 8.77402645e-01 4.92506983e-03 1.10580375e+02] [ 8.77359207e-01 4.79754709e-01 -8.73159339e-03 6.43366707e+01] [-1.00239486e-02 1.32252896e-04 -9.99949750e-01 6.72811128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.59, Y:64.34, Z:6.73 [[-5.44905312e-01 8.38475686e-01 6.06006012e-03 1.10589561e+02] [ 8.38427270e-01 5.44938983e-01 -9.01215546e-03 6.43377609e+01] [-1.08588362e-02 1.70148271e-04 -9.99941027e-01 6.72802941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.60, Y:64.34, Z:6.73 [[-6.07693841e-01 7.94141146e-01 6.93076154e-03 1.10599379e+02] [ 7.94093056e-01 6.07733333e-01 -8.74161353e-03 6.43390311e+01] [-1.11541298e-02 1.91444900e-04 -9.99937772e-01 6.72884567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.61, Y:64.34, Z:6.73 [[-6.66680591e-01 7.45299725e-01 8.08148331e-03 1.10608817e+02] [ 7.45249021e-01 6.66729533e-01 -8.69638070e-03 6.43414952e+01] [-1.18695737e-02 2.25009304e-04 -9.99929529e-01 6.72938874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.62, Y:64.34, Z:6.73 [[-7.22902754e-01 6.90890279e-01 9.06813301e-03 1.10617854e+02] [ 6.90839973e-01 7.22959589e-01 -8.34059912e-03 6.43439390e+01] [-1.23183326e-02 2.35186693e-04 -9.99924099e-01 6.73062744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.64, Y:64.36, Z:6.73 [[-7.70441694e-01 6.37425936e-01 1.03813743e-02 1.10638796e+02] [ 6.37372297e-01 7.70511595e-01 -8.27273226e-03 6.43628544e+01] [-1.32722234e-02 2.43142540e-04 -9.99911891e-01 6.73064381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.66, Y:64.39, Z:6.73 [[-8.13816470e-01 5.81019607e-01 1.09073448e-02 1.10658530e+02] [ 5.80971315e-01 8.13889526e-01 -7.49476948e-03 6.43860219e+01] [-1.32319817e-02 2.37487591e-04 -9.99912425e-01 6.72897246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.68, Y:64.41, Z:6.73 [[-8.53060729e-01 5.21705688e-01 1.05151367e-02 1.10675586e+02] [ 5.21669150e-01 8.53125506e-01 -6.17803779e-03 6.44090765e+01] [-1.21938488e-02 2.15181003e-04 -9.99925629e-01 6.72880313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.69, Y:64.43, Z:6.73 [[-8.88163512e-01 4.59405217e-01 1.06030132e-02 1.10689633e+02] [ 4.59375169e-01 8.88226777e-01 -5.25804176e-03 6.44319260e+01] [-1.18334521e-02 2.00760163e-04 -9.99929962e-01 6.73018525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.70, Y:64.46, Z:6.73 [[-9.19397596e-01 3.93176607e-01 1.09643692e-02 1.10703095e+02] [ 3.93150886e-01 9.19462955e-01 -4.50051547e-03 6.44574795e+01] [-1.18508287e-02 1.72888350e-04 -9.99929762e-01 6.72946172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.71, Y:64.49, Z:6.73 [[-9.45423182e-01 3.25658242e-01 1.10325044e-02 1.10713065e+02] [ 3.25637955e-01 9.45487539e-01 -3.63820853e-03 6.44866791e+01] [-1.16159080e-02 1.52955492e-04 -9.99932521e-01 6.72758242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.71, Y:64.52, Z:6.73 [[-9.66483771e-01 2.56494818e-01 1.09328948e-02 1.10711020e+02] [ 2.56479966e-01 9.66545597e-01 -2.76336249e-03 6.45180988e+01] [-1.12759295e-02 1.33323499e-04 -9.99936416e-01 6.72717653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.73, Y:64.55, Z:6.73 [[-9.82666619e-01 1.85088230e-01 1.04241335e-02 1.10729628e+02] [ 1.85078914e-01 9.82721902e-01 -1.85978136e-03 6.45455832e+01] [-1.05882479e-02 1.01742248e-04 -9.99943938e-01 6.72783908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.86, Y:65.29, Z:5.75 [[-9.72437716e-01 -2.32930370e-01 1.04082159e-02 1.10864020e+02] [ 2.32915992e-01 -9.72493411e-01 -2.58982047e-03 6.52901742e+01] [ 1.07251693e-02 -9.41991701e-05 9.99942479e-01 5.75200242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.67, Y:64.55, Z:6.73 [[-9.83679165e-01 1.79611316e-01 1.07273642e-02 1.10669832e+02] [ 1.79601620e-01 9.83737652e-01 -1.86841714e-03 6.45529681e+01] [-1.08885009e-02 8.87289669e-05 -9.99940715e-01 6.72703119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.81, Y:65.30, Z:5.75 [[-9.73296288e-01 -2.29318835e-01 1.03540955e-02 1.10808293e+02] [ 2.29304751e-01 -9.73351356e-01 -2.54353724e-03 6.53042948e+01] [ 1.06614539e-02 -1.01372057e-04 9.99943160e-01 5.75422786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.62, Y:64.56, Z:6.73 [[-9.84234670e-01 1.76551196e-01 1.05730919e-02 1.10615341e+02] [ 1.76542092e-01 9.84291454e-01 -1.79560073e-03 6.45574400e+01] [-1.07240194e-02 9.93032687e-05 -9.99942491e-01 6.72622787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.61, Y:64.59, Z:6.73 [[-9.94095931e-01 1.07964332e-01 1.08158737e-02 1.10610137e+02] [ 1.07959254e-01 9.94154761e-01 -1.05393632e-03 6.45854547e+01] [-1.08664399e-02 1.19959848e-04 -9.99940951e-01 6.72688974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.62, Y:64.61, Z:6.73 [[-9.99230073e-01 3.76910552e-02 1.08924315e-02 1.10620520e+02] [ 3.76902116e-02 9.99289432e-01 -2.82783700e-04 6.46133463e+01] [-1.08953501e-02 1.27972071e-04 -9.99940636e-01 6.72712217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.61, Y:64.64, Z:6.73 [[-9.99418986e-01 -3.23893971e-02 1.06121053e-02 1.10614603e+02] [-3.23861215e-02 9.99475317e-01 4.80412963e-04 6.46395292e+01] [-1.06220976e-02 1.36448904e-04 -9.99943575e-01 6.72641451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.560385723 meters Centerline goodness [0,1] 0.9999557502544361 Centerline is valid? [True, True] Translation: X:110.61, Y:64.67, Z:6.73 [[-9.94633053e-01 -1.03009863e-01 9.69840293e-03 1.10610740e+02] [-1.03003685e-01 9.94680326e-01 1.13571841e-03 6.46654977e+01] [-9.76380078e-03 1.30651827e-04 -9.99952324e-01 6.72637344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.59, Y:64.69, Z:6.72 [[-9.84972971e-01 -1.72457963e-01 9.30044971e-03 1.10591462e+02] [-1.72448906e-01 9.85016868e-01 1.77317922e-03 6.46903071e+01] [-9.46689872e-03 1.42681227e-04 -9.99955178e-01 6.72472400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.42, Y:65.46, Z:5.75 [[-9.90576895e-01 1.36621088e-01 9.59658497e-03 1.10421284e+02] [-1.36615971e-01 -9.90623370e-01 1.18979087e-03 6.54638734e+01] [ 9.66915187e-03 -1.32467434e-04 9.99953244e-01 5.75455271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.44, Y:64.66, Z:6.73 [[-9.84074304e-01 -1.77462330e-01 1.02414048e-02 1.10439332e+02] [-1.77450814e-01 9.84127578e-01 2.02973451e-03 6.46606312e+01] [-1.04390503e-02 1.80063966e-04 -9.99945495e-01 6.72626539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.40, Y:64.68, Z:6.73 [[-9.68714508e-01 -2.47961777e-01 1.03517749e-02 1.10398717e+02] [-2.47945513e-01 9.68769798e-01 2.84636053e-03 6.46806926e+01] [-1.07342755e-02 1.90634606e-04 -9.99942368e-01 6.72556815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.34, Y:64.69, Z:6.73 [[-9.47952467e-01 -3.18271040e-01 9.46919811e-03 1.10338507e+02] [-3.18253246e-01 9.47999743e-01 3.37038222e-03 6.46889390e+01] [-1.00494924e-02 1.81359110e-04 -9.99949486e-01 6.72588201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.27, Y:64.69, Z:6.73 [[-9.21962702e-01 -3.87165831e-01 9.34852578e-03 1.10266284e+02] [-3.87143844e-01 9.22010078e-01 4.13038364e-03 6.46904627e+01] [-1.02185784e-02 1.88835453e-04 -9.99947771e-01 6.72573410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.770385723 meters Centerline goodness [0,1] 0.9999776805642353 Centerline is valid? [True, True] Translation: X:110.19, Y:64.68, Z:6.72 [[-8.90853028e-01 -4.54202380e-01 9.00446387e-03 1.10189421e+02] [-4.54176936e-01 8.90898512e-01 4.81159451e-03 6.46849117e+01] [-1.02075011e-02 1.96803728e-04 -9.99947883e-01 6.72498234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.10, Y:64.66, Z:6.73 [[-8.54248268e-01 -5.19792151e-01 8.71877580e-03 1.10098068e+02] [-5.19762703e-01 8.54292737e-01 5.53646757e-03 6.46626110e+01] [-1.03261992e-02 1.97823357e-04 -9.99946664e-01 6.72631151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.00, Y:64.63, Z:6.73 [[-8.12033455e-01 -5.83550186e-01 8.41711141e-03 1.10000455e+02] [-5.83516402e-01 8.12077056e-01 6.28209815e-03 6.46333644e+01] [-1.05012626e-02 1.89751306e-04 -9.99944842e-01 6.72514636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.90, Y:64.59, Z:6.72 [[-7.64965009e-01 -6.44030187e-01 7.32486104e-03 1.09904587e+02] [-6.43998553e-01 7.65000059e-01 6.38536910e-03 6.45923561e+01] [-9.71588959e-03 1.67384021e-04 -9.99952786e-01 6.72484018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.80, Y:64.54, Z:6.72 [[-7.12606493e-01 -7.01537143e-01 6.13385342e-03 1.09803800e+02] [-7.01509518e-01 7.12632878e-01 6.22716465e-03 6.45356496e+01] [-8.73977292e-03 1.34561409e-04 -9.99961798e-01 6.72431077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.73, Y:64.50, Z:6.72 [[-6.56089877e-01 -7.54658955e-01 5.99459544e-03 1.09726674e+02] [-7.54625574e-01 6.56117248e-01 7.09925031e-03 6.44951931e+01] [-9.29067028e-03 1.34071235e-04 -9.99956832e-01 6.72382862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.63, Y:64.42, Z:6.72 [[-5.94310641e-01 -8.04217531e-01 5.38749293e-03 1.09629010e+02] [-8.04182844e-01 5.94335050e-01 7.47003725e-03 6.44181201e+01] [-9.20951079e-03 1.06993232e-04 -9.99957586e-01 6.72442994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.55, Y:64.35, Z:6.72 [[-5.29446504e-01 -8.48330479e-01 4.66878489e-03 1.09545417e+02] [-8.48296000e-01 5.29467081e-01 7.64894159e-03 6.43461876e+01] [-8.96079819e-03 8.91938350e-05 -9.99959847e-01 6.72398082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.46, Y:64.26, Z:6.72 [[-4.59959280e-01 -8.87931622e-01 3.85936824e-03 1.09460396e+02] [-8.87899318e-01 4.59975468e-01 7.57432186e-03 6.42551980e+01] [-8.50069461e-03 5.71492008e-05 -9.99963867e-01 6.72282697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.39, Y:64.16, Z:6.72 [[-3.89098563e-01 -9.21190332e-01 3.26800238e-03 1.09385178e+02] [-9.21156836e-01 3.89112284e-01 7.85577849e-03 6.41611077e+01] [-8.50828707e-03 4.63293887e-05 -9.99963803e-01 6.72252273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.32, Y:64.06, Z:6.72 [[-3.15539371e-01 -9.48908898e-01 2.60945185e-03 1.09318594e+02] [-9.48875572e-01 3.15550158e-01 7.95272686e-03 6.40642722e+01] [-8.36982623e-03 3.33533093e-05 -9.99964972e-01 6.72166880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.100385723 meters Centerline goodness [0,1] 0.9999553740768012 Centerline is valid? [True, True] Translation: X:109.26, Y:63.96, Z:6.72 [[-2.40950915e-01 -9.70535199e-01 2.02073791e-03 1.09257285e+02] [-9.70500035e-01 2.40959387e-01 8.26167745e-03 6.39552577e+01] [-8.50516454e-03 2.95325292e-05 -9.99963830e-01 6.72164711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.20, Y:63.83, Z:6.72 [[-1.64184907e-01 -9.86428689e-01 1.32603126e-03 1.09201676e+02] [-9.86395609e-01 1.64190261e-01 8.07842658e-03 6.38299277e+01] [-8.18651316e-03 1.83643096e-05 -9.99966490e-01 6.72228713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.16, Y:63.72, Z:6.72 [[-8.68847290e-02 -9.96218100e-01 7.36317895e-04 1.09158645e+02] [-9.96180979e-01 8.68878479e-02 8.59999058e-03 6.37184705e+01] [-8.63144335e-03 1.37019693e-05 -9.99962748e-01 6.72201059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.13, Y:63.60, Z:6.72 [[-1.01486796e-02 -9.99948498e-01 7.24136031e-05 1.09125005e+02] [-9.99907822e-01 1.01489199e-02 9.01926110e-03 6.35965847e+01] [-9.01953151e-03 1.91266630e-05 -9.99959323e-01 6.72320825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.10, Y:63.45, Z:6.72 [[ 6.63600220e-02 -9.97795564e-01 -6.00900885e-04 1.09102042e+02] [-9.97758022e-01 -6.63627378e-02 8.65539271e-03 6.34477676e+01] [-8.67618988e-03 2.51816280e-05 -9.99962361e-01 6.72172430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.09, Y:63.35, Z:6.72 [[ 1.40546680e-01 -9.90073330e-01 -1.19639620e-03 1.09087093e+02] [-9.90040283e-01 -1.40551764e-01 8.08949580e-03 6.33521748e+01] [-8.17734964e-03 4.75286519e-05 -9.99966564e-01 6.72069404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.08, Y:63.23, Z:6.72 [[ 2.15229525e-01 -9.76561945e-01 -1.73749372e-03 1.09081653e+02] [-9.76532217e-01 -2.15236531e-01 7.62001648e-03 6.32252032e+01] [-7.81539024e-03 5.66660646e-05 -9.99969458e-01 6.72013263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.09, Y:63.09, Z:6.72 [[ 2.87692857e-01 -9.57719584e-01 -2.45322916e-03 1.09087753e+02] [-9.57687095e-01 -2.87703305e-01 7.88902689e-03 6.30934080e+01] [-8.26127769e-03 7.98092246e-05 -9.99965872e-01 6.72136121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.10, Y:62.96, Z:6.72 [[ 3.59677701e-01 -9.33071280e-01 -3.15254730e-03 1.09103377e+02] [-9.33037673e-01 -3.59691505e-01 7.91977047e-03 6.29649411e+01] [-8.52365485e-03 9.28805605e-05 -9.99963669e-01 6.72168876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.12, Y:62.85, Z:6.72 [[ 4.28392562e-01 -9.03583023e-01 -4.18733574e-03 1.09123041e+02] [-9.03542721e-01 -4.28413007e-01 8.53504408e-03 6.28539179e+01] [-9.50603002e-03 1.27087327e-04 -9.99954809e-01 6.72174985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.15, Y:62.73, Z:6.72 [[ 4.95836067e-01 -8.68402109e-01 -4.93683519e-03 1.09154746e+02] [-8.68361842e-01 -4.95860623e-01 8.36381757e-03 6.27347566e+01] [-9.71113899e-03 1.39876896e-04 -9.99952836e-01 6.72112356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.19, Y:62.62, Z:6.72 [[ 5.58886548e-01 -8.29225356e-01 -5.57988042e-03 1.09193822e+02] [-8.29186981e-01 -5.58914377e-01 7.97932535e-03 6.26225798e+01] [-9.73533429e-03 1.67226598e-04 -9.99952597e-01 6.72089916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.24, Y:62.51, Z:6.72 [[ 6.20078610e-01 -7.84514959e-01 -6.22860103e-03 1.09238869e+02] [-7.84478247e-01 -6.20109867e-01 7.59165234e-03 6.25116977e+01] [-9.81818178e-03 1.78780788e-04 -9.99951785e-01 6.72051085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.29, Y:62.40, Z:6.72 [[ 6.77600819e-01 -7.35401641e-01 -6.44645599e-03 1.09293418e+02] [-7.35370847e-01 -6.77631459e-01 6.73218227e-03 6.24043950e+01] [-9.31917927e-03 1.78803581e-04 -9.99956560e-01 6.72068167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.35, Y:62.31, Z:6.72 [[ 7.32043679e-01 -6.81226105e-01 -6.56096658e-03 1.09349166e+02] [-6.81200758e-01 -7.32073061e-01 5.87884933e-03 6.23086605e+01] [-8.80793252e-03 1.65760914e-04 -9.99961196e-01 6.71961949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.34, Y:62.30, Z:6.72 [[ 7.83936308e-01 -6.20810703e-01 -6.15925179e-03 1.09340845e+02] [-6.20792882e-01 -7.83960492e-01 4.70581571e-03 6.22995881e+01] [-7.75003083e-03 1.34559871e-04 -9.99969959e-01 6.71701923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.33, Y:62.29, Z:6.72 [[ 8.30314343e-01 -5.57261259e-01 -6.16283549e-03 1.09333021e+02] [-5.57247010e-01 -8.30337205e-01 3.98695884e-03 6.22900975e+01] [-7.33900930e-03 1.23792546e-04 -9.99973062e-01 6.71656896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.32, Y:62.28, Z:6.72 [[ 8.71802354e-01 -4.89820251e-01 -6.06439455e-03 1.09324420e+02] [-4.89809271e-01 -8.71823439e-01 3.28156816e-03 6.22781043e+01] [-6.89445986e-03 1.09517827e-04 -9.99976227e-01 6.71743765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.32, Y:62.27, Z:6.72 [[ 9.07707567e-01 -4.19546995e-01 -6.87691968e-03 1.09317080e+02] [-4.19535907e-01 -9.07733610e-01 3.05236534e-03 6.22686546e+01] [-7.52302183e-03 1.14459612e-04 -9.99971695e-01 6.71817636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.31, Y:62.26, Z:6.72 [[ 9.38231603e-01 -3.45932352e-01 -7.22958806e-03 1.09311167e+02] [-3.45922946e-01 -9.38259451e-01 2.55324110e-03 6.22551011e+01] [-7.66647802e-03 1.05348903e-04 -9.99970607e-01 6.71830970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.31, Y:62.24, Z:6.72 [[ 9.62479583e-01 -2.71249054e-01 -7.55002887e-03 1.09307049e+02] [-2.71241562e-01 -9.62509189e-01 2.01883845e-03 6.22449166e+01] [-7.81458019e-03 1.04790831e-04 -9.99969460e-01 6.71777425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.30, Y:62.24, Z:6.72 [[ 9.80683639e-01 -1.95426320e-01 -8.25557093e-03 1.09300433e+02] [-1.95420387e-01 -9.80718380e-01 1.52723784e-03 6.22375028e+01] [-8.39485262e-03 1.15569702e-04 -9.99964756e-01 6.71696563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.29, Y:62.23, Z:6.72 [[ 9.92973633e-01 -1.18040867e-01 -8.34979255e-03 1.09294346e+02] [-1.18037671e-01 -9.93008731e-01 8.76176065e-04 6.22312661e+01] [-8.39484149e-03 1.15570339e-04 -9.99964756e-01 6.71696553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.790385723 meters Centerline goodness [0,1] 0.9999111663853603 Centerline is valid? [True, True] Translation: X:109.29, Y:62.22, Z:6.72 [[ 9.99143568e-01 -4.04809206e-02 -8.56883944e-03 1.09288874e+02] [-4.04804810e-02 -9.99180304e-01 2.24801137e-04 6.22196695e+01] [-8.57091575e-03 1.22262133e-04 -9.99963262e-01 6.71687157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.29, Y:62.21, Z:6.72 [[ 9.99284025e-01 3.68316256e-02 -8.65263330e-03 1.09285212e+02] [ 3.68290976e-02 -9.99321477e-01 -4.51373775e-04 6.22076196e+01] [-8.66338712e-03 1.32381926e-04 -9.99962463e-01 6.71771822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.28, Y:62.20, Z:6.72 [[ 9.93362573e-01 1.14716359e-01 -8.42349507e-03 1.09281527e+02] [ 1.14711107e-01 -9.93398279e-01 -1.10561893e-03 6.21960957e+01] [-8.49471808e-03 1.32012026e-04 -9.99963911e-01 6.71754689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.28, Y:62.19, Z:6.72 [[ 9.81371288e-01 1.91950385e-01 -8.08985146e-03 1.09277731e+02] [ 1.91942771e-01 -9.81404622e-01 -1.71457558e-03 6.21861703e+01] [-8.26853106e-03 1.29846736e-04 -9.99965807e-01 6.71721236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.27, Y:62.18, Z:6.72 [[ 9.63440910e-01 2.67818282e-01 -7.41496037e-03 1.09274791e+02] [ 2.67809355e-01 -9.63469435e-01 -2.19022887e-03 6.21772098e+01] [-7.73067101e-03 1.24360340e-04 -9.99970110e-01 6.71600770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.28, Y:62.16, Z:6.72 [[ 9.39797767e-01 3.41659286e-01 -7.00644786e-03 1.09275633e+02] [ 3.41648783e-01 -9.39823875e-01 -2.68193948e-03 6.21628599e+01] [-7.50113651e-03 1.26736345e-04 -9.99971858e-01 6.71564160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.28, Y:62.15, Z:6.72 [[ 9.10275933e-01 4.13951408e-01 -6.47740216e-03 1.09275057e+02] [ 4.13939965e-01 -9.10298971e-01 -3.08040909e-03 6.21512864e+01] [-7.17151220e-03 1.22766634e-04 -9.99974277e-01 6.71550776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.000385723 meters Centerline goodness [0,1] 0.9999778858911986 Centerline is valid? [True, True] Translation: X:109.28, Y:62.14, Z:6.71 [[ 8.75230245e-01 4.83673037e-01 -5.69306454e-03 1.09278306e+02] [ 4.83661949e-01 -8.75248753e-01 -3.27702000e-03 6.21375656e+01] [-6.56785386e-03 1.14628331e-04 -9.99978425e-01 6.71419068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.030385723 meters Centerline goodness [0,1] 0.9999779098279176 Centerline is valid? [True, True] Translation: X:109.28, Y:62.13, Z:6.71 [[ 8.34792919e-01 5.50536720e-01 -5.48656605e-03 1.09279478e+02] [ 5.50523902e-01 -8.34810940e-01 -3.75865094e-03 6.21259236e+01] [-6.64952072e-03 1.17209444e-04 -9.99977885e-01 6.71418253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.29, Y:62.11, Z:6.71 [[ 7.88808965e-01 6.14617974e-01 -5.01613944e-03 1.09285485e+02] [ 6.14604652e-01 -7.88824907e-01 -4.04828459e-03 6.21107238e+01] [-6.44500421e-03 1.10380547e-04 -9.99979225e-01 6.71326657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.29, Y:62.10, Z:6.71 [[ 7.37827037e-01 6.74972735e-01 -4.80323888e-03 1.09289990e+02] [ 6.74957464e-01 -7.37842663e-01 -4.54160635e-03 6.20983233e+01] [-6.60949503e-03 1.08938020e-04 -9.99978151e-01 6.71467188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.30, Y:62.08, Z:6.72 [[ 6.82219812e-01 7.31131598e-01 -4.76600660e-03 1.09300977e+02] [ 7.31112598e-01 -6.82236450e-01 -5.27214431e-03 6.20823530e+01] [-7.10617472e-03 1.12273831e-04 -9.99974745e-01 6.71577349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.150385723 meters Centerline goodness [0,1] 0.9999781205557379 Centerline is valid? [True, True] Translation: X:109.31, Y:62.07, Z:6.72 [[ 6.22875217e-01 7.82307579e-01 -4.61693766e-03 1.09305706e+02] [ 7.82284651e-01 -6.22892316e-01 -5.99058541e-03 6.20719431e+01] [-7.56233537e-03 1.19627720e-04 -9.99971398e-01 6.71726233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.180385723 meters Centerline goodness [0,1] 0.999956369982548 Centerline is valid? [True, True] Translation: X:109.32, Y:62.06, Z:6.72 [[ 5.60925942e-01 8.27854859e-01 -4.29181395e-03 1.09316734e+02] [ 8.27828750e-01 -5.60942345e-01 -6.57617714e-03 6.20597073e+01] [-7.85158038e-03 1.35861376e-04 -9.99969167e-01 6.71554459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.210385723 meters Centerline goodness [0,1] 0.9999563166171588 Centerline is valid? [True, True] Translation: X:109.32, Y:62.05, Z:6.72 [[ 4.95248252e-01 8.68742927e-01 -3.85959828e-03 1.09324831e+02] [ 8.68714190e-01 -4.95263269e-01 -7.06755057e-03 6.20501784e+01] [-8.05140183e-03 1.47304275e-04 -9.99967576e-01 6.71590196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.33, Y:62.04, Z:6.72 [[ 4.27357642e-01 9.04075570e-01 -3.57890224e-03 1.09333576e+02] [ 9.04040341e-01 -4.27372592e-01 -7.98315840e-03 6.20408820e+01] [-8.74690321e-03 1.76191753e-04 -9.99961730e-01 6.71692869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.35, Y:62.03, Z:6.72 [[ 3.55977980e-01 9.34489403e-01 -3.03878772e-03 1.09345104e+02] [ 9.34450697e-01 -3.55990900e-01 -8.50726139e-03 6.20330491e+01] [-9.03172639e-03 1.88800423e-04 -9.99959195e-01 6.71715066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.35, Y:62.03, Z:6.72 [[ 2.82791558e-01 9.59178474e-01 -2.36446318e-03 1.09354101e+02] [ 9.59138818e-01 -2.82801372e-01 -8.72425102e-03 6.20250942e+01] [-9.03678720e-03 1.99296117e-04 -9.99959148e-01 6.71841257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.37, Y:62.02, Z:6.72 [[ 2.07592906e-01 9.78214025e-01 -1.58304951e-03 1.09366982e+02] [ 9.78177977e-01 -2.07598850e-01 -8.40018503e-03 6.20184564e+01] [-8.54581807e-03 1.95314650e-04 -9.99963465e-01 6.71737936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.38, Y:62.01, Z:6.72 [[ 1.31110430e-01 9.91367444e-01 -8.04501750e-04 1.09381924e+02] [ 9.91339619e-01 -1.31112779e-01 -7.42958477e-03 6.20129123e+01] [-7.47092892e-03 1.76561595e-04 -9.99972077e-01 6.71681355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.40, Y:62.01, Z:6.72 [[ 5.29923789e-02 9.98594892e-01 -2.21375813e-04 1.09395140e+02] [ 9.98566668e-01 -5.29925460e-02 -7.51000387e-03 6.20089676e+01] [-7.51118277e-03 1.76914462e-04 -9.99971775e-01 6.71674435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.41, Y:62.01, Z:6.72 [[-2.60930506e-02 9.99659455e-01 3.56787419e-04 1.09410227e+02] [ 9.99632898e-01 2.60949588e-02 -7.28853489e-03 6.20053565e+01] [-7.29536316e-03 1.66476332e-04 -9.99973375e-01 6.71750832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.42, Y:62.00, Z:6.72 [[-1.04769684e-01 9.94496100e-01 9.05379021e-04 1.09424501e+02] [ 9.94470971e-01 1.04773475e-01 -7.07157629e-03 6.20045889e+01] [-7.12751475e-03 1.59486339e-04 -9.99974586e-01 6.71739356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.44, Y:62.01, Z:6.72 [[-1.83329011e-01 9.83050554e-01 1.44286769e-03 1.09438438e+02] [ 9.83026258e-01 1.83334626e-01 -6.91309637e-03 6.20050306e+01] [-7.06045082e-03 1.51005706e-04 -9.99975063e-01 6.71711766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.45, Y:62.01, Z:6.72 [[-2.60161542e-01 9.65563077e-01 1.97894033e-03 1.09450970e+02] [ 9.65539315e-01 2.60169026e-01 -6.77568940e-03 6.20057911e+01] [-7.05721449e-03 1.47970889e-04 -9.99975087e-01 6.71724473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.47, Y:62.01, Z:6.72 [[-3.36187780e-01 9.41791442e-01 2.58022092e-03 1.09466215e+02] [ 9.41766892e-01 3.36197650e-01 -6.80152516e-03 6.20078607e+01] [-7.27308240e-03 1.43376993e-04 -9.99973541e-01 6.71879784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.48, Y:62.01, Z:6.72 [[-4.09625753e-01 9.12248502e-01 3.06808533e-03 1.09481450e+02] [ 9.12225350e-01 4.09637220e-01 -6.50069689e-03 6.20124848e+01] [-7.18705294e-03 1.35932359e-04 -9.99974164e-01 6.71886220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.50, Y:62.02, Z:6.72 [[-4.80698451e-01 8.76878286e-01 3.67038342e-03 1.09496429e+02] [ 8.76854793e-01 4.80712445e-01 -6.42007859e-03 6.20195170e+01] [-7.39402650e-03 1.32271456e-04 -9.99972655e-01 6.71918944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.51, Y:62.02, Z:6.72 [[-5.48180306e-01 8.36349949e-01 4.13698813e-03 1.09507625e+02] [ 8.36327886e-01 5.48195901e-01 -6.07619394e-03 6.20240676e+01] [-7.34970443e-03 1.29028686e-04 -9.99972982e-01 6.71940815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.660385723 meters Centerline goodness [0,1] 0.9999570889117748 Centerline is valid? [True, True] Translation: X:109.52, Y:62.03, Z:6.72 [[-6.12076842e-01 7.90787498e-01 4.13197192e-03 1.09520246e+02] [ 7.90770736e-01 6.12090778e-01 -5.15007841e-03 6.20326685e+01] [-6.60175952e-03 1.15198744e-04 -9.99978202e-01 6.71888111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.53, Y:62.04, Z:6.72 [[-6.71941967e-01 7.40590779e-01 4.39232532e-03 1.09529310e+02] [ 7.40576049e-01 6.71956313e-01 -4.67222484e-03 6.20406718e+01] [-6.41165736e-03 1.13386984e-04 -9.99979439e-01 6.71914583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.54, Y:62.05, Z:6.72 [[-7.28114245e-01 6.85438313e-01 4.89537987e-03 1.09539986e+02] [ 6.85423874e-01 7.28130693e-01 -4.45061090e-03 6.20509923e+01] [-6.61509557e-03 1.14857035e-04 -9.99978113e-01 6.71949078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.750385723 meters Centerline goodness [0,1] 0.9999356913183279 Centerline is valid? [True, True] Translation: X:109.56, Y:62.08, Z:6.72 [[-7.75133703e-01 6.31776236e-01 5.15069697e-03 1.09557275e+02] [ 6.31763229e-01 7.75150808e-01 -4.05553090e-03 6.20754177e+01] [-6.55475497e-03 1.10442259e-04 -9.99978511e-01 6.72008296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.780385723 meters Centerline goodness [0,1] 0.9998071070341635 Centerline is valid? [True, True] Translation: X:109.57, Y:62.10, Z:6.72 [[-8.18619268e-01 5.74308025e-01 5.72597276e-03 1.09571163e+02] [ 5.74294895e-01 8.18639286e-01 -3.88493631e-03 6.21016536e+01] [-6.91865635e-03 1.08113209e-04 -9.99976060e-01 6.71960050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.810385723 meters Centerline goodness [0,1] 0.9998934560719385 Centerline is valid? [True, True] Translation: X:109.58, Y:62.13, Z:6.72 [[-8.57503485e-01 5.14441943e-01 6.10411562e-03 1.09584583e+02] [ 5.14429789e-01 8.57525204e-01 -3.53789407e-03 6.21284994e+01] [-7.05447410e-03 1.06382415e-04 -9.99975111e-01 6.71909104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.60, Y:62.15, Z:6.72 [[-8.92015850e-01 4.51954851e-01 6.67354359e-03 1.09600047e+02] [ 4.51943110e-01 8.92040807e-01 -3.25954273e-03 6.21529627e+01] [-7.42623935e-03 1.08498269e-04 -9.99972419e-01 6.71997817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.61, Y:62.18, Z:6.72 [[-9.21877444e-01 3.87416619e-01 7.09523215e-03 1.09610562e+02] [ 3.87406064e-01 9.21904741e-01 -2.86194283e-03 6.21829285e+01] [-7.64989238e-03 1.10375419e-04 -9.99970733e-01 6.71968530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.62, Y:62.21, Z:6.72 [[-9.47403285e-01 3.19967905e-01 6.89610734e-03 1.09615880e+02] [ 3.19960164e-01 9.47428378e-01 -2.22777419e-03 6.22140909e+01] [-7.24638403e-03 9.58790520e-05 -9.99973740e-01 6.72013520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.930385723 meters Centerline goodness [0,1] 0.9999786297388554 Centerline is valid? [True, True] Translation: X:109.62, Y:62.24, Z:6.72 [[-9.67870581e-01 2.51361037e-01 6.64593691e-03 1.09619339e+02] [ 2.51355720e-01 9.67893394e-01 -1.63711846e-03 6.22436611e+01] [-6.84406622e-03 8.59754627e-05 -9.99976575e-01 6.71982036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.62, Y:62.27, Z:6.72 [[-9.83508112e-01 1.80761194e-01 6.09785579e-03 1.09621600e+02] [ 1.80758158e-01 9.83527013e-01 -1.04991041e-03 6.22711946e+01] [-6.18718895e-03 6.96417781e-05 -9.99980857e-01 6.71880880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.990385723 meters Centerline goodness [0,1] 0.9999785734181826 Centerline is valid? [True, True] Translation: X:109.63, Y:62.30, Z:6.72 [[-9.93839272e-01 1.10648654e-01 6.35429187e-03 1.09627742e+02] [ 1.10646820e-01 9.93859583e-01 -6.40592957e-04 6.23009829e+01] [-6.38615462e-03 6.64357482e-05 -9.99979606e-01 6.71850055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.020385723 meters Centerline goodness [0,1] 0.9999140173255089 Centerline is valid? [True, True] Translation: X:109.69, Y:62.95, Z:5.76 [[-9.87323100e-01 -1.58576771e-01 6.81943952e-03 1.09689684e+02] [ 1.58572730e-01 -9.87346650e-01 -1.13255081e-03 6.29476509e+01] [ 6.91274701e-03 -3.68164284e-05 9.99976106e-01 5.76091261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.050385723 meters Centerline goodness [0,1] 0.9999357161223965 Centerline is valid? [True, True] Translation: X:109.56, Y:62.31, Z:6.72 [[-9.94607521e-01 1.03468113e-01 7.08722375e-03 1.09563701e+02] [ 1.03465869e-01 9.94632770e-01 -6.83498432e-04 6.23078041e+01] [-7.11990528e-03 5.34730804e-05 -9.99974652e-01 6.71966994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.080385723 meters Centerline goodness [0,1] 0.9998496725008054 Centerline is valid? [True, True] Translation: X:109.56, Y:62.34, Z:6.72 [[-9.99511986e-01 3.02803952e-02 7.67382281e-03 1.09556913e+02] [ 3.02798115e-02 9.99541443e-01 -1.92260060e-04 6.23377516e+01] [-7.67612564e-03 4.01956735e-05 -9.99970537e-01 6.72009774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.110385723 meters Centerline goodness [0,1] 0.9999571771154505 Centerline is valid? [True, True] Translation: X:109.57, Y:62.99, Z:5.76 [[-9.96119594e-01 -8.76881594e-02 7.51945856e-03 1.09574522e+02] [ 8.76852993e-02 -9.96147973e-01 -7.09836841e-04 6.29857554e+01] [ 7.55273769e-03 -4.77364106e-05 9.99971477e-01 5.76045902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.140385723 meters Centerline goodness [0,1] 0.9999570760183715 Centerline is valid? [True, True] Translation: X:109.49, Y:62.34, Z:6.72 [[-9.99683093e-01 2.40844878e-02 7.32466729e-03 1.09488358e+02] [ 2.40840360e-02 9.99709926e-01 -1.49893351e-04 6.23364237e+01] [-7.32615270e-03 2.65617019e-05 -9.99973163e-01 6.71909647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.170385723 meters Centerline goodness [0,1] 0.9999355005159959 Centerline is valid? [True, True] Translation: X:109.48, Y:62.36, Z:6.72 [[-9.98869219e-01 -4.70043975e-02 7.13228478e-03 1.09480205e+02] [-4.70030086e-02 9.98894682e-01 3.62322524e-04 6.23639970e+01] [-7.14143209e-03 2.66739740e-05 -9.99974499e-01 6.71900606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.200385723 meters Centerline goodness [0,1] 0.9998923967546861 Centerline is valid? [True, True] Translation: X:109.45, Y:63.02, Z:5.76 [[-9.99885611e-01 -1.28936539e-02 7.90683684e-03 1.09447088e+02] [ 1.28934200e-02 -9.99916873e-01 -8.05624515e-05 6.30216478e+01] [ 7.90721832e-03 2.13929320e-05 9.99968737e-01 5.76074107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.230385723 meters Centerline goodness [0,1] 0.9999785158767671 Centerline is valid? [True, True] Translation: X:109.39, Y:62.36, Z:6.72 [[-9.98597529e-01 -5.24408120e-02 7.27574408e-03 1.09390588e+02] [-5.24392167e-02 9.98624034e-01 4.09983070e-04 6.23556995e+01] [-7.28723274e-03 2.78737599e-05 -9.99973447e-01 6.71936813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.260385723 meters Centerline goodness [0,1] 0.9999354991292383 Centerline is valid? [True, True] Translation: X:109.35, Y:63.02, Z:5.76 [[-9.99948545e-01 -7.12275417e-03 7.22313970e-03 1.09354269e+02] [ 7.12233819e-03 -9.99974632e-01 -8.33120547e-05 6.30208219e+01] [ 7.22354988e-03 -3.18621241e-05 9.99973909e-01 5.76062203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.290385723 meters Centerline goodness [0,1] 0.9999569095531521 Centerline is valid? [True, True] Translation: X:109.30, Y:62.35, Z:6.72 [[-9.98303073e-01 -5.78435229e-02 6.71582119e-03 1.09299591e+02] [-5.78420234e-02 9.98325661e-01 4.17455887e-04 6.23473931e+01] [-6.72872375e-03 2.82908090e-05 -9.99977362e-01 6.71909530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.26, Y:63.02, Z:5.76 [[-9.99977080e-01 6.74671555e-05 6.77020240e-03 1.09256274e+02] [-6.76399472e-05 -9.99999997e-01 -2.52939196e-05 6.30236117e+01] [ 6.77020068e-03 -2.57512759e-05 9.99977082e-01 5.76129979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.20, Y:62.33, Z:6.72 [[-9.98015887e-01 -6.25486852e-02 7.20774888e-03 1.09201209e+02] [-6.25467635e-02 9.98041913e-01 4.91945334e-04 6.23345673e+01] [-7.22440601e-03 4.01478946e-05 -9.99973903e-01 6.71826369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.19, Y:62.36, Z:6.72 [[-9.91068083e-01 -1.33159044e-01 7.26116315e-03 1.09190748e+02] [-1.33155148e-01 9.91094681e-01 1.01947274e-03 6.23599235e+01] [-7.33225219e-03 4.35056401e-05 -9.99973118e-01 6.71924583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.09, Y:63.05, Z:5.76 [[-9.96982359e-01 7.73346121e-02 6.74789303e-03 1.09089444e+02] [-7.73333732e-02 -9.97005191e-01 4.44714808e-04 6.30480517e+01] [ 6.76207622e-03 -7.84645117e-05 9.99977134e-01 5.76104807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.08, Y:62.34, Z:6.72 [[-9.90071722e-01 -1.40396427e-01 6.84317525e-03 1.09077937e+02] [-1.40392838e-01 9.90095370e-01 1.00446432e-03 6.23401659e+01] [-6.91641933e-03 3.37589190e-05 -9.99976081e-01 6.71884053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.97, Y:63.04, Z:5.76 [[-9.96557827e-01 8.25543495e-02 7.56821734e-03 1.08967977e+02] [-8.25519042e-02 -9.96586564e-01 6.35459558e-04 6.30365850e+01] [ 7.59484366e-03 8.50144371e-06 9.99971159e-01 5.76088646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.96, Y:62.32, Z:6.72 [[-9.89101902e-01 -1.47014052e-01 8.01850880e-03 1.08959888e+02] [-1.47008919e-01 9.89134403e-01 1.22905303e-03 6.23192428e+01] [-8.11207098e-03 3.68663720e-05 -9.99967096e-01 6.71999025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.93, Y:62.34, Z:6.72 [[-9.76043945e-01 -2.17402363e-01 8.62722580e-03 1.08934559e+02] [-2.17393486e-01 9.76082072e-01 1.96510305e-03 6.23422835e+01] [-8.84809848e-03 4.25242427e-05 -9.99960854e-01 6.72101809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.560385723 meters Centerline goodness [0,1] 0.9999781683222355 Centerline is valid? [True, True] Translation: X:108.89, Y:62.36, Z:6.72 [[-9.58059747e-01 -2.86433034e-01 8.81125816e-03 1.08893416e+02] [-2.86420392e-01 9.58100263e-01 2.69164728e-03 6.23576474e+01] [-9.21304546e-03 5.50348971e-05 -9.99957558e-01 6.72118870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5903857229999 meters Centerline goodness [0,1] 0.9999781310822927 Centerline is valid? [True, True] Translation: X:108.83, Y:62.36, Z:6.72 [[-9.34686749e-01 -3.55368990e-01 8.57680769e-03 1.08828206e+02] [-3.55353428e-01 9.34726097e-01 3.32630038e-03 6.23634993e+01] [-9.19902999e-03 6.12508731e-05 -9.99957686e-01 6.72148053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.76, Y:62.36, Z:6.72 [[-9.06508794e-01 -4.22107957e-01 8.16573989e-03 1.08763581e+02] [-4.22090086e-01 9.06545568e-01 3.88493336e-03 6.23630277e+01] [-9.04247659e-03 7.50483994e-05 -9.99959113e-01 6.72160346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.68, Y:62.35, Z:6.72 [[-8.72582981e-01 -4.88402760e-01 7.85396080e-03 1.08684182e+02] [-4.88382202e-01 8.72618323e-01 4.48184481e-03 6.23545127e+01] [-9.04245548e-03 7.50468415e-05 -9.99959113e-01 6.72160267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.60, Y:62.33, Z:6.72 [[-8.34123157e-01 -5.51529674e-01 7.31974240e-03 1.08600608e+02] [-5.51507571e-01 8.34155269e-01 4.93828430e-03 6.23321282e+01] [-8.82941202e-03 8.22439347e-05 -9.99961017e-01 6.72182059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.51, Y:62.30, Z:6.72 [[-7.90253569e-01 -6.12744197e-01 6.62156731e-03 1.08512042e+02] [-6.12721852e-01 7.90281306e-01 5.23343529e-03 6.22999667e+01] [-8.43965797e-03 7.85619318e-05 -9.99964382e-01 6.72159869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.42, Y:62.26, Z:6.72 [[-7.41467632e-01 -6.70955697e-01 6.64865419e-03 1.08423544e+02] [-6.70927740e-01 7.41497436e-01 6.12540878e-03 6.22561558e+01] [-9.03983795e-03 8.10258084e-05 -9.99959137e-01 6.72146760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.33, Y:62.20, Z:6.72 [[-6.87919188e-01 -7.25760172e-01 6.27406124e-03 1.08330446e+02] [-7.25728972e-01 6.87947794e-01 6.72991254e-03 6.22026875e+01] [-9.20052907e-03 7.63679559e-05 -9.99957671e-01 6.72149378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.24, Y:62.14, Z:6.72 [[-6.30222618e-01 -7.76395268e-01 5.46254874e-03 1.08241475e+02] [-7.76365166e-01 6.30246288e-01 6.83705784e-03 6.21396367e+01] [-8.75101042e-03 6.79359313e-05 -9.99961707e-01 6.72184892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.15, Y:62.07, Z:6.72 [[-5.69241510e-01 -8.22156686e-01 4.74210151e-03 1.08153685e+02] [-8.22127171e-01 5.69261257e-01 6.96676238e-03 6.20654579e+01] [-8.42726494e-03 6.71598329e-05 -9.99964488e-01 6.72221703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.07, Y:61.97, Z:6.72 [[-5.05673310e-01 -8.62715712e-01 4.01314181e-03 1.08069902e+02] [-8.62687371e-01 5.05689228e-01 6.99315627e-03 6.19747511e+01] [-8.06250838e-03 7.41657168e-05 -9.99967495e-01 6.72156547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.00, Y:61.89, Z:6.72 [[-4.38510414e-01 -8.98719066e-01 3.55781396e-03 1.07997707e+02] [-8.98687951e-01 4.38524839e-01 7.47882414e-03 6.18925119e+01] [-8.28155164e-03 8.21777359e-05 -9.99965704e-01 6.72130621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.92, Y:61.79, Z:6.72 [[-3.69002353e-01 -9.29424107e-01 2.84482033e-03 1.07924874e+02] [-9.29394656e-01 3.69013309e-01 7.39944299e-03 6.17863556e+01] [-7.92699726e-03 8.64510710e-05 -9.99968577e-01 6.72096100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.86, Y:61.69, Z:6.72 [[-2.96413662e-01 -9.55057029e-01 2.23874769e-03 1.07861616e+02] [-9.55027537e-01 2.96422104e-01 7.50604686e-03 6.16868289e+01] [-7.83231711e-03 8.68291470e-05 -9.99969323e-01 6.72170978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.81, Y:61.57, Z:6.72 [[-2.22245461e-01 -9.74989378e-01 1.63366787e-03 1.07805140e+02] [-9.74960033e-01 2.22251448e-01 7.56486639e-03 6.15695572e+01] [-7.73874942e-03 8.84963338e-05 -9.99970052e-01 6.72275978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.76, Y:61.44, Z:6.72 [[-1.46490503e-01 -9.89211538e-01 1.03187306e-03 1.07755289e+02] [-9.89182534e-01 1.46494111e-01 7.57562102e-03 6.14389899e+01] [-7.64505505e-03 8.90457293e-05 -9.99970772e-01 6.72280839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.72, Y:61.33, Z:6.72 [[-6.96925924e-02 -9.97568417e-01 4.42641896e-04 1.07720848e+02] [-9.97539244e-01 6.96939397e-02 7.62971013e-03 6.13336589e+01] [-7.64200732e-03 9.01816162e-05 -9.99970795e-01 6.72160837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.69, Y:61.21, Z:6.72 [[ 7.81472455e-03 -9.99969454e-01 -1.42536629e-04 1.07690162e+02] [-9.99941531e-01 -7.81557159e-03 7.47333951e-03 6.12067034e+01] [-7.47422524e-03 8.41262050e-05 -9.99972064e-01 6.72133294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.66, Y:61.09, Z:6.72 [[ 8.70178743e-02 -9.96206516e-01 -6.83059982e-04 1.07664675e+02] [-9.96181520e-01 -8.70205298e-02 7.05733614e-03 6.10913421e+01] [-7.09000449e-03 6.63373429e-05 -9.99974863e-01 6.72159707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.65, Y:60.97, Z:6.72 [[ 1.64487244e-01 -9.86378252e-01 -1.37493089e-03 1.07652006e+02] [-9.86347203e-01 -1.64492976e-01 7.82658415e-03 6.09660165e+01] [-7.94613887e-03 6.87859883e-05 -9.99968427e-01 6.72224949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.66, Y:60.82, Z:6.72 [[ 2.40273731e-01 -9.70702849e-01 -2.12466345e-03 1.07656166e+02] [-9.70667552e-01 -2.40283114e-01 8.27823636e-03 6.08163497e+01] [-8.54622837e-03 7.32991345e-05 -9.99963478e-01 6.72307074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.66, Y:60.71, Z:6.72 [[ 3.14695419e-01 -9.49188480e-01 -2.83241435e-03 1.07657074e+02] [-9.49152137e-01 -3.14708156e-01 8.30645703e-03 6.07131201e+01] [-8.77577723e-03 7.43881635e-05 -9.99961489e-01 6.72271420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.67, Y:60.59, Z:6.72 [[ 3.86795518e-01 -9.22159000e-01 -3.46483989e-03 1.07673635e+02] [-9.22123768e-01 -3.86811029e-01 8.06130417e-03 6.05896478e+01] [-8.77404248e-03 7.69348931e-05 -9.99961504e-01 6.72297607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.70, Y:60.47, Z:6.72 [[ 4.55640519e-01 -8.90153308e-01 -4.33654642e-03 1.07699289e+02] [-8.90114930e-01 -4.55661145e-01 8.26634569e-03 6.04668582e+01] [-9.33431067e-03 9.35426705e-05 -9.99956430e-01 6.72422345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.73, Y:60.35, Z:6.73 [[ 5.22389458e-01 -8.52690307e-01 -5.33807203e-03 1.07730277e+02] [-8.52647843e-01 -5.22416721e-01 8.51036875e-03 6.03493335e+01] [-1.00454070e-02 1.05768683e-04 -9.99949538e-01 6.72525143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.77, Y:60.23, Z:6.73 [[ 5.86021759e-01 -8.10273993e-01 -5.87827962e-03 1.07773570e+02] [-8.10235071e-01 -5.86051231e-01 7.94261104e-03 6.02333690e+01] [-9.88066417e-03 1.08245411e-04 -9.99951179e-01 6.72556431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.82, Y:60.13, Z:6.72 [[ 6.45890009e-01 -7.63407260e-01 -5.95421396e-03 1.07819540e+02] [-7.63376332e-01 -6.45917444e-01 6.87248581e-03 6.01260099e+01] [-9.09243623e-03 1.06436092e-04 -9.99958657e-01 6.72385508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.87, Y:60.02, Z:6.72 [[ 7.01112870e-01 -7.13022366e-01 -6.31257278e-03 1.07872036e+02] [-7.12995000e-01 -7.01141278e-01 6.24808674e-03 6.00244449e+01] [-8.88103093e-03 1.20218808e-04 -9.99960556e-01 6.72434370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.86, Y:60.02, Z:6.73 [[ 7.53696418e-01 -6.57188480e-01 -6.70908905e-03 1.07864292e+02] [-6.57163993e-01 -7.53726266e-01 5.67467248e-03 6.00155728e+01] [-8.78614602e-03 1.31991429e-04 -9.99961392e-01 6.72581873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.86, Y:60.01, Z:6.72 [[ 8.02430446e-01 -5.96700479e-01 -7.34289064e-03 1.07856356e+02] [-5.96677094e-01 -8.02464029e-01 5.28464123e-03 6.00051775e+01] [-9.04575357e-03 1.40777632e-04 -9.99959076e-01 6.72497670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.85, Y:60.00, Z:6.73 [[ 8.46532927e-01 -5.32277780e-01 -7.89736884e-03 1.07848125e+02] [-5.32256212e-01 -8.46569751e-01 4.79385089e-03 5.99967065e+01] [-9.23733389e-03 1.45270999e-04 -9.99957324e-01 6.72502007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.84, Y:59.99, Z:6.73 [[ 8.85745408e-01 -4.64086568e-01 -8.87301832e-03 1.07840753e+02] [-4.64064996e-01 -8.85789837e-01 4.47717939e-03 5.99853343e+01] [-9.93742827e-03 1.52016127e-04 -9.99950611e-01 6.72536360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.83, Y:59.97, Z:6.73 [[ 9.19747971e-01 -3.92393209e-01 -9.55195493e-03 1.07834453e+02] [-3.92373701e-01 -9.19797558e-01 3.91551058e-03 5.99743883e+01] [-1.03222846e-02 1.46652994e-04 -9.99946713e-01 6.72635168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.83, Y:59.96, Z:6.73 [[ 9.48510362e-01 -3.16553581e-01 -1.10418879e-02 1.07827859e+02] [-3.16533746e-01 -9.48574622e-01 3.54610233e-03 5.99595950e+01] [-1.15965860e-02 1.31615331e-04 -9.99932749e-01 6.72670380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.82, Y:59.95, Z:6.73 [[ 9.71069474e-01 -2.38525491e-01 -1.13871118e-02 1.07823333e+02] [-2.38510268e-01 -9.71136232e-01 2.69652077e-03 5.99470064e+01] [-1.17016258e-02 9.74340813e-05 -9.99931529e-01 6.72722422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.82, Y:59.94, Z:6.73 [[ 9.86999725e-01 -1.60364010e-01 -1.07204042e-02 1.07816919e+02] [-1.60355378e-01 -9.87057941e-01 1.66554792e-03 5.99353495e+01] [-1.08487540e-02 7.51791293e-05 -9.99941148e-01 6.72617950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.81, Y:59.92, Z:6.72 [[ 9.96721522e-01 -8.04771387e-02 -8.34495189e-03 1.07810697e+02] [-8.04746536e-02 -9.96756454e-01 6.33707461e-04 5.99244970e+01] [-8.36888362e-03 3.99272474e-05 -9.99964980e-01 6.72454670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.670385723 meters Centerline goodness [0,1] 0.9999557463380094 Centerline is valid? [True, True] Translation: X:107.81, Y:59.92, Z:6.72 [[ 9.99969962e-01 -8.94525218e-04 -7.69898241e-03 1.07806705e+02] [-8.94702870e-04 -9.99999600e-01 -1.96309942e-05 5.99158686e+01] [-7.69896177e-03 2.65187062e-05 -9.99970362e-01 6.72373493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.80, Y:59.91, Z:6.72 [[ 9.96782021e-01 7.98185469e-02 -7.38929642e-03 1.07803927e+02] [ 7.98162986e-02 -9.96809410e-01 -5.99132121e-04 5.99055875e+01] [-7.41354206e-03 7.41783695e-06 -9.99972519e-01 6.72400868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.80, Y:59.90, Z:6.72 [[ 9.87246691e-01 1.59016827e-01 -7.59076755e-03 1.07801469e+02] [ 1.59012154e-01 -9.87275873e-01 -1.21907905e-03 5.98982631e+01] [-7.68803574e-03 -3.49253895e-06 -9.99970447e-01 6.72459302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.80, Y:59.89, Z:6.72 [[ 9.71206601e-01 2.38115444e-01 -7.66636676e-03 1.07799614e+02] [ 2.38108206e-01 -9.71236858e-01 -1.85673693e-03 5.98885047e+01] [-7.88797571e-03 -2.21496727e-05 -9.99968889e-01 6.72372784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.80, Y:59.88, Z:6.72 [[ 9.49228592e-01 3.14496501e-01 -7.55193882e-03 1.07798319e+02] [ 3.14486810e-01 -9.49258632e-01 -2.46907574e-03 5.98790622e+01] [-7.94525879e-03 -3.12678596e-05 -9.99968436e-01 6.72346639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.80, Y:59.87, Z:6.72 [[ 9.21119106e-01 3.89208277e-01 -7.51733371e-03 1.07797899e+02] [ 3.89195705e-01 -9.21149779e-01 -3.12859346e-03 5.98695327e+01] [-8.14226475e-03 -4.39067860e-05 -9.99966850e-01 6.72439942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.80, Y:59.86, Z:6.73 [[ 8.87265020e-01 4.61185761e-01 -8.27511244e-03 1.07797412e+02] [ 4.61166346e-01 -8.87303607e-01 -4.23217048e-03 5.98597621e+01] [-9.29435388e-03 -6.11465383e-05 -9.99956805e-01 6.72695681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.80, Y:59.85, Z:6.73 [[ 8.48410244e-01 5.29270507e-01 -8.53156472e-03 1.07795102e+02] [ 5.29244533e-01 -8.48453137e-01 -5.24394097e-03 5.98546389e+01] [-1.00140961e-02 -6.62707459e-05 -9.99949856e-01 6.72768510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.79, Y:59.85, Z:6.73 [[ 8.04415691e-01 5.93998554e-01 -9.00632304e-03 1.07794798e+02] [ 5.93962332e-01 -8.04466104e-01 -6.56014630e-03 5.98486657e+01] [-1.11419990e-02 -7.23320146e-05 -9.99937923e-01 6.72762143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.80, Y:59.84, Z:6.73 [[ 7.56757821e-01 6.53633320e-01 -9.00461924e-03 1.07796844e+02] [ 6.53587886e-01 -7.56811390e-01 -7.70680855e-03 5.98390941e+01] [-1.18522253e-02 -5.31224087e-05 -9.99929759e-01 6.72688984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.80, Y:59.83, Z:6.73 [[ 7.04526340e-01 7.09628383e-01 -8.37824313e-03 1.07800191e+02] [ 7.09578760e-01 -7.04576155e-01 -8.39205218e-03 5.98282045e+01] [-1.18583487e-02 -3.26015645e-05 -9.99929687e-01 6.72886902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.80, Y:59.82, Z:6.73 [[ 6.49610070e-01 7.60231994e-01 -7.35334808e-03 1.07803200e+02] [ 7.60183112e-01 -6.49651687e-01 -8.62094233e-03 5.98192458e+01] [-1.13310312e-02 1.03599172e-05 -9.99935802e-01 6.72718798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.81, Y:59.81, Z:6.73 [[ 5.90899925e-01 8.06716895e-01 -6.71789748e-03 1.07806199e+02] [ 8.06663787e-01 -5.90938110e-01 -9.25662444e-03 5.98097434e+01] [-1.14373370e-02 5.06540636e-05 -9.99934590e-01 6.72752256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.81, Y:59.80, Z:6.73 [[ 5.27038533e-01 8.49820975e-01 -5.89037765e-03 1.07809742e+02] [ 8.49766521e-01 -5.27071444e-01 -9.62042329e-03 5.98003290e+01] [-1.12802873e-02 6.48880543e-05 -9.99936373e-01 6.72766626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.81, Y:59.79, Z:6.73 [[ 4.61446072e-01 8.87156200e-01 -4.62585825e-03 1.07813570e+02] [ 8.87109691e-01 -4.61469250e-01 -9.08449279e-03 5.97914485e+01] [-1.01940554e-02 8.83598338e-05 -9.99948035e-01 6.72747752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.82, Y:59.78, Z:6.73 [[ 3.91310251e-01 9.20250836e-01 -3.83242570e-03 1.07817995e+02] [ 9.20204297e-01 -3.91329006e-01 -9.25536558e-03 5.97822510e+01] [-1.00169972e-02 9.51048307e-05 -9.99949824e-01 6.72750629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.82, Y:59.77, Z:6.73 [[ 3.19464317e-01 9.47594715e-01 -2.60906047e-03 1.07821780e+02] [ 9.47560695e-01 -3.19474958e-01 -8.02996387e-03 5.97730500e+01] [-8.44268081e-03 9.30437681e-05 -9.99964356e-01 6.72683705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.83, Y:59.77, Z:6.73 [[ 2.44218820e-01 9.69718434e-01 -1.82405735e-03 1.07826987e+02] [ 9.69688707e-01 -2.44225617e-01 -7.59338050e-03 5.97655494e+01] [-7.80892257e-03 8.56786143e-05 -9.99969506e-01 6.72594017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.83, Y:59.76, Z:6.73 [[ 1.67292186e-01 9.85906670e-01 -1.16701056e-03 1.07832344e+02] [ 9.85879233e-01 -1.67296237e-01 -7.35572904e-03 5.97581237e+01] [-7.44729880e-03 8.00245079e-05 -9.99972265e-01 6.72522909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.84, Y:59.75, Z:6.72 [[ 8.78612025e-02 9.96132517e-01 -6.47041571e-04 1.07843368e+02] [ 9.96098929e-01 -8.78635536e-02 -8.18049593e-03 5.97501083e+01] [-8.20570937e-03 7.42307940e-05 -9.99966330e-01 6.72488158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.86, Y:59.74, Z:6.73 [[ 6.39989521e-03 9.99979521e-01 -5.12685012e-06 1.07855777e+02] [ 9.99938138e-01 -6.39967701e-03 -9.09747439e-03 5.97435926e+01] [-9.09732089e-03 5.30963498e-05 -9.99958617e-01 6.72586864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.87, Y:59.74, Z:6.73 [[-7.37589768e-02 9.97275840e-01 7.15669319e-04 1.07867128e+02] [ 9.97233615e-01 7.37624396e-02 -9.17716123e-03 5.97377438e+01] [-9.20495069e-03 3.67914797e-05 -9.99957633e-01 6.72570394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.88, Y:59.73, Z:6.72 [[-1.54679646e-01 9.87963700e-01 1.39124274e-03 1.07883731e+02] [ 9.87924206e-01 1.54685902e-01 -8.83372346e-03 5.97345595e+01] [-8.94260374e-03 8.04516163e-06 -9.99960014e-01 6.72490883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.90, Y:59.73, Z:6.72 [[-2.32418458e-01 9.72613961e-01 1.93499993e-03 1.07896348e+02] [ 9.72580264e-01 2.32426513e-01 -8.09604408e-03 5.97301678e+01] [-8.32407079e-03 2.72664591e-07 -9.99965354e-01 6.72487915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.91, Y:59.73, Z:6.72 [[-3.08028650e-01 9.51373910e-01 2.45640063e-03 1.07907902e+02] [ 9.51343635e-01 3.08038444e-01 -7.58980835e-03 5.97275928e+01] [-7.97741147e-03 -9.97309588e-07 -9.99968180e-01 6.72389485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.92, Y:59.73, Z:6.72 [[-3.81667186e-01 9.24295116e-01 2.94930409e-03 1.07920316e+02] [ 9.24267489e-01 3.81678581e-01 -7.14627107e-03 5.97269204e+01] [-7.73094964e-03 -1.55128104e-06 -9.99970116e-01 6.72282914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.450385723 meters Centerline goodness [0,1] 0.9999555802332037 Centerline is valid? [True, True] Translation: X:107.93, Y:59.73, Z:6.72 [[-4.53138745e-01 8.91434276e-01 3.19523472e-03 1.07932482e+02] [ 8.91412061e-01 4.53150010e-01 -6.29336230e-03 5.97264773e+01] [-7.05803951e-03 -3.49553262e-06 -9.99975092e-01 6.72285494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.94, Y:59.73, Z:6.72 [[-5.21816303e-01 8.53050866e-01 3.45929686e-03 1.07944985e+02] [ 8.53032055e-01 5.21827769e-01 -5.66497144e-03 5.97265971e+01] [-6.63766595e-03 -5.18334056e-06 -9.99977971e-01 6.72294924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.510385723 meters Centerline goodness [0,1] 0.9999779029941442 Centerline is valid? [True, True] Translation: X:107.96, Y:59.73, Z:6.72 [[-5.87794562e-01 8.09003578e-01 3.28084242e-03 1.07958623e+02] [ 8.08990883e-01 5.87803718e-01 -4.53213683e-03 5.97294132e+01] [-5.59500628e-03 -9.79377353e-06 -9.99984348e-01 6.72266436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.540385723 meters Centerline goodness [0,1] 0.9999779029941442 Centerline is valid? [True, True] Translation: X:107.97, Y:59.73, Z:6.72 [[-6.49333326e-01 7.60495291e-01 3.62562136e-03 1.07969924e+02] [ 7.60483352e-01 6.49343448e-01 -4.26131959e-03 5.97316822e+01] [-5.59498696e-03 -9.79213558e-06 -9.99984348e-01 6.72266419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.98, Y:59.74, Z:6.72 [[-7.07107273e-01 7.07096030e-01 3.80907161e-03 1.07981141e+02] [ 7.07085686e-01 7.07117532e-01 -3.82469312e-03 5.97356022e+01] [-5.39788663e-03 -1.11283101e-05 -9.99985431e-01 6.72249987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.99, Y:59.74, Z:6.72 [[-7.60544009e-01 6.49274598e-01 3.91237313e-03 1.07992346e+02] [ 6.49265924e-01 7.60554072e-01 -3.35614625e-03 5.97406503e+01] [-5.15463182e-03 -1.23263658e-05 -9.99986715e-01 6.72267318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.03, Y:59.75, Z:6.72 [[-8.04479734e-01 5.93965676e-01 4.13923563e-03 1.08030764e+02] [ 5.93957740e-01 8.04490383e-01 -3.07027565e-03 5.97472877e+01] [-5.15361360e-03 -1.14434985e-05 -9.99986720e-01 6.72264235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.05, Y:59.77, Z:6.72 [[-8.44489938e-01 5.35548363e-01 4.96943589e-03 1.08048448e+02] [ 5.35538999e-01 8.44504560e-01 -3.16689755e-03 5.97704749e+01] [-5.89273807e-03 -1.30863893e-05 -9.99982638e-01 6.72227167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.05, Y:59.80, Z:6.72 [[-8.80507148e-01 4.73988093e-01 6.51532097e-03 1.08050541e+02] [ 4.73974947e-01 8.80531253e-01 -3.53029944e-03 5.98033042e+01] [-7.41026364e-03 -2.03549827e-05 -9.99972543e-01 6.72264327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.08, Y:59.82, Z:6.72 [[-9.12148897e-01 4.09802134e-01 6.82653074e-03 1.08082569e+02] [ 4.09790448e-01 9.12174441e-01 -3.09489360e-03 5.98206050e+01] [-7.49528086e-03 -2.55566906e-05 -9.99971910e-01 6.72301442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.09, Y:59.85, Z:6.72 [[-9.39302536e-01 3.43007062e-01 7.54336604e-03 1.08092983e+02] [ 3.42995685e-01 9.39332824e-01 -2.79384311e-03 5.98505052e+01] [-8.04403924e-03 -3.69219104e-05 -9.99967646e-01 6.72355260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.10, Y:59.88, Z:6.72 [[-9.61359633e-01 2.75185527e-01 7.78339943e-03 1.08104427e+02] [ 2.75176166e-01 9.61391140e-01 -2.27018816e-03 5.98785000e+01] [-8.10761418e-03 -4.06612410e-05 -9.99967132e-01 6.72426584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.11, Y:59.91, Z:6.72 [[-9.78595733e-01 2.05634485e-01 8.05291634e-03 1.08108682e+02] [ 2.05627121e-01 9.78628866e-01 -1.74087244e-03 5.99094858e+01] [-8.23879978e-03 -4.77123398e-05 -9.99966059e-01 6.72492422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.12, Y:59.94, Z:6.72 [[-9.90677087e-01 1.36002640e-01 7.88617963e-03 1.08118970e+02] [ 1.35997969e-01 9.90708474e-01 -1.12810040e-03 5.99370763e+01] [-7.96632961e-03 -4.50788046e-05 -9.99968267e-01 6.72376310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.12, Y:59.97, Z:6.72 [[-9.97808827e-01 6.58007259e-02 6.91436475e-03 1.08120903e+02] [ 6.57988956e-02 9.97832783e-01 -4.92118241e-04 5.99669276e+01] [-6.93176156e-03 -3.60823605e-05 -9.99975974e-01 6.72163214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.12, Y:60.00, Z:6.72 [[-9.99967587e-01 -5.03379615e-03 6.28376168e-03 1.08124110e+02] [-5.03389216e-03 9.99987330e-01 5.36306025e-07 5.99967055e+01] [-6.28368477e-03 -3.10954901e-05 -9.99980257e-01 6.72124589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.930385723 meters Centerline goodness [0,1] 0.9999780845934693 Centerline is valid? [True, True] Translation: X:108.12, Y:60.74, Z:5.76 [[-9.97397127e-01 -7.18469344e-02 6.08189251e-03 1.08121901e+02] [ 7.18457082e-02 -9.97415670e-01 -4.20135520e-04 6.07396153e+01] [ 6.09636034e-03 1.79159143e-05 9.99981417e-01 5.75902681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.04, Y:60.00, Z:6.72 [[-9.99923539e-01 -1.04222684e-02 6.65527773e-03 1.08035592e+02] [-1.04222491e-02 9.99945686e-01 3.75942029e-05 6.00000109e+01] [-6.65530808e-03 -3.17716337e-05 -9.99977853e-01 6.72105474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.03, Y:60.03, Z:6.72 [[-9.96608357e-01 -8.18472039e-02 8.53340339e-03 1.08028117e+02] [-8.18445763e-02 9.96644888e-01 6.57262558e-04 6.00300165e+01] [-8.55856797e-03 -4.33794275e-05 -9.99963374e-01 6.72153470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.01, Y:60.06, Z:6.72 [[-9.88246766e-01 -1.52621864e-01 8.65430144e-03 1.08011249e+02] [-1.52616423e-01 9.88284658e-01 1.28958585e-03 6.00584743e+01] [-8.74973233e-03 -4.63594863e-05 -9.99961719e-01 6.72210909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.00, Y:60.09, Z:6.72 [[-9.74629445e-01 -2.23662537e-01 8.51558333e-03 1.07996930e+02] [-2.23654442e-01 9.74666644e-01 1.90359789e-03 6.00879732e+01] [-8.72561856e-03 -4.92454858e-05 -9.99961930e-01 6.72223610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.96, Y:60.11, Z:6.72 [[-9.56022982e-01 -2.93182470e-01 8.00611444e-03 1.07960421e+02] [-2.93172590e-01 9.56056503e-01 2.40732041e-03 6.01089313e+01] [-8.36008192e-03 -4.57196667e-05 -9.99965053e-01 6.72182482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.110385723 meters Centerline goodness [0,1] 0.9999781778505182 Centerline is valid? [True, True] Translation: X:107.90, Y:60.12, Z:6.72 [[-9.32405808e-01 -3.61329154e-01 7.78793749e-03 1.07899250e+02] [-3.61316888e-01 9.32438331e-01 2.97751553e-03 6.01186322e+01] [-8.33763460e-03 -3.76605688e-05 -9.99965241e-01 6.72101110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.84, Y:60.13, Z:6.72 [[-9.03395558e-01 -4.28739647e-01 7.66693718e-03 1.07841651e+02] [-4.28724498e-01 9.03428090e-01 3.60425543e-03 6.01254998e+01] [-8.47181361e-03 -3.09354541e-05 -9.99964113e-01 6.72066517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.76, Y:60.12, Z:6.72 [[-8.70337244e-01 -4.92405150e-01 7.08872084e-03 1.07763976e+02] [-4.92388897e-01 8.70366112e-01 4.00073479e-03 6.01189815e+01] [-8.13976481e-03 -8.41894451e-06 -9.99966872e-01 6.72053673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.200385723 meters Centerline goodness [0,1] 0.9999781377757373 Centerline is valid? [True, True] Translation: X:107.68, Y:60.10, Z:6.72 [[-8.31935100e-01 -5.54831798e-01 6.75766419e-03 1.07678099e+02] [-5.54813455e-01 8.31962545e-01 4.51150805e-03 6.01003271e+01] [-8.12525163e-03 4.03888122e-06 -9.99966990e-01 6.72009914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.59, Y:60.07, Z:6.72 [[-7.89748106e-01 -6.13392544e-01 6.89316986e-03 1.07593507e+02] [-6.13368834e-01 7.89778188e-01 5.39331395e-03 6.00738726e+01] [-8.75229376e-03 3.13039197e-05 -9.99961698e-01 6.72036869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.260385723 meters Centerline goodness [0,1] 0.9999561922285013 Centerline is valid? [True, True] Translation: X:107.50, Y:60.04, Z:6.72 [[-7.42289036e-01 -6.70048841e-01 6.44503883e-03 1.07502655e+02] [-6.70023050e-01 7.42317014e-01 5.87904746e-03 6.00353712e+01] [-8.72351091e-03 4.56278994e-05 -9.99961948e-01 6.71993838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.41, Y:59.99, Z:6.72 [[-6.91196639e-01 -7.22644831e-01 5.62626843e-03 1.07411189e+02] [-7.22620145e-01 6.91219534e-01 5.97345451e-03 5.99881205e+01] [-8.20567267e-03 6.31767704e-05 -9.99966331e-01 6.72031091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.32, Y:59.93, Z:6.72 [[-6.34969473e-01 -7.72522990e-01 4.69033911e-03 1.07320377e+02] [-7.72501164e-01 6.34986793e-01 5.80738620e-03 5.99300387e+01] [-7.46464273e-03 6.42205367e-05 -9.99972137e-01 6.71968214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.23, Y:59.86, Z:6.72 [[-5.75576630e-01 -8.17738444e-01 3.92174086e-03 1.07228097e+02] [-8.17718627e-01 5.75589986e-01 5.69343771e-03 5.98569297e+01] [-6.91305766e-03 7.01291380e-05 -9.99976102e-01 6.71877753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.380385723 meters Centerline goodness [0,1] 0.9999783037903278 Centerline is valid? [True, True] Translation: X:107.15, Y:59.78, Z:6.72 [[-5.11855526e-01 -8.59063900e-01 3.62424401e-03 1.07145609e+02] [-8.59041293e-01 5.11868351e-01 6.23279251e-03 5.97823549e+01] [-7.20950285e-03 7.69140257e-05 -9.99974008e-01 6.71874054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.410385723 meters Centerline goodness [0,1] 0.9999783042610432 Centerline is valid? [True, True] Translation: X:107.07, Y:59.70, Z:6.72 [[-4.46039967e-01 -8.95007043e-01 3.27734847e-03 1.07066102e+02] [-8.94981350e-01 4.46051998e-01 6.78225952e-03 5.96983959e+01] [-7.53203787e-03 9.19930629e-05 -9.99971630e-01 6.71951268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.440385723 meters Centerline goodness [0,1] 0.9999350902245878 Centerline is valid? [True, True] Translation: X:106.99, Y:59.60, Z:6.72 [[-3.76863896e-01 -9.26264398e-01 2.80507015e-03 1.06992534e+02] [-9.26236739e-01 3.76874322e-01 7.15880706e-03 5.96036854e+01] [-7.68810703e-03 9.97368936e-05 -9.99970441e-01 6.71974824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.92, Y:59.50, Z:6.72 [[-3.05803459e-01 -9.52091627e-01 2.40383253e-03 1.06924360e+02] [-9.52059153e-01 3.05812884e-01 7.86443977e-03 5.95034482e+01] [-8.22279021e-03 1.16382121e-04 -9.99966186e-01 6.71925457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.86, Y:59.39, Z:6.72 [[-2.32260593e-01 -9.72651731e-01 1.90438653e-03 1.06863401e+02] [-9.72614379e-01 2.32268365e-01 8.52502850e-03 5.93933351e+01] [-8.73421247e-03 1.27794454e-04 -9.99961848e-01 6.72037659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.81, Y:59.28, Z:6.72 [[-1.56873216e-01 -9.87617936e-01 1.26725290e-03 1.06811574e+02] [-9.87578666e-01 1.56878281e-01 8.80813447e-03 5.92786812e+01] [-8.89787605e-03 1.30248456e-04 -9.99960405e-01 6.72063166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.77, Y:59.16, Z:6.72 [[-8.02893402e-02 -9.96771430e-01 5.81214503e-04 1.06767807e+02] [-9.96732631e-01 8.02913437e-02 8.79562791e-03 5.91603771e+01] [-8.81389710e-03 1.26879701e-04 -9.99961149e-01 6.72035882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.73, Y:59.04, Z:6.72 [[-3.03049107e-03 -9.99995403e-01 -9.77389708e-05 1.06732239e+02] [-9.99955761e-01 3.02950058e-03 8.90494043e-03 5.90425581e+01] [-8.90460339e-03 1.24720989e-04 -9.99960346e-01 6.71910744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.71, Y:58.92, Z:6.72 [[ 7.51135230e-02 -9.97174729e-01 -7.19582427e-04 1.06706460e+02] [-9.97141312e-01 -7.51168973e-02 8.16435514e-03 5.89182551e+01] [-8.19534143e-03 1.04271887e-04 -9.99966412e-01 6.71859087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.69, Y:58.78, Z:6.72 [[ 1.52106282e-01 -9.88363232e-01 -1.34162584e-03 1.06691271e+02] [-9.88330247e-01 -1.52112167e-01 8.07532192e-03 5.87849099e+01] [-8.18542889e-03 9.76622035e-05 -9.99966494e-01 6.71789619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.680385723 meters Centerline goodness [0,1] 0.9999569457300927 Centerline is valid? [True, True] Translation: X:106.68, Y:58.67, Z:6.72 [[ 2.28739866e-01 -9.73485426e-01 -2.04945190e-03 1.06683605e+02] [-9.73449886e-01 -2.28749028e-01 8.31873778e-03 5.86714938e+01] [-8.56698012e-03 9.22117532e-05 -9.99963299e-01 6.71758679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.69, Y:58.54, Z:6.72 [[ 3.04637742e-01 -9.52464467e-01 -2.69913377e-03 1.06689840e+02] [-9.52429215e-01 -3.04649691e-01 8.19493603e-03 5.85424024e+01] [-8.62767564e-03 7.42470498e-05 -9.99962778e-01 6.71948335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.70, Y:58.42, Z:6.72 [[ 3.78500464e-01 -9.25595057e-01 -3.34497608e-03 1.06700009e+02] [-9.25560263e-01 -3.78515240e-01 8.02575722e-03 5.84165991e+01] [-8.69472563e-03 5.82241084e-05 -9.99962199e-01 6.71748189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.72, Y:58.30, Z:6.72 [[ 4.49146132e-01 -8.93450128e-01 -3.82363314e-03 1.06718667e+02] [-8.93418656e-01 -4.49162405e-01 7.49927513e-03 5.83023097e+01] [-8.41766058e-03 4.78347631e-05 -9.99964570e-01 6.71759011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.75, Y:58.19, Z:6.72 [[ 5.17932590e-01 -8.55411606e-01 -4.10073532e-03 1.06746562e+02] [-8.55385226e-01 -5.17948823e-01 6.71802393e-03 5.81874676e+01] [-7.87064667e-03 2.82248702e-05 -9.99969026e-01 6.71694174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.78, Y:58.08, Z:6.72 [[ 5.82657099e-01 -8.12705107e-01 -4.59508811e-03 1.06784204e+02] [-8.12680090e-01 -5.82675218e-01 6.37664835e-03 5.80760484e+01] [-7.85977864e-03 1.89371958e-05 -9.99969111e-01 6.71654581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.83, Y:57.97, Z:6.72 [[ 6.44455898e-01 -7.64624228e-01 -5.13669114e-03 1.06825868e+02] [-7.64599967e-01 -6.44476369e-01 6.09105483e-03 5.79702620e+01] [-7.96784415e-03 2.09765891e-06 -9.99968256e-01 6.71738362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.890385723 meters Centerline goodness [0,1] 0.9999138729194927 Centerline is valid? [True, True] Translation: X:106.88, Y:57.87, Z:6.72 [[ 7.01313211e-01 -7.12830667e-01 -5.67629299e-03 1.06878883e+02] [-7.12807257e-01 -7.01336182e-01 5.77706724e-03 5.78665615e+01] [-8.09906034e-03 -5.43073904e-06 -9.99967202e-01 6.71772791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.93, Y:57.77, Z:6.72 [[ 7.54463551e-01 -6.56306500e-01 -6.82125549e-03 1.06932113e+02] [-6.56279415e-01 -7.54494386e-01 5.96249723e-03 5.77746950e+01] [-9.05982466e-03 -2.18372713e-05 -9.99958959e-01 6.71865862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.950385723 meters Centerline goodness [0,1] 0.9998710952606024 Centerline is valid? [True, True] Translation: X:106.93, Y:57.76, Z:6.72 [[ 8.03905357e-01 -5.94712805e-01 -7.27023819e-03 1.06928018e+02] [-5.94688163e-01 -8.03938231e-01 5.41394987e-03 5.77614954e+01] [-9.06456774e-03 -2.87787139e-05 -9.99958916e-01 6.71866899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.980385723 meters Centerline goodness [0,1] 0.9999569864722455 Centerline is valid? [True, True] Translation: X:106.92, Y:57.75, Z:6.72 [[ 8.48679384e-01 -5.28848405e-01 -7.91633183e-03 1.06924160e+02] [-5.28824924e-01 -8.48716303e-01 4.98376545e-03 5.77493676e+01] [-9.35437629e-03 -4.32654120e-05 -9.99956246e-01 6.71803420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.92, Y:57.74, Z:6.72 [[ 8.87887220e-01 -4.59985953e-01 -8.31907676e-03 1.06922704e+02] [-4.59965206e-01 -8.87926191e-01 4.36911868e-03 5.77361139e+01] [-9.39645936e-03 -5.27987847e-05 -9.99955851e-01 6.71801555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.92, Y:57.72, Z:6.72 [[ 9.21898587e-01 -3.87323278e-01 -9.14727256e-03 1.06921594e+02] [-3.87303397e-01 -9.21943964e-01 3.92507387e-03 5.77224171e+01] [-9.95354520e-03 -7.57503157e-05 -9.99950459e-01 6.71895224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.92, Y:57.71, Z:6.72 [[ 9.49705191e-01 -3.12997549e-01 -9.62214625e-03 1.06922875e+02] [-3.12980534e-01 -9.49753930e-01 3.26480001e-03 5.77101632e+01] [-1.01605456e-02 -8.90530480e-05 -9.99948376e-01 6.71872142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.100385723 meters Centerline goodness [0,1] 0.9998926393541183 Centerline is valid? [True, True] Translation: X:106.92, Y:57.70, Z:6.72 [[ 9.71672621e-01 -2.36103463e-01 -1.03668439e-02 1.06924005e+02] [-2.36088791e-01 -9.71727916e-01 2.63454142e-03 5.76999113e+01] [-1.06957759e-02 -1.12416135e-04 -9.99942792e-01 6.71838973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.93, Y:57.69, Z:6.72 [[ 9.87247072e-01 -1.58823077e-01 -1.08833921e-02 1.06927059e+02] [-1.58812054e-01 -9.87307052e-01 1.87523094e-03 5.76879866e+01] [-1.10430797e-02 -1.22902398e-04 -9.99939016e-01 6.71735722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.93, Y:57.68, Z:6.72 [[ 9.96611610e-01 -8.13039091e-02 -1.24487960e-02 1.06926579e+02] [-8.12958632e-02 -9.96689348e-01 1.15183195e-03 5.76779454e+01] [-1.25012308e-02 -1.35893477e-04 -9.99921847e-01 6.71891565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.190385723 meters Centerline goodness [0,1] 0.999935401907797 Centerline is valid? [True, True] Translation: X:106.93, Y:57.67, Z:6.72 [[ 9.99906133e-01 -3.76921693e-03 -1.31725999e-02 1.06926261e+02] [-3.76713521e-03 -9.99992888e-01 1.82842833e-04 5.76684397e+01] [-1.31731954e-02 -1.33202705e-04 -9.99913221e-01 6.71937016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2203857229999 meters Centerline goodness [0,1] 0.9999355503995875 Centerline is valid? [True, True] Translation: X:106.93, Y:57.66, Z:6.72 [[ 9.97276125e-01 7.25989681e-02 -1.30276474e-02 1.06927903e+02] [ 7.25941786e-02 -9.97361208e-01 -8.40771480e-04 5.76622885e+01] [-1.30543093e-02 -1.07250042e-04 -9.99914783e-01 6.71837736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.250385723 meters Centerline goodness [0,1] 0.9999566405064388 Centerline is valid? [True, True] Translation: X:106.93, Y:57.66, Z:6.72 [[ 9.88866967e-01 1.48387948e-01 -1.10967836e-02 1.06929243e+02] [ 1.48379386e-01 -9.88929225e-01 -1.59551530e-03 5.76573508e+01] [-1.12106889e-02 -6.87815656e-05 -9.99937156e-01 6.71551769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.93, Y:57.65, Z:6.71 [[ 9.74465791e-01 2.24308667e-01 -1.01016778e-02 1.06930589e+02] [ 2.24297169e-01 -9.74518147e-01 -2.27168083e-03 5.76485349e+01] [-1.03538260e-02 -5.21024864e-05 -9.99946396e-01 6.71458345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.93, Y:57.64, Z:6.71 [[ 9.54187682e-01 2.99053954e-01 -9.62293112e-03 1.06932987e+02] [ 2.99039186e-01 -9.54236203e-01 -2.97230850e-03 5.76408750e+01] [-1.00714299e-02 -4.14933289e-05 -9.99949281e-01 6.71398971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.94, Y:57.64, Z:6.71 [[ 9.28765064e-01 3.70535170e-01 -9.95711640e-03 1.06935317e+02] [ 3.70514082e-01 -9.28818436e-01 -3.95316139e-03 5.76357809e+01] [-1.07131386e-02 -1.76936562e-05 -9.99942613e-01 6.71432177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.94, Y:57.63, Z:6.71 [[ 8.97243034e-01 4.41431598e-01 -9.64789414e-03 1.06938190e+02] [ 4.41406197e-01 -8.97294904e-01 -4.73546856e-03 5.76284640e+01] [-1.07473917e-02 -9.77408046e-06 -9.99942245e-01 6.71445867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.94, Y:57.62, Z:6.71 [[ 8.60556594e-01 5.09266919e-01 -9.46332164e-03 1.06939918e+02] [ 5.09236083e-01 -8.60608625e-01 -5.60411719e-03 5.76231230e+01] [-1.09982077e-02 3.59515201e-06 -9.99939518e-01 6.71415738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.94, Y:57.62, Z:6.71 [[ 8.18459446e-01 5.74496784e-01 -8.80797554e-03 1.06942310e+02] [ 5.74463372e-01 -8.18506839e-01 -6.19591715e-03 5.76172669e+01] [-1.07689227e-02 1.12475902e-05 -9.99942013e-01 6.71437162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.95, Y:57.61, Z:6.71 [[ 7.70978301e-01 6.36807379e-01 -8.29591244e-03 1.06946059e+02] [ 6.36770359e-01 -7.71022933e-01 -6.86639287e-03 5.76099600e+01] [-1.07689084e-02 1.12487616e-05 -9.99942014e-01 6.71437149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.490385723 meters Centerline goodness [0,1] 0.9999564137209607 Centerline is valid? [True, True] Translation: X:106.95, Y:57.61, Z:6.71 [[ 7.20091389e-01 6.93831326e-01 -8.15376094e-03 1.06947687e+02] [ 6.93786314e-01 -7.20137550e-01 -7.90313915e-03 5.76054516e+01] [-1.13552749e-02 3.40146947e-05 -9.99935526e-01 6.71484595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.520385723 meters Centerline goodness [0,1] 0.9999563423631879 Centerline is valid? [True, True] Translation: X:106.95, Y:57.60, Z:6.71 [[ 6.65021669e-01 7.46785052e-01 -7.63327057e-03 1.06952069e+02] [ 7.46734876e-01 -6.65065473e-01 -8.65685792e-03 5.75985120e+01] [-1.15414368e-02 5.69687499e-05 -9.99933394e-01 6.71494250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.550385723 meters Centerline goodness [0,1] 0.999956389960969 Centerline is valid? [True, True] Translation: X:106.96, Y:57.59, Z:6.71 [[ 6.04976211e-01 7.96209269e-01 -7.38807306e-03 1.06959650e+02] [ 7.96148533e-01 -6.05021318e-01 -9.83457060e-03 5.75905485e+01] [-1.23003180e-02 6.76777362e-05 -9.99924346e-01 6.71420656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.580385723 meters Centerline goodness [0,1] 0.9999344348282192 Centerline is valid? [True, True] Translation: X:106.96, Y:57.58, Z:6.71 [[ 5.42511148e-01 8.40019070e-01 -7.04395486e-03 1.06962536e+02] [ 8.39945880e-01 -5.42556866e-01 -1.10890031e-02 5.75843706e+01] [-1.31367201e-02 9.93669165e-05 -9.99913705e-01 6.71467647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.610385723 meters Centerline goodness [0,1] 0.999912510936133 Centerline is valid? [True, True] Translation: X:106.97, Y:57.58, Z:6.71 [[ 4.76192480e-01 8.79319275e-01 -6.19150188e-03 1.06970953e+02] [ 8.79241742e-01 -4.76232715e-01 -1.16773756e-02 5.75764722e+01] [-1.32167372e-02 1.16851541e-04 -9.99912648e-01 6.71362944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.640385723 meters Centerline goodness [0,1] 0.9999563252025419 Centerline is valid? [True, True] Translation: X:106.98, Y:57.57, Z:6.71 [[ 4.06907949e-01 9.13455610e-01 -4.97695002e-03 1.06980316e+02] [ 9.13383507e-01 -4.06938366e-01 -1.14776085e-02 5.75688470e+01] [-1.25095978e-02 1.24466063e-04 -9.99921744e-01 6.71333270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.670385723 meters Centerline goodness [0,1] 0.9999781444650858 Centerline is valid? [True, True] Translation: X:106.99, Y:57.56, Z:6.71 [[ 3.35309930e-01 9.42099974e-01 -3.85862918e-03 1.06987393e+02] [ 9.42032955e-01 -3.35332105e-01 -1.12379494e-02 5.75614115e+01] [-1.18811941e-02 1.33240176e-04 -9.99929407e-01 6.71295768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.00, Y:57.56, Z:6.71 [[ 2.59847141e-01 9.65645035e-01 -3.02161052e-03 1.06995286e+02] [ 9.65573933e-01 -2.59864677e-01 -1.17187858e-02 5.75555224e+01] [-1.21013971e-02 1.27504622e-04 -9.99926767e-01 6.71203301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.00, Y:57.55, Z:6.71 [[ 1.82970754e-01 9.83116076e-01 -2.11777818e-03 1.07002841e+02] [ 9.83042177e-01 -1.82982968e-01 -1.20545011e-02 5.75494640e+01] [-1.22384911e-02 1.23755884e-04 -9.99925099e-01 6.71191733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.01, Y:57.54, Z:6.71 [[ 1.04798323e-01 9.94492868e-01 -1.11667728e-03 1.07012118e+02] [ 9.94424555e-01 -1.04804213e-01 -1.16568416e-02 5.75442356e+01] [-1.17096783e-02 1.11166145e-04 -9.99931433e-01 6.71115720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.02, Y:57.54, Z:6.71 [[ 2.45423074e-02 9.99698775e-01 -1.84105080e-04 1.07021727e+02] [ 9.99640799e-01 -2.45428669e-02 -1.07666533e-02 5.75390387e+01] [-1.07679286e-02 8.01995662e-05 -9.99942021e-01 6.71061629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.03, Y:57.54, Z:6.71 [[-5.47788740e-02 9.98498305e-01 6.40362574e-04 1.07034874e+02] [ 9.98443797e-01 5.47825748e-02 -1.04332943e-02 5.75354648e+01] [-1.04527074e-02 6.78419263e-05 -9.99945367e-01 6.71019476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.05, Y:57.53, Z:6.71 [[-1.34630034e-01 9.90894863e-01 1.45769330e-03 1.07045349e+02] [ 9.90840638e-01 1.34637916e-01 -1.03664154e-02 5.75312109e+01] [-1.04682886e-02 4.87108986e-05 -9.99945205e-01 6.70996814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.06, Y:57.53, Z:6.71 [[-2.12634800e-01 9.77129221e-01 2.21984613e-03 1.07055973e+02] [ 9.77077867e-01 2.12646384e-01 -1.00179044e-02 5.75288905e+01] [-1.02608293e-02 3.88074234e-05 -9.99947356e-01 6.70969850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.910385723 meters Centerline goodness [0,1] 0.9999334811529933 Centerline is valid? [True, True] Translation: X:107.07, Y:57.53, Z:6.71 [[-2.89908416e-01 9.57049958e-01 2.91338755e-03 1.07067823e+02] [ 9.57002442e-01 2.89923054e-01 -9.53676216e-03 5.75270662e+01] [-9.97181604e-03 2.33313840e-05 -9.99950280e-01 6.70993143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.08, Y:57.53, Z:6.71 [[-3.65938779e-01 9.30631812e-01 3.63870187e-03 1.07079187e+02] [ 9.30585858e-01 3.65956869e-01 -9.24828862e-03 5.75256239e+01] [-9.93835955e-03 1.81705940e-06 -9.99950613e-01 6.71061625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.09, Y:57.52, Z:6.71 [[-4.38500985e-01 8.98719587e-01 4.47097756e-03 1.07089263e+02] [ 8.98672709e-01 4.38523778e-01 -9.17928111e-03 5.75248609e+01] [-1.02102297e-02 -7.17829737e-06 -9.99947874e-01 6.71050733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.10, Y:57.53, Z:6.71 [[-5.08357308e-01 8.61130398e-01 5.22343121e-03 1.07100822e+02] [ 8.61084594e-01 5.08384143e-01 -8.88169613e-03 5.75258621e+01] [-1.03038081e-02 -1.72589941e-05 -9.99946914e-01 6.71045822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.030385723 meters Centerline goodness [0,1] 0.9999777500889997 Centerline is valid? [True, True] Translation: X:107.11, Y:57.53, Z:6.71 [[-5.75742234e-01 8.17608963e-01 6.03857263e-03 1.07111976e+02] [ 8.17563315e-01 5.75773899e-01 -8.63962501e-03 5.75267437e+01] [-1.05406873e-02 -3.72815473e-05 -9.99944445e-01 6.71205544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.12, Y:57.53, Z:6.71 [[-6.39158761e-01 7.69045811e-01 6.67975190e-03 1.07120845e+02] [ 7.69002947e-01 6.39193663e-01 -8.11964170e-03 5.75276314e+01] [-1.05140315e-02 -5.29912374e-05 -9.99944725e-01 6.71296368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.13, Y:57.53, Z:6.71 [[-6.97642726e-01 7.16408434e-01 7.31999198e-03 1.07129216e+02] [ 7.16368155e-01 6.97681125e-01 -7.59700414e-03 5.75288946e+01] [-1.05495781e-02 -5.61855298e-05 -9.99944350e-01 6.71323208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.14, Y:57.53, Z:6.71 [[-7.51409960e-01 6.59790656e-01 7.70477092e-03 1.07135303e+02] [ 6.59755268e-01 7.51449458e-01 -6.83358564e-03 5.75268264e+01] [-1.02984819e-02 -5.15611079e-05 -9.99946968e-01 6.71257446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.16, Y:57.54, Z:6.71 [[-7.95985376e-01 6.05262542e-01 8.03345069e-03 1.07157425e+02] [ 6.05231118e-01 7.96025912e-01 -6.16774266e-03 5.75426921e+01] [-1.01279385e-02 -4.73386215e-05 -9.99948710e-01 6.71146063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.17, Y:57.57, Z:6.71 [[-8.36892534e-01 5.47306528e-01 8.15177792e-03 1.07170111e+02] [ 5.47280021e-01 8.36932233e-01 -5.38674561e-03 5.75658962e+01] [-9.77068673e-03 -4.68219964e-05 -9.99952265e-01 6.71195341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.210385723 meters Centerline goodness [0,1] 0.9999553909979034 Centerline is valid? [True, True] Translation: X:107.19, Y:57.59, Z:6.71 [[-8.73716086e-01 4.86365124e-01 8.31668201e-03 1.07185894e+02] [ 4.86342550e-01 8.73755666e-01 -4.68623240e-03 5.75899357e+01] [-9.54596802e-03 -4.96802952e-05 -9.99954435e-01 6.71324297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.21, Y:57.61, Z:6.71 [[-9.06580942e-01 4.21932161e-01 9.17858640e-03 1.07209150e+02] [ 4.21909777e-01 9.06627402e-01 -4.34666347e-03 5.76085915e+01] [-1.01555551e-02 -6.80669233e-05 -9.99948429e-01 6.71331520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.270385723 meters Centerline goodness [0,1] 0.9999325782092773 Centerline is valid? [True, True] Translation: X:107.23, Y:57.63, Z:6.71 [[-9.34426939e-01 3.56022184e-01 9.72110995e-03 1.07226026e+02] [ 3.56002066e-01 9.34477500e-01 -3.78559223e-03 5.76318186e+01] [-1.04319133e-02 -7.66241312e-05 -9.99945583e-01 6.71376352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.22, Y:57.66, Z:6.71 [[-9.57470891e-01 2.88334737e-01 1.06100314e-02 1.07219490e+02] [ 2.88316014e-01 9.57529671e-01 -3.28707645e-03 5.76619723e+01] [-1.11071982e-02 -8.82380697e-05 -9.99938309e-01 6.71379066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.330385723 meters Centerline goodness [0,1] 0.9998649743451256 Centerline is valid? [True, True] Translation: X:107.24, Y:57.69, Z:6.71 [[-9.75490759e-01 2.19751387e-01 1.12742111e-02 1.07235283e+02] [ 2.19735630e-01 9.75555903e-01 -2.63315561e-03 5.76858230e+01] [-1.15772628e-02 -9.12730980e-05 -9.99932977e-01 6.71276905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.360385723 meters Centerline goodness [0,1] 0.9999325129912492 Centerline is valid? [True, True] Translation: X:107.43, Y:58.46, Z:5.77 [[-9.53851765e-01 -3.00063764e-01 1.13379211e-02 1.07427814e+02] [ 3.00043947e-01 -9.53919140e-01 -3.45034392e-03 5.84647367e+01] [ 1.18507831e-02 1.10757964e-04 9.99929771e-01 5.76664317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.390385723 meters Centerline goodness [0,1] 0.9998647673999279 Centerline is valid? [True, True] Translation: X:107.19, Y:57.70, Z:6.71 [[-9.76404389e-01 2.15633243e-01 1.16949833e-02 1.07186749e+02] [ 2.15616569e-01 9.76474421e-01 -2.68334318e-03 5.76978702e+01] [-1.19984701e-02 -9.83958683e-05 -9.99928011e-01 6.71446709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.420385723 meters Centerline goodness [0,1] 0.9999324506890029 Centerline is valid? [True, True] Translation: X:107.20, Y:57.73, Z:6.71 [[-9.89277884e-01 1.45562247e-01 1.18701982e-02 1.07199572e+02] [ 1.45550533e-01 9.89349090e-01 -1.84941583e-03 5.77254366e+01] [-1.20129749e-02 -1.01872504e-04 -9.99927836e-01 6.71455662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.450385723 meters Centerline goodness [0,1] 0.9999550975505714 Centerline is valid? [True, True] Translation: X:107.30, Y:58.52, Z:5.77 [[-9.73567951e-01 -2.28080928e-01 1.20222476e-02 1.07300243e+02] [ 2.28065107e-01 -9.73642170e-01 -2.68923614e-03 5.85172828e+01] [ 1.23187308e-02 1.23701077e-04 9.99924114e-01 5.76530344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.480385723 meters Centerline goodness [0,1] 0.9999325963871664 Centerline is valid? [True, True] Translation: X:107.12, Y:57.74, Z:6.71 [[-9.89815866e-01 1.41825020e-01 1.22562661e-02 1.07121966e+02] [ 1.41812961e-01 9.89891739e-01 -1.85184209e-03 5.77390056e+01] [-1.23950141e-02 -9.48852901e-05 -9.99923174e-01 6.71449671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.510385723 meters Centerline goodness [0,1] 0.9999776156153467 Centerline is valid? [True, True] Translation: X:107.14, Y:57.77, Z:6.71 [[-9.97343058e-01 7.17598970e-02 1.25435675e-02 1.07142667e+02] [ 7.17531076e-02 9.97421932e-01 -9.91047183e-04 5.77652734e+01] [-1.25823468e-02 -8.83740775e-05 -9.99920835e-01 6.71412006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.540385723 meters Centerline goodness [0,1] 0.9999104384040124 Centerline is valid? [True, True] Translation: X:107.21, Y:58.56, Z:5.77 [[-9.88479143e-01 -1.50874864e-01 1.20731073e-02 1.07213145e+02] [ 1.50864374e-01 -9.88552867e-01 -1.78017095e-03 5.85576304e+01] [ 1.22034879e-02 6.17399181e-05 9.99925533e-01 5.76592450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.570385723 meters Centerline goodness [0,1] 0.9999327173230466 Centerline is valid? [True, True] Translation: X:107.08, Y:57.77, Z:6.71 [[-9.97486265e-01 6.98396666e-02 1.19821676e-02 1.07075679e+02] [ 6.98340197e-02 9.97558228e-01 -8.89533006e-04 5.77701700e+01] [-1.20150346e-02 -5.05340251e-05 -9.99927816e-01 6.71423780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.600385723 meters Centerline goodness [0,1] 0.9999551850855964 Centerline is valid? [True, True] Translation: X:107.08, Y:57.80, Z:6.71 [[-9.99932822e-01 1.36672137e-03 1.15101317e-02 1.07076950e+02] [ 1.36641769e-03 9.99999066e-01 -3.42469250e-05 5.77984891e+01] [-1.15101678e-02 -1.85169767e-05 -9.99933756e-01 6.71422863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.08, Y:57.83, Z:6.71 [[-9.97658870e-01 -6.74753956e-02 1.11288057e-02 1.07075365e+02] [-6.74711022e-02 9.97720938e-01 7.61216840e-04 5.78260996e+01] [-1.11548058e-02 8.56194829e-06 -9.99937783e-01 6.71382271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.660385723 meters Centerline goodness [0,1] 0.9998426789526913 Centerline is valid? [True, True] Translation: X:107.07, Y:57.85, Z:6.71 [[-9.90594247e-01 -1.36405809e-01 1.07931592e-02 1.07065106e+02] [-1.36397379e-01 9.90653045e-01 1.51679949e-03 5.78533783e+01] [-1.08991762e-02 3.03742342e-05 -9.99940602e-01 6.71479811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.04, Y:57.88, Z:6.71 [[-9.78426264e-01 -2.06333424e-01 1.04194356e-02 1.07042002e+02] [-2.06321285e-01 9.78481741e-01 2.23848082e-03 5.78784852e+01] [-1.06571009e-02 4.04370822e-05 -9.99943211e-01 6.71370469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7203857229999 meters Centerline goodness [0,1] 0.9999775058484794 Centerline is valid? [True, True] Translation: X:107.00, Y:57.90, Z:6.71 [[-9.61406028e-01 -2.74989994e-01 8.88553110e-03 1.07001065e+02] [-2.74977714e-01 9.61447087e-01 2.59929811e-03 5.78971175e+01] [-9.25774896e-03 5.56578438e-05 -9.99957145e-01 6.71334777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.750385723 meters Centerline goodness [0,1] 0.9999775417162621 Centerline is valid? [True, True] Translation: X:106.94, Y:57.91, Z:6.71 [[-9.38797240e-01 -3.44374025e-01 8.14085028e-03 1.06944624e+02] [-3.44360545e-01 9.38832534e-01 3.04755911e-03 5.79074296e+01] [-8.69239530e-03 5.76524423e-05 -9.99962219e-01 6.71137854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.87, Y:57.91, Z:6.71 [[-9.10754752e-01 -4.12879129e-01 7.52368199e-03 1.06873648e+02] [-4.12864536e-01 9.10785826e-01 3.47183983e-03 5.79081233e+01] [-8.28591313e-03 5.57331549e-05 -9.99965670e-01 6.71201624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.810385723 meters Centerline goodness [0,1] 0.9999776116061434 Centerline is valid? [True, True] Translation: X:106.79, Y:57.90, Z:6.71 [[-8.76996116e-01 -4.80455551e-01 6.34639665e-03 1.06792782e+02] [-4.80442622e-01 8.77019077e-01 3.52490074e-03 5.79021102e+01] [-7.25946906e-03 4.22448122e-05 -9.99973649e-01 6.71198987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8403857229999 meters Centerline goodness [0,1] 0.9999552612741589 Centerline is valid? [True, True] Translation: X:106.71, Y:57.88, Z:6.71 [[-8.38319348e-01 -5.45151120e-01 5.56127244e-03 1.06706491e+02] [-5.45138834e-01 8.38337793e-01 3.66014419e-03 5.78845686e+01] [-6.65755657e-03 3.67041170e-05 -9.99977838e-01 6.71296806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.870385723 meters Centerline goodness [0,1] 0.9999328874074406 Centerline is valid? [True, True] Translation: X:106.61, Y:57.85, Z:6.71 [[-7.94740084e-01 -6.06927763e-01 5.18551624e-03 1.06613964e+02] [-6.06914558e-01 7.94757000e-01 4.00368616e-03 5.78547722e+01] [-6.55117362e-03 3.47245766e-05 -9.99978540e-01 6.71308810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.900385723 meters Centerline goodness [0,1] 0.9999775975626148 Centerline is valid? [True, True] Translation: X:106.52, Y:57.81, Z:6.71 [[-7.46137427e-01 -6.65774390e-01 4.83753104e-03 1.06517390e+02] [-6.65760133e-01 7.46153108e-01 4.35723385e-03 5.78119710e+01] [-6.51047353e-03 3.04599447e-05 -9.99978806e-01 6.71251612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.930385723 meters Centerline goodness [0,1] 0.9999774997749977 Centerline is valid? [True, True] Translation: X:106.43, Y:57.77, Z:6.71 [[-6.93209639e-01 -7.20721606e-01 4.55665368e-03 1.06428877e+02] [-7.20705753e-01 6.93224614e-01 4.78038790e-03 5.77653900e+01] [-6.60411333e-03 2.98044464e-05 -9.99978192e-01 6.71232895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.960385723 meters Centerline goodness [0,1] 0.9999329309188464 Centerline is valid? [True, True] Translation: X:106.34, Y:57.70, Z:6.71 [[-6.36663133e-01 -7.71130365e-01 4.24444999e-03 1.06335942e+02] [-7.71112878e-01 6.36677280e-01 5.19341542e-03 5.77019797e+01] [-6.70714520e-03 3.35060793e-05 -9.99977506e-01 6.71189573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.990385723 meters Centerline goodness [0,1] 0.9999552001433596 Centerline is valid? [True, True] Translation: X:106.25, Y:57.63, Z:6.71 [[-5.76836742e-01 -8.16850293e-01 3.86943366e-03 1.06248161e+02] [-8.16831419e-01 5.76849718e-01 5.55307569e-03 5.76337124e+01] [-6.76811322e-03 4.25431045e-05 -9.99977095e-01 6.71217664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.020385723 meters Centerline goodness [0,1] 0.999977534652798 Centerline is valid? [True, True] Translation: X:106.16, Y:57.55, Z:6.71 [[-5.13406312e-01 -8.58137985e-01 3.62721834e-03 1.06162945e+02] [-8.58115849e-01 5.13419123e-01 6.16395064e-03 5.75542507e+01] [-7.15180344e-03 5.20376198e-05 -9.99974424e-01 6.71340110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.050385723 meters Centerline goodness [0,1] 0.9999551489056333 Centerline is valid? [True, True] Translation: X:106.08, Y:57.47, Z:6.71 [[-4.46458202e-01 -8.94798471e-01 3.28178673e-03 1.06082328e+02] [-8.94773330e-01 4.46470259e-01 6.70781728e-03 5.74653563e+01] [-7.46736482e-03 5.83047969e-05 -9.99972117e-01 6.71411250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.01, Y:57.37, Z:6.71 [[-3.77539500e-01 -9.25988514e-01 3.03275488e-03 1.06009572e+02] [-9.25957007e-01 3.77551673e-01 7.63904641e-03 5.73709530e+01] [-8.21869092e-03 7.58411265e-05 -9.99966223e-01 6.71374343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.110385723 meters Centerline goodness [0,1] 0.9999103018343275 Centerline is valid? [True, True] Translation: X:105.94, Y:57.26, Z:6.71 [[-3.06409262e-01 -9.51896940e-01 2.36219274e-03 1.05940832e+02] [-9.51866499e-01 3.06418356e-01 7.61310357e-03 5.72626725e+01] [-7.97070920e-03 8.42333176e-05 -9.99968230e-01 6.71325919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.140385723 meters Centerline goodness [0,1] 0.9999551106522422 Centerline is valid? [True, True] Translation: X:105.88, Y:57.15, Z:6.71 [[-2.32442508e-01 -9.72608598e-01 1.73108223e-03 1.05881278e+02] [-9.72578810e-01 2.32448938e-01 7.61247567e-03 5.71534880e+01] [-7.80634751e-03 8.58490458e-05 -9.99969526e-01 6.71337164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.83, Y:57.04, Z:6.71 [[-1.57643109e-01 -9.87495484e-01 1.14833732e-03 1.05828725e+02] [-9.87464764e-01 1.57647264e-01 7.78981121e-03 5.70385222e+01] [-7.87343563e-03 9.40674175e-05 -9.99969000e-01 6.71411324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.200385723 meters Centerline goodness [0,1] 0.9999775809886784 Centerline is valid? [True, True] Translation: X:105.79, Y:56.92, Z:6.71 [[-8.10139089e-02 -9.96712822e-01 5.45753236e-04 1.05786591e+02] [-9.96681555e-01 8.10156907e-02 7.89524827e-03 5.69204983e+01] [-7.91350976e-03 9.56827405e-05 -9.99968683e-01 6.71426145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.230385723 meters Centerline goodness [0,1] 0.9999550854499315 Centerline is valid? [True, True] Translation: X:105.75, Y:56.80, Z:6.71 [[-3.88806229e-03 -9.99992439e-01 -6.93412054e-05 1.05753675e+02] [-9.99957885e-01 3.88735146e-03 8.31363622e-03 5.67985577e+01] [-8.31330381e-03 1.01662221e-04 -9.99965439e-01 6.71369229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.73, Y:56.67, Z:6.71 [[ 7.34448430e-02 -9.97299017e-01 -7.25734581e-04 1.05729997e+02] [-9.97263204e-01 -7.34483564e-02 8.45223840e-03 5.66687876e+01] [-8.48271306e-03 1.02975071e-04 -9.99964016e-01 6.71336334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.71, Y:56.54, Z:6.71 [[ 1.50441302e-01 -9.88618098e-01 -1.29287708e-03 1.05713910e+02] [-9.88586824e-01 -1.50446827e-01 7.86408351e-03 5.65437573e+01] [-7.96908453e-03 9.50382857e-05 -9.99968242e-01 6.71378389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.320385723 meters Centerline goodness [0,1] 0.9999776356398443 Centerline is valid? [True, True] Translation: X:105.71, Y:56.42, Z:6.71 [[ 2.26752971e-01 -9.73950341e-01 -1.95550052e-03 1.05708741e+02] [-9.73917618e-01 -2.26761383e-01 7.98432051e-03 5.64174493e+01] [-8.21976369e-03 9.40280132e-05 -9.99966213e-01 6.71395631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.71, Y:56.29, Z:6.71 [[ 3.01754012e-01 -9.53381667e-01 -2.81301260e-03 1.05713307e+02] [-9.53343195e-01 -3.01767108e-01 8.56535776e-03 5.62927493e+01] [-9.01492974e-03 9.71353556e-05 -9.99959360e-01 6.71436429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.73, Y:56.17, Z:6.71 [[ 3.74363164e-01 -9.27275695e-01 -3.46506354e-03 1.05728613e+02] [-9.27238347e-01 -3.74379187e-01 8.32294375e-03 5.61675556e+01] [-9.01491113e-03 9.71362356e-05 -9.99959360e-01 6.71436331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.410385723 meters Centerline goodness [0,1] 0.9999553780593918 Centerline is valid? [True, True] Translation: X:105.75, Y:56.04, Z:6.71 [[ 4.45038930e-01 -8.95501510e-01 -4.17083579e-03 1.05752923e+02] [-8.95464172e-01 -4.45058463e-01 8.17806342e-03 5.60438055e+01] [-9.17973392e-03 9.52774224e-05 -9.99957861e-01 6.71418343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.440385723 meters Centerline goodness [0,1] 0.99997761761941 Centerline is valid? [True, True] Translation: X:105.78, Y:55.93, Z:6.71 [[ 5.12357172e-01 -8.58761835e-01 -4.27069509e-03 1.05783953e+02] [-8.58733414e-01 -5.12374963e-01 6.98721322e-03 5.59260860e+01] [-8.18854929e-03 8.74397658e-05 -9.99966470e-01 6.71278707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4703857229999 meters Centerline goodness [0,1] 0.9999777168705573 Centerline is valid? [True, True] Translation: X:105.83, Y:55.81, Z:6.71 [[ 5.76709638e-01 -8.16937193e-01 -4.42901481e-03 1.05826223e+02] [-8.16914180e-01 -5.76726639e-01 6.13244635e-03 5.58090427e+01] [-7.56415433e-03 8.14840812e-05 -9.99971388e-01 6.71281220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.87, Y:55.70, Z:6.71 [[ 6.37433477e-01 -7.70490710e-01 -4.75700248e-03 1.05871495e+02] [-7.70470202e-01 -6.37451221e-01 5.62209196e-03 5.57025555e+01] [-7.36412667e-03 8.14190402e-05 -9.99972881e-01 6.71282248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.93, Y:55.60, Z:6.71 [[ 6.94776425e-01 -7.19208053e-01 -5.04932963e-03 1.05925601e+02] [-7.19189859e-01 -6.94794768e-01 5.11628761e-03 5.55985297e+01] [-7.18792306e-03 7.67506536e-05 -9.99974164e-01 6.71173050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.98, Y:55.50, Z:6.71 [[ 7.47515575e-01 -6.64222472e-01 -5.38255580e-03 1.05981412e+02] [-6.64205994e-01 -7.47534950e-01 4.67942077e-03 5.55040721e+01] [-7.13182501e-03 7.71859173e-05 -9.99974565e-01 6.71132997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.97, Y:55.49, Z:6.71 [[ 7.96961151e-01 -6.04003790e-01 -5.68732772e-03 1.05974914e+02] [-6.03989110e-01 -7.96981440e-01 4.21185041e-03 5.54944433e+01] [-7.07666825e-03 7.84028602e-05 -9.99974957e-01 6.71144958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.97, Y:55.48, Z:6.71 [[ 8.40740412e-01 -5.41402649e-01 -6.22344523e-03 1.05967696e+02] [-5.41388645e-01 -8.40763441e-01 3.89522642e-03 5.54836581e+01] [-7.34133112e-03 9.44283132e-05 -9.99973048e-01 6.71202493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.96, Y:55.47, Z:6.71 [[ 8.80006008e-01 -4.74910430e-01 -7.03623450e-03 1.05961356e+02] [-4.74896247e-01 -8.80034131e-01 3.67192202e-03 5.54748450e+01] [-7.93596057e-03 1.10167917e-04 -9.99968504e-01 6.71232725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.96, Y:55.47, Z:6.71 [[ 9.14136045e-01 -4.05337002e-01 -7.56347989e-03 1.05956492e+02] [-4.05324212e-01 -9.14167326e-01 3.22216771e-03 5.54665834e+01] [-8.22034999e-03 1.20161877e-04 -9.99966205e-01 6.71263027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.95, Y:55.46, Z:6.71 [[ 9.43029685e-01 -3.32609960e-01 -8.10105060e-03 1.05952336e+02] [-3.32598820e-01 -9.43064472e-01 2.72499505e-03 5.54565348e+01] [-8.54617350e-03 1.24648650e-04 -9.99963473e-01 6.71201142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.95, Y:55.44, Z:6.71 [[ 9.66413852e-01 -2.56862577e-01 -8.11682002e-03 1.05948642e+02] [-2.56854502e-01 -9.66447931e-01 2.03986450e-03 5.54437066e+01] [-8.36844877e-03 1.13488452e-04 -9.99964978e-01 6.71116885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.94, Y:55.43, Z:6.71 [[ 9.83943651e-01 -1.78300276e-01 -7.99396286e-03 1.05942889e+02] [-1.78295157e-01 -9.83976119e-01 1.35418848e-03 5.54308894e+01] [-8.10732073e-03 9.28397105e-05 -9.99967131e-01 6.71213121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.800385723 meters Centerline goodness [0,1] 0.9999778633727365 Centerline is valid? [True, True] Translation: X:105.94, Y:55.42, Z:6.71 [[ 9.95016698e-01 -9.93491441e-02 -8.45689831e-03 1.05938205e+02] [-9.93462870e-02 -9.95052632e-01 7.58311228e-04 5.54196418e+01] [-8.49039649e-03 8.56291128e-05 -9.99963952e-01 6.71237639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.93, Y:55.41, Z:6.71 [[ 9.99761410e-01 -1.97522058e-02 -9.32599774e-03 1.05934589e+02] [-1.97521052e-02 -9.99804903e-01 1.02898785e-04 5.54060822e+01] [-9.32621074e-03 8.13338545e-05 -9.99956507e-01 6.71167984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.93, Y:55.39, Z:6.71 [[ 9.98167096e-01 5.98483792e-02 -8.97881955e-03 1.05932762e+02] [ 5.98453567e-02 -9.98207477e-01 -6.05169303e-04 5.53917304e+01] [-8.99894322e-03 6.67194273e-05 -9.99959507e-01 6.71053048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.890385723 meters Centerline goodness [0,1] 0.9999779934420457 Centerline is valid? [True, True] Translation: X:105.93, Y:55.38, Z:6.71 [[ 9.90397914e-01 1.37995040e-01 -8.32715929e-03 1.05931715e+02] [ 1.37989648e-01 -9.90432918e-01 -1.22144344e-03 5.53779581e+01] [-8.41604581e-03 6.06532555e-05 -9.99964583e-01 6.71003565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.93, Y:55.36, Z:6.71 [[ 9.76630033e-01 2.14806644e-01 -7.20304684e-03 1.05930881e+02] [ 2.14800383e-01 -9.76656594e-01 -1.64095552e-03 5.53629526e+01] [-7.38739134e-03 5.53892227e-05 -9.99972711e-01 6.71024078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.950385723 meters Centerline goodness [0,1] 0.9999124093984716 Centerline is valid? [True, True] Translation: X:105.93, Y:55.35, Z:6.71 [[ 9.56994198e-01 2.90012495e-01 -7.40661009e-03 1.05931671e+02] [ 2.90003300e-01 -9.57022857e-01 -2.31021870e-03 5.53513109e+01] [-7.75828744e-03 6.29245200e-05 -9.99969902e-01 6.71198216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.980385723 meters Centerline goodness [0,1] 0.9999781004314215 Centerline is valid? [True, True] Translation: X:105.93, Y:55.34, Z:6.71 [[ 9.31179758e-01 3.64492677e-01 -7.02467670e-03 1.05934604e+02] [ 3.64481839e-01 -9.31206253e-01 -2.81140128e-03 5.53358591e+01] [-7.56615805e-03 5.75528833e-05 -9.99971375e-01 6.71050088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.94, Y:55.32, Z:6.71 [[ 8.99781189e-01 4.36291896e-01 -6.57226664e-03 1.05937325e+02] [ 4.36279808e-01 -8.99805189e-01 -3.24812211e-03 5.53239026e+01] [-7.33088898e-03 5.52519438e-05 -9.99973127e-01 6.71078028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.94, Y:55.31, Z:6.71 [[ 8.63273041e-01 5.04708619e-01 -5.37279892e-03 1.05941837e+02] [ 5.04698469e-01 -8.63289758e-01 -3.20137491e-03 5.53110480e+01] [-6.25404380e-03 5.20172659e-05 -9.99980442e-01 6.71048989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.95, Y:55.30, Z:6.71 [[ 8.21566572e-01 5.70093578e-01 -4.65612612e-03 1.05948315e+02] [ 5.70084064e-01 -8.21579765e-01 -3.29398525e-03 5.52985943e+01] [-5.70325884e-03 5.18448681e-05 -9.99983735e-01 6.71038808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.100385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.95, Y:55.29, Z:6.71 [[ 7.75506063e-01 6.31329517e-01 -3.65881076e-03 1.05954264e+02] [ 6.31322177e-01 -7.75514693e-01 -3.04476052e-03 5.52873457e+01] [-4.75970869e-03 5.13418666e-05 -9.99988671e-01 6.71094170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.96, Y:55.28, Z:6.71 [[ 7.24170402e-01 6.89612149e-01 -3.50892709e-03 1.05963224e+02] [ 6.89603677e-01 -7.24178901e-01 -3.41880999e-03 5.52762677e+01] [-4.89874387e-03 5.60319815e-05 -9.99988000e-01 6.71015756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.160385723 meters Centerline goodness [0,1] 0.9999783905264068 Centerline is valid? [True, True] Translation: X:105.98, Y:55.26, Z:6.71 [[ 6.68677733e-01 7.43544074e-01 -3.50697683e-03 1.05975791e+02] [ 7.43533327e-01 -6.68686926e-01 -3.99828358e-03 5.52633482e+01] [-5.31796962e-03 6.60090495e-05 -9.99985857e-01 6.71072499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.99, Y:55.25, Z:6.71 [[ 6.09021985e-01 7.93145735e-01 -3.47355992e-03 1.05987716e+02] [ 7.93132109e-01 -6.09031886e-01 -4.64976284e-03 5.52515439e+01] [-5.80344831e-03 7.68158885e-05 -9.99983157e-01 6.71250487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.00, Y:55.24, Z:6.71 [[ 5.45420901e-01 8.38156682e-01 -3.06887712e-03 1.05997254e+02] [ 8.38142597e-01 -5.45429529e-01 -4.85966540e-03 5.52442944e+01] [-5.74701723e-03 7.84064405e-05 -9.99983483e-01 6.71262331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.01, Y:55.24, Z:6.71 [[ 4.78665959e-01 8.77993110e-01 -2.64536741e-03 1.06005769e+02] [ 8.77978757e-01 -4.78673262e-01 -5.02097962e-03 5.52373938e+01] [-5.67465216e-03 8.07956348e-05 -9.99983896e-01 6.71368779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.02, Y:55.23, Z:6.71 [[ 4.09731180e-01 9.12202760e-01 -2.54662281e-03 1.06016629e+02] [ 9.12183585e-01 -4.09739082e-01 -5.91535791e-03 5.52317340e+01] [-6.43945670e-03 1.00719053e-04 -9.99979261e-01 6.71456391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.02, Y:55.23, Z:6.72 [[ 3.38618845e-01 9.40921899e-01 -1.80521949e-03 1.06024938e+02] [ 9.40906961e-01 -3.38623643e-01 -5.30280257e-03 5.52269303e+01] [-5.60081306e-03 9.70853011e-05 -9.99984311e-01 6.71502514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3403857229999 meters Centerline goodness [0,1] 0.9999572676965152 Centerline is valid? [True, True] Translation: X:106.04, Y:55.22, Z:6.72 [[ 2.65284936e-01 9.64168842e-01 -1.53221261e-03 1.06037713e+02] [ 9.64150130e-01 -2.65289335e-01 -6.00793286e-03 5.52226295e+01] [-6.19914133e-03 1.16531092e-04 -9.99980778e-01 6.71543710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.05, Y:55.22, Z:6.71 [[ 1.89953011e-01 9.81792772e-01 -8.98516441e-04 1.06052366e+02] [ 9.81779046e-01 -1.89955107e-01 -5.19251610e-03 5.52187407e+01] [-5.26865256e-03 1.04189452e-04 -9.99986115e-01 6.71480474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.07, Y:55.22, Z:6.71 [[ 1.15173366e-01 9.93345325e-01 -4.01995103e-04 1.06067100e+02] [ 9.93335966e-01 -1.15174027e-01 -4.31307612e-03 5.52158066e+01] [-4.33067340e-03 9.74353025e-05 -9.99990618e-01 6.71489483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.08, Y:55.21, Z:6.71 [[ 3.82589280e-02 9.99267857e-01 -6.23625806e-05 1.06078644e+02] [ 9.99258679e-01 -3.82588440e-02 -4.28413783e-03 5.52140463e+01] [-4.28338715e-03 1.01590171e-04 -9.99990821e-01 6.71492186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.09, Y:55.21, Z:6.71 [[-3.83361768e-02 9.99264875e-01 2.17499401e-04 1.06091507e+02] [ 9.99259080e-01 3.83366955e-02 -3.40435774e-03 5.52141395e+01] [-3.41019332e-03 8.68281916e-05 -9.99994182e-01 6.71378205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.11, Y:55.22, Z:6.71 [[-1.15884683e-01 9.93262614e-01 3.47828531e-04 1.06106278e+02] [ 9.93259641e-01 1.15885187e-01 -2.43077965e-03 5.52161540e+01] [-2.45471072e-03 6.37939137e-05 -9.99996985e-01 6.71335985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.12, Y:55.22, Z:6.71 [[-1.93817811e-01 9.81037489e-01 3.17769989e-04 1.06122409e+02] [ 9.81036465e-01 1.93818068e-01 -1.41843890e-03 5.52181919e+01] [-1.45313130e-03 3.68252245e-05 -9.99998944e-01 6.71325875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.550385723 meters Centerline goodness [0,1] 0.9999577577831285 Centerline is valid? [True, True] Translation: X:106.13, Y:55.22, Z:6.71 [[-2.71220746e-01 9.62517089e-01 3.99441249e-04 1.06134672e+02] [ 9.62516216e-01 2.71221038e-01 -1.29684260e-03 5.52215080e+01] [-1.35657004e-03 3.27380623e-05 -9.99999079e-01 6.71387516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.15, Y:55.23, Z:6.72 [[-3.48700559e-01 9.37233904e-01 7.27765339e-04 1.06151846e+02] [ 9.37232105e-01 3.48701316e-01 -1.83662466e-03 5.52286610e+01] [-1.97511963e-03 4.16529967e-05 -9.99998049e-01 6.71515883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.16, Y:55.23, Z:6.72 [[-4.23020657e-01 9.06119625e-01 8.65667626e-04 1.06162355e+02] [ 9.06117904e-01 4.23021541e-01 -1.76639775e-03 5.52336767e+01] [-1.96676372e-03 3.71741988e-05 -9.99998065e-01 6.71563215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.18, Y:55.24, Z:6.72 [[-4.96423992e-01 8.68079570e-01 1.04009640e-03 1.06178272e+02] [ 8.68077789e-01 4.96425080e-01 -1.75853276e-03 5.52443314e+01] [-2.04287630e-03 2.99067294e-05 -9.99997913e-01 6.71530500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.19, Y:55.25, Z:6.71 [[-5.64533311e-01 8.25409704e-01 9.80710300e-04 1.06188976e+02] [ 8.25408524e-01 5.64534163e-01 -1.39591952e-03 5.52540012e+01] [-1.70584998e-03 2.14435732e-05 -9.99998545e-01 6.71493539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.20, Y:55.27, Z:6.71 [[-6.30382289e-01 7.76284697e-01 4.89343503e-04 1.06202832e+02] [ 7.76284471e-01 6.30382479e-01 -5.92276352e-04 5.52680950e+01] [-7.68248638e-04 6.50923927e-06 -9.99999705e-01 6.71419480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.21, Y:55.28, Z:6.71 [[-6.91160639e-01 7.22700996e-01 4.91203963e-04 1.06213899e+02] [ 7.22700818e-01 6.91160814e-01 -5.07701224e-04 5.52824388e+01] [-7.06417111e-04 4.09040374e-06 -9.99999751e-01 6.71354721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.22, Y:55.30, Z:6.71 [[-7.46312126e-01 6.65596068e-01 2.92049264e-04 1.06221706e+02] [ 6.65596018e-01 7.46312183e-01 -2.58246628e-04 5.52954709e+01] [-3.89847864e-04 1.65423688e-06 -9.99999924e-01 6.71316840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.24, Y:55.32, Z:6.71 [[-7.91951255e-01 6.10584317e-01 -3.46532310e-05 1.06236478e+02] [ 6.10584317e-01 7.91951256e-01 2.59755268e-05 5.53221711e+01] [ 4.33039191e-05 -5.87368364e-07 -9.99999999e-01 6.71191662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.25, Y:55.35, Z:6.71 [[-8.33281238e-01 5.52848800e-01 -7.63211635e-04 1.06250758e+02] [ 5.52848574e-01 8.33281587e-01 5.00872253e-04 5.53491719e+01] [ 9.12876827e-04 -4.57301236e-06 -9.99999583e-01 6.71123581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.850385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.26, Y:55.38, Z:6.71 [[-8.70386058e-01 4.92368768e-01 -1.05183997e-03 1.06260536e+02] [ 4.92368416e-01 8.70386694e-01 5.88370567e-04 5.53791730e+01] [ 1.20520281e-03 -5.78324360e-06 -9.99999274e-01 6.71104366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.27, Y:55.41, Z:6.71 [[-9.03247275e-01 4.29118302e-01 -1.35795555e-03 1.06273194e+02] [ 4.29117828e-01 9.03248295e-01 6.38106219e-04 5.54071365e+01] [ 1.50039410e-03 -6.35523461e-06 -9.99998874e-01 6.71093050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.28, Y:55.44, Z:6.71 [[-9.31826971e-01 3.62902852e-01 -1.27869337e-04 1.06279402e+02] [ 3.62902849e-01 9.31826980e-01 4.90023760e-05 5.54366257e+01] [ 1.36935200e-04 -7.42410962e-07 -9.99999991e-01 6.71086125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.940385723 meters Centerline goodness [0,1] 0.9999581633720322 Centerline is valid? [True, True] Translation: X:106.28, Y:55.47, Z:6.71 [[-9.55529370e-01 2.94895943e-01 8.23502857e-05 1.06281712e+02] [ 2.94895942e-01 9.55529373e-01 -2.56677150e-05 5.54668048e+01] [-8.62574219e-05 -2.41490520e-07 -9.99999996e-01 6.71051855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9703857229999 meters Centerline goodness [0,1] 0.9998948121344722 Centerline is valid? [True, True] Translation: X:106.28, Y:55.50, Z:6.71 [[-9.74743683e-01 2.23325477e-01 6.95463079e-04 1.06281690e+02] [ 2.23325419e-01 9.74743931e-01 -1.60847394e-04 5.54986301e+01] [-7.13819736e-04 -1.47039840e-06 -9.99999745e-01 6.71036573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.28, Y:55.53, Z:6.71 [[-9.88373756e-01 1.52039070e-01 1.20014351e-03 1.06275436e+02] [ 1.52038953e-01 9.88374484e-01 -1.88783337e-04 5.55308699e+01] [-1.21489367e-03 -4.11993205e-06 -9.99999262e-01 6.71079856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.36, Y:56.08, Z:5.77 [[-9.73585334e-01 -2.28313899e-01 2.08830407e-03 1.06360784e+02] [ 2.28313527e-01 -9.73587571e-01 -4.18180533e-04 5.60818558e+01] [ 2.12862332e-03 6.96536338e-05 9.99997732e-01 5.76829160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.22, Y:55.54, Z:6.71 [[-9.89896944e-01 1.41752174e-01 3.21909574e-03 1.06223360e+02] [ 1.41751320e-01 9.89902177e-01 -4.93082502e-04 5.55418406e+01] [-3.25648540e-03 -3.17897935e-05 -9.99994697e-01 6.71156991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0903857229999 meters Centerline goodness [0,1] 0.9999373982721923 Centerline is valid? [True, True] Translation: X:106.30, Y:56.09, Z:5.77 [[-9.73176899e-01 -2.30014587e-01 4.47370272e-03 1.06303641e+02] [ 2.30012783e-01 -9.73187172e-01 -9.20617539e-04 5.60891224e+01] [ 4.56550556e-03 1.33085091e-04 9.99989569e-01 5.76738885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.120385723 meters Centerline goodness [0,1] 0.9998949182463956 Centerline is valid? [True, True] Translation: X:106.17, Y:55.55, Z:6.71 [[-9.91080607e-01 1.33190744e-01 4.41084501e-03 1.06169207e+02] [ 1.33189135e-01 9.91090421e-01 -6.57961740e-04 5.55475733e+01] [-4.45918065e-03 -6.46164908e-05 -9.99990056e-01 6.71148445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.150385723 meters Centerline goodness [0,1] 0.9997907599598259 Centerline is valid? [True, True] Translation: X:106.16, Y:55.58, Z:6.71 [[-9.98183530e-01 6.01123340e-02 4.01841617e-03 1.06161267e+02] [ 6.01115725e-02 9.98191616e-01 -3.10116238e-04 5.55783384e+01] [-4.02979115e-03 -6.79996064e-05 -9.99991878e-01 6.71063225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.180385723 meters Centerline goodness [0,1] 0.9997687569635687 Centerline is valid? [True, True] Translation: X:106.15, Y:55.61, Z:6.71 [[-9.99917423e-01 -1.22310051e-02 3.94337406e-03 1.06151815e+02] [-1.22311915e-02 9.99925196e-01 -2.31493378e-05 5.56091404e+01] [-3.94279594e-03 -7.13795895e-05 -9.99992225e-01 6.71079586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.210385723 meters Centerline goodness [0,1] 0.9998102546803845 Centerline is valid? [True, True] Translation: X:106.15, Y:56.16, Z:5.77 [[-9.95635056e-01 -9.32161312e-02 4.64626811e-03 1.06154337e+02] [ 9.32157371e-02 -9.95645889e-01 -3.01761890e-04 5.61615619e+01] [ 4.65416681e-03 1.32660590e-04 9.99989161e-01 5.76905832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.240385723 meters Centerline goodness [0,1] 0.9998735537712587 Centerline is valid? [True, True] Translation: X:106.09, Y:55.60, Z:6.71 [[-9.99794644e-01 -1.96886950e-02 4.79839907e-03 1.06089587e+02] [-1.96889554e-02 9.99806154e-01 -7.01539540e-06 5.56040527e+01] [-4.79733079e-03 -1.01489420e-04 -9.99988488e-01 6.70979553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.270385723 meters Centerline goodness [0,1] 0.9998735537712587 Centerline is valid? [True, True] Translation: X:106.08, Y:55.63, Z:6.71 [[-9.95864613e-01 -9.07235337e-02 4.78671214e-03 1.06079015e+02] [-9.07229750e-02 9.95876112e-01 3.34171620e-04 5.56323845e+01] [-4.79728951e-03 -1.01475075e-04 -9.99988488e-01 6.70979500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.300385723 meters Centerline goodness [0,1] 0.9999788837975379 Centerline is valid? [True, True] Translation: X:106.06, Y:55.66, Z:6.71 [[-9.86742054e-01 -1.62229524e-01 4.65836923e-03 1.06064342e+02] [-1.62228210e-01 9.86753045e-01 6.61033611e-04 5.56557197e+01] [-4.70389919e-03 -1.03449240e-04 -9.99988931e-01 6.70807695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.04, Y:55.68, Z:6.71 [[-9.72667445e-01 -2.32163432e-01 4.26405977e-03 1.06042536e+02] [-2.32161632e-01 9.72676787e-01 9.19250439e-04 5.56810739e+01] [-4.36096829e-03 -9.58261001e-05 -9.99990486e-01 6.70786964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.01, Y:55.70, Z:6.71 [[-9.53476415e-01 -3.01445173e-01 3.67886650e-03 1.06014849e+02] [-3.01443269e-01 9.53483508e-01 1.07483903e-03 5.57014926e+01] [-3.83174358e-03 -8.41358789e-05 -9.99992655e-01 6.70722142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.98, Y:55.72, Z:6.71 [[-9.29361085e-01 -3.69158173e-01 3.19650725e-03 1.05980675e+02] [-3.69156263e-01 9.29366579e-01 1.18984134e-03 5.57186820e+01] [-3.40996666e-03 -7.42184305e-05 -9.99994183e-01 6.70688262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.92, Y:55.72, Z:6.71 [[-9.00335376e-01 -4.35179333e-01 3.89329740e-03 1.05921841e+02] [-4.35175691e-01 9.00343790e-01 1.78272864e-03 5.57166123e+01] [-4.28111280e-03 -8.92147205e-05 -9.99990832e-01 6.70671710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.450385723 meters Centerline goodness [0,1] 0.9999365119674941 Centerline is valid? [True, True] Translation: X:105.86, Y:55.72, Z:6.71 [[-8.66258900e-01 -4.99577779e-01 4.19057254e-03 1.05857880e+02] [-4.99572464e-01 8.66269031e-01 2.30644897e-03 5.57173945e+01] [-4.78241386e-03 -9.55127038e-05 -9.99988560e-01 6.70807746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.79, Y:55.70, Z:6.71 [[-8.28184790e-01 -5.60437859e-01 4.40001068e-03 1.05786858e+02] [-5.60430536e-01 8.28196473e-01 2.86655148e-03 5.56999298e+01] [-5.25059730e-03 -9.18660101e-05 -9.99986211e-01 6.70824563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.510385723 meters Centerline goodness [0,1] 0.9999788068242026 Centerline is valid? [True, True] Translation: X:105.71, Y:55.67, Z:6.71 [[-7.85175680e-01 -6.19254876e-01 4.74868760e-03 1.05708710e+02] [-6.19244268e-01 7.85190034e-01 3.62581781e-03 5.56713769e+01] [-5.97392754e-03 -9.36936103e-05 -9.99982152e-01 6.70809802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.540385723 meters Centerline goodness [0,1] 0.9999573324230917 Centerline is valid? [True, True] Translation: X:105.62, Y:55.64, Z:6.71 [[-7.36939602e-01 -6.75940251e-01 4.97994097e-03 1.05624331e+02] [-6.75925735e-01 7.36956422e-01 4.43096495e-03 5.56358031e+01] [-6.66506703e-03 -1.00716712e-04 -9.99977783e-01 6.70828101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.54, Y:55.59, Z:6.71 [[-6.84218382e-01 -7.29260575e-01 4.92131945e-03 1.05538779e+02] [-7.29242805e-01 6.84236073e-01 5.09200268e-03 5.55903846e+01] [-7.08074109e-03 -1.04794962e-04 -9.99974926e-01 6.70875610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.600385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.45, Y:55.53, Z:6.71 [[-6.27663002e-01 -7.78467755e-01 5.20686776e-03 1.05454195e+02] [-7.78442483e-01 6.27684588e-01 6.27365669e-03 5.55311229e+01] [-8.15211008e-03 -1.15504879e-04 -9.99966764e-01 6.70868580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.37, Y:55.47, Z:6.71 [[-5.67234457e-01 -8.23541970e-01 4.86764400e-03 1.05372159e+02] [-8.23513364e-01 5.67255331e-01 6.86505787e-03 5.54681639e+01] [-8.41486029e-03 -1.14472514e-04 -9.99964588e-01 6.70912367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.660385723 meters Centerline goodness [0,1] 0.9999571477545424 Centerline is valid? [True, True] Translation: X:105.29, Y:55.39, Z:6.71 [[-5.04073087e-01 -8.63650870e-01 4.18299529e-03 1.05294148e+02] [-8.63622763e-01 5.04090433e-01 6.96835905e-03 5.53915128e+01] [-8.12683727e-03 -9.99676918e-05 -9.99966972e-01 6.70951908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.690385723 meters Centerline goodness [0,1] 0.9999354686054766 Centerline is valid? [True, True] Translation: X:105.22, Y:55.31, Z:6.71 [[-4.37429038e-01 -8.99245352e-01 3.69244502e-03 1.05219011e+02] [-8.99215141e-01 4.37444612e-01 7.37168902e-03 5.53085145e+01] [-8.24419726e-03 -9.57116337e-05 -9.99966012e-01 6.70913280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7203857229999 meters Centerline goodness [0,1] 0.9999785020208101 Centerline is valid? [True, True] Translation: X:105.15, Y:55.22, Z:6.71 [[-3.68573612e-01 -9.29592726e-01 3.29483039e-03 1.05150464e+02] [-9.29557749e-01 3.68588327e-01 8.06457862e-03 5.52155200e+01] [-8.71120965e-03 -9.03442510e-05 -9.99962053e-01 6.70924166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.750385723 meters Centerline goodness [0,1] 0.9999571486726802 Centerline is valid? [True, True] Translation: X:105.09, Y:55.12, Z:6.71 [[-2.96637443e-01 -9.54986738e-01 2.56075882e-03 1.05087360e+02] [-9.54953560e-01 2.96648484e-01 7.96082576e-03 5.51158773e+01] [-8.36212824e-03 -8.39267561e-05 -9.99965033e-01 6.70895002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.780385723 meters Centerline goodness [0,1] 0.9999352988116549 Centerline is valid? [True, True] Translation: X:105.03, Y:55.00, Z:6.71 [[-2.22282660e-01 -9.74980162e-01 2.02554177e-03 1.05028194e+02] [-9.74943306e-01 2.22291870e-01 8.47795147e-03 5.50019962e+01] [-8.71609597e-03 -9.02867896e-05 -9.99962010e-01 6.70813648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.98, Y:54.90, Z:6.71 [[-1.46435237e-01 -9.89219279e-01 1.39267832e-03 1.04981956e+02] [-9.89180464e-01 1.46441829e-01 8.76363555e-03 5.48974049e+01] [-8.87310360e-03 -9.43051396e-05 -9.99960629e-01 6.70812823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.94, Y:54.78, Z:6.71 [[-6.96333243e-02 -9.97572392e-01 7.22604461e-04 1.04940045e+02] [-9.97532355e-01 6.96370039e-02 8.93808571e-03 5.47773538e+01] [-8.96670756e-03 -9.84327085e-05 -9.99959793e-01 6.70835141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.91, Y:54.64, Z:6.71 [[ 8.02331075e-03 -9.99967812e-01 3.49286582e-05 1.04907922e+02] [-9.99923999e-01 -8.02263222e-03 9.36129148e-03 5.46446990e+01] [-9.36070994e-03 -1.10034554e-04 -9.99956182e-01 6.70869984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.88, Y:54.54, Z:6.71 [[ 8.50396774e-02 -9.96377324e-01 -6.93772480e-04 1.04884157e+02] [-9.96332560e-01 -8.50424336e-02 9.44529950e-03 5.45355160e+01] [-9.47008234e-03 -1.11997111e-04 -9.99955152e-01 6.70912817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.87, Y:54.39, Z:6.71 [[ 1.60433025e-01 -9.87045596e-01 -1.49537084e-03 1.04873910e+02] [-9.86996224e-01 -1.60439958e-01 9.87287567e-03 5.43913217e+01] [-9.98489568e-03 -1.08009935e-04 -9.99950144e-01 6.71044163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.87, Y:54.29, Z:6.71 [[ 2.35208873e-01 -9.71942299e-01 -2.22552056e-03 1.04867587e+02] [-9.71894739e-01 -2.35219381e-01 9.61559600e-03 5.42934961e+01] [-9.86929006e-03 -9.87017779e-05 -9.99951293e-01 6.70842391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.990385723 meters Centerline goodness [0,1] 0.9999781200770174 Centerline is valid? [True, True] Translation: X:104.88, Y:54.17, Z:6.71 [[ 3.07089277e-01 -9.51676173e-01 -2.93891495e-03 1.04875360e+02] [-9.51630219e-01 -3.07103330e-01 9.35263641e-03 5.41715029e+01] [-9.80323180e-03 -7.53340755e-05 -9.99951944e-01 6.70832481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.020385723 meters Centerline goodness [0,1] 0.9999780927552742 Centerline is valid? [True, True] Translation: X:104.89, Y:54.05, Z:6.71 [[ 3.77113206e-01 -9.26159795e-01 -3.69658996e-03 1.04892498e+02] [-9.26113949e-01 -3.77131320e-01 9.21523681e-03 5.40515055e+01] [-9.92888168e-03 -5.17239758e-05 -9.99950706e-01 6.70911615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.050385723 meters Centerline goodness [0,1] 0.9999781353856918 Centerline is valid? [True, True] Translation: X:104.92, Y:53.93, Z:6.71 [[ 4.46603041e-01 -8.94720699e-01 -4.53809117e-03 1.04916110e+02] [-8.94673451e-01 -4.46626094e-01 9.19505429e-03 5.39322097e+01] [-1.02538353e-02 -4.64295130e-05 -9.99947427e-01 6.70910429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.95, Y:53.81, Z:6.71 [[ 5.13552198e-01 -8.58040973e-01 -5.46162118e-03 1.04949678e+02] [-8.57991552e-01 -5.13581237e-01 9.20918592e-03 5.38134329e+01] [-1.07068450e-02 -4.33728305e-05 -9.99942679e-01 6.70968308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.110385723 meters Centerline goodness [0,1] 0.9999779405276625 Centerline is valid? [True, True] Translation: X:104.99, Y:53.70, Z:6.71 [[ 5.77360035e-01 -8.16465039e-01 -6.34274524e-03 1.04994791e+02] [-8.16415047e-01 -5.77394872e-01 9.03505061e-03 5.36969924e+01] [-1.10390715e-02 -3.81644764e-05 -9.99939067e-01 6.71126514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.04, Y:53.60, Z:6.71 [[ 6.38351177e-01 -7.69713264e-01 -7.01896053e-03 1.05041008e+02] [-7.69666049e-01 -6.38389763e-01 8.52549446e-03 5.35953719e+01] [-1.10430187e-02 -4.00037989e-05 -9.99939023e-01 6.71222284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.09, Y:53.50, Z:6.71 [[ 6.95450457e-01 -7.18531480e-01 -7.82140397e-03 1.05093564e+02] [-7.18485348e-01 -6.95494436e-01 8.14209320e-03 5.34962205e+01] [-1.12900932e-02 -4.28582832e-05 -9.99936264e-01 6.71157844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.15, Y:53.40, Z:6.71 [[ 7.47894531e-01 -6.63761884e-01 -8.59836587e-03 1.05152784e+02] [-6.63717437e-01 -7.47943955e-01 7.68146240e-03 5.34040321e+01] [-1.15297577e-02 -3.80383689e-05 -9.99933529e-01 6.71229420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.15, Y:53.40, Z:6.71 [[ 7.97235399e-01 -6.03593787e-01 -9.50044866e-03 1.05146749e+02] [-6.03550410e-01 -7.97292004e-01 7.23626856e-03 5.33958847e+01] [-1.19423985e-02 -3.50097710e-05 -9.99928686e-01 6.71407034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.14, Y:53.39, Z:6.71 [[ 8.41808235e-01 -5.39692255e-01 -9.54807599e-03 1.05142423e+02] [-5.39657148e-01 -8.41862381e-01 6.15578338e-03 5.33895130e+01] [-1.13603946e-02 -2.93016794e-05 -9.99935468e-01 6.71334829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.14, Y:53.39, Z:6.71 [[ 8.80854644e-01 -4.73284872e-01 -9.82473714e-03 1.05139743e+02] [-4.73255236e-01 -8.80909433e-01 5.29646117e-03 5.33877414e+01] [-1.11614386e-02 -1.58041349e-05 -9.99937709e-01 6.71226012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.14, Y:53.38, Z:6.71 [[ 9.14964587e-01 -4.03414043e-01 -9.84449701e-03 1.05136299e+02] [-4.03390574e-01 -9.15017546e-01 4.35144729e-03 5.33847060e+01] [-1.07633224e-02 -1.02428836e-05 -9.99942074e-01 6.71297028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.350385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.13, Y:53.38, Z:6.71 [[ 9.43456453e-01 -3.31370869e-01 -9.12512740e-03 1.05134413e+02] [-3.31355351e-01 -9.43500582e-01 3.20694378e-03 5.33826100e+01] [-9.67225075e-03 -1.95201925e-06 -9.99953223e-01 6.71118473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.380385723 meters Centerline goodness [0,1] 0.9999326281748973 Centerline is valid? [True, True] Translation: X:105.13, Y:53.38, Z:6.71 [[ 9.66326146e-01 -2.57159120e-01 -9.10863840e-03 1.05131325e+02] [-2.57147733e-01 -9.66369074e-01 2.42004594e-03 5.33762280e+01] [-9.42464334e-03 3.71204746e-06 -9.99955587e-01 6.71116545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.13, Y:53.37, Z:6.71 [[ 9.83502296e-01 -1.80701314e-01 -8.38268567e-03 1.05125338e+02] [-1.80694779e-01 -9.83538019e-01 1.53680848e-03 5.33701496e+01] [-8.52239337e-03 3.25286356e-06 -9.99963684e-01 6.71182878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.12, Y:53.36, Z:6.71 [[ 9.94656373e-01 -1.02873764e-01 -8.69994104e-03 1.05118909e+02] [-1.02869840e-01 -9.94694420e-01 8.98509592e-04 5.33618538e+01] [-8.74621587e-03 1.25325201e-06 -9.99961751e-01 6.71166909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.11, Y:53.36, Z:6.71 [[ 9.99653595e-01 -2.45295474e-02 -9.53896185e-03 1.05112166e+02] [-2.45284309e-02 -9.99699105e-01 2.34032654e-04 5.33572131e+01] [-9.54183234e-03 2.41831690e-08 -9.99954476e-01 6.71230110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.500385723 meters Centerline goodness [0,1] 0.9999774128701466 Centerline is valid? [True, True] Translation: X:105.11, Y:53.35, Z:6.71 [[ 9.98506453e-01 5.37121725e-02 -9.99327812e-03 1.05107066e+02] [ 5.37094700e-02 -9.98556459e-01 -5.38795574e-04 5.33489204e+01] [-1.00077923e-02 1.25718600e-06 -9.99949921e-01 6.71219823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.10, Y:53.34, Z:6.71 [[ 9.91170849e-01 1.32204252e-01 -1.01184825e-02 1.05102091e+02] [ 1.32197400e-01 -9.91222496e-01 -1.34605507e-03 5.33381023e+01] [-1.02076217e-02 -3.46652591e-06 -9.99947901e-01 6.71191843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.10, Y:53.32, Z:6.71 [[ 9.77429424e-01 2.11057261e-01 -9.30337872e-03 1.05099399e+02] [ 2.11047888e-01 -9.77473699e-01 -1.98916665e-03 5.33236262e+01] [-9.51363608e-03 -1.91884163e-05 -9.99954744e-01 6.71200985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.10, Y:53.31, Z:6.71 [[ 9.57786827e-01 2.87335595e-01 -9.09122869e-03 1.05095909e+02] [ 2.87322885e-01 -9.57829972e-01 -2.70262435e-03 5.33107430e+01] [-9.48441150e-03 -2.35800589e-05 -9.99955022e-01 6.71230958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.10, Y:53.30, Z:6.71 [[ 9.32564995e-01 3.60900500e-01 -8.56500006e-03 1.05095058e+02] [ 3.60885450e-01 -9.32604326e-01 -3.29592315e-03 5.32984699e+01] [-9.17725642e-03 -1.73213471e-05 -9.99957888e-01 6.71125398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.09, Y:53.29, Z:6.71 [[ 9.01776350e-01 4.32130817e-01 -7.89764061e-03 1.05094491e+02] [ 4.32114344e-01 -9.01810932e-01 -3.77313686e-03 5.32871003e+01] [-8.75266735e-03 -1.01582102e-05 -9.99961695e-01 6.71083144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.09, Y:53.28, Z:6.71 [[ 8.66520850e-01 4.99091405e-01 -7.02747820e-03 1.05092731e+02] [ 4.99074880e-01 -8.66549346e-01 -4.06140191e-03 5.32764112e+01] [-8.11666743e-03 1.20515975e-05 -9.99967059e-01 6.71099999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.09, Y:53.27, Z:6.71 [[ 8.25840097e-01 5.63868442e-01 -6.36507002e-03 1.05092777e+02] [ 5.63851451e-01 -8.25864626e-01 -4.37731003e-03 5.32666165e+01] [-7.72491315e-03 2.60041734e-05 -9.99970162e-01 6.71066640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.740385723 meters Centerline goodness [0,1] 0.999954920434567 Centerline is valid? [True, True] Translation: X:105.09, Y:53.25, Z:6.71 [[ 7.81730286e-01 6.23595869e-01 -5.09432364e-03 1.05094106e+02] [ 6.23582220e-01 -7.81746884e-01 -4.12618023e-03 5.32548902e+01] [-6.55554058e-03 4.88304119e-05 -9.99978511e-01 6.71148802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.10, Y:53.24, Z:6.71 [[ 7.33207422e-01 6.79990564e-01 -4.43952734e-03 1.05095205e+02] [ 6.79977519e-01 -7.33220859e-01 -4.21252366e-03 5.32435355e+01] [-6.11963039e-03 6.98748251e-05 -9.99981273e-01 6.71113292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.10, Y:53.23, Z:6.71 [[ 6.79136671e-01 7.34000585e-01 -4.06479902e-03 1.05100362e+02] [ 7.33986717e-01 -6.79148831e-01 -4.51267994e-03 5.32293036e+01] [-6.07291322e-03 8.12179414e-05 -9.99981556e-01 6.71044237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.10, Y:53.22, Z:6.71 [[ 6.22347877e-01 7.82731219e-01 -3.86765639e-03 1.05102890e+02] [ 7.82715020e-01 -6.22359886e-01 -5.03684673e-03 5.32181074e+01] [-6.34957137e-03 1.07398127e-04 -9.99979836e-01 6.71158228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.10, Y:53.21, Z:6.71 [[ 5.59858927e-01 8.28579953e-01 -3.63912146e-03 1.05102202e+02] [ 8.28561052e-01 -5.59870742e-01 -5.59777098e-03 5.32090183e+01] [-6.67563845e-03 1.18727747e-04 -9.99977711e-01 6.71184075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.11, Y:53.20, Z:6.71 [[ 4.93688568e-01 8.69632958e-01 -3.18069350e-03 1.05110530e+02] [ 8.69613293e-01 -4.93698799e-01 -5.84953814e-03 5.31961435e+01] [-6.65725572e-03 1.21876760e-04 -9.99977833e-01 6.71211105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.12, Y:53.18, Z:6.71 [[ 4.23632204e-01 9.05830228e-01 -2.71186138e-03 1.05116406e+02] [ 9.05809837e-01 -4.23640868e-01 -6.07910326e-03 5.31842019e+01] [-6.65549080e-03 1.18873199e-04 -9.99977845e-01 6.71242962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.950385723 meters Centerline goodness [0,1] 0.9999775326338494 Centerline is valid? [True, True] Translation: X:105.13, Y:53.17, Z:6.71 [[ 3.49581845e-01 9.36903140e-01 -2.24508807e-03 1.05125366e+02] [ 9.36881807e-01 -3.49589038e-01 -6.32326143e-03 5.31735935e+01] [-6.70914166e-03 1.07115232e-04 -9.99977488e-01 6.71314583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.13, Y:53.16, Z:6.71 [[ 2.74002136e-01 9.61727628e-01 -1.67326668e-03 1.05134151e+02] [ 9.61707519e-01 -2.74007229e-01 -6.21986411e-03 5.31643085e+01] [-6.44030233e-03 9.50629063e-05 -9.99979257e-01 6.71274890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.14, Y:53.15, Z:6.71 [[ 1.95495493e-01 9.80703940e-01 -1.13733305e-03 1.05144077e+02] [ 9.80684982e-01 -1.95498787e-01 -6.09844420e-03 5.31542463e+01] [-6.20311549e-03 7.68529157e-05 -9.99980758e-01 6.71305714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.15, Y:53.15, Z:6.71 [[ 1.16809703e-01 9.93154101e-01 -6.52220658e-04 1.05154926e+02] [ 9.93135182e-01 -1.16811503e-01 -6.13056208e-03 5.31467482e+01] [-6.16477974e-03 6.83658514e-05 -9.99980995e-01 6.71288685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.17, Y:53.14, Z:6.71 [[ 3.66713913e-02 9.99327368e-01 -1.46549877e-04 1.05166623e+02] [ 9.99313270e-01 -3.66716524e-02 -5.30832214e-03 5.31397289e+01] [-5.31012581e-03 4.82143211e-05 -9.99985900e-01 6.71200336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.100385723 meters Centerline goodness [0,1] 0.999932836322117 Centerline is valid? [True, True] Translation: X:105.18, Y:53.13, Z:6.71 [[-4.23972413e-02 9.99100801e-01 2.51584613e-04 1.05179547e+02] [ 9.99088540e-01 4.23979674e-02 -4.94997339e-03 5.31342270e+01] [-4.95618905e-03 4.14900871e-05 -9.99987717e-01 6.71232191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.19, Y:53.13, Z:6.71 [[-1.22820709e-01 9.92428696e-01 5.97569136e-04 1.05193378e+02] [ 9.92418039e-01 1.22822159e-01 -4.59927028e-03 5.31280709e+01] [-4.63784254e-03 2.81527548e-05 -9.99989245e-01 6.71173747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.20, Y:53.12, Z:6.71 [[-2.00172665e-01 9.79760170e-01 9.55957540e-04 1.05204153e+02] [ 9.79749659e-01 2.00174945e-01 -4.53829623e-03 5.31232291e+01] [-4.63780064e-03 2.81562243e-05 -9.99989245e-01 6.71173711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.190385723 meters Centerline goodness [0,1] 0.9999553929877777 Centerline is valid? [True, True] Translation: X:105.22, Y:53.12, Z:6.71 [[-2.77210228e-01 9.60808299e-01 1.37924832e-03 1.05215231e+02] [ 9.60796852e-01 2.77213658e-01 -4.69015098e-03 5.31183616e+01] [-4.88868245e-03 2.50196172e-05 -9.99988050e-01 6.71282846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2203857229999 meters Centerline goodness [0,1] 0.9999776691007347 Centerline is valid? [True, True] Translation: X:105.23, Y:53.12, Z:6.71 [[-3.52605683e-01 9.35770282e-01 1.79193407e-03 1.05228432e+02] [ 9.35758489e-01 3.52610236e-01 -4.69815237e-03 5.31161006e+01] [-5.02824567e-03 2.02222881e-05 -9.99987358e-01 6.71249461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.24, Y:53.11, Z:6.71 [[-4.25258163e-01 9.05069925e-01 1.98127856e-03 1.05240348e+02] [ 9.05060280e-01 4.25262778e-01 -4.17847764e-03 5.31142115e+01] [-4.62437847e-03 1.62448058e-05 -9.99989307e-01 6.71309613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.25, Y:53.11, Z:6.71 [[-4.94754995e-01 8.69029901e-01 2.12746942e-03 1.05252638e+02] [ 8.69022001e-01 4.94759568e-01 -3.70567219e-03 5.31140387e+01] [-4.27292579e-03 1.54179025e-05 -9.99990871e-01 6.71259558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.26, Y:53.11, Z:6.71 [[-5.60784389e-01 8.27959921e-01 1.79962443e-03 1.05263552e+02] [ 8.27955732e-01 5.60787277e-01 -2.63359951e-03 5.31148249e+01] [-3.18972132e-03 1.31278728e-05 -9.99994913e-01 6.71135340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.27, Y:53.12, Z:6.71 [[-6.23536858e-01 7.81792068e-01 1.71753883e-03 1.05274620e+02] [ 7.81789157e-01 6.23539223e-01 -2.13346536e-03 5.31160364e+01] [-2.73887912e-03 1.24589466e-05 -9.99996249e-01 6.71129712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.29, Y:53.12, Z:6.71 [[-6.82243531e-01 7.31121946e-01 2.11273223e-03 1.05287156e+02] [ 7.31118516e-01 6.82246802e-01 -2.23954780e-03 5.31201937e+01] [-3.07878735e-03 1.67406556e-05 -9.99995260e-01 6.71173317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.30, Y:53.13, Z:6.71 [[-7.37228073e-01 6.75640118e-01 2.28026551e-03 1.05300616e+02] [ 6.75636959e-01 7.37231600e-01 -2.06589044e-03 5.31271709e+01] [-3.07688225e-03 1.75992263e-05 -9.99995266e-01 6.71243346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.31, Y:53.15, Z:6.71 [[-7.83107783e-01 6.21879654e-01 2.80992879e-03 1.05314843e+02] [ 6.21875747e-01 7.83112824e-01 -2.20457060e-03 5.31529937e+01] [-3.57146888e-03 2.10101672e-05 -9.99993622e-01 6.71304976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.33, Y:53.17, Z:6.71 [[-8.25413687e-01 5.64517637e-01 3.47620794e-03 1.05333961e+02] [ 5.64512747e-01 8.25421006e-01 -2.34973011e-03 5.31748667e+01] [-4.19579914e-03 2.28643050e-05 -9.99991197e-01 6.71373128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.490385723 meters Centerline goodness [0,1] 0.9999333954975357 Centerline is valid? [True, True] Translation: X:105.35, Y:53.20, Z:6.72 [[-8.62982490e-01 5.05213646e-01 4.51596733e-03 1.05352665e+02] [ 5.05206922e-01 8.62994305e-01 -2.60686958e-03 5.31973106e+01] [-5.21428017e-03 3.18151487e-05 -9.99986405e-01 6.71586930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.38, Y:53.22, Z:6.71 [[-8.96532995e-01 4.42957995e-01 4.09935144e-03 1.05377494e+02] [ 4.42953507e-01 8.96542366e-01 -1.99403170e-03 5.32178510e+01] [-4.55851452e-03 2.81068915e-05 -9.99989610e-01 6.71471651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.40, Y:53.24, Z:6.71 [[-9.25132742e-01 3.79616637e-01 4.54068999e-03 1.05395539e+02] [ 3.79612259e-01 9.25143885e-01 -1.82360738e-03 5.32410308e+01] [-4.89306328e-03 3.66226886e-05 -9.99988028e-01 6.71484242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.40, Y:53.27, Z:6.71 [[-9.49520071e-01 3.13668287e-01 4.88258322e-03 1.05400377e+02] [ 3.13664364e-01 9.49532624e-01 -1.56928618e-03 5.32688451e+01] [-5.12840736e-03 4.14236344e-05 -9.99986849e-01 6.71440591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.65, Y:54.02, Z:5.77 [[-9.32873870e-01 -3.60171227e-01 4.79894638e-03 1.05652561e+02] [ 3.60166242e-01 -9.32886213e-01 -1.89542957e-03 5.40159195e+01] [ 5.15955011e-03 -3.97782340e-05 9.99986689e-01 5.76619149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.35, Y:53.28, Z:6.71 [[-9.49882604e-01 3.12573653e-01 4.55535452e-03 1.05349209e+02] [ 3.12570315e-01 9.49893525e-01 -1.44529193e-03 5.32823967e+01] [-4.77886194e-03 5.10109404e-05 -9.99988580e-01 6.71438853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.37, Y:53.31, Z:6.71 [[-9.69550865e-01 2.44849077e-01 4.47775782e-03 1.05367241e+02] [ 2.44846709e-01 9.69561203e-01 -1.07807688e-03 5.33082029e+01] [-4.60542639e-03 5.11138928e-05 -9.99989394e-01 6.71448992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.56, Y:54.07, Z:5.77 [[-9.57501972e-01 -2.88398133e-01 4.06081624e-03 1.05563635e+02] [ 2.88395232e-01 -9.57510581e-01 -1.29532071e-03 5.40714002e+01] [ 4.26184259e-03 -6.91520935e-05 9.99990916e-01 5.76544784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.32, Y:53.32, Z:6.71 [[-9.70664407e-01 2.40396894e-01 4.46570524e-03 1.05317506e+02] [ 2.40394577e-01 9.70674678e-01 -1.05668136e-03 5.33207661e+01] [-4.58876992e-03 4.78483380e-05 -9.99989470e-01 6.71399478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.31, Y:53.35, Z:6.71 [[-9.85415487e-01 1.70107079e-01 4.46090227e-03 1.05305118e+02] [ 1.70105535e-01 9.85425583e-01 -7.26028255e-04 5.33532752e+01] [-4.51938977e-03 4.33846805e-05 -9.99989787e-01 6.71390829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.33, Y:53.38, Z:6.71 [[-9.95073115e-01 9.90363205e-02 4.61553840e-03 1.05328472e+02] [ 9.90354493e-02 9.95083818e-01 -4.17473972e-04 5.33804194e+01] [-4.63419266e-03 4.16847938e-05 -9.99989261e-01 6.71406358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.41, Y:54.16, Z:5.76 [[-9.88891938e-01 -1.48538134e-01 5.39976852e-03 1.05407973e+02] [ 1.48535947e-01 -9.88906681e-01 -8.05917138e-04 5.41582238e+01] [ 5.45957659e-03 5.09477126e-06 9.99985096e-01 5.76410950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.26, Y:53.39, Z:6.72 [[-9.95625653e-01 9.32150827e-02 6.36459962e-03 1.05259801e+02] [ 9.32134976e-02 9.95645994e-01 -5.45874426e-04 5.33882538e+01] [-6.38777184e-03 4.97800091e-05 -9.99979597e-01 6.71591576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.34, Y:54.16, Z:5.76 [[-9.89480383e-01 -1.44514080e-01 6.65231212e-03 1.05335198e+02] [ 1.44510608e-01 -9.89502744e-01 -1.00219582e-03 5.41647318e+01] [ 6.72731250e-03 -3.03234361e-05 9.99977371e-01 5.76327781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.20, Y:53.39, Z:6.72 [[-9.96056104e-01 8.84948973e-02 6.39460401e-03 1.05195426e+02] [ 8.84933910e-02 9.96076629e-01 -5.18670758e-04 5.33932217e+01] [-6.41541532e-03 4.92550182e-05 -9.99979420e-01 6.71646652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.26, Y:54.17, Z:5.76 [[-9.90211595e-01 -1.39442614e-01 6.06249411e-03 1.05262971e+02] [ 1.39439596e-01 -9.90230152e-01 -9.19716608e-04 5.41709710e+01] [ 6.13151215e-03 -6.53623225e-05 9.99981200e-01 5.76384993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.12, Y:53.40, Z:6.71 [[-9.96394843e-01 8.47341694e-02 4.17589091e-03 1.05116854e+02] [ 8.47335737e-02 9.96403593e-01 -3.19692748e-04 5.33990342e+01] [-4.18796161e-03 3.52979551e-05 -9.99991230e-01 6.71464563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.12, Y:53.43, Z:6.71 [[-9.99895920e-01 1.39339762e-02 3.74092447e-03 1.05124226e+02] [ 1.39339996e-02 9.99902917e-01 -1.98133817e-05 5.34271651e+01] [-3.74083737e-03 3.23147204e-05 -9.99993003e-01 6.71366736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.030385723 meters Centerline goodness [0,1] 0.9999778334404718 Centerline is valid? [True, True] Translation: X:105.12, Y:53.46, Z:6.71 [[-9.98358047e-01 -5.71916931e-02 3.21250673e-03 1.05120984e+02] [-5.71913069e-02 9.98363215e-01 2.12014109e-04 5.34556562e+01] [-3.21937400e-03 2.79385329e-05 -9.99994817e-01 6.71300126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.11, Y:53.48, Z:6.71 [[-9.91743996e-01 -1.28216809e-01 2.07301811e-03 1.05113363e+02] [-1.28216491e-01 9.91746162e-01 2.86016745e-04 5.34837452e+01] [-2.09257991e-03 1.78602820e-05 -9.99997810e-01 6.71223673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.00, Y:54.26, Z:5.77 [[-9.96864636e-01 7.90875482e-02 2.46110757e-03 1.04999255e+02] [-7.90872977e-02 -9.96867674e-01 1.99090918e-04 5.42604898e+01] [ 2.46914419e-03 3.82434870e-06 9.99996952e-01 5.76617157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.98, Y:53.47, Z:6.71 [[-9.90908234e-01 -1.34500919e-01 3.22105153e-03 1.04984774e+02] [-1.34500113e-01 9.90913469e-01 4.66519035e-04 5.34673545e+01] [-3.25453058e-03 2.90457587e-05 -9.99994704e-01 6.71400002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.96, Y:53.49, Z:6.72 [[-9.78702318e-01 -2.05254723e-01 3.50304428e-03 1.04962381e+02] [-2.05253287e-01 9.78708587e-01 7.68436531e-04 5.34914855e+01] [-3.58618475e-03 3.30592589e-05 -9.99993569e-01 6.71522539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.92, Y:53.51, Z:6.71 [[-9.61224388e-01 -2.75742409e-01 3.71482028e-03 1.04920728e+02] [-2.75740206e-01 9.61231566e-01 1.10298748e-03 5.35111232e+01] [-3.87494294e-03 3.58931583e-05 -9.99992492e-01 6.71445055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.86, Y:53.52, Z:6.71 [[-9.38383007e-01 -3.45568830e-01 4.41772919e-03 1.04860140e+02] [-3.45564775e-01 9.38393405e-01 1.67475578e-03 5.35202756e+01] [-4.72431133e-03 4.49507716e-05 -9.99988839e-01 6.71384976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.79, Y:53.52, Z:6.71 [[-9.10254659e-01 -4.14027768e-01 4.17896181e-03 1.04787118e+02] [-4.14023184e-01 9.10264250e-01 1.94887648e-03 5.35220508e+01] [-4.61084852e-03 4.37868200e-05 -9.99989369e-01 6.71430198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.71, Y:53.52, Z:6.71 [[-8.76761851e-01 -4.80909059e-01 3.89020923e-03 1.04709509e+02] [-4.80904114e-01 8.76770480e-01 2.18132106e-03 5.35154437e+01] [-4.45983768e-03 4.16814658e-05 -9.99990054e-01 6.71460782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.62, Y:53.50, Z:6.71 [[-8.38081112e-01 -5.45532729e-01 3.75384288e-03 1.04622823e+02] [-5.45527038e-01 8.38089518e-01 2.49222079e-03 5.34963864e+01] [-4.50564437e-03 4.08603811e-05 -9.99989849e-01 6.71463861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.53, Y:53.47, Z:6.71 [[-7.94215475e-01 -6.07628333e-01 3.09647494e-03 1.04529301e+02] [-6.07623553e-01 7.94221511e-01 2.41039511e-03 5.34651395e+01] [-3.92391137e-03 3.28819962e-05 -9.99992301e-01 6.71438083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.44, Y:53.43, Z:6.71 [[-7.45973673e-01 -6.65972307e-01 2.04096181e-03 1.04436888e+02] [-6.65969730e-01 7.45976465e-01 1.85256077e-03 5.34254674e+01] [-2.75626364e-03 2.27427753e-05 -9.99996201e-01 6.71372514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.35, Y:53.38, Z:6.71 [[-6.93379260e-01 -7.20571040e-01 1.60581284e-03 1.04345823e+02] [-7.20569041e-01 6.93381119e-01 1.69718828e-03 5.33771855e+01] [-2.33638503e-03 1.96961373e-05 -9.99997271e-01 6.71343012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.25, Y:53.31, Z:6.71 [[-6.36475749e-01 -7.71295836e-01 1.16354955e-03 1.04252018e+02] [-7.71294503e-01 6.36476813e-01 1.43415531e-03 5.33134617e+01] [-1.84673033e-03 1.53657071e-05 -9.99998295e-01 6.71309372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.16, Y:53.25, Z:6.71 [[-5.75550526e-01 -8.17765585e-01 1.01975481e-03 1.04164894e+02] [-8.17764256e-01 5.75551429e-01 1.47447328e-03 5.32450292e+01] [-1.79269484e-03 1.47148366e-05 -9.99998393e-01 6.71295015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.08, Y:53.16, Z:6.71 [[-5.10893555e-01 -8.59643223e-01 1.14206703e-03 1.04075527e+02] [-8.59640996e-01 5.10894831e-01 1.95678720e-03 5.31580124e+01] [-2.26561499e-03 1.79423297e-05 -9.99997433e-01 6.71314013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.00, Y:53.08, Z:6.71 [[-4.42121337e-01 -8.96954106e-01 1.43372856e-03 1.03997963e+02] [-8.96949226e-01 4.42123662e-01 2.95856837e-03 5.30756889e+01] [-3.28758537e-03 2.20644843e-05 -9.99994596e-01 6.71387468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.540385723 meters Centerline goodness [0,1] 0.9999113180356944 Centerline is valid? [True, True] Translation: X:103.92, Y:52.97, Z:6.72 [[-3.70660445e-01 -9.28767311e-01 1.45502100e-03 1.03918956e+02] [-9.28759925e-01 3.70663300e-01 3.70397791e-03 5.29734086e+01] [-3.97945649e-03 2.15529088e-05 -9.99992082e-01 6.71564052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.85, Y:52.87, Z:6.72 [[-2.96957965e-01 -9.54889507e-01 1.41325199e-03 1.03851819e+02] [-9.54878359e-01 2.96961327e-01 4.61407913e-03 5.28716092e+01] [-4.82561693e-03 2.07038096e-05 -9.99988356e-01 6.71634206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.79, Y:52.76, Z:6.72 [[-2.22052687e-01 -9.75034013e-01 1.13043415e-03 1.03792717e+02] [-9.75020916e-01 2.22055564e-01 5.05367216e-03 5.27641647e+01] [-5.17852143e-03 1.99845382e-05 -9.99986591e-01 6.71648624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.74, Y:52.65, Z:6.72 [[-1.45161838e-01 -9.89407548e-01 8.62935038e-04 1.03742743e+02] [-9.89389359e-01 1.45164402e-01 5.99941087e-03 5.26475163e+01] [-6.06112985e-03 1.71067654e-05 -9.99981631e-01 6.71675875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.70, Y:52.53, Z:6.72 [[-6.78856637e-02 -9.97693049e-01 3.42121795e-04 1.03700676e+02] [-9.97679478e-01 6.78865247e-02 5.20368542e-03 5.25284722e+01] [-5.21490623e-03 1.19277447e-05 -9.99986402e-01 6.71539021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.67, Y:52.40, Z:6.72 [[ 9.17028253e-03 -9.99957951e-01 -5.19538421e-05 1.03668382e+02] [-9.99947839e-01 -9.17042344e-03 4.49689441e-03 5.24045318e+01] [-4.49718175e-03 1.07133400e-05 -9.99989888e-01 6.71500250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.65, Y:52.28, Z:6.71 [[ 8.62703105e-02 -9.96271698e-01 -3.71703737e-04 1.03645596e+02] [-9.96262950e-01 -8.62711107e-02 4.17483906e-03 5.22780399e+01] [-4.19134130e-03 1.01499989e-05 -9.99991216e-01 6.71398512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.63, Y:52.16, Z:6.71 [[ 1.62461567e-01 -9.86714738e-01 -5.15217756e-04 1.03632048e+02] [-9.86709945e-01 -1.62462384e-01 3.07551099e-03 5.21551984e+01] [-3.11835552e-03 8.71814829e-06 -9.99995138e-01 6.71285447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.63, Y:52.03, Z:6.71 [[ 2.37256511e-01 -9.71446758e-01 -7.38364980e-04 1.03628977e+02] [-9.71442199e-01 -2.37257660e-01 2.97605515e-03 5.20300614e+01] [-3.06626187e-03 1.11904397e-05 -9.99995299e-01 6.71281680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.64, Y:51.90, Z:6.71 [[ 3.10970873e-01 -9.50418841e-01 -1.06902243e-03 1.03638025e+02] [-9.50413382e-01 -3.10972711e-01 3.22118915e-03 5.18980073e+01] [-3.39391566e-03 1.43172141e-05 -9.99994241e-01 6.71312978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.65, Y:51.78, Z:6.71 [[ 3.81762595e-01 -9.24259137e-01 -1.53937394e-03 1.03652591e+02] [-9.24251873e-01 -3.81765698e-01 3.66445717e-03 5.17804903e+01] [-3.97458819e-03 2.38165649e-05 -9.99992101e-01 6.71374238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.68, Y:51.66, Z:6.71 [[ 4.50924281e-01 -8.92560150e-01 -1.91612821e-03 1.03676580e+02] [-8.92552367e-01 -4.50928352e-01 3.72748058e-03 5.16610321e+01] [-4.19103716e-03 2.94332707e-05 -9.99991217e-01 6.71412324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.71, Y:51.54, Z:6.72 [[ 5.16280089e-01 -8.56415902e-01 -2.58312381e-03 1.03710750e+02] [-8.56405624e-01 -5.16286549e-01 4.19593360e-03 5.15444440e+01] [-4.92709633e-03 4.59247817e-05 -9.99987861e-01 6.71522584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.75, Y:51.43, Z:6.72 [[ 5.78567474e-01 -8.15626590e-01 -3.59779186e-03 1.03752175e+02] [-8.15611591e-01 -5.78578656e-01 4.94685093e-03 5.14318486e+01] [-6.11638873e-03 7.23136988e-05 -9.99981292e-01 6.71571618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.80, Y:51.33, Z:6.72 [[ 6.38637808e-01 -7.69495551e-01 -4.28339102e-03 1.03800218e+02] [-7.69479122e-01 -6.38652166e-01 5.02898331e-03 5.13260613e+01] [-6.60537724e-03 8.42810886e-05 -9.99978181e-01 6.71624297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.85, Y:51.22, Z:6.72 [[ 6.95183254e-01 -7.18812439e-01 -5.37783755e-03 1.03853379e+02] [-7.18792061e-01 -6.95204047e-01 5.41344747e-03 5.12246569e+01] [-7.62994781e-03 1.02208913e-04 -9.99970886e-01 6.71584808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.91, Y:51.13, Z:6.72 [[ 7.47871302e-01 -6.63817219e-01 -5.93422062e-03 1.03912383e+02] [-6.63797443e-01 -7.47894838e-01 5.12515153e-03 5.11291437e+01] [-7.84033680e-03 1.06166724e-04 -9.99969259e-01 6.71617389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.91, Y:51.12, Z:6.72 [[ 7.97519967e-01 -6.03259944e-01 -6.27234534e-03 1.03905703e+02] [-6.03242315e-01 -7.97544625e-01 4.61309851e-03 5.11193252e+01] [-7.78537286e-03 1.04705952e-04 -9.99969688e-01 6.71664096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.90, Y:51.11, Z:6.72 [[ 8.42250899e-01 -5.39045156e-01 -6.61383887e-03 1.03898556e+02] [-5.39029510e-01 -8.42276860e-01 4.10845009e-03 5.11103235e+01] [-7.78532355e-03 1.04708536e-04 -9.99969688e-01 6.71664044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.89, Y:51.10, Z:6.72 [[ 8.81934368e-01 -4.71333547e-01 -6.03812108e-03 1.03892558e+02] [-4.71323194e-01 -8.81955033e-01 3.12522308e-03 5.11007734e+01] [-6.79837375e-03 8.96648699e-05 -9.99976887e-01 6.71605883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.89, Y:51.09, Z:6.72 [[ 9.16175241e-01 -4.00736264e-01 -5.77702518e-03 1.03887631e+02] [-4.00728853e-01 -9.16193452e-01 2.43834467e-03 5.10914867e+01] [-6.27000577e-03 8.10696556e-05 -9.99980340e-01 6.71559069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.88, Y:51.08, Z:6.72 [[ 9.44665659e-01 -3.27990564e-01 -5.38362552e-03 1.03883000e+02] [-3.27985681e-01 -9.44680996e-01 1.79114675e-03 5.10835286e+01] [-5.67328795e-03 7.37172639e-05 -9.99983904e-01 6.71501348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.88, Y:51.07, Z:6.72 [[ 9.67411880e-01 -2.53145895e-01 -5.60439296e-03 1.03879927e+02] [-2.53142097e-01 -9.67428111e-01 1.38876005e-03 5.10746908e+01] [-5.77340620e-03 7.52048122e-05 -9.99983331e-01 6.71529926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.230385723 meters Centerline goodness [0,1] 0.999977693508811 Centerline is valid? [True, True] Translation: X:103.87, Y:51.07, Z:6.72 [[ 9.84327068e-01 -1.76264020e-01 -5.58732429e-03 1.03873617e+02] [-1.76261594e-01 -9.84342923e-01 9.27661212e-04 5.10667479e+01] [-5.66335641e-03 7.17086412e-05 -9.99983961e-01 6.71565095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.87, Y:51.06, Z:6.72 [[ 9.95118042e-01 -9.85851020e-02 -4.58923388e-03 1.03868218e+02] [-9.85843211e-02 -9.95128622e-01 3.96621933e-04 5.10583044e+01] [-4.60597900e-03 5.77408652e-05 -9.99989391e-01 6.71540798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.86, Y:51.05, Z:6.72 [[ 9.99785321e-01 -2.02775297e-02 -4.25844468e-03 1.03862336e+02] [-2.02775711e-02 -9.99794388e-01 3.34672770e-05 5.10507601e+01] [-4.25824773e-03 5.28908224e-05 -9.99990932e-01 6.71542183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.86, Y:51.04, Z:6.72 [[ 9.98301133e-01 5.81276151e-02 -4.00352882e-03 1.03858535e+02] [ 5.81269489e-02 -9.98309160e-01 -2.82650860e-04 5.10438336e+01] [-4.01318931e-03 4.94577584e-05 -9.99991946e-01 6.71572076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.86, Y:51.03, Z:6.72 [[ 9.90745405e-01 1.35642405e-01 -4.96794975e-03 1.03855464e+02] [ 1.35640372e-01 -9.90757858e-01 -7.45474317e-04 5.10313006e+01] [-5.02315319e-03 6.47207025e-05 -9.99987382e-01 6.71659613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.85, Y:51.02, Z:6.72 [[ 9.77332406e-01 2.11637211e-01 -5.57306132e-03 1.03852298e+02] [ 2.11633300e-01 -9.77348292e-01 -1.28916659e-03 5.10234287e+01] [-5.71965759e-03 8.04989255e-05 -9.99983639e-01 6.71743915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.410385723 meters Centerline goodness [0,1] 0.9999555189822743 Centerline is valid? [True, True] Translation: X:103.85, Y:51.01, Z:6.72 [[ 9.57946368e-01 2.86891083e-01 -5.68008316e-03 1.03851212e+02] [ 2.86885496e-01 -9.57963203e-01 -1.79253371e-03 5.10113572e+01] [-5.95557260e-03 8.76176781e-05 -9.99982262e-01 6.71641652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.85, Y:51.00, Z:6.72 [[ 9.33066815e-01 3.59665943e-01 -5.16986935e-03 1.03850004e+02] [ 3.59659887e-01 -9.33081134e-01 -2.08900339e-03 5.10009751e+01] [-5.57525092e-03 8.97851158e-05 -9.99984454e-01 6.71617484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.85, Y:50.99, Z:6.72 [[ 9.02401113e-01 4.30867329e-01 -5.05718673e-03 1.03850426e+02] [ 4.30859967e-01 -9.02415279e-01 -2.52056059e-03 5.09896053e+01] [-5.64970978e-03 9.56173790e-05 -9.99984036e-01 6.71629701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.85, Y:50.98, Z:6.72 [[ 8.66343076e-01 4.99425923e-01 -4.83972703e-03 1.03849600e+02] [ 4.99417479e-01 -8.66356588e-01 -2.90594144e-03 5.09807752e+01] [-5.64423189e-03 1.00497977e-04 -9.99984066e-01 6.71696963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.530385723 meters Centerline goodness [0,1] 0.9999778692515381 Centerline is valid? [True, True] Translation: X:103.85, Y:50.97, Z:6.72 [[ 8.25792451e-01 5.63954855e-01 -4.66353864e-03 1.03850573e+02] [ 5.63945077e-01 -8.25805612e-01 -3.32297332e-03 5.09707874e+01] [-5.72518332e-03 1.14106628e-04 -9.99983605e-01 6.71585242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.85, Y:50.96, Z:6.72 [[ 7.80549405e-01 6.25079073e-01 -4.33346097e-03 1.03850027e+02] [ 6.25068537e-01 -7.80561425e-01 -3.63135863e-03 5.09618037e+01] [-5.65241875e-03 1.25744704e-04 -9.99984017e-01 6.71614230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.85, Y:50.95, Z:6.72 [[ 7.29584904e-01 6.83880290e-01 -3.69019349e-03 1.03849991e+02] [ 6.83870718e-01 -7.29594227e-01 -3.62023333e-03 5.09528971e+01] [-5.16815009e-03 1.17652314e-04 -9.99986638e-01 6.71618779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.85, Y:50.94, Z:6.72 [[ 6.73740076e-01 7.38962702e-01 -2.90446717e-03 1.03851714e+02] [ 7.38955187e-01 -6.73746329e-01 -3.33418754e-03 5.09437371e+01] [-4.42071433e-03 1.00104682e-04 -9.99990224e-01 6.71505144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.85, Y:50.93, Z:6.72 [[ 6.13339267e-01 7.89815636e-01 -2.49098088e-03 1.03853085e+02] [ 7.89808503e-01 -6.13344319e-01 -3.35782047e-03 5.09344549e+01] [-4.17988808e-03 9.20852667e-05 -9.99991260e-01 6.71543327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.87, Y:50.92, Z:6.72 [[ 5.47805964e-01 8.36600139e-01 -2.97203433e-03 1.03865551e+02] [ 8.36586703e-01 -5.47814015e-01 -4.74267042e-03 5.09205583e+01] [-5.59584079e-03 1.11698741e-04 -9.99984337e-01 6.71573487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.87, Y:50.91, Z:6.72 [[ 4.79526372e-01 8.77523584e-01 -2.61114359e-03 1.03874820e+02] [ 8.77509352e-01 -4.79533469e-01 -4.99883090e-03 5.09100723e+01] [-5.63872275e-03 1.05768325e-04 -9.99984097e-01 6.71607935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.88, Y:50.90, Z:6.72 [[ 4.07138828e-01 9.13362700e-01 -2.56000789e-03 1.03884258e+02] [ 9.13342963e-01 -4.07146862e-01 -6.00542969e-03 5.08998642e+01] [-6.52743466e-03 1.06878414e-04 -9.99978690e-01 6.71750745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.90, Y:50.89, Z:6.72 [[ 3.33918592e-01 9.42599498e-01 -2.13553006e-03 1.03896226e+02] [ 9.42578138e-01 -3.33925404e-01 -6.34658639e-03 5.08902141e+01] [-6.69539688e-03 1.06339239e-04 -9.99977580e-01 6.71775232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.91, Y:50.88, Z:6.72 [[ 2.59276158e-01 9.65802014e-01 -1.53104525e-03 1.03907957e+02] [ 9.65782798e-01 -2.59280659e-01 -6.09324160e-03 5.08823985e+01] [-6.28183543e-03 1.01175114e-04 -9.99980264e-01 6.71780386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.92, Y:50.88, Z:6.72 [[ 1.83627755e-01 9.82995343e-01 -1.00131834e-03 1.03917081e+02] [ 9.82977567e-01 -1.83630457e-01 -5.91249936e-03 5.08751315e+01] [-5.99583188e-03 1.01425520e-04 -9.99982020e-01 6.71782416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.93, Y:50.87, Z:6.72 [[ 1.08069195e-01 9.94143264e-01 -4.69730397e-04 1.03930631e+02] [ 9.94129448e-01 -1.08070170e-01 -5.24207329e-03 5.08697488e+01] [-5.26213570e-03 9.95338207e-05 -9.99986150e-01 6.71745278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.94, Y:50.86, Z:6.72 [[ 3.08595047e-02 9.99523731e-01 -5.07016030e-05 1.03941780e+02] [ 9.99513112e-01 -3.08594106e-02 -4.60826141e-03 5.08639411e+01] [-4.60763126e-03 9.15317474e-05 -9.99989381e-01 6.71739642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.95, Y:50.86, Z:6.72 [[-4.58549846e-02 9.98948081e-01 2.28202128e-04 1.03954888e+02] [ 9.98942347e-01 4.58554948e-02 -3.38545694e-03 5.08599933e+01] [-3.39236003e-03 7.27206931e-05 -9.99994243e-01 6.71666949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.950385723 meters Centerline goodness [0,1] 0.9999780682516011 Centerline is valid? [True, True] Translation: X:103.97, Y:50.86, Z:6.72 [[-1.23306584e-01 9.92368518e-01 4.58438947e-04 1.03968876e+02] [ 9.92363601e-01 1.23307417e-01 -3.12484010e-03 5.08581389e+01] [-3.15752187e-03 6.96247654e-05 -9.99995013e-01 6.71635770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.98, Y:50.86, Z:6.72 [[-1.99214463e-01 9.79955766e-01 5.43473040e-04 1.03982340e+02] [ 9.79952863e-01 1.99215196e-01 -2.38579162e-03 5.08560851e+01] [-2.44623835e-03 5.72937645e-05 -9.99997006e-01 6.71651595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.00, Y:50.86, Z:6.72 [[-2.74997836e-01 9.61444613e-01 6.67697939e-04 1.03997782e+02] [ 9.61442233e-01 2.74998641e-01 -2.14035730e-03 5.08565416e+01] [-2.24145102e-03 5.33593726e-05 -9.99997487e-01 6.71609102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.040385723 meters Centerline goodness [0,1] 0.9999347244282948 Centerline is valid? [True, True] Translation: X:104.01, Y:50.86, Z:6.72 [[-3.49181735e-01 9.37054415e-01 1.06731392e-03 1.04012462e+02] [ 9.37050627e-01 3.49183360e-01 -2.66527522e-03 5.08566833e+01] [-2.87019617e-03 6.94617504e-05 -9.99995879e-01 6.71650353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.03, Y:50.86, Z:6.72 [[-4.21531327e-01 9.06812844e-01 1.34431547e-03 1.04026685e+02] [ 9.06808774e-01 4.21533464e-01 -2.71782794e-03 5.08594878e+01] [-3.03123524e-03 7.33874441e-05 -9.99995403e-01 6.71676216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.04, Y:50.86, Z:6.72 [[-4.91327324e-01 8.70973619e-01 1.55454664e-03 1.04041353e+02] [ 8.70969721e-01 4.91329778e-01 -2.60669059e-03 5.08623009e+01] [-3.03415379e-03 7.32247404e-05 -9.99995394e-01 6.71750279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.130385723 meters Centerline goodness [0,1] 0.9999783235428001 Centerline is valid? [True, True] Translation: X:104.05, Y:50.87, Z:6.72 [[-5.57139661e-01 8.30416593e-01 1.91827067e-03 1.04052624e+02] [ 8.30412180e-01 5.57142957e-01 -2.70873627e-03 5.08658118e+01] [-3.31813054e-03 8.38109200e-05 -9.99994492e-01 6.71676641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.160385723 meters Centerline goodness [0,1] 0.9999566696275755 Centerline is valid? [True, True] Translation: X:104.06, Y:50.87, Z:6.72 [[-6.19757994e-01 7.84790392e-01 2.01741492e-03 1.04062569e+02] [ 7.84786659e-01 6.19761272e-01 -2.42178012e-03 5.08700969e+01] [-3.15090541e-03 8.23227256e-05 -9.99995033e-01 6.71663671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.190385723 meters Centerline goodness [0,1] 0.9999568630834268 Centerline is valid? [True, True] Translation: X:104.08, Y:50.88, Z:6.72 [[-6.77889749e-01 7.35161035e-01 1.93410882e-03 1.04075496e+02] [ 7.35158365e-01 6.77892504e-01 -1.98297384e-03 5.08783532e+01] [-2.76892298e-03 7.76386359e-05 -9.99996164e-01 6.71663544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.09, Y:50.89, Z:6.72 [[-7.32840379e-01 6.80397707e-01 1.98487913e-03 1.04086208e+02] [ 6.80395488e-01 7.32843063e-01 -1.73923719e-03 5.08864845e+01] [-2.63797789e-03 7.59195617e-05 -9.99996518e-01 6.71631471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.11, Y:50.91, Z:6.72 [[-7.78878008e-01 6.27167658e-01 3.12701627e-03 1.04107132e+02] [ 6.27163190e-01 7.78884276e-01 -2.37009269e-03 5.09113846e+01] [-3.92202929e-03 1.15136424e-04 -9.99992302e-01 6.71660684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.13, Y:50.94, Z:6.72 [[-8.21261880e-01 5.70541674e-01 3.33501589e-03 1.04125395e+02] [ 5.70537543e-01 8.21268643e-01 -2.17427889e-03 5.09380346e+01] [-3.97946069e-03 1.17099402e-04 -9.99992075e-01 6.71624395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.15, Y:50.96, Z:6.72 [[-8.57948355e-01 5.13725954e-01 3.20384121e-03 1.04149457e+02] [ 5.13722919e-01 8.57954328e-01 -1.77033484e-03 5.09626859e+01] [-3.65821639e-03 1.27030796e-04 -9.99993301e-01 6.71714179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.16, Y:50.99, Z:6.72 [[-8.92390555e-01 4.51252863e-01 3.15448707e-03 1.04156142e+02] [ 4.51250436e-01 8.92396125e-01 -1.48333688e-03 5.09946929e+01] [-3.48441205e-03 9.97478464e-05 -9.99993925e-01 6.71723134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.17, Y:51.03, Z:6.72 [[-9.22907857e-01 3.85003821e-01 3.62569888e-03 1.04174014e+02] [ 3.85001287e-01 9.22914973e-01 -1.40055265e-03 5.10250238e+01] [-3.88542991e-03 1.03317688e-04 -9.99992446e-01 6.71721061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.18, Y:51.06, Z:6.72 [[-9.48321580e-01 3.17290287e-01 3.61321781e-03 1.04176471e+02] [ 3.17288364e-01 9.48328458e-01 -1.10863773e-03 5.10575439e+01] [-3.77827726e-03 9.50868820e-05 -9.99992858e-01 6.71732314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.19, Y:51.09, Z:6.72 [[-9.69452869e-01 2.45245667e-01 3.96216743e-03 1.04185631e+02] [ 2.45243979e-01 9.69460961e-01 -9.13909060e-04 5.10918141e+01] [-4.06529888e-03 8.57059441e-05 -9.99991733e-01 6.71752327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.19, Y:51.12, Z:6.72 [[-9.84842010e-01 1.73412286e-01 3.79398273e-03 1.04185502e+02] [ 1.73411278e-01 9.84849315e-01 -5.95499154e-04 5.11243158e+01] [-3.83976817e-03 7.14468122e-05 -9.99992626e-01 6.71785115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.28, Y:51.77, Z:5.76 [[-9.78218692e-01 -2.07528051e-01 4.50541894e-03 1.04276596e+02] [ 2.07525697e-01 -9.78229067e-01 -9.89058024e-04 5.17676248e+01] [ 4.61258905e-03 -3.25248411e-05 9.99989361e-01 5.76108849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.13, Y:51.14, Z:6.72 [[-9.86807792e-01 1.61825065e-01 4.79894195e-03 1.04125731e+02] [ 1.61823413e-01 9.86819460e-01 -7.33040440e-04 5.11414502e+01] [-4.85431361e-03 5.32111464e-05 -9.99988216e-01 6.71845287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.12, Y:51.17, Z:6.72 [[-9.96092788e-01 8.81666233e-02 5.07978999e-03 1.04122997e+02] [ 8.81656806e-02 9.96105740e-01 -4.09655805e-04 5.11748599e+01] [-5.09612594e-03 3.98079485e-05 -9.99987014e-01 6.71821116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.12, Y:51.21, Z:6.72 [[-9.99854400e-01 1.63143900e-02 5.00195412e-03 1.04115817e+02] [ 1.63143594e-02 9.99866911e-01 -4.69254078e-05 5.12063872e+01] [-5.00205398e-03 3.46851018e-05 -9.99987489e-01 6.71798436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.12, Y:51.83, Z:5.76 [[-9.97517227e-01 -7.02403140e-02 5.06758264e-03 1.04117930e+02] [ 7.02392552e-02 -9.97530099e-01 -3.86817388e-04 5.18319237e+01] [ 5.08223638e-03 -2.99137779e-05 9.99987085e-01 5.76093157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.05, Y:51.21, Z:6.72 [[-9.99922622e-01 1.11295175e-02 5.55727104e-03 1.04045916e+02] [ 1.11295434e-02 9.99938064e-01 -2.62559699e-05 5.12094267e+01] [-5.55721906e-03 3.55959511e-05 -9.99984558e-01 6.71883936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.03, Y:51.24, Z:6.72 [[-9.98265249e-01 -5.84797677e-02 6.82709927e-03 1.04034940e+02] [-5.84780243e-02 9.98288593e-01 4.54869550e-04 5.12375202e+01] [-6.84201599e-03 5.48451873e-05 -9.99976592e-01 6.71919193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.03, Y:51.27, Z:6.72 [[-9.91737479e-01 -1.28113363e-01 6.61352161e-03 1.04025918e+02] [-1.28110091e-01 9.91759529e-01 9.17706190e-04 5.12652441e+01] [-6.67659350e-03 6.28647649e-05 -9.99977709e-01 6.71937891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.00, Y:51.29, Z:6.72 [[-9.80754740e-01 -1.95153574e-01 5.93481580e-03 1.04003966e+02] [-1.95149509e-01 9.80772694e-01 1.26204177e-03 5.12887471e+01] [-6.06699724e-03 7.95770586e-05 -9.99981592e-01 6.71933996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.97, Y:51.31, Z:6.72 [[-9.65220341e-01 -2.61368115e-01 6.03335003e-03 1.03968981e+02] [-2.61362309e-01 9.65239192e-01 1.74539369e-03 5.13064685e+01] [-6.27981616e-03 1.07799195e-04 -9.99980276e-01 6.71918562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.92, Y:51.32, Z:6.72 [[-9.44077793e-01 -3.29669301e-01 5.93911474e-03 1.03915124e+02] [-3.29661971e-01 9.44096466e-01 2.20179321e-03 5.13175622e+01] [-6.33296087e-03 1.20763801e-04 -9.99979939e-01 6.71942269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.85, Y:51.32, Z:6.72 [[-9.18120018e-01 -3.96243198e-01 6.85278919e-03 1.03848999e+02] [-3.96230848e-01 9.18145578e-01 3.13247192e-03 5.13194635e+01] [-7.53307878e-03 1.60698698e-04 -9.99971613e-01 6.71967364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8503857229999 meters Centerline goodness [0,1] 0.9999786320220517 Centerline is valid? [True, True] Translation: X:103.77, Y:51.31, Z:6.72 [[-8.86440817e-01 -4.62790483e-01 6.90270953e-03 1.03770648e+02] [-4.62774945e-01 8.86467675e-01 3.79622792e-03 5.13123814e+01] [-7.87588702e-03 1.70730357e-04 -9.99968970e-01 6.71999526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.69, Y:51.30, Z:6.72 [[-8.49143171e-01 -5.28114963e-01 7.10364673e-03 1.03690018e+02] [-5.28094719e-01 8.49172865e-01 4.62749979e-03 5.12976276e+01] [-8.47607592e-03 1.78011521e-04 -9.99964062e-01 6.72057789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.60, Y:51.27, Z:6.72 [[-8.06931690e-01 -5.90603493e-01 6.98294104e-03 1.03598885e+02] [-5.90579446e-01 8.06961884e-01 5.33255080e-03 5.12719334e+01] [-8.78439038e-03 1.79022776e-04 -9.99961401e-01 6.71969661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.51, Y:51.23, Z:6.72 [[-7.59122521e-01 -6.50908209e-01 7.17642285e-03 1.03510857e+02] [-6.50876883e-01 7.59156421e-01 6.38840478e-03 5.12344384e+01] [-9.60629260e-03 1.78614206e-04 -9.99953843e-01 6.72019076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.42, Y:51.19, Z:6.72 [[-7.07893447e-01 -7.06287704e-01 6.67435394e-03 1.03420223e+02] [-7.06253912e-01 7.07924888e-01 6.91121057e-03 5.11880931e+01] [-9.60624431e-03 1.78612099e-04 -9.99953843e-01 6.72018865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.33, Y:51.13, Z:6.72 [[-6.50766874e-01 -7.59254242e-01 5.95582208e-03 1.03331225e+02] [-7.59220278e-01 6.50794110e-01 7.18301277e-03 5.11328505e+01] [-9.32974685e-03 1.52685873e-04 -9.99956465e-01 6.71972834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.24, Y:51.06, Z:6.72 [[-5.90517634e-01 -8.07006488e-01 5.42695402e-03 1.03241318e+02] [-8.06970143e-01 5.90542554e-01 7.66036224e-03 5.10635071e+01] [-9.38680932e-03 1.44189128e-04 -9.99955933e-01 6.71986048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.16, Y:50.99, Z:6.72 [[-5.26818118e-01 -8.49963768e-01 4.92584116e-03 1.03158925e+02] [-8.49924090e-01 5.26841128e-01 8.21387150e-03 5.09897845e+01] [-9.57662888e-03 1.40625262e-04 -9.99954133e-01 6.71995544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.08, Y:50.90, Z:6.72 [[-4.59275924e-01 -8.88283302e-01 4.28960034e-03 1.03082900e+02] [-8.88241935e-01 4.59295938e-01 8.57360147e-03 5.09021971e+01] [-9.58598304e-03 1.27445834e-04 -9.99954045e-01 6.72095664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.01, Y:50.81, Z:6.72 [[-3.89764657e-01 -9.20906846e-01 3.75415765e-03 1.03007242e+02] [-9.20860899e-01 3.89782715e-01 9.20001291e-03 5.08100857e+01] [-9.93566063e-03 1.28782894e-04 -9.99950632e-01 6.71865538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.94, Y:50.71, Z:6.72 [[-3.17427297e-01 -9.48279069e-01 2.59202084e-03 1.02940985e+02] [-9.48244768e-01 3.17437863e-01 8.06615935e-03 5.07110126e+01] [-8.47177563e-03 1.02548966e-04 -9.99964109e-01 6.71863618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.88, Y:50.61, Z:6.72 [[-2.43356193e-01 -9.69935318e-01 1.80077452e-03 1.02880637e+02] [-9.69905983e-01 2.43362839e-01 7.54410069e-03 5.06050991e+01] [-7.75553130e-03 8.93216446e-05 -9.99969921e-01 6.71790776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.83, Y:50.49, Z:6.72 [[-1.66898940e-01 -9.85973521e-01 9.80116475e-04 1.02830498e+02] [-9.85954263e-01 1.66901806e-01 6.16267687e-03 5.04925504e+01] [-6.23981942e-03 6.21942207e-05 -9.99980530e-01 6.71695560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.79, Y:50.37, Z:6.72 [[-9.02069092e-02 -9.95922940e-01 4.59276694e-04 1.02787852e+02] [-9.95906885e-01 9.02080630e-02 5.65521602e-03 5.03749034e+01] [-5.67358983e-03 5.27427370e-05 -9.99983904e-01 6.71651991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.75, Y:50.25, Z:6.72 [[-1.25339912e-02 -9.99921446e-01 2.35065391e-05 1.02754860e+02] [-9.99905973e-01 1.25339280e-02 5.56283769e-03 5.02546777e+01] [-5.56269534e-03 4.62202295e-05 -9.99984527e-01 6.71620801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.73, Y:50.14, Z:6.72 [[ 6.38609942e-02 -9.97958689e-01 -4.77795359e-04 1.02732906e+02] [-9.97937107e-01 -6.38627555e-02 6.56346737e-03 5.01350241e+01] [-6.58058262e-03 5.76601667e-05 -9.99978346e-01 6.71683333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.72, Y:50.02, Z:6.72 [[ 1.39321015e-01 -9.90246692e-01 -1.06987776e-03 1.02719479e+02] [-9.90221181e-01 -1.39325106e-01 7.10827789e-03 5.00152760e+01] [-7.18800950e-03 6.90831278e-05 -9.99974164e-01 6.71722196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.72, Y:49.89, Z:6.72 [[ 2.12937100e-01 -9.77064810e-01 -1.46618416e-03 1.02717928e+02] [-9.77044044e-01 -2.12942134e-01 6.37059882e-03 4.98871354e+01] [-6.53670031e-03 7.59896645e-05 -9.99978633e-01 6.71612966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.72, Y:49.77, Z:6.72 [[ 2.86698445e-01 -9.58019209e-01 -1.78778112e-03 1.02720709e+02] [-9.58002156e-01 -2.86704010e-01 5.71663002e-03 4.97685797e+01] [-5.98920539e-03 7.37492242e-05 -9.99982062e-01 6.71557021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.74, Y:49.64, Z:6.72 [[ 3.59013756e-01 -9.33329365e-01 -2.32785309e-03 1.02737261e+02] [-9.33311155e-01 -3.59021294e-01 5.83077549e-03 4.96408009e+01] [-6.27778281e-03 7.92826474e-05 -9.99980291e-01 6.71628753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.450385723 meters Centerline goodness [0,1] 0.9998920645885502 Centerline is valid? [True, True] Translation: X:102.76, Y:49.52, Z:6.72 [[ 4.29081505e-01 -9.03260123e-01 -3.19564974e-03 1.02760809e+02] [-9.03236700e-01 -4.29093394e-01 6.50553572e-03 4.95223596e+01] [-7.24742319e-03 9.50230727e-05 -9.99973733e-01 6.71691786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.79, Y:49.41, Z:6.72 [[ 4.96859598e-01 -8.67822386e-01 -3.85307385e-03 1.02788718e+02] [-8.67797848e-01 -4.96874528e-01 6.52671373e-03 4.94111063e+01] [-7.57852253e-03 1.00828834e-04 -9.99971278e-01 6.71720992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.83, Y:49.30, Z:6.72 [[ 5.61622935e-01 -8.27381711e-01 -4.37992243e-03 1.02827048e+02] [-8.27357970e-01 -5.61640004e-01 6.26866233e-03 4.92986797e+01] [-7.64651622e-03 1.03139190e-04 -9.99970760e-01 6.71686378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.87, Y:49.19, Z:6.72 [[ 6.22470516e-01 -7.82628840e-01 -4.74924714e-03 1.02873812e+02] [-7.82607369e-01 -6.22488624e-01 5.79823945e-03 4.91932724e+01] [-7.49422174e-03 1.07562705e-04 -9.99971912e-01 6.71709037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.93, Y:49.09, Z:6.72 [[ 6.79762464e-01 -7.33415769e-01 -4.92975370e-03 1.02926373e+02] [-7.33397618e-01 -6.79780331e-01 5.16097931e-03 4.90912598e+01] [-7.13629321e-03 1.07229603e-04 -9.99974531e-01 6.71672506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6003857229999 meters Centerline goodness [0,1] 0.9999783348137877 Centerline is valid? [True, True] Translation: X:102.98, Y:49.00, Z:6.72 [[ 7.32598301e-01 -6.80641671e-01 -5.16195169e-03 1.02980704e+02] [-6.80625862e-01 -7.32616477e-01 4.64034884e-03 4.90006480e+01] [-6.94014565e-03 1.13846145e-04 -9.99975910e-01 6.71558429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.98, Y:48.99, Z:6.72 [[ 7.82890275e-01 -6.22136344e-01 -5.40248550e-03 1.02975692e+02] [-6.22122573e-01 -7.82908906e-01 4.14115223e-03 4.89899186e+01] [-6.80601532e-03 1.18940372e-04 -9.99976832e-01 6.71545901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.97, Y:48.98, Z:6.72 [[ 8.29103264e-01 -5.59068124e-01 -5.53265403e-03 1.02970314e+02] [-5.59056602e-01 -8.29121716e-01 3.59117733e-03 4.89801038e+01] [-6.59495638e-03 1.15609917e-04 -9.99978246e-01 6.71577957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.97, Y:48.97, Z:6.72 [[ 8.70580864e-01 -4.91996223e-01 -5.35493408e-03 1.02967024e+02] [-4.91987640e-01 -8.70597327e-01 2.90788858e-03 4.89703366e+01] [-6.09266150e-03 1.03009223e-04 -9.99981434e-01 6.71593042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.96, Y:48.96, Z:6.72 [[ 9.06747231e-01 -4.21637977e-01 -5.55655337e-03 1.02964557e+02] [-4.21630717e-01 -9.06764251e-01 2.47613170e-03 4.89587257e+01] [-6.08251512e-03 9.75880210e-05 -9.99981497e-01 6.71591527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.96, Y:48.95, Z:6.72 [[ 9.37614528e-01 -3.47610687e-01 -6.76815386e-03 1.02962710e+02] [-3.47602408e-01 -9.37638950e-01 2.40125893e-03 4.89471678e+01] [-7.18078794e-03 1.01171318e-04 -9.99974213e-01 6.71681051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.96, Y:48.94, Z:6.72 [[ 9.62171683e-01 -2.72345135e-01 -7.33355206e-03 1.02960937e+02] [-2.72338012e-01 -9.62199625e-01 1.97218213e-03 4.89367761e+01] [-7.59345525e-03 9.96271916e-05 -9.99971164e-01 6.71772412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.96, Y:48.93, Z:6.72 [[ 9.80683489e-01 -1.95431582e-01 -8.14803187e-03 1.02961429e+02] [-1.95425695e-01 -9.80717333e-01 1.52033262e-03 4.89270251e+01] [-8.28803709e-03 1.01369689e-04 -9.99965649e-01 6.71807175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.96, Y:48.92, Z:6.72 [[ 9.92973211e-01 -1.18037879e-01 -8.44165424e-03 1.02958225e+02] [-1.18034500e-01 -9.93009088e-01 8.99041348e-04 4.89197668e+01] [-8.48876031e-03 1.03682467e-04 -9.99963965e-01 6.71805259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.96, Y:48.91, Z:6.72 [[ 9.99107191e-01 -4.13993937e-02 -8.42091931e-03 1.02956039e+02] [-4.13988958e-02 -9.99142671e-01 2.33501369e-04 4.89085348e+01] [-8.42336663e-03 1.15323864e-04 -9.99964516e-01 6.71702435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.96, Y:48.90, Z:6.72 [[ 9.99370468e-01 3.44866230e-02 -8.32713120e-03 1.02955216e+02] [ 3.44843027e-02 -9.99405151e-01 -4.22109151e-04 4.88983506e+01] [-8.33673493e-03 1.34688106e-04 -9.99965240e-01 6.71745670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.95, Y:48.89, Z:6.72 [[ 9.93732276e-01 1.11501923e-01 -7.96770267e-03 1.02954864e+02] [ 1.11497216e-01 -9.93764208e-01 -1.03384747e-03 4.88853144e+01] [-8.03329372e-03 1.38990932e-04 -9.99967723e-01 6.71741885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.95, Y:48.88, Z:6.72 [[ 9.82304036e-01 1.87145550e-01 -7.43807674e-03 1.02953790e+02] [ 1.87139061e-01 -9.82332185e-01 -1.56514909e-03 4.88753671e+01] [-7.59957287e-03 1.45497570e-04 -9.99971112e-01 6.71727828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.96, Y:48.86, Z:6.72 [[ 9.64769239e-01 2.62984825e-01 -7.70050269e-03 1.02955189e+02] [ 2.62975142e-01 -9.64799957e-01 -2.26225428e-03 4.88638535e+01] [-8.02438321e-03 1.57512550e-04 -9.99967792e-01 6.71719266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.96, Y:48.85, Z:6.72 [[ 9.41182672e-01 3.37790962e-01 -8.51135913e-03 1.02956330e+02] [ 3.37775434e-01 -9.41221140e-01 -3.24369679e-03 4.88524753e+01] [-9.10676260e-03 1.77983189e-04 -9.99958517e-01 6.71835118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.96, Y:48.84, Z:6.72 [[ 9.11686142e-01 4.10800121e-01 -8.46400545e-03 1.02958707e+02] [ 4.10780587e-01 -9.11725413e-01 -4.01009463e-03 4.88417882e+01] [-9.36419622e-03 1.79098573e-04 -9.99956139e-01 6.71875604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.96, Y:48.83, Z:6.72 [[ 8.76083191e-01 4.82101973e-01 -7.47860011e-03 1.02961148e+02] [ 4.82082907e-01 -8.76115098e-01 -4.29026450e-03 4.88316068e+01] [-8.62045944e-03 1.53323336e-04 -9.99962831e-01 6.71830250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.97, Y:48.82, Z:6.72 [[ 8.35281097e-01 5.49786077e-01 -6.38422142e-03 1.02967579e+02] [ 5.49768805e-01 -8.35305484e-01 -4.36000791e-03 4.88188329e+01] [-7.72984681e-03 1.31986410e-04 -9.99970116e-01 6.71708132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.97, Y:48.81, Z:6.72 [[ 7.88967559e-01 6.14413358e-01 -5.13968521e-03 1.02974717e+02] [ 6.14399451e-01 -7.88984293e-01 -4.13525414e-03 4.88063269e+01] [-6.59588628e-03 1.04761592e-04 -9.99978241e-01 6.71635552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.98, Y:48.80, Z:6.72 [[ 7.38084780e-01 6.74691926e-01 -4.65434498e-03 1.02981105e+02] [ 6.74677664e-01 -7.38099448e-01 -4.38790274e-03 4.87955454e+01] [-6.39585201e-03 9.84616293e-05 -9.99979542e-01 6.71677664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.99, Y:48.78, Z:6.72 [[ 6.82680506e-01 7.30699720e-01 -5.02456385e-03 1.02989793e+02] [ 7.30678707e-01 -6.82698987e-01 -5.54264477e-03 4.87848068e+01] [-7.48027363e-03 1.12513721e-04 -9.99972016e-01 6.71781703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.00, Y:48.78, Z:6.72 [[ 6.23180044e-01 7.82061603e-01 -5.12654923e-03 1.02996814e+02] [ 7.82033491e-01 -6.23201118e-01 -6.63217091e-03 4.87755057e+01] [-8.38163742e-03 1.23903369e-04 -9.99964866e-01 6.71814479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.01, Y:48.77, Z:6.72 [[ 5.59884949e-01 8.28554322e-01 -5.15556324e-03 1.03005595e+02] [ 8.28516911e-01 -5.59908669e-01 -7.87470484e-03 4.87662160e+01] [-9.41126527e-03 1.37457395e-04 -9.99955704e-01 6.71807049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.02, Y:48.76, Z:6.72 [[ 4.93508005e-01 8.69728356e-01 -4.73677775e-03 1.03015624e+02] [ 8.69685406e-01 -4.93530714e-01 -8.64453924e-03 4.87571070e+01] [-9.85614620e-03 1.46642831e-04 -9.99951416e-01 6.71886232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.02, Y:48.75, Z:6.72 [[ 4.23991416e-01 9.05656878e-01 -4.11077882e-03 1.03023819e+02] [ 9.05610827e-01 -4.24011317e-01 -9.13417722e-03 4.87486992e+01] [-1.00154472e-02 1.50046934e-04 -9.99949833e-01 6.71983138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.03, Y:48.74, Z:6.72 [[ 3.52534619e-01 9.35792088e-01 -3.53698107e-03 1.03030983e+02] [ 9.35740186e-01 -3.52552323e-01 -9.85712912e-03 4.87427394e+01] [-1.04711943e-02 1.65283934e-04 -9.99945162e-01 6.71977661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.04, Y:48.74, Z:6.72 [[ 2.78597350e-01 9.60404254e-01 -2.68072978e-03 1.03038372e+02] [ 9.60353924e-01 -2.78610198e-01 -9.83357582e-03 4.87370563e+01] [-1.01910867e-02 1.65158803e-04 -9.99948056e-01 6.71938808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.05, Y:48.73, Z:6.72 [[ 2.03373098e-01 9.79099864e-01 -1.68524680e-03 1.03045339e+02] [ 9.79059682e-01 -2.03380022e-01 -8.87160631e-03 4.87318989e+01] [-9.02893406e-03 1.54288861e-04 -9.99959227e-01 6.71859222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.05, Y:48.73, Z:6.72 [[ 1.26206929e-01 9.92003400e-01 -1.03228335e-03 1.03053736e+02] [ 9.91958841e-01 -1.26211046e-01 -9.40372977e-03 4.87266671e+01] [-9.45881747e-03 1.62833261e-04 -9.99955251e-01 6.71869659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.06, Y:48.72, Z:6.72 [[ 4.82671167e-02 9.98834415e-01 -3.10103953e-04 1.03062098e+02] [ 9.98784204e-01 -4.82678001e-02 -1.00166225e-02 4.87226444e+01] [-1.00199153e-02 1.73746558e-04 -9.99949784e-01 6.71930395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.07, Y:48.72, Z:6.72 [[-3.02910002e-02 9.99540998e-01 4.99671390e-04 1.03070104e+02] [ 9.99485590e-01 3.02945829e-02 -1.05259010e-02 4.87188888e+01] [-1.05362069e-02 1.80574285e-04 -9.99944476e-01 6.71903198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.08, Y:48.71, Z:6.72 [[-1.08929202e-01 9.94048783e-01 1.20293438e-03 1.03077381e+02] [ 9.94003326e-01 1.08935727e-01 -9.50769746e-03 4.87140451e+01] [-9.58215761e-03 1.60054875e-04 -9.99954077e-01 6.71805541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.09, Y:48.71, Z:6.72 [[-1.86650003e-01 9.82424928e-01 1.74279825e-03 1.03086302e+02] [ 9.82388900e-01 1.86658086e-01 -8.41481087e-03 4.87107977e+01] [-8.59222735e-03 1.41481180e-04 -9.99963076e-01 6.71752128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.10, Y:48.71, Z:6.72 [[-2.63116811e-01 9.64761585e-01 2.15117324e-03 1.03095734e+02] [ 9.64733147e-01 2.63125574e-01 -7.40859049e-03 4.87087260e+01] [-7.71355220e-03 1.25983429e-04 -9.99970242e-01 6.71714242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.11, Y:48.71, Z:6.72 [[-3.38135713e-01 9.41093428e-01 2.72020075e-03 1.03108686e+02] [ 9.41065855e-01 3.38146632e-01 -7.20501019e-03 4.87091964e+01] [-7.70041446e-03 1.23616784e-04 -9.99970344e-01 6.71715140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.12, Y:48.71, Z:6.72 [[-4.10778690e-01 9.11728728e-01 3.40500630e-03 1.03117598e+02] [ 9.11699963e-01 4.10792782e-01 -7.24344030e-03 4.87075724e+01] [-8.00280463e-03 1.28893194e-04 -9.99967969e-01 6.71801583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.12, Y:48.70, Z:6.72 [[-4.80589843e-01 8.76935849e-01 4.11329224e-03 1.03123241e+02] [ 8.76906137e-01 4.80607425e-01 -7.22013906e-03 4.87037447e+01] [-8.30847757e-03 1.37045710e-04 -9.99965475e-01 6.71771328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.13, Y:48.71, Z:6.72 [[-5.47615836e-01 8.36717652e-01 4.52411589e-03 1.03134930e+02] [ 8.36691102e-01 5.47634507e-01 -6.66681130e-03 4.87067664e+01] [-8.05580067e-03 1.34436072e-04 -9.99967543e-01 6.71721640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.15, Y:48.71, Z:6.72 [[-6.11216875e-01 7.91448214e-01 4.86384237e-03 1.03145244e+02] [ 7.91424858e-01 6.11236213e-01 -6.08162190e-03 4.87089719e+01] [-7.78624538e-03 1.32175831e-04 -9.99969678e-01 6.71763516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.16, Y:48.71, Z:6.72 [[-6.71723176e-01 7.40784045e-01 5.19365765e-03 1.03155719e+02] [ 7.40763327e-01 6.71743242e-01 -5.54163753e-03 4.87134789e+01] [-7.59396110e-03 1.24824761e-04 -9.99971158e-01 6.71759927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.17, Y:48.72, Z:6.72 [[-7.27988495e-01 6.85563493e-01 5.95390185e-03 1.03167523e+02] [ 6.85542003e-01 7.28012830e-01 -5.42961213e-03 4.87200614e+01] [-8.05686079e-03 1.28954642e-04 -9.99967535e-01 6.71713666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.830385723 meters Centerline goodness [0,1] 0.9999560729189545 Centerline is valid? [True, True] Translation: X:103.18, Y:48.74, Z:6.72 [[-7.75551686e-01 6.31251143e-01 6.44802040e-03 1.03184926e+02] [ 6.31230607e-01 7.75578481e-01 -5.09324360e-03 4.87421036e+01] [-8.21606171e-03 1.20114172e-04 -9.99966240e-01 6.71783189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.860385723 meters Centerline goodness [0,1] 0.9999780494764801 Centerline is valid? [True, True] Translation: X:103.20, Y:48.77, Z:6.72 [[-8.18446092e-01 5.74542190e-01 6.87509215e-03 1.03195408e+02] [ 5.74523133e-01 8.18474958e-01 -4.68104310e-03 4.87694076e+01] [-8.31654751e-03 1.18718052e-04 -9.99965410e-01 6.71942873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.890385723 meters Centerline goodness [0,1] 0.9999780494764801 Centerline is valid? [True, True] Translation: X:103.21, Y:48.79, Z:6.72 [[-8.57066507e-01 5.15155624e-01 7.18921157e-03 1.03212890e+02] [ 5.15138659e-01 8.57096651e-01 -4.18254812e-03 4.87925534e+01] [-8.31651235e-03 1.18718899e-04 -9.99965410e-01 6.71942836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.24, Y:48.81, Z:6.72 [[-8.91532807e-01 4.52908658e-01 6.55757226e-03 1.03242345e+02] [ 4.52897246e-01 8.91556918e-01 -3.21667407e-03 4.88124052e+01] [-7.30330845e-03 1.02135956e-04 -9.99973325e-01 6.71814182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.25, Y:48.84, Z:6.72 [[-9.21218719e-01 3.88992689e-01 6.38424588e-03 1.03253061e+02] [ 3.88984092e-01 9.21240836e-01 -2.58815536e-03 4.88382778e+01] [-6.88820152e-03 9.91129141e-05 -9.99976271e-01 6.71856792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.27, Y:48.86, Z:6.72 [[-9.46011075e-01 3.24098331e-01 4.82896839e-03 1.03265524e+02] [ 3.24094539e-01 9.46023396e-01 -1.56977316e-03 4.88641822e+01] [-5.07707794e-03 8.00194899e-05 -9.99987108e-01 6.71758598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.010385723 meters Centerline goodness [0,1] 0.9999560159222362 Centerline is valid? [True, True] Translation: X:103.27, Y:48.89, Z:6.72 [[-9.66373428e-01 2.57109229e-01 4.15248619e-03 1.03274186e+02] [ 2.57107172e-01 9.66382347e-01 -1.03092870e-03 4.88913000e+01] [-4.27795063e-03 7.13718828e-05 -9.99990847e-01 6.71685023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.040385723 meters Centerline goodness [0,1] 0.9999779594895418 Centerline is valid? [True, True] Translation: X:103.28, Y:48.92, Z:6.72 [[-9.82044873e-01 1.88612228e-01 3.64627959e-03 1.03278831e+02] [ 1.88611171e-01 9.82051640e-01 -6.34828251e-04 4.89193070e+01] [-3.70057122e-03 6.42992331e-05 -9.99993151e-01 6.71645479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.28, Y:48.95, Z:6.72 [[-9.92930420e-01 1.18614305e-01 4.45272349e-03 1.03284717e+02] [ 1.18613468e-01 9.92940401e-01 -4.52515206e-04 4.89484026e+01] [-4.47496382e-03 7.88368634e-05 -9.99989984e-01 6.71795183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.28, Y:48.98, Z:6.72 [[-9.98867086e-01 4.72711655e-02 5.47561574e-03 1.03276496e+02] [ 4.72709706e-02 9.98882089e-01 -1.65091471e-04 4.89787265e+01] [-5.47729856e-03 9.39332338e-05 -9.99984995e-01 6.72028800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.31, Y:49.73, Z:5.76 [[-9.96771762e-01 -8.00946011e-02 5.55968932e-03 1.03311545e+02] [ 8.00928586e-02 -9.96787263e-01 -5.35717643e-04 4.97322778e+01] [ 5.58473559e-03 -8.86968084e-05 9.99984401e-01 5.75864039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.20, Y:48.98, Z:6.72 [[-9.99138871e-01 4.11233729e-02 5.51219141e-03 1.03201702e+02] [ 4.11232433e-02 9.99154072e-01 -1.36905176e-04 4.89816045e+01] [-5.51315850e-03 8.98919052e-05 -9.99984798e-01 6.72198495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.20, Y:49.01, Z:6.72 [[-9.99530241e-01 -3.01532252e-02 5.48461514e-03 1.03197708e+02] [-3.01522816e-02 9.99545284e-01 2.54675842e-04 4.90100901e+01] [-5.48980050e-03 8.91825458e-05 -9.99984927e-01 6.72220270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.18, Y:49.04, Z:6.72 [[-9.94783828e-01 -1.01829103e-01 5.99753151e-03 1.03180436e+02] [-1.01826677e-01 9.94801902e-01 7.09293286e-04 4.90370302e+01] [-6.03858246e-03 9.48847885e-05 -9.99981763e-01 6.72260087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.16, Y:49.06, Z:6.72 [[-9.84956897e-01 -1.72704695e-01 5.74454722e-03 1.03158357e+02] [-1.72701215e-01 9.84973644e-01 1.10025762e-03 4.90626738e+01] [-5.84824727e-03 9.16160470e-05 -9.99982895e-01 6.72268386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.13, Y:49.08, Z:6.72 [[-9.69620408e-01 -2.44559810e-01 5.17337112e-03 1.03127295e+02] [-2.44555883e-01 9.69634206e-01 1.38821007e-03 4.90849949e+01] [-5.35577799e-03 8.08584675e-05 -9.99985655e-01 6.72276134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.07, Y:49.10, Z:6.72 [[-9.49060431e-01 -3.15058970e-01 4.70573917e-03 1.03069982e+02] [-3.15054706e-01 9.49072094e-01 1.64075289e-03 4.90971547e+01] [-4.98301964e-03 7.46083703e-05 -9.99987582e-01 6.72245218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.00, Y:49.10, Z:6.72 [[-9.23271756e-01 -3.84127630e-01 3.90231850e-03 1.03003413e+02] [-3.84123906e-01 9.23280001e-01 1.69280510e-03 4.91001903e+01] [-4.25318584e-03 6.39453140e-05 -9.99990953e-01 6.72212503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.92, Y:49.09, Z:6.72 [[-8.92074190e-01 -4.51874531e-01 3.61229980e-03 1.02924772e+02] [-4.51870552e-01 8.92081501e-01 1.89729013e-03 4.90947763e+01] [-4.07980292e-03 6.02316534e-05 -9.99991676e-01 6.72181616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.84, Y:49.08, Z:6.72 [[-8.55140871e-01 -5.18386799e-01 3.03622736e-03 1.02841500e+02] [-5.18383330e-01 8.55146259e-01 1.89681564e-03 4.90809579e+01] [-3.57970265e-03 4.81149241e-05 -9.99993592e-01 6.72202567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.75, Y:49.06, Z:6.72 [[-8.13275046e-01 -5.81872764e-01 2.79047529e-03 1.02751218e+02] [-5.81869155e-01 8.13279832e-01 2.04978278e-03 4.90557129e+01] [-3.46215005e-03 4.33456834e-05 -9.99994006e-01 6.72219661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.64, Y:49.01, Z:6.72 [[-7.65761110e-01 -6.43121992e-01 2.00643024e-03 1.02641327e+02] [-6.43119693e-01 7.65763738e-01 1.71980132e-03 4.90058980e+01] [-2.64249357e-03 2.65821644e-05 -9.99996508e-01 6.72279830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.56, Y:48.97, Z:6.72 [[-7.12833274e-01 -7.01330613e-01 2.02378357e-03 1.02564995e+02] [-7.01327700e-01 7.12836146e-01 2.02122309e-03 4.89741810e+01] [-2.86017171e-03 2.14595893e-05 -9.99995910e-01 6.72321474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.47, Y:48.91, Z:6.72 [[-6.56724758e-01 -7.54127120e-01 2.20889087e-03 1.02467745e+02] [-7.54122741e-01 6.56728472e-01 2.56993868e-03 4.89106843e+01] [-3.38870198e-03 2.19675168e-05 -9.99994258e-01 6.72350582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.38, Y:48.85, Z:6.72 [[-5.96715968e-01 -8.02449086e-01 2.34900665e-03 1.02381965e+02] [-8.02442715e-01 5.96720591e-01 3.19783837e-03 4.88479096e+01] [-3.96780311e-03 2.32579437e-05 -9.99992128e-01 6.72371060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.580385723 meters Centerline goodness [0,1] 0.9999778961561415 Centerline is valid? [True, True] Translation: X:102.30, Y:48.78, Z:6.72 [[-5.33053457e-01 -8.46077478e-01 2.62924941e-03 1.02299315e+02] [-8.46066939e-01 5.33059940e-01 4.22310808e-03 4.87758781e+01] [-4.97462417e-03 2.66213622e-05 -9.99987626e-01 6.72467505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.22, Y:48.69, Z:6.73 [[-4.66871394e-01 -8.84321738e-01 2.48311329e-03 1.02217645e+02] [-8.84308885e-01 4.66877997e-01 4.76784849e-03 4.86904758e+01] [-5.37562302e-03 3.01329287e-05 -9.99985551e-01 6.72505575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.14, Y:48.59, Z:6.72 [[-3.98732818e-01 -9.17064289e-01 2.28674245e-03 1.02140901e+02] [-9.17048630e-01 3.98739373e-01 5.35934767e-03 4.85896966e+01] [-5.82668061e-03 3.98937675e-05 -9.99983024e-01 6.72487877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.08, Y:48.49, Z:6.72 [[-3.27835965e-01 -9.44733035e-01 1.75300994e-03 1.02075144e+02] [-9.44718827e-01 3.27840649e-01 5.18141836e-03 4.84939930e+01] [-5.46976501e-03 4.25537946e-05 -9.99985040e-01 6.72472552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.02, Y:48.39, Z:6.72 [[-2.56126191e-01 -9.66642370e-01 1.37972089e-03 1.02015823e+02] [-9.66627149e-01 2.56129901e-01 5.42481401e-03 4.83870242e+01] [-5.59724284e-03 5.57612727e-05 -9.99984334e-01 6.72493862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.96, Y:48.28, Z:6.72 [[-1.82075129e-01 -9.83284260e-01 8.43704382e-04 1.01962415e+02] [-9.83272255e-01 1.82077075e-01 4.85906050e-03 4.82755512e+01] [-4.93145693e-03 5.51229562e-05 -9.99987839e-01 6.72496355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.92, Y:48.15, Z:6.73 [[-1.08445410e-01 -9.94102274e-01 5.11629091e-04 1.01920996e+02] [-9.94087674e-01 1.08446591e-01 5.38829931e-03 4.81520881e+01] [-5.41200503e-03 7.57321575e-05 -9.99985352e-01 6.72623499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.89, Y:48.03, Z:6.73 [[-3.28414597e-02 -9.99460569e-01 1.01418314e-04 1.01886382e+02] [-9.99443950e-01 3.28414985e-02 5.76435867e-03 4.80333639e+01] [-5.76457993e-03 8.79480323e-05 -9.99983381e-01 6.72595807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.86, Y:47.90, Z:6.73 [[ 4.24636677e-02 -9.99097943e-01 -3.69831389e-04 1.01864705e+02] [-9.99078815e-01 -4.24651435e-02 6.18327932e-03 4.78989918e+01] [-6.19340660e-03 1.06925987e-04 -9.99980815e-01 6.72545515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.85, Y:47.77, Z:6.72 [[ 1.18855789e-01 -9.92911177e-01 -8.34372526e-04 1.01847977e+02] [-9.92892768e-01 -1.18858667e-01 6.04716240e-03 4.77698652e+01] [-6.10346755e-03 1.09702190e-04 -9.99981368e-01 6.72479584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.84, Y:47.67, Z:6.73 [[ 1.94844226e-01 -9.80833273e-01 -1.34812045e-03 1.01837142e+02] [-9.80813734e-01 -1.94848856e-01 6.19218577e-03 4.76670039e+01] [-6.33618156e-03 1.15743410e-04 -9.99979920e-01 6.72514247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.84, Y:47.53, Z:6.73 [[ 2.70247962e-01 -9.62788977e-01 -1.85069981e-03 1.01842730e+02] [-9.62769247e-01 -2.70254274e-01 6.16474559e-03 4.75330655e+01] [-6.43550864e-03 1.15786936e-04 -9.99979285e-01 6.72626684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.85, Y:47.41, Z:6.73 [[ 3.44896142e-01 -9.38638055e-01 -2.29206433e-03 1.01854566e+02] [-9.38619331e-01 -3.44903741e-01 5.92959843e-03 4.74075736e+01] [-6.35628830e-03 1.06280270e-04 -9.99979793e-01 6.72597035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.87, Y:47.28, Z:6.73 [[ 4.16883612e-01 -9.08956128e-01 -2.61006903e-03 1.01874058e+02] [-9.08939742e-01 -4.16891771e-01 5.45868442e-03 4.72847437e+01] [-6.04982095e-03 9.67593974e-05 -9.99981695e-01 6.72564354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.91, Y:47.16, Z:6.73 [[ 4.86920396e-01 -8.73440412e-01 -3.22112190e-03 1.01905938e+02] [-8.73422557e-01 -4.86931041e-01 5.58548573e-03 4.71592462e+01] [-6.44705319e-03 9.37136101e-05 -9.99979213e-01 6.72573078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.94, Y:47.05, Z:6.73 [[ 5.52924547e-01 -8.33223395e-01 -3.63584785e-03 1.01939532e+02] [-8.33206455e-01 -5.52936493e-01 5.31395034e-03 4.70494141e+01] [-6.43810071e-03 9.11983190e-05 -9.99979271e-01 6.72548295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.99, Y:46.93, Z:6.72 [[ 6.15518349e-01 -7.88113866e-01 -3.70080389e-03 1.01986555e+02] [-7.88100408e-01 -6.15529469e-01 4.60644601e-03 4.69349691e+01] [-5.90835783e-03 8.12530045e-05 -9.99982542e-01 6.72486723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.03, Y:46.84, Z:6.72 [[ 6.73846137e-01 -7.38860184e-01 -4.12451071e-03 1.02034832e+02] [-7.38847104e-01 -6.73858755e-01 4.39728905e-03 4.68354080e+01] [-6.02831944e-03 8.42865516e-05 -9.99981826e-01 6.72414541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.09, Y:46.74, Z:6.72 [[ 7.27394282e-01 -6.86205389e-01 -4.44110183e-03 1.02092620e+02] [-6.86193369e-01 -7.27407833e-01 4.06265751e-03 4.67397990e+01] [-6.01830974e-03 9.23007836e-05 -9.99981886e-01 6.72323987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.09, Y:46.73, Z:6.72 [[ 7.78117861e-01 -6.28101998e-01 -4.52479111e-03 1.02086599e+02] [-6.28092077e-01 -7.78131012e-01 3.53155975e-03 4.67313136e+01] [-5.73906003e-03 9.40157238e-05 -9.99983527e-01 6.72263434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.08, Y:46.72, Z:6.72 [[ 8.23972766e-01 -5.66607506e-01 -4.98156403e-03 1.02079177e+02] [-5.66597930e-01 -8.23987817e-01 3.29588738e-03 4.67206717e+01] [-5.97222260e-03 1.06822433e-04 -9.99982160e-01 6.72278878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.07, Y:46.71, Z:6.72 [[ 8.65432958e-01 -5.00991841e-01 -5.74204645e-03 1.02071503e+02] [-5.00981741e-01 -8.65451998e-01 3.18347979e-03 4.67113363e+01] [-6.56436298e-03 1.21572100e-04 -9.99978447e-01 6.72396506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.07, Y:46.70, Z:6.72 [[ 9.01465418e-01 -4.32802847e-01 -6.46492903e-03 1.02065599e+02] [-4.32792822e-01 -9.01488589e-01 2.94910815e-03 4.67019166e+01] [-7.10444215e-03 1.39455870e-04 -9.99974753e-01 6.72499039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.06, Y:46.69, Z:6.72 [[ 9.32136474e-01 -3.62045592e-01 -6.67711245e-03 1.02060544e+02] [-3.62037433e-01 -9.32160377e-01 2.43496101e-03 4.66921686e+01] [-7.10570656e-03 1.47648684e-04 -9.99974743e-01 6.72445699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.06, Y:46.68, Z:6.72 [[ 9.57474607e-01 -2.88440503e-01 -6.66734440e-03 1.02056431e+02] [-2.88434572e-01 -9.57497809e-01 1.85552585e-03 4.66848351e+01] [-6.91917647e-03 1.46473746e-04 -9.99976052e-01 6.72442670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.05, Y:46.67, Z:6.72 [[ 9.76985109e-01 -2.13228763e-01 -5.79584771e-03 1.02050173e+02] [-2.13225790e-01 -9.77002292e-01 1.13329954e-03 4.66729420e+01] [-5.90420856e-03 1.28607427e-04 -9.99982562e-01 6.72354101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.04, Y:46.66, Z:6.72 [[ 9.90710401e-01 -1.35867912e-01 -5.72823871e-03 1.02043648e+02] [-1.35866366e-01 -9.90726953e-01 6.59929352e-04 4.66619770e+01] [-5.76478370e-03 1.24476105e-04 -9.99983376e-01 6.72339875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.04, Y:46.65, Z:6.72 [[ 9.98361744e-01 -5.69939351e-02 -5.05168591e-03 1.02037646e+02] [-5.69937344e-02 -9.98374519e-01 1.83784738e-04 4.66509964e+01] [-5.05394911e-03 1.04430794e-04 -9.99987223e-01 6.72319167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.03, Y:46.64, Z:6.72 [[ 9.99746175e-01 2.19927922e-02 -4.88898353e-03 1.02033454e+02] [ 2.19920506e-02 -9.99758125e-01 -2.05413413e-04 4.66400107e+01] [-4.89231862e-03 9.78425014e-05 -9.99988028e-01 6.72285166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.03, Y:46.63, Z:6.72 [[ 9.94777269e-01 1.01989441e-01 -4.04221192e-03 1.02029405e+02] [ 1.01988297e-01 -9.94785479e-01 -4.88638430e-04 4.66285495e+01] [-4.07096968e-03 7.38280923e-05 -9.99991711e-01 6.72243602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.03, Y:46.62, Z:6.72 [[ 9.83569016e-01 1.80490191e-01 -3.90930112e-03 1.02026189e+02] [ 1.80488488e-01 -9.83576782e-01 -7.86988856e-04 4.66188396e+01] [-3.98714158e-03 6.84740042e-05 -9.99992049e-01 6.72266563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.03, Y:46.60, Z:6.72 [[ 9.66225906e-01 2.57672503e-01 -3.51840618e-03 1.02026133e+02] [ 2.57670568e-01 -9.66232310e-01 -1.00036421e-03 4.66037529e+01] [-3.65736408e-03 5.99880907e-05 -9.99993310e-01 6.72270140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.03, Y:46.59, Z:6.72 [[ 9.43023408e-01 3.32713844e-01 -2.88968076e-03 1.02026499e+02] [ 3.32712120e-01 -9.43027834e-01 -1.07229857e-03 4.65915607e+01] [-3.08181797e-03 4.97708361e-05 -9.99995250e-01 6.72270474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.03, Y:46.58, Z:6.72 [[ 9.14241657e-01 4.05161949e-01 -2.44705519e-03 1.02027992e+02] [ 4.05160367e-01 -9.14244931e-01 -1.13316415e-03 4.65792683e+01] [-2.69632280e-03 4.45360958e-05 -9.99996364e-01 6.72164507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.03, Y:46.57, Z:6.72 [[ 8.80118109e-01 4.74749719e-01 -2.19525062e-03 1.02028565e+02] [ 4.74748118e-01 -8.80120845e-01 -1.23381088e-03 4.65682027e+01] [-2.51783720e-03 4.37082007e-05 -9.99996829e-01 6.72172546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.03, Y:46.56, Z:6.72 [[ 8.41165775e-01 5.40774286e-01 -1.81959160e-03 1.02030509e+02] [ 5.40772913e-01 -8.41167742e-01 -1.21919045e-03 4.65577030e+01] [-2.18988860e-03 4.15554278e-05 -9.99997601e-01 6.72179868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.03, Y:46.55, Z:6.72 [[ 7.97383371e-01 6.03470923e-01 -1.61410609e-03 1.02031538e+02] [ 6.03469577e-01 -7.97385003e-01 -1.27524125e-03 4.65476455e+01] [-2.05663501e-03 4.27922501e-05 -9.99997884e-01 6.72226739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.690385723 meters Centerline goodness [0,1] 0.9999779337128735 Centerline is valid? [True, True] Translation: X:102.03, Y:46.54, Z:6.72 [[ 7.48155134e-01 6.63521653e-01 -1.70640467e-03 1.02033783e+02] [ 6.63519773e-01 -7.48157078e-01 -1.58052316e-03 4.65394160e+01] [-2.32537007e-03 5.02432757e-05 -9.99997295e-01 6.72244698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.04, Y:46.53, Z:6.72 [[ 6.94298474e-01 7.19685349e-01 -1.62094742e-03 1.02041709e+02] [ 7.19683208e-01 -6.94300364e-01 -1.75649036e-03 4.65266164e+01] [-2.38954476e-03 5.29599347e-05 -9.99997144e-01 6.72266148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.05, Y:46.52, Z:6.72 [[ 6.36837710e-01 7.70996230e-01 -1.59534951e-03 1.02046293e+02] [ 7.70993568e-01 -6.36839705e-01 -2.02683094e-03 4.65156136e+01] [-2.57866093e-03 6.07581620e-05 -9.99996673e-01 6.72348327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.05, Y:46.51, Z:6.72 [[ 5.74529800e-01 8.18482412e-01 -1.43176905e-03 1.02049701e+02] [ 8.18479603e-01 -5.74531581e-01 -2.14546699e-03 4.65071622e+01] [-2.57862354e-03 6.07609571e-05 -9.99996674e-01 6.72348294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.06, Y:46.50, Z:6.72 [[ 5.09450116e-01 8.60499741e-01 -8.81026309e-04 1.02060131e+02] [ 8.60498302e-01 -5.09450876e-01 -1.57426953e-03 4.64958060e+01] [-1.80349815e-03 4.38901527e-05 -9.99998373e-01 6.72305292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.07, Y:46.49, Z:6.72 [[ 4.40714027e-01 8.97647093e-01 -9.18263649e-04 1.02070554e+02] [ 8.97644881e-01 -4.40714980e-01 -1.99331169e-03 4.64859876e+01] [-2.19398299e-03 5.42057546e-05 -9.99997592e-01 6.72315503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.08, Y:46.48, Z:6.72 [[ 3.69306878e-01 9.29307087e-01 -8.75910443e-04 1.02080297e+02] [ 9.29304053e-01 -3.69307912e-01 -2.37544536e-03 4.64776005e+01] [-2.53099886e-03 6.32811838e-05 -9.99996795e-01 6.72343027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.09, Y:46.47, Z:6.72 [[ 2.95463912e-01 9.55353667e-01 -6.68541178e-04 1.02089485e+02] [ 9.55350728e-01 -2.95464662e-01 -2.37063837e-03 4.64688256e+01] [-2.46232835e-03 6.17467853e-05 -9.99996967e-01 6.72323477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.10, Y:46.46, Z:6.72 [[ 2.18896218e-01 9.75748004e-01 -5.28580905e-04 1.02102335e+02] [ 9.75744390e-01 -2.18896846e-01 -2.65644806e-03 4.64611134e+01] [-2.70772858e-03 6.57265789e-05 -9.99996332e-01 6.72402377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.12, Y:46.46, Z:6.73 [[ 1.40130712e-01 9.90132939e-01 -3.81938480e-04 1.02115509e+02] [ 9.90127697e-01 -1.40131213e-01 -3.22274869e-03 4.64552307e+01] [-3.24447113e-03 7.34382002e-05 -9.99994734e-01 6.72516430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.13, Y:46.45, Z:6.73 [[ 6.14957234e-02 9.98107338e-01 -1.34370039e-04 1.02125325e+02] [ 9.98101563e-01 -6.14958248e-02 -3.39615191e-03 4.64497041e+01] [-3.39798734e-03 7.47338724e-05 -9.99994224e-01 6.72511102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.14, Y:46.45, Z:6.72 [[-1.76506908e-02 9.99844208e-01 1.17095436e-04 1.02135236e+02] [ 9.99839674e-01 1.76509635e-02 -3.01161879e-03 4.64459244e+01] [-3.01321645e-03 6.39195103e-05 -9.99995458e-01 6.72473247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.15, Y:46.44, Z:6.72 [[-9.63910122e-02 9.95343511e-01 2.59154319e-04 1.02150693e+02] [ 9.95341078e-01 9.63913497e-02 -2.20141496e-03 4.64437501e+01] [-2.21614434e-03 4.57503224e-05 -9.99997543e-01 6.72365518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.16, Y:46.44, Z:6.72 [[-1.73879222e-01 9.84766916e-01 3.69764103e-04 1.02163514e+02] [ 9.84765147e-01 1.73879610e-01 -1.86708830e-03 4.64425349e+01] [-1.90294123e-03 3.94829406e-05 -9.99998189e-01 6.72312245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.110385723 meters Centerline goodness [0,1] 0.9998908106219427 Centerline is valid? [True, True] Translation: X:102.18, Y:46.44, Z:6.73 [[-2.50795153e-01 9.68040088e-01 4.23867125e-04 1.02178081e+02] [ 9.68038912e-01 2.50795509e-01 -1.50892675e-03 4.64419686e+01] [-1.56700556e-03 3.18883553e-05 -9.99998772e-01 6.72556420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.19, Y:46.44, Z:6.72 [[-3.26259066e-01 9.45280336e-01 3.29407289e-04 1.02193174e+02] [ 9.45279910e-01 3.26259232e-01 -8.97204554e-04 4.64442241e+01] [-9.55581991e-04 1.86609727e-05 -9.99999543e-01 6.72340230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.21, Y:46.45, Z:6.72 [[-4.00406615e-01 9.16337564e-01 1.11288061e-04 1.02208106e+02] [ 9.16337531e-01 4.00406630e-01 -2.44056108e-04 4.64480251e+01] [-2.68198256e-04 4.25574686e-06 -9.99999964e-01 6.72331298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.22, Y:46.45, Z:6.72 [[-4.71425961e-01 8.81905642e-01 -5.57636474e-05 1.02222478e+02] [ 8.81905636e-01 4.71425964e-01 9.79177619e-05 4.64529331e+01] [ 1.12642658e-04 -3.01730001e-06 -9.99999994e-01 6.72318466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.24, Y:46.46, Z:6.72 [[-5.39738460e-01 8.41832648e-01 4.32783832e-04 1.02237959e+02] [ 8.41832396e-01 5.39738634e-01 -6.50802333e-04 4.64600527e+01] [-7.81456805e-04 1.30684011e-05 -9.99999695e-01 6.72373642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.25, Y:46.47, Z:6.72 [[-6.04084918e-01 7.96919544e-01 8.07748633e-04 1.02250727e+02] [ 7.96918880e-01 6.04085458e-01 -1.02848240e-03 4.64661853e+01] [-1.30756693e-03 2.24194277e-05 -9.99999145e-01 6.72422825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.26, Y:46.47, Z:6.73 [[-6.64483661e-01 7.47301680e-01 1.28955027e-03 1.02263220e+02] [ 7.47300370e-01 6.64484912e-01 -1.40001180e-03 4.64733203e+01] [-1.90311787e-03 3.33964237e-05 -9.99998189e-01 6.72516474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.28, Y:46.48, Z:6.73 [[-7.20930830e-01 6.93004896e-01 1.71833200e-03 1.02275786e+02] [ 6.93003063e-01 7.20932877e-01 -1.59430639e-03 4.64848048e+01] [-2.34366416e-03 4.14247144e-05 -9.99997253e-01 6.72550411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3503857229999 meters Centerline goodness [0,1] 0.9998915377773921 Centerline is valid? [True, True] Translation: X:102.30, Y:46.51, Z:6.73 [[-7.67795282e-01 6.40692426e-01 1.90259772e-03 1.02295948e+02] [ 6.40690602e-01 7.67797638e-01 -1.52936402e-03 4.65080717e+01] [-2.44066198e-03 4.47380052e-05 -9.99997021e-01 6.72836079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.31, Y:46.53, Z:6.73 [[-8.11146407e-01 5.84839970e-01 1.92763028e-03 1.02311872e+02] [ 5.84838444e-01 8.11148697e-01 -1.33657195e-03 4.65325854e+01] [-2.34527549e-03 4.31967582e-05 -9.99997249e-01 6.72621784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.33, Y:46.56, Z:6.73 [[-8.50193409e-01 5.26466185e-01 2.12664744e-03 1.02329362e+02] [ 5.26464676e-01 8.50196068e-01 -1.26153603e-03 4.65590911e+01] [-2.47222335e-03 4.70551376e-05 -9.99996943e-01 6.72562604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.440385723 meters Centerline goodness [0,1] 0.9999784021943371 Centerline is valid? [True, True] Translation: X:102.68, Y:47.15, Z:5.75 [[-8.34867741e-01 -5.50446785e-01 2.04770776e-03 1.02683453e+02] [ 5.50444991e-01 -8.34870251e-01 -1.40591294e-03 4.71464428e+01] [ 2.48345055e-03 -4.66008789e-05 9.99996915e-01 5.75343657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.67, Y:47.12, Z:5.75 [[-7.96513524e-01 -6.04616767e-01 2.18441936e-03 1.02666329e+02] [ 6.04614292e-01 -7.96516517e-01 -1.73096520e-03 4.71159325e+01] [ 2.78649668e-03 -5.80060266e-05 9.99996116e-01 5.75270452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.24, Y:46.59, Z:6.73 [[-8.13786190e-01 5.81159946e-01 2.27023550e-03 1.02235836e+02] [ 5.81157880e-01 8.13789355e-01 -1.55042205e-03 4.65857041e+01] [-2.74853668e-03 5.76531939e-05 -9.99996221e-01 6.72677857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.25, Y:46.61, Z:6.73 [[-8.52302643e-01 5.23046340e-01 1.65251015e-03 1.02254374e+02] [ 5.23045452e-01 8.52304244e-01 -9.64846289e-04 4.66095931e+01] [-1.91310073e-03 4.19968739e-05 -9.99998169e-01 6.72647650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.27, Y:46.63, Z:6.73 [[-8.87265840e-01 4.61255584e-01 1.61735866e-03 1.02270631e+02] [ 4.61254898e-01 8.87267313e-01 -7.96553687e-04 4.66346793e+01] [-1.80244431e-03 3.92597280e-05 -9.99998375e-01 6.72617474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5903857229999 meters Centerline goodness [0,1] 0.9999783853885227 Centerline is valid? [True, True] Translation: X:102.28, Y:46.66, Z:6.73 [[-9.18084153e-01 3.96382570e-01 1.53148283e-03 1.02281098e+02] [ 3.96382081e-01 9.18085430e-01 -6.23766650e-04 4.66633225e+01] [-1.65328230e-03 3.43820738e-05 -9.99998633e-01 6.72587172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.620385723 meters Centerline goodness [0,1] 0.9999568286312518 Centerline is valid? [True, True] Translation: X:102.28, Y:46.70, Z:6.73 [[-9.44194181e-01 3.29384796e-01 1.73318407e-03 1.02282488e+02] [ 3.29384311e-01 9.44195771e-01 -5.66360772e-04 4.66956876e+01] [-1.82301570e-03 3.61290945e-05 -9.99998338e-01 6.72623282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.650385723 meters Centerline goodness [0,1] 0.9999569281130206 Centerline is valid? [True, True] Translation: X:102.29, Y:46.73, Z:6.73 [[-9.65733266e-01 2.59524572e-01 2.50122291e-03 1.02294949e+02] [ 2.59523824e-01 9.65736504e-01 -6.24665753e-04 4.67267583e+01] [-2.57763838e-03 4.58664367e-05 -9.99996677e-01 6.72890294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.30, Y:46.76, Z:6.73 [[-9.81973362e-01 1.88994774e-01 3.04810357e-03 1.02295606e+02] [ 1.88994025e-01 9.81978092e-01 -5.34728483e-04 4.67584889e+01] [-3.09423181e-03 5.09842343e-05 -9.99995212e-01 6.72816409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.710385723 meters Centerline goodness [0,1] 0.9999356871824555 Centerline is valid? [True, True] Translation: X:102.30, Y:46.79, Z:6.73 [[-9.93106690e-01 1.17118320e-01 4.73292622e-03 1.02295163e+02] [ 1.17117330e-01 9.93117966e-01 -4.86654044e-04 4.67887266e+01] [-4.75735017e-03 7.10082969e-05 -9.99988681e-01 6.72875761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.36, Y:47.44, Z:5.75 [[-9.88016429e-01 -1.54277439e-01 4.69126190e-03 1.02361050e+02] [ 1.54275359e-01 -9.88027564e-01 -8.04301090e-04 4.74428181e+01] [ 4.75918158e-03 -7.09165770e-05 9.99988673e-01 5.75091667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.770385723 meters Centerline goodness [0,1] 0.9999354269355776 Centerline is valid? [True, True] Translation: X:102.23, Y:46.80, Z:6.73 [[-9.93564770e-01 1.13183567e-01 4.30445433e-03 1.02232591e+02] [ 1.13182792e-01 9.93574092e-01 -4.23869812e-04 4.67953191e+01] [-4.32476940e-03 6.60480482e-05 -9.99990646e-01 6.72746038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.30, Y:47.45, Z:5.75 [[-9.88873239e-01 -1.48717388e-01 3.58543760e-03 1.02298223e+02] [ 1.48716045e-01 -9.88879734e-01 -6.39828071e-04 4.74489926e+01] [ 3.64072014e-03 -9.94967590e-05 9.99993368e-01 5.75183783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.830385723 meters Centerline goodness [0,1] 0.9999786784929959 Centerline is valid? [True, True] Translation: X:102.17, Y:46.80, Z:6.73 [[-9.93860585e-01 1.10580568e-01 3.61600060e-03 1.02169867e+02] [ 1.10580062e-01 9.93867161e-01 -3.40105626e-04 4.68003970e+01] [-3.63143332e-03 6.18399954e-05 -9.99993404e-01 6.72723711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.17, Y:46.83, Z:6.73 [[-9.99186031e-01 4.01890943e-02 3.48040986e-03 1.02167246e+02] [ 4.01890634e-02 9.99192090e-01 -7.88356510e-05 4.68301700e+01] [-3.48076633e-03 6.11029314e-05 -9.99993940e-01 6.72777438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.18, Y:47.49, Z:5.75 [[-9.97476992e-01 -7.09402262e-02 2.67123536e-03 1.02183466e+02] [ 7.09397071e-02 -9.97480564e-01 -2.88676550e-04 4.74871186e+01] [ 2.68498414e-03 -9.84515624e-05 9.99996391e-01 5.75229853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.10, Y:46.83, Z:6.73 [[-9.99314175e-01 3.69568053e-02 2.31830212e-03 1.02095189e+02] [ 3.69568082e-02 9.99316863e-01 -4.15763900e-05 4.68295971e+01] [-2.31825493e-03 4.41291709e-05 -9.99997312e-01 6.72632558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.09, Y:46.86, Z:6.73 [[-9.99431394e-01 -3.36551435e-02 2.05435423e-03 1.02086281e+02] [-3.36549894e-02 9.99433504e-01 1.09561390e-04 4.68573708e+01] [-2.05687776e-03 4.03598230e-05 -9.99997884e-01 6.72647429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.05, Y:47.52, Z:5.75 [[-9.99979510e-01 5.87713846e-03 2.53754907e-03 1.02053264e+02] [-5.87716487e-03 -9.99982729e-01 -2.95285088e-06 4.75197863e+01] [ 2.53748789e-03 -1.78663846e-05 9.99996780e-01 5.75236697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.00, Y:46.85, Z:6.73 [[-9.99192901e-01 -4.01092031e-02 2.19060860e-03 1.01997052e+02] [-4.01090163e-02 9.99195301e-01 1.29151029e-04 4.68534126e+01] [-2.19402597e-03 4.11836347e-05 -9.99997592e-01 6.72748523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.96, Y:47.51, Z:5.75 [[-9.99949100e-01 9.91475367e-03 1.86942185e-03 1.01956984e+02] [-9.91484270e-03 -9.99950846e-01 -3.83672850e-05 4.75134764e+01] [ 1.86894956e-03 -5.69003557e-05 9.99998252e-01 5.75221324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.90, Y:46.85, Z:6.73 [[-9.98799762e-01 -4.89631832e-02 1.28138633e-03 1.01903784e+02] [-4.89631175e-02 9.98800584e-01 8.25607032e-05 4.68486976e+01] [-1.28389185e-03 1.97209413e-05 -9.99999176e-01 6.72656651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1003857229999 meters Centerline goodness [0,1] 0.9999785237205506 Centerline is valid? [True, True] Translation: X:101.86, Y:47.51, Z:5.75 [[-9.99939465e-01 1.06638473e-02 2.71079570e-03 1.01861890e+02] [-1.06636554e-02 -9.99943138e-01 8.52096486e-05 4.75076949e+01] [ 2.71155023e-03 5.62974992e-05 9.99996322e-01 5.75120973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.81, Y:46.84, Z:6.73 [[-9.98329418e-01 -5.77001281e-02 3.01127871e-03 1.01810252e+02] [-5.76997530e-02 9.98333959e-01 2.11367160e-04 4.68443693e+01] [-3.01845771e-03 3.72640156e-05 -9.99995444e-01 6.72866519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.80, Y:46.87, Z:6.73 [[-9.91610743e-01 -1.29224600e-01 3.02283108e-03 1.01797345e+02] [-1.29223888e-01 9.91615350e-01 4.30386466e-04 4.68727391e+01] [-3.05310222e-03 3.61538577e-05 -9.99995339e-01 6.72899250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.190385723 meters Centerline goodness [0,1] 0.9999571404080233 Centerline is valid? [True, True] Translation: X:101.78, Y:46.90, Z:6.73 [[-9.79741093e-01 -2.00245761e-01 3.00434207e-03 1.01776272e+02] [-2.00244709e-01 9.79745699e-01 6.50098480e-04 4.68972832e+01] [-3.07367068e-03 3.53245934e-05 -9.99995276e-01 6.73058081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.74, Y:46.92, Z:6.73 [[-9.62651698e-01 -2.70729768e-01 2.66459376e-03 1.01744638e+02] [-2.70728644e-01 9.62655386e-01 7.81024202e-04 4.69182080e+01] [-2.77653203e-03 3.04724215e-05 -9.99996145e-01 6.72954446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.69, Y:46.93, Z:6.73 [[-9.40643991e-01 -3.39384790e-01 2.61679134e-03 1.01688753e+02] [-3.39383378e-01 9.40647630e-01 9.79517207e-04 4.69279543e+01] [-2.79391182e-03 3.32814884e-05 -9.99996097e-01 6.72943203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.62, Y:46.93, Z:6.73 [[-9.13597890e-01 -4.06613453e-01 2.09645571e-03 1.01622790e+02] [-4.06612307e-01 9.13600295e-01 9.65930362e-04 4.69298138e+01] [-2.30808283e-03 3.00272493e-05 -9.99997336e-01 6.72989080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.55, Y:46.92, Z:6.73 [[-8.81139782e-01 -4.72850816e-01 2.18855501e-03 1.01548976e+02] [-4.72849262e-01 8.81142500e-01 1.21266485e-03 4.69232368e+01] [-2.50183839e-03 3.36706219e-05 -9.99996870e-01 6.73002452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.47, Y:46.91, Z:6.73 [[-8.43448153e-01 -5.37206494e-01 2.09697192e-03 1.01466712e+02] [-5.37204733e-01 8.43450759e-01 1.37574437e-03 4.69060846e+01] [-2.50775137e-03 3.38658067e-05 -9.99996855e-01 6.73004435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.38, Y:46.88, Z:6.73 [[-8.00295059e-01 -5.99602001e-01 2.29331540e-03 1.01379847e+02] [-5.99599407e-01 8.00298344e-01 1.76390959e-03 4.68783162e+01] [-2.89298023e-03 3.65775755e-05 -9.99995815e-01 6.73077888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.29, Y:46.84, Z:6.73 [[-7.52370774e-01 -6.58736202e-01 2.19897267e-03 1.01288136e+02] [-6.58733252e-01 7.52373987e-01 1.97149253e-03 4.68395782e+01] [-2.95314333e-03 3.47569485e-05 -9.99995639e-01 6.73103879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.19, Y:46.79, Z:6.73 [[-6.99365570e-01 -7.14760009e-01 2.43516665e-03 1.01194007e+02] [-7.14755497e-01 6.99369808e-01 2.53999684e-03 4.67872661e+01] [-3.51857020e-03 3.58375876e-05 -9.99993809e-01 6.73186747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.460385723 meters Centerline goodness [0,1] 0.9999784217681204 Centerline is valid? [True, True] Translation: X:101.11, Y:46.73, Z:6.73 [[-6.42738125e-01 -7.66082978e-01 2.13834034e-03 1.01106052e+02] [-7.66078570e-01 6.42741682e-01 2.59921139e-03 4.67305433e+01] [-3.36561207e-03 3.24755477e-05 -9.99994336e-01 6.73176082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.490385723 meters Centerline goodness [0,1] 0.9999784091890491 Centerline is valid? [True, True] Translation: X:101.02, Y:46.66, Z:6.73 [[-5.82290932e-01 -8.12978666e-01 1.72059433e-03 1.01019376e+02] [-8.12974976e-01 5.82293473e-01 2.44953219e-03 4.66616460e+01] [-2.99330826e-03 2.75402484e-05 -9.99995520e-01 6.73158346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.520385723 meters Centerline goodness [0,1] 0.9999568630834268 Centerline is valid? [True, True] Translation: X:100.94, Y:46.59, Z:6.73 [[-5.18491060e-01 -8.55081501e-01 1.62710017e-03 1.00939377e+02] [-8.55077114e-01 5.18493612e-01 2.73927491e-03 4.65881943e+01] [-3.18594435e-03 2.89934297e-05 -9.99994925e-01 6.73166315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.86, Y:46.50, Z:6.73 [[-4.51701544e-01 -8.92168083e-01 1.35137331e-03 1.00861541e+02] [-8.92163904e-01 4.51703565e-01 2.73095381e-03 4.65038550e+01] [-3.04688997e-03 2.79295644e-05 -9.99995358e-01 6.73199057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.79, Y:46.41, Z:6.73 [[-3.82210873e-01 -9.24074392e-01 1.16922116e-03 1.00787396e+02] [-9.24069834e-01 3.82212661e-01 2.90248005e-03 4.64073216e+01] [-3.12899861e-03 2.89174305e-05 -9.99995104e-01 6.73218218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.610385723 meters Centerline goodness [0,1] 0.9999132828928827 Centerline is valid? [True, True] Translation: X:100.72, Y:46.31, Z:6.73 [[-3.10430188e-01 -9.50595764e-01 8.89733856e-04 1.00720988e+02] [-9.50591600e-01 3.10431462e-01 2.81396687e-03 4.63052677e+01] [-2.95114637e-03 2.77667351e-05 -9.99995645e-01 6.73261095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.66, Y:46.20, Z:6.73 [[-2.36698162e-01 -9.71583011e-01 6.57564988e-04 1.00663337e+02] [-9.71578934e-01 2.36699074e-01 2.81492655e-03 4.62014239e+01] [-2.89057984e-03 2.74116500e-05 -9.99995822e-01 6.73248858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.61, Y:46.08, Z:6.73 [[-1.62621381e-01 -9.86688423e-01 4.93430509e-04 1.00613528e+02] [-9.86683205e-01 1.62622126e-01 3.20888779e-03 4.60847884e+01] [-3.24641515e-03 3.49741681e-05 -9.99994730e-01 6.73201520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.57, Y:45.97, Z:6.73 [[-8.62596802e-02 -9.96272657e-01 2.45188239e-04 1.00570698e+02] [-9.96267398e-01 8.62600216e-02 3.23729759e-03 4.59672218e+01] [-3.24638101e-03 3.49752059e-05 -9.99994730e-01 6.73201346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.730385723 meters Centerline goodness [0,1] 0.9999352247700479 Centerline is valid? [True, True] Translation: X:100.54, Y:45.85, Z:6.73 [[-1.16111328e-02 -9.99932589e-01 -5.66526999e-06 1.00540106e+02] [-9.99925487e-01 1.16110290e-02 3.76902719e-03 4.58508278e+01] [-3.76870734e-03 4.94275230e-05 -9.99992897e-01 6.73239496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.52, Y:45.74, Z:6.73 [[ 6.31030589e-02 -9.98006978e-01 -2.76244444e-04 1.00515581e+02] [-9.98000674e-01 -6.31036423e-02 3.54765671e-03 4.57378830e+01] [-3.55801818e-03 5.18241509e-05 -9.99993669e-01 6.73257674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.50, Y:45.61, Z:6.73 [[ 1.38840596e-01 -9.90314583e-01 -5.61844867e-04 1.00502567e+02] [-9.90308034e-01 -1.38841722e-01 3.60195456e-03 4.56113806e+01] [-3.64507564e-03 5.63019666e-05 -9.99993355e-01 6.73243120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.50, Y:45.48, Z:6.73 [[ 2.13869149e-01 -9.76862100e-01 -6.51281335e-04 1.00498223e+02] [-9.76858201e-01 -2.13870135e-01 2.76057909e-03 4.54844888e+01] [-2.83599471e-03 4.58068149e-05 -9.99995978e-01 6.73195255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.51, Y:45.36, Z:6.73 [[ 2.88429400e-01 -9.57500700e-01 -9.43594982e-04 1.00505251e+02] [-9.57496131e-01 -2.88430939e-01 2.95864513e-03 4.53612664e+01] [-3.10506677e-03 5.01283052e-05 -9.99995178e-01 6.73255251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.52, Y:45.23, Z:6.73 [[ 3.61349926e-01 -9.32429185e-01 -1.43039337e-03 1.00517694e+02] [-9.32422529e-01 -3.61352752e-01 3.52361971e-03 4.52343712e+01] [-3.80240244e-03 6.04712871e-05 -9.99992769e-01 6.73243222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.54, Y:45.12, Z:6.73 [[ 4.31818798e-01 -9.01958010e-01 -2.06731141e-03 1.00539742e+02] [-9.01948484e-01 -4.31823740e-01 4.14601208e-03 4.51169416e+01] [-4.63224295e-03 7.42824420e-05 -9.99989268e-01 6.73298576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.57, Y:45.00, Z:6.73 [[ 4.99653328e-01 -8.66221422e-01 -2.64573370e-03 1.00572431e+02] [-8.66210146e-01 -4.99660326e-01 4.42058346e-03 4.49997883e+01] [-5.15117226e-03 8.30021339e-05 -9.99986729e-01 6.73340115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.61, Y:44.89, Z:6.73 [[ 5.64343010e-01 -8.25534942e-01 -3.00461549e-03 1.00611388e+02] [-8.25524031e-01 -5.64351002e-01 4.24509424e-03 4.48869969e+01] [-5.20013139e-03 8.46930354e-05 -9.99986476e-01 6.73265936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.000385723 meters Centerline goodness [0,1] 0.9999126961608137 Centerline is valid? [True, True] Translation: X:100.66, Y:44.78, Z:6.73 [[ 6.25836854e-01 -7.79946923e-01 -3.32099728e-03 1.00661110e+02] [-7.79936652e-01 -6.25845660e-01 4.00364541e-03 4.47778603e+01] [-5.20106265e-03 8.45386484e-05 -9.99986471e-01 6.73170443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.030385723 meters Centerline goodness [0,1] 0.9996722529333363 Centerline is valid? [True, True] Translation: X:100.71, Y:44.68, Z:6.73 [[ 6.83637336e-01 -7.29813840e-01 -3.42796628e-03 1.00710703e+02] [-7.29805243e-01 -6.83645926e-01 3.54337370e-03 4.46787800e+01] [-4.92951835e-03 7.93652063e-05 -9.99987847e-01 6.73144230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.060385723 meters Centerline goodness [0,1] 0.9998248724852783 Centerline is valid? [True, True] Translation: X:100.77, Y:44.58, Z:6.73 [[ 7.37438090e-01 -6.75410426e-01 -2.41239151e-03 1.00767573e+02] [-6.75407033e-01 -7.37442035e-01 2.14124155e-03 4.45838172e+01] [-3.22521577e-03 5.03131127e-05 -9.99994798e-01 6.73109640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0903857229999 meters Centerline goodness [0,1] 0.999890590809628 Centerline is valid? [True, True] Translation: X:100.76, Y:44.58, Z:6.73 [[ 7.88032266e-01 -6.15629915e-01 -2.22627169e-03 1.00762100e+02] [-6.15627612e-01 -7.88035409e-01 1.68442129e-03 4.45750497e+01] [-2.79136105e-03 4.31759985e-05 -9.99996103e-01 6.73088498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.120385723 meters Centerline goodness [0,1] 0.9998689784687951 Centerline is valid? [True, True] Translation: X:100.76, Y:44.56, Z:6.73 [[ 8.33490549e-01 -5.52527216e-01 -2.67964272e-03 1.00756654e+02] [-5.52524555e-01 -8.33494855e-01 1.71552719e-03 4.45647186e+01] [-3.18134389e-03 5.06927003e-05 -9.99994938e-01 6.73059693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.75, Y:44.56, Z:6.73 [[ 8.73730934e-01 -4.86402025e-01 -2.70657358e-03 1.00752186e+02] [-4.86399872e-01 -8.73735125e-01 1.44788488e-03 4.45552938e+01] [-3.06908254e-03 5.14152374e-05 -9.99995289e-01 6.73046544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.75, Y:44.54, Z:6.73 [[ 9.08584345e-01 -4.17689018e-01 -3.22067808e-03 1.00748565e+02] [-4.17686639e-01 -9.08590051e-01 1.41116760e-03 4.45447823e+01] [-3.51570526e-03 6.30694145e-05 -9.99993818e-01 6.73012265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.75, Y:44.54, Z:6.73 [[ 9.38380372e-01 -3.45588666e-01 -3.27885729e-03 1.00745475e+02] [-3.45586790e-01 -9.38386099e-01 1.14043826e-03 4.45350149e+01] [-3.47095664e-03 6.29648833e-05 -9.99993974e-01 6.72995184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.74, Y:44.52, Z:6.73 [[ 9.62546555e-01 -2.71093894e-01 -3.49710297e-03 1.00742900e+02] [-2.71092351e-01 -9.62552906e-01 9.17059249e-04 4.45206204e+01] [-3.61475578e-03 6.53256432e-05 -9.99993465e-01 6.72922076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.74, Y:44.51, Z:6.73 [[ 9.80847017e-01 -1.94745300e-01 -3.66037576e-03 1.00737677e+02] [-1.94744197e-01 -9.80853844e-01 6.58839626e-04 4.45083566e+01] [-3.71859956e-03 6.66160571e-05 -9.99993084e-01 6.72903303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.73, Y:44.50, Z:6.73 [[ 9.93135827e-01 -1.16918286e-01 -3.36803224e-03 1.00732484e+02] [-1.16917815e-01 -9.93141536e-01 3.37003534e-04 4.44988224e+01] [-3.38433459e-03 5.90926874e-05 -9.99994271e-01 6.72897263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.73, Y:44.49, Z:6.73 [[ 9.99263570e-01 -3.82562776e-02 -2.96219853e-03 1.00728689e+02] [-3.82562578e-02 -9.99267960e-01 6.33886652e-05 4.44878815e+01] [-2.96245509e-03 4.99806466e-05 -9.99995611e-01 6.72870192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.360385723 meters Centerline goodness [0,1] 0.9999560352597217 Centerline is valid? [True, True] Translation: X:100.73, Y:44.47, Z:6.73 [[ 9.99160436e-01 4.08315964e-02 -3.34711563e-03 1.00726602e+02] [ 4.08311854e-02 -9.99166041e-01 -1.91080383e-04 4.44741139e+01] [-3.35212639e-03 5.42532602e-05 -9.99994380e-01 6.72934292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.390385723 meters Centerline goodness [0,1] 0.999956010117673 Centerline is valid? [True, True] Translation: X:100.72, Y:44.46, Z:6.73 [[ 9.92869380e-01 1.19140029e-01 -4.00595708e-03 1.00723890e+02] [ 1.19138796e-01 -9.92877459e-01 -5.45853972e-04 4.44631915e+01] [-4.04245755e-03 6.46967899e-05 -9.99991827e-01 6.72974755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.420385723 meters Centerline goodness [0,1] 0.9999338215829877 Centerline is valid? [True, True] Translation: X:100.72, Y:44.45, Z:6.73 [[ 9.80716947e-01 1.95379369e-01 -4.60130584e-03 1.00722745e+02] [ 1.95376831e-01 -9.80727738e-01 -9.99123970e-04 4.44516633e+01] [-4.70783647e-03 8.08692546e-05 -9.99988915e-01 6.73153545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.72, Y:44.44, Z:6.73 [[ 9.62698350e-01 2.70537351e-01 -4.62920504e-03 1.00721990e+02] [ 2.70533780e-01 -9.62709476e-01 -1.39275718e-03 4.44413261e+01] [-4.83337239e-03 8.84487043e-05 -9.99988315e-01 6.72863535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.72, Y:44.43, Z:6.73 [[ 9.39023034e-01 3.43821442e-01 -4.74949323e-03 1.00721610e+02] [ 3.43816503e-01 -9.39035040e-01 -1.84569389e-03 4.44303024e+01] [-5.09452970e-03 1.00194924e-04 -9.99987018e-01 6.72857793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.72, Y:44.42, Z:6.73 [[ 9.10207337e-01 4.14127167e-01 -4.61446278e-03 1.00721051e+02] [ 4.14121214e-01 -9.10219027e-01 -2.22325235e-03 4.44210502e+01] [-5.12088102e-03 1.12673675e-04 -9.99986882e-01 6.72861105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.72, Y:44.41, Z:6.73 [[ 8.75636777e-01 4.82952507e-01 -4.13652635e-03 1.00722584e+02] [ 4.82946512e-01 -8.75646540e-01 -2.40888008e-03 4.44114641e+01] [-4.78550966e-03 1.11583013e-04 -9.99988543e-01 6.72839267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.72, Y:44.40, Z:6.73 [[ 8.36581230e-01 5.47825256e-01 -4.39702189e-03 1.00721511e+02] [ 5.47816809e-01 -8.36592774e-01 -3.04550062e-03 4.44035555e+01] [-5.34691890e-03 1.39046151e-04 -9.99985696e-01 6.72848536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.72, Y:44.39, Z:6.73 [[ 7.92072192e-01 6.10411585e-01 -4.39756696e-03 1.00723572e+02] [ 6.10401069e-01 -7.92084384e-01 -3.58659180e-03 4.43938099e+01] [-5.67254130e-03 1.56560055e-04 -9.99983899e-01 6.72833083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.72, Y:44.38, Z:6.73 [[ 7.43327056e-01 6.68915786e-01 -4.06932304e-03 1.00723692e+02] [ 6.68904510e-01 -7.43338176e-01 -3.88748014e-03 4.43849476e+01] [-5.62528000e-03 1.67680635e-04 -9.99984164e-01 6.72771150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.73, Y:44.38, Z:6.73 [[ 6.89157613e-01 7.24602244e-01 -3.65685358e-03 1.00726312e+02] [ 7.24590736e-01 -6.89167295e-01 -4.08713168e-03 4.43752731e+01] [-5.48172868e-03 1.66955683e-04 -9.99984961e-01 6.72783600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.73, Y:44.36, Z:6.73 [[ 6.30628135e-01 7.76075710e-01 -3.82714027e-03 1.00732030e+02] [ 7.76059507e-01 -6.30639718e-01 -5.01874079e-03 4.43634842e+01] [-6.30846948e-03 1.94870557e-04 -9.99980082e-01 6.72784917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.74, Y:44.35, Z:6.73 [[ 5.67616114e-01 8.23285530e-01 -3.58930733e-03 1.00738121e+02] [ 8.23266769e-01 -5.67627426e-01 -5.56175105e-03 4.43529613e+01] [-6.61629845e-03 2.01982070e-04 -9.99978092e-01 6.72837920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.74, Y:44.34, Z:6.73 [[ 5.00246222e-01 8.65875769e-01 -3.58751278e-03 1.00742642e+02] [ 8.65850257e-01 -5.00259037e-01 -6.65045494e-03 4.43428703e+01] [-7.55315348e-03 2.20616096e-04 -9.99971450e-01 6.72956541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.75, Y:44.33, Z:6.73 [[ 4.30084178e-01 9.02782843e-01 -3.27689834e-03 1.00746690e+02] [ 9.02752446e-01 -4.30096601e-01 -7.41179949e-03 4.43346157e+01] [-8.10062826e-03 2.29469698e-04 -9.99967163e-01 6.72934435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.75, Y:44.33, Z:6.73 [[ 3.57365436e-01 9.33960725e-01 -2.70372046e-03 1.00750633e+02] [ 9.33929045e-01 -3.57375593e-01 -7.69570529e-03 4.43266243e+01] [-8.15373019e-03 2.25096010e-04 -9.99966733e-01 6.72932829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8403857229999 meters Centerline goodness [0,1] 0.9999778255759807 Centerline is valid? [True, True] Translation: X:100.76, Y:44.32, Z:6.73 [[ 2.81993805e-01 9.59414544e-01 -1.79636979e-03 1.00761014e+02] [ 9.59390695e-01 -2.81999466e-01 -6.76731118e-03 4.43178166e+01] [-6.99923209e-03 1.84919364e-04 -9.99975488e-01 6.72893135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.77, Y:44.31, Z:6.73 [[ 2.05274282e-01 9.78703791e-01 -1.16541366e-03 1.00768479e+02] [ 9.78683102e-01 -2.05277523e-01 -6.36589923e-03 4.43105029e+01] [-6.46956294e-03 1.66184743e-04 -9.99979058e-01 6.72714938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.78, Y:44.30, Z:6.73 [[ 1.28084752e-01 9.91763018e-01 -6.42694103e-04 1.00782762e+02] [ 9.91743399e-01 -1.28086262e-01 -6.24019000e-03 4.43035617e+01] [-6.27110995e-03 1.61885555e-04 -9.99980323e-01 6.72614800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.79, Y:44.30, Z:6.73 [[ 5.02848294e-02 9.98734907e-01 -1.46272845e-04 1.00792666e+02] [ 9.98716658e-01 -5.02847951e-02 -6.03961360e-03 4.42966792e+01] [-6.03932823e-03 1.57615813e-04 -9.99981751e-01 6.72624520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.80, Y:44.29, Z:6.73 [[-2.77568056e-02 9.99614655e-01 3.19007893e-04 1.00797442e+02] [ 9.99597377e-01 2.77582021e-02 -5.87924505e-03 4.42896057e+01] [-5.88583460e-03 1.55690391e-04 -9.99982666e-01 6.72692588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.81, Y:44.28, Z:6.73 [[-1.05032046e-01 9.94468519e-01 7.96687694e-04 1.00805647e+02] [ 9.94450596e-01 1.05034938e-01 -5.97284111e-03 4.42846313e+01] [-6.02348249e-03 1.64926830e-04 -9.99981845e-01 6.72659532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.81, Y:44.28, Z:6.73 [[-1.82346663e-01 9.83233509e-01 1.24966292e-03 1.00814265e+02] [ 9.83216216e-01 1.82350870e-01 -5.83368544e-03 4.42799612e+01] [-5.96375212e-03 1.64935781e-04 -9.99982203e-01 6.72661528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.83, Y:44.28, Z:6.73 [[-2.58618857e-01 9.65977756e-01 1.80591410e-03 1.00829363e+02] [ 9.65958741e-01 2.58625102e-01 -6.06358362e-03 4.42787405e+01] [-6.32434162e-03 1.76281448e-04 -9.99979986e-01 6.72629918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.080385723 meters Centerline goodness [0,1] 0.9999778717001173 Centerline is valid? [True, True] Translation: X:100.85, Y:44.28, Z:6.73 [[-3.34829120e-01 9.42275911e-01 2.35971039e-03 1.00846551e+02] [ 9.42256036e-01 3.34837390e-01 -6.12246216e-03 4.42790917e+01] [-6.55916788e-03 1.73472742e-04 -9.99978473e-01 6.72713639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.86, Y:44.28, Z:6.73 [[-4.08888944e-01 9.12580558e-01 2.56040392e-03 1.00861421e+02] [ 9.12564884e-01 4.08896934e-01 -5.35074921e-03 4.42799839e+01] [-5.92993102e-03 1.48672513e-04 -9.99982407e-01 6.72613056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.87, Y:44.28, Z:6.73 [[-4.80467506e-01 8.77007893e-01 2.85148295e-03 1.00872949e+02] [ 8.76994067e-01 4.80475949e-01 -4.92628534e-03 4.42797164e+01] [-5.69046010e-03 1.33813600e-04 -9.99983800e-01 6.72624210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.89, Y:44.28, Z:6.72 [[-5.50443816e-01 8.34869168e-01 2.25334847e-03 1.00889062e+02] [ 8.34862760e-01 5.50448422e-01 -3.27199943e-03 4.42848688e+01] [-3.97204355e-03 8.01848701e-05 -9.99992108e-01 6.72404668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.90, Y:44.29, Z:6.72 [[-6.15568578e-01 7.88079922e-01 2.31563462e-03 1.00901358e+02] [ 7.88074754e-01 6.15572930e-01 -2.85478048e-03 4.42876759e+01] [-3.67523717e-03 6.75800258e-05 -9.99993244e-01 6.72315564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.92, Y:44.30, Z:6.72 [[-6.77946268e-01 7.35107418e-01 2.43765359e-03 1.00916050e+02] [ 7.35102944e-01 6.77950648e-01 -2.56524806e-03 4.42955935e+01] [-3.53834171e-03 5.28259830e-05 -9.99993739e-01 6.72287507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.93, Y:44.30, Z:6.72 [[-7.34757342e-01 6.78325184e-01 2.56758353e-03 1.00927875e+02] [ 6.78321254e-01 7.34761827e-01 -2.30944936e-03 4.43031600e+01] [-3.45312003e-03 4.47616038e-05 -9.99994037e-01 6.72390011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.95, Y:44.32, Z:6.73 [[-7.82747814e-01 6.22327789e-01 3.73943684e-03 1.00954482e+02] [ 6.22320979e-01 7.82756744e-01 -2.91174449e-03 4.43228227e+01] [-4.73912892e-03 4.79683626e-05 -9.99988769e-01 6.72518737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.97, Y:44.35, Z:6.73 [[-8.25976987e-01 5.63685449e-01 4.55329381e-03 1.00972922e+02] [ 5.63677178e-01 8.25989536e-01 -3.05380488e-03 4.43482913e+01] [-5.48235841e-03 4.42152491e-05 -9.99984971e-01 6.72593337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.99, Y:44.37, Z:6.73 [[-8.64099871e-01 5.03297248e-01 4.82625365e-03 1.00989650e+02] [ 5.03289666e-01 8.64113348e-01 -2.76296792e-03 4.43725274e+01] [-5.56102435e-03 4.15233660e-05 -9.99984537e-01 6.72642893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.01, Y:44.40, Z:6.73 [[-8.97705014e-01 4.40567886e-01 5.06421442e-03 1.01005608e+02] [ 4.40561128e-01 8.97719297e-01 -2.44051749e-03 4.43974101e+01] [-5.62145664e-03 4.02312278e-05 -9.99984199e-01 6.72634077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.01, Y:44.43, Z:6.73 [[-9.27004583e-01 3.75004084e-01 5.86857202e-03 1.01008331e+02] [ 3.74996837e-01 9.27023158e-01 -2.33169892e-03 4.44258753e+01] [-6.31469878e-03 3.92003588e-05 -9.99980061e-01 6.72729018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.03, Y:44.45, Z:6.73 [[-9.51086002e-01 3.08870612e-01 5.86190066e-03 1.01025837e+02] [ 3.08865015e-01 9.51104065e-01 -1.85992100e-03 4.44504315e+01] [-6.14975249e-03 4.15912086e-05 -9.99981089e-01 6.72579561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4703857229999 meters Centerline goodness [0,1] 0.9999344204957811 Centerline is valid? [True, True] Translation: X:101.03, Y:44.48, Z:6.73 [[-9.70489591e-01 2.41073268e-01 5.79948461e-03 1.01033375e+02] [ 2.41069228e-01 9.70506918e-01 -1.39627612e-03 4.44781869e+01] [-5.96504478e-03 4.30058416e-05 -9.99982208e-01 6.72567487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.21, Y:45.20, Z:5.75 [[-9.56606526e-01 -2.91324009e-01 5.85465659e-03 1.01210438e+02] [ 2.91318336e-01 -9.56624441e-01 -1.81830805e-03 4.51958474e+01] [ 6.13042437e-03 -3.38365292e-05 9.99981208e-01 5.75298172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.99, Y:44.49, Z:6.73 [[-9.71236812e-01 2.38032847e-01 6.27852027e-03 1.00985258e+02] [ 2.38028219e-01 9.71257104e-01 -1.48522741e-03 4.44888174e+01] [-6.45159032e-03 5.19574650e-05 -9.99979187e-01 6.72680781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.99, Y:44.52, Z:6.73 [[-9.85624714e-01 1.68776657e-01 7.63954451e-03 1.00990522e+02] [ 1.68772095e-01 9.85654319e-01 -1.24254660e-03 4.45159192e+01] [-7.73966290e-03 6.46572988e-05 -9.99970046e-01 6.72792274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.00, Y:44.54, Z:6.73 [[-9.95083587e-01 9.87382355e-02 7.70820073e-03 1.00998464e+02] [ 9.87357763e-02 9.95113439e-01 -6.99853359e-04 4.45443023e+01] [-7.73963643e-03 6.46625932e-05 -9.99970047e-01 6.72792249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.00, Y:44.57, Z:6.73 [[-9.99574092e-01 2.81207380e-02 7.80115878e-03 1.00995469e+02] [ 2.81204092e-02 9.99604532e-01 -1.51843852e-04 4.45727921e+01] [-7.80234363e-03 6.75925974e-05 -9.99969559e-01 6.72756431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.99, Y:44.60, Z:6.73 [[-9.99104254e-01 -4.17027949e-02 7.18094133e-03 1.00992741e+02] [-4.17011996e-02 9.99130058e-01 3.71807445e-04 4.46007262e+01] [-7.19019973e-03 7.20205322e-05 -9.99974148e-01 6.72766223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.98, Y:44.63, Z:6.73 [[-9.93687544e-01 -1.11963191e-01 7.02204377e-03 1.00984184e+02] [-1.11959846e-01 9.93712352e-01 8.68901244e-04 4.46293302e+01] [-7.07517659e-03 7.72294037e-05 -9.99974968e-01 6.72761527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.97, Y:44.65, Z:6.73 [[-9.83393902e-01 -1.81340710e-01 7.20978527e-03 1.00965677e+02] [-1.81335145e-01 9.83420326e-01 1.42374317e-03 4.46540726e+01] [-7.34843198e-03 9.27128929e-05 -9.99972996e-01 6.72743586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.93, Y:44.67, Z:6.73 [[-9.67959999e-01 -2.51001163e-01 7.20109976e-03 1.00931181e+02] [-2.50993438e-01 9.67986780e-01 1.97184251e-03 4.46740415e+01] [-7.46550413e-03 1.01235888e-04 -9.99972128e-01 6.72751358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.770385723 meters Centerline goodness [0,1] 0.9999558859209917 Centerline is valid? [True, True] Translation: X:100.87, Y:44.69, Z:6.73 [[-9.47429275e-01 -3.19880024e-01 7.38506339e-03 1.00871729e+02] [-3.19869333e-01 9.47458050e-01 2.61792654e-03 4.46859795e+01] [-7.83446016e-03 1.18044940e-04 -9.99969303e-01 6.72854519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.81, Y:44.69, Z:6.73 [[-9.21327952e-01 -3.88722002e-01 7.07183712e-03 1.00807994e+02] [-3.88709580e-01 9.21355085e-01 3.10984618e-03 4.46914536e+01] [-7.72453872e-03 1.16297375e-04 -9.99970159e-01 6.72755126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.73, Y:44.69, Z:6.73 [[-8.89653957e-01 -4.56565644e-01 7.97812007e-03 1.00729246e+02] [-4.56545951e-01 8.89689719e-01 4.24256665e-03 4.46860288e+01] [-9.03506158e-03 1.32037793e-04 -9.99959174e-01 6.72827478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.64, Y:44.67, Z:6.73 [[-8.52694009e-01 -5.22357071e-01 7.48451835e-03 1.00644569e+02] [-5.22335667e-01 8.52726847e-01 4.73039182e-03 4.46706262e+01] [-8.85320335e-03 1.24145886e-04 -9.99960802e-01 6.72852008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.55, Y:44.65, Z:6.73 [[-8.10494511e-01 -5.85704012e-01 7.03261422e-03 1.00554911e+02] [-5.85680731e-01 8.10525013e-01 5.22344620e-03 4.46456906e+01] [-8.75950313e-03 1.14707840e-04 -9.99961628e-01 6.72784047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.920385723 meters Centerline goodness [0,1] 0.9999780470670881 Centerline is valid? [True, True] Translation: X:100.46, Y:44.61, Z:6.73 [[-7.64023942e-01 -6.45154056e-01 6.60766290e-03 1.00462637e+02] [-6.45128619e-01 7.64052506e-01 5.73006190e-03 4.46094832e+01] [-8.74537407e-03 1.15112044e-04 -9.99961752e-01 6.72811456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.950385723 meters Centerline goodness [0,1] 0.999977941987427 Centerline is valid? [True, True] Translation: X:100.37, Y:44.56, Z:6.73 [[-7.12890332e-01 -7.01260160e-01 4.64364847e-03 1.00370608e+02] [-7.01244493e-01 7.12905450e-01 4.68833104e-03 4.45622006e+01] [-6.59822207e-03 8.59329590e-05 -9.99978228e-01 6.72625240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.27, Y:44.50, Z:6.72 [[-6.57437488e-01 -7.53500694e-01 3.55727194e-03 1.00274878e+02] [-7.53489077e-01 6.57447108e-01 4.18462124e-03 4.45018698e+01] [-5.49183316e-03 7.07613240e-05 -9.99984917e-01 6.72484104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.010385723 meters Centerline goodness [0,1] 0.9999559849468518 Centerline is valid? [True, True] Translation: X:100.19, Y:44.44, Z:6.72 [[-5.97136013e-01 -8.02135971e-01 2.54288544e-03 1.00185165e+02] [-8.02128334e-01 5.97141426e-01 3.50059359e-03 4.44365875e+01] [-4.32641427e-03 5.06100428e-05 -9.99990640e-01 6.72428930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.10, Y:44.36, Z:6.72 [[-5.33490256e-01 -8.45804088e-01 1.89515278e-03 1.00097906e+02] [-8.45798486e-01 5.33493621e-01 3.07853752e-03 4.43603666e+01] [-3.61489154e-03 3.94524196e-05 -9.99993466e-01 6.72399231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:44.28, Z:6.72 [[-4.65420700e-01 -8.85088418e-01 1.43669210e-03 1.00016414e+02] [-8.85084017e-01 4.65422916e-01 2.79128758e-03 4.42779930e+01] [-3.13920574e-03 2.75298031e-05 -9.99995072e-01 6.72373563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1003857229999 meters Centerline goodness [0,1] 0.9999780970737691 Centerline is valid? [True, True] Translation: X:99.94, Y:44.19, Z:6.72 [[-3.95625951e-01 -9.18410770e-01 1.32802181e-03 9.99404034e+01] [-9.18405355e-01 3.95628179e-01 3.15392983e-03 4.41854728e+01] [-3.42200597e-03 2.81141451e-05 -9.99994145e-01 6.72386891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.130385723 meters Centerline goodness [0,1] 0.9999781191195134 Centerline is valid? [True, True] Translation: X:99.87, Y:44.08, Z:6.72 [[-3.23993108e-01 -9.46058766e-01 1.13040698e-03 9.98708029e+01] [-9.46052684e-01 3.23995079e-01 3.39240070e-03 4.40833248e+01] [-3.57565672e-03 2.96898884e-05 -9.99993607e-01 6.72428939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.81, Y:43.98, Z:6.72 [[-2.50864062e-01 -9.68021821e-01 9.87775218e-04 9.98089381e+01] [-9.68013733e-01 2.50866004e-01 3.95727725e-03 4.39766968e+01] [-4.07852996e-03 3.65586715e-05 -9.99991682e-01 6.72447890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.190385723 meters Centerline goodness [0,1] 0.9998245344680105 Centerline is valid? [True, True] Translation: X:99.76, Y:43.86, Z:6.72 [[-1.76337466e-01 -9.84329555e-01 6.52509984e-04 9.97554492e+01] [-9.84321998e-01 1.76338669e-01 3.85732975e-03 4.38632204e+01] [-3.91194642e-03 3.79118227e-05 -9.99992348e-01 6.72443953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2203857229999 meters Centerline goodness [0,1] 0.9999121535555848 Centerline is valid? [True, True] Translation: X:99.71, Y:43.74, Z:6.72 [[-1.02604831e-01 -9.94722094e-01 4.52794427e-04 9.97114532e+01] [-9.94709558e-01 1.02605811e-01 4.99421850e-03 4.37443693e+01] [-5.01431882e-03 6.20320004e-05 -9.99987426e-01 6.72461318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.250385723 meters Centerline goodness [0,1] 0.9999560777423959 Centerline is valid? [True, True] Translation: X:99.68, Y:43.63, Z:6.73 [[-2.97716372e-02 -9.99556723e-01 7.94683497e-05 9.96786794e+01] [-9.99538786e-01 2.97715790e-02 5.98909715e-03 4.36254364e+01] [-5.98880822e-03 9.88735295e-05 -9.99982062e-01 6.72520932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.280385723 meters Centerline goodness [0,1] 0.99997799779978 Centerline is valid? [True, True] Translation: X:99.65, Y:43.50, Z:6.73 [[ 4.54075253e-02 -9.98968474e-01 -3.79907356e-04 9.96519498e+01] [-9.98950829e-01 -4.54089817e-02 5.93851581e-03 4.35030600e+01] [-5.94964128e-03 1.09855461e-04 -9.99982295e-01 6.72506102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.64, Y:43.38, Z:6.73 [[ 1.20521614e-01 -9.92710356e-01 -8.30575709e-04 9.96367300e+01] [-9.92693130e-01 -1.20524417e-01 5.84925782e-03 4.33793342e+01] [-5.90672346e-03 1.19544805e-04 -9.99982548e-01 6.72583678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.63, Y:43.25, Z:6.73 [[ 1.94530680e-01 -9.80895681e-01 -1.21600967e-03 9.96299035e+01] [-9.80880358e-01 -1.94534440e-01 5.48414959e-03 4.32513809e+01] [-5.61593441e-03 1.25924653e-04 -9.99984223e-01 6.72545849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.63, Y:43.12, Z:6.73 [[ 2.68969700e-01 -9.63147042e-01 -1.75383951e-03 9.96337787e+01] [-9.63129792e-01 -2.68975383e-01 5.76603981e-03 4.31202280e+01] [-6.02528384e-03 1.38285085e-04 -9.99981838e-01 6.72514922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.64, Y:43.00, Z:6.73 [[ 3.41394252e-01 -9.39917846e-01 -2.09921128e-03 9.96418998e+01] [-9.39902485e-01 -3.41400678e-01 5.37546948e-03 4.30014161e+01] [-5.76917185e-03 1.37899515e-04 -9.99983349e-01 6.72532043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.430385723 meters Centerline goodness [0,1] 0.999890278692122 Centerline is valid? [True, True] Translation: X:99.67, Y:42.87, Z:6.73 [[ 4.12131306e-01 -9.11122265e-01 -2.00108302e-03 9.96654590e+01] [-9.11112815e-01 -4.12136149e-01 4.15124637e-03 4.28736381e+01] [-4.60701164e-03 1.12353799e-04 -9.99989381e-01 6.72682533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.460385723 meters Centerline goodness [0,1] 0.9999341252936914 Centerline is valid? [True, True] Translation: X:99.70, Y:42.75, Z:6.72 [[ 4.81934831e-01 -8.76205412e-01 -1.70115557e-03 9.96955636e+01] [-8.76200515e-01 -4.81937827e-01 2.93061232e-03 4.27514066e+01] [-3.38766959e-03 7.81892329e-05 -9.99994259e-01 6.72266566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.73, Y:42.64, Z:6.72 [[ 5.48716679e-01 -8.36007365e-01 -1.30048878e-03 9.97269290e+01] [-8.36005229e-01 -5.48718218e-01 1.89046064e-03 4.26409735e+01] [-2.29404091e-03 4.98881399e-05 -9.99997368e-01 6.72194844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.77, Y:42.53, Z:6.72 [[ 6.11681194e-01 -7.91103410e-01 -1.22958491e-03 9.97695395e+01] [-7.91101944e-01 -6.11682429e-01 1.52342656e-03 4.25327436e+01] [-1.95730343e-03 4.08756347e-05 -9.99998084e-01 6.72198186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.82, Y:42.43, Z:6.72 [[ 6.71116997e-01 -7.41350993e-01 -8.25727550e-04 9.98170994e+01] [-7.41350474e-01 -6.71117505e-01 8.77140035e-04 4.24270456e+01] [-1.20442885e-03 2.34899239e-05 -9.99999274e-01 6.72197830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.580385723 meters Centerline goodness [0,1] 0.9999562736395636 Centerline is valid? [True, True] Translation: X:99.87, Y:42.33, Z:6.72 [[ 7.25499851e-01 -6.88221607e-01 -9.93381614e-04 9.98731539e+01] [-6.88221011e-01 -7.25500530e-01 9.05919392e-04 4.23302208e+01] [-1.34417219e-03 2.64217143e-05 -9.99999096e-01 6.72422440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.610385723 meters Centerline goodness [0,1] 0.999978172134547 Centerline is valid? [True, True] Translation: X:99.87, Y:42.32, Z:6.72 [[ 7.77652173e-01 -6.28693441e-01 -1.28677380e-03 9.98666395e+01] [-6.28692645e-01 -7.77653237e-01 1.00083611e-03 4.23198959e+01] [-1.62988290e-03 3.06828481e-05 -9.99998671e-01 6.72298101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.86, Y:42.31, Z:6.72 [[ 8.24597538e-01 -5.65718453e-01 -1.23761393e-03 9.98615307e+01] [-5.65717865e-01 -8.24598467e-01 8.15926296e-04 4.23102159e+01] [-1.48211911e-03 2.73294975e-05 -9.99998901e-01 6.72266549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.86, Y:42.30, Z:6.72 [[ 8.65855628e-01 -5.00293366e-01 -7.61383155e-04 9.98567464e+01] [-5.00293190e-01 -8.65855962e-01 4.20836969e-04 4.22968879e+01] [-8.69790088e-04 1.65307495e-05 -9.99999622e-01 6.72196594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.85, Y:42.28, Z:6.72 [[ 9.02117412e-01 -4.31490342e-01 -5.09885879e-04 9.98528130e+01] [-4.31490280e-01 -9.02117556e-01 2.32083357e-04 4.22838780e+01] [-5.60118730e-04 1.06443631e-05 -9.99999843e-01 6.72175084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.85, Y:42.27, Z:6.72 [[ 9.32815655e-01 -3.60353874e-01 1.97056272e-04 9.98494546e+01] [-3.60353867e-01 -9.32815676e-01 -7.06057794e-05 4.22690069e+01] [ 2.09260245e-04 -5.14781314e-06 -9.99999978e-01 6.72170061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.760385723 meters Centerline goodness [0,1] 0.9999349903569029 Centerline is valid? [True, True] Translation: X:99.85, Y:42.25, Z:6.72 [[ 9.57796411e-01 -2.87446535e-01 7.24705576e-04 9.98465667e+01] [-2.87446466e-01 -9.57796685e-01 -1.99280466e-04 4.22548065e+01] [ 7.51403077e-04 -1.74439415e-05 -9.99999718e-01 6.72247837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.85, Y:42.24, Z:6.72 [[ 9.77189075e-01 -2.12370349e-01 5.89076525e-04 9.98454152e+01] [-2.12370320e-01 -9.77189252e-01 -1.13194634e-04 4.22369187e+01] [ 5.99678433e-04 -1.44898106e-05 -9.99999820e-01 6.72322000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.84, Y:42.22, Z:6.72 [[ 9.90743634e-01 -1.35745287e-01 5.19103956e-04 9.98423666e+01] [-1.35745275e-01 -9.90743770e-01 -5.79981332e-05 4.22231104e+01] [ 5.22171984e-04 -1.30046283e-05 -9.99999864e-01 6.72311120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8503857229999 meters Centerline goodness [0,1] 0.9999783526355667 Centerline is valid? [True, True] Translation: X:99.84, Y:42.21, Z:6.72 [[ 9.98272078e-01 -5.87556697e-02 7.93677707e-04 9.98413708e+01] [-5.87556671e-02 -9.98272393e-01 -2.65305410e-05 4.22083307e+01] [ 7.93865363e-04 -2.01483648e-05 -9.99999685e-01 6.72303909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.84, Y:42.19, Z:6.72 [[ 9.99815662e-01 1.91753201e-02 9.74150398e-04 9.98408563e+01] [ 1.91752867e-02 -9.99816136e-01 4.36360006e-05 4.21942102e+01] [ 9.74808022e-04 -2.49483437e-05 -9.99999525e-01 6.72338172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.910385723 meters Centerline goodness [0,1] 0.999978342790315 Centerline is valid? [True, True] Translation: X:99.84, Y:42.18, Z:6.72 [[ 9.95257763e-01 9.72684047e-02 9.18013467e-04 9.98422305e+01] [ 9.72683412e-02 -9.95258186e-01 1.13670248e-04 4.21791045e+01] [ 9.24716942e-04 -2.38375501e-05 -9.99999572e-01 6.72362169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.85, Y:42.16, Z:6.72 [[ 9.84572877e-01 1.74968522e-01 1.50524715e-03 9.98454739e+01] [ 1.74968257e-01 -9.84574027e-01 3.07031918e-04 4.21624794e+01] [ 1.53574817e-03 -3.89248284e-05 -9.99998820e-01 6.72331690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.85, Y:42.15, Z:6.72 [[ 9.67724194e-01 2.52005610e-01 1.74869852e-03 9.98484304e+01] [ 2.52005114e-01 -9.67725772e-01 5.01876539e-04 4.21469866e+01] [ 1.81873633e-03 -4.49970994e-05 -9.99998345e-01 6.72344464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.85, Y:42.13, Z:6.72 [[ 9.44986173e-01 3.27107979e-01 1.22599754e-03 9.98534257e+01] [ 3.27107659e-01 -9.44986968e-01 4.58658205e-04 4.21347371e+01] [ 1.30858246e-03 -3.23924774e-05 -9.99999143e-01 6.72397407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.86, Y:42.12, Z:6.72 [[ 9.16687879e-01 3.99603479e-01 6.25557479e-04 9.98599833e+01] [ 3.99603373e-01 -9.16688093e-01 2.92074296e-04 4.21211841e+01] [ 6.90154997e-04 -1.77660883e-05 -9.99999762e-01 6.72428580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.87, Y:42.11, Z:6.72 [[ 8.83594337e-01 4.68252971e-01 4.50249480e-04 9.98688004e+01] [ 4.68252902e-01 -8.83594451e-01 2.55125887e-04 4.21073190e+01] [ 5.17301397e-04 -1.45971637e-05 -9.99999866e-01 6.72454527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.88, Y:42.10, Z:6.72 [[ 8.45880610e-01 5.33372197e-01 3.05422086e-04 9.98781049e+01] [ 5.33372158e-01 -8.45880665e-01 2.06479182e-04 4.20950463e+01] [ 3.68480892e-04 -1.17530991e-05 -9.99999932e-01 6.72455501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.89, Y:42.08, Z:6.72 [[ 8.02430989e-01 5.96744737e-01 4.76100593e-04 9.98883650e+01] [ 5.96744617e-01 -8.02431131e-01 3.78770195e-04 4.20842710e+01] [ 6.08067058e-04 -1.98264763e-05 -9.99999815e-01 6.72492646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.90, Y:42.07, Z:6.72 [[ 7.54127455e-01 6.56727776e-01 6.40325204e-04 9.98991368e+01] [ 6.56727506e-01 -7.54127726e-01 5.96599524e-04 4.20740876e+01] [ 8.74690469e-04 -2.93929067e-05 -9.99999617e-01 6.72483899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.91, Y:42.06, Z:6.73 [[ 7.01392791e-01 7.12774299e-01 9.75859767e-04 9.99097910e+01] [ 7.12773508e-01 -7.01393468e-01 1.06294627e-03 4.20637656e+01] [ 1.44210245e-03 -4.99758585e-05 -9.99998959e-01 6.72508009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.92, Y:42.06, Z:6.73 [[ 6.43585553e-01 7.65373835e-01 7.27380239e-04 9.99216928e+01] [ 7.65373272e-01 -6.43585963e-01 9.29077606e-04 4.20552506e+01] [ 1.17922340e-03 -4.12235312e-05 -9.99999304e-01 6.72533811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.93, Y:42.05, Z:6.73 [[ 5.81343738e-01 8.13657904e-01 5.23992865e-04 9.99338655e+01] [ 8.13657521e-01 -5.81343973e-01 7.89927424e-04 4.20470604e+01] [ 9.47350786e-04 -3.28686257e-05 -9.99999551e-01 6.72600488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.95, Y:42.04, Z:6.73 [[ 5.15277808e-01 8.57022755e-01 8.82440712e-04 9.99478282e+01] [ 8.57021289e-01 -5.15278560e-01 1.58627069e-03 4.20403125e+01] [ 1.81417286e-03 -6.10996062e-05 -9.99998353e-01 6.72636046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.96, Y:42.03, Z:6.73 [[ 4.45649571e-01 8.95207108e-01 8.33120311e-04 9.99598432e+01] [ 8.95205260e-01 -4.45650345e-01 1.82004832e-03 4.20346991e+01] [ 2.00060055e-03 -6.52900680e-05 -9.99997997e-01 6.72668310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.97, Y:42.03, Z:6.73 [[ 3.71623078e-01 9.28383572e-01 4.80247099e-04 9.99732830e+01] [ 9.28382645e-01 -3.71623386e-01 1.31256404e-03 4.20303495e+01] [ 1.39703395e-03 -4.19260175e-05 -9.99999023e-01 6.72825178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.360385723 meters Centerline goodness [0,1] 0.9998727870242765 Centerline is valid? [True, True] Translation: X:99.99, Y:42.03, Z:6.73 [[ 2.95126732e-01 9.55458094e-01 -2.06521759e-04 9.99894240e+01] [ 9.55457811e-01 -2.95126804e-01 -7.35305634e-04 4.20278138e+01] [-7.63503826e-04 1.96855214e-05 -9.99999708e-01 6.73202403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.00, Y:42.03, Z:6.73 [[ 2.17550786e-01 9.76049001e-01 5.85987134e-05 1.00003004e+02] [ 9.76048955e-01 -2.17550794e-01 3.01014737e-04 4.20273465e+01] [ 3.06553330e-04 -8.29077980e-06 -9.99999953e-01 6.72952219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:42.03, Z:6.73 [[ 1.39061837e-01 9.90283698e-01 5.67721130e-05 1.00017223e+02] [ 9.90283575e-01 -1.39061848e-01 4.92659861e-04 4.20280787e+01] [ 4.95767863e-04 -1.22896944e-05 -9.99999877e-01 6.72968902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.450385723 meters Centerline goodness [0,1] 0.9999788297061564 Centerline is valid? [True, True] Translation: X:100.03, Y:42.03, Z:6.73 [[ 5.82115299e-02 9.98304270e-01 4.59737328e-05 1.00032875e+02] [ 9.98303504e-01 -5.82115422e-02 1.23720554e-03 4.20297239e+01] [ 1.23778378e-03 -2.61238891e-05 -9.99999234e-01 6.72995873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.480385723 meters Centerline goodness [0,1] 0.9998306806637318 Centerline is valid? [True, True] Translation: X:100.05, Y:42.03, Z:6.73 [[-2.21434654e-02 9.99754803e-01 -3.39438501e-05 1.00049289e+02] [ 9.99754469e-01 2.21434857e-02 8.16859402e-04 4.20329129e+01] [ 8.17410745e-04 -1.58474179e-05 -9.99999666e-01 6.73259667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.510385723 meters Centerline goodness [0,1] 0.9998306806637318 Centerline is valid? [True, True] Translation: X:100.06, Y:42.04, Z:6.73 [[-1.00394105e-01 9.94947744e-01 -9.78319641e-05 1.00062454e+02] [ 9.94947413e-01 1.00394152e-01 8.11716941e-04 4.20367212e+01] [ 8.17437696e-04 -1.58460638e-05 -9.99999666e-01 6.73259643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.08, Y:42.04, Z:6.73 [[-1.79209230e-01 9.83810908e-01 -3.86468890e-04 1.00077737e+02] [ 9.83809019e-01 1.79209644e-01 1.92793360e-03 4.20429074e+01] [ 1.96598106e-03 -3.47080841e-05 -9.99998067e-01 6.72924067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.09, Y:42.05, Z:6.73 [[-2.56708660e-01 9.66488727e-01 -4.53160287e-04 1.00090954e+02] [ 9.66487406e-01 2.56709058e-01 1.59807592e-03 4.20487996e+01] [ 1.66085271e-03 -2.77337822e-05 -9.99998620e-01 6.73070518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6003857229999 meters Centerline goodness [0,1] 0.9999789783476981 Centerline is valid? [True, True] Translation: X:100.10, Y:42.06, Z:6.73 [[-3.31649341e-01 9.43402697e-01 -2.55992448e-04 1.00101081e+02] [ 9.43402445e-01 3.31649439e-01 6.90048319e-04 4.20552835e+01] [ 7.35893197e-04 -1.26498314e-05 -9.99999729e-01 6.73145721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.11, Y:42.06, Z:6.73 [[-4.04001683e-01 9.14758146e-01 -4.17929028e-04 1.00111292e+02] [ 9.14757700e-01 4.04001899e-01 9.03148114e-04 4.20631479e+01] [ 9.95006215e-04 -1.74304376e-05 -9.99999505e-01 6.73110721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.12, Y:42.07, Z:6.73 [[-4.72478986e-01 8.81341673e-01 -6.80866465e-04 1.00120983e+02] [ 8.81340839e-01 4.72479476e-01 1.21276632e-03 4.20716568e+01] [ 1.39055692e-03 -2.70688216e-05 -9.99999033e-01 6.73107602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.13, Y:42.08, Z:6.73 [[-5.38990531e-01 8.42311181e-01 -1.03970464e-03 1.00130763e+02] [ 8.42309750e-01 5.38991533e-01 1.55346189e-03 4.20812938e+01] [ 1.86889031e-03 -3.84521077e-05 -9.99998253e-01 6.73087029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.14, Y:42.09, Z:6.73 [[-6.02041781e-01 7.98462848e-01 -1.66545175e-03 1.00139208e+02] [ 7.98460062e-01 6.02044082e-01 2.11038972e-03 4.20898600e+01] [ 2.68774315e-03 -5.92539253e-05 -9.99996386e-01 6.73040893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.15, Y:42.10, Z:6.73 [[-6.62617594e-01 7.48955583e-01 -1.85991078e-03 1.00148055e+02] [ 7.48952887e-01 6.62620201e-01 2.01046868e-03 4.21022610e+01] [ 2.73816619e-03 -6.08136303e-05 -9.99996249e-01 6.73107108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.15, Y:42.11, Z:6.73 [[-7.19526866e-01 6.94461968e-01 -1.91402717e-03 1.00153511e+02] [ 6.94459719e-01 7.19529410e-01 1.76847724e-03 4.21113047e+01] [ 2.60533903e-03 -5.67478825e-05 -9.99996605e-01 6.73204180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.17, Y:42.14, Z:6.73 [[-7.67293887e-01 6.41292992e-01 -1.84113970e-03 1.00169702e+02] [ 6.41291301e-01 7.67296094e-01 1.47378762e-03 4.21371861e+01] [ 2.35782897e-03 -4.98786431e-05 -9.99997219e-01 6.73242987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.19, Y:42.16, Z:6.73 [[-8.10934174e-01 5.85134421e-01 -1.86400560e-03 1.00185393e+02] [ 5.85133008e-01 8.10936315e-01 1.28663802e-03 4.21610032e+01] [ 2.26444603e-03 -4.73124629e-05 -9.99997435e-01 6.73258524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.870385723 meters Centerline goodness [0,1] 0.9998519489858505 Centerline is valid? [True, True] Translation: X:100.19, Y:42.19, Z:6.74 [[-8.50807126e-01 5.25478101e-01 -1.49195459e-05 1.00193647e+02] [ 5.25478101e-01 8.50807126e-01 8.11753071e-06 4.21893675e+01] [ 1.69592405e-05 -9.33441669e-07 -1.00000000e+00 6.73592098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.20, Y:42.22, Z:6.73 [[-8.85866059e-01 4.63938644e-01 -1.50354389e-03 1.00202765e+02] [ 4.63938040e-01 8.85867334e-01 7.49248790e-04 4.22167354e+01] [ 1.67954588e-03 -3.38171309e-05 -9.99998589e-01 6.73355907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.21, Y:42.24, Z:6.73 [[-9.16442571e-01 4.00164840e-01 -1.05557821e-03 1.00209680e+02] [ 4.00164604e-01 9.16443179e-01 4.35325299e-04 4.22428613e+01] [ 1.14157932e-03 -2.34543977e-05 -9.99999348e-01 6.73365496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.22, Y:42.27, Z:6.73 [[-9.42352021e-01 3.34622488e-01 -6.78167580e-04 1.00215406e+02] [ 3.34622413e-01 9.42352264e-01 2.24650985e-04 4.22701166e+01] [ 7.14246026e-04 -1.52297625e-05 -9.99999745e-01 6.73386893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.40, Y:42.83, Z:5.75 [[-9.33302103e-01 -3.59091065e-01 -8.90115428e-04 1.00403509e+02] [ 3.59090896e-01 -9.33302527e-01 3.47821838e-04 4.28334419e+01] [-9.55646692e-04 4.99050621e-06 9.99999543e-01 5.74516208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.17, Y:42.28, Z:6.73 [[-9.43139437e-01 3.32395740e-01 -1.03699345e-03 1.00166003e+02] [ 3.32395567e-01 9.43140006e-01 3.39608413e-04 4.22781648e+01] [ 1.09091440e-03 -2.43939394e-05 -9.99999405e-01 6.73330312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.16, Y:42.31, Z:6.73 [[-9.64166168e-01 2.65294135e-01 -1.61918812e-03 1.00158336e+02] [ 2.65293827e-01 9.64167527e-01 4.05999791e-04 4.23095502e+01] [ 1.66887797e-03 -3.81093506e-05 -9.99998607e-01 6.73354622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.17, Y:42.33, Z:6.73 [[-9.80364082e-01 1.97194868e-01 -6.72069912e-04 1.00171408e+02] [ 1.97194833e-01 9.80364312e-01 1.18278481e-04 4.23344089e+01] [ 6.82197266e-04 -1.65727403e-05 -9.99999767e-01 6.73420905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.110385723 meters Centerline goodness [0,1] 0.9999357395308985 Centerline is valid? [True, True] Translation: X:100.28, Y:42.94, Z:5.74 [[-9.76202539e-01 -2.16860723e-01 -1.72675929e-04 1.00277615e+02] [ 2.16860713e-01 -9.76202554e-01 7.60066784e-05 4.29388949e+01] [-1.85049546e-04 3.67512875e-05 9.99999982e-01 5.74327479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.12, Y:42.34, Z:6.73 [[-9.81155127e-01 1.93219858e-01 -8.38414022e-04 1.00116123e+02] [ 1.93219805e-01 9.81155485e-01 1.44112246e-04 4.23396535e+01] [ 8.50459864e-04 -2.06017247e-05 -9.99999638e-01 6.73454760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.11, Y:42.37, Z:6.73 [[-9.92481348e-01 1.22394391e-01 -6.21896552e-04 1.00111696e+02] [ 1.22394376e-01 9.92481543e-01 6.16805326e-05 4.23704181e+01] [ 6.24770201e-04 -1.48998624e-05 -9.99999805e-01 6.73493327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.17, Y:42.99, Z:5.74 [[-9.89490715e-01 -1.44596409e-01 5.08533730e-05 1.00174452e+02] [ 1.44596411e-01 -9.89490716e-01 3.66026741e-05 4.29896427e+01] [ 4.50263253e-05 4.35712215e-05 9.99999998e-01 5.74449781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.05, Y:42.37, Z:6.73 [[-9.93024613e-01 1.17907220e-01 -6.89507521e-05 1.00051354e+02] [ 1.17907220e-01 9.93024616e-01 5.72155736e-06 4.23710731e+01] [ 6.91444069e-05 -2.44814420e-06 -9.99999998e-01 6.73398075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.05, Y:42.40, Z:6.73 [[-9.98901184e-01 4.68585425e-02 8.37206061e-04 1.00045363e+02] [ 4.68585409e-02 9.98901535e-01 -2.14959598e-05 4.24005897e+01] [-8.37293689e-04 1.77579147e-05 -9.99999649e-01 6.73496256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.06, Y:43.03, Z:5.74 [[-9.97560282e-01 -6.98009122e-02 1.14710812e-03 1.00062180e+02] [ 6.98008613e-02 -9.97560942e-01 -8.43843016e-05 4.30309629e+01] [ 1.15020036e-03 -4.10929264e-06 9.99999339e-01 5.74341849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.98, Y:42.40, Z:6.74 [[-9.99114275e-01 4.20662637e-02 1.04650337e-03 9.99764560e+01] [ 4.20662638e-02 9.99114823e-01 -2.18947314e-05 4.24001772e+01] [-1.04649806e-03 2.21471483e-05 -9.99999452e-01 6.73564636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.98, Y:43.04, Z:5.74 [[-9.97875177e-01 -6.51241183e-02 1.99493460e-03 9.99846929e+01] [ 6.51240267e-02 -9.97877171e-01 -1.10922464e-04 4.30364341e+01] [ 1.99792342e-03 1.92314012e-05 9.99998004e-01 5.74334345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.90, Y:42.40, Z:6.74 [[-9.99295077e-01 3.74582690e-02 2.49527136e-03 9.99026195e+01] [ 3.74582885e-02 9.99298191e-01 -3.89372920e-05 4.23978109e+01] [-2.49497868e-03 5.45587502e-05 -9.99996886e-01 6.73629993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.89, Y:42.42, Z:6.74 [[-9.99447377e-01 -3.31614251e-02 2.29362593e-03 9.98932777e+01] [-3.31612193e-02 9.99450007e-01 1.27692158e-04 4.24241366e+01] [-2.29659891e-03 5.15621601e-05 -9.99997362e-01 6.73728975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.88, Y:42.45, Z:6.74 [[-9.94605004e-01 -1.03719942e-01 1.74906281e-03 9.98807561e+01] [-1.03719710e-01 9.94606541e-01 2.22895328e-04 4.24516811e+01] [-1.76274800e-03 4.02805204e-05 -9.99998446e-01 6.73705706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.86, Y:42.48, Z:6.74 [[-9.84740412e-01 -1.74026458e-01 1.05532568e-03 9.98607870e+01] [-1.74026331e-01 9.84740977e-01 2.11667712e-04 4.24752556e+01] [-1.07605822e-03 2.47832938e-05 -9.99999421e-01 6.73621414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.83, Y:42.50, Z:6.74 [[-9.69768118e-01 -2.44026882e-01 8.23525983e-04 9.98295204e+01] [-2.44026776e-01 9.69768468e-01 2.27634280e-04 4.24973956e+01] [-8.54178414e-04 1.97900763e-05 -9.99999635e-01 6.73593088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.78, Y:42.51, Z:6.74 [[-9.49356397e-01 -3.14198169e-01 1.39373020e-03 9.97752101e+01] [-3.14197776e-01 9.49357419e-01 4.98152024e-04 4.25098739e+01] [-1.47966656e-03 3.50168821e-05 -9.99998905e-01 6.73612030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.70, Y:42.51, Z:6.74 [[-9.23469152e-01 -3.83669290e-01 1.61280174e-03 9.97018676e+01] [-3.83668627e-01 9.23470560e-01 7.14518436e-04 4.25114900e+01] [-1.76351371e-03 4.10543046e-05 -9.99998444e-01 6.73657766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.63, Y:42.51, Z:6.74 [[-8.91683399e-01 -4.52657931e-01 1.23006210e-03 9.96315650e+01] [-4.52657454e-01 8.91684247e-01 6.57600602e-04 4.25096465e+01] [-1.39449512e-03 2.95747617e-05 -9.99999027e-01 6.73759130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.55, Y:42.50, Z:6.74 [[-8.54951794e-01 -5.18706969e-01 7.14704275e-04 9.95499262e+01] [-5.18706771e-01 8.54952093e-01 4.52799157e-04 4.24961356e+01] [-8.45907993e-04 1.63995048e-05 -9.99999642e-01 6.73745867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.46, Y:42.47, Z:6.74 [[-8.12031422e-01 -5.83613638e-01 3.02935548e-04 9.94605684e+01] [-5.83613595e-01 8.12031478e-01 2.24369611e-04 4.24695120e+01] [-3.76938366e-04 5.39787003e-06 -9.99999929e-01 6.73655580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.37, Y:42.43, Z:6.74 [[-7.65193551e-01 -6.43800181e-01 -3.94837916e-04 9.93717252e+01] [-6.43800089e-01 7.65193653e-01 -3.45399553e-04 4.24347603e+01] [ 5.24495762e-04 -1.01008251e-05 -9.99999862e-01 6.73616528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.28, Y:42.39, Z:6.74 [[-7.13447985e-01 -7.00707576e-01 -9.30803286e-04 9.92832111e+01] [-7.00706940e-01 7.13448592e-01 -9.44408171e-04 4.23908323e+01] [ 1.32583425e-03 -2.15657846e-05 -9.99999121e-01 6.73542255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.19, Y:42.34, Z:6.74 [[-6.58365243e-01 -7.52697757e-01 -1.13737533e-03 9.91943278e+01] [-7.52696560e-01 6.58366225e-01 -1.34289853e-03 4.23364070e+01] [ 1.75960621e-03 -2.80192156e-05 -9.99998452e-01 6.73506882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.11, Y:42.27, Z:6.73 [[-6.00419585e-01 -7.99683129e-01 -1.79295395e-03 9.91072936e+01] [-7.99679303e-01 6.00422260e-01 -2.47411916e-03 4.22714001e+01] [ 3.05504081e-03 -5.17214355e-05 -9.99995332e-01 6.73473158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.02, Y:42.19, Z:6.73 [[-5.38808847e-01 -8.42426307e-01 -1.71562255e-03 9.90224283e+01] [-8.42421684e-01 5.38811575e-01 -2.79163756e-03 4.21938334e+01] [ 3.27614620e-03 -5.88813778e-05 -9.99994632e-01 6.73452169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.95, Y:42.11, Z:6.74 [[-4.74467233e-01 -8.80272569e-01 -1.02436836e-03 9.89464951e+01] [-8.80270311e-01 4.74468336e-01 -1.99450374e-03 4.21138000e+01] [ 2.24173728e-03 -4.46056122e-05 -9.99997486e-01 6.73508726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.87, Y:42.02, Z:6.74 [[-4.06447093e-01 -9.13674026e-01 -7.31647902e-04 9.88709189e+01] [-9.13672369e-01 4.06447750e-01 -1.74057190e-03 4.20191402e+01] [ 1.88769198e-03 -3.89639182e-05 -9.99998218e-01 6.73570615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.890385723 meters Centerline goodness [0,1] 0.999913584514345 Centerline is valid? [True, True] Translation: X:98.80, Y:41.92, Z:6.74 [[-3.34850232e-01 -9.42271297e-01 -3.54649517e-04 9.88033838e+01] [-9.42270693e-01 3.34850419e-01 -1.06715784e-03 4.19220249e+01] [ 1.12430674e-03 -2.31622033e-05 -9.99999368e-01 6.73664709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.74, Y:41.82, Z:6.74 [[-2.60424198e-01 -9.65494287e-01 -1.41535426e-04 9.87412688e+01] [-9.65494118e-01 2.60424236e-01 -5.70753398e-04 4.18160081e+01] [ 5.87918399e-04 -1.19863748e-05 -9.99999827e-01 6.73758653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.69, Y:41.70, Z:6.74 [[-1.82510726e-01 -9.83203838e-01 2.20798089e-04 9.86856025e+01] [-9.83202993e-01 1.82510858e-01 1.28913749e-03 4.16967519e+01] [-1.30778297e-03 1.81920765e-05 -9.99999145e-01 6.73979108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.980385723 meters Centerline goodness [0,1] 0.9999566452060437 Centerline is valid? [True, True] Translation: X:98.64, Y:41.59, Z:6.74 [[-1.04997987e-01 -9.94472414e-01 2.03385123e-04 9.86400718e+01] [-9.94469992e-01 1.04998180e-01 2.19464376e-03 4.15872103e+01] [-2.20386774e-03 2.81727744e-05 -9.99997571e-01 6.74084580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.60, Y:41.46, Z:6.74 [[-2.66291299e-02 -9.99645381e-01 4.96609066e-05 9.86040256e+01] [-9.99640180e-01 2.66291515e-02 3.22466804e-03 4.14649352e+01] [-3.22484694e-03 3.62270665e-05 -9.99994800e-01 6.74119097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.58, Y:41.34, Z:6.74 [[ 5.05658357e-02 -9.98720713e-01 -1.81744242e-04 9.85792037e+01] [-9.98716343e-01 -5.05661521e-02 2.95490962e-03 4.13405630e+01] [-2.96031955e-03 3.20934698e-05 -9.99995618e-01 6.74158090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.56, Y:41.22, Z:6.74 [[ 1.26561335e-01 -9.91958727e-01 -3.35538161e-04 9.85641021e+01] [-9.91955794e-01 -1.26561777e-01 2.41254562e-03 4.12177196e+01] [-2.43561199e-03 2.75040291e-05 -9.99997034e-01 6.74047469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.56, Y:41.10, Z:6.74 [[ 2.01841480e-01 -9.79418085e-01 -4.82104604e-04 9.85570520e+01] [-9.79415597e-01 -2.01842054e-01 2.20762136e-03 4.10972765e+01] [-2.25949327e-03 2.65912058e-05 -9.99997447e-01 6.74010967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.56, Y:40.97, Z:6.74 [[ 2.74886793e-01 -9.61476325e-01 -7.25732259e-04 9.85626570e+01] [-9.61473293e-01 -2.74887749e-01 2.41505583e-03 4.09726184e+01] [-2.52151391e-03 3.39052327e-05 -9.99996820e-01 6.74006153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.58, Y:40.85, Z:6.74 [[ 3.47269355e-01 -9.37764950e-01 -9.45694644e-04 9.85750744e+01] [-9.37761757e-01 -3.47270640e-01 2.44719100e-03 4.08495558e+01] [-2.62330193e-03 3.70018309e-05 -9.99996559e-01 6.74009939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.190385723 meters Centerline goodness [0,1] 0.9999565632872904 Centerline is valid? [True, True] Translation: X:98.60, Y:40.73, Z:6.74 [[ 4.17406705e-01 -9.08719093e-01 -1.11932064e-03 9.85956448e+01] [-9.08716070e-01 -4.17408204e-01 2.34433916e-03 4.07296206e+01] [-2.59755937e-03 3.86017715e-05 -9.99996626e-01 6.74028168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.62, Y:40.61, Z:6.74 [[ 4.85715978e-01 -8.74115662e-01 -1.34086304e-03 9.86229639e+01] [-8.74112557e-01 -4.85717827e-01 2.33040361e-03 4.06142495e+01] [-2.68832338e-03 4.01509528e-05 -9.99996386e-01 6.74040020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.66, Y:40.50, Z:6.74 [[ 5.51494933e-01 -8.34176419e-01 -1.74369467e-03 9.86624891e+01] [-8.34172505e-01 -5.51497688e-01 2.55589055e-03 4.05010442e+01] [-3.09370721e-03 4.49814637e-05 -9.99995214e-01 6.74123321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.71, Y:40.39, Z:6.74 [[ 6.13888988e-01 -7.89390081e-01 -1.90029047e-03 9.87079033e+01] [-7.89386514e-01 -6.13891927e-01 2.37340947e-03 4.03919340e+01] [-3.04011887e-03 4.30537364e-05 -9.99995378e-01 6.74151156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.76, Y:40.29, Z:6.74 [[ 6.72798938e-01 -7.39821591e-01 -2.36701310e-03 9.87576070e+01] [-7.39817255e-01 -6.72803100e-01 2.53320232e-03 4.02918118e+01] [-3.46665152e-03 4.68213011e-05 -9.99993990e-01 6.74210969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.82, Y:40.20, Z:6.74 [[ 7.27256052e-01 -6.86360983e-01 -2.69003272e-03 9.88150508e+01] [-6.86356533e-01 -7.27261025e-01 2.47207194e-03 4.01952660e+01] [-3.65308968e-03 4.84922546e-05 -9.99993326e-01 6.74271020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.81, Y:40.19, Z:6.74 [[ 7.79223550e-01 -6.26734934e-01 -3.73931107e-03 9.88112964e+01] [-6.26728081e-01 -7.79232519e-01 2.93151907e-03 4.01880454e+01] [-4.75107820e-03 5.92225542e-05 -9.99988712e-01 6.74397093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.81, Y:40.18, Z:6.74 [[ 8.25819508e-01 -5.63920635e-01 -3.95693468e-03 9.88070209e+01] [-5.63914504e-01 -8.25828986e-01 2.63029256e-03 4.01782472e+01] [-4.75102761e-03 5.92259509e-05 -9.99988712e-01 6.74397041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.80, Y:40.17, Z:6.74 [[ 8.67655299e-01 -4.97143219e-01 -4.78565256e-03 9.88030532e+01] [-4.97136071e-01 -8.67668494e-01 2.66656932e-03 4.01663660e+01] [-5.47802681e-03 6.54575071e-05 -9.99984993e-01 6.74388964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.460385723 meters Centerline goodness [0,1] 0.9999781583085794 Centerline is valid? [True, True] Translation: X:98.80, Y:40.16, Z:6.74 [[ 9.04100758e-01 -4.27287326e-01 -5.23068344e-03 9.87998176e+01] [-4.27280593e-01 -9.04115887e-01 2.39953118e-03 4.01565788e+01] [-5.75443326e-03 6.55515624e-05 -9.99983441e-01 6.74388392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.80, Y:40.15, Z:6.74 [[ 9.34909860e-01 -3.54837334e-01 -5.83267781e-03 9.87985033e+01] [-3.54830879e-01 -9.34928052e-01 2.14133006e-03 4.01470561e+01] [-6.21295795e-03 6.76636119e-05 -9.99980697e-01 6.74381204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.80, Y:40.14, Z:6.74 [[ 9.59792684e-01 -2.80626254e-01 -6.84912633e-03 9.87974570e+01] [-2.80619684e-01 -9.59817118e-01 1.92182779e-03 4.01393248e+01] [-7.11322403e-03 7.74434152e-05 -9.99974698e-01 6.74482759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.80, Y:40.13, Z:6.75 [[ 9.78706593e-01 -2.05130096e-01 -7.41950270e-03 9.87974606e+01] [-2.05124862e-01 -9.78734712e-01 1.46787934e-03 4.01306690e+01] [-7.56283107e-03 8.53012732e-05 -9.99971398e-01 6.74514818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.79, Y:40.13, Z:6.75 [[ 9.91698815e-01 -1.28354526e-01 -7.65352272e-03 9.87937620e+01] [-1.28351408e-01 -9.91728344e-01 8.99284049e-04 4.01260630e+01] [-7.70564258e-03 9.05214882e-05 -9.99970307e-01 6.74552179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.79, Y:40.12, Z:6.75 [[ 9.98678509e-01 -5.08071557e-02 -7.73743228e-03 9.87900760e+01] [-5.08063661e-02 -9.98708478e-01 2.98711190e-04 4.01196967e+01] [-7.74261588e-03 9.47943712e-05 -9.99970021e-01 6.74564407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.640385723 meters Centerline goodness [0,1] 0.9999557267454731 Centerline is valid? [True, True] Translation: X:98.79, Y:40.11, Z:6.75 [[ 9.99605027e-01 2.69993732e-02 -7.79891922e-03 9.87868680e+01] [ 2.69977741e-02 -9.99635446e-01 -3.10268840e-04 4.01129207e+01] [-7.80445316e-03 9.95928328e-05 -9.99969540e-01 6.74626667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.79, Y:40.11, Z:6.75 [[ 9.94476461e-01 1.04632461e-01 -8.28355833e-03 9.87851005e+01] [ 1.04627903e-01 -9.94510953e-01 -9.82923983e-04 4.01077802e+01] [-8.34093525e-03 1.10803425e-04 -9.99965208e-01 6.74659332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.78, Y:40.10, Z:6.75 [[ 9.83285357e-01 1.81880239e-01 -8.33578357e-03 9.87819139e+01] [ 1.81872708e-01 -9.83320683e-01 -1.65917838e-03 4.01036636e+01] [-8.49852015e-03 1.15394275e-04 -9.99963880e-01 6.74645228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.730385723 meters Centerline goodness [0,1] 0.9999108654960335 Centerline is valid? [True, True] Translation: X:98.78, Y:40.09, Z:6.75 [[ 9.65997652e-01 2.58424733e-01 -8.07434065e-03 9.87814314e+01] [ 2.58414728e-01 -9.66031389e-01 -2.27668722e-03 4.00922623e+01] [-8.38841880e-03 1.12745964e-04 -9.99964810e-01 6.74693331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.78, Y:40.08, Z:6.74 [[ 9.41914844e-01 3.35784002e-01 -6.74759992e-03 9.87824689e+01] [ 3.35774797e-01 -9.41939010e-01 -2.48743918e-03 4.00795265e+01] [-7.19106987e-03 7.72818862e-05 -9.99974141e-01 6.74472199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.78, Y:40.07, Z:6.74 [[ 9.12215812e-01 4.09656932e-01 -6.59631817e-03 9.87840862e+01] [ 4.09645674e-01 -9.12239658e-01 -3.03783676e-03 4.00669612e+01] [-7.26189392e-03 6.90095221e-05 -9.99973630e-01 6.74480476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.820385723 meters Centerline goodness [0,1] 0.9999555249171651 Centerline is valid? [True, True] Translation: X:98.79, Y:40.05, Z:6.75 [[ 8.76121071e-01 4.82050575e-01 -6.25391552e-03 9.87855641e+01] [ 4.82037890e-01 -8.76143390e-01 -3.49748317e-03 4.00541278e+01] [-7.16529053e-03 4.95944641e-05 -9.99974328e-01 6.74573695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.79, Y:40.04, Z:6.75 [[ 8.35134364e-01 5.50014287e-01 -5.90576787e-03 9.87885446e+01] [ 5.50000183e-01 -8.35155244e-01 -3.93916483e-03 4.00424339e+01] [-7.09882995e-03 4.15585077e-05 -9.99974802e-01 6.74591624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.79, Y:40.03, Z:6.75 [[ 7.89092973e-01 6.14248366e-01 -5.58792623e-03 9.87920565e+01] [ 6.14232634e-01 -7.89112758e-01 -4.39631179e-03 4.00326144e+01] [-7.10993121e-03 3.68120966e-05 -9.99974724e-01 6.74640763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.910385723 meters Centerline goodness [0,1] 0.9999776855446959 Centerline is valid? [True, True] Translation: X:98.80, Y:40.02, Z:6.75 [[ 7.38912413e-01 6.73778770e-01 -5.53307744e-03 9.87956327e+01] [ 6.73759445e-01 -7.38933128e-01 -5.10322049e-03 4.00233670e+01] [-7.52701585e-03 4.28697840e-05 -9.99971671e-01 6.74648563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.80, Y:40.01, Z:6.75 [[ 6.85854993e-01 7.27719219e-01 -5.25991944e-03 9.87977798e+01] [ 7.27697092e-01 -6.85875159e-01 -5.67516475e-03 4.00148157e+01] [-7.73757454e-03 6.47119973e-05 -9.99970062e-01 6.74662975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.80, Y:40.01, Z:6.75 [[ 6.28012126e-01 7.78188849e-01 -4.78384405e-03 9.88011764e+01] [ 7.78165333e-01 -6.28030341e-01 -6.05023620e-03 4.00057826e+01] [-7.71262556e-03 7.70001015e-05 -9.99970254e-01 6.74647267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.80, Y:40.00, Z:6.75 [[ 5.67867560e-01 8.23108938e-01 -4.25565601e-03 9.88041008e+01] [ 8.23084470e-01 -5.67883497e-01 -6.34731479e-03 3.99978696e+01] [-7.64124835e-03 1.01669787e-04 -9.99970800e-01 6.74600399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.81, Y:39.99, Z:6.75 [[ 5.02876237e-01 8.64350804e-01 -3.63016349e-03 9.88111851e+01] [ 8.64326703e-01 -5.02889327e-01 -6.45557230e-03 3.99886075e+01] [-7.40544959e-03 1.08706659e-04 -9.99972573e-01 6.74571745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.82, Y:39.98, Z:6.75 [[ 4.35904699e-01 8.99989290e-01 -2.52409835e-03 9.88194868e+01] [ 8.99972807e-01 -4.35911995e-01 -5.44791932e-03 3.99791464e+01] [-6.00335379e-03 1.03153754e-04 -9.99981974e-01 6.74538973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.83, Y:39.97, Z:6.75 [[ 3.65774111e-01 9.30701819e-01 -1.85043089e-03 9.88285072e+01] [ 9.30688478e-01 -3.65778777e-01 -4.98432901e-03 3.99713230e+01] [-5.31577242e-03 1.00963805e-04 -9.99985866e-01 6.74504297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.84, Y:39.96, Z:6.75 [[ 2.92746106e-01 9.56188828e-01 -1.62562572e-03 9.88405821e+01] [ 9.56171747e-01 -2.92750595e-01 -5.71657468e-03 3.99630628e+01] [-5.94202774e-03 1.19127595e-04 -9.99982339e-01 6.74539384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.85, Y:39.96, Z:6.75 [[ 2.17804910e-01 9.75991459e-01 -1.30107029e-03 9.88502940e+01] [ 9.75970064e-01 -2.17808752e-01 -6.46386823e-03 3.99554378e+01] [-6.59206468e-03 1.38056575e-04 -9.99978263e-01 6.74673054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.86, Y:39.95, Z:6.75 [[ 1.42288574e-01 9.89824711e-01 -1.00194974e-03 9.88629283e+01] [ 9.89789980e-01 -1.42291977e-01 -8.29392294e-03 3.99489006e+01] [-8.35209928e-03 1.88410655e-04 -9.99965103e-01 6.74790597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.87, Y:39.94, Z:6.75 [[ 6.46860727e-02 9.97905603e-01 -3.45891041e-04 9.88745443e+01] [ 9.97871396e-01 -6.46867200e-02 -8.26468036e-03 3.99435850e+01] [-8.26974540e-03 1.89454939e-04 -9.99965787e-01 6.74794339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.240385723 meters Centerline goodness [0,1] 0.9999116724815617 Centerline is valid? [True, True] Translation: X:98.88, Y:39.94, Z:6.75 [[-1.40811066e-02 9.99900825e-01 2.49925230e-04 9.88846702e+01] [ 9.99877494e-01 1.40824858e-02 -6.83230402e-03 3.99382652e+01] [-6.83514600e-03 1.53688211e-04 -9.99976628e-01 6.74746125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.90, Y:39.94, Z:6.75 [[-9.34992601e-02 9.95619079e-01 7.33754248e-04 9.88998791e+01] [ 9.95598813e-01 9.35020396e-02 -6.35384540e-03 3.99350323e+01] [-6.39461722e-03 1.36445016e-04 -9.99979545e-01 6.74638306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.300385723 meters Centerline goodness [0,1] 0.9999340949033392 Centerline is valid? [True, True] Translation: X:98.91, Y:39.93, Z:6.75 [[-1.73557796e-01 9.84822849e-01 1.28380157e-03 9.89135159e+01] [ 9.84801033e-01 1.73562498e-01 -6.55630655e-03 3.99326760e+01] [-6.67962030e-03 1.26390995e-04 -9.99977683e-01 6.74772983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.330385723 meters Centerline goodness [0,1] 0.9999780735413424 Centerline is valid? [True, True] Translation: X:98.93, Y:39.93, Z:6.75 [[-2.52634339e-01 9.67560298e-01 1.72049992e-03 9.89260549e+01] [ 9.67540607e-01 2.52640176e-01 -6.17382739e-03 3.99307633e+01] [-6.40821767e-03 1.04932736e-04 -9.99979462e-01 6.74677267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.94, Y:39.93, Z:6.75 [[-3.28665573e-01 9.44443723e-01 2.23504943e-03 9.89391854e+01] [ 9.44423903e-01 3.28673157e-01 -6.11949882e-03 3.99310394e+01] [-6.51412300e-03 9.95655157e-05 -9.99978778e-01 6.74694059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.95, Y:39.93, Z:6.75 [[-4.03289966e-01 9.15068334e-01 2.67343242e-03 9.89547551e+01] [ 9.15049629e-01 4.03298818e-01 -5.85147689e-03 3.99346506e+01] [-6.43269334e-03 8.64814262e-05 -9.99979306e-01 6.74629619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.420385723 meters Centerline goodness [0,1] 0.9999561297681459 Centerline is valid? [True, True] Translation: X:98.97, Y:39.94, Z:6.75 [[-4.74057446e-01 8.80488899e-01 2.97264317e-03 9.89672511e+01] [ 8.80472632e-01 4.74066759e-01 -5.35274655e-03 3.99366844e+01] [-6.12226523e-03 7.98216045e-05 -9.99981256e-01 6.74627154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.98, Y:39.94, Z:6.75 [[-5.41838316e-01 8.40476016e-01 3.36244673e-03 9.89787369e+01] [ 8.40460712e-01 5.41848743e-01 -5.07263124e-03 3.99387846e+01] [-6.08536243e-03 7.74584024e-05 -9.99981481e-01 6.74572997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.99, Y:39.94, Z:6.75 [[-6.05050853e-01 7.96180545e-01 3.16316832e-03 9.89895505e+01] [ 7.96170277e-01 6.05059117e-01 -4.04420513e-03 3.99409439e+01] [-5.13382128e-03 7.14708314e-05 -9.99986819e-01 6.74579595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.00, Y:39.95, Z:6.75 [[-6.64095054e-01 7.47640809e-01 3.31379538e-03 9.89998799e+01] [ 7.47632080e-01 6.64103317e-01 -3.61353332e-03 3.99460809e+01] [-4.90232748e-03 7.77701251e-05 -9.99987981e-01 6.74579594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.01, Y:39.95, Z:6.75 [[-7.19961737e-01 6.94003792e-01 3.71943805e-03 9.90116956e+01] [ 6.93995140e-01 7.19971339e-01 -3.46662162e-03 3.99546011e+01] [-5.08373734e-03 8.54370107e-05 -9.99987074e-01 6.74539341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.03, Y:39.97, Z:6.75 [[-7.66260402e-01 6.42517068e-01 4.10049487e-03 9.90341478e+01] [ 6.42508541e-01 7.66271367e-01 -3.31158272e-03 3.99722551e+01] [-5.26984022e-03 9.70682670e-05 -9.99986110e-01 6.74616730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.05, Y:40.00, Z:6.75 [[-8.09373797e-01 5.87277781e-01 4.34345722e-03 9.90477451e+01] [ 5.87269992e-01 8.09385445e-01 -3.02639819e-03 3.99981217e+01] [-5.29286747e-03 1.01294692e-04 -9.99985988e-01 6.74687468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.07, Y:40.02, Z:6.75 [[-8.48501458e-01 5.29178200e-01 3.96348544e-03 9.90730662e+01] [ 5.29172930e-01 8.48510710e-01 -2.36349494e-03 4.00183627e+01] [-4.61376984e-03 9.19402955e-05 -9.99989352e-01 6.74679448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.08, Y:40.05, Z:6.75 [[-8.83799407e-01 4.67852545e-01 3.55032629e-03 9.90825922e+01] [ 4.67849129e-01 8.83806534e-01 -1.78964453e-03 4.00468300e+01] [-3.97509132e-03 7.93302898e-05 -9.99992096e-01 6.74668520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.690385723 meters Centerline goodness [0,1] 0.9998247497206949 Centerline is valid? [True, True] Translation: X:99.10, Y:40.07, Z:6.75 [[-9.14855903e-01 4.03765852e-01 3.43704733e-03 9.90978983e+01] [ 4.03763302e-01 9.14862356e-01 -1.43689085e-03 4.00727213e+01] [-3.72459267e-03 7.32055072e-05 -9.99993061e-01 6.74831569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.11, Y:40.10, Z:6.75 [[-9.41608042e-01 3.36688867e-01 3.86038422e-03 9.91126062e+01] [ 3.36686357e-01 9.41615952e-01 -1.30225258e-03 4.01007248e+01] [-4.07345331e-03 7.35271993e-05 -9.99991701e-01 6.74765764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.12, Y:40.13, Z:6.75 [[-9.63298096e-01 2.68405766e-01 3.88889397e-03 9.91188208e+01] [ 2.68403870e-01 9.63305943e-01 -1.01110638e-03 4.01299655e+01] [-4.01758145e-03 6.97973457e-05 -9.99991927e-01 6.74804828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.780385723 meters Centerline goodness [0,1] 0.9999781544914366 Centerline is valid? [True, True] Translation: X:99.12, Y:40.16, Z:6.75 [[-9.79961891e-01 1.99150236e-01 3.72502620e-03 9.91209284e+01] [ 1.99149049e-01 9.79968969e-01 -6.90827838e-04 4.01616341e+01] [-3.78798861e-03 6.48504702e-05 -9.99992824e-01 6.74747053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.25, Y:40.86, Z:5.73 [[-9.72928692e-01 -2.31079334e-01 3.47885376e-03 9.92507310e+01] [ 2.31077584e-01 -9.72934908e-01 -9.02242048e-04 4.08633805e+01] [ 3.59318776e-03 -7.39320522e-05 9.99993542e-01 5.73139535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8403857229999 meters Centerline goodness [0,1] 0.9999782040104621 Centerline is valid? [True, True] Translation: X:99.07, Y:40.17, Z:6.75 [[-9.80859165e-01 1.94690847e-01 3.28231107e-03 9.90713378e+01] [ 1.94689947e-01 9.80864655e-01 -5.94558124e-04 4.01714147e+01] [-3.33525794e-03 5.58551832e-05 -9.99994437e-01 6.74749074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.06, Y:40.20, Z:6.75 [[-9.92278610e-01 1.23993183e-01 2.97492751e-03 9.90647635e+01] [ 1.23992768e-01 9.92283069e-01 -3.24109215e-04 4.02033102e+01] [-2.99215753e-03 4.72628548e-05 -9.99995522e-01 6.74765082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.900385723 meters Centerline goodness [0,1] 0.9999347655910238 Centerline is valid? [True, True] Translation: X:99.07, Y:40.23, Z:6.75 [[-9.98609879e-01 5.26306665e-02 2.88504921e-03 9.90709421e+01] [ 5.26305744e-02 9.98614045e-01 -1.07869963e-04 4.02323665e+01] [-2.88672793e-03 4.41217866e-05 -9.99995832e-01 6.74756120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.930385723 meters Centerline goodness [0,1] 0.9998914223669924 Centerline is valid? [True, True] Translation: X:99.10, Y:40.94, Z:5.73 [[-9.95980817e-01 -8.95233852e-02 2.78862937e-03 9.91028108e+01] [ 8.95228983e-02 -9.95984719e-01 -2.99167270e-04 4.09371305e+01] [ 2.80421471e-03 -4.83186780e-05 9.99996067e-01 5.73111820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.00, Y:40.24, Z:6.75 [[-9.98914010e-01 4.65589858e-02 1.74975892e-03 9.90031148e+01] [ 4.65589566e-02 9.98915542e-01 -5.74455535e-05 4.02390399e+01] [-1.75053599e-03 2.40837813e-05 -9.99998468e-01 6.74774719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.02, Y:40.94, Z:5.73 [[-9.96359742e-01 -8.52308967e-02 1.72002271e-03 9.90178155e+01] [ 8.52307260e-02 -9.96361227e-01 -1.72435195e-04 4.09373395e+01] [ 1.72846074e-03 -2.52087019e-05 9.99998506e-01 5.73115292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.92, Y:40.24, Z:6.75 [[-9.99151096e-01 4.11696178e-02 1.46629944e-03 9.89242940e+01] [ 4.11696023e-02 9.99152172e-01 -4.07743650e-05 4.02433762e+01] [-1.46673493e-03 1.96272132e-05 -9.99998924e-01 6.74741810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.92, Y:40.27, Z:6.75 [[-9.99533565e-01 -3.05221621e-02 1.02481433e-03 9.89184297e+01] [-3.05221328e-02 9.99534090e-01 4.42227315e-05 4.02746910e+01] [-1.02568663e-03 1.29225856e-05 -9.99999474e-01 6.74743213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.080385723 meters Centerline goodness [0,1] 0.999978217778649 Centerline is valid? [True, True] Translation: X:98.90, Y:40.31, Z:6.75 [[-9.94648971e-01 -1.03304500e-01 1.26678153e-03 9.89019135e+01] [-1.03304398e-01 9.94649778e-01 1.45781552e-04 4.03052162e+01] [-1.27506386e-03 1.41373669e-05 -9.99999187e-01 6.74763651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.110385723 meters Centerline goodness [0,1] 0.9999132038624281 Centerline is valid? [True, True] Translation: X:98.81, Y:40.99, Z:5.73 [[-9.98283124e-01 5.85611817e-02 1.17975659e-03 9.88127564e+01] [-5.85611638e-02 -9.98283821e-01 4.97510862e-05 4.09865187e+01] [ 1.18064540e-03 -1.94222489e-05 9.99999303e-01 5.73130827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.140385723 meters Centerline goodness [0,1] 0.9999782778694934 Centerline is valid? [True, True] Translation: X:98.79, Y:40.30, Z:6.75 [[-9.93673286e-01 -1.12308319e-01 4.93191081e-04 9.87943365e+01] [-1.12308303e-01 9.93673408e-01 5.93052707e-05 4.02970412e+01] [-4.96731338e-04 3.54060951e-06 -9.99999877e-01 6.74648670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.77, Y:40.32, Z:6.75 [[-9.82922794e-01 -1.84017958e-01 4.15500062e-04 9.87667488e+01] [-1.84017941e-01 9.82922882e-01 8.02483403e-05 4.03225993e+01] [-4.23171654e-04 2.41845698e-06 -9.99999911e-01 6.74624282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.200385723 meters Centerline goodness [0,1] 0.9998262154060042 Centerline is valid? [True, True] Translation: X:98.74, Y:40.35, Z:6.75 [[-9.66952439e-01 -2.54955550e-01 8.05115503e-04 9.87436053e+01] [-2.54955457e-01 9.66952774e-01 2.17917270e-04 4.03472958e+01] [-8.34067887e-04 5.44704454e-06 -9.99999652e-01 6.74635807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.70, Y:40.36, Z:6.75 [[-9.46054818e-01 -3.24003168e-01 1.49251783e-03 9.86956753e+01] [-3.24002745e-01 9.46055996e-01 5.23784550e-04 4.03609665e+01] [-1.58171330e-03 1.19490231e-05 -9.99998749e-01 6.74623598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.260385723 meters Centerline goodness [0,1] 0.999956539690128 Centerline is valid? [True, True] Translation: X:98.63, Y:40.37, Z:6.75 [[-9.19854384e-01 -3.92255508e-01 1.87842608e-03 9.86322535e+01] [-3.92254653e-01 9.19856302e-01 8.19190522e-04 4.03681422e+01] [-2.04921406e-03 1.67146223e-05 -9.99997900e-01 6.74634339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.56, Y:40.37, Z:6.75 [[-8.88589738e-01 -4.58696269e-01 2.45154413e-03 9.85603922e+01] [-4.58694446e-01 8.88593120e-01 1.29343184e-03 4.03669116e+01] [-2.77171761e-03 2.48205847e-05 -9.99996159e-01 6.74753738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.48, Y:40.35, Z:6.75 [[-8.52006866e-01 -5.23525342e-01 2.34850915e-03 9.84798704e+01] [-5.23523273e-01 8.52010103e-01 1.47219232e-03 4.03542612e+01] [-2.77168351e-03 2.48187650e-05 -9.99996159e-01 6.74753611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.39, Y:40.33, Z:6.75 [[-8.10786226e-01 -5.85337768e-01 2.32238590e-03 9.83939320e+01] [-5.85335270e-01 8.10789551e-01 1.71044917e-03 4.03303953e+01] [-2.88415672e-03 2.74342504e-05 -9.99995841e-01 6.74755648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.380385723 meters Centerline goodness [0,1] 0.9998481430059007 Centerline is valid? [True, True] Translation: X:98.31, Y:40.30, Z:6.75 [[-7.65807379e-01 -6.43063535e-01 2.88918448e-03 9.83078265e+01] [-6.43058740e-01 7.65812828e-01 2.48372564e-03 4.02959285e+01] [-3.80976793e-03 4.41400955e-05 -9.99992742e-01 6.75039753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.410385723 meters Centerline goodness [0,1] 0.9999134798408029 Centerline is valid? [True, True] Translation: X:98.22, Y:40.25, Z:6.75 [[-7.15612340e-01 -6.98492619e-01 2.65326924e-03 9.82164332e+01] [-6.98487576e-01 7.15617257e-01 2.65461153e-03 4.02494606e+01] [-3.75295182e-03 4.63971715e-05 -9.99992957e-01 6.74807487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.440385723 meters Centerline goodness [0,1] 0.9998913846287527 Centerline is valid? [True, True] Translation: X:98.13, Y:40.19, Z:6.75 [[-6.62037345e-01 -7.49468262e-01 1.96936819e-03 9.81286618e+01] [-7.49464752e-01 6.62040272e-01 2.29413882e-03 4.01943071e+01] [-3.02318529e-03 4.28335333e-05 -9.99995429e-01 6.74689028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4703857229999 meters Centerline goodness [0,1] 0.9999347599164927 Centerline is valid? [True, True] Translation: X:98.04, Y:40.13, Z:6.75 [[-6.03776228e-01 -7.97152297e-01 1.57549061e-03 9.80401249e+01] [-7.97149410e-01 6.03778282e-01 2.14564769e-03 4.01305301e+01] [-2.66165500e-03 3.95896575e-05 -9.99996457e-01 6.74610918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.94, Y:40.04, Z:6.75 [[-5.41654297e-01 -8.40600026e-01 1.48949843e-03 9.79432474e+01] [-8.40596629e-01 5.41656343e-01 2.39030635e-03 4.00391269e+01] [-2.81608786e-03 4.26523463e-05 -9.99996034e-01 6.74585989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.87, Y:39.97, Z:6.75 [[-4.75536143e-01 -8.79694939e-01 1.48005156e-03 9.78716178e+01] [-8.79690361e-01 4.75538444e-01 2.83846060e-03 3.99712683e+01] [-3.20080084e-03 4.78035120e-05 -9.99994876e-01 6.74611569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.79, Y:39.87, Z:6.75 [[-4.06188821e-01 -9.13788353e-01 1.21996259e-03 9.77934733e+01] [-9.13783901e-01 4.06190651e-01 2.85258983e-03 3.98741565e+01] [-3.10220076e-03 4.39079253e-05 -9.99995187e-01 6.74605449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5903857229999 meters Centerline goodness [0,1] 0.9998260642692525 Centerline is valid? [True, True] Translation: X:97.73, Y:39.78, Z:6.75 [[-3.34756791e-01 -9.42303815e-01 1.18798351e-03 9.77258950e+01] [-9.42297324e-01 3.34758895e-01 3.49781379e-03 3.97804982e+01] [-3.69369133e-03 5.14832350e-05 -9.99993177e-01 6.74900891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.620385723 meters Centerline goodness [0,1] 0.9999783357525076 Centerline is valid? [True, True] Translation: X:97.66, Y:39.68, Z:6.75 [[-2.59095445e-01 -9.65851080e-01 1.11404685e-03 9.76629250e+01] [-9.65841278e-01 2.59097835e-01 4.35179902e-03 3.96768241e+01] [-4.49183691e-03 5.15388686e-05 -9.99989910e-01 6.74762406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.650385723 meters Centerline goodness [0,1] 0.9999565491320689 Centerline is valid? [True, True] Translation: X:97.61, Y:39.56, Z:6.75 [[-1.83214402e-01 -9.83072484e-01 9.87597477e-04 9.76082883e+01] [-9.83056396e-01 1.83217054e-01 5.62446099e-03 3.95649097e+01] [-5.71019753e-03 5.96182386e-05 -9.99983695e-01 6.74884573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.680385723 meters Centerline goodness [0,1] 0.999934893007509 Centerline is valid? [True, True] Translation: X:97.56, Y:39.45, Z:6.75 [[-1.07036111e-01 -9.94254969e-01 5.73301525e-04 9.75635723e+01] [-9.94237497e-01 1.07037629e-01 5.89456101e-03 3.94476418e+01] [-5.92206140e-03 6.09330103e-05 -9.99982463e-01 6.74907928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.710385723 meters Centerline goodness [0,1] 0.9999564744287269 Centerline is valid? [True, True] Translation: X:97.53, Y:39.33, Z:6.75 [[-3.11333492e-02 -9.99515230e-01 1.37967814e-04 9.75286424e+01] [-9.99491490e-01 3.11335607e-02 6.88940645e-03 3.93309681e+01] [-6.89036210e-03 7.65926405e-05 -9.99976258e-01 6.74895028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.50, Y:39.21, Z:6.75 [[ 4.49295616e-02 -9.98990071e-01 -4.16095085e-04 9.75023267e+01] [-9.98963390e-01 -4.49314029e-02 7.30167596e-03 3.92063273e+01] [-7.31299752e-03 8.76026566e-05 -9.99973256e-01 6.74854613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.770385723 meters Centerline goodness [0,1] 0.9998260037409196 Centerline is valid? [True, True] Translation: X:97.49, Y:39.09, Z:6.75 [[ 1.19553183e-01 -9.92827221e-01 -1.07015721e-03 9.74865097e+01] [-9.92795440e-01 -1.19557919e-01 7.94471468e-03 3.90854595e+01] [-8.01567476e-03 1.12631272e-04 -9.99967868e-01 6.75095899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.48, Y:38.96, Z:6.75 [[ 1.95557612e-01 -9.80690750e-01 -1.69496150e-03 9.74800932e+01] [-9.80658764e-01 -1.95564925e-01 7.92147309e-03 3.89558758e+01] [-8.09999040e-03 1.13074485e-04 -9.99967188e-01 6.74843995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.48, Y:38.84, Z:6.75 [[ 2.69910020e-01 -9.62882650e-01 -2.36282469e-03 9.74807853e+01] [-9.62849561e-01 -2.69920335e-01 7.98350195e-03 3.88367500e+01] [-8.32494995e-03 1.20217545e-04 -9.99965340e-01 6.74886704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.49, Y:38.71, Z:6.75 [[ 3.42778696e-01 -9.39411126e-01 -3.08273010e-03 9.74909218e+01] [-9.39376403e-01 -3.42792534e-01 8.07793577e-03 3.87142073e+01] [-8.64523960e-03 1.26899626e-04 -9.99962621e-01 6.74829240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.51, Y:38.59, Z:6.75 [[ 4.13029850e-01 -9.10710631e-01 -3.53416943e-03 9.75111467e+01] [-9.10679906e-01 -4.13044950e-01 7.48183862e-03 3.85948038e+01] [-8.27356080e-03 1.28274402e-04 -9.99965765e-01 6.74852931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.920385723 meters Centerline goodness [0,1] 0.9999783249523149 Centerline is valid? [True, True] Translation: X:97.54, Y:38.48, Z:6.75 [[ 4.81606177e-01 -8.76378623e-01 -3.99994772e-03 9.75395413e+01] [-8.76350526e-01 -4.81622772e-01 7.01864767e-03 3.84773725e+01] [-8.07745868e-03 1.25132213e-04 -9.99967369e-01 6.74836078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.950385723 meters Centerline goodness [0,1] 0.9999349847214095 Centerline is valid? [True, True] Translation: X:97.58, Y:38.36, Z:6.75 [[ 5.46893096e-01 -8.37190926e-01 -4.39259837e-03 9.75775627e+01] [-8.37165729e-01 -5.46910722e-01 6.49644594e-03 3.83641985e+01] [-7.84112474e-03 1.24471385e-04 -9.99969250e-01 6.74789858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.980385723 meters Centerline goodness [0,1] 0.9999781683222355 Centerline is valid? [True, True] Translation: X:97.62, Y:38.26, Z:6.75 [[ 6.09080311e-01 -7.93093551e-01 -4.87799717e-03 9.76223256e+01] [-7.93069756e-01 -6.09099831e-01 6.14479072e-03 3.82556438e+01] [-7.84458114e-03 1.25920983e-04 -9.99969223e-01 6.74723661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.67, Y:38.15, Z:6.75 [[ 6.67547335e-01 -7.44551994e-01 -4.78372233e-03 9.76720383e+01] [-7.44534099e-01 -6.67564466e-01 5.16331845e-03 3.81528171e+01] [-7.03780209e-03 1.14884921e-04 -9.99975228e-01 6.74543206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.73, Y:38.06, Z:6.75 [[ 7.22004593e-01 -6.91872594e-01 -4.65638526e-03 9.77274909e+01] [-6.91859142e-01 -7.22019600e-01 4.31568805e-03 3.80552872e+01] [-6.34790771e-03 1.05616113e-04 -9.99979846e-01 6.74522915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.72, Y:38.04, Z:6.75 [[ 7.73745885e-01 -6.33474283e-01 -5.25725169e-03 9.77207001e+01] [-6.33460644e-01 -7.73763737e-01 4.15831401e-03 3.80447850e+01] [-6.70205570e-03 1.12783692e-04 -9.99977535e-01 6.74586152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1003857229999 meters Centerline goodness [0,1] 0.9999782035353866 Centerline is valid? [True, True] Translation: X:97.72, Y:38.03, Z:6.75 [[ 8.20986087e-01 -5.70923541e-01 -5.30620544e-03 9.77154117e+01] [-5.70912449e-01 -8.21003227e-01 3.56034817e-03 3.80325482e+01] [-6.38909838e-03 1.06382432e-04 -9.99979584e-01 6.74618505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.71, Y:38.02, Z:6.75 [[ 8.63150221e-01 -5.04915576e-01 -5.65303909e-03 9.77114954e+01] [-5.04905559e-01 -8.63168726e-01 3.18234516e-03 3.80218669e+01] [-6.48634219e-03 1.07408936e-04 -9.99978958e-01 6.74659696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.71, Y:38.01, Z:6.75 [[ 9.00024708e-01 -4.35792828e-01 -6.33533706e-03 9.77093211e+01] [-4.35782928e-01 -9.00046998e-01 2.93974136e-03 3.80109981e+01] [-6.98321930e-03 1.14991872e-04 -9.99975610e-01 6.74700781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.71, Y:38.00, Z:6.75 [[ 9.31359469e-01 -3.64038612e-01 -6.74010607e-03 9.77078758e+01] [-3.64029992e-01 -9.31383850e-01 2.50787571e-03 3.80005835e+01] [-7.19058953e-03 1.17866971e-04 -9.99974140e-01 6.74710729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.71, Y:37.99, Z:6.75 [[ 9.56904622e-01 -2.90327105e-01 -6.61191698e-03 9.77062679e+01] [-2.90320997e-01 -9.56927458e-01 1.88664102e-03 3.79874216e+01] [-6.87486794e-03 1.14242816e-04 -9.99976361e-01 6.74691400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.71, Y:37.98, Z:6.75 [[ 9.76703225e-01 -2.14494370e-01 -6.55554141e-03 9.77062954e+01] [-2.14490295e-01 -9.76725219e-01 1.32673573e-03 3.79755381e+01] [-6.68753996e-03 1.10272947e-04 -9.99977632e-01 6.74675216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.70, Y:37.96, Z:6.75 [[ 9.90601889e-01 -1.36651036e-01 -5.86446318e-03 9.77030475e+01] [-1.36649197e-01 -9.90619244e-01 7.15047080e-04 3.79646061e+01] [-5.90716201e-03 9.30471944e-05 -9.99982548e-01 6.74657727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.310385723 meters Centerline goodness [0,1] 0.9999346988528766 Centerline is valid? [True, True] Translation: X:97.70, Y:37.95, Z:6.75 [[ 9.98262367e-01 -5.86062500e-02 -6.12817933e-03 9.77018996e+01] [-5.86057383e-02 -9.98281172e-01 2.63198906e-04 3.79548864e+01] [-6.13307115e-03 9.64049118e-05 -9.99981188e-01 6.74823920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.70, Y:37.94, Z:6.75 [[ 9.99767963e-01 2.05503113e-02 -6.45795257e-03 9.77017131e+01] [ 2.05492607e-02 -9.99788816e-01 -2.28999974e-04 3.79448318e+01] [-6.46129477e-03 9.62406865e-05 -9.99979121e-01 6.74644606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.70, Y:37.94, Z:6.75 [[ 9.95116612e-01 9.84916895e-02 -6.50508354e-03 9.77024189e+01] [ 9.84889346e-02 -9.95137869e-01 -7.43271637e-04 3.79351947e+01] [-6.54666105e-03 9.89632051e-05 -9.99978566e-01 6.74641049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.70, Y:37.92, Z:6.75 [[ 9.84481981e-01 1.75362813e-01 -6.56608434e-03 9.77048354e+01] [ 1.75358192e-01 -9.84503871e-01 -1.27752243e-03 3.79186660e+01] [-6.68836538e-03 1.06281136e-04 -9.99977627e-01 6.74594982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.430385723 meters Centerline goodness [0,1] 0.999978280228492 Centerline is valid? [True, True] Translation: X:97.71, Y:37.91, Z:6.75 [[ 9.67903845e-01 2.51236942e-01 -6.49197198e-03 9.77068087e+01] [ 2.51230518e-01 -9.67925610e-01 -1.80007593e-03 3.79055003e+01] [-6.73599151e-03 1.11318930e-04 -9.99977307e-01 6.74621324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.460385723 meters Centerline goodness [0,1] 0.9999565849740595 Centerline is valid? [True, True] Translation: X:97.71, Y:37.89, Z:6.75 [[ 9.45571835e-01 3.25351906e-01 -6.32794855e-03 9.77112030e+01] [ 3.25343785e-01 -9.45593001e-01 -2.30169790e-03 3.78931899e+01] [-6.73252566e-03 1.17661978e-04 -9.99977329e-01 6.74655213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.72, Y:37.88, Z:6.75 [[ 9.17354488e-01 3.98027218e-01 -5.92264038e-03 9.77151688e+01] [ 3.98018100e-01 -9.17373599e-01 -2.69654727e-03 3.78822196e+01] [-6.50657313e-03 1.16371669e-04 -9.99978825e-01 6.74680857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.520385723 meters Centerline goodness [0,1] 0.9999348604928889 Centerline is valid? [True, True] Translation: X:97.72, Y:37.87, Z:6.75 [[ 8.83761390e-01 4.67899037e-01 -6.02469735e-03 9.77207788e+01] [ 4.67887168e-01 -8.83781916e-01 -3.33525709e-03 3.78702477e+01] [-6.88508215e-03 1.28692861e-04 -9.99976289e-01 6.74658747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.550385723 meters Centerline goodness [0,1] 0.9999130585985047 Centerline is valid? [True, True] Translation: X:97.73, Y:37.86, Z:6.75 [[ 8.44773495e-01 5.35091072e-01 -5.94038759e-03 9.77281856e+01] [ 5.35076688e-01 -8.44794369e-01 -3.92584358e-03 3.78594775e+01] [-7.11908984e-03 1.37885685e-04 -9.99974650e-01 6.74897071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.74, Y:37.85, Z:6.75 [[ 8.00147601e-01 5.99775997e-01 -5.70691356e-03 9.77352366e+01] [ 5.99759502e-01 -8.00167941e-01 -4.45035837e-03 3.78500851e+01] [-7.23570740e-03 1.38167940e-04 -9.99973812e-01 6.74702427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.74, Y:37.84, Z:6.75 [[ 7.50340049e-01 6.61029542e-01 -5.45494915e-03 9.77424704e+01] [ 6.61010740e-01 -7.50359865e-01 -4.98754836e-03 3.78407260e+01] [-7.39009171e-03 1.36577307e-04 -9.99972684e-01 6.74674904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.75, Y:37.83, Z:6.75 [[ 6.95445121e-01 7.18560646e-01 -5.16539585e-03 9.77514783e+01] [ 7.18539414e-01 -6.95464291e-01 -5.52536014e-03 3.78313335e+01] [-7.56265472e-03 1.31044240e-04 -9.99971394e-01 6.74672755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.670385723 meters Centerline goodness [0,1] 0.9999782910732893 Centerline is valid? [True, True] Translation: X:97.76, Y:37.82, Z:6.75 [[ 6.36804551e-01 7.71009873e-01 -4.87230941e-03 9.77600373e+01] [ 7.70985689e-01 -6.36823176e-01 -6.10815864e-03 3.78233192e+01] [-7.81225017e-03 1.33222389e-04 -9.99969475e-01 6.74732292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.77, Y:37.82, Z:6.75 [[ 5.73353865e-01 8.19295964e-01 -4.41240564e-03 9.77680679e+01] [ 8.19270028e-01 -5.73370830e-01 -6.52021539e-03 3.78156994e+01] [-7.87193084e-03 1.23439010e-04 -9.99969008e-01 6.74666983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.730385723 meters Centerline goodness [0,1] 0.9998477598956068 Centerline is valid? [True, True] Translation: X:97.78, Y:37.81, Z:6.75 [[ 5.07505372e-01 8.61639075e-01 -4.05001686e-03 9.77782923e+01] [ 8.61609574e-01 -5.07521515e-01 -7.13116806e-03 3.78090187e+01] [-8.19996374e-03 1.29572793e-04 -9.99966371e-01 6.74992170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.79, Y:37.80, Z:6.75 [[ 4.37759285e-01 8.99086063e-01 -3.32564548e-03 9.77900364e+01] [ 8.99058051e-01 -4.37771902e-01 -7.09808161e-03 3.78019436e+01] [-7.83766039e-03 1.17302784e-04 -9.99969278e-01 6.74585873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.790385723 meters Centerline goodness [0,1] 0.999783956618489 Centerline is valid? [True, True] Translation: X:97.80, Y:37.80, Z:6.75 [[ 3.66953187e-01 9.30235278e-01 -2.77228364e-03 9.77995428e+01] [ 9.30206093e-01 -3.66963638e-01 -7.36976574e-03 3.77960441e+01] [-7.87294338e-03 1.25563894e-04 -9.99969000e-01 6.75042583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.81, Y:37.79, Z:6.75 [[ 2.93479286e-01 9.55963323e-01 -2.00840687e-03 9.78104347e+01] [ 9.55938089e-01 -2.93486134e-01 -6.94690810e-03 3.77914053e+01] [-7.23042892e-03 1.18861002e-04 -9.99973853e-01 6.74600864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8503857229999 meters Centerline goodness [0,1] 0.9998479384802538 Centerline is valid? [True, True] Translation: X:97.82, Y:37.79, Z:6.75 [[ 2.18889628e-01 9.75748434e-01 -1.52480028e-03 9.78226099e+01] [ 9.75720333e-01 -2.18894898e-01 -7.40647906e-03 3.77875561e+01] [-7.56063134e-03 1.33422809e-04 -9.99971409e-01 6.74952346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.83, Y:37.78, Z:6.75 [[ 1.42428987e-01 9.89804662e-01 -8.45681393e-04 9.78329384e+01] [ 9.89781653e-01 -1.42431443e-01 -6.75013252e-03 3.77841140e+01] [-6.80176426e-03 1.24374609e-04 -9.99976860e-01 6.74663776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.84, Y:37.78, Z:6.75 [[ 6.52516934e-02 9.97868787e-01 -3.18484856e-04 9.78436308e+01] [ 9.97845082e-01 -6.52523389e-02 -6.87933412e-03 3.77823452e+01] [-6.88545467e-03 1.31089654e-04 -9.99976286e-01 6.74656692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.940385723 meters Centerline goodness [0,1] 0.9999131416659428 Centerline is valid? [True, True] Translation: X:97.85, Y:37.78, Z:6.75 [[-1.19683534e-02 9.99928349e-01 2.35013493e-04 9.78548304e+01] [ 9.99901672e-01 1.19697511e-02 -7.30551660e-03 3.77812287e+01] [-7.30780620e-03 1.47555380e-04 -9.99973287e-01 6.74873145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9703857229999 meters Centerline goodness [0,1] 0.9998696728789261 Centerline is valid? [True, True] Translation: X:97.86, Y:37.78, Z:6.75 [[-8.87797929e-02 9.96050834e-01 9.41057627e-04 9.78644665e+01] [ 9.96014804e-01 8.87845876e-02 -8.47393772e-03 3.77799589e+01] [-8.52402414e-03 1.84992892e-04 -9.99963653e-01 6.74967416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.88, Y:37.78, Z:6.75 [[-1.66614428e-01 9.86020915e-01 1.54510808e-03 9.78778809e+01] [ 9.85987831e-01 1.66621498e-01 -8.07917948e-03 3.77806143e+01] [-8.22368817e-03 1.77349899e-04 -9.99966169e-01 6.74713000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.89, Y:37.78, Z:6.75 [[-2.43252186e-01 9.69960416e-01 2.27294619e-03 9.78893123e+01] [ 9.69924936e-01 2.43262734e-01 -8.29831691e-03 3.77820860e+01] [-8.60196203e-03 1.86003464e-04 -9.99962985e-01 6.74724570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.060385723 meters Centerline goodness [0,1] 0.9999782910732893 Centerline is valid? [True, True] Translation: X:97.90, Y:37.78, Z:6.75 [[-3.17975027e-01 9.48093666e-01 3.20658122e-03 9.78994897e+01] [ 9.48051892e-01 3.17991126e-01 -8.90250495e-03 3.77834194e+01] [-9.46007293e-03 2.09231137e-04 -9.99955231e-01 6.74787044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.91, Y:37.79, Z:6.75 [[-3.91045317e-01 9.20363169e-01 3.89825974e-03 9.79097242e+01] [ 9.20322704e-01 3.91064690e-01 -8.63303242e-03 3.77861948e+01] [-9.46999682e-03 2.11750040e-04 -9.99955136e-01 6.74755058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.92, Y:37.79, Z:6.75 [[-4.61519649e-01 8.87117580e-01 4.69186926e-03 9.79197372e+01] [ 8.87076528e-01 4.61543444e-01 -8.53721055e-03 3.77890546e+01] [-9.73901105e-03 2.21956678e-04 -9.99952550e-01 6.74814310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.150385723 meters Centerline goodness [0,1] 0.999913028352757 Centerline is valid? [True, True] Translation: X:97.93, Y:37.79, Z:6.75 [[-5.28119746e-01 8.49151866e-01 5.53556165e-03 9.79289414e+01] [ 8.49110037e-01 5.28148699e-01 -8.43196058e-03 3.77911061e+01] [-1.00836147e-02 2.47216067e-04 -9.99949129e-01 6.75088321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.180385723 meters Centerline goodness [0,1] 0.9998914412262799 Centerline is valid? [True, True] Translation: X:97.94, Y:37.79, Z:6.75 [[-5.91364449e-01 8.06378615e-01 6.45121055e-03 9.79359509e+01] [ 8.06335703e-01 5.91399570e-01 -8.32357139e-03 3.77925826e+01] [-1.05271931e-02 2.79577188e-04 -9.99944549e-01 6.75251850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.210385723 meters Centerline goodness [0,1] 0.9998914412262799 Centerline is valid? [True, True] Translation: X:97.94, Y:37.80, Z:6.75 [[-6.52699978e-01 7.57583372e-01 7.08327537e-03 9.79440106e+01] [ 7.57543344e-01 6.52738352e-01 -7.79272156e-03 3.77963863e+01] [-1.05271618e-02 2.79578917e-04 -9.99944549e-01 6.75251823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.95, Y:37.80, Z:6.75 [[-7.09703488e-01 7.04460489e-01 7.50856583e-03 9.79502157e+01] [ 7.04425159e-01 7.09743152e-01 -7.06067453e-03 3.78000140e+01] [-1.03031194e-02 2.78237342e-04 -9.99946883e-01 6.74992863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.270385723 meters Centerline goodness [0,1] 0.9999782679561012 Centerline is valid? [True, True] Translation: X:97.97, Y:37.82, Z:6.75 [[-7.57332078e-01 6.52981934e-01 7.91946341e-03 9.79742815e+01] [ 6.52950078e-01 7.57373432e-01 -6.45611036e-03 3.78192989e+01] [-1.02137146e-02 2.81594769e-04 -9.99947799e-01 6.74959342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.300385723 meters Centerline goodness [0,1] 0.9998694403342328 Centerline is valid? [True, True] Translation: X:97.99, Y:37.84, Z:6.75 [[-8.01626984e-01 5.97755835e-01 9.06312479e-03 9.79904170e+01] [ 5.97721903e-01 8.01678157e-01 -6.37643759e-03 3.78393676e+01] [-1.10772620e-02 3.05703757e-04 -9.99938599e-01 6.75215688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.00, Y:37.86, Z:6.75 [[-8.42337684e-01 5.38868780e-01 9.36290542e-03 9.80048661e+01] [ 5.38839332e-01 8.42389668e-01 -5.64110555e-03 3.78648839e+01] [-1.09270305e-02 2.93385921e-04 -9.99940255e-01 6.74972045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.02, Y:37.89, Z:6.75 [[-8.78889118e-01 4.76924535e-01 9.84412567e-03 9.80189503e+01] [ 4.76898224e-01 8.78944200e-01 -5.01763350e-03 3.78907327e+01] [-1.10454697e-02 2.84702564e-04 -9.99938956e-01 6.75103671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.390385723 meters Centerline goodness [0,1] 0.9999563671269934 Centerline is valid? [True, True] Translation: X:98.03, Y:37.92, Z:6.75 [[-9.10621166e-01 4.13111811e-01 1.03790497e-02 9.80322885e+01] [ 4.13088540e-01 9.10680268e-01 -4.39406791e-03 3.79166177e+01] [-1.12672372e-02 2.86135271e-04 -9.99936482e-01 6.75229616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.04, Y:37.95, Z:6.75 [[-9.38167299e-01 3.46027602e-01 1.03449278e-02 9.80402782e+01] [ 3.46009615e-01 9.38224297e-01 -3.53767571e-03 3.79471048e+01] [-1.09299960e-02 2.60512818e-04 -9.99940232e-01 6.74931991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.450385723 meters Centerline goodness [0,1] 0.9999345635388038 Centerline is valid? [True, True] Translation: X:98.05, Y:37.98, Z:6.75 [[-9.60476177e-01 2.78164331e-01 1.04937179e-02 9.80463661e+01] [ 2.78150602e-01 9.60533467e-01 -2.77515340e-03 3.79765529e+01] [-1.08515159e-02 2.53365217e-04 -9.99941089e-01 6.75073548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.480385723 meters Centerline goodness [0,1] 0.9999125969627445 Centerline is valid? [True, True] Translation: X:98.23, Y:38.65, Z:5.73 [[-9.53820416e-01 -3.00204385e-01 1.01951794e-02 9.82253308e+01] [ 3.00184348e-01 -9.53874867e-01 -3.47791295e-03 3.86477162e+01] [ 1.07690101e-02 -2.56871099e-04 9.99941980e-01 5.73058092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.510385723 meters Centerline goodness [0,1] 0.9999563089828731 Centerline is valid? [True, True] Translation: X:97.99, Y:37.99, Z:6.75 [[-9.62470509e-01 2.71185292e-01 1.04429994e-02 9.79942811e+01] [ 2.71171757e-01 9.62527138e-01 -2.71801321e-03 3.79918114e+01] [-1.07887555e-02 2.15838930e-04 -9.99941776e-01 6.74840549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.540385723 meters Centerline goodness [0,1] 0.9998469945355192 Centerline is valid? [True, True] Translation: X:97.99, Y:38.02, Z:6.75 [[-9.79387758e-01 2.01719826e-01 1.04274281e-02 9.79937987e+01] [ 2.01710639e-01 9.79443245e-01 -1.93627491e-03 3.80216657e+01] [-1.06036590e-02 2.06959234e-04 -9.99943758e-01 6.75127628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.01, Y:38.05, Z:6.75 [[-9.91411703e-01 1.30471173e-01 8.95034672e-03 9.80051177e+01] [ 1.30467271e-01 9.91452091e-01 -1.02095478e-03 3.80500671e+01] [-9.00704514e-03 1.55540801e-04 -9.99959424e-01 6.74770550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.09, Y:38.74, Z:5.73 [[-9.86479278e-01 -1.63677394e-01 8.26711123e-03 9.80861439e+01] [ 1.63670077e-01 -9.86513901e-01 -1.55854101e-03 3.87374049e+01] [ 8.41071808e-03 -1.84389671e-04 9.99964612e-01 5.73096169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.94, Y:38.06, Z:6.75 [[-9.92160921e-01 1.24729546e-01 7.69718301e-03 9.79411508e+01] [ 1.24726751e-01 9.92190771e-01 -8.44054468e-04 3.80561611e+01] [-7.74235247e-03 1.22606768e-04 -9.99970020e-01 6.74767202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.94, Y:38.08, Z:6.75 [[-9.98534787e-01 5.35368060e-02 7.87971103e-03 9.79390579e+01] [ 5.35360999e-02 9.98565870e-01 -3.00656751e-04 3.80845818e+01] [-7.88450670e-03 1.21632772e-04 -9.99968909e-01 6.74769553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.93, Y:38.11, Z:6.75 [[-9.99799374e-01 -1.83477545e-02 8.03566437e-03 9.79258993e+01] [-1.83462121e-02 9.99831659e-01 2.65619057e-04 3.81134185e+01] [-8.03918515e-03 1.18141763e-04 -9.99967678e-01 6.74752338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.93, Y:38.14, Z:6.75 [[-9.95807273e-01 -9.11498975e-02 7.71823369e-03 9.79256542e+01] [-9.11463685e-02 9.95837178e-01 8.08485119e-04 3.81423222e+01] [-7.75979739e-03 1.01606389e-04 -9.99969887e-01 6.74721091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.85, Y:38.84, Z:5.73 [[-9.98765023e-01 4.92082928e-02 6.85367464e-03 9.78524370e+01] [-4.92081704e-02 -9.98788527e-01 1.86588675e-04 3.88358466e+01] [ 6.85455330e-03 -1.50898547e-04 9.99976496e-01 5.73194905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.82, Y:38.13, Z:6.75 [[-9.94970247e-01 -9.99243352e-02 7.02384578e-03 9.78168394e+01] [-9.99213182e-02 9.94995036e-01 7.80033086e-04 3.81312265e+01] [-7.06663597e-03 7.42777838e-05 -9.99975028e-01 6.74737222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.80, Y:38.16, Z:6.75 [[-9.85230776e-01 -1.71094814e-01 6.84704264e-03 9.78019427e+01] [-1.71090180e-01 9.85254566e-01 1.26115301e-03 3.81584101e+01] [-6.96185676e-03 7.10650036e-05 -9.99975764e-01 6.74790735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8403857229999 meters Centerline goodness [0,1] 0.999934334369391 Centerline is valid? [True, True] Translation: X:97.77, Y:38.18, Z:6.75 [[-9.70441652e-01 -2.41209757e-01 7.80079895e-03 9.77742041e+01] [-2.41201258e-01 9.70473001e-01 2.02667641e-03 3.81791685e+01] [-8.05931889e-03 8.52086826e-05 -9.99967520e-01 6.75004152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.870385723 meters Centerline goodness [0,1] 0.9998470747585966 Centerline is valid? [True, True] Translation: X:97.72, Y:38.19, Z:6.75 [[-9.50435803e-01 -3.10821654e-01 7.85397615e-03 9.77223513e+01] [-3.10810239e-01 9.50468248e-01 2.66538988e-03 3.81919047e+01] [-8.29341584e-03 9.21857662e-05 -9.99965605e-01 6.75096510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.66, Y:38.20, Z:6.75 [[-9.25090055e-01 -3.79686199e-01 6.83966035e-03 9.76589150e+01] [-3.79675147e-01 9.25115335e-01 2.89823882e-03 3.81980622e+01] [-7.42789596e-03 8.42828619e-05 -9.99972409e-01 6.74778647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.59, Y:38.19, Z:6.75 [[-8.94795232e-01 -4.46428203e-01 6.58431093e-03 9.75854898e+01] [-4.46415370e-01 8.94819452e-01 3.38622504e-03 3.81935040e+01] [-7.40347586e-03 9.06404205e-05 -9.99972590e-01 6.74771640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.50, Y:38.18, Z:6.75 [[-8.59318594e-01 -5.11401017e-01 6.36820308e-03 9.75018448e+01] [-5.11386150e-01 8.59342185e-01 3.90068501e-03 3.81786903e+01] [-7.46727983e-03 9.53202991e-05 -9.99972115e-01 6.74790897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.42, Y:38.15, Z:6.75 [[-8.19202844e-01 -5.73467395e-01 6.46895113e-03 9.74154319e+01] [-5.73448445e-01 8.19228377e-01 4.66328153e-03 3.81540124e+01] [-7.97378825e-03 1.10563528e-04 -9.99968203e-01 6.74873335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.33, Y:38.12, Z:6.75 [[-7.74094407e-01 -6.33041598e-01 6.01527764e-03 9.73263557e+01] [-6.33021326e-01 7.74117770e-01 5.06738009e-03 3.81195160e+01] [-7.86439570e-03 1.14831560e-04 -9.99969069e-01 6.74896207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.24, Y:38.07, Z:6.75 [[-7.24553075e-01 -6.89194345e-01 5.83060581e-03 9.72362051e+01] [-6.89170618e-01 7.24576524e-01 5.72023855e-03 3.80740096e+01] [-8.16707615e-03 1.26334226e-04 -9.99966641e-01 6.74921380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.14, Y:38.01, Z:6.75 [[-6.71058545e-01 -7.41382228e-01 5.72888518e-03 9.71420836e+01] [-7.41353352e-01 6.71082983e-01 6.54496189e-03 3.80121158e+01] [-8.69687579e-03 1.44924373e-04 -9.99962171e-01 6.74967454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:37.95, Z:6.75 [[-6.13137763e-01 -7.89956494e-01 5.55174405e-03 9.70553304e+01] [-7.89921715e-01 6.13162876e-01 7.41436336e-03 3.79501119e+01] [-9.26114782e-03 1.60582985e-04 -9.99957102e-01 6.75029666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.140385723 meters Centerline goodness [0,1] 0.9999779337128735 Centerline is valid? [True, True] Translation: X:96.97, Y:37.88, Z:6.75 [[-5.51757451e-01 -8.33988550e-01 5.17818636e-03 9.69669252e+01] [-8.33948804e-01 5.51781721e-01 8.14399573e-03 3.78753925e+01] [-9.64922777e-03 1.75167999e-04 -9.99953430e-01 6.75052395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.89, Y:37.79, Z:6.75 [[-4.87564872e-01 -8.73075744e-01 4.38642505e-03 9.68874803e+01] [-8.73036975e-01 4.87584568e-01 8.22972456e-03 3.77908163e+01] [-9.32392606e-03 1.83013344e-04 -9.99956515e-01 6.75018229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.81, Y:37.70, Z:6.75 [[-4.19932662e-01 -9.07548224e-01 3.57494061e-03 9.68122896e+01] [-9.07511577e-01 4.19947839e-01 8.15783800e-03 3.76981835e+01] [-8.90491997e-03 1.81442633e-04 -9.99960334e-01 6.74927453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.75, Y:37.60, Z:6.75 [[-3.50249466e-01 -9.36651492e-01 3.04853705e-03 9.67454669e+01] [-9.36610868e-01 3.50262675e-01 8.72583503e-03 3.75986842e+01] [-9.24085515e-03 2.00926122e-04 -9.99957282e-01 6.74875304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.68, Y:37.49, Z:6.75 [[-2.77764208e-01 -9.60646036e-01 2.49760012e-03 9.66824404e+01] [-9.60599857e-01 2.77775352e-01 9.42169644e-03 3.74894926e+01] [-9.74468709e-03 2.17815730e-04 -9.99952496e-01 6.74923521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.63, Y:37.38, Z:6.75 [[-2.03332403e-01 -9.79108024e-01 1.84699387e-03 9.66272081e+01] [-9.79056677e-01 2.03340660e-01 1.00298929e-02 3.73751598e+01] [-1.01959176e-02 2.31090547e-04 -9.99947994e-01 6.74992484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.58, Y:37.26, Z:6.75 [[-1.28725213e-01 -9.91679675e-01 1.11423212e-03 9.65822362e+01] [-9.91623279e-01 1.28729779e-01 1.05791014e-02 3.72597116e+01] [-1.06345147e-02 2.56898565e-04 -9.99943419e-01 6.75097413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.54, Y:37.14, Z:6.75 [[-5.28435404e-02 -9.98602762e-01 2.88408970e-04 9.65440966e+01] [-9.98548817e-01 5.28436845e-02 1.03828839e-02 3.71409769e+01] [-1.03836171e-02 2.60677908e-04 -9.99946055e-01 6.75067755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.52, Y:37.02, Z:6.75 [[ 2.31228483e-02 -9.99732499e-01 -5.13442323e-04 9.65195358e+01] [-9.99678732e-01 -2.31269315e-02 1.03719552e-02 3.70151652e+01] [-1.03810550e-02 2.73448225e-04 -9.99946078e-01 6.75054485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.76, Y:36.86, Z:5.73 [[ 8.17809833e-03 9.99966542e-01 1.83671441e-04 9.57588918e+01] [-9.99911648e-01 8.17572426e-03 1.04810709e-02 3.68602205e+01] [ 1.04792186e-02 -2.69370442e-04 9.99945055e-01 5.72811398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.53, Y:36.71, Z:6.75 [[ 3.28200432e-02 -9.99461098e-01 -5.99335820e-04 9.65349737e+01] [-9.99410087e-01 -3.28244254e-02 1.01012306e-02 3.67097649e+01] [-1.01154598e-02 2.67459441e-04 -9.99948802e-01 6.75183914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.51, Y:36.58, Z:6.75 [[ 1.11118205e-01 -9.93806260e-01 -1.36471830e-03 9.65113550e+01] [-9.93756586e-01 -1.11126300e-01 9.93948845e-03 3.65847451e+01] [-1.00295819e-02 2.51739685e-04 -9.99949671e-01 6.75183428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.50, Y:36.45, Z:6.75 [[ 1.88238576e-01 -9.82121076e-01 -2.10501025e-03 9.65038670e+01] [-9.82073136e-01 -1.88250192e-01 9.70677387e-03 3.64468754e+01] [-9.92949578e-03 2.40084728e-04 -9.99950673e-01 6.75164273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.50, Y:36.33, Z:6.75 [[ 2.65379913e-01 -9.64140049e-01 -2.73284038e-03 9.65040691e+01] [-9.64096785e-01 -2.65393901e-01 9.13596881e-03 3.63276095e+01] [-9.53363258e-03 2.10220018e-04 -9.99954532e-01 6.75150990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.560385723 meters Centerline goodness [0,1] 0.9999114397679721 Centerline is valid? [True, True] Translation: X:96.51, Y:36.20, Z:6.75 [[ 3.39276193e-01 -9.40681585e-01 -3.13375134e-03 9.65125953e+01] [-9.40646427e-01 -3.39290613e-01 8.13501780e-03 3.62013503e+01] [-8.71571385e-03 1.87734128e-04 -9.99962000e-01 6.74984852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.53, Y:36.08, Z:6.75 [[ 4.11253380e-01 -9.11514224e-01 -3.53228502e-03 9.65346607e+01] [-9.11484094e-01 -4.11268514e-01 7.41318666e-03 3.60819980e+01] [-8.20994270e-03 1.70923542e-04 -9.99966283e-01 6.75070979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.56, Y:35.96, Z:6.75 [[ 4.81109602e-01 -8.76652216e-01 -3.80052166e-03 9.65598521e+01] [-8.76627272e-01 -4.81124589e-01 6.61474869e-03 3.59600828e+01] [-7.62735852e-03 1.49221833e-04 -9.99970900e-01 6.74942263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.60, Y:35.84, Z:6.75 [[ 5.47626831e-01 -8.36711272e-01 -4.37057104e-03 9.66005924e+01] [-8.36686710e-01 -5.47644252e-01 6.41272643e-03 3.58385349e+01] [-7.75911860e-03 1.45017647e-04 -9.99969887e-01 6.75001106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.64, Y:35.73, Z:6.75 [[ 6.11893266e-01 -7.90928540e-01 -4.32166234e-03 9.66383173e+01] [-7.90910102e-01 -6.11908517e-01 5.40162232e-03 3.57322620e+01] [-6.91675925e-03 1.12830081e-04 -9.99976073e-01 6.75071252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.69, Y:35.63, Z:6.75 [[ 6.71610229e-01 -7.40891340e-01 -4.44098745e-03 9.66899464e+01] [-7.40876084e-01 -6.71624905e-01 4.75560939e-03 3.56254570e+01] [-6.50606759e-03 9.63054830e-05 -9.99978831e-01 6.75044931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.74, Y:35.53, Z:6.75 [[ 7.28111085e-01 -6.85449080e-01 -3.71583071e-03 9.67413821e+01] [-6.85440568e-01 -7.28120564e-01 3.41651861e-03 3.55280549e+01] [-5.04742229e-03 5.93760422e-05 -9.99987260e-01 6.74914636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.73, Y:35.52, Z:6.75 [[ 7.80542494e-01 -6.25090734e-01 -3.87149525e-03 9.67342065e+01] [-6.25083358e-01 -7.80552094e-01 3.03711491e-03 3.55162098e+01] [-4.92037612e-03 4.94100051e-05 -9.99987894e-01 6.74861548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.800385723 meters Centerline goodness [0,1] 0.9999779866599159 Centerline is valid? [True, True] Translation: X:96.73, Y:35.50, Z:6.75 [[ 8.27898511e-01 -5.60864159e-01 -3.93065198e-03 9.67285859e+01] [-5.60858067e-01 -8.27907841e-01 2.61444007e-03 3.55039398e+01] [-4.72056332e-03 4.00468288e-05 -9.99988857e-01 6.74901838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.72, Y:35.49, Z:6.75 [[ 8.70562742e-01 -4.92043178e-01 -3.74480907e-03 9.67227137e+01] [-4.92038747e-01 -8.70570796e-01 2.08838059e-03 3.54904386e+01] [-4.28769484e-03 2.45248282e-05 -9.99990808e-01 6.74835527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.860385723 meters Centerline goodness [0,1] 0.9999342162968161 Centerline is valid? [True, True] Translation: X:96.72, Y:35.48, Z:6.75 [[ 9.06654538e-01 -4.21856750e-01 -3.79884285e-03 9.67198672e+01] [-4.21853143e-01 -9.06662496e-01 1.74442209e-03 3.54783852e+01] [-4.18016458e-03 2.09655998e-05 -9.99991263e-01 6.74832856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.72, Y:35.47, Z:6.75 [[ 9.36748457e-01 -3.49980965e-01 -3.95639105e-03 9.67176052e+01] [-3.49977944e-01 -9.36756812e-01 1.45426505e-03 3.54677740e+01] [-4.21514135e-03 2.23690665e-05 -9.99991116e-01 6.74820928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.920385723 meters Centerline goodness [0,1] 0.9999561778303644 Centerline is valid? [True, True] Translation: X:96.72, Y:35.46, Z:6.75 [[ 9.60953678e-01 -2.76670323e-01 -4.64349163e-03 9.67172367e+01] [-2.76667247e-01 -9.60964896e-01 1.30505360e-03 3.54580431e+01] [-4.82330205e-03 3.06059906e-05 -9.99988367e-01 6.74941816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.950385723 meters Centerline goodness [0,1] 0.9999344305291457 Centerline is valid? [True, True] Translation: X:96.72, Y:35.45, Z:6.75 [[ 9.79415692e-01 -2.01800387e-01 -4.63741275e-03 9.67180292e+01] [-2.01798295e-01 -9.79426670e-01 9.19528356e-04 3.54485646e+01] [-4.72756690e-03 3.52214851e-05 -9.99988824e-01 6.74993506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.71, Y:35.44, Z:6.75 [[ 9.91927709e-01 -1.26732582e-01 -4.27477077e-03 9.67142014e+01] [-1.26731587e-01 -9.91936919e-01 5.04147851e-04 3.54421499e+01] [-4.30419491e-03 4.16702593e-05 -9.99990736e-01 6.74771051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.71, Y:35.43, Z:6.75 [[ 9.98724015e-01 -5.03417482e-02 -4.00617587e-03 9.67117910e+01] [-5.03415252e-02 -9.98732049e-01 1.56544292e-04 3.54313525e+01] [-4.00897695e-03 4.53324598e-05 -9.99991963e-01 6.74685768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.71, Y:35.42, Z:6.75 [[ 9.99621815e-01 2.72655520e-02 -3.57992465e-03 9.67101829e+01] [ 2.72652227e-02 -9.99628225e-01 -1.40786552e-04 3.54192349e+01] [-3.58243234e-03 4.31258662e-05 -9.99993582e-01 6.74703022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.070385723 meters Centerline goodness [0,1] 0.9999561922285013 Centerline is valid? [True, True] Translation: X:96.71, Y:35.41, Z:6.75 [[ 9.94488716e-01 1.04781978e-01 -3.59603289e-03 9.67096638e+01] [ 1.04781125e-01 -9.94495216e-01 -4.25234583e-04 3.54079513e+01] [-3.62079443e-03 4.60946229e-05 -9.99993444e-01 6.74844292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.71, Y:35.40, Z:6.75 [[ 9.83169790e-01 1.82664086e-01 -3.31597042e-03 9.67089618e+01] [ 1.82662904e-01 -9.83175381e-01 -6.58610436e-04 3.53966172e+01] [-3.38048496e-03 4.18210971e-05 -9.99994285e-01 6.74736361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.71, Y:35.39, Z:6.75 [[ 9.65856693e-01 2.59056478e-01 -3.25424651e-03 9.67091690e+01] [ 2.59054862e-01 -9.65862174e-01 -9.16129311e-04 3.53883143e+01] [-3.38048284e-03 4.18212456e-05 -9.99994285e-01 6.74736359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.71, Y:35.38, Z:6.75 [[ 9.42119260e-01 3.35265980e-01 -2.83252515e-03 9.67114619e+01] [ 3.35264360e-01 -9.42123517e-01 -1.04280172e-03 3.53782113e+01] [-3.01820450e-03 3.27988508e-05 -9.99995445e-01 6.74677830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.190385723 meters Centerline goodness [0,1] 0.9999343329320346 Centerline is valid? [True, True] Translation: X:96.72, Y:35.36, Z:6.75 [[ 9.12654275e-01 4.08716973e-01 -3.55118350e-03 9.67165085e+01] [ 4.08713710e-01 -9.12661183e-01 -1.63364443e-03 3.53643440e+01] [-3.90872554e-03 3.95351882e-05 -9.99992360e-01 6.74788770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.72, Y:35.35, Z:6.75 [[ 8.77182837e-01 4.80148428e-01 -2.78532068e-03 9.67207022e+01] [ 4.80145906e-01 -8.77187259e-01 -1.55627518e-03 3.53521100e+01] [-3.19049089e-03 2.77775503e-05 -9.99994910e-01 6.74634003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.250385723 meters Centerline goodness [0,1] 0.9999781883220276 Centerline is valid? [True, True] Translation: X:96.73, Y:35.34, Z:6.75 [[ 8.35405065e-01 5.49628049e-01 -2.71754966e-03 9.67259724e+01] [ 5.49625065e-01 -8.35409485e-01 -1.81130437e-03 3.53406928e+01] [-3.26581045e-03 1.95394348e-05 -9.99994667e-01 6.74702200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.73, Y:35.33, Z:6.75 [[ 7.89044126e-01 6.14330670e-01 -2.68227652e-03 9.67328963e+01] [ 6.14327051e-01 -7.89048685e-01 -2.10881824e-03 3.53300650e+01] [-3.41195848e-03 1.61556151e-05 -9.99994179e-01 6.74664259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.74, Y:35.32, Z:6.75 [[ 7.37368790e-01 6.75485726e-01 -2.51044478e-03 9.67412611e+01] [ 6.75481763e-01 -7.37373063e-01 -2.31374316e-03 3.53200236e+01] [-3.41403483e-03 1.03223263e-05 -9.99994172e-01 6.74508103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.75, Y:35.31, Z:6.74 [[ 6.81803421e-01 7.31533196e-01 -1.81064449e-03 9.67512282e+01] [ 7.31530591e-01 -6.81805826e-01 -1.95230823e-03 3.53098156e+01] [-2.66268624e-03 6.54860179e-06 -9.99996455e-01 6.74457511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.76, Y:35.30, Z:6.74 [[ 6.21962970e-01 7.83045633e-01 -1.26513258e-03 9.67623661e+01] [ 7.83044001e-01 -6.21964257e-01 -1.59878089e-03 3.53005503e+01] [-2.03878564e-03 3.72803273e-06 -9.99997922e-01 6.74429376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.77, Y:35.29, Z:6.74 [[ 5.58713533e-01 8.29360183e-01 -9.35370015e-04 9.67734280e+01] [ 8.29359012e-01 -5.58714316e-01 -1.39383712e-03 3.52912641e+01] [-1.67859763e-03 2.99811029e-06 -9.99998591e-01 6.74379352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.79, Y:35.28, Z:6.74 [[ 4.92420199e-01 8.70357017e-01 -1.00514334e-03 9.67851116e+01] [ 8.70355185e-01 -4.92421225e-01 -1.78564265e-03 3.52841022e+01] [-2.04910053e-03 4.45479384e-06 -9.99997901e-01 6.74377579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.80, Y:35.28, Z:6.74 [[ 4.24295552e-01 9.05523244e-01 -9.68577154e-04 9.67978405e+01] [ 9.05520837e-01 -4.24296658e-01 -2.08809815e-03 3.52778604e+01] [-2.30178546e-03 8.90396344e-06 -9.99997351e-01 6.74383190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.81, Y:35.27, Z:6.74 [[ 3.53060021e-01 9.35600456e-01 -6.38994632e-04 9.68097623e+01] [ 9.35598877e-01 -3.53060599e-01 -1.71879801e-03 3.52727288e+01] [-1.83371203e-03 8.99620007e-06 -9.99998319e-01 6.74333314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.82, Y:35.27, Z:6.74 [[ 2.79577339e-01 9.60123022e-01 -5.43173549e-04 9.68216365e+01] [ 9.60121129e-01 -2.79577867e-01 -1.90654350e-03 3.52683505e+01] [-1.98237560e-03 1.15139572e-05 -9.99998035e-01 6.74325052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.550385723 meters Centerline goodness [0,1] 0.9999353448275862 Centerline is valid? [True, True] Translation: X:96.84, Y:35.26, Z:6.75 [[ 2.05135455e-01 9.78733280e-01 -7.81749621e-04 9.68353127e+01] [ 9.78725614e-01 -2.05136943e-01 -3.87397495e-03 3.52644768e+01] [-3.95195394e-03 2.95712390e-05 -9.99992191e-01 6.74594725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.85, Y:35.26, Z:6.75 [[ 1.28244342e-01 9.91742379e-01 -6.66105512e-04 9.68491622e+01] [ 9.91727178e-01 -1.28246064e-01 -5.49112729e-03 3.52623483e+01] [-5.53120904e-03 4.36110637e-05 -9.99984702e-01 6.74542607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.610385723 meters Centerline goodness [0,1] 0.9999568444674607 Centerline is valid? [True, True] Translation: X:96.86, Y:35.26, Z:6.75 [[ 5.08863921e-02 9.98704401e-01 -3.07436337e-04 9.68644141e+01] [ 9.98678030e-01 -5.08872827e-02 -7.25787866e-03 3.52610281e+01] [-7.26411996e-03 6.22973437e-05 -9.99973614e-01 6.74848881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.640385723 meters Centerline goodness [0,1] 0.9999785283318661 Centerline is valid? [True, True] Translation: X:96.88, Y:35.26, Z:6.75 [[-2.73965434e-02 9.99624604e-01 2.83294486e-04 9.68758493e+01] [ 9.99593804e-01 2.73979232e-02 -7.84740545e-03 3.52598338e+01] [-7.85222125e-03 6.81876295e-05 -9.99969169e-01 6.74780855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.670385723 meters Centerline goodness [0,1] 0.9999568835424482 Centerline is valid? [True, True] Translation: X:96.89, Y:35.26, Z:6.75 [[-1.05069726e-01 9.94464426e-01 9.26823239e-04 9.68903908e+01] [ 9.94431780e-01 1.05073787e-01 -8.05822793e-03 3.52613484e+01] [-8.11100583e-03 7.49866787e-05 -9.99967103e-01 6.74804879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:35.26, Z:6.75 [[-1.81017854e-01 9.83478880e-01 1.35269820e-03 9.69054476e+01] [ 9.83454508e-01 1.81022892e-01 -6.92416881e-03 3.52647099e+01] [-7.05464313e-03 7.69189660e-05 -9.99975113e-01 6.74650952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.92, Y:35.27, Z:6.75 [[-2.56181105e-01 9.66627340e-01 1.68139657e-03 9.69170826e+01] [ 9.66608445e-01 2.56186611e-01 -6.04431540e-03 3.52673906e+01] [-6.27335180e-03 7.68127296e-05 -9.99980319e-01 6.74613418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.93, Y:35.27, Z:6.74 [[-3.28581357e-01 9.44473034e-01 2.23149687e-03 9.69314691e+01] [ 9.44453225e-01 3.28588920e-01 -6.11779638e-03 3.52728600e+01] [-6.51133885e-03 9.73505772e-05 -9.99978796e-01 6.74481830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.790385723 meters Centerline goodness [0,1] 0.9999569910971571 Centerline is valid? [True, True] Translation: X:96.94, Y:35.28, Z:6.75 [[-4.00061818e-01 9.16483451e-01 2.93693953e-03 9.69431373e+01] [ 9.16460863e-01 4.00072581e-01 -6.43566195e-03 3.52777046e+01] [-7.07316665e-03 1.16927519e-04 -9.99974978e-01 6.74665232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.820385723 meters Centerline goodness [0,1] 0.9998712860667167 Centerline is valid? [True, True] Translation: X:96.95, Y:35.28, Z:6.75 [[-4.69685671e-01 8.82824454e-01 4.04400035e-03 9.69546566e+01] [ 8.82794373e-01 4.69703057e-01 -7.28930782e-03 3.52843433e+01] [-8.33465853e-03 1.46337322e-04 -9.99965255e-01 6.74860516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.97, Y:35.29, Z:6.75 [[-5.36689754e-01 8.43762977e-01 5.30532755e-03 9.69686437e+01] [ 8.43724965e-01 5.36715947e-01 -8.01101961e-03 3.52949666e+01] [-9.60685565e-03 1.76805155e-04 -9.99953838e-01 6.74671463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.98, Y:35.30, Z:6.75 [[-6.01092515e-01 7.99155713e-01 6.15916653e-03 9.69784877e+01] [ 7.99116865e-01 6.01124041e-01 -7.88178014e-03 3.53034021e+01] [-1.00011927e-02 1.84214797e-04 -9.99949970e-01 6.74760895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.910385723 meters Centerline goodness [0,1] 0.9998505742219186 Centerline is valid? [True, True] Translation: X:96.99, Y:35.31, Z:6.75 [[-6.62260571e-01 7.49244838e-01 6.56573232e-03 9.69871034e+01] [ 7.49210595e-01 6.62293094e-01 -7.16528386e-03 3.53130885e+01] [-9.71699112e-03 1.73831238e-04 -9.99952774e-01 6.74996180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.940385723 meters Centerline goodness [0,1] 0.9999785935994863 Centerline is valid? [True, True] Translation: X:97.00, Y:35.32, Z:6.75 [[-7.19646061e-01 6.94308953e-01 6.68020287e-03 9.69957730e+01] [ 6.94281006e-01 7.19677049e-01 -6.23138992e-03 3.53249928e+01] [-9.13409849e-03 1.53542755e-04 -9.99958272e-01 6.74713796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.01, Y:35.35, Z:6.75 [[-7.67604341e-01 6.40882903e-01 7.25814370e-03 9.70131380e+01] [ 6.40856065e-01 7.67638641e-01 -5.86693845e-03 3.53505048e+01] [-9.33165211e-03 1.47937996e-04 -9.99956448e-01 6.74684964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.000385723 meters Centerline goodness [0,1] 0.9999361946488579 Centerline is valid? [True, True] Translation: X:97.03, Y:35.38, Z:6.75 [[-8.11977985e-01 5.83627756e-01 8.39014399e-03 9.70283028e+01] [ 5.83598450e-01 8.12021318e-01 -5.85048660e-03 3.53776879e+01] [-1.02274821e-02 1.46008707e-04 -9.99947687e-01 6.74926136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.04, Y:35.41, Z:6.75 [[-8.51884311e-01 5.23656761e-01 8.75882306e-03 9.70412485e+01] [ 5.23630687e-01 8.51929327e-01 -5.22731911e-03 3.54083851e+01] [-1.01992192e-02 1.33317400e-04 -9.99947978e-01 6.74662099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.060385723 meters Centerline goodness [0,1] 0.9998723892977157 Centerline is valid? [True, True] Translation: X:97.05, Y:35.44, Z:6.75 [[-8.87757910e-01 4.60176107e-01 1.11285679e-02 9.70503290e+01] [ 4.60141890e-01 8.87827648e-01 -5.61331116e-03 3.54407921e+01] [-1.24633619e-02 1.37458863e-04 -9.99922320e-01 6.74955820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0903857229999 meters Centerline goodness [0,1] 0.999808028667719 Centerline is valid? [True, True] Translation: X:97.06, Y:35.47, Z:6.75 [[-9.18493095e-01 3.95246392e-01 1.22769593e-02 9.70600465e+01] [ 3.95213041e-01 9.18575131e-01 -5.13624328e-03 3.54693918e+01] [-1.33073912e-02 1.34410442e-04 -9.99911444e-01 6.75100315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:35.50, Z:6.75 [[-9.44592405e-01 3.28061865e-01 1.09818603e-02 9.70630582e+01] [ 3.28040974e-01 9.44656235e-01 -3.70365898e-03 3.55014906e+01] [-1.15891121e-02 1.04052000e-04 -9.99932839e-01 6.74761674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.150385723 meters Centerline goodness [0,1] 0.9998932809698625 Centerline is valid? [True, True] Translation: X:97.25, Y:36.05, Z:5.73 [[-9.26772853e-01 -3.75441121e-01 1.16637920e-02 9.72461079e+01] [ 3.75410742e-01 -9.26846246e-01 -4.77619538e-03 3.60469382e+01] [ 1.26037220e-02 -4.77354084e-05 9.99920569e-01 5.72851519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.180385723 meters Centerline goodness [0,1] 0.9999573851529873 Centerline is valid? [True, True] Translation: X:97.01, Y:35.52, Z:6.75 [[-9.46480382e-01 3.22534125e-01 1.21088543e-02 9.70131812e+01] [ 3.22508912e-01 9.46557833e-01 -4.03373264e-03 3.55187511e+01] [-1.27627473e-02 8.73646092e-05 -9.99918549e-01 6.75006375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.210385723 meters Centerline goodness [0,1] 0.9999786716717144 Centerline is valid? [True, True] Translation: X:97.02, Y:35.55, Z:6.75 [[-9.67195125e-01 2.53696975e-01 1.30933309e-02 9.70180971e+01] [ 2.53674857e-01 9.67283743e-01 -3.35093156e-03 3.55471077e+01] [-1.35150874e-02 8.04441776e-05 -9.99908664e-01 6.74949686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.240385723 meters Centerline goodness [0,1] 0.9998937865108869 Centerline is valid? [True, True] Translation: X:97.15, Y:36.11, Z:5.73 [[-9.51680821e-01 -3.06759706e-01 1.42161174e-02 9.71541265e+01] [ 3.06725508e-01 -9.51786995e-01 -4.58037201e-03 3.61069737e+01] [ 1.49357892e-02 1.39363473e-06 9.99888455e-01 5.72756537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.270385723 meters Centerline goodness [0,1] 0.9998937842545779 Centerline is valid? [True, True] Translation: X:96.97, Y:35.56, Z:6.75 [[-9.67985420e-01 2.50600914e-01 1.42621585e-02 9.69685136e+01] [ 2.50575189e-01 9.68090478e-01 -3.59196458e-03 3.55571333e+01] [-1.47072095e-02 9.67737216e-05 -9.99891839e-01 6.75092697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.97, Y:35.59, Z:6.75 [[-9.83326769e-01 1.81371464e-01 1.31475074e-02 9.69674333e+01] [ 1.81356473e-01 9.83414655e-01 -2.33359495e-03 3.55861531e+01] [-1.33526989e-02 8.96991787e-05 -9.99910845e-01 6.74832155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.96, Y:35.61, Z:6.75 [[-9.93684375e-01 1.11391576e-01 1.35381061e-02 9.69648305e+01] [ 1.11382556e-01 9.93776588e-01 -1.42072616e-03 3.56142977e+01] [-1.36121099e-02 9.61554873e-05 -9.99907346e-01 6.74780594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.96, Y:35.64, Z:6.75 [[-9.99084327e-01 4.05870155e-02 1.35352271e-02 9.69572422e+01] [ 4.05846087e-02 9.99176003e-01 -4.52559090e-04 3.56419348e+01] [-1.35424421e-02 9.71772009e-05 -9.99908292e-01 6.74746427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.390385723 meters Centerline goodness [0,1] 0.9999572932459269 Centerline is valid? [True, True] Translation: X:96.98, Y:36.23, Z:5.73 [[-9.95501861e-01 -9.36626798e-02 1.42599884e-02 9.69757498e+01] [ 9.36523383e-02 -9.95603988e-01 -1.39273910e-03 3.62322008e+01] [ 1.43277490e-02 -5.09931066e-05 9.99897351e-01 5.72865441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.89, Y:35.64, Z:6.75 [[-9.99276323e-01 3.54321325e-02 1.38345502e-02 9.68858194e+01] [ 3.54299847e-02 9.99372081e-01 -4.00381332e-04 3.56404785e+01] [-1.38400496e-02 9.00663171e-05 -9.99904218e-01 6.74892116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.90, Y:36.24, Z:5.73 [[-9.95958642e-01 -8.89313421e-02 1.25539112e-02 9.69043233e+01] [ 8.89222313e-02 -9.96037745e-01 -1.28317279e-03 3.62391209e+01] [ 1.26182837e-02 -1.61665235e-04 9.99920373e-01 5.73158126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.82, Y:35.64, Z:6.74 [[-9.99398861e-01 3.24285512e-02 1.22599409e-02 9.68208872e+01] [ 3.24273383e-02 9.99474051e-01 -2.97761332e-04 3.56373102e+01] [-1.22631488e-02 9.99749150e-05 -9.99924800e-01 6.74490140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.84, Y:36.24, Z:5.73 [[-9.96499207e-01 -8.28067064e-02 1.15056331e-02 9.68356321e+01] [ 8.27995612e-02 -9.96565617e-01 -1.09680289e-03 3.62430780e+01] [ 1.15569410e-02 -1.40301837e-04 9.99933207e-01 5.73397791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.540385723 meters Centerline goodness [0,1] 0.9999785320194929 Centerline is valid? [True, True] Translation: X:96.75, Y:35.63, Z:6.74 [[-9.99509374e-01 2.94249638e-02 1.07323535e-02 9.67537589e+01] [ 2.94243986e-02 9.99566987e-01 -2.10595106e-04 3.56338207e+01] [-1.07339030e-02 1.05301265e-04 -9.99942385e-01 6.74372095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.570385723 meters Centerline goodness [0,1] 0.9998929221544063 Centerline is valid? [True, True] Translation: X:96.76, Y:36.25, Z:5.73 [[-9.97032643e-01 -7.60471751e-02 1.19472367e-02 9.67619673e+01] [ 7.60412767e-02 -9.97104220e-01 -9.47842022e-04 3.62512565e+01] [ 1.19847208e-02 -3.65463036e-05 9.99928180e-01 5.73305069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.68, Y:35.63, Z:6.74 [[-9.99601528e-01 2.60019718e-02 1.09856004e-02 9.66809913e+01] [ 2.60017323e-02 9.99661884e-01 -1.64654991e-04 3.56302956e+01] [-1.09861674e-02 1.21055261e-04 -9.99939643e-01 6.74254710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.68, Y:35.66, Z:6.74 [[-9.98979599e-01 -4.39477671e-02 1.04093908e-02 9.66760541e+01] [-4.39440416e-02 9.99033822e-01 5.86466442e-04 3.56556630e+01] [-1.04251073e-02 1.28437310e-04 -9.99945649e-01 6.74210408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.660385723 meters Centerline goodness [0,1] 0.9998277495478426 Centerline is valid? [True, True] Translation: X:96.66, Y:35.68, Z:6.74 [[-9.93427458e-01 -1.13857666e-01 1.17608402e-02 9.66620994e+01] [-1.13847771e-01 9.93497059e-01 1.50971133e-03 3.56825696e+01] [-1.18562523e-02 1.60843256e-04 -9.99929699e-01 6.74406826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.690385723 meters Centerline goodness [0,1] 0.9998707035879755 Centerline is valid? [True, True] Translation: X:96.64, Y:35.70, Z:6.74 [[-9.82872773e-01 -1.83865123e-01 1.24390374e-02 9.66405050e+01] [-1.83848038e-01 9.82951465e-01 2.51314067e-03 3.57042553e+01] [-1.26890489e-02 1.83204921e-04 -9.99919474e-01 6.74401443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.61, Y:35.73, Z:6.74 [[-9.67044641e-01 -2.54320176e-01 1.20793252e-02 9.66080568e+01] [-2.54298005e-01 9.67120063e-01 3.36292317e-03 3.57253419e+01] [-1.25374170e-02 1.80348519e-04 -9.99921387e-01 6.74213775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.55, Y:35.74, Z:6.74 [[-9.46012631e-01 -3.23919463e-01 1.16740879e-02 9.65540543e+01] [-3.23892428e-01 9.46084641e-01 4.18891735e-03 3.57378788e+01] [-1.24015471e-02 1.81620048e-04 -9.99923081e-01 6.74188321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.780385723 meters Centerline goodness [0,1] 0.9999568360850329 Centerline is valid? [True, True] Translation: X:96.49, Y:35.74, Z:6.74 [[-9.19873097e-01 -3.92050775e-01 1.13875195e-02 9.64871497e+01] [-3.92018169e-01 9.19943560e-01 5.05978160e-03 3.57381862e+01] [-1.24595665e-02 1.90242432e-04 -9.99922359e-01 6.74175133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.41, Y:35.73, Z:6.74 [[-8.88452763e-01 -4.58840272e-01 1.08302112e-02 9.64111151e+01] [-4.58803563e-01 8.88518750e-01 5.80704182e-03 3.57318874e+01] [-1.22873504e-02 1.90342839e-04 -9.99924490e-01 6.74133398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.33, Y:35.72, Z:6.74 [[-8.51734097e-01 -5.23850980e-01 1.13657005e-02 9.63295129e+01] [-5.23801089e-01 8.51809902e-01 7.23260463e-03 3.57159054e+01] [-1.34702232e-02 2.06889700e-04 -9.99909251e-01 6.74202031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.870385723 meters Centerline goodness [0,1] 0.9999350466581506 Centerline is valid? [True, True] Translation: X:96.24, Y:35.69, Z:6.74 [[-8.10018209e-01 -5.86282746e-01 1.19600399e-02 9.62442041e+01] [-5.86214665e-01 8.10106468e-01 8.93739665e-03 3.56916367e+01] [-1.49287471e-02 2.28303237e-04 -9.99888534e-01 6.74471344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.900385723 meters Centerline goodness [0,1] 0.9999350565008442 Centerline is valid? [True, True] Translation: X:96.16, Y:35.66, Z:6.74 [[-7.62834587e-01 -6.46503909e-01 1.07744390e-02 9.61554558e+01] [-6.46435692e-01 7.62910647e-01 9.39366636e-03 3.56568411e+01] [-1.42929763e-02 2.00831657e-04 -9.99897830e-01 6.74254075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.930385723 meters Centerline goodness [0,1] 0.9999783601307048 Centerline is valid? [True, True] Translation: X:96.06, Y:35.61, Z:6.74 [[-7.11564374e-01 -7.02556515e-01 9.51237694e-03 9.60645719e+01] [-7.02490262e-01 7.11627929e-01 9.65001069e-03 3.56088215e+01] [-1.35489510e-02 1.84251656e-04 -9.99908192e-01 6.74269896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.97, Y:35.55, Z:6.74 [[-6.56122645e-01 -7.54604743e-01 8.64616781e-03 9.59722647e+01] [-7.54535650e-01 6.56179587e-01 1.02128538e-02 3.55502805e+01] [-1.33801067e-02 1.77042771e-04 -9.99910467e-01 6.74143840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.88, Y:35.48, Z:6.74 [[-5.96960624e-01 -8.02239129e-01 7.09886868e-03 9.58834263e+01] [-8.02179194e-01 5.97002810e-01 9.80739823e-03 3.54802481e+01] [-1.21059232e-02 1.60065809e-04 -9.99926708e-01 6.74044088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.80, Y:35.41, Z:6.74 [[-5.34123770e-01 -8.45382584e-01 6.33119078e-03 9.57987511e+01] [-8.45319611e-01 5.34161268e-01 1.03196017e-02 3.54057868e+01] [-1.21058885e-02 1.60064852e-04 -9.99926708e-01 6.74043924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.050385723 meters Centerline goodness [0,1] 0.9998922413793103 Centerline is valid? [True, True] Translation: X:95.72, Y:35.33, Z:6.74 [[-4.68482418e-01 -8.83454400e-01 5.70498703e-03 9.57226668e+01] [-8.83384376e-01 4.68517122e-01 1.11243159e-02 3.53272485e+01] [-1.25007099e-02 1.71850000e-04 -9.99921848e-01 6.74211399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.080385723 meters Centerline goodness [0,1] 0.9998917209866384 Centerline is valid? [True, True] Translation: X:95.65, Y:35.23, Z:6.74 [[-3.98878942e-01 -9.16990933e-01 4.81851505e-03 9.56485326e+01] [-9.16919054e-01 3.98908012e-01 1.14824728e-02 3.52339423e+01] [-1.24514677e-02 1.61928350e-04 -9.99922464e-01 6.74260906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.110385723 meters Centerline goodness [0,1] 0.99997834232127 Centerline is valid? [True, True] Translation: X:95.58, Y:35.14, Z:6.74 [[-3.26733642e-01 -9.45108991e-01 3.75796389e-03 9.55806340e+01] [-9.45041272e-01 3.26755220e-01 1.13145878e-02 3.51356279e+01] [-1.19214530e-02 1.45425516e-04 -9.99928926e-01 6.74129238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.140385723 meters Centerline goodness [0,1] 0.9999783334055553 Centerline is valid? [True, True] Translation: X:95.52, Y:35.03, Z:6.74 [[-2.52770513e-01 -9.67521901e-01 2.90504368e-03 9.55200739e+01] [-9.67451522e-01 2.52787167e-01 1.16705016e-02 3.50301691e+01] [-1.20258237e-02 1.39469757e-04 -9.99927678e-01 6.74131597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.170385723 meters Centerline goodness [0,1] 0.9999134105422665 Centerline is valid? [True, True] Translation: X:95.47, Y:34.92, Z:6.74 [[-1.76766261e-01 -9.84250256e-01 2.26352144e-03 9.54687125e+01] [-9.84158814e-01 1.76780695e-01 1.34169985e-02 3.49163527e+01] [-1.36058311e-02 1.44008101e-04 -9.99907426e-01 6.74283030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.42, Y:34.80, Z:6.74 [[-9.93272437e-02 -9.95054092e-01 1.20534950e-03 9.54248450e+01] [-9.94965029e-01 9.93344807e-02 1.33136360e-02 3.47982276e+01] [-1.33675208e-02 1.23126175e-04 -9.99910643e-01 6.74126441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.39, Y:34.68, Z:6.74 [[-2.11890149e-02 -9.99775471e-01 1.83691168e-04 9.53905075e+01] [-9.99680877e-01 2.11895370e-02 1.37530765e-02 3.46789275e+01] [-1.37538809e-02 1.07781596e-04 -9.99905405e-01 6.74208081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.37, Y:34.56, Z:6.74 [[ 5.63948207e-02 -9.98408147e-01 -8.92625547e-04 9.53653814e+01] [-9.98309797e-01 -5.64017945e-02 1.40138287e-02 3.45561362e+01] [-1.40418664e-02 1.00809473e-04 -9.99901403e-01 6.74236029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.35, Y:34.43, Z:6.74 [[ 1.33592509e-01 -9.91034303e-01 -2.01312807e-03 9.53502761e+01] [-9.90932216e-01 -1.33607643e-01 1.42246607e-02 3.44321040e+01] [-1.43660960e-02 9.45653588e-05 -9.99896798e-01 6.74107930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.35, Y:34.30, Z:6.74 [[ 2.09256528e-01 -9.77855550e-01 -3.19837813e-03 9.53456304e+01] [-9.77748451e-01 -2.09280946e-01 1.44724983e-02 3.43049790e+01] [-1.48213723e-02 9.87445303e-05 -9.99890153e-01 6.74165221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3503857229999 meters Centerline goodness [0,1] 0.9999563242487771 Centerline is valid? [True, True] Translation: X:95.35, Y:34.18, Z:6.74 [[ 2.82499834e-01 -9.59257923e-01 -4.25232758e-03 9.53517774e+01] [-9.59155433e-01 -2.82531811e-01 1.40225451e-02 3.41848779e+01] [-1.46526553e-02 1.17276438e-04 -9.99892637e-01 6.74325807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.36, Y:34.06, Z:6.74 [[ 3.54908954e-01 -9.34886666e-01 -5.15323224e-03 9.53648129e+01] [-9.34792991e-01 -3.54946344e-01 1.32347153e-02 3.40616084e+01] [-1.42020798e-02 1.20086396e-04 -9.99899138e-01 6.74016921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.410385723 meters Centerline goodness [0,1] 0.9999781301257518 Centerline is valid? [True, True] Translation: X:95.39, Y:33.94, Z:6.74 [[ 4.24606945e-01 -9.05358678e-01 -5.88277394e-03 9.53865577e+01] [-9.05275994e-01 -4.24647675e-01 1.22362830e-02 3.39421378e+01] [-1.35763313e-02 1.29923299e-04 -9.99907829e-01 6.73959131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.42, Y:33.83, Z:6.74 [[ 4.90501465e-01 -8.71415837e-01 -6.53856230e-03 9.54177845e+01] [-8.71342707e-01 -4.90545017e-01 1.12903577e-02 3.38272830e+01] [-1.30460557e-02 1.59391572e-04 -9.99914884e-01 6.73932878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4703857229999 meters Centerline goodness [0,1] 0.9999781229490264 Centerline is valid? [True, True] Translation: X:95.46, Y:33.72, Z:6.74 [[ 5.54546210e-01 -8.32121438e-01 -7.23966139e-03 9.54564719e+01] [-8.32054599e-01 -5.54593438e-01 1.05481419e-02 3.37151969e+01] [-1.27924037e-02 1.74361412e-04 -9.99918159e-01 6.73938694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.51, Y:33.61, Z:6.74 [[ 6.14474614e-01 -7.88895328e-01 -8.06903107e-03 9.55056613e+01] [-7.88831733e-01 -6.14527556e-01 1.00189949e-02 3.36085299e+01] [-1.28625803e-02 2.08689700e-04 -9.99917252e-01 6.73921395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.56, Y:33.51, Z:6.74 [[ 6.72186767e-01 -7.40327497e-01 -8.95252566e-03 9.55550139e+01] [-7.40266260e-01 -6.72246344e-01 9.52459195e-03 3.35102630e+01] [-1.30696200e-02 2.24948013e-04 -9.99914564e-01 6.73884898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.560385723 meters Centerline goodness [0,1] 0.9999779424739721 Centerline is valid? [True, True] Translation: X:95.61, Y:33.42, Z:6.74 [[ 7.25946161e-01 -6.87672943e-01 -1.03969209e-02 9.56120026e+01] [-6.87607424e-01 -7.26020564e-01 9.49584900e-03 3.34173794e+01] [-1.40784168e-02 2.55524877e-04 -9.99900862e-01 6.74027236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.61, Y:33.41, Z:6.74 [[ 7.77611620e-01 -6.28641569e-01 -1.13994268e-02 9.56064664e+01] [-6.28578877e-01 -7.77695127e-01 8.88172644e-03 3.34101206e+01] [-1.44487011e-02 2.58905187e-04 -9.99895579e-01 6.74032099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.620385723 meters Centerline goodness [0,1] 0.9998674765323026 Centerline is valid? [True, True] Translation: X:95.60, Y:33.40, Z:6.74 [[ 8.25052669e-01 -5.64891301e-01 -1.36349391e-02 9.56022446e+01] [-5.64819605e-01 -8.25165283e-01 9.00387783e-03 3.34026773e+01] [-1.63372907e-02 2.72607492e-04 -9.99866500e-01 6.74429823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.60, Y:33.40, Z:6.74 [[ 8.67530751e-01 -4.97175444e-01 -1.43866188e-02 9.55977683e+01] [-4.97111776e-01 -8.67649997e-01 7.96022984e-03 3.33955326e+01] [-1.64401805e-02 2.46013434e-04 -9.99864821e-01 6.74271621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.60, Y:33.39, Z:6.74 [[ 9.04296766e-01 -4.26621340e-01 -1.55432274e-02 9.55951234e+01] [-4.26562748e-01 -9.04430306e-01 7.07415086e-03 3.33881508e+01] [-1.70757497e-02 2.33030061e-04 -9.99854172e-01 6.74294129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.59, Y:33.38, Z:6.74 [[ 9.35757316e-01 -3.52262350e-01 -1.64159398e-02 9.55934459e+01] [-3.52211797e-01 -9.35901276e-01 5.97090464e-03 3.33828631e+01] [-1.74670239e-02 1.94569937e-04 -9.99847421e-01 6.74294411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.59, Y:33.38, Z:6.74 [[ 9.60664747e-01 -2.77199238e-01 -1.68471654e-02 9.55929714e+01] [-2.77159905e-01 -9.60812443e-01 4.67303319e-03 3.33776416e+01] [-1.74823274e-02 1.80140520e-04 -9.99847156e-01 6.74236478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.59, Y:33.37, Z:6.74 [[ 9.79482739e-01 -2.00911138e-01 -1.57568359e-02 9.55889034e+01] [-2.00887790e-01 -9.79609457e-01 3.06709474e-03 3.33654243e+01] [-1.60517590e-02 1.61189591e-04 -9.99871149e-01 6.73950633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.800385723 meters Centerline goodness [0,1] 0.9999777629530798 Centerline is valid? [True, True] Translation: X:95.58, Y:33.36, Z:6.74 [[ 9.92236159e-01 -1.23370149e-01 -1.57229231e-02 9.55832850e+01] [-1.23357145e-01 -9.92360712e-01 1.79797825e-03 3.33553292e+01] [-1.58246280e-02 1.55515873e-04 -9.99874771e-01 6.73983554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.58, Y:33.34, Z:6.74 [[ 9.98851695e-01 -4.51949043e-02 -1.58968990e-02 9.55796021e+01] [-4.51916354e-02 -9.98978176e-01 5.64977878e-04 3.33430897e+01] [-1.59061893e-02 1.54077752e-04 -9.99873477e-01 6.73917885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.58, Y:33.33, Z:6.74 [[ 9.99308102e-01 3.37797226e-02 -1.55643143e-02 9.55754252e+01] [ 3.37734263e-02 -9.99429292e-01 -6.67280372e-04 3.33348063e+01] [-1.55779721e-02 1.41158461e-04 -9.99878646e-01 6.74140350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.57, Y:33.33, Z:6.74 [[ 9.93576932e-01 1.12166478e-01 -1.49519615e-02 9.55724978e+01] [ 1.12151774e-01 -9.93689420e-01 -1.82091781e-03 3.33250903e+01] [-1.50618519e-02 1.32332915e-04 -9.99886555e-01 6.73857858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.57, Y:33.31, Z:6.74 [[ 9.81564311e-01 1.90646475e-01 -1.36170522e-02 9.55714335e+01] [ 1.90626611e-01 -9.81658754e-01 -2.75412698e-03 3.33125437e+01] [-1.38923631e-02 1.07580236e-04 -9.99903491e-01 6.73630254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.950385723 meters Centerline goodness [0,1] 0.9999331386926386 Centerline is valid? [True, True] Translation: X:95.57, Y:33.30, Z:6.74 [[ 9.63577208e-01 2.67133447e-01 -1.25970754e-02 9.55714240e+01] [ 2.67109287e-01 -9.63659542e-01 -3.59399740e-03 3.32990898e+01] [-1.30993688e-02 9.82981547e-05 -9.99914195e-01 6.73779204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.57, Y:33.29, Z:6.74 [[ 9.39410371e-01 3.42573978e-01 -1.22973434e-02 9.55720104e+01] [ 3.42543414e-01 -9.39490853e-01 -4.57687629e-03 3.32859818e+01] [-1.31211603e-02 8.71910791e-05 -9.99913910e-01 6.73639535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.57, Y:33.27, Z:6.74 [[ 9.09727540e-01 4.15031832e-01 -1.20158442e-02 9.55744967e+01] [ 4.14994340e-01 -9.09806886e-01 -5.57916356e-03 3.32724918e+01] [-1.32476283e-02 8.90113922e-05 -9.99912242e-01 6.73555744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.58, Y:33.26, Z:6.74 [[ 8.74527769e-01 4.84827867e-01 -1.19633350e-02 9.55766739e+01] [ 4.84781026e-01 -8.74609588e-01 -6.73990839e-03 3.32594771e+01] [-1.37309429e-02 9.46392303e-05 -9.99905722e-01 6.73604811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.58, Y:33.25, Z:6.74 [[ 8.34147895e-01 5.51425256e-01 -1.12905513e-02 9.55808821e+01] [ 5.51373129e-01 -8.34224297e-01 -7.58263915e-03 3.32469083e+01] [-1.36001109e-02 9.97358954e-05 -9.99907509e-01 6.73518400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.59, Y:33.24, Z:6.73 [[ 7.88732191e-01 6.14649212e-01 -1.03863810e-02 9.55851410e+01] [ 6.14594190e-01 -7.88800567e-01 -8.22474862e-03 3.32355582e+01] [-1.32481185e-02 1.03714549e-04 -9.99912235e-01 6.73491287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.59, Y:33.22, Z:6.74 [[ 7.39609277e-01 6.72968743e-01 -9.54930371e-03 9.55898959e+01] [ 6.72910392e-01 -7.39670910e-01 -8.86280496e-03 3.32231362e+01] [-1.30277329e-02 1.29187059e-04 -9.99915127e-01 6.73590316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.60, Y:33.21, Z:6.74 [[ 6.85675939e-01 7.27849689e-01 -9.12891396e-03 9.55950620e+01] [ 7.27782205e-01 -6.85736689e-01 -9.91237307e-03 3.32133404e+01] [-1.34747489e-02 1.52814570e-04 -9.99909200e-01 6.73615908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.60, Y:33.20, Z:6.74 [[ 6.29504196e-01 7.76950733e-01 -8.48683774e-03 9.55974049e+01] [ 7.76875652e-01 -6.29561368e-01 -1.08029986e-02 3.32049088e+01] [-1.37363828e-02 2.07315326e-04 -9.99905630e-01 6.73630550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.60, Y:33.20, Z:6.74 [[ 5.68455230e-01 8.22681112e-01 -7.37827771e-03 9.56010797e+01] [ 8.22606549e-01 -5.68503066e-01 -1.10783609e-02 3.31977886e+01] [-1.33085318e-02 2.28132650e-04 -9.99911412e-01 6.73617903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.61, Y:33.19, Z:6.74 [[ 5.03755202e-01 8.63823772e-01 -6.26002261e-03 9.56054199e+01] [ 8.63751032e-01 -5.03794039e-01 -1.12125483e-02 3.31908153e+01] [-1.28394278e-02 2.41278538e-04 -9.99917542e-01 6.73575801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.61, Y:33.18, Z:6.73 [[ 4.36694308e-01 8.99595508e-01 -5.09925613e-03 9.56080924e+01] [ 8.99527114e-01 -4.36724003e-01 -1.10958000e-02 3.31831626e+01] [-1.22086994e-02 2.58553564e-04 -9.99925438e-01 6.73441241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.62, Y:33.17, Z:6.73 [[ 3.65191406e-01 9.30923510e-01 -4.08111349e-03 9.56182214e+01] [ 9.30857397e-01 -3.65214121e-01 -1.10974211e-02 3.31738540e+01] [-1.18213305e-02 2.53748162e-04 -9.99930094e-01 6.73334886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.63, Y:33.17, Z:6.73 [[ 2.90668158e-01 9.56818915e-01 -3.09596871e-03 9.56293542e+01] [ 9.56755531e-01 -2.90684547e-01 -1.10157936e-02 3.31656934e+01] [-1.14400699e-02 2.39855240e-04 -9.99934532e-01 6.73296899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.64, Y:33.16, Z:6.73 [[ 2.13918526e-01 9.76849113e-01 -2.16204399e-03 9.56387324e+01] [ 9.76788166e-01 -2.13929336e-01 -1.09140958e-02 3.31580761e+01] [-1.11239495e-02 2.22868308e-04 -9.99938102e-01 6.73351778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.65, Y:33.15, Z:6.73 [[ 1.34257901e-01 9.90945456e-01 -1.38530411e-03 9.56518838e+01] [ 9.90875539e-01 -1.34264886e-01 -1.17731306e-02 3.31515825e+01] [-1.18525279e-02 2.07971835e-04 -9.99929735e-01 6.73305794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.66, Y:33.15, Z:6.73 [[ 5.49363752e-02 9.98489743e-01 -4.76773098e-04 9.56629807e+01] [ 9.98413977e-01 -5.49380807e-02 -1.23019460e-02 3.31457388e+01] [-1.23095599e-02 1.99807396e-04 -9.99924215e-01 6.73413314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.68, Y:33.14, Z:6.73 [[-2.51861065e-02 9.99682644e-01 5.21024532e-04 9.56752282e+01] [ 9.99596634e-01 2.51907748e-02 -1.31146585e-02 3.31412805e+01] [-1.31236215e-02 1.90507184e-04 -9.99913863e-01 6.73476961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.490385723 meters Centerline goodness [0,1] 0.9999778476806521 Centerline is valid? [True, True] Translation: X:95.69, Y:33.14, Z:6.73 [[-1.03768983e-01 9.94600211e-01 1.55541503e-03 9.56875129e+01] [ 9.94513840e-01 1.03780472e-01 -1.31086500e-02 3.31385710e+01] [-1.31992877e-02 1.86610498e-04 -9.99912868e-01 6.73465363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.70, Y:33.14, Z:6.73 [[-1.81154499e-01 9.83451563e-01 2.46381148e-03 9.57017507e+01] [ 9.83373742e-01 1.81171162e-01 -1.23730909e-02 3.31368915e+01] [-1.26147072e-02 1.81406431e-04 -9.99920415e-01 6.73364009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.72, Y:33.13, Z:6.73 [[-2.56739455e-01 9.66476045e-01 2.98456935e-03 9.57154223e+01] [ 9.66418155e-01 2.56756747e-01 -1.05793579e-02 3.31348978e+01] [-1.09910043e-02 1.68203425e-04 -9.99939583e-01 6.73304726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.73, Y:33.14, Z:6.73 [[-3.31449902e-01 9.43465786e-01 3.64327477e-03 9.57280299e+01] [ 9.43414091e-01 3.31469884e-01 -9.87769016e-03 3.31350393e+01] [-1.05268986e-02 1.63157320e-04 -9.99944577e-01 6.73328717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.74, Y:33.13, Z:6.73 [[-4.04121044e-01 9.14694887e-01 4.40967146e-03 9.57408640e+01] [ 9.14644830e-01 4.04145068e-01 -9.57075742e-03 3.31347494e+01] [-1.05364698e-02 1.65538725e-04 -9.99944476e-01 6.73364087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.75, Y:33.13, Z:6.73 [[-4.74542905e-01 8.80216613e-01 5.26736159e-03 9.57517356e+01] [ 8.80166291e-01 4.74572108e-01 -9.41350780e-03 3.31346662e+01] [-1.07856688e-02 1.69040778e-04 -9.99941819e-01 6.73395156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.76, Y:33.14, Z:6.73 [[-5.42358400e-01 8.40124034e-01 6.24285975e-03 9.57645897e+01] [ 8.40071978e-01 5.42394302e-01 -9.35380847e-03 3.31386505e+01] [-1.12444509e-02 1.71334943e-04 -9.99936765e-01 6.73358766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.78, Y:33.14, Z:6.73 [[-6.06792548e-01 7.94827825e-01 7.17857235e-03 9.57774928e+01] [ 7.94775540e-01 6.06834985e-01 -9.11823644e-03 3.31444777e+01] [-1.16036369e-02 1.72475793e-04 -9.99932661e-01 6.73372117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.79, Y:33.15, Z:6.73 [[-6.67398776e-01 7.44661296e-01 7.64384474e-03 9.57909915e+01] [ 7.44615257e-01 6.67442528e-01 -8.28199056e-03 3.31519130e+01] [-1.12691049e-02 1.64333055e-04 -9.99936488e-01 6.73349393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.760385723 meters Centerline goodness [0,1] 0.9999560555457901 Centerline is valid? [True, True] Translation: X:95.80, Y:33.16, Z:6.73 [[-7.24423857e-01 6.89303623e-01 8.40185677e-03 9.58038931e+01] [ 6.89259721e-01 7.24472561e-01 -7.78105734e-03 3.31595772e+01] [-1.14504257e-02 1.54277885e-04 -9.99934430e-01 6.73371510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.82, Y:33.18, Z:6.73 [[-7.71817834e-01 6.35782404e-01 8.82989104e-03 9.58228145e+01] [ 6.35742933e-01 7.71868327e-01 -7.08583063e-03 3.31826631e+01] [-1.13205597e-02 1.44570384e-04 -9.99935910e-01 6.73363336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.820385723 meters Centerline goodness [0,1] 0.9999121844127332 Centerline is valid? [True, True] Translation: X:95.84, Y:33.21, Z:6.74 [[-8.14771166e-01 5.79704572e-01 9.51612608e-03 9.58437485e+01] [ 5.79667170e-01 8.14826722e-01 -6.58673262e-03 3.32051549e+01] [-1.15723528e-02 1.49506051e-04 -9.99933027e-01 6.73542082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.86, Y:33.23, Z:6.73 [[-8.54565777e-01 5.19263902e-01 9.07372544e-03 9.58637088e+01] [ 5.19236120e-01 8.54613940e-01 -5.37264763e-03 3.32302011e+01] [-1.05443542e-02 1.20125201e-04 -9.99944400e-01 6.73298247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.87, Y:33.26, Z:6.73 [[-8.89313025e-01 4.57219293e-01 8.53588917e-03 9.58744552e+01] [ 4.57199377e-01 8.89353983e-01 -4.26876114e-03 3.32573661e+01] [-9.54318698e-03 1.06338330e-04 -9.99954457e-01 6.73321414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.87, Y:33.29, Z:6.73 [[-9.19482550e-01 3.93062198e-01 7.34497816e-03 9.58707963e+01] [ 3.93050424e-01 9.19511882e-01 -3.04363298e-03 3.32916786e+01] [-7.95013176e-03 8.83793612e-05 -9.99968393e-01 6.73147529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.88, Y:33.32, Z:6.73 [[-9.45032230e-01 3.26890194e-01 7.54223632e-03 9.58806820e+01] [ 3.26880529e-01 9.45062322e-01 -2.51528975e-03 3.33185705e+01] [-7.95010693e-03 8.83803186e-05 -9.99968394e-01 6.73147502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.91, Y:33.34, Z:6.73 [[-9.65857761e-01 2.58971680e-01 7.24249735e-03 9.59104363e+01] [ 2.58965044e-01 9.65884911e-01 -1.85587845e-03 3.33404632e+01] [-7.47603887e-03 8.30390369e-05 -9.99972051e-01 6.73089130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.000385723 meters Centerline goodness [0,1] 0.9999129753720303 Centerline is valid? [True, True] Translation: X:95.91, Y:33.37, Z:6.73 [[-9.81862361e-01 1.89478404e-01 6.65115601e-03 9.59134857e+01] [ 1.89474558e-01 9.81884886e-01 -1.20937812e-03 3.33712300e+01] [-6.75982059e-03 7.27819880e-05 -9.99977150e-01 6.73050653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.030385723 meters Centerline goodness [0,1] 0.9999781897491821 Centerline is valid? [True, True] Translation: X:95.91, Y:33.40, Z:6.73 [[-9.92850282e-01 1.19205018e-01 6.20338961e-03 9.59108304e+01] [ 1.19203110e-01 9.92869659e-01 -6.77648600e-04 3.34035696e+01] [-6.23993644e-03 6.66597327e-05 -9.99980529e-01 6.73029641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.99, Y:34.10, Z:5.75 [[-9.86360569e-01 -1.64499601e-01 5.71915482e-03 9.59856050e+01] [ 1.64496309e-01 -9.86377146e-01 -1.04466634e-03 3.41011542e+01] [ 5.81309080e-03 -8.96378335e-05 9.99983100e-01 5.74857500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.85, Y:33.41, Z:6.73 [[-9.93282989e-01 1.15623924e-01 4.47355804e-03 9.58491073e+01] [ 1.15622988e-01 9.93293061e-01 -4.68150806e-04 3.34106966e+01] [-4.49768359e-03 5.22399160e-05 -9.99989884e-01 6.72936780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.120385723 meters Centerline goodness [0,1] 0.9999564838990427 Centerline is valid? [True, True] Translation: X:95.85, Y:33.44, Z:6.73 [[-9.98949981e-01 4.55922643e-02 4.50342668e-03 9.58469281e+01] [ 4.55920541e-02 9.98960131e-01 -1.49372893e-04 3.34406738e+01] [-4.50555395e-03 5.61044238e-05 -9.99989848e-01 6.73045971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.84, Y:33.47, Z:6.73 [[-9.99676139e-01 -2.50844408e-02 4.28802099e-03 9.58441663e+01] [-2.50839720e-02 9.99685334e-01 1.63080852e-04 3.34706043e+01] [-4.29076249e-03 5.54674377e-05 -9.99990793e-01 6.72966859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.180385723 meters Centerline goodness [0,1] 0.9999567193248214 Centerline is valid? [True, True] Translation: X:95.81, Y:34.17, Z:5.75 [[-9.99866565e-01 -1.55254952e-02 5.08055449e-03 9.58134209e+01] [ 1.55252239e-02 -9.99879472e-01 -9.28429679e-05 3.41650732e+01] [ 5.08138357e-03 -1.39538334e-05 9.99987090e-01 5.74759076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.75, Y:33.47, Z:6.73 [[-9.99537320e-01 -2.98854904e-02 5.65709146e-03 9.57456906e+01] [-2.98845636e-02 9.99553326e-01 2.48319222e-04 3.34705670e+01] [-5.66198573e-03 7.91446207e-05 -9.99983968e-01 6.73204769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.74, Y:33.50, Z:6.73 [[-9.95024883e-01 -9.93631691e-02 7.24175586e-03 9.57373236e+01] [-9.93596998e-02 9.95051229e-01 8.38168176e-04 3.34999703e+01] [-7.28920112e-03 1.14459503e-04 -9.99973427e-01 6.73288576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.66, Y:34.18, Z:5.75 [[-9.97861598e-01 6.48930713e-02 7.81792411e-03 9.56570219e+01] [-6.48917680e-02 -9.97892220e-01 4.20520416e-04 3.41848605e+01] [ 7.82873451e-03 -8.76977438e-05 9.99969351e-01 5.74504230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.300385723 meters Centerline goodness [0,1] 0.9998691413491527 Centerline is valid? [True, True] Translation: X:95.63, Y:33.49, Z:6.74 [[-9.94689453e-01 -1.02526452e-01 9.01218779e-03 9.56305941e+01] [-1.02520695e-01 9.94730264e-01 1.09969355e-03 3.34895267e+01] [-9.07744361e-03 1.69917814e-04 -9.99958785e-01 6.73627641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.330385723 meters Centerline goodness [0,1] 0.9999564478899002 Centerline is valid? [True, True] Translation: X:95.61, Y:33.52, Z:6.73 [[-9.84927785e-01 -1.72775467e-01 8.11766399e-03 9.56108313e+01] [-1.72768249e-01 9.84961224e-01 1.58747789e-03 3.35198043e+01] [-8.26986149e-03 1.61076486e-04 -9.99965791e-01 6.73327986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.58, Y:33.54, Z:6.73 [[-9.70027150e-01 -2.42868801e-01 7.87870397e-03 9.55790449e+01] [-2.42859429e-01 9.70059132e-01 2.13984908e-03 3.35418271e+01] [-8.16251131e-03 1.62294155e-04 -9.99966673e-01 6.73460442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.390385723 meters Centerline goodness [0,1] 0.9998915095363118 Centerline is valid? [True, True] Translation: X:95.52, Y:33.56, Z:6.73 [[-9.49833194e-01 -3.12646400e-01 8.31463020e-03 9.55216822e+01] [-3.12632768e-01 9.49869568e-01 2.92505555e-03 3.35597072e+01] [-8.81232228e-03 1.78889002e-04 -9.99961155e-01 6.73458618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.420385723 meters Centerline goodness [0,1] 0.9998705082550987 Centerline is valid? [True, True] Translation: X:95.46, Y:33.57, Z:6.74 [[-9.24560210e-01 -3.80927909e-01 9.07450904e-03 9.54558268e+01] [-3.80907329e-01 9.24604718e-01 3.96521333e-03 3.35664796e+01] [-9.90079429e-03 2.09531463e-04 -9.99950964e-01 6.73751537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.38, Y:33.57, Z:6.73 [[-8.93897646e-01 -4.48207546e-01 7.54950986e-03 9.53808634e+01] [-4.48189843e-01 8.93929507e-01 3.98768358e-03 3.35663371e+01] [-8.53603950e-03 1.80967329e-04 -9.99963551e-01 6.73489075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.30, Y:33.55, Z:6.73 [[-8.58252378e-01 -5.13182104e-01 6.85447022e-03 9.52979803e+01] [-5.13164109e-01 8.58279732e-01 4.30106346e-03 3.35540114e+01] [-8.09028165e-03 1.73929841e-04 -9.99967258e-01 6.73401621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.21, Y:33.53, Z:6.73 [[-8.17708626e-01 -5.75604091e-01 5.70381896e-03 9.52094217e+01] [-5.75588754e-01 8.17728504e-01 4.20472694e-03 3.35315224e+01] [-7.08443338e-03 1.55187436e-04 -9.99974893e-01 6.73328356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.540385723 meters Centerline goodness [0,1] 0.9998490858916868 Centerline is valid? [True, True] Translation: X:95.12, Y:33.50, Z:6.74 [[-7.72676751e-01 -6.34775842e-01 5.50179327e-03 9.51195024e+01] [-6.34758216e-01 7.72696321e-01 4.73321223e-03 3.35011134e+01] [-7.25574419e-03 1.64934564e-04 -9.99973663e-01 6.73544889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.570385723 meters Centerline goodness [0,1] 0.999957015130674 Centerline is valid? [True, True] Translation: X:95.03, Y:33.46, Z:6.73 [[-7.22420147e-01 -6.91445258e-01 3.54784704e-03 9.50262530e+01] [-6.91436152e-01 7.22428850e-01 3.55018041e-03 3.34583248e+01] [-5.01782247e-03 1.11612151e-04 -9.99987404e-01 6.73206238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.93, Y:33.41, Z:6.73 [[-6.67747200e-01 -7.44383599e-01 2.59524651e-03 9.49347594e+01] [-7.44377468e-01 6.67752237e-01 3.02242735e-03 3.34095902e+01] [-3.98282702e-03 8.63743732e-05 -9.99992065e-01 6.73081052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.84, Y:33.35, Z:6.73 [[-6.09472742e-01 -7.92804251e-01 2.09674865e-03 9.48439327e+01] [-7.92799121e-01 6.09476344e-01 2.85315722e-03 3.33473832e+01] [-3.53991387e-03 7.66210631e-05 -9.99993732e-01 6.73043572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.76, Y:33.28, Z:6.73 [[-5.46899524e-01 -8.37194618e-01 2.46620354e-03 9.47568438e+01] [-8.37185290e-01 5.46905076e-01 3.95341355e-03 3.32760849e+01] [-4.65855579e-03 9.74506596e-05 -9.99989144e-01 6.73171050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.68, Y:33.20, Z:6.73 [[-4.81351468e-01 -8.76523841e-01 2.59241722e-03 9.46756020e+01] [-8.76509812e-01 4.81358436e-01 4.96039280e-03 3.31980761e+01] [-5.59578445e-03 1.15413225e-04 -9.99984337e-01 6.73252167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.59, Y:33.10, Z:6.73 [[-4.12655293e-01 -9.10882399e-01 2.97741904e-03 9.45931755e+01] [-9.10855991e-01 4.12666007e-01 6.93765752e-03 3.31014493e+01] [-7.54806974e-03 1.50861125e-04 -9.99971502e-01 6.73461947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.53, Y:33.02, Z:6.73 [[-3.41502596e-01 -9.39877496e-01 2.50391709e-03 9.45254154e+01] [-9.39848894e-01 3.41511742e-01 7.33394228e-03 3.30150721e+01] [-7.74812439e-03 1.51256624e-04 -9.99969971e-01 6.73437718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.46, Y:32.91, Z:6.73 [[-2.68126647e-01 -9.63381617e-01 1.99052184e-03 9.44630706e+01] [-9.63350779e-01 2.68133994e-01 7.70963346e-03 3.29118508e+01] [-7.96104571e-03 1.49587401e-04 -9.99968299e-01 6.73479137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.41, Y:32.81, Z:6.73 [[-1.91895966e-01 -9.81414415e-01 1.29756545e-03 9.44064971e+01] [-9.81387403e-01 1.91900313e-01 7.28250172e-03 3.28052746e+01] [-7.39615538e-03 1.24068313e-04 -9.99972640e-01 6.73345829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.36, Y:32.69, Z:6.73 [[-1.15214031e-01 -9.93340445e-01 6.97803892e-04 9.43609218e+01] [-9.93316048e-01 1.15216092e-01 6.96287888e-03 3.26911011e+01] [-6.99690744e-03 1.09081536e-04 -9.99975515e-01 6.73391710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.870385723 meters Centerline goodness [0,1] 0.9999363327674023 Centerline is valid? [True, True] Translation: X:94.32, Y:32.57, Z:6.73 [[-3.69767030e-02 -9.99316115e-01 1.63018903e-04 9.43177253e+01] [-9.99291877e-01 3.69769416e-02 6.96060041e-03 3.25726511e+01] [-6.96186809e-03 9.44765878e-05 -9.99975762e-01 6.73414099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.900385723 meters Centerline goodness [0,1] 0.9999362190662471 Centerline is valid? [True, True] Translation: X:93.73, Y:32.48, Z:5.74 [[-7.76252537e-02 9.96982402e-01 6.41185105e-04 9.37290055e+01] [-9.96956319e-01 -7.76278612e-02 7.21206639e-03 3.24787761e+01] [ 7.24007710e-03 -7.93950578e-05 9.99973787e-01 5.74414960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.30, Y:32.30, Z:6.73 [[-2.77163655e-02 -9.99615823e-01 9.84142134e-05 9.43048891e+01] [-9.99592548e-01 2.77163918e-02 6.82193675e-03 3.23033186e+01] [-6.82204361e-03 9.07051779e-05 -9.99976726e-01 6.73252636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.960385723 meters Centerline goodness [0,1] 0.9998517545903132 Centerline is valid? [True, True] Translation: X:94.28, Y:32.19, Z:6.74 [[ 4.73255732e-02 -9.98879395e-01 -4.93753715e-04 9.42787650e+01] [-9.98847739e-01 -4.73280047e-02 7.95322160e-03 3.21857084e+01] [-7.96767756e-03 1.16794010e-04 -9.99968251e-01 6.73550150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.26, Y:32.06, Z:6.73 [[ 1.23020216e-01 -9.92403722e-01 -9.38004969e-04 9.42602747e+01] [-9.92380861e-01 -1.23023750e-01 6.73672221e-03 3.20645027e+01] [-6.80094508e-03 1.02105157e-04 -9.99976868e-01 6.73235644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.25, Y:31.94, Z:6.73 [[ 1.96645606e-01 -9.80473516e-01 -1.48000557e-03 9.42501726e+01] [-9.80450039e-01 -1.96651140e-01 6.78595728e-03 3.19445668e+01] [-6.94449617e-03 1.16642838e-04 -9.99975880e-01 6.73242352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.25, Y:31.83, Z:6.73 [[ 2.70242623e-01 -9.62790029e-01 -2.06999717e-03 9.42492862e+01] [-9.62765253e-01 -2.70250521e-01 6.90828273e-03 3.18277887e+01] [-7.21064354e-03 1.26008902e-04 -9.99973995e-01 6.73289590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.26, Y:31.71, Z:6.73 [[ 3.42495273e-01 -9.39514874e-01 -2.96487279e-03 9.42590433e+01] [-9.39483302e-01 -3.42508074e-01 7.70350748e-03 3.17066543e+01] [-8.25305273e-03 1.47033580e-04 -9.99965932e-01 6.73273354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.110385723 meters Centerline goodness [0,1] 0.9999578263711701 Centerline is valid? [True, True] Translation: X:94.28, Y:31.59, Z:6.73 [[ 4.13243121e-01 -9.10613115e-01 -3.72539798e-03 9.42766974e+01] [-9.10579375e-01 -4.13259885e-01 7.84024455e-03 3.15920373e+01] [-8.67898705e-03 1.52343441e-04 -9.99962325e-01 6.73336736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.140385723 meters Centerline goodness [0,1] 0.9999364783602948 Centerline is valid? [True, True] Translation: X:94.30, Y:31.48, Z:6.74 [[ 4.81995482e-01 -8.76157457e-01 -5.33535497e-03 9.43034020e+01] [-8.76107857e-01 -4.82024977e-01 9.32443328e-03 3.14761492e+01] [-1.07414461e-02 1.80011693e-04 -9.99942293e-01 6.73586942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.170385723 meters Centerline goodness [0,1] 0.9999363570792142 Centerline is valid? [True, True] Translation: X:94.34, Y:31.37, Z:6.74 [[ 5.47816259e-01 -8.36575005e-01 -6.29339607e-03 9.43361482e+01] [-8.36523507e-01 -5.47852379e-01 9.28407453e-03 3.13677261e+01] [-1.12146767e-02 1.78606766e-04 -9.99937098e-01 6.73607941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.38, Y:31.26, Z:6.73 [[ 6.10522201e-01 -7.91967041e-01 -7.13081703e-03 9.43757976e+01] [-7.91916236e-01 -6.10563820e-01 8.97205871e-03 3.12644047e+01] [-1.14593937e-02 1.69368745e-04 -9.99934325e-01 6.73458038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.42, Y:31.16, Z:6.73 [[ 6.70464729e-01 -7.41895467e-01 -8.25610685e-03 9.44236390e+01] [-7.41841963e-01 -6.70515543e-01 8.91112014e-03 3.11641974e+01] [-1.21469676e-02 1.50134769e-04 -9.99926212e-01 6.73441709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.47, Y:31.07, Z:6.73 [[ 7.25304914e-01 -6.88371797e-01 -8.77788202e-03 9.44739210e+01] [-6.88323620e-01 -7.25358016e-01 8.14512083e-03 3.10695360e+01] [-1.19739785e-02 1.34327360e-04 -9.99928300e-01 6.73283502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.47, Y:31.05, Z:6.73 [[ 7.78202252e-01 -6.27942538e-01 -9.45642371e-03 9.44701289e+01] [-6.27897898e-01 -7.78259697e-01 7.48825776e-03 3.10539271e+01] [-1.20617490e-02 1.10289511e-04 -9.99927248e-01 6.73267801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.320385723 meters Centerline goodness [0,1] 0.9999574658131474 Centerline is valid? [True, True] Translation: X:94.47, Y:31.04, Z:6.73 [[ 8.24853488e-01 -5.65256897e-01 -1.00679773e-02 9.44691686e+01] [-5.65216448e-01 -8.24914922e-01 6.76306592e-03 3.10406327e+01] [-1.21280943e-02 1.12047833e-04 -9.99926446e-01 6.73475418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3503857229999 meters Centerline goodness [0,1] 0.9999787193292332 Centerline is valid? [True, True] Translation: X:94.47, Y:31.03, Z:6.73 [[ 8.66731083e-01 -4.98668956e-01 -1.03199364e-02 9.44699332e+01] [-4.98635036e-01 -8.66792513e-01 5.81719457e-03 3.10260245e+01] [-1.18460980e-02 1.03938520e-04 -9.99929827e-01 6.73230798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.47, Y:31.01, Z:6.73 [[ 9.03036098e-01 -4.29443550e-01 -1.02001714e-02 9.44716272e+01] [-4.29417395e-01 -9.03093698e-01 4.74057078e-03 3.10119635e+01] [-1.12475180e-02 9.92244800e-05 -9.99936740e-01 6.73086564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.47, Y:31.00, Z:6.73 [[ 9.33738042e-01 -3.57821843e-01 -9.83861316e-03 9.44738186e+01] [-3.57803063e-01 -9.33789869e-01 3.66724429e-03 3.09996760e+01] [-1.04994174e-02 9.60404233e-05 -9.99944875e-01 6.73084845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.48, Y:30.99, Z:6.73 [[ 9.58523053e-01 -2.84806997e-01 -1.08872349e-02 9.44785343e+01] [-2.84790004e-01 -9.58584874e-01 3.11337412e-03 3.09897144e+01] [-1.13230494e-02 1.16334803e-04 -9.99935886e-01 6.73039969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.48, Y:30.98, Z:6.73 [[ 9.77802928e-01 -2.09202961e-01 -1.16428195e-02 9.44839358e+01] [-2.09189643e-01 -9.77872234e-01 2.36373487e-03 3.09792020e+01] [-1.18796903e-02 1.24290395e-04 -9.99929426e-01 6.73079428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.49, Y:30.97, Z:6.73 [[ 9.91056467e-01 -1.32865969e-01 -1.23981676e-02 9.44878935e+01] [-1.32857355e-01 -9.91134004e-01 1.51951300e-03 3.09720562e+01] [-1.24901371e-02 1.41264567e-04 -9.99921985e-01 6.73126750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.49, Y:30.96, Z:6.73 [[ 9.98396739e-01 -5.52100473e-02 -1.24820515e-02 9.44909116e+01] [-5.52075540e-02 -9.98474752e-01 5.44494464e-04 3.09640438e+01] [-1.24930748e-02 1.45482032e-04 -9.99921948e-01 6.73090587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.49, Y:30.96, Z:6.73 [[ 9.99676033e-01 2.25033508e-02 -1.18923608e-02 9.44927403e+01] [ 2.25000271e-02 -9.99746757e-01 -4.13217689e-04 3.09573290e+01] [-1.18986479e-02 1.45505379e-04 -9.99929198e-01 6.73041647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.50, Y:30.95, Z:6.73 [[ 9.94999759e-01 9.91776324e-02 -1.18015497e-02 9.44957227e+01] [ 9.91687122e-02 -9.95069732e-01 -1.34010758e-03 3.09518104e+01] [-1.18762736e-02 1.63062228e-04 -9.99929461e-01 6.72983908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.50, Y:30.94, Z:6.73 [[ 9.84354049e-01 1.75736612e-01 -1.27964583e-02 9.44992089e+01] [ 1.75719211e-01 -9.84437203e-01 -2.48045475e-03 3.09439995e+01] [-1.30332163e-02 1.93062118e-04 -9.99915045e-01 6.73011843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.50, Y:30.94, Z:6.73 [[ 9.67604073e-01 2.52128185e-01 -1.31809380e-02 9.45020896e+01] [ 2.52101908e-01 -9.67693824e-01 -3.64575051e-03 3.09372053e+01] [-1.36743088e-02 2.04703418e-04 -9.99906481e-01 6.73141998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.680385723 meters Centerline goodness [0,1] 0.9999571981937638 Centerline is valid? [True, True] Translation: X:94.51, Y:30.93, Z:6.73 [[ 9.45019089e-01 3.26762375e-01 -1.28558258e-02 9.45087399e+01] [ 3.26729115e-01 -9.45106505e-01 -4.66681261e-03 3.09252742e+01] [-1.36750634e-02 2.09854407e-04 -9.99906470e-01 6.73101178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.51, Y:30.92, Z:6.73 [[ 9.16379779e-01 4.00116051e-01 -1.24597801e-02 9.45135624e+01] [ 4.00076025e-01 -9.16464459e-01 -5.66310527e-03 3.09173690e+01] [-1.36848450e-02 2.04695863e-04 -9.99906337e-01 6.72977287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.52, Y:30.91, Z:6.73 [[ 8.82273477e-01 4.70589481e-01 -1.17920604e-02 9.45188805e+01] [ 4.70544386e-01 -8.82352254e-01 -6.51781107e-03 3.09089937e+01] [-1.34719644e-02 2.01804003e-04 -9.99909229e-01 6.72967959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.53, Y:30.90, Z:6.73 [[ 8.42274472e-01 5.38944353e-01 -1.06159432e-02 9.45255050e+01] [ 5.38898852e-01 -8.42341351e-01 -7.00537234e-03 3.09011794e+01] [-1.27177538e-02 1.79526708e-04 -9.99919110e-01 6.72904072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.53, Y:30.89, Z:6.73 [[ 7.97156700e-01 6.03690286e-01 -9.96162867e-03 9.45348712e+01] [ 6.03640466e-01 -7.97218922e-01 -7.75744401e-03 3.08917926e+01] [-1.26246925e-02 1.70656297e-04 -9.99920291e-01 6.72800951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.54, Y:30.88, Z:6.73 [[ 7.47441193e-01 6.64262549e-01 -9.32356450e-03 9.45448426e+01] [ 6.64208010e-01 -7.47499322e-01 -8.51363924e-03 3.08819571e+01] [-1.26246498e-02 1.70658445e-04 -9.99920291e-01 6.72800912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.55, Y:30.87, Z:6.73 [[ 6.92568517e-01 7.21299680e-01 -8.69601970e-03 9.45527228e+01] [ 7.21239879e-01 -6.92623091e-01 -9.28928025e-03 3.08741273e+01] [-1.27234189e-02 1.61546845e-04 -9.99919041e-01 6.72806898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.890385723 meters Centerline goodness [0,1] 0.9999356582164458 Centerline is valid? [True, True] Translation: X:94.56, Y:30.87, Z:6.73 [[ 6.32473003e-01 7.74542737e-01 -7.83896026e-03 9.45616489e+01] [ 7.74480594e-01 -6.32521565e-01 -9.81216646e-03 3.08680674e+01] [-1.25582537e-02 1.34807786e-04 -9.99921133e-01 6.72697831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.920385723 meters Centerline goodness [0,1] 0.9999569873973074 Centerline is valid? [True, True] Translation: X:94.57, Y:30.86, Z:6.73 [[ 5.68565920e-01 8.22605583e-01 -7.26974563e-03 9.45702183e+01] [ 8.22535669e-01 -5.68612381e-01 -1.07253228e-02 3.08632287e+01] [-1.29563778e-02 1.18427934e-04 -9.99916056e-01 6.72656187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.950385723 meters Centerline goodness [0,1] 0.9999784895351589 Centerline is valid? [True, True] Translation: X:94.58, Y:30.86, Z:6.73 [[ 5.02247239e-01 8.64701151e-01 -6.29526417e-03 9.45786287e+01] [ 8.64630364e-01 -5.02286678e-01 -1.10646912e-02 3.08586573e+01] [-1.27296785e-02 1.14134045e-04 -9.99918968e-01 6.72645470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.59, Y:30.85, Z:6.73 [[ 4.33635937e-01 9.01072583e-01 -5.29848211e-03 9.45867355e+01] [ 9.01001895e-01 -4.33668289e-01 -1.12871418e-02 3.08543657e+01] [-1.24683177e-02 1.20567878e-04 -9.99922260e-01 6.72588901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.010385723 meters Centerline goodness [0,1] 0.9999353294962168 Centerline is valid? [True, True] Translation: X:94.59, Y:30.85, Z:6.73 [[ 3.63575997e-01 9.31553701e-01 -4.49416677e-03 9.45918316e+01] [ 9.31477434e-01 -3.63603742e-01 -1.19209270e-02 3.08506793e+01] [-1.27390795e-02 1.47947979e-04 -9.99918844e-01 6.72543816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.040385723 meters Centerline goodness [0,1] 0.9999568090528226 Centerline is valid? [True, True] Translation: X:94.60, Y:30.85, Z:6.73 [[ 2.90878408e-01 9.56753392e-01 -3.56353681e-03 9.45991128e+01] [ 9.56674433e-01 -2.90900188e-01 -1.22926900e-02 3.08472403e+01] [-1.27977064e-02 1.66533535e-04 -9.99918092e-01 6.72636653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.61, Y:30.85, Z:6.72 [[ 2.16779052e-01 9.76217790e-01 -2.38094929e-03 9.46065389e+01] [ 9.76149814e-01 -2.16792057e-01 -1.15214755e-02 3.08450038e+01] [-1.17636402e-02 1.73451319e-04 -9.99930791e-01 6.72307090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.61, Y:30.84, Z:6.72 [[ 1.40282032e-01 9.90110514e-01 -1.45689722e-03 9.46148703e+01] [ 9.90043076e-01 -1.40289483e-01 -1.15572238e-02 3.08413532e+01] [-1.16473161e-02 1.78879832e-04 -9.99932152e-01 6.72257198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.130385723 meters Centerline goodness [0,1] 0.9998916787625381 Centerline is valid? [True, True] Translation: X:94.62, Y:30.84, Z:6.72 [[ 6.25553719e-02 9.98041350e-01 -5.38746649e-04 9.46246411e+01] [ 9.97975551e-01 -6.25574347e-02 -1.14615095e-02 3.08393143e+01] [-1.14727630e-02 1.79323002e-04 -9.99934170e-01 6.72198143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.160385723 meters Centerline goodness [0,1] 0.9999566677499729 Centerline is valid? [True, True] Translation: X:94.63, Y:30.84, Z:6.72 [[-1.60177347e-02 9.99871643e-01 3.60218431e-04 9.46335991e+01] [ 9.99806100e-01 1.60208097e-02 -1.14496857e-02 3.08379556e+01] [-1.14539870e-02 1.76750557e-04 -9.99934385e-01 6.72171059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.64, Y:30.84, Z:6.72 [[-9.47284413e-02 9.95502386e-01 1.23391325e-03 9.46428990e+01] [ 9.95439570e-01 9.47363269e-02 -1.11843745e-02 3.08373163e+01] [-1.12509679e-02 1.68807714e-04 -9.99936692e-01 6.72145831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.65, Y:30.84, Z:6.72 [[-1.73440732e-01 9.84842280e-01 1.99886626e-03 9.46516384e+01] [ 9.84786428e-01 1.73452186e-01 -1.04895621e-02 3.08363423e+01] [-1.06772720e-02 1.49139028e-04 -9.99942985e-01 6.72005658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.66, Y:30.84, Z:6.72 [[-2.50108413e-01 9.68213984e-01 2.73177875e-03 9.46618661e+01] [ 9.68162371e-01 2.50123289e-01 -9.99819309e-03 3.08368631e+01] [-1.03636719e-02 1.44173186e-04 -9.99946285e-01 6.71956745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.280385723 meters Centerline goodness [0,1] 0.9999782967271464 Centerline is valid? [True, True] Translation: X:94.67, Y:30.84, Z:6.72 [[-3.25173904e-01 9.45648023e-01 3.42778249e-03 9.46726485e+01] [ 9.45599972e-01 3.25191939e-01 -9.53388262e-03 3.08384384e+01] [-1.01303845e-02 1.41141201e-04 -9.99948676e-01 6.71889832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.310385723 meters Centerline goodness [0,1] 0.9998917397423406 Centerline is valid? [True, True] Translation: X:94.68, Y:30.84, Z:6.72 [[-3.97765411e-01 9.17476038e-01 4.51639967e-03 9.46817821e+01] [ 9.17421363e-01 3.97791019e-01 -1.00173690e-02 3.08391084e+01] [-1.09872793e-02 1.58878631e-04 -9.99939625e-01 6.72222267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3403857229999 meters Centerline goodness [0,1] 0.9999782504676149 Centerline is valid? [True, True] Translation: X:94.69, Y:30.84, Z:6.72 [[-4.67981977e-01 8.83721620e-01 5.38223419e-03 9.46925640e+01] [ 8.83667222e-01 4.68012897e-01 -9.80658856e-03 3.08420799e+01] [-1.11852493e-02 1.66797237e-04 -9.99937429e-01 6.71902827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.370385723 meters Centerline goodness [0,1] 0.9999347372084929 Centerline is valid? [True, True] Translation: X:94.70, Y:30.84, Z:6.72 [[-5.35601939e-01 8.44446255e-01 6.40980219e-03 9.47028168e+01] [ 8.44389692e-01 5.35640263e-01 -9.77530991e-03 3.08446372e+01] [-1.16880720e-02 1.76695959e-04 -9.99931677e-01 6.71899229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.71, Y:30.85, Z:6.72 [[-5.99729820e-01 8.00170961e-01 7.11169587e-03 9.47123245e+01] [ 8.00118244e-01 5.99771957e-01 -9.18672207e-03 3.08479354e+01] [-1.16163440e-02 1.80646435e-04 -9.99932512e-01 6.71919840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.430385723 meters Centerline goodness [0,1] 0.9999783338749865 Centerline is valid? [True, True] Translation: X:94.72, Y:30.85, Z:6.72 [[-6.60216264e-01 7.51043060e-01 6.98621700e-03 9.47213216e+01] [ 7.51003653e-01 6.60253205e-01 -7.69535265e-03 3.08521393e+01] [-1.03922134e-02 1.66077510e-04 -9.99945986e-01 6.71865328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.460385723 meters Centerline goodness [0,1] 0.9999564421987978 Centerline is valid? [True, True] Translation: X:94.73, Y:30.86, Z:6.72 [[-7.16796569e-01 6.97245984e-01 7.12156921e-03 9.47298184e+01] [ 6.97213762e-01 7.16831928e-01 -6.70504039e-03 3.08562336e+01] [-9.78003067e-03 1.59106112e-04 -9.99952162e-01 6.71803724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.75, Y:30.88, Z:6.72 [[-7.64470780e-01 6.44609441e-01 7.94325466e-03 9.47459771e+01] [ 6.44576872e-01 7.64512029e-01 -6.48180190e-03 3.08778310e+01] [-1.02509444e-02 1.64890096e-04 -9.99947444e-01 6.71706427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.77, Y:30.90, Z:6.72 [[-8.08181955e-01 5.88871099e-01 8.52979671e-03 9.47673439e+01] [ 5.88840481e-01 8.08226949e-01 -6.00725882e-03 3.08988414e+01] [-1.04315127e-02 1.67731420e-04 -9.99945576e-01 6.71657530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.78, Y:30.92, Z:6.72 [[-8.47437903e-01 5.30841416e-01 7.50941669e-03 9.47823735e+01] [ 5.30822114e-01 8.47471161e-01 -4.52924538e-03 3.09229231e+01] [-8.76832511e-03 1.47910231e-04 -9.99961547e-01 6.71661505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.80, Y:30.95, Z:6.72 [[-8.82499092e-01 4.70250345e-01 7.74382663e-03 9.47999481e+01] [ 4.70233764e-01 8.82533053e-01 -3.95187008e-03 3.09453263e+01] [-8.69255123e-03 1.53886990e-04 -9.99962207e-01 6.71680942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.81, Y:30.97, Z:6.72 [[-9.13022407e-01 4.07833965e-01 7.84477699e-03 9.48108601e+01] [ 4.07820437e-01 9.13056094e-01 -3.32577714e-03 3.09694834e+01] [-8.51908631e-03 1.62751328e-04 -9.99963699e-01 6.71696243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.82, Y:31.00, Z:6.72 [[-9.39482523e-01 3.42495194e-01 8.34453301e-03 9.48224194e+01] [ 3.42483309e-01 9.39519565e-01 -2.85840300e-03 3.09963285e+01] [-8.81884131e-03 1.72443611e-04 -9.99961098e-01 6.71699422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.83, Y:31.02, Z:6.72 [[-9.60961535e-01 2.76527627e-01 9.24122944e-03 9.48337947e+01] [ 2.76516762e-01 9.61005949e-01 -2.45882519e-03 3.10229661e+01] [-9.56080956e-03 1.92518417e-04 -9.99954276e-01 6.71731825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.84, Y:31.05, Z:6.72 [[-9.77724465e-01 2.09657589e-01 9.92801911e-03 9.48358836e+01] [ 2.09649104e-01 9.77774844e-01 -1.89951130e-03 3.10489586e+01] [-1.01056143e-02 2.24201637e-04 -9.99948912e-01 6.71880677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.85, Y:31.08, Z:6.72 [[-9.89831568e-01 1.41920142e-01 9.59896021e-03 9.48488934e+01] [ 1.41915776e-01 9.89878082e-01 -1.13786982e-03 3.10757708e+01] [-9.66328697e-03 2.35944420e-04 -9.99953282e-01 6.71950333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.94, Y:31.81, Z:5.76 [[-9.87170410e-01 -1.59414459e-01 9.03393444e-03 9.49375748e+01] [ 1.59405419e-01 -9.87211713e-01 -1.71669170e-03 3.18091370e+01] [ 9.19207137e-03 -2.54609147e-04 9.99957720e-01 5.76001063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.78, Y:31.08, Z:6.72 [[-9.90357283e-01 1.38238820e-01 9.08187430e-03 9.47784908e+01] [ 1.38235146e-01 9.90398897e-01 -1.03404061e-03 3.10819989e+01] [-9.13762285e-03 2.31364567e-04 -9.99958224e-01 6.71934878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.78, Y:31.11, Z:6.72 [[-9.97693579e-01 6.72440120e-02 9.26094077e-03 9.47758410e+01] [ 6.72432716e-02 9.97736533e-01 -3.91649053e-04 3.11103115e+01] [-9.26631499e-03 2.31990210e-04 -9.99957040e-01 6.71949607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.81, Y:31.86, Z:5.76 [[-9.96368760e-01 -8.46350875e-02 9.28418474e-03 9.48130546e+01] [ 8.46292690e-02 -9.96411988e-01 -1.01850872e-03 3.18568125e+01] [ 9.33707455e-03 -2.29096498e-04 9.99956382e-01 5.75893670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.69, Y:31.11, Z:6.72 [[-9.98094786e-01 6.10227276e-02 9.11183888e-03 9.46939547e+01] [ 6.10221669e-02 9.98136353e-01 -3.39806008e-04 3.11145159e+01] [-9.11559352e-03 2.16865548e-04 -9.99958429e-01 6.72046874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.71, Y:31.14, Z:6.72 [[-9.99916180e-01 -9.99712837e-03 8.22738582e-03 9.47053279e+01] [-9.99519546e-03 9.99950009e-01 2.76021242e-04 3.11442054e+01] [-8.22973395e-03 1.93763776e-04 -9.99966116e-01 6.72029520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.69, Y:31.18, Z:6.72 [[-9.96663453e-01 -8.12802585e-02 7.44856885e-03 9.46917337e+01] [-8.12766715e-02 9.96691271e-01 7.83501876e-04 3.11776369e+01] [-7.48760679e-03 1.75492801e-04 -9.99971952e-01 6.71817356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.62, Y:31.91, Z:5.76 [[-9.98128806e-01 6.08274404e-02 6.23780580e-03 9.46152188e+01] [-6.08276887e-02 -9.98148271e-01 1.50080822e-04 3.19103504e+01] [ 6.23538410e-03 -2.29631318e-04 9.99980534e-01 5.76170933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.58, Y:31.16, Z:6.72 [[-9.96150502e-01 -8.74595544e-02 5.91645662e-03 9.45845280e+01] [-8.74571678e-02 9.96168061e-01 6.61392439e-04 3.11647525e+01] [-5.95163021e-03 1.41409871e-04 -9.99982279e-01 6.71646572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.57, Y:31.19, Z:6.72 [[-9.87571627e-01 -1.57053427e-01 6.04173813e-03 9.45652944e+01] [-1.57049520e-01 9.87590096e-01 1.11867356e-03 3.11919900e+01] [-6.14245225e-03 1.55918193e-04 -9.99981123e-01 6.71603918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.53, Y:31.21, Z:6.72 [[-9.73917360e-01 -2.26817046e-01 6.24532949e-03 9.45312489e+01] [-2.26811252e-01 9.73937369e-01 1.63023960e-03 3.12128602e+01] [-6.45232590e-03 1.71207647e-04 -9.99979169e-01 6.71713457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.47, Y:31.23, Z:6.72 [[-9.55349238e-01 -2.95411408e-01 6.31927298e-03 9.44708844e+01] [-2.95403600e-01 9.55370118e-01 2.15642964e-03 3.12273633e+01] [-6.67427849e-03 1.93407432e-04 -9.99977708e-01 6.71723238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.40, Y:31.23, Z:6.72 [[-9.31379180e-01 -3.63990364e-01 6.62101942e-03 9.44028443e+01] [-3.63979499e-01 9.31402688e-01 2.82086701e-03 3.12320760e+01] [-7.19360369e-03 2.17381474e-04 -9.99974102e-01 6.71719476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.32, Y:31.23, Z:6.72 [[-9.02534002e-01 -4.30564502e-01 6.82540085e-03 9.43248582e+01] [-4.30550114e-01 9.02559776e-01 3.52845139e-03 3.12287212e+01] [-7.67955817e-03 2.45870238e-04 -9.99970482e-01 6.71753858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.24, Y:31.21, Z:6.72 [[-8.67929459e-01 -4.96638233e-01 6.99426276e-03 9.42385850e+01] [-4.96619633e-01 8.67957600e-01 4.30630870e-03 3.12142090e+01] [-8.20940106e-03 2.64083974e-04 -9.99966267e-01 6.71814734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.15, Y:31.19, Z:6.72 [[-8.28331065e-01 -5.60198028e-01 6.76879008e-03 9.41477225e+01] [-5.60176621e-01 8.28358676e-01 4.90474815e-03 3.11889996e+01] [-8.35461623e-03 2.71037295e-04 -9.99965063e-01 6.71921407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.240385723 meters Centerline goodness [0,1] 0.9999344219293068 Centerline is valid? [True, True] Translation: X:94.05, Y:31.15, Z:6.72 [[-7.83348261e-01 -6.21541878e-01 7.15510147e-03 9.40534876e+01] [-6.21512425e-01 7.83380881e-01 6.05816894e-03 3.11534271e+01] [-9.37057539e-03 2.98671640e-04 -9.99956051e-01 6.72150525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.96, Y:31.11, Z:6.72 [[-7.33371125e-01 -6.79797451e-01 6.49761277e-03 9.39561430e+01] [-6.79767323e-01 7.33399855e-01 6.40625492e-03 3.11064789e+01] [-9.12030402e-03 2.81297541e-04 -9.99958370e-01 6.71948811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.87, Y:31.05, Z:6.72 [[-6.78873375e-01 -7.34230243e-01 6.07373712e-03 9.38660546e+01] [-7.34197160e-01 6.78900489e-01 6.97544867e-03 3.10516441e+01] [-9.24504847e-03 2.76125844e-04 -9.99957226e-01 6.71948372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.77, Y:30.98, Z:6.72 [[-6.20931914e-01 -7.83847006e-01 5.23729459e-03 9.37717638e+01] [-7.83815512e-01 6.20953946e-01 7.03136841e-03 3.09823457e+01] [-8.76363582e-03 2.60928301e-04 -9.99961565e-01 6.71855089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.68, Y:30.91, Z:6.72 [[-5.58989203e-01 -8.29161652e-01 4.69320952e-03 9.36830886e+01] [-8.29128459e-01 5.59008845e-01 7.42355929e-03 3.09086287e+01] [-8.77887632e-03 2.58415910e-04 -9.99961432e-01 6.71686308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.60, Y:30.83, Z:6.72 [[-4.94156007e-01 -8.69363810e-01 4.05056842e-03 9.36025064e+01] [-8.69330215e-01 4.94172541e-01 7.64701504e-03 3.08257179e+01] [-8.64971782e-03 2.57536905e-04 -9.99962557e-01 6.71612149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.52, Y:30.73, Z:6.72 [[-4.26328274e-01 -9.04562135e-01 3.39799230e-03 9.35237090e+01] [-9.04528465e-01 4.26341739e-01 7.80885096e-03 3.07327258e+01] [-8.51229684e-03 2.55553191e-04 -9.99963737e-01 6.71543998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.45, Y:30.63, Z:6.72 [[-3.56462720e-01 -9.34306101e-01 2.53738753e-03 9.34531639e+01] [-9.34277445e-01 3.56471671e-01 7.32152489e-03 3.06301564e+01] [-7.74505215e-03 2.39226737e-04 -9.99969978e-01 6.71539631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.39, Y:30.52, Z:6.72 [[-2.83738682e-01 -9.58899814e-01 1.87261984e-03 9.33892971e+01] [-9.58873299e-01 2.83744769e-01 7.13458270e-03 3.05222480e+01] [-7.37269611e-03 2.28751926e-04 -9.99972795e-01 6.71519630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.33, Y:30.40, Z:6.72 [[-2.09318681e-01 -9.77846720e-01 1.21712003e-03 9.33333263e+01] [-9.77823790e-01 2.09322112e-01 6.69989230e-03 3.04043196e+01] [-6.80623785e-03 2.12283702e-04 -9.99976815e-01 6.71513835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.29, Y:30.29, Z:6.71 [[-1.33448091e-01 -9.91055618e-01 6.08494691e-04 9.32875210e+01] [-9.91038023e-01 1.33449349e-01 5.90825392e-03 3.02910117e+01] [-5.93661146e-03 1.85403828e-04 -9.99982361e-01 6.71461935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.54, Y:30.25, Z:5.76 [[-1.38320418e-01 9.90387026e-01 1.00076294e-03 9.25431831e+01] [-9.90369974e-01 -1.38323912e-01 5.81468366e-03 3.02493047e+01] [ 5.89721670e-03 -1.86836096e-04 9.99982594e-01 5.76406924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.25, Y:30.00, Z:6.71 [[-1.24109398e-01 -9.92268405e-01 5.20027837e-04 9.32536099e+01] [-9.92252708e-01 1.24110361e-01 5.58397513e-03 2.99957131e+01] [-5.60534294e-03 1.77024763e-04 -9.99984274e-01 6.71402911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.22, Y:29.87, Z:6.71 [[-4.79272779e-02 -9.98850824e-01 8.41849773e-05 9.32169406e+01] [-9.98836759e-01 4.79270500e-02 5.30346531e-03 2.98714024e+01] [-5.30140543e-03 1.70093606e-04 -9.99985933e-01 6.71358690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.19, Y:29.75, Z:6.71 [[ 2.84642912e-02 -9.99594764e-01 -3.02019609e-04 9.31880934e+01] [-9.99582597e-01 -2.84654357e-02 4.93456757e-03 2.97483414e+01] [-4.94116503e-03 1.61434577e-04 -9.99987779e-01 6.71344344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.17, Y:29.62, Z:6.71 [[ 1.04961508e-01 -9.94476046e-01 -6.90457037e-04 9.31713791e+01] [-9.94463673e-01 -1.04963648e-01 4.96347816e-03 2.96231484e+01] [-5.00853302e-03 1.65660287e-04 -9.99987444e-01 6.71390428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.16, Y:29.49, Z:6.72 [[ 1.80959157e-01 -9.83489951e-01 -1.13986023e-03 9.31649100e+01] [-9.83476140e-01 -1.80962660e-01 5.21512075e-03 2.94943239e+01] [-5.33529099e-03 1.77301489e-04 -9.99985752e-01 6.71524531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.17, Y:29.37, Z:6.72 [[ 2.56086628e-01 -9.66652613e-01 -1.53770397e-03 9.31670858e+01] [-9.66639113e-01 -2.56091183e-01 5.11195340e-03 2.93683009e+01] [-5.33527554e-03 1.77301890e-04 -9.99985752e-01 6.71524451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.18, Y:29.25, Z:6.72 [[ 3.29576374e-01 -9.44126844e-01 -1.97890916e-03 9.31757863e+01] [-9.44112993e-01 -3.29582265e-01 5.11725571e-03 2.92479818e+01] [-5.48355185e-03 1.81787265e-04 -9.99984949e-01 6.71501829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.20, Y:29.12, Z:6.71 [[ 4.02326058e-01 -9.15492744e-01 -2.60343840e-03 9.31969484e+01] [-9.15476555e-01 -4.02334436e-01 5.44786521e-03 2.91234002e+01] [-6.03493399e-03 1.91568679e-04 -9.99981771e-01 6.71496426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.23, Y:29.00, Z:6.72 [[ 4.71916253e-01 -8.81637920e-01 -3.10304069e-03 9.32273790e+01] [-8.81621476e-01 -4.71926415e-01 5.38818493e-03 2.90015789e+01] [-6.21483502e-03 1.92935274e-04 -9.99980669e-01 6.71509657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.26, Y:28.89, Z:6.72 [[ 5.39170724e-01 -8.42190125e-01 -3.27466771e-03 9.32627825e+01] [-8.42176487e-01 -5.39180641e-01 4.79603967e-03 2.88851901e+01] [-5.80481468e-03 1.71963969e-04 -9.99983137e-01 6.71532007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.30, Y:28.78, Z:6.72 [[ 6.02555777e-01 -7.98070669e-01 -3.12146689e-03 9.33024431e+01] [-7.98061174e-01 -6.02563845e-01 3.89554798e-03 2.87788619e+01] [-4.98980567e-03 1.43836587e-04 -9.99987541e-01 6.71546281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.35, Y:28.67, Z:6.72 [[ 6.62378829e-01 -7.49165033e-01 -2.45776951e-03 9.33512545e+01] [-7.49160427e-01 -6.62383381e-01 2.62890696e-03 2.86742837e+01] [-3.59747085e-03 9.99313433e-05 -9.99993524e-01 6.71522333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.41, Y:28.58, Z:6.71 [[ 7.17643093e-01 -6.96407665e-01 -2.18084962e-03 9.34069140e+01] [-6.96404789e-01 -7.17646402e-01 2.00320958e-03 2.85776890e+01] [-2.96012939e-03 8.11646015e-05 -9.99995616e-01 6.71420119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.40, Y:28.57, Z:6.71 [[ 7.69859460e-01 -6.38210125e-01 -2.06099007e-03 9.34040765e+01] [-6.38208086e-01 -7.69862215e-01 1.61518355e-03 2.85705830e+01] [-2.61750487e-03 7.18761903e-05 -9.99996572e-01 6.71370747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.020385723 meters Centerline goodness [0,1] 0.9999567642353755 Centerline is valid? [True, True] Translation: X:93.40, Y:28.56, Z:6.71 [[ 8.16950407e-01 -5.76702546e-01 -2.49133035e-03 9.34016327e+01] [-5.76700176e-01 -8.16954201e-01 1.65525065e-03 2.85638157e+01] [-2.98989006e-03 8.44929566e-05 -9.99995527e-01 6.71401609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.40, Y:28.56, Z:6.71 [[ 8.59473763e-01 -5.11174350e-01 -2.37355177e-03 9.34005649e+01] [-5.11172647e-01 -8.59477037e-01 1.32196575e-03 2.85568763e+01] [-2.71576823e-03 7.70998618e-05 -9.99996309e-01 6.71417328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.40, Y:28.55, Z:6.71 [[ 8.96848876e-01 -4.42330761e-01 -2.36473355e-03 9.34005822e+01] [-4.42329438e-01 -8.96851990e-01 1.08432828e-03 2.85499526e+01] [-2.60044775e-03 7.35126632e-05 -9.99996616e-01 6.71462571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.40, Y:28.54, Z:6.72 [[ 9.29452348e-01 -3.68930507e-01 -2.93503124e-03 9.33997700e+01] [-3.68928944e-01 -9.29456978e-01 1.07685046e-03 2.85419299e+01] [-3.12526826e-03 8.19367887e-05 -9.99995113e-01 6.71574016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.40, Y:28.54, Z:6.72 [[ 9.55930795e-01 -2.93575873e-01 -3.08580199e-03 9.34014279e+01] [-2.93574609e-01 -9.55935772e-01 8.65210980e-04 2.85360299e+01] [-3.20383358e-03 7.88312910e-05 -9.99994865e-01 6.71642853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.40, Y:28.53, Z:6.72 [[ 9.76769423e-01 -2.14269001e-01 -3.20774438e-03 9.34021368e+01] [-2.14268073e-01 -9.76774688e-01 6.34004083e-04 2.85281318e+01] [-3.26909093e-03 6.80414054e-05 -9.99994654e-01 6.71688611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.40, Y:28.52, Z:6.72 [[ 9.90853268e-01 -1.34908270e-01 -3.09185807e-03 9.34025058e+01] [-1.34907794e-01 -9.90858091e-01 3.62901515e-04 2.85243635e+01] [-3.11255099e-03 5.75335981e-05 -9.99995154e-01 6.71710498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.40, Y:28.52, Z:6.72 [[ 9.98580455e-01 -5.31713100e-02 -3.14439927e-03 9.34007282e+01] [-5.31711924e-02 -9.98585404e-01 1.21035585e-04 2.85198966e+01] [-3.14638683e-03 4.63276892e-05 -9.99995049e-01 6.71772476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.40, Y:28.52, Z:6.72 [[ 9.99637786e-01 2.66774937e-02 -3.55069495e-03 9.34007660e+01] [ 2.66771585e-02 -9.99644091e-01 -1.41739503e-04 2.85184881e+01] [-3.55321248e-03 4.69657109e-05 -9.99993686e-01 6.71764429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.290385723 meters Centerline goodness [0,1] 0.9999141888702965 Centerline is valid? [True, True] Translation: X:93.40, Y:28.50, Z:6.72 [[ 9.94475582e-01 1.04886920e-01 -4.12916102e-03 9.34025352e+01] [ 1.04885786e-01 -9.94484153e-01 -4.90781657e-04 2.85039608e+01] [-4.15786177e-03 5.49800742e-05 -9.99991355e-01 6.71961395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.320385723 meters Centerline goodness [0,1] 0.9998284991532146 Centerline is valid? [True, True] Translation: X:93.40, Y:28.49, Z:6.72 [[ 9.82984055e-01 1.83652443e-01 -3.75863662e-03 9.34036612e+01] [ 1.83650922e-01 -9.82991240e-01 -7.48942228e-04 2.84926915e+01] [-3.83225194e-03 4.59211876e-05 -9.99992656e-01 6.71676989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3503857229999 meters Centerline goodness [0,1] 0.9999786219723368 Centerline is valid? [True, True] Translation: X:93.40, Y:28.49, Z:6.72 [[ 9.65519935e-01 2.60307105e-01 -3.38622673e-03 9.34049036e+01] [ 2.60305354e-01 -9.65525872e-01 -9.55645042e-04 2.84860270e+01] [-3.51825071e-03 4.12413887e-05 -9.99993810e-01 6.71737355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.41, Y:28.47, Z:6.72 [[ 9.42077546e-01 3.35379881e-01 -3.19878715e-03 9.34091252e+01] [ 3.35377807e-01 -9.42082976e-01 -1.18011498e-03 2.84733948e+01] [-3.40930974e-03 3.89576014e-05 -9.99994188e-01 6.71615811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.42, Y:28.46, Z:6.72 [[ 9.12361666e-01 4.09371780e-01 -3.30708247e-03 9.34158931e+01] [ 4.09368945e-01 -9.12367659e-01 -1.52384981e-03 2.84594600e+01] [-3.64109620e-03 3.64852898e-05 -9.99993371e-01 6.71646275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.42, Y:28.45, Z:6.72 [[ 8.77083313e-01 4.80327301e-01 -3.24756870e-03 9.34231277e+01] [ 4.80323864e-01 -8.77089324e-01 -1.81731414e-03 2.84477899e+01] [-3.72131344e-03 3.40511565e-05 -9.99993075e-01 6.71704804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.43, Y:28.44, Z:6.72 [[ 8.35758042e-01 5.49087948e-01 -3.30462397e-03 9.34295363e+01] [ 5.49083519e-01 -8.35764575e-01 -2.20551845e-03 2.84368071e+01] [-3.97291125e-03 2.87652258e-05 -9.99992108e-01 6.71799524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.44, Y:28.43, Z:6.72 [[ 7.89899873e-01 6.13223424e-01 -3.90167643e-03 9.34367848e+01] [ 6.13215733e-01 -7.89909508e-01 -3.07149792e-03 2.84289774e+01] [-4.96548578e-03 3.36064412e-05 -9.99987671e-01 6.71842142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.44, Y:28.42, Z:6.72 [[ 7.38924867e-01 6.73775139e-01 -4.13558084e-03 9.34437923e+01] [ 6.73764331e-01 -7.38936439e-01 -3.81644655e-03 2.84226852e+01] [-5.62735818e-03 3.36604054e-05 -9.99984166e-01 6.71872505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.45, Y:28.42, Z:6.72 [[ 6.83771664e-01 7.29685613e-01 -3.90096812e-03 9.34498627e+01] [ 7.29673459e-01 -6.83782791e-01 -4.21153872e-03 2.84162746e+01] [-5.74051408e-03 3.32979327e-05 -9.99983523e-01 6.71880060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.46, Y:28.41, Z:6.72 [[ 6.24694834e-01 7.80861274e-01 -3.46908458e-03 9.34562058e+01] [ 7.80848934e-01 -6.24704466e-01 -4.39015139e-03 2.84111879e+01] [-5.59525184e-03 3.36738938e-05 -9.99984346e-01 6.71900811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.620385723 meters Centerline goodness [0,1] 0.99991452260877 Centerline is valid? [True, True] Translation: X:93.46, Y:28.41, Z:6.72 [[ 5.61737361e-01 8.27309856e-01 -3.08871095e-03 9.34615190e+01] [ 8.27297015e-01 -5.61745851e-01 -4.60957593e-03 2.84067285e+01] [-5.54861815e-03 3.40896695e-05 -9.99984606e-01 6.71952471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.650385723 meters Centerline goodness [0,1] 0.9999571505088377 Centerline is valid? [True, True] Translation: X:93.47, Y:28.40, Z:6.72 [[ 4.95739495e-01 8.68467448e-01 -2.57770141e-03 9.34704180e+01] [ 8.68455336e-01 -4.95746195e-01 -4.58689811e-03 2.84010695e+01] [-5.26145736e-03 3.52880098e-05 -9.99986158e-01 6.71862007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.48, Y:28.40, Z:6.72 [[ 4.26609164e-01 9.04432457e-01 -2.55984561e-03 9.34780640e+01] [ 9.04415554e-01 -4.26616842e-01 -5.52957147e-03 2.83958707e+01] [-6.09319716e-03 4.38016730e-05 -9.99981435e-01 6.71929336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.48, Y:28.39, Z:6.72 [[ 3.54853036e-01 9.34919516e-01 -2.19583439e-03 9.34842173e+01] [ 9.34900771e-01 -3.54859827e-01 -5.92046468e-03 2.83918842e+01] [-6.31437139e-03 4.80076064e-05 -9.99980063e-01 6.71984993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.49, Y:28.39, Z:6.72 [[ 2.81302358e-01 9.59617756e-01 -1.65723804e-03 9.34936590e+01] [ 9.59600022e-01 -2.81307235e-01 -5.83418963e-03 2.83885361e+01] [-6.06478501e-03 5.08856388e-05 -9.99981608e-01 6.71907382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.50, Y:28.39, Z:6.72 [[ 2.05963549e-01 9.78558829e-01 -1.27845383e-03 9.35015641e+01] [ 9.78538159e-01 -2.05967509e-01 -6.36053884e-03 2.83854089e+01] [-6.48748139e-03 5.90232934e-05 -9.99978954e-01 6.72002207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.800385723 meters Centerline goodness [0,1] 0.9999572128447041 Centerline is valid? [True, True] Translation: X:93.50, Y:28.38, Z:6.72 [[ 1.29143083e-01 9.91625649e-01 -7.98243585e-04 9.35035026e+01] [ 9.91603532e-01 -1.29145534e-01 -6.62317501e-03 2.83825315e+01] [-6.67079981e-03 6.37960794e-05 -9.99977748e-01 6.72066989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.52, Y:28.38, Z:6.72 [[ 5.20252312e-02 9.98645731e-01 -2.81656475e-04 9.35162059e+01] [ 9.98622705e-01 -5.20259445e-02 -6.78185900e-03 2.83804509e+01] [-6.78732798e-03 7.15592314e-05 -9.99976963e-01 6.71918006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.53, Y:28.38, Z:6.72 [[-2.62588387e-02 9.99655148e-01 2.42261457e-04 9.35273789e+01] [ 9.99633605e-01 2.62598634e-02 -6.56326468e-03 2.83794866e+01] [-6.56736308e-03 6.98289847e-05 -9.99978432e-01 6.71896231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.54, Y:28.38, Z:6.72 [[-1.04749430e-01 9.94498405e-01 6.92986885e-04 9.35366421e+01] [ 9.94480414e-01 1.04751704e-01 -5.98228332e-03 2.83792911e+01] [-6.02196277e-03 6.25211159e-05 -9.99981866e-01 6.71786525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.55, Y:28.38, Z:6.72 [[-1.82846537e-01 9.83140895e-01 1.06021033e-03 9.35467109e+01] [ 9.83126051e-01 1.82849603e-01 -5.40279102e-03 2.83779801e+01] [-5.50556383e-03 5.44387646e-05 -9.99984843e-01 6.71759519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.56, Y:28.38, Z:6.72 [[-2.59773060e-01 9.65668535e-01 1.49613313e-03 9.35566428e+01] [ 9.65653658e-01 2.59777363e-01 -5.36051388e-03 2.83788384e+01] [-5.56514110e-03 5.22293377e-05 -9.99984513e-01 6.71733959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.57, Y:28.38, Z:6.72 [[-3.34755002e-01 9.42303115e-01 1.98191693e-03 9.35676908e+01] [ 9.42287535e-01 3.34760864e-01 -5.41900023e-03 2.83812534e+01] [-5.76980902e-03 5.34981845e-05 -9.99983353e-01 6.71791799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.010385723 meters Centerline goodness [0,1] 0.9999784194397686 Centerline is valid? [True, True] Translation: X:93.58, Y:28.39, Z:6.72 [[-4.07653607e-01 9.13133277e-01 2.48120229e-03 9.35801642e+01] [ 9.13117168e-01 4.07661154e-01 -5.42412838e-03 2.83853578e+01] [-5.96444191e-03 5.44629077e-05 -9.99982211e-01 6.71812691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.59, Y:28.39, Z:6.72 [[-4.77714669e-01 8.78510827e-01 2.72442657e-03 9.35904705e+01] [ 8.78497165e-01 4.77722435e-01 -4.89971631e-03 2.83878767e+01] [-5.60597352e-03 5.27346595e-05 -9.99984285e-01 6.71816437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.60, Y:28.39, Z:6.72 [[-5.44900106e-01 8.38495126e-01 3.13017758e-03 9.35999572e+01] [ 8.38481861e-01 5.44909094e-01 -4.71683841e-03 2.83922681e+01] [-5.66070824e-03 5.43913696e-05 -9.99983977e-01 6.71767866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1003857229999 meters Centerline goodness [0,1] 0.9999569290405944 Centerline is valid? [True, True] Translation: X:93.61, Y:28.40, Z:6.72 [[-6.08638271e-01 7.93440658e-01 3.37310592e-03 9.36101947e+01] [ 7.93428963e-01 6.08647615e-01 -4.30819703e-03 2.83977127e+01] [-5.47133156e-03 5.41863455e-05 -9.99985031e-01 6.71719651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.62, Y:28.40, Z:6.72 [[-6.68698132e-01 7.43524922e-01 3.67393527e-03 9.36193107e+01] [ 7.43514153e-01 6.68708222e-01 -4.00213069e-03 2.84015185e+01] [-5.43247463e-03 5.54055564e-05 -9.99985243e-01 6.71754286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.160385723 meters Centerline goodness [0,1] 0.999935033998874 Centerline is valid? [True, True] Translation: X:93.63, Y:28.41, Z:6.72 [[-7.24806839e-01 6.88940125e-01 4.06830224e-03 9.36299782e+01] [ 6.88929712e-01 7.24818254e-01 -3.78827457e-03 2.84099126e+01] [-5.55867409e-03 5.70069743e-05 -9.99984549e-01 6.71739455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.190385723 meters Centerline goodness [0,1] 0.9998917631778331 Centerline is valid? [True, True] Translation: X:93.65, Y:28.43, Z:6.72 [[-7.71911922e-01 6.35713354e-01 4.52949350e-03 9.36490273e+01] [ 6.35702850e-01 7.71925209e-01 -3.65499833e-03 2.84302357e+01] [-5.81996147e-03 5.80751384e-05 -9.99983062e-01 6.71716556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2203857229999 meters Centerline goodness [0,1] 0.9999783263616463 Centerline is valid? [True, True] Translation: X:93.67, Y:28.45, Z:6.72 [[-8.14971844e-01 5.79480984e-01 4.76263394e-03 9.36665640e+01] [ 5.79471501e-01 8.14985758e-01 -3.31557544e-03 2.84528025e+01] [-5.80279175e-03 5.77100061e-05 -9.99983162e-01 6.71732239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.250385723 meters Centerline goodness [0,1] 0.9998698650934802 Centerline is valid? [True, True] Translation: X:93.68, Y:28.48, Z:6.72 [[-8.53344007e-01 5.21322526e-01 5.17977716e-03 9.36781661e+01] [ 5.21313396e-01 8.53359725e-01 -3.08600137e-03 2.84791411e+01] [-6.02901524e-03 6.68664514e-05 -9.99981823e-01 6.72007519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.70, Y:28.50, Z:6.72 [[-8.88157087e-01 4.59519326e-01 4.35632329e-03 9.36977719e+01] [ 4.59514093e-01 8.88167769e-01 -2.19350795e-03 2.84995991e+01] [-4.87710524e-03 5.36123128e-05 -9.99988105e-01 6.71681758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.71, Y:28.52, Z:6.72 [[-9.17984015e-01 3.96583024e-01 5.22046479e-03 9.37096546e+01] [ 3.96577039e-01 9.17998857e-01 -2.17982638e-03 2.85232158e+01] [-5.65686284e-03 6.92706993e-05 -9.99983997e-01 6.71728079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.72, Y:28.55, Z:6.72 [[-9.43489814e-01 3.31352469e-01 5.70201069e-03 9.37197202e+01] [ 3.31346924e-01 9.43507040e-01 -1.91866496e-03 2.85491993e+01] [-6.01564160e-03 7.91028551e-05 -9.99981903e-01 6.71766365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.73, Y:28.58, Z:6.72 [[-9.64318736e-01 2.64665850e-01 6.43141327e-03 9.37272735e+01] [ 2.64660618e-01 9.64340178e-01 -1.66685960e-03 2.85763082e+01] [-6.64323103e-03 9.47578620e-05 -9.99977929e-01 6.71836181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.73, Y:28.60, Z:6.72 [[-9.80245493e-01 1.97673514e-01 6.62991488e-03 9.37295952e+01] [ 1.97669753e-01 9.80267907e-01 -1.22441868e-03 2.86038903e+01] [-6.74112793e-03 1.10302740e-04 -9.99977272e-01 6.71852426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.73, Y:28.63, Z:6.72 [[-9.91669669e-01 1.28620940e-01 6.92246177e-03 9.37319500e+01] [ 1.28618659e-01 9.91693823e-01 -7.75536876e-04 2.86312992e+01] [-6.96471286e-03 1.21281354e-04 -9.99975739e-01 6.71827060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.82, Y:29.35, Z:5.76 [[-9.87315264e-01 -1.58639713e-01 6.48154039e-03 9.38212018e+01] [ 1.58635373e-01 -9.87336529e-01 -1.18160987e-03 2.93527591e+01] [ 6.58691185e-03 -1.38419888e-04 9.99978297e-01 5.76007309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.490385723 meters Centerline goodness [0,1] 0.9999563299707411 Centerline is valid? [True, True] Translation: X:93.67, Y:28.63, Z:6.72 [[-9.91883999e-01 1.26986992e-01 6.35900326e-03 9.36695844e+01] [ 1.26985222e-01 9.91904374e-01 -6.83090005e-04 2.86334344e+01] [-6.39426670e-03 1.29953393e-04 -9.99979548e-01 6.71829607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.75, Y:29.36, Z:5.76 [[-9.88303306e-01 -1.52373970e-01 6.22477950e-03 9.37518936e+01] [ 1.52370097e-01 -9.88322900e-01 -1.09450561e-03 2.93638811e+01] [ 6.31886629e-03 -1.33233251e-04 9.99980027e-01 5.75978638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.60, Y:28.63, Z:6.72 [[-9.92174035e-01 1.24710725e-01 6.15786727e-03 9.35979141e+01] [ 1.24709197e-01 9.92193134e-01 -6.32997197e-04 2.86347000e+01] [-6.18873517e-03 1.39899297e-04 -9.99980840e-01 6.71882221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.60, Y:28.66, Z:6.72 [[-9.98504913e-01 5.43006500e-02 6.27519865e-03 9.35980229e+01] [ 5.43004876e-02 9.98524621e-01 -1.96373021e-04 2.86633114e+01] [-6.27660354e-03 1.44666921e-04 -9.99980292e-01 6.71886120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.63, Y:29.41, Z:5.76 [[-9.97093985e-01 -7.58929856e-02 6.62119723e-03 9.36276247e+01] [ 7.58904556e-02 -9.97115960e-01 -6.32871903e-04 2.94104406e+01] [ 6.65013197e-03 -1.28547093e-04 9.99977879e-01 5.75929874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.52, Y:28.67, Z:6.72 [[-9.98799495e-01 4.85305537e-02 6.65989707e-03 9.35163435e+01] [ 4.85304794e-02 9.98821687e-01 -1.72855291e-04 2.86650545e+01] [-6.66043839e-03 1.50560221e-04 -9.99977808e-01 6.71906173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.54, Y:29.41, Z:5.76 [[-9.97421976e-01 -7.13955320e-02 7.21668203e-03 9.35375144e+01] [ 7.13927565e-02 -9.97448075e-01 -6.41805976e-04 2.94133230e+01] [ 7.24408768e-03 -1.24932562e-04 9.99973754e-01 5.75940114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.43, Y:28.67, Z:6.72 [[-9.99155601e-01 4.05191214e-02 6.80335061e-03 9.34293559e+01] [ 4.05191044e-02 9.99178754e-01 -1.40388398e-04 2.86658124e+01] [-6.80345180e-03 1.35395819e-04 -9.99976847e-01 6.71919546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.45, Y:29.42, Z:5.76 [[-9.97589659e-01 -6.90168768e-02 7.17934161e-03 9.34456919e+01] [ 6.90142480e-02 -9.97615486e-01 -6.13551743e-04 2.94168449e+01] [ 7.20456779e-03 -1.16596011e-04 9.99974040e-01 5.75972869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.34, Y:28.67, Z:6.72 [[-9.99436240e-01 3.29422568e-02 6.48151217e-03 9.33413264e+01] [ 3.29423109e-02 9.99457250e-01 -9.84394475e-05 2.86688726e+01] [-6.48123715e-03 1.15132038e-04 -9.99978990e-01 6.71842704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.33, Y:28.70, Z:6.72 [[-9.99171169e-01 -4.02757735e-02 5.90224286e-03 9.33338657e+01] [-4.02745218e-02 9.99188598e-01 3.30829904e-04 2.86976337e+01] [-5.91077820e-03 9.28456934e-05 -9.99982527e-01 6.71784871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.32, Y:28.73, Z:6.72 [[-9.93667146e-01 -1.12217641e-01 5.72753935e-03 9.33171004e+01] [-1.12215279e-01 9.93683649e-01 7.33194438e-04 2.87254305e+01] [-5.77363955e-03 8.58338011e-05 -9.99983329e-01 6.71779175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.30, Y:28.75, Z:6.72 [[-9.82842546e-01 -1.84353151e-01 5.86908486e-03 9.32988876e+01] [-1.84349362e-01 9.82860066e-01 1.18493092e-03 2.87512610e+01] [-5.98693488e-03 8.26384779e-05 -9.99982075e-01 6.71864362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.26, Y:28.77, Z:6.72 [[-9.66931503e-01 -2.54961208e-01 6.18472718e-03 9.32632394e+01] [-2.54955414e-01 9.66951278e-01 1.72114831e-03 2.87716218e+01] [-6.41915591e-03 8.74028474e-05 -9.99979393e-01 6.71914263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.21, Y:28.78, Z:6.72 [[-9.45337362e-01 -3.26015746e-01 7.14186815e-03 9.32054018e+01] [-3.26005654e-01 9.45364334e-01 2.56709304e-03 2.87819388e+01] [-7.58858018e-03 9.84795662e-05 -9.99971202e-01 6.72099516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.14, Y:28.79, Z:6.72 [[-9.18603558e-01 -3.95102456e-01 7.84553458e-03 9.31369438e+01] [-3.95087025e-01 9.18637054e-01 3.49358458e-03 2.87852287e+01] [-8.58752262e-03 1.09550312e-04 -9.99963121e-01 6.72194277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.06, Y:28.78, Z:6.72 [[-8.86596188e-01 -4.62472112e-01 8.16980000e-03 9.30629821e+01] [-4.62451261e-01 8.86633821e-01 4.39308579e-03 2.87814377e+01] [-9.27530065e-03 1.16758801e-04 -9.99956977e-01 6.72233418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.98, Y:28.76, Z:6.72 [[-8.49779750e-01 -5.27065658e-01 8.72743716e-03 9.29786458e+01] [-5.27036214e-01 8.49824555e-01 5.57273222e-03 2.87624526e+01] [-1.03539862e-02 1.35919551e-04 -9.99946387e-01 6.72342877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.030385723 meters Centerline goodness [0,1] 0.9999112353815769 Centerline is valid? [True, True] Translation: X:92.88, Y:28.73, Z:6.72 [[-8.08208067e-01 -5.88829889e-01 8.89280122e-03 9.28848304e+01] [-5.88792121e-01 8.08256975e-01 6.67093706e-03 2.87319851e+01] [-1.11157157e-02 1.55493853e-04 -9.99938207e-01 6.72444087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.80, Y:28.70, Z:6.72 [[-7.62336187e-01 -6.47142770e-01 7.05503784e-03 9.27991269e+01] [-6.47113282e-01 7.62368818e-01 6.17949564e-03 2.86958662e+01] [-9.37755679e-03 1.45444448e-04 -9.99956019e-01 6.72175312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.71, Y:28.64, Z:6.72 [[-7.11729679e-01 -7.02422903e-01 6.55203989e-03 9.27050714e+01] [-7.02391130e-01 7.11759821e-01 6.68267706e-03 2.86415033e+01] [-9.35754415e-03 1.54164900e-04 -9.99956205e-01 6.72222323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.62, Y:28.59, Z:6.72 [[-6.56956476e-01 -7.53904788e-01 5.97990708e-03 9.26153032e+01] [-7.53871273e-01 6.56983671e-01 7.11054150e-03 2.85856226e+01] [-9.28937259e-03 1.63236117e-04 -9.99956840e-01 6.72109470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:28.52, Z:6.72 [[-5.98489235e-01 -8.01111431e-01 5.57761614e-03 9.25285280e+01] [-8.01073793e-01 5.98515198e-01 7.76770298e-03 2.85153519e+01] [-9.56108368e-03 1.80804497e-04 -9.99954276e-01 6.72114449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.44, Y:28.44, Z:6.72 [[-5.35947523e-01 -8.44236973e-01 4.91788942e-03 9.24411447e+01] [-8.44198206e-01 5.35970054e-01 8.09263667e-03 2.84360025e+01] [-9.46794454e-03 1.85555161e-04 -9.99955161e-01 6.72052321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.36, Y:28.35, Z:6.72 [[-4.69416395e-01 -8.82967551e-01 4.06842228e-03 9.23621869e+01] [-8.82931098e-01 4.69433993e-01 8.02516373e-03 2.83458846e+01] [-8.99581488e-03 1.75006883e-04 -9.99959522e-01 6.72162143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.28, Y:28.24, Z:6.72 [[-3.99773993e-01 -9.16607342e-01 3.42578106e-03 9.22845375e+01] [-9.16569952e-01 3.99788635e-01 8.28079731e-03 2.82449346e+01] [-8.95982794e-03 1.70479428e-04 -9.99959845e-01 6.72165933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.22, Y:28.15, Z:6.72 [[-3.27353082e-01 -9.44897459e-01 2.95840554e-03 9.22151361e+01] [-9.44853897e-01 3.27366403e-01 9.07484178e-03 2.81462548e+01] [-9.54327752e-03 1.75416419e-04 -9.99954447e-01 6.72082274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.15, Y:28.03, Z:6.72 [[-2.52265498e-01 -9.67654997e-01 2.43434754e-03 9.21525826e+01] [-9.67602984e-01 2.52277182e-01 1.00343859e-02 2.80286689e+01] [-1.03239540e-02 1.75847420e-04 -9.99946691e-01 6.72247154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.10, Y:27.93, Z:6.72 [[-1.76767949e-01 -9.84251002e-01 1.74876276e-03 9.21025964e+01] [-9.84192211e-01 1.76776507e-01 1.07590868e-02 2.79269852e+01] [-1.08987821e-02 1.80743017e-04 -9.99940590e-01 6.72295442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.06, Y:27.80, Z:6.72 [[-9.99205037e-02 -9.94994977e-01 9.43076578e-04 9.20595732e+01] [-9.94931622e-01 9.99247851e-02 1.12296720e-02 2.78036721e+01] [-1.12677040e-02 1.83777776e-04 -9.99936501e-01 6.72376208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.02, Y:27.68, Z:6.72 [[-2.30840717e-02 -9.99733525e-01 7.21803413e-05 9.20249949e+01] [-9.99669694e-01 2.30834136e-02 1.12986419e-02 2.76838353e+01] [-1.12972973e-02 1.88662161e-04 -9.99936166e-01 6.72277689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.00, Y:27.55, Z:6.72 [[ 5.37946576e-02 -9.98551724e-01 -7.68352355e-04 9.20001505e+01] [-9.98493081e-01 -5.37998266e-02 1.08233572e-02 2.75481784e+01] [-1.08490192e-02 1.84955718e-04 -9.99941131e-01 6.72260099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.98, Y:27.43, Z:6.72 [[ 1.30607253e-01 -9.91432836e-01 -1.63623008e-03 9.19820709e+01] [-9.91372313e-01 -1.30617362e-01 1.09563890e-02 2.74286234e+01] [-1.10762439e-02 1.91129328e-04 -9.99938638e-01 6.72254915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.98, Y:27.30, Z:6.72 [[ 2.06596204e-01 -9.78423084e-01 -2.50536974e-03 9.19770267e+01] [-9.78362200e-01 -2.06611302e-01 1.09167657e-02 2.73012132e+01] [-1.11988532e-02 1.95796703e-04 -9.99937272e-01 6.72355551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.98, Y:27.17, Z:6.72 [[ 2.80444700e-01 -9.59864140e-01 -3.40641815e-03 9.19820754e+01] [-9.59802267e-01 -2.80465307e-01 1.09004923e-02 2.71733431e+01] [-1.14183738e-02 2.12502562e-04 -9.99934786e-01 6.72479548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.99, Y:27.05, Z:6.72 [[ 3.52900219e-01 -9.35651175e-01 -4.27953156e-03 9.19933852e+01] [-9.35589891e-01 -3.52926095e-01 1.07111098e-02 2.70488917e+01] [-1.15322209e-02 2.23933461e-04 -9.99933477e-01 6.72369867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.01, Y:26.93, Z:6.72 [[ 4.23523277e-01 -9.05871057e-01 -5.06578870e-03 9.20137430e+01] [-9.05812570e-01 -4.23553511e-01 1.02962122e-02 2.69273374e+01] [-1.14726732e-02 2.27969546e-04 -9.99934161e-01 6.72461698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.04, Y:26.81, Z:6.72 [[ 4.91932866e-01 -8.70612924e-01 -5.93231442e-03 9.20449849e+01] [-8.70555199e-01 -4.91968579e-01 1.00280647e-02 2.68051174e+01] [-1.16490750e-02 2.31272563e-04 -9.99932121e-01 6.72495089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.09, Y:26.68, Z:6.73 [[ 5.57095429e-01 -8.30421571e-01 -6.68559072e-03 9.20888231e+01] [-8.30366769e-01 -5.57135494e-01 9.54309277e-03 2.66811723e+01] [-1.16495700e-02 2.35079003e-04 -9.99932114e-01 6.72533570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.13, Y:26.58, Z:6.72 [[ 6.18178863e-01 -7.86008992e-01 -6.69011002e-03 9.21253303e+01] [-7.85966856e-01 -6.18215023e-01 8.14169777e-03 2.65810609e+01] [-1.05353742e-02 2.25179264e-04 -9.99944476e-01 6.72427765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.18, Y:26.48, Z:6.72 [[ 6.75936385e-01 -7.36928513e-01 -6.80961221e-03 9.21756976e+01] [-7.36894319e-01 -6.75970650e-01 7.10228384e-03 2.64797604e+01] [-9.83697346e-03 2.17272492e-04 -9.99951592e-01 6.72337004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.24, Y:26.38, Z:6.72 [[ 7.29460016e-01 -6.83989481e-01 -6.81731831e-03 9.22350149e+01] [-6.83962293e-01 -7.29491841e-01 6.10220756e-03 2.63812497e+01] [-9.14702386e-03 2.11472234e-04 -9.99958143e-01 6.72231952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.23, Y:26.37, Z:6.72 [[ 7.80598319e-01 -6.24987766e-01 -7.52043683e-03 9.22278532e+01] [-6.24961448e-01 -7.80634514e-01 5.73971909e-03 2.63705954e+01] [-9.45796676e-03 2.19568012e-04 -9.99955248e-01 6.72247349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.22, Y:26.36, Z:6.72 [[ 8.27327950e-01 -5.61664019e-01 -7.87360431e-03 9.22212508e+01] [-5.61641017e-01 -8.27365388e-01 5.08753958e-03 2.63624361e+01] [-9.37183561e-03 2.13075438e-04 -9.99956061e-01 6.72384686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.21, Y:26.35, Z:6.72 [[ 8.69715611e-01 -4.93488319e-01 -8.00215569e-03 9.22135723e+01] [-4.93469414e-01 -8.69752403e-01 4.32364594e-03 2.63499123e+01] [-9.09356291e-03 1.88476708e-04 -9.99958635e-01 6.72422908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.21, Y:26.34, Z:6.72 [[ 9.06518735e-01 -4.22098094e-01 -7.54869739e-03 9.22079423e+01] [-4.22084869e-01 -9.06550151e-01 3.34486282e-03 2.63381012e+01] [-8.25513298e-03 1.54010132e-04 -9.99965914e-01 6.72370669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.20, Y:26.33, Z:6.72 [[ 9.37095677e-01 -3.48990958e-01 -7.55003527e-03 9.22030836e+01] [-3.48980844e-01 -9.37126081e-01 2.66079154e-03 2.63253730e+01] [-8.00392715e-03 1.41401428e-04 -9.99967958e-01 6.72355863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.20, Y:26.32, Z:6.72 [[ 9.61711917e-01 -2.73951128e-01 -7.80815051e-03 9.21995173e+01] [-2.73943254e-01 -9.61743604e-01 2.08167023e-03 2.63157411e+01] [-8.07971472e-03 1.37023084e-04 -9.99967349e-01 6.72439247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.20, Y:26.31, Z:6.72 [[ 9.80337024e-01 -1.97157813e-01 -8.25326032e-03 9.21970695e+01] [-1.97151988e-01 -9.80371755e-01 1.52154570e-03 2.63094178e+01] [-8.39124793e-03 1.35519102e-04 -9.99964784e-01 6.72479599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.19, Y:26.29, Z:6.72 [[ 9.92817376e-01 -1.19429503e-01 -7.08884251e-03 9.21917222e+01] [-1.19427265e-01 -9.92842677e-01 7.39709932e-04 2.62949087e+01] [-7.12644856e-03 1.12204197e-04 -9.99974600e-01 6.72351579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.19, Y:26.28, Z:6.72 [[ 9.99131061e-01 -4.11786894e-02 -6.43734404e-03 9.21879314e+01] [-4.11784803e-02 -9.99151793e-01 1.65085437e-04 2.62835405e+01] [-6.43868184e-03 1.00138057e-04 -9.99979267e-01 6.72253477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.18, Y:26.27, Z:6.72 [[ 9.99309280e-01 3.69629068e-02 -3.83503526e-03 9.21839785e+01] [ 3.69624034e-02 -9.99316637e-01 -2.02066152e-04 2.62731632e+01] [-3.83988349e-03 6.01744604e-05 -9.99992626e-01 6.72060321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.18, Y:26.26, Z:6.72 [[ 9.93421419e-01 1.14487597e-01 -2.54443308e-03 9.21816665e+01] [ 1.14487115e-01 -9.93424677e-01 -3.35081551e-04 2.62632914e+01] [-2.56606529e-03 4.15723887e-05 -9.99996707e-01 6.72010797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.18, Y:26.25, Z:6.72 [[ 9.81530839e-01 1.91293917e-01 -1.96187728e-03 9.21802506e+01] [ 1.91293467e-01 -9.81532799e-01 -4.16562140e-04 2.62533867e+01] [-2.00533270e-03 3.35742812e-05 -9.99997989e-01 6.72008151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.18, Y:26.24, Z:6.72 [[ 9.63953463e-01 2.66066719e-01 -1.49085589e-03 9.21779654e+01] [ 2.66066355e-01 -9.63954615e-01 -4.40859128e-04 2.62448063e+01] [-1.55441536e-03 2.83010907e-05 -9.99998792e-01 6.71995130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.18, Y:26.24, Z:6.72 [[ 9.40375533e-01 3.40135315e-01 -1.35044966e-03 9.21767747e+01] [ 3.40134923e-01 -9.40376503e-01 -5.17399545e-04 2.62374097e+01] [-1.44591698e-03 2.72147827e-05 -9.99998954e-01 6.72023789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.170385723 meters Centerline goodness [0,1] 0.9998678443206097 Centerline is valid? [True, True] Translation: X:92.18, Y:26.23, Z:6.72 [[ 9.11640522e-01 4.10979504e-01 -2.72146547e-03 9.21755015e+01] [ 4.10977465e-01 -9.11644582e-01 -1.29609583e-03 2.62309131e+01] [-3.01367807e-03 6.31125006e-05 -9.99995457e-01 6.72321141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.18, Y:26.22, Z:6.72 [[ 8.76918285e-01 4.80635427e-01 -1.97693626e-03 9.21752790e+01] [ 4.80634079e-01 -8.76920512e-01 -1.13917843e-03 2.62239298e+01] [-2.28114547e-03 4.87834558e-05 -9.99997397e-01 6.72174988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.17, Y:26.22, Z:6.72 [[ 8.37245925e-01 5.46822175e-01 -2.18411574e-03 9.21741958e+01] [ 5.46820127e-01 -8.37248772e-01 -1.49790601e-03 2.62166688e+01] [-2.64773644e-03 5.97972514e-05 -9.99996493e-01 6.72276261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.17, Y:26.21, Z:6.72 [[ 7.92175931e-01 6.10290061e-01 -1.82666597e-03 9.21742098e+01] [ 6.10288279e-01 -7.92178035e-01 -1.47552755e-03 2.62107411e+01] [-2.34754446e-03 5.40845825e-05 -9.99997243e-01 6.72342634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.18, Y:26.20, Z:6.72 [[ 7.42676998e-01 6.69646921e-01 -1.96947008e-03 9.21816409e+01] [ 6.69644330e-01 -7.42679606e-01 -1.86386601e-03 2.61965389e+01] [-2.71081740e-03 6.54059403e-05 -9.99996324e-01 6.72353214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.19, Y:26.19, Z:6.72 [[ 6.88034854e-01 7.25675444e-01 -1.78575557e-03 9.21871494e+01] [ 7.25672753e-01 -6.88037169e-01 -1.97724852e-03 2.61861690e+01] [-2.66350690e-03 6.45417304e-05 -9.99996451e-01 6.72368787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.20, Y:26.17, Z:6.72 [[ 6.29150103e-01 7.77281945e-01 -1.71050915e-03 9.21962546e+01] [ 7.77278774e-01 -6.29152424e-01 -2.22156421e-03 2.61735314e+01] [-2.80295273e-03 6.81548902e-05 -9.99996069e-01 6.72373397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.21, Y:26.16, Z:6.72 [[ 5.65998293e-01 8.24404755e-01 -1.65310993e-03 9.22054570e+01] [ 8.24400858e-01 -5.66000703e-01 -2.53572323e-03 2.61624928e+01] [-3.02612367e-03 7.23897697e-05 -9.99995419e-01 6.72393076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.22, Y:26.15, Z:6.72 [[ 4.99513655e-01 8.66305428e-01 -1.00692580e-03 9.22166050e+01] [ 8.66303463e-01 -4.99514667e-01 -1.84573075e-03 2.61513202e+01] [-2.10194078e-03 4.96644017e-05 -9.99997790e-01 6.72327411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.23, Y:26.14, Z:6.72 [[ 4.29959442e-01 9.02847996e-01 -6.11952618e-04 9.22269882e+01] [ 9.02846963e-01 -4.29959877e-01 -1.36610896e-03 2.61418180e+01] [-1.49650381e-03 3.48718829e-05 -9.99998880e-01 6.72271313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.24, Y:26.13, Z:6.72 [[ 3.58033991e-01 9.33708506e-01 -2.96519307e-04 9.22418566e+01] [ 9.33708137e-01 -3.58034113e-01 -8.30318786e-04 2.61328297e+01] [-8.81439741e-04 2.04198592e-05 -9.99999611e-01 6.72222791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.26, Y:26.12, Z:6.72 [[ 2.83406813e-01 9.58999779e-01 -5.45138255e-05 9.22552693e+01] [ 9.58999758e-01 -2.83406818e-01 -1.99430898e-04 2.61240877e+01] [-2.06703777e-04 4.24132955e-06 -9.99999979e-01 6.72179166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.27, Y:26.12, Z:6.72 [[ 2.07140116e-01 9.78311285e-01 5.50711039e-05 9.22677556e+01] [ 9.78311240e-01 -2.07140123e-01 2.96550303e-04 2.61179703e+01] [ 3.01525943e-04 -7.55078424e-06 -9.99999955e-01 6.72196620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.28, Y:26.11, Z:6.72 [[ 1.29860445e-01 9.91532281e-01 3.16734415e-05 9.22795979e+01] [ 9.91532235e-01 -1.29860449e-01 2.99976106e-04 2.61122223e+01] [ 3.01549120e-04 -7.54979253e-06 -9.99999955e-01 6.72196599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.29, Y:26.11, Z:6.72 [[ 5.04523751e-02 9.98726468e-01 8.33058632e-06 9.22884780e+01] [ 9.98726420e-01 -5.04523752e-02 3.10111712e-04 2.61066887e+01] [ 3.10137072e-04 -7.32589575e-06 -9.99999952e-01 6.72129597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.31, Y:26.10, Z:6.72 [[-2.85324020e-02 9.99592868e-01 -6.67299059e-06 9.23062518e+01] [ 9.99592861e-01 2.85324026e-02 1.22559362e-04 2.61029662e+01] [ 1.22699860e-04 -3.17336078e-06 -9.99999993e-01 6.72146598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.32, Y:26.10, Z:6.72 [[-1.07771438e-01 9.94175697e-01 3.11736921e-05 9.23195492e+01] [ 9.94175666e-01 1.07771442e-01 -2.46731850e-04 2.60992143e+01] [-2.48654443e-04 4.40147985e-06 -9.99999969e-01 6.72172096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.680385723 meters Centerline goodness [0,1] 0.9999782410026546 Centerline is valid? [True, True] Translation: X:92.34, Y:26.10, Z:6.72 [[-1.87895478e-01 9.82189004e-01 2.25263951e-04 9.23358898e+01] [ 9.82188412e-01 1.87895612e-01 -1.07860818e-03 2.60991243e+01] [-1.10172320e-03 1.85860424e-05 -9.99999393e-01 6.72241970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.35, Y:26.10, Z:6.72 [[-2.64917959e-01 9.64270862e-01 4.23921602e-04 9.23488967e+01] [ 9.64269772e-01 2.64918297e-01 -1.44996960e-03 2.60978332e+01] [-1.51046803e-03 2.46518002e-05 -9.99998859e-01 6.72275694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.36, Y:26.10, Z:6.72 [[-3.39890648e-01 9.40464779e-01 5.88855025e-04 9.23620697e+01] [ 9.40463501e-01 3.39891157e-01 -1.55074866e-03 2.60988121e+01] [-1.65857111e-03 2.67116929e-05 -9.99998624e-01 6.72352691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.770385723 meters Centerline goodness [0,1] 0.9999348222820892 Centerline is valid? [True, True] Translation: X:92.37, Y:26.10, Z:6.72 [[-4.12179416e-01 9.11102230e-01 9.24657803e-04 9.23742100e+01] [ 9.11100129e-01 4.12180452e-01 -1.95705537e-03 2.61011578e+01] [-2.16420339e-03 3.57979026e-05 -9.99997658e-01 6.72340647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.800385723 meters Centerline goodness [0,1] 0.9999782509406469 Centerline is valid? [True, True] Translation: X:92.39, Y:26.10, Z:6.72 [[-4.81291583e-01 8.76559882e-01 1.08906416e-03 9.23851576e+01] [ 8.76557817e-01 4.81292814e-01 -1.90292562e-03 2.61032768e+01] [-2.19218701e-03 3.87656200e-05 -9.99997596e-01 6.72352949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.40, Y:26.10, Z:6.72 [[-5.46081889e-01 8.37730886e-01 1.23860016e-03 9.23955522e+01] [ 8.37728916e-01 5.46083291e-01 -1.81736184e-03 2.61048220e+01] [-2.19883900e-03 4.51827813e-05 -9.99997582e-01 6.72389473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.41, Y:26.11, Z:6.72 [[-6.08751167e-01 7.93359687e-01 1.55728356e-03 9.24094727e+01] [ 7.93357319e-01 6.08753156e-01 -1.93914821e-03 2.61122501e+01] [-2.48644330e-03 5.50235804e-05 -9.99996907e-01 6.72433141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.42, Y:26.12, Z:6.72 [[-6.67399430e-01 7.44697692e-01 1.82986898e-03 9.24210169e+01] [ 7.44695156e-01 6.67401935e-01 -1.94457020e-03 2.61177165e+01] [-2.66937504e-03 6.48895260e-05 -9.99996435e-01 6.72483749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.43, Y:26.13, Z:6.72 [[-7.23352084e-01 6.90476560e-01 1.97036949e-03 9.24314827e+01] [ 6.90474244e-01 7.23354765e-01 -1.78957871e-03 2.61258610e+01] [-2.66093831e-03 6.59938926e-05 -9.99996458e-01 6.72472656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.45, Y:26.15, Z:6.72 [[-7.70389567e-01 6.37569190e-01 2.33291939e-03 9.24507606e+01] [ 6.37566554e-01 7.70393096e-01 -1.83499422e-03 2.61479245e+01] [-2.96720077e-03 7.37309703e-05 -9.99995595e-01 6.72468564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.46, Y:26.18, Z:6.73 [[-8.13891706e-01 5.81007042e-01 3.33292988e-03 9.24630647e+01] [ 5.81002660e-01 8.13898524e-01 -2.25888033e-03 2.61767687e+01] [-4.02509210e-03 9.79571594e-05 -9.99991895e-01 6.72586314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.49, Y:26.20, Z:6.73 [[-8.53255465e-01 5.21475702e-01 4.26661311e-03 9.24850553e+01] [ 5.21469866e-01 8.53266124e-01 -2.46997235e-03 2.61988676e+01] [-4.92858700e-03 1.17392765e-04 -9.99987848e-01 6.72679332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.50, Y:26.23, Z:6.73 [[-8.88500869e-01 4.58851888e-01 4.59899712e-03 9.24992794e+01] [ 4.58846417e-01 8.88512764e-01 -2.24369688e-03 2.62263730e+01] [-5.11579219e-03 1.16706726e-04 -9.99986908e-01 6.72703954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.51, Y:26.26, Z:6.73 [[-9.18930936e-01 3.94400845e-01 3.72955639e-03 9.25075019e+01] [ 3.94397991e-01 9.18938500e-01 -1.50297375e-03 2.62566407e+01] [-4.02000707e-03 8.98004711e-05 -9.99991916e-01 6.72589382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.52, Y:26.28, Z:6.72 [[-9.44814226e-01 3.27593562e-01 2.92177015e-03 9.25201428e+01] [ 3.27592212e-01 9.44818741e-01 -9.42926227e-04 2.62849740e+01] [-3.06943975e-03 6.62590302e-05 -9.99995287e-01 6.72367760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:26.31, Z:6.72 [[-9.65635403e-01 2.59882423e-01 3.06501847e-03 9.25270544e+01] [ 2.59881338e-01 9.65640265e-01 -7.53943106e-04 2.63143161e+01] [-3.15564181e-03 6.85069443e-05 -9.99995019e-01 6.72351710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:26.34, Z:6.72 [[-9.81628137e-01 1.90777880e-01 3.16259418e-03 9.25296806e+01] [ 1.90777119e-01 9.81633229e-01 -5.43402830e-04 2.63442816e+01] [-3.20817677e-03 6.99310982e-05 -9.99994851e-01 6.72393140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.54, Y:26.37, Z:6.72 [[-9.92680441e-01 1.20711892e-01 3.76592772e-03 9.25359222e+01] [ 1.20711336e-01 9.92687581e-01 -3.75341688e-04 2.63738182e+01] [-3.78369788e-03 8.19958136e-05 -9.99992838e-01 6.72472069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:26.40, Z:6.72 [[-9.98740470e-01 5.00376953e-02 3.70170327e-03 9.25311886e+01] [ 5.00376518e-02 9.98747327e-01 -1.04418353e-04 2.64046322e+01] [-3.70229110e-03 8.09377039e-05 -9.99993143e-01 6.72415467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:26.43, Z:6.72 [[-9.99787164e-01 -2.02685754e-02 3.84858996e-03 9.25288311e+01] [-2.02680879e-02 9.99794568e-01 1.65640208e-04 2.64338300e+01] [-3.85115662e-03 8.76013943e-05 -9.99992581e-01 6.72447908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.280385723 meters Centerline goodness [0,1] 0.9999136945217598 Centerline is valid? [True, True] Translation: X:92.52, Y:26.46, Z:6.72 [[-9.95840757e-01 -9.10143096e-02 4.19317756e-03 9.25186277e+01] [-9.10130876e-02 9.95849580e-01 4.81729819e-04 2.64620470e+01] [-4.21961842e-03 9.80921509e-05 -9.99991093e-01 6.72479168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.50, Y:26.49, Z:6.72 [[-9.86853567e-01 -1.61544990e-01 4.82216410e-03 9.24995892e+01] [-1.61542481e-01 9.86865342e-01 9.07838358e-04 2.64880871e+01] [-4.90548336e-03 1.16919169e-04 -9.99987961e-01 6.72475779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.47, Y:26.51, Z:6.73 [[-9.72802130e-01 -2.31577038e-01 5.30004290e-03 9.24671011e+01] [-2.31572847e-01 9.72816559e-01 1.39972767e-03 2.65113321e+01] [-5.48011428e-03 1.34312034e-04 -9.99984975e-01 6.72546140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.41, Y:26.53, Z:6.73 [[-9.53360264e-01 -3.01797765e-01 4.72405018e-03 9.24121650e+01] [-3.01793415e-01 9.53371960e-01 1.62513566e-03 2.65265917e+01] [-4.99423929e-03 1.23652522e-04 -9.99987521e-01 6.72559913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.34, Y:26.53, Z:6.73 [[-9.28814153e-01 -3.70528154e-01 3.62719506e-03 9.23448677e+01] [-3.70524905e-01 9.28821230e-01 1.55488560e-03 2.65317604e+01] [-3.94514467e-03 1.00233649e-04 -9.99992213e-01 6.72520434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.27, Y:26.53, Z:6.73 [[-8.98754301e-01 -4.38438249e-01 3.55067363e-03 9.22700135e+01] [-4.38434380e-01 8.98761309e-01 1.84488931e-03 2.65294149e+01] [-4.00007812e-03 1.01364816e-04 -9.99991995e-01 6.72500397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.19, Y:26.52, Z:6.72 [[-8.63452357e-01 -5.04419768e-01 3.27484380e-03 9.21854326e+01] [-5.04415716e-01 8.63458562e-01 2.02403804e-03 2.65182360e+01] [-3.84865672e-03 9.57777375e-05 -9.99992589e-01 6.72480475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.10, Y:26.50, Z:6.72 [[-8.22593631e-01 -5.68618064e-01 3.63535572e-03 9.20990066e+01] [-5.68611933e-01 8.22601657e-01 2.64270856e-03 2.64967314e+01] [-4.49314146e-03 1.06768588e-04 -9.99989900e-01 6.72470056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.01, Y:26.46, Z:6.72 [[-7.75783921e-01 -6.30989483e-01 3.40304047e-03 9.20070954e+01] [-6.30982879e-01 7.75791379e-01 2.88835972e-03 2.64619380e+01] [-4.46257406e-03 9.34827564e-05 -9.99990038e-01 6.72426843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.91, Y:26.42, Z:6.72 [[-7.25100675e-01 -6.88636574e-01 2.94610200e-03 9.19145014e+01] [-6.88630429e-01 7.25106656e-01 2.91024731e-03 2.64196932e+01] [-4.14034091e-03 8.14468019e-05 -9.99991426e-01 6.72367770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.82, Y:26.36, Z:6.72 [[-6.69556134e-01 -7.42759207e-01 1.82881207e-03 9.18193893e+01] [-7.42756233e-01 6.69558630e-01 2.10249062e-03 2.63648361e+01] [-2.78614117e-03 4.93739260e-05 -9.99996118e-01 6.72291891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.73, Y:26.30, Z:6.72 [[-6.10525416e-01 -7.91995725e-01 1.22013090e-03 9.17308193e+01] [-7.91994030e-01 6.10526634e-01 1.63873642e-03 2.63023225e+01] [-2.04279465e-03 3.41538423e-05 -9.99997913e-01 6.72240537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.64, Y:26.23, Z:6.72 [[-5.47502382e-01 -8.36803418e-01 1.08676410e-03 9.16440479e+01] [-8.36801653e-01 5.47503460e-01 1.71877484e-03 2.62307645e+01] [-2.03328377e-03 3.16273281e-05 -9.99997932e-01 6.72179691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.56, Y:26.15, Z:6.72 [[-4.80355583e-01 -8.77073218e-01 1.04087364e-03 9.15616874e+01] [-8.77071022e-01 4.80356710e-01 1.96323659e-03 2.61469764e+01] [-2.22189287e-03 3.01315513e-05 -9.99997531e-01 6.72114188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.48, Y:26.06, Z:6.72 [[-4.10890697e-01 -9.11684152e-01 9.18142252e-04 9.14843143e+01] [-9.11681718e-01 4.10891722e-01 2.10655658e-03 2.60556124e+01] [-2.29777130e-03 2.85109974e-05 -9.99997360e-01 6.72109689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.730385723 meters Centerline goodness [0,1] 0.9999569549964488 Centerline is valid? [True, True] Translation: X:91.41, Y:25.96, Z:6.72 [[-3.38797542e-01 -9.40859034e-01 7.09500276e-04 9.14135970e+01] [-9.40856821e-01 3.38798284e-01 2.04115515e-03 2.59575192e+01] [-2.16081674e-03 2.40001720e-05 -9.99997665e-01 6.72155753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.35, Y:25.85, Z:6.72 [[-2.63817864e-01 -9.64572193e-01 7.87366686e-04 9.13493648e+01] [-9.64567571e-01 2.63819037e-01 2.98615143e-03 2.58547035e+01] [-3.08808095e-03 2.83317171e-05 -9.99995232e-01 6.72310549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.29, Y:25.74, Z:6.72 [[-1.88447058e-01 -9.82083127e-01 6.62045882e-04 9.12947625e+01] [-9.82076467e-01 1.88448218e-01 3.61694644e-03 2.57438032e+01] [-3.67690343e-03 3.14232326e-05 -9.99993240e-01 6.72353516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.25, Y:25.63, Z:6.72 [[-1.13758804e-01 -9.93508313e-01 4.09166792e-04 9.12504525e+01] [-9.93500617e-01 1.13759533e-01 3.91049988e-03 2.56285728e+01] [-3.93166076e-03 3.83463274e-05 -9.99992270e-01 6.72389396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.22, Y:25.51, Z:6.72 [[-3.87037026e-02 -9.99250724e-01 1.19308218e-04 9.12152738e+01] [-9.99241257e-01 3.87038553e-02 4.34984951e-03 2.55092309e+01] [-4.35120796e-03 4.91375882e-05 -9.99990532e-01 6.72390045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.880385723 meters Centerline goodness [0,1] 0.999935258319306 Centerline is valid? [True, True] Translation: X:91.19, Y:25.39, Z:6.72 [[ 3.62190580e-02 -9.99343855e-01 -2.00652814e-04 9.11906441e+01] [-9.99335634e-01 -3.62195740e-02 4.05369351e-03 2.53870662e+01] [-4.05830126e-03 5.36985466e-05 -9.99991764e-01 6.72419697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.17, Y:25.27, Z:6.72 [[ 1.08946592e-01 -9.94047547e-01 -3.39457681e-04 9.11735112e+01] [-9.94043953e-01 -1.08947111e-01 2.67338959e-03 2.52686090e+01] [-2.69445930e-03 4.61791698e-05 -9.99996369e-01 6.72282632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.17, Y:25.14, Z:6.72 [[ 1.83096420e-01 -9.83094805e-01 -5.52444334e-04 9.11678329e+01] [-9.83091151e-01 -1.83097246e-01 2.68086656e-03 2.51420972e+01] [-2.73669702e-03 5.22460672e-05 -9.99996254e-01 6.72274302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.17, Y:25.02, Z:6.72 [[ 2.55330790e-01 -9.66853312e-01 -9.28372421e-04 9.11694956e+01] [-9.66847931e-01 -2.55332467e-01 3.22650728e-03 2.50232506e+01] [-3.35660287e-03 7.37683021e-05 -9.99994364e-01 6.72251167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.000385723 meters Centerline goodness [0,1] 0.9999784226993204 Centerline is valid? [True, True] Translation: X:91.18, Y:24.90, Z:6.72 [[ 3.27537617e-01 -9.44837150e-01 -1.36724269e-03 9.11802732e+01] [-9.44830045e-01 -3.27540458e-01 3.66526659e-03 2.49011929e+01] [-3.91090733e-03 9.12992858e-05 -9.99992348e-01 6.72268603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.20, Y:24.78, Z:6.72 [[ 3.97324409e-01 -9.17676571e-01 -1.73915746e-03 9.12029169e+01] [-9.17668899e-01 -3.97328201e-01 3.75410371e-03 2.47771467e+01] [-4.13606933e-03 1.04373669e-04 -9.99991441e-01 6.72307300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.23, Y:24.66, Z:6.72 [[ 4.64110635e-01 -8.85775070e-01 -1.96080096e-03 9.12345104e+01] [-8.85768156e-01 -4.64114763e-01 3.50141065e-03 2.46569597e+01] [-4.01149894e-03 1.11773131e-04 -9.99991948e-01 6.72363019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.27, Y:24.55, Z:6.72 [[ 5.29719710e-01 -8.48168917e-01 -2.55293386e-03 9.12692159e+01] [-8.48160251e-01 -5.29725845e-01 3.83638874e-03 2.45477341e+01] [-4.60626073e-03 1.33086291e-04 -9.99989382e-01 6.72430107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.31, Y:24.44, Z:6.72 [[ 5.93324885e-01 -8.04956338e-01 -3.29776138e-03 9.13118011e+01] [-8.04945306e-01 -5.93334030e-01 4.21704163e-03 2.44384115e+01] [-5.35120843e-03 1.52441805e-04 -9.99985671e-01 6.72441052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.36, Y:24.34, Z:6.72 [[ 6.53717294e-01 -7.56728858e-01 -3.89053314e-03 9.13574908e+01] [-7.56716878e-01 -6.53728851e-01 4.26088742e-03 2.43385880e+01] [-5.76769023e-03 1.58616300e-04 -9.99983354e-01 6.72479179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.41, Y:24.24, Z:6.73 [[ 7.09865407e-01 -7.04322076e-01 -4.63863393e-03 9.14148388e+01] [-7.04308587e-01 -7.09880542e-01 4.36228373e-03 2.42387922e+01] [-6.36532870e-03 1.70395393e-04 -9.99979727e-01 6.72513022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.41, Y:24.23, Z:6.72 [[ 7.63566748e-01 -6.45710491e-01 -4.87688617e-03 9.14103348e+01] [-6.45698642e-01 -7.63582305e-01 3.91497810e-03 2.42293495e+01] [-6.25184641e-03 1.59651677e-04 -9.99980444e-01 6.72445667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.41, Y:24.22, Z:6.72 [[ 8.11824835e-01 -5.83879617e-01 -5.00309625e-03 9.14067527e+01] [-5.83869683e-01 -8.11840236e-01 3.40936681e-03 2.42200046e+01] [-6.05237463e-03 1.53347578e-04 -9.99981673e-01 6.72453970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:24.21, Z:6.72 [[ 8.55159640e-01 -5.18334700e-01 -5.57934972e-03 9.14032300e+01] [-5.18324886e-01 -8.55177826e-01 3.19370343e-03 2.42099917e+01] [-6.42674347e-03 1.60789533e-04 -9.99979335e-01 6.72447383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:24.20, Z:6.72 [[ 8.93289317e-01 -4.49445220e-01 -5.76111892e-03 9.14002901e+01] [-4.49436993e-01 -8.93307881e-01 2.72387083e-03 2.41999718e+01] [-6.37068366e-03 1.56055256e-04 -9.99979695e-01 6.72455740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:24.19, Z:6.72 [[ 9.26292473e-01 -3.76769615e-01 -5.18774209e-03 9.13979394e+01] [-3.76764470e-01 -9.26306991e-01 1.97309854e-03 2.41906409e+01] [-5.54884534e-03 1.26890573e-04 -9.99984597e-01 6.72425543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:24.18, Z:6.72 [[ 9.53084623e-01 -3.02667953e-01 -4.67038035e-03 9.13969189e+01] [-3.02664875e-01 -9.53096060e-01 1.36927692e-03 2.41800854e+01] [-4.86575735e-03 1.08523309e-04 -9.99988156e-01 6.72391292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:24.17, Z:6.72 [[ 9.74091480e-01 -2.26118085e-01 -4.04959765e-03 9.13959111e+01] [-2.26116504e-01 -9.74099894e-01 8.50249755e-04 2.41673247e+01] [-4.13696949e-03 8.74598187e-05 -9.99991439e-01 6.72336400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:24.15, Z:6.72 [[ 9.88884912e-01 -1.48625594e-01 -4.13084411e-03 9.13922691e+01] [-1.48624659e-01 -9.88893536e-01 5.34094502e-04 2.41549327e+01] [-4.16434515e-03 8.57873018e-05 -9.99991325e-01 6.72361419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:24.14, Z:6.72 [[ 9.97486529e-01 -7.07341507e-02 -4.15996316e-03 9.13891903e+01] [-7.07338940e-02 -9.97495199e-01 2.08987347e-04 2.41421522e+01] [-4.16432582e-03 8.57883294e-05 -9.99991326e-01 6.72361401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:24.13, Z:6.72 [[ 9.99957533e-01 7.89866603e-03 -4.74790378e-03 9.13866045e+01] [ 7.89811986e-03 -9.99968801e-01 -1.33773997e-04 2.41309859e+01] [-4.74881229e-03 9.62688026e-05 -9.99988720e-01 6.72439607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:24.12, Z:6.73 [[ 9.96197121e-01 8.69823391e-02 -5.03674907e-03 9.13857598e+01] [ 8.69807264e-02 -9.96209849e-01 -5.38778466e-04 2.41197672e+01] [-5.06452324e-03 9.86294635e-05 -9.99987170e-01 6.72500688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:24.11, Z:6.73 [[ 9.86361218e-01 1.64528246e-01 -4.69078870e-03 9.13850373e+01] [ 1.64525932e-01 -9.86372368e-01 -8.77553878e-04 2.41095636e+01] [-4.77124675e-03 9.38287294e-05 -9.99988613e-01 6.72516094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:24.10, Z:6.72 [[ 9.70462503e-01 2.41213977e-01 -4.28343835e-03 9.13866536e+01] [ 2.41211229e-01 -9.70471952e-01 -1.15466099e-03 2.40970533e+01] [-4.43547714e-03 8.73417641e-05 -9.99990159e-01 6.72469380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:24.09, Z:6.72 [[ 9.48518718e-01 3.16693615e-01 -4.17084989e-03 9.13870376e+01] [ 3.16690153e-01 -9.48527884e-01 -1.48326655e-03 2.40861798e+01] [-4.42590846e-03 8.60389938e-05 -9.99990202e-01 6.72456892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:24.08, Z:6.72 [[ 9.20640757e-01 3.90389886e-01 -4.04135675e-03 9.13878197e+01] [ 3.90385722e-01 -9.20649624e-01 -1.80507054e-03 2.40776463e+01] [-4.42535485e-03 8.41335414e-05 -9.99990205e-01 6.72460150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.660385723 meters Centerline goodness [0,1] 0.9999781296474499 Centerline is valid? [True, True] Translation: X:91.39, Y:24.07, Z:6.73 [[ 8.86822638e-01 4.62091871e-01 -4.08812286e-03 9.13914478e+01] [ 4.62086521e-01 -8.86832056e-01 -2.22512494e-03 2.40668608e+01] [-4.65369055e-03 8.42247021e-05 -9.99989168e-01 6.72579472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:24.06, Z:6.73 [[ 8.47587417e-01 5.30641001e-01 -3.96223920e-03 9.13958614e+01] [ 5.30634745e-01 -8.47596674e-01 -2.57795231e-03 2.40561074e+01] [-4.72634796e-03 8.25381534e-05 -9.99988827e-01 6.72518347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:24.05, Z:6.73 [[ 8.03076833e-01 5.95864112e-01 -3.68249237e-03 9.13982626e+01] [ 5.95857399e-01 -8.03085272e-01 -2.82955885e-03 2.40479555e+01] [-4.64338796e-03 7.81128323e-05 -9.99989216e-01 6.72621044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:24.04, Z:6.73 [[ 7.53911320e-01 6.56967769e-01 -3.32740925e-03 9.14027845e+01] [ 6.56960929e-01 -7.53918659e-01 -2.99883925e-03 2.40389553e+01] [-4.47873665e-03 7.48809816e-05 -9.99989968e-01 6.72606786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.780385723 meters Centerline goodness [0,1] 0.9999559955995599 Centerline is valid? [True, True] Translation: X:91.41, Y:24.03, Z:6.73 [[ 7.00321214e-01 7.13821178e-01 -3.08596619e-03 9.14099155e+01] [ 7.13813765e-01 -7.00328009e-01 -3.25401484e-03 2.40283045e+01] [-4.48397327e-03 7.60504779e-05 -9.99989944e-01 6.72563265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.41, Y:24.02, Z:6.73 [[ 6.42861579e-01 7.65977045e-01 -2.85609725e-03 9.14144635e+01] [ 7.65968922e-01 -6.42867918e-01 -3.52844752e-03 2.40197666e+01] [-4.53880310e-03 8.06216060e-05 -9.99989696e-01 6.72515015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.42, Y:24.01, Z:6.73 [[ 5.81243816e-01 8.13725190e-01 -2.63469481e-03 9.14198723e+01] [ 8.13716163e-01 -5.81249781e-01 -3.83388035e-03 2.40110748e+01] [-4.65114080e-03 8.45254891e-05 -9.99989180e-01 6.72555007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.43, Y:24.00, Z:6.73 [[ 5.16298157e-01 8.56404656e-01 -2.69766852e-03 9.14255380e+01] [ 8.56391921e-01 -5.16305195e-01 -4.67159518e-03 2.40028703e+01] [-5.39359614e-03 1.01674458e-04 -9.99985449e-01 6.72631722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.43, Y:23.99, Z:6.73 [[ 4.47480242e-01 8.94291083e-01 -2.21177212e-03 9.14308521e+01] [ 8.94279081e-01 -4.47485698e-01 -4.63415491e-03 2.39941151e+01] [-5.13401981e-03 9.57512170e-05 -9.99986816e-01 6.72665624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.44, Y:23.99, Z:6.73 [[ 3.75701326e-01 9.26739149e-01 -1.75023642e-03 9.14405149e+01] [ 9.26727964e-01 -3.75705392e-01 -4.55399939e-03 2.39852225e+01] [-4.87794278e-03 8.89505715e-05 -9.99988099e-01 6.72646250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.45, Y:23.98, Z:6.73 [[ 3.00465249e-01 9.53791979e-01 -1.22316938e-03 9.14481512e+01] [ 9.53783081e-01 -3.00467730e-01 -4.12050518e-03 2.39776202e+01] [-4.29762772e-03 7.14303602e-05 -9.99990763e-01 6.72621385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.46, Y:23.97, Z:6.73 [[ 2.23887683e-01 9.74614537e-01 -8.99645554e-04 9.14561508e+01] [ 9.74605415e-01 -2.23889481e-01 -4.21736721e-03 2.39706562e+01] [-4.31172856e-03 6.74171461e-05 -9.99990702e-01 6.72658913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.46, Y:23.96, Z:6.73 [[ 1.45178129e-01 9.89405386e-01 -5.41671172e-04 9.14641599e+01] [ 9.89396951e-01 -1.45179128e-01 -4.08581589e-03 2.39645196e+01] [-4.12116760e-03 5.72432984e-05 -9.99991506e-01 6.72731671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.47, Y:23.96, Z:6.73 [[ 6.65295006e-02 9.97784432e-01 -2.31913238e-04 9.14741144e+01] [ 9.97775001e-01 -6.65298802e-02 -4.33849898e-03 2.39593934e+01] [-4.34431590e-03 5.72409387e-05 -9.99990562e-01 6.72728619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.48, Y:23.95, Z:6.73 [[-1.24203704e-02 9.99922859e-01 1.07269870e-04 9.14831562e+01] [ 9.99913681e-01 1.24207161e-02 -4.28451560e-03 2.39541780e+01] [-4.28551745e-03 5.40453396e-05 -9.99990816e-01 6.72736003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.110385723 meters Centerline goodness [0,1] 0.9998234852830855 Centerline is valid? [True, True] Translation: X:91.49, Y:23.95, Z:6.73 [[-9.02915074e-02 9.95915325e-01 3.30276696e-04 9.14913866e+01] [ 9.95910244e-01 9.02921018e-02 -3.18169130e-03 2.39502559e+01] [-3.19851650e-03 4.16462421e-05 -9.99994884e-01 6.72606584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.50, Y:23.95, Z:6.73 [[-1.67366883e-01 9.85894558e-01 4.98059684e-04 9.15004184e+01] [ 9.85890837e-01 1.67367619e-01 -2.70871359e-03 2.39468370e+01] [-2.75386505e-03 3.76835291e-05 -9.99996207e-01 6.72534083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.51, Y:23.94, Z:6.73 [[-2.42587666e-01 9.70129187e-01 7.65239484e-04 9.15127961e+01] [ 9.70124933e-01 2.42588869e-01 -2.87323134e-03 2.39444737e+01] [-2.97304416e-03 4.53674184e-05 -9.99995580e-01 6.72581558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.52, Y:23.94, Z:6.73 [[-3.17870755e-01 9.48133545e-01 9.81869606e-04 9.15249547e+01] [ 9.48129449e-01 3.17872269e-01 -2.78743593e-03 2.39428472e+01] [-2.95497063e-03 4.48951216e-05 -9.99995633e-01 6.72665865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.54, Y:23.94, Z:6.73 [[-3.91944194e-01 9.19987832e-01 1.46251922e-03 9.15366563e+01] [ 9.19981913e-01 3.91946919e-01 -3.30043148e-03 2.39406817e+01] [-3.60958670e-03 5.19062777e-05 -9.99993484e-01 6.72801491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.55, Y:23.94, Z:6.73 [[-4.63256148e-01 8.86222755e-01 1.72350045e-03 9.15473781e+01] [ 8.86217020e-01 4.63259352e-01 -3.18845493e-03 2.39399967e+01] [-3.62410901e-03 5.03240832e-05 -9.99993432e-01 6.72851228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.56, Y:23.94, Z:6.73 [[-5.32230358e-01 8.46597180e-01 2.01528846e-03 9.15581825e+01] [ 8.46591444e-01 5.32234171e-01 -3.11673139e-03 2.39409370e+01] [-3.71122139e-03 4.73069044e-05 -9.99993112e-01 6.72831821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.57, Y:23.94, Z:6.73 [[-5.97648315e-01 8.01755435e-01 2.17126648e-03 9.15692983e+01] [ 8.01750399e-01 5.97652258e-01 -2.84193717e-03 2.39406232e+01] [-3.57620089e-03 4.23348079e-05 -9.99993605e-01 6.72781369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3503857229999 meters Centerline goodness [0,1] 0.9999776256320759 Centerline is valid? [True, True] Translation: X:91.58, Y:23.94, Z:6.73 [[-6.59217474e-01 7.51949728e-01 1.98198423e-03 9.15802002e+01] [ 7.51946478e-01 6.59220453e-01 -2.21118596e-03 2.39433683e+01] [-2.96926523e-03 3.26936380e-05 -9.99995591e-01 6.72735551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.59, Y:23.95, Z:6.73 [[-7.17210301e-01 6.96854394e-01 1.82703023e-03 9.15925379e+01] [ 6.96852217e-01 7.17212627e-01 -1.74232448e-03 2.39483955e+01] [-2.52451562e-03 2.35569989e-05 -9.99996813e-01 6.72700696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.62, Y:23.96, Z:6.73 [[-7.65173861e-01 6.43821445e-01 1.70573083e-03 9.16220046e+01] [ 6.43819899e-01 7.65175762e-01 -1.41115089e-03 2.39612899e+01] [-2.21371309e-03 1.84076774e-05 -9.99997550e-01 6.72653656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.65, Y:23.98, Z:6.73 [[-8.08856319e-01 5.88005878e-01 7.36552450e-04 9.16459385e+01] [ 5.88005642e-01 8.08856655e-01 -5.26535776e-04 2.39790889e+01] [-9.05371482e-04 7.20520579e-06 -9.99999590e-01 6.72601350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.66, Y:24.00, Z:6.73 [[-8.48129588e-01 5.29787223e-01 1.30370661e-03 9.16635045e+01] [ 5.29786621e-01 8.48130590e-01 -7.98636563e-04 2.40011265e+01] [-1.52882090e-03 1.33390196e-05 -9.99998831e-01 6.72618329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.68, Y:24.02, Z:6.73 [[-8.82549035e-01 4.70216238e-01 1.97252569e-03 9.16799779e+01] [ 4.70215125e-01 8.82551239e-01 -1.02358851e-03 2.40235922e+01] [-2.22216292e-03 2.41443643e-05 -9.99997531e-01 6.72707443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.70, Y:24.05, Z:6.73 [[-9.13375264e-01 4.07111433e-01 2.43090051e-03 9.16982894e+01] [ 4.07110080e-01 9.13378498e-01 -1.05005081e-03 2.40467489e+01] [-2.64781995e-03 3.05536687e-05 -9.99996494e-01 6.72758657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.560385723 meters Centerline goodness [0,1] 0.9999327881707181 Centerline is valid? [True, True] Translation: X:91.71, Y:24.07, Z:6.73 [[-9.39721064e-01 3.41933689e-01 2.38193398e-03 9.17093714e+01] [ 3.41932673e-01 9.39724083e-01 -8.34227988e-04 2.40736318e+01] [-2.52361138e-03 3.05194402e-05 -9.99996815e-01 6.72735418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5903857229999 meters Centerline goodness [0,1] 0.9997988826815642 Centerline is valid? [True, True] Translation: X:91.72, Y:24.10, Z:6.73 [[-9.61301429e-01 2.75483248e-01 2.92272444e-03 9.17216792e+01] [ 2.75482100e-01 9.61305872e-01 -7.96059508e-04 2.41016393e+01] [-3.02893322e-03 3.99051249e-05 -9.99995412e-01 6.73109864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.73, Y:24.13, Z:6.73 [[-9.78497875e-01 2.06240611e-01 2.59222107e-03 9.17291153e+01] [ 2.06239978e-01 9.78501308e-01 -5.11910166e-04 2.41307456e+01] [-2.64206838e-03 3.37166082e-05 -9.99996509e-01 6.72720226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.650385723 meters Centerline goodness [0,1] 0.9999777570176609 Centerline is valid? [True, True] Translation: X:91.73, Y:24.16, Z:6.73 [[-9.90515687e-01 1.37357568e-01 3.40185430e-03 9.17285458e+01] [ 1.37356923e-01 9.90521527e-01 -4.23693649e-04 2.41608985e+01] [-3.42780745e-03 4.75930341e-05 -9.99994124e-01 6.72775177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.680385723 meters Centerline goodness [0,1] 0.9999776860426196 Centerline is valid? [True, True] Translation: X:91.73, Y:24.19, Z:6.73 [[-9.97722602e-01 6.73398944e-02 3.86620510e-03 9.17304809e+01] [ 6.73396083e-02 9.97730092e-01 -2.04289300e-04 2.41912316e+01] [-3.87118599e-03 5.65246847e-05 -9.99992505e-01 6.72755007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.710385723 meters Centerline goodness [0,1] 0.9999106923574985 Centerline is valid? [True, True] Translation: X:91.74, Y:24.22, Z:6.73 [[-9.99987794e-01 -2.63664151e-03 4.17855493e-03 9.17377757e+01] [-2.63634326e-03 9.99996522e-01 7.68840735e-05 2.42209053e+01] [-4.17874311e-03 6.58670299e-05 -9.99991267e-01 6.72796216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.73, Y:24.25, Z:6.73 [[-9.97464112e-01 -7.09845909e-02 5.15098363e-03 9.17284295e+01] [-7.09831435e-02 9.97477408e-01 4.63497792e-04 2.42485938e+01] [-5.17089100e-03 9.66894031e-05 -9.99986626e-01 6.72971270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.72, Y:24.28, Z:6.73 [[-9.90063529e-01 -1.40506855e-01 5.65966212e-03 9.17181478e+01] [-1.40503882e-01 9.90079699e-01 9.21559635e-04 2.42774105e+01] [-5.73300202e-03 1.17198086e-04 -9.99983559e-01 6.73044100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.57, Y:25.04, Z:5.75 [[-9.93106663e-01 1.17087302e-01 5.45163273e-03 9.15714888e+01] [-1.17086247e-01 -9.93121618e-01 5.13465884e-04 2.50370272e+01] [ 5.47425465e-03 -1.28384825e-04 9.99985008e-01 5.74828181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.57, Y:24.26, Z:6.73 [[-9.89595563e-01 -1.43779827e-01 5.28985191e-03 9.15712043e+01] [-1.43777076e-01 9.89609693e-01 8.98688425e-04 2.42578070e+01] [-5.36410199e-03 1.28778638e-04 -9.99985605e-01 6.72943774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.42, Y:25.01, Z:5.75 [[-9.92135579e-01 1.25067229e-01 5.01806773e-03 9.14179947e+01] [-1.25066354e-01 -9.92148259e-01 4.89017706e-04 2.50112974e+01] [ 5.03982725e-03 -1.42419570e-04 9.99987290e-01 5.74907370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.890385723 meters Centerline goodness [0,1] 0.9999335857076442 Centerline is valid? [True, True] Translation: X:91.42, Y:24.24, Z:6.73 [[-9.88655342e-01 -1.50121093e-01 4.92675858e-03 9.14226343e+01] [-1.50118610e-01 9.88667610e-01 8.72159139e-04 2.42381801e+01] [-5.00185611e-03 1.22666643e-04 -9.99987483e-01 6.72965180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:24.26, Z:6.73 [[-9.75121774e-01 -2.21627951e-01 4.31013791e-03 9.13858697e+01] [-2.21625306e-01 9.75131294e-01 1.08786342e-03 2.42629497e+01] [-4.44405130e-03 1.05563671e-04 -9.99990120e-01 6.72938512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.950385723 meters Centerline goodness [0,1] 0.9999779924734259 Centerline is valid? [True, True] Translation: X:91.33, Y:24.28, Z:6.73 [[-9.56177603e-01 -2.92759309e-01 4.04691865e-03 9.13321815e+01] [-2.92756243e-01 9.56186162e-01 1.34360076e-03 2.42795421e+01] [-4.26295924e-03 9.99602505e-05 -9.99990909e-01 6.72906656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.27, Y:24.29, Z:6.73 [[-9.31746335e-01 -3.63088567e-01 3.93183377e-03 9.12688856e+01] [-3.63084892e-01 9.31754626e-01 1.63646602e-03 2.42909025e+01] [-4.25768640e-03 9.71817772e-05 -9.99990931e-01 6.72884692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.19, Y:24.29, Z:6.73 [[-9.01829747e-01 -4.32076677e-01 3.58522793e-03 9.11913216e+01] [-4.32072874e-01 9.01836869e-01 1.81490688e-03 2.42921520e+01] [-4.01746967e-03 8.76572731e-05 -9.99991926e-01 6.73005739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.11, Y:24.28, Z:6.73 [[-8.66352675e-01 -4.99416455e-01 4.03078810e-03 9.11071480e+01] [-4.99410531e-01 8.66362046e-01 2.43430313e-03 2.42833655e+01] [-4.70785286e-03 9.59470022e-05 -9.99988913e-01 6.72988192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.02, Y:24.26, Z:6.73 [[-8.26138648e-01 -5.63454008e-01 3.81001514e-03 9.10159263e+01] [-5.63447497e-01 8.26147428e-01 2.71017304e-03 2.42606033e+01] [-4.67469207e-03 9.22351939e-05 -9.99989069e-01 6.72974329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.92, Y:24.23, Z:6.73 [[-7.81061072e-01 -6.24444931e-01 3.48267957e-03 9.09222771e+01] [-6.24438224e-01 7.81068832e-01 2.89552436e-03 2.42278241e+01] [-4.52830797e-03 8.68631183e-05 -9.99989743e-01 6.72949928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.83, Y:24.19, Z:6.73 [[-7.30647623e-01 -6.82745241e-01 3.60383124e-03 9.08302265e+01] [-6.82736329e-01 7.30656505e-01 3.48954769e-03 2.41895472e+01] [-5.01563481e-03 8.91632137e-05 -9.99987418e-01 6.72937392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.74, Y:24.14, Z:6.73 [[-6.76215222e-01 -7.36693790e-01 3.90313919e-03 9.07363543e+01] [-7.36680655e-01 6.76226479e-01 4.40023941e-03 2.41351207e+01] [-5.88103511e-03 1.00141734e-04 -9.99982702e-01 6.73013592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.64, Y:24.07, Z:6.73 [[-6.17847585e-01 -7.86288169e-01 3.90856553e-03 9.06420591e+01] [-7.86271332e-01 6.17859939e-01 5.14669316e-03 2.40724936e+01] [-6.46173000e-03 1.06678916e-04 -9.99979117e-01 6.73146753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.55, Y:24.00, Z:6.73 [[-5.56144984e-01 -8.31077355e-01 3.63133501e-03 9.05540335e+01] [-8.31058323e-01 5.56156829e-01 5.62542038e-03 2.40020109e+01] [-6.69475125e-03 1.10698149e-04 -9.99977584e-01 6.73165839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.250385723 meters Centerline goodness [0,1] 0.9998909439888327 Centerline is valid? [True, True] Translation: X:90.47, Y:23.92, Z:6.73 [[-4.92036729e-01 -8.70565723e-01 3.89617334e-03 9.04704004e+01] [-8.70536074e-01 4.92052133e-01 7.18622047e-03 2.39195663e+01] [-8.17319762e-03 1.44124967e-04 -9.99966589e-01 6.73467111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.39, Y:23.83, Z:6.73 [[-4.23932319e-01 -9.05688697e-01 3.06155312e-03 9.03920273e+01] [-9.05662801e-01 4.23943354e-01 6.85008496e-03 2.38300286e+01] [-7.50196962e-03 1.31237632e-04 -9.99971851e-01 6.73249303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.32, Y:23.73, Z:6.73 [[-3.53936006e-01 -9.35266535e-01 2.41068999e-03 9.03196428e+01] [-9.35242286e-01 3.53944192e-01 6.73612313e-03 2.37317225e+01] [-7.15332027e-03 1.29577298e-04 -9.99974406e-01 6.73193475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3403857229999 meters Centerline goodness [0,1] 0.9999782343722793 Centerline is valid? [True, True] Translation: X:90.25, Y:23.62, Z:6.73 [[-2.82362939e-01 -9.59306051e-01 1.75219490e-03 9.02546650e+01] [-9.59284665e-01 2.82368347e-01 6.40692768e-03 2.36244336e+01] [-6.64096887e-03 1.28225233e-04 -9.99977940e-01 6.73071846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.370385723 meters Centerline goodness [0,1] 0.9999782343722793 Centerline is valid? [True, True] Translation: X:90.20, Y:23.51, Z:6.73 [[-2.07893274e-01 -9.78150710e-01 1.25521412e-03 9.01989068e+01] [-9.78128971e-01 2.07897024e-01 6.52251375e-03 2.35139736e+01] [-6.64095673e-03 1.28225445e-04 -9.99977940e-01 6.73071785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.15, Y:23.41, Z:6.73 [[-1.33654566e-01 -9.91027762e-01 6.56751418e-04 9.01515575e+01] [-9.91011010e-01 1.33656127e-01 5.76345183e-03 2.34077083e+01] [-5.79951962e-03 1.19463769e-04 -9.99983176e-01 6.73069469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.11, Y:23.29, Z:6.73 [[-5.74797018e-02 -9.98346657e-01 1.92839900e-04 9.01125567e+01] [-9.98332789e-01 5.74799200e-02 5.26327219e-03 2.32909380e+01] [-5.26565462e-03 1.10012921e-04 -9.99986130e-01 6.73072852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.08, Y:23.17, Z:6.73 [[ 1.90827971e-02 -9.99817890e-01 -1.81802566e-04 9.00826586e+01] [-9.99807719e-01 -1.90834232e-02 4.51079967e-03 2.31683825e+01] [-4.51344763e-03 9.56889344e-05 -9.99989810e-01 6.73018704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.06, Y:23.04, Z:6.73 [[ 9.58380588e-02 -9.95396787e-01 -5.51357172e-04 9.00609722e+01] [-9.95385770e-01 -9.58395927e-02 4.68412106e-03 2.30404303e+01] [-4.71540090e-03 9.98960134e-05 -9.99988878e-01 6.72994878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.05, Y:22.92, Z:6.73 [[ 1.71549787e-01 -9.85174930e-01 -1.01353428e-03 9.00492103e+01] [-9.85161441e-01 -1.71552743e-01 5.15663825e-03 2.29174893e+01] [-5.25406531e-03 1.13874702e-04 -9.99986191e-01 6.73052249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.550385723 meters Centerline goodness [0,1] 0.9999347514028448 Centerline is valid? [True, True] Translation: X:90.05, Y:22.79, Z:6.73 [[ 2.46266487e-01 -9.69200572e-01 -1.75188762e-03 9.00475145e+01] [-9.69180056e-01 -2.46272675e-01 6.30778897e-03 2.27913809e+01] [-6.54495473e-03 1.44497517e-04 -9.99978571e-01 6.73351205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.05, Y:22.67, Z:6.73 [[ 3.19987664e-01 -9.47419061e-01 -2.24031691e-03 9.00542126e+01] [-9.47398893e-01 -3.19995474e-01 6.18341848e-03 2.26712511e+01] [-6.57517980e-03 1.43856129e-04 -9.99978373e-01 6.73213919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.610385723 meters Centerline goodness [0,1] 0.9998917045700672 Centerline is valid? [True, True] Translation: X:90.07, Y:22.55, Z:6.73 [[ 3.91220393e-01 -9.20293278e-01 -2.62447051e-03 9.00707670e+01] [-9.20274948e-01 -3.91229170e-01 5.81002296e-03 2.25504732e+01] [-6.37369449e-03 1.42235001e-04 -9.99979678e-01 6.73168719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.640385723 meters Centerline goodness [0,1] 0.9999565274094683 Centerline is valid? [True, True] Translation: X:90.10, Y:22.43, Z:6.73 [[ 4.59666926e-01 -8.88086642e-01 -2.90424137e-03 9.00963443e+01] [-8.88070806e-01 -4.59676079e-01 5.30539340e-03 2.24329556e+01] [-6.04665929e-03 1.40458105e-04 -9.99981709e-01 6.73142002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.670385723 meters Centerline goodness [0,1] 0.9998478194704118 Centerline is valid? [True, True] Translation: X:90.13, Y:22.32, Z:6.73 [[ 5.25027957e-01 -8.51076931e-01 -3.70163305e-03 9.01301566e+01] [-8.51057970e-01 -5.25040979e-01 5.68345395e-03 2.23178004e+01] [-6.78056558e-03 1.66332091e-04 -9.99976998e-01 6.73304359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.17, Y:22.21, Z:6.73 [[ 5.87294999e-01 -8.09363491e-01 -3.91455207e-03 9.01718756e+01] [-8.09347373e-01 -5.87308021e-01 5.11067651e-03 2.22073048e+01] [-6.43544281e-03 1.66757683e-04 -9.99979278e-01 6.73087497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.22, Y:22.11, Z:6.73 [[ 6.46956753e-01 -7.62514396e-01 -4.33069960e-03 9.02152234e+01] [-7.62499044e-01 -6.46971226e-01 4.84160397e-03 2.21086822e+01] [-6.49363076e-03 1.69845920e-04 -9.99978902e-01 6.73122581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.26, Y:22.01, Z:6.73 [[ 7.02044011e-01 -7.12124317e-01 -3.62820698e-03 9.02649772e+01] [-7.12115810e-01 -7.02053373e-01 3.48359329e-03 2.20108764e+01] [-5.02794644e-03 1.38067740e-04 -9.99987350e-01 6.73044345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.26, Y:22.00, Z:6.73 [[ 7.54976260e-01 -6.55744185e-01 -3.22650877e-03 9.02595265e+01] [-6.55738858e-01 -7.54983145e-01 2.64587762e-03 2.19990060e+01] [-4.17097861e-03 1.18172382e-04 -9.99991295e-01 6.72972110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.26, Y:21.99, Z:6.73 [[ 8.02545949e-01 -5.96585978e-01 -2.27375104e-03 9.02563080e+01] [-5.96583880e-01 -8.02549166e-01 1.58456586e-03 2.19869374e+01] [-2.77012678e-03 8.47963050e-05 -9.99996160e-01 6.72884364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8503857229999 meters Centerline goodness [0,1] 0.9999568751751946 Centerline is valid? [True, True] Translation: X:90.25, Y:21.98, Z:6.73 [[ 8.46112049e-01 -5.33001237e-01 -2.02049988e-03 9.02539729e+01] [-5.32999925e-01 -8.46114458e-01 1.18495227e-03 2.19755057e+01] [-2.34115519e-03 7.43238946e-05 -9.99997257e-01 6.72892275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.25, Y:21.96, Z:6.73 [[ 8.84901197e-01 -4.65773677e-01 -2.18020717e-03 9.02511215e+01] [-4.65772479e-01 -8.84903880e-01 1.05893318e-03 2.19613879e+01] [-2.42249698e-03 7.84292615e-05 -9.99997063e-01 6.72917816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.25, Y:21.95, Z:6.73 [[ 9.18494918e-01 -3.95425726e-01 -2.36228304e-03 9.02495842e+01] [-3.95424649e-01 -9.18497952e-01 9.26797393e-04 2.19482598e+01] [-2.53623167e-03 8.28462452e-05 -9.99996780e-01 6.72919036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.940385723 meters Centerline goodness [0,1] 0.9999571587695999 Centerline is valid? [True, True] Translation: X:90.25, Y:21.93, Z:6.73 [[ 9.46718491e-01 -3.22054763e-01 -2.19732878e-03 9.02481467e+01] [-3.22054076e-01 -9.46721038e-01 6.69164556e-04 2.19305648e+01] [-2.29576502e-03 7.41482324e-05 -9.99997362e-01 6.73074418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.25, Y:21.91, Z:6.73 [[ 9.69476670e-01 -2.45174415e-01 -2.11948789e-03 9.02480442e+01] [-2.45173977e-01 -9.69478985e-01 4.68135143e-04 2.19144954e+01] [-2.16957373e-03 6.57971764e-05 -9.99997644e-01 6.73021036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.000385723 meters Centerline goodness [0,1] 0.9999144421629022 Centerline is valid? [True, True] Translation: X:90.25, Y:21.90, Z:6.73 [[ 9.85841709e-01 -1.67662293e-01 -2.34108553e-03 9.02479642e+01] [-1.67661987e-01 -9.85844486e-01 3.27381896e-04 2.18980834e+01] [-2.36283586e-03 6.97643241e-05 -9.99997206e-01 6.73256663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.25, Y:21.88, Z:6.73 [[ 9.96166535e-01 -8.74470529e-02 -2.29085241e-03 9.02483534e+01] [-8.74469646e-02 -9.96169167e-01 1.38880964e-04 2.18811555e+01] [-2.29422127e-03 6.19795208e-05 -9.99997366e-01 6.73054947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.25, Y:21.87, Z:6.73 [[ 9.99963369e-01 -8.29199853e-03 -2.12232784e-03 9.02493960e+01] [-8.29209729e-03 -9.99965619e-01 -3.77399382e-05 2.18684821e+01] [-2.12194194e-03 5.53371046e-05 -9.99997747e-01 6.73053179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.25, Y:21.86, Z:6.73 [[ 9.97490841e-01 7.07486899e-02 -2.57768448e-03 9.02517523e+01] [ 7.07482832e-02 -9.97494170e-01 -2.48730414e-04 2.18554674e+01] [-2.58882260e-03 6.57395584e-05 -9.99996647e-01 6.73107394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.26, Y:21.84, Z:6.73 [[ 9.88971658e-01 1.48077368e-01 -2.85546810e-03 9.02556421e+01] [ 1.48076531e-01 -9.88975777e-01 -5.03560524e-04 2.18447210e+01] [-2.89855470e-03 7.51792760e-05 -9.99995796e-01 6.73134026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.26, Y:21.83, Z:6.73 [[ 9.74707555e-01 2.23472987e-01 -2.23742065e-03 9.02618917e+01] [ 2.23472248e-01 -9.74710121e-01 -5.78148248e-04 2.18294947e+01] [-2.31003707e-03 6.35240418e-05 -9.99997330e-01 6.73099292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.180385723 meters Centerline goodness [0,1] 0.9999147248811479 Centerline is valid? [True, True] Translation: X:90.27, Y:21.82, Z:6.73 [[ 9.54585412e-01 2.97930390e-01 -2.04300986e-03 9.02682748e+01] [ 2.97929568e-01 -9.54587596e-01 -7.02644682e-04 2.18181549e+01] [-2.15957108e-03 6.20613171e-05 -9.99997666e-01 6.73325177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.28, Y:21.81, Z:6.73 [[ 9.28768925e-01 3.70658736e-01 -6.20936435e-04 9.02757927e+01] [ 3.70658638e-01 -9.28769133e-01 -2.69397536e-04 2.18068482e+01] [-6.76561145e-04 2.00526069e-05 -9.99999771e-01 6.72997257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.28, Y:21.79, Z:6.73 [[ 8.97096753e-01 4.41834136e-01 1.14317394e-04 9.02842141e+01] [ 4.41834132e-01 -8.97096760e-01 6.10441382e-05 2.17942588e+01] [ 1.29525147e-04 -4.25317184e-06 -9.99999992e-01 6.72931530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.29, Y:21.78, Z:6.73 [[ 8.59921967e-01 5.10425421e-01 -3.16275030e-04 9.02919694e+01] [ 5.10425381e-01 -8.59922025e-01 -2.00850882e-04 2.17844159e+01] [-3.74491260e-04 1.12812832e-05 -9.99999930e-01 6.72951282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.30, Y:21.77, Z:6.73 [[ 8.17547935e-01 5.75859642e-01 -1.02310550e-03 9.03030925e+01] [ 5.75859129e-01 -8.17548574e-01 -7.69301421e-04 2.17732228e+01] [-1.27944808e-03 3.97761464e-05 -9.99999181e-01 6.73149609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.31, Y:21.77, Z:6.73 [[ 7.69954859e-01 6.38096856e-01 -1.38491274e-03 9.03132138e+01] [ 6.38095687e-01 -7.69956102e-01 -1.22253564e-03 2.17657470e+01] [-1.84641816e-03 5.75904139e-05 -9.99998294e-01 6.73187278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.32, Y:21.76, Z:6.73 [[ 7.17911721e-01 6.96133159e-01 -1.17706875e-03 9.03230990e+01] [ 6.96132099e-01 -7.17912684e-01 -1.21580025e-03 2.17597382e+01] [-1.69139146e-03 5.34419086e-05 -9.99998568e-01 6.73229830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.34, Y:21.75, Z:6.73 [[ 6.61409319e-01 7.50023727e-01 -1.45648093e-03 9.03366611e+01] [ 7.50021661e-01 -6.61410919e-01 -1.76185986e-03 2.17505613e+01] [-2.28476908e-03 7.29182858e-05 -9.99997387e-01 6.73205707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.35, Y:21.74, Z:6.73 [[ 6.00524056e-01 7.99605219e-01 -1.53359937e-03 9.03495381e+01] [ 7.99602244e-01 -6.00526008e-01 -2.18307464e-03 2.17443657e+01] [-2.66656419e-03 8.47193353e-05 -9.99996441e-01 6.73282219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.37, Y:21.74, Z:6.73 [[ 5.34687355e-01 8.45048297e-01 -1.67609874e-03 9.03650721e+01] [ 8.45043548e-01 -5.34689973e-01 -2.83475579e-03 2.17369984e+01] [-3.29169874e-03 9.93316482e-05 -9.99994577e-01 6.73352754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.38, Y:21.73, Z:6.73 [[ 4.65809226e-01 8.84884599e-01 -1.00608727e-03 9.03773155e+01] [ 8.84882219e-01 -4.65810308e-01 -2.05306899e-03 2.17324950e+01] [-2.28537495e-03 6.60697346e-05 -9.99997386e-01 6.73295843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.39, Y:21.73, Z:6.73 [[ 3.94398073e-01 9.18939524e-01 -5.57078488e-04 9.03889764e+01] [ 9.18938450e-01 -3.94398465e-01 -1.40564091e-03 2.17302423e+01] [-1.51140989e-03 4.24612235e-05 -9.99998857e-01 6.73202821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.540385723 meters Centerline goodness [0,1] 0.9998940902351197 Centerline is valid? [True, True] Translation: X:90.41, Y:21.73, Z:6.73 [[ 3.21197810e-01 9.47011980e-01 -5.26238427e-04 9.04055123e+01] [ 9.47010442e-01 -3.21198237e-01 -1.70766447e-03 2.17270606e+01] [-1.78620557e-03 5.01448038e-05 -9.99998404e-01 6.73447180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.42, Y:21.73, Z:6.73 [[ 2.45300601e-01 9.69447039e-01 -2.30842525e-04 9.04208568e+01] [ 9.69446493e-01 -2.45300708e-01 -1.02916534e-03 2.17257638e+01] [-1.05434712e-03 2.86654000e-05 -9.99999444e-01 6.73198923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.44, Y:21.73, Z:6.73 [[ 1.68850927e-01 9.85641574e-01 -2.30651163e-04 9.04361552e+01] [ 9.85640257e-01 -1.68851079e-01 -1.61161924e-03 2.17251039e+01] [-1.62742462e-03 4.47843304e-05 -9.99998675e-01 6.73298350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.45, Y:21.72, Z:6.73 [[ 9.29248112e-02 9.95673122e-01 -1.14491466e-04 9.04480488e+01] [ 9.95671505e-01 -9.29248667e-02 -1.79517221e-03 2.17249112e+01] [-1.79804382e-03 5.28201484e-05 -9.99998382e-01 6.73353236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.46, Y:21.73, Z:6.73 [[ 1.63986960e-02 9.99865532e-01 2.47328937e-05 9.04611368e+01] [ 9.99864119e-01 -1.63986313e-02 -1.68173262e-03 2.17266720e+01] [-1.68110089e-03 5.23077549e-05 -9.99998586e-01 6.73319288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.47, Y:21.73, Z:6.73 [[-5.99999879e-02 9.98198369e-01 1.35831110e-04 9.04707889e+01] [ 9.98197310e-01 6.00001222e-02 -1.45465417e-03 2.17284008e+01] [-1.46018330e-03 4.83070157e-05 -9.99998933e-01 6.73255900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.49, Y:21.73, Z:6.73 [[-1.33901396e-01 9.90994623e-01 2.71872077e-04 9.04863084e+01] [ 9.90993382e-01 1.33901659e-01 -1.56935206e-03 2.17322179e+01] [-1.59162358e-03 5.92849972e-05 -9.99998732e-01 6.73172445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.50, Y:21.74, Z:6.73 [[-2.09350567e-01 9.77840565e-01 4.11274461e-04 9.05010710e+01] [ 9.77839240e-01 2.09350961e-01 -1.61111217e-03 2.17370071e+01] [-1.66151153e-03 6.48730607e-05 -9.99998618e-01 6.73214993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.52, Y:21.74, Z:6.73 [[-2.83758774e-01 9.58895377e-01 7.83857170e-04 9.05150426e+01] [ 9.58892623e-01 2.83759840e-01 -2.30033060e-03 2.17423743e+01] [-2.42820356e-03 9.88958659e-05 -9.99997047e-01 6.73310068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.53, Y:21.75, Z:6.73 [[-3.57886498e-01 9.33764259e-01 1.25014588e-03 9.05274594e+01] [ 9.33759760e-01 3.57888659e-01 -2.90138723e-03 2.17491303e+01] [-3.15662473e-03 1.28968603e-04 -9.99995010e-01 6.73339298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8403857229999 meters Centerline goodness [0,1] 0.9999577996750575 Centerline is valid? [True, True] Translation: X:90.54, Y:21.76, Z:6.73 [[-4.30483973e-01 9.02596803e-01 1.60032811e-03 9.05421889e+01] [ 9.02591711e-01 4.30486926e-01 -3.03476996e-03 2.17588448e+01] [-3.42809399e-03 1.38023054e-04 -9.99994115e-01 6.73348106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.55, Y:21.77, Z:6.73 [[-5.02250267e-01 8.64719140e-01 2.34067866e-03 9.05546016e+01] [ 8.64711225e-01 5.02255694e-01 -3.70333141e-03 2.17676376e+01] [-4.37796074e-03 1.64011919e-04 -9.99990403e-01 6.73437810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.57, Y:21.78, Z:6.74 [[-5.70370527e-01 8.21381112e-01 3.24505133e-03 9.05650692e+01] [ 8.21369670e-01 5.70379726e-01 -4.33975877e-03 2.17773744e+01] [-5.41550738e-03 1.90116239e-04 -9.99985318e-01 6.73526606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.58, Y:21.79, Z:6.74 [[-6.36846246e-01 7.70977893e-01 4.46635235e-03 9.05784373e+01] [ 7.70961131e-01 6.36861875e-01 -5.08800355e-03 2.17920636e+01] [-6.76718779e-03 2.03108095e-04 -9.99977082e-01 6.73624113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.59, Y:21.81, Z:6.74 [[-6.97251952e-01 7.16807416e-01 5.18112075e-03 9.05879113e+01] [ 7.16789698e-01 6.97271174e-01 -5.04364176e-03 2.18055342e+01] [-7.22796597e-03 1.97084914e-04 -9.99973859e-01 6.73592961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.61, Y:21.83, Z:6.74 [[-7.45425229e-01 6.66571075e-01 4.92237694e-03 9.06107761e+01] [ 6.66558515e-01 7.45441447e-01 -4.09819101e-03 2.18309090e+01] [-6.40107938e-03 2.26157289e-04 -9.99979487e-01 6.73509475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.63, Y:21.86, Z:6.73 [[-7.93072043e-01 6.09111247e-01 4.49699829e-03 9.06271668e+01] [ 6.09102292e-01 7.93084784e-01 -3.30509020e-03 2.18587703e+01] [-5.57966853e-03 1.17957331e-04 -9.99984427e-01 6.73395270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.64, Y:21.89, Z:6.73 [[-8.35458305e-01 5.49536585e-01 4.35448889e-03 9.06370936e+01] [ 5.49529723e-01 8.35469648e-01 -2.74800342e-03 2.18879610e+01] [-5.14817171e-03 9.70787998e-05 -9.99986743e-01 6.73331145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.65, Y:21.92, Z:6.73 [[-8.72485135e-01 4.88623082e-01 4.14390779e-03 9.06473479e+01] [ 4.88618041e-01 8.72494972e-01 -2.22120912e-03 2.19176636e+01] [-4.70087276e-03 8.68161698e-05 -9.99988947e-01 6.73243786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.110385723 meters Centerline goodness [0,1] 0.9999370528126902 Centerline is valid? [True, True] Translation: X:90.66, Y:21.95, Z:6.73 [[-9.04933132e-01 4.25522851e-01 5.13127707e-03 9.06557969e+01] [ 4.25516659e-01 9.04947674e-01 -2.29790485e-03 2.19459967e+01] [-5.62134827e-03 1.03993640e-04 -9.99984195e-01 6.73418666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.66, Y:21.98, Z:6.73 [[-9.32935337e-01 3.60015945e-01 4.49184717e-03 9.06583621e+01] [ 3.60012219e-01 9.32946146e-01 -1.64013261e-03 2.19788805e+01] [-4.78112539e-03 8.69822014e-05 -9.99988567e-01 6.73271243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.66, Y:22.01, Z:6.73 [[-9.56083993e-01 2.93058058e-01 4.51358361e-03 9.06645878e+01] [ 2.93055215e-01 9.56094644e-01 -1.29356416e-03 2.20074545e+01] [-4.69450251e-03 8.59732270e-05 -9.99988977e-01 6.73270084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.66, Y:22.04, Z:6.73 [[-9.74522994e-01 2.24231684e-01 5.00870082e-03 9.06631997e+01] [ 2.24229210e-01 9.74535861e-01 -1.05737745e-03 2.20388565e+01] [-5.11825609e-03 9.26583857e-05 -9.99986897e-01 6.73219498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.66, Y:22.07, Z:6.73 [[-9.88056877e-01 1.54007554e-01 5.02801323e-03 9.06602541e+01] [ 1.54006021e-01 9.88069666e-01 -6.93131473e-04 2.20686063e+01] [-5.07477484e-03 8.94909906e-05 -9.99987119e-01 6.73232449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.65, Y:22.10, Z:6.73 [[-9.96501207e-01 8.34247850e-02 5.06453070e-03 9.06544249e+01] [ 8.34241637e-02 9.96514073e-01 -3.34181722e-04 2.20985740e+01] [-5.07475515e-03 8.94917478e-05 -9.99987119e-01 6.73232425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.64, Y:22.13, Z:6.73 [[-9.99916660e-01 1.15671139e-02 5.73375577e-03 9.06441861e+01] [ 1.15674773e-02 9.99933094e-01 3.02214481e-05 2.21289422e+01] [-5.73302257e-03 9.65440192e-05 -9.99983562e-01 6.73185854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.63, Y:22.16, Z:6.73 [[-9.98034294e-01 -6.23056824e-02 6.74908479e-03 9.06320525e+01] [-6.23036082e-02 9.98057109e-01 5.17350179e-04 2.21583655e+01] [-6.76820591e-03 9.58408862e-05 -9.99977091e-01 6.73220764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3503857229999 meters Centerline goodness [0,1] 0.9999581966013837 Centerline is valid? [True, True] Translation: X:90.58, Y:22.71, Z:5.74 [[-9.99721044e-01 2.25007764e-02 7.17979747e-03 9.05832072e+01] [-2.25007271e-02 -9.99746823e-01 8.76606768e-05 2.27141650e+01] [ 7.17995214e-03 -7.39144397e-05 9.99974221e-01 5.74455567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.55, Y:22.15, Z:6.73 [[-9.97517516e-01 -7.00316388e-02 7.37389997e-03 9.05501026e+01] [-7.00290990e-02 9.97544767e-01 6.02381383e-04 2.21538275e+01] [-7.39798109e-03 8.44984097e-05 -9.99972631e-01 6.73312023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.53, Y:22.18, Z:6.73 [[-9.89886523e-01 -1.41670898e-01 7.35043336e-03 9.05341515e+01] [-1.41666394e-01 9.89913810e-01 1.13242932e-03 2.21808499e+01] [-7.43672777e-03 7.96671321e-05 -9.99972344e-01 6.73284608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.51, Y:22.20, Z:6.73 [[-9.77143711e-01 -2.12452541e-01 7.35434631e-03 9.05095970e+01] [-2.12445921e-01 9.77171383e-01 1.67903863e-03 2.22045148e+01] [-7.54317277e-03 7.82611668e-05 -9.99971547e-01 6.73289777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.47, Y:22.22, Z:6.73 [[-9.59261878e-01 -2.82397824e-01 8.25335739e-03 9.04743677e+01] [-2.82386579e-01 9.59297379e-01 2.52163240e-03 2.22214292e+01] [-8.62952761e-03 8.82684723e-05 -9.99962761e-01 6.73331858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.42, Y:22.23, Z:6.73 [[-9.36056683e-01 -3.51753748e-01 8.19680400e-03 9.04234275e+01] [-3.51739450e-01 9.36092567e-01 3.17267667e-03 2.22331356e+01] [-8.78896820e-03 8.66658714e-05 -9.99961373e-01 6.73387593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.35, Y:22.23, Z:6.73 [[-9.07308901e-01 -4.20385836e-01 8.14286935e-03 9.03535235e+01] [-4.20368095e-01 9.07345437e-01 3.86303831e-03 2.22332078e+01] [-9.01236194e-03 8.19665717e-05 -9.99959385e-01 6.73375635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.28, Y:22.23, Z:6.73 [[-8.73656491e-01 -4.86488107e-01 7.32513828e-03 9.02811379e+01] [-4.86470299e-01 8.73687196e-01 4.16320057e-03 2.22267490e+01] [-8.42522708e-03 7.37449869e-05 -9.99964504e-01 6.73398418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.20, Y:22.21, Z:6.73 [[-8.34703598e-01 -5.50644633e-01 7.77118289e-03 9.02025399e+01] [-5.50619945e-01 8.34739769e-01 5.21473664e-03 2.22089109e+01] [-9.35838215e-03 7.37911460e-05 -9.99956207e-01 6.73406119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.12, Y:22.18, Z:6.73 [[-7.91178374e-01 -6.11538144e-01 7.60784903e-03 9.01194701e+01] [-6.11508966e-01 7.91214947e-01 5.97422809e-03 2.21822277e+01] [-9.67291223e-03 7.44121653e-05 -9.99953214e-01 6.73431968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.04, Y:22.15, Z:6.73 [[-7.43183578e-01 -6.69049608e-01 7.12683907e-03 9.00351562e+01] [-6.69017897e-01 7.43217745e-01 6.51435957e-03 2.21459954e+01] [-9.65522298e-03 7.33821644e-05 -9.99953385e-01 6.73448722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.95, Y:22.10, Z:6.73 [[-6.90945587e-01 -7.22872053e-01 7.08454028e-03 8.99514448e+01] [-7.22832845e-01 6.90981902e-01 7.52925613e-03 2.20981918e+01] [-1.03379780e-02 8.13678895e-05 -9.99946558e-01 6.73423726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.87, Y:22.04, Z:6.73 [[-6.34618533e-01 -7.72796510e-01 6.69858473e-03 8.98656354e+01] [-7.72752013e-01 6.34653879e-01 8.29342062e-03 2.20402408e+01] [-1.06604093e-02 8.68135944e-05 -9.99943173e-01 6.73437961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.78, Y:21.97, Z:6.73 [[-5.75109894e-01 -8.18051342e-01 6.37279001e-03 8.97817950e+01] [-8.17999127e-01 5.75145192e-01 9.24321026e-03 2.19694693e+01] [-1.12267001e-02 1.02925008e-04 -9.99936973e-01 6.73425243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.70, Y:21.90, Z:6.74 [[-5.11605582e-01 -8.59200315e-01 5.87773488e-03 8.97041911e+01] [-8.59141117e-01 5.11639333e-01 1.00863168e-02 2.18960893e+01] [-1.16734469e-02 1.10412278e-04 -9.99931857e-01 6.73511161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.63, Y:21.81, Z:6.74 [[-4.45082118e-01 -8.95474133e-01 5.29023500e-03 8.96283272e+01] [-8.95407664e-01 4.45113540e-01 1.09110604e-02 2.18100129e+01] [-1.21253276e-02 1.19400921e-04 -9.99926478e-01 6.73531821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.830385723 meters Centerline goodness [0,1] 0.9999785858066726 Centerline is valid? [True, True] Translation: X:89.56, Y:21.72, Z:6.73 [[-3.75655772e-01 -9.26749503e-01 4.25436446e-03 8.95611015e+01] [-9.26686526e-01 3.75679844e-01 1.08044722e-02 2.17160383e+01] [-1.16113182e-02 1.16300110e-04 -9.99932580e-01 6.73442746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.860385723 meters Centerline goodness [0,1] 0.9998489882210813 Centerline is valid? [True, True] Translation: X:89.50, Y:21.61, Z:6.74 [[-3.03649943e-01 -9.52776321e-01 3.74083756e-03 8.94992591e+01] [-9.52698837e-01 3.03672959e-01 1.21515702e-02 2.16122607e+01] [-1.27137195e-02 1.25932001e-04 -9.99919170e-01 6.73703838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.44, Y:21.51, Z:6.73 [[-2.28926764e-01 -9.73440309e-01 2.54970493e-03 8.94422804e+01] [-9.73374799e-01 2.28940939e-01 1.12937048e-02 2.15082536e+01] [-1.15774793e-02 1.03612766e-04 -9.99932973e-01 6.73334462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.39, Y:21.40, Z:6.73 [[-1.53322313e-01 -9.88174687e-01 1.74828633e-03 8.93934819e+01] [-9.88102549e-01 1.53332246e-01 1.19404984e-02 2.13954757e+01] [-1.20673669e-02 1.03258648e-04 -9.99927181e-01 6.73348837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.36, Y:21.27, Z:6.74 [[-7.76941067e-02 -9.96976881e-01 8.50751219e-04 8.93561155e+01] [-9.96900077e-01 7.76986817e-02 1.23754467e-02 2.12733675e+01] [-1.24041365e-02 1.13385319e-04 -9.99923059e-01 6.73506235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.33, Y:21.16, Z:6.73 [[-1.44414830e-03 -9.99998952e-01 -1.02728420e-04 8.93253986e+01] [-9.99920547e-01 1.44274864e-03 1.25226877e-02 2.11593651e+01] [-1.25225264e-02 1.20804876e-04 -9.99921583e-01 6.73392641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.31, Y:21.04, Z:6.73 [[ 7.34938612e-02 -9.97295141e-01 -1.02726204e-03 8.93085214e+01] [-9.97222462e-01 -7.35009078e-02 1.20406893e-02 2.10373402e+01] [-1.20836257e-02 1.39492025e-04 -9.99926981e-01 6.73280086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.30, Y:20.90, Z:6.73 [[ 1.48883787e-01 -9.88852838e-01 -1.91905078e-03 8.92983428e+01] [-9.88783137e-01 -1.48896080e-01 1.17416171e-02 2.09034826e+01] [-1.18964705e-02 1.49388639e-04 -9.99929223e-01 6.73260626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.070385723 meters Centerline goodness [0,1] 0.9999782059105571 Centerline is valid? [True, True] Translation: X:89.30, Y:20.79, Z:6.73 [[ 2.23663340e-01 -9.74662687e-01 -2.71227934e-03 8.92951661e+01] [-9.74598969e-01 -2.23679735e-01 1.11456876e-02 2.07857415e+01] [-1.14699677e-02 1.50502932e-04 -9.99934206e-01 6.73232881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.30, Y:20.67, Z:6.73 [[ 2.96401793e-01 -9.55057180e-01 -3.42929358e-03 8.93045024e+01] [-9.54999451e-01 -2.96421587e-01 1.05020175e-02 2.06657695e+01] [-1.10465439e-02 1.62156662e-04 -9.99938972e-01 6.73328468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.32, Y:20.54, Z:6.73 [[ 3.68451509e-01 -9.29637274e-01 -4.24545147e-03 8.93230274e+01] [-9.29580708e-01 -3.68475929e-01 1.02565520e-02 2.05399083e+01] [-1.10992197e-02 1.67447713e-04 -9.99938388e-01 6.73386661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.34, Y:20.43, Z:6.73 [[ 4.37469427e-01 -8.99221229e-01 -4.65630117e-03 8.93436774e+01] [-8.99174363e-01 -4.37494173e-01 9.18225714e-03 2.04333090e+01] [-1.02939852e-02 1.69869863e-04 -9.99947001e-01 6.73256585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.190385723 meters Centerline goodness [0,1] 0.9999561883899233 Centerline is valid? [True, True] Translation: X:89.38, Y:20.32, Z:6.73 [[ 5.04660858e-01 -8.63302715e-01 -5.08335164e-03 8.93794510e+01] [-8.63262192e-01 -5.04686432e-01 8.36616583e-03 2.03166512e+01] [-9.78803228e-03 1.66188850e-04 -9.99952082e-01 6.73375187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.42, Y:20.20, Z:6.73 [[ 5.69419812e-01 -8.22027458e-01 -5.65126359e-03 8.94229336e+01] [-8.21989778e-01 -5.69447831e-01 7.87229534e-03 2.02029449e+01] [-9.68934272e-03 1.62639973e-04 -9.99953044e-01 6.73096099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.250385723 meters Centerline goodness [0,1] 0.9999780268072951 Centerline is valid? [True, True] Translation: X:89.47, Y:20.10, Z:6.73 [[ 6.30489481e-01 -7.76169196e-01 -6.66283334e-03 8.94662060e+01] [-7.76128765e-01 -6.30524661e-01 7.92411653e-03 2.01038836e+01] [-1.03515359e-02 1.75144502e-04 -9.99946406e-01 6.73143538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.52, Y:20.00, Z:6.73 [[ 6.87709012e-01 -7.25947815e-01 -7.48894527e-03 8.95196551e+01] [-7.25907649e-01 -6.87749763e-01 7.63862070e-03 2.00037955e+01] [-1.06957603e-02 1.83134361e-04 -9.99942782e-01 6.73209214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.58, Y:19.91, Z:6.73 [[ 7.40554813e-01 -6.71945498e-01 -8.23504742e-03 8.95786261e+01] [-6.71906842e-01 -7.40600574e-01 7.21008492e-03 1.99121072e+01] [-1.09436649e-02 1.93721619e-04 -9.99940098e-01 6.73305158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.57, Y:19.90, Z:6.73 [[ 7.90745747e-01 -6.12085128e-01 -8.54163589e-03 8.95727898e+01] [-6.12051992e-01 -7.90791856e-01 6.37172290e-03 1.99008571e+01] [-1.06546929e-02 1.89512478e-04 -9.99943219e-01 6.73295535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.57, Y:19.89, Z:6.73 [[ 8.36072776e-01 -5.48550373e-01 -8.64878715e-03 8.95683649e+01] [-5.48523288e-01 -8.36117488e-01 5.45423431e-03 1.98943300e+01] [-1.02233245e-02 1.83924339e-04 -9.99947724e-01 6.73312523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.56, Y:19.88, Z:6.73 [[ 8.76374969e-01 -4.81542582e-01 -9.14631647e-03 8.95634305e+01] [-4.81518569e-01 -8.76422676e-01 4.81256529e-03 1.98839542e+01] [-1.03334943e-02 1.86509455e-04 -9.99946591e-01 6.73254038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.56, Y:19.88, Z:6.73 [[ 9.11313453e-01 -4.11586901e-01 -1.01986669e-02 8.95585185e+01] [-4.11563584e-01 -9.11370497e-01 4.38558537e-03 1.98753172e+01] [-1.10998136e-02 2.00756965e-04 -9.99938375e-01 6.73307473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.56, Y:19.86, Z:6.73 [[ 9.40730005e-01 -3.38965027e-01 -1.13915819e-02 8.95555363e+01] [-3.38942952e-01 -9.40798950e-01 3.87453399e-03 1.98645466e+01] [-1.20305198e-02 2.16206001e-04 -9.99927607e-01 6.73312232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.490385723 meters Centerline goodness [0,1] 0.9999334383528211 Centerline is valid? [True, True] Translation: X:89.55, Y:19.85, Z:6.73 [[ 9.64449507e-01 -2.64027581e-01 -1.12510421e-02 8.95518209e+01] [-2.64012085e-01 -9.64515109e-01 2.86777667e-03 1.98544738e+01] [-1.16089722e-02 2.04585291e-04 -9.99932593e-01 6.73336157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.55, Y:19.85, Z:6.73 [[ 9.82234437e-01 -1.87327621e-01 -1.11298049e-02 8.95463905e+01] [-1.87317844e-01 -9.82297472e-01 1.92386099e-03 1.98482274e+01] [-1.12931716e-02 1.95128547e-04 -9.99936211e-01 6.73366599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.550385723 meters Centerline goodness [0,1] 0.9999777128975462 Centerline is valid? [True, True] Translation: X:89.54, Y:19.84, Z:6.73 [[ 9.93912727e-01 -1.09578462e-01 -1.14040339e-02 8.95407331e+01] [-1.09573496e-01 -9.93978130e-01 1.06123411e-03 1.98354148e+01] [-1.14516487e-02 1.94805778e-04 -9.99934409e-01 6.73319517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.54, Y:19.83, Z:6.73 [[ 9.99446289e-01 -3.11242262e-02 -1.17642338e-02 8.95357182e+01] [-3.11243835e-02 -9.99515505e-01 1.69758003e-04 1.98254504e+01] [-1.17638177e-02 1.96490517e-04 -9.99930785e-01 6.73387953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.53, Y:19.81, Z:6.73 [[ 9.98730340e-01 4.89355247e-02 -1.19591819e-02 8.95318194e+01] [ 4.89298597e-02 -9.98801923e-01 -7.66005415e-04 1.98132038e+01] [-1.19823387e-02 1.79871759e-04 -9.99928193e-01 6.73293571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.53, Y:19.80, Z:6.73 [[ 9.91653598e-01 1.28371389e-01 -1.19970262e-02 8.95280848e+01] [ 1.28359981e-01 -9.91726151e-01 -1.71928666e-03 1.98021529e+01] [-1.21184718e-02 1.64998744e-04 -9.99926555e-01 6.73368880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.53, Y:19.79, Z:6.73 [[ 9.78475248e-01 2.06038308e-01 -1.15933033e-02 8.95267480e+01] [ 2.06021942e-01 -9.78543914e-01 -2.60158807e-03 1.97896927e+01] [-1.18805832e-02 1.57114668e-04 -9.99929411e-01 6.73356097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.53, Y:19.78, Z:6.73 [[ 9.59170681e-01 2.82646586e-01 -1.01248189e-02 8.95250526e+01] [ 2.82629377e-01 -9.59224108e-01 -3.12180136e-03 1.97770474e+01] [-1.05943369e-02 1.32769084e-04 -9.99943870e-01 6.73347890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.52, Y:19.77, Z:6.73 [[ 9.33666329e-01 3.58035681e-01 -8.81121887e-03 8.95245179e+01] [ 3.58018657e-01 -9.33707899e-01 -3.49305333e-03 1.97657774e+01] [-9.47774239e-03 1.06765535e-04 -9.99955080e-01 6.73220070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.760385723 meters Centerline goodness [0,1] 0.9999776616181923 Centerline is valid? [True, True] Translation: X:89.53, Y:19.75, Z:6.73 [[ 9.02203632e-01 4.31218679e-01 -8.89144592e-03 8.95252393e+01] [ 4.31196657e-01 -9.02247439e-01 -4.35911761e-03 1.97536597e+01] [-9.90201725e-03 9.88499857e-05 -9.99950969e-01 6.73171872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.53, Y:19.74, Z:6.73 [[ 8.65635394e-01 5.00597563e-01 -8.80028225e-03 8.95259679e+01] [ 5.00570500e-01 -8.65680120e-01 -5.20621696e-03 1.97427001e+01] [-1.02244489e-02 1.01523980e-04 -9.99947724e-01 6.73214170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.53, Y:19.73, Z:6.73 [[ 8.23882917e-01 5.66697114e-01 -8.44512832e-03 8.95286325e+01] [ 5.66666045e-01 -8.23926192e-01 -5.93489476e-03 1.97310301e+01] [-1.03214502e-02 1.04090935e-04 -9.99946727e-01 6.73184949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.53, Y:19.72, Z:6.73 [[ 7.77815163e-01 6.28448419e-01 -7.49381765e-03 8.95322995e+01] [ 6.28417875e-01 -7.77851253e-01 -6.19701309e-03 1.97197822e+01] [-9.72357853e-03 1.10881787e-04 -9.99952719e-01 6.73248864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.54, Y:19.71, Z:6.73 [[ 7.27208806e-01 6.86380863e-01 -6.97598179e-03 8.95362565e+01] [ 6.86347625e-01 -7.27242254e-01 -6.75591300e-03 1.97095069e+01] [-9.71035812e-03 1.25010891e-04 -9.99952846e-01 6.73297247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.54, Y:19.70, Z:6.73 [[ 6.74128048e-01 7.38581210e-01 -7.01225762e-03 8.95390104e+01] [ 7.38538483e-01 -6.74164494e-01 -7.94628543e-03 1.97003854e+01] [-1.05963922e-02 1.77991778e-04 -9.99943841e-01 6.73352375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.54, Y:19.69, Z:6.73 [[ 6.16065456e-01 7.87666597e-01 -6.68469340e-03 8.95418907e+01] [ 7.87616433e-01 -6.16101685e-01 -8.89203598e-03 1.96914959e+01] [-1.11224106e-02 2.13101834e-04 -9.99938121e-01 6.73381034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.54, Y:19.68, Z:6.73 [[ 5.56330584e-01 8.30937463e-01 -6.26206661e-03 8.95430675e+01] [ 8.30879110e-01 -5.56365757e-01 -9.85132282e-03 1.96830169e+01] [-1.16698326e-02 2.77571847e-04 -9.99931867e-01 6.73467812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.55, Y:19.67, Z:6.73 [[ 4.91185292e-01 8.71036315e-01 -5.72256104e-03 8.95468935e+01] [ 8.70969603e-01 -4.91218526e-01 -1.07847204e-02 1.96746761e+01] [-1.22049111e-02 3.13119318e-04 -9.99925468e-01 6.73474577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.56, Y:19.67, Z:6.73 [[ 4.23397767e-01 9.05930548e-01 -4.91665202e-03 8.95554439e+01] [ 9.05859768e-01 -4.23426174e-01 -1.13294394e-02 1.96651452e+01] [-1.23455244e-02 3.43062080e-04 -9.99923732e-01 6.73357425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.56, Y:19.66, Z:6.73 [[ 3.54880348e-01 9.34905067e-01 -3.52893950e-03 8.95587891e+01] [ 9.34848744e-01 -3.54897726e-01 -1.02678563e-02 1.96563964e+01] [-1.08518835e-02 3.44835750e-04 -9.99941057e-01 6.73372834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.56, Y:19.65, Z:6.73 [[ 2.82427681e-01 9.59285224e-01 -2.54254778e-03 8.95634052e+01] [ 9.59234726e-01 -2.82438918e-01 -9.84876697e-03 1.96483293e+01] [-1.01658911e-02 3.42664290e-04 -9.99948267e-01 6.73317779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.57, Y:19.64, Z:6.73 [[ 2.09039566e-01 9.77905808e-01 -1.64059097e-03 8.95678907e+01] [ 9.77861439e-01 -2.09045720e-01 -9.32167989e-03 1.96404407e+01] [-9.45868342e-03 3.44329272e-04 -9.99955206e-01 6.73263244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.58, Y:19.63, Z:6.73 [[ 1.32786510e-01 9.91144265e-01 -8.87915825e-04 8.95843417e+01] [ 9.91101259e-01 -1.32789026e-01 -9.23951046e-03 1.96328609e+01] [-9.27559329e-03 3.46867855e-04 -9.99956921e-01 6.73090616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.60, Y:19.63, Z:6.73 [[ 5.47040543e-02 9.98502599e-01 -1.61069100e-04 8.95966743e+01] [ 9.98459529e-01 -5.47031917e-02 -9.28065535e-03 1.96261649e+01] [-9.27556948e-03 3.46868496e-04 -9.99956921e-01 6.73090595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.61, Y:19.62, Z:6.73 [[-2.25154812e-02 9.99746344e-01 5.47809784e-04 8.96057882e+01] [ 9.99706198e-01 2.25194900e-02 -8.96606963e-03 1.96192791e+01] [-8.97613173e-03 3.45773464e-04 -9.99959654e-01 6.73086492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.62, Y:19.62, Z:6.73 [[-9.78028975e-02 9.95205161e-01 1.13160026e-03 8.96206530e+01] [ 9.95172558e-01 9.78088611e-02 -8.06260703e-03 1.96153574e+01] [-8.13462866e-03 3.37591198e-04 -9.99966856e-01 6.72903711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.63, Y:19.61, Z:6.73 [[-1.74078398e-01 9.84730437e-01 1.63653624e-03 8.96323215e+01] [ 9.84702735e-01 1.74085788e-01 -7.39344212e-03 1.96108134e+01] [-7.56544519e-03 3.24463152e-04 -9.99971329e-01 6.72873453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.64, Y:19.61, Z:6.73 [[-2.48515322e-01 9.68625890e-01 2.00486568e-03 8.96446468e+01] [ 9.68603664e-01 2.48523216e-01 -6.56909045e-03 1.96075666e+01] [-6.86124675e-03 3.09400618e-04 -9.99976414e-01 6.72800635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.66, Y:19.61, Z:6.73 [[-3.22337761e-01 9.46621076e-01 2.62809820e-03 8.96561583e+01] [ 9.46597541e-01 3.22348302e-01 -6.68343754e-03 1.96055926e+01] [-7.17384583e-03 3.33427002e-04 -9.99974212e-01 6.72805117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.67, Y:19.61, Z:6.73 [[-3.94572109e-01 9.18859004e-01 3.31392042e-03 8.96703783e+01] [ 9.18833861e-01 3.94585862e-01 -6.80694518e-03 1.96059548e+01] [-7.56224901e-03 3.59111576e-04 -9.99971341e-01 6.72902890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.68, Y:19.61, Z:6.73 [[-4.64384150e-01 8.85619234e-01 5.09248934e-03 8.96838501e+01] [ 8.85577003e-01 4.64411816e-01 -8.66241518e-03 1.96066390e+01] [-1.00366137e-02 4.87103136e-04 -9.99949513e-01 6.73161378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.420385723 meters Centerline goodness [0,1] 0.9999559917264446 Centerline is valid? [True, True] Translation: X:89.70, Y:19.61, Z:6.73 [[-5.31862630e-01 8.46807778e-01 6.22338846e-03 8.96996968e+01] [ 8.46761106e-01 5.31898772e-01 -8.90648346e-03 1.96114496e+01] [-1.08522921e-02 5.32697573e-04 -9.99940970e-01 6.73215650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.450385723 meters Centerline goodness [0,1] 0.9998462619696038 Centerline is valid? [True, True] Translation: X:89.71, Y:19.62, Z:6.73 [[-5.95984612e-01 8.02957798e-01 7.81767856e-03 8.97146951e+01] [ 8.02901765e-01 5.96035569e-01 -9.50559798e-03 1.96180404e+01] [-1.22922085e-02 6.11637785e-04 -9.99924261e-01 6.73417479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.73, Y:19.62, Z:6.73 [[-6.57069731e-01 7.53787004e-01 8.03250810e-03 8.97269762e+01] [ 7.53741097e-01 6.57118575e-01 -8.33885885e-03 1.96243461e+01] [-1.15640337e-02 5.75219725e-04 -9.99932969e-01 6.73192328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.74, Y:19.63, Z:6.73 [[-7.13923539e-01 7.00163490e-01 9.17973499e-03 8.97387161e+01] [ 7.00116389e-01 7.13982291e-01 -8.14430793e-03 1.96311291e+01] [-1.22565153e-02 6.12469770e-04 -9.99924699e-01 6.73154927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.77, Y:19.66, Z:6.73 [[-7.61180783e-01 6.48459729e-01 1.01880566e-02 8.97650827e+01] [ 6.48412868e-01 7.61248682e-01 -7.82286006e-03 1.96569659e+01] [-1.28284544e-02 6.51456250e-04 -9.99917500e-01 6.73035860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.78, Y:19.68, Z:6.73 [[-8.04929972e-01 5.93281897e-01 1.02142825e-02 8.97849017e+01] [ 5.93243818e-01 8.04994534e-01 -6.75076900e-03 1.96844596e+01] [-1.22275506e-02 6.25663642e-04 -9.99925045e-01 6.72971527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6003857229999 meters Centerline goodness [0,1] 0.9999346248556299 Centerline is valid? [True, True] Translation: X:89.80, Y:19.71, Z:6.73 [[-8.44661169e-01 5.35233924e-01 8.49445858e-03 8.98029416e+01] [ 5.35212757e-01 8.44703731e-01 -4.78658756e-03 1.97086128e+01] [-9.73724490e-03 5.03297951e-04 -9.99952465e-01 6.73044533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.630385723 meters Centerline goodness [0,1] 0.9999350635295137 Centerline is valid? [True, True] Translation: X:89.82, Y:19.74, Z:6.73 [[-8.80782091e-01 4.73463478e-01 7.43261223e-03 8.98207550e+01] [ 4.73450582e-01 8.80813351e-01 -3.51954944e-03 1.97431246e+01] [-8.21312221e-03 4.19018470e-04 -9.99966184e-01 6.72843195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.660385723 meters Centerline goodness [0,1] 0.9999135004216855 Centerline is valid? [True, True] Translation: X:89.83, Y:19.78, Z:6.73 [[-9.12895428e-01 4.08153760e-01 5.69609842e-03 8.98326913e+01] [ 4.08147846e-01 9.12913149e-01 -2.21776058e-03 1.97779863e+01] [-6.10523047e-03 3.00266807e-04 -9.99981318e-01 6.72700707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.84, Y:19.81, Z:6.72 [[-9.40048120e-01 3.41004984e-01 5.01332840e-03 8.98414630e+01] [ 3.41001541e-01 9.40061455e-01 -1.55265996e-03 1.98118557e+01] [-5.24230157e-03 2.49977638e-04 -9.99986228e-01 6.72485303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.04, Y:20.45, Z:5.75 [[-9.48563777e-01 -3.16549715e-01 4.79983459e-03 9.00393370e+01] [ 3.16544309e-01 -9.48575888e-01 -1.86712049e-03 2.04516973e+01] [ 5.14404382e-03 -2.51722548e-04 9.99986738e-01 5.75228246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.750385723 meters Centerline goodness [0,1] 0.9999356595963712 Centerline is valid? [True, True] Translation: X:89.79, Y:19.84, Z:6.73 [[-9.42317466e-01 3.34669895e-01 5.81852398e-03 8.97939629e+01] [ 3.34665286e-01 9.42335390e-01 -1.77741569e-03 1.98391959e+01] [-6.07784859e-03 2.72368141e-04 -9.99981493e-01 6.72727495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.80, Y:19.87, Z:6.73 [[-9.63868572e-01 2.66311672e-01 5.95553160e-03 8.97987970e+01] [ 2.66308306e-01 9.63886934e-01 -1.36591035e-03 1.98724739e+01] [-6.10421696e-03 2.69449476e-04 -9.99981333e-01 6.72603554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.80, Y:19.91, Z:6.73 [[-9.80218340e-01 1.97802800e-01 6.78666447e-03 8.97967824e+01] [ 1.97800218e-01 9.80241786e-01 -1.05620944e-03 1.99098444e+01] [-6.86149328e-03 3.07087847e-04 -9.99976413e-01 6.72667930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.89, Y:20.53, Z:5.75 [[-9.84419886e-01 -1.75708381e-01 6.63729322e-03 8.98933315e+01] [ 1.75702267e-01 -9.84442213e-01 -1.49787873e-03 2.05304074e+01] [ 6.79722147e-03 -3.08354142e-04 9.99976851e-01 5.75105195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.74, Y:19.93, Z:6.73 [[-9.80745204e-01 1.95162646e-01 7.09833860e-03 8.97435143e+01] [ 1.95159966e-01 9.80770836e-01 -1.07496925e-03 1.99266045e+01] [-7.17163732e-03 3.31040581e-04 -9.99974229e-01 6.72735967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.74, Y:19.96, Z:6.73 [[-9.92048435e-01 1.25598492e-01 8.05732532e-03 8.97403729e+01] [ 1.25597432e-01 9.92081084e-01 -6.39465569e-04 1.99607407e+01] [-8.07383594e-03 3.77598554e-04 -9.99967335e-01 6.72786153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.79, Y:20.56, Z:5.75 [[-9.95061167e-01 -9.88672740e-02 8.86205602e-03 8.97853236e+01] [ 9.88601076e-02 -9.95100563e-01 -1.24417980e-03 2.05618062e+01] [ 8.94164560e-03 -3.61931190e-04 9.99959957e-01 5.74888907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.67, Y:19.98, Z:6.73 [[-9.92334867e-01 1.23168583e-01 1.00505099e-02 8.96730783e+01] [ 1.23167258e-01 9.92385641e-01 -7.53029652e-04 1.99793710e+01] [-1.00667313e-02 4.90636171e-04 -9.99949209e-01 6.72972794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.66, Y:20.01, Z:6.73 [[-9.98543679e-01 5.29313445e-02 1.04304602e-02 8.96633062e+01] [ 5.29338387e-02 9.98598021e-01 -3.69848151e-05 2.00131107e+01] [-1.04177946e-02 5.15193347e-04 -9.99945601e-01 6.72992486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.020385723 meters Centerline goodness [0,1] 0.9999160968242647 Centerline is valid? [True, True] Translation: X:89.66, Y:20.05, Z:6.73 [[-9.99817490e-01 -1.59999788e-02 1.04396710e-02 8.96556555e+01] [-1.59934454e-02 9.99871845e-01 7.09017911e-04 2.00467033e+01] [-1.04496774e-02 5.41922200e-04 -9.99945254e-01 6.73084446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.62, Y:20.60, Z:5.75 [[-9.98558327e-01 5.28759173e-02 9.24143876e-03 8.96152079e+01] [-5.28788284e-02 -9.98600934e-01 -7.07688937e-05 2.06039841e+01] [ 9.22476740e-03 -5.59343322e-04 9.99957295e-01 5.74926557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.57, Y:20.05, Z:6.73 [[-9.99753667e-01 -2.02382343e-02 9.11144135e-03 8.95711622e+01] [-2.02329956e-02 9.99795070e-01 6.66779710e-04 2.00450425e+01] [-9.12306858e-03 4.82263708e-04 -9.99958268e-01 6.72921866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.53, Y:20.59, Z:5.75 [[-9.98292779e-01 5.74570888e-02 1.04980910e-02 8.95272957e+01] [-5.74587723e-02 -9.98347870e-01 1.41421366e-04 2.05906552e+01] [ 1.04888724e-02 -4.62027489e-04 9.99944884e-01 5.74747592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.49, Y:20.05, Z:6.73 [[-9.99584136e-01 -2.70430268e-02 1.00114528e-02 8.94888543e+01] [-2.70365387e-02 9.99634140e-01 7.82868043e-04 2.00490931e+01] [-1.00289612e-02 5.11867444e-04 -9.99949578e-01 6.73056990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.47, Y:20.09, Z:6.73 [[-9.94905345e-01 -1.00457568e-01 8.46356884e-03 8.94678075e+01] [-1.00450352e-01 9.94941256e-01 1.27448889e-03 2.00882754e+01] [-8.54878587e-03 4.17827338e-04 -9.99963371e-01 6.72822846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.44, Y:20.12, Z:6.73 [[-9.84956336e-01 -1.72629118e-01 7.75914892e-03 8.94378342e+01] [-1.72620718e-01 9.84986824e-01 1.74463714e-03 2.01192447e+01] [-7.94383462e-03 3.79001544e-04 -9.99968375e-01 6.72725026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.40, Y:20.14, Z:6.73 [[-9.69137571e-01 -2.46398373e-01 7.75957876e-03 8.93969934e+01] [-2.46387498e-01 9.69168568e-01 2.34251678e-03 2.01441654e+01] [-8.09753216e-03 3.58357824e-04 -9.99967150e-01 6.72779894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.34, Y:20.16, Z:6.73 [[-9.48065701e-01 -3.17961239e-01 8.48988643e-03 8.93449351e+01] [-3.17944858e-01 9.48103636e-01 3.24994949e-03 2.01637508e+01] [-9.08265016e-03 3.81849899e-04 -9.99958679e-01 6.72808943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.28, Y:20.17, Z:6.73 [[-9.21484781e-01 -3.88319056e-01 8.60873648e-03 8.92792637e+01] [-3.88298248e-01 9.21524915e-01 4.03766291e-03 2.01724186e+01] [-9.50106660e-03 3.77887631e-04 -9.99954793e-01 6.72909398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.320385723 meters Centerline goodness [0,1] 0.9999164874626804 Centerline is valid? [True, True] Translation: X:89.20, Y:20.18, Z:6.73 [[-8.88652761e-01 -4.58485172e-01 9.36037819e-03 8.91993885e+01] [-4.58455166e-01 8.88701975e-01 5.25927675e-03 2.01768341e+01] [-1.07298870e-02 3.82357065e-04 -9.99942360e-01 6.73102064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3503857229999 meters Centerline goodness [0,1] 0.9999582942341779 Centerline is valid? [True, True] Translation: X:89.12, Y:20.17, Z:6.73 [[-8.51412889e-01 -5.24429893e-01 8.32947481e-03 8.91217016e+01] [-5.24400914e-01 8.51453566e-01 5.52318102e-03 2.01697123e+01] [-9.98868226e-03 3.34523304e-04 -9.99950056e-01 6.72985645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.04, Y:20.16, Z:6.73 [[-8.08391701e-01 -5.88602521e-01 7.06615043e-03 8.90410569e+01] [-5.88577107e-01 8.08422539e-01 5.47611607e-03 2.01550098e+01] [-8.93569099e-03 2.67872405e-04 -9.99960040e-01 6.72857396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.410385723 meters Centerline goodness [0,1] 0.9999582297779913 Centerline is valid? [True, True] Translation: X:88.96, Y:20.13, Z:6.73 [[-7.61794120e-01 -6.47783278e-01 6.82229723e-03 8.89593265e+01] [-6.47754174e-01 7.61824623e-01 6.14603838e-03 2.01297411e+01] [-9.17869490e-03 2.62844397e-04 -9.99957840e-01 6.72975622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.440385723 meters Centerline goodness [0,1] 0.9999582358837287 Centerline is valid? [True, True] Translation: X:88.88, Y:20.09, Z:6.73 [[-7.10560042e-01 -7.03606971e-01 6.45419790e-03 8.88762041e+01] [-7.03574671e-01 7.10589309e-01 6.74656942e-03 2.00941152e+01] [-9.33321730e-03 2.52832495e-04 -9.99956413e-01 6.72976919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.79, Y:20.05, Z:6.73 [[-6.54807939e-01 -7.55774489e-01 5.61120194e-03 8.87937000e+01] [-7.55743802e-01 6.54831943e-01 6.81417015e-03 2.00535316e+01] [-8.82437022e-03 2.21341624e-04 -9.99961040e-01 6.72845387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.500385723 meters Centerline goodness [0,1] 0.9999582289055974 Centerline is valid? [True, True] Translation: X:88.71, Y:20.00, Z:6.73 [[-5.96820329e-01 -8.02362446e-01 4.47218936e-03 8.87121927e+01] [-8.02337427e-01 5.96837053e-01 6.33919857e-03 2.00032307e+01] [-7.75550318e-03 1.95157672e-04 -9.99969907e-01 6.72808077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.64, Y:19.94, Z:6.73 [[-5.35321984e-01 -8.44642327e-01 3.11661438e-03 8.86363395e+01] [-8.44626321e-01 5.35331035e-01 5.20196422e-03 1.99439809e+01] [-6.06221956e-03 1.52351272e-04 -9.99981613e-01 6.72557241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.56, Y:19.87, Z:6.73 [[-4.70753338e-01 -8.82261668e-01 2.37586372e-03 8.85641090e+01] [-8.82248967e-01 4.70759314e-01 4.73589924e-03 1.98710394e+01] [-5.29676233e-03 1.33337062e-04 -9.99985963e-01 6.72537333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.50, Y:19.80, Z:6.72 [[-4.03067050e-01 -9.15168662e-01 1.80933329e-03 8.84965929e+01] [-9.15158088e-01 4.03071093e-01 4.40098937e-03 1.97985867e+01] [-4.75693750e-03 1.18067805e-04 -9.99988679e-01 6.72486043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.43, Y:19.71, Z:6.73 [[-3.31810627e-01 -9.43343976e-01 1.96236811e-03 8.84322930e+01] [-9.43324760e-01 3.31816397e-01 6.02293226e-03 1.97137940e+01] [-6.33284278e-03 1.47322503e-04 -9.99979937e-01 6.72505661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.37, Y:19.63, Z:6.73 [[-2.57559343e-01 -9.66261137e-01 1.61272700e-03 8.83717712e+01] [-9.66238657e-01 2.57564354e-01 6.59249682e-03 1.96262916e+01] [-6.78545446e-03 1.39679977e-04 -9.99976969e-01 6.72578208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.32, Y:19.53, Z:6.73 [[-1.83239509e-01 -9.83067671e-01 1.11194615e-03 8.83183310e+01] [-9.83044957e-01 1.83242835e-01 6.68401766e-03 1.95319051e+01] [-6.77459784e-03 1.31683053e-04 -9.99977044e-01 6.72533557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.27, Y:19.44, Z:6.73 [[-1.07897816e-01 -9.94161816e-01 5.88103667e-04 8.82749784e+01] [-9.94140330e-01 1.07899351e-01 6.53707930e-03 1.94393836e+01] [-6.56237063e-03 1.20679006e-04 -9.99978460e-01 6.72504166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.24, Y:19.34, Z:6.72 [[-3.28858457e-02 -9.99459110e-01 8.89665355e-05 8.82408145e+01] [-9.99440684e-01 3.28857797e-02 6.06993565e-03 1.93358508e+01] [-6.06957822e-03 1.10698192e-04 -9.99981574e-01 6.72477796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.21, Y:19.24, Z:6.72 [[ 4.16391836e-02 -9.99132635e-01 -3.94567125e-04 8.82130201e+01] [-9.99111420e-01 -4.16408712e-02 6.51213795e-03 1.92362720e+01] [-6.52291967e-03 1.23056413e-04 -9.99978718e-01 6.72449501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.19, Y:19.13, Z:6.72 [[ 1.15133316e-01 -9.93349494e-01 -1.05036201e-03 8.81928549e+01] [-9.93319708e-01 -1.15137999e-01 7.69407752e-03 1.91329794e+01] [-7.76384459e-03 1.57500624e-04 -9.99969849e-01 6.72453447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.18, Y:19.03, Z:6.72 [[ 1.88199542e-01 -9.82129496e-01 -1.60799976e-03 8.81810496e+01] [-9.82100768e-01 -1.88206339e-01 7.51369829e-03 1.90281679e+01] [-7.68206046e-03 1.65143219e-04 -9.99970479e-01 6.72424996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.18, Y:18.93, Z:6.72 [[ 2.60200841e-01 -9.65552431e-01 -2.00634545e-03 8.81762012e+01] [-9.65528324e-01 -2.60208526e-01 6.82490006e-03 1.89252234e+01] [-7.11186704e-03 1.61338626e-04 -9.99974697e-01 6.72375254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.18, Y:18.82, Z:6.72 [[ 3.28782210e-01 -9.44402427e-01 -2.51286798e-03 8.81800844e+01] [-9.44378985e-01 -3.28791761e-01 6.65662686e-03 1.88223788e+01] [-7.11274485e-03 1.84519224e-04 -9.99974687e-01 6.72342732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.19, Y:18.72, Z:6.72 [[ 3.97132362e-01 -9.17755486e-01 -3.27948504e-03 8.81922614e+01] [-9.17728515e-01 -3.97145845e-01 7.03930481e-03 1.87211480e+01] [-7.76279447e-03 2.14141183e-04 -9.99969846e-01 6.72401112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.21, Y:18.62, Z:6.72 [[ 4.61836331e-01 -8.86956545e-01 -3.91037155e-03 8.82089208e+01] [-8.86929144e-01 -4.61852819e-01 6.97622329e-03 1.86238051e+01] [-7.99362303e-03 2.46349122e-04 -9.99968020e-01 6.72298138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.23, Y:18.53, Z:6.72 [[ 5.25538309e-01 -8.50760827e-01 -3.93708818e-03 8.82329235e+01] [-8.50740150e-01 -5.25553006e-01 5.93583636e-03 1.85281629e+01] [-7.11912558e-03 2.29929591e-04 -9.99974632e-01 6.72227475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.27, Y:18.43, Z:6.72 [[ 5.86490016e-01 -8.09948461e-01 -3.59898345e-03 8.82671735e+01] [-8.09935226e-01 -5.86501025e-01 4.63434474e-03 1.84323723e+01] [-5.86438787e-03 1.96946554e-04 -9.99982785e-01 6.72153300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.30, Y:18.35, Z:6.72 [[ 6.45077589e-01 -7.64107666e-01 -3.79193256e-03 8.82964781e+01] [-7.64096167e-01 -6.45088706e-01 4.19633049e-03 1.83471348e+01] [-5.65258116e-03 1.90442383e-04 -9.99984006e-01 6.72122725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.34, Y:18.26, Z:6.72 [[ 7.00051634e-01 -7.14080497e-01 -4.09313827e-03 8.83357831e+01] [-7.14069855e-01 -7.00063574e-01 3.90305705e-03 1.82641851e+01] [-5.65255393e-03 1.90445182e-04 -9.99984006e-01 6.72122624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.34, Y:18.24, Z:6.72 [[ 7.53774165e-01 -6.57115195e-01 -4.91208083e-03 8.83372597e+01] [-6.57103058e-01 -7.53790140e-01 3.99952591e-03 1.82415636e+01] [-6.33082735e-03 2.13004035e-04 -9.99979937e-01 6.72120168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.34, Y:18.22, Z:6.72 [[ 8.02746277e-01 -5.96291403e-01 -5.91415131e-03 8.83410989e+01] [-5.96277421e-01 -8.02768026e-01 4.09061644e-03 1.82208731e+01] [-7.18689099e-03 2.42747774e-04 -9.99974145e-01 6.72143280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.35, Y:18.20, Z:6.72 [[ 8.46789500e-01 -5.31897688e-01 -5.69137971e-03 8.83480698e+01] [-5.31887430e-01 -8.46808597e-01 3.31097013e-03 1.82027209e+01] [-6.58060662e-03 2.23478581e-04 -9.99978323e-01 6.72140124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.35, Y:18.18, Z:6.72 [[ 8.85708109e-01 -4.64225996e-01 -3.92055190e-03 8.83542539e+01] [-4.64222181e-01 -8.85716774e-01 1.88763912e-03 1.81803967e+01] [-4.34878973e-03 1.48109884e-04 -9.99990533e-01 6.71953462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.36, Y:18.16, Z:6.72 [[ 9.19367709e-01 -3.93384218e-01 -3.44568403e-03 8.83624685e+01] [-3.93381961e-01 -9.19374157e-01 1.33853888e-03 1.81588908e+01] [-3.69443293e-03 1.24860514e-04 -9.99993168e-01 6.71921165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.37, Y:18.14, Z:6.72 [[ 9.47676782e-01 -3.19216522e-01 -3.08704625e-03 8.83729425e+01] [-3.19215187e-01 -9.47681804e-01 9.28968678e-04 1.81404837e+01] [-3.22207970e-03 1.05069998e-04 -9.99994804e-01 6.71926620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.280385723 meters Centerline goodness [0,1] 0.9999373119358074 Centerline is valid? [True, True] Translation: X:88.38, Y:18.12, Z:6.72 [[ 9.70585092e-01 -2.40706709e-01 -4.98601721e-03 8.83843154e+01] [-2.40704316e-01 -9.70597887e-01 1.08360211e-03 1.81157782e+01] [-5.10024806e-03 1.48427805e-04 -9.99986983e-01 6.72163106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.40, Y:18.10, Z:6.72 [[ 9.86868939e-01 -1.61456164e-01 -4.64802457e-03 8.83976672e+01] [-1.61454963e-01 -9.86879877e-01 6.34988875e-04 1.80981686e+01] [-4.68956479e-03 1.23795836e-04 -9.99988996e-01 6.72056802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3403857229999 meters Centerline goodness [0,1] 0.9999377244514562 Centerline is valid? [True, True] Translation: X:88.41, Y:18.08, Z:6.72 [[ 9.96679120e-01 -8.12537196e-02 -5.34468082e-03 8.84136345e+01] [-8.12532389e-02 -9.96693442e-01 3.07368906e-04 1.80828326e+01] [-5.35198319e-03 1.27924457e-04 -9.99985670e-01 6.72230252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.43, Y:18.06, Z:6.72 [[ 9.99996156e-01 1.38666860e-03 -2.40117670e-03 8.84274400e+01] [ 1.38655297e-03 -9.99999038e-01 -4.98200514e-05 1.80641379e+01] [-2.40124347e-03 4.64905012e-05 -9.99997116e-01 6.71923991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.44, Y:18.05, Z:6.72 [[ 9.96712735e-01 8.09953466e-02 -1.86486286e-03 8.84414953e+01] [ 8.09951417e-02 -9.96714479e-01 -1.85270535e-04 1.80528708e+01] [-1.87374187e-03 3.36166701e-05 -9.99998244e-01 6.71928210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.430385723 meters Centerline goodness [0,1] 0.9998536850466118 Centerline is valid? [True, True] Translation: X:88.46, Y:18.04, Z:6.72 [[ 9.87111153e-01 1.60025712e-01 -1.82815973e-03 8.84581465e+01] [ 1.60025380e-01 -9.87112846e-01 -3.27702880e-04 1.80389327e+01] [-1.85704084e-03 3.09272131e-05 -9.99998275e-01 6.72190067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.47, Y:18.03, Z:6.72 [[ 9.71370250e-01 2.37569965e-01 -5.90347045e-04 8.84731698e+01] [ 2.37569915e-01 -9.71370430e-01 -1.53828014e-04 1.80309252e+01] [-6.09990578e-04 9.17525885e-06 -9.99999814e-01 6.71877096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.490385723 meters Centerline goodness [0,1] 0.9998957616694811 Centerline is valid? [True, True] Translation: X:88.49, Y:18.02, Z:6.72 [[ 9.49663076e-01 3.13267894e-01 -1.80797574e-03 8.84899922e+01] [ 3.13267267e-01 -9.49664797e-01 -6.27625505e-04 1.80233118e+01] [-1.91358583e-03 2.96531491e-05 -9.99998169e-01 6.72152870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.51, Y:18.01, Z:6.72 [[ 9.21817509e-01 3.87622993e-01 -9.46818120e-04 8.85092106e+01] [ 3.87622772e-01 -9.21817995e-01 -4.13969858e-04 1.80149046e+01] [-1.03325822e-03 1.45963987e-05 -9.99999466e-01 6.71951449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.53, Y:18.01, Z:6.72 [[ 8.88333171e-01 4.59197170e-01 -1.46157991e-03 8.85262765e+01] [ 4.59196506e-01 -8.88334373e-01 -7.81034766e-04 1.80116167e+01] [-1.65702063e-03 2.26667028e-05 -9.99998627e-01 6.71999663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.55, Y:18.01, Z:6.72 [[ 8.48613809e-01 5.29012050e-01 -9.24301782e-04 8.85454777e+01] [ 5.29011720e-01 -8.48614312e-01 -5.91068155e-04 1.80068533e+01] [-1.09705790e-03 1.26221227e-05 -9.99999398e-01 6.71949575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.56, Y:18.01, Z:6.72 [[ 8.03695909e-01 5.95040102e-01 -4.02824122e-04 8.85645046e+01] [ 5.95040025e-01 -8.03696010e-01 -3.04008454e-04 1.80055687e+01] [-5.04645361e-04 4.63387479e-06 -9.99999873e-01 6.71922982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.58, Y:18.01, Z:6.72 [[ 7.53507587e-01 6.57439211e-01 -2.02232347e-05 8.85811119e+01] [ 6.57439210e-01 -7.53507588e-01 -1.69936835e-05 1.80053752e+01] [-2.64106748e-05 -4.90678008e-07 -1.00000000e+00 6.71903115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.670385723 meters Centerline goodness [0,1] 0.9999582280331669 Centerline is valid? [True, True] Translation: X:88.60, Y:18.01, Z:6.72 [[ 6.96699938e-01 7.17362651e-01 1.50566578e-04 8.85978200e+01] [ 7.17362634e-01 -6.96699955e-01 1.57519825e-04 1.80080470e+01] [ 2.17898567e-04 -1.73321526e-06 -9.99999976e-01 6.72084007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.700385723 meters Centerline goodness [0,1] 0.99995838794915 Centerline is valid? [True, True] Translation: X:88.61, Y:18.01, Z:6.72 [[ 6.36603460e-01 7.71191233e-01 3.41924846e-04 8.86128439e+01] [ 7.71191120e-01 -6.36603552e-01 4.17314994e-04 1.80117531e+01] [ 5.39500237e-04 -1.97476424e-06 -9.99999855e-01 6.71963959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.63, Y:18.01, Z:6.72 [[ 5.70192980e-01 8.21510735e-01 -2.79721270e-04 8.86319957e+01] [ 8.21510637e-01 -5.70193049e-01 -3.99463582e-04 1.80149159e+01] [-4.87658744e-04 -2.02266848e-06 -9.99999881e-01 6.71999362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.760385723 meters Centerline goodness [0,1] 0.99993747525062 Centerline is valid? [True, True] Translation: X:88.65, Y:18.02, Z:6.72 [[ 5.02290285e-01 8.64698515e-01 -9.73398999e-04 8.86497146e+01] [ 8.64696929e-01 -5.02291228e-01 -1.65597440e-03 1.80185672e+01] [-1.92084838e-03 -9.91527282e-06 -9.99998155e-01 6.72265511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.67, Y:18.03, Z:6.72 [[ 4.31494875e-01 9.02114977e-01 -8.60606972e-04 8.86652513e+01] [ 9.02113245e-01 -4.31495733e-01 -1.76782574e-03 1.80256696e+01] [-1.96613031e-03 -1.35572013e-05 -9.99998067e-01 6.72116732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.68, Y:18.03, Z:6.72 [[ 3.57328584e-01 9.33978443e-01 -7.41994458e-04 8.86785134e+01] [ 9.33976537e-01 -3.57329354e-01 -1.88691704e-03 1.80340154e+01] [-2.02747624e-03 -1.87560208e-05 -9.99997945e-01 6.72131933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8503857229999 meters Centerline goodness [0,1] 0.9998741821841973 Centerline is valid? [True, True] Translation: X:88.69, Y:18.04, Z:6.72 [[ 2.82420143e-01 9.59290527e-01 -7.40912683e-04 8.86871069e+01] [ 9.59287455e-01 -2.82421113e-01 -2.42778363e-03 1.80438180e+01] [-2.53819922e-03 -2.50932427e-05 -9.99996779e-01 6.72410337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.70, Y:18.05, Z:6.72 [[ 2.05163050e-01 9.78727800e-01 -1.28054020e-04 8.86976289e+01] [ 9.78727631e-01 -2.05163090e-01 -5.75948905e-04 1.80547713e+01] [-5.89969164e-04 -7.16657309e-06 -9.99999826e-01 6.72037576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.71, Y:18.06, Z:6.72 [[ 1.27343403e-01 9.91858686e-01 -6.64583891e-05 8.87103510e+01] [ 9.91858575e-01 -1.27343421e-01 -4.69153326e-04 1.80641405e+01] [-4.73796840e-04 -6.17374185e-06 -9.99999888e-01 6.72040103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.940385723 meters Centerline goodness [0,1] 0.9999583524218066 Centerline is valid? [True, True] Translation: X:88.72, Y:18.07, Z:6.72 [[ 4.89741498e-02 9.98800045e-01 -4.70479946e-05 8.87217285e+01] [ 9.98799755e-01 -4.89741715e-02 -7.60977851e-04 1.80743649e+01] [-7.62368848e-04 -9.72328228e-06 -9.99999709e-01 6.72085124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.72, Y:18.09, Z:6.72 [[-2.92131996e-02 9.99573203e-01 1.59566156e-05 8.87248886e+01] [ 9.99572754e-01 2.92132016e-02 -9.47415389e-04 1.80863309e+01] [-9.47477179e-04 -1.17272367e-05 -9.99999551e-01 6.72149750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.73, Y:18.10, Z:6.72 [[-1.06898320e-01 9.94269953e-01 9.87937014e-05 8.87328120e+01] [ 9.94269416e-01 1.06898365e-01 -1.03336372e-03 1.80985408e+01] [-1.03800338e-03 -1.22372903e-05 -9.99999461e-01 6.72177733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.74, Y:18.11, Z:6.72 [[-1.84458648e-01 9.82840247e-01 2.35266934e-04 8.87363801e+01] [ 9.82839335e-01 1.84458798e-01 -1.33930593e-03 1.81107967e+01] [-1.35972083e-03 -1.58169645e-05 -9.99999076e-01 6.72229350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.74, Y:18.12, Z:6.72 [[-2.61179448e-01 9.65290176e-01 4.15011897e-04 8.87430503e+01] [ 9.65288835e-01 2.61179777e-01 -1.60933671e-03 1.81225975e+01] [-1.66186963e-03 -1.97193247e-05 -9.99998619e-01 6.72235468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.74, Y:18.13, Z:6.72 [[-3.37628432e-01 9.41279164e-01 7.60371367e-04 8.87417120e+01] [ 9.41276562e-01 3.37629287e-01 -2.21316766e-03 1.81326287e+01] [-2.33993224e-03 -3.15085790e-05 -9.99997262e-01 6.72248360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.75, Y:18.15, Z:6.72 [[-4.11305774e-01 9.11496892e-01 9.88218151e-04 8.87472535e+01] [ 9.11494047e-01 4.11306959e-01 -2.27766347e-03 1.81453445e+01] [-2.48254418e-03 -3.60611744e-05 -9.99996918e-01 6.72224809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.75, Y:18.16, Z:6.72 [[-4.82148102e-01 8.76088776e-01 1.29033223e-03 8.87536691e+01] [ 8.76085400e-01 4.82149827e-01 -2.43236173e-03 1.81579264e+01] [-2.75309827e-03 -4.23173615e-05 -9.99996209e-01 6.72259936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.180385723 meters Centerline goodness [0,1] 0.9998955766258719 Centerline is valid? [True, True] Translation: X:88.75, Y:18.17, Z:6.72 [[-5.49734294e-01 8.35336338e-01 2.32558160e-03 8.87525056e+01] [ 8.35328329e-01 5.49739209e-01 -3.65861480e-03 1.81676440e+01] [-4.33463728e-03 -6.86418318e-05 -9.99990603e-01 6.72452089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.210385723 meters Centerline goodness [0,1] 0.9999581913581538 Centerline is valid? [True, True] Translation: X:88.76, Y:18.18, Z:6.72 [[-6.13417723e-01 7.89756253e-01 1.93887929e-03 8.87559118e+01] [ 7.89752041e-01 6.13420785e-01 -2.57952566e-03 1.81805195e+01] [-3.22654537e-03 -5.10928781e-05 -9.99994793e-01 6.72335137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.76, Y:18.19, Z:6.72 [[-6.72724092e-01 7.39890258e-01 2.16847029e-03 8.87565183e+01] [ 7.39886179e-01 6.72727585e-01 -2.45756159e-03 1.81905000e+01] [-3.27711566e-03 -4.88396939e-05 -9.99994629e-01 6.72351631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.76, Y:18.20, Z:6.72 [[-7.27832680e-01 6.85748002e-01 3.04443355e-03 8.87564469e+01] [ 6.85741665e-01 7.27839045e-01 -2.94855197e-03 1.82005412e+01] [-4.23782122e-03 -5.83575497e-05 -9.99991019e-01 6.72391933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.77, Y:18.22, Z:6.72 [[-7.73706599e-01 6.33536613e-01 3.07537188e-03 8.87671348e+01] [ 6.33531352e-01 7.73712710e-01 -2.58243344e-03 1.82234825e+01] [-4.01552045e-03 -4.97012921e-05 -9.99991937e-01 6.72396931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.77, Y:18.24, Z:6.72 [[-8.14804331e-01 5.79727688e-01 3.11603587e-03 8.87748561e+01] [ 5.79723281e-01 8.14810289e-01 -2.26069521e-03 1.82405701e+01] [-3.84956570e-03 -3.55857133e-05 -9.99992590e-01 6.72315157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.78, Y:18.26, Z:6.72 [[-8.53064421e-01 5.21797802e-01 2.85433867e-03 8.87828767e+01] [ 5.21794778e-01 8.53069196e-01 -1.77650203e-03 1.82646654e+01] [-3.36192325e-03 -2.60916662e-05 -9.99994348e-01 6.72297883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.79, Y:18.28, Z:6.72 [[-8.86692544e-01 4.62352465e-01 2.55557516e-03 8.87878389e+01] [ 4.62350496e-01 8.86696226e-01 -1.34945439e-03 1.82822314e+01] [-2.88994242e-03 -1.49796989e-05 -9.99995824e-01 6.72207370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.79, Y:18.31, Z:6.72 [[-9.16847153e-01 3.99228048e-01 2.87469729e-03 8.87936991e+01] [ 3.99226040e-01 9.16851660e-01 -1.26607698e-03 1.83068237e+01] [-3.14112442e-03 -1.31450545e-05 -9.99995067e-01 6.72212462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.80, Y:18.33, Z:6.72 [[-9.42498919e-01 3.34192638e-01 3.32681384e-03 8.87955237e+01] [ 3.34190514e-01 9.42504791e-01 -1.19142415e-03 1.83325779e+01] [-3.53370316e-03 -1.11263464e-05 -9.99993756e-01 6.72269950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.80, Y:18.35, Z:6.72 [[-9.63613241e-01 2.67274294e-01 3.73802454e-03 8.87963425e+01] [ 2.67272246e-01 9.63620492e-01 -1.04629555e-03 1.83540289e+01] [-3.88168495e-03 -9.15402989e-06 -9.99992466e-01 6.72350152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.80, Y:18.38, Z:6.72 [[-9.80119667e-01 1.98358597e-01 4.39381791e-03 8.87995323e+01] [ 1.98356558e-01 9.80129516e-01 -8.99262725e-04 1.83785740e+01] [-4.48488711e-03 -9.84248290e-06 -9.99989943e-01 6.72349943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.80, Y:18.40, Z:6.72 [[-9.91833837e-01 1.27468341e-01 4.17875741e-03 8.87963931e+01] [ 1.27467156e-01 9.91842640e-01 -5.49833903e-04 1.84009079e+01] [-4.21475620e-03 -1.26895464e-05 -9.99991118e-01 6.72331684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.79, Y:18.43, Z:6.72 [[-9.98418191e-01 5.60573117e-02 4.32371377e-03 8.87915093e+01] [ 5.60567169e-02 9.98427553e-01 -2.58725051e-04 1.84270734e+01] [-4.33141839e-03 -1.59425991e-05 -9.99990619e-01 6.72306166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6003857229999 meters Centerline goodness [0,1] 0.9999355143802932 Centerline is valid? [True, True] Translation: X:88.78, Y:18.45, Z:6.72 [[-9.99867535e-01 -1.57789919e-02 3.99210163e-03 8.87791693e+01] [-1.57789365e-02 9.99875504e-01 4.53694425e-05 1.84532867e+01] [-3.99232052e-03 -1.76276856e-05 -9.99992031e-01 6.72338401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.78, Y:18.47, Z:6.72 [[-9.96101877e-01 -8.81077593e-02 4.25135523e-03 8.87752421e+01] [-8.81070596e-02 9.96110949e-01 3.51962096e-04 1.84746882e+01] [-4.26583208e-03 -2.39843036e-05 -9.99990901e-01 6.72281722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.660385723 meters Centerline goodness [0,1] 0.9998706924419732 Centerline is valid? [True, True] Translation: X:88.76, Y:18.50, Z:6.72 [[-9.87253599e-01 -1.59108420e-01 3.85259557e-03 8.87617336e+01] [-1.59107298e-01 9.87261116e-01 5.97799880e-04 1.84983491e+01] [-3.89863279e-03 -2.27959896e-05 -9.99992400e-01 6.72275682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.690385723 meters Centerline goodness [0,1] 0.9998269521955441 Centerline is valid? [True, True] Translation: X:88.74, Y:18.52, Z:6.72 [[-9.73488428e-01 -2.28721179e-01 2.62735549e-03 8.87432663e+01] [-2.28720385e-01 9.73491973e-01 6.02870936e-04 1.85155494e+01] [-2.69559883e-03 -1.40418788e-05 -9.99996367e-01 6.72180283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.71, Y:18.53, Z:6.72 [[-9.54733244e-01 -2.97455525e-01 2.15508791e-03 8.87120281e+01] [-2.97454791e-01 9.54735676e-01 6.60936388e-04 1.85328235e+01] [-2.25413849e-03 -1.00232796e-05 -9.99997459e-01 6.72107336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.66, Y:18.54, Z:6.72 [[-9.31086935e-01 -3.64795634e-01 1.12471358e-03 8.86594061e+01] [-3.64795373e-01 9.31087614e-01 4.36824190e-04 1.85363744e+01] [-1.20655844e-03 -3.56901300e-06 -9.99999272e-01 6.72032655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.780385723 meters Centerline goodness [0,1] 0.999935032591983 Centerline is valid? [True, True] Translation: X:88.59, Y:18.53, Z:6.72 [[-9.01983658e-01 -4.31769194e-01 9.18996903e-04 8.85896968e+01] [-4.31768972e-01 9.01984126e-01 4.37189721e-04 1.85338735e+01] [-1.01768567e-03 -2.45636462e-06 -9.99999482e-01 6.72030577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.810385723 meters Centerline goodness [0,1] 0.9998709372109531 Centerline is valid? [True, True] Translation: X:88.52, Y:18.53, Z:6.72 [[-8.67759559e-01 -4.96983249e-01 9.99190601e-04 8.85182823e+01] [-4.96982923e-01 8.67760134e-01 5.69965115e-04 1.85255101e+01] [-1.15032088e-03 -1.98798879e-06 -9.99999338e-01 6.72073445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.44, Y:18.50, Z:6.72 [[-8.28134241e-01 -5.60527860e-01 1.48238465e-03 8.84385887e+01] [-5.60526969e-01 8.28135568e-01 9.99538663e-04 1.85042341e+01] [-1.78788472e-03 -3.16438125e-06 -9.99998402e-01 6.72114711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.35, Y:18.48, Z:6.72 [[-7.83438665e-01 -6.21467384e-01 1.46595329e-03 8.83543191e+01] [-6.21466306e-01 7.83440037e-01 1.15763127e-03 1.84759165e+01] [-1.86791657e-03 -4.10748044e-06 -9.99998256e-01 6.72142728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.27, Y:18.43, Z:6.72 [[-7.33966318e-01 -6.79184230e-01 1.49184185e-03 8.82660141e+01] [-6.79182843e-01 7.33967834e-01 1.37277317e-03 1.84335352e+01] [-2.02732982e-03 -5.66411829e-06 -9.99997945e-01 6.72163947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.18, Y:18.38, Z:6.72 [[-6.80218723e-01 -7.33007644e-01 1.51104162e-03 8.81770238e+01] [-7.33005858e-01 6.80220401e-01 1.61805351e-03 1.83830239e+01] [-2.21388693e-03 -6.97207155e-06 -9.99997549e-01 6.72199914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.960385723 meters Centerline goodness [0,1] 0.9999780773868245 Centerline is valid? [True, True] Translation: X:88.09, Y:18.32, Z:6.72 [[-6.22276681e-01 -7.82795353e-01 1.77975545e-03 8.80872038e+01] [-7.82792197e-01 6.22279226e-01 2.22281744e-03 1.83199629e+01] [-2.84751600e-03 -9.97122555e-06 -9.99995946e-01 6.72217161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.990385723 meters Centerline goodness [0,1] 0.9999780773868245 Centerline is valid? [True, True] Translation: X:88.00, Y:18.25, Z:6.72 [[-5.60843610e-01 -8.27920207e-01 1.60525987e-03 8.80001200e+01] [-8.27916866e-01 5.60845907e-01 2.35190406e-03 1.82510332e+01] [-2.84749232e-03 -9.97135671e-06 -9.99995946e-01 6.72217049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.92, Y:18.17, Z:6.72 [[-4.94557255e-01 -8.69142325e-01 2.17718819e-03 8.79212981e+01] [-8.69134096e-01 4.94562046e-01 3.78218131e-03 1.81718921e+01] [-4.36400850e-03 -2.17632829e-05 -9.99990478e-01 6.72328415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.050385723 meters Centerline goodness [0,1] 0.9999778570005093 Centerline is valid? [True, True] Translation: X:87.84, Y:18.08, Z:6.73 [[-4.25969673e-01 -9.04734359e-01 2.36152238e-03 8.78427029e+01] [-9.04720859e-01 4.25976218e-01 4.94253993e-03 1.80806438e+01] [-5.47763807e-03 -3.11464419e-05 -9.99984997e-01 6.72504411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.77, Y:17.97, Z:6.73 [[-3.53431280e-01 -9.35457659e-01 2.30171154e-03 8.77684576e+01] [-9.35438726e-01 3.53438772e-01 5.95191715e-03 1.79732164e+01] [-6.38128059e-03 -4.95164154e-05 -9.99979638e-01 6.72628279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.71, Y:17.88, Z:6.73 [[-2.79765625e-01 -9.60066521e-01 1.86288372e-03 8.77096381e+01] [-9.60046513e-01 2.79771821e-01 6.19843701e-03 1.78819312e+01] [-6.47209423e-03 -5.43454169e-05 -9.99979054e-01 6.72577848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.65, Y:17.77, Z:6.73 [[-2.04439644e-01 -9.78878259e-01 1.33660504e-03 8.76534727e+01] [-9.78859109e-01 2.04444006e-01 6.12317000e-03 1.77698355e+01] [-6.26709888e-03 -5.65293191e-05 -9.99980360e-01 6.72524899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.61, Y:17.65, Z:6.73 [[-1.28021565e-01 -9.91771084e-01 7.72062200e-04 8.76061458e+01] [-9.91755473e-01 1.28023882e-01 5.56476442e-03 1.76501845e+01] [-5.61781484e-03 -5.32870605e-05 -9.99984219e-01 6.72527244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.57, Y:17.54, Z:6.72 [[-5.13037601e-02 -9.98683044e-01 3.20058478e-04 8.75730970e+01] [-9.98669115e-01 5.13047350e-02 5.27484666e-03 1.75390810e+01] [-5.28432043e-03 -4.90130489e-05 -9.99986037e-01 6.72414168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.230385723 meters Centerline goodness [0,1] 0.9999551981362425 Centerline is valid? [True, True] Translation: X:87.54, Y:17.41, Z:6.72 [[ 2.53626776e-02 -9.99678311e-01 -9.19462069e-05 8.75438765e+01] [-9.99663035e-01 -2.53627984e-02 5.52672433e-03 1.74133823e+01] [-5.52727845e-03 -4.82573031e-05 -9.99984723e-01 6.72429326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.53, Y:17.27, Z:6.72 [[ 1.01764671e-01 -9.94808360e-01 -5.28797805e-04 8.75256819e+01] [-9.94792506e-01 -1.01766035e-01 5.61647720e-03 1.72743562e+01] [-5.64113213e-03 -4.55148616e-05 -9.99984088e-01 6.72435499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.51, Y:17.16, Z:6.72 [[ 1.77808345e-01 -9.84064596e-01 -1.03162297e-03 8.75148599e+01] [-9.84046534e-01 -1.77811332e-01 5.96227756e-03 1.71649333e+01] [-6.05070051e-03 -4.49777022e-05 -9.99981693e-01 6.72435381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.52, Y:17.03, Z:6.72 [[ 2.52185239e-01 -9.67677652e-01 -1.60238279e-03 8.75158104e+01] [-9.67656930e-01 -2.52190325e-01 6.33288340e-03 1.70328454e+01] [-6.53229517e-03 -4.65029028e-05 -9.99978663e-01 6.72415178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.52, Y:16.93, Z:6.73 [[ 3.26631773e-01 -9.45149075e-01 -2.21589117e-03 8.75151031e+01] [-9.45126215e-01 -3.26639285e-01 6.57381403e-03 1.69257244e+01] [-6.93703136e-03 -5.29196964e-05 -9.99975937e-01 6.72523576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.380385723 meters Centerline goodness [0,1] 0.9999774800135119 Centerline is valid? [True, True] Translation: X:87.53, Y:16.80, Z:6.73 [[ 3.98931592e-01 -9.16975189e-01 -3.17617224e-03 8.75299031e+01] [-9.16944815e-01 -3.98944231e-01 7.46375512e-03 1.68010978e+01] [-8.11119385e-03 -6.51530511e-05 -9.99967102e-01 6.72647786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.56, Y:16.66, Z:6.73 [[ 4.68217838e-01 -8.83604189e-01 -3.96153714e-03 8.75625783e+01] [-8.83571319e-01 -4.68234592e-01 7.62178428e-03 1.66630120e+01] [-8.58956924e-03 -6.83547645e-05 -9.99963107e-01 6.72626728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.440385723 meters Centerline goodness [0,1] 0.9999775048364602 Centerline is valid? [True, True] Translation: X:87.59, Y:16.56, Z:6.73 [[ 5.34582480e-01 -8.45103596e-01 -4.63522117e-03 8.75867706e+01] [-8.45070733e-01 -5.34602571e-01 7.45300673e-03 1.65605269e+01] [-8.77656393e-03 -6.71570620e-05 -9.99961483e-01 6.72683025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.63, Y:16.45, Z:6.73 [[ 5.97277631e-01 -8.02018620e-01 -5.05614878e-03 8.76278879e+01] [-8.01989047e-01 -5.97299028e-01 6.88764220e-03 1.64466463e+01] [-8.54405004e-03 -5.88586762e-05 -9.99963497e-01 6.72635121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.500385723 meters Centerline goodness [0,1] 0.9999775512952903 Centerline is valid? [True, True] Translation: X:87.68, Y:16.34, Z:6.73 [[ 6.56096338e-01 -7.54655629e-01 -5.69890859e-03 8.76750139e+01] [-7.54626499e-01 -6.56121086e-01 6.63085387e-03 1.63409125e+01] [-8.74318529e-03 -4.99315077e-05 -9.99961776e-01 6.72581241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.73, Y:16.24, Z:6.73 [[ 7.11334409e-01 -7.02825321e-01 -6.31878544e-03 8.77312549e+01] [-7.02797043e-01 -7.11362472e-01 6.30473526e-03 1.62374519e+01] [-8.92607441e-03 -4.39514000e-05 -9.99960161e-01 6.72596962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.72, Y:16.23, Z:6.73 [[ 7.63454536e-01 -6.45824974e-01 -6.87572458e-03 8.77240755e+01] [-6.45798360e-01 -7.63485496e-01 5.86308517e-03 1.62292841e+01] [-9.03604282e-03 -3.58673085e-05 -9.99959174e-01 6.72680565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5903857229999 meters Centerline goodness [0,1] 0.9999775729439997 Centerline is valid? [True, True] Translation: X:87.72, Y:16.22, Z:6.73 [[ 8.11098011e-01 -5.84858938e-01 -7.74858412e-03 8.77188980e+01] [-5.84831898e-01 -8.11135021e-01 5.62397481e-03 1.62205018e+01] [-9.57437988e-03 -2.99756252e-05 -9.99954164e-01 6.72675560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.71, Y:16.21, Z:6.73 [[ 8.53114492e-01 -5.21648147e-01 -8.88113466e-03 8.77141221e+01] [-5.21619780e-01 -8.53160718e-01 5.44001706e-03 1.62126130e+01] [-1.04148100e-02 -8.38187821e-06 -9.99945764e-01 6.72735628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.71, Y:16.20, Z:6.73 [[ 8.90780265e-01 -4.54336177e-01 -9.44235885e-03 8.77083807e+01] [-4.54310688e-01 -8.90830308e-01 4.81259161e-03 1.62047988e+01] [-1.05980739e-02 2.80290998e-06 -9.99943839e-01 6.72794762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.70, Y:16.20, Z:6.73 [[ 9.22961610e-01 -3.84742971e-01 -1.07103608e-02 8.77038214e+01] [-3.84717336e-01 -9.23023751e-01 4.44140233e-03 1.61960747e+01] [-1.15947157e-02 2.12176142e-05 -9.99932779e-01 6.72775071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.70, Y:16.19, Z:6.73 [[ 9.50072468e-01 -3.11834669e-01 -1.10201966e-02 8.77000184e+01] [-3.11814017e-01 -9.50136379e-01 3.58898037e-03 1.61855599e+01] [-1.15898582e-02 2.64603153e-05 -9.99932835e-01 6.72773869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.70, Y:16.17, Z:6.73 [[ 9.71385728e-01 -2.37253750e-01 -1.09738788e-02 8.76959461e+01] [-2.37238998e-01 -9.71447712e-01 2.64593244e-03 1.61739588e+01] [-1.12883068e-02 3.32109912e-05 -9.99936285e-01 6.72769279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.69, Y:16.16, Z:6.73 [[ 9.86882328e-01 -1.61108191e-01 -1.03644185e-02 8.76887398e+01] [-1.61099708e-01 -9.86936750e-01 1.65375093e-03 1.61643453e+01] [-1.04954583e-02 3.76472216e-05 -9.99944921e-01 6.72760763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.68, Y:16.16, Z:6.73 [[ 9.96494773e-01 -8.30897748e-02 -9.70859652e-03 8.76828097e+01] [-8.30861510e-02 -9.96542066e-01 7.76694977e-04 1.61550193e+01] [-9.73956024e-03 3.26774320e-05 -9.99952569e-01 6.72758006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.830385723 meters Centerline goodness [0,1] 0.9999102071968932 Centerline is valid? [True, True] Translation: X:87.68, Y:16.15, Z:6.73 [[ 9.99939640e-01 -5.23321707e-03 -9.66070584e-03 8.76770467e+01] [-5.23332641e-03 -9.99986306e-01 1.39613049e-05 1.61481154e+01] [-9.66064661e-03 3.65971649e-05 -9.99953334e-01 6.72927280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.67, Y:16.14, Z:6.73 [[ 9.97198960e-01 7.42116374e-02 -9.32023874e-03 8.76727634e+01] [ 7.42081632e-02 -9.97242514e-01 -7.18520553e-04 1.61381847e+01] [-9.34786090e-03 2.48701519e-05 -9.99956308e-01 6.72644125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.67, Y:16.13, Z:6.73 [[ 9.88334862e-01 1.52022359e-01 -9.13256032e-03 8.76679518e+01] [ 1.52015635e-01 -9.88377054e-01 -1.43008272e-03 1.61304909e+01] [-9.24381762e-03 2.51086512e-05 -9.99957275e-01 6.72563997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.66, Y:16.12, Z:6.73 [[ 9.73515006e-01 2.28457360e-01 -8.70441473e-03 8.76633954e+01] [ 2.28447968e-01 -9.73553919e-01 -2.07173203e-03 1.61237080e+01] [-8.94751950e-03 2.83563572e-05 -9.99959970e-01 6.72624342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.66, Y:16.11, Z:6.73 [[ 9.52750411e-01 3.03628497e-01 -8.74014526e-03 8.76618416e+01] [ 3.03615407e-01 -9.52790499e-01 -2.81961033e-03 1.61126535e+01] [-9.18364141e-03 3.27421449e-05 -9.99957829e-01 6.72555593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.66, Y:16.10, Z:6.73 [[ 9.26044834e-01 3.77314964e-01 -8.62460186e-03 8.76599256e+01] [ 3.77298268e-01 -9.26084994e-01 -3.54965076e-03 1.61029477e+01] [-9.32645072e-03 3.30884040e-05 -9.99956507e-01 6.72579958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.66, Y:16.09, Z:6.73 [[ 8.93733154e-01 4.48531609e-01 -7.77462044e-03 8.76590722e+01] [ 4.48514323e-01 -8.93766969e-01 -3.93792873e-03 1.60932311e+01] [-8.71498446e-03 3.24288418e-05 -9.99962023e-01 6.72530746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.66, Y:16.08, Z:6.73 [[ 8.56372341e-01 5.16314751e-01 -6.74475472e-03 8.76591893e+01] [ 5.16298401e-01 -8.56398901e-01 -4.10905088e-03 1.60832077e+01] [-7.89776411e-03 3.65714481e-05 -9.99968812e-01 6.72500147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.66, Y:16.07, Z:6.73 [[ 8.13588518e-01 5.81406297e-01 -6.35940014e-03 8.76594857e+01] [ 5.81388156e-01 -8.13613370e-01 -4.59299643e-03 1.60738259e+01] [-7.84449003e-03 3.95292344e-05 -9.99969231e-01 6.72559289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.66, Y:16.06, Z:6.73 [[ 7.65890271e-01 6.42938572e-01 -6.48737228e-03 8.76617684e+01] [ 6.42914987e-01 -7.65917744e-01 -5.50712092e-03 1.60637093e+01] [-8.50953400e-03 4.70214632e-05 -9.99963792e-01 6.72536422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.67, Y:16.05, Z:6.73 [[ 7.13583651e-01 7.00537463e-01 -6.75548444e-03 8.76666622e+01] [ 7.00505304e-01 -7.13615625e-01 -6.71264434e-03 1.60510941e+01] [-9.52327809e-03 5.77805748e-05 -9.99954651e-01 6.72540606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.67, Y:16.04, Z:6.73 [[ 6.56809619e-01 7.54026660e-01 -6.70228354e-03 8.76698615e+01] [ 7.53986378e-01 -6.56843811e-01 -7.79427159e-03 1.60396681e+01] [-1.02794420e-02 6.59220621e-05 -9.99947163e-01 6.72778719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.68, Y:16.03, Z:6.73 [[ 5.96301235e-01 8.02732595e-01 -6.72435123e-03 8.76768189e+01] [ 8.02680017e-01 -5.96339143e-01 -9.18784638e-03 1.60284346e+01] [-1.13853776e-02 8.12217892e-05 -9.99935181e-01 6.72782968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.68, Y:16.02, Z:6.73 [[ 5.32133698e-01 8.46636669e-01 -6.33078698e-03 8.76816767e+01] [ 8.46574664e-01 -5.32171347e-01 -1.02467337e-02 1.60174469e+01] [-1.20443239e-02 9.31484351e-05 -9.99927460e-01 6.72880828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.69, Y:16.01, Z:6.73 [[ 4.65823022e-01 8.84859516e-01 -5.70528210e-03 8.76886956e+01] [ 8.84789996e-01 -4.65857943e-01 -1.10923026e-02 1.60074647e+01] [-1.24729805e-02 1.19073405e-04 -9.99922202e-01 6.72785137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.69, Y:16.00, Z:6.73 [[ 3.95985024e-01 9.18243984e-01 -4.88334495e-03 8.76944398e+01] [ 9.18169967e-01 -3.96015112e-01 -1.16594699e-02 1.59977482e+01] [-1.26401165e-02 1.33234809e-04 -9.99920102e-01 6.72805678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.70, Y:15.99, Z:6.73 [[ 3.24022946e-01 9.46040807e-01 -3.99036015e-03 8.77014575e+01] [ 9.45963279e-01 -3.24047481e-01 -1.21121959e-02 1.59893790e+01] [-1.27516978e-02 1.49895237e-04 -9.99918683e-01 6.72783719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.71, Y:15.98, Z:6.73 [[ 2.50048692e-01 9.68228708e-01 -2.97009330e-03 8.77097550e+01] [ 9.68152555e-01 -2.50066279e-01 -1.21443868e-02 1.59818647e+01] [-1.25012641e-02 1.61184612e-04 -9.99921843e-01 6.72660571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.72, Y:15.97, Z:6.73 [[ 1.74051504e-01 9.84734748e-01 -1.88437493e-03 8.77181604e+01] [ 9.84666803e-01 -1.74061632e-01 -1.15687215e-02 1.59743035e+01] [-1.17201194e-02 1.58071935e-04 -9.99931305e-01 6.72584660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.73, Y:15.97, Z:6.73 [[ 9.63377437e-02 9.95348298e-01 -8.97379369e-04 8.77265745e+01] [ 9.95289967e-01 -9.63418139e-02 -1.07766730e-02 1.59668139e+01] [-1.08129982e-02 1.45047675e-04 -9.99941527e-01 6.72516941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.73, Y:15.96, Z:6.72 [[ 1.74180833e-02 9.99848293e-01 -4.95292062e-05 8.77324384e+01] [ 9.99792265e-01 -1.74176316e-02 -1.05855587e-02 1.59598256e+01] [-1.05848155e-02 1.34861226e-04 -9.99943970e-01 6.72497336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.75, Y:15.96, Z:6.72 [[-6.26272949e-02 9.98036676e-01 7.83914698e-04 8.77470789e+01] [ 9.97980214e-01 6.26320907e-02 -1.06166624e-02 1.59550438e+01] [-1.06449166e-02 1.17438514e-04 -9.99943334e-01 6.72337350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.76, Y:15.95, Z:6.72 [[-1.42040803e-01 9.89859598e-01 1.54512673e-03 8.77612697e+01] [ 9.89808290e-01 1.42049173e-01 -1.00787987e-02 1.59519475e+01] [-1.01960796e-02 9.77785889e-05 -9.99948014e-01 6.72284668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.78, Y:15.95, Z:6.72 [[-2.21281304e-01 9.75207475e-01 2.22825565e-03 8.77753320e+01] [ 9.75161281e-01 2.21292511e-01 -9.49214475e-03 1.59490506e+01] [-9.74990680e-03 7.24744616e-05 -9.99952466e-01 6.72245376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.79, Y:15.95, Z:6.72 [[-2.98127240e-01 9.54521533e-01 2.96519922e-03 8.77894023e+01] [ 9.54476340e-01 2.98141979e-01 -9.28853278e-03 1.59479809e+01] [-9.75015491e-03 6.10478622e-05 -9.99952464e-01 6.72188211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.80, Y:15.95, Z:6.72 [[-3.72561985e-01 9.27999540e-01 3.79739459e-03 8.78019527e+01] [ 9.27952873e-01 3.72581333e-01 -9.30672583e-03 1.59468035e+01] [-1.00514756e-02 5.64709692e-05 -9.99949481e-01 6.72254380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.81, Y:15.95, Z:6.72 [[-4.45137931e-01 8.95449215e-01 4.78808143e-03 8.78120472e+01] [ 8.95398564e-01 4.45163679e-01 -9.52425319e-03 1.59456990e+01] [-1.06599650e-02 4.76348725e-05 -9.99943180e-01 6.72226777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.82, Y:15.94, Z:6.72 [[-5.13977584e-01 8.57783798e-01 5.83088603e-03 8.78212624e+01] [ 8.57729692e-01 5.14010655e-01 -9.63444448e-03 1.59443589e+01] [-1.12614079e-02 4.94355794e-05 -9.99936587e-01 6.72232705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.83, Y:15.94, Z:6.72 [[-5.79382626e-01 8.15028815e-01 6.61844532e-03 8.78299686e+01] [ 8.14976677e-01 5.79420425e-01 -9.21880939e-03 1.59427311e+01] [-1.13484577e-02 5.26605802e-05 -9.99935603e-01 6.72272356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.84, Y:15.95, Z:6.72 [[-6.41158265e-01 7.67370963e-01 7.60822447e-03 8.78397865e+01] [ 7.67318033e-01 6.41203402e-01 -9.01298239e-03 1.59450216e+01] [-1.17947204e-02 5.91796834e-05 -9.99930438e-01 6.72182519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.85, Y:15.95, Z:6.72 [[-6.98725323e-01 7.15341218e-01 8.35855651e-03 8.78486844e+01] [ 7.15291213e-01 6.98775312e-01 -8.45833930e-03 1.59462038e+01] [-1.18913517e-02 6.87461692e-05 -9.99929293e-01 6.72297666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.86, Y:15.95, Z:6.72 [[-7.51622098e-01 6.59527908e-01 9.33602392e-03 8.78586481e+01] [ 6.59478512e-01 7.51680072e-01 -8.07222016e-03 1.59510959e+01] [-1.23415576e-02 8.96481229e-05 -9.99923836e-01 6.72117442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.88, Y:15.97, Z:6.72 [[-7.96165879e-01 6.05000318e-01 9.72154801e-03 8.78792995e+01] [ 6.04956640e-01 7.96225224e-01 -7.27028658e-03 1.59709304e+01] [-1.21390674e-02 9.27609026e-05 -9.99926315e-01 6.72090363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.89, Y:16.00, Z:6.72 [[-8.36719692e-01 5.47542326e-01 9.87720892e-03 8.78896611e+01] [ 5.47505518e-01 8.36777983e-01 -6.34943020e-03 1.59993790e+01] [-1.17416127e-02 9.51331045e-05 -9.99931060e-01 6.72049014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.92, Y:16.02, Z:6.72 [[-8.73244895e-01 4.87177094e-01 1.00912111e-02 8.79204489e+01] [ 4.87145842e-01 8.73303195e-01 -5.51893978e-03 1.60156398e+01] [-1.15013879e-02 9.65055407e-05 -9.99933852e-01 6.72078270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.94, Y:16.04, Z:6.72 [[-9.05555938e-01 4.24097982e-01 1.04567547e-02 8.79352155e+01] [ 4.24070938e-01 9.05616305e-01 -4.79031629e-03 1.60407399e+01] [-1.15013710e-02 9.65064007e-05 -9.99933852e-01 6.72078252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.95, Y:16.07, Z:6.72 [[-9.33627462e-01 3.58088096e-01 1.06150111e-02 8.79500337e+01] [ 3.58065988e-01 9.33687800e-01 -3.97996996e-03 1.60663005e+01] [-1.13362862e-02 8.50651901e-05 -9.99935739e-01 6.71981309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.96, Y:16.09, Z:6.72 [[-9.56652968e-01 2.91026000e-01 1.09071730e-02 8.79595831e+01] [ 2.91008107e-01 9.56715141e-01 -3.22825337e-03 1.60927155e+01] [-1.13745632e-02 8.57575823e-05 -9.99935304e-01 6.72026940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.97, Y:16.12, Z:6.72 [[-9.74888376e-01 2.22413890e-01 1.11676734e-02 8.79670482e+01] [ 2.22400311e-01 9.74952334e-01 -2.45911635e-03 1.61214034e+01] [-1.14348909e-02 8.63300932e-05 -9.99934616e-01 6.71912949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.14, Y:16.86, Z:5.76 [[-9.61891584e-01 -2.73190825e-01 1.14609501e-02 8.81366163e+01] [ 2.73170711e-01 -9.61959859e-01 -3.31556074e-03 1.68593096e+01] [ 1.19307547e-02 -5.84140905e-05 9.99928824e-01 5.75927384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.92, Y:16.13, Z:6.72 [[-9.75858037e-01 2.18107827e-01 1.14047187e-02 8.79156398e+01] [ 2.18093921e-01 9.75924674e-01 -2.46430361e-03 1.61336402e+01] [-1.16676303e-02 8.24893279e-05 -9.99931928e-01 6.71860915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.92, Y:16.16, Z:6.72 [[-9.88903054e-01 1.48093758e-01 1.17893708e-02 8.79210541e+01] [ 1.48084221e-01 9.88973322e-01 -1.68260524e-03 1.61636247e+01] [-1.19085565e-02 8.18863266e-05 -9.99929087e-01 6.71960126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.92, Y:16.19, Z:6.72 [[-9.96931307e-01 7.73278293e-02 1.21810084e-02 8.79232763e+01] [ 7.73230660e-02 9.97005717e-01 -8.62217169e-04 1.61934323e+01] [-1.22112084e-02 8.23016282e-05 -9.99925437e-01 6.71938136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.98, Y:16.94, Z:5.76 [[-9.91333654e-01 -1.30764577e-01 1.25782199e-02 8.79787119e+01] [ 1.30753360e-01 -9.91413447e-01 -1.71361397e-03 1.69420098e+01] [ 1.26942964e-02 -5.41186838e-05 9.99919423e-01 5.75799479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.150385723 meters Centerline goodness [0,1] 0.9999557737384459 Centerline is valid? [True, True] Translation: X:87.85, Y:16.20, Z:6.72 [[-9.97249184e-01 7.29875332e-02 1.29183719e-02 8.78505027e+01] [ 7.29826019e-02 9.97332849e-01 -8.53369042e-04 1.61983222e+01] [-1.29462020e-02 9.17948156e-05 -9.99916190e-01 6.72073412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.85, Y:16.23, Z:6.72 [[-9.99922533e-01 2.15523719e-03 1.22589936e-02 8.78507248e+01] [ 2.15617868e-03 9.99997674e-01 6.35831832e-05 1.62269139e+01] [-1.22588280e-02 9.00108381e-05 -9.99924854e-01 6.71907054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.210385723 meters Centerline goodness [0,1] 0.9999337324114775 Centerline is valid? [True, True] Translation: X:87.85, Y:16.98, Z:5.76 [[-9.98464597e-01 -5.39776062e-02 1.24445108e-02 8.78479527e+01] [ 5.39724410e-02 -9.98542143e-01 -7.50777669e-04 1.69788108e+01] [ 1.24668937e-02 -7.79642963e-05 9.99922282e-01 5.75832178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.75, Y:16.23, Z:6.72 [[-9.99921723e-01 -2.88688559e-03 1.21743310e-02 8.77526072e+01] [-2.88553999e-03 9.99995829e-01 1.28092228e-04 1.62286094e+01] [-1.21746501e-02 9.29526822e-05 -9.99925882e-01 6.71893022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.76, Y:16.26, Z:6.72 [[-9.97089445e-01 -7.51546019e-02 1.28228136e-02 8.77591056e+01] [-7.51472808e-02 9.97171890e-01 1.05249293e-03 1.62603902e+01] [-1.28656490e-02 8.58300175e-05 -9.99917231e-01 6.71956626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.74, Y:16.29, Z:6.72 [[-9.89198989e-01 -1.46064291e-01 1.22712735e-02 8.77360308e+01] [-1.46052010e-01 9.89275096e-01 1.89592039e-03 1.62866809e+01] [-1.24165915e-02 8.31983761e-05 -9.99922908e-01 6.71972503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.330385723 meters Centerline goodness [0,1] 0.9999336943308653 Centerline is valid? [True, True] Translation: X:87.72, Y:16.31, Z:6.72 [[-9.76099536e-01 -2.17006955e-01 1.17335814e-02 8.77190878e+01] [-2.16990294e-01 9.76170055e-01 2.69016275e-03 1.63127182e+01] [-1.20377548e-02 7.97933310e-05 -9.99927540e-01 6.71886693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.360385723 meters Centerline goodness [0,1] 0.9998678646934461 Centerline is valid? [True, True] Translation: X:87.67, Y:16.33, Z:6.72 [[-9.58261694e-01 -2.85668475e-01 1.13158091e-02 8.76738245e+01] [-2.85647302e-01 9.58328499e-01 3.47955089e-03 1.63308380e+01] [-1.18382603e-02 1.01990004e-04 -9.99929920e-01 6.71947769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.390385723 meters Centerline goodness [0,1] 0.9999337060526374 Centerline is valid? [True, True] Translation: X:87.61, Y:16.34, Z:6.72 [[-9.35496753e-01 -3.53201039e-01 9.73918793e-03 8.76117592e+01] [-3.53180618e-01 9.35547440e-01 3.79975167e-03 1.63386698e+01] [-1.04535486e-02 1.14962931e-04 -9.99945354e-01 6.71764919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.420385723 meters Centerline goodness [0,1] 0.9999779385810096 Centerline is valid? [True, True] Translation: X:87.54, Y:16.34, Z:6.72 [[-9.07470623e-01 -4.20015087e-01 9.18666250e-03 8.75402108e+01] [-4.19992122e-01 9.07517113e-01 4.39394980e-03 1.63385596e+01] [-1.01825786e-02 1.29054485e-04 -9.99948148e-01 6.71714890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.450385723 meters Centerline goodness [0,1] 0.9999558937038262 Centerline is valid? [True, True] Translation: X:87.46, Y:16.33, Z:6.72 [[-8.74349750e-01 -4.85222670e-01 8.45426842e-03 8.74595564e+01] [-4.85198460e-01 8.74390611e-01 4.84907952e-03 1.63286119e+01] [-9.74521625e-03 1.37793449e-04 -9.99952505e-01 6.71654905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.480385723 meters Centerline goodness [0,1] 0.999977970656915 Centerline is valid? [True, True] Translation: X:87.37, Y:16.31, Z:6.72 [[-8.36682191e-01 -5.47643940e-01 7.00193106e-03 8.73729135e+01] [-5.47623380e-01 8.36711478e-01 4.74730165e-03 1.63091627e+01] [-8.45842706e-03 1.37561593e-04 -9.99964217e-01 6.71586437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.28, Y:16.28, Z:6.72 [[-7.93589609e-01 -6.08420379e-01 6.33847944e-03 8.72801052e+01] [-6.08399570e-01 7.93614909e-01 5.03388916e-03 1.62771190e+01] [-8.09303253e-03 1.38513970e-04 -9.99967241e-01 6.71557243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.540385723 meters Centerline goodness [0,1] 0.9999339396208135 Centerline is valid? [True, True] Translation: X:87.18, Y:16.23, Z:6.72 [[-7.45588030e-01 -6.66385179e-01 5.41136201e-03 8.71825004e+01] [-6.66366366e-01 7.45607657e-01 5.00891588e-03 1.62332127e+01] [-7.37262025e-03 1.28638083e-04 -9.99972814e-01 6.71571665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.10, Y:16.19, Z:6.72 [[-6.92534944e-01 -7.21365782e-01 5.17303264e-03 8.70952516e+01] [-7.21344244e-01 6.92554252e-01 5.57573249e-03 1.61877122e+01] [-7.60474838e-03 1.29852262e-04 -9.99971075e-01 6.71563298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6003857229999 meters Centerline goodness [0,1] 0.999978039835738 Centerline is valid? [True, True] Translation: X:87.00, Y:16.13, Z:6.72 [[-6.34849871e-01 -7.72619922e-01 4.90893024e-03 8.70012506e+01] [-7.72595272e-01 6.34868837e-01 6.17295848e-03 1.61268314e+01] [-7.88587754e-03 1.26285604e-04 -9.99968898e-01 6.71597237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.630385723 meters Centerline goodness [0,1] 0.9999341802145725 Centerline is valid? [True, True] Translation: X:86.91, Y:16.06, Z:6.72 [[-5.73314382e-01 -8.19324840e-01 4.17443645e-03 8.69109485e+01] [-8.19301680e-01 5.73329569e-01 6.16139672e-03 1.60557570e+01] [-7.44151323e-03 1.12294552e-04 -9.99972305e-01 6.71655359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.83, Y:15.98, Z:6.72 [[-5.08249959e-01 -8.61201983e-01 3.62276052e-03 8.68258420e+01] [-8.61178634e-01 5.08262860e-01 6.34240500e-03 1.59771960e+01] [-7.30340638e-03 1.03683128e-04 -9.99973324e-01 6.71686223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.74, Y:15.89, Z:6.72 [[-4.39188458e-01 -8.98388771e-01 3.33389296e-03 8.67422024e+01] [-8.98361202e-01 4.39201101e-01 7.03871034e-03 1.58852680e+01] [-7.78774779e-03 9.62802501e-05 -9.99969670e-01 6.71730666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.67, Y:15.79, Z:6.72 [[-3.67771773e-01 -9.29911741e-01 2.84193434e-03 8.66689450e+01] [-9.29882121e-01 3.67782743e-01 7.42262806e-03 1.57921458e+01] [-7.94760339e-03 8.71691513e-05 -9.99968414e-01 6.71780644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.60, Y:15.69, Z:6.72 [[-2.94935898e-01 -9.55514341e-01 2.27156498e-03 8.66018522e+01] [-9.55483761e-01 2.94944633e-01 7.64499455e-03 1.56854904e+01] [-7.97488783e-03 8.43398800e-05 -9.99968197e-01 6.71790830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.54, Y:15.58, Z:6.72 [[-2.20654457e-01 -9.75350715e-01 1.61021516e-03 8.65441482e+01] [-9.75321985e-01 2.20660317e-01 7.48669495e-03 1.55781063e+01] [-7.65746386e-03 8.14943575e-05 -9.99970678e-01 6.71797912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.810385723 meters Centerline goodness [0,1] 0.9999781707050862 Centerline is valid? [True, True] Translation: X:86.49, Y:15.46, Z:6.72 [[-1.45304141e-01 -9.89386626e-01 9.00105088e-04 8.64930385e+01] [-9.89364398e-01 1.45306910e-01 6.63244000e-03 1.54577252e+01] [-6.69283892e-03 7.31890661e-05 -9.99977600e-01 6.71744681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.45, Y:15.35, Z:6.72 [[-6.93096653e-02 -9.97595127e-01 3.64592122e-04 8.64527352e+01] [-9.97575252e-01 6.93105860e-02 6.29750458e-03 1.53458278e+01] [-6.30762998e-03 7.27698567e-05 -9.99980104e-01 6.71766560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.870385723 meters Centerline goodness [0,1] 0.9999346547593116 Centerline is valid? [True, True] Translation: X:86.42, Y:15.22, Z:6.72 [[ 6.99555744e-03 -9.99975525e-01 -1.10538893e-04 8.64213852e+01] [-9.99959034e-01 -6.99607695e-03 5.74328280e-03 1.52247907e+01] [-5.74391557e-03 7.03569000e-05 -9.99983501e-01 6.71750968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.40, Y:15.10, Z:6.72 [[ 8.39791794e-02 -9.96467359e-01 -5.48295375e-04 8.63995809e+01] [-9.96451169e-01 -8.39809407e-02 5.68066838e-03 1.50974181e+01] [-5.70664697e-03 6.92916982e-05 -9.99983715e-01 6.71715342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.39, Y:14.97, Z:6.72 [[ 1.60773959e-01 -9.86990864e-01 -8.76840083e-04 8.63873142e+01] [-9.86978154e-01 -1.60776338e-01 5.00934205e-03 1.49727397e+01] [-5.08514998e-03 6.00502551e-05 -9.99987069e-01 6.71623146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.38, Y:14.85, Z:6.71 [[ 2.35893585e-01 -9.71778449e-01 -9.28963173e-04 8.63836524e+01] [-9.71771654e-01 -2.35895410e-01 3.63435092e-03 1.48492795e+01] [-3.75092205e-03 4.54200093e-05 -9.99992964e-01 6.71497432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.39, Y:14.72, Z:6.72 [[ 3.09366112e-01 -9.50942395e-01 -1.08213373e-03 8.63919986e+01] [-9.50937052e-01 -3.09368002e-01 3.18790495e-03 1.47186028e+01] [-3.36629152e-03 4.28112975e-05 -9.99994333e-01 6.71501388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.40, Y:14.60, Z:6.72 [[ 3.79558725e-01 -9.25166358e-01 -1.54403688e-03 8.64045032e+01] [-9.25159319e-01 -3.79561861e-01 3.60930989e-03 1.46045313e+01] [-3.92526960e-03 5.85350522e-05 -9.99992294e-01 6.71510052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.43, Y:14.48, Z:6.71 [[ 4.48466788e-01 -8.93797388e-01 -1.94152076e-03 8.64307029e+01] [-8.93789652e-01 -4.48470985e-01 3.71930285e-03 1.44825391e+01] [-4.19501890e-03 6.73273597e-05 -9.99991199e-01 6.71491785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.080385723 meters Centerline goodness [0,1] 0.9999781892734847 Centerline is valid? [True, True] Translation: X:86.46, Y:14.37, Z:6.71 [[ 5.14970508e-01 -8.57205423e-01 -2.05872732e-03 8.64636288e+01] [-8.57199073e-01 -5.14974619e-01 3.30015791e-03 1.43656803e+01] [-3.88910557e-03 6.52551578e-05 -9.99992435e-01 6.71456500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.110385723 meters Centerline goodness [0,1] 0.9999348449309357 Centerline is valid? [True, True] Translation: X:86.50, Y:14.26, Z:6.71 [[ 5.78445026e-01 -8.15718735e-01 -2.07282622e-03 8.65026949e+01] [-8.15713874e-01 -5.78448737e-01 2.81694859e-03 1.42583250e+01] [-3.49686145e-03 6.13832112e-05 -9.99993884e-01 6.71473440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.55, Y:14.15, Z:6.71 [[ 6.38767228e-01 -7.69397777e-01 -1.86804568e-03 8.65504121e+01] [-7.69394719e-01 -6.38769958e-01 2.16986300e-03 1.41496216e+01] [-2.86273923e-03 5.12271015e-05 -9.99995901e-01 6.71454826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.170385723 meters Centerline goodness [0,1] 0.9999565736619259 Centerline is valid? [True, True] Translation: X:86.60, Y:14.05, Z:6.71 [[ 6.95369643e-01 -7.18648480e-01 -2.32857642e-03 8.66007643e+01] [-7.18644736e-01 -6.95373539e-01 2.32058545e-03 1.40514462e+01] [-3.28691563e-03 5.97545035e-05 -9.99994596e-01 6.71484336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.59, Y:14.04, Z:6.72 [[ 7.49469130e-01 -6.62035559e-01 -2.22312311e-03 8.65943629e+01] [-6.62032853e-01 -7.49472425e-01 1.89337006e-03 1.40414130e+01] [-2.91964777e-03 5.27581232e-05 -9.99995736e-01 6.71521850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.59, Y:14.03, Z:6.72 [[ 7.99007879e-01 -6.01315573e-01 -2.44785627e-03 8.65894724e+01] [-6.01312958e-01 -7.99011626e-01 1.77420438e-03 1.40317218e+01] [-3.02272234e-03 5.43244199e-05 -9.99995430e-01 6.71509946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.59, Y:14.02, Z:6.71 [[ 8.43876503e-01 -5.36532773e-01 -2.24300502e-03 8.65860738e+01] [-5.36531020e-01 -8.43879483e-01 1.37207471e-03 1.40224560e+01] [-2.62898896e-03 4.55801572e-05 -9.99996543e-01 6.71445642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.58, Y:14.01, Z:6.71 [[ 8.83567836e-01 -4.68297805e-01 -2.24588827e-03 8.65825332e+01] [-4.68296413e-01 -8.83570690e-01 1.14287245e-03 1.40136472e+01] [-2.51960571e-03 4.19360803e-05 -9.99996825e-01 6.71438991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.58, Y:14.00, Z:6.72 [[ 9.17630598e-01 -3.97425134e-01 -2.71064685e-03 8.65810114e+01] [-3.97423554e-01 -9.17634601e-01 1.12186307e-03 1.40047938e+01] [-2.93323992e-03 4.78190271e-05 -9.99995697e-01 6.71500910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.58, Y:13.99, Z:6.72 [[ 9.46063310e-01 -3.23964895e-01 -3.31061622e-03 8.65772616e+01] [-3.23963115e-01 -9.46069101e-01 1.07537650e-03 1.39890517e+01] [-3.48045595e-03 5.51432986e-05 -9.99993942e-01 6.71543033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.58, Y:13.98, Z:6.72 [[ 9.68895944e-01 -2.47427453e-01 -4.50604564e-03 8.65753376e+01] [-2.47425093e-01 -9.68906420e-01 1.08266071e-03 1.39772604e+01] [-4.63381653e-03 6.59231889e-05 -9.99989262e-01 6.71736763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.57, Y:13.96, Z:6.72 [[ 9.85426380e-01 -1.70047509e-01 -4.32363111e-03 8.65715909e+01] [-1.70046133e-01 -9.85435864e-01 6.86570966e-04 1.39625392e+01] [-4.37741084e-03 5.86516079e-05 -9.99990417e-01 6.71655845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.440385723 meters Centerline goodness [0,1] 0.9999564070707732 Centerline is valid? [True, True] Translation: X:86.57, Y:13.95, Z:6.72 [[ 9.95856506e-01 -9.08813710e-02 -3.22414323e-03 8.65689805e+01] [-9.08810186e-02 -9.95861725e-01 2.55936557e-04 1.39501921e+01] [-3.23406070e-03 3.81373350e-05 -9.99994770e-01 6.71522776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.57, Y:13.94, Z:6.72 [[ 9.99923583e-01 -1.20383857e-02 -2.81162810e-03 8.65672337e+01] [-1.20384262e-02 -9.99927536e-01 2.51118420e-06 1.39378573e+01] [-2.81145459e-03 3.13365851e-05 -9.99996047e-01 6.71514473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.500385723 meters Centerline goodness [0,1] 0.999978283058614 Centerline is valid? [True, True] Translation: X:86.57, Y:13.92, Z:6.71 [[ 9.97701708e-01 6.77210560e-02 -2.27189799e-03 8.65666349e+01] [ 6.77208304e-02 -9.97704294e-01 -1.76178501e-04 1.39228530e+01] [-2.27861337e-03 2.19187726e-05 -9.99997404e-01 6.71488764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.57, Y:13.91, Z:6.71 [[ 9.89231851e-01 1.46335805e-01 -2.48546379e-03 8.65676087e+01] [ 1.46335286e-01 -9.89234973e-01 -3.90327560e-04 1.39091300e+01] [-2.51582660e-03 2.24134002e-05 -9.99996835e-01 6.71443188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.57, Y:13.90, Z:6.71 [[ 9.74336276e-01 2.25086337e-01 -2.22769601e-03 8.65678124e+01] [ 2.25085710e-01 -9.74338822e-01 -5.31308891e-04 1.38958809e+01] [-2.29012107e-03 1.62509889e-05 -9.99997378e-01 6.71406444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5903857229999 meters Centerline goodness [0,1] 0.9999783853885227 Centerline is valid? [True, True] Translation: X:86.57, Y:13.89, Z:6.71 [[ 9.53476279e-01 3.01461211e-01 -2.03071736e-03 8.65694687e+01] [ 3.01460498e-01 -9.53478441e-01 -6.56013715e-04 1.38868314e+01] [-2.13400791e-03 1.33124495e-05 -9.99997723e-01 6.71409600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.57, Y:13.87, Z:6.71 [[ 9.26209509e-01 3.77003624e-01 -2.05236362e-03 8.65726909e+01] [ 3.77002676e-01 -9.26211783e-01 -8.45696776e-04 1.38747009e+01] [-2.21975412e-03 9.54581904e-06 -9.99997536e-01 6.71392159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.58, Y:13.86, Z:6.71 [[ 8.93397769e-01 4.49262141e-01 -1.98879983e-03 8.65766771e+01] [ 4.49261010e-01 -8.93399982e-01 -1.00830397e-03 1.38644124e+01] [-2.22978654e-03 7.32629717e-06 -9.99997514e-01 6.71417237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.58, Y:13.85, Z:6.72 [[ 8.54528626e-01 5.19398693e-01 -2.41342331e-03 8.65815832e+01] [ 5.19396607e-01 -8.54532035e-01 -1.47198554e-03 1.38531468e+01] [-2.82689489e-03 4.32990318e-06 -9.99996004e-01 6.71505167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.59, Y:13.84, Z:6.72 [[ 8.10890062e-01 5.85192640e-01 -2.62335057e-03 8.65857230e+01] [ 5.85189565e-01 -8.10894305e-01 -1.89712825e-03 1.38434694e+01] [-3.23744552e-03 3.20506742e-06 -9.99994760e-01 6.71555368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.59, Y:13.84, Z:6.72 [[ 7.62264058e-01 6.47261201e-01 -2.53841024e-03 8.65898062e+01] [ 6.47257605e-01 -7.62268285e-01 -2.15761634e-03 1.38350779e+01] [-3.33149097e-03 1.66805783e-06 -9.99994451e-01 6.71556171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.60, Y:13.83, Z:6.72 [[ 7.09209974e-01 7.04993002e-01 -2.46594639e-03 8.65954106e+01] [ 7.04988732e-01 -7.09214261e-01 -2.45348358e-03 1.38272107e+01] [-3.47857310e-03 1.57060807e-06 -9.99993950e-01 6.71563567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.60, Y:13.82, Z:6.72 [[ 6.51844470e-01 7.58349294e-01 -2.26628795e-03 8.66024498e+01] [ 7.58344702e-01 -6.51848410e-01 -2.63897407e-03 1.38183305e+01] [-3.47854031e-03 1.57319125e-06 -9.99993950e-01 6.71563537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.61, Y:13.81, Z:6.72 [[ 5.90769563e-01 8.06837233e-01 -2.23698144e-03 8.66078544e+01] [ 8.06831427e-01 -5.90773798e-01 -3.06067046e-03 1.38111194e+01] [-3.79101290e-03 3.28401635e-06 -9.99992814e-01 6.71632038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.61, Y:13.80, Z:6.72 [[ 5.26299720e-01 8.50294985e-01 -2.65390620e-03 8.66139974e+01] [ 8.50284101e-01 -5.26306411e-01 -4.30233162e-03 1.38045780e+01] [-5.05501884e-03 7.74168054e-06 -9.99987223e-01 6.71664382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.62, Y:13.80, Z:6.72 [[ 4.58209946e-01 8.88840925e-01 -2.33552039e-03 8.66201174e+01] [ 8.88829285e-01 -4.58215898e-01 -4.54885892e-03 1.37971185e+01] [-5.11338455e-03 8.45348114e-06 -9.99986927e-01 6.71757944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.63, Y:13.79, Z:6.72 [[ 3.87125157e-01 9.22024461e-01 -2.23746975e-03 8.66265762e+01] [ 9.22008920e-01 -3.87131623e-01 -5.35335830e-03 1.37917279e+01] [-5.80212259e-03 9.45260271e-06 -9.99983168e-01 6.71748233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.63, Y:13.79, Z:6.72 [[ 3.13766107e-01 9.49498580e-01 -1.81008866e-03 8.66330298e+01] [ 9.49482603e-01 -3.13771328e-01 -5.50813665e-03 1.37855874e+01] [-5.79792185e-03 9.61890437e-06 -9.99983192e-01 6.71820650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.64, Y:13.78, Z:6.72 [[ 2.38594408e-01 9.71118325e-01 -1.38105700e-03 8.66375754e+01] [ 9.71101802e-01 -2.38598405e-01 -5.66489915e-03 1.37813354e+01] [-5.83080537e-03 1.04663163e-05 -9.99983001e-01 6.71834035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.65, Y:13.78, Z:6.72 [[ 1.61768055e-01 9.86828331e-01 -9.70370352e-04 8.66470649e+01] [ 9.86810169e-01 -1.61770965e-01 -5.98702215e-03 1.37767262e+01] [-6.06514082e-03 1.09375952e-05 -9.99981607e-01 6.71773634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.66, Y:13.77, Z:6.72 [[ 8.39918781e-02 9.96466319e-01 -4.89275527e-04 8.66558833e+01] [ 9.96448668e-01 -8.39933025e-02 -5.93101055e-03 1.37717169e+01] [-5.95114811e-03 1.06187677e-05 -9.99982292e-01 6.71795037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.66, Y:13.77, Z:6.72 [[ 5.96541880e-03 9.99982207e-01 -2.52329287e-05 8.66617319e+01] [ 9.99961121e-01 -5.96545688e-03 -6.49388585e-03 1.37664246e+01] [-6.49392082e-03 1.35068010e-05 -9.99978914e-01 6.71907040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.67, Y:13.76, Z:6.72 [[-7.22425947e-02 9.97386991e-01 4.44550707e-04 8.66712758e+01] [ 9.97369214e-01 7.22439613e-02 -5.95494977e-03 1.37629892e+01] [-5.97150553e-03 1.31801674e-05 -9.99982170e-01 6.71804168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.68, Y:13.76, Z:6.72 [[-1.49209631e-01 9.88805223e-01 8.46806431e-04 8.66786578e+01] [ 9.88789958e-01 1.49212033e-01 -5.49434677e-03 1.37600583e+01] [-5.55919249e-03 1.75042427e-05 -9.99984547e-01 6.71792175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.69, Y:13.76, Z:6.72 [[-2.25704031e-01 9.74195052e-01 1.30055352e-03 8.66874956e+01] [ 9.74179405e-01 2.25707777e-01 -5.52141838e-03 1.37577236e+01] [-5.67248351e-03 2.07660632e-05 -9.99983911e-01 6.71777141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.70, Y:13.76, Z:6.72 [[-3.00825722e-01 9.53676976e-01 2.02732346e-03 8.66981330e+01] [ 9.53655944e-01 3.00832552e-01 -6.33376309e-03 1.37562512e+01] [-6.65024892e-03 2.80102205e-05 -9.99977887e-01 6.71812926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.71, Y:13.75, Z:6.72 [[-3.73984193e-01 9.27429672e-01 3.16657818e-03 8.67058234e+01] [ 9.27397356e-01 3.73997596e-01 -7.74224487e-03 1.37527836e+01] [-8.36468024e-03 4.11990357e-05 -9.99965015e-01 6.71936489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.71, Y:13.75, Z:6.72 [[-4.45368892e-01 8.95337775e-01 4.10109819e-03 8.67143130e+01] [ 8.95300763e-01 4.45387772e-01 -8.14109794e-03 1.37500524e+01] [-9.11561150e-03 4.59245625e-05 -9.99958451e-01 6.71993370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.72, Y:13.75, Z:6.72 [[-5.13949761e-01 8.57806597e-01 4.84620632e-03 8.67245619e+01] [ 8.57769366e-01 5.13972606e-01 -7.99221186e-03 1.37493615e+01] [-9.34658935e-03 4.93319471e-05 -9.99956319e-01 6.72023864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.73, Y:13.75, Z:6.72 [[-5.79663892e-01 8.14837690e-01 5.41401303e-03 8.67345771e+01] [ 8.14802918e-01 5.79689173e-01 -7.52780187e-03 1.37490671e+01] [-9.27238143e-03 4.77586876e-05 -9.99957009e-01 6.72039015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.74, Y:13.75, Z:6.72 [[-6.41304007e-01 7.67261040e-01 6.29814907e-03 8.67427360e+01] [ 7.67224886e-01 6.41334931e-01 -7.44856531e-03 1.37467586e+01] [-9.75421697e-03 5.53019165e-05 -9.99952425e-01 6.72121279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.75, Y:13.75, Z:6.72 [[-6.99027245e-01 7.15062242e-01 6.84842638e-03 8.67502007e+01] [ 7.15028774e-01 6.99060789e-01 -6.91845078e-03 1.37461552e+01] [-9.73458927e-03 6.06363354e-05 -9.99952616e-01 6.72148862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.76, Y:13.74, Z:6.72 [[-7.52249075e-01 6.58840007e-01 7.15360987e-03 8.67566483e+01] [ 6.58811074e-01 7.52283086e-01 -6.17474879e-03 1.37429530e+01] [-9.44971124e-03 6.79283373e-05 -9.99955348e-01 6.72039191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.77, Y:13.77, Z:6.72 [[-7.96665056e-01 6.04375113e-01 7.45059444e-03 8.67706496e+01] [ 6.04349521e-01 7.96699892e-01 -5.56220358e-03 1.37660116e+01] [-9.29754520e-03 7.15499531e-05 -9.99956774e-01 6.72027350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.80, Y:13.78, Z:6.72 [[-8.37360365e-01 5.46594888e-01 7.85160072e-03 8.67966899e+01] [ 5.46571682e-01 8.37397171e-01 -5.03727778e-03 1.37818760e+01] [-9.32825852e-03 7.34458488e-05 -9.99956488e-01 6.71983653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.81, Y:13.81, Z:6.72 [[-8.74055239e-01 4.85773553e-01 7.17601473e-03 8.68122742e+01] [ 4.85757766e-01 8.74084694e-01 -3.91674292e-03 1.38065571e+01] [-8.17509476e-03 6.23552210e-05 -9.99966581e-01 6.71847855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.83, Y:13.83, Z:6.72 [[-9.06549486e-01 4.22041453e-01 7.00301956e-03 8.68335970e+01] [ 4.22029318e-01 9.06576532e-01 -3.20096341e-03 1.38281263e+01] [-7.69971244e-03 5.36478319e-05 -9.99970355e-01 6.71871677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.84, Y:13.86, Z:6.72 [[-9.34839196e-01 3.55002555e-01 6.99026958e-03 8.68424940e+01] [ 3.54992932e-01 9.34865330e-01 -2.61413714e-03 1.38572983e+01] [-7.46298604e-03 3.76984248e-05 -9.99972151e-01 6.71859076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.580385723 meters Centerline goodness [0,1] 0.9999551800640926 Centerline is valid? [True, True] Translation: X:86.86, Y:13.88, Z:6.72 [[-9.57879045e-01 2.87070255e-01 7.64219873e-03 8.68615813e+01] [ 2.87061393e-01 9.57909530e-01 -2.25588750e-03 1.38821936e+01] [-7.96813319e-03 3.29128466e-05 -9.99968253e-01 6.71868123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.87, Y:13.91, Z:6.72 [[-9.76002655e-01 2.17605035e-01 8.17718038e-03 8.68711187e+01] [ 2.17597633e-01 9.76036909e-01 -1.79504250e-03 1.39111643e+01] [-8.37184015e-03 2.73688527e-05 -9.99964955e-01 6.71805081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.88, Y:13.94, Z:6.72 [[-9.89001027e-01 1.47548958e-01 1.03088678e-02 8.68754297e+01] [ 1.47541279e-01 9.89054753e-01 -1.50573221e-03 1.39408995e+01] [-1.04182039e-02 3.18128392e-05 -9.99945729e-01 6.72082136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.88, Y:13.97, Z:6.72 [[-9.96918928e-01 7.75778942e-02 1.15897201e-02 8.68759301e+01] [ 7.75731519e-02 9.96986293e-01 -8.58841609e-04 1.39699609e+01] [-1.16214192e-02 4.28556647e-05 -9.99932468e-01 6.72234183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.84, Y:14.00, Z:6.72 [[-9.99886933e-01 7.97345276e-03 1.27492923e-02 8.68372541e+01] [ 7.97362501e-03 9.99968210e-01 -3.73207670e-05 1.39994432e+01] [-1.27491845e-02 6.43415286e-05 -9.99918724e-01 6.72396672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.86, Y:14.81, Z:5.75 [[-9.97869734e-01 -6.40497634e-02 1.23944573e-02 8.68598831e+01] [ 6.40437794e-02 -9.97946702e-01 -8.79517405e-04 1.48058923e+01] [ 1.24253407e-02 -8.38559070e-05 9.99922799e-01 5.75414473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.77, Y:14.00, Z:6.72 [[-9.99927266e-01 4.50548695e-03 1.11876761e-02 8.67739925e+01] [ 4.50619764e-03 9.99989846e-01 3.83172515e-05 1.39992995e+01] [-1.11873898e-02 8.87283440e-05 -9.99937415e-01 6.72211144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.75, Y:14.81, Z:5.76 [[-9.98439088e-01 -5.48573652e-02 1.04907743e-02 8.67519020e+01] [ 5.48530040e-02 -9.98494193e-01 -7.03216210e-04 1.48070237e+01] [ 1.05135538e-02 -1.26668066e-04 9.99944723e-01 5.75604279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.67, Y:14.00, Z:6.72 [[-9.99949220e-01 -2.51820967e-05 1.00775596e-02 8.66705506e+01] [-2.41726684e-05 9.99999995e-01 1.00288065e-04 1.40005054e+01] [-1.00775620e-02 1.00039371e-04 -9.99949215e-01 6.72130907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8503857229999 meters Centerline goodness [0,1] 0.9999551398515129 Centerline is valid? [True, True] Translation: X:86.65, Y:14.81, Z:5.76 [[-9.98916986e-01 -4.55038855e-02 9.70837764e-03 8.66481584e+01] [ 4.55005781e-02 -9.98964155e-01 -5.61386484e-04 1.48065478e+01] [ 9.72386653e-03 -1.19041699e-04 9.99952715e-01 5.75512873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.56, Y:14.00, Z:6.72 [[-9.99947624e-01 -4.39873277e-03 9.24125600e-03 8.65636131e+01] [-4.39752996e-03 9.99990320e-01 1.50472968e-04 1.40015418e+01] [-9.24182843e-03 1.09826386e-04 -9.99957287e-01 6.72190355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.55, Y:14.80, Z:5.76 [[-9.99214374e-01 -3.85196314e-02 9.32057745e-03 8.65520686e+01] [ 3.85169753e-02 -9.99257838e-01 -4.64381866e-04 1.48045077e+01] [ 9.33154789e-03 -1.05016584e-04 9.99956455e-01 5.75554501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.46, Y:14.00, Z:6.72 [[-9.99911715e-01 -9.52359695e-03 9.26622073e-03 8.64633795e+01] [-9.52207879e-03 9.99954642e-01 2.07942841e-04 1.40020812e+01] [-9.26778080e-03 1.19690799e-04 -9.99957046e-01 6.72228099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.46, Y:14.03, Z:6.72 [[-9.96723650e-01 -8.04296191e-02 8.54644399e-03 8.64606048e+01] [-8.04256873e-02 9.96760284e-01 8.03299838e-04 1.40312415e+01] [-8.58336503e-03 1.13314315e-04 -9.99963156e-01 6.72268752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.39, Y:14.83, Z:5.76 [[-9.99189062e-01 3.95776118e-02 7.40478225e-03 8.63903125e+01] [-3.95778326e-02 -9.99216484e-01 1.16773136e-04 1.48257144e+01] [ 7.40360209e-03 -1.76386792e-04 9.99972577e-01 5.75606538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.35, Y:14.03, Z:6.72 [[-9.96131947e-01 -8.75274323e-02 7.75194557e-03 8.63475517e+01] [-8.75240143e-02 9.96162105e-01 7.79716085e-04 1.40254684e+01] [-7.79044097e-03 9.82187065e-05 -9.99969649e-01 6.72161307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.34, Y:14.05, Z:6.72 [[-9.87152062e-01 -1.59624050e-01 7.13929853e-03 8.63354860e+01] [-1.59619260e-01 9.87177874e-01 1.23941497e-03 1.40546809e+01] [-7.24559799e-03 8.39214899e-05 -9.99973747e-01 6.72165792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.31, Y:14.08, Z:6.72 [[-9.73091827e-01 -2.30328011e-01 6.42683857e-03 8.63075590e+01] [-2.30322471e-01 9.73113047e-01 1.59935162e-03 1.40790655e+01] [-6.62241594e-03 7.60706493e-05 -9.99978069e-01 6.72195848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.25, Y:14.09, Z:6.72 [[-9.53825148e-01 -3.00304723e-01 5.88725046e-03 8.62528135e+01] [-3.00298542e-01 9.53843314e-01 1.92805727e-03 1.40937000e+01] [-6.19451920e-03 7.10967829e-05 -9.99980811e-01 6.72221966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.20, Y:14.10, Z:6.72 [[-9.29192500e-01 -3.69549009e-01 5.90157800e-03 8.61978299e+01] [-3.69541026e-01 9.29211238e-01 2.43017009e-03 1.41038901e+01] [-6.38187954e-03 7.72206331e-05 -9.99979633e-01 6.72220899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.12, Y:14.10, Z:6.72 [[-8.99325426e-01 -4.37240509e-01 5.87496447e-03 8.61228925e+01] [-4.37230581e-01 8.99344612e-01 2.94759296e-03 1.41013439e+01] [-6.57242469e-03 8.21311651e-05 -9.99978398e-01 6.72218246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.02, Y:14.08, Z:6.72 [[-8.64860932e-01 -5.01982968e-01 5.35421095e-03 8.60208815e+01] [-5.01972743e-01 8.64877502e-01 3.20518384e-03 1.40785190e+01] [-6.23968429e-03 8.43703292e-05 -9.99980529e-01 6.72298069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.240385723 meters Centerline goodness [0,1] 0.9999330446815159 Centerline is valid? [True, True] Translation: X:85.94, Y:14.06, Z:6.72 [[-8.25131988e-01 -5.64913716e-01 5.44936208e-03 8.59389236e+01] [-5.64900617e-01 8.25149977e-01 3.84830981e-03 1.40617617e+01] [-6.67050398e-03 9.70155264e-05 -9.99977747e-01 6.72403087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.86, Y:14.04, Z:6.72 [[-7.80074133e-01 -6.25667177e-01 4.99296998e-03 8.58584953e+01] [-6.25653573e-01 7.80090106e-01 4.12704850e-03 1.40367549e+01] [-6.47712527e-03 9.55342711e-05 -9.99979019e-01 6.72295919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.75, Y:13.98, Z:6.72 [[-7.31338701e-01 -6.81999884e-01 4.45670467e-03 8.57501110e+01] [-6.81986395e-01 7.31352274e-01 4.29051427e-03 1.39769246e+01] [-6.18555133e-03 9.84071763e-05 -9.99980865e-01 6.72334575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.67, Y:13.94, Z:6.72 [[-6.77372468e-01 -7.35628564e-01 4.14196164e-03 8.56695256e+01] [-7.35613890e-01 6.77385124e-01 4.64747958e-03 1.39352063e+01] [-6.22452193e-03 1.01190197e-04 -9.99980622e-01 6.72288872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.58, Y:13.87, Z:6.72 [[-6.19193907e-01 -7.85229006e-01 3.78330345e-03 8.55841178e+01] [-7.85213335e-01 6.19205457e-01 4.96197025e-03 1.38749657e+01] [-6.23892511e-03 1.01721423e-04 -9.99980533e-01 6.72287302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.49, Y:13.80, Z:6.72 [[-5.57211156e-01 -8.30363455e-01 3.50138777e-03 8.54944383e+01] [-8.30345870e-01 5.57222147e-01 5.40509159e-03 1.37996999e+01] [-6.43924133e-03 1.04414459e-04 -9.99979262e-01 6.72262696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.41, Y:13.71, Z:6.72 [[-4.91838838e-01 -8.70681198e-01 2.96803761e-03 8.54063763e+01] [-8.70664099e-01 4.91847783e-01 5.45758222e-03 1.37077657e+01] [-6.21163695e-03 1.00087105e-04 -9.99980703e-01 6.72344632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.33, Y:13.62, Z:6.72 [[-4.22700105e-01 -9.06266566e-01 2.35232016e-03 8.53296331e+01] [-9.06251360e-01 4.22706641e-01 5.25050021e-03 1.36201459e+01] [-5.75269415e-03 8.75936458e-05 -9.99983449e-01 6.72321775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.26, Y:13.52, Z:6.72 [[-3.50663278e-01 -9.36499585e-01 1.94752216e-03 8.52597299e+01] [-9.36483828e-01 3.50668676e-01 5.43320683e-03 1.35226937e+01] [-5.77113096e-03 8.14031111e-05 -9.99983344e-01 6.72329451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.19, Y:13.41, Z:6.72 [[-2.75436761e-01 -9.61317992e-01 1.51963595e-03 8.51914565e+01] [-9.61301955e-01 2.75440944e-01 5.55319636e-03 1.34137210e+01] [-5.75695754e-03 6.87254087e-05 -9.99983426e-01 6.72341820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.13, Y:13.29, Z:6.72 [[-1.99387790e-01 -9.79920046e-01 1.10106755e-03 8.51324805e+01] [-9.79903338e-01 1.99390820e-01 5.72265359e-03 1.32933340e+01] [-5.82728573e-03 6.20874831e-05 -9.99983019e-01 6.72411608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.08, Y:13.17, Z:6.72 [[-1.21932429e-01 -9.92538149e-01 7.11764459e-04 8.50825535e+01] [-9.92518290e-01 1.21934492e-01 6.27881939e-03 1.31681599e+01] [-6.31875641e-03 5.91524524e-05 -9.99980035e-01 6.72459972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.04, Y:13.06, Z:6.72 [[-4.25475836e-02 -9.99094417e-01 2.20380538e-04 8.50436427e+01] [-9.99075193e-01 4.25481320e-02 6.19806898e-03 1.30622808e+01] [-6.20183289e-03 4.35361294e-05 -9.99980768e-01 6.72489102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.01, Y:12.95, Z:6.72 [[ 3.52274272e-02 -9.99379292e-01 -2.45378217e-04 8.50138662e+01] [-9.99361663e-01 -3.52282633e-02 5.93600537e-03 1.29493193e+01] [-5.94096509e-03 3.61113862e-05 -9.99982352e-01 6.72442513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.99, Y:12.82, Z:6.72 [[ 1.13447892e-01 -9.93543739e-01 -6.43683798e-04 8.49944484e+01] [-9.93529038e-01 -1.13449715e-01 5.40497603e-03 1.28232406e+01] [-5.44310584e-03 2.63354079e-05 -9.99985186e-01 6.72396167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.98, Y:12.70, Z:6.72 [[ 1.89702254e-01 -9.81841094e-01 -1.05844162e-03 8.49848952e+01] [-9.81826577e-01 -1.89705205e-01 5.33926218e-03 1.26975692e+01] [-5.44309891e-03 2.63360368e-05 -9.99985186e-01 6.72396131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.99, Y:12.57, Z:6.72 [[ 2.65349156e-01 -9.64151476e-01 -1.32529996e-03 8.49851708e+01] [-9.64139847e-01 -2.65352465e-01 4.73553073e-03 1.25706810e+01] [-4.91744056e-03 2.12054181e-05 -9.99987909e-01 6.72329076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.750385723 meters Centerline goodness [0,1] 0.9999556078396555 Centerline is valid? [True, True] Translation: X:84.99, Y:12.45, Z:6.72 [[ 3.39433836e-01 -9.40628749e-01 -1.49283880e-03 8.49942042e+01] [-9.40619860e-01 -3.39437118e-01 4.08913010e-03 1.24469084e+01] [-4.35307823e-03 1.62047047e-05 -9.99990525e-01 6.72331776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.02, Y:12.31, Z:6.72 [[ 4.12333721e-01 -9.11031007e-01 -1.84571417e-03 8.50159884e+01] [-9.11021980e-01 -4.12337852e-01 4.05553331e-03 1.23139226e+01] [-4.45577441e-03 9.25303255e-06 -9.99990073e-01 6.72335352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.04, Y:12.19, Z:6.72 [[ 4.82423388e-01 -8.75935806e-01 -2.03413129e-03 8.50416030e+01] [-8.75928045e-01 -4.82427677e-01 3.68742377e-03 1.21940334e+01] [-4.21126775e-03 2.85316799e-06 -9.99991133e-01 6.72390287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.07, Y:12.09, Z:6.72 [[ 5.49090574e-01 -8.35759733e-01 -2.28264831e-03 8.50717993e+01] [-8.35752503e-01 -5.49095318e-01 3.47632375e-03 1.20862031e+01] [-4.15876291e-03 -1.08756349e-06 -9.99991352e-01 6.72414151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.870385723 meters Centerline goodness [0,1] 0.9998451430214809 Centerline is valid? [True, True] Translation: X:85.11, Y:11.98, Z:6.73 [[ 6.11353167e-01 -7.91352053e-01 -3.03869498e-03 8.51139402e+01] [-7.91342276e-01 -6.11360719e-01 3.93363206e-03 1.19762055e+01] [-4.97062656e-03 -1.90616059e-07 -9.99987646e-01 6.72743163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.900385723 meters Centerline goodness [0,1] 0.9999778103226379 Centerline is valid? [True, True] Translation: X:85.17, Y:11.87, Z:6.72 [[ 6.71274917e-01 -7.41201215e-01 -3.27791748e-03 8.51664874e+01] [-7.41192320e-01 -6.71282920e-01 3.63125582e-03 1.18673893e+01] [-4.89190124e-03 -8.00368535e-06 -9.99988035e-01 6.72394253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.930385723 meters Centerline goodness [0,1] 0.99997780687543 Centerline is valid? [True, True] Translation: X:85.22, Y:11.77, Z:6.72 [[ 7.26087165e-01 -6.87591998e-01 -3.83060612e-03 8.52245754e+01] [-6.87582358e-01 -7.26097269e-01 3.64088341e-03 1.17668132e+01] [-5.28483494e-03 -9.74152548e-06 -9.99986035e-01 6.72388259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.960385723 meters Centerline goodness [0,1] 0.9999558274620668 Centerline is valid? [True, True] Translation: X:85.22, Y:11.76, Z:6.72 [[ 7.77505626e-01 -6.28861566e-01 -4.25814661e-03 8.52176371e+01] [-6.28852069e-01 -7.77517286e-01 3.45616174e-03 1.17576779e+01] [-5.48422988e-03 -9.44089571e-06 -9.99984962e-01 6.72398493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.990385723 meters Centerline goodness [0,1] 0.9999557149816217 Centerline is valid? [True, True] Translation: X:85.21, Y:11.75, Z:6.72 [[ 8.24058171e-01 -5.66489968e-01 -4.15294848e-03 8.52119277e+01] [-5.66482732e-01 -8.24068636e-01 2.86329625e-03 1.17478627e+01] [-5.04434319e-03 -6.94906894e-06 -9.99987277e-01 6.72384535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.21, Y:11.74, Z:6.72 [[ 8.65520407e-01 -5.00857542e-01 -4.01851471e-03 8.52060968e+01] [-5.00852125e-01 -8.65529735e-01 2.32952478e-03 1.17400376e+01] [-4.64490403e-03 -3.56960128e-06 -9.99989212e-01 6.72388085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.050385723 meters Centerline goodness [0,1] 0.9999334339220733 Centerline is valid? [True, True] Translation: X:85.20, Y:11.73, Z:6.72 [[ 9.01533407e-01 -4.32687303e-01 -4.38333167e-03 8.52016918e+01] [-4.32682198e-01 -9.01544063e-01 2.10185755e-03 1.17304907e+01] [-4.86121372e-03 1.69478074e-06 -9.99988184e-01 6.72327803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.20, Y:11.72, Z:6.72 [[ 9.32303640e-01 -3.61650520e-01 -4.33869779e-03 8.51983204e+01] [-3.61646632e-01 -9.32313736e-01 1.67707975e-03 1.17218148e+01] [-4.65154431e-03 5.52788319e-06 -9.99989182e-01 6.72252575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.19, Y:11.71, Z:6.72 [[ 9.57340658e-01 -2.88926986e-01 -4.47890399e-03 8.51949079e+01] [-2.88923882e-01 -9.57351135e-01 1.33952238e-03 1.17085174e+01] [-4.67490799e-03 1.16830868e-05 -9.99989073e-01 6.72156681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.19, Y:11.70, Z:6.72 [[ 9.76861039e-01 -2.13819619e-01 -4.86629752e-03 8.51915983e+01] [-2.13817044e-01 -9.76873160e-01 1.04935848e-03 1.16959232e+01] [-4.97812886e-03 1.54199381e-05 -9.99987609e-01 6.72216414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.19, Y:11.68, Z:6.72 [[ 9.90504023e-01 -1.37382576e-01 -5.27344326e-03 8.51861477e+01] [-1.37380738e-01 -9.90518060e-01 7.11005952e-04 1.16849767e+01] [-5.32112061e-03 2.02152703e-05 -9.99985843e-01 6.72273843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.18, Y:11.67, Z:6.72 [[ 9.98120609e-01 -6.09792348e-02 -6.06491330e-03 8.51814622e+01] [-6.09783080e-02 -9.98139034e-01 3.37785678e-04 1.16748423e+01] [-6.07422462e-03 3.26773049e-05 -9.99981551e-01 6.72280321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.18, Y:11.66, Z:6.72 [[ 9.99860240e-01 1.56321395e-02 -5.92762638e-03 8.51782376e+01] [ 1.56316143e-02 -9.99877810e-01 -1.34911256e-04 1.16632468e+01] [-5.92901103e-03 4.22340311e-05 -9.99982422e-01 6.72248418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.17, Y:11.65, Z:6.72 [[ 9.95644212e-01 9.30335382e-02 -6.11259634e-03 8.51743823e+01] [ 9.30314846e-02 -9.95662974e-01 -6.20050198e-04 1.16526406e+01] [-6.14377132e-03 4.86854779e-05 -9.99981126e-01 6.72258273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.17, Y:11.64, Z:6.72 [[ 9.85420638e-01 1.70041626e-01 -5.65789599e-03 8.51726084e+01] [ 1.70038534e-01 -9.85436879e-01 -1.02649735e-03 1.16415483e+01] [-5.75004664e-03 4.94713297e-05 -9.99983467e-01 6.72205422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.17, Y:11.63, Z:6.72 [[ 9.69339834e-01 2.45673677e-01 -4.97297058e-03 8.51720022e+01] [ 2.45670181e-01 -9.69352589e-01 -1.31140658e-03 1.16289088e+01] [-5.14273999e-03 4.94880534e-05 -9.99986775e-01 6.72143551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.17, Y:11.62, Z:6.72 [[ 9.47212953e-01 3.20568916e-01 -4.81587103e-03 8.51734032e+01] [ 3.20564501e-01 -9.47225194e-01 -1.68303791e-03 1.16157807e+01] [-5.10124401e-03 5.03980107e-05 -9.99986987e-01 6.72133720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.380385723 meters Centerline goodness [0,1] 0.9999778712104448 Centerline is valid? [True, True] Translation: X:85.18, Y:11.60, Z:6.72 [[ 9.19144164e-01 3.93894060e-01 -4.63404670e-03 8.51758141e+01] [ 3.93888784e-01 -9.19155845e-01 -2.03934931e-03 1.16016626e+01] [-5.06269869e-03 4.91569982e-05 -9.99987183e-01 6.72156567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.18, Y:11.59, Z:6.72 [[ 8.85279240e-01 4.65035793e-01 -4.73058626e-03 8.51779603e+01] [ 4.65028854e-01 -8.85291878e-01 -2.54095974e-03 1.15887541e+01] [-5.36958683e-03 4.95997989e-05 -9.99985583e-01 6.72195105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.18, Y:11.58, Z:6.72 [[ 8.45899260e-01 5.33325380e-01 -4.29892461e-03 8.51822813e+01] [ 5.33318224e-01 -8.45910183e-01 -2.76303268e-03 1.15770786e+01] [-5.11009956e-03 4.45524564e-05 -9.99986942e-01 6.72214283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4703857229999 meters Centerline goodness [0,1] 0.9999338551427627 Centerline is valid? [True, True] Translation: X:85.19, Y:11.56, Z:6.72 [[ 8.00553260e-01 5.99249718e-01 -3.77533148e-03 8.51884458e+01] [ 5.99242858e-01 -8.00562161e-01 -2.86763218e-03 1.15639069e+01] [-4.74081530e-03 3.33518634e-05 -9.99988762e-01 6.72224195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.20, Y:11.55, Z:6.72 [[ 7.50333795e-01 6.61049061e-01 -3.65180106e-03 8.51960520e+01] [ 6.61041049e-01 -7.50342681e-01 -3.25468445e-03 1.15515316e+01] [-4.89160830e-03 2.81093284e-05 -9.99988036e-01 6.72232637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.20, Y:11.54, Z:6.72 [[ 6.94736742e-01 7.19258375e-01 -2.87223641e-03 8.52046218e+01] [ 7.19252139e-01 -6.94742679e-01 -2.99521690e-03 1.15384076e+01] [-4.14980006e-03 1.50250471e-05 -9.99991390e-01 6.72207282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.21, Y:11.53, Z:6.72 [[ 6.35509469e-01 7.72088615e-01 -2.62405837e-03 8.52111789e+01] [ 7.72081962e-01 -6.35514887e-01 -3.20523643e-03 1.15285107e+01] [-4.14235471e-03 1.09699702e-05 -9.99991420e-01 6.72166107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.22, Y:11.52, Z:6.72 [[ 5.72787532e-01 8.19701539e-01 -1.95709655e-03 8.52193184e+01] [ 8.19696707e-01 -5.72790875e-01 -2.81447741e-03 1.15203898e+01] [-3.42803851e-03 7.87197468e-06 -9.99994124e-01 6.72135227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.620385723 meters Centerline goodness [0,1] 0.9998476671309192 Centerline is valid? [True, True] Translation: X:85.23, Y:11.51, Z:6.72 [[ 5.05945829e-01 8.62563598e-01 -1.69046225e-03 8.52310609e+01] [ 8.62558756e-01 -5.05948653e-01 -2.89008578e-03 1.15112188e+01] [-3.34816988e-03 4.10383277e-06 -9.99994395e-01 6.72153844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.650385723 meters Centerline goodness [0,1] 0.9998047468217122 Centerline is valid? [True, True] Translation: X:85.24, Y:11.50, Z:6.72 [[ 4.36371039e-01 8.99765538e-01 -1.51444650e-03 8.52411148e+01] [ 8.99760099e-01 -4.36373667e-01 -3.12830819e-03 1.15031073e+01] [-3.47560847e-03 2.46456099e-06 -9.99993960e-01 6.72176759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.680385723 meters Centerline goodness [0,1] 0.999956519848689 Centerline is valid? [True, True] Translation: X:85.25, Y:11.50, Z:6.72 [[ 3.64242279e-01 9.31303278e-01 -1.32914530e-03 8.52520012e+01] [ 9.31297065e-01 -3.64244704e-01 -3.40186699e-03 1.14969055e+01] [-3.65230401e-03 1.27466751e-06 -9.99993330e-01 6.72115736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.710385723 meters Centerline goodness [0,1] 0.999869769057128 Centerline is valid? [True, True] Translation: X:85.26, Y:11.49, Z:6.72 [[ 2.89948913e-01 9.57041615e-01 -9.87422949e-04 8.52625236e+01] [ 9.57036061e-01 -2.89950594e-01 -3.26039167e-03 1.14906679e+01] [-3.40663438e-03 3.47649082e-07 -9.99994197e-01 6.72110337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.740385723 meters Centerline goodness [0,1] 0.999913329866528 Centerline is valid? [True, True] Translation: X:85.28, Y:11.49, Z:6.72 [[ 2.14305309e-01 9.76766466e-01 -7.10287563e-04 8.52775102e+01] [ 9.76761088e-01 -2.14306487e-01 -3.24144372e-03 1.14852111e+01] [-3.31835276e-03 8.77345569e-07 -9.99994494e-01 6.72075687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.770385723 meters Centerline goodness [0,1] 0.9999566574202496 Centerline is valid? [True, True] Translation: X:85.29, Y:11.48, Z:6.72 [[ 1.37409440e-01 9.90514210e-01 -4.95323833e-04 8.52903498e+01] [ 9.90507726e-01 -1.37410332e-01 -3.58415063e-03 1.14816605e+01] [-3.61821474e-03 1.87404579e-06 -9.99993454e-01 6.72109981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.800385723 meters Centerline goodness [0,1] 0.9997829766916967 Centerline is valid? [True, True] Translation: X:85.31, Y:11.48, Z:6.72 [[ 6.02609565e-02 9.98182630e-01 -2.33001917e-04 8.53053651e+01] [ 9.98174820e-01 -6.02614067e-02 -3.94854453e-03 1.14791374e+01] [-3.95540959e-03 5.36642332e-06 -9.99992177e-01 6.72111176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.32, Y:11.48, Z:6.72 [[-1.72839023e-02 9.99850619e-01 7.59508331e-05 8.53185306e+01] [ 9.99842969e-01 1.72840671e-02 -3.91121460e-03 1.14764178e+01] [-3.91194308e-03 8.33785564e-06 -9.99992348e-01 6.72150792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.860385723 meters Centerline goodness [0,1] 0.9999352653043609 Centerline is valid? [True, True] Translation: X:85.33, Y:11.48, Z:6.72 [[-9.43392131e-02 9.95539990e-01 4.90512800e-04 8.53328810e+01] [ 9.95527441e-01 9.43404868e-02 -4.99877793e-03 1.14759924e+01] [-5.02275855e-03 1.67381756e-05 -9.99987386e-01 6.72238616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.890385723 meters Centerline goodness [0,1] 0.999891800653524 Centerline is valid? [True, True] Translation: X:85.35, Y:11.48, Z:6.72 [[-1.71382894e-01 9.85203964e-01 1.02593912e-03 8.53452515e+01] [ 9.85187119e-01 1.71385963e-01 -5.76135061e-03 1.14773271e+01] [-5.85193703e-03 2.33450627e-05 -9.99982877e-01 6.72332423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.920385723 meters Centerline goodness [0,1] 0.9998702506325282 Centerline is valid? [True, True] Translation: X:85.36, Y:11.48, Z:6.72 [[-2.47646509e-01 9.68849298e-01 1.49800609e-03 8.53585828e+01] [ 9.68832199e-01 2.47651038e-01 -5.75618602e-03 1.14798249e+01] [-5.94785955e-03 2.58171625e-05 -9.99982311e-01 6.72366737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.37, Y:11.48, Z:6.72 [[-3.22206199e-01 9.46667903e-01 1.74540454e-03 8.53721145e+01] [ 9.46654454e-01 3.22210925e-01 -5.04616467e-03 1.14823672e+01] [-5.33943053e-03 2.63894432e-05 -9.99985745e-01 6.72301003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.980385723 meters Centerline goodness [0,1] 0.9999351855852742 Centerline is valid? [True, True] Translation: X:85.38, Y:11.49, Z:6.72 [[-3.95741097e-01 9.18360159e-01 1.89815285e-03 8.53826669e+01] [ 9.18349855e-01 3.95745649e-01 -4.35029322e-03 1.14862909e+01] [-4.74632170e-03 2.15785802e-05 -9.99988736e-01 6.72259577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.010385723 meters Centerline goodness [0,1] 0.9999355102216299 Centerline is valid? [True, True] Translation: X:85.40, Y:11.49, Z:6.72 [[-4.67562124e-01 8.83956637e-01 2.51480838e-03 8.53952914e+01] [ 8.83944053e-01 4.67568886e-01 -4.71673282e-03 1.14923799e+01] [-5.34523344e-03 1.75843034e-05 -9.99985714e-01 6.72279112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.41, Y:11.50, Z:6.72 [[-5.36061858e-01 8.44172675e-01 3.19042435e-03 8.54057386e+01] [ 8.44157888e-01 5.36071352e-01 -4.99657935e-03 1.14976381e+01] [-5.92827085e-03 1.47462658e-05 -9.99982428e-01 6.72394726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.42, Y:11.51, Z:6.72 [[-6.01588321e-01 7.98795436e-01 4.16471548e-03 8.54179098e+01] [ 7.98776384e-01 6.01602736e-01 -5.51692545e-03 1.15071448e+01] [-6.91239910e-03 7.75845603e-06 -9.99976109e-01 6.72482583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.43, Y:11.51, Z:6.73 [[-6.63052604e-01 7.48558739e-01 4.58896023e-03 8.54278935e+01] [ 7.48540821e-01 6.63068484e-01 -5.17934645e-03 1.15149948e+01] [-6.91983995e-03 8.44906256e-07 -9.99976058e-01 6.72544627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.130385723 meters Centerline goodness [0,1] 0.9999785324803572 Centerline is valid? [True, True] Translation: X:85.44, Y:11.53, Z:6.72 [[-7.19973610e-01 6.93983960e-01 4.92594388e-03 8.54376503e+01] [ 6.93967694e-01 7.19990461e-01 -4.75137976e-03 1.15254402e+01] [-6.84401395e-03 -2.42212022e-06 -9.99976580e-01 6.72471618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.160385723 meters Centerline goodness [0,1] 0.9999358659170104 Centerline is valid? [True, True] Translation: X:85.45, Y:11.55, Z:6.73 [[-7.67489545e-01 6.41043681e-01 4.77467598e-03 8.54522337e+01] [ 6.41031243e-01 7.67504397e-01 -3.99338748e-03 1.15542958e+01] [-6.22452062e-03 -4.16666071e-06 -9.99980628e-01 6.72517033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.47, Y:11.58, Z:6.72 [[-8.11323520e-01 5.84576623e-01 4.93132113e-03 8.54738324e+01] [ 5.84565764e-01 8.11338507e-01 -3.56300938e-03 1.15756049e+01] [-6.08382271e-03 -8.07180713e-06 -9.99981493e-01 6.72355839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2203857229999 meters Centerline goodness [0,1] 0.9999785674482404 Centerline is valid? [True, True] Translation: X:85.49, Y:11.60, Z:6.72 [[-8.51015709e-01 5.25114738e-01 5.17442436e-03 8.54885594e+01] [ 5.25104948e-01 8.51031440e-01 -3.20649066e-03 1.16008728e+01] [-6.08737332e-03 -1.16580849e-05 -9.99981472e-01 6.72256067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.250385723 meters Centerline goodness [0,1] 0.9999572375454351 Centerline is valid? [True, True] Translation: X:85.50, Y:11.63, Z:6.72 [[-8.86501140e-01 4.62701042e-01 4.84507561e-03 8.54984255e+01] [ 4.62694036e-01 8.86514380e-01 -2.54634765e-03 1.16291765e+01] [-5.47342691e-03 -1.55525026e-05 -9.99985021e-01 6.72166019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.280385723 meters Centerline goodness [0,1] 0.9999357422837193 Centerline is valid? [True, True] Translation: X:85.50, Y:11.66, Z:6.72 [[-9.17909857e-01 3.96761470e-01 4.67228520e-03 8.55045083e+01] [ 3.96756190e-01 9.17921748e-01 -2.04706446e-03 1.16603107e+01] [-5.10098851e-03 -2.52625683e-05 -9.99986990e-01 6.72109951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.310385723 meters Centerline goodness [0,1] 0.9999786680319126 Centerline is valid? [True, True] Translation: X:85.51, Y:11.69, Z:6.72 [[-9.44104028e-01 3.29610016e-01 4.98220017e-03 8.55146618e+01] [ 3.29605246e-01 9.44117173e-01 -1.77372033e-03 1.16884938e+01] [-5.28841672e-03 -3.24171980e-05 -9.99986016e-01 6.72168386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.52, Y:11.72, Z:6.72 [[-9.65140202e-01 2.61688042e-01 4.87438606e-03 8.55207620e+01] [ 2.61684538e-01 9.65152510e-01 -1.35451927e-03 1.17164391e+01] [-5.05898744e-03 -3.17495321e-05 -9.99987203e-01 6.72193220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.52, Y:11.74, Z:6.72 [[-9.81277130e-01 1.92530531e-01 5.21437815e-03 8.55244424e+01] [ 1.92527632e-01 9.81290983e-01 -1.05698043e-03 1.17447598e+01] [-5.32032326e-03 -3.32788448e-05 -9.99985846e-01 6.72208978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.52, Y:11.77, Z:6.72 [[-9.92338626e-01 1.23424720e-01 5.51267875e-03 8.55169889e+01] [ 1.23422654e-01 9.92353938e-01 -7.14713200e-04 1.17729654e+01] [-5.55874174e-03 -2.88480723e-05 -9.99984550e-01 6.72203208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.52, Y:11.80, Z:6.72 [[-9.98560186e-01 5.33210138e-02 5.86727389e-03 8.55200142e+01] [ 5.33199374e-02 9.98577423e-01 -3.39843800e-04 1.18000488e+01] [-5.87704806e-03 -2.65118116e-05 -9.99982730e-01 6.72172472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.460385723 meters Centerline goodness [0,1] 0.9999785637727759 Centerline is valid? [True, True] Translation: X:85.51, Y:11.83, Z:6.72 [[-9.99839321e-01 -1.66717811e-02 6.58659184e-03 8.55090661e+01] [-1.66715648e-02 9.99861016e-01 8.77502499e-05 1.18267648e+01] [-6.58713936e-03 -2.20726422e-05 -9.99978304e-01 6.72189228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.50, Y:11.85, Z:6.72 [[-9.96173125e-01 -8.71342717e-02 6.83545080e-03 8.55036247e+01] [-8.71323451e-02 9.96196576e-01 5.79705735e-04 1.18546111e+01] [-6.85996492e-03 -1.81015845e-05 -9.99976470e-01 6.72255356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.49, Y:11.88, Z:6.72 [[-9.87537264e-01 -1.57271003e-01 5.99858806e-03 8.54933051e+01] [-1.57268174e-01 9.87555483e-01 9.43404358e-04 1.18790321e+01] [-6.07230867e-03 -1.17400297e-05 -9.99981563e-01 6.72148563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.550385723 meters Centerline goodness [0,1] 0.9999571881154209 Centerline is valid? [True, True] Translation: X:85.47, Y:11.90, Z:6.72 [[-9.73823037e-01 -2.27232114e-01 5.85311747e-03 8.54714854e+01] [-2.27228066e-01 9.73840627e-01 1.35629039e-03 1.19022223e+01] [-6.00819632e-03 -9.20573355e-06 -9.99981951e-01 6.72137720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.44, Y:11.92, Z:6.72 [[-9.55021489e-01 -2.96484358e-01 5.56613130e-03 8.54372787e+01] [-2.96479365e-01 9.55037709e-01 1.72051241e-03 1.19206357e+01] [-5.82597030e-03 -7.11675745e-06 -9.99983029e-01 6.72104731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.38, Y:11.93, Z:6.72 [[-9.30834404e-01 -3.65400977e-01 5.42570190e-03 8.53816203e+01] [-3.65394814e-01 9.30850217e-01 2.12218745e-03 1.19320075e+01] [-5.82596516e-03 -7.11825111e-06 -9.99983029e-01 6.72104717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.640385723 meters Centerline goodness [0,1] 0.9998703151342239 Centerline is valid? [True, True] Translation: X:85.32, Y:11.93, Z:6.72 [[-9.01786016e-01 -4.32149998e-01 5.32548395e-03 8.53158239e+01] [-4.32142477e-01 9.01801741e-01 2.54963232e-03 1.19305125e+01] [-5.90435430e-03 -2.14504891e-06 -9.99982569e-01 6.72076791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.670385723 meters Centerline goodness [0,1] 0.999935365722288 Centerline is valid? [True, True] Translation: X:85.24, Y:11.92, Z:6.72 [[-8.67598909e-01 -4.97240039e-01 4.94740938e-03 8.52426241e+01] [-4.97231942e-01 8.67613015e-01 2.83760684e-03 1.19229504e+01] [-5.70340850e-03 1.89462402e-06 -9.99983736e-01 6.72102682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.16, Y:11.90, Z:6.72 [[-8.28768859e-01 -5.59576342e-01 4.06160285e-03 8.51604842e+01] [-5.59569581e-01 8.28778811e-01 2.75069359e-03 1.19029145e+01] [-4.90539343e-03 6.93978063e-06 -9.99987969e-01 6.72122227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.730385723 meters Centerline goodness [0,1] 0.9999567258800874 Centerline is valid? [True, True] Translation: X:85.07, Y:11.87, Z:6.72 [[-7.84686657e-01 -6.19881256e-01 3.75208316e-03 8.50740960e+01] [-6.19874121e-01 7.84695628e-01 2.97414383e-03 1.18734448e+01] [-4.78785926e-03 7.95172996e-06 -9.99988538e-01 6.72118991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.760385723 meters Centerline goodness [0,1] 0.9998691898491323 Centerline is valid? [True, True] Translation: X:84.99, Y:11.83, Z:6.72 [[-7.36063505e-01 -6.76902639e-01 3.65161900e-03 8.49903845e+01] [-6.76894240e-01 7.36072563e-01 3.37205668e-03 1.18342201e+01] [-4.97041062e-03 1.02879875e-05 -9.99987647e-01 6.71999473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.90, Y:11.78, Z:6.72 [[-6.82672657e-01 -7.30717418e-01 3.17783344e-03 8.49013275e+01] [-7.30709441e-01 6.82680053e-01 3.41431196e-03 1.17838008e+01] [-4.66434072e-03 8.78452309e-06 -9.99989122e-01 6.71940397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.81, Y:11.72, Z:6.72 [[-6.25604621e-01 -7.80136429e-01 2.45163633e-03 8.48137750e+01] [-7.80130384e-01 6.25609425e-01 3.07121623e-03 1.17223839e+01] [-3.92973446e-03 8.77107231e-06 -9.99992279e-01 6.71898556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8503857229999 meters Centerline goodness [0,1] 0.9999782840018241 Centerline is valid? [True, True] Translation: X:84.73, Y:11.65, Z:6.72 [[-5.64364402e-01 -8.25523289e-01 2.02992076e-03 8.47288474e+01] [-8.25517900e-01 5.64368053e-01 2.98284095e-03 1.16545925e+01] [-3.60802710e-03 7.67332635e-06 -9.99993491e-01 6.71903013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.65, Y:11.57, Z:6.72 [[-4.99778966e-01 -8.66150998e-01 1.85313161e-03 8.46456041e+01] [-8.66144986e-01 4.99782402e-01 3.22710974e-03 1.15746136e+01] [-3.72132689e-03 7.76091798e-06 -9.99993076e-01 6.71911894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.57, Y:11.49, Z:6.72 [[-4.32992905e-01 -9.01396007e-01 1.54398750e-03 8.45709688e+01] [-9.01390186e-01 4.32995657e-01 3.23937754e-03 1.14870640e+01] [-3.58850186e-03 1.08923146e-05 -9.99993561e-01 6.71905005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.50, Y:11.39, Z:6.72 [[-3.63839569e-01 -9.31459982e-01 1.75207806e-03 8.45010396e+01] [-9.31448904e-01 3.63843787e-01 4.54290201e-03 1.13890699e+01] [-4.86901414e-03 2.09163270e-05 -9.99988146e-01 6.71931939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.44, Y:11.29, Z:6.72 [[-2.91733726e-01 -9.56498306e-01 1.55709336e-03 8.44366635e+01] [-9.56484209e-01 2.91737881e-01 5.19289361e-03 1.12869566e+01] [-5.42125706e-03 2.56069892e-05 -9.99985305e-01 6.72001780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.000385723 meters Centerline goodness [0,1] 0.9999781764218061 Centerline is valid? [True, True] Translation: X:84.38, Y:11.17, Z:6.72 [[-2.17717867e-01 -9.76011016e-01 1.19513719e-03 8.43783979e+01] [-9.75995597e-01 2.17721145e-01 5.48623256e-03 1.11727507e+01] [-5.61483005e-03 2.80022116e-05 -9.99984236e-01 6.72033092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.33, Y:11.06, Z:6.72 [[-1.41994649e-01 -9.89867157e-01 7.28552458e-04 8.43328152e+01] [-9.89853158e-01 1.41996516e-01 5.26449795e-03 1.10649670e+01] [-5.31460553e-03 2.63705867e-05 -9.99985877e-01 6.71952475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.29, Y:10.94, Z:6.72 [[-6.54058032e-02 -9.97858695e-01 3.25669345e-04 8.42931084e+01] [-9.97844230e-01 6.54066086e-02 5.37297529e-03 1.09439254e+01] [-5.38277104e-03 2.64564878e-05 -9.99985513e-01 6.71959438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.26, Y:10.82, Z:6.72 [[ 1.12989996e-02 -9.99936159e-01 -1.03142745e-04 8.42645913e+01] [-9.99916729e-01 -1.12994231e-02 6.23357336e-03 1.08211208e+01] [-6.23434086e-03 3.27010132e-05 -9.99980566e-01 6.71976660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.120385723 meters Centerline goodness [0,1] 0.9999779881135813 Centerline is valid? [True, True] Translation: X:83.53, Y:10.69, Z:5.76 [[-4.58176648e-02 9.98949769e-01 3.17587726e-04 8.35339400e+01] [-9.98930093e-01 -4.58187556e-02 6.26984596e-03 1.06946682e+01] [ 6.27781265e-03 -2.99782365e-05 9.99980294e-01 5.75808586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.27, Y:10.51, Z:6.72 [[ 2.11496148e-02 -9.99776309e-01 -1.59240336e-04 8.42710282e+01] [-9.99757983e-01 -2.11501913e-02 6.05345641e-03 1.05132727e+01] [-6.05547027e-03 3.11735256e-05 -9.99981665e-01 6.72036593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.25, Y:10.40, Z:6.72 [[ 9.86790315e-02 -9.95119090e-01 -6.67436604e-04 8.42501492e+01] [-9.95098354e-01 -9.86812840e-02 6.42412866e-03 1.04018103e+01] [-6.45863656e-03 3.02382717e-05 -9.99979142e-01 6.72015125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.24, Y:10.27, Z:6.72 [[ 1.75529856e-01 -9.84473544e-01 -1.05377732e-03 8.42410385e+01] [-9.84456639e-01 -1.75533018e-01 5.76936066e-03 1.02683263e+01] [-5.86475565e-03 2.47030302e-05 -9.99982802e-01 6.72019751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.24, Y:10.13, Z:6.72 [[ 2.52259684e-01 -9.67658402e-01 -1.50652137e-03 8.42435431e+01] [-9.67641529e-01 -2.52264182e-01 5.71442340e-03 1.01328711e+01] [-5.90965119e-03 1.62540015e-05 -9.99982538e-01 6.72048929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.25, Y:10.01, Z:6.72 [[ 3.26779487e-01 -9.45098309e-01 -2.08640537e-03 8.42517884e+01] [-9.45079294e-01 -3.26786147e-01 5.99522778e-03 1.00116377e+01] [-6.34788801e-03 1.27010621e-05 -9.99979852e-01 6.72074323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.27, Y:9.90, Z:6.72 [[ 3.99376712e-01 -9.16783014e-01 -2.67349285e-03 8.42669433e+01] [-9.16762596e-01 -3.99385660e-01 6.11866443e-03 9.90079084e+00] [-6.67724233e-03 7.30616596e-06 -9.99977707e-01 6.72081932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.29, Y:9.78, Z:6.72 [[ 4.68804975e-01 -8.83296267e-01 -3.09835441e-03 8.42942787e+01] [-8.83277068e-01 -4.68815213e-01 5.82387626e-03 9.78474034e+00] [-6.59676385e-03 6.44323410e-06 -9.99978241e-01 6.71920040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.33, Y:9.67, Z:6.72 [[ 5.35088792e-01 -8.44788509e-01 -3.51560579e-03 8.43308215e+01] [-8.44770376e-01 -5.35100341e-01 5.53518152e-03 9.66863969e+00] [-6.55725960e-03 8.06602947e-06 -9.99978501e-01 6.72017436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.38, Y:9.55, Z:6.72 [[ 5.97952300e-01 -8.01521852e-01 -3.97095520e-03 8.43819292e+01] [-8.01504305e-01 -5.97965485e-01 5.30356029e-03 9.54684986e+00] [-6.62541362e-03 1.14616163e-05 -9.99978052e-01 6.72029881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.43, Y:9.45, Z:6.72 [[ 6.56962482e-01 -7.53905769e-01 -5.13694280e-03 8.44255823e+01] [-7.53882961e-01 -6.56982565e-01 5.86432492e-03 9.45227707e+00] [-7.79603025e-03 2.00121897e-05 -9.99969610e-01 6.72120189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.48, Y:9.36, Z:6.72 [[ 7.12567330e-01 -7.01576223e-01 -6.21325149e-03 8.44797621e+01] [-7.01549832e-01 -7.12594417e-01 6.08527082e-03 9.35588125e+00] [-8.69680964e-03 2.27403560e-05 -9.99962182e-01 6.72104522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.47, Y:9.35, Z:6.72 [[ 7.65139011e-01 -6.43829495e-01 -6.77323538e-03 8.44735214e+01] [-6.43804546e-01 -7.65168989e-01 5.66790733e-03 9.34641401e+00] [-8.83183557e-03 2.39027254e-05 -9.99960998e-01 6.72041122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.47, Y:9.34, Z:6.72 [[ 8.13018005e-01 -5.82193396e-01 -7.25076139e-03 8.44669758e+01] [-5.82170525e-01 -8.13050336e-01 5.16058110e-03 9.33873682e+00] [-8.89969022e-03 2.55342126e-05 -9.99960397e-01 6.72060982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.46, Y:9.33, Z:6.72 [[ 8.55831799e-01 -5.17199313e-01 -7.53674105e-03 8.44616767e+01] [-5.17179555e-01 -8.55864984e-01 4.52088896e-03 9.33111789e+00] [-8.78863342e-03 2.87278485e-05 -9.99961379e-01 6.71942868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.46, Y:9.32, Z:6.72 [[ 8.93700144e-01 -4.48585755e-01 -8.41855596e-03 8.44551864e+01] [-4.48566165e-01 -8.93739794e-01 4.19243510e-03 9.32271104e+00] [-9.40466514e-03 2.94995042e-05 -9.99955775e-01 6.71975230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.45, Y:9.31, Z:6.72 [[ 9.25773412e-01 -3.77952614e-01 -9.76786346e-03 8.44495661e+01] [-3.77932032e-01 -9.25824940e-01 3.94454394e-03 9.31490533e+00] [-1.05341823e-02 3.98345770e-05 -9.99944513e-01 6.72115383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.45, Y:9.31, Z:6.72 [[ 9.52278153e-01 -3.05037002e-01 -1.08971091e-02 8.44459360e+01] [-3.05017634e-01 -9.52340498e-01 3.43777818e-03 9.30540961e+00] [-1.14264079e-02 5.00893880e-05 -9.99934715e-01 6.72107466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.44, Y:9.30, Z:6.72 [[ 9.72692821e-01 -2.31752831e-01 -1.26214385e-02 8.44435681e+01] [-2.31734448e-01 -9.72774701e-01 2.92022548e-03 9.29560142e+00] [-1.29545866e-02 8.43397165e-05 -9.99916082e-01 6.72185043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.44, Y:9.29, Z:6.72 [[ 9.87549928e-01 -1.56743889e-01 -1.32850711e-02 8.44377248e+01] [-1.56731244e-01 -9.87639277e-01 1.99421595e-03 9.28747659e+00] [-1.34334392e-02 1.12797904e-04 -9.99909761e-01 6.72225278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.43, Y:9.28, Z:6.72 [[ 9.96399500e-01 -8.36936366e-02 -1.35429348e-02 8.44331008e+01] [-8.36883342e-02 -9.96491517e-01 9.58769094e-04 9.27959909e+00] [-1.35756625e-02 1.78068608e-04 -9.99907831e-01 6.72245600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.43, Y:9.27, Z:6.72 [[ 9.99881747e-01 -7.66287270e-03 -1.33331143e-02 8.44279651e+01] [-7.66492431e-03 -9.99970619e-01 -1.02778620e-04 9.27109863e+00] [-1.33319350e-02 2.04963778e-04 -9.99911105e-01 6.72256622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.42, Y:9.26, Z:6.72 [[ 9.97651281e-01 6.74296205e-02 -1.20485904e-02 8.44248142e+01] [ 6.74219820e-02 -9.97724008e-01 -1.03950488e-03 9.26120559e+00] [-1.20912613e-02 2.24723524e-04 -9.99926873e-01 6.72124906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.42, Y:9.25, Z:6.72 [[ 9.89481849e-01 1.44206656e-01 -1.14066412e-02 8.44212367e+01] [ 1.44194416e-01 -9.89547568e-01 -1.89265637e-03 9.25272956e+00] [-1.15603477e-02 2.27975163e-04 -9.99933151e-01 6.72070821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.42, Y:9.24, Z:6.72 [[ 9.75593279e-01 2.19349457e-01 -1.01769618e-02 8.44205745e+01] [ 2.19335088e-01 -9.75646332e-01 -2.52089315e-03 9.23727503e+00] [-1.04820720e-02 2.27201590e-04 -9.99945036e-01 6.71849677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.42, Y:9.22, Z:6.72 [[ 9.55694844e-01 2.94212577e-01 -9.29107284e-03 8.44208691e+01] [ 2.94196420e-01 -9.55739981e-01 -3.09122244e-03 9.22317379e+00] [-9.78932630e-03 2.20864982e-04 -9.99952059e-01 6.71802805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.42, Y:9.21, Z:6.72 [[ 9.29990412e-01 3.67497879e-01 -7.94622973e-03 8.44205958e+01] [ 3.67482613e-01 -9.30024338e-01 -3.35565009e-03 9.20937285e+00] [-8.62338133e-03 2.00621139e-04 -9.99962798e-01 6.71884394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.42, Y:9.20, Z:6.72 [[ 8.98511028e-01 4.38885848e-01 -7.55937215e-03 8.44217112e+01] [ 4.38868427e-01 -8.98542805e-01 -3.91561663e-03 9.19870584e+00] [-8.51092818e-03 2.00654966e-04 -9.99963761e-01 6.71924739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.42, Y:9.19, Z:6.72 [[ 8.61373987e-01 5.07918518e-01 -7.32347696e-03 8.44218545e+01] [ 5.07898144e-01 -8.61405095e-01 -4.55381745e-03 9.18893631e+00] [-8.62144858e-03 2.02959535e-04 -9.99962814e-01 6.71983730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.42, Y:9.18, Z:6.72 [[ 8.19290079e-01 5.73338690e-01 -6.82008409e-03 8.44217881e+01] [ 5.73316736e-01 -8.19318440e-01 -5.02139406e-03 9.18056975e+00] [-8.46678014e-03 2.03909981e-04 -9.99964135e-01 6.71960646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.42, Y:9.17, Z:6.72 [[ 7.72180898e-01 6.35365521e-01 -6.87861338e-03 8.44214697e+01] [ 6.35337711e-01 -7.72211503e-01 -5.94877134e-03 9.17324315e+00] [-9.09138857e-03 2.23285116e-04 -9.99958648e-01 6.71900735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.43, Y:9.16, Z:6.72 [[ 7.20249478e-01 6.93686847e-01 -6.26485825e-03 8.44287712e+01] [ 6.93657907e-01 -7.20276690e-01 -6.34021620e-03 9.15964590e+00] [-8.91055595e-03 2.20868952e-04 -9.99960276e-01 6.71824028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.44, Y:9.15, Z:6.72 [[ 6.64469505e-01 7.47295053e-01 -5.51180734e-03 8.44360905e+01] [ 7.47266554e-01 -6.64492329e-01 -6.53012234e-03 9.14824410e+00] [-8.54248182e-03 2.20277888e-04 -9.99963488e-01 6.71806574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.44, Y:9.14, Z:6.72 [[ 6.04099823e-01 7.96893551e-01 -4.90637859e-03 8.44424578e+01] [ 7.96864273e-01 -6.04119707e-01 -6.83451002e-03 9.13780523e+00] [-8.41041696e-03 2.19008487e-04 -9.99964608e-01 6.71841256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.45, Y:9.13, Z:6.72 [[ 5.40389858e-01 8.41403711e-01 -4.31248220e-03 8.44501441e+01] [ 8.41373566e-01 -5.40407019e-01 -7.12573956e-03 9.12803310e+00] [-8.32611936e-03 2.22268859e-04 -9.99965313e-01 6.71921830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.46, Y:9.12, Z:6.72 [[ 4.73100536e-01 8.81000046e-01 -3.84719249e-03 8.44572959e+01] [ 8.80966845e-01 -4.73116122e-01 -7.65202629e-03 9.11941409e+00] [-8.56160431e-03 2.30928712e-04 -9.99963322e-01 6.71921674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.46, Y:9.11, Z:6.72 [[ 4.03231788e-01 9.15092788e-01 -3.05188418e-03 8.44639564e+01] [ 9.15062256e-01 -4.03243276e-01 -7.47855422e-03 9.11181472e+00] [-8.07422280e-03 2.22926770e-04 -9.99967378e-01 6.71859123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.47, Y:9.10, Z:6.72 [[ 3.30442807e-01 9.43822934e-01 -2.41283810e-03 8.44716970e+01] [ 9.43792702e-01 -3.30451542e-01 -7.55736913e-03 9.10387799e+00] [-7.93014437e-03 2.20059277e-04 -9.99968532e-01 6.71875970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.48, Y:9.10, Z:6.72 [[ 2.55368197e-01 9.66842425e-01 -1.67590410e-03 8.44783885e+01] [ 9.66816096e-01 -2.55373616e-01 -7.13809487e-03 9.09680396e+00] [-7.32939465e-03 2.02551359e-04 -9.99973119e-01 6.71893745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.49, Y:9.09, Z:6.72 [[ 1.78239421e-01 9.83986599e-01 -1.03999597e-03 8.44922650e+01] [ 9.83963256e-01 -1.78242359e-01 -6.78036585e-03 9.08962020e+00] [-6.85716047e-03 1.85210658e-04 -9.99976472e-01 6.71747620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.50, Y:9.08, Z:6.72 [[ 9.91295140e-02 9.95074459e-01 -4.02090251e-04 8.45018589e+01] [ 9.95059619e-01 -9.91302323e-02 -5.43614385e-03 9.08375251e+00] [-5.44922720e-03 1.38778527e-04 -9.99985143e-01 6.71643649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.52, Y:9.08, Z:6.72 [[ 1.96352268e-02 9.99807210e-01 2.40298652e-05 8.45174950e+01] [ 9.99793373e-01 -1.96348286e-02 -5.26157624e-03 9.07916620e+00] [-5.26009004e-03 1.27337143e-04 -9.99986158e-01 6.71544235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.53, Y:9.07, Z:6.72 [[-6.10243106e-02 9.98136191e-01 4.20701232e-04 8.45301334e+01] [ 9.98123392e-01 6.10256592e-02 -5.05606250e-03 9.07485995e+00] [-5.07231254e-03 1.11369012e-04 -9.99987130e-01 6.71606484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.55, Y:9.07, Z:6.72 [[-1.40992695e-01 9.90010219e-01 9.08614591e-04 8.45455415e+01] [ 9.89994503e-01 1.40995577e-01 -5.57956724e-03 9.07340692e+00] [-5.65193922e-03 1.12845230e-04 -9.99984021e-01 6.71665008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.56, Y:9.07, Z:6.72 [[-2.18863005e-01 9.75754549e-01 1.43014627e-03 8.45574022e+01] [ 9.75737031e-01 2.18867647e-01 -5.84795561e-03 9.07211663e+00] [-6.01918204e-03 1.15545533e-04 -9.99981878e-01 6.71709962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.57, Y:9.07, Z:6.72 [[-2.95114234e-01 9.55460156e-01 1.86551898e-03 8.45703399e+01] [ 9.55443384e-01 2.95120109e-01 -5.66232724e-03 9.07250627e+00] [-5.96068023e-03 1.11364407e-04 -9.99982229e-01 6.71818331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.58, Y:9.07, Z:6.72 [[-3.69052889e-01 9.29405541e-01 2.30334811e-03 8.45822778e+01] [ 9.29389281e-01 3.69060060e-01 -5.49878449e-03 9.07257667e+00] [-5.96067457e-03 1.11364742e-04 -9.99982229e-01 6.71818326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.60, Y:9.08, Z:6.72 [[-4.40734446e-01 8.97633915e-01 2.55023625e-03 8.45968484e+01] [ 8.97620231e-01 4.40741812e-01 -4.95745484e-03 9.07606094e+00] [-5.57397534e-03 1.04222538e-04 -9.99984460e-01 6.71812459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.61, Y:9.08, Z:6.72 [[-5.09795402e-01 8.60290892e-01 2.86862923e-03 8.46097430e+01] [ 8.60278374e-01 5.09803463e-01 -4.64208385e-03 9.07931372e+00] [-5.45597958e-03 1.01306684e-04 -9.99985111e-01 6.71780192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.62, Y:9.08, Z:6.72 [[-5.75017651e-01 8.18136760e-01 2.63486435e-03 8.46210646e+01] [ 8.18128848e-01 5.75023682e-01 -3.59916978e-03 9.08187670e+00] [-4.45972250e-03 8.60723843e-05 -9.99990052e-01 6.71731670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.63, Y:9.09, Z:6.72 [[-6.37052104e-01 7.70817426e-01 2.26123619e-03 8.46328492e+01] [ 7.70812946e-01 6.37056113e-01 -2.62897654e-03 9.08736720e+00] [-3.46699527e-03 6.81950958e-05 -9.99993988e-01 6.71691426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.64, Y:9.09, Z:6.72 [[-6.94569677e-01 7.19420501e-01 2.66579682e-03 8.46420138e+01] [ 7.19415632e-01 6.94574788e-01 -2.64790607e-03 9.09050452e+00] [-3.75655317e-03 7.86606451e-05 -9.99992941e-01 6.71772129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.67, Y:9.11, Z:6.72 [[-7.43036164e-01 6.69244390e-01 3.03412442e-03 8.46692966e+01] [ 6.69239290e-01 7.43042353e-01 -2.61428593e-03 9.10598863e+00] [-4.00407914e-03 8.80462832e-05 -9.99991980e-01 6.71845395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.70, Y:9.12, Z:6.72 [[-7.88313611e-01 6.15263272e-01 3.57161766e-03 8.46956428e+01] [ 6.15257524e-01 7.88321696e-01 -2.66134790e-03 9.12270859e+00] [-4.45301331e-03 9.94878692e-05 -9.99990080e-01 6.71847298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.71, Y:9.15, Z:6.72 [[-8.29660525e-01 5.58253248e-01 4.08958753e-03 8.47095785e+01] [ 5.58247117e-01 8.29670597e-01 -2.61877574e-03 9.14854378e+00] [-4.85495059e-03 1.10305590e-04 -9.99988209e-01 6.71871842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.73, Y:9.17, Z:6.72 [[-8.66474743e-01 4.99193871e-01 5.19605094e-03 8.47300769e+01] [ 4.99185866e-01 8.66490311e-01 -2.83045698e-03 9.16962666e+00] [-5.91527458e-03 1.41275704e-04 -9.99982495e-01 6.71911652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.800385723 meters Centerline goodness [0,1] 0.999934220624027 Centerline is valid? [True, True] Translation: X:84.75, Y:9.20, Z:6.72 [[-8.98971065e-01 4.37977822e-01 5.14319599e-03 8.47451146e+01] [ 4.37971563e-01 8.98985766e-01 -2.34585764e-03 9.19596216e+00] [-5.65109360e-03 1.43715442e-04 -9.99984022e-01 6.71929265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.75, Y:9.22, Z:6.72 [[-9.27372311e-01 3.74110607e-01 4.67446240e-03 8.47538263e+01] [ 3.74106567e-01 9.27384083e-01 -1.74367714e-03 9.22162352e+00] [-4.98735014e-03 1.31709181e-04 -9.99987554e-01 6.71952746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.76, Y:9.25, Z:6.72 [[-9.51283244e-01 3.08284454e-01 4.57006632e-03 8.47603680e+01] [ 3.08281550e-01 9.51294213e-01 -1.34424671e-03 9.25107450e+00] [-4.76188800e-03 1.30107765e-04 -9.99988654e-01 6.71918945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.77, Y:9.28, Z:6.72 [[-9.70739763e-01 2.40092629e-01 4.45441752e-03 8.47665370e+01] [ 2.40090688e-01 9.70749975e-01 -9.73230656e-04 9.28146599e+00] [-4.55779121e-03 1.24710473e-04 -9.99989606e-01 6.71900509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.93, Y:10.00, Z:5.76 [[-9.67591284e-01 -2.52480357e-01 4.55805957e-03 8.49329081e+01] [ 2.52476979e-01 -9.67602013e-01 -1.31127718e-03 9.99913185e+00] [ 4.74145934e-03 -1.17975264e-04 9.99988752e-01 5.75857831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.72, Y:9.29, Z:6.72 [[-9.71745817e-01 2.35985409e-01 4.57764177e-03 8.47212717e+01] [ 2.35983406e-01 9.71756590e-01 -9.80753379e-04 9.29090725e+00] [-4.67979704e-03 1.27204501e-04 -9.99989042e-01 6.71905744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.73, Y:9.32, Z:6.72 [[-9.85964907e-01 1.66895040e-01 4.38731769e-03 8.47300658e+01] [ 1.66893930e-01 9.85974661e-01 -6.20446467e-04 9.31996272e+00] [-4.42933351e-03 1.20478248e-04 -9.99990183e-01 6.71866482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.72, Y:9.35, Z:6.72 [[-9.95387389e-01 9.58813455e-02 3.27325408e-03 8.47225391e+01] [ 9.58811149e-02 9.95392767e-01 -2.27649932e-04 9.35145520e+00] [-3.28000082e-03 8.72433793e-05 -9.99994617e-01 6.71806149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.040385723 meters Centerline goodness [0,1] 0.9999564203691195 Centerline is valid? [True, True] Translation: X:84.72, Y:9.39, Z:6.72 [[-9.99725996e-01 2.32725946e-02 2.51401340e-03 8.47240990e+01] [ 2.32726788e-02 9.99729155e-01 4.24926376e-06 9.38591413e+00] [-2.51323360e-03 6.27559259e-05 -9.99996840e-01 6.71815730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.73, Y:10.11, Z:5.76 [[-9.99127444e-01 -4.17037427e-02 2.26921990e-03 8.47293328e+01] [ 4.17034694e-02 -9.99130018e-01 -1.67634153e-04 1.01064572e+01] [ 2.27423670e-03 -7.28535394e-05 9.99997411e-01 5.75903057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1003857229999 meters Centerline goodness [0,1] 0.9999350255566144 Centerline is valid? [True, True] Translation: X:84.64, Y:9.39, Z:6.72 [[-9.99892906e-01 1.42949654e-02 3.13547994e-03 8.46390559e+01] [ 1.42951058e-02 9.99897820e-01 2.23643096e-05 9.38559536e+00] [-3.13483986e-03 6.71839319e-05 -9.99995084e-01 6.71915811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.130385723 meters Centerline goodness [0,1] 0.9999781840394433 Centerline is valid? [True, True] Translation: X:84.63, Y:10.11, Z:5.76 [[-9.99203785e-01 -3.97689395e-02 3.19793151e-03 8.46341563e+01] [ 3.97685305e-02 -9.99208901e-01 -1.91407794e-04 1.01056441e+01] [ 3.20301371e-03 -6.40783560e-05 9.99994868e-01 5.75813378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.55, Y:9.39, Z:6.72 [[-9.99973038e-01 6.05232138e-03 4.15854314e-03 8.45487833e+01] [ 6.05259300e-03 9.99981682e-01 5.27354757e-05 9.39034259e+00] [-4.15814779e-03 7.79040229e-05 -9.99991352e-01 6.71973368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.54, Y:9.42, Z:6.72 [[-9.97828557e-01 -6.57018308e-02 4.63036598e-03 8.45411827e+01] [-6.57007296e-02 9.97839297e-01 3.89704329e-04 9.41814400e+00] [-4.64596542e-03 8.46396856e-05 -9.99989204e-01 6.72007046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.48, Y:10.13, Z:5.76 [[-9.99372562e-01 3.51553418e-02 4.31089249e-03 8.44835277e+01] [-3.51554496e-02 -9.99381855e-01 5.07925415e-05 1.01309221e+01] [ 4.31001336e-03 -1.00790691e-04 9.99990707e-01 5.75816277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.250385723 meters Centerline goodness [0,1] 0.9998907199370547 Centerline is valid? [True, True] Translation: X:84.43, Y:9.41, Z:6.72 [[-9.97454666e-01 -7.12081963e-02 3.68544871e-03 8.44323987e+01] [-7.12074497e-02 9.97461472e-01 3.33578887e-04 9.40916931e+00] [-3.69984665e-03 7.02984134e-05 -9.99993153e-01 6.71909126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.42, Y:9.43, Z:6.72 [[-9.90161749e-01 -1.39896929e-01 2.92589844e-03 8.44226641e+01] [-1.39896128e-01 9.90166070e-01 4.77769110e-04 9.43461297e+00] [-2.96396379e-03 6.37468350e-05 -9.99995605e-01 6.71843697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.40, Y:9.46, Z:6.72 [[-9.77773873e-01 -2.09638535e-01 3.15231960e-03 8.43969480e+01] [-2.09637203e-01 9.77778952e-01 7.50987996e-04 9.45853689e+00] [-3.23970778e-03 7.34529766e-05 -9.99994750e-01 6.71844632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.35, Y:9.47, Z:6.72 [[-9.60561838e-01 -2.78042385e-01 3.65888679e-03 8.43487819e+01] [-2.78039985e-01 9.60568802e-01 1.15901679e-03 9.47399930e+00] [-3.83686829e-03 9.59904666e-05 -9.99992635e-01 6.71979416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.28, Y:9.48, Z:6.72 [[-9.38021866e-01 -3.46557561e-01 3.58275970e-03 8.42830392e+01] [-3.46554614e-01 9.38028703e-01 1.43268286e-03 9.48097254e+00] [-3.85723851e-03 1.02265942e-04 -9.99992556e-01 6.72055928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.21, Y:9.48, Z:6.72 [[-9.10943841e-01 -4.12514790e-01 3.58691961e-03 8.42103329e+01] [-4.12511080e-01 9.10950896e-01 1.75340735e-03 9.47978744e+00] [-3.99081409e-03 1.17611550e-04 -9.99992030e-01 6.72115924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.13, Y:9.47, Z:6.72 [[-8.78239683e-01 -4.78208615e-01 3.40293715e-03 8.41293967e+01] [-4.78204486e-01 8.78246267e-01 1.99077363e-03 9.46891791e+00] [-3.94062195e-03 1.21076590e-04 -9.99992228e-01 6.72121111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.04, Y:9.44, Z:6.72 [[-8.40487368e-01 -5.41819648e-01 3.52885046e-03 8.40397323e+01] [-5.41814185e-01 8.40494765e-01 2.43693058e-03 9.44426063e+00] [-4.28635721e-03 1.36228135e-04 -9.99990804e-01 6.72230213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.490385723 meters Centerline goodness [0,1] 0.999912282625381 Centerline is valid? [True, True] Translation: X:83.95, Y:9.41, Z:6.72 [[-7.97372231e-01 -6.03474654e-01 3.98339921e-03 8.39494826e+01] [-6.03466085e-01 7.97382164e-01 3.22021332e-03 9.41307841e+00] [-5.11960860e-03 1.63862348e-04 -9.99986881e-01 6.72497542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.85, Y:9.37, Z:6.72 [[-7.48057173e-01 -6.63624236e-01 3.65229306e-03 8.38531069e+01] [-6.63615336e-01 7.48066074e-01 3.44015742e-03 9.37134447e+00] [-5.01512837e-03 1.49716744e-04 -9.99987413e-01 6.72292854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.75, Y:9.31, Z:6.72 [[-6.94801245e-01 -7.19192008e-01 3.75315177e-03 8.37546058e+01] [-7.19180255e-01 6.94811363e-01 4.11475655e-03 9.31241965e+00] [-5.56703252e-03 1.59745330e-04 -9.99984491e-01 6.72344854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.66, Y:9.25, Z:6.72 [[-6.35860391e-01 -7.71796274e-01 3.47481401e-03 8.36598722e+01] [-7.71783478e-01 6.35869869e-01 4.44674268e-03 9.25462625e+00] [-5.64150896e-03 1.45703496e-04 -9.99984076e-01 6.72419151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.58, Y:9.19, Z:6.73 [[-5.73196749e-01 -8.19411898e-01 3.10301129e-03 8.35753032e+01] [-8.19398629e-01 5.73205133e-01 4.66502223e-03 9.18538192e+00] [-5.60123672e-03 1.31372374e-04 -9.99984304e-01 6.72564656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.49, Y:9.10, Z:6.73 [[-5.08233595e-01 -8.61214592e-01 2.83529180e-03 8.34866383e+01] [-8.61199726e-01 5.08241487e-01 5.06189999e-03 9.10289588e+00] [-5.80039505e-03 1.30875111e-04 -9.99983169e-01 6.72522528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.41, Y:9.01, Z:6.72 [[-4.39727509e-01 -8.98128250e-01 2.31610499e-03 8.34059114e+01] [-8.98114357e-01 4.39733593e-01 4.99686649e-03 9.01252785e+00] [-5.50629612e-03 1.17132509e-04 -9.99984833e-01 6.72417438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.34, Y:8.92, Z:6.72 [[-3.69250095e-01 -9.29328334e-01 1.79331175e-03 8.33354316e+01] [-9.29315926e-01 3.69254434e-01 4.80330797e-03 8.91841708e+00] [-5.12603851e-03 1.07068748e-04 -9.99986856e-01 6.72382732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.27, Y:8.82, Z:6.72 [[-2.96246562e-01 -9.55110913e-01 1.05768970e-03 8.32700523e+01] [-9.55103859e-01 2.96248440e-01 3.67163704e-03 8.81500490e+00] [-3.82015953e-03 7.75063342e-05 -9.99992700e-01 6.72252491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.760385723 meters Centerline goodness [0,1] 0.999978107143639 Centerline is valid? [True, True] Translation: X:83.21, Y:8.70, Z:6.72 [[-2.22019564e-01 -9.75042046e-01 5.68320828e-04 8.32118963e+01] [-9.75038161e-01 2.22020284e-01 2.75302213e-03 8.70434538e+00] [-2.81049108e-03 5.70902781e-05 -9.99996049e-01 6.72251448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.790385723 meters Centerline goodness [0,1] 0.9999562171628722 Centerline is valid? [True, True] Translation: X:83.16, Y:8.59, Z:6.72 [[-1.46149450e-01 -9.89262483e-01 2.78122687e-04 8.31634579e+01] [-9.89260077e-01 1.46149708e-01 2.18265637e-03 8.58932222e+00] [-2.19986761e-03 4.38583577e-05 -9.99997579e-01 6.72190121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:8.47, Z:6.72 [[-6.85941563e-02 -9.97644636e-01 1.45488943e-04 8.31208727e+01] [-9.97640372e-01 6.85942886e-02 2.91758662e-03 8.46653181e+00] [-2.92069435e-03 5.49837497e-05 -9.99995733e-01 6.72243723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.09, Y:8.35, Z:6.72 [[ 9.15917698e-03 -9.99958048e-01 -1.11339757e-04 8.30918614e+01] [-9.99949447e-01 -9.15956006e-03 4.14801356e-03 8.35352826e+00] [-4.14885937e-03 7.33417381e-05 -9.99991391e-01 6.72366997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.880385723 meters Centerline goodness [0,1] 0.9999563108916947 Centerline is valid? [True, True] Translation: X:83.07, Y:8.23, Z:6.72 [[ 8.63845685e-02 -9.96261749e-01 -4.83266285e-04 8.30700767e+01] [-9.96250953e-01 -8.63858826e-02 4.63885365e-03 8.22525580e+00] [-4.66325984e-03 8.07291257e-05 -9.99989124e-01 6.72408418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.910385723 meters Centerline goodness [0,1] 0.9999780913153974 Centerline is valid? [True, True] Translation: X:83.06, Y:8.10, Z:6.72 [[ 1.61595639e-01 -9.86856687e-01 -8.53433529e-04 8.30585098e+01] [-9.86845649e-01 -1.61597868e-01 4.66850670e-03 8.10295468e+00] [-4.74506010e-03 8.77968423e-05 -9.99988738e-01 6.72496450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.06, Y:7.97, Z:6.73 [[ 2.36212778e-01 -9.71700643e-01 -1.17678565e-03 8.30584398e+01] [-9.71690391e-01 -2.36215693e-01 4.46431601e-03 7.97115656e+00] [-4.61595397e-03 8.89428157e-05 -9.99989343e-01 6.72510414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9703857229999 meters Centerline goodness [0,1] 0.9998461064943059 Centerline is valid? [True, True] Translation: X:83.07, Y:7.85, Z:6.73 [[ 3.07513350e-01 -9.51541844e-01 -1.91287896e-03 8.30665356e+01] [-9.51525957e-01 -3.07519272e-01 5.50009029e-03 7.85419772e+00] [-5.82181320e-03 1.28802792e-04 -9.99983045e-01 6.72787870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:7.73, Z:6.72 [[ 3.79081604e-01 -9.25360934e-01 -2.06879927e-03 8.30835607e+01] [-9.25348807e-01 -3.79087231e-01 4.73889094e-03 7.73388255e+00] [-5.16943993e-03 1.17934559e-04 -9.99986631e-01 6.72471198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.11, Y:7.61, Z:6.72 [[ 4.46878435e-01 -8.94589876e-01 -2.93564366e-03 8.31137715e+01] [-8.94572834e-01 -4.46888049e-01 5.52416246e-03 7.61145422e+00] [-6.25376388e-03 1.57517990e-04 -9.99980433e-01 6.72490465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.15, Y:7.50, Z:6.73 [[ 5.13687143e-01 -8.57969679e-01 -3.68097548e-03 8.31454400e+01] [-8.57950066e-01 -5.13700301e-01 5.80384310e-03 7.49888461e+00] [-6.87043961e-03 1.76733569e-04 -9.99976383e-01 6.72513039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.19, Y:7.39, Z:6.73 [[ 5.77223538e-01 -8.16571362e-01 -4.91917794e-03 8.31880740e+01] [-8.16544852e-01 -5.77244458e-01 6.58326984e-03 7.38951991e+00] [-8.21527782e-03 2.16711116e-04 -9.99966231e-01 6.72693975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.24, Y:7.28, Z:6.73 [[ 6.37966475e-01 -7.70044715e-01 -5.46927581e-03 8.32382349e+01] [-7.70019313e-01 -6.37989881e-01 6.25849238e-03 7.28041492e+00] [-8.30866161e-03 2.18739678e-04 -9.99965459e-01 6.72720008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.29, Y:7.19, Z:6.73 [[ 6.95166943e-01 -7.18823351e-01 -5.99268042e-03 8.32894284e+01] [-7.18799295e-01 -6.95192738e-01 5.88470351e-03 7.18500085e+00] [-8.39613020e-03 2.16683114e-04 -9.99964728e-01 6.72680626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.28, Y:7.18, Z:6.73 [[ 7.50439042e-01 -6.60910319e-01 -6.22851823e-03 8.32845067e+01] [-6.60889691e-01 -7.50464864e-01 5.22533532e-03 7.17803373e+00] [-8.12776212e-03 1.95067859e-04 -9.99966950e-01 6.72653101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.28, Y:7.17, Z:6.73 [[ 8.00578722e-01 -5.99190966e-01 -6.62546126e-03 8.32778413e+01] [-5.99172341e-01 -8.00606116e-01 4.72799507e-03 7.16595193e+00] [-8.13735674e-03 1.84660880e-04 -9.99966874e-01 6.72596052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.240385723 meters Centerline goodness [0,1] 0.9999559713813979 Centerline is valid? [True, True] Translation: X:83.27, Y:7.15, Z:6.73 [[ 8.46475170e-01 -5.32374825e-01 -7.53868218e-03 8.32703034e+01] [-5.32355537e-01 -8.46508721e-01 4.53513850e-03 7.15146858e+00] [-8.79595378e-03 1.74377062e-04 -9.99961300e-01 6.72563203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.27, Y:7.14, Z:6.73 [[ 8.86034202e-01 -4.63553147e-01 -7.86594958e-03 8.32650563e+01] [-4.63536518e-01 -8.86069102e-01 3.92980733e-03 7.13853149e+00] [-8.79144944e-03 1.64211179e-04 -9.99961341e-01 6.72564144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.26, Y:7.13, Z:6.72 [[ 9.20273710e-01 -3.91206009e-01 -7.35922598e-03 8.32616491e+01] [-3.91194660e-01 -9.20303125e-01 2.98282576e-03 7.12655139e+00] [-7.93961802e-03 1.33873780e-04 -9.99968472e-01 6.72465011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.26, Y:7.11, Z:6.72 [[ 9.48200909e-01 -3.17585212e-01 -7.39386797e-03 8.32587865e+01] [-3.17576598e-01 -9.48229728e-01 2.34254297e-03 7.11334406e+00] [-7.75504242e-03 1.26918058e-04 -9.99969921e-01 6.72373772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.360385723 meters Centerline goodness [0,1] 0.9999779735682819 Centerline is valid? [True, True] Translation: X:83.26, Y:7.10, Z:6.72 [[ 9.70253237e-01 -2.41959143e-01 -8.02678627e-03 8.32566292e+01] [-2.41951973e-01 -9.70286430e-01 1.86723648e-03 7.10299299e+00] [-8.24007673e-03 1.30404532e-04 -9.99966042e-01 6.72322492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.25, Y:7.09, Z:6.72 [[ 9.86323598e-01 -1.64622964e-01 -8.06474285e-03 8.32527646e+01] [-1.64618484e-01 -9.86356561e-01 1.22071570e-03 7.09138868e+00] [-8.15566986e-03 1.23585039e-04 -9.99966734e-01 6.72345003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.25, Y:7.08, Z:6.72 [[ 9.96182288e-01 -8.69175601e-02 -8.13554631e-03 8.32489334e+01] [-8.69156741e-02 -9.96215500e-01 5.85757714e-04 7.07964803e+00] [-8.15566997e-03 1.23585032e-04 -9.99966734e-01 6.72345003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.25, Y:7.07, Z:6.73 [[ 9.99925634e-01 -7.25624652e-03 -9.80174092e-03 8.32450487e+01] [-7.25721999e-03 -9.99973664e-01 -6.37520801e-05 7.06885062e+00] [-9.80102018e-03 1.34880729e-04 -9.99951960e-01 6.72530759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.24, Y:7.06, Z:6.73 [[ 9.97351157e-01 7.18243180e-02 -1.14864162e-02 8.32435536e+01] [ 7.18178251e-02 -9.97417287e-01 -9.77284230e-04 7.06056733e+00] [-1.15269428e-02 1.49766130e-04 -9.99933551e-01 6.72675419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.24, Y:7.05, Z:6.73 [[ 9.88639181e-01 1.49844214e-01 -1.18017804e-02 8.32411049e+01] [ 1.49831685e-01 -9.88709608e-01 -1.94370600e-03 7.05273228e+00] [-1.19597867e-02 1.53343270e-04 -9.99928468e-01 6.72707285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.540385723 meters Centerline goodness [0,1] 0.9999558030584283 Centerline is valid? [True, True] Translation: X:83.24, Y:7.05, Z:6.73 [[ 9.73967979e-01 2.26327982e-01 -1.27287098e-02 8.32399943e+01] [ 2.26306312e-01 -9.74051135e-01 -3.13673536e-03 7.04560148e+00] [-1.31083452e-02 1.74492443e-04 -9.99914067e-01 6.72590588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.24, Y:7.04, Z:6.73 [[ 9.53630585e-01 3.00736741e-01 -1.20880220e-02 8.32388827e+01] [ 3.00710120e-01 -9.53707176e-01 -4.00565399e-03 7.03752430e+00] [-1.27330806e-02 1.84923617e-04 -9.99918914e-01 6.72553842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.24, Y:7.03, Z:6.73 [[ 9.28163090e-01 3.72008210e-01 -1.10982305e-02 8.32358845e+01] [ 3.71978945e-01 -9.28229416e-01 -4.67074915e-03 7.03250064e+00] [-1.20392611e-02 2.06908896e-04 -9.99927504e-01 6.72506315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.24, Y:7.02, Z:6.72 [[ 8.96741452e-01 4.42420825e-01 -1.08895846e-02 8.32352529e+01] [ 4.42385134e-01 -8.96807540e-01 -5.62409765e-03 7.02442153e+00] [-1.22540795e-02 2.25971169e-04 -9.99924890e-01 6.72479263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.24, Y:7.02, Z:6.72 [[ 8.59907621e-01 5.10333169e-01 -1.09060076e-02 8.32357636e+01] [ 5.10288412e-01 -8.59976741e-01 -6.76333354e-03 7.01621749e+00] [-1.28304663e-02 2.50632769e-04 -9.99917655e-01 6.72444378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.690385723 meters Centerline goodness [0,1] 0.9998435719233949 Centerline is valid? [True, True] Translation: X:83.24, Y:7.00, Z:6.72 [[ 8.17304895e-01 5.76111824e-01 -1.03862995e-02 8.32398926e+01] [ 5.76061377e-01 -8.17370848e-01 -7.62802189e-03 7.00340011e+00] [-1.28840521e-02 2.51273614e-04 -9.99916966e-01 6.72391628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7203857229999 meters Centerline goodness [0,1] 0.9999551880979588 Centerline is valid? [True, True] Translation: X:83.24, Y:6.99, Z:6.73 [[ 7.69074756e-01 6.39079729e-01 -1.00558519e-02 8.32402621e+01] [ 6.39020900e-01 -7.69140455e-01 -8.67463101e-03 6.99359972e+00] [-1.32781433e-02 2.45540195e-04 -9.99911811e-01 6.72543344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.750385723 meters Centerline goodness [0,1] 0.999977611104892 Centerline is valid? [True, True] Translation: X:83.24, Y:6.98, Z:6.72 [[ 7.15628510e-01 6.98426281e-01 -8.75023535e-03 8.32445927e+01] [ 6.98370440e-01 -7.15681973e-01 -8.83420241e-03 6.98136161e+00] [-1.24324248e-02 2.11101399e-04 -9.99922692e-01 6.72360432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.25, Y:6.97, Z:6.72 [[ 6.57843748e-01 7.53115563e-01 -7.65194925e-03 8.32502607e+01] [ 7.53061287e-01 -6.57888223e-01 -9.04346219e-03 6.96951980e+00] [-1.18448994e-02 1.86798319e-04 -9.99929829e-01 6.72351668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.810385723 meters Centerline goodness [0,1] 0.9999551981362425 Centerline is valid? [True, True] Translation: X:83.26, Y:6.96, Z:6.72 [[ 5.96204676e-01 8.02800027e-01 -7.21813104e-03 8.32566054e+01] [ 8.02737417e-01 -5.96248340e-01 -1.00277772e-02 6.95777028e+00] [-1.23540984e-02 1.84343767e-04 -9.99923668e-01 6.72443497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8403857229999 meters Centerline goodness [0,1] 0.9998218262806237 Centerline is valid? [True, True] Translation: X:83.27, Y:6.95, Z:6.72 [[ 5.29575132e-01 8.48239047e-01 -6.37954524e-03 8.32663107e+01] [ 8.48173934e-01 -5.29613534e-01 -1.05111217e-02 6.94571978e+00] [-1.22946374e-02 1.55464710e-04 -9.99924406e-01 6.72449759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.870385723 meters Centerline goodness [0,1] 0.9997548855761303 Centerline is valid? [True, True] Translation: X:83.27, Y:6.94, Z:6.72 [[ 4.61099889e-01 8.87330602e-01 -5.59420032e-03 8.32749937e+01] [ 8.87261293e-01 -4.61133799e-01 -1.10913687e-02 6.93546204e+00] [-1.24213857e-02 1.50711472e-04 -9.99922840e-01 6.72484318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.900385723 meters Centerline goodness [0,1] 0.9998884227439079 Centerline is valid? [True, True] Translation: X:83.28, Y:6.92, Z:6.72 [[ 3.89933158e-01 9.20831591e-01 -4.61666033e-03 8.32831595e+01] [ 9.20762616e-01 -3.89960461e-01 -1.12714101e-02 6.92478052e+00] [-1.21793855e-02 1.44248291e-04 -9.99925818e-01 6.72481987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.29, Y:6.92, Z:6.73 [[ 3.17431203e-01 9.48274193e-01 -3.67236162e-03 8.32940788e+01] [ 9.48205080e-01 -3.17452409e-01 -1.14496170e-02 6.91563192e+00] [-1.20231764e-02 1.52313768e-04 -9.99927707e-01 6.72590713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.960385723 meters Centerline goodness [0,1] 0.9999555209607472 Centerline is valid? [True, True] Translation: X:83.30, Y:6.91, Z:6.73 [[ 2.43054541e-01 9.70008080e-01 -2.96896515e-03 8.33023389e+01] [ 9.69926646e-01 -2.43072610e-01 -1.25701085e-02 6.90688874e+00] [-1.29147809e-02 1.75543533e-04 -9.99916585e-01 6.72778090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.31, Y:6.90, Z:6.73 [[ 1.67644893e-01 9.85845484e-01 -1.96792034e-03 8.33111240e+01] [ 9.85763501e-01 -1.67656333e-01 -1.27150959e-02 6.89971424e+00] [-1.28650542e-02 1.91716847e-04 -9.99917223e-01 6.72745132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.020385723 meters Centerline goodness [0,1] 0.99988894811656 Centerline is valid? [True, True] Translation: X:83.32, Y:6.89, Z:6.73 [[ 9.08699670e-02 9.95862297e-01 -9.66370404e-04 8.33208992e+01] [ 9.95779533e-01 -9.08748752e-02 -1.28405429e-02 6.89380331e+00] [-1.28752314e-02 2.04527843e-04 -9.99917090e-01 6.72721291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.050385723 meters Centerline goodness [0,1] 0.9998893976596545 Centerline is valid? [True, True] Translation: X:83.33, Y:6.89, Z:6.73 [[ 1.56470158e-02 9.99877577e-01 4.04267690e-05 8.33296595e+01] [ 9.99803089e-01 -1.56453566e-02 -1.22067930e-02 6.88760024e+00] [-1.22046661e-02 2.31418692e-04 -9.99925494e-01 6.72819771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.080385723 meters Centerline goodness [0,1] 0.9999336253816541 Centerline is valid? [True, True] Translation: X:83.34, Y:6.88, Z:6.73 [[-6.13356773e-02 9.98116733e-01 9.60721275e-04 8.33418020e+01] [ 9.98047860e-01 6.13427333e-02 -1.17276484e-02 6.88332053e+00] [-1.17644954e-02 2.39522552e-04 -9.99930767e-01 6.72724370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.35, Y:6.88, Z:6.73 [[-1.37287761e-01 9.90529540e-01 1.81692512e-03 8.33514700e+01] [ 9.90465738e-01 1.37299545e-01 -1.12453068e-02 6.87797018e+00] [-1.13882716e-02 2.55759080e-04 -9.99935119e-01 6.72575315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.36, Y:6.87, Z:6.73 [[-2.13407965e-01 9.76959298e-01 2.75140160e-03 8.33598490e+01] [ 9.76893853e-01 2.13425525e-01 -1.13112677e-02 6.87292128e+00] [-1.16378675e-02 2.73912688e-04 -9.99932240e-01 6.72678791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.38, Y:6.87, Z:6.73 [[-2.88145112e-01 9.57580274e-01 3.52339984e-03 8.33754501e+01] [ 9.57520104e-01 2.88166517e-01 -1.07382027e-02 6.87214480e+00] [-1.12980169e-02 2.79565577e-04 -9.99936136e-01 6.72529079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.39, Y:6.87, Z:6.72 [[-3.61476214e-01 9.32374861e-01 3.47366892e-03 8.33875758e+01] [ 9.32337753e-01 3.61492830e-01 -8.32152816e-03 6.87150891e+00] [-9.01449007e-03 2.30598186e-04 -9.99959342e-01 6.72467881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.40, Y:6.87, Z:6.72 [[-4.33045695e-01 9.01364662e-01 3.62950179e-03 8.33992232e+01] [ 9.01336893e-01 4.33060855e-01 -7.07826261e-03 6.87183470e+00] [-7.95189093e-03 2.06192714e-04 -9.99968362e-01 6.72371376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.41, Y:6.87, Z:6.72 [[-5.02607094e-01 8.64508144e-01 3.43186639e-03 8.34129323e+01] [ 8.64490220e-01 5.02618782e-01 -5.56952732e-03 6.87366779e+00] [-6.53982224e-03 1.67530993e-04 -9.99978601e-01 6.72271584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.43, Y:6.88, Z:6.72 [[-5.69759421e-01 8.21803501e-01 3.63436878e-03 8.34275076e+01] [ 8.21788438e-01 5.69770992e-01 -4.97802368e-03 6.87819408e+00] [-6.16171519e-03 1.50406354e-04 -9.99981005e-01 6.72322315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.44, Y:6.88, Z:6.72 [[-6.32654802e-01 7.74425623e-01 3.58548431e-03 8.34406387e+01] [ 7.74414357e-01 6.32664948e-01 -4.17944021e-03 6.88326086e+00] [-5.50507583e-03 1.32507607e-04 -9.99984838e-01 6.72298430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3503857229999 meters Centerline goodness [0,1] 0.9999779793887078 Centerline is valid? [True, True] Translation: X:83.45, Y:6.89, Z:6.72 [[-6.92739567e-01 7.21181836e-01 2.94142551e-03 8.34525656e+01] [ 7.21175892e-01 6.92745806e-01 -2.92938604e-03 6.88760349e+00] [-4.15028019e-03 9.19835479e-05 -9.99991383e-01 6.72232131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.380385723 meters Centerline goodness [0,1] 0.9998895979156086 Centerline is valid? [True, True] Translation: X:83.48, Y:6.91, Z:6.72 [[-7.42716337e-01 6.69599830e-01 2.91722232e-03 8.34759003e+01] [ 6.69595092e-01 7.42722062e-01 -2.52026073e-03 6.90811196e+00] [-3.85425153e-03 8.15189261e-05 -9.99992569e-01 6.72295846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.410385723 meters Centerline goodness [0,1] 0.9999117990783004 Centerline is valid? [True, True] Translation: X:83.50, Y:6.93, Z:6.72 [[-7.90135216e-01 6.12922428e-01 3.52660965e-03 8.34970518e+01] [ 6.12916769e-01 7.90143082e-01 -2.63520489e-03 6.93437199e+00] [-4.40170240e-03 7.93500010e-05 -9.99990309e-01 6.72365226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.52, Y:6.96, Z:6.72 [[-8.32415465e-01 5.54140046e-01 3.64735513e-03 8.35164515e+01] [ 5.54135100e-01 8.32423453e-01 -2.34239276e-03 6.95825189e+00] [-4.33415758e-03 7.12835381e-05 -9.99990605e-01 6.72343043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.53, Y:6.99, Z:6.72 [[-8.70246319e-01 4.92607628e-01 3.01154179e-03 8.35311602e+01] [ 4.92604883e-01 8.70251528e-01 -1.64522442e-03 6.98715089e+00] [-3.43124894e-03 5.17497015e-05 -9.99994112e-01 6.72336181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.500385723 meters Centerline goodness [0,1] 0.9999121342588525 Centerline is valid? [True, True] Translation: X:83.55, Y:7.01, Z:6.72 [[-9.02435706e-01 4.30817371e-01 2.48796416e-03 8.35501788e+01] [ 4.30815869e-01 9.02439134e-01 -1.13844832e-03 7.01101444e+00] [-2.73569954e-03 4.44780345e-05 -9.99996257e-01 6.72403159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.56, Y:7.04, Z:6.72 [[-9.30642769e-01 3.65923199e-01 2.06107192e-03 8.35628973e+01] [ 3.65922387e-01 9.30645051e-01 -7.71688950e-04 7.03719009e+00] [-2.20050528e-03 3.60256170e-05 -9.99997578e-01 6.72178077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.57, Y:7.06, Z:6.72 [[-9.53448614e-01 3.01553595e-01 1.08202607e-03 8.35707781e+01] [ 3.01553426e-01 9.53449227e-01 -3.19728609e-04 7.06333284e+00] [-1.12807224e-03 2.14438709e-05 -9.99999364e-01 6.72066190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.58, Y:7.09, Z:6.72 [[-9.72123688e-01 2.34468568e-01 1.62238283e-04 8.35813094e+01] [ 2.34468565e-01 9.72123701e-01 -3.56537667e-05 7.09000563e+00] [-1.66075367e-04 3.37990612e-06 -9.99999986e-01 6.72019830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.59, Y:7.12, Z:6.72 [[-9.85782385e-01 1.68025327e-01 -7.61142128e-04 8.35888357e+01] [ 1.68025291e-01 9.85782679e-01 1.11486141e-04 7.11994775e+00] [ 7.69053220e-04 -1.79900533e-05 -9.99999704e-01 6.71966012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.59, Y:7.15, Z:6.72 [[-9.95080290e-01 9.90685295e-02 -8.01682272e-04 8.35932074e+01] [ 9.90685136e-02 9.95080613e-01 5.97131584e-05 7.15049947e+00] [ 8.03654181e-04 -2.00020841e-05 -9.99999677e-01 6.71978537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.680385723 meters Centerline goodness [0,1] 0.9999562583382543 Centerline is valid? [True, True] Translation: X:83.59, Y:7.18, Z:6.72 [[-9.99562297e-01 2.95750401e-02 7.28995953e-04 8.35907558e+01] [ 2.95750461e-02 9.99562563e-01 -2.49358181e-06 7.18097004e+00] [-7.28750811e-04 1.90675986e-05 -9.99999734e-01 6.72102647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.710385723 meters Centerline goodness [0,1] 0.9999564336593548 Centerline is valid? [True, True] Translation: X:83.59, Y:7.21, Z:6.72 [[-9.99155089e-01 -4.10688621e-02 1.56725632e-03 8.35888864e+01] [-4.10687455e-02 9.99156318e-01 1.06554727e-04 7.21216525e+00] [-1.57031014e-03 4.20994468e-05 -9.99998766e-01 6.72284573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.740385723 meters Centerline goodness [0,1] 0.9998690442412205 Centerline is valid? [True, True] Translation: X:83.58, Y:7.24, Z:6.72 [[-9.93761892e-01 -1.11504306e-01 2.02283357e-03 8.35770196e+01] [-1.11503959e-01 9.93763949e-01 2.83675523e-04 7.24381731e+00] [-2.04185012e-03 5.63519735e-05 -9.99997914e-01 6.72420927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.55, Y:7.27, Z:6.72 [[-9.83214151e-01 -1.82453443e-01 8.21504822e-04 8.35507230e+01] [-1.82453359e-01 9.83214494e-01 1.76139029e-04 7.27041280e+00] [-8.39852620e-04 2.32960710e-05 -9.99999647e-01 6.72071736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.800385723 meters Centerline goodness [0,1] 0.9999564848458475 Centerline is valid? [True, True] Translation: X:83.51, Y:7.29, Z:6.72 [[-9.67571067e-01 -2.52598561e-01 4.44086586e-04 8.35111618e+01] [-2.52598529e-01 9.67571169e-01 1.29440788e-04 7.29282322e+00] [-4.62381934e-04 1.30675436e-05 -9.99999893e-01 6.72197944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.45, Y:7.31, Z:6.72 [[-9.46254693e-01 -3.23422325e-01 2.34552597e-04 8.34479000e+01] [-3.23422313e-01 9.46254722e-01 8.75223104e-05 7.30775295e+00] [-2.50253172e-04 6.95885345e-06 -9.99999969e-01 6.72132732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.860385723 meters Centerline goodness [0,1] 0.9999565264645147 Centerline is valid? [True, True] Translation: X:83.38, Y:7.31, Z:6.72 [[-9.19831436e-01 -3.92313690e-01 3.14839464e-04 8.33779336e+01] [-3.92313663e-01 9.19831490e-01 1.44716373e-04 7.31392548e+00] [-3.46373467e-04 9.59884548e-06 -9.99999940e-01 6.72238850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.30, Y:7.31, Z:6.72 [[-8.87777625e-01 -4.60272449e-01 4.02088681e-04 8.32977847e+01] [-4.60272395e-01 8.87777716e-01 2.22332578e-04 7.30992229e+00] [-4.59298931e-04 1.23115673e-05 -9.99999895e-01 6.72172987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.21, Y:7.30, Z:6.72 [[-8.50720317e-01 -5.25618499e-01 3.68731366e-04 8.32130773e+01] [-5.25618444e-01 8.50720397e-01 2.41505380e-04 7.29681067e+00] [-4.40626990e-04 1.16415265e-05 -9.99999903e-01 6.72210229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.950385723 meters Centerline goodness [0,1] 0.9999783993951831 Centerline is valid? [True, True] Translation: X:83.12, Y:7.27, Z:6.72 [[-8.08545409e-01 -5.88433726e-01 2.67438455e-04 8.31232724e+01] [-5.88433690e-01 8.08545453e-01 2.05366692e-04 7.27387624e+00] [-3.37080835e-04 8.67849923e-06 -9.99999943e-01 6.72264462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.980385723 meters Centerline goodness [0,1] 0.9999783521669481 Centerline is valid? [True, True] Translation: X:83.03, Y:7.24, Z:6.72 [[-7.62019832e-01 -6.47553684e-01 -3.93839653e-05 8.30304964e+01] [-6.47553683e-01 7.62019833e-01 -3.52524264e-05 7.23815066e+00] [ 5.28392012e-05 -1.35981626e-06 -9.99999999e-01 6.72227058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.010385723 meters Centerline goodness [0,1] 0.9999783699602007 Centerline is valid? [True, True] Translation: X:82.93, Y:7.19, Z:6.72 [[-7.11241714e-01 -7.02947473e-01 2.72785665e-04 8.29290653e+01] [-7.02947416e-01 7.11241766e-01 2.84033859e-04 7.18915724e+00] [-3.93677442e-04 1.02627506e-05 -9.99999923e-01 6.72278833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.84, Y:7.14, Z:6.72 [[-6.55836164e-01 -7.54903237e-01 1.71200004e-04 8.28438442e+01] [-7.54903208e-01 6.55836186e-01 2.07726933e-04 7.14026314e+00] [-2.69092892e-04 6.99540226e-06 -9.99999964e-01 6.72302609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.75, Y:7.08, Z:6.72 [[-5.96240658e-01 -8.02805725e-01 -2.11915128e-04 8.27528245e+01] [-8.02805669e-01 5.96240696e-01 -3.01049315e-04 7.07851114e+00] [ 3.68036537e-04 -9.37117511e-06 -9.99999932e-01 6.72296057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.66, Y:7.00, Z:6.72 [[-5.32036309e-01 -8.46721417e-01 4.55898698e-04 8.26647914e+01] [-8.46721071e-01 5.32036504e-01 7.65331844e-04 7.00263427e+00] [-8.90577613e-04 2.11652957e-05 -9.99999603e-01 6.72349357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.130385723 meters Centerline goodness [0,1] 0.9999356015884941 Centerline is valid? [True, True] Translation: X:82.58, Y:6.92, Z:6.72 [[-4.65472834e-01 -8.85061950e-01 6.21329438e-04 8.25819463e+01] [-8.85061067e-01 4.65473247e-01 1.25068997e-03 6.91900816e+00] [-1.39615034e-03 3.22477094e-05 -9.99999025e-01 6.72421485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.160385723 meters Centerline goodness [0,1] 0.9998712280551144 Centerline is valid? [True, True] Translation: X:82.51, Y:6.83, Z:6.73 [[-3.96279932e-01 -9.18129424e-01 7.59123494e-04 8.25071585e+01] [-9.18127512e-01 3.96280656e-01 1.87464070e-03 6.82925322e+00] [-2.02198874e-03 4.59103234e-05 -9.99997955e-01 6.72759553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.190385723 meters Centerline goodness [0,1] 0.9998928579081579 Centerline is valid? [True, True] Translation: X:82.44, Y:6.73, Z:6.73 [[-3.23410162e-01 -9.46258635e-01 6.80809476e-04 8.24363296e+01] [-9.46256222e-01 3.23410875e-01 2.13755612e-03 6.73099818e+00] [-2.24286212e-03 4.70871674e-05 -9.99997484e-01 6.72784076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.37, Y:6.62, Z:6.73 [[-2.48834619e-01 -9.68545815e-01 5.81223185e-04 8.23737493e+01] [-9.68542689e-01 2.48835292e-01 2.46120274e-03 6.62349610e+00] [-2.52841645e-03 4.94929781e-05 -9.99996802e-01 6.72522512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.32, Y:6.52, Z:6.72 [[-1.71985831e-01 -9.85099338e-01 4.11272958e-04 8.23188963e+01] [-9.85095842e-01 1.71986316e-01 2.62459896e-03 6.51591895e+00] [-2.65622402e-03 4.62505514e-05 -9.99996471e-01 6.72466525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.28, Y:6.40, Z:6.72 [[-9.56479585e-02 -9.95415200e-01 2.19471690e-04 8.22758590e+01] [-9.95411329e-01 9.56481987e-02 2.77634841e-03 6.40170633e+00] [-2.78461148e-03 4.70874506e-05 -9.99996122e-01 6.72475668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.24, Y:6.29, Z:6.72 [[-1.95626262e-02 -9.99808634e-01 7.39591899e-06 8.22418888e+01] [-9.99804756e-01 1.95625709e-02 2.78499984e-03 6.28974028e+00] [-2.78461157e-03 4.70874357e-05 -9.99996122e-01 6.72475669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.22, Y:6.17, Z:6.73 [[ 5.75833015e-02 -9.98340682e-01 -2.13763138e-04 8.22151028e+01] [-9.98336511e-01 -5.75836789e-02 2.88621455e-03 6.16690035e+00] [-2.89373467e-03 4.72097834e-05 -9.99995812e-01 6.72526725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.20, Y:6.05, Z:6.73 [[ 1.33772837e-01 -9.91011928e-01 -4.31752274e-04 8.21970042e+01] [-9.91007841e-01 -1.33773525e-01 2.84652055e-03 6.04685390e+00] [-2.87869284e-03 4.70827597e-05 -9.99995856e-01 6.72548299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.19, Y:5.93, Z:6.73 [[ 2.08694572e-01 -9.77980454e-01 -8.98433823e-04 8.21898992e+01] [-9.77972726e-01 -2.08696495e-01 3.88849279e-03 5.92522152e+00] [-3.99036994e-03 6.71364374e-05 -9.99992036e-01 6.72590095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.430385723 meters Centerline goodness [0,1] 0.9999363935121383 Centerline is valid? [True, True] Translation: X:82.19, Y:5.80, Z:6.73 [[ 2.81948097e-01 -9.59428481e-01 -1.50353625e-03 8.21927487e+01] [-9.59416480e-01 -2.81952092e-01 4.79954974e-03 5.80368920e+00] [-5.02874991e-03 8.92935413e-05 -9.99987352e-01 6.72797067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.20, Y:5.69, Z:6.73 [[ 3.53382986e-01 -9.35476653e-01 -1.97403550e-03 8.22038298e+01] [-9.35463601e-01 -3.53388485e-01 4.94258497e-03 5.68538099e+00] [-5.32127426e-03 1.00012923e-04 -9.99985837e-01 6.72605173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.490385723 meters Centerline goodness [0,1] 0.9999146193088433 Centerline is valid? [True, True] Translation: X:82.23, Y:5.57, Z:6.73 [[ 4.22721223e-01 -9.06256386e-01 -2.47581733e-03 8.22250984e+01] [-9.06242361e-01 -4.22728459e-01 5.04309436e-03 5.56951551e+00] [-5.61693492e-03 1.11867522e-04 -9.99984219e-01 6.72867114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.25, Y:5.46, Z:6.73 [[ 4.89538458e-01 -8.71976972e-01 -2.87378256e-03 8.22533730e+01] [-8.71963353e-01 -4.89546878e-01 4.87491113e-03 5.45570749e+00] [-5.65766153e-03 1.19376603e-04 -9.99983988e-01 6.72665314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.550385723 meters Centerline goodness [0,1] 0.9998723322765283 Centerline is valid? [True, True] Translation: X:82.29, Y:5.35, Z:6.73 [[ 5.53830571e-01 -8.32622184e-01 -3.46358512e-03 8.22883452e+01] [-8.32607374e-01 -5.53841386e-01 4.96799849e-03 5.34711545e+00] [-6.05474254e-03 1.32377067e-04 -9.99981661e-01 6.72963485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.580385723 meters Centerline goodness [0,1] 0.9998716797125625 Centerline is valid? [True, True] Translation: X:82.33, Y:5.24, Z:6.73 [[ 6.14932639e-01 -7.88570858e-01 -3.72181076e-03 8.23320987e+01] [-7.88557702e-01 -6.14943888e-01 4.55689940e-03 5.24299675e+00] [-5.88214284e-03 1.32676371e-04 -9.99982691e-01 6.72927670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.610385723 meters Centerline goodness [0,1] 0.9999571945294609 Centerline is valid? [True, True] Translation: X:82.38, Y:5.14, Z:6.73 [[ 6.72889710e-01 -7.39730404e-01 -4.28573635e-03 8.23817357e+01] [-7.39716714e-01 -6.72903344e-01 4.50255789e-03 5.14406457e+00] [-6.21456529e-03 1.40505940e-04 -9.99980680e-01 6.72717940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.44, Y:5.05, Z:6.73 [[ 7.26187112e-01 -6.87483144e-01 -4.38229077e-03 8.24356684e+01] [-6.87471774e-01 -7.26200322e-01 3.95635555e-03 5.05331937e+00] [-5.90234871e-03 1.39646797e-04 -9.99982571e-01 6.72504993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.43, Y:5.04, Z:6.72 [[ 7.76422375e-01 -6.30198580e-01 -4.24802115e-03 8.24323352e+01] [-6.30190109e-01 -7.76433984e-01 3.27043413e-03 5.04052876e+00] [-5.35933093e-03 1.37822678e-04 -9.99985629e-01 6.72429144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.700385723 meters Centerline goodness [0,1] 0.9999361688546565 Centerline is valid? [True, True] Translation: X:82.43, Y:5.03, Z:6.73 [[ 8.22655907e-01 -5.68519138e-01 -4.82179625e-03 8.24306076e+01] [-5.68510462e-01 -8.22670023e-01 3.14454377e-03 5.02931186e+00] [-5.75448054e-03 1.54364112e-04 -9.99983431e-01 6.72669118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.730385723 meters Centerline goodness [0,1] 0.9999357794237274 Centerline is valid? [True, True] Translation: X:82.43, Y:5.01, Z:6.73 [[ 8.64340170e-01 -5.02878813e-01 -5.38244134e-03 8.24278705e+01] [-5.02870259e-01 -8.64356912e-01 2.93787957e-03 5.01396031e+00] [-6.12974777e-03 1.67342338e-04 -9.99981199e-01 6.72650014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.43, Y:5.00, Z:6.72 [[ 9.01209714e-01 -4.33348530e-01 -5.48661062e-03 8.24274859e+01] [-4.33341581e-01 -9.01226401e-01 2.45937969e-03 5.00220652e+00] [-6.01044691e-03 1.61159658e-04 -9.99981924e-01 6.72433300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.790385723 meters Centerline goodness [0,1] 0.9999785642322779 Centerline is valid? [True, True] Translation: X:82.43, Y:4.99, Z:6.72 [[ 9.32387977e-01 -3.61414279e-01 -5.69031452e-03 8.24264596e+01] [-3.61408596e-01 -9.32405327e-01 2.03306116e-03 4.98517949e+00] [-6.04045690e-03 1.60926803e-04 -9.99981743e-01 6.72321020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.43, Y:4.97, Z:6.72 [[ 9.57756552e-01 -2.87535916e-01 -5.04813303e-03 8.24279671e+01] [-2.87532690e-01 -9.57769846e-01 1.36934521e-03 4.97158605e+00] [-5.22868552e-03 1.40003918e-04 -9.99986321e-01 6.72209509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8503857229999 meters Centerline goodness [0,1] 0.9998712087062914 Centerline is valid? [True, True] Translation: X:82.43, Y:4.96, Z:6.72 [[ 9.77069775e-01 -2.12866775e-01 -4.73185572e-03 8.24293997e+01] [-2.12864943e-01 -9.77081224e-01 8.93380936e-04 4.95923097e+00] [-4.81357849e-03 1.34350686e-04 -9.99988406e-01 6.72484565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.880385723 meters Centerline goodness [0,1] 0.9997853800918574 Centerline is valid? [True, True] Translation: X:82.43, Y:4.95, Z:6.72 [[ 9.90541047e-01 -1.37137522e-01 -4.66195303e-03 8.24298411e+01] [-1.37136654e-01 -9.90552008e-01 5.06789869e-04 4.94882671e+00] [-4.68740685e-03 1.37328474e-04 -9.99989005e-01 6.72424690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.910385723 meters Centerline goodness [0,1] 0.999978561934571 Centerline is valid? [True, True] Translation: X:82.43, Y:4.94, Z:6.72 [[ 9.98222321e-01 -5.94335214e-02 -4.45594648e-03 8.24305529e+01] [-5.94335183e-02 -9.98232257e-01 1.33228706e-04 4.93588542e+00] [-4.45598776e-03 1.31840709e-04 -9.99990063e-01 6.72151969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.43, Y:4.92, Z:6.72 [[ 9.99798897e-01 1.90024218e-02 -6.40890868e-03 8.24319832e+01] [ 1.90008182e-02 -9.99819420e-01 -3.11022463e-04 4.92416263e+00] [-6.41366154e-03 1.89185407e-04 -9.99979414e-01 6.72318718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.43, Y:4.91, Z:6.72 [[ 9.95165182e-01 9.79413996e-02 -7.33095707e-03 8.24330212e+01] [ 9.79371671e-02 -9.95192161e-01 -9.34999045e-04 4.91289867e+00] [-7.38728612e-03 2.12505328e-04 -9.99972691e-01 6.72435379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.000385723 meters Centerline goodness [0,1] 0.9999570981166073 Centerline is valid? [True, True] Translation: X:82.44, Y:4.90, Z:6.73 [[ 9.84137882e-01 1.77189834e-01 -8.74019855e-03 8.24364900e+01] [ 1.77180659e-01 -9.84176663e-01 -1.81934206e-03 4.89843242e+00] [-8.92426836e-03 2.41889302e-04 -9.99960149e-01 6.72627603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.44, Y:4.89, Z:6.72 [[ 9.67106156e-01 2.54239837e-01 -8.23336749e-03 8.24392259e+01] [ 2.54228613e-01 -9.67141176e-01 -2.39971407e-03 4.88763101e+00] [-8.57293162e-03 2.27620655e-04 -9.99963226e-01 6.72492156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.44, Y:4.88, Z:6.72 [[ 9.44612924e-01 3.28119268e-01 -6.64606019e-03 8.24429559e+01] [ 3.28109676e-01 -9.44636283e-01 -2.51660269e-03 4.87981501e+00] [-7.10385543e-03 1.96578765e-04 -9.99974748e-01 6.72320336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.45, Y:4.87, Z:6.72 [[ 9.16505304e-01 3.99984200e-01 -5.53779795e-03 8.24478694e+01] [ 3.99975726e-01 -9.16522017e-01 -2.60963851e-03 4.87181109e+00] [-6.11932792e-03 1.76762779e-04 -9.99981261e-01 6.72228895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.46, Y:4.86, Z:6.72 [[ 8.82586792e-01 4.70121152e-01 -5.16308860e-03 8.24559521e+01] [ 4.70111943e-01 -8.82601876e-01 -2.94771547e-03 4.85859827e+00] [-5.94273508e-03 1.74385122e-04 -9.99982327e-01 6.72215801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.150385723 meters Centerline goodness [0,1] 0.9998925655350236 Centerline is valid? [True, True] Translation: X:82.46, Y:4.85, Z:6.72 [[ 8.43856719e-01 5.36543096e-01 -5.22911614e-03 8.24619708e+01] [ 5.36531353e-01 -8.43872898e-01 -3.55513486e-03 4.84984427e+00] [-6.32019246e-03 1.94439677e-04 -9.99980009e-01 6.72229949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.180385723 meters Centerline goodness [0,1] 0.9999570981166073 Centerline is valid? [True, True] Translation: X:82.47, Y:4.84, Z:6.72 [[ 7.99736878e-01 6.00331007e-01 -4.85883626e-03 8.24694244e+01] [ 6.00318420e-01 -7.99751614e-01 -3.89240258e-03 4.84168006e+00] [-6.22259210e-03 1.96048979e-04 -9.99980620e-01 6.72251084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.210385723 meters Centerline goodness [0,1] 0.9999140117803861 Centerline is valid? [True, True] Translation: X:82.48, Y:4.83, Z:6.72 [[ 7.50871692e-01 6.60435619e-01 -4.06148613e-03 8.24766849e+01] [ 6.60424640e-01 -7.50882654e-01 -3.81232898e-03 4.83372530e+00] [-5.56749734e-03 1.80264393e-04 -9.99984485e-01 6.72445742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.240385723 meters Centerline goodness [0,1] 0.9999569864722455 Centerline is valid? [True, True] Translation: X:82.49, Y:4.83, Z:6.72 [[ 6.96446825e-01 7.17600457e-01 -3.37718869e-03 8.24859650e+01] [ 7.17590890e-01 -6.96454995e-01 -3.70876955e-03 4.82552766e+00] [-5.01347465e-03 1.59520932e-04 -9.99987420e-01 6.72311919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.50, Y:4.82, Z:6.72 [[ 6.36921228e-01 7.70922863e-01 -3.04792450e-03 8.24972650e+01] [ 7.70912884e-01 -6.36928503e-01 -3.92531545e-03 4.81604120e+00] [-4.96742541e-03 1.50432467e-04 -9.99987651e-01 6.72216668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.300385723 meters Centerline goodness [0,1] 0.9999138265328106 Centerline is valid? [True, True] Translation: X:82.51, Y:4.81, Z:6.72 [[ 5.74096243e-01 8.18781955e-01 -3.10073241e-03 8.25066896e+01] [ 8.18768403e-01 -5.74104592e-01 -4.71368125e-03 4.80928903e+00] [-5.63962187e-03 1.67324975e-04 -9.99984083e-01 6.72440923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.52, Y:4.80, Z:6.72 [[ 5.06647728e-01 8.62148661e-01 -2.78702342e-03 8.25159640e+01] [ 8.62133825e-01 -5.06655368e-01 -5.06036098e-03 4.80211466e+00] [-5.77484381e-03 1.61033230e-04 -9.99983313e-01 6.72266864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.360385723 meters Centerline goodness [0,1] 0.9999353364659224 Centerline is valid? [True, True] Translation: X:82.53, Y:4.80, Z:6.73 [[ 4.37758775e-01 8.99088383e-01 -2.70813315e-03 8.25301024e+01] [ 8.99068492e-01 -4.37767113e-01 -5.98340729e-03 4.79518455e+00] [-6.56514362e-03 1.84491856e-04 -9.99978432e-01 6.72511467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.54, Y:4.79, Z:6.72 [[ 3.66813445e-01 9.30290122e-01 -2.86111068e-03 8.25412390e+01] [ 9.30256439e-01 -3.66824522e-01 -7.92007385e-03 4.78978798e+00] [-8.41749203e-03 2.43622945e-04 -9.99964543e-01 6.72495661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.56, Y:4.79, Z:6.72 [[ 2.94167335e-01 9.55751499e-01 -2.15655379e-03 8.25580453e+01] [ 9.55719335e-01 -2.94175137e-01 -7.84482806e-03 4.78523132e+00] [-8.13211068e-03 2.46632015e-04 -9.99966903e-01 6.72420705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.450385723 meters Centerline goodness [0,1] 0.9998495335540174 Centerline is valid? [True, True] Translation: X:82.57, Y:4.78, Z:6.73 [[ 2.21652376e-01 9.75124398e-01 -1.62230456e-03 8.25671253e+01] [ 9.75087901e-01 -2.21658124e-01 -8.44165964e-03 4.78154754e+00] [-8.59126527e-03 2.89224369e-04 -9.99963053e-01 6.72779141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.480385723 meters Centerline goodness [0,1] 0.9999135359474298 Centerline is valid? [True, True] Translation: X:82.58, Y:4.78, Z:6.73 [[ 1.46412469e-01 9.89223218e-01 -9.01803805e-04 8.25810014e+01] [ 9.89190442e-01 -1.46414963e-01 -8.05780410e-03 4.77900542e+00] [-8.10300448e-03 2.87707288e-04 -9.99967129e-01 6.72543245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.510385723 meters Centerline goodness [0,1] 0.9998486715524136 Centerline is valid? [True, True] Translation: X:82.59, Y:4.78, Z:6.73 [[ 7.27922999e-02 9.97347088e-01 -2.57911238e-04 8.25925346e+01] [ 9.97316643e-01 -7.27920946e-02 -7.79905202e-03 4.77740737e+00] [-7.79713573e-03 3.10491763e-04 -9.99969554e-01 6.72629700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.61, Y:4.78, Z:6.72 [[-4.49200462e-03 9.99989856e-01 3.30241405e-04 8.26070938e+01] [ 9.99963414e-01 4.49428943e-03 -7.27822439e-03 4.77663977e+00] [-7.27963477e-03 2.97535505e-04 -9.99973459e-01 6.72317409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.570385723 meters Centerline goodness [0,1] 0.9999353448275862 Centerline is valid? [True, True] Translation: X:82.62, Y:4.78, Z:6.73 [[-7.96462534e-02 9.96822702e-01 9.87816622e-04 8.26175067e+01] [ 9.96791128e-01 7.96516006e-02 -7.94162322e-03 4.77600053e+00] [-7.99507149e-03 3.52126309e-04 -9.99967977e-01 6.72546580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.63, Y:4.78, Z:6.73 [[-1.56311782e-01 9.87706025e-01 1.85353142e-03 8.26296609e+01] [ 9.87664723e-01 1.56322214e-01 -9.04212814e-03 4.77694050e+00] [-9.22071258e-03 4.17276431e-04 -9.99957401e-01 6.72511410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.64, Y:4.78, Z:6.73 [[-2.33197956e-01 9.72425144e-01 2.83765729e-03 8.26421581e+01] [ 9.72375395e-01 2.33214761e-01 -9.84713199e-03 4.77884461e+00] [-1.02373823e-02 4.62937072e-04 -9.99947490e-01 6.72580329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.660385723 meters Centerline goodness [0,1] 0.9999571165144303 Centerline is valid? [True, True] Translation: X:82.66, Y:4.78, Z:6.73 [[-3.09538589e-01 9.50878012e-01 4.10717279e-03 8.26565667e+01] [ 9.50815158e-01 3.09565404e-01 -1.09451024e-02 4.78352690e+00] [-1.16788959e-02 5.17230580e-04 -9.99931666e-01 6.72691014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.690385723 meters Centerline goodness [0,1] 0.9999138858988159 Centerline is valid? [True, True] Translation: X:82.67, Y:4.79, Z:6.73 [[-3.83939128e-01 9.23342761e-01 5.37519429e-03 8.26723823e+01] [ 9.23271373e-01 3.83976360e-01 -1.14946519e-02 4.79054526e+00] [-1.26774512e-02 5.49516365e-04 -9.99919487e-01 6.72750706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.69, Y:4.80, Z:6.73 [[-4.58381999e-01 8.88735147e-01 5.98182617e-03 8.26875715e+01] [ 8.88672657e-01 4.58420777e-01 -1.05498720e-02 4.79768059e+00] [-1.21182355e-02 4.80013920e-04 -9.99926456e-01 6.72578594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.750385723 meters Centerline goodness [0,1] 0.9999570925941818 Centerline is valid? [True, True] Translation: X:82.70, Y:4.81, Z:6.73 [[-5.27907855e-01 8.49273975e-01 6.85661345e-03 8.26995410e+01] [ 8.49213466e-01 5.27952175e-01 -1.01483721e-02 4.80558236e+00] [-1.22387123e-02 4.65323105e-04 -9.99924996e-01 6.72661020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.71, Y:4.81, Z:6.72 [[-5.95541679e-01 8.03293139e-01 7.08816045e-03 8.27107753e+01] [ 8.03243937e-01 5.95583729e-01 -8.89938401e-03 4.81371276e+00] [-1.13704071e-02 3.93567814e-04 -9.99935277e-01 6.72491142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.72, Y:4.82, Z:6.72 [[-6.57609609e-01 7.53321241e-01 7.53062670e-03 8.27189170e+01] [ 7.53278132e-01 6.57652624e-01 -8.06739685e-03 4.82195413e+00] [-1.10298778e-02 3.67458715e-04 -9.99939102e-01 6.72432601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.73, Y:4.83, Z:6.72 [[-7.15716676e-01 6.98349556e-01 7.58533139e-03 8.27281575e+01] [ 6.98315093e-01 7.15756797e-01 -6.94546929e-03 4.83202452e+00] [-1.02796179e-02 3.25963200e-04 -9.99947110e-01 6.72243322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.870385723 meters Centerline goodness [0,1] 0.9999146630256224 Centerline is valid? [True, True] Translation: X:82.74, Y:4.86, Z:6.72 [[-7.63392612e-01 6.45885369e-01 7.98811299e-03 8.27437584e+01] [ 6.45854373e-01 7.63434337e-01 -6.33577429e-03 4.85596272e+00] [-1.01905837e-02 3.22474423e-04 -9.99948023e-01 6.72444370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.900385723 meters Centerline goodness [0,1] 0.9999786174011589 Centerline is valid? [True, True] Translation: X:82.76, Y:4.88, Z:6.72 [[-8.08124556e-01 5.88963967e-01 7.49320597e-03 8.27578705e+01] [ 5.88941749e-01 8.08159248e-01 -5.12305497e-03 4.88377332e+00] [-9.07299849e-03 2.72995311e-04 -9.99958802e-01 6.72298151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.77, Y:4.91, Z:6.72 [[-8.48198203e-01 5.29625828e-01 7.50271999e-03 8.27735055e+01] [ 5.29607750e-01 8.48231347e-01 -4.38332411e-03 4.91228015e+00] [-8.68556394e-03 2.55571017e-04 -9.99962247e-01 6.72181667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.78, Y:4.94, Z:6.72 [[-8.83972087e-01 4.67492925e-01 6.61175288e-03 8.27832403e+01] [ 4.67481621e-01 8.83996788e-01 -3.25788866e-03 4.93861578e+00] [-7.36780821e-03 2.10990314e-04 -9.99972835e-01 6.72174291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.79, Y:4.97, Z:6.72 [[-9.15001529e-01 4.03411815e-01 5.57758528e-03 8.27935547e+01] [ 4.03405453e-01 9.15018513e-01 -2.27214584e-03 4.96600737e+00] [-6.02020427e-03 1.71011397e-04 -9.99981864e-01 6.72096936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.80, Y:5.00, Z:6.72 [[-9.41321098e-01 3.37469481e-01 5.37959375e-03 8.27977300e+01] [ 3.37464939e-01 9.41336456e-01 -1.75818772e-03 4.99521847e+00] [-5.65734241e-03 1.60405088e-04 -9.99983984e-01 6.71996627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.80, Y:5.03, Z:6.72 [[-9.62803868e-01 2.70128788e-01 6.25690779e-03 8.28014200e+01] [ 2.70124326e-01 9.62824181e-01 -1.56364866e-03 5.02782057e+00] [-6.44668863e-03 1.84656019e-04 -9.99979203e-01 6.71976317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.080385723 meters Centerline goodness [0,1] 0.9999573369739115 Centerline is valid? [True, True] Translation: X:82.80, Y:5.06, Z:6.72 [[-9.79504845e-01 2.01278490e-01 7.56498485e-03 8.28030500e+01] [ 2.01274227e-01 9.79534032e-01 -1.32858027e-03 5.05576846e+00] [-7.67757475e-03 2.21285664e-04 -9.99970503e-01 6.72202889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.80, Y:5.09, Z:6.72 [[-9.91410806e-01 1.30569430e-01 7.49912173e-03 8.28040496e+01] [ 1.30567306e-01 9.91439146e-01 -7.74215120e-04 5.08730997e+00] [-7.53601166e-03 2.11574886e-04 -9.99971582e-01 6.72167264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.140385723 meters Centerline goodness [0,1] 0.9998931966250133 Centerline is valid? [True, True] Translation: X:82.80, Y:5.12, Z:6.72 [[-9.98184611e-01 5.96044165e-02 8.64843649e-03 8.27965398e+01] [ 5.96042723e-02 9.98222047e-01 -2.74651640e-04 5.11699954e+00] [-8.64943043e-03 2.41330723e-04 -9.99962564e-01 6.72420636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.170385723 meters Centerline goodness [0,1] 0.9999357904199306 Centerline is valid? [True, True] Translation: X:82.82, Y:5.75, Z:5.75 [[-9.97401725e-01 -7.15225766e-02 8.62086423e-03 8.28206747e+01] [ 7.15178154e-02 -9.97438952e-01 -8.59693626e-04 5.75311850e+00] [ 8.66027329e-03 -2.40914529e-04 9.99962470e-01 5.75467176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.73, Y:5.12, Z:6.72 [[-9.98437469e-01 5.51320365e-02 9.11475844e-03 8.27273013e+01] [ 5.51320721e-02 9.98479040e-01 -2.47549393e-04 5.11539444e+00] [-9.11454316e-03 2.55352930e-04 -9.99958429e-01 6.72199859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.73, Y:5.14, Z:6.72 [[-9.99842464e-01 -1.46360269e-02 1.00415897e-02 8.27311618e+01] [-1.46323709e-02 9.99892846e-01 4.37466716e-04 5.14181446e+00] [-1.00469165e-02 2.90465534e-04 -9.99949486e-01 6.72361765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.72, Y:5.17, Z:6.72 [[-9.96255731e-01 -8.58767822e-02 9.98485873e-03 8.27186564e+01] [-8.58695440e-02 9.96305723e-01 1.15217495e-03 5.17032057e+00] [-1.00469170e-02 2.90465632e-04 -9.99949486e-01 6.72361765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.290385723 meters Centerline goodness [0,1] 0.9998494332236347 Centerline is valid? [True, True] Translation: X:82.70, Y:5.20, Z:6.73 [[-9.88075779e-01 -1.53502879e-01 1.19632917e-02 8.26953405e+01] [-1.53486759e-01 9.88148121e-01 2.25956678e-03 5.19598870e+00] [-1.21683542e-02 3.96416342e-04 -9.99925884e-01 6.72651147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.320385723 meters Centerline goodness [0,1] 0.9999784844442532 Centerline is valid? [True, True] Translation: X:82.66, Y:5.21, Z:6.73 [[-9.74838134e-01 -2.22663106e-01 1.05713893e-02 8.26617720e+01] [-2.22645824e-01 9.74895379e-01 2.79944133e-03 5.21324008e+00] [-1.09293309e-02 3.75326479e-04 -9.99940203e-01 6.72518324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.60, Y:5.23, Z:6.72 [[-9.56702528e-01 -2.90893598e-01 1.00591843e-02 8.26025522e+01] [-2.90873193e-01 9.56755330e-01 3.46752433e-03 5.22727586e+00] [-1.06328588e-02 3.91442244e-04 -9.99943393e-01 6.72316790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.54, Y:5.23, Z:6.72 [[-9.34898883e-01 -3.54798758e-01 9.05096333e-03 8.25399657e+01] [-3.54777697e-01 9.34942598e-01 3.88912060e-03 5.22781212e+00] [-9.84198632e-03 4.24854582e-04 -9.99951476e-01 6.72201134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.47, Y:5.22, Z:6.72 [[-9.09075686e-01 -4.16545488e-01 8.44121346e-03 8.24660558e+01] [-4.16522553e-01 9.09114748e-01 4.39753556e-03 5.21945295e+00] [-9.50580524e-03 4.81736873e-04 -9.99954703e-01 6.72109104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.38, Y:5.20, Z:6.72 [[-8.77412087e-01 -4.79669880e-01 8.05212286e-03 8.23808764e+01] [-4.79644175e-01 8.77448880e-01 4.99278078e-03 5.20210742e+00] [-9.46021274e-03 5.18572375e-04 -9.99955117e-01 6.72187969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4703857229999 meters Centerline goodness [0,1] 0.999978349823551 Centerline is valid? [True, True] Translation: X:82.29, Y:5.17, Z:6.72 [[-8.42677756e-01 -5.38342736e-01 9.01655064e-03 8.22902866e+01] [-5.38302991e-01 8.42725711e-01 6.57776920e-03 5.17280335e+00] [-1.11395733e-02 6.89303616e-04 -9.99937716e-01 6.72310695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.20, Y:5.14, Z:6.72 [[-8.01208179e-01 -5.98331061e-01 8.08678803e-03 8.21970036e+01] [-5.98291769e-01 8.01248698e-01 6.89089590e-03 5.13649730e+00] [-1.06025654e-02 6.82783443e-04 -9.99943558e-01 6.72219992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.11, Y:5.09, Z:6.72 [[-7.55336459e-01 -6.55313788e-01 5.53825005e-03 8.21053102e+01] [-6.55290955e-01 7.55356583e-01 5.49521357e-03 5.09238063e+00] [-7.78444285e-03 5.21569994e-04 -9.99969565e-01 6.72073515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.01, Y:5.04, Z:6.72 [[-7.03142265e-01 -7.11035363e-01 4.43486532e-03 8.20086184e+01] [-7.11017035e-01 7.03156106e-01 5.12498143e-03 5.03679675e+00] [-6.76244566e-03 4.50326258e-04 -9.99977033e-01 6.71990622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.91, Y:4.96, Z:6.72 [[-6.46267325e-01 -7.63102918e-01 3.53281608e-03 8.19087633e+01] [-7.63088099e-01 6.46276865e-01 4.77144977e-03 4.96400036e+00] [-5.92428455e-03 3.87782170e-04 -9.99982376e-01 6.71884345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.620385723 meters Centerline goodness [0,1] 0.9999785858066726 Centerline is valid? [True, True] Translation: X:81.82, Y:4.90, Z:6.72 [[-5.83164630e-01 -8.12350202e-01 2.48256146e-03 8.18184595e+01] [-8.12340649e-01 5.83169844e-01 3.95014538e-03 4.89594990e+00] [-4.65665638e-03 2.86899484e-04 -9.99989117e-01 6.71861369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.72, Y:4.82, Z:6.72 [[-5.16482262e-01 -8.56295602e-01 1.97872369e-03 8.17202232e+01] [-8.56287403e-01 5.16485994e-01 3.75521899e-03 4.81901371e+00] [-4.23756058e-03 2.45147828e-04 -9.99990992e-01 6.71855360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.64, Y:4.73, Z:6.72 [[-4.48269378e-01 -8.93897045e-01 1.62439122e-03 8.16427718e+01] [-8.93889203e-01 4.48272262e-01 3.75127637e-03 4.72581770e+00] [-4.08142439e-03 2.29556548e-04 -9.99991645e-01 6.71917061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.56, Y:4.63, Z:6.72 [[-3.76256040e-01 -9.26515098e-01 1.07955399e-03 8.15637838e+01] [-9.26509834e-01 3.76257547e-01 3.12817321e-03 4.62980896e+00] [-3.30449005e-03 1.76776678e-04 -9.99994525e-01 6.71792847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.50, Y:4.53, Z:6.72 [[-3.02968856e-01 -9.53000208e-01 6.90068790e-04 8.15023205e+01] [-9.52996568e-01 3.02969608e-01 2.63779471e-03 4.52520117e+00] [-2.72288878e-03 1.41536455e-04 -9.99996283e-01 6.71768571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.44, Y:4.41, Z:6.72 [[-2.27738613e-01 -9.73722255e-01 3.07705178e-04 8.14428051e+01] [-9.73720781e-01 2.27738805e-01 1.69645445e-03 4.40924682e+00] [-1.72195186e-03 8.67292579e-05 -9.99998514e-01 6.71727268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.39, Y:4.30, Z:6.72 [[-1.50389637e-01 -9.88626791e-01 1.56927394e-04 8.13869014e+01] [-9.88625629e-01 1.50389701e-01 1.51782839e-03 4.29916651e+00] [-1.52416607e-03 7.31232164e-05 -9.99998836e-01 6.71676562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.35, Y:4.18, Z:6.72 [[-7.37844157e-02 -9.97274215e-01 3.56981888e-05 8.13456871e+01] [-9.97273315e-01 7.37843971e-02 1.34096094e-03 4.18389304e+00] [-1.33993974e-03 6.33411683e-05 -9.99999100e-01 6.71759201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:4.06, Z:6.72 [[ 2.67493422e-03 -9.99996421e-01 -6.02585315e-05 8.13154472e+01] [-9.99995692e-01 -2.67500509e-03 1.20835931e-03 4.06440019e+00] [-1.20851617e-03 5.70259902e-05 -9.99999268e-01 6.71765576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.29, Y:3.95, Z:6.72 [[ 7.88142754e-02 -9.96889295e-01 -2.07416669e-04 8.12887497e+01] [-9.96887956e-01 -7.88145099e-02 1.63600064e-03 3.94656833e+00] [-1.64725897e-03 7.78309741e-05 -9.99998640e-01 6.71818945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.28, Y:3.82, Z:6.72 [[ 1.53815208e-01 -9.88099546e-01 -4.11765105e-04 8.12831642e+01] [-9.88097514e-01 -1.53815728e-01 2.00597283e-03 3.82277234e+00] [-2.04543679e-03 9.83149490e-05 -9.99997903e-01 6.71882000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.950385723 meters Centerline goodness [0,1] 0.999936750226645 Centerline is valid? [True, True] Translation: X:81.28, Y:3.70, Z:6.72 [[ 2.27532902e-01 -9.73770036e-01 -8.34056842e-04 8.12810167e+01] [-9.73765687e-01 -2.27534382e-01 2.91396140e-03 3.70301053e+00] [-3.02730491e-03 1.49153838e-04 -9.99995407e-01 6.72109202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.28, Y:3.58, Z:6.72 [[ 2.99284427e-01 -9.54163325e-01 -1.08656942e-03 8.12814544e+01] [-9.54158834e-01 -2.99286357e-01 2.93196141e-03 3.57968182e+00] [-3.12276545e-03 1.59269416e-04 -9.99995112e-01 6.72023064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.30, Y:3.47, Z:6.72 [[ 3.68855574e-01 -9.29485669e-01 -1.39881503e-03 8.13007154e+01] [-9.29480711e-01 -3.68858183e-01 3.04114332e-03 3.46571541e+00] [-3.34266351e-03 1.78428922e-04 -9.99994397e-01 6.72135588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:3.35, Z:6.72 [[ 4.37507912e-01 -8.99213093e-01 -1.62522519e-03 8.13179446e+01] [-8.99208351e-01 -4.37510893e-01 2.92578371e-03 3.35177488e+00] [-3.34195674e-03 1.81362539e-04 -9.99994399e-01 6.72121598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.35, Y:3.24, Z:6.72 [[ 5.03810585e-01 -8.63810434e-01 -2.53558141e-03 8.13482278e+01] [-8.63801912e-01 -5.03816902e-01 3.84537882e-03 3.24101855e+00] [-4.59914711e-03 2.52897517e-04 -9.99989392e-01 6.72220381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.39, Y:3.13, Z:6.72 [[ 5.68123957e-01 -8.22936355e-01 -3.30517024e-03 8.13862876e+01] [-8.22925326e-01 -5.68133496e-01 4.27080232e-03 3.13372469e+00] [-5.39237642e-03 2.93563178e-04 -9.99985418e-01 6.72305649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.43, Y:3.03, Z:6.73 [[ 6.30152013e-01 -7.76454597e-01 -5.16710678e-03 8.14273853e+01] [-7.76433587e-01 -6.30173068e-01 5.72621491e-03 3.03325003e+00] [-7.70231743e-03 4.03529395e-04 -9.99970255e-01 6.72503760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.47, Y:2.94, Z:6.73 [[ 6.87906191e-01 -7.25777598e-01 -5.65251565e-03 8.14742754e+01] [-7.25757711e-01 -6.87929300e-01 5.38737079e-03 2.93620557e+00] [-7.79856416e-03 3.96351101e-04 -9.99969512e-01 6.72540658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.47, Y:2.92, Z:6.73 [[ 7.44870461e-01 -6.67175091e-01 -6.73759280e-03 8.14698267e+01] [-6.67152685e-01 -7.44900819e-01 5.48312054e-03 2.91865795e+00] [-8.67703983e-03 4.10788609e-04 -9.99962269e-01 6.72632195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.47, Y:2.90, Z:6.73 [[ 7.95974234e-01 -6.05286755e-01 -7.27762545e-03 8.14673388e+01] [-6.05265980e-01 -7.96007402e-01 5.03079935e-03 2.89943444e+00] [-8.83811994e-03 4.00512441e-04 -9.99960863e-01 6.72603410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.47, Y:2.88, Z:6.73 [[ 8.43012980e-01 -5.37848995e-01 -6.89740208e-03 8.14660493e+01] [-5.37834149e-01 -8.43041132e-01 4.00975565e-03 2.88146723e+00] [-7.97143671e-03 3.29382317e-04 -9.99968173e-01 6.72592169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.47, Y:2.86, Z:6.72 [[ 8.84159740e-01 -4.67117189e-01 -7.94262583e-03 8.14651964e+01] [-4.67101682e-01 -8.84195353e-01 3.82057990e-03 2.85778578e+00] [-8.80749138e-03 3.32010954e-04 -9.99961158e-01 6.72457645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.47, Y:2.84, Z:6.73 [[ 9.18755589e-01 -3.94731081e-01 -8.69144240e-03 8.14684066e+01] [-3.94716820e-01 -9.18796639e-01 3.37184650e-03 2.84221882e+00] [-9.31664068e-03 3.32755684e-04 -9.99956544e-01 6.72536643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.47, Y:2.82, Z:6.73 [[ 9.47258491e-01 -3.20313800e-01 -1.00210533e-02 8.14724230e+01] [-3.20299855e-01 -9.47311428e-01 3.01034348e-03 2.82205819e+00] [-1.04573129e-02 3.58168491e-04 -9.99945257e-01 6.72509209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.48, Y:2.81, Z:6.73 [[ 9.69880585e-01 -2.43334940e-01 -1.09433860e-02 8.14786274e+01] [-2.43323632e-01 -9.69942255e-01 2.37338859e-03 2.80747337e+00] [-1.11919809e-02 3.60880927e-04 -9.99937303e-01 6.72661879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.48, Y:2.79, Z:6.73 [[ 9.85926663e-01 -1.66854157e-01 -1.04070216e-02 8.14847700e+01] [-1.66848492e-01 -9.85981529e-01 1.41630443e-03 2.78820906e+00] [-1.04974473e-02 3.40023559e-04 -9.99944843e-01 6.72563161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.49, Y:2.77, Z:6.72 [[ 9.95888992e-01 -9.00117929e-02 -1.01485862e-02 8.14902557e+01] [-9.00105738e-02 -9.95940642e-01 5.77739770e-04 2.77287416e+00] [-1.01593929e-02 3.38115392e-04 -9.99948335e-01 6.72472866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.50, Y:2.76, Z:6.72 [[ 9.99852637e-01 -1.42158108e-02 -9.62368163e-03 8.14954088e+01] [-1.42184591e-02 -9.99898891e-01 -2.06820175e-04 2.76438659e+00] [-9.61976847e-03 3.43623621e-04 -9.99953670e-01 6.72459813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.50, Y:2.75, Z:6.72 [[ 9.97945284e-01 6.32961719e-02 -9.94005141e-03 8.15020943e+01] [ 6.32893854e-02 -9.97994720e-01 -9.96131810e-04 2.75335741e+00] [-9.98317016e-03 3.64985298e-04 -9.99950100e-01 6.72477800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.51, Y:2.74, Z:6.73 [[ 9.89987435e-01 1.40770643e-01 -1.04165296e-02 8.15083343e+01] [ 1.40758677e-01 -9.90042157e-01 -1.87674471e-03 2.74401580e+00] [-1.05769940e-02 3.91736757e-04 -9.99943985e-01 6.72514480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.52, Y:2.73, Z:6.73 [[ 9.76120617e-01 2.17002093e-01 -9.93144091e-03 8.15169137e+01] [ 2.16986791e-01 -9.76171061e-01 -2.60617081e-03 2.73280689e+00] [-1.02603297e-02 3.88945563e-04 -9.99947286e-01 6.72507155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.52, Y:2.73, Z:6.73 [[ 9.56462439e-01 2.91711411e-01 -9.16815091e-03 8.15239679e+01] [ 2.91694195e-01 -9.56506304e-01 -3.19173259e-03 2.72596536e+00] [-9.70045896e-03 3.78475938e-04 -9.99952878e-01 6.72509981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.53, Y:2.72, Z:6.72 [[ 9.31039680e-01 3.64810894e-01 -8.83893850e-03 8.15307726e+01] [ 3.64790491e-01 -9.31081556e-01 -3.87743864e-03 2.71945194e+00] [-9.64430446e-03 3.85688511e-04 -9.99953418e-01 6.72491240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.54, Y:2.71, Z:6.72 [[ 9.00114031e-01 4.35574051e-01 -8.36520340e-03 8.15436224e+01] [ 4.35551177e-01 -9.00152817e-01 -4.48086343e-03 2.70564543e+00] [-9.48170924e-03 3.89813854e-04 -9.99954972e-01 6.72359987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.55, Y:2.70, Z:6.72 [[ 8.65167264e-01 5.01414743e-01 -8.29827461e-03 8.15507074e+01] [ 5.01386710e-01 -8.65206947e-01 -5.32042118e-03 2.70129643e+00] [-9.84746246e-03 4.42409632e-04 -9.99951415e-01 6.72388433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.56, Y:2.69, Z:6.72 [[ 8.24474761e-01 5.65851271e-01 -7.32853522e-03 8.15606555e+01] [ 5.65824185e-01 -8.24507218e-01 -5.55336698e-03 2.69472564e+00] [-9.18480995e-03 4.31948450e-04 -9.99957726e-01 6.72366633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.57, Y:2.69, Z:6.72 [[ 7.79838528e-01 6.25948474e-01 -6.35438277e-03 8.15710297e+01] [ 6.25923119e-01 -7.79864298e-01 -5.65026564e-03 2.68904202e+00] [-8.49233141e-03 4.28939754e-04 -9.99963848e-01 6.72389767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.58, Y:2.68, Z:6.72 [[ 7.29269959e-01 6.84202837e-01 -5.63956879e-03 8.15823007e+01] [ 6.84177809e-01 -7.29291643e-01 -5.86730423e-03 2.68360447e+00] [-8.12731660e-03 4.20380898e-04 -9.99966885e-01 6.72360587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.59, Y:2.68, Z:6.72 [[ 6.75166690e-01 7.37649978e-01 -4.73821219e-03 8.15900198e+01] [ 7.37627495e-01 -6.75183196e-01 -5.77337131e-03 2.68105018e+00] [-7.45788847e-03 4.02952415e-04 -9.99972108e-01 6.72275507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.60, Y:2.68, Z:6.72 [[ 6.16693646e-01 7.87190963e-01 -4.39726975e-03 8.15992801e+01] [ 7.87165814e-01 -6.16709174e-01 -6.30680179e-03 2.67765920e+00] [-7.67649397e-03 4.27984169e-04 -9.99970444e-01 6.72333720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.61, Y:2.67, Z:6.72 [[ 5.53393971e-01 8.32908776e-01 -4.25260636e-03 8.16090792e+01] [ 8.32877356e-01 -5.53410110e-01 -7.24977661e-03 2.67464317e+00] [-8.39183791e-03 4.70083120e-04 -9.99964677e-01 6.72389131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.62, Y:2.67, Z:6.72 [[ 4.86271345e-01 8.73799265e-01 -3.87613386e-03 8.16194670e+01] [ 8.73762960e-01 -4.86286542e-01 -7.98054987e-03 2.67253821e+00] [-8.85831034e-03 4.93890523e-04 -9.99960643e-01 6.72426377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.64, Y:2.67, Z:6.72 [[ 4.14043502e-01 9.10250794e-01 -3.38700167e-03 8.16424490e+01] [ 9.10209957e-01 -4.14057061e-01 -8.63617377e-03 2.66621137e+00] [-9.26349598e-03 4.92868977e-04 -9.99956972e-01 6.72317730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.66, Y:2.66, Z:6.72 [[ 3.39722545e-01 9.40522077e-01 -2.61046898e-03 8.16588910e+01] [ 9.40483062e-01 -3.39732264e-01 -8.57905753e-03 2.66479032e+00] [-8.95565354e-03 4.59397394e-04 -9.99959792e-01 6.72320215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.68, Y:2.66, Z:6.72 [[ 2.60487227e-01 9.65475530e-01 -1.84562141e-03 8.16759585e+01] [ 9.65439309e-01 -2.60493460e-01 -8.37244711e-03 2.66312517e+00] [-8.56416511e-03 3.99080076e-04 -9.99963247e-01 6.72346326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.69, Y:2.66, Z:6.72 [[ 1.79192552e-01 9.83813551e-01 -9.62825723e-04 8.16946942e+01] [ 9.83789370e-01 -1.79194904e-01 -6.90373789e-03 2.66340736e+00] [-6.96452435e-03 2.89880698e-04 -9.99975705e-01 6.72244835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.71, Y:2.67, Z:6.72 [[ 9.92228419e-02 9.95065167e-01 -3.74590424e-04 8.17084293e+01] [ 9.95045756e-01 -9.92232478e-02 -6.22021813e-03 2.66519377e+00] [-6.22669047e-03 2.44453108e-04 -9.99980584e-01 6.72203652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.72, Y:2.67, Z:6.72 [[ 1.61208797e-02 9.99870046e-01 9.04619373e-05 8.17228676e+01] [ 9.99857776e-01 -1.61202334e-02 -4.95644787e-03 2.66812983e+00] [-4.95434549e-03 1.70351371e-04 -9.99987713e-01 6.72206953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.74, Y:2.67, Z:6.72 [[-6.45919035e-02 9.97911666e-01 4.39251471e-04 8.17357964e+01] [ 9.97901394e-01 6.45932327e-02 -4.53007427e-03 2.67320073e+00] [-4.54898663e-03 1.45723535e-04 -9.99989643e-01 6.72167500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.75, Y:2.68, Z:6.72 [[-1.42559571e-01 9.89785906e-01 7.92744938e-04 8.17453659e+01] [ 9.89775770e-01 1.42561701e-01 -4.48174903e-03 2.67842933e+00] [-4.54898709e-03 1.45723513e-04 -9.99989643e-01 6.72167500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.76, Y:2.68, Z:6.72 [[-2.23377544e-01 9.74731627e-01 8.53595586e-04 8.17570643e+01] [ 9.74726062e-01 2.23379154e-01 -3.29524904e-03 2.68437728e+00] [-3.40265892e-03 9.59372279e-05 -9.99994206e-01 6.72050358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.77, Y:2.69, Z:6.72 [[-3.00413587e-01 9.53808663e-01 8.42945579e-04 8.17693195e+01] [ 9.53805529e-01 3.00414761e-01 -2.44616845e-03 2.69369140e+00] [-2.58640996e-03 6.91439147e-05 -9.99996653e-01 6.71978434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.78, Y:2.70, Z:6.72 [[-3.76545228e-01 9.26397862e-01 8.32339225e-04 8.17800460e+01] [ 9.26395887e-01 3.76546145e-01 -1.91359193e-03 2.70286319e+00] [-2.08616160e-03 5.05217229e-05 -9.99997823e-01 6.71929681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.79, Y:2.71, Z:6.72 [[-4.48761007e-01 8.93651173e-01 1.06788434e-03 8.17878672e+01] [ 8.93648917e-01 4.48762274e-01 -2.00852243e-03 2.71079327e+00] [-2.27414463e-03 5.29671323e-05 -9.99997413e-01 6.71903835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.80, Y:2.73, Z:6.72 [[-5.18424380e-01 8.55122981e-01 9.22096425e-04 8.18015786e+01] [ 8.55121756e-01 5.18425198e-01 -1.44799771e-03 2.72602098e+00] [-1.71625414e-03 3.78273980e-05 -9.99998527e-01 6.71838339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.81, Y:2.74, Z:6.72 [[-5.84052833e-01 8.11715241e-01 8.09940088e-04 8.18112638e+01] [ 8.11714529e-01 5.84053394e-01 -1.07552653e-03 2.73981977e+00] [-1.34606953e-03 2.92758229e-05 -9.99999094e-01 6.71809654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.82, Y:2.75, Z:6.72 [[-6.46131282e-01 7.63225917e-01 7.52219836e-04 8.18195655e+01] [ 7.63225443e-01 6.46131719e-01 -8.50978393e-04 2.75474538e+00] [-1.13552186e-03 2.42695576e-05 -9.99999355e-01 6.71829720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.83, Y:2.77, Z:6.72 [[-7.04227875e-01 7.09973037e-01 1.17739975e-03 8.18257659e+01] [ 7.09972126e-01 7.04228859e-01 -1.13836365e-03 2.76965519e+00] [-1.63736638e-03 3.42535866e-05 -9.99998659e-01 6.71882672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.84, Y:2.79, Z:6.72 [[-7.53396412e-01 6.57561526e-01 2.58575361e-03 8.18374824e+01] [ 6.57557957e-01 7.53400846e-01 -2.16755605e-03 2.79393939e+00] [-3.37341042e-03 6.72539128e-05 -9.99994308e-01 6.72053434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.420385723 meters Centerline goodness [0,1] 0.9998322569823032 Centerline is valid? [True, True] Translation: X:81.85, Y:2.83, Z:6.72 [[-7.97993585e-01 6.02651140e-01 4.22399966e-03 8.18491688e+01] [ 6.02643386e-01 7.98004758e-01 -3.05877650e-03 2.82683538e+00] [-5.21414697e-03 1.04681428e-04 -9.99986401e-01 6.72215767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.86, Y:2.85, Z:6.72 [[-8.39075219e-01 5.44007365e-01 2.96022718e-03 8.18615139e+01] [ 5.44004262e-01 8.39080438e-01 -1.83875609e-03 2.85367782e+00] [-3.48416557e-03 6.75215278e-05 -9.99993928e-01 6.72056081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.480385723 meters Centerline goodness [0,1] 0.9999790439866719 Centerline is valid? [True, True] Translation: X:81.86, Y:2.89, Z:6.72 [[-8.75038943e-01 4.84044105e-01 2.85518684e-03 8.18577720e+01] [ 4.84041773e-01 8.75043599e-01 -1.50424428e-03 2.88752881e+00] [-3.22653354e-03 6.57573758e-05 -9.99994793e-01 6.72055288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.87, Y:2.91, Z:6.72 [[-9.06838264e-01 4.21465415e-01 3.35662408e-03 8.18737568e+01] [ 4.21462843e-01 9.06844473e-01 -1.47456080e-03 2.90918035e+00] [-3.66541237e-03 7.75041706e-05 -9.99993279e-01 6.72113934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.88, Y:2.94, Z:6.72 [[-9.34395430e-01 3.56224944e-01 2.99487422e-03 8.18756853e+01] [ 3.56223346e-01 9.34400227e-01 -1.06925647e-03 2.93643874e+00] [-3.17930698e-03 6.77357581e-05 -9.99994944e-01 6.72107275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.88, Y:2.97, Z:6.72 [[-9.57267852e-01 2.89188229e-01 2.90311933e-03 8.18752431e+01] [ 2.89187103e-01 9.57272252e-01 -8.09525159e-04 2.96928713e+00] [-3.01318072e-03 6.46122589e-05 -9.99995458e-01 6.72029318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.87, Y:3.00, Z:6.72 [[-9.75433686e-01 2.20261478e-01 3.74234684e-03 8.18737983e+01] [ 2.20260173e-01 9.75440862e-01 -7.62398430e-04 2.99910329e+00] [-3.81836503e-03 8.06208532e-05 -9.99992707e-01 6.72057037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.87, Y:3.03, Z:6.72 [[-9.88656498e-01 1.50128846e-01 4.43385403e-03 8.18710717e+01] [ 1.50127757e-01 9.88666436e-01 -5.79332177e-04 3.02887882e+00] [-4.47057713e-03 9.28840406e-05 -9.99990003e-01 6.72107695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.86, Y:3.06, Z:6.72 [[-9.96890727e-01 7.86348364e-02 5.04390791e-03 8.18616671e+01] [ 7.86343408e-02 9.96903482e-01 -2.96795628e-04 3.05777265e+00] [-5.05162784e-03 1.00751564e-04 -9.99987235e-01 6.72095865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.85, Y:3.09, Z:6.72 [[-9.99966553e-01 6.82402819e-03 4.50847317e-03 8.18496742e+01] [ 6.82434998e-03 9.99976712e-01 5.59939590e-05 3.08516990e+00] [-4.50798607e-03 8.67594849e-05 -9.99989835e-01 6.72099372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.84, Y:3.61, Z:5.76 [[-9.99284595e-01 -3.75107627e-02 4.82089632e-03 8.18397265e+01] [ 3.75099821e-02 -9.99296221e-01 -2.52265598e-04 3.61453550e+00] [ 4.82696615e-03 -7.12533913e-05 9.99988348e-01 5.75710908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.78, Y:3.08, Z:6.72 [[-9.99988149e-01 -2.63962093e-04 4.86130113e-03 8.17808648e+01] [-2.63565232e-04 9.99999962e-01 8.22779386e-05 3.08351008e+00] [-4.86132266e-03 8.09956936e-05 -9.99988180e-01 6.72016220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.77, Y:3.61, Z:5.76 [[-9.99379837e-01 -3.47341438e-02 5.78628450e-03 8.17673215e+01] [ 3.47333637e-02 -9.99396587e-01 -2.35279233e-04 3.61191151e+00] [ 5.79096520e-03 -3.41561976e-05 9.99983232e-01 5.75605164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.71, Y:3.08, Z:6.72 [[-9.99960437e-01 -6.12564996e-03 6.44986301e-03 8.17101694e+01] [-6.12488276e-03 9.99981233e-01 1.38694622e-04 3.08026934e+00] [-6.45059156e-03 9.91844803e-05 -9.99979190e-01 6.72232315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.69, Y:3.11, Z:6.72 [[-9.96927998e-01 -7.80349119e-02 6.71711228e-03 8.16945719e+01] [-7.80324723e-02 9.96950622e-01 6.24910532e-04 3.10645580e+00] [-6.74539410e-03 9.88379274e-05 -9.99977245e-01 6.72134522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.67, Y:3.13, Z:6.72 [[-9.88658593e-01 -1.50031532e-01 6.68780068e-03 8.16723284e+01] [-1.50027475e-01 9.88681208e-01 1.10713417e-03 3.13136875e+00] [-6.77820789e-03 9.12238595e-05 -9.99977024e-01 6.72066688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.65, Y:3.16, Z:6.72 [[-9.75280861e-01 -2.20866117e-01 6.73802100e-03 8.16486714e+01] [-2.20860201e-01 9.75304132e-01 1.61916208e-03 3.15543264e+00] [-6.92923776e-03 9.09771126e-05 -9.99975988e-01 6.72057208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.61, Y:3.17, Z:6.72 [[-9.56689895e-01 -2.91033142e-01 6.64495130e-03 8.16128474e+01] [-2.91025485e-01 9.56712968e-01 2.11288889e-03 3.17292330e+00] [-6.97223177e-03 8.75292727e-05 -9.99975690e-01 6.72029023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.56, Y:3.18, Z:6.72 [[-9.33035728e-01 -3.59735659e-01 5.88096549e-03 8.15613695e+01] [-3.59727981e-01 9.33054259e-01 2.35156195e-03 3.18377806e+00] [-6.33320058e-03 7.85434703e-05 -9.99979942e-01 6.72044091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.50, Y:3.18, Z:6.72 [[-9.04134307e-01 -4.27221264e-01 4.81113032e-03 8.14955174e+01] [-4.27214820e-01 9.04147105e-01 2.34743013e-03 3.18223846e+00] [-5.35284161e-03 6.70059400e-05 -9.99985671e-01 6.72009064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.42, Y:3.18, Z:6.72 [[-8.70010590e-01 -4.93013775e-01 4.35782889e-03 8.14222951e+01] [-4.93007239e-01 8.70021502e-01 2.53932947e-03 3.17505072e+00] [-5.04332925e-03 6.08023394e-05 -9.99987281e-01 6.71918212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.35, Y:3.16, Z:6.72 [[-8.30086593e-01 -5.57620806e-01 3.90958972e-03 8.13453630e+01] [-5.57614342e-01 8.30095799e-01 2.68529272e-03 3.15776505e+00] [-4.74270910e-03 4.89821874e-05 -9.99988752e-01 6.71999322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.26, Y:3.13, Z:6.72 [[-7.85718963e-01 -6.18571357e-01 3.89724510e-03 8.12628678e+01] [-6.18563448e-01 7.85728627e-01 3.12831378e-03 3.13129013e+00] [-4.99726234e-03 4.72820913e-05 -9.99987513e-01 6.72035478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.18, Y:3.09, Z:6.72 [[-7.37436998e-01 -6.75408959e-01 3.06798114e-03 8.11793734e+01] [-6.75402882e-01 7.37443378e-01 2.86544645e-03 3.09150367e+00] [-4.19781058e-03 4.09629175e-05 -9.99991188e-01 6.71981159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.10, Y:3.04, Z:6.72 [[-6.85011231e-01 -7.28527878e-01 2.59698602e-03 8.10955576e+01] [-7.28522422e-01 6.85016153e-01 2.81980880e-03 3.04225504e+00] [-3.83328669e-03 3.96381490e-05 -9.99992652e-01 6.71989482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.01, Y:2.98, Z:6.72 [[-6.29166034e-01 -7.77268526e-01 1.93375375e-03 8.10119209e+01] [-7.77264677e-01 6.29169005e-01 2.44636203e-03 2.98195281e+00] [-3.11813813e-03 3.61294083e-05 -9.99995138e-01 6.71909196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.93, Y:2.91, Z:6.72 [[-5.68535701e-01 -8.22656212e-01 1.97841417e-03 8.09293571e+01] [-8.22650977e-01 5.68539142e-01 2.93495909e-03 2.91434088e+00] [-3.53926823e-03 4.10846716e-05 -9.99993736e-01 6.71888060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.85, Y:2.84, Z:6.72 [[-5.04050209e-01 -8.63672543e-01 1.76792658e-03 8.08521558e+01] [-8.63666952e-01 5.04053308e-01 3.10793697e-03 2.83646421e+00] [-3.57536907e-03 3.96565164e-05 -9.99993608e-01 6.71969566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.78, Y:2.75, Z:6.72 [[-4.36407496e-01 -8.99748161e-01 1.32047043e-03 8.07760635e+01] [-8.99743815e-01 4.36409493e-01 2.79673810e-03 2.74972896e+00] [-3.09262579e-03 3.24323673e-05 -9.99995217e-01 6.71975751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.290385723 meters Centerline goodness [0,1] 0.9999787392367386 Centerline is valid? [True, True] Translation: X:80.71, Y:2.66, Z:6.72 [[-3.64618753e-01 -9.31155935e-01 1.33762305e-03 8.07084264e+01] [-9.31149348e-01 3.64621205e-01 3.50264124e-03 2.65546856e+00] [-3.74923091e-03 3.16018549e-05 -9.99992971e-01 6.72018894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.320385723 meters Centerline goodness [0,1] 0.9999572530831213 Centerline is valid? [True, True] Translation: X:80.65, Y:2.55, Z:6.72 [[-2.90046887e-01 -9.57011589e-01 1.27374317e-03 8.06463033e+01] [-9.57001957e-01 2.90049682e-01 4.29374930e-03 2.55094191e+00] [-4.47861664e-03 2.64139093e-05 -9.99989971e-01 6.72065979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3503857229999 meters Centerline goodness [0,1] 0.9998719016204445 Centerline is valid? [True, True] Translation: X:80.59, Y:2.44, Z:6.72 [[-2.15005398e-01 -9.76612403e-01 9.44838951e-04 8.05903489e+01] [-9.76602527e-01 2.15007473e-01 4.39206081e-03 2.43999805e+00] [-4.49248850e-03 2.15846746e-05 -9.99989909e-01 6.72040295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.55, Y:2.33, Z:6.72 [[-1.37308890e-01 -9.90528091e-01 6.08347717e-04 8.05471339e+01] [-9.90518001e-01 1.37310237e-01 4.47088202e-03 2.33080913e+00] [-4.51206660e-03 1.13124836e-05 -9.99989821e-01 6.72025989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.51, Y:2.21, Z:6.72 [[-5.97733040e-02 -9.98211941e-01 2.70557848e-04 8.05090391e+01] [-9.98201255e-01 5.97739161e-02 4.61879405e-03 2.21367872e+00] [-4.62670768e-03 6.00939793e-06 -9.99989297e-01 6.72051862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.48, Y:2.08, Z:6.72 [[ 1.82069913e-02 -9.99834235e-01 -8.74149210e-05 8.04834423e+01] [-9.99822771e-01 -1.82072011e-02 4.78804988e-03 2.08390188e+00] [-4.78884777e-03 2.23446202e-07 -9.99988533e-01 6.72088218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.46, Y:1.97, Z:6.72 [[ 9.56701625e-02 -9.95412992e-01 -4.42502120e-04 8.04643818e+01] [-9.95402198e-01 -9.56711858e-02 4.63551317e-03 1.97012907e+00] [-4.65658474e-03 -3.01271557e-06 -9.99989158e-01 6.72074270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.46, Y:1.85, Z:6.72 [[ 1.72589469e-01 -9.84993369e-01 -9.69190548e-04 8.04594912e+01] [-9.84977592e-01 -1.72592190e-01 5.57480387e-03 1.84608924e+00] [-5.65841956e-03 -7.52146790e-06 -9.99983991e-01 6.72082032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.46, Y:1.71, Z:6.72 [[ 2.47950893e-01 -9.68771558e-01 -1.42268178e-03 8.04633863e+01] [-9.68755409e-01 -2.47954975e-01 5.59365356e-03 1.70974902e+00] [-5.77173350e-03 -8.72073029e-06 -9.99983343e-01 6.72073209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.47, Y:1.60, Z:6.72 [[ 3.21546230e-01 -9.46892148e-01 -1.81202074e-03 8.04730725e+01] [-9.46876985e-01 -3.21551335e-01 5.35859600e-03 1.60265236e+00] [-5.65667016e-03 -7.27560232e-06 -9.99984001e-01 6.72002194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.49, Y:1.48, Z:6.72 [[ 3.93242421e-01 -9.19432886e-01 -1.88860474e-03 8.04936967e+01] [-9.19422215e-01 -3.93246956e-01 4.42962199e-03 1.47801793e+00] [-4.81542820e-03 -5.49012524e-06 -9.99988406e-01 6.71992240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.53, Y:1.36, Z:6.72 [[ 4.61983105e-01 -8.86886102e-01 -2.15721245e-03 8.05283155e+01] [-8.86876419e-01 -4.61988142e-01 4.14420759e-03 1.35677059e+00] [-4.67204669e-03 -1.37303528e-06 -9.99989086e-01 6.71964739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.57, Y:1.23, Z:6.72 [[ 5.28445006e-01 -8.48963573e-01 -2.59384716e-03 8.05715534e+01] [-8.48953347e-01 -5.28451372e-01 4.16690302e-03 1.23162800e+00] [-4.90827097e-03 7.61331685e-08 -9.99987954e-01 6.71945068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.61, Y:1.13, Z:6.72 [[ 5.91458561e-01 -8.06329919e-01 -2.97204260e-03 8.06126018e+01] [-8.06319772e-01 -5.91466028e-01 4.04510700e-03 1.13495670e+00] [-5.01955303e-03 3.90355249e-06 -9.99987402e-01 6.71947355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.66, Y:1.04, Z:6.72 [[ 6.50863191e-01 -7.59187839e-01 -3.30625149e-03 8.06595769e+01] [-7.59178107e-01 -6.50871589e-01 3.84399312e-03 1.04142656e+00] [-5.07025799e-03 8.12012447e-06 -9.99987146e-01 6.71909605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.72, Y:0.94, Z:6.72 [[ 7.06845254e-01 -7.07359031e-01 -3.60387473e-03 8.07210804e+01] [-7.07349905e-01 -7.06854441e-01 3.59320304e-03 9.38721132e-01] [-5.08909948e-03 9.36193305e-06 -9.99987050e-01 6.71962045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.72, Y:0.94, Z:6.72 [[ 7.59173794e-01 -6.50874396e-01 -4.20371486e-03 8.07222506e+01] [-6.50864542e-01 -7.59185432e-01 3.58171459e-03 9.42053568e-01] [-5.52264540e-03 1.69050904e-05 -9.99984750e-01 6.72041271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.72, Y:0.93, Z:6.72 [[ 8.08227925e-01 -5.88853545e-01 -4.37302702e-03 8.07165176e+01] [-5.88845006e-01 -8.08239755e-01 3.17129665e-03 9.34576063e-01] [-5.40188356e-03 1.19046070e-05 -9.99985410e-01 6.71948940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.71, Y:0.93, Z:6.72 [[ 8.52790111e-01 -5.22235626e-01 -4.35620769e-03 8.07089968e+01] [-5.22228821e-01 -8.52801238e-01 2.66609599e-03 9.25899586e-01] [-5.10730962e-03 1.31690699e-06 -9.99986958e-01 6.71978433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.70, Y:0.92, Z:6.72 [[ 8.92604416e-01 -4.50821555e-01 -4.15724479e-03 8.07022775e+01] [-4.50816586e-01 -8.92614097e-01 2.11668435e-03 9.16544369e-01] [-4.66506223e-03 -1.52068940e-05 -9.99989118e-01 6.71984051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.70, Y:0.91, Z:6.72 [[ 9.25733688e-01 -3.78137927e-01 -5.37102203e-03 8.06969249e+01] [-3.78131384e-01 -9.25749268e-01 2.22464767e-03 9.06382998e-01] [-5.81344338e-03 -2.84792991e-05 -9.99983101e-01 6.72084415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.920385723 meters Centerline goodness [0,1] 0.9999777297730664 Centerline is valid? [True, True] Translation: X:80.69, Y:0.90, Z:6.72 [[ 9.52459536e-01 -3.04598768e-01 -6.35796192e-03 8.06929124e+01] [-3.04591751e-01 -9.52480756e-01 2.06777634e-03 8.98790113e-01] [-6.68567850e-03 -3.28905440e-05 -9.99977650e-01 6.72165457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.69, Y:0.89, Z:6.72 [[ 9.73051096e-01 -2.30483218e-01 -7.00360786e-03 8.06911630e+01] [-2.30477056e-01 -9.73076300e-01 1.68559020e-03 8.92971858e-01] [-7.20354507e-03 -2.59944714e-05 -9.99974054e-01 6.72224234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.69, Y:0.89, Z:6.72 [[ 9.87903149e-01 -1.54904431e-01 -7.21013859e-03 8.06866030e+01] [-1.54900180e-01 -9.87929460e-01 1.14762198e-03 8.86348981e-01] [-7.30088005e-03 -1.68875979e-05 -9.99973348e-01 6.72268303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.68, Y:0.88, Z:6.72 [[ 9.96757107e-01 -8.01481773e-02 -7.17912056e-03 8.06807757e+01] [-8.01461392e-02 -9.96782960e-01 5.71599838e-04 8.75631060e-01] [-7.20183772e-03 5.63259408e-06 -9.99974066e-01 6.72368617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.68, Y:0.86, Z:6.72 [[ 9.99972259e-01 -1.90134405e-03 -7.20182290e-03 8.06756982e+01] [-1.90133531e-03 -9.99998193e-01 8.05949403e-06 8.64522212e-01] [-7.20182520e-03 5.63380972e-06 -9.99974067e-01 6.72368605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.67, Y:0.85, Z:6.72 [[ 9.97153567e-01 7.50734641e-02 -6.98138111e-03 8.06709403e+01] [ 7.50715215e-02 -9.97178006e-01 -5.40263646e-04 8.54227789e-01] [-7.00223916e-03 1.46229196e-05 -9.99975484e-01 6.72449548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.67, Y:0.84, Z:6.72 [[ 9.88513872e-01 1.50978803e-01 -6.76212991e-03 8.06679865e+01] [ 1.50975078e-01 -9.88537000e-01 -1.06082966e-03 8.44152405e-01] [-6.84477841e-03 2.77317376e-05 -9.99976574e-01 6.72416622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.66, Y:0.84, Z:6.73 [[ 9.74435639e-01 2.24543506e-01 -7.44313426e-03 8.06644230e+01] [ 2.24536507e-01 -9.74464063e-01 -1.77379460e-03 8.36486397e-01] [-7.65136091e-03 5.71933126e-05 -9.99970726e-01 6.72527253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.66, Y:0.83, Z:6.73 [[ 9.54873624e-01 2.96918762e-01 -7.45725747e-03 8.06627058e+01] [ 2.96909009e-01 -9.54902739e-01 -2.40803270e-03 8.26145337e-01] [-7.83594568e-03 8.52399856e-05 -9.99969295e-01 6.72522253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.66, Y:0.82, Z:6.73 [[ 9.29215610e-01 3.69462678e-01 -7.46183249e-03 8.06613139e+01] [ 3.69449906e-01 -9.29245565e-01 -3.07366141e-03 8.16110610e-01] [-8.06947792e-03 9.93208520e-05 -9.99967436e-01 6.72532252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.66, Y:0.81, Z:6.73 [[ 8.98019451e-01 4.39905730e-01 -6.63437344e-03 8.06602192e+01] [ 4.39892891e-01 -8.98043951e-01 -3.36243767e-03 8.05568506e-01] [-7.43711454e-03 1.01120719e-04 -9.99972339e-01 6.72555592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.66, Y:0.79, Z:6.73 [[ 8.60624118e-01 5.09206760e-01 -5.88244311e-03 8.06604324e+01] [ 5.09194140e-01 -8.60644216e-01 -3.58618512e-03 7.94888786e-01] [-6.88880034e-03 9.10518426e-05 -9.99976268e-01 6.72570254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.66, Y:0.78, Z:6.72 [[ 8.17547616e-01 5.75841907e-01 -4.68970009e-03 8.06625937e+01] [ 5.75831936e-01 -8.17561064e-01 -3.38949056e-03 7.82645797e-01] [-5.78592690e-03 7.05908424e-05 -9.99983259e-01 6.72497930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.66, Y:0.77, Z:6.73 [[ 7.69618017e-01 6.38487383e-01 -4.68718066e-03 8.06631409e+01] [ 6.38474971e-01 -7.69632287e-01 -3.98170896e-03 7.71658809e-01] [-6.14967651e-03 7.17474186e-05 -9.99981088e-01 6.72506736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.67, Y:0.76, Z:6.73 [[ 7.16404946e-01 6.97670031e-01 -4.52552612e-03 8.06663758e+01] [ 6.97655522e-01 -7.16419237e-01 -4.49992487e-03 7.60333794e-01] [-6.38163669e-03 6.65101462e-05 -9.99979635e-01 6.72555413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.67, Y:0.75, Z:6.73 [[ 6.58964623e-01 7.52163036e-01 -4.04881980e-03 8.06685519e+01] [ 7.52148281e-01 -6.58977059e-01 -4.71164102e-03 7.50177608e-01] [-6.21200158e-03 5.94918950e-05 -9.99980704e-01 6.72562786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.68, Y:0.74, Z:6.72 [[ 5.96784113e-01 8.02394118e-01 -3.52166660e-03 8.06750279e+01] [ 8.02379674e-01 -5.96794501e-01 -4.81481109e-03 7.38582711e-01] [-5.96508736e-03 4.76890633e-05 -9.99982208e-01 6.72415441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.68, Y:0.73, Z:6.72 [[ 5.31652806e-01 8.46956204e-01 -3.23761644e-03 8.06800313e+01] [ 8.46939972e-01 -5.31662662e-01 -5.24385810e-03 7.27402637e-01] [-6.16263793e-03 4.58450904e-05 -9.99981010e-01 6.72396664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.68, Y:0.72, Z:6.73 [[ 4.63695546e-01 8.85989973e-01 -2.86513195e-03 8.06849653e+01] [ 8.85972432e-01 -4.63704395e-01 -5.57522339e-03 7.17154935e-01] [-6.26816629e-03 4.67783286e-05 -9.99980354e-01 6.72531607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.69, Y:0.71, Z:6.73 [[ 3.93615191e-01 9.19272150e-01 -2.40749758e-03 8.06897750e+01] [ 9.19254146e-01 -3.93622550e-01 -5.75350452e-03 7.08853743e-01] [-6.23668180e-03 5.15646453e-05 -9.99980550e-01 6.72562322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.69, Y:0.70, Z:6.73 [[ 3.23184755e-01 9.46333114e-01 -2.29155637e-03 8.06939928e+01] [ 9.46307496e-01 -3.23192869e-01 -6.96366197e-03 7.00862033e-01] [-7.33055860e-03 8.20324205e-05 -9.99973128e-01 6.72525382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.70, Y:0.69, Z:6.72 [[ 2.49689644e-01 9.68324272e-01 -1.78496328e-03 8.07015972e+01] [ 9.68296685e-01 -2.49696005e-01 -7.30987064e-03 6.93082660e-01] [-7.52402337e-03 9.68249657e-05 -9.99971690e-01 6.72472052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.71, Y:0.68, Z:6.72 [[ 1.76095386e-01 9.84372403e-01 -1.17765827e-03 8.07075239e+01] [ 9.84345727e-01 -1.76099285e-01 -7.24792301e-03 6.84457723e-01] [-7.34204017e-03 1.17102920e-04 -9.99973040e-01 6.72449853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.72, Y:0.68, Z:6.72 [[ 9.84151130e-02 9.95145276e-01 -5.87167286e-04 8.07155328e+01] [ 9.95120033e-01 -9.84167993e-02 -7.08902587e-03 6.75907282e-01] [-7.11239773e-03 1.13365354e-04 -9.99974700e-01 6.72492489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.72, Y:0.67, Z:6.73 [[ 1.99345114e-02 9.99801287e-01 -3.25270103e-05 8.07247977e+01] [ 9.99771186e-01 -1.99341637e-02 -7.75918574e-03 6.69045286e-01] [-7.75829229e-03 1.22156009e-04 -9.99969897e-01 6.72595485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.73, Y:0.66, Z:6.73 [[-5.88505248e-02 9.98266621e-01 6.08184498e-04 8.07332419e+01] [ 9.98233135e-01 5.88535327e-02 -8.17735105e-03 6.62291685e-01] [-8.19897041e-03 1.25868518e-04 -9.99966380e-01 6.72611581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.74, Y:0.66, Z:6.73 [[-1.37059656e-01 9.90562045e-01 1.21863366e-03 8.07411557e+01] [ 9.90530397e-01 1.37065020e-01 -7.91910932e-03 6.55092684e-01] [-8.01140118e-03 1.21703284e-04 -9.99967901e-01 6.72571134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.75, Y:0.65, Z:6.73 [[-2.14168499e-01 9.76794910e-01 1.88649375e-03 8.07480453e+01] [ 9.76762014e-01 2.14176770e-01 -8.01740883e-03 6.49596952e-01] [-8.23540727e-03 1.25579019e-04 -9.99966081e-01 6.72566871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.76, Y:0.64, Z:6.73 [[-2.89849906e-01 9.57068487e-01 2.63516028e-03 8.07551582e+01] [ 9.57033021e-01 2.89861854e-01 -8.24030767e-03 6.43827276e-01] [-8.65037124e-03 1.33482997e-04 -9.99962576e-01 6.72534333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.77, Y:0.64, Z:6.73 [[-3.63040074e-01 9.31768175e-01 3.15809954e-03 8.07691405e+01] [ 9.31736133e-01 3.63053784e-01 -7.72845784e-03 6.42354879e-01] [-8.34769104e-03 1.36775548e-04 -9.99965148e-01 6.72557733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.78, Y:0.64, Z:6.73 [[-4.34594858e-01 9.00618001e-01 3.81119848e-03 8.07818279e+01] [ 9.00586188e-01 4.34611546e-01 -7.57111358e-03 6.41899996e-01] [-8.47507204e-03 1.41945677e-04 -9.99964076e-01 6.72545951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.79, Y:0.64, Z:6.73 [[-5.03086399e-01 8.64226217e-01 4.13783229e-03 8.07933381e+01] [ 8.64199251e-01 5.03103395e-01 -6.82855416e-03 6.41484674e-01] [-7.98317300e-03 1.40558840e-04 -9.99968124e-01 6.72533687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.80, Y:0.64, Z:6.72 [[-5.67570181e-01 8.23312985e-01 4.45167755e-03 8.08037092e+01] [ 8.23289701e-01 5.67587620e-01 -6.19368554e-03 6.41146346e-01] [-7.62605879e-03 1.49669053e-04 -9.99970910e-01 6.72497424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.82, Y:0.64, Z:6.73 [[-6.28560727e-01 7.77742305e-01 5.32168753e-03 8.08162350e+01] [ 7.77716832e-01 6.28583228e-01 -6.29717485e-03 6.44002735e-01] [-8.24270281e-03 1.80609169e-04 -9.99966012e-01 6.72501983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.83, Y:0.65, Z:6.73 [[-6.86679813e-01 7.26935551e-01 5.96138253e-03 8.08277005e+01] [ 7.26910602e-01 6.86705662e-01 -6.02584135e-03 6.45134451e-01] [-8.47411344e-03 1.95568546e-04 -9.99964075e-01 6.72610094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.84, Y:0.64, Z:6.73 [[-7.39843397e-01 6.72746784e-01 6.59642483e-03 8.08368591e+01] [ 6.72722699e-01 7.39872770e-01 -5.69696636e-03 6.43916893e-01] [-8.71313091e-03 2.22701762e-04 -9.99962015e-01 6.72665493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.87, Y:0.65, Z:6.73 [[-7.84907951e-01 6.19577178e-01 6.60524193e-03 8.08728341e+01] [ 6.19557573e-01 7.84935713e-01 -4.93370183e-03 6.51395160e-01] [-8.24149934e-03 2.19825858e-04 -9.99966014e-01 6.72612327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.89, Y:0.67, Z:6.73 [[-8.25760817e-01 5.63984698e-01 6.35093730e-03 8.08918526e+01] [ 5.63970004e-01 8.25785211e-01 -4.07680097e-03 6.72521671e-01] [-7.54376346e-03 2.15275635e-04 -9.99971522e-01 6.72528318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.91, Y:0.70, Z:6.73 [[-8.63208108e-01 5.04813010e-01 5.96552016e-03 8.09102344e+01] [ 5.04802537e-01 8.63228698e-01 -3.25788386e-03 6.96438613e-01] [-6.79423036e-03 1.99177950e-04 -9.99976899e-01 6.72501977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.93, Y:0.72, Z:6.72 [[-8.96463198e-01 4.43075549e-01 6.14750977e-03 8.09297012e+01] [ 4.43066675e-01 8.96484254e-01 -2.81156217e-03 7.21094717e-01] [-6.75688015e-03 2.03294699e-04 -9.99977151e-01 6.72465667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.94, Y:0.75, Z:6.72 [[-9.25527865e-01 3.78622956e-01 6.54433370e-03 8.09379783e+01] [ 3.78615095e-01 9.25550978e-01 -2.44891677e-03 7.50840680e-01] [-6.98433056e-03 2.11242813e-04 -9.99975587e-01 6.72433476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.96, Y:0.78, Z:6.72 [[-9.49944996e-01 3.12350897e-01 6.43591347e-03 8.09595849e+01] [ 3.12345183e-01 9.49966776e-01 -1.90042833e-03 7.78438792e-01] [-6.70750446e-03 2.04924186e-04 -9.99977484e-01 6.72397731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.96, Y:0.81, Z:6.72 [[-9.69793445e-01 2.43844628e-01 6.36174780e-03 8.09615328e+01] [ 2.43840704e-01 9.69814291e-01 -1.39717602e-03 8.08439179e-01] [-6.51040780e-03 1.96280925e-04 -9.99978788e-01 6.72430376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.98, Y:0.84, Z:6.72 [[-9.84757725e-01 1.73820479e-01 6.21804929e-03 8.09761252e+01] [ 1.73818196e-01 9.84777339e-01 -9.09889550e-04 8.36453965e-01] [-6.28155147e-03 1.84789345e-04 -9.99980254e-01 6.72473618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.99, Y:0.87, Z:6.72 [[-9.94647683e-01 1.03139474e-01 6.18343368e-03 8.09853400e+01] [ 1.03138595e-01 9.94666888e-01 -4.61619559e-04 8.67670708e-01] [-6.19806794e-03 1.78601839e-04 -9.99980776e-01 6.72496287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.98, Y:0.90, Z:6.72 [[-9.99492986e-01 3.11943016e-02 6.37866363e-03 8.09847086e+01] [ 3.11947995e-02 9.99513324e-01 -2.14326582e-05 9.00255763e-01] [-6.37622786e-03 1.77559342e-04 -9.99979656e-01 6.72451818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.99, Y:1.69, Z:5.75 [[-9.99055521e-01 -4.30740576e-02 5.71759383e-03 8.09920439e+01] [ 4.30721921e-02 -9.99071862e-01 -4.49064900e-04 1.68823605e+00] [ 5.73163016e-03 -2.02371468e-04 9.99983554e-01 5.75295028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.89, Y:0.90, Z:6.72 [[-9.99701283e-01 2.40316549e-02 4.45251085e-03 8.08871613e+01] [ 2.40319445e-02 9.99711191e-01 1.15481395e-05 9.04092082e-01] [-4.45094741e-03 1.18547184e-04 -9.99990088e-01 6.72405086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.89, Y:1.68, Z:5.75 [[-9.99236487e-01 -3.89046617e-02 3.58744636e-03 8.08869810e+01] [ 3.89038613e-02 -9.99242915e-01 -2.92658038e-04 1.68365927e+00] [ 3.59611612e-03 -1.52869074e-04 9.99993522e-01 5.75323020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.79, Y:0.91, Z:6.72 [[-9.99850169e-01 1.69734656e-02 3.39736080e-03 8.07880392e+01] [ 1.69736635e-02 9.99855937e-01 2.94202535e-05 9.08439515e-01] [-3.39637200e-03 8.70815044e-05 -9.99994229e-01 6.72425237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.78, Y:1.68, Z:5.75 [[-9.99442152e-01 -3.32997169e-02 2.55205287e-03 8.07845249e+01] [ 3.32992985e-02 -9.99445403e-01 -2.06277275e-04 1.68083594e+00] [ 2.55750649e-03 -1.21180633e-04 9.99996722e-01 5.75398283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.69, Y:0.91, Z:6.72 [[-9.99932828e-01 1.12857769e-02 2.64011248e-03 8.06864985e+01] [ 1.12859190e-02 9.99936311e-01 3.89200644e-05 9.06629756e-01] [-2.63950509e-03 6.87135457e-05 -9.99996514e-01 6.72401463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.68, Y:0.94, Z:6.72 [[-9.98296689e-01 -5.82895615e-02 2.45940973e-03 8.06800644e+01] [-5.82892158e-02 9.98299716e-01 2.12050907e-04 9.41811739e-01] [-2.46758839e-03 6.83326540e-05 -9.99996953e-01 6.72380985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.62, Y:1.70, Z:5.75 [[-9.98904272e-01 4.67464579e-02 2.24141321e-03 8.06209411e+01] [-4.67465131e-02 -9.98906784e-01 2.77830809e-05 1.70451013e+00] [ 2.24026162e-03 -7.70256136e-05 9.99997488e-01 5.75322875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.57, Y:0.93, Z:6.72 [[-9.98036781e-01 -6.25901014e-02 2.25017734e-03 8.05693701e+01] [-6.25897909e-02 9.98039315e-01 2.08244709e-04 9.33759443e-01] [-2.25879951e-03 6.69977497e-05 -9.99997447e-01 6.72474116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.570385723 meters Centerline goodness [0,1] 0.9999559801030066 Centerline is valid? [True, True] Translation: X:80.55, Y:0.96, Z:6.72 [[-9.90993275e-01 -1.33896090e-01 2.04117777e-03 8.05545516e+01] [-1.33895679e-01 9.90995375e-01 3.37571504e-04 9.63130693e-01] [-2.06799724e-03 6.12262064e-05 -9.99997860e-01 6.72475660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.52, Y:0.99, Z:6.73 [[-9.78712563e-01 -2.05219847e-01 2.55612108e-03 8.05244284e+01] [-2.05218942e-01 9.78715898e-01 6.14257168e-04 9.88600568e-01] [-2.62777410e-03 7.66167438e-05 -9.99996545e-01 6.72537336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.47, Y:1.01, Z:6.73 [[-9.60900678e-01 -2.76885841e-01 2.02953982e-03 8.04723981e+01] [-2.76885089e-01 9.60902819e-01 6.48249943e-04 1.00685587e+00] [-2.12968176e-03 6.09544972e-05 -9.99997730e-01 6.72551232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.41, Y:1.02, Z:6.73 [[-9.37224268e-01 -3.48724471e-01 1.38387200e-03 8.04076812e+01] [-3.48724028e-01 9.37225289e-01 5.57479450e-04 1.01862829e+00] [-1.49140656e-03 3.98938516e-05 -9.99998887e-01 6.72557628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.33, Y:1.02, Z:6.73 [[-9.08328798e-01 -4.18255305e-01 1.13811827e-03 8.03335737e+01] [-4.18254931e-01 9.08329510e-01 5.59873635e-04 1.02040102e+00] [-1.26795653e-03 3.25257664e-05 -9.99999196e-01 6.72567165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.25, Y:1.01, Z:6.73 [[-8.74140007e-01 -4.85671394e-01 1.59566569e-03 8.02496395e+01] [-4.85670489e-01 8.74141462e-01 9.38317176e-04 1.01228971e+00] [-1.85055135e-03 4.52528472e-05 -9.99998287e-01 6.72650055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.16, Y:0.99, Z:6.73 [[-8.35650515e-01 -5.49257869e-01 2.00271832e-03 8.01606077e+01] [-5.49256115e-01 8.35652912e-01 1.38942108e-03 9.90322627e-01] [-2.43672786e-03 6.10651510e-05 -9.99997029e-01 6.72682507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.07, Y:0.96, Z:6.73 [[-7.92413100e-01 -6.09981759e-01 1.93217702e-03 8.00702380e+01] [-6.09979745e-01 7.92415453e-01 1.56852105e-03 9.63365960e-01] [-2.48785616e-03 6.43277749e-05 -9.99996903e-01 6.72676539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.810385723 meters Centerline goodness [0,1] 0.9999563318777293 Centerline is valid? [True, True] Translation: X:79.98, Y:0.92, Z:6.73 [[-7.45195944e-01 -6.66843631e-01 1.60531977e-03 7.99754200e+01] [-6.66841905e-01 7.45197671e-01 1.51821718e-03 9.24466658e-01] [-2.20869401e-03 6.08747934e-05 -9.99997559e-01 6.72768917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.88, Y:0.87, Z:6.73 [[-6.93247364e-01 -7.20697655e-01 1.72736130e-03 7.98823070e+01] [-7.20695150e-01 6.93249512e-01 1.90135043e-03 8.72253507e-01] [-2.56779118e-03 7.32052610e-05 -9.99996701e-01 6.72775735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.79, Y:0.81, Z:6.73 [[-6.37639293e-01 -7.70334140e-01 1.20207400e-03 7.97913086e+01] [-7.70332593e-01 6.37640423e-01 1.54482966e-03 8.12031906e-01] [-1.95652600e-03 5.90473081e-05 -9.99998084e-01 6.72808336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.70, Y:0.74, Z:6.73 [[-5.77821712e-01 -8.16162179e-01 1.16908666e-03 7.97017175e+01] [-8.16160273e-01 5.77822891e-01 1.76488869e-03 7.41440004e-01] [-2.11596044e-03 6.56289145e-05 -9.99997759e-01 6.72740793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.62, Y:0.66, Z:6.73 [[-5.13806029e-01 -8.57905765e-01 1.03090321e-03 7.96173158e+01] [-8.57903775e-01 5.13807059e-01 1.84903490e-03 6.59816270e-01] [-2.11598305e-03 6.56295167e-05 -9.99997759e-01 6.72740904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.54, Y:0.57, Z:6.73 [[-4.47616799e-01 -8.94225171e-01 7.38857139e-04 7.95388376e+01] [-8.94223736e-01 4.47617405e-01 1.60281605e-03 5.69236067e-01] [-1.76400377e-03 5.67437957e-05 -9.99998443e-01 6.72703696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.46, Y:0.47, Z:6.73 [[-3.79871395e-01 -9.25039036e-01 7.11329356e-04 7.94619895e+01] [-9.25037052e-01 3.79872055e-01 1.91700165e-03 4.72784771e-01] [-2.04351550e-03 7.02080828e-05 -9.99997910e-01 6.72733350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.39, Y:0.37, Z:6.73 [[-3.09353552e-01 -9.50946797e-01 7.54071113e-04 7.93912965e+01] [-9.50943151e-01 3.09354455e-01 2.63542935e-03 3.67495210e-01] [-2.73942836e-03 9.82006692e-05 -9.99996243e-01 6.72833096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.33, Y:0.26, Z:6.73 [[-2.35820376e-01 -9.71796523e-01 5.18521274e-04 7.93318725e+01] [-9.71793223e-01 2.35820928e-01 2.53417473e-03 2.57866877e-01] [-2.58498035e-03 9.37145783e-05 -9.99996655e-01 6.72846367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.28, Y:0.15, Z:6.73 [[-1.59371122e-01 -9.87218676e-01 3.63143073e-04 7.92811112e+01] [-9.87214449e-01 1.59371503e-01 2.89063643e-03 1.46822317e-01] [-2.91156492e-03 1.02183882e-04 -9.99995756e-01 6.72822745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.24, Y:0.02, Z:6.73 [[-8.19200790e-02 -9.96638887e-01 1.70067999e-04 7.92380066e+01] [-9.96632666e-01 8.19201689e-02 3.52342846e-03 1.72891619e-02] [-3.52551782e-03 1.19144214e-04 -9.99993778e-01 6.72840787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.20, Y:-0.10, Z:6.73 [[-2.17922923e-03 -9.99997614e-01 -1.49089795e-04 7.92004234e+01] [-9.99984045e-01 2.17842261e-03 5.21198927e-03 -9.57411330e-02] [-5.21165205e-03 1.60445536e-04 -9.99986406e-01 6.72997324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.18, Y:-0.22, Z:6.73 [[ 7.58363647e-02 -9.97120086e-01 -6.17094760e-04 7.91786468e+01] [-9.97103031e-01 -7.58386784e-02 5.83449857e-03 -2.21366201e-01] [-5.86449537e-03 1.72839894e-04 -9.99982789e-01 6.73100776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.16, Y:-0.35, Z:6.73 [[ 1.54101676e-01 -9.88054478e-01 -1.01118815e-03 7.91600030e+01] [-9.88039235e-01 -1.54104918e-01 5.49033330e-03 -3.47366850e-01] [-5.58057746e-03 1.53024006e-04 -9.99984417e-01 6.73061437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.16, Y:-0.47, Z:6.73 [[ 2.30005765e-01 -9.73188469e-01 -1.24580203e-03 7.91558568e+01] [-9.73177097e-01 -2.30009102e-01 4.70649987e-03 -4.71017661e-01] [-4.86685721e-03 1.29863897e-04 -9.99988148e-01 6.72973559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.16, Y:-0.60, Z:6.73 [[ 3.05109648e-01 -9.52316470e-01 -1.20203833e-03 7.91611184e+01] [-9.52310232e-01 -3.05112001e-01 3.44811816e-03 -5.96699662e-01] [-3.65045603e-03 9.26592818e-05 -9.99993333e-01 6.72806313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.17, Y:-0.72, Z:6.73 [[ 3.78403175e-01 -9.25640080e-01 -1.21613940e-03 7.91735971e+01] [-9.25635899e-01 -3.78405122e-01 2.78330470e-03 -7.16459391e-01] [-3.03653177e-03 7.24909489e-05 -9.99995387e-01 6.72746155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.320385723 meters Centerline goodness [0,1] 0.999956976293938 Centerline is valid? [True, True] Translation: X:79.19, Y:-0.83, Z:6.73 [[ 4.48810875e-01 -8.93625687e-01 -1.38934705e-03 7.91945155e+01] [-8.93621863e-01 -4.48813020e-01 2.61497038e-03 -8.34455518e-01] [-2.96036175e-03 6.79237575e-05 -9.99995616e-01 6.72727930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.23, Y:-0.95, Z:6.73 [[ 5.16928061e-01 -8.56026734e-01 -1.90037835e-03 7.92264855e+01] [-8.56021480e-01 -5.16931548e-01 2.99996142e-03 -9.49979755e-01] [-3.55041270e-03 7.60004494e-05 -9.99993694e-01 6.72810422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.380385723 meters Centerline goodness [0,1] 0.9999572219964494 Centerline is valid? [True, True] Translation: X:79.27, Y:-1.06, Z:6.73 [[ 5.80833685e-01 -8.14018943e-01 -2.32182747e-03 7.92659973e+01] [-8.14012994e-01 -5.80838320e-01 3.11331140e-03 -1.06335585e+00] [-3.88290082e-03 8.16815995e-05 -9.99992458e-01 6.72780020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.31, Y:-1.16, Z:6.73 [[ 6.40294219e-01 -7.68126119e-01 -2.36184706e-03 7.93088838e+01] [-7.68121342e-01 -6.40298570e-01 2.71013440e-03 -1.16267236e+00] [-3.59401231e-03 7.89017390e-05 -9.99993538e-01 6.72628462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.36, Y:-1.26, Z:6.73 [[ 6.96018154e-01 -7.18020084e-01 -2.42675185e-03 7.93587348e+01] [-7.18016105e-01 -6.96022380e-01 2.39154720e-03 -1.25792509e+00] [-3.40625252e-03 7.78866472e-05 -9.99994196e-01 6.72593731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:-1.27, Z:6.73 [[ 7.49140251e-01 -6.62406036e-01 -2.66977685e-03 7.93537128e+01] [-6.62402226e-01 -7.49145004e-01 2.24809430e-03 -1.27197197e+00] [-3.48920122e-03 8.43282029e-05 -9.99993909e-01 6.72596679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:-1.28, Z:6.73 [[ 7.98406451e-01 -6.02110897e-01 -3.09952174e-03 7.93503253e+01] [-6.02106810e-01 -7.98412462e-01 2.22036278e-03 -1.28384319e+00] [-3.81160141e-03 9.34911813e-05 -9.99992732e-01 6.72665321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:-1.30, Z:6.73 [[ 8.42835220e-01 -5.38160762e-01 -3.43316703e-03 7.93486638e+01] [-5.38156776e-01 -8.42842206e-01 2.07362975e-03 -1.29735303e+00] [-4.00956424e-03 9.98539142e-05 -9.99991957e-01 6.72674795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:-1.31, Z:6.73 [[ 8.82228126e-01 -4.70808462e-01 -3.59520223e-03 7.93486086e+01] [-4.70805016e-01 -8.82235446e-01 1.80421477e-03 -1.31032671e+00] [-4.02125442e-03 1.00910230e-04 -9.99991910e-01 6.72662363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:-1.32, Z:6.73 [[ 9.16179480e-01 -4.00748884e-01 -3.93612359e-03 7.93482891e+01] [-4.00745690e-01 -9.16187928e-01 1.60381306e-03 -1.32140265e+00] [-4.24895521e-03 1.08003944e-04 -9.99990967e-01 6.72695354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.620385723 meters Centerline goodness [0,1] 0.9999356885611388 Centerline is valid? [True, True] Translation: X:79.35, Y:-1.33, Z:6.73 [[ 9.44708533e-01 -3.27882651e-01 -4.33072027e-03 7.93491723e+01] [-3.27879763e-01 -9.44718452e-01 1.38106411e-03 -1.33448801e+00] [-4.54413831e-03 1.15252483e-04 -9.99989669e-01 6.72716391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:-1.35, Z:6.73 [[ 9.67608235e-01 -2.52413529e-01 -4.65992873e-03 7.93510112e+01] [-2.52411189e-01 -9.67619448e-01 1.09317425e-03 -1.34728432e+00] [-4.78496963e-03 1.18453750e-04 -9.99988545e-01 6.72741425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:-1.36, Z:6.73 [[ 9.84535407e-01 -1.75129708e-01 -4.42910527e-03 7.93545561e+01] [-1.75128424e-01 -9.84545364e-01 6.79067182e-04 -1.35800830e+00] [-4.47957990e-03 1.07096541e-04 -9.99989961e-01 6.72692172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.710385723 meters Centerline goodness [0,1] 0.999957152344838 Centerline is valid? [True, True] Translation: X:79.36, Y:-1.37, Z:6.73 [[ 9.95273580e-01 -9.70112833e-02 -4.39450855e-03 7.93553275e+01] [-9.70107945e-02 -9.95283276e-01 3.24742297e-04 -1.37066287e+00] [-4.40528454e-03 1.03107338e-04 -9.99990291e-01 6.72671265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.36, Y:-1.38, Z:6.73 [[ 9.99822486e-01 -1.82691053e-02 -4.60832363e-03 7.93563269e+01] [-1.82693969e-02 -9.99833101e-01 -2.12014767e-05 -1.38144542e+00] [-4.60716717e-03 1.05389007e-04 -9.99989381e-01 6.72689263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.36, Y:-1.40, Z:6.73 [[ 9.98113222e-01 6.11979957e-02 -4.98001865e-03 7.93582438e+01] [ 6.11966900e-02 -9.98125640e-01 -4.14280451e-04 -1.39581121e+00] [-4.99603744e-03 1.08738138e-04 -9.99987514e-01 6.72694235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.36, Y:-1.41, Z:6.73 [[ 9.90171910e-01 1.39777612e-01 -4.66998438e-03 7.93600557e+01] [ 1.39775580e-01 -9.90182917e-01 -7.60305773e-04 -1.40720020e+00] [-4.73041248e-03 1.00083644e-04 -9.99988807e-01 6.72649033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.36, Y:-1.42, Z:6.73 [[ 9.76199423e-01 2.16837043e-01 -4.04758705e-03 7.93649102e+01] [ 2.16834803e-01 -9.76207810e-01 -9.89490232e-04 -1.41934243e+00] [-4.16584423e-03 8.82820506e-05 -9.99991319e-01 6.72633997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.860385723 meters Centerline goodness [0,1] 0.9999355891446239 Centerline is valid? [True, True] Translation: X:79.37, Y:-1.43, Z:6.73 [[ 9.56195669e-01 2.92701203e-01 -3.98109821e-03 7.93706138e+01] [ 2.92698280e-01 -9.56203952e-01 -1.31104006e-03 -1.43267008e+00] [-4.19048484e-03 8.83502253e-05 -9.99991216e-01 6.72602245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.37, Y:-1.44, Z:6.73 [[ 9.30355660e-01 3.66650834e-01 -2.34772697e-03 7.93748330e+01] [ 3.66649520e-01 -9.30358621e-01 -9.83159370e-04 -1.44308243e+00] [-2.54470423e-03 5.38949190e-05 -9.99996761e-01 6.72525020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.920385723 meters Centerline goodness [0,1] 0.9999571615224795 Centerline is valid? [True, True] Translation: X:79.38, Y:-1.45, Z:6.73 [[ 8.98803632e-01 4.38348131e-01 -1.71674428e-03 7.93805505e+01] [ 4.38347244e-01 -8.98805271e-01 -8.82930087e-04 -1.45234249e+00] [-1.93004956e-03 4.10506463e-05 -9.99998137e-01 6.72511897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.39, Y:-1.46, Z:6.73 [[ 8.62295578e-01 5.06402074e-01 -1.80986159e-03 7.93850578e+01] [ 5.06400842e-01 -8.62297476e-01 -1.11790272e-03 -1.45876584e+00] [-2.12674733e-03 4.74471362e-05 -9.99997737e-01 6.72520814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.39, Y:-1.47, Z:6.72 [[ 8.20631158e-01 5.71456161e-01 -1.53586766e-03 7.93929900e+01] [ 5.71455058e-01 -8.20632594e-01 -1.12383753e-03 -1.46881467e+00] [-1.90260694e-03 4.45767522e-05 -9.99998189e-01 6.72489221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.40, Y:-1.47, Z:6.72 [[ 7.74755309e-01 6.32259680e-01 -1.38118705e-03 7.93983441e+01] [ 6.32258567e-01 -7.74756539e-01 -1.18729580e-03 -1.47486995e+00] [-1.82076296e-03 4.65963791e-05 -9.99998341e-01 6.72450276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.40, Y:-1.48, Z:6.72 [[ 7.23609821e-01 6.90207652e-01 -1.49116507e-03 7.94044317e+01] [ 6.90206025e-01 -7.23611355e-01 -1.50006117e-03 -1.48094706e+00] [-2.11437768e-03 5.62478854e-05 -9.99997763e-01 6.72455320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.41, Y:-1.49, Z:6.72 [[ 6.67509097e-01 7.44600337e-01 -1.39407298e-03 7.94139379e+01] [ 7.44598530e-01 -6.67510551e-01 -1.64152580e-03 -1.48887664e+00] [-2.15283909e-03 5.77087125e-05 -9.99997681e-01 6.72484950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1003857229999 meters Centerline goodness [0,1] 0.9999568565696658 Centerline is valid? [True, True] Translation: X:79.42, Y:-1.49, Z:6.73 [[ 6.06613824e-01 7.94994739e-01 -1.74159030e-03 7.94204183e+01] [ 7.94991090e-01 -6.06616319e-01 -2.41013510e-03 -1.49467774e+00] [-2.97252182e-03 7.74724992e-05 -9.99995579e-01 6.72682776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.130385723 meters Centerline goodness [0,1] 0.9999356457944527 Centerline is valid? [True, True] Translation: X:79.43, Y:-1.50, Z:6.73 [[ 5.42075667e-01 8.40327371e-01 -1.97002335e-03 7.94297624e+01] [ 8.40321162e-01 -5.42079238e-01 -3.23196511e-03 -1.50156218e+00] [-3.78381750e-03 9.65173336e-05 -9.99992837e-01 6.72732213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.44, Y:-1.51, Z:6.73 [[ 4.74113525e-01 8.80461367e-01 -2.03648659e-03 7.94378341e+01] [ 8.80452201e-01 -4.74117886e-01 -4.01899860e-03 -1.50665668e+00] [-4.50410771e-03 1.12432496e-04 -9.99989850e-01 6.72793469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.190385723 meters Centerline goodness [0,1] 0.9999569114098587 Centerline is valid? [True, True] Translation: X:79.45, Y:-1.51, Z:6.73 [[ 4.03037653e-01 9.15180649e-01 -2.24279497e-03 7.94477211e+01] [ 9.15164454e-01 -4.03043868e-01 -5.44632004e-03 -1.51221376e+00] [-5.88831147e-03 1.42545810e-04 -9.99982654e-01 6.72935701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.45, Y:-1.52, Z:6.73 [[ 3.31428905e-01 9.43478719e-01 -1.66957945e-03 7.94537045e+01] [ 9.43464552e-01 -3.31433081e-01 -5.17234868e-03 -1.51664143e+00] [-5.43335477e-03 1.39076829e-04 -9.99985230e-01 6.72938015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.46, Y:-1.52, Z:6.73 [[ 2.57781376e-01 9.66202552e-01 -1.17981338e-03 7.94600237e+01] [ 9.66189866e-01 -2.57784039e-01 -4.95292536e-03 -1.52077655e+00] [-5.08966618e-03 1.36848180e-04 -9.99987038e-01 6.72882737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.47, Y:-1.52, Z:6.73 [[ 1.83210687e-01 9.83073460e-01 -6.44847660e-04 7.94728638e+01] [ 9.83064858e-01 -1.83211783e-01 -4.11430240e-03 -1.52417333e+00] [-4.16280519e-03 1.19857099e-04 -9.99991328e-01 6.72739984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.48, Y:-1.53, Z:6.73 [[ 1.06286807e-01 9.94335471e-01 -2.93786013e-04 7.94831214e+01] [ 9.94328192e-01 -1.06287154e-01 -3.80618556e-03 -1.52764821e+00] [-3.81585099e-03 1.12427596e-04 -9.99992713e-01 6.72722654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.49, Y:-1.53, Z:6.73 [[ 2.86290556e-02 9.99590105e-01 5.07093307e-06 7.94927770e+01] [ 9.99583125e-01 -2.86288368e-02 -3.73720225e-03 -1.52965847e+00] [-3.73552521e-03 1.12061390e-04 -9.99993017e-01 6.72704899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.50, Y:-1.53, Z:6.73 [[-4.95190010e-02 9.98773139e-01 2.93891597e-04 7.95036483e+01] [ 9.98766376e-01 4.95197477e-02 -3.67713219e-03 -1.53131839e+00] [-3.68717429e-03 1.11441132e-04 -9.99993196e-01 6.72761294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.52, Y:-1.53, Z:6.73 [[-1.28015199e-01 9.91772022e-01 6.03942262e-04 7.95153525e+01] [ 9.91764800e-01 1.28016573e-01 -3.78667796e-03 -1.53189674e+00] [-3.83283587e-03 1.14216342e-04 -9.99992648e-01 6.72818749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.53, Y:-1.53, Z:6.73 [[-2.05793890e-01 9.78594866e-01 9.81540005e-04 7.95255885e+01] [ 9.78586403e-01 2.05796194e-01 -4.07156043e-03 -1.53321774e+00] [-4.18640533e-03 1.22619443e-04 -9.99991230e-01 6.72865709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.54, Y:-1.53, Z:6.73 [[-2.83029762e-01 9.59109994e-01 1.47449951e-03 7.95354470e+01] [ 9.59099326e-01 2.83033571e-01 -4.52561643e-03 -1.53279960e+00] [-4.75789681e-03 1.33307346e-04 -9.99988672e-01 6.72952029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.55, Y:-1.53, Z:6.73 [[-3.59050033e-01 9.33315832e-01 2.15231211e-03 7.95479063e+01] [ 9.33301429e-01 3.59056454e-01 -5.18710895e-03 -1.53006056e+00] [-5.61401246e-03 1.46324326e-04 -9.99984231e-01 6.73021581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.56, Y:-1.53, Z:6.73 [[-4.32003657e-01 9.01868331e-01 2.52068750e-03 7.95605974e+01] [ 9.01854804e-01 4.32010989e-01 -4.94151596e-03 -1.52605520e+00] [-5.54556145e-03 1.38541161e-04 -9.99984614e-01 6.73048703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.57, Y:-1.52, Z:6.73 [[-5.02568138e-01 8.64532920e-01 2.84559874e-03 7.95719856e+01] [ 8.64520477e-01 5.02576178e-01 -4.64003400e-03 -1.52349487e+00] [-5.44159228e-03 1.28145131e-04 -9.99985186e-01 6.73052031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.58, Y:-1.52, Z:6.73 [[-5.71007874e-01 8.20937547e-01 3.39898938e-03 7.95816265e+01] [ 8.20924235e-01 5.71017977e-01 -4.67647749e-03 -1.52044942e+00] [-5.77998000e-03 1.20007290e-04 -9.99983289e-01 6.73095158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.59, Y:-1.52, Z:6.73 [[-6.34704498e-01 7.72745814e-01 3.75597378e-03 7.95907326e+01] [ 7.72733312e-01 6.34715602e-01 -4.39705846e-03 -1.51561544e+00] [-5.78178368e-03 1.11533275e-04 -9.99983279e-01 6.73057183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.60, Y:-1.51, Z:6.73 [[-6.94717802e-01 7.19272754e-01 3.72568586e-03 7.95986408e+01] [ 7.19263108e-01 6.94727786e-01 -3.72625042e-03 -1.51125561e+00] [-5.26852789e-03 9.10558899e-05 -9.99986117e-01 6.73052591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.670385723 meters Centerline goodness [0,1] 0.9999563718860434 Centerline is valid? [True, True] Translation: X:79.61, Y:-1.50, Z:6.73 [[-7.49349112e-01 6.62166098e-01 3.45936560e-03 7.96088707e+01] [ 6.62159505e-01 7.49357093e-01 -2.95577501e-03 -1.50292342e+00] [-4.54951415e-03 7.57444370e-05 -9.99989648e-01 6.73133979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.08, Y:-0.96, Z:5.75 [[-7.26001932e-01 -6.87684723e-01 3.30396888e-03 8.00754171e+01] [ 6.87677143e-01 -7.26009446e-01 -3.22967669e-03 -9.64485013e-01] [ 4.61971194e-03 -7.26876360e-05 9.99989327e-01 5.74719220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.57, Y:-1.48, Z:6.73 [[-7.51396667e-01 6.59840532e-01 3.67708807e-03 7.95712963e+01] [ 6.59833163e-01 7.51405660e-01 -3.11955589e-03 -1.48122704e+00] [-4.82139421e-03 8.22407541e-05 -9.99988374e-01 6.72997424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.58, Y:-1.46, Z:6.73 [[-7.95858322e-01 6.05471224e-01 3.75886572e-03 7.95823712e+01] [ 6.05464955e-01 7.95867194e-01 -2.75639975e-03 -1.45604925e+00] [-4.66047865e-03 8.21577816e-05 -9.99989137e-01 6.72992049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.60, Y:-1.44, Z:6.73 [[-8.36510591e-01 5.47936680e-01 3.92758717e-03 7.96042751e+01] [ 5.47931107e-01 8.36519807e-01 -2.47255779e-03 -1.43860759e+00] [-4.64030957e-03 8.37264108e-05 -9.99989230e-01 6.72983535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.62, Y:-1.42, Z:6.73 [[-8.73285013e-01 4.87196091e-01 3.64062023e-03 7.96204315e+01] [ 4.87192209e-01 8.73292599e-01 -1.94633034e-03 -1.41851381e+00] [-4.12757124e-03 7.39806935e-05 -9.99991479e-01 6.72941117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.63, Y:-1.39, Z:6.73 [[-9.05599338e-01 4.24117473e-01 3.76934837e-03 7.96342446e+01] [ 4.24114137e-01 9.05607180e-01 -1.68358567e-03 -1.39271714e+00] [-4.12758704e-03 7.39798590e-05 -9.99991479e-01 6.72941134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.64, Y:-1.37, Z:6.73 [[-9.33895726e-01 3.57522185e-01 4.08172735e-03 7.96397685e+01] [ 3.57519103e-01 9.33904643e-01 -1.48604583e-03 -1.36686870e+00] [-4.34323848e-03 7.14836548e-05 -9.99990566e-01 6.72904300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.65, Y:-1.34, Z:6.73 [[-9.57125003e-01 2.89643080e-01 4.31452388e-03 7.96505515e+01] [ 2.89640466e-01 9.57134725e-01 -1.23250098e-03 -1.34212808e+00] [-4.48656601e-03 7.00032049e-05 -9.99989933e-01 6.72912924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.66, Y:-1.32, Z:6.73 [[-9.75604025e-01 2.19479518e-01 5.05252967e-03 7.96597624e+01] [ 2.19476953e-01 9.75617105e-01 -1.06342356e-03 -1.31747863e+00] [-5.16273406e-03 7.14335084e-05 -9.99986671e-01 6.72980125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.66, Y:-1.29, Z:6.73 [[-9.88761771e-01 1.49404429e-01 5.33636674e-03 7.96627918e+01] [ 1.49402652e-01 9.88776169e-01 -7.32372095e-04 -1.29033742e+00] [-5.38589189e-03 7.31258111e-05 -9.99985493e-01 6.72987036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.66, Y:-1.27, Z:6.73 [[-9.96798816e-01 7.96876753e-02 6.48033309e-03 7.96568643e+01] [ 7.96865944e-02 9.96819876e-01 -4.25247559e-04 -1.26580815e+00] [-6.49361182e-03 9.25094112e-05 -9.99978912e-01 6.73093776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.72, Y:-0.49, Z:5.75 [[-9.93038979e-01 -1.17580840e-01 6.95213764e-03 7.97177112e+01] [ 1.17577489e-01 -9.93063312e-01 -8.90231399e-04 -4.93708513e-01] [ 7.00858699e-03 -6.66195936e-05 9.99975437e-01 5.74630989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.060385723 meters Centerline goodness [0,1] 0.9998659816841635 Centerline is valid? [True, True] Translation: X:79.58, Y:-1.27, Z:6.73 [[-9.96995270e-01 7.71029687e-02 7.45409756e-03 7.95838471e+01] [ 7.71017451e-02 9.97023128e-01 -4.51810443e-04 -1.26741872e+00] [-7.46674359e-03 1.24271056e-04 -9.99972116e-01 6.73173845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.59, Y:-1.25, Z:6.73 [[-9.99922909e-01 8.33379705e-03 9.20452802e-03 7.95876630e+01] [ 8.33505617e-03 9.99965258e-01 9.84409388e-05 -1.24561188e+00] [-9.20338785e-03 1.75153608e-04 -9.99957633e-01 6.73155286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.59, Y:-1.22, Z:6.73 [[-9.97958354e-01 -6.33030376e-02 8.47638397e-03 7.95855581e+01] [-6.32994066e-02 9.97994339e-01 6.96229350e-04 -1.21652812e+00] [-8.50345665e-03 1.58257821e-04 -9.99963833e-01 6.73138303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.57, Y:-1.19, Z:6.73 [[-9.90852841e-01 -1.34684863e-01 8.40447484e-03 7.95748106e+01] [-1.34678678e-01 9.90888472e-01 1.30016481e-03 -1.18960966e+00] [-8.50300975e-03 1.56368438e-04 -9.99963837e-01 6.73237096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.43, Y:-0.40, Z:5.75 [[-9.94757965e-01 1.01860625e-01 9.00018936e-03 7.94348747e+01] [-1.01857634e-01 -9.94798671e-01 7.91317488e-04 -4.03967630e-01] [ 9.03398051e-03 -1.29568619e-04 9.99959184e-01 5.74618317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.43, Y:-1.21, Z:6.73 [[-9.89425218e-01 -1.44788345e-01 8.60653395e-03 7.94265023e+01] [-1.44781720e-01 9.89462641e-01 1.39116272e-03 -1.20749807e+00] [-8.71726796e-03 1.30382687e-04 -9.99961995e-01 6.73201403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.40, Y:-1.18, Z:6.73 [[-9.76062282e-01 -2.17355268e-01 7.68818936e-03 7.94031465e+01] [-2.17347679e-01 9.76092555e-01 1.81934530e-03 -1.18097866e+00] [-7.89982868e-03 1.04784211e-04 -9.99968790e-01 6.73144014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:-1.16, Z:6.73 [[-9.57783188e-01 -2.87411024e-01 6.80211682e-03 7.93518917e+01] [-2.87403038e-01 9.57807336e-01 2.14477877e-03 -1.16274040e+00] [-7.13155046e-03 9.92840094e-05 -9.99974565e-01 6.72973602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.28, Y:-1.16, Z:6.73 [[-9.34375545e-01 -3.56233611e-01 6.32099540e-03 7.92780701e+01] [-3.56224725e-01 9.34396920e-01 2.51805092e-03 -1.15841214e+00] [-6.80333300e-03 1.01110351e-04 -9.99976852e-01 6.72983265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.20, Y:-1.16, Z:6.73 [[-9.05844552e-01 -4.23565809e-01 6.13621785e-03 7.92023728e+01] [-4.23555270e-01 9.05865329e-01 2.98985564e-03 -1.16078900e+00] [-6.82498762e-03 1.09317029e-04 -9.99976704e-01 6.72975481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.13, Y:-1.17, Z:6.73 [[-8.72817031e-01 -4.88020409e-01 5.14893526e-03 7.91307270e+01] [-4.88011165e-01 8.72832211e-01 3.00576178e-03 -1.16605193e+00] [-5.96102964e-03 1.10742179e-04 -9.99982227e-01 6.72918085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.04, Y:-1.19, Z:6.73 [[-8.34304462e-01 -5.51282874e-01 4.82257386e-03 7.90404242e+01] [-5.51272860e-01 8.34318392e-01 3.32486579e-03 -1.18940692e+00] [-5.85650364e-03 1.15396279e-04 -9.99982844e-01 6.72919323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.95, Y:-1.22, Z:6.73 [[-7.91563364e-01 -6.11069092e-01 4.69101513e-03 7.89488134e+01] [-6.11057370e-01 7.91577253e-01 3.78725903e-03 -1.22078050e+00] [-6.02757781e-03 1.31376128e-04 -9.99981825e-01 6.72912235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.86, Y:-1.26, Z:6.73 [[-7.43758836e-01 -6.68432206e-01 4.60206546e-03 7.88555270e+01] [-6.68418187e-01 7.43773060e-01 4.33170154e-03 -1.26382459e+00] [-6.31834113e-03 1.45637044e-04 -9.99980029e-01 6.72962690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.76, Y:-1.32, Z:6.73 [[-6.92935194e-01 -7.20987302e-01 4.25770529e-03 7.87645519e+01] [-7.20972208e-01 6.92948254e-01 4.66824869e-03 -1.31834716e+00] [-6.31611747e-03 1.65106627e-04 -9.99980040e-01 6.73017569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.67, Y:-1.38, Z:6.73 [[-6.37716958e-01 -7.70264031e-01 3.22555555e-03 7.86719803e+01] [-7.70252969e-01 6.37725098e-01 4.13075461e-03 -1.38001366e+00] [-5.23878943e-03 1.49758524e-04 -9.99986266e-01 6.72860342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.58, Y:-1.46, Z:6.73 [[-5.77851120e-01 -8.16137861e-01 2.65995794e-03 7.85794299e+01] [-8.16128052e-01 5.77857225e-01 4.00381800e-03 -1.45532679e+00] [-4.80474337e-03 1.42744429e-04 -9.99988447e-01 6.72805187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.50, Y:-1.54, Z:6.73 [[-5.13473060e-01 -8.58102507e-01 2.34604268e-03 7.84950958e+01] [-8.58092251e-01 5.13478399e-01 4.19784312e-03 -1.54175125e+00] [-4.80682195e-03 1.42358303e-04 -9.99988437e-01 6.72851941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.41, Y:-1.63, Z:6.73 [[-4.45523164e-01 -8.95267764e-01 2.17737036e-03 7.84121221e+01] [-8.95255369e-01 4.45528459e-01 4.71347540e-03 -1.63445518e+00] [-5.18990304e-03 1.50659969e-04 -9.99986521e-01 6.72835344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.34, Y:-1.74, Z:6.73 [[-3.72735875e-01 -9.27935189e-01 2.06245996e-03 7.83394328e+01] [-9.27918596e-01 3.72741548e-01 5.55129859e-03 -1.73521091e+00] [-5.92000983e-03 1.55373182e-04 -9.99982465e-01 6.72910121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.27, Y:-1.84, Z:6.73 [[-2.98738419e-01 -9.54333704e-01 1.59338516e-03 7.82717566e+01] [-9.54317462e-01 2.98742634e-01 5.56969458e-03 -1.83790334e+00] [-5.79135934e-03 1.43286475e-04 -9.99983220e-01 6.72880400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.21, Y:-1.95, Z:6.73 [[-2.20922560e-01 -9.75290589e-01 1.22061730e-03 7.82099852e+01] [-9.75272290e-01 2.20925894e-01 5.97577987e-03 -1.94969860e+00] [-6.09778784e-03 1.29750358e-04 -9.99981400e-01 6.72894275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.16, Y:-2.07, Z:6.73 [[-1.43291290e-01 -9.89680259e-01 7.68435869e-04 7.81605856e+01] [-9.89661173e-01 1.43293300e-01 6.14762890e-03 -2.06869818e+00] [-6.19429868e-03 1.20410531e-04 -9.99980808e-01 6.72930903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.12, Y:-2.19, Z:6.73 [[-6.29701704e-02 -9.98015377e-01 2.56803600e-04 7.81190237e+01] [-9.98000536e-01 6.29706347e-02 5.44323442e-03 -2.19208538e+00] [-5.44860274e-03 8.64712687e-05 -9.99985153e-01 6.72941539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.09, Y:-2.32, Z:6.73 [[ 1.56486688e-02 -9.99877539e-01 -1.62017319e-04 7.80879913e+01] [-9.99863045e-01 -1.56493144e-02 5.38425246e-03 -2.31514775e+00] [-5.38612856e-03 7.77387466e-05 -9.99985492e-01 6.72888784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.07, Y:-2.45, Z:6.73 [[ 9.50676593e-02 -9.95470655e-01 -5.62251689e-04 7.80678743e+01] [-9.95456974e-01 -9.50693007e-02 5.21931285e-03 -2.45147292e+00] [-5.24912565e-03 6.35095092e-05 -9.99986221e-01 6.72868749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.06, Y:-2.57, Z:6.73 [[ 1.72507480e-01 -9.85007623e-01 -1.07312021e-03 7.80555868e+01] [-9.84990851e-01 -1.72510805e-01 5.74852145e-03 -2.56924719e+00] [-5.84746228e-03 6.53506426e-05 -9.99982901e-01 6.72884615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.05, Y:-2.70, Z:6.73 [[ 2.48578704e-01 -9.68610489e-01 -1.53253174e-03 7.80542213e+01] [-9.68593570e-01 -2.48583421e-01 5.72531860e-03 -2.69640825e+00] [-5.92656563e-03 6.12081144e-05 -9.99982436e-01 6.72943681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.06, Y:-2.82, Z:6.73 [[ 3.22501289e-01 -9.46567060e-01 -1.92865879e-03 7.80629578e+01] [-9.46551228e-01 -3.22507050e-01 5.47499273e-03 -2.82134370e+00] [-5.80445383e-03 5.98821336e-05 -9.99983152e-01 6.72948484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.08, Y:-2.94, Z:6.73 [[ 3.94009348e-01 -9.19103577e-01 -2.29115430e-03 7.80827931e+01] [-9.19088930e-01 -3.94016005e-01 5.18905376e-03 -2.94474046e+00] [-5.67202933e-03 6.12388608e-05 -9.99983912e-01 6.72857098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.11, Y:-3.07, Z:6.73 [[ 4.63432399e-01 -8.86127664e-01 -2.85931403e-03 7.81133218e+01] [-8.86111667e-01 -4.63441215e-01 5.32485284e-03 -3.07244119e+00] [-6.04362338e-03 6.59621918e-05 -9.99981735e-01 6.72823992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.14, Y:-3.18, Z:6.73 [[ 5.29577097e-01 -8.48253410e-01 -3.77495073e-03 7.81443199e+01] [-8.48232947e-01 -5.29590545e-01 5.89252744e-03 -3.17916423e+00] [-6.99753471e-03 8.14900133e-05 -9.99975514e-01 6.72906681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.19, Y:-3.30, Z:6.73 [[ 5.92598463e-01 -8.05483756e-01 -4.79380061e-03 7.81913195e+01] [-8.05458725e-01 -5.92617844e-01 6.35084075e-03 -3.29570355e+00] [-7.95639085e-03 9.77100650e-05 -9.99968343e-01 6.72958577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.24, Y:-3.40, Z:6.73 [[ 6.51119669e-01 -7.58954237e-01 -5.62515245e-03 7.82368594e+01] [-7.58927504e-01 -6.51143956e-01 6.37121961e-03 -3.39631648e+00] [-8.49824814e-03 1.20656504e-04 -9.99963882e-01 6.73035167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.29, Y:-3.50, Z:6.73 [[ 7.06406275e-01 -7.07783170e-01 -5.75844157e-03 7.82923074e+01] [-7.07761061e-01 -7.06429734e-01 5.59560655e-03 -3.49549653e+00] [-8.02841049e-03 1.22829135e-04 -9.99967764e-01 6.73043339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.29, Y:-3.50, Z:6.73 [[ 7.58366103e-01 -6.51794135e-01 -6.72744072e-03 7.82884118e+01] [-6.51770229e-01 -7.58395927e-01 5.58444435e-03 -3.49793947e+00] [-8.74197172e-03 1.49692276e-04 -9.99961777e-01 6.72968195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.28, Y:-3.50, Z:6.73 [[ 8.06180423e-01 -5.91620566e-01 -7.63093548e-03 7.82849082e+01] [-5.91596076e-01 -8.06216519e-01 5.38582824e-03 -3.50040838e+00] [-9.33855300e-03 1.72482203e-04 -9.99956380e-01 6.73001762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.28, Y:-3.51, Z:6.73 [[ 8.49739947e-01 -5.27136730e-01 -8.30004912e-03 7.82781901e+01] [-5.27113669e-01 -8.49780462e-01 4.93415959e-03 -3.50947552e+00] [-9.65419633e-03 1.82316838e-04 -9.99953381e-01 6.72927289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.27, Y:-3.52, Z:6.73 [[ 8.88011048e-01 -4.59737535e-01 -8.81913496e-03 7.82713894e+01] [-4.59717008e-01 -8.88054819e-01 4.34860538e-03 -3.52112074e+00] [-9.83109242e-03 1.92696719e-04 -9.99951655e-01 6.72861671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.27, Y:-3.53, Z:6.73 [[ 9.20617005e-01 -3.90344802e-01 -9.76045884e-03 7.82659325e+01] [-3.90325416e-01 -9.20668717e-01 3.89662414e-03 -3.53309562e+00] [-1.05071761e-02 2.22456714e-04 -9.99944773e-01 6.72894742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.26, Y:-3.54, Z:6.73 [[ 9.47768219e-01 -3.18807375e-01 -9.86206452e-03 7.82611618e+01] [-3.18792703e-01 -9.47819499e-01 3.06768797e-03 -3.54232117e+00] [-1.03254586e-02 2.36497046e-04 -9.99946663e-01 6.72997022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.26, Y:-3.55, Z:6.73 [[ 9.69599353e-01 -2.44484049e-01 -1.02295549e-02 7.82568725e+01] [-2.44473130e-01 -9.69653283e-01 2.32377905e-03 -3.55453469e+00] [-1.04872484e-02 2.47716649e-04 -9.99944977e-01 6.72889901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.320385723 meters Centerline goodness [0,1] 0.9999553461787493 Centerline is valid? [True, True] Translation: X:78.25, Y:-3.57, Z:6.73 [[ 9.85548248e-01 -1.69108125e-01 -9.85354123e-03 7.82512025e+01] [-1.69102185e-01 -9.85597474e-01 1.43895485e-03 -3.56537654e+00] [-9.95496430e-03 2.48095913e-04 -9.99950417e-01 6.72929780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.25, Y:-3.58, Z:6.73 [[ 9.95747070e-01 -9.16148814e-02 -9.72039399e-03 7.82459308e+01] [-9.16129093e-02 -9.95794484e-01 6.48887808e-04 -3.57875172e+00] [-9.73896250e-03 2.44385440e-04 -9.99952545e-01 6.72799015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.24, Y:-3.59, Z:6.73 [[ 9.99858530e-01 -1.40383057e-02 -9.26530456e-03 7.82404336e+01] [-1.40399092e-02 -9.99901430e-01 -1.08037129e-04 -3.59065289e+00] [-9.26287461e-03 2.38105880e-04 -9.99957070e-01 6.72763585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.24, Y:-3.60, Z:6.73 [[ 9.97890947e-01 6.42577278e-02 -9.19796012e-03 7.82362019e+01] [ 6.42528036e-02 -9.97933309e-01 -8.30163682e-04 -3.59942337e+00] [-9.23229521e-03 2.37418097e-04 -9.99957353e-01 6.72778740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.23, Y:-3.61, Z:6.73 [[ 9.89756849e-01 1.42494527e-01 -8.75726603e-03 7.82343627e+01] [ 1.42486929e-01 -9.89795564e-01 -1.48867984e-03 -3.61466088e+00] [-8.88003180e-03 2.25635120e-04 -9.99960546e-01 6.72607791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.23, Y:-3.63, Z:6.73 [[ 9.75444618e-01 2.20077439e-01 -8.58589399e-03 7.82344825e+01] [ 2.20066920e-01 -9.75482379e-01 -2.16299252e-03 -3.63001599e+00] [-8.85141415e-03 2.20408174e-04 -9.99960801e-01 6.72559980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.24, Y:-3.65, Z:6.72 [[ 9.54433329e-01 2.98319781e-01 -7.89482287e-03 7.82365497e+01] [ 2.98307967e-01 -9.54465963e-01 -2.66134214e-03 -3.64656617e+00] [-8.32927071e-03 1.84985080e-04 -9.99965294e-01 6.72495574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.24, Y:-3.66, Z:6.72 [[ 9.26763922e-01 3.75571158e-01 -7.41203986e-03 7.82380358e+01] [ 3.75557857e-01 -9.26793549e-01 -3.16435117e-03 -3.66175957e+00] [-8.05786976e-03 1.48956694e-04 -9.99967524e-01 6.72453213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.24, Y:-3.68, Z:6.72 [[ 8.93723396e-01 4.48565146e-01 -6.91387310e-03 7.82418207e+01] [ 4.48550593e-01 -8.93750129e-01 -3.61564866e-03 -3.67695115e+00] [-7.80112894e-03 1.30167924e-04 -9.99969562e-01 6.72458824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.25, Y:-3.69, Z:6.73 [[ 8.53869867e-01 5.20445494e-01 -6.53743548e-03 7.82478597e+01] [ 5.20429348e-01 -8.53894887e-01 -4.10069946e-03 -3.69186746e+00] [-7.71647329e-03 9.91904213e-05 -9.99970223e-01 6.72516220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.25, Y:-3.70, Z:6.72 [[ 8.09426941e-01 5.87187114e-01 -6.27062144e-03 7.82532904e+01] [ 5.87168668e-01 -8.09451225e-01 -4.65504745e-03 -3.70444359e+00] [-7.80914608e-03 8.60083872e-05 -9.99969505e-01 6.72487381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.26, Y:-3.72, Z:6.72 [[ 7.59679348e-01 6.50274853e-01 -5.46838835e-03 7.82605821e+01] [ 6.50257387e-01 -7.59699027e-01 -4.76652066e-03 -3.71643228e+00] [-7.25387783e-03 6.51673906e-05 -9.99973688e-01 6.72444621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.27, Y:-3.73, Z:6.72 [[ 7.06069576e-01 7.08125908e-01 -4.84283814e-03 7.82656813e+01] [ 7.08108678e-01 -7.06086181e-01 -4.94019546e-03 -3.72627484e+00] [-6.91774148e-03 5.88660072e-05 -9.99976070e-01 6.72440178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.710385723 meters Centerline goodness [0,1] 0.9999342581026889 Centerline is valid? [True, True] Translation: X:78.27, Y:-3.74, Z:6.72 [[ 6.48304322e-01 7.61370026e-01 -4.14606197e-03 7.82716309e+01] [ 7.61353927e-01 -6.48317577e-01 -4.95146694e-03 -3.73514006e+00] [-6.45786337e-03 5.34368521e-05 -9.99979146e-01 6.72301035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.740385723 meters Centerline goodness [0,1] 0.9999342581026889 Centerline is valid? [True, True] Translation: X:78.28, Y:-3.74, Z:6.72 [[ 5.86729417e-01 8.09774388e-01 -3.74582879e-03 7.82778768e+01] [ 8.09757301e-01 -5.86741372e-01 -5.26077017e-03 -3.74402144e+00] [-6.45786967e-03 5.34364033e-05 -9.99979146e-01 6.72301040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.28, Y:-3.75, Z:6.72 [[ 5.22447705e-01 8.52666251e-01 -2.94275842e-03 7.82842875e+01] [ 8.52652143e-01 -5.22455990e-01 -4.90533304e-03 -3.75186526e+00] [-5.72007370e-03 5.36307132e-05 -9.99983639e-01 6.72263440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.29, Y:-3.76, Z:6.72 [[ 4.56132453e-01 8.89908293e-01 -2.53306170e-03 7.82910386e+01] [ 8.89893750e-01 -4.56139481e-01 -5.08803305e-03 -3.75926421e+00] [-5.68331226e-03 6.66612225e-05 -9.99983848e-01 6.72298960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.30, Y:-3.77, Z:6.72 [[ 3.87780377e-01 9.21748080e-01 -2.61852570e-03 7.82950110e+01] [ 9.21725238e-01 -3.87789204e-01 -6.48985029e-03 -3.76593007e+00] [-6.99744304e-03 1.03075369e-04 -9.99975512e-01 6.72356243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.30, Y:-3.77, Z:6.72 [[ 3.15543929e-01 9.48908255e-01 -2.27012120e-03 7.83011422e+01] [ 9.48880889e-01 -3.15552072e-01 -7.20754029e-03 -3.77234773e+00] [-7.55563593e-03 1.20220959e-04 -9.99971449e-01 6.72410401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.31, Y:-3.78, Z:6.72 [[ 2.41488888e-01 9.70401884e-01 -1.81648443e-03 7.83069233e+01] [ 9.70369951e-01 -2.41495680e-01 -7.87365814e-03 -3.77857679e+00] [-8.07928584e-03 1.38739041e-04 -9.99967352e-01 6.72463609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.32, Y:-3.78, Z:6.72 [[ 1.66708254e-01 9.86005492e-01 -1.23579024e-03 7.83200225e+01] [ 9.85970821e-01 -1.66712757e-01 -8.27029888e-03 -3.78494801e+00] [-8.36058212e-03 1.60273966e-04 -9.99965037e-01 6.72445347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.33, Y:-3.79, Z:6.72 [[ 8.96533322e-02 9.95972868e-01 -5.72131067e-04 7.83299301e+01] [ 9.95939425e-01 -8.96550113e-02 -8.16335562e-03 -3.79101866e+00] [-8.18177512e-03 1.62064147e-04 -9.99966516e-01 6.72461300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.34, Y:-3.80, Z:6.72 [[ 1.11385867e-02 9.99937962e-01 6.41571313e-05 7.83383334e+01] [ 9.99908825e-01 -1.11377722e-02 -7.63490996e-03 -3.79565672e+00] [-7.63372174e-03 1.49193388e-04 -9.99970852e-01 6.72311443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.35, Y:-3.80, Z:6.72 [[-6.87297487e-02 9.97635108e-01 6.43058181e-04 7.83497536e+01] [ 9.97607765e-01 6.87326267e-02 -7.38736592e-03 -3.79911995e+00] [-7.41409468e-03 1.33788031e-04 -9.99972506e-01 6.72245575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.36, Y:-3.80, Z:6.72 [[-1.47348464e-01 9.89083952e-01 1.16844366e-03 7.83618338e+01] [ 9.89059141e-01 1.47353045e-01 -7.00689762e-03 -3.80152728e+00] [-7.10258372e-03 1.23204276e-04 -9.99974769e-01 6.72278861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.37, Y:-3.80, Z:6.72 [[-2.26152237e-01 9.74090811e-01 1.50280731e-03 7.83749376e+01] [ 9.74072059e-01 2.26157209e-01 -6.04487563e-03 -3.80329374e+00] [-6.22812851e-03 9.67804631e-05 -9.99980600e-01 6.72259499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1003857229999 meters Centerline goodness [0,1] 0.9998238700160719 Centerline is valid? [True, True] Translation: X:78.39, Y:-3.80, Z:6.72 [[-3.02386051e-01 9.53183780e-01 1.83237720e-03 7.83868258e+01] [ 9.53167970e-01 3.02391590e-01 -5.49055217e-03 -3.80393488e+00] [-5.78760073e-03 8.62968721e-05 -9.99983248e-01 6.72252540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.130385723 meters Centerline goodness [0,1] 0.9995607870695713 Centerline is valid? [True, True] Translation: X:78.40, Y:-3.80, Z:6.72 [[-3.76372984e-01 9.26465352e-01 2.30852450e-03 7.83981480e+01] [ 9.26449311e-01 3.76380054e-01 -5.45236021e-03 -3.80444202e+00] [-5.92030539e-03 8.66098491e-05 -9.99982471e-01 6.72256515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.160385723 meters Centerline goodness [0,1] 0.9986324635507422 Centerline is valid? [True, True] Translation: X:78.41, Y:-3.80, Z:6.72 [[-4.46481719e-01 8.94786708e-01 3.28983693e-03 7.84119768e+01] [ 8.94764287e-01 4.46493824e-01 -6.33534893e-03 -3.80177829e+00] [-7.13767789e-03 1.15011117e-04 -9.99974520e-01 6.72246628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.190385723 meters Centerline goodness [0,1] 0.9981915222089894 Centerline is valid? [True, True] Translation: X:78.42, Y:-3.80, Z:6.72 [[-5.14322421e-01 8.57587894e-01 3.93073577e-03 7.84247172e+01] [ 8.57564716e-01 5.14337426e-01 -6.30642656e-03 -3.80012241e+00] [-7.43003959e-03 1.27323724e-04 -9.99972389e-01 6.72239080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2203857229999 meters Centerline goodness [0,1] 0.9980014494981662 Centerline is valid? [True, True] Translation: X:78.44, Y:-3.80, Z:6.72 [[-5.79121883e-01 8.15225977e-01 4.94484710e-03 7.84364475e+01] [ 8.15198455e-01 5.79142973e-01 -6.70037516e-03 -3.79820730e+00] [-8.32609334e-03 1.50697844e-04 -9.99965326e-01 6.72279130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.250385723 meters Centerline goodness [0,1] 0.99720165697162 Centerline is valid? [True, True] Translation: X:78.45, Y:-3.79, Z:6.72 [[-6.39637749e-01 7.68658980e-01 5.18874051e-03 7.84478704e+01] [ 7.68635688e-01 6.39658774e-01 -5.98601172e-03 -3.79465398e+00] [-7.92022505e-03 1.59372072e-04 -9.99968622e-01 6.72267397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.280385723 meters Centerline goodness [0,1] 0.9969343419862817 Centerline is valid? [True, True] Translation: X:78.46, Y:-3.79, Z:6.72 [[-6.97060201e-01 7.16991529e-01 5.49756343e-03 7.84592533e+01] [ 7.16971067e-01 6.97081861e-01 -5.41928491e-03 -3.79155670e+00] [-7.71783312e-03 1.64026084e-04 -9.99970204e-01 6.72241867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.310385723 meters Centerline goodness [0,1] 0.9972203838517538 Centerline is valid? [True, True] Translation: X:78.48, Y:-3.77, Z:6.72 [[-7.44989978e-01 6.67048217e-01 6.05055141e-03 7.84762294e+01] [ 6.67028178e-01 7.45014526e-01 -5.17363149e-03 -3.76688204e+00] [-7.95881035e-03 1.81584669e-04 -9.99968312e-01 6.72186326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3403857229999 meters Centerline goodness [0,1] 0.9973173842297375 Centerline is valid? [True, True] Translation: X:78.50, Y:-3.75, Z:6.72 [[-7.89775449e-01 6.13361733e-01 6.49040453e-03 7.85023827e+01] [ 6.13342992e-01 7.89802094e-01 -4.79859087e-03 -3.75038406e+00] [-8.06940710e-03 1.91034876e-04 -9.99967424e-01 6.72205242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.370385723 meters Centerline goodness [0,1] 0.9971996207360367 Centerline is valid? [True, True] Translation: X:78.52, Y:-3.72, Z:6.72 [[-8.30228560e-01 5.57373496e-01 7.43799436e-03 7.85179012e+01] [ 5.57353525e-01 8.30261848e-01 -4.72361494e-03 -3.72293302e+00] [-8.80830071e-03 2.23912344e-04 -9.99961181e-01 6.72209491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.400385723 meters Centerline goodness [0,1] 0.9975520465772759 Centerline is valid? [True, True] Translation: X:78.54, Y:-3.70, Z:6.72 [[-8.67243647e-01 4.97824186e-01 7.71599811e-03 7.85424769e+01] [ 4.97806815e-01 8.67277941e-01 -4.16499674e-03 -3.70423683e+00] [-8.76535107e-03 2.29009480e-04 -9.99961557e-01 6.72232130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.430385723 meters Centerline goodness [0,1] 0.9973102277487488 Centerline is valid? [True, True] Translation: X:78.56, Y:-3.68, Z:6.72 [[-9.00117509e-01 4.35580552e-01 7.61923328e-03 7.85553888e+01] [ 4.35567028e-01 9.00149728e-01 -3.43960219e-03 -3.67545936e+00] [-8.35667458e-03 2.22640636e-04 -9.99965058e-01 6.72218028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.460385723 meters Centerline goodness [0,1] 0.9975513773502405 Centerline is valid? [True, True] Translation: X:78.56, Y:-3.64, Z:6.72 [[-9.28729900e-01 3.70677641e-01 7.67194143e-03 7.85592092e+01] [ 3.70666920e-01 9.28761562e-01 -2.82761316e-03 -3.63946395e+00] [-8.17353728e-03 2.17646006e-04 -9.99966572e-01 6.72170493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.490385723 meters Centerline goodness [0,1] 0.9976704832648396 Centerline is valid? [True, True] Translation: X:78.58, Y:-3.61, Z:6.72 [[-9.52677825e-01 3.03883896e-01 7.71618550e-03 7.85813850e+01] [ 3.03875738e-01 9.52709049e-01 -2.23685269e-03 -3.61368292e+00] [-8.03102326e-03 2.13761604e-04 -9.99967728e-01 6.72169197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.520385723 meters Centerline goodness [0,1] 0.997402937517732 Centerline is valid? [True, True] Translation: X:78.58, Y:-3.58, Z:6.72 [[-9.71744840e-01 2.35947693e-01 6.37588886e-03 7.85813334e+01] [ 2.35943799e-01 9.71765741e-01 -1.36698600e-03 -3.58043150e+00] [-6.51840756e-03 1.75989850e-04 -9.99978740e-01 6.72048099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.550385723 meters Centerline goodness [0,1] 0.9976818947230301 Centerline is valid? [True, True] Translation: X:78.59, Y:-3.55, Z:6.72 [[-9.85983551e-01 1.66752784e-01 5.47239084e-03 7.85918075e+01] [ 1.66751057e-01 9.85998726e-01 -7.73499699e-04 -3.55137968e+00] [-5.52475362e-03 1.49868979e-04 -9.99984727e-01 6.71959723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.580385723 meters Centerline goodness [0,1] 0.9974696245882687 Centerline is valid? [True, True] Translation: X:78.60, Y:-3.52, Z:6.72 [[-9.95361335e-01 9.60789449e-02 4.96470452e-03 7.85981159e+01] [ 9.60784199e-02 9.95373708e-01 -3.44697889e-04 -3.51942878e+00] [-4.97485456e-03 1.33902014e-04 -9.99987616e-01 6.71918111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.610385723 meters Centerline goodness [0,1] 0.997757261681836 Centerline is valid? [True, True] Translation: X:78.60, Y:-3.48, Z:6.72 [[-9.99685909e-01 2.46494565e-02 4.52637245e-03 7.85950834e+01] [ 2.46497475e-02 9.99696149e-01 8.49479978e-06 -3.48486434e+00] [-4.52478771e-03 1.20066069e-04 -9.99989756e-01 6.71861284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.640385723 meters Centerline goodness [0,1] 0.9974459427285124 Centerline is valid? [True, True] Translation: X:78.58, Y:-3.45, Z:6.72 [[-9.98838598e-01 -4.80605530e-02 3.41149493e-03 7.85840779e+01] [-4.80599795e-02 9.98844420e-01 2.49921113e-04 -3.44928443e+00] [-3.41956403e-03 8.56744775e-05 -9.99994150e-01 6.71849378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.670385723 meters Centerline goodness [0,1] 0.9974203338391502 Centerline is valid? [True, True] Translation: X:78.57, Y:-3.42, Z:6.72 [[-9.92798490e-01 -1.19768146e-01 2.59804153e-03 7.85727099e+01] [-1.19767566e-01 9.92801887e-01 3.78157285e-04 -3.41842661e+00] [-2.62463173e-03 6.42728709e-05 -9.99996554e-01 6.71808422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.700385723 meters Centerline goodness [0,1] 0.9976405394289672 Centerline is valid? [True, True] Translation: X:78.55, Y:-3.39, Z:6.72 [[-9.81280871e-01 -1.92574884e-01 1.66295712e-03 7.85482752e+01] [-1.92574542e-01 9.81282280e-01 3.65446917e-04 -3.38582395e+00] [-1.70220625e-03 3.83628651e-05 -9.99998551e-01 6.71736559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.730385723 meters Centerline goodness [0,1] 0.9976304848889559 Centerline is valid? [True, True] Translation: X:78.51, Y:-3.36, Z:6.72 [[-9.64291886e-01 -2.64836864e-01 1.61071171e-03 7.85099890e+01] [-2.64836436e-01 9.64293230e-01 4.77769360e-04 -3.35890790e+00] [-1.67972934e-03 3.41339696e-05 -9.99998589e-01 6.71725884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.760385723 meters Centerline goodness [0,1] 0.9975641302004742 Centerline is valid? [True, True] Translation: X:78.45, Y:-3.34, Z:6.72 [[-9.42085854e-01 -3.35367438e-01 1.71028815e-03 7.84515264e+01] [-3.35366816e-01 9.42087406e-01 6.46902131e-04 -3.34479560e+00] [-1.82819084e-03 3.58634562e-05 -9.99998328e-01 6.71748546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.790385723 meters Centerline goodness [0,1] 0.9978039958663452 Centerline is valid? [True, True] Translation: X:78.38, Y:-3.34, Z:6.72 [[-9.14655061e-01 -4.04227524e-01 2.49574586e-03 7.83823249e+01] [-4.04225861e-01 9.14658464e-01 1.16056125e-03 -3.33537712e+00] [-2.75188588e-03 5.26681972e-05 -9.99996212e-01 6.71872143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.820385723 meters Centerline goodness [0,1] 0.9977896995708154 Centerline is valid? [True, True] Translation: X:78.30, Y:-3.34, Z:6.72 [[-8.82321388e-01 -4.70639933e-01 2.64977286e-03 7.83033541e+01] [-4.70637610e-01 8.82325365e-01 1.47974316e-03 -3.33988780e+00] [-3.03438803e-03 5.85262680e-05 -9.99995395e-01 6.71952505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8503857229999 meters Centerline goodness [0,1] 0.9975903100609886 Centerline is valid? [True, True] Translation: X:78.22, Y:-3.35, Z:6.72 [[-8.45482871e-01 -5.33992703e-01 3.24161387e-03 7.82226515e+01] [-5.33988414e-01 8.45489081e-01 2.14173203e-03 -3.35234205e+00] [-3.88441841e-03 7.98134953e-05 -9.99992453e-01 6.72053684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.880385723 meters Centerline goodness [0,1] 0.9978348482250042 Centerline is valid? [True, True] Translation: X:78.13, Y:-3.38, Z:6.72 [[-8.03692385e-01 -5.95037038e-01 3.07778194e-03 7.81343672e+01] [-5.95032276e-01 8.03698274e-01 2.38201943e-03 -3.37511958e+00] [-3.89099782e-03 8.30312807e-05 -9.99992427e-01 6.72055385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.910385723 meters Centerline goodness [0,1] 0.997760668813581 Centerline is valid? [True, True] Translation: X:78.04, Y:-3.41, Z:6.72 [[-7.58407345e-01 -6.51772348e-01 3.33250767e-03 7.80436325e+01] [-6.51765427e-01 7.58414659e-01 3.00543411e-03 -3.40742095e+00] [-4.48628152e-03 1.07330020e-04 -9.99989931e-01 6.72099271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.940385723 meters Centerline goodness [0,1] 0.9978586265230519 Centerline is valid? [True, True] Translation: X:77.95, Y:-3.45, Z:6.72 [[-7.08184967e-01 -7.06019776e-01 3.18238299e-03 7.79528584e+01] [-7.06011898e-01 7.08192108e-01 3.33749436e-03 -3.45192750e+00] [-4.61007554e-03 1.16763083e-04 -9.99989367e-01 6.72121263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9703857229999 meters Centerline goodness [0,1] 0.9978273372100454 Centerline is valid? [True, True] Translation: X:77.86, Y:-3.50, Z:6.72 [[-6.55415876e-01 -7.55261395e-01 3.20235551e-03 7.78612983e+01] [-7.55251277e-01 6.55423683e-01 3.91217002e-03 -3.50421176e+00] [-5.05361063e-03 1.45515253e-04 -9.99987220e-01 6.72210780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.000385723 meters Centerline goodness [0,1] 0.9978959896287165 Centerline is valid? [True, True] Translation: X:77.77, Y:-3.57, Z:6.72 [[-5.97816149e-01 -8.01628282e-01 2.81963060e-03 7.77744108e+01] [-8.01618153e-01 5.97822779e-01 4.03246939e-03 -3.56890411e+00] [-4.91818091e-03 1.50408247e-04 -9.99987894e-01 6.72286435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.030385723 meters Centerline goodness [0,1] 0.9981065785875076 Centerline is valid? [True, True] Translation: X:77.69, Y:-3.64, Z:6.72 [[-5.38227564e-01 -8.42794827e-01 2.82315702e-03 7.76876718e+01] [-8.42781342e-01 5.38234935e-01 4.77132823e-03 -3.64084809e+00] [-5.54077248e-03 1.88756305e-04 -9.99984632e-01 6.72352473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.060385723 meters Centerline goodness [0,1] 0.9982681422657768 Centerline is valid? [True, True] Translation: X:77.60, Y:-3.72, Z:6.72 [[-4.74912368e-01 -8.80030065e-01 2.30814504e-03 7.76048865e+01] [-8.80017647e-01 4.74917939e-01 4.67905403e-03 -3.71573338e+00] [-5.21388771e-03 1.90932267e-04 -9.99986389e-01 6.72284356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0903857229999 meters Centerline goodness [0,1] 0.9981874512614075 Centerline is valid? [True, True] Translation: X:77.53, Y:-3.81, Z:6.72 [[-4.07282268e-01 -9.13300739e-01 1.70710631e-03 7.75292110e+01] [-9.13290881e-01 4.07285810e-01 4.24680035e-03 -3.80937785e+00] [-4.57388608e-03 1.70561853e-04 -9.99989525e-01 6.72266018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.120385723 meters Centerline goodness [0,1] 0.9983469345051266 Centerline is valid? [True, True] Translation: X:77.46, Y:-3.90, Z:6.72 [[-3.36165495e-01 -9.41801758e-01 1.48622386e-03 7.74579268e+01] [-9.41790030e-01 3.36168731e-01 4.70359796e-03 -3.90023493e+00] [-4.92947882e-03 1.81476523e-04 -9.99987834e-01 6.72363963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.150385723 meters Centerline goodness [0,1] 0.9982579128536647 Centerline is valid? [True, True] Translation: X:77.39, Y:-4.01, Z:6.72 [[-2.62330862e-01 -9.64977128e-01 1.28923372e-03 7.73937074e+01] [-9.64961428e-01 2.62333953e-01 5.50815268e-03 -4.00884524e+00] [-5.65345113e-03 2.00897629e-04 -9.99983999e-01 6.72481071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.180385723 meters Centerline goodness [0,1] 0.9985183020994198 Centerline is valid? [True, True] Translation: X:77.34, Y:-4.11, Z:6.73 [[-1.84280090e-01 -9.82873241e-01 1.02058034e-03 7.73373301e+01] [-9.82851193e-01 1.84282796e-01 6.58657436e-03 -4.11283061e+00] [-6.66184309e-03 2.10695910e-04 -9.99977788e-01 6.72589688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.210385723 meters Centerline goodness [0,1] 0.9986395696854267 Centerline is valid? [True, True] Translation: X:77.29, Y:-4.23, Z:6.73 [[-1.06351335e-01 -9.94328471e-01 5.34148796e-04 7.72902177e+01] [-9.94304725e-01 1.06352488e-01 6.87479818e-03 -4.22795946e+00] [-6.89261562e-03 2.00037290e-04 -9.99976226e-01 6.72599572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.240385723 meters Centerline goodness [0,1] 0.9987503905029679 Centerline is valid? [True, True] Translation: X:77.25, Y:-4.34, Z:6.73 [[-2.57552835e-02 -9.99668278e-01 1.00657972e-05 7.72503270e+01] [-9.99640920e-01 2.57546532e-02 7.39785191e-03 -4.34161411e+00] [-7.39565711e-03 1.80471591e-04 -9.99972636e-01 6.72675957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.270385723 meters Centerline goodness [0,1] 0.9985875412832603 Centerline is valid? [True, True] Translation: X:76.72, Y:-4.45, Z:5.75 [[-4.69453452e-02 9.98897320e-01 5.28553335e-04 7.67172605e+01] [-9.98865625e-01 -4.69480669e-02 7.95874254e-03 -4.44949735e+00] [ 7.97478115e-03 -1.54327841e-04 9.99968189e-01 5.75022469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.300385723 meters Centerline goodness [0,1] 0.9986444495422411 Centerline is valid? [True, True] Translation: X:77.24, Y:-4.61, Z:6.73 [[-1.22905453e-02 -9.99924466e-01 -6.46461448e-05 7.72401984e+01] [-9.99884277e-01 1.22894717e-02 8.96664017e-03 -4.60799726e+00] [-8.96516842e-03 1.74843561e-04 -9.99959797e-01 6.72797993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.330385723 meters Centerline goodness [0,1] 0.9989553517330715 Centerline is valid? [True, True] Translation: X:77.21, Y:-4.72, Z:6.73 [[ 6.46293668e-02 -9.97909163e-01 -5.90103550e-04 7.72141134e+01] [-9.97884142e-01 -6.46319258e-02 7.06774910e-03 -4.72492221e+00] [-7.09111111e-03 1.32070826e-04 -9.99974849e-01 6.72665245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.360385723 meters Centerline goodness [0,1] 0.9987013803070607 Centerline is valid? [True, True] Translation: X:77.20, Y:-4.84, Z:6.73 [[ 1.39885779e-01 -9.90167061e-01 -1.07758620e-03 7.71987418e+01] [-9.90144369e-01 -1.39889869e-01 6.70469839e-03 -4.84129204e+00] [-6.78951489e-03 1.29073951e-04 -9.99976943e-01 6.72701458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.390385723 meters Centerline goodness [0,1] 0.9987487226543763 Centerline is valid? [True, True] Translation: X:77.19, Y:-4.96, Z:6.73 [[ 2.14796886e-01 -9.76657713e-01 -1.41773432e-03 7.71925864e+01] [-9.76639841e-01 -2.14801533e-01 5.90958857e-03 -4.95736715e+00] [-6.07617676e-03 1.15254601e-04 -9.99981533e-01 6.72718624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.420385723 meters Centerline goodness [0,1] 0.9987676240208877 Centerline is valid? [True, True] Translation: X:77.20, Y:-5.08, Z:6.73 [[ 2.88675047e-01 -9.57425510e-01 -1.76352260e-03 7.71985502e+01] [-9.57409849e-01 -2.88680414e-01 5.47728298e-03 -5.07571219e+00] [-5.75318489e-03 1.07258986e-04 -9.99983445e-01 6.72631789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.450385723 meters Centerline goodness [0,1] 0.9991222020189353 Centerline is valid? [True, True] Translation: X:77.21, Y:-5.19, Z:6.73 [[ 3.59898939e-01 -9.32989517e-01 -1.82070861e-03 7.72078264e+01] [-9.32978855e-01 -3.59903532e-01 4.46144870e-03 -5.19064894e+00] [-4.81776433e-03 9.30119829e-05 -9.99988390e-01 6.72615234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.480385723 meters Centerline goodness [0,1] 0.9990190758442209 Centerline is valid? [True, True] Translation: X:77.23, Y:-5.30, Z:6.73 [[ 4.29029200e-01 -9.03288285e-01 -2.05427634e-03 7.72265683e+01] [-9.03278936e-01 -4.29034108e-01 4.11066679e-03 -5.30083735e+00] [-4.59447177e-03 9.19884622e-05 -9.99989441e-01 6.72579130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.510385723 meters Centerline goodness [0,1] 0.9990196487422301 Centerline is valid? [True, True] Translation: X:77.26, Y:-5.41, Z:6.73 [[ 4.94433278e-01 -8.69213103e-01 -2.07747710e-03 7.72552655e+01] [-8.69206176e-01 -4.94437635e-01 3.47120241e-03 -5.40893528e+00] [-4.04439748e-03 8.94779423e-05 -9.99991817e-01 6.72567916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.540385723 meters Centerline goodness [0,1] 0.9990601111157525 Centerline is valid? [True, True] Translation: X:77.29, Y:-5.51, Z:6.73 [[ 5.57840401e-01 -8.29945280e-01 -2.21787008e-03 7.72904832e+01] [-8.29939347e-01 -5.57844803e-01 3.13934478e-03 -5.51457235e+00] [-3.84271168e-03 8.94442942e-05 -9.99992613e-01 6.72581660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.570385723 meters Centerline goodness [0,1] 0.9991424388203305 Centerline is valid? [True, True] Translation: X:77.33, Y:-5.61, Z:6.73 [[ 6.17635613e-01 -7.86460208e-01 -2.56749283e-03 7.73317181e+01] [-7.86454078e-01 -6.17640941e-01 3.10664514e-03 -5.61374474e+00] [-4.02904147e-03 1.00440532e-04 -9.99991878e-01 6.72601441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6003857229999 meters Centerline goodness [0,1] 0.9991632674406443 Centerline is valid? [True, True] Translation: X:77.38, Y:-5.71, Z:6.73 [[ 6.74452859e-01 -7.38312617e-01 -2.79652198e-03 7.73779100e+01] [-7.38306904e-01 -6.74458649e-01 2.90634607e-03 -5.70716772e+00] [-4.03193041e-03 1.04498073e-04 -9.99991866e-01 6.72615336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.630385723 meters Centerline goodness [0,1] 0.9992271540469974 Centerline is valid? [True, True] Translation: X:77.43, Y:-5.79, Z:6.73 [[ 7.26813597e-01 -6.86826807e-01 -3.30640799e-03 7.74316737e+01] [-6.86820460e-01 -7.26821108e-01 2.95510509e-03 -5.79444961e+00] [-4.43281251e-03 1.23098099e-04 -9.99990168e-01 6.72704368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.660385723 meters Centerline goodness [0,1] 0.9992271540469974 Centerline is valid? [True, True] Translation: X:77.43, Y:-5.81, Z:6.73 [[ 7.78280381e-01 -6.27907005e-01 -3.52730091e-03 7.74306968e+01] [-6.27901265e-01 -7.78288364e-01 2.68758911e-03 -5.80928703e+00] [-4.43281328e-03 1.23098825e-04 -9.99990168e-01 6.72704369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.690385723 meters Centerline goodness [0,1] 0.9992849631966351 Centerline is valid? [True, True] Translation: X:77.43, Y:-5.82, Z:6.73 [[ 8.24472462e-01 -5.65890502e-01 -3.61917975e-03 7.74313121e+01] [-5.65885701e-01 -8.24480397e-01 2.33442262e-03 -5.82437083e+00] [-4.30497035e-03 1.23374902e-04 -9.99990726e-01 6.72656681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7203857229999 meters Centerline goodness [0,1] 0.9994325346784363 Centerline is valid? [True, True] Translation: X:77.43, Y:-5.84, Z:6.73 [[ 8.65007384e-01 -5.01749037e-01 -3.18267603e-03 7.74345273e+01] [-5.01746113e-01 -8.65013232e-01 1.71649013e-03 -5.83648522e+00] [-3.61430415e-03 1.12118689e-04 -9.99993462e-01 6.72595368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.750385723 meters Centerline goodness [0,1] 0.999454400470055 Centerline is valid? [True, True] Translation: X:77.44, Y:-5.85, Z:6.73 [[ 9.00607712e-01 -4.34615142e-01 -3.92766079e-03 7.74379719e+01] [-4.34611695e-01 -9.00616266e-01 1.73695565e-03 -5.84986887e+00] [-4.29222242e-03 1.42691659e-04 -9.99990778e-01 6.72624737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.780385723 meters Centerline goodness [0,1] 0.9993705941591138 Centerline is valid? [True, True] Translation: X:77.44, Y:-5.86, Z:6.73 [[ 9.31416035e-01 -3.63927945e-01 -4.54104967e-03 7.74407755e+01] [-3.63924479e-01 -9.31427090e-01 1.59687103e-03 -5.86231576e+00] [-4.81080267e-03 1.65247858e-04 -9.99988414e-01 6.72673217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.810385723 meters Centerline goodness [0,1] 0.9993065770119773 Centerline is valid? [True, True] Translation: X:77.45, Y:-5.87, Z:6.73 [[ 9.56142423e-01 -2.92879457e-01 -3.64573521e-03 7.74451864e+01] [-2.92877887e-01 -9.56149363e-01 9.69298901e-04 -5.87151335e+00] [-3.76975514e-03 1.40967426e-04 -9.99992885e-01 6.72638898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8403857229999 meters Centerline goodness [0,1] 0.9994520201487976 Centerline is valid? [True, True] Translation: X:77.45, Y:-5.88, Z:6.73 [[ 9.75751901e-01 -2.18859956e-01 -2.92370842e-03 7.74500232e+01] [-2.18859329e-01 -9.75756274e-01 5.36843128e-04 -5.88096463e+00] [-2.97032030e-03 1.16055160e-04 -9.99995582e-01 6.72605941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.870385723 meters Centerline goodness [0,1] 0.9993892036479286 Centerline is valid? [True, True] Translation: X:77.45, Y:-5.89, Z:6.73 [[ 9.89391652e-01 -1.45245885e-01 -2.79138679e-03 7.74524879e+01] [-1.45245647e-01 -9.89395583e-01 2.89101747e-04 -5.89374342e+00] [-2.80377660e-03 1.19401924e-04 -9.99996062e-01 6.72523975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.900385723 meters Centerline goodness [0,1] 0.9992203632685743 Centerline is valid? [True, True] Translation: X:77.45, Y:-5.90, Z:6.72 [[ 9.97631862e-01 -6.87379557e-02 -2.40048645e-03 7.74540828e+01] [-6.87380110e-02 -9.97634744e-01 5.95911880e-05 -5.90373390e+00] [-2.39890486e-03 1.05554596e-04 -9.99997117e-01 6.72475929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.930385723 meters Centerline goodness [0,1] 0.9994086339444116 Centerline is valid? [True, True] Translation: X:77.46, Y:-5.91, Z:6.72 [[ 9.99970903e-01 7.49194780e-03 -1.43684967e-03 7.74577259e+01] [ 7.49184484e-03 -9.99971933e-01 -7.70327496e-05 -5.91199948e+00] [-1.43738647e-03 6.62658534e-05 -9.99998965e-01 6.72336596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.960385723 meters Centerline goodness [0,1] 0.9994313395113732 Centerline is valid? [True, True] Translation: X:77.46, Y:-5.92, Z:6.72 [[ 9.96362073e-01 8.52165052e-02 -8.75413149e-04 7.74603356e+01] [ 8.52164360e-02 -9.96362457e-01 -1.16206933e-04 -5.91916648e+00] [-8.82131544e-04 4.11845923e-05 -9.99999610e-01 6.72293326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.990385723 meters Centerline goodness [0,1] 0.9995988853234251 Centerline is valid? [True, True] Translation: X:77.47, Y:-5.93, Z:6.72 [[ 9.86765112e-01 1.62156097e-01 -1.19902449e-04 7.74654388e+01] [ 1.62156095e-01 -9.86765119e-01 -2.56193908e-05 -5.92987013e+00] [-1.22469895e-04 5.83740814e-06 -9.99999993e-01 6.72221862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.020385723 meters Centerline goodness [0,1] 0.9997687229300702 Centerline is valid? [True, True] Translation: X:77.47, Y:-5.95, Z:6.72 [[ 9.71119139e-01 2.38595086e-01 5.11894503e-05 7.74738224e+01] [ 2.38595086e-01 -9.71119140e-01 1.51811793e-05 -5.94842557e+00] [ 5.33332096e-05 -2.52918253e-06 -9.99999999e-01 6.72230043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.050385723 meters Centerline goodness [0,1] 0.9996217136372234 Centerline is valid? [True, True] Translation: X:77.48, Y:-5.96, Z:6.72 [[ 9.49508121e-01 3.13741163e-01 -9.00231743e-04 7.74818970e+01] [ 3.13740976e-01 -9.49508547e-01 -3.46143159e-04 -5.96256325e+00] [-9.63377092e-04 4.62261555e-05 -9.99999535e-01 6.72314705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.080385723 meters Centerline goodness [0,1] 0.9997483485372759 Centerline is valid? [True, True] Translation: X:77.49, Y:-5.97, Z:6.72 [[ 9.22099091e-01 3.86951683e-01 -1.28920874e-03 7.74893364e+01] [ 3.86951199e-01 -9.22099990e-01 -6.15529682e-04 -5.97356102e+00] [-1.42695962e-03 6.87184907e-05 -9.99998980e-01 6.72358669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.110385723 meters Centerline goodness [0,1] 0.9999370025828941 Centerline is valid? [True, True] Translation: X:77.50, Y:-5.99, Z:6.72 [[ 8.88842564e-01 4.58209835e-01 -1.62573270e-03 7.75002032e+01] [ 4.58208882e-01 -8.88844047e-01 -9.39060596e-04 -5.98561232e+00] [-1.87530963e-03 8.97518655e-05 -9.99998238e-01 6.72284862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.140385723 meters Centerline goodness [0,1] 0.9997702205882353 Centerline is valid? [True, True] Translation: X:77.51, Y:-6.00, Z:6.72 [[ 8.49812292e-01 5.27083205e-01 -1.53752538e-03 7.75099570e+01] [ 5.27082153e-01 -8.49813678e-01 -1.05675778e-03 -5.99554588e+00] [-1.86360937e-03 8.76435666e-05 -9.99998260e-01 6.72265556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.170385723 meters Centerline goodness [0,1] 0.9997695369788393 Centerline is valid? [True, True] Translation: X:77.52, Y:-6.01, Z:6.72 [[ 8.04687433e-01 5.93696953e-01 -1.43638228e-03 7.75209139e+01] [ 5.93695820e-01 -8.04688711e-01 -1.16282365e-03 -6.00581657e+00] [-1.84620547e-03 8.29354209e-05 -9.99998292e-01 6.72405347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.200385723 meters Centerline goodness [0,1] 0.9998953230331198 Centerline is valid? [True, True] Translation: X:77.54, Y:-6.02, Z:6.72 [[ 7.54607685e-01 6.56175064e-01 -1.23566453e-03 7.75378535e+01] [ 6.56174021e-01 -7.54608694e-01 -1.17190923e-03 -6.01887449e+00] [-1.70142081e-03 7.35207480e-05 -9.99998550e-01 6.72326483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.230385723 meters Centerline goodness [0,1] 0.9999790996112528 Centerline is valid? [True, True] Translation: X:77.56, Y:-6.03, Z:6.72 [[ 6.99195872e-01 7.14928082e-01 -1.72315063e-03 7.75587064e+01] [ 7.14925534e-01 -6.99197988e-01 -1.91185420e-03 -6.03178324e+00] [-2.57166171e-03 1.04836181e-04 -9.99996688e-01 6.72448199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.260385723 meters Centerline goodness [0,1] 0.9999790974268933 Centerline is valid? [True, True] Translation: X:77.57, Y:-6.04, Z:6.72 [[ 6.40405362e-01 7.68035911e-01 -1.34579712e-03 7.75730505e+01] [ 7.68033919e-01 -6.40406770e-01 -1.75140925e-03 -6.03796118e+00] [-2.20700278e-03 8.79940386e-05 -9.99997561e-01 6.72455690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.290385723 meters Centerline goodness [0,1] 0.9999166545121163 Centerline is valid? [True, True] Translation: X:77.59, Y:-6.04, Z:6.72 [[ 5.77932951e-01 8.16084251e-01 -7.69933061e-06 7.75890607e+01] [ 8.16084250e-01 -5.77932951e-01 -1.18678725e-05 -6.04295751e+00] [-1.41348808e-05 5.75532124e-07 -1.00000000e+00 6.72233256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.320385723 meters Centerline goodness [0,1] 0.999874825276949 Centerline is valid? [True, True] Translation: X:77.60, Y:-6.05, Z:6.72 [[ 5.12710829e-01 8.58561246e-01 4.39270148e-04 7.76043661e+01] [ 8.58560868e-01 -5.12711016e-01 8.06963529e-04 -6.04678071e+00] [ 9.18046256e-04 -3.65987808e-05 -9.99999578e-01 6.72125007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3503857229999 meters Centerline goodness [0,1] 0.9998956812017525 Centerline is valid? [True, True] Translation: X:77.62, Y:-6.05, Z:6.72 [[ 4.46287645e-01 8.94889373e-01 5.89430182e-04 7.76224346e+01] [ 8.94888403e-01 -4.46288030e-01 1.31947820e-03 -6.05069316e+00] [ 1.44384266e-03 -6.13925856e-05 -9.99998956e-01 6.72040396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.380385723 meters Centerline goodness [0,1] 0.9998116721421247 Centerline is valid? [True, True] Translation: X:77.64, Y:-6.05, Z:6.72 [[ 3.79250959e-01 9.25293792e-01 3.29926644e-04 7.76386941e+01] [ 9.25293328e-01 -3.79251099e-01 9.27478902e-04 -6.05137157e+00] [ 9.83315512e-04 -4.64683402e-05 -9.99999516e-01 6.72033073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.410385723 meters Centerline goodness [0,1] 0.9999584320571975 Centerline is valid? [True, True] Translation: X:77.66, Y:-6.05, Z:6.72 [[ 3.08347241e-01 9.51273850e-01 2.04822731e-04 7.76558840e+01] [ 9.51273547e-01 -3.08347306e-01 7.59703880e-04 -6.05144877e+00] [ 7.85842972e-04 -3.94101495e-05 -9.99999691e-01 6.71971146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.67, Y:-6.05, Z:6.72 [[ 2.36221339e-01 9.71699251e-01 2.13327609e-04 7.76682682e+01] [ 9.71698584e-01 -2.36221427e-01 1.14021045e-03 -6.05058063e+00] [ 1.15833419e-03 -6.20519027e-05 -9.99999327e-01 6.71920022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4703857229999 meters Centerline goodness [0,1] 0.9999377477122284 Centerline is valid? [True, True] Translation: X:77.68, Y:-6.05, Z:6.72 [[ 1.65898666e-01 9.86142801e-01 9.46668415e-05 7.76803757e+01] [ 9.86142405e-01 -1.65898685e-01 8.85270717e-04 -6.04907994e+00] [ 8.88708449e-04 -5.35102444e-05 -9.99999604e-01 6.71925723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.70, Y:-6.05, Z:6.72 [[ 9.06548260e-02 9.95882373e-01 2.92717926e-05 7.76979508e+01] [ 9.95881832e-01 -9.06548073e-02 1.04022885e-03 -6.04596055e+00] [ 1.03859920e-03 -6.51505188e-05 -9.99999459e-01 6.71950375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.72, Y:-6.04, Z:6.72 [[ 1.62179408e-02 9.99868479e-01 -6.43636822e-05 7.77185653e+01] [ 9.99867663e-01 -1.62178452e-02 1.27963376e-03 -6.04038563e+00] [ 1.27842162e-03 -8.51081891e-05 -9.99999179e-01 6.71952207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.560385723 meters Centerline goodness [0,1] 0.9998965338851526 Centerline is valid? [True, True] Translation: X:77.73, Y:-6.04, Z:6.72 [[-6.12020473e-02 9.98125372e-01 -2.28745269e-04 7.77322395e+01] [ 9.98123812e-01 6.12023569e-02 1.76828067e-03 -6.03504146e+00] [ 1.77896555e-03 -1.20093703e-04 -9.99998411e-01 6.71916865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.75, Y:-6.03, Z:6.72 [[-1.38742078e-01 9.90328534e-01 -1.75643181e-04 7.77507066e+01] [ 9.90328183e-01 1.38742177e-01 8.36198312e-04 -6.02651709e+00] [ 8.52480166e-04 -5.79285010e-05 -9.99999635e-01 6.71990192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.77, Y:-6.02, Z:6.72 [[-2.17351778e-01 9.76093211e-01 4.97496042e-04 7.77713846e+01] [ 9.76091746e-01 2.17352316e-01 -1.69529805e-03 -6.01504941e+00] [-1.76290084e-03 1.17125734e-04 -9.99998439e-01 6.72212386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.650385723 meters Centerline goodness [0,1] 0.9999584527815862 Centerline is valid? [True, True] Translation: X:77.79, Y:-6.00, Z:6.72 [[-2.94553329e-01 9.55634572e-01 9.49998352e-04 7.77861121e+01] [ 9.55631331e-01 2.94554810e-01 -2.49477949e-03 -6.00292010e+00] [-2.66392411e-03 1.73002587e-04 -9.99996437e-01 6.72299661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.80, Y:-5.99, Z:6.72 [[-3.73832922e-01 9.27494370e-01 1.77218753e-03 7.78041065e+01] [ 9.27486850e-01 3.73837043e-01 -3.74277405e-03 -5.98804028e+00] [-4.13391120e-03 2.44508475e-04 -9.99991426e-01 6.72415608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.710385723 meters Centerline goodness [0,1] 0.999958353289049 Centerline is valid? [True, True] Translation: X:77.81, Y:-5.97, Z:6.72 [[-4.48579932e-01 8.93739159e-01 2.52204155e-03 7.78149309e+01] [ 8.93728379e-01 4.48586934e-01 -4.39860597e-03 -5.97488596e+00] [-5.06256128e-03 2.80893735e-04 -9.99987146e-01 6.72466176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.83, Y:-5.96, Z:6.72 [[-5.24087989e-01 8.51658357e-01 3.13418334e-03 7.78283200e+01] [ 8.51646024e-01 5.24097295e-01 -4.59086313e-03 -5.95818168e+00] [-5.55246396e-03 2.63198552e-04 -9.99984550e-01 6.72485518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.84, Y:-5.94, Z:6.72 [[-5.92514602e-01 8.05554426e-01 2.91771500e-03 7.78365108e+01] [ 8.05546284e-01 5.92521752e-01 -3.62739172e-03 -5.94081076e+00] [-4.65087106e-03 2.01071915e-04 -9.99989165e-01 6.72431580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.84, Y:-5.92, Z:6.72 [[-6.59115166e-01 7.52039105e-01 2.09355674e-03 7.78445217e+01] [ 7.52035832e-01 6.59118481e-01 -2.22139643e-03 -5.92234175e+00] [-3.05047892e-03 1.10273607e-04 -9.99995341e-01 6.72345048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.85, Y:-5.91, Z:6.72 [[-7.17927045e-01 6.96116009e-01 1.80552680e-03 7.78467930e+01] [ 6.96114088e-01 7.17929311e-01 -1.63741886e-03 -5.90621348e+00] [-2.43607409e-03 8.13053554e-05 -9.99997030e-01 6.72337426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.86, Y:-5.87, Z:6.72 [[-7.67837070e-01 6.40643365e-01 1.52110100e-03 7.78615212e+01] [ 6.40642254e-01 7.67838574e-01 -1.19442067e-03 -5.86796275e+00] [-1.93315770e-03 5.73611055e-05 -9.99998130e-01 6.72355073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.87, Y:-5.83, Z:6.72 [[-8.12703852e-01 5.82674723e-01 1.61754186e-03 7.78660133e+01] [ 5.82673698e-01 8.12705460e-01 -1.09413921e-03 -5.83441727e+00] [-1.95211236e-03 5.32879457e-05 -9.99998093e-01 6.72414442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.87, Y:-5.80, Z:6.72 [[-8.52543046e-01 5.22653009e-01 2.04598940e-03 7.78691157e+01] [ 5.22651678e-01 8.52545499e-01 -1.18149931e-03 -5.79942838e+00] [-2.36181322e-03 6.20607708e-05 -9.99997209e-01 6.72479851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.950385723 meters Centerline goodness [0,1] 0.9999791397221411 Centerline is valid? [True, True] Translation: X:77.87, Y:-5.76, Z:6.72 [[-8.88021716e-01 4.59795958e-01 2.26029026e-03 7.78728864e+01] [ 4.59794648e-01 8.88024591e-01 -1.09939976e-03 -5.76187191e+00] [-2.51269289e-03 6.29785033e-05 -9.99996841e-01 6.72450894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.87, Y:-5.73, Z:6.72 [[-9.19127631e-01 3.93958025e-01 1.21351525e-03 7.78703051e+01] [ 3.93957725e-01 9.19128432e-01 -4.87065976e-04 -5.73024411e+00] [-1.30725992e-03 3.03979117e-05 -9.99999145e-01 6.72484101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.87, Y:-5.69, Z:6.72 [[-9.45552685e-01 3.25468917e-01 3.21730007e-04 7.78669710e+01] [ 3.25468900e-01 9.45552740e-01 -1.03283531e-04 -5.69022049e+00] [-3.37828269e-04 7.05309140e-06 -9.99999943e-01 6.72454462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.86, Y:-5.66, Z:6.72 [[-9.66593079e-01 2.56315625e-01 3.45487944e-04 7.78597501e+01] [ 2.56315611e-01 9.66593141e-01 -8.43786042e-05 -5.66016590e+00] [-3.55573831e-04 6.99417845e-06 -9.99999937e-01 6.72476957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.85, Y:-5.62, Z:6.73 [[-9.82763226e-01 1.84868172e-01 4.47092555e-04 7.78506242e+01] [ 1.84868156e-01 9.82763328e-01 -7.60573853e-05 -5.62206823e+00] [-4.53446757e-04 7.90677495e-06 -9.99999897e-01 6.72561180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.84, Y:-5.59, Z:6.73 [[-9.93537049e-01 1.13508002e-01 2.57403852e-04 7.78365148e+01] [ 1.13507999e-01 9.93537082e-01 -2.51435028e-05 -5.59093506e+00] [-2.58594261e-04 4.23639459e-06 -9.99999967e-01 6.72567726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.82, Y:-5.56, Z:6.73 [[-9.99126661e-01 4.17840796e-02 -7.60766686e-05 7.78218901e+01] [ 4.17840796e-02 9.99126664e-01 2.01163090e-06 -5.55991868e+00] [ 7.60942822e-05 -1.16891953e-06 -9.99999997e-01 6.72573212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.80, Y:-5.53, Z:6.73 [[-9.99523147e-01 -3.08781035e-02 -1.48173872e-04 7.78009395e+01] [-3.08781029e-02 9.99523158e-01 -6.64865766e-06 -5.52871083e+00] [ 1.48308514e-04 -2.07015918e-06 -9.99999989e-01 6.72662623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.78, Y:-5.50, Z:6.73 [[-9.94731990e-01 -1.02505518e-01 9.42088051e-04 7.77796151e+01] [-1.02505460e-01 9.94732436e-01 1.10006715e-04 -5.50367929e+00] [-9.48401837e-04 1.28580292e-05 -9.99999550e-01 6.72798088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.75, Y:-5.48, Z:6.73 [[-9.84936004e-01 -1.72912650e-01 1.51112492e-03 7.77546306e+01] [-1.72912414e-01 9.84937163e-01 2.86753914e-04 -5.48008279e+00] [-1.53794647e-03 2.11419967e-05 -9.99998817e-01 6.72832771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.72, Y:-5.46, Z:6.73 [[-9.70782456e-01 -2.39959169e-01 1.00990977e-03 7.77207893e+01] [-2.39959020e-01 9.70782982e-01 2.67447333e-04 -5.46105972e+00] [-1.04457965e-03 1.72962203e-05 -9.99999454e-01 6.72810872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.280385723 meters Centerline goodness [0,1] 0.9999164874626804 Centerline is valid? [True, True] Translation: X:77.61, Y:-5.11, Z:5.75 [[-9.77980680e-01 2.08686683e-01 1.91258330e-03 7.76135000e+01] [-2.08686231e-01 -9.77982550e-01 4.35184691e-04 -5.11401176e+00] [ 1.96129034e-03 2.64724209e-05 9.99998076e-01 5.74816357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.65, Y:-5.48, Z:6.73 [[-9.70816182e-01 -2.39823001e-01 9.31761606e-04 7.76479607e+01] [-2.39822871e-01 9.70816629e-01 2.50829527e-04 -5.48472656e+00] [-9.64724351e-04 2.00516200e-05 -9.99999535e-01 6.72792157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3403857229999 meters Centerline goodness [0,1] 0.9998962612556538 Centerline is valid? [True, True] Translation: X:77.61, Y:-5.47, Z:6.73 [[-9.52393506e-01 -3.04868313e-01 1.38623990e-03 7.76117834e+01] [-3.04867934e-01 9.52394514e-01 4.82519712e-04 -5.47070924e+00] [-1.46735224e-03 3.69285470e-05 -9.99998923e-01 6.72950563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.57, Y:-5.45, Z:6.73 [[-9.28354545e-01 -3.71695643e-01 -4.32910373e-04 7.75683248e+01] [-3.71695596e-01 9.28354646e-01 -1.87019591e-04 -5.45439086e+00] [ 4.71408723e-04 -1.27096083e-05 -9.99999889e-01 6.72721267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.52, Y:-5.45, Z:6.73 [[-8.99476391e-01 -4.36969333e-01 1.55735367e-04 7.75164572e+01] [-4.36969325e-01 8.99476405e-01 8.06634442e-05 -5.44900769e+00] [-1.75327740e-04 4.50328531e-06 -9.99999985e-01 6.72786364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.430385723 meters Centerline goodness [0,1] 0.9999582000961398 Centerline is valid? [True, True] Translation: X:77.45, Y:-5.45, Z:6.73 [[-8.65206142e-01 -5.01415822e-01 7.10682256e-04 7.74509806e+01] [-5.01415631e-01 8.65206434e-01 4.38010426e-04 -5.45252415e+00] [-8.34512218e-04 2.26221184e-05 -9.99999652e-01 6.72906977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.38, Y:-5.47, Z:6.73 [[-8.25937160e-01 -5.63762000e-01 4.63576977e-04 7.73775964e+01] [-5.63761900e-01 8.25937290e-01 3.34936525e-04 -5.46624961e+00] [-5.71709997e-04 1.52894844e-05 -9.99999837e-01 6.72800714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.490385723 meters Centerline goodness [0,1] 0.9999167516493579 Centerline is valid? [True, True] Translation: X:77.30, Y:-5.49, Z:6.73 [[-7.81966368e-01 -6.23319738e-01 1.05087627e-03 7.73015257e+01] [-6.23319111e-01 7.81967073e-01 8.84431269e-04 -5.48642384e+00] [-1.37303411e-03 3.65642420e-05 -9.99999057e-01 6.72999384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.520385723 meters Centerline goodness [0,1] 0.9998326814882982 Centerline is valid? [True, True] Translation: X:77.23, Y:-5.51, Z:6.73 [[-7.33401222e-01 -6.79795094e-01 1.13074499e-03 7.72257783e+01] [-6.79794199e-01 7.33402092e-01 1.10394325e-03 -5.51257446e+00] [-1.57974595e-03 4.09594462e-05 -9.99998751e-01 6.73054946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.550385723 meters Centerline goodness [0,1] 0.9998326814882982 Centerline is valid? [True, True] Translation: X:77.15, Y:-5.55, Z:6.73 [[-6.81065432e-01 -7.32221813e-01 1.04591336e-03 7.71487577e+01] [-7.32220856e-01 6.81066234e-01 1.18461195e-03 -5.55057465e+00] [-1.57973498e-03 4.09586736e-05 -9.99998751e-01 6.73054908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.580385723 meters Centerline goodness [0,1] 0.9999582070838993 Centerline is valid? [True, True] Translation: X:77.07, Y:-5.60, Z:6.73 [[-6.22750811e-01 -7.82420105e-01 4.54826395e-04 7.70708696e+01] [-7.82419875e-01 6.22750977e-01 5.99184489e-04 -5.59894715e+00] [-7.52057572e-04 1.72774154e-05 -9.99999717e-01 6.72855747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.00, Y:-5.65, Z:6.73 [[-5.61874335e-01 -8.27222536e-01 3.28716483e-04 7.69952941e+01] [-8.27222380e-01 5.61874431e-01 5.07293478e-04 -5.65240722e+00] [-6.04341984e-04 1.31135537e-05 -9.99999817e-01 6.72747603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.92, Y:-5.72, Z:6.73 [[-4.97624508e-01 -8.67392536e-01 1.95660077e-04 7.69247212e+01] [-8.67392462e-01 4.97624546e-01 3.57566224e-04 -5.71660747e+00] [-4.07515531e-04 8.21964017e-06 -9.99999917e-01 6.72710498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.86, Y:-5.78, Z:6.73 [[-4.31251507e-01 -9.02231751e-01 -7.35605438e-05 7.68552692e+01] [-9.02231736e-01 4.31251513e-01 -1.63115908e-04 -5.78341188e+00] [ 1.78891447e-04 -3.97532377e-06 -9.99999984e-01 6.72671073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.79, Y:-5.86, Z:6.73 [[-3.62106183e-01 -9.32136847e-01 -1.05304458e-04 7.67939871e+01] [-9.32136802e-01 3.62106198e-01 -2.88935333e-04 -5.86356402e+00] [ 3.07458667e-04 -6.46711020e-06 -9.99999953e-01 6.72679083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.73, Y:-5.95, Z:6.73 [[-2.91258824e-01 -9.56644277e-01 -1.56307298e-04 7.67338388e+01] [-9.56644117e-01 2.91258866e-01 -5.54000525e-04 -5.94880367e+00] [ 5.75507318e-04 -1.18270847e-05 -9.99999834e-01 6.72701081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.68, Y:-6.04, Z:6.73 [[-2.18764005e-01 -9.75777794e-01 -8.49615248e-05 7.66819849e+01] [-9.75777704e-01 2.18764021e-01 -4.19645955e-04 -6.03803129e+00] [ 4.28067728e-04 -8.89986826e-06 -9.99999908e-01 6.72761134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.790385723 meters Centerline goodness [0,1] 0.9999168416457038 Centerline is valid? [True, True] Translation: X:76.64, Y:-6.13, Z:6.73 [[-1.45097529e-01 -9.89417357e-01 3.12446688e-05 7.66383093e+01] [-9.89417326e-01 1.45097532e-01 2.45725841e-04 -6.13222111e+00] [-2.47658937e-04 4.74019571e-06 -9.99999969e-01 6.72927166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.60, Y:-6.23, Z:6.73 [[-7.01772561e-02 -9.97534536e-01 -5.70877557e-05 7.66013882e+01] [-9.97533882e-01 7.01772755e-02 -1.14203934e-03 -6.23191279e+00] [ 1.14322994e-03 -2.31982166e-05 -9.99999346e-01 6.72720841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.57, Y:-6.33, Z:6.73 [[ 5.41654406e-03 -9.99985330e-01 4.01542112e-05 7.65711128e+01] [-9.99984050e-01 -5.41660138e-03 -1.60022656e-03 -6.33307287e+00] [ 1.60042058e-03 -3.14858731e-05 -9.99998719e-01 6.72645531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.55, Y:-6.44, Z:6.73 [[ 8.10382382e-02 -9.96710980e-01 1.60524481e-04 7.65474730e+01] [-9.96709705e-01 -8.10383913e-02 -1.59470511e-03 -6.43929015e+00] [ 1.60246874e-03 -3.07642152e-05 -9.99998716e-01 6.72664920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.53, Y:-6.54, Z:6.73 [[ 1.56240409e-01 -9.87718979e-01 3.91925999e-04 7.65316966e+01] [-9.87716507e-01 -1.56240895e-01 -2.21036048e-03 -6.54378402e+00] [ 2.24444987e-03 -4.17641540e-05 -9.99997480e-01 6.72667024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.940385723 meters Centerline goodness [0,1] 0.9999791462473672 Centerline is valid? [True, True] Translation: X:76.53, Y:-6.65, Z:6.73 [[ 2.29457559e-01 -9.73318480e-01 6.04336387e-04 7.65269202e+01] [-9.73315620e-01 -2.29458350e-01 -2.35981754e-03 -6.65239629e+00] [ 2.43552405e-03 -4.67320717e-05 -9.99997033e-01 6.72734949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9703857229999 meters Centerline goodness [0,1] 0.9999582507045194 Centerline is valid? [True, True] Translation: X:76.53, Y:-6.76, Z:6.73 [[ 3.00871234e-01 -9.53664444e-01 7.93555316e-04 7.65296264e+01] [-9.53661555e-01 -3.00872277e-01 -2.34787747e-03 -6.76300583e+00] [ 2.47784605e-03 -5.03744037e-05 -9.99996929e-01 6.72792021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.54, Y:-6.86, Z:6.73 [[ 3.69083165e-01 -9.29395317e-01 1.40108859e-03 7.65372683e+01] [-9.29389450e-01 -3.69085815e-01 -3.30342691e-03 -6.85802986e+00] [ 3.58731142e-03 -8.29176980e-05 -9.99993562e-01 6.72625778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.030385723 meters Centerline goodness [0,1] 0.9998964395932147 Centerline is valid? [True, True] Translation: X:76.56, Y:-6.96, Z:6.73 [[ 4.36411215e-01 -8.99746166e-01 1.44498438e-03 7.65565827e+01] [-8.99741810e-01 -4.36413600e-01 -2.80099862e-03 -6.96148420e+00] [ 3.15079860e-03 -7.77256556e-05 -9.99995033e-01 6.72867978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.060385723 meters Centerline goodness [0,1] 0.9998120222231505 Centerline is valid? [True, True] Translation: X:76.58, Y:-7.06, Z:6.73 [[ 4.99667211e-01 -8.66216867e-01 1.00884160e-03 7.65808960e+01] [-8.66215316e-01 -4.99668227e-01 -1.64014037e-03 -7.05977819e+00] [ 1.92480335e-03 -5.43496766e-05 -9.99998146e-01 6.73055809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.61, Y:-7.16, Z:6.73 [[ 5.60172307e-01 -8.28375477e-01 1.02726908e-03 7.66122787e+01] [-8.28374263e-01 -5.60173247e-01 -1.41954463e-03 -7.15713116e+00] [ 1.75136461e-03 -5.57736745e-05 -9.99998465e-01 6.72882043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.65, Y:-7.25, Z:6.73 [[ 6.19145734e-01 -7.85275574e-01 9.12501622e-04 7.66453090e+01] [-7.85274832e-01 -6.19146405e-01 -1.08048111e-03 -7.24839193e+00] [ 1.41344753e-03 -4.75892862e-05 -9.99999000e-01 6.72930962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.69, Y:-7.33, Z:6.73 [[ 6.74647300e-01 -7.38139935e-01 6.76400233e-04 7.66882571e+01] [-7.38139614e-01 -6.74647638e-01 -6.89008886e-04 -7.33299479e+00] [ 9.64916794e-04 -3.44398227e-05 -9.99999534e-01 6.72916004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.73, Y:-7.41, Z:6.73 [[ 7.27364478e-01 -6.86250767e-01 8.95154902e-04 7.67316925e+01] [-6.86250319e-01 -7.27365028e-01 -7.85356252e-04 -7.41353955e+00] [ 1.19005570e-03 -4.30600967e-05 -9.99999291e-01 6.72915311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.210385723 meters Centerline goodness [0,1] 0.9999791397221411 Centerline is valid? [True, True] Translation: X:76.73, Y:-7.43, Z:6.73 [[ 7.79352187e-01 -6.26586047e-01 3.08180475e-04 7.67342813e+01] [-6.26586004e-01 -7.79352248e-01 -2.30123055e-04 -7.43255889e+00] [ 3.84373041e-04 -1.37546662e-05 -9.99999926e-01 6.72975604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.74, Y:-7.45, Z:6.73 [[ 8.26833844e-01 -5.62446234e-01 1.70572787e-04 7.67367754e+01] [-5.62446224e-01 -8.26833861e-01 -1.07518438e-04 -7.45415245e+00] [ 2.01508697e-04 -7.03813610e-06 -9.99999980e-01 6.72941933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.74, Y:-7.48, Z:6.73 [[ 8.70341557e-01 -4.92448550e-01 3.41905304e-06 7.67412495e+01] [-4.92448550e-01 -8.70341557e-01 -1.47402780e-06 -7.47598562e+00] [ 3.70162669e-06 -4.00800075e-07 -1.00000000e+00 6.72932561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.75, Y:-7.50, Z:6.73 [[ 9.07208314e-01 -4.20681675e-01 -5.38786761e-05 7.67476777e+01] [-4.20681674e-01 -9.07208316e-01 2.35678656e-05 -7.49723858e+00] [-5.87937523e-05 1.28480805e-06 -9.99999998e-01 6.72920679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.75, Y:-7.52, Z:6.73 [[ 9.38688753e-01 -3.44764622e-01 -8.83959603e-04 7.67546969e+01] [-3.44764490e-01 -9.38689169e-01 3.02241134e-04 -7.51699752e+00] [-9.33965355e-04 2.10475292e-05 -9.99999564e-01 6.73017219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.77, Y:-7.53, Z:6.73 [[ 9.63165708e-01 -2.68904342e-01 -1.50815545e-03 7.67651328e+01] [-2.68904066e-01 -9.63166888e-01 3.86793379e-04 -7.52993268e+00] [-1.55661581e-03 3.30030143e-05 -9.99998788e-01 6.73084931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.78, Y:-7.55, Z:6.73 [[ 9.81593304e-01 -1.90965534e-01 -2.59835235e-03 7.67771997e+01] [-1.90965003e-01 -9.81596741e-01 4.53314228e-04 -7.54775992e+00] [-2.63710159e-03 5.12241527e-05 -9.99996522e-01 6.73095897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.79, Y:-7.56, Z:6.73 [[ 9.93549533e-01 -1.13377109e-01 -2.22650027e-03 7.67909051e+01] [-1.13376921e-01 -9.93552027e-01 2.11088101e-04 -7.56288524e+00] [-2.23607641e-03 4.27072593e-05 -9.99997499e-01 6.73092449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.450385723 meters Centerline goodness [0,1] 0.9999164490861618 Centerline is valid? [True, True] Translation: X:76.80, Y:-7.57, Z:6.73 [[ 9.99377455e-01 -3.52048661e-02 -2.30648991e-03 7.68011415e+01] [-3.52048741e-02 -9.99380116e-01 3.71751942e-05 -7.57493266e+00] [-2.30636890e-03 4.40476358e-05 -9.99997339e-01 6.73316067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.81, Y:-7.58, Z:6.73 [[ 9.99009993e-01 4.44565182e-02 -1.62825105e-03 7.68120296e+01] [ 4.44564120e-02 -9.99011320e-01 -1.01412181e-04 -7.58490722e+00] [-1.63114967e-03 2.89255827e-05 -9.99998669e-01 6.73016587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.82, Y:-7.60, Z:6.73 [[ 9.92344732e-01 1.23483557e-01 -1.93493712e-03 7.68247736e+01] [ 1.23483258e-01 -9.92346618e-01 -2.73871328e-04 -7.59773827e+00] [-1.95394691e-03 3.28424294e-05 -9.99998091e-01 6.73053501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.84, Y:-7.61, Z:6.73 [[ 9.79483439e-01 2.01515358e-01 -1.93738306e-03 7.68373139e+01] [ 2.01514899e-01 -9.79485355e-01 -4.31204682e-04 -7.60604045e+00] [-1.98453270e-03 3.19462932e-05 -9.99998030e-01 6.73058263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.85, Y:-7.61, Z:6.73 [[ 9.60569739e-01 2.78036239e-01 -1.27562917e-03 7.68499924e+01] [ 2.78035965e-01 -9.60570585e-01 -3.90840480e-04 -7.61093572e+00] [-1.33399968e-03 2.07587491e-05 -9.99999110e-01 6.73012665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.86, Y:-7.61, Z:6.73 [[ 9.35436846e-01 3.53493838e-01 1.18714219e-04 7.68630261e+01] [ 3.53493835e-01 -9.35436853e-01 4.71576369e-05 -7.61499857e+00] [ 1.27719590e-04 -2.14824648e-06 -9.99999992e-01 6.72898497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:-7.62, Z:6.73 [[ 9.04306094e-01 4.26882768e-01 1.26124023e-03 7.68789595e+01] [ 4.26882324e-01 -9.04306973e-01 6.16265729e-04 -7.62312662e+00] [ 1.40362155e-03 -1.88916950e-05 -9.99999015e-01 6.72801116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.89, Y:-7.63, Z:6.73 [[ 8.67799646e-01 4.96911378e-01 1.69048973e-03 7.68933513e+01] [ 4.96910378e-01 -8.67801292e-01 9.96891028e-04 -7.62907699e+00] [ 1.96237567e-03 -2.50797895e-05 -9.99998074e-01 6.72785818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.91, Y:-7.63, Z:6.73 [[ 8.25420656e-01 5.64517004e-01 1.13669582e-03 7.69088631e+01] [ 5.64516443e-01 -8.25421439e-01 7.96624241e-04 -7.63272946e+00] [ 1.38796103e-03 -1.58666227e-05 -9.99999037e-01 6.72809163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.93, Y:-7.64, Z:6.73 [[ 7.78435243e-01 6.27723319e-01 1.41692536e-03 7.69250988e+01] [ 6.27722231e-01 -7.78436532e-01 1.16848721e-03 -7.63597481e+00] [ 1.83647313e-03 -2.01560735e-05 -9.99998314e-01 6.72854614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.94, Y:-7.64, Z:6.73 [[ 7.26071793e-01 6.87618087e-01 1.05728096e-03 7.69379793e+01] [ 6.87617329e-01 -7.26072563e-01 1.02123754e-03 -7.63566740e+00] [ 1.46988410e-03 -1.44870643e-05 -9.99998920e-01 6.72836569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.95, Y:-7.64, Z:6.73 [[ 6.70025062e-01 7.42338023e-01 8.22120406e-04 7.69527041e+01] [ 7.42337442e-01 -6.70025566e-01 9.29158310e-04 -7.63539702e+00] [ 1.24059123e-03 -1.22685948e-05 -9.99999230e-01 6.72847176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.96, Y:-7.63, Z:6.73 [[ 6.09798114e-01 7.92556732e-01 -2.96104386e-04 7.69646960e+01] [ 7.92556635e-01 -6.09798186e-01 -3.92136614e-04 -7.63314942e+00] [-4.91354430e-04 4.44467211e-06 -9.99999879e-01 6.72966025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.98, Y:-7.63, Z:6.73 [[ 5.46048586e-01 8.37753265e-01 -6.39897500e-04 7.69766177e+01] [ 8.37752665e-01 -5.46048961e-01 -1.00249186e-03 -7.62996791e+00] [-1.18925620e-03 1.13334285e-05 -9.99999293e-01 6.73048011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.99, Y:-7.63, Z:6.73 [[ 4.79104110e-01 8.77757179e-01 -1.25982864e-03 7.69907854e+01] [ 8.77753996e-01 -4.79105765e-01 -2.36403978e-03 -7.62697895e+00] [-2.67864405e-03 2.68015536e-05 -9.99996412e-01 6.73093901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.01, Y:-7.62, Z:6.73 [[ 4.09752668e-01 9.12196177e-01 -9.40824273e-04 7.70065549e+01] [ 9.12193627e-01 -4.09753747e-01 -2.15735720e-03 -7.62422026e+00] [-2.35343926e-03 2.57689612e-05 -9.99997230e-01 6.73097372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.02, Y:-7.62, Z:6.73 [[ 3.39734595e-01 9.40520770e-01 -1.04252489e-03 7.70192841e+01] [ 9.40515937e-01 -3.39736192e-01 -3.01550597e-03 -7.61922044e+00] [-3.19032943e-03 4.39604246e-05 -9.99994910e-01 6.73119256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.03, Y:-7.61, Z:6.73 [[ 2.66814119e-01 9.63747545e-01 -9.46494542e-04 7.70328641e+01] [ 9.63740678e-01 -2.66815791e-01 -3.63870317e-03 -7.61422207e+00] [-3.75933094e-03 5.86820873e-05 -9.99992932e-01 6.73166680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.05, Y:-7.61, Z:6.73 [[ 1.92626838e-01 9.81271862e-01 -6.59551606e-04 7.70454118e+01] [ 9.81264862e-01 -1.92627956e-01 -3.70694861e-03 -7.60807487e+00] [-3.76457244e-03 6.68629744e-05 -9.99992912e-01 6.73163297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.05, Y:-7.60, Z:6.73 [[ 1.20065447e-01 9.92765874e-01 -4.56937991e-04 7.70532205e+01] [ 9.92754928e-01 -1.20066270e-01 -4.66299329e-03 -7.60250611e+00] [-4.68412345e-03 1.06236931e-04 -9.99989024e-01 6.73196706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.06, Y:-7.60, Z:6.73 [[ 4.74890876e-02 9.98871751e-01 -1.11121792e-04 7.70602073e+01] [ 9.98855141e-01 -4.74889390e-02 -5.76258835e-03 -7.59707661e+00] [-5.76136377e-03 1.62665490e-04 -9.99983390e-01 6.73260661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.07, Y:-7.59, Z:6.73 [[-2.78738163e-02 9.99611399e-01 3.17971766e-04 7.70707575e+01] [ 9.99596980e-01 2.78751229e-02 -5.37162712e-03 -7.59056768e+00] [-5.37840320e-03 1.68115870e-04 -9.99985522e-01 6.73238591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.08, Y:-7.58, Z:6.73 [[-1.01534880e-01 9.94831759e-01 6.62538489e-04 7.70804985e+01] [ 9.94820257e-01 1.01536894e-01 -4.78696864e-03 -7.58294719e+00] [-4.82950054e-03 1.73062423e-04 -9.99988323e-01 6.73170336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.140385723 meters Centerline goodness [0,1] 0.9998132392612575 Centerline is valid? [True, True] Translation: X:77.09, Y:-7.58, Z:6.73 [[-1.77481802e-01 9.84123509e-01 1.06225688e-03 7.70888411e+01] [ 9.84111611e-01 1.77484884e-01 -4.84279344e-03 -7.57595021e+00] [-4.95444142e-03 1.85871622e-04 -9.99987709e-01 6.73470856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.09, Y:-7.57, Z:6.73 [[-2.52822136e-01 9.67512575e-01 6.20767652e-04 7.70945400e+01] [ 9.67510409e-01 2.52822885e-01 -2.04875967e-03 -7.56959813e+00] [-2.13914502e-03 8.26273678e-05 -9.99997709e-01 6.72914081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.200385723 meters Centerline goodness [0,1] 0.9998744375850163 Centerline is valid? [True, True] Translation: X:77.11, Y:-7.56, Z:6.73 [[-3.28026286e-01 9.44668210e-01 8.54208174e-04 7.71077400e+01] [ 9.44665685e-01 3.28027386e-01 -2.18563042e-03 -7.55909235e+00] [-2.34489925e-03 8.99969199e-05 -9.99997247e-01 6.73196682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.230385723 meters Centerline goodness [0,1] 0.9998743481811899 Centerline is valid? [True, True] Translation: X:77.12, Y:-7.55, Z:6.73 [[-4.03640545e-01 9.14916505e-01 1.44873539e-03 7.71220654e+01] [ 9.14911623e-01 4.03643128e-01 -2.99130333e-03 -7.54627780e+00] [-3.32156487e-03 1.18053541e-04 -9.99994477e-01 6.73166853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.13, Y:-7.53, Z:6.73 [[-4.76744332e-01 8.79040516e-01 1.61648982e-03 7.71334346e+01] [ 8.79036181e-01 4.76747061e-01 -2.76249437e-03 -7.53266252e+00] [-3.19900124e-03 1.03949502e-04 -9.99994878e-01 6.72898358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.290385723 meters Centerline goodness [0,1] 0.9999790856234576 Centerline is valid? [True, True] Translation: X:77.14, Y:-7.52, Z:6.73 [[-5.47089986e-01 8.37071088e-01 2.13101683e-03 7.71436895e+01] [ 8.37065491e-01 5.47094126e-01 -3.06295773e-03 -7.51801070e+00] [-3.72978015e-03 1.08087143e-04 -9.99993039e-01 6.72943420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.15, Y:-7.50, Z:6.73 [[-6.16524941e-01 7.87333101e-01 1.89350361e-03 7.71527028e+01] [ 7.87329709e-01 6.16527846e-01 -2.31192834e-03 -7.50407650e+00] [-2.98765541e-03 6.54501659e-05 -9.99995535e-01 6.72904186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.16, Y:-7.49, Z:6.73 [[-6.78738148e-01 7.34379930e-01 8.03021783e-04 7.71617411e+01] [ 7.34379453e-01 6.78738622e-01 -8.37360724e-04 -7.48622478e+00] [-1.15998281e-03 2.13740311e-05 -9.99999327e-01 6.72727912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.380385723 meters Centerline goodness [0,1] 0.9999581931060432 Centerline is valid? [True, True] Translation: X:77.17, Y:-7.47, Z:6.73 [[-7.39147127e-01 6.73543996e-01 -1.01542897e-04 7.71689991e+01] [ 6.73543990e-01 7.39147134e-01 9.01078172e-05 -7.47006553e+00] [ 1.35746720e-04 -1.79067387e-06 -9.99999991e-01 6.72603076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.18, Y:-7.44, Z:6.73 [[-7.89136910e-01 6.14216737e-01 8.58605142e-04 7.71782315e+01] [ 6.14216380e-01 7.89137377e-01 -6.62308093e-04 -7.43635171e+00] [-1.08435813e-03 4.71757956e-06 -9.99999412e-01 6.72677168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.19, Y:-7.41, Z:6.73 [[-8.32427882e-01 5.54132518e-01 9.86644386e-04 7.71869780e+01] [ 5.54132131e-01 8.32428467e-01 -6.55051386e-04 -7.40522391e+00] [-1.18429615e-03 1.44831774e-06 -9.99999299e-01 6.72673472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.19, Y:-7.38, Z:6.73 [[-8.69606029e-01 4.93745170e-01 1.03057993e-03 7.71944532e+01] [ 4.93744825e-01 8.69606640e-01 -5.83476429e-04 -7.37575792e+00] [-1.18428782e-03 1.44888719e-06 -9.99999299e-01 6.72673463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.20, Y:-7.34, Z:6.73 [[-9.03701328e-01 4.28160911e-01 1.46399124e-03 7.71979517e+01] [ 4.28160345e-01 9.03702514e-01 -6.96625071e-04 -7.34382211e+00] [-1.62128019e-03 -2.71800566e-06 -9.99998686e-01 6.72713330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.20, Y:-7.31, Z:6.73 [[-9.33842573e-01 3.57678929e-01 1.95753045e-03 7.71954220e+01] [ 3.57678109e-01 9.33844625e-01 -7.66319817e-04 -7.30985766e+00] [-2.10212574e-03 -1.54562822e-05 -9.99997790e-01 6.72738837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.19, Y:-7.28, Z:6.73 [[-9.58438678e-01 2.85292123e-01 1.92483377e-03 7.71925338e+01] [ 2.85291493e-01 9.58440611e-01 -5.99964211e-04 -7.27760803e+00] [-2.01600391e-03 -2.58902061e-05 -9.99997968e-01 6.72694886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.19, Y:-7.25, Z:6.73 [[-9.76767027e-01 2.14294029e-01 2.06007290e-03 7.71897501e+01] [ 2.14293483e-01 9.76769199e-01 -4.84859536e-04 -7.24843415e+00] [-2.11611826e-03 -3.21346110e-05 -9.99997761e-01 6.72730728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.18, Y:-7.22, Z:6.73 [[-9.90045193e-01 1.40726489e-01 2.56322601e-03 7.71797568e+01] [ 1.40725889e-01 9.90048510e-01 -4.13897164e-04 -7.21949126e+00] [-2.59596439e-03 -4.90646375e-05 -9.99996629e-01 6.72754120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.25, Y:-6.75, Z:5.75 [[-9.69645831e-01 -2.44501367e-01 2.45840029e-03 7.72512758e+01] [ 2.44500694e-01 -9.69648947e-01 -5.75504992e-04 -6.75030450e+00] [ 2.52449701e-03 4.30445589e-05 9.99996813e-01 5.75052879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.13, Y:-7.22, Z:6.73 [[-9.90701628e-01 1.36018722e-01 3.03171162e-03 7.71292226e+01] [ 1.36017897e-01 9.90706265e-01 -4.77604586e-04 -7.21950219e+00] [-3.06849886e-03 -6.07966040e-05 -9.99995290e-01 6.72724521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.12, Y:-7.20, Z:6.73 [[-9.97847292e-01 6.55119685e-02 2.99384366e-03 7.71223291e+01] [ 6.55114963e-02 9.97851782e-01 -2.55590740e-04 -7.19556229e+00] [-3.00415648e-03 -5.89093501e-05 -9.99995486e-01 6.72662489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.11, Y:-7.17, Z:6.73 [[-9.99980116e-01 -4.95542462e-03 3.90030103e-03 7.71115860e+01] [-4.95567527e-03 9.99987719e-01 -5.46011882e-05 -7.17271788e+00] [-3.89998255e-03 -7.39287279e-05 -9.99992392e-01 6.72700395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.12, Y:-6.66, Z:5.75 [[-9.94914678e-01 -1.00612418e-01 4.68245095e-03 7.71173549e+01] [ 1.00611972e-01 -9.94925686e-01 -3.31373964e-04 -6.65875694e+00] [ 4.69203106e-03 1.41421804e-04 9.99988982e-01 5.75008710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.800385723 meters Centerline goodness [0,1] 0.9999580765522157 Centerline is valid? [True, True] Translation: X:77.05, Y:-7.18, Z:6.73 [[-9.99926060e-01 -1.03967195e-02 6.30735751e-03 7.70519260e+01] [-1.03973186e-02 9.99945945e-01 -6.21950665e-05 -7.17832487e+00] [-6.30636994e-03 -1.27770073e-04 -9.99980107e-01 6.73039761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.05, Y:-6.65, Z:5.75 [[-9.94975781e-01 -9.98331359e-02 7.51937372e-03 7.70518709e+01] [ 9.98320777e-02 -9.95004165e-01 -5.16880864e-04 -6.65007869e+00] [ 7.53341001e-03 2.36390760e-04 9.99971596e-01 5.74712676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.99, Y:-7.19, Z:6.73 [[-9.99743245e-01 -2.08232651e-02 8.93508929e-03 7.69864215e+01] [-2.08245505e-02 9.99783144e-01 -5.08427261e-05 -7.18776810e+00] [-8.93209295e-03 -2.36898890e-04 -9.99960080e-01 6.73154821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.98, Y:-6.64, Z:5.75 [[-9.94858343e-01 -1.00849418e-01 9.28828296e-03 7.69835792e+01] [ 1.00847573e-01 -9.94901664e-01 -6.67974322e-04 -6.64342845e+00] [ 9.30829299e-03 2.72160964e-04 9.99956640e-01 5.74562317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.92, Y:-7.20, Z:6.73 [[-9.99521665e-01 -2.91930228e-02 1.02083118e-02 7.69208389e+01] [-2.91946753e-02 9.99573745e-01 -1.28654168e-05 -7.19561351e+00] [-1.02035848e-02 -3.10887610e-04 -9.99947894e-01 6.73310887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.950385723 meters Centerline goodness [0,1] 0.9999360491142802 Centerline is valid? [True, True] Translation: X:76.92, Y:-6.63, Z:5.74 [[-9.94928501e-01 -9.99571710e-02 1.12179018e-02 7.69194867e+01] [ 9.99554685e-02 -9.94991656e-01 -7.13738684e-04 -6.63369050e+00] [ 1.12330620e-02 4.11171669e-04 9.99936823e-01 5.74434220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.980385723 meters Centerline goodness [0,1] 0.9999786169439336 Centerline is valid? [True, True] Translation: X:76.85, Y:-7.21, Z:6.73 [[-9.99293441e-01 -3.54316958e-02 1.25385295e-02 7.68536851e+01] [-3.54339595e-02 9.99372019e-01 4.16392976e-05 -7.20907802e+00] [-1.25321309e-02 -4.02679870e-04 -9.99921389e-01 6.73318775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.85, Y:-6.61, Z:5.75 [[-9.95360740e-01 -9.54465251e-02 1.21226298e-02 7.68462277e+01] [ 9.54439039e-02 -9.95434492e-01 -7.95901505e-04 -6.61353375e+00] [ 1.21432499e-02 3.64822002e-04 9.99926202e-01 5.74574676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.040385723 meters Centerline goodness [0,1] 0.9999569290405944 Centerline is valid? [True, True] Translation: X:76.79, Y:-7.23, Z:6.73 [[-9.99163635e-01 -3.90783958e-02 1.20378180e-02 7.67852135e+01] [-3.90800778e-02 9.99236077e-01 9.55563296e-05 -7.22767899e+00] [-1.20323563e-02 -3.74962456e-04 -9.99927538e-01 6.73058892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.070385723 meters Centerline goodness [0,1] 0.9999568677349091 Centerline is valid? [True, True] Translation: X:76.78, Y:-6.60, Z:5.75 [[-9.95941278e-01 -8.92708895e-02 1.14751448e-02 7.67814403e+01] [ 8.92686973e-02 -9.96007331e-01 -7.04119509e-04 -6.60332997e+00] [ 1.14921857e-02 3.23109540e-04 9.99933911e-01 5.74690071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.72, Y:-7.24, Z:6.73 [[-9.99158281e-01 -3.93694383e-02 1.15228775e-02 7.67158038e+01] [-3.93703538e-02 9.99224676e-01 1.47467952e-04 -7.24467535e+00] [-1.15197493e-02 -3.06315939e-04 -9.99933599e-01 6.73004572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.130385723 meters Centerline goodness [0,1] 0.9999783019072623 Centerline is valid? [True, True] Translation: X:76.71, Y:-7.22, Z:6.73 [[-9.94108825e-01 -1.07742779e-01 1.17956564e-02 7.67104642e+01] [-1.07738577e-01 9.94178763e-01 9.92953851e-04 -7.22374727e+00] [-1.18339747e-02 -2.83743057e-04 -9.99929936e-01 6.72930555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.160385723 meters Centerline goodness [0,1] 0.9999781668922755 Centerline is valid? [True, True] Translation: X:76.69, Y:-7.21, Z:6.73 [[-9.84844417e-01 -1.72936657e-01 1.32055410e-02 7.66939863e+01] [-1.72924478e-01 9.84932917e-01 2.06720359e-03 -7.21043891e+00] [-1.33640673e-02 -2.47687379e-04 -9.99910666e-01 6.72934006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.68, Y:-7.19, Z:6.73 [[-9.70480225e-01 -2.40807757e-01 1.34073611e-02 7.66814333e+01] [-2.40787889e-01 9.70572808e-01 3.10100352e-03 -7.19049445e+00] [-1.37595658e-02 -2.18867576e-04 -9.99905309e-01 6.72905362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.64, Y:-7.18, Z:6.73 [[-9.51656591e-01 -3.06862754e-01 1.36008427e-02 7.66433461e+01] [-3.06833980e-01 9.51753761e-01 4.20566464e-03 -7.18143534e+00] [-1.42352150e-02 -1.70852212e-04 -9.99898660e-01 6.72923820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.58, Y:-7.18, Z:6.73 [[-9.27720120e-01 -3.73058844e-01 1.27466800e-02 7.65830557e+01] [-3.73025408e-01 9.27807677e-01 4.99604307e-03 -7.18209581e+00] [-1.36902856e-02 -1.19905818e-04 -9.99906277e-01 6.72876938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.280385723 meters Centerline goodness [0,1] 0.9999112944359435 Centerline is valid? [True, True] Translation: X:76.51, Y:-7.19, Z:6.73 [[-8.98203508e-01 -4.39431522e-01 1.14191071e-02 7.65103116e+01] [-4.39397359e-01 8.98276087e-01 5.48015943e-03 -7.18771017e+00] [-1.26656657e-02 -9.52271003e-05 -9.99919783e-01 6.72768278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.44, Y:-7.20, Z:6.73 [[-8.63292302e-01 -5.04598688e-01 1.03230481e-02 7.64398738e+01] [-5.04563720e-01 8.63354016e-01 5.94097070e-03 -7.19809028e+00] [-1.19102511e-02 -7.98412729e-05 -9.99929067e-01 6.72564284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.36, Y:-7.22, Z:6.72 [[-8.23814025e-01 -5.66798750e-01 8.34437584e-03 7.63607515e+01] [-5.66770330e-01 8.23856282e-01 5.67613693e-03 -7.22417018e+00] [-1.00917938e-02 -5.32634416e-05 -9.99949075e-01 6.72320837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.27, Y:-7.26, Z:6.72 [[-7.79148378e-01 -6.26800482e-01 6.99722749e-03 7.62710656e+01] [-6.26775688e-01 7.79179796e-01 5.57520081e-03 -7.25902340e+00] [-8.94663684e-03 -4.17834107e-05 -9.99959977e-01 6.72249205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.400385723 meters Centerline goodness [0,1] 0.9999774901519415 Centerline is valid? [True, True] Translation: X:76.18, Y:-7.31, Z:6.72 [[-7.30419598e-01 -6.82978006e-01 5.31551661e-03 7.61826199e+01] [-6.82960151e-01 7.30438939e-01 4.93849065e-03 -7.30585738e+00] [-7.25554080e-03 -2.31156752e-05 -9.99973678e-01 6.71979033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.09, Y:-7.35, Z:6.72 [[-6.75891433e-01 -7.36994691e-01 3.09782184e-03 7.60926786e+01] [-7.36987071e-01 6.75898531e-01 3.35141234e-03 -7.35402626e+00] [-4.56378633e-03 -1.78637613e-05 -9.99989586e-01 6.71741682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.99, Y:-7.42, Z:6.72 [[-6.18134369e-01 -7.86067509e-01 2.78796003e-03 7.59948886e+01] [-7.86059627e-01 6.18140656e-01 3.52019974e-03 -7.42258312e+00] [-4.49046609e-03 -1.55463751e-05 -9.99989918e-01 6.71720806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.91, Y:-7.48, Z:6.72 [[-5.58186353e-01 -8.29711460e-01 2.62455190e-03 7.59109332e+01] [-8.29702327e-01 5.58192523e-01 3.89309156e-03 -7.48383055e+00] [-4.69514793e-03 -4.52624001e-06 -9.99988978e-01 6.71917240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.82, Y:-7.57, Z:6.72 [[-4.94105631e-01 -8.69398360e-01 2.47313710e-03 7.58225110e+01] [-8.69387453e-01 4.94111821e-01 4.35493564e-03 -7.56874571e+00] [-5.00818018e-03 1.68385676e-06 -9.99987459e-01 6.72014165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.73, Y:-7.68, Z:6.72 [[-4.27444321e-01 -9.04039101e-01 2.15792271e-03 7.57348432e+01] [-9.04027462e-01 4.27449768e-01 4.58731523e-03 -7.67530986e+00] [-5.06951590e-03 1.00004497e-05 -9.99987150e-01 6.72017477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.67, Y:-7.75, Z:6.72 [[-3.56618060e-01 -9.34248434e-01 1.85036454e-03 7.56738452e+01] [-9.34235693e-01 3.56622860e-01 4.87902624e-03 -7.74600644e+00] [-5.21810492e-03 1.12722713e-05 -9.99986386e-01 6.71930297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.61, Y:-7.85, Z:6.72 [[-2.83430213e-01 -9.58991578e-01 1.57080139e-03 7.56056511e+01] [-9.58976637e-01 2.83434566e-01 5.35323875e-03 -7.84999522e+00] [-5.57893029e-03 1.09077680e-05 -9.99984438e-01 6.72015277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.55, Y:-7.96, Z:6.72 [[-2.08310351e-01 -9.78061963e-01 1.26243519e-03 7.55465078e+01] [-9.78043715e-01 2.08314176e-01 5.97451997e-03 -7.96010513e+00] [-6.10643388e-03 9.83754777e-06 -9.99981356e-01 6.72100386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.50, Y:-8.08, Z:6.72 [[-1.32803808e-01 -9.91141874e-01 9.66941100e-04 7.54958800e+01] [-9.91114702e-01 1.32807327e-01 7.33906121e-03 -8.07664376e+00] [-7.40246774e-03 1.63057366e-05 -9.99972601e-01 6.72224621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.45, Y:-8.20, Z:6.72 [[-5.68963340e-02 -9.98379998e-01 4.31607983e-04 7.54546356e+01] [-9.98347770e-01 5.68979654e-02 8.02201511e-03 -8.20137247e+00] [-8.03357705e-03 2.55283842e-05 -9.99967730e-01 6.72252782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.43, Y:-8.33, Z:6.72 [[ 1.71074262e-02 -9.99853638e-01 -1.95133390e-04 7.54250038e+01] [-9.99819324e-01 -1.71084557e-02 8.28370435e-03 -8.32994778e+00] [-8.28583037e-03 5.33852734e-05 -9.99965671e-01 6.72411850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.40, Y:-8.44, Z:6.72 [[ 9.25960728e-02 -9.95703424e-01 -8.11691470e-04 7.54030117e+01] [-9.95671116e-01 -9.25996072e-02 8.02135126e-03 -8.44334085e+00] [-8.06204923e-03 6.54321261e-05 -9.99967499e-01 6.72260611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.39, Y:-8.58, Z:6.72 [[ 1.66660543e-01 -9.86013583e-01 -1.21588147e-03 7.53932363e+01] [-9.85990455e-01 -1.66664962e-01 6.75378263e-03 -8.57997592e+00] [-6.86196625e-03 7.32584402e-05 -9.99976454e-01 6.72159649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.820385723 meters Centerline goodness [0,1] 0.9998667969096883 Centerline is valid? [True, True] Translation: X:75.39, Y:-8.70, Z:6.72 [[ 2.41779855e-01 -9.70329760e-01 -1.63037403e-03 7.53916512e+01] [-9.70309668e-01 -2.41785341e-01 6.24469978e-03 -8.70405284e+00] [-6.45361859e-03 7.21250741e-05 -9.99979173e-01 6.72232469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8503857229999 meters Centerline goodness [0,1] 0.9999777589964859 Centerline is valid? [True, True] Translation: X:75.39, Y:-8.82, Z:6.72 [[ 3.15500480e-01 -9.48922787e-01 -2.23404332e-03 7.53940920e+01] [-9.48900759e-01 -3.15508380e-01 6.46622817e-03 -8.81639854e+00] [-6.84081065e-03 7.97873091e-05 -9.99976598e-01 6.72205551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.880385723 meters Centerline goodness [0,1] 0.9999555328278898 Centerline is valid? [True, True] Translation: X:75.41, Y:-8.94, Z:6.72 [[ 3.87993150e-01 -9.21657760e-01 -2.87896394e-03 7.54117023e+01] [-9.21633937e-01 -3.88003822e-01 6.62716198e-03 -8.94328478e+00] [-7.22502428e-03 8.20574188e-05 -9.99973896e-01 6.72245056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.910385723 meters Centerline goodness [0,1] 0.9999332829248766 Centerline is valid? [True, True] Translation: X:75.44, Y:-9.08, Z:6.72 [[ 4.58523715e-01 -8.88674326e-01 -3.73435853e-03 7.54418037e+01] [-8.88646328e-01 -4.58538914e-01 7.05459734e-03 -9.07862325e+00] [-7.98158823e-03 8.38238137e-05 -9.99968143e-01 6.72370337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.49, Y:-9.21, Z:6.72 [[ 5.26167141e-01 -8.50369328e-01 -4.48843596e-03 7.54864477e+01] [-8.50339703e-01 -5.26186279e-01 7.09855881e-03 -9.21475030e+00] [-8.39815010e-03 8.16669047e-05 -9.99964732e-01 6.72405844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9703857229999 meters Centerline goodness [0,1] 0.9999114809241392 Centerline is valid? [True, True] Translation: X:75.52, Y:-9.31, Z:6.72 [[ 5.91216672e-01 -8.06496345e-01 -5.14707598e-03 7.55188107e+01] [-8.06466800e-01 -5.91239073e-01 6.90354810e-03 -9.31470106e+00] [-8.61083874e-03 6.94531647e-05 -9.99962924e-01 6.72411561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.56, Y:-9.41, Z:6.72 [[ 6.52244778e-01 -7.57985780e-01 -5.85714990e-03 7.55579434e+01] [-7.57956054e-01 -6.52271074e-01 6.71317975e-03 -9.40983529e+00] [-8.90894424e-03 6.08257835e-05 -9.99960313e-01 6.72362827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.030385723 meters Centerline goodness [0,1] 0.9998895613376331 Centerline is valid? [True, True] Translation: X:75.61, Y:-9.50, Z:6.72 [[ 7.08432473e-01 -7.05747953e-01 -6.57705601e-03 7.56063824e+01] [-7.05718331e-01 -7.08463001e-01 6.46642673e-03 -9.50341040e+00] [-9.22326827e-03 6.05223041e-05 -9.99957463e-01 6.72356189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.060385723 meters Centerline goodness [0,1] 0.9999555595058217 Centerline is valid? [True, True] Translation: X:75.60, Y:-9.51, Z:6.72 [[ 7.61623339e-01 -6.47979555e-01 -7.23774068e-03 7.56000148e+01] [-6.47951033e-01 -7.61657727e-01 6.08001746e-03 -9.50999765e+00] [-9.45240812e-03 5.90183499e-05 -9.99955323e-01 6.72364592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0903857229999 meters Centerline goodness [0,1] 0.9999337923728814 Centerline is valid? [True, True] Translation: X:75.59, Y:-9.52, Z:6.72 [[ 8.09864567e-01 -5.86561898e-01 -8.03260971e-03 7.55939420e+01] [-5.86533813e-01 -8.09904399e-01 5.74026564e-03 -9.51854088e+00] [-9.87266705e-03 6.25594511e-05 -9.99951262e-01 6.72333183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.59, Y:-9.53, Z:6.72 [[ 8.53106504e-01 -5.21670060e-01 -8.34512359e-03 7.55879532e+01] [-5.21645834e-01 -8.53147317e-01 5.02781465e-03 -9.52714835e+00] [-9.74248017e-03 6.39375803e-05 -9.99952539e-01 6.72439835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.150385723 meters Centerline goodness [0,1] 0.9999778570005093 Centerline is valid? [True, True] Translation: X:75.58, Y:-9.53, Z:6.72 [[ 8.91175632e-01 -4.53574267e-01 -8.73943127e-03 7.55830398e+01] [-4.53553185e-01 -8.91218480e-01 4.37360898e-03 -9.53395345e+00] [-9.77249914e-03 6.61431424e-05 -9.99952246e-01 6.72421228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.180385723 meters Centerline goodness [0,1] 0.9999557815609109 Centerline is valid? [True, True] Translation: X:75.58, Y:-9.54, Z:6.72 [[ 9.23513406e-01 -3.83489641e-01 -7.66062304e-03 7.55800928e+01] [-3.83477024e-01 -9.23545176e-01 3.11135063e-03 -9.54009847e+00] [-8.26810219e-03 6.42989112e-05 -9.99965817e-01 6.72242852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.58, Y:-9.55, Z:6.72 [[ 9.50289305e-01 -3.11275589e-01 -7.59902492e-03 7.55772807e+01] [-3.11266238e-01 -9.50319684e-01 2.41381117e-03 -9.54578554e+00] [-7.97286346e-03 7.15009618e-05 -9.99968214e-01 6.72158473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.57, Y:-9.56, Z:6.72 [[ 9.71355429e-01 -2.37529148e-01 -6.96664624e-03 7.55738895e+01] [-2.37523592e-01 -9.71380409e-01 1.62639534e-03 -9.55851311e+00] [-7.15357997e-03 7.49348966e-05 -9.99974410e-01 6.71986237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.270385723 meters Centerline goodness [0,1] 0.9999335135853907 Centerline is valid? [True, True] Translation: X:75.57, Y:-9.57, Z:6.72 [[ 9.86970447e-01 -1.60780263e-01 -6.24849141e-03 7.55671530e+01] [-1.60777465e-01 -9.86990224e-01 9.50839167e-04 -9.56866669e+00] [-6.32007610e-03 6.61664489e-05 -9.99980026e-01 6.71991920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.56, Y:-9.58, Z:6.72 [[ 9.96559580e-01 -8.26942234e-02 -5.53804909e-03 7.55616159e+01] [-8.26932595e-02 -9.96574966e-01 4.03206284e-04 -9.58140368e+00] [-5.55242391e-03 5.61402451e-05 -9.99984584e-01 6.71851657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.330385723 meters Centerline goodness [0,1] 0.9999334885267709 Centerline is valid? [True, True] Translation: X:75.56, Y:-9.59, Z:6.72 [[ 9.99983523e-01 -3.37271930e-03 -4.64530063e-03 7.55572814e+01] [-3.37287714e-03 -9.99994312e-01 -2.61458896e-05 -9.59295721e+00] [-4.64518602e-03 4.18134871e-05 -9.99989210e-01 6.71788377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.360385723 meters Centerline goodness [0,1] 0.9999334885267709 Centerline is valid? [True, True] Translation: X:75.55, Y:-9.60, Z:6.72 [[ 9.97180699e-01 7.48947691e-02 -4.62897435e-03 7.55534477e+01] [ 7.48937675e-02 -9.97191442e-01 -3.89595528e-04 -9.60377120e+00] [-4.64515227e-03 4.18158122e-05 -9.99989210e-01 6.71788347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.55, Y:-9.62, Z:6.72 [[ 9.88127694e-01 1.53569042e-01 -4.49560482e-03 7.55511757e+01] [ 1.53567282e-01 -9.88137920e-01 -7.36231383e-04 -9.61535527e+00] [-4.55533995e-03 3.71128049e-05 -9.99989624e-01 6.71784154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.420385723 meters Centerline goodness [0,1] 0.99997783933518 Centerline is valid? [True, True] Translation: X:75.55, Y:-9.63, Z:6.72 [[ 9.72933479e-01 2.31043657e-01 -4.39021948e-03 7.55486561e+01] [ 2.31041146e-01 -9.72943384e-01 -1.07754849e-03 -9.62654809e+00] [-4.52039574e-03 3.40616605e-05 -9.99989782e-01 6.71820004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.55, Y:-9.64, Z:6.72 [[ 9.51503817e-01 3.07600895e-01 -4.70914593e-03 7.55470186e+01] [ 3.07596962e-01 -9.51515469e-01 -1.55574076e-03 -9.63746202e+00] [-4.95937245e-03 3.17742864e-05 -9.99987702e-01 6.71838699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.55, Y:-9.65, Z:6.72 [[ 9.23939432e-01 3.82502497e-01 -5.26938672e-03 7.55476011e+01] [ 3.82496100e-01 -9.23954457e-01 -2.21238121e-03 -9.64947022e+00] [-5.71491468e-03 2.85863628e-05 -9.99983669e-01 6.71944222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.55, Y:-9.66, Z:6.72 [[ 8.90930160e-01 4.54104022e-01 -5.74339432e-03 7.55481597e+01] [ 4.54094375e-01 -8.90948672e-01 -2.96017111e-03 -9.66016637e+00] [-6.46129515e-03 2.92626718e-05 -9.99979125e-01 6.71996860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.55, Y:-9.67, Z:6.72 [[ 8.52016359e-01 5.23481892e-01 -5.90191091e-03 7.55507733e+01] [ 5.23469145e-01 -8.52036800e-01 -3.65331628e-03 -9.67058179e+00] [-6.94109021e-03 2.32169788e-05 -9.99975910e-01 6.72059377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.570385723 meters Centerline goodness [0,1] 0.9999556235993698 Centerline is valid? [True, True] Translation: X:75.55, Y:-9.68, Z:6.72 [[ 8.08275102e-01 5.88778749e-01 -5.56275728e-03 7.55539956e+01] [ 5.88764625e-01 -8.08294244e-01 -4.07827046e-03 -9.68210114e+00] [-6.89754367e-03 2.12097633e-05 -9.99976212e-01 6.72027900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.56, Y:-9.69, Z:6.72 [[ 7.59490450e-01 6.50500443e-01 -4.84044232e-03 7.55573498e+01] [ 6.50487084e-01 -7.59505875e-01 -4.16886692e-03 -9.69309464e+00] [-6.38819416e-03 1.75694000e-05 -9.99979595e-01 6.72050659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.56, Y:-9.70, Z:6.72 [[ 7.06272369e-01 7.07926459e-01 -4.41245348e-03 7.55623437e+01] [ 7.07912490e-01 -7.06286152e-01 -4.44735868e-03 -9.70321772e+00] [-6.26485768e-03 1.74156197e-05 -9.99980376e-01 6.71971285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.660385723 meters Centerline goodness [0,1] 0.9999554714460648 Centerline is valid? [True, True] Translation: X:75.57, Y:-9.71, Z:6.72 [[ 6.49195058e-01 7.60612643e-01 -3.76619256e-03 7.55691450e+01] [ 7.60599664e-01 -6.49205982e-01 -4.44340720e-03 -9.71455625e+00] [-5.82474644e-03 2.00732004e-05 -9.99983036e-01 6.71918390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.58, Y:-9.73, Z:6.72 [[ 5.88250262e-01 8.08672530e-01 -3.22002369e-03 7.55750937e+01] [ 8.08660202e-01 -5.88259074e-01 -4.46530883e-03 -9.72518525e+00] [-5.50518074e-03 2.28140776e-05 -9.99984846e-01 6.71912962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.58, Y:-9.73, Z:6.72 [[ 5.23675514e-01 8.51913767e-01 -2.62481911e-03 7.55821996e+01] [ 8.51902834e-01 -5.23682092e-01 -4.31599293e-03 -9.73461939e+00] [-5.05142455e-03 2.40889773e-05 -9.99987241e-01 6.71831724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.59, Y:-9.74, Z:6.72 [[ 4.55585242e-01 8.90189564e-01 -2.15099759e-03 7.55891217e+01] [ 8.90179394e-01 -4.55590320e-01 -4.25534681e-03 -9.74421468e+00] [-4.76803900e-03 2.38994750e-05 -9.99988633e-01 6.71874436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.60, Y:-9.75, Z:6.72 [[ 3.84866337e-01 9.22970845e-01 -1.64981082e-03 7.55993366e+01] [ 9.22962103e-01 -3.84869873e-01 -4.01720449e-03 -9.75321769e+00] [-4.34272510e-03 2.33739168e-05 -9.99990570e-01 6.71854223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.61, Y:-9.76, Z:6.72 [[ 3.11558804e-01 9.50225785e-01 -1.43844439e-03 7.56082901e+01] [ 9.50215268e-01 -3.11562124e-01 -4.47079508e-03 -9.76263106e+00] [-4.69642956e-03 2.60837481e-05 -9.99988971e-01 6.71867231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.62, Y:-9.77, Z:6.72 [[ 2.36786372e-01 9.71560915e-01 -1.26604612e-03 7.56169374e+01] [ 9.71546250e-01 -2.36789754e-01 -5.33819372e-03 -9.77124374e+00] [-5.48616712e-03 3.39891686e-05 -9.99984950e-01 6.72060442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.63, Y:-9.78, Z:6.72 [[ 1.60188550e-01 9.87085948e-01 -9.79643936e-04 7.56289586e+01] [ 9.87065879e-01 -1.60191540e-01 -6.29450099e-03 -9.77818346e+00] [-6.37014414e-03 4.13338840e-05 -9.99979710e-01 6.72071536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.64, Y:-9.79, Z:6.72 [[ 8.26550392e-02 9.96578098e-01 -4.88214082e-04 7.56397829e+01] [ 9.96557471e-01 -8.26564696e-02 -6.41216599e-03 -9.78572783e+00] [-6.43057824e-03 4.34644401e-05 -9.99979323e-01 6.72127242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.65, Y:-9.79, Z:6.72 [[ 3.89044095e-03 9.99992432e-01 1.55904678e-05 7.56507117e+01] [ 9.99971860e-01 -3.89026091e-03 -6.41450712e-03 -9.79176828e+00] [-6.41439793e-03 4.05452903e-05 -9.99979427e-01 6.72189973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.66, Y:-9.80, Z:6.72 [[-7.46828861e-02 9.97207203e-01 5.11458467e-04 7.56636987e+01] [ 9.97187205e-01 7.46846276e-02 -6.31544303e-03 -9.79614830e+00] [-6.33600337e-03 3.83643261e-05 -9.99979927e-01 6.72202503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.990385723 meters Centerline goodness [0,1] 0.9999777866631125 Centerline is valid? [True, True] Translation: X:75.68, Y:-9.80, Z:6.72 [[-1.52758393e-01 9.88263007e-01 1.05028651e-03 7.56754427e+01] [ 9.88241366e-01 1.52761999e-01 -6.54023606e-03 -9.80074029e+00] [-6.62391722e-03 3.88606173e-05 -9.99978061e-01 6.72302628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.69, Y:-9.80, Z:6.72 [[-2.29801343e-01 9.73236214e-01 1.61694535e-03 7.56874468e+01] [ 9.73213326e-01 2.29807028e-01 -6.67466978e-03 -9.80376891e+00] [-6.86761575e-03 3.97846799e-05 -9.99976417e-01 6.72304360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.70, Y:-9.81, Z:6.72 [[-3.05897941e-01 9.52062008e-01 2.09372189e-03 7.56996820e+01] [ 9.52040487e-01 3.05905104e-01 -6.40138736e-03 -9.80538908e+00] [-6.73499792e-03 3.51368010e-05 -9.99977319e-01 6.72309442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.71, Y:-9.80, Z:6.72 [[-3.79594897e-01 9.25149469e-01 2.48481999e-03 7.57142429e+01] [ 9.25130218e-01 3.79603028e-01 -5.96838664e-03 -9.80486881e+00] [-6.46489493e-03 3.32129470e-05 -9.99979102e-01 6.72259571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.73, Y:-9.80, Z:6.72 [[-4.50259734e-01 8.92894448e-01 2.38261931e-03 7.57275367e+01] [ 8.92882302e-01 4.50266037e-01 -4.65733802e-03 -9.80495044e+00] [-5.23132381e-03 3.03868356e-05 -9.99986316e-01 6.72254057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.74, Y:-9.80, Z:6.72 [[-5.17939806e-01 8.55414688e-01 2.01697824e-03 7.57396939e+01] [ 8.55408398e-01 5.17943733e-01 -3.28061862e-03 -9.80351439e+00] [-3.85097060e-03 2.61771504e-05 -9.99992585e-01 6.72137097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.75, Y:-9.80, Z:6.72 [[-5.82748790e-01 8.12650220e-01 1.86232919e-03 7.57517924e+01] [ 8.12646199e-01 5.82751765e-01 -2.55638740e-03 -9.80239513e+00] [-3.16272440e-03 2.36830717e-05 -9.99994998e-01 6.72112233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.76, Y:-9.80, Z:6.72 [[-6.44098554e-01 7.64941201e-01 1.41863740e-03 7.57634414e+01] [ 7.64939405e-01 6.44100116e-01 -1.65755325e-03 -9.79930771e+00] [-2.18167528e-03 1.75439969e-05 -9.99997620e-01 6.72102768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.77, Y:-9.79, Z:6.72 [[-7.01634929e-01 7.12535521e-01 1.24805700e-03 7.57743225e+01] [ 7.12534432e-01 7.01636039e-01 -1.24603774e-03 -9.79497817e+00] [-1.76352792e-03 1.50199902e-05 -9.99998445e-01 6.72112233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.260385723 meters Centerline goodness [0,1] 0.9999114672096677 Centerline is valid? [True, True] Translation: X:75.81, Y:-9.79, Z:6.72 [[-7.49582313e-01 6.61909472e-01 1.48588349e-03 7.58113408e+01] [ 6.61908221e-01 7.49583785e-01 -1.28670504e-03 -9.78929621e+00] [-1.96547642e-03 1.90271600e-05 -9.99998068e-01 6.72200545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.83, Y:-9.76, Z:6.72 [[-7.94160398e-01 6.07705293e-01 1.88122194e-03 7.58250028e+01] [ 6.07703660e-01 7.94162626e-01 -1.40890327e-03 -9.76267010e+00] [-2.35019413e-03 2.43302801e-05 -9.99997238e-01 6.72310083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.85, Y:-9.75, Z:6.72 [[-8.35168789e-01 5.49989465e-01 2.16397896e-03 7.58517167e+01] [ 5.49987701e-01 8.35171592e-01 -1.39293792e-03 -9.74597988e+00] [-2.57339493e-03 2.68235351e-05 -9.99996689e-01 6.72312733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.86, Y:-9.72, Z:6.72 [[-8.71731483e-01 4.89977775e-01 2.44981723e-03 7.58644194e+01] [ 4.89975939e-01 8.71734925e-01 -1.34168469e-03 -9.72056963e+00] [-2.79298692e-03 3.07627144e-05 -9.99996099e-01 6.72326099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.88, Y:-9.70, Z:6.72 [[-9.03871417e-01 4.27799990e-01 1.90511958e-03 7.58834206e+01] [ 4.27799098e-01 9.03873425e-01 -8.74212839e-04 -9.69629689e+00] [-2.09597520e-03 2.48324374e-05 -9.99997803e-01 6.72247574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.90, Y:-9.67, Z:6.72 [[-9.31462901e-01 3.63826533e-01 2.66786806e-03 7.59034909e+01] [ 3.63825156e-01 9.31466721e-01 -1.00172920e-03 -9.67206718e+00] [-2.84948598e-03 3.75639291e-05 -9.99995940e-01 6.72401916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.92, Y:-9.64, Z:6.72 [[-9.54762592e-01 2.97351311e-01 3.25426543e-03 7.59193251e+01] [ 2.97349746e-01 9.54768137e-01 -9.65808562e-04 -9.64450047e+00] [-3.39425339e-03 4.55371140e-05 -9.99994239e-01 6.72490610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.92, Y:-9.61, Z:6.73 [[-9.73283194e-01 2.29585379e-01 3.22155035e-03 7.59193281e+01] [ 2.29584279e-01 9.73288524e-01 -7.12183827e-04 -9.61404886e+00] [-3.29900498e-03 4.64607657e-05 -9.99994557e-01 6.72517112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.93, Y:-9.59, Z:6.73 [[-9.87000735e-01 1.60692227e-01 2.74914442e-03 7.59303984e+01] [ 1.60691720e-01 9.87004563e-01 -4.05789211e-04 -9.58631659e+00] [-2.77862525e-03 4.12504947e-05 -9.99996139e-01 6.72508348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.93, Y:-9.56, Z:6.72 [[-9.95779392e-01 9.17544475e-02 2.12719199e-03 7.59344359e+01] [ 9.17543128e-02 9.95781663e-01 -1.61035279e-04 -9.55625965e+00] [-2.13299448e-03 3.48234276e-05 -9.99997725e-01 6.72449132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.00, Y:-8.81, Z:5.75 [[-9.92145818e-01 -1.25077454e-01 1.51863532e-03 7.59967517e+01] [ 1.25077210e-01 -9.92146978e-01 -2.55280948e-04 -8.80753677e+00] [ 1.53863933e-03 -6.33292566e-05 9.99998814e-01 5.75396408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.87, Y:-9.55, Z:6.72 [[-9.96150258e-01 8.76506666e-02 1.42260707e-03 7.58689002e+01] [ 8.76506115e-02 9.96151274e-01 -1.01143520e-04 -9.54898068e+00] [-1.42599714e-03 2.39382366e-05 -9.99998983e-01 6.72376106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.86, Y:-9.51, Z:6.72 [[-9.99866918e-01 1.62908944e-02 8.67689538e-04 7.58627033e+01] [ 1.62909005e-02 9.99867295e-01 -8.15792162e-08 -9.51483881e+00] [-8.67575719e-04 1.40538755e-05 -9.99999624e-01 6.72361290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.87, Y:-8.78, Z:5.75 [[-9.98736864e-01 -5.02419682e-02 6.48953606e-04 7.58685297e+01] [ 5.02419415e-02 -9.98737075e-01 -5.74322727e-05 -8.77616771e+00] [ 6.51019536e-04 -2.47550388e-05 9.99999788e-01 5.75403864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.680385723 meters Centerline goodness [0,1] 0.999978039835738 Centerline is valid? [True, True] Translation: X:75.78, Y:-9.51, Z:6.72 [[-9.99940906e-01 1.07968835e-02 1.26955291e-03 7.57776434e+01] [ 1.07969014e-02 9.99941712e-01 7.21199543e-06 -9.51356248e+00] [-1.26940105e-03 2.09188069e-05 -9.99999194e-01 6.72408442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.78, Y:-8.78, Z:5.75 [[-9.99030426e-01 -4.39750503e-02 2.09821745e-03 7.57759471e+01] [ 4.39749943e-02 -9.99032629e-01 -7.28537037e-05 -8.78205709e+00] [ 2.09939144e-03 1.94860336e-05 9.99997796e-01 5.75313896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.69, Y:-9.51, Z:6.72 [[-9.99979215e-01 5.94637418e-03 2.49217255e-03 7.56882480e+01] [ 5.94646254e-03 9.99982319e-01 2.80490285e-05 -9.50775167e+00] [-2.49196170e-03 4.28680562e-05 -9.99996894e-01 6.72452670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.68, Y:-9.48, Z:6.72 [[-9.97913388e-01 -6.45252608e-02 2.31542523e-03 7.56834460e+01] [-6.45249900e-02 9.97916073e-01 1.91557639e-04 -9.47595714e+00] [-2.32296036e-03 4.17551425e-05 -9.99997301e-01 6.72397045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.800385723 meters Centerline goodness [0,1] 0.999978225367447 Centerline is valid? [True, True] Translation: X:75.67, Y:-9.45, Z:6.72 [[-9.90790935e-01 -1.35397109e-01 9.73128796e-04 7.56693784e+01] [-1.35397027e-01 9.90791412e-01 1.50572349e-04 -9.44598910e+00] [-9.84554715e-04 1.74269734e-05 -9.99999515e-01 6.72365423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.64, Y:-9.42, Z:6.72 [[-9.78439009e-01 -2.06533140e-01 1.08107732e-03 7.56426288e+01] [-2.06532992e-01 9.78439606e-01 2.48079925e-04 -9.41749235e+00] [-1.10900560e-03 1.94529412e-05 -9.99999385e-01 6.72360048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.860385723 meters Centerline goodness [0,1] 0.9999567670391907 Centerline is valid? [True, True] Translation: X:75.60, Y:-9.39, Z:6.73 [[-9.60620232e-01 -2.77854947e-01 2.32352250e-03 7.56001326e+01] [-2.77854031e-01 9.60623041e-01 7.14604900e-04 -9.39456413e+00] [-2.43058576e-03 4.08638312e-05 -9.99997045e-01 6.72539049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.54, Y:-9.38, Z:6.73 [[-9.37440792e-01 -3.48134515e-01 2.66864330e-03 7.55359374e+01] [-3.48132961e-01 9.37444589e-01 1.04111505e-03 -9.38346854e+00] [-2.86415331e-03 4.69410248e-05 -9.99995897e-01 6.72618731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.46, Y:-9.38, Z:6.73 [[-9.08590678e-01 -4.17677064e-01 2.97497204e-03 7.54555843e+01] [-4.17674649e-01 9.08595547e-01 1.42124444e-03 -9.38089337e+00] [-3.29666755e-03 4.87590445e-05 -9.99994565e-01 6.72623288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.38, Y:-9.38, Z:6.73 [[-8.74495092e-01 -4.85027774e-01 2.52838937e-03 7.53842241e+01] [-4.85025613e-01 8.74498746e-01 1.44822581e-03 -9.38244417e+00] [-2.91350307e-03 4.01327547e-05 -9.99995755e-01 6.72586284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.30, Y:-9.40, Z:6.73 [[-8.34870455e-01 -5.50439373e-01 2.79658865e-03 7.52972821e+01] [-5.50436122e-01 8.34875138e-01 1.89205904e-03 -9.39619364e+00] [-3.37626612e-03 4.02807747e-05 -9.99994300e-01 6.72615065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.21, Y:-9.42, Z:6.73 [[-7.90622452e-01 -6.12297482e-01 2.81641005e-03 7.52068521e+01] [-6.12293421e-01 7.90627467e-01 2.23034547e-03 -9.42340721e+00] [-3.59236606e-03 3.88918597e-05 -9.99993547e-01 6.72632303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.12, Y:-9.46, Z:6.73 [[-7.41400287e-01 -6.71055802e-01 3.11840794e-03 7.51174819e+01] [-6.71049637e-01 7.41406844e-01 2.87691409e-03 -9.45808257e+00] [-4.24257888e-03 4.03384228e-05 -9.99990999e-01 6.72640197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.03, Y:-9.51, Z:6.73 [[-6.88336555e-01 -7.25385692e-01 2.89569513e-03 7.50259211e+01] [-7.25379036e-01 6.88342645e-01 3.10757595e-03 -9.50684392e+00] [-4.24742158e-03 3.85815838e-05 -9.99990979e-01 6.72607018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.93, Y:-9.56, Z:6.73 [[-6.30997219e-01 -7.75781568e-01 2.33836655e-03 7.49349227e+01] [-7.75776055e-01 6.31001551e-01 2.92486153e-03 -9.56398336e+00] [-3.74456658e-03 3.15307111e-05 -9.99992989e-01 6.72592168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.85, Y:-9.63, Z:6.73 [[-5.70294063e-01 -8.21438392e-01 1.91038767e-03 7.48483308e+01] [-8.21433616e-01 5.70297262e-01 2.80150012e-03 -9.63095892e+00] [-3.39074862e-03 2.84222341e-05 -9.99994251e-01 6.72559595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.77, Y:-9.71, Z:6.73 [[-5.06478173e-01 -8.62251493e-01 1.49137574e-03 7.47651962e+01] [-8.62247601e-01 5.06480368e-01 2.59074321e-03 -9.70629494e+00] [-2.98922474e-03 2.62197332e-05 -9.99995532e-01 6.72543909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.69, Y:-9.79, Z:6.73 [[-4.39739341e-01 -8.98124452e-01 1.33414692e-03 7.46866961e+01] [-8.98120120e-01 4.39741364e-01 2.78970226e-03 -9.79053319e+00] [-3.09217940e-03 2.85176391e-05 -9.99995219e-01 6.72520239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2203857229999 meters Centerline goodness [0,1] 0.9998929152745653 Centerline is valid? [True, True] Translation: X:74.62, Y:-9.88, Z:6.73 [[-3.70573844e-01 -9.28802161e-01 1.25382878e-03 7.46156763e+01] [-9.28796524e-01 3.70575964e-01 3.23623714e-03 -9.88449205e+00] [-3.47046286e-03 3.47130292e-05 -9.99993977e-01 6.72890437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.55, Y:-9.99, Z:6.72 [[-2.98469484e-01 -9.54418797e-01 8.52924861e-04 7.45501589e+01] [-9.54414614e-01 2.98470701e-01 2.82596191e-03 -9.98567123e+00] [-2.95172425e-03 2.94194409e-05 -9.99995643e-01 6.72492152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.49, Y:-10.09, Z:6.72 [[-2.24570619e-01 -9.74457611e-01 6.34197558e-04 7.44922292e+01] [-9.74453346e-01 2.24571513e-01 2.88290966e-03 -1.00922164e+01] [-2.95169596e-03 2.94208759e-05 -9.99995643e-01 6.72492012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.310385723 meters Centerline goodness [0,1] 0.9999785172613804 Centerline is valid? [True, True] Translation: X:74.44, Y:-10.20, Z:6.72 [[-1.48957219e-01 -9.88843587e-01 3.27409291e-04 7.44420135e+01] [-9.88840855e-01 1.48957577e-01 2.32479656e-03 -1.02019145e+01] [-2.34763027e-03 2.25395459e-05 -9.99997244e-01 6.72478099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3403857229999 meters Centerline goodness [0,1] 0.9999141501942352 Centerline is valid? [True, True] Translation: X:74.40, Y:-10.32, Z:6.72 [[-7.24495632e-02 -9.97372066e-01 1.53951387e-04 7.43998831e+01] [-9.97369099e-01 7.24497232e-02 2.43285683e-03 -1.03192508e+01] [-2.43761718e-03 2.27130587e-05 -9.99997029e-01 6.72488699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.37, Y:-10.44, Z:6.73 [[ 5.41141403e-03 -9.99985357e-01 -4.82703042e-05 7.43667678e+01] [-9.99979090e-01 -5.41155101e-03 3.54058406e-03 -1.04380099e+01] [-3.54079343e-03 2.91097286e-05 -9.99993731e-01 6.72612384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.34, Y:-10.56, Z:6.73 [[ 8.27433516e-02 -9.96570811e-01 -3.95008215e-04 7.43438400e+01] [-9.96561291e-01 -8.27442878e-02 4.35607694e-03 -1.05618335e+01] [-4.37382380e-03 3.32134909e-05 -9.99990434e-01 6.72706532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.430385723 meters Centerline goodness [0,1] 0.9999354311049891 Centerline is valid? [True, True] Translation: X:74.33, Y:-10.69, Z:6.73 [[ 1.60360271e-01 -9.87058250e-01 -7.70929771e-04 7.43301343e+01] [-9.87047682e-01 -1.60362121e-01 4.56767469e-03 -1.06873763e+01] [-4.63218892e-03 2.84708946e-05 -9.99989271e-01 6.72959908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.33, Y:-10.81, Z:6.73 [[ 2.36673679e-01 -9.71588693e-01 -9.91075926e-04 7.43259542e+01] [-9.71580531e-01 -2.36675753e-01 3.98241030e-03 -1.08114626e+01] [-4.10382846e-03 2.03783772e-05 -9.99991579e-01 6.72663910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.490385723 meters Centerline goodness [0,1] 0.99997842083684 Centerline is valid? [True, True] Translation: X:74.33, Y:-10.93, Z:6.73 [[ 3.11994854e-01 -9.50082412e-01 -1.61951977e-03 7.43317323e+01] [-9.50069899e-01 -3.11999056e-01 4.87609048e-03 -1.09334838e+01] [-5.13797644e-03 1.73418476e-05 -9.99986800e-01 6.72726802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.35, Y:-11.05, Z:6.73 [[ 3.84503878e-01 -9.23120563e-01 -2.27892019e-03 7.43456445e+01] [-9.23104592e-01 -3.84510631e-01 5.43026080e-03 -1.10531861e+01] [-5.88905445e-03 1.57253567e-05 -9.99982659e-01 6.72759828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.37, Y:-11.17, Z:6.73 [[ 4.55134245e-01 -8.90417566e-01 -3.06209912e-03 7.43703982e+01] [-8.90397549e-01 -4.55144546e-01 5.97054845e-03 -1.11734954e+01] [-6.70997893e-03 9.08449079e-06 -9.99977488e-01 6.72822463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.40, Y:-11.29, Z:6.73 [[ 5.22506284e-01 -8.52629196e-01 -3.26132334e-03 7.44025016e+01] [-8.52612631e-01 -5.22516462e-01 5.31484228e-03 -1.12884882e+01] [-6.23568484e-03 3.60698178e-06 -9.99980558e-01 6.72758242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.44, Y:-11.39, Z:6.73 [[ 5.86939302e-01 -8.09624011e-01 -3.34915603e-03 7.44408838e+01] [-8.09610799e-01 -5.86948857e-01 4.62529192e-03 -1.13947023e+01] [-5.71053070e-03 -3.25271993e-06 -9.99983695e-01 6.72711225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.640385723 meters Centerline goodness [0,1] 0.999956960554348 Centerline is valid? [True, True] Translation: X:74.49, Y:-11.50, Z:6.73 [[ 6.47789301e-01 -7.61809103e-01 -3.98897698e-03 7.44879017e+01] [-7.61794559e-01 -6.47801583e-01 4.70729976e-03 -1.14983497e+01] [-6.17012941e-03 -1.05574626e-05 -9.99980965e-01 6.72770384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.54, Y:-11.60, Z:6.73 [[ 7.04539673e-01 -7.09649587e-01 -4.61658724e-03 7.45411691e+01] [-7.09634186e-01 -7.04554798e-01 4.67522784e-03 -1.15978129e+01] [-6.57041220e-03 -1.77953697e-05 -9.99978415e-01 6.72774603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:-11.69, Z:6.73 [[ 7.56814291e-01 -6.53609391e-01 -5.18576657e-03 7.45993726e+01] [-6.53593834e-01 -7.56832057e-01 4.50971521e-03 -1.16908567e+01] [-6.87234660e-03 -2.36318665e-05 -9.99976385e-01 6.72798918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:-11.70, Z:6.73 [[ 8.06759157e-01 -5.90855102e-01 -5.46907110e-03 7.45974130e+01] [-5.90841215e-01 -8.06777694e-01 4.05108647e-03 -1.17003475e+01] [-6.80592968e-03 -3.68984916e-05 -9.99976839e-01 6.72759058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:-11.71, Z:6.73 [[ 8.51311919e-01 -5.24630256e-01 -5.57776871e-03 7.45953980e+01] [-5.24618640e-01 -8.51330190e-01 3.49144619e-03 -1.17087923e+01] [-6.58024120e-03 -4.61083170e-05 -9.99978349e-01 6.72771518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:-11.72, Z:6.73 [[ 8.90149212e-01 -4.55632637e-01 -5.76894006e-03 7.45950525e+01] [-4.55622689e-01 -8.90167904e-01 3.01128879e-03 -1.17177336e+01] [-6.50736674e-03 -5.20363552e-05 -9.99978826e-01 6.72763392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:-11.72, Z:6.73 [[ 9.23518119e-01 -3.83513621e-01 -5.62014459e-03 7.45953186e+01] [-3.83506148e-01 -9.23535218e-01 2.39478787e-03 -1.17247406e+01] [-6.10883523e-03 -5.62699876e-05 -9.99981339e-01 6.72761472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:-11.73, Z:6.73 [[ 9.50692925e-01 -3.10087966e-01 -5.33070116e-03 7.45954450e+01] [-3.10082783e-01 -9.50707868e-01 1.79352810e-03 -1.17340291e+01] [-5.62409102e-03 -5.21358245e-05 -9.99984183e-01 6.72678846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.880385723 meters Centerline goodness [0,1] 0.9999346419467986 Centerline is valid? [True, True] Translation: X:74.60, Y:-11.74, Z:6.73 [[ 9.71922221e-01 -2.35245550e-01 -5.16980872e-03 7.45964757e+01] [-2.35241963e-01 -9.71935970e-01 1.29987180e-03 -1.17417398e+01] [-5.33051210e-03 -4.72183330e-05 -9.99985792e-01 6.72654997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.910385723 meters Centerline goodness [0,1] 0.999978220625068 Centerline is valid? [True, True] Translation: X:74.60, Y:-11.75, Z:6.73 [[ 9.87246145e-01 -1.59107450e-01 -5.46521516e-03 7.45976729e+01] [-1.59104755e-01 -9.87261271e-01 9.27287466e-04 -1.17533050e+01] [-5.54313361e-03 -4.59192568e-05 -9.99984636e-01 6.72691309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:-11.76, Z:6.73 [[ 9.96609615e-01 -8.20213521e-02 -6.46327555e-03 7.45961949e+01] [-8.20193064e-02 -9.96630571e-01 5.81388988e-04 -1.17636138e+01] [-6.48918431e-03 -4.93044774e-05 -9.99978944e-01 6.72783109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.59, Y:-11.77, Z:6.73 [[ 9.99949079e-01 -5.61665213e-03 -8.38406043e-03 7.45945202e+01] [-5.61605240e-03 -9.99984225e-01 9.50739134e-05 -1.17710581e+01] [-8.38446217e-03 -4.79837495e-05 -9.99964849e-01 6.72924503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.59, Y:-11.78, Z:6.73 [[ 9.97443593e-01 7.08092407e-02 -9.60888649e-03 7.45926123e+01] [ 7.08063106e-02 -9.97489875e-01 -6.45206279e-04 -1.17773283e+01] [-9.63045354e-03 -3.68129324e-05 -9.99953626e-01 6.73026655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.59, Y:-11.79, Z:6.73 [[ 9.89032932e-01 1.47370383e-01 -9.78931582e-03 7.45916709e+01] [ 1.47363415e-01 -9.89081377e-01 -1.43331877e-03 -1.17852774e+01] [-9.89365870e-03 -2.49875418e-05 -9.99951056e-01 6.73002573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.59, Y:-11.79, Z:6.73 [[ 9.74988136e-01 2.22047363e-01 -9.64900053e-03 7.45893561e+01] [ 2.22036509e-01 -9.75035881e-01 -2.19542535e-03 -1.17897870e+01] [-9.89561014e-03 -1.91672594e-06 -9.99951037e-01 6.72900200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.59, Y:-11.80, Z:6.73 [[ 9.54853653e-01 2.96937627e-01 -9.08551745e-03 7.45877861e+01] [ 2.96924129e-01 -9.54896877e-01 -2.83125724e-03 -1.17973732e+01] [-9.51643904e-03 5.72696637e-06 -9.99954718e-01 6.72938246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.120385723 meters Centerline goodness [0,1] 0.9999778417903833 Centerline is valid? [True, True] Translation: X:74.59, Y:-11.80, Z:6.73 [[ 9.29277818e-01 3.69286296e-01 -8.38859252e-03 7.45879010e+01] [ 3.69271056e-01 -9.29315679e-01 -3.35499612e-03 -1.18046092e+01] [-9.03460464e-03 2.00590590e-05 -9.99959187e-01 6.72870574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.59, Y:-11.81, Z:6.73 [[ 8.97668507e-01 4.40590958e-01 -8.41780870e-03 7.45891180e+01] [ 4.40571331e-01 -8.97707974e-01 -4.15868852e-03 -1.18134804e+01] [-9.38901455e-03 2.44785292e-05 -9.99955922e-01 6.72897262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.59, Y:-11.82, Z:6.73 [[ 8.60689061e-01 5.09074721e-01 -7.56764527e-03 7.45895740e+01] [ 5.09054763e-01 -8.60722329e-01 -4.50780641e-03 -1.18215585e+01] [-8.80845155e-03 2.74737990e-05 -9.99961205e-01 6.72834065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.59, Y:-11.83, Z:6.73 [[ 8.18416670e-01 5.74588469e-01 -6.49969096e-03 7.45899886e+01] [ 5.74570079e-01 -8.18442478e-01 -4.59713623e-03 -1.18302726e+01] [-7.96108465e-03 2.78449771e-05 -9.99968310e-01 6.72826148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.59, Y:-11.84, Z:6.73 [[ 7.70843279e-01 6.36999753e-01 -5.65285701e-03 7.45918494e+01] [ 6.36982388e-01 -7.70864005e-01 -4.70355756e-03 -1.18386903e+01] [-7.35374900e-03 2.49353796e-05 -9.99972961e-01 6.72658074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.59, Y:-11.85, Z:6.73 [[ 7.18310671e-01 6.95702682e-01 -5.24954737e-03 7.45943048e+01] [ 6.95683881e-01 -7.18329853e-01 -5.11474988e-03 -1.18484108e+01] [-7.32925180e-03 2.19539322e-05 -9.99973141e-01 6.72688393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.300385723 meters Centerline goodness [0,1] 0.9999777580071174 Centerline is valid? [True, True] Translation: X:74.60, Y:-11.86, Z:6.73 [[ 6.60568714e-01 7.50748577e-01 -5.05449735e-03 7.45980905e+01] [ 7.50726459e-01 -6.60588051e-01 -5.76283643e-03 -1.18574210e+01] [-7.66538181e-03 1.22045519e-05 -9.99970621e-01 6.72625890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:-11.87, Z:6.73 [[ 5.99026608e-01 8.00713616e-01 -4.98268978e-03 7.46043097e+01] [ 8.00685840e-01 -5.99047331e-01 -6.66940198e-03 -1.18681200e+01] [-8.32514799e-03 5.58009369e-06 -9.99965345e-01 6.72674908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.61, Y:-11.88, Z:6.73 [[ 5.32311107e-01 8.46538558e-01 -4.16603045e-03 7.46105594e+01] [ 8.46512853e-01 -5.32327409e-01 -6.59688296e-03 -1.18786024e+01] [-7.80220798e-03 -1.50042456e-05 -9.99969562e-01 6.72760269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.62, Y:-11.89, Z:6.73 [[ 4.63251747e-01 8.86217921e-01 -3.95173408e-03 7.46180693e+01] [ 8.86186172e-01 -4.63268601e-01 -7.50145228e-03 -1.18877536e+01] [-8.47863576e-03 -2.69112234e-05 -9.99964055e-01 6.72787557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.420385723 meters Centerline goodness [0,1] 0.9999776969913241 Centerline is valid? [True, True] Translation: X:74.63, Y:-11.90, Z:6.73 [[ 3.91340778e-01 9.20237797e-01 -3.84606882e-03 7.46250305e+01] [ 9.20194415e-01 -3.91359674e-01 -8.93553002e-03 -1.18970777e+01] [-9.72800870e-03 -4.22937800e-05 -9.99952681e-01 6.72941986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.450385723 meters Centerline goodness [0,1] 0.9999776501352167 Centerline is valid? [True, True] Translation: X:74.63, Y:-11.91, Z:6.73 [[ 3.17844668e-01 9.48137135e-01 -3.27729641e-03 7.46319172e+01] [ 9.48088236e-01 -3.17861560e-01 -9.62945935e-03 -1.19051964e+01] [-1.01717745e-02 -4.64938610e-05 -9.99948265e-01 6.73031837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.64, Y:-11.91, Z:6.73 [[ 2.42331997e-01 9.70189666e-01 -2.68628909e-03 7.46412087e+01] [ 9.70132460e-01 -2.42346880e-01 -1.05356973e-02 -1.19133827e+01] [-1.08726384e-02 -5.29196889e-05 -9.99940890e-01 6.72862529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.65, Y:-11.92, Z:6.73 [[ 1.65783812e-01 9.86160291e-01 -1.89982179e-03 7.46520564e+01] [ 9.86099130e-01 -1.65794689e-01 -1.09830232e-02 -1.19216575e+01] [-1.11460017e-02 -5.26051593e-05 -9.99937880e-01 6.72886877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.66, Y:-11.93, Z:6.73 [[ 8.91780274e-02 9.96015236e-01 -9.64228422e-04 7.46603197e+01] [ 9.95961454e-01 -8.91832323e-02 -1.03504930e-02 -1.19286560e+01] [-1.03952417e-02 -3.72977922e-05 -9.99945967e-01 6.72908479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.570385723 meters Centerline goodness [0,1] 0.9999776010751484 Centerline is valid? [True, True] Translation: X:74.67, Y:-11.93, Z:6.73 [[ 1.16798574e-02 9.99931777e-01 -1.47353419e-04 7.46697503e+01] [ 9.99880149e-01 -1.16807518e-02 -1.01610743e-02 -1.19338882e+01] [-1.01621023e-02 -2.86558588e-05 -9.99948364e-01 6.72826547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.68, Y:-11.94, Z:6.73 [[-6.39134664e-02 9.97955266e-01 5.96796338e-04 7.46802452e+01] [ 9.97911664e-01 6.39162527e-02 -9.32867917e-03 -1.19390263e+01] [-9.34774949e-03 -6.78196697e-07 -9.99956309e-01 6.72688253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.630385723 meters Centerline goodness [0,1] 0.9999551860897623 Centerline is valid? [True, True] Translation: X:74.69, Y:-11.94, Z:6.73 [[-1.40614258e-01 9.90063570e-01 1.32601765e-03 7.46912297e+01] [ 9.90020301e-01 1.40620510e-01 -9.25609442e-03 -1.19443682e+01] [-9.35058716e-03 1.12455499e-05 -9.99956282e-01 6.72836323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.70, Y:-11.95, Z:6.73 [[-2.16535634e-01 9.76272789e-01 1.93926278e-03 7.47018156e+01] [ 9.76234520e-01 2.16544317e-01 -8.64414560e-03 -1.19485979e+01] [-8.85898046e-03 2.14097217e-05 -9.99960758e-01 6.72652723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.72, Y:-11.95, Z:6.73 [[-2.91187072e-01 9.56663142e-01 2.39192158e-03 7.47151101e+01] [ 9.56631700e-01 2.91196894e-01 -7.75622626e-03 -1.19502699e+01] [-8.11661592e-03 2.96751969e-05 -9.99967059e-01 6.72532247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.73, Y:-11.95, Z:6.73 [[-3.64960865e-01 9.31018171e-01 2.95513012e-03 7.47300585e+01] [ 9.30988354e-01 3.64972828e-01 -7.45121196e-03 -1.19503146e+01] [-8.01575592e-03 3.17909601e-05 -9.99967873e-01 6.72545229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.75, Y:-11.95, Z:6.73 [[-4.37180613e-01 8.99367479e-01 3.35394670e-03 7.47452973e+01] [ 8.99341484e-01 4.37193477e-01 -6.83805806e-03 -1.19504994e+01] [-7.61625067e-03 2.68769916e-05 -9.99970996e-01 6.72553190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.76, Y:-11.95, Z:6.73 [[-5.06680721e-01 8.62125042e-01 3.88069963e-03 7.47585080e+01] [ 8.62100104e-01 5.06695581e-01 -6.55740135e-03 -1.19495635e+01] [-7.61963327e-03 2.30427119e-05 -9.99970970e-01 6.72511953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.77, Y:-11.95, Z:6.72 [[-5.73353595e-01 8.19295134e-01 4.59766829e-03 7.47721189e+01] [ 8.19269035e-01 5.73372028e-01 -6.53959858e-03 -1.19472365e+01] [-7.99403569e-03 1.72249101e-05 -9.99968047e-01 6.72495082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.78, Y:-11.95, Z:6.73 [[-6.35912563e-01 7.71742764e-01 5.32151040e-03 7.47835832e+01] [ 7.71715954e-01 6.35934828e-01 -6.43279145e-03 -1.19457051e+01] [-8.34859405e-03 1.60015771e-05 -9.99965150e-01 6.72537707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.79, Y:-11.94, Z:6.73 [[-6.94701755e-01 7.19275448e-01 5.68344670e-03 7.47949059e+01] [ 7.19251524e-01 6.94725003e-01 -5.86652511e-03 -1.19418275e+01] [-8.16808000e-03 1.23424133e-05 -9.99966641e-01 6.72563566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.81, Y:-11.94, Z:6.73 [[-7.49326033e-01 6.62165473e-01 6.88348547e-03 7.48070206e+01] [ 6.62137631e-01 7.49357649e-01 -6.07216179e-03 -1.19355465e+01] [-9.17896837e-03 7.78585598e-06 -9.99957872e-01 6.72560065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.83, Y:-11.91, Z:6.73 [[-7.94377394e-01 6.07366473e-01 8.39785584e-03 7.48288602e+01] [ 6.07332634e-01 7.94421782e-01 -6.41122216e-03 -1.19146964e+01] [-1.05654010e-02 7.36196140e-06 -9.99944185e-01 6.72664059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.85, Y:-11.89, Z:6.73 [[-8.35295958e-01 5.49725037e-01 9.11297797e-03 7.48455631e+01] [ 5.49692444e-01 8.35345667e-01 -5.98608549e-03 -1.18906143e+01] [-1.09031877e-02 9.18212175e-06 -9.99940559e-01 6.72597815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.86, Y:-11.87, Z:6.73 [[-8.71978658e-01 4.89449738e-01 9.60077156e-03 7.48624164e+01] [ 4.89420229e-01 8.72031510e-01 -5.37459380e-03 -1.18668438e+01] [-1.10027688e-02 1.22807197e-05 -9.99939468e-01 6.72647857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.89, Y:-11.85, Z:6.72 [[-9.04023294e-01 4.27399379e-01 8.46488965e-03 7.48918466e+01] [ 4.27380853e-01 9.04062924e-01 -3.97939699e-03 -1.18478079e+01] [-9.35358469e-03 2.02641877e-05 -9.99956254e-01 6.72422957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.91, Y:-11.82, Z:6.72 [[-9.31712257e-01 3.63127347e-01 7.12748627e-03 7.49052641e+01] [ 3.63116916e-01 9.31739518e-01 -2.75250406e-03 -1.18202039e+01] [-7.64047012e-03 2.35690568e-05 -9.99970811e-01 6.72328104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.91, Y:-11.79, Z:6.72 [[-9.55036620e-01 2.96404166e-01 7.04449918e-03 7.49136903e+01] [ 2.96396290e-01 9.55062600e-01 -2.16092730e-03 -1.17925073e+01] [-7.36844556e-03 2.41987194e-05 -9.99972852e-01 6.72346354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.93, Y:-11.77, Z:6.72 [[-9.73357092e-01 2.29211799e-01 6.15807247e-03 7.49303151e+01] [ 2.29207359e-01 9.73376572e-01 -1.42683289e-03 -1.17663350e+01] [-6.32117041e-03 2.26576111e-05 -9.99980021e-01 6.72247889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.93, Y:-11.74, Z:6.72 [[-9.87128178e-01 1.59873694e-01 4.28517409e-03 7.49344751e+01] [ 1.59872261e-01 9.87137479e-01 -6.77272853e-04 -1.17371122e+01] [-4.33833406e-03 1.65253516e-05 -9.99990589e-01 6.72013884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.94, Y:-11.71, Z:6.72 [[-9.95990088e-01 8.93591667e-02 4.32243501e-03 7.49371632e+01] [ 8.93583972e-02 9.95999467e-01 -3.71208569e-04 -1.17082730e+01] [-4.33831386e-03 1.65258092e-05 -9.99990589e-01 6.72013860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.94, Y:-11.68, Z:6.72 [[-9.99821098e-01 1.84644487e-02 4.10317924e-03 7.49407215e+01] [ 1.84643598e-02 9.99829517e-01 -5.95710128e-05 -1.16789554e+01] [-4.10357966e-03 1.62022221e-05 -9.99991580e-01 6.72015588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.95, Y:-10.93, Z:5.76 [[-9.96938404e-01 -7.80892949e-02 3.98501137e-03 7.49541849e+01] [ 7.80885801e-02 -9.96946369e-01 -3.34904355e-04 -1.09275816e+01] [ 3.99899506e-03 -2.26951343e-05 9.99992004e-01 5.75711161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.86, Y:-11.67, Z:6.72 [[-9.99915527e-01 1.24908039e-02 3.59435803e-03 7.48564769e+01] [ 1.24907626e-02 9.99921987e-01 -3.39434216e-05 -1.16748073e+01] [-3.59450160e-03 1.09557186e-05 -9.99993540e-01 6.72022187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.87, Y:-10.93, Z:5.76 [[-9.97267991e-01 -7.37935417e-02 3.32676264e-03 7.48710980e+01] [ 7.37930403e-02 -9.97273540e-01 -2.73373359e-04 -1.09288250e+01] [ 3.33786554e-03 -2.71345709e-05 9.99994429e-01 5.75770869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.78, Y:-11.67, Z:6.72 [[-9.99969384e-01 6.98232155e-03 3.53260363e-03 7.47771915e+01] [ 6.98231427e-03 9.99975623e-01 -1.43923396e-05 -1.16711068e+01] [-3.53261801e-03 1.02738498e-05 -9.99993760e-01 6.72009791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.78, Y:-10.93, Z:5.76 [[-9.97687366e-01 -6.78702483e-02 3.68102995e-03 7.47838519e+01] [ 6.78697846e-02 -9.97694156e-01 -2.50887568e-04 -1.09294412e+01] [ 3.68956987e-03 -4.76647172e-07 9.99993194e-01 5.75705485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.69, Y:-11.67, Z:6.72 [[-9.99983503e-01 3.37024478e-03 4.65146857e-03 7.46925483e+01] [ 3.37031197e-03 9.99994321e-01 6.60839800e-06 -1.16686822e+01] [-4.65141988e-03 2.22851892e-05 -9.99989182e-01 6.72154577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.70, Y:-10.93, Z:5.75 [[-9.98243973e-01 -5.89348413e-02 5.97119130e-03 7.46958468e+01] [ 5.89341236e-02 -9.98261830e-01 -2.96234541e-04 -1.09311626e+01] [ 5.97827089e-03 5.61925804e-05 9.99982128e-01 5.75457988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.61, Y:-11.67, Z:6.72 [[-9.99978471e-01 7.43429869e-04 6.51954753e-03 7.46061033e+01] [ 7.43738575e-04 9.99999723e-01 4.49271144e-05 -1.16671068e+01] [-6.51951232e-03 4.97749862e-05 -9.99978747e-01 6.72308055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:-10.93, Z:5.75 [[-9.98643683e-01 -5.16174270e-02 6.81443657e-03 7.46047473e+01] [ 5.16160050e-02 -9.98666932e-01 -3.84488919e-04 -1.09314905e+01] [ 6.82519879e-03 -3.22334371e-05 9.99976708e-01 5.75432305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.52, Y:-11.67, Z:6.72 [[-9.99970058e-01 -3.31660563e-03 6.99160321e-03 7.45170358e+01] [-3.31607225e-03 9.99994498e-01 8.78792085e-05 -1.16655114e+01] [-6.99185620e-03 6.46919158e-05 -9.99975555e-01 6.72358377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.51, Y:-10.94, Z:5.75 [[-9.98962424e-01 -4.50512746e-02 6.66766907e-03 7.45071701e+01] [ 4.50497206e-02 -9.98984673e-01 -3.83160146e-04 -1.09354793e+01] [ 6.67816105e-03 -8.23859597e-05 9.99977698e-01 5.75460044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.560385723 meters Centerline goodness [0,1] 0.9999563414101724 Centerline is valid? [True, True] Translation: X:74.42, Y:-11.66, Z:6.72 [[-9.99947164e-01 -8.55670182e-03 5.69659690e-03 7.44249678e+01] [-8.55625274e-03 9.99963389e-01 1.03199226e-04 -1.16597855e+01] [-5.69727139e-03 5.44522505e-05 -9.99983769e-01 6.72261071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.42, Y:-11.63, Z:6.72 [[-9.96795132e-01 -7.97927277e-02 5.70845325e-03 7.44211884e+01] [-7.97911068e-02 9.96811476e-01 5.11497533e-04 -1.16305674e+01] [-5.73106549e-03 5.43744484e-05 -9.99983576e-01 6.72369843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.41, Y:-11.60, Z:6.72 [[-9.88541561e-01 -1.50797760e-01 6.75407782e-03 7.44089112e+01] [-1.50793796e-01 9.88564632e-01 1.09525917e-03 -1.15995933e+01] [-6.84200508e-03 6.42361767e-05 -9.99976591e-01 6.72485985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.38, Y:-11.57, Z:6.73 [[-9.75026847e-01 -2.21975923e-01 7.02409763e-03 7.43806888e+01] [-2.21969683e-01 9.75052145e-01 1.66563666e-03 -1.15737737e+01] [-7.21859270e-03 6.49037352e-05 -9.99973944e-01 6.72547969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.34, Y:-11.55, Z:6.72 [[-9.56305181e-01 -2.92295252e-01 6.62474869e-03 7.43379348e+01] [-2.92287803e-01 9.56328125e-01 2.08761556e-03 -1.15526813e+01] [-6.94563361e-03 6.00643338e-05 -9.99975877e-01 6.72448420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.710385723 meters Centerline goodness [0,1] 0.9999783788458628 Centerline is valid? [True, True] Translation: X:74.27, Y:-11.54, Z:6.72 [[-9.31938718e-01 -3.62572041e-01 5.63395472e-03 7.42730614e+01] [-3.62565115e-01 9.31955746e-01 2.24149929e-03 -1.15407623e+01] [-6.06330145e-03 4.62645355e-05 -9.99981617e-01 6.72333212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.20, Y:-11.54, Z:6.72 [[-9.02456313e-01 -4.30748415e-01 5.32978629e-03 7.42029601e+01] [-4.30740621e-01 9.02472050e-01 2.59152865e-03 -1.15366306e+01] [-5.92628002e-03 4.29859359e-05 -9.99982439e-01 6.72287094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.12, Y:-11.54, Z:6.72 [[-8.67876623e-01 -4.96751654e-01 5.28791535e-03 7.41220675e+01] [-4.96742134e-01 8.67892731e-01 3.07570145e-03 -1.15420569e+01] [-6.11720308e-03 4.25990398e-05 -9.99981289e-01 6.72316870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.04, Y:-11.56, Z:6.72 [[-8.28539334e-01 -5.59909682e-01 4.87022445e-03 7.40377276e+01] [-5.59899704e-01 8.28553647e-01 3.34295360e-03 -1.15592340e+01] [-5.90699432e-03 4.29313184e-05 -9.99982553e-01 6.72301638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.95, Y:-11.59, Z:6.72 [[-7.84147344e-01 -6.20554578e-01 4.99597027e-03 7.39504391e+01] [-6.20541604e-01 7.84163257e-01 4.01284715e-03 -1.15865366e+01] [-6.40784698e-03 4.64560289e-05 -9.99979469e-01 6.72302223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.86, Y:-11.62, Z:6.72 [[-7.35687679e-01 -6.77305016e-01 4.64270871e-03 7.38570459e+01] [-6.77291095e-01 7.35702326e-01 4.34279470e-03 -1.16240350e+01] [-6.35704823e-03 5.04752895e-05 -9.99979793e-01 6.72280088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.890385723 meters Centerline goodness [0,1] 0.9999566930838855 Centerline is valid? [True, True] Translation: X:73.77, Y:-11.67, Z:6.72 [[-6.82630558e-01 -7.30751990e-01 4.12924354e-03 7.37658647e+01] [-7.30738176e-01 6.82643045e-01 4.49359297e-03 -1.16723208e+01] [-6.10250138e-03 5.00679795e-05 -9.99981378e-01 6.72341434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.920385723 meters Centerline goodness [0,1] 0.999956934605198 Centerline is valid? [True, True] Translation: X:73.68, Y:-11.73, Z:6.72 [[-6.25985586e-01 -7.79823747e-01 4.11944164e-03 7.36757251e+01] [-7.79806218e-01 6.25999137e-01 5.22903247e-03 -1.17259606e+01] [-6.65649061e-03 6.09327553e-05 -9.99977844e-01 6.72422839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.59, Y:-11.79, Z:6.73 [[-5.65192847e-01 -8.24949485e-01 3.92327610e-03 7.35885668e+01] [-8.24928788e-01 5.65206460e-01 5.84404960e-03 -1.17939960e+01] [-7.03850670e-03 6.65916400e-05 -9.99975227e-01 6.72558551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.50, Y:-11.87, Z:6.72 [[-5.00839404e-01 -8.65533333e-01 3.45575323e-03 7.35021012e+01] [-8.65511807e-01 5.00851321e-01 6.10456220e-03 -1.18729216e+01] [-7.01452064e-03 6.64100654e-05 -9.99975396e-01 6.72494934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.42, Y:-11.96, Z:6.72 [[-4.33522305e-01 -9.01138277e-01 2.86643367e-03 7.34233571e+01] [-9.01117579e-01 4.33531776e-01 6.10797877e-03 -1.19559827e+01] [-6.74682355e-03 6.49512631e-05 -9.99977238e-01 6.72434161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.35, Y:-12.05, Z:6.72 [[-3.62992702e-01 -9.31789136e-01 2.30339780e-03 7.33491506e+01] [-9.31769331e-01 3.63000005e-01 6.07536025e-03 -1.20471349e+01] [-6.49708809e-03 5.90760042e-05 -9.99978892e-01 6.72321760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.070385723 meters Centerline goodness [0,1] 0.9999145372190411 Centerline is valid? [True, True] Translation: X:73.28, Y:-12.15, Z:6.72 [[-2.90497655e-01 -9.56873815e-01 1.90134758e-03 7.32835413e+01] [-9.56851960e-01 2.90503871e-01 6.46735190e-03 -1.21505312e+01] [-6.74078851e-03 5.94424023e-05 -9.99977279e-01 6.72472143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.22, Y:-12.26, Z:6.72 [[-2.16228905e-01 -9.76341661e-01 1.42207707e-03 7.32228117e+01] [-9.76318725e-01 2.16233573e-01 6.69254520e-03 -1.22551469e+01] [-6.84171150e-03 5.87212429e-05 -9.99976594e-01 6.72381676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.130385723 meters Centerline goodness [0,1] 0.9999148084254468 Centerline is valid? [True, True] Translation: X:73.17, Y:-12.36, Z:6.72 [[-1.40445690e-01 -9.90087973e-01 9.02252970e-04 7.31732352e+01] [-9.90064974e-01 1.40448578e-01 6.74872395e-03 -1.23624451e+01] [-6.80855056e-03 5.45401282e-05 -9.99976820e-01 6.72499178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.13, Y:-12.48, Z:6.72 [[-6.36072566e-02 -9.97974933e-01 3.87887533e-04 7.31303472e+01] [-9.97951246e-01 6.36084194e-02 6.87603524e-03 -1.24788960e+01] [-6.88678372e-03 5.02728907e-05 -9.99976285e-01 6.72455500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.10, Y:-12.60, Z:6.72 [[ 1.37434822e-02 -9.99905544e-01 -1.41299928e-04 7.30970609e+01] [-9.99881153e-01 -1.37441339e-02 6.98422617e-03 -1.26008209e+01] [-6.98550851e-03 4.52955466e-05 -9.99975600e-01 6.72440507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.07, Y:-12.72, Z:6.72 [[ 9.04215850e-02 -9.95903360e-01 -6.59810357e-04 7.30735803e+01] [-9.95880203e-01 -9.04239820e-02 6.79156592e-03 -1.27195257e+01] [-6.82340599e-03 4.29879173e-05 -9.99976719e-01 6.72488669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.06, Y:-12.84, Z:6.73 [[ 1.67109901e-01 -9.85937489e-01 -1.24477533e-03 7.30593905e+01] [-9.85911893e-01 -1.67114533e-01 7.10440663e-03 -1.28412848e+01] [-7.21252088e-03 4.00221142e-05 -9.99973989e-01 6.72502717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.05, Y:-12.97, Z:6.73 [[ 2.43798792e-01 -9.69823847e-01 -1.96329742e-03 7.30528885e+01] [-9.69793355e-01 -2.43806695e-01 7.69049439e-03 -1.29655005e+01] [-7.93708991e-03 2.90595531e-05 -9.99968500e-01 6.72507906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.310385723 meters Centerline goodness [0,1] 0.9999787663233889 Centerline is valid? [True, True] Translation: X:73.06, Y:-13.09, Z:6.73 [[ 3.18549858e-01 -9.47902436e-01 -2.63823919e-03 7.30563546e+01] [-9.47870397e-01 -3.18560782e-01 7.79350451e-03 -1.30851287e+01] [-8.22792145e-03 1.80890782e-05 -9.99966150e-01 6.72624842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.07, Y:-13.20, Z:6.73 [[ 3.92947593e-01 -9.19554122e-01 -3.52224899e-03 7.30669761e+01] [-9.19516965e-01 -3.92963378e-01 8.26646703e-03 -1.32043629e+01] [-8.98557870e-03 -9.52062064e-06 -9.99959629e-01 6.72601523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.09, Y:-13.32, Z:6.73 [[ 4.63004297e-01 -8.86346105e-01 -4.19564107e-03 7.30902439e+01] [-8.86309312e-01 -4.63023306e-01 8.07603680e-03 -1.33235284e+01] [-9.10084336e-03 -2.06039907e-05 -9.99958586e-01 6.72633494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.12, Y:-13.43, Z:6.73 [[ 5.30039565e-01 -8.47959993e-01 -4.68080540e-03 7.31195452e+01] [-8.47926439e-01 -5.30060232e-01 7.54349423e-03 -1.34344329e+01] [-8.87769011e-03 -2.93717393e-05 -9.99960592e-01 6.72604410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.16, Y:-13.54, Z:6.73 [[ 5.94857527e-01 -8.03813085e-01 -5.38950318e-03 7.31574020e+01] [-8.03779306e-01 -5.94881939e-01 7.36919016e-03 -1.35436646e+01] [-9.12956958e-03 -5.16471076e-05 -9.99958323e-01 6.72542260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.20, Y:-13.65, Z:6.73 [[ 6.55144614e-01 -7.55480156e-01 -5.93874658e-03 7.32007096e+01] [-7.55448228e-01 -6.55171528e-01 6.94584886e-03 -1.36463602e+01] [-9.13834864e-03 -6.41198951e-05 -9.99958242e-01 6.72564421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.25, Y:-13.75, Z:6.73 [[ 7.12705737e-01 -7.01431461e-01 -6.66616996e-03 7.32514631e+01] [-7.01399504e-01 -7.12736905e-01 6.69622697e-03 -1.37461521e+01] [-9.44816961e-03 -9.67910647e-05 -9.99955360e-01 6.72584982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.30, Y:-13.84, Z:6.73 [[ 7.64667475e-01 -6.44381298e-01 -7.50969128e-03 7.33039593e+01] [-6.44348705e-01 -7.64704341e-01 6.48208260e-03 -1.38354845e+01] [-9.91962632e-03 -1.17777880e-04 -9.99950792e-01 6.72618402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.30, Y:-13.85, Z:6.73 [[ 8.13699612e-01 -5.81225818e-01 -8.33613510e-03 7.33030196e+01] [-5.81193535e-01 -8.13742299e-01 6.12746974e-03 -1.38485004e+01] [-1.03449093e-02 -1.41011920e-04 -9.99946480e-01 6.72599472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.30, Y:-13.86, Z:6.73 [[ 8.57979488e-01 -5.13596382e-01 -9.48443801e-03 7.33025068e+01] [-5.13562659e-01 -8.58031889e-01 5.88832700e-03 -1.38606790e+01] [-1.11621737e-02 -1.81210580e-04 -9.99937685e-01 6.72631539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.610385723 meters Centerline goodness [0,1] 0.9999786821292289 Centerline is valid? [True, True] Translation: X:73.30, Y:-13.87, Z:6.73 [[ 8.96091083e-01 -4.43759648e-01 -9.90683284e-03 7.33045385e+01] [-4.43730102e-01 -8.96145823e-01 5.12446506e-03 -1.38698302e+01] [-1.11519977e-02 -1.96027507e-04 -9.99937795e-01 6.72626857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.640385723 meters Centerline goodness [0,1] 0.9999143835616439 Centerline is valid? [True, True] Translation: X:73.31, Y:-13.88, Z:6.72 [[ 9.28399471e-01 -3.71442736e-01 -1.02330750e-02 7.33066646e+01] [-3.71417722e-01 -9.28455843e-01 4.31564205e-03 -1.38816982e+01] [-1.11039722e-02 -2.05894389e-04 -9.99938328e-01 6.72484088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.670385723 meters Centerline goodness [0,1] 0.9999144549712354 Centerline is valid? [True, True] Translation: X:73.31, Y:-13.90, Z:6.72 [[ 9.54835668e-01 -2.96945409e-01 -1.05958648e-02 7.33094366e+01] [-2.96924605e-01 -9.54894433e-01 3.52158838e-03 -1.38952718e+01] [-1.11636518e-02 -2.16365233e-04 -9.99937661e-01 6.72465097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.31, Y:-13.91, Z:6.72 [[ 9.75445748e-01 -2.19983852e-01 -1.06159074e-02 7.33133742e+01] [-2.19968279e-01 -9.75503487e-01 2.62740046e-03 -1.39067738e+01] [-1.09338404e-02 -2.27723713e-04 -9.99940198e-01 6.72494703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.32, Y:-13.92, Z:6.73 [[ 9.89768901e-01 -1.42239609e-01 -1.11989287e-02 7.33174378e+01] [-1.42227689e-01 -9.89832225e-01 1.85774166e-03 -1.39185885e+01] [-1.13493049e-02 -2.45937176e-04 -9.99935564e-01 6.72550064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.760385723 meters Centerline goodness [0,1] 0.9999139692440048 Centerline is valid? [True, True] Translation: X:73.32, Y:-13.93, Z:6.73 [[ 9.97975751e-01 -6.25153785e-02 -1.16716808e-02 7.33207831e+01] [-6.25078823e-02 -9.98043963e-01 1.00630428e-03 -1.39273047e+01] [-1.17117600e-02 -2.74695219e-04 -9.99931377e-01 6.72562931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.790385723 meters Centerline goodness [0,1] 0.9999785223367698 Centerline is valid? [True, True] Translation: X:73.32, Y:-13.94, Z:6.73 [[ 9.99790149e-01 1.68227812e-02 -1.16897968e-02 7.33229442e+01] [ 1.68249716e-02 -9.99858446e-01 8.90520802e-05 -1.39363987e+01] [-1.16866440e-02 -2.85713892e-04 -9.99931668e-01 6.72588202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.820385723 meters Centerline goodness [0,1] 0.9999354755452317 Centerline is valid? [True, True] Translation: X:73.33, Y:-13.94, Z:6.73 [[ 9.95335725e-01 9.56789400e-02 -1.23423835e-02 7.33257025e+01] [ 9.56754473e-02 -9.95412198e-01 -8.74483305e-04 -1.39446032e+01] [-1.23694288e-02 -3.10458592e-04 -9.99923448e-01 6.72569242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.33, Y:-13.95, Z:6.73 [[ 9.84649838e-01 1.74036411e-01 -1.32673858e-02 7.33281199e+01] [ 1.74025339e-01 -9.84739157e-01 -1.99336932e-03 -1.39510873e+01] [-1.34118331e-02 -3.46090526e-04 -9.99909998e-01 6.72683058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.33, Y:-13.96, Z:6.73 [[ 9.68001365e-01 2.50604015e-01 -1.30760866e-02 7.33320563e+01] [ 2.50585966e-01 -9.68089618e-01 -3.02749345e-03 -1.39578965e+01] [-1.34175257e-02 -3.46066008e-04 -9.99909921e-01 6.72674209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.910385723 meters Centerline goodness [0,1] 0.9999567221344643 Centerline is valid? [True, True] Translation: X:73.33, Y:-13.96, Z:6.73 [[ 9.45565873e-01 3.25174507e-01 -1.29119746e-02 7.33343901e+01] [ 3.25149114e-01 -9.45653966e-01 -4.07806793e-03 -1.39620405e+01] [-1.35363437e-02 -3.42235234e-04 -9.99908321e-01 6.72735208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.940385723 meters Centerline goodness [0,1] 0.9998920203001835 Centerline is valid? [True, True] Translation: X:73.34, Y:-13.97, Z:6.73 [[ 9.17372294e-01 3.97812647e-01 -1.31594921e-02 7.33375456e+01] [ 3.97777210e-01 -9.17466606e-01 -5.32146464e-03 -1.39662449e+01] [-1.41903405e-02 -3.52781836e-04 -9.99899250e-01 6.72789726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.34, Y:-13.97, Z:6.73 [[ 8.83743308e-01 4.67799199e-01 -1.27151822e-02 7.33413673e+01] [ 4.67756331e-01 -8.83834709e-01 -6.34210316e-03 -1.39711210e+01] [-1.42049502e-02 -3.42815768e-04 -9.99899046e-01 6.72694408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.000385723 meters Centerline goodness [0,1] 0.9999783249523149 Centerline is valid? [True, True] Translation: X:73.34, Y:-13.97, Z:6.73 [[ 8.45756541e-01 5.33434599e-01 -1.19750213e-02 7.33443206e+01] [ 5.33386155e-01 -8.45841260e-01 -7.19535282e-03 -1.39725851e+01] [-1.39672172e-02 -3.01793826e-04 -9.99902408e-01 6.72561626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.030385723 meters Centerline goodness [0,1] 0.9999346874795898 Centerline is valid? [True, True] Translation: X:73.35, Y:-13.98, Z:6.72 [[ 8.02419707e-01 5.96658902e-01 -1.09894669e-02 7.33483887e+01] [ 5.96607510e-01 -8.02494911e-01 -7.83560158e-03 -1.39765588e+01] [-1.34941727e-02 -2.68957367e-04 -9.99908913e-01 6.72476006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.060385723 meters Centerline goodness [0,1] 0.9998689412638431 Centerline is valid? [True, True] Translation: X:73.35, Y:-13.98, Z:6.72 [[ 7.55603126e-01 6.54949678e-01 -1.02389196e-02 7.33503805e+01] [ 6.54893451e-01 -7.55672463e-01 -8.58463068e-03 -1.39802319e+01] [-1.33597707e-02 -2.18827583e-04 -9.99910730e-01 6.72462565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0903857229999 meters Centerline goodness [0,1] 0.9998689412638431 Centerline is valid? [True, True] Translation: X:73.36, Y:-13.99, Z:6.72 [[ 7.02024139e-01 7.12089308e-01 -9.53552874e-03 7.33576335e+01] [ 7.12027827e-01 -7.02088862e-01 -9.35970318e-03 -1.39887127e+01] [-1.33597331e-02 -2.18824237e-04 -9.99910731e-01 6.72462530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.36, Y:-13.99, Z:6.72 [[ 6.45383844e-01 7.63808445e-01 -8.73806591e-03 7.33628543e+01] [ 7.63742518e-01 -6.45442965e-01 -1.00371492e-02 -1.39942253e+01] [-1.33063825e-02 -1.95818504e-04 -9.99911447e-01 6.72481367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.150385723 meters Centerline goodness [0,1] 0.9999781224704106 Centerline is valid? [True, True] Translation: X:73.37, Y:-14.00, Z:6.72 [[ 5.86162462e-01 8.10155657e-01 -7.83447039e-03 7.33656875e+01] [ 8.10086748e-01 -5.86214797e-01 -1.05675402e-02 -1.39976161e+01] [-1.31540349e-02 -1.52305263e-04 -9.99913470e-01 6.72477936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.37, Y:-14.00, Z:6.72 [[ 5.22140991e-01 8.52830906e-01 -6.94491464e-03 7.33722386e+01] [ 8.52758844e-01 -5.22187158e-01 -1.10872175e-02 -1.40029562e+01] [-1.30820670e-02 -1.33246648e-04 -9.99914417e-01 6.72478587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.38, Y:-14.01, Z:6.72 [[ 4.55392770e-01 8.90270844e-01 -5.93704322e-03 7.33761039e+01] [ 8.90198228e-01 -4.55431457e-01 -1.13711197e-02 -1.40075168e+01] [-1.28272926e-02 -1.06819669e-04 -9.99917721e-01 6.72403419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.38, Y:-14.01, Z:6.72 [[ 3.84894957e-01 9.22947159e-01 -4.94106331e-03 7.33825374e+01] [ 9.22874299e-01 -3.84926659e-01 -1.15972203e-02 -1.40141348e+01] [-1.26055685e-02 -9.62687088e-05 -9.99920542e-01 6.72401640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.270385723 meters Centerline goodness [0,1] 0.9999779142188259 Centerline is valid? [True, True] Translation: X:73.39, Y:-14.02, Z:6.72 [[ 3.11846968e-01 9.50123657e-01 -4.06261640e-03 7.33877510e+01] [ 9.50046840e-01 -3.11873416e-01 -1.20819519e-02 -1.40202120e+01] [-1.27463703e-02 -9.19558161e-05 -9.99918758e-01 6.72349759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.39, Y:-14.03, Z:6.72 [[ 2.36698045e-01 9.71578108e-01 -3.16484737e-03 7.33918589e+01] [ 9.71496325e-01 -2.36719185e-01 -1.26062449e-02 -1.40252680e+01] [-1.29971316e-02 -9.07640711e-05 -9.99915530e-01 6.72405491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.40, Y:-14.03, Z:6.72 [[ 1.59522143e-01 9.87192131e-01 -2.09352079e-03 7.33998680e+01] [ 9.87114531e-01 -1.59535853e-01 -1.23780118e-02 -1.40305829e+01] [-1.25534675e-02 -9.19778236e-05 -9.99921198e-01 6.72415085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.360385723 meters Centerline goodness [0,1] 0.9999778677821305 Centerline is valid? [True, True] Translation: X:73.41, Y:-14.04, Z:6.72 [[ 7.96270270e-02 9.96824090e-01 -1.12745764e-03 7.34079178e+01] [ 9.96744318e-01 -7.96349188e-02 -1.26113053e-02 -1.40350295e+01] [-1.26610380e-02 -1.19586248e-04 -9.99919839e-01 6.72386861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.390385723 meters Centerline goodness [0,1] 0.9999777950482958 Centerline is valid? [True, True] Translation: X:73.42, Y:-14.04, Z:6.72 [[ 3.92932553e-04 9.99999914e-01 -1.35677115e-04 7.34169826e+01] [ 9.99920266e-01 -3.94613731e-04 -1.26216655e-02 -1.40390142e+01] [-1.26217180e-02 -1.30706834e-04 -9.99920334e-01 6.72345965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.43, Y:-14.04, Z:6.72 [[-7.92980016e-02 9.96850640e-01 7.93007808e-04 7.34253996e+01] [ 9.96781951e-01 7.93018474e-02 -1.17029950e-02 -1.40429712e+01] [-1.17290250e-02 -1.37568248e-04 -9.99931203e-01 6.72269259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.450385723 meters Centerline goodness [0,1] 0.9999556875083085 Centerline is valid? [True, True] Translation: X:73.44, Y:-14.05, Z:6.72 [[-1.57638643e-01 9.87495521e-01 1.62936617e-03 7.34355894e+01] [ 9.87433430e-01 1.57647004e-01 -1.10744793e-02 -1.40456531e+01] [-1.11928634e-02 -1.36875267e-04 -9.99937349e-01 6.72243022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.45, Y:-14.05, Z:6.72 [[-2.35053001e-01 9.71979671e-01 2.36757097e-03 7.34453065e+01] [ 9.71924371e-01 2.35064885e-01 -1.03690464e-02 -1.40480888e+01] [-1.06350351e-02 -1.36175540e-04 -9.99943437e-01 6.72193603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.510385723 meters Centerline goodness [0,1] 0.9999553641172139 Centerline is valid? [True, True] Translation: X:73.46, Y:-14.05, Z:6.72 [[-3.11148542e-01 9.50356871e-01 2.89877713e-03 7.34570222e+01] [ 9.50311601e-01 3.11162016e-01 -9.27692037e-03 -1.40495451e+01] [-9.71837435e-03 -1.31758708e-04 -9.99952767e-01 6.72264218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.47, Y:-14.05, Z:6.72 [[-3.85401965e-01 9.22742607e-01 3.37729882e-03 7.34694240e+01] [ 9.22704163e-01 3.85416740e-01 -8.42398771e-03 -1.40499682e+01] [-9.07483988e-03 -1.30373731e-04 -9.99958814e-01 6.72181851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.570385723 meters Centerline goodness [0,1] 0.9999776695993926 Centerline is valid? [True, True] Translation: X:73.48, Y:-14.05, Z:6.72 [[-4.56915074e-01 8.89500132e-01 4.25789740e-03 7.34815957e+01] [ 8.89458565e-01 4.56934891e-01 -8.60046253e-03 -1.40506637e+01] [-9.59569444e-03 -1.42457668e-04 -9.99953950e-01 6.72261518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.49, Y:-14.05, Z:6.72 [[-5.24947076e-01 8.51119192e-01 5.16615849e-03 7.34927843e+01] [ 8.51075195e-01 5.24972476e-01 -8.65523239e-03 -1.40495850e+01] [-1.00787254e-02 -1.46749594e-04 -9.99949198e-01 6.72274793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.50, Y:-14.05, Z:6.72 [[-5.89522290e-01 8.07728710e-01 6.14817726e-03 7.35038767e+01] [ 8.07682127e-01 5.89554331e-01 -8.67604127e-03 -1.40477563e+01] [-1.06325722e-02 -1.48946833e-04 -9.99943462e-01 6.72316816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.52, Y:-14.05, Z:6.72 [[-6.49194180e-01 7.60587944e-01 7.27296606e-03 7.35150480e+01] [ 7.60537920e-01 6.49234905e-01 -8.72411586e-03 -1.40460379e+01] [-1.13573208e-02 -1.32278756e-04 -9.99935495e-01 6.72494379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.690385723 meters Centerline goodness [0,1] 0.9998659816841635 Centerline is valid? [True, True] Translation: X:73.52, Y:-14.04, Z:6.73 [[-7.05848088e-01 7.08314369e-01 8.32056357e-03 7.35248086e+01] [ 7.08263090e-01 7.05897117e-01 -8.52382052e-03 -1.40427635e+01] [-1.19110064e-02 -1.23374348e-04 -9.99929054e-01 6.72599217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.53, Y:-14.04, Z:6.73 [[-7.57314640e-01 6.52981454e-01 9.47405373e-03 7.35346435e+01] [ 6.52928785e-01 7.57373892e-01 -8.29392830e-03 -1.40387666e+01] [-1.25911823e-02 -9.52309328e-05 -9.99920723e-01 6.72701485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.56, Y:-14.03, Z:6.73 [[-8.00641229e-01 5.99053877e-01 1.03959391e-02 7.35630990e+01] [ 5.99002128e-01 8.00708715e-01 -7.87424312e-03 -1.40256257e+01] [-1.30412149e-02 -7.72540319e-05 -9.99914957e-01 6.72629154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.58, Y:-14.00, Z:6.73 [[-8.39318650e-01 5.43539586e-01 1.04366416e-02 7.35785664e+01] [ 5.43497057e-01 8.39383534e-01 -6.79935856e-03 -1.40023275e+01] [-1.24560656e-02 -3.45444591e-05 -9.99922420e-01 6.72629149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.59, Y:-13.98, Z:6.73 [[-8.74909632e-01 4.84166777e-01 1.07548934e-02 7.35942850e+01] [ 4.84129991e-01 8.74975732e-01 -5.96826456e-03 -1.39786846e+01] [-1.22999061e-02 -1.49257237e-05 -9.99924353e-01 6.72628340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.60, Y:-13.95, Z:6.73 [[-9.06316198e-01 4.22465655e-01 1.06639640e-02 7.35981641e+01] [ 4.22436483e-01 9.06378933e-01 -4.96461455e-03 -1.39487250e+01] [-1.17629715e-02 5.33685977e-06 -9.99930814e-01 6.72643630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.63, Y:-13.93, Z:6.73 [[-9.33083496e-01 3.59495927e-01 1.08567385e-02 7.36302128e+01] [ 3.59472021e-01 9.33146654e-01 -4.14593982e-03 -1.39317277e+01] [-1.16213777e-02 3.41857238e-05 -9.99932469e-01 6.72700046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.64, Y:-13.91, Z:6.73 [[-9.55532280e-01 2.94669347e-01 1.13153712e-02 7.36448976e+01] [ 2.94649458e-01 9.55599274e-01 -3.42413659e-03 -1.39054347e+01] [-1.18219486e-02 6.21949610e-05 -9.99930116e-01 6.72618018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.65, Y:-13.88, Z:6.73 [[-9.73864680e-01 2.26837849e-01 1.14967956e-02 7.36488351e+01] [ 2.26822892e-01 9.73932536e-01 -2.60581658e-03 -1.38761577e+01] [-1.17882012e-02 7.00237079e-05 -9.99930514e-01 6.72658084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.65, Y:-13.85, Z:6.73 [[-9.87423498e-01 1.57667556e-01 1.16523426e-02 7.36549922e+01] [ 1.57657489e-01 9.87492246e-01 -1.78333391e-03 -1.38475190e+01] [-1.17877719e-02 7.61732711e-05 -9.99930519e-01 6.72650901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.65, Y:-13.82, Z:6.73 [[-9.96116662e-01 8.73035985e-02 1.13875982e-02 7.36545896e+01] [ 8.72987542e-02 9.96181749e-01 -9.22738248e-04 -1.38171959e+01] [-1.14246759e-02 7.49681953e-05 -9.99934734e-01 6.72562189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.71, Y:-13.06, Z:5.75 [[-9.89776888e-01 -1.42234496e-01 1.05385114e-02 7.37108268e+01] [ 1.42225142e-01 -9.89832983e-01 -1.63561965e-03 -1.30552451e+01] [ 1.06640077e-02 -1.20057256e-04 9.99943131e-01 5.75154167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.58, Y:-13.81, Z:6.73 [[-9.96719325e-01 8.03047281e-02 1.00865074e-02 7.35824564e+01] [ 8.03010920e-02 9.96770359e-01 -7.65616788e-04 -1.38077885e+01] [-1.01154143e-02 4.68525121e-05 -9.99948837e-01 6.72597291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.58, Y:-13.78, Z:6.73 [[-9.99913357e-01 8.61131979e-03 9.95608615e-03 7.35844641e+01] [ 8.61129003e-03 9.99962921e-01 -4.58579847e-05 -1.37778328e+01] [-9.95611189e-03 3.98807340e-05 -9.99950436e-01 6.72628258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.59, Y:-13.02, Z:5.75 [[-9.97555201e-01 -6.91786560e-02 9.89623362e-03 7.35895025e+01] [ 6.91748346e-02 -9.97604286e-01 -7.28326663e-04 -1.30227839e+01] [ 9.92290974e-03 -4.19757266e-05 9.99950766e-01 5.75087716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.140385723 meters Centerline goodness [0,1] 0.9999113396577711 Centerline is valid? [True, True] Translation: X:73.50, Y:-13.78, Z:6.73 [[-9.99947115e-01 9.60403714e-04 1.02393628e-02 7.34950645e+01] [ 9.60564516e-04 9.99999539e-01 1.07867010e-05 -1.37750788e+01] [-1.02393477e-02 2.06216991e-05 -9.99947576e-01 6.72808420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.49, Y:-13.02, Z:5.75 [[-9.97765068e-01 -6.61118833e-02 9.69986207e-03 7.34947756e+01] [ 6.61082291e-02 -9.97812215e-01 -6.97224060e-04 -1.30235590e+01] [ 9.72473565e-03 -5.44251076e-05 9.99952712e-01 5.75112875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.40, Y:-13.77, Z:6.73 [[-9.99927786e-01 -7.31411049e-03 9.53557997e-03 7.34035382e+01] [-7.31384580e-03 9.99973252e-01 6.26297906e-05 -1.37728057e+01] [-9.53578299e-03 -7.11649369e-06 -9.99954533e-01 6.72615870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.39, Y:-13.02, Z:5.75 [[-9.97991885e-01 -6.27908050e-02 8.33735977e-03 7.33918848e+01] [ 6.27880068e-02 -9.98026708e-01 -5.97208342e-04 -1.30246637e+01] [ 8.35840692e-03 -7.25228771e-05 9.99965065e-01 5.75201787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.31, Y:-13.77, Z:6.73 [[-9.99850738e-01 -1.53895281e-02 7.85260264e-03 7.33078541e+01] [-1.53892231e-02 9.99881574e-01 9.92711589e-05 -1.37708156e+01] [-7.85320042e-03 -2.15891124e-05 -9.99969163e-01 6.72500696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.290385723 meters Centerline goodness [0,1] 0.9998232044198895 Centerline is valid? [True, True] Translation: X:73.30, Y:-13.03, Z:5.75 [[-9.98320300e-01 -5.74091234e-02 7.79558789e-03 7.32960582e+01] [ 5.74075175e-02 -9.98350736e-01 -4.29795905e-04 -1.30260363e+01] [ 7.80740512e-03 1.84513715e-05 9.99969522e-01 5.74976058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.21, Y:-13.77, Z:6.72 [[-9.99760819e-01 -2.08248241e-02 6.68066102e-03 7.32118243e+01] [-2.08244812e-02 9.99783140e-01 1.20882846e-04 -1.37705002e+01] [-6.68172962e-03 -1.82673672e-05 -9.99977677e-01 6.72497202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.20, Y:-13.74, Z:6.72 [[-9.95775814e-01 -9.15899231e-02 6.46647215e-03 7.32017281e+01] [-9.15880921e-02 9.95796810e-01 5.79342068e-04 -1.37428126e+01] [-6.49235423e-03 -1.53570277e-05 -9.99978924e-01 6.72403901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.19, Y:-13.72, Z:6.72 [[-9.86838853e-01 -1.61630579e-01 4.96338790e-03 7.31905731e+01] [-1.61628576e-01 9.86851334e-01 8.04758048e-04 -1.37153790e+01] [-5.02819948e-03 -8.05880773e-06 -9.99987359e-01 6.72306707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.17, Y:-13.69, Z:6.72 [[-9.72680890e-01 -2.32093289e-01 4.95904239e-03 7.31737171e+01] [-2.32090312e-01 9.72693531e-01 1.17552681e-03 -1.36893766e+01] [-5.09646034e-03 -7.53323278e-06 -9.99987013e-01 6.72251912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.13, Y:-13.67, Z:6.72 [[-9.53199284e-01 -3.02298215e-01 5.18794768e-03 7.31334028e+01] [-3.02293782e-01 9.53213402e-01 1.63717376e-03 -1.36702791e+01] [-5.44013596e-03 -7.73147302e-06 -9.99985202e-01 6.72300041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.07, Y:-13.66, Z:6.72 [[-9.28446695e-01 -3.71427046e-01 5.35573343e-03 7.30694837e+01] [-3.71420910e-01 9.28462142e-01 2.13500856e-03 -1.36622046e+01] [-5.76559566e-03 -6.98974006e-06 -9.99983379e-01 6.72322640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.500385723 meters Centerline goodness [0,1] 0.9999336371278149 Centerline is valid? [True, True] Translation: X:73.00, Y:-13.66, Z:6.73 [[-8.99032454e-01 -4.37839178e-01 6.12388079e-03 7.29992622e+01] [-4.37829009e-01 8.99053310e-01 2.98409212e-03 -1.36609242e+01] [-6.81224774e-03 1.58300668e-06 -9.99976796e-01 6.72577660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.92, Y:-13.67, Z:6.72 [[-8.64324583e-01 -5.02906120e-01 5.33382161e-03 7.29184460e+01] [-5.02896502e-01 8.64341041e-01 3.11027333e-03 -1.36707865e+01] [-6.17441641e-03 5.92546939e-06 -9.99980938e-01 6.72465429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.83, Y:-13.69, Z:6.72 [[-8.24648846e-01 -5.65621907e-01 5.11264079e-03 7.28342813e+01] [-5.65610956e-01 8.24664695e-01 3.51971044e-03 -1.36896218e+01] [-6.20703968e-03 1.07595065e-05 -9.99980736e-01 6.72477198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.74, Y:-13.72, Z:6.73 [[-7.80919992e-01 -6.24612062e-01 4.87226652e-03 7.27431156e+01] [-6.24599725e-01 7.80935191e-01 3.92584862e-03 -1.37203953e+01] [-6.25705678e-03 2.25573414e-05 -9.99980424e-01 6.72529083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.64, Y:-13.77, Z:6.73 [[-7.32077124e-01 -6.81204376e-01 4.86637264e-03 7.26400746e+01] [-6.81189065e-01 7.32093298e-01 4.56737664e-03 -1.37716353e+01] [-6.67395575e-03 2.87521269e-05 -9.99977729e-01 6.72574906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.650385723 meters Centerline goodness [0,1] 0.9999780152134723 Centerline is valid? [True, True] Translation: X:72.56, Y:-13.81, Z:6.73 [[-6.79109156e-01 -7.34023256e-01 4.54031866e-03 7.25620361e+01] [-7.34006477e-01 6.79124332e-01 4.96315762e-03 -1.38089777e+01] [-6.72651399e-03 3.79024697e-05 -9.99977376e-01 6.72561107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.47, Y:-13.88, Z:6.73 [[-6.21589339e-01 -7.83333304e-01 3.95345816e-03 7.24668576e+01] [-7.83317072e-01 6.21601910e-01 5.04289463e-03 -1.38762038e+01] [-6.40774446e-03 3.77982674e-05 -9.99979470e-01 6.72530376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.38, Y:-13.94, Z:6.72 [[-5.60351344e-01 -8.28248782e-01 3.21334992e-03 7.23829260e+01] [-8.28234784e-01 5.60360556e-01 4.81560099e-03 -1.39403682e+01] [-5.78915020e-03 3.70203098e-05 -9.99983242e-01 6.72470150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.30, Y:-14.02, Z:6.72 [[-4.95135281e-01 -8.68811865e-01 2.64506074e-03 7.22979020e+01] [-8.68799111e-01 4.95142345e-01 4.70770156e-03 -1.40194550e+01] [-5.39978855e-03 3.29227125e-05 -9.99985421e-01 6.72402577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.22, Y:-14.11, Z:6.72 [[-4.26653120e-01 -9.04412401e-01 2.30763910e-03 7.22169849e+01] [-9.04398788e-01 4.26659359e-01 4.96215158e-03 -1.41109029e+01] [-5.47240724e-03 3.00914437e-05 -9.99985026e-01 6.72460511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.800385723 meters Centerline goodness [0,1] 0.9999123287671233 Centerline is valid? [True, True] Translation: X:72.14, Y:-14.20, Z:6.73 [[-3.54711185e-01 -9.34972866e-01 2.39045532e-03 7.21442912e+01] [-9.34951104e-01 3.54719239e-01 6.37929789e-03 -1.42042951e+01] [-6.81241093e-03 2.78494729e-05 -9.99976795e-01 6.72713286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.07, Y:-14.32, Z:6.73 [[-2.79998503e-01 -9.59997991e-01 2.16708184e-03 7.20731250e+01] [-9.59968808e-01 2.80006888e-01 7.48535657e-03 -1.43194031e+01] [-7.79272511e-03 1.55576624e-05 -9.99969636e-01 6.72631681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.02, Y:-14.42, Z:6.73 [[-2.04710174e-01 -9.78821194e-01 1.67756625e-03 7.20180297e+01] [-9.78787888e-01 2.04717047e-01 8.07472485e-03 -1.44165531e+01] [-8.24713823e-03 1.09968065e-05 -9.99965992e-01 6.72700160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.97, Y:-14.53, Z:6.73 [[-1.28158939e-01 -9.91753089e-01 1.04772253e-03 7.19677791e+01] [-9.91719620e-01 1.28163222e-01 8.14758517e-03 -1.45337157e+01] [-8.21467225e-03 5.13887850e-06 -9.99966259e-01 6.72671670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.93, Y:-14.65, Z:6.73 [[-5.14430064e-02 -9.98675836e-01 4.39055633e-04 7.19269418e+01] [-9.98638637e-01 5.14448798e-02 8.61952344e-03 -1.46526620e+01] [-8.63069693e-03 4.95628080e-06 -9.99962755e-01 6.72615002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.950385723 meters Centerline goodness [0,1] 0.9999780807505151 Centerline is valid? [True, True] Translation: X:71.90, Y:-14.78, Z:6.73 [[ 2.47321881e-02 -9.99694085e-01 -2.35556729e-04 7.18956787e+01] [-9.99653605e-01 -2.47333064e-02 8.99628187e-03 -1.47757494e+01] [-8.99935587e-03 1.29773988e-05 -9.99959505e-01 6.72604290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.87, Y:-14.89, Z:6.73 [[ 1.01040669e-01 -9.94881871e-01 -9.19583734e-04 7.18741253e+01] [-9.94842244e-01 -1.01044852e-01 8.87966625e-03 -1.48940874e+01] [-8.92713817e-03 1.76333295e-05 -9.99960152e-01 6.72610120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.86, Y:-15.02, Z:6.73 [[ 1.77317972e-01 -9.84152313e-01 -1.60036088e-03 7.18625273e+01] [-9.84113125e-01 -1.77325193e-01 8.78254727e-03 -1.50193085e+01] [-8.92714851e-03 1.76326760e-05 -9.99960152e-01 6.72610173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.86, Y:-15.14, Z:6.73 [[ 2.51444527e-01 -9.67869005e-01 -2.28878062e-03 7.18604769e+01] [-9.67829911e-01 -2.51454942e-01 8.69919636e-03 -1.51442124e+01] [-8.99520773e-03 2.77850336e-05 -9.99959542e-01 6.72598311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.070385723 meters Centerline goodness [0,1] 0.9999782424229238 Centerline is valid? [True, True] Translation: X:71.87, Y:-15.27, Z:6.73 [[ 3.23234138e-01 -9.46315091e-01 -2.72769923e-03 7.18673251e+01] [-9.46282483e-01 -3.23245644e-01 7.85600124e-03 -1.52668244e+01] [-8.31596943e-03 4.18462151e-05 -9.99965421e-01 6.72562177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.89, Y:-15.40, Z:6.72 [[ 3.93920250e-01 -9.19139479e-01 -3.07479887e-03 7.18863946e+01] [-9.19112416e-01 -3.93932247e-01 7.05341778e-03 -1.53963405e+01] [-7.69433717e-03 4.76017222e-05 -9.99970397e-01 6.72492899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.130385723 meters Centerline goodness [0,1] 0.9999562430262323 Centerline is valid? [True, True] Translation: X:71.91, Y:-15.51, Z:6.73 [[ 4.61216214e-01 -8.87282439e-01 -3.07867199e-03 7.19061305e+01] [-8.87263476e-01 -4.61226486e-01 5.80110462e-03 -1.55057481e+01] [-6.56718332e-03 5.60297056e-05 -9.99978434e-01 6.72563382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.94, Y:-15.62, Z:6.72 [[ 5.27594616e-01 -8.49490038e-01 -3.25529397e-03 7.19392424e+01] [-8.49474488e-01 -5.27604656e-01 5.14013861e-03 -1.56229143e+01] [-6.08400480e-03 5.33797230e-05 -9.99981491e-01 6.72445569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.98, Y:-15.73, Z:6.72 [[ 5.90721290e-01 -8.06867254e-01 -3.68669035e-03 7.19765787e+01] [-8.06852133e-01 -5.90732791e-01 4.94019493e-03 -1.57328490e+01] [-6.16393040e-03 5.63356497e-05 -9.99981001e-01 6.72435973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.03, Y:-15.84, Z:6.72 [[ 6.50884611e-01 -7.59166251e-01 -3.97832461e-03 7.20258353e+01] [-7.59152564e-01 -6.50896767e-01 4.55891046e-03 -1.58433604e+01] [-6.05044959e-03 5.28306669e-05 -9.99981695e-01 6.72429558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.07, Y:-15.94, Z:6.72 [[ 7.07754200e-01 -7.06447114e-01 -4.05799069e-03 7.20731045e+01] [-7.06435841e-01 -7.07765832e-01 3.99108826e-03 -1.59417466e+01] [-5.69159994e-03 4.20005887e-05 -9.99983802e-01 6.72446959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.07, Y:-15.95, Z:6.72 [[ 7.61388057e-01 -6.48281115e-01 -4.45232967e-03 7.20670324e+01] [-6.48270321e-01 -7.61401074e-01 3.74110434e-03 -1.59534169e+01] [-5.81529589e-03 3.78810255e-05 -9.99983090e-01 6.72448192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.06, Y:-15.97, Z:6.73 [[ 8.10627041e-01 -5.85536264e-01 -5.57525425e-03 7.20609321e+01] [-5.85522704e-01 -8.10646213e-01 3.98508325e-03 -1.59671253e+01] [-6.85296950e-03 3.40217027e-05 -9.99976518e-01 6.72522022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.06, Y:-15.98, Z:6.73 [[ 8.54258846e-01 -5.19805628e-01 -6.62820284e-03 7.20582528e+01] [-5.19790284e-01 -8.54284559e-01 3.99407384e-03 -1.59792103e+01] [-7.73851341e-03 3.33025258e-05 -9.99970057e-01 6.72597946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.06, Y:-15.99, Z:6.73 [[ 8.92513557e-01 -4.50939965e-01 -8.52635938e-03 7.20562871e+01] [-4.50919769e-01 -8.92554282e-01 4.26793396e-03 -1.59919102e+01] [-9.53482057e-03 3.55150799e-05 -9.99954542e-01 6.72772240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.06, Y:-16.00, Z:6.73 [[ 9.24844819e-01 -3.80229520e-01 -9.35804385e-03 7.20565498e+01] [-3.80210519e-01 -9.24892162e-01 3.80144243e-03 -1.60026652e+01] [-1.01006020e-02 4.22823732e-05 -9.99948987e-01 6.72810117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.430385723 meters Centerline goodness [0,1] 0.9999783671526846 Centerline is valid? [True, True] Translation: X:72.06, Y:-16.01, Z:6.73 [[ 9.51098590e-01 -3.08761118e-01 -8.83424035e-03 7.20567279e+01] [-3.08748367e-01 -9.51139616e-01 2.80665778e-03 -1.60118685e+01] [-9.26918277e-03 5.81490221e-05 -9.99957039e-01 6.72791761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.06, Y:-16.03, Z:6.73 [[ 9.72127870e-01 -2.34300032e-01 -8.42016574e-03 7.20577585e+01] [-2.34291794e-01 -9.72164334e-01 1.96573377e-03 -1.60251281e+01] [-8.64635630e-03 6.18311526e-05 -9.99962618e-01 6.72669790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.06, Y:-16.04, Z:6.73 [[ 9.87253986e-01 -1.58938835e-01 -8.24703783e-03 7.20586302e+01] [-1.58933897e-01 -9.87288429e-01 1.25487900e-03 -1.60391946e+01] [-8.34165403e-03 7.18495646e-05 -9.99965205e-01 6.72650831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.06, Y:-16.05, Z:6.73 [[ 9.96610686e-01 -8.18133562e-02 -8.58578413e-03 7.20574525e+01] [-8.18110083e-02 -9.96647665e-01 6.24910735e-04 -1.60507417e+01] [-8.60812775e-03 7.96189407e-05 -9.99962946e-01 6.72721144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.550385723 meters Centerline goodness [0,1] 0.9999783867900061 Centerline is valid? [True, True] Translation: X:72.06, Y:-16.07, Z:6.73 [[ 9.99954083e-01 -4.04359837e-03 -8.68802202e-03 7.20586121e+01] [-4.04418108e-03 -9.99991821e-01 -4.95031736e-05 -1.60679952e+01] [-8.68775079e-03 8.46368348e-05 -9.99962257e-01 6.72613013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.580385723 meters Centerline goodness [0,1] 0.999892364325232 Centerline is valid? [True, True] Translation: X:72.06, Y:-16.08, Z:6.73 [[ 9.97224695e-01 7.39421910e-02 -8.68676199e-03 7.20589008e+01] [ 7.39386188e-02 -9.97262526e-01 -7.32095113e-04 -1.60829527e+01] [-8.71711492e-03 8.77761422e-05 -9.99962001e-01 6.72832807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.610385723 meters Centerline goodness [0,1] 0.9999784719381714 Centerline is valid? [True, True] Translation: X:72.06, Y:-16.09, Z:6.73 [[ 9.88353473e-01 1.51933709e-01 -8.57677011e-03 7.20596815e+01] [ 1.51927233e-01 -9.88390682e-01 -1.40537548e-03 -1.60896757e+01] [-8.69072357e-03 8.59627860e-05 -9.99962231e-01 6.72831248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.06, Y:-16.11, Z:6.73 [[ 9.73290547e-01 2.29427361e-01 -8.28238759e-03 7.20644993e+01] [ 2.29418359e-01 -9.73325783e-01 -2.03392416e-03 -1.61062642e+01] [-8.52809924e-03 7.94673900e-05 -9.99963632e-01 6.72675980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.670385723 meters Centerline goodness [0,1] 0.9999785084891468 Centerline is valid? [True, True] Translation: X:72.07, Y:-16.12, Z:6.73 [[ 9.52074426e-01 3.05752327e-01 -8.35472956e-03 7.20695476e+01] [ 3.05739867e-01 -9.52111080e-01 -2.76125083e-03 -1.61194322e+01] [-8.79888945e-03 7.45423936e-05 -9.99961286e-01 6.72647686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.08, Y:-16.13, Z:6.73 [[ 9.24545190e-01 3.80975504e-01 -8.59401172e-03 7.20761681e+01] [ 3.80958416e-01 -9.24585130e-01 -3.60885461e-03 -1.61324676e+01] [-9.32078064e-03 6.25880818e-05 -9.99956559e-01 6.72657772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.730385723 meters Centerline goodness [0,1] 0.9998930229572733 Centerline is valid? [True, True] Translation: X:72.08, Y:-16.14, Z:6.73 [[ 8.91592400e-01 4.52761465e-01 -8.36943696e-03 7.20818856e+01] [ 4.52740916e-01 -8.91631680e-01 -4.31401716e-03 -1.61429669e+01] [-9.41567587e-03 5.71583633e-05 -9.99955670e-01 6.72700329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.09, Y:-16.15, Z:6.73 [[ 8.53044930e-01 5.21775908e-01 -8.01558717e-03 7.20900635e+01] [ 5.21752320e-01 -8.53082586e-01 -4.96156222e-03 -1.61530369e+01] [-9.42678147e-03 5.02842911e-05 -9.99955566e-01 6.72671101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.10, Y:-16.16, Z:6.73 [[ 8.08444960e-01 5.88520302e-01 -7.78468913e-03 7.20985811e+01] [ 5.88492629e-01 -8.08482438e-01 -5.70722422e-03 -1.61638772e+01] [-9.65260177e-03 3.27444843e-05 -9.99953412e-01 6.72737648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.820385723 meters Centerline goodness [0,1] 0.9998927429907545 Centerline is valid? [True, True] Translation: X:72.11, Y:-16.17, Z:6.73 [[ 7.59252051e-01 6.50754042e-01 -7.44984129e-03 7.21099261e+01] [ 6.50722413e-01 -7.59288599e-01 -6.41599237e-03 -1.61743498e+01] [-9.83181252e-03 2.35766662e-05 -9.99951666e-01 6.72724605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.12, Y:-16.18, Z:6.73 [[ 7.05163383e-01 7.09006632e-01 -7.36201037e-03 7.21209768e+01] [ 7.08967800e-01 -7.05201813e-01 -7.42036828e-03 -1.61842844e+01] [-1.04527934e-02 1.31437053e-05 -9.99945368e-01 6.72826771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.880385723 meters Centerline goodness [0,1] 0.9999356692541922 Centerline is valid? [True, True] Translation: X:72.13, Y:-16.19, Z:6.73 [[ 6.47460799e-01 7.62067920e-01 -6.85560521e-03 7.21331591e+01] [ 7.62024994e-01 -6.47497093e-01 -8.08847155e-03 -1.61916433e+01] [-1.06029491e-02 1.28257386e-05 -9.99943787e-01 6.72749628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.14, Y:-16.20, Z:6.73 [[ 5.86161829e-01 8.10170562e-01 -6.16201769e-03 7.21435841e+01] [ 8.10125485e-01 -5.86194217e-01 -8.54629491e-03 -1.61979589e+01] [-1.05360957e-02 1.75042946e-05 -9.99944494e-01 6.72784956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.15, Y:-16.20, Z:6.73 [[ 5.21037441e-01 8.53517243e-01 -5.31979017e-03 7.21518342e+01] [ 8.53472402e-01 -5.21064598e-01 -8.74894562e-03 -1.62008796e+01] [-1.02393303e-02 1.82341455e-05 -9.99947577e-01 6.72748240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.16, Y:-16.21, Z:6.73 [[ 4.52757622e-01 8.91620907e-01 -4.76385262e-03 7.21629411e+01] [ 8.91571077e-01 -4.52782683e-01 -9.42636554e-03 -1.62051048e+01] [-1.05617346e-02 2.05456362e-05 -9.99944223e-01 6.72709643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.17, Y:-16.21, Z:6.73 [[ 3.81585392e-01 9.24326299e-01 -3.67179588e-03 7.21747965e+01] [ 9.24283021e-01 -3.81603057e-01 -8.94446855e-03 -1.62085404e+01] [-9.66877604e-03 1.92999502e-05 -9.99953256e-01 6.72702128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.19, Y:-16.21, Z:6.73 [[ 3.08500192e-01 9.51220902e-01 -2.53515900e-03 7.21854058e+01] [ 9.51188236e-01 -3.08510608e-01 -7.88324087e-03 -1.62101625e+01] [-8.28082694e-03 2.05679078e-05 -9.99965713e-01 6.72601185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.060385723 meters Centerline goodness [0,1] 0.999978627911947 Centerline is valid? [True, True] Translation: X:72.20, Y:-16.21, Z:6.73 [[ 2.32926101e-01 9.72492685e-01 -1.84616316e-03 7.21964313e+01] [ 9.72461498e-01 -2.32933416e-01 -7.78832200e-03 -1.62110991e+01] [-8.00411927e-03 1.87808873e-05 -9.99967966e-01 6.72577863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0903857229999 meters Centerline goodness [0,1] 0.999978489997849 Centerline is valid? [True, True] Translation: X:72.21, Y:-16.21, Z:6.73 [[ 1.55757484e-01 9.87794671e-01 -1.13788549e-03 7.22067926e+01] [ 9.87767600e-01 -1.55761640e-01 -7.31300659e-03 -1.62121031e+01] [-7.40098785e-03 1.50890929e-05 -9.99972612e-01 6.72568970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.22, Y:-16.21, Z:6.73 [[ 7.56069050e-02 9.97137510e-01 -6.17961103e-04 7.22171042e+01] [ 9.97104442e-01 -7.56094303e-02 -8.12072233e-03 -1.62127013e+01] [-8.14420053e-03 -2.18907918e-06 -9.99966836e-01 6.72642096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.23, Y:-16.21, Z:6.73 [[-6.75900804e-03 9.99977157e-01 2.17962098e-05 7.22291411e+01] [ 9.99936742e-01 6.75893082e-03 -8.99050969e-03 -1.62121740e+01] [-8.99045165e-03 -3.89720963e-05 -9.99959584e-01 6.72720708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.180385723 meters Centerline goodness [0,1] 0.9999785610153503 Centerline is valid? [True, True] Translation: X:72.24, Y:-16.21, Z:6.73 [[-8.75813952e-02 9.96157111e-01 7.13425439e-04 7.22415206e+01] [ 9.96118192e-01 8.75842799e-02 -8.80578532e-03 -1.62096256e+01] [-8.83443052e-03 -6.05669060e-05 -9.99960974e-01 6.72758534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.25, Y:-16.21, Z:6.73 [[-1.67780572e-01 9.85823235e-01 1.49334392e-03 7.22534135e+01] [ 9.85779387e-01 1.67787194e-01 -9.29828581e-03 -1.62078022e+01] [-9.41703018e-03 -8.79640516e-05 -9.99955655e-01 6.72857803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.26, Y:-16.20, Z:6.73 [[-2.48263117e-01 9.68689795e-01 2.34634926e-03 7.22627651e+01] [ 9.68641379e-01 2.48274169e-01 -9.68581714e-03 -1.62047056e+01] [-9.96509014e-03 -1.31860169e-04 -9.99950339e-01 6.72776847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.27, Y:-16.20, Z:6.73 [[-3.24874317e-01 9.45751113e-01 3.39270009e-03 7.22736427e+01] [ 9.45694225e-01 3.24891991e-01 -1.03743338e-02 -1.62010191e+01] [-1.09137989e-02 -1.61897734e-04 -9.99940430e-01 6.72880973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.28, Y:-16.20, Z:6.73 [[-3.99909915e-01 9.16542711e-01 4.63878897e-03 7.22805702e+01] [ 9.16474987e-01 3.99936766e-01 -1.11436658e-02 -1.61967157e+01] [-1.20688679e-02 -2.05128375e-04 -9.99927148e-01 6.72961902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.330385723 meters Centerline goodness [0,1] 0.9998707342295761 Centerline is valid? [True, True] Translation: X:72.29, Y:-16.19, Z:6.73 [[-4.71057456e-01 8.82085224e-01 5.52544318e-03 7.22878780e+01] [ 8.82019114e-01 4.71089812e-01 -1.08014146e-02 -1.61921728e+01] [-1.21307482e-02 -2.14540382e-04 -9.99926397e-01 6.72949253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.360385723 meters Centerline goodness [0,1] 0.9999355032893322 Centerline is valid? [True, True] Translation: X:72.29, Y:-16.19, Z:6.73 [[-5.39492442e-01 8.41972374e-01 5.51604413e-03 7.22930564e+01] [ 8.41924591e-01 5.39520605e-01 -8.97220402e-03 -1.61888722e+01] [-1.05303674e-02 -1.96343055e-04 -9.99944535e-01 6.72833605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.390385723 meters Centerline goodness [0,1] 0.9999352233714076 Centerline is valid? [True, True] Translation: X:72.30, Y:-16.18, Z:6.73 [[-6.03734622e-01 7.97163401e-01 5.91766068e-03 7.22991617e+01] [ 7.97122039e-01 6.03763594e-01 -8.12270715e-03 -1.61842771e+01] [-1.00479929e-02 -1.86861783e-04 -9.99949500e-01 6.72743046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.420385723 meters Centerline goodness [0,1] 0.9999567258800874 Centerline is valid? [True, True] Translation: X:72.31, Y:-16.18, Z:6.73 [[-6.64314004e-01 7.47430485e-01 5.88003162e-03 7.23054921e+01] [ 7.47398941e-01 6.64340005e-01 -6.86887505e-03 -1.61802333e+01] [-9.04034685e-03 -1.68360479e-04 -9.99959121e-01 6.72688471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.450385723 meters Centerline goodness [0,1] 0.9999567633006896 Centerline is valid? [True, True] Translation: X:72.31, Y:-16.18, Z:6.73 [[-7.20540832e-01 6.93387531e-01 5.88567599e-03 7.23091333e+01] [ 6.93362664e-01 7.20564854e-01 -5.87436511e-03 -1.61779111e+01] [-8.31422278e-03 -1.51811941e-04 -9.99965425e-01 6.72592906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.480385723 meters Centerline goodness [0,1] 0.9999132509217089 Centerline is valid? [True, True] Translation: X:72.33, Y:-16.16, Z:6.73 [[-7.67233130e-01 6.41342044e-01 5.80573974e-03 7.23263059e+01] [ 6.41322360e-01 7.67255085e-01 -5.02654983e-03 -1.61595132e+01] [-7.67822108e-03 -1.33184848e-04 -9.99970513e-01 6.72733491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.34, Y:-16.14, Z:6.72 [[-8.10316569e-01 5.85969547e-01 5.17186958e-03 7.23394213e+01] [ 5.85956758e-01 8.10333067e-01 -3.87281333e-03 -1.61423617e+01] [-6.46028761e-03 -1.07712876e-04 -9.99979126e-01 6.72298997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.35, Y:-16.12, Z:6.72 [[-8.49204039e-01 5.28040217e-01 5.10193465e-03 7.23520975e+01] [ 5.28030013e-01 8.49219360e-01 -3.28396631e-03 -1.61175909e+01] [-6.06672795e-03 -9.47828307e-05 -9.99981593e-01 6.72292840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.37, Y:-16.10, Z:6.72 [[-8.84013933e-01 4.67434377e-01 4.94664136e-03 7.23692135e+01] [ 4.67426533e-01 8.84027769e-01 -2.70917386e-03 -1.60995298e+01] [-5.63932932e-03 -8.27560139e-05 -9.99984096e-01 6.72162431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.37, Y:-16.08, Z:6.72 [[-9.14030454e-01 4.05622601e-01 4.31684143e-03 7.23742105e+01] [ 4.05617768e-01 9.14040646e-01 -1.98084205e-03 -1.60764223e+01] [-4.74924284e-03 -5.95623691e-05 -9.99988721e-01 6.72122658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.630385723 meters Centerline goodness [0,1] 0.9999781554458473 Centerline is valid? [True, True] Translation: X:72.39, Y:-16.05, Z:6.72 [[-9.40249239e-01 3.40464167e-01 3.93956037e-03 7.23861807e+01] [ 3.40460955e-01 9.40257491e-01 -1.47964673e-03 -1.60537698e+01] [-4.20796784e-03 -4.99702288e-05 -9.99991145e-01 6.72032432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.40, Y:-16.03, Z:6.72 [[-9.61855525e-01 2.73529599e-01 3.93794433e-03 7.23964955e+01] [ 2.73527109e-01 9.61863585e-01 -1.16804985e-03 -1.60329904e+01] [-4.10726146e-03 -4.63606725e-05 -9.99991564e-01 6.71949335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.40, Y:-16.01, Z:6.72 [[-9.78831112e-01 2.04625367e-01 4.25592768e-03 7.24009706e+01] [ 2.04623214e-01 9.78840363e-01 -9.40066637e-04 -1.60066540e+01] [-4.35823528e-03 -4.93048721e-05 -9.99990502e-01 6.71961174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.41, Y:-15.98, Z:6.72 [[-9.90897100e-01 1.34484072e-01 6.08039232e-03 7.24065143e+01] [ 1.34481100e-01 9.90915753e-01 -8.96772011e-04 -1.59813782e+01] [-6.14575809e-03 -7.09109347e-05 -9.99981112e-01 6.72134610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.41, Y:-15.95, Z:6.72 [[-9.97944296e-01 6.36948699e-02 7.08140828e-03 7.24064510e+01] [ 6.36926793e-02 9.97969417e-01 -5.34660348e-04 -1.59549424e+01] [-7.10108401e-03 -8.25273775e-05 -9.99974784e-01 6.72190936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.47, Y:-15.22, Z:5.75 [[-9.88176223e-01 -1.53073872e-01 8.72592463e-03 7.24652088e+01] [ 1.53069789e-01 -9.88214726e-01 -1.13784695e-03 -1.52234963e+01] [ 8.79726186e-03 2.11282139e-04 9.99961281e-01 5.75477083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.34, Y:-15.96, Z:6.72 [[-9.98101914e-01 6.08593015e-02 9.41886587e-03 7.23408568e+01] [ 6.08557077e-02 9.98146350e-01 -6.67953892e-04 -1.59584064e+01] [-9.44205780e-03 -9.34943092e-05 -9.99955418e-01 6.72244431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.34, Y:-15.93, Z:6.72 [[-9.99917702e-01 -8.62861231e-03 9.49406510e-03 7.23353526e+01] [-8.62897630e-03 9.99962770e-01 2.62498023e-06 -1.59318933e+01] [-9.49373428e-03 -7.92992985e-05 -9.99954930e-01 6.72291196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.34, Y:-15.91, Z:6.72 [[-9.97128180e-01 -7.52377427e-02 8.64141836e-03 7.23372246e+01] [-7.52351989e-02 9.97165624e-01 6.19532779e-04 -1.59100314e+01] [-8.66353758e-03 -3.23852363e-05 -9.99962470e-01 6.72092360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.33, Y:-15.88, Z:6.72 [[-9.89231264e-01 -1.46109447e-01 8.57528361e-03 7.23283191e+01] [-1.46104241e-01 9.89268431e-01 1.23378718e-03 -1.58819411e+01] [-8.66352533e-03 -3.23844486e-05 -9.99962471e-01 6.72092343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.31, Y:-15.86, Z:6.72 [[-9.76688688e-01 -2.14516831e-01 7.85728022e-03 7.23080365e+01] [-2.14509980e-01 9.76720292e-01 1.71448995e-03 -1.58595886e+01] [-8.04215198e-03 -1.09420823e-05 -9.99967661e-01 6.71986858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.27, Y:-15.85, Z:6.72 [[-9.59762531e-01 -2.80729955e-01 6.82474115e-03 7.22696291e+01] [-2.80722700e-01 9.59786795e-01 2.01847174e-03 -1.58453148e+01] [-7.11694192e-03 2.13937828e-05 -9.99974674e-01 6.71913201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.21, Y:-15.84, Z:6.72 [[-9.37128120e-01 -3.48927824e-01 6.34514021e-03 7.22091120e+01] [-3.48919593e-01 9.37149600e-01 2.39678889e-03 -1.58370153e+01] [-6.78265194e-03 3.21545247e-05 -9.99976997e-01 6.71851427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.020385723 meters Centerline goodness [0,1] 0.999955366109487 Centerline is valid? [True, True] Translation: X:72.14, Y:-15.84, Z:6.72 [[-9.09307597e-01 -4.16080108e-01 6.08580184e-03 7.21380893e+01] [-4.16070487e-01 9.09327962e-01 2.82992793e-03 -1.58374807e+01] [-6.71146650e-03 4.11524366e-05 -9.99977477e-01 6.71874164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.06, Y:-15.85, Z:6.72 [[-8.76382012e-01 -4.81589606e-01 5.10113153e-03 7.20604883e+01] [-4.81581157e-01 8.76396856e-01 2.85296479e-03 -1.58465641e+01] [-5.84457382e-03 4.36781941e-05 -9.99982919e-01 6.71852137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.080385723 meters Centerline goodness [0,1] 0.999977663115102 Centerline is valid? [True, True] Translation: X:71.96, Y:-15.87, Z:6.72 [[-8.37978647e-01 -5.45678748e-01 5.14700909e-03 7.19645817e+01] [-5.45668110e-01 8.37994453e-01 3.40760081e-03 -1.58717202e+01] [-6.17262041e-03 4.69379940e-05 -9.99980948e-01 6.71876368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.87, Y:-15.91, Z:6.72 [[-7.94123097e-01 -6.07731942e-01 5.51309476e-03 7.18688718e+01] [-6.07716870e-01 7.94142232e-01 4.28036791e-03 -1.59051348e+01] [-6.97949768e-03 4.87383358e-05 -9.99975642e-01 6.71944505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.78, Y:-15.94, Z:6.72 [[-7.45143823e-01 -6.66881962e-01 5.39744065e-03 7.17782187e+01] [-6.66864039e-01 7.45163370e-01 4.88946279e-03 -1.59432819e+01] [-7.28266960e-03 4.39939239e-05 -9.99973480e-01 6.71915137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.70, Y:-15.98, Z:6.72 [[-6.91638256e-01 -7.22223817e-01 5.41123559e-03 7.16973567e+01] [-7.22201241e-01 6.91659423e-01 5.71062681e-03 -1.59809423e+01] [-7.86708278e-03 4.16869072e-05 -9.99969053e-01 6.71849147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.60, Y:-16.04, Z:6.72 [[-6.33301930e-01 -7.73883323e-01 5.76786479e-03 7.16033274e+01] [-7.73850744e-01 6.33328194e-01 7.10103480e-03 -1.60427254e+01] [-9.14832380e-03 3.36325852e-05 -9.99958153e-01 6.71829119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.51, Y:-16.12, Z:6.72 [[-5.71959336e-01 -8.20263879e-01 5.44846681e-03 7.15103374e+01] [-8.20226151e-01 5.71985286e-01 7.86728328e-03 -1.61171303e+01] [-9.56969114e-03 3.07911654e-05 -9.99954209e-01 6.71899274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.43, Y:-16.19, Z:6.72 [[-5.06865103e-01 -8.62008496e-01 5.39631583e-03 7.14277094e+01] [-8.61959054e-01 5.06893827e-01 9.23239155e-03 -1.61904575e+01] [-1.06937591e-02 2.81738003e-05 -9.99942820e-01 6.72033544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.290385723 meters Centerline goodness [0,1] 0.9999104424144725 Centerline is valid? [True, True] Translation: X:71.35, Y:-16.28, Z:6.72 [[-4.39623556e-01 -8.98170307e-01 4.60750810e-03 7.13460152e+01] [-8.98120211e-01 4.39647699e-01 9.48616959e-03 -1.62806424e+01] [-1.05458762e-02 3.22474618e-05 -9.99944390e-01 6.71970914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.27, Y:-16.38, Z:6.72 [[-3.70848460e-01 -9.28686357e-01 3.61540228e-03 7.12725782e+01] [-9.28640992e-01 3.70866080e-01 9.17928467e-03 -1.63764164e+01] [-9.86550650e-03 4.67128261e-05 -9.99951334e-01 6.71864950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3503857229999 meters Centerline goodness [0,1] 0.9999776206248322 Centerline is valid? [True, True] Translation: X:71.20, Y:-16.49, Z:6.72 [[-2.99250182e-01 -9.54170773e-01 2.73205539e-03 7.12037328e+01] [-9.54129364e-01 2.99262649e-01 8.88955796e-03 -1.64875508e+01] [-9.29975852e-03 5.34675722e-05 -9.99956755e-01 6.71833079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.380385723 meters Centerline goodness [0,1] 0.9999552252171577 Centerline is valid? [True, True] Translation: X:71.15, Y:-16.59, Z:6.72 [[-2.25853279e-01 -9.74159422e-01 1.92777503e-03 7.11476253e+01] [-9.74121628e-01 2.25861498e-01 8.58119465e-03 -1.65868327e+01] [-8.79486178e-03 6.02036025e-05 -9.99961323e-01 6.71703202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.10, Y:-16.70, Z:6.72 [[-1.51838663e-01 -9.88404510e-01 1.24331813e-03 7.10973073e+01] [-9.88367224e-01 1.51843735e-01 8.58551930e-03 -1.67008170e+01] [-8.67475606e-03 7.47588803e-05 -9.99962371e-01 6.71579606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.05, Y:-16.82, Z:6.72 [[-7.52034269e-02 -9.97168071e-01 5.31811163e-04 7.10532514e+01] [-9.97136158e-01 7.52052749e-02 7.97808667e-03 -1.68234979e+01] [-7.99548830e-03 6.96913181e-05 -9.99968033e-01 6.71541383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.02, Y:-16.95, Z:6.72 [[ 2.61711057e-03 -9.99996572e-01 -8.38615649e-05 7.10187890e+01] [-9.99965832e-01 -2.61768768e-03 7.84105333e-03 -1.69536703e+01] [-7.84124597e-03 6.33377960e-05 -9.99969255e-01 6.71517401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.99, Y:-17.07, Z:6.72 [[ 8.07595123e-02 -9.96733383e-01 -6.81178276e-04 7.09939317e+01] [-9.96703511e-01 -8.07623658e-02 7.71692123e-03 -1.70694655e+01] [-7.74672658e-03 5.57179837e-05 -9.99969992e-01 6.71520563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.98, Y:-17.20, Z:6.71 [[ 1.59213725e-01 -9.87243115e-01 -1.42222842e-03 7.09768638e+01] [-9.87206278e-01 -1.59220071e-01 8.52839404e-03 -1.71965887e+01] [-8.64604560e-03 4.61954401e-05 -9.99962621e-01 6.71475503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.560385723 meters Centerline goodness [0,1] 0.9998887331152503 Centerline is valid? [True, True] Translation: X:70.97, Y:-17.33, Z:6.72 [[ 2.35244524e-01 -9.71933638e-01 -2.23977375e-03 7.09731539e+01] [-9.71891440e-01 -2.35255182e-01 9.05697954e-03 -1.73275181e+01] [-9.32970146e-03 4.62120925e-05 -9.99956476e-01 6.71560642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.97, Y:-17.45, Z:6.72 [[ 3.10237148e-01 -9.50653754e-01 -3.21733700e-03 7.09747909e+01] [-9.50604058e-01 -3.10253828e-01 9.72044933e-03 -1.74475610e+01] [-1.02389728e-02 4.27691209e-05 -9.99947580e-01 6.71550646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.99, Y:-17.58, Z:6.72 [[ 3.82931689e-01 -9.23767454e-01 -4.12470645e-03 7.09920008e+01] [-9.23714976e-01 -3.82953900e-01 9.84652229e-03 -1.75804016e+01] [-1.06754692e-02 3.95077059e-05 -9.99943015e-01 6.71606117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.02, Y:-17.71, Z:6.72 [[ 4.53257515e-01 -8.91364128e-01 -5.25513229e-03 7.10211918e+01] [-8.91305179e-01 -4.53287977e-01 1.02512900e-02 -1.77149909e+01] [-1.15197205e-02 3.74523914e-05 -9.99933645e-01 6.71627556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.05, Y:-17.82, Z:6.72 [[ 5.21235705e-01 -8.53388166e-01 -6.47901784e-03 7.10472925e+01] [-8.53322912e-01 -5.21275970e-01 1.05532788e-02 -1.78246398e+01] [-1.23833995e-02 2.79486758e-05 -9.99923322e-01 6.71671777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.710385723 meters Centerline goodness [0,1] 0.9999558401413116 Centerline is valid? [True, True] Translation: X:71.08, Y:-17.93, Z:6.72 [[ 5.84913668e-01 -8.11061035e-01 -7.48318658e-03 7.10834575e+01] [-8.10995374e-01 -5.84961534e-01 1.03202146e-02 -1.79317818e+01] [-1.27477002e-02 3.23951386e-05 -9.99918744e-01 6.71713303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.740385723 meters Centerline goodness [0,1] 0.9999779968315438 Centerline is valid? [True, True] Translation: X:71.12, Y:-18.03, Z:6.72 [[ 6.43983058e-01 -7.64989487e-01 -8.76964612e-03 7.11234926e+01] [-7.64919774e-01 -6.44042764e-01 1.03274954e-02 -1.80310517e+01] [-1.35484525e-02 5.73436533e-05 -9.99908214e-01 6.71719047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.17, Y:-18.13, Z:6.72 [[ 6.99341213e-01 -7.14723774e-01 -9.58093952e-03 7.11742306e+01] [-7.14658256e-01 -6.99406835e-01 9.67764465e-03 -1.81295638e+01] [-1.36178173e-02 7.91217747e-05 -9.99907270e-01 6.71714631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.23, Y:-18.22, Z:6.72 [[ 7.50771801e-01 -6.60481497e-01 -1.02905133e-02 7.12323008e+01] [-6.60421261e-01 -7.50842315e-01 8.92053717e-03 -1.82225908e+01] [-1.36184026e-02 9.87860239e-05 -9.99907260e-01 6.71747446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.23, Y:-18.23, Z:6.72 [[ 7.98556952e-01 -6.01813124e-01 -1.13030706e-02 7.12270169e+01] [-6.01755272e-01 -7.98636930e-01 8.34551514e-03 -1.82324826e+01] [-1.40494902e-02 1.37313210e-04 -9.99901292e-01 6.71589366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.22, Y:-18.24, Z:6.72 [[ 8.42818054e-01 -5.38075575e-01 -1.15066944e-02 7.12207770e+01] [-5.38027715e-01 -8.42896587e-01 7.17784099e-03 -1.82419824e+01] [-1.35611744e-02 1.41306545e-04 -9.99908033e-01 6.71555480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.22, Y:-18.25, Z:6.71 [[ 8.82160994e-01 -4.70810740e-01 -1.13677972e-02 7.12153321e+01] [-4.70773661e-01 -8.82234225e-01 5.91034445e-03 -1.82529863e+01] [-1.28117134e-02 1.37784166e-04 -9.99917917e-01 6.71424938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.21, Y:-18.26, Z:6.71 [[ 9.16297860e-01 -4.00343693e-01 -1.10977163e-02 7.12108413e+01] [-4.00316035e-01 -9.16365053e-01 4.70764545e-03 -1.82644613e+01] [-1.20542356e-02 1.28988333e-04 -9.99927337e-01 6.71382905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.21, Y:-18.28, Z:6.71 [[ 9.44913315e-01 -3.27115137e-01 -1.15980428e-02 7.12073177e+01] [-3.27092137e-01 -9.44984482e-01 3.88106492e-03 -1.82766667e+01] [-1.22295256e-02 1.26358690e-04 -9.99925209e-01 6.71410262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.20, Y:-18.29, Z:6.71 [[ 9.67860557e-01 -2.51193157e-01 -1.21630446e-02 7.12046089e+01] [-2.51174832e-01 -9.67936973e-01 3.03636650e-03 -1.82879432e+01] [-1.25357751e-02 1.16271326e-04 -9.99921417e-01 6.71472312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.20, Y:-18.30, Z:6.71 [[ 9.84605353e-01 -1.74332766e-01 -1.26643712e-02 7.12006627e+01] [-1.74319849e-01 -9.84686790e-01 2.12527032e-03 -1.82989947e+01] [-1.28409432e-02 1.15098743e-04 -9.99917545e-01 6.71455325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.20, Y:-18.31, Z:6.71 [[ 9.95269254e-01 -9.62698336e-02 -1.30855306e-02 7.11969298e+01] [-9.62629934e-02 -9.95355267e-01 1.15304584e-03 -1.83100849e+01] [-1.31357554e-02 1.12061277e-04 -9.99913716e-01 6.71466244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.19, Y:-18.32, Z:6.71 [[ 9.99736610e-01 -1.82926977e-02 -1.38595484e-02 7.11943884e+01] [-1.82926265e-02 -9.99832667e-01 1.31921444e-04 -1.83224275e+01] [-1.38596424e-02 1.21640845e-04 -9.99903943e-01 6.71426425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.19, Y:-18.33, Z:6.71 [[ 9.98146795e-01 5.91755816e-02 -1.41854153e-02 7.11920416e+01] [ 5.91676587e-02 -9.98247581e-01 -9.77923952e-04 -1.83334550e+01] [-1.42184257e-02 1.36793848e-04 -9.99898904e-01 6.71453312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.19, Y:-18.34, Z:6.71 [[ 9.90700459e-01 1.35284270e-01 -1.45178262e-02 7.11895688e+01] [ 1.35267249e-01 -9.90806812e-01 -2.15257749e-03 -1.83440669e+01] [-1.46755710e-02 1.68773098e-04 -9.99892294e-01 6.71454332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.160385723 meters Centerline goodness [0,1] 0.9999563023006839 Centerline is valid? [True, True] Translation: X:71.19, Y:-18.35, Z:6.71 [[ 9.77267151e-01 2.11568758e-01 -1.36958359e-02 7.11882341e+01] [ 2.11545488e-01 -9.77363101e-01 -3.14262928e-03 -1.83540532e+01] [-1.40506868e-02 1.73896079e-04 -9.99901269e-01 6.71467795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.19, Y:-18.37, Z:6.71 [[ 9.58061445e-01 2.86263581e-01 -1.30931373e-02 7.11894894e+01] [ 2.86234179e-01 -9.58150890e-01 -4.10697675e-03 -1.83666588e+01] [-1.37208790e-02 1.87032674e-04 -9.99905847e-01 6.71381621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.19, Y:-18.38, Z:6.71 [[ 9.32925238e-01 3.59855147e-01 -1.24407989e-02 7.11926400e+01] [ 3.59820427e-01 -9.33008165e-01 -5.00237131e-03 -1.83804950e+01] [-1.34074960e-02 1.90384867e-04 -9.99910097e-01 6.71336251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.250385723 meters Centerline goodness [0,1] 0.9999562305773186 Centerline is valid? [True, True] Translation: X:71.20, Y:-18.39, Z:6.71 [[ 9.02116550e-01 4.31319941e-01 -1.21999771e-02 7.11962436e+01] [ 4.31277495e-01 -9.02199018e-01 -6.05423028e-03 -1.83935404e+01] [-1.36181176e-02 2.00045757e-04 -9.99907249e-01 6.71391741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.20, Y:-18.41, Z:6.71 [[ 8.66077896e-01 4.99774992e-01 -1.15773791e-02 7.12000015e+01] [ 4.99727068e-01 -8.66155248e-01 -6.92422832e-03 -1.84064468e+01] [-1.34883638e-02 2.11391396e-04 -9.99909006e-01 6.71397407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.20, Y:-18.42, Z:6.71 [[ 8.24641022e-01 5.65552208e-01 -1.08574921e-02 7.12048991e+01] [ 5.65499722e-01 -8.24712467e-01 -7.70790303e-03 -1.84167360e+01] [-1.33135307e-02 2.16344264e-04 -9.99911348e-01 6.71341527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.21, Y:-18.43, Z:6.71 [[ 7.78075925e-01 6.28107633e-01 -8.86883134e-03 7.12119473e+01] [ 6.28064007e-01 -7.78126445e-01 -7.40534756e-03 -1.84284238e+01] [-1.15524275e-02 1.91728908e-04 -9.99933250e-01 6.71216367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.22, Y:-18.44, Z:6.71 [[ 7.25953380e-01 6.87696315e-01 -8.09121883e-03 7.12176652e+01] [ 6.87650851e-01 -7.25998448e-01 -7.90952425e-03 -1.84394218e+01] [-1.13135630e-02 1.78012346e-04 -9.99935984e-01 6.71234338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.23, Y:-18.45, Z:6.71 [[ 6.68404341e-01 7.43766775e-01 -6.82798857e-03 7.12284679e+01] [ 7.43725774e-01 -6.68439200e-01 -7.81081632e-03 -1.84518673e+01] [-1.03735209e-02 1.42632452e-04 -9.99946183e-01 6.71186358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.24, Y:-18.46, Z:6.71 [[ 6.07061374e-01 7.94631642e-01 -6.08615926e-03 7.12369251e+01] [ 7.94589597e-01 -6.07091869e-01 -8.17530494e-03 -1.84613945e+01] [-1.01912138e-02 1.26913023e-04 -9.99948060e-01 6.71205375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.25, Y:-18.47, Z:6.71 [[ 5.41858342e-01 8.40454218e-01 -5.12303113e-03 7.12471176e+01] [ 8.40414777e-01 -5.41882548e-01 -8.14283634e-03 -1.84697561e+01] [-9.61976231e-03 1.06792729e-04 -9.99953723e-01 6.71215464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.490385723 meters Centerline goodness [0,1] 0.9999349254896857 Centerline is valid? [True, True] Translation: X:71.26, Y:-18.48, Z:6.71 [[ 4.72219033e-01 8.81471223e-01 -4.20331308e-03 7.12595658e+01] [ 8.81434820e-01 -4.72237733e-01 -8.01133471e-03 -1.84798376e+01] [-9.04672405e-03 7.81582232e-05 -9.99959075e-01 6.71340241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.27, Y:-18.49, Z:6.71 [[ 4.00862161e-01 9.16131181e-01 -3.63146600e-03 7.12684747e+01] [ 9.16091978e-01 -4.00878603e-01 -8.47545923e-03 -1.84863279e+01] [-9.22040949e-03 7.07340274e-05 -9.99957489e-01 6.71455121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.28, Y:-18.49, Z:6.71 [[ 3.27125936e-01 9.44974916e-01 -3.32127250e-03 7.12836424e+01] [ 9.44923986e-01 -3.27142788e-01 -9.81105088e-03 -1.84928153e+01] [-1.03577273e-02 7.10991555e-05 -9.99946355e-01 6.71439391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.30, Y:-18.50, Z:6.71 [[ 2.52530366e-01 9.67585478e-01 -2.59955518e-03 7.12966632e+01] [ 9.67531029e-01 -2.52543733e-01 -1.02649925e-02 -1.84967690e+01] [-1.05887590e-02 7.70720083e-05 -9.99943935e-01 6.71490977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.31, Y:-18.50, Z:6.72 [[ 1.77854923e-01 9.84055243e-01 -1.70471731e-03 7.13106626e+01] [ 9.84004925e-01 -1.77863069e-01 -9.95173636e-03 -1.85013151e+01] [-1.00962646e-02 9.25150744e-05 -9.99949027e-01 6.71529547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.640385723 meters Centerline goodness [0,1] 0.9999354588873112 Centerline is valid? [True, True] Translation: X:71.32, Y:-18.50, Z:6.72 [[ 1.01078500e-01 9.94878068e-01 -8.75750125e-04 7.13233902e+01] [ 9.94832018e-01 -1.01082248e-01 -9.57261334e-03 -1.85035320e+01] [-9.61210585e-03 9.63611333e-05 -9.99953798e-01 6.71508753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.34, Y:-18.50, Z:6.71 [[ 2.36631344e-02 9.99719982e-01 -1.20388696e-04 7.13365367e+01] [ 9.99675794e-01 -2.36632204e-02 -9.39995682e-03 -1.85038941e+01] [-9.40017344e-03 1.02082776e-04 -9.99955812e-01 6.71490865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.35, Y:-18.50, Z:6.71 [[-5.35245752e-02 9.98566336e-01 6.25876561e-04 7.13521931e+01] [ 9.98520865e-01 5.35281111e-02 -9.53015843e-03 -1.85033583e+01] [-9.54999737e-03 1.14853124e-04 -9.99954391e-01 6.71478023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.37, Y:-18.50, Z:6.72 [[-1.31510878e-01 9.91313740e-01 1.39899310e-03 7.13656787e+01] [ 9.91266795e-01 1.31518266e-01 -9.64819606e-03 -1.85029033e+01] [-9.74838247e-03 1.17932674e-04 -9.99952477e-01 6.71518742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.38, Y:-18.50, Z:6.72 [[-2.08195089e-01 9.78085267e-01 2.00373114e-03 7.13802726e+01] [ 9.78045123e-01 2.08204699e-01 -8.86227588e-03 -1.84997092e+01] [-9.08524771e-03 1.14657156e-04 -9.99958722e-01 6.71567773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.39, Y:-18.50, Z:6.72 [[-2.84120613e-01 9.58784769e-01 2.69134607e-03 7.13913886e+01] [ 9.58745501e-01 2.84133337e-01 -8.67820868e-03 -1.84968385e+01] [-9.08523544e-03 1.14657963e-04 -9.99958722e-01 6.71567762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.40, Y:-18.49, Z:6.72 [[-3.58181980e-01 9.33645889e-01 3.32014734e-03 7.14035460e+01] [ 9.33608701e-01 3.58197349e-01 -8.33386787e-03 -1.84920579e+01] [-8.97014945e-03 1.14677154e-04 -9.99959761e-01 6.71577917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.42, Y:-18.49, Z:6.72 [[-4.30570453e-01 9.02550450e-01 3.43087667e-03 7.14160350e+01] [ 9.02523557e-01 4.30584111e-01 -6.96790135e-03 -1.84872249e+01] [-7.76616348e-03 9.62745713e-05 -9.99969838e-01 6.71584271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.43, Y:-18.48, Z:6.72 [[-5.00026956e-01 8.66000233e-01 4.07912772e-03 7.14257239e+01] [ 8.65973006e-01 5.00043585e-01 -6.86783748e-03 -1.84811332e+01] [-7.98729051e-03 9.83106245e-05 -9.99968096e-01 6.71597904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.44, Y:-18.47, Z:6.72 [[-5.66776490e-01 8.23857729e-01 4.78046955e-03 7.14375667e+01] [ 8.23829864e-01 5.66796642e-01 -6.77656559e-03 -1.84722459e+01] [-8.29248002e-03 9.74955187e-05 -9.99965612e-01 6.71553223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.45, Y:-18.46, Z:6.72 [[-6.30888887e-01 7.75856000e-01 5.16526272e-03 7.14488929e+01] [ 7.75831046e-01 6.30910026e-01 -6.22312923e-03 -1.84633754e+01] [-8.08706818e-03 8.12681053e-05 -9.99967296e-01 6.71675722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.46, Y:-18.45, Z:6.72 [[-6.90407253e-01 7.23398526e-01 5.69189365e-03 7.14591003e+01] [ 7.23374824e-01 6.90430711e-01 -5.85636928e-03 -1.84526317e+01] [-8.16634709e-03 7.40927424e-05 -9.99966652e-01 6.71630369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.47, Y:-18.44, Z:6.72 [[-7.46595807e-01 6.65237726e-01 7.31230536e-03 7.14689950e+01] [ 6.65206655e-01 7.46631612e-01 -6.42971958e-03 -1.84406100e+01] [-9.73689037e-03 6.37925118e-05 -9.99952593e-01 6.71794675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.49, Y:-18.42, Z:6.72 [[-7.92690999e-01 6.09575869e-01 7.63155065e-03 7.14870794e+01] [ 6.09548213e-01 7.92727732e-01 -5.80678221e-03 -1.84157789e+01] [-9.58941615e-03 4.88140697e-05 -9.99954019e-01 6.71849147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.50, Y:-18.39, Z:6.72 [[-8.34537287e-01 5.50894671e-01 7.91064306e-03 7.14998811e+01] [ 5.50870338e-01 8.34574778e-01 -5.17789492e-03 -1.83881288e+01] [-9.45449789e-03 3.65922357e-05 -9.99955305e-01 6.71797887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.51, Y:-18.36, Z:6.72 [[-8.72581094e-01 4.88423835e-01 6.66275709e-03 7.15081752e+01] [ 4.88409705e-01 8.72606531e-01 -3.71516848e-03 -1.83576740e+01] [-7.62854219e-03 1.23694481e-05 -9.99970902e-01 6.71571927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.120385723 meters Centerline goodness [0,1] 0.9999361158432709 Centerline is valid? [True, True] Translation: X:71.52, Y:-18.33, Z:6.71 [[-9.05301547e-01 4.24723395e-01 6.25671695e-03 7.15212672e+01] [ 4.24713298e-01 9.05323168e-01 -2.92862187e-03 -1.83304483e+01] [-6.90820503e-03 6.02497677e-06 -9.99976138e-01 6.71498769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.53, Y:-18.30, Z:6.72 [[-9.33749866e-01 3.57883039e-01 5.56044259e-03 7.15297172e+01] [ 3.57876661e-01 9.33766422e-01 -2.13658232e-03 -1.82995715e+01] [-5.95680116e-03 -5.08082624e-06 -9.99982258e-01 6.71564490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.180385723 meters Centerline goodness [0,1] 0.9999787446595957 Centerline is valid? [True, True] Translation: X:71.53, Y:-18.27, Z:6.72 [[-9.57022977e-01 2.89959761e-01 5.50979783e-03 7.15334873e+01] [ 2.89954896e-01 9.57038838e-01 -1.67961493e-03 -1.82692928e+01] [-5.76011126e-03 -9.83722141e-06 -9.99983410e-01 6.71588590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.210385723 meters Centerline goodness [0,1] 0.9999361253646177 Centerline is valid? [True, True] Translation: X:71.53, Y:-18.24, Z:6.72 [[-9.75449706e-01 2.20141735e-01 5.95716655e-03 7.15318184e+01] [ 2.20137518e-01 9.75467896e-01 -1.36286823e-03 -1.82381221e+01] [-6.11104890e-03 -1.80135586e-05 -9.99981327e-01 6.71603063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.240385723 meters Centerline goodness [0,1] 0.9999787052810903 Centerline is valid? [True, True] Translation: X:71.53, Y:-18.21, Z:6.72 [[-9.89064861e-01 1.47405546e-01 4.72287827e-03 7.15313504e+01] [ 1.47403728e-01 9.89076137e-01 -7.32641842e-04 -1.82068633e+01] [-4.77928166e-03 -2.84604355e-05 -9.99988579e-01 6.71542908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.270385723 meters Centerline goodness [0,1] 0.9997880817156904 Centerline is valid? [True, True] Translation: X:71.62, Y:-17.63, Z:5.76 [[-9.73882343e-01 -2.27003051e-01 4.77473392e-03 7.16197904e+01] [ 2.27000507e-01 -9.73894047e-01 -1.07519179e-03 -1.76305094e+01] [ 4.89415675e-03 3.67567226e-05 9.99988023e-01 5.76223989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.48, Y:-18.20, Z:6.72 [[-9.90481493e-01 1.37581812e-01 4.20212511e-03 7.14752669e+01] [ 1.37580355e-01 9.90490405e-01 -6.35234374e-04 -1.81958210e+01] [-4.24956130e-03 -5.10580281e-05 -9.99990969e-01 6.71544789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.47, Y:-18.17, Z:6.72 [[-9.97903233e-01 6.45637421e-02 4.54536494e-03 7.14724138e+01] [ 6.45627728e-02 9.97913583e-01 -3.59807147e-04 -1.81659492e+01] [-4.55911191e-03 -6.55913516e-05 -9.99989605e-01 6.71559594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.46, Y:-18.14, Z:6.72 [[-9.99950863e-01 -8.73665683e-03 4.68438306e-03 7.14586781e+01] [-8.73692590e-03 9.99961832e-01 -3.69790003e-05 -1.81351523e+01] [-4.68388119e-03 -7.79042909e-05 -9.99989028e-01 6.71620088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.390385723 meters Centerline goodness [0,1] 0.9999147775694562 Centerline is valid? [True, True] Translation: X:71.45, Y:-18.11, Z:6.72 [[-9.96514959e-01 -8.32593897e-02 5.08034369e-03 7.14519092e+01] [-8.32588295e-02 9.96527904e-01 3.22044999e-04 -1.81052969e+01] [-5.08951752e-03 -1.02060809e-04 -9.99987043e-01 6.71688051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.420385723 meters Centerline goodness [0,1] 0.9999360913467683 Centerline is valid? [True, True] Translation: X:71.44, Y:-18.08, Z:6.72 [[-9.87932686e-01 -1.54800153e-01 5.09119066e-03 7.14374483e+01] [-1.54798655e-01 9.87945799e-01 6.89423665e-04 -1.80786693e+01] [-5.13654331e-03 -1.07005294e-04 -9.99986802e-01 6.71638282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.42, Y:-18.05, Z:6.72 [[-9.74252547e-01 -2.25408637e-01 4.78753188e-03 7.14189567e+01] [-2.25406442e-01 9.74264305e-01 1.00018733e-03 -1.80539418e+01] [-4.88977228e-03 -1.04705469e-04 -9.99988040e-01 6.71586254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.39, Y:-18.03, Z:6.72 [[-9.55688587e-01 -2.94347356e-01 4.35424210e-03 7.13920041e+01] [-2.94344754e-01 9.55698501e-01 1.24127512e-03 -1.80334673e+01] [-4.52670869e-03 -9.53758528e-05 -9.99989750e-01 6.71560260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.510385723 meters Centerline goodness [0,1] 0.9998504784688995 Centerline is valid? [True, True] Translation: X:71.36, Y:-18.02, Z:6.72 [[-9.32452559e-01 -3.61265342e-01 4.42463956e-03 7.13552778e+01] [-3.61261747e-01 9.32463052e-01 1.61434837e-03 -1.80167002e+01] [-4.70902102e-03 -9.31497507e-05 -9.99988908e-01 6.71712360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.540385723 meters Centerline goodness [0,1] 0.9998286937901499 Centerline is valid? [True, True] Translation: X:71.30, Y:-18.01, Z:6.72 [[-9.03877368e-01 -4.27768918e-01 4.41099505e-03 7.12977791e+01] [-4.27764319e-01 9.03888126e-01 1.98565674e-03 -1.80123699e+01] [-4.83644829e-03 -9.20761078e-05 -9.99988300e-01 6.71816536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.570385723 meters Centerline goodness [0,1] 0.9998499817835023 Centerline is valid? [True, True] Translation: X:71.23, Y:-18.01, Z:6.72 [[-8.70018583e-01 -4.92999101e-01 4.42171253e-03 7.12312616e+01] [-4.92993286e-01 8.70029814e-01 2.39642739e-03 -1.80136249e+01] [-5.02845828e-03 -9.49382216e-05 -9.99987353e-01 6.71733229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6003857229999 meters Centerline goodness [0,1] 0.9999785398514958 Centerline is valid? [True, True] Translation: X:71.16, Y:-18.03, Z:6.72 [[-8.32017765e-01 -5.54726533e-01 4.99116086e-03 7.11596088e+01] [-5.54717283e-01 8.32032730e-01 3.20517432e-03 -1.80289043e+01] [-5.93080443e-03 -1.01921215e-04 -9.99982408e-01 6.71835685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.630385723 meters Centerline goodness [0,1] 0.9997219608178629 Centerline is valid? [True, True] Translation: X:71.08, Y:-18.05, Z:6.72 [[-7.89505973e-01 -6.13717701e-01 5.55901191e-03 7.10787556e+01] [-6.13703436e-01 7.89525536e-01 4.18578627e-03 -1.80530382e+01] [-6.95787298e-03 -1.06881449e-04 -9.99975788e-01 6.72147875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.660385723 meters Centerline goodness [0,1] 0.9999138339580371 Centerline is valid? [True, True] Translation: X:71.00, Y:-18.09, Z:6.72 [[-7.42089827e-01 -6.70283423e-01 4.77708432e-03 7.09972599e+01] [-6.70270316e-01 7.42105198e-01 4.19276109e-03 -1.80879672e+01] [-6.35543736e-03 -9.05324594e-05 -9.99979800e-01 6.72060774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.690385723 meters Centerline goodness [0,1] 0.9999784366576819 Centerline is valid? [True, True] Translation: X:70.91, Y:-18.13, Z:6.72 [[-6.89347604e-01 -7.24417187e-01 4.42954375e-03 7.09113050e+01] [-7.24403088e-01 6.89361829e-01 4.52057387e-03 -1.81315488e+01] [-6.32833978e-03 -9.25284086e-05 -9.99979972e-01 6.71870650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7203857229999 meters Centerline goodness [0,1] 0.9999135060329541 Centerline is valid? [True, True] Translation: X:70.83, Y:-18.19, Z:6.72 [[-6.33141900e-01 -7.74026168e-01 3.85055837e-03 7.08299088e+01] [-7.74012655e-01 6.33153603e-01 4.57442820e-03 -1.81880707e+01] [-5.97872203e-03 -8.41187481e-05 -9.99982124e-01 6.71921055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.750385723 meters Centerline goodness [0,1] 0.9997836153546544 Centerline is valid? [True, True] Translation: X:70.74, Y:-18.25, Z:6.72 [[-5.72121528e-01 -8.20162289e-01 3.28276967e-03 7.07441618e+01] [-8.20149617e-01 5.72130940e-01 4.55990780e-03 -1.82536988e+01] [-5.61803851e-03 -8.35408727e-05 -9.99984215e-01 6.71735623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.780385723 meters Centerline goodness [0,1] 0.9996532443327121 Centerline is valid? [True, True] Translation: X:70.66, Y:-18.33, Z:6.72 [[-5.08111116e-01 -8.61285694e-01 3.16981246e-03 7.06641973e+01] [-8.61270040e-01 5.08120995e-01 5.19343095e-03 -1.83261228e+01] [-6.08367604e-03 -9.12245090e-05 -9.99981490e-01 6.71866735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.810385723 meters Centerline goodness [0,1] 0.9997837884586279 Centerline is valid? [True, True] Translation: X:70.59, Y:-18.41, Z:6.72 [[-4.39518472e-01 -8.98229834e-01 2.58413036e-03 7.05875974e+01] [-8.98215563e-01 4.39526059e-01 5.06416554e-03 -1.84085084e+01] [-5.68457721e-03 -9.53118059e-05 -9.99983838e-01 6.71742190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8403857229999 meters Centerline goodness [0,1] 0.9997824810214692 Centerline is valid? [True, True] Translation: X:70.51, Y:-18.51, Z:6.72 [[-3.68937788e-01 -9.29451355e-01 2.25541674e-03 7.05131805e+01] [-9.29435660e-01 3.68944668e-01 5.40246792e-03 -1.85052685e+01] [-5.85345511e-03 -1.03090181e-04 -9.99982863e-01 6.71696703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.870385723 meters Centerline goodness [0,1] 0.9999782622872422 Centerline is valid? [True, True] Translation: X:70.45, Y:-18.60, Z:6.72 [[-2.95290046e-01 -9.55406084e-01 1.73296345e-03 7.04507758e+01] [-9.55391679e-01 2.95295112e-01 5.24762938e-03 -1.85967695e+01] [-5.52535267e-03 -1.06086137e-04 -9.99984730e-01 6.71703350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.900385723 meters Centerline goodness [0,1] 0.9998475211292149 Centerline is valid? [True, True] Translation: X:70.39, Y:-18.70, Z:6.72 [[-2.20997949e-01 -9.75273459e-01 1.25969683e-03 7.03944974e+01] [-9.75260152e-01 2.21001515e-01 5.09577291e-03 -1.86997233e+01] [-5.24816698e-03 -1.02376755e-04 -9.99986223e-01 6.71678613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.930385723 meters Centerline goodness [0,1] 0.9998477996173247 Centerline is valid? [True, True] Translation: X:70.34, Y:-18.81, Z:6.72 [[-1.45830087e-01 -9.89309280e-01 8.57198898e-04 7.03440951e+01] [-9.89295994e-01 1.45832572e-01 5.12800884e-03 -1.88099229e+01] [-5.19819426e-03 -1.00205461e-04 -9.99986484e-01 6.71717251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.31, Y:-18.93, Z:6.72 [[-7.11621712e-02 -9.97464628e-01 5.12082415e-04 7.03057270e+01] [-9.97448052e-01 7.11639413e-02 5.75129696e-03 -1.89251293e+01] [-5.77315709e-03 -1.01500828e-04 -9.99983330e-01 6.71675693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.990385723 meters Centerline goodness [0,1] 0.9999782277378619 Centerline is valid? [True, True] Translation: X:70.27, Y:-19.04, Z:6.72 [[ 4.55376265e-03 -9.99989630e-01 6.45310846e-05 7.02734554e+01] [-9.99975046e-01 -4.55334768e-03 5.40125458e-03 -1.90428360e+01] [-5.40090474e-03 -8.91255057e-05 -9.99985411e-01 6.71660635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.020385723 meters Centerline goodness [0,1] 0.9999780946748155 Centerline is valid? [True, True] Translation: X:69.59, Y:-19.15, Z:5.76 [[-9.35952268e-02 9.95610246e-01 4.15346144e-04 6.95874631e+01] [-9.95596326e-01 -9.35961148e-02 5.26531803e-03 -1.91478539e+01] [ 5.28107936e-03 7.92915400e-05 9.99986052e-01 5.76180699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.050385723 meters Centerline goodness [0,1] 0.999912899573208 Centerline is valid? [True, True] Translation: X:70.28, Y:-19.33, Z:6.71 [[ 1.06418578e-02 -9.99943374e-01 1.11529666e-05 7.02761134e+01] [-9.99931199e-01 -1.06416732e-02 4.93475076e-03 -1.93313828e+01] [-4.93435264e-03 -6.36671152e-05 -9.99987824e-01 6.71486077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.080385723 meters Centerline goodness [0,1] 0.9999780999518199 Centerline is valid? [True, True] Translation: X:70.25, Y:-19.45, Z:6.71 [[ 8.64836766e-02 -9.96253206e-01 -3.50226083e-04 7.02544195e+01] [-9.96242172e-01 -8.64843672e-02 4.68917606e-03 -1.94541746e+01] [-4.70189576e-03 -5.66271920e-05 -9.99988945e-01 6.71435031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.25, Y:-19.59, Z:6.71 [[ 1.60939830e-01 -9.86963928e-01 -7.58456475e-04 7.02462498e+01] [-9.86951439e-01 -1.60941609e-01 4.96538925e-03 -1.95899985e+01] [-5.02272728e-03 -5.05691928e-05 -9.99987385e-01 6.71467110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.24, Y:-19.69, Z:6.72 [[ 2.35422990e-01 -9.71892141e-01 -1.29738589e-03 7.02396124e+01] [-9.71876166e-01 -2.35426559e-01 5.57251439e-03 -1.96943080e+01] [-5.72132203e-03 -5.09995728e-05 -9.99983632e-01 6.71521465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.170385723 meters Centerline goodness [0,1] 0.9999114750470289 Centerline is valid? [True, True] Translation: X:70.25, Y:-19.82, Z:6.72 [[ 3.07183930e-01 -9.51647730e-01 -2.15214871e-03 7.02489560e+01] [-9.51623310e-01 -3.07191466e-01 6.81759961e-03 -1.98197001e+01] [-7.14907490e-03 -4.62221621e-05 -9.99974444e-01 6.71672693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.200385723 meters Centerline goodness [0,1] 0.9999555960125219 Centerline is valid? [True, True] Translation: X:70.27, Y:-19.95, Z:6.72 [[ 3.78392506e-01 -9.25641230e-01 -2.72496593e-03 7.02665140e+01] [-9.25616488e-01 -3.78402316e-01 6.76783756e-03 -1.99457410e+01] [-7.29572290e-03 -3.86256175e-05 -9.99973385e-01 6.71656257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.230385723 meters Centerline goodness [0,1] 0.9999334028903145 Centerline is valid? [True, True] Translation: X:70.29, Y:-20.06, Z:6.72 [[ 4.46600286e-01 -8.94727614e-01 -3.26815818e-03 7.02907404e+01] [-8.94703270e-01 -4.46612243e-01 6.60026818e-03 -2.00554627e+01] [-7.36504166e-03 -2.36498501e-05 -9.99972878e-01 6.71593027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.32, Y:-20.17, Z:6.72 [[ 5.13205007e-01 -8.58256924e-01 -3.95886301e-03 7.03228044e+01] [-8.58231128e-01 -5.13220276e-01 6.65428385e-03 -2.01698304e+01] [-7.74285396e-03 -1.73923189e-05 -9.99970024e-01 6.71561505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.290385723 meters Centerline goodness [0,1] 0.9999777550384837 Centerline is valid? [True, True] Translation: X:70.37, Y:-20.29, Z:6.72 [[ 5.77136454e-01 -8.16632150e-01 -5.04430511e-03 7.03697777e+01] [-8.16600725e-01 -5.77158497e-01 7.16414541e-03 -2.02888280e+01] [-8.76183503e-03 -1.55062650e-05 -9.99961614e-01 6.71678279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.320385723 meters Centerline goodness [0,1] 0.9999777911031159 Centerline is valid? [True, True] Translation: X:70.42, Y:-20.39, Z:6.72 [[ 6.38530560e-01 -7.69573559e-01 -5.93814331e-03 7.04152631e+01] [-7.69539950e-01 -6.38558170e-01 7.19222487e-03 -2.03940766e+01] [-9.32679601e-03 -2.28168651e-05 -9.99956504e-01 6.71695797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.46, Y:-20.49, Z:6.72 [[ 6.97005140e-01 -7.17034488e-01 -6.73626257e-03 7.04644604e+01] [-7.17000390e-01 -6.97037690e-01 6.99289407e-03 -2.04907548e+01] [-9.70957512e-03 -4.41802265e-05 -9.99952860e-01 6.71676949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.52, Y:-20.59, Z:6.72 [[ 7.50448119e-01 -6.60882949e-01 -7.83252163e-03 7.05248338e+01] [-6.60846110e-01 -7.50488990e-01 6.97816571e-03 -2.05886896e+01] [-1.04899720e-02 -6.06598728e-05 -9.99944977e-01 6.71735671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.410385723 meters Centerline goodness [0,1] 0.9999776466380543 Centerline is valid? [True, True] Translation: X:70.52, Y:-20.60, Z:6.72 [[ 8.00598438e-01 -5.99140419e-01 -8.53812879e-03 7.05199299e+01] [-5.99105326e-01 -8.00643961e-01 6.48504584e-03 -2.05977262e+01] [-1.07214543e-02 -7.66791381e-05 -9.99942521e-01 6.71685816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.51, Y:-20.61, Z:6.72 [[ 8.46028904e-01 -5.33036793e-01 -1.03378318e-02 7.05147926e+01] [-5.32995383e-01 -8.46092054e-01 6.64511939e-03 -2.06051238e+01] [-1.22888505e-02 -1.11946463e-04 -9.99924483e-01 6.71780077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.51, Y:-20.61, Z:6.72 [[ 8.85535138e-01 -4.64423231e-01 -1.17720861e-02 7.05099520e+01] [-4.64380181e-01 -8.85613372e-01 6.32480030e-03 -2.06136036e+01] [-1.33629010e-02 -1.34109462e-04 -9.99910704e-01 6.71865941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.51, Y:-20.62, Z:6.72 [[ 9.19739875e-01 -3.92307878e-01 -1.31564093e-02 7.05065363e+01] [-3.92265142e-01 -9.19833953e-01 5.79288831e-03 -2.06206511e+01] [-1.43743077e-02 -1.67149586e-04 -9.99896670e-01 6.71934616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.50, Y:-20.63, Z:6.72 [[ 9.47739962e-01 -3.18738006e-01 -1.39659504e-02 7.05037207e+01] [-3.18700615e-01 -9.47842841e-01 4.88537912e-03 -2.06298509e+01] [-1.47946821e-02 -1.79112046e-04 -9.99890537e-01 6.71935310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.50, Y:-20.64, Z:6.72 [[ 9.69995044e-01 -2.42734916e-01 -1.37613747e-02 7.05004716e+01] [-2.42707764e-01 -9.70092638e-01 3.63531655e-03 -2.06382864e+01] [-1.42322265e-02 -1.86246557e-04 -9.99898699e-01 6.71938334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.50, Y:-20.65, Z:6.72 [[ 9.86094667e-01 -1.65627849e-01 -1.35913057e-02 7.04981918e+01] [-1.65609497e-01 -9.86188309e-01 2.47263178e-03 -2.06467089e+01] [-1.38131235e-02 -1.87399703e-04 -9.99904577e-01 6.71890552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.620385723 meters Centerline goodness [0,1] 0.9999775819938574 Centerline is valid? [True, True] Translation: X:70.49, Y:-20.66, Z:6.72 [[ 9.96052855e-01 -8.77621111e-02 -1.32861725e-02 7.04935483e+01] [-8.77518528e-02 -9.96141445e-01 1.35424095e-03 -2.06555934e+01] [-1.33537582e-02 -1.83009311e-04 -9.99910818e-01 6.71875217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.49, Y:-20.67, Z:6.72 [[ 9.99880440e-01 -9.30679892e-03 -1.23486311e-02 7.04898751e+01] [-9.30397175e-03 -9.99956676e-01 2.86375508e-04 -2.06650599e+01] [-1.23507613e-02 -1.71449954e-04 -9.99923712e-01 6.71727863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.49, Y:-20.68, Z:6.72 [[ 9.97563003e-01 6.87038660e-02 -1.21587017e-02 7.04864648e+01] [ 6.87007870e-02 -9.97637084e-01 -6.71220860e-04 -2.06755204e+01] [-1.21760872e-02 -1.65727282e-04 -9.99925855e-01 6.71639021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.48, Y:-20.69, Z:6.72 [[ 9.89120916e-01 1.46608861e-01 -1.20688034e-02 7.04834100e+01] [ 1.46599990e-01 -9.89194528e-01 -1.62119718e-03 -2.06862712e+01] [-1.21760762e-02 -1.65726428e-04 -9.99925855e-01 6.71639011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.48, Y:-20.70, Z:6.72 [[ 9.74814828e-01 2.22702270e-01 -1.18215943e-02 7.04813325e+01] [ 2.22687796e-01 -9.74886494e-01 -2.54359878e-03 -2.06975853e+01] [-1.20911778e-02 -1.52986965e-04 -9.99926887e-01 6.71662399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.48, Y:-20.71, Z:6.72 [[ 9.54776362e-01 2.97109138e-01 -1.13251607e-02 7.04806195e+01] [ 2.97089905e-01 -9.54843517e-01 -3.38327188e-03 -2.07079073e+01] [-1.18189572e-02 -1.34322891e-04 -9.99930145e-01 6.71730712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.48, Y:-20.72, Z:6.72 [[ 9.29047651e-01 3.69799423e-01 -1.09017819e-02 7.04806773e+01] [ 3.69775457e-01 -9.29111604e-01 -4.21170622e-03 -2.07188906e+01] [-1.16864586e-02 -1.18335605e-04 -9.99931704e-01 6.71730446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.48, Y:-20.73, Z:6.72 [[ 8.98555221e-01 4.38721511e-01 -1.10431548e-02 7.04798856e+01] [ 4.38689580e-01 -8.98623074e-01 -5.29383732e-03 -2.07293336e+01] [-1.22461540e-02 -8.77117908e-05 -9.99925009e-01 6.71778469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.860385723 meters Centerline goodness [0,1] 0.9999776126085789 Centerline is valid? [True, True] Translation: X:70.48, Y:-20.74, Z:6.72 [[ 8.62967435e-01 5.05152156e-01 -1.04166132e-02 7.04794525e+01] [ 5.05116065e-01 -8.63030299e-01 -6.03858448e-03 -2.07391309e+01] [-1.20402567e-02 -5.04968922e-05 -9.99927512e-01 6.71833961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.48, Y:-20.75, Z:6.72 [[ 8.21489662e-01 5.70131110e-01 -1.02592813e-02 7.04810523e+01] [ 5.70087204e-01 -8.21553721e-01 -7.07557442e-03 -2.07484124e+01] [-1.24625558e-02 -3.61737677e-05 -9.99922339e-01 6.71849302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.48, Y:-20.76, Z:6.72 [[ 7.74887276e-01 6.32014250e-01 -1.03777482e-02 7.04822380e+01] [ 6.31958046e-01 -7.74956765e-01 -8.42856725e-03 -2.07583956e+01] [-1.33692808e-02 -2.71119746e-05 -9.99910627e-01 6.71940068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.49, Y:-20.77, Z:6.72 [[ 7.23670487e-01 6.90069258e-01 -1.02686752e-02 7.04863712e+01] [ 6.90000099e-01 -7.23743338e-01 -9.76955987e-03 -2.07693460e+01] [-1.41735582e-02 -1.54447773e-05 -9.99899550e-01 6.71889961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.980385723 meters Centerline goodness [0,1] 0.9999106843809311 Centerline is valid? [True, True] Translation: X:70.49, Y:-20.78, Z:6.72 [[ 6.67830141e-01 7.44248825e-01 -9.82797803e-03 7.04902718e+01] [ 7.44168417e-01 -6.67902453e-01 -1.09398631e-02 -2.07799782e+01] [-1.47061109e-02 -7.70053596e-06 -9.99891859e-01 6.72105252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.49, Y:-20.79, Z:6.72 [[ 6.07196171e-01 7.94509380e-01 -8.22520248e-03 7.04949859e+01] [ 7.94436787e-01 -6.07251879e-01 -1.07399557e-02 -2.07900468e+01] [-1.35277652e-02 -1.31434390e-05 -9.99908496e-01 6.71878667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.50, Y:-20.80, Z:6.72 [[ 5.43190170e-01 8.39576540e-01 -7.46133613e-03 7.05007230e+01] [ 8.39497650e-01 -5.43241413e-01 -1.15092674e-02 -2.07994858e+01] [-1.37162177e-02 -1.20532409e-05 -9.99905928e-01 6.71890333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.51, Y:-20.81, Z:6.72 [[ 4.75576422e-01 8.79645190e-01 -7.16981810e-03 7.05068027e+01] [ 8.79545774e-01 -4.75630465e-01 -1.32247097e-02 -2.08089563e+01] [-1.50432362e-02 -1.68230798e-05 -9.99886844e-01 6.72002347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.51, Y:-20.82, Z:6.72 [[ 4.05465331e-01 9.14089490e-01 -6.18632082e-03 7.05139352e+01] [ 9.13983588e-01 -4.05512521e-01 -1.39138864e-02 -2.08176845e+01] [-1.52271679e-02 -1.25971397e-05 -9.99884060e-01 6.71961780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.52, Y:-20.83, Z:6.72 [[ 3.33207636e-01 9.42839955e-01 -5.04884258e-03 7.05210779e+01] [ 9.42731917e-01 -3.33245884e-01 -1.42728338e-02 -2.08254487e+01] [-1.51395040e-02 -3.88782352e-06 -9.99885391e-01 6.71913924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.53, Y:-20.83, Z:6.72 [[ 2.58605071e-01 9.65975360e-01 -3.87581118e-03 7.05274117e+01] [ 9.65866893e-01 -2.58634114e-01 -1.44755424e-02 -2.08340312e+01] [-1.49854343e-02 -6.90225106e-08 -9.99887712e-01 6.71915336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.53, Y:-20.84, Z:6.72 [[ 1.82769383e-01 9.83152199e-01 -2.66576092e-03 7.05329628e+01] [ 9.83046914e-01 -1.82788823e-01 -1.43879209e-02 -2.08409904e+01] [-1.46327874e-02 9.10339800e-06 -9.99892935e-01 6.71958051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:-20.85, Z:6.72 [[ 1.05643508e-01 9.94403145e-01 -1.35455433e-03 7.05441373e+01] [ 9.94319719e-01 -1.05652191e-01 -1.28806710e-02 -2.08475469e+01] [-1.29516914e-02 1.38991825e-05 -9.99916123e-01 6.71540906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.250385723 meters Centerline goodness [0,1] 0.9999777920895423 Centerline is valid? [True, True] Translation: X:70.56, Y:-20.85, Z:6.72 [[ 2.76086332e-02 9.99618762e-01 -3.05511529e-04 7.05557858e+01] [ 9.99551688e-01 -2.76103198e-02 -1.15798387e-02 -2.08536337e+01] [-1.15838593e-02 1.43289555e-05 -9.99932905e-01 6.71502465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.57, Y:-20.86, Z:6.71 [[-5.10156085e-02 9.98697724e-01 5.12925592e-04 7.05687084e+01] [ 9.98649120e-01 5.10181861e-02 -9.85294972e-03 -2.08580518e+01] [-9.86628700e-03 9.57846501e-06 -9.99951327e-01 6.71340041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.58, Y:-20.86, Z:6.71 [[-1.29079212e-01 9.91633496e-01 1.25142314e-03 7.05803339e+01] [ 9.91587601e-01 1.29085278e-01 -9.54047465e-03 -2.08617330e+01] [-9.62219453e-03 9.41872094e-06 -9.99953706e-01 6.71296735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.59, Y:-20.86, Z:6.71 [[-2.06700707e-01 9.78402196e-01 1.99034356e-03 7.05938395e+01] [ 9.78357125e-01 2.06710290e-01 -9.39104522e-03 -2.08644655e+01] [-9.59964376e-03 6.13110933e-06 -9.99953922e-01 6.71298054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.61, Y:-20.87, Z:6.71 [[-2.82990796e-01 9.59118499e-01 2.81339278e-03 7.06072287e+01] [ 9.59071222e-01 2.83004780e-01 -9.52284839e-03 -2.08655145e+01] [-9.92974365e-03 3.36560640e-06 -9.99950699e-01 6.71311112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.62, Y:-20.87, Z:6.71 [[-3.57467639e-01 9.33918283e-01 3.67800112e-03 7.06205562e+01] [ 9.33868895e-01 3.57486560e-01 -9.60450893e-03 -2.08672267e+01] [-1.02846625e-02 1.46971148e-06 -9.99947112e-01 6.71403272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.63, Y:-20.87, Z:6.71 [[-4.30006793e-01 9.02814572e-01 4.47280770e-03 7.06320476e+01] [ 9.02765638e-01 4.30030055e-01 -9.39975788e-03 -2.08677757e+01] [-1.04096801e-02 -4.06264085e-06 -9.99945818e-01 6.71425861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.64, Y:-20.87, Z:6.71 [[-4.98976151e-01 8.66602697e-01 4.75050076e-03 7.06433331e+01] [ 8.66563446e-01 4.98998764e-01 -8.24791744e-03 -2.08671024e+01] [-9.51816151e-03 1.09621249e-06 -9.99954701e-01 6.71318139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.65, Y:-20.87, Z:6.71 [[-5.64847289e-01 8.25179127e-01 5.19123997e-03 7.06542496e+01] [ 8.25144380e-01 5.64871143e-01 -7.57251651e-03 -2.08658266e+01] [-9.18106422e-03 6.20706676e-06 -9.99957853e-01 6.71260494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.66, Y:-20.87, Z:6.71 [[-6.27051954e-01 7.78958814e-01 5.38648509e-03 7.06646352e+01] [ 7.78930259e-01 6.27075088e-01 -6.66973855e-03 -2.08651478e+01] [-8.57318225e-03 1.34236364e-05 -9.99963250e-01 6.71200317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.550385723 meters Centerline goodness [0,1] 0.9999778009634381 Centerline is valid? [True, True] Translation: X:70.68, Y:-20.86, Z:6.71 [[-6.85418079e-01 7.28130414e-01 5.30627529e-03 7.06762833e+01] [ 7.28108818e-01 6.85438618e-01 -5.60800600e-03 -2.08608109e+01] [-7.72048574e-03 1.97171320e-05 -9.99970196e-01 6.71103621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.69, Y:-20.86, Z:6.71 [[-7.40192994e-01 6.72374207e-01 5.22086684e-03 7.06873647e+01] [ 6.72357669e-01 7.40211406e-01 -4.71581973e-03 -2.08571267e+01] [-7.03534073e-03 1.96731395e-05 -9.99975252e-01 6.71078646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.72, Y:-20.84, Z:6.71 [[-7.85908159e-01 6.18323250e-01 4.97231664e-03 7.07152673e+01] [ 6.18311017e-01 7.85923888e-01 -3.88957155e-03 -2.08406978e+01] [-6.31287495e-03 1.75921443e-05 -9.99980074e-01 6.70977625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.74, Y:-20.82, Z:6.71 [[-8.27707615e-01 5.61137911e-01 4.93434794e-03 7.07358944e+01] [ 5.61128060e-01 8.27722323e-01 -3.32503680e-03 -2.08189902e+01] [-5.95007415e-03 1.66428081e-05 -9.99982298e-01 6.70927524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.74, Y:-20.79, Z:6.71 [[-8.65337704e-01 5.01165292e-01 4.89986011e-03 7.07449595e+01] [ 5.01157364e-01 8.65351576e-01 -2.81908760e-03 -2.07891007e+01] [-5.65293053e-03 1.61381805e-05 -9.99984022e-01 6.70856015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.77, Y:-20.77, Z:6.71 [[-8.98553717e-01 4.38836246e-01 4.89553690e-03 7.07686200e+01] [ 4.38829834e-01 8.98567053e-01 -2.37233666e-03 -2.07678200e+01] [-5.44003548e-03 1.66357213e-05 -9.99985203e-01 6.70828327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.79, Y:-20.74, Z:6.71 [[-9.27364251e-01 3.74123613e-01 5.20271899e-03 7.07853350e+01] [ 3.74117832e-01 9.27378845e-01 -2.07995895e-03 -2.07422929e+01] [-5.60305328e-03 1.75503724e-05 -9.99984303e-01 6.70836344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.79, Y:-20.71, Z:6.71 [[-9.51481006e-01 3.07660236e-01 5.39198009e-03 7.07854099e+01] [ 3.07655409e-01 9.51496284e-01 -1.72351210e-03 -2.07084282e+01] [-5.66070516e-03 1.89828166e-05 -9.99983978e-01 6.70955790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.80, Y:-20.68, Z:6.71 [[-9.70644319e-01 2.40459475e-01 5.37094464e-03 7.08013832e+01] [ 2.40455934e-01 9.70659178e-01 -1.30511371e-03 -2.06791785e+01] [-5.52718367e-03 2.46743013e-05 -9.99984725e-01 6.71013897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.80, Y:-20.65, Z:6.71 [[-9.85071283e-01 1.72051233e-01 5.73944889e-03 7.08045449e+01] [ 1.72048502e-01 9.85088002e-01 -9.69942897e-04 -2.06498084e+01] [-5.82074211e-03 3.20006919e-05 -9.99983059e-01 6.71017753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.94, Y:-19.92, Z:5.77 [[-9.74012787e-01 -2.26415509e-01 5.92518166e-03 7.09418494e+01] [ 2.26411216e-01 -9.74030809e-01 -1.39431919e-03 -1.99215220e+01] [ 6.08700497e-03 -1.65571373e-05 9.99981474e-01 5.76729379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.74, Y:-20.64, Z:6.71 [[-9.85277252e-01 1.70846917e-01 6.32984056e-03 7.07448618e+01] [ 1.70843734e-01 9.85297584e-01 -1.04424345e-03 -2.06381783e+01] [-6.41518238e-03 5.25442776e-05 -9.99979421e-01 6.70988770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.77, Y:-20.61, Z:6.71 [[-9.94856966e-01 1.01132646e-01 5.63954331e-03 7.07662222e+01] [ 1.01131309e-01 9.94872949e-01 -5.22491766e-04 -2.06072191e+01] [-5.66347006e-03 5.05298237e-05 -9.99983961e-01 6.71017475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.77, Y:-20.58, Z:6.71 [[-9.99530067e-01 3.01109842e-02 5.74230556e-03 7.07657496e+01] [ 3.01107803e-02 9.99546560e-01 -1.21979079e-04 -2.05752713e+01] [-5.74337468e-03 5.09835440e-05 -9.99983505e-01 6.70987431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.77, Y:-19.85, Z:5.77 [[-9.96830803e-01 -7.93946962e-02 4.98327292e-03 7.07686889e+01] [ 7.93932406e-02 -9.96843254e-01 -4.89556453e-04 -1.98535766e+01] [ 5.00641018e-03 -9.23667669e-05 9.99987464e-01 5.76698447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.68, Y:-20.57, Z:6.71 [[-9.99697613e-01 2.41190367e-02 4.79120499e-03 7.06774972e+01] [ 2.41189545e-02 9.99709093e-01 -7.49411251e-05 -2.05668124e+01] [-4.79161870e-03 4.06403912e-05 -9.99988519e-01 6.70956125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.67, Y:-20.54, Z:6.71 [[-9.98854918e-01 -4.76204412e-02 4.59846950e-03 7.06685760e+01] [-4.76197685e-02 9.98865503e-01 2.55727411e-04 -2.05355914e+01] [-4.60543040e-03 3.64565284e-05 -9.99989394e-01 6.70914602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.66, Y:-20.50, Z:6.71 [[-9.92773878e-01 -1.19933852e-01 3.98723839e-03 7.06600897e+01] [-1.19932776e-01 9.92781885e-01 5.08674398e-04 -2.05012644e+01] [-4.01946532e-03 2.67980859e-05 -9.99991922e-01 6.70904472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.64, Y:-20.47, Z:6.71 [[-9.81564602e-01 -1.91098201e-01 3.52265813e-03 7.06388310e+01] [-1.91096890e-01 9.81570923e-01 7.08084781e-04 -2.04719906e+01] [-3.59305252e-03 2.18619423e-05 -9.99993545e-01 6.70912530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.61, Y:-20.45, Z:6.71 [[-9.65028856e-01 -2.62123835e-01 3.22536879e-03 7.06112585e+01] [-2.62122311e-01 9.65034246e-01 8.93979761e-04 -2.04456503e+01] [-3.34692474e-03 1.72751451e-05 -9.99994399e-01 6.70867405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.56, Y:-20.43, Z:6.71 [[-9.42957652e-01 -3.32903399e-01 2.48850356e-03 7.05613070e+01] [-3.32902214e-01 9.42960936e-01 8.88248034e-04 -2.04251256e+01] [-2.64226244e-03 9.15193405e-06 -9.99996509e-01 6.70860400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.50, Y:-20.42, Z:6.71 [[-9.15636166e-01 -4.01999869e-01 2.55274518e-03 7.04990951e+01] [-4.01998284e-01 9.15639725e-01 1.12914129e-03 -2.04162637e+01] [-2.79130954e-03 7.68342349e-06 -9.99996104e-01 6.70870704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.42, Y:-20.41, Z:6.71 [[-8.82843899e-01 -4.69658461e-01 2.75318471e-03 7.04233184e+01] [-4.69656161e-01 8.82848192e-01 1.46971614e-03 -2.04147594e+01] [-3.12090877e-03 4.47976320e-06 -9.99995130e-01 6.70805778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.240385723 meters Centerline goodness [0,1] 0.999935917975008 Centerline is valid? [True, True] Translation: X:70.34, Y:-20.42, Z:6.71 [[-8.44970016e-01 -5.34805223e-01 3.00758773e-03 7.03438076e+01] [-5.34801829e-01 8.44975369e-01 1.90542687e-03 -2.04242798e+01] [-3.56036979e-03 1.56515172e-06 -9.99993662e-01 6.70852663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.26, Y:-20.44, Z:6.71 [[-8.01670293e-01 -5.97756088e-01 3.52139030e-03 7.02578859e+01] [-5.97750355e-01 8.01678027e-01 2.61809558e-03 -2.04408142e+01] [-4.38800380e-03 -6.06284846e-06 -9.99990373e-01 6.70960683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.17, Y:-20.47, Z:6.71 [[-7.54443059e-01 -6.56356614e-01 3.41548932e-03 7.01673190e+01] [-6.56349936e-01 7.54450790e-01 2.96095948e-03 -2.04733140e+01] [-4.52026396e-03 -7.88087319e-06 -9.99989784e-01 6.70958565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.330385723 meters Centerline goodness [0,1] 0.9999357312710212 Centerline is valid? [True, True] Translation: X:70.08, Y:-20.51, Z:6.71 [[-7.02801149e-01 -7.11377440e-01 3.56130020e-03 7.00800606e+01] [-7.11368375e-01 7.02810172e-01 3.59112247e-03 -2.05125565e+01] [-5.05756152e-03 -9.55133635e-06 -9.99987210e-01 6.71010928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.99, Y:-20.56, Z:6.71 [[-6.47741557e-01 -7.61853986e-01 3.06246371e-03 6.99909349e+01] [-7.61845509e-01 6.47748797e-01 3.59397850e-03 -2.05633311e+01] [-4.72179403e-03 -5.15499692e-06 -9.99988852e-01 6.70909472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.90, Y:-20.62, Z:6.71 [[-5.88677535e-01 -8.08362993e-01 2.83379481e-03 6.99039605e+01] [-8.08353650e-01 5.88684356e-01 3.88664957e-03 -2.06246463e+01] [-4.81003435e-03 -2.72508374e-06 -9.99988432e-01 6.70918087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.82, Y:-20.69, Z:6.71 [[-5.26817181e-01 -8.49974784e-01 2.55444860e-03 6.98205732e+01] [-8.49964757e-01 5.26823374e-01 4.12850962e-03 -2.06938974e+01] [-4.85487230e-03 3.77851443e-06 -9.99988215e-01 6.70925579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.74, Y:-20.77, Z:6.71 [[-4.61537189e-01 -8.87117819e-01 2.32336512e-03 6.97414420e+01] [-8.87106482e-01 4.61543037e-01 4.48497064e-03 -2.07747311e+01] [-5.05103037e-03 8.90848551e-06 -9.99987244e-01 6.70911315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.67, Y:-20.87, Z:6.71 [[-3.93393367e-01 -9.19368084e-01 1.99620237e-03 6.96666303e+01] [-9.19356080e-01 3.93398432e-01 4.69815572e-03 -2.08653445e+01] [-5.10463731e-03 1.30025170e-05 -9.99986971e-01 6.70919794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.510385723 meters Centerline goodness [0,1] 0.9999786716717144 Centerline is valid? [True, True] Translation: X:69.60, Y:-20.96, Z:6.71 [[-3.23016270e-01 -9.46391744e-01 1.77694091e-03 6.95994924e+01] [-9.46377093e-01 3.23021157e-01 5.26595914e-03 -2.09582690e+01] [-5.55764976e-03 1.93343016e-05 -9.99984556e-01 6.70970496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.54, Y:-21.06, Z:6.71 [[-2.49347098e-01 -9.68412762e-01 1.65719751e-03 6.95382317e+01] [-9.68390834e-01 2.49352605e-01 6.51697692e-03 -2.10603811e+01] [-6.72435013e-03 2.01744072e-05 -9.99977391e-01 6.71089304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.48, Y:-21.17, Z:6.71 [[-1.73863749e-01 -9.84769019e-01 1.17346598e-03 6.94846861e+01] [-9.84746007e-01 1.73867709e-01 6.73210717e-03 -2.11679718e+01] [-6.83359841e-03 1.49034507e-05 -9.99976651e-01 6.71080764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.44, Y:-21.28, Z:6.71 [[-9.80233254e-02 -9.95183902e-01 6.55035120e-04 6.94400092e+01] [-9.95160655e-01 9.80255129e-02 6.80214374e-03 -2.12807862e+01] [-6.83359411e-03 1.49035700e-05 -9.99976651e-01 6.71080743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.82, Y:-21.33, Z:5.77 [[-1.61629781e-01 9.86850794e-01 1.15070097e-03 6.88150777e+01] [-9.86825488e-01 -1.61633877e-01 7.06726769e-03 -2.13308185e+01] [ 7.16033099e-03 6.73988704e-06 9.99974365e-01 5.76641444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.41, Y:-21.56, Z:6.71 [[-8.61534774e-02 -9.96281685e-01 6.17846346e-04 6.94099041e+01] [-9.96256408e-01 8.61556928e-02 7.09686582e-03 -2.15596183e+01] [-7.12370842e-03 -4.11371208e-06 -9.99974626e-01 6.71049394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.37, Y:-21.68, Z:6.71 [[-8.56958523e-03 -9.99963278e-01 7.42493468e-05 6.93747878e+01] [-9.99937180e-01 8.56989801e-03 7.22451038e-03 -2.16795911e+01] [-7.22488139e-03 -1.23336250e-05 -9.99973900e-01 6.71126705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7203857229999 meters Centerline goodness [0,1] 0.9999786798567286 Centerline is valid? [True, True] Translation: X:69.35, Y:-21.80, Z:6.71 [[ 6.94256881e-02 -9.97587005e-01 -4.91364847e-04 6.93490597e+01] [-9.97559614e-01 -6.94274231e-02 7.39248579e-03 -2.17965870e+01] [-7.40876195e-03 -2.30626853e-05 -9.99972555e-01 6.71134841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.33, Y:-21.92, Z:6.71 [[ 1.46398934e-01 -9.89225109e-01 -1.01754195e-03 6.93327306e+01] [-9.89199859e-01 -1.46402467e-01 7.06798513e-03 -2.19181551e+01] [-7.14079901e-03 -2.81931319e-05 -9.99974504e-01 6.71059639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.33, Y:-22.04, Z:6.71 [[ 2.22399741e-01 -9.74954428e-01 -1.48931230e-03 6.93256001e+01] [-9.74931594e-01 -2.22404725e-01 6.67278000e-03 -2.20389560e+01] [-6.83688650e-03 -3.20469231e-05 -9.99976628e-01 6.71032433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.810385723 meters Centerline goodness [0,1] 0.9999786552828175 Centerline is valid? [True, True] Translation: X:69.33, Y:-22.16, Z:6.71 [[ 2.97518485e-01 -9.54714588e-01 -1.67552692e-03 6.93286215e+01] [-9.54698796e-01 -2.97523201e-01 5.49131885e-03 -2.21611248e+01] [-5.74115034e-03 -3.41453249e-05 -9.99983519e-01 6.70944423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.34, Y:-22.29, Z:6.71 [[ 3.70090970e-01 -9.28993591e-01 -1.89246276e-03 6.93418808e+01] [-9.28980982e-01 -3.70095807e-01 4.84022769e-03 -2.22858296e+01] [-5.19693303e-03 -3.32626441e-05 -9.99986495e-01 6.70937396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.36, Y:-22.40, Z:6.71 [[ 4.40207522e-01 -8.97894023e-01 -1.91330312e-03 6.93623733e+01] [-8.97885251e-01 -4.40211679e-01 3.96909924e-03 -2.24006401e+01] [-4.40608886e-03 -2.93006914e-05 -9.99990293e-01 6.70856879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.39, Y:-22.51, Z:6.71 [[ 5.07123883e-01 -8.61870795e-01 -2.02481325e-03 6.93896996e+01] [-8.61863724e-01 -5.07127924e-01 3.49124721e-03 -2.25113636e+01] [-4.03584335e-03 -2.53817480e-05 -9.99991856e-01 6.70824202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.43, Y:-22.63, Z:6.71 [[ 5.71232352e-01 -8.20785632e-01 -2.13220576e-03 6.94289319e+01] [-8.20779762e-01 -5.71236331e-01 3.10417450e-03 -2.26253958e+01] [-3.76585522e-03 -2.31335667e-05 -9.99992909e-01 6.70812454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.47, Y:-22.73, Z:6.71 [[ 6.31485973e-01 -7.75384100e-01 -2.22810366e-03 6.94714577e+01] [-7.75379166e-01 -6.31489903e-01 2.76607823e-03 -2.27264484e+01] [-3.55179804e-03 -1.91144482e-05 -9.99993692e-01 6.70831873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.990385723 meters Centerline goodness [0,1] 0.9998921181521997 Centerline is valid? [True, True] Translation: X:69.52, Y:-22.83, Z:6.71 [[ 6.87962862e-01 -7.25738820e-01 -3.20417324e-03 6.95225416e+01] [-7.25730805e-01 -6.87970323e-01 3.41072800e-03 -2.28260222e+01] [-4.67967381e-03 -2.10869653e-05 -9.99989050e-01 6.71024048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.58, Y:-22.92, Z:6.71 [[ 7.40895169e-01 -6.71611082e-01 -3.59218321e-03 6.95773502e+01] [-6.71603050e-01 -7.40903877e-01 3.28467391e-03 -2.29160637e+01] [-4.86748587e-03 -2.10778335e-05 -9.99988154e-01 6.70910118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.58, Y:-22.93, Z:6.71 [[ 7.90979017e-01 -6.11829622e-01 -4.08765009e-03 6.95755054e+01] [-6.11821313e-01 -7.90989579e-01 3.18868750e-03 -2.29260615e+01] [-5.18422209e-03 -2.12734640e-05 -9.99986562e-01 6.70979818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.080385723 meters Centerline goodness [0,1] 0.999935583612471 Centerline is valid? [True, True] Translation: X:69.58, Y:-22.94, Z:6.71 [[ 8.36181142e-01 -5.48430444e-01 -5.01460000e-03 6.95756825e+01] [-5.48420421e-01 -8.36196178e-01 3.31576284e-03 -2.29350715e+01] [-6.01165464e-03 -2.24693188e-05 -9.99981930e-01 6.71062591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.58, Y:-22.94, Z:6.71 [[ 8.76400699e-01 -4.81552390e-01 -5.39542417e-03 6.95751136e+01] [-4.81543112e-01 -8.76417306e-01 2.98943989e-03 -2.29448453e+01] [-6.16821505e-03 -2.18178654e-05 -9.99980976e-01 6.71112984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.58, Y:-22.95, Z:6.71 [[ 9.11242199e-01 -4.11826019e-01 -6.08151315e-03 6.95754294e+01] [-4.11816688e-01 -9.11262492e-01 2.77231916e-03 -2.29540192e+01] [-6.68356799e-03 -2.17856047e-05 -9.99977665e-01 6.71175099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.170385723 meters Centerline goodness [0,1] 0.9999783685565338 Centerline is valid? [True, True] Translation: X:69.58, Y:-22.96, Z:6.71 [[ 9.40247844e-01 -3.40435605e-01 -6.13120436e-03 6.95763594e+01] [-3.40428274e-01 -9.40267834e-01 2.23408381e-03 -2.29636110e+01] [-6.52553591e-03 -1.33571701e-05 -9.99978708e-01 6.71101304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.58, Y:-22.97, Z:6.71 [[ 9.63770147e-01 -2.66667680e-01 -5.95419444e-03 6.95767041e+01] [-2.66662541e-01 -9.63788539e-01 1.65549253e-03 -2.29745641e+01] [-6.18005071e-03 -7.75365380e-06 -9.99980903e-01 6.71082565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.58, Y:-22.98, Z:6.71 [[ 9.81480304e-01 -1.91496062e-01 -5.06666038e-03 6.95778730e+01] [-1.91493503e-01 -9.81493382e-01 9.89941510e-04 -2.29840142e+01] [-5.16246353e-03 -1.37555141e-06 -9.99986674e-01 6.71023571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.260385723 meters Centerline goodness [0,1] 0.9999566733822924 Centerline is valid? [True, True] Translation: X:69.58, Y:-23.00, Z:6.71 [[ 9.93439087e-01 -1.14275629e-01 -4.45653245e-03 6.95763624e+01] [-1.14274478e-01 -9.93449083e-01 5.12741004e-04 -2.29953823e+01] [-4.48593187e-03 -1.09034523e-07 -9.99989938e-01 6.71015731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.58, Y:-23.01, Z:6.71 [[ 9.99341009e-01 -3.60319623e-02 -4.38701062e-03 6.95755826e+01] [-3.60316127e-02 -9.99350638e-01 1.58738593e-04 -2.30062397e+01] [-4.38988153e-03 -5.62918235e-07 -9.99990365e-01 6.71029940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.57, Y:-23.02, Z:6.71 [[ 9.99016028e-01 4.40217121e-02 -5.39123100e-03 6.95741027e+01] [ 4.40211233e-02 -9.99030575e-01 -2.27881050e-04 -2.30160953e+01] [-5.39603632e-03 -9.67122322e-06 -9.99985441e-01 6.71112611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3503857229999 meters Centerline goodness [0,1] 0.9998916435506241 Centerline is valid? [True, True] Translation: X:69.57, Y:-23.03, Z:6.71 [[ 9.92247166e-01 1.24102702e-01 -6.63935058e-03 6.95732041e+01] [ 1.24100095e-01 -9.92269378e-01 -8.04896475e-04 -2.30252087e+01] [-6.68791410e-03 -2.52877888e-05 -9.99977635e-01 6.71325575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.57, Y:-23.03, Z:6.71 [[ 9.79350842e-01 2.02053846e-01 -6.79496975e-03 6.95735086e+01] [ 2.02049202e-01 -9.79374414e-01 -1.37030912e-03 -2.30329317e+01] [-6.93169574e-03 -3.09048248e-05 -9.99975975e-01 6.71181670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.410385723 meters Centerline goodness [0,1] 0.9999781396873976 Centerline is valid? [True, True] Translation: X:69.58, Y:-23.04, Z:6.71 [[ 9.60421831e-01 2.78459611e-01 -7.08182302e-03 6.95750485e+01] [ 2.78452316e-01 -9.60447939e-01 -2.01596140e-03 -2.30419200e+01] [-7.36308615e-03 -3.57766779e-05 -9.99972892e-01 6.71176600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.440385723 meters Centerline goodness [0,1] 0.9999782305816789 Centerline is valid? [True, True] Translation: X:69.58, Y:-23.05, Z:6.71 [[ 9.35592312e-01 3.53009497e-01 -7.16382288e-03 6.95776278e+01] [ 3.52999468e-01 -9.35619738e-01 -2.66132723e-03 -2.30509069e+01] [-7.64208787e-03 -3.89083695e-05 -9.99970798e-01 6.71200850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.58, Y:-23.06, Z:6.71 [[ 9.05295042e-01 4.24729299e-01 -6.77564401e-03 6.95808813e+01] [ 4.24717689e-01 -9.05320397e-01 -3.14054538e-03 -2.30604357e+01] [-7.46801037e-03 -3.46157004e-05 -9.99972114e-01 6.71272580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.58, Y:-23.07, Z:6.71 [[ 8.69423580e-01 4.94011578e-01 -7.42965223e-03 6.95838672e+01] [ 4.93993898e-01 -8.69455323e-01 -4.17963891e-03 -2.30680124e+01] [-8.52454070e-03 -3.63262483e-05 -9.99963665e-01 6.71373935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.59, Y:-23.08, Z:6.72 [[ 8.28195884e-01 5.60392603e-01 -7.19082325e-03 6.95864034e+01] [ 5.60371848e-01 -8.28227100e-01 -4.82313905e-03 -2.30778048e+01] [-8.65848613e-03 -3.50310013e-05 -9.99962514e-01 6.71511909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.59, Y:-23.09, Z:6.71 [[ 7.82008441e-01 6.23224361e-01 -7.36163636e-03 6.95897311e+01] [ 6.23197160e-01 -7.82043090e-01 -5.82282748e-03 -2.30854221e+01] [-9.38604478e-03 -3.42506362e-05 -9.99955950e-01 6.71484505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.59, Y:-23.09, Z:6.72 [[ 7.31284974e-01 6.82035817e-01 -7.03076195e-03 6.95909932e+01] [ 6.82004670e-01 -7.31318770e-01 -6.51819764e-03 -2.30915956e+01] [-9.58737244e-03 -2.83524930e-05 -9.99954040e-01 6.71525367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.59, Y:-23.10, Z:6.71 [[ 6.76536895e-01 7.36382161e-01 -6.25637357e-03 6.95924264e+01] [ 7.36350896e-01 -6.76565823e-01 -6.78568527e-03 -2.30969878e+01] [-9.22970611e-03 -1.61198434e-05 -9.99957405e-01 6.71394636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.60, Y:-23.10, Z:6.71 [[ 6.16733848e-01 7.87152205e-01 -5.54682911e-03 6.95955634e+01] [ 7.87120611e-01 -6.16758791e-01 -7.05247091e-03 -2.31034451e+01] [-8.97242364e-03 -1.65260047e-05 -9.99959747e-01 6.71375121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.60, Y:-23.11, Z:6.71 [[ 5.53246915e-01 8.33002214e-01 -5.01620160e-03 6.95983824e+01] [ 8.32968243e-01 -5.53269655e-01 -7.52292071e-03 -2.31097447e+01] [-9.04192174e-03 -1.63039546e-05 -9.99959121e-01 6.71356327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.60, Y:-23.12, Z:6.71 [[ 4.86265124e-01 8.73799197e-01 -4.60366698e-03 6.96025485e+01] [ 8.73760389e-01 -4.86286915e-01 -8.23518580e-03 -2.31163427e+01] [-9.43460175e-03 -1.80182104e-05 -9.99955493e-01 6.71366239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.61, Y:-23.12, Z:6.71 [[ 4.16243113e-01 9.09242474e-01 -4.44899319e-03 6.96068122e+01] [ 9.09191095e-01 -4.16266889e-01 -9.66590034e-03 -2.31223621e+01] [-1.06406157e-02 -2.16205421e-05 -9.99943387e-01 6.71431229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.61, Y:-23.13, Z:6.71 [[ 3.43644858e-01 9.39092628e-01 -3.63978957e-03 6.96107894e+01] [ 9.39040649e-01 -3.43664133e-01 -9.88044876e-03 -2.31286422e+01] [-1.05295217e-02 -2.25449494e-05 -9.99944563e-01 6.71435890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.62, Y:-23.14, Z:6.71 [[ 2.69380673e-01 9.63029715e-01 -2.79657186e-03 6.96173796e+01] [ 9.62978538e-01 -2.69395188e-01 -9.92814722e-03 -2.31354992e+01] [-1.03144838e-02 -1.85877043e-05 -9.99946804e-01 6.71379678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.63, Y:-23.14, Z:6.71 [[ 1.93644926e-01 9.81069789e-01 -1.92659311e-03 6.96259929e+01] [ 9.81021907e-01 -1.93654510e-01 -9.69269902e-03 -2.31416310e+01] [-9.88230763e-03 -1.30880558e-05 -9.99951169e-01 6.71304027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.63, Y:-23.15, Z:6.71 [[ 1.16969824e-01 9.93134858e-01 -1.10154935e-03 6.96326233e+01] [ 9.93091262e-01 -1.16975011e-01 -9.30545596e-03 -2.31483852e+01] [-9.37042643e-03 -5.48148620e-06 -9.99956097e-01 6.71315090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.64, Y:-23.15, Z:6.71 [[ 3.94186024e-02 9.99222717e-01 -3.68458966e-04 6.96413295e+01] [ 9.99179138e-01 -3.94203245e-02 -9.33213468e-03 -2.31537296e+01] [-9.33940575e-03 -2.96804981e-07 -9.99956387e-01 6.71263525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.920385723 meters Centerline goodness [0,1] 0.9999777034559644 Centerline is valid? [True, True] Translation: X:69.65, Y:-23.16, Z:6.71 [[-3.73040294e-02 9.99303885e-01 3.92791685e-04 6.96464760e+01] [ 9.99252965e-01 3.73060938e-02 -1.00879619e-02 -2.31603870e+01] [-1.00955930e-02 1.61766297e-05 -9.99949038e-01 6.71406981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.65, Y:-23.17, Z:6.71 [[-1.14693734e-01 9.93400245e-01 1.14053820e-03 6.96548421e+01] [ 9.93353129e-01 1.14699402e-01 -9.67515728e-03 -2.31654107e+01] [-9.74212266e-03 2.32772778e-05 -9.99952544e-01 6.71346647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.66, Y:-23.17, Z:6.71 [[-1.90276706e-01 9.81728595e-01 1.93432838e-03 6.96620987e+01] [ 9.81680121e-01 1.90286533e-01 -9.75578451e-03 -2.31697082e+01] [-9.94560926e-03 4.25931757e-05 -9.99950540e-01 6.71296057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.67, Y:-23.17, Z:6.71 [[-2.65861268e-01 9.64007653e-01 2.65170682e-03 6.96713742e+01] [ 9.63961546e-01 2.65874487e-01 -9.42846936e-03 -2.31747951e+01] [-9.79413781e-03 4.94785910e-05 -9.99952035e-01 6.71353971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.68, Y:-23.18, Z:6.71 [[-3.40538623e-01 9.40224109e-01 3.47442152e-03 6.96817895e+01] [ 9.40176699e-01 3.40556343e-01 -9.44200357e-03 -2.31782153e+01] [-1.00608357e-02 5.12032537e-05 -9.99949387e-01 6.71327276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.69, Y:-23.18, Z:6.71 [[-4.14195814e-01 9.10179890e-01 3.79426615e-03 6.96936496e+01] [ 9.10142492e-01 4.14213191e-01 -8.25089010e-03 -2.31807913e+01] [-9.08142933e-03 3.58387028e-05 -9.99958762e-01 6.71314607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.71, Y:-23.18, Z:6.71 [[-4.84531252e-01 8.74762409e-01 4.49375175e-03 6.97063581e+01] [ 8.74725411e-01 4.84552089e-01 -8.04533128e-03 -2.31815373e+01] [-9.21521017e-03 3.25844070e-05 -9.99957539e-01 6.71263003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.72, Y:-23.18, Z:6.71 [[-5.51413766e-01 8.34218948e-01 4.64814501e-03 6.97171842e+01] [ 8.34189786e-01 5.51433356e-01 -6.97527726e-03 -2.31822672e+01] [-8.38205066e-03 3.11711876e-05 -9.99964870e-01 6.71261516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.73, Y:-23.18, Z:6.71 [[-6.14532177e-01 7.88875799e-01 5.01761226e-03 6.97295015e+01] [ 7.88849973e-01 6.14552660e-01 -6.38338104e-03 -2.31808664e+01] [-8.11928178e-03 3.53502429e-05 -9.99967038e-01 6.71213679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.74, Y:-23.18, Z:6.71 [[-6.74112808e-01 7.38607264e-01 5.58856647e-03 6.97431303e+01] [ 7.38582369e-01 6.74135972e-01 -6.06438367e-03 -2.31779608e+01] [-8.24665152e-03 3.95379589e-05 -9.99965995e-01 6.71391803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.75, Y:-23.18, Z:6.71 [[-7.28991162e-01 6.84497222e-01 5.95301102e-03 6.97536296e+01] [ 6.84474955e-01 7.29015467e-01 -5.52129792e-03 -2.31760935e+01] [-8.11915019e-03 4.97095649e-05 -9.99967038e-01 6.71410476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.77, Y:-23.15, Z:6.71 [[-7.75009056e-01 6.31919111e-01 6.26106054e-03 6.97720988e+01] [ 6.31899075e-01 7.75034344e-01 -5.03240681e-03 -2.31530147e+01] [-8.03261099e-03 5.61975152e-05 -9.99967737e-01 6.71358738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.78, Y:-23.12, Z:6.71 [[-8.17053457e-01 5.76526794e-01 6.36426774e-03 6.97809851e+01] [ 5.76509913e-01 8.17078241e-01 -4.41234449e-03 -2.31227511e+01] [-7.74393951e-03 6.39421137e-05 -9.99970013e-01 6.71374542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.80, Y:-23.10, Z:6.71 [[-8.55576503e-01 5.17635056e-01 6.54193349e-03 6.97988261e+01] [ 5.17620511e-01 8.55601511e-01 -3.88097647e-03 -2.30996408e+01] [-7.60621765e-03 6.57666817e-05 -9.99971070e-01 6.71389865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.84, Y:-23.09, Z:6.71 [[-8.89824422e-01 4.56259888e-01 6.27798518e-03 6.98383181e+01] [ 4.56249045e-01 8.89846566e-01 -3.14629058e-03 -2.30872001e+01] [-7.02196974e-03 6.46785445e-05 -9.99975344e-01 6.71399928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.86, Y:-23.06, Z:6.71 [[-9.19416786e-01 3.93245535e-01 5.54290644e-03 6.98555492e+01] [ 3.93238800e-01 9.19433492e-01 -2.30223359e-03 -2.30613669e+01] [-6.00167690e-03 6.29736754e-05 -9.99981988e-01 6.71413483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.86, Y:-23.03, Z:6.71 [[-9.44397823e-01 3.28778472e-01 4.17940829e-03 6.98626007e+01] [ 3.28775505e-01 9.44407070e-01 -1.39785278e-03 -2.30342250e+01] [-4.40664664e-03 5.39579492e-05 -9.99990289e-01 6.71365668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.88, Y:-23.01, Z:6.71 [[-9.65116503e-01 2.61782506e-01 4.47834791e-03 6.98809157e+01] [ 2.61779977e-01 9.65126891e-01 -1.15228295e-03 -2.30081664e+01] [-4.62382152e-03 6.02545224e-05 -9.99989308e-01 6.71313728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.89, Y:-22.98, Z:6.71 [[-9.81192113e-01 1.92973790e-01 4.81192683e-03 6.98885693e+01] [ 1.92971795e-01 9.81203910e-01 -8.79909679e-04 -2.29792597e+01] [-4.89128092e-03 6.52057203e-05 -9.99988036e-01 6.71352013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.89, Y:-22.95, Z:6.71 [[-9.92399130e-01 1.22946791e-01 5.29664707e-03 6.98946197e+01] [ 1.22945424e-01 9.92413262e-01 -5.84153673e-04 -2.29501834e+01] [-5.32828262e-03 7.14849235e-05 -9.99985802e-01 6.71431743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.99, Y:-22.17, Z:5.76 [[-9.86603378e-01 -1.63053082e-01 5.24099729e-03 6.99860498e+01] [ 1.63050395e-01 -9.86617295e-01 -9.38831445e-04 -2.21708993e+01] [ 5.32393793e-03 -7.17075990e-05 9.99985825e-01 5.76298468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.82, Y:-22.94, Z:6.71 [[-9.92964562e-01 1.18302264e-01 5.09434802e-03 6.98195388e+01] [ 1.18301053e-01 9.92977628e-01 -5.39529073e-04 -2.29407670e+01] [-5.12240112e-03 6.69334844e-05 -9.99986878e-01 6.71494365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.580385723 meters Centerline goodness [0,1] 0.9999106883693929 Centerline is valid? [True, True] Translation: X:69.83, Y:-22.91, Z:6.72 [[-9.98877412e-01 4.70400006e-02 5.58156350e-03 6.98297641e+01] [ 4.70396612e-02 9.98893004e-01 -1.92141986e-04 -2.29111788e+01] [-5.58442309e-03 7.06285664e-05 -9.99984405e-01 6.71732844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.86, Y:-22.13, Z:5.76 [[-9.95942812e-01 -8.98239480e-02 5.43822582e-03 6.98555350e+01] [ 8.98221871e-02 -9.95957656e-01 -5.67681531e-04 -2.21322800e+01] [ 5.46723404e-03 -7.69050033e-05 9.99985052e-01 5.76091590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.74, Y:-22.91, Z:6.72 [[-9.99183212e-01 4.00395783e-02 5.45352940e-03 6.97424397e+01] [ 4.00393180e-02 9.99198093e-01 -1.56941745e-04 -2.29063673e+01] [-5.45544005e-03 6.15420409e-05 -9.99985117e-01 6.71659428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.71, Y:-22.88, Z:6.72 [[-9.99461429e-01 -3.24740406e-02 4.72118087e-03 6.97118682e+01] [-3.24734583e-02 9.99472578e-01 1.99962724e-04 -2.28775432e+01] [-4.72518442e-03 4.65419593e-05 -9.99988835e-01 6.71586993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.73, Y:-22.85, Z:6.72 [[-9.94292986e-01 -1.06627258e-01 3.47652649e-03 6.97275498e+01] [-1.06626520e-01 9.94299063e-01 3.97670407e-04 -2.28461449e+01] [-3.49910954e-03 2.47109761e-05 -9.99993878e-01 6.71525266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.71, Y:-22.82, Z:6.72 [[-9.83860832e-01 -1.78914436e-01 2.73629269e-03 6.97115763e+01] [-1.78913700e-01 9.83864637e-01 5.13352254e-04 -2.28174954e+01] [-2.78398775e-03 1.55069262e-05 -9.99996125e-01 6.71518565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.68, Y:-22.79, Z:6.72 [[-9.68054868e-01 -2.50728164e-01 2.27174970e-03 6.96816549e+01] [-2.50727451e-01 9.68057533e-01 5.98232464e-04 -2.27934072e+01] [-2.34917814e-03 9.53183691e-06 -9.99997241e-01 6.71536488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.790385723 meters Centerline goodness [0,1] 0.9998663012233439 Centerline is valid? [True, True] Translation: X:69.63, Y:-22.78, Z:6.72 [[-9.46461086e-01 -3.22809873e-01 2.28029031e-03 6.96291043e+01] [-3.22808926e-01 9.46463833e-01 7.81642080e-04 -2.27774146e+01] [-2.41053409e-03 3.69574448e-06 -9.99997095e-01 6.71553630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.56, Y:-22.77, Z:6.72 [[-9.19749320e-01 -3.92500234e-01 2.18070667e-03 6.95580243e+01] [-3.92499127e-01 9.19751905e-01 9.32016332e-04 -2.27735347e+01] [-2.37152574e-03 1.29592208e-06 -9.99997188e-01 6.71554489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8503857229999 meters Centerline goodness [0,1] 0.9999777401834209 Centerline is valid? [True, True] Translation: X:69.50, Y:-22.77, Z:6.72 [[-8.87483436e-01 -4.60836414e-01 1.71791212e-03 6.94964831e+01] [-4.60835552e-01 8.87485098e-01 8.91101889e-04 -2.27707951e+01] [-1.93527361e-03 -8.36814257e-07 -9.99998127e-01 6.71537829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.41, Y:-22.78, Z:6.72 [[-8.50581588e-01 -5.25839162e-01 2.03439049e-03 6.94143261e+01] [-5.25837661e-01 8.50584021e-01 1.25621709e-03 -2.27845003e+01] [-2.39098818e-03 -1.24401146e-06 -9.99997142e-01 6.71562253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.33, Y:-22.81, Z:6.72 [[-8.08807419e-01 -5.88070430e-01 1.93098646e-03 6.93271488e+01] [-5.88068756e-01 8.08809724e-01 1.40300350e-03 -2.28084346e+01] [-2.38686550e-03 -7.93165632e-07 -9.99997152e-01 6.71580031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.24, Y:-22.84, Z:6.72 [[-7.62901105e-01 -6.46512154e-01 1.98464350e-03 6.92369177e+01] [-6.46509959e-01 7.62903686e-01 1.68480478e-03 -2.28429938e+01] [-2.60333861e-03 2.24763896e-06 -9.99996611e-01 6.71669638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9703857229999 meters Centerline goodness [0,1] 0.9998662624821684 Centerline is valid? [True, True] Translation: X:69.14, Y:-22.89, Z:6.72 [[-7.12290335e-01 -7.01879660e-01 2.72418254e-03 6.91443581e+01] [-7.01874491e-01 7.12295544e-01 2.69364187e-03 -2.28888828e+01] [-3.83103553e-03 6.62083942e-06 -9.99992662e-01 6.71976084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.05, Y:-22.95, Z:6.72 [[-6.57478177e-01 -7.53469505e-01 2.48043354e-03 6.90466443e+01] [-7.53464090e-01 6.57482856e-01 2.85658685e-03 -2.29531273e+01] [-3.78319361e-03 9.22591042e-06 -9.99992844e-01 6.71829406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.95, Y:-23.03, Z:6.72 [[-5.98499911e-01 -8.01120209e-01 2.06576645e-03 6.89522715e+01] [-8.01115380e-01 5.98503476e-01 2.78166874e-03 -2.30264668e+01] [-3.46481944e-03 9.91121909e-06 -9.99993998e-01 6.71815987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.88, Y:-23.08, Z:6.72 [[-5.35977180e-01 -8.44230249e-01 1.93611805e-03 6.88807151e+01] [-8.44224651e-01 5.35980677e-01 3.07449725e-03 -2.30834955e+01] [-3.63330544e-03 1.33417794e-05 -9.99993400e-01 6.71849203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.79, Y:-23.19, Z:6.72 [[-4.70338277e-01 -8.82484413e-01 1.77933352e-03 6.87883513e+01] [-8.82477966e-01 4.70341642e-01 3.37324995e-03 -2.31877004e+01] [-3.81373516e-03 1.63459426e-05 -9.99992728e-01 6.71873254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.120385723 meters Centerline goodness [0,1] 0.9999326629556473 Centerline is valid? [True, True] Translation: X:68.72, Y:-23.27, Z:6.72 [[-4.01499549e-01 -9.15857568e-01 1.73977355e-03 6.87188693e+01] [-9.15848743e-01 4.01503318e-01 4.02074677e-03 -2.32677548e+01] [-4.38095621e-03 2.09585918e-05 -9.99990403e-01 6.72025117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.150385723 meters Centerline goodness [0,1] 0.9999775935469415 Centerline is valid? [True, True] Translation: X:68.64, Y:-23.38, Z:6.72 [[-3.30518067e-01 -9.43798908e-01 1.19563805e-03 6.86437344e+01] [-9.43792512e-01 3.30520229e-01 3.47463165e-03 -2.33797486e+01] [-3.67453612e-03 1.99943020e-05 -9.99993249e-01 6.71955652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.59, Y:-23.47, Z:6.72 [[-2.57138449e-01 -9.66374176e-01 8.77781151e-04 6.85873758e+01] [-9.66368272e-01 2.57139946e-01 3.37815446e-03 -2.34664001e+01] [-3.49027383e-03 2.03935438e-05 -9.99993909e-01 6.71930495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.53, Y:-23.58, Z:6.72 [[-1.82539901e-01 -9.83198196e-01 7.01416491e-04 6.85344835e+01] [-9.83190387e-01 1.82541247e-01 3.91875002e-03 -2.35809880e+01] [-3.98094539e-03 2.57022905e-05 -9.99992076e-01 6.71906952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.49, Y:-23.71, Z:6.72 [[-1.06654816e-01 -9.94296024e-01 4.07564669e-04 6.84887167e+01] [-9.94287715e-01 1.06655591e-01 4.06517977e-03 -2.37064094e+01] [-4.08546114e-03 2.83344592e-05 -9.99991654e-01 6.71898211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.45, Y:-23.85, Z:6.72 [[-3.13366758e-02 -9.99508882e-01 8.41587283e-05 6.84513393e+01] [-9.99502022e-01 3.13367725e-02 3.70341804e-03 -2.38473393e+01] [-3.70423649e-03 3.19359915e-05 -9.99993139e-01 6.71912335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.42, Y:-23.95, Z:6.72 [[ 4.53135958e-02 -9.98972792e-01 -1.99066361e-04 6.84239688e+01] [-9.98966167e-01 -4.53140203e-02 3.63819346e-03 -2.39506669e+01] [-3.64347678e-03 3.40009318e-05 -9.99993362e-01 6.71908614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.40, Y:-24.06, Z:6.72 [[ 1.21645774e-01 -9.92573484e-01 -4.28753779e-04 6.84034263e+01] [-9.92568226e-01 -1.21646526e-01 3.23108281e-03 -2.40612833e+01] [-3.25924353e-03 3.25198078e-05 -9.99994688e-01 6.71868304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.40, Y:-24.19, Z:6.72 [[ 1.98220377e-01 -9.80157267e-01 -6.43022957e-04 6.83950777e+01] [-9.80152588e-01 -1.98221417e-01 3.02897755e-03 -2.41880787e+01] [-3.09633528e-03 2.98555443e-05 -9.99995206e-01 6.71863332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.40, Y:-24.32, Z:6.72 [[ 2.73790629e-01 -9.61789001e-01 -7.80520899e-04 6.83984728e+01] [-9.61785349e-01 -2.73791740e-01 2.65050444e-03 -2.43235026e+01] [-2.76292619e-03 2.50102894e-05 -9.99996183e-01 6.71817450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.41, Y:-24.44, Z:6.72 [[ 3.48169096e-01 -9.37431233e-01 -9.81511454e-04 6.84067005e+01] [-9.37427686e-01 -3.48170479e-01 2.57913870e-03 -2.44402167e+01] [-2.75949849e-03 2.21196212e-05 -9.99996192e-01 6.71698751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.450385723 meters Centerline goodness [0,1] 0.9999554773936467 Centerline is valid? [True, True] Translation: X:68.43, Y:-24.58, Z:6.72 [[ 4.19888080e-01 -9.07574617e-01 -1.52149418e-03 6.84345857e+01] [-9.07568883e-01 -4.19890836e-01 3.22626155e-03 -2.45825154e+01] [-3.56693455e-03 2.61920034e-05 -9.99993638e-01 6.71744729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.45, Y:-24.69, Z:6.72 [[ 4.89544101e-01 -8.71975521e-01 -2.29443371e-03 6.84517908e+01] [-8.71966214e-01 -4.89549477e-01 4.02882698e-03 -2.46854618e+01] [-4.63627732e-03 2.83801944e-05 -9.99989252e-01 6.71955625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.49, Y:-24.80, Z:6.72 [[ 5.55736615e-01 -8.31353289e-01 -2.91968185e-03 6.84881492e+01] [-8.31342075e-01 -5.55744284e-01 4.31809981e-03 -2.48015702e+01] [-5.21246298e-03 2.75281973e-05 -9.99986415e-01 6.72022195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.53, Y:-24.92, Z:6.72 [[ 6.18623118e-01 -7.85681412e-01 -3.18694106e-03 6.85347482e+01] [-7.85671167e-01 -6.18631327e-01 4.01235456e-03 -2.49154931e+01] [-5.12397397e-03 2.17524081e-05 -9.99986872e-01 6.72001354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.570385723 meters Centerline goodness [0,1] 0.9999777841956768 Centerline is valid? [True, True] Translation: X:68.58, Y:-25.02, Z:6.72 [[ 6.78163613e-01 -7.34904051e-01 -3.18605786e-03 6.85822515e+01] [-7.34896022e-01 -6.78171097e-01 3.43508458e-03 -2.50175271e+01] [-4.68514992e-03 1.18718749e-05 -9.99989025e-01 6.71851251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.66, Y:-25.13, Z:6.72 [[ 7.32785310e-01 -6.80451052e-01 -3.47213771e-03 6.86551384e+01] [-6.80443467e-01 -7.32793536e-01 3.21282424e-03 -2.51319215e+01] [-4.73052970e-03 8.28301356e-06 -9.99988811e-01 6.71759973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.65, Y:-25.14, Z:6.72 [[ 7.83984617e-01 -6.20773958e-01 -2.79530972e-03 6.86493275e+01] [-6.20770033e-01 -7.83989600e-01 2.20741000e-03 -2.51385708e+01] [-3.56179639e-03 4.66902575e-06 -9.99993657e-01 6.71707654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.660385723 meters Centerline goodness [0,1] 0.9998674648229551 Centerline is valid? [True, True] Translation: X:68.64, Y:-25.15, Z:6.72 [[ 8.30172423e-01 -5.57499150e-01 -2.90616007e-03 6.86436151e+01] [-5.57495751e-01 -8.30177510e-01 1.94666127e-03 -2.51473965e+01] [-3.49789073e-03 4.10738650e-06 -9.99993882e-01 6.71658984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.64, Y:-25.16, Z:6.72 [[ 8.70979008e-01 -4.91316254e-01 -1.97646363e-03 6.86372429e+01] [-4.91314999e-01 -8.70981250e-01 1.11071141e-03 -2.51597165e+01] [-2.26717333e-03 3.65990365e-06 -9.99997430e-01 6.71549788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7203857229999 meters Centerline goodness [0,1] 0.9999779298168174 Centerline is valid? [True, True] Translation: X:68.63, Y:-25.17, Z:6.72 [[ 9.06501398e-01 -4.22199383e-01 -1.70219984e-03 6.86321524e+01] [-4.22198647e-01 -9.06502996e-01 7.88415458e-04 -2.51718033e+01] [-1.87591778e-03 3.96675611e-06 -9.99998241e-01 6.71513066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.750385723 meters Centerline goodness [0,1] 0.9999557159621815 Centerline is valid? [True, True] Translation: X:68.63, Y:-25.18, Z:6.71 [[ 9.36526750e-01 -3.50593300e-01 -1.40852013e-03 6.86286447e+01] [-3.50592910e-01 -9.36527810e-01 5.23029748e-04 -2.51833544e+01] [-1.50248900e-03 3.98582060e-06 -9.99998871e-01 6.71474355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.63, Y:-25.19, Z:6.71 [[ 9.60488445e-01 -2.78315417e-01 -1.57320328e-03 6.86262992e+01] [-2.78315057e-01 -9.60489734e-01 4.47803166e-04 -2.51941179e+01] [-1.63567613e-03 7.73639424e-06 -9.99998662e-01 6.71453184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.62, Y:-25.21, Z:6.71 [[ 9.79082528e-01 -2.03451971e-01 -2.16755711e-03 6.86246015e+01] [-2.03451502e-01 -9.79084928e-01 4.37270815e-04 -2.52050639e+01] [-2.21118611e-03 1.28685354e-05 -9.99997555e-01 6.71476535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.62, Y:-25.22, Z:6.72 [[ 9.91700355e-01 -1.28537353e-01 -2.92495043e-03 6.86194933e+01] [-1.28536866e-01 -9.91704668e-01 3.54767070e-04 -2.52169973e+01] [-2.94628781e-03 2.41413325e-05 -9.99995659e-01 6.71562582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.61, Y:-25.23, Z:6.72 [[ 9.98675160e-01 -5.13908573e-02 -2.62784363e-03 6.86146200e+01] [-5.13907422e-02 -9.98678617e-01 1.11366384e-04 -2.52271621e+01] [-2.63009446e-03 2.38279934e-05 -9.99996541e-01 6.71594083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.61, Y:-25.24, Z:6.72 [[ 9.99654863e-01 2.61579292e-02 -2.43282999e-03 6.86120357e+01] [ 2.61577934e-02 -9.99657823e-01 -8.76273805e-05 -2.52371723e+01] [-2.43428968e-03 2.39596728e-05 -9.99997037e-01 6.71586789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.61, Y:-25.25, Z:6.72 [[ 9.94700766e-01 1.02788383e-01 -2.22129206e-03 6.86103826e+01] [ 1.02788070e-01 -9.94703246e-01 -2.55094926e-04 -2.52481692e+01] [-2.23574722e-03 2.54207950e-05 -9.99997500e-01 6.71537440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.61, Y:-25.26, Z:6.72 [[ 9.84013217e-01 1.78071110e-01 -2.94439900e-03 6.86096374e+01] [ 1.78070188e-01 -9.84017621e-01 -5.74540681e-04 -2.52611542e+01] [-2.99964960e-03 4.10459400e-05 -9.99995500e-01 6.71656414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.61, Y:-25.27, Z:6.72 [[ 9.67273820e-01 2.53709444e-01 -3.58825460e-03 6.86099573e+01] [ 2.53707490e-01 -9.67280474e-01 -9.97146880e-04 -2.52744761e+01] [-3.72383419e-03 5.41470039e-05 -9.99993065e-01 6.71724935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.020385723 meters Centerline goodness [0,1] 0.9998681289698674 Centerline is valid? [True, True] Translation: X:68.61, Y:-25.29, Z:6.72 [[ 9.44849117e-01 3.27480640e-01 -4.07149808e-03 6.86098268e+01] [ 3.27477287e-01 -9.44857887e-01 -1.48342118e-03 -2.52860053e+01] [-4.33277879e-03 6.82860409e-05 -9.99990611e-01 6.72048473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.050385723 meters Centerline goodness [0,1] 0.9999780610342028 Centerline is valid? [True, True] Translation: X:68.61, Y:-25.30, Z:6.72 [[ 9.16919381e-01 3.99057117e-01 -3.50225763e-03 6.86133529e+01] [ 3.99053928e-01 -9.16926067e-01 -1.59661074e-03 -2.52995987e+01] [-3.84845020e-03 6.63736669e-05 -9.99992593e-01 6.71829579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.62, Y:-25.31, Z:6.72 [[ 8.83289080e-01 4.68814870e-01 -3.60820375e-03 6.86158598e+01] [ 4.68810612e-01 -8.83296446e-01 -1.99960389e-03 -2.53110583e+01] [-4.12455759e-03 7.46640701e-05 -9.99991491e-01 6.71843609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.110385723 meters Centerline goodness [0,1] 0.9999781702285577 Centerline is valid? [True, True] Translation: X:68.62, Y:-25.32, Z:6.72 [[ 8.44169709e-01 5.36064304e-01 -3.54460413e-03 6.86197133e+01] [ 5.36059182e-01 -8.44177147e-01 -2.34488612e-03 -2.53208066e+01] [-4.24928355e-03 7.93642487e-05 -9.99990969e-01 6.71893069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.63, Y:-25.33, Z:6.72 [[ 7.99750917e-01 6.00324080e-01 -3.07730188e-03 6.86258831e+01] [ 6.00319278e-01 -7.99756834e-01 -2.40219184e-03 -2.53325884e+01] [-3.90318681e-03 7.37914802e-05 -9.99992380e-01 6.71837434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.63, Y:-25.34, Z:6.72 [[ 7.50428713e-01 6.60947166e-01 -2.36448181e-03 6.86317231e+01] [ 6.60943625e-01 -7.50432436e-01 -2.16422580e-03 -2.53440348e+01] [-3.20482275e-03 6.13080024e-05 -9.99994863e-01 6.71787728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.200385723 meters Centerline goodness [0,1] 0.9999563194793282 Centerline is valid? [True, True] Translation: X:68.64, Y:-25.35, Z:6.72 [[ 6.96678320e-01 7.17380364e-01 -2.17518098e-03 6.86393357e+01] [ 7.17376586e-01 -6.96681713e-01 -2.32919707e-03 -2.53546511e+01] [-3.18632905e-03 6.22771912e-05 -9.99994922e-01 6.71699820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.65, Y:-25.37, Z:6.72 [[ 6.39241062e-01 7.69005880e-01 -9.06765994e-04 6.86503993e+01] [ 7.69005038e-01 -6.39241704e-01 -1.13784604e-03 -2.53664131e+01] [-1.45465294e-03 3.00502938e-05 -9.99998942e-01 6.71587160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.66, Y:-25.38, Z:6.72 [[ 5.77511770e-01 8.16382290e-01 -3.34657546e-04 6.86581987e+01] [ 8.16382140e-01 -5.77511867e-01 -4.94917573e-04 -2.53758763e+01] [-5.97310646e-04 1.26122804e-05 -9.99999822e-01 6.71557320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.290385723 meters Centerline goodness [0,1] 0.9999782286858835 Centerline is valid? [True, True] Translation: X:68.67, Y:-25.38, Z:6.72 [[ 5.12739292e-01 8.58544128e-01 -6.31181957e-04 6.86684442e+01] [ 8.58543408e-01 -5.12739680e-01 -1.11246898e-03 -2.53840543e+01] [-1.27873574e-03 2.85094484e-05 -9.99999182e-01 6.71600872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.68, Y:-25.39, Z:6.72 [[ 4.44632444e-01 8.95712822e-01 -7.28139910e-04 6.86781722e+01] [ 8.95711471e-01 -4.44633038e-01 -1.55618276e-03 -2.53904003e+01] [-1.71764791e-03 3.97260719e-05 -9.99998524e-01 6.71639149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3503857229999 meters Centerline goodness [0,1] 0.9999129867304763 Centerline is valid? [True, True] Translation: X:68.69, Y:-25.40, Z:6.72 [[ 3.74314929e-01 9.27301205e-01 -8.99538914e-04 6.86888623e+01] [ 9.27298113e-01 -3.74316005e-01 -2.39554569e-03 -2.53975057e+01] [-2.55810421e-03 6.25477781e-05 -9.99996726e-01 6.71916418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.380385723 meters Centerline goodness [0,1] 0.9999782745660345 Centerline is valid? [True, True] Translation: X:68.71, Y:-25.40, Z:6.72 [[ 3.00496494e-01 9.53782786e-01 -5.03328193e-04 6.87072045e+01] [ 9.53781191e-01 -3.00496912e-01 -1.74510812e-03 -2.54041999e+01] [-1.81570265e-03 4.43339093e-05 -9.99998351e-01 6.71748752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.410385723 meters Centerline goodness [0,1] 0.9999782745660345 Centerline is valid? [True, True] Translation: X:68.72, Y:-25.41, Z:6.72 [[ 2.24895450e-01 9.74382832e-01 -3.65144653e-04 6.87207126e+01] [ 9.74381209e-01 -2.24895742e-01 -1.77915666e-03 -2.54089629e+01] [-1.81569919e-03 4.43341509e-05 -9.99998351e-01 6.71748749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.74, Y:-25.41, Z:6.72 [[ 1.46635247e-01 9.89190579e-01 -3.19571760e-04 6.87363892e+01] [ 9.89187260e-01 -1.46635583e-01 -2.56315783e-03 -2.54139334e+01] [-2.58231217e-03 5.97329664e-05 -9.99996664e-01 6.71778146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.75, Y:-25.42, Z:6.72 [[ 6.74342096e-02 9.97723713e-01 -1.44936682e-04 6.87505782e+01] [ 9.97718667e-01 -6.74343296e-02 -3.17367113e-03 -2.54160276e+01] [-3.17622065e-03 6.94079701e-05 -9.99994953e-01 6.71807581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.77, Y:-25.42, Z:6.72 [[-1.25620853e-02 9.99921088e-01 1.13807778e-04 6.87688764e+01] [ 9.99915066e-01 1.25624047e-02 -3.47096729e-03 -2.54168206e+01] [-3.47212309e-03 7.01955252e-05 -9.99993970e-01 6.71828993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.79, Y:-25.42, Z:6.72 [[-9.32182541e-02 9.95645595e-01 4.53704034e-04 6.87863217e+01] [ 9.95637298e-01 9.32193298e-02 -4.06551855e-03 -2.54163690e+01] [-4.09010962e-03 7.27441174e-05 -9.99991633e-01 6.71896496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.80, Y:-25.42, Z:6.72 [[-1.71762642e-01 9.85138066e-01 7.64964368e-04 6.87987930e+01] [ 9.85129998e-01 1.71764331e-01 -3.98757172e-03 -2.54150212e+01] [-4.05970229e-03 6.86734941e-05 -9.99991757e-01 6.71924306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.81, Y:-25.41, Z:6.72 [[-2.49050309e-01 9.68490159e-01 8.69505184e-04 6.88137198e+01] [ 9.68484982e-01 2.49051821e-01 -3.16711268e-03 -2.54111258e+01] [-3.28386931e-03 5.33323233e-05 -9.99994607e-01 6.71899567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.83, Y:-25.41, Z:6.72 [[-3.24791691e-01 9.45784932e-01 1.10470258e-03 6.88292407e+01] [ 9.45779980e-01 3.24793566e-01 -3.06083036e-03 -2.54051898e+01] [-3.25368752e-03 5.06733127e-05 -9.99994706e-01 6.71827288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.85, Y:-25.40, Z:6.72 [[-3.99187931e-01 9.16868103e-01 1.37040989e-03 6.88464466e+01] [ 9.16863097e-01 3.99190280e-01 -3.03008504e-03 -2.53968757e+01] [-3.32524263e-03 4.69048811e-05 -9.99994470e-01 6.71867374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.86, Y:-25.39, Z:6.72 [[-4.70273696e-01 8.82518895e-01 1.74676823e-03 6.88603761e+01] [ 8.82513190e-01 4.70276937e-01 -3.17376988e-03 -2.53883267e+01] [-3.62237670e-03 4.90055152e-05 -9.99993438e-01 6.71891522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.710385723 meters Centerline goodness [0,1] 0.9999359617478174 Centerline is valid? [True, True] Translation: X:68.87, Y:-25.38, Z:6.72 [[-5.38507240e-01 8.42618232e-01 2.11353351e-03 6.88724312e+01] [ 8.42612100e-01 5.38511386e-01 -3.21513395e-03 -2.53807188e+01] [-3.84729234e-03 4.95159988e-05 -9.99992598e-01 6.71951517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.88, Y:-25.37, Z:6.72 [[-6.03567030e-01 7.97308146e-01 2.56137944e-03 6.88844257e+01] [ 7.97301315e-01 6.03572463e-01 -3.30072469e-03 -2.53708748e+01] [-4.17767278e-03 4.99826017e-05 -9.99991272e-01 6.71937323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.770385723 meters Centerline goodness [0,1] 0.9999786096256684 Centerline is valid? [True, True] Translation: X:68.90, Y:-25.36, Z:6.72 [[-6.64571218e-01 7.47220228e-01 2.65092936e-03 6.88952814e+01] [ 7.47214552e-01 6.64576504e-01 -2.91281630e-03 -2.53599907e+01] [-3.93826063e-03 4.50391149e-05 -9.99992244e-01 6.71944662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.90, Y:-25.35, Z:6.72 [[-7.21366355e-01 6.92551320e-01 1.80312898e-03 6.89046683e+01] [ 6.92549250e-01 7.21368608e-01 -1.69346753e-03 -2.53478802e+01] [-2.47353381e-03 2.71451270e-05 -9.99996941e-01 6.71810846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.92, Y:-25.32, Z:6.72 [[-7.68549018e-01 6.39787487e-01 2.09265756e-03 6.89235974e+01] [ 6.39785220e-01 7.68551866e-01 -1.70322943e-03 -2.53244718e+01] [-2.69802075e-03 2.98360731e-05 -9.99996360e-01 6.71810297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.94, Y:-25.30, Z:6.72 [[-8.11800735e-01 5.83929190e-01 2.50362229e-03 6.89387472e+01] [ 5.83926543e-01 8.11804595e-01 -1.75843506e-03 -2.52986596e+01] [-3.05925364e-03 3.44326380e-05 -9.99995320e-01 6.71863965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.890385723 meters Centerline goodness [0,1] 0.9999787424004082 Centerline is valid? [True, True] Translation: X:68.95, Y:-25.27, Z:6.72 [[-8.51033252e-01 5.25100154e-01 3.49741777e-03 6.89528017e+01] [ 5.25095944e-01 8.51040438e-01 -2.10328958e-03 -2.52723603e+01] [-4.08088163e-03 4.65105077e-05 -9.99991672e-01 6.71941464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.96, Y:-25.25, Z:6.72 [[-8.85891778e-01 4.63871315e-01 4.37731378e-03 6.89645860e+01] [ 4.63865977e-01 8.85902591e-01 -2.22621375e-03 -2.52454604e+01] [-4.91055032e-03 5.83024695e-05 -9.99987942e-01 6.72025971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.950385723 meters Centerline goodness [0,1] 0.9998943051621358 Centerline is valid? [True, True] Translation: X:68.97, Y:-25.22, Z:6.72 [[-9.16013349e-01 4.01100135e-01 6.18267396e-03 6.89740334e+01] [ 4.01091647e-01 9.16034210e-01 -2.61086211e-03 -2.52179704e+01] [-6.71075800e-03 8.82343369e-05 -9.99977479e-01 6.72300971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.98, Y:-25.19, Z:6.72 [[-9.42070476e-01 3.35368598e-01 5.57863766e-03 6.89781814e+01] [ 3.35363214e-01 9.42086990e-01 -1.90210189e-03 -2.51880994e+01] [-5.89346720e-03 7.89558196e-05 -9.99982630e-01 6.72115058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.98, Y:-25.16, Z:6.72 [[-9.63030551e-01 2.69319340e-01 6.26498948e-03 6.89830572e+01] [ 2.69314300e-01 9.63050925e-01 -1.65049235e-03 -2.51593312e+01] [-6.47801342e-03 9.77767051e-05 -9.99979013e-01 6.72168957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.99, Y:-25.13, Z:6.72 [[-9.79542743e-01 2.01091012e-01 7.64323092e-03 6.89860257e+01] [ 2.01085876e-01 9.79572555e-01 -1.44249153e-03 -2.51301366e+01] [-7.77717132e-03 1.23963683e-04 -9.99969750e-01 6.72233664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.98, Y:-25.10, Z:6.72 [[-9.91033532e-01 1.33304909e-01 9.07417796e-03 6.89830865e+01] [ 1.33300860e-01 9.91075060e-01 -1.05231532e-03 -2.51013310e+01] [-9.13347026e-03 1.66715955e-04 -9.99958275e-01 6.72334249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.98, Y:-25.07, Z:6.72 [[-9.97926292e-01 6.37481516e-02 8.90444713e-03 6.89778532e+01] [ 6.37471660e-02 9.97966003e-01 -3.94743892e-04 -2.50721501e+01] [-8.91149971e-03 1.73707962e-04 -9.99960277e-01 6.72260656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.97, Y:-25.04, Z:6.72 [[-9.99944842e-01 -6.31883076e-03 8.38960219e-03 6.89693101e+01] [-6.31715894e-03 9.99980021e-01 2.25758149e-04 -2.50405002e+01] [-8.39086110e-03 1.72747246e-04 -9.99964781e-01 6.72116474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.96, Y:-24.43, Z:5.76 [[-9.99790208e-01 -1.88102109e-02 8.10658092e-03 6.89563384e+01] [ 1.88080900e-02 -9.99823055e-01 -3.37799509e-04 -2.44336545e+01] [ 8.11150058e-03 -1.85259338e-04 9.99967084e-01 5.75720981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.90, Y:-25.04, Z:6.72 [[-9.99909400e-01 -1.05953667e-02 8.30245992e-03 6.88953696e+01] [-1.05935386e-02 9.99943852e-01 2.64139970e-04 -2.50408886e+01] [-8.30479242e-03 1.76163610e-04 -9.99965499e-01 6.71982845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.88, Y:-24.44, Z:5.76 [[-9.99854859e-01 -1.51990847e-02 7.69733775e-03 6.88766079e+01] [ 1.51970639e-02 -9.99884467e-01 -3.20951751e-04 -2.44370079e+01] [ 7.70132662e-03 -2.03928234e-04 9.99970324e-01 5.75676766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.82, Y:-25.04, Z:6.72 [[-9.99815876e-01 -1.75598875e-02 7.73716372e-03 6.88187084e+01] [-1.75582189e-02 9.99845802e-01 2.83537446e-04 -2.50410189e+01] [-7.74094955e-03 1.47634426e-04 -9.99970028e-01 6.71992251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.80, Y:-24.44, Z:5.76 [[-9.99869572e-01 -1.49407637e-02 6.13289859e-03 6.87956250e+01] [ 1.49390804e-02 -9.99888355e-01 -3.20189889e-04 -2.44446209e+01] [ 6.13699776e-03 -2.28528262e-04 9.99981142e-01 5.75832660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.74, Y:-25.04, Z:6.72 [[-9.99631312e-01 -2.65488673e-02 5.69194732e-03 6.87415448e+01] [-2.65479573e-02 9.99647513e-01 2.35378529e-04 -2.50405738e+01] [-5.69619002e-03 8.41821735e-05 -9.99983773e-01 6.71848428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.72, Y:-24.45, Z:5.76 [[-9.99892014e-01 -1.37433286e-02 5.20391705e-03 6.87203346e+01] [ 1.37425665e-02 -9.99905550e-01 -1.82179171e-04 -2.44507963e+01] [ 5.20592928e-03 -1.10644323e-04 9.99986443e-01 5.75974015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.67, Y:-25.04, Z:6.72 [[-9.99382342e-01 -3.47703309e-02 5.09505348e-03 6.86702339e+01] [-3.47695832e-02 9.99395328e-01 2.35266982e-04 -2.50427783e+01] [-5.10015296e-03 5.79687815e-05 -9.99986993e-01 6.71881685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.66, Y:-25.01, Z:6.72 [[-9.93985706e-01 -1.09418994e-01 4.46100856e-03 6.86558017e+01] [-1.09417734e-01 9.93995716e-01 5.26239711e-04 -2.50087588e+01] [-4.49180401e-03 3.49613016e-05 -9.99989911e-01 6.71742191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.59, Y:-24.44, Z:5.76 [[-9.98475310e-01 5.49890545e-02 4.82272787e-03 6.85859278e+01] [-5.49884819e-02 -9.98486957e-01 2.51345126e-04 -2.44358562e+01] [ 4.82925210e-03 -1.42325814e-05 9.99988339e-01 5.76004064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.57, Y:-25.01, Z:6.72 [[-9.92854882e-01 -1.19233646e-01 4.74573138e-03 6.85673498e+01] [-1.19232209e-01 9.92866223e-01 5.85559238e-04 -2.50148936e+01] [-4.78169476e-03 1.55313100e-05 -9.99988568e-01 6.71738258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.55, Y:-24.99, Z:6.72 [[-9.80959467e-01 -1.94169632e-01 4.08398116e-03 6.85475361e+01] [-1.94167970e-01 9.80967968e-01 8.03246625e-04 -2.49862697e+01] [-4.16222080e-03 -5.02595249e-06 -9.99991338e-01 6.71738012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.52, Y:-24.96, Z:6.72 [[-9.63728421e-01 -2.66856897e-01 3.86360840e-03 6.85169055e+01] [-2.66854825e-01 9.63736165e-01 1.05186300e-03 -2.49616938e+01] [-4.00419605e-03 -1.73122743e-05 -9.99991983e-01 6.71771946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.48, Y:-24.94, Z:6.72 [[-9.41695191e-01 -3.36446951e-01 3.69009067e-03 6.84806933e+01] [-3.36444453e-01 9.41702421e-01 1.29668558e-03 -2.49424509e+01] [-3.91123323e-03 -2.04279579e-05 -9.99992351e-01 6.71746770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.43, Y:-24.93, Z:6.72 [[-9.14463971e-01 -4.04651546e-01 3.57384303e-03 6.84264112e+01] [-4.04648552e-01 9.14470954e-01 1.55667775e-03 -2.49321522e+01] [-3.89808771e-03 -2.26246869e-05 -9.99992402e-01 6.71820935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.35, Y:-24.94, Z:6.72 [[-8.82242536e-01 -4.70776878e-01 4.15205041e-03 6.83528297e+01] [-4.70771810e-01 8.82252306e-01 2.18457462e-03 -2.49358629e+01] [-4.69160327e-03 -2.73436339e-05 -9.99988994e-01 6.71903936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.28, Y:-24.94, Z:6.72 [[-8.44993534e-01 -5.34756306e-01 4.64989737e-03 6.82828646e+01] [-5.34748418e-01 8.45006327e-01 2.90477932e-03 -2.49437712e+01] [-5.48254176e-03 -3.20055203e-05 -9.99984970e-01 6.71952253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.20, Y:-24.96, Z:6.72 [[-8.02726530e-01 -5.96323910e-01 5.28318033e-03 6.82034134e+01] [-5.96311330e-01 8.02743915e-01 3.87366797e-03 -2.49641068e+01] [-6.55100169e-03 -4.09242386e-05 -9.99978541e-01 6.72079441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.12, Y:-24.99, Z:6.72 [[-7.55799081e-01 -6.54783322e-01 5.15266524e-03 6.81211067e+01] [-6.54768507e-01 7.55816644e-01 4.40490341e-03 -2.49942584e+01] [-6.77872744e-03 -4.45809828e-05 -9.99977023e-01 6.72060426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.04, Y:-25.04, Z:6.72 [[-7.03870446e-01 -7.10312036e-01 4.81728754e-03 6.80372227e+01] [-7.10295906e-01 7.03886929e-01 4.78726858e-03 -2.50356052e+01] [-6.79128022e-03 -5.20827470e-05 -9.99976938e-01 6.72010901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.95, Y:-25.09, Z:6.72 [[-6.48032600e-01 -7.61599993e-01 4.38181857e-03 6.79483006e+01] [-7.61583160e-01 6.48047412e-01 5.06388604e-03 -2.50897373e+01] [-6.69628176e-03 -5.55559981e-05 -9.99977578e-01 6.72025189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.87, Y:-25.15, Z:6.72 [[-5.88404344e-01 -8.08557616e-01 3.86138296e-03 6.78678840e+01] [-8.08540828e-01 5.88417011e-01 5.21066971e-03 -2.51465197e+01] [-6.48523010e-03 -5.61050797e-05 -9.99978969e-01 6.71985708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.79, Y:-25.22, Z:6.72 [[-5.24741856e-01 -8.51256161e-01 2.98896616e-03 6.77886997e+01] [-8.51242932e-01 5.24750366e-01 4.74595460e-03 -2.52153998e+01] [-5.60848418e-03 -5.39352934e-05 -9.99984271e-01 6.71911402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.71, Y:-25.29, Z:6.72 [[-4.58118336e-01 -8.88887853e-01 2.44429173e-03 6.77106810e+01] [-8.88875818e-01 4.58124853e-01 4.62589798e-03 -2.52937666e+01] [-5.23169531e-03 -5.34631307e-05 -9.99986313e-01 6.71927070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.64, Y:-25.38, Z:6.72 [[-3.88555395e-01 -9.21422855e-01 2.15102132e-03 6.76408384e+01] [-9.21409574e-01 3.88561344e-01 4.94760494e-03 -2.53808116e+01] [-5.39464000e-03 -5.95530459e-05 -9.99985447e-01 6.71927383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.58, Y:-25.48, Z:6.72 [[-3.16785847e-01 -9.48495419e-01 1.77988779e-03 6.75753008e+01] [-9.48481545e-01 3.16790841e-01 5.13050251e-03 -2.54751862e+01] [-5.43011028e-03 -6.29201339e-05 -9.99985255e-01 6.71905839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.940385723 meters Centerline goodness [0,1] 0.9999357670484958 Centerline is valid? [True, True] Translation: X:67.51, Y:-25.58, Z:6.72 [[-2.43516085e-01 -9.69895717e-01 1.48786364e-03 6.75136477e+01] [-9.69879279e-01 2.43520621e-01 5.64732496e-03 -2.55848785e+01] [-5.83964177e-03 -6.78336525e-05 -9.99982947e-01 6.71919282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.47, Y:-25.69, Z:6.72 [[-1.68365916e-01 -9.85723886e-01 1.15737382e-03 6.74663512e+01] [-9.85703617e-01 1.68369877e-01 6.32178098e-03 -2.56868964e+01] [-6.42639740e-03 -7.64551086e-05 -9.99979348e-01 6.71914822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.000385723 meters Centerline goodness [0,1] 0.9999785191072541 Centerline is valid? [True, True] Translation: X:67.43, Y:-25.80, Z:6.72 [[-9.28778786e-02 -9.95677200e-01 7.83073262e-04 6.74251087e+01] [-9.95649194e-01 9.28811398e-02 7.46832424e-03 -2.57961689e+01] [-7.50877291e-03 -8.60241507e-05 -9.99971805e-01 6.72081051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.39, Y:-25.91, Z:6.72 [[-1.68982598e-02 -9.99857187e-01 2.33710106e-04 6.73908951e+01] [-9.99821992e-01 1.68996260e-02 8.38964266e-03 -2.59129823e+01] [-8.39239413e-03 -9.18981428e-05 -9.99964779e-01 6.72082082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.37, Y:-26.03, Z:6.72 [[ 5.97761820e-02 -9.98211717e-01 -4.20293149e-04 6.73658023e+01] [-9.98174724e-01 -5.97775853e-02 8.59426216e-03 -2.60277562e+01] [-8.60401730e-03 -9.42061817e-05 -9.99962980e-01 6.72039401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.35, Y:-26.15, Z:6.72 [[ 1.35211760e-01 -9.90816188e-01 -1.03011039e-03 6.73519772e+01] [-9.90782589e-01 -1.35215659e-01 8.16011761e-03 -2.61503817e+01] [-8.22446368e-03 -8.27284282e-05 -9.99966175e-01 6.72060053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.120385723 meters Centerline goodness [0,1] 0.999935093033319 Centerline is valid? [True, True] Translation: X:67.35, Y:-26.27, Z:6.72 [[ 2.10415532e-01 -9.77610672e-01 -1.63677895e-03 6.73472252e+01] [-9.77578106e-01 -2.10421883e-01 7.97986535e-03 -2.62744742e+01] [-8.14561563e-03 -7.90083496e-05 -9.99966821e-01 6.71948918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.35, Y:-26.39, Z:6.72 [[ 2.83237489e-01 -9.59046735e-01 -2.42572823e-03 6.73520643e+01] [-9.59009386e-01 -2.83247867e-01 8.46423603e-03 -2.63911619e+01] [-8.80468028e-03 -7.10928219e-05 -9.99961236e-01 6.71994682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.36, Y:-26.51, Z:6.72 [[ 3.55048627e-01 -9.34842620e-01 -3.12217069e-03 6.73649235e+01] [-9.34804877e-01 -3.55062348e-01 8.40065188e-03 -2.65140611e+01] [-8.96185267e-03 -6.40195244e-05 -9.99959840e-01 6.72049218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.39, Y:-26.63, Z:6.72 [[ 4.24175930e-01 -9.05571282e-01 -3.92850443e-03 6.73881645e+01] [-9.05531325e-01 -4.24194118e-01 8.50700278e-03 -2.66294510e+01] [-9.37014589e-03 -5.10819889e-05 -9.99956098e-01 6.72113011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.42, Y:-26.76, Z:6.72 [[ 4.92132741e-01 -8.70508627e-01 -4.48288529e-03 6.74245190e+01] [-8.70471609e-01 -4.92153155e-01 8.02805021e-03 -2.67571427e+01] [-9.19475311e-03 -4.86419784e-05 -9.99957726e-01 6.72090986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.46, Y:-26.87, Z:6.72 [[ 5.57074449e-01 -8.30447514e-01 -4.99853430e-03 6.74607024e+01] [-8.30413359e-01 -5.57096872e-01 7.53179131e-03 -2.68658118e+01] [-9.03942519e-03 -4.49188414e-05 -9.99959143e-01 6.72129529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.51, Y:-26.97, Z:6.72 [[ 6.19744469e-01 -7.84785387e-01 -5.35633091e-03 6.75074254e+01] [-7.84755349e-01 -6.19767613e-01 6.86641579e-03 -2.69699974e+01] [-8.70834319e-03 -5.20138732e-05 -9.99962080e-01 6.72076233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.56, Y:-27.07, Z:6.72 [[ 6.77833816e-01 -7.35191758e-01 -5.86481321e-03 6.75561816e+01] [-7.35163575e-01 -6.77859186e-01 6.43758964e-03 -2.70725329e+01] [-8.70838035e-03 -5.20189108e-05 -9.99962080e-01 6.72076410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.61, Y:-27.16, Z:6.72 [[ 7.32672013e-01 -6.80552602e-01 -6.31478352e-03 6.76066248e+01] [-6.80526595e-01 -7.32699223e-01 5.94992079e-03 -2.71609983e+01] [-8.67607106e-03 -6.19623180e-05 -9.99962360e-01 6.71970679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.60, Y:-27.17, Z:6.72 [[ 7.85151197e-01 -6.19271542e-01 -6.35258098e-03 6.76039926e+01] [-6.19250463e-01 -7.85176892e-01 5.11012699e-03 -2.71699022e+01] [-8.15245601e-03 -7.83836112e-05 -9.99966765e-01 6.71936462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.420385723 meters Centerline goodness [0,1] 0.9999779526864652 Centerline is valid? [True, True] Translation: X:67.60, Y:-27.18, Z:6.72 [[ 8.31793544e-01 -5.55045657e-01 -6.61955848e-03 6.75997170e+01] [-5.55027251e-01 -8.31819879e-01 4.52094123e-03 -2.71792522e+01] [-8.01560913e-03 -8.64543829e-05 -9.99967871e-01 6.71952824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.60, Y:-27.19, Z:6.72 [[ 8.73226887e-01 -4.87267786e-01 -6.70130984e-03 6.75967846e+01] [-4.87252622e-01 -8.73252596e-01 3.84532548e-03 -2.71856864e+01] [-7.72563945e-03 -9.26108144e-05 -9.99970153e-01 6.72026805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.60, Y:-27.19, Z:6.72 [[ 9.08830712e-01 -4.17107305e-01 -6.94499969e-03 6.75958562e+01] [-4.17094319e-01 -9.08857243e-01 3.29267353e-03 -2.71913671e+01] [-7.68541145e-03 -9.57629137e-05 -9.99970462e-01 6.71893935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.60, Y:-27.19, Z:6.72 [[ 9.38529263e-01 -3.45122925e-01 -7.27936619e-03 6.75960725e+01] [-3.45111766e-01 -9.38557488e-01 2.77698206e-03 -2.71943927e+01] [-7.79050382e-03 -9.40840111e-05 -9.99969649e-01 6.71816088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.60, Y:-27.20, Z:6.72 [[ 9.62461196e-01 -2.71321918e-01 -7.27075332e-03 6.75952310e+01] [-2.71313493e-01 -9.62488654e-01 2.13982553e-03 -2.72001187e+01] [-7.57859915e-03 -8.68455589e-05 -9.99971278e-01 6.71808872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.59, Y:-27.20, Z:6.72 [[ 9.80549068e-01 -1.96126628e-01 -7.60725049e-03 6.75937595e+01] [-1.96120074e-01 -9.80578574e-01 1.60552499e-03 -2.72036738e+01] [-7.77439304e-03 -8.23615059e-05 -9.99969776e-01 6.71849688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.59, Y:-27.20, Z:6.72 [[ 9.92702064e-01 -1.20280135e-01 -8.67759146e-03 6.75906559e+01] [-1.20274842e-01 -9.92739988e-01 1.13123992e-03 -2.72040453e+01] [-8.75065773e-03 -7.92882612e-05 -9.99961709e-01 6.71995175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.59, Y:-27.21, Z:6.72 [[ 9.99034885e-01 -4.29641953e-02 -9.13106916e-03 6.75871533e+01] [-4.29617049e-02 -9.99076610e-01 4.68805139e-04 -2.72064867e+01] [-9.14277946e-03 -7.60663891e-05 -9.99958201e-01 6.71996475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.58, Y:-27.21, Z:6.72 [[ 9.99367372e-01 3.43748673e-02 -9.12269001e-03 6.75824404e+01] [ 3.43740451e-02 -9.99409007e-01 -2.46953851e-04 -2.72100482e+01] [-9.12578758e-03 -6.67861369e-05 -9.99958357e-01 6.71843262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.58, Y:-27.22, Z:6.72 [[ 9.93526735e-01 1.13282009e-01 -8.47423603e-03 6.75788274e+01] [ 1.13278482e-01 -9.93562873e-01 -8.96599044e-04 -2.72210471e+01] [-8.52125483e-03 -6.91534685e-05 -9.99963691e-01 6.71813085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.58, Y:-27.23, Z:6.72 [[ 9.81517542e-01 1.91175441e-01 -8.67555919e-03 6.75760734e+01] [ 1.91168653e-01 -9.81555880e-01 -1.61275575e-03 -2.72329907e+01] [-8.82386543e-03 -7.55469045e-05 -9.99961066e-01 6.71857617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.750385723 meters Centerline goodness [0,1] 0.9999776760799196 Centerline is valid? [True, True] Translation: X:67.57, Y:-27.25, Z:6.72 [[ 9.63533136e-01 2.67384149e-01 -1.04695994e-02 6.75748732e+01] [ 2.67369411e-01 -9.63590011e-01 -2.80882529e-03 -2.72469116e+01] [-1.08394367e-02 -9.28543756e-05 -9.99941247e-01 6.71939252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.57, Y:-27.26, Z:6.72 [[ 9.39927254e-01 3.41200720e-01 -1.09007315e-02 6.75741629e+01] [ 3.41178879e-01 -9.39990458e-01 -3.86157187e-03 -2.72590732e+01] [-1.15641547e-02 -8.95027056e-05 -9.99933129e-01 6.72049124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.58, Y:-27.27, Z:6.72 [[ 9.11364136e-01 4.11461388e-01 -1.07209722e-02 6.75751627e+01] [ 4.11433713e-01 -9.11427190e-01 -4.77249677e-03 -2.72717770e+01] [-1.17350837e-02 -6.14869971e-05 -9.99931140e-01 6.71999172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.58, Y:-27.28, Z:6.72 [[ 8.76944743e-01 4.80488922e-01 -9.91536035e-03 6.75771428e+01] [ 4.80458796e-01 -8.77000795e-01 -5.38064568e-03 -2.72836305e+01] [-1.12811195e-02 -4.53931563e-05 -9.99936365e-01 6.71859963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.58, Y:-27.30, Z:6.72 [[ 8.37662794e-01 5.46115357e-01 -8.89163617e-03 6.75790872e+01] [ 5.46084884e-01 -8.37709984e-01 -5.76913684e-03 -2.72956319e+01] [-1.05992266e-02 -2.29968187e-05 -9.99943826e-01 6.71770026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.58, Y:-27.31, Z:6.72 [[ 7.92802544e-01 6.09417550e-01 -8.62415515e-03 6.75820079e+01] [ 6.09381711e-01 -7.92849449e-01 -6.60911093e-03 -2.73062101e+01] [-1.08653649e-02 -1.56824624e-05 -9.99940970e-01 6.71800119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.59, Y:-27.32, Z:6.72 [[ 7.44267649e-01 6.67818236e-01 -9.19079445e-03 6.75851497e+01] [ 6.67767122e-01 -7.44324394e-01 -8.26240801e-03 -2.73164322e+01] [-1.23587192e-02 1.21326306e-05 -9.99923628e-01 6.71982005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.59, Y:-27.33, Z:6.72 [[ 6.90842066e-01 7.22952760e-01 -8.74912747e-03 6.75883372e+01] [ 7.22894197e-01 -6.90897464e-01 -9.20185832e-03 -2.73256628e+01] [-1.26972589e-02 3.23373366e-05 -9.99919386e-01 6.72026710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.59, Y:-27.33, Z:6.72 [[ 6.34802610e-01 7.72627918e-01 -8.47032750e-03 6.75915859e+01] [ 7.72557443e-01 -6.34859113e-01 -1.04357244e-02 -2.73339561e+01] [-1.34403966e-02 8.08105517e-05 -9.99909671e-01 6.72128210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.59, Y:-27.34, Z:6.72 [[ 5.73458714e-01 8.19197984e-01 -7.73085477e-03 6.75937223e+01] [ 8.19121195e-01 -5.73510813e-01 -1.12167280e-02 -2.73420846e+01] [-1.36224498e-02 9.98234270e-05 -9.99907205e-01 6.72109907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.60, Y:-27.35, Z:6.72 [[ 5.08636052e-01 8.60956510e-01 -6.57684491e-03 6.75985814e+01] [ 8.60881666e-01 -5.08678558e-01 -1.13526618e-02 -2.73515716e+01] [-1.31196481e-02 1.12487889e-04 -9.99913927e-01 6.71961018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.60, Y:-27.36, Z:6.72 [[ 4.40318962e-01 8.97824129e-01 -5.57189076e-03 6.76020304e+01] [ 8.97748780e-01 -4.40354198e-01 -1.16322352e-02 -2.73605518e+01] [-1.28973069e-02 1.19735597e-04 -9.99916819e-01 6.71847339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.110385723 meters Centerline goodness [0,1] 0.9999776446391845 Centerline is valid? [True, True] Translation: X:67.61, Y:-27.37, Z:6.72 [[ 3.68651422e-01 9.29556400e-01 -4.58567303e-03 6.76070216e+01] [ 9.29480442e-01 -3.68679923e-01 -1.18836664e-02 -2.73692329e+01] [-1.27371837e-02 1.18637125e-04 -9.99918872e-01 6.71856741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.61, Y:-27.38, Z:6.72 [[ 2.93547807e-01 9.55938296e-01 -3.41451468e-03 6.76129143e+01] [ 9.55869763e-01 -2.93567649e-01 -1.14469120e-02 -2.73782528e+01] [-1.19449326e-02 9.63845831e-05 -9.99928652e-01 6.71881496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.62, Y:-27.39, Z:6.72 [[ 2.16897558e-01 9.76191420e-01 -2.40022629e-03 6.76191376e+01] [ 9.76127428e-01 -2.16910823e-01 -1.11775877e-02 -2.73866483e+01] [-1.14321003e-02 8.14647583e-05 -9.99934648e-01 6.71931636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.63, Y:-27.39, Z:6.72 [[ 1.38195471e-01 9.90403849e-01 -1.49271815e-03 6.76274322e+01] [ 9.90341123e-01 -1.38203519e-01 -1.11466447e-02 -2.73933773e+01] [-1.12459787e-02 6.21156493e-05 -9.99936760e-01 6.71921509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.230385723 meters Centerline goodness [0,1] 0.9999553969669938 Centerline is valid? [True, True] Translation: X:67.63, Y:-27.40, Z:6.72 [[ 5.96134451e-02 9.98221341e-01 -6.26195779e-04 6.76345210e+01] [ 9.98155933e-01 -5.96167074e-02 -1.14272457e-02 -2.74010040e+01] [-1.14442522e-02 5.61764498e-05 -9.99934511e-01 6.71976852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.65, Y:-27.41, Z:6.72 [[-1.98815760e-02 9.99802305e-01 2.70678520e-04 6.76456878e+01] [ 9.99736858e-01 1.98833717e-02 -1.14396501e-02 -2.74072843e+01] [-1.14427705e-02 4.31690197e-05 -9.99934529e-01 6.71758551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.66, Y:-27.41, Z:6.72 [[-9.92273549e-02 9.95064080e-01 1.18676340e-03 6.76578560e+01] [ 9.94996639e-01 9.92344466e-02 -1.15850234e-02 -2.74124736e+01] [-1.16456085e-02 3.12743593e-05 -9.99932187e-01 6.71749284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.67, Y:-27.42, Z:6.72 [[-1.79490827e-01 9.83757449e-01 2.07972506e-03 6.76723561e+01] [ 9.83691392e-01 1.79502875e-01 -1.14001064e-02 -2.74160971e+01] [-1.15882562e-02 -4.06882539e-07 -9.99932854e-01 6.71759799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.69, Y:-27.42, Z:6.72 [[-2.57381353e-01 9.66305524e-01 2.91076053e-03 6.76857239e+01] [ 9.66243010e-01 2.57397811e-01 -1.09914442e-02 -2.74201294e+01] [-1.13703167e-02 -1.64907708e-05 -9.99935356e-01 6.71961756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.70, Y:-27.42, Z:6.72 [[-3.33329452e-01 9.42803102e-01 3.71322443e-03 6.76977144e+01] [ 9.42743664e-01 3.33350132e-01 -1.05864753e-02 -2.74220454e+01] [-1.12187656e-02 -2.81652132e-05 -9.99937067e-01 6.71886717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.71, Y:-27.42, Z:6.72 [[-4.06111327e-01 9.13810359e-01 4.92117019e-03 6.77097837e+01] [ 9.13742364e-01 4.06141142e-01 -1.11474726e-02 -2.74244384e+01] [-1.21853657e-02 -3.04332276e-05 -9.99925755e-01 6.72013155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.72, Y:-27.43, Z:6.72 [[-4.75955193e-01 8.79450728e-01 5.75070615e-03 6.77193154e+01] [ 8.79385941e-01 4.75989933e-01 -1.06747400e-02 -2.74254384e+01] [-1.21251861e-02 -2.36078074e-05 -9.99926487e-01 6.71992933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.73, Y:-27.43, Z:6.72 [[-5.40920459e-01 8.41046354e-01 6.78879967e-03 6.77265373e+01] [ 8.40980394e-01 5.40963059e-01 -1.05331095e-02 -2.74274809e+01] [-1.25313232e-02 1.16730008e-05 -9.99921480e-01 6.71903795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.74, Y:-27.43, Z:6.72 [[-6.02341589e-01 7.98207172e-01 7.06544168e-03 6.77379716e+01] [ 7.98153272e-01 6.02383024e-01 -9.27613252e-03 -2.74252921e+01] [-1.16603776e-02 5.19049918e-05 -9.99932014e-01 6.71769748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.530385723 meters Centerline goodness [0,1] 0.9997764114030184 Centerline is valid? [True, True] Translation: X:67.75, Y:-27.42, Z:6.72 [[-6.61730731e-01 7.49703942e-01 7.51256723e-03 6.77500504e+01] [ 7.49656821e-01 6.61773371e-01 -8.40572985e-03 -2.74231682e+01] [-1.12734257e-02 6.95175195e-05 -9.99936451e-01 6.71903742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.76, Y:-27.42, Z:6.72 [[-7.17598311e-01 6.96417407e-01 7.44713707e-03 6.77601889e+01] [ 6.96380996e-01 7.17636949e-01 -7.12167560e-03 -2.74219268e+01] [-1.03039996e-02 7.55423515e-05 -9.99946910e-01 6.71722174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.78, Y:-27.40, Z:6.72 [[-7.63822807e-01 6.45375717e-01 8.05626153e-03 6.77843981e+01] [ 6.45341145e-01 7.63865286e-01 -6.68070176e-03 -2.74042061e+01] [-1.04654612e-02 9.61646697e-05 -9.99945231e-01 6.71715315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.81, Y:-27.39, Z:6.72 [[-8.07229066e-01 5.90171320e-01 8.89098156e-03 6.78146403e+01] [ 5.90136972e-01 8.07278021e-01 -6.36802747e-03 -2.73907389e+01] [-1.09357212e-02 1.06440071e-04 -9.99940198e-01 6.71734414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.83, Y:-27.37, Z:6.72 [[-8.46837082e-01 5.31747266e-01 1.05736838e-02 6.78313382e+01] [ 5.31707627e-01 8.46903082e-01 -6.49378930e-03 -2.73681598e+01] [-1.24079401e-02 1.22926734e-04 -9.99923011e-01 6.71870079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.84, Y:-27.34, Z:6.72 [[-8.82668473e-01 4.69857622e-01 1.14096863e-02 6.78400874e+01] [ 4.69820099e-01 8.82742205e-01 -5.93915548e-03 -2.73395369e+01] [-1.28623692e-02 1.18194666e-04 -9.99917269e-01 6.71883832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.86, Y:-27.32, Z:6.72 [[-9.14237257e-01 4.05004347e-01 1.19045366e-02 6.78632046e+01] [ 4.04971444e-01 9.14314754e-01 -5.16335809e-03 -2.73163198e+01] [-1.29756759e-02 1.00463035e-04 -9.99915807e-01 6.71764851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.740385723 meters Centerline goodness [0,1] 0.999910516543254 Centerline is valid? [True, True] Translation: X:67.86, Y:-27.28, Z:6.72 [[-9.40896333e-01 3.38472942e-01 1.22539198e-02 6.78633357e+01] [ 3.38445484e-01 9.40976121e-01 -4.31216026e-03 -2.72847517e+01] [-1.29901955e-02 8.99880478e-05 -9.99915620e-01 6.71775112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.89, Y:-27.26, Z:6.72 [[-9.63154215e-01 2.68699313e-01 1.16033500e-02 6.78880426e+01] [ 2.68680513e-01 9.63224105e-01 -3.17891970e-03 -2.72603290e+01] [-1.20308000e-02 5.58041398e-05 -9.99927626e-01 6.71736123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.90, Y:-27.23, Z:6.72 [[-9.80028199e-01 1.98572143e-01 1.06692484e-02 6.78976830e+01] [ 1.98560796e-01 9.80086273e-01 -2.12312360e-03 -2.72318944e+01] [-1.08783771e-02 3.77734649e-05 -9.99940828e-01 6.71634522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.91, Y:-27.20, Z:6.72 [[-9.91790047e-01 1.27494341e-01 9.88412244e-03 6.79084546e+01] [ 1.27488248e-01 9.91839298e-01 -1.24660788e-03 -2.72039191e+01] [-9.96239651e-03 2.37361702e-05 -9.99950374e-01 6.71517785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.01, Y:-26.43, Z:5.76 [[-9.81456895e-01 -1.91472981e-01 8.97003255e-03 6.80126162e+01] [ 1.91464280e-01 -9.81497882e-01 -1.82697214e-03 -2.64339830e+01] [ 9.15388375e-03 -7.56535821e-05 9.99958100e-01 5.76337421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.84, Y:-27.19, Z:6.71 [[-9.92714954e-01 1.20130794e-01 9.25274128e-03 6.78419950e+01] [ 1.20125509e-01 9.92758073e-01 -1.12684920e-03 -2.71939695e+01] [-9.32110289e-03 -7.14978761e-06 -9.99956558e-01 6.71461258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.84, Y:-27.16, Z:6.72 [[-9.98655982e-01 5.08179552e-02 1.01865516e-02 6.78380423e+01] [ 5.08146348e-02 9.98707931e-01 -5.84681496e-04 -2.71606737e+01] [-1.02031022e-02 -6.62697719e-05 -9.99947945e-01 6.71599200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.90, Y:-26.39, Z:5.76 [[-9.92098705e-01 -1.25056980e-01 1.00454472e-02 6.79015542e+01] [ 1.25051184e-01 -9.92149559e-01 -1.20544096e-03 -2.63932099e+01] [ 1.01173349e-02 6.02786613e-05 9.99948817e-01 5.76197145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.78, Y:-27.16, Z:6.72 [[-9.98990326e-01 4.38694957e-02 9.68482935e-03 6.77827809e+01] [ 4.38669601e-02 9.99037269e-01 -4.74181437e-04 -2.71558625e+01] [-9.69630757e-03 -4.88586449e-05 -9.99952989e-01 6.71560701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.78, Y:-27.13, Z:6.72 [[-9.99564121e-01 -2.78981288e-02 9.65723553e-03 6.77799020e+01] [-2.78973593e-02 9.99610770e-01 2.14409777e-04 -2.71264880e+01] [-9.65945828e-03 -5.50950490e-05 -9.99953345e-01 6.71553482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.78, Y:-27.10, Z:6.72 [[-9.95058111e-01 -9.88220554e-02 9.67253451e-03 6.77790687e+01] [-9.88179110e-02 9.95105119e-01 9.06629607e-04 -2.70974393e+01] [-9.71478361e-03 -5.36705109e-05 -9.99952809e-01 6.71558712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.76, Y:-27.07, Z:6.71 [[-9.85539561e-01 -1.69128247e-01 1.03638946e-02 6.77593076e+01] [-1.69119471e-01 9.85594051e-01 1.72383811e-03 -2.70719657e+01] [-1.05061426e-02 -5.38257142e-05 -9.99944808e-01 6.71486918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.62, Y:-26.32, Z:5.76 [[-9.95615691e-01 9.29058185e-02 1.08584111e-02 6.76184157e+01] [-9.28993879e-02 -9.95674898e-01 1.09621245e-03 -2.63169365e+01] [ 1.09132919e-02 8.26665654e-05 9.99940445e-01 5.76287903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.63, Y:-27.09, Z:6.71 [[-9.84614218e-01 -1.74426811e-01 1.04943053e-02 6.76306404e+01] [-1.74417298e-01 9.84670141e-01 1.82200925e-03 -2.70924575e+01] [-1.06512364e-02 -3.64121655e-05 -9.99943273e-01 6.71446458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.48, Y:-26.34, Z:5.76 [[-9.94847579e-01 1.00841988e-01 1.04492883e-02 6.74819952e+01] [-1.00836149e-01 -9.94902454e-01 1.08547005e-03 -2.63388211e+01] [ 1.05054836e-02 2.62112560e-05 9.99944816e-01 5.76345951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.49, Y:-27.12, Z:6.71 [[-9.83660986e-01 -1.79795653e-01 9.19713525e-03 6.74853858e+01] [-1.79787997e-01 9.83703981e-01 1.65932471e-03 -2.71155103e+01] [-9.34559793e-03 -2.13215431e-05 -9.99956329e-01 6.71325624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.46, Y:-27.09, Z:6.71 [[-9.68166149e-01 -2.50144631e-01 9.05386606e-03 6.74594773e+01] [-2.50133900e-01 9.68208481e-01 2.31708474e-03 -2.70918504e+01] [-9.34563621e-03 -2.13558181e-05 -9.99956328e-01 6.71325700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.41, Y:-27.08, Z:6.71 [[-9.47515842e-01 -3.19590725e-01 8.68898894e-03 6.74081142e+01] [-3.19577481e-01 9.47555681e-01 2.90951892e-03 -2.70768670e+01] [-9.16315609e-03 -1.99899309e-05 -9.99958017e-01 6.71348796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.280385723 meters Centerline goodness [0,1] 0.9999778839348903 Centerline is valid? [True, True] Translation: X:67.36, Y:-27.06, Z:6.71 [[-9.21356765e-01 -3.88614395e-01 8.97567228e-03 6.73612752e+01] [-3.88596134e-01 9.21400484e-01 3.76734330e-03 -2.70636531e+01] [-9.73423262e-03 -1.68443168e-05 -9.99952621e-01 6.71345709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.28, Y:-27.07, Z:6.71 [[-8.90103927e-01 -4.55673348e-01 8.76353709e-03 6.72823989e+01] [-4.55651439e-01 8.90147066e-01 4.46843466e-03 -2.70682303e+01] [-9.83698341e-03 -1.57470518e-05 -9.99951616e-01 6.71384588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.20, Y:-27.08, Z:6.71 [[-8.53506423e-01 -5.21017787e-01 8.20071687e-03 6.72047845e+01] [-5.20993921e-01 8.53545819e-01 4.98686174e-03 -2.70777679e+01] [-9.59793127e-03 -1.62051094e-05 -9.99953939e-01 6.71433204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.12, Y:-27.10, Z:6.71 [[-8.11834064e-01 -5.83835622e-01 7.83698192e-03 6.71172499e+01] [-5.83808639e-01 8.11871890e-01 5.61306387e-03 -2.71005540e+01] [-9.63973196e-03 -1.84212912e-05 -9.99953537e-01 6.71387398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.03, Y:-27.13, Z:6.71 [[-7.65574096e-01 -6.43306177e-01 7.31207640e-03 6.70253335e+01] [-6.43277050e-01 7.65609014e-01 6.12164965e-03 -2.71349395e+01] [-9.53628664e-03 -1.71145288e-05 -9.99954529e-01 6.71451647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.92, Y:-27.19, Z:6.71 [[-7.15598863e-01 -6.98473931e-01 7.24123064e-03 6.69202416e+01] [-6.98438268e-01 7.15635499e-01 7.05819293e-03 -2.71921342e+01] [-1.01120455e-02 -6.71775211e-06 -9.99948872e-01 6.71457390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.460385723 meters Centerline goodness [0,1] 0.999977794555225 Centerline is valid? [True, True] Translation: X:66.84, Y:-27.24, Z:6.71 [[-6.60830282e-01 -7.50505905e-01 6.65022528e-03 6.68397360e+01] [-7.50467899e-01 6.60863743e-01 7.55288566e-03 -2.72358129e+01] [-1.00633781e-02 3.94964261e-07 -9.99949363e-01 6.71455415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.76, Y:-27.30, Z:6.71 [[-6.02545908e-01 -7.98061974e-01 5.95942710e-03 6.67554552e+01] [-7.98022750e-01 6.02575377e-01 7.91233511e-03 -2.72957677e+01] [-9.90553781e-03 1.17867382e-05 -9.99950939e-01 6.71390624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.67, Y:-27.37, Z:6.71 [[-5.40212868e-01 -8.41512740e-01 5.13474455e-03 6.66683442e+01] [-8.41474437e-01 5.40237270e-01 8.02890043e-03 -2.73715149e+01] [-9.53040238e-03 1.65590493e-05 -9.99954585e-01 6.71364468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.59, Y:-27.45, Z:6.71 [[-4.74313257e-01 -8.80346237e-01 4.17575598e-03 6.65876851e+01] [-8.80311795e-01 4.74331638e-01 7.78722054e-03 -2.74514952e+01] [-8.83614348e-03 1.76146907e-05 -9.99960960e-01 6.71272536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.51, Y:-27.55, Z:6.71 [[-4.05563701e-01 -9.14059898e-01 3.54775849e-03 6.65071135e+01] [-9.14024513e-01 4.05579218e-01 8.04282947e-03 -2.75482150e+01] [-8.79052501e-03 1.91414594e-05 -9.99961362e-01 6.71340171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.44, Y:-27.64, Z:6.71 [[-3.34139127e-01 -9.42519389e-01 2.87142537e-03 6.64373926e+01] [-9.42484089e-01 3.34151464e-01 8.15730270e-03 -2.76437221e+01] [-8.64790695e-03 1.94012797e-05 -9.99962606e-01 6.71356055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.37, Y:-27.75, Z:6.71 [[-2.60488065e-01 -9.65474842e-01 2.07289646e-03 6.63730973e+01] [-9.65443770e-01 2.60496312e-01 7.74591277e-03 -2.77486973e+01] [-8.01846579e-03 1.64528632e-05 -9.99967852e-01 6.71299610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.32, Y:-27.87, Z:6.71 [[-1.84820837e-01 -9.82771215e-01 1.41299743e-03 6.63155969e+01] [-9.82742008e-01 1.84826238e-01 7.57678703e-03 -2.78684301e+01] [-7.70740720e-03 1.17361881e-05 -9.99970298e-01 6.71242251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.27, Y:-27.98, Z:6.71 [[-1.07105843e-01 -9.94247335e-01 7.59080888e-04 6.62691000e+01] [-9.94222287e-01 1.07108533e-01 7.05734024e-03 -2.79757342e+01] [-7.09804576e-03 1.18723772e-06 -9.99974809e-01 6.71147881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.23, Y:-28.10, Z:6.71 [[-2.89899572e-02 -9.99579681e-01 2.07675748e-04 6.62309391e+01] [-9.99555635e-01 2.89907003e-02 6.93340084e-03 -2.80953087e+01] [-6.93650727e-03 -6.58447056e-06 -9.99975942e-01 6.71148014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.20, Y:-28.23, Z:6.71 [[ 4.96611000e-02 -9.98766070e-01 -3.35248510e-04 6.62009716e+01] [-9.98740900e-01 -4.96622285e-02 7.09074485e-03 -2.82254503e+01] [-7.09864456e-03 -1.73077911e-05 -9.99974804e-01 6.71159767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.18, Y:-28.36, Z:6.71 [[ 1.26930505e-01 -9.91911188e-01 -9.17587335e-04 6.61827053e+01] [-9.91884002e-01 -1.26933820e-01 7.34386270e-03 -2.83627199e+01] [-7.40093244e-03 -2.20200034e-05 -9.99972613e-01 6.71238798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.17, Y:-28.47, Z:6.71 [[ 2.03919081e-01 -9.78986453e-01 -1.59200546e-03 6.61694753e+01] [-9.78955441e-01 -2.03925293e-01 7.79226937e-03 -2.84677711e+01] [-7.95317633e-03 -3.04900027e-05 -9.99968373e-01 6.71242151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8503857229999 meters Centerline goodness [0,1] 0.9999778995756718 Centerline is valid? [True, True] Translation: X:66.17, Y:-28.60, Z:6.71 [[ 2.80016585e-01 -9.59992306e-01 -2.34198590e-03 6.61696012e+01] [-9.59957393e-01 -2.80026375e-01 8.18741639e-03 -2.85978949e+01] [-8.51567456e-03 -4.44057047e-05 -9.99963740e-01 6.71260782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.18, Y:-28.72, Z:6.71 [[ 3.53758959e-01 -9.35331867e-01 -2.98279500e-03 6.61777202e+01] [-9.35297406e-01 -3.53771530e-01 8.02913072e-03 -2.87207945e+01] [-8.56512978e-03 -5.05765016e-05 -9.99963317e-01 6.71328754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.910385723 meters Centerline goodness [0,1] 0.9999779434469981 Centerline is valid? [True, True] Translation: X:66.20, Y:-28.84, Z:6.71 [[ 4.25113058e-01 -9.05133793e-01 -3.42125473e-03 6.61984163e+01] [-9.05103485e-01 -4.25126822e-01 7.40720840e-03 -2.88443730e+01] [-8.15898178e-03 -5.23114386e-05 -9.99966714e-01 6.71100751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.23, Y:-28.97, Z:6.71 [[ 4.93094888e-01 -8.69967259e-01 -3.79484210e-03 6.62313188e+01] [-8.69940758e-01 -4.93109488e-01 6.79049553e-03 -2.89733763e+01] [-7.77878143e-03 -4.70708174e-05 -9.99969744e-01 6.71073762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.26, Y:-29.07, Z:6.71 [[ 5.58342982e-01 -8.29599161e-01 -4.28335607e-03 6.62589027e+01] [-8.29574113e-01 -5.58359409e-01 6.44681919e-03 -2.90747725e+01] [-7.73992796e-03 -4.61749375e-05 -9.99970045e-01 6.71084011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.30, Y:-29.19, Z:6.71 [[ 6.19485871e-01 -7.84993414e-01 -4.75359914e-03 6.63023055e+01] [-7.84969823e-01 -6.19504108e-01 6.08585985e-03 -2.91855833e+01] [-7.72223410e-03 -3.86723136e-05 -9.99970182e-01 6.71154569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.36, Y:-29.30, Z:6.71 [[ 6.77051767e-01 -7.35917982e-01 -5.06247206e-03 6.63602996e+01] [-7.35897068e-01 -6.77070693e-01 5.54812863e-03 -2.92983574e+01] [-7.51061909e-03 -3.09119435e-05 -9.99971795e-01 6.71102883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.41, Y:-29.39, Z:6.71 [[ 7.29931082e-01 -6.83503748e-01 -4.82099494e-03 6.64095642e+01] [-6.83488707e-01 -7.29947002e-01 4.53439031e-03 -2.93889914e+01] [-6.61834358e-03 -1.46968246e-05 -9.99978098e-01 6.71075128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0903857229999 meters Centerline goodness [0,1] 0.9999120318444723 Centerline is valid? [True, True] Translation: X:66.40, Y:-29.40, Z:6.71 [[ 7.80627177e-01 -6.24974456e-01 -5.30477484e-03 6.64043825e+01] [-6.24959938e-01 -7.80645201e-01 4.25987220e-03 -2.93976176e+01] [-6.80345833e-03 -1.01002527e-05 -9.99976856e-01 6.71039121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.40, Y:-29.41, Z:6.71 [[ 8.26520949e-01 -5.62877149e-01 -5.69527765e-03 6.63990971e+01] [-5.62863756e-01 -8.26540571e-01 3.88295057e-03 -2.94057389e+01] [-6.89300219e-03 -3.67462521e-06 -9.99976243e-01 6.71095964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.40, Y:-29.41, Z:6.71 [[ 8.67492030e-01 -4.97408181e-01 -6.53293677e-03 6.63954439e+01] [-4.97394103e-01 -8.67516629e-01 3.74227256e-03 -2.94142940e+01] [-7.52886827e-03 3.05260098e-06 -9.99971658e-01 6.71085996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.39, Y:-29.43, Z:6.71 [[ 9.03051239e-01 -4.29467093e-01 -7.51503404e-03 6.63909606e+01] [-4.29452370e-01 -9.03082508e-01 3.55611747e-03 -2.94259457e+01] [-8.31393122e-03 1.59928935e-05 -9.99965439e-01 6.71141626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.39, Y:-29.44, Z:6.71 [[ 9.33691919e-01 -3.57997678e-01 -7.55408236e-03 6.63879024e+01] [-3.57986130e-01 -9.33722476e-01 2.87549761e-03 -2.94377496e+01] [-8.08283796e-03 1.94278228e-05 -9.99967333e-01 6.71155990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.39, Y:-29.45, Z:6.71 [[ 9.58649681e-01 -2.84516252e-01 -6.42586395e-03 6.63852192e+01] [-2.84510003e-01 -9.58671217e-01 1.88573340e-03 -2.94481719e+01] [-6.69681261e-03 2.04648517e-05 -9.99977576e-01 6.71104454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.38, Y:-29.46, Z:6.71 [[ 9.77900728e-01 -2.08974767e-01 -6.30182450e-03 6.63831278e+01] [-2.08970570e-01 -9.77921033e-01 1.32452476e-03 -2.94607924e+01] [-6.43947898e-03 2.16421344e-05 -9.99979266e-01 6.71024965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.300385723 meters Centerline goodness [0,1] 0.9999558635300348 Centerline is valid? [True, True] Translation: X:66.38, Y:-29.47, Z:6.71 [[ 9.91243546e-01 -1.31915020e-01 -5.88736364e-03 6.63784850e+01] [-1.31912819e-01 -9.91261029e-01 7.62271253e-04 -2.94731852e+01] [-5.93646916e-03 2.10222742e-05 -9.99982379e-01 6.70957025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.330385723 meters Centerline goodness [0,1] 0.9999780951546482 Centerline is valid? [True, True] Translation: X:66.37, Y:-29.48, Z:6.71 [[ 9.98526304e-01 -5.38905145e-02 -6.40575913e-03 6.63740386e+01] [-5.38895506e-02 -9.98546850e-01 3.23100954e-04 -2.94841378e+01] [-6.41386268e-03 2.25786795e-05 -9.99979431e-01 6.71054598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.37, Y:-29.50, Z:6.71 [[ 9.99675469e-01 2.45546757e-02 -6.78419129e-03 6.63718332e+01] [ 2.45539535e-02 -9.99698488e-01 -1.89737616e-04 -2.94965479e+01] [-6.78680472e-03 2.30973231e-05 -9.99976969e-01 6.71027163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.37, Y:-29.51, Z:6.71 [[ 9.94629291e-01 1.03268230e-01 -6.94592639e-03 6.63694266e+01] [ 1.03265570e-01 -9.94653544e-01 -7.41504776e-04 -2.95089399e+01] [-6.98536419e-03 2.02473224e-05 -9.99975602e-01 6.71096836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.37, Y:-29.52, Z:6.71 [[ 9.83404524e-01 1.81297432e-01 -6.83988245e-03 6.63689047e+01] [ 1.81292928e-01 -9.83428310e-01 -1.27799191e-03 -2.95192255e+01] [-6.95823069e-03 1.67607113e-05 -9.99975791e-01 6.71059376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.450385723 meters Centerline goodness [0,1] 0.9999342782658225 Centerline is valid? [True, True] Translation: X:66.37, Y:-29.53, Z:6.71 [[ 9.65929420e-01 2.58734286e-01 -6.07665999e-03 6.63705962e+01] [ 2.58729109e-01 -9.65948534e-01 -1.63673341e-03 -2.95331413e+01] [-6.29321986e-03 8.76012384e-06 -9.99980198e-01 6.70943558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.37, Y:-29.55, Z:6.71 [[ 9.42466760e-01 3.34248652e-01 -5.85186150e-03 6.63727663e+01] [ 3.34242181e-01 -9.42484928e-01 -2.07979836e-03 -2.95472609e+01] [-6.21046106e-03 4.20186830e-06 -9.99980715e-01 6.70916292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.510385723 meters Centerline goodness [0,1] 0.9999561874301737 Centerline is valid? [True, True] Translation: X:66.38, Y:-29.56, Z:6.71 [[ 9.12871350e-01 4.08213553e-01 -5.25295229e-03 6.63759620e+01] [ 4.08206818e-01 -9.12886464e-01 -2.34481432e-03 -2.95624532e+01] [-5.75253402e-03 -3.77712843e-06 -9.99983454e-01 6.70935099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.540385723 meters Centerline goodness [0,1] 0.9999123326100774 Centerline is valid? [True, True] Translation: X:66.38, Y:-29.58, Z:6.71 [[ 8.77876192e-01 4.78861793e-01 -4.97752313e-03 6.63811188e+01] [ 4.78854138e-01 -8.77890303e-01 -2.70763381e-03 -2.95762878e+01] [-5.66630167e-03 -6.54029501e-06 -9.99983946e-01 6.70900510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.570385723 meters Centerline goodness [0,1] 0.999978224893302 Centerline is valid? [True, True] Translation: X:66.39, Y:-29.59, Z:6.71 [[ 8.37460048e-01 5.46479302e-01 -4.58700075e-03 6.63862770e+01] [ 5.46471160e-01 -8.37472610e-01 -2.98300424e-03 -2.95897976e+01] [-5.47163757e-03 -8.51675479e-06 -9.99985031e-01 6.70903259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6003857229999 meters Centerline goodness [0,1] 0.9999565802613868 Centerline is valid? [True, True] Translation: X:66.39, Y:-29.60, Z:6.71 [[ 7.91880811e-01 6.10664990e-01 -3.61251658e-03 6.63934209e+01] [ 6.10658685e-01 -7.91889051e-01 -2.77502301e-03 -2.96023353e+01] [-4.55532173e-03 -8.52715574e-06 -9.99989625e-01 6.70794794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.630385723 meters Centerline goodness [0,1] 0.9998692069581898 Centerline is valid? [True, True] Translation: X:66.40, Y:-29.61, Z:6.71 [[ 7.41606032e-01 6.70828159e-01 -3.17394784e-03 6.64000096e+01] [ 6.70822063e-01 -7.41612824e-01 -2.85974988e-03 -2.96129014e+01] [-4.27224117e-03 -8.34647476e-06 -9.99990874e-01 6.70825291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.660385723 meters Centerline goodness [0,1] 0.9998694573778338 Centerline is valid? [True, True] Translation: X:66.41, Y:-29.62, Z:6.71 [[ 6.87045467e-01 7.26607714e-01 -3.12341645e-03 6.64069780e+01] [ 7.26600256e-01 -6.87052567e-01 -3.29218662e-03 -2.96219478e+01] [-4.53807948e-03 -7.59329639e-06 -9.99989703e-01 6.70851648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.690385723 meters Centerline goodness [0,1] 0.9999782707894223 Centerline is valid? [True, True] Translation: X:66.41, Y:-29.63, Z:6.71 [[ 6.28090794e-01 7.78134721e-01 -2.88290434e-03 6.64147869e+01] [ 7.78126578e-01 -6.28097410e-01 -3.55974979e-03 -2.96302018e+01] [-4.58070966e-03 -7.41842004e-06 -9.99989509e-01 6.70886328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7203857229999 meters Centerline goodness [0,1] 0.9998692155110404 Centerline is valid? [True, True] Translation: X:66.42, Y:-29.64, Z:6.71 [[ 5.65623337e-01 8.24658428e-01 -2.95240657e-03 6.64228791e+01] [ 8.24647251e-01 -5.65631043e-01 -4.29350635e-03 -2.96380654e+01] [-5.21064901e-03 -6.18657332e-06 -9.99986425e-01 6.70929793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.43, Y:-29.65, Z:6.71 [[ 5.00679669e-01 8.65628275e-01 -2.74936053e-03 6.64301196e+01] [ 8.65615199e-01 -5.00687218e-01 -4.75783576e-03 -2.96454139e+01] [-5.49508683e-03 2.26337598e-06 -9.99984902e-01 6.70953359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.780385723 meters Centerline goodness [0,1] 0.9998043988524733 Centerline is valid? [True, True] Translation: X:66.44, Y:-29.65, Z:6.71 [[ 4.32492293e-01 9.01634885e-01 -2.22499502e-03 6.64392658e+01] [ 9.01622850e-01 -4.32498017e-01 -4.65860018e-03 -2.96518111e+01] [-5.16266237e-03 8.70232002e-06 -9.99986673e-01 6.70928388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.810385723 meters Centerline goodness [0,1] 0.9998914247247617 Centerline is valid? [True, True] Translation: X:66.45, Y:-29.66, Z:6.71 [[ 3.63032492e-01 9.31775016e-01 -1.65204525e-03 6.64478481e+01] [ 9.31765114e-01 -3.63036251e-01 -4.29574065e-03 -2.96585103e+01] [-4.60241612e-03 2.01753067e-05 -9.99989409e-01 6.70892032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8403857229999 meters Centerline goodness [0,1] 0.9999131152526174 Centerline is valid? [True, True] Translation: X:66.46, Y:-29.66, Z:6.71 [[ 2.90356083e-01 9.56918119e-01 -1.02898869e-03 6.64569210e+01] [ 9.56911846e-01 -2.90357906e-01 -3.46484878e-03 -2.96631172e+01] [-3.61435158e-03 2.13884504e-05 -9.99993468e-01 6.70874218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.870385723 meters Centerline goodness [0,1] 0.9998914058597398 Centerline is valid? [True, True] Translation: X:66.47, Y:-29.67, Z:6.71 [[ 2.16503422e-01 9.76281572e-01 -7.48618069e-04 6.64661240e+01] [ 9.76275273e-01 -2.16504714e-01 -3.50723365e-03 -2.96689353e+01] [-3.58612692e-03 2.84707757e-05 -9.99993570e-01 6.70906919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.48, Y:-29.67, Z:6.71 [[ 1.39887680e-01 9.90167259e-01 -4.86976577e-04 6.64777167e+01] [ 9.90160458e-01 -1.39888524e-01 -3.67000570e-03 -2.96725985e+01] [-3.70204191e-03 3.12036327e-05 -9.99993147e-01 6.70942938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.930385723 meters Centerline goodness [0,1] 0.9999128350403138 Centerline is valid? [True, True] Translation: X:66.49, Y:-29.68, Z:6.71 [[ 6.26762034e-02 9.98033892e-01 -2.11651803e-04 6.64920407e+01] [ 9.98026067e-01 -6.26765501e-02 -3.95206358e-03 -2.96756289e+01] [-3.95755900e-03 3.64663244e-05 -9.99992168e-01 6.70973538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.960385723 meters Centerline goodness [0,1] 0.9999346220062327 Centerline is valid? [True, True] Translation: X:66.51, Y:-29.68, Z:6.71 [[-1.46889699e-02 9.99892106e-01 1.01377825e-04 6.65062844e+01] [ 9.99883844e-01 1.46892607e-02 -4.06490617e-03 -2.96782662e+01] [-4.06595676e-03 4.16567650e-05 -9.99991733e-01 6.71086324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.990385723 meters Centerline goodness [0,1] 0.9999782957850415 Centerline is valid? [True, True] Translation: X:66.52, Y:-29.68, Z:6.71 [[-9.26578298e-02 9.95697914e-01 4.36046654e-04 6.65190718e+01] [ 9.95689040e-01 9.26588450e-02 -4.20410851e-03 -2.96787206e+01] [-4.22642565e-03 4.46233034e-05 -9.99991068e-01 6.71130890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.020385723 meters Centerline goodness [0,1] 0.9999129033662849 Centerline is valid? [True, True] Translation: X:66.53, Y:-29.68, Z:6.71 [[-1.69741293e-01 9.85488336e-01 7.95281412e-04 6.65334854e+01] [ 9.85478837e-01 1.69743149e-01 -4.32737908e-03 -2.96779114e+01] [-4.39957518e-03 4.91980803e-05 -9.99990321e-01 6.71118669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.55, Y:-29.68, Z:6.71 [[-2.45264783e-01 9.69455629e-01 9.85067824e-04 6.65467516e+01] [ 9.69448569e-01 2.45266756e-01 -3.69993879e-03 -2.96770982e+01] [-3.82853087e-03 4.75079094e-05 -9.99992670e-01 6.71153823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.56, Y:-29.68, Z:6.71 [[-3.19772482e-01 9.47493578e-01 1.21622939e-03 6.65572783e+01] [ 9.47487287e-01 3.19774792e-01 -3.45307705e-03 -2.96761806e+01] [-3.66068782e-03 4.81628673e-05 -9.99993299e-01 6.71149234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.110385723 meters Centerline goodness [0,1] 0.9999782286858835 Centerline is valid? [True, True] Translation: X:66.57, Y:-29.67, Z:6.71 [[-3.92286073e-01 9.19841362e-01 1.87235224e-03 6.65675184e+01] [ 9.19831651e-01 3.92290536e-01 -4.22713885e-03 -2.96743177e+01] [-4.62280322e-03 6.40011525e-05 -9.99989313e-01 6.71208970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.140385723 meters Centerline goodness [0,1] 0.9999782286858835 Centerline is valid? [True, True] Translation: X:66.58, Y:-29.67, Z:6.71 [[-4.63111796e-01 8.86297148e-01 2.19763763e-03 6.65774141e+01] [ 8.86287816e-01 4.63117006e-01 -4.06757190e-03 -2.96718077e+01] [-4.62284073e-03 6.39989237e-05 -9.99989313e-01 6.71209003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.170385723 meters Centerline goodness [0,1] 0.9999782518866488 Centerline is valid? [True, True] Translation: X:66.59, Y:-29.67, Z:6.71 [[-5.31088571e-01 8.47312316e-01 2.60164842e-03 6.65887746e+01] [ 8.47302755e-01 5.31094939e-01 -4.02571712e-03 -2.96671362e+01] [-4.79276201e-03 6.63715183e-05 -9.99988513e-01 6.71230147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.200385723 meters Centerline goodness [0,1] 0.9999783174327841 Centerline is valid? [True, True] Translation: X:66.60, Y:-29.66, Z:6.71 [[-5.96603814e-01 8.02530482e-01 2.95210780e-03 6.66008789e+01] [ 8.02521172e-01 5.96611115e-01 -3.86605514e-03 -2.96603336e+01] [-4.86388742e-03 6.26257699e-05 -9.99988169e-01 6.71253701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.61, Y:-29.65, Z:6.71 [[-6.58465514e-01 7.52603303e-01 3.38148026e-03 6.66113949e+01] [ 7.52593842e-01 6.58474194e-01 -3.77427127e-03 -2.96547742e+01] [-5.06714651e-03 5.96537468e-05 -9.99987160e-01 6.71237662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.62, Y:-29.65, Z:6.71 [[-7.16113390e-01 6.97975529e-01 3.43135699e-03 6.66212094e+01] [ 6.97967856e-01 7.16121609e-01 -3.27315941e-03 -2.96467934e+01] [-4.74185406e-03 5.10236025e-05 -9.99988756e-01 6.71226840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.290385723 meters Centerline goodness [0,1] 0.9999784268887258 Centerline is valid? [True, True] Translation: X:66.63, Y:-29.61, Z:6.71 [[-7.65496529e-01 6.43424493e-01 4.47060924e-03 6.66303105e+01] [ 6.43413869e-01 7.65509582e-01 -3.69775175e-03 -2.96129769e+01] [-5.80151826e-03 4.58358615e-05 -9.99983170e-01 6.71344846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.320385723 meters Centerline goodness [0,1] 0.9999135546334716 Centerline is valid? [True, True] Translation: X:66.66, Y:-29.59, Z:6.71 [[-8.10032604e-01 5.86368587e-01 4.36593835e-03 6.66563377e+01] [ 5.86360298e-01 8.10044369e-01 -3.11805639e-03 -2.95949404e+01] [-5.36493409e-03 3.42855750e-05 -9.99985608e-01 6.71345181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3503857229999 meters Centerline goodness [0,1] 0.9999351547639633 Centerline is valid? [True, True] Translation: X:66.67, Y:-29.57, Z:6.71 [[-8.50098174e-01 5.26603281e-01 4.69886450e-03 6.66739825e+01] [ 5.26595425e-01 8.50111159e-01 -2.87668336e-03 -2.95712001e+01] [-5.50942804e-03 2.89372768e-05 -9.99984823e-01 6.71325261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.69, Y:-29.55, Z:6.71 [[-8.86078446e-01 4.63510849e-01 4.76243932e-03 6.66880649e+01] [ 4.63504267e-01 8.86091244e-01 -2.47021807e-03 -2.95450232e+01] [-5.36492866e-03 1.86039613e-05 -9.99985609e-01 6.71325329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.70, Y:-29.52, Z:6.71 [[-9.17203704e-01 3.98385567e-01 5.12883104e-03 6.66965445e+01] [ 3.98379413e-01 9.17218044e-01 -2.21441859e-03 -2.95165105e+01] [-5.58644878e-03 1.21477689e-05 -9.99984396e-01 6.71330799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.440385723 meters Centerline goodness [0,1] 0.9999566715050153 Centerline is valid? [True, True] Translation: X:66.71, Y:-29.49, Z:6.71 [[-9.43662109e-01 3.30858575e-01 5.86751055e-03 6.67062000e+01] [ 3.30852202e-01 9.43680350e-01 -2.05363943e-03 -2.94893256e+01] [-6.21651862e-03 3.33706940e-06 -9.99980677e-01 6.71446253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4703857229999 meters Centerline goodness [0,1] 0.9999782877738455 Centerline is valid? [True, True] Translation: X:66.71, Y:-29.46, Z:6.71 [[-9.64981803e-01 2.62242482e-01 6.24504474e-03 6.67107759e+01] [ 2.62236973e-01 9.65002011e-01 -1.69984306e-03 -2.94610618e+01] [-6.47225179e-03 -2.63599025e-06 -9.99979055e-01 6.71465993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.71, Y:-29.43, Z:6.71 [[-9.81434965e-01 1.91708199e-01 5.77717840e-03 6.67139687e+01] [ 1.91704813e-01 9.81451969e-01 -1.13934150e-03 -2.94333212e+01] [-5.88844422e-03 -1.06766836e-05 -9.99982663e-01 6.71403953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.530385723 meters Centerline goodness [0,1] 0.9999782405291904 Centerline is valid? [True, True] Translation: X:66.72, Y:-29.40, Z:6.71 [[-9.92621879e-01 1.21149711e-01 4.95510247e-03 6.67150982e+01] [ 1.21148147e-01 9.92634247e-01 -6.15778725e-04 -2.94047731e+01] [-4.99320582e-03 -1.09339546e-05 -9.99987534e-01 6.71346176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.80, Y:-28.73, Z:5.76 [[-9.81248309e-01 -1.92690799e-01 4.69170465e-03 6.68008122e+01] [ 1.92688580e-01 -9.81259525e-01 -9.24662089e-04 -2.87342655e+01] [ 4.78195376e-03 -3.28520126e-06 9.99988566e-01 5.76386920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.66, Y:-29.40, Z:6.71 [[-9.93165711e-01 1.16609107e-01 4.91793372e-03 6.66571213e+01] [ 1.16607614e-01 9.93177887e-01 -5.90283339e-04 -2.94007660e+01] [-4.95321544e-03 -1.27806562e-05 -9.99987733e-01 6.71437551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.620385723 meters Centerline goodness [0,1] 0.9999563318777293 Centerline is valid? [True, True] Translation: X:66.73, Y:-28.72, Z:5.76 [[-9.81997024e-01 -1.88833630e-01 4.86884716e-03 6.67318851e+01] [ 1.88831374e-01 -9.82009094e-01 -9.23070833e-04 -2.87220736e+01] [ 4.95555901e-03 1.29382883e-05 9.99987721e-01 5.76288522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.650385723 meters Centerline goodness [0,1] 0.9999562324929971 Centerline is valid? [True, True] Translation: X:66.59, Y:-29.40, Z:6.72 [[-9.93584257e-01 1.12955689e-01 5.59793192e-03 6.65890768e+01] [ 1.12953831e-01 9.93600026e-01 -6.48059995e-04 -2.93993693e+01] [-5.63530736e-03 -1.15943537e-05 -9.99984122e-01 6.71549451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.680385723 meters Centerline goodness [0,1] 0.9999564763231198 Centerline is valid? [True, True] Translation: X:66.59, Y:-29.37, Z:6.71 [[-9.99084155e-01 4.25089201e-02 4.88303695e-03 6.65948859e+01] [ 4.25083746e-02 9.99096087e-01 -2.15473563e-04 -2.93730380e+01] [-4.88778266e-03 -7.70625839e-06 -9.99988055e-01 6.71498807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.59, Y:-29.35, Z:6.71 [[-9.99601732e-01 -2.78522001e-02 4.54240246e-03 6.65898203e+01] [-2.78519289e-02 9.99612052e-01 1.22959280e-04 -2.93458616e+01] [-4.54406494e-03 -3.60436150e-06 -9.99989676e-01 6.71493041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.740385723 meters Centerline goodness [0,1] 0.9999781114564636 Centerline is valid? [True, True] Translation: X:66.58, Y:-29.32, Z:6.72 [[-9.95200634e-01 -9.77891802e-02 3.60192752e-03 6.65822009e+01] [-9.77885340e-02 9.95207153e-01 3.55504825e-04 -2.93204762e+01] [-3.61942855e-03 1.57141554e-06 -9.99993450e-01 6.71526941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.52, Y:-28.61, Z:5.76 [[-9.99501072e-01 3.14353021e-02 3.07051967e-03 6.65169682e+01] [-3.14352699e-02 -9.99505788e-01 5.87582173e-05 -2.86133929e+01] [ 3.07084926e-03 -3.77937132e-05 9.99995284e-01 5.76258086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.800385723 meters Centerline goodness [0,1] 0.9999121882683526 Centerline is valid? [True, True] Translation: X:66.48, Y:-29.34, Z:6.71 [[-9.94677610e-01 -1.03010258e-01 2.31065238e-03 6.64827727e+01] [-1.03009971e-01 9.94680294e-01 2.43160630e-04 -2.93365983e+01] [-2.32340843e-03 3.84619955e-06 -9.99997301e-01 6.71401161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.47, Y:-29.31, Z:6.71 [[-9.84791511e-01 -1.73717010e-01 2.84274268e-03 6.64694722e+01] [-1.73716272e-01 9.84795614e-01 5.06167145e-04 -2.93111153e+01] [-2.88745036e-03 4.63844667e-06 -9.99995831e-01 6.71429454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.33, Y:-28.60, Z:5.76 [[-9.94000026e-01 1.09338538e-01 3.00544802e-03 6.63274076e+01] [-1.09338026e-01 -9.94004569e-01 3.34916422e-04 -2.85978512e+01] [ 3.02404833e-03 4.29717986e-06 9.99995428e-01 5.76225418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.890385723 meters Centerline goodness [0,1] 0.999977969200943 Centerline is valid? [True, True] Translation: X:66.34, Y:-29.34, Z:6.72 [[-9.83494934e-01 -1.80886233e-01 4.22916972e-03 6.63362545e+01] [-1.80884546e-01 9.83504027e-01 7.81127299e-04 -2.93369906e+01] [-4.30070063e-03 3.24329482e-06 -9.99990752e-01 6.71748739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.31, Y:-29.31, Z:6.72 [[-9.67833006e-01 -2.51563249e-01 3.89924396e-03 6.63095828e+01] [-2.51561201e-01 9.67840861e-01 1.01513431e-03 -2.93139845e+01] [-4.02921812e-03 1.58199905e-06 -9.99991883e-01 6.71764226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.950385723 meters Centerline goodness [0,1] 0.9999338493087253 Centerline is valid? [True, True] Translation: X:66.26, Y:-29.30, Z:6.72 [[-9.47198914e-01 -3.20628294e-01 3.42259534e-03 6.62598224e+01] [-3.20626195e-01 9.47205098e-01 1.16023388e-03 -2.93019048e+01] [-3.61390357e-03 1.59854855e-06 -9.99993470e-01 6.71707894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.980385723 meters Centerline goodness [0,1] 0.9999558069648223 Centerline is valid? [True, True] Translation: X:66.21, Y:-29.29, Z:6.72 [[-9.21156695e-01 -3.89175173e-01 3.60957837e-03 6.62075894e+01] [-3.89172169e-01 9.21163767e-01 1.52904261e-03 -2.92936027e+01] [-3.92007822e-03 3.74039085e-06 -9.99992317e-01 6.71738702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.14, Y:-29.30, Z:6.72 [[-8.89829808e-01 -4.56283031e-01 2.95096759e-03 6.61381020e+01] [-4.56280507e-01 8.89834701e-01 1.51764356e-03 -2.92961287e+01] [-3.31834837e-03 3.97549299e-06 -9.99994494e-01 6.71684017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.06, Y:-29.31, Z:6.72 [[-8.53781491e-01 -5.20622083e-01 3.13256667e-03 6.60584245e+01] [-5.20618545e-01 8.53787237e-01 1.91927373e-03 -2.93115280e+01] [-3.67376173e-03 7.76808478e-06 -9.99993252e-01 6.71745238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.97, Y:-29.34, Z:6.72 [[-8.13026297e-01 -5.82219921e-01 2.86429211e-03 6.59706877e+01] [-5.82216257e-01 8.13031342e-01 2.06563058e-03 -2.93385611e+01] [-3.53141053e-03 1.17745526e-05 -9.99993765e-01 6.71790963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.88, Y:-29.37, Z:6.72 [[-7.67134842e-01 -6.41480860e-01 2.53791026e-03 6.58789184e+01] [-6.41477294e-01 7.67139040e-01 2.13899571e-03 -2.93748300e+01] [-3.31905485e-03 1.28863338e-05 -9.99994492e-01 6.71800000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.130385723 meters Centerline goodness [0,1] 0.9999777322526053 Centerline is valid? [True, True] Translation: X:65.79, Y:-29.42, Z:6.72 [[-7.16786523e-01 -6.97289945e-01 1.95289027e-03 6.57875126e+01] [-6.97287309e-01 7.16789183e-01 1.91722113e-03 -2.94202927e+01] [-2.73666963e-03 1.25126660e-05 -9.99996255e-01 6.71803440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.70, Y:-29.47, Z:6.72 [[-6.62062361e-01 -7.49447521e-01 1.35765263e-03 6.57020155e+01] [-7.49445912e-01 6.62063753e-01 1.55314155e-03 -2.94734545e+01] [-2.06285068e-03 1.07893494e-05 -9.99997872e-01 6.71672648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.61, Y:-29.54, Z:6.72 [[-6.03081356e-01 -7.97678591e-01 1.32059523e-03 6.56130877e+01] [-7.97676636e-01 6.03082802e-01 1.76623712e-03 -2.95400928e+01] [-2.20531781e-03 1.17767149e-05 -9.99997568e-01 6.71610807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.53, Y:-29.62, Z:6.72 [[-5.39723256e-01 -8.41841296e-01 1.42807237e-03 6.55260193e+01] [-8.41838290e-01 5.39725145e-01 2.24957493e-03 -2.96185554e+01] [-2.66455165e-03 1.19419046e-05 -9.99996450e-01 6.71629389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.44, Y:-29.70, Z:6.72 [[-4.72919109e-01 -8.81105051e-01 1.18529467e-03 6.54430174e+01] [-8.81102234e-01 4.72920595e-01 2.22833368e-03 -2.97027169e+01] [-2.52394632e-03 9.45579605e-06 -9.99996815e-01 6.71693176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.280385723 meters Centerline goodness [0,1] 0.9999552161938243 Centerline is valid? [True, True] Translation: X:65.37, Y:-29.79, Z:6.72 [[-4.03310245e-01 -9.15062567e-01 1.15950721e-03 6.53667636e+01] [-9.15058722e-01 4.03311912e-01 2.65293203e-03 -2.97919324e+01] [-2.89524186e-03 8.93748194e-06 -9.99995809e-01 6.71816017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.29, Y:-29.90, Z:6.72 [[-3.29630849e-01 -9.44109394e-01 9.77344246e-04 6.52940777e+01] [-9.44105223e-01 3.29632298e-01 2.80645255e-03 -2.98962787e+01] [-2.97176245e-03 2.37753076e-06 -9.99995584e-01 6.71917623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.23, Y:-30.00, Z:6.72 [[-2.55048924e-01 -9.66927753e-01 8.75642693e-04 6.52316923e+01] [-9.66922065e-01 2.55050427e-01 3.31663661e-03 -3.00033926e+01] [-3.43028103e-03 -7.73641916e-07 -9.99994117e-01 6.71934241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.18, Y:-30.11, Z:6.72 [[-1.78056340e-01 -9.84019984e-01 7.81865166e-04 6.51792656e+01] [-9.84010706e-01 1.78058057e-01 4.27312211e-03 -3.01139701e+01] [-4.34405494e-03 -8.50720892e-06 -9.99990565e-01 6.71986500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.13, Y:-30.25, Z:6.72 [[-1.01032025e-01 -9.94883073e-01 4.48325408e-04 6.51313806e+01] [-9.94873769e-01 1.01033019e-01 4.30266355e-03 -3.02515776e+01] [-4.32594281e-03 -1.13203746e-05 -9.99990643e-01 6.71982557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.10, Y:-30.36, Z:6.72 [[-2.32348820e-02 -9.99730027e-01 1.16672737e-04 6.50965412e+01] [-9.99720287e-01 2.32351707e-02 4.41305834e-03 -3.03553101e+01] [-4.41457785e-03 -1.41032124e-05 -9.99990256e-01 6.71978973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.07, Y:-30.48, Z:6.72 [[ 5.48982835e-02 -9.98491930e-01 -2.12402720e-04 6.50700567e+01] [-9.98483187e-01 -5.48986916e-02 4.17845610e-03 -3.04767074e+01] [-4.18381533e-03 -1.73095228e-05 -9.99991248e-01 6.71993418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.05, Y:-30.60, Z:6.72 [[ 1.32029964e-01 -9.91245641e-01 -4.09002434e-04 6.50519559e+01] [-9.91240532e-01 -1.32030597e-01 3.18251160e-03 -3.05960449e+01] [-3.20865159e-03 -1.47671034e-05 -9.99994852e-01 6.71999894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.05, Y:-30.73, Z:6.72 [[ 2.08070232e-01 -9.78113737e-01 -5.44571021e-04 6.50451632e+01] [-9.78110238e-01 -2.08070944e-01 2.61624653e-03 -3.07270814e+01] [-2.67229607e-03 -1.17125310e-05 -9.99996429e-01 6.71957429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.05, Y:-30.85, Z:6.72 [[ 2.83142653e-01 -9.59077575e-01 -6.65080907e-04 6.50476444e+01] [-9.59074841e-01 -2.83143434e-01 2.29027325e-03 -3.08521974e+01] [-2.38486301e-03 -1.06116806e-05 -9.99997156e-01 6.71920852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.06, Y:-30.97, Z:6.72 [[ 3.56291496e-01 -9.34374554e-01 -7.49796826e-04 6.50590209e+01] [-9.34372430e-01 -3.56292285e-01 1.99260449e-03 -3.09739871e+01] [-2.12898576e-03 -9.35855318e-06 -9.99997734e-01 6.71904407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.08, Y:-31.09, Z:6.72 [[ 4.27597504e-01 -9.03968962e-01 -7.00661780e-04 6.50782273e+01] [-9.03967719e-01 -4.27598078e-01 1.49898560e-03 -3.10916831e+01] [-1.65463808e-03 -7.58686841e-06 -9.99998631e-01 6.71918466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.12, Y:-31.24, Z:6.72 [[ 4.96412542e-01 -8.68086114e-01 -1.04250876e-03 6.51224007e+01] [-8.68084152e-01 -4.96413637e-01 1.84572435e-03 -3.12406071e+01] [-2.11976324e-03 -1.12553810e-05 -9.99997753e-01 6.71952278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.14, Y:-31.33, Z:6.72 [[ 5.61785120e-01 -8.27282424e-01 -1.12730264e-03 6.51432159e+01] [-8.27280720e-01 -5.61786251e-01 1.67911277e-03 -3.13298354e+01] [-2.02240361e-03 -1.07048309e-05 -9.99997955e-01 6.72008281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.19, Y:-31.44, Z:6.72 [[ 6.23405115e-01 -7.81897006e-01 -1.77052887e-03 6.51892748e+01] [-7.81893786e-01 -6.23407629e-01 2.24409230e-03 -3.14427109e+01] [-2.85841026e-03 -1.46131044e-05 -9.99995915e-01 6.72080962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.730385723 meters Centerline goodness [0,1] 0.9999775376805409 Centerline is valid? [True, True] Translation: X:65.26, Y:-31.57, Z:6.72 [[ 6.80455727e-01 -7.32786181e-01 -2.10146166e-03 6.52601913e+01] [-7.32782634e-01 -6.80458972e-01 2.28012261e-03 -3.15702154e+01] [-3.10080078e-03 -1.16078799e-05 -9.99995193e-01 6.72153310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.29, Y:-31.64, Z:6.72 [[ 7.33866405e-01 -6.79290566e-01 -2.10380749e-03 6.52934348e+01] [-6.79287744e-01 -7.33869421e-01 1.95806712e-03 -3.16449576e+01] [-2.87401650e-03 -7.86903311e-06 -9.99995870e-01 6.72176734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.29, Y:-31.65, Z:6.72 [[ 7.83785994e-01 -6.21023935e-01 -2.96445084e-03 6.52872289e+01] [-6.21019469e-01 -7.83791600e-01 2.35543093e-03 -3.16536110e+01] [-3.78629065e-03 -5.17209111e-06 -9.99992832e-01 6.72225894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.28, Y:-31.66, Z:6.72 [[ 8.29586877e-01 -5.58367712e-01 -3.33355470e-03 6.52807370e+01] [-5.58363189e-01 -8.29593574e-01 2.24750984e-03 -3.16611167e+01] [-4.02043249e-03 -3.17043732e-06 -9.99991918e-01 6.72217799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.27, Y:-31.67, Z:6.72 [[ 8.70477889e-01 -4.92195632e-01 -3.42111572e-03 6.52746508e+01] [-4.92191825e-01 -8.70484612e-01 1.93577317e-03 -3.16692395e+01] [-3.93080768e-03 -1.20255041e-06 -9.99992274e-01 6.72225935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.27, Y:-31.68, Z:6.72 [[ 9.05702054e-01 -4.23894122e-01 -4.19090736e-03 6.52683278e+01] [-4.23889608e-01 -9.05711750e-01 1.95631415e-03 -3.16772716e+01] [-4.62502411e-03 4.64433319e-06 -9.99989305e-01 6.72306493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.26, Y:-31.68, Z:6.72 [[ 9.35425564e-01 -3.53495049e-01 -4.50166469e-03 6.52639486e+01] [-3.53491025e-01 -9.35436396e-01 1.68664780e-03 -3.16835031e+01] [-4.80724264e-03 1.35645983e-05 -9.99988445e-01 6.72412639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.26, Y:-31.69, Z:6.72 [[ 9.59891221e-01 -2.80328796e-01 -4.96083542e-03 6.52612436e+01] [-2.80325162e-01 -9.59904040e-01 1.42767012e-03 -3.16908809e+01] [-5.16214301e-03 2.02389799e-05 -9.99986676e-01 6.72413115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.26, Y:-31.70, Z:6.72 [[ 9.78709084e-01 -2.05202882e-01 -4.50619170e-03 6.52580505e+01] [-2.05200809e-01 -9.78719458e-01 9.22663422e-04 -3.16972107e+01] [-4.59963069e-03 2.16551079e-05 -9.99989421e-01 6.72440047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.25, Y:-31.70, Z:6.72 [[ 9.91687968e-01 -1.28566404e-01 -5.06495942e-03 6.52528607e+01] [-1.28564867e-01 -9.91700902e-01 6.29273990e-04 -3.17028721e+01] [-5.10382832e-03 2.71323910e-05 -9.99986975e-01 6.72446773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.25, Y:-31.71, Z:6.72 [[ 9.98709683e-01 -5.05269376e-02 -5.09872016e-03 6.52475716e+01] [-5.05264178e-02 -9.98722698e-01 2.30788464e-04 -3.17067410e+01] [-5.10386859e-03 2.71293909e-05 -9.99986975e-01 6.72446810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.24, Y:-31.71, Z:6.72 [[ 9.99607800e-01 2.75463618e-02 -5.04427252e-03 6.52432947e+01] [ 2.75458683e-02 -9.99620527e-01 -1.67300082e-04 -3.17118290e+01] [-5.04696686e-03 2.82856006e-05 -9.99987264e-01 6.72439137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.24, Y:-31.72, Z:6.72 [[ 9.94479902e-01 1.04835179e-01 -4.39430318e-03 6.52394000e+01] [ 1.04834027e-01 -9.94489610e-01 -4.92281188e-04 -3.17210393e+01] [-4.42169724e-03 2.88912496e-05 -9.99990224e-01 6.72318699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.24, Y:-31.73, Z:6.72 [[ 9.83234945e-01 1.82297624e-01 -4.07671233e-03 6.52373120e+01] [ 1.82295941e-01 -9.83243396e-01 -7.83832129e-04 -3.17323612e+01] [-4.15129121e-03 2.75230285e-05 -9.99991383e-01 6.72305362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.23, Y:-31.74, Z:6.72 [[ 9.66148931e-01 2.57949388e-01 -4.28451941e-03 6.52341240e+01] [ 2.57946702e-01 -9.66158430e-01 -1.17770558e-03 -3.17430496e+01] [-4.44331298e-03 3.26613343e-05 -9.99990128e-01 6.72381410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.23, Y:-31.76, Z:6.72 [[ 9.43174382e-01 3.32273690e-01 -4.03492071e-03 6.52340394e+01] [ 3.32270495e-01 -9.43183012e-01 -1.45748232e-03 -3.17556928e+01] [-4.28995169e-03 3.39748853e-05 -9.99990798e-01 6.72361882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.210385723 meters Centerline goodness [0,1] 0.9998429753920007 Centerline is valid? [True, True] Translation: X:65.23, Y:-31.77, Z:6.73 [[ 9.14867698e-01 4.03734474e-01 -3.94574706e-03 6.52334167e+01] [ 4.03730527e-01 -9.14876206e-01 -1.78570729e-03 -3.17664237e+01] [-4.33082169e-03 4.06673743e-05 -9.99990621e-01 6.72586960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.23, Y:-31.78, Z:6.72 [[ 8.81368068e-01 4.72416483e-01 -3.60494064e-03 6.52324350e+01] [ 4.72412314e-01 -8.81375439e-01 -1.98518684e-03 -3.17759255e+01] [-4.11514112e-03 4.66619408e-05 -9.99991532e-01 6.72419868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.23, Y:-31.78, Z:6.72 [[ 8.42536309e-01 5.38628491e-01 -3.45211773e-03 6.52325231e+01] [ 5.38623710e-01 -8.42543379e-01 -2.27004623e-03 -3.17848181e+01] [-4.13127052e-03 5.32039123e-05 -9.99991465e-01 6.72445364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.300385723 meters Centerline goodness [0,1] 0.9998660146044082 Centerline is valid? [True, True] Translation: X:65.23, Y:-31.79, Z:6.72 [[ 7.99263364e-01 6.00972894e-01 -3.10725932e-03 6.52329045e+01] [ 6.00968058e-01 -7.99269402e-01 -2.41178958e-03 -3.17937407e+01] [-3.93295746e-03 6.02914597e-05 -9.99992264e-01 6.72416616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.330385723 meters Centerline goodness [0,1] 0.9999775356621363 Centerline is valid? [True, True] Translation: X:65.24, Y:-31.80, Z:6.72 [[ 7.50231731e-01 6.61168354e-01 -2.95927092e-03 6.52353460e+01] [ 6.61162871e-01 -7.50237565e-01 -2.69347501e-03 -3.18036496e+01] [-4.00099665e-03 6.41703595e-05 -9.99991994e-01 6.72413992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.24, Y:-31.81, Z:6.72 [[ 6.96464260e-01 7.17588536e-01 -2.05609176e-03 6.52369791e+01] [ 7.17585197e-01 -6.96467293e-01 -2.18968205e-03 -3.18139492e+01] [-3.00329140e-03 4.96142732e-05 -9.99995489e-01 6.72373309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.24, Y:-31.83, Z:6.72 [[ 6.38118025e-01 7.69935846e-01 -2.04416398e-03 6.52427341e+01] [ 7.69931622e-01 -6.38121297e-01 -2.55084530e-03 -3.18260069e+01] [-3.26841181e-03 5.38738772e-05 -9.99994657e-01 6.72370458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.25, Y:-31.84, Z:6.72 [[ 5.75569641e-01 8.17750646e-01 -1.86259582e-03 6.52505765e+01] [ 8.17746060e-01 -5.75572653e-01 -2.73903812e-03 -3.18385692e+01] [-3.31190941e-03 5.33767930e-05 -9.99994514e-01 6.72400743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.26, Y:-31.85, Z:6.72 [[ 5.08681698e-01 8.60951352e-01 -2.38733271e-03 6.52598893e+01] [ 8.60941206e-01 -5.08687295e-01 -4.18039465e-03 -3.18509440e+01] [-4.81352225e-03 7.11371523e-05 -9.99988412e-01 6.72480354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.480385723 meters Centerline goodness [0,1] 0.9998657177386867 Centerline is valid? [True, True] Translation: X:65.27, Y:-31.86, Z:6.73 [[ 4.39449128e-01 8.98264086e-01 -2.46883610e-03 6.52678985e+01] [ 8.98248824e-01 -4.39456055e-01 -5.23690958e-03 -3.18625910e+01] [-5.78907277e-03 8.37262245e-05 -9.99983240e-01 6.72764572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.28, Y:-31.87, Z:6.73 [[ 3.65212685e-01 9.30921404e-01 -2.24380609e-03 6.52808394e+01] [ 9.30902567e-01 -3.65219570e-01 -5.92261388e-03 -3.18738332e+01] [-6.33296992e-03 7.42488703e-05 -9.99979944e-01 6.72633642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.29, Y:-31.88, Z:6.73 [[ 2.90406916e-01 9.56901662e-01 -1.74120450e-03 6.52924495e+01] [ 9.56883037e-01 -2.90412128e-01 -5.97068063e-03 -3.18827454e+01] [-6.21902112e-03 6.77978946e-05 -9.99980659e-01 6.72635031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.30, Y:-31.89, Z:6.73 [[ 2.13794673e-01 9.76877869e-01 -1.21100216e-03 6.53036083e+01] [ 9.76860564e-01 -2.13798094e-01 -5.81493291e-03 -3.18914744e+01] [-5.93938922e-03 6.02214220e-05 -9.99982360e-01 6.72668911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6003857229999 meters Centerline goodness [0,1] 0.9998892604814954 Centerline is valid? [True, True] Translation: X:65.32, Y:-31.90, Z:6.73 [[ 1.35357638e-01 9.90796548e-01 -7.14290421e-04 6.53170984e+01] [ 9.90780741e-01 -1.35359513e-01 -5.59698155e-03 -3.18984958e+01] [-5.64215600e-03 4.98890095e-05 -9.99984082e-01 6.72872573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.630385723 meters Centerline goodness [0,1] 0.9999555614806914 Centerline is valid? [True, True] Translation: X:65.33, Y:-31.90, Z:6.73 [[ 5.67225129e-02 9.98389949e-01 -2.56431467e-04 6.53299739e+01] [ 9.98376011e-01 -5.67230761e-02 -5.27565146e-03 -3.19047443e+01] [-5.28170298e-03 4.32331831e-05 -9.99986051e-01 6.72699513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.34, Y:-31.91, Z:6.73 [[-2.17809361e-02 9.99762756e-01 1.47518610e-04 6.53416518e+01] [ 9.99750559e-01 2.17813991e-02 -4.93868946e-03 -3.19104066e+01] [-4.94073095e-03 3.99125329e-05 -9.99987794e-01 6.72514803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.35, Y:-31.91, Z:6.73 [[-9.96497844e-02 9.95022469e-01 4.55688871e-04 6.53539364e+01] [ 9.95013641e-01 9.96508199e-02 -4.19137852e-03 -3.19142649e+01] [-4.21592557e-03 3.57466772e-05 -9.99991112e-01 6.72504037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.37, Y:-31.92, Z:6.73 [[-1.76520411e-01 9.84296758e-01 6.60345841e-04 6.53674103e+01] [ 9.84290555e-01 1.76521643e-01 -3.49460182e-03 -3.19183613e+01] [-3.55629058e-03 3.31036264e-05 -9.99993676e-01 6.72553252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.38, Y:-31.92, Z:6.73 [[-2.53094966e-01 9.67440850e-01 1.06787429e-03 6.53783924e+01] [ 9.67432858e-01 2.53097216e-01 -3.93243452e-03 -3.19207495e+01] [-4.07467380e-03 3.78172983e-05 -9.99991698e-01 6.72582717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.39, Y:-31.92, Z:6.73 [[-3.28254177e-01 9.44587901e-01 1.70083909e-03 6.53908225e+01] [ 9.44575936e-01 3.28258580e-01 -4.75448619e-03 -3.19217270e+01] [-5.04934516e-03 4.58917238e-05 -9.99987251e-01 6.72646368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.40, Y:-31.92, Z:6.73 [[-4.01775259e-01 9.15736157e-01 1.98293770e-03 6.54017745e+01] [ 9.15725506e-01 4.01780150e-01 -4.41687970e-03 -3.19230102e+01] [-4.84140144e-03 4.12336399e-05 -9.99988280e-01 6.72612813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8403857229999 meters Centerline goodness [0,1] 0.9999779405276625 Centerline is valid? [True, True] Translation: X:65.41, Y:-31.92, Z:6.72 [[-4.72984705e-01 8.81068304e-01 2.02789566e-03 6.54146127e+01] [ 8.81060500e-01 4.72989051e-01 -3.70848070e-03 -3.19213970e+01] [-4.22659725e-03 3.26441161e-05 -9.99991067e-01 6.72493181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.43, Y:-31.92, Z:6.72 [[-5.40741542e-01 8.41186053e-01 2.14686648e-03 6.54257138e+01] [ 8.41179639e-01 5.40745803e-01 -3.28508254e-03 -3.19202094e+01] [-3.92427465e-03 2.95197713e-05 -9.99992300e-01 6.72487825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.44, Y:-31.92, Z:6.73 [[-6.04950020e-01 7.96260404e-01 2.20066774e-03 6.54378638e+01] [ 7.96255298e-01 6.04954022e-01 -2.85150382e-03 -3.19168887e+01] [-3.60184238e-03 2.72760539e-05 -9.99993513e-01 6.72512603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.45, Y:-31.91, Z:6.73 [[-6.65191059e-01 7.46668475e-01 2.65391315e-03 6.54467166e+01] [ 7.46662718e-01 6.65196353e-01 -2.93218918e-03 -3.19134641e+01] [-3.95474657e-03 3.11119807e-05 -9.99992180e-01 6.72532924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.46, Y:-31.91, Z:6.73 [[-7.21261983e-01 6.92655899e-01 2.99299934e-03 6.54577247e+01] [ 6.92650133e-01 7.21268192e-01 -2.82653456e-03 -3.19076415e+01] [-4.11657106e-03 3.44294690e-05 -9.99991526e-01 6.72507213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.49, Y:-31.90, Z:6.73 [[-7.67310954e-01 6.41264995e-01 3.62032859e-03 6.54894051e+01] [ 6.41258144e-01 7.67319493e-01 -2.96454314e-03 -3.18965289e+01] [-4.67900644e-03 4.68387683e-05 -9.99989052e-01 6.72550416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.51, Y:-31.87, Z:6.73 [[-8.10134772e-01 5.86231723e-01 3.74421703e-03 6.55101990e+01] [ 5.86225750e-01 8.10143423e-01 -2.64662107e-03 -3.18734808e+01] [-4.58488603e-03 5.08366793e-05 -9.99989488e-01 6.72525132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.53, Y:-31.85, Z:6.73 [[-8.48375429e-01 5.29378196e-01 4.22579738e-03 6.55311841e+01] [ 5.29372010e-01 8.48385951e-01 -2.55990896e-03 -3.18506717e+01] [-4.94026711e-03 6.52549935e-05 -9.99987795e-01 6.72553383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.55, Y:-31.83, Z:6.73 [[-8.83048328e-01 4.69260283e-01 4.52085158e-03 6.55469997e+01] [ 4.69254563e-01 8.83059897e-01 -2.31807154e-03 -3.18255663e+01] [-5.07996164e-03 7.44610388e-05 -9.99987094e-01 6.72557594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.56, Y:-31.80, Z:6.72 [[-9.13269508e-01 4.07331319e-01 4.47236876e-03 6.55622920e+01] [ 4.07326867e-01 9.13280455e-01 -1.90621948e-03 -3.17973326e+01] [-4.86098988e-03 8.08238274e-05 -9.99988182e-01 6.72430204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.57, Y:-31.77, Z:6.72 [[-9.39498984e-01 3.42531946e-01 3.67771268e-03 6.55700739e+01] [ 3.42529607e-01 9.39506179e-01 -1.26774586e-03 -3.17691375e+01] [-3.88947725e-03 6.86795277e-05 -9.99992434e-01 6.72385389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.58, Y:-31.74, Z:6.72 [[-9.61326113e-01 2.75395307e-01 3.08690532e-03 6.55800416e+01] [ 2.75394079e-01 9.61331068e-01 -8.24277754e-04 -3.17421533e+01] [-3.19454021e-03 5.77157181e-05 -9.99994896e-01 6.72339273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.77, Y:-31.05, Z:5.75 [[-9.52098542e-01 -3.05778510e-01 2.80529035e-03 6.57690561e+01] [ 3.05776972e-01 -9.52102672e-01 -9.72364817e-04 -3.10493950e+01] [ 2.96825271e-03 -6.79939352e-05 9.99995592e-01 5.75491345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.230385723 meters Centerline goodness [0,1] 0.9998911054969946 Centerline is valid? [True, True] Translation: X:65.53, Y:-31.72, Z:6.73 [[-9.62310227e-01 2.71932654e-01 3.41447989e-03 6.55315172e+01] [ 2.71931179e-01 9.62316283e-01 -8.97762328e-04 -3.17224808e+01] [-3.52994049e-03 6.45776734e-05 -9.99993768e-01 6.72511641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.260385723 meters Centerline goodness [0,1] 0.9998697379561885 Centerline is valid? [True, True] Translation: X:65.54, Y:-31.69, Z:6.73 [[-9.79408215e-01 2.01864477e-01 3.20633399e-03 6.55389618e+01] [ 2.01863583e-01 9.79413462e-01 -6.03477960e-04 -3.16911725e+01] [-3.26214743e-03 5.61907963e-05 -9.99994678e-01 6.72513099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.53, Y:-31.66, Z:6.72 [[-9.91390674e-01 1.30900744e-01 3.08645779e-03 6.55347031e+01] [ 1.30900268e-01 9.91395478e-01 -3.56359798e-04 -3.16588659e+01] [-3.10654805e-03 5.07263722e-05 -9.99995173e-01 6.72236297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.54, Y:-31.63, Z:6.72 [[-9.98289191e-01 5.83969553e-02 2.91324743e-03 6.55375372e+01] [ 5.83968313e-02 9.98293441e-01 -1.27675564e-04 -3.16255221e+01] [-2.91573166e-03 4.26672831e-05 -9.99995748e-01 6.72228908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.57, Y:-30.94, Z:5.76 [[-9.95202365e-01 -9.77929342e-02 2.96552676e-03 6.55661207e+01] [ 9.77923828e-02 -9.95206783e-01 -3.30740794e-04 -3.09374588e+01] [ 2.98365646e-03 -3.91480928e-05 9.99995548e-01 5.75550979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.46, Y:-31.62, Z:6.72 [[-9.98711391e-01 5.06113472e-02 3.74830202e-03 6.54644304e+01] [ 5.06111508e-02 9.98718424e-01 -1.47292265e-04 -3.16170408e+01] [-3.75095295e-03 4.26034160e-05 -9.99992964e-01 6.72184375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.45, Y:-31.59, Z:6.72 [[-9.99747616e-01 -2.20958169e-02 4.05957237e-03 6.54531854e+01] [-2.20954736e-02 9.99755857e-01 1.29399722e-04 -3.15852537e+01] [-4.06144044e-03 3.96688890e-05 -9.99991752e-01 6.72178496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.45, Y:-31.55, Z:6.72 [[-9.95278562e-01 -9.69635867e-02 4.31829341e-03 6.54467342e+01] [-9.69625608e-02 9.95287929e-01 4.46786885e-04 -3.15508223e+01] [-4.34126736e-03 2.59646214e-05 -9.99990576e-01 6.72177712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.43, Y:-31.52, Z:6.72 [[-9.85549012e-01 -1.69351104e-01 3.65349473e-03 6.54278727e+01] [-1.69349880e-01 9.85555784e-01 6.44074682e-04 -3.15217937e+01] [-3.70979762e-03 1.60482721e-05 -9.99993119e-01 6.72160284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.500385723 meters Centerline goodness [0,1] 0.9999784677662461 Centerline is valid? [True, True] Translation: X:65.40, Y:-31.50, Z:6.72 [[-9.70458724e-01 -2.41241016e-01 3.55496119e-03 6.54007241e+01] [-2.41239358e-01 9.70465235e-01 8.94312599e-04 -3.14957862e+01] [-3.66571112e-03 1.02969080e-05 -9.99993281e-01 6.72182939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.36, Y:-31.47, Z:6.72 [[-9.49771332e-01 -3.12915279e-01 4.29489088e-03 6.53594823e+01] [-3.12912072e-01 9.49781042e-01 1.41670325e-03 -3.14745882e+01] [-4.52251403e-03 1.62092612e-06 -9.99989773e-01 6.72303181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.30, Y:-31.47, Z:6.72 [[-9.24003588e-01 -3.82349746e-01 5.10306626e-03 6.53005077e+01] [-3.82343931e-01 9.24017679e-01 2.10865655e-03 -3.14654938e+01] [-5.52156774e-03 -2.72019721e-06 -9.99984756e-01 6.72308053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.23, Y:-31.47, Z:6.72 [[-8.93075269e-01 -4.49871621e-01 5.66474380e-03 6.52315751e+01] [-4.49862624e-01 8.93093234e-01 2.84513853e-03 -3.14656241e+01] [-6.33909144e-03 -7.43365291e-06 -9.99979908e-01 6.72306830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.15, Y:-31.48, Z:6.72 [[-8.56704283e-01 -5.15777960e-01 5.55586320e-03 6.51533840e+01] [-5.15767228e-01 8.56722298e-01 3.32727323e-03 -3.14758838e+01] [-6.47596609e-03 -1.50429327e-05 -9.99979031e-01 6.72254826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.650385723 meters Centerline goodness [0,1] 0.9999784459532277 Centerline is valid? [True, True] Translation: X:65.07, Y:-31.49, Z:6.72 [[-8.15390089e-01 -5.78891930e-01 4.81006925e-03 6.50717377e+01] [-5.78881989e-01 8.15404276e-01 3.39256072e-03 -3.14940464e+01] [-5.88607706e-03 -1.82020706e-05 -9.99982677e-01 6.72245912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.680385723 meters Centerline goodness [0,1] 0.9999784324720701 Centerline is valid? [True, True] Translation: X:64.99, Y:-31.52, Z:6.72 [[-7.68513465e-01 -6.39822700e-01 3.73710651e-03 6.49883889e+01] [-6.39815288e-01 7.68522551e-01 3.07990617e-03 -3.15221734e+01] [-4.84264451e-03 -2.41085142e-05 -9.99988274e-01 6.72118039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.90, Y:-31.56, Z:6.72 [[-7.17285867e-01 -6.96771340e-01 3.26879913e-03 6.48997049e+01] [-6.96764286e-01 7.17293315e-01 3.13533577e-03 -3.15631653e+01] [-4.52929987e-03 -2.86504547e-05 -9.99989742e-01 6.72034904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.81, Y:-31.61, Z:6.72 [[-6.61475307e-01 -7.49961167e-01 2.94377888e-03 6.48110403e+01] [-7.49953975e-01 6.61481856e-01 3.28480268e-03 -3.16133843e+01] [-4.41073077e-03 -3.48828132e-05 -9.99990272e-01 6.72025843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.770385723 meters Centerline goodness [0,1] 0.9999569698143248 Centerline is valid? [True, True] Translation: X:64.71, Y:-31.69, Z:6.72 [[-6.01001912e-01 -7.99243487e-01 2.55930715e-03 6.47132537e+01] [-7.99236548e-01 6.01007360e-01 3.33060563e-03 -3.16874438e+01] [-4.20012729e-03 -4.37914583e-05 -9.99991179e-01 6.72024108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.63, Y:-31.76, Z:6.72 [[-5.37731151e-01 -8.43112828e-01 2.44308084e-03 6.46334812e+01] [-8.43104552e-01 5.37736699e-01 3.73603544e-03 -3.17550674e+01] [-4.46363363e-03 -5.07899336e-05 -9.99990037e-01 6.71966145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.56, Y:-31.82, Z:6.72 [[-4.70744447e-01 -8.82267090e-01 2.10917842e-03 6.45628866e+01] [-8.82258754e-01 4.70749169e-01 3.83553974e-03 -3.18226045e+01] [-4.37686448e-03 -5.52820922e-05 -9.99990420e-01 6.71978913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.49, Y:-31.91, Z:6.72 [[-4.02107651e-01 -9.15590438e-01 1.89414043e-03 6.44886710e+01] [-9.15580943e-01 4.02112108e-01 4.17019830e-03 -3.19106770e+01] [-4.57985049e-03 -5.73702369e-05 -9.99989511e-01 6.71987017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.42, Y:-32.01, Z:6.72 [[-3.31712527e-01 -9.43378963e-01 1.71230278e-03 6.44216798e+01] [-9.43367288e-01 3.31716941e-01 4.69381074e-03 -3.20119675e+01] [-4.99604215e-03 -5.83346113e-05 -9.99987518e-01 6.71951970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.36, Y:-32.12, Z:6.72 [[-2.59080263e-01 -9.65854769e-01 1.40806457e-03 6.43600078e+01] [-9.65841693e-01 2.59084083e-01 5.02610810e-03 -3.21214492e+01] [-5.21929759e-03 -5.78020550e-05 -9.99986378e-01 6.71876534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.30, Y:-32.23, Z:6.72 [[-1.84192565e-01 -9.82889649e-01 1.01819031e-03 6.43047932e+01] [-9.82876319e-01 1.84195370e-01 5.11938110e-03 -3.22289321e+01] [-5.21933264e-03 -5.78032120e-05 -9.99986378e-01 6.71876708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.26, Y:-32.34, Z:6.72 [[-1.09185098e-01 -9.94021246e-01 6.14223917e-04 6.42617499e+01] [-9.94008065e-01 1.09186813e-01 5.11915327e-03 -3.23409967e+01] [-5.15561226e-03 -5.16082771e-05 -9.99986708e-01 6.71829875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.010385723 meters Centerline goodness [0,1] 0.9999563766440552 Centerline is valid? [True, True] Translation: X:64.23, Y:-32.45, Z:6.72 [[-3.54319621e-02 -9.99372063e-01 2.36868603e-04 6.42307915e+01] [-9.99356452e-01 3.54327326e-02 5.58607085e-03 -3.24531916e+01] [-5.59095605e-03 -3.87907158e-05 -9.99984370e-01 6.71814025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.040385723 meters Centerline goodness [0,1] 0.9999561393890217 Centerline is valid? [True, True] Translation: X:64.21, Y:-32.57, Z:6.72 [[ 3.83945780e-02 -9.99262633e-01 -2.14580462e-04 6.42087773e+01] [-9.99243528e-01 -3.83951708e-02 6.17928043e-03 -3.25670285e+01] [-6.18296289e-03 -2.28327264e-05 -9.99980885e-01 6.71832838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.19, Y:-32.70, Z:6.72 [[ 1.13973795e-01 -9.93483454e-01 -7.74846983e-04 6.41930722e+01] [-9.93459475e-01 -1.13976428e-01 6.90253806e-03 -3.27014263e+01] [-6.94587165e-03 -1.69293830e-05 -9.99975877e-01 6.71913795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.19, Y:-32.82, Z:6.72 [[ 1.89099802e-01 -9.81956839e-01 -1.42506986e-03 6.41853007e+01] [-9.81928547e-01 -1.89105171e-01 7.45408512e-03 -3.28187753e+01] [-7.58907794e-03 -1.02492415e-05 -9.99971203e-01 6.71904973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.19, Y:-32.94, Z:6.72 [[ 2.62597903e-01 -9.64903170e-01 -2.05255623e-03 6.41903526e+01] [-9.64873770e-01 -2.62605925e-01 7.53235155e-03 -3.29437549e+01] [-7.80700332e-03 2.47794832e-06 -9.99969525e-01 6.71991868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.20, Y:-33.06, Z:6.72 [[ 3.35431990e-01 -9.42060876e-01 -2.58582541e-03 6.42028222e+01] [-9.42033082e-01 -3.35441957e-01 7.23639618e-03 -3.30618223e+01] [-7.68452006e-03 8.61430984e-06 -9.99970474e-01 6.71947477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.190385723 meters Centerline goodness [0,1] 0.9999779672593474 Centerline is valid? [True, True] Translation: X:64.23, Y:-33.19, Z:6.72 [[ 4.06843180e-01 -9.13493042e-01 -3.01474626e-03 6.42256193e+01] [-9.13468137e-01 -4.06854349e-01 6.74542846e-03 -3.31887072e+01] [-7.38846460e-03 9.54308800e-06 -9.99972705e-01 6.71911000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.25, Y:-33.30, Z:6.72 [[ 4.75529422e-01 -8.79693619e-01 -3.30225161e-03 6.42546975e+01] [-8.79672586e-01 -4.75540888e-01 6.08314754e-03 -3.33012952e+01] [-6.92166174e-03 1.21845859e-05 -9.99976045e-01 6.71786262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.30, Y:-33.42, Z:6.72 [[ 5.41996058e-01 -8.40371977e-01 -3.90044912e-03 6.42953847e+01] [-8.40350354e-01 -5.42010092e-01 6.02843327e-03 -3.34225224e+01] [-7.18020917e-03 1.03567282e-05 -9.99974222e-01 6.71762538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.34, Y:-33.53, Z:6.72 [[ 6.05567312e-01 -7.95777108e-01 -5.19868362e-03 6.43400111e+01] [-7.95747855e-01 -6.05589626e-01 6.82323945e-03 -3.35293138e+01] [-8.57804662e-03 4.91057100e-06 -9.99963208e-01 6.71874488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.39, Y:-33.63, Z:6.72 [[ 6.65428079e-01 -7.46436906e-01 -6.11692816e-03 6.43910803e+01] [-7.46405324e-01 -6.65456193e-01 6.86638584e-03 -3.36344341e+01] [-9.19587153e-03 -3.37819678e-06 -9.99957717e-01 6.71878110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3403857229999 meters Centerline goodness [0,1] 0.9999553541531799 Centerline is valid? [True, True] Translation: X:64.45, Y:-33.74, Z:6.72 [[ 7.21451272e-01 -6.92434667e-01 -6.50340151e-03 6.44498079e+01] [-6.92406353e-01 -7.21480584e-01 6.26180891e-03 -3.37362605e+01] [-9.02797148e-03 -1.45934864e-05 -9.99959247e-01 6.71869973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.370385723 meters Centerline goodness [0,1] 0.9999110854246782 Centerline is valid? [True, True] Translation: X:64.44, Y:-33.75, Z:6.72 [[ 7.75900753e-01 -6.30826553e-01 -5.99017730e-03 6.44417331e+01] [-6.30807322e-01 -7.75923874e-01 4.92580526e-03 -3.37466165e+01] [-7.75525033e-03 -4.32883087e-05 -9.99969927e-01 6.71822534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.44, Y:-33.76, Z:6.72 [[ 8.23840906e-01 -5.66783460e-01 -6.53228978e-03 6.44356309e+01] [-5.66765080e-01 -8.23866801e-01 4.56496498e-03 -3.37553622e+01] [-7.96908333e-03 -5.85311458e-05 -9.99968245e-01 6.71845143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.43, Y:-33.76, Z:6.72 [[ 8.66236822e-01 -4.99583555e-01 -7.07381163e-03 6.44299986e+01] [-4.99566237e-01 -8.66265702e-01 4.16037647e-03 -3.37633222e+01] [-8.20625607e-03 -7.00338407e-05 -9.99966326e-01 6.71856943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.43, Y:-33.77, Z:6.72 [[ 9.02968657e-01 -4.29649258e-01 -7.00849560e-03 6.44257584e+01] [-4.29635694e-01 -9.02995853e-01 3.41470723e-03 -3.37713024e+01] [-7.79576889e-03 -7.22737319e-05 -9.99969610e-01 6.71818084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.42, Y:-33.78, Z:6.72 [[ 9.33387198e-01 -3.58805333e-01 -6.86081277e-03 6.44226922e+01] [-3.58795169e-01 -9.33412411e-01 2.70137229e-03 -3.37770800e+01] [-7.37323457e-03 -5.97998366e-05 -9.99972816e-01 6.71710799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.42, Y:-33.78, Z:6.72 [[ 9.58290579e-01 -2.85712089e-01 -6.91139695e-03 6.44213870e+01] [-2.85704271e-01 -9.58315501e-01 2.11426787e-03 -3.37816594e+01] [-7.22737072e-03 -5.14673583e-05 -9.99973881e-01 6.71691559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.42, Y:-33.79, Z:6.72 [[ 9.77464178e-01 -2.10979908e-01 -7.15949373e-03 6.44185531e+01] [-2.10973915e-01 -9.77490397e-01 1.59077293e-03 -3.37896839e+01] [-7.33395750e-03 -4.44571265e-05 -9.99973105e-01 6.71664772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.41, Y:-33.80, Z:6.72 [[ 9.90666161e-01 -1.36035993e-01 -8.64669404e-03 6.44128708e+01] [-1.36030516e-01 -9.90703895e-01 1.22108700e-03 -3.37988966e+01] [-8.73242524e-03 -3.34753192e-05 -9.99961871e-01 6.71834416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.41, Y:-33.81, Z:6.72 [[ 9.98183774e-01 -5.95563226e-02 -9.06629270e-03 6.44078999e+01] [-5.95536712e-02 -9.98224947e-01 5.62366381e-04 -3.38091738e+01] [-9.08369202e-03 -2.14139824e-05 -9.99958742e-01 6.71866341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.640385723 meters Centerline goodness [0,1] 0.9999553551497835 Centerline is valid? [True, True] Translation: X:64.40, Y:-33.82, Z:6.72 [[ 9.99829125e-01 1.58249293e-02 -9.55476195e-03 6.44023286e+01] [ 1.58241518e-02 -9.99874778e-01 -1.56971107e-04 -3.38169580e+01] [-9.55604954e-03 5.74828088e-06 -9.99954340e-01 6.72106195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.40, Y:-33.82, Z:6.72 [[ 9.95611643e-01 9.30821760e-02 -9.65222341e-03 6.43982660e+01] [ 9.30776501e-02 -9.95658430e-01 -9.18026474e-04 -3.38248643e+01] [-9.69576950e-03 1.55915719e-05 -9.99952995e-01 6.71960386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.40, Y:-33.83, Z:6.72 [[ 9.85617812e-01 1.68721043e-01 -9.52568180e-03 6.43953518e+01] [ 1.68712819e-01 -9.85663842e-01 -1.66625429e-03 -3.38336823e+01] [-9.67025228e-03 3.51852813e-05 -9.99953241e-01 6.71960241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.39, Y:-33.85, Z:6.72 [[ 9.69558383e-01 2.44696382e-01 -8.95675593e-03 6.43935860e+01] [ 2.44685561e-01 -9.69599752e-01 -2.30160589e-03 -3.38455691e+01] [-9.24766296e-03 3.99524398e-05 -9.99957239e-01 6.71918796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.39, Y:-33.86, Z:6.72 [[ 9.47565790e-01 3.19448341e-01 -8.47537855e-03 6.43916661e+01] [ 3.19435163e-01 -9.47603691e-01 -2.90188932e-03 -3.38589355e+01] [-8.95830373e-03 4.23971164e-05 -9.99959873e-01 6.71935520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.39, Y:-33.87, Z:6.72 [[ 9.19627413e-01 3.92701050e-01 -8.44435690e-03 6.43907726e+01] [ 3.92684063e-01 -9.19666181e-01 -3.65284301e-03 -3.38709539e+01] [-9.20046474e-03 4.32901849e-05 -9.99957674e-01 6.71973687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.39, Y:-33.88, Z:6.72 [[ 8.86119407e-01 4.63386233e-01 -8.09912361e-03 6.43902833e+01] [ 4.63366423e-01 -8.86156418e-01 -4.28500574e-03 -3.38808825e+01] [-9.16270304e-03 4.41648130e-05 -9.99958021e-01 6.71990587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8503857229999 meters Centerline goodness [0,1] 0.9999327505043712 Centerline is valid? [True, True] Translation: X:64.39, Y:-33.89, Z:6.72 [[ 8.47386160e-01 5.30929302e-01 -7.12545849e-03 6.43921423e+01] [ 5.30910090e-01 -8.47416117e-01 -4.51682922e-03 -3.38923368e+01] [-8.43634535e-03 4.45207675e-05 -9.99964412e-01 6.72005132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.39, Y:-33.90, Z:6.72 [[ 8.03286251e-01 5.95552063e-01 -6.99561269e-03 6.43917852e+01] [ 5.95528969e-01 -8.03316711e-01 -5.24497470e-03 -3.39017759e+01] [-8.74334808e-03 4.71260523e-05 -9.99961775e-01 6.71974600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.39, Y:-33.91, Z:6.72 [[ 7.54800253e-01 6.55924141e-01 -6.33232722e-03 6.43933073e+01] [ 6.55900468e-01 -7.54826813e-01 -5.57300538e-03 -3.39107639e+01] [-8.43527914e-03 5.31294843e-05 -9.99964421e-01 6.71901613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.40, Y:-33.92, Z:6.72 [[ 7.01217398e-01 7.12923296e-01 -5.87670044e-03 6.43961844e+01] [ 7.12897613e-01 -7.01242021e-01 -6.05162686e-03 -3.39213979e+01] [-8.43533505e-03 5.40203275e-05 -9.99964421e-01 6.71916675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.40, Y:-33.93, Z:6.72 [[ 6.43119711e-01 7.65747094e-01 -5.33161552e-03 6.43997572e+01] [ 7.65720101e-01 -6.43141808e-01 -6.42969043e-03 -3.39320150e+01] [-8.35250161e-03 5.25354738e-05 -9.99965116e-01 6.71949947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.40, Y:-33.94, Z:6.72 [[ 5.80755433e-01 8.14064357e-01 -4.72749710e-03 6.44044761e+01] [ 8.14036719e-01 -5.80774672e-01 -6.70816753e-03 -3.39418425e+01] [-8.20649067e-03 4.74485093e-05 -9.99966325e-01 6.72023865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.030385723 meters Centerline goodness [0,1] 0.9998205755040707 Centerline is valid? [True, True] Translation: X:64.41, Y:-33.95, Z:6.73 [[ 5.14967464e-01 8.57198595e-01 -4.36813337e-03 6.44101580e+01] [ 8.57166982e-01 -5.14985987e-01 -7.36191190e-03 -3.39520126e+01] [-8.56014801e-03 4.69254030e-05 -9.99963360e-01 6.72527137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.42, Y:-33.96, Z:6.72 [[ 4.45537247e-01 8.95257208e-01 -3.33050093e-03 6.44150639e+01] [ 8.95231598e-01 -4.45549694e-01 -6.77175061e-03 -3.39618698e+01] [-7.54636222e-03 3.54974577e-05 -9.99971525e-01 6.72137408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.42, Y:-33.97, Z:6.72 [[ 3.74246834e-01 9.27324086e-01 -3.05721247e-03 6.44178640e+01] [ 9.27292259e-01 -3.74259319e-01 -7.68300735e-03 -3.39703174e+01] [-8.26882803e-03 4.04117252e-05 -9.99965812e-01 6.72138990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.42, Y:-33.98, Z:6.72 [[ 3.01284743e-01 9.53530612e-01 -2.62228036e-03 6.44207653e+01] [ 9.53493023e-01 -3.01296150e-01 -8.46676124e-03 -3.39771081e+01] [-8.86339900e-03 5.05799569e-05 -9.99960718e-01 6.72157003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.42, Y:-33.98, Z:6.72 [[ 2.27960273e-01 9.73668393e-01 -1.99363897e-03 6.44218196e+01] [ 9.73628313e-01 -2.27968979e-01 -8.83481218e-03 -3.39841134e+01] [-9.05666521e-03 7.29228488e-05 -9.99958985e-01 6.72313282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.44, Y:-33.99, Z:6.72 [[ 1.52127667e-01 9.88360081e-01 -1.23455643e-03 6.44353143e+01] [ 9.88323179e-01 -1.52132655e-01 -8.54105383e-03 -3.39917570e+01] [-8.62945300e-03 7.91898537e-05 -9.99962763e-01 6.72136669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.45, Y:-34.00, Z:6.72 [[ 7.54939248e-02 9.97146143e-01 -4.87506376e-04 6.44461366e+01] [ 9.97118138e-01 -7.54954584e-02 -7.47357474e-03 -3.39999848e+01] [-7.48905074e-03 7.81080399e-05 -9.99971954e-01 6.72193450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.46, Y:-34.01, Z:6.72 [[-2.97123926e-03 9.99995582e-01 9.32211565e-05 6.44583178e+01] [ 9.99970922e-01 2.97182069e-03 -7.02300325e-03 -3.40063237e+01] [-7.02324925e-03 7.23514229e-05 -9.99975334e-01 6.72141316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.47, Y:-34.01, Z:6.72 [[-8.13370140e-02 9.96686468e-01 6.12263286e-04 6.44721932e+01] [ 9.96664239e-01 8.13392893e-02 -6.65689634e-03 -3.40114419e+01] [-6.68463956e-03 6.87688517e-05 -9.99977655e-01 6.72122202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.49, Y:-34.02, Z:6.72 [[-1.59443642e-01 9.87206461e-01 1.06262228e-03 6.44853634e+01] [ 9.87187089e-01 1.59447170e-01 -6.18472552e-03 -3.40168212e+01] [-6.27503311e-03 6.28918328e-05 -9.99980310e-01 6.72109110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.49, Y:-34.02, Z:6.72 [[-2.36239596e-01 9.71693725e-01 1.46914281e-03 6.44941569e+01] [ 9.71676482e-01 2.36244157e-01 -5.78902075e-03 -3.40220536e+01] [-5.97223154e-03 5.99355887e-05 -9.99982164e-01 6.72211432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.360385723 meters Centerline goodness [0,1] 0.9999776790696636 Centerline is valid? [True, True] Translation: X:64.51, Y:-34.02, Z:6.72 [[-3.10274623e-01 9.50645558e-01 1.63738694e-03 6.45089837e+01] [ 9.50633299e-01 3.10278938e-01 -4.82827718e-03 -3.40237942e+01] [-5.09802693e-03 5.84626687e-05 -9.99987003e-01 6.72084238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.52, Y:-34.03, Z:6.72 [[-3.82855913e-01 9.23805732e-01 2.07846699e-03 6.45212326e+01] [ 9.23793039e-01 3.82861550e-01 -4.84296059e-03 -3.40263053e+01] [-5.26971984e-03 6.59172390e-05 -9.99986113e-01 6.72083505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.53, Y:-34.03, Z:6.72 [[-4.52976030e-01 8.91519307e-01 2.45809502e-03 6.45324051e+01] [ 8.91507035e-01 4.52982694e-01 -4.67816869e-03 -3.40279516e+01] [-5.28415221e-03 7.23107215e-05 -9.99986036e-01 6.72093815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.54, Y:-34.03, Z:6.72 [[-5.19618785e-01 8.54394163e-01 2.63293977e-03 6.45420060e+01] [ 8.54383945e-01 5.19625450e-01 -4.17929260e-03 -3.40297443e+01] [-4.93890572e-03 7.79025264e-05 -9.99987801e-01 6.72152720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.55, Y:-34.03, Z:6.72 [[-5.83350047e-01 8.12216860e-01 2.54871172e-03 6.45543663e+01] [ 8.12209667e-01 5.83355610e-01 -3.41906259e-03 -3.40277078e+01] [-4.26382556e-03 7.55779755e-05 -9.99990907e-01 6.72069471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.57, Y:-34.03, Z:6.72 [[-6.44604771e-01 7.64509744e-01 3.08894560e-03 6.45654662e+01] [ 7.64501603e-01 6.44612166e-01 -3.52913779e-03 -3.40269309e+01] [-4.68923214e-03 8.66048075e-05 -9.99989002e-01 6.72067530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.58, Y:-34.02, Z:6.72 [[-7.01319685e-01 7.12839065e-01 3.34166259e-03 6.45764459e+01] [ 7.12831606e-01 7.01327640e-01 -3.26246701e-03 -3.40243189e+01] [-4.66921427e-03 9.40103748e-05 -9.99989095e-01 6.72139413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.61, Y:-34.01, Z:6.72 [[-7.49931086e-01 6.61504583e-01 3.87969486e-03 6.46051969e+01] [ 6.61496434e-01 7.49941115e-01 -3.28513231e-03 -3.40110523e+01] [-5.08267276e-03 1.02781472e-04 -9.99987078e-01 6.72169008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.63, Y:-33.99, Z:6.72 [[-7.94562089e-01 6.07170088e-01 3.94608794e-03 6.46269865e+01] [ 6.07163227e-01 7.94571881e-01 -2.88813783e-03 -3.39902460e+01] [-4.88904142e-03 1.01114656e-04 -9.99988044e-01 6.72124921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.65, Y:-33.97, Z:6.72 [[-8.35421151e-01 5.49593835e-01 4.25647508e-03 6.46465603e+01] [ 5.49587337e-01 8.35431988e-01 -2.67446470e-03 -3.39683072e+01] [-5.02586475e-03 1.05000430e-04 -9.99987365e-01 6.72133849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.660385723 meters Centerline goodness [0,1] 0.9999553401960566 Centerline is valid? [True, True] Translation: X:64.66, Y:-33.94, Z:6.72 [[-8.71838691e-01 4.89768884e-01 4.87210348e-03 6.46609002e+01] [ 4.89761999e-01 8.71852296e-01 -2.59981492e-03 -3.39431491e+01] [-5.52106305e-03 1.19551902e-04 -9.99984752e-01 6.72166502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.690385723 meters Centerline goodness [0,1] 0.9998883878744587 Centerline is valid? [True, True] Translation: X:64.68, Y:-33.92, Z:6.72 [[-9.03875654e-01 4.27765759e-01 5.02567818e-03 6.46804934e+01] [ 4.27759913e-01 9.03889617e-01 -2.23976950e-03 -3.39200604e+01] [-5.50075503e-03 1.25310546e-04 -9.99984863e-01 6.72452919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.70, Y:-33.89, Z:6.72 [[-9.32012957e-01 3.62393173e-01 4.79961849e-03 6.46951146e+01] [ 3.62389000e-01 9.32025308e-01 -1.74308368e-03 -3.38939041e+01] [-5.10504753e-03 1.14752368e-04 -9.99986963e-01 6.72196923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.71, Y:-33.87, Z:6.72 [[-9.55288013e-01 2.95649103e-01 4.05222975e-03 6.47071769e+01] [ 2.95646868e-01 9.55296602e-01 -1.15367192e-03 -3.38665313e+01] [-4.21216338e-03 9.59400744e-05 -9.99991124e-01 6.72114422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.71, Y:-33.84, Z:6.72 [[-9.73900657e-01 2.26945949e-01 3.61189038e-03 6.47090821e+01] [ 2.26944705e-01 9.73907352e-01 -7.56066258e-04 -3.38371832e+01] [-3.68923277e-03 8.33659719e-05 -9.99993191e-01 6.72103007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.72, Y:-33.81, Z:6.72 [[-9.87576432e-01 1.57098326e-01 3.59255018e-03 6.47169364e+01] [ 1.57097585e-01 9.87582963e-01 -4.89187382e-04 -3.38082028e+01] [-3.62479188e-03 8.12710284e-05 -9.99993427e-01 6.72149214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.83, Y:-33.02, Z:5.76 [[-9.83708987e-01 -1.79732798e-01 3.57070906e-03 6.48297323e+01] [ 1.79731317e-01 -9.83715464e-01 -7.34166221e-04 -3.30244429e+01] [ 3.64451547e-03 -8.04376692e-05 9.99993356e-01 5.75635239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.65, Y:-33.80, Z:6.72 [[-9.88336435e-01 1.52237205e-01 3.86337480e-03 6.46529640e+01] [ 1.52236382e-01 9.88343982e-01 -5.08023565e-04 -3.38001580e+01] [-3.89568332e-03 8.60480031e-05 -9.99992408e-01 6.72215490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.65, Y:-33.77, Z:6.72 [[-9.96676175e-01 8.13581556e-02 4.17761799e-03 6.46535293e+01] [ 8.13578239e-02 9.96684926e-01 -2.49553125e-04 -3.37678674e+01] [-4.18407206e-03 9.11582545e-05 -9.99991243e-01 6.72328001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.70, Y:-32.98, Z:5.75 [[-9.94425472e-01 -1.05367300e-01 3.96404261e-03 6.46997032e+01] [ 1.05366064e-01 -9.94433367e-01 -5.19881661e-04 -3.29834281e+01] [ 3.99675477e-03 -9.93079967e-05 9.99992008e-01 5.75458543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.56, Y:-33.76, Z:6.72 [[-9.96951288e-01 7.79197144e-02 4.08009429e-03 6.45566858e+01] [ 7.79194470e-02 9.96959633e-01 -2.24690645e-04 -3.37588180e+01] [-4.08519714e-03 9.39130631e-05 -9.99991651e-01 6.72279741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.64, Y:-32.98, Z:5.75 [[-9.95084939e-01 -9.89254684e-02 4.44024047e-03 6.46373773e+01] [ 9.89241362e-02 -9.95094843e-01 -5.19208911e-04 -3.29819435e+01] [ 4.46982337e-03 -7.74100147e-05 9.99990007e-01 5.75461429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.51, Y:-33.76, Z:6.72 [[-9.97144710e-01 7.53698158e-02 4.67108360e-03 6.45078387e+01] [ 7.53695488e-02 9.97155643e-01 -2.33426394e-04 -3.37561082e+01] [-4.67539068e-03 1.19297570e-04 -9.99989063e-01 6.72338606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.55, Y:-32.98, Z:5.75 [[-9.95816034e-01 -9.12702604e-02 4.49067472e-03 6.45524474e+01] [ 9.12687639e-02 -9.95826152e-01 -5.37501108e-04 -3.29773121e+01] [ 4.52098919e-03 -1.25393891e-04 9.99989772e-01 5.75464388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.43, Y:-33.75, Z:6.72 [[-9.97458708e-01 7.11398268e-02 3.90536662e-03 6.44263623e+01] [ 7.11396893e-02 9.97466348e-01 -1.74282003e-04 -3.37515599e+01] [-3.90787017e-03 1.03987467e-04 -9.99992359e-01 6.72260252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.43, Y:-33.72, Z:6.72 [[-9.99996930e-01 4.48196694e-04 2.43716426e-03 6.44258333e+01] [ 4.48356636e-04 9.99999897e-01 6.50816409e-05 -3.37205202e+01] [-2.43713484e-03 6.61741599e-05 -9.99997028e-01 6.72231199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.41, Y:-33.69, Z:6.72 [[-9.97475974e-01 -7.09541414e-02 2.68151416e-03 6.44117090e+01] [-7.09536896e-02 9.97479576e-01 2.63350597e-04 -3.36899921e+01] [-2.69344142e-03 7.24225705e-05 -9.99996370e-01 6.72236597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.34, Y:-32.92, Z:5.76 [[-9.98479356e-01 5.50671271e-02 2.56645081e-03 6.43410832e+01] [-5.50671451e-02 -9.98482652e-01 6.36983676e-05 -3.29227109e+01] [ 2.56606429e-03 -7.77256140e-05 9.99996705e-01 5.75524659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.30, Y:-33.70, Z:6.72 [[-9.96795234e-01 -7.99632296e-02 2.26809576e-03 6.43018700e+01] [-7.99628960e-02 9.96797813e-01 2.37516345e-04 -3.36976475e+01] [-2.27982547e-03 5.53916552e-05 -9.99997400e-01 6.72215507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.29, Y:-33.67, Z:6.72 [[-9.88171068e-01 -1.53333866e-01 2.58180661e-03 6.42852304e+01] [-1.53333191e-01 9.88174439e-01 4.58785587e-04 -3.36679900e+01] [-2.62162267e-03 5.74819976e-05 -9.99996562e-01 6.72245417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.26, Y:-33.64, Z:6.72 [[-9.74358123e-01 -2.24986456e-01 2.70973009e-03 6.42564571e+01] [-2.24985419e-01 9.74361889e-01 6.85753752e-04 -3.36410112e+01] [-2.79454303e-03 5.85199797e-05 -9.99996094e-01 6.72303045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.20, Y:-33.63, Z:6.72 [[-9.55162275e-01 -2.96070398e-01 2.71089309e-03 6.42022358e+01] [-2.96069035e-01 9.55166120e-01 9.00276136e-04 -3.36253666e+01] [-2.85589834e-03 5.72983032e-05 -9.99995920e-01 6.72391579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.14, Y:-33.61, Z:6.72 [[-9.30583370e-01 -3.66066344e-01 3.16609981e-03 6.41414575e+01] [-3.66063977e-01 9.30588753e-01 1.31807705e-03 -3.36146716e+01] [-3.42884052e-03 6.75854954e-05 -9.99994119e-01 6.72450693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.07, Y:-33.62, Z:6.72 [[-9.01109766e-01 -4.33580204e-01 3.06525401e-03 6.40658303e+01] [-4.33577432e-01 9.01114977e-01 1.55199502e-03 -3.36158266e+01] [-3.43506061e-03 6.94929138e-05 -9.99994098e-01 6.72432710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.98, Y:-33.63, Z:6.72 [[-8.67153106e-01 -4.98033975e-01 2.76602720e-03 6.39795653e+01] [-4.98031178e-01 8.67157515e-01 1.67059652e-03 -3.36294741e+01] [-3.23059510e-03 7.10951769e-05 -9.99994779e-01 6.72390200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.89, Y:-33.65, Z:6.72 [[-8.28080160e-01 -5.60605126e-01 2.26746662e-03 6.38937354e+01] [-5.60602806e-01 8.28083262e-01 1.61384672e-03 -3.36516261e+01] [-2.78238190e-03 6.52463023e-05 -9.99996127e-01 6.72361352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.80, Y:-33.68, Z:6.72 [[-7.84365129e-01 -6.20294985e-01 2.34024748e-03 6.38032825e+01] [-6.20291931e-01 7.84368616e-01 1.94766480e-03 -3.36843689e+01] [-3.04374339e-03 7.60437203e-05 -9.99995365e-01 6.72359974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.71, Y:-33.73, Z:6.72 [[-7.37570379e-01 -6.75266751e-01 2.17993595e-03 6.37081107e+01] [-6.75263449e-01 7.37573595e-01 2.11331449e-03 -3.37279320e+01] [-3.03491421e-03 8.66871025e-05 -9.99995391e-01 6.72388371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.61, Y:-33.78, Z:6.72 [[-6.86040514e-01 -7.27561074e-01 1.81572160e-03 6.36142588e+01] [-7.27558190e-01 6.86042912e-01 2.05026263e-03 -3.37782570e+01] [-2.73735422e-03 8.55201052e-05 -9.99996250e-01 6.72494640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.52, Y:-33.84, Z:6.73 [[-6.29424694e-01 -7.77058999e-01 1.96639241e-03 6.35204844e+01] [-7.77054676e-01 6.29427757e-01 2.59401306e-03 -3.38408761e+01] [-3.25340316e-03 1.04741460e-04 -9.99994702e-01 6.72518040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.43, Y:-33.91, Z:6.73 [[-5.68967323e-01 -8.22358949e-01 1.39437001e-03 6.34309717e+01] [-8.22356104e-01 5.68969025e-01 2.16470806e-03 -3.39134855e+01] [-2.57352039e-03 8.49794592e-05 -9.99996685e-01 6.72545555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.35, Y:-34.00, Z:6.72 [[-5.05730689e-01 -8.62691158e-01 6.60448231e-04 6.33488591e+01] [-8.62690294e-01 5.05731118e-01 1.22212421e-03 -3.39961376e+01] [-1.38832497e-03 4.83034402e-05 -9.99999035e-01 6.72474135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.26, Y:-34.09, Z:6.72 [[-4.38471165e-01 -8.98744935e-01 7.60565193e-04 6.32646535e+01] [-8.98743316e-01 4.38471820e-01 1.70760745e-03 -3.40852237e+01] [-1.86818995e-03 6.51837451e-05 -9.99998253e-01 6.72463409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.19, Y:-34.19, Z:6.73 [[-3.68595163e-01 -9.29589646e-01 8.34501577e-04 6.31898893e+01] [-9.29586702e-01 3.68596097e-01 2.34123235e-03 -3.41860314e+01] [-2.48397938e-03 8.72253522e-05 -9.99996911e-01 6.72566985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.12, Y:-34.29, Z:6.73 [[-2.95835905e-01 -9.55238400e-01 8.46105034e-04 6.31230877e+01] [-9.55233347e-01 2.95837094e-01 3.10902834e-03 -3.42909532e+01] [-3.22017252e-03 1.11534469e-04 -9.99994809e-01 6.72646944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.06, Y:-34.40, Z:6.73 [[-2.21196476e-01 -9.75229018e-01 6.93987981e-04 6.30628220e+01] [-9.75222272e-01 2.21197528e-01 3.62954635e-03 -3.44027472e+01] [-3.69314735e-03 1.26050325e-04 -9.99993172e-01 6.72661664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.01, Y:-34.52, Z:6.73 [[-1.43386633e-01 -9.89666609e-01 5.26547613e-04 6.30095798e+01] [-9.89655569e-01 1.43387522e-01 4.67694903e-03 -3.45177097e+01] [-4.70412064e-03 1.49511195e-04 -9.99988924e-01 6.72675851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.97, Y:-34.63, Z:6.73 [[-6.59043902e-02 -9.97825924e-01 1.92053060e-04 6.29685250e+01] [-9.97811139e-01 6.59044597e-02 5.43446207e-03 -3.46347781e+01] [-5.43530429e-03 1.66522227e-04 -9.99985215e-01 6.72719125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.93, Y:-34.76, Z:6.73 [[ 1.20404421e-02 -9.99927484e-01 -2.35080902e-04 6.29349922e+01] [-9.99911484e-01 -1.20415799e-02 5.65909328e-03 -3.47609802e+01] [-5.66151365e-03 1.66922109e-04 -9.99983960e-01 6.72765626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.91, Y:-34.89, Z:6.73 [[ 9.00921603e-02 -9.95933160e-01 -7.37187035e-04 6.29109135e+01] [-9.95913852e-01 -9.00950058e-02 6.20400913e-03 -3.48869679e+01] [-6.24519529e-03 1.75242195e-04 -9.99980483e-01 6.72861534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.90, Y:-35.01, Z:6.73 [[ 1.66232134e-01 -9.86085963e-01 -1.16227817e-03 6.28977155e+01] [-9.86068429e-01 -1.66236112e-01 5.88287594e-03 -3.50071095e+01] [-5.99423399e-03 1.68162793e-04 -9.99982020e-01 6.72880642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.90, Y:-35.13, Z:6.73 [[ 2.40941460e-01 -9.70538767e-01 -1.30968469e-03 6.28959892e+01] [-9.70527400e-01 -2.40944980e-01 4.69931276e-03 -3.51318373e+01] [-4.87642716e-03 1.38825599e-04 -9.99988101e-01 6.72818530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.90, Y:-35.26, Z:6.73 [[ 3.14333694e-01 -9.49311284e-01 -1.55426453e-03 6.29025232e+01] [-9.49301651e-01 -3.14337509e-01 4.27850494e-03 -3.52552863e+01] [-4.55019665e-03 1.30587625e-04 -9.99989639e-01 6.72751332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.92, Y:-35.38, Z:6.73 [[ 3.86041648e-01 -9.22479625e-01 -1.78532821e-03 6.29190785e+01] [-9.22471198e-01 -3.86045756e-01 3.94494531e-03 -3.53751868e+01] [-4.32835005e-03 1.24000661e-04 -9.99990625e-01 6.72761700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.94, Y:-35.49, Z:6.73 [[ 4.56096897e-01 -8.89928134e-01 -1.88078964e-03 6.29421552e+01] [-8.89921526e-01 -4.56100762e-01 3.43123296e-03 -3.54930383e+01] [-3.91138033e-03 1.08780476e-04 -9.99992345e-01 6.72744265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.98, Y:-35.62, Z:6.73 [[ 5.24348933e-01 -8.51500517e-01 -2.25080949e-03 6.29770568e+01] [-8.51493524e-01 -5.24353753e-01 3.45262242e-03 -3.56168920e+01] [-4.12013018e-03 1.06170825e-04 -9.99991507e-01 6.72762651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.01, Y:-35.72, Z:6.73 [[ 5.88684272e-01 -8.08359441e-01 -2.41682692e-03 6.30121807e+01] [-8.08353296e-01 -5.88689225e-01 3.15342710e-03 -3.57197814e+01] [-3.97186254e-03 9.72770724e-05 -9.99992107e-01 6.72801623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.070385723 meters Centerline goodness [0,1] 0.9999786073376832 Centerline is valid? [True, True] Translation: X:63.06, Y:-35.82, Z:6.73 [[ 6.49555230e-01 -7.60310263e-01 -2.51159188e-03 6.30566023e+01] [-7.60305086e-01 -6.49560080e-01 2.80683615e-03 -3.58228284e+01] [-3.76549615e-03 8.63809781e-05 -9.99992907e-01 6.72818819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.11, Y:-35.92, Z:6.73 [[ 7.07572954e-01 -7.06633997e-01 -2.98481983e-03 6.31072897e+01] [-7.06628189e-01 -7.07579245e-01 2.86627781e-03 -3.59222299e+01] [-4.13740591e-03 8.10571759e-05 -9.99991438e-01 6.72831243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.10, Y:-35.94, Z:6.73 [[ 7.61504613e-01 -6.48149861e-01 -3.53315940e-03 6.31026340e+01] [-6.48143388e-01 -7.61512805e-01 2.89785249e-03 -3.59368920e+01] [-4.56878881e-03 8.32658645e-05 -9.99989560e-01 6.72878828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.10, Y:-35.95, Z:6.73 [[ 8.10706202e-01 -5.85430924e-01 -5.10761331e-03 6.30997501e+01] [-5.85420108e-01 -8.10722285e-01 3.56018098e-03 -3.59499939e+01] [-6.22509597e-03 1.03838731e-04 -9.99980619e-01 6.73075640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.10, Y:-35.96, Z:6.73 [[ 8.54075703e-01 -5.20111882e-01 -6.19055061e-03 6.30992687e+01] [-5.20099218e-01 -8.54098130e-01 3.63152302e-03 -3.59623219e+01] [-7.17613597e-03 1.18104955e-04 -9.99974244e-01 6.73152634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.10, Y:-35.98, Z:6.73 [[ 8.91946044e-01 -4.52087061e-01 -7.03882262e-03 6.30996319e+01] [-4.52074143e-01 -8.91973807e-01 3.42008879e-03 -3.59757088e+01] [-7.82462329e-03 1.31535039e-04 -9.99969379e-01 6.73139168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.10, Y:-35.99, Z:6.73 [[ 9.23867389e-01 -3.82650398e-01 -6.90798955e-03 6.30997868e+01] [-3.82640817e-01 -9.23893205e-01 2.71131907e-03 -3.59910718e+01] [-7.41973193e-03 1.38379492e-04 -9.99972464e-01 6.73010133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.280385723 meters Centerline goodness [0,1] 0.9999785646917603 Centerline is valid? [True, True] Translation: X:63.10, Y:-36.00, Z:6.73 [[ 9.50615876e-01 -3.10287298e-01 -7.15888667e-03 6.31005854e+01] [-3.10279666e-01 -9.50642820e-01 2.18119336e-03 -3.60046552e+01] [-7.48234080e-03 1.47779933e-04 -9.99971996e-01 6.73087093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.10, Y:-36.02, Z:6.73 [[ 9.71496863e-01 -2.36942453e-01 -7.21940585e-03 6.31037204e+01] [-2.36937136e-01 -9.71523674e-01 1.59532629e-03 -3.60179243e+01] [-7.39182421e-03 1.60690858e-04 -9.99972667e-01 6.73049055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.10, Y:-36.03, Z:6.73 [[ 9.87041753e-01 -1.60302018e-01 -7.20014333e-03 6.31048441e+01] [-1.60298927e-01 -9.87068001e-01 1.00813381e-03 -3.60298361e+01] [-7.26863696e-03 1.59105080e-04 -9.99973571e-01 6.73052685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.370385723 meters Centerline goodness [0,1] 0.9998065764023211 Centerline is valid? [True, True] Translation: X:63.11, Y:-36.04, Z:6.73 [[ 9.96545431e-01 -8.25856194e-02 -8.76463697e-03 6.31056128e+01] [-8.25841222e-02 -9.96583955e-01 5.33217519e-04 -3.60421138e+01] [-8.77873267e-03 1.92444369e-04 -9.99961448e-01 6.73259494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.11, Y:-36.05, Z:6.73 [[ 9.99970403e-01 -3.43871859e-03 -6.88242144e-03 6.31065179e+01] [-3.43963322e-03 -9.99994077e-01 -1.21062906e-04 -3.60525665e+01] [-6.88196438e-03 1.44732328e-04 -9.99976309e-01 6.73040193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.11, Y:-36.06, Z:6.73 [[ 9.97148438e-01 7.51623607e-02 -6.75373260e-03 6.31092538e+01] [ 7.51596793e-02 -9.97171299e-01 -6.50314315e-04 -3.60637102e+01] [-6.78350747e-03 1.40851527e-04 -9.99976982e-01 6.73050918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.11, Y:-36.07, Z:6.73 [[ 9.88050931e-01 1.54021928e-01 -5.71002758e-03 6.31125989e+01] [ 1.54018686e-01 -9.88067423e-01 -1.00583056e-03 -3.60739057e+01] [-5.79681220e-03 1.14360877e-04 -9.99983192e-01 6.73069189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.12, Y:-36.08, Z:6.73 [[ 9.72819183e-01 2.31488638e-01 -5.98731751e-03 6.31158259e+01] [ 2.31483505e-01 -9.72837600e-01 -1.54606686e-03 -3.60829589e+01] [-6.18258451e-03 1.18078262e-04 -9.99980881e-01 6.73078750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.12, Y:-36.09, Z:6.73 [[ 9.51498268e-01 3.07598422e-01 -5.85297793e-03 6.31210725e+01] [ 3.07591864e-01 -9.51516262e-01 -2.01189238e-03 -3.60946941e+01] [-6.18805861e-03 1.13983724e-04 -9.99980847e-01 6.73034013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.13, Y:-36.10, Z:6.73 [[ 9.23844994e-01 3.82721443e-01 -5.89266499e-03 6.31253467e+01] [ 3.82712913e-01 -9.23863781e-01 -2.55744659e-03 -3.61046053e+01] [-6.42280941e-03 1.07485244e-04 -9.99979368e-01 6.73085099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.13, Y:-36.11, Z:6.73 [[ 8.90191607e-01 4.55557616e-01 -5.11484712e-03 6.31313607e+01] [ 4.55549540e-01 -8.90206297e-01 -2.71399512e-03 -3.61129086e+01] [-5.78965026e-03 8.59094259e-05 -9.99983236e-01 6.73105177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.610385723 meters Centerline goodness [0,1] 0.999957216505872 Centerline is valid? [True, True] Translation: X:63.14, Y:-36.12, Z:6.73 [[ 8.51410942e-01 5.24478732e-01 -4.63320273e-03 6.31365547e+01] [ 5.24470470e-01 -8.51423545e-01 -2.94505572e-03 -3.61201567e+01] [-5.48943698e-03 7.74746510e-05 -9.99984930e-01 6.73105390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.640385723 meters Centerline goodness [0,1] 0.9999143652322843 Centerline is valid? [True, True] Translation: X:63.14, Y:-36.13, Z:6.73 [[ 8.07642355e-01 5.89651050e-01 -5.04631781e-03 6.31424890e+01] [ 5.89638857e-01 -8.07658116e-01 -3.79303977e-03 -3.61257475e+01] [-6.31226941e-03 8.79145144e-05 -9.99980074e-01 6.73246831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.15, Y:-36.13, Z:6.73 [[ 7.58800707e-01 6.51310292e-01 -4.04855561e-03 6.31506044e+01] [ 6.51300501e-01 -7.58811504e-01 -3.57197105e-03 -3.61327339e+01] [-5.39855208e-03 7.35878605e-05 -9.99985425e-01 6.73143096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.16, Y:-36.14, Z:6.73 [[ 7.05609667e-01 7.08589422e-01 -4.00358346e-03 6.31593746e+01] [ 7.08577373e-01 -7.05621020e-01 -4.13302279e-03 -3.61394457e+01] [-5.75362888e-03 7.94521806e-05 -9.99983445e-01 6.73137783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.17, Y:-36.15, Z:6.73 [[ 6.48604722e-01 7.61115162e-01 -3.95285403e-03 6.31680602e+01] [ 7.61100168e-01 -6.48616760e-01 -4.77834638e-03 -3.61454880e+01] [-6.20075925e-03 9.07401604e-05 -9.99980771e-01 6.73134287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.18, Y:-36.15, Z:6.73 [[ 5.87001736e-01 8.09577818e-01 -3.56648064e-03 6.31787187e+01] [ 8.09561926e-01 -5.87012563e-01 -5.07328261e-03 -3.61531491e+01] [-6.20078600e-03 9.07387547e-05 -9.99980771e-01 6.73134311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.19, Y:-36.16, Z:6.73 [[ 5.22462945e-01 8.52655767e-01 -3.25796607e-03 6.31902065e+01] [ 8.52638000e-01 -5.22473094e-01 -5.50528118e-03 -3.61595434e+01] [-6.39630936e-03 9.84397479e-05 -9.99979539e-01 6.73138308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.20, Y:-36.16, Z:6.73 [[ 4.54360717e-01 8.90812776e-01 -2.98959301e-03 6.32002685e+01] [ 8.90791926e-01 -4.54370540e-01 -6.09575004e-03 -3.61649987e+01] [-6.78855500e-03 1.06564040e-04 -9.99976952e-01 6.73183127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.21, Y:-36.17, Z:6.73 [[ 3.84544473e-01 9.23102616e-01 -2.66606112e-03 6.32105104e+01] [ 9.23078150e-01 -3.84553695e-01 -6.72191240e-03 -3.61696709e+01] [-7.23025858e-03 1.23891497e-04 -9.99973854e-01 6.73203433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.880385723 meters Centerline goodness [0,1] 0.9999567763826155 Centerline is valid? [True, True] Translation: X:63.22, Y:-36.17, Z:6.73 [[ 3.11356031e-01 9.50290889e-01 -2.15595641e-03 6.32202767e+01] [ 9.50265193e-01 -3.11363469e-01 -6.98955818e-03 -3.61740431e+01] [-7.31339952e-03 1.27510756e-04 -9.99973249e-01 6.73209955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.910385723 meters Centerline goodness [0,1] 0.9999133016884496 Centerline is valid? [True, True] Translation: X:63.23, Y:-36.18, Z:6.73 [[ 2.36808117e-01 9.71554976e-01 -1.68670562e-03 6.32333541e+01] [ 9.71525921e-01 -2.36814082e-01 -7.51503935e-03 -3.61777566e+01] [-7.70070951e-03 1.40944085e-04 -9.99970339e-01 6.73213486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.940385723 meters Centerline goodness [0,1] 0.9999783568522206 Centerline is valid? [True, True] Translation: X:63.24, Y:-36.18, Z:6.73 [[ 1.59935656e-01 9.87126976e-01 -9.59213576e-04 6.32444347e+01] [ 9.87104288e-01 -1.59938485e-01 -6.69375786e-03 -3.61807410e+01] [-6.76100412e-03 1.23726725e-04 -9.99977137e-01 6.73128130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.25, Y:-36.18, Z:6.73 [[ 8.23456525e-02 9.96603737e-01 -4.30895261e-04 6.32537597e+01] [ 9.96581018e-01 -8.23466853e-02 -6.73044554e-03 -3.61827053e+01] [-6.74306997e-03 1.24800892e-04 -9.99977258e-01 6.73135225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.26, Y:-36.18, Z:6.73 [[ 3.52399383e-03 9.99993785e-01 1.08826931e-04 6.32624953e+01] [ 9.99965365e-01 -3.52307308e-03 -7.54038278e-03 -3.61839595e+01] [-7.53995251e-03 1.35395424e-04 -9.99971565e-01 6.73203471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.030385723 meters Centerline goodness [0,1] 0.9999135677088961 Centerline is valid? [True, True] Translation: X:63.27, Y:-36.18, Z:6.73 [[-7.52534853e-02 9.97164077e-01 8.46673893e-04 6.32705179e+01] [ 9.97122606e-01 7.52580785e-02 -9.09562950e-03 -3.61844522e+01] [-9.13355404e-03 1.59759858e-04 -9.99958276e-01 6.73377802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.060385723 meters Centerline goodness [0,1] 0.9999783230729212 Centerline is valid? [True, True] Translation: X:63.28, Y:-36.18, Z:6.73 [[-1.53944837e-01 9.88078221e-01 1.55466178e-03 6.32811494e+01] [ 9.88037314e-01 1.53952612e-01 -8.99214339e-03 -3.61838972e+01] [-9.12428528e-03 1.51769804e-04 -9.99958361e-01 6.73233013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.29, Y:-36.18, Z:6.73 [[-2.31064041e-01 9.72935959e-01 2.24258192e-03 6.32907077e+01] [ 9.72896197e-01 2.31074875e-01 -8.79724694e-03 -3.61832346e+01] [-9.07736222e-03 1.49071995e-04 -9.99958789e-01 6.73191057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.30, Y:-36.18, Z:6.73 [[-3.06574252e-01 9.51842787e-01 2.74519602e-03 6.33015099e+01] [ 9.51808614e-01 3.06586511e-01 -8.06678318e-03 -3.61813445e+01] [-8.51994945e-03 1.39833197e-04 -9.99963695e-01 6.73149866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.31, Y:-36.18, Z:6.73 [[-3.79911514e-01 9.25017753e-01 3.06565234e-03 6.33096439e+01] [ 9.24990338e-01 3.79923861e-01 -7.12286845e-03 -3.61804773e+01] [-7.75349424e-03 1.29639054e-04 -9.99969933e-01 6.73055997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.32, Y:-36.18, Z:6.73 [[-4.51124515e-01 8.92453552e-01 3.65087299e-03 6.33190632e+01] [ 8.92426652e-01 4.51139269e-01 -6.93044153e-03 -3.61778856e+01] [-7.83214933e-03 1.31644285e-04 -9.99969320e-01 6.73057085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.33, Y:-36.17, Z:6.73 [[-5.18998937e-01 8.54763162e-01 4.47663545e-03 6.33270513e+01] [ 8.54733779e-01 5.19018223e-01 -7.08883334e-03 -3.61746665e+01] [-8.38272898e-03 1.47234561e-04 -9.99964854e-01 6.73094629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.34, Y:-36.17, Z:6.73 [[-5.83927610e-01 8.11790487e-01 4.97505720e-03 6.33355549e+01] [ 8.11763188e-01 5.83948784e-01 -6.65913940e-03 -3.61721128e+01] [-8.31100462e-03 1.50112945e-04 -9.99965452e-01 6.73136655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.34, Y:-36.17, Z:6.73 [[-6.44871814e-01 7.64272665e-01 5.25704503e-03 6.33433889e+01] [ 7.64249180e-01 6.44893224e-01 -5.99334126e-03 -3.61685194e+01] [-7.97077962e-03 1.52755507e-04 -9.99968221e-01 6.73047639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.300385723 meters Centerline goodness [0,1] 0.9999564260659274 Centerline is valid? [True, True] Translation: X:63.35, Y:-36.17, Z:6.73 [[-7.02124005e-01 7.12029357e-01 6.00643560e-03 6.33506670e+01] [ 7.12005325e-01 7.02149676e-01 -5.85233849e-03 -3.61652215e+01] [-8.38445362e-03 1.67546789e-04 -9.99964836e-01 6.73107077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.37, Y:-36.15, Z:6.73 [[-7.50259950e-01 6.61115964e-01 5.97403244e-03 6.33717882e+01] [ 6.61096710e-01 7.50283717e-01 -5.04821890e-03 -3.61457150e+01] [-7.81967737e-03 1.61936738e-04 -9.99969413e-01 6.73020171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.39, Y:-36.12, Z:6.73 [[-7.94131662e-01 6.07715075e-01 6.10673134e-03 6.33874531e+01] [ 6.07698731e-01 7.94155123e-01 -4.46014690e-03 -3.61234789e+01] [-7.56019048e-03 1.69109018e-04 -9.99971407e-01 6.72947829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.40, Y:-36.10, Z:6.73 [[-8.34752103e-01 5.50591029e-01 6.20034331e-03 6.34020757e+01] [ 5.50577333e-01 8.34775113e-01 -3.88720749e-03 -3.61012585e+01] [-7.31615386e-03 1.68913850e-04 -9.99973222e-01 6.72960235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.42, Y:-36.08, Z:6.73 [[-8.71329395e-01 4.90656534e-01 6.42269796e-03 6.34170354e+01] [ 4.90644653e-01 8.71353049e-01 -3.41878788e-03 -3.60801588e+01] [-7.27388806e-03 1.72372034e-04 -9.99973530e-01 6.72924109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.43, Y:-36.05, Z:6.73 [[-9.04003484e-01 4.27469072e-01 6.92051250e-03 6.34320481e+01] [ 4.27458041e-01 9.04029956e-01 -3.07609830e-03 -3.60540146e+01] [-7.57128750e-03 1.77425130e-04 -9.99971322e-01 6.72836106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.44, Y:-36.03, Z:6.73 [[-9.32339391e-01 3.61511070e-01 7.28053301e-03 6.34426576e+01] [ 3.61501505e-01 9.32367801e-01 -2.63557089e-03 -3.60308021e+01] [-7.74092260e-03 1.74677076e-04 -9.99970023e-01 6.72931397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.70, Y:-35.34, Z:5.75 [[-9.23265527e-01 -3.84082404e-01 7.84051989e-03 6.36956234e+01] [ 3.84067256e-01 -9.23298807e-01 -3.41406369e-03 -3.53444848e+01] [ 8.55042445e-03 -1.40800357e-04 9.99963435e-01 5.74908780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.40, Y:-36.01, Z:6.73 [[-9.34741612e-01 3.55229051e-01 8.39283512e-03 6.33955899e+01] [ 3.55216399e-01 9.34779274e-01 -3.00313135e-03 -3.60142640e+01] [-8.91224782e-03 1.74120830e-04 -9.99960270e-01 6.72935220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.40, Y:-35.99, Z:6.73 [[-9.57907781e-01 2.86955053e-01 8.33546877e-03 6.33982196e+01] [ 2.86945628e-01 9.57944034e-01 -2.33118111e-03 -3.59863977e+01] [-8.65385678e-03 1.58769795e-04 -9.99962542e-01 6.72939162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.41, Y:-35.96, Z:6.73 [[-9.75921124e-01 2.17972259e-01 8.12739257e-03 6.34080007e+01] [ 2.17965975e-01 9.75954954e-01 -1.66183935e-03 -3.59605659e+01] [-8.29420392e-03 1.49670926e-04 -9.99965591e-01 6.72895301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.41, Y:-35.93, Z:6.73 [[-9.88928085e-01 1.48186405e-01 7.87603834e-03 6.34113153e+01] [ 1.48182862e-01 9.88959437e-01 -1.03474285e-03 -3.59342965e+01] [-7.94241726e-03 1.43807643e-04 -9.99968448e-01 6.72857844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.660385723 meters Centerline goodness [0,1] 0.9999117134217671 Centerline is valid? [True, True] Translation: X:63.51, Y:-35.19, Z:5.75 [[-9.83846421e-01 -1.78824762e-01 8.24159093e-03 6.35128900e+01] [ 1.78817442e-01 -9.83880933e-01 -1.62261087e-03 -3.51930149e+01] [ 8.39890717e-03 -1.22659689e-04 9.99964721e-01 5.74897777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.34, Y:-35.93, Z:6.73 [[-9.89549631e-01 1.44000678e-01 7.43857737e-03 6.33401842e+01] [ 1.43997640e-01 9.89577580e-01 -9.45151442e-04 -3.59329311e+01] [-7.49715183e-03 1.35863328e-04 -9.99971887e-01 6.72847510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.35, Y:-35.91, Z:6.73 [[-9.97252952e-01 7.36927827e-02 7.47821585e-03 6.33508197e+01] [ 7.36917521e-02 9.97280981e-01 -4.13640053e-04 -3.59053863e+01] [-7.48836473e-03 1.38579064e-04 -9.99971952e-01 6.72810678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.40, Y:-35.14, Z:5.75 [[-9.94594969e-01 -1.03555855e-01 7.55205434e-03 6.33950663e+01] [ 1.03551853e-01 -9.94623631e-01 -9.20085038e-04 -3.51427000e+01] [ 7.60673190e-03 -1.33082729e-04 9.99971060e-01 5.74962785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.27, Y:-35.91, Z:6.73 [[-9.97497750e-01 7.02360898e-02 8.07033523e-03 6.32668990e+01] [ 7.02351129e-02 9.97530383e-01 -4.04747091e-04 -3.59077451e+01] [-8.07883245e-03 1.63086593e-04 -9.99967352e-01 6.72830238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.26, Y:-35.88, Z:6.73 [[-9.99965677e-01 -5.58606141e-06 8.28519817e-03 6.32627824e+01] [-4.13884141e-06 9.99999985e-01 1.74692880e-04 -3.58802898e+01] [-8.28519902e-03 1.74652593e-04 -9.99965662e-01 6.72800630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.26, Y:-35.85, Z:6.73 [[-9.97496149e-01 -7.01228911e-02 9.17678016e-03 6.32605052e+01] [-7.01180297e-02 9.97538339e-01 8.50806777e-04 -3.58539586e+01] [-9.21385107e-03 2.05218739e-04 -9.99957531e-01 6.72786558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.25, Y:-35.83, Z:6.73 [[-9.89837033e-01 -1.41902373e-01 9.29323787e-03 6.32472882e+01] [-1.41894177e-01 9.89880637e-01 1.53869992e-03 -3.58262798e+01] [-9.41754139e-03 2.04405819e-04 -9.99955633e-01 6.72814345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.22, Y:-35.80, Z:6.73 [[-9.76815319e-01 -2.13869464e-01 9.57525947e-03 6.32178263e+01] [-2.13857150e-01 9.76862228e-01 2.30394235e-03 -3.58034554e+01] [-9.84645221e-03 2.02788488e-04 -9.99951502e-01 6.72909063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.16, Y:-35.79, Z:6.73 [[-9.58268088e-01 -2.85720096e-01 9.28970507e-03 6.31629472e+01] [-2.85704714e-01 9.58313096e-01 2.97101887e-03 -3.57862739e+01] [-9.75132582e-03 1.92920043e-04 -9.99952436e-01 6.72842777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.10, Y:-35.78, Z:6.73 [[-9.34113468e-01 -3.56872603e-01 8.60083805e-03 6.30977454e+01] [-3.56855793e-01 9.34153048e-01 3.46797510e-03 -3.57789794e+01] [-9.27212438e-03 1.70223362e-04 -9.99956999e-01 6.72803786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.02, Y:-35.78, Z:6.73 [[-9.04999132e-01 -4.25341187e-01 7.83872910e-03 6.30200269e+01] [-4.25323706e-01 9.05033065e-01 3.85952530e-03 -3.57815717e+01] [-8.73592410e-03 1.58869730e-04 -9.99961829e-01 6.72755022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.93, Y:-35.79, Z:6.73 [[-8.70716730e-01 -4.91727996e-01 7.48029964e-03 6.29340592e+01] [-4.91708283e-01 8.70748846e-01 4.40587180e-03 -3.57937571e+01] [-8.67995279e-03 1.58140991e-04 -9.99962316e-01 6.72771056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.85, Y:-35.81, Z:6.73 [[-8.31228024e-01 -5.55881329e-01 7.47798050e-03 6.28455673e+01] [-5.55857037e-01 8.31261644e-01 5.19936260e-03 -3.58129368e+01] [-9.10638696e-03 1.65167816e-04 -9.99958522e-01 6.72705415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.75, Y:-35.85, Z:6.73 [[-7.86861873e-01 -6.17089805e-01 6.96889148e-03 6.27524786e+01] [-6.17063768e-01 7.86892716e-01 5.67102611e-03 -3.58462198e+01] [-8.98330234e-03 1.62063797e-04 -9.99959636e-01 6.72718344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.110385723 meters Centerline goodness [0,1] 0.9999333851448873 Centerline is valid? [True, True] Translation: X:62.66, Y:-35.89, Z:6.73 [[-7.38291367e-01 -6.74450369e-01 6.52361321e-03 6.26610566e+01] [-6.74422002e-01 7.38320169e-01 6.18802547e-03 -3.58875939e+01] [-8.99003126e-03 1.68897501e-04 -9.99959575e-01 6.72692694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.56, Y:-35.94, Z:6.73 [[-6.84978187e-01 -7.28541006e-01 5.73463960e-03 6.25649781e+01] [-7.28513482e-01 6.85002173e-01 6.33483043e-03 -3.59443316e+01] [-8.54342432e-03 1.61458392e-04 -9.99963491e-01 6.72667647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.48, Y:-36.00, Z:6.73 [[-6.27269092e-01 -7.78783907e-01 5.39562104e-03 6.24755131e+01] [-7.78752813e-01 6.27292276e-01 6.96113014e-03 -3.60023166e+01] [-8.80584753e-03 1.64646725e-04 -9.99961214e-01 6.72677895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.39, Y:-36.08, Z:6.73 [[-5.65490207e-01 -8.24738598e-01 5.20301490e-03 6.23859356e+01] [-8.24700848e-01 5.65514117e-01 7.89275047e-03 -3.60757596e+01] [-9.45183433e-03 1.72342293e-04 -9.99955316e-01 6.72748029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.30, Y:-36.16, Z:6.73 [[-5.00291692e-01 -8.65843149e-01 4.88518098e-03 6.22981317e+01] [-8.65798315e-01 5.00315510e-01 8.81295008e-03 -3.61623724e+01] [-1.00747643e-02 1.79464245e-04 -9.99949232e-01 6.72833300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.22, Y:-36.25, Z:6.73 [[-4.31613924e-01 -9.02048370e-01 4.26132404e-03 6.22213548e+01] [-9.02000362e-01 4.31634925e-01 9.30800510e-03 -3.62506270e+01] [-1.02356071e-02 1.73748783e-04 -9.99947600e-01 6.72941554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.15, Y:-36.35, Z:6.73 [[-3.60038468e-01 -9.32931941e-01 3.20845505e-03 6.21462830e+01] [-9.32891172e-01 3.60052734e-01 8.72294460e-03 -3.63481788e+01] [-9.29312666e-03 1.47456217e-04 -9.99956807e-01 6.72744405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.08, Y:-36.46, Z:6.73 [[-2.86392913e-01 -9.58109431e-01 2.32752550e-03 6.20800436e+01] [-9.58074046e-01 2.86402342e-01 8.23541873e-03 -3.64568590e+01] [-8.55704111e-03 1.28623788e-04 -9.99963380e-01 6.72685121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3503857229999 meters Centerline goodness [0,1] 0.9999559189790835 Centerline is valid? [True, True] Translation: X:62.02, Y:-36.57, Z:6.73 [[-2.11026734e-01 -9.77479056e-01 1.55335674e-03 6.20238213e+01] [-9.77448494e-01 2.11032421e-01 7.73042493e-03 -3.65665004e+01] [-7.88413710e-03 1.13000123e-04 -9.99968913e-01 6.72662727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.380385723 meters Centerline goodness [0,1] 0.9998453277945953 Centerline is valid? [True, True] Translation: X:61.97, Y:-36.69, Z:6.73 [[-1.34519222e-01 -9.90910490e-01 9.89559832e-04 6.19731017e+01] [-9.90877210e-01 1.34522815e-01 8.12195275e-03 -3.66869840e+01] [-8.18124655e-03 1.12026479e-04 -9.99966527e-01 6.72711652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.93, Y:-36.80, Z:6.73 [[-5.70906729e-02 -9.98368938e-01 3.45385455e-04 6.19336198e+01] [-9.98338215e-01 5.70916258e-02 7.83298313e-03 -3.68042055e+01] [-7.83992566e-03 1.02378779e-04 -9.99969262e-01 6.72613871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.91, Y:-36.92, Z:6.73 [[ 1.92068394e-02 -9.99815500e-01 -2.51555797e-04 6.19053751e+01] [-9.99785900e-01 -1.92082066e-02 7.69406747e-03 -3.69228104e+01] [-7.69747985e-03 1.03723221e-04 -9.99970369e-01 6.72573659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.88, Y:-37.05, Z:6.72 [[ 9.54965713e-02 -9.95429426e-01 -8.14014428e-04 6.18849252e+01] [-9.95402101e-01 -9.54999819e-02 7.37642330e-03 -3.70475388e+01] [-7.42044717e-03 1.05848539e-04 -9.99972463e-01 6.72431065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.88, Y:-37.18, Z:6.72 [[ 1.71111272e-01 -9.85250680e-01 -1.42479734e-03 6.18752599e+01] [-9.85221937e-01 -1.71117165e-01 7.52665298e-03 -3.71755963e+01] [-7.65944725e-03 1.15846426e-04 -9.99970659e-01 6.72380626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.88, Y:-37.31, Z:6.72 [[ 2.44020708e-01 -9.69768093e-01 -1.93409488e-03 6.18764375e+01] [-9.69741753e-01 -2.44028338e-01 7.14857554e-03 -3.73087746e+01] [-7.40443442e-03 1.31172096e-04 -9.99972578e-01 6.72414248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.88, Y:-37.42, Z:6.72 [[ 3.15725382e-01 -9.48846423e-01 -2.81927874e-03 6.18822104e+01] [-9.48813270e-01 -3.15737923e-01 7.93368787e-03 -3.74215800e+01] [-8.41800458e-03 1.70102446e-04 -9.99964554e-01 6.72498821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.90, Y:-37.55, Z:6.73 [[ 3.87223369e-01 -9.21978840e-01 -3.61675901e-03 6.19024929e+01] [-9.21942997e-01 -3.87240214e-01 8.13187393e-03 -3.75458526e+01] [-8.89797023e-03 1.85594028e-04 -9.99960395e-01 6.72586496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.93, Y:-37.67, Z:6.73 [[ 4.56419624e-01 -8.89752274e-01 -4.69237753e-03 6.19290741e+01] [-8.89709938e-01 -4.56443695e-01 8.68214493e-03 -3.76671826e+01] [-9.86676433e-03 2.12153590e-04 -9.99951300e-01 6.72602769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.96, Y:-37.78, Z:6.73 [[ 5.23384612e-01 -8.52079795e-01 -5.34514805e-03 6.19637703e+01] [-8.52039432e-01 -5.23411863e-01 8.29623957e-03 -3.77836312e+01] [-9.86677201e-03 2.12152780e-04 -9.99951300e-01 6.72602807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.01, Y:-37.90, Z:6.73 [[ 5.86596934e-01 -8.09854002e-01 -6.36654714e-03 6.20056981e+01] [-8.09810567e-01 -5.86631436e-01 8.39073734e-03 -3.78958667e+01] [-1.05300889e-02 2.33716346e-04 -9.99944530e-01 6.72609460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.06, Y:-38.00, Z:6.73 [[ 6.46683238e-01 -7.62728293e-01 -6.80742265e-03 6.20562105e+01] [-7.62689719e-01 -6.46719026e-01 7.67422171e-03 -3.80037088e+01] [-1.02558358e-02 2.29160721e-04 -9.99947381e-01 6.72589600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.11, Y:-38.10, Z:6.73 [[ 7.03535136e-01 -7.10622177e-01 -7.37792968e-03 6.21094378e+01] [-7.10586375e-01 -7.03573786e-01 7.13670538e-03 -3.81036186e+01] [-1.02624190e-02 2.21733318e-04 -9.99947315e-01 6.72565327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.10, Y:-38.11, Z:6.73 [[ 7.57472183e-01 -6.52821615e-01 -7.73510533e-03 6.21015358e+01] [-6.52790359e-01 -7.57511647e-01 6.39150931e-03 -3.81129785e+01] [-1.00319478e-02 2.08011679e-04 -9.99949657e-01 6.72621540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.800385723 meters Centerline goodness [0,1] 0.9999779195831218 Centerline is valid? [True, True] Translation: X:62.09, Y:-38.12, Z:6.73 [[ 8.06721201e-01 -5.90876874e-01 -8.08846227e-03 6.20933858e+01] [-5.90849596e-01 -8.06761725e-01 5.68102704e-03 -3.81248698e+01] [-9.88224927e-03 1.96059700e-04 -9.99951150e-01 6.72617095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.09, Y:-38.14, Z:6.73 [[ 8.52115364e-01 -5.23293330e-01 -7.96850087e-03 6.20867141e+01] [-5.23272136e-01 -8.52152608e-01 4.71223364e-03 -3.81352003e+01] [-9.25625923e-03 1.54327783e-04 -9.99957148e-01 6.72641739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.08, Y:-38.15, Z:6.72 [[ 8.91722653e-01 -4.52529095e-01 -6.93745156e-03 6.20804167e+01] [-4.52516331e-01 -8.91749632e-01 3.40060715e-03 -3.81473083e+01] [-7.72534356e-03 1.06911695e-04 -9.99970153e-01 6.72496892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.08, Y:-38.16, Z:6.72 [[ 9.25026542e-01 -3.79835710e-01 -7.12249990e-03 6.20766849e+01] [-3.79825219e-01 -9.25053958e-01 2.82444195e-03 -3.81586947e+01] [-7.66152063e-03 9.26213182e-05 -9.99970646e-01 6.72460278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.07, Y:-38.17, Z:6.73 [[ 9.52240323e-01 -3.05263986e-01 -7.22951846e-03 6.20738948e+01] [-3.05255848e-01 -9.52267763e-01 2.23055845e-03 -3.81705223e+01] [-7.56534654e-03 8.28250905e-05 -9.99971379e-01 6.72517384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.07, Y:-38.18, Z:6.73 [[ 9.73380868e-01 -2.29077006e-01 -7.30832843e-03 6.20722557e+01] [-2.29071131e-01 -9.73408301e-01 1.64227058e-03 -3.81812681e+01] [-7.49019399e-03 7.55722952e-05 -9.99971945e-01 6.72551799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.07, Y:-38.19, Z:6.72 [[ 9.88541057e-01 -1.50792842e-01 -6.93527246e-03 6.20680633e+01] [-1.50789565e-01 -9.88565382e-01 9.95996063e-04 -3.81908656e+01] [-7.00615935e-03 6.11837148e-05 -9.99975455e-01 6.72484618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.06, Y:-38.20, Z:6.72 [[ 9.97302672e-01 -7.30387206e-02 -7.26126523e-03 6.20645948e+01] [-7.30372522e-02 -9.97329104e-01 4.67553119e-04 -3.82014181e+01] [-7.27602062e-03 6.40508850e-05 -9.99973527e-01 6.72416693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.06, Y:-38.21, Z:6.72 [[ 9.99966750e-01 4.32807378e-03 -6.91132921e-03 6.20615205e+01] [ 4.32750634e-03 -9.99990632e-01 -9.70553321e-05 -3.82108882e+01] [-6.91168452e-03 6.71432841e-05 -9.99976112e-01 6.72437698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.06, Y:-38.22, Z:6.72 [[ 9.96681270e-01 8.11368575e-02 -6.57696302e-03 6.20594753e+01] [ 8.11346001e-02 -9.96702967e-01 -6.09756477e-04 -3.82246736e+01] [-6.60475229e-03 7.41135952e-05 -9.99978186e-01 6.72378294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.06, Y:-38.24, Z:6.72 [[ 9.87820708e-01 1.55447273e-01 -6.81129127e-03 6.20574310e+01] [ 1.55442866e-01 -9.87844186e-01 -1.17480007e-03 -3.82366616e+01] [-6.91111394e-03 1.01725196e-04 -9.99976113e-01 6.72483625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.06, Y:-38.25, Z:6.72 [[ 9.73133940e-01 2.30142347e-01 -6.69587338e-03 6.20576382e+01] [ 2.30136071e-01 -9.73156969e-01 -1.70355796e-03 -3.82488375e+01] [-6.90819667e-03 1.16828076e-04 -9.99976131e-01 6.72491750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.06, Y:-38.26, Z:6.72 [[ 9.53563105e-01 3.01114736e-01 -6.87896880e-03 6.20579970e+01] [ 3.01105709e-01 -9.53587904e-01 -2.33692963e-03 -3.82602430e+01] [-7.26338539e-03 1.57113099e-04 -9.99973609e-01 6.72464201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.06, Y:-38.27, Z:6.72 [[ 9.27849045e-01 3.72892234e-01 -6.89427661e-03 6.20599465e+01] [ 3.72880507e-01 -9.27874641e-01 -2.96274072e-03 -3.82730686e+01] [-7.50180744e-03 1.78234796e-04 -9.99971845e-01 6.72459674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.06, Y:-38.29, Z:6.72 [[ 8.96475073e-01 4.43049007e-01 -6.32625268e-03 6.20613731e+01] [ 4.43036548e-01 -8.96497376e-01 -3.32761026e-03 -3.82854559e+01] [-7.14576335e-03 1.80358500e-04 -9.99974453e-01 6.72454383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.06, Y:-38.30, Z:6.72 [[ 8.59771109e-01 5.10649490e-01 -5.54424237e-03 6.20641882e+01] [ 5.10637552e-01 -8.59788967e-01 -3.49598135e-03 -3.82981489e+01] [-6.55209951e-03 1.74645412e-04 -9.99978520e-01 6.72462401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.07, Y:-38.31, Z:6.72 [[ 8.17266932e-01 5.76239610e-01 -4.76158112e-03 6.20696211e+01] [ 5.76228684e-01 -8.17280788e-01 -3.55218701e-03 -3.83110413e+01] [-5.93845963e-03 1.59325358e-04 -9.99982355e-01 6.72416839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.08, Y:-38.32, Z:6.72 [[ 7.68701496e-01 6.39597162e-01 -3.67149273e-03 6.20762983e+01] [ 6.39589090e-01 -7.68710254e-01 -3.21582739e-03 -3.83243553e+01] [-4.87914818e-03 1.23764637e-04 -9.99988089e-01 6.72360960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.08, Y:-38.34, Z:6.72 [[ 7.15395663e-01 6.98710734e-01 -3.51506057e-03 6.20814850e+01] [ 6.98701456e-01 -7.15404288e-01 -3.60289089e-03 -3.83353902e+01] [-5.03206794e-03 1.21514576e-04 -9.99987332e-01 6.72334677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.370385723 meters Centerline goodness [0,1] 0.9998464979606158 Centerline is valid? [True, True] Translation: X:62.09, Y:-38.35, Z:6.73 [[ 6.57727530e-01 7.53248832e-01 -3.27011643e-03 6.20883372e+01] [ 7.53238618e-01 -6.57735649e-01 -3.92445885e-03 -3.83453690e+01] [-5.10696620e-03 1.18046647e-04 -9.99986952e-01 6.72543206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.400385723 meters Centerline goodness [0,1] 0.9999780629593068 Centerline is valid? [True, True] Translation: X:62.10, Y:-38.36, Z:6.72 [[ 5.94134326e-01 8.04360146e-01 -3.02636004e-03 6.21018356e+01] [ 8.04348807e-01 -5.94142024e-01 -4.27228728e-03 -3.83586435e+01] [-5.23454530e-03 1.04063429e-04 -9.99986294e-01 6.72322883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.11, Y:-38.37, Z:6.72 [[ 5.28401682e-01 8.48990931e-01 -2.46181937e-03 6.21111534e+01] [ 8.48980910e-01 -5.28407410e-01 -4.12599729e-03 -3.83690887e+01] [-4.80377788e-03 9.01462558e-05 -9.99988458e-01 6.72313290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.460385723 meters Centerline goodness [0,1] 0.9999781864188644 Centerline is valid? [True, True] Translation: X:62.12, Y:-38.38, Z:6.72 [[ 4.58801159e-01 8.88537756e-01 -1.46739444e-03 6.21228076e+01] [ 8.88532811e-01 -4.58803502e-01 -2.96481056e-03 -3.83784280e+01] [-3.30759183e-03 5.64304180e-05 -9.99994528e-01 6.72182763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.13, Y:-38.39, Z:6.72 [[ 3.87308867e-01 9.21949279e-01 -1.17040320e-03 6.21321346e+01] [ 9.21944655e-01 -3.87310632e-01 -2.92033598e-03 -3.83861141e+01] [-3.14571125e-03 5.20250458e-05 -9.99995051e-01 6.72109465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.15, Y:-38.39, Z:6.72 [[ 3.13038503e-01 9.49739957e-01 -9.54192621e-04 6.21462478e+01] [ 9.49735046e-01 -3.13039954e-01 -3.05454231e-03 -3.83935142e+01] [-3.19972130e-03 4.99591805e-05 -9.99994880e-01 6.72122299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.550385723 meters Centerline goodness [0,1] 0.9999345521183298 Centerline is valid? [True, True] Translation: X:62.16, Y:-38.40, Z:6.72 [[ 2.37216571e-01 9.71456483e-01 -7.74995444e-04 6.21576634e+01] [ 9.71450550e-01 -2.37217831e-01 -3.39548274e-03 -3.83998560e+01] [-3.48240646e-03 5.25950224e-05 -9.99993935e-01 6.72266423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.18, Y:-38.41, Z:6.72 [[ 1.58935387e-01 9.87288923e-01 -3.54864578e-04 6.21760314e+01] [ 9.87285972e-01 -1.58935780e-01 -2.41394945e-03 -3.84050282e+01] [-2.43966623e-03 3.33091710e-05 -9.99997024e-01 6.72131497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.19, Y:-38.41, Z:6.72 [[ 8.05788601e-02 9.96748229e-01 -1.25661250e-04 6.21897574e+01] [ 9.96746497e-01 -8.05789544e-02 -1.85808979e-03 -3.84089406e+01] [-1.86217336e-03 2.44703463e-05 -9.99998266e-01 6.72132408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.20, Y:-38.41, Z:6.72 [[ 2.09118821e-03 9.99997813e-01 1.62003810e-05 6.22040884e+01] [ 9.99996716e-01 -2.09116192e-03 -1.48162575e-03 -3.84108507e+01] [-1.48158863e-03 1.92986861e-05 -9.99998902e-01 6.72105277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.22, Y:-38.41, Z:6.72 [[-7.41846538e-02 9.97244521e-01 4.94960560e-05 6.22191737e+01] [ 9.97244369e-01 7.41846699e-02 -5.51220419e-04 -3.84113581e+01] [-5.53373392e-04 8.46756714e-06 -9.99999847e-01 6.72037711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.23, Y:-38.41, Z:6.72 [[-1.50571999e-01 9.88599041e-01 1.01491723e-04 6.22312163e+01] [ 9.88598859e-01 1.50572033e-01 -5.98766130e-04 -3.84124464e+01] [-6.07221437e-04 1.01771882e-05 -9.99999816e-01 6.72054544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.24, Y:-38.41, Z:6.72 [[-2.23796293e-01 9.74635898e-01 2.94261375e-04 6.22438698e+01] [ 9.74635194e-01 2.23796485e-01 -1.17114027e-03 -3.84114829e+01] [-1.20729001e-03 2.47006420e-05 -9.99999271e-01 6.72072640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.760385723 meters Centerline goodness [0,1] 0.9999348236981034 Centerline is valid? [True, True] Translation: X:62.25, Y:-38.41, Z:6.72 [[-2.97357289e-01 9.54766085e-01 6.04825213e-04 6.22548234e+01] [ 9.54764393e-01 2.97357901e-01 -1.79772772e-03 -3.84094639e+01] [-1.89625901e-03 4.28981361e-05 -9.99998201e-01 6.72225961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.27, Y:-38.41, Z:6.72 [[-3.67943087e-01 9.29847943e-01 8.29033128e-04 6.22678665e+01] [ 9.29845911e-01 3.67944017e-01 -1.94472746e-03 -3.84061754e+01] [-2.11333861e-03 5.53240368e-05 -9.99997765e-01 6.72204178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.28, Y:-38.40, Z:6.72 [[-4.38540020e-01 8.98710907e-01 1.16508203e-03 6.22806412e+01] [ 8.98708142e-01 4.38541562e-01 -2.23034649e-03 -3.84009640e+01] [-2.51537361e-03 6.89725090e-05 -9.99996834e-01 6.72292324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.29, Y:-38.40, Z:6.72 [[-5.06836930e-01 8.62039787e-01 1.93189928e-03 6.22916243e+01] [ 8.62034279e-01 5.06840602e-01 -3.08318385e-03 -3.83957312e+01] [-3.63699214e-03 1.02691964e-04 -9.99993381e-01 6.72396466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.880385723 meters Centerline goodness [0,1] 0.9999785080272519 Centerline is valid? [True, True] Translation: X:62.30, Y:-38.39, Z:6.73 [[-5.71692873e-01 8.20462411e-01 2.94801801e-03 6.23018260e+01] [ 8.20452795e-01 5.71700456e-01 -3.97501961e-03 -3.83904078e+01] [-4.94673741e-03 1.46219231e-04 -9.99987754e-01 6.72544652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.910385723 meters Centerline goodness [0,1] 0.9998924037013127 Centerline is valid? [True, True] Translation: X:62.32, Y:-38.38, Z:6.73 [[-6.33423954e-01 7.73795533e-01 3.81673088e-03 6.23168351e+01] [ 7.73783144e-01 6.33435428e-01 -4.38236129e-03 -3.83780846e+01] [-5.80870415e-03 1.77429402e-04 -9.99983114e-01 6.72666353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.33, Y:-38.37, Z:6.73 [[-6.91061837e-01 7.22783827e-01 4.13243222e-03 6.23273629e+01] [ 7.22772477e-01 6.91074168e-01 -4.05475337e-03 -3.83684831e+01] [-5.78652732e-03 1.84722959e-04 -9.99983241e-01 6.72576802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9703857229999 meters Centerline goodness [0,1] 0.9999571761985312 Centerline is valid? [True, True] Translation: X:62.35, Y:-38.34, Z:6.73 [[-7.39715718e-01 6.72902136e-01 4.83451195e-03 6.23482310e+01] [ 6.72889589e-01 7.39731486e-01 -4.11452077e-03 -3.83424408e+01] [-6.34491052e-03 2.09517071e-04 -9.99979849e-01 6.72668822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.37, Y:-38.32, Z:6.73 [[-7.84961219e-01 6.19521825e-01 5.34723478e-03 6.23686452e+01] [ 6.19509377e-01 7.84979400e-01 -3.93362318e-03 -3.83189338e+01] [-6.63443456e-03 2.24920437e-04 -9.99977967e-01 6.72604200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.39, Y:-38.29, Z:6.73 [[-8.26661811e-01 5.62679148e-01 4.73575663e-03 6.23860571e+01] [ 5.62671229e-01 8.26675354e-01 -2.99136113e-03 -3.82894146e+01] [-5.59810982e-03 1.91829988e-04 -9.99984312e-01 6.72554170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.40, Y:-38.26, Z:6.73 [[-8.64529721e-01 5.02556016e-01 5.08064651e-03 6.23994712e+01] [ 5.02548661e-01 8.64544627e-01 -2.72598392e-03 -3.82592140e+01] [-5.76240525e-03 1.96577982e-04 -9.99983378e-01 6.72516048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.41, Y:-38.23, Z:6.72 [[-8.98535760e-01 4.38887629e-01 3.33722424e-03 6.24107127e+01] [ 4.38885094e-01 8.98541950e-01 -1.49630512e-03 -3.82263258e+01] [-3.65534578e-03 1.20174311e-04 -9.99993312e-01 6.72387321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.120385723 meters Centerline goodness [0,1] 0.9999574947399741 Centerline is valid? [True, True] Translation: X:62.41, Y:-38.19, Z:6.72 [[-9.27717428e-01 3.73272611e-01 2.81630900e-03 6.24145629e+01] [ 3.73271203e-01 9.27721698e-01 -1.02973687e-03 -3.81920996e+01] [-2.99712354e-03 9.59422070e-05 -9.99995504e-01 6.72384650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.42, Y:-38.15, Z:6.72 [[-9.52663080e-01 3.04021614e-01 1.97832303e-03 6.24175587e+01] [ 3.04021089e-01 9.52665133e-01 -5.67939933e-04 -3.81529055e+01] [-2.05734539e-03 6.03965173e-05 -9.99997882e-01 6.72324935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.180385723 meters Centerline goodness [0,1] 0.9999154137325805 Centerline is valid? [True, True] Translation: X:62.58, Y:-37.59, Z:5.75 [[-9.49556702e-01 -3.13573080e-01 3.74076250e-03 6.25832147e+01] [ 3.13570675e-01 -9.49564070e-01 -1.22819314e-03 -3.75913085e+01] [ 3.93722197e-03 6.75439709e-06 9.99992249e-01 5.75210797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.37, Y:-38.13, Z:6.73 [[-9.54943154e-01 2.96766042e-01 3.67270353e-03 6.23713019e+01] [ 2.96764235e-01 9.54950212e-01 -1.04005978e-03 -3.81330576e+01] [-3.81590344e-03 9.67290828e-05 -9.99992715e-01 6.72551854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.240385723 meters Centerline goodness [0,1] 0.9999368115087306 Centerline is valid? [True, True] Translation: X:62.53, Y:-37.58, Z:5.75 [[-9.49702290e-01 -3.13115905e-01 4.89798946e-03 6.25291232e+01] [ 3.13111503e-01 -9.49714919e-01 -1.66097311e-03 -3.75827267e+01] [ 5.17177076e-03 -4.38131287e-05 9.99986625e-01 5.75087276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.33, Y:-38.12, Z:6.73 [[-9.56498232e-01 2.91710736e-01 3.99735728e-03 6.23253444e+01] [ 2.91708618e-01 9.56506580e-01 -1.11609923e-03 -3.81167046e+01] [-4.14907666e-03 9.85166305e-05 -9.99991388e-01 6.72611080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.32, Y:-38.08, Z:6.73 [[-9.74965300e-01 2.22312677e-01 4.44279498e-03 6.23242720e+01] [ 2.22310854e-01 9.74975417e-01 -9.06348853e-04 -3.80825313e+01] [-4.53310873e-03 1.04022865e-04 -9.99989720e-01 6.72744070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.32, Y:-38.05, Z:6.73 [[-9.88363791e-01 1.52031300e-01 4.84777528e-03 6.23178979e+01] [ 1.52030015e-01 9.88375673e-01 -6.34563984e-04 -3.80503477e+01] [-4.88789675e-03 1.09827286e-04 -9.99988048e-01 6.72799367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.39, Y:-37.50, Z:5.75 [[-9.84544620e-01 -1.75022864e-01 6.23613197e-03 6.23884627e+01] [ 1.75019053e-01 -9.84564368e-01 -1.15584928e-03 -3.75017936e+01] [ 6.34217339e-03 -4.65432747e-05 9.99979887e-01 5.74887036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.390385723 meters Centerline goodness [0,1] 0.9999371332774518 Centerline is valid? [True, True] Translation: X:62.27, Y:-38.04, Z:6.73 [[-9.89066419e-01 1.47236073e-01 8.31609341e-03 6.22657250e+01] [ 1.47232407e-01 9.89101363e-01 -1.05477140e-03 -3.80400123e+01] [-8.38075972e-03 1.81159479e-04 -9.99964864e-01 6.73146975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.420385723 meters Centerline goodness [0,1] 0.9998739098455396 Centerline is valid? [True, True] Translation: X:62.26, Y:-38.01, Z:6.73 [[-9.96989998e-01 7.69397885e-02 9.55053869e-03 6.22583362e+01] [ 7.69382813e-02 9.97035719e-01 -5.25666656e-04 -3.80095122e+01] [-9.56267289e-03 2.10717633e-04 -9.99954254e-01 6.73271218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.25, Y:-37.98, Z:6.73 [[-9.99952900e-01 5.86967754e-03 7.72942859e-03 6.22450394e+01] [ 5.87081966e-03 9.99982759e-01 1.25081783e-04 -3.79798663e+01] [-7.72856113e-03 1.70453973e-04 -9.99970120e-01 6.73107080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.24, Y:-37.43, Z:5.75 [[-9.99594931e-01 -2.76427956e-02 6.77122551e-03 6.22382112e+01] [ 2.76407297e-02 -9.99617843e-01 -3.98511127e-04 -3.74345124e+01] [ 6.77965379e-03 -2.11188089e-04 9.99976996e-01 5.74781610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.18, Y:-37.98, Z:6.73 [[-9.99974596e-01 2.95672773e-03 6.48580495e-03 6.21806163e+01] [ 2.95766353e-03 9.99995617e-01 1.34697403e-04 -3.79802510e+01] [-6.48537826e-03 1.53876810e-04 -9.99978958e-01 6.72977081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.17, Y:-37.43, Z:5.75 [[-9.99757407e-01 -2.13907640e-02 5.24998771e-03 6.21658836e+01] [ 2.13893947e-02 -9.99771171e-01 -3.16823417e-04 -3.74336445e+01] [ 5.25556346e-03 -2.04452498e-04 9.99986169e-01 5.74923847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.11, Y:-37.98, Z:6.73 [[-9.99985996e-01 -4.26509167e-04 5.27495088e-03 6.21103002e+01] [-4.25808629e-04 9.99999900e-01 1.33927608e-04 -3.79842719e+01] [-5.27500747e-03 1.31679613e-04 -9.99986078e-01 6.72877129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.10, Y:-37.96, Z:6.73 [[-9.97457959e-01 -7.11066100e-02 4.63357670e-03 6.20965187e+01] [-7.11052905e-02 9.97468714e-01 4.49099352e-04 -3.79553071e+01] [-4.65378173e-03 1.18485906e-04 -9.99989164e-01 6.72788306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.07, Y:-37.93, Z:6.73 [[-9.89920580e-01 -1.41565061e-01 4.07180859e-03 6.20748917e+01] [-1.41563417e-01 9.89928948e-01 6.90619270e-04 -3.79329527e+01] [-4.12856875e-03 1.07239090e-04 -9.99991472e-01 6.72845550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.97, Y:-37.39, Z:5.75 [[-9.92000003e-01 1.26163737e-01 4.32492888e-03 6.19706026e+01] [-1.26162969e-01 -9.92009426e-01 4.50921133e-04 -3.73885204e+01] [ 4.34726011e-03 -9.83321047e-05 9.99990546e-01 5.75004878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.690385723 meters Centerline goodness [0,1] 0.9999160334186994 Centerline is valid? [True, True] Translation: X:61.97, Y:-37.95, Z:6.73 [[-9.89087632e-01 -1.47238593e-01 5.14330977e-03 6.19668995e+01] [-1.47235883e-01 9.89100995e-01 9.03719165e-04 -3.79462694e+01] [-5.22031515e-03 1.36577695e-04 -9.99986365e-01 6.72895644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.94, Y:-37.92, Z:6.73 [[-9.75590729e-01 -2.19536759e-01 5.13228413e-03 6.19361099e+01] [-2.19533024e-01 9.75604220e-01 1.28722078e-03 -3.79224417e+01] [-5.28967033e-03 1.29094806e-04 -9.99986001e-01 6.72810943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.77, Y:-37.40, Z:5.75 [[-9.79603458e-01 2.00869309e-01 5.34661239e-03 6.17700520e+01] [-2.00867001e-01 -9.79618041e-01 9.70767992e-04 -3.73992512e+01] [ 5.43263545e-03 -1.22990314e-04 9.99985236e-01 5.74950867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.80, Y:-37.95, Z:6.73 [[-9.73559668e-01 -2.28366702e-01 5.49744505e-03 6.18028009e+01] [-2.28362352e-01 9.73575182e-01 1.41488236e-03 -3.79525864e+01] [-5.67528809e-03 1.22062918e-04 -9.99983888e-01 6.72859814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.76, Y:-37.93, Z:6.73 [[-9.54238697e-01 -2.98991257e-01 5.72161938e-03 6.17638353e+01] [-2.98985106e-01 9.54255843e-01 1.92184162e-03 -3.79334592e+01] [-6.03450256e-03 1.23216668e-04 -9.99981785e-01 6.72917653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.71, Y:-37.92, Z:6.73 [[-9.29077327e-01 -3.69828235e-01 6.51137173e-03 6.17054726e+01] [-3.69818187e-01 9.29100135e-01 2.72916329e-03 -3.79236335e+01] [-7.05903799e-03 1.27580044e-04 -9.99975077e-01 6.72977599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.63, Y:-37.92, Z:6.73 [[-8.98707377e-01 -4.38500978e-01 6.47633755e-03 6.16340800e+01] [-4.38488626e-01 8.98730704e-01 3.29343259e-03 -3.79247371e+01] [-7.26465681e-03 1.20031808e-04 -9.99973605e-01 6.73002625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.56, Y:-37.93, Z:6.73 [[-8.63120717e-01 -5.04954949e-01 6.56718239e-03 6.15591602e+01] [-5.04939314e-01 8.63145693e-01 3.97521397e-03 -3.79321010e+01] [-7.67573916e-03 1.15060958e-04 -9.99970535e-01 6.73016142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.48, Y:-37.95, Z:6.73 [[-8.23308816e-01 -5.67560364e-01 6.15029481e-03 6.14794490e+01] [-5.67543504e-01 8.23331780e-01 4.37613460e-03 -3.79505274e+01] [-7.54745372e-03 1.12350334e-04 -9.99971511e-01 6.73048221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.40, Y:-37.98, Z:6.73 [[-7.79207190e-01 -6.26740974e-01 5.64855053e-03 6.13974612e+01] [-6.26723432e-01 7.79227655e-01 4.69053763e-03 -3.79796122e+01] [-7.34125890e-03 1.14821673e-04 -9.99973046e-01 6.73007894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.31, Y:-38.02, Z:6.73 [[-7.30732125e-01 -6.82644697e-01 5.17492094e-03 6.13131021e+01] [-6.82626417e-01 7.30750439e-01 4.99701613e-03 -3.80168648e+01] [-7.19276230e-03 1.18942474e-04 -9.99974125e-01 6.72951367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.23, Y:-38.07, Z:6.73 [[-6.78411899e-01 -7.34666625e-01 4.71652985e-03 6.12279461e+01] [-7.34647560e-01 6.78428283e-01 5.29415959e-03 -3.80688722e+01] [-7.08926961e-03 1.26633716e-04 -9.99974863e-01 6.72993619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.15, Y:-38.13, Z:6.73 [[-6.22333227e-01 -7.82741267e-01 4.17889214e-03 6.11460170e+01] [-7.82722162e-01 6.22347243e-01 5.47046950e-03 -3.81260092e+01] [-6.88268423e-03 1.33543448e-04 -9.99976305e-01 6.72878644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.06, Y:-38.20, Z:6.73 [[-5.61103076e-01 -8.27737519e-01 3.73323675e-03 6.10634947e+01] [-8.27717631e-01 5.61115480e-01 5.73941369e-03 -3.81966394e+01] [-6.84550498e-03 1.30336800e-04 -9.99976561e-01 6.72923547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.98, Y:-38.27, Z:6.73 [[-4.96349129e-01 -8.68116809e-01 3.27855517e-03 6.09828001e+01] [-8.68096165e-01 4.96359941e-01 5.98810556e-03 -3.82720991e+01] [-6.82571854e-03 1.26089805e-04 -9.99976697e-01 6.72851241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.91, Y:-38.36, Z:6.73 [[-4.28239468e-01 -9.03661146e-01 2.73711205e-03 6.09085328e+01] [-9.03640919e-01 4.28248199e-01 6.04734044e-03 -3.83574313e+01] [-6.63690989e-03 1.16343406e-04 -9.99977969e-01 6.72854317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.84, Y:-38.45, Z:6.73 [[-3.57265888e-01 -9.33999653e-01 2.39434054e-03 6.08407466e+01] [-9.33976477e-01 3.57273893e-01 6.58076814e-03 -3.84499476e+01] [-7.00187053e-03 1.14826228e-04 -9.99975480e-01 6.72814077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.78, Y:-38.55, Z:6.73 [[-2.84957415e-01 -9.58537997e-01 2.04455209e-03 6.07794565e+01] [-9.58510131e-01 2.84964723e-01 7.30993707e-03 -3.85502773e+01] [-7.58947766e-03 1.23296882e-04 -9.99971192e-01 6.72904763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.72, Y:-38.66, Z:6.73 [[-2.11016398e-01 -9.77480781e-01 1.84472772e-03 6.07246019e+01] [-9.77436830e-01 2.11024406e-01 9.27057422e-03 -3.86601897e+01] [-9.45109070e-03 1.53138360e-04 -9.99955326e-01 6.73008969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.68, Y:-38.77, Z:6.73 [[-1.36361869e-01 -9.90658434e-01 1.14347876e-03 6.06786876e+01] [-9.90613111e-01 1.36366570e-01 9.47751645e-03 -3.87699245e+01] [-9.54491388e-03 1.59626803e-04 -9.99954434e-01 6.73026141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.65, Y:-38.88, Z:6.73 [[-6.24429296e-02 -9.98048447e-01 4.22051800e-04 6.06450621e+01] [-9.98001617e-01 6.24440889e-02 9.66997102e-03 -3.88813749e+01] [-9.67745420e-03 1.82612940e-04 -9.99953156e-01 6.72974904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.62, Y:-39.00, Z:6.73 [[ 1.24642732e-02 -9.99922265e-01 -3.24935724e-04 6.06164514e+01] [-9.99873334e-01 -1.24668784e-02 9.89411207e-03 -3.89987251e+01] [-9.89739389e-03 2.01571649e-04 -9.99950999e-01 6.72879574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.60, Y:-39.12, Z:6.73 [[ 8.76654979e-02 -9.96149384e-01 -1.07987647e-03 6.05981736e+01] [-9.96100852e-01 -8.76718888e-02 9.83526836e-03 -3.91185095e+01] [-9.89207132e-03 2.13452171e-04 -9.99951050e-01 6.72846567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.59, Y:-39.23, Z:6.73 [[ 1.61231023e-01 -9.86915186e-01 -1.72440243e-03 6.05904276e+01] [-9.86872488e-01 -1.61240093e-01 9.18289069e-03 -3.92343727e+01] [-9.34077707e-03 2.21198449e-04 -9.99956350e-01 6.72790396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.59, Y:-39.36, Z:6.73 [[ 2.35706114e-01 -9.71821323e-01 -2.43790467e-03 6.05887805e+01] [-9.71778885e-01 -2.35718611e-01 9.08488020e-03 -3.93556898e+01] [-9.40353980e-03 2.27742472e-04 -9.99955760e-01 6.72753430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.440385723 meters Centerline goodness [0,1] 0.9998926946519014 Centerline is valid? [True, True] Translation: X:60.60, Y:-39.48, Z:6.73 [[ 3.07972160e-01 -9.51388925e-01 -3.50169035e-03 6.05989475e+01] [-9.51337020e-01 -3.07991948e-01 9.94157633e-03 -3.94756679e+01] [-1.05367981e-02 2.69558933e-04 -9.99944450e-01 6.72995635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.62, Y:-39.60, Z:6.73 [[ 3.79942250e-01 -9.25001623e-01 -3.98556848e-03 6.06166859e+01] [-9.24957443e-01 -3.79963071e-01 9.04393461e-03 -3.95956381e+01] [-9.88002303e-03 2.50308369e-04 -9.99951160e-01 6.72835120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.64, Y:-39.71, Z:6.73 [[ 4.49297444e-01 -8.93370724e-01 -4.53392108e-03 6.06444538e+01] [-8.93330600e-01 -4.49320253e-01 8.47045989e-03 -3.97083584e+01] [-9.60444345e-03 2.44534463e-04 -9.99953846e-01 6.72749797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.68, Y:-39.82, Z:6.73 [[ 5.16325874e-01 -8.56377381e-01 -5.03716059e-03 6.06802706e+01] [-8.56340996e-01 -5.16350391e-01 7.89768814e-03 -3.98233819e+01] [-9.36434132e-03 2.35746381e-04 -9.99956126e-01 6.72663288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.72, Y:-39.93, Z:6.73 [[ 5.81654924e-01 -8.13414137e-01 -5.91531779e-03 6.07224564e+01] [-8.13376001e-01 -5.81684957e-01 7.87985543e-03 -3.99313972e+01] [-9.85043718e-03 2.28020816e-04 -9.99951457e-01 6.72664006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.77, Y:-40.03, Z:6.73 [[ 6.42588917e-01 -7.66183087e-01 -6.55453918e-03 6.07682356e+01] [-7.66146670e-01 -6.42622307e-01 7.47330971e-03 -4.00348540e+01] [-9.93801659e-03 2.19472375e-04 -9.99950593e-01 6.72653334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.620385723 meters Centerline goodness [0,1] 0.9999783965953034 Centerline is valid? [True, True] Translation: X:60.82, Y:-40.13, Z:6.73 [[ 6.99518373e-01 -7.14573157e-01 -7.69729400e-03 6.08207687e+01] [-7.14533440e-01 -6.99560685e-01 7.53732364e-03 -4.01295057e+01] [-1.07706934e-02 2.27477591e-04 -9.99941969e-01 6.72663487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.82, Y:-40.14, Z:6.73 [[ 7.53364795e-01 -6.57555620e-01 -7.87992030e-03 6.08185454e+01] [-6.57522610e-01 -7.53405974e-01 6.59218206e-03 -4.01383252e+01] [-1.02715054e-02 2.14907872e-04 -9.99947224e-01 6.72671032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.82, Y:-40.15, Z:6.73 [[ 8.02419533e-01 -5.96698568e-01 -8.58550712e-03 6.08171773e+01] [-5.96667338e-01 -8.02465432e-01 6.10888147e-03 -4.01479634e+01] [-1.05347335e-02 2.20805858e-04 -9.99944484e-01 6.72607646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.82, Y:-40.16, Z:6.73 [[ 8.46347161e-01 -5.32554453e-01 -9.06847930e-03 6.08168154e+01] [-5.32526735e-01 -8.46395713e-01 5.43809388e-03 -4.01579439e+01] [-1.05716031e-02 2.26692360e-04 -9.99944093e-01 6.72636011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.82, Y:-40.16, Z:6.73 [[ 8.84755321e-01 -4.65953728e-01 -9.75424793e-03 6.08171194e+01] [-4.65928494e-01 -8.84809054e-01 4.85562154e-03 -4.01643668e+01] [-1.08931418e-02 2.48745055e-04 -9.99940637e-01 6.72684185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.82, Y:-40.17, Z:6.73 [[ 9.18275350e-01 -3.95816286e-01 -9.99249529e-03 6.08179194e+01] [-3.95795816e-01 -9.18329682e-01 4.03323938e-03 -4.01720690e+01] [-1.07728269e-02 2.51363528e-04 -9.99941940e-01 6.72701176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.82, Y:-40.19, Z:6.73 [[ 9.46314934e-01 -3.23074758e-01 -1.05235997e-02 6.08172057e+01] [-3.23057830e-01 -9.46373411e-01 3.31752444e-03 -4.01855985e+01] [-1.10310634e-02 2.60308374e-04 -9.99939122e-01 6.72635763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.830385723 meters Centerline goodness [0,1] 0.9999782395822 Centerline is valid? [True, True] Translation: X:60.82, Y:-40.19, Z:6.73 [[ 9.68554884e-01 -2.48497451e-01 -1.22659335e-02 6.08184184e+01] [-2.48481469e-01 -9.68632503e-01 2.83447201e-03 -4.01901918e+01] [-1.25855410e-02 3.02515462e-04 -9.99920753e-01 6.72806145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.860385723 meters Centerline goodness [0,1] 0.9999781716580809 Centerline is valid? [True, True] Translation: X:60.82, Y:-40.20, Z:6.73 [[ 9.85121949e-01 -1.71312079e-01 -1.36717614e-02 6.08166057e+01] [-1.71300139e-01 -9.85216761e-01 2.04833692e-03 -4.01995038e+01] [-1.38205533e-02 3.24112970e-04 -9.99904439e-01 6.72679235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.81, Y:-40.21, Z:6.73 [[ 9.95575091e-01 -9.28769237e-02 -1.42869249e-02 6.08137575e+01] [-9.28720395e-02 -9.95677544e-01 1.00638252e-03 -4.02063826e+01] [-1.43186400e-02 3.24926488e-04 -9.99897430e-01 6.72837733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.920385723 meters Centerline goodness [0,1] 0.999868946989057 Centerline is valid? [True, True] Translation: X:60.81, Y:-40.22, Z:6.73 [[ 9.99808728e-01 -1.27211298e-02 -1.48553204e-02 6.08126136e+01] [-1.27243084e-02 -9.99919036e-01 -1.19471171e-04 -4.02169117e+01] [-1.48525978e-02 3.08471999e-04 -9.99889647e-01 6.72948105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.81, Y:-40.23, Z:6.73 [[ 9.97633381e-01 6.72421914e-02 -1.43570542e-02 6.08107961e+01] [ 6.72312559e-02 -9.97736645e-01 -1.24351553e-03 -4.02254463e+01] [-1.44081758e-02 2.75329812e-04 -9.99896159e-01 6.72777354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.980385723 meters Centerline goodness [0,1] 0.9999560700243811 Centerline is valid? [True, True] Translation: X:60.81, Y:-40.24, Z:6.73 [[ 9.89101252e-01 1.46571363e-01 -1.39838690e-02 6.08109279e+01] [ 1.46553129e-01 -9.89200067e-01 -2.32544338e-03 -4.02352816e+01] [-1.41736875e-02 2.50719206e-04 -9.99899517e-01 6.72807935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.81, Y:-40.24, Z:6.73 [[ 9.73809219e-01 2.26949723e-01 -1.37633038e-02 6.08103921e+01] [ 2.26924138e-01 -9.73906455e-01 -3.41363831e-03 -4.02425427e+01] [-1.41788947e-02 2.01006615e-04 -9.99899454e-01 6.72653937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.81, Y:-40.25, Z:6.73 [[ 9.52464542e-01 3.04324754e-01 -1.40619941e-02 6.08100506e+01] [ 3.04288775e-01 -9.52568324e-01 -4.68299082e-03 -4.02513549e+01] [-1.48201602e-02 1.81475745e-04 -9.99890159e-01 6.72722298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.81, Y:-40.26, Z:6.73 [[ 9.24578022e-01 3.80747575e-01 -1.36662157e-02 6.08106473e+01] [ 3.80703806e-01 -9.24679007e-01 -5.77461818e-03 -4.02580442e+01] [-1.48355346e-02 1.36304715e-04 -9.99889938e-01 6.72810185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.81, Y:-40.26, Z:6.73 [[ 8.91218011e-01 4.53405994e-01 -1.23879272e-02 6.08110681e+01] [ 4.53360545e-01 -8.91304097e-01 -6.42054024e-03 -4.02646527e+01] [-1.39525217e-02 1.05903675e-04 -9.99902653e-01 6.72736077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.81, Y:-40.27, Z:6.73 [[ 8.52768161e-01 5.22165063e-01 -1.14066208e-02 6.08114970e+01] [ 5.22116847e-01 -8.52844440e-01 -7.09645558e-03 -4.02718342e+01] [-1.34335943e-02 9.60424915e-05 -9.99909761e-01 6.72741379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.81, Y:-40.28, Z:6.73 [[ 8.09344109e-01 5.87242521e-01 -1.04084454e-02 6.08122122e+01] [ 5.87192470e-01 -8.09411029e-01 -7.66749513e-03 -4.02784658e+01] [-1.29273897e-02 9.38812296e-05 -9.99916433e-01 6.72660751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.190385723 meters Centerline goodness [0,1] 0.9999554377130634 Centerline is valid? [True, True] Translation: X:60.81, Y:-40.28, Z:6.73 [[ 7.61786241e-01 6.47759412e-01 -9.45866350e-03 6.08110042e+01] [ 6.47707726e-01 -7.61844953e-01 -8.18347603e-03 -4.02819290e+01] [-1.25069587e-02 1.07610018e-04 -9.99921779e-01 6.72652924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.81, Y:-40.29, Z:6.73 [[ 7.09112533e-01 7.05040475e-01 -8.79461570e-03 6.08102701e+01] [ 7.04984243e-01 -7.09167058e-01 -8.90508996e-03 -4.02890628e+01] [-1.25153006e-02 1.14645403e-04 -9.99921674e-01 6.72512647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.81, Y:-40.30, Z:6.72 [[ 6.52107825e-01 7.58088800e-01 -7.53368693e-03 6.08121739e+01] [ 7.58036211e-01 -6.52151332e-01 -8.92992753e-03 -4.02970662e+01] [-1.16827820e-02 1.12468122e-04 -9.99931748e-01 6.72345282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.82, Y:-40.31, Z:6.72 [[ 5.90145057e-01 8.07272250e-01 -6.35027437e-03 6.08180346e+01] [ 8.07223742e-01 -5.90179214e-01 -8.85019866e-03 -4.03072226e+01] [-1.08923197e-02 9.68087465e-05 -9.99940672e-01 6.72327502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.82, Y:-40.32, Z:6.72 [[ 5.23577993e-01 8.51958662e-01 -5.70288045e-03 6.08240258e+01] [ 8.51906498e-01 -5.23609045e-01 -9.42800756e-03 -4.03167045e+01] [-1.10183525e-02 7.79763657e-05 -9.99939293e-01 6.72363137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.83, Y:-40.33, Z:6.72 [[ 4.54873030e-01 8.90542075e-01 -5.03382571e-03 6.08304627e+01] [ 8.90485721e-01 -4.54900876e-01 -1.00187154e-02 -4.03256174e+01] [-1.12119793e-02 7.46935127e-05 -9.99937141e-01 6.72390112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.370385723 meters Centerline goodness [0,1] 0.9999551318003365 Centerline is valid? [True, True] Translation: X:60.84, Y:-40.33, Z:6.73 [[ 3.83788635e-01 9.23410399e-01 -4.41800479e-03 6.08361114e+01] [ 9.23346846e-01 -3.83814055e-01 -1.08338696e-02 -4.03347713e+01] [-1.16998002e-02 7.85652206e-05 -9.99931552e-01 6.72554825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.84, Y:-40.34, Z:6.73 [[ 3.11395454e-01 9.50272541e-01 -3.86891471e-03 6.08409221e+01] [ 9.50195150e-01 -3.11419472e-01 -1.21280784e-02 -4.03420895e+01] [-1.27298352e-02 1.00404483e-04 -9.99918967e-01 6.72595574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.85, Y:-40.35, Z:6.72 [[ 2.38813229e-01 9.71061158e-01 -2.91011965e-03 6.08468056e+01] [ 9.70981890e-01 -2.38830920e-01 -1.24080779e-02 -4.03490842e+01] [-1.27440291e-02 1.37539680e-04 -9.99918782e-01 6.72489502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.86, Y:-40.36, Z:6.72 [[ 1.62046380e-01 9.86781256e-01 -1.92955246e-03 6.08556786e+01] [ 9.86700847e-01 -1.62057809e-01 -1.25978309e-02 -4.03569183e+01] [-1.27440025e-02 1.37541853e-04 -9.99918783e-01 6.72489479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.86, Y:-40.36, Z:6.73 [[ 8.58162619e-02 9.96310541e-01 -9.35135565e-04 6.08636520e+01] [ 9.96229712e-01 -8.58212122e-02 -1.26917435e-02 -4.03649980e+01] [-1.27251723e-02 1.57548149e-04 -9.99919019e-01 6.72571194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.87, Y:-40.37, Z:6.73 [[ 8.76527597e-03 9.99961582e-01 6.18349975e-05 6.08714955e+01] [ 9.99880312e-01 -8.76377518e-03 -1.27497967e-02 -4.03725752e+01] [-1.27487650e-02 1.73583083e-04 -9.99918716e-01 6.72683956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.88, Y:-40.38, Z:6.73 [[-6.74675210e-02 9.97720884e-01 1.08201178e-03 6.08802349e+01] [ 9.97636731e-01 6.74758852e-02 -1.29598798e-02 -4.03786010e+01] [-1.30033524e-02 2.05083731e-04 -9.99915432e-01 6.72717352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.89, Y:-40.38, Z:6.73 [[-1.44830821e-01 9.89454263e-01 2.07242023e-03 6.08884968e+01] [ 9.89372740e-01 1.44845495e-01 -1.27029543e-02 -4.03837613e+01] [-1.28691730e-02 2.10616780e-04 -9.99917167e-01 6.72681678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.90, Y:-40.39, Z:6.73 [[-2.21136122e-01 9.75238790e-01 2.84930996e-03 6.08972569e+01] [ 9.75169361e-01 2.21154382e-01 -1.16385730e-02 -4.03885163e+01] [-1.19805252e-02 2.04850894e-04 -9.99928210e-01 6.72527315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.91, Y:-40.39, Z:6.72 [[-2.96604908e-01 9.54993236e-01 3.66711458e-03 6.09110039e+01] [ 9.54928490e-01 2.96627507e-01 -1.11221406e-02 -4.03902016e+01] [-1.17093361e-02 2.02950688e-04 -9.99931423e-01 6.72379628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.93, Y:-40.39, Z:6.72 [[-3.71060659e-01 9.28599243e-01 4.17537916e-03 6.09251393e+01] [ 9.28545820e-01 3.71084106e-01 -9.96227089e-03 -4.03905067e+01] [-1.08003740e-02 1.80424069e-04 -9.99941658e-01 6.72421102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.94, Y:-40.39, Z:6.72 [[-4.43398274e-01 8.96311976e-01 4.77626027e-03 6.09381138e+01] [ 8.96263942e-01 4.43423967e-01 -9.28074054e-03 -4.03918969e+01] [-1.04363472e-02 1.65725520e-04 -9.99945526e-01 6.72497444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.95, Y:-40.39, Z:6.72 [[-5.13413143e-01 8.58127449e-01 4.92204993e-03 6.09540880e+01] [ 8.58090527e-01 5.13436718e-01 -7.96136845e-03 -4.03894759e+01] [-9.35902996e-03 1.36093225e-04 -9.99956194e-01 6.72303087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.97, Y:-40.39, Z:6.72 [[-5.79454261e-01 8.14991223e-01 4.69735808e-03 6.09670291e+01] [ 8.14965994e-01 5.79473290e-01 -6.41368226e-03 -4.03887191e+01] [-7.94908829e-03 1.11751580e-04 -9.99968399e-01 6.72214800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.98, Y:-40.39, Z:6.72 [[-6.40960675e-01 7.67564848e-01 3.69020793e-03 6.09782381e+01] [ 7.67552870e-01 6.40971292e-01 -4.28882321e-03 -4.03876369e+01] [-5.65726728e-03 8.34626670e-05 -9.99983994e-01 6.71996607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.99, Y:-40.38, Z:6.72 [[-6.98445781e-01 7.15652837e-01 3.80899387e-03 6.09897992e+01] [ 7.15642848e-01 6.98456162e-01 -3.78206224e-03 -4.03838695e+01] [-5.36705881e-03 8.43138049e-05 -9.99985594e-01 6.71948362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.01, Y:-40.37, Z:6.72 [[-7.46537857e-01 6.65331766e-01 3.85611344e-03 6.10132076e+01] [ 6.65323480e-01 7.46547811e-01 -3.32154364e-03 -4.03668726e+01] [-5.08870154e-03 8.59047454e-05 -9.99987049e-01 6.71911896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.04, Y:-40.35, Z:6.72 [[-7.90714730e-01 6.12173148e-01 3.77513706e-03 6.10355867e+01] [ 6.12166695e-01 7.90723737e-01 -2.81232097e-03 -4.03482874e+01] [-4.70671787e-03 8.72695598e-05 -9.99988920e-01 6.71910700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.05, Y:-40.32, Z:6.72 [[-8.31797615e-01 5.55066803e-01 3.68398379e-03 6.10519345e+01] [ 5.55061798e-01 8.31805769e-01 -2.35841566e-03 -4.03246821e+01] [-4.37343721e-03 8.31141457e-05 -9.99990433e-01 6.71895809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.07, Y:-40.30, Z:6.72 [[-8.68706683e-01 4.95316185e-01 3.25207626e-03 6.10689550e+01] [ 4.95313026e-01 8.68712767e-01 -1.77068794e-03 -4.03021422e+01] [-3.70217056e-03 7.25872913e-05 -9.99993144e-01 6.71893747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.09, Y:-40.28, Z:6.72 [[-9.01744728e-01 4.32257742e-01 3.11279509e-03 6.10879494e+01] [ 4.32255417e-01 9.01750099e-01 -1.41919364e-03 -4.02768647e+01] [-3.42042072e-03 6.57721572e-05 -9.99994148e-01 6.71896774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.10, Y:-40.25, Z:6.72 [[-9.30305471e-01 3.66769590e-01 3.43494893e-03 6.11020389e+01] [ 3.66767361e-01 9.30311810e-01 -1.28058108e-03 -4.02506521e+01] [-3.66525175e-03 6.84955631e-05 -9.99993281e-01 6.71926379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.11, Y:-40.22, Z:6.72 [[-9.54094200e-01 2.99486813e-01 3.45054707e-03 6.11118580e+01] [ 2.99485102e-01 9.54100437e-01 -1.01441551e-03 -4.02242396e+01] [-3.59597253e-03 6.55394816e-05 -9.99993532e-01 6.71956616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.060385723 meters Centerline goodness [0,1] 0.9998001243670604 Centerline is valid? [True, True] Translation: X:61.11, Y:-40.19, Z:6.72 [[-9.73204235e-01 2.29903086e-01 4.25290656e-03 6.11149574e+01] [ 2.29901225e-01 9.73213525e-01 -9.28172113e-04 -4.01938305e+01] [-4.35237582e-03 7.44473956e-05 -9.99990526e-01 6.72137845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.12, Y:-40.17, Z:6.72 [[-9.87042157e-01 1.60407627e-01 4.14410074e-03 6.11249067e+01] [ 1.60406519e-01 9.87050854e-01 -6.00365345e-04 -4.01656937e+01] [-4.18674136e-03 7.21548709e-05 -9.99991233e-01 6.71911365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.13, Y:-40.14, Z:6.72 [[-9.95864242e-01 9.07470543e-02 4.40273710e-03 6.11296970e+01] [ 9.07465203e-02 9.95873971e-01 -3.21294738e-04 -4.01366647e+01] [-4.41372783e-03 7.95671313e-05 -9.99990256e-01 6.71924901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.13, Y:-40.11, Z:6.72 [[-9.99776869e-01 2.07020584e-02 4.19954969e-03 6.11319994e+01] [ 2.07022102e-02 9.99785686e-01 -7.32782426e-06 -4.01079259e+01] [-4.19880137e-03 7.96137712e-05 -9.99991182e-01 6.71957759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.13, Y:-40.08, Z:6.72 [[-9.98833528e-01 -4.80649655e-02 4.61981624e-03 6.11264718e+01] [-4.80639919e-02 9.98844207e-01 3.21598506e-04 -4.00799597e+01] [-4.62993431e-03 9.91765597e-05 -9.99989277e-01 6.72002549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.12, Y:-40.05, Z:6.72 [[-9.92954084e-01 -1.18395206e-01 4.97610665e-03 6.11170599e+01] [-1.18393153e-01 9.92966547e-01 7.06167988e-04 -4.00518881e+01] [-5.02471434e-03 1.12055433e-04 -9.99987370e-01 6.72079227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.99, Y:-39.27, Z:5.76 [[-9.95269960e-01 9.69970949e-02 5.41024935e-03 6.09908262e+01] [-9.69961789e-02 -9.95284660e-01 4.32050365e-04 -3.92717738e+01] [ 5.42664581e-03 -9.47667643e-05 9.99985271e-01 5.75637803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.98, Y:-40.07, Z:6.72 [[-9.92308821e-01 -1.23662688e-01 5.54463134e-03 6.09788850e+01] [-1.23660004e-01 9.92324303e-01 8.25668859e-04 -4.00722555e+01] [-5.60417686e-03 1.33669360e-04 -9.99984288e-01 6.72134371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.95, Y:-40.05, Z:6.72 [[-9.80813994e-01 -1.94893424e-01 4.52366486e-03 6.09526651e+01] [-1.94890834e-01 9.80824419e-01 1.01070704e-03 -4.00474941e+01] [-4.63390112e-03 1.09694791e-04 -9.99989257e-01 6.72088498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.90, Y:-40.03, Z:6.72 [[-9.63953847e-01 -2.66044263e-01 3.66468509e-03 6.09035883e+01] [-2.66041988e-01 9.63960809e-01 1.10406619e-03 -4.00291077e+01] [-3.82634329e-03 8.93087499e-05 -9.99992676e-01 6.72029294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.360385723 meters Centerline goodness [0,1] 0.9999332665999333 Centerline is valid? [True, True] Translation: X:60.84, Y:-40.02, Z:6.72 [[-9.41736141e-01 -3.36330292e-01 3.86976352e-03 6.08396480e+01] [-3.36327030e-01 9.41744087e-01 1.48441491e-03 -4.00176360e+01] [-4.14358061e-03 9.64211012e-05 -9.99991411e-01 6.72190193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.76, Y:-40.02, Z:6.72 [[-9.13340933e-01 -4.07180742e-01 3.49039735e-03 6.07639062e+01] [-4.07177428e-01 9.13347599e-01 1.64486018e-03 -4.00164189e+01] [-3.85770143e-03 8.11071195e-05 -9.99992556e-01 6.72023405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.69, Y:-40.03, Z:6.72 [[-8.80130947e-01 -4.74718876e-01 3.39176688e-03 6.06861376e+01] [-4.74714999e-01 8.80137479e-01 1.92025799e-03 -4.00259649e+01] [-3.89680387e-03 7.99558698e-05 -9.99992404e-01 6.72039492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.59, Y:-40.05, Z:6.72 [[-8.41456080e-01 -5.40315608e-01 3.27247523e-03 6.05871915e+01] [-5.40311170e-01 8.41462440e-01 2.19128623e-03 -4.00490237e+01] [-3.93765114e-03 7.57162002e-05 -9.99992245e-01 6.71916141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.51, Y:-40.07, Z:6.72 [[-7.98438949e-01 -6.02068924e-01 2.87324218e-03 6.05070263e+01] [-6.02064702e-01 7.98444115e-01 2.25602920e-03 -4.00701695e+01] [-3.65240838e-03 7.14238881e-05 -9.99993327e-01 6.71865943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.41, Y:-40.11, Z:6.72 [[-7.51925576e-01 -6.59243924e-01 2.31892164e-03 6.04126536e+01] [-6.59240508e-01 7.51929149e-01 2.12330628e-03 -4.01111279e+01] [-3.14344154e-03 6.78412184e-05 -9.99995057e-01 6.71781365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.32, Y:-40.16, Z:6.72 [[-7.00565289e-01 -7.13585807e-01 1.88993758e-03 6.03209449e+01] [-7.13582964e-01 7.00567836e-01 2.01525329e-03 -4.01612786e+01] [-2.76208562e-03 6.31892420e-05 -9.99996184e-01 6.71795224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.23, Y:-40.22, Z:6.72 [[-6.45331613e-01 -7.63900665e-01 1.69840176e-03 6.02280643e+01] [-7.63897745e-01 6.45333844e-01 2.11317659e-03 -4.02225987e+01] [-2.71029313e-03 6.62943846e-05 -9.99996325e-01 6.71800090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.14, Y:-40.30, Z:6.72 [[-5.88127336e-01 -8.08766389e-01 1.77881535e-03 6.01365661e+01] [-8.08762223e-01 5.88130020e-01 2.59746855e-03 -4.02986295e+01] [-3.14691997e-03 8.90036013e-05 -9.99995045e-01 6.71721490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.05, Y:-40.39, Z:6.72 [[-5.28407593e-01 -8.48989037e-01 1.74095699e-03 6.00499349e+01] [-8.48983694e-01 5.28410448e-01 3.01424354e-03 -4.03854155e+01] [-3.47899958e-03 1.14705075e-04 -9.99993942e-01 6.71767487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.660385723 meters Centerline goodness [0,1] 0.9999112412905516 Centerline is valid? [True, True] Translation: X:59.97, Y:-40.47, Z:6.72 [[-4.64232085e-01 -8.85712248e-01 1.54404256e-03 5.99745046e+01] [-8.85706394e-01 4.64234635e-01 3.22299083e-03 -4.04665111e+01] [-3.57144049e-03 1.28647383e-04 -9.99993614e-01 6.71985449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.90, Y:-40.57, Z:6.72 [[-3.96248276e-01 -9.18142847e-01 1.00806919e-03 5.98964554e+01] [-9.18139172e-01 3.96249544e-01 2.59996366e-03 -4.05655255e+01] [-2.78658500e-03 1.04683303e-04 -9.99996112e-01 6.71737014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.83, Y:-40.66, Z:6.72 [[-3.27211740e-01 -9.44950626e-01 8.90318817e-04 5.98325664e+01] [-9.44946018e-01 3.27212927e-01 2.95369203e-03 -4.06649379e+01] [-3.08241695e-03 1.25179487e-04 -9.99995242e-01 6.71730888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.77, Y:-40.78, Z:6.72 [[-2.54486924e-01 -9.67075901e-01 7.79177147e-04 5.97723208e+01] [-9.67069371e-01 2.54488072e-01 3.55715787e-03 -4.07806450e+01] [-3.63833294e-03 1.51731813e-04 -9.99993370e-01 6.71747634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.72, Y:-40.89, Z:6.72 [[-1.80114925e-01 -9.83645455e-01 4.82308304e-04 5.97184567e+01] [-9.83639376e-01 1.80115509e-01 3.46157697e-03 -4.08918290e+01] [-3.49183566e-03 1.49064237e-04 -9.99993892e-01 6.71743903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.67, Y:-41.01, Z:6.72 [[-1.03611591e-01 -9.94617819e-01 1.82424696e-04 5.96701729e+01] [-9.94613388e-01 1.03611674e-01 2.97159217e-03 -4.10134009e+01] [-2.97449985e-03 1.26449348e-04 -9.99995568e-01 6.71677231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.64, Y:-41.14, Z:6.72 [[-2.63115145e-02 -9.99653791e-01 -5.54391989e-05 5.96357922e+01] [-9.99647728e-01 2.63111617e-02 3.48475618e-03 -4.11389618e+01] [-3.48209106e-03 1.47108882e-04 -9.99993927e-01 6.71659330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.61, Y:-41.27, Z:6.72 [[ 5.08755500e-02 -9.98704955e-01 -3.03902178e-04 5.96105939e+01] [-9.98699650e-01 -5.08762711e-02 3.25786706e-03 -4.12672729e+01] [-3.26910938e-03 1.37761221e-04 -9.99994647e-01 6.71705300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.60, Y:-41.39, Z:6.72 [[ 1.28659351e-01 -9.91688756e-01 -4.26829494e-04 5.95963314e+01] [-9.91685644e-01 -1.28660017e-01 2.48683960e-03 -4.13933478e+01] [-2.52108676e-03 1.03325514e-04 -9.99996817e-01 6.71747050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.59, Y:-41.52, Z:6.72 [[ 2.05288502e-01 -9.78701286e-01 -6.51613128e-04 5.95850412e+01] [-9.78697877e-01 -2.05289509e-01 2.58534312e-03 -4.15210130e+01] [-2.66404798e-03 1.06991167e-04 -9.99996446e-01 6.71703878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.58, Y:-41.65, Z:6.72 [[ 2.82103782e-01 -9.59383551e-01 -8.11404652e-04 5.95836959e+01] [-9.59380510e-01 -2.82104932e-01 2.41763455e-03 -4.16497857e+01] [-2.54834008e-03 9.64219574e-05 -9.99996748e-01 6.71605876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.60, Y:-41.77, Z:6.72 [[ 3.56082808e-01 -9.34453514e-01 -1.29022180e-03 5.95975516e+01] [-9.34448558e-01 -3.56085125e-01 3.04561520e-03 -4.17748630e+01] [-3.30541461e-03 1.21154686e-04 -9.99994530e-01 6.71590306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.020385723 meters Centerline goodness [0,1] 0.9999782660668101 Centerline is valid? [True, True] Translation: X:59.62, Y:-41.90, Z:6.72 [[ 4.28898860e-01 -9.03350218e-01 -2.03779895e-03 5.96177242e+01] [-9.03341647e-01 -4.28903674e-01 3.93796615e-03 -4.18998005e+01] [-4.43138204e-03 1.51839470e-04 -9.99990170e-01 6.71713119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.64, Y:-42.02, Z:6.72 [[ 4.97755927e-01 -8.67312674e-01 -2.78620263e-03 5.96445729e+01] [-8.67301004e-01 -4.97763694e-01 4.50254502e-03 -4.20183825e+01] [-5.29198487e-03 1.75307869e-04 -9.99985982e-01 6.71730180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.68, Y:-42.13, Z:6.72 [[ 5.63865550e-01 -8.25858262e-01 -3.71106522e-03 5.96802666e+01] [-8.25842638e-01 -5.63877728e-01 5.08393291e-03 -4.21339109e+01] [-6.29119502e-03 1.98101256e-04 -9.99980191e-01 6.71842320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.73, Y:-42.24, Z:6.72 [[ 6.25497662e-01 -7.80215253e-01 -4.10292099e-03 5.97264988e+01] [-7.80200486e-01 -6.25511087e-01 4.80428066e-03 -4.22388959e+01] [-6.31479562e-03 1.96034632e-04 -9.99980042e-01 6.71890149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.77, Y:-42.34, Z:6.72 [[ 6.82881741e-01 -7.30517597e-01 -4.07053279e-03 5.97748836e+01] [-7.30506160e-01 -6.82893849e-01 4.09164567e-03 -4.23448921e+01] [-5.76876096e-03 1.79439154e-04 -9.99983345e-01 6.71735191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.83, Y:-42.44, Z:6.72 [[ 7.36095005e-01 -6.76863485e-01 -4.46848513e-03 5.98268007e+01] [-6.76852515e-01 -7.36108544e-01 3.85791238e-03 -4.24365830e+01] [-5.90057010e-03 1.84715369e-04 -9.99982575e-01 6.71740149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.82, Y:-42.45, Z:6.72 [[ 7.86880569e-01 -6.17083913e-01 -5.13956912e-03 5.98221313e+01] [-6.17072377e-01 -7.86897328e-01 3.77844421e-03 -4.24492582e+01] [-6.37593035e-03 1.98301808e-04 -9.99979654e-01 6.71727998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.82, Y:-42.46, Z:6.72 [[ 8.33070009e-01 -5.53139921e-01 -5.53064237e-03 5.98171556e+01] [-5.53129295e-01 -8.33088344e-01 3.43434901e-03 -4.24639219e+01] [-6.50718923e-03 1.98107152e-04 -9.99978808e-01 6.71775587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.81, Y:-42.48, Z:6.72 [[ 8.73942844e-01 -4.85995072e-01 -5.71799572e-03 5.98148280e+01] [-4.85986106e-01 -8.73961528e-01 2.95838610e-03 -4.24777102e+01] [-6.43506934e-03 1.93406107e-04 -9.99979276e-01 6.71732528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.81, Y:-42.50, Z:6.72 [[ 9.09726252e-01 -4.15173259e-01 -5.41398385e-03 5.98107142e+01] [-4.15167011e-01 -9.09742346e-01 2.28393258e-03 -4.24998224e+01] [-5.87355810e-03 1.69954070e-04 -9.99982736e-01 6.71622236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.81, Y:-42.51, Z:6.72 [[ 9.39657352e-01 -3.42078549e-01 -5.13101477e-03 5.98101385e+01] [-3.42074329e-01 -9.39671349e-01 1.70587251e-03 -4.25145545e+01] [-5.40500996e-03 1.52252792e-04 -9.99985381e-01 6.71667613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.81, Y:-42.54, Z:6.72 [[ 9.63644320e-01 -2.67143776e-01 -4.88140336e-03 5.98088419e+01] [-2.67141078e-01 -9.63656673e-01 1.20858939e-03 -4.25397637e+01] [-5.02686406e-03 1.39373059e-04 -9.99987356e-01 6.71617423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.81, Y:-42.56, Z:6.72 [[ 9.81584951e-01 -1.90961708e-01 -4.96094407e-03 5.98108602e+01] [-1.90959985e-01 -9.81597477e-01 8.23125381e-04 -4.25563230e+01] [-5.02683561e-03 1.39374318e-04 -9.99987356e-01 6.71617394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.81, Y:-42.57, Z:6.72 [[ 9.93490481e-01 -1.13767593e-01 -5.79646784e-03 5.98100304e+01] [-1.13766612e-01 -9.93507377e-01 4.99797169e-04 -4.25714892e+01] [-5.81569428e-03 1.62900775e-04 -9.99983076e-01 6.71703571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.81, Y:-42.59, Z:6.72 [[ 9.99332136e-01 -3.59972791e-02 -6.28311774e-03 5.98114443e+01] [-3.59976877e-02 -9.99351872e-01 4.80883680e-05 -4.25909070e+01] [-6.28077652e-03 1.78121459e-04 -9.99980260e-01 6.71712798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.81, Y:-42.61, Z:6.72 [[ 9.99119984e-01 4.14975580e-02 -6.09999251e-03 5.98140335e+01] [ 4.14956917e-02 -9.99138589e-01 -4.32244634e-04 -4.26094870e+01] [-6.11267501e-03 1.78740844e-04 -9.99981302e-01 6.71740256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.82, Y:-42.62, Z:6.72 [[ 9.92837929e-01 1.19320858e-01 -5.94799471e-03 5.98197341e+01] [ 1.19317646e-01 -9.92855730e-01 -8.93265296e-04 -4.26247910e+01] [-6.01208582e-03 1.77166937e-04 -9.99981912e-01 6.71751290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.83, Y:-42.64, Z:6.72 [[ 9.80377840e-01 1.97040362e-01 -5.86408070e-03 5.98255722e+01] [ 1.97035766e-01 -9.80395362e-01 -1.35714889e-03 -4.26402985e+01] [-6.01653062e-03 1.75085063e-04 -9.99981885e-01 6.71727370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.83, Y:-42.65, Z:6.72 [[ 9.61925066e-01 2.73252483e-01 -5.76617098e-03 5.98337117e+01] [ 2.73246476e-01 -9.61942332e-01 -1.82040871e-03 -4.26537242e+01] [-6.04415515e-03 1.75510867e-04 -9.99981719e-01 6.71711604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5903857229999 meters Centerline goodness [0,1] 0.9999370448869955 Centerline is valid? [True, True] Translation: X:59.84, Y:-42.67, Z:6.72 [[ 9.37406828e-01 3.48175908e-01 -6.47892158e-03 5.98420722e+01] [ 3.48166115e-01 -9.37429196e-01 -2.61904455e-03 -4.26668979e+01] [-6.98541846e-03 1.99369288e-04 -9.99975582e-01 6.71970813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.85, Y:-42.68, Z:6.72 [[ 9.06765630e-01 4.21601277e-01 -5.33445477e-03 5.98504197e+01] [ 4.21592918e-01 -9.06781306e-01 -2.65987965e-03 -4.26768096e+01] [-5.95859252e-03 1.62919091e-04 -9.99982234e-01 6.71807415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.650385723 meters Centerline goodness [0,1] 0.9999791462473672 Centerline is valid? [True, True] Translation: X:59.86, Y:-42.69, Z:6.72 [[ 8.69942722e-01 4.93134338e-01 -4.26444304e-03 5.98596599e+01] [ 4.93127702e-01 -8.69953165e-01 -2.56135780e-03 -4.26867481e+01] [-4.97295920e-03 1.25319581e-04 -9.99987627e-01 6.71765894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.87, Y:-42.69, Z:6.72 [[ 8.27773424e-01 5.61051725e-01 -3.48146410e-03 5.98708995e+01] [ 5.61046247e-01 -8.27780739e-01 -2.48115896e-03 -4.26948720e+01] [-4.27394744e-03 1.00575080e-04 -9.99990862e-01 6.71671803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.89, Y:-42.71, Z:6.72 [[ 7.79191886e-01 6.26778185e-01 -3.01852375e-03 5.98862453e+01] [ 6.26773086e-01 -7.79197729e-01 -2.52963288e-03 -4.27065678e+01] [-3.93754555e-03 7.91399689e-05 -9.99992245e-01 6.71635513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.90, Y:-42.72, Z:6.72 [[ 7.26161738e-01 6.87518641e-01 -2.69252570e-03 5.99013652e+01] [ 6.87513569e-01 -7.26166726e-01 -2.64167918e-03 -4.27154884e+01] [-3.77142625e-03 6.71383930e-05 -9.99992886e-01 6.71609797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.92, Y:-42.72, Z:6.72 [[ 6.67383699e-01 7.44708750e-01 -2.80650205e-03 5.99169372e+01] [ 7.44701780e-01 -6.67389597e-01 -3.22244595e-03 -4.27232711e+01] [-4.27281397e-03 6.06008292e-05 -9.99990870e-01 6.71638513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.93, Y:-42.73, Z:6.72 [[ 6.05778749e-01 7.95628804e-01 -2.62928651e-03 5.99332065e+01] [ 7.95620907e-01 -6.05784453e-01 -3.54541565e-03 -4.27287894e+01] [-4.41361570e-03 5.58221427e-05 -9.99990258e-01 6.71671339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.95, Y:-42.73, Z:6.72 [[ 5.40785244e-01 8.41157459e-01 -2.33415675e-03 5.99471489e+01] [ 8.41149213e-01 -5.40790279e-01 -3.72504676e-03 -4.27330223e+01] [-4.39564015e-03 5.10762047e-05 -9.99990338e-01 6.71691641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.860385723 meters Centerline goodness [0,1] 0.9999369496227486 Centerline is valid? [True, True] Translation: X:59.96, Y:-42.74, Z:6.72 [[ 4.72579847e-01 8.81283959e-01 -2.62158448e-03 5.99645978e+01] [ 8.81269668e-01 -4.72587114e-01 -5.01916469e-03 -4.27362872e+01] [-5.66223637e-03 6.16331956e-05 -9.99983968e-01 6.71834345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.98, Y:-42.74, Z:6.72 [[ 4.02006564e-01 9.15634002e-01 -2.25758458e-03 5.99786890e+01] [ 9.15618686e-01 -4.02012899e-01 -5.29633386e-03 -4.27376603e+01] [-5.75708149e-03 6.20743487e-05 -9.99983426e-01 6.71748479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.99, Y:-42.74, Z:6.72 [[ 3.30757375e-01 9.43712982e-01 -2.31645922e-03 5.99895197e+01] [ 9.43687867e-01 -3.30765474e-01 -6.88557638e-03 -4.27360326e+01] [-7.26421255e-03 9.14407107e-05 -9.99973611e-01 6.71858978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.00, Y:-42.73, Z:6.72 [[ 2.57486092e-01 9.66279971e-01 -1.98247436e-03 6.00017020e+01] [ 9.66247757e-01 -2.57493698e-01 -7.89103605e-03 -4.27339427e+01] [-8.13542474e-03 1.16270637e-04 -9.99966900e-01 6.71886017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.980385723 meters Centerline goodness [0,1] 0.9999372306147215 Centerline is valid? [True, True] Translation: X:60.01, Y:-42.73, Z:6.72 [[ 1.85033534e-01 9.82730689e-01 -1.72777144e-03 6.00099686e+01] [ 9.82677713e-01 -1.85041502e-01 -1.02056190e-02 -4.27315134e+01] [-1.03490845e-02 1.90539272e-04 -9.99946429e-01 6.72126253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.010385723 meters Centerline goodness [0,1] 0.9999790606612643 Centerline is valid? [True, True] Translation: X:60.02, Y:-42.73, Z:6.72 [[ 1.08895910e-01 9.94052715e-01 -9.38898878e-04 6.00232946e+01] [ 9.93997469e-01 -1.08899759e-01 -1.04821321e-02 -4.27284625e+01] [-1.05220377e-02 2.08198204e-04 -9.99944620e-01 6.72035940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.03, Y:-42.73, Z:6.72 [[ 3.37509251e-02 9.99430269e-01 -1.09065732e-04 6.00324661e+01] [ 9.99380482e-01 -3.37503327e-02 -9.97830340e-03 -4.27254427e+01] [-9.97629946e-03 2.27778806e-04 -9.99950210e-01 6.71947318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.04, Y:-42.72, Z:6.72 [[-4.33662270e-02 9.99059031e-01 6.49880633e-04 6.00441147e+01] [ 9.99012763e-01 4.33704749e-02 -9.61772137e-03 -4.27205134e+01] [-9.63685702e-03 2.32154760e-04 -9.99953538e-01 6.71885597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.05, Y:-42.72, Z:6.72 [[-1.20581870e-01 9.92702476e-01 1.34437879e-03 6.00548660e+01] [ 9.92660307e-01 1.20589144e-01 -9.15283511e-03 -4.27151672e+01] [-9.24815956e-03 2.30845483e-04 -9.99957208e-01 6.71832545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.06, Y:-42.71, Z:6.72 [[-1.97278051e-01 9.80345764e-01 1.88529426e-03 6.00636783e+01] [ 9.80310931e-01 1.97286940e-01 -8.26693080e-03 -4.27095190e+01] [-8.47639453e-03 2.17290568e-04 -9.99964051e-01 6.71741465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.07, Y:-42.70, Z:6.72 [[-2.73954821e-01 9.61739241e-01 2.52752737e-03 6.00733003e+01] [ 9.61705182e-01 2.73966398e-01 -8.09669495e-03 -4.27030688e+01] [-8.47936683e-03 2.12607545e-04 -9.99964027e-01 6.71740911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.09, Y:-42.69, Z:6.72 [[-3.50422497e-01 9.36586648e-01 3.08613407e-03 6.00859153e+01] [ 9.36554976e-01 3.50436035e-01 -7.70475448e-03 -4.26948528e+01] [-8.29766276e-03 1.90414913e-04 -9.99965556e-01 6.71664647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2203857229999 meters Centerline goodness [0,1] 0.9998951672083027 Centerline is valid? [True, True] Translation: X:60.10, Y:-42.69, Z:6.72 [[-4.23781325e-01 9.05754823e-01 4.19391937e-03 6.00960846e+01] [ 9.05715163e-01 4.23802027e-01 -8.47853217e-03 -4.26876095e+01] [-9.45686294e-03 2.05452768e-04 -9.99955262e-01 6.71963951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.11, Y:-42.68, Z:6.72 [[-4.95366555e-01 8.68673245e-01 4.33235482e-03 6.01081065e+01] [ 8.68642885e-01 4.95385472e-01 -7.26442258e-03 -4.26769173e+01] [-8.45659518e-03 1.64717207e-04 -9.99964229e-01 6.71705090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.12, Y:-42.67, Z:6.72 [[-5.65346808e-01 8.24840580e-01 4.58303147e-03 6.01163529e+01] [ 8.24815198e-01 5.65365371e-01 -6.47193933e-03 -4.26688636e+01] [-7.92940548e-03 1.21263768e-04 -9.99968555e-01 6.71655233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.12, Y:-42.66, Z:6.72 [[-6.30793932e-01 7.75935633e-01 4.78634107e-03 6.01237287e+01] [ 7.75914362e-01 6.30812085e-01 -5.74600572e-03 -4.26588369e+01] [-7.47781237e-03 8.92452413e-05 -9.99972037e-01 6.71584211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3403857229999 meters Centerline goodness [0,1] 0.9999371174645761 Centerline is valid? [True, True] Translation: X:60.13, Y:-42.65, Z:6.72 [[-6.90116392e-01 7.23674560e-01 5.87339711e-03 6.01303090e+01] [ 7.23649514e-01 6.90141378e-01 -6.02155944e-03 -4.26505262e+01] [-8.41112376e-03 9.47040845e-05 -9.99964621e-01 6.71773973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.14, Y:-42.64, Z:6.72 [[-7.45012665e-01 6.67024672e-01 5.84950413e-03 6.01357916e+01] [ 6.67004990e-01 7.45035623e-01 -5.12477280e-03 -4.26406112e+01] [-7.77643886e-03 8.36278071e-05 -9.99969760e-01 6.71596915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.14, Y:-42.62, Z:6.72 [[-7.90084490e-01 6.12962765e-01 6.56867281e-03 6.01448765e+01] [ 6.12942554e-01 7.90111790e-01 -4.97846466e-03 -4.26188085e+01] [-8.24159929e-03 9.28113749e-05 -9.99966033e-01 6.71607911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.16, Y:-42.60, Z:6.72 [[-8.30894698e-01 5.56381803e-01 7.29994992e-03 6.01590409e+01] [ 5.56361468e-01 8.30926758e-01 -4.75804904e-03 -4.25968035e+01] [-8.71301562e-03 1.07973134e-04 -9.99962035e-01 6.71637010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.17, Y:-42.58, Z:6.72 [[-8.67137539e-01 4.98009771e-01 7.66532276e-03 6.01696140e+01] [ 4.97991615e-01 8.67171408e-01 -4.25442532e-03 -4.25772755e+01] [-8.76589411e-03 1.28094555e-04 -9.99961571e-01 6.71668911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.18, Y:-42.55, Z:6.72 [[-8.99674262e-01 4.36492238e-01 7.79421509e-03 6.01800095e+01] [ 4.36477173e-01 8.99708013e-01 -3.62898103e-03 -4.25539774e+01] [-8.59653982e-03 1.37096141e-04 -9.99963040e-01 6.71672659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.19, Y:-42.53, Z:6.72 [[-9.27134539e-01 3.74632841e-01 8.47237030e-03 6.01863007e+01] [ 3.74618910e-01 9.27173233e-01 -3.23554884e-03 -4.25330557e+01] [-9.06749782e-03 1.74121039e-04 -9.99958874e-01 6.71653058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.19, Y:-42.51, Z:6.72 [[-9.50906413e-01 3.09355961e-01 8.71112230e-03 6.01916042e+01] [ 3.09344791e-01 9.50946294e-01 -2.63566592e-03 -4.25075566e+01] [-9.09916843e-03 1.88468686e-04 -9.99958584e-01 6.71650512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.20, Y:-42.48, Z:6.72 [[-9.69977783e-01 2.43017655e-01 9.24765763e-03 6.01956231e+01] [ 2.43008719e-01 9.70021842e-01 -2.09507802e-03 -4.24832569e+01] [-9.47957083e-03 2.15082310e-04 -9.99955045e-01 6.71573645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.19, Y:-42.46, Z:6.72 [[-9.84605996e-01 1.74526475e-01 9.56782090e-03 6.01928809e+01] [ 1.74520494e-01 9.84652455e-01 -1.46297055e-03 -4.24568602e+01] [-9.67630543e-03 2.29331251e-04 -9.99953157e-01 6.71673593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.30, Y:-41.80, Z:5.76 [[-9.81282670e-01 -1.92316147e-01 9.94092321e-03 6.03010666e+01] [ 1.92304109e-01 -9.81332999e-01 -2.16205232e-03 -4.17967598e+01] [ 1.01711536e-02 -2.09904093e-04 9.99948251e-01 5.76099374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.14, Y:-42.46, Z:6.72 [[-9.84830035e-01 1.73232579e-01 1.00138242e-02 6.01377762e+01] [ 1.73226392e-01 9.84880907e-01 -1.48859114e-03 -4.24573594e+01] [-1.01202968e-02 2.68649376e-04 -9.99948752e-01 6.71792929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.700385723 meters Centerline goodness [0,1] 0.9999568146484712 Centerline is valid? [True, True] Translation: X:60.14, Y:-42.43, Z:6.72 [[-9.94532786e-01 1.03882117e-01 1.06322002e-02 6.01363653e+01] [ 1.03879344e-01 9.94589573e-01 -8.14268414e-04 -4.24289291e+01] [-1.06592634e-02 2.94649350e-04 -9.99943145e-01 6.71753431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.19, Y:-41.74, Z:5.76 [[-9.93543794e-01 -1.12894160e-01 1.12088194e-02 6.01902482e+01] [ 1.12883884e-01 -9.93606982e-01 -1.54720221e-03 -4.17418499e+01] [ 1.13118313e-02 -2.71918090e-04 9.99935982e-01 5.76004657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.07, Y:-42.43, Z:6.72 [[-9.94568595e-01 1.03436417e-01 1.15852056e-02 6.00674169e+01] [ 1.03433738e-01 9.94635999e-01 -8.31800086e-04 -4.24304248e+01] [-1.16091010e-02 3.71018875e-04 -9.99932543e-01 6.71749404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.12, Y:-41.73, Z:5.76 [[-9.94522145e-01 -1.03936083e-01 1.10902329e-02 6.01188680e+01] [ 1.03925310e-01 -9.94583905e-01 -1.54486617e-03 -4.17301587e+01] [ 1.11907345e-02 -3.83847721e-04 9.99937308e-01 5.76039854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.99, Y:-42.43, Z:6.72 [[-9.94636219e-01 1.02865418e-01 1.08396136e-02 5.99934409e+01] [ 1.02863597e-01 9.94695206e-01 -7.26842264e-04 -4.24298702e+01] [-1.08568786e-02 3.92058000e-04 -9.99940986e-01 6.71652977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.99, Y:-42.41, Z:6.72 [[-9.99389058e-01 3.32000329e-02 1.09210436e-02 5.99924665e+01] [ 3.32025237e-02 9.99448643e-01 4.67951417e-05 -4.24094066e+01] [-1.09134686e-02 4.09372760e-04 -9.99940363e-01 6.71824616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.99, Y:-41.69, Z:5.76 [[-9.99613486e-01 -2.53340151e-02 1.14483861e-02 5.99923326e+01] [ 2.53278426e-02 -9.99678965e-01 -6.83849819e-04 -4.16869436e+01] [ 1.14620354e-02 -3.93622581e-04 9.99934231e-01 5.75993059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.90, Y:-42.41, Z:6.72 [[-9.99584659e-01 2.62559888e-02 1.18799337e-02 5.98962363e+01] [ 2.62592415e-02 9.99655160e-01 1.17862583e-04 -4.24051868e+01] [-1.18727424e-02 4.29771676e-04 -9.99929424e-01 6.71708244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.89, Y:-42.38, Z:6.72 [[-9.98861673e-01 -4.62242475e-02 1.17761513e-02 5.98908001e+01] [-4.62161482e-02 9.98931003e-01 9.59123043e-04 -4.23771613e+01] [-1.18078974e-02 4.13782894e-04 -9.99930199e-01 6.71670741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9703857229999 meters Centerline goodness [0,1] 0.9999564507348938 Centerline is valid? [True, True] Translation: X:59.87, Y:-42.35, Z:6.72 [[-9.92823717e-01 -1.19073743e-01 1.10684885e-02 5.98707959e+01] [-1.19062135e-01 9.92885343e-01 1.70416421e-03 -4.23498205e+01] [-1.11926613e-02 3.74096767e-04 -9.99937290e-01 6.71608165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.84, Y:-42.32, Z:6.71 [[-9.80683201e-01 -1.95323867e-01 1.04425692e-02 5.98443704e+01] [-1.95309507e-01 9.80738750e-01 2.38759980e-03 -4.23245849e+01] [-1.07077875e-02 3.01945974e-04 -9.99942624e-01 6.71483198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.80, Y:-42.31, Z:6.71 [[-9.63170472e-01 -2.68696347e-01 1.02427813e-02 5.97963165e+01] [-2.68678127e-01 9.63224895e-01 3.14090182e-03 -4.23064844e+01] [-1.07100508e-02 2.73212586e-04 -9.99942609e-01 6.71450290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.73, Y:-42.30, Z:6.71 [[-9.38717537e-01 -3.44540952e-01 1.00457764e-02 5.97283518e+01] [-3.44518839e-01 9.38771266e-01 3.90908119e-03 -4.22982183e+01] [-1.07775247e-02 2.08563861e-04 -9.99941899e-01 6.71336607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.65, Y:-42.30, Z:6.71 [[-9.09353414e-01 -4.15920225e-01 9.31319298e-03 5.96537004e+01] [-4.15896548e-01 9.09401088e-01 4.44094559e-03 -4.22973685e+01] [-1.03165069e-02 1.65064219e-04 -9.99946770e-01 6.71351389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.57, Y:-42.30, Z:6.71 [[-8.72774128e-01 -4.88053169e-01 8.33224345e-03 5.95733730e+01] [-4.88029948e-01 8.72813896e-01 4.76168265e-03 -4.23047445e+01] [-9.59645217e-03 8.94890840e-05 -9.99953949e-01 6.71337551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.150385723 meters Centerline goodness [0,1] 0.9999562946613929 Centerline is valid? [True, True] Translation: X:59.49, Y:-42.32, Z:6.71 [[-8.32322030e-01 -5.54237032e-01 7.83269846e-03 5.94858269e+01] [-5.54211802e-01 8.32358882e-01 5.28869693e-03 -4.23244649e+01] [-9.45080782e-03 6.09250421e-05 -9.99955338e-01 6.71298985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.40, Y:-42.35, Z:6.71 [[-7.86651345e-01 -6.17350474e-01 7.61928422e-03 5.93989010e+01] [-6.17321072e-01 7.86688242e-01 6.02526683e-03 -4.23525416e+01] [-9.71370264e-03 3.62395492e-05 -9.99952820e-01 6.71351302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.31, Y:-42.39, Z:6.71 [[-7.35061551e-01 -6.77952470e-01 8.06003343e-03 5.93074685e+01] [-6.77911779e-01 7.35105740e-01 7.42780848e-03 -4.23933752e+01] [-1.09606779e-02 -4.09517372e-06 -9.99939930e-01 6.71436493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.22, Y:-42.45, Z:6.72 [[-6.79627000e-01 -7.33513462e-01 8.07110809e-03 5.92156736e+01] [-7.33462392e-01 6.79674923e-01 8.65556937e-03 -4.24474395e+01] [-1.18347064e-02 -3.72956046e-05 -9.99929967e-01 6.71584727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.13, Y:-42.51, Z:6.72 [[-6.21954296e-01 -7.83018670e-01 7.39033443e-03 5.91259108e+01] [-7.82964109e-01 6.21998200e-01 9.24355608e-03 -4.25070278e+01] [-1.18346517e-02 -3.72972004e-05 -9.99929967e-01 6.71584474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.04, Y:-42.58, Z:6.72 [[-5.59468072e-01 -8.28826774e-01 6.45406737e-03 5.90399470e+01] [-8.28772673e-01 5.59505296e-01 9.46998582e-03 -4.25781600e+01] [-1.14600627e-02 -5.07999511e-05 -9.99934330e-01 6.71552340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.95, Y:-42.66, Z:6.71 [[-4.93821419e-01 -8.69546952e-01 5.33900583e-03 5.89543378e+01] [-8.69497391e-01 4.93850276e-01 9.28397942e-03 -4.26648917e+01] [-1.07095255e-02 -5.76237452e-05 -9.99942650e-01 6.71491043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.88, Y:-42.75, Z:6.71 [[-4.24709338e-01 -9.05320161e-01 4.16953604e-03 5.88849145e+01] [-9.05277990e-01 4.24729800e-01 8.73827571e-03 -4.27460245e+01] [-9.68186338e-03 -6.33619152e-05 -9.99953128e-01 6.71360843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.82, Y:-42.85, Z:6.71 [[-3.53993999e-01 -9.35239140e-01 4.00000522e-03 5.88162718e+01] [-9.35181735e-01 3.54016591e-01 1.03622636e-02 -4.28464265e+01] [-1.11072627e-02 -7.25526887e-05 -9.99938310e-01 6.71482026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.420385723 meters Centerline goodness [0,1] 0.9998668176067124 Centerline is valid? [True, True] Translation: X:58.76, Y:-42.95, Z:6.72 [[-2.81028476e-01 -9.59693519e-01 3.36826065e-03 5.87551212e+01] [-9.59627824e-01 2.81048650e-01 1.12292648e-02 -4.29457081e+01] [-1.17232977e-02 -7.65334742e-05 -9.99931277e-01 6.71567062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.70, Y:-43.06, Z:6.72 [[-2.06498057e-01 -9.78443410e-01 2.65439874e-03 5.87031278e+01] [-9.78367425e-01 2.06515102e-01 1.21940544e-02 -4.30587171e+01] [-1.24793656e-02 -7.89287274e-05 -9.99922127e-01 6.71684759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.66, Y:-43.17, Z:6.72 [[-1.30584713e-01 -9.91435546e-01 1.78634981e-03 5.86574608e+01] [-9.91351067e-01 1.30596905e-01 1.29425476e-02 -4.31740028e+01] [-1.30649935e-02 -8.08009283e-05 -9.99914646e-01 6.71690694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.62, Y:-43.29, Z:6.72 [[-5.39559446e-02 -9.98542964e-01 8.39918108e-04 5.86205918e+01] [-9.98444916e-01 5.39624169e-02 1.39930856e-02 -4.32945610e+01] [-1.40180212e-02 -8.36018128e-05 -9.99901739e-01 6.71716391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.59, Y:-43.42, Z:6.72 [[ 2.56881918e-02 -9.99669970e-01 -2.61890277e-04 5.85907146e+01] [-9.99555230e-01 -2.56892113e-02 1.51461618e-02 -4.34210594e+01] [-1.51478908e-02 -1.27303712e-04 -9.99885256e-01 6.71776767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.57, Y:-43.55, Z:6.72 [[ 1.04831787e-01 -9.94488887e-01 -1.46625420e-03 5.85667437e+01] [-9.94368820e-01 -1.04841915e-01 1.54538788e-02 -4.35530943e+01] [-1.55224356e-02 -1.62060267e-04 -9.99879507e-01 6.72015227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6003857229999 meters Centerline goodness [0,1] 0.9998655130676469 Centerline is valid? [True, True] Translation: X:58.55, Y:-43.67, Z:6.72 [[ 1.84377528e-01 -9.82850758e-01 -3.05218979e-03 5.85506260e+01] [-9.82693575e-01 -1.84402631e-01 1.75786270e-02 -4.36708168e+01] [-1.78399987e-02 -2.41736482e-04 -9.99840825e-01 6.72237450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.630385723 meters Centerline goodness [0,1] 0.9999551830771299 Centerline is valid? [True, True] Translation: X:58.55, Y:-43.81, Z:6.72 [[ 2.59772256e-01 -9.65659021e-01 -4.58580998e-03 5.85493410e+01] [-9.65490806e-01 -2.59812605e-01 1.80253442e-02 -4.38076823e+01] [-1.85977875e-02 -2.54926964e-04 -9.99827014e-01 6.72342060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.660385723 meters Centerline goodness [0,1] 0.9999103902504592 Centerline is valid? [True, True] Translation: X:58.55, Y:-43.92, Z:6.72 [[ 3.32040922e-01 -9.43243757e-01 -6.32771869e-03 5.85549755e+01] [-9.43058569e-01 -3.32101125e-01 1.86916498e-02 -4.39227050e+01] [-1.97322245e-02 -2.38983326e-04 -9.99805272e-01 6.72218558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.57, Y:-44.05, Z:6.72 [[ 4.01934314e-01 -9.15635286e-01 -7.79945009e-03 5.85741559e+01] [-9.15453114e-01 -4.02009929e-01 1.82650788e-02 -4.40494055e+01] [-1.98596070e-02 -2.01331022e-04 -9.99802758e-01 6.72101994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7203857229999 meters Centerline goodness [0,1] 0.9998652260832454 Centerline is valid? [True, True] Translation: X:58.60, Y:-44.16, Z:6.72 [[ 4.66799664e-01 -8.84317919e-01 -8.93826269e-03 5.85963997e+01] [-8.84151857e-01 -4.66885220e-01 1.71372533e-02 -4.41574377e+01] [-1.93279229e-02 -9.68825229e-05 -9.99813194e-01 6.72020161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.750385723 meters Centerline goodness [0,1] 0.9999775734469613 Centerline is valid? [True, True] Translation: X:58.63, Y:-44.27, Z:6.72 [[ 5.31325569e-01 -8.47105335e-01 -1.02806435e-02 5.86298364e+01] [-8.46945043e-01 -5.31425018e-01 1.64786213e-02 -4.42735790e+01] [-1.94225192e-02 -4.83728376e-05 -9.99811364e-01 6.72239156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.780385723 meters Centerline goodness [0,1] 0.9999775407074677 Centerline is valid? [True, True] Translation: X:58.67, Y:-44.38, Z:6.72 [[ 5.90880038e-01 -8.06679486e-01 -1.13572749e-02 5.86710326e+01] [-8.06531981e-01 -5.90989175e-01 1.54259035e-02 -4.43830265e+01] [-1.91557864e-02 4.51469640e-05 -9.99816510e-01 6.72170256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.72, Y:-44.49, Z:6.72 [[ 6.49393355e-01 -7.60342425e-01 -1.29486332e-02 5.87225259e+01] [-7.60194002e-01 -6.49522431e-01 1.50230150e-02 -4.44932983e+01] [-1.98330634e-02 8.76271814e-05 -9.99803302e-01 6.72147219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.77, Y:-44.59, Z:6.72 [[ 7.04337665e-01 -7.09728756e-01 -1.39120931e-02 5.87728787e+01] [-7.09593766e-01 -7.04475037e-01 1.38423073e-02 -4.45895212e+01] [-1.96250058e-02 1.22276076e-04 -9.99807404e-01 6.72228015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.870385723 meters Centerline goodness [0,1] 0.9997080488681279 Centerline is valid? [True, True] Translation: X:58.77, Y:-44.60, Z:6.72 [[ 7.55182054e-01 -6.55335323e-01 -1.53518783e-02 5.87670109e+01] [-6.55205344e-01 -7.55338053e-01 1.30531092e-02 -4.45960752e+01] [-2.01500214e-02 2.01158879e-04 -9.99796948e-01 6.72441817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.76, Y:-44.60, Z:6.72 [[ 8.04044037e-01 -5.94379455e-01 -1.50416577e-02 5.87604793e+01] [-5.94279822e-01 -8.04184698e-01 1.08841200e-02 -4.46036376e+01] [-1.85655683e-02 1.87641836e-04 -9.99827627e-01 6.72071274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.75, Y:-44.61, Z:6.72 [[ 8.47901136e-01 -5.29965724e-01 -1.41419789e-02 5.87541041e+01] [-5.29895408e-01 -8.48019046e-01 8.63450046e-03 -4.46106108e+01] [-1.65686567e-02 1.72566911e-04 -9.99862716e-01 6.71970036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.75, Y:-44.62, Z:6.72 [[ 8.86921373e-01 -4.61698418e-01 -1.43195403e-02 5.87487843e+01] [-4.61641169e-01 -8.87036947e-01 7.27225282e-03 -4.46177173e+01] [-1.60595489e-02 1.60572854e-04 -9.99871024e-01 6.71944244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.990385723 meters Centerline goodness [0,1] 0.9999775940489795 Centerline is valid? [True, True] Translation: X:58.74, Y:-44.63, Z:6.72 [[ 9.21268191e-01 -3.88690381e-01 -1.35907368e-02 5.87438717e+01] [-3.88649876e-01 -9.21368425e-01 5.61241139e-03 -4.46262803e+01] [-1.47035661e-02 1.11502069e-04 -9.99891891e-01 6.71862128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.74, Y:-44.64, Z:6.72 [[ 9.49229127e-01 -3.14303152e-01 -1.33263707e-02 5.87394030e+01] [-3.14273495e-01 -9.49322664e-01 4.31853203e-03 -4.46358685e+01] [-1.40083540e-02 8.88487174e-05 -9.99901874e-01 6.71788400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.74, Y:-44.65, Z:6.72 [[ 9.71287223e-01 -2.37533747e-01 -1.33734661e-02 5.87353475e+01] [-2.37512146e-01 -9.71379285e-01 3.20400596e-03 -4.46477110e+01] [-1.37517675e-02 6.43505814e-05 -9.99905438e-01 6.71825616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.73, Y:-44.66, Z:6.72 [[ 9.86901093e-01 -1.60803278e-01 -1.29822230e-02 5.87278845e+01] [-1.60790198e-01 -9.86986475e-01 2.05192077e-03 -4.46563106e+01] [-1.31432341e-02 6.23713666e-05 -9.99913622e-01 6.71852875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.72, Y:-44.67, Z:6.72 [[ 9.96438010e-01 -8.33522702e-02 -1.27941998e-02 5.87222937e+01] [-8.33462387e-02 -9.96520143e-01 1.00482703e-03 -4.46673242e+01] [-1.28334324e-02 6.51005878e-05 -9.99917646e-01 6.71764745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.72, Y:-44.68, Z:6.72 [[ 9.99907181e-01 -6.48027745e-03 -1.19848432e-02 5.87162669e+01] [-6.48073749e-03 -9.99979000e-01 4.50579064e-07 -4.46761057e+01] [-1.19845945e-02 7.72200857e-05 -9.99928179e-01 6.71743211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.71, Y:-44.69, Z:6.72 [[ 9.97412818e-01 7.10041358e-02 -1.12287231e-02 5.87121303e+01] [ 7.09987108e-02 -9.97476018e-01 -8.81523516e-04 -4.46882630e+01] [-1.12629738e-02 8.20179904e-05 -9.99936567e-01 6.71723077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.71, Y:-44.70, Z:6.72 [[ 9.89097093e-01 1.46920214e-01 -1.00693300e-02 5.87073561e+01] [ 1.46911633e-01 -9.89148342e-01 -1.59064603e-03 -4.46981620e+01] [-1.01937591e-02 9.40016513e-05 -9.99948038e-01 6.71751763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.230385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.70, Y:-44.71, Z:6.72 [[ 9.74669125e-01 2.23452465e-01 -9.43887169e-03 5.87045013e+01] [ 2.23441054e-01 -9.74714824e-01 -2.26011208e-03 -4.47082119e+01] [-9.70523577e-03 9.38300213e-05 -9.99952899e-01 6.71702128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.70, Y:-44.72, Z:6.72 [[ 9.54196620e-01 2.99049401e-01 -8.84684859e-03 5.87024873e+01] [ 2.99035674e-01 -9.54237626e-01 -2.86673172e-03 -4.47199084e+01] [-9.29929021e-03 8.99023898e-05 -9.99956757e-01 6.71680275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.70, Y:-44.73, Z:6.72 [[ 9.27383573e-01 3.74009800e-01 -8.73946507e-03 5.87010840e+01] [ 3.73992386e-01 -9.27424748e-01 -3.61006508e-03 -4.47327916e+01] [-9.45539591e-03 7.94216563e-05 -9.99955294e-01 6.71744918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.70, Y:-44.75, Z:6.72 [[ 8.93934219e-01 4.48122219e-01 -8.25162813e-03 5.87037337e+01] [ 4.48102608e-01 -8.93972301e-01 -4.19267613e-03 -4.47488741e+01] [-9.25555831e-03 5.04005744e-05 -9.99957165e-01 6.71835247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.71, Y:-44.76, Z:6.72 [[ 8.55255719e-01 5.18142680e-01 -8.11278444e-03 5.87053319e+01] [ 5.18118970e-01 -8.55294196e-01 -4.95693404e-03 -4.47632083e+01] [-9.50721654e-03 3.60586667e-05 -9.99954805e-01 6.71892970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.71, Y:-44.78, Z:6.72 [[ 8.10361040e-01 5.85883840e-01 -7.42366253e-03 5.87093176e+01] [ 5.85859166e-01 -8.10395043e-01 -5.37699779e-03 -4.47774042e+01] [-9.16639543e-03 8.08878206e-06 -9.99957988e-01 6.72013468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.71, Y:-44.79, Z:6.72 [[ 7.61182138e-01 6.48497087e-01 -7.29938295e-03 5.87110568e+01] [ 6.48467319e-01 -7.61217136e-01 -6.21358223e-03 -4.47888417e+01] [-9.58590536e-03 -3.74348180e-06 -9.99954054e-01 6.72079384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.71, Y:-44.80, Z:6.72 [[ 7.06874538e-01 7.07307836e-01 -6.63425850e-03 5.87142874e+01] [ 7.07276945e-01 -7.06905669e-01 -6.61042022e-03 -4.47989338e+01] [-9.36539696e-03 -1.95203484e-05 -9.99956144e-01 6.71911517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.72, Y:-44.81, Z:6.72 [[ 6.48772992e-01 7.60958110e-01 -6.02989276e-03 5.87184157e+01] [ 7.60925618e-01 -6.48801013e-01 -7.03203174e-03 -4.48095827e+01] [-9.26328212e-03 -2.61076035e-05 -9.99957095e-01 6.71951501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.72, Y:-44.82, Z:6.72 [[ 5.85812645e-01 8.10429547e-01 -5.24348397e-03 5.87241935e+01] [ 8.10397698e-01 -5.85836110e-01 -7.18493211e-03 -4.48215864e+01] [-8.89470352e-03 -4.02832616e-05 -9.99960441e-01 6.72121299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.73, Y:-44.83, Z:6.72 [[ 5.19828626e-01 8.54258123e-01 -4.61085841e-03 5.87295223e+01] [ 8.54225319e-01 -5.19849072e-01 -7.48646664e-03 -4.48303934e+01] [-8.79232540e-03 -4.70323292e-05 -9.99961346e-01 6.72098745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.74, Y:-44.84, Z:6.72 [[ 4.50657627e-01 8.92687642e-01 -4.05934393e-03 5.87357623e+01] [ 8.92652504e-01 -4.50675906e-01 -7.92051472e-03 -4.48393990e+01] [-8.89999411e-03 -5.41431596e-05 -9.99960393e-01 6.72096879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.74, Y:-44.85, Z:6.72 [[ 3.79270551e-01 9.25279287e-01 -3.47709447e-03 5.87418528e+01] [ 9.25241750e-01 -3.79286486e-01 -8.33464612e-03 -4.48474161e+01] [-9.03069036e-03 -5.60671407e-05 -9.99959221e-01 6.72054137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.75, Y:-44.85, Z:6.72 [[ 3.05731617e-01 9.52113143e-01 -2.95657674e-03 5.87476329e+01] [ 9.52070433e-01 -3.05745907e-01 -9.01839524e-03 -4.48549880e+01] [-9.49049388e-03 -5.76607362e-05 -9.99954963e-01 6.72067318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.75, Y:-44.86, Z:6.72 [[ 2.31250357e-01 9.72891958e-01 -2.12389937e-03 5.87535180e+01] [ 9.72852712e-01 -2.31260105e-01 -8.73866789e-03 -4.48617193e+01] [-8.99295290e-03 -4.54211914e-05 -9.99959562e-01 6.72120546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.76, Y:-44.87, Z:6.72 [[ 1.55579888e-01 9.87822376e-01 -1.36100408e-03 5.87611576e+01] [ 9.87786397e-01 -1.55585838e-01 -8.43091812e-03 -4.48683658e+01] [-8.54000253e-03 -3.27000164e-05 -9.99963533e-01 6.72112066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.77, Y:-44.87, Z:6.72 [[ 8.11572164e-02 9.96701103e-01 -6.46201882e-04 5.87661058e+01] [ 9.96669814e-01 -8.11597890e-02 -7.89756598e-03 -4.48741946e+01] [-7.92395833e-03 -3.10543743e-06 -9.99968605e-01 6.72026336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.77, Y:-44.88, Z:6.72 [[ 4.69479100e-03 9.99988979e-01 -2.36575487e-05 5.87728475e+01] [ 9.99961709e-01 -4.69483769e-03 -7.38504026e-03 -4.48806415e+01] [-7.38506994e-03 1.10145777e-05 -9.99972730e-01 6.71958284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.78, Y:-44.89, Z:6.72 [[-6.96801723e-02 9.97569272e-01 4.70209055e-04 5.87778079e+01] [ 9.97549756e-01 6.96817504e-02 -6.24002648e-03 -4.48871410e+01] [-6.25762367e-03 3.42508069e-05 -9.99980420e-01 6.71817543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.79, Y:-44.89, Z:6.72 [[-1.45629483e-01 9.89338832e-01 8.54421665e-04 5.87871572e+01] [ 9.89323447e-01 1.45631983e-01 -5.51741798e-03 -4.48925183e+01] [-5.58302698e-03 4.18006594e-05 -9.99984414e-01 6.71732433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.80, Y:-44.90, Z:6.72 [[-2.20927478e-01 9.75289556e-01 1.15395033e-03 5.87966477e+01] [ 9.75277326e-01 2.20930487e-01 -4.88444612e-03 -4.48969084e+01] [-5.01869209e-03 4.63132266e-05 -9.99987405e-01 6.71680158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.81, Y:-44.90, Z:6.72 [[-2.93112166e-01 9.56077158e-01 1.31380363e-03 5.88072762e+01] [ 9.56068387e-01 2.93115105e-01 -4.09582880e-03 -4.49008848e+01] [-4.30102404e-03 5.55488700e-05 -9.99990749e-01 6.71670701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.82, Y:-44.91, Z:6.72 [[-3.64542376e-01 9.31185560e-01 1.51984327e-03 5.88166203e+01] [ 9.31178170e-01 3.64545538e-01 -3.71025247e-03 -4.49059776e+01] [-4.00898561e-03 6.27006214e-05 -9.99991962e-01 6.71671792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.83, Y:-44.91, Z:6.72 [[-4.35475358e-01 9.00198900e-01 1.77553683e-03 5.88286108e+01] [ 9.00192022e-01 4.35478973e-01 -3.51956441e-03 -4.49086144e+01] [-3.94151696e-03 6.56405139e-05 -9.99992230e-01 6.71624261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.84, Y:-44.91, Z:6.72 [[-5.03938124e-01 8.63737115e-01 2.13633062e-03 5.88424673e+01] [ 8.63729950e-01 5.03942647e-01 -3.51886762e-03 -4.49088972e+01] [-4.11596467e-03 7.19211938e-05 -9.99991527e-01 6.71635335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.86, Y:-44.91, Z:6.72 [[-5.69311012e-01 8.22117186e-01 2.88155460e-03 5.88579963e+01] [ 8.22107451e-01 5.69318298e-01 -4.00180668e-03 -4.49069147e+01] [-4.93047580e-03 9.06748943e-05 -9.99987841e-01 6.71702427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.87, Y:-44.90, Z:6.72 [[-6.31837382e-01 7.75094291e-01 3.21911258e-03 5.88725953e+01] [ 7.75084968e-01 6.31845576e-01 -3.80274932e-03 -4.49033717e+01] [-4.98147133e-03 9.23665923e-05 -9.99987588e-01 6.71717094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.89, Y:-44.90, Z:6.72 [[-6.91479887e-01 7.22384397e-01 4.04331757e-03 5.88868906e+01] [ 7.22372884e-01 6.91491701e-01 -4.07973225e-03 -4.48998237e+01] [-5.74305547e-03 9.97301737e-05 -9.99983504e-01 6.71719191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.90, Y:-44.90, Z:6.72 [[-7.46632106e-01 6.65221203e-01 4.60960987e-03 5.88988197e+01] [ 6.65209342e-01 7.46646329e-01 -3.97378278e-03 -4.48981583e+01] [-6.08519285e-03 9.94017397e-05 -9.99981480e-01 6.71761814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.94, Y:-44.89, Z:6.72 [[-7.93142734e-01 6.09017896e-01 4.66971397e-03 5.89425503e+01] [ 6.09007951e-01 7.93156476e-01 -3.48149484e-03 -4.48899496e+01] [-5.82410653e-03 8.25706006e-05 -9.99983036e-01 6.71649943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.96, Y:-44.86, Z:6.72 [[-8.35075612e-01 5.50113971e-01 4.83127512e-03 5.89592478e+01] [ 5.50105267e-01 8.35089584e-01 -3.09534755e-03 -4.48630539e+01] [-5.73734146e-03 7.28606427e-05 -9.99983539e-01 6.71621717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.98, Y:-44.84, Z:6.72 [[-8.72350998e-01 4.88856470e-01 4.80499889e-03 5.89823105e+01] [ 4.88849460e-01 8.72364229e-01 -2.61881324e-03 -4.48401760e+01] [-5.47193295e-03 6.43967658e-05 -9.99985027e-01 6.71623451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.00, Y:-44.82, Z:6.72 [[-9.04769102e-01 4.25873324e-01 4.97830044e-03 5.89984959e+01] [ 4.25867268e-01 9.04782796e-01 -2.27206801e-03 -4.48156629e+01] [-5.47189374e-03 6.43982751e-05 -9.99985027e-01 6.71623409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.01, Y:-44.78, Z:6.72 [[-9.33366091e-01 3.58901410e-01 4.18557022e-03 5.90060420e+01] [ 3.58898011e-01 9.33375474e-01 -1.56254947e-03 -4.47833048e+01] [-4.46750980e-03 4.37621355e-05 -9.99990020e-01 6.71563366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.02, Y:-44.75, Z:6.71 [[-9.57091213e-01 2.89763382e-01 3.68668409e-03 5.90219961e+01] [ 2.89761350e-01 9.57098313e-01 -1.08555714e-03 -4.47541630e+01] [-3.84307384e-03 2.92813558e-05 -9.99992615e-01 6.71474470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.24, Y:-44.01, Z:5.76 [[-9.40611781e-01 -3.39468871e-01 3.21926352e-03 5.92406412e+01] [ 3.39466695e-01 -9.40617288e-01 -1.21661810e-03 -4.40064699e+01] [ 3.44109889e-03 -5.15325733e-05 9.99994078e-01 5.76332066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.97, Y:-44.74, Z:6.71 [[-9.58759778e-01 2.84205681e-01 2.61153535e-03 5.89729312e+01] [ 2.84204669e-01 9.58763334e-01 -7.58375910e-04 -4.47353252e+01] [-2.71937908e-03 1.51102224e-05 -9.99996302e-01 6.71293934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.98, Y:-44.71, Z:6.71 [[-9.76523235e-01 2.15403699e-01 1.90198269e-03 5.89838515e+01] [ 2.15403311e-01 9.76525087e-01 -4.08911730e-04 -4.47071766e+01] [-1.94541492e-03 1.03815647e-05 -9.99998108e-01 6.71247112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.99, Y:-44.68, Z:6.71 [[-9.89196828e-01 1.46582882e-01 1.75882303e-03 5.89940928e+01] [ 1.46582668e-01 9.89198392e-01 -2.51033439e-04 -4.46777332e+01] [-1.77662212e-03 9.49148989e-06 -9.99998422e-01 6.71228427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.11, Y:-43.92, Z:5.77 [[-9.79526763e-01 -2.01307453e-01 1.62165594e-03 5.91102657e+01] [ 2.01307150e-01 -9.79528105e-01 -3.49983958e-04 -4.39231929e+01] [ 1.65891195e-03 -1.63677180e-05 9.99998624e-01 5.76548667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.93, Y:-44.66, Z:6.71 [[-9.89783642e-01 1.42551455e-01 2.72494666e-03 5.89347704e+01] [ 1.42550958e-01 9.89787393e-01 -3.76874825e-04 -4.46647564e+01] [-2.75084190e-03 1.54192188e-05 -9.99996216e-01 6.71336086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.94, Y:-44.64, Z:6.71 [[-9.97420755e-01 7.16827342e-02 3.66371322e-03 5.89441267e+01] [ 7.16823244e-02 9.97427484e-01 -2.43228511e-04 -4.46357191e+01] [-3.67172354e-03 2.00223139e-05 -9.99993259e-01 6.71355560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.94, Y:-44.61, Z:6.71 [[-9.99990305e-01 7.54261236e-04 4.33827560e-03 5.89411416e+01] [ 7.54360539e-04 9.99999715e-01 2.12545160e-05 -4.46060003e+01] [-4.33825833e-03 2.45269339e-05 -9.99990589e-01 6.71395073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.94, Y:-43.85, Z:5.76 [[-9.98441372e-01 -5.55767078e-02 5.10460713e-03 5.89434215e+01] [ 5.55760911e-02 -9.98454420e-01 -2.62692227e-04 -4.38541066e+01] [ 5.11131712e-03 2.14113236e-05 9.99986937e-01 5.76266654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.85, Y:-44.60, Z:6.72 [[-9.99977416e-01 -1.78235883e-03 6.47997080e-03 5.88520184e+01] [-1.78194977e-03 9.99998410e-01 6.89007586e-05 -4.46041601e+01] [-6.48008330e-03 5.73522202e-05 -9.99979002e-01 6.71601799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.85, Y:-44.58, Z:6.72 [[-9.97441709e-01 -7.11763131e-02 6.63096103e-03 5.88457485e+01] [-7.11742683e-02 9.97463748e-01 5.44140860e-04 -4.45766303e+01] [-6.65287318e-03 7.07949904e-05 -9.99977867e-01 6.71672186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.83, Y:-44.55, Z:6.72 [[-9.90135451e-01 -1.39937245e-01 7.02537132e-03 5.88268766e+01] [-1.39933065e-01 9.90160370e-01 1.08544688e-03 -4.45502772e+01] [-7.10813871e-03 9.16576914e-05 -9.99974733e-01 6.71658200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.81, Y:-44.53, Z:6.72 [[-9.78487053e-01 -2.06198737e-01 6.72066156e-03 5.88060309e+01] [-2.06192998e-01 9.78510125e-01 1.54340629e-03 -4.45263997e+01] [-6.89448382e-03 1.24449720e-04 -9.99976225e-01 6.71533944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.76, Y:-44.51, Z:6.71 [[-9.61616528e-01 -2.74319374e-01 6.52184691e-03 5.87564532e+01] [-2.74312068e-01 9.61638633e-01 2.00703609e-03 -4.45106664e+01] [-6.82222883e-03 1.40977760e-04 -9.99976718e-01 6.71490246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.69, Y:-44.50, Z:6.72 [[-9.40428211e-01 -3.39937390e-01 6.11151162e-03 5.86925462e+01] [-3.39929057e-01 9.40448055e-01 2.38591215e-03 -4.45028410e+01] [-6.55861996e-03 1.66298710e-04 -9.99978478e-01 6.71578618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.62, Y:-44.50, Z:6.72 [[-9.13220754e-01 -4.07416630e-01 6.28836662e-03 5.86237162e+01] [-4.07405550e-01 9.13242385e-01 3.01066615e-03 -4.44986520e+01] [-6.96939839e-03 1.87487353e-04 -9.99975696e-01 6.71629710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.54, Y:-44.51, Z:6.72 [[-8.80719876e-01 -4.73597362e-01 6.16763045e-03 5.85391074e+01] [-4.73584163e-01 8.80741449e-01 3.54122862e-03 -4.45068500e+01] [-7.10920431e-03 1.97938325e-04 -9.99974710e-01 6.71664708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.45, Y:-44.53, Z:6.72 [[-8.42654784e-01 -5.38425611e-01 5.54764004e-03 5.84459957e+01] [-5.38412484e-01 8.42673025e-01 3.76431931e-03 -4.45308904e+01] [-6.70165254e-03 1.85103024e-04 -9.99977527e-01 6.71661933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.36, Y:-44.56, Z:6.72 [[-7.99270569e-01 -6.00948454e-01 5.24530670e-03 5.83580694e+01] [-6.00934011e-01 7.99287760e-01 4.17022142e-03 -4.45561818e+01] [-6.69859755e-03 1.81052047e-04 -9.99977548e-01 6.71625221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.26, Y:-44.59, Z:6.72 [[-7.50407806e-01 -6.60953711e-01 5.32134526e-03 5.82579802e+01] [-6.60935344e-01 7.50426651e-01 4.93072749e-03 -4.45926977e+01] [-7.25226194e-03 1.82991238e-04 -9.99973685e-01 6.71549248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.16, Y:-44.64, Z:6.72 [[-6.97328491e-01 -7.16731942e-01 5.31972918e-03 5.81634850e+01] [-7.16709001e-01 6.97348756e-01 5.73761627e-03 -4.46448075e+01] [-7.82203938e-03 1.88305504e-04 -9.99969390e-01 6.71592352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.07, Y:-44.70, Z:6.72 [[-6.38752253e-01 -7.69395245e-01 5.14939162e-03 5.80669595e+01] [-7.69367984e-01 6.38772985e-01 6.47914047e-03 -4.47020844e+01] [-8.27431213e-03 1.76788525e-04 -9.99965752e-01 6.71539486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.98, Y:-44.77, Z:6.72 [[-5.77002763e-01 -8.16728822e-01 4.67352296e-03 5.79766687e+01] [-8.16699683e-01 5.77021667e-01 6.90105297e-03 -4.47713054e+01] [-8.33301287e-03 1.65061916e-04 -9.99965266e-01 6.71528310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.89, Y:-44.85, Z:6.72 [[-5.10652632e-01 -8.59778735e-01 3.79694669e-03 5.78871636e+01] [-8.59753039e-01 5.10666731e-01 6.64842163e-03 -4.48491415e+01] [-7.65514589e-03 1.30597542e-04 -9.99970690e-01 6.71506405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.81, Y:-44.94, Z:6.72 [[-4.42273317e-01 -8.96874341e-01 3.27557815e-03 5.78051936e+01] [-8.96847696e-01 4.42285430e-01 6.91441015e-03 -4.49372537e+01] [-7.65009754e-03 1.20364398e-04 -9.99970730e-01 6.71519429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.73, Y:-45.03, Z:6.72 [[-3.70915745e-01 -9.28662228e-01 2.82426186e-03 5.77307548e+01] [-9.28632973e-01 3.70926480e-01 7.37206520e-03 -4.50304600e+01] [-7.89375201e-03 1.11712365e-04 -9.99968838e-01 6.71505384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.66, Y:-45.13, Z:6.72 [[-2.96523922e-01 -9.55022519e-01 2.35632506e-03 5.76609228e+01] [-9.54989692e-01 2.96533268e-01 7.91892931e-03 -4.51337608e+01] [-8.26148459e-03 9.78858338e-05 -9.99965869e-01 6.71509008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0903857229999 meters Centerline goodness [0,1] 0.9999785089510219 Centerline is valid? [True, True] Translation: X:57.60, Y:-45.24, Z:6.71 [[-2.21370952e-01 -9.75188192e-01 1.70064441e-03 5.76012258e+01] [-9.75156345e-01 2.21377467e-01 7.88163835e-03 -4.52425772e+01] [-8.06256500e-03 8.63715995e-05 -9.99967493e-01 6.71490802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.120385723 meters Centerline goodness [0,1] 0.9999784983228692 Centerline is valid? [True, True] Translation: X:57.55, Y:-45.35, Z:6.71 [[-1.45527288e-01 -9.89353658e-01 1.07105943e-03 5.75506250e+01] [-9.89322549e-01 1.45531206e-01 7.84618696e-03 -4.53533730e+01] [-7.91852634e-03 8.22110666e-05 -9.99968645e-01 6.71489300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.51, Y:-45.47, Z:6.72 [[-6.87966721e-02 -9.97630595e-01 4.61840929e-04 5.75078959e+01] [-9.97599923e-01 6.87981786e-02 7.82326450e-03 -4.54704457e+01] [-7.83650183e-03 7.74820873e-05 -9.99969291e-01 6.71577826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.47, Y:-45.59, Z:6.71 [[ 8.45304740e-03 -9.99964262e-01 -1.42853487e-04 5.74744655e+01] [-9.99932218e-01 -8.45392020e-03 8.00566672e-03 -4.55894261e+01] [-8.00658829e-03 7.51715243e-05 -9.99967944e-01 6.71487719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.210385723 meters Centerline goodness [0,1] 0.9998922158270279 Centerline is valid? [True, True] Translation: X:57.45, Y:-45.71, Z:6.72 [[ 8.52828628e-02 -9.96356450e-01 -8.11331120e-04 5.74514164e+01] [-9.96319876e-01 -8.52866842e-02 8.53739413e-03 -4.57124668e+01] [-8.57548345e-03 8.02519086e-05 -9.99963227e-01 6.71644948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.240385723 meters Centerline goodness [0,1] 0.9999784552407627 Centerline is valid? [True, True] Translation: X:57.44, Y:-45.84, Z:6.71 [[ 1.62911948e-01 -9.86639693e-01 -1.34654531e-03 5.74369998e+01] [-9.86609079e-01 -1.62917501e-01 7.77258071e-03 -4.58394677e+01] [-7.88811245e-03 6.22675629e-05 -9.99968887e-01 6.71435088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.43, Y:-45.96, Z:6.71 [[ 2.39010697e-01 -9.71015204e-01 -1.83326925e-03 5.74322330e+01] [-9.70988280e-01 -2.39017722e-01 7.23110062e-03 -4.59639290e+01] [-7.45969248e-03 5.17725635e-05 -9.99972175e-01 6.71444653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.300385723 meters Centerline goodness [0,1] 0.9998705808761674 Centerline is valid? [True, True] Translation: X:57.44, Y:-46.08, Z:6.72 [[ 3.12496543e-01 -9.49915245e-01 -2.63409497e-03 5.74365710e+01] [-9.49883074e-01 -3.12507639e-01 7.81802352e-03 -4.60839433e+01] [-8.24963452e-03 5.89769094e-05 -9.99965970e-01 6.71636190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.45, Y:-46.21, Z:6.72 [[ 3.85314620e-01 -9.22780025e-01 -3.10934220e-03 5.74515399e+01] [-9.22750994e-01 -3.85327163e-01 7.31994757e-03 -4.62056656e+01] [-7.95281542e-03 4.86657867e-05 -9.99968375e-01 6.71544058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.47, Y:-46.32, Z:6.72 [[ 4.55185007e-01 -8.90388151e-01 -3.94342000e-03 5.74743285e+01] [-8.90355667e-01 -4.55202085e-01 7.60582674e-03 -4.63229592e+01] [-8.56719101e-03 4.89880476e-05 -9.99963300e-01 6.71561718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.390385723 meters Centerline goodness [0,1] 0.9999571036376115 Centerline is valid? [True, True] Translation: X:57.51, Y:-46.44, Z:6.72 [[ 5.22115536e-01 -8.52862460e-01 -4.58162485e-03 5.75081058e+01] [-8.52830417e-01 -5.22135635e-01 7.39316325e-03 -4.64387641e+01] [-8.69758100e-03 4.72636398e-05 -9.99962174e-01 6.71783381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.55, Y:-46.55, Z:6.72 [[ 5.86000422e-01 -8.10292489e-01 -5.43952329e-03 5.75458280e+01] [-8.10258313e-01 -5.86025665e-01 7.44221637e-03 -4.65477921e+01] [-9.21807228e-03 4.62770347e-05 -9.99957512e-01 6.71593241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.60, Y:-46.66, Z:6.72 [[ 6.46137183e-01 -7.63190305e-01 -6.87745120e-03 5.75964662e+01] [-7.63147919e-01 -6.46173781e-01 8.04354820e-03 -4.66555815e+01] [-1.05827867e-02 5.12769971e-05 -9.99944000e-01 6.71679534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.480385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.64, Y:-46.75, Z:6.72 [[ 7.02318778e-01 -7.11815580e-01 -8.18008774e-03 5.76448650e+01] [-7.11768221e-01 -7.02366412e-01 8.21111566e-03 -4.67491682e+01] [-1.15902189e-02 5.55057852e-05 -9.99932830e-01 6.71749229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.510385723 meters Centerline goodness [0,1] 0.9999783741701088 Centerline is valid? [True, True] Translation: X:57.71, Y:-46.85, Z:6.72 [[ 7.54348771e-01 -6.56413607e-01 -8.89432300e-03 5.77065857e+01] [-6.56368839e-01 -7.54401202e-01 7.66640148e-03 -4.68450406e+01] [-1.17422182e-02 5.48159285e-05 -9.99931056e-01 6.71753274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.540385723 meters Centerline goodness [0,1] 0.999978400328315 Centerline is valid? [True, True] Translation: X:57.70, Y:-46.85, Z:6.72 [[ 8.03820908e-01 -5.94779751e-01 -1.04400799e-02 5.77034324e+01] [-5.94730397e-01 -8.03888702e-01 7.66223783e-03 -4.68549308e+01] [-1.29500062e-02 4.99658764e-05 -9.99916144e-01 6.71789327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.570385723 meters Centerline goodness [0,1] 0.9999136963838785 Centerline is valid? [True, True] Translation: X:57.70, Y:-46.87, Z:6.72 [[ 8.48044710e-01 -5.29808952e-01 -1.10745324e-02 5.77003384e+01] [-5.29764482e-01 -8.48117016e-01 6.86446488e-03 -4.68657184e+01] [-1.30293543e-02 4.55208093e-05 -9.99915113e-01 6.71834691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.70, Y:-46.87, Z:6.72 [[ 8.86795831e-01 -4.62011144e-01 -1.17837210e-02 5.76986660e+01] [-4.61971079e-01 -8.86874118e-01 6.08456856e-03 -4.68741956e+01] [-1.32618157e-02 4.79682809e-05 -9.99912057e-01 6.71906063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.70, Y:-46.88, Z:6.72 [[ 9.20150283e-01 -3.91387968e-01 -1.17862112e-02 5.76984228e+01] [-3.91356530e-01 -9.20225764e-01 4.96084629e-03 -4.68807613e+01] [-1.27875907e-02 4.78865934e-05 -9.99918234e-01 6.71967037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.70, Y:-46.89, Z:6.72 [[ 9.47907008e-01 -3.18316836e-01 -1.21118082e-02 5.76994766e+01] [-3.18291510e-01 -9.47984383e-01 4.01555216e-03 -4.68875544e+01] [-1.27600229e-02 4.87156864e-05 -9.99918586e-01 6.71938889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.70, Y:-46.89, Z:6.72 [[ 9.69942264e-01 -2.43017740e-01 -1.24251168e-02 5.77007170e+01] [-2.42998410e-01 -9.70021843e-01 3.06540345e-03 -4.68930835e+01] [-1.27975821e-02 4.60192668e-05 -9.99918107e-01 6.71905841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.70, Y:-46.90, Z:6.72 [[ 9.86104212e-01 -1.65687975e-01 -1.20821247e-02 5.77024879e+01] [-1.65675978e-01 -9.86178226e-01 1.99409932e-03 -4.69000759e+01] [-1.22455266e-02 3.53280986e-05 -9.99925020e-01 6.71726862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.70, Y:-46.91, Z:6.72 [[ 9.96094973e-01 -8.75562729e-02 -1.13447485e-02 5.77007493e+01] [-8.75509089e-02 -9.96159575e-01 9.69552416e-04 -4.69081841e+01] [-1.13860702e-02 2.74767504e-05 -9.99935176e-01 6.71628617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.70, Y:-46.92, Z:6.71 [[ 9.99919242e-01 -7.76466701e-03 -1.00607515e-02 5.76995837e+01] [-7.76436152e-03 -9.99969855e-01 6.94235944e-05 -4.69159108e+01] [-1.00609872e-02 8.69732349e-06 -9.99949387e-01 6.71463639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.70, Y:-46.92, Z:6.71 [[ 9.97388654e-01 7.15346191e-02 -9.93330753e-03 5.76979650e+01] [ 7.15310853e-02 -9.97438118e-01 -7.11031152e-04 -4.69249084e+01] [-9.95872291e-03 -1.36586536e-06 -9.99950411e-01 6.71458950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8403857229999 meters Centerline goodness [0,1] 0.9999780562199645 Centerline is valid? [True, True] Translation: X:57.70, Y:-46.93, Z:6.72 [[ 9.88373220e-01 1.51694053e-01 -1.03582314e-02 5.76972553e+01] [ 1.51685993e-01 -9.88427495e-01 -1.56393654e-03 -4.69317141e+01] [-1.04756006e-02 -2.54456295e-05 -9.99945129e-01 6.71538030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.870385723 meters Centerline goodness [0,1] 0.9999340804218853 Centerline is valid? [True, True] Translation: X:57.70, Y:-46.94, Z:6.72 [[ 9.73239140e-01 2.29514883e-01 -1.13355392e-02 5.76972973e+01] [ 2.29499784e-01 -9.73305151e-01 -2.63293315e-03 -4.69419499e+01] [-1.16372361e-02 -3.90302127e-05 -9.99932284e-01 6.71599657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.900385723 meters Centerline goodness [0,1] 0.9999340398399367 Centerline is valid? [True, True] Translation: X:57.70, Y:-46.95, Z:6.72 [[ 9.51369286e-01 3.07835020e-01 -1.15793988e-02 5.76979002e+01] [ 3.07813208e-01 -9.51439748e-01 -3.66537573e-03 -4.69497644e+01] [-1.21454313e-02 -7.71659889e-05 -9.99926239e-01 6.71609287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.930385723 meters Centerline goodness [0,1] 0.9997796483187167 Centerline is valid? [True, True] Translation: X:57.70, Y:-46.96, Z:6.72 [[ 9.24123182e-01 3.81892285e-01 -1.24349432e-02 5.76989560e+01] [ 3.81859059e-01 -9.24206835e-01 -5.03832803e-03 -4.69577855e+01] [-1.34165581e-02 -9.23599724e-05 -9.99909990e-01 6.71863027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.960385723 meters Centerline goodness [0,1] 0.9999779915047208 Centerline is valid? [True, True] Translation: X:57.70, Y:-46.97, Z:6.72 [[ 8.90740617e-01 4.54386399e-01 -1.06842891e-02 5.77006423e+01] [ 4.54355056e-01 -8.90804687e-01 -5.33791847e-03 -4.69660771e+01] [-1.19430924e-02 -9.97599917e-05 -9.99928674e-01 6.71561076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.990385723 meters Centerline goodness [0,1] 0.9996682883679787 Centerline is valid? [True, True] Translation: X:57.70, Y:-46.97, Z:6.72 [[ 8.52133374e-01 5.23228371e-01 -1.00391410e-02 5.77005674e+01] [ 5.23193506e-01 -8.52192502e-01 -6.04109966e-03 -4.69706893e+01] [-1.17161555e-02 -1.04590762e-04 -9.99931358e-01 6.71512258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.020385723 meters Centerline goodness [0,1] 0.9997556152940392 Centerline is valid? [True, True] Translation: X:57.70, Y:-46.98, Z:6.71 [[ 8.08606482e-01 5.88269872e-01 -9.70128526e-03 5.77026575e+01] [ 5.88229100e-01 -8.08664669e-01 -6.92667778e-03 -4.69787468e+01] [-1.19198425e-02 -1.05621743e-04 -9.99928951e-01 6.71419861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.050385723 meters Centerline goodness [0,1] 0.9998217190738306 Centerline is valid? [True, True] Translation: X:57.70, Y:-46.98, Z:6.71 [[ 7.60703858e-01 6.49031662e-01 -9.35640756e-03 5.77022565e+01] [ 6.48984126e-01 -7.60761390e-01 -7.85565204e-03 -4.69847622e+01] [-1.22165605e-02 -9.63351637e-05 -9.99925370e-01 6.71402683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.080385723 meters Centerline goodness [0,1] 0.9998217190738306 Centerline is valid? [True, True] Translation: X:57.71, Y:-47.00, Z:6.71 [[ 7.07564317e-01 7.06595235e-01 -8.71268818e-03 5.77062703e+01] [ 7.06543342e-01 -7.07617951e-01 -8.56397135e-03 -4.69957631e+01] [-1.22165159e-02 -9.63312838e-05 -9.99925371e-01 6.71402643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.110385723 meters Centerline goodness [0,1] 0.9998221866595541 Centerline is valid? [True, True] Translation: X:57.71, Y:-47.00, Z:6.71 [[ 6.50455715e-01 7.59503687e-01 -7.84296827e-03 5.77084014e+01] [ 7.59450107e-01 -6.50502991e-01 -9.02181582e-03 -4.70047058e+01] [-1.19539767e-02 -8.80514331e-05 -9.99928545e-01 6.71497391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.140385723 meters Centerline goodness [0,1] 0.9999107282344276 Centerline is valid? [True, True] Translation: X:57.71, Y:-47.01, Z:6.71 [[ 5.89444888e-01 8.07777188e-01 -7.12309671e-03 5.77101129e+01] [ 8.07719885e-01 -5.89487920e-01 -9.62183823e-03 -4.70117317e+01] [-1.19712809e-02 -8.19234956e-05 -9.99928338e-01 6.71426807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.170385723 meters Centerline goodness [0,1] 0.9997537276675771 Centerline is valid? [True, True] Translation: X:57.71, Y:-47.02, Z:6.71 [[ 5.25128031e-01 8.50993107e-01 -7.16116118e-03 5.77109689e+01] [ 8.50916070e-01 -5.25176851e-01 -1.14506610e-02 -4.70187518e+01] [-1.35053097e-02 -8.04840340e-05 -9.99908796e-01 6.71486281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.200385723 meters Centerline goodness [0,1] 0.9998199941498098 Centerline is valid? [True, True] Translation: X:57.72, Y:-47.03, Z:6.71 [[ 4.57020067e-01 8.89432413e-01 -6.52997973e-03 5.77153081e+01] [ 8.89344178e-01 -4.57066708e-01 -1.25282325e-02 -4.70278658e+01] [-1.41276524e-02 -8.17458112e-05 -9.99900196e-01 6.71482090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.230385723 meters Centerline goodness [0,1] 0.9999328964144317 Centerline is valid? [True, True] Translation: X:57.72, Y:-47.04, Z:6.71 [[ 3.83705758e-01 9.23439313e-01 -5.45224264e-03 5.77238463e+01] [ 9.23350317e-01 -3.83744476e-01 -1.28207062e-02 -4.70393675e+01] [-1.39314121e-02 -1.14951187e-04 -9.99902947e-01 6.71465018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.260385723 meters Centerline goodness [0,1] 0.9997532304379038 Centerline is valid? [True, True] Translation: X:57.73, Y:-47.05, Z:6.71 [[ 3.10168556e-01 9.50670221e-01 -4.64738817e-03 5.77333547e+01] [ 9.50569290e-01 -3.10203348e-01 -1.38530811e-02 -4.70492189e+01] [-1.46113470e-02 -1.20874317e-04 -9.99893241e-01 6.71476855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.290385723 meters Centerline goodness [0,1] 0.9998438719750196 Centerline is valid? [True, True] Translation: X:57.74, Y:-47.06, Z:6.72 [[ 2.36048782e-01 9.71733082e-01 -3.97364634e-03 5.77440431e+01] [ 9.71603425e-01 -2.36082198e-01 -1.58738911e-02 -4.70587831e+01] [-1.63632923e-02 -1.13795744e-04 -9.99866106e-01 6.71694319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.320385723 meters Centerline goodness [0,1] 0.9997992684449996 Centerline is valid? [True, True] Translation: X:57.75, Y:-47.07, Z:6.72 [[ 1.61064947e-01 9.86939378e-01 -2.95750888e-03 5.77527577e+01] [ 9.86783246e-01 -1.61092072e-01 -1.75547954e-02 -4.70666282e+01] [-1.78019501e-02 -9.09580199e-05 -9.99841529e-01 6.71931583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.76, Y:-47.07, Z:6.72 [[ 8.67886472e-02 9.96225720e-01 -1.43059633e-03 5.77591747e+01] [ 9.96095283e-01 -8.68004333e-02 -1.61205472e-02 -4.70742440e+01] [-1.61838801e-02 -2.59297784e-05 -9.99869032e-01 6.71677988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.380385723 meters Centerline goodness [0,1] 0.9999776331387417 Centerline is valid? [True, True] Translation: X:57.77, Y:-47.08, Z:6.71 [[ 1.06406302e-02 9.99943375e-01 -1.56470339e-04 5.77667320e+01] [ 9.99822710e-01 -1.06417769e-02 -1.55339014e-02 -4.70800285e+01] [-1.55346869e-02 8.84790223e-06 -9.99879330e-01 6.71482348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.77, Y:-47.09, Z:6.71 [[-6.59336503e-02 9.97823456e-01 1.05098106e-03 5.77731454e+01] [ 9.97705391e-01 6.59420160e-02 -1.53493909e-02 -4.70867426e+01] [-1.53852861e-02 3.65281000e-05 -9.99881639e-01 6.71410237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.78, Y:-47.09, Z:6.72 [[-1.40235345e-01 9.90115651e-01 2.24644722e-03 5.77821374e+01] [ 9.89998971e-01 1.40253306e-01 -1.52002410e-02 -4.70917955e+01] [-1.53650682e-02 9.23693939e-05 -9.99881946e-01 6.71509509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.79, Y:-47.10, Z:6.72 [[-2.14371121e-01 9.76745503e-01 3.63938788e-03 5.77914264e+01] [ 9.76616262e-01 2.14401961e-01 -1.58894871e-02 -4.70960497e+01] [-1.63002770e-02 1.48038220e-04 -9.99867131e-01 6.71638114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.80, Y:-47.10, Z:6.72 [[-2.89343579e-01 9.57212466e-01 4.95867601e-03 5.78047788e+01] [ 9.57081623e-01 2.89386018e-01 -1.58271882e-02 -4.70986958e+01] [-1.65849533e-02 1.66362408e-04 -9.99862446e-01 6.71665012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.82, Y:-47.10, Z:6.72 [[-3.62824373e-01 9.31834958e-01 6.48733054e-03 5.78174354e+01] [ 9.31695040e-01 3.62882318e-01 -1.61485604e-02 -4.71019688e+01] [-1.74019307e-02 1.85122374e-04 -9.99848558e-01 6.71755015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.560385723 meters Centerline goodness [0,1] 0.9999551619773568 Centerline is valid? [True, True] Translation: X:57.83, Y:-47.11, Z:6.72 [[-4.34566204e-01 9.00610746e-01 7.24562249e-03 5.78272842e+01] [ 9.00492270e-01 4.34626568e-01 -1.46088192e-02 -4.71054839e+01] [-1.63059996e-02 1.76127930e-04 -9.99867033e-01 6.71721853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.84, Y:-47.11, Z:6.71 [[-5.04138069e-01 8.63586252e-01 7.97451842e-03 5.78373450e+01] [ 8.63483239e-01 5.04201110e-01 -1.33392791e-02 -4.71073613e+01] [-1.55403791e-02 1.61024597e-04 -9.99879228e-01 6.71490509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.620385723 meters Centerline goodness [0,1] 0.9998431267087984 Centerline is valid? [True, True] Translation: X:57.85, Y:-47.10, Z:6.71 [[-5.71446575e-01 8.20600444e-01 7.98271391e-03 5.78520838e+01] [ 8.20523368e-01 5.71502316e-01 -1.12474838e-02 -4.71046091e+01] [-1.37918297e-02 1.22667177e-04 -9.99904881e-01 6.71318914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.650385723 meters Centerline goodness [0,1] 0.9998880780767336 Centerline is valid? [True, True] Translation: X:57.87, Y:-47.10, Z:6.71 [[-6.34688042e-01 7.72718704e-01 8.76891951e-03 5.78653137e+01] [ 7.72647306e-01 6.34748606e-01 -1.05046759e-02 -4.71020977e+01] [-1.36832190e-02 1.08089830e-04 -9.99906375e-01 6.71348017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.680385723 meters Centerline goodness [0,1] 0.9997986577181208 Centerline is valid? [True, True] Translation: X:57.88, Y:-47.10, Z:6.72 [[-6.93892480e-01 7.20012731e-01 9.74130897e-03 5.78782493e+01] [ 7.19943763e-01 6.93960847e-01 -9.96598166e-03 -4.70991331e+01] [-1.39357207e-02 9.78749036e-05 -9.99902888e-01 6.71536800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.710385723 meters Centerline goodness [0,1] 0.999664714560329 Centerline is valid? [True, True] Translation: X:57.89, Y:-47.09, Z:6.72 [[-7.48879001e-01 6.62601752e-01 1.17965950e-02 5.78900136e+01] [ 6.62521505e-01 7.48971902e-01 -1.03124042e-02 -4.70939586e+01] [-1.56683352e-02 9.27549202e-05 -9.99877240e-01 6.71760827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.740385723 meters Centerline goodness [0,1] 0.9996203407999643 Centerline is valid? [True, True] Translation: X:57.91, Y:-47.08, Z:6.71 [[-7.94379709e-01 6.07325314e-01 1.08092769e-02 5.79142714e+01] [ 6.07270278e-01 7.94453245e-01 -8.17627663e-03 -4.70774011e+01] [-1.35531249e-02 6.90843378e-05 -9.99908150e-01 6.71458142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.770385723 meters Centerline goodness [0,1] 0.9995967290243083 Centerline is valid? [True, True] Translation: X:57.94, Y:-47.06, Z:6.72 [[-8.34874482e-01 5.50334705e-01 1.07848073e-02 5.79368538e+01] [ 5.50289988e-01 8.34944134e-01 -7.01590065e-03 -4.70586968e+01] [-1.28658052e-02 7.73750450e-05 -9.99917229e-01 6.71540528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.800385723 meters Centerline goodness [0,1] 0.9996662364825776 Centerline is valid? [True, True] Translation: X:57.95, Y:-47.04, Z:6.71 [[-8.71300800e-01 4.90634396e-01 1.06210113e-02 5.79549996e+01] [ 4.90599112e-01 8.71365528e-01 -5.88461083e-03 -4.70366828e+01] [-1.21419756e-02 8.33925902e-05 -9.99926280e-01 6.71485990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.830385723 meters Centerline goodness [0,1] 0.9999553750725155 Centerline is valid? [True, True] Translation: X:57.97, Y:-47.02, Z:6.71 [[-9.03456208e-01 4.28573391e-01 9.57755772e-03 5.79717255e+01] [ 4.28550281e-01 9.03506969e-01 -4.45139398e-03 -4.70153259e+01] [-1.05611392e-02 8.28255298e-05 -9.99944226e-01 6.71236586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.97, Y:-46.99, Z:6.71 [[-9.31319612e-01 3.64077404e-01 9.56156508e-03 5.79749385e+01] [ 3.64059172e-01 9.31368690e-01 -3.64452747e-03 -4.69865380e+01] [-1.02322324e-02 8.67555620e-05 -9.99947646e-01 6.71257581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.00, Y:-46.97, Z:6.71 [[-9.54363126e-01 2.98488039e-01 9.79360966e-03 5.79975987e+01] [ 2.98473413e-01 9.54413370e-01 -2.95651332e-03 -4.69650043e+01] [-1.02296359e-02 1.01544813e-04 -9.99947671e-01 6.71305286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.00, Y:-46.94, Z:6.71 [[-9.72855893e-01 2.31189441e-01 1.01416988e-02 5.80019712e+01] [ 2.31178114e-01 9.72908747e-01 -2.29146038e-03 -4.69376466e+01] [-1.03967089e-02 1.15278061e-04 -9.99945946e-01 6.71398040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.01, Y:-46.91, Z:6.72 [[-9.86504399e-01 1.63372166e-01 1.08906183e-02 5.80135737e+01] [ 1.63363805e-01 9.86564501e-01 -1.65888086e-03 -4.69113604e+01] [-1.10153124e-02 1.42639586e-04 -9.99939320e-01 6.71530449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.980385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.14, Y:-46.11, Z:5.76 [[-9.79055761e-01 -2.03299859e-01 1.09080150e-02 5.81437173e+01] [ 2.03285706e-01 -9.79116515e-01 -2.40265471e-03 -4.61056854e+01] [ 1.11686770e-02 -1.34889399e-04 9.99937619e-01 5.76164095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.010385723 meters Centerline goodness [0,1] 0.9999325296869378 Centerline is valid? [True, True] Translation: X:57.95, Y:-46.90, Z:6.72 [[-9.86894806e-01 1.60999171e-01 1.08585885e-02 5.79500148e+01] [ 1.60991257e-01 9.86954528e-01 -1.60478380e-03 -4.69013640e+01] [-1.09753019e-02 1.64385010e-04 -9.99939756e-01 6.71664289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.95, Y:-46.87, Z:6.72 [[-9.95858835e-01 9.03185184e-02 1.03801277e-02 5.79533470e+01] [ 9.03152198e-02 9.95912919e-01 -7.87057668e-04 -4.68719495e+01] [-1.04087892e-02 1.53685186e-04 -9.99945815e-01 6.71524004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.96, Y:-46.84, Z:6.72 [[-9.99769539e-01 1.88840402e-02 1.02108650e-02 5.79592583e+01] [ 1.88845533e-02 9.99821670e-01 -4.61708503e-05 -4.68437265e+01] [-1.02099160e-02 1.46667416e-04 -9.99947867e-01 6.71563341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.96, Y:-46.03, Z:5.76 [[-9.98236254e-01 -5.85716506e-02 9.68214627e-03 5.79644949e+01] [ 5.85672136e-02 -9.98283192e-01 -7.41412564e-04 -4.60298231e+01] [ 9.70894965e-03 -1.73048572e-04 9.99952852e-01 5.76186000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.86, Y:-46.84, Z:6.71 [[-9.99898835e-01 1.07252868e-02 9.34279876e-03 5.78577363e+01] [ 1.07258924e-02 9.99942476e-01 1.47170460e-05 -4.68390080e+01] [-9.34210348e-03 1.14925411e-04 -9.99956355e-01 6.71467962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.86, Y:-46.03, Z:5.76 [[-9.98486515e-01 -5.42942418e-02 8.76444110e-03 5.78615816e+01] [ 5.42908721e-02 -9.98524969e-01 -6.22109980e-04 -4.60321292e+01] [ 8.78529027e-03 -1.45339275e-04 9.99961398e-01 5.76271220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.76, Y:-46.83, Z:6.71 [[-9.99967388e-01 1.87254276e-03 7.85595564e-03 5.77593115e+01] [ 1.87306535e-03 9.99998244e-01 5.91642800e-05 -4.68349895e+01] [-7.85583106e-03 7.38770688e-05 -9.99969140e-01 6.71445991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.75, Y:-46.81, Z:6.71 [[-9.97488045e-01 -7.04936748e-02 6.94571835e-03 5.77534876e+01] [-7.04915671e-02 9.97512225e-01 5.48114730e-04 -4.68052066e+01] [-6.96707758e-03 5.71233200e-05 -9.99975728e-01 6.71445286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.70, Y:-46.01, Z:5.76 [[-9.99816786e-01 1.79452632e-02 6.66055238e-03 5.76951423e+01] [-1.79453685e-02 -9.99838968e-01 4.39458605e-05 -4.60102801e+01] [ 6.66026844e-03 -7.55882582e-05 9.99977817e-01 5.76328202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.280385723 meters Centerline goodness [0,1] 0.9999776301366798 Centerline is valid? [True, True] Translation: X:57.65, Y:-46.81, Z:6.71 [[-9.96833934e-01 -7.92617409e-02 6.29962585e-03 5.76468236e+01] [-7.92599264e-02 9.96853838e-01 5.37558867e-04 -4.68093991e+01] [-6.32241406e-03 3.65490390e-05 -9.99980013e-01 6.71404730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.310385723 meters Centerline goodness [0,1] 0.9999776441394111 Centerline is valid? [True, True] Translation: X:57.64, Y:-46.78, Z:6.71 [[-9.88523943e-01 -1.50952346e-01 5.81404560e-03 5.76382508e+01] [-1.50949558e-01 9.88541040e-01 9.17926838e-04 -4.67802453e+01] [-5.88598589e-03 2.97650465e-05 -9.99982677e-01 6.71360692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.61, Y:-46.76, Z:6.71 [[-9.75037940e-01 -2.21979560e-01 5.10782256e-03 5.76070047e+01] [-2.21976390e-01 9.75051319e-01 1.18659521e-03 -4.67555943e+01] [-5.24378900e-03 2.31593369e-05 -9.99986251e-01 6.71306745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.56, Y:-46.74, Z:6.71 [[-9.56466654e-01 -2.91807081e-01 4.49077056e-03 5.75606357e+01] [-2.91803761e-01 9.56477196e-01 1.39209156e-03 -4.67373693e+01] [-4.70154181e-03 2.10654171e-05 -9.99988948e-01 6.71292592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.48, Y:-46.73, Z:6.71 [[-9.33236534e-01 -3.59231081e-01 4.75407675e-03 5.74846495e+01] [-3.59226265e-01 9.33248643e-01 1.86036319e-03 -4.67337190e+01] [-5.10503595e-03 2.83696573e-05 -9.99986969e-01 6.71409781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.41, Y:-46.74, Z:6.71 [[-9.04416658e-01 -4.26620356e-01 5.05772098e-03 5.74126569e+01] [-4.26613459e-01 9.04430799e-01 2.42602898e-03 -4.67352715e+01] [-5.60935197e-03 3.64491803e-05 -9.99984267e-01 6.71431655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.38, Y:-46.72, Z:6.71 [[-8.70273601e-01 -4.92540298e-01 5.28336292e-03 5.73833306e+01] [-4.92530881e-01 8.70289637e-01 3.04607631e-03 -4.67181374e+01] [-6.09837133e-03 4.87004076e-05 -9.99981404e-01 6.71376926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.30, Y:-46.74, Z:6.71 [[-8.31250029e-01 -5.55872753e-01 5.37325209e-03 5.72970666e+01] [-5.55860694e-01 8.31267394e-01 3.66189493e-03 -4.67372937e+01] [-6.50215688e-03 5.71706306e-05 -9.99978859e-01 6.71365906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.520385723 meters Centerline goodness [0,1] 0.9999110320284698 Centerline is valid? [True, True] Translation: X:57.21, Y:-46.77, Z:6.71 [[-7.87548418e-01 -6.16231133e-01 5.16526073e-03 5.72050605e+01] [-6.16217342e-01 7.87565354e-01 4.12321310e-03 -4.67686870e+01] [-6.60883267e-03 6.43067249e-05 -9.99978159e-01 6.71395474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.11, Y:-46.81, Z:6.71 [[-7.39567140e-01 -6.73069344e-01 4.25491650e-03 5.71089014e+01] [-6.73057704e-01 7.39579377e-01 3.95896871e-03 -4.68112348e+01] [-5.81150896e-03 6.41188388e-05 -9.99983111e-01 6.71347058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.02, Y:-46.86, Z:6.71 [[-6.86885398e-01 -7.26758954e-01 3.14193754e-03 5.70151390e+01] [-7.26750982e-01 6.86892582e-01 3.40453910e-03 -4.68633713e+01] [-4.63245286e-03 5.51220055e-05 -9.99989269e-01 6.71183903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.93, Y:-46.92, Z:6.71 [[-6.29774380e-01 -7.76772866e-01 2.85409818e-03 5.69260300e+01] [-7.76764478e-01 6.29780844e-01 3.61025877e-03 -4.69208690e+01] [-4.60180741e-03 5.66863955e-05 -9.99989410e-01 6.71145700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.84, Y:-46.99, Z:6.71 [[-5.68852549e-01 -8.22435091e-01 2.70161811e-03 5.68364945e+01] [-8.22425300e-01 5.68858961e-01 4.01358421e-03 -4.69948126e+01] [-4.83775217e-03 6.12585273e-05 -9.99988296e-01 6.71226972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.75, Y:-47.07, Z:6.71 [[-5.04639555e-01 -8.63326220e-01 2.59941456e-03 5.67522668e+01] [-8.63314050e-01 5.04646245e-01 4.58461301e-03 -4.70713805e+01] [-5.26980142e-03 6.94659591e-05 -9.99986112e-01 6.71289557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.67, Y:-47.16, Z:6.71 [[-4.37017233e-01 -8.99450277e-01 2.26671826e-03 5.66700681e+01] [-8.99437327e-01 4.37023106e-01 4.82703861e-03 -4.71629084e+01] [-5.33228947e-03 7.07280456e-05 -9.99985781e-01 6.71262542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.730385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.60, Y:-47.26, Z:6.71 [[-3.66855458e-01 -9.30276231e-01 1.79082589e-03 5.65963779e+01] [-9.30264224e-01 3.66859823e-01 4.72702210e-03 -4.72587164e+01] [-5.05441837e-03 6.81926051e-05 -9.99987224e-01 6.71215982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.53, Y:-47.36, Z:6.71 [[-2.94862731e-01 -9.55538842e-01 1.22117545e-03 5.65311988e+01] [-9.55529762e-01 2.94865253e-01 4.16606759e-03 -4.73633346e+01] [-4.34092161e-03 6.15485841e-05 -9.99990576e-01 6.71201091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.47, Y:-47.49, Z:6.71 [[-2.21987910e-01 -9.75049052e-01 8.44914778e-04 5.64678955e+01] [-9.75040845e-01 2.21989509e-01 4.00107888e-03 -4.74910413e+01] [-4.08881039e-03 6.43647214e-05 -9.99991639e-01 6.71116878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.42, Y:-47.59, Z:6.71 [[-1.47356614e-01 -9.89083270e-01 5.60664989e-04 5.64207256e+01] [-9.89074102e-01 1.47357663e-01 4.25908368e-03 -4.75884088e+01] [-4.29520669e-03 7.30649299e-05 -9.99990773e-01 6.71120045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.38, Y:-47.72, Z:6.71 [[-7.27141540e-02 -9.97352795e-01 2.30913044e-04 5.63794294e+01] [-9.97343539e-01 7.27144742e-02 4.29779475e-03 -4.77163494e+01] [-4.30320833e-03 8.22108774e-05 -9.99990738e-01 6.71152323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.35, Y:-47.82, Z:6.71 [[ 3.22051945e-03 -9.99994809e-01 -1.01148399e-04 5.63485089e+01] [-9.99985307e-01 -3.22092989e-03 4.36029581e-03 -4.78241303e+01] [-4.36059897e-03 8.71044953e-05 -9.99990489e-01 6.71116234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.910385723 meters Centerline goodness [0,1] 0.9999117990783004 Centerline is valid? [True, True] Translation: X:56.32, Y:-47.95, Z:6.71 [[ 7.81181995e-02 -9.96944036e-01 -3.69851584e-04 5.63243027e+01] [-9.96937271e-01 -7.81190323e-02 3.67344415e-03 -4.79492645e+01] [-3.69111068e-03 8.17559865e-05 -9.99993185e-01 6.71185633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.31, Y:-48.08, Z:6.71 [[ 1.54650017e-01 -9.87969159e-01 -5.60377518e-04 5.63111230e+01] [-9.87964221e-01 -1.54651017e-01 3.12422767e-03 -4.80797027e+01] [-3.17330353e-03 7.04710752e-05 -9.99994963e-01 6.71041189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.31, Y:-48.20, Z:6.71 [[ 2.29850962e-01 -9.73225536e-01 -7.68863866e-04 5.63069376e+01] [-9.73221054e-01 -2.29852237e-01 2.95448225e-03 -4.82023788e+01] [-3.05210265e-03 6.91839154e-05 -9.99995340e-01 6.71111537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.31, Y:-48.33, Z:6.71 [[ 3.04078013e-01 -9.52646615e-01 -9.93985763e-04 5.63142975e+01] [-9.52642245e-01 -3.04079630e-01 2.88652094e-03 -4.83285767e+01] [-3.05208522e-03 6.91852765e-05 -9.99995340e-01 6.71111447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.33, Y:-48.46, Z:6.71 [[ 3.75530637e-01 -9.26809291e-01 -1.13098754e-03 5.63293305e+01] [-9.26805613e-01 -3.75532334e-01 2.61197800e-03 -4.84556902e+01] [-2.84552787e-03 6.73278407e-05 -9.99995949e-01 6.71023206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.060385723 meters Centerline goodness [0,1] 0.9999780802700511 Centerline is valid? [True, True] Translation: X:56.35, Y:-48.57, Z:6.71 [[ 4.44890166e-01 -8.95584215e-01 -1.28569898e-03 5.63535199e+01] [-8.95580904e-01 -4.44892019e-01 2.43656090e-03 -4.85730967e+01] [-2.75414270e-03 6.74454647e-05 -9.99996205e-01 6.70990538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.39, Y:-48.69, Z:6.71 [[ 5.11339407e-01 -8.59378470e-01 -8.09820370e-04 5.63856529e+01] [-8.59377510e-01 -5.11340047e-01 1.28552532e-03 -4.86946692e+01] [-1.51884637e-03 3.86016551e-05 -9.99998846e-01 6.70854363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.42, Y:-48.81, Z:6.71 [[ 5.75309961e-01 -8.17935076e-01 -8.12508307e-04 5.64249820e+01] [-8.17934345e-01 -5.75310534e-01 1.09421469e-03 -4.88078790e+01] [-1.36244116e-03 3.50658411e-05 -9.99999071e-01 6.70837354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.47, Y:-48.92, Z:6.71 [[ 6.35847814e-01 -7.71813935e-01 -8.98632048e-04 5.64737514e+01] [-7.71813243e-01 -6.35848448e-01 1.03452331e-03 -4.89185067e+01] [-1.36985330e-03 3.57767297e-05 -9.99999061e-01 6.70858121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.52, Y:-49.01, Z:6.71 [[ 6.92001898e-01 -7.21894734e-01 -1.16922231e-03 5.65171680e+01] [-7.21893811e-01 -6.92002884e-01 1.15502876e-03 -4.90144361e+01] [-1.64291439e-03 4.47722485e-05 -9.99998649e-01 6.70894599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.51, Y:-49.03, Z:6.71 [[ 7.45685771e-01 -6.66295767e-01 -1.63775185e-03 5.65078879e+01] [-6.66294336e-01 -7.45687567e-01 1.38228820e-03 -4.90287870e+01] [-2.14226397e-03 6.04721395e-05 -9.99997704e-01 6.71005411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.50, Y:-49.04, Z:6.71 [[ 7.95298877e-01 -6.06213843e-01 -2.11491403e-03 5.65010162e+01] [-6.06211946e-01 -7.95301685e-01 1.51865032e-03 -4.90419105e+01] [-2.60262154e-03 7.43052507e-05 -9.99996610e-01 6.71090136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.50, Y:-49.05, Z:6.71 [[ 8.40387712e-01 -5.41979325e-01 -2.62770375e-03 5.64956918e+01] [-5.41976997e-01 -8.40391815e-01 1.59113665e-03 -4.90535482e+01] [-3.07066389e-03 8.69833018e-05 -9.99995282e-01 6.71192349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.300385723 meters Centerline goodness [0,1] 0.9998484422023514 Centerline is valid? [True, True] Translation: X:56.49, Y:-49.07, Z:6.72 [[ 8.80404086e-01 -4.74213505e-01 -3.19332699e-03 5.64908676e+01] [-4.74210793e-01 -8.80409872e-01 1.60686641e-03 -4.90688377e+01] [-3.57343436e-03 9.96183758e-05 -9.99993610e-01 6.71520699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.330385723 meters Centerline goodness [0,1] 0.9999567249437424 Centerline is valid? [True, True] Translation: X:56.48, Y:-49.09, Z:6.71 [[ 9.15642759e-01 -4.01986988e-01 -2.19076209e-03 5.64845636e+01] [-4.01985995e-01 -9.15645378e-01 8.95508756e-04 -4.90904893e+01] [-2.36594405e-03 6.06895697e-05 -9.99997199e-01 6.71303941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.48, Y:-49.11, Z:6.71 [[ 9.44626542e-01 -3.28142532e-01 -1.78197471e-03 5.64811540e+01] [-3.28142039e-01 -9.44628221e-01 5.70599106e-04 -4.91106443e+01] [-1.87054144e-03 4.57377549e-05 -9.99998250e-01 6.71230931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.48, Y:-49.13, Z:6.71 [[ 9.67620653e-01 -2.52403513e-01 -1.65518139e-03 5.64794393e+01] [-2.52403214e-01 -9.67622067e-01 3.90453407e-04 -4.91277427e+01] [-1.70014185e-03 3.99623226e-05 -9.99998554e-01 6.71249066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.48, Y:-49.15, Z:6.71 [[ 9.84803721e-01 -1.73671044e-01 1.68353271e-05 5.64788940e+01] [-1.73671044e-01 -9.84803721e-01 -2.15179406e-06 -4.91461484e+01] [ 1.69531969e-05 -8.04714050e-07 -1.00000000e+00 6.71140052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.48, Y:-49.16, Z:6.71 [[ 9.95478116e-01 -9.49853641e-02 1.04979496e-03 5.64777303e+01] [-9.49853345e-02 -9.95478669e-01 -7.81124297e-05 -4.91624664e+01] [ 1.05246803e-03 -2.19559114e-05 -9.99999446e-01 6.71101390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.48, Y:-49.18, Z:6.71 [[ 9.99885777e-01 -1.50609588e-02 1.26532754e-03 5.64770620e+01] [-1.50609773e-02 -9.99886577e-01 5.04256709e-06 -4.91788367e+01] [ 1.26510808e-03 -2.40990605e-05 -9.99999200e-01 6.71089393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.510385723 meters Centerline goodness [0,1] 0.9998930229572733 Centerline is valid? [True, True] Translation: X:56.48, Y:-49.19, Z:6.71 [[ 9.97937319e-01 6.41851433e-02 1.17234685e-03 5.64787367e+01] [ 6.41850739e-02 -9.97938008e-01 9.67698206e-05 -4.91909027e+01] [ 1.17614066e-03 -2.13230462e-05 -9.99999308e-01 6.71112644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.48, Y:-49.21, Z:6.71 [[ 9.89516738e-01 1.44411900e-01 1.35207870e-03 5.64822523e+01] [ 1.44411736e-01 -9.89517662e-01 2.19120689e-04 -4.92075233e+01] [ 1.36954938e-03 -2.15675585e-05 -9.99999062e-01 6.71142182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.570385723 meters Centerline goodness [0,1] 0.9999572155906388 Centerline is valid? [True, True] Translation: X:56.49, Y:-49.22, Z:6.71 [[ 9.74823401e-01 2.22976346e-01 9.41167193e-04 5.64876485e+01] [ 2.22976228e-01 -9.74823856e-01 2.29520405e-04 -4.92221801e+01] [ 9.68649853e-04 -1.38839518e-05 -9.99999531e-01 6.71245348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.49, Y:-49.24, Z:6.71 [[ 9.53858886e-01 3.00252716e-01 1.23767493e-03 5.64927858e+01] [ 3.00252441e-01 -9.53859689e-01 4.06667036e-04 -4.92353839e+01] [ 1.30267110e-03 -1.62880488e-05 -9.99999151e-01 6.71145580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.630385723 meters Centerline goodness [0,1] 0.9999147266990706 Centerline is valid? [True, True] Translation: X:56.50, Y:-49.25, Z:6.71 [[ 9.26278649e-01 3.76837916e-01 1.02500601e-03 5.65005475e+01] [ 3.76837672e-01 -9.26279216e-01 4.28398041e-04 -4.92478172e+01] [ 1.11087839e-03 -1.05550787e-05 -9.99999383e-01 6.71359472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.51, Y:-49.26, Z:6.71 [[ 8.93356167e-01 4.49348280e-01 9.39088207e-04 5.65086417e+01] [ 4.49348021e-01 -8.93356661e-01 4.82058680e-04 -4.92572132e+01] [ 1.05555294e-03 -8.67266714e-06 -9.99999443e-01 6.71192240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.52, Y:-49.27, Z:6.71 [[ 8.54214379e-01 5.19920775e-01 4.27445707e-04 5.65193614e+01] [ 5.19920709e-01 -8.54214486e-01 2.63877472e-04 -4.92704239e+01] [ 5.02325694e-04 -3.17005561e-06 -9.99999874e-01 6.71266724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.53, Y:-49.28, Z:6.71 [[ 8.10131848e-01 5.86247717e-01 -6.46430247e-05 5.65292853e+01] [ 5.86247715e-01 -8.10131850e-01 -4.66620976e-05 -4.92802022e+01] [-7.97249216e-05 -9.43741757e-08 -9.99999997e-01 6.71306297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.54, Y:-49.29, Z:6.71 [[ 7.60497875e-01 6.49340223e-01 -5.06538886e-04 5.65409203e+01] [ 6.49340078e-01 -7.60498044e-01 -4.33868874e-04 -4.92888541e+01] [-6.66950344e-04 1.04035672e-06 -9.99999778e-01 6.71348979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.55, Y:-49.30, Z:6.71 [[ 7.06605087e-01 7.07607943e-01 -4.99991312e-04 5.65512292e+01] [ 7.07607766e-01 -7.06605264e-01 -5.01286543e-04 -4.92960119e+01] [-7.08010833e-04 4.13885832e-07 -9.99999749e-01 6.71368918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.56, Y:-49.30, Z:6.71 [[ 6.47793695e-01 7.61815793e-01 1.62135093e-04 5.65611673e+01] [ 7.61815769e-01 -6.47793715e-01 1.91164124e-04 -4.93020131e+01] [ 2.50661943e-04 -3.17843354e-07 -9.99999969e-01 6.71374817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.57, Y:-49.31, Z:6.71 [[ 5.85400873e-01 8.10743946e-01 2.68918111e-04 5.65720212e+01] [ 8.10743860e-01 -5.85400935e-01 3.72107566e-04 -4.93067660e+01] [ 4.59108870e-04 1.91613234e-07 -9.99999895e-01 6.71369282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.58, Y:-49.31, Z:6.71 [[ 5.19377658e-01 8.54544805e-01 1.59676118e-04 5.65815279e+01] [ 8.54544764e-01 -5.19377683e-01 2.62230917e-04 -4.93094498e+01] [ 3.07020280e-04 2.53510904e-07 -9.99999953e-01 6.71340438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.59, Y:-49.31, Z:6.71 [[ 4.50763521e-01 8.92643405e-01 -1.46039713e-05 5.65909238e+01] [ 8.92643404e-01 -4.50763521e-01 -2.78297412e-05 -4.93126134e+01] [-3.14249726e-05 -4.91506552e-07 -1.00000000e+00 6.71347664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.60, Y:-49.31, Z:6.71 [[ 3.79670793e-01 9.25121654e-01 -1.17741309e-04 5.65984234e+01] [ 9.25121611e-01 -3.79670811e-01 -2.84064151e-04 -4.93130824e+01] [-3.07496836e-04 -1.07416821e-06 -9.99999953e-01 6.71356802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.61, Y:-49.31, Z:6.71 [[ 3.06443887e-01 9.51888691e-01 -2.52243120e-04 5.66068540e+01] [ 9.51888374e-01 -3.06443990e-01 -7.77612339e-04 -4.93139431e+01] [-8.17498780e-04 -1.81274558e-06 -9.99999666e-01 6.71406209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.62, Y:-49.31, Z:6.71 [[ 2.30938322e-01 9.72968389e-01 -7.99321721e-05 5.66160161e+01] [ 9.72968332e-01 -2.30938336e-01 -3.32414511e-04 -4.93146047e+01] [-3.41888214e-04 -1.00422283e-06 -9.99999942e-01 6.71400279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.63, Y:-49.32, Z:6.71 [[ 1.53310478e-01 9.88178059e-01 -1.47424130e-04 5.66261188e+01] [ 9.88177619e-01 -1.53310549e-01 -9.32411082e-04 -4.93158390e+01] [-9.43989847e-04 -2.73283724e-06 -9.99999555e-01 6.71395911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.64, Y:-49.32, Z:6.71 [[ 7.44629731e-02 9.97223772e-01 -1.16516164e-04 5.66368937e+01] [ 9.97222665e-01 -7.44630641e-02 -1.48582853e-03 -4.93157239e+01] [-1.49037968e-03 -5.55334955e-06 -9.99998889e-01 6.71405904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.65, Y:-49.32, Z:6.72 [[-7.29226593e-03 9.99973411e-01 7.93132911e-07 5.66466312e+01] [ 9.99968060e-01 7.29222950e-03 -3.27139732e-03 -4.93155867e+01] [-3.27131612e-03 -2.30627917e-05 -9.99994649e-01 6.71523355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.110385723 meters Centerline goodness [0,1] 0.9999569197630587 Centerline is valid? [True, True] Translation: X:56.66, Y:-49.31, Z:6.72 [[-8.72861494e-02 9.96183242e-01 2.77364278e-04 5.66579575e+01] [ 9.96177028e-01 8.72865847e-02 -3.51860140e-03 -4.93145978e+01] [-3.52938193e-03 -3.08212455e-05 -9.99993771e-01 6.71599810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.67, Y:-49.31, Z:6.72 [[-1.68196785e-01 9.85753236e-01 6.31281107e-04 5.66669717e+01] [ 9.85745180e-01 1.68197963e-01 -3.98573087e-03 -4.93134074e+01] [-4.03512730e-03 -4.81048096e-05 -9.99991858e-01 6.71718767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.170385723 meters Centerline goodness [0,1] 0.9999784737918416 Centerline is valid? [True, True] Translation: X:56.67, Y:-49.31, Z:6.72 [[-2.46428706e-01 9.69160369e-01 1.03553494e-03 5.66744111e+01] [ 9.69150761e-01 2.46430875e-01 -4.31576497e-03 -4.93129116e+01] [-4.43785615e-03 -5.99388961e-05 -9.99990151e-01 6.71730878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.200385723 meters Centerline goodness [0,1] 0.9999348661499381 Centerline is valid? [True, True] Translation: X:56.68, Y:-49.31, Z:6.72 [[-3.22571381e-01 9.46543560e-01 1.73026236e-03 5.66787376e+01] [ 9.46528558e-01 3.22576011e-01 -5.32981932e-03 -4.93111931e+01] [-5.60304728e-03 -8.15044385e-05 -9.99984300e-01 6.71720726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2303857229999 meters Centerline goodness [0,1] 0.9998915918650536 Centerline is valid? [True, True] Translation: X:56.69, Y:-49.31, Z:6.72 [[-3.95915205e-01 9.18283955e-01 2.39326860e-03 5.66860816e+01] [ 9.18265741e-01 3.95922428e-01 -5.78445740e-03 -4.93087124e+01] [-6.25932313e-03 -9.24980746e-05 -9.99980406e-01 6.71718469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.69, Y:-49.31, Z:6.72 [[-4.66252765e-01 8.84647736e-01 2.59652924e-03 5.66943601e+01] [ 8.84633022e-01 4.66259988e-01 -5.10287869e-03 -4.93068728e+01] [-5.72490778e-03 -8.22557918e-05 -9.99983609e-01 6.71705105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.290385723 meters Centerline goodness [0,1] 0.9999562946613929 Centerline is valid? [True, True] Translation: X:56.70, Y:-49.31, Z:6.72 [[-5.33490538e-01 8.45800539e-01 3.04856256e-03 5.66967006e+01] [ 8.45785869e-01 5.33499242e-01 -4.98223021e-03 -4.93067430e+01] [-5.84037882e-03 -7.95415481e-05 -9.99982942e-01 6.71602874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.70, Y:-49.30, Z:6.72 [[-5.97707907e-01 8.01706574e-01 3.43911961e-03 5.67031360e+01] [ 8.01692555e-01 5.97717796e-01 -4.74160336e-03 -4.93044697e+01] [-5.85699758e-03 -7.69772295e-05 -9.99982845e-01 6.71596470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.71, Y:-49.31, Z:6.72 [[-6.57860050e-01 7.53128388e-01 4.21727607e-03 5.67057672e+01] [ 7.53112142e-01 6.57873563e-01 -4.94742740e-03 -4.93065268e+01] [-6.50048246e-03 -7.86330276e-05 -9.99978869e-01 6.71526184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.71, Y:-49.31, Z:6.71 [[-7.14803943e-01 6.99309840e-01 4.59027536e-03 5.67116433e+01] [ 6.99294711e-01 7.14818678e-01 -4.60054235e-03 -4.93052339e+01] [-6.49841910e-03 -7.85305307e-05 -9.99978882e-01 6.71486057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.410385723 meters Centerline goodness [0,1] 0.9999779254321096 Centerline is valid? [True, True] Translation: X:56.72, Y:-49.30, Z:6.72 [[-7.67489280e-01 6.41042278e-01 5.00038577e-03 5.67183243e+01] [ 6.41027983e-01 7.67505565e-01 -4.28177535e-03 -4.93033941e+01] [-6.58262293e-03 -8.08294793e-05 -9.99978331e-01 6.71519269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.73, Y:-49.28, Z:6.72 [[-8.11199145e-01 5.84745505e-01 5.35179315e-03 5.67302380e+01] [ 5.84732086e-01 8.11216794e-01 -3.96242786e-03 -4.92845598e+01] [-6.65847637e-03 -8.49529224e-05 -9.99977829e-01 6.71515437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.75, Y:-49.27, Z:6.72 [[-8.50560969e-01 5.25841986e-01 6.02025908e-03 5.67513784e+01] [ 5.25828051e-01 8.50582270e-01 -3.82930487e-03 -4.92681917e+01] [-7.13433491e-03 -9.14361653e-05 -9.99974546e-01 6.71548698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.500385723 meters Centerline goodness [0,1] 0.9999330192681238 Centerline is valid? [True, True] Translation: X:56.76, Y:-49.25, Z:6.72 [[-8.85521865e-01 4.64546284e-01 6.91212736e-03 5.67624113e+01] [ 4.64531258e-01 8.85548836e-01 -3.73763670e-03 -4.92512678e+01] [-7.85733158e-03 -9.88598035e-05 -9.99969126e-01 6.71522542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.530385723 meters Centerline goodness [0,1] 0.9999776710952328 Centerline is valid? [True, True] Translation: X:56.77, Y:-49.23, Z:6.72 [[-9.15912803e-01 4.01306541e-01 7.53644561e-03 5.67725102e+01] [ 4.01292068e-01 9.15943803e-01 -3.40960081e-03 -4.92279881e+01] [-8.27125576e-03 -9.85811929e-05 -9.99965788e-01 6.71550738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.78, Y:-49.21, Z:6.71 [[-9.41356775e-01 3.37313760e-01 8.17620760e-03 5.67784004e+01] [ 3.37300237e-01 9.41392277e-01 -3.02157444e-03 -4.92097117e+01] [-8.71623733e-03 -8.65428034e-05 -9.99962009e-01 6.71475775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.80, Y:-49.19, Z:6.71 [[-9.61564141e-01 2.74432290e-01 9.01778061e-03 5.68047043e+01] [ 2.74418892e-01 9.61606416e-01 -2.71510732e-03 -4.91902978e+01] [-9.41666881e-03 -1.36100472e-04 -9.99955653e-01 6.71388955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.82, Y:-49.16, Z:6.71 [[-9.78482805e-01 2.06126050e-01 9.13517940e-03 5.68158319e+01] [ 2.06116350e-01 9.78525445e-01 -2.00112294e-03 -4.91643466e+01] [-9.35148905e-03 -7.51545576e-05 -9.99956271e-01 6.71357393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.650385723 meters Centerline goodness [0,1] 0.9999550874671577 Centerline is valid? [True, True] Translation: X:56.82, Y:-49.13, Z:6.71 [[-9.90568679e-01 1.36687076e-01 9.50450688e-03 5.68170343e+01] [ 1.36680082e-01 9.90614273e-01 -1.38464357e-03 -4.91338870e+01] [-9.60456305e-03 -7.25077731e-05 -9.99953873e-01 6.71482889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.680385723 meters Centerline goodness [0,1] 0.9999329459097005 Centerline is valid? [True, True] Translation: X:56.83, Y:-49.11, Z:6.72 [[-9.97562394e-01 6.88989163e-02 1.10548040e-02 5.68314551e+01] [ 6.88941166e-02 9.97623645e-01 -8.14849304e-04 -4.91052138e+01] [-1.10846760e-02 -5.12520697e-05 -9.99938562e-01 6.71601755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.710385723 meters Centerline goodness [0,1] 0.9998662088034608 Centerline is valid? [True, True] Translation: X:56.90, Y:-48.31, Z:5.76 [[-9.89622707e-01 -1.43238712e-01 1.13828713e-02 5.68972059e+01] [ 1.43230153e-01 -9.89688166e-01 -1.56786552e-03 -4.83109883e+01] [ 1.14900720e-02 7.87750671e-05 9.99933984e-01 5.76038460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.740385723 meters Centerline goodness [0,1] 0.9999329414131479 Centerline is valid? [True, True] Translation: X:56.76, Y:-49.10, Z:6.71 [[-9.97511295e-01 6.97393316e-02 1.03750239e-02 5.67609109e+01] [ 6.97356784e-02 9.97565249e-01 -7.13904942e-04 -4.91007475e+01] [-1.03995506e-02 1.13810894e-05 -9.99945923e-01 6.71450191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.770385723 meters Centerline goodness [0,1] 0.9998658438422323 Centerline is valid? [True, True] Translation: X:56.76, Y:-49.07, Z:6.71 [[-9.99955409e-01 -1.81497786e-05 9.44346574e-03 5.67594627e+01] [-1.79315221e-05 1.00000000e+00 2.31969156e-05 -4.90731439e+01] [-9.44346615e-03 2.30265456e-05 -9.99955409e-01 6.71253444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.800385723 meters Centerline goodness [0,1] 0.9998216674097191 Centerline is valid? [True, True] Translation: X:56.76, Y:-49.05, Z:6.71 [[-9.97591558e-01 -6.87723991e-02 9.02447888e-03 5.67584943e+01] [-6.87691831e-02 9.97632375e-01 6.66552639e-04 -4.90453620e+01] [-9.04895272e-03 4.43412451e-05 -9.99959056e-01 6.71048781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.74, Y:-49.02, Z:6.71 [[-9.90301420e-01 -1.38594400e-01 9.73089127e-03 5.67383439e+01] [-1.38587127e-01 9.90349226e-01 1.42110531e-03 -4.90177093e+01] [-9.83393788e-03 5.87463440e-05 -9.99951644e-01 6.71108853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.72, Y:-48.99, Z:6.71 [[-9.78106948e-01 -2.07855914e-01 1.01349165e-02 5.67220904e+01] [-2.07843888e-01 9.78159451e-01 2.23737202e-03 -4.89899900e+01] [-1.03786154e-02 8.19086536e-05 -9.99946137e-01 6.71315197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.68, Y:-48.97, Z:6.71 [[-9.60397553e-01 -2.78455798e-01 9.94531381e-03 5.66773812e+01] [-2.78439985e-01 9.60449042e-01 2.96864565e-03 -4.89715153e+01] [-1.03786037e-02 8.19069878e-05 -9.99946138e-01 6.71315166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.62, Y:-48.96, Z:6.71 [[-9.37575366e-01 -3.47616645e-01 1.07285110e-02 5.66187192e+01] [-3.47592659e-01 9.37636741e-01 4.08479560e-03 -4.89605379e+01] [-1.14793890e-02 1.00652063e-04 -9.99934105e-01 6.71424524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.54, Y:-48.96, Z:6.71 [[-9.09596096e-01 -4.15350070e-01 1.09206970e-02 5.65410249e+01] [-4.15318614e-01 9.09661644e-01 5.11303450e-03 -4.89616903e+01] [-1.20578384e-02 1.15227481e-04 -9.99927295e-01 6.71460436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.47, Y:-48.97, Z:6.71 [[-8.76255917e-01 -4.81719345e-01 1.10471947e-02 5.64655579e+01] [-4.81679196e-01 8.76325542e-01 6.22060577e-03 -4.89692358e+01] [-1.26775250e-02 1.29638767e-04 -9.99919629e-01 6.71343697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.38, Y:-48.99, Z:6.71 [[-8.36995461e-01 -5.47104136e-01 1.07546368e-02 5.63761432e+01] [-5.47057167e-01 8.37064544e-01 7.16976285e-03 -4.89919630e+01] [-1.29249321e-02 1.17657811e-04 -9.99916463e-01 6.71301657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.28, Y:-49.02, Z:6.71 [[-7.92526446e-01 -6.09742853e-01 1.07464273e-02 5.62830449e+01] [-6.09684973e-01 7.92599295e-01 8.40190718e-03 -4.90221175e+01] [-1.36406136e-02 1.06798393e-04 -9.99906957e-01 6.71388528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.18, Y:-49.06, Z:6.71 [[-7.43105093e-01 -6.69094094e-01 1.03882040e-02 5.61845406e+01] [-6.69027047e-01 7.43177695e-01 9.47235119e-03 -4.90640691e+01] [-1.40581757e-02 8.89629994e-05 -9.99901175e-01 6.71392245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.09, Y:-49.11, Z:6.72 [[-6.87932808e-01 -7.25707778e-01 9.83224595e-03 5.60917898e+01] [-7.25632671e-01 6.88003066e-01 1.04406749e-02 -4.91103348e+01] [-1.43414944e-02 4.78839298e-05 -9.99897154e-01 6.71692822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.00, Y:-49.17, Z:6.72 [[-6.29587903e-01 -7.76876842e-01 9.02469219e-03 5.59965567e+01] [-7.76796380e-01 6.29652580e-01 1.11808833e-02 -4.91739037e+01] [-1.43685901e-02 2.90006642e-05 -9.99896766e-01 6.71622134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.91, Y:-49.24, Z:6.72 [[-5.66798179e-01 -8.23810220e-01 8.74905070e-03 5.59100554e+01] [-8.23712015e-01 5.66865700e-01 1.27198476e-02 -4.92417732e+01] [-1.54382772e-02 2.88828309e-06 -9.99880823e-01 6.71616076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.82, Y:-49.33, Z:6.72 [[-5.01594466e-01 -8.65067750e-01 7.79617113e-03 5.58233528e+01] [-8.64963408e-01 5.01655049e-01 1.34355708e-02 -4.93261680e+01] [-1.55336676e-02 -4.19478355e-06 -9.99879345e-01 6.71680562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.75, Y:-49.41, Z:6.71 [[-4.32537571e-01 -9.01591249e-01 6.66851165e-03 5.57456058e+01] [-9.01484953e-01 4.32588972e-01 1.38441517e-02 -4.94135756e+01] [-1.53664907e-02 -2.34471465e-05 -9.99881928e-01 6.71367459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.250385723 meters Centerline goodness [0,1] 0.9999553202421643 Centerline is valid? [True, True] Translation: X:55.67, Y:-49.51, Z:6.71 [[-3.60961573e-01 -9.32565149e-01 5.38386116e-03 5.56713242e+01] [-9.32462986e-01 3.61001720e-01 1.38035699e-02 -4.95097729e+01] [-1.48163114e-02 -3.76929351e-05 -9.99890232e-01 6.71339448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.280385723 meters Centerline goodness [0,1] 0.9999110122358176 Centerline is valid? [True, True] Translation: X:55.60, Y:-49.62, Z:6.71 [[-2.86980497e-01 -9.57927201e-01 4.20378492e-03 5.56026528e+01] [-9.57827179e-01 2.87011280e-01 1.38426749e-02 -4.96153185e+01] [-1.44668085e-02 -5.39217324e-05 -9.99895349e-01 6.71338742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.310385723 meters Centerline goodness [0,1] 0.9998443060498221 Centerline is valid? [True, True] Translation: X:55.54, Y:-49.72, Z:6.71 [[-2.10321026e-01 -9.77628174e-01 2.86711201e-03 5.55419584e+01] [-9.77542202e-01 2.10340554e-01 1.29651454e-02 -4.97249725e+01] [-1.32781614e-02 -7.58802950e-05 -9.99911839e-01 6.71331083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3403857229999 meters Centerline goodness [0,1] 0.9998213488164359 Centerline is valid? [True, True] Translation: X:55.49, Y:-49.84, Z:6.71 [[-1.33605582e-01 -9.91032924e-01 1.81447690e-03 5.54921527e+01] [-9.90949732e-01 1.33617877e-01 1.28410323e-02 -4.98396748e+01] [-1.29683324e-02 -8.24217999e-05 -9.99915904e-01 6.71287376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.370385723 meters Centerline goodness [0,1] 0.9999553690975631 Centerline is valid? [True, True] Translation: X:55.45, Y:-49.96, Z:6.71 [[-5.69034872e-02 -9.98379354e-01 8.12265494e-04 5.54507111e+01] [-9.98296531e-01 5.69092293e-02 1.28598335e-02 -4.99619498e+01] [-1.28852177e-02 -7.91124518e-05 -9.99916979e-01 6.71336116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.400385723 meters Centerline goodness [0,1] 0.9999554605380367 Centerline is valid? [True, True] Translation: X:55.42, Y:-50.08, Z:6.71 [[ 1.96816591e-02 -9.99806281e-01 -1.83020083e-04 5.54198699e+01] [-9.99724002e-01 -1.96823874e-02 1.28266889e-02 -5.00819017e+01] [-1.28278064e-02 -6.94809490e-05 -9.99917718e-01 6.71306899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.430385723 meters Centerline goodness [0,1] 0.9999330252494809 Centerline is valid? [True, True] Translation: X:55.40, Y:-50.21, Z:6.71 [[ 9.52405120e-02 -9.95453604e-01 -1.16892993e-03 5.53993953e+01] [-9.95372259e-01 -9.52476728e-02 1.27258158e-02 -5.02096816e+01] [-1.27792971e-02 -4.84927933e-05 -9.99918340e-01 6.71184305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.460385723 meters Centerline goodness [0,1] 0.9999327339178008 Centerline is valid? [True, True] Translation: X:55.39, Y:-50.33, Z:6.71 [[ 1.70542725e-01 -9.85347879e-01 -2.17650373e-03 5.53860591e+01] [-9.85265234e-01 -1.70556610e-01 1.27617490e-02 -5.03292897e+01] [-1.29459794e-02 -3.19900022e-05 -9.99916197e-01 6.71201385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.38, Y:-50.45, Z:6.71 [[ 2.43539787e-01 -9.69886004e-01 -3.08421077e-03 5.53823427e+01] [-9.69808367e-01 -2.43559315e-01 1.22715302e-02 -5.04535197e+01] [-1.26531736e-02 2.48757255e-06 -9.99919945e-01 6.71301687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.39, Y:-50.58, Z:6.71 [[ 3.15864589e-01 -9.48795416e-01 -4.10121063e-03 5.53910482e+01] [-9.48716511e-01 -3.15891212e-01 1.22361948e-02 -5.05836016e+01] [-1.29051820e-02 2.59055916e-05 -9.99916724e-01 6.71264857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.41, Y:-50.70, Z:6.71 [[ 3.84424900e-01 -9.23141772e-01 -5.17346805e-03 5.54077009e+01] [-9.23060960e-01 -3.84459701e-01 1.22148183e-02 -5.07046210e+01] [-1.32649990e-02 7.97460962e-05 -9.99912013e-01 6.71326042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.44, Y:-50.83, Z:6.71 [[ 4.52742330e-01 -8.91619855e-01 -6.19809105e-03 5.54361471e+01] [-8.91539477e-01 -4.52784742e-01 1.19724150e-02 -5.08312474e+01] [-1.34812440e-02 1.05423767e-04 -9.99909118e-01 6.71369748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.49, Y:-50.98, Z:6.71 [[ 5.16745076e-01 -8.56110629e-01 -7.00836112e-03 5.54867384e+01] [-8.56035932e-01 -5.16792576e-01 1.13100514e-02 -5.09751233e+01] [-1.33045242e-02 1.54995588e-04 -9.99911479e-01 6.71459375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.51, Y:-51.06, Z:6.71 [[ 5.79704587e-01 -8.14790373e-01 -7.69682915e-03 5.55075676e+01] [-8.14722506e-01 -5.79755654e-01 1.05175731e-02 -5.10572235e+01] [-1.30318975e-02 1.73694592e-04 -9.99915066e-01 6.71447342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.55, Y:-51.16, Z:6.71 [[ 6.38201176e-01 -7.69828901e-01 -7.91981642e-03 5.55495113e+01] [-7.69773446e-01 -6.38250284e-01 9.24218387e-03 -5.11581689e+01] [-1.21697253e-02 1.98091763e-04 -9.99925927e-01 6.71392366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.60, Y:-51.26, Z:6.71 [[ 6.94262226e-01 -7.19672439e-01 -8.45827452e-03 5.56032135e+01] [-7.19622694e-01 -6.94313716e-01 8.46411944e-03 -5.12582766e+01] [-1.19640895e-02 2.10447899e-04 -9.99928406e-01 6.71447270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.67, Y:-51.36, Z:6.71 [[ 7.46226273e-01 -6.65631758e-01 -8.98402451e-03 5.56654787e+01] [-6.65587109e-01 -7.46280318e-01 7.71285902e-03 -5.13566790e+01] [-1.18385246e-02 2.24112868e-04 -9.99929897e-01 6.71372072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.66, Y:-51.36, Z:6.71 [[ 7.94695945e-01 -6.06939074e-01 -9.12767844e-03 5.56590597e+01] [-6.06902446e-01 -7.94748327e-01 6.67212413e-03 -5.13625527e+01] [-1.13037800e-02 2.37300377e-04 -9.99936082e-01 6.71374845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.65, Y:-51.38, Z:6.71 [[ 8.39354325e-01 -5.43512183e-01 -8.87831146e-03 5.56498566e+01] [-5.43484610e-01 -8.39401248e-01 5.47930949e-03 -5.13757337e+01] [-1.04305372e-02 2.26143522e-04 -9.99945575e-01 6.71213764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.64, Y:-51.39, Z:6.71 [[ 8.79181514e-01 -4.76412664e-01 -8.41663052e-03 5.56415831e+01] [-4.76393077e-01 -8.79221776e-01 4.32500961e-03 -5.13858190e+01] [-9.46057418e-03 2.07156019e-04 -9.99955226e-01 6.71210653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.64, Y:-51.40, Z:6.71 [[ 9.13762752e-01 -4.06157968e-01 -8.56380321e-03 5.56351773e+01] [-4.06142197e-01 -9.13802859e-01 3.58495471e-03 -5.13972189e+01] [-9.28168577e-03 2.02323768e-04 -9.99956904e-01 6.71197940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.63, Y:-51.41, Z:6.71 [[ 9.42877984e-01 -3.33015523e-01 -9.04257019e-03 5.56291246e+01] [-3.33002266e-01 -9.42921322e-01 2.97832545e-03 -5.14087136e+01] [-9.51826085e-03 2.02998871e-04 -9.99954680e-01 6.71331950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.63, Y:-51.42, Z:6.71 [[ 9.66046800e-01 -2.58207147e-01 -9.09121728e-03 5.56250888e+01] [-2.58197646e-01 -9.66089556e-01 2.22396614e-03 -5.14198859e+01] [-9.35717401e-03 1.98875525e-04 -9.99956201e-01 6.71385691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.62, Y:-51.43, Z:6.71 [[ 9.83207374e-01 -1.82256061e-01 -9.27296286e-03 5.56178916e+01] [-1.82249912e-01 -9.83251080e-01 1.51099380e-03 -5.14330781e+01] [-9.39303853e-03 2.04376425e-04 -9.99955864e-01 6.71347546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.61, Y:-51.44, Z:6.71 [[ 9.94453726e-01 -1.04795010e-01 -8.93263216e-03 5.56115079e+01] [-1.04792550e-01 -9.94493825e-01 7.44369420e-04 -5.14418952e+01] [-8.96145372e-03 1.95832355e-04 -9.99959826e-01 6.71380775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.61, Y:-51.46, Z:6.71 [[ 9.99602418e-01 -2.65894447e-02 -9.38121015e-03 5.56068739e+01] [-2.65901934e-02 -9.99646417e-01 4.49309874e-05 -5.14562921e+01] [-9.37908780e-03 2.04535068e-04 -9.99955995e-01 6.71272756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.60, Y:-51.47, Z:6.71 [[ 9.98639285e-01 5.12219114e-02 -9.79253895e-03 5.56040384e+01] [ 5.12172925e-02 -9.98687272e-01 -7.22045464e-04 -5.14701530e+01] [-9.81666856e-03 2.19515635e-04 -9.99951791e-01 6.71299519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.60, Y:-51.48, Z:6.71 [[ 9.91600762e-01 1.28949090e-01 -1.00030439e-02 5.56013947e+01] [ 1.28940191e-01 -9.91651189e-01 -1.53213259e-03 -5.14823107e+01] [-1.01170975e-02 2.29469450e-04 -9.99948795e-01 6.71385790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.60, Y:-51.50, Z:6.71 [[ 9.78525018e-01 2.05855081e-01 -1.06053941e-02 5.56021327e+01] [ 2.05840207e-01 -9.78582456e-01 -2.48723900e-03 -5.15008420e+01] [-1.08902634e-02 2.50809073e-04 -9.99940668e-01 6.71385280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.60, Y:-51.51, Z:6.71 [[ 9.59519417e-01 2.81444204e-01 -1.05664113e-02 5.56018163e+01] [ 2.81424151e-01 -9.59577560e-01 -3.36962568e-03 -5.15143607e+01] [-1.10876527e-02 2.59577949e-04 -9.99938496e-01 6.71463771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.60, Y:-51.53, Z:6.71 [[ 9.35040809e-01 3.54407010e-01 -9.71374986e-03 5.56013508e+01] [ 3.54384988e-01 -9.35091228e-01 -3.95937455e-03 -5.15266018e+01] [-1.04864724e-02 2.59769658e-04 -9.99944982e-01 6.71411803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.60, Y:-51.54, Z:6.71 [[ 9.04712533e-01 4.25935687e-01 -8.60370388e-03 5.56028601e+01] [ 4.25913842e-01 -9.04753409e-01 -4.32075758e-03 -5.15373727e+01] [-9.62459526e-03 2.44606959e-04 -9.99953653e-01 6.71358913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.61, Y:-51.55, Z:6.71 [[ 8.68949156e-01 4.94835793e-01 -8.05615395e-03 5.56074193e+01] [ 4.94811882e-01 -8.68986466e-01 -4.87077302e-03 -5.15509821e+01] [-9.41092157e-03 2.46173414e-04 -9.99955686e-01 6.71244043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.61, Y:-51.56, Z:6.71 [[ 8.28059332e-01 5.60598015e-01 -6.89991067e-03 5.56107773e+01] [ 5.60576220e-01 -8.28088047e-01 -4.94861383e-03 -5.15640070e+01] [-8.48791664e-03 2.29820026e-04 -9.99963951e-01 6.71127233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.61, Y:-51.57, Z:6.71 [[ 7.81609632e-01 6.23738402e-01 -6.06540205e-03 5.56135490e+01] [ 6.23717470e-01 -7.81633136e-01 -5.11447611e-03 -5.15744352e+01] [-7.93101439e-03 2.14426568e-04 -9.99968526e-01 6.71104819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.62, Y:-51.59, Z:6.71 [[ 7.29727104e-01 6.83724988e-01 -4.30053967e-03 5.56238439e+01] [ 6.83711827e-01 -7.29739759e-01 -4.24512187e-03 -5.15898766e+01] [-6.04077068e-03 1.57450658e-04 -9.99981742e-01 6.70954705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.63, Y:-51.60, Z:6.71 [[ 6.73266042e-01 7.39390421e-01 -3.82644254e-03 5.56310628e+01] [ 7.39377221e-01 -6.73276900e-01 -4.42050593e-03 -5.16016742e+01] [-5.84473511e-03 1.46992082e-04 -9.99982909e-01 6.70942052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.64, Y:-51.61, Z:6.71 [[ 6.12583403e-01 7.90398340e-01 -3.46955888e-03 5.56398572e+01] [ 7.90384333e-01 -6.12593212e-01 -4.70778088e-03 -5.16129479e+01] [-5.84645042e-03 1.41623453e-04 -9.99982899e-01 6.70991722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.65, Y:-51.62, Z:6.71 [[ 5.47398445e-01 8.36862869e-01 -3.93457403e-03 5.56515795e+01] [ 8.36839005e-01 -5.47412560e-01 -6.32207886e-03 -5.16237619e+01] [-7.44454830e-03 1.68091124e-04 -9.99972275e-01 6.71094285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.66, Y:-51.63, Z:6.71 [[ 4.80038769e-01 8.77238952e-01 -3.82112001e-03 5.56596458e+01] [ 8.77208008e-01 -4.80053941e-01 -7.37057309e-03 -5.16326385e+01] [-8.30009754e-03 1.86243760e-04 -9.99965536e-01 6.71150836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.67, Y:-51.64, Z:6.71 [[ 4.10092029e-01 9.12036267e-01 -3.79149606e-03 5.56736263e+01] [ 9.11992172e-01 -4.10109496e-01 -8.97108922e-03 -5.16423430e+01] [-9.73688726e-03 2.21157453e-04 -9.99952571e-01 6.71047907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.69, Y:-51.65, Z:6.71 [[ 3.38193603e-01 9.41072105e-01 -2.89487397e-03 5.56873795e+01] [ 9.41031982e-01 -3.38205924e-01 -8.69261099e-03 -5.16505151e+01] [-9.15943725e-03 2.15616438e-04 -9.99958028e-01 6.70994958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.70, Y:-51.66, Z:6.71 [[ 2.64036537e-01 9.64510670e-01 -1.96861514e-03 5.57004811e+01] [ 9.64478015e-01 -2.64043802e-01 -7.93910592e-03 -5.16579824e+01] [-8.17715300e-03 1.97528009e-04 -9.99966547e-01 6.70935981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.72, Y:-51.66, Z:6.71 [[ 1.88548031e-01 9.82063235e-01 -1.20114348e-03 5.57156385e+01] [ 9.82036640e-01 -1.88551767e-01 -7.22965933e-03 -5.16636822e+01] [-7.32646036e-03 1.83571117e-04 -9.99973144e-01 6.70932806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.73, Y:-51.67, Z:6.71 [[ 1.10922222e-01 9.93828854e-01 -6.84805535e-04 5.57288880e+01] [ 9.93797287e-01 -1.10924159e-01 -7.92361633e-03 -5.16691396e+01] [-7.95068002e-03 1.98347247e-04 -9.99968373e-01 6.70935125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.74, Y:-51.67, Z:6.71 [[ 3.25167833e-02 9.99471188e-01 -6.06866743e-05 5.57444381e+01] [ 9.99440842e-01 -3.25162691e-02 -7.79075038e-03 -5.16719321e+01] [-7.78860384e-03 1.92677401e-04 -9.99969650e-01 6.70922974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.76, Y:-51.67, Z:6.71 [[-4.60218495e-02 9.98940284e-01 5.46921791e-04 5.57578950e+01] [ 9.98910348e-01 4.60247057e-02 -7.73583046e-03 -5.16747575e+01] [-7.75280459e-03 1.90308612e-04 -9.99969929e-01 6.70933599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.77, Y:-51.68, Z:6.71 [[-1.24012932e-01 9.92280098e-01 9.99958156e-04 5.57715840e+01] [ 9.92257752e-01 1.24016852e-01 -6.66135161e-03 -5.16751227e+01] [-6.73393829e-03 1.66122489e-04 -9.99977313e-01 6.70942758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.79, Y:-51.67, Z:6.71 [[-2.01631816e-01 9.79460223e-01 1.51065664e-03 5.57858971e+01] [ 9.79438487e-01 2.01637409e-01 -6.52733839e-03 -5.16743996e+01] [-6.69787321e-03 1.63476155e-04 -9.99977556e-01 6.70907357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.80, Y:-51.67, Z:6.71 [[-2.78562167e-01 9.60415640e-01 2.21759371e-03 5.58015642e+01] [ 9.60389975e-01 2.78570940e-01 -7.02331435e-03 -5.16718929e+01] [-7.36305811e-03 1.73325105e-04 -9.99972877e-01 6.70998889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.81, Y:-51.67, Z:6.71 [[-3.53508793e-01 9.35426483e-01 2.97132578e-03 5.58138358e+01] [ 9.35397639e-01 3.53521234e-01 -7.34804436e-03 -5.16700955e+01] [-7.92398204e-03 1.81772822e-04 -9.99968588e-01 6.71072750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.82, Y:-51.67, Z:6.71 [[-4.26353447e-01 9.04549267e-01 3.65547105e-03 5.58238114e+01] [ 9.04519594e-01 4.26369078e-01 -7.32896565e-03 -5.16671851e+01] [-8.18799033e-03 1.81715423e-04 -9.99966461e-01 6.71097912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.83, Y:-51.66, Z:6.71 [[-4.95903368e-01 8.68367465e-01 4.21838412e-03 5.58335521e+01] [ 8.68339108e-01 4.95921276e-01 -7.02006111e-03 -5.16643010e+01] [-8.18797911e-03 1.81715959e-04 -9.99966462e-01 6.71097903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.85, Y:-51.66, Z:6.71 [[-5.64298300e-01 8.25559751e-01 4.30411963e-03 5.58477943e+01] [ 8.25537703e-01 5.64314696e-01 -6.03532771e-03 -5.16562845e+01] [-7.41140160e-03 1.47487862e-04 -9.99972524e-01 6.71070077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.86, Y:-51.65, Z:6.71 [[-6.28071052e-01 7.78141615e-01 4.73094771e-03 5.58590983e+01] [ 7.78121180e-01 6.28088854e-01 -5.64101826e-03 -5.16486091e+01] [-7.36096658e-03 1.38290342e-04 -9.99972898e-01 6.71096784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.87, Y:-51.64, Z:6.71 [[-6.88605349e-01 7.25117356e-01 5.24341275e-03 5.58704723e+01] [ 7.25097705e-01 6.88625300e-01 -5.33982767e-03 -5.16393116e+01] [-7.48274841e-03 1.24952658e-04 -9.99971996e-01 6.71155880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.88, Y:-51.63, Z:6.71 [[-7.44309787e-01 6.67812180e-01 5.46200662e-03 5.58799219e+01] [ 6.67795276e-01 7.44329820e-01 -4.75284726e-03 -5.16321901e+01] [-7.23954369e-03 1.09911487e-04 -9.99973788e-01 6.71200075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.90, Y:-51.61, Z:6.71 [[-7.91916881e-01 6.10603839e-01 5.53232004e-03 5.58969562e+01] [ 6.10589641e-01 7.91936201e-01 -4.16473840e-03 -5.16060240e+01] [-6.92424977e-03 7.98506687e-05 -9.99976024e-01 6.71159950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.91, Y:-51.58, Z:6.71 [[-8.34213189e-01 5.51414052e-01 5.55875089e-03 5.59142294e+01] [ 5.51402318e-01 8.34231706e-01 -3.59779554e-03 -5.15817429e+01] [-6.62116125e-03 6.37796393e-05 -9.99978078e-01 6.71194268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.92, Y:-51.55, Z:6.71 [[-8.73301202e-01 4.87148174e-01 5.62739555e-03 5.59241142e+01] [ 4.87138310e-01 8.73319332e-01 -3.10016927e-03 -5.15515173e+01] [-6.42475512e-03 3.39384067e-05 -9.99979361e-01 6.71271621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.94, Y:-51.52, Z:6.71 [[-9.06632890e-01 4.21880494e-01 5.80097434e-03 5.59366023e+01] [ 4.21871987e-01 9.06651448e-01 -2.67924908e-03 -5.15243530e+01] [-6.38978471e-03 1.81732311e-05 -9.99979585e-01 6.71282201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.95, Y:-51.50, Z:6.71 [[-9.35045641e-01 3.54470104e-01 6.37138852e-03 5.59458878e+01] [ 3.54461900e-01 9.35067348e-01 -2.41167447e-03 -5.14960944e+01] [-6.81254387e-03 3.38877473e-06 -9.99976794e-01 6.71277913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.95, Y:-51.47, Z:6.71 [[-9.59403500e-01 2.81917339e-01 8.21817152e-03 5.59496044e+01] [ 2.81906608e-01 9.59438696e-01 -2.46020466e-03 -5.14656177e+01] [-8.57840612e-03 -4.35721103e-05 -9.99963204e-01 6.71402033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.95, Y:-51.43, Z:6.72 [[-9.77563485e-01 2.10461586e-01 8.69212538e-03 5.59504346e+01] [ 2.10452629e-01 9.77602126e-01 -1.94289394e-03 -5.14349178e+01] [-8.90634478e-03 -7.00215281e-05 -9.99960335e-01 6.71541547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.95, Y:-51.41, Z:6.72 [[-9.90631608e-01 1.36245167e-01 9.28830445e-03 5.59513153e+01] [ 1.36238092e-01 9.90675144e-01 -1.39322204e-03 -5.14059700e+01] [-9.39151212e-03 -1.14748917e-04 -9.99955892e-01 6.71514098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.05, Y:-50.75, Z:5.76 [[-9.73690635e-01 -2.27697448e-01 8.96774158e-03 5.60512000e+01] [ 2.27688725e-01 -9.73731925e-01 -1.99555745e-03 -5.07514878e+01] [ 9.18655961e-03 9.87980427e-05 9.99957798e-01 5.76228420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.90, Y:-51.40, Z:6.72 [[-9.91552508e-01 1.29396572e-01 8.95274183e-03 5.58962274e+01] [ 1.29390054e-01 9.91592915e-01 -1.30591389e-03 -5.14008989e+01] [-9.04645615e-03 -1.36486448e-04 -9.99959071e-01 6.71500242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.260385723 meters Centerline goodness [0,1] 0.9999346746799059 Centerline is valid? [True, True] Translation: X:55.90, Y:-51.37, Z:6.72 [[-9.98265186e-01 5.81863439e-02 8.99819580e-03 5.58953626e+01] [ 5.81827092e-02 9.98305730e-01 -6.65402707e-04 -5.13731053e+01] [-9.02166777e-03 -1.40708948e-04 -9.99959294e-01 6.71507524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.290385723 meters Centerline goodness [0,1] 0.9998038360941587 Centerline is valid? [True, True] Translation: X:55.95, Y:-50.70, Z:5.76 [[-9.87694321e-01 -1.56137270e-01 9.00454052e-03 5.59460783e+01] [ 1.56132132e-01 -9.87735355e-01 -1.27511101e-03 -5.07047197e+01] [ 9.09319538e-03 1.46478210e-04 9.99958645e-01 5.76183990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.320385723 meters Centerline goodness [0,1] 0.9999564023193966 Centerline is valid? [True, True] Translation: X:55.83, Y:-51.37, Z:6.72 [[-9.98473916e-01 5.44840641e-02 9.01810305e-03 5.58292599e+01] [ 5.44806256e-02 9.98514631e-01 -6.26691021e-04 -5.13738012e+01] [-9.03885251e-03 -1.34422742e-04 -9.99959140e-01 6.71598651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.83, Y:-51.35, Z:6.72 [[-9.99828902e-01 -1.59495596e-02 9.36903921e-03 5.58272690e+01] [-1.59501054e-02 9.99872789e-01 1.64631313e-05 -5.13481852e+01] [-9.36810995e-03 -1.32976849e-04 -9.99956110e-01 6.71592275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.81, Y:-51.32, Z:6.72 [[-9.96204360e-01 -8.63611646e-02 1.08914111e-02 5.58132603e+01] [-8.63576275e-02 9.96263884e-01 7.95515118e-04 -5.13244809e+01] [-1.09194211e-02 -1.48060791e-04 -9.99940370e-01 6.71717176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.81, Y:-51.30, Z:6.72 [[-9.87492399e-01 -1.57251307e-01 1.14362498e-02 5.58078630e+01] [-1.57242609e-01 9.87558607e-01 1.66140625e-03 -5.12982200e+01] [-1.15552253e-02 -1.57639715e-04 -9.99933224e-01 6.71772403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.79, Y:-51.27, Z:6.72 [[-9.73723380e-01 -2.27438563e-01 1.15965185e-02 5.57886861e+01] [-2.27424386e-01 9.73792419e-01 2.54439426e-03 -5.12743033e+01] [-1.18712952e-02 -1.59794919e-04 -9.99929521e-01 6.71849490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.76, Y:-51.26, Z:6.72 [[-9.55013323e-01 -2.96334870e-01 1.16274713e-02 5.57560635e+01] [-2.96314831e-01 9.55084092e-01 3.44945207e-03 -5.12584858e+01] [-1.21274058e-02 -1.51119514e-04 -9.99926449e-01 6.71852439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.70, Y:-51.25, Z:6.72 [[-9.31193083e-01 -3.64346783e-01 1.14396050e-02 5.56977943e+01] [-3.64321155e-01 9.31263336e-01 4.32371346e-03 -5.12506855e+01] [-1.22286158e-02 -1.41478038e-04 -9.99925218e-01 6.71896623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.64, Y:-51.25, Z:6.72 [[-9.02911142e-01 -4.29678261e-01 1.13164358e-02 5.56356037e+01] [-4.29646050e-01 9.02982049e-01 5.26227618e-03 -5.12533654e+01] [-1.24796241e-02 -1.10694168e-04 -9.99922120e-01 6.71981813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.560385723 meters Centerline goodness [0,1] 0.999933900321685 Centerline is valid? [True, True] Translation: X:55.56, Y:-51.26, Z:6.72 [[-8.69163161e-01 -4.94397273e-01 1.12577407e-02 5.55628068e+01] [-4.94357219e-01 8.69236060e-01 6.29380486e-03 -5.12629097e+01] [-1.28972741e-02 -9.50020481e-05 -9.99916822e-01 6.72029406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.48, Y:-51.28, Z:6.72 [[-8.30565772e-01 -5.56824271e-01 1.03552369e-02 5.54821906e+01] [-5.56782107e-01 8.30630319e-01 6.85270769e-03 -5.12827539e+01] [-1.24171277e-02 -7.39861903e-05 -9.99922902e-01 6.71835650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.39, Y:-51.32, Z:6.72 [[-7.88235353e-01 -6.15308498e-01 8.97108360e-03 5.53864269e+01] [-6.15269156e-01 7.88286402e-01 6.95805231e-03 -5.13238901e+01] [-1.13531319e-02 -3.50482178e-05 -9.99935551e-01 6.71922637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.26, Y:-51.40, Z:6.72 [[-7.41626267e-01 -6.70768482e-01 7.75392511e-03 5.52634606e+01] [-6.70731906e-01 7.41666801e-01 7.00480998e-03 -5.13998058e+01] [-1.04494346e-02 -5.85388947e-06 -9.99945403e-01 6.71843028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.17, Y:-51.46, Z:6.72 [[-6.89185986e-01 -7.24550240e-01 7.04465921e-03 5.51665559e+01] [-7.24512342e-01 6.89221989e-01 7.41056023e-03 -5.14612566e+01] [-1.02246572e-02 3.31171921e-06 -9.99947727e-01 6.71826608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.14, Y:-51.45, Z:6.72 [[-6.31692473e-01 -7.75194146e-01 6.21732539e-03 5.51407521e+01] [-7.75156469e-01 6.31723069e-01 7.64286752e-03 -5.14530338e+01] [-9.85233404e-03 8.54189032e-06 -9.99951465e-01 6.71649774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.06, Y:-51.52, Z:6.72 [[-5.69369257e-01 -8.22067029e-01 4.94460200e-03 5.50553385e+01] [-8.22036114e-01 5.69390727e-01 7.12937332e-03 -5.15195653e+01] [-8.67623327e-03 -5.39541607e-06 -9.99962361e-01 6.71594814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.97, Y:-51.60, Z:6.72 [[-5.03339538e-01 -8.64078674e-01 4.16586722e-03 5.49670278e+01] [-8.64049381e-01 5.03356777e-01 7.11496791e-03 -5.16010827e+01] [-8.24480953e-03 -1.82703306e-05 -9.99966011e-01 6.71645573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.88, Y:-51.70, Z:6.72 [[-4.32917231e-01 -9.01424714e-01 4.01947146e-03 5.48815102e+01] [-9.01386881e-01 4.32935888e-01 8.25878740e-03 -5.16957585e+01] [-9.18484851e-03 -4.77274667e-05 -9.99957817e-01 6.71609917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.81, Y:-51.78, Z:6.72 [[-3.61297716e-01 -9.32443439e-01 3.63230356e-03 5.48104534e+01] [-9.32398029e-01 3.61315969e-01 9.20249138e-03 -5.17828047e+01] [-9.89321199e-03 -6.19135612e-05 -9.99951059e-01 6.71657755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.74, Y:-51.89, Z:6.72 [[-2.87746559e-01 -9.57702018e-01 2.96029035e-03 5.47411583e+01] [-9.57653835e-01 2.87761778e-01 9.60684804e-03 -5.18890640e+01] [-1.00523562e-02 -7.05959340e-05 -9.99949471e-01 6.71696545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.890385723 meters Centerline goodness [0,1] 0.9999776216264602 Centerline is valid? [True, True] Translation: X:54.68, Y:-52.00, Z:6.72 [[-2.13183871e-01 -9.77009549e-01 2.23143714e-03 5.46826369e+01] [-9.76959418e-01 2.13195538e-01 9.89735364e-03 -5.19957573e+01] [-1.01455415e-02 -7.00673662e-05 -9.99948530e-01 6.71630724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.63, Y:-52.12, Z:6.72 [[-1.37609832e-01 -9.90485569e-01 1.36828687e-03 5.46287970e+01] [-9.90441012e-01 1.37616620e-01 9.39513516e-03 -5.21238659e+01] [-9.49404481e-03 -6.23444652e-05 -9.99954929e-01 6.71584246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.59, Y:-52.23, Z:6.72 [[-6.11445130e-02 -9.98128722e-01 6.34998254e-04 5.45857135e+01] [-9.98084259e-01 6.11477830e-02 9.42131375e-03 -5.22292190e+01] [-9.44251258e-03 -5.77201207e-05 -9.99955417e-01 6.71648441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9803857229999 meters Centerline goodness [0,1] 0.9999554337411146 Centerline is valid? [True, True] Translation: X:54.55, Y:-52.39, Z:6.72 [[ 1.55691520e-02 -9.99878789e-01 -9.32928526e-05 5.45516298e+01] [-9.99833494e-01 -1.55693347e-02 9.51731949e-03 -5.23880037e+01] [-9.51761840e-03 -5.48992751e-05 -9.99954705e-01 6.71734759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.53, Y:-52.48, Z:6.72 [[ 9.10621451e-02 -9.95844810e-01 -8.94810715e-04 5.45287405e+01] [-9.95792281e-01 -9.10665324e-02 1.02283748e-02 -5.24771804e+01] [-1.02673612e-02 -4.03721442e-05 -9.99947289e-01 6.71697854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.52, Y:-52.61, Z:6.72 [[ 1.66261823e-01 -9.86080062e-01 -1.76581221e-03 5.45175168e+01] [-9.86022711e-01 -1.66271197e-01 1.06349751e-02 -5.26078028e+01] [-1.07805406e-02 -2.70593990e-05 -9.99941888e-01 6.71750683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.52, Y:-52.74, Z:6.72 [[ 2.39135873e-01 -9.70982605e-01 -2.61049763e-03 5.45182740e+01] [-9.70924926e-01 -2.39150121e-01 1.05833762e-02 -5.27388607e+01] [-1.09005750e-02 3.73231738e-06 -9.99940587e-01 6.71639533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.53, Y:-52.86, Z:6.72 [[ 3.12351037e-01 -9.49960950e-01 -3.32023019e-03 5.45258396e+01] [-9.49907812e-01 -3.12368683e-01 1.00476544e-02 -5.28643053e+01] [-1.05820152e-02 1.55173283e-05 -9.99944009e-01 6.71576327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.53, Y:-52.96, Z:6.72 [[ 3.83278511e-01 -9.23625514e-01 -3.67326874e-03 5.45327803e+01] [-9.23583832e-01 -3.83296112e-01 8.77474003e-03 -5.29624156e+01] [-9.51252339e-03 2.94023289e-05 -9.99954755e-01 6.71526440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.56, Y:-53.09, Z:6.71 [[ 4.53127640e-01 -8.91435575e-01 -4.23762099e-03 5.45581852e+01] [-8.91397218e-01 -4.53147454e-01 8.26948918e-03 -5.30862531e+01] [-9.29198400e-03 3.02694453e-05 -9.99956828e-01 6.71477868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.59, Y:-53.20, Z:6.71 [[ 5.20309294e-01 -8.53964847e-01 -4.72004147e-03 5.45899162e+01] [-8.53930222e-01 -5.20330702e-01 7.69003287e-03 -5.32028895e+01] [-9.02300024e-03 2.93904860e-05 -9.99959292e-01 6.71436558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.63, Y:-53.32, Z:6.72 [[ 5.84526609e-01 -8.11357551e-01 -5.25055847e-03 5.46318016e+01] [-8.11325229e-01 -5.84550189e-01 7.24214304e-03 -5.33167041e+01] [-8.94518239e-03 2.66852397e-05 -9.99959991e-01 6.71510480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.69, Y:-53.44, Z:6.71 [[ 6.45448013e-01 -7.63780148e-01 -6.06205123e-03 5.46879326e+01] [-7.63746785e-01 -6.45476480e-01 7.13881860e-03 -5.34355039e+01] [-9.36539942e-03 2.21358571e-05 -9.99956144e-01 6.71401175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.73, Y:-53.53, Z:6.71 [[ 7.01946558e-01 -7.12195694e-01 -6.95154362e-03 5.47348542e+01] [-7.12161115e-01 -7.01980978e-01 7.01809097e-03 -5.35296471e+01] [-9.87810555e-03 2.42942537e-05 -9.99951210e-01 6.71365202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.79, Y:-53.62, Z:6.71 [[ 7.54273251e-01 -6.56516709e-01 -7.59431127e-03 5.47917697e+01] [-6.56483756e-01 -7.54311481e-01 6.57783667e-03 -5.36228316e+01] [-1.00469359e-02 2.40557350e-05 -9.99949528e-01 6.71457669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3403857229999 meters Centerline goodness [0,1] 0.99988808809705 Centerline is valid? [True, True] Translation: X:54.79, Y:-53.63, Z:6.72 [[ 8.02982554e-01 -5.95917819e-01 -1.00483875e-02 5.47867531e+01] [-5.95871713e-01 -8.03045423e-01 7.41285600e-03 -5.36302161e+01] [-1.24867646e-02 3.51558085e-05 -9.99922037e-01 6.71557536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.78, Y:-53.64, Z:6.72 [[ 8.47317508e-01 -5.31003324e-01 -9.40795957e-03 5.47807743e+01] [-5.30970953e-01 -8.47369736e-01 5.86324887e-03 -5.36369072e+01] [-1.10854249e-02 2.73198424e-05 -9.99938555e-01 6.71515922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.78, Y:-53.64, Z:6.71 [[ 8.86346157e-01 -4.62899073e-01 -1.07209047e-02 5.47779298e+01] [-4.62865577e-01 -8.86410993e-01 5.56866447e-03 -5.36417850e+01] [-1.20808574e-02 2.65733741e-05 -9.99927024e-01 6.71461489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.77, Y:-53.65, Z:6.71 [[ 9.19712509e-01 -3.92418619e-01 -1.16845049e-02 5.47729141e+01] [-3.92387385e-01 -9.19786729e-01 4.95115542e-03 -5.36511509e+01] [-1.26901781e-02 3.12127473e-05 -9.99919476e-01 6.71364946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.460385723 meters Centerline goodness [0,1] 0.999910456448255 Centerline is valid? [True, True] Translation: X:54.77, Y:-53.66, Z:6.71 [[ 9.47474211e-01 -3.19566079e-01 -1.30438352e-02 5.47681588e+01] [-3.19536345e-01 -9.47563993e-01 4.35938065e-03 -5.36592967e+01] [-1.37529788e-02 3.75786986e-05 -9.99905423e-01 6.71430593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.77, Y:-53.67, Z:6.71 [[ 9.69481686e-01 -2.44824855e-01 -1.28860701e-02 5.47650291e+01] [-2.44803778e-01 -9.69567320e-01 3.21274390e-03 -5.36664463e+01] [-1.32804721e-02 3.98622781e-05 -9.99911810e-01 6.71460123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.76, Y:-53.68, Z:6.71 [[ 9.85641830e-01 -1.68314076e-01 -1.34370922e-02 5.47581686e+01] [-1.68299032e-01 -9.85733417e-01 2.25071958e-03 -5.36774893e+01] [-1.36242186e-02 4.30462460e-05 -9.99907185e-01 6.71269661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.75, Y:-53.69, Z:6.71 [[ 9.95762864e-01 -9.08978831e-02 -1.39245770e-02 5.47532946e+01] [-9.08896636e-02 -9.95860217e-01 1.22330395e-03 -5.36902422e+01] [-1.39781281e-02 4.74794733e-05 -9.99902300e-01 6.71228178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.75, Y:-53.70, Z:6.71 [[ 9.99817399e-01 -1.26781378e-02 -1.42980326e-02 5.47488653e+01] [-1.26775417e-02 -9.99919628e-01 1.32328790e-04 -5.37025291e+01] [-1.42985611e-02 4.89592779e-05 -9.99897769e-01 6.71208627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.74, Y:-53.71, Z:6.71 [[ 9.97741991e-01 6.57550211e-02 -1.36819924e-02 5.47445396e+01] [ 6.57482119e-02 -9.97835796e-01 -9.47380244e-04 -5.37140908e+01] [-1.37146768e-02 4.56745175e-05 -9.99905948e-01 6.71195679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.74, Y:-53.72, Z:6.71 [[ 9.89557929e-01 1.43566452e-01 -1.27976048e-02 5.47418809e+01] [ 1.43553865e-01 -9.89640678e-01 -1.90159803e-03 -5.37243123e+01] [-1.29380360e-02 4.45957804e-05 -9.99916299e-01 6.71054456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.670385723 meters Centerline goodness [0,1] 0.9999332977588047 Centerline is valid? [True, True] Translation: X:54.74, Y:-53.73, Z:6.71 [[ 9.75277279e-01 2.20648764e-01 -1.21799613e-02 5.47402524e+01] [ 2.20631014e-01 -9.75353332e-01 -2.79900752e-03 -5.37344604e+01] [-1.24973634e-02 4.25312273e-05 -9.99921904e-01 6.70958993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.700385723 meters Centerline goodness [0,1] 0.9999332977588047 Centerline is valid? [True, True] Translation: X:54.74, Y:-53.75, Z:6.71 [[ 9.55008210e-01 2.96339586e-01 -1.19234065e-02 5.47387064e+01] [ 2.96315936e-01 -9.55082639e-01 -3.74407985e-03 -5.37456200e+01] [-1.24973576e-02 4.25316520e-05 -9.99921904e-01 6.70958987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.74, Y:-53.76, Z:6.71 [[ 9.29125901e-01 3.69598799e-01 -1.10357216e-02 5.47366919e+01] [ 3.69572110e-01 -9.29191436e-01 -4.44187294e-03 -5.37552112e+01] [-1.18960089e-02 4.85642947e-05 -9.99929239e-01 6.70881442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.74, Y:-53.76, Z:6.71 [[ 8.97339384e-01 4.41193380e-01 -1.14206729e-02 5.47368846e+01] [ 4.41156910e-01 -8.97412056e-01 -5.67292309e-03 -5.37648043e+01] [-1.27519057e-02 5.22285389e-05 -9.99918690e-01 6.70925510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.790385723 meters Centerline goodness [0,1] 0.9999778019489889 Centerline is valid? [True, True] Translation: X:54.74, Y:-53.77, Z:6.71 [[ 8.59518917e-01 5.10982116e-01 -1.11583186e-02 5.47364362e+01] [ 5.10938459e-01 -8.59591342e-01 -6.67955064e-03 -5.37744942e+01] [-1.30047250e-02 3.99860175e-05 -9.99915434e-01 6.70970106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.74, Y:-53.78, Z:6.71 [[ 8.16485601e-01 5.77276053e-01 -1.01794779e-02 5.47368302e+01] [ 5.77230739e-01 -8.16549054e-01 -7.23303411e-03 -5.37822418e+01] [-1.24875004e-02 2.97606755e-05 -9.99922028e-01 6.70944346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8503857229999 meters Centerline goodness [0,1] 0.9999334088033562 Centerline is valid? [True, True] Translation: X:54.74, Y:-53.79, Z:6.71 [[ 7.67989207e-01 6.40402183e-01 -8.81038213e-03 5.47369869e+01] [ 6.40359856e-01 -7.68039741e-01 -7.36278320e-03 -5.37910750e+01] [-1.14818660e-02 1.27230004e-05 -9.99934081e-01 6.70848887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.880385723 meters Centerline goodness [0,1] 0.9998444064104559 Centerline is valid? [True, True] Translation: X:54.74, Y:-53.80, Z:6.71 [[ 7.15764653e-01 6.98286711e-01 -8.75396803e-03 5.47376867e+01] [ 6.98234174e-01 -7.15818182e-01 -8.56556985e-03 -5.37981164e+01] [-1.22474731e-02 1.86124936e-05 -9.99924997e-01 6.70932900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.910385723 meters Centerline goodness [0,1] 0.9999556403318103 Centerline is valid? [True, True] Translation: X:54.74, Y:-53.81, Z:6.71 [[ 6.58462027e-01 7.52580052e-01 -7.14315592e-03 5.47413514e+01] [ 7.52535608e-01 -6.58500771e-01 -8.17882313e-03 -5.38078068e+01] [-1.08589928e-02 9.96526762e-06 -9.99941039e-01 6.70684646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.940385723 meters Centerline goodness [0,1] 0.9998889382496668 Centerline is valid? [True, True] Translation: X:54.74, Y:-53.82, Z:6.71 [[ 5.97590242e-01 8.01776761e-01 -6.31890900e-03 5.47449326e+01] [ 8.01731748e-01 -5.97623649e-01 -8.49579320e-03 -5.38185750e+01] [-1.05880590e-02 1.09331605e-05 -9.99943945e-01 6.70723343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9703857229999 meters Centerline goodness [0,1] 0.9999778132765353 Centerline is valid? [True, True] Translation: X:54.75, Y:-53.83, Z:6.71 [[ 5.33386399e-01 8.45854871e-01 -5.33723329e-03 5.47511500e+01] [ 8.45812244e-01 -5.33413101e-01 -8.49182915e-03 -5.38284015e+01] [-1.00298052e-02 1.51289069e-05 -9.99949700e-01 6.70629737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.000385723 meters Centerline goodness [0,1] 0.9999777624585826 Centerline is valid? [True, True] Translation: X:54.76, Y:-53.84, Z:6.71 [[ 4.65884263e-01 8.84834742e-01 -4.39696813e-03 5.47589843e+01] [ 8.84794970e-01 -4.65905011e-01 -8.38938212e-03 -5.38386692e+01] [-9.47178625e-03 1.80658207e-05 -9.99955142e-01 6.70536374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.77, Y:-53.85, Z:6.71 [[ 3.95746092e-01 9.18353450e-01 -3.46005872e-03 5.47664630e+01] [ 9.18317853e-01 -3.95761217e-01 -8.08578104e-03 -5.38487381e+01] [-8.79496196e-03 2.24825588e-05 -9.99961323e-01 6.70563151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.060385723 meters Centerline goodness [0,1] 0.9999778186899718 Centerline is valid? [True, True] Translation: X:54.77, Y:-53.86, Z:6.71 [[ 3.23097076e-01 9.46362491e-01 -2.51292826e-03 5.47724425e+01] [ 9.46333293e-01 -3.23106848e-01 -7.43397091e-03 -5.38574572e+01] [-7.84717555e-03 2.38265932e-05 -9.99969210e-01 6.70506819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.78, Y:-53.87, Z:6.71 [[ 2.47781077e-01 9.68814078e-01 -1.95446032e-03 5.47824624e+01] [ 9.68783220e-01 -2.47788785e-01 -7.73250295e-03 -5.38660347e+01] [-7.97565106e-03 2.25195529e-05 -9.99968194e-01 6.70541102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.79, Y:-53.87, Z:6.71 [[ 1.70890894e-01 9.85288996e-01 -1.37746113e-03 5.47938742e+01] [ 9.85255989e-01 -1.70896444e-01 -8.06487492e-03 -5.38738713e+01] [-8.18163572e-03 2.10618580e-05 -9.99966530e-01 6.70552782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.80, Y:-53.88, Z:6.71 [[ 9.28561271e-02 9.95679273e-01 -7.25218023e-04 5.48041315e+01] [ 9.95647362e-01 -9.28589573e-02 -7.97147883e-03 -5.38814836e+01] [-8.00437924e-03 1.81392400e-05 -9.99967964e-01 6.70615352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.82, Y:-53.89, Z:6.71 [[ 1.37157740e-02 9.99905930e-01 -9.17338853e-05 5.48153103e+01] [ 9.99878251e-01 -1.37160769e-02 -7.43995310e-03 -5.38873090e+01] [-7.44051145e-03 1.03219987e-05 -9.99972319e-01 6.70667264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.82, Y:-53.89, Z:6.71 [[-6.51312905e-02 9.97876560e-01 5.34694626e-04 5.48241790e+01] [ 9.97843825e-01 6.51334848e-02 -8.08267232e-03 -5.38935690e+01] [-8.10033577e-03 7.10685292e-06 -9.99967192e-01 6.70888277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.240385723 meters Centerline goodness [0,1] 0.9999778412993862 Centerline is valid? [True, True] Translation: X:54.83, Y:-53.90, Z:6.71 [[-1.43129117e-01 9.89703069e-01 1.37543320e-03 5.48334708e+01] [ 9.89657947e-01 1.43135725e-01 -9.45053441e-03 -5.38981856e+01] [-9.55009653e-03 8.56175275e-06 -9.99954397e-01 6.70828434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.270385723 meters Centerline goodness [0,1] 0.9998444340733826 Centerline is valid? [True, True] Translation: X:54.85, Y:-53.90, Z:6.71 [[-2.18843789e-01 9.75757283e-01 2.26285190e-03 5.48457391e+01] [ 9.75706241e-01 2.18855486e-01 -9.98033929e-03 -5.39013677e+01] [-1.02336263e-02 2.37434571e-05 -9.99947635e-01 6.70951513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.86, Y:-53.90, Z:6.71 [[-2.93675081e-01 9.55901527e-01 2.68659104e-03 5.48581863e+01] [ 9.55862455e-01 2.93687368e-01 -8.64270801e-03 -5.39046881e+01] [-9.05059563e-03 2.98635318e-05 -9.99959042e-01 6.70830351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.87, Y:-53.91, Z:6.71 [[-3.66607489e-01 9.30370663e-01 3.06257469e-03 5.48683322e+01] [ 9.30339031e-01 3.66620279e-01 -7.67190483e-03 -5.39071002e+01] [-8.26051717e-03 3.66550075e-05 -9.99965881e-01 6.70802013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.88, Y:-53.91, Z:6.71 [[-4.35383667e-01 9.00240529e-01 2.83757154e-03 5.48820769e+01] [ 9.00222148e-01 4.35392911e-01 -5.75298811e-03 -5.39069150e+01] [-6.41453160e-03 4.96876830e-05 -9.99979426e-01 6.70704294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.90, Y:-53.91, Z:6.71 [[-5.03340828e-01 8.64082639e-01 3.03387530e-03 5.48954884e+01] [ 8.64067589e-01 5.03349968e-01 -5.10019412e-03 -5.39059321e+01] [-5.93409023e-03 5.43373790e-05 -9.99982392e-01 6.70749717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.91, Y:-53.90, Z:6.71 [[-5.68308541e-01 8.22807683e-01 3.59440308e-03 5.49102817e+01] [ 8.22791953e-01 5.68319904e-01 -5.08817006e-03 -5.39025667e+01] [-6.22935623e-03 6.57954325e-05 -9.99980595e-01 6.70795922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.92, Y:-53.90, Z:6.71 [[-6.29130684e-01 7.77285983e-01 4.59161223e-03 5.49240186e+01] [ 7.77266358e-01 6.29147432e-01 -5.52418337e-03 -5.38992478e+01] [-7.18267134e-03 9.34724532e-05 -9.99974200e-01 6.71023428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.94, Y:-53.89, Z:6.71 [[-6.87554791e-01 7.26113908e-01 5.19638820e-03 5.49357851e+01] [ 7.26094289e-01 6.87574420e-01 -5.33870053e-03 -5.38944300e+01] [-7.44940830e-03 1.02418666e-04 -9.99972248e-01 6.71112944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.95, Y:-53.89, Z:6.71 [[-7.41800729e-01 6.70597685e-01 5.51585940e-03 5.49467628e+01] [ 6.70580208e-01 7.41821228e-01 -4.84257562e-03 -5.38893057e+01] [-7.33920159e-03 1.06600023e-04 -9.99973062e-01 6.71151850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.97, Y:-53.87, Z:6.71 [[-7.87254132e-01 6.16603863e-01 5.53249625e-03 5.49683699e+01] [ 6.16589546e-01 7.87273565e-01 -4.20307066e-03 -5.38685763e+01] [-6.94721765e-03 1.02394607e-04 -9.99975863e-01 6.71195833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.99, Y:-53.84, Z:6.71 [[-8.28908207e-01 5.59356651e-01 5.59659917e-03 5.49864983e+01] [ 5.59344702e-01 8.28927094e-01 -3.65746220e-03 -5.38447186e+01] [-6.68499849e-03 9.87276572e-05 -9.99977650e-01 6.71232738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.01, Y:-53.82, Z:6.71 [[-8.66756275e-01 4.98699571e-01 5.68313115e-03 5.50061237e+01] [ 4.98689542e-01 8.66774901e-01 -3.16407546e-03 -5.38209215e+01] [-6.50391852e-03 9.16358114e-05 -9.99978845e-01 6.71305576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.02, Y:-53.80, Z:6.71 [[-9.00117888e-01 4.35609034e-01 5.70586160e-03 5.50208383e+01] [ 4.35600881e-01 9.00135969e-01 -2.66647978e-03 -5.37950904e+01] [-6.29759394e-03 8.53321920e-05 -9.99980166e-01 6.71313816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.04, Y:-53.77, Z:6.71 [[-9.28820472e-01 3.70503426e-01 4.44323809e-03 5.50358184e+01] [ 3.70499512e-01 9.28831097e-01 -1.70411696e-03 -5.37697208e+01] [-4.75839889e-03 6.33988295e-05 -9.99988677e-01 6.71170897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.04, Y:-53.74, Z:6.71 [[-9.52774669e-01 3.03652883e-01 3.91875973e-03 5.50434374e+01] [ 3.03650548e-01 9.52782726e-01 -1.19213948e-03 -5.37416721e+01] [-4.09572317e-03 5.40932431e-05 -9.99991611e-01 6.71137128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.05, Y:-53.71, Z:6.71 [[-9.71981387e-01 2.35035399e-01 3.24729175e-03 5.50495157e+01] [ 2.35034235e-01 9.71986810e-01 -7.41026532e-04 -5.37105759e+01] [-3.33049222e-03 4.29607356e-05 -9.99994453e-01 6.71184312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.06, Y:-53.68, Z:6.71 [[-9.86240575e-01 1.65287351e-01 3.10161169e-03 5.50588232e+01] [ 1.65286661e-01 9.86245451e-01 -4.79341814e-04 -5.36809766e+01] [-3.13817956e-03 3.99086927e-05 -9.99995075e-01 6.71224324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.06, Y:-53.65, Z:6.71 [[-9.95438519e-01 9.53730164e-02 2.47853389e-03 5.50628257e+01] [ 9.53728032e-02 9.95441604e-01 -2.04372521e-04 -5.36519629e+01] [-2.48672738e-03 3.29444448e-05 -9.99996908e-01 6.71170539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.06, Y:-53.62, Z:6.71 [[-9.99676400e-01 2.54012531e-02 1.36806197e-03 5.50636282e+01] [ 2.54012559e-02 9.99677336e-01 -1.53119116e-05 -5.36217197e+01] [-1.36800949e-03 1.94435355e-05 -9.99999064e-01 6.71076078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.06, Y:-53.59, Z:6.71 [[-9.99011430e-01 -4.44448028e-02 9.06368818e-04 5.50610423e+01] [-4.44447717e-02 9.99011842e-01 5.44548945e-05 -5.35934143e+01] [-9.07893419e-04 1.41177069e-05 -9.99999588e-01 6.71048551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.05, Y:-53.57, Z:6.71 [[-9.93539315e-01 -1.13488457e-01 -2.45904406e-05 5.50536438e+01] [-1.13488457e-01 9.93539315e-01 -3.37543066e-06 -5.35651232e+01] [ 2.48146418e-05 -5.62891921e-07 -1.00000000e+00 6.71022935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.95, Y:-52.81, Z:5.77 [[-9.96633513e-01 8.19855195e-02 1.21682725e-04 5.49476724e+01] [-8.19855179e-02 -9.96633521e-01 1.77701438e-05 -5.28095985e+01] [ 1.22729977e-04 7.73409965e-06 9.99999993e-01 5.76590371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.93, Y:-53.58, Z:6.71 [[-9.92785640e-01 -1.19902587e-01 2.07630290e-04 5.49319980e+01] [-1.19902584e-01 9.92785662e-01 2.86836731e-05 -5.35764713e+01] [-2.09571622e-04 3.58133035e-06 -9.99999978e-01 6.71194574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.91, Y:-53.55, Z:6.71 [[-9.81536185e-01 -1.91275443e-01 6.50476930e-04 5.49084846e+01] [-1.91275393e-01 9.81536400e-01 1.38492257e-04 -5.35507954e+01] [-6.64956952e-04 1.15149310e-05 -9.99999779e-01 6.71236652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.87, Y:-53.53, Z:6.71 [[-9.64792753e-01 -2.63007049e-01 1.49524120e-03 5.48694204e+01] [-2.63006692e-01 9.64793912e-01 4.33918609e-04 -5.35293189e+01] [-1.55672326e-03 2.53830859e-05 -9.99998788e-01 6.71278677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.81, Y:-53.52, Z:6.71 [[-9.42620106e-01 -3.33864517e-01 1.34920303e-03 5.48056189e+01] [-3.33864141e-01 9.42621071e-01 5.01558512e-04 -5.35186704e+01] [-1.43923979e-03 2.23286280e-05 -9.99998964e-01 6.71269856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.73, Y:-53.51, Z:6.71 [[-9.14605459e-01 -4.04344380e-01 1.57402941e-03 5.47317977e+01] [-4.04343738e-01 9.14606813e-01 7.21063046e-04 -5.35134343e+01] [-1.73117581e-03 2.30392623e-05 -9.99998501e-01 6.71307045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.66, Y:-53.51, Z:6.71 [[-8.81104752e-01 -4.72917603e-01 1.83225969e-03 5.46576011e+01] [-4.72916523e-01 8.81106657e-01 1.01082535e-03 -5.35148568e+01] [-2.09245331e-03 2.41371324e-05 -9.99997811e-01 6.71389683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.57, Y:-53.53, Z:6.71 [[-8.42935400e-01 -5.38010280e-01 2.20227201e-03 5.45703171e+01] [-5.38008355e-01 8.42938276e-01 1.43947428e-03 -5.35315957e+01] [-2.63083133e-03 2.85430885e-05 -9.99996539e-01 6.71443981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.48, Y:-53.56, Z:6.72 [[-7.99576357e-01 -6.00559913e-01 2.33262154e-03 5.44827427e+01] [-6.00557250e-01 7.99579759e-01 1.78854118e-03 -5.35556326e+01] [-2.93924311e-03 2.92024653e-05 -9.99995680e-01 6.71501122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.38, Y:-53.60, Z:6.71 [[-7.51310040e-01 -6.59947286e-01 1.67417368e-03 5.43842047e+01] [-6.59945589e-01 7.51311905e-01 1.49664649e-03 -5.35985040e+01] [-2.24553440e-03 1.95819966e-05 -9.99997479e-01 6.71468656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.30, Y:-53.64, Z:6.71 [[-6.98902125e-01 -7.15216561e-01 1.04429740e-03 5.42997043e+01] [-7.15215735e-01 6.98902905e-01 1.08673645e-03 -5.36387729e+01] [-1.50711439e-03 1.26244762e-05 -9.99998864e-01 6.71379306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.21, Y:-53.70, Z:6.71 [[-6.42448352e-01 -7.66328730e-01 6.26597633e-04 5.42080587e+01] [-7.66328353e-01 6.42448658e-01 7.59947874e-04 -5.36972041e+01] [-9.84926698e-04 8.04772728e-06 -9.99999515e-01 6.71336177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.12, Y:-53.77, Z:6.71 [[-5.81905850e-01 -8.13255928e-01 6.14603651e-04 5.41182386e+01] [-8.13255459e-01 5.81906175e-01 8.73304409e-04 -5.37655722e+01] [-1.06786165e-03 8.35117040e-06 -9.99999430e-01 6.71364965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.290385723 meters Centerline goodness [0,1] 0.9999779701716124 Centerline is valid? [True, True] Translation: X:54.03, Y:-53.84, Z:6.72 [[-5.16972768e-01 -8.56001461e-01 8.10019705e-04 5.40313442e+01] [-8.56000379e-01 5.16973403e-01 1.36118576e-03 -5.38432371e+01] [-1.58393564e-03 1.03187958e-05 -9.99998746e-01 6.71530307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.95, Y:-53.93, Z:6.72 [[-4.48865974e-01 -8.93598460e-01 1.06251742e-03 5.39507990e+01] [-8.93595890e-01 4.48867232e-01 2.14325956e-03 -5.39277611e+01] [-2.39214270e-03 1.25750878e-05 -9.99997139e-01 6.71565265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.87, Y:-54.02, Z:6.72 [[-3.76791631e-01 -9.26297271e-01 1.19717826e-03 5.38733390e+01] [-9.26292520e-01 3.76793533e-01 2.96658498e-03 -5.40229756e+01] [-3.19902860e-03 8.84713071e-06 -9.99994883e-01 6.71619365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.380385723 meters Centerline goodness [0,1] 0.9999561105137265 Centerline is valid? [True, True] Translation: X:53.81, Y:-54.13, Z:6.72 [[-3.03585249e-01 -9.52803539e-01 1.18889797e-03 5.38052033e+01] [-9.52796147e-01 3.03587577e-01 3.75300809e-03 -5.41255118e+01] [-3.93681404e-03 6.58049038e-06 -9.99992251e-01 6.71597974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.410385723 meters Centerline goodness [0,1] 0.9999561711079944 Centerline is valid? [True, True] Translation: X:53.74, Y:-54.24, Z:6.72 [[-2.27866223e-01 -9.73691926e-01 1.00923038e-03 5.37420688e+01] [-9.73682378e-01 2.27868458e-01 4.31196656e-03 -5.42395955e+01] [-4.42849879e-03 -1.18303048e-07 -9.99990194e-01 6.71534587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.440385723 meters Centerline goodness [0,1] 0.999758650196371 Centerline is valid? [True, True] Translation: X:53.69, Y:-54.34, Z:6.72 [[-1.51564867e-01 -9.88447117e-01 6.22335314e-04 5.36914246e+01] [-9.88438871e-01 1.51566145e-01 4.03758078e-03 -5.43440142e+01] [-4.08526005e-03 -3.18502171e-06 -9.99991655e-01 6.71530319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4703857229999 meters Centerline goodness [0,1] 0.9998249376340321 Centerline is valid? [True, True] Translation: X:53.65, Y:-54.46, Z:6.71 [[-7.39537953e-02 -9.97261622e-01 3.06245255e-04 5.36475732e+01] [-9.97253506e-01 7.39544290e-02 4.02345074e-03 -5.44616524e+01] [-4.03508120e-03 -7.85470161e-06 -9.99991859e-01 6.71472442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.500385723 meters Centerline goodness [0,1] 0.9999125606610414 Centerline is valid? [True, True] Translation: X:53.61, Y:-54.58, Z:6.71 [[ 2.97046084e-03 -9.99995588e-01 -3.94462398e-06 5.36138341e+01] [-9.99986656e-01 -2.97045098e-03 4.22662799e-03 -5.45816505e+01] [-4.22662106e-03 -8.61046158e-06 -9.99991068e-01 6.71496516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.530385723 meters Centerline goodness [0,1] 0.9998042073661539 Centerline is valid? [True, True] Translation: X:53.59, Y:-54.71, Z:6.71 [[ 7.98768704e-02 -9.96804676e-01 -3.52214333e-04 5.35903138e+01] [-9.96794474e-01 -7.98776464e-02 4.50988593e-03 -5.47098687e+01] [-4.52360944e-03 -9.15027302e-06 -9.99989768e-01 6.71451127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.560385723 meters Centerline goodness [0,1] 0.9999344319622329 Centerline is valid? [True, True] Translation: X:53.58, Y:-54.82, Z:6.71 [[ 1.55028775e-01 -9.87909651e-01 -7.74563652e-04 5.35755065e+01] [-9.87897190e-01 -1.55030709e-01 4.96208124e-03 -5.48248201e+01] [-5.02216910e-03 -4.07611929e-06 -9.99987389e-01 6.71489480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5903857229999 meters Centerline goodness [0,1] 0.9998901195499297 Centerline is valid? [True, True] Translation: X:53.57, Y:-54.95, Z:6.72 [[ 2.28992863e-01 -9.73427202e-01 -1.32337352e-03 5.35724105e+01] [-9.73411071e-01 -2.28996687e-01 5.60400096e-03 -5.49499891e+01] [-5.75813512e-03 4.91020797e-06 -9.99983422e-01 6.71502540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.620385723 meters Centerline goodness [0,1] 0.9998901195499297 Centerline is valid? [True, True] Translation: X:53.58, Y:-55.07, Z:6.72 [[ 3.03191976e-01 -9.52927889e-01 -1.75052705e-03 5.35767063e+01] [-9.52912100e-01 -3.03197029e-01 5.48559239e-03 -5.50744002e+01] [-5.75812857e-03 4.91081724e-06 -9.99983422e-01 6.71502507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.650385723 meters Centerline goodness [0,1] 0.9997811576758945 Centerline is valid? [True, True] Translation: X:53.59, Y:-55.20, Z:6.71 [[ 3.75088622e-01 -9.26986456e-01 -2.15328769e-03 5.35908783e+01] [-9.26971299e-01 -3.75094803e-01 5.30091497e-03 -5.51968246e+01] [-5.72156340e-03 7.72299288e-06 -9.99983632e-01 6.71459393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.680385723 meters Centerline goodness [0,1] 0.9998469209237228 Centerline is valid? [True, True] Translation: X:53.61, Y:-55.32, Z:6.71 [[ 4.44355226e-01 -8.95847317e-01 -2.45302970e-03 5.36134765e+01] [-8.95833819e-01 -4.44361997e-01 4.91780567e-03 -5.53160889e+01] [-5.49563619e-03 1.22543115e-05 -9.99984899e-01 6.71433690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.65, Y:-55.43, Z:6.71 [[ 5.11022253e-01 -8.59562794e-01 -2.83921547e-03 5.36453806e+01] [-8.59549715e-01 -5.11030139e-01 4.74183304e-03 -5.54310398e+01] [-5.52682793e-03 1.72646436e-05 -9.99984727e-01 6.71358515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.740385723 meters Centerline goodness [0,1] 0.9998687692745128 Centerline is valid? [True, True] Translation: X:53.69, Y:-55.54, Z:6.71 [[ 5.75338579e-01 -8.17907367e-01 -3.61357956e-03 5.36854980e+01] [-8.17891451e-01 -5.75349927e-01 5.10255385e-03 -5.55431495e+01] [-6.25248912e-03 1.98197538e-05 -9.99980453e-01 6.71341596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.770385723 meters Centerline goodness [0,1] 0.9998686888582496 Centerline is valid? [True, True] Translation: X:53.73, Y:-55.65, Z:6.71 [[ 6.36560572e-01 -7.71208949e-01 -5.23403027e-03 5.37348018e+01] [-7.71183164e-01 -6.36582089e-01 6.30652617e-03 -5.56520350e+01] [-8.19553934e-03 2.19101134e-05 -9.99966416e-01 6.71422925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.800385723 meters Centerline goodness [0,1] 0.9998904637763708 Centerline is valid? [True, True] Translation: X:53.78, Y:-55.75, Z:6.71 [[ 6.94000690e-01 -7.19949876e-01 -5.93449199e-03 5.37848551e+01] [-7.19923769e-01 -6.94026063e-01 6.13110181e-03 -5.57513458e+01] [-8.53277810e-03 1.73929526e-05 -9.99963595e-01 6.71330101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.830385723 meters Centerline goodness [0,1] 0.9996922671121466 Centerline is valid? [True, True] Translation: X:53.84, Y:-55.85, Z:6.71 [[ 7.47951662e-01 -6.63715206e-01 -7.10186804e-03 5.38438769e+01] [-6.63685320e-01 -7.47985377e-01 6.29847023e-03 -5.58476666e+01] [-9.49248391e-03 2.45429029e-06 -9.99954945e-01 6.71356925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.84, Y:-55.86, Z:6.71 [[ 7.98130053e-01 -6.02439893e-01 -7.38871007e-03 5.38379950e+01] [-6.02414007e-01 -7.98164253e-01 5.58477069e-03 -5.58566756e+01] [-9.26189291e-03 -6.31089332e-06 -9.99957108e-01 6.71369810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.890385723 meters Centerline goodness [0,1] 0.9999339730610088 Centerline is valid? [True, True] Translation: X:53.83, Y:-55.86, Z:6.71 [[ 8.43537802e-01 -5.37009353e-01 -8.05805636e-03 5.38349620e+01] [-5.36984625e-01 -8.43576289e-01 5.15345445e-03 -5.58643350e+01] [-9.56503852e-03 -2.00812661e-05 -9.99954254e-01 6.71316814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.920385723 meters Centerline goodness [0,1] 0.9999561201430484 Centerline is valid? [True, True] Translation: X:53.83, Y:-55.87, Z:6.71 [[ 8.83202520e-01 -4.68909954e-01 -8.76148696e-03 5.38328379e+01] [-4.68886584e-01 -8.83245976e-01 4.68149910e-03 -5.58717540e+01] [-9.93374963e-03 -2.65681036e-05 -9.99950659e-01 6.71289150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.950385723 meters Centerline goodness [0,1] 0.999867409175285 Centerline is valid? [True, True] Translation: X:53.83, Y:-55.88, Z:6.71 [[ 9.17210102e-01 -3.98294973e-01 -9.31363545e-03 5.38311313e+01] [-3.98274121e-01 -9.17257387e-01 4.07566909e-03 -5.58790141e+01] [-1.01663194e-02 -2.88648889e-05 -9.99948321e-01 6.71261527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.83, Y:-55.88, Z:6.71 [[ 9.45652155e-01 -3.25049425e-01 -9.21267832e-03 5.38306874e+01] [-3.25033678e-01 -9.45697029e-01 3.19966589e-03 -5.58842031e+01] [-9.75245207e-03 -3.13402304e-05 -9.99952443e-01 6.71135628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.010385723 meters Centerline goodness [0,1] 0.9999780263244633 Centerline is valid? [True, True] Translation: X:53.83, Y:-55.89, Z:6.71 [[ 9.68207245e-01 -2.49980049e-01 -9.20354876e-03 5.38284826e+01] [-2.49968438e-01 -9.68250987e-01 2.40950353e-03 -5.58911823e+01] [-9.51367298e-03 -3.23020693e-05 -9.99954744e-01 6.71185440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.83, Y:-55.90, Z:6.71 [[ 9.84917885e-01 -1.72792694e-01 -8.91312366e-03 5.38262809e+01] [-1.72785277e-01 -9.84958214e-01 1.60151342e-03 -5.59000081e+01] [-9.05578418e-03 -3.73026768e-05 -9.99958995e-01 6.71149854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.82, Y:-55.91, Z:6.71 [[ 9.95478599e-01 -9.45001748e-02 -9.59561543e-03 5.38220079e+01] [-9.44953379e-02 -9.95524844e-01 9.57223337e-04 -5.59082082e+01] [-9.64313133e-03 -4.61544234e-05 -9.99953503e-01 6.71147724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1003857229999 meters Centerline goodness [0,1] 0.9999778511151963 Centerline is valid? [True, True] Translation: X:53.82, Y:-55.92, Z:6.71 [[ 9.99825500e-01 -1.58334219e-02 -9.91323330e-03 5.38186441e+01] [-1.58321259e-02 -9.99874642e-01 2.09198391e-04 -5.59171153e+01] [-9.91530293e-03 -5.22143285e-05 -9.99950841e-01 6.71172070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.130385723 meters Centerline goodness [0,1] 0.9999776745847473 Centerline is valid? [True, True] Translation: X:53.82, Y:-55.92, Z:6.71 [[ 9.97918083e-01 6.33293920e-02 -1.22019275e-02 5.38157950e+01] [ 6.33255780e-02 -9.97992677e-01 -6.99067578e-04 -5.59241910e+01] [-1.22217058e-02 -7.50819320e-05 -9.99925309e-01 6.71215894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.160385723 meters Centerline goodness [0,1] 0.9997763513966855 Centerline is valid? [True, True] Translation: X:53.81, Y:-55.93, Z:6.71 [[ 9.89767369e-01 1.42060893e-01 -1.33887426e-02 5.38122345e+01] [ 1.42049176e-01 -9.89857916e-01 -1.82699326e-03 -5.59319040e+01] [-1.35124971e-02 -9.35615292e-05 -9.99908698e-01 6.71332462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.190385723 meters Centerline goodness [0,1] 0.9996642567764173 Centerline is valid? [True, True] Translation: X:53.81, Y:-55.94, Z:6.71 [[ 9.75511950e-01 2.19527341e-01 -1.35713889e-02 5.38100606e+01] [ 2.19507558e-01 -9.75606343e-01 -2.94883500e-03 -5.59416500e+01] [-1.38876830e-02 -1.02398663e-04 -9.99903556e-01 6.71337201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2203857229999 meters Centerline goodness [0,1] 0.9998877262316432 Centerline is valid? [True, True] Translation: X:53.81, Y:-55.95, Z:6.71 [[ 9.55079643e-01 2.96045044e-01 -1.34241401e-02 5.38077818e+01] [ 2.96017500e-01 -9.55173973e-01 -4.03998013e-03 -5.59507828e+01] [-1.40184053e-02 -1.15277589e-04 -9.99901731e-01 6.71298280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.250385723 meters Centerline goodness [0,1] 0.9998879602034643 Centerline is valid? [True, True] Translation: X:53.81, Y:-55.96, Z:6.71 [[ 9.28834997e-01 3.70247157e-01 -1.35126389e-02 5.38055331e+01] [ 3.70209931e-01 -9.28933274e-01 -5.25161726e-03 -5.59614275e+01] [-1.44967363e-02 -1.24627223e-04 -9.99894909e-01 6.71341435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.280385723 meters Centerline goodness [0,1] 0.9997299729972997 Centerline is valid? [True, True] Translation: X:53.80, Y:-55.97, Z:6.71 [[ 8.96680666e-01 4.42443346e-01 -1.44107264e-02 5.38032817e+01] [ 4.42388867e-01 -8.96796445e-01 -6.94453497e-03 -5.59677584e+01] [-1.59960515e-02 -1.48114694e-04 -9.99872044e-01 6.71430563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.310385723 meters Centerline goodness [0,1] 0.9996193376475067 Centerline is valid? [True, True] Translation: X:53.80, Y:-55.98, Z:6.72 [[ 8.59067397e-01 5.11663026e-01 -1.42882571e-02 5.38016097e+01] [ 5.11595367e-01 -8.59186197e-01 -8.32218171e-03 -5.59754228e+01] [-1.65344259e-02 -1.60491130e-04 -9.99863284e-01 6.71556397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3403857229999 meters Centerline goodness [0,1] 0.9997078454727285 Centerline is valid? [True, True] Translation: X:53.80, Y:-55.98, Z:6.71 [[ 8.16284422e-01 5.77481844e-01 -1.39449704e-02 5.38016982e+01] [ 5.77401088e-01 -8.16403510e-01 -9.65880040e-03 -5.59847622e+01] [-1.69625047e-02 -1.67512806e-04 -9.99856112e-01 6.71383488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.370385723 meters Centerline goodness [0,1] 0.999977534652798 Centerline is valid? [True, True] Translation: X:53.80, Y:-56.00, Z:6.71 [[ 7.68872384e-01 6.39274936e-01 -1.27597983e-02 5.38026012e+01] [ 6.39190245e-01 -7.68978239e-01 -1.04066681e-02 -5.59954771e+01] [-1.64647293e-02 -1.54538912e-04 -9.99864435e-01 6.71423604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.400385723 meters Centerline goodness [0,1] 0.9998878043307529 Centerline is valid? [True, True] Translation: X:53.80, Y:-56.01, Z:6.71 [[ 7.16888520e-01 6.97104651e-01 -1.07683230e-02 5.38041021e+01] [ 6.97028756e-01 -7.16969378e-01 -1.02870590e-02 -5.60050641e+01] [-1.48917145e-02 -1.31156317e-04 -9.99889104e-01 6.71399652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.81, Y:-56.01, Z:6.71 [[ 6.60499921e-01 7.50765327e-01 -9.55394437e-03 5.38050910e+01] [ 7.50689381e-01 -6.60569005e-01 -1.06790867e-02 -5.60132007e+01] [-1.43285276e-02 -1.18508643e-04 -9.99897334e-01 6.71281395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.460385723 meters Centerline goodness [0,1] 0.9998876959705314 Centerline is valid? [True, True] Translation: X:53.81, Y:-56.02, Z:6.71 [[ 6.00916575e-01 7.99274249e-01 -7.74234917e-03 5.38069740e+01] [ 7.99209761e-01 -6.00966444e-01 -1.01533479e-02 -5.60215404e+01] [-1.27682016e-02 -8.64459678e-05 -9.99918480e-01 6.71076336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.490385723 meters Centerline goodness [0,1] 0.9997753515747855 Centerline is valid? [True, True] Translation: X:53.81, Y:-56.03, Z:6.71 [[ 5.37323930e-01 8.43351075e-01 -6.47761469e-03 5.38067872e+01] [ 8.43291342e-01 -5.37362969e-01 -1.00375150e-02 -5.60288836e+01] [-1.19459793e-02 -6.91193844e-05 -9.99928642e-01 6.71026359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.520385723 meters Centerline goodness [0,1] 0.9999774931916905 Centerline is valid? [True, True] Translation: X:53.81, Y:-56.04, Z:6.71 [[ 4.71281426e-01 8.81964617e-01 -5.67730097e-03 5.38121295e+01] [ 8.81901832e-01 -4.71315618e-01 -1.05236850e-02 -5.60387454e+01] [-1.19573184e-02 -4.72048497e-05 -9.99928508e-01 6.70884824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.82, Y:-56.05, Z:6.71 [[ 4.01680520e-01 9.15766501e-01 -4.94725783e-03 5.38187526e+01] [ 9.15698143e-01 -4.01710983e-01 -1.11891745e-02 -5.60497036e+01] [-1.22340390e-02 -3.57213789e-05 -9.99925161e-01 6.71121047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.580385723 meters Centerline goodness [0,1] 0.999932353206458 Centerline is valid? [True, True] Translation: X:53.83, Y:-56.06, Z:6.71 [[ 3.30602804e-01 9.43759449e-01 -4.45964972e-03 5.38258379e+01] [ 9.43674104e-01 -3.30632882e-01 -1.26918481e-02 -5.60590270e+01] [-1.34525584e-02 -1.24953921e-05 -9.99909510e-01 6.71183988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.610385723 meters Centerline goodness [0,1] 0.9998646972601195 Centerline is valid? [True, True] Translation: X:53.83, Y:-56.07, Z:6.71 [[ 2.57839011e-01 9.66180460e-01 -3.78989085e-03 5.38341623e+01] [ 9.66075005e-01 -2.57866862e-01 -1.42747014e-02 -5.60680780e+01] [-1.47692248e-02 1.92560678e-05 -9.99890929e-01 6.71416716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.84, Y:-56.08, Z:6.71 [[ 1.83482814e-01 9.83019563e-01 -2.56816547e-03 5.38421387e+01] [ 9.82919457e-01 -1.83500779e-01 -1.40287384e-02 -5.60768382e+01] [-1.42617846e-02 4.97325870e-05 -9.99898294e-01 6.71283799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.85, Y:-56.08, Z:6.71 [[ 1.06895581e-01 9.94269203e-01 -1.44437389e-03 5.38501793e+01] [ 9.94170354e-01 -1.06905320e-01 -1.40199569e-02 -5.60840796e+01] [-1.40940226e-02 6.27177292e-05 -9.99900672e-01 6.71241298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.86, Y:-56.09, Z:6.71 [[ 3.12493554e-02 9.99511567e-01 -3.23893714e-04 5.38569109e+01] [ 9.99422325e-01 -3.12508935e-02 -1.33566111e-02 -5.60922839e+01] [-1.33602093e-02 9.36788779e-05 -9.99910744e-01 6.71239052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7303857229999 meters Centerline goodness [0,1] 0.9999549975248638 Centerline is valid? [True, True] Translation: X:53.86, Y:-56.10, Z:6.71 [[-4.62889777e-02 9.98927836e-01 7.13665782e-04 5.38635685e+01] [ 9.98841080e-01 4.62943634e-02 -1.31654454e-02 -5.60992031e+01] [-1.31843686e-02 1.03423692e-04 -9.99913077e-01 6.71209231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.87, Y:-56.10, Z:6.71 [[-1.23853079e-01 9.92299089e-01 1.71286716e-03 5.38744678e+01] [ 9.92216008e-01 1.23864874e-01 -1.28408018e-02 -5.61044325e+01] [-1.29540800e-02 1.09161379e-04 -9.99916087e-01 6.71117254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.89, Y:-56.11, Z:6.71 [[-2.00556448e-01 9.79678789e-01 2.56538685e-03 5.38850635e+01] [ 9.79605577e-01 2.00572824e-01 -1.19773172e-02 -5.61095743e+01] [-1.22484705e-02 1.10939075e-04 -9.99924979e-01 6.71165208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.90, Y:-56.11, Z:6.71 [[-2.77349375e-01 9.60763206e-01 3.37437282e-03 5.38953924e+01] [ 9.60696368e-01 2.77369884e-01 -1.13329979e-02 -5.61148106e+01] [-1.18242768e-02 9.85478072e-05 -9.99930086e-01 6.71215438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.91, Y:-56.12, Z:6.71 [[-3.52213232e-01 9.35909517e-01 4.38354091e-03 5.39100641e+01] [ 9.35840395e-01 3.52240496e-01 -1.13748755e-02 -5.61165971e+01] [-1.21899149e-02 9.59129739e-05 -9.99925696e-01 6.71125036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.92, Y:-56.12, Z:6.71 [[-4.25098760e-01 9.05130526e-01 5.45666170e-03 5.39231681e+01] [ 9.05058664e-01 4.25133770e-01 -1.14057916e-02 -5.61175069e+01] [-1.26435413e-02 9.00110764e-05 -9.99920063e-01 6.71110461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.94, Y:-56.12, Z:6.71 [[-4.95514315e-01 8.68575556e-01 6.48593818e-03 5.39374902e+01] [ 8.68503259e-01 4.95556755e-01 -1.12067924e-02 -5.61184966e+01] [-1.29480964e-02 7.99323942e-05 -9.99916167e-01 6.71317110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.940385723 meters Centerline goodness [0,1] 0.9999325069180409 Centerline is valid? [True, True] Translation: X:53.95, Y:-56.12, Z:6.71 [[-5.62036800e-01 8.27079504e-01 7.35729579e-03 5.39494861e+01] [ 8.27010495e-01 5.62084947e-01 -1.06842519e-02 -5.61186214e+01] [-1.29721510e-02 7.96180880e-05 -9.99915855e-01 6.71296549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9703857229999 meters Centerline goodness [0,1] 0.9999775995699117 Centerline is valid? [True, True] Translation: X:53.96, Y:-56.12, Z:6.71 [[-6.25776590e-01 7.79967971e-01 7.32281137e-03 5.39637556e+01] [ 7.79915711e-01 6.25819431e-01 -9.02900683e-03 -5.61153997e+01] [-1.16250938e-02 6.10345349e-05 -9.99932425e-01 6.71070449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.98, Y:-56.11, Z:6.71 [[-6.85096691e-01 7.28409089e-01 7.91981113e-03 5.39762287e+01] [ 7.28361391e-01 6.85142464e-01 -8.33595812e-03 -5.61132857e+01] [-1.14981866e-02 5.75473265e-05 -9.99933892e-01 6.71101656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.99, Y:-56.11, Z:6.71 [[-7.39772084e-01 6.72798913e-01 8.88186170e-03 5.39866694e+01] [ 6.72751469e-01 7.39825398e-01 -7.99009234e-03 -5.61109180e+01] [-1.19467523e-02 6.44382512e-05 -9.99928633e-01 6.71109108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.00, Y:-56.08, Z:6.71 [[-7.85222187e-01 6.19139547e-01 9.60932350e-03 5.39985291e+01] [ 6.19094295e-01 7.85280979e-01 -7.48583349e-03 -5.60827590e+01] [-1.21807945e-02 7.10348210e-05 -9.99925809e-01 6.71145090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.02, Y:-56.06, Z:6.71 [[-8.26955158e-01 5.62165317e-01 1.07389126e-02 5.40157752e+01] [ 5.62119143e-01 8.27024879e-01 -7.20545594e-03 -5.60582570e+01] [-1.29320053e-02 7.79594041e-05 -9.99916375e-01 6.71222084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.02, Y:-56.03, Z:6.71 [[-8.64587535e-01 5.02364697e-01 1.08676777e-02 5.40183006e+01] [ 5.02326140e-01 8.64655831e-01 -6.22442103e-03 -5.60258047e+01] [-1.25237302e-02 7.75617402e-05 -9.99921572e-01 6.71203023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.05, Y:-56.01, Z:6.71 [[-8.97816918e-01 4.40244757e-01 1.04563844e-02 5.40544529e+01] [ 4.40215895e-01 8.97877802e-01 -5.04162897e-03 -5.60116968e+01] [-1.16081062e-02 7.66068398e-05 -9.99932621e-01 6.71041244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.07, Y:-55.99, Z:6.71 [[-9.26516001e-01 3.76077020e-01 1.15834029e-02 5.40722647e+01] [ 3.76048837e-01 9.26588402e-01 -4.60493813e-03 -5.59884573e+01] [-1.24648582e-02 8.93763205e-05 -9.99922307e-01 6.71090743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.10, Y:-55.97, Z:6.71 [[-9.50606456e-01 3.10154839e-01 1.23020868e-02 5.41010744e+01] [ 3.10130251e-01 9.50686050e-01 -3.90663221e-03 -5.59679325e+01] [-1.29070832e-02 1.01579465e-04 -9.99916695e-01 6.71151357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.10, Y:-55.94, Z:6.71 [[-9.69853164e-01 2.43343598e-01 1.29897577e-02 5.41040316e+01] [ 2.43323475e-01 9.69940142e-01 -3.13182053e-03 -5.59387420e+01] [-1.33613959e-02 1.23306917e-04 -9.99910725e-01 6.71201294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.12, Y:-55.91, Z:6.71 [[-9.84533168e-01 1.74727765e-01 1.28316157e-02 5.41190139e+01] [ 1.74714622e-01 9.84616774e-01 -2.14688320e-03 -5.59126213e+01] [-1.30093441e-02 1.28193159e-04 -9.99915367e-01 6.71142176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.26, Y:-55.13, Z:5.77 [[-9.75155995e-01 -2.21174990e-01 1.23454268e-02 5.42618633e+01] [ 2.21155378e-01 -9.75234127e-01 -2.94888317e-03 -5.51281737e+01] [ 1.26919007e-02 -1.45363565e-04 9.99919444e-01 5.76690397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.06, Y:-55.90, Z:6.71 [[-9.85172732e-01 1.71140410e-01 1.20684630e-02 5.40637939e+01] [ 1.71129153e-01 9.85246641e-01 -1.96705275e-03 -5.59020879e+01] [-1.22270548e-02 1.27379118e-04 -9.99925239e-01 6.70767774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.07, Y:-55.87, Z:6.71 [[-9.94890503e-01 1.00160427e-01 1.26797748e-02 5.40670984e+01] [ 1.00153890e-01 9.94971293e-01 -1.15112060e-03 -5.58714314e+01] [-1.27313086e-02 1.24689813e-04 -9.99918946e-01 6.70759622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.07, Y:-55.84, Z:6.71 [[-9.99495260e-01 2.90682047e-02 1.28165881e-02 5.40701948e+01] [ 2.90674055e-02 9.99577423e-01 -2.48673045e-04 -5.58410599e+01] [-1.28184006e-02 1.23997434e-04 -9.99917833e-01 6.70732956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.09, Y:-55.05, Z:5.77 [[-9.96901488e-01 -7.75523037e-02 1.31553745e-02 5.40886915e+01] [ 7.75441989e-02 -9.96988280e-01 -1.12582294e-03 -5.50549855e+01] [ 1.32030643e-02 -1.02211595e-04 9.99912831e-01 5.76876027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.98, Y:-55.83, Z:6.71 [[-9.99661461e-01 2.23828546e-02 1.32654219e-02 5.39793732e+01] [ 2.23824142e-02 9.99749466e-01 -1.81678320e-04 -5.58346652e+01] [-1.32661650e-02 1.15295353e-04 -9.99911994e-01 6.70832900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.99, Y:-55.06, Z:5.77 [[-9.97364254e-01 -7.13781233e-02 1.30272140e-02 5.39911067e+01] [ 7.13703804e-02 -9.97449321e-01 -1.05888921e-03 -5.50564893e+01] [ 1.30695673e-02 -1.26341027e-04 9.99914582e-01 5.76912619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.88, Y:-55.83, Z:6.71 [[-9.99758608e-01 1.76578546e-02 1.30739062e-02 5.38841423e+01] [ 1.76579987e-02 9.99844080e-01 -1.04424902e-04 -5.58323714e+01] [-1.30737116e-02 1.26459324e-04 -9.99914527e-01 6.70812015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.87, Y:-55.80, Z:6.71 [[-9.98513840e-01 -5.29237328e-02 1.30073054e-02 5.38708953e+01] [-5.29174957e-02 9.98598548e-01 8.23457056e-04 -5.58034726e+01] [-1.30326568e-02 1.33919238e-04 -9.99915062e-01 6.70711854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.84, Y:-55.03, Z:5.77 [[-9.99891869e-01 6.59820272e-03 1.31420851e-02 5.38386188e+01] [-6.59931286e-03 -9.99978224e-01 -4.11071775e-05 -5.50273478e+01] [ 1.31415277e-02 -1.27831464e-04 9.99913638e-01 5.77010901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.78, Y:-55.81, Z:6.71 [[-9.98228936e-01 -5.78839709e-02 1.37272383e-02 5.37792670e+01] [-5.78762899e-02 9.98323305e-01 9.56481463e-04 -5.58077746e+01] [-1.37595868e-02 1.60305851e-04 -9.99905320e-01 6.70691807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.76, Y:-55.78, Z:6.71 [[-9.91608452e-01 -1.28649287e-01 1.27294639e-02 5.37625210e+01] [-1.28636701e-01 9.91690142e-01 1.80599472e-03 -5.57786425e+01] [-1.28560238e-02 1.53363382e-04 -9.99917346e-01 6.70590382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.74, Y:-55.75, Z:6.71 [[-9.79793638e-01 -1.99617115e-01 1.25472786e-02 5.37422022e+01] [-1.99598740e-01 9.79873963e-01 2.71275550e-03 -5.57519180e+01] [-1.28362640e-02 1.53519585e-04 -9.99917600e-01 6.70625504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.70, Y:-55.73, Z:6.71 [[-9.62675742e-01 -2.70378555e-01 1.22822476e-02 5.36981506e+01] [-2.70354513e-01 9.62754077e-01 3.60884162e-03 -5.57313961e+01] [-1.28005373e-02 1.53583220e-04 -9.99918058e-01 6.70569459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.63, Y:-55.72, Z:6.71 [[-9.40305443e-01 -3.40137106e-01 1.15075254e-02 5.36336938e+01] [-3.40109661e-01 9.40375843e-01 4.32342271e-03 -5.57209506e+01] [-1.22919554e-02 1.51517359e-04 -9.99924440e-01 6.70570820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.56, Y:-55.72, Z:6.71 [[-9.12430399e-01 -4.09073778e-01 1.13759165e-02 5.35617207e+01] [-4.09039917e-01 9.12501300e-01 5.26543805e-03 -5.57195277e+01] [-1.25344912e-02 1.51141801e-04 -9.99921429e-01 6.70523138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.780385723 meters Centerline goodness [0,1] 0.9999779497695751 Centerline is valid? [True, True] Translation: X:53.48, Y:-55.73, Z:6.71 [[-8.79602788e-01 -4.75576973e-01 1.12017457e-02 5.34804747e+01] [-4.75536090e-01 8.79674097e-01 6.23774312e-03 -5.57277302e+01] [-1.28204125e-02 1.59901899e-04 -9.99917802e-01 6.70535822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.40, Y:-55.74, Z:6.70 [[-8.41348232e-01 -5.40392435e-01 1.04484018e-02 5.33959635e+01] [-5.40348488e-01 8.41413093e-01 6.89339620e-03 -5.57436576e+01] [-1.25165613e-02 1.53968571e-04 -9.99921653e-01 6.70493537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8403857229999 meters Centerline goodness [0,1] 0.9999780475490089 Centerline is valid? [True, True] Translation: X:53.30, Y:-55.77, Z:6.70 [[-7.97796055e-01 -6.02858320e-01 9.12688437e-03 5.33021687e+01] [-6.02816976e-01 7.97848249e-01 7.06154248e-03 -5.57720181e+01] [-1.15389784e-02 1.31829893e-04 -9.99933415e-01 6.70463589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.21, Y:-55.81, Z:6.70 [[-7.49728083e-01 -6.61691439e-01 8.49951140e-03 5.32097050e+01] [-6.61647000e-01 7.49776249e-01 7.66964138e-03 -5.58100670e+01] [-1.14476678e-02 1.26469313e-04 -9.99934465e-01 6.70452830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.12, Y:-55.86, Z:6.70 [[-6.97062165e-01 -7.16968410e-01 7.78703516e-03 5.31158767e+01] [-7.16921741e-01 6.97105648e-01 8.18127746e-03 -5.58594662e+01] [-1.12941037e-02 1.20164175e-04 -9.99936212e-01 6.70399372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.02, Y:-55.92, Z:6.70 [[-6.39572563e-01 -7.68697301e-01 7.16912609e-03 5.30246609e+01] [-7.68647124e-01 6.39612733e-01 8.78359954e-03 -5.59172570e+01] [-1.13373936e-02 1.07221114e-04 -9.99935724e-01 6.70377285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.960385723 meters Centerline goodness [0,1] 0.9999780306691858 Centerline is valid? [True, True] Translation: X:52.93, Y:-55.99, Z:6.70 [[-5.78125106e-01 -8.15913796e-01 7.48588691e-03 5.29324047e+01] [-8.15842958e-01 5.78173560e-01 1.07518500e-02 -5.59873131e+01] [-1.31007246e-02 1.08606281e-04 -9.99914176e-01 6.70355923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.84, Y:-56.07, Z:6.70 [[-5.13341408e-01 -8.58158406e-01 6.68944614e-03 5.28447682e+01] [-8.58083049e-01 5.13384982e-01 1.13727986e-02 -5.60672010e+01] [-1.31939239e-02 9.80281184e-05 -9.99912952e-01 6.70395167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.020385723 meters Centerline goodness [0,1] 0.9999780783479844 Centerline is valid? [True, True] Translation: X:52.76, Y:-56.15, Z:6.70 [[-4.45305818e-01 -8.95357897e-01 6.07981474e-03 5.27639168e+01] [-8.95271649e-01 4.45347311e-01 1.24276554e-02 -5.61531533e+01] [-1.38348285e-02 9.10214850e-05 -9.99904290e-01 6.70490106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.69, Y:-56.25, Z:6.70 [[-3.74391877e-01 -9.27256575e-01 5.09577065e-03 5.26882408e+01] [-9.27167875e-01 3.74426546e-01 1.28255139e-02 -5.62475569e+01] [-1.38005339e-02 7.71333960e-05 -9.99904765e-01 6.70349427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.62, Y:-56.35, Z:6.70 [[-3.01908817e-01 -9.53328613e-01 3.95245397e-03 5.26211412e+01] [-9.53243790e-01 3.01934680e-01 1.27171950e-02 -5.63501106e+01] [-1.33170488e-02 7.17810914e-05 -9.99911322e-01 6.70329983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.56, Y:-56.46, Z:6.70 [[-2.28627155e-01 -9.73509658e-01 2.92746657e-03 5.25600513e+01] [-9.73425138e-01 2.28645882e-01 1.28281640e-02 -5.64641874e+01] [-1.31576947e-02 8.31970997e-05 -9.99913430e-01 6.70191398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.140385723 meters Centerline goodness [0,1] 0.9998904829701019 Centerline is valid? [True, True] Translation: X:52.51, Y:-56.57, Z:6.70 [[-1.54926355e-01 -9.87924012e-01 1.99293309e-03 5.25105717e+01] [-9.87832653e-01 1.54939132e-01 1.34355976e-02 -5.65720299e+01] [-1.35821328e-02 1.12843785e-04 -9.99907752e-01 6.70307850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.47, Y:-56.68, Z:6.70 [[-7.85319775e-02 -9.96911198e-01 8.90256016e-04 5.24686977e+01] [-9.96831022e-01 7.85369526e-02 1.26435945e-02 -5.66844551e+01] [-1.26744590e-02 1.05491668e-04 -9.99919670e-01 6.70199113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.44, Y:-56.81, Z:6.70 [[-2.03267828e-03 -9.99997930e-01 -8.78712950e-05 5.24351152e+01] [-9.99914830e-01 2.03137651e-03 1.28921166e-02 -5.68102061e+01] [-1.28919115e-02 1.14069336e-04 -9.99916889e-01 6.70235845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.41, Y:-56.93, Z:6.70 [[ 7.40722511e-02 -9.97252368e-01 -1.00843115e-03 5.24110404e+01] [-9.97180363e-01 -7.40790215e-02 1.19842661e-02 -5.69322452e+01] [-1.20260414e-02 1.17886173e-04 -9.99927678e-01 6.70222979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.69, Y:-57.11, Z:5.78 [[ 2.61936372e-02 9.99656880e-01 -1.25820809e-04 5.16857706e+01] [-9.99594389e-01 2.61934067e-02 1.11786916e-02 -5.71127211e+01] [ 1.11781517e-02 -1.67040818e-04 9.99937509e-01 5.77649918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.43, Y:-57.23, Z:6.70 [[ 8.37481271e-02 -9.96486395e-01 -1.05654314e-03 5.24331043e+01] [-9.96423004e-01 -8.37547173e-02 1.12403136e-02 -5.72314448e+01] [-1.12893101e-02 1.11408679e-04 -9.99936268e-01 6.70029077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.320385723 meters Centerline goodness [0,1] 0.9999344061570754 Centerline is valid? [True, True] Translation: X:52.42, Y:-57.35, Z:6.70 [[ 1.59932273e-01 -9.87125873e-01 -2.04414983e-03 5.24175485e+01] [-9.87054647e-01 -1.59945291e-01 1.18586931e-02 -5.73518049e+01] [-1.20329749e-02 1.21099845e-04 -9.99927594e-01 6.70152624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.41, Y:-57.48, Z:6.70 [[ 2.36969903e-01 -9.71512714e-01 -2.88306111e-03 5.24137725e+01] [-9.71445860e-01 -2.36987419e-01 1.13975665e-02 -5.74801439e+01] [-1.17561299e-02 9.98575640e-05 -9.99930889e-01 6.70098627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.42, Y:-57.61, Z:6.70 [[ 3.11825046e-01 -9.50131469e-01 -3.91580483e-03 5.24201400e+01] [-9.50060288e-01 -3.11849618e-01 1.16303657e-02 -5.76060794e+01] [-1.22715186e-02 9.36113572e-05 -9.99924698e-01 6.70194821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.43, Y:-57.73, Z:6.70 [[ 3.85994645e-01 -9.22487996e-01 -4.90216934e-03 5.24347584e+01] [-9.22415814e-01 -3.86025766e-01 1.15400913e-02 -5.77294654e+01] [-1.25379593e-02 6.74250958e-05 -9.99921395e-01 6.70136035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.46, Y:-57.86, Z:6.70 [[ 4.56603004e-01 -8.89652011e-01 -5.74429941e-03 5.24624120e+01] [-8.89583099e-01 -4.56639132e-01 1.10731123e-02 -5.78568311e+01] [-1.24742886e-02 5.40153075e-05 -9.99922192e-01 6.70127425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.49, Y:-57.97, Z:6.70 [[ 5.25220924e-01 -8.50941452e-01 -6.45189220e-03 5.24917614e+01] [-8.50877902e-01 -5.25260550e-01 1.03995216e-02 -5.79681599e+01] [-1.22383084e-02 2.77261598e-05 -9.99925109e-01 6.70112051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.53, Y:-58.08, Z:6.70 [[ 5.89679232e-01 -8.07606034e-01 -7.13424614e-03 5.25303805e+01] [-8.07547239e-01 -5.89722387e-01 9.74493251e-03 -5.80782083e+01] [-1.20772910e-02 1.48564481e-05 -9.99927067e-01 6.70208543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.58, Y:-58.18, Z:6.70 [[ 6.51345519e-01 -7.58746164e-01 -7.29893046e-03 5.25768179e+01] [-7.58698335e-01 -6.51386413e-01 8.51924525e-03 -5.81838908e+01] [-1.12183688e-02 -1.12858274e-05 -9.99937072e-01 6.70081367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.63, Y:-58.29, Z:6.70 [[ 7.08085772e-01 -7.06087228e-01 -7.44086350e-03 5.26342690e+01] [-7.06047922e-01 -7.08124866e-01 7.45025009e-03 -5.82882970e+01] [-1.05295869e-02 -2.18098697e-05 -9.99944562e-01 6.70131897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5903857229999 meters Centerline goodness [0,1] 0.9998691042366595 Centerline is valid? [True, True] Translation: X:52.69, Y:-58.38, Z:6.70 [[ 7.60793802e-01 -6.48936188e-01 -8.63798157e-03 5.26937657e+01] [-6.48893738e-01 -7.60842836e-01 7.42258758e-03 -5.83818268e+01] [-1.13889321e-02 -4.19264692e-05 -9.99935143e-01 6.70301770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.69, Y:-58.39, Z:6.70 [[ 8.10185333e-01 -5.86110388e-01 -8.62198369e-03 5.26883932e+01] [-5.86076446e-01 -8.10231207e-01 6.30796233e-03 -5.83915390e+01] [-1.06829625e-02 -5.74770048e-05 -9.99942934e-01 6.70156681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.68, Y:-58.40, Z:6.70 [[ 8.54039003e-01 -5.20124420e-01 -9.37921272e-03 5.26834029e+01] [-5.20092153e-01 -8.54090500e-01 5.79397295e-03 -5.84020388e+01] [-1.10242833e-02 -7.02239483e-05 -9.99939228e-01 6.70189292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.68, Y:-58.41, Z:6.70 [[ 8.93046644e-01 -4.49861524e-01 -9.60735462e-03 5.26802827e+01] [-4.49834385e-01 -8.93098316e-01 4.94219592e-03 -5.84120317e+01] [-1.08036160e-02 -9.18930269e-05 -9.99941635e-01 6.70243613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.68, Y:-58.42, Z:6.70 [[ 9.26469895e-01 -3.76229948e-01 -1.02255113e-02 5.26780145e+01] [-3.76205560e-01 -9.26526314e-01 4.28552587e-03 -5.84212179e+01] [-1.10865484e-02 -1.23516515e-04 -9.99938535e-01 6.70258743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.68, Y:-58.43, Z:6.70 [[ 9.53443296e-01 -3.01398931e-01 -1.02257722e-02 5.26758282e+01] [-3.01380087e-01 -9.53498121e-01 3.37292692e-03 -5.84317332e+01] [-1.07668511e-02 -1.34050460e-04 -9.99942027e-01 6.70277658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.67, Y:-58.44, Z:6.70 [[ 9.74278151e-01 -2.25119862e-01 -1.01553916e-02 5.26733013e+01] [-2.25106148e-01 -9.74331067e-01 2.48865962e-03 -5.84440625e+01] [-1.04549602e-02 -1.38605617e-04 -9.99945336e-01 6.70482096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.800385723 meters Centerline goodness [0,1] 0.9999779565744517 Centerline is valid? [True, True] Translation: X:52.67, Y:-58.45, Z:6.70 [[ 9.89087936e-01 -1.46998665e-01 -9.82073052e-03 5.26736142e+01] [-1.46989964e-01 -9.89136680e-01 1.60587459e-03 -5.84475385e+01] [-9.95010620e-03 -1.44802358e-04 -9.99950486e-01 6.70433974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.67, Y:-58.45, Z:6.70 [[ 9.97621023e-01 -6.82944208e-02 -9.38966814e-03 5.26708122e+01] [-6.82900269e-02 -9.97665200e-01 7.88148561e-04 -5.84526814e+01] [-9.42157129e-03 -1.45052884e-04 -9.99955606e-01 6.70394925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.67, Y:-58.46, Z:6.70 [[ 9.99903527e-01 1.03550009e-02 -9.25805764e-03 5.26678347e+01] [ 1.03559030e-02 -9.99946375e-01 4.95001918e-05 -5.84615090e+01] [-9.25704860e-03 -1.45370963e-04 -9.99957142e-01 6.70384408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.67, Y:-58.47, Z:6.70 [[ 9.96005876e-01 8.87657395e-02 -9.64049116e-03 5.26653409e+01] [ 8.87630690e-02 -9.96052519e-01 -7.05367423e-04 -5.84702795e+01] [-9.66504796e-03 -1.53169484e-04 -9.99953281e-01 6.70424350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.66, Y:-58.48, Z:6.70 [[ 9.85996470e-01 1.66488806e-01 -9.61450127e-03 5.26629162e+01] [ 1.66482413e-01 -9.86043333e-01 -1.46714232e-03 -5.84761413e+01] [-9.72457765e-03 -1.54048222e-04 -9.99952703e-01 6.70477193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.66, Y:-58.48, Z:6.71 [[ 9.70072762e-01 2.42632846e-01 -9.38825448e-03 5.26610824e+01] [ 2.42622949e-01 -9.70118179e-01 -2.19636731e-03 -5.84838054e+01] [-9.64062719e-03 -1.47169888e-04 -9.99953517e-01 6.70506955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.66, Y:-58.49, Z:6.71 [[ 9.48615853e-01 3.16310746e-01 -8.68765965e-03 5.26582460e+01] [ 3.16298681e-01 -9.48655626e-01 -2.76556520e-03 -5.84878271e+01] [-9.11637520e-03 -1.24436299e-04 -9.99958437e-01 6.70532619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.66, Y:-58.49, Z:6.70 [[ 9.21615895e-01 3.88034139e-01 -7.32462100e-03 5.26555482e+01] [ 3.88022694e-01 -9.21644996e-01 -2.98171022e-03 -5.84921122e+01] [-7.90770565e-03 -9.41276395e-05 -9.99968729e-01 6.70451931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.65, Y:-58.50, Z:6.70 [[ 8.88911928e-01 4.58023293e-01 -7.08861507e-03 5.26543294e+01] [ 4.58009495e-01 -8.88940187e-01 -3.55618329e-03 -5.84989689e+01] [-7.93016959e-03 -8.55192662e-05 -9.99968552e-01 6.70400612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.65, Y:-58.51, Z:6.70 [[ 8.50736326e-01 5.25551475e-01 -6.58407908e-03 5.26536038e+01] [ 5.25536437e-01 -8.50761800e-01 -3.97653516e-03 -5.85071987e+01] [-7.69135689e-03 -7.71905398e-05 -9.99970418e-01 6.70436434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.65, Y:-58.51, Z:6.71 [[ 8.07712628e-01 5.89536346e-01 -6.87079654e-03 5.26507038e+01] [ 5.89515799e-01 -8.07741847e-01 -4.92257974e-03 -5.85132969e+01] [-8.45186957e-03 -7.44132898e-05 -9.99964280e-01 6.70511170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.65, Y:-58.52, Z:6.71 [[ 7.59292951e-01 6.50717486e-01 -6.40057491e-03 5.26475976e+01] [ 6.50695153e-01 -7.59319925e-01 -5.39162445e-03 -5.85195350e+01] [-8.36850837e-03 -7.10006226e-05 -9.99964981e-01 6.70552265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.65, Y:-58.53, Z:6.70 [[ 7.05968979e-01 7.08216877e-01 -6.05432426e-03 5.26483590e+01] [ 7.08191709e-01 -7.05994936e-01 -5.97102998e-03 -5.85281164e+01] [-8.50310648e-03 -7.22603071e-05 -9.99963845e-01 6.70474847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.65, Y:-58.54, Z:6.71 [[ 6.48563257e-01 7.61141741e-01 -5.38064406e-03 5.26488024e+01] [ 7.61116407e-01 -6.48585573e-01 -6.21043008e-03 -5.85384747e+01] [-8.21682568e-03 -6.74397173e-05 -9.99966239e-01 6.70528015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.65, Y:-58.55, Z:6.71 [[ 5.87086552e-01 8.09509159e-01 -4.92978107e-03 5.26505081e+01] [ 8.09481573e-01 -5.87107245e-01 -6.68328056e-03 -5.85479677e+01] [-8.30448700e-03 -6.69027934e-05 -9.99965515e-01 6.70617743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.65, Y:-58.56, Z:6.71 [[ 5.21656308e-01 8.53144558e-01 -4.36575883e-03 5.26539615e+01] [ 8.53115781e-01 -5.21674571e-01 -7.00757881e-03 -5.85577583e+01] [-8.25598309e-03 -6.89500671e-05 -9.99965917e-01 6.70575459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.66, Y:-58.57, Z:6.71 [[ 4.53817231e-01 8.91087429e-01 -3.62146884e-03 5.26603874e+01] [ 8.91060118e-01 -4.53831677e-01 -6.97677746e-03 -5.85683295e+01] [-7.86045596e-03 -6.07646235e-05 -9.99969104e-01 6.70551278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.67, Y:-58.58, Z:6.71 [[ 3.83463454e-01 9.23550855e-01 -3.09799889e-03 5.26659651e+01] [ 9.23521856e-01 -3.83475965e-01 -7.31883472e-03 -5.85795666e+01] [-7.94732418e-03 -5.45640417e-05 -9.99968418e-01 6.70566241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3403857229999 meters Centerline goodness [0,1] 0.9999322921368602 Centerline is valid? [True, True] Translation: X:52.67, Y:-58.59, Z:6.71 [[ 3.12492188e-01 9.49917349e-01 -2.37967953e-03 5.26721488e+01] [ 9.49890573e-01 -3.12501247e-01 -7.13230883e-03 -5.85892625e+01] [-7.51875671e-03 -3.16443618e-05 -9.99971733e-01 6.70543621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.370385723 meters Centerline goodness [0,1] 0.9999774256174093 Centerline is valid? [True, True] Translation: X:52.68, Y:-58.60, Z:6.70 [[ 2.38012736e-01 9.71260714e-01 -1.60126197e-03 5.26788976e+01] [ 9.71239354e-01 -2.38018121e-01 -6.44139603e-03 -5.85993335e+01] [-6.63740427e-03 -2.20743511e-05 -9.99977972e-01 6.70439900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.69, Y:-58.61, Z:6.70 [[ 1.62726446e-01 9.86670704e-01 -1.01305740e-03 5.26870519e+01] [ 9.86652005e-01 -1.62729599e-01 -6.07446636e-03 -5.86082432e+01] [-6.15835242e-03 -1.10587977e-05 -9.99981037e-01 6.70406847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.70, Y:-58.62, Z:6.70 [[ 8.49212955e-02 9.96387519e-01 -5.34004635e-04 5.26957698e+01] [ 9.96368631e-01 -8.49229737e-02 -6.13516890e-03 -5.86167638e+01] [-6.15835498e-03 -1.10589757e-05 -9.99981037e-01 6.70406850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.70, Y:-58.63, Z:6.70 [[ 9.59378653e-03 9.99953977e-01 -5.16039977e-05 5.27043159e+01] [ 9.99935052e-01 -9.59392245e-03 -6.15207774e-03 -5.86251132e+01] [-6.15228968e-03 7.42107440e-06 -9.99981075e-01 6.70422412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.72, Y:-58.63, Z:6.70 [[-6.62595329e-02 9.97802355e-01 3.68443418e-04 5.27166963e+01] [ 9.97788509e-01 6.62605544e-02 -5.25653714e-03 -5.86318642e+01] [-5.26939840e-03 1.93329134e-05 -9.99986117e-01 6.70444468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.73, Y:-58.64, Z:6.71 [[-1.43029691e-01 9.89718081e-01 7.92893712e-04 5.27284971e+01] [ 9.89703870e-01 1.43031887e-01 -5.30373916e-03 -5.86381831e+01] [-5.36261562e-03 2.61378006e-05 -9.99985621e-01 6.70505437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.550385723 meters Centerline goodness [0,1] 0.9999774784919598 Centerline is valid? [True, True] Translation: X:52.74, Y:-58.64, Z:6.71 [[-2.18897563e-01 9.75747289e-01 1.04155684e-03 5.27377767e+01] [ 9.75736855e-01 2.18900039e-01 -4.51252763e-03 -5.86446267e+01] [-4.63108344e-03 2.85040967e-05 -9.99989276e-01 6.70536820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.75, Y:-58.65, Z:6.70 [[-2.94578449e-01 9.55626494e-01 1.24168617e-03 5.27476166e+01] [ 9.55618370e-01 2.94581065e-01 -3.94034526e-03 -5.86494607e+01] [-4.13127556e-03 2.58373147e-05 -9.99991466e-01 6.70494314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.76, Y:-58.65, Z:6.70 [[-3.68654748e-01 9.29565680e-01 1.15016309e-03 5.27570044e+01] [ 9.29561315e-01 3.68656542e-01 -2.84880806e-03 -5.86547973e+01] [-3.07216935e-03 1.89204974e-05 -9.99995281e-01 6.70465661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.77, Y:-58.66, Z:6.70 [[-4.40398443e-01 8.97801903e-01 9.76903130e-04 5.27714487e+01] [ 8.97799761e-01 4.40399526e-01 -1.96131465e-03 -5.86555157e+01] [-2.19109970e-03 1.33034796e-05 -9.99997600e-01 6.70340494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.79, Y:-58.66, Z:6.70 [[-5.09973153e-01 8.60189859e-01 8.88849141e-04 5.27852845e+01] [ 8.60188584e-01 5.09973927e-01 -1.48118536e-03 -5.86557322e+01] [-1.72739052e-03 9.21311419e-06 -9.99998508e-01 6.70347558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.80, Y:-58.65, Z:6.70 [[-5.77315681e-01 8.16519852e-01 1.39121945e-03 5.28006832e+01] [ 8.16517516e-01 5.77317358e-01 -1.95325144e-03 -5.86531217e+01] [-2.39804371e-03 8.31236068e-06 -9.99997125e-01 6.70424540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.81, Y:-58.65, Z:6.70 [[-6.40388335e-01 7.68050176e-01 1.30670554e-03 5.28147686e+01] [ 7.68048592e-01 6.40389668e-01 -1.55985926e-03 -5.86512304e+01] [-2.03485091e-03 4.69767635e-06 -9.99997930e-01 6.70489742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.760385723 meters Centerline goodness [0,1] 0.9999775754585819 Centerline is valid? [True, True] Translation: X:52.83, Y:-58.65, Z:6.70 [[-6.99267971e-01 7.14857816e-01 1.61518412e-03 5.28252347e+01] [ 7.14855919e-01 6.99269836e-01 -1.64680685e-03 -5.86499337e+01] [-2.30668228e-03 3.06464396e-06 -9.99997340e-01 6.70486995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.84, Y:-58.65, Z:6.71 [[-7.53873978e-01 6.57015847e-01 2.04986846e-03 5.28364198e+01] [ 6.57013420e-01 7.53876765e-01 -1.78603492e-03 -5.86462907e+01] [-2.71880145e-03 3.45839641e-07 -9.99996304e-01 6.70512632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.85, Y:-58.62, Z:6.71 [[-7.98755619e-01 6.01651613e-01 2.19020811e-03 5.28542222e+01] [ 6.01649348e-01 7.98758622e-01 -1.65101831e-03 -5.86232473e+01] [-2.74278544e-03 -1.02287026e-06 -9.99996239e-01 6.70525060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.87, Y:-58.60, Z:6.71 [[-8.39246896e-01 5.43744846e-01 2.48794659e-03 5.28683761e+01] [ 5.43742454e-01 8.39250584e-01 -1.61284515e-03 -5.85984849e+01] [-2.96498687e-03 -7.73104709e-07 -9.99995605e-01 6.70596250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.90, Y:-58.58, Z:6.71 [[-8.75392539e-01 4.83402913e-01 3.08653374e-03 5.28997727e+01] [ 4.83399912e-01 8.75397980e-01 -1.70337098e-03 -5.85843373e+01] [-3.52535989e-03 9.11894031e-07 -9.99993786e-01 6.70646286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.90, Y:-58.56, Z:6.71 [[-9.06669111e-01 4.21826612e-01 3.66513857e-03 5.29040621e+01] [ 4.21823200e-01 9.06676519e-01 -1.69661906e-03 -5.85556190e+01] [-4.03877415e-03 7.76838638e-06 -9.99991844e-01 6.70736291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.93, Y:-58.54, Z:6.71 [[-9.33944936e-01 3.57402048e-01 3.26069723e-03 5.29293270e+01] [ 3.57399907e-01 9.33950628e-01 -1.23726074e-03 -5.85357040e+01] [-3.48752975e-03 9.83948257e-06 -9.99993919e-01 6.70749844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.94, Y:-58.51, Z:6.71 [[-9.56637927e-01 2.91265735e-01 2.85457567e-03 5.29434253e+01] [ 2.91264473e-01 9.56642186e-01 -8.57285046e-04 -5.85104806e+01] [-2.98050527e-03 1.13250904e-05 -9.99995558e-01 6.70738375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.95, Y:-58.49, Z:6.71 [[-9.74643794e-01 2.23745542e-01 2.72157284e-03 5.29547106e+01] [ 2.23744708e-01 9.74647594e-01 -6.10766247e-04 -5.84853205e+01] [-2.78923065e-03 1.36579889e-05 -9.99996110e-01 6.70672184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.14, Y:-57.69, Z:5.77 [[-9.60337225e-01 -2.78830032e-01 2.49550131e-03 5.31441910e+01] [ 2.78829025e-01 -9.60340467e-01 -7.49820598e-04 -5.76903190e+01] [ 2.60560340e-03 -2.42624337e-05 9.99996605e-01 5.77053826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.89, Y:-58.47, Z:6.71 [[-9.75102544e-01 2.21735070e-01 2.93060886e-03 5.28929621e+01] [ 2.21734130e-01 9.75106947e-01 -6.45817795e-04 -5.84745807e+01] [-3.00085751e-03 2.00774318e-05 -9.99995497e-01 6.70721047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.91, Y:-58.45, Z:6.71 [[-9.88287964e-01 1.52567758e-01 3.15919211e-03 5.29096339e+01] [ 1.52567054e-01 9.88293013e-01 -4.64176509e-04 -5.84492153e+01] [-3.19302586e-03 2.32485765e-05 -9.99994902e-01 6.70768799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.04, Y:-57.64, Z:5.77 [[-9.78951680e-01 -2.04060377e-01 3.60156229e-03 5.30443311e+01] [ 2.04059012e-01 -9.78958305e-01 -7.46467620e-04 -5.76360427e+01] [ 3.67810378e-03 4.17551017e-06 9.99993236e-01 5.76905733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.85, Y:-58.44, Z:6.71 [[-9.88814575e-01 1.49073839e-01 4.76719335e-03 5.28535912e+01] [ 1.49072297e-01 9.88826066e-01 -6.79193346e-04 -5.84448503e+01] [-4.81517501e-03 3.90601835e-05 -9.99988406e-01 6.70865961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.97, Y:-57.62, Z:5.77 [[-9.79951996e-01 -1.99169330e-01 5.06595929e-03 5.29691966e+01] [ 1.99166568e-01 -9.79965090e-01 -1.04917094e-03 -5.76218580e+01] [ 5.17342593e-03 -1.91674355e-05 9.99986618e-01 5.76869861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.78, Y:-58.44, Z:6.71 [[-9.89391292e-01 1.45131340e-01 6.46264807e-03 5.27762125e+01] [ 1.45128611e-01 9.89412397e-01 -8.91687800e-04 -5.84355101e+01] [-6.52363596e-03 5.56869938e-05 -9.99978719e-01 6.70955837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.91, Y:-57.61, Z:5.77 [[-9.80873683e-01 -1.94537052e-01 6.49261324e-03 5.29095997e+01] [ 1.94532454e-01 -9.80895169e-01 -1.33842091e-03 -5.76133855e+01] [ 6.62894542e-03 -4.97978612e-05 9.99978027e-01 5.76711609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.73, Y:-58.43, Z:6.71 [[-9.90091738e-01 1.40290579e-01 6.07481266e-03 5.27256373e+01] [ 1.40288251e-01 9.90110373e-01 -8.09883205e-04 -5.84281098e+01] [-6.12835401e-03 5.03661715e-05 -9.99981220e-01 6.71013246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.83, Y:-57.60, Z:5.77 [[-9.81664042e-01 -1.90527157e-01 5.92553881e-03 5.28300614e+01] [ 1.90523348e-01 -9.81681924e-01 -1.20597856e-03 -5.76031228e+01] [ 6.04676600e-03 -5.49122878e-05 9.99981717e-01 5.76754654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.65, Y:-58.42, Z:6.71 [[-9.90719612e-01 1.35800508e-01 5.73338721e-03 5.26528407e+01] [ 1.35798515e-01 9.90736201e-01 -7.37166361e-04 -5.84178998e+01] [-5.78038183e-03 4.82602993e-05 -9.99983292e-01 6.70907562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.66, Y:-58.39, Z:6.71 [[-9.97843711e-01 6.54776506e-02 4.53938212e-03 5.26629794e+01] [ 6.54771530e-02 9.97854035e-01 -2.58313150e-04 -5.83881656e+01] [-4.54655450e-03 3.94696658e-05 -9.99989664e-01 6.70758818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.66, Y:-58.36, Z:6.71 [[-9.99977996e-01 -5.43267038e-03 3.80706885e-03 5.26561782e+01] [-5.43250265e-03 9.99985242e-01 5.43956814e-05 -5.83588127e+01] [-3.80730818e-03 3.37125729e-05 -9.99992752e-01 6.70707009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.66, Y:-58.33, Z:6.71 [[-9.97057387e-01 -7.66137735e-02 2.62634382e-03 5.26563763e+01] [-7.66134460e-02 9.97060845e-01 2.25218223e-04 -5.83284102e+01] [-2.63587940e-03 2.33422426e-05 -9.99996526e-01 6.70577251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.58, Y:-57.51, Z:5.77 [[-9.99635120e-01 2.69347688e-02 2.03596136e-03 5.25755421e+01] [-2.69348312e-02 -9.99637192e-01 -3.20638530e-06 -5.75082882e+01] [ 2.03513634e-03 -5.80434909e-05 9.99997928e-01 5.77150438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.52, Y:-58.34, Z:6.71 [[-9.96537113e-01 -8.31094756e-02 2.56873823e-03 5.25185950e+01] [-8.31091416e-02 9.96540423e-01 2.36671919e-04 -5.83374245e+01] [-2.57952116e-03 2.23667222e-05 -9.99996673e-01 6.70602354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.53, Y:-58.30, Z:6.71 [[-9.87989752e-01 -1.54477847e-01 3.58405343e-03 5.25286736e+01] [-1.54476713e-01 9.87996252e-01 5.92753901e-04 -5.83048525e+01] [-3.63259870e-03 3.19819856e-05 -9.99993402e-01 6.70728323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.50, Y:-58.28, Z:6.71 [[-9.74379862e-01 -2.24877386e-01 3.74770418e-03 5.24995206e+01] [-2.24875584e-01 9.74387069e-01 9.00918869e-04 -5.82803195e+01] [-3.85431077e-03 3.50700380e-05 -9.99992572e-01 6.70748822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.28, Y:-57.50, Z:5.77 [[-9.84302944e-01 1.76433676e-01 4.34415579e-03 5.22834064e+01] [-1.76431971e-01 -9.84312531e-01 7.75780576e-04 -5.74963942e+01] [ 4.41288080e-03 -2.84486345e-06 9.99990263e-01 5.76856809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.34, Y:-58.31, Z:6.71 [[-9.72726623e-01 -2.31908387e-01 4.62779149e-03 5.23365781e+01] [-2.31905544e-01 9.72737631e-01 1.14907132e-03 -5.83142399e+01] [-4.76810621e-03 4.45217571e-05 -9.99988632e-01 6.70934502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.28, Y:-58.30, Z:6.71 [[-9.53285298e-01 -3.02021246e-01 5.50528354e-03 5.22814778e+01] [-3.02015863e-01 9.53301193e-01 1.80407684e-03 -5.83010054e+01] [-5.79306290e-03 5.71169644e-05 -9.99983219e-01 6.71131063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.21, Y:-58.29, Z:6.71 [[-9.28667057e-01 -3.70873531e-01 5.50648319e-03 5.22125896e+01] [-3.70866616e-01 9.28683380e-01 2.26569431e-03 -5.82921004e+01] [-5.95406547e-03 6.19048844e-05 -9.99982273e-01 6.71016562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.14, Y:-58.29, Z:6.71 [[-8.99080969e-01 -4.37754652e-01 4.92710312e-03 5.21391696e+01] [-4.37747683e-01 8.99094467e-01 2.47094315e-03 -5.82926228e+01] [-5.51159801e-03 6.47499856e-05 -9.99984809e-01 6.70953069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.06, Y:-58.30, Z:6.71 [[-8.64277896e-01 -5.02994867e-01 4.45909005e-03 5.20565595e+01] [-5.02987777e-01 8.64289396e-01 2.67141775e-03 -5.83044296e+01] [-5.19765366e-03 6.59795154e-05 -9.99986490e-01 6.70917571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.97, Y:-58.33, Z:6.71 [[-8.25099945e-01 -5.64973873e-01 3.82158197e-03 5.19679122e+01] [-5.64967425e-01 8.25108792e-01 2.70010172e-03 -5.83273657e+01] [-4.67870780e-03 6.87844550e-05 -9.99989053e-01 6.70894893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.88, Y:-58.36, Z:6.71 [[-7.80552618e-01 -6.25081533e-01 3.26918258e-03 5.18790644e+01] [-6.25075693e-01 7.80559461e-01 2.70275706e-03 -5.83572540e+01] [-4.24123492e-03 6.61575273e-05 -9.99991004e-01 6.70881555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.78, Y:-58.40, Z:6.71 [[-7.31463020e-01 -6.81877029e-01 2.35960875e-03 5.17838649e+01] [-6.81873243e-01 7.31466824e-01 2.27305207e-03 -5.84018874e+01] [-3.27591751e-03 5.36994577e-05 -9.99994633e-01 6.70868923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.69, Y:-58.46, Z:6.71 [[-6.78701765e-01 -7.34411151e-01 2.04327632e-03 5.16904693e+01] [-7.34407573e-01 6.78704839e-01 2.29311660e-03 -5.84564583e+01] [-3.07087193e-03 5.57446770e-05 -9.99995283e-01 6.70850673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.60, Y:-58.52, Z:6.71 [[-6.20914759e-01 -7.83876965e-01 1.32914012e-03 5.15982493e+01] [-7.83875028e-01 6.20916180e-01 1.74320903e-03 -5.85199902e+01] [-2.19174601e-03 4.05044652e-05 -9.99997597e-01 6.70755762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.51, Y:-58.60, Z:6.71 [[-5.58343077e-01 -8.29609241e-01 1.23130941e-03 5.15089074e+01] [-8.29607064e-01 5.58344433e-01 1.90066596e-03 -5.85954772e+01] [-2.26430480e-03 3.97206960e-05 -9.99997436e-01 6.70735071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.42, Y:-58.68, Z:6.71 [[-4.92084861e-01 -8.70546435e-01 1.18070897e-03 5.14204393e+01] [-8.70543729e-01 4.92086275e-01 2.17104793e-03 -5.86814021e+01] [-2.47100872e-03 4.04810276e-05 -9.99996946e-01 6.70707978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.34, Y:-58.78, Z:6.71 [[-4.21124309e-01 -9.07001972e-01 1.31884347e-03 5.13377416e+01] [-9.06997198e-01 4.21126371e-01 2.94311230e-03 -5.87753564e+01] [-3.22480843e-03 4.32288034e-05 -9.99994799e-01 6.70750695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.26, Y:-58.87, Z:6.71 [[-3.48729561e-01 -9.37222789e-01 1.06674149e-03 5.12640279e+01] [-9.37218068e-01 3.48731190e-01 2.97501216e-03 -5.88731532e+01] [-3.16025522e-03 3.77052842e-05 -9.99995006e-01 6.70782100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.19, Y:-58.99, Z:6.71 [[-2.72429157e-01 -9.62175203e-01 1.11051405e-03 5.11917482e+01] [-9.62166660e-01 2.72431418e-01 4.05476554e-03 -5.89937959e+01] [-4.20393377e-03 3.61367594e-05 -9.99991163e-01 6.70890616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.14, Y:-59.09, Z:6.71 [[-1.95841011e-01 -9.80635308e-01 8.30981318e-04 5.11366165e+01] [-9.80625801e-01 1.95842771e-01 4.31821177e-03 -5.90937011e+01] [-4.39733262e-03 3.08012383e-05 -9.99990331e-01 6.70948645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.09, Y:-59.21, Z:6.71 [[-1.17995615e-01 -9.93013946e-01 5.81697329e-04 5.10875628e+01] [-9.93000715e-01 1.17997046e-01 5.12621814e-03 -5.92094142e+01] [-5.15904467e-03 2.72453976e-05 -9.99986692e-01 6.71015110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.05, Y:-59.33, Z:6.71 [[-3.83081348e-02 -9.99265941e-01 2.58160066e-04 5.10466945e+01] [-9.99240006e-01 3.83090005e-02 7.19934149e-03 -5.93302580e+01] [-7.20394660e-03 1.78294781e-05 -9.99974051e-01 6.71154538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.140385723 meters Centerline goodness [0,1] 0.9999780258416102 Centerline is valid? [True, True] Translation: X:51.02, Y:-59.45, Z:6.71 [[ 3.97356746e-02 -9.99210177e-01 -3.14499911e-04 5.10165357e+01] [-9.99181254e-01 -3.97369174e-02 7.60257485e-03 -5.94521770e+01] [-7.60906741e-03 1.21489748e-05 -9.99971051e-01 6.71224177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.170385723 meters Centerline goodness [0,1] 0.9999781152886593 Centerline is valid? [True, True] Translation: X:51.00, Y:-59.57, Z:6.71 [[ 1.17200735e-01 -9.93107794e-01 -9.46786316e-04 5.09950655e+01] [-9.93075971e-01 -1.17204559e-01 7.95029871e-03 -5.95748707e+01] [-8.00647129e-03 8.44988506e-06 -9.99967948e-01 6.71251611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.99, Y:-59.70, Z:6.71 [[ 1.92480739e-01 -9.81299617e-01 -1.49234140e-03 5.09853532e+01] [-9.81270717e-01 -1.92486523e-01 7.53118782e-03 -5.97012267e+01] [-7.67760733e-03 1.47823186e-05 -9.99970527e-01 6.71229586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2303857229999 meters Centerline goodness [0,1] 0.9999780311518267 Centerline is valid? [True, True] Translation: X:50.99, Y:-59.83, Z:6.71 [[ 2.66360515e-01 -9.63871131e-01 -2.12581500e-03 5.09858367e+01] [-9.63841162e-01 -2.66368997e-01 7.60076743e-03 -5.98269618e+01] [-7.89241150e-03 2.44036783e-05 -9.99968854e-01 6.71224095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.00, Y:-59.95, Z:6.71 [[ 3.36644318e-01 -9.41628242e-01 -2.61873771e-03 5.09955700e+01] [-9.41600884e-01 -3.36654500e-01 7.17798808e-03 -5.99483105e+01] [-7.64060613e-03 4.93768422e-05 -9.99970809e-01 6.71212881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.02, Y:-60.08, Z:6.71 [[ 4.06141300e-01 -9.13804949e-01 -3.12405125e-03 5.10172113e+01] [-9.13779138e-01 -4.06153310e-01 6.86845762e-03 -6.00763034e+01] [-7.54527431e-03 6.51285514e-05 -9.99971532e-01 6.71204319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.04, Y:-60.20, Z:6.71 [[ 4.75151323e-01 -8.79896557e-01 -3.64255471e-03 5.10446502e+01] [-8.79871746e-01 -4.75165281e-01 6.60810887e-03 -6.01957444e+01] [-7.54526778e-03 6.51293023e-05 -9.99971532e-01 6.71204286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.08, Y:-60.30, Z:6.71 [[ 5.37596393e-01 -8.43191537e-01 -4.26033872e-03 5.10772494e+01] [-8.43166535e-01 -5.37613264e-01 6.49400408e-03 -6.03042549e+01] [-7.76610389e-03 1.01021876e-04 -9.99969838e-01 6.71107838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.12, Y:-60.41, Z:6.71 [[ 5.99163038e-01 -8.00612733e-01 -4.78611363e-03 5.11187196e+01] [-8.00588724e-01 -5.99182142e-01 6.20135186e-03 -6.04107125e+01] [-7.83263507e-03 1.16087782e-04 -9.99969318e-01 6.71062907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.17, Y:-60.52, Z:6.71 [[ 6.57453773e-01 -7.53476974e-01 -5.19477107e-03 5.11690887e+01] [-7.53454966e-01 -6.57474283e-01 5.76033104e-03 -6.05156516e+01] [-7.75570519e-03 1.26874683e-04 -9.99969916e-01 6.70985198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.22, Y:-60.61, Z:6.71 [[ 7.11935493e-01 -7.02224366e-01 -5.36588241e-03 5.12229470e+01] [-7.02205813e-01 -7.11955702e-01 5.10625412e-03 -6.06135004e+01] [-7.40600664e-03 1.32630272e-04 -9.99972566e-01 6.70905848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.21, Y:-60.63, Z:6.71 [[ 7.65253424e-01 -6.43705148e-01 -5.55698341e-03 5.12142986e+01] [-6.43689318e-01 -7.65273591e-01 4.51594102e-03 -6.06268953e+01] [-7.15954712e-03 1.21131533e-04 -9.99974363e-01 6.70903065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.21, Y:-60.64, Z:6.71 [[ 8.13693369e-01 -5.81260972e-01 -6.22769225e-03 5.12070075e+01] [-5.81245088e-01 -8.13717191e-01 4.29888549e-03 -6.06366880e+01] [-7.56635460e-03 1.21840914e-04 -9.99971367e-01 6.70960922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.20, Y:-60.65, Z:6.71 [[ 8.56891825e-01 -5.15446811e-01 -7.14038699e-03 5.12009099e+01] [-5.15430164e-01 -8.56921565e-01 4.14458866e-03 -6.06486136e+01] [-8.25506660e-03 1.28906693e-04 -9.99965918e-01 6.70959327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.20, Y:-60.66, Z:6.71 [[ 8.94941305e-01 -4.46111049e-01 -8.06177644e-03 5.11950265e+01] [-4.46094275e-01 -8.94977606e-01 3.87080184e-03 -6.06610190e+01] [-8.94191684e-03 1.32171863e-04 -9.99960012e-01 6.71034606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.19, Y:-60.67, Z:6.71 [[ 9.27450269e-01 -3.73842880e-01 -8.80344377e-03 5.11897645e+01] [-3.73827366e-01 -9.27492040e-01 3.40822787e-03 -6.06732821e+01] [-9.43926574e-03 1.30006342e-04 -9.99955441e-01 6.71149486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.19, Y:-60.69, Z:6.71 [[ 9.54140054e-01 -2.99211226e-01 -9.45511621e-03 5.11861055e+01] [-2.99197839e-01 -9.54186893e-01 2.83317547e-03 -6.06850594e+01] [-9.86966586e-03 1.25704137e-04 -9.99951286e-01 6.71124794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.19, Y:-60.70, Z:6.71 [[ 9.74718284e-01 -2.23242615e-01 -9.32745840e-03 5.11850825e+01] [-2.23233543e-01 -9.74762905e-01 2.01597010e-03 -6.06955053e+01] [-9.54211089e-03 1.17198668e-04 -9.99954466e-01 6.71067881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.18, Y:-60.70, Z:6.71 [[ 9.89193553e-01 -1.46329535e-01 -9.15326749e-03 5.11814016e+01] [-1.46324336e-01 -9.89235894e-01 1.23869398e-03 -6.07043553e+01] [-9.23599826e-03 1.14037693e-04 -9.99957341e-01 6.70999472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.18, Y:-60.71, Z:6.71 [[ 9.97592773e-01 -6.87960398e-02 -8.70425547e-03 5.11770471e+01] [-6.87943902e-02 -9.97630740e-01 4.89140526e-04 -6.07121460e+01] [-8.71728376e-03 1.10840893e-04 -9.99961998e-01 6.70929397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.18, Y:-60.72, Z:6.71 [[ 9.99917178e-01 9.25522431e-03 -8.94308791e-03 5.11750954e+01] [ 9.25381425e-03 -9.99957163e-01 -1.99038060e-04 -6.07204235e+01] [-8.94454695e-03 1.16263901e-04 -9.99959990e-01 6.70946318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.17, Y:-60.73, Z:6.71 [[ 9.96177817e-01 8.69407198e-02 -8.43025580e-03 5.11730961e+01] [ 8.69366319e-02 -9.96213480e-01 -8.50846738e-04 -6.07295176e+01] [-8.47230769e-03 1.14696601e-04 -9.99964103e-01 6.71012396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.17, Y:-60.74, Z:6.71 [[ 9.86344351e-01 1.64493391e-01 -8.16986155e-03 5.11706245e+01] [ 1.64486794e-01 -9.86378179e-01 -1.47758098e-03 -6.07369915e+01] [-8.30162546e-03 1.13569320e-04 -9.99965535e-01 6.71047844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.17, Y:-60.74, Z:6.71 [[ 9.70539281e-01 2.40800444e-01 -8.28550179e-03 5.11690334e+01] [ 2.40790607e-01 -9.70574640e-01 -2.17994032e-03 -6.07426156e+01] [-8.56662851e-03 1.20646714e-04 -9.99963299e-01 6.71114840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.17, Y:-60.75, Z:6.71 [[ 9.48792321e-01 3.15790344e-01 -8.34212463e-03 5.11679641e+01] [ 3.15776959e-01 -9.48828985e-01 -2.91032581e-03 -6.07475645e+01] [-8.83430243e-03 1.27044037e-04 -9.99960969e-01 6.71175751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.17, Y:-60.76, Z:6.71 [[ 9.21135391e-01 3.89151909e-01 -8.38941818e-03 5.11707829e+01] [ 3.89134466e-01 -9.21173585e-01 -3.68683980e-03 -6.07603593e+01] [-9.16285117e-03 1.31466859e-04 -9.99958012e-01 6.71044026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.17, Y:-60.77, Z:6.71 [[ 8.87715903e-01 4.60323121e-01 -7.94351822e-03 5.11746724e+01] [ 4.60303413e-01 -8.87751434e-01 -4.26140230e-03 -6.07725125e+01] [-9.01349170e-03 1.26486038e-04 -9.99959370e-01 6.71073119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.950385723 meters Centerline goodness [0,1] 0.9999781645085922 Centerline is valid? [True, True] Translation: X:51.18, Y:-60.78, Z:6.71 [[ 8.48732278e-01 5.28771567e-01 -7.35872093e-03 5.11766025e+01] [ 5.28750475e-01 -8.48764170e-01 -4.72433500e-03 -6.07822374e+01] [-8.74391268e-03 1.18768415e-04 -9.99961764e-01 6.71236057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.18, Y:-60.79, Z:6.71 [[ 8.04319007e-01 5.94155395e-01 -7.09242421e-03 5.11818590e+01] [ 5.94131032e-01 -8.04350268e-01 -5.38172862e-03 -6.07934829e+01] [-8.90237640e-03 1.14797305e-04 -9.99960367e-01 6.71124873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.19, Y:-60.80, Z:6.71 [[ 7.54962255e-01 6.55733523e-01 -6.74842833e-03 5.11870040e+01] [ 6.55706002e-01 -7.54992407e-01 -6.00870854e-03 -6.08030337e+01] [-9.03512377e-03 1.11363188e-04 -9.99959176e-01 6.71085415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.19, Y:-60.81, Z:6.71 [[ 7.00792918e-01 7.13338970e-01 -6.06628346e-03 5.11944275e+01] [ 7.13310981e-01 -7.00819166e-01 -6.31980929e-03 -6.08135000e+01] [-8.75953396e-03 1.01730983e-04 -9.99961629e-01 6.71046792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.20, Y:-60.82, Z:6.71 [[ 6.42233316e-01 7.66491424e-01 -5.22154537e-03 5.12021647e+01] [ 7.66464945e-01 -6.42254536e-01 -6.37176138e-03 -6.08230415e+01] [-8.23746165e-03 9.00259466e-05 -9.99966068e-01 6.71055437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.21, Y:-60.83, Z:6.71 [[ 5.80077212e-01 8.14548078e-01 -4.67505743e-03 5.12114414e+01] [ 8.14520397e-01 -5.80096044e-01 -6.71581472e-03 -6.08328791e+01] [-8.18233630e-03 8.77614460e-05 -9.99966520e-01 6.71042567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.22, Y:-60.84, Z:6.71 [[ 5.14427002e-01 8.57523546e-01 -4.26945362e-03 5.12207113e+01] [ 8.57492554e-01 -5.14444711e-01 -7.29107173e-03 -6.08420011e+01] [-8.44866351e-03 8.96994762e-05 -9.99964305e-01 6.71146470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.23, Y:-60.85, Z:6.71 [[ 4.45693548e-01 8.95176463e-01 -4.04484991e-03 5.12281160e+01] [ 8.95137573e-01 -4.45711891e-01 -8.34476459e-03 -6.08499882e+01] [-9.27287456e-03 9.85106092e-05 -9.99957001e-01 6.71231038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.24, Y:-60.86, Z:6.71 [[ 3.74277826e-01 9.27308877e-01 -3.78893526e-03 5.12359195e+01] [ 9.27258322e-01 -3.74296987e-01 -9.68352729e-03 -6.08556515e+01] [-1.03978079e-02 1.11007788e-04 -9.99945935e-01 6.71243589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.24, Y:-60.86, Z:6.71 [[ 3.00658072e-01 9.53727249e-01 -3.00964862e-03 5.12445235e+01] [ 9.53675673e-01 -3.00673115e-01 -9.91910858e-03 -6.08611229e+01] [-1.03650446e-02 1.12031387e-04 -9.99946275e-01 6.71248368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.25, Y:-60.87, Z:6.71 [[ 2.24958387e-01 9.74365983e-01 -2.15787205e-03 5.12530220e+01] [ 9.74316460e-01 -2.24968710e-01 -9.82417724e-03 -6.08657654e+01] [-1.00577978e-02 1.07580810e-04 -9.99949413e-01 6.71266517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.26, Y:-60.87, Z:6.71 [[ 1.47377193e-01 9.89079396e-01 -1.38289808e-03 5.12610116e+01] [ 9.89029116e-01 -1.47383646e-01 -9.97337114e-03 -6.08709270e+01] [-1.00682725e-02 1.02120981e-04 -9.99949309e-01 6.71294919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.27, Y:-60.88, Z:6.71 [[ 6.86123706e-02 9.97643198e-01 -6.26532011e-04 5.12695576e+01] [ 9.97587454e-01 -6.86151602e-02 -1.05466137e-02 -6.08750199e+01] [-1.05647470e-02 9.86076907e-05 -9.99944187e-01 6.71298711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.28, Y:-60.88, Z:6.71 [[-1.15951645e-02 9.99932750e-01 2.16976587e-04 5.12795483e+01] [ 9.99867894e-01 1.15968837e-02 -1.13888818e-02 -6.08781315e+01] [-1.13906322e-02 8.48919644e-05 -9.99935121e-01 6.71274331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.29, Y:-60.88, Z:6.71 [[-9.09051916e-02 9.95858890e-01 1.14813115e-03 5.12907786e+01] [ 9.95789660e-01 9.09124102e-02 -1.17425613e-02 -6.08800011e+01] [-1.17983134e-02 7.58373402e-05 -9.99930395e-01 6.71242439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.30, Y:-60.88, Z:6.71 [[-1.69664579e-01 9.85499686e-01 2.07347476e-03 5.13010829e+01] [ 9.85430594e-01 1.69677237e-01 -1.16696290e-02 -6.08830443e+01] [-1.18522372e-02 6.33427632e-05 -9.99929758e-01 6.71251657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.31, Y:-60.88, Z:6.71 [[-2.46643958e-01 9.69101729e-01 2.93195980e-03 5.13135725e+01] [ 9.69036053e-01 2.46661377e-01 -1.12824264e-02 -6.08832715e+01] [-1.16570201e-02 5.84324584e-05 -9.99932053e-01 6.71156498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.33, Y:-60.88, Z:6.71 [[-3.22034159e-01 9.46722318e-01 3.29441330e-03 5.13254202e+01] [ 9.46674292e-01 3.22051006e-01 -9.53591406e-03 -6.08825506e+01] [-1.00888318e-02 4.78463144e-05 -9.99949105e-01 6.70976010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.34, Y:-60.88, Z:6.71 [[-3.95379879e-01 9.18509717e-01 3.82784182e-03 5.13367693e+01] [ 9.18467736e-01 3.95398405e-01 -8.78176078e-03 -6.08828011e+01] [-9.57965516e-03 4.36177031e-05 -9.99954113e-01 6.70941947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.520385723 meters Centerline goodness [0,1] 0.9999781454203729 Centerline is valid? [True, True] Translation: X:51.35, Y:-60.88, Z:6.71 [[-4.66358146e-01 8.84585397e-01 4.33072508e-03 5.13464982e+01] [ 8.84548042e-01 4.66378252e-01 -8.12944553e-03 -6.08814074e+01] [-9.21094479e-03 3.95012376e-05 -9.99957578e-01 6.70884256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.36, Y:-60.88, Z:6.71 [[-5.35308894e-01 8.44643082e-01 4.73837681e-03 5.13554192e+01] [ 8.44610430e-01 5.35329864e-01 -7.42684316e-03 -6.08797522e+01] [-8.80962631e-03 2.64272767e-05 -9.99961194e-01 6.70820732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.37, Y:-60.88, Z:6.71 [[-6.00795502e-01 7.99386837e-01 5.04481087e-03 5.13668452e+01] [ 7.99358865e-01 6.00816682e-01 -6.68735731e-03 -6.08751471e+01] [-8.37679193e-03 1.48801015e-05 -9.99964914e-01 6.70791381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.38, Y:-60.87, Z:6.71 [[-6.63479156e-01 7.48175124e-01 5.42160315e-03 5.13789454e+01] [ 7.48150069e-01 6.63501307e-01 -6.12290446e-03 -6.08687514e+01] [-8.17824558e-03 -6.24671534e-06 -9.99966558e-01 6.70782705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.39, Y:-60.86, Z:6.71 [[-7.20701241e-01 6.93219591e-01 6.02666114e-03 5.13897037e+01] [ 6.93195187e-01 7.20726438e-01 -5.81667467e-03 -6.08628858e+01] [-8.37580686e-03 -1.44321585e-05 -9.99964922e-01 6.70806793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.41, Y:-60.84, Z:6.71 [[-7.68107634e-01 6.40285147e-01 6.75232338e-03 5.14089218e+01] [ 6.40260203e-01 7.68137312e-01 -5.65169662e-03 -6.08428986e+01] [-8.80540893e-03 -1.78673757e-05 -9.99961232e-01 6.70826446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.43, Y:-60.82, Z:6.71 [[-8.10782254e-01 5.85305296e-01 7.06022363e-03 5.14265041e+01] [ 5.85283027e-01 8.10812993e-01 -5.10575552e-03 -6.08245428e+01] [-8.71294680e-03 -7.42691427e-06 -9.99962042e-01 6.70762051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.44, Y:-60.80, Z:6.71 [[-8.48841317e-01 5.28588521e-01 7.91163714e-03 5.14398437e+01] [ 5.28565732e-01 8.48878186e-01 -4.90838297e-03 -6.08038812e+01] [-9.31053108e-03 1.53820130e-05 -9.99956656e-01 6.70775626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.45, Y:-60.78, Z:6.71 [[-8.83643873e-01 4.68085501e-01 8.33491778e-03 5.14548771e+01] [ 4.68064950e-01 8.83683181e-01 -4.38625233e-03 -6.07812273e+01] [-9.41856777e-03 2.53978731e-05 -9.99955644e-01 6.70836763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.48, Y:-60.76, Z:6.71 [[-9.14159316e-01 4.05252227e-01 9.13113048e-03 5.14761561e+01] [ 4.05232422e-01 9.14204917e-01 -4.00664236e-03 -6.07612477e+01] [-9.97142513e-03 3.75206760e-05 -9.99950283e-01 6.70900981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.49, Y:-60.74, Z:6.71 [[-9.40068329e-01 3.40844657e-01 9.82125008e-03 5.14883652e+01] [ 3.40826652e-01 9.40119629e-01 -3.50373995e-03 -6.07387154e+01] [-1.04273810e-02 5.35888207e-05 -9.99945632e-01 6.70973363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.49, Y:-60.71, Z:6.71 [[-9.61577700e-01 2.74338252e-01 1.03368633e-02 5.14923867e+01] [ 2.74323139e-01 9.61633256e-01 -2.88027851e-03 -6.07134535e+01] [-1.07304421e-02 6.60292191e-05 -9.99942425e-01 6.70925769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.70, Y:-59.97, Z:5.77 [[-9.45172082e-01 -3.26413815e-01 1.01860946e-02 5.17006356e+01] [ 3.26394151e-01 -9.45226966e-01 -3.58339782e-03 -5.99678740e+01] [ 1.07978418e-02 -6.22458855e-05 9.99941700e-01 5.76848739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.44, Y:-60.70, Z:6.71 [[-9.62491972e-01 2.71123290e-01 1.00680469e-02 5.14369380e+01] [ 2.71109217e-01 9.62544626e-01 -2.76332411e-03 -6.07016187e+01] [-1.04401460e-02 6.98630468e-05 -9.99945498e-01 6.70906797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.40, Y:-60.67, Z:6.71 [[-9.79244771e-01 2.02462673e-01 9.40980835e-03 5.13985768e+01] [ 2.02453978e-01 9.79289979e-01 -1.87753982e-03 -6.06671277e+01] [-9.59506275e-03 6.64820767e-05 -9.99953964e-01 6.70840045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.42, Y:-60.64, Z:6.71 [[-9.91139423e-01 1.32525514e-01 8.92371336e-03 5.14158837e+01] [ 1.32520718e-01 9.91179592e-01 -1.12923375e-03 -6.06432896e+01] [-8.99465486e-03 6.33488172e-05 -9.99959545e-01 6.70724202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.45, Y:-60.62, Z:6.71 [[-9.98089796e-01 6.12718388e-02 7.90702318e-03 5.14519905e+01] [ 6.12703328e-02 9.98121114e-01 -4.32789252e-04 -6.06207998e+01] [-7.91868458e-03 5.25034047e-05 -9.99968645e-01 6.70581754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.51, Y:-59.83, Z:5.77 [[-9.93275881e-01 -1.15544851e-01 7.23956613e-03 5.15133511e+01] [ 1.15541127e-01 -9.93302260e-01 -9.32057036e-04 -5.98296839e+01] [ 7.29877179e-03 -8.93221471e-05 9.99973360e-01 5.77250965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.39, Y:-60.62, Z:6.70 [[-9.98447410e-01 5.51947044e-02 7.50433096e-03 5.13870540e+01] [ 5.51934713e-02 9.98475610e-01 -3.71471879e-04 -6.06172376e+01] [-7.51339471e-03 4.32949404e-05 -9.99971773e-01 6.70487252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.38, Y:-60.59, Z:6.71 [[-9.99813429e-01 -1.76400480e-02 7.86997505e-03 5.13782060e+01] [-1.76392515e-02 9.99844402e-01 1.70620584e-04 -6.05884688e+01] [-7.87176025e-03 3.17682820e-05 -9.99969017e-01 6.70581773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.120385723 meters Centerline goodness [0,1] 0.9999776406403721 Centerline is valid? [True, True] Translation: X:51.37, Y:-60.56, Z:6.71 [[-9.95959425e-01 -8.94292017e-02 8.20006987e-03 5.13712260e+01] [-8.94259380e-02 9.95993181e-01 7.64536462e-04 -6.05606310e+01] [-8.23558556e-03 2.81483556e-05 -9.99966087e-01 6.70600572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.31, Y:-59.77, Z:5.77 [[-9.99586223e-01 2.77867478e-02 7.43504305e-03 5.13103369e+01] [-2.77865717e-02 -9.99613871e-01 1.26998920e-04 -5.97670043e+01] [ 7.43570105e-03 -7.96479856e-05 9.99972352e-01 5.77280983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.27, Y:-60.57, Z:6.70 [[-9.95227871e-01 -9.73200524e-02 7.09167585e-03 5.12708497e+01] [-9.73174825e-02 9.95253137e-01 7.07394166e-04 -6.05703929e+01] [-7.12685627e-03 1.38743500e-05 -9.99974604e-01 6.70360975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.20, Y:-59.78, Z:5.77 [[-9.99412468e-01 3.34136570e-02 7.63189700e-03 5.11962629e+01] [-3.34125345e-02 -9.99441608e-01 2.74569488e-04 -5.97754317e+01] [ 7.63680978e-03 1.94071475e-05 9.99970839e-01 5.77359087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.16, Y:-60.58, Z:6.70 [[-9.94517072e-01 -1.04298638e-01 7.58869287e-03 5.11601665e+01] [-1.04295516e-01 9.94546024e-01 8.07034054e-04 -6.05810213e+01] [-7.63147687e-03 1.11425076e-05 -9.99970880e-01 6.70360351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.15, Y:-60.55, Z:6.70 [[-9.84451602e-01 -1.75480199e-01 7.85773410e-03 5.11473124e+01] [-1.75474539e-01 9.84482961e-01 1.40949790e-03 -6.05539262e+01] [-7.98314430e-03 8.75019874e-06 -9.99968134e-01 6.70343496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.300385723 meters Centerline goodness [0,1] 0.999932640276624 Centerline is valid? [True, True] Translation: X:50.98, Y:-59.77, Z:5.77 [[-9.93826177e-01 1.10576974e-01 9.06984309e-03 5.09843643e+01] [-1.10571755e-01 -9.93867561e-01 1.07644713e-03 -5.97693275e+01] [ 9.13325309e-03 6.69328678e-05 9.99958289e-01 5.77150650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.330385723 meters Centerline goodness [0,1] 0.9999103460641923 Centerline is valid? [True, True] Translation: X:51.00, Y:-60.58, Z:6.71 [[-9.83207717e-01 -1.82265929e-01 9.03967384e-03 5.09981192e+01] [-1.82258127e-01 9.83249272e-01 1.68646314e-03 -6.05807968e+01] [-9.19563750e-03 1.05895567e-05 -9.99957719e-01 6.70583681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.97, Y:-60.56, Z:6.70 [[-9.67397704e-01 -2.53130522e-01 8.16222053e-03 5.09686169e+01] [-2.53121462e-01 9.67432137e-01 2.14160926e-03 -6.05581918e+01] [-8.43850111e-03 5.75468263e-06 -9.99964395e-01 6.70396850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.91, Y:-60.55, Z:6.70 [[-9.46359291e-01 -3.23013068e-01 8.16392889e-03 5.09116117e+01] [-3.23000985e-01 9.46394504e-01 2.79394722e-03 -6.05465665e+01] [-8.62877889e-03 7.12083821e-06 -9.99962771e-01 6.70419336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.85, Y:-60.54, Z:6.70 [[-9.19996474e-01 -3.91854658e-01 7.51104062e-03 5.08517744e+01] [-3.91841520e-01 9.20027134e-01 3.20873805e-03 -6.05397170e+01] [-8.16772013e-03 8.89011757e-06 -9.99966644e-01 6.70305431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.78, Y:-60.54, Z:6.70 [[-8.88404494e-01 -4.59011814e-01 6.75345186e-03 5.07765726e+01] [-4.58998465e-01 8.88430163e-01 3.50061096e-03 -6.05439723e+01] [-7.60679212e-03 1.01344730e-05 -9.99971068e-01 6.70332035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.67, Y:-60.57, Z:6.70 [[-8.52038279e-01 -5.23442192e-01 6.24842345e-03 5.06699135e+01] [-5.23428009e-01 8.52061190e-01 3.85332446e-03 -6.05721893e+01] [-7.34103172e-03 1.25800909e-05 -9.99973054e-01 6.70340540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.510385723 meters Centerline goodness [0,1] 0.9999550400143872 Centerline is valid? [True, True] Translation: X:50.60, Y:-60.58, Z:6.70 [[-8.10096729e-01 -5.86264433e-01 6.10765870e-03 5.06024235e+01] [-5.86247636e-01 8.10119753e-01 4.43798871e-03 -6.05834845e+01] [-7.54976989e-03 1.45996684e-05 -9.99971500e-01 6.70411636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.51, Y:-60.62, Z:6.70 [[-7.63382729e-01 -6.45916531e-01 6.21644106e-03 5.05141891e+01] [-6.45894946e-01 7.63408039e-01 5.28059551e-03 -6.06154120e+01] [-8.15650501e-03 1.59475471e-05 -9.99966735e-01 6.70342992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.42, Y:-60.66, Z:6.70 [[-7.11690826e-01 -7.02461608e-01 6.62250359e-03 5.04193950e+01] [-7.02431036e-01 7.11721637e-01 6.55367926e-03 -6.06624566e+01] [-9.31708717e-03 1.23413447e-05 -9.99956595e-01 6.70469866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.32, Y:-60.73, Z:6.71 [[-6.55774518e-01 -7.54928439e-01 6.54470285e-03 5.03204422e+01] [-7.54890716e-01 6.55807176e-01 7.54683112e-03 -6.07253047e+01] [-9.98938053e-03 8.48412368e-06 -9.99950105e-01 6.70515344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.23, Y:-60.78, Z:6.71 [[-5.95115615e-01 -8.03614129e-01 6.46035566e-03 5.02343794e+01] [-8.03566855e-01 5.95150679e-01 8.71657109e-03 -6.07846749e+01] [-1.08496447e-02 -3.96010972e-06 -9.99941141e-01 6.70531192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.15, Y:-60.86, Z:6.71 [[-5.31680248e-01 -8.46925121e-01 5.82699413e-03 5.01469571e+01] [-8.46874374e-01 5.31712177e-01 9.27119164e-03 -6.08597036e+01] [-1.09502888e-02 -5.42253969e-06 -9.99940044e-01 6.70513938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.06, Y:-60.95, Z:6.70 [[-4.65316408e-01 -8.85132000e-01 4.68863989e-03 5.00625936e+01] [-8.85087129e-01 4.65340030e-01 8.91241269e-03 -6.09469382e+01] [-1.00704735e-02 -2.76295847e-06 -9.99949292e-01 6.70486328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.99, Y:-61.04, Z:6.71 [[-3.96157777e-01 -9.18172549e-01 4.26460433e-03 4.99852673e+01] [-9.18119344e-01 3.96180730e-01 9.88428506e-03 -6.10415390e+01] [-1.07650333e-02 3.20663934e-07 -9.99942055e-01 6.70511403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.92, Y:-61.14, Z:6.71 [[-3.25517635e-01 -9.45529148e-01 3.59174643e-03 4.99166684e+01] [-9.45471101e-01 3.25537449e-01 1.04769117e-02 -6.11389263e+01] [-1.10754734e-02 1.45270717e-05 -9.99938665e-01 6.70578845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.85, Y:-61.25, Z:6.71 [[-2.52169817e-01 -9.67678604e-01 2.91598118e-03 4.98542430e+01] [-9.67612908e-01 2.52186675e-01 1.12757309e-02 -6.12455152e+01] [-1.16466551e-02 2.18579596e-05 -9.99932175e-01 6.70682396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.810385723 meters Centerline goodness [0,1] 0.9998420755781162 Centerline is valid? [True, True] Translation: X:49.80, Y:-61.37, Z:6.71 [[-1.78458137e-01 -9.83944704e-01 2.34809401e-03 4.97977234e+01] [-9.83855943e-01 1.78473578e-01 1.32160992e-02 -6.13724711e+01] [-1.34229835e-02 4.83341923e-05 -9.99909907e-01 6.70820389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8403857229999 meters Centerline goodness [0,1] 0.9999548909488689 Centerline is valid? [True, True] Translation: X:49.75, Y:-61.51, Z:6.71 [[-1.02720602e-01 -9.94709414e-01 1.28803314e-03 4.97503603e+01] [-9.94624133e-01 1.02728661e-01 1.30252162e-02 -6.15079008e+01] [-1.30886231e-02 5.68492030e-05 -9.99914339e-01 6.70701791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.72, Y:-61.61, Z:6.71 [[-2.57994251e-02 -9.99667105e-01 2.63629680e-04 4.97159289e+01] [-9.99588728e-01 2.58007036e-02 1.25179233e-02 -6.16065018e+01] [-1.25205580e-02 5.94339676e-05 -9.99921613e-01 6.70626685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.69, Y:-61.72, Z:6.71 [[ 4.93701228e-02 -9.98780327e-01 -6.69764732e-04 4.96889791e+01] [-9.98709035e-01 -4.93746013e-02 1.19336596e-02 -6.17166245e+01] [-1.19521738e-02 7.97338506e-05 -9.99928567e-01 6.70538200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.67, Y:-61.84, Z:6.70 [[ 1.25037867e-01 -9.92150949e-01 -1.42353477e-03 4.96717745e+01] [-9.92094310e-01 -1.25045940e-01 1.06015950e-02 -6.18365425e+01] [-1.06963897e-02 8.66799262e-05 -9.99942788e-01 6.70382545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.66, Y:-61.96, Z:6.70 [[ 2.00504164e-01 -9.79690548e-01 -2.12378009e-03 4.96646040e+01] [-9.79640287e-01 -2.00515391e-01 9.92397848e-03 -6.19646878e+01] [-1.01482785e-02 9.07415277e-05 -9.99948501e-01 6.70275205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.67, Y:-62.09, Z:6.70 [[ 2.74012045e-01 -9.61723054e-01 -2.48332767e-03 4.96673221e+01] [-9.61686555e-01 -2.74023282e-01 8.37919384e-03 -6.20949952e+01] [-8.73895348e-03 9.21827927e-05 -9.99961810e-01 6.70169792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.68, Y:-62.22, Z:6.70 [[ 3.46960029e-01 -9.37874734e-01 -3.11808987e-03 4.96791989e+01] [-9.37839319e-01 -3.46974026e-01 8.15089942e-03 -6.22219156e+01] [-8.72641882e-03 9.62309791e-05 -9.99961920e-01 6.70130362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.70, Y:-62.34, Z:6.70 [[ 4.18010057e-01 -9.08435341e-01 -3.58092628e-03 4.96975701e+01] [-9.08403918e-01 -4.18025384e-01 7.55639811e-03 -6.23404273e+01] [-8.36141718e-03 9.42770609e-05 -9.99965038e-01 6.70176897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.080385723 meters Centerline goodness [0,1] 0.9999100881136487 Centerline is valid? [True, True] Translation: X:49.73, Y:-62.46, Z:6.71 [[ 4.86526678e-01 -8.73649885e-01 -5.26021462e-03 4.97272416e+01] [-8.73601511e-01 -4.86555098e-01 9.19440733e-03 -6.24640708e+01] [-1.05920771e-02 1.22006991e-04 -9.99943895e-01 6.70534663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.110385723 meters Centerline goodness [0,1] 0.9998655703179262 Centerline is valid? [True, True] Translation: X:49.76, Y:-62.58, Z:6.71 [[ 5.52744578e-01 -8.33325389e-01 -6.49824488e-03 4.97643659e+01] [-8.33270472e-01 -5.52782760e-01 9.56766236e-03 -6.25809702e+01] [-1.15650937e-02 1.26322082e-04 -9.99933114e-01 6.70755083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.81, Y:-62.69, Z:6.71 [[ 6.15624538e-01 -7.88007882e-01 -7.07147751e-03 4.98075134e+01] [-7.87958045e-01 -6.15665140e-01 8.86315210e-03 -6.26892709e+01] [-1.13378959e-02 1.15653680e-04 -9.99935717e-01 6.70567340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.87, Y:-62.81, Z:6.70 [[ 6.74417179e-01 -7.38308076e-01 -7.91545600e-03 4.98678254e+01] [-7.38259209e-01 -6.74463618e-01 8.49514200e-03 -6.28050736e+01] [-1.16107190e-02 1.14388589e-04 -9.99932587e-01 6.70432678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.200385723 meters Centerline goodness [0,1] 0.9999103380256433 Centerline is valid? [True, True] Translation: X:49.91, Y:-62.89, Z:6.71 [[ 7.29134033e-01 -6.84316961e-01 -8.59411840e-03 4.99142441e+01] [-6.84271212e-01 -7.29184671e-01 7.91351389e-03 -6.28925364e+01] [-1.16820512e-02 1.10695516e-04 -9.99931756e-01 6.70560069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.91, Y:-62.90, Z:6.70 [[ 7.81028722e-01 -6.24440318e-01 -8.27186819e-03 4.99072826e+01] [-6.24406499e-01 -7.81072520e-01 6.49948034e-03 -6.29014979e+01] [-1.05194665e-02 8.87274313e-05 -9.99944665e-01 6.70397545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.90, Y:-62.91, Z:6.71 [[ 8.27600527e-01 -5.61246150e-01 -8.95137553e-03 4.99005743e+01] [-5.61214467e-01 -8.27648930e-01 5.96407538e-03 -6.29088301e+01] [-1.07559107e-02 8.77695242e-05 -9.99942150e-01 6.70536061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.90, Y:-62.91, Z:6.70 [[ 8.68790509e-01 -4.95087510e-01 -9.56079155e-03 4.98960548e+01] [-4.95058704e-01 -8.68843109e-01 5.34140747e-03 -6.29146128e+01] [-1.09512920e-02 9.25889602e-05 -9.99940029e-01 6.70498565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.89, Y:-62.92, Z:6.70 [[ 9.04245195e-01 -4.26914189e-01 -9.21426160e-03 4.98904069e+01] [-4.26893145e-01 -9.04292135e-01 4.23995223e-03 -6.29242600e+01] [-1.01424801e-02 9.95486799e-05 -9.99948559e-01 6.70386410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.89, Y:-62.93, Z:6.70 [[ 9.34522585e-01 -3.55784155e-01 -9.22897322e-03 4.98855277e+01] [-3.55767918e-01 -9.34568149e-01 3.40070491e-03 -6.29335383e+01] [-9.83502133e-03 1.05337040e-04 -9.99951630e-01 6.70340557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.88, Y:-62.94, Z:6.70 [[ 9.58729516e-01 -2.84194320e-01 -8.44417063e-03 4.98808731e+01] [-2.84184373e-01 -9.58766695e-01 2.38063964e-03 -6.29414169e+01] [-8.77255383e-03 1.17311849e-04 -9.99961514e-01 6.70252264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.87, Y:-62.95, Z:6.70 [[ 9.77765010e-01 -2.09535394e-01 -8.39663192e-03 4.98745745e+01] [-2.09528769e-01 -9.77801055e-01 1.67096582e-03 -6.29534064e+01] [-8.56036203e-03 1.25524044e-04 -9.99963352e-01 6.70193941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.87, Y:-62.96, Z:6.70 [[ 9.91059598e-01 -1.33155848e-01 -8.39011421e-03 4.98678507e+01] [-1.33152194e-01 -9.91095103e-01 9.95176959e-04 -6.29640220e+01] [-8.44791474e-03 1.30882435e-04 -9.99964307e-01 6.70221730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.86, Y:-62.98, Z:6.70 [[ 9.98368872e-01 -5.66172287e-02 -7.35428305e-03 4.98627713e+01] [-5.66166107e-02 -9.98395951e-01 2.92362239e-04 -6.29763893e+01] [-7.35903916e-03 1.24489222e-04 -9.99972914e-01 6.70223993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.86, Y:-62.99, Z:6.70 [[ 9.99760262e-01 2.02381337e-02 -8.35684460e-03 4.98572389e+01] [ 2.02361423e-02 -9.99795176e-01 -3.22787524e-04 -6.29868845e+01] [-8.36166554e-03 1.53599843e-04 -9.99965029e-01 6.70298516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.85, Y:-63.00, Z:6.70 [[ 9.95133550e-01 9.81193985e-02 -9.04444004e-03 4.98540102e+01] [ 9.81137927e-02 -9.95174635e-01 -1.06250469e-03 -6.29998275e+01] [-9.10504964e-03 1.69949748e-04 -9.99958534e-01 6.70307659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.85, Y:-63.01, Z:6.70 [[ 9.84448204e-01 1.75409489e-01 -9.65635414e-03 4.98524514e+01] [ 1.75399188e-01 -9.84495544e-01 -1.91014161e-03 -6.30137196e+01] [-9.84169459e-03 1.86718806e-04 -9.99951552e-01 6.70361908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.85, Y:-63.03, Z:6.70 [[ 9.67834105e-01 2.51380067e-01 -1.02570461e-02 4.98509749e+01] [ 2.51363664e-01 -9.67888433e-01 -2.87926904e-03 -6.30271312e+01] [-1.06514671e-02 2.08406094e-04 -9.99943250e-01 6.70437160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.85, Y:-63.04, Z:6.71 [[ 9.45328334e-01 3.25951249e-01 -1.04940324e-02 4.98499316e+01] [ 3.25928534e-01 -9.45386552e-01 -3.85459646e-03 -6.30394572e+01] [-1.11773277e-02 2.23554651e-04 -9.99937507e-01 6.70524833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.85, Y:-63.05, Z:6.71 [[ 9.17006963e-01 3.98737331e-01 -1.03329661e-02 4.98485114e+01] [ 3.98709178e-01 -9.17065149e-01 -4.74376711e-03 -6.30500056e+01] [-1.13675201e-02 2.30219064e-04 -9.99935361e-01 6.70549573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.85, Y:-63.06, Z:6.70 [[ 8.82943449e-01 4.69378632e-01 -9.72448311e-03 4.98508086e+01] [ 4.69347345e-01 -8.82996970e-01 -5.42400412e-03 -6.30642083e+01] [-1.11326008e-02 2.24928575e-04 -9.99938005e-01 6.70480414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.85, Y:-63.08, Z:6.70 [[ 8.43495640e-01 5.37055927e-01 -9.27559979e-03 4.98529418e+01] [ 5.37020499e-01 -8.43546609e-01 -6.17276033e-03 -6.30763224e+01] [-1.11395183e-02 2.25509199e-04 -9.99937928e-01 6.70492321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.740385723 meters Centerline goodness [0,1] 0.9998669888492319 Centerline is valid? [True, True] Translation: X:49.86, Y:-63.09, Z:6.71 [[ 7.99019781e-01 6.01237090e-01 -9.01949801e-03 4.98574741e+01] [ 6.01195447e-01 -7.99070652e-01 -7.08011369e-03 -6.30899922e+01] [-1.14640431e-02 2.34669751e-04 -9.99934258e-01 6.70655230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.87, Y:-63.11, Z:6.70 [[ 7.48577895e-01 6.63005276e-01 -7.42564427e-03 4.98651485e+01] [ 6.62970090e-01 -7.48614699e-01 -6.83314186e-03 -6.31053995e+01] [-1.00893556e-02 1.92158891e-04 -9.99949083e-01 6.70368314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.87, Y:-63.12, Z:6.70 [[ 6.93865253e-01 7.20076725e-01 -6.36561333e-03 4.98700082e+01] [ 7.20044132e-01 -6.93894431e-01 -6.85323261e-03 -6.31174222e+01] [-9.35191693e-03 1.71697459e-04 -9.99956255e-01 6.70463029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.88, Y:-63.13, Z:6.70 [[ 6.34445240e-01 7.72952754e-01 -4.82460321e-03 4.98801630e+01] [ 7.72928792e-01 -6.34463570e-01 -6.08773906e-03 -6.31306728e+01] [-7.76656965e-03 1.33262339e-04 -9.99969831e-01 6.70273360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.860385723 meters Centerline goodness [0,1] 0.9999558625559993 Centerline is valid? [True, True] Translation: X:49.89, Y:-63.14, Z:6.70 [[ 5.71356801e-01 8.20692355e-01 -3.93242200e-03 4.98886995e+01] [ 8.20671509e-01 -5.71370322e-01 -5.85063053e-03 -6.31417708e+01] [-7.04843698e-03 1.15570843e-04 -9.99975153e-01 6.70208871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.890385723 meters Centerline goodness [0,1] 0.9999560304269446 Centerline is valid? [True, True] Translation: X:49.90, Y:-63.15, Z:6.70 [[ 5.04364566e-01 8.63485219e-01 -3.10839185e-03 4.98989254e+01] [ 8.63467623e-01 -5.04374135e-01 -5.51334889e-03 -6.31521339e+01] [-6.32848772e-03 9.67421018e-05 -9.99979970e-01 6.70105762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.91, Y:-63.16, Z:6.70 [[ 4.34592330e-01 9.00624074e-01 -2.40509322e-03 4.99071667e+01] [ 9.00609204e-01 -4.34598977e-01 -5.17597746e-03 -6.31619409e+01] [-5.70686096e-03 8.33910160e-05 -9.99983712e-01 6.70116371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.92, Y:-63.17, Z:6.70 [[ 3.62011395e-01 9.32172291e-01 -1.60303277e-03 4.99207506e+01] [ 9.32162359e-01 -3.62014939e-01 -4.30365434e-03 -6.31712381e+01] [-4.59206914e-03 6.36851001e-05 -9.99989454e-01 6.70094676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.93, Y:-63.18, Z:6.70 [[ 2.87631816e-01 9.57740309e-01 -1.19926282e-03 4.99313617e+01] [ 9.57731103e-01 -2.87634310e-01 -4.19973685e-03 -6.31797476e+01] [-4.36720641e-03 5.94066346e-05 -9.99990462e-01 6.70145494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.95, Y:-63.19, Z:6.70 [[ 2.12177403e-01 9.77230565e-01 -1.08289892e-03 4.99481182e+01] [ 9.77215922e-01 -2.12180153e-01 -5.35018458e-03 -6.31876153e+01] [-5.45813356e-03 7.69621993e-05 -9.99985101e-01 6.70270065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.96, Y:-63.19, Z:6.70 [[ 1.35344643e-01 9.90798293e-01 -7.54769447e-04 4.99614560e+01] [ 9.90778940e-01 -1.35346718e-01 -6.19340962e-03 -6.31939788e+01] [-6.23857525e-03 9.04351443e-05 -9.99980536e-01 6.70391144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.070385723 meters Centerline goodness [0,1] 0.9999561470826847 Centerline is valid? [True, True] Translation: X:49.97, Y:-63.20, Z:6.71 [[ 5.86195813e-02 9.98280343e-01 -3.17380605e-04 4.99741619e+01] [ 9.98252855e-01 -5.86203227e-02 -7.40909054e-03 -6.31985114e+01] [-7.41495440e-03 1.17491690e-04 -9.99972502e-01 6.70625535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.99, Y:-63.20, Z:6.71 [[-1.90691009e-02 9.99818136e-01 2.55190616e-04 4.99862869e+01] [ 9.99792470e-01 1.90704402e-02 -7.16483769e-03 -6.32022097e+01] [-7.16840125e-03 1.18510643e-04 -9.99974300e-01 6.70501855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.00, Y:-63.20, Z:6.71 [[-9.72719173e-02 9.95257509e-01 8.15253582e-04 4.99986099e+01] [ 9.95232027e-01 9.72752615e-02 -7.12287109e-03 -6.32049490e+01] [-7.16839494e-03 1.18511148e-04 -9.99974300e-01 6.70501850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.160385723 meters Centerline goodness [0,1] 0.9999343429922087 Centerline is valid? [True, True] Translation: X:50.01, Y:-63.21, Z:6.71 [[-1.71792178e-01 9.85132347e-01 1.30646057e-03 5.00099365e+01] [ 9.85109521e-01 1.71797093e-01 -6.70749790e-03 -6.32064174e+01] [-6.83221928e-03 1.34711070e-04 -9.99976651e-01 6.70571028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.02, Y:-63.21, Z:6.70 [[-2.47576829e-01 9.68866650e-01 1.76855734e-03 5.00221603e+01] [ 9.68845710e-01 2.47583109e-01 -6.37139803e-03 -6.32067430e+01] [-6.61089999e-03 1.36048670e-04 -9.99978139e-01 6.70424273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.04, Y:-63.21, Z:6.71 [[-3.21361437e-01 9.46953878e-01 2.27603745e-03 5.00355566e+01] [ 9.46933256e-01 3.21369464e-01 -6.25116547e-03 -6.32057318e+01] [-6.65101431e-03 1.46372037e-04 -9.99977871e-01 6.70549481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.250385723 meters Centerline goodness [0,1] 0.9999128578275457 Centerline is valid? [True, True] Translation: X:50.05, Y:-63.20, Z:6.71 [[-3.94106787e-01 9.19059118e-01 3.19035560e-03 5.00500106e+01] [ 9.19032467e-01 3.94119663e-01 -7.00121837e-03 -6.32030522e+01] [-7.69191545e-03 1.72812699e-04 -9.99970402e-01 6.70817692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.06, Y:-63.20, Z:6.71 [[-4.65190578e-01 8.85202256e-01 3.83301027e-03 5.00638873e+01] [ 8.85175244e-01 4.65206336e-01 -6.91755440e-03 -6.31987797e+01] [-7.90657543e-03 1.74904676e-04 -9.99968727e-01 6.70670776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.08, Y:-63.19, Z:6.71 [[-5.33246746e-01 8.45949109e-01 4.24408732e-03 5.00759289e+01] [ 8.45924796e-01 5.33263608e-01 -6.41584809e-03 -6.31947713e+01] [-7.69069829e-03 1.68948586e-04 -9.99970412e-01 6.70693368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3403857229999 meters Centerline goodness [0,1] 0.9998047934063551 Centerline is valid? [True, True] Translation: X:50.09, Y:-63.19, Z:6.71 [[-5.97980421e-01 8.01495989e-01 4.85744620e-03 5.00888325e+01] [ 8.01471855e-01 5.98000125e-01 -6.22226469e-03 -6.31888358e+01] [-7.89187363e-03 1.72313957e-04 -9.99968844e-01 6.70999661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.10, Y:-63.18, Z:6.71 [[-6.59797668e-01 7.51427750e-01 4.83471461e-03 5.00998522e+01] [ 7.51409202e-01 6.59815364e-01 -5.28178237e-03 -6.31836720e+01] [-7.15889682e-03 1.47941360e-04 -9.99974364e-01 6.70663179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.11, Y:-63.18, Z:6.71 [[-7.16882798e-01 6.97175653e-01 5.01632070e-03 5.01098469e+01] [ 6.97159930e-01 7.16900335e-01 -4.68428902e-03 -6.31770050e+01] [-6.86197425e-03 1.39091572e-04 -9.99976447e-01 6.70672723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.13, Y:-63.15, Z:6.71 [[-7.65442055e-01 6.43486504e-01 4.85590040e-03 5.01298185e+01] [ 6.43474515e-01 7.65457449e-01 -3.92970877e-03 -6.31509066e+01] [-6.24569969e-03 1.16683796e-04 -9.99980489e-01 6.70645781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.460385723 meters Centerline goodness [0,1] 0.9998275416055876 Centerline is valid? [True, True] Translation: X:50.15, Y:-63.13, Z:6.71 [[-8.09308287e-01 5.87361319e-01 5.17475336e-03 5.01480760e+01] [ 5.87350218e-01 8.09324822e-01 -3.61307525e-03 -6.31250901e+01] [-6.31023699e-03 1.15300775e-04 -9.99980084e-01 6.70904351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.17, Y:-63.10, Z:6.70 [[-8.49671680e-01 5.27296794e-01 4.01586401e-03 5.01660618e+01] [ 5.27291337e-01 8.49681167e-01 -2.40004677e-03 -6.30994048e+01] [-4.67774098e-03 7.82785332e-05 -9.99989056e-01 6.70432093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.520385723 meters Centerline goodness [0,1] 0.9999351841849411 Centerline is valid? [True, True] Translation: X:50.18, Y:-63.07, Z:6.71 [[-8.84765133e-01 4.66019588e-01 4.05017728e-03 5.01787289e+01] [ 4.66015101e-01 8.84774400e-01 -2.04637551e-03 -6.30723193e+01] [-4.53714424e-03 7.68820737e-05 -9.99989704e-01 6.70573268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.550385723 meters Centerline goodness [0,1] 0.9998708316290285 Centerline is valid? [True, True] Translation: X:50.19, Y:-63.04, Z:6.71 [[-9.15393918e-01 4.02536019e-01 4.32762705e-03 5.01916600e+01] [ 4.02531939e-01 9.15404144e-01 -1.81418728e-03 -6.30446652e+01] [-4.69180346e-03 8.13121086e-05 -9.99988990e-01 6.70637944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.20, Y:-63.01, Z:6.70 [[-9.41653180e-01 3.36564225e-01 3.71644766e-03 5.01984283e+01] [ 3.36561886e-01 9.41660511e-01 -1.25660155e-03 -6.30149072e+01] [-3.92255913e-03 6.75317846e-05 -9.99992305e-01 6.70357845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.610385723 meters Centerline goodness [0,1] 0.9998704103671706 Centerline is valid? [True, True] Translation: X:50.42, Y:-62.37, Z:5.77 [[-9.30139426e-01 -3.67181314e-01 4.30474026e-03 5.04195593e+01] [ 3.67177208e-01 -9.30149387e-01 -1.73679267e-03 -6.23737630e+01] [ 4.64176932e-03 -3.48568254e-05 9.99989226e-01 5.77086666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.640385723 meters Centerline goodness [0,1] 0.9999785209528105 Centerline is valid? [True, True] Translation: X:50.15, Y:-63.00, Z:6.70 [[-9.43034639e-01 3.32670471e-01 4.00345507e-03 5.01547897e+01] [ 3.32667791e-01 9.43043134e-01 -1.33723328e-03 -6.29988804e+01] [-4.22028884e-03 7.07632530e-05 -9.99991092e-01 6.70414820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.670385723 meters Centerline goodness [0,1] 0.9999136125089088 Centerline is valid? [True, True] Translation: X:50.16, Y:-62.97, Z:6.70 [[-9.64452204e-01 2.64224431e-01 4.17097054e-03 5.01592401e+01] [ 2.64222268e-01 9.64461220e-01 -1.07133681e-03 -6.29682742e+01] [-4.30581270e-03 6.88101454e-05 -9.99990728e-01 6.70337433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.33, Y:-62.32, Z:5.77 [[-9.54481967e-01 -2.98235703e-01 4.43169174e-03 5.03299121e+01] [ 2.98232235e-01 -9.54492254e-01 -1.43914296e-03 -6.23196056e+01] [ 4.65921925e-03 -5.19626723e-05 9.99989145e-01 5.77405351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7303857229999 meters Centerline goodness [0,1] 0.9999352373550936 Centerline is valid? [True, True] Translation: X:50.11, Y:-62.96, Z:6.71 [[-9.65508335e-01 2.60345089e-01 3.75365988e-03 5.01120480e+01] [ 2.60343368e-01 9.65515630e-01 -9.48750980e-04 -6.29572224e+01] [-3.87121995e-03 6.12134758e-05 -9.99992505e-01 6.70561117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.11, Y:-62.93, Z:6.70 [[-9.81618409e-01 1.90828932e-01 3.10126591e-03 5.01125630e+01] [ 1.90828136e-01 9.81623307e-01 -5.53547701e-04 -6.29261142e+01] [-3.14990782e-03 4.84361789e-05 -9.99995038e-01 6.70325288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.790385723 meters Centerline goodness [0,1] 0.9999568854013969 Centerline is valid? [True, True] Translation: X:50.11, Y:-62.90, Z:6.70 [[-9.92719920e-01 1.20402140e-01 3.23812928e-03 5.01109047e+01] [ 1.20401661e-01 9.92725200e-01 -3.43049519e-04 -6.28972099e+01] [-3.25587643e-03 4.93240530e-05 -9.99994698e-01 6.70404959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.820385723 meters Centerline goodness [0,1] 0.9997846127336952 Centerline is valid? [True, True] Translation: X:50.11, Y:-62.87, Z:6.71 [[-9.98757660e-01 4.96669193e-02 4.04151920e-03 5.01118680e+01] [ 4.96667634e-02 9.98765835e-01 -1.38989546e-04 -6.28687279e+01] [-4.04343448e-03 6.19123046e-05 -9.99991823e-01 6.70661794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8503857229999 meters Centerline goodness [0,1] 0.9998711533918869 Centerline is valid? [True, True] Translation: X:50.10, Y:-62.84, Z:6.71 [[-9.99761811e-01 -2.12976610e-02 4.76768311e-03 5.01001685e+01] [-2.12970657e-02 9.99773176e-01 1.75607276e-04 -6.28387638e+01] [-4.77034171e-03 7.40277877e-05 -9.99988619e-01 6.70659055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.09, Y:-62.81, Z:6.70 [[-9.95687692e-01 -9.26551012e-02 4.58836929e-03 5.00912870e+01] [-9.26537894e-02 9.95698261e-01 4.98106395e-04 -6.28096101e+01] [-4.61478342e-03 7.08286051e-05 -9.99989349e-01 6.70477624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.08, Y:-62.78, Z:6.71 [[-9.86552754e-01 -1.63366927e-01 4.99100215e-03 5.00771469e+01] [-1.63364429e-01 9.86565376e-01 9.06783210e-04 -6.27821783e+01] [-5.07208830e-03 7.92372550e-05 -9.99987134e-01 6.70512789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.05, Y:-62.76, Z:6.71 [[-9.72119131e-01 -2.34436985e-01 4.86770465e-03 5.00465967e+01] [-2.34433654e-01 9.72131315e-01 1.25212832e-03 -6.27585180e+01] [-5.02559331e-03 7.60641064e-05 -9.99987369e-01 6.70525321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9703857229999 meters Centerline goodness [0,1] 0.999956976293938 Centerline is valid? [True, True] Translation: X:50.00, Y:-62.74, Z:6.71 [[-9.52388293e-01 -3.04847960e-01 4.92556622e-03 4.99984403e+01] [-3.04843471e-01 9.52401027e-01 1.65599713e-03 -6.27406779e+01] [-5.19594167e-03 7.56255775e-05 -9.99986498e-01 6.70555749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.000385723 meters Centerline goodness [0,1] 0.9999355656264095 Centerline is valid? [True, True] Translation: X:49.93, Y:-62.74, Z:6.70 [[-9.27081572e-01 -3.74841660e-01 3.67258138e-03 4.99318925e+01] [-3.74838485e-01 9.27088845e-01 1.54393623e-03 -6.27355038e+01] [-3.98354085e-03 5.47299852e-05 -9.99992064e-01 6.70433145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.030385723 meters Centerline goodness [0,1] 0.9999569818463392 Centerline is valid? [True, True] Translation: X:49.86, Y:-62.74, Z:6.70 [[-8.97216890e-01 -4.41579270e-01 3.09838102e-03 4.98584030e+01] [-4.41576445e-01 8.97222239e-01 1.58026291e-03 -6.27364007e+01] [-3.47774770e-03 4.96665028e-05 -9.99993951e-01 6.70403405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.060385723 meters Centerline goodness [0,1] 0.9999570003439973 Centerline is valid? [True, True] Translation: X:49.78, Y:-62.74, Z:6.70 [[-8.62155006e-01 -5.06632966e-01 3.43268860e-03 4.97845542e+01] [-5.06628672e-01 8.62161838e-01 2.08670583e-03 -6.27444270e+01] [-4.01672707e-03 5.99654091e-05 -9.99991931e-01 6.70428272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.70, Y:-62.77, Z:6.70 [[-8.22339133e-01 -5.68984818e-01 3.82464846e-03 4.97007974e+01] [-5.68978242e-01 8.22348023e-01 2.73653871e-03 -6.27661736e+01] [-4.70224108e-03 7.42211111e-05 -9.99988942e-01 6.70442516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.61, Y:-62.80, Z:6.70 [[-7.77918423e-01 -6.28353287e-01 3.88245664e-03 4.96113687e+01] [-6.28344914e-01 7.77928107e-01 3.24506818e-03 -6.27991324e+01] [-5.05932140e-03 8.48764384e-05 -9.99987198e-01 6.70477782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.52, Y:-62.84, Z:6.70 [[-7.28182826e-01 -6.85374283e-01 3.44441883e-03 4.95198651e+01] [-6.85366096e-01 7.28190968e-01 3.35087541e-03 -6.28430287e+01] [-4.80479851e-03 7.93620388e-05 -9.99988454e-01 6.70492088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.180385723 meters Centerline goodness [0,1] 0.99995687796464 Centerline is valid? [True, True] Translation: X:49.43, Y:-62.90, Z:6.70 [[-6.73336239e-01 -7.39327898e-01 3.54530648e-03 4.94297777e+01] [-7.39317005e-01 6.73345567e-01 4.01405102e-03 -6.28960663e+01] [-5.35491631e-03 8.17006434e-05 -9.99985659e-01 6.70490739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.210385723 meters Centerline goodness [0,1] 0.9998706311045947 Centerline is valid? [True, True] Translation: X:49.34, Y:-62.96, Z:6.71 [[-6.13689078e-01 -7.89540889e-01 3.30147254e-03 4.93388886e+01] [-7.89528830e-01 6.13697954e-01 4.36438546e-03 -6.29621972e+01] [-5.47196772e-03 7.17679332e-05 -9.99985026e-01 6.70721731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.240385723 meters Centerline goodness [0,1] 0.9998055903572817 Centerline is valid? [True, True] Translation: X:49.25, Y:-63.03, Z:6.71 [[-5.50823582e-01 -8.34616731e-01 2.87996643e-03 4.92538413e+01] [-8.34604715e-01 5.50831107e-01 4.47897788e-03 -6.30326755e+01] [-5.32460497e-03 6.34930774e-05 -9.99985822e-01 6.70778428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.17, Y:-63.11, Z:6.71 [[-4.84347226e-01 -8.74872356e-01 2.47500468e-03 4.91717766e+01] [-8.74860355e-01 4.84353546e-01 4.58275834e-03 -6.31124036e+01] [-5.20810588e-03 5.43628160e-05 -9.99986436e-01 6.70561568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.09, Y:-63.21, Z:6.71 [[-4.14341908e-01 -9.10118362e-01 2.31307386e-03 4.90948049e+01] [-9.10103527e-01 4.14348362e-01 5.19667561e-03 -6.32067293e+01] [-5.68800826e-03 4.80638101e-05 -9.99983822e-01 6.70570471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.330385723 meters Centerline goodness [0,1] 0.9999133955442008 Centerline is valid? [True, True] Translation: X:49.03, Y:-63.30, Z:6.71 [[-3.42523582e-01 -9.39507208e-01 1.94984626e-03 4.90287063e+01] [-9.39491255e-01 3.42529129e-01 5.47523078e-03 -6.33027913e+01] [-5.81189793e-03 4.35321528e-05 -9.99983110e-01 6.70524259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.97, Y:-63.41, Z:6.70 [[-2.69608027e-01 -9.62969166e-01 1.37766123e-03 4.89674415e+01] [-9.62955830e-01 2.69611544e-01 5.06797559e-03 -6.34080614e+01] [-5.25173759e-03 3.97399846e-05 -9.99986209e-01 6.70396436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.390385723 meters Centerline goodness [0,1] 0.9999783816503448 Centerline is valid? [True, True] Translation: X:48.91, Y:-63.52, Z:6.70 [[-1.95097468e-01 -9.80783508e-01 8.29521028e-04 4.89133151e+01] [-9.80773885e-01 1.95099228e-01 4.34484211e-03 -6.35181411e+01] [-4.42318840e-03 3.40951326e-05 -9.99990217e-01 6.70259191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.420385723 meters Centerline goodness [0,1] 0.9999347896967721 Centerline is valid? [True, True] Translation: X:48.87, Y:-63.63, Z:6.70 [[-1.20205071e-01 -9.92748961e-01 4.91835965e-04 4.88698805e+01] [-9.92739291e-01 1.20206071e-01 4.38182551e-03 -6.36333928e+01] [-4.40917439e-03 3.84527604e-05 -9.99990279e-01 6.70447308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.450385723 meters Centerline goodness [0,1] 0.9998694460159275 Centerline is valid? [True, True] Translation: X:48.83, Y:-63.76, Z:6.71 [[-4.37671303e-02 -9.99041743e-01 1.84789779e-04 4.88329698e+01] [-9.99027681e-01 4.37674947e-02 5.30094550e-03 -6.37587024e+01] [-5.30395362e-03 4.73970681e-05 -9.99985933e-01 6.70640565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.81, Y:-63.88, Z:6.70 [[ 3.40226714e-02 -9.99421043e-01 -1.93542008e-04 4.88059452e+01] [-9.99410507e-01 -3.40232015e-02 4.58916282e-03 -6.38750056e+01] [-4.59309081e-03 3.72923380e-05 -9.99989451e-01 6.70368894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.510385723 meters Centerline goodness [0,1] 0.9999563242487771 Centerline is valid? [True, True] Translation: X:48.79, Y:-64.02, Z:6.71 [[ 1.11180183e-01 -9.93800084e-01 -6.00331062e-04 4.87900950e+01] [-9.93787421e-01 -1.11181797e-01 5.01687179e-03 -6.40172575e+01] [-5.05251349e-03 3.88247339e-05 -9.99987235e-01 6.70513530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.540385723 meters Centerline goodness [0,1] 0.999912798936147 Centerline is valid? [True, True] Translation: X:48.78, Y:-64.12, Z:6.71 [[ 1.88765631e-01 -9.82021520e-01 -1.12757539e-03 4.87797215e+01] [-9.82005118e-01 -1.88768995e-01 5.67578222e-03 -6.41224594e+01] [-5.78659155e-03 3.58921952e-05 -9.99983257e-01 6.70646985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.78, Y:-64.26, Z:6.70 [[ 2.64619917e-01 -9.64351522e-01 -1.56289752e-03 4.87821421e+01] [-9.64335374e-01 -2.64624530e-01 5.58075848e-03 -6.42557872e+01] [-5.79539395e-03 3.03775211e-05 -9.99983206e-01 6.70461011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6003857229999 meters Centerline goodness [0,1] 0.9999780975534968 Centerline is valid? [True, True] Translation: X:48.79, Y:-64.37, Z:6.71 [[ 3.39051740e-01 -9.40764252e-01 -2.55741238e-03 4.87923059e+01] [-9.40738162e-01 -3.39061384e-01 7.00638144e-03 -6.43734372e+01] [-7.45847297e-03 3.03295980e-05 -9.99972185e-01 6.70770231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.630385723 meters Centerline goodness [0,1] 0.9998902979507657 Centerline is valid? [True, True] Translation: X:48.81, Y:-64.49, Z:6.71 [[ 4.10475654e-01 -9.11863203e-01 -3.90336889e-03 4.88116485e+01] [-9.11822823e-01 -4.10494212e-01 8.58147334e-03 -6.44923507e+01] [-9.42744010e-03 3.66949531e-05 -9.99955560e-01 6.71038145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.660385723 meters Centerline goodness [0,1] 0.9999780031235564 Centerline is valid? [True, True] Translation: X:48.85, Y:-64.61, Z:6.71 [[ 4.79218528e-01 -8.77685536e-01 -4.20746147e-03 4.88454475e+01] [-8.77652328e-01 -4.79236996e-01 7.63490282e-03 -6.46149487e+01] [-8.71741497e-03 3.39014687e-05 -9.99962002e-01 6.70851954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.690385723 meters Centerline goodness [0,1] 0.9998238118310355 Centerline is valid? [True, True] Translation: X:48.88, Y:-64.73, Z:6.71 [[ 5.44297952e-01 -8.38875955e-01 -5.18380032e-03 4.88825922e+01] [-8.38838721e-01 -5.44322635e-01 7.90375612e-03 -6.47256969e+01] [-9.45193081e-03 4.63741615e-05 -9.99955329e-01 6.71082123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.93, Y:-64.83, Z:6.71 [[ 6.07147749e-01 -7.94572693e-01 -5.08388562e-03 4.89252642e+01] [-7.94545371e-01 -6.07169033e-01 6.58936571e-03 -6.48316925e+01] [-8.32250797e-03 3.86592190e-05 -9.99965367e-01 6.70803998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.98, Y:-64.94, Z:6.71 [[ 6.65117647e-01 -7.46718233e-01 -5.51333649e-03 4.89790780e+01] [-7.46693189e-01 -6.65140495e-01 6.11576320e-03 -6.49352967e+01] [-8.23389525e-03 4.90687778e-05 -9.99966100e-01 6.70775659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.780385723 meters Centerline goodness [0,1] 0.9998006379585327 Centerline is valid? [True, True] Translation: X:49.04, Y:-65.03, Z:6.71 [[ 7.19340342e-01 -6.94618306e-01 -7.40819039e-03 4.90395263e+01] [-6.94582519e-01 -7.19378484e-01 7.05130013e-03 -6.50338102e+01] [-1.02272549e-02 7.33148962e-05 -9.99947698e-01 6.71138646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.810385723 meters Centerline goodness [0,1] 0.9999113632334693 Centerline is valid? [True, True] Translation: X:49.04, Y:-65.04, Z:6.71 [[ 7.71508335e-01 -6.36169812e-01 -7.92834757e-03 4.90358027e+01] [-6.36137178e-01 -7.71549068e-01 6.44409155e-03 -6.50390062e+01] [-1.02166457e-02 7.18463021e-05 -9.99947806e-01 6.71042623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.03, Y:-65.05, Z:6.71 [[ 8.19214720e-01 -5.73431234e-01 -7.99145286e-03 4.90305414e+01] [-5.73404694e-01 -8.19253695e-01 5.51732537e-03 -6.50470934e+01] [-9.71083397e-03 6.24624240e-05 -9.99952847e-01 6.70885755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.03, Y:-65.05, Z:6.71 [[ 8.62027562e-01 -5.06795012e-01 -8.20352599e-03 4.90258506e+01] [-5.06772635e-01 -8.62066594e-01 4.76274440e-03 -6.50524565e+01] [-9.48572082e-03 5.17055356e-05 -9.99955008e-01 6.70931222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.02, Y:-65.06, Z:6.71 [[ 8.99731638e-01 -4.36360572e-01 -8.51066160e-03 4.90225967e+01] [-4.36341426e-01 -8.99771888e-01 4.08784554e-03 -6.50584373e+01] [-9.44142867e-03 3.55902538e-05 -9.99955428e-01 6.70894290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.930385723 meters Centerline goodness [0,1] 0.9998656305287439 Centerline is valid? [True, True] Translation: X:49.02, Y:-65.06, Z:6.71 [[ 9.31259075e-01 -3.64218576e-01 -1.00679619e-02 4.90192312e+01] [-3.64197707e-01 -9.31313496e-01 3.89900396e-03 -6.50636965e+01] [-1.07965185e-02 3.57458140e-05 -9.99941715e-01 6.71079692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.02, Y:-65.07, Z:6.71 [[ 9.57225859e-01 -2.89207237e-01 -8.82206340e-03 4.90162399e+01] [-2.89195145e-01 -9.57266512e-01 2.64466666e-03 -6.50712052e+01] [-9.20992259e-03 1.97545912e-05 -9.99957588e-01 6.70834583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.01, Y:-65.07, Z:6.71 [[ 9.76927120e-01 -2.13407175e-01 -8.41314331e-03 4.90134572e+01] [-2.13399417e-01 -9.76963345e-01 1.81977664e-03 -6.50748028e+01] [-8.60768602e-03 1.75707242e-05 -9.99962953e-01 6.70804581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.01, Y:-65.08, Z:6.71 [[ 9.90589774e-01 -1.36624134e-01 -8.10839465e-03 4.90080050e+01] [-1.36619720e-01 -9.90622958e-01 1.09842639e-03 -6.50784052e+01] [-8.18243345e-03 1.96766587e-05 -9.99966523e-01 6.70788525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.00, Y:-65.08, Z:6.71 [[ 9.98244954e-01 -5.86538305e-02 -8.16948292e-03 4.90022416e+01] [-5.86520277e-02 -9.98278382e-01 4.60286505e-04 -6.50839688e+01] [-8.18241576e-03 1.96780579e-05 -9.99966523e-01 6.70788509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.080385723 meters Centerline goodness [0,1] 0.9999774571686204 Centerline is valid? [True, True] Translation: X:49.00, Y:-65.09, Z:6.71 [[ 9.99798462e-01 1.82130978e-02 -8.44506862e-03 4.89973368e+01] [ 1.82121719e-02 -9.99834127e-01 -1.86529696e-04 -6.50881688e+01] [-8.44706510e-03 3.26890615e-05 -9.99964322e-01 6.70686231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.99, Y:-65.09, Z:6.71 [[ 9.95382892e-01 9.55505567e-02 -9.10989048e-03 4.89926698e+01] [ 9.55461552e-02 -9.95424577e-01 -9.18149567e-04 -6.50938610e+01] [-9.15593858e-03 4.34953620e-05 -9.99958083e-01 6.70719638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.99, Y:-65.10, Z:6.71 [[ 9.84774622e-01 1.73544656e-01 -1.00596923e-02 4.89877507e+01] [ 1.73535136e-01 -9.84826000e-01 -1.81828526e-03 -6.51007149e+01] [-1.02226002e-02 4.48911031e-05 -9.99947747e-01 6.70802114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.98, Y:-65.11, Z:6.71 [[ 9.67971828e-01 2.50855179e-01 -1.01103461e-02 4.89836102e+01] [ 2.50841087e-01 -9.68024627e-01 -2.65925846e-03 -6.51115032e+01] [-1.04541528e-02 3.79970639e-05 -9.99945353e-01 6.70870692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.98, Y:-65.12, Z:6.71 [[ 9.44824255e-01 3.27405873e-01 -1.06075699e-02 4.89816637e+01] [ 3.27384969e-01 -9.44883799e-01 -3.69977776e-03 -6.51234122e+01] [-1.12342499e-02 2.28808229e-05 -9.99936894e-01 6.70991026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.98, Y:-65.14, Z:6.71 [[ 9.16188965e-01 4.00600354e-01 -1.08229606e-02 4.89816633e+01] [ 4.00572130e-01 -9.16252889e-01 -4.75530843e-03 -6.51355075e+01] [-1.18215472e-02 2.13847171e-05 -9.99930123e-01 6.70932083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.98, Y:-65.15, Z:6.71 [[ 8.82609317e-01 4.70005164e-01 -9.79481949e-03 4.89810939e+01] [ 4.69975800e-01 -8.82663665e-01 -5.25387300e-03 -6.51468419e+01] [-1.11148787e-02 3.37891360e-05 -9.99938227e-01 6.70914367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.98, Y:-65.16, Z:6.71 [[ 8.44014864e-01 5.36236773e-01 -9.43574835e-03 4.89796712e+01] [ 5.36202562e-01 -8.44067604e-01 -6.05737546e-03 -6.51550505e+01] [-1.12125970e-02 5.30424785e-05 -9.99937136e-01 6.70888506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.98, Y:-65.16, Z:6.71 [[ 8.02959740e-01 5.95964994e-01 -9.02124075e-03 4.89779561e+01] [ 5.95925697e-01 -8.03010406e-01 -6.84482888e-03 -6.51617072e+01] [-1.13234286e-02 1.20132834e-04 -9.99935881e-01 6.70888246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.98, Y:-65.17, Z:6.71 [[ 7.55887709e-01 6.54645295e-01 -8.56207821e-03 4.89769199e+01] [ 6.54600927e-01 -7.55936183e-01 -7.62316597e-03 -6.51688398e+01] [-1.14628545e-02 1.57513126e-04 -9.99934287e-01 6.70875015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.98, Y:-65.18, Z:6.71 [[ 7.06094548e-01 7.08070909e-01 -8.12874455e-03 4.89810330e+01] [ 7.08020304e-01 -7.06141301e-01 -8.46827765e-03 -6.51803220e+01] [-1.17361833e-02 2.24088491e-04 -9.99931104e-01 6.70791862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.99, Y:-65.19, Z:6.71 [[ 6.50220353e-01 7.59710151e-01 -7.34705166e-03 4.89856776e+01] [ 7.59657299e-01 -6.50261813e-01 -8.96452092e-03 -6.51916386e+01] [-1.15879447e-02 2.47672534e-04 -9.99932827e-01 6.70806210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.440385723 meters Centerline goodness [0,1] 0.9999106704185091 Centerline is valid? [True, True] Translation: X:48.99, Y:-65.20, Z:6.71 [[ 5.92202878e-01 8.05760100e-01 -6.81264834e-03 4.89878303e+01] [ 8.05700738e-01 -5.92241984e-01 -9.78537550e-03 -6.52018592e+01] [-1.19194015e-02 3.05971736e-04 -9.99928915e-01 6.71109956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.00, Y:-65.21, Z:6.71 [[ 5.27845807e-01 8.49323859e-01 -5.27132963e-03 4.89960869e+01] [ 8.49276206e-01 -5.27872056e-01 -9.00107146e-03 -6.52140896e+01] [-1.04274124e-02 2.74363001e-04 -9.99945596e-01 6.70896296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.500385723 meters Centerline goodness [0,1] 0.9998439798511122 Centerline is valid? [True, True] Translation: X:49.00, Y:-65.22, Z:6.71 [[ 4.61239176e-01 8.87260642e-01 -5.19384121e-03 4.90024372e+01] [ 8.87196019e-01 -4.61268297e-01 -1.07136259e-02 -6.52244374e+01] [-1.19015329e-02 3.33588730e-04 -9.99929119e-01 6.71003309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.01, Y:-65.24, Z:6.71 [[ 3.89430182e-01 9.21048754e-01 -3.65065733e-03 4.90147240e+01] [ 9.21001550e-01 -3.89447199e-01 -9.32870522e-03 -6.52353835e+01] [-1.00139306e-02 2.70618310e-04 -9.99949823e-01 6.70757886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.560385723 meters Centerline goodness [0,1] 0.9999333007247988 Centerline is valid? [True, True] Translation: X:49.02, Y:-65.25, Z:6.71 [[ 3.16014210e-01 9.48749859e-01 -2.95373679e-03 4.90236306e+01] [ 9.48699962e-01 -3.16027895e-01 -9.73409179e-03 -6.52458255e+01] [-1.01686814e-02 2.73901342e-04 -9.99948260e-01 6.70830426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.04, Y:-65.26, Z:6.71 [[ 2.38783787e-01 9.71071053e-01 -1.82044687e-03 4.90374540e+01] [ 9.71035698e-01 -2.38790632e-01 -8.28897482e-03 -6.52553349e+01] [-8.48388916e-03 2.11553895e-04 -9.99963989e-01 6.70646213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.05, Y:-65.26, Z:6.71 [[ 1.60938638e-01 9.86963802e-01 -1.09932796e-03 4.90523145e+01] [ 9.86931961e-01 -1.60942279e-01 -7.93010259e-03 -6.52635365e+01] [-8.00365255e-03 1.91298007e-04 -9.99967952e-01 6.70604171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.07, Y:-65.27, Z:6.71 [[ 8.14819989e-02 9.96674710e-01 -4.54083379e-04 4.90669440e+01] [ 9.96645445e-01 -8.14830870e-02 -7.63955234e-03 -6.52712275e+01] [-7.65114873e-03 1.69925864e-04 -9.99970715e-01 6.70689972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.680385723 meters Centerline goodness [0,1] 0.9999779195831218 Centerline is valid? [True, True] Translation: X:49.08, Y:-65.28, Z:6.71 [[ 4.59280368e-04 9.99999884e-01 1.44456205e-04 4.90785926e+01] [ 9.99971124e-01 -4.58171372e-04 -7.58562138e-03 -6.52778797e+01] [-7.58555431e-03 1.47935961e-04 -9.99971218e-01 6.70684322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.09, Y:-65.28, Z:6.71 [[-7.89936366e-02 9.96874842e-01 7.44652962e-04 4.90926630e+01] [ 9.96845749e-01 7.89970213e-02 -7.61732240e-03 -6.52817187e+01] [-7.65234243e-03 1.40584141e-04 -9.99970711e-01 6.70605414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.11, Y:-65.28, Z:6.71 [[-1.57845892e-01 9.87462825e-01 1.35757877e-03 4.91057633e+01] [ 9.87433285e-01 1.57851673e-01 -7.63921825e-03 -6.52848079e+01] [-7.75774011e-03 1.34699248e-04 -9.99969899e-01 6.70612604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.12, Y:-65.29, Z:6.71 [[-2.36715752e-01 9.71576761e-01 2.06151384e-03 4.91194532e+01] [ 9.71544399e-01 2.36724695e-01 -7.93087534e-03 -6.52872916e+01] [-8.19346541e-03 1.25489104e-04 -9.99966425e-01 6.70676104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.800385723 meters Centerline goodness [0,1] 0.9998238234711181 Centerline is valid? [True, True] Translation: X:49.13, Y:-65.29, Z:6.71 [[-3.11926374e-01 9.50101812e-01 2.91263718e-03 4.91327938e+01] [ 9.50064425e-01 3.11939942e-01 -8.42980532e-03 -6.52880992e+01] [-8.91774119e-03 1.37714363e-04 -9.99960227e-01 6.70867793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.15, Y:-65.29, Z:6.71 [[-3.87353109e-01 9.21927142e-01 2.81323456e-03 4.91461528e+01] [ 9.21904561e-01 3.87363314e-01 -6.45319412e-03 -6.52886420e+01] [-7.03911867e-03 9.38689609e-05 -9.99975221e-01 6.70636861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.860385723 meters Centerline goodness [0,1] 0.9998463193483941 Centerline is valid? [True, True] Translation: X:49.16, Y:-65.29, Z:6.71 [[-4.57870615e-01 8.89012032e-01 3.47939935e-03 4.91562343e+01] [ 8.88988048e-01 4.57883823e-01 -6.53105607e-03 -6.52899236e+01] [-7.39934811e-03 1.02765782e-04 -9.99972619e-01 6.70732019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.17, Y:-65.29, Z:6.70 [[-5.26956676e-01 8.49887547e-01 2.79629706e-03 4.91665628e+01] [ 8.49876246e-01 5.26964091e-01 -4.38325667e-03 -6.52889456e+01] [-5.19882340e-03 6.67200839e-05 -9.99986484e-01 6.70443193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.18, Y:-65.29, Z:6.70 [[-5.92223090e-01 8.05768133e-01 3.08681973e-03 4.91765128e+01] [ 8.05757745e-01 5.92231131e-01 -4.09203687e-03 -6.52879648e+01] [-5.12534365e-03 6.38301863e-05 -9.99986863e-01 6.70433595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.19, Y:-65.28, Z:6.70 [[-6.54097180e-01 7.56403209e-01 3.32624199e-03 4.91908878e+01] [ 7.56393883e-01 6.54105635e-01 -3.75668062e-03 -6.52813560e+01] [-5.01727890e-03 5.87148926e-05 -9.99987412e-01 6.70413032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.20, Y:-65.28, Z:6.70 [[-7.11657089e-01 7.02515892e-01 3.95089295e-03 4.92035365e+01] [ 7.02505544e-01 7.11668053e-01 -3.81342773e-03 -6.52764856e+01] [-5.49071788e-03 6.16713295e-05 -9.99984924e-01 6.70451357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.22, Y:-65.26, Z:6.70 [[-7.59685325e-01 6.50277884e-01 4.10865606e-03 4.92249336e+01] [ 6.50268794e-01 7.59696433e-01 -3.43891244e-03 -6.52569335e+01] [-5.35758006e-03 5.92395013e-05 -9.99985646e-01 6.70474796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.24, Y:-65.23, Z:6.70 [[-8.03947231e-01 5.94682261e-01 4.67523197e-03 4.92433093e+01] [ 5.94672655e-01 8.03960823e-01 -3.38063487e-03 -6.52343444e+01] [-5.76910693e-03 6.23805684e-05 -9.99983357e-01 6.70471459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.26, Y:-65.21, Z:6.70 [[-8.44178843e-01 5.36039684e-01 4.85172696e-03 4.92621779e+01] [ 5.36031239e-01 8.44192782e-01 -3.00949172e-03 -6.52113515e+01] [-5.70899987e-03 6.01279817e-05 -9.99983702e-01 6.70473623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.28, Y:-65.19, Z:6.70 [[-8.80011804e-01 4.74929256e-01 4.62885794e-03 4.92787718e+01] [ 4.74923015e-01 8.80023976e-01 -2.43536263e-03 -6.51869593e+01] [-5.23013093e-03 5.52033083e-05 -9.99986321e-01 6.70473503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.29, Y:-65.16, Z:6.70 [[-9.11098906e-01 4.12153678e-01 5.30378096e-03 4.92867236e+01] [ 4.12147114e-01 9.11114341e-01 -2.32706361e-03 -6.51590621e+01] [-5.79145871e-03 6.57529043e-05 -9.99983227e-01 6.70449582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.31, Y:-65.14, Z:6.70 [[-9.37796416e-01 3.47143725e-01 5.39602802e-03 4.93080889e+01] [ 3.47138390e-01 9.37811937e-01 -1.92576355e-03 -6.51375485e+01] [-5.72897622e-03 6.71943174e-05 -9.99983587e-01 6.70421537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.31, Y:-65.11, Z:6.70 [[-9.59219496e-01 2.82614639e-01 5.18895468e-03 4.93105010e+01] [ 2.82610946e-01 9.59233527e-01 -1.44690388e-03 -6.51104277e+01] [-5.38633552e-03 7.85569774e-05 -9.99985491e-01 6.70355081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.33, Y:-65.09, Z:6.70 [[-9.76507932e-01 2.15410316e-01 5.53658389e-03 4.93279826e+01] [ 2.15407384e-01 9.76523624e-01 -1.12767949e-03 -6.50856538e+01] [-5.64951875e-03 9.14330859e-05 -9.99984037e-01 6.70404808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.34, Y:-65.06, Z:6.70 [[-9.88743860e-01 1.49516187e-01 5.52176757e-03 4.93352568e+01] [ 1.49514489e-01 9.88759272e-01 -7.21294139e-04 -6.50580950e+01] [-5.56754403e-03 1.12409109e-04 -9.99984495e-01 6.70453925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.44, Y:-64.30, Z:5.77 [[-9.84671326e-01 -1.74332214e-01 5.53699486e-03 4.94378299e+01] [ 1.74328833e-01 -9.84686888e-01 -1.09120423e-03 -6.43003252e+01] [ 5.64243828e-03 -1.09219668e-04 9.99984075e-01 5.77219532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.27, Y:-65.05, Z:6.70 [[-9.88817715e-01 1.49034932e-01 5.30242477e-03 4.92665218e+01] [ 1.49033491e-01 9.88831923e-01 -6.68202486e-04 -6.50492870e+01] [-5.34279240e-03 1.29508417e-04 -9.99985719e-01 6.70475568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.27, Y:-65.02, Z:6.70 [[-9.96867342e-01 7.89146060e-02 5.29040174e-03 4.92687423e+01] [ 7.89141910e-02 9.96881371e-01 -2.87477547e-04 -6.50205764e+01] [-5.29658912e-03 1.30910795e-04 -9.99985964e-01 6.70497078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.370385723 meters Centerline goodness [0,1] 0.9999339977559237 Centerline is valid? [True, True] Translation: X:49.31, Y:-64.26, Z:5.77 [[-9.95316258e-01 -9.65188109e-02 5.44663184e-03 4.93135999e+01] [ 9.65166871e-02 -9.95331153e-01 -6.52053627e-04 -6.42565002e+01] [ 5.48413779e-03 -1.23308715e-04 9.99984954e-01 5.77128985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.400385723 meters Centerline goodness [0,1] 0.9999341383095499 Centerline is valid? [True, True] Translation: X:49.19, Y:-65.01, Z:6.71 [[-9.97381170e-01 7.21464351e-02 5.06899289e-03 4.91917966e+01] [ 7.21460999e-02 9.97394044e-01 -2.49195121e-04 -6.50103699e+01] [-5.07376186e-03 1.17165546e-04 -9.99987122e-01 6.70538271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.430385723 meters Centerline goodness [0,1] 0.999934230718639 Centerline is valid? [True, True] Translation: X:49.19, Y:-64.98, Z:6.71 [[-9.99984927e-01 2.18051281e-04 5.48613608e-03 4.91873968e+01] [ 2.18718232e-04 9.99999969e-01 1.20971199e-04 -6.49794967e+01] [-5.48610954e-03 1.22169294e-04 -9.99984944e-01 6.70631491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.460385723 meters Centerline goodness [0,1] 0.9999121496969164 Centerline is valid? [True, True] Translation: X:49.18, Y:-64.95, Z:6.71 [[-9.97367963e-01 -7.22216960e-02 6.41658628e-03 4.91813198e+01] [-7.22193263e-02 9.97388594e-01 6.00558266e-04 -6.49483833e+01] [-6.44320330e-03 1.35576037e-04 -9.99979233e-01 6.70714063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.490385723 meters Centerline goodness [0,1] 0.9999781200770174 Centerline is valid? [True, True] Translation: X:49.17, Y:-64.92, Z:6.71 [[-9.89189971e-01 -1.46473421e-01 6.98134548e-03 4.91655552e+01] [-1.46468874e-01 9.89214598e-01 1.16102505e-03 -6.49177814e+01] [-7.07610817e-03 1.25924523e-04 -9.99974956e-01 6.70765306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.14, Y:-64.89, Z:6.71 [[-9.75731460e-01 -2.18871793e-01 6.57689121e-03 4.91362848e+01] [-2.18866063e-01 9.75753620e-01 1.58748608e-03 -6.48918730e+01] [-6.76488132e-03 1.09501820e-04 -9.99977112e-01 6.70747087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.09, Y:-64.87, Z:6.71 [[-9.56615900e-01 -2.91292991e-01 5.86630696e-03 4.90889719e+01] [-2.91286962e-01 9.56633883e-01 1.87615534e-03 -6.48721708e+01] [-6.15841891e-03 8.59812930e-05 -9.99981033e-01 6.70703283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.02, Y:-64.86, Z:6.71 [[-9.32422949e-01 -3.61324405e-01 5.66741305e-03 4.90198068e+01] [-3.61317192e-01 9.32440169e-01 2.28458663e-03 -6.48642788e+01] [-6.11000049e-03 8.24672365e-05 -9.99981330e-01 6.70709428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.610385723 meters Centerline goodness [0,1] 0.9999343300571328 Centerline is valid? [True, True] Translation: X:48.94, Y:-64.86, Z:6.71 [[-9.02782956e-01 -4.30055557e-01 5.92889258e-03 4.89433679e+01] [-4.30045676e-01 9.02802421e-01 2.91649398e-03 -6.48648600e+01] [-6.60687302e-03 8.32664404e-05 -9.99978171e-01 6.70775636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.640385723 meters Centerline goodness [0,1] 0.9998687003523207 Centerline is valid? [True, True] Translation: X:48.87, Y:-64.87, Z:6.71 [[-8.67787309e-01 -4.96891425e-01 6.64062951e-03 4.88665868e+01] [-4.96876070e-01 8.67812712e-01 3.90741328e-03 -6.48715667e+01] [-7.70438286e-03 9.12337616e-05 -9.99970317e-01 6.70897032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.78, Y:-64.89, Z:6.71 [[-8.27266457e-01 -5.61783073e-01 5.47613770e-03 4.87811194e+01] [-5.61770216e-01 8.27284579e-01 3.80134665e-03 -6.48903530e+01] [-6.66585648e-03 6.83955174e-05 -9.99977781e-01 6.70806803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.69, Y:-64.92, Z:6.71 [[-7.82126744e-01 -6.23094921e-01 5.52057447e-03 4.86900874e+01] [-6.23078796e-01 7.82146224e-01 4.48309229e-03 -6.49203841e+01] [-7.11128851e-03 6.65934792e-05 -9.99974712e-01 6.70810270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.60, Y:-64.96, Z:6.71 [[-7.31817687e-01 -6.81482128e-01 4.99830243e-03 4.85977534e+01] [-6.81465729e-01 7.31834754e-01 4.72795435e-03 -6.49609891e+01] [-6.87994782e-03 5.38288062e-05 -9.99976332e-01 6.70849028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.50, Y:-65.01, Z:6.71 [[-6.76976755e-01 -7.35992581e-01 4.17065858e-03 4.85031229e+01] [-7.35978258e-01 6.76989601e-01 4.59173111e-03 -6.50129509e+01] [-6.20297251e-03 3.89811886e-05 -9.99980761e-01 6.70804543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.41, Y:-65.08, Z:6.71 [[-6.18625526e-01 -7.85676096e-01 3.94093881e-03 4.84122523e+01] [-7.85659775e-01 6.18638078e-01 5.06423933e-03 -6.50763166e+01] [-6.41686660e-03 3.66306219e-05 -9.99979411e-01 6.70872240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.33, Y:-65.15, Z:6.71 [[-5.55970200e-01 -8.31192002e-01 4.12216581e-03 4.83264559e+01] [-8.31168699e-01 5.55985481e-01 6.22413008e-03 -6.51459598e+01] [-7.46531148e-03 3.42156579e-05 -9.99972134e-01 6.70875578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8503857229999 meters Centerline goodness [0,1] 0.9999128464354192 Centerline is valid? [True, True] Translation: X:48.23, Y:-65.25, Z:6.71 [[-4.90734029e-01 -8.71301123e-01 3.80340353e-03 4.82324022e+01] [-8.71274428e-01 4.90748767e-01 6.82042133e-03 -6.52450248e+01] [-7.80915635e-03 3.32046007e-05 -9.99969508e-01 6.70923251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.880385723 meters Centerline goodness [0,1] 0.9999345378371302 Centerline is valid? [True, True] Translation: X:48.16, Y:-65.32, Z:6.71 [[-4.22107956e-01 -9.06537816e-01 3.74984652e-03 4.81637385e+01] [-9.06501330e-01 4.22124611e-01 8.13343894e-03 -6.53161585e+01] [-8.95617248e-03 3.39484289e-05 -9.99959892e-01 6.71021039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.910385723 meters Centerline goodness [0,1] 0.9999563261562651 Centerline is valid? [True, True] Translation: X:48.09, Y:-65.41, Z:6.71 [[-3.51116683e-01 -9.36326437e-01 3.14295250e-03 4.80937270e+01] [-9.36288118e-01 3.51130748e-01 8.47098972e-03 -6.54101781e+01] [-9.03519888e-03 3.15967315e-05 -9.99959181e-01 6.71032347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.940385723 meters Centerline goodness [0,1] 0.9999563261562651 Centerline is valid? [True, True] Translation: X:48.03, Y:-65.51, Z:6.71 [[-2.78218071e-01 -9.60514725e-01 2.48350172e-03 4.80291763e+01] [-9.60475440e-01 2.78229153e-01 8.68721366e-03 -6.55136192e+01] [-9.03517923e-03 3.15974149e-05 -9.99959182e-01 6.71032248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9703857229999 meters Centerline goodness [0,1] 0.9999781792790434 Centerline is valid? [True, True] Translation: X:47.97, Y:-65.62, Z:6.71 [[-2.03966667e-01 -9.78975931e-01 1.92993321e-03 4.79738471e+01] [-9.78930376e-01 2.03975794e-01 9.44429942e-03 -6.56211165e+01] [-9.63940148e-03 3.70520351e-05 -9.99953539e-01 6.71062285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.93, Y:-65.74, Z:6.71 [[-1.28032812e-01 -9.91769115e-01 1.27378100e-03 4.79266296e+01] [-9.91717009e-01 1.28039142e-01 1.01662373e-02 -6.57435608e+01] [-1.02456540e-02 3.83816601e-05 -9.99947511e-01 6.71064766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.030385723 meters Centerline goodness [0,1] 0.9998250716113091 Centerline is valid? [True, True] Translation: X:47.89, Y:-65.85, Z:6.71 [[-5.08401966e-02 -9.98706646e-01 5.55800758e-04 4.78895275e+01] [-9.98638508e-01 5.08432204e-02 1.16660951e-02 -6.58541586e+01] [-1.16792654e-02 3.80625294e-05 -9.99931794e-01 6.71342389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.060385723 meters Centerline goodness [0,1] 0.9999781248632804 Centerline is valid? [True, True] Translation: X:47.86, Y:-65.99, Z:6.71 [[ 2.83964529e-02 -9.99596690e-01 -3.15911770e-04 4.78592237e+01] [-9.99538935e-01 -2.83982081e-02 1.07452228e-02 -6.59901456e+01] [-1.07498604e-02 1.06399018e-05 -9.99942219e-01 6.71067721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.14, Y:-66.12, Z:5.77 [[-3.98076714e-02 9.99207273e-01 4.17955160e-04 4.71392795e+01] [-9.99141791e-01 -3.98098476e-02 1.14393424e-02 -6.61226630e+01] [ 1.14469128e-02 3.77771159e-05 9.99934481e-01 5.76616126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.87, Y:-66.28, Z:6.71 [[ 4.16319979e-02 -9.99132906e-01 -4.61388631e-04 4.78662999e+01] [-9.99063566e-01 -4.16345444e-02 1.17709861e-02 -6.62828324e+01] [-1.17799892e-02 -2.90930971e-05 -9.99930613e-01 6.71126080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.150385723 meters Centerline goodness [0,1] 0.9999342033117666 Centerline is valid? [True, True] Translation: X:47.85, Y:-66.40, Z:6.71 [[ 1.19763684e-01 -9.92801493e-01 -1.36256187e-03 4.78480902e+01] [-9.92733011e-01 -1.19771427e-01 1.16607996e-02 -6.63992267e+01] [-1.17400553e-02 -4.38801817e-05 -9.99931082e-01 6.71129198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.180385723 meters Centerline goodness [0,1] 0.9998247382026902 Centerline is valid? [True, True] Translation: X:47.84, Y:-66.53, Z:6.71 [[ 1.95931660e-01 -9.80614041e-01 -2.62457910e-03 4.78419854e+01] [-9.80522499e-01 -1.95949231e-01 1.33987815e-02 -6.65253745e+01] [-1.36533175e-02 -5.17866477e-05 -9.99906788e-01 6.71236997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.210385723 meters Centerline goodness [0,1] 0.999868212967844 Centerline is valid? [True, True] Translation: X:47.84, Y:-66.66, Z:6.71 [[ 2.70775447e-01 -9.62635149e-01 -3.77191813e-03 4.78448234e+01] [-9.62539038e-01 -2.70801712e-01 1.36027076e-02 -6.66570090e+01] [-1.41158864e-02 -5.26607899e-05 -9.99900365e-01 6.71259657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.240385723 meters Centerline goodness [0,1] 0.9998680564718301 Centerline is valid? [True, True] Translation: X:47.85, Y:-66.77, Z:6.71 [[ 3.43873774e-01 -9.39003159e-01 -4.88815289e-03 4.78536574e+01] [-9.38906224e-01 -3.43908512e-01 1.34921374e-02 -6.67744997e+01] [-1.43502371e-02 -5.00750537e-05 -9.99897029e-01 6.71256898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.270385723 meters Centerline goodness [0,1] 0.9999559354895567 Centerline is valid? [True, True] Translation: X:47.88, Y:-66.90, Z:6.71 [[ 4.14730064e-01 -9.09928904e-01 -5.32570014e-03 4.78767882e+01] [-9.09852639e-01 -4.14764256e-01 1.17808109e-02 -6.68976075e+01] [-1.29286104e-02 -4.02541125e-05 -9.99916421e-01 6.70991492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.91, Y:-67.01, Z:6.71 [[ 4.82334078e-01 -8.75966591e-01 -6.03062895e-03 4.79065493e+01] [-8.75897544e-01 -4.82371776e-01 1.09982414e-02 -6.70120649e+01] [-1.25430973e-02 -2.26135470e-05 -9.99921332e-01 6.71011926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.94, Y:-67.13, Z:6.71 [[ 5.47662673e-01 -8.36673380e-01 -6.57670463e-03 4.79428751e+01] [-8.36612745e-01 -5.47702160e-01 1.00727260e-02 -6.71250128e+01] [-1.20296570e-02 -1.43011210e-05 -9.99927641e-01 6.70877170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.99, Y:-67.23, Z:6.71 [[ 6.09504088e-01 -7.92749280e-01 -7.30384690e-03 4.79877800e+01] [-7.92692303e-01 -6.09547848e-01 9.50439416e-03 -6.72310134e+01] [-1.19866458e-02 -3.26387152e-06 -9.99928158e-01 6.70851147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.04, Y:-67.34, Z:6.71 [[ 6.68047745e-01 -7.44074391e-01 -8.09395452e-03 4.80409006e+01] [-7.44019825e-01 -6.68096775e-01 9.01107079e-03 -6.73375321e+01] [-1.21124519e-02 2.23710538e-06 -9.99926642e-01 6.70824051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.420385723 meters Centerline goodness [0,1] 0.9999777654252362 Centerline is valid? [True, True] Translation: X:48.10, Y:-67.43, Z:6.71 [[ 7.22176255e-01 -6.91646640e-01 -9.29418474e-03 4.80979036e+01] [-6.91589667e-01 -7.22236059e-01 8.87734198e-03 -6.74335435e+01] [-1.28525791e-02 1.67565438e-05 -9.99917402e-01 6.70798816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.09, Y:-67.44, Z:6.71 [[ 7.73659525e-01 -6.33531135e-01 -9.44670088e-03 4.80914047e+01] [-6.33484269e-01 -7.73717197e-01 7.70589733e-03 -6.74412048e+01] [-1.21910008e-02 2.25955385e-05 -9.99925687e-01 6.70900923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.09, Y:-67.44, Z:6.71 [[ 8.19423804e-01 -5.73096270e-01 -1.02613327e-02 4.80896029e+01] [-5.73052146e-01 -8.19488049e-01 7.11159265e-03 -6.74439505e+01] [-1.24846667e-02 5.28703994e-05 -9.99922062e-01 6.70876179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.510385723 meters Centerline goodness [0,1] 0.9999330581278589 Centerline is valid? [True, True] Translation: X:48.08, Y:-67.45, Z:6.71 [[ 8.60594537e-01 -5.09172771e-01 -1.09604889e-02 4.80842379e+01] [-5.09132692e-01 -8.60664326e-01 6.38904144e-03 -6.74517696e+01] [-1.26864277e-02 8.19690507e-05 -9.99919521e-01 6.70872803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.08, Y:-67.46, Z:6.71 [[ 8.96455553e-01 -4.42984506e-01 -1.14964700e-02 4.80796490e+01] [-4.42949799e-01 -8.96529260e-01 5.54639054e-03 -6.74560502e+01] [-1.27638868e-02 1.20266480e-04 -9.99918531e-01 6.70845042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.08, Y:-67.46, Z:6.71 [[ 9.27739219e-01 -3.73027355e-01 -1.22692328e-02 4.80758418e+01] [-3.72996804e-01 -9.27820334e-01 4.77626181e-03 -6.74590625e+01] [-1.31653200e-02 1.45259245e-04 -9.99913323e-01 6.70914970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.07, Y:-67.47, Z:6.71 [[ 9.53280458e-01 -3.01840546e-01 -1.21923324e-02 4.80719667e+01] [-3.01818187e-01 -9.53358408e-01 3.67792818e-03 -6.74658931e+01] [-1.27338105e-02 1.73770608e-04 -9.99918907e-01 6.70750230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.07, Y:-67.47, Z:6.71 [[ 9.73772262e-01 -2.27173221e-01 -1.26455051e-02 4.80663401e+01] [-2.27156566e-01 -9.73854349e-01 2.75714690e-03 -6.74729491e+01] [-1.29412301e-02 1.87676338e-04 -9.99916241e-01 6.70796327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.06, Y:-67.48, Z:6.71 [[ 9.88455835e-01 -1.50979919e-01 -1.26541203e-02 4.80595697e+01] [-1.50970070e-01 -9.88536811e-01 1.73544150e-03 -6.74788057e+01] [-1.27710806e-02 1.94986167e-04 -9.99918428e-01 6.70800520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.05, Y:-67.49, Z:6.71 [[ 9.97319048e-01 -7.19959254e-02 -1.30883138e-02 4.80530978e+01] [-7.19921583e-02 -9.97404909e-01 7.59357725e-04 -6.74878769e+01] [-1.31090191e-02 1.84934037e-04 -9.99914056e-01 6.70801982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.05, Y:-67.50, Z:6.71 [[ 9.99888797e-01 7.08126055e-03 -1.31243704e-02 4.80474809e+01] [ 7.07835417e-03 -9.99974912e-01 -2.67888067e-04 -6.74969096e+01] [-1.31259381e-02 1.74959335e-04 -9.99913836e-01 6.70819110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.750385723 meters Centerline goodness [0,1] 0.9999549762499719 Centerline is valid? [True, True] Translation: X:48.04, Y:-67.51, Z:6.71 [[ 9.96225182e-01 8.57372726e-02 -1.35833501e-02 4.80428174e+01] [ 8.57268868e-02 -9.96317765e-01 -1.34608981e-03 -6.75063350e+01] [-1.36487431e-02 1.76550246e-04 -9.99906836e-01 6.70897610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.04, Y:-67.52, Z:6.71 [[ 9.86193177e-01 1.65109709e-01 -1.27201119e-02 4.80384375e+01] [ 1.65094075e-01 -9.86275196e-01 -2.27674252e-03 -6.75170481e+01] [-1.29214432e-02 1.45292825e-04 -9.99916504e-01 6.70850317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.03, Y:-67.53, Z:6.71 [[ 9.70086437e-01 2.42450317e-01 -1.22535348e-02 4.80347564e+01] [ 2.42429236e-01 -9.70163814e-01 -3.19992735e-03 -6.75261057e+01] [-1.26637594e-02 1.33591042e-04 -9.99919803e-01 6.70820749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8403857229999 meters Centerline goodness [0,1] 0.9998655401922776 Centerline is valid? [True, True] Translation: X:48.03, Y:-67.53, Z:6.71 [[ 9.47838973e-01 3.18531452e-01 -1.17896436e-02 4.80301571e+01] [ 3.18505240e-01 -9.47912285e-01 -4.08805770e-03 -6.75344279e+01] [-1.24777230e-02 1.19757124e-04 -9.99922143e-01 6.70787030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.03, Y:-67.54, Z:6.71 [[ 9.18763176e-01 3.94668842e-01 -1.05229597e-02 4.80270926e+01] [ 3.94642031e-01 -9.18823433e-01 -4.60075561e-03 -6.75439331e+01] [-1.14845168e-02 7.42026635e-05 -9.99934048e-01 6.70532897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.02, Y:-67.55, Z:6.71 [[ 8.84602243e-01 4.66238151e-01 -1.00428283e-02 4.80245680e+01] [ 4.66207305e-01 -8.84659247e-01 -5.36341158e-03 -6.75520360e+01] [-1.13851080e-02 6.24460066e-05 -9.99935186e-01 6.70533607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.03, Y:-67.57, Z:6.70 [[ 8.44525396e-01 5.35439105e-01 -9.04544618e-03 4.80280136e+01] [ 5.35407874e-01 -8.44573835e-01 -5.78317496e-03 -6.75681615e+01] [-1.07360852e-02 4.10350173e-05 -9.99942366e-01 6.70420080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.03, Y:-67.58, Z:6.70 [[ 7.99542335e-01 6.00547916e-01 -8.61716519e-03 4.80301325e+01] [ 6.00512597e-01 -7.99588769e-01 -6.51318662e-03 -6.75809980e+01] [-1.08016692e-02 3.28521921e-05 -9.99941660e-01 6.70497988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.03, Y:-67.59, Z:6.70 [[ 7.50067071e-01 6.61311345e-01 -8.16663813e-03 4.80333130e+01] [ 6.61271666e-01 -7.50111528e-01 -7.24434071e-03 -6.75922592e+01] [-1.09166541e-02 3.33750200e-05 -9.99940411e-01 6.70432832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.04, Y:-67.60, Z:6.70 [[ 6.96252978e-01 7.17757277e-01 -7.50210912e-03 4.80381637e+01] [ 7.17715042e-01 -6.96293394e-01 -7.78645748e-03 -6.76040759e+01] [-1.08124555e-02 3.69676556e-05 -9.99941543e-01 6.70377774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.050385723 meters Centerline goodness [0,1] 0.9999551559452006 Centerline is valid? [True, True] Translation: X:48.04, Y:-67.62, Z:6.70 [[ 6.38425311e-01 7.69647647e-01 -7.45796772e-03 4.80420422e+01] [ 7.69594257e-01 -6.38468869e-01 -9.06544155e-03 -6.76162546e+01] [-1.17388760e-02 4.79982117e-05 -9.99931096e-01 6.70416595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.05, Y:-67.63, Z:6.71 [[ 5.76911227e-01 8.16778395e-01 -6.81841164e-03 4.80456496e+01] [ 8.16720142e-01 -5.76951515e-01 -9.75495307e-03 -6.76274678e+01] [-1.19015278e-02 5.90078150e-05 -9.99929173e-01 6.70528616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.05, Y:-67.64, Z:6.70 [[ 5.11130189e-01 8.59481855e-01 -6.07216555e-03 4.80539818e+01] [ 8.59419851e-01 -5.11166253e-01 -1.03238556e-02 -6.76391571e+01] [-1.19770527e-02 5.82946644e-05 -9.99928271e-01 6.70465918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.06, Y:-67.65, Z:6.71 [[ 4.41770274e-01 8.97113860e-01 -5.07410098e-03 4.80611265e+01] [ 8.97053373e-01 -4.41799411e-01 -1.04176299e-02 -6.76500854e+01] [-1.15875350e-02 5.04598210e-05 -9.99932861e-01 6.70517367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.170385723 meters Centerline goodness [0,1] 0.9998658618376928 Centerline is valid? [True, True] Translation: X:48.07, Y:-67.66, Z:6.71 [[ 3.70300974e-01 9.28900933e-01 -4.49942321e-03 4.80670392e+01] [ 9.28830538e-01 -3.70328305e-01 -1.14358630e-02 -6.76588045e+01] [-1.22890476e-02 5.55095406e-05 -9.99924485e-01 6.70684947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.08, Y:-67.67, Z:6.70 [[ 2.94254769e-01 9.55722057e-01 -3.07922294e-03 4.80770857e+01] [ 9.55668895e-01 -2.94270879e-01 -1.00803043e-02 -6.76683113e+01] [-1.05400948e-02 2.34600442e-05 -9.99944451e-01 6.70466056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.09, Y:-67.68, Z:6.70 [[ 2.17410267e-01 9.76077965e-01 -2.14048511e-03 4.80855498e+01] [ 9.76030161e-01 -2.17420804e-01 -9.66016111e-03 -6.76757423e+01] [-9.89445639e-03 1.10401783e-05 -9.99951049e-01 6.70424690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.09, Y:-67.68, Z:6.70 [[ 1.38728405e-01 9.90329525e-01 -1.36476535e-03 4.80949273e+01] [ 9.90281919e-01 -1.38735118e-01 -9.71023303e-03 -6.76828490e+01] [-9.80567134e-03 -4.41731459e-06 -9.99951923e-01 6.70420558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.10, Y:-67.69, Z:6.71 [[ 6.06315078e-02 9.98160016e-01 -6.34648195e-04 4.81034207e+01] [ 9.98106375e-01 -6.06348290e-02 -1.03480043e-02 -6.76906353e+01] [-1.03674459e-02 -6.03130847e-06 -9.99946257e-01 6.70550128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.11, Y:-67.70, Z:6.71 [[-1.79756918e-02 9.99838406e-01 1.89571313e-04 4.81110288e+01] [ 9.99777479e-01 1.79766892e-02 -1.10376838e-02 -6.76965770e+01] [-1.10393081e-02 -8.88087373e-06 -9.99939065e-01 6.70640936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.12, Y:-67.70, Z:6.71 [[-9.62575732e-02 9.95355850e-01 1.10031408e-03 4.81219568e+01] [ 9.95289752e-01 9.62638614e-02 -1.14707878e-02 -6.77020085e+01] [-1.15234362e-02 -9.01887451e-06 -9.99933603e-01 6.70542705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.13, Y:-67.71, Z:6.71 [[-1.73616316e-01 9.84811330e-01 2.00462191e-03 4.81329219e+01] [ 9.84745336e-01 1.73627889e-01 -1.14008694e-02 -6.77073091e+01] [-1.15757636e-02 -5.33486858e-06 -9.99932999e-01 6.70613057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.14, Y:-67.71, Z:6.71 [[-2.49931452e-01 9.68259553e-01 2.77611562e-03 4.81406492e+01] [ 9.68199767e-01 2.49946870e-01 -1.07597914e-02 -6.77131882e+01] [-1.11121522e-02 -1.37579143e-06 -9.99938258e-01 6.70641627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.440385723 meters Centerline goodness [0,1] 0.9999328678839957 Centerline is valid? [True, True] Translation: X:48.15, Y:-67.72, Z:6.71 [[-3.24479621e-01 9.45885642e-01 3.65076371e-03 4.81503243e+01] [ 9.45825948e-01 3.24500158e-01 -1.06266033e-02 -6.77168565e+01] [-1.12362249e-02 4.87083309e-06 -9.99936872e-01 6.70585104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4703857229999 meters Centerline goodness [0,1] 0.999888080581981 Centerline is valid? [True, True] Translation: X:48.16, Y:-67.72, Z:6.70 [[-3.96758686e-01 9.17912934e-01 4.28845736e-03 4.81623098e+01] [ 9.17859698e-01 3.96781861e-01 -9.88583030e-03 -6.77184119e+01] [-1.07759136e-02 1.39131433e-05 -9.99941938e-01 6.70456476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.17, Y:-67.72, Z:6.70 [[-4.66900823e-01 8.84294625e-01 5.16126111e-03 4.81744064e+01] [ 8.84241091e-01 4.66929348e-01 -9.73014999e-03 -6.77192038e+01] [-1.10142636e-02 2.07841194e-05 -9.99939341e-01 6.70460191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.19, Y:-67.72, Z:6.71 [[-5.34104051e-01 8.45398523e-01 5.84810130e-03 4.81861633e+01] [ 8.45348430e-01 5.34136065e-01 -9.20305733e-03 -6.77201081e+01] [-1.09039329e-02 2.82930509e-05 -9.99940550e-01 6.70555362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.560385723 meters Centerline goodness [0,1] 0.9999553531565318 Centerline is valid? [True, True] Translation: X:48.20, Y:-67.72, Z:6.70 [[-5.97702107e-01 8.01690880e-01 6.62756191e-03 4.81960151e+01] [ 8.01642375e-01 5.97738849e-01 -8.81877877e-03 -6.77199553e+01] [-1.10314857e-02 4.19318151e-05 -9.99939151e-01 6.70469045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.21, Y:-67.72, Z:6.71 [[-6.58399611e-01 7.52632339e-01 7.38340273e-03 4.82059980e+01] [ 7.52585800e-01 6.58441007e-01 -8.36983146e-03 -6.77191244e+01] [-1.11609410e-02 4.59502758e-05 -9.99937714e-01 6.70511953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.22, Y:-67.72, Z:6.71 [[-7.14800737e-01 6.99274559e-01 8.66009598e-03 4.82170115e+01] [ 6.99224237e-01 7.14853193e-01 -8.38924809e-03 -6.77173701e+01] [-1.20570850e-02 5.87082904e-05 -9.99927309e-01 6.70591039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.25, Y:-67.70, Z:6.71 [[-7.62264034e-01 6.47194919e-01 9.60620654e-03 4.82453227e+01] [ 6.47144610e-01 7.62324558e-01 -8.06979244e-03 -6.77049217e+01] [-1.25457758e-02 6.52922398e-05 -9.99921297e-01 6.70668957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.27, Y:-67.69, Z:6.71 [[-8.05726946e-01 5.92195965e-01 1.03936220e-02 4.82665526e+01] [ 5.92147912e-01 8.05793977e-01 -7.54433095e-03 -6.76854288e+01] [-1.28428403e-02 7.58908270e-05 -9.99917525e-01 6.70692554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.29, Y:-67.67, Z:6.71 [[-8.45269800e-01 5.34225063e-01 1.10701327e-02 4.82873886e+01] [ 5.34180568e-01 8.45342283e-01 -6.89533773e-03 -6.76652516e+01] [-1.30417135e-02 8.50290562e-05 -9.99914950e-01 6.70785109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.31, Y:-67.64, Z:6.71 [[-8.80053214e-01 4.74728584e-01 1.17945940e-02 4.83056022e+01] [ 4.74687663e-01 8.80132240e-01 -6.23403034e-03 -6.76433623e+01] [-1.33402748e-02 1.12469826e-04 -9.99911008e-01 6.70740735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.31, Y:-67.62, Z:6.71 [[-9.11027580e-01 4.12178320e-01 1.17380631e-02 4.83132144e+01] [ 4.12145824e-01 9.11103187e-01 -5.17704049e-03 -6.76151831e+01] [-1.28284505e-02 1.21367013e-04 -9.99917705e-01 6.70682562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.34, Y:-67.59, Z:6.71 [[-9.37463449e-01 3.47891637e-01 1.15624400e-02 4.83350859e+01] [ 3.47866930e-01 9.37534741e-01 -4.14828082e-03 -6.75943190e+01] [-1.22833414e-02 1.33328861e-04 -9.99924548e-01 6.70687654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.35, Y:-67.57, Z:6.71 [[-9.59638660e-01 2.81022396e-01 1.09569350e-02 4.83473177e+01] [ 2.81005613e-01 9.59701202e-01 -3.07394006e-03 -6.75678170e+01] [-1.13792297e-02 1.29088520e-04 -9.99935246e-01 6.70623110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.36, Y:-67.54, Z:6.71 [[-9.77156381e-01 2.12228987e-01 1.11473887e-02 4.83566052e+01] [ 2.12216684e-01 9.77219955e-01 -2.28885846e-03 -6.75401364e+01] [-1.13792128e-02 1.29089200e-04 -9.99935246e-01 6.70623091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.52, Y:-66.74, Z:5.77 [[-9.66817809e-01 -2.55304162e-01 9.11646518e-03 4.85237478e+01] [ 2.55290592e-01 -9.66860762e-01 -2.64203011e-03 -6.67446506e+01] [ 9.48887376e-03 -2.27013976e-04 9.99954954e-01 5.77209210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.30, Y:-67.53, Z:6.70 [[-9.78015501e-01 2.08356056e-01 8.56939215e-03 4.83006019e+01] [ 2.08348962e-01 9.78053037e-01 -1.72226506e-03 -6.75267220e+01] [-8.74016438e-03 1.01022033e-04 -9.99961799e-01 6.70455968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.45, Y:-66.73, Z:5.77 [[-9.67656368e-01 -2.52166909e-01 7.28036774e-03 4.84529260e+01] [ 2.52158505e-01 -9.67683742e-01 -2.06511039e-03 -6.67318349e+01] [ 7.56584600e-03 -1.62510577e-04 9.99971365e-01 5.77271096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.24, Y:-67.51, Z:6.70 [[-9.79144819e-01 2.03038646e-01 7.12265755e-03 4.82387591e+01] [ 2.03033829e-01 9.79170722e-01 -1.40054429e-03 -6.75139461e+01] [-7.25866235e-03 7.48047509e-05 -9.99973653e-01 6.70436588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.25, Y:-67.49, Z:6.70 [[-9.91340324e-01 1.31166337e-01 6.30514531e-03 4.82522826e+01] [ 1.31164028e-01 9.91360373e-01 -7.80062172e-04 -6.74860507e+01] [-6.35298910e-03 5.37011723e-05 -9.99979818e-01 6.70437174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.26, Y:-67.45, Z:6.70 [[-9.98338953e-01 5.73151125e-02 5.85764125e-03 4.82551316e+01] [ 5.73143096e-02 9.98356137e-01 -3.04972398e-04 -6.74548999e+01] [-5.86549162e-03 3.12608393e-05 -9.99982797e-01 6.70478473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.29, Y:-66.65, Z:5.77 [[-9.93260262e-01 -1.15764444e-01 5.71368692e-03 4.82870497e+01] [ 1.15762309e-01 -9.93276695e-01 -7.04103636e-04 -6.66548854e+01] [ 5.75678223e-03 -3.79285715e-05 9.99983429e-01 5.77272333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.16, Y:-67.45, Z:6.71 [[-9.98842825e-01 4.77243440e-02 5.94957730e-03 4.81638260e+01] [ 4.77235233e-02 9.98860544e-01 -2.79923761e-04 -6.74450849e+01] [-5.95615719e-03 4.33495066e-06 -9.99982262e-01 6.70505902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.17, Y:-67.42, Z:6.71 [[-9.99683382e-01 -2.44666452e-02 5.87529900e-03 4.81748009e+01] [-2.44662318e-02 9.99700647e-01 1.42243393e-04 -6.74152583e+01] [-5.87702043e-03 -1.54807151e-06 -9.99982730e-01 6.70531355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.16, Y:-66.63, Z:5.77 [[-9.98984940e-01 -4.47052966e-02 5.52510705e-03 4.81592418e+01] [ 4.47044923e-02 -9.99000218e-01 -2.69040313e-04 -6.66257814e+01] [ 5.53161067e-03 -2.17701157e-05 9.99984700e-01 5.77178366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.07, Y:-67.42, Z:6.71 [[-9.99471066e-01 -3.21912367e-02 4.61653935e-03 4.80741759e+01] [-3.21909368e-02 9.99481728e-01 1.39272038e-04 -6.74150809e+01] [-4.61863006e-03 -9.41235436e-06 -9.99989334e-01 6.70510262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.07, Y:-67.39, Z:6.71 [[-9.94651957e-01 -1.03221686e-01 3.57311918e-03 4.80720680e+01] [-1.03221045e-01 9.94658375e-01 3.63787429e-04 -6.73857161e+01] [-3.59158367e-03 -6.97921742e-06 -9.99993550e-01 6.70528272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.06, Y:-67.36, Z:6.71 [[-9.84780658e-01 -1.73773564e-01 3.13114223e-03 4.80632465e+01] [-1.73772702e-01 9.84785636e-01 5.47128020e-04 -6.73570771e+01] [-3.17858028e-03 -5.30595536e-06 -9.99994948e-01 6.70523465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.03, Y:-67.33, Z:6.71 [[-9.70110457e-01 -2.42648421e-01 2.72853315e-03 4.80293673e+01] [-2.42647464e-01 9.70114294e-01 6.81461517e-04 -6.73345457e+01] [-2.81234457e-03 -9.78705975e-07 -9.99996045e-01 6.70552786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.99, Y:-67.32, Z:6.71 [[-9.49876951e-01 -3.12616702e-01 2.13904389e-03 4.79859120e+01] [-3.12615906e-01 9.49879360e-01 7.05160473e-04 -6.73166357e+01] [-2.25227858e-03 1.11653745e-06 -9.99997464e-01 6.70590203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.92, Y:-67.31, Z:6.71 [[-9.25104671e-01 -3.79710272e-01 1.20700304e-03 4.79234616e+01] [-3.79709944e-01 9.25105458e-01 4.99356139e-04 -6.73079550e+01] [-1.30621575e-03 3.64564073e-06 -9.99999147e-01 6.70649716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.85, Y:-67.31, Z:6.71 [[-8.94978142e-01 -4.46109397e-01 7.29320997e-04 4.78495079e+01] [-4.46109245e-01 8.94978439e-01 3.67566180e-04 -6.73099567e+01] [-8.16701295e-04 3.60685709e-06 -9.99999667e-01 6.70609444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.77, Y:-67.32, Z:6.71 [[-8.60644034e-01 -5.09206287e-01 8.96967667e-04 4.77691204e+01] [-5.09206001e-01 8.60644501e-01 5.39458992e-04 -6.73225431e+01] [-1.04666620e-03 7.54084316e-06 -9.99999452e-01 6.70550822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.68, Y:-67.34, Z:6.71 [[-8.20802844e-01 -5.71210336e-01 1.20105084e-03 4.76820707e+01] [-5.71209703e-01 8.20803723e-01 8.51037879e-04 -6.73445845e+01] [-1.47194863e-03 1.24824215e-05 -9.99998917e-01 6.70599785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.460385723 meters Centerline goodness [0,1] 0.9999777223311352 Centerline is valid? [True, True] Translation: X:47.59, Y:-67.38, Z:6.71 [[-7.76842702e-01 -6.29690643e-01 2.26062427e-03 4.75913462e+01] [-6.29687859e-01 7.76845991e-01 1.87292567e-03 -6.73757189e+01] [-2.93552067e-03 3.14809845e-05 -9.99995691e-01 6.70772278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.49, Y:-67.42, Z:6.71 [[-7.28123406e-01 -6.85436350e-01 3.64910232e-03 4.74940225e+01] [-6.85427307e-01 7.28132547e-01 3.52154628e-03 -6.74247801e+01] [-5.07082600e-03 6.29258937e-05 -9.99987141e-01 6.71025258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.40, Y:-67.48, Z:6.71 [[-6.74558805e-01 -7.38213602e-01 3.33101160e-03 4.74030289e+01] [-7.38204107e-01 6.74567026e-01 3.74474521e-03 -6.74773065e+01] [-5.01141244e-03 6.70844092e-05 -9.99987441e-01 6.71096734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.31, Y:-67.54, Z:6.71 [[-6.18167943e-01 -7.86041228e-01 2.75344693e-03 4.73137865e+01] [-7.86032907e-01 6.18174071e-01 3.61756346e-03 -6.75364689e+01] [-4.54566353e-03 7.19618699e-05 -9.99989666e-01 6.71030938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.22, Y:-67.62, Z:6.71 [[-5.57546069e-01 -8.30142677e-01 2.34901271e-03 4.72225152e+01] [-8.30134733e-01 5.57551012e-01 3.63237195e-03 -6.76150160e+01] [-4.32508139e-03 7.52176662e-05 -9.99990644e-01 6.71014490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.14, Y:-67.69, Z:6.71 [[-4.94632853e-01 -8.69100038e-01 1.86116237e-03 4.71436660e+01] [-8.69093276e-01 4.94636348e-01 3.42933055e-03 -6.76946240e+01] [-3.90102987e-03 7.87358518e-05 -9.99992388e-01 6.71025452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.640385723 meters Centerline goodness [0,1] 0.9999336635414824 Centerline is valid? [True, True] Translation: X:47.06, Y:-67.78, Z:6.71 [[-4.27676916e-01 -9.03930452e-01 1.48101552e-03 4.70630109e+01] [-9.03924384e-01 4.27679473e-01 3.31309251e-03 -6.77847672e+01] [-3.62820515e-03 7.82071471e-05 -9.99993415e-01 6.71078229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.99, Y:-67.89, Z:6.71 [[-3.58219360e-01 -9.33636867e-01 1.04441531e-03 4.69875426e+01] [-9.33632303e-01 3.58220876e-01 2.92025883e-03 -6.78877191e+01] [-3.10059267e-03 7.09933816e-05 -9.99995191e-01 6.70926035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.92, Y:-67.99, Z:6.71 [[-2.85904652e-01 -9.58257812e-01 7.04574054e-04 4.69240502e+01] [-9.58254335e-01 2.85905513e-01 2.58212855e-03 -6.79917303e+01] [-2.67578646e-03 6.30814241e-05 -9.99996418e-01 6.70914925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.86, Y:-68.10, Z:6.71 [[-2.11948737e-01 -9.77280720e-01 3.55985470e-04 4.68648636e+01] [-9.77278954e-01 2.11949031e-01 1.85867683e-03 -6.81012589e+01] [-1.89189980e-03 4.60470977e-05 -9.99998209e-01 6.70909261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.82, Y:-68.22, Z:6.71 [[-1.35873674e-01 -9.90726153e-01 1.86376968e-04 4.68156675e+01] [-9.90724769e-01 1.35873795e-01 1.65638148e-03 -6.82165054e+01] [-1.66634420e-03 4.04103575e-05 -9.99998611e-01 6.70922206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.790385723 meters Centerline goodness [0,1] 0.9999780243929238 Centerline is valid? [True, True] Translation: X:46.77, Y:-68.34, Z:6.71 [[-5.79086723e-02 -9.98321884e-01 3.93469265e-05 4.67717152e+01] [-9.98321243e-01 5.79086797e-02 1.13178963e-03 -6.83380084e+01] [-1.13216888e-03 2.62595621e-05 -9.99999359e-01 6.70901792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.74, Y:-68.46, Z:6.71 [[ 2.04073198e-02 -9.99791748e-01 -4.55148574e-05 4.67402627e+01] [-9.99791173e-01 -2.04073569e-02 1.07291233e-03 -6.84625244e+01] [-1.07361773e-03 2.36100876e-05 -9.99999423e-01 6.70910086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.72, Y:-68.59, Z:6.71 [[ 1.00730280e-01 -9.94913739e-01 -2.49637329e-04 4.67181068e+01] [-9.94911555e-01 -1.00730582e-01 2.08512387e-03 -6.85924569e+01] [-2.09966450e-03 3.83319513e-05 -9.99997795e-01 6.70959830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.71, Y:-68.72, Z:6.71 [[ 1.78713995e-01 -9.83900991e-01 -3.84863638e-04 4.67063005e+01] [-9.83899087e-01 -1.78714406e-01 1.93603442e-03 -6.87230262e+01] [-1.97364686e-03 3.26705360e-05 -9.99998052e-01 6.70943971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.70, Y:-68.85, Z:6.71 [[ 2.57357587e-01 -9.66316148e-01 -4.17369253e-04 4.67007358e+01] [-9.66315001e-01 -2.57357925e-01 1.48902936e-03 -6.88496234e+01] [-1.54628640e-03 2.00971676e-05 -9.99998804e-01 6.71000894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.71, Y:-68.97, Z:6.71 [[ 3.32800176e-01 -9.42997144e-01 -6.55146183e-04 4.67076443e+01] [-9.42995438e-01 -3.32800820e-01 1.79403929e-03 -6.89749354e+01] [-1.90980712e-03 2.07432701e-05 -9.99998176e-01 6.71058974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.72, Y:-69.10, Z:6.71 [[ 4.06908939e-01 -9.13468281e-01 -9.03167155e-04 4.67203901e+01] [-9.13466123e-01 -4.06909941e-01 1.98550716e-03 -6.90971425e+01] [-2.18120551e-03 1.70919853e-05 -9.99997621e-01 6.71104134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.75, Y:-69.22, Z:6.71 [[ 4.76539283e-01 -8.79152495e-01 -1.09633858e-03 4.67459986e+01] [-8.79150244e-01 -4.76540544e-01 1.98973241e-03 -6.92182558e+01] [-2.27172799e-03 1.56606739e-05 -9.99997420e-01 6.71134539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.78, Y:-69.33, Z:6.71 [[ 5.43672586e-01 -8.39296343e-01 -1.32939009e-03 4.67783442e+01] [-8.39293893e-01 -5.43674211e-01 2.02814176e-03 -6.93348718e+01] [-2.42496707e-03 1.31039077e-05 -9.99997060e-01 6.71169202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.060385723 meters Centerline goodness [0,1] 0.9999784063917081 Centerline is valid? [True, True] Translation: X:46.82, Y:-69.45, Z:6.71 [[ 6.06832037e-01 -7.94828007e-01 -1.82185364e-03 4.68175356e+01] [-7.94824492e-01 -6.06834771e-01 2.36365032e-03 -6.94453518e+01] [-2.98425961e-03 1.37151596e-05 -9.99995547e-01 6.71208369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.87, Y:-69.55, Z:6.71 [[ 6.65522530e-01 -7.46374098e-01 -2.33816678e-03 4.68672528e+01] [-7.46369579e-01 -6.65526638e-01 2.59729391e-03 -6.95529807e+01] [-3.49466518e-03 1.65789370e-05 -9.99993894e-01 6.71229788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.92, Y:-69.65, Z:6.71 [[ 7.20153640e-01 -6.93809487e-01 -2.67022010e-03 4.69165466e+01] [-6.93804814e-01 -7.20158590e-01 2.54659965e-03 -6.96480899e+01] [-3.68983694e-03 1.86685582e-05 -9.99993192e-01 6.71259605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.91, Y:-69.66, Z:6.71 [[ 7.71961366e-01 -6.35660062e-01 -3.45487972e-03 4.69098979e+01] [-6.35653834e-01 -7.71969096e-01 2.81383791e-03 -6.96601592e+01] [-4.45570476e-03 2.39333835e-05 -9.99990073e-01 6.71300738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.180385723 meters Centerline goodness [0,1] 0.9999131737176843 Centerline is valid? [True, True] Translation: X:46.90, Y:-69.67, Z:6.71 [[ 8.19210571e-01 -5.73475819e-01 -4.41873957e-03 4.69049006e+01] [-5.73467672e-01 -8.19222488e-01 3.05696344e-03 -6.96731359e+01] [-5.37302544e-03 2.97075279e-05 -9.99985565e-01 6.71377818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.90, Y:-69.68, Z:6.71 [[ 8.61492415e-01 -5.07744100e-01 -5.17193576e-03 4.69005934e+01] [-5.07735182e-01 -8.61507939e-01 3.00948375e-03 -6.96847486e+01] [-5.98371133e-03 3.33263225e-05 -9.99982097e-01 6.71422805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.90, Y:-69.70, Z:6.71 [[ 8.98732216e-01 -4.38456980e-01 -5.98999847e-03 4.68985746e+01] [-4.38447494e-01 -8.98752177e-01 2.88430384e-03 -6.96970917e+01] [-6.64816732e-03 3.40830424e-05 -9.99977900e-01 6.71475601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.90, Y:-69.71, Z:6.71 [[ 9.30347773e-01 -3.66617799e-01 -6.66411011e-03 4.68962782e+01] [-3.66608660e-01 -9.30371640e-01 2.58884541e-03 -6.97105611e+01] [-7.14921585e-03 3.45939148e-05 -9.99974444e-01 6.71456048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.90, Y:-69.72, Z:6.71 [[ 9.56607519e-01 -2.91279554e-01 -7.63393894e-03 4.68950948e+01] [-2.91270496e-01 -9.56637978e-01 2.29716968e-03 -6.97235903e+01] [-7.97203447e-03 2.60513963e-05 -9.99968223e-01 6.71445393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.89, Y:-69.74, Z:6.71 [[ 9.76601860e-01 -2.14899735e-01 -8.17993223e-03 4.68947647e+01] [-2.14892382e-01 -9.76636116e-01 1.77787585e-03 -6.97356286e+01] [-8.37088229e-03 2.15282527e-05 -9.99964963e-01 6.71436486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.90, Y:-69.75, Z:6.71 [[ 9.90655234e-01 -1.36056029e-01 -9.53751824e-03 4.68955407e+01] [-1.36049802e-01 -9.90701144e-01 1.30172938e-03 -6.97473199e+01] [-9.62593837e-03 8.01244662e-06 -9.99953670e-01 6.71461385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.390385723 meters Centerline goodness [0,1] 0.9998703375545662 Centerline is valid? [True, True] Translation: X:46.89, Y:-69.76, Z:6.71 [[ 9.98340432e-01 -5.67455952e-02 -9.81424891e-03 4.68942892e+01] [-5.67428051e-02 -9.98388671e-01 5.62731944e-04 -6.97609410e+01] [-9.83036748e-03 -4.91003921e-06 -9.99951681e-01 6.71371487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.89, Y:-69.77, Z:6.71 [[ 9.99676784e-01 2.36796344e-02 -9.25213833e-03 4.68936360e+01] [ 2.36788415e-02 -9.99719598e-01 -1.95242290e-04 -6.97747349e+01] [-9.25416727e-03 -2.39007326e-05 -9.99957179e-01 6.71353659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.89, Y:-69.79, Z:6.71 [[ 9.94662511e-01 1.02757032e-01 -9.35320815e-03 4.68944430e+01] [ 1.02752796e-01 -9.94706485e-01 -9.33638343e-04 -6.97858496e+01] [-9.39963471e-03 -3.24132276e-05 -9.99955822e-01 6.71346558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.89, Y:-69.79, Z:6.71 [[ 9.83373733e-01 1.81324713e-01 -9.87170772e-03 4.68945348e+01] [ 1.81316034e-01 -9.83423279e-01 -1.77468088e-03 -6.97947832e+01] [-1.00298607e-02 -4.47243329e-05 -9.99949699e-01 6.71355028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.90, Y:-69.80, Z:6.71 [[ 9.65819337e-01 2.59030436e-01 -9.81028787e-03 4.68959993e+01] [ 2.59017691e-01 -9.65869158e-01 -2.57020864e-03 -6.98022948e+01] [-1.01412167e-02 -5.86809051e-05 -9.99948575e-01 6.71277150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.90, Y:-69.81, Z:6.71 [[ 9.42488424e-01 3.34114491e-01 -9.11474397e-03 4.68987839e+01] [ 3.34099469e-01 -9.42532495e-01 -3.16879599e-03 -6.98122944e+01] [-9.64968303e-03 -5.86775822e-05 -9.99953439e-01 6.71194390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.90, Y:-69.82, Z:6.71 [[ 9.12931333e-01 4.08024298e-01 -8.51778822e-03 4.69024443e+01] [ 4.08007238e-01 -9.12971066e-01 -3.73185131e-03 -6.98217937e+01] [-9.29918020e-03 -6.83952570e-05 -9.99956759e-01 6.71174169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.91, Y:-69.83, Z:6.71 [[ 8.77833651e-01 4.78905838e-01 -7.56826766e-03 4.69062778e+01] [ 4.78888724e-01 -8.77866273e-01 -4.04934409e-03 -6.98308752e+01] [-8.58318145e-03 -6.97075287e-05 -9.99963161e-01 6.71143284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.630385723 meters Centerline goodness [0,1] 0.9999782566154247 Centerline is valid? [True, True] Translation: X:46.91, Y:-69.84, Z:6.71 [[ 8.36988067e-01 5.47183911e-01 -6.38302436e-03 4.69101377e+01] [ 5.47168645e-01 -8.37012403e-01 -4.08786204e-03 -6.98376055e+01] [-7.57948290e-03 -7.10990411e-05 -9.99971273e-01 6.71062884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.660385723 meters Centerline goodness [0,1] 0.9999782443163276 Centerline is valid? [True, True] Translation: X:46.91, Y:-69.84, Z:6.71 [[ 7.91483628e-01 6.11161638e-01 -5.92608273e-03 4.69147573e+01] [ 6.11145179e-01 -7.91505810e-01 -4.48595863e-03 -6.98438002e+01] [-7.43217474e-03 -7.11340780e-05 -9.99972379e-01 6.71074547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.690385723 meters Centerline goodness [0,1] 0.999978265594436 Centerline is valid? [True, True] Translation: X:46.92, Y:-69.85, Z:6.71 [[ 7.41361932e-01 6.71082032e-01 -5.60292754e-03 4.69173010e+01] [ 6.71063579e-01 -7.41383101e-01 -4.97706036e-03 -6.98486465e+01] [-7.49393157e-03 -7.01175251e-05 -9.99971918e-01 6.71069722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.92, Y:-69.85, Z:6.71 [[ 6.87130169e-01 7.26514769e-01 -5.33107364e-03 4.69208634e+01] [ 7.26493644e-01 -6.87150846e-01 -5.54075213e-03 -6.98529737e+01] [-7.68869002e-03 -6.57731702e-05 -9.99970440e-01 6.70999825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.93, Y:-69.86, Z:6.71 [[ 6.28167341e-01 7.78062958e-01 -4.88112191e-03 4.69271323e+01] [ 7.78040279e-01 -6.28186302e-01 -5.94098663e-03 -6.98606218e+01] [-7.68871556e-03 -6.57756763e-05 -9.99970439e-01 6.70999848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.93, Y:-69.87, Z:6.71 [[ 5.65673874e-01 8.24617236e-01 -4.41399977e-03 4.69331917e+01] [ 8.24592992e-01 -5.65691091e-01 -6.32355317e-03 -6.98670407e+01] [-7.71147128e-03 -6.26844565e-05 -9.99970264e-01 6.70957143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.94, Y:-69.87, Z:6.71 [[ 4.99438669e-01 8.66342437e-01 -3.43476886e-03 4.69378232e+01] [ 8.66322692e-01 -4.99450477e-01 -5.84932207e-03 -6.98727035e+01] [-6.78301288e-03 -5.42405790e-05 -9.99976994e-01 6.70897637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8403857229999 meters Centerline goodness [0,1] 0.9999564270152506 Centerline is valid? [True, True] Translation: X:46.94, Y:-69.88, Z:6.71 [[ 4.30085462e-01 9.02783856e-01 -2.79391767e-03 4.69444768e+01] [ 9.02765569e-01 -4.30094534e-01 -5.74631610e-03 -6.98780024e+01] [-6.38933012e-03 -5.08456560e-05 -9.99979587e-01 6.70861195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.95, Y:-69.88, Z:6.71 [[ 3.57462083e-01 9.33925192e-01 -2.14351218e-03 4.69505536e+01] [ 9.33909239e-01 -3.57468506e-01 -5.45894541e-03 -6.98826139e+01] [-5.86448474e-03 -5.04798300e-05 -9.99982803e-01 6.70821994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.96, Y:-69.89, Z:6.71 [[ 2.83337764e-01 9.59018907e-01 -1.56465506e-03 4.69569447e+01] [ 9.59005159e-01 -2.83342080e-01 -5.13515776e-03 -6.98886836e+01] [-5.36804600e-03 -4.55281577e-05 -9.99985591e-01 6.70811996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.96, Y:-69.89, Z:6.71 [[ 2.07848899e-01 9.78160331e-01 -1.09652826e-03 4.69619540e+01] [ 9.78147731e-01 -2.07851787e-01 -4.96493390e-03 -6.98936970e+01] [-5.08441674e-03 -4.06105901e-05 -9.99987074e-01 6.70822464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.97, Y:-69.90, Z:6.71 [[ 1.31166582e-01 9.91360088e-01 -7.10514497e-04 4.69708380e+01] [ 9.91347078e-01 -1.31168501e-01 -5.07891796e-03 -6.98978083e+01] [-5.12823368e-03 -3.81821610e-05 -9.99986850e-01 6.70757028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.98, Y:-69.90, Z:6.71 [[ 5.50305796e-02 9.98484623e-01 -3.04835177e-04 4.69773764e+01] [ 9.98471975e-01 -5.50314168e-02 -5.02569494e-03 -6.99030442e+01] [-5.03485463e-03 -2.78024759e-05 -9.99987325e-01 6.70763629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.98, Y:-69.91, Z:6.71 [[-2.09209851e-02 9.99781127e-01 1.05912389e-04 4.69832601e+01] [ 9.99763535e-01 2.09212453e-02 -5.93091021e-03 -6.99073885e+01] [-5.93182791e-03 -1.81931404e-05 -9.99982406e-01 6.70809927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.99, Y:-69.91, Z:6.71 [[-9.80737865e-02 9.95178943e-01 6.35295673e-04 4.69910475e+01] [ 9.95157206e-01 9.80758433e-02 -6.57763451e-03 -6.99118778e+01] [-6.60823052e-03 -1.28744563e-05 -9.99978165e-01 6.70914890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.00, Y:-69.92, Z:6.71 [[-1.73123586e-01 9.84899509e-01 1.08707204e-03 4.69971786e+01] [ 9.84880251e-01 1.73126998e-01 -6.15899104e-03 -6.99156685e+01] [-6.25418877e-03 4.36917331e-06 -9.99980442e-01 6.70890608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.01, Y:-69.92, Z:6.71 [[-2.48258321e-01 9.68692720e-01 1.49014402e-03 4.70081576e+01] [ 9.68675590e-01 2.48262793e-01 -5.76087628e-03 -6.99178823e+01] [-5.95046623e-03 1.32806666e-05 -9.99982296e-01 6.70825885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.02, Y:-69.92, Z:6.71 [[-3.20254416e-01 9.47329864e-01 1.79946831e-03 4.70163868e+01] [ 9.47315439e-01 3.20259470e-01 -5.22787527e-03 -6.99208691e+01] [-5.52881914e-03 3.04139666e-05 -9.99984716e-01 6.70810646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.03, Y:-69.92, Z:6.71 [[-3.91836014e-01 9.20032062e-01 2.35451486e-03 4.70256382e+01] [ 9.20016102e-01 3.91843085e-01 -5.41932508e-03 -6.99234443e+01] [-5.90855319e-03 4.27048482e-05 -9.99982544e-01 6.70842526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.03, Y:-69.92, Z:6.71 [[-4.59896558e-01 8.87967140e-01 3.08456904e-03 4.70347040e+01] [ 8.87948151e-01 4.59906897e-01 -5.80751072e-03 -6.99243777e+01] [-6.57549326e-03 6.80831878e-05 -9.99978379e-01 6.70842894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.05, Y:-69.92, Z:6.71 [[-5.26898377e-01 8.49920448e-01 3.65149659e-03 4.70458815e+01] [ 8.49901070e-01 5.26911024e-01 -5.73972362e-03 -6.99233431e+01] [-6.80232228e-03 7.91598012e-05 -9.99976861e-01 6.70823646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.06, Y:-69.92, Z:6.71 [[-5.90330467e-01 8.07153663e-01 3.59212162e-03 4.70561171e+01] [ 8.07139548e-01 5.90341391e-01 -4.77423819e-03 -6.99219580e+01] [-5.97412192e-03 8.09651584e-05 -9.99982152e-01 6.70764523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.07, Y:-69.92, Z:6.71 [[-6.51335352e-01 7.58783209e-01 3.20959444e-03 4.70664924e+01] [ 7.58774509e-01 6.51343257e-01 -3.63403647e-03 -6.99214535e+01] [-4.84799355e-03 6.83820214e-05 -9.99988246e-01 6.70726805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.07, Y:-69.92, Z:6.71 [[-7.09086340e-01 7.05113412e-01 3.41153352e-03 4.70749769e+01] [ 7.05105688e-01 7.09094544e-01 -3.30106242e-03 -6.99215044e+01] [-4.74672319e-03 6.47534170e-05 -9.99988732e-01 6.70704225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.10, Y:-69.90, Z:6.71 [[-7.57584459e-01 6.52725420e-01 3.91328911e-03 4.70995915e+01] [ 6.52717163e-01 7.57594563e-01 -3.28392255e-03 -6.99040978e+01] [-5.10818628e-03 6.64222820e-05 -9.99986951e-01 6.70635385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.12, Y:-69.89, Z:6.71 [[-8.02956543e-01 5.96023709e-01 4.06556712e-03 4.71244960e+01] [ 5.96016422e-01 8.02966833e-01 -2.94790285e-03 -6.98870818e+01] [-5.02153555e-03 5.61068857e-05 -9.99987391e-01 6.70608339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.14, Y:-69.86, Z:6.71 [[-8.43763177e-01 5.36699567e-01 4.15659393e-03 4.71429807e+01] [ 5.36693339e-01 8.43773413e-01 -2.58602093e-03 -6.98642050e+01] [-4.89513976e-03 4.88270377e-05 -9.99988018e-01 6.70632366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.16, Y:-69.84, Z:6.71 [[-8.80908837e-01 4.73268812e-01 4.03151452e-03 4.71565140e+01] [ 4.73264028e-01 8.80918061e-01 -2.12811883e-03 -6.98379531e+01] [-4.55860623e-03 3.32921145e-05 -9.99989609e-01 6.70700788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.16, Y:-69.81, Z:6.71 [[-9.12903880e-01 4.08149426e-01 4.53341359e-03 4.71557444e+01] [ 4.08144543e-01 9.12915136e-01 -1.99660736e-03 -6.98070763e+01] [-4.95353603e-03 2.75774106e-05 -9.99987731e-01 6.70671950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.16, Y:-69.78, Z:6.71 [[-9.39627821e-01 3.42168991e-01 4.46527213e-03 4.71623826e+01] [ 3.42165254e-01 9.39638431e-01 -1.59939835e-03 -6.97791990e+01] [-4.74300582e-03 2.50217809e-05 -9.99988752e-01 6.70635926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.530385723 meters Centerline goodness [0,1] 0.9999109111561505 Centerline is valid? [True, True] Translation: X:47.14, Y:-69.74, Z:6.71 [[-9.61375110e-01 2.75205367e-01 4.46134411e-03 4.71411473e+01] [ 2.75202531e-01 9.61385461e-01 -1.24958402e-03 -6.97437912e+01] [-4.63296360e-03 2.64542200e-05 -9.99989268e-01 6.70644563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.34, Y:-68.97, Z:5.77 [[-9.44636882e-01 -3.28089418e-01 4.30049494e-03 4.73401556e+01] [ 3.28085872e-01 -9.44646671e-01 -1.52574131e-03 -6.89708251e+01] [ 4.56302781e-03 -3.03398800e-05 9.99989589e-01 5.77087596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.13, Y:-69.74, Z:6.71 [[-9.61887028e-01 2.73418436e-01 3.96278578e-03 4.71274397e+01] [ 2.73416270e-01 9.61895191e-01 -1.08899512e-03 -6.97449730e+01] [-4.10953593e-03 3.59998311e-05 -9.99991555e-01 6.70548347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.15, Y:-69.72, Z:6.71 [[-9.78614071e-01 2.05665191e-01 4.04092530e-03 4.71456217e+01] [ 2.05663610e-01 9.78622413e-01 -8.07403048e-04 -6.97203649e+01] [-4.12059477e-03 4.09353013e-05 -9.99991510e-01 6.70503234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.15, Y:-69.69, Z:6.71 [[-9.90377583e-01 1.38314995e-01 4.60486819e-03 4.71536295e+01] [ 1.38313774e-01 9.90388287e-01 -5.84176975e-04 -6.96947859e+01] [-4.64140795e-03 5.83609165e-05 -9.99989227e-01 6.70564098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.15, Y:-69.67, Z:6.71 [[-9.97543582e-01 6.98056296e-02 5.82899889e-03 4.71540322e+01] [ 6.98049418e-02 9.97560608e-01 -3.21601052e-04 -6.96664385e+01] [-5.83722924e-03 8.60818628e-05 -9.99982960e-01 6.70671223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.15, Y:-69.64, Z:6.71 [[-9.99978171e-01 -6.17473927e-04 6.57847187e-03 4.71544678e+01] [-6.16791947e-04 9.99999804e-01 1.05697240e-04 -6.96380451e+01] [-6.57853585e-03 1.01637384e-04 -9.99978356e-01 6.70742124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.15, Y:-69.61, Z:6.71 [[-9.97413977e-01 -7.14304180e-02 7.94065826e-03 4.71522750e+01] [-7.14271454e-02 9.97445577e-01 6.95321218e-04 -6.96103900e+01] [-7.97004154e-03 1.26344549e-04 -9.99968231e-01 6.70854639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.14, Y:-69.58, Z:6.71 [[-9.89775349e-01 -1.42404267e-01 8.11066315e-03 4.71408719e+01] [-1.42398395e-01 9.89808571e-01 1.29994512e-03 -6.95827297e+01] [-8.21312163e-03 1.31708228e-04 -9.99966263e-01 6.70870658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.11, Y:-69.56, Z:6.71 [[-9.76996571e-01 -2.13093689e-01 8.29339652e-03 4.71127953e+01] [-2.13084812e-01 9.77031760e-01 1.94996514e-03 -6.95600339e+01] [-8.51843707e-03 1.37912419e-04 -9.99963708e-01 6.70917258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.06, Y:-69.54, Z:6.71 [[-9.58781741e-01 -2.84029448e-01 8.05269345e-03 4.70605712e+01] [-2.84018233e-01 9.58815547e-01 2.52771391e-03 -6.95433422e+01] [-8.43899287e-03 1.36414174e-04 -9.99964382e-01 6.70857338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.00, Y:-69.54, Z:6.71 [[-9.34988903e-01 -3.54597951e-01 7.48628942e-03 4.69971201e+01] [-3.54585509e-01 9.35018865e-01 2.97303751e-03 -6.95355360e+01] [-8.05405485e-03 1.25227336e-04 -9.99967558e-01 6.70887266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.92, Y:-69.53, Z:6.71 [[-9.05549855e-01 -4.24186674e-01 6.71760131e-03 4.69219529e+01] [-4.24174127e-01 9.05574765e-01 3.26438846e-03 -6.95342156e+01] [-7.46800031e-03 1.06633831e-04 -9.99972109e-01 6.70790551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.84, Y:-69.55, Z:6.71 [[-8.70984938e-01 -4.91270030e-01 6.24459838e-03 4.68368388e+01] [-4.91256589e-01 8.71007318e-01 3.63542232e-03 -6.95468964e+01] [-7.22506492e-03 9.86979840e-05 -9.99973894e-01 6.70776128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.75, Y:-69.57, Z:6.71 [[-8.31111771e-01 -5.56076251e-01 5.69446620e-03 4.67484843e+01] [-5.56062463e-01 8.31131274e-01 3.91696963e-03 -6.95672510e+01] [-6.91098274e-03 8.89606626e-05 -9.99976115e-01 6.70643274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.66, Y:-69.60, Z:6.71 [[-7.86636752e-01 -6.17391392e-01 5.52168400e-03 4.66550840e+01] [-6.17375374e-01 7.86656126e-01 4.44825417e-03 -6.95993412e+01] [-7.08998038e-03 9.02084897e-05 -9.99974862e-01 6.70625438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.56, Y:-69.64, Z:6.71 [[-7.38067249e-01 -6.74705283e-01 5.43294496e-03 4.65600583e+01] [-6.74685997e-01 7.38087238e-01 5.10241081e-03 -6.96440956e+01] [-7.45261087e-03 1.00390431e-04 -9.99972224e-01 6.70690576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.47, Y:-69.70, Z:6.71 [[-6.84872260e-01 -7.28646084e-01 4.98710411e-03 4.64660208e+01] [-7.28625666e-01 6.84890410e-01 5.45575268e-03 -6.96976080e+01] [-7.39093261e-03 1.02761618e-04 -9.99972681e-01 6.70637366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.37, Y:-69.76, Z:6.71 [[-6.27709783e-01 -7.78435875e-01 4.24449869e-03 4.63725030e+01] [-7.78416994e-01 6.27724126e-01 5.42262175e-03 -6.97630231e+01] [-6.88553754e-03 9.98428064e-05 -9.99976290e-01 6.70588221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.28, Y:-69.84, Z:6.71 [[-5.66275901e-01 -8.24206116e-01 3.98531422e-03 4.62840616e+01] [-8.24184390e-01 5.66289915e-01 5.98532793e-03 -6.98356245e+01] [-7.18998713e-03 1.04713198e-04 -9.99974146e-01 6.70613855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.19, Y:-69.92, Z:6.71 [[-5.01707936e-01 -8.65029586e-01 3.60040854e-03 4.61948375e+01] [-8.65005717e-01 5.01720843e-01 6.42700628e-03 -6.99221523e+01] [-7.36595058e-03 1.10106085e-04 -9.99972865e-01 6.70578169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.11, Y:-70.02, Z:6.71 [[-4.33772755e-01 -9.01017390e-01 2.97650260e-03 4.61124607e+01] [-9.00994469e-01 4.33782954e-01 6.42777953e-03 -7.00187019e+01] [-7.08269723e-03 1.06383249e-04 -9.99974912e-01 6.70532360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.04, Y:-70.12, Z:6.70 [[-3.62938312e-01 -9.31810610e-01 2.18385164e-03 4.60367845e+01] [-9.31792171e-01 3.62944870e-01 5.86271484e-03 -7.01232063e+01] [-6.25555764e-03 9.29079705e-05 -9.99980430e-01 6.70476357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2203857229999 meters Centerline goodness [0,1] 0.9999777649308489 Centerline is valid? [True, True] Translation: X:45.98, Y:-70.21, Z:6.70 [[-2.89497876e-01 -9.57177000e-01 1.78052438e-03 4.59763922e+01] [-9.57156894e-01 2.89503337e-01 6.20466437e-03 -7.02123850e+01] [-6.45442978e-03 9.19959685e-05 -9.99979166e-01 6.70451308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.92, Y:-70.32, Z:6.70 [[-2.14360542e-01 -9.76753599e-01 1.40182763e-03 4.59190018e+01] [-9.76729666e-01 2.14365104e-01 6.83819488e-03 -7.03214890e+01] [-6.97973438e-03 9.66325326e-05 -9.99975637e-01 6.70435404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.87, Y:-70.44, Z:6.70 [[-1.37798599e-01 -9.90459850e-01 9.12456585e-04 4.58706929e+01] [-9.90433207e-01 1.37801585e-01 7.26531398e-03 -7.04351558e+01] [-7.32173975e-03 9.74227827e-05 -9.99973191e-01 6.70494722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.83, Y:-70.56, Z:6.71 [[-6.08708555e-02 -9.98145592e-01 3.40622183e-04 4.58292047e+01] [-9.98120066e-01 6.08717350e-02 7.13901739e-03 -7.05561561e+01] [-7.14651301e-03 9.45762603e-05 -9.99974459e-01 6.70525477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.80, Y:-70.68, Z:6.71 [[ 1.64013786e-02 -9.99865466e-01 -2.11147430e-04 4.57998180e+01] [-9.99840065e-01 -1.64024671e-02 7.12763064e-03 -7.06797534e+01] [-7.13013507e-03 9.42106911e-05 -9.99974576e-01 6.70611551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.78, Y:-70.80, Z:6.71 [[ 9.28119646e-02 -9.95683362e-01 -7.62716239e-04 4.57779339e+01] [-9.95657794e-01 -9.28150477e-02 7.13619005e-03 -7.08009441e+01] [-7.17617725e-03 9.70805495e-05 -9.99974246e-01 6.70573975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.77, Y:-70.93, Z:6.71 [[ 1.68231973e-01 -9.85746825e-01 -1.09568874e-03 4.57682665e+01] [-9.85729215e-01 -1.68235517e-01 5.89276763e-03 -7.09309098e+01] [-5.99311074e-03 8.87004815e-05 -9.99982037e-01 6.70534695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.77, Y:-71.05, Z:6.71 [[ 2.42836928e-01 -9.70065912e-01 -1.53395122e-03 4.57661789e+01] [-9.70048937e-01 -2.42841754e-01 5.73961787e-03 -7.10530634e+01] [-5.94031505e-03 9.42165764e-05 -9.99982352e-01 6.70584746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.460385723 meters Centerline goodness [0,1] 0.9999778122919902 Centerline is valid? [True, True] Translation: X:45.77, Y:-71.18, Z:6.71 [[ 3.16146186e-01 -9.48708290e-01 -2.04212541e-03 4.57747293e+01] [-9.48690544e-01 -3.16152764e-01 5.80354775e-03 -7.11809593e+01] [-6.15149746e-03 1.02575586e-04 -9.99981074e-01 6.70623186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.79, Y:-71.31, Z:6.71 [[ 3.87799773e-01 -9.21741057e-01 -2.18176251e-03 4.57926382e+01] [-9.21727798e-01 -3.87805899e-01 4.94476166e-03 -7.13062374e+01] [-5.40389021e-03 9.34137068e-05 -9.99985395e-01 6.70566721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.82, Y:-71.43, Z:6.71 [[ 4.57745731e-01 -8.89080140e-01 -2.31306596e-03 4.58209055e+01] [-8.89069701e-01 -4.57751568e-01 4.30910452e-03 -7.14306464e+01] [-4.88994882e-03 8.40026625e-05 -9.99988041e-01 6.70554856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.85, Y:-71.54, Z:6.71 [[ 5.25178204e-01 -8.50988734e-01 -2.45545788e-03 4.58503802e+01] [-8.50980101e-01 -5.25183939e-01 3.83376518e-03 -7.15424874e+01] [-4.55205802e-03 7.61358858e-05 -9.99989637e-01 6.70617469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.90, Y:-71.67, Z:6.71 [[ 5.90131539e-01 -8.07301282e-01 -3.06700232e-03 4.58986121e+01] [-8.07291057e-01 -5.90139504e-01 4.06386607e-03 -7.16678173e+01] [-5.09072352e-03 7.77480021e-05 -9.99987039e-01 6.70657415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.94, Y:-71.77, Z:6.71 [[ 6.50949561e-01 -7.59113554e-01 -3.35887850e-03 4.59404039e+01] [-7.59104022e-01 -6.50958223e-01 3.80478662e-03 -7.17680515e+01] [-5.07475467e-03 7.30140022e-05 -9.99987121e-01 6.70701052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.00, Y:-71.87, Z:6.71 [[ 7.08753279e-01 -7.05444230e-01 -4.15060618e-03 4.59974770e+01] [-7.05432702e-01 -7.08765429e-01 4.03349673e-03 -7.18695564e+01] [-5.78721317e-03 6.92193005e-05 -9.99983252e-01 6.70799709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.99, Y:-71.87, Z:6.71 [[ 7.61711956e-01 -6.47900506e-01 -4.45313472e-03 4.59931013e+01] [-6.47889963e-01 -7.61724970e-01 3.69681878e-03 -7.18731921e+01] [-5.78723467e-03 6.92302221e-05 -9.99983252e-01 6.70799730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.99, Y:-71.88, Z:6.71 [[ 8.10587330e-01 -5.85594496e-01 -5.22181088e-03 4.59879954e+01] [-5.85582901e-01 -8.10604146e-01 3.68571300e-03 -7.18799077e+01] [-6.39115479e-03 7.02109070e-05 -9.99979574e-01 6.70843549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.98, Y:-71.89, Z:6.71 [[ 8.54843296e-01 -5.18846371e-01 -6.43302407e-03 4.59805400e+01] [-5.18832279e-01 -8.54867498e-01 3.82453979e-03 -7.18914284e+01] [-7.48373178e-03 6.82783426e-05 -9.99971994e-01 6.70942022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.760385723 meters Centerline goodness [0,1] 0.9998891819410891 Centerline is valid? [True, True] Translation: X:45.98, Y:-71.90, Z:6.71 [[ 8.92742637e-01 -4.50508107e-01 -7.28214324e-03 4.59759112e+01] [-4.50493800e-01 -8.92772334e-01 3.59118302e-03 -7.19007399e+01] [-8.11915308e-03 7.45581772e-05 -9.99967036e-01 6.71233768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.97, Y:-71.91, Z:6.71 [[ 9.25069519e-01 -3.79720222e-01 -7.67713024e-03 4.59721916e+01] [-3.79707853e-01 -9.25101371e-01 3.06587337e-03 -7.19089535e+01] [-8.26629782e-03 7.89206369e-05 -9.99965831e-01 6.70972971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.97, Y:-71.92, Z:6.71 [[ 9.51772806e-01 -3.06702687e-01 -7.87322659e-03 4.59697376e+01] [-3.06692912e-01 -9.51805366e-01 2.45000409e-03 -7.19161367e+01] [-8.24520216e-03 8.28155193e-05 -9.99966004e-01 6.70917824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.97, Y:-71.92, Z:6.71 [[ 9.72356342e-01 -2.33361305e-01 -8.10213088e-03 4.59681863e+01] [-2.33354066e-01 -9.72390092e-01 1.84084987e-03 -7.19219144e+01] [-8.30801492e-03 1.00703135e-04 -9.99965483e-01 6.70817481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.96, Y:-71.93, Z:6.71 [[ 9.87321492e-01 -1.58516045e-01 -8.30267121e-03 4.59624372e+01] [-1.58511449e-01 -9.87356394e-01 1.21291256e-03 -7.19319818e+01] [-8.38996161e-03 1.18533808e-04 -9.99964797e-01 6.70795340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.96, Y:-71.94, Z:6.71 [[ 9.96652556e-01 -8.13023195e-02 -8.57990450e-03 4.59569403e+01] [-8.13003972e-02 -9.96689479e-01 5.73164635e-04 -7.19407503e+01] [-8.59810016e-03 1.26303645e-04 -9.99963028e-01 6.70916352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.95, Y:-71.95, Z:6.71 [[ 9.99950610e-01 -4.14980602e-03 -9.03087729e-03 4.59516633e+01] [-4.15092610e-03 -9.99991379e-01 -1.05288003e-04 -7.19460580e+01] [-9.03036251e-03 1.42769307e-04 -9.99959215e-01 6.70998479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.95, Y:-71.96, Z:6.71 [[ 9.97259811e-01 7.34777489e-02 -8.59593184e-03 4.59482498e+01] [ 7.34737873e-02 -9.97296847e-01 -7.76181063e-04 -7.19586596e+01] [-8.62972776e-03 1.42478512e-04 -9.99962753e-01 6.70795413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.95, Y:-71.97, Z:6.71 [[ 9.88544797e-01 1.50691468e-01 -8.44191783e-03 4.59462639e+01] [ 1.50684705e-01 -9.88580831e-01 -1.43527164e-03 -7.19709521e+01] [-8.56180134e-03 1.46762413e-04 -9.99963336e-01 6.70688961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.030385723 meters Centerline goodness [0,1] 0.9999114103472715 Centerline is valid? [True, True] Translation: X:45.94, Y:-71.98, Z:6.71 [[ 9.73761439e-01 2.27456283e-01 -7.23177462e-03 4.59449228e+01] [ 2.27449024e-01 -9.73788284e-01 -1.82180342e-03 -7.19844830e+01] [-7.45659803e-03 1.29141840e-04 -9.99972191e-01 6.70656070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.94, Y:-72.00, Z:6.71 [[ 9.52844637e-01 3.03382678e-01 -6.78590019e-03 4.59436878e+01] [ 3.03374077e-01 -9.52868793e-01 -2.28773591e-03 -7.19962595e+01] [-7.16013196e-03 1.21190687e-04 -9.99974359e-01 6.70639192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.95, Y:-72.01, Z:6.71 [[ 9.25734691e-01 3.78136437e-01 -5.30259043e-03 4.59450344e+01] [ 3.78129669e-01 -9.25749873e-01 -2.26419761e-03 -7.20099666e+01] [-5.76504803e-03 9.09795099e-05 -9.99983378e-01 6.70624176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.95, Y:-72.02, Z:6.71 [[ 8.92829460e-01 4.50368458e-01 -4.87920511e-03 4.59458330e+01] [ 4.50361234e-01 -8.92842789e-01 -2.55220361e-03 -7.20217166e+01] [-5.50579510e-03 8.12777377e-05 -9.99984840e-01 6.70605609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.95, Y:-72.03, Z:6.71 [[ 8.53761666e-01 5.20634032e-01 -5.58762916e-03 4.59488965e+01] [ 5.20622238e-01 -8.53779947e-01 -3.50537420e-03 -7.20339023e+01] [-6.59562283e-03 8.37101184e-05 -9.99978245e-01 6.70699588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.95, Y:-72.05, Z:6.71 [[ 8.09715218e-01 5.86795531e-01 -5.68070467e-03 4.59520169e+01] [ 5.86780378e-01 -8.09735141e-01 -4.21776100e-03 -7.20454064e+01] [-7.07482950e-03 8.18592376e-05 -9.99974970e-01 6.70742906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.96, Y:-72.06, Z:6.71 [[ 7.60065533e-01 6.49818313e-01 -6.04529327e-03 4.59578329e+01] [ 6.49796944e-01 -7.60089570e-01 -5.27039297e-03 -7.20574289e+01] [-8.01976223e-03 7.76309434e-05 -9.99967838e-01 6.70781883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.96, Y:-72.07, Z:6.71 [[ 7.05419168e-01 7.08770816e-01 -5.26583523e-03 4.59644270e+01] [ 7.08750455e-01 -7.05438819e-01 -5.37254919e-03 -7.20691278e+01] [-7.52263066e-03 5.77360550e-05 -9.99971703e-01 6.70838045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.97, Y:-72.08, Z:6.71 [[ 6.46998012e-01 7.62476590e-01 -4.79825542e-03 4.59687407e+01] [ 7.62455048e-01 -6.47015802e-01 -5.73164166e-03 -7.20787448e+01] [-7.47478966e-03 4.99066908e-05 -9.99972062e-01 6.70813993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.98, Y:-72.09, Z:6.71 [[ 5.84523581e-01 8.11366986e-01 -3.97465526e-03 4.59765774e+01] [ 8.11347770e-01 -5.84537093e-01 -5.58419363e-03 -7.20895746e+01] [-6.85416378e-03 3.92651732e-05 -9.99976509e-01 6.70620819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.98, Y:-72.10, Z:6.71 [[ 5.19218803e-01 8.54634569e-01 -3.40418483e-03 4.59843079e+01] [ 8.54615718e-01 -5.19229961e-01 -5.67641842e-03 -7.20985013e+01] [-6.61881816e-03 3.80333144e-05 -9.99978095e-01 6.70590097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.99, Y:-72.11, Z:6.71 [[ 4.50741115e-01 8.92650941e-01 -2.59709561e-03 4.59916376e+01] [ 8.92635688e-01 -4.50748596e-01 -5.21845229e-03 -7.21073620e+01] [-5.82889355e-03 3.39107761e-05 -9.99983011e-01 6.70554218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.00, Y:-72.12, Z:6.70 [[ 3.79211918e-01 9.25308424e-01 -1.62556777e-03 4.60026883e+01] [ 9.25299645e-01 -3.79215401e-01 -4.03066896e-03 -7.21161773e+01] [-4.34605227e-03 2.43404201e-05 -9.99990556e-01 6.70447263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.01, Y:-72.12, Z:6.70 [[ 3.05726515e-01 9.52118635e-01 -1.18471944e-03 4.60114505e+01] [ 9.52111197e-01 -3.05728809e-01 -3.76360129e-03 -7.21240621e+01] [-3.94559779e-03 2.26480579e-05 -9.99992216e-01 6.70444459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.02, Y:-72.13, Z:6.70 [[ 2.30103488e-01 9.73165530e-01 -1.11232180e-03 4.60229501e+01] [ 9.73153570e-01 -2.30106174e-01 -4.82465910e-03 -7.21304301e+01] [-4.95114404e-03 2.77109517e-05 -9.99987743e-01 6.70435041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.03, Y:-72.14, Z:6.71 [[ 1.53296735e-01 9.88179808e-01 -8.81833233e-04 4.60336398e+01] [ 9.88162152e-01 -1.53299267e-01 -5.90732250e-03 -7.21369854e+01] [-5.97268120e-03 3.41790239e-05 -9.99982163e-01 6.70520063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.04, Y:-72.14, Z:6.71 [[ 7.55004174e-02 9.97145671e-01 -4.44235005e-04 4.60447084e+01] [ 9.97125405e-01 -7.55017152e-02 -6.35753907e-03 -7.21418924e+01] [-6.37293307e-03 3.70388440e-05 -9.99979692e-01 6.70576467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.540385723 meters Centerline goodness [0,1] 0.999956223871123 Centerline is valid? [True, True] Translation: X:46.06, Y:-72.15, Z:6.71 [[-2.84463441e-03 9.99995953e-01 5.21754074e-05 4.60581280e+01] [ 9.99977881e-01 2.84489668e-03 -6.01198851e-03 -7.21455443e+01] [-6.01211261e-03 3.50723440e-05 -9.99981927e-01 6.70658014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.07, Y:-72.15, Z:6.71 [[-8.13875081e-02 9.96682376e-01 5.60764296e-04 4.60704618e+01] [ 9.96661685e-01 8.13894319e-02 -6.42239039e-03 -7.21481701e+01] [-6.44672361e-03 3.61899373e-05 -9.99979219e-01 6.70629516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.08, Y:-72.15, Z:6.71 [[-1.59792687e-01 9.87149923e-01 1.15162068e-03 4.60814752e+01] [ 9.87125848e-01 1.59796833e-01 -6.89441703e-03 -7.21511351e+01] [-6.98984858e-03 3.51171179e-05 -9.99975570e-01 6.70597823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.09, Y:-72.15, Z:6.71 [[-2.37122388e-01 9.71478227e-01 1.74012253e-03 4.60921832e+01] [ 9.71453065e-01 2.37128771e-01 -6.99204113e-03 -7.21526811e+01] [-7.20524884e-03 3.24778803e-05 -9.99974041e-01 6.70591340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.11, Y:-72.15, Z:6.71 [[-3.13866831e-01 9.49463726e-01 2.49897330e-03 4.61064066e+01] [ 9.49434242e-01 3.13876778e-01 -7.48258643e-03 -7.21517072e+01] [-7.88881409e-03 2.40751338e-05 -9.99968883e-01 6.70712060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.12, Y:-72.15, Z:6.71 [[-3.88026599e-01 9.21642200e-01 3.31875461e-03 4.61192941e+01] [ 9.21608910e-01 3.88040791e-01 -7.83331452e-03 -7.21518438e+01] [-8.50732539e-03 1.90594283e-05 -9.99963812e-01 6.70842734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.13, Y:-72.15, Z:6.71 [[-4.60256788e-01 8.87776969e-01 3.96778880e-03 4.61313541e+01] [ 8.87744124e-01 4.60273890e-01 -7.63652823e-03 -7.21493558e+01] [-8.60580347e-03 7.61723492e-06 -9.99962969e-01 6.70819564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.14, Y:-72.15, Z:6.71 [[-5.29197117e-01 8.48486672e-01 4.55835059e-03 4.61415814e+01] [ 8.48455186e-01 5.29216749e-01 -7.30963634e-03 -7.21473322e+01] [-8.61448449e-03 -6.82281186e-07 -9.99962895e-01 6.70705886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.15, Y:-72.15, Z:6.71 [[-5.93964557e-01 8.04477733e-01 4.65647295e-03 4.61520321e+01] [ 8.04453013e-01 5.93982809e-01 -6.30650153e-03 -7.21458359e+01] [-7.83930494e-03 7.53102853e-08 -9.99969272e-01 6.70673031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.16, Y:-72.14, Z:6.71 [[-6.54317034e-01 7.56207684e-01 4.37699519e-03 4.61606664e+01] [ 7.56190844e-01 6.54331673e-01 -5.04670320e-03 -7.21431096e+01] [-6.68036232e-03 7.69981699e-06 -9.99977686e-01 6.70629037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8403857229999 meters Centerline goodness [0,1] 0.9999561989443946 Centerline is valid? [True, True] Translation: X:46.17, Y:-72.14, Z:6.71 [[-7.10932547e-01 7.03241592e-01 5.11639880e-03 4.61677492e+01] [ 7.03223525e-01 7.10950957e-01 -5.04091992e-03 -7.21417770e+01] [-7.18249317e-03 1.42179671e-05 -9.99974206e-01 6.70735630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.19, Y:-72.12, Z:6.71 [[-7.58565903e-01 6.51571466e-01 5.69166213e-03 4.61858944e+01] [ 6.51553306e-01 7.58587255e-01 -4.86465829e-03 -7.21210787e+01] [-7.48729489e-03 1.82573695e-05 -9.99971970e-01 6.70686398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.21, Y:-72.10, Z:6.71 [[-8.01805227e-01 5.97554264e-01 6.10578324e-03 4.62082660e+01] [ 5.97537227e-01 8.01828474e-01 -4.51239005e-03 -7.21046127e+01] [-7.59218877e-03 3.03748596e-05 -9.99971179e-01 6.70604785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.23, Y:-72.08, Z:6.71 [[-8.41612291e-01 5.40049327e-01 5.95625547e-03 4.62285995e+01] [ 5.40036093e-01 8.41633366e-01 -3.78087136e-03 -7.20836254e+01] [-7.05484038e-03 3.45651280e-05 -9.99975114e-01 6.70686426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.24, Y:-72.06, Z:6.71 [[-8.77286066e-01 4.79925564e-01 6.37272936e-03 4.62449971e+01] [ 4.79913250e-01 8.77309211e-01 -3.43811997e-03 -7.20598055e+01] [-7.24089583e-03 4.21425153e-05 -9.99973784e-01 6.70777343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.26, Y:-72.04, Z:6.71 [[-9.09010942e-01 4.16711954e-01 7.08901044e-03 4.62557403e+01] [ 4.16699680e-01 9.09038583e-01 -3.19868798e-03 -7.20350151e+01] [-7.77711552e-03 4.63460085e-05 -9.99969757e-01 6.70790113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.56, Y:-71.35, Z:5.77 [[-8.84385636e-01 -4.66694874e-01 7.61193133e-03 4.65633963e+01] [ 4.66677586e-01 -8.84418393e-01 -4.01694906e-03 -7.13513710e+01] [ 8.60682162e-03 -2.14303469e-07 9.99962961e-01 5.76975558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.20, Y:-72.01, Z:6.71 [[-9.10941011e-01 4.12443825e-01 8.75016043e-03 4.62044988e+01] [ 4.12425295e-01 9.10983034e-01 -3.90990312e-03 -7.20136215e+01] [-9.58386310e-03 4.70963913e-05 -9.99954073e-01 6.70848781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.22, Y:-71.99, Z:6.71 [[-9.37927604e-01 3.46690024e-01 9.89128533e-03 4.62244547e+01] [ 3.46671305e-01 9.37979757e-01 -3.60298437e-03 -7.19903333e+01] [-1.05269442e-02 4.96862909e-05 -9.99944589e-01 6.70933266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.24, Y:-71.96, Z:6.71 [[-9.60310746e-01 2.78714715e-01 1.10172360e-02 4.62363824e+01] [ 2.78696930e-01 9.60373940e-01 -3.14892486e-03 -7.19643377e+01] [-1.14583181e-02 4.65234882e-05 -9.99934350e-01 6.71046881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.24, Y:-71.94, Z:6.71 [[-9.77766395e-01 2.09388876e-01 1.13655463e-02 4.62398924e+01] [ 2.09375215e-01 9.77832448e-01 -2.39215168e-03 -7.19362708e+01] [-1.16144900e-02 4.06981802e-05 -9.99932549e-01 6.70996016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.40, Y:-71.20, Z:5.77 [[-9.63173100e-01 -2.68665479e-01 1.07907272e-02 4.63984509e+01] [ 2.68647868e-01 -9.63233542e-01 -3.07683001e-03 -7.11971387e+01] [ 1.12206284e-02 -6.46140380e-05 9.99937045e-01 5.76816607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.19, Y:-71.93, Z:6.71 [[-9.78763084e-01 2.04732019e-01 1.03743065e-02 4.61891266e+01] [ 2.04720836e-01 9.78818063e-01 -2.13999079e-03 -7.19296532e+01] [-1.05926833e-02 2.92927234e-05 -9.99943896e-01 6.70822146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.19, Y:-71.90, Z:6.71 [[-9.90859601e-01 1.34564387e-01 9.46983100e-03 4.61891304e+01] [ 1.34558481e-01 9.90904852e-01 -1.26093907e-03 -7.19011556e+01] [-9.55337898e-03 2.48324936e-05 -9.99954365e-01 6.70799062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.30, Y:-71.15, Z:5.77 [[-9.80497387e-01 -1.96366233e-01 8.07327998e-03 4.62950333e+01] [ 1.96358688e-01 -9.80530617e-01 -1.72453821e-03 -7.11457251e+01] [ 8.25473928e-03 -1.05646542e-04 9.99965924e-01 5.76956991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.13, Y:-71.90, Z:6.71 [[-9.91519397e-01 1.29769373e-01 7.01397820e-03 4.61300086e+01] [ 1.29766236e-01 9.91544205e-01 -9.02441673e-04 -7.18957761e+01] [-7.07177873e-03 1.53891255e-05 -9.99974995e-01 6.70696604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.13, Y:-71.87, Z:6.71 [[-9.98242516e-01 5.89817313e-02 5.74760971e-03 4.61305199e+01] [ 5.89808262e-02 9.98259062e-01 -3.26996789e-04 -7.18685506e+01] [-5.75689031e-03 1.25766715e-05 -9.99983429e-01 6.70639145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.13, Y:-71.84, Z:6.71 [[-9.99910040e-01 -1.22359626e-02 5.49481580e-03 4.61314667e+01] [-1.22357146e-02 9.99925138e-01 7.87414619e-05 -7.18405505e+01] [-5.49536793e-03 1.15013801e-05 -9.99984900e-01 6.70648583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.11, Y:-71.07, Z:5.77 [[-9.98627077e-01 -5.20720880e-02 5.69721093e-03 4.61129122e+01] [ 5.20712522e-02 -9.98643329e-01 -2.95039552e-04 -7.10673606e+01] [ 5.70484501e-03 2.02642149e-06 9.99983727e-01 5.77077082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.02, Y:-71.84, Z:6.71 [[-9.99799508e-01 -1.93014327e-02 5.32902279e-03 4.60226318e+01] [-1.93011399e-02 9.99813710e-01 1.06359909e-04 -7.18434681e+01] [-5.33008294e-03 3.48236991e-06 -9.99985795e-01 6.70679085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.02, Y:-71.07, Z:5.77 [[-9.98778020e-01 -4.90182016e-02 6.29938137e-03 4.60247102e+01] [ 4.90176224e-02 -9.98797884e-01 -2.46394524e-04 -7.10680796e+01] [ 6.30388660e-03 6.26872632e-05 9.99980128e-01 5.76949519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.93, Y:-71.85, Z:6.71 [[-9.99565507e-01 -2.84323130e-02 7.77179321e-03 4.59349193e+01] [-2.84316338e-02 9.99595720e-01 1.97881591e-04 -7.18456200e+01] [-7.77427746e-03 -2.31691656e-05 -9.99969780e-01 6.70920336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.94, Y:-71.82, Z:6.71 [[-9.94912975e-01 -1.00303550e-01 9.34724510e-03 4.59430360e+01] [-1.00299452e-01 9.94956882e-01 9.07311509e-04 -7.18172389e+01] [-9.39111240e-03 -3.48275731e-05 -9.99955902e-01 6.71021069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.93, Y:-71.79, Z:6.71 [[-9.84994734e-01 -1.72241770e-01 1.08695082e-02 4.59330281e+01] [-1.72231881e-01 9.85054704e-01 1.84647952e-03 -7.17913693e+01] [-1.10251011e-02 -5.33032410e-05 -9.99939220e-01 6.71202137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.91, Y:-71.77, Z:6.71 [[-9.70051668e-01 -2.42662501e-01 1.07085195e-02 4.59080357e+01] [-2.42648323e-01 9.70110771e-01 2.62367778e-03 -7.17669591e+01] [-1.10251183e-02 -5.33012947e-05 -9.99939220e-01 6.71202170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.86, Y:-71.75, Z:6.71 [[-9.49882361e-01 -3.12407049e-01 1.11954131e-02 4.58575318e+01] [-3.12386133e-01 9.49948331e-01 3.61554195e-03 -7.17537922e+01] [-1.17645848e-02 -6.29522764e-05 -9.99930793e-01 6.71310885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.78, Y:-71.75, Z:6.71 [[-9.24537821e-01 -3.80933366e-01 1.09355892e-02 4.57806988e+01] [-3.80907505e-01 9.24602491e-01 4.43918938e-03 -7.17530369e+01] [-1.18021084e-02 -6.12495096e-05 -9.99930351e-01 6.71324352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.73, Y:-71.75, Z:6.71 [[-8.93566350e-01 -4.48825557e-01 9.73641973e-03 4.57338858e+01] [-4.48799564e-01 8.93619392e-01 4.83062116e-03 -7.17452831e+01] [-1.08687597e-02 -5.32204133e-05 -9.99940932e-01 6.71251332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.66, Y:-71.76, Z:6.71 [[-8.57705181e-01 -5.14070227e-01 8.58042456e-03 4.56571499e+01] [-5.14045026e-01 8.57748098e-01 5.09032584e-03 -7.17558924e+01] [-9.97662780e-03 -4.47257188e-05 -9.99950231e-01 6.71164343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.57, Y:-71.78, Z:6.71 [[-8.16994552e-01 -5.76596631e-01 7.49844681e-03 4.55735353e+01] [-5.76572735e-01 8.17028962e-01 5.24951472e-03 -7.17776833e+01] [-9.15330071e-03 -3.45750545e-05 -9.99958107e-01 6.71148356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.47, Y:-71.82, Z:6.71 [[-7.71665369e-01 -6.35997368e-01 6.31714416e-03 4.54718016e+01] [-6.35976333e-01 7.71691225e-01 5.17277361e-03 -7.18226466e+01] [-8.16475512e-03 -2.59039227e-05 -9.99966668e-01 6.71022069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.39, Y:-71.86, Z:6.71 [[-7.20736785e-01 -6.93190407e-01 5.05432864e-03 4.53910612e+01] [-6.93173609e-01 7.20754507e-01 4.82577649e-03 -7.18567352e+01] [-6.98811211e-03 -2.54125914e-05 -9.99975583e-01 6.70967264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.29, Y:-71.92, Z:6.71 [[-6.65234148e-01 -7.46620210e-01 4.66800050e-03 4.52907703e+01] [-7.46602164e-01 6.65250525e-01 5.19106438e-03 -7.19180460e+01] [-6.98114336e-03 -3.18659857e-05 -9.99975631e-01 6.70975075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.21, Y:-71.97, Z:6.71 [[-6.04412113e-01 -7.96659575e-01 4.41811554e-03 4.52055683e+01] [-7.96638889e-01 6.04428258e-01 5.74115736e-03 -7.19719023e+01] [-7.24418186e-03 -4.96176054e-05 -9.99973759e-01 6.71013710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.10, Y:-72.07, Z:6.71 [[-5.40992581e-01 -8.41018808e-01 3.79368739e-03 4.51000319e+01] [-8.40998834e-01 5.41005880e-01 5.79650293e-03 -7.20678289e+01] [-6.92737517e-03 -5.46215910e-05 -9.99976004e-01 6.71059994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.03, Y:-72.12, Z:6.71 [[-4.73560246e-01 -8.80754529e-01 3.48613892e-03 4.50300202e+01] [-8.80731687e-01 4.73573073e-01 6.34349949e-03 -7.21236728e+01] [-7.23800742e-03 -6.63238341e-05 -9.99973803e-01 6.71117017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.920385723 meters Centerline goodness [0,1] 0.9999776870384006 Centerline is valid? [True, True] Translation: X:44.95, Y:-72.21, Z:6.71 [[-4.04222090e-01 -9.14655133e-01 3.23882998e-03 4.49515661e+01] [-9.14627229e-01 4.04235058e-01 7.14487414e-03 -7.22144885e+01] [-7.84434443e-03 -7.42061382e-05 -9.99969230e-01 6.71146537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.88, Y:-72.31, Z:6.71 [[-3.32750878e-01 -9.43011193e-01 2.59681128e-03 4.48800646e+01] [-9.42984133e-01 3.32761003e-01 7.14423522e-03 -7.23142380e+01] [-7.60121130e-03 -7.15012895e-05 -9.99971108e-01 6.71144162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.82, Y:-72.42, Z:6.71 [[-2.61023606e-01 -9.65329869e-01 2.21837735e-03 4.48179607e+01] [-9.65296983e-01 2.61033026e-01 7.96831152e-03 -7.24186539e+01] [-8.27111887e-03 -6.14755523e-05 -9.99965792e-01 6.71194976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.77, Y:-72.52, Z:6.71 [[-1.88876311e-01 -9.81999352e-01 1.73552187e-03 4.47656112e+01] [-9.81959723e-01 1.88884280e-01 8.82216853e-03 -7.25217987e+01] [-8.99117658e-03 -3.79139271e-05 -9.99959578e-01 6.71245663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.72, Y:-72.64, Z:6.71 [[-1.14616290e-01 -9.93409286e-01 1.04753689e-03 4.47187532e+01] [-9.93369308e-01 1.14621075e-01 8.91220160e-03 -7.26392336e+01] [-8.97353363e-03 -1.91075160e-05 -9.99959737e-01 6.71255416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.68, Y:-72.76, Z:6.71 [[-4.24680395e-02 -9.99097762e-01 3.58017103e-04 4.46819455e+01] [-9.99056986e-01 4.24695408e-02 9.02644671e-03 -7.27568934e+01] [-9.03350753e-03 2.56560073e-05 -9.99959197e-01 6.71316241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.65, Y:-72.88, Z:6.71 [[ 3.23458315e-02 -9.99476679e-01 -3.38932805e-04 4.46544252e+01] [-9.99436342e-01 -3.23475711e-02 8.97958815e-03 -7.28797908e+01] [-8.98585260e-03 4.82895172e-05 -9.99959625e-01 6.71390191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.64, Y:-73.01, Z:6.71 [[ 1.04942351e-01 -9.94477985e-01 -8.00723190e-04 4.46370749e+01] [-9.94453869e-01 -1.04945383e-01 6.92596736e-03 -7.30066619e+01] [-6.97175427e-03 6.94549764e-05 -9.99975695e-01 6.71174371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.63, Y:-73.13, Z:6.71 [[ 1.78150226e-01 -9.84002844e-01 -9.49232074e-04 4.46267207e+01] [-9.83990792e-01 -1.78152742e-01 4.87045912e-03 -7.31308018e+01] [-4.96165392e-03 6.63622293e-05 -9.99987689e-01 6.70953030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.63, Y:-73.26, Z:6.71 [[ 2.52648594e-01 -9.67557442e-01 -1.13348734e-03 4.46265051e+01] [-9.67548764e-01 -2.52651130e-01 4.09832697e-03 -7.32567871e+01] [-4.25174362e-03 6.12677314e-05 -9.99990960e-01 6.70932653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2203857229999 meters Centerline goodness [0,1] 0.9999775396985827 Centerline is valid? [True, True] Translation: X:44.64, Y:-73.39, Z:6.71 [[ 3.25789715e-01 -9.45441561e-01 -1.14752880e-03 4.46378294e+01] [-9.45436241e-01 -3.25791732e-01 3.17212263e-03 -7.33896669e+01] [-3.37291196e-03 5.14703823e-05 -9.99994310e-01 6.70904649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.65, Y:-73.51, Z:6.71 [[ 3.97887567e-01 -9.17433755e-01 -8.88390071e-04 4.46522353e+01] [-9.17431649e-01 -3.97888558e-01 1.96616162e-03 -7.35111768e+01] [-2.15730328e-03 3.27259041e-05 -9.99997673e-01 6.70860576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.68, Y:-73.63, Z:6.71 [[ 4.68791955e-01 -8.83308115e-01 -9.36213141e-04 4.46761191e+01] [-8.83306465e-01 -4.68792889e-01 1.70771003e-03 -7.36325336e+01] [-1.94732419e-03 2.64023947e-05 -9.99998104e-01 6.70885868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.71, Y:-73.75, Z:6.71 [[ 5.36516048e-01 -8.43889291e-01 -1.18133095e-03 4.47101060e+01] [-8.43887351e-01 -5.36517348e-01 1.80932598e-03 -7.37485743e+01] [-2.16067537e-03 2.61778179e-05 -9.99997665e-01 6.70948388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.76, Y:-73.88, Z:6.71 [[ 6.03013092e-01 -7.97729456e-01 -1.71086710e-03 4.47638157e+01] [-7.97726348e-01 -6.03015518e-01 2.22670480e-03 -7.38829969e+01] [-2.80798742e-03 2.20716182e-05 -9.99996057e-01 6.71016035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.80, Y:-73.97, Z:6.71 [[ 6.63761885e-01 -7.47940429e-01 -2.29677946e-03 4.47976579e+01] [-7.47936058e-01 -6.63765859e-01 2.55686971e-03 -7.39722484e+01] [-3.43691002e-03 2.06915117e-05 -9.99994094e-01 6.71051811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.85, Y:-74.08, Z:6.71 [[ 7.21794105e-01 -6.92103560e-01 -2.43581768e-03 4.48501567e+01] [-6.92099648e-01 -7.21798215e-01 2.32688038e-03 -7.40750198e+01] [-3.36861105e-03 6.30002115e-06 -9.99994326e-01 6.71151123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.84, Y:-74.08, Z:6.71 [[ 7.75198006e-01 -6.31710397e-01 -3.16650491e-03 4.48410688e+01] [-6.31705115e-01 -7.75204473e-01 2.58334145e-03 -7.40849784e+01] [-4.08661242e-03 -2.30379317e-06 -9.99991650e-01 6.71283586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.84, Y:-74.09, Z:6.71 [[ 8.22574435e-01 -5.68647057e-01 -3.43849825e-03 4.48361452e+01] [-5.68642062e-01 -8.22581622e-01 2.38333888e-03 -7.40937855e+01] [-4.18372410e-03 -5.19889637e-06 -9.99991248e-01 6.71348386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.83, Y:-74.10, Z:6.71 [[ 8.64727101e-01 -5.02230723e-01 -3.36778138e-03 4.48313119e+01] [-5.02226885e-01 -8.64733659e-01 1.96356099e-03 -7.41021255e+01] [-3.89839458e-03 -6.55405181e-06 -9.99992401e-01 6.71261662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.83, Y:-74.11, Z:6.71 [[ 9.01339968e-01 -4.33104391e-01 -2.61682134e-03 4.48259300e+01] [-4.33102551e-01 -9.01343767e-01 1.26264329e-03 -7.41135453e+01] [-2.90551196e-03 -4.71886396e-06 -9.99995779e-01 6.71188132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.82, Y:-74.12, Z:6.71 [[ 9.32416757e-01 -3.61379201e-01 -2.01595024e-03 4.48209188e+01] [-3.61378349e-01 -9.32418937e-01 7.84855034e-04 -7.41242834e+01] [-2.16334046e-03 -3.29121764e-06 -9.99997660e-01 6.71151655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.82, Y:-74.14, Z:6.71 [[ 9.57577385e-01 -2.88176083e-01 -3.10863579e-04 4.48174413e+01] [-2.88176068e-01 -9.57577436e-01 9.33677395e-05 -7.41351013e+01] [-3.24582298e-04 1.76607806e-07 -9.99999947e-01 6.71097296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.82, Y:-74.14, Z:6.71 [[ 9.77057405e-01 -2.12976116e-01 -4.25766712e-05 4.48164907e+01] [-2.12976115e-01 -9.77057406e-01 8.81811181e-06 -7.41440261e+01] [-4.34778993e-05 4.52012576e-07 -9.99999999e-01 6.71096052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.81, Y:-74.15, Z:6.71 [[ 9.90444177e-01 -1.37914104e-01 1.80280027e-04 4.48122854e+01] [-1.37914101e-01 -9.90444193e-01 -2.52482774e-05 -7.41506583e+01] [ 1.82039399e-04 1.43851469e-07 -9.99999984e-01 6.71051713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.81, Y:-74.16, Z:6.71 [[ 9.98051607e-01 -6.23915165e-02 5.38042658e-04 4.48080113e+01] [-6.23915084e-02 -9.98051752e-01 -3.18187759e-05 -7.41617102e+01] [ 5.38979638e-04 -1.81251265e-06 -9.99999855e-01 6.71121268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.80, Y:-74.17, Z:6.71 [[ 9.99886867e-01 1.50410559e-02 1.38240672e-04 4.48037149e+01] [ 1.50410557e-02 -9.99886877e-01 2.32748124e-06 -7.41719021e+01] [ 1.38260041e-04 -2.47932302e-07 -9.99999991e-01 6.71200602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.80, Y:-74.18, Z:6.71 [[ 9.95752707e-01 9.20604711e-02 -1.18996626e-03 4.48021413e+01] [ 9.20603957e-02 -9.95753418e-01 -1.18099109e-04 -7.41836618e+01] [-1.19578523e-03 8.04874239e-06 -9.99999285e-01 6.71322477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.80, Y:-74.19, Z:6.71 [[ 9.85524491e-01 1.69523681e-01 -1.78867040e-03 4.48007578e+01] [ 1.69523379e-01 -9.85526114e-01 -3.20297944e-04 -7.41947409e+01] [-1.81707948e-03 1.24400178e-05 -9.99998349e-01 6.71396450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.80, Y:-74.21, Z:6.71 [[ 9.69204654e-01 2.46243038e-01 -2.58929226e-03 4.47996796e+01] [ 2.46242110e-01 -9.69208113e-01 -6.76246933e-04 -7.42053689e+01] [-2.67608417e-03 1.78288841e-05 -9.99996419e-01 6.71486404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.80, Y:-74.22, Z:6.72 [[ 9.46951057e-01 3.21365270e-01 -2.83874725e-03 4.48001744e+01] [ 3.21363762e-01 -9.46955312e-01 -9.84515075e-04 -7.42156396e+01] [-3.00455574e-03 2.00170957e-05 -9.99995486e-01 6.71503167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.80, Y:-74.23, Z:6.72 [[ 9.18889711e-01 3.94503594e-01 -2.93475268e-03 4.48005861e+01] [ 3.94501508e-01 -9.18894397e-01 -1.28333187e-03 -7.42261064e+01] [-3.20300683e-03 2.14760914e-05 -9.99994870e-01 6.71541218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.80, Y:-74.24, Z:6.72 [[ 8.85090998e-01 4.65407527e-01 -3.12405833e-03 4.48044970e+01] [ 4.65404536e-01 -8.85096511e-01 -1.66865914e-03 -7.42385555e+01] [-3.54169965e-03 2.29642702e-05 -9.99993728e-01 6.71548288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.81, Y:-74.25, Z:6.72 [[ 8.45634031e-01 5.33748331e-01 -3.97538958e-03 4.48089373e+01] [ 5.33742278e-01 -8.45643375e-01 -2.54207462e-03 -7.42499982e+01] [-4.71858995e-03 2.78313180e-05 -9.99988867e-01 6.71628113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.81, Y:-74.26, Z:6.72 [[ 8.00875538e-01 5.98820012e-01 -3.60094710e-03 4.48126623e+01] [ 5.98813825e-01 -8.00883633e-01 -2.72200322e-03 -7.42606096e+01] [-4.51392959e-03 2.36888832e-05 -9.99989812e-01 6.71581520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.82, Y:-74.27, Z:6.71 [[ 7.51004602e-01 6.60294560e-01 -1.78366369e-03 4.48164765e+01] [ 6.60292664e-01 -7.51006720e-01 -1.58269057e-03 -7.42713166e+01] [-2.38458539e-03 1.08678536e-05 -9.99997157e-01 6.71425395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.82, Y:-74.28, Z:6.71 [[ 6.96707985e-01 7.17354256e-01 -9.25018983e-04 4.48211233e+01] [ 7.17353613e-01 -6.96708599e-01 -9.60604042e-04 -7.42790722e+01] [-1.33356208e-03 5.69479670e-06 -9.99999111e-01 6.71353293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.83, Y:-74.29, Z:6.71 [[ 6.37992178e-01 7.70042302e-01 -9.13232872e-04 4.48285881e+01] [ 7.70041501e-01 -6.37992832e-01 -1.11058435e-03 -7.42885371e+01] [-1.43783296e-03 5.31691802e-06 -9.99998966e-01 6.71324699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.060385723 meters Centerline goodness [0,1] 0.9999782187275381 Centerline is valid? [True, True] Translation: X:44.84, Y:-74.30, Z:6.71 [[ 5.74494116e-01 8.18507919e-01 -1.13915225e-03 4.48359669e+01] [ 8.18506296e-01 -5.74495245e-01 -1.63017980e-03 -7.42975938e+01] [-1.98875263e-03 4.12541629e-06 -9.99998023e-01 6.71376456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.84, Y:-74.31, Z:6.71 [[ 5.07976060e-01 8.61370258e-01 -1.26538957e-03 4.48442097e+01] [ 8.61367570e-01 -5.07977636e-01 -2.15201234e-03 -7.43054213e+01] [-2.49646903e-03 3.20521214e-06 -9.99996884e-01 6.71395902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.85, Y:-74.31, Z:6.71 [[ 4.38184540e-01 8.98884421e-01 -1.05227670e-03 4.48517327e+01] [ 8.98881823e-01 -4.38185803e-01 -2.16104740e-03 -7.43133267e+01] [-2.40362455e-03 1.06516371e-06 -9.99997111e-01 6.71382504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.150385723 meters Centerline goodness [0,1] 0.9999781401652603 Centerline is valid? [True, True] Translation: X:44.86, Y:-74.32, Z:6.71 [[ 3.64620443e-01 9.31155855e-01 -8.40893380e-04 4.48620877e+01] [ 9.31153400e-01 -3.64621412e-01 -2.13814949e-03 -7.43204838e+01] [-2.29755815e-03 -3.38771522e-06 -9.99997361e-01 6.71423124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.87, Y:-74.33, Z:6.71 [[ 2.89551989e-01 9.57161963e-01 -7.89005532e-04 4.48717074e+01] [ 9.57158474e-01 -2.89553064e-01 -2.58450146e-03 -7.43270686e+01] [-2.70224546e-03 -6.85579235e-06 -9.99996349e-01 6.71483756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.88, Y:-74.33, Z:6.72 [[ 2.12566907e-01 9.77146195e-01 -7.89276303e-04 4.48816918e+01] [ 9.77139695e-01 -2.12568372e-01 -3.56424641e-03 -7.43329659e+01] [-3.65056500e-03 -1.35923697e-05 -9.99993337e-01 6.71575995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.240385723 meters Centerline goodness [0,1] 0.9999123882950762 Centerline is valid? [True, True] Translation: X:44.89, Y:-74.34, Z:6.72 [[ 1.34582103e-01 9.90902312e-01 -5.16397106e-04 4.48909193e+01] [ 9.90895487e-01 -1.34583092e-01 -3.67756866e-03 -7.43380253e+01] [-3.71360960e-03 -1.67606390e-05 -9.99993104e-01 6.71613497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.270385723 meters Centerline goodness [0,1] 0.9999343429922087 Centerline is valid? [True, True] Translation: X:44.90, Y:-74.34, Z:6.72 [[ 5.46519953e-02 9.98505431e-01 -2.51745131e-04 4.49021980e+01] [ 9.98496959e-01 -5.46525687e-02 -4.11335821e-03 -7.43421764e+01] [-4.12096903e-03 -2.65635144e-05 -9.99991509e-01 6.71640370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.91, Y:-74.35, Z:6.72 [[-2.59001304e-02 9.99664531e-01 9.43347661e-05 4.49136197e+01] [ 9.99649522e-01 2.59002584e-02 -5.47809827e-03 -7.43450309e+01] [-5.47870383e-03 -4.75817555e-05 -9.99984991e-01 6.71703263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.93, Y:-74.35, Z:6.72 [[-1.05189607e-01 9.94452006e-01 5.96071060e-04 4.49254106e+01] [ 9.94432596e-01 1.05191279e-01 -6.21351310e-03 -7.43475503e+01] [-6.24174204e-03 -6.08445117e-05 -9.99980518e-01 6.71731672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.94, Y:-74.35, Z:6.72 [[-1.83752600e-01 9.82972037e-01 9.78276664e-04 4.49362146e+01] [ 9.82956286e-01 1.83755194e-01 -5.56503369e-03 -7.43487686e+01] [-5.65003592e-03 -6.09862132e-05 -9.99984037e-01 6.71761150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.95, Y:-74.35, Z:6.72 [[-2.62062768e-01 9.65049825e-01 1.39329478e-03 4.49459992e+01] [ 9.65034713e-01 2.62066462e-01 -5.40116523e-03 -7.43498350e+01] [-5.57752939e-03 -7.08664767e-05 -9.99984443e-01 6.71755615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.420385723 meters Centerline goodness [0,1] 0.9999338638918895 Centerline is valid? [True, True] Translation: X:44.96, Y:-74.35, Z:6.72 [[-3.37977721e-01 9.41152200e-01 1.89656078e-03 4.49551566e+01] [ 9.41136011e-01 3.37983032e-01 -5.52068875e-03 -7.43521976e+01] [-5.83681372e-03 -8.09481496e-05 -9.99982962e-01 6.71774641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.96, Y:-74.35, Z:6.72 [[-4.10795902e-01 9.11723760e-01 2.55182612e-03 4.49640814e+01] [ 9.11704793e-01 4.10803818e-01 -5.88166235e-03 -7.43523161e+01] [-6.41075123e-03 -8.96506894e-05 -9.99979447e-01 6.71764834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.97, Y:-74.35, Z:6.72 [[-4.80918918e-01 8.76759926e-01 3.00451750e-03 4.49744045e+01] [ 8.76741636e-01 4.80928295e-01 -5.66382015e-03 -7.43517900e+01] [-6.41076801e-03 -8.96526635e-05 -9.99979447e-01 6.71764849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.98, Y:-74.35, Z:6.72 [[-5.48156935e-01 8.36366717e-01 3.83281101e-03 4.49820024e+01] [ 8.36344980e-01 5.48170325e-01 -6.03069305e-03 -7.43525810e+01] [-7.14490420e-03 -1.00213970e-04 -9.99974470e-01 6.71764651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.540385723 meters Centerline goodness [0,1] 0.9999558440411533 Centerline is valid? [True, True] Translation: X:44.99, Y:-74.35, Z:6.72 [[-6.11725370e-01 7.91057584e-01 4.46897611e-03 4.49902029e+01] [ 7.91035244e-01 6.11741685e-01 -5.94587861e-03 -7.43529780e+01] [-7.43739134e-03 -1.02127186e-04 -9.99972337e-01 6.71779411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.00, Y:-74.35, Z:6.72 [[-6.71361416e-01 7.41112483e-01 5.11244833e-03 4.49988998e+01] [ 7.41089835e-01 6.71380874e-01 -5.79466784e-03 -7.43499175e+01] [-7.72690070e-03 -1.01532919e-04 -9.99970142e-01 6.71744684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6003857229999 meters Centerline goodness [0,1] 0.9999334782030245 Centerline is valid? [True, True] Translation: X:45.01, Y:-74.35, Z:6.72 [[-7.26488187e-01 6.87156171e-01 5.59553424e-03 4.50077479e+01] [ 6.87134800e-01 7.26509730e-01 -5.42026556e-03 -7.43465952e+01] [-7.78977899e-03 -9.28726047e-05 -9.99969655e-01 6.71712823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.03, Y:-74.33, Z:6.72 [[-7.72291251e-01 6.35236657e-01 6.37279561e-03 4.50261435e+01] [ 6.35214101e-01 7.72317539e-01 -5.35395313e-03 -7.43285117e+01] [-8.32284911e-03 -8.67215301e-05 -9.99965361e-01 6.71806111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.05, Y:-74.32, Z:6.72 [[-8.14979762e-01 5.79443429e-01 7.30063455e-03 4.50547012e+01] [ 5.79419198e-01 8.15012457e-01 -5.29984474e-03 -7.43156526e+01] [-9.02106831e-03 -8.91383924e-05 -9.99959305e-01 6.71943020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.690385723 meters Centerline goodness [0,1] 0.9999777787653882 Centerline is valid? [True, True] Translation: X:45.05, Y:-74.29, Z:6.72 [[-8.53362422e-01 5.21247387e-01 8.58710857e-03 4.50549654e+01] [ 5.21219940e-01 8.53405621e-01 -5.34986407e-03 -7.42860971e+01] [-1.01168894e-02 -8.96007484e-05 -9.99948819e-01 6.71996030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.06, Y:-74.26, Z:6.72 [[-8.87785518e-01 4.60160111e-01 9.46291072e-03 4.50565120e+01] [ 4.60132922e-01 8.87835945e-01 -5.00294520e-03 -7.42580548e+01] [-1.07036681e-02 -8.73455313e-05 -9.99942710e-01 6.71891985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.10, Y:-74.25, Z:6.72 [[-9.17872538e-01 3.96737581e-01 1.04545249e-02 4.50968030e+01] [ 3.96710789e-01 9.17932070e-01 -4.61140158e-03 -7.42497120e+01] [-1.14260600e-02 -8.52560376e-05 -9.99934717e-01 6.71852246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.780385723 meters Centerline goodness [0,1] 0.9999776855446959 Centerline is valid? [True, True] Translation: X:45.12, Y:-74.23, Z:6.72 [[-9.43435995e-01 3.31386515e-01 1.05594192e-02 4.51208564e+01] [ 3.31364866e-01 9.43495083e-01 -3.78868424e-03 -7.42298577e+01] [-1.12182790e-02 -7.53605518e-05 -9.99937070e-01 6.71835066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.13, Y:-74.20, Z:6.72 [[-9.64331656e-01 2.64468441e-01 1.09955170e-02 4.51345932e+01] [ 2.64450407e-01 9.64394338e-01 -3.08923407e-03 -7.42045130e+01] [-1.14210193e-02 -7.12772448e-05 -9.99934776e-01 6.71936894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.34, Y:-73.44, Z:5.76 [[-9.40431373e-01 -3.39825758e-01 1.03579413e-02 4.53365947e+01] [ 3.39805647e-01 -9.40488412e-01 -3.69726084e-03 -7.34390602e+01] [ 1.09979482e-02 4.26668481e-05 9.99939520e-01 5.75922736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.08, Y:-74.20, Z:6.72 [[-9.64912196e-01 2.62343035e-01 1.09811673e-02 4.50776671e+01] [ 2.62325437e-01 9.64974678e-01 -3.03902254e-03 -7.41961932e+01] [-1.13938148e-02 -5.17503877e-05 -9.99935087e-01 6.71777410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.29, Y:-73.42, Z:5.76 [[-9.42189251e-01 -3.34916278e-01 1.05120089e-02 4.52944818e+01] [ 3.34895850e-01 -9.42247890e-01 -3.69921318e-03 -7.34236271e+01] [ 1.11438449e-02 3.50692690e-05 9.99937905e-01 5.75956420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.02, Y:-74.19, Z:6.72 [[-9.65522766e-01 2.60096202e-01 1.07589500e-02 4.50226990e+01] [ 2.60079674e-01 9.65582708e-01 -2.93228907e-03 -7.41856592e+01] [-1.11513333e-02 -3.30076406e-05 -9.99937821e-01 6.71805973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.04, Y:-74.16, Z:6.72 [[-9.81402379e-01 1.91679520e-01 1.04082695e-02 4.50412526e+01] [ 1.91668481e-01 9.81457570e-01 -2.05722576e-03 -7.41614145e+01] [-1.06096030e-02 -2.40290359e-05 -9.99943716e-01 6.71659064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.20, Y:-73.37, Z:5.76 [[-9.65081511e-01 -2.61784940e-01 9.29093383e-03 4.52029385e+01] [ 2.61772411e-01 -9.65126232e-01 -2.56147402e-03 -7.33680461e+01] [ 9.63747928e-03 -3.99210703e-05 9.99953558e-01 5.76143654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.99, Y:-74.15, Z:6.72 [[-9.82215940e-01 1.87547152e-01 8.82679366e-03 4.49934042e+01] [ 1.87539390e-01 9.82255601e-01 -1.70640722e-03 -7.41511222e+01] [-8.99019933e-03 -2.06888761e-05 -9.99959587e-01 6.71565533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.050385723 meters Centerline goodness [0,1] 0.9998878345335038 Centerline is valid? [True, True] Translation: X:45.00, Y:-74.12, Z:6.72 [[-9.93014528e-01 1.17654170e-01 8.92430131e-03 4.50032309e+01] [ 1.17649171e-01 9.93054629e-01 -1.08490513e-03 -7.41213093e+01] [-8.98996234e-03 -2.73898994e-05 -9.99959589e-01 6.71550418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.11, Y:-73.33, Z:5.76 [[-9.81588991e-01 -1.90811358e-01 8.60690854e-03 4.51070633e+01] [ 1.90804131e-01 -9.81626724e-01 -1.66067114e-03 -7.33260816e+01] [ 8.76564635e-03 1.21371952e-05 9.99961581e-01 5.76210857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.93, Y:-74.11, Z:6.71 [[-9.93530829e-01 1.13247921e-01 8.44983369e-03 4.49300141e+01] [ 1.13243588e-01 9.93566761e-01 -9.90957762e-04 -7.41102729e+01] [-8.50769780e-03 -2.76576004e-05 -9.99963809e-01 6.71457604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.05, Y:-73.32, Z:5.76 [[-9.82627076e-01 -1.85425007e-01 7.84837926e-03 4.50491607e+01] [ 1.85419033e-01 -9.82658418e-01 -1.48841954e-03 -7.33211274e+01] [ 7.98826615e-03 -7.32244787e-06 9.99968093e-01 5.76358283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.88, Y:-74.10, Z:6.71 [[-9.93869204e-01 1.10298559e-01 7.63110516e-03 4.48825993e+01] [ 1.10295207e-01 9.93898500e-01 -8.59978774e-04 -7.41041921e+01] [-7.67939838e-03 -1.30320948e-05 -9.99970513e-01 6.71311297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.88, Y:-74.07, Z:6.71 [[-9.99153918e-01 4.05153353e-02 7.06791815e-03 4.48842723e+01] [ 4.05142927e-02 9.99178917e-01 -2.90691350e-04 -7.40737740e+01] [-7.07389226e-03 -4.09369730e-06 -9.99974980e-01 6.71324172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2303857229999 meters Centerline goodness [0,1] 0.9999777248123315 Centerline is valid? [True, True] Translation: X:44.92, Y:-73.28, Z:5.76 [[-9.94004665e-01 -1.09097401e-01 7.24447763e-03 4.49226701e+01] [ 1.09094636e-01 -9.94031064e-01 -7.76878008e-04 -7.32821302e+01] [ 7.28599118e-03 1.81132894e-05 9.99973457e-01 5.76359238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.260385723 meters Centerline goodness [0,1] 0.9999776461383704 Centerline is valid? [True, True] Translation: X:44.80, Y:-74.07, Z:6.71 [[-9.99332281e-01 3.58448536e-02 7.08093581e-03 4.48034158e+01] [ 3.58439409e-02 9.99357367e-01 -2.55797646e-04 -7.40679872e+01] [-7.08555440e-03 -1.81820036e-06 -9.99974897e-01 6.71385107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.84, Y:-73.28, Z:5.76 [[-9.94609916e-01 -1.03448620e-01 7.03544951e-03 4.48419375e+01] [ 1.03446039e-01 -9.94634799e-01 -7.30714071e-04 -7.32814101e+01] [ 7.07329427e-03 1.01392519e-06 9.99974984e-01 5.76369381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.71, Y:-74.06, Z:6.71 [[-9.99468072e-01 3.18946010e-02 6.80496733e-03 4.47135456e+01] [ 3.18938776e-02 9.99491238e-01 -2.14820172e-04 -7.40620072e+01] [-6.80835683e-03 2.33089231e-06 -9.99976823e-01 6.71383934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.74, Y:-74.03, Z:6.71 [[-9.99225751e-01 -3.87443913e-02 6.83893861e-03 4.47433020e+01] [-3.87434354e-02 9.99249154e-01 2.72255820e-04 -7.40328038e+01] [-6.84435200e-03 7.08105029e-06 -9.99976577e-01 6.71367526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.72, Y:-73.25, Z:5.76 [[-9.99614345e-01 -2.68407259e-02 7.12291948e-03 4.47156379e+01] [ 2.68401250e-02 -9.99639723e-01 -1.79954601e-04 -7.32507149e+01] [ 7.12518337e-03 1.12948489e-05 9.99974616e-01 5.76370833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.64, Y:-74.04, Z:6.71 [[-9.98963724e-01 -4.49352034e-02 7.23232424e-03 4.46362287e+01] [-4.49339789e-02 9.98989904e-01 3.31794019e-04 -7.40354670e+01] [-7.23992813e-03 6.47308389e-06 -9.99973791e-01 6.71366887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.64, Y:-74.01, Z:6.71 [[-9.93176194e-01 -1.16310508e-01 8.53893496e-03 4.46355169e+01] [-1.16306165e-01 9.93212901e-01 1.00511162e-03 -7.40051882e+01] [-8.59788540e-03 5.12215428e-06 -9.99963038e-01 6.71435987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.62, Y:-73.98, Z:6.72 [[-9.82337648e-01 -1.86878170e-01 9.44960526e-03 4.46182872e+01] [-1.86869450e-01 9.82383097e-01 1.80535873e-03 -7.39772360e+01] [-9.62051462e-03 7.62931666e-06 -9.99953722e-01 6.71519881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.59, Y:-73.95, Z:6.71 [[-9.66466440e-01 -2.56606564e-01 9.78222295e-03 4.45872149e+01] [-2.56593275e-01 9.66515945e-01 2.61157839e-03 -7.39545224e+01] [-1.01248226e-02 1.39502445e-05 -9.99948743e-01 6.71494475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.53, Y:-73.94, Z:6.71 [[-9.45394292e-01 -3.25779097e-01 9.87992739e-03 4.45301961e+01] [-3.25761017e-01 9.45445916e-01 3.43227492e-03 -7.39416468e+01] [-1.04591004e-02 2.63579207e-05 -9.99945302e-01 6.71452303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.46, Y:-73.94, Z:6.71 [[-9.19059337e-01 -3.94013264e-01 9.13687112e-03 4.44646221e+01] [-3.93993442e-01 9.19104753e-01 3.95236344e-03 -7.39356829e+01] [-9.95502529e-03 3.25892316e-05 -9.99950447e-01 6.71401202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.38, Y:-73.94, Z:6.71 [[-8.87584904e-01 -4.60557391e-01 8.94022613e-03 4.43836776e+01] [-4.60533579e-01 8.87629927e-01 4.68352583e-03 -7.39408870e+01] [-1.00926447e-02 3.97524934e-05 -9.99949067e-01 6.71377200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.30, Y:-73.95, Z:6.71 [[-8.50797264e-01 -5.25429653e-01 8.22773264e-03 4.43043144e+01] [-5.25404610e-01 8.50837045e-01 5.13013600e-03 -7.39523130e+01] [-9.69598530e-03 4.18170150e-05 -9.99952992e-01 6.71325264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.22, Y:-73.98, Z:6.71 [[-8.09377161e-01 -5.87241260e-01 7.50419663e-03 4.42162142e+01] [-5.87215478e-01 8.09411947e-01 5.50295022e-03 -7.39758550e+01] [-9.30554583e-03 4.73818165e-05 -9.99956701e-01 6.71277419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.12, Y:-74.02, Z:6.71 [[-7.62991562e-01 -6.46368049e-01 7.22646162e-03 4.41194922e+01] [-6.46338423e-01 7.63025781e-01 6.18874151e-03 -7.40152216e+01] [-9.51418130e-03 5.12177520e-05 -9.99954738e-01 6.71283989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.03, Y:-74.06, Z:6.71 [[-7.12161424e-01 -7.01985666e-01 6.49849704e-03 4.40310038e+01] [-7.01955730e-01 7.12191071e-01 6.48320454e-03 -7.40562724e+01] [-9.17928822e-03 5.54309507e-05 -9.99957868e-01 6.71208321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.94, Y:-74.11, Z:6.71 [[-6.56773203e-01 -7.54063833e-01 6.05774457e-03 4.39396055e+01] [-7.54030948e-01 6.56801136e-01 7.04249863e-03 -7.41113768e+01] [-9.28922703e-03 5.75974977e-05 -9.99956853e-01 6.71206949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.85, Y:-74.18, Z:6.71 [[-5.97553405e-01 -8.01809097e-01 5.66577419e-03 4.38489898e+01] [-8.01772073e-01 5.97580261e-01 7.70552519e-03 -7.41776375e+01] [-9.56411501e-03 6.18032931e-05 -9.99954261e-01 6.71275261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.76, Y:-74.26, Z:6.71 [[-5.34272362e-01 -8.45295995e-01 5.26536978e-03 4.37579806e+01] [-8.45253811e-01 5.34298304e-01 8.44496538e-03 -7.42593794e+01] [-9.95177355e-03 6.13377266e-05 -9.99950478e-01 6.71274393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.68, Y:-74.34, Z:6.71 [[-4.66936505e-01 -8.84278842e-01 4.60765119e-03 4.36769761e+01] [-8.84234725e-01 4.66959236e-01 8.83303249e-03 -7.43397877e+01] [-9.96244902e-03 5.02201363e-05 -9.99950372e-01 6.71293440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.60, Y:-74.44, Z:6.71 [[-3.96897049e-01 -9.17855529e-01 3.73633648e-03 4.35960782e+01] [-9.17813930e-01 3.96914633e-01 8.73862167e-03 -7.44419881e+01] [-9.50379884e-03 3.90714849e-05 -9.99954837e-01 6.71382535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.53, Y:-74.53, Z:6.71 [[-3.23948056e-01 -9.46070437e-01 2.89592333e-03 4.35277961e+01] [-9.46031938e-01 3.23960998e-01 8.53485663e-03 -7.45348729e+01] [-9.01274175e-03 2.52142518e-05 -9.99959384e-01 6.71289164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.46, Y:-74.64, Z:6.71 [[-2.48908973e-01 -9.68524102e-01 2.32090129e-03 4.34640982e+01] [-9.68481478e-01 2.48919792e-01 9.08643196e-03 -7.46433719e+01] [-9.37814662e-03 1.39445321e-05 -9.99956024e-01 6.71356249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.41, Y:-74.75, Z:6.71 [[-1.73300108e-01 -9.84867738e-01 1.61580466e-03 4.34110215e+01] [-9.84824320e-01 1.73307641e-01 9.24777323e-03 -7.47507846e+01] [-9.38786479e-03 1.13563743e-05 -9.99955933e-01 6.71400620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.37, Y:-74.87, Z:6.71 [[-9.71970211e-02 -9.95264752e-01 9.01624723e-04 4.33668426e+01] [-9.95220579e-01 9.72012018e-02 9.37688589e-03 -7.48674227e+01] [-9.42012302e-03 1.40898972e-05 -9.99955630e-01 6.71393404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.33, Y:-75.00, Z:6.71 [[-2.04762043e-02 -9.99790327e-01 1.65335305e-04 4.33306762e+01] [-9.99751431e-01 2.04768661e-02 8.81902033e-03 -7.49979936e+01] [-8.82055677e-03 1.52858548e-05 -9.99961098e-01 6.71338161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.30, Y:-75.12, Z:6.71 [[ 5.65980672e-02 -9.98396929e-01 -4.80688408e-04 4.33040577e+01] [-9.98363199e-01 -5.66001064e-02 8.20681401e-03 -7.51171897e+01] [-8.22086492e-03 1.54118059e-05 -9.99966208e-01 6.71362252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.29, Y:-75.24, Z:6.71 [[ 1.33440502e-01 -9.91056251e-01 -1.06795683e-03 4.32859517e+01] [-9.91025386e-01 -1.33444775e-01 7.82160117e-03 -7.52362446e+01] [-7.89415998e-03 1.46539478e-05 -9.99968841e-01 6.71420308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.28, Y:-75.37, Z:6.71 [[ 2.09730499e-01 -9.77757662e-01 -1.75279350e-03 4.32807746e+01] [-9.77724022e-01 -2.09737823e-01 8.11065335e-03 -7.53749862e+01] [-8.29788055e-03 1.26969354e-05 -9.99965572e-01 6.71438348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.28, Y:-75.49, Z:6.71 [[ 2.84675960e-01 -9.58620865e-01 -2.37397717e-03 4.32806141e+01] [-9.58587866e-01 -2.84685858e-01 7.95390838e-03 -7.54888003e+01] [-8.30062026e-03 1.13792024e-05 -9.99965549e-01 6.71484655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.29, Y:-75.61, Z:6.71 [[ 3.59205255e-01 -9.33254407e-01 -2.79233698e-03 4.32914074e+01] [-9.33226149e-01 -3.59216109e-01 7.26235502e-03 -7.56115109e+01] [-7.78067725e-03 -2.79419825e-06 -9.99969730e-01 6.71372525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.31, Y:-75.74, Z:6.71 [[ 4.31106579e-01 -9.02294538e-01 -3.41826480e-03 4.33134765e+01] [-9.02265929e-01 -4.31120130e-01 7.18524480e-03 -7.57387860e+01] [-7.95688991e-03 -1.34224372e-05 -9.99968343e-01 6.71422712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.34, Y:-75.86, Z:6.71 [[ 5.02251032e-01 -8.64711982e-01 -4.13404449e-03 4.33425136e+01] [-8.64681979e-01 -5.02268043e-01 7.20334921e-03 -7.58596424e+01] [-8.30522081e-03 -4.32558012e-05 -9.99965510e-01 6.71487430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.38, Y:-75.97, Z:6.72 [[ 5.68538389e-01 -8.22642850e-01 -4.77939687e-03 4.33776267e+01] [-8.22612914e-01 -5.68558474e-01 7.01820925e-03 -7.59714891e+01] [-8.49084624e-03 -5.85277927e-05 -9.99963950e-01 6.71539447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.43, Y:-76.09, Z:6.72 [[ 6.32412259e-01 -7.74611915e-01 -5.57811040e-03 4.34253807e+01] [-7.74580514e-01 -6.32436853e-01 6.97524080e-03 -7.60864607e+01] [-8.93090723e-03 -9.05321695e-05 -9.99960115e-01 6.71640359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.48, Y:-76.19, Z:6.72 [[ 6.90714835e-01 -7.23096969e-01 -6.61744475e-03 4.34781685e+01] [-7.23062243e-01 -6.90746525e-01 7.08737868e-03 -7.61927582e+01] [-9.69583900e-03 -1.10533143e-04 -9.99952988e-01 6.71729082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.53, Y:-76.28, Z:6.72 [[ 7.44588284e-01 -6.67477470e-01 -7.88130908e-03 4.35321509e+01] [-6.67438180e-01 -7.44629982e-01 7.24342487e-03 -7.62837803e+01] [-1.07034819e-02 -1.33082713e-04 -9.99942707e-01 6.71688426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.53, Y:-76.29, Z:6.72 [[ 7.94487224e-01 -6.07222443e-01 -8.42348861e-03 4.35265507e+01] [-6.07186533e-01 -7.94531867e-01 6.60513394e-03 -7.62914895e+01] [-1.07035157e-02 -1.33065684e-04 -9.99942707e-01 6.71688460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.400385723 meters Centerline goodness [0,1] 0.9999778741481548 Centerline is valid? [True, True] Translation: X:43.52, Y:-76.30, Z:6.72 [[ 8.39572553e-01 -5.43173239e-01 -8.98669835e-03 4.35221771e+01] [-5.43140392e-01 -8.39620637e-01 5.97499768e-03 -7.63000454e+01] [-1.07908762e-02 -1.35405192e-04 -9.99941768e-01 6.71628379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.52, Y:-76.31, Z:6.72 [[ 8.79293873e-01 -4.76198637e-01 -8.78308826e-03 4.35173275e+01] [-4.76173487e-01 -8.79337730e-01 4.89566070e-03 -7.63083030e+01] [-1.00546078e-02 -1.22450697e-04 -9.99949444e-01 6.71576604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.460385723 meters Centerline goodness [0,1] 0.9999777970203602 Centerline is valid? [True, True] Translation: X:43.51, Y:-76.32, Z:6.72 [[ 9.13292005e-01 -4.07208895e-01 -8.86734046e-03 4.35132809e+01] [-4.07188578e-01 -9.13335045e-01 4.06904800e-03 -7.63154093e+01] [-9.75580534e-03 -1.05549254e-04 -9.99952406e-01 6.71567746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.490385723 meters Centerline goodness [0,1] 0.9999777317567418 Centerline is valid? [True, True] Translation: X:43.51, Y:-76.32, Z:6.72 [[ 9.42017931e-01 -3.35443181e-01 -8.94926120e-03 4.35101831e+01] [-3.35427092e-01 -9.42060435e-01 3.28675020e-03 -7.63237096e+01] [-9.53326284e-03 -9.43529697e-05 -9.99954553e-01 6.71592514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.51, Y:-76.33, Z:6.72 [[ 9.64869661e-01 -2.62547072e-01 -9.77610842e-03 4.35082846e+01] [-2.62532735e-01 -9.64919182e-01 2.74488506e-03 -7.63302179e+01] [-1.01538161e-02 -8.19078341e-05 -9.99948445e-01 6.71551710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.550385723 meters Centerline goodness [0,1] 0.9999553441846964 Centerline is valid? [True, True] Translation: X:43.51, Y:-76.34, Z:6.72 [[ 9.82269294e-01 -1.87226985e-01 -9.64836596e-03 4.35057791e+01] [-1.87217251e-01 -9.82316676e-01 1.91045656e-03 -7.63390775e+01] [-9.83543979e-03 -7.02422652e-05 -9.99951629e-01 6.71501586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.50, Y:-76.35, Z:6.71 [[ 9.93698613e-01 -1.11669048e-01 -9.64829230e-03 4.34994086e+01] [-1.11663288e-01 -9.93745451e-01 1.13533932e-03 -7.63466682e+01] [-9.71472884e-03 -5.08250701e-05 -9.99952810e-01 6.71483032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.49, Y:-76.36, Z:6.72 [[ 9.99350085e-01 -3.46611938e-02 -9.89996013e-03 4.34935283e+01] [-3.46590933e-02 -9.99399120e-01 3.83710089e-04 -7.63554670e+01] [-9.90731129e-03 -4.03370686e-05 -9.99950921e-01 6.71527927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.49, Y:-76.36, Z:6.71 [[ 9.99097812e-01 4.12864169e-02 -9.94953135e-03 4.34895751e+01] [ 4.12845346e-02 -9.99147352e-01 -3.94587278e-04 -7.63642996e+01] [-9.95733900e-03 -1.65304846e-05 -9.99950424e-01 6.71483788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.48, Y:-76.37, Z:6.72 [[ 9.93025852e-01 1.17420212e-01 -1.05901527e-02 4.34848506e+01] [ 1.17413502e-01 -9.93082320e-01 -1.25526570e-03 -7.63732570e+01] [-1.06642869e-02 3.08438129e-06 -9.99943135e-01 6.71554963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.48, Y:-76.38, Z:6.72 [[ 9.80908425e-01 1.94189304e-01 -1.04487330e-02 4.34823073e+01] [ 1.94178182e-01 -9.80964074e-01 -2.07832871e-03 -7.63833821e+01] [-1.06534209e-02 9.73415125e-06 -9.99943251e-01 6.71521457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7303857229999 meters Centerline goodness [0,1] 0.9999776246308064 Centerline is valid? [True, True] Translation: X:43.48, Y:-76.39, Z:6.72 [[ 9.63074636e-01 2.69036068e-01 -1.03362947e-02 4.34794402e+01] [ 2.69020300e-01 -9.63130102e-01 -2.91283576e-03 -7.63920206e+01] [-1.07388545e-02 2.46051220e-05 -9.99942337e-01 6.71531228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.48, Y:-76.40, Z:6.72 [[ 9.39336680e-01 3.42849677e-01 -1.00350031e-02 4.34765840e+01] [ 3.42829738e-01 -9.39390280e-01 -3.69761341e-03 -7.64017676e+01] [-1.06945100e-02 3.30064012e-05 -9.99942812e-01 6.71557011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.48, Y:-76.41, Z:6.72 [[ 9.10349114e-01 4.13729129e-01 -9.62800977e-03 4.34751133e+01] [ 4.13705394e-01 -9.10400025e-01 -4.43195833e-03 -7.64108165e+01] [-1.05989706e-02 5.14697634e-05 -9.99943828e-01 6.71644458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.47, Y:-76.42, Z:6.72 [[ 8.75545675e-01 4.83043433e-01 -9.42404901e-03 4.34727270e+01] [ 4.83014704e-01 -8.75596390e-01 -5.26854653e-03 -7.64196949e+01] [-1.07966001e-02 6.08988848e-05 -9.99941713e-01 6.71713966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.48, Y:-76.43, Z:6.72 [[ 8.35550310e-01 5.49346412e-01 -8.61385896e-03 4.34751568e+01] [ 5.49316383e-01 -8.35594708e-01 -5.74424256e-03 -7.64321613e+01] [-1.03532740e-02 6.78698093e-05 -9.99946401e-01 6.71507769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.48, Y:-76.44, Z:6.71 [[ 7.89830708e-01 6.13282686e-01 -7.19725834e-03 4.34766833e+01] [ 6.13256555e-01 -7.89863497e-01 -5.66159812e-03 -7.64440782e+01] [-9.15701174e-03 5.79381924e-05 -9.99958072e-01 6.71310461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.48, Y:-76.46, Z:6.71 [[ 7.39241437e-01 6.73407441e-01 -6.67211760e-03 4.34788510e+01] [ 6.73379339e-01 -7.39271544e-01 -6.15218744e-03 -7.64553463e+01] [-9.07543548e-03 5.50857370e-05 -9.99958816e-01 6.71272864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.49, Y:-76.47, Z:6.71 [[ 6.83491883e-01 7.29935561e-01 -5.73782777e-03 4.34872185e+01] [ 7.29909319e-01 -6.83515965e-01 -6.18963693e-03 -7.64698465e+01] [-8.43993300e-03 4.24726406e-05 -9.99964382e-01 6.71119041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.49, Y:-76.48, Z:6.71 [[ 6.23790384e-01 7.81575486e-01 -5.03154127e-03 4.34945050e+01] [ 7.81549594e-01 -6.23810675e-01 -6.36189449e-03 -7.64823584e+01] [-8.11102993e-03 3.60895711e-05 -9.99967104e-01 6.71098956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.50, Y:-76.49, Z:6.71 [[ 5.60580850e-01 8.28088039e-01 -4.39428058e-03 4.35025603e+01] [ 8.28062120e-01 -5.60598072e-01 -6.55191732e-03 -7.64946501e+01] [-7.88898959e-03 3.41420944e-05 -9.99968881e-01 6.71099391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.030385723 meters Centerline goodness [0,1] 0.9999336723413663 Centerline is valid? [True, True] Translation: X:43.51, Y:-76.51, Z:6.71 [[ 4.94643343e-01 8.69087898e-01 -3.76679104e-03 4.35095779e+01] [ 8.69062100e-01 -4.94657683e-01 -6.69652601e-03 -7.65057282e+01] [-7.68314184e-03 3.88166818e-05 -9.99970484e-01 6.71088441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.52, Y:-76.52, Z:6.71 [[ 4.26784285e-01 9.04348874e-01 -2.87913092e-03 4.35180022e+01] [ 9.04327533e-01 -4.26793993e-01 -6.21287302e-03 -7.65154393e+01] [-6.84740050e-03 4.78792012e-05 -9.99976555e-01 6.70722675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.53, Y:-76.53, Z:6.71 [[ 3.56130327e-01 9.34433096e-01 -2.44536288e-03 4.35264167e+01] [ 9.34409898e-01 -3.56138717e-01 -6.58461477e-03 -7.65252757e+01] [-7.02377036e-03 6.00097348e-05 -9.99975331e-01 6.70731082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.54, Y:-76.53, Z:6.71 [[ 2.84941641e-01 9.58542393e-01 -2.17759539e-03 4.35393854e+01] [ 9.58511834e-01 -2.84949947e-01 -7.65454234e-03 -7.65340029e+01] [-7.95770902e-03 9.38469063e-05 -9.99968333e-01 6.70757952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.55, Y:-76.54, Z:6.71 [[ 2.10616892e-01 9.77567399e-01 -1.58311592e-03 4.35504262e+01] [ 9.77535804e-01 -2.10622814e-01 -7.86022132e-03 -7.65422862e+01] [-8.01733644e-03 1.07942885e-04 -9.99967855e-01 6.70837978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.56, Y:-76.55, Z:6.71 [[ 1.36495256e-01 9.90640114e-01 -1.09982069e-03 4.35641021e+01] [ 9.90598352e-01 -1.36499602e-01 -9.09746582e-03 -7.65491336e+01] [-9.16243967e-03 1.52280361e-04 -9.99958012e-01 6.70852533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.58, Y:-76.55, Z:6.71 [[ 5.96561106e-02 9.98218915e-01 -3.81499539e-04 4.35766171e+01] [ 9.98177394e-01 -5.96571094e-02 -9.10598597e-03 -7.65549412e+01] [-9.11252660e-03 1.62423491e-04 -9.99958467e-01 6.70883249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.59, Y:-76.56, Z:6.71 [[-1.64949140e-02 9.99863892e-01 3.39427225e-04 4.35918572e+01] [ 9.99820734e-01 1.64973564e-02 -9.29176353e-03 -7.65596629e+01] [-9.29609850e-03 1.86099536e-04 -9.99956773e-01 6.70808450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.61, Y:-76.56, Z:6.71 [[-9.42235496e-02 9.95550424e-01 1.12925597e-03 4.36105211e+01] [ 9.95502387e-01 9.42300988e-02 -9.78191925e-03 -7.65620638e+01] [-9.84480376e-03 2.02489857e-04 -9.99951518e-01 6.70750783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.63, Y:-76.56, Z:6.71 [[-1.72148718e-01 9.85069081e-01 1.92999469e-03 4.36266321e+01] [ 9.85019786e-01 1.72159415e-01 -9.85678799e-03 -7.65631633e+01] [-1.00418838e-02 2.04249542e-04 -9.99949558e-01 6.70717941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.65, Y:-76.56, Z:6.71 [[-2.49537121e-01 9.68361351e-01 2.74225724e-03 4.36467200e+01] [ 9.68311378e-01 2.49552109e-01 -9.83975874e-03 -7.65615096e+01] [-1.02127781e-02 1.99973814e-04 -9.99947828e-01 6.70683097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.66, Y:-76.56, Z:6.71 [[-3.24930826e-01 9.45731558e-01 3.43204097e-03 4.36625649e+01] [ 9.45684886e-01 3.24948894e-01 -9.39751409e-03 -7.65605583e+01] [-1.00027636e-02 1.92087257e-04 -9.99949953e-01 6.70690382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.68, Y:-76.56, Z:6.71 [[-3.99117484e-01 9.16891695e-01 3.85408524e-03 4.36810947e+01] [ 9.16852904e-01 3.99136057e-01 -8.43568945e-03 -7.65558388e+01] [-9.27291798e-03 1.66798101e-04 -9.99956992e-01 6.70673068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.70, Y:-76.55, Z:6.71 [[-4.70405536e-01 8.82440202e-01 4.23334448e-03 4.36953616e+01] [ 8.82407293e-01 4.70424561e-01 -7.62247707e-03 -7.65510650e+01] [-8.71784942e-03 1.49878625e-04 -9.99961988e-01 6.70643396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.450385723 meters Centerline goodness [0,1] 0.999978413849674 Centerline is valid? [True, True] Translation: X:43.71, Y:-76.54, Z:6.71 [[-5.39728214e-01 8.41824963e-01 4.91809350e-03 4.37122248e+01] [ 8.41792277e-01 5.39750604e-01 -7.41941482e-03 -7.65437006e+01] [-8.90039254e-03 1.35545621e-04 -9.99960382e-01 6.70635004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.72, Y:-76.54, Z:6.71 [[-6.04426816e-01 7.96641391e-01 5.54250187e-03 4.37243653e+01] [ 7.96609885e-01 6.04452213e-01 -7.08622830e-03 -7.65366766e+01] [-8.99536029e-03 1.32105365e-04 -9.99959532e-01 6.70633160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.74, Y:-76.52, Z:6.71 [[-6.64752592e-01 7.47040180e-01 5.91288982e-03 4.37414977e+01] [ 7.47012362e-01 6.64778875e-01 -6.44814409e-03 -7.65226536e+01] [-8.74778696e-03 1.30581288e-04 -9.99961729e-01 6.70577662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.76, Y:-76.51, Z:6.71 [[-7.20033122e-01 6.93904529e-01 6.98629286e-03 4.37554919e+01] [ 6.93873992e-01 7.20066997e-01 -6.51176900e-03 -7.65094509e+01] [-9.54914491e-03 1.58917556e-04 -9.99954393e-01 6.70604986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.78, Y:-76.48, Z:6.71 [[-7.66550852e-01 6.42136915e-01 7.74430098e-03 4.37758900e+01] [ 6.42106477e-01 7.66589950e-01 -6.25469189e-03 -7.64848028e+01] [-9.95307185e-03 1.78126429e-04 -9.99950451e-01 6.70661356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.80, Y:-76.46, Z:6.71 [[-8.07903442e-01 5.89255170e-01 8.38884491e-03 4.37955971e+01] [ 5.89226224e-01 8.07946964e-01 -5.84467729e-03 -7.64577890e+01] [-1.02217481e-02 2.20992510e-04 -9.99947732e-01 6.70711756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.81, Y:-76.43, Z:6.71 [[-8.46378652e-01 5.32503311e-01 9.13240479e-03 4.38131772e+01] [ 5.32475533e-01 8.46427882e-01 -5.44498754e-03 -7.64281930e+01] [-1.06293959e-02 2.54260895e-04 -9.99943474e-01 6.70597091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.83, Y:-76.40, Z:6.71 [[-8.80150256e-01 4.74571535e-01 1.08344805e-02 4.38283463e+01] [ 4.74540257e-01 8.80216874e-01 -5.45891017e-03 -7.63964750e+01] [-1.21273359e-02 3.36735963e-04 -9.99926405e-01 6.70660060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.84, Y:-76.37, Z:6.71 [[-9.10919050e-01 4.12415973e-01 1.18130759e-02 4.38374783e+01] [ 4.12386609e-01 9.10995568e-01 -4.93561616e-03 -7.63673051e+01] [-1.27971868e-02 3.75607542e-04 -9.99918042e-01 6.70839894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.85, Y:-76.33, Z:6.71 [[-9.37205688e-01 3.48550463e-01 1.25727441e-02 4.38453481e+01] [ 3.48525003e-01 9.37289925e-01 -4.23316208e-03 -7.63295563e+01] [-1.32597770e-02 4.14572084e-04 -9.99911999e-01 6.70819977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.85, Y:-76.30, Z:6.71 [[-9.59563575e-01 2.81202108e-01 1.27718653e-02 4.38487208e+01] [ 2.81182900e-01 9.59648479e-01 -3.31255647e-03 -7.62960391e+01] [-1.31879989e-02 4.12621575e-04 -9.99912950e-01 6.70801669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.99, Y:-75.74, Z:5.77 [[-9.57744794e-01 -2.87369901e-01 1.19770623e-02 4.39918580e+01] [ 2.87341769e-01 -9.57819583e-01 -4.04402223e-03 -7.57423561e+01] [ 1.26339951e-02 -4.31630971e-04 9.99920095e-01 5.76961749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.810385723 meters Centerline goodness [0,1] 0.9999791000480699 Centerline is valid? [True, True] Translation: X:43.80, Y:-76.27, Z:6.71 [[-9.62032928e-01 2.72695102e-01 1.14029602e-02 4.38003595e+01] [ 2.72679742e-01 9.62100455e-01 -2.91077545e-03 -7.62699232e+01] [-1.17645474e-02 3.09094417e-04 -9.99930748e-01 6.70705165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.79, Y:-76.23, Z:6.71 [[-9.79462491e-01 2.01316277e-01 1.11797292e-02 4.37943107e+01] [ 2.01306308e-01 9.79526255e-01 -2.02159770e-03 -7.62348565e+01] [-1.13578188e-02 2.70470899e-04 -9.99935461e-01 6.70656560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.89, Y:-75.71, Z:5.77 [[-9.74217507e-01 -2.25352188e-01 1.08000295e-02 4.38859298e+01] [ 2.25335147e-01 -9.74277329e-01 -2.78537108e-03 -7.57080743e+01] [ 1.11499133e-02 -2.79931040e-04 9.99937799e-01 5.77103517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.74, Y:-76.21, Z:6.71 [[-9.81566789e-01 1.90810115e-01 1.08691965e-02 4.37423004e+01] [ 1.90800532e-01 9.81626948e-01 -1.92156056e-03 -7.62142962e+01] [-1.10361494e-02 1.87708436e-04 -9.99939082e-01 6.70648472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.83, Y:-75.71, Z:5.77 [[-9.73794977e-01 -2.27210380e-01 9.93909600e-03 4.38270336e+01] [ 2.27196155e-01 -9.73845671e-01 -2.55257631e-03 -7.57065541e+01] [ 1.02591175e-02 -2.27561598e-04 9.99947348e-01 5.77174278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.69, Y:-76.20, Z:6.71 [[-9.83247049e-01 1.82035976e-01 9.38848772e-03 4.36879146e+01] [ 1.82028786e-01 9.83291864e-01 -1.62188695e-03 -7.61976324e+01] [-9.52686537e-03 1.14259464e-04 -9.99954612e-01 6.70547686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.68, Y:-76.16, Z:6.70 [[-9.93928465e-01 1.09672948e-01 8.83466109e-03 4.36826635e+01] [ 1.09669405e-01 9.93967724e-01 -8.85883590e-04 -7.61615134e+01] [-8.87852544e-03 8.83871103e-05 -9.99960581e-01 6.70411263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.72, Y:-75.67, Z:5.77 [[-9.87450695e-01 -1.57716616e-01 8.16054976e-03 4.37237588e+01] [ 1.57710211e-01 -9.87484407e-01 -1.42658090e-03 -7.56721772e+01] [ 8.28341115e-03 -1.21676279e-04 9.99965685e-01 5.77280991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.63, Y:-76.15, Z:6.71 [[-9.94548449e-01 1.03986102e-01 7.76363312e-03 4.36276910e+01] [ 1.03983439e-01 9.94578748e-01 -7.46973106e-04 -7.61519477e+01] [-7.79921933e-03 6.43883286e-05 -9.99969584e-01 6.70518606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.67, Y:-75.67, Z:5.77 [[-9.87850458e-01 -1.55224714e-01 7.53399693e-03 4.36692466e+01] [ 1.55219631e-01 -9.87879184e-01 -1.25837529e-03 -7.56729993e+01] [ 7.63800968e-03 -7.36623817e-05 9.99970827e-01 5.77366218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.57, Y:-76.15, Z:6.71 [[-9.94912371e-01 1.00419119e-01 8.08544287e-03 4.35729258e+01] [ 1.00416370e-01 9.94945223e-01 -7.46187558e-04 -7.61455927e+01] [-8.11950425e-03 6.95195914e-05 -9.99967034e-01 6.70582110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.56, Y:-76.11, Z:6.71 [[-9.99520101e-01 2.97355889e-02 8.68119922e-03 4.35622460e+01] [ 2.97351342e-02 9.99557797e-01 -1.81468132e-04 -7.61145691e+01] [-8.68275643e-03 7.67555784e-05 -9.99962301e-01 6.70505907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.54, Y:-76.08, Z:6.71 [[-9.99091889e-01 -4.15032867e-02 9.63718609e-03 4.35449985e+01] [-4.15005408e-02 9.99138364e-01 4.84822314e-04 -7.60845000e+01] [-9.64900406e-03 8.44336071e-05 -9.99953444e-01 6.70568718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.53, Y:-76.06, Z:6.71 [[-9.93447868e-01 -1.13804448e-01 1.04823994e-02 4.35306703e+01] [-1.13797274e-01 9.93503166e-01 1.28033400e-03 -7.60551388e+01] [-1.05600047e-02 7.90766153e-05 -9.99944239e-01 6.70641776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.47, Y:-75.59, Z:5.77 [[-9.98099602e-01 6.07954369e-02 1.00548496e-02 4.34689665e+01] [-6.07934474e-02 -9.98150241e-01 5.03666646e-04 -7.55885019e+01] [ 1.00668712e-02 -1.08559493e-04 9.99949322e-01 5.77150709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.46, Y:-76.06, Z:6.70 [[-9.92793518e-01 -1.19521928e-01 8.69136657e-03 4.34595732e+01] [-1.19516850e-01 9.92831560e-01 1.10318308e-03 -7.60627926e+01] [-8.76091760e-03 5.64682566e-05 -9.99961621e-01 6.70470044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.44, Y:-76.04, Z:6.70 [[-9.81728803e-01 -1.90091455e-01 8.59052128e-03 4.34373828e+01] [-1.90083675e-01 9.81766386e-01 1.72080414e-03 -7.60369533e+01] [-8.76099519e-03 5.64451344e-05 -9.99961620e-01 6.70470156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.41, Y:-76.02, Z:6.70 [[-9.65659932e-01 -2.59685698e-01 8.01459479e-03 4.34081621e+01] [-2.59676273e-01 9.65693189e-01 2.21325291e-03 -7.60151336e+01] [-8.31438973e-03 5.60495540e-05 -9.99965433e-01 6.70448907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.37, Y:-76.00, Z:6.70 [[-9.44967442e-01 -3.27075053e-01 7.64478566e-03 4.33720221e+01] [-3.27063773e-01 9.44998363e-01 2.71724980e-03 -7.59989443e+01] [-8.11305456e-03 6.73801530e-05 -9.99967086e-01 6.70373200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.32, Y:-75.99, Z:6.70 [[-9.19193287e-01 -3.93738554e-01 7.32480371e-03 4.33192153e+01] [-3.93725399e-01 9.19222468e-01 3.21945627e-03 -7.59888521e+01] [-8.00074819e-03 7.53413263e-05 -9.99967991e-01 6.70330175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.25, Y:-75.99, Z:6.70 [[-8.88694164e-01 -4.58443516e-01 7.22678711e-03 4.32515538e+01] [-4.58427517e-01 8.88723542e-01 3.83114690e-03 -7.59896018e+01] [-8.17898029e-03 9.17598206e-05 -9.99966547e-01 6.70344449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.18, Y:-76.00, Z:6.70 [[-8.53557648e-01 -5.20958540e-01 6.44524496e-03 4.31816451e+01] [-5.20942797e-01 8.53581976e-01 4.05124731e-03 -7.59983023e+01] [-7.61207681e-03 1.00369187e-04 -9.99971023e-01 6.70287839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.11, Y:-76.02, Z:6.70 [[-8.13157033e-01 -5.82014792e-01 5.86698411e-03 4.31050714e+01] [-5.81998741e-01 8.13178192e-01 4.32366001e-03 -7.60158959e+01] [-7.28733761e-03 1.01237186e-04 -9.99973442e-01 6.70249428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.03, Y:-76.04, Z:6.70 [[-7.67660952e-01 -6.40836658e-01 5.00413708e-03 4.30251659e+01] [-6.40822264e-01 7.67677256e-01 4.29605594e-03 -7.60435159e+01] [-6.59463236e-03 9.11519404e-05 -9.99978251e-01 6.70181376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.530385723 meters Centerline goodness [0,1] 0.999937293591405 Centerline is valid? [True, True] Translation: X:42.94, Y:-76.08, Z:6.70 [[-7.17700316e-01 -6.96334409e-01 4.96465855e-03 4.29387674e+01] [-6.96316828e-01 7.17717481e-01 4.94901585e-03 -7.60833164e+01] [-7.00939225e-03 9.49349497e-05 -9.99975429e-01 6.70264080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.86, Y:-76.13, Z:6.70 [[-6.61946110e-01 -7.49540650e-01 4.02017832e-03 4.28571331e+01] [-7.49526183e-01 6.61958314e-01 4.65748146e-03 -7.61261008e+01] [-6.15216215e-03 6.97728199e-05 -9.99981073e-01 6.70152211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.78, Y:-76.18, Z:6.70 [[-6.01786115e-01 -7.98648020e-01 3.84853906e-03 4.27757812e+01] [-7.98631090e-01 6.01798418e-01 5.20051212e-03 -7.61824123e+01] [-6.46942342e-03 5.60330400e-05 -9.99979072e-01 6.70314774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.70, Y:-76.25, Z:6.70 [[-5.38777589e-01 -8.42439941e-01 3.69531294e-03 4.26956808e+01] [-8.42419497e-01 5.38790259e-01 5.86930034e-03 -7.62461172e+01] [-6.93553165e-03 4.92438185e-05 -9.99975948e-01 6.70294342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.62, Y:-76.32, Z:6.70 [[-4.71318591e-01 -8.81957006e-01 3.25956099e-03 4.26169888e+01] [-8.81935483e-01 4.71329862e-01 6.16168308e-03 -7.63209968e+01] [-6.97066800e-03 2.93932954e-05 -9.99975704e-01 6.70218444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.55, Y:-76.40, Z:6.70 [[-4.02496394e-01 -9.15417299e-01 2.79680459e-03 4.25457563e+01] [-9.15394822e-01 4.02506111e-01 6.41483254e-03 -7.64017372e+01] [-6.99797961e-03 2.17665231e-05 -9.99975514e-01 6.70256231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.48, Y:-76.49, Z:6.70 [[-3.31820273e-01 -9.43339104e-01 2.57707508e-03 4.24809228e+01] [-9.43310154e-01 3.31830280e-01 7.39049598e-03 -7.64869694e+01] [-7.82689540e-03 2.13353117e-05 -9.99969369e-01 6.70234567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.42, Y:-76.58, Z:6.70 [[-2.60154758e-01 -9.65564501e-01 2.16734351e-03 4.24219807e+01] [-9.65530092e-01 2.60163784e-01 8.15154295e-03 -7.65818821e+01] [-8.43470479e-03 2.80273023e-05 -9.99964427e-01 6.70310236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.37, Y:-76.68, Z:6.70 [[-1.88184383e-01 -9.82132512e-01 1.53863083e-03 4.23722902e+01] [-9.82097756e-01 1.88190667e-01 8.26259795e-03 -7.66813119e+01] [-8.40452204e-03 4.38060106e-05 -9.99964681e-01 6.70246424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.33, Y:-76.79, Z:6.70 [[-1.14938841e-01 -9.93372203e-01 8.54469673e-04 4.23302473e+01] [-9.93341055e-01 1.14942003e-01 7.86664076e-03 -7.67891317e+01] [-7.91271671e-03 5.54027618e-05 -9.99968693e-01 6.70284206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.30, Y:-76.90, Z:6.70 [[-4.04426283e-02 -9.99181826e-01 2.69669356e-04 4.22952271e+01] [-9.99146864e-01 4.04434691e-02 8.35885215e-03 -7.68954143e+01] [-8.36291951e-03 6.86146587e-05 -9.99965028e-01 6.70335424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.79, Y:-76.98, Z:5.77 [[-8.96814848e-02 9.95970140e-01 8.43196398e-04 4.17900811e+01] [-9.95928780e-01 -8.96854449e-02 9.07673433e-03 -7.69800455e+01] [ 9.11577881e-03 -2.57485479e-05 9.99958450e-01 5.77311161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.29, Y:-77.15, Z:6.70 [[-3.54489214e-02 -9.99371464e-01 2.26500254e-04 4.22898181e+01] [-9.99326004e-01 3.54494694e-02 9.53273147e-03 -7.71492161e+01] [-9.53476912e-03 1.11577454e-04 -9.99954537e-01 6.70413558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.26, Y:-77.27, Z:6.70 [[ 3.97268641e-02 -9.99210462e-01 -4.79541535e-04 4.22642852e+01] [-9.99168435e-01 -3.97295917e-02 9.16504365e-03 -7.72653354e+01] [-9.17685948e-03 1.15044321e-04 -9.99957885e-01 6.70370620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.25, Y:-77.38, Z:6.70 [[ 1.16218705e-01 -9.93223057e-01 -1.08295545e-03 4.22465734e+01] [-9.93187651e-01 -1.16223707e-01 8.38685767e-03 -7.73817517e+01] [-8.45588550e-03 1.00868245e-04 -9.99964243e-01 6.70348261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.24, Y:-77.50, Z:6.70 [[ 1.93101028e-01 -9.81177569e-01 -1.60347568e-03 4.22370831e+01] [-9.81147122e-01 -1.93107669e-01 7.72997879e-03 -7.74972847e+01] [-7.89412525e-03 8.05786964e-05 -9.99968838e-01 6.70283209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.24, Y:-77.62, Z:6.70 [[ 2.68042603e-01 -9.63404554e-01 -2.19733504e-03 4.22374704e+01] [-9.63374381e-01 -2.68051600e-01 7.62507388e-03 -7.76179546e+01] [-7.93503007e-03 7.30116350e-05 -9.99968515e-01 6.70328854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.040385723 meters Centerline goodness [0,1] 0.9998743928990119 Centerline is valid? [True, True] Translation: X:42.25, Y:-77.73, Z:6.70 [[ 3.41664067e-01 -9.39816689e-01 -3.20254469e-03 4.22455864e+01] [-9.39777359e-01 -3.41679068e-01 8.59824777e-03 -7.77333140e+01] [-9.17501924e-03 7.19666858e-05 -9.99957906e-01 6.70482120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.26, Y:-77.85, Z:6.70 [[ 4.12709525e-01 -9.10857440e-01 -3.09390646e-03 4.22615821e+01] [-9.10832800e-01 -4.12721118e-01 6.69997468e-03 -7.78463102e+01] [-7.37964232e-03 5.28881099e-05 -9.99972769e-01 6.70260105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.29, Y:-77.96, Z:6.70 [[ 4.80621014e-01 -8.76919583e-01 -3.93525545e-03 4.22866256e+01] [-8.76891155e-01 -4.80637121e-01 7.06124018e-03 -7.79567254e+01] [-8.08356964e-03 5.70102797e-05 -9.99967326e-01 6.70393566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.32, Y:-78.06, Z:6.70 [[ 5.45171418e-01 -8.38308584e-01 -5.18102499e-03 4.23176548e+01] [-8.38271970e-01 -5.45196031e-01 7.83529235e-03 -7.80608737e+01] [-9.39306710e-03 7.15305845e-05 -9.99955882e-01 6.70368063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.36, Y:-78.16, Z:6.70 [[ 6.06344487e-01 -7.95180623e-01 -5.84288824e-03 4.23550760e+01] [-7.95144964e-01 -6.06372633e-01 7.53102316e-03 -7.81620416e+01] [-9.53149122e-03 7.95487873e-05 -9.99954571e-01 6.70345980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.40, Y:-78.26, Z:6.70 [[ 6.63060874e-01 -7.48533072e-01 -6.96552481e-03 4.24033061e+01] [-7.48493475e-01 -6.63097451e-01 7.69997459e-03 -7.82595557e+01] [-1.03825074e-02 1.08097986e-04 -9.99946095e-01 6.70393967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.45, Y:-78.35, Z:6.70 [[ 7.15626875e-01 -6.98439870e-01 -7.74102359e-03 4.24526746e+01] [-6.98401131e-01 -7.15668728e-01 7.35747287e-03 -7.83463272e+01] [-1.06787609e-02 1.41134305e-04 -9.99942971e-01 6.70346935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.45, Y:-78.36, Z:6.70 [[ 7.67070322e-01 -6.41508266e-01 -8.38251568e-03 4.24513535e+01] [-6.41472212e-01 -7.67116106e-01 6.80308094e-03 -7.83598369e+01] [-1.07945954e-02 1.58709390e-04 -9.99941724e-01 6.70438123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.45, Y:-78.37, Z:6.70 [[ 8.13996256e-01 -5.80793967e-01 -9.40546272e-03 4.24508737e+01] [-5.80757804e-01 -8.14050572e-01 6.48377794e-03 -7.83745708e+01] [-1.14222614e-02 1.84524900e-04 -9.99934747e-01 6.70353344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.45, Y:-78.39, Z:6.70 [[ 8.55731424e-01 -5.17330490e-01 -9.63817555e-03 4.24525901e+01] [-5.17300368e-01 -8.55785675e-01 5.58634746e-03 -7.83863007e+01] [-1.11382004e-02 2.05418698e-04 -9.99937947e-01 6.70384026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.46, Y:-78.40, Z:6.70 [[ 8.92922044e-01 -4.50099662e-01 -1.00258360e-02 4.24563565e+01] [-4.50074048e-01 -8.92978301e-01 4.80683329e-03 -7.83970471e+01] [-1.11164080e-02 2.20241192e-04 -9.99938187e-01 6.70280481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.46, Y:-78.41, Z:6.70 [[ 9.25222071e-01 -3.79322534e-01 -8.86195030e-03 4.24584588e+01] [-3.79307126e-01 -9.25264491e-01 3.42437539e-03 -7.84113648e+01] [-9.49859068e-03 1.93093204e-04 -9.99954869e-01 6.70027571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.46, Y:-78.43, Z:6.70 [[ 9.51914918e-01 -3.06243263e-01 -8.54710797e-03 4.24616074e+01] [-3.06232658e-01 -9.51953271e-01 2.55526729e-03 -7.84271528e+01] [-8.91898078e-03 1.85006538e-04 -9.99960208e-01 6.69996304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.430385723 meters Centerline goodness [0,1] 0.9999369376944421 Centerline is valid? [True, True] Translation: X:42.47, Y:-78.44, Z:6.70 [[ 9.72942589e-01 -2.30865741e-01 -9.15034999e-03 4.24658406e+01] [-2.30857401e-01 -9.72985597e-01 1.97188357e-03 -7.84441092e+01] [-9.35839911e-03 1.93896509e-04 -9.99956191e-01 6.70038209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.47, Y:-78.46, Z:6.70 [[ 9.88103442e-01 -1.53539304e-01 -8.79039611e-03 4.24686516e+01] [-1.53534845e-01 -9.88142525e-01 1.18391316e-03 -7.84591147e+01] [-8.86794142e-03 1.79803428e-04 -9.99960663e-01 6.69952179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.47, Y:-78.47, Z:6.70 [[ 9.97221501e-01 -7.41237026e-02 -7.41320026e-03 4.24716889e+01] [-7.41226890e-02 -9.97249045e-01 4.11771712e-04 -7.84742492e+01] [-7.42332892e-03 1.38858732e-04 -9.99972437e-01 6.69822677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.48, Y:-78.49, Z:6.70 [[ 9.99964767e-01 5.38790437e-03 -6.43703890e-03 4.24759992e+01] [ 5.38706558e-03 -9.99985479e-01 -1.47639713e-04 -7.84886159e+01] [-6.43774089e-03 1.12957761e-04 -9.99979271e-01 6.69764977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.48, Y:-78.50, Z:6.70 [[ 9.96194147e-01 8.70341893e-02 -4.71921596e-03 4.24803628e+01] [ 8.70328908e-02 -9.96205323e-01 -4.80216801e-04 -7.85020445e+01] [-4.74310334e-03 6.76621591e-05 -9.99988749e-01 6.69591083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.49, Y:-78.51, Z:6.69 [[ 9.85810810e-01 1.67818742e-01 -3.73059535e-03 4.24865358e+01] [ 1.67817376e-01 -9.85817868e-01 -6.78274703e-04 -7.85144436e+01] [-3.79151476e-03 4.25918100e-05 -9.99992811e-01 6.69465942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.49, Y:-78.53, Z:6.69 [[ 9.69358403e-01 2.45630774e-01 -3.13202478e-03 4.24931967e+01] [ 2.45629382e-01 -9.69363462e-01 -8.27436128e-04 -7.85260665e+01] [-3.23931416e-03 3.27648522e-05 -9.99994753e-01 6.69469080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.50, Y:-78.54, Z:6.69 [[ 9.46397374e-01 3.22997083e-01 -2.21250808e-03 4.25006894e+01] [ 3.22996154e-01 -9.46399960e-01 -7.74835263e-04 -7.85371777e+01] [-2.34418709e-03 1.86704573e-05 -9.99997252e-01 6.69415055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.51, Y:-78.55, Z:6.69 [[ 9.17709673e-01 3.97249594e-01 -1.31009195e-03 4.25101963e+01] [ 3.97249173e-01 -9.17710608e-01 -5.78352415e-04 -7.85500177e+01] [-1.43203554e-03 1.03266615e-05 -9.99998975e-01 6.69396503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.52, Y:-78.56, Z:6.69 [[ 8.83090936e-01 4.69201701e-01 -4.03009767e-04 4.25213046e+01] [ 4.69201650e-01 -8.83091028e-01 -2.18424327e-04 -7.85626910e+01] [-4.58379375e-04 3.79569521e-06 -9.99999895e-01 6.69306160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.53, Y:-78.57, Z:6.69 [[ 8.43461863e-01 5.37188937e-01 -3.62987318e-04 4.25335258e+01] [ 5.37188885e-01 -8.43461941e-01 -2.35345128e-04 -7.85730514e+01] [-4.32590787e-04 3.51188796e-06 -9.99999907e-01 6.69253663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.55, Y:-78.58, Z:6.69 [[ 7.99020668e-01 6.01303114e-01 -7.32724140e-04 4.25457587e+01] [ 6.01302854e-01 -7.99021004e-01 -5.58715344e-04 -7.85832228e+01] [-9.21419254e-04 5.83599048e-06 -9.99999576e-01 6.69338472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.56, Y:-78.59, Z:6.69 [[ 7.49952364e-01 6.61490952e-01 -1.08256967e-03 4.25583471e+01] [ 6.61490245e-01 -7.49953146e-01 -9.67159106e-04 -7.85919960e+01] [-1.45164353e-03 9.21398277e-06 -9.99998946e-01 6.69450258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.820385723 meters Centerline goodness [0,1] 0.9999577131258457 Centerline is valid? [True, True] Translation: X:42.57, Y:-78.60, Z:6.69 [[ 6.97573027e-01 7.16513551e-01 -4.50414280e-04 4.25707187e+01] [ 7.16513396e-01 -6.97573172e-01 -4.72174240e-04 -7.85980242e+01] [-6.52516160e-04 6.64814822e-06 -9.99999787e-01 6.69450404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.58, Y:-78.60, Z:6.69 [[ 6.40404613e-01 7.68037620e-01 3.81779183e-04 4.25841240e+01] [ 7.68037480e-01 -6.40404727e-01 4.63543764e-04 -7.86042070e+01] [ 6.00512242e-04 -3.63484258e-06 -9.99999820e-01 6.69408213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.880385723 meters Centerline goodness [0,1] 0.9999153385400131 Centerline is valid? [True, True] Translation: X:42.60, Y:-78.61, Z:6.69 [[ 5.79793673e-01 8.14763116e-01 6.02329360e-04 4.25964844e+01] [ 8.14762659e-01 -5.79793985e-01 8.63026887e-04 -7.86089933e+01] [ 1.05238942e-03 -9.62205792e-06 -9.99999446e-01 6.69459879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.61, Y:-78.61, Z:6.69 [[ 5.14224993e-01 8.57654774e-01 9.72545439e-04 4.26105529e+01] [ 8.57653170e-01 -5.14225912e-01 1.65897193e-03 -7.86132984e+01] [ 1.92293326e-03 -1.89781494e-05 -9.99998151e-01 6.69307897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.63, Y:-78.62, Z:6.69 [[ 4.45295211e-01 8.95382950e-01 1.24402348e-03 4.26263107e+01] [ 8.95379277e-01 -4.45296948e-01 2.56496534e-03 -7.86171504e+01] [ 2.85058609e-03 -2.82939352e-05 -9.99995937e-01 6.69330806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9703857229999 meters Centerline goodness [0,1] 0.99993653211475 Centerline is valid? [True, True] Translation: X:42.64, Y:-78.62, Z:6.70 [[ 3.73758291e-01 9.27525389e-01 1.18031475e-03 4.26420822e+01] [ 9.27520489e-01 -3.73760154e-01 3.01511809e-03 -7.86204457e+01] [ 3.23775320e-03 -3.21592710e-05 -9.99994758e-01 6.69508120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.000385723 meters Centerline goodness [0,1] 0.9998732197946161 Centerline is valid? [True, True] Translation: X:42.66, Y:-78.62, Z:6.70 [[ 3.00030006e-01 9.53929332e-01 9.08346424e-04 4.26581150e+01] [ 9.53924639e-01 -3.00031379e-01 2.99243548e-03 -7.86224842e+01] [ 3.12710441e-03 -3.13263988e-05 -9.99995110e-01 6.69622926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.030385723 meters Centerline goodness [0,1] 0.9998738992454972 Centerline is valid? [True, True] Translation: X:42.67, Y:-78.62, Z:6.70 [[ 2.24137294e-01 9.74557450e-01 4.99564879e-04 4.26717663e+01] [ 9.74554805e-01 -2.24137849e-01 2.27092000e-03 -7.86239241e+01] [ 2.32511340e-03 -2.21445093e-05 -9.99997297e-01 6.69655301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.68, Y:-78.62, Z:6.70 [[ 1.46728334e-01 9.89176731e-01 4.35963026e-04 4.26844369e+01] [ 9.89171748e-01 -1.46728979e-01 3.13996510e-03 -7.86230843e+01] [ 3.16994882e-03 -2.94795399e-05 -9.99994975e-01 6.69518796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0903857229999 meters Centerline goodness [0,1] 0.9998944925089681 Centerline is valid? [True, True] Translation: X:42.69, Y:-78.62, Z:6.70 [[ 6.94836716e-02 9.97583070e-01 1.94890320e-04 4.26949861e+01] [ 9.97577710e-01 -6.94839372e-02 3.27036572e-03 -7.86226188e+01] [ 3.27600323e-03 -3.28187787e-05 -9.99994633e-01 6.69732837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.120385723 meters Centerline goodness [0,1] 0.9998516383366538 Centerline is valid? [True, True] Translation: X:42.71, Y:-78.62, Z:6.70 [[-8.81005189e-03 9.99961188e-01 -7.11425840e-05 4.27066140e+01] [ 9.99954149e-01 8.81025683e-03 3.75224359e-03 -7.86204235e+01] [ 3.75272474e-03 -3.80818613e-05 -9.99992958e-01 6.69827519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.72, Y:-78.62, Z:6.70 [[-8.84241888e-02 9.96082843e-01 -3.65878877e-04 4.27203721e+01] [ 9.96075794e-01 8.84249396e-02 3.74729182e-03 -7.86170478e+01] [ 3.76496591e-03 -3.30918530e-05 -9.99992912e-01 6.69655971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.73, Y:-78.61, Z:6.70 [[-1.66160820e-01 9.86098448e-01 -6.58219371e-04 4.27339842e+01] [ 9.86091480e-01 1.66162120e-01 3.70706355e-03 -7.86127257e+01] [ 3.76490074e-03 -3.30957935e-05 -9.99992912e-01 6.69656029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.210385723 meters Centerline goodness [0,1] 0.9998941014508101 Centerline is valid? [True, True] Translation: X:42.75, Y:-78.61, Z:6.70 [[-2.43138945e-01 9.69991170e-01 -7.63698314e-04 4.27473233e+01] [ 9.69986711e-01 2.43140143e-01 2.94136254e-03 -7.86068814e+01] [ 3.03878141e-03 -2.56174310e-05 -9.99995383e-01 6.69876892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.76, Y:-78.60, Z:6.70 [[-3.20963888e-01 9.47090966e-01 -9.40243436e-04 4.27599491e+01] [ 9.47087050e-01 3.20965265e-01 2.72382633e-03 -7.86006051e+01] [ 2.88149680e-03 -1.62424918e-05 -9.99995848e-01 6.69782971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.77, Y:-78.59, Z:6.70 [[-3.96077469e-01 9.18216054e-01 -1.38455885e-03 4.27714736e+01] [ 9.18210555e-01 3.96079889e-01 3.17791932e-03 -7.85943078e+01] [ 3.46641245e-03 -1.26143053e-05 -9.99993992e-01 6.69879449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.78, Y:-78.59, Z:6.70 [[-4.67507587e-01 8.83987224e-01 -1.80110729e-03 4.27817977e+01] [ 8.83980753e-01 4.67511056e-01 3.38254103e-03 -7.85859753e+01] [ 3.83216062e-03 -1.07805859e-05 -9.99992657e-01 6.69897632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.79, Y:-78.58, Z:6.70 [[-5.36092153e-01 8.44156150e-01 -2.36621880e-03 4.27913983e+01] [ 8.44147996e-01 5.36097375e-01 3.71019387e-03 -7.85764074e+01] [ 4.40050666e-03 -8.43304054e-06 -9.99990318e-01 6.69924201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.80, Y:-78.57, Z:6.70 [[-6.00727112e-01 7.99450362e-01 -2.46070623e-03 4.28003442e+01] [ 7.99443702e-01 6.00732152e-01 3.26338723e-03 -7.85677915e+01] [ 4.08714145e-03 -6.79090843e-06 -9.99991648e-01 6.69940726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.81, Y:-78.56, Z:6.70 [[-6.61945286e-01 7.49549795e-01 -1.88235424e-03 4.28071074e+01] [ 7.49546776e-01 6.61947962e-01 2.12756810e-03 -7.85582688e+01] [ 2.84073878e-03 -2.57887457e-06 -9.99995965e-01 6.70014064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.420385723 meters Centerline goodness [0,1] 0.9999788207387327 Centerline is valid? [True, True] Translation: X:42.81, Y:-78.55, Z:6.70 [[-7.18640520e-01 6.95379399e-01 -1.81526954e-03 4.28133710e+01] [ 6.95377187e-01 7.18642813e-01 1.75377481e-03 -7.85484078e+01] [ 2.52406928e-03 -1.96338972e-06 -9.99996815e-01 6.70094132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.83, Y:-78.53, Z:6.70 [[-7.66637848e-01 6.42076714e-01 -1.97561587e-03 4.28291703e+01] [ 6.42074581e-01 7.66640394e-01 1.65508770e-03 -7.85257715e+01] [ 2.57728020e-03 3.60140715e-07 -9.99996679e-01 6.70025190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4803857229999 meters Centerline goodness [0,1] 0.9999788090697181 Centerline is valid? [True, True] Translation: X:42.84, Y:-78.50, Z:6.70 [[-8.10014972e-01 5.86404824e-01 -2.26447426e-03 4.28447468e+01] [ 5.86402534e-01 8.10018137e-01 1.63871567e-03 -7.85031284e+01] [ 2.79521599e-03 -5.09219463e-07 -9.99996093e-01 6.70033163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.86, Y:-78.48, Z:6.70 [[-8.49374370e-01 5.27783843e-01 -2.71919202e-03 4.28563561e+01] [ 5.27781145e-01 8.49378723e-01 1.68761101e-03 -7.84768647e+01] [ 3.20031767e-03 -1.72474024e-06 -9.99994879e-01 6.69940612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.86, Y:-78.45, Z:6.70 [[-8.84051760e-01 4.67379035e-01 -3.05350762e-03 4.28620602e+01] [ 4.67376271e-01 8.84057033e-01 1.60736492e-03 -7.84490126e+01] [ 3.45072355e-03 -6.14321995e-06 -9.99994046e-01 6.69909022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.15, Y:-77.92, Z:5.78 [[-8.53332827e-01 -5.21359304e-01 -2.74989781e-03 4.31511511e+01] [ 5.21356525e-01 -8.53337258e-01 1.70222710e-03 -7.79178391e+01] [-3.23406220e-03 1.88890977e-05 9.99994770e-01 5.77812195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.83, Y:-78.44, Z:6.70 [[-8.84345452e-01 4.66828197e-01 -2.13434334e-03 4.28291204e+01] [ 4.66826868e-01 8.84348028e-01 1.11403854e-03 -7.84351977e+01] [ 2.40756693e-03 -1.11739016e-05 -9.99997102e-01 6.70026482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.630385723 meters Centerline goodness [0,1] 0.9999146994220885 Centerline is valid? [True, True] Translation: X:42.83, Y:-78.41, Z:6.70 [[-9.14588194e-01 4.04383917e-01 -1.44357221e-03 4.28337383e+01] [ 4.04383429e-01 9.14589333e-01 6.28118553e-04 -7.84071477e+01] [ 1.57427679e-03 -9.28686865e-06 -9.99998761e-01 6.70211508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.84, Y:-78.38, Z:6.70 [[-9.40520854e-01 3.39733986e-01 -1.15847265e-03 4.28443131e+01] [ 3.39733740e-01 9.40521567e-01 4.09395679e-04 -7.83813886e+01] [ 1.22865414e-03 -8.52707314e-06 -9.99999245e-01 6.70042137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.690385723 meters Centerline goodness [0,1] 0.9999360859005496 Centerline is valid? [True, True] Translation: X:42.85, Y:-78.35, Z:6.70 [[-9.61862408e-01 2.73529971e-01 -1.43612384e-03 4.28494410e+01] [ 2.73529686e-01 9.61863480e-01 3.95153708e-04 -7.83524502e+01] [ 1.48944146e-03 -1.27390054e-05 -9.99998891e-01 6.70175823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7203857229999 meters Centerline goodness [0,1] 0.9999359234498815 Centerline is valid? [True, True] Translation: X:42.85, Y:-78.32, Z:6.70 [[-9.78614987e-01 2.05693564e-01 -1.69278761e-03 4.28518404e+01] [ 2.05693286e-01 9.78616451e-01 3.38573863e-04 -7.83239305e+01] [ 1.72623226e-03 -1.68615885e-05 -9.99998510e-01 6.70149158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.85, Y:-78.29, Z:6.70 [[-9.90774827e-01 1.35509925e-01 -1.51714303e-03 4.28514750e+01] [ 1.35509788e-01 9.90775989e-01 1.92851947e-04 -7.82942624e+01] [ 1.52928224e-03 -1.45148766e-05 -9.99998831e-01 6.70029661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.93, Y:-77.68, Z:5.78 [[-9.83341431e-01 -1.81764442e-01 -1.14825461e-03 4.29274508e+01] [ 1.81764277e-01 -9.83342101e-01 2.46706127e-04 -7.76838728e+01] [-1.17396950e-03 3.38846866e-05 9.99999310e-01 5.77704596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.79, Y:-78.29, Z:6.70 [[-9.91450386e-01 1.30480453e-01 -9.91620453e-04 4.27941892e+01] [ 1.30480395e-01 9.91450882e-01 1.22404098e-04 -7.82875271e+01] [ 9.99114314e-04 -8.02943846e-06 -9.99999501e-01 6.70067264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.87, Y:-77.68, Z:5.78 [[-9.83801117e-01 -1.79259605e-01 -1.16485927e-03 4.28684880e+01] [ 1.79259482e-01 -9.83801806e-01 2.09908838e-04 -7.76767155e+01] [-1.18361883e-03 -2.30352129e-06 9.99999300e-01 5.77724091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.74, Y:-78.28, Z:6.70 [[-9.92149024e-01 1.25054362e-01 -1.31179360e-03 4.27375045e+01] [ 1.25054265e-01 9.92149891e-01 1.56162526e-04 -7.82812038e+01] [ 1.32102468e-03 -9.10888642e-06 -9.99999127e-01 6.70028445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.81, Y:-77.67, Z:5.78 [[-9.84283763e-01 -1.76585814e-01 -1.71025810e-03 4.28075080e+01] [ 1.76585573e-01 -9.84285249e-01 2.91978613e-04 -7.76711143e+01] [-1.73494110e-03 -1.46170985e-05 9.99998495e-01 5.77770556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.67, Y:-78.27, Z:6.70 [[-9.92778736e-01 1.19935124e-01 -2.43884210e-03 4.26726458e+01] [ 1.19934800e-01 9.92781731e-01 2.79431475e-04 -7.82721812e+01] [ 2.45475153e-03 -1.50884120e-05 -9.99996987e-01 6.69911446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.68, Y:-78.24, Z:6.70 [[-9.98805272e-01 4.87668198e-02 -3.13456406e-03 4.26789264e+01] [ 4.87666384e-02 9.98810191e-01 1.34324552e-04 -7.82435884e+01] [ 3.13738511e-03 -1.86980811e-05 -9.99995078e-01 6.69844179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.70, Y:-77.63, Z:5.78 [[-9.94596705e-01 -1.03738550e-01 -3.96341531e-03 4.27004163e+01] [ 1.03737852e-01 -9.94604601e-01 3.81758866e-04 -7.76322417e+01] [-3.98163422e-03 -3.14600816e-05 9.99992073e-01 5.77967186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.61, Y:-78.24, Z:6.70 [[-9.99049914e-01 4.33839235e-02 -4.13575808e-03 4.26114165e+01] [ 4.33836383e-02 9.99058474e-01 1.58695729e-04 -7.82400955e+01] [ 4.13874900e-03 -2.08792779e-05 -9.99991435e-01 6.69808091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.60, Y:-78.21, Z:6.70 [[-9.99570769e-01 -2.90114682e-02 -4.07573800e-03 4.25983539e+01] [-2.90111636e-02 9.99579079e-01 -1.33842979e-04 -7.82101679e+01] [ 4.07790542e-03 -1.55436271e-05 -9.99991685e-01 6.69902887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.080385723 meters Centerline goodness [0,1] 0.999915131969787 Centerline is valid? [True, True] Translation: X:42.59, Y:-78.18, Z:6.70 [[-9.94968123e-01 -1.00125426e-01 -3.65148611e-03 4.25921894e+01] [-1.00124701e-01 9.94974823e-01 -3.81390444e-04 -7.81817249e+01] [ 3.67132363e-03 -1.38673796e-05 -9.99993261e-01 6.70115868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.57, Y:-78.15, Z:6.70 [[-9.84942192e-01 -1.72855089e-01 -3.16170282e-03 4.25744389e+01] [-1.72854181e-01 9.84947267e-01 -5.60024128e-04 -7.81545790e+01] [ 3.21091357e-03 -5.07783997e-06 -9.99994845e-01 6.69976443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.140385723 meters Centerline goodness [0,1] 0.9999787265726381 Centerline is valid? [True, True] Translation: X:42.55, Y:-78.13, Z:6.70 [[-9.69827436e-01 -2.43774878e-01 -2.92471300e-03 4.25486621e+01] [-2.43773763e-01 9.69831846e-01 -7.37100855e-04 -7.81303849e+01] [ 3.01616648e-03 -1.89233729e-06 -9.99995451e-01 6.70007186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.170385723 meters Centerline goodness [0,1] 0.9999574965465944 Centerline is valid? [True, True] Translation: X:42.51, Y:-78.11, Z:6.70 [[-9.49206659e-01 -3.14644737e-01 -2.32565404e-03 4.25138822e+01] [-3.14643801e-01 9.49209508e-01 -7.67795493e-04 -7.81103246e+01] [ 2.44911574e-03 2.95603239e-06 -9.99997001e-01 6.70060767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.46, Y:-78.10, Z:6.70 [[-9.23228258e-01 -3.84248898e-01 -1.53883418e-03 4.24595755e+01] [-3.84248374e-01 9.23229540e-01 -6.34925360e-04 -7.80996836e+01] [ 1.66466654e-03 5.11349539e-06 -9.99998615e-01 6.70117850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.39, Y:-78.10, Z:6.70 [[-8.92174685e-01 -4.51688826e-01 -1.23931644e-03 4.23915826e+01] [-4.51688399e-01 8.92175546e-01 -6.21118097e-04 -7.80989900e+01] [ 1.38623993e-03 5.63901701e-06 -9.99999039e-01 6.70203879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.32, Y:-78.11, Z:6.70 [[-8.55963548e-01 -5.17036026e-01 -3.89937228e-04 4.23188473e+01] [-5.17035974e-01 8.55963637e-01 -2.31597413e-04 -7.81063996e+01] [ 4.53516294e-04 3.37263129e-06 -9.99999897e-01 6.70268591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.24, Y:-78.13, Z:6.70 [[-8.14686931e-01 -5.79900577e-01 7.25275478e-04 4.22401056e+01] [-5.79900349e-01 8.14687254e-01 5.13691284e-04 -7.81257938e+01] [-8.88762559e-04 -2.08992722e-06 -9.99999605e-01 6.70344313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.16, Y:-78.15, Z:6.70 [[-7.69138356e-01 -6.39081490e-01 1.01912181e-03 4.21578996e+01] [-6.39080935e-01 7.69139031e-01 8.41800951e-04 -7.81544963e+01] [-1.32182577e-03 -3.83992074e-06 -9.99999126e-01 6.70395109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.07, Y:-78.19, Z:6.70 [[-7.19339481e-01 -6.94657931e-01 1.03460183e-03 4.20716444e+01] [-6.94657219e-01 7.19340225e-01 9.94031630e-04 -7.81943739e+01] [-1.43474267e-03 -3.64743583e-06 -9.99998971e-01 6.70389480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.98, Y:-78.25, Z:6.70 [[-6.65203729e-01 -7.46661594e-01 6.81205475e-04 4.19841832e+01] [-7.46661205e-01 6.65204078e-01 7.61966770e-04 -7.82451699e+01] [-1.02207198e-03 -1.76656354e-06 -9.99999478e-01 6.70372147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.90, Y:-78.30, Z:6.70 [[-6.06921947e-01 -7.94761338e-01 4.07838597e-04 4.18996555e+01] [-7.94761159e-01 6.06922084e-01 5.33221762e-04 -7.83036980e+01] [-6.71310292e-04 -5.10286003e-07 -9.99999775e-01 6.70367514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.82, Y:-78.37, Z:6.70 [[-5.44787505e-01 -8.38573857e-01 6.78980925e-04 4.18170374e+01] [-8.38573212e-01 5.44787928e-01 1.04020129e-03 -7.83735910e+01] [-1.24218622e-03 -2.68655225e-06 -9.99999229e-01 6.70390917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4703857229999 meters Centerline goodness [0,1] 0.9999570382145082 Centerline is valid? [True, True] Translation: X:41.74, Y:-78.45, Z:6.70 [[-4.79704817e-01 -8.77429588e-01 7.78925084e-04 4.17390484e+01] [-8.77428444e-01 4.79705449e-01 1.41691711e-03 -7.84507120e+01] [-1.61689960e-03 -3.74906243e-06 -9.99998693e-01 6.70410810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.67, Y:-78.54, Z:6.70 [[-4.11937134e-01 -9.11211679e-01 1.03634458e-03 4.16660361e+01] [-9.11208828e-01 4.11938437e-01 2.27961254e-03 -7.85384838e+01] [-2.50411974e-03 -5.26927214e-06 -9.99996865e-01 6.70469647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.530385723 meters Centerline goodness [0,1] 0.9999354436099933 Centerline is valid? [True, True] Translation: X:41.60, Y:-78.64, Z:6.71 [[-3.41961563e-01 -9.39713002e-01 1.32807299e-03 4.15990984e+01] [-9.39705980e-01 3.41964142e-01 3.63285069e-03 -7.86351700e+01] [-3.86799037e-03 -5.70283233e-06 -9.99992519e-01 6.70577728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.53, Y:-78.75, Z:6.71 [[-2.69142818e-01 -9.63099623e-01 1.12273000e-03 4.15329598e+01] [-9.63091342e-01 2.69145160e-01 3.99371964e-03 -7.87508640e+01] [-4.14852722e-03 -6.41058635e-06 -9.99991395e-01 6.70549122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.48, Y:-78.84, Z:6.71 [[-1.95265539e-01 -9.80750031e-01 8.63395685e-04 4.14841293e+01] [-9.80740519e-01 1.95267447e-01 4.31951750e-03 -7.88447948e+01] [-4.40495999e-03 -3.31422159e-06 -9.99990298e-01 6.70539029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.44, Y:-78.96, Z:6.71 [[-1.19909871e-01 -9.92784638e-01 5.34016278e-04 4.14389931e+01] [-9.92774843e-01 1.19911060e-01 4.41003293e-03 -7.89559278e+01] [-4.44224740e-03 -1.35144677e-06 -9.99990133e-01 6.70526879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.40, Y:-79.07, Z:6.71 [[-4.45048378e-02 -9.99009154e-01 1.73140741e-04 4.14049668e+01] [-9.99001264e-01 4.45051744e-02 3.97028864e-03 -7.90733351e+01] [-3.97406035e-03 3.72923288e-06 -9.99992103e-01 6.70513715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.680385723 meters Centerline goodness [0,1] 0.9999351463530632 Centerline is valid? [True, True] Translation: X:41.38, Y:-79.19, Z:6.71 [[ 3.11212210e-02 -9.99515610e-01 -1.24557338e-04 4.13779449e+01] [-9.99508565e-01 -3.11214693e-02 3.75259813e-03 -7.91939312e+01] [-3.75465682e-03 7.71069061e-06 -9.99992951e-01 6.70537985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.710385723 meters Centerline goodness [0,1] 0.9999783657486533 Centerline is valid? [True, True] Translation: X:41.36, Y:-79.32, Z:6.70 [[ 1.05933297e-01 -9.94373188e-01 -3.17006871e-04 4.13621088e+01] [-9.94369062e-01 -1.05933771e-01 2.86455301e-03 -7.93213275e+01] [-2.88201644e-03 1.17702802e-05 -9.99995847e-01 6.70347087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.740385723 meters Centerline goodness [0,1] 0.9999351098806022 Centerline is valid? [True, True] Translation: X:41.35, Y:-79.44, Z:6.70 [[ 1.81119420e-01 -9.83460947e-01 -5.67870445e-04 4.13523202e+01] [-9.83456372e-01 -1.81120310e-01 2.99975132e-03 -7.94384559e+01] [-3.05299114e-03 1.51625893e-05 -9.99995340e-01 6.70365440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.35, Y:-79.56, Z:6.70 [[ 2.54907785e-01 -9.66964706e-01 -1.13070125e-03 4.13547250e+01] [-9.66955649e-01 -2.54910291e-01 4.18517737e-03 -7.95614318e+01] [-4.33514619e-03 2.65036686e-05 -9.99990603e-01 6.70433158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.800385723 meters Centerline goodness [0,1] 0.9999567268163919 Centerline is valid? [True, True] Translation: X:41.37, Y:-79.69, Z:6.70 [[ 3.28386914e-01 -9.44542189e-01 -1.44483164e-03 4.13653653e+01] [-9.44533401e-01 -3.28390092e-01 4.07464705e-03 -7.96851868e+01] [-4.32314444e-03 2.66309729e-05 -9.99990655e-01 6.70396965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.38, Y:-79.81, Z:6.70 [[ 4.00406882e-01 -9.16336283e-01 -1.46472024e-03 4.13827355e+01] [-9.16330339e-01 -4.00409561e-01 3.30061659e-03 -7.98058185e+01] [-3.61096272e-03 2.05779969e-05 -9.99993480e-01 6.70358860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.41, Y:-79.93, Z:6.70 [[ 4.70969145e-01 -8.82148246e-01 -1.59254623e-03 4.14106847e+01] [-8.82143301e-01 -4.70971837e-01 2.95368695e-03 -7.99277667e+01] [-3.35563419e-03 1.37585737e-05 -9.99994370e-01 6.70325892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.44, Y:-80.04, Z:6.70 [[ 5.38053716e-01 -8.42908726e-01 -1.75455951e-03 4.14444236e+01] [-8.42904303e-01 -5.38056577e-01 2.73046484e-03 -8.00420902e+01] [-3.24558492e-03 9.78900736e-06 -9.99994733e-01 6.70304009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.49, Y:-80.15, Z:6.70 [[ 6.02709273e-01 -7.97958028e-01 -2.12574419e-03 4.14863939e+01] [-7.97953081e-01 -6.02713021e-01 2.80978515e-03 -8.01512768e+01] [-3.52330432e-03 2.76055697e-06 -9.99993793e-01 6.70297771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.950385723 meters Centerline goodness [0,1] 0.9999782215737091 Centerline is valid? [True, True] Translation: X:41.54, Y:-80.26, Z:6.70 [[ 6.62494083e-01 -7.49062032e-01 -2.76794457e-03 4.15391673e+01] [-7.49055490e-01 -6.62499866e-01 3.13058673e-03 -8.02601867e+01] [-4.17876656e-03 -6.51105465e-07 -9.99991269e-01 6.70330888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9803857229999 meters Centerline goodness [0,1] 0.9999348774610893 Centerline is valid? [True, True] Translation: X:41.59, Y:-80.36, Z:6.70 [[ 7.18090508e-01 -6.95945061e-01 -2.54845942e-03 4.15934314e+01] [-6.95940666e-01 -7.18095030e-01 2.47350249e-03 -8.03557921e+01] [-3.55145789e-03 -2.62211096e-06 -9.99993694e-01 6.70255789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.010385723 meters Centerline goodness [0,1] 0.9998038232665606 Centerline is valid? [True, True] Translation: X:41.59, Y:-80.36, Z:6.70 [[ 7.70296843e-01 -6.37678364e-01 -3.01307545e-03 4.15895539e+01] [-6.37673471e-01 -7.70302736e-01 2.49812460e-03 -8.03637233e+01] [-3.91398027e-03 -2.93921523e-06 -9.99992340e-01 6.70443894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.040385723 meters Centerline goodness [0,1] 0.9999781626012709 Centerline is valid? [True, True] Translation: X:41.59, Y:-80.37, Z:6.70 [[ 8.18624273e-01 -5.74320618e-01 -3.18244357e-03 4.15852813e+01] [-5.74316236e-01 -8.18630459e-01 2.24330144e-03 -8.03745374e+01] [-3.89361951e-03 -8.69199509e-06 -9.99992420e-01 6.70279885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.58, Y:-80.39, Z:6.70 [[ 8.62168418e-01 -5.06602484e-01 -4.42065020e-03 4.15804229e+01] [-5.06595683e-01 -8.62179751e-01 2.62516820e-03 -8.03855570e+01] [-5.14131182e-03 -2.38548129e-05 -9.99986783e-01 6.70329386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.58, Y:-80.40, Z:6.70 [[ 8.99117160e-01 -4.37683743e-01 -4.61231978e-03 4.15753976e+01] [-4.37677848e-01 -8.99128990e-01 2.27175179e-03 -8.03980518e+01] [-5.14137925e-03 -2.38608238e-05 -9.99986783e-01 6.70329456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.130385723 meters Centerline goodness [0,1] 0.9999781516277038 Centerline is valid? [True, True] Translation: X:41.57, Y:-80.41, Z:6.70 [[ 9.31005603e-01 -3.64968465e-01 -5.15615587e-03 4.15717512e+01] [-3.64962675e-01 -9.31019881e-01 2.05604914e-03 -8.04099397e+01] [-5.55087672e-03 -3.23888234e-05 -9.99984593e-01 6.70356938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.160385723 meters Centerline goodness [0,1] 0.999802488643097 Centerline is valid? [True, True] Translation: X:41.57, Y:-80.42, Z:6.71 [[ 9.56897950e-01 -2.90363333e-01 -5.95382195e-03 4.15707868e+01] [-2.90357445e-01 -9.56916471e-01 1.84960552e-03 -8.04202740e+01] [-6.23436792e-03 -4.11472047e-05 -9.99980565e-01 6.70594502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.190385723 meters Centerline goodness [0,1] 0.9998905955975669 Centerline is valid? [True, True] Translation: X:41.57, Y:-80.43, Z:6.71 [[ 9.76825914e-01 -2.13918908e-01 -7.05941268e-03 4.15705318e+01] [-2.13912925e-01 -9.76851421e-01 1.60085804e-03 -8.04304585e+01] [-7.23845111e-03 -5.36600083e-05 -9.99973801e-01 6.70643094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2203857229999 meters Centerline goodness [0,1] 0.9998679926075861 Centerline is valid? [True, True] Translation: X:41.57, Y:-80.44, Z:6.71 [[ 9.90578877e-01 -1.36696694e-01 -8.21597573e-03 4.15675308e+01] [-1.36691468e-01 -9.90612947e-01 1.19690823e-03 -8.04401118e+01] [-8.30246532e-03 -6.25782288e-05 -9.99965532e-01 6.70718589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.56, Y:-80.45, Z:6.71 [[ 9.98220683e-01 -5.89396268e-02 -9.03264292e-03 4.15633914e+01] [-5.89366097e-02 -9.98261547e-01 6.00074874e-04 -8.04474899e+01] [-9.05230829e-03 -6.66538006e-05 -9.99959025e-01 6.70584544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.280385723 meters Centerline goodness [0,1] 0.9999780132799789 Centerline is valid? [True, True] Translation: X:41.56, Y:-80.45, Z:6.71 [[ 9.99782842e-01 1.86639066e-02 -9.26968702e-03 4.15609314e+01] [ 1.86636780e-02 -9.99825812e-01 -1.11166993e-04 -8.04535741e+01] [-9.27014716e-03 -6.18636020e-05 -9.99957029e-01 6.70614266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.56, Y:-80.46, Z:6.71 [[ 9.95310129e-01 9.62676733e-02 -9.50174043e-03 4.15582272e+01] [ 9.62638393e-02 -9.95355480e-01 -8.61089945e-04 -8.04615344e+01] [-9.54050453e-03 -5.76224703e-05 -9.99954487e-01 6.70677186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.56, Y:-80.47, Z:6.71 [[ 9.85023272e-01 1.72216585e-01 -8.40246885e-03 4.15557726e+01] [ 1.72210638e-01 -9.85059108e-01 -1.43163003e-03 -8.04664852e+01] [-8.52347891e-03 -3.68056261e-05 -9.99963674e-01 6.70531576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.370385723 meters Centerline goodness [0,1] 0.999911490717589 Centerline is valid? [True, True] Translation: X:41.56, Y:-80.48, Z:6.71 [[ 9.68687468e-01 2.48125861e-01 -8.84011246e-03 4.15551747e+01] [ 2.48115842e-01 -9.68727803e-01 -2.22993568e-03 -8.04758510e+01] [-9.11696743e-03 -3.32611980e-05 -9.99958439e-01 6.70624675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.55, Y:-80.48, Z:6.70 [[ 9.46228488e-01 3.23390563e-01 -8.37806539e-03 4.15545323e+01] [ 3.23378206e-01 -9.46265577e-01 -2.82729557e-03 -8.04837506e+01] [-8.84219559e-03 -3.40161394e-05 -9.99960907e-01 6.70447089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.55, Y:-80.49, Z:6.70 [[ 9.17854474e-01 3.96829644e-01 -8.33055097e-03 4.15549439e+01] [ 3.96813683e-01 -9.17892277e-01 -3.55939331e-03 -8.04931535e+01] [-9.05902118e-03 -3.86715345e-05 -9.99958966e-01 6.70438932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.55, Y:-80.50, Z:6.70 [[ 8.83258514e-01 4.68822920e-01 -7.71147440e-03 4.15542369e+01] [ 4.68805548e-01 -8.83292175e-01 -4.03623622e-03 -8.05015004e+01] [-8.70376505e-03 -5.01419794e-05 -9.99962120e-01 6.70415545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.490385723 meters Centerline goodness [0,1] 0.9999777698737329 Centerline is valid? [True, True] Translation: X:41.55, Y:-80.51, Z:6.70 [[ 8.43346125e-01 5.37312998e-01 -7.87755597e-03 4.15542057e+01] [ 5.37290246e-01 -8.43382913e-01 -4.94508355e-03 -8.05090612e+01] [-9.30085377e-03 -6.21169358e-05 -9.99956744e-01 6.70488065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.55, Y:-80.52, Z:6.71 [[ 7.98517417e-01 6.01919750e-01 -7.90881235e-03 4.15548341e+01] [ 6.01891077e-01 -7.98556579e-01 -5.87552063e-03 -8.05175487e+01] [-9.85222604e-03 -6.85380213e-05 -9.99951463e-01 6.70538152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.56, Y:-80.53, Z:6.70 [[ 7.48652552e-01 6.62918732e-01 -7.62309560e-03 4.15565121e+01] [ 6.62885382e-01 -7.48691358e-01 -6.64995721e-03 -8.05262961e+01] [-1.01157270e-02 -7.47312074e-05 -9.99948832e-01 6.70479235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.56, Y:-80.53, Z:6.70 [[ 6.93783998e-01 7.20149488e-01 -6.96268933e-03 4.15561236e+01] [ 7.20114418e-01 -6.93818930e-01 -7.10750612e-03 -8.05341899e+01] [-9.94931256e-03 -8.28589667e-05 -9.99950501e-01 6.70481193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.56, Y:-80.54, Z:6.70 [[ 6.35120044e-01 7.72388456e-01 -6.21312791e-03 4.15588116e+01] [ 7.72352759e-01 -6.35150428e-01 -7.42625072e-03 -8.05434566e+01] [-9.68222118e-03 -8.21658061e-05 -9.99953123e-01 6.70397242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.56, Y:-80.55, Z:6.70 [[ 5.72909305e-01 8.19602962e-01 -5.09048389e-03 4.15598084e+01] [ 8.19571723e-01 -5.72931916e-01 -7.15619453e-03 -8.05529556e+01] [-8.78173892e-03 -7.21662116e-05 -9.99961437e-01 6.70438785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.56, Y:-80.56, Z:6.70 [[ 5.07553508e-01 8.61610084e-01 -4.18327984e-03 4.15613655e+01] [ 8.61581806e-01 -5.07570743e-01 -6.98088498e-03 -8.05613984e+01] [-8.13811135e-03 -6.10651395e-05 -9.99966883e-01 6.70368460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.700385723 meters Centerline goodness [0,1] 0.9999774947112572 Centerline is valid? [True, True] Translation: X:41.56, Y:-80.57, Z:6.70 [[ 4.38846775e-01 8.98554985e-01 -3.52790921e-03 4.15646216e+01] [ 8.98526985e-01 -4.38860952e-01 -7.09376297e-03 -8.05703180e+01] [-7.92239768e-03 -5.68466202e-05 -9.99968616e-01 6.70371918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7303857229999 meters Centerline goodness [0,1] 0.9999325190633646 Centerline is valid? [True, True] Translation: X:41.57, Y:-80.58, Z:6.70 [[ 3.67474231e-01 9.30028157e-01 -3.21210051e-03 4.15677329e+01] [ 9.29994008e-01 -3.67488265e-01 -7.96994200e-03 -8.05784384e+01] [-8.59267971e-03 -5.84859225e-05 -9.99963081e-01 6.70382274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.760385723 meters Centerline goodness [0,1] 0.9999095759110227 Centerline is valid? [True, True] Translation: X:41.57, Y:-80.59, Z:6.70 [[ 2.93316910e-01 9.56011307e-01 -2.75165861e-03 4.15746683e+01] [ 9.55971269e-01 -2.93329809e-01 -8.74961756e-03 -8.05875309e+01] [-9.17187682e-03 -6.40957920e-05 -9.99957935e-01 6.70496360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.58, Y:-80.60, Z:6.70 [[ 2.16608896e-01 9.76256371e-01 -2.02118770e-03 4.15833863e+01] [ 9.76216904e-01 -2.16618314e-01 -8.77854407e-03 -8.05968104e+01] [-9.00793584e-03 -7.16068575e-05 -9.99959425e-01 6.70425471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.59, Y:-80.61, Z:6.71 [[ 1.38935603e-01 9.90300206e-01 -1.54899031e-03 4.15920161e+01] [ 9.90245623e-01 -1.38944209e-01 -1.03977270e-02 -8.06067409e+01] [-1.05120944e-02 -8.92663981e-05 -9.99944743e-01 6.70559949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.60, Y:-80.62, Z:6.71 [[ 6.14595864e-02 9.98109272e-01 -7.74792370e-04 4.15999425e+01] [ 9.98047238e-01 -6.14644050e-02 -1.11282435e-02 -8.06156622e+01] [-1.11548252e-02 -8.93421413e-05 -9.99937779e-01 6.70780755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.880385723 meters Centerline goodness [0,1] 0.9999774637730151 Centerline is valid? [True, True] Translation: X:41.61, Y:-80.62, Z:6.71 [[-1.59704226e-02 9.99872460e-01 1.00248185e-04 4.16067458e+01] [ 9.99809254e-01 1.59705402e-02 -1.12426892e-02 -8.06222410e+01] [-1.12428563e-02 -7.93214346e-05 -9.99936794e-01 6.70615591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.62, Y:-80.63, Z:6.71 [[-9.33206363e-02 9.95635545e-01 1.05816549e-03 4.16185090e+01] [ 9.95562188e-01 9.33266057e-02 -1.20861508e-02 -8.06278485e+01] [-1.21321564e-02 -7.44177411e-05 -9.99926400e-01 6.70540508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.63, Y:-80.63, Z:6.71 [[-1.70612020e-01 9.85336140e-01 2.05658598e-03 4.16305408e+01] [ 9.85259471e-01 1.70624400e-01 -1.22917943e-02 -8.06336508e+01] [-1.24624529e-02 -7.08570445e-05 -9.99922338e-01 6.70579242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.64, Y:-80.64, Z:6.71 [[-2.45941907e-01 9.69279697e-01 3.07357018e-03 4.16415090e+01] [ 9.69201194e-01 2.45961105e-01 -1.23361457e-02 -8.06376752e+01] [-1.27131543e-02 -5.50673018e-05 -9.99919183e-01 6.70549923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.65, Y:-80.64, Z:6.71 [[-3.19998842e-01 9.47410050e-01 3.86495650e-03 4.16530271e+01] [ 9.47339506e-01 3.20022180e-01 -1.15613281e-02 -8.06421389e+01] [-1.21901902e-02 -3.81856109e-05 -9.99925696e-01 6.70580837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.67, Y:-80.64, Z:6.70 [[-3.91702259e-01 9.20081675e-01 4.36488867e-03 4.16665785e+01] [ 9.20024079e-01 3.91726578e-01 -1.02947882e-02 -8.06442074e+01] [-1.11818889e-02 -1.66891360e-05 -9.99937481e-01 6.70431811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.68, Y:-80.65, Z:6.70 [[-4.61717681e-01 8.87014014e-01 4.78767320e-03 4.16798949e+01] [ 8.86966210e-01 4.61742502e-01 -9.20891328e-03 -8.06459889e+01] [-1.03791073e-02 -5.41372794e-06 -9.99946136e-01 6.70396182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.69, Y:-80.65, Z:6.70 [[-5.29447177e-01 8.48325092e-01 5.49779134e-03 4.16922771e+01] [ 8.48279333e-01 5.29475721e-01 -8.81099278e-03 -8.06459259e+01] [-1.03855333e-02 -1.29248147e-06 -9.99946069e-01 6.70357282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.70, Y:-80.65, Z:6.70 [[-5.94252084e-01 8.04253660e-01 6.36482362e-03 4.17044541e+01] [ 8.04207505e-01 5.94286169e-01 -8.61621891e-03 -8.06460654e+01] [-1.07121522e-02 -1.56712461e-06 -9.99942623e-01 6.70394807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.150385723 meters Centerline goodness [0,1] 0.9998652291105121 Centerline is valid? [True, True] Translation: X:41.72, Y:-80.65, Z:6.71 [[-6.55643973e-01 7.55035680e-01 7.21826428e-03 4.17161198e+01] [ 7.54989845e-01 6.55683706e-01 -8.31934516e-03 -8.06461485e+01] [-1.10143007e-02 -4.81227715e-06 -9.99939341e-01 6.70588838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.73, Y:-80.64, Z:6.70 [[-7.13446543e-01 7.00679601e-01 6.49057761e-03 4.17297038e+01] [ 7.00650451e-01 7.13476066e-01 -6.39125196e-03 -8.06417977e+01] [-9.10909165e-03 -1.21904819e-05 -9.99958511e-01 6.70212190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.74, Y:-80.61, Z:6.70 [[-7.61540242e-01 6.48083206e-01 6.67967950e-03 4.17388523e+01] [ 6.48058090e-01 7.61569536e-01 -5.70564239e-03 -8.06097027e+01] [-8.78477143e-03 -1.62559512e-05 -9.99961413e-01 6.70299711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.78, Y:-80.60, Z:6.70 [[-8.06169859e-01 5.91636051e-01 7.54594228e-03 4.17782255e+01] [ 5.91609801e-01 8.06205174e-01 -5.57328617e-03 -8.06029773e+01] [-9.38093473e-03 -2.87619168e-05 -9.99955998e-01 6.70319643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.270385723 meters Centerline goodness [0,1] 0.9999776406403721 Centerline is valid? [True, True] Translation: X:41.79, Y:-80.58, Z:6.70 [[-8.46107114e-01 5.32951735e-01 8.07467391e-03 4.17931371e+01] [ 5.32927115e-01 8.46145642e-01 -5.12281647e-03 -8.05779970e+01] [-9.56256406e-03 -3.12387971e-05 -9.99954277e-01 6.70365770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.82, Y:-80.56, Z:6.70 [[-8.81768722e-01 4.71606670e-01 8.43023948e-03 4.18156147e+01] [ 4.71584768e-01 8.81809020e-01 -4.54524694e-03 -8.05581490e+01] [-9.57742999e-03 -3.22840633e-05 -9.99954135e-01 6.70330779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.82, Y:-80.53, Z:6.70 [[-9.12794562e-01 4.08348386e-01 7.59495683e-03 4.18194084e+01] [ 4.08334024e-01 9.12826158e-01 -3.42485141e-03 -8.05279833e+01] [-8.33140782e-03 -2.49064587e-05 -9.99965293e-01 6.70347214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.15, Y:-79.80, Z:5.77 [[-8.80555236e-01 -4.73888120e-01 7.24755054e-03 4.21461326e+01] [ 4.73872236e-01 -8.80585061e-01 -3.87995642e-03 -7.97967729e+01] [ 8.22074999e-03 1.78970385e-05 9.99966209e-01 5.77460147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.76, Y:-80.50, Z:6.70 [[-9.13465188e-01 4.06843642e-01 7.72024000e-03 4.17576954e+01] [ 4.06829035e-01 9.13497811e-01 -3.44749219e-03 -8.05030163e+01] [-8.45501261e-03 -8.34630736e-06 -9.99964256e-01 6.70272345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.420385723 meters Centerline goodness [0,1] 0.9999776316378115 Centerline is valid? [True, True] Translation: X:41.80, Y:-80.49, Z:6.70 [[-9.39630671e-01 3.42093545e-01 8.13683304e-03 4.18001628e+01] [ 3.42080728e-01 9.39665902e-01 -2.96123837e-03 -8.04910704e+01] [-8.65892508e-03 9.83368866e-07 -9.99962511e-01 6.70247755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.09, Y:-79.73, Z:5.78 [[-9.15548304e-01 -4.02116490e-01 8.58093454e-03 4.20927065e+01] [ 4.02099242e-01 -9.15588514e-01 -3.72461303e-03 -7.97347466e+01] [ 9.35433342e-03 4.03241315e-05 9.99956247e-01 5.77534946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.76, Y:-80.48, Z:6.70 [[-9.39431788e-01 3.42627709e-01 8.61210271e-03 4.17628308e+01] [ 3.42613705e-01 9.39471262e-01 -3.09792295e-03 -8.04846651e+01] [-9.15225724e-03 4.03371267e-05 -9.99958116e-01 6.70235190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.77, Y:-80.46, Z:6.70 [[-9.60599608e-01 2.77811281e-01 8.32379827e-03 4.17726365e+01] [ 2.77801405e-01 9.60635669e-01 -2.34330494e-03 -8.04609310e+01] [-8.64713407e-03 6.13850430e-05 -9.99962611e-01 6.70237233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.79, Y:-80.44, Z:6.70 [[-9.77652191e-01 2.10051209e-01 8.64194800e-03 4.17870147e+01] [ 2.10043658e-01 9.77690383e-01 -1.78261833e-03 -8.04351752e+01] [-8.82359059e-03 7.24056502e-05 -9.99961069e-01 6.70129733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.79, Y:-80.41, Z:6.70 [[-9.89903942e-01 1.41438588e-01 9.23643966e-03 4.17886855e+01] [ 1.41433265e-01 9.89947028e-01 -1.23027084e-03 -8.04080350e+01] [-9.31759376e-03 8.84898639e-05 -9.99956586e-01 6.70188912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.91, Y:-79.59, Z:5.78 [[-9.81806897e-01 -1.89648992e-01 9.40625247e-03 4.19095895e+01] [ 1.89639574e-01 -9.81851951e-01 -1.89138233e-03 -7.95867381e+01] [ 9.59424610e-03 -7.31745000e-05 9.99953972e-01 5.77623640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.72, Y:-80.40, Z:6.70 [[-9.90601514e-01 1.36470378e-01 9.19114006e-03 4.17223621e+01] [ 1.36465274e-01 9.90644149e-01 -1.18317149e-03 -8.03988246e+01] [-9.26661698e-03 8.22199786e-05 -9.99957061e-01 6.70157011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.660385723 meters Centerline goodness [0,1] 0.9999098449332853 Centerline is valid? [True, True] Translation: X:41.73, Y:-80.37, Z:6.70 [[-9.97856765e-01 6.46937829e-02 9.82808515e-03 4.17318594e+01] [ 6.46914042e-02 9.97905160e-01 -5.60075451e-04 -8.03706292e+01] [-9.84373028e-03 7.69175513e-05 -9.99951546e-01 6.70288032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.690385723 meters Centerline goodness [0,1] 0.9998647765432377 Centerline is valid? [True, True] Translation: X:41.79, Y:-79.54, Z:5.78 [[-9.93112031e-01 -1.16769260e-01 9.66608151e-03 4.17886736e+01] [ 1.16762918e-01 -9.93159067e-01 -1.21983626e-03 -7.95439232e+01] [ 9.74239588e-03 -8.27941832e-05 9.99952538e-01 5.77518473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.65, Y:-80.36, Z:6.70 [[-9.98282267e-01 5.80376348e-02 8.00924078e-03 4.16523769e+01] [ 5.80361623e-02 9.98314395e-01 -4.16341112e-04 -8.03646885e+01] [-8.01990382e-03 4.91996485e-05 -9.99967839e-01 6.69996066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.64, Y:-80.34, Z:6.70 [[-9.99878057e-01 -1.33454853e-02 8.10976986e-03 4.16366605e+01] [-1.33446648e-02 9.99910944e-01 1.55282472e-04 -8.03355706e+01] [-8.11111995e-03 4.70413760e-05 -9.99967103e-01 6.70001704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.64, Y:-80.31, Z:6.70 [[-9.96380353e-01 -8.46826586e-02 7.41893583e-03 4.16439830e+01] [-8.46799943e-02 9.96407972e-01 6.73079156e-04 -8.03051265e+01] [-7.44928493e-03 4.24074036e-05 -9.99972253e-01 6.69961227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.63, Y:-80.28, Z:6.70 [[-9.87766734e-01 -1.55767354e-01 7.30823533e-03 4.16302467e+01] [-1.55762782e-01 9.87793769e-01 1.19414691e-03 -8.02771315e+01] [-7.40503842e-03 4.11875308e-05 -9.99972582e-01 6.69971978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8403857229999 meters Centerline goodness [0,1] 0.9999326085003145 Centerline is valid? [True, True] Translation: X:41.61, Y:-80.25, Z:6.70 [[-9.74164090e-01 -2.25732338e-01 7.01695439e-03 4.16086474e+01] [-2.25726136e-01 9.74189360e-01 1.67403925e-03 -8.02510018e+01] [-7.21372710e-03 4.68789212e-05 -9.99973980e-01 6.70075664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.870385723 meters Centerline goodness [0,1] 0.9999776880340927 Centerline is valid? [True, True] Translation: X:41.56, Y:-80.23, Z:6.70 [[-9.54913490e-01 -2.96811139e-01 6.58592180e-03 4.15597208e+01] [-2.96803758e-01 9.54936200e-01 2.09367587e-03 -8.02337607e+01] [-6.91056145e-03 4.45529893e-05 -9.99976121e-01 6.69951133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.50, Y:-80.22, Z:6.70 [[-9.30804753e-01 -3.65468857e-01 5.91824187e-03 4.14959462e+01] [-3.65461145e-01 9.30823567e-01 2.37475404e-03 -8.02248566e+01] [-6.37673765e-03 4.75448970e-05 -9.99979667e-01 6.69894128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.42, Y:-80.23, Z:6.70 [[-9.01370541e-01 -4.33009186e-01 5.84750930e-03 4.14229019e+01] [-4.32999694e-01 9.01389507e-01 2.86751085e-03 -8.02253827e+01] [-6.51254206e-03 5.27200647e-05 -9.99978792e-01 6.69946190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.34, Y:-80.23, Z:6.70 [[-8.67050789e-01 -4.98181349e-01 6.18646011e-03 4.13402198e+01] [-4.98168122e-01 8.67072857e-01 3.63089595e-03 -8.02341541e+01] [-7.17295629e-03 6.62739854e-05 -9.99974272e-01 6.69926227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.25, Y:-80.26, Z:6.70 [[-8.27134437e-01 -5.61973185e-01 5.89593842e-03 4.12515905e+01] [-5.61958336e-01 8.27155448e-01 4.08585260e-03 -8.02560561e+01] [-7.17299718e-03 6.62776521e-05 -9.99974272e-01 6.69926400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.16, Y:-80.29, Z:6.70 [[-7.82621517e-01 -6.22471422e-01 5.73496376e-03 4.11586760e+01] [-6.22454033e-01 7.82642526e-01 4.65336612e-03 -8.02881932e+01] [-7.38501395e-03 7.20731282e-05 -9.99972728e-01 6.69928287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.06, Y:-80.33, Z:6.70 [[-7.34521608e-01 -6.78563952e-01 5.38244260e-03 4.10597459e+01] [-6.78544864e-01 7.34541323e-01 5.09042616e-03 -8.03344791e+01] [-7.40780620e-03 8.67992322e-05 -9.99972558e-01 6.69975439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.97, Y:-80.38, Z:6.70 [[-6.81798429e-01 -7.31520903e-01 5.29819401e-03 4.09703900e+01] [-7.31497616e-01 6.81819006e-01 5.83781256e-03 -8.03819863e+01] [-7.88289129e-03 1.04595140e-04 -9.99968924e-01 6.70055649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.88, Y:-80.44, Z:6.70 [[-6.24570309e-01 -7.80953694e-01 4.82265989e-03 4.08784937e+01] [-7.80929036e-01 6.24588918e-01 6.20677896e-03 -8.04443535e+01] [-7.85938688e-03 1.10414711e-04 -9.99969109e-01 6.70098302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.79, Y:-80.52, Z:6.70 [[-5.63196387e-01 -8.26310701e-01 4.52280408e-03 4.07864046e+01] [-8.26282370e-01 5.63214535e-01 6.84349279e-03 -8.05184469e+01] [-8.20216032e-03 1.17117137e-04 -9.99966355e-01 6.70066885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.70, Y:-80.61, Z:6.70 [[-4.98186789e-01 -8.67061341e-01 3.81504990e-03 4.06951909e+01] [-8.67034181e-01 4.98201384e-01 6.86365404e-03 -8.06110170e+01] [-7.85187221e-03 1.11603107e-04 -9.99969167e-01 6.70092098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.61, Y:-80.70, Z:6.70 [[-4.29047292e-01 -9.03276934e-01 3.03331626e-03 4.06118462e+01] [-9.03252782e-01 4.29058004e-01 6.60616881e-03 -8.07014636e+01] [-7.26866853e-03 9.45074879e-05 -9.99973579e-01 6.70048211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.54, Y:-80.79, Z:6.70 [[-3.57563468e-01 -9.33885919e-01 2.33603824e-03 4.05416104e+01] [-9.33864449e-01 3.57571089e-01 6.33300512e-03 -8.07910231e+01] [-6.74960404e-03 8.29082076e-05 -9.99977218e-01 6.70093310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.47, Y:-80.89, Z:6.70 [[-2.82870582e-01 -9.59156441e-01 1.77672873e-03 4.04745621e+01] [-9.59135971e-01 2.82876153e-01 6.26670866e-03 -8.08902230e+01] [-6.51334816e-03 6.85430854e-05 -9.99978786e-01 6.70043752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.290385723 meters Centerline goodness [0,1] 0.9999558674257469 Centerline is valid? [True, True] Translation: X:40.42, Y:-81.00, Z:6.70 [[-2.07637999e-01 -9.78204892e-01 1.28501059e-03 4.04157645e+01] [-9.78184178e-01 2.07641965e-01 6.36619546e-03 -8.10027030e+01] [-6.49426567e-03 6.48870579e-05 -9.99978910e-01 6.70119089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.36, Y:-81.12, Z:6.70 [[-1.30363619e-01 -9.91465929e-01 7.99729235e-04 4.03634088e+01] [-9.91444486e-01 1.30366059e-01 6.52090373e-03 -8.11205595e+01] [-6.56951142e-03 5.72014676e-05 -9.99978419e-01 6.69977576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.32, Y:-81.24, Z:6.70 [[-5.25366172e-02 -9.98618951e-01 3.09049143e-04 4.03199229e+01] [-9.98595254e-01 5.25374996e-02 6.87968359e-03 -8.12393895e+01] [-6.88641907e-03 5.28202958e-05 -9.99976287e-01 6.70023235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.29, Y:-81.37, Z:6.70 [[ 2.49414643e-02 -9.99688889e-01 -2.18861492e-04 4.02886423e+01] [-9.99665955e-01 -2.49423746e-02 6.77171828e-03 -8.13693720e+01] [-6.77507045e-03 4.98918127e-05 -9.99977048e-01 6.70070175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.54, Y:-81.51, Z:5.78 [[-2.85222906e-02 9.99593132e-01 2.23401791e-04 3.95379995e+01] [-9.99565889e-01 -2.85231626e-02 7.37994349e-03 -8.15097278e+01] [ 7.38331295e-03 -1.28119162e-05 9.99972743e-01 5.77755893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.29, Y:-81.66, Z:6.70 [[ 3.43775585e-02 -9.99408857e-01 -3.45380786e-04 4.02916164e+01] [-9.99375187e-01 -3.43792354e-02 8.20392190e-03 -8.16641857e+01] [-8.21094614e-03 6.31341824e-05 -9.99966288e-01 6.70086061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.27, Y:-81.79, Z:6.70 [[ 1.10743626e-01 -9.93848509e-01 -9.95027324e-04 4.02708191e+01] [-9.93813786e-01 -1.10748075e-01 8.30804865e-03 -8.17874053e+01] [-8.36713912e-03 6.88084378e-05 -9.99964993e-01 6.70196845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.26, Y:-81.91, Z:6.70 [[ 1.86385546e-01 -9.82475491e-01 -1.52874844e-03 4.02594917e+01] [-9.82445432e-01 -1.86391803e-01 7.68561239e-03 -8.19131478e+01] [-7.83587199e-03 6.94248643e-05 -9.99969297e-01 6.70130277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.26, Y:-82.04, Z:6.70 [[ 2.61023532e-01 -9.65330361e-01 -2.00278058e-03 4.02587963e+01] [-9.65303951e-01 -2.61031206e-01 7.14081064e-03 -8.20400522e+01] [-7.41602954e-03 6.93723907e-05 -9.99972499e-01 6.70138488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.27, Y:-82.17, Z:6.70 [[ 3.34027765e-01 -9.42559546e-01 -2.63704776e-03 4.02673384e+01] [-9.42531938e-01 -3.34038166e-01 7.21455067e-03 -8.21683960e+01] [-7.68101820e-03 7.56414908e-05 -9.99970498e-01 6.70117962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5903857229999 meters Centerline goodness [0,1] 0.9999128350403138 Centerline is valid? [True, True] Translation: X:40.28, Y:-82.29, Z:6.70 [[ 4.05008744e-01 -9.14306125e-01 -3.49679307e-03 4.02829545e+01] [-9.14273897e-01 -4.05023830e-01 7.67718427e-03 -8.22860166e+01] [-8.43558112e-03 8.76998697e-05 -9.99964416e-01 6.70279371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.31, Y:-82.41, Z:6.70 [[ 4.73993818e-01 -8.80517820e-01 -4.26965055e-03 4.03086109e+01] [-8.80483827e-01 -4.74013039e-01 7.73751382e-03 -8.24058715e+01] [-8.83688884e-03 9.18245437e-05 -9.99960950e-01 6.70122699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.650385723 meters Centerline goodness [0,1] 0.9999783263616463 Centerline is valid? [True, True] Translation: X:40.34, Y:-82.52, Z:6.70 [[ 5.40046855e-01 -8.41620793e-01 -4.88217569e-03 4.03440785e+01] [-8.41587940e-01 -5.40068915e-01 7.43684315e-03 -8.25234062e+01] [-8.89571315e-03 9.25364264e-05 -9.99960428e-01 6.70137153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.680385723 meters Centerline goodness [0,1] 0.999934893007509 Centerline is valid? [True, True] Translation: X:40.38, Y:-82.63, Z:6.70 [[ 6.02940012e-01 -7.97762147e-01 -6.23683570e-03 4.03823205e+01] [-7.97721251e-01 -6.02972260e-01 8.07837551e-03 -8.26331008e+01] [-1.02052611e-02 1.04480541e-04 -9.99947920e-01 6.70197098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.710385723 meters Centerline goodness [0,1] 0.9999566169931238 Centerline is valid? [True, True] Translation: X:40.43, Y:-82.74, Z:6.70 [[ 6.62221649e-01 -7.49270638e-01 -7.48324034e-03 4.04304359e+01] [-7.49224705e-01 -6.62263920e-01 8.29708685e-03 -8.27387396e+01] [-1.11726436e-02 1.12118005e-04 -9.99937578e-01 6.70301646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.49, Y:-82.84, Z:6.70 [[ 7.17744943e-01 -6.96263649e-01 -7.68945722e-03 4.04881415e+01] [-6.96225180e-01 -7.17786125e-01 7.31966656e-03 -8.28415302e+01] [-1.06158034e-02 9.99400689e-05 -9.99943646e-01 6.70126578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.48, Y:-82.85, Z:6.70 [[ 7.69981090e-01 -6.38019249e-01 -7.78202692e-03 4.04807470e+01] [-6.37987901e-01 -7.70020408e-01 6.32528241e-03 -8.28528687e+01] [-1.00279715e-02 9.44911736e-05 -9.99949714e-01 6.70028714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.800385723 meters Centerline goodness [0,1] 0.9999567903901828 Centerline is valid? [True, True] Translation: X:40.48, Y:-82.86, Z:6.70 [[ 8.17338887e-01 -5.76103107e-01 -7.89649483e-03 4.04764678e+01] [-5.76077318e-01 -8.17377026e-01 5.45182561e-03 -8.28630719e+01] [-9.59522713e-03 9.30024859e-05 -9.99953961e-01 6.70121954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.830385723 meters Centerline goodness [0,1] 0.999870731444576 Centerline is valid? [True, True] Translation: X:40.47, Y:-82.87, Z:6.70 [[ 8.59868378e-01 -5.10449978e-01 -8.19712383e-03 4.04724458e+01] [-5.10427801e-01 -8.59907444e-01 4.75910693e-03 -8.28735435e+01] [-9.47805382e-03 9.18343266e-05 -9.99955078e-01 6.70048489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.47, Y:-82.88, Z:6.70 [[ 8.97225704e-01 -4.41480616e-01 -8.99451578e-03 4.04697724e+01] [-4.41459486e-01 -8.97270782e-01 4.32034887e-03 -8.28819775e+01] [-9.97786649e-03 9.43862554e-05 -9.99950215e-01 6.70062162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.47, Y:-82.90, Z:6.70 [[ 9.29165587e-01 -3.69553287e-01 -9.03767497e-03 4.04675986e+01] [-3.69536718e-01 -9.29209536e-01 3.50051314e-03 -8.28955284e+01] [-9.69151990e-03 8.71963936e-05 -9.99953032e-01 6.69974771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.920385723 meters Centerline goodness [0,1] 0.9999784909231696 Centerline is valid? [True, True] Translation: X:40.47, Y:-82.91, Z:6.70 [[ 9.55701598e-01 -2.94194878e-01 -9.15585544e-03 4.04655837e+01] [-2.94182080e-01 -9.55745452e-01 2.74493539e-03 -8.29093773e+01] [-9.55821312e-03 7.01494615e-05 -9.99954317e-01 6.69946133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.47, Y:-82.92, Z:6.70 [[ 9.76043373e-01 -2.17397166e-01 -8.82078651e-03 4.04656018e+01] [-2.17388801e-01 -9.76083229e-01 1.90792926e-03 -8.29199386e+01] [-9.02460019e-03 5.53184892e-05 -9.99959276e-01 6.69932287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9803857229999 meters Centerline goodness [0,1] 0.9998065514573123 Centerline is valid? [True, True] Translation: X:40.46, Y:-82.94, Z:6.70 [[ 9.90341916e-01 -1.38325629e-01 -9.42925614e-03 4.04636034e+01] [-1.38319733e-01 -9.90386803e-01 1.27767431e-03 -8.29354541e+01] [-9.51534594e-03 3.89177669e-05 -9.99954727e-01 6.70019490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.010385723 meters Centerline goodness [0,1] 0.9998930458405527 Centerline is valid? [True, True] Translation: X:40.46, Y:-82.95, Z:6.70 [[ 9.98243195e-01 -5.87217545e-02 -7.89174912e-03 4.04624821e+01] [-5.87200730e-02 -9.98274389e-01 4.44806140e-04 -8.29486134e+01] [-7.90425082e-03 1.93793818e-05 -9.99968761e-01 6.69776509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.040385723 meters Centerline goodness [0,1] 0.9999570354457572 Centerline is valid? [True, True] Translation: X:40.46, Y:-82.96, Z:6.70 [[ 9.99752917e-01 2.12524008e-02 -6.51458593e-03 4.04630188e+01] [ 2.12519157e-02 -9.99774142e-01 -1.43677437e-04 -8.29623037e+01] [-6.51616805e-03 5.19450538e-06 -9.99978770e-01 6.69660244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.070385723 meters Centerline goodness [0,1] 0.9999785338628314 Centerline is valid? [True, True] Translation: X:40.46, Y:-82.97, Z:6.70 [[ 9.94976953e-01 9.99082101e-02 -6.26193115e-03 4.04630310e+01] [ 9.99062184e-02 -9.94996658e-01 -6.30851601e-04 -8.29748103e+01] [-6.29362782e-03 2.07694285e-06 -9.99980195e-01 6.69640116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1003857229999 meters Centerline goodness [0,1] 0.9999355476303012 Centerline is valid? [True, True] Translation: X:40.47, Y:-82.99, Z:6.70 [[ 9.84008804e-01 1.78017327e-01 -6.04200369e-03 4.04657060e+01] [ 1.78013979e-01 -9.84027353e-01 -1.09178651e-03 -8.29894319e+01] [-6.13985381e-03 -1.23358564e-06 -9.99981151e-01 6.69668097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.130385723 meters Centerline goodness [0,1] 0.9999355074488897 Centerline is valid? [True, True] Translation: X:40.47, Y:-83.00, Z:6.70 [[ 9.66944858e-01 2.54884720e-01 -7.17084169e-03 4.04693764e+01] [ 2.54877746e-01 -9.66971447e-01 -1.88545071e-03 -8.30037981e+01] [-7.41457174e-03 -4.56109539e-06 -9.99972512e-01 6.69857721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.160385723 meters Centerline goodness [0,1] 0.9999570086627545 Centerline is valid? [True, True] Translation: X:40.47, Y:-83.02, Z:6.70 [[ 9.43712844e-01 3.30706697e-01 -6.25685106e-03 4.04728706e+01] [ 3.30699502e-01 -9.43733586e-01 -2.18151737e-03 -8.30174834e+01] [-6.62624289e-03 -1.04115639e-05 -9.99978046e-01 6.69766976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.48, Y:-83.03, Z:6.70 [[ 9.14575334e-01 4.04386615e-01 -4.83994349e-03 4.04767222e+01] [ 4.04381026e-01 -9.14588140e-01 -2.12608322e-03 -8.30293131e+01] [-5.28631450e-03 -1.27180433e-05 -9.99986027e-01 6.69752671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.48, Y:-83.04, Z:6.70 [[ 8.80037382e-01 4.74885129e-01 -4.28020851e-03 4.04825109e+01] [ 4.74879582e-01 -8.80047791e-01 -2.29545236e-03 -8.30394069e+01] [-4.85686423e-03 -1.24997368e-05 -9.99988205e-01 6.69707057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.250385723 meters Centerline goodness [0,1] 0.9999354616642285 Centerline is valid? [True, True] Translation: X:40.49, Y:-83.05, Z:6.70 [[ 8.40250183e-01 5.42189752e-01 -3.14682695e-03 4.04872300e+01] [ 5.42185988e-01 -8.40256076e-01 -2.02014588e-03 -8.30486659e+01] [-3.73944286e-03 -8.73753266e-06 -9.99993008e-01 6.69723305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.49, Y:-83.06, Z:6.70 [[ 7.95503034e-01 6.05942941e-01 -2.84159129e-03 4.04935429e+01] [ 6.05939105e-01 -7.95508109e-01 -2.15612297e-03 -8.30571726e+01] [-3.56699640e-03 -6.62892045e-06 -9.99993638e-01 6.69705918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.310385723 meters Centerline goodness [0,1] 0.9999785550384938 Centerline is valid? [True, True] Translation: X:40.50, Y:-83.07, Z:6.70 [[ 7.45661567e-01 6.66320258e-01 -2.47809339e-03 4.04993472e+01] [ 6.66316605e-01 -7.45665685e-01 -2.20638351e-03 -8.30656856e+01] [-3.31798724e-03 -5.97939284e-06 -9.99994496e-01 6.69713774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3403857229999 meters Centerline goodness [0,1] 0.9998924985487304 Centerline is valid? [True, True] Translation: X:40.51, Y:-83.07, Z:6.70 [[ 6.90329444e-01 7.23490864e-01 -2.49587509e-03 4.05056281e+01] [ 7.23486193e-01 -6.90333956e-01 -2.59981951e-03 -8.30736408e+01] [-3.60393298e-03 -1.09992131e-05 -9.99993506e-01 6.69829974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.51, Y:-83.08, Z:6.70 [[ 6.30745800e-01 7.75984314e-01 -2.84256760e-03 4.05134585e+01] [ 7.75976567e-01 -6.30752205e-01 -3.46758140e-03 -8.30804321e+01] [-4.48374456e-03 -1.86034471e-05 -9.99989948e-01 6.69913560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.400385723 meters Centerline goodness [0,1] 0.9998708121608819 Centerline is valid? [True, True] Translation: X:40.52, Y:-83.09, Z:6.70 [[ 5.65466012e-01 8.24763364e-01 -3.68535527e-03 4.05220052e+01] [ 8.24746391e-01 -5.65478020e-01 -5.29147371e-03 -8.30875511e+01] [-6.44820106e-03 -4.73349241e-05 -9.99979209e-01 6.70221670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.53, Y:-83.09, Z:6.70 [[ 4.97744202e-01 8.67316346e-01 -3.61460545e-03 4.05317441e+01] [ 8.67294402e-01 -4.97757322e-01 -6.16996667e-03 -8.30938955e+01] [-7.15050928e-03 -6.38619323e-05 -9.99974433e-01 6.70265529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.54, Y:-83.10, Z:6.70 [[ 4.26318117e-01 9.04567580e-01 -3.21823166e-03 4.05404270e+01] [ 9.04543244e-01 -4.26330256e-01 -6.63567978e-03 -8.30998747e+01] [-7.37445033e-03 -8.21192037e-05 -9.99972805e-01 6.70359120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.490385723 meters Centerline goodness [0,1] 0.9999567483402175 Centerline is valid? [True, True] Translation: X:40.55, Y:-83.10, Z:6.70 [[ 3.53854142e-01 9.35296635e-01 -2.72973841e-03 4.05451916e+01] [ 9.35270656e-01 -3.53864661e-01 -6.97155553e-03 -8.31028138e+01] [-7.48643038e-03 -8.61304315e-05 -9.99971973e-01 6.70377141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.520385723 meters Centerline goodness [0,1] 0.9999566292232294 Centerline is valid? [True, True] Translation: X:40.55, Y:-83.11, Z:6.70 [[ 2.80013914e-01 9.59993676e-01 -2.08587656e-03 4.05542161e+01] [ 9.59969105e-01 -2.80021672e-01 -6.86881672e-03 -8.31057572e+01] [-7.17811125e-03 -7.90127964e-05 -9.99974234e-01 6.70293359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.550385723 meters Centerline goodness [0,1] 0.9999566752594069 Centerline is valid? [True, True] Translation: X:40.56, Y:-83.11, Z:6.70 [[ 2.04811977e-01 9.78800179e-01 -1.50433571e-03 4.05635664e+01] [ 9.78776278e-01 -2.04817489e-01 -6.84064784e-03 -8.31094576e+01] [-7.00374160e-03 -7.13614917e-05 -9.99975471e-01 6.70313279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.580385723 meters Centerline goodness [0,1] 0.9999783881913077 Centerline is valid? [True, True] Translation: X:40.57, Y:-83.11, Z:6.70 [[ 1.29450244e-01 9.91585568e-01 -8.34386243e-04 4.05727046e+01] [ 9.91567383e-01 -1.29452923e-01 -6.00547566e-03 -8.31114966e+01] [-6.06295673e-03 -4.99398936e-05 -9.99981619e-01 6.70200595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.58, Y:-83.11, Z:6.70 [[ 5.24108984e-02 9.98625547e-01 -3.39190529e-04 4.05831386e+01] [ 9.98609389e-01 -5.24119800e-02 -5.68097783e-03 -8.31140196e+01] [-5.69094724e-03 -4.09736939e-05 -9.99983806e-01 6.70193372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.640385723 meters Centerline goodness [0,1] 0.9999132678505606 Centerline is valid? [True, True] Translation: X:40.59, Y:-83.12, Z:6.70 [[-2.57196681e-02 9.99669189e-01 1.06770181e-04 4.05937722e+01] [ 9.99653035e-01 2.57198595e-02 -5.68323238e-03 -8.31152602e+01] [-5.68409842e-03 -3.94377153e-05 -9.99983845e-01 6.70182648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.670385723 meters Centerline goodness [0,1] 0.9999350199272223 Centerline is valid? [True, True] Translation: X:40.60, Y:-83.12, Z:6.70 [[-1.04387262e-01 9.94536530e-01 6.24322404e-04 4.06034830e+01] [ 9.94515906e-01 1.04389118e-01 -6.40504971e-03 -8.31158518e+01] [-6.43522838e-03 -4.77070397e-05 -9.99979293e-01 6.70261206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.61, Y:-83.12, Z:6.70 [[-1.82230214e-01 9.83255197e-01 1.16894126e-03 4.06139546e+01] [ 9.83233107e-01 1.82233956e-01 -6.59103776e-03 -8.31155251e+01] [-6.69369292e-03 -5.17444748e-05 -9.99977596e-01 6.70323891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7303857229999 meters Centerline goodness [0,1] 0.9998263474353687 Centerline is valid? [True, True] Translation: X:40.62, Y:-83.11, Z:6.70 [[-2.59653730e-01 9.65699848e-01 1.93522177e-03 4.06232963e+01] [ 9.65671056e-01 2.59660933e-01 -7.45735545e-03 -8.31149901e+01] [-7.70406851e-03 -6.75425079e-05 -9.99970321e-01 6.70330611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.63, Y:-83.12, Z:6.70 [[-3.35558041e-01 9.42016299e-01 2.46848898e-03 4.06320828e+01] [ 9.41989148e-01 3.35567112e-01 -7.15253695e-03 -8.31154113e+01] [-7.56615010e-03 -7.48014580e-05 -9.99971374e-01 6.70306775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.790385723 meters Centerline goodness [0,1] 0.9998691413491527 Centerline is valid? [True, True] Translation: X:40.64, Y:-83.12, Z:6.70 [[-4.08110098e-01 9.12925959e-01 3.51299552e-03 4.06396122e+01] [ 9.12890315e-01 4.08125209e-01 -8.06760420e-03 -8.31151994e+01] [-8.79886733e-03 -8.54911575e-05 -9.99961286e-01 6.70459044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.820385723 meters Centerline goodness [0,1] 0.9998475377344107 Centerline is valid? [True, True] Translation: X:40.65, Y:-83.11, Z:6.70 [[-4.79319088e-01 8.77632683e-01 3.75313325e-03 4.06509509e+01] [ 8.77604357e-01 4.79333774e-01 -7.05168975e-03 -8.31112027e+01] [-7.98779692e-03 -8.62434156e-05 -9.99968093e-01 6.70270287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8503857229999 meters Centerline goodness [0,1] 0.9999783188430935 Centerline is valid? [True, True] Translation: X:40.66, Y:-83.11, Z:6.70 [[-5.47567486e-01 8.36749717e-01 4.44520670e-03 4.06624386e+01] [ 8.36720666e-01 5.47585520e-01 -6.97323113e-03 -8.31079410e+01] [-8.26897999e-03 -9.89183253e-05 -9.99965807e-01 6.70331006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.67, Y:-83.10, Z:6.70 [[-6.11898420e-01 7.90921860e-01 4.78900475e-03 4.06715322e+01] [ 7.90896352e-01 6.11917152e-01 -6.35292978e-03 -8.31032417e+01] [-7.95514519e-03 -9.97413096e-05 -9.99968352e-01 6.70304285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.68, Y:-83.10, Z:6.70 [[-6.71959367e-01 7.40569251e-01 5.27185351e-03 4.06824898e+01] [ 7.40545288e-01 6.71980040e-01 -5.95838198e-03 -8.30969287e+01] [-7.95517481e-03 -9.97443121e-05 -9.99968352e-01 6.70304311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.940385723 meters Centerline goodness [0,1] 0.9999349396022641 Centerline is valid? [True, True] Translation: X:40.69, Y:-83.09, Z:6.70 [[-7.27981708e-01 6.85574848e-01 5.45541123e-03 4.06917789e+01] [ 6.85554601e-01 7.28002142e-01 -5.26969700e-03 -8.30903252e+01] [-7.58432278e-03 -9.62607495e-05 -9.99971234e-01 6.70247785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9703857229999 meters Centerline goodness [0,1] 0.9999563576057783 Centerline is valid? [True, True] Translation: X:40.71, Y:-83.07, Z:6.70 [[-7.74157130e-01 6.32973396e-01 5.04171946e-03 4.07114887e+01] [ 6.32959313e-01 7.74173543e-01 -4.22303167e-03 -8.30732202e+01] [-6.57623251e-03 -7.80867928e-05 -9.99978373e-01 6.70136112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.000385723 meters Centerline goodness [0,1] 0.9999781997340368 Centerline is valid? [True, True] Translation: X:40.73, Y:-83.05, Z:6.70 [[-8.16704667e-01 5.77033213e-01 5.11457750e-03 4.07318435e+01] [ 5.77021347e-01 8.16720678e-01 -3.70126102e-03 -8.30540525e+01] [-6.31293174e-03 -7.16167548e-05 -9.99980071e-01 6.70118797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.030385723 meters Centerline goodness [0,1] 0.9999345392655306 Centerline is valid? [True, True] Translation: X:40.75, Y:-83.03, Z:6.70 [[-8.54910043e-01 5.18750798e-01 5.14088567e-03 4.07477896e+01] [ 5.18740983e-01 8.54925498e-01 -3.19162567e-03 -8.30328878e+01] [-6.05073261e-03 -6.17647560e-05 -9.99981692e-01 6.70135602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.76, Y:-83.01, Z:6.70 [[-8.88641974e-01 4.58572640e-01 5.15522121e-03 4.07565989e+01] [ 4.58564607e-01 8.88656926e-01 -2.71477845e-03 -8.30088292e+01] [-5.82614615e-03 -4.84640901e-05 -9.99983027e-01 6.70167800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0903857229999 meters Centerline goodness [0,1] 0.9999781205557379 Centerline is valid? [True, True] Translation: X:40.77, Y:-82.98, Z:6.70 [[-9.18402326e-01 3.95606728e-01 5.69950553e-03 4.07676179e+01] [ 3.95598811e-01 9.18420010e-01 -2.50323505e-03 -8.29841875e+01] [-6.22483655e-03 -4.42592824e-05 -9.99980625e-01 6.70159038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.79, Y:-82.97, Z:6.70 [[-9.43477076e-01 3.31371295e-01 6.63868011e-03 4.07877289e+01] [ 3.31362815e-01 9.43500431e-01 -2.37094917e-03 -8.29661856e+01] [-7.04926204e-03 -3.71244590e-05 -9.99975153e-01 6.70168795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.81, Y:-82.94, Z:6.70 [[-9.64258495e-01 2.64861988e-01 7.32680361e-03 4.08054471e+01] [ 2.64854044e-01 9.64286330e-01 -2.05171801e-03 -8.29425937e+01] [-7.60855867e-03 -3.78529548e-05 -9.99971054e-01 6.70193418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.81, Y:-82.92, Z:6.70 [[-9.80557897e-01 1.96064514e-01 8.05714423e-03 4.08076008e+01] [ 1.96057568e-01 9.80590998e-01 -1.65073406e-03 -8.29154060e+01] [-8.22441347e-03 -3.89762177e-05 -9.99966178e-01 6.70286591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.210385723 meters Centerline goodness [0,1] 0.9999780297038404 Centerline is valid? [True, True] Translation: X:40.80, Y:-82.89, Z:6.70 [[-9.92000792e-01 1.25934163e-01 8.66113638e-03 4.08003591e+01] [ 1.25928991e-01 9.92038601e-01 -1.14217486e-03 -8.28860512e+01] [-8.73602045e-03 -4.23502022e-05 -9.99961839e-01 6.70311781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.81, Y:-82.86, Z:6.70 [[-9.98412816e-01 5.56097749e-02 8.91082811e-03 4.08143348e+01] [ 5.56072118e-02 9.98452579e-01 -5.35338800e-04 -8.28614930e+01] [-8.92680937e-03 -3.89828132e-05 -9.99960155e-01 6.70323474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.86, Y:-82.11, Z:5.77 [[-9.91368393e-01 -1.30830043e-01 8.49761572e-03 4.08637443e+01] [ 1.30825361e-01 -9.91404811e-01 -1.10690582e-03 -8.21122785e+01] [ 8.56939364e-03 1.43522036e-05 9.99963282e-01 5.77468813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.300385723 meters Centerline goodness [0,1] 0.9999779696862884 Centerline is valid? [True, True] Translation: X:40.74, Y:-82.86, Z:6.70 [[-9.98541159e-01 5.33548486e-02 8.29536720e-03 4.07445776e+01] [ 5.33528841e-02 9.98575616e-01 -4.58084524e-04 -8.28631215e+01] [-8.30799244e-03 -1.48344871e-05 -9.99965488e-01 6.70315822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.330385723 meters Centerline goodness [0,1] 0.9999779453927925 Centerline is valid? [True, True] Translation: X:40.73, Y:-82.84, Z:6.70 [[-9.99834897e-01 -1.65816162e-02 7.43167083e-03 4.07261019e+01] [-1.65811945e-02 9.99862516e-01 1.18368616e-04 -8.28376636e+01] [-7.43261184e-03 -4.87690670e-06 -9.99972378e-01 6.70288833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.360385723 meters Centerline goodness [0,1] 0.9999556363959008 Centerline is valid? [True, True] Translation: X:40.73, Y:-82.81, Z:6.70 [[-9.96157784e-01 -8.73081576e-02 6.85231660e-03 4.07320317e+01] [-8.73061011e-02 9.96181352e-01 5.99233494e-04 -8.28104634e+01] [-6.87846798e-03 -1.31793594e-06 -9.99976343e-01 6.70163050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.73, Y:-82.79, Z:6.70 [[-9.87474110e-01 -1.57654881e-01 6.31029706e-03 4.07289381e+01] [-1.57651643e-01 9.87494273e-01 1.01051212e-03 -8.27853960e+01] [-6.39069437e-03 3.02586418e-06 -9.99979579e-01 6.70136850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.70, Y:-82.76, Z:6.70 [[-9.73650647e-01 -2.27964808e-01 6.03861067e-03 4.07017815e+01] [-2.27960396e-01 9.73669372e-01 1.41824092e-03 -8.27631028e+01] [-6.20291928e-03 4.30710927e-06 -9.99980762e-01 6.70149954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.65, Y:-82.75, Z:6.70 [[-9.54444949e-01 -2.98311914e-01 6.69631550e-03 4.06453793e+01] [-2.98304592e-01 9.54468439e-01 2.09017170e-03 -8.27514048e+01] [-7.01494492e-03 -2.58783953e-06 -9.99975395e-01 6.70167817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.61, Y:-82.74, Z:6.70 [[-9.29309913e-01 -3.69238128e-01 6.80369259e-03 4.06075298e+01] [-3.69228309e-01 9.29334819e-01 2.69279894e-03 -8.27352880e+01] [-7.31719246e-03 -9.67116269e-06 -9.99973229e-01 6.70235382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.510385723 meters Centerline goodness [0,1] 0.9999776950014498 Centerline is valid? [True, True] Translation: X:40.54, Y:-82.74, Z:6.70 [[-8.98415379e-01 -4.39080231e-01 7.63919625e-03 4.05359879e+01] [-4.39064641e-01 8.98447856e-01 3.70017977e-03 -8.27369584e+01] [-8.48809527e-03 -2.98025448e-05 -9.99963975e-01 6.70318430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.45, Y:-82.75, Z:6.70 [[-8.62490774e-01 -5.05978993e-01 9.74281564e-03 4.04541340e+01] [-5.05947421e-01 8.62545799e-01 5.65264481e-03 -8.27500156e+01] [-1.12637442e-02 -5.39984417e-05 -9.99936561e-01 6.70477497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.36, Y:-82.77, Z:6.71 [[-8.21802104e-01 -5.69685792e-01 9.96999566e-03 4.03628254e+01] [-5.69644837e-01 8.21862576e-01 6.83119155e-03 -8.27745176e+01] [-1.20855991e-02 -6.54689653e-05 -9.99926964e-01 6.70628031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.28, Y:-82.80, Z:6.71 [[-7.75914505e-01 -6.30761283e-01 9.84301478e-03 4.02771075e+01] [-6.30711805e-01 7.75976932e-01 7.90066509e-03 -8.28049117e+01] [-1.26213860e-02 -7.78649792e-05 -9.99920344e-01 6.70692274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.630385723 meters Centerline goodness [0,1] 0.9999549924612372 Centerline is valid? [True, True] Translation: X:40.19, Y:-82.85, Z:6.71 [[-7.25558632e-01 -6.88102732e-01 8.90510310e-03 4.01885747e+01] [-6.88052259e-01 7.25613274e-01 8.33462949e-03 -8.28452384e+01] [-1.21967423e-02 -7.99139202e-05 -9.99925614e-01 6.70659244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.660385723 meters Centerline goodness [0,1] 0.9999774739260694 Centerline is valid? [True, True] Translation: X:40.10, Y:-82.90, Z:6.71 [[-6.71681645e-01 -7.40801461e-01 7.54736164e-03 4.00959767e+01] [-7.40755787e-01 6.71724044e-01 8.22639377e-03 -8.29021149e+01] [-1.11638688e-02 -6.52341063e-05 -9.99937680e-01 6.70591038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.99, Y:-82.99, Z:6.71 [[-6.13699535e-01 -7.89513720e-01 6.40056814e-03 3.99863529e+01] [-7.89471748e-01 6.13732908e-01 8.14105360e-03 -8.29893818e+01] [-1.03557128e-02 -5.69069067e-05 -9.99946377e-01 6.70578358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.92, Y:-83.04, Z:6.70 [[-5.51809683e-01 -8.33954253e-01 5.13592919e-03 3.99189156e+01] [-8.33918866e-01 5.51833582e-01 7.68260538e-03 -8.30380236e+01] [-9.24111963e-03 -4.36122042e-05 -9.99957299e-01 6.70443706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.84, Y:-83.11, Z:6.70 [[-4.85891696e-01 -8.74007503e-01 4.48824177e-03 3.98402271e+01] [-8.73971079e-01 4.85912422e-01 7.97938368e-03 -8.31112552e+01] [-9.15493363e-03 -4.54772370e-05 -9.99958092e-01 6.70481372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.76, Y:-83.20, Z:6.70 [[-4.16759279e-01 -9.09008685e-01 3.86179344e-03 3.97601912e+01] [-9.08970778e-01 4.16777168e-01 8.30168418e-03 -8.32034393e+01] [-9.15581035e-03 -5.04534757e-05 -9.99958084e-01 6.70445608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.69, Y:-83.30, Z:6.71 [[-3.44858121e-01 -9.38648735e-01 3.38060963e-03 3.96864947e+01] [-9.38605315e-01 3.44874685e-01 9.02858480e-03 -8.33002612e+01] [-9.64055638e-03 -5.94773838e-05 -9.99953527e-01 6.70586882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.62, Y:-83.41, Z:6.71 [[-2.69733542e-01 -9.62929682e-01 3.20075943e-03 3.96180227e+01] [-9.62865904e-01 2.69752516e-01 1.10829029e-02 -8.34067821e+01] [-1.15354691e-02 -9.24714694e-05 -9.99933460e-01 6.70695575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.870385723 meters Centerline goodness [0,1] 0.9999774393683023 Centerline is valid? [True, True] Translation: X:39.56, Y:-83.52, Z:6.71 [[-1.93558262e-01 -9.81085406e-01 2.57388916e-03 3.95574149e+01] [-9.81006491e-01 1.93575340e-01 1.24440108e-02 -8.35241107e+01] [-1.27068788e-02 -1.16360878e-04 -9.99919258e-01 6.70804161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.50, Y:-83.66, Z:6.71 [[-1.16827483e-01 -9.93150704e-01 1.73719898e-03 3.95033522e+01] [-9.93057147e-01 1.16840323e-01 1.36323986e-02 -8.36556659e+01] [-1.37420012e-02 -1.32499041e-04 -9.99905566e-01 6.71043099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.930385723 meters Centerline goodness [0,1] 0.9999324795750715 Centerline is valid? [True, True] Translation: X:39.47, Y:-83.76, Z:6.71 [[-3.99942717e-02 -9.99199664e-01 7.00523220e-04 3.94657480e+01] [-9.99099073e-01 4.00001857e-02 1.41784012e-02 -8.37626990e+01] [-1.41950748e-02 -1.32837269e-04 -9.99899236e-01 6.70922364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.43, Y:-83.89, Z:6.71 [[ 3.57479474e-02 -9.99360748e-01 -4.24072114e-04 3.94349944e+01] [-9.99246579e-01 -3.57502736e-02 1.51060398e-02 -8.38863707e+01] [-1.51115439e-02 -1.16257307e-04 -9.99885807e-01 6.71012755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.42, Y:-84.03, Z:6.71 [[ 1.11436098e-01 -9.93770315e-01 -1.59893280e-03 3.94163715e+01] [-9.93655304e-01 -1.11447527e-01 1.51190571e-02 -8.40344514e+01] [-1.52030672e-02 -9.60206746e-05 -9.99884422e-01 6.71050929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.41, Y:-84.15, Z:6.71 [[ 1.84409114e-01 -9.82845973e-01 -2.65926961e-03 3.94068972e+01] [-9.82740731e-01 -1.84428283e-01 1.43827875e-02 -8.41534440e+01] [-1.46265093e-02 -3.89445513e-05 -9.99893026e-01 6.70914533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.40, Y:-84.24, Z:6.71 [[ 2.56072594e-01 -9.66650424e-01 -3.71274960e-03 3.93981989e+01] [-9.66549910e-01 -2.56099507e-01 1.39396436e-02 -8.42403600e+01] [-1.44255958e-02 1.89970938e-05 -9.99895946e-01 6.70835655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.41, Y:-84.37, Z:6.71 [[ 3.28061830e-01 -9.44645090e-01 -4.59232376e-03 3.94068115e+01] [-9.44554519e-01 -3.28093968e-01 1.30808540e-02 -8.43661220e+01] [-1.38634782e-02 4.63712716e-05 -9.99903896e-01 6.70716876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.43, Y:-84.49, Z:6.71 [[ 3.97012869e-01 -9.17797072e-01 -5.41443323e-03 3.94255723e+01] [-9.17714741e-01 -3.97049778e-01 1.22933975e-02 -8.44885070e+01] [-1.34326437e-02 8.82681959e-05 -9.99909774e-01 6.70645227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.46, Y:-84.62, Z:6.71 [[ 4.65182045e-01 -8.85192421e-01 -6.32787979e-03 3.94575414e+01] [-8.85113677e-01 -4.65225070e-01 1.18073229e-02 -8.46182326e+01] [-1.33956411e-02 1.08338317e-04 -9.99910269e-01 6.70591102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.49, Y:-84.73, Z:6.71 [[ 5.30265238e-01 -8.47800684e-01 -7.26483597e-03 3.94909003e+01] [-8.47724622e-01 -5.30314984e-01 1.13570631e-02 -8.47310911e+01] [-1.34811772e-02 1.36324562e-04 -9.99909116e-01 6.70520885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.53, Y:-84.84, Z:6.70 [[ 5.93454371e-01 -8.04826268e-01 -8.16013917e-03 3.95268161e+01] [-8.04753506e-01 -5.93510453e-01 1.08230288e-02 -8.48352975e+01] [-1.35537858e-02 1.43926872e-04 -9.99908133e-01 6.70484443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.58, Y:-84.94, Z:6.71 [[ 6.53763042e-01 -7.56647536e-01 -8.85390085e-03 3.95769312e+01] [-7.56580962e-01 -6.53822979e-01 1.00379583e-02 -8.49427251e+01] [-1.33840802e-02 1.36246661e-04 -9.99910420e-01 6.70637180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.260385723 meters Centerline goodness [0,1] 0.9999551005747126 Centerline is valid? [True, True] Translation: X:39.63, Y:-85.05, Z:6.71 [[ 7.10302163e-01 -7.03830639e-01 -9.65753911e-03 3.96333260e+01] [-7.03767998e-01 -7.10367803e-01 9.39092316e-03 -8.50468387e+01] [-1.34700243e-02 1.26273930e-04 -9.99909267e-01 6.70505072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.62, Y:-85.06, Z:6.70 [[ 7.64060741e-01 -6.45061053e-01 -1.03644534e-02 3.96246813e+01] [-6.45003591e-01 -7.64131027e-01 8.61052745e-03 -8.50557048e+01] [-1.34741164e-02 1.06143695e-04 -9.99909214e-01 6.70466772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.62, Y:-85.07, Z:6.70 [[ 8.12748411e-01 -5.82514890e-01 -1.07899876e-02 3.96174044e+01] [-5.82465028e-01 -8.12820026e-01 7.62205032e-03 -8.50652929e+01] [-1.32102758e-02 8.99811478e-05 -9.99912737e-01 6.70367999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.61, Y:-85.08, Z:6.70 [[ 8.56927011e-01 -5.15327163e-01 -1.06776507e-02 3.96085206e+01] [-5.15287999e-01 -8.56993531e-01 6.35347472e-03 -8.50752664e+01] [-1.24247957e-02 5.76011628e-05 -9.99922808e-01 6.70348988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.60, Y:-85.09, Z:6.70 [[ 8.95115054e-01 -4.45710539e-01 -1.05430646e-02 3.96019088e+01] [-4.45680158e-01 -8.95177141e-01 5.20411229e-03 -8.50851702e+01] [-1.17574381e-02 4.05554443e-05 -9.99930878e-01 6.70334990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.60, Y:-85.09, Z:6.70 [[ 9.28240571e-01 -3.71838196e-01 -1.02858387e-02 3.95956603e+01] [-3.71815461e-01 -9.28297558e-01 4.11186222e-03 -8.50949746e+01] [-1.10772664e-02 7.63653303e-06 -9.99938645e-01 6.70363127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.59, Y:-85.10, Z:6.70 [[ 9.55182481e-01 -2.95826407e-01 -1.06379421e-02 3.95922522e+01] [-2.95807838e-01 -9.55241716e-01 3.31458052e-03 -8.51041102e+01] [-1.11423465e-02 -1.92426039e-05 -9.99937922e-01 6.70253444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.59, Y:-85.11, Z:6.70 [[ 9.75594458e-01 -2.19313645e-01 -1.08156515e-02 3.95883255e+01] [-2.19299829e-01 -9.75654408e-01 2.46188227e-03 -8.51114557e+01] [-1.10922624e-02 -2.99281728e-05 -9.99938479e-01 6.70240902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.500385723 meters Centerline goodness [0,1] 0.9999778142609931 Centerline is valid? [True, True] Translation: X:39.58, Y:-85.12, Z:6.70 [[ 9.90106599e-01 -1.39879271e-01 -1.10775596e-02 3.95831904e+01] [-1.39869869e-01 -9.90168565e-01 1.62274556e-03 -8.51191395e+01] [-1.11956397e-02 -5.72742813e-05 -9.99937325e-01 6.70245749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.530385723 meters Centerline goodness [0,1] 0.9999777461278262 Centerline is valid? [True, True] Translation: X:39.58, Y:-85.13, Z:6.70 [[ 9.98066295e-01 -6.10932178e-02 -1.14581487e-02 3.95788489e+01] [-6.10884028e-02 -9.98132063e-01 7.70079660e-04 -8.51270895e+01] [-1.14837922e-02 -6.86305526e-05 -9.99934057e-01 6.70213200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.560385723 meters Centerline goodness [0,1] 0.9999555170036254 Centerline is valid? [True, True] Translation: X:39.57, Y:-85.14, Z:6.70 [[ 9.99743236e-01 1.90586502e-02 -1.22568687e-02 3.95742880e+01] [ 1.90583930e-02 -9.99818363e-01 -1.37797896e-04 -8.51374720e+01] [-1.22572687e-02 -9.58337068e-05 -9.99924872e-01 6.70256164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.57, Y:-85.15, Z:6.70 [[ 9.95121300e-01 9.79471452e-02 -1.18302461e-02 3.95707590e+01] [ 9.79414311e-02 -9.95191613e-01 -1.06279093e-03 -8.51491292e+01] [-1.18774590e-02 -1.01065345e-04 -9.99929455e-01 6.70194929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.57, Y:-85.16, Z:6.70 [[ 9.84359276e-01 1.75833676e-01 -1.09240567e-02 3.95683071e+01] [ 1.75823948e-01 -9.84419885e-01 -1.85216053e-03 -8.51591839e+01] [-1.10795308e-02 -9.75193709e-05 -9.99938615e-01 6.70139977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.57, Y:-85.17, Z:6.70 [[ 9.67789529e-01 2.51524399e-01 -1.09042851e-02 3.95657306e+01] [ 2.51509473e-01 -9.67850954e-01 -2.74158397e-03 -8.51695248e+01] [-1.12432980e-02 -8.92547515e-05 -9.99936788e-01 6.70191987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.56, Y:-85.18, Z:6.70 [[ 9.45299772e-01 3.26020375e-01 -1.09112914e-02 3.95644021e+01] [ 3.25999695e-01 -9.45362739e-01 -3.67299177e-03 -8.51786269e+01] [-1.15125985e-02 -8.49993923e-05 -9.99933724e-01 6.70153715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.56, Y:-85.19, Z:6.70 [[ 9.17356839e-01 3.97916637e-01 -1.08985757e-02 3.95621860e+01] [ 3.97889507e-01 -9.17421574e-01 -4.64711850e-03 -8.51863503e+01] [-1.18477542e-02 -7.33629552e-05 -9.99929810e-01 6.70160931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.740385723 meters Centerline goodness [0,1] 0.9999554694631844 Centerline is valid? [True, True] Translation: X:39.56, Y:-85.20, Z:6.70 [[ 8.83639882e-01 4.68060498e-01 -9.99649479e-03 3.95619359e+01] [ 4.68031369e-01 -8.83696422e-01 -5.22223368e-03 -8.51957459e+01] [-1.12781880e-02 -6.40991889e-05 -9.99936397e-01 6.70165960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.56, Y:-85.20, Z:6.70 [[ 8.45142871e-01 5.34452049e-01 -9.72293264e-03 3.95625395e+01] [ 5.34417323e-01 -8.45198796e-01 -6.09264786e-03 -8.52049202e+01] [-1.14740391e-02 -4.69457316e-05 -9.99934170e-01 6.70042983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.56, Y:-85.22, Z:6.70 [[ 8.00706808e-01 5.98985536e-01 -9.21609141e-03 3.95649984e+01] [ 5.98946537e-01 -8.00759843e-01 -6.83520870e-03 -8.52167549e+01] [-1.14740671e-02 -4.69478920e-05 -9.99934170e-01 6.70043009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.57, Y:-85.23, Z:6.70 [[ 7.51825848e-01 6.59300533e-01 -8.98340801e-03 3.95686940e+01] [ 6.59254110e-01 -7.51879516e-01 -7.82381376e-03 -8.52288668e+01] [-1.19126850e-02 -4.02032355e-05 -9.99929041e-01 6.70030869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.57, Y:-85.24, Z:6.70 [[ 6.98663444e-01 7.15391245e-01 -9.20646496e-03 3.95734592e+01] [ 7.15329702e-01 -6.98724099e-01 -9.38357053e-03 -8.52403058e+01] [-1.31457031e-02 -2.97001373e-05 -9.99913591e-01 6.70096370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.58, Y:-85.25, Z:6.70 [[ 6.40759646e-01 7.67692615e-01 -8.66740979e-03 3.95788326e+01] [ 7.67622940e-01 -6.40818264e-01 -1.03428164e-02 -8.52517332e+01] [-1.34943382e-02 -2.60432321e-05 -9.99908947e-01 6.70164840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.58, Y:-85.26, Z:6.70 [[ 5.79218788e-01 8.15133354e-01 -7.95056555e-03 3.95834453e+01] [ 8.15056995e-01 -5.79273351e-01 -1.11570313e-02 -8.52630332e+01] [-1.37000191e-02 -1.78019486e-05 -9.99906150e-01 6.70200623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.950385723 meters Centerline goodness [0,1] 0.9999776361399978 Centerline is valid? [True, True] Translation: X:39.59, Y:-85.27, Z:6.70 [[ 5.14723709e-01 8.57323363e-01 -7.49371611e-03 3.95873070e+01] [ 8.57232526e-01 -5.14778255e-01 -1.24798002e-02 -8.52725447e+01] [-1.45568263e-02 -2.08162761e-07 -9.99894044e-01 6.70217509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9803857229999 meters Centerline goodness [0,1] 0.9999552061636319 Centerline is valid? [True, True] Translation: X:39.59, Y:-85.28, Z:6.70 [[ 4.46492778e-01 8.94763024e-01 -6.58253458e-03 3.95941272e+01] [ 8.94665563e-01 -4.46541298e-01 -1.32060711e-02 -8.52821558e+01] [-1.47556776e-02 7.24835260e-06 -9.99891129e-01 6.70146070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.60, Y:-85.29, Z:6.70 [[ 3.75917407e-01 9.26636589e-01 -5.54384504e-03 3.96001395e+01] [ 9.26535029e-01 -3.75958284e-01 -1.37189269e-02 -8.52919394e+01] [-1.47967141e-02 2.06168068e-05 -9.99890523e-01 6.70059003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.61, Y:-85.30, Z:6.70 [[ 3.02175074e-01 9.53243201e-01 -4.19826461e-03 3.96084686e+01] [ 9.53150351e-01 -3.02204236e-01 -1.33044633e-02 -8.53008895e+01] [-1.39511226e-02 1.86998107e-05 -9.99902678e-01 6.70030578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.070385723 meters Centerline goodness [0,1] 0.9999327595481442 Centerline is valid? [True, True] Translation: X:39.62, Y:-85.31, Z:6.70 [[ 2.26611492e-01 9.73980835e-01 -2.92665410e-03 3.96168773e+01] [ 9.73898621e-01 -2.26630389e-01 -1.26547590e-02 -8.53091128e+01] [-1.29887615e-02 1.74494313e-05 -9.99915642e-01 6.70018598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1003857229999 meters Centerline goodness [0,1] 0.9999776231287342 Centerline is valid? [True, True] Translation: X:39.63, Y:-85.32, Z:6.70 [[ 1.49266120e-01 9.88795541e-01 -1.73301721e-03 3.96250770e+01] [ 9.88728041e-01 -1.49276179e-01 -1.15535246e-02 -8.53180098e+01] [-1.16827718e-02 1.10670748e-05 -9.99931754e-01 6.69880302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.130385723 meters Centerline goodness [0,1] 0.9997765612780695 Centerline is valid? [True, True] Translation: X:39.63, Y:-85.32, Z:6.70 [[ 7.08624133e-02 9.97485818e-01 -7.49110209e-04 3.96329920e+01] [ 9.97429361e-01 -7.08663725e-02 -1.06126189e-02 -8.53243491e+01] [-1.06390236e-02 4.85126945e-06 -9.99943404e-01 6.69776818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.160385723 meters Centerline goodness [0,1] 0.9998432566783851 Centerline is valid? [True, True] Translation: X:39.64, Y:-85.33, Z:6.70 [[-7.89304501e-03 9.99968846e-01 8.31430077e-05 3.96415133e+01] [ 9.99913682e-01 7.89348290e-03 -1.05034198e-02 -8.53312695e+01] [-1.05037489e-02 2.31865602e-07 -9.99944834e-01 6.69752831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.190385723 meters Centerline goodness [0,1] 0.9999331282599974 Centerline is valid? [True, True] Translation: X:39.65, Y:-85.34, Z:6.70 [[-8.72359229e-02 9.96187299e-01 8.71498633e-04 3.96508808e+01] [ 9.96136426e-01 8.72402754e-02 -1.00675154e-02 -8.53373053e+01] [-1.01051608e-02 -1.01174673e-05 -9.99948942e-01 6.69780456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2203857229999 meters Centerline goodness [0,1] 0.9998440632657607 Centerline is valid? [True, True] Translation: X:39.66, Y:-85.34, Z:6.70 [[-1.66159872e-01 9.86097303e-01 1.73411979e-03 3.96604931e+01] [ 9.86042123e-01 1.66168919e-01 -1.04318228e-02 -8.53420641e+01] [-1.05749491e-02 -2.34351808e-05 -9.99944083e-01 6.69837858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.250385723 meters Centerline goodness [0,1] 0.9999109270269668 Centerline is valid? [True, True] Translation: X:39.67, Y:-85.35, Z:6.70 [[-2.43138235e-01 9.69987776e-01 2.74099285e-03 3.96722626e+01] [ 9.69924842e-01 2.43153683e-01 -1.10493014e-02 -8.53454961e+01] [-1.13841698e-02 -2.79505827e-05 -9.99935198e-01 6.69751535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.280385723 meters Centerline goodness [0,1] 0.9996666073968705 Centerline is valid? [True, True] Translation: X:39.68, Y:-85.35, Z:6.70 [[-3.18752262e-01 9.47830727e-01 3.72953156e-03 3.96846407e+01] [ 9.47764602e-01 3.18774078e-01 -1.11958638e-02 -8.53485476e+01] [-1.18006617e-02 -3.39889223e-05 -9.99930369e-01 6.69865726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.310385723 meters Centerline goodness [0,1] 0.9998888370128282 Centerline is valid? [True, True] Translation: X:39.70, Y:-85.35, Z:6.70 [[-3.91992459e-01 9.19956740e-01 4.63785188e-03 3.96951790e+01] [ 9.19891313e-01 3.92019892e-01 -1.09716142e-02 -8.53504568e+01] [-1.19115406e-02 -3.44703609e-05 -9.99929055e-01 6.69824404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3403857229999 meters Centerline goodness [0,1] 0.9999109726240819 Centerline is valid? [True, True] Translation: X:39.71, Y:-85.35, Z:6.70 [[-4.62717514e-01 8.86489046e-01 5.44741500e-03 3.97060296e+01] [ 8.86426791e-01 4.62749577e-01 -1.05059176e-02 -8.53534087e+01] [-1.18341699e-02 -3.25374958e-05 -9.99929973e-01 6.69866330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.370385723 meters Centerline goodness [0,1] 0.9997325368876209 Centerline is valid? [True, True] Translation: X:39.71, Y:-85.36, Z:6.70 [[-5.29871799e-01 8.48056518e-01 6.00156734e-03 3.97140471e+01] [ 8.48001708e-01 5.29905786e-01 -9.64163557e-03 -8.53553502e+01] [-1.13569171e-02 -1.94914370e-05 -9.99935508e-01 6.69757224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.400385723 meters Centerline goodness [0,1] 0.9998663369645124 Centerline is valid? [True, True] Translation: X:39.72, Y:-85.36, Z:6.70 [[-5.94137301e-01 8.04336651e-01 6.58942252e-03 3.97216275e+01] [ 8.04286964e-01 5.94173840e-01 -8.94021647e-03 -8.53568599e+01] [-1.11062063e-02 -1.19294440e-05 -9.99938324e-01 6.69703473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.430385723 meters Centerline goodness [0,1] 0.9998227264669385 Centerline is valid? [True, True] Translation: X:39.73, Y:-85.35, Z:6.70 [[-6.54578413e-01 7.55963014e-01 6.85739303e-03 3.97331443e+01] [ 7.55921515e-01 6.54614331e-01 -7.92089556e-03 -8.53543602e+01] [-1.04768518e-02 -1.19630934e-06 -9.99945116e-01 6.69541703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.460385723 meters Centerline goodness [0,1] 0.9996670883547506 Centerline is valid? [True, True] Translation: X:39.75, Y:-85.35, Z:6.70 [[-7.10906627e-01 7.03253073e-01 6.84718245e-03 3.97456245e+01] [ 7.03220604e-01 7.10939600e-01 -6.75773524e-03 -8.53517088e+01] [-9.62033123e-03 1.09610179e-05 -9.99953724e-01 6.69526891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.490385723 meters Centerline goodness [0,1] 0.9998670625249257 Centerline is valid? [True, True] Translation: X:39.77, Y:-85.33, Z:6.70 [[-7.58622214e-01 6.51494983e-01 6.82818682e-03 3.97665202e+01] [ 6.51468753e-01 7.58652943e-01 -5.84613367e-03 -8.53311542e+01] [-8.98895078e-03 1.33434856e-05 -9.99959599e-01 6.69503373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.79, Y:-85.31, Z:6.69 [[-8.02112015e-01 5.97132707e-01 6.98897828e-03 3.97907655e+01] [ 5.97110294e-01 8.02142462e-01 -5.17376802e-03 -8.53129824e+01] [-8.69558234e-03 2.32493826e-05 -9.99962193e-01 6.69426956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.550385723 meters Centerline goodness [0,1] 0.9999336151003518 Centerline is valid? [True, True] Translation: X:39.81, Y:-85.29, Z:6.69 [[-8.42051339e-01 5.39350054e-01 7.14576418e-03 3.98119354e+01] [ 5.39330913e-01 8.42081658e-01 -4.54400642e-03 -8.52922166e+01] [-8.46812705e-03 2.76448284e-05 -9.99964144e-01 6.69458505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.580385723 meters Centerline goodness [0,1] 0.9999114024984496 Centerline is valid? [True, True] Translation: X:39.83, Y:-85.27, Z:6.70 [[-8.77326982e-01 4.79821176e-01 8.30695957e-03 3.98309956e+01] [ 4.79800163e-01 8.77366307e-01 -4.49078749e-03 -8.52689508e+01] [-9.44302138e-03 4.57915224e-05 -9.99955413e-01 6.69558667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.610385723 meters Centerline goodness [0,1] 0.9998014735077425 Centerline is valid? [True, True] Translation: X:39.85, Y:-85.24, Z:6.70 [[-9.08327913e-01 4.18146359e-01 9.69669338e-03 3.98469339e+01] [ 4.18123372e-01 9.08379666e-01 -4.38503082e-03 -8.52435427e+01] [-1.06418638e-02 7.13682460e-05 -9.99943371e-01 6.69736906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.86, Y:-85.22, Z:6.70 [[-9.35716229e-01 3.52603136e-01 1.03037301e-02 3.98606989e+01] [ 3.52582606e-01 9.35772955e-01 -3.80554029e-03 -8.52175458e+01] [-1.09837974e-02 7.20102030e-05 -9.99939674e-01 6.69695295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.670385723 meters Centerline goodness [0,1] 0.9998897269639627 Centerline is valid? [True, True] Translation: X:40.14, Y:-84.49, Z:5.78 [[-9.15285265e-01 -4.02659818e-01 1.08607281e-02 4.01372389e+01] [ 4.02631179e-01 -9.15349699e-01 -4.80242824e-03 -8.44880023e+01] [ 1.18751091e-02 -2.27240371e-05 9.99929488e-01 5.78108901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.700385723 meters Centerline goodness [0,1] 0.9999780408001933 Centerline is valid? [True, True] Translation: X:39.81, Y:-85.19, Z:6.70 [[-9.37170641e-01 3.48677648e-01 1.16226729e-02 3.98098745e+01] [ 3.48651824e-01 9.37242707e-01 -4.24426978e-03 -8.51947945e+01] [-1.23731474e-02 7.46610756e-05 -9.99923447e-01 6.69783597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7303857229999 meters Centerline goodness [0,1] 0.9998243649695931 Centerline is valid? [True, True] Translation: X:39.82, Y:-85.17, Z:6.70 [[-9.59678803e-01 2.80846068e-01 1.19197656e-02 3.98238039e+01] [ 2.80825288e-01 9.59752823e-01 -3.41702200e-03 -8.51672700e+01] [-1.23996859e-02 6.81280319e-05 -9.99923119e-01 6.69802498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.760385723 meters Centerline goodness [0,1] 0.9998472416201117 Centerline is valid? [True, True] Translation: X:39.83, Y:-85.14, Z:6.70 [[-9.77562167e-01 2.10315835e-01 1.18093099e-02 3.98337092e+01] [ 2.10301041e-01 9.77633494e-01 -2.49485677e-03 -8.51368870e+01] [-1.20698847e-02 4.46325704e-05 -9.99927155e-01 6.69834513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.790385723 meters Centerline goodness [0,1] 0.9999780658463293 Centerline is valid? [True, True] Translation: X:39.84, Y:-85.11, Z:6.70 [[-9.90147596e-01 1.39573953e-01 1.12627223e-02 3.98403849e+01] [ 1.39565297e-01 9.90211649e-01 -1.55478848e-03 -8.51065652e+01] [-1.13694868e-02 3.24151152e-05 -9.99935365e-01 6.69661829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.820385723 meters Centerline goodness [0,1] 0.9998466358477751 Centerline is valid? [True, True] Translation: X:39.95, Y:-84.36, Z:5.78 [[-9.79329976e-01 -2.02006546e-01 1.03031332e-02 3.99465431e+01] [ 2.01994455e-01 -9.79384168e-01 -2.21182148e-03 -8.43564934e+01] [ 1.05375280e-02 -8.49272998e-05 9.99944475e-01 5.78150916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8503857229999 meters Centerline goodness [0,1] 0.9999564469414864 Centerline is valid? [True, True] Translation: X:39.78, Y:-85.09, Z:6.70 [[-9.91038599e-01 1.33191125e-01 1.01301005e-02 3.97754810e+01] [ 1.33184230e-01 9.91090371e-01 -1.35525435e-03 -8.50926959e+01] [-1.02203529e-02 6.06026740e-06 -9.99947771e-01 6.69522775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.880385723 meters Centerline goodness [0,1] 0.9999563299707411 Centerline is valid? [True, True] Translation: X:39.78, Y:-85.06, Z:6.69 [[-9.98089788e-01 6.11027665e-02 9.12293681e-03 3.97827419e+01] [ 6.11001504e-02 9.98131480e-01 -5.65454650e-04 -8.50609822e+01] [-9.14044127e-03 -6.96169945e-06 -9.99958225e-01 6.69413503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.83, Y:-84.32, Z:5.78 [[-9.91407350e-01 -1.30513203e-01 8.81869358e-03 3.98303050e+01] [ 1.30507956e-01 -9.91446571e-01 -1.17029230e-03 -8.43205934e+01] [ 8.89600211e-03 -9.32671112e-06 9.99960430e-01 5.78443026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.940385723 meters Centerline goodness [0,1] 0.9999782457361643 Centerline is valid? [True, True] Translation: X:39.70, Y:-85.05, Z:6.69 [[-9.98495706e-01 5.41545220e-02 8.57979708e-03 3.97043213e+01] [ 5.41522936e-02 9.98532567e-01 -4.91991702e-04 -8.50501593e+01] [-8.59385038e-03 -2.66359115e-05 -9.99963072e-01 6.69400912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.75, Y:-84.32, Z:5.78 [[-9.91664547e-01 -1.28527472e-01 9.06173479e-03 3.97526819e+01] [ 1.28522694e-01 -9.91705947e-01 -1.11007512e-03 -8.43218227e+01] [ 9.12925143e-03 6.38164230e-05 9.99958326e-01 5.78425923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.000385723 meters Centerline goodness [0,1] 0.999956568946797 Centerline is valid? [True, True] Translation: X:39.64, Y:-85.04, Z:6.69 [[-9.98814243e-01 4.77252954e-02 9.61270290e-03 3.96418120e+01] [ 4.77226243e-02 9.98860498e-01 -5.07185139e-04 -8.50408930e+01] [-9.62595476e-03 -4.78403320e-05 -9.99953668e-01 6.69487107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.68, Y:-84.32, Z:5.78 [[-9.92079547e-01 -1.25233556e-01 9.73290202e-03 3.96822948e+01] [ 1.25228126e-01 -9.92127287e-01 -1.16775948e-03 -8.43240122e+01] [ 9.80252034e-03 6.03227895e-05 9.99951952e-01 5.78312876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.060385723 meters Centerline goodness [0,1] 0.999956642386403 Centerline is valid? [True, True] Translation: X:39.57, Y:-85.03, Z:6.69 [[-9.99034341e-01 4.28790328e-02 9.57984064e-03 3.95743158e+01] [ 4.28765801e-02 9.99080270e-01 -4.61353535e-04 -8.50329784e+01] [-9.59081217e-03 -5.01572205e-05 -9.99954006e-01 6.69474662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0903857229999 meters Centerline goodness [0,1] 0.9999353253136722 Centerline is valid? [True, True] Translation: X:39.61, Y:-84.33, Z:5.78 [[-9.92719519e-01 -1.20093978e-01 9.24088398e-03 3.96123288e+01] [ 1.20089057e-01 -9.92762527e-01 -1.08758889e-03 -8.43260250e+01] [ 9.30461622e-03 3.00583233e-05 9.99956711e-01 5.78319891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.120385723 meters Centerline goodness [0,1] 0.9998276159282882 Centerline is valid? [True, True] Translation: X:39.51, Y:-85.03, Z:6.69 [[-9.99137428e-01 4.05102163e-02 9.12809696e-03 3.95070099e+01] [ 4.05082747e-02 9.99179124e-01 -3.97574233e-04 -8.50254937e+01] [-9.13670975e-03 -2.74678374e-05 -9.99958259e-01 6.69458097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.150385723 meters Centerline goodness [0,1] 0.9999352177762422 Centerline is valid? [True, True] Translation: X:39.54, Y:-84.33, Z:5.78 [[-9.93592154e-01 -1.12676562e-01 8.86698566e-03 3.95385102e+01] [ 1.12672192e-01 -9.93631719e-01 -9.92387622e-04 -8.43252311e+01] [ 8.92233702e-03 1.30341578e-05 9.99960195e-01 5.78346911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.180385723 meters Centerline goodness [0,1] 0.9999567875893957 Centerline is valid? [True, True] Translation: X:39.44, Y:-85.02, Z:6.69 [[-9.99223977e-01 3.84134727e-02 8.70908409e-03 3.94379630e+01] [ 3.84119788e-02 9.99261930e-01 -3.38796441e-04 -8.50210222e+01] [-8.71567053e-03 -4.00037365e-06 -9.99962018e-01 6.69435990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.47, Y:-84.32, Z:5.78 [[-9.94620121e-01 -1.03245382e-01 8.43842428e-03 3.94671748e+01] [ 1.03241577e-01 -9.94655916e-01 -8.86417899e-04 -8.43230317e+01] [ 8.48484719e-03 -1.04528455e-05 9.99964003e-01 5.78238449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.240385723 meters Centerline goodness [0,1] 0.9999785107983239 Centerline is valid? [True, True] Translation: X:39.37, Y:-85.02, Z:6.70 [[-9.99112721e-01 4.11052990e-02 9.17199617e-03 3.93669461e+01] [ 4.11041771e-02 9.99154818e-01 -3.10873819e-04 -8.50184481e+01] [-9.17702272e-03 6.64093679e-05 -9.99957888e-01 6.69501320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.39, Y:-84.32, Z:5.78 [[-9.95718789e-01 -9.19661842e-02 9.29054778e-03 3.93939796e+01] [ 9.19616426e-02 -9.95762129e-01 -9.15763588e-04 -8.43203556e+01] [ 9.33539492e-03 -5.74689759e-05 9.99956423e-01 5.78339873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.29, Y:-85.02, Z:6.70 [[-9.99142878e-01 4.02395716e-02 9.71015490e-03 3.92934340e+01] [ 4.02387393e-02 9.99190055e-01 -2.81137245e-04 -8.50160212e+01] [-9.71360305e-03 1.09828116e-04 -9.99952816e-01 6.69504805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.29, Y:-84.99, Z:6.70 [[-9.99566230e-01 -2.76918431e-02 1.00256846e-02 3.92880432e+01] [-2.76889812e-02 9.99616497e-01 4.24176474e-04 -8.49859186e+01] [-1.00335859e-02 1.46391487e-04 -9.99949652e-01 6.69630783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.360385723 meters Centerline goodness [0,1] 0.9998489817052123 Centerline is valid? [True, True] Translation: X:39.28, Y:-84.96, Z:6.70 [[-9.95316617e-01 -9.60830691e-02 1.06243466e-02 3.92796707e+01] [-9.60756013e-02 9.95373302e-01 1.21224553e-03 -8.49553205e+01] [-1.06916672e-02 1.85827638e-04 -9.99942825e-01 6.69886571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.26, Y:-84.93, Z:6.70 [[-9.85915016e-01 -1.66918497e-01 1.04783903e-02 3.92607370e+01] [-1.66907050e-01 9.85970679e-01 1.96369394e-03 -8.49279665e+01] [-1.06591625e-02 1.87118126e-04 -9.99943172e-01 6.69733225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.11, Y:-84.25, Z:5.78 [[-9.90737801e-01 1.35391360e-01 1.03821984e-02 3.91110797e+01] [-1.35386009e-01 -9.90792179e-01 1.21972609e-03 -8.42548396e+01] [ 1.04517414e-02 -1.97175668e-04 9.99945360e-01 5.78185739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.12, Y:-84.95, Z:6.70 [[-9.84990265e-01 -1.72320912e-01 9.98401800e-03 3.91187084e+01] [-1.72310121e-01 9.85040846e-01 1.93760240e-03 -8.49507868e+01] [-1.01685550e-02 1.88172151e-04 -9.99948281e-01 6.69622891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4803857229999 meters Centerline goodness [0,1] 0.9999785246429722 Centerline is valid? [True, True] Translation: X:39.09, Y:-84.92, Z:6.70 [[-9.70136334e-01 -2.42387242e-01 9.16073630e-03 3.90877274e+01] [-2.42374665e-01 9.70179567e-01 2.47587100e-03 -8.49249240e+01] [-9.48767872e-03 1.81602021e-04 -9.99954975e-01 6.69620787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.510385723 meters Centerline goodness [0,1] 0.9999143872265742 Centerline is valid? [True, True] Translation: X:39.04, Y:-84.91, Z:6.70 [[-9.49984176e-01 -3.12176054e-01 8.72795921e-03 3.90358403e+01] [-3.12161150e-01 9.50024252e-01 3.05569152e-03 -8.49082365e+01] [-9.24568664e-03 1.78328805e-04 -9.99957242e-01 6.69709684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.540385723 meters Centerline goodness [0,1] 0.999828524885326 Centerline is valid? [True, True] Translation: X:38.97, Y:-84.90, Z:6.70 [[-9.24398409e-01 -3.81332272e-01 8.56040011e-03 3.89683526e+01] [-3.81314122e-01 9.24438027e-01 3.72484329e-03 -8.48996258e+01] [-9.33396234e-03 1.79037758e-04 -9.99956422e-01 6.69764383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.570385723 meters Centerline goodness [0,1] 0.9999785665294925 Centerline is valid? [True, True] Translation: X:38.89, Y:-84.90, Z:6.70 [[-8.93352555e-01 -4.49276355e-01 8.48350821e-03 3.88924814e+01] [-4.49254203e-01 8.93392817e-01 4.46490428e-03 -8.49022068e+01] [-9.58508122e-03 1.77481920e-04 -9.99954046e-01 6.69653038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6003857229999 meters Centerline goodness [0,1] 0.9999786361305759 Centerline is valid? [True, True] Translation: X:38.81, Y:-84.91, Z:6.70 [[-8.57103459e-01 -5.15088648e-01 7.57263575e-03 3.88089957e+01] [-5.15066906e-01 8.57136897e-01 4.73525630e-03 -8.49133638e+01] [-8.92986227e-03 1.58190495e-04 -9.99960116e-01 6.69554877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.72, Y:-84.93, Z:6.70 [[-8.15775883e-01 -5.78333678e-01 6.31395244e-03 3.87237066e+01] [-5.78315085e-01 8.15800306e-01 4.63924241e-03 -8.49324582e+01] [-7.83395446e-03 1.33128129e-04 -9.99969305e-01 6.69510158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.63, Y:-84.96, Z:6.70 [[-7.69692747e-01 -6.38391092e-01 5.46708887e-03 3.86338221e+01] [-6.38373893e-01 7.69712154e-01 4.68756064e-03 -8.49648540e+01] [-7.20058170e-03 1.17934622e-04 -9.99974069e-01 6.69555644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.690385723 meters Centerline goodness [0,1] 0.9999787663233889 Centerline is valid? [True, True] Translation: X:38.54, Y:-85.01, Z:6.70 [[-7.17923193e-01 -6.96106691e-01 4.66513663e-03 3.85402402e+01] [-6.96091148e-01 7.17938344e-01 4.65267796e-03 -8.50056668e+01] [-6.58804073e-03 9.29051072e-05 -9.99978294e-01 6.69559835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7203857229999 meters Centerline goodness [0,1] 0.9999787663233889 Centerline is valid? [True, True] Translation: X:38.45, Y:-85.06, Z:6.70 [[-6.63294966e-01 -7.48345706e-01 4.30039486e-03 3.84506926e+01] [-7.48329063e-01 6.63308899e-01 4.99177114e-03 -8.50588971e+01] [-6.58806067e-03 9.29062135e-05 -9.99978294e-01 6.69559923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.36, Y:-85.12, Z:6.70 [[-6.03959255e-01 -7.97004957e-01 4.03938436e-03 3.83602645e+01] [-7.96986136e-01 6.03972757e-01 5.47791586e-03 -8.51234147e+01] [-6.80560421e-03 8.91046492e-05 -9.99976838e-01 6.69559006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.28, Y:-85.19, Z:6.70 [[-5.40341546e-01 -8.41437635e-01 3.70409169e-03 3.82754111e+01] [-8.41416839e-01 5.40354235e-01 5.91631651e-03 -8.51919973e+01] [-6.97973301e-03 8.01464817e-05 -9.99975638e-01 6.69534478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.19, Y:-85.28, Z:6.70 [[-4.73918555e-01 -8.80562968e-01 3.17225773e-03 3.81929098e+01] [-8.80542214e-01 4.73929167e-01 6.04597229e-03 -8.52751353e+01] [-6.82728477e-03 7.19916030e-05 -9.99976691e-01 6.69536588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.12, Y:-85.36, Z:6.70 [[-4.03498313e-01 -9.14976613e-01 2.62862915e-03 3.81167035e+01] [-9.14956284e-01 4.03506871e-01 6.09951010e-03 -8.53615072e+01] [-6.64157902e-03 5.60612761e-05 -9.99977943e-01 6.69506836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.870385723 meters Centerline goodness [0,1] 0.9999789389439987 Centerline is valid? [True, True] Translation: X:38.05, Y:-85.46, Z:6.69 [[-3.31321782e-01 -9.43515161e-01 2.24016266e-03 3.80465953e+01] [-9.43492572e-01 3.31329351e-01 6.52899084e-03 -8.54577763e+01] [-6.90243348e-03 4.96200520e-05 -9.99976177e-01 6.69484379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.98, Y:-85.56, Z:6.70 [[-2.55698714e-01 -9.66754642e-01 1.90543996e-03 3.79813470e+01] [-9.66726800e-01 2.55705811e-01 7.33708596e-03 -8.55622366e+01] [-7.58039398e-03 3.40435670e-05 -9.99971268e-01 6.69563286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.930385723 meters Centerline goodness [0,1] 0.9999576432716337 Centerline is valid? [True, True] Translation: X:37.93, Y:-85.67, Z:6.70 [[-1.79519906e-01 -9.83753370e-01 1.38217484e-03 3.79261132e+01] [-9.83723230e-01 1.79525225e-01 7.70068645e-03 -8.56737890e+01] [-7.82371149e-03 2.27490084e-05 -9.99969394e-01 6.69610819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.88, Y:-85.78, Z:6.70 [[-1.01197808e-01 -9.94865980e-01 8.27556595e-04 3.78802581e+01] [-9.94832487e-01 1.01201192e-01 8.16341053e-03 -8.57836835e+01] [-8.20524913e-03 2.83906949e-06 -9.99966336e-01 6.69652812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.990385723 meters Centerline goodness [0,1] 0.99995757858567 Centerline is valid? [True, True] Translation: X:37.84, Y:-85.90, Z:6.70 [[-2.17216460e-02 -9.99764037e-01 2.03449214e-04 3.78420937e+01] [-9.99729489e-01 2.17225867e-02 8.31135549e-03 -8.59028964e+01] [-8.31381376e-03 -2.28578567e-05 -9.99965439e-01 6.69675681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.020385723 meters Centerline goodness [0,1] 0.9998515030017607 Centerline is valid? [True, True] Translation: X:37.81, Y:-86.02, Z:6.70 [[ 5.64703286e-02 -9.98404178e-01 -4.45655354e-04 3.78133893e+01] [-9.98367608e-01 -5.64720746e-02 8.54539607e-03 -8.60193940e+01] [-8.55692623e-03 -3.76334548e-05 -9.99963388e-01 6.69739765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.79, Y:-86.14, Z:6.70 [[ 1.36077646e-01 -9.90697639e-01 -1.03043230e-03 3.77935355e+01] [-9.90665648e-01 -1.36081533e-01 7.96176419e-03 -8.61421989e+01] [-8.02792380e-03 -6.26042526e-05 -9.99967774e-01 6.69679225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.080385723 meters Centerline goodness [0,1] 0.9999576190375283 Centerline is valid? [True, True] Translation: X:37.79, Y:-86.27, Z:6.70 [[ 2.13334316e-01 -9.76977884e-01 -1.63801389e-03 3.77857190e+01] [-9.76946226e-01 -2.13340590e-01 7.86531755e-03 -8.62652265e+01] [-8.03369615e-03 -7.76906561e-05 -9.99967726e-01 6.69503334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.110385723 meters Centerline goodness [0,1] 0.9998727276584011 Centerline is valid? [True, True] Translation: X:37.79, Y:-86.39, Z:6.70 [[ 2.88956512e-01 -9.57339496e-01 -2.28572660e-03 3.77868979e+01] [-9.57306969e-01 -2.88965537e-01 7.89216079e-03 -8.63890923e+01] [-8.21597345e-03 -9.23492492e-05 -9.99966244e-01 6.69682290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.140385723 meters Centerline goodness [0,1] 0.999873251932908 Centerline is valid? [True, True] Translation: X:37.79, Y:-86.51, Z:6.70 [[ 3.64211480e-01 -9.31310898e-01 -3.16377964e-03 3.77932071e+01] [-9.31272597e-01 -3.64225198e-01 8.44720461e-03 -8.65072854e+01] [-9.01930198e-03 -1.30227609e-04 -9.99959317e-01 6.69848417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.170385723 meters Centerline goodness [0,1] 0.9999575875816439 Centerline is valid? [True, True] Translation: X:37.81, Y:-86.63, Z:6.69 [[ 4.35887452e-01 -8.99994139e-01 -3.56063769e-03 3.78146792e+01] [-8.99961511e-01 -4.35901974e-01 7.66475709e-03 -8.66269404e+01] [-8.45032546e-03 -1.36534564e-04 -9.99964286e-01 6.69425329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.84, Y:-86.74, Z:6.69 [[ 5.05774198e-01 -8.62655502e-01 -4.23623875e-03 3.78417400e+01] [-8.62622479e-01 -5.05791912e-01 7.54995385e-03 -8.67425095e+01] [-8.65566452e-03 -1.64297083e-04 -9.99962526e-01 6.69418918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2303857229999 meters Centerline goodness [0,1] 0.9999363989060612 Centerline is valid? [True, True] Translation: X:37.88, Y:-86.85, Z:6.69 [[ 5.71699290e-01 -8.20446115e-01 -5.30041680e-03 3.78755169e+01] [-8.20407557e-01 -5.71723825e-01 7.95668526e-03 -8.68515793e+01] [-9.55840608e-03 -2.00329307e-04 -9.99954297e-01 6.69450693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.92, Y:-86.96, Z:6.69 [[ 6.32897617e-01 -7.74214974e-01 -5.63738164e-03 3.79204923e+01] [-7.74181464e-01 -6.32922693e-01 7.20592684e-03 -8.69587767e+01] [-9.14696324e-03 -1.96257549e-04 -9.99958146e-01 6.69359101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.97, Y:-87.06, Z:6.69 [[ 6.90267741e-01 -7.23522255e-01 -6.78175072e-03 3.79675348e+01] [-7.23484166e-01 -6.90301020e-01 7.42730231e-03 -8.70568735e+01] [-1.00552680e-02 -2.20337924e-04 -9.99949420e-01 6.69383191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.320385723 meters Centerline goodness [0,1] 0.999936300322745 Centerline is valid? [True, True] Translation: X:38.02, Y:-87.15, Z:6.69 [[ 7.42865525e-01 -6.69397815e-01 -7.57474892e-03 3.80223527e+01] [-6.69359919e-01 -7.42904109e-01 7.12624453e-03 -8.71500350e+01] [-1.03976046e-02 -2.23608055e-04 -9.99945919e-01 6.69365940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.02, Y:-87.16, Z:6.69 [[ 7.92073092e-01 -6.10371968e-01 -8.14110590e-03 3.80208946e+01] [-6.10336984e-01 -7.92114901e-01 6.53824347e-03 -8.71602322e+01] [-1.04394518e-02 -2.09948704e-04 -9.99945485e-01 6.69348693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.02, Y:-87.17, Z:6.69 [[ 8.36334139e-01 -5.48148066e-01 -8.88290114e-03 3.80199390e+01] [-5.48114645e-01 -8.36381288e-01 6.05610698e-03 -8.71694603e+01] [-1.07491356e-02 -1.96080808e-04 -9.99942207e-01 6.69343604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.410385723 meters Centerline goodness [0,1] 0.999893601174643 Centerline is valid? [True, True] Translation: X:38.02, Y:-87.18, Z:6.69 [[ 8.75884367e-01 -4.82431275e-01 -9.30812652e-03 3.80191869e+01] [-4.82401854e-01 -8.75933806e-01 5.33086355e-03 -8.71788356e+01] [-1.07250780e-02 -1.78962551e-04 -9.99942469e-01 6.69372860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.440385723 meters Centerline goodness [0,1] 0.9999144970287718 Centerline is valid? [True, True] Translation: X:38.02, Y:-87.19, Z:6.69 [[ 9.10231261e-01 -4.13978824e-01 -1.00292220e-02 3.80192904e+01] [-4.13951670e-01 -9.10286496e-01 4.74446580e-03 -8.71887694e+01] [-1.10935737e-02 -1.66947892e-04 -9.99938451e-01 6.69241880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4703857229999 meters Centerline goodness [0,1] 0.9998503634031638 Centerline is valid? [True, True] Translation: X:38.02, Y:-87.20, Z:6.69 [[ 9.38775736e-01 -3.44387076e-01 -9.88225956e-03 3.80195684e+01] [-3.44366572e-01 -9.38827740e-01 3.76012193e-03 -8.71975468e+01] [-1.05726768e-02 -1.26791388e-04 -9.99944100e-01 6.69213518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.500385723 meters Centerline goodness [0,1] 0.9999786274551711 Centerline is valid? [True, True] Translation: X:38.02, Y:-87.21, Z:6.69 [[ 9.62508326e-01 -2.71072741e-01 -9.86362305e-03 3.80211206e+01] [-2.71057325e-01 -9.62558859e-01 2.89308829e-03 -8.72076212e+01] [-1.02785551e-02 -1.11014295e-04 -9.99947168e-01 6.69144704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.02, Y:-87.22, Z:6.69 [[ 9.80391457e-01 -1.96829664e-01 -9.52233647e-03 3.80220637e+01] [-1.96819519e-01 -9.80437696e-01 2.00021486e-03 -8.72153217e+01] [-9.72975925e-03 -8.68118723e-05 -9.99952661e-01 6.69081337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.560385723 meters Centerline goodness [0,1] 0.9999784909231696 Centerline is valid? [True, True] Translation: X:38.02, Y:-87.23, Z:6.69 [[ 9.92775296e-01 -1.19623253e-01 -9.35357506e-03 3.80212972e+01] [-1.19617164e-01 -9.92819355e-01 1.20979115e-03 -8.72254463e+01] [-9.43112951e-03 -8.22026416e-05 -9.99955523e-01 6.69040471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.02, Y:-87.23, Z:6.69 [[ 9.99060284e-01 -4.22067799e-02 -9.85582803e-03 3.80204233e+01] [-4.22039449e-02 -9.99108894e-01 4.95541851e-04 -8.72336346e+01] [-9.86796066e-03 -7.91213593e-05 -9.99951307e-01 6.69009763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.02, Y:-87.24, Z:6.69 [[ 9.99293265e-01 3.62775533e-02 -9.84428374e-03 3.80200004e+01] [ 3.62765867e-02 -9.99341750e-01 -2.76796559e-04 -8.72425761e+01] [-9.84784524e-03 -8.05160752e-05 -9.99951506e-01 6.68981110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.650385723 meters Centerline goodness [0,1] 0.999978466838932 Centerline is valid? [True, True] Translation: X:38.02, Y:-87.25, Z:6.69 [[ 9.93383975e-01 1.14426358e-01 -9.74094582e-03 3.80189605e+01] [ 1.14421647e-01 -9.93431730e-01 -1.04137741e-03 -8.72529525e+01] [-9.79612568e-03 -8.00874319e-05 -9.99952014e-01 6.68998823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.02, Y:-87.26, Z:6.69 [[ 9.81245746e-01 1.92549352e-01 -9.02951442e-03 3.80198642e+01] [ 1.92541966e-01 -9.81287287e-01 -1.68849514e-03 -8.72619200e+01] [-9.18566636e-03 -8.17317828e-05 -9.99957808e-01 6.68983724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.710385723 meters Centerline goodness [0,1] 0.9999783376297035 Centerline is valid? [True, True] Translation: X:38.02, Y:-87.27, Z:6.69 [[ 9.63099965e-01 2.68979812e-01 -9.39773690e-03 3.80200956e+01] [ 2.68967902e-01 -9.63145811e-01 -2.53274142e-03 -8.72718099e+01] [-9.73264724e-03 -8.84064009e-05 -9.99952633e-01 6.68991903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.02, Y:-87.28, Z:6.69 [[ 9.39045242e-01 3.43655954e-01 -9.72724859e-03 3.80211132e+01] [ 3.43638565e-01 -9.39095616e-01 -3.45836218e-03 -8.72789261e+01] [-1.03233033e-02 -9.50991972e-05 -9.99946709e-01 6.69012346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.770385723 meters Centerline goodness [0,1] 0.9999568071872841 Centerline is valid? [True, True] Translation: X:38.02, Y:-87.29, Z:6.69 [[ 9.09190427e-01 4.16275862e-01 -9.33671162e-03 3.80236709e+01] [ 4.16254994e-01 -9.09238361e-01 -4.16924074e-03 -8.72876206e+01] [-1.02248507e-02 -9.58190740e-05 -9.99947720e-01 6.69067839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.800385723 meters Centerline goodness [0,1] 0.9999129583287999 Centerline is valid? [True, True] Translation: X:38.02, Y:-87.29, Z:6.69 [[ 8.73764834e-01 4.86263680e-01 -9.09109709e-03 3.80240691e+01] [ 4.86238524e-01 -8.73812122e-01 -4.94708869e-03 -8.72933886e+01] [-1.03495004e-02 -9.78495031e-05 -9.99946438e-01 6.69105597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.830385723 meters Centerline goodness [0,1] 0.9999130737134909 Centerline is valid? [True, True] Translation: X:38.03, Y:-87.30, Z:6.69 [[ 8.33118739e-01 5.53025387e-01 -8.72279457e-03 3.80277221e+01] [ 5.52996290e-01 -8.33164397e-01 -5.67376155e-03 -8.73025154e+01] [-1.04052560e-02 -9.67559674e-05 -9.99945859e-01 6.69005920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.03, Y:-87.31, Z:6.69 [[ 7.87232387e-01 6.16604165e-01 -8.02946683e-03 3.80312916e+01] [ 6.16573318e-01 -7.87273329e-01 -6.16844067e-03 -8.73097593e+01] [-1.01248713e-02 -9.47587297e-05 -9.99948738e-01 6.68969909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.890385723 meters Centerline goodness [0,1] 0.999912965904393 Centerline is valid? [True, True] Translation: X:38.03, Y:-87.32, Z:6.69 [[ 7.36594410e-01 6.76292616e-01 -7.54801507e-03 3.80346159e+01] [ 6.76258416e-01 -7.36633076e-01 -6.80193950e-03 -8.73167987e+01] [-1.01602190e-02 -9.41380980e-05 -9.99948379e-01 6.68965173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.920385723 meters Centerline goodness [0,1] 0.999978117204254 Centerline is valid? [True, True] Translation: X:38.04, Y:-87.33, Z:6.69 [[ 6.81456787e-01 7.31828253e-01 -6.63743304e-03 3.80395301e+01] [ 7.31794802e-01 -6.81489105e-01 -6.99768235e-03 -8.73258928e+01] [-9.64443995e-03 -8.86208613e-05 -9.99953487e-01 6.68963964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.04, Y:-87.33, Z:6.69 [[ 6.21892208e-01 7.83081676e-01 -5.75935347e-03 3.80439539e+01] [ 7.83049375e-01 -6.21918870e-01 -7.11305943e-03 -8.73341958e+01] [-9.15195710e-03 -8.63018941e-05 -9.99958116e-01 6.68962617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.05, Y:-87.34, Z:6.69 [[ 5.58392576e-01 8.29562317e-01 -4.90857287e-03 3.80506721e+01] [ 8.29531588e-01 -5.58414144e-01 -7.14059510e-03 -8.73433294e+01] [-8.66458513e-03 -8.45609565e-05 -9.99962458e-01 6.68900841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.06, Y:-87.35, Z:6.69 [[ 4.91307716e-01 8.70975704e-01 -4.24865974e-03 3.80574574e+01] [ 8.70944650e-01 -4.91326078e-01 -7.35540494e-03 -8.73519671e+01] [-8.49385633e-03 -8.65802682e-05 -9.99963923e-01 6.68858495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.040385723 meters Centerline goodness [0,1] 0.9999559771961877 Centerline is valid? [True, True] Translation: X:38.06, Y:-87.36, Z:6.69 [[ 4.20874727e-01 9.07111588e-01 -3.60979012e-03 3.80628444e+01] [ 9.07080082e-01 -4.20890197e-01 -7.56090005e-03 -8.73594245e+01] [-8.37790532e-03 -9.21769725e-05 -9.99964901e-01 6.68799475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.07, Y:-87.37, Z:6.69 [[ 3.47320769e-01 9.37741527e-01 -3.01862057e-03 3.80689062e+01] [ 9.37708658e-01 -3.47333871e-01 -7.85202887e-03 -8.73678412e+01] [-8.41164271e-03 -1.03413931e-04 -9.99964616e-01 6.68851960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.07, Y:-87.37, Z:6.69 [[ 2.72304953e-01 9.62207751e-01 -2.50129432e-03 3.80746695e+01] [ 9.62170879e-01 -2.72316417e-01 -8.42423281e-03 -8.73739994e+01] [-8.78700561e-03 -1.12712241e-04 -9.99961387e-01 6.68929602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.130385723 meters Centerline goodness [0,1] 0.9999779151943463 Centerline is valid? [True, True] Translation: X:38.08, Y:-87.38, Z:6.69 [[ 1.94277586e-01 9.80944511e-01 -2.02115000e-03 3.80809326e+01] [ 9.80898795e-01 -1.94288047e-01 -9.47151313e-03 -8.73802455e+01] [-9.68371411e-03 -1.42440886e-04 -9.99953102e-01 6.68962684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.09, Y:-87.39, Z:6.69 [[ 1.14537579e-01 9.93417835e-01 -1.46585967e-03 3.80861421e+01] [ 9.93356366e-01 -1.14546801e-01 -1.10526182e-02 -8.73861449e+01] [-1.11477776e-02 -1.90180907e-04 -9.99937844e-01 6.69068966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.09, Y:-87.39, Z:6.69 [[ 3.52904059e-02 9.99376911e-01 -6.14955680e-04 3.80942851e+01] [ 9.99310895e-01 -3.52951441e-02 -1.14885833e-02 -8.73925980e+01] [-1.15031298e-02 -2.09095144e-04 -9.99933815e-01 6.69108142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.10, Y:-87.40, Z:6.69 [[-4.48736626e-02 9.98992625e-01 2.99730186e-04 3.81024804e+01] [ 9.98920503e-01 4.48740253e-02 -1.20062943e-02 -8.73978326e+01] [-1.20076495e-02 -2.39359771e-04 -9.99927877e-01 6.69094034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.11, Y:-87.40, Z:6.69 [[-1.23782999e-01 9.92308541e-01 1.23635436e-03 3.81123741e+01] [ 9.92237001e-01 1.23788924e-01 -1.19179430e-02 -8.74021060e+01] [-1.19793236e-02 -2.48482180e-04 -9.99928215e-01 6.69095673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.12, Y:-87.41, Z:6.69 [[-2.01985426e-01 9.79386390e-01 2.04611171e-03 3.81198945e+01] [ 9.79323147e-01 2.01995641e-01 -1.11325655e-02 -8.74072247e+01] [-1.13163888e-02 -2.44811431e-04 -9.99935938e-01 6.69023036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.13, Y:-87.41, Z:6.69 [[-2.78220693e-01 9.60513304e-01 2.72746401e-03 3.81286148e+01] [ 9.60458700e-01 2.78233966e-01 -1.02443248e-02 -8.74114078e+01] [-1.05986833e-02 -2.30566599e-04 -9.99943806e-01 6.68939675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3403857229999 meters Centerline goodness [0,1] 0.9999330536463448 Centerline is valid? [True, True] Translation: X:38.14, Y:-87.41, Z:6.69 [[-3.52506925e-01 9.35803908e-01 3.14873402e-03 3.81378158e+01] [ 9.35761231e-01 3.52520928e-01 -8.93947571e-03 -8.74145528e+01] [-9.47559094e-03 -2.04763870e-04 -9.99955085e-01 6.68826892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.370385723 meters Centerline goodness [0,1] 0.9998660564795178 Centerline is valid? [True, True] Translation: X:38.15, Y:-87.42, Z:6.69 [[-4.24513032e-01 9.05414856e-01 3.55305689e-03 3.81500278e+01] [ 9.05379369e-01 4.24527860e-01 -8.01837964e-03 -8.74171980e+01] [-8.76833169e-03 -1.87042247e-04 -9.99961540e-01 6.68870528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.400385723 meters Centerline goodness [0,1] 0.9999775694226369 Centerline is valid? [True, True] Translation: X:38.16, Y:-87.42, Z:6.69 [[-4.93544291e-01 8.69712151e-01 3.84811188e-03 3.81555680e+01] [ 8.69683033e-01 4.93559265e-01 -7.11866931e-03 -8.74214162e+01] [-8.09046446e-03 -1.66740996e-04 -9.99967258e-01 6.68729170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.16, Y:-87.42, Z:6.69 [[-5.59687928e-01 8.28692216e-01 4.31683412e-03 3.81622323e+01] [ 8.28665341e-01 5.59704553e-01 -6.67578228e-03 -8.74249169e+01] [-7.94832052e-03 -1.59143931e-04 -9.99968399e-01 6.68675202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.460385723 meters Centerline goodness [0,1] 0.999932408074982 Centerline is valid? [True, True] Translation: X:38.17, Y:-87.43, Z:6.69 [[-6.22103319e-01 7.82920494e-01 4.79181367e-03 3.81707320e+01] [ 7.82895386e-01 6.22121755e-01 -6.27194173e-03 -8.74267345e+01] [-7.89152325e-03 -1.50306952e-04 -9.99968850e-01 6.68660527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.18, Y:-87.43, Z:6.69 [[-6.81147621e-01 7.32126782e-01 5.31919698e-03 3.81823366e+01] [ 7.32102747e-01 6.81168374e-01 -5.93416303e-03 -8.74273845e+01] [-7.96782844e-03 -1.47842311e-04 -9.99968246e-01 6.68700216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.19, Y:-87.43, Z:6.69 [[-7.35392791e-01 6.77614487e-01 6.00415638e-03 3.81914612e+01] [ 6.77590319e-01 7.35417287e-01 -5.72480522e-03 -8.74281378e+01] [-8.29477135e-03 -1.41622251e-04 -9.99965588e-01 6.68781689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.21, Y:-87.41, Z:6.69 [[-7.81479229e-01 6.23898829e-01 6.36123756e-03 3.82132384e+01] [ 6.23876678e-01 7.81505106e-01 -5.25927266e-03 -8.74098027e+01] [-8.25259369e-03 -1.41384590e-04 -9.99965937e-01 6.68789702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.580385723 meters Centerline goodness [0,1] 0.9999773319732518 Centerline is valid? [True, True] Translation: X:38.24, Y:-87.39, Z:6.69 [[-8.23947126e-01 5.66626973e-01 6.70870342e-03 3.82366173e+01] [ 5.66606743e-01 8.23974425e-01 -4.79032310e-03 -8.73920235e+01] [-8.24212632e-03 -1.45776359e-04 -9.99966023e-01 6.68758474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.610385723 meters Centerline goodness [0,1] 0.9999773319732518 Centerline is valid? [True, True] Translation: X:38.26, Y:-87.37, Z:6.69 [[-8.61987381e-01 5.06880973e-01 7.03096860e-03 3.82572391e+01] [ 5.06862725e-01 8.62016043e-01 -4.30344243e-03 -8.73711582e+01] [-8.24214082e-03 -1.45777163e-04 -9.99966022e-01 6.68758489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.640385723 meters Centerline goodness [0,1] 0.9998418936621946 Centerline is valid? [True, True] Translation: X:38.27, Y:-87.34, Z:6.69 [[-8.95671481e-01 4.44649793e-01 7.69147267e-03 3.82717218e+01] [ 4.44631926e-01 8.95704493e-01 -3.98907670e-03 -8.73440795e+01] [-8.66302875e-03 -1.53027930e-04 -9.99962464e-01 6.68900649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.670385723 meters Centerline goodness [0,1] 0.9999548053239329 Centerline is valid? [True, True] Translation: X:38.26, Y:-87.31, Z:6.69 [[-9.24853990e-01 3.80220394e-01 8.80622780e-03 3.82634115e+01] [ 3.80201413e-01 9.24895899e-01 -3.80282952e-03 -8.73081306e+01] [-9.59075731e-03 -1.68921798e-04 -9.99953993e-01 6.68977177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.700385723 meters Centerline goodness [0,1] 0.9999321067282232 Centerline is valid? [True, True] Translation: X:38.30, Y:-87.29, Z:6.69 [[-9.49564725e-01 3.13444342e-01 8.91500456e-03 3.82967027e+01] [ 3.13428852e-01 9.49606558e-01 -3.12070217e-03 -8.72919068e+01] [-9.44391324e-03 -1.69089046e-04 -9.99955391e-01 6.68980307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.30, Y:-87.26, Z:6.69 [[-9.69407270e-01 2.45293537e-01 8.97916723e-03 3.82971932e+01] [ 2.45281410e-01 9.69448840e-01 -2.44482726e-03 -8.72623461e+01] [-9.30454358e-03 -1.67610520e-04 -9.99956698e-01 6.68966708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.760385723 meters Centerline goodness [0,1] 0.9999091115655533 Centerline is valid? [True, True] Translation: X:38.30, Y:-87.23, Z:6.69 [[-9.84389675e-01 1.75777996e-01 8.89183607e-03 3.83033816e+01] [ 1.75769311e-01 9.84429819e-01 -1.75508411e-03 -8.72346770e+01] [-9.06189374e-03 -1.64774779e-04 -9.99958927e-01 6.68980791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.790385723 meters Centerline goodness [0,1] 0.9998869698887783 Centerline is valid? [True, True] Translation: X:38.31, Y:-87.21, Z:6.69 [[-9.94416159e-01 1.05189210e-01 8.46947781e-03 3.83093371e+01] [ 1.05184040e-01 9.94452214e-01 -1.05477334e-03 -8.72061049e+01] [-8.53344173e-03 -1.58029761e-04 -9.99963577e-01 6.69011127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.820385723 meters Centerline goodness [0,1] 0.9998872680540212 Centerline is valid? [True, True] Translation: X:38.32, Y:-87.18, Z:6.69 [[-9.99376208e-01 3.44262523e-02 7.87576634e-03 3.83240041e+01] [ 3.44240388e-02 9.99407230e-01 -4.16481548e-04 -8.71785843e+01] [-7.88543573e-03 -1.45106064e-04 -9.99968899e-01 6.69017266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8503857229999 meters Centerline goodness [0,1] 0.9999773494303382 Centerline is valid? [True, True] Translation: X:38.36, Y:-86.36, Z:5.79 [[-9.90293191e-01 -1.38770487e-01 7.88341371e-03 3.83647871e+01] [ 1.38767291e-01 -9.90324558e-01 -9.53587504e-04 -8.63567712e+01] [ 7.93946800e-03 1.49628757e-04 9.99968471e-01 5.78857404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.880385723 meters Centerline goodness [0,1] 0.9999324461257854 Centerline is valid? [True, True] Translation: X:38.25, Y:-87.17, Z:6.69 [[-9.99581934e-01 2.78504594e-02 7.76594540e-03 3.82481650e+01] [ 2.78484760e-02 9.99612090e-01 -3.63433479e-04 -8.71747052e+01] [-7.77305471e-03 -1.47011795e-04 -9.99969779e-01 6.68901588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.910385723 meters Centerline goodness [0,1] 0.9999774098086611 Centerline is valid? [True, True] Translation: X:38.24, Y:-87.15, Z:6.69 [[-9.99009485e-01 -4.38315194e-02 7.67117223e-03 3.82390240e+01] [-4.38313783e-02 9.99038926e-01 1.86597662e-04 -8.71450110e+01] [-7.67197852e-03 -1.49825218e-04 -9.99970559e-01 6.68911305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.940385723 meters Centerline goodness [0,1] 0.9999773191199819 Centerline is valid? [True, True] Translation: X:38.22, Y:-87.12, Z:6.69 [[-9.93197839e-01 -1.16162582e-01 8.01914421e-03 3.82238246e+01] [-1.16160166e-01 9.93230198e-01 7.67967664e-04 -8.71154113e+01] [-8.05406530e-03 -1.68761298e-04 -9.99967551e-01 6.68975368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9703857229999 meters Centerline goodness [0,1] 0.9998420221169037 Centerline is valid? [True, True] Translation: X:38.21, Y:-87.09, Z:6.69 [[-9.82118659e-01 -1.88059155e-01 8.75751677e-03 3.82105821e+01] [-1.88053482e-01 9.82157683e-01 1.47424752e-03 -8.70872499e+01] [-8.87850812e-03 -1.98995517e-04 -9.99960566e-01 6.69060862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.000385723 meters Centerline goodness [0,1] 0.9998639239788628 Centerline is valid? [True, True] Translation: X:38.20, Y:-87.06, Z:6.69 [[-9.65835415e-01 -2.59020564e-01 8.38443136e-03 3.82002318e+01] [-2.59012562e-01 9.65871787e-01 2.04540672e-03 -8.70591398e+01] [-8.62808810e-03 -1.96146805e-04 -9.99962758e-01 6.69066232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.16, Y:-87.04, Z:6.69 [[-9.44902017e-01 -3.27260541e-01 7.79214417e-03 3.81568897e+01] [-3.27250944e-01 9.44934129e-01 2.51243102e-03 -8.70423367e+01] [-8.18528250e-03 -1.75985402e-04 -9.99966485e-01 6.69022442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.060385723 meters Centerline goodness [0,1] 0.9999547593195802 Centerline is valid? [True, True] Translation: X:38.10, Y:-87.03, Z:6.69 [[-9.18712150e-01 -3.94855780e-01 7.54310314e-03 3.81045332e+01] [-3.94843935e-01 9.18743101e-01 3.06279335e-03 -8.70320522e+01] [-8.13953563e-03 -1.64523062e-04 -9.99966860e-01 6.69015066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0903857229999 meters Centerline goodness [0,1] 0.9998870617997832 Centerline is valid? [True, True] Translation: X:38.03, Y:-87.04, Z:6.69 [[-8.88848760e-01 -4.58150132e-01 6.80723948e-03 3.80260115e+01] [-4.58137757e-01 8.88874817e-01 3.36965491e-03 -8.70391771e+01] [-7.59459159e-03 -1.23539841e-04 -9.99971153e-01 6.68920687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.120385723 meters Centerline goodness [0,1] 0.9999774011299435 Centerline is valid? [True, True] Translation: X:37.96, Y:-87.05, Z:6.69 [[-8.53291240e-01 -5.21400813e-01 5.93728450e-03 3.79577218e+01] [-5.21388962e-01 8.53311891e-01 3.51669192e-03 -8.70457747e+01] [-6.89996149e-03 -9.48721930e-05 -9.99976191e-01 6.68858454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.150385723 meters Centerline goodness [0,1] 0.9998869341051965 Centerline is valid? [True, True] Translation: X:37.88, Y:-87.07, Z:6.69 [[-8.14455415e-01 -5.80201291e-01 5.37020933e-03 3.78764419e+01] [-5.80189143e-01 8.14473117e-01 3.75489874e-03 -8.70689341e+01] [-6.55248822e-03 -5.75395402e-05 -9.99978531e-01 6.68792885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.78, Y:-87.11, Z:6.69 [[-7.69730173e-01 -6.38349192e-01 5.07640351e-03 3.77824748e+01] [-6.38335676e-01 7.69746911e-01 4.15418006e-03 -8.71058566e+01] [-6.55936341e-03 -4.28517299e-05 -9.99978486e-01 6.68774844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.210385723 meters Centerline goodness [0,1] 0.9999772980090353 Centerline is valid? [True, True] Translation: X:37.69, Y:-87.15, Z:6.69 [[-7.21569981e-01 -6.92319271e-01 5.54882290e-03 3.76943973e+01] [-6.92299030e-01 7.21591315e-01 5.29406997e-03 -8.71473937e+01] [-7.66916908e-03 -2.14027433e-05 -9.99970591e-01 6.68880253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.59, Y:-87.21, Z:6.69 [[-6.67839886e-01 -7.44282208e-01 5.82084992e-03 3.75923448e+01] [-7.44254097e-01 6.67865252e-01 6.46876715e-03 -8.72119204e+01] [-8.70213170e-03 -1.20906813e-05 -9.99962136e-01 6.68958722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.270385723 meters Centerline goodness [0,1] 0.9999773627617431 Centerline is valid? [True, True] Translation: X:37.51, Y:-87.27, Z:6.69 [[-6.10989148e-01 -7.91618422e-01 5.70398109e-03 3.75056652e+01] [-7.91583759e-01 6.11015773e-01 7.40801708e-03 -8.72734312e+01] [-9.34954521e-03 1.10392560e-05 -9.99956292e-01 6.68983417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.42, Y:-87.35, Z:6.69 [[-5.49402803e-01 -8.35539510e-01 5.50342008e-03 3.74151556e+01] [-8.35497179e-01 5.49430366e-01 8.41055208e-03 -8.73524110e+01] [-1.00510947e-02 2.26889354e-05 -9.99949486e-01 6.69060869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.34, Y:-87.42, Z:6.69 [[-4.84130076e-01 -8.74979436e-01 5.39032267e-03 3.73401489e+01] [-8.74924401e-01 4.84160082e-01 9.81361654e-03 -8.74223357e+01] [-1.11964917e-02 3.49420851e-05 -9.99937317e-01 6.69029817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.26, Y:-87.52, Z:6.69 [[-4.15388175e-01 -9.09631707e-01 4.77717569e-03 3.72593936e+01] [-9.09570544e-01 4.15415642e-01 1.05484470e-02 -8.75192846e+01] [-1.15797153e-02 3.65218370e-05 -9.99932952e-01 6.69002293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.19, Y:-87.62, Z:6.69 [[-3.43306935e-01 -9.39214683e-01 4.01598633e-03 3.71873602e+01] [-9.39149438e-01 3.43330422e-01 1.10704384e-02 -8.76171386e+01] [-1.17763286e-02 2.89469716e-05 -9.99930656e-01 6.69032223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.11, Y:-87.75, Z:6.69 [[-2.68724136e-01 -9.63211717e-01 3.24463302e-03 3.71140152e+01] [-9.63140816e-01 2.68743723e-01 1.16867456e-02 -8.77494629e+01] [-1.21287850e-02 1.54721019e-05 -9.99926444e-01 6.69067866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.450385723 meters Centerline goodness [0,1] 0.9999322539123365 Centerline is valid? [True, True] Translation: X:37.06, Y:-87.84, Z:6.69 [[-1.88280021e-01 -9.82112364e-01 2.43693322e-03 3.70594250e+01] [-9.82033526e-01 1.88295784e-01 1.24439680e-02 -8.78400198e+01] [-1.26802391e-02 -5.01995747e-05 -9.99919601e-01 6.68996541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4803857229999 meters Centerline goodness [0,1] 0.9998645689908132 Centerline is valid? [True, True] Translation: X:37.01, Y:-87.97, Z:6.69 [[-1.09685335e-01 -9.93965283e-01 1.46398175e-03 3.70084158e+01] [-9.93885852e-01 1.09695078e-01 1.25659899e-02 -8.79731105e+01] [-1.26507493e-02 -7.67259425e-05 -9.99919973e-01 6.68965049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.510385723 meters Centerline goodness [0,1] 0.999909920054048 Centerline is valid? [True, True] Translation: X:36.97, Y:-88.08, Z:6.69 [[-3.00867036e-02 -9.99547183e-01 4.68953758e-04 3.69704836e+01] [-9.99472950e-01 3.00901846e-02 1.21821187e-02 -8.80777745e+01] [-1.21907134e-02 -1.02186799e-04 -9.99925685e-01 6.68895909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.540385723 meters Centerline goodness [0,1] 0.9998649105032084 Centerline is valid? [True, True] Translation: X:36.94, Y:-88.19, Z:6.69 [[ 5.07199190e-02 -9.98712814e-01 -4.52840066e-04 3.69393221e+01] [-9.98643947e-01 -5.07217399e-02 1.17291200e-02 -8.81894993e+01] [-1.17369913e-02 -1.42674026e-04 -9.99931109e-01 6.68760595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.570385723 meters Centerline goodness [0,1] 0.9998875140607424 Centerline is valid? [True, True] Translation: X:36.92, Y:-88.32, Z:6.69 [[ 1.29239697e-01 -9.91612476e-01 -1.34106360e-03 3.69194746e+01] [-9.91545758e-01 -1.29246560e-01 1.15038146e-02 -8.83189093e+01] [-1.15806539e-02 -1.57023585e-04 -9.99932930e-01 6.68739443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6003857229999 meters Centerline goodness [0,1] 0.9998876606452772 Centerline is valid? [True, True] Translation: X:36.91, Y:-88.44, Z:6.69 [[ 2.07678337e-01 -9.78194556e-01 -2.26254182e-03 3.69085276e+01] [-9.78126422e-01 -2.07690579e-01 1.15467368e-02 -8.84425003e+01] [-1.17648637e-02 -1.84955163e-04 -9.99930775e-01 6.68688172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.630385723 meters Centerline goodness [0,1] 0.9999775462547152 Centerline is valid? [True, True] Translation: X:36.91, Y:-88.57, Z:6.69 [[ 2.83289377e-01 -9.59029005e-01 -3.23977107e-03 3.69094504e+01] [-9.58958080e-01 -2.83307833e-01 1.16649934e-02 -8.85709915e+01] [-1.21049195e-02 -1.97764048e-04 -9.99926713e-01 6.68666044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.92, Y:-88.70, Z:6.69 [[ 3.57436532e-01 -9.33927124e-01 -4.38783748e-03 3.69191847e+01] [-9.33848949e-01 -3.57463394e-01 1.20856165e-02 -8.86980109e+01] [-1.28555763e-02 -2.22263420e-04 -9.99917339e-01 6.68681934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.94, Y:-88.82, Z:6.69 [[ 4.28388279e-01 -9.03579789e-01 -5.20063651e-03 3.69360616e+01] [-9.03506967e-01 -4.28419791e-01 1.14735987e-02 -8.88162256e+01] [-1.25953675e-02 -2.16343871e-04 -9.99920652e-01 6.68687643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7203857229999 meters Centerline goodness [0,1] 0.9998878370496658 Centerline is valid? [True, True] Translation: X:36.96, Y:-88.94, Z:6.69 [[ 4.96878299e-01 -8.67797650e-01 -6.26062197e-03 3.69649871e+01] [-8.67722992e-01 -4.96917689e-01 1.13850834e-02 -8.89384548e+01] [-1.29909624e-02 -2.24515259e-04 -9.99915589e-01 6.68696255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.00, Y:-89.06, Z:6.69 [[ 5.61369678e-01 -8.27535665e-01 -6.98628452e-03 3.70038956e+01] [-8.27466940e-01 -5.61413110e-01 1.06669336e-02 -8.90570402e+01] [-1.27494597e-02 -2.07173600e-04 -9.99918701e-01 6.68653594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.780385723 meters Centerline goodness [0,1] 0.9999550571897261 Centerline is valid? [True, True] Translation: X:37.05, Y:-89.16, Z:6.69 [[ 6.22795773e-01 -7.82344778e-01 -7.87875059e-03 3.70457451e+01] [-7.82278074e-01 -6.22845574e-01 1.02179022e-02 -8.91631311e+01] [-1.29011673e-02 -2.00292422e-04 -9.99916757e-01 6.68595199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.10, Y:-89.27, Z:6.69 [[ 6.79154196e-01 -7.33949220e-01 -8.25353635e-03 3.70987005e+01] [-7.33892140e-01 -6.79204327e-01 9.15476636e-03 -8.92688532e+01] [-1.23249712e-02 -1.60292534e-04 -9.99924032e-01 6.68565622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8403857229999 meters Centerline goodness [0,1] 0.9999775533108867 Centerline is valid? [True, True] Translation: X:37.16, Y:-89.37, Z:6.69 [[ 7.32580649e-01 -6.80620202e-01 -9.04067091e-03 3.71579709e+01] [-6.80565873e-01 -7.32636417e-01 8.60077738e-03 -8.93701739e+01] [-1.24773876e-02 -1.47990980e-04 -9.99922144e-01 6.68598780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.15, Y:-89.37, Z:6.69 [[ 7.82367974e-01 -6.22739157e-01 -9.81302760e-03 3.71545096e+01] [-6.22688140e-01 -7.82429503e-01 7.97201503e-03 -8.93725866e+01] [-1.26424882e-02 -1.26593344e-04 -9.99920073e-01 6.68571422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.15, Y:-89.38, Z:6.68 [[ 8.28001868e-01 -5.60635694e-01 -1.00262251e-02 3.71495602e+01] [-5.60593004e-01 -8.28062562e-01 6.91930164e-03 -8.93778103e+01] [-1.21815491e-02 -1.08563043e-04 -9.99925796e-01 6.68461734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.930385723 meters Centerline goodness [0,1] 0.9999773955107484 Centerline is valid? [True, True] Translation: X:37.14, Y:-89.38, Z:6.69 [[ 8.68558767e-01 -4.95473436e-01 -1.05708101e-02 3.71426793e+01] [-4.95435471e-01 -8.68623086e-01 6.13419381e-03 -8.93821444e+01] [-1.22213797e-02 -9.07535515e-05 -9.99925312e-01 6.68559349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.14, Y:-89.39, Z:6.69 [[ 9.04070747e-01 -4.27228223e-01 -1.14947590e-02 3.71388331e+01] [-4.27192592e-01 -9.04143816e-01 5.51816189e-03 -8.93855643e+01] [-1.27504298e-02 -7.83328501e-05 -9.99918707e-01 6.68530300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.990385723 meters Centerline goodness [0,1] 0.9999774347865331 Centerline is valid? [True, True] Translation: X:37.13, Y:-89.39, Z:6.69 [[ 9.34590080e-01 -3.55529145e-01 -1.18494549e-02 3.71328452e+01] [-3.55499568e-01 -9.34665192e-01 4.58644406e-03 -8.93900781e+01] [-1.27058876e-02 -7.39690058e-05 -9.99919274e-01 6.68549309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.020385723 meters Centerline goodness [0,1] 0.9999324704558245 Centerline is valid? [True, True] Translation: X:37.13, Y:-89.40, Z:6.68 [[ 9.59437091e-01 -2.81661716e-01 -1.21303952e-02 3.71282839e+01] [-2.81638283e-01 -9.59513769e-01 3.63383345e-03 -8.93968406e+01] [-1.26627929e-02 -7.00509268e-05 -9.99919821e-01 6.68410226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.12, Y:-89.40, Z:6.68 [[ 9.78545253e-01 -2.05694751e-01 -1.17837679e-02 3.71235938e+01] [-2.05679006e-01 -9.78616199e-01 2.54587762e-03 -8.94048498e+01] [-1.20554599e-02 -6.75827737e-05 -9.99927328e-01 6.68385630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.080385723 meters Centerline goodness [0,1] 0.9999321727334388 Centerline is valid? [True, True] Translation: X:37.12, Y:-89.41, Z:6.68 [[ 9.91620522e-01 -1.28702106e-01 -1.11583251e-02 3.71156451e+01] [-1.28693271e-01 -9.91683298e-01 1.50926893e-03 -8.94140978e+01] [-1.12597707e-02 -6.06206884e-05 -9.99936605e-01 6.68337401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.11, Y:-89.43, Z:6.68 [[ 9.98646173e-01 -5.09607611e-02 -1.04318163e-02 3.71081410e+01] [-5.09574205e-02 -9.98700655e-01 5.85956518e-04 -8.94257867e+01] [-1.04481225e-02 -5.35847865e-05 -9.99945416e-01 6.68275870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.10, Y:-89.44, Z:6.68 [[ 9.99577547e-01 2.73636785e-02 -9.79570945e-03 3.71009297e+01] [ 2.73628579e-02 -9.99625543e-01 -2.17816311e-04 -8.94359571e+01] [-9.79800163e-03 -5.03143116e-05 -9.99951997e-01 6.68304992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.09, Y:-89.44, Z:6.68 [[ 9.94371539e-01 1.05516600e-01 -9.56502899e-03 3.70946263e+01] [ 1.05512191e-01 -9.94417541e-01 -9.65811378e-04 -8.94448711e+01] [-9.61354174e-03 -4.88518188e-05 -9.99953788e-01 6.68281436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.09, Y:-89.45, Z:6.68 [[ 9.83022309e-01 1.83256374e-01 -9.17827010e-03 3.70898830e+01] [ 1.83248856e-01 -9.83065155e-01 -1.66066538e-03 -8.94547172e+01] [-9.32716503e-03 -4.94363816e-05 -9.99956500e-01 6.68163741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.09, Y:-89.47, Z:6.68 [[ 9.65688748e-01 2.59556929e-01 -8.68573481e-03 3.70852150e+01] [ 2.59546865e-01 -9.65727808e-01 -2.28614661e-03 -8.94653035e+01] [-8.98144083e-03 -4.66491885e-05 -9.99959665e-01 6.68197813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.260385723 meters Centerline goodness [0,1] 0.9999774510688193 Centerline is valid? [True, True] Translation: X:37.08, Y:-89.48, Z:6.68 [[ 9.42291948e-01 3.34669353e-01 -9.07244376e-03 3.70826381e+01] [ 3.34654383e-01 -9.42335620e-01 -3.16582705e-03 -8.94766529e+01] [-9.60879221e-03 -5.29997335e-05 -9.99953833e-01 6.68259430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.290385723 meters Centerline goodness [0,1] 0.9999774475090774 Centerline is valid? [True, True] Translation: X:37.08, Y:-89.49, Z:6.68 [[ 9.12837716e-01 4.08208941e-01 -9.63148232e-03 3.70812290e+01] [ 4.08186995e-01 -9.12888523e-01 -4.23339498e-03 -8.94897524e+01] [-1.05205794e-02 -6.70432170e-05 -9.99944655e-01 6.68404787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.320385723 meters Centerline goodness [0,1] 0.9999548940009021 Centerline is valid? [True, True] Translation: X:37.08, Y:-89.50, Z:6.68 [[ 8.77747370e-01 4.79024023e-01 -9.77447868e-03 3.70798780e+01] [ 4.78995312e-01 -8.77801788e-01 -5.24510958e-03 -8.95012353e+01] [-1.10925884e-02 -7.80483270e-05 -9.99938472e-01 6.68477687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.08, Y:-89.51, Z:6.68 [[ 8.36621180e-01 5.47702644e-01 -9.31742298e-03 3.70787885e+01] [ 5.47669968e-01 -8.36673057e-01 -5.98346352e-03 -8.95131965e+01] [-1.10727956e-02 -9.69804383e-05 -9.99938690e-01 6.68465295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.08, Y:-89.52, Z:6.68 [[ 7.90749799e-01 6.12075054e-01 -8.88165373e-03 3.70798796e+01] [ 6.12037945e-01 -7.90799670e-01 -6.74062059e-03 -8.95240549e+01] [-1.11493745e-02 -1.05764716e-04 -9.99937838e-01 6.68393842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.08, Y:-89.54, Z:6.68 [[ 7.39901094e-01 6.72668326e-01 -7.98079664e-03 3.70829980e+01] [ 6.72630790e-01 -7.39944127e-01 -7.10703320e-03 -8.95372055e+01] [-1.06860197e-02 -1.09627905e-04 -9.99942897e-01 6.68423588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.09, Y:-89.55, Z:6.68 [[ 6.84563005e-01 7.28917063e-01 -7.30795939e-03 3.70865026e+01] [ 7.28877295e-01 -6.84602003e-01 -7.61496393e-03 -8.95492215e+01] [-1.05537208e-02 -1.13683071e-04 -9.99944302e-01 6.68424105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.09, Y:-89.56, Z:6.68 [[ 6.24764854e-01 7.80788286e-01 -6.20724110e-03 3.70906841e+01] [ 7.80751542e-01 -6.24795679e-01 -7.57561634e-03 -8.95613390e+01] [-9.79320991e-03 -1.13334222e-04 -9.99952039e-01 6.68432961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.500385723 meters Centerline goodness [0,1] 0.9999550925094306 Centerline is valid? [True, True] Translation: X:37.09, Y:-89.57, Z:6.68 [[ 5.61474288e-01 8.27475926e-01 -5.49696180e-03 3.70945130e+01] [ 8.27438242e-01 -5.61501184e-01 -7.89786379e-03 -8.95721909e+01] [-9.62184271e-03 -1.13948956e-04 -9.99953703e-01 6.68418740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.530385723 meters Centerline goodness [0,1] 0.9999550925094306 Centerline is valid? [True, True] Translation: X:37.10, Y:-89.58, Z:6.68 [[ 4.94939753e-01 8.68913694e-01 -4.86147788e-03 3.70978629e+01] [ 8.68874019e-01 -4.94963615e-01 -8.30416535e-03 -8.95821511e+01] [-9.62185765e-03 -1.13950282e-04 -9.99953702e-01 6.68418753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.10, Y:-89.59, Z:6.68 [[ 4.25736761e-01 9.04837676e-01 -4.12199392e-03 3.71028517e+01] [ 9.04797701e-01 -4.25756702e-01 -8.50596155e-03 -8.95913428e+01] [-9.45148102e-03 -1.08270103e-04 -9.99955328e-01 6.68278869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5903857229999 meters Centerline goodness [0,1] 0.9999775648935454 Centerline is valid? [True, True] Translation: X:37.11, Y:-89.60, Z:6.68 [[ 3.54038162e-01 9.35224816e-01 -3.39462014e-03 3.71104762e+01] [ 9.35184551e-01 -3.54054421e-01 -8.67889098e-03 -8.96010843e+01] [-9.31859449e-03 -1.01937701e-04 -9.99956576e-01 6.68264671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.12, Y:-89.61, Z:6.68 [[ 2.80547240e-01 9.59836553e-01 -2.65308531e-03 3.71198264e+01] [ 9.59796698e-01 -2.80559769e-01 -8.74721056e-03 -8.96113913e+01] [-9.14024143e-03 -9.24167426e-05 -9.99958223e-01 6.68244889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.13, Y:-89.62, Z:6.68 [[ 2.04299475e-01 9.78906139e-01 -2.12013753e-03 3.71302803e+01] [ 9.78858506e-01 -2.04310450e-01 -9.65740227e-03 -8.96215759e+01] [-9.88685663e-03 -1.02312446e-04 -9.99951119e-01 6.68336468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.14, Y:-89.63, Z:6.68 [[ 1.27219533e-01 9.91873591e-01 -1.40370093e-03 3.71404492e+01] [ 9.91821868e-01 -1.27227235e-01 -1.01298268e-02 -8.96301977e+01] [-1.02260967e-02 -1.03509441e-04 -9.99947707e-01 6.68372965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.15, Y:-89.64, Z:6.69 [[ 4.90056490e-02 9.98798260e-01 -6.94343897e-04 3.71515735e+01] [ 9.98729808e-01 -4.90104198e-02 -1.16939571e-02 -8.96389882e+01] [-1.17139341e-02 -1.20391990e-04 -9.99931382e-01 6.68510151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.740385723 meters Centerline goodness [0,1] 0.9999776551292651 Centerline is valid? [True, True] Translation: X:37.16, Y:-89.65, Z:6.69 [[-2.87939618e-02 9.99585340e-01 2.34980891e-04 3.71613261e+01] [ 9.99509499e-01 2.87946718e-02 -1.23137570e-02 -8.96458139e+01] [-1.23154172e-02 -1.19696216e-04 -9.99924155e-01 6.68510324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.17, Y:-89.65, Z:6.68 [[-1.06609998e-01 9.94300270e-01 1.13219181e-03 3.71715763e+01] [ 9.94232835e-01 1.06615954e-01 -1.15805205e-02 -8.96519706e+01] [-1.16352243e-02 -1.08936990e-04 -9.99932303e-01 6.68448398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.18, Y:-89.66, Z:6.68 [[-1.83821149e-01 9.82957917e-01 1.87562057e-03 3.71821125e+01] [ 9.82901246e-01 1.83830692e-01 -1.05554372e-02 -8.96569799e+01] [-1.07203472e-02 -9.67627946e-05 -9.99942531e-01 6.68324995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.19, Y:-89.66, Z:6.68 [[-2.60044669e-01 9.65593212e-01 2.55312053e-03 3.71932460e+01] [ 9.65543241e-01 2.60057187e-01 -9.82389541e-03 -8.96611242e+01] [-1.01498441e-02 -8.95033621e-05 -9.99948485e-01 6.68248170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.21, Y:-89.66, Z:6.68 [[-3.35367755e-01 9.42082631e-01 2.96406120e-03 3.72050957e+01] [ 9.42043582e-01 3.35380843e-01 -8.57783302e-03 -8.96643607e+01] [-9.07511684e-03 -8.44537753e-05 -9.99958817e-01 6.68174424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.22, Y:-89.67, Z:6.68 [[-4.08577103e-01 9.12717181e-01 3.47827689e-03 3.72179633e+01] [ 9.12682312e-01 4.08591900e-01 -7.97855173e-03 -8.96663623e+01] [-8.70335700e-03 -8.52917610e-05 -9.99962122e-01 6.68109568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.23, Y:-89.67, Z:6.68 [[-4.80398046e-01 8.77041097e-01 4.07813355e-03 3.72322803e+01] [ 8.77007701e-01 4.80415345e-01 -7.65439363e-03 -8.96681414e+01] [-8.67241572e-03 -1.00601216e-04 -9.99962389e-01 6.68100126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.24, Y:-89.67, Z:6.68 [[-5.48781654e-01 8.35951131e-01 4.93995540e-03 3.72445491e+01] [ 8.35915282e-01 5.48803874e-01 -7.74271657e-03 -8.96691507e+01] [-9.18359933e-03 -1.19676597e-04 -9.99957823e-01 6.68138693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.26, Y:-89.67, Z:6.68 [[-6.13219646e-01 7.89890092e-01 5.94213783e-03 3.72569932e+01] [ 7.89850832e-01 6.13248420e-01 -7.87645472e-03 -8.96674676e+01] [-9.86554018e-03 -1.36594266e-04 -9.99951325e-01 6.68088121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.27, Y:-89.66, Z:6.68 [[-6.73634670e-01 7.39031215e-01 7.01394579e-03 3.72717000e+01] [ 7.38988777e-01 6.73671166e-01 -7.92135775e-03 -8.96641503e+01] [-1.05792237e-02 -1.52873991e-04 -9.99944027e-01 6.68254250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.28, Y:-89.66, Z:6.68 [[-7.29472246e-01 6.83961794e-01 8.15516633e-03 3.72838143e+01] [ 6.83916525e-01 7.29517812e-01 -7.87076892e-03 -8.96598244e+01] [-1.13326443e-02 -1.64054465e-04 -9.99935770e-01 6.68210403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.070385723 meters Centerline goodness [0,1] 0.9999558137993505 Centerline is valid? [True, True] Translation: X:37.31, Y:-89.64, Z:6.68 [[-7.75649269e-01 6.31098538e-01 9.10205243e-03 3.73090016e+01] [ 6.31052570e-01 7.75702655e-01 -7.61875909e-03 -8.96393709e+01] [-1.18686740e-02 -1.65611336e-04 -9.99929551e-01 6.68397937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1003857229999 meters Centerline goodness [0,1] 0.9999554684716779 Centerline is valid? [True, True] Translation: X:37.32, Y:-89.61, Z:6.68 [[-8.17125814e-01 5.76384425e-01 9.29511080e-03 3.73227313e+01] [ 5.76345242e-01 8.17178669e-01 -6.72203311e-03 -8.96146746e+01] [-1.14702415e-02 -1.35553888e-04 -9.99934206e-01 6.68302444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.130385723 meters Centerline goodness [0,1] 0.9999330670890877 Centerline is valid? [True, True] Translation: X:37.35, Y:-89.60, Z:6.68 [[-8.55102592e-01 5.18364788e-01 9.87437052e-03 3.73481822e+01] [ 5.18328599e-01 8.55159595e-01 -6.12631942e-03 -8.95981949e+01] [-1.16198310e-02 -1.20462983e-04 -9.99932480e-01 6.68217355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.36, Y:-89.57, Z:6.68 [[-8.88226480e-01 4.59305222e-01 9.61425684e-03 3.73618590e+01] [ 4.59277357e-01 8.88278508e-01 -5.05983207e-03 -8.95737484e+01] [-1.08641450e-02 -7.86663519e-05 -9.99940980e-01 6.68152634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.39, Y:-89.55, Z:6.68 [[-9.17928501e-01 3.96625508e-01 9.77110768e-03 3.73862008e+01] [ 3.96602330e-01 9.17980502e-01 -4.28826066e-03 -8.95532121e+01] [-1.06705199e-02 -6.10726064e-05 -9.99943067e-01 6.68168262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.40, Y:-89.53, Z:6.68 [[-9.42796921e-01 3.33234874e-01 9.40665368e-03 3.74033035e+01] [ 3.33217988e-01 9.42843846e-01 -3.35483041e-03 -8.95286889e+01] [-9.98695203e-03 -2.84575725e-05 -9.99950129e-01 6.68163593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.41, Y:-89.50, Z:6.68 [[-9.63808766e-01 2.66402748e-01 1.01112654e-02 3.74121816e+01] [ 2.66387862e-01 9.63861803e-01 -2.81631573e-03 -8.95006549e+01] [-1.04961368e-02 -2.08714186e-05 -9.99944914e-01 6.68182430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.42, Y:-89.47, Z:6.68 [[-9.80133154e-01 1.98084160e-01 1.00829925e-02 3.74171552e+01] [ 1.98073545e-01 9.80185016e-01 -2.05067719e-03 -8.94720000e+01] [-1.02894048e-02 -1.27626283e-05 -9.99947063e-01 6.68123228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.43, Y:-89.44, Z:6.68 [[-9.91552050e-01 1.29271915e-01 1.06444554e-02 3.74272600e+01] [ 1.29264473e-01 9.91609183e-01 -1.38709681e-03 -8.94434987e+01] [-1.07344524e-02 5.71219365e-07 -9.99942384e-01 6.68105971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.43, Y:-89.41, Z:6.68 [[-9.98155909e-01 5.96845507e-02 1.10696145e-02 3.74302457e+01] [ 5.96810268e-02 9.98217288e-01 -6.48694185e-04 -8.94130313e+01] [-1.10885976e-02 1.31480251e-05 -9.99938520e-01 6.68153019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.43, Y:-89.38, Z:6.68 [[-9.99871301e-01 -1.07899819e-02 1.18725818e-02 3.74287889e+01] [-1.07889601e-02 9.99941786e-01 1.50104756e-04 -8.93830652e+01] [-1.18735103e-02 2.19926259e-05 -9.99929507e-01 6.68134114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.43, Y:-88.60, Z:5.80 [[-9.98571868e-01 -5.19390275e-02 1.25124762e-02 3.74273046e+01] [ 5.19351961e-02 -9.98650258e-01 -6.31161346e-04 -8.85954530e+01] [ 1.25283695e-02 1.95779419e-05 9.99921517e-01 5.79606191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.33, Y:-89.38, Z:6.68 [[-9.99794759e-01 -1.52624432e-02 1.33227946e-02 3.73342028e+01] [-1.52604765e-02 9.99883521e-01 2.49272233e-04 -8.93810121e+01] [-1.33250472e-02 4.59088790e-05 -9.99911217e-01 6.68219583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.33, Y:-89.35, Z:6.68 [[-9.96206356e-01 -8.59938882e-02 1.33397255e-02 3.73320962e+01] [-8.59854735e-02 9.96295663e-01 1.20411878e-03 -8.93509097e+01] [-1.33938575e-02 5.25281677e-05 -9.99910297e-01 6.68150631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.32, Y:-89.32, Z:6.68 [[-9.87617329e-01 -1.56355675e-01 1.28419031e-02 3.73159792e+01] [-1.56341700e-01 9.87700815e-01 2.09129101e-03 -8.93208216e+01] [-1.30109434e-02 5.76702863e-05 -9.99915353e-01 6.68185868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.29, Y:-89.29, Z:6.68 [[-9.73896482e-01 -2.26639279e-01 1.26601815e-02 3.72900915e+01] [-2.26619294e-01 9.73978764e-01 3.01037696e-03 -8.92949046e+01] [-1.30130176e-02 6.27541291e-05 -9.99915325e-01 6.68161910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.24, Y:-89.27, Z:6.68 [[-9.55026875e-01 -2.96309981e-01 1.11383661e-02 3.72437134e+01] [-2.96289035e-01 9.55091823e-01 3.52380496e-03 -8.92749416e+01] [-1.16823009e-02 6.51527111e-05 -9.99931758e-01 6.68073535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.17, Y:-89.27, Z:6.68 [[-9.30696155e-01 -3.65651920e-01 1.01656863e-02 3.71727181e+01] [-3.65629375e-01 9.30751669e-01 4.06087848e-03 -8.92684844e+01] [-1.09465975e-02 6.25704649e-05 -9.99940082e-01 6.68054724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.10, Y:-89.26, Z:6.68 [[-9.01105029e-01 -4.33497374e-01 9.47380649e-03 3.71033099e+01] [-4.33472684e-01 9.01154827e-01 4.62706153e-03 -8.92641470e+01] [-1.05431855e-02 6.28320888e-05 -9.99944417e-01 6.67930584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.03, Y:-89.27, Z:6.68 [[-8.66062883e-01 -4.99846777e-01 9.39583895e-03 3.70252212e+01] [-4.99816603e-01 8.66113847e-01 5.49256594e-03 -8.92689657e+01] [-1.08833076e-02 6.07111922e-05 -9.99940773e-01 6.67960882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.94, Y:-89.29, Z:6.68 [[-8.25885134e-01 -5.63768429e-01 8.88276556e-03 3.69356966e+01] [-5.63735109e-01 8.25932900e-01 6.12956210e-03 -8.92892729e+01] [-1.07922219e-02 5.47874070e-05 -9.99941761e-01 6.67985670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.85, Y:-89.32, Z:6.68 [[-7.80571172e-01 -6.25007511e-01 8.61720207e-03 3.68454212e+01] [-6.24968765e-01 7.80618735e-01 6.95942830e-03 -8.93153294e+01] [-1.10764443e-02 4.68469743e-05 -9.99938653e-01 6.68012324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.75, Y:-89.36, Z:6.68 [[-7.30865050e-01 -6.82468804e-01 8.52115733e-03 3.67506183e+01] [-6.82421699e-01 7.30914721e-01 8.01841307e-03 -8.93569794e+01] [-1.17005561e-02 4.53552041e-05 -9.99931545e-01 6.68042124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.65, Y:-89.41, Z:6.68 [[-6.76773166e-01 -7.36143014e-01 8.45845652e-03 3.66543876e+01] [-7.36084700e-01 6.76826020e-01 9.26568185e-03 -8.94091378e+01] [-1.25457704e-02 4.46244022e-05 -9.99921298e-01 6.68008588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.57, Y:-89.47, Z:6.68 [[-6.18678180e-01 -7.85605207e-01 7.85932877e-03 3.65651118e+01] [-7.85540921e-01 6.18728097e-01 1.00501096e-02 -8.94675837e+01] [-1.27582060e-02 4.39591903e-05 -9.99918610e-01 6.68026376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.48, Y:-89.54, Z:6.68 [[-5.57141296e-01 -8.30390259e-01 6.75233740e-03 3.64760798e+01] [-8.30328312e-01 5.57182211e-01 1.01429034e-02 -8.95374533e+01] [-1.21848504e-02 4.43733995e-05 -9.99925761e-01 6.67942113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.39, Y:-89.62, Z:6.68 [[-4.92497714e-01 -8.70295606e-01 5.61781444e-03 3.63907107e+01] [-8.70237905e-01 4.92529751e-01 1.00216260e-02 -8.96177361e+01] [-1.14887178e-02 4.67928367e-05 -9.99934002e-01 6.67909588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.31, Y:-89.70, Z:6.68 [[-4.24697784e-01 -9.05322228e-01 4.84320972e-03 3.63129010e+01] [-9.05261999e-01 4.24725395e-01 1.04428060e-02 -8.97032879e+01] [-1.15111386e-02 5.06628686e-05 -9.99933743e-01 6.67806546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.24, Y:-89.80, Z:6.68 [[-3.54133585e-01 -9.35186407e-01 3.97350753e-03 3.62385307e+01] [-9.35125941e-01 3.54155872e-01 1.06345158e-02 -8.97998900e+01] [-1.13524957e-02 5.03092395e-05 -9.99935557e-01 6.67893605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.17, Y:-89.90, Z:6.68 [[-2.80921613e-01 -9.59725751e-01 3.08711765e-03 3.61716811e+01] [-9.59666048e-01 2.80938571e-01 1.07049820e-02 -8.99030233e+01] [-1.11411373e-02 4.46588109e-05 -9.99937935e-01 6.67834395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.11, Y:-90.01, Z:6.68 [[-2.05335292e-01 -9.78688979e-01 2.30239684e-03 3.61115766e+01] [-9.78625679e-01 2.05348198e-01 1.11309175e-02 -9.00127091e+01] [-1.13664993e-02 3.23855280e-05 -9.99935399e-01 6.67785099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.06, Y:-90.13, Z:6.68 [[-1.28858774e-01 -9.91661997e-01 1.37832756e-03 3.60616849e+01] [-9.91603333e-01 1.28866143e-01 1.07864711e-02 -9.01254910e+01] [-1.08741532e-02 2.31772312e-05 -9.99940874e-01 6.67747434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.02, Y:-90.25, Z:6.68 [[-5.00223612e-02 -9.98747968e-01 5.10168661e-04 3.60180161e+01] [-9.98696380e-01 5.00249627e-02 1.01510483e-02 -9.02489345e+01] [-1.01638600e-02 -1.72419194e-06 -9.99948347e-01 6.67626403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.98, Y:-90.37, Z:6.68 [[ 3.04076026e-02 -9.99537542e-01 -2.81922702e-04 3.59831020e+01] [-9.99481886e-01 -3.04088845e-02 1.05479728e-02 -9.03699927e+01] [-1.05516677e-02 -3.89619299e-05 -9.99944329e-01 6.67742177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0903857229999 meters Centerline goodness [0,1] 0.9999570953555722 Centerline is valid? [True, True] Translation: X:35.96, Y:-90.49, Z:6.68 [[ 1.08762048e-01 -9.94067175e-01 -1.12597543e-03 3.59592924e+01] [-9.94007977e-01 -1.08767860e-01 1.08486958e-02 -9.04850808e+01] [-1.09068023e-02 -6.06978197e-05 -9.99940517e-01 6.67741290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.120385723 meters Centerline goodness [0,1] 0.9999141096390458 Centerline is valid? [True, True] Translation: X:35.94, Y:-90.61, Z:6.68 [[ 1.87585388e-01 -9.82246454e-01 -1.90407346e-03 3.59447132e+01] [-9.82190890e-01 -1.87595029e-01 1.04480077e-02 -9.06113965e+01] [-1.06197132e-02 -8.97299641e-05 -9.99943605e-01 6.67770480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.94, Y:-90.74, Z:6.68 [[ 2.63573708e-01 -9.64635365e-01 -2.74115529e-03 3.59416220e+01] [-9.64579027e-01 -2.63587941e-01 1.04258474e-02 -9.07373587e+01] [-1.07796766e-02 -1.03918357e-04 -9.99941892e-01 6.67787468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.95, Y:-90.86, Z:6.68 [[ 3.38337374e-01 -9.41018440e-01 -3.48108146e-03 3.59474105e+01] [-9.40964933e-01 -3.38355260e-01 1.00355906e-02 -9.08614312e+01] [-1.06215181e-02 -1.19839801e-04 -9.99943583e-01 6.67751659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.96, Y:-90.98, Z:6.68 [[ 4.10035302e-01 -9.12060014e-01 -4.19307325e-03 3.59614144e+01] [-9.12009162e-01 -4.10056721e-01 9.63187004e-03 -9.09793133e+01] [-1.05042414e-02 -1.25285514e-04 -9.99944821e-01 6.67743762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.99, Y:-91.10, Z:6.68 [[ 4.79398856e-01 -8.77584907e-01 -4.63337193e-03 3.59887773e+01] [-8.77541340e-01 -4.79421229e-01 8.74540694e-03 -9.11049878e+01] [-9.89617400e-03 -1.26562670e-04 -9.99951024e-01 6.67716152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.270385723 meters Centerline goodness [0,1] 0.9999784973981852 Centerline is valid? [True, True] Translation: X:36.02, Y:-91.22, Z:6.68 [[ 5.45147918e-01 -8.38323959e-01 -5.16590793e-03 3.60209360e+01] [-8.38284147e-01 -5.45172380e-01 8.17102768e-03 -9.12175177e+01] [-9.66627860e-03 -1.23920015e-04 -9.99953273e-01 6.67667045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.06, Y:-91.32, Z:6.68 [[ 6.07332979e-01 -7.94428601e-01 -5.46353388e-03 3.60583332e+01] [-7.94394756e-01 -6.07357543e-01 7.33398720e-03 -9.13213983e+01] [-9.14464770e-03 -1.13969637e-04 -9.99958180e-01 6.67642759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.10, Y:-91.42, Z:6.68 [[ 6.66050320e-01 -7.45884923e-01 -5.71433646e-03 3.61046176e+01] [-7.45856074e-01 -6.66074824e-01 6.56100808e-03 -9.14228255e+01] [-8.69993266e-03 -1.07888979e-04 -9.99962149e-01 6.67619258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.16, Y:-91.52, Z:6.68 [[ 7.21442272e-01 -6.92449967e-01 -5.83874347e-03 3.61591878e+01] [-6.92426065e-01 -7.21465891e-01 5.75444578e-03 -9.15211110e+01] [-8.19712005e-03 -1.08602275e-04 -9.99966397e-01 6.67621789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.390385723 meters Centerline goodness [0,1] 0.9999785633132543 Centerline is valid? [True, True] Translation: X:36.15, Y:-91.53, Z:6.68 [[ 7.73738363e-01 -6.33468924e-01 -6.78731472e-03 3.61532753e+01] [-6.33443151e-01 -7.73768122e-01 5.71556195e-03 -9.15329941e+01] [-8.87243865e-03 -1.22971523e-04 -9.99960632e-01 6.67756163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.420385723 meters Centerline goodness [0,1] 0.9999785633132543 Centerline is valid? [True, True] Translation: X:36.15, Y:-91.54, Z:6.68 [[ 8.20893266e-01 -5.71036087e-01 -7.21338959e-03 3.61518428e+01] [-5.71012719e-01 -8.20924949e-01 5.16743051e-03 -9.15408014e+01] [-8.87244079e-03 -1.22971706e-04 -9.99960632e-01 6.67756165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.450385723 meters Centerline goodness [0,1] 0.9999137800961352 Centerline is valid? [True, True] Translation: X:36.15, Y:-91.55, Z:6.68 [[ 8.63316972e-01 -5.04593769e-01 -8.30267344e-03 3.61497872e+01] [-5.04568861e-01 -8.63356884e-01 5.01558798e-03 -9.15520097e+01] [-9.69900471e-03 -1.40771752e-04 -9.99952954e-01 6.67904754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.15, Y:-91.56, Z:6.68 [[ 9.01024495e-01 -4.33677613e-01 -8.86497547e-03 3.61476650e+01] [-4.33654819e-01 -9.01068089e-01 4.44942836e-03 -9.15644794e+01] [-9.91756397e-03 -1.64704615e-04 -9.99950806e-01 6.67783991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.510385723 meters Centerline goodness [0,1] 0.9999568500539374 Centerline is valid? [True, True] Translation: X:36.15, Y:-91.58, Z:6.68 [[ 9.32762981e-01 -3.60350088e-01 -1.00516438e-02 3.61458588e+01] [-3.60326867e-01 -9.32817118e-01 4.09564650e-03 -9.15753811e+01] [-1.08522120e-02 -1.98390115e-04 -9.99941093e-01 6.67869799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.540385723 meters Centerline goodness [0,1] 0.9999784575613959 Centerline is valid? [True, True] Translation: X:36.15, Y:-91.59, Z:6.68 [[ 9.58426421e-01 -2.85154917e-01 -1.02698290e-02 3.61453870e+01] [-2.85136189e-01 -9.58481418e-01 3.27487599e-03 -9.15875899e+01] [-1.07772872e-02 -2.10427781e-04 -9.99941901e-01 6.67745343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.14, Y:-91.60, Z:6.68 [[ 9.77970685e-01 -2.08482613e-01 -1.04086599e-02 3.61446572e+01] [-2.08468429e-01 -9.78026049e-01 2.44163903e-03 -9.16020871e+01] [-1.06889798e-02 -2.17974424e-04 -9.99942848e-01 6.67902879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.15, Y:-91.61, Z:6.68 [[ 9.91481571e-01 -1.29822136e-01 -1.05122564e-02 3.61472630e+01] [-1.29812332e-01 -9.91537270e-01 1.61251808e-03 -9.16107256e+01] [-1.06326345e-02 -2.34161445e-04 -9.99943445e-01 6.67783457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.15, Y:-91.62, Z:6.68 [[ 9.98648956e-01 -5.08392118e-02 -1.07535090e-02 3.61465240e+01] [-5.08335876e-02 -9.98706820e-01 7.95872254e-04 -9.16194478e+01] [-1.07800643e-02 -2.48157553e-04 -9.99941863e-01 6.67803324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.660385723 meters Centerline goodness [0,1] 0.9999350691513538 Centerline is valid? [True, True] Translation: X:36.15, Y:-91.63, Z:6.68 [[ 9.99546376e-01 2.80404467e-02 -1.09898019e-02 3.61457335e+01] [ 2.80416011e-02 -9.99606756e-01 -4.90690453e-05 -9.16304705e+01] [-1.09868561e-02 -2.59124854e-04 -9.99939609e-01 6.67787404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.14, Y:-91.64, Z:6.68 [[ 9.94243588e-01 1.06609431e-01 -1.06825529e-02 3.61447643e+01] [ 1.06606054e-01 -9.94300942e-01 -8.86687454e-04 -9.16399079e+01] [-1.07162016e-02 -2.57241494e-04 -9.99942547e-01 6.67796982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.15, Y:-91.65, Z:6.68 [[ 9.82865638e-01 1.84030605e-01 -1.03862967e-02 3.61455849e+01] [ 1.84023028e-01 -9.82920482e-01 -1.68873357e-03 -9.16497303e+01] [-1.05196824e-02 -2.51519576e-04 -9.99944635e-01 6.67757410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.15, Y:-91.66, Z:6.68 [[ 9.65452627e-01 2.60405527e-01 -9.49669082e-03 3.61458369e+01] [ 2.60395304e-01 -9.65499305e-01 -2.31916311e-03 -9.16588562e+01] [-9.77297127e-03 -2.33851584e-04 -9.99952216e-01 6.67773987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.780385723 meters Centerline goodness [0,1] 0.9999781186407299 Centerline is valid? [True, True] Translation: X:36.15, Y:-91.67, Z:6.68 [[ 9.42108428e-01 3.35193213e-01 -8.78753889e-03 3.61463608e+01] [ 3.35180815e-01 -9.42149384e-01 -2.89133111e-03 -9.16664068e+01] [-9.24832891e-03 -2.21467042e-04 -9.99957209e-01 6.67651006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.15, Y:-91.68, Z:6.68 [[ 9.12883057e-01 4.08129099e-01 -8.66963358e-03 3.61472181e+01] [ 4.08113045e-01 -9.12924196e-01 -3.62706958e-03 -9.16770878e+01] [-9.39503090e-03 -2.27100187e-04 -9.99955840e-01 6.67654593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8403857229999 meters Centerline goodness [0,1] 0.9999122210274529 Centerline is valid? [True, True] Translation: X:36.15, Y:-91.68, Z:6.68 [[ 8.78362191e-01 4.77895657e-01 -9.77766895e-03 3.61486638e+01] [ 4.77869326e-01 -8.78416572e-01 -5.02340457e-03 -9.16833387e+01] [-1.09895297e-02 -2.60079421e-04 -9.99939580e-01 6.67857070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.870385723 meters Centerline goodness [0,1] 0.9999340485402743 Centerline is valid? [True, True] Translation: X:36.15, Y:-91.69, Z:6.68 [[ 8.38419405e-01 5.44951210e-01 -9.00443045e-03 3.61516909e+01] [ 5.44922926e-01 -8.38467720e-01 -5.55759705e-03 -9.16940473e+01] [-1.05785435e-02 -2.47123379e-04 -9.99944015e-01 6.67844217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.15, Y:-91.70, Z:6.68 [[ 7.94042836e-01 6.07797241e-01 -8.85942612e-03 3.61514807e+01] [ 6.07762767e-01 -7.94092222e-01 -6.47784414e-03 -9.16981256e+01] [-1.09724172e-02 -2.40743605e-04 -9.99939772e-01 6.67762463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.15, Y:-91.71, Z:6.68 [[ 7.44773060e-01 6.67264071e-01 -8.47044835e-03 3.61529546e+01] [ 6.67224440e-01 -7.44821191e-01 -7.27604320e-03 -9.17051013e+01] [-1.11640116e-02 -2.32689199e-04 -9.99937654e-01 6.67783198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.960385723 meters Centerline goodness [0,1] 0.9999557022303927 Centerline is valid? [True, True] Translation: X:36.16, Y:-91.71, Z:6.68 [[ 6.91199128e-01 7.22618677e-01 -8.12488503e-03 3.61559719e+01] [ 7.22572549e-01 -6.91246843e-01 -8.16787241e-03 -9.17124916e+01] [-1.15185583e-02 -2.25192591e-04 -9.99933634e-01 6.67737419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.16, Y:-91.72, Z:6.68 [[ 6.35313333e-01 7.72214895e-01 -7.81830753e-03 3.61563119e+01] [ 7.72160104e-01 -6.35361409e-01 -9.20075966e-03 -9.17188040e+01] [-1.20724145e-02 -1.91619875e-04 -9.99927107e-01 6.67740874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.16, Y:-91.73, Z:6.68 [[ 5.74674748e-01 8.18351352e-01 -7.07093943e-03 3.61587030e+01] [ 8.18292922e-01 -5.74718224e-01 -9.78045377e-03 -9.17254831e+01] [-1.20676453e-02 -1.65519881e-04 -9.99927170e-01 6.67742042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.050385723 meters Centerline goodness [0,1] 0.9999778181979504 Centerline is valid? [True, True] Translation: X:36.16, Y:-91.73, Z:6.68 [[ 5.12007291e-01 8.58958955e-01 -6.16830316e-03 3.61603289e+01] [ 8.58899401e-01 -5.12044432e-01 -1.01153121e-02 -9.17325886e+01] [-1.18470832e-02 -1.18838355e-04 -9.99929814e-01 6.67652641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.16, Y:-91.74, Z:6.68 [[ 4.46903186e-01 8.94568824e-01 -4.91543084e-03 3.61616233e+01] [ 8.94516272e-01 -4.46930212e-01 -9.69664107e-03 -9.17398769e+01] [-1.08711673e-02 -6.34730838e-05 -9.99940905e-01 6.67625649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.17, Y:-91.75, Z:6.68 [[ 3.77440170e-01 9.26025334e-01 -3.99989091e-03 3.61663433e+01] [ 9.25974440e-01 -3.77461362e-01 -9.70858630e-03 -9.17484450e+01] [-1.05002011e-02 -3.93862736e-05 -9.99944871e-01 6.67563203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.17, Y:-91.76, Z:6.68 [[ 3.06829347e-01 9.51759094e-01 -3.22163660e-03 3.61696594e+01] [ 9.51706815e-01 -3.06846260e-01 -9.97550987e-03 -9.17565040e+01] [-1.04828294e-02 -5.27432393e-06 -9.99945054e-01 6.67586014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.18, Y:-91.77, Z:6.68 [[ 2.32767226e-01 9.72529538e-01 -2.39106290e-03 3.61768252e+01] [ 9.72477809e-01 -2.32779506e-01 -1.00305660e-02 -9.17656815e+01] [-1.03116121e-02 9.53140261e-06 -9.99946834e-01 6.67572750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.18, Y:-91.77, Z:6.68 [[ 1.58368157e-01 9.87378912e-01 -1.55253536e-03 3.61809642e+01] [ 9.87329286e-01 -1.58375763e-01 -9.89944740e-03 -9.17741976e+01] [-1.00203896e-02 3.48936141e-05 -9.99949794e-01 6.67563770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.19, Y:-91.78, Z:6.67 [[ 8.16186075e-02 9.96663329e-01 -7.82423829e-04 3.61910447e+01] [ 9.96611995e-01 -8.16223448e-02 -1.01155500e-02 -9.17825856e+01] [-1.01456610e-02 4.58441302e-05 -9.99948531e-01 6.67474324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.20, Y:-91.79, Z:6.67 [[ 4.38041097e-03 9.99990406e-01 1.27240128e-05 3.61991213e+01] [ 9.99936758e-01 -4.38004417e-03 -1.03583291e-02 -9.17915679e+01] [-1.03581740e-02 5.80969466e-05 -9.99946351e-01 6.67470979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.21, Y:-91.80, Z:6.67 [[-7.34840470e-02 9.97296053e-01 8.23121968e-04 3.62079252e+01] [ 9.97242702e-01 7.34886301e-02 -1.03157155e-02 -9.18001465e+01] [-1.03483125e-02 6.28118522e-05 -9.99946453e-01 6.67464205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.22, Y:-91.81, Z:6.68 [[-1.50904803e-01 9.88546937e-01 1.64105981e-03 3.62161717e+01] [ 9.88493331e-01 1.50913711e-01 -1.02949526e-02 -9.18077975e+01] [-1.04247023e-02 6.86188868e-05 -9.99945659e-01 6.67542582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.23, Y:-91.81, Z:6.68 [[-2.27912362e-01 9.73678219e-01 2.58473974e-03 3.62304067e+01] [ 9.73619163e-01 2.27927007e-01 -1.07240709e-02 -9.18126466e+01] [-1.10309262e-02 7.24038175e-05 -9.99939155e-01 6.67514371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.24, Y:-91.82, Z:6.68 [[-3.03845647e-01 9.52714305e-01 3.64353375e-03 3.62421566e+01] [ 9.52648651e-01 3.03867483e-01 -1.11848364e-02 -9.18183257e+01] [-1.17631050e-02 7.25436677e-05 -9.99930810e-01 6.67729520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.25, Y:-91.82, Z:6.68 [[-3.79047344e-01 9.25365926e-01 4.58423508e-03 3.62515775e+01] [ 9.25299988e-01 3.79075060e-01 -1.10467521e-02 -9.18248372e+01] [-1.19600571e-02 5.45506422e-05 -9.99928475e-01 6.67800435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.26, Y:-91.83, Z:6.68 [[-4.51061387e-01 8.92476692e-01 5.38333820e-03 3.62607784e+01] [ 8.92414311e-01 4.51093508e-01 -1.05519933e-02 -9.18304687e+01] [-1.18457970e-02 4.45713270e-05 -9.99929835e-01 6.67769178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.27, Y:-91.83, Z:6.68 [[-5.21698359e-01 8.53107689e-01 6.17206610e-03 3.62737020e+01] [ 8.53048337e-01 5.21734867e-01 -1.00629338e-02 -9.18322098e+01] [-1.18049483e-02 1.52546937e-05 -9.99930319e-01 6.67722550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.500385723 meters Centerline goodness [0,1] 0.9999546957821773 Centerline is valid? [True, True] Translation: X:36.29, Y:-91.83, Z:6.68 [[-5.87988903e-01 8.08836413e-01 7.26000888e-03 3.62861540e+01] [ 8.08774755e-01 5.88033722e-01 -9.98692844e-03 -9.18338141e+01] [-1.23469214e-02 -4.91193370e-07 -9.99923774e-01 6.67739852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.30, Y:-91.83, Z:6.68 [[-6.50405781e-01 7.59544130e-01 8.06449541e-03 3.62994958e+01] [ 7.59485464e-01 6.50455775e-01 -9.44006887e-03 -9.18335367e+01] [-1.24157465e-02 -1.50083247e-05 -9.99922922e-01 6.67719110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.31, Y:-91.83, Z:6.68 [[-7.10189792e-01 7.03954407e-01 8.86861102e-03 3.63132376e+01] [ 7.03898539e-01 7.10245162e-01 -8.86885400e-03 -9.18316239e+01] [-1.25421569e-02 -5.59672413e-05 -9.99921343e-01 6.67790771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5903857229999 meters Centerline goodness [0,1] 0.9999547449880074 Centerline is valid? [True, True] Translation: X:36.33, Y:-91.83, Z:6.68 [[-7.64153441e-01 6.44962601e-01 9.63132054e-03 3.63272590e+01] [ 6.44910115e-01 7.64214131e-01 -8.22834763e-03 -9.18297772e+01] [-1.26673677e-02 -7.63841180e-05 -9.99919763e-01 6.67916357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.620385723 meters Centerline goodness [0,1] 0.9999545009896035 Centerline is valid? [True, True] Translation: X:36.35, Y:-91.81, Z:6.68 [[-8.09559881e-01 5.86944074e-01 1.04619732e-02 3.63539507e+01] [ 5.86893193e-01 8.09627470e-01 -7.72911554e-03 -9.18139223e+01] [-1.30068594e-02 -1.17121013e-04 -9.99915400e-01 6.68007059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.37, Y:-91.79, Z:6.68 [[-8.50500920e-01 5.25859585e-01 1.09490898e-02 3.63699857e+01] [ 5.25813704e-01 8.50571381e-01 -6.94803776e-03 -9.17906215e+01] [-1.29666747e-02 -1.52131056e-04 -9.99915918e-01 6.68048161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.40, Y:-91.77, Z:6.68 [[-8.86414126e-01 4.62756520e-01 1.12427602e-02 3.63952632e+01] [ 4.62716831e-01 8.86485405e-01 -6.06307096e-03 -9.17729870e+01] [-1.27722685e-02 -1.72177370e-04 -9.99918417e-01 6.68175940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.710385723 meters Centerline goodness [0,1] 0.9999542407394697 Centerline is valid? [True, True] Translation: X:36.42, Y:-91.76, Z:6.68 [[-9.17171739e-01 3.98321546e-01 1.16596701e-02 3.64203597e+01] [ 3.98286866e-01 9.17245831e-01 -5.25916652e-03 -9.17567327e+01] [-1.27896231e-02 -1.79665455e-04 -9.99918193e-01 6.67978599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.44, Y:-91.73, Z:6.68 [[-9.43244385e-01 3.31905315e-01 1.13530354e-02 3.64370957e+01] [ 3.31878995e-01 9.43312690e-01 -4.18363673e-03 -9.17328519e+01] [-1.20980336e-02 -1.78357880e-04 -9.99926800e-01 6.68025644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.74, Y:-90.93, Z:5.80 [[-9.06458326e-01 -4.22145329e-01 1.12527447e-02 3.67394314e+01] [ 4.22115473e-01 -9.06528148e-01 -5.02439741e-03 -9.09285445e+01] [ 1.23219557e-02 1.95550797e-04 9.99924063e-01 5.79881092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.37, Y:-91.71, Z:6.68 [[-9.44883806e-01 3.27196045e-01 1.17192980e-02 3.63732071e+01] [ 3.27168244e-01 9.44956458e-01 -4.26995111e-03 -9.17108006e+01] [-1.24713374e-02 -2.00425514e-04 -9.99922210e-01 6.68146669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.830385723 meters Centerline goodness [0,1] 0.9999770705310465 Centerline is valid? [True, True] Translation: X:36.37, Y:-91.68, Z:6.68 [[-9.65465367e-01 2.60251620e-01 1.20714053e-02 3.63708777e+01] [ 2.60228792e-01 9.65540811e-01 -3.45224322e-03 -9.16825732e+01] [-1.25538864e-02 -1.91694036e-04 -9.99921179e-01 6.68126958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.860385723 meters Centerline goodness [0,1] 0.9999770605372422 Centerline is valid? [True, True] Translation: X:36.41, Y:-91.67, Z:6.68 [[-9.81082556e-01 1.93196455e-01 1.23347940e-02 3.64076753e+01] [ 1.93179059e-01 9.81160080e-01 -2.59792471e-03 -9.16659147e+01] [-1.26043173e-02 -1.65954723e-04 -9.99920549e-01 6.68011784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.43, Y:-91.64, Z:6.68 [[-9.92215205e-01 1.23957030e-01 1.19850719e-02 3.64302866e+01] [ 1.23946174e-01 9.92287576e-01 -1.64719558e-03 -9.16406916e+01] [-1.20968194e-02 -1.48868688e-04 -9.99926820e-01 6.68046360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.55, Y:-90.78, Z:5.80 [[-9.76902985e-01 -2.13415997e-01 1.06850383e-02 3.65505274e+01] [ 2.13403915e-01 -9.76961416e-01 -2.27173698e-03 -9.07780783e+01] [ 1.09236951e-02 6.09623620e-05 9.99940333e-01 5.79954892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.37, Y:-91.63, Z:6.68 [[-9.92569125e-01 1.21255943e-01 1.01749453e-02 3.63673104e+01] [ 1.21248476e-01 9.92621270e-01 -1.34982049e-03 -9.16326581e+01] [-1.02635409e-02 -1.06093526e-04 -9.99947323e-01 6.67853016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9803857229999 meters Centerline goodness [0,1] 0.9999771386767866 Centerline is valid? [True, True] Translation: X:36.49, Y:-90.77, Z:5.80 [[-9.78458905e-01 -2.06235471e-01 9.22506725e-03 3.64883565e+01] [ 2.06226737e-01 -9.78502391e-01 -1.89853741e-03 -9.07714623e+01] [ 9.41829611e-03 4.48146864e-05 9.99955646e-01 5.79973715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.30, Y:-91.62, Z:6.68 [[-9.92750153e-01 1.19814778e-01 9.56827896e-03 3.62989375e+01] [ 1.19808537e-01 9.92796260e-01 -1.22492700e-03 -9.16234206e+01] [-9.64611592e-03 -6.96849626e-05 -9.99953473e-01 6.67821749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.41, Y:-90.76, Z:5.80 [[-9.80164841e-01 -1.97906448e-01 1.04844119e-02 3.64146498e+01] [ 1.97896650e-01 -9.80220903e-01 -1.97419427e-03 -9.07607034e+01] [ 1.06677455e-02 1.39794176e-04 9.99943088e-01 5.79918287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.23, Y:-91.62, Z:6.68 [[-9.92567640e-01 1.21146698e-01 1.15307671e-02 3.62274129e+01] [ 1.21138348e-01 9.92634614e-01 -1.42243368e-03 -9.16167244e+01] [-1.16181617e-02 -1.50435641e-05 -9.99932507e-01 6.67981432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.36, Y:-90.75, Z:5.80 [[-9.81964211e-01 -1.88696272e-01 1.18324257e-02 3.63574793e+01] [ 1.88683093e-01 -9.82035496e-01 -2.23051301e-03 -9.07514403e+01] [ 1.20407515e-02 4.22947241e-05 9.99927507e-01 5.79953408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.130385723 meters Centerline goodness [0,1] 0.9999542867591598 Centerline is valid? [True, True] Translation: X:36.17, Y:-91.61, Z:6.68 [[-9.92532995e-01 1.21409492e-01 1.17468581e-02 3.61720161e+01] [ 1.21401490e-01 9.92602505e-01 -1.39455532e-03 -9.16111949e+01] [-1.18292731e-02 4.19439089e-05 -9.99930031e-01 6.67901755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.18, Y:-91.58, Z:6.68 [[-9.98560224e-01 5.23777303e-02 1.15781120e-02 3.61768634e+01] [ 5.23749259e-02 9.98627343e-01 -5.45498765e-04 -9.15823460e+01] [-1.15907912e-02 6.16893906e-05 -9.99932823e-01 6.67945842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.17, Y:-91.55, Z:6.68 [[-9.99818282e-01 -1.56414382e-02 1.08972253e-02 3.61662718e+01] [-1.56395131e-02 9.99877661e-01 2.61858815e-04 -9.15538624e+01] [-1.08999880e-02 9.13839322e-05 -9.99940589e-01 6.67912645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.15, Y:-90.68, Z:5.80 [[-9.99401845e-01 -3.31325416e-02 9.90889683e-03 3.61521143e+01] [ 3.31294604e-02 -9.99450956e-01 -4.74977601e-04 -9.06769274e+01] [ 9.91919363e-03 -1.46417085e-04 9.99950793e-01 5.80006390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.07, Y:-91.56, Z:6.68 [[-9.99807234e-01 -1.73128465e-02 9.26067813e-03 3.60738197e+01] [-1.73109358e-02 9.99850114e-01 2.86450006e-04 -9.15558474e+01] [-9.26424934e-03 1.26083784e-04 -9.99957078e-01 6.67715259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.05, Y:-90.68, Z:5.80 [[-9.99720483e-01 -2.17206560e-02 9.33643597e-03 3.60529393e+01] [ 2.17185682e-02 -9.99764071e-01 -3.24963779e-04 -9.06783546e+01] [ 9.34129167e-03 -1.22098925e-04 9.99956362e-01 5.80139353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.96, Y:-91.56, Z:6.68 [[-9.99721492e-01 -2.14934422e-02 9.74525850e-03 3.59598039e+01] [-2.14909178e-02 9.99768978e-01 3.63695988e-04 -9.15588086e+01] [-9.75082421e-03 1.54160146e-04 -9.99952448e-01 6.67810760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.96, Y:-91.53, Z:6.68 [[-9.95643908e-01 -9.27320034e-02 9.69451212e-03 3.59563665e+01] [-9.27260992e-02 9.95691093e-01 1.05770373e-03 -9.15300306e+01] [-9.75082235e-03 1.54161979e-04 -9.99952448e-01 6.67810757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.94, Y:-91.50, Z:6.68 [[-9.86233003e-01 -1.65094061e-01 9.40292913e-03 3.59397503e+01] [-1.65085196e-01 9.86277817e-01 1.71663906e-03 -9.14982514e+01] [-9.55730732e-03 1.40721702e-04 -9.99954318e-01 6.67727630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.90, Y:-91.47, Z:6.68 [[-9.71406642e-01 -2.37237013e-01 9.36673227e-03 3.59045330e+01] [-2.37224667e-01 9.71451791e-01 2.42391227e-03 -9.14745625e+01] [-9.67437054e-03 1.32584532e-04 -9.99953193e-01 6.67752775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.85, Y:-91.46, Z:6.68 [[-9.50656004e-01 -3.10104761e-01 9.39142751e-03 3.58452417e+01] [-3.10088435e-01 9.50702385e-01 3.18406409e-03 -9.14578272e+01] [-9.91584596e-03 1.14776588e-04 -9.99950830e-01 6.67773596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.78, Y:-91.45, Z:6.68 [[-9.24244172e-01 -3.81670423e-01 1.00199568e-02 3.57755080e+01] [-3.81646800e-01 9.24298479e-01 4.24759679e-03 -9.14499822e+01] [-1.08826129e-02 1.01732148e-04 -9.99940778e-01 6.67931178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.69, Y:-91.46, Z:6.68 [[-8.92813260e-01 -4.50312151e-01 1.01709842e-02 3.56891519e+01] [-4.50281721e-01 8.92871188e-01 5.23585365e-03 -9.14559999e+01] [-1.14391473e-02 9.48312893e-05 -9.99934566e-01 6.67898931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.60, Y:-91.47, Z:6.68 [[-8.55293877e-01 -5.18046343e-01 1.00184816e-02 3.56017977e+01] [-5.18009857e-01 8.55352548e-01 6.14873115e-03 -9.14682172e+01] [-1.17546615e-02 6.92998808e-05 -9.99930909e-01 6.67872877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.52, Y:-91.49, Z:6.68 [[-8.12966427e-01 -5.82237662e-01 9.21379310e-03 3.55198985e+01] [-5.82199533e-01 8.13018636e-01 6.66347316e-03 -9.14862501e+01] [-1.13707105e-02 5.29139293e-05 -9.99935350e-01 6.67882879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.42, Y:-91.52, Z:6.68 [[-7.65141658e-01 -6.43812782e-01 7.95892694e-03 3.54214530e+01] [-6.43777618e-01 7.65183051e-01 6.72885729e-03 -9.15228260e+01] [-1.04221603e-02 2.47499931e-05 -9.99945688e-01 6.67750949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.610385723 meters Centerline goodness [0,1] 0.9999775073663375 Centerline is valid? [True, True] Translation: X:35.32, Y:-91.57, Z:6.68 [[-7.13376942e-01 -7.00744268e-01 7.12804932e-03 3.53242630e+01] [-7.00709088e-01 7.13412553e-01 7.02161981e-03 -9.15707867e+01] [-1.00055997e-02 1.43727325e-05 -9.99949943e-01 6.67733845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.22, Y:-91.63, Z:6.68 [[-6.56787478e-01 -7.54050319e-01 6.19075244e-03 3.52246122e+01] [-7.54016829e-01 6.56816654e-01 7.10662937e-03 -9.16314216e+01] [-9.42494545e-03 -3.86344678e-07 -9.99955584e-01 6.67725371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.14, Y:-91.69, Z:6.68 [[-5.96485702e-01 -8.02605877e-01 5.34920044e-03 3.51378726e+01] [-8.02573724e-01 5.96509687e-01 7.18406376e-03 -9.16914952e+01] [-8.95682167e-03 -7.93640572e-06 -9.99959887e-01 6.67693176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.04, Y:-91.79, Z:6.68 [[-5.32510363e-01 -8.46412826e-01 4.24764723e-03 3.50370499e+01] [-8.46386129e-01 5.32527303e-01 6.72254514e-03 -9.17859604e+01] [-7.95203655e-03 -1.53247398e-05 -9.99968382e-01 6.67650458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.97, Y:-91.84, Z:6.68 [[-4.65195357e-01 -8.85201858e-01 3.30919713e-03 3.49699812e+01] [-8.85179730e-01 4.65207127e-01 6.25891865e-03 -9.18430451e+01] [-7.07986851e-03 -1.76143187e-05 -9.99974937e-01 6.67571141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.89, Y:-91.94, Z:6.68 [[-3.95103243e-01 -9.18631671e-01 3.04647873e-03 3.48907510e+01] [-9.18604831e-01 3.95114987e-01 7.02221078e-03 -9.19397738e+01] [-7.65453463e-03 -2.40118272e-05 -9.99970703e-01 6.67563327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.82, Y:-92.04, Z:6.68 [[-3.22518049e-01 -9.46558798e-01 2.92419069e-03 3.48210247e+01] [-9.46520835e-01 3.22531303e-01 8.47750413e-03 -9.20354273e+01] [-8.96759915e-03 -3.36593252e-05 -9.99959790e-01 6.67647591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.76, Y:-92.15, Z:6.68 [[-2.48148399e-01 -9.68718862e-01 2.47774058e-03 3.47564077e+01] [-9.68672218e-01 2.48160765e-01 9.50628019e-03 -9.21464250e+01] [-9.82379092e-03 -4.11502550e-05 -9.99951745e-01 6.67749443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.70, Y:-92.26, Z:6.68 [[-1.72027339e-01 -9.85090209e-01 1.96870153e-03 3.47014886e+01] [-9.85029204e-01 1.72038596e-01 1.09631177e-02 -9.22556764e+01] [-1.11383526e-02 -5.32725238e-05 -9.99937965e-01 6.67839394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.880385723 meters Centerline goodness [0,1] 0.999910516543254 Centerline is valid? [True, True] Translation: X:34.65, Y:-92.38, Z:6.68 [[-9.54548152e-02 -9.95433112e-01 1.13959296e-03 3.46544833e+01] [-9.95368797e-01 9.54616021e-02 1.13154815e-02 -9.23785699e+01] [-1.13725923e-02 -5.41980814e-05 -9.99935329e-01 6.67874956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.62, Y:-92.50, Z:6.68 [[-1.92706144e-02 -9.99814273e-01 2.52456528e-04 3.46166249e+01] [-9.99753943e-01 1.92722250e-02 1.09833943e-02 -9.25024452e+01] [-1.09862197e-02 -4.07376541e-05 -9.99939649e-01 6.67899648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.59, Y:-92.62, Z:6.68 [[ 5.59751620e-02 -9.98432002e-01 -5.65086443e-04 3.45893439e+01] [-9.98378086e-01 -5.59780118e-02 1.03759532e-02 -9.26212565e+01] [-1.03913162e-02 -1.66257424e-05 -9.99946009e-01 6.67778914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.57, Y:-92.74, Z:6.68 [[ 1.31876742e-01 -9.91265270e-01 -1.29990530e-03 3.45720108e+01] [-9.91216769e-01 -1.31883148e-01 9.80569484e-03 -9.27447913e+01] [-9.89148034e-03 -4.65514752e-06 -9.99951078e-01 6.67721593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.57, Y:-92.88, Z:6.68 [[ 2.06352154e-01 -9.78476300e-01 -1.70881117e-03 3.45651261e+01] [-9.78443177e-01 -2.06359229e-01 8.05101004e-03 -9.28764881e+01] [-8.23035147e-03 1.06313646e-05 -9.99966130e-01 6.67649424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.57, Y:-93.00, Z:6.68 [[ 2.80600580e-01 -9.59821802e-01 -2.32868762e-03 3.45660382e+01] [-9.59789250e-01 -2.80610242e-01 7.90490501e-03 -9.29997581e+01] [-8.24075377e-03 1.69284116e-05 -9.99966044e-01 6.67634345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.58, Y:-93.12, Z:6.68 [[ 3.52628063e-01 -9.35759525e-01 -2.74962542e-03 3.45764091e+01] [-9.35731650e-01 -3.52638782e-01 7.22271211e-03 -9.31244784e+01] [-7.72834622e-03 2.59805472e-05 -9.99970136e-01 6.67626238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.60, Y:-93.25, Z:6.68 [[ 4.23024014e-01 -9.06112124e-01 -3.39147245e-03 3.45956978e+01] [-9.06083628e-01 -4.23037607e-01 7.18626533e-03 -9.32455698e+01] [-7.94628253e-03 3.29948561e-05 -9.99968427e-01 6.67667908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.63, Y:-93.37, Z:6.68 [[ 4.90206983e-01 -8.71595476e-01 -4.29416445e-03 3.46253662e+01] [-8.71562908e-01 -4.90225788e-01 7.53487785e-03 -9.33677352e+01] [-8.67247560e-03 4.89847194e-05 -9.99962392e-01 6.67788607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.67, Y:-93.49, Z:6.68 [[ 5.55400195e-01 -8.31567868e-01 -5.05026962e-03 3.46663228e+01] [-8.31534394e-01 -5.55423153e-01 7.46146515e-03 -9.34890667e+01] [-9.00975134e-03 5.53736879e-05 -9.99959410e-01 6.67770701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.70, Y:-93.59, Z:6.68 [[ 6.16473586e-01 -7.87353633e-01 -5.88001204e-03 3.47046572e+01] [-7.87318922e-01 -6.16501623e-01 7.39348813e-03 -9.35922860e+01] [-9.44632671e-03 7.15546040e-05 -9.99955380e-01 6.67673278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.210385723 meters Centerline goodness [0,1] 0.9999779424739721 Centerline is valid? [True, True] Translation: X:34.75, Y:-93.70, Z:6.68 [[ 6.74258318e-01 -7.38470067e-01 -6.13844827e-03 3.47531174e+01] [-7.38440495e-01 -6.74286256e-01 6.60919719e-03 -9.36968717e+01] [-9.01976559e-03 7.65725978e-05 -9.99959318e-01 6.67641067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.82, Y:-93.80, Z:6.68 [[ 7.28434116e-01 -6.85081758e-01 -6.83545295e-03 3.48172323e+01] [-6.85052649e-01 -7.28466182e-01 6.31582124e-03 -9.38029184e+01] [-9.30625023e-03 8.19854882e-05 -9.99956693e-01 6.67688786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.81, Y:-93.81, Z:6.68 [[ 7.79426767e-01 -6.26443260e-01 -7.92193993e-03 3.48095504e+01] [-6.26412122e-01 -7.79467019e-01 6.24655722e-03 -9.38139298e+01] [-1.00880046e-02 9.36653096e-05 -9.99949110e-01 6.67693495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.80, Y:-93.82, Z:6.68 [[ 8.25967818e-01 -5.63655432e-01 -8.34967627e-03 3.48025196e+01] [-5.63627773e-01 -8.26010015e-01 5.58462089e-03 -9.38247304e+01] [-1.00447181e-02 9.33923099e-05 -9.99949546e-01 6.67691673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.79, Y:-93.84, Z:6.68 [[ 8.67422339e-01 -4.97503262e-01 -8.30601039e-03 3.47947795e+01] [-4.97481447e-01 -8.67462101e-01 4.65981364e-03 -9.38374307e+01] [-9.52342171e-03 9.00596202e-05 -9.99954647e-01 6.67629167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.79, Y:-93.85, Z:6.67 [[ 9.03755045e-01 -4.27984746e-01 -7.47508363e-03 3.47882549e+01] [-4.27970802e-01 -9.03785955e-01 3.45550793e-03 -9.38506040e+01] [-8.23478027e-03 7.61848168e-05 -9.99966091e-01 6.67493650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.78, Y:-93.86, Z:6.67 [[ 9.34414895e-01 -3.56110706e-01 -7.34640814e-03 3.47831665e+01] [-3.56100314e-01 -9.34443770e-01 2.72156176e-03 -9.38622397e+01] [-7.83398260e-03 7.29903985e-05 -9.99969311e-01 6.67456223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.78, Y:-93.87, Z:6.67 [[ 9.59442746e-01 -2.81812659e-01 -7.15839989e-03 3.47791071e+01] [-2.81805345e-01 -9.59469447e-01 2.03155549e-03 -9.38731379e+01] [-7.44078404e-03 6.81141735e-05 -9.99972315e-01 6.67461322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.450385723 meters Centerline goodness [0,1] 0.9999782518866488 Centerline is valid? [True, True] Translation: X:34.78, Y:-93.88, Z:6.67 [[ 9.78578374e-01 -2.05732072e-01 -7.66037607e-03 3.47763898e+01] [-2.05726326e-01 -9.78608354e-01 1.53925230e-03 -9.38844294e+01] [-7.81318157e-03 6.96620138e-05 -9.99969474e-01 6.67485673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.77, Y:-93.90, Z:6.68 [[ 9.91658241e-01 -1.28593151e-01 -8.81671326e-03 3.47708270e+01] [-1.28588785e-01 -9.91697431e-01 1.06266698e-03 -9.38981451e+01] [-8.88016359e-03 7.99279777e-05 -9.99960567e-01 6.67525719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.77, Y:-93.91, Z:6.68 [[ 9.98668066e-01 -5.07179193e-02 -9.47558245e-03 3.47659980e+01] [-5.07164592e-02 -9.98713015e-01 3.94472474e-04 -9.39087349e+01] [-9.48339433e-03 8.66209282e-05 -9.99955028e-01 6.67596438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.76, Y:-93.92, Z:6.67 [[ 9.99603363e-01 2.65518785e-02 -9.38697076e-03 3.47639194e+01] [ 2.65498103e-02 -9.99647432e-01 -3.44892107e-04 -9.39246290e+01] [-9.39281875e-03 9.55330173e-05 -9.99955882e-01 6.67492349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.570385723 meters Centerline goodness [0,1] 0.9999783989285869 Centerline is valid? [True, True] Translation: X:34.76, Y:-93.94, Z:6.67 [[ 9.94495166e-01 1.04328016e-01 -9.74833352e-03 3.47625522e+01] [ 1.04321982e-01 -9.94542937e-01 -1.12688417e-03 -9.39383356e+01] [-9.81270184e-03 1.03715390e-04 -9.99951849e-01 6.67474089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.76, Y:-93.95, Z:6.68 [[ 9.83446628e-01 1.80949433e-01 -9.48856765e-03 3.47629210e+01] [ 1.80939918e-01 -9.83492395e-01 -1.85898185e-03 -9.39528888e+01] [-9.66831583e-03 1.11348775e-04 -9.99953255e-01 6.67531811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.76, Y:-93.97, Z:6.68 [[ 9.66531042e-01 2.56372368e-01 -9.53697857e-03 3.47629137e+01] [ 2.56358617e-01 -9.66578085e-01 -2.65820992e-03 -9.39658435e+01] [-9.89972605e-03 1.24355767e-04 -9.99950989e-01 6.67536016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.77, Y:-93.98, Z:6.68 [[ 9.43612496e-01 3.30926853e-01 -9.10354955e-03 3.47650644e+01] [ 3.30910175e-01 -9.43656401e-01 -3.32472285e-03 -9.39765613e+01] [-9.69086287e-03 1.24792851e-04 -9.99953035e-01 6.67506498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.77, Y:-93.99, Z:6.67 [[ 9.15086468e-01 4.03172028e-01 -8.31098894e-03 3.47689206e+01] [ 4.03154172e-01 -9.15124199e-01 -3.79650254e-03 -9.39908232e+01] [-9.13623073e-03 1.23518232e-04 -9.99958256e-01 6.67420815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7203857229999 meters Centerline goodness [0,1] 0.9999784315417134 Centerline is valid? [True, True] Translation: X:34.77, Y:-94.00, Z:6.67 [[ 8.80608485e-01 4.73779293e-01 -7.86620791e-03 3.47733667e+01] [ 4.73759173e-01 -8.80643610e-01 -4.36797390e-03 -9.40030480e+01] [-8.99678132e-03 1.19786723e-04 -9.99959521e-01 6.67384324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.750385723 meters Centerline goodness [0,1] 0.9998926278265725 Centerline is valid? [True, True] Translation: X:34.78, Y:-94.02, Z:6.67 [[ 8.40952776e-01 5.41049870e-01 -7.96656736e-03 3.47795853e+01] [ 5.41024126e-01 -8.40990500e-01 -5.27959872e-03 -9.40166489e+01] [-9.55633367e-03 1.29788062e-04 -9.99954329e-01 6.67472504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.78, Y:-94.03, Z:6.67 [[ 7.95520641e-01 6.05883316e-01 -7.23310395e-03 3.47848720e+01] [ 6.05856926e-01 -7.95553514e-01 -5.65615353e-03 -9.40285623e+01] [-9.18129032e-03 1.17360757e-04 -9.99957844e-01 6.67364129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.79, Y:-94.04, Z:6.67 [[ 7.44395677e-01 6.67706557e-01 -6.55965053e-03 3.47925741e+01] [ 6.67679478e-01 -7.44424572e-01 -6.01419382e-03 -9.40403131e+01] [-8.89888169e-03 9.71958349e-05 -9.99960400e-01 6.67333748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8403857229999 meters Centerline goodness [0,1] 0.9999785274097615 Centerline is valid? [True, True] Translation: X:34.80, Y:-94.05, Z:6.67 [[ 6.88961350e-01 7.24772282e-01 -6.11535908e-03 3.48007674e+01] [ 7.24742607e-01 -6.88988484e-01 -6.55911992e-03 -9.40506867e+01] [-8.96728029e-03 8.69188295e-05 -9.99959789e-01 6.67303648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.81, Y:-94.06, Z:6.67 [[ 6.28049197e-01 7.78152621e-01 -5.71880092e-03 3.48101223e+01] [ 7.78119421e-01 -6.28075230e-01 -7.18835676e-03 -9.40611878e+01] [-9.18547586e-03 6.47316323e-05 -9.99957811e-01 6.67400435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.82, Y:-94.07, Z:6.68 [[ 5.64203384e-01 8.25619187e-01 -5.24409075e-03 3.48162575e+01] [ 8.25582622e-01 -5.64227751e-01 -7.77040405e-03 -9.40684349e+01] [-9.37425620e-03 5.46580702e-05 -9.99956059e-01 6.67641916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.83, Y:-94.08, Z:6.67 [[ 4.95826390e-01 8.68409330e-01 -4.62881801e-03 3.48294616e+01] [ 8.68370863e-01 -4.95847995e-01 -8.17379386e-03 -9.40783457e+01] [-9.39338898e-03 3.32520173e-05 -9.99955881e-01 6.67345552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.84, Y:-94.09, Z:6.67 [[ 4.25280137e-01 9.05053546e-01 -3.85802283e-03 3.48396375e+01] [ 9.05015831e-01 -4.25297636e-01 -8.26241602e-03 -9.40855720e+01] [-9.11873690e-03 2.22696803e-05 -9.99958423e-01 6.67377696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.85, Y:-94.09, Z:6.67 [[ 3.51538769e-01 9.36167800e-01 -3.21631201e-03 3.48514406e+01] [ 9.36128443e-01 -3.51553482e-01 -8.58420271e-03 -9.40914934e+01] [-9.16695985e-03 6.79890279e-06 -9.99957983e-01 6.67250800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.86, Y:-94.10, Z:6.67 [[ 2.76531077e-01 9.61001687e-01 -2.51442037e-03 3.48642038e+01] [ 9.60961936e-01 -2.76542508e-01 -8.74068954e-03 -9.40974024e+01] [-9.09516151e-03 8.10023262e-07 -9.99958638e-01 6.67215523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.88, Y:-94.10, Z:6.67 [[ 1.99133666e-01 9.79970529e-01 -1.88314157e-03 3.48767256e+01] [ 9.79927238e-01 -1.99142570e-01 -9.21116646e-03 -9.41026296e+01] [-9.40168532e-03 -1.10883677e-05 -9.99955803e-01 6.67289192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.080385723 meters Centerline goodness [0,1] 0.9999570603516758 Centerline is valid? [True, True] Translation: X:34.89, Y:-94.11, Z:6.67 [[ 1.20405838e-01 9.92723973e-01 -1.24385134e-03 3.48876658e+01] [ 9.92673191e-01 -1.20412260e-01 -1.00410623e-02 -9.41059250e+01] [-1.01177782e-02 -2.57353562e-05 -9.99948814e-01 6.67307959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.90, Y:-94.11, Z:6.67 [[ 4.19860037e-02 9.99118100e-01 -4.43881611e-04 3.48996201e+01] [ 9.99069140e-01 -4.19883406e-02 -9.89107887e-03 -9.41087173e+01] [-9.90099378e-03 -2.81815452e-05 -9.99950984e-01 6.67269474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.91, Y:-94.11, Z:6.67 [[-3.73552974e-02 9.99301997e-01 3.16761150e-04 3.49111697e+01] [ 9.99257339e-01 3.73566227e-02 -9.44735227e-03 -9.41111485e+01] [-9.45259112e-03 -3.63827499e-05 -9.99955323e-01 6.67319410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.170385723 meters Centerline goodness [0,1] 0.9998702674652425 Centerline is valid? [True, True] Translation: X:34.92, Y:-94.11, Z:6.67 [[-1.15386884e-01 9.93320004e-01 1.11212460e-03 3.49242814e+01] [ 9.93270712e-01 1.15392238e-01 -9.89564226e-03 -9.41111199e+01] [-9.95786995e-03 -3.71865379e-05 -9.99950419e-01 6.67488577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.200385723 meters Centerline goodness [0,1] 0.9999784844442532 Centerline is valid? [True, True] Translation: X:34.94, Y:-94.11, Z:6.67 [[-1.93774193e-01 9.81044512e-01 1.79685672e-03 3.49358924e+01] [ 9.81000167e-01 1.93782518e-01 -9.32783145e-03 -9.41115204e+01] [-9.49921727e-03 -4.47762669e-05 -9.99954881e-01 6.67299240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2303857229999 meters Centerline goodness [0,1] 0.9999784844442532 Centerline is valid? [True, True] Translation: X:34.95, Y:-94.11, Z:6.67 [[-2.70002265e-01 9.62856385e-01 2.52181050e-03 3.49481444e+01] [ 9.62812828e-01 2.70014038e-01 -9.15846989e-03 -9.41108199e+01] [-9.49921545e-03 -4.47761175e-05 -9.99954881e-01 6.67299239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.96, Y:-94.11, Z:6.67 [[-3.44823596e-01 9.38661792e-01 3.27541337e-03 3.49598683e+01] [ 9.38618124e-01 3.44839149e-01 -9.05417476e-03 -9.41086498e+01] [-9.62829866e-03 -4.77307453e-05 -9.99953646e-01 6.67327713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.97, Y:-94.11, Z:6.67 [[-4.17266166e-01 9.08774808e-01 4.15876153e-03 3.49704998e+01] [ 9.08728475e-01 4.17286887e-01 -9.17678142e-03 -9.41074481e+01] [-1.00750244e-02 -4.99753778e-05 -9.99949245e-01 6.67351021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.320385723 meters Centerline goodness [0,1] 0.9999784710112166 Centerline is valid? [True, True] Translation: X:34.98, Y:-94.10, Z:6.67 [[-4.87346168e-01 8.73195690e-01 4.79571783e-03 3.49813691e+01] [ 8.73152374e-01 4.87369761e-01 -8.69762925e-03 -9.41033445e+01] [-9.93202023e-03 -5.13638836e-05 -9.99950675e-01 6.67316079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.99, Y:-94.10, Z:6.67 [[-5.54272443e-01 8.32314991e-01 5.81510132e-03 3.49914498e+01] [ 8.32268134e-01 5.54302943e-01 -8.83179867e-03 -9.41005635e+01] [-1.05741662e-02 -5.54990938e-05 -9.99944090e-01 6.67326004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.00, Y:-94.10, Z:6.67 [[-6.18057484e-01 7.86103604e-01 6.78755584e-03 3.50007067e+01] [ 7.86055094e-01 6.18094750e-01 -8.73319942e-03 -9.40968705e+01] [-1.10605522e-02 -6.22264203e-05 -9.99938828e-01 6.67374766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.01, Y:-94.09, Z:6.67 [[-6.77890771e-01 7.35120705e-01 7.85190630e-03 3.50090386e+01] [ 7.35070220e-01 6.77936239e-01 -8.61555602e-03 -9.40916946e+01] [-1.16565654e-02 -6.87034190e-05 -9.99932058e-01 6.67406727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.02, Y:-94.09, Z:6.67 [[-7.34017413e-01 6.79068222e-01 9.20800070e-03 3.50171887e+01] [ 6.79013317e-01 7.34075161e-01 -8.63556164e-03 -9.40879523e+01] [-1.26235001e-02 -8.62975181e-05 -9.99920317e-01 6.67493919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.04, Y:-94.07, Z:6.68 [[-7.80337836e-01 6.25286405e-01 9.47491017e-03 3.50415519e+01] [ 6.25238990e-01 7.80395352e-01 -7.70073218e-03 -9.40720930e+01] [-1.22093390e-02 -8.50894253e-05 -9.99925460e-01 6.67518313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.500385723 meters Centerline goodness [0,1] 0.9999783942615159 Centerline is valid? [True, True] Translation: X:35.06, Y:-94.05, Z:6.67 [[-8.22571111e-01 5.68578916e-01 9.73571902e-03 3.50582046e+01] [ 5.68537919e-01 8.22628719e-01 -6.82823371e-03 -9.40514657e+01] [-1.18912718e-02 -8.15823526e-05 -9.99929293e-01 6.67484999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.47, Y:-93.47, Z:5.80 [[-7.73852038e-01 -6.33304008e-01 8.89147294e-03 3.54703241e+01] [ 6.33262976e-01 -7.73903115e-01 -7.20914140e-03 -9.34741468e+01] [ 1.14467167e-02 5.18318531e-05 9.99934483e-01 5.80355226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.01, Y:-94.02, Z:6.67 [[-8.24514740e-01 5.65763412e-01 9.33842999e-03 3.50115748e+01] [ 5.65726081e-01 8.24567618e-01 -6.49961663e-03 -9.40243687e+01] [-1.13774123e-02 -7.60363109e-05 -9.99935272e-01 6.67292439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.04, Y:-94.01, Z:6.67 [[-8.62334762e-01 5.06246447e-01 9.65889650e-03 3.50396385e+01] [ 5.06213756e-01 8.62388851e-01 -5.75353497e-03 -9.40088030e+01] [-1.12424313e-02 -7.20069270e-05 -9.99936799e-01 6.67458229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.620385723 meters Centerline goodness [0,1] 0.9999783559153284 Centerline is valid? [True, True] Translation: X:35.06, Y:-93.99, Z:6.67 [[-8.95783328e-01 4.44387919e-01 9.57118911e-03 3.50565161e+01] [ 4.44361803e-01 8.95834457e-01 -4.81812637e-03 -9.39900619e+01] [-1.07153181e-02 -6.29264231e-05 -9.99942587e-01 6.67188970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.07, Y:-93.97, Z:6.67 [[-9.24703339e-01 3.80578002e-01 9.17170550e-03 3.50700210e+01] [ 3.80558743e-01 9.24748821e-01 -3.82900293e-03 -9.39675630e+01] [-9.93875813e-03 -5.03190783e-05 -9.99950608e-01 6.67198334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.680385723 meters Centerline goodness [0,1] 0.9999129734786676 Centerline is valid? [True, True] Translation: X:35.06, Y:-93.94, Z:6.67 [[-9.49074622e-01 3.14898756e-01 9.80487432e-03 3.50621423e+01] [ 3.14881477e-01 9.49125267e-01 -3.29911177e-03 -9.39357319e+01] [-1.03449401e-02 -4.37299522e-05 -9.99946489e-01 6.67256358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.710385723 meters Centerline goodness [0,1] 0.9999782495214895 Centerline is valid? [True, True] Translation: X:35.09, Y:-93.92, Z:6.67 [[-9.68711177e-01 2.48018645e-01 9.24167532e-03 3.50862629e+01] [ 2.48007076e-01 9.68755259e-01 -2.39561691e-03 -9.39158880e+01] [-9.54707923e-03 -2.86600022e-05 -9.99954425e-01 6.67174412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.09, Y:-93.89, Z:6.67 [[-9.83663452e-01 1.79762668e-01 9.57063569e-03 3.50938344e+01] [ 1.79753975e-01 9.83710010e-01 -1.76791537e-03 -9.38897535e+01] [-9.73253531e-03 -1.86739220e-05 -9.99952638e-01 6.67240462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.770385723 meters Centerline goodness [0,1] 0.9999564478899002 Centerline is valid? [True, True] Translation: X:35.10, Y:-93.87, Z:6.67 [[-9.93670237e-01 1.11863963e-01 1.02914153e-02 3.50974828e+01] [ 1.11858016e-01 9.93723530e-01 -1.15346386e-03 -9.38655633e+01] [-1.03558526e-02 5.01459411e-06 -9.99946377e-01 6.67308931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.800385723 meters Centerline goodness [0,1] 0.9999127932327548 Centerline is valid? [True, True] Translation: X:35.09, Y:-93.84, Z:6.67 [[-9.98992479e-01 4.35958754e-02 1.06501694e-02 3.50915978e+01] [ 4.35937525e-02 9.99049247e-01 -4.31508974e-04 -9.38404868e+01] [-1.06588557e-02 3.32066286e-05 -9.99943192e-01 6.67387822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.830385723 meters Centerline goodness [0,1] 0.9999781229490264 Centerline is valid? [True, True] Translation: X:35.11, Y:-93.08, Z:5.81 [[-9.94578999e-01 -1.03468211e-01 1.03413456e-02 3.51106117e+01] [ 1.03462108e-01 -9.94632760e-01 -1.12483174e-03 -9.30775927e+01] [ 1.04022255e-02 -4.87966126e-05 9.99945894e-01 5.80524286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.860385723 meters Centerline goodness [0,1] 0.9999340977988664 Centerline is valid? [True, True] Translation: X:34.99, Y:-93.84, Z:6.67 [[-9.99050303e-01 4.22748069e-02 1.05514662e-02 3.49948654e+01] [ 4.22732722e-02 9.99106018e-01 -3.68534225e-04 -9.38417977e+01] [-1.05576131e-02 7.78607732e-05 -9.99944264e-01 6.67367756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.02, Y:-93.81, Z:6.67 [[-9.99556607e-01 -2.79256500e-02 1.03319071e-02 3.50150484e+01] [-2.79232551e-02 9.99609999e-01 3.76002309e-04 -9.38147257e+01] [-1.03383777e-02 8.73351147e-05 -9.99946554e-01 6.67238639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.99, Y:-93.04, Z:5.81 [[-9.99735522e-01 -2.06381833e-02 1.01464879e-02 3.49933477e+01] [ 2.06361268e-02 -9.99787005e-01 -3.07347192e-04 -9.30357132e+01] [ 1.01506698e-02 -9.78816948e-05 9.99948476e-01 5.80606941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.91, Y:-93.82, Z:6.67 [[-9.99459350e-01 -3.13488921e-02 9.91239551e-03 3.49071833e+01] [-3.13462534e-02 9.99508497e-01 4.21493010e-04 -9.38235314e+01] [-9.92073687e-03 1.10548668e-04 -9.99950782e-01 6.67189515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.90, Y:-93.80, Z:6.67 [[-9.94676673e-01 -1.02551220e-01 1.00778869e-02 3.49041758e+01] [-1.02544809e-01 9.94727719e-01 1.15223438e-03 -9.37974922e+01] [-1.01429165e-02 1.12665667e-04 -9.99948553e-01 6.67239622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.81, Y:-93.01, Z:5.81 [[-9.98317710e-01 5.70990810e-02 1.00719607e-02 3.48127920e+01] [-5.70973479e-02 -9.98368510e-01 4.59776627e-04 -9.30099850e+01] [ 1.00817812e-02 -1.16079095e-04 9.99949171e-01 5.80557256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.040385723 meters Centerline goodness [0,1] 0.9999558069648223 Centerline is valid? [True, True] Translation: X:34.78, Y:-93.81, Z:6.67 [[-9.93818011e-01 -1.10516609e-01 1.05754537e-02 3.47804457e+01] [-1.10509266e-01 9.93874272e-01 1.27806150e-03 -9.38108609e+01] [-1.06519184e-02 1.01474912e-04 -9.99943262e-01 6.67335038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.74, Y:-93.79, Z:6.67 [[-9.83191899e-01 -1.82275243e-01 1.04606395e-02 3.47433011e+01] [-1.82263969e-01 9.83247542e-01 2.02924698e-03 -9.37883766e+01] [-1.06552796e-02 8.85415148e-05 -9.99943227e-01 6.67391509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.71, Y:-93.77, Z:6.67 [[-9.66459196e-01 -2.56601686e-01 1.05922994e-02 3.47137508e+01] [-2.56585600e-01 9.66517238e-01 2.87370645e-03 -9.37658643e+01] [-1.09750379e-02 5.94885083e-05 -9.99939771e-01 6.67355016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.65, Y:-93.76, Z:6.67 [[-9.44680317e-01 -3.27817428e-01 1.07160394e-02 3.46535657e+01] [-3.27795756e-01 9.44741093e-01 3.76967724e-03 -9.37551408e+01] [-1.13596486e-02 4.84676611e-05 -9.99935476e-01 6.67423046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.59, Y:-93.75, Z:6.67 [[-9.16948064e-01 -3.98883594e-01 9.90589430e-03 3.45945358e+01] [-3.98860052e-01 9.17001569e-01 4.33369258e-03 -9.37479672e+01] [-1.08123595e-02 2.27055027e-05 -9.99941545e-01 6.67316675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.52, Y:-93.75, Z:6.67 [[-8.84255197e-01 -4.66909881e-01 9.37605130e-03 3.45155611e+01] [-4.66883506e-01 8.84304904e-01 4.96275035e-03 -9.37540353e+01] [-1.06084453e-02 1.08140809e-05 -9.99943729e-01 6.67349171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.43, Y:-93.77, Z:6.67 [[-8.45946824e-01 -5.33195043e-01 8.77593065e-03 3.44325594e+01] [-5.33166427e-01 8.45992344e-01 5.52410164e-03 -9.37691438e+01] [-1.03697937e-02 -5.93535007e-06 -9.99946232e-01 6.67373748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.250385723 meters Centerline goodness [0,1] 0.9999333303702387 Centerline is valid? [True, True] Translation: X:34.34, Y:-93.80, Z:6.67 [[-8.02954558e-01 -5.95975523e-01 8.78368490e-03 3.43403514e+01] [-5.95940070e-01 8.03002600e-01 6.50059137e-03 -9.37978189e+01] [-1.09275152e-02 -1.48703204e-05 -9.99940293e-01 6.67478251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.25, Y:-93.84, Z:6.67 [[-7.54174737e-01 -6.56627122e-01 7.82877807e-03 3.42473414e+01] [-6.56592253e-01 7.54215368e-01 6.76694300e-03 -9.38357650e+01] [-1.03479430e-02 -3.68575790e-05 -9.99946458e-01 6.67410138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.16, Y:-93.88, Z:6.67 [[-7.01014931e-01 -7.13107347e-01 7.48187124e-03 3.41594648e+01] [-7.13067554e-01 7.01054855e-01 7.53358924e-03 -9.38801790e+01] [-1.06174600e-02 -5.39210858e-05 -9.99943632e-01 6.67240722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.07, Y:-93.94, Z:6.67 [[-6.44209393e-01 -7.64816121e-01 7.11047592e-03 3.40692702e+01] [-7.64770589e-01 6.44248630e-01 8.34561116e-03 -9.39365491e+01] [-1.09637723e-02 -6.15617568e-05 -9.99939894e-01 6.67243716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.98, Y:-94.01, Z:6.67 [[-5.83241535e-01 -8.12271975e-01 6.59925158e-03 3.39782784e+01] [-8.12221374e-01 5.83278864e-01 9.06675370e-03 -9.40083055e+01] [-1.12138739e-02 -7.19458379e-05 -9.99937120e-01 6.67235933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.89, Y:-94.09, Z:6.67 [[-5.18534649e-01 -8.55031015e-01 6.61672668e-03 3.38879789e+01] [-8.54963685e-01 5.18576855e-01 1.07304862e-02 -9.40941821e+01] [-1.26061798e-02 -9.29321510e-05 -9.99920535e-01 6.67269547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.81, Y:-94.17, Z:6.67 [[-4.51058645e-01 -8.92474637e-01 5.92629392e-03 3.38120568e+01] [-8.92400459e-01 4.51097564e-01 1.15069061e-02 -9.41717963e+01] [-1.29429586e-02 -9.83379504e-05 -9.99916232e-01 6.67351920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.74, Y:-94.27, Z:6.67 [[-3.80650774e-01 -9.24702888e-01 5.43669610e-03 3.37393800e+01] [-9.24612737e-01 3.80689581e-01 1.29124051e-02 -9.42656145e+01] [-1.40098319e-02 -1.11721465e-04 -9.99901851e-01 6.67346033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.67, Y:-94.37, Z:6.67 [[-3.08069999e-01 -9.51352867e-01 4.53848980e-03 3.36697646e+01] [-9.51255158e-01 3.08103406e-01 1.36351032e-02 -9.43748834e+01] [-1.43701187e-02 -1.16695595e-04 -9.99896738e-01 6.67237033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.61, Y:-94.49, Z:6.67 [[-2.33614106e-01 -9.72323270e-01 3.45075965e-03 3.36096232e+01] [-9.72224514e-01 2.33639561e-01 1.38581970e-02 -9.44879090e+01] [-1.42808814e-02 -1.17442824e-04 -9.99898016e-01 6.67230707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.56, Y:-94.60, Z:6.67 [[-1.56999311e-01 -9.87595949e-01 2.33645945e-03 3.35583686e+01] [-9.87498285e-01 1.57016644e-01 1.38892391e-02 -9.46004465e+01] [-1.40838193e-02 -1.26648741e-04 -9.99900810e-01 6.67311856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.52, Y:-94.71, Z:6.67 [[-7.99951879e-02 -9.96794484e-01 1.23577147e-03 3.35166431e+01] [-9.96698790e-01 8.00046321e-02 1.38123594e-02 -9.47096919e+01] [-1.38669511e-02 -1.26769643e-04 -9.99903841e-01 6.67227354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.48, Y:-94.86, Z:6.67 [[-1.06204444e-03 -9.99999424e-01 1.56463931e-04 3.34824735e+01] [-9.99911969e-01 1.06402092e-03 1.32257815e-02 -9.48551464e+01] [-1.32259404e-02 -1.42403789e-04 -9.99912523e-01 6.67147162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.640385723 meters Centerline goodness [0,1] 0.9999773355695571 Centerline is valid? [True, True] Translation: X:33.46, Y:-94.97, Z:6.67 [[ 7.73588573e-02 -9.97002956e-01 -8.44045153e-04 3.34586051e+01] [-9.96920516e-01 -7.73633155e-02 1.28219682e-02 -9.49668951e+01] [-1.28488384e-02 -1.50446882e-04 -9.99917439e-01 6.67191276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.45, Y:-95.10, Z:6.67 [[ 1.54567011e-01 -9.87980515e-01 -1.88205845e-03 3.34455156e+01] [-9.87894263e-01 -1.54578388e-01 1.30555094e-02 -9.51045941e+01] [-1.31895144e-02 -1.58676320e-04 -9.99913002e-01 6.67184851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.700385723 meters Centerline goodness [0,1] 0.9999771856178135 Centerline is valid? [True, True] Translation: X:33.44, Y:-95.24, Z:6.67 [[ 2.31166020e-01 -9.72909955e-01 -2.91382617e-03 3.34443236e+01] [-9.72823194e-01 -2.31184322e-01 1.29939193e-02 -9.52422677e+01] [-1.33155444e-02 -1.69114944e-04 -9.99911330e-01 6.67182104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.44, Y:-95.33, Z:6.67 [[ 3.05753114e-01 -9.52102436e-01 -3.99813374e-03 3.34391624e+01] [-9.52013594e-01 -3.05779205e-01 1.30074513e-02 -9.53273569e+01] [-1.36069722e-02 -1.70791049e-04 -9.99907406e-01 6.67113853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.45, Y:-95.45, Z:6.67 [[ 3.77218132e-01 -9.26111511e-01 -4.89397268e-03 3.34545596e+01] [-9.26028385e-01 -3.77249848e-01 1.24089444e-02 -9.54496991e+01] [-1.33383167e-02 -1.48921216e-04 -9.99911030e-01 6.67129054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.48, Y:-95.57, Z:6.67 [[ 4.46584704e-01 -8.94722792e-01 -5.76440421e-03 3.34785486e+01] [-8.94644452e-01 -4.46621886e-01 1.18404168e-02 -9.55708122e+01] [-1.31683999e-02 -1.30656794e-04 -9.99913284e-01 6.67079057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.820385723 meters Centerline goodness [0,1] 0.9999770736851759 Centerline is valid? [True, True] Translation: X:33.54, Y:-95.73, Z:6.67 [[ 5.12804106e-01 -8.58480970e-01 -6.50956007e-03 3.35381572e+01] [-8.58409197e-01 -5.12845410e-01 1.11011748e-02 -9.57330737e+01] [-1.28685453e-02 -1.04861756e-04 -9.99917191e-01 6.66964693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.56, Y:-95.82, Z:6.67 [[ 5.76715018e-01 -8.16911873e-01 -7.40134950e-03 3.35628379e+01] [-8.16842566e-01 -5.76762502e-01 1.06413685e-02 -9.58196508e+01] [-1.29618811e-02 -9.12997272e-05 -9.99915987e-01 6.66908015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.880385723 meters Centerline goodness [0,1] 0.9998161215436596 Centerline is valid? [True, True] Translation: X:33.61, Y:-95.93, Z:6.67 [[ 6.36651473e-01 -7.71100308e-01 -8.90040099e-03 3.36117030e+01] [-7.71023317e-01 -6.36713679e-01 1.08965946e-02 -9.59277372e+01] [-1.40693745e-02 -7.49163133e-05 -9.99901019e-01 6.67121680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.65, Y:-96.02, Z:6.67 [[ 6.94669125e-01 -7.19265208e-01 -9.61078987e-03 3.36511624e+01] [-7.19194677e-01 -6.94735600e-01 1.00728564e-02 -9.60168481e+01] [-1.39220130e-02 -8.52734536e-05 -9.99903081e-01 6.66952463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.71, Y:-96.12, Z:6.67 [[ 7.47963631e-01 -6.63659769e-01 -1.03014052e-02 3.37097669e+01] [-6.63595185e-01 -7.48034561e-01 9.25888228e-03 -9.61153298e+01] [-1.38505548e-02 -8.93443024e-05 -9.99904073e-01 6.67002900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.70, Y:-96.12, Z:6.67 [[ 7.97852323e-01 -6.02750154e-01 -1.11320318e-02 3.37009424e+01] [-6.02689763e-01 -7.97929973e-01 8.53273119e-03 -9.61224725e+01] [-1.40256869e-02 -9.86978032e-05 -9.99901630e-01 6.67105344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.69, Y:-96.13, Z:6.67 [[ 8.42503117e-01 -5.38557399e-01 -1.20177654e-02 3.36935801e+01] [-5.38500912e-01 -8.42588819e-01 7.80065247e-03 -9.61283482e+01] [-1.43271338e-02 -1.00496410e-04 -9.99897356e-01 6.67078890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.69, Y:-96.13, Z:6.67 [[ 8.81484397e-01 -4.72052118e-01 -1.23310781e-02 3.36852460e+01] [-4.72004629e-01 -8.81570639e-01 6.69625380e-03 -9.61323196e+01] [-1.40316972e-02 -8.23172952e-05 -9.99901548e-01 6.67087458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.68, Y:-96.14, Z:6.67 [[ 9.14895435e-01 -4.03487617e-01 -1.28096266e-02 3.36788940e+01] [-4.03447238e-01 -9.14985104e-01 5.70843061e-03 -9.61379088e+01] [-1.40238985e-02 -5.46086545e-05 -9.99901659e-01 6.67121262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.67, Y:-96.14, Z:6.67 [[ 9.43285280e-01 -3.31719496e-01 -1.32308710e-02 3.36715846e+01] [-3.31686274e-01 -9.43378065e-01 4.69483021e-03 -9.61429834e+01] [-1.40390802e-02 -4.00659264e-05 -9.99901447e-01 6.67182046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.67, Y:-96.15, Z:6.67 [[ 9.66039420e-01 -2.58036968e-01 -1.35927264e-02 3.36664403e+01] [-2.58011070e-01 -9.66135044e-01 3.65580569e-03 -9.61476073e+01] [-1.40757423e-02 -2.45785342e-05 -9.99900932e-01 6.67186108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.66, Y:-96.15, Z:6.67 [[ 9.83272964e-01 -1.81611699e-01 -1.38372078e-02 3.36576308e+01] [-1.81593367e-01 -9.83370322e-01 2.58048776e-03 -9.61517860e+01] [-1.40757462e-02 -2.45786929e-05 -9.99900932e-01 6.67186111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.180385723 meters Centerline goodness [0,1] 0.9999770173059686 Centerline is valid? [True, True] Translation: X:33.65, Y:-96.16, Z:6.67 [[ 9.94239821e-01 -1.06224783e-01 -1.42644601e-02 3.36489884e+01] [-1.06213937e-01 -9.94342142e-01 1.51792963e-03 -9.61610901e+01] [-1.43449956e-02 5.89838285e-06 -9.99897105e-01 6.66986901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.64, Y:-96.17, Z:6.67 [[ 9.99454018e-01 -2.99989107e-02 -1.38467187e-02 3.36407042e+01] [-2.99964886e-02 -9.99549931e-01 3.82621606e-04 -9.61723641e+01] [-1.38519649e-02 3.29402383e-05 -9.99904056e-01 6.66968428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.63, Y:-96.18, Z:6.67 [[ 9.98822909e-01 4.68576446e-02 -1.25362597e-02 3.36329098e+01] [ 4.68533410e-02 -9.98901576e-01 -6.36935147e-04 -9.61839265e+01] [-1.25523348e-02 4.88197692e-05 -9.99921215e-01 6.66911032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.63, Y:-96.19, Z:6.67 [[ 9.92130556e-01 1.24676293e-01 -1.15231017e-02 3.36263718e+01] [ 1.24667323e-01 -9.92197470e-01 -1.49631340e-03 -9.61949189e+01] [-1.16197471e-02 4.79839989e-05 -9.99932487e-01 6.66908115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.62, Y:-96.21, Z:6.67 [[ 9.79370713e-01 2.01748707e-01 -1.14221631e-02 3.36215941e+01] [ 2.01734386e-01 -9.79437317e-01 -2.40429368e-03 -9.62094169e+01] [-1.16723559e-02 5.04517597e-05 -9.99931875e-01 6.66858556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.62, Y:-96.22, Z:6.67 [[ 9.60720155e-01 2.77275493e-01 -1.16226372e-02 3.36161424e+01] [ 2.77254460e-01 -9.60790455e-01 -3.41570217e-03 -9.62234631e+01] [-1.21140094e-02 5.91059257e-05 -9.99926621e-01 6.66941658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.61, Y:-96.24, Z:6.67 [[ 9.36450420e-01 3.50600724e-01 -1.18212933e-02 3.36125610e+01] [ 3.50571772e-01 -9.36525027e-01 -4.50624659e-03 -9.62355620e+01] [-1.26508303e-02 7.56647858e-05 -9.99919972e-01 6.67025287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.61, Y:-96.25, Z:6.67 [[ 9.06301900e-01 4.22485662e-01 -1.10784375e-02 3.36094873e+01] [ 4.22453050e-01 -9.06369604e-01 -5.24992165e-03 -9.62481329e+01] [-1.22591756e-02 7.78942761e-05 -9.99924851e-01 6.67055348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.61, Y:-96.26, Z:6.67 [[ 8.71162293e-01 4.90892043e-01 -1.00628552e-02 3.36086167e+01] [ 4.90858099e-01 -8.71220405e-01 -5.77343336e-03 -9.62608922e+01] [-1.16010973e-02 9.01634503e-05 -9.99932701e-01 6.67051083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.61, Y:-96.27, Z:6.67 [[ 8.30401907e-01 5.57086008e-01 -9.37295249e-03 3.36065707e+01] [ 5.57049227e-01 -8.30454797e-01 -6.40217234e-03 -9.62735839e+01] [-1.13503740e-02 9.51801755e-05 -9.99935578e-01 6.67034212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4803857229999 meters Centerline goodness [0,1] 0.9998635650453647 Centerline is valid? [True, True] Translation: X:33.60, Y:-96.29, Z:6.67 [[ 7.85121119e-01 6.19276002e-01 -9.05881199e-03 3.36042658e+01] [ 6.19233101e-01 -7.85173370e-01 -7.29013764e-03 -9.62853436e+01] [-1.16273452e-02 1.14124788e-04 -9.99932394e-01 6.67130773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.60, Y:-96.30, Z:6.67 [[ 7.34398013e-01 6.78674710e-01 -7.75866236e-03 3.36021240e+01] [ 6.78635286e-01 -7.34438988e-01 -7.31587077e-03 -9.62963592e+01] [-1.06633606e-02 1.07458912e-04 -9.99943139e-01 6.67011249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.61, Y:-96.31, Z:6.67 [[ 6.79046772e-01 7.34060849e-01 -7.08185745e-03 3.36054968e+01] [ 7.34019286e-01 -6.79083691e-01 -7.81211452e-03 -9.63100348e+01] [-1.05437413e-02 1.06571195e-04 -9.99944408e-01 6.66963494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.61, Y:-96.32, Z:6.67 [[ 6.18778508e-01 7.85538826e-01 -6.47395061e-03 3.36083513e+01] [ 7.85494180e-01 -6.18812366e-01 -8.37547255e-03 -9.63236139e+01] [-1.05854196e-02 9.73118752e-05 -9.99943968e-01 6.67056806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.61, Y:-96.34, Z:6.67 [[ 5.54611968e-01 8.32088949e-01 -5.79192047e-03 3.36122019e+01] [ 8.32041922e-01 -5.54642203e-01 -8.84682143e-03 -9.63354394e+01] [-1.05737859e-02 8.74324038e-05 -9.99944092e-01 6.67106537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.62, Y:-96.35, Z:6.67 [[ 4.86182399e-01 8.73843290e-01 -4.95773828e-03 3.36196837e+01] [ 8.73796451e-01 -4.86207672e-01 -9.04778151e-03 -9.63488633e+01] [-1.03168335e-02 6.68180066e-05 -9.99946778e-01 6.67074296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.63, Y:-96.36, Z:6.67 [[ 4.14895959e-01 9.09859861e-01 -4.04692992e-03 3.36267235e+01] [ 9.09815419e-01 -4.14915693e-01 -8.99290377e-03 -9.63613572e+01] [-9.86141690e-03 4.91601898e-05 -9.99951374e-01 6.66984868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.63, Y:-96.37, Z:6.67 [[ 3.41513796e-01 9.39871611e-01 -3.11164724e-03 3.36331979e+01] [ 9.39831594e-01 -3.41527969e-01 -8.67298427e-03 -9.63719403e+01] [-9.21420626e-03 3.75193902e-05 -9.99957548e-01 6.66962384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.64, Y:-96.38, Z:6.67 [[ 2.65372281e-01 9.64143362e-01 -2.26509203e-03 3.36403217e+01] [ 9.64107541e-01 -2.65381947e-01 -8.31089252e-03 -9.63820908e+01] [-8.61400639e-03 2.16882013e-05 -9.99962899e-01 6.66944503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.750385723 meters Centerline goodness [0,1] 0.9999773268336923 Centerline is valid? [True, True] Translation: X:33.65, Y:-96.39, Z:6.67 [[ 1.88241838e-01 9.82121361e-01 -1.62563083e-03 3.36491838e+01] [ 9.82084052e-01 -1.88248857e-01 -8.56058559e-03 -9.63925432e+01] [-8.71355712e-03 1.49542532e-05 -9.99962036e-01 6.66988532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.66, Y:-96.40, Z:6.67 [[ 1.08696741e-01 9.94074535e-01 -9.15124489e-04 3.36604202e+01] [ 9.94039532e-01 -1.08700593e-01 -8.34211893e-03 -9.64024382e+01] [-8.39216257e-03 -2.90877533e-06 -9.99964785e-01 6.67023842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.810385723 meters Centerline goodness [0,1] 0.999954864480603 Centerline is valid? [True, True] Translation: X:33.67, Y:-96.41, Z:6.67 [[ 2.97514247e-02 9.99557295e-01 -2.56882958e-04 3.36718372e+01] [ 9.99522633e-01 -2.97525323e-02 -8.32428940e-03 -9.64105581e+01] [-8.32824711e-03 -9.10086149e-06 -9.99965320e-01 6.67025910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8403857229999 meters Centerline goodness [0,1] 0.9999548369614307 Centerline is valid? [True, True] Translation: X:33.68, Y:-96.42, Z:6.67 [[-4.97333622e-02 9.98762471e-01 3.44459753e-04 3.36836119e+01] [ 9.98736257e-01 4.97345525e-02 -7.23622371e-03 -9.64189342e+01] [-7.24440022e-03 -1.58572901e-05 -9.99973759e-01 6.67002209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.69, Y:-96.43, Z:6.67 [[-1.28272376e-01 9.91738607e-01 8.55776184e-04 3.36943742e+01] [ 9.91715593e-01 1.28275229e-01 -6.75629611e-03 -9.64252883e+01] [-6.81025458e-03 -1.79595681e-05 -9.99976810e-01 6.66892399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.71, Y:-96.43, Z:6.67 [[-2.05698289e-01 9.78614476e-01 1.38650177e-03 3.37074437e+01] [ 9.78591624e-01 2.05702961e-01 -6.68769465e-03 -9.64305619e+01] [-6.82988231e-03 -1.88283328e-05 -9.99976676e-01 6.66915756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.72, Y:-96.43, Z:6.67 [[-2.81365043e-01 9.59598738e-01 1.99385549e-03 3.37200031e+01] [ 9.59574208e-01 2.81372107e-01 -6.86128326e-03 -9.64346762e+01] [-7.14509408e-03 -1.72729598e-05 -9.99974473e-01 6.66959216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.960385723 meters Centerline goodness [0,1] 0.9999550167562583 Centerline is valid? [True, True] Translation: X:33.73, Y:-96.44, Z:6.67 [[-3.53884898e-01 9.35285147e-01 2.67829229e-03 3.37334962e+01] [ 9.35258280e-01 3.53895033e-01 -7.08912755e-03 -9.64377976e+01] [-7.57819004e-03 -3.84014281e-06 -9.99971285e-01 6.67059192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.75, Y:-96.44, Z:6.67 [[-4.25128659e-01 9.05127226e-01 3.21377069e-03 3.37463713e+01] [ 9.05101439e-01 4.25140806e-01 -6.83235185e-03 -9.64399594e+01] [-7.55045274e-03 4.15989605e-06 -9.99971495e-01 6.67061926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.76, Y:-96.44, Z:6.67 [[-4.93142981e-01 8.69938408e-01 4.14324409e-03 3.37588600e+01] [ 8.69908040e-01 4.93160385e-01 -7.26882538e-03 -9.64429392e+01] [-8.36671423e-03 1.96711281e-05 -9.99964998e-01 6.67174396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.77, Y:-96.44, Z:6.67 [[-5.58500377e-01 8.29486583e-01 5.41649676e-03 3.37738497e+01] [ 8.29448224e-01 5.58526640e-01 -7.97718649e-03 -9.64414506e+01] [-9.64222690e-03 3.74419661e-05 -9.99953512e-01 6.67186545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.79, Y:-96.44, Z:6.67 [[-6.21158910e-01 7.83662611e-01 5.87535527e-03 3.37883412e+01] [ 7.83628221e-01 6.21186695e-01 -7.34173782e-03 -9.64404556e+01] [-9.40313795e-03 4.37083357e-05 -9.99955789e-01 6.67243312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.110385723 meters Centerline goodness [0,1] 0.9999102414504981 Centerline is valid? [True, True] Translation: X:33.80, Y:-96.44, Z:6.67 [[-6.80007989e-01 7.33176922e-01 6.38243551e-03 3.38025478e+01] [ 7.33145336e-01 6.80037939e-01 -6.80577140e-03 -9.64371527e+01] [-9.33013282e-03 5.12738969e-05 -9.99956472e-01 6.67184523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.82, Y:-96.43, Z:6.67 [[-7.35157971e-01 6.77869050e-01 6.02569216e-03 3.38160655e+01] [ 6.77846803e-01 7.35182664e-01 -5.49205617e-03 -9.64347508e+01] [-8.15287931e-03 4.69673037e-05 -9.99966764e-01 6.67055154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.84, Y:-96.41, Z:6.67 [[-7.80594448e-01 6.25015548e-01 5.27943990e-03 3.38383558e+01] [ 6.25001649e-01 7.80612300e-01 -4.16847511e-03 -9.64142505e+01] [-6.72655748e-03 4.57701195e-05 -9.99977376e-01 6.66978976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.86, Y:-96.39, Z:6.67 [[-8.22221204e-01 5.69143831e-01 5.25264594e-03 3.38602837e+01] [ 5.69132594e-01 8.22237981e-01 -3.57681970e-03 -9.63939143e+01] [-6.35464986e-03 4.85150042e-05 -9.99979808e-01 6.66956024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.88, Y:-96.37, Z:6.67 [[-8.59253597e-01 5.11527844e-01 4.74569721e-03 3.38828354e+01] [ 5.11520392e-01 8.59266700e-01 -2.76158199e-03 -9.63733926e+01] [-5.49044567e-03 5.46216411e-05 -9.99984926e-01 6.66846393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.91, Y:-96.35, Z:6.67 [[-8.92930012e-01 4.50176582e-01 4.12778568e-03 3.39053701e+01] [ 4.50172027e-01 8.92939551e-01 -2.02573105e-03 -9.63518216e+01] [-4.59779978e-03 4.93775951e-05 -9.99989429e-01 6.66799481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.290385723 meters Centerline goodness [0,1] 0.9998661132681751 Centerline is valid? [True, True] Translation: X:33.92, Y:-96.33, Z:6.67 [[-9.21680778e-01 3.87933817e-01 3.44914889e-03 3.39235754e+01] [ 3.87931298e-01 9.21687231e-01 -1.39907997e-03 -9.63271522e+01] [-3.72178692e-03 4.85276912e-05 -9.99993073e-01 6.66822903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.24, Y:-95.57, Z:5.81 [[-9.05716677e-01 -4.23876492e-01 2.45390778e-03 3.42398344e+01] [ 4.23874654e-01 -9.05719996e-01 -1.25185439e-03 -9.55745083e+01] [ 2.75318500e-03 -9.36760840e-05 9.99996206e-01 5.81131265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.88, Y:-96.31, Z:6.67 [[-9.21825835e-01 3.87593915e-01 2.84390268e-03 3.38819862e+01] [ 3.87592239e-01 9.21830220e-01 -1.14100574e-03 -9.63096969e+01] [-3.06384232e-03 5.04660372e-05 -9.99995305e-01 6.66742314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.90, Y:-96.28, Z:6.67 [[-9.46286649e-01 3.23314034e-01 3.10055108e-03 3.39008637e+01] [ 3.23312506e-01 9.46291727e-01 -9.95980519e-04 -9.62833161e+01] [-3.25604031e-03 5.99638700e-05 -9.99994697e-01 6.66749372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.91, Y:-96.26, Z:6.67 [[-9.66541723e-01 2.56491764e-01 3.01226232e-03 3.39109284e+01] [ 2.56490713e-01 9.66546415e-01 -7.36730163e-04 -9.62552816e+01] [-3.10045656e-03 6.05368681e-05 -9.99995192e-01 6.66769797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.92, Y:-96.23, Z:6.67 [[-9.82024082e-01 1.88734685e-01 2.81451362e-03 3.39226629e+01] [ 1.88734084e-01 9.82028113e-01 -4.79810945e-04 -9.62262460e+01] [-2.85448847e-03 6.00087488e-05 -9.99995924e-01 6.66789491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.93, Y:-96.20, Z:6.67 [[-9.92859457e-01 1.19251761e-01 3.01939399e-03 3.39269828e+01] [ 1.19251411e-01 9.92864046e-01 -2.96175809e-04 -9.61959666e+01] [-3.03316722e-03 6.60060417e-05 -9.99995398e-01 6.66762985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.00, Y:-95.40, Z:5.81 [[-9.89736535e-01 -1.42867873e-01 3.21904846e-03 3.40031109e+01] [ 1.42866932e-01 -9.89741768e-01 -5.21537443e-04 -9.53974105e+01] [ 3.26053766e-03 -5.62890843e-05 9.99994683e-01 5.81042537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.85, Y:-96.19, Z:6.67 [[-9.93392821e-01 1.14722950e-01 3.05751992e-03 3.38480116e+01] [ 1.14722613e-01 9.93397524e-01 -2.85664559e-04 -9.61865754e+01] [-3.07010500e-03 6.69895541e-05 -9.99995285e-01 6.66795099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.92, Y:-95.39, Z:5.81 [[-9.90219944e-01 -1.39499672e-01 2.07448296e-03 3.39199247e+01] [ 1.39499134e-01 -9.90222111e-01 -4.02482768e-04 -9.53927605e+01] [ 2.11034511e-03 -1.09157888e-04 9.99997767e-01 5.81040657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.78, Y:-96.17, Z:6.67 [[-9.94162399e-01 1.07890451e-01 8.80500279e-04 3.37778226e+01] [ 1.07890425e-01 9.94162789e-01 -7.72713150e-05 -9.61727315e+01] [-8.83697450e-04 1.81773135e-05 -9.99999609e-01 6.66792486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.78, Y:-96.14, Z:6.67 [[-9.99328309e-01 3.66390261e-02 7.15728108e-04 3.37821711e+01] [ 3.66390271e-02 9.99328565e-01 -1.16283287e-05 -9.61411381e+01] [-7.15673595e-04 1.46030636e-05 -9.99999744e-01 6.66772083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.80, Y:-95.36, Z:5.81 [[-9.97863001e-01 -6.53399450e-02 3.49372198e-04 3.37984058e+01] [ 6.53399299e-02 -9.97863062e-01 -5.45101289e-05 -9.53633898e+01] [ 3.52187300e-04 -3.15656859e-05 9.99999938e-01 5.81061174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.69, Y:-96.13, Z:6.67 [[-9.99542070e-01 3.02552742e-02 5.17587376e-04 3.36920283e+01] [ 3.02552755e-02 9.99542204e-01 -5.28831528e-06 -9.61335554e+01] [-5.17510426e-04 1.03738550e-05 -9.99999866e-01 6.66792905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.70, Y:-95.37, Z:5.81 [[-9.98140449e-01 -6.09517128e-02 7.29379788e-04 3.37031803e+01] [ 6.09516964e-02 -9.98140716e-01 -4.47233362e-05 -9.53683809e+01] [ 7.30749628e-04 -1.83235390e-07 9.99999733e-01 5.80977824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.60, Y:-96.13, Z:6.67 [[-9.99719745e-01 2.36679493e-02 5.09994916e-04 3.36037143e+01] [ 2.36679512e-02 9.99719875e-01 -2.37136851e-06 -9.61269185e+01] [-5.09908179e-04 9.69983084e-06 -9.99999870e-01 6.66858439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.60, Y:-96.09, Z:6.67 [[-9.98829823e-01 -4.83630368e-02 2.45369976e-05 3.35961037e+01] [-4.83630368e-02 9.98829824e-01 2.22896119e-06 -9.60935236e+01] [-2.46160845e-05 1.03966918e-06 -1.00000000e+00 6.66878596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.59, Y:-96.06, Z:6.67 [[-9.92747296e-01 -1.20219725e-01 1.52763703e-04 3.35857406e+01] [-1.20219723e-01 9.92747308e-01 2.16324225e-05 -9.60617405e+01] [-1.54256400e-04 3.11031880e-06 -9.99999988e-01 6.66978583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.56, Y:-96.03, Z:6.67 [[-9.81460213e-01 -1.91665085e-01 5.88074976e-04 3.35641422e+01] [-1.91665045e-01 9.81460389e-01 1.24996937e-04 -9.60335982e+01] [-6.01129843e-04 9.96610410e-06 -9.99999819e-01 6.67004162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.860385723 meters Centerline goodness [0,1] 0.999826479264272 Centerline is valid? [True, True] Translation: X:33.52, Y:-96.01, Z:6.67 [[-9.64983499e-01 -2.62305812e-01 1.58338599e-03 3.35234556e+01] [-2.62305416e-01 9.64984798e-01 4.56733681e-04 -9.60113404e+01] [-1.64774731e-03 2.54097443e-05 -9.99998642e-01 6.67153835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.47, Y:-96.00, Z:6.67 [[-9.42795674e-01 -3.33371135e-01 -5.41955527e-05 3.34712534e+01] [-3.33371135e-01 9.42795676e-01 -1.93561825e-05 -9.59952445e+01] [ 5.75481250e-05 -1.81692219e-07 -9.99999998e-01 6.66930982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.40, Y:-95.99, Z:6.67 [[-9.15562742e-01 -4.02174457e-01 -7.55389058e-04 3.34035428e+01] [-4.02174311e-01 9.15563054e-01 -3.43871809e-04 -9.59903988e+01] [ 8.29902771e-04 -1.10381430e-05 -9.99999656e-01 6.66884344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.32, Y:-95.99, Z:6.67 [[-8.82911658e-01 -4.69536728e-01 -1.50500802e-03 3.33231534e+01] [-4.69536003e-01 8.82912940e-01 -8.25715533e-04 -9.59945732e+01] [ 1.71649482e-03 -2.23784212e-05 -9.99998527e-01 6.66801309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.24, Y:-96.01, Z:6.67 [[-8.45184238e-01 -5.34472938e-01 -1.51052434e-03 3.32414238e+01] [-5.34472036e-01 8.45185588e-01 -9.82201311e-04 -9.60072323e+01] [ 1.80163343e-03 -2.28080450e-05 -9.99998377e-01 6.66774778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.010385723 meters Centerline goodness [0,1] 0.9998706617805562 Centerline is valid? [True, True] Translation: X:33.15, Y:-96.03, Z:6.67 [[-8.02241544e-01 -5.96998024e-01 -1.36532074e-03 3.31519375e+01] [-5.96997117e-01 8.02242706e-01 -1.04131587e-03 -9.60311880e+01] [ 1.71698212e-03 -2.02943088e-05 -9.99998526e-01 6.66887226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.040385723 meters Centerline goodness [0,1] 0.9998706617805562 Centerline is valid? [True, True] Translation: X:33.06, Y:-96.07, Z:6.67 [[-7.54984793e-01 -6.55741044e-01 -1.28297216e-03 3.30609958e+01] [-6.55740052e-01 7.54985882e-01 -1.14120043e-03 -9.60681365e+01] [ 1.71695783e-03 -2.02927389e-05 -9.99998526e-01 6.66887331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.070385723 meters Centerline goodness [0,1] 0.999935367114788 Centerline is valid? [True, True] Translation: X:32.97, Y:-96.11, Z:6.67 [[-7.02197379e-01 -7.11980754e-01 -1.49904894e-03 3.29667430e+01] [-7.11979063e-01 7.02198978e-01 -1.55194823e-03 -9.61145951e+01] [ 2.15758791e-03 -2.24825188e-05 -9.99997672e-01 6.66889828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.87, Y:-96.17, Z:6.67 [[-6.45392658e-01 -7.63849653e-01 -1.42330891e-03 3.28749664e+01] [-7.63847723e-01 6.45394227e-01 -1.71702074e-03 -9.61715638e+01] [ 2.23014105e-03 -2.09613061e-05 -9.99997513e-01 6.66818320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.78, Y:-96.24, Z:6.67 [[-5.83909226e-01 -8.11817954e-01 -1.27527274e-03 3.27846272e+01] [-8.11815955e-01 5.83910618e-01 -1.80144133e-03 -9.62368824e+01] [ 2.20708771e-03 -1.65914532e-05 -9.99997564e-01 6.66927514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.70, Y:-96.31, Z:6.67 [[-5.19682942e-01 -8.54358844e-01 -7.78250189e-04 3.26980939e+01] [-8.54357857e-01 5.19683525e-01 -1.29856820e-03 -9.63137577e+01] [ 1.51388703e-03 -9.93958090e-06 -9.99998854e-01 6.66988119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.62, Y:-96.40, Z:6.67 [[-4.51287147e-01 -8.92378708e-01 -3.90761813e-04 3.26166803e+01] [-8.92378366e-01 4.51287316e-01 -7.81256850e-04 -9.63990736e+01] [ 8.73522828e-04 -3.86378671e-06 -9.99999619e-01 6.67174124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2203857229999 meters Centerline goodness [0,1] 0.9999569744428191 Centerline is valid? [True, True] Translation: X:32.54, Y:-96.49, Z:6.67 [[-3.80499242e-01 -9.24781226e-01 -1.02042521e-04 3.25416744e+01] [-9.24781193e-01 3.80499256e-01 -2.49012850e-04 -9.64913339e+01] [ 2.69109512e-04 -3.82196865e-07 -9.99999964e-01 6.67356658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.250385723 meters Centerline goodness [0,1] 0.9999785674482404 Centerline is valid? [True, True] Translation: X:32.47, Y:-96.59, Z:6.67 [[-3.07671595e-01 -9.51492609e-01 -7.09626419e-05 3.24735075e+01] [-9.51492584e-01 3.07671603e-01 -2.19510093e-04 -9.65923541e+01] [ 2.30695420e-04 -1.65928048e-08 -9.99999973e-01 6.67374630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.41, Y:-96.70, Z:6.67 [[-2.33116882e-01 -9.72448717e-01 -1.06994501e-04 3.24147753e+01] [-9.72448614e-01 2.33116907e-01 -4.47850580e-04 -9.66979154e+01] [ 4.60453949e-04 -3.54877095e-07 -9.99999894e-01 6.67450455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.36, Y:-96.81, Z:6.67 [[-1.57549650e-01 -9.87511059e-01 -1.26047442e-04 3.23638275e+01] [-9.87510739e-01 1.57549700e-01 -7.95720210e-04 -9.68102931e+01] [ 8.05641244e-04 -8.92237837e-07 -9.99999676e-01 6.67470660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.32, Y:-96.93, Z:6.67 [[-8.17215193e-02 -9.96655197e-01 -1.12166721e-04 3.23224854e+01] [-9.96654211e-01 8.17215962e-02 -1.40156513e-03 -9.69287143e+01] [ 1.40604361e-03 -2.74659684e-06 -9.99999012e-01 6.67490542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.29, Y:-97.05, Z:6.67 [[-5.20951595e-03 -9.99986430e-01 -6.12357597e-06 3.22894991e+01] [-9.99984037e-01 5.20951689e-03 -2.18785198e-03 -9.70497786e+01] [ 2.18785420e-03 -5.27417161e-06 -9.99997607e-01 6.67466688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.27, Y:-97.17, Z:6.67 [[ 7.14724624e-02 -9.97442528e-01 2.99443193e-04 3.22664644e+01] [-9.97434434e-01 -7.14730888e-02 -4.01839953e-03 -9.71707286e+01] [ 4.02952471e-03 -1.14700425e-05 -9.99991881e-01 6.67404603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.25, Y:-97.30, Z:6.67 [[ 1.48290220e-01 -9.88943527e-01 8.43425909e-04 3.22530893e+01] [-9.88928079e-01 -1.48292618e-01 -5.52759516e-03 -9.72953774e+01] [ 5.59155329e-03 -1.43992616e-05 -9.99984367e-01 6.67372486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.25, Y:-97.42, Z:6.67 [[ 2.24148203e-01 -9.74554327e-01 1.20280933e-03 3.22497403e+01] [-9.74540596e-01 -2.24151430e-01 -5.17335970e-03 -9.74218426e+01] [ 5.31133151e-03 -1.25872347e-05 -9.99985895e-01 6.67452057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.25, Y:-97.55, Z:6.68 [[ 2.98448694e-01 -9.54424448e-01 1.53339387e-03 3.22544117e+01] [-9.54412057e-01 -2.98452633e-01 -4.86328815e-03 -9.75463520e+01] [ 5.09928654e-03 -1.20476042e-05 -9.99986999e-01 6.67568968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.27, Y:-97.67, Z:6.68 [[ 3.70694376e-01 -9.28753563e-01 1.58095807e-03 3.22686591e+01] [-9.28745244e-01 -3.70697747e-01 -3.93096469e-03 -9.76682037e+01] [ 4.23695506e-03 -1.11207888e-05 -9.99991024e-01 6.67744280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.29, Y:-97.79, Z:6.68 [[ 4.40733200e-01 -8.97636026e-01 1.95206516e-03 3.22925243e+01] [-8.97627348e-01 -4.40737523e-01 -3.94719414e-03 -9.77904056e+01] [ 4.40349203e-03 -1.25675631e-05 -9.99990305e-01 6.67798630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.32, Y:-97.90, Z:6.68 [[ 5.07336888e-01 -8.61744083e-01 2.53325188e-03 3.23238368e+01] [-8.61733534e-01 -5.07343212e-01 -4.26393562e-03 -9.79040620e+01] [ 4.95964944e-03 -1.97362684e-05 -9.99987701e-01 6.67863450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.36, Y:-98.02, Z:6.68 [[ 5.71138695e-01 -8.20848205e-01 2.96906511e-03 3.23638331e+01] [-8.20837342e-01 -5.71146412e-01 -4.22311992e-03 -9.80161461e+01] [ 5.16231129e-03 -2.51323149e-05 -9.99986675e-01 6.67898309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.41, Y:-98.12, Z:6.68 [[ 6.30803834e-01 -7.75934525e-01 3.48372116e-03 3.24140556e+01] [-7.75923017e-01 -6.30813453e-01 -4.22613144e-03 -9.81227479e+01] [ 5.47677946e-03 -3.72395111e-05 -9.99985002e-01 6.67943630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.47, Y:-98.22, Z:6.68 [[ 6.87277830e-01 -7.26384906e-01 3.76193417e-03 3.24686049e+01] [-7.26374374e-01 -6.87288125e-01 -3.91190029e-03 -9.82210629e+01] [ 5.42707801e-03 -4.40102300e-05 -9.99985272e-01 6.68005114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.53, Y:-98.31, Z:6.68 [[ 7.40445581e-01 -6.72103002e-01 4.23027868e-03 3.25263024e+01] [-6.72092399e-01 -7.40457664e-01 -3.77558282e-03 -9.83144568e+01] [ 5.66992282e-03 -4.75245317e-05 -9.99983925e-01 6.68074282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.52, Y:-98.32, Z:6.68 [[ 7.90189621e-01 -6.12846256e-01 4.45307795e-03 3.25229256e+01] [-6.12836890e-01 -7.90202166e-01 -3.38864118e-03 -9.83230232e+01] [ 5.59554790e-03 -5.13413550e-05 -9.99984344e-01 6.68159932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.52, Y:-98.33, Z:6.68 [[ 8.35742120e-01 -5.49101847e-01 4.71919535e-03 3.25185951e+01] [-5.49093434e-01 -8.35755442e-01 -3.03999808e-03 -9.83304432e+01] [ 5.61336176e-03 -5.06247366e-05 -9.99984244e-01 6.68158843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.51, Y:-98.34, Z:6.68 [[ 8.75762268e-01 -4.82713428e-01 5.31012420e-03 3.25148017e+01] [-4.82704960e-01 -8.75778364e-01 -2.85975570e-03 -9.83377588e+01] [ 6.03093436e-03 -5.87571509e-05 -9.99981812e-01 6.68185545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.51, Y:-98.35, Z:6.68 [[ 9.10698539e-01 -4.13029275e-01 5.91518597e-03 3.25109304e+01] [-4.13021025e-01 -9.10717747e-01 -2.61133847e-03 -9.83462433e+01] [ 6.46562407e-03 -6.49540484e-05 -9.99979096e-01 6.68223833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.51, Y:-98.36, Z:6.68 [[ 9.40251233e-01 -3.40424879e-01 6.20649267e-03 3.25069066e+01] [-3.40417918e-01 -9.40271715e-01 -2.17806394e-03 -9.83563845e+01] [ 6.57725666e-03 -6.48740056e-05 -9.99978368e-01 6.68272960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.50, Y:-98.36, Z:6.68 [[ 9.64315305e-01 -2.64679069e-01 6.40188447e-03 3.25036190e+01] [-2.64673631e-01 -9.64336553e-01 -1.69767157e-03 -9.83642219e+01] [ 6.62290933e-03 -5.73193236e-05 -9.99978067e-01 6.68222123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.50, Y:-98.37, Z:6.68 [[ 9.82243209e-01 -1.87509262e-01 6.20922890e-03 3.25006151e+01] [-1.87505829e-01 -9.82262834e-01 -1.13576824e-03 -9.83732966e+01] [ 6.31206183e-03 -4.86659686e-05 -9.99980078e-01 6.68252705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.50, Y:-98.38, Z:6.68 [[ 9.94092111e-01 -1.08371007e-01 6.04978594e-03 3.24952734e+01] [-1.08369225e-01 -9.94110519e-01 -6.22682733e-04 -9.83842084e+01] [ 6.08163659e-03 -3.66066191e-05 -9.99981506e-01 6.68324093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.49, Y:-98.40, Z:6.68 [[ 9.99562847e-01 -2.89916738e-02 5.79638998e-03 3.24899293e+01] [-2.89913487e-02 -9.99579653e-01 -1.40116092e-04 -9.83959507e+01] [ 5.79801568e-03 -2.79903237e-05 -9.99983191e-01 6.68343713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.48, Y:-98.41, Z:6.68 [[ 9.98636537e-01 5.18803753e-02 5.78734474e-03 3.24843970e+01] [ 5.18794260e-02 -9.98653307e-01 3.14140055e-04 -9.84058743e+01] [ 5.79584866e-03 -1.34676138e-05 -9.99983204e-01 6.68349800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.48, Y:-98.41, Z:6.68 [[ 9.91182392e-01 1.32412382e-01 4.94234256e-03 3.24804495e+01] [ 1.32410741e-01 -9.91194714e-01 6.59237973e-04 -9.84137397e+01] [ 4.98611509e-03 9.94168651e-07 -9.99987569e-01 6.68464185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.060385723 meters Centerline goodness [0,1] 0.9999776556285471 Centerline is valid? [True, True] Translation: X:32.48, Y:-98.42, Z:6.69 [[ 9.77471808e-01 2.11026102e-01 4.10478065e-03 3.24767091e+01] [ 2.11024272e-01 -9.77480427e-01 8.78850638e-04 -9.84238871e+01] [ 4.19780316e-03 7.15662815e-06 -9.99991189e-01 6.68515912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.47, Y:-98.43, Z:6.69 [[ 9.57069679e-01 2.89833345e-01 3.77637893e-03 3.24737827e+01] [ 2.89831167e-01 -9.57077130e-01 1.12385757e-03 -9.84333946e+01] [ 3.94001731e-03 1.89023051e-05 -9.99992238e-01 6.68651708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.120385723 meters Centerline goodness [0,1] 0.9999775007874724 Centerline is valid? [True, True] Translation: X:32.47, Y:-98.44, Z:6.69 [[ 9.30943469e-01 3.65149036e-01 3.23100552e-03 3.24705507e+01] [ 3.65146916e-01 -9.30949076e-01 1.24432210e-03 -9.84439882e+01] [ 3.46226461e-03 2.13981662e-05 -9.99994006e-01 6.68684593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.150385723 meters Centerline goodness [0,1] 0.9999773811947253 Centerline is valid? [True, True] Translation: X:32.47, Y:-98.45, Z:6.69 [[ 8.98676825e-01 4.38601251e-01 2.98462294e-03 3.24683277e+01] [ 4.38598930e-01 -8.98681780e-01 1.42698853e-03 -9.84520386e+01] [ 3.30810521e-03 2.66509057e-05 -9.99994528e-01 6.68690045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.180385723 meters Centerline goodness [0,1] 0.9999774256174093 Centerline is valid? [True, True] Translation: X:32.47, Y:-98.46, Z:6.69 [[ 8.61421338e-01 5.07880899e-01 3.20487694e-03 3.24672956e+01] [ 5.07877517e-01 -8.61427299e-01 1.85367266e-03 -9.84625003e+01] [ 3.70221342e-03 3.08917591e-05 -9.99993146e-01 6.68643050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.210385723 meters Centerline goodness [0,1] 0.9999773494303382 Centerline is valid? [True, True] Translation: X:32.46, Y:-98.47, Z:6.69 [[ 8.18950862e-01 5.73851723e-01 3.69949195e-03 3.24641320e+01] [ 5.73846075e-01 -8.18959217e-01 2.54618305e-03 -9.84715122e+01] [ 4.49086455e-03 3.77401331e-05 -9.99989915e-01 6.68611473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.46, Y:-98.48, Z:6.69 [[ 7.71577554e-01 6.36125383e-01 3.54623040e-03 3.24634500e+01] [ 6.36118889e-01 -7.71585702e-01 2.87465909e-03 -9.84810892e+01] [ 4.56486428e-03 3.78017146e-05 -9.99989580e-01 6.68581793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.270385723 meters Centerline goodness [0,1] 0.9999772861490938 Centerline is valid? [True, True] Translation: X:32.46, Y:-98.49, Z:6.69 [[ 7.20215794e-01 6.93744818e-01 2.70883601e-03 3.24618317e+01] [ 6.93740050e-01 -7.20220888e-01 2.57224284e-03 -9.84895803e+01] [ 3.73544042e-03 2.66581099e-05 -9.99993023e-01 6.68655313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.300385723 meters Centerline goodness [0,1] 0.9998632603295426 Centerline is valid? [True, True] Translation: X:32.46, Y:-98.50, Z:6.69 [[ 6.64477522e-01 7.47304784e-01 2.27649344e-03 3.24620596e+01] [ 7.47300504e-01 -6.64481421e-01 2.52928836e-03 -9.85003029e+01] [ 3.40283689e-03 2.05694308e-05 -9.99994210e-01 6.68765252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.330385723 meters Centerline goodness [0,1] 0.9999544564375825 Centerline is valid? [True, True] Translation: X:32.46, Y:-98.51, Z:6.69 [[ 6.06081609e-01 7.95401553e-01 1.20534525e-03 3.24597956e+01] [ 7.95400003e-01 -6.06082808e-01 1.57053399e-03 -9.85097525e+01] [ 1.97974421e-03 6.85984189e-06 -9.99998040e-01 6.68901736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.360385723 meters Centerline goodness [0,1] 0.999977290791416 Centerline is valid? [True, True] Translation: X:32.46, Y:-98.52, Z:6.69 [[ 5.42161122e-01 8.40274075e-01 8.92853279e-04 3.24610937e+01] [ 8.40272951e-01 -5.42161857e-01 1.37390570e-03 -9.85203829e+01] [ 1.63852833e-03 5.36220347e-06 -9.99998658e-01 6.68922498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.390385723 meters Centerline goodness [0,1] 0.9999543076466153 Centerline is valid? [True, True] Translation: X:32.47, Y:-98.53, Z:6.69 [[ 4.74739286e-01 8.80126416e-01 3.19493981e-04 3.24652973e+01] [ 8.80126221e-01 -4.74739393e-01 5.87073777e-04 -9.85320528e+01] [ 6.68375518e-04 2.48804396e-06 -9.99999777e-01 6.68952249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.420385723 meters Centerline goodness [0,1] 0.9999543232996848 Centerline is valid? [True, True] Translation: X:32.47, Y:-98.54, Z:6.69 [[ 4.04920074e-01 9.14352060e-01 -2.11352119e-04 3.24693567e+01] [ 9.14351936e-01 -4.04920129e-01 -4.75895387e-04 -9.85429520e+01] [-5.20716655e-04 -5.50623879e-07 -9.99999865e-01 6.68991855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.47, Y:-98.55, Z:6.69 [[ 3.33702815e-01 9.42678203e-01 -4.85817318e-04 3.24744954e+01] [ 9.42677205e-01 -3.33703169e-01 -1.37219742e-03 -9.85540875e+01] [-1.45565937e-03 -6.27705954e-08 -9.99998941e-01 6.69027292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.48, Y:-98.57, Z:6.69 [[ 2.59666971e-01 9.65698146e-01 -3.93699825e-04 3.24823473e+01] [ 9.65697029e-01 -2.59667270e-01 -1.46890546e-03 -9.85667841e+01] [-1.52075023e-03 1.23147938e-06 -9.99998844e-01 6.69057414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.49, Y:-98.58, Z:6.69 [[ 1.85181101e-01 9.82704329e-01 -4.01844348e-04 3.24896080e+01] [ 9.82701945e-01 -1.85181537e-01 -2.16455237e-03 -9.85778543e+01] [-2.20152914e-03 5.94096951e-06 -9.99997577e-01 6.69140286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.50, Y:-98.59, Z:6.69 [[ 1.08503017e-01 9.94096071e-01 -3.12717007e-04 3.24972364e+01] [ 9.94091659e-01 -1.08503467e-01 -2.96176734e-03 -9.85884189e+01] [-2.97821215e-03 1.04913245e-05 -9.99995565e-01 6.69217974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.51, Y:-98.60, Z:6.69 [[ 3.20950485e-02 9.99484815e-01 -1.08932369e-04 3.25073382e+01] [ 9.99476572e-01 -3.20952263e-02 -4.05939136e-03 -9.85982736e+01] [-4.06079623e-03 2.14110122e-05 -9.99991755e-01 6.69287954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.52, Y:-98.61, Z:6.69 [[-4.58581983e-02 9.98947940e-01 1.95349791e-04 3.25174737e+01] [ 9.98940773e-01 4.58586093e-02 -3.78427128e-03 -9.86075838e+01] [-3.78924847e-03 2.16030082e-05 -9.99992821e-01 6.69310337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.53, Y:-98.62, Z:6.69 [[-1.23408140e-01 9.92355808e-01 6.18134249e-04 3.25292250e+01] [ 9.92344538e-01 1.23409684e-01 -4.72951482e-03 -9.86157476e+01] [-4.76964526e-03 2.97415182e-05 -9.99988625e-01 6.69302275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.54, Y:-98.62, Z:6.69 [[-2.00846018e-01 9.79622187e-01 1.11712952e-03 3.25402391e+01] [ 9.79607945e-01 2.00849122e-01 -5.28249242e-03 -9.86229681e+01] [-5.39922126e-03 3.33813858e-05 -9.99985424e-01 6.69318248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.55, Y:-98.63, Z:6.69 [[-2.77154568e-01 9.60823707e-01 1.77488044e-03 3.25530828e+01] [ 9.60804865e-01 2.77160249e-01 -6.01731099e-03 -9.86293666e+01] [-6.27350136e-03 3.75885360e-05 -9.99980321e-01 6.69418722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.57, Y:-98.64, Z:6.70 [[-3.52327472e-01 9.35874237e-01 2.18308062e-03 3.25651086e+01] [ 9.35856826e-01 3.52334234e-01 -5.70860122e-03 -9.86358724e+01] [-6.11170685e-03 3.17538636e-05 -9.99981323e-01 6.69517603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.58, Y:-98.64, Z:6.69 [[-4.25072310e-01 9.05155375e-01 2.69802792e-03 3.25760063e+01] [ 9.05137575e-01 4.25080871e-01 -5.67665887e-03 -9.86407031e+01] [-6.28513834e-03 2.90959498e-05 -9.99980248e-01 6.69495843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.59, Y:-98.65, Z:6.69 [[-4.95431570e-01 8.68642681e-01 2.72979669e-03 3.25865540e+01] [ 8.68629725e-01 4.95439090e-01 -4.74434354e-03 -9.86459175e+01] [-5.47358728e-03 2.06849758e-05 -9.99985020e-01 6.69452612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.810385723 meters Centerline goodness [0,1] 0.999977423069108 Centerline is valid? [True, True] Translation: X:32.60, Y:-98.65, Z:6.69 [[-5.62179868e-01 8.27009171e-01 3.10293609e-03 3.25973647e+01] [ 8.26996762e-01 5.62188431e-01 -4.53044528e-03 -9.86499428e+01] [-5.49115456e-03 1.91929698e-05 -9.99984923e-01 6.69376664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.61, Y:-98.65, Z:6.69 [[-6.25308596e-01 7.80368436e-01 3.77680854e-03 3.26090779e+01] [ 7.80354400e-01 6.25320001e-01 -4.68045047e-03 -9.86536286e+01] [-6.01418973e-03 2.05232476e-05 -9.99981914e-01 6.69469040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.870385723 meters Centerline goodness [0,1] 0.9999773868210393 Centerline is valid? [True, True] Translation: X:32.62, Y:-98.66, Z:6.70 [[-6.84520995e-01 7.28980825e-01 4.23850011e-03 3.26184915e+01] [ 7.28967042e-01 6.84534117e-01 -4.48274590e-03 -9.86574392e+01] [-6.16923373e-03 2.11932035e-05 -9.99980970e-01 6.69521621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.63, Y:-98.66, Z:6.70 [[-7.39707650e-01 6.72912709e-01 4.59120160e-03 3.26281839e+01] [ 6.72899909e-01 7.39721898e-01 -4.15046432e-03 -9.86599748e+01] [-6.18911255e-03 1.92889297e-05 -9.99980847e-01 6.69543476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.65, Y:-98.64, Z:6.70 [[-7.85861689e-01 6.18378444e-01 5.43201877e-03 3.26530818e+01] [ 6.18363817e-01 7.85880462e-01 -4.25328127e-03 -9.86429596e+01] [-6.89905487e-03 1.64730582e-05 -9.99976201e-01 6.69592940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.68, Y:-98.62, Z:6.70 [[-8.27641325e-01 5.61228230e-01 5.71933836e-03 3.26756366e+01] [ 5.61214968e-01 8.27661086e-01 -3.85832115e-03 -9.86234492e+01] [-6.89907255e-03 1.64722607e-05 -9.99976201e-01 6.69592958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.990385723 meters Centerline goodness [0,1] 0.9999772913071123 Centerline is valid? [True, True] Translation: X:32.70, Y:-98.60, Z:6.70 [[-8.65157834e-01 5.01458341e-01 6.43852357e-03 3.26961581e+01] [ 5.01444604e-01 8.65181792e-01 -3.71170695e-03 -9.86017923e+01] [-7.43175976e-03 1.73505566e-05 -9.99972384e-01 6.69542746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.72, Y:-98.58, Z:6.70 [[-8.98524202e-01 4.38865169e-01 7.18479974e-03 3.27162497e+01] [ 4.38851298e-01 8.98552927e-01 -3.48933204e-03 -9.85806602e+01] [-7.98726913e-03 1.78094021e-05 -9.99968101e-01 6.69743029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.050385723 meters Centerline goodness [0,1] 0.9999772551517081 Centerline is valid? [True, True] Translation: X:32.72, Y:-98.55, Z:6.70 [[-9.27333978e-01 3.74151672e-01 7.88795539e-03 3.27238878e+01] [ 3.74138310e-01 9.27367525e-01 -3.16207808e-03 -9.85530918e+01] [-8.49813046e-03 1.88838584e-05 -9.99963890e-01 6.69699746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.74, Y:-98.53, Z:6.70 [[-9.51313533e-01 3.08117276e-01 8.14280890e-03 3.27387519e+01] [ 3.08106207e-01 9.51348382e-01 -2.61180599e-03 -9.85288923e+01] [-8.55139062e-03 2.42035816e-05 -9.99963436e-01 6.69607851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.110385723 meters Centerline goodness [0,1] 0.9999317406143344 Centerline is valid? [True, True] Translation: X:32.76, Y:-98.50, Z:6.70 [[-9.70714412e-01 2.40098722e-01 8.13231325e-03 3.27575657e+01] [ 2.40090513e-01 9.70748476e-01 -1.98557939e-03 -9.85045221e+01] [-8.37116576e-03 2.50607332e-05 -9.99964961e-01 6.69597360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.140385723 meters Centerline goodness [0,1] 0.9999772084966725 Centerline is valid? [True, True] Translation: X:32.77, Y:-98.48, Z:6.70 [[-9.85282811e-01 1.70697018e-01 8.96158790e-03 3.27726505e+01] [ 1.70690214e-01 9.85323565e-01 -1.52433565e-03 -9.84783440e+01] [-9.09026329e-03 2.77536464e-05 -9.99958682e-01 6.69668524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.78, Y:-98.45, Z:6.70 [[-9.94909770e-01 1.00306531e-01 9.65139138e-03 3.27818482e+01] [ 1.00302095e-01 9.94956582e-01 -9.43753046e-04 -9.84500314e+01] [-9.69737996e-03 2.91056523e-05 -9.99952979e-01 6.69706897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.79, Y:-98.42, Z:6.70 [[-9.99527122e-01 2.90680870e-02 1.00289235e-02 3.27857514e+01] [ 2.90668996e-02 9.99577434e-01 -2.64163125e-04 -9.84215627e+01] [-1.00323643e-02 2.74715044e-05 -9.99949674e-01 6.69773202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.79, Y:-98.39, Z:6.70 [[-9.99044598e-01 -4.25187178e-02 1.01020205e-02 3.27861180e+01] [-4.25163043e-02 9.99095670e-01 4.53638390e-04 -9.83926079e+01] [-1.01121731e-02 2.37044029e-05 -9.99948870e-01 6.69743354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.75, Y:-97.53, Z:5.78 [[-9.99738840e-01 -2.07295679e-02 9.61956550e-03 3.27538800e+01] [ 2.07280756e-02 -9.99785118e-01 -2.54817793e-04 -9.75282984e+01] [ 9.62278069e-03 -5.53561644e-05 9.99953699e-01 5.78196760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.68, Y:-98.40, Z:6.70 [[-9.98724313e-01 -4.95635987e-02 9.65386944e-03 3.26762249e+01] [-4.95611320e-02 9.98770970e-01 4.94724043e-04 -9.83960606e+01] [-9.66652484e-03 1.56362317e-05 -9.99953278e-01 6.69555433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.66, Y:-98.37, Z:6.69 [[-9.92615490e-01 -1.20984292e-01 8.79142818e-03 3.26620021e+01] [-1.20979456e-01 9.92654422e-01 1.08186410e-03 -9.83681932e+01] [-8.85773862e-03 1.02928700e-05 -9.99960770e-01 6.69481093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.65, Y:-98.34, Z:6.69 [[-9.81172615e-01 -1.92938628e-01 8.65947558e-03 3.26480861e+01] [-1.92931088e-01 9.81210826e-01 1.70572288e-03 -9.83397633e+01] [-8.82587103e-03 2.92653587e-06 -9.99961051e-01 6.69466051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.380385723 meters Centerline goodness [0,1] 0.999840219128053 Centerline is valid? [True, True] Translation: X:32.61, Y:-98.32, Z:6.70 [[-9.64365826e-01 -2.64401041e-01 9.52064257e-03 3.26118910e+01] [-2.64388190e-01 9.64412821e-01 2.60674986e-03 -9.83165093e+01] [-9.87105713e-03 -3.28497714e-06 -9.99951280e-01 6.69604122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.410385723 meters Centerline goodness [0,1] 0.9999089315392846 Centerline is valid? [True, True] Translation: X:32.55, Y:-98.30, Z:6.70 [[-9.42080738e-01 -3.35254209e-01 9.40740700e-03 3.25489433e+01] [-3.35237606e-01 9.42127707e-01 3.33648115e-03 -9.83048289e+01] [-9.98154813e-03 -1.04819851e-05 -9.99950183e-01 6.69580103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.48, Y:-98.30, Z:6.70 [[-9.14349163e-01 -4.04801538e-01 1.00659847e-02 3.24771410e+01] [-4.04777269e-01 9.14404568e-01 4.43259761e-03 -9.83006562e+01] [-1.09987047e-02 -2.15398786e-05 -9.99939512e-01 6.69614960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4703857229999 meters Centerline goodness [0,1] 0.999862944858148 Centerline is valid? [True, True] Translation: X:32.40, Y:-98.31, Z:6.70 [[-8.81783304e-01 -4.71518421e-01 1.13394912e-02 3.23992034e+01] [-4.71479718e-01 8.81856212e-01 6.04135828e-03 -9.83061903e+01] [-1.28484125e-02 -1.91712479e-05 -9.99917456e-01 6.69810662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.29, Y:-98.34, Z:6.70 [[-8.44553458e-01 -5.35366424e-01 1.05947388e-02 3.22898416e+01] [-5.35324458e-01 8.44619910e-01 6.70318226e-03 -9.83370275e+01] [-1.25371860e-02 -1.04270324e-05 -9.99921406e-01 6.69608490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.530385723 meters Centerline goodness [0,1] 0.9999771793701506 Centerline is valid? [True, True] Translation: X:32.19, Y:-98.38, Z:6.70 [[-8.02273155e-01 -5.96869872e-01 1.02049528e-02 3.21852661e+01] [-5.96821614e-01 8.02338056e-01 7.58984861e-03 -9.83758105e+01] [-1.27179740e-02 -1.40462538e-06 -9.99919123e-01 6.69792989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.10, Y:-98.41, Z:6.70 [[-7.55172941e-01 -6.55452989e-01 9.75748295e-03 3.20961227e+01] [-6.55398115e-01 7.55235976e-01 8.48128973e-03 -9.84132271e+01] [-1.29282889e-02 9.80458606e-06 -9.99916426e-01 6.69749461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.03, Y:-98.44, Z:6.69 [[-7.03923231e-01 -7.10216625e-01 9.18858609e-03 3.20276532e+01] [-7.10155544e-01 7.03983199e-01 9.31448137e-03 -9.84406119e+01] [-1.30839098e-02 3.13544729e-05 -9.99914402e-01 6.69485918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.96, Y:-98.47, Z:6.69 [[-6.49167399e-01 -7.60604959e-01 7.86034673e-03 3.19606785e+01] [-7.60548111e-01 6.49214982e-01 9.29935437e-03 -9.84730029e+01] [-1.21761899e-02 5.86658283e-05 -9.99925866e-01 6.69406134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.86, Y:-98.55, Z:6.69 [[-5.89752127e-01 -8.07553236e-01 7.08518197e-03 3.18632109e+01] [-8.07493544e-01 5.89794681e-01 9.81893205e-03 -9.85514490e+01] [-1.21081130e-02 6.94973629e-05 -9.99926692e-01 6.69388498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.680385723 meters Centerline goodness [0,1] 0.9999543556154005 Centerline is valid? [True, True] Translation: X:31.78, Y:-98.63, Z:6.69 [[-5.26484153e-01 -8.50162101e-01 6.23209772e-03 3.17764890e+01] [-8.50100829e-01 5.26521031e-01 1.02071142e-02 -9.86303445e+01] [-1.19590322e-02 7.59724226e-05 -9.99928485e-01 6.69365921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.69, Y:-98.72, Z:6.69 [[-4.60564347e-01 -8.87610964e-01 5.22098848e-03 3.16938951e+01] [-8.87551764e-01 4.60593931e-01 1.02517108e-02 -9.87183930e+01] [-1.15042865e-02 8.76749671e-05 -9.99933820e-01 6.69306807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.63, Y:-98.80, Z:6.69 [[-3.91224898e-01 -9.20285559e-01 4.19159003e-03 3.16256719e+01] [-9.20230258e-01 3.91247342e-01 1.00890938e-02 -9.87958775e+01] [-1.09247958e-02 8.98767336e-05 -9.99940319e-01 6.69275241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.56, Y:-98.90, Z:6.69 [[-3.19274431e-01 -9.47656006e-01 3.45441330e-03 3.15565991e+01] [-9.47597283e-01 3.19293104e-01 1.05500552e-02 -9.88965024e+01] [-1.11007935e-02 9.49702204e-05 -9.99938380e-01 6.69320259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.49, Y:-99.01, Z:6.69 [[-2.44983014e-01 -9.69523657e-01 2.68366614e-03 3.14918731e+01] [-9.69461158e-01 2.44997695e-01 1.10088005e-02 -9.90117912e+01] [-1.13307845e-02 9.52590508e-05 -9.99935800e-01 6.69357216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.44, Y:-99.12, Z:6.69 [[-1.69429446e-01 -9.85540508e-01 1.88951241e-03 3.14398757e+01] [-9.85472489e-01 1.69439952e-01 1.15790937e-02 -9.91206719e+01] [-1.17318248e-02 9.97769393e-05 -9.99931175e-01 6.69434524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.39, Y:-99.24, Z:6.69 [[-9.25569701e-02 -9.95706875e-01 1.01332572e-03 3.13948528e+01] [-9.95634610e-01 9.25624614e-02 1.19963965e-02 -9.92411844e+01] [-1.20386904e-02 1.01447955e-04 -9.99927527e-01 6.69400768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.36, Y:-99.36, Z:6.69 [[-1.45447319e-02 -9.99894217e-01 8.01573307e-05 3.13578718e+01] [-9.99823941e-01 1.45446600e-02 1.18549208e-02 -9.93643783e+01] [-1.18548326e-02 9.22834262e-05 -9.99929725e-01 6.69394349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.33, Y:-99.49, Z:6.70 [[ 6.33891754e-02 -9.97988534e-01 -8.36208213e-04 3.13314266e+01] [-9.97918639e-01 -6.33946326e-02 1.18114909e-02 -9.94925408e+01] [-1.18407436e-02 8.57470945e-05 -9.99929892e-01 6.69515522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.32, Y:-99.62, Z:6.69 [[ 1.40494819e-01 -9.90079849e-01 -1.76034856e-03 3.13152294e+01] [-9.90009608e-01 -1.40505820e-01 1.17936455e-02 -9.96213810e+01] [-1.19239899e-02 8.58159072e-05 -9.99928903e-01 6.69436809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.32, Y:-99.79, Z:6.69 [[ 2.16177924e-01 -9.76350348e-01 -2.66529928e-03 3.13173206e+01] [-9.76281263e-01 -2.16194335e-01 1.16148571e-02 -9.97878469e+01] [-1.19163924e-02 9.12060479e-05 -9.99928993e-01 6.69465152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.32, Y:-99.92, Z:6.69 [[ 2.90598724e-01 -9.56838606e-01 -3.50206364e-03 3.13224112e+01] [-9.56773052e-01 -2.90619809e-01 1.12006076e-02 -9.99157567e+01] [-1.17349428e-02 9.57978495e-05 -9.99931139e-01 6.69410731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.32, Y:-99.99, Z:6.69 [[ 3.63358006e-01 -9.31639881e-01 -4.25340424e-03 3.13199669e+01] [-9.31579228e-01 -3.63382886e-01 1.06310963e-02 -9.99945911e+01] [-1.14499676e-02 9.94890969e-05 -9.99934442e-01 6.69306935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.34, Y:-100.12, Z:6.69 [[ 4.33974519e-01 -9.00910696e-01 -5.10247330e-03 3.13434739e+01] [-9.00851194e-01 -4.34004502e-01 1.03546516e-02 -1.00119581e+02] [-1.15431127e-02 1.02914245e-04 -9.99933371e-01 6.69339709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.37, Y:-100.24, Z:6.69 [[ 5.02106201e-01 -8.64787007e-01 -5.72678746e-03 3.13743410e+01] [-8.64733037e-01 -5.02138848e-01 9.66184104e-03 -1.00239812e+02] [-1.12310770e-02 1.00872017e-04 -9.99936924e-01 6.69345335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.42, Y:-100.37, Z:6.69 [[ 5.66979175e-01 -8.23704894e-01 -6.69795236e-03 3.14240541e+01] [-8.23649642e-01 -5.67018726e-01 9.54101849e-03 -1.00373464e+02] [-1.16568480e-02 1.07207276e-04 -9.99932051e-01 6.69310981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.46, Y:-100.47, Z:6.69 [[ 6.28847024e-01 -7.77490914e-01 -7.70061215e-03 3.14595141e+01] [-7.77434721e-01 -6.28894162e-01 9.34816598e-03 -1.00469244e+02] [-1.21109841e-02 1.08156905e-04 -9.99926654e-01 6.69351284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.51, Y:-100.57, Z:6.69 [[ 6.86908579e-01 -7.26692914e-01 -8.60302224e-03 3.15090044e+01] [-7.26637843e-01 -6.86962442e-01 8.94696907e-03 -1.00570384e+02] [-1.24116522e-02 1.05531706e-04 -9.99922967e-01 6.69307662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.57, Y:-100.67, Z:6.69 [[ 7.40894479e-01 -6.71557034e-01 -9.30172411e-03 3.15677001e+01] [-6.71505758e-01 -7.40952860e-01 8.29919338e-03 -1.00669172e+02] [-1.24655208e-02 9.73347429e-05 -9.99922298e-01 6.69327561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.56, Y:-100.68, Z:6.69 [[ 7.91971922e-01 -6.10478659e-01 -9.81235626e-03 3.15583873e+01] [-6.10433022e-01 -7.92032702e-01 7.46487168e-03 -1.00680768e+02] [-1.23288519e-02 7.78175160e-05 -9.99923994e-01 6.69362486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.55, Y:-100.69, Z:6.69 [[ 8.38186562e-01 -5.45291931e-01 -9.99983735e-03 3.15481776e+01] [-5.45253905e-01 -8.38246209e-01 6.43989032e-03 -1.00693844e+02] [-1.18939460e-02 5.46208299e-05 -9.99929263e-01 6.69312971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.310385723 meters Centerline goodness [0,1] 0.999977583501457 Centerline is valid? [True, True] Translation: X:31.54, Y:-100.70, Z:6.69 [[ 8.78765586e-01 -4.77144272e-01 -1.02170701e-02 3.15386548e+01] [-4.77112557e-01 -8.78824978e-01 5.50151214e-03 -1.00704570e+02] [-1.16040314e-02 4.01529063e-05 -9.99932670e-01 6.69328361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.53, Y:-100.72, Z:6.69 [[ 9.14352689e-01 -4.04763862e-01 -1.11971753e-02 3.15310743e+01] [-4.04733688e-01 -9.14421247e-01 4.94219180e-03 -1.00717166e+02] [-1.22393556e-02 1.29676972e-05 -9.99925096e-01 6.69239021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.53, Y:-100.73, Z:6.69 [[ 9.43599747e-01 -3.30900640e-01 -1.11482886e-02 3.15251890e+01] [-3.30877524e-01 -9.43665601e-01 3.91124028e-03 -1.00727379e+02] [-1.18144884e-02 -1.92720798e-06 -9.99930207e-01 6.69219111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.52, Y:-100.74, Z:6.69 [[ 9.67188221e-01 -2.53848414e-01 -1.03888708e-02 3.15200971e+01] [-2.53833472e-01 -9.67244014e-01 2.75433458e-03 -1.00741098e+02] [-1.07477566e-02 -2.69168056e-05 -9.99942241e-01 6.69157208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.51, Y:-100.75, Z:6.69 [[ 9.84326791e-01 -1.76050601e-01 -1.03418874e-02 3.15144425e+01] [-1.76040454e-01 -9.84381118e-01 1.89053568e-03 -1.00752943e+02] [-1.05131886e-02 -4.03143781e-05 -9.99944734e-01 6.69177202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.51, Y:-100.76, Z:6.69 [[ 9.95348709e-01 -9.58012262e-02 -1.01524801e-02 3.15075876e+01] [-9.57955612e-02 -9.95400483e-01 1.04394710e-03 -1.00764048e+02] [-1.02057950e-02 -6.65288657e-05 -9.99947917e-01 6.69163575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.50, Y:-100.78, Z:6.69 [[ 9.99815855e-01 -1.61930649e-02 -1.02976361e-02 3.15030956e+01] [-1.61913642e-02 -9.99868880e-01 2.48503171e-04 -1.00775874e+02] [-1.03003099e-02 -8.17246332e-05 -9.99946947e-01 6.69121830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.50, Y:-100.79, Z:6.69 [[ 9.97828675e-01 6.50263022e-02 -1.04649554e-02 3.14997074e+01] [ 6.50239167e-02 -9.97883544e-01 -5.68400587e-04 -1.00790290e+02] [-1.04797677e-02 -1.13305980e-04 -9.99945079e-01 6.69126104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.50, Y:-100.80, Z:6.69 [[ 9.89440892e-01 1.44545186e-01 -1.06494406e-02 3.14975740e+01] [ 1.44538264e-01 -9.89498192e-01 -1.42088627e-03 -1.00802963e+02] [-1.07429845e-02 -1.33368664e-04 -9.99942284e-01 6.69147827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.580385723 meters Centerline goodness [0,1] 0.9999557825385245 Centerline is valid? [True, True] Translation: X:31.50, Y:-100.82, Z:6.69 [[ 9.74562062e-01 2.23875394e-01 -1.04209430e-02 3.14961141e+01] [ 2.23864325e-01 -9.74617763e-01 -2.23176197e-03 -1.00816074e+02] [-1.06560727e-02 -1.57886828e-04 -9.99943210e-01 6.69207765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.50, Y:-100.82, Z:6.69 [[ 9.53758747e-01 3.00395219e-01 -1.03423813e-02 3.14951394e+01] [ 3.00379486e-01 -9.53814806e-01 -3.07908723e-03 -1.00824421e+02] [-1.07896595e-02 -1.69932816e-04 -9.99941776e-01 6.69159757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.50, Y:-100.84, Z:6.69 [[ 9.27106903e-01 3.74666930e-01 -9.87334429e-03 3.14965284e+01] [ 3.74647664e-01 -9.27159459e-01 -3.80344691e-03 -1.00837338e+02] [-1.05791903e-02 -1.72823490e-04 -9.99944024e-01 6.69085678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.670385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.50, Y:-100.85, Z:6.69 [[ 8.95035942e-01 4.45889725e-01 -9.64447973e-03 3.14983411e+01] [ 4.45865900e-01 -8.95087886e-01 -4.61260504e-03 -1.00850046e+02] [-1.06893702e-02 -1.71697337e-04 -9.99942852e-01 6.69081890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.50, Y:-100.86, Z:6.69 [[ 8.58164589e-01 5.13282043e-01 -9.75108229e-03 3.14999791e+01] [ 5.13251068e-01 -8.58219971e-01 -5.64121805e-03 -1.00861887e+02] [-1.12641095e-02 -1.63659830e-04 -9.99936545e-01 6.69159865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.50, Y:-100.87, Z:6.69 [[ 8.15933084e-01 5.78062045e-01 -9.87290192e-03 3.15032276e+01] [ 5.78022118e-01 -8.15992798e-01 -6.79593591e-03 -1.00872326e+02] [-1.19846895e-02 -1.61726734e-04 -9.99928168e-01 6.69109445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.51, Y:-100.88, Z:6.69 [[ 7.69727004e-01 6.38303577e-01 -9.42774526e-03 3.15067074e+01] [ 6.38257829e-01 -7.69784727e-01 -7.64316138e-03 -1.00882912e+02] [-1.21359916e-02 -1.34184511e-04 -9.99926347e-01 6.69103953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.790385723 meters Centerline goodness [0,1] 0.9999559626563326 Centerline is valid? [True, True] Translation: X:31.51, Y:-100.89, Z:6.69 [[ 7.18033894e-01 6.95955236e-01 -8.58118057e-03 3.15114994e+01] [ 6.95907531e-01 -7.18085158e-01 -8.14951234e-03 -1.00893149e+02] [-1.18337142e-02 -1.20082103e-04 -9.99929972e-01 6.69054012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.52, Y:-100.90, Z:6.69 [[ 6.62908631e-01 7.48662422e-01 -7.53157996e-03 3.15170725e+01] [ 7.48615660e-01 -6.62951408e-01 -8.36803960e-03 -1.00902631e+02] [-1.12579083e-02 -9.10130194e-05 -9.99936624e-01 6.68959605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.52, Y:-100.91, Z:6.69 [[ 6.02262817e-01 7.98268458e-01 -6.85332326e-03 3.15229661e+01] [ 7.98218490e-01 -6.02301802e-01 -8.93203796e-03 -1.00912600e+02] [-1.12579331e-02 -9.10150093e-05 -9.99936623e-01 6.68959628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.53, Y:-100.92, Z:6.69 [[ 5.38465990e-01 8.42625051e-01 -6.11572883e-03 3.15293973e+01] [ 8.42572457e-01 -5.38500712e-01 -9.41478792e-03 -1.00921810e+02] [-1.12264605e-02 -8.34015695e-05 -9.99936978e-01 6.68962972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.54, Y:-100.93, Z:6.69 [[ 4.72477469e-01 8.81325457e-01 -5.52092175e-03 3.15354527e+01] [ 8.81266877e-01 -4.72509720e-01 -1.01615570e-02 -1.00930517e+02] [-1.15643280e-02 -6.42987521e-05 -9.99933129e-01 6.68970963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.54, Y:-100.94, Z:6.69 [[ 4.02762244e-01 9.15291840e-01 -4.83964360e-03 3.15431459e+01] [ 9.15227444e-01 -4.02791316e-01 -1.08573438e-02 -1.00938302e+02] [-1.18870046e-02 -5.64464736e-05 -9.99929346e-01 6.68940330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.55, Y:-100.95, Z:6.69 [[ 3.31867669e-01 9.43316619e-01 -4.19597912e-03 3.15493222e+01] [ 9.43242458e-01 -3.31894193e-01 -1.18283866e-02 -1.00945633e+02] [-1.25505347e-02 -3.23665797e-05 -9.99921239e-01 6.68944422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.000385723 meters Centerline goodness [0,1] 0.9999561826307949 Centerline is valid? [True, True] Translation: X:31.56, Y:-100.95, Z:6.69 [[ 2.58229328e-01 9.66078011e-01 -3.30008596e-03 3.15567293e+01] [ 9.65999929e-01 -2.58250414e-01 -1.22825386e-02 -1.00952269e+02] [-1.27181391e-02 -1.61711085e-05 -9.99919121e-01 6.68934090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.56, Y:-100.96, Z:6.69 [[ 1.82915515e-01 9.83126059e-01 -2.25111694e-03 3.15645917e+01] [ 9.83051685e-01 -1.82929367e-01 -1.20926287e-02 -1.00958143e+02] [-1.23003738e-02 -1.03489721e-06 -9.99924348e-01 6.68969125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.060385723 meters Centerline goodness [0,1] 0.9998685190866459 Centerline is valid? [True, True] Translation: X:31.57, Y:-100.96, Z:6.69 [[ 1.08228651e-01 9.94125068e-01 -1.38131387e-03 3.15746810e+01] [ 9.94039761e-01 -1.08237460e-01 -1.30233149e-02 -1.00964050e+02] [-1.30963137e-02 3.64148932e-05 -9.99914239e-01 6.68998702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.59, Y:-100.97, Z:6.69 [[ 3.16819877e-02 9.99497940e-01 -3.44798097e-04 3.15858757e+01] [ 9.99418032e-01 -3.16838147e-02 -1.26385674e-02 -1.00968658e+02] [-1.26431466e-02 5.58175027e-05 -9.99920071e-01 6.68791395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.60, Y:-100.97, Z:6.69 [[-4.57835080e-02 9.98951164e-01 6.65263948e-04 3.15963592e+01] [ 9.98866666e-01 4.57882881e-02 -1.29929548e-02 -1.00973303e+02] [-1.30097886e-02 6.96469313e-05 -9.99915367e-01 6.68785231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.61, Y:-100.98, Z:6.69 [[-1.22522596e-01 9.92464386e-01 1.62982418e-03 3.16110058e+01] [ 9.92385572e-01 1.22533406e-01 -1.25076517e-02 -1.00976001e+02] [-1.26131068e-02 8.49440376e-05 -9.99920448e-01 6.68683212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.62, Y:-100.98, Z:6.69 [[-1.99674146e-01 9.79858918e-01 2.59550571e-03 3.16239487e+01] [ 9.79781728e-01 1.99690996e-01 -1.22992691e-02 -1.00979002e+02] [-1.25698477e-02 8.71830064e-05 -9.99920993e-01 6.68692385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.64, Y:-100.98, Z:6.69 [[-2.75718384e-01 9.61231877e-01 3.55697193e-03 3.16381644e+01] [ 9.61155983e-01 2.75741312e-01 -1.20791330e-02 -1.00979237e+02] [-1.25916517e-02 8.83658403e-05 -9.99920718e-01 6.68596381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.240385723 meters Centerline goodness [0,1] 0.9999781730874168 Centerline is valid? [True, True] Translation: X:31.66, Y:-100.98, Z:6.69 [[-3.50346141e-01 9.36609058e-01 4.58854198e-03 3.16551491e+01] [ 9.36531979e-01 3.50376178e-01 -1.20160770e-02 -1.00977141e+02] [-1.28620824e-02 8.75300926e-05 -9.99917276e-01 6.68544134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.67, Y:-100.97, Z:6.69 [[-4.22734418e-01 9.06235810e-01 5.68059943e-03 3.16708353e+01] [ 9.06156788e-01 4.22772574e-01 -1.19676895e-02 -1.00974890e+02] [-1.32471504e-02 8.83594859e-05 -9.99912249e-01 6.68523817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.68, Y:-100.97, Z:6.68 [[-4.92605810e-01 8.70227420e-01 6.61461156e-03 3.16847344e+01] [ 8.70151284e-01 4.92650211e-01 -1.15114110e-02 -1.00970743e+02] [-1.32762353e-02 8.51248061e-05 -9.99911863e-01 6.68489276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.330385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.70, Y:-100.97, Z:6.69 [[-5.59487123e-01 8.28805203e-01 7.48962225e-03 3.16974358e+01] [ 8.28732890e-01 5.59537245e-01 -1.09484912e-02 -1.00967397e+02] [-1.32648890e-02 8.13564741e-05 -9.99912014e-01 6.68627570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.71, Y:-100.96, Z:6.68 [[-6.23733897e-01 7.81586082e-01 8.90066513e-03 3.17118733e+01] [ 7.81508059e-01 6.23797397e-01 -1.10436652e-02 -1.00959711e+02] [-1.41837867e-02 6.76331994e-05 -9.99899403e-01 6.68481885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.72, Y:-100.95, Z:6.69 [[-6.83716846e-01 7.29679469e-01 9.95727089e-03 3.17240145e+01] [ 7.29603286e-01 6.83789346e-01 -1.05439636e-02 -1.00953925e+02] [-1.45023895e-02 5.57720504e-05 -9.99894833e-01 6.68550105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.420385723 meters Centerline goodness [0,1] 0.9999784347976106 Centerline is valid? [True, True] Translation: X:31.74, Y:-100.95, Z:6.69 [[-7.40260193e-01 6.72225033e-01 1.13292421e-02 3.17358392e+01] [ 6.72146836e-01 7.40346881e-01 -1.02531472e-02 -1.00945099e+02] [-1.52799913e-02 2.49174923e-05 -9.99883254e-01 6.68510020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.75, Y:-100.92, Z:6.69 [[-7.86529315e-01 6.17428819e-01 1.23810553e-02 3.17534980e+01] [ 6.17352542e-01 7.86626757e-01 -9.70489154e-03 -1.00919844e+02] [-1.57313491e-02 1.02942581e-05 -9.99876255e-01 6.68555873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.77, Y:-100.89, Z:6.68 [[-8.29483680e-01 5.58359844e-01 1.38242315e-02 3.17722387e+01] [ 5.58281783e-01 8.29598870e-01 -9.33630043e-03 -1.00894175e+02] [-1.66815820e-02 -2.64922533e-05 -9.99860852e-01 6.68492342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.79, Y:-100.87, Z:6.69 [[-8.67387359e-01 4.97410231e-01 1.49073987e-02 3.17891269e+01] [ 4.97335913e-01 8.67515452e-01 -8.59824113e-03 -1.00869260e+02] [-1.72092518e-02 -4.40209518e-05 -9.99851909e-01 6.68537837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.80, Y:-100.84, Z:6.68 [[-9.01355821e-01 4.32805271e-01 1.54039631e-02 3.17995781e+01] [ 4.32740565e-01 9.01487432e-01 -7.48418422e-03 -1.00839732e+02] [-1.71256736e-02 -7.99933001e-05 -9.99853342e-01 6.68489973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.81, Y:-100.81, Z:6.68 [[-9.30220623e-01 3.66651223e-01 1.60147727e-02 3.18117154e+01] [ 3.66594995e-01 9.30358463e-01 -6.42178150e-03 -1.00812645e+02] [-1.72540333e-02 -1.02738077e-04 -9.99851133e-01 6.68462381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6003857229999 meters Centerline goodness [0,1] 0.9999783183730108 Centerline is valid? [True, True] Translation: X:31.82, Y:-100.79, Z:6.68 [[-9.54224733e-01 2.98656795e-01 1.61020847e-02 3.18226004e+01] [ 2.98612144e-01 9.54360574e-01 -5.16557496e-03 -1.00785484e+02] [-1.69099288e-02 -1.20841360e-04 -9.99857010e-01 6.68414995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.83, Y:-100.76, Z:6.68 [[-9.73556689e-01 2.27861829e-01 1.63205522e-02 3.18265500e+01] [ 2.27827047e-01 9.73693464e-01 -3.98439066e-03 -1.00755318e+02] [-1.67991055e-02 -1.60766972e-04 -9.99858872e-01 6.68349802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.83, Y:-100.73, Z:6.68 [[-9.87460811e-01 1.57019079e-01 1.63142639e-02 3.18328860e+01] [ 1.56994672e-01 9.87595554e-01 -2.77414000e-03 -1.00726911e+02] [-1.65474874e-02 -1.78102036e-04 -9.99863065e-01 6.68313670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.690385723 meters Centerline goodness [0,1] 0.9998917655208243 Centerline is valid? [True, True] Translation: X:31.83, Y:-100.70, Z:6.68 [[-9.96276584e-01 8.46227861e-02 1.64909680e-02 3.18307671e+01] [ 8.46077120e-02 9.96413037e-01 -1.61088048e-03 -1.00697822e+02] [-1.65681327e-02 -2.09619434e-04 -9.99862717e-01 6.68233170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.90, Y:-100.01, Z:5.80 [[-9.84059663e-01 -1.77092509e-01 1.62733746e-02 3.18966381e+01] [ 1.77071725e-01 -9.84194189e-01 -2.72077864e-03 -1.00010671e+02] [ 1.64979902e-02 2.04145991e-04 9.99863878e-01 5.79697864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.750385723 meters Centerline goodness [0,1] 0.9999783254221124 Centerline is valid? [True, True] Translation: X:31.76, Y:-100.69, Z:6.68 [[-9.96734161e-01 7.91824861e-02 1.58476055e-02 3.17641462e+01] [ 7.91689793e-02 9.96860114e-01 -1.47883014e-03 -1.00694177e+02] [-1.59149433e-02 -2.19361766e-04 -9.99873325e-01 6.68124158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.780385723 meters Centerline goodness [0,1] 0.9999782646496261 Centerline is valid? [True, True] Translation: X:31.77, Y:-100.67, Z:6.68 [[-9.99845348e-01 8.16332954e-03 1.55768995e-02 3.17651050e+01] [ 8.15900102e-03 9.99966657e-01 -3.41411660e-04 -1.00666568e+02] [-1.55791672e-02 -2.14266922e-04 -9.99878615e-01 6.68110712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.76, Y:-100.64, Z:6.68 [[-9.97879974e-01 -6.33132237e-02 1.50662722e-02 3.17561574e+01] [-6.33092294e-02 9.97993683e-01 7.42388620e-04 -1.00640504e+02] [-1.50830475e-02 -2.13019346e-04 -9.99886222e-01 6.68044395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.75, Y:-100.61, Z:6.68 [[-9.90754238e-01 -1.34871072e-01 1.46913167e-02 3.17525216e+01] [-1.34859500e-01 9.90863132e-01 1.78009213e-03 -1.00612866e+02] [-1.47971670e-02 -2.17629809e-04 -9.99890492e-01 6.68014703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.870385723 meters Centerline goodness [0,1] 0.9999347045380346 Centerline is valid? [True, True] Translation: X:31.73, Y:-100.59, Z:6.68 [[-9.78258325e-01 -2.06896536e-01 1.42993759e-02 3.17317149e+01] [-2.06878002e-01 9.78362799e-01 2.77959723e-03 -1.00588180e+02] [-1.45650665e-02 -2.39062183e-04 -9.99893895e-01 6.68003691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.900385723 meters Centerline goodness [0,1] 0.9999782618147037 Centerline is valid? [True, True] Translation: X:31.71, Y:-100.56, Z:6.68 [[-9.60564362e-01 -2.77714053e-01 1.38206425e-02 3.17077227e+01] [-2.77689026e-01 9.60663751e-01 3.73660399e-03 -1.00564609e+02] [-1.43146977e-02 -2.48592135e-04 -9.99897509e-01 6.68074025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.66, Y:-100.55, Z:6.68 [[-9.37291380e-01 -3.48238428e-01 1.46583418e-02 3.16614972e+01] [-3.48200794e-01 9.37405947e-01 5.12814974e-03 -1.00549803e+02] [-1.55266356e-02 -2.97475711e-04 -9.99879410e-01 6.68239764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.60, Y:-100.54, Z:6.68 [[-9.08959976e-01 -4.16624894e-01 1.46785479e-02 3.16030829e+01] [-4.16576120e-01 9.09078434e-01 6.38252627e-03 -1.00544049e+02] [-1.60030707e-02 -3.13271601e-04 -9.99871894e-01 6.68254789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.53, Y:-100.55, Z:6.68 [[-8.75510937e-01 -4.82965471e-01 1.49984192e-02 3.15327977e+01] [-4.82901135e-01 8.75639333e-01 7.89000361e-03 -1.00550469e+02] [-1.69438051e-02 -3.34969195e-04 -9.99856387e-01 6.68284890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.020385723 meters Centerline goodness [0,1] 0.9999781735638205 Centerline is valid? [True, True] Translation: X:31.45, Y:-100.56, Z:6.68 [[-8.36967166e-01 -5.47054787e-01 1.47316919e-02 3.14539250e+01] [-5.46977331e-01 8.37096732e-01 9.21198666e-03 -1.00564744e+02] [-1.73713125e-02 -3.47771137e-04 -9.99849047e-01 6.68313991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.37, Y:-100.59, Z:6.68 [[-7.93261727e-01 -6.08721888e-01 1.39103004e-02 3.13711119e+01] [-6.08636104e-01 7.93383601e-01 1.02252308e-02 -1.00591071e+02] [-1.72605260e-02 -3.55026754e-04 -9.99850963e-01 6.68313662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.28, Y:-100.63, Z:6.68 [[-7.44950563e-01 -6.66996125e-01 1.28385348e-02 3.12786046e+01] [-6.66905210e-01 7.45061101e-01 1.10180402e-02 -1.00630104e+02] [-1.69144830e-02 -3.54190529e-04 -9.99856877e-01 6.68283229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.20, Y:-100.67, Z:6.68 [[-6.91803141e-01 -7.21998157e-01 1.12728407e-02 3.11958870e+01] [-7.21910331e-01 6.91894894e-01 1.12663614e-02 -1.00674417e+02] [-1.59339131e-02 -3.43875948e-04 -9.99872988e-01 6.68161396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.140385723 meters Centerline goodness [0,1] 0.9999779298168174 Centerline is valid? [True, True] Translation: X:31.10, Y:-100.74, Z:6.68 [[-6.35050870e-01 -7.72400611e-01 1.03773244e-02 3.11021174e+01] [-7.72306228e-01 6.35135559e-01 1.20794014e-02 -1.00736216e+02] [-1.59211447e-02 -3.43437890e-04 -9.99873192e-01 6.68203978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.00, Y:-100.83, Z:6.68 [[-5.74710703e-01 -8.18307208e-01 8.99559778e-03 3.09998918e+01] [-8.18215706e-01 5.74781009e-01 1.22413548e-02 -1.00827864e+02] [-1.51876876e-02 -3.25101759e-04 -9.99884608e-01 6.68059932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.94, Y:-100.87, Z:6.68 [[-5.10427095e-01 -8.59886802e-01 7.67255498e-03 3.09413529e+01] [-8.59798523e-01 5.10484666e-01 1.23250197e-02 -1.00869251e+02] [-1.45148435e-02 -3.05827422e-04 -9.99894607e-01 6.67981721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.86, Y:-100.95, Z:6.68 [[-4.43485425e-01 -8.96259152e-01 6.34119626e-03 3.08613383e+01] [-8.96176492e-01 4.43530667e-01 1.21754972e-02 -1.00954368e+02] [-1.37249158e-02 -2.83175476e-04 -9.99905769e-01 6.68014759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.79, Y:-101.05, Z:6.68 [[-3.74512776e-01 -9.27209775e-01 4.71318796e-03 3.07898114e+01] [-9.27144005e-01 3.74542360e-01 1.10460612e-02 -1.01052602e+02] [-1.20073045e-02 -2.32912900e-04 -9.99927883e-01 6.67888476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.72, Y:-101.16, Z:6.68 [[-3.03406476e-01 -9.52854672e-01 3.53322795e-03 3.07247030e+01] [-9.52797456e-01 3.03426984e-01 1.04438679e-02 -1.01158956e+02] [-1.10235650e-02 -1.97713455e-04 -9.99939219e-01 6.67837714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.320385723 meters Centerline goodness [0,1] 0.9999776536312849 Centerline is valid? [True, True] Translation: X:30.67, Y:-101.26, Z:6.68 [[-2.29999846e-01 -9.73187315e-01 2.55379931e-03 3.06670456e+01] [-9.73135521e-01 2.30013956e-01 1.00417697e-02 -1.01258798e+02] [-1.03599324e-02 -1.75587328e-04 -9.99946319e-01 6.67905062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.61, Y:-101.40, Z:6.68 [[-1.56269470e-01 -9.87713104e-01 1.63616254e-03 3.06148875e+01] [-9.87668127e-01 1.56277970e-01 9.42688976e-03 -1.01396292e+02] [-9.56675870e-03 -1.42850529e-04 -9.99954227e-01 6.67873336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.57, Y:-101.52, Z:6.68 [[-8.07629222e-02 -9.96732977e-01 8.50403697e-04 3.05734370e+01] [-9.96692525e-01 8.07673067e-02 8.98074940e-03 -1.01519011e+02] [-9.02009390e-03 -1.22279443e-04 -9.99959311e-01 6.67819812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.54, Y:-101.63, Z:6.68 [[-5.87921422e-03 -9.99982709e-01 1.30359377e-04 3.05444190e+01] [-9.99952995e-01 5.88004451e-03 7.70925516e-03 -1.01630076e+02] [-7.70988837e-03 -8.50288871e-05 -9.99970275e-01 6.67820091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.440385723 meters Centerline goodness [0,1] 0.9999774911652823 Centerline is valid? [True, True] Translation: X:30.51, Y:-101.72, Z:6.68 [[ 6.05360196e-02 -9.98165940e-01 -3.83766143e-04 3.05140436e+01] [-9.98137067e-01 -6.05371876e-02 7.59245941e-03 -1.01724292e+02] [-7.60176651e-03 -7.65660599e-05 -9.99971103e-01 6.67824632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.50, Y:-101.84, Z:6.68 [[ 1.34471109e-01 -9.90917150e-01 -8.50798299e-04 3.05007653e+01] [-9.90895269e-01 -1.34473793e-01 6.58524305e-03 -1.01835442e+02] [-6.63984035e-03 -4.24729251e-05 -9.99977955e-01 6.67863746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.50, Y:-101.97, Z:6.68 [[ 2.09259058e-01 -9.77859332e-01 -1.33148821e-03 3.04964665e+01] [-9.77838567e-01 -2.09263292e-01 6.37267276e-03 -1.01969285e+02] [-6.51020914e-03 -3.15589719e-05 -9.99978808e-01 6.67937043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.50, Y:-102.10, Z:6.68 [[ 2.83195567e-01 -9.59060714e-01 -1.67854361e-03 3.05012063e+01] [-9.59043408e-01 -2.83200541e-01 5.76151794e-03 -1.02095646e+02] [-6.00100997e-03 -2.18401570e-05 -9.99981994e-01 6.67935947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.51, Y:-102.21, Z:6.68 [[ 3.54637072e-01 -9.35002132e-01 -1.88661522e-03 3.05140085e+01] [-9.34988776e-01 -3.54642091e-01 4.99768026e-03 -1.02210774e+02] [-5.34191486e-03 -8.39864429e-06 -9.99985732e-01 6.67949978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.54, Y:-102.35, Z:6.68 [[ 4.25125298e-01 -9.05132232e-01 -2.03094517e-03 3.05425285e+01] [-9.05121865e-01 -4.25130149e-01 4.33209089e-03 -1.02347411e+02] [-4.78453112e-03 -3.42855253e-06 -9.99988554e-01 6.67944492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.620385723 meters Centerline goodness [0,1] 0.9999771229868228 Centerline is valid? [True, True] Translation: X:30.57, Y:-102.46, Z:6.68 [[ 4.93325559e-01 -8.69843914e-01 -1.20764642e-03 3.05716935e+01] [-8.69841307e-01 -4.93327037e-01 2.12944483e-03 -1.02462499e+02] [-2.44804926e-03 -4.88173072e-08 -9.99997004e-01 6.67838693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.60, Y:-102.57, Z:6.68 [[ 5.59357261e-01 -8.28926477e-01 -5.91699288e-04 3.06045269e+01] [-8.28926013e-01 -5.59357574e-01 8.77196430e-04 -1.02571636e+02] [-1.05810282e-03 -1.91260755e-07 -9.99999440e-01 6.67811809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.65, Y:-102.68, Z:6.68 [[ 6.22082098e-01 -7.82952017e-01 5.71764619e-05 3.06491898e+01] [-7.82952013e-01 -6.22082101e-01 -7.31582908e-05 -1.02683313e+02] [ 9.28478845e-05 7.44037086e-07 -9.99999996e-01 6.67860108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.71, Y:-102.80, Z:6.68 [[ 6.80770924e-01 -7.32496379e-01 5.55911074e-05 3.07074398e+01] [-7.32496377e-01 -6.80770926e-01 -6.09373183e-05 -1.02797310e+02] [ 8.24811745e-05 7.64069735e-07 -9.99999997e-01 6.67912537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.76, Y:-102.90, Z:6.68 [[ 7.35277169e-01 -6.77766533e-01 1.05595456e-04 3.07636388e+01] [-6.77766526e-01 -7.35277177e-01 -9.86255786e-05 -1.02896132e+02] [ 1.44487045e-04 9.48070882e-07 -9.99999990e-01 6.68008092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.76, Y:-102.90, Z:6.68 [[ 7.85949766e-01 -6.18290347e-01 1.12948936e-04 3.07575400e+01] [-6.18290340e-01 -7.85949774e-01 -9.00722799e-05 -1.02903820e+02] [ 1.44463012e-04 9.57050939e-07 -9.99999990e-01 6.68008120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.75, Y:-102.91, Z:6.68 [[ 8.32550195e-01 -5.53949591e-01 1.51991751e-04 3.07499538e+01] [-5.53949581e-01 -8.32550209e-01 -1.02675007e-04 -1.02912268e+02] [ 1.83417542e-04 1.28633058e-06 -9.99999983e-01 6.68151644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.74, Y:-102.92, Z:6.68 [[ 8.73465363e-01 -4.86886198e-01 2.99632666e-04 3.07410894e+01] [-4.86886168e-01 -8.73465415e-01 -1.69294073e-04 -1.02918884e+02] [ 3.44145718e-04 1.98550855e-06 -9.99999941e-01 6.68175667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.73, Y:-102.93, Z:6.68 [[ 9.08879423e-01 -4.17058107e-01 8.54145583e-04 3.07321506e+01] [-4.17057918e-01 -9.08879825e-01 -3.96808298e-04 -1.02929138e+02] [ 9.41807805e-04 4.42271803e-06 -9.99999557e-01 6.68261267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.72, Y:-102.94, Z:6.68 [[ 9.38646027e-01 -3.44879809e-01 1.24660253e-03 3.07239821e+01] [-3.44879496e-01 -9.38646855e-01 -4.64176931e-04 -1.02938090e+02] [ 1.33020479e-03 5.77017930e-06 -9.99999115e-01 6.68282076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.920385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.72, Y:-102.95, Z:6.68 [[ 9.62472871e-01 -2.71370788e-01 1.96650413e-03 3.07177678e+01] [-2.71370208e-01 -9.62474880e-01 -5.61361719e-04 -1.02947035e+02] [ 2.04504800e-03 6.64479108e-06 -9.99997909e-01 6.68269553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.71, Y:-102.96, Z:6.68 [[ 9.80552008e-01 -1.96240939e-01 2.69317859e-03 3.07122395e+01] [-1.96240182e-01 -9.80555707e-01 -5.45106525e-04 -1.02956154e+02] [ 2.74778385e-03 5.99544194e-06 -9.99996225e-01 6.68252894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.70, Y:-102.97, Z:6.68 [[ 9.92764064e-01 -1.20035431e-01 3.31781370e-03 3.07036450e+01] [-1.20034750e-01 -9.92769608e-01 -4.04407069e-04 -1.02966949e+02] [ 3.34236779e-03 3.22786647e-06 -9.99994414e-01 6.68246834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.70, Y:-102.98, Z:6.68 [[ 9.99009881e-01 -4.42629861e-02 4.47727475e-03 3.06965915e+01] [-4.42625695e-02 -9.99019914e-01 -1.92149093e-04 -1.02978961e+02] [ 4.48139172e-03 -6.21684177e-06 -9.99989959e-01 6.68285320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.69, Y:-102.99, Z:6.68 [[ 9.99460382e-01 3.24302120e-02 5.21788602e-03 3.06892038e+01] [ 3.24296867e-02 -9.99474002e-01 1.85266007e-04 -1.02991250e+02] [ 5.22114964e-03 -1.59516251e-05 -9.99986370e-01 6.68360942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.68, Y:-103.00, Z:6.68 [[ 9.93939420e-01 1.09835539e-01 4.53683759e-03 3.06833028e+01] [ 1.09834315e-01 -9.93949774e-01 5.18798912e-04 -1.03002998e+02] [ 4.56637126e-03 -1.73542392e-05 -9.99989574e-01 6.68398958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.68, Y:-103.01, Z:6.68 [[ 9.82403269e-01 1.86715094e-01 4.61427018e-03 3.06773529e+01] [ 1.86712935e-01 -9.82414105e-01 8.98220888e-04 -1.03014135e+02] [ 4.70083550e-03 -2.08712112e-05 -9.99988951e-01 6.68445254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.67, Y:-103.03, Z:6.69 [[ 9.64942517e-01 2.62432962e-01 3.85743584e-03 3.06736732e+01] [ 2.62430781e-01 -9.64950227e-01 1.07006681e-03 -1.03027334e+02] [ 4.00305439e-03 -2.02430597e-05 -9.99991988e-01 6.68582949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.67, Y:-103.04, Z:6.69 [[ 9.41651008e-01 3.36568243e-01 3.89834108e-03 3.06710809e+01] [ 3.36565255e-01 -9.41659077e-01 1.41850163e-03 -1.03039303e+02] [ 4.14833086e-03 -2.36873279e-05 -9.99991395e-01 6.68650300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.67, Y:-103.05, Z:6.69 [[ 9.12590567e-01 4.08855170e-01 3.98836090e-03 3.06669427e+01] [ 4.08851136e-01 -9.12599282e-01 1.81644850e-03 -1.03050374e+02] [ 4.38243966e-03 -2.70278815e-05 -9.99990397e-01 6.68643213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.67, Y:-103.06, Z:6.69 [[ 8.78001984e-01 4.78640729e-01 3.94575200e-03 3.06656668e+01] [ 4.78635742e-01 -8.78010849e-01 2.18517084e-03 -1.03062124e+02] [ 4.51032483e-03 -3.00063964e-05 -9.99989828e-01 6.68652582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.250385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.66, Y:-103.07, Z:6.69 [[ 8.38300549e-01 5.45197473e-01 3.45030145e-03 3.06647489e+01] [ 5.45192703e-01 -8.38307649e-01 2.28079402e-03 -1.03073458e+02] [ 4.13589724e-03 -3.09117037e-05 -9.99991447e-01 6.68663761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.280385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.66, Y:-103.09, Z:6.69 [[ 7.93245776e-01 6.08891979e-01 3.42012811e-03 3.06629953e+01] [ 6.08886134e-01 -7.93253148e-01 2.66814951e-03 -1.03085570e+02] [ 4.33764223e-03 -3.40297382e-05 -9.99990592e-01 6.68684130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.310385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.66, Y:-103.10, Z:6.69 [[ 7.43314095e-01 6.68934629e-01 3.25866997e-03 3.06640699e+01] [ 6.68927989e-01 -7.43321237e-01 2.98069770e-03 -1.03097788e+02] [ 4.41613051e-03 -3.57790654e-05 -9.99990248e-01 6.68717749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.67, Y:-103.11, Z:6.69 [[ 6.88811533e-01 7.24932528e-01 3.39159102e-03 3.06663627e+01] [ 7.24923442e-01 -6.88819881e-01 3.62973165e-03 -1.03110039e+02] [ 4.96750586e-03 -4.15571883e-05 -9.99987661e-01 6.68743605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.370385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.67, Y:-103.12, Z:6.69 [[ 6.29938768e-01 7.76638242e-01 3.19218198e-03 3.06688372e+01] [ 7.76627922e-01 -6.29946854e-01 4.00396039e-03 -1.03122536e+02] [ 5.12053376e-03 -4.31122132e-05 -9.99986889e-01 6.68740782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.400385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.67, Y:-103.14, Z:6.69 [[ 5.66952565e-01 8.23745047e-01 2.98107333e-03 3.06711663e+01] [ 8.23733256e-01 -5.66960401e-01 4.40760013e-03 -1.03135250e+02] [ 5.32088930e-03 -4.32909596e-05 -9.99985843e-01 6.68759414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.430385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.68, Y:-103.15, Z:6.69 [[ 5.00607317e-01 8.65670492e-01 2.62946436e-03 3.06761497e+01] [ 8.65658100e-01 -5.00614221e-01 4.63205659e-03 -1.03147853e+02] [ 5.32618196e-03 -4.26243013e-05 -9.99985815e-01 6.68787804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.460385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.68, Y:-103.16, Z:6.69 [[ 4.30631469e-01 9.02525796e-01 1.93023353e-03 3.06811529e+01] [ 9.02516383e-01 -4.30635793e-01 4.12223404e-03 -1.03159029e+02] [ 4.55165021e-03 -3.30963122e-05 -9.99989641e-01 6.68867167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.490385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.69, Y:-103.17, Z:6.69 [[ 3.58174435e-01 9.33653403e-01 1.54818885e-03 3.06858738e+01] [ 9.33644317e-01 -3.58177780e-01 4.11908201e-03 -1.03170809e+02] [ 4.40032178e-03 -2.98921520e-05 -9.99990318e-01 6.68843013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.520385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.69, Y:-103.18, Z:6.69 [[ 2.81869502e-01 9.59451850e-01 1.31622577e-03 3.06898512e+01] [ 9.59441020e-01 -2.81872574e-01 4.55870891e-03 -1.03182322e+02] [ 4.74486964e-03 -2.21200156e-05 -9.99988743e-01 6.68800184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.550385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.70, Y:-103.19, Z:6.69 [[ 2.04570198e-01 9.78851513e-01 8.65933346e-04 3.06982203e+01] [ 9.78842443e-01 -2.04572030e-01 4.21384732e-03 -1.03193315e+02] [ 4.30187657e-03 -1.44152701e-05 -9.99990747e-01 6.68839277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.580385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.71, Y:-103.20, Z:6.69 [[ 1.26021591e-01 9.92027367e-01 5.12696774e-04 3.07055305e+01] [ 9.92018876e-01 -1.26022633e-01 4.10443567e-03 -1.03203928e+02] [ 4.13632391e-03 -8.64263370e-06 -9.99991445e-01 6.68870024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.610385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.71, Y:-103.21, Z:6.69 [[ 4.60090038e-02 9.98941016e-01 1.36461314e-04 3.07127655e+01] [ 9.98936607e-01 -4.60092061e-02 2.96794551e-03 -1.03213820e+02] [ 2.97108098e-03 -2.36014114e-07 -9.99995586e-01 6.68976765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.640385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.72, Y:-103.22, Z:6.69 [[-3.27038585e-02 9.99465083e-01 -7.04962535e-05 3.07155201e+01] [ 9.99462719e-01 3.27039345e-02 2.17410895e-03 -1.03222163e+02] [ 2.17525149e-03 6.43374469e-07 -9.99997634e-01 6.69044293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.670385723 meters Centerline goodness [0,1] 0.9999545247839927 Centerline is valid? [True, True] Translation: X:30.72, Y:-103.23, Z:6.69 [[-1.09901991e-01 9.93942401e-01 -2.36518596e-04 3.07182911e+01] [ 9.93940128e-01 1.09902246e-01 2.12586958e-03 -1.03230124e+02] [ 2.13898584e-03 -1.44802201e-06 -9.99997712e-01 6.68967446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.700385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.73, Y:-103.24, Z:6.69 [[-1.86222691e-01 9.82507428e-01 -5.14201574e-04 3.07301902e+01] [ 9.82503761e-01 1.86223401e-01 2.68423740e-03 -1.03237316e+02] [ 2.73303955e-03 -5.33906860e-06 -9.99996265e-01 6.68919970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.74, Y:-103.24, Z:6.69 [[-2.61677011e-01 9.65155106e-01 -8.73708398e-04 3.07420421e+01] [ 9.65149849e-01 2.61678469e-01 3.18545216e-03 -1.03243653e+02] [ 3.30308610e-03 -9.69992894e-06 -9.99994545e-01 6.68866833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.760385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.75, Y:-103.25, Z:6.69 [[-3.34115404e-01 9.42531503e-01 -1.12352168e-03 3.07539814e+01] [ 9.42526355e-01 3.34117292e-01 3.11545226e-03 -1.03249293e+02] [ 3.31179992e-03 -1.80282028e-05 -9.99994516e-01 6.68878731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.790385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.77, Y:-103.25, Z:6.69 [[-4.06109976e-01 9.13823390e-01 -1.22419966e-03 3.07672682e+01] [ 9.13819376e-01 4.06111821e-01 2.70862704e-03 -1.03252843e+02] [ 2.97236869e-03 -1.86969068e-05 -9.99995582e-01 6.68931010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.820385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.78, Y:-103.26, Z:6.69 [[-4.74583242e-01 8.80210046e-01 -1.01055795e-03 3.07801115e+01] [ 8.80208128e-01 4.74584318e-01 1.83747695e-03 -1.03257633e+02] [ 2.09696062e-03 -1.74655519e-05 -9.99997801e-01 6.69056899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.79, Y:-103.26, Z:6.69 [[-5.40904212e-01 8.41084086e-01 -4.40763478e-04 3.07935551e+01] [ 8.41083818e-01 5.40904391e-01 6.71547122e-04 -1.03258944e+02] [ 8.03238498e-04 -7.47636181e-06 -9.99999677e-01 6.69153177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.880385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.81, Y:-103.26, Z:6.69 [[-6.03582808e-01 7.97300274e-01 2.57727313e-04 3.08067049e+01] [ 7.97300205e-01 6.03582863e-01 -3.31259396e-04 -1.03259753e+02] [-4.19672997e-04 5.54356312e-06 -9.99999912e-01 6.69243839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.910385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.82, Y:-103.26, Z:6.69 [[-6.60440476e-01 7.50876747e-01 1.57726740e-03 3.08180390e+01] [ 7.50874750e-01 6.60442358e-01 -1.73254039e-03 -1.03262493e+02] [-2.34261849e-03 4.00904669e-05 -9.99997255e-01 6.69412590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.940385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.83, Y:-103.26, Z:6.69 [[-7.15232713e-01 6.98883162e-01 2.11975996e-03 3.08296523e+01] [ 6.98880330e-01 7.15235852e-01 -1.99033869e-03 -1.03264551e+02] [-2.90714251e-03 5.79031960e-05 -9.99995773e-01 6.69426204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.83, Y:-103.23, Z:6.69 [[-7.60043280e-01 6.49870254e-01 1.69284640e-03 3.08349965e+01] [ 6.49868796e-01 7.60045163e-01 -1.37767755e-03 -1.03232634e+02] [-2.18195138e-03 5.30334907e-05 -9.99997618e-01 6.69422168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.000385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.84, Y:-103.20, Z:6.69 [[-8.03301803e-01 5.95570408e-01 1.45011901e-03 3.08401803e+01] [ 5.95569539e-01 8.03303110e-01 -1.01841360e-03 -1.03200765e+02] [-1.77142212e-03 4.55532276e-05 -9.99998430e-01 6.69430081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.030385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.88, Y:-103.19, Z:6.69 [[-8.42749179e-01 5.38302823e-01 1.97295358e-03 3.08801381e+01] [ 5.38301519e-01 8.42751486e-01 -1.18678296e-03 -1.03192717e+02] [-2.30155817e-03 6.18835427e-05 -9.99997350e-01 6.69448900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.060385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.93, Y:-103.19, Z:6.69 [[-8.78040089e-01 4.78584495e-01 1.57557368e-03 3.09295542e+01] [ 4.78583827e-01 8.78041502e-01 -8.01559248e-04 -1.03185874e+02] [-1.76703291e-03 5.02429283e-05 -9.99998438e-01 6.69410997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.95, Y:-103.16, Z:6.69 [[-9.09641058e-01 4.15393758e-01 1.08255191e-03 3.09517173e+01] [ 4.15393507e-01 9.09641702e-01 -4.57202512e-04 -1.03161337e+02] [-1.17465343e-03 3.37948560e-05 -9.99999310e-01 6.69364264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.120385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.95, Y:-103.13, Z:6.69 [[-9.36817507e-01 3.49814122e-01 1.74327944e-03 3.09511456e+01] [ 3.49813620e-01 9.36819128e-01 -5.95014381e-04 -1.03126179e+02] [-1.84128196e-03 5.24030029e-05 -9.99998304e-01 6.69321809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.150385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.98, Y:-103.10, Z:6.69 [[-9.59347844e-01 2.82216402e-01 2.36991292e-03 3.09774756e+01] [ 2.82215717e-01 9.59350769e-01 -6.25546420e-04 -1.03102998e+02] [-2.45011724e-03 6.87100630e-05 -9.99996996e-01 6.69387286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.180385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.99, Y:-103.07, Z:6.69 [[-9.77053725e-01 2.12968235e-01 3.24794224e-03 3.09851839e+01] [ 2.12967366e-01 9.77059119e-01 -6.15130122e-04 -1.03069043e+02] [-3.30443476e-03 9.06905251e-05 -9.99994536e-01 6.69433031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.210385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.00, Y:-103.04, Z:6.69 [[-9.89794644e-01 1.42451300e-01 3.76691223e-03 3.09968639e+01] [ 1.42450658e-01 9.89801807e-01 -4.39430060e-04 -1.03037806e+02] [-3.79109392e-03 1.01653606e-04 -9.99992809e-01 6.69429789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.240385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.98, Y:-103.01, Z:6.69 [[-9.97441144e-01 7.13903048e-02 3.81941470e-03 3.09822223e+01] [ 7.13901690e-02 9.97448452e-01 -1.72066780e-04 -1.03006991e+02] [-3.82195318e-03 1.01042175e-04 -9.99992691e-01 6.69446199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.270385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.99, Y:-102.97, Z:6.70 [[-9.99989334e-01 -5.88780729e-04 4.58102539e-03 3.09941112e+01] [-5.88237708e-04 9.99999820e-01 1.19884259e-04 -1.02974086e+02] [-4.58109515e-03 1.17188248e-04 -9.99989500e-01 6.69518277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.300385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.00, Y:-102.94, Z:6.70 [[-9.97374436e-01 -7.22165516e-02 5.38556217e-03 3.09964395e+01] [-7.22147575e-02 9.97388967e-01 5.27115628e-04 -1.02941730e+02] [-5.40956676e-03 1.36814586e-04 -9.99985359e-01 6.69596868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.330385723 meters Centerline goodness [0,1] 0.9999111111111111 Centerline is valid? [True, True] Translation: X:30.98, Y:-102.91, Z:6.70 [[-9.89663688e-01 -1.43187148e-01 7.95149049e-03 3.09792155e+01] [-1.43180845e-01 9.89695609e-01 1.35921360e-03 -1.02910287e+02] [-8.06417714e-03 2.06663215e-04 -9.99967463e-01 6.69783077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.360385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.82, Y:-102.11, Z:5.78 [[-9.91655758e-01 1.28515237e-01 1.01337153e-02 3.08183440e+01] [-1.28509786e-01 -9.91707527e-01 1.18994592e-03 -1.02105745e+02] [ 1.02026079e-02 -1.22264870e-04 9.99947945e-01 5.78008150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.390385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.82, Y:-102.93, Z:6.70 [[-9.89185935e-01 -1.46199381e-01 1.17015560e-02 3.08230596e+01] [-1.46184915e-01 9.89255081e-01 2.08685108e-03 -1.02934376e+02] [-1.18809201e-02 3.53692765e-04 -9.99929357e-01 6.69904052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.420385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.78, Y:-102.91, Z:6.70 [[-9.77179265e-01 -2.12050202e-01 1.24657858e-02 3.07827595e+01] [-2.12026936e-01 9.77258667e-01 3.17447931e-03 -1.02914632e+02] [-1.28554462e-02 4.58952980e-04 -9.99917260e-01 6.69869885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.450385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.72, Y:-102.90, Z:6.70 [[-9.59811888e-01 -2.80427490e-01 1.10255369e-02 3.07225954e+01] [-2.80403569e-01 9.59875106e-01 3.69037954e-03 -1.02900398e+02] [-1.16180223e-02 4.50470253e-04 -9.99932407e-01 6.69700972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.65, Y:-102.90, Z:6.70 [[-9.37232346e-01 -3.48575175e-01 9.53297307e-03 3.06525729e+01] [-3.48552482e-01 9.37280729e-01 4.00024082e-03 -1.02896656e+02] [-1.03294566e-02 4.26413660e-04 -9.99946559e-01 6.69623980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.510385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.57, Y:-102.90, Z:6.69 [[-9.10314222e-01 -4.13854377e-01 7.25066174e-03 3.05698118e+01] [-4.13837987e-01 9.10343023e-01 3.70164726e-03 -1.02897009e+02] [-8.13253225e-03 3.69062891e-04 -9.99966862e-01 6.69407982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.540385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.48, Y:-102.91, Z:6.69 [[-8.77223688e-01 -4.80038094e-01 6.48311492e-03 3.04804782e+01] [-4.80021973e-01 8.77247573e-01 3.94989826e-03 -1.02911617e+02] [-7.58339846e-03 3.52906704e-04 -9.99971183e-01 6.69402133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.570385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.38, Y:-102.93, Z:6.69 [[-8.38935417e-01 -5.44192981e-01 6.43160815e-03 3.03839020e+01] [-5.44173517e-01 8.38959987e-01 4.61778362e-03 -1.02934229e+02] [-7.90882732e-03 3.74111396e-04 -9.99968655e-01 6.69335269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6003857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.28, Y:-102.97, Z:6.69 [[-7.95060802e-01 -6.06500592e-01 5.94585348e-03 3.02839878e+01] [-6.06480156e-01 7.95082952e-01 4.99194481e-03 -1.02971448e+02] [-7.75506422e-03 3.62857501e-04 -9.99969863e-01 6.69299294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.630385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.19, Y:-103.01, Z:6.69 [[-7.46214362e-01 -6.65682711e-01 5.53660318e-03 3.01860275e+01] [-6.65660772e-01 7.46234817e-01 5.41621921e-03 -1.03012468e+02] [-7.73708954e-03 3.56161016e-04 -9.99970005e-01 6.69207281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.660385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.09, Y:-103.07, Z:6.69 [[-6.93340463e-01 -7.20592056e-01 5.10793661e-03 3.00897810e+01] [-7.20568623e-01 6.93359187e-01 5.82221792e-03 -1.03070768e+02] [-7.73707875e-03 3.56160423e-04 -9.99970005e-01 6.69207229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.690385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.99, Y:-103.14, Z:6.69 [[-6.35106065e-01 -7.72408090e-01 5.10188624e-03 2.99930813e+01] [-7.72378257e-01 6.35126445e-01 6.79903531e-03 -1.03136216e+02] [-8.49197274e-03 3.77522560e-04 -9.99963871e-01 6.69299531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7203857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.90, Y:-103.21, Z:6.69 [[-5.74119359e-01 -8.18756730e-01 4.93744606e-03 2.98990123e+01] [-8.18720140e-01 5.74140445e-01 7.75121713e-03 -1.03210249e+02] [-9.18114867e-03 4.07737281e-04 -9.99957769e-01 6.69356005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.750385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.81, Y:-103.29, Z:6.69 [[-5.10296382e-01 -8.59980324e-01 5.60754551e-03 2.98093425e+01] [-8.59916383e-01 5.10326909e-01 1.05005221e-02 -1.03293766e+02] [-1.18919238e-02 5.36358195e-04 -9.99929145e-01 6.69490766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.780385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.72, Y:-103.38, Z:6.69 [[-4.43932844e-01 -8.96045050e-01 5.18634049e-03 2.97224457e+01] [-8.95967399e-01 4.43962738e-01 1.18113275e-02 -1.03383462e+02] [-1.28860234e-02 5.96644192e-04 -9.99916794e-01 6.69369814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.810385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.65, Y:-103.49, Z:6.70 [[-3.74709942e-01 -9.27131848e-01 4.35836634e-03 2.96543523e+01] [-9.27048536e-01 3.74734771e-01 1.24444038e-02 -1.03486369e+02] [-1.31708345e-02 6.22624684e-04 -9.99913067e-01 6.69557231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8403857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.58, Y:-103.59, Z:6.69 [[-3.03752589e-01 -9.52745264e-01 3.29027148e-03 2.95795490e+01] [-9.52665168e-01 3.03769770e-01 1.23694880e-02 -1.03589674e+02] [-1.27844561e-02 6.22736967e-04 -9.99918082e-01 6.69342520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.870385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.53, Y:-103.71, Z:6.69 [[-2.29699726e-01 -9.73258970e-01 2.23895780e-03 2.95252184e+01] [-9.73183976e-01 2.29709855e-01 1.20967617e-02 -1.03705653e+02] [-1.22875925e-02 5.99705000e-04 -9.99924325e-01 6.69422657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.900385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.46, Y:-103.82, Z:6.69 [[-1.53412637e-01 -9.88161499e-01 1.18974015e-03 2.94636968e+01] [-9.88098509e-01 1.53416307e-01 1.11701758e-02 -1.03819855e+02] [-1.12204632e-02 5.38065664e-04 -9.99936904e-01 6.69250068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.930385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.42, Y:-103.94, Z:6.69 [[-7.62588689e-02 -9.97088002e-01 3.19534338e-04 2.94219603e+01] [-9.97028294e-01 7.62578031e-02 1.09237573e-02 -1.03939631e+02] [-1.09163143e-02 5.14448600e-04 -9.99940283e-01 6.69240455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.960385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.39, Y:-104.07, Z:6.69 [[ 2.54778936e-03 -9.99996625e-01 -5.09699132e-04 2.93864478e+01] [-9.99939309e-01 -2.55310593e-03 1.07172686e-02 -1.04074056e+02] [-1.07185337e-02 4.82362855e-04 -9.99942439e-01 6.69227042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.990385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.36, Y:-104.19, Z:6.69 [[ 8.03893720e-02 -9.96762746e-01 -1.25597009e-03 2.93627517e+01] [-9.96712193e-01 -8.03979566e-02 1.00485208e-02 -1.04191626e+02] [-1.01169686e-02 4.44046426e-04 -9.99948724e-01 6.69209949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.020385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.35, Y:-104.32, Z:6.69 [[ 1.57289747e-01 -9.87550580e-01 -1.94633755e-03 2.93494330e+01] [-9.87504514e-01 -1.57301227e-01 9.54771800e-03 -1.04316584e+02] [-9.73501573e-03 4.20258970e-04 -9.99952525e-01 6.69220756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.050385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.34, Y:-104.44, Z:6.69 [[ 2.33945933e-01 -9.72246315e-01 -2.53064242e-03 2.93418655e+01] [-9.72205870e-01 -2.33959305e-01 8.87640101e-03 -1.04441764e+02] [-9.22211551e-03 3.83707502e-04 -9.99957402e-01 6.69220301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.080385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.35, Y:-104.57, Z:6.69 [[ 3.08241669e-01 -9.51302732e-01 -3.19166652e-03 2.93477847e+01] [-9.51263674e-01 -3.08257962e-01 8.62856882e-03 -1.04567215e+02] [-9.19223770e-03 3.76431966e-04 -9.99957680e-01 6.69273380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.110385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.36, Y:-104.69, Z:6.69 [[ 3.81070404e-01 -9.24537922e-01 -3.87015780e-03 2.93562350e+01] [-9.24499628e-01 -3.81089878e-01 8.42278673e-03 -1.04689496e+02] [-9.26206371e-03 3.68284701e-04 -9.99957038e-01 6.69343063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.140385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.38, Y:-104.81, Z:6.69 [[ 4.50681019e-01 -8.92673971e-01 -4.44977399e-03 2.93821511e+01] [-8.92638091e-01 -4.50702841e-01 8.01174167e-03 -1.04808156e+02] [-9.15739903e-03 3.61297859e-04 -9.99958005e-01 6.69422557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.170385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.41, Y:-104.92, Z:6.69 [[ 5.17001119e-01 -8.55971800e-01 -4.70327959e-03 2.94062664e+01] [-8.55942163e-01 -5.17022401e-01 7.13088432e-03 -1.04924250e+02] [-8.53553679e-03 3.39060130e-04 -9.99963514e-01 6.69258331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.200385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.44, Y:-105.03, Z:6.69 [[ 5.79413983e-01 -8.15020586e-01 -4.56951712e-03 2.94383559e+01] [-8.14999280e-01 -5.79431921e-01 5.90107465e-03 -1.05031379e+02] [-7.45722140e-03 3.04987991e-04 -9.99972148e-01 6.69263720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2303857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.48, Y:-105.13, Z:6.69 [[ 6.38353683e-01 -7.69727323e-01 -4.94210360e-03 2.94792405e+01] [-7.69707930e-01 -6.38372738e-01 5.47275329e-03 -1.05131789e+02] [-7.36743194e-03 3.10424114e-04 -9.99972812e-01 6.69307570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.260385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.53, Y:-105.23, Z:6.69 [[ 6.91636036e-01 -7.22224929e-01 -5.54488214e-03 2.95253718e+01] [-7.22205724e-01 -6.91658172e-01 5.27868126e-03 -1.05225079e+02] [-7.64755824e-03 3.53619441e-04 -9.99970695e-01 6.69451363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.290385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.52, Y:-105.24, Z:6.70 [[ 7.44320465e-01 -6.67793035e-01 -6.28553886e-03 2.95224632e+01] [-6.67773604e-01 -7.44346900e-01 5.10943301e-03 -1.05241254e+02] [-8.09066514e-03 3.94261381e-04 -9.99967192e-01 6.69517951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.320385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.52, Y:-105.26, Z:6.70 [[ 7.91563864e-01 -6.11046078e-01 -7.02431648e-03 2.95201339e+01] [-6.11026998e-01 -7.91594900e-01 4.84991622e-03 -1.05257514e+02] [-8.52393538e-03 4.53028591e-04 -9.99963568e-01 6.69540180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3503857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.52, Y:-105.27, Z:6.70 [[ 8.35911286e-01 -5.48820344e-01 -6.96799517e-03 2.95186146e+01] [-5.48805611e-01 -8.35940210e-01 4.04563574e-03 -1.05274686e+02] [-8.04515454e-03 4.42282268e-04 -9.99967540e-01 6.69527844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.380385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.52, Y:-105.29, Z:6.69 [[ 8.75541287e-01 -4.83096528e-01 -6.72310325e-03 2.95184493e+01] [-4.83085917e-01 -8.75566998e-01 3.22939363e-03 -1.05293009e+02] [-7.44663618e-03 4.20369040e-04 -9.99972185e-01 6.69482679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.410385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.52, Y:-105.31, Z:6.69 [[ 9.09792085e-01 -4.15018729e-01 -6.14948958e-03 2.95193143e+01] [-4.15012072e-01 -9.09812786e-01 2.38205673e-03 -1.05310267e+02] [-6.58348240e-03 3.84936054e-04 -9.99978255e-01 6.69442850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.440385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.52, Y:-105.33, Z:6.69 [[ 9.39117872e-01 -3.43547398e-01 -5.72786191e-03 2.95229149e+01] [-3.43543289e-01 -9.39135272e-01 1.71740526e-03 -1.05327022e+02] [-5.96924726e-03 3.54922550e-04 -9.99982121e-01 6.69477537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4703857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.53, Y:-105.35, Z:6.70 [[ 9.62624866e-01 -2.70766541e-01 -6.23283565e-03 2.95259428e+01] [-2.70763464e-01 -9.62644965e-01 1.34838609e-03 -1.05352243e+02] [-6.36510570e-03 3.89634192e-04 -9.99979667e-01 6.69571585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.500385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.53, Y:-105.37, Z:6.70 [[ 9.80713164e-01 -1.95320543e-01 -7.18165264e-03 2.95281424e+01] [-1.95318637e-01 -9.80739356e-01 9.72597637e-04 -1.05374063e+02] [-7.23329768e-03 4.48871299e-04 -9.99973739e-01 6.69629539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.530385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.53, Y:-105.39, Z:6.70 [[ 9.92893054e-01 -1.18733101e-01 -8.11382407e-03 2.95317046e+01] [-1.18733318e-01 -9.92926075e-01 4.56638319e-04 -1.05390296e+02] [-8.11064558e-03 5.09988241e-04 -9.99966978e-01 6.69709907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.560385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.54, Y:-105.41, Z:6.70 [[ 9.99098316e-01 -4.17089587e-02 -7.93210589e-03 2.95371275e+01] [-4.17116625e-02 -9.99129675e-01 -1.75664871e-04 -1.05409732e+02] [-7.91787557e-03 5.06367800e-04 -9.99968525e-01 6.69732104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5903857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.54, Y:-105.43, Z:6.70 [[ 9.99314377e-01 3.62150774e-02 -7.69696440e-03 2.95444653e+01] [ 3.62101665e-02 -9.99343895e-01 -7.76488474e-04 -1.05425122e+02] [-7.72003497e-03 4.97247734e-04 -9.99970077e-01 6.69703750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.620385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.55, Y:-105.44, Z:6.70 [[ 9.93426281e-01 1.14249651e-01 -7.15836516e-03 2.95536545e+01] [ 1.14243275e-01 -9.93451961e-01 -1.29468042e-03 -1.05440842e+02] [-7.25940868e-03 4.68374469e-04 -9.99973541e-01 6.69683959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.650385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.56, Y:-105.46, Z:6.70 [[ 9.81521352e-01 1.91233588e-01 -6.74905422e-03 2.95627743e+01] [ 1.91225876e-01 -9.81544451e-01 -1.77610614e-03 -1.05456053e+02] [-6.96414787e-03 4.52692296e-04 -9.99975648e-01 6.69741810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.680385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.57, Y:-105.47, Z:6.70 [[ 9.63498420e-01 2.67627465e-01 -6.80693395e-03 2.95737609e+01] [ 2.67617332e-01 -9.63522352e-01 -2.37521138e-03 -1.05467428e+02] [-7.19430481e-03 4.66858912e-04 -9.99974012e-01 6.69773467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.710385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.58, Y:-105.48, Z:6.70 [[ 9.39339238e-01 3.42898045e-01 -7.92003395e-03 2.95849403e+01] [ 3.42880823e-01 -9.39372463e-01 -3.48107815e-03 -1.05477868e+02] [-8.63351669e-03 5.54285538e-04 -9.99962577e-01 6.69889202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.740385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.60, Y:-105.49, Z:6.70 [[ 9.09480298e-01 4.15671093e-01 -7.94540954e-03 2.95968081e+01] [ 4.15649631e-01 -9.09514822e-01 -4.26292956e-03 -1.05485066e+02] [-8.99844434e-03 5.74543910e-04 -9.99959348e-01 6.69924730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.770385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.61, Y:-105.49, Z:6.70 [[ 8.73822382e-01 4.86185777e-01 -7.60495086e-03 2.96092335e+01] [ 4.86161586e-01 -8.73855289e-01 -4.88333797e-03 -1.05492159e+02] [-9.01983599e-03 5.69935044e-04 -9.99959158e-01 6.69974976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.800385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.62, Y:-105.50, Z:6.70 [[ 8.32664764e-01 5.53732330e-01 -7.06387921e-03 2.96237187e+01] [ 5.53706658e-01 -8.32694543e-01 -5.36046508e-03 -1.05499498e+02] [-8.85031649e-03 5.52153439e-04 -9.99960683e-01 6.69948703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.830385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.64, Y:-105.50, Z:6.70 [[ 7.86358941e-01 6.17741411e-01 -5.93004568e-03 2.96367383e+01] [ 6.17719038e-01 -7.86381148e-01 -5.28018362e-03 -1.05502572e+02] [-7.92506421e-03 4.89017487e-04 -9.99968477e-01 6.69917154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.860385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.66, Y:-105.51, Z:6.70 [[ 7.34867378e-01 6.78194938e-01 -4.64349962e-03 2.96599970e+01] [ 6.78177807e-01 -7.34881937e-01 -4.83745351e-03 -1.05514419e+02] [-6.69316048e-03 4.05768391e-04 -9.99977518e-01 6.69741990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.890385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.68, Y:-105.52, Z:6.70 [[ 6.79264779e-01 7.33883208e-01 -3.84687421e-03 2.96755585e+01] [ 7.33868288e-01 -6.79275573e-01 -4.69379392e-03 -1.05516930e+02] [-6.05778422e-03 3.65229898e-04 -9.99981585e-01 6.69700535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.920385723 meters Centerline goodness [0,1] 0.9999792763294235 Centerline is valid? [True, True] Translation: X:29.69, Y:-105.52, Z:6.70 [[ 6.19632516e-01 7.84884087e-01 -3.53772690e-03 2.96922739e+01] [ 7.84867726e-01 -6.19642503e-01 -5.08146644e-03 -1.05518872e+02] [-6.18048810e-03 3.71994170e-04 -9.99980832e-01 6.69639256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.950385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.71, Y:-105.52, Z:6.70 [[ 5.55760301e-01 8.31336460e-01 -3.19047925e-03 2.97078687e+01] [ 8.31318693e-01 -5.55769332e-01 -5.44803822e-03 -1.05519449e+02] [-6.30232333e-03 3.75498325e-04 -9.99980070e-01 6.69674591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9803857229999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.73, Y:-105.52, Z:6.70 [[ 4.88567458e-01 8.72521000e-01 -2.99042184e-03 2.97298933e+01] [ 8.72499290e-01 -4.88576443e-01 -6.16837430e-03 -1.05520616e+02] [-6.84308578e-03 4.04526022e-04 -9.99976504e-01 6.69676978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.010385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.75, Y:-105.52, Z:6.70 [[ 4.17877386e-01 9.08499068e-01 -2.81677142e-03 2.97467650e+01] [ 9.08470665e-01 -4.17886638e-01 -7.19780768e-03 -1.05518977e+02] [-7.71629271e-03 4.48846857e-04 -9.99970128e-01 6.69750406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.040385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.77, Y:-105.52, Z:6.70 [[ 3.45088570e-01 9.38567398e-01 -2.26252745e-03 2.97655266e+01] [ 9.38537885e-01 -3.45095694e-01 -7.45653578e-03 -1.05516289e+02] [-7.77924986e-03 4.49697537e-04 -9.99969640e-01 6.69691807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.070385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.78, Y:-105.51, Z:6.70 [[ 2.70273304e-01 9.62782439e-01 -1.52196425e-03 2.97806508e+01] [ 9.62757600e-01 -2.70277283e-01 -6.92773431e-03 -1.05511430e+02] [-7.08125330e-03 4.07098997e-04 -9.99974845e-01 6.69674524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1003857229999 meters Centerline goodness [0,1] 0.9999580985104021 Centerline is valid? [True, True] Translation: X:29.80, Y:-105.51, Z:6.70 [[ 1.94878124e-01 9.80827147e-01 -7.90785308e-04 2.97968818e+01] [ 9.80810649e-01 -1.94879441e-01 -5.69865571e-03 -1.05505571e+02] [-5.74350402e-03 3.34932684e-04 -9.99983450e-01 6.69563929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.130385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.81, Y:-105.50, Z:6.70 [[ 1.17992414e-01 9.93014428e-01 -3.70263627e-04 2.98072612e+01] [ 9.92995040e-01 -1.17992428e-01 -6.21590185e-03 -1.05499042e+02] [-6.21616852e-03 3.65759318e-04 -9.99980613e-01 6.69555603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.160385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.82, Y:-105.49, Z:6.70 [[ 4.22241772e-02 9.99108152e-01 1.38870103e-04 2.98227369e+01] [ 9.99081167e-01 -4.22220141e-02 -7.35691583e-03 -1.05490202e+02] [-7.34449120e-03 4.49382222e-04 -9.99972928e-01 6.69518454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.190385723 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.84, Y:-105.48, Z:6.70 [[-3.48301014e-02 9.99392963e-01 7.55222830e-04 2.98414709e+01] [ 9.99363122e-01 3.48349090e-02 -7.73819119e-03 -1.05480370e+02] [-7.75980194e-03 4.85219862e-04 -9.99969775e-01 6.69500318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2203857229999 meters Centerline goodness [0,1] 0.999937376056779 Centerline is valid? [True, True] Translation: X:29.85, Y:-105.47, Z:6.70 [[-1.11751351e-01 9.93735011e-01 1.53745012e-03 2.98512169e+01] [ 9.93697429e-01 1.11760524e-01 -8.66055838e-03 -1.05471652e+02] [-8.77812630e-03 5.59931130e-04 -9.99961315e-01 6.69561941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.250385723 meters Centerline goodness [0,1] 0.9995823849992692 Centerline is valid? [True, True] Translation: X:29.83, Y:-105.47, Z:6.71 [[-2.25693366e-01 9.74185782e-01 4.95649823e-03 2.98272807e+01] [ 9.73999020e-01 2.25747183e-01 -1.90818896e-02 -1.05470686e+02] [-1.97082211e-02 5.20968526e-04 -9.99805639e-01 6.70548578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.280385723 meters Centerline goodness [0,1] 0.9941172523318496 Centerline is valid? [True, True] Translation: X:29.72, Y:-105.50, Z:6.73 [[-3.82563478e-01 9.23892764e-01 8.20645571e-03 2.97225698e+01] [ 9.23588387e-01 3.82648504e-01 -2.37616044e-02 -1.05502207e+02] [-2.50933624e-02 -1.51093482e-03 -9.99683970e-01 6.73229597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.310385723 meters Centerline goodness [0,1] 0.9924083710662072 Centerline is valid? [True, True] Translation: X:29.71, Y:-105.51, Z:6.72 [[-4.36684630e-01 8.99600700e-01 5.01134592e-03 2.97102519e+01] [ 8.99527328e-01 4.36713081e-01 -1.15008960e-02 -1.05512460e+02] [-1.25347344e-02 -5.14421910e-04 -9.99921305e-01 6.71856416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3403857229999 meters Centerline goodness [0,1] 0.9781602771878842 Centerline is valid? [True, True] Translation: X:29.73, Y:-105.51, Z:6.71 [[-5.14365039e-01 8.57562116e-01 -3.97802654e-03 2.97287091e+01] [ 8.57529704e-01 5.14380241e-01 7.46822879e-03 -1.05510773e+02] [ 8.45068834e-03 4.30119869e-04 -9.99964200e-01 6.70739439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 13139.28 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%| | 0/28912 [00:00